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Merge remote-tracking branch 'upstream/development' into mueller/power-switcher-component-upstream

This commit is contained in:
Robin Müller 2022-05-09 15:51:28 +02:00
parent 50ce13d596 118f1da8dd
commit eb494707af
60 changed files with 657 additions and 248 deletions
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14
CHANGELOG.md
View File

@ -12,6 +12,9 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
## Changes
- Bump C++ required version to C++17. Every project which uses the FSFW and every modern
compiler supports it
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/622
- HAL Linux SPI: Set the Clock Default State when setting new SPI speed
and mode
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
@ -28,6 +31,12 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
creation call. It allows passing context information and an arbitrary user argument into
the message queue. Also streamlined and simplified `MessageQueue` implementation for all OSALs
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/583
- Clock:
- `timeval` to `TimeOfDay_t`
- Added Mutex for gmtime calls: (compare http://www.opengate.at/blog/2020/01/timeless/)
- Moved the statics used by Clock in ClockCommon.cpp to this file
- Better check for leap seconds
- Added Unittests for Clock (only getter)
## Removed
@ -46,8 +55,13 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
## Fixed
- Move some CMake directives further up top so they are not ignored
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/621
- Small bugfix in STM32 HAL for SPI
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/599
- HAL GPIO: Improved error checking in `LinuxLibgpioIF::configureGpios(...)`. If a GPIO
configuration fails, the function will exit prematurely with a dedicated error code
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/602
# [v4.0.0]

47
CMakeLists.txt
View File

@ -1,5 +1,15 @@
cmake_minimum_required(VERSION 3.13)
set(LIB_FSFW_NAME fsfw)
project(${LIB_FSFW_NAME})
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED True)
elseif(${CMAKE_CXX_STANDARD} LESS 17)
message(FATAL_ERROR "Compiling the FSFW requires a minimum of C++17 support")
endif()
set(FSFW_VERSION 4)
set(FSFW_SUBVERSION 0)
set(FSFW_REVISION 0)
@ -10,14 +20,15 @@ set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
set(FSFW_ETL_LIB_MAJOR_VERSION 20 CACHE STRING
"ETL library major version requirement"
)
set(FSFW_ETL_LIB_VERSION ${FSFW_ETL_LIB_MAJOR_VERSION}.27.2 CACHE STRING
set(FSFW_ETL_LIB_VERSION ${FSFW_ETL_LIB_MAJOR_VERSION}.27.3 CACHE STRING
"ETL library exact version requirement"
)
set(FSFW_ETL_LINK_TARGET etl::etl)
set(FSFW_CATCH2_LIB_MAJOR_VERSION 3 CACHE STRING
"Catch2 library major version requirement"
)
set(FSFW_CATCH2_LIB_VERSION v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview4 CACHE STRING
set(FSFW_CATCH2_LIB_VERSION v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5 CACHE STRING
"Catch2 library exact version requirement"
)
@ -54,11 +65,10 @@ option(FSFW_ADD_TMSTORAGE "Compile with tm storage components" OFF)
# Contrib sources
option(FSFW_ADD_SGP4_PROPAGATOR "Add SGP4 propagator code" OFF)
set(LIB_FSFW_NAME fsfw)
set(FSFW_TEST_TGT fsfw-tests)
set(FSFW_DUMMY_TGT fsfw-dummy)
project(${LIB_FSFW_NAME})
add_library(${LIB_FSFW_NAME})
if(FSFW_BUILD_UNITTESTS)
@ -76,9 +86,7 @@ if(FSFW_BUILD_UNITTESTS)
GIT_TAG ${FSFW_CATCH2_LIB_VERSION}
)
FetchContent_MakeAvailable(Catch2)
#fixes regression -preview4, to be confirmed in later releases
set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
endif()
set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
@ -123,7 +131,22 @@ if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
GIT_TAG ${FSFW_ETL_LIB_VERSION}
)
FetchContent_MakeAvailable(etl)
list(APPEND FSFW_FETCH_CONTENT_TARGETS ${FSFW_ETL_LIB_NAME})
endif()
# The documentation for FetchContent recommends declaring all the dependencies
# before making them available. We make all declared dependency available here
# after their declaration
if(FSFW_FETCH_CONTENT_TARGETS)
FetchContent_MakeAvailable(${FSFW_FETCH_CONTENT_TARGETS})
if(TARGET ${FSFW_ETL_LIB_NAME})
add_library(${FSFW_ETL_LINK_TARGET} ALIAS ${FSFW_ETL_LIB_NAME})
endif()
if(TARGET Catch2)
# Fixes regression -preview4, to be confirmed in later releases
# Related GitHub issue: https://github.com/catchorg/Catch2/issues/2417
set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
endif()
endif()
set(FSFW_CORE_INC_PATH "inc")
@ -138,12 +161,6 @@ target_include_directories(${LIB_FSFW_NAME} INTERFACE
${CMAKE_CURRENT_BINARY_DIR}
)
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD_REQUIRED True)
elseif(${CMAKE_CXX_STANDARD} LESS 11)
message(FATAL_ERROR "Compiling the FSFW requires a minimum of C++11 support")
endif()
# Backwards comptability
if(OS_FSFW AND NOT FSFW_OSAL)
@ -387,7 +404,7 @@ target_compile_options(${LIB_FSFW_NAME} PRIVATE
)
target_link_libraries(${LIB_FSFW_NAME} PRIVATE
${FSFW_ETL_LIB_NAME}
${FSFW_ETL_LINK_TARGET}
${FSFW_ADDITIONAL_LINK_LIBS}
)

6
automation/Dockerfile
View File

@ -6,3 +6,9 @@ RUN apt-get --yes upgrade
#tzdata is a dependency, won't install otherwise
ARG DEBIAN_FRONTEND=noninteractive
RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping
RUN git clone https://github.com/catchorg/Catch2.git && \
cd Catch2 && \
git checkout v3.0.0-preview5 && \
cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
cmake --build build/ --target install

2
automation/Jenkinsfile vendored
View File

@ -3,7 +3,7 @@ pipeline {
BUILDDIR = 'build-tests'
}
agent {
docker { image 'fsfw-ci:d1'}
docker { image 'fsfw-ci:d2'}
}
stages {
stage('Clean') {

4
hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
View File

@ -1,9 +1,9 @@
#include "MgmLIS3MDLHandler.h"
#include "fsfw/datapool/PoolReadGuard.h"
#include <cmath>
#include "fsfw/datapool/PoolReadGuard.h"
MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF *comCookie, uint32_t transitionDelay)
: DeviceHandlerBase(objectId, deviceCommunication, comCookie),

9
hal/src/fsfw_hal/linux/CMakeLists.txt
View File

@ -12,9 +12,14 @@ if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
add_subdirectory(gpio)
endif()
add_subdirectory(spi)
add_subdirectory(i2c)
add_subdirectory(uart)
# Adding those does not really make sense on Apple systems which
# are generally host systems. It won't even compile as the headers
# are missing
if(NOT APPLE)
add_subdirectory(i2c)
add_subdirectory(spi)
endif()
endif()
add_subdirectory(uio)

12
hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
View File

@ -44,6 +44,7 @@ ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
}
ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
ReturnValue_t result = RETURN_OK;
for (auto& gpioConfig : mapToAdd) {
auto& gpioType = gpioConfig.second->gpioType;
switch (gpioType) {
@ -55,7 +56,7 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
if (regularGpio == nullptr) {
return GPIO_INVALID_INSTANCE;
}
configureGpioByChip(gpioConfig.first, *regularGpio);
result = configureGpioByChip(gpioConfig.first, *regularGpio);
break;
}
case (gpio::GpioTypes::GPIO_REGULAR_BY_LABEL): {
@ -63,7 +64,7 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
if (regularGpio == nullptr) {
return GPIO_INVALID_INSTANCE;
}
configureGpioByLabel(gpioConfig.first, *regularGpio);
result = configureGpioByLabel(gpioConfig.first, *regularGpio);
break;
}
case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
@ -71,7 +72,7 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
if (regularGpio == nullptr) {
return GPIO_INVALID_INSTANCE;
}
configureGpioByLineName(gpioConfig.first, *regularGpio);
result = configureGpioByLineName(gpioConfig.first, *regularGpio);
break;
}
case (gpio::GpioTypes::CALLBACK): {
@ -83,8 +84,11 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
gpioCallback->initValue, gpioCallback->callbackArgs);
}
}
if (result != RETURN_OK) {
return GPIO_INIT_FAILED;
}
}
return RETURN_OK;
return result;
}
ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId,

2
hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
View File

@ -29,6 +29,8 @@ class LinuxLibgpioIF : public GpioIF, public SystemObject {
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4);
static constexpr ReturnValue_t GPIO_DUPLICATE_DETECTED =
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 5);
static constexpr ReturnValue_t GPIO_INIT_FAILED =
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 6);
LinuxLibgpioIF(object_id_t objectId);
virtual ~LinuxLibgpioIF();

2
hal/src/fsfw_hal/linux/spi/SpiCookie.cpp
View File

@ -1,4 +1,4 @@
#include "fsfw_hal/linux/spi/SpiCookie.h"
#include "SpiCookie.h"
SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed)

2
hal/src/fsfw_hal/linux/uart/UartComIF.cpp
View File

@ -265,6 +265,7 @@ void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCooki
cfsetispeed(options, B230400);
cfsetospeed(options, B230400);
break;
#ifndef __APPLE__
case UartBaudRate::RATE_460800:
cfsetispeed(options, B460800);
cfsetospeed(options, B460800);
@ -313,6 +314,7 @@ void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCooki
cfsetispeed(options, B4000000);
cfsetospeed(options, B4000000);
break;
#endif // ! __APPLE__
default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;

4
hal/src/fsfw_hal/linux/uart/UartCookie.cpp
View File

@ -24,9 +24,7 @@ void UartCookie::setParityEven() { parity = Parity::EVEN; }
Parity UartCookie::getParity() const { return parity; }
void UartCookie::setBitsPerWord(BitsPerWord bitsPerWord_) {
bitsPerWord = bitsPerWord_;
}
void UartCookie::setBitsPerWord(BitsPerWord bitsPerWord_) { bitsPerWord = bitsPerWord_; }
BitsPerWord UartCookie::getBitsPerWord() const { return bitsPerWord; }

2
src/fsfw/cfdp/pdu/HeaderSerializer.h
View File

@ -44,7 +44,7 @@ class HeaderSerializer : public SerializeIF, public PduHeaderIF {
cfdp::WidthInBytes getLenEntityIds() const override;
cfdp::WidthInBytes getLenSeqNum() const override;
cfdp::SegmentMetadataFlag getSegmentMetadataFlag() const override;
bool hasSegmentMetadataFlag() const;
bool hasSegmentMetadataFlag() const override;
void setSegmentationControl(cfdp::SegmentationControl);
void getSourceId(cfdp::EntityId& sourceId) const override;

2
src/fsfw/container/FixedArrayList.h
View File

@ -9,7 +9,7 @@
*/
template <typename T, size_t MAX_SIZE, typename count_t = uint8_t>
class FixedArrayList : public ArrayList<T, count_t> {
#if !defined(_MSC_VER)
#if !defined(_MSC_VER) && !defined(__clang__)
static_assert(MAX_SIZE <= (std::pow(2, sizeof(count_t) * 8) - 1),
"count_t is not large enough to hold MAX_SIZE");
#endif

15
src/fsfw/container/HybridIterator.h
View File

@ -10,16 +10,23 @@ class HybridIterator : public LinkedElement<T>::Iterator, public ArrayList<T, co
HybridIterator() {}
HybridIterator(typename LinkedElement<T>::Iterator *iter)
: LinkedElement<T>::Iterator(*iter), value(iter->value), linked(true) {}
: LinkedElement<T>::Iterator(*iter), linked(true) {
if (iter != nullptr) {
value = iter->value;
}
}
HybridIterator(LinkedElement<T> *start)
: LinkedElement<T>::Iterator(start), value(start->value), linked(true) {}
HybridIterator(LinkedElement<T> *start) : LinkedElement<T>::Iterator(start), linked(true) {
if (start != nullptr) {
value = start->value;
}
}
HybridIterator(typename ArrayList<T, count_t>::Iterator start,
typename ArrayList<T, count_t>::Iterator end)
: ArrayList<T, count_t>::Iterator(start), value(start.value), linked(false), end(end.value) {
if (value == this->end) {
value = NULL;
value = nullptr;
}
}

8
src/fsfw/controller/ControllerBase.h
View File

@ -55,7 +55,7 @@ class ControllerBase : public HasModesIF,
virtual void performControlOperation() = 0;
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) = 0;
uint32_t *msToReachTheMode) override = 0;
const object_id_t parentId;
@ -80,9 +80,9 @@ class ControllerBase : public HasModesIF,
/** Mode helpers */
virtual void modeChanged(Mode_t mode, Submode_t submode);
virtual void startTransition(Mode_t mode, Submode_t submode);
virtual void getMode(Mode_t *mode, Submode_t *submode);
virtual void setToExternalControl();
virtual void startTransition(Mode_t mode, Submode_t submode) override;
virtual void getMode(Mode_t *mode, Submode_t *submode) override;
virtual void setToExternalControl() override;
virtual void announceMode(bool recursive);
/** HK helpers */
virtual void changeHK(Mode_t mode, Submode_t submode, bool enable);

2
src/fsfw/datapool/PoolDataSetBase.h
View File

@ -109,7 +109,7 @@ class PoolDataSetBase : public PoolDataSetIF, public SerializeIF, public HasRetu
*/
virtual ReturnValue_t unlockDataPool() override;
virtual uint16_t getFillCount() const;
virtual uint16_t getFillCount() const override;
/* SerializeIF implementations */
virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, const size_t maxSize,

10
src/fsfw/datapoollocal/LocalDataPoolManager.cpp
View File

@ -787,9 +787,9 @@ ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid, bool i
// Serialize set packet into store.
size_t size = 0;
result = setPacket.serialize(&storePtr, &size, expectedSize, SerializeIF::Endianness::BIG);
if(result != HasReturnvaluesIF::RETURN_OK) {
ipcStore->deleteData(storeId);
return result;
if (result != HasReturnvaluesIF::RETURN_OK) {
ipcStore->deleteData(storeId);
return result;
}
if (expectedSize != size) {
printWarningOrError(sif::OutputTypes::OUT_WARNING, "generateSetStructurePacket",
@ -806,8 +806,8 @@ ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid, bool i
}
result = hkQueue->reply(&reply);
if(result != HasReturnvaluesIF::RETURN_OK) {
ipcStore->deleteData(storeId);
if (result != HasReturnvaluesIF::RETURN_OK) {
ipcStore->deleteData(storeId);
}
return result;
}

11
src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp
View File

@ -94,13 +94,14 @@ ReturnValue_t LocalPoolDataSetBase::serializeWithValidityBuffer(
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
const uint8_t validityMaskSize = std::ceil(static_cast<float>(fillCount) / 8.0);
uint8_t *validityPtr = nullptr;
#ifdef _MSC_VER
/* Use a std::vector here because MSVC will (rightly) not create a fixed size array
with a non constant size specifier */
std::vector<uint8_t> validityMask(validityMaskSize);
#if defined(_MSC_VER) || defined(__clang__)
// Use a std::vector here because MSVC will (rightly) not create a fixed size array
// with a non constant size specifier. The Apple compiler (LLVM) will not accept
// the initialization of a variable sized array
std::vector<uint8_t> validityMask(validityMaskSize, 0);
validityPtr = validityMask.data();
#else
uint8_t validityMask[validityMaskSize] = {0};
uint8_t validityMask[validityMaskSize] = {};
validityPtr = validityMask;
#endif
uint8_t validBufferIndex = 0;

4
src/fsfw/datapoollocal/LocalPoolObjectBase.h
View File

@ -23,8 +23,8 @@ class LocalPoolObjectBase : public PoolVariableIF, public HasReturnvaluesIF, pub
LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId, DataSetIF* dataSet = nullptr,
pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
void setReadWriteMode(pool_rwm_t newReadWriteMode);
pool_rwm_t getReadWriteMode() const;
void setReadWriteMode(pool_rwm_t newReadWriteMode) override;
pool_rwm_t getReadWriteMode() const override;
bool isValid() const override;
void setValid(bool valid) override;

13
src/fsfw/devicehandlers/DeviceHandlerBase.cpp
View File

@ -458,16 +458,15 @@ size_t DeviceHandlerBase::getNextReplyLength(DeviceCommandId_t commandId) {
DeviceCommandId_t replyId = NO_COMMAND_ID;
DeviceCommandMap::iterator command = cookieInfo.pendingCommand;
if (command->second.useAlternativeReplyId) {
replyId = command->second.alternativeReplyId;
}
else {
replyId = commandId;
replyId = command->second.alternativeReplyId;
} else {
replyId = commandId;
}
DeviceReplyIter iter = deviceReplyMap.find(replyId);
if (iter != deviceReplyMap.end()) {
if (iter->second.delayCycles != 0) {
return iter->second.replyLen;
}
if (iter->second.delayCycles != 0) {
return iter->second.replyLen;
}
}
return 0;
}

8
src/fsfw/devicehandlers/DeviceHandlerBase.h
View File

@ -163,7 +163,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
* @param counter Specifies which Action to perform
* @return RETURN_OK for successful execution
*/
virtual ReturnValue_t performOperation(uint8_t counter);
virtual ReturnValue_t performOperation(uint8_t counter) override;
/**
* @brief Initializes the device handler
@ -173,7 +173,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
* Calls fillCommandAndReplyMap().
* @return
*/
virtual ReturnValue_t initialize();
virtual ReturnValue_t initialize() override;
/**
* @brief Intialization steps performed after all tasks have been created.
@ -1058,11 +1058,11 @@ class DeviceHandlerBase : public DeviceHandlerIF,
* @param parameter1 Optional parameter 1
* @param parameter2 Optional parameter 2
*/
void triggerEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0);
void triggerEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) override;
/**
* Same as triggerEvent, but for forwarding if object is used as proxy.
*/
virtual void forwardEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) const;
virtual void forwardEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) const override;
/**
* Checks if current mode is transitional mode.

5
src/fsfw/globalfunctions/matching/MatchTree.h
View File

@ -25,7 +25,7 @@ class MatchTree : public SerializeableMatcherIF<T>, public BinaryTree<Serializea
: BinaryTree<SerializeableMatcherIF<T>>(root.element), maxDepth(maxDepth) {}
MatchTree() : BinaryTree<SerializeableMatcherIF<T>>(), maxDepth(-1) {}
virtual ~MatchTree() {}
virtual bool match(T number) { return matchesTree(number); }
virtual bool match(T number) override { return matchesTree(number); }
bool matchesTree(T number) {
iterator iter = this->begin();
if (iter == this->end()) {
@ -179,6 +179,9 @@ class MatchTree : public SerializeableMatcherIF<T>, public BinaryTree<Serializea
virtual ReturnValue_t cleanUpElement(iterator position) { return HasReturnvaluesIF::RETURN_OK; }
bool matchSubtree(iterator iter, T number) {
if (iter == nullptr) {
return false;
}
bool isMatch = iter->match(number);
if (isMatch) {
if (iter.left() == this->end()) {

2
src/fsfw/globalfunctions/matching/RangeMatcher.h
View File

@ -15,7 +15,7 @@ class RangeMatcher : public SerializeableMatcherIF<T> {
RangeMatcher(T lowerBound, T upperBound, bool inverted = false)
: inverted(inverted), lowerBound(lowerBound), upperBound(upperBound) {}
bool match(T input) {
bool match(T input) override {
if (inverted) {
return !doMatch(input);
} else {

28
src/fsfw/ipc/MessageQueueBase.cpp
View File

@ -1,9 +1,9 @@
#include "MessageQueueBase.h"
MessageQueueBase::MessageQueueBase(MessageQueueId_t id, MessageQueueId_t defaultDest,
MqArgs* args): id(id) {
MessageQueueBase::MessageQueueBase(MessageQueueId_t id, MessageQueueId_t defaultDest, MqArgs* args)
: id(id) {
this->defaultDest = defaultDest;
if(args != nullptr) {
if (args != nullptr) {
this->args = *args;
}
}
@ -23,35 +23,25 @@ ReturnValue_t MessageQueueBase::reply(MessageQueueMessageIF* message) {
}
ReturnValue_t MessageQueueBase::receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t* receivedFrom) {
MessageQueueId_t* receivedFrom) {
ReturnValue_t status = this->receiveMessage(message);
*receivedFrom = this->last;
return status;
}
MessageQueueId_t MessageQueueBase::getLastPartner() const {
return last;
}
MessageQueueId_t MessageQueueBase::getLastPartner() const { return last; }
MessageQueueId_t MessageQueueBase::getId() const {
return id;
}
MessageQueueId_t MessageQueueBase::getId() const { return id; }
MqArgs& MessageQueueBase::getMqArgs() {
return args;
}
MqArgs& MessageQueueBase::getMqArgs() { return args; }
void MessageQueueBase::setDefaultDestination(MessageQueueId_t defaultDestination) {
this->defaultDest = defaultDestination;
}
MessageQueueId_t MessageQueueBase::getDefaultDestination() const {
return defaultDest;
}
MessageQueueId_t MessageQueueBase::getDefaultDestination() const { return defaultDest; }
bool MessageQueueBase::isDefaultDestinationSet() const {
return (defaultDest != NO_QUEUE);
}
bool MessageQueueBase::isDefaultDestinationSet() const { return (defaultDest != NO_QUEUE); }
ReturnValue_t MessageQueueBase::sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
bool ignoreFault) {

19
src/fsfw/ipc/MessageQueueBase.h
View File

@ -1,11 +1,11 @@
#ifndef FSFW_SRC_FSFW_IPC_MESSAGEQUEUEBASE_H_
#define FSFW_SRC_FSFW_IPC_MESSAGEQUEUEBASE_H_
#include <fsfw/ipc/definitions.h>
#include <fsfw/ipc/MessageQueueIF.h>
#include <fsfw/ipc/definitions.h>
class MessageQueueBase: public MessageQueueIF {
public:
class MessageQueueBase : public MessageQueueIF {
public:
MessageQueueBase(MessageQueueId_t id, MessageQueueId_t defaultDest, MqArgs* mqArgs);
virtual ~MessageQueueBase();
@ -17,25 +17,24 @@ public:
virtual MessageQueueId_t getDefaultDestination() const override;
virtual bool isDefaultDestinationSet() const override;
virtual ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
bool ignoreFault) override;
bool ignoreFault) override;
virtual ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
virtual ReturnValue_t reply(MessageQueueMessageIF* message) override;
virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t* receivedFrom) override;
virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault = false) override;
MessageQueueId_t* receivedFrom) override;
virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
bool ignoreFault = false) override;
// OSAL specific, forward the abstract function
virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message) = 0;
virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault = false) = 0;
protected:
protected:
MessageQueueId_t id = MessageQueueIF::NO_QUEUE;
MessageQueueId_t last = MessageQueueIF::NO_QUEUE;
MessageQueueId_t defaultDest = MessageQueueIF::NO_QUEUE;
MqArgs args = {};
};
#endif /* FSFW_SRC_FSFW_IPC_MESSAGEQUEUEBASE_H_ */

4
src/fsfw/ipc/MessageQueueIF.h
View File

@ -2,6 +2,7 @@
#define FSFW_IPC_MESSAGEQUEUEIF_H_
#include <fsfw/ipc/definitions.h>
#include <cstdint>
#include "../returnvalues/HasReturnvaluesIF.h"
@ -45,7 +46,8 @@ class MessageQueueIF {
virtual ReturnValue_t reply(MessageQueueMessageIF* message) = 0;
/**
* @brief This function reads available messages from the message queue and returns the sender.
* @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.

3
src/fsfw/monitoring/MonitoringMessageContent.h
View File

@ -34,7 +34,7 @@ class MonitoringReportContent : public SerialLinkedListAdapter<SerializeIF> {
SerializeElement<T> limitValue;
SerializeElement<ReturnValue_t> oldState;
SerializeElement<ReturnValue_t> newState;
uint8_t rawTimestamp[TimeStamperIF::MISSION_TIMESTAMP_SIZE];
uint8_t rawTimestamp[TimeStamperIF::MISSION_TIMESTAMP_SIZE] = {};
SerializeElement<SerialBufferAdapter<uint8_t>> timestampSerializer;
TimeStamperIF* timeStamper;
MonitoringReportContent()
@ -46,7 +46,6 @@ class MonitoringReportContent : public SerialLinkedListAdapter<SerializeIF> {
limitValue(0),
oldState(0),
newState(0),
rawTimestamp({0}),
timestampSerializer(rawTimestamp, sizeof(rawTimestamp)),
timeStamper(NULL) {
setAllNext();

4
src/fsfw/objectmanager/SystemObject.h
View File

@ -48,9 +48,9 @@ class SystemObject : public SystemObjectIF {
virtual ~SystemObject();
object_id_t getObjectId() const override;
virtual ReturnValue_t initialize() override;
virtual ReturnValue_t checkObjectConnections();
virtual ReturnValue_t checkObjectConnections() override;
virtual void forwardEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) const;
virtual void forwardEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) const override;
};
#endif /* FSFW_OBJECTMANAGER_SYSTEMOBJECT_H_ */

19
src/fsfw/osal/common/UdpTcPollingTask.cpp
View File

@ -16,11 +16,13 @@
//! Debugging preprocessor define.
#define FSFW_UDP_RECV_WIRETAPPING_ENABLED 0
const timeval UdpTcPollingTask::DEFAULT_TIMEOUT = {0, 500000};
UdpTcPollingTask::UdpTcPollingTask(object_id_t objectId, object_id_t tmtcUdpBridge,
size_t maxRecvSize, double timeoutSeconds)
: SystemObject(objectId), tmtcBridgeId(tmtcUdpBridge) {
if (frameSize > 0) {
this->frameSize = frameSize;
if (maxRecvSize > 0) {
this->frameSize = maxRecvSize;
} else {
this->frameSize = DEFAULT_MAX_RECV_SIZE;
}
@ -31,22 +33,20 @@ UdpTcPollingTask::UdpTcPollingTask(object_id_t objectId, object_id_t tmtcUdpBrid
receptionBuffer.resize(this->frameSize);
if (timeoutSeconds == -1) {
receptionTimeout = DEFAULT_TIMEOUT;
receptionTimeout = UdpTcPollingTask::DEFAULT_TIMEOUT;
} else {
receptionTimeout = timevalOperations::toTimeval(timeoutSeconds);
}
}
UdpTcPollingTask::~UdpTcPollingTask() {}
ReturnValue_t UdpTcPollingTask::performOperation(uint8_t opCode) {
[[noreturn]] ReturnValue_t UdpTcPollingTask::performOperation(uint8_t opCode) {
/* Sender Address is cached here. */
struct sockaddr senderAddress;
struct sockaddr senderAddress {};
socklen_t senderAddressSize = sizeof(senderAddress);
/* Poll for new UDP datagrams in permanent loop. */
while (true) {
int bytesReceived =
ssize_t bytesReceived =
recvfrom(this->serverSocket, reinterpret_cast<char*>(receptionBuffer.data()), frameSize,
receptionFlags, &senderAddress, &senderAddressSize);
if (bytesReceived == SOCKET_ERROR) {
@ -70,7 +70,6 @@ ReturnValue_t UdpTcPollingTask::performOperation(uint8_t opCode) {
}
tmtcBridge->checkAndSetClientAddress(senderAddress);
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t UdpTcPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
@ -155,7 +154,7 @@ void UdpTcPollingTask::setTimeout(double timeoutSeconds) {
#endif
}
#elif defined(PLATFORM_UNIX)
timeval tval;
timeval tval {};
tval = timevalOperations::toTimeval(timeoutSeconds);
int result = setsockopt(serverSocket, SOL_SOCKET, SO_RCVTIMEO, &tval, sizeof(receptionTimeout));
if (result == -1) {

12
src/fsfw/osal/common/UdpTcPollingTask.h
View File

@ -21,11 +21,11 @@ class UdpTcPollingTask : public TcpIpBase, public SystemObject, public Executabl
public:
static constexpr size_t DEFAULT_MAX_RECV_SIZE = 1500;
//! 0.5 default milliseconds timeout for now.
static constexpr timeval DEFAULT_TIMEOUT = {0, 500};
static const timeval DEFAULT_TIMEOUT;
UdpTcPollingTask(object_id_t objectId, object_id_t tmtcUdpBridge, size_t maxRecvSize = 0,
double timeoutSeconds = -1);
virtual ~UdpTcPollingTask();
~UdpTcPollingTask() override = default;
/**
* Turn on optional timeout for UDP polling. In the default mode,
@ -34,9 +34,9 @@ class UdpTcPollingTask : public TcpIpBase, public SystemObject, public Executabl
*/
void setTimeout(double timeoutSeconds);
virtual ReturnValue_t performOperation(uint8_t opCode) override;
virtual ReturnValue_t initialize() override;
virtual ReturnValue_t initializeAfterTaskCreation() override;
[[noreturn]] ReturnValue_t performOperation(uint8_t opCode) override;
ReturnValue_t initialize() override;
ReturnValue_t initializeAfterTaskCreation() override;
protected:
StorageManagerIF* tcStore = nullptr;
@ -51,7 +51,7 @@ class UdpTcPollingTask : public TcpIpBase, public SystemObject, public Executabl
std::vector<uint8_t> receptionBuffer;
size_t frameSize = 0;
timeval receptionTimeout;
timeval receptionTimeout{};
ReturnValue_t handleSuccessfullTcRead(size_t bytesRead);
};

16
src/fsfw/osal/common/UdpTmTcBridge.cpp
View File

@ -20,13 +20,13 @@
const std::string UdpTmTcBridge::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT;
UdpTmTcBridge::UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
std::string udpServerPort, object_id_t tmStoreId,
const std::string& udpServerPort_, object_id_t tmStoreId,
object_id_t tcStoreId)
: TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
if (udpServerPort == "") {
this->udpServerPort = DEFAULT_SERVER_PORT;
if (udpServerPort_.empty()) {
udpServerPort = DEFAULT_SERVER_PORT;
} else {
this->udpServerPort = udpServerPort;
udpServerPort = udpServerPort_;
}
mutex = MutexFactory::instance()->createMutex();
@ -117,7 +117,7 @@ ReturnValue_t UdpTmTcBridge::sendTm(const uint8_t *data, size_t dataLen) {
tcpip::printAddress(&clientAddress);
#endif
int bytesSent = sendto(serverSocket, reinterpret_cast<const char *>(data), dataLen, flags,
ssize_t bytesSent = sendto(serverSocket, reinterpret_cast<const char *>(data), dataLen, flags,
&clientAddress, clientAddressLen);
if (bytesSent == SOCKET_ERROR) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
@ -150,7 +150,7 @@ void UdpTmTcBridge::checkAndSetClientAddress(sockaddr &newAddress) {
clientAddressLen = sizeof(clientAddress);
}
void UdpTmTcBridge::setMutexProperties(MutexIF::TimeoutType timeoutType, dur_millis_t timeoutMs) {
this->timeoutType = timeoutType;
this->mutexTimeoutMs = timeoutMs;
void UdpTmTcBridge::setMutexProperties(MutexIF::TimeoutType timeoutType_, dur_millis_t timeoutMs) {
timeoutType = timeoutType_;
mutexTimeoutMs = timeoutMs;
}

8
src/fsfw/osal/common/UdpTmTcBridge.h
View File

@ -29,10 +29,10 @@ class UdpTmTcBridge : public TmTcBridge, public TcpIpBase {
/* The ports chosen here should not be used by any other process. */
static const std::string DEFAULT_SERVER_PORT;
UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination, std::string udpServerPort = "",
UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination, const std::string& udpServerPort = "",
object_id_t tmStoreId = objects::TM_STORE,
object_id_t tcStoreId = objects::TC_STORE);
virtual ~UdpTmTcBridge();
~UdpTmTcBridge() override;
/**
* Set properties of internal mutex.
@ -46,12 +46,12 @@ class UdpTmTcBridge : public TmTcBridge, public TcpIpBase {
std::string getUdpPort() const;
protected:
virtual ReturnValue_t sendTm(const uint8_t* data, size_t dataLen) override;
ReturnValue_t sendTm(const uint8_t* data, size_t dataLen) override;
private:
std::string udpServerPort;
struct sockaddr clientAddress;
struct sockaddr clientAddress = {};
socklen_t clientAddressLen = 0;
//! Access to the client address is mutex protected as it is set by another task.

3
src/fsfw/osal/freertos/Clock.cpp
View File

@ -11,9 +11,6 @@
// TODO sanitize input?
// TODO much of this code can be reused for tick-only systems
uint16_t Clock::leapSeconds = 0;
MutexIF* Clock::timeMutex = nullptr;
uint32_t Clock::getTicksPerSecond(void) { return 1000; }
ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {

1
src/fsfw/osal/freertos/MessageQueue.h
View File

@ -2,6 +2,7 @@
#define FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
#include <fsfw/ipc/MessageQueueBase.h>
#include "FreeRTOS.h"
#include "TaskManagement.h"
#include "fsfw/internalerror/InternalErrorReporterIF.h"

43
src/fsfw/osal/host/CMakeLists.txt
View File

@ -1,24 +1,27 @@
target_sources(${LIB_FSFW_NAME}
PRIVATE
Clock.cpp
FixedTimeslotTask.cpp
MessageQueue.cpp
Mutex.cpp
MutexFactory.cpp
PeriodicTask.cpp
QueueFactory.cpp
QueueMapManager.cpp
SemaphoreFactory.cpp
TaskFactory.cpp
taskHelpers.cpp
target_sources(${LIB_FSFW_NAME} PRIVATE
Clock.cpp
FixedTimeslotTask.cpp
MessageQueue.cpp
Mutex.cpp
MutexFactory.cpp
PeriodicTask.cpp
QueueFactory.cpp
QueueMapManager.cpp
SemaphoreFactory.cpp
TaskFactory.cpp
taskHelpers.cpp
)
if(UNIX)
find_package(Threads REQUIRED)
target_link_libraries(${LIB_FSFW_NAME}
PRIVATE
rt
${CMAKE_THREAD_LIBS_INIT}
)
find_package(Threads REQUIRED)
target_link_libraries(${LIB_FSFW_NAME} PRIVATE
${CMAKE_THREAD_LIBS_INIT}
)
if(NOT APPLE)
target_link_libraries(${LIB_FSFW_NAME} PRIVATE
rt
)
endif()
endif()

11
src/fsfw/osal/host/Clock.cpp
View File

@ -2,6 +2,7 @@
#include <chrono>
#include "fsfw/ipc/MutexGuard.h"
#include "fsfw/platform.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
@ -11,9 +12,6 @@
#include <fstream>
#endif
uint16_t Clock::leapSeconds = 0;
MutexIF* Clock::timeMutex = NULL;
using SystemClock = std::chrono::system_clock;
uint32_t Clock::getTicksPerSecond(void) {
@ -127,6 +125,13 @@ ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
auto seconds = std::chrono::time_point_cast<std::chrono::seconds>(now);
auto fraction = now - seconds;
time_t tt = SystemClock::to_time_t(now);
ReturnValue_t result = checkOrCreateClockMutex();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
MutexGuard helper(timeMutex);
// gmtime writes its output in a global buffer which is not Thread Safe
// Therefore we have to use a Mutex here
struct tm* timeInfo;
timeInfo = gmtime(&tt);
time->year = timeInfo->tm_year + 1900;

8
src/fsfw/osal/host/MessageQueue.h
View File

@ -1,17 +1,17 @@
#ifndef FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_
#define FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_
#include "fsfw/ipc/MessageQueueBase.h"
#include <memory>
#include <queue>
#include "fsfw/internalerror/InternalErrorReporterIF.h"
#include "fsfw/ipc/MessageQueueBase.h"
#include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/ipc/MessageQueueMessage.h"
#include "fsfw/ipc/MutexIF.h"
#include "fsfw/ipc/definitions.h"
#include "fsfw/timemanager/Clock.h"
#include <memory>
#include <queue>
/**
* @brief This class manages sending and receiving of
* message queue messages.

48
src/fsfw/osal/linux/CMakeLists.txt
View File

@ -1,29 +1,29 @@
target_sources(${LIB_FSFW_NAME} PRIVATE
Clock.cpp
BinarySemaphore.cpp
CountingSemaphore.cpp
FixedTimeslotTask.cpp
InternalErrorCodes.cpp
MessageQueue.cpp
Mutex.cpp
MutexFactory.cpp
PeriodicPosixTask.cpp
PosixThread.cpp
QueueFactory.cpp
SemaphoreFactory.cpp
TaskFactory.cpp
tcpipHelpers.cpp
unixUtility.cpp
)
Clock.cpp
BinarySemaphore.cpp
CountingSemaphore.cpp
FixedTimeslotTask.cpp
InternalErrorCodes.cpp
MessageQueue.cpp
Mutex.cpp
MutexFactory.cpp
PeriodicPosixTask.cpp
PosixThread.cpp
QueueFactory.cpp
SemaphoreFactory.cpp
TaskFactory.cpp
tcpipHelpers.cpp
unixUtility.cpp
)
find_package(Threads REQUIRED)
target_link_libraries(${LIB_FSFW_NAME} PRIVATE
${CMAKE_THREAD_LIBS_INIT}
target_link_libraries(${LIB_FSFW_NAME} PUBLIC
${CMAKE_THREAD_LIBS_INIT}
)
if(NOT APPLE)
target_link_libraries(${LIB_FSFW_NAME} PUBLIC
rt
)
target_link_libraries(${LIB_FSFW_NAME} INTERFACE
${CMAKE_THREAD_LIBS_INIT}
)
)
endif()

12
src/fsfw/osal/linux/Clock.cpp
View File

@ -8,11 +8,9 @@
#include <fstream>
#include "fsfw/ipc/MutexGuard.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
uint16_t Clock::leapSeconds = 0;
MutexIF* Clock::timeMutex = NULL;
uint32_t Clock::getTicksPerSecond(void) {
uint32_t ticks = sysconf(_SC_CLK_TCK);
return ticks;
@ -117,7 +115,13 @@ ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
// TODO errno
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t result = checkOrCreateClockMutex();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
MutexGuard helper(timeMutex);
// gmtime writes its output in a global buffer which is not Thread Safe
// Therefore we have to use a Mutex here
struct tm* timeInfo;
timeInfo = gmtime(&timeUnix.tv_sec);
time->year = timeInfo->tm_year + 1900;

3
src/fsfw/osal/linux/MessageQueue.h
View File

@ -61,8 +61,7 @@ class MessageQueue : public MessageQueueBase {
ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
ReturnValue_t flush(uint32_t* count) override;
ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
MessageQueueId_t sentFrom,
bool ignoreFault = false) override;
MessageQueueId_t sentFrom, bool ignoreFault = false) override;
protected:
/**

3
src/fsfw/osal/rtems/Clock.cpp
View File

@ -6,9 +6,6 @@
#include "fsfw/ipc/MutexGuard.h"
#include "fsfw/osal/rtems/RtemsBasic.h"
uint16_t Clock::leapSeconds = 0;
MutexIF* Clock::timeMutex = nullptr;
uint32_t Clock::getTicksPerSecond(void) {
rtems_interval ticks_per_second = rtems_clock_get_ticks_per_second();
return static_cast<uint32_t>(ticks_per_second);

5
src/fsfw/osal/rtems/MessageQueue.h
View File

@ -2,6 +2,7 @@
#define FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_
#include <fsfw/ipc/MessageQueueBase.h>
#include "RtemsBasic.h"
#include "fsfw/internalerror/InternalErrorReporterIF.h"
#include "fsfw/ipc/MessageQueueIF.h"
@ -52,8 +53,8 @@ class MessageQueue : public MessageQueueBase {
// Implement non-generic MessageQueueIF functions not handled by MessageQueueBase
ReturnValue_t flush(uint32_t* count) override;
ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault = false) override;
MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault = false) override;
private:
/**

5
src/fsfw/osal/rtems/PeriodicTask.h
View File

@ -59,14 +59,13 @@ class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF {
*/
ReturnValue_t addComponent(object_id_t object) override;
/**
/**
* Adds an object to the list of objects to be executed.
* The objects are executed in the order added.
* @param object pointer to the object to add.
* @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
*/
ReturnValue_t addComponent(ExecutableObjectIF* object) override;
ReturnValue_t addComponent(ExecutableObjectIF *object) override;
uint32_t getPeriodMs() const override;

2
src/fsfw/power/Fuse.h
View File

@ -54,7 +54,7 @@ class Fuse : public SystemObject,
ReturnValue_t check();
uint8_t getFuseId() const;
ReturnValue_t initialize();
ReturnValue_t initialize() override;
DeviceList devices;
ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
SerializeIF::Endianness streamEndianness) const override;

2
src/fsfw/pus/Service3Housekeeping.h
View File

@ -43,7 +43,7 @@ class Service3Housekeeping : public CommandingServiceBase, public AcceptsHkPacke
CommandMessage* optionalNextCommand, object_id_t objectId,
bool* isStep) override;
virtual MessageQueueId_t getHkQueue() const;
virtual MessageQueueId_t getHkQueue() const override;
private:
enum class Subservice {

20
src/fsfw/subsystem/Subsystem.cpp
View File

@ -30,11 +30,11 @@ ReturnValue_t Subsystem::checkSequence(HybridIterator<ModeListEntry> iter,
return FALLBACK_SEQUENCE_DOES_NOT_EXIST;
}
if (iter.value == NULL) {
if (iter.value == nullptr) {
return NO_TARGET_TABLE;
}
for (; iter.value != NULL; ++iter) {
for (; iter.value != nullptr; ++iter) {
if (!existsModeTable(iter->getTableId())) {
return TABLE_DOES_NOT_EXIST;
} else {
@ -66,13 +66,18 @@ HybridIterator<ModeListEntry> Subsystem::getCurrentTable() {
void Subsystem::performChildOperation() {
if (isInTransition) {
if (commandsOutstanding <= 0) { // all children of the current table were commanded and replied
if (currentSequenceIterator.value == NULL) { // we're through with this sequence
if (currentSequenceIterator.value == nullptr) { // we're through with this sequence
if (checkStateAgainstTable(currentTargetTable, targetSubmode) == RETURN_OK) {
setMode(targetMode, targetSubmode);
isInTransition = false;
return;
} else {
transitionFailed(TARGET_TABLE_NOT_REACHED, getSequence(targetMode)->getTableId());
Mode_t tableId = 0;
auto seq = getSequence(targetMode);
if (seq.value != nullptr) {
tableId = seq->getTableId();
}
transitionFailed(TARGET_TABLE_NOT_REACHED, tableId);
return;
}
}
@ -248,10 +253,13 @@ ReturnValue_t Subsystem::handleCommandMessage(CommandMessage *message) {
case ModeSequenceMessage::READ_TABLE: {
ReturnValue_t result;
Mode_t table = ModeSequenceMessage::getSequenceId(message);
EntryPointer *entry = NULL;
EntryPointer *entry = nullptr;
result = modeTables.find(table, &entry);
if (result != RETURN_OK) {
if (result != RETURN_OK or entry == nullptr) {
replyToCommand(result, 0);
if (entry == nullptr) {
return result;
}
}
SerializeIF *elements[2];

11
src/fsfw/subsystem/Subsystem.h
View File

@ -1,14 +1,13 @@
#ifndef FSFW_SUBSYSTEM_SUBSYSTEM_H_
#define FSFW_SUBSYSTEM_SUBSYSTEM_H_
#include <FSFWConfig.h>
#include "../container/FixedArrayList.h"
#include "../container/FixedMap.h"
#include "../container/HybridIterator.h"
#include "../container/SinglyLinkedList.h"
#include "../serialize/SerialArrayListAdapter.h"
#include "SubsystemBase.h"
#include "fsfw/FSFW.h"
#include "modes/ModeDefinitions.h"
/**
@ -127,18 +126,18 @@ class Subsystem : public SubsystemBase, public HasModeSequenceIF {
ReturnValue_t deleteTable(Mode_t id);
virtual void performChildOperation();
virtual void performChildOperation() override;
virtual ReturnValue_t handleCommandMessage(CommandMessage *message);
virtual ReturnValue_t handleCommandMessage(CommandMessage *message) override;
bool isFallbackSequence(Mode_t SequenceId);
bool isTableUsed(Mode_t tableId);
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode);
uint32_t *msToReachTheMode) override;
virtual void startTransition(Mode_t mode, Submode_t submode);
virtual void startTransition(Mode_t mode, Submode_t submode) override;
void sendSerializablesAsCommandMessage(Command_t command, SerializeIF **elements, uint8_t count);

10
src/fsfw/subsystem/SubsystemBase.h
View File

@ -123,15 +123,15 @@ class SubsystemBase : public SystemObject,
virtual void performChildOperation() = 0;
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) = 0;
uint32_t *msToReachTheMode) override = 0;
virtual void startTransition(Mode_t mode, Submode_t submode) = 0;
virtual void startTransition(Mode_t mode, Submode_t submode) override = 0;
virtual void getMode(Mode_t *mode, Submode_t *submode);
virtual void getMode(Mode_t *mode, Submode_t *submode) override;
virtual void setToExternalControl();
virtual void setToExternalControl() override;
virtual void announceMode(bool recursive);
virtual void announceMode(bool recursive) override;
virtual void modeChanged();
};

25
src/fsfw/timemanager/CCSDSTime.cpp
View File

@ -6,10 +6,6 @@
#include "fsfw/FSFW.h"
CCSDSTime::CCSDSTime() {}
CCSDSTime::~CCSDSTime() {}
ReturnValue_t CCSDSTime::convertToCcsds(Ccs_seconds* to, const Clock::TimeOfDay_t* from) {
ReturnValue_t result = checkTimeOfDay(from);
if (result != RETURN_OK) {
@ -91,7 +87,7 @@ ReturnValue_t CCSDSTime::convertFromCDS(Clock::TimeOfDay_t* to, const uint8_t* f
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return convertTimevalToTimeOfDay(to, &time);
return Clock::convertTimevalToTimeOfDay(&time, to);
}
ReturnValue_t CCSDSTime::convertFromCCS(Clock::TimeOfDay_t* to, const uint8_t* from,
@ -428,7 +424,7 @@ ReturnValue_t CCSDSTime::convertFromCUC(timeval* to, const uint8_t* from, size_t
from++;
ReturnValue_t result = convertFromCUC(to, pField, from, foundLength, maxLength - 1);
if (result == HasReturnvaluesIF::RETURN_OK) {
if (foundLength != NULL) {
if (foundLength != nullptr) {
*foundLength += 1;
}
}
@ -489,11 +485,6 @@ ReturnValue_t CCSDSTime::checkTimeOfDay(const Clock::TimeOfDay_t* time) {
return RETURN_OK;
}
ReturnValue_t CCSDSTime::convertTimevalToTimeOfDay(Clock::TimeOfDay_t* to, timeval* from) {
// This is rather tricky. Implement only if needed. Also, if so, move to OSAL.
return UNSUPPORTED_TIME_FORMAT;
}
ReturnValue_t CCSDSTime::convertFromCDS(timeval* to, const uint8_t* from, size_t* foundLength,
size_t maxLength) {
uint8_t pField = *from;
@ -583,7 +574,7 @@ ReturnValue_t CCSDSTime::convertFromCDS(Clock::TimeOfDay_t* to, const CCSDSTime:
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return CCSDSTime::convertTimevalToTimeOfDay(to, &tempTimeval);
return Clock::convertTimevalToTimeOfDay(&tempTimeval, to);
}
ReturnValue_t CCSDSTime::convertFromCUC(timeval* to, uint8_t pField, const uint8_t* from,
@ -593,18 +584,18 @@ ReturnValue_t CCSDSTime::convertFromCUC(timeval* to, uint8_t pField, const uint8
uint8_t nCoarse = ((pField & 0b1100) >> 2) + 1;
uint8_t nFine = (pField & 0b11);
size_t totalLength = nCoarse + nFine;
if (foundLength != NULL) {
if (foundLength != nullptr) {
*foundLength = totalLength;
}
if (totalLength > maxLength) {
return LENGTH_MISMATCH;
}
for (int count = 0; count < nCoarse; count++) {
secs += *from << ((nCoarse * 8 - 8) * (1 + count));
for (int count = nCoarse; count > 0; count--) {
secs += *from << (count * 8 - 8);
from++;
}
for (int count = 0; count < nFine; count++) {
subSeconds += *from << ((nFine * 8 - 8) * (1 + count));
for (int count = nFine; count > 0; count--) {
subSeconds += *from << (count * 8 - 8);
from++;
}
// Move to POSIX epoch.

32
src/fsfw/timemanager/CCSDSTime.h
View File

@ -161,18 +161,37 @@ class CCSDSTime : public HasReturnvaluesIF {
*/
static ReturnValue_t convertFromCcsds(timeval *to, uint8_t const *from, size_t *foundLength,
size_t maxLength);
/**
* @brief Currently unsupported conversion due to leapseconds
*
* @param to Time Of Day (UTC)
* @param from Buffer to take the CUC from
* @param length Length of buffer
* @return ReturnValue_t UNSUPPORTED_TIME_FORMAT in any case ATM
*/
static ReturnValue_t convertFromCUC(Clock::TimeOfDay_t *to, uint8_t const *from, uint8_t length);
/**
* @brief Converts from CCSDS CUC to timeval
*
* If input is CCSDS Epoch this is TAI! -> No leapsecond support.
*
* Currently, it only supports seconds + 2 Byte Subseconds (1/65536 seconds)
*
*
* @param to Timeval to write the result to
* @param from Buffer to read from
* @param foundLength Length found by this function (can be nullptr if unused)
* @param maxLength Max length of the buffer to be read
* @return ReturnValue_t - RETURN_OK if successful
* - LENGTH_MISMATCH if expected length is larger than maxLength
*/
static ReturnValue_t convertFromCUC(timeval *to, uint8_t const *from, size_t *foundLength,
size_t maxLength);
static ReturnValue_t convertFromCUC(timeval *to, uint8_t pField, uint8_t const *from,
size_t *foundLength, size_t maxLength);
static ReturnValue_t convertFromCCS(timeval *to, uint8_t const *from, size_t *foundLength,
size_t maxLength);
static ReturnValue_t convertFromCCS(timeval *to, uint8_t pField, uint8_t const *from,
size_t *foundLength, size_t maxLength);
@ -192,8 +211,8 @@ class CCSDSTime : public HasReturnvaluesIF {
static uint32_t subsecondsToMicroseconds(uint16_t subseconds);
private:
CCSDSTime();
virtual ~CCSDSTime();
CCSDSTime(){};
virtual ~CCSDSTime(){};
/**
* checks a ccs time stream for validity
*
@ -223,7 +242,6 @@ class CCSDSTime : public HasReturnvaluesIF {
uint8_t *day);
static bool isLeapYear(uint32_t year);
static ReturnValue_t convertTimevalToTimeOfDay(Clock::TimeOfDay_t *to, timeval *from);
};
#endif /* FSFW_TIMEMANAGER_CCSDSTIME_H_ */

8
src/fsfw/timemanager/Clock.h
View File

@ -99,6 +99,13 @@ class Clock {
*/
static ReturnValue_t getDateAndTime(TimeOfDay_t *time);
/**
* Convert to time of day struct given the POSIX timeval struct
* @param from
* @param to
* @return
*/
static ReturnValue_t convertTimevalToTimeOfDay(const timeval *from, TimeOfDay_t *to);
/**
* Converts a time of day struct to POSIX seconds.
* @param time The time of day as input
@ -166,6 +173,7 @@ class Clock {
static MutexIF *timeMutex;
static uint16_t leapSeconds;
static bool leapSecondsSet;
};
#endif /* FSFW_TIMEMANAGER_CLOCK_H_ */

41
src/fsfw/timemanager/ClockCommon.cpp
View File

@ -1,7 +1,13 @@
#include <ctime>
#include "fsfw/ipc/MutexGuard.h"
#include "fsfw/timemanager/Clock.h"
ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval *tt) {
uint16_t Clock::leapSeconds = 0;
MutexIF* Clock::timeMutex = nullptr;
bool Clock::leapSecondsSet = false;
ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) {
uint16_t leapSeconds;
ReturnValue_t result = getLeapSeconds(&leapSeconds);
if (result != HasReturnvaluesIF::RETURN_OK) {
@ -27,12 +33,16 @@ ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
MutexGuard helper(timeMutex);
leapSeconds = leapSeconds_;
leapSecondsSet = true;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::getLeapSeconds(uint16_t *leapSeconds_) {
if (timeMutex == nullptr) {
ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
if (not leapSecondsSet) {
return HasReturnvaluesIF::RETURN_FAILED;
}
if (checkOrCreateClockMutex() != HasReturnvaluesIF::RETURN_OK) {
return HasReturnvaluesIF::RETURN_FAILED;
}
MutexGuard helper(timeMutex);
@ -42,9 +52,32 @@ ReturnValue_t Clock::getLeapSeconds(uint16_t *leapSeconds_) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::convertTimevalToTimeOfDay(const timeval* from, TimeOfDay_t* to) {
struct tm* timeInfo;
// According to https://en.cppreference.com/w/c/chrono/gmtime, the implementation of gmtime_s
// in the Windows CRT is incompatible with the C standard but this should not be an issue for
// this implementation
ReturnValue_t result = checkOrCreateClockMutex();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
MutexGuard helper(timeMutex);
// gmtime writes its output in a global buffer which is not Thread Safe
// Therefore we have to use a Mutex here
timeInfo = gmtime(&from->tv_sec);
to->year = timeInfo->tm_year + 1900;
to->month = timeInfo->tm_mon + 1;
to->day = timeInfo->tm_mday;
to->hour = timeInfo->tm_hour;
to->minute = timeInfo->tm_min;
to->second = timeInfo->tm_sec;
to->usecond = from->tv_usec;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::checkOrCreateClockMutex() {
if (timeMutex == nullptr) {
MutexFactory *mutexFactory = MutexFactory::instance();
MutexFactory* mutexFactory = MutexFactory::instance();
if (mutexFactory == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}

4
src/fsfw/tmtcpacket/SpacePacket.cpp
View File

@ -19,8 +19,8 @@ SpacePacket::SpacePacket(uint16_t packetDataLength, bool isTelecommand, uint16_t
SpacePacket::~SpacePacket(void) {}
bool SpacePacket::addWholeData(const uint8_t* p_Data, uint32_t packet_size) {
if (packet_size <= sizeof(this->data)) {
memcpy(&this->localData.byteStream, p_Data, packet_size);
if (packet_size <= sizeof(this->localData)) {
memcpy(this->localData.byteStream, p_Data, packet_size);
return true;
} else {
return false;

4
src/fsfw/tmtcservices/CommandingServiceBase.h
View File

@ -95,7 +95,7 @@ class CommandingServiceBase : public SystemObject,
*/
virtual ReturnValue_t performOperation(uint8_t opCode) override;
virtual uint16_t getIdentifier();
virtual uint16_t getIdentifier() override;
/**
* Returns the requestQueue MessageQueueId_t
@ -104,7 +104,7 @@ class CommandingServiceBase : public SystemObject,
*
* @return requestQueue messageQueueId_t
*/
virtual MessageQueueId_t getRequestQueue();
virtual MessageQueueId_t getRequestQueue() override;
/**
* Returns the commandQueue MessageQueueId_t

1
tests/src/fsfw_tests/unit/globalfunctions/CMakeLists.txt
View File

@ -3,4 +3,5 @@ target_sources(${FSFW_TEST_TGT} PRIVATE
testOpDivider.cpp
testBitutil.cpp
testCRC.cpp
testTimevalOperations.cpp
)

124
tests/src/fsfw_tests/unit/globalfunctions/testTimevalOperations.cpp Normal file
View File

@ -0,0 +1,124 @@
#include <fsfw/globalfunctions/timevalOperations.h>
#include <catch2/catch_approx.hpp>
#include <catch2/catch_test_macros.hpp>
#include "fsfw_tests/unit/CatchDefinitions.h"
TEST_CASE("TimevalTest", "[timevalOperations]") {
SECTION("Comparison") {
timeval t1;
t1.tv_sec = 1648227422;
t1.tv_usec = 123456;
timeval t2;
t2.tv_sec = 1648227422;
t2.tv_usec = 123456;
REQUIRE(t1 == t2);
REQUIRE(t2 == t1);
REQUIRE_FALSE(t1 != t2);
REQUIRE_FALSE(t2 != t1);
REQUIRE(t1 <= t2);
REQUIRE(t2 <= t1);
REQUIRE(t1 >= t2);
REQUIRE(t2 >= t1);
REQUIRE_FALSE(t1 < t2);
REQUIRE_FALSE(t2 < t1);
REQUIRE_FALSE(t1 > t2);
REQUIRE_FALSE(t2 > t1);
timeval t3;
t3.tv_sec = 1648227422;
t3.tv_usec = 123457;
REQUIRE_FALSE(t1 == t3);
REQUIRE(t1 != t3);
REQUIRE(t1 <= t3);
REQUIRE_FALSE(t3 <= t1);
REQUIRE_FALSE(t1 >= t3);
REQUIRE(t3 >= t1);
REQUIRE(t1 < t3);
REQUIRE_FALSE(t3 < t1);
REQUIRE_FALSE(t1 > t3);
REQUIRE(t3 > t1);
timeval t4;
t4.tv_sec = 1648227423;
t4.tv_usec = 123456;
REQUIRE_FALSE(t1 == t4);
REQUIRE(t1 != t4);
REQUIRE(t1 <= t4);
REQUIRE_FALSE(t4 <= t1);
REQUIRE_FALSE(t1 >= t4);
REQUIRE(t4 >= t1);
REQUIRE(t1 < t4);
REQUIRE_FALSE(t4 < t1);
REQUIRE_FALSE(t1 > t4);
REQUIRE(t4 > t1);
}
SECTION("Operators") {
timeval t1;
t1.tv_sec = 1648227422;
t1.tv_usec = 123456;
timeval t2;
t2.tv_sec = 1648227422;
t2.tv_usec = 123456;
timeval t3 = t1 - t2;
REQUIRE(t3.tv_sec == 0);
REQUIRE(t3.tv_usec == 0);
timeval t4 = t1 - t3;
REQUIRE(t4.tv_sec == 1648227422);
REQUIRE(t4.tv_usec == 123456);
timeval t5 = t3 - t1;
REQUIRE(t5.tv_sec == -1648227422);
REQUIRE(t5.tv_usec == -123456);
timeval t6;
t6.tv_sec = 1648227400;
t6.tv_usec = 999999;
timeval t7 = t6 + t1;
REQUIRE(t7.tv_sec == (1648227422ull + 1648227400ull + 1ull));
REQUIRE(t7.tv_usec == 123455);
timeval t8 = t1 - t6;
REQUIRE(t8.tv_sec == 1648227422 - 1648227400 - 1);
REQUIRE(t8.tv_usec == 123457);
double scalar = 2;
timeval t9 = t1 * scalar;
REQUIRE(t9.tv_sec == 3296454844);
REQUIRE(t9.tv_usec == 246912);
timeval t10 = scalar * t1;
REQUIRE(t10.tv_sec == 3296454844);
REQUIRE(t10.tv_usec == 246912);
timeval t11 = t6 * scalar;
REQUIRE(t11.tv_sec == (3296454800 + 1));
REQUIRE(t11.tv_usec == 999998);
timeval t12 = t1 / scalar;
REQUIRE(t12.tv_sec == 824113711);
REQUIRE(t12.tv_usec == 61728);
timeval t13 = t6 / scalar;
REQUIRE(t13.tv_sec == 824113700);
// Rounding issue
REQUIRE(t13.tv_usec == 499999);
double scalar2 = t9 / t1;
REQUIRE(scalar2 == Catch::Approx(2.0));
double scalar3 = t1 / t6;
REQUIRE(scalar3 == Catch::Approx(1.000000013));
double scalar4 = t3 / t1;
REQUIRE(scalar4 == Catch::Approx(0));
double scalar5 = t12 / t1;
REQUIRE(scalar5 == Catch::Approx(0.5));
}
SECTION("timevalOperations::toTimeval") {
double seconds = 1648227422.123456;
timeval t1 = timevalOperations::toTimeval(seconds);
REQUIRE(t1.tv_sec == 1648227422);
// Allow 1 usec rounding tolerance
REQUIRE(t1.tv_usec >= 123455);
REQUIRE(t1.tv_usec <= 123457);
}
}

4
tests/src/fsfw_tests/unit/mocks/MessageQueueMockBase.h
View File

@ -4,8 +4,8 @@
#include <cstring>
#include <queue>
#include "fsfw/ipc/MessageQueueBase.h"
#include "fsfw/ipc/CommandMessage.h"
#include "fsfw/ipc/MessageQueueBase.h"
#include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/ipc/MessageQueueMessage.h"
#include "fsfw_tests/unit/CatchDefinitions.h"
@ -13,7 +13,7 @@
class MessageQueueMockBase : public MessageQueueBase {
public:
MessageQueueMockBase()
: MessageQueueBase(MessageQueueIF::NO_QUEUE, MessageQueueIF::NO_QUEUE, nullptr) {}
: MessageQueueBase(MessageQueueIF::NO_QUEUE, MessageQueueIF::NO_QUEUE, nullptr) {}
uint8_t messageSentCounter = 0;
bool messageSent = false;

1
tests/src/fsfw_tests/unit/osal/CMakeLists.txt
View File

@ -1,4 +1,5 @@
target_sources(${FSFW_TEST_TGT} PRIVATE
TestMessageQueue.cpp
TestSemaphore.cpp
TestClock.cpp
)

86
tests/src/fsfw_tests/unit/osal/TestClock.cpp Normal file
View File

@ -0,0 +1,86 @@
#include <fsfw/globalfunctions/timevalOperations.h>
#include <fsfw/timemanager/Clock.h>
#include <array>
#include <catch2/catch_approx.hpp>
#include <catch2/catch_test_macros.hpp>
#include "fsfw_tests/unit/CatchDefinitions.h"
TEST_CASE("OSAL::Clock Test", "[OSAL::Clock Test]") {
SECTION("Test getClock") {
timeval time;
ReturnValue_t result = Clock::getClock_timeval(&time);
REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
Clock::TimeOfDay_t timeOfDay;
result = Clock::getDateAndTime(&timeOfDay);
REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
timeval timeOfDayAsTimeval;
result = Clock::convertTimeOfDayToTimeval(&timeOfDay, &timeOfDayAsTimeval);
REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
// We require timeOfDayAsTimeval to be larger than time as it
// was request a few ns later
double difference = timevalOperations::toDouble(timeOfDayAsTimeval - time);
CHECK(difference >= 0.0);
CHECK(difference <= 0.005);
// Conversion in the other direction
Clock::TimeOfDay_t timevalAsTimeOfDay;
result = Clock::convertTimevalToTimeOfDay(&time, &timevalAsTimeOfDay);
REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
CHECK(timevalAsTimeOfDay.year <= timeOfDay.year);
// TODO We should write TimeOfDay operators!
}
SECTION("Leap seconds") {
uint16_t leapSeconds = 0;
ReturnValue_t result = Clock::getLeapSeconds(&leapSeconds);
REQUIRE(result == HasReturnvaluesIF::RETURN_FAILED);
REQUIRE(leapSeconds == 0);
result = Clock::setLeapSeconds(18);
REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
result = Clock::getLeapSeconds(&leapSeconds);
REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
REQUIRE(leapSeconds == 18);
}
SECTION("usec Test") {
timeval timeAsTimeval;
ReturnValue_t result = Clock::getClock_timeval(&timeAsTimeval);
REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
uint64_t timeAsUsec = 0;
result = Clock::getClock_usecs(&timeAsUsec);
REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
double timeAsUsecDouble = static_cast<double>(timeAsUsec) / 1000000.0;
timeval timeAsUsecTimeval = timevalOperations::toTimeval(timeAsUsecDouble);
double difference = timevalOperations::toDouble(timeAsUsecTimeval - timeAsTimeval);
// We accept 5 ms difference
CHECK(difference >= 0.0);
CHECK(difference <= 0.005);
uint64_t timevalAsUint64 = static_cast<uint64_t>(timeAsTimeval.tv_sec) * 1000000ull +
static_cast<uint64_t>(timeAsTimeval.tv_usec);
CHECK((timeAsUsec - timevalAsUint64) >= 0);
CHECK((timeAsUsec - timevalAsUint64) <= (5 * 1000));
}
SECTION("Test j2000") {
double j2000;
timeval time;
time.tv_sec = 1648208539;
time.tv_usec = 0;
ReturnValue_t result = Clock::convertTimevalToJD2000(time, &j2000);
REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
double correctJ2000 = 2459663.98772 - 2451545.0;
CHECK(j2000 == Catch::Approx(correctJ2000).margin(1.2 * 1e-8));
}
SECTION("Convert to TT") {
timeval utcTime;
utcTime.tv_sec = 1648208539;
utcTime.tv_usec = 999000;
timeval tt;
ReturnValue_t result = Clock::setLeapSeconds(27);
REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
result = Clock::convertUTCToTT(utcTime, &tt);
REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
CHECK(tt.tv_usec == 183000);
// The plus 1 is a own forced overflow of usecs
CHECK(tt.tv_sec == (1648208539 + 27 + 10 + 32 + 1));
}
}

89
tests/src/fsfw_tests/unit/timemanager/TestCCSDSTime.cpp
View File

@ -81,7 +81,8 @@ TEST_CASE("CCSDSTime Tests", "[TestCCSDSTime]") {
std::string timeAscii = "2022-12-31T23:59:59.123Z";
Clock::TimeOfDay_t timeTo;
const uint8_t* timeChar = reinterpret_cast<const uint8_t*>(timeAscii.c_str());
CCSDSTime::convertFromASCII(&timeTo, timeChar, timeAscii.length());
auto result = CCSDSTime::convertFromASCII(&timeTo, timeChar, timeAscii.length());
REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
REQUIRE(timeTo.year == 2022);
REQUIRE(timeTo.month == 12);
REQUIRE(timeTo.day == 31);
@ -89,6 +90,19 @@ TEST_CASE("CCSDSTime Tests", "[TestCCSDSTime]") {
REQUIRE(timeTo.minute == 59);
REQUIRE(timeTo.second == 59);
REQUIRE(timeTo.usecond == Catch::Approx(123000));
std::string timeAscii2 = "2022-365T23:59:59.123Z";
const uint8_t* timeChar2 = reinterpret_cast<const uint8_t*>(timeAscii2.c_str());
Clock::TimeOfDay_t timeTo2;
result = CCSDSTime::convertFromCcsds(&timeTo2, timeChar2, timeAscii2.length());
REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
REQUIRE(timeTo2.year == 2022);
REQUIRE(timeTo2.month == 12);
REQUIRE(timeTo2.day == 31);
REQUIRE(timeTo2.hour == 23);
REQUIRE(timeTo2.minute == 59);
REQUIRE(timeTo2.second == 59);
REQUIRE(timeTo2.usecond == Catch::Approx(123000));
}
SECTION("CDS Conversions") {
@ -119,6 +133,7 @@ TEST_CASE("CCSDSTime Tests", "[TestCCSDSTime]") {
CHECK(cdsTime.msDay_h == 0xE0);
CHECK(cdsTime.msDay_l == 0xC5);
CHECK(cdsTime.msDay_ll == 0xC3);
CHECK(cdsTime.pField == CCSDSTime::P_FIELD_CDS_SHORT);
// Conversion back to timeval
timeval timeReturnAsTimeval;
@ -128,5 +143,77 @@ TEST_CASE("CCSDSTime Tests", "[TestCCSDSTime]") {
timeval difference = timeAsTimeval - timeReturnAsTimeval;
CHECK(difference.tv_usec == 456);
CHECK(difference.tv_sec == 0);
Clock::TimeOfDay_t timeReturnAsTimeOfDay;
result = CCSDSTime::convertFromCDS(&timeReturnAsTimeOfDay, &cdsTime);
CHECK(result == HasReturnvaluesIF::RETURN_OK);
CHECK(timeReturnAsTimeOfDay.year == 2020);
CHECK(timeReturnAsTimeOfDay.month == 2);
CHECK(timeReturnAsTimeOfDay.day == 29);
CHECK(timeReturnAsTimeOfDay.hour == 13);
CHECK(timeReturnAsTimeOfDay.minute == 24);
CHECK(timeReturnAsTimeOfDay.second == 45);
// micro seconds precision is lost
CHECK(timeReturnAsTimeOfDay.usecond == 123000);
Clock::TimeOfDay_t timeReturnAsTodFromBuffer;
const uint8_t* buffer = reinterpret_cast<const uint8_t*>(&cdsTime);
result = CCSDSTime::convertFromCDS(&timeReturnAsTodFromBuffer, buffer, sizeof(cdsTime));
REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
CHECK(timeReturnAsTodFromBuffer.year == time.year);
CHECK(timeReturnAsTodFromBuffer.month == time.month);
CHECK(timeReturnAsTodFromBuffer.day == time.day);
CHECK(timeReturnAsTodFromBuffer.hour == time.hour);
CHECK(timeReturnAsTodFromBuffer.minute == time.minute);
CHECK(timeReturnAsTodFromBuffer.second == time.second);
CHECK(timeReturnAsTodFromBuffer.usecond == 123000);
Clock::TimeOfDay_t todFromCCSDS;
result = CCSDSTime::convertFromCcsds(&todFromCCSDS, buffer, sizeof(cdsTime));
CHECK(result == HasReturnvaluesIF::RETURN_OK);
CHECK(todFromCCSDS.year == time.year);
CHECK(todFromCCSDS.month == time.month);
CHECK(todFromCCSDS.day == time.day);
CHECK(todFromCCSDS.hour == time.hour);
CHECK(todFromCCSDS.minute == time.minute);
CHECK(todFromCCSDS.second == time.second);
CHECK(todFromCCSDS.usecond == 123000);
}
SECTION("CUC") {
timeval to;
// seconds = 0x771E960F, microseconds = 0x237
// microseconds = 567000
// This gives 37158.912 1/65536 seconds -> rounded to 37159 -> 0x9127
// This results in -> 567001 us
std::array<uint8_t, 7> cucBuffer = {
CCSDSTime::P_FIELD_CUC_6B_CCSDS, 0x77, 0x1E, 0x96, 0x0F, 0x91, 0x27};
size_t foundLength = 0;
auto result = CCSDSTime::convertFromCUC(&to, cucBuffer.data(), &foundLength, cucBuffer.size());
REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
REQUIRE(foundLength == 7);
REQUIRE(to.tv_sec == 1619801999); // TAI (no leap seconds)
REQUIRE(to.tv_usec == 567001);
Clock::TimeOfDay_t tod;
result = CCSDSTime::convertFromCUC(&tod, cucBuffer.data(), cucBuffer.size());
// This test must be changed if this is ever going to be implemented
REQUIRE(result == CCSDSTime::UNSUPPORTED_TIME_FORMAT);
}
SECTION("CCSDS Failures") {
Clock::TimeOfDay_t time;
time.year = 2020;
time.month = 12;
time.day = 32;
time.hour = 13;
time.minute = 24;
time.second = 45;
time.usecond = 123456;
CCSDSTime::Ccs_mseconds to;
auto result = CCSDSTime::convertToCcsds(&to, &time);
REQUIRE(result == CCSDSTime::INVALID_TIME_FORMAT);
CCSDSTime::Ccs_seconds to2;
result = CCSDSTime::convertToCcsds(&to2, &time);
REQUIRE(result == CCSDSTime::INVALID_TIME_FORMAT);
}
}