Compare commits

...

247 Commits

Author SHA1 Message Date
38789e053b Merge branch 'bugfix_dhb_set_datapool_entries_invalid' into develop 2023-02-03 16:05:29 +01:00
4374c7c4f4 changelog 2023-02-03 16:01:56 +01:00
5343844be5 bugfix in setNormalDataPoolEntriesInvalid
Do not forget to call read and write to actually update the
validity state
2023-02-03 16:00:55 +01:00
e11eabdbcf bugfix in setNormalDataPoolEntriesInvalid
Do not forget to call read and write to actually update the
validity state
2023-02-03 15:58:26 +01:00
3250bbf269 changelog update 2023-02-02 18:34:24 +01:00
a78fe0a7f3 Merge pull request 'RM3100 Z-Value fix' (#123) from RM3100-fix into develop
Reviewed-on: #123
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>
2023-02-02 18:33:13 +01:00
acfc1cbf21 bump changelog 2023-02-02 18:31:40 +01:00
d17ec02cf0 fixed Z value calculation 2023-02-02 18:26:08 +01:00
e300490b93 Merge pull request 'Bugfix PUS packet creators Sequence flags' (#727) from eive/fsfw:bugfix_pus_packets_seq_flags into development
Reviewed-on: fsfw/fsfw#727
2023-02-02 17:22:29 +01:00
f2461cd7e9 helper method for commanding mode 2023-02-02 16:22:29 +01:00
01cc619e67 Merge branch 'bugfix_pus_packets_seq_flags' into develop 2023-02-01 20:52:08 +01:00
0f811777a7 changelog update 2023-02-01 20:49:53 +01:00
e93137939e set sequence flags for PUS TMTC to unsegmented 2023-02-01 20:48:26 +01:00
2339712373 set sequence flags for PUS TMTC to unsegmented 2023-02-01 20:46:48 +01:00
d9d253d3bb small but important bugfix for health service 2023-02-01 19:58:27 +01:00
bd586f6564 Merge branch 'updates_fixes_pus_time_service' into develop 2023-02-01 18:42:18 +01:00
1f88c006d9 update changelog 2023-02-01 18:42:09 +01:00
5f481739d8 Merge branch 'updates_fixes_pus_time_service' into develop 2023-02-01 18:39:51 +01:00
7e94baceef service 9 update
- fix time info event
- add time dump subservice
2023-02-01 18:39:23 +01:00
7ee83e4e5d service 9 update
- fix time info event
- add time dump subservice
2023-02-01 18:10:07 +01:00
64787f85ca update changelog 2023-02-01 17:42:06 +01:00
1cacceddad beatufil 2023-02-01 17:33:24 +01:00
5c35b8e3cd proper announce all impl 2023-02-01 17:07:38 +01:00
7766b24a1d re-order fields in TcpConfig 2023-01-30 14:24:28 +01:00
9a4ae550ab Merge branch 'develop' of https://egit.irs.uni-stuttgart.de/eive/fsfw into develop 2023-01-30 14:07:10 +01:00
c64b9b3e71 allow using SO_REUSEADDR and SO_REUSEPORT on TCP server 2023-01-30 14:05:39 +01:00
226818886f improve srv20 error messages 2023-01-28 14:31:32 +01:00
da12495335 connect mode tree parent: make health helper optional 2023-01-27 15:08:24 +01:00
049e3b431d small tweak for printout 2023-01-23 11:31:00 +01:00
bd189518b6 small tweak, gain factory was always them same 2023-01-20 11:10:05 +01:00
0e7c6b117f Merge pull request 'Service 11 TC Scheduler Robustness Improvements' (#720) from service_11_bugfixes into development
Reviewed-on: fsfw/fsfw#720
2023-01-13 13:33:19 +01:00
accaf855ee Merge remote-tracking branch 'upstream/service_11_bugfixes' into develop 2023-01-13 11:19:17 +01:00
75fa7caf25 Merge remote-tracking branch 'upstream/development' into develop 2023-01-13 11:19:09 +01:00
d16c5024dc small include improvement 2023-01-13 11:15:36 +01:00
a4531e4ced typo 2023-01-13 10:59:39 +01:00
97c629ad84 update changelog 2023-01-13 10:53:36 +01:00
bf12f284fa add size and crc check for contained TC 2023-01-13 10:53:04 +01:00
5bb66c9723 remove duplicate printout 2023-01-10 11:55:54 +01:00
8589f4d63a Merge pull request 'updates for source sequence counter' (#714) from eive/fsfw:source_seq_counter_update into development
Reviewed-on: fsfw/fsfw#714
2022-12-19 15:00:28 +01:00
ca80589233 make get const 2022-12-19 14:58:08 +01:00
f2ebaed092 Merge pull request 'vec getter, reset for content' (#716) from eive/fsfw:get_cmd_exec_read_buf into development
Reviewed-on: fsfw/fsfw#716
2022-12-19 14:56:11 +01:00
f0b89e98df Merge pull request 'printout handling improvements' (#717) from eive/fsfw:i2c_printout_improvements into development
Reviewed-on: fsfw/fsfw#717
2022-12-19 14:45:04 +01:00
05cad893a2 introduce error counter to avoid spam 2022-12-06 10:05:23 +01:00
5557d95994 Merge branch 'development' into i2c_printout_improvements 2022-12-05 14:20:58 +01:00
fc24c9b5d8 Merge branch 'development' into get_cmd_exec_read_buf 2022-12-05 14:20:52 +01:00
5b0ea91222 statically assert MAX_SIZE > 0 2022-11-29 23:24:29 +01:00
7ef69c839c Merge pull request 'small fix to allow teardown handling' (#713) from eive/fsfw:mueller/shutdown_for_failed_to_on_transition into development
Reviewed-on: fsfw/fsfw#713
2022-11-28 14:30:15 +01:00
9b798d798e Merge pull request 'DLE parser' (#711) from eive/fsfw:mueller/dle_parser into development
Reviewed-on: fsfw/fsfw#711
2022-11-28 14:13:18 +01:00
8eb869e073 run black 2022-11-28 11:21:36 +01:00
b13453f46b vec getter, reset for content 2022-11-28 08:43:54 +01:00
d0e322d7e2 printout handling improvements 2022-11-28 08:42:08 +01:00
46a1c2bace remove data wrapper 2022-11-28 08:35:10 +01:00
2643ff194c Merge remote-tracking branch 'upstream/development' into develop 2022-11-28 08:34:04 +01:00
ecde164f68 updates for source sequence counter 2022-11-28 08:30:45 +01:00
50930b41ba Merge remote-tracking branch 'upstream/development' into mueller/dle_parser 2022-11-28 08:27:24 +01:00
d6ee2ed400 Merge pull request 'AcceptsTelemetryIF tweaks' (#712) from eive/fsfw:mueller/accepts_tm_if_adaptions into development
Reviewed-on: fsfw/fsfw#712
2022-11-21 16:30:43 +01:00
f2150ff9c2 Merge pull request 'only delete table entry if not nullptr' (#710) from eive/fsfw:mueller/health_helper_bugfix into development
Reviewed-on: fsfw/fsfw#710
2022-11-21 16:24:13 +01:00
1b9c98f3fe Merge pull request 'uio able to resolve symlinks now' (#709) from eive/fsfw:mueller/uio_mapper_handle_symlinks into development
Reviewed-on: fsfw/fsfw#709
2022-11-21 16:14:36 +01:00
742152b28e Merge branch 'development' into mueller/accepts_tm_if_adaptions 2022-11-21 15:29:35 +01:00
bf4ca56658 Merge branch 'development' into mueller/shutdown_for_failed_to_on_transition 2022-11-21 15:29:11 +01:00
16ffa00155 Merge branch 'development' into mueller/dle_parser 2022-11-21 15:28:34 +01:00
14c681c93a Merge branch 'development' into mueller/uio_mapper_handle_symlinks 2022-11-21 15:27:06 +01:00
0958c3a00e Merge branch 'development' into mueller/health_helper_bugfix 2022-11-21 15:24:51 +01:00
d699d16307 Merge pull request 'SP reader getPacketData is const now' (#708) from eive/fsfw:mueller/sp_reader_const_get_data into development
Reviewed-on: fsfw/fsfw#708
2022-11-21 15:23:39 +01:00
3b0fed733f Merge branch 'development' into mueller/uio_mapper_handle_symlinks 2022-11-21 15:23:15 +01:00
23d3812fe3 this is actually important 2022-11-21 15:22:25 +01:00
dec7db3ae2 Merge remote-tracking branch 'upstream/development' into mueller/accepts_tm_if_adaptions 2022-11-21 15:00:06 +01:00
65a5abab49 move free call 2022-11-21 14:56:08 +01:00
0129783e34 Merge branch 'development' into mueller/sp_reader_const_get_data 2022-11-21 14:50:44 +01:00
cabe0868ec Merge pull request 'move container returnvalues to namespace' (#707) from eive/fsfw:mueller/update_containers_retval into development
Reviewed-on: fsfw/fsfw#707
2022-11-21 14:49:44 +01:00
f05295bada small fix to allow teardown handling 2022-11-17 15:16:29 +01:00
160ff799ac small fix to allow teardown handling 2022-11-17 15:09:08 +01:00
b85ca64690 update changelog 2022-11-15 11:48:28 +01:00
3bc3da5a8d update changelog 2022-11-15 11:47:26 +01:00
f8c07ec9cf update changelog 2022-11-15 11:46:43 +01:00
8199b8f359 bump changelog 2022-11-15 11:45:39 +01:00
cbc8dbcdd4 update changelog 2022-11-15 11:44:45 +01:00
d31a5306f0 fix mock 2022-11-15 11:41:03 +01:00
a236a5ec50 adaptions for AcceptsTelemetryIF 2022-11-15 11:40:26 +01:00
03620970e2 function to get queue is const now 2022-11-15 11:38:32 +01:00
8fe8d810e9 only delete table if not nullptr 2022-11-15 11:27:31 +01:00
9483c2809d DLE parser 2022-11-15 11:26:53 +01:00
fe3d6bd432 uio able to resolve symlinks now 2022-11-15 10:56:46 +01:00
c5f91926c9 remove includes 2022-11-15 10:54:47 +01:00
be4a87535d remove data wrapper 2022-11-15 10:54:11 +01:00
99927b8e95 afmt 2022-11-15 10:53:38 +01:00
5e5eb82830 make warning switch protected 2022-11-15 10:53:14 +01:00
686dc97234 this is better / more correct 2022-11-15 10:52:47 +01:00
2a842666d5 SP reader getPacketData is const now 2022-11-15 10:46:46 +01:00
c013fcc1f5 move container retvals to namespace 2022-11-15 10:01:37 +01:00
1f58ba1f9b update changelog 2022-11-15 09:58:15 +01:00
002845108d Merge remote-tracking branch 'upstream/development' into develop_update 2022-11-14 15:05:47 +01:00
1b8fc2af19 Merge pull request 'CFDP Update' (#682) from mueller/cfdp-update-without-handlers into development
Reviewed-on: fsfw/fsfw#682
2022-11-14 15:04:43 +01:00
72d7c43445 updates for storage manager mock 2022-11-14 14:57:37 +01:00
ab9b6c8c89 Merge remote-tracking branch 'origin/development' into mueller/cfdp-update-without-handlers 2022-11-14 14:51:33 +01:00
69d338f9bb Merge pull request 'Local Pool Update Remove Add Data Ignore Fault Argument' (#701) from eive/fsfw:mueller/local-pool-update-remove-ignore-fault-arg into development
Reviewed-on: fsfw/fsfw#701
2022-11-14 14:49:34 +01:00
68223869d5 Merge branch 'development' into mueller/local-pool-update-remove-ignore-fault-arg 2022-11-14 14:47:07 +01:00
93fda71989 Merge pull request 'refactoring of serial drivers for linux' (#705) from eive/fsfw:mueller/refactor_serial_linux into development
Reviewed-on: fsfw/fsfw#705
2022-11-14 14:39:41 +01:00
7b0db08962 Merge branch 'development' into mueller/refactor_serial_linux 2022-11-14 14:36:31 +01:00
0956fbc740 Merge pull request 'fix compiler warning for fixed array list copy ctor' (#704) from eive/fsfw:mueller/fixed_array_list_copy_ctor into development
Reviewed-on: fsfw/fsfw#704
2022-11-14 14:28:46 +01:00
b48e0fdc0d Merge remote-tracking branch 'origin/development' into mueller/cfdp-update-without-handlers 2022-11-14 14:25:36 +01:00
1d084ee22f Merge branch 'development' into mueller/fixed_array_list_copy_ctor 2022-11-14 14:21:04 +01:00
1bea2344f6 remove using declaraction 2022-11-14 14:21:00 +01:00
d7e16a67a7 Merge pull request 'Windows Tweaks' (#691) from eive/fsfw:windows-tweaks-upstream into development
Reviewed-on: fsfw/fsfw#691
2022-11-14 14:18:47 +01:00
6021d897b8 Merge branch 'development' into windows-tweaks-upstream 2022-11-14 14:13:57 +01:00
83a6f0b5f8 reenable setup function call 2022-11-14 14:12:26 +01:00
a9c6c088f2 remove leftover debugging code 2022-11-14 14:08:38 +01:00
e03e7f5260 Merge branch 'mueller/refactor_serial_linux' into develop 2022-11-11 11:37:55 +01:00
b6a3c206cc smaller include tweaks 2022-11-11 11:34:58 +01:00
5b352978c5 rename cookie class 2022-11-11 11:33:35 +01:00
819a298b19 refactoring of serial drivers for linux 2022-11-10 17:50:21 +01:00
39946bff58 some renaming and tweaks for linux serial driver 2022-11-10 17:31:11 +01:00
16246d6ece replace other memcpy 2022-11-10 16:18:36 +01:00
5c84f12440 this not crash 2022-11-10 16:15:52 +01:00
2a203ae13d this not crash 2022-11-10 16:15:28 +01:00
6ca1a5c796 fix unittests 2022-11-10 16:11:05 +01:00
83c2c4825c fix compiler error for fixed array list copy ctor 2022-11-10 15:54:03 +01:00
194b3e100a fix compiler error for fixed array list copy ctor 2022-11-10 15:53:18 +01:00
177c39dd53 helper interface implementations 2022-11-10 15:38:34 +01:00
530a261e14 dedicated header file for container retvals 2022-11-10 15:12:18 +01:00
c913fe40bf tweaks 2022-11-09 17:54:08 +01:00
70ec08bf1d Merge pull request 'missing include' (#703) from KSat/fsfw:mueller/time_reader_include into development
Reviewed-on: fsfw/fsfw#703
2022-11-09 16:59:25 +01:00
ef23665d9c Merge branch 'development' into mueller/time_reader_include 2022-11-09 16:39:55 +01:00
eefc122292 Merge pull request 'defaultconfig did not build anymore' (#702) from mohr/fix_defaultconfig into development
Reviewed-on: fsfw/fsfw#702
2022-11-09 14:12:41 +01:00
bee33526a1 missing include 2022-11-09 13:49:40 +01:00
0e8f5ddd26 added missing const specifier 2022-11-08 11:07:56 +01:00
672fca5169 extend uart helper a bit 2022-11-04 11:08:23 +01:00
84b9d1ce21 Merge pull request 'dhb2normal' (#115) from eive/dhb2normal into develop
Reviewed-on: #115
2022-11-03 15:32:26 +01:00
e5b5c7d253 higher default MQ depth for events, printout tweak 2022-11-03 10:33:52 +01:00
9a0cc64be3 Merge branch 'develop' into eive/dhb2normal 2022-11-03 10:12:19 +01:00
00f1c5bbe9 missing replacements 2022-11-03 10:12:05 +01:00
8a61af779d Merge remote-tracking branch 'origin/develop' into eive/dhb2normal 2022-11-03 10:10:47 +01:00
6efa482eb0 use uniform uart api 2022-11-03 10:10:36 +01:00
f0fa1bf477 Merge remote-tracking branch 'origin/develop' into eive/dhb2normal 2022-11-03 10:08:35 +01:00
91ebf98c28 add new ping with data TC 2022-11-02 19:35:22 +01:00
e1d4209fbe missing fifo pop command 2022-11-02 16:07:00 +01:00
e302c89f74 health helper dtor bugfix 2022-11-02 15:48:13 +01:00
a38279f813 Merge branch 'develop' into eive/dhb2normal 2022-11-02 10:47:25 +01:00
7600ed1ea7 Merge pull request 'Improve Subsystem DHB logic' (#112) from mueller/improve-ss-dhb-logic into develop
Reviewed-on: #112
2022-11-02 10:32:25 +01:00
61ab770d9d Merge branch 'develop' into mueller/improve-ss-dhb-logic 2022-11-02 10:31:43 +01:00
033676ad3b smaller fixes for DHB 2022-10-28 10:30:48 +02:00
e2eeccce50 Merge remote-tracking branch 'upstream/mohr/dhb2normal' into mohr/dhb2normal 2022-10-28 10:17:37 +02:00
f805667779 afmt 2022-10-28 10:16:59 +02:00
af06969905 Merge remote-tracking branch 'upstream/mohr/dhb2normal' into mohr/dhb2normal 2022-10-28 10:15:40 +02:00
2461209169 Merge remote-tracking branch 'upstream/development' into develop 2022-10-28 10:10:20 +02:00
f715b65d6e Merge remote-tracking branch 'upstream/development' into mueller/local-pool-update-remove-ignore-fault-arg 2022-10-28 10:06:04 +02:00
c11af63015 Merge remote-tracking branch 'origin/development' into mueller/cfdp-update-without-handlers 2022-10-28 10:04:21 +02:00
852f27cec2 Merge remote-tracking branch 'origin/develop' into mueller/improve-ss-dhb-logic 2022-10-27 16:58:30 +02:00
226dc4d8b7 UIO mapper can handle symlinks now 2022-10-27 14:01:35 +02:00
fa01798ebb Merge remote-tracking branch 'origin/develop' into mueller/improve-ss-dhb-logic 2022-10-27 08:30:30 +02:00
bddc7a7ca6 minimal first version 2022-10-26 13:22:16 +02:00
11a22577be defaultconfig did not build anymore 2022-10-25 11:28:13 +02:00
dc1583c932 Merge branch 'development' into windows-tweaks-upstream 2022-10-24 17:10:44 +02:00
94f1f1f908 Merge pull request 'Refactor TM and TC acceptor interfaces' (#684) from mueller/refactor-accepts-tc-tm-if into development
Reviewed-on: fsfw/fsfw#684
2022-10-24 17:10:03 +02:00
81a7de2814 make dtor virtual 2022-10-24 16:39:32 +02:00
d26f230bee builds 2022-10-24 15:43:20 +02:00
4db124c680 ignore fault 2022-10-24 15:41:29 +02:00
955579c856 Merge branch 'development' into mueller/refactor-accepts-tc-tm-if 2022-10-24 14:57:38 +02:00
2df66c9304 Merge branch 'mueller/local-pool-update' of https://egit.irs.uni-stuttgart.de/fsfw/fsfw into mueller/local-pool-update 2022-10-24 14:39:11 +02:00
54ad6b3016 add some docs 2022-10-24 14:39:05 +02:00
73e313c35b Merge branch 'development' into mueller/local-pool-update 2022-10-24 14:35:24 +02:00
c6585c8645 Merge pull request 'important bugfix for linux i2c device com IF' (#700) from eive/fsfw:mueller/i2c-com-if-bugfix into development
Reviewed-on: fsfw/fsfw#700
2022-10-24 14:35:01 +02:00
dd2f42d22b Merge branch 'development' into mueller/local-pool-update 2022-10-24 14:34:56 +02:00
d8a4675842 bump changelog 2022-10-24 14:30:14 +02:00
1164c21ddd iter not a member anymore, more bugfixes 2022-10-24 14:23:43 +02:00
11422a658c Merge remote-tracking branch 'origin/develop' into mueller/improve-ss-dhb-logic 2022-10-21 15:35:27 +02:00
ec7566fb8c Merge remote-tracking branch 'origin/develop' into mueller/improve-ss-dhb-logic 2022-10-20 16:59:53 +02:00
77b1a85b47 important bugfix for i2c device com IF 2022-10-20 14:24:40 +02:00
652c31a683 missing validity check 2022-10-17 17:25:27 +02:00
bfe120636c this should have the same effect 2022-10-17 15:08:46 +02:00
a8041f220f Merge branch 'development' into mueller/cfdp-update-without-handlers 2022-10-17 14:44:28 +02:00
dd636b186b size check bugfix 2022-10-17 14:30:27 +02:00
3349fc36f8 Merge branch 'development' into windows-tweaks-upstream 2022-10-17 14:20:48 +02:00
f3e9277e59 Merge branch 'development' into mueller/refactor-accepts-tc-tm-if 2022-10-10 15:45:05 +02:00
d592f1ecbc Merge pull request 'Minor API tweak' (#689) from eive/fsfw:mueller/smaller-tweaks into development
Reviewed-on: fsfw/fsfw#689
2022-10-10 15:10:57 +02:00
6ec18171a8 Merge pull request 'now that doc server is up, remove markdown files' (#688) from mueller/remove-markdown-docs into development
Reviewed-on: fsfw/fsfw#688
2022-10-10 15:04:11 +02:00
518dcdef4b Merge branch 'development' into mueller/smaller-tweaks 2022-10-10 15:03:04 +02:00
d9730032fd Merge pull request 'DHB Countdown Bug' (#693) from eive/fsfw:mueller/dhb-countdown-bug into development
Reviewed-on: fsfw/fsfw#693
2022-10-10 14:55:43 +02:00
b3ac72b7db Merge pull request 'missing retval conv' (#697) from mueller/missing-retval-conversion into development
Reviewed-on: fsfw/fsfw#697
2022-10-10 14:54:26 +02:00
cd0cb43412 Merge branch 'development' into mueller/missing-retval-conversion 2022-10-10 14:46:10 +02:00
32c12b3dbf Merge pull request 'small fix for helper' (#698) from mueller/small-helper-script-fix into development
Reviewed-on: fsfw/fsfw#698
2022-10-10 14:43:59 +02:00
3e9acf476e Merge branch 'development' into mueller/small-helper-script-fix 2022-10-10 14:25:49 +02:00
99101ce2bf Merge pull request 'hotfix' (#699) from eive/fsfw:mueller/dhb-some-more-fixes into development
Reviewed-on: fsfw/fsfw#699
2022-10-10 14:22:30 +02:00
6b991045f7 Merge branch 'development' into mueller/smaller-tweaks 2022-10-10 13:41:47 +02:00
df06064df0 Merge branch 'development' into windows-tweaks-upstream 2022-10-10 13:41:09 +02:00
1d6ccfe5ab Service 200: Add mode announcement support 2022-10-10 11:06:58 +02:00
221df7ece6 allow recursive mode announcements 2022-10-10 10:46:29 +02:00
7f180ac1fa Merge remote-tracking branch 'origin/develop' into mueller/improve-ss-dhb-logic 2022-10-10 10:29:08 +02:00
337cb0d6c9 hotfix 2022-10-10 10:21:17 +02:00
c283e0c988 okay this is correct 2022-10-04 11:02:08 +02:00
448d20f3bd small fix for helper 2022-10-04 10:55:46 +02:00
2316728d74 Merge branch 'development' into mueller/dhb-countdown-bug 2022-10-04 10:53:26 +02:00
6f562e5f3e missing retval conv 2022-10-04 10:25:58 +02:00
1eceef4645 move retvals 2022-09-30 15:05:32 +02:00
176f243194 Merge pull request 'Switch to new documentation server' (#694) from mohr/documentation_ci into development
Reviewed-on: fsfw/fsfw#694
2022-09-30 15:05:16 +02:00
d964fa2107 Merge branch 'development' into mohr/documentation_ci 2022-09-30 14:50:20 +02:00
7b5ae6a445 done? 2022-09-30 14:40:59 +02:00
8e362a000c Revert "one last check"
This reverts commit 7877776e24.
2022-09-30 14:36:25 +02:00
7877776e24 one last check 2022-09-30 14:34:25 +02:00
acab5f6bce added missing health and mode helper init 2022-09-30 14:14:45 +02:00
10dd855244 expose child itself in interface 2022-09-30 13:30:07 +02:00
f824004897 need to fix all of these TODOs 2022-09-29 19:39:37 +02:00
7c5308429c this seems to work 2022-09-29 19:21:24 +02:00
f78344b8fb Merge remote-tracking branch 'origin/develop' into mueller/improve-ss-dhb-logic 2022-09-29 17:46:54 +02:00
3de0ae5a48 DHB bug 2022-09-29 17:22:44 +02:00
77f7fa2ef1 typo 2022-09-29 16:48:23 +02:00
78314ad966 this makes a bit more sense 2022-09-29 16:47:23 +02:00
e0c780f21c better comment 2022-09-28 09:59:31 +02:00
876815b1c9 another small windows tweak 2022-09-28 09:59:22 +02:00
b0ecf87580 last windows tweak 2022-09-28 09:59:12 +02:00
68ce8b5b08 tweaks to make windows build again 2022-09-28 09:59:02 +02:00
fe03da6def Merge remote-tracking branch 'origin/development' into mueller/cfdp-update-without-handlers 2022-09-26 15:38:45 +02:00
95ac53c417 Merge branch 'development' into mueller/smaller-tweaks 2022-09-26 14:40:29 +02:00
62f638a3d2 Merge pull request 'doc corrections' (#687) from mueller/doc-corrections into development
Reviewed-on: fsfw/fsfw#687
2022-09-26 14:38:39 +02:00
bd64591f30 Merge branch 'development' into mueller/smaller-tweaks 2022-09-26 14:34:38 +02:00
e6a877f048 Merge branch 'development' into mueller/doc-corrections 2022-09-26 14:26:48 +02:00
ea8c557ee8 Merge pull request 'better error printout' (#686) from eive/fsfw:mueller/local-pool-obj-base-better-warning into development
Reviewed-on: fsfw/fsfw#686
2022-09-26 14:26:20 +02:00
0bdd780f82 Merge branch 'development' into mueller/doc-corrections 2022-09-26 14:17:24 +02:00
9ec397c8b7 Merge branch 'development' into mueller/local-pool-obj-base-better-warning 2022-09-26 14:17:19 +02:00
c54d9d7ba6 add some tests 2022-09-26 14:15:11 +02:00
30c03c110c Merge pull request 'include correction' (#683) from mueller/service-interface-include-correction into development
Reviewed-on: fsfw/fsfw#683
2022-09-26 14:14:57 +02:00
69f1be263a Merge branch 'development' into mueller/local-pool-obj-base-better-warning 2022-09-26 14:10:21 +02:00
c7b5309dcb Merge branch 'development' into mueller/service-interface-include-correction 2022-09-26 14:08:38 +02:00
775d5632de update to ssh connection to doc server 2022-09-23 20:26:45 +02:00
4f3361eb2b another ci check 2022-09-23 18:33:47 +02:00
9e6c1d60e5 another ci check 2022-09-23 17:54:41 +02:00
12d0c23c13 Revert "testing deployment of documentation"
This reverts commit 5488ee715f.
2022-09-23 17:31:17 +02:00
5c3bb13834 Revert "testing deployment of both development and master doc"
This reverts commit c0000a8635.
2022-09-23 17:31:07 +02:00
292fe3e5e4 forgot epilog file 2022-09-23 17:11:57 +02:00
33530f2819 adding Impressum and Datenschutz to lcov output 2022-09-23 17:04:35 +02:00
c0000a8635 testing deployment of both development and master doc 2022-09-23 14:14:10 +02:00
5488ee715f testing deployment of documentation 2022-09-23 14:07:12 +02:00
0fea22d031 switching to rsync and deploying to web documentation 2022-09-23 14:06:28 +02:00
3b8ca09299 prepared docker for documentation rsync 2022-09-23 13:46:03 +02:00
9a2146fa2d added impressum and datenschutz in sphinx documentation 2022-09-23 11:36:29 +02:00
558550ecb9 Merge branch 'development' into mueller/smaller-tweaks 2022-09-16 18:37:39 +02:00
bcbbc9763a markdown update not required, will be removed 2022-09-15 14:00:01 +02:00
0042372cb6 now that doc server is up, remove markdown files 2022-09-15 13:58:13 +02:00
8dea13742f update rst file 2022-09-15 13:57:39 +02:00
0f027d29d2 doc corrections 2022-09-15 13:53:42 +02:00
ce7146e468 printout tweak 2022-09-15 13:40:12 +02:00
a681a4a797 better error printout 2022-09-15 13:38:38 +02:00
83b7b8707c Merge remote-tracking branch 'origin/development' into mueller/refactor-accepts-tc-tm-if 2022-09-15 11:01:19 +02:00
4002b74ea2 Merge branch 'development' into mueller/service-interface-include-correction 2022-09-15 11:01:06 +02:00
4f7f8310c9 Merge remote-tracking branch 'origin/development' into mueller/local-pool-update 2022-09-15 11:00:43 +02:00
6eea711d9f Merge branch 'development' into mueller/service-interface-include-correction 2022-09-15 10:48:28 +02:00
9d626e0a5d include correction 2022-09-14 19:59:02 +02:00
117 changed files with 1300 additions and 1534 deletions

View File

@ -12,28 +12,52 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
## Fixes ## Fixes
- Bugfix for RM3100 MGM sensors. Z value was previously calculated
with bytes of the X value.
- DHB `setNormalDatapoolEntriesInvalid`: The default implementation did not set the validity
to false correctly because the `read` and `write` calls were missing.
- PUS TMTC creator module: Sequence flags were set to continuation segment (0b00) instead
of the correct unsegmented flags (0b11) as specified in the standard.
- `Service9TimeManagement`: Fix the time dump at the `SET_TIME` subservice: Include clock timeval
seconds instead of uptime.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/726
- TC Scheduler Service 11: Add size and CRC check for contained TC.
- Only delete health table entry in `HealthHelper` destructor if
health table was set.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/710/files
- I2C Bugfixes: Do not keep iterator as member and fix some incorrect handling with the iterator.
Also properly reset the reply size for successfull transfers and erroneous transfers.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/700
- Bugfix for Serial Buffer Stream: Setting `doActive` to false now - Bugfix for Serial Buffer Stream: Setting `doActive` to false now
actually fully disables printing. actually fully disables printing.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/680 PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/680
- `TcpTmTcServer.cpp`: The server was actually not able to handle - `TcpTmTcServer.cpp`: The server was actually not able to handle
CCSDS packets which were clumped together. This has been fixed now. CCSDS packets which were clumped together. This has been fixed now.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/673 PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/673
- `CServiceHealthCommanding`: Add announce all health info implementation
PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/122
## Added ## Added
- DHB TM handler `handleDeviceTM` renamed to `handleDeviceTm` and now takes - `Service9TimeManagement`: Add `DUMP_TIME` (129) subservice.
`util::DataWrapper` as the data input argument. This allows more flexibility in the possible - `DleParser` helper class to parse DLE encoded packets from a byte stream.
types of telemetry. PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/711
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/669 - `UioMapper` is able to resolve symlinks now.
- Add `util::DataWrapper` class inside the `util` module. This is a tagged union which allows PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/709
to specify raw data either as a classic C-style raw pointer and size or as a `SerializeIF`
pointer.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/668
- Add new `UnsignedByteField` class - Add new `UnsignedByteField` class
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/660 PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/660
## Changes ## Changes
- `CService201HealthCommanding` renamed to `CServiceHealthCommanding`,
service ID customizable now. `CServiceHealthCommanding` expects configuration struct
`HealthServiceCfg` now
PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/122
- `AcceptsTelemetryIF`: `getReportReceptionQueue` is const now
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/712
- Moved some container returnvalues to dedicated header and namespace
to they can be used without template specification.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/707
- Remove default secondary header argument for - Remove default secondary header argument for
`uint16_t getTcSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag)` and `uint16_t getTcSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag)` and
`uint16_t getTmSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag)` `uint16_t getTmSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag)`
@ -62,6 +86,10 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
- `DeviceHandlerBase`: New signature of `handleDeviceTm` which expects - `DeviceHandlerBase`: New signature of `handleDeviceTm` which expects
a `const SerializeIF&` and additional helper variant which expects `const uint8_t*` a `const SerializeIF&` and additional helper variant which expects `const uint8_t*`
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/671 PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/671
- Move some generic `StorageManagerIF` implementations from `LocalPool` to
interface itself so it can be re-used more easily. Also add new
abstract function `bool hasDataAtId(store_address_t storeId) const`.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/685
- Improvements for `AcceptsTelemetryIF` and `AcceptsTelecommandsIF`: - Improvements for `AcceptsTelemetryIF` and `AcceptsTelecommandsIF`:
- Make functions `const` where it makes sense - Make functions `const` where it makes sense
- Add `const char* getName const` abstract function - Add `const char* getName const` abstract function

View File

@ -122,6 +122,7 @@ if(UNIX)
option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add Linux peripheral drivers" option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add Linux peripheral drivers"
OFF) OFF)
option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Attempt to add Linux GPIOD drivers" OFF) option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Attempt to add Linux GPIOD drivers" OFF)
option(FSFW_HAL_LINUX_ADD_SERIAL_DRIVERS "Add serial drivers" ON)
endif() endif()
# Optional sources # Optional sources
@ -326,7 +327,8 @@ if(FSFW_BUILD_TESTS)
"/usr/local/include/*" "/usr/local/include/*"
"*/fsfw_tests/*" "*/fsfw_tests/*"
"*/catch2-src/*" "*/catch2-src/*"
"*/fsfw_hal/*") "*/fsfw_hal/*"
"unittests/*")
endif() endif()
target_link_options(${FSFW_TEST_TGT} PRIVATE -fprofile-arcs target_link_options(${FSFW_TEST_TGT} PRIVATE -fprofile-arcs
@ -344,8 +346,15 @@ if(FSFW_BUILD_TESTS)
DEPENDENCIES ${FSFW_TEST_TGT}) DEPENDENCIES ${FSFW_TEST_TGT})
else() else()
setup_target_for_coverage_lcov( setup_target_for_coverage_lcov(
NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT} NAME
DEPENDENCIES ${FSFW_TEST_TGT}) ${FSFW_TEST_TGT}_coverage
EXECUTABLE
${FSFW_TEST_TGT}
DEPENDENCIES
${FSFW_TEST_TGT}
GENHTML_ARGS
--html-epilog
${CMAKE_SOURCE_DIR}/unittests/lcov_epilog.html)
endif() endif()
endif() endif()
endif() endif()

View File

@ -5,7 +5,7 @@ RUN apt-get --yes upgrade
#tzdata is a dependency, won't install otherwise #tzdata is a dependency, won't install otherwise
ARG DEBIAN_FRONTEND=noninteractive ARG DEBIAN_FRONTEND=noninteractive
RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping python3 pip doxygen graphviz RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping python3 pip doxygen graphviz rsync
RUN python3 -m pip install sphinx breathe RUN python3 -m pip install sphinx breathe
@ -23,3 +23,7 @@ RUN git clone https://github.com/ETLCPP/etl.git && \
#ssh needs a valid user to work #ssh needs a valid user to work
RUN adduser --uid 114 jenkins RUN adduser --uid 114 jenkins
#add documentation server to known hosts
RUN echo "|1|/LzCV4BuTmTb2wKnD146l9fTKgQ=|NJJtVjvWbtRt8OYqFgcYRnMQyVw= ecdsa-sha2-nistp256 AAAAE2VjZHNhLXNoYTItbmlzdHAyNTYAAAAIbmlzdHAyNTYAAABBBNL8ssTonYtgiR/6RRlSIK9WU1ywOcJmxFTLcEblAwH7oifZzmYq3XRfwXrgfMpylEfMFYfCU8JRqtmi19xc21A=" >> /etc/ssh/ssh_known_hosts
RUN echo "|1|CcBvBc3EG03G+XM5rqRHs6gK/Gg=|oGeJQ+1I8NGI2THIkJsW92DpTzs= ecdsa-sha2-nistp256 AAAAE2VjZHNhLXNoYTItbmlzdHAyNTYAAAAIbmlzdHAyNTYAAABBBNL8ssTonYtgiR/6RRlSIK9WU1ywOcJmxFTLcEblAwH7oifZzmYq3XRfwXrgfMpylEfMFYfCU8JRqtmi19xc21A=" >> /etc/ssh/ssh_known_hosts

View File

@ -5,7 +5,7 @@ pipeline {
} }
agent { agent {
docker { docker {
image 'fsfw-ci:d5' image 'fsfw-ci:d6'
args '--network host' args '--network host'
} }
} }
@ -52,14 +52,12 @@ pipeline {
sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..' sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..'
sh 'make Sphinx' sh 'make Sphinx'
sshagent(credentials: ['documentation-buildfix']) { sshagent(credentials: ['documentation-buildfix']) {
sh 'ssh -o StrictHostKeyChecking=no buildfix@documentation.intra.irs.uni-stuttgart.de rm -rf /mnt/data/www/html/fsfw/development/*' sh 'rsync -r --delete docs/sphinx/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/development'
sh 'scp -o StrictHostKeyChecking=no -r docs/sphinx/* buildfix@documentation.intra.irs.uni-stuttgart.de:/mnt/data/www/html/fsfw/development'
} }
} }
dir(BUILDDIR) { dir(BUILDDIR) {
sshagent(credentials: ['documentation-buildfix']) { sshagent(credentials: ['documentation-buildfix']) {
sh 'ssh -o StrictHostKeyChecking=no buildfix@documentation.intra.irs.uni-stuttgart.de rm -rf /mnt/data/www/html/fsfw/coverage/development/*' sh 'rsync -r --delete fsfw-tests_coverage/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/coverage/development'
sh 'scp -o StrictHostKeyChecking=no -r fsfw-tests_coverage/* buildfix@documentation.intra.irs.uni-stuttgart.de:/mnt/data/www/html/fsfw/coverage/development'
} }
} }
} }
@ -73,14 +71,12 @@ pipeline {
sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..' sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..'
sh 'make Sphinx' sh 'make Sphinx'
sshagent(credentials: ['documentation-buildfix']) { sshagent(credentials: ['documentation-buildfix']) {
sh 'ssh -o StrictHostKeyChecking=no buildfix@documentation.intra.irs.uni-stuttgart.de rm -rf /mnt/data/www/html/fsfw/master/*' sh 'rsync -r --delete docs/sphinx/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/master'
sh 'scp -o StrictHostKeyChecking=no -r docs/sphinx/* buildfix@documentation.intra.irs.uni-stuttgart.de:/mnt/data/www/html/fsfw/master'
} }
} }
dir(BUILDDIR) { dir(BUILDDIR) {
sshagent(credentials: ['documentation-buildfix']) { sshagent(credentials: ['documentation-buildfix']) {
sh 'ssh -o StrictHostKeyChecking=no buildfix@documentation.intra.irs.uni-stuttgart.de rm -rf /mnt/data/www/html/fsfw/coverage/master/*' sh 'rsync -r --delete fsfw-tests_coverage/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/coverage/master'
sh 'scp -o StrictHostKeyChecking=no -r fsfw-tests_coverage/* buildfix@documentation.intra.irs.uni-stuttgart.de:/mnt/data/www/html/fsfw/coverage/master'
} }
} }
} }

View File

@ -140,7 +140,7 @@ find_program( GCOV_PATH gcov )
find_program( LCOV_PATH NAMES lcov lcov.bat lcov.exe lcov.perl) find_program( LCOV_PATH NAMES lcov lcov.bat lcov.exe lcov.perl)
find_program( FASTCOV_PATH NAMES fastcov fastcov.py ) find_program( FASTCOV_PATH NAMES fastcov fastcov.py )
find_program( GENHTML_PATH NAMES genhtml genhtml.perl genhtml.bat ) find_program( GENHTML_PATH NAMES genhtml genhtml.perl genhtml.bat )
find_program( GCOVR_PATH gcovr PATHS ${CMAKE_SOURCE_DIR}/scripts/test) find_program( GCOVR_PATH gcovr )
find_program( CPPFILT_PATH NAMES c++filt ) find_program( CPPFILT_PATH NAMES c++filt )
if(NOT GCOV_PATH) if(NOT GCOV_PATH)

View File

@ -1,40 +0,0 @@
Configuring the FSFW
======
The FSFW can be configured via the `fsfwconfig` folder. A template folder has
been provided to have a starting point for this. The folder should be added
to the include path. The primary configuration file is the `FSFWConfig.h` folder. Some
of the available options will be explained in more detail here.
# Auto-Translation of Events
The FSFW allows the automatic translation of events, which allows developers to track triggered
events directly via console output. Using this feature requires:
1. `FSFW_OBJ_EVENT_TRANSLATION` set to 1 in the configuration file.
2. Special auto-generated translation files which translate event IDs and object IDs into
human readable strings. These files can be generated using the
[modgen Python scripts](https://git.ksat-stuttgart.de/source/modgen.git).
3. The generated translation files for the object IDs should be named `translatesObjects.cpp`
and `translateObjects.h` and should be copied to the `fsfwconfig/objects` folder
4. The generated translation files for the event IDs should be named `translateEvents.cpp` and
`translateEvents.h` and should be copied to the `fsfwconfig/events` folder
An example implementations of these translation file generators can be found as part
of the [SOURCE project here](https://git.ksat-stuttgart.de/source/sourceobsw/-/tree/development/generators)
or the [FSFW example](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example_public/src/branch/master/generators)
## Configuring the Event Manager
The number of allowed subscriptions can be modified with the following
parameters:
``` c++
namespace fsfwconfig {
//! 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;
}
```

View File

@ -1 +0,0 @@
## Controllers

View File

@ -1,55 +0,0 @@
## FSFW Core Modules
These core modules provide the most important functionalities of the
Flight Software Framework
### Clock
* This is a class of static functions that can be used at anytime
* Leap Seconds must be set if any time conversions from UTC to other times is used
### ObjectManager
* Must be created during program startup
* The component which handles all references. All SystemObjects register at this component.
* Any SystemObject needs to have a unique ObjectId. Those can be managed like objects::framework_objects.
* A reference to an object can be get by calling the following function. T must be the specific Interface you want to call.
A nullptr check of the returning Pointer must be done. This function is based on Run-time type information.
```cpp
template <typename T> T* ObjectManagerIF::get( object_id_t id )
```
* A typical way to create all objects on startup is a handing a static produce function to the
ObjectManager on creation. By calling objectManager->initialize() the produce function will be
called and all SystemObjects will be initialized afterwards.
### Event Manager
* Component which allows routing of events
* Other objects can subscribe to specific events, ranges of events or all events of an object.
* Subscriptions can be done during runtime but should be done during initialization
* Amounts of allowed subscriptions can be configured in `FSFWConfig.h`
### Health Table
* A component which holds every health state
* Provides a thread safe way to access all health states without the need of message exchanges
### Stores
* The message based communication can only exchange a few bytes of information inside the message
itself. Therefore, additional information can be exchanged with Stores. With this, only the
store address must be exchanged in the message.
* Internally, the FSFW uses an IPC Store to exchange data between processes. For incoming TCs a TC
Store is used. For outgoing TM a TM store is used.
* All of them should use the Thread Safe Class storagemanager/PoolManager
### Tasks
There are two different types of tasks:
* The PeriodicTask just executes objects that are of type ExecutableObjectIF in the order of the
insertion to the Tasks.
* FixedTimeslotTask executes a list of calls in the order of the given list. This is intended for
DeviceHandlers, where polling should be in a defined order. An example can be found in
`defaultcfg/fsfwconfig/pollingSequence` folder

View File

@ -1 +0,0 @@
## Device Handlers

View File

@ -1,135 +0,0 @@
High-level overview
======
# Structure
The general structure is driven by the usage of interfaces provided by objects.
The FSFW uses C++11 as baseline. The intention behind this is that this C++ Standard should be
widely available, even with older compilers.
The FSFW uses dynamic allocation during the initialization but provides static containers during runtime.
This simplifies the instantiation of objects and allows the usage of some standard containers.
Dynamic Allocation after initialization is discouraged and different solutions are provided in the
FSFW to achieve that. The fsfw uses run-time type information but exceptions are not allowed.
# Failure Handling
Functions should return a defined `ReturnValue_t` to signal to the caller that something has
gone wrong. Returnvalues must be unique. For this the function `returnvalue::makeCode`
or the macro `MAKE_RETURN` can be used. The `CLASS_ID` is a unique id for that type of object.
See `returnvalues/FwClassIds` folder. The user can add custom `CLASS_ID`s via the
`fsfwconfig` folder.
# OSAL
The FSFW provides operation system abstraction layers for Linux, FreeRTOS and RTEMS.
The OSAL provides periodic tasks, message queues, clocks and semaphores as well as mutexes.
The [OSAL README](doc/README-osal.md#top) provides more detailed information on provided components
and how to use them.
# Core Components
The FSFW has following core components. More detailed informations can be found in the
[core component section](doc/README-core.md#top):
1. Tasks: Abstraction for different (periodic) task types like periodic tasks or tasks
with fixed timeslots
2. ObjectManager: This module stores all `SystemObjects` by mapping a provided unique object ID
to the object handles.
3. Static Stores: Different stores are provided to store data of variable size (like telecommands
or small telemetry) in a pool structure without using dynamic memory allocation.
These pools are allocated up front.
3. Clock: This module provided common time related functions
4. EventManager: This module allows routing of events generated by `SystemObjects`
5. HealthTable: A component which stores the health states of objects
# Static IDs in the framework
Some parts of the framework use a static routing address for communication.
An example setup of ids can be found in the example config in `defaultcft/fsfwconfig/objects`
inside the function `Factory::setStaticFrameworkObjectIds()`.
# Events
Events are tied to objects. EventIds can be generated by calling the Macro MAKE_EVENT.
This works analog to the returnvalues. Every object that needs own EventIds has to get a
unique SUBSYSTEM_ID. Every SystemObject can call triggerEvent from the parent class.
Therefore, event messages contain the specific EventId and the objectId of the object that
has triggered.
# Internal Communication
Components communicate mostly via Messages through Queues.
Those queues are created by calling the singleton `QueueFactory::instance()->create()` which
will create `MessageQueue` instances for the used OSAL.
# External Communication
The external communication with the mission control system is mostly up to the user implementation.
The FSFW provides PUS Services which can be used to but don't need to be used.
The services can be seen as a conversion from a TC to a message based communication and back.
## TMTC Communication
The FSFW provides some components to facilitate TMTC handling via the PUS commands.
For example, a UDP or TCP PUS server socket can be opened on a specific port using the
files located in `osal/common`. The FSFW example uses this functionality to allow sending telecommands
and receiving telemetry using the [TMTC commander application](https://github.com/spacefisch/tmtccmd).
Simple commands like the PUS Service 17 ping service can be tested by simply running the
`tmtc_client_cli.py` or `tmtc_client_gui.py` utility in
the [example tmtc folder](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example_public/src/branch/master/tmtc)
while the `fsfw_example` application is running.
More generally, any class responsible for handling incoming telecommands and sending telemetry
can implement the generic `TmTcBridge` class located in `tmtcservices`. Many applications
also use a dedicated polling task for reading telecommands which passes telecommands
to the `TmTcBridge` implementation.
## CCSDS Frames, CCSDS Space Packets and PUS
If the communication is based on CCSDS Frames and Space Packets, several classes can be used to
distributed the packets to the corresponding services. Those can be found in `tcdistribution`.
If Space Packets are used, a timestamper has to be provided by the user.
An example can be found in the `timemanager` folder, which uses `CCSDSTime::CDS_short`.
# Device Handlers
DeviceHandlers are another important component of the FSFW.
The idea is, to have a software counterpart of every physical device to provide a simple mode,
health and commanding interface. By separating the underlying Communication Interface with
`DeviceCommunicationIF`, a device handler (DH) can be tested on different hardware.
The DH has mechanisms to monitor the communication with the physical device which allow
for FDIR reaction. Device Handlers can be created by implementing `DeviceHandlerBase`.
A standard FDIR component for the DH will be created automatically but can
be overwritten by the user. More information on DeviceHandlers can be found in the
related [documentation section](doc/README-devicehandlers.md#top).
# Modes and Health
The two interfaces `HasModesIF` and `HasHealthIF` provide access for commanding and monitoring
of components. On-board Mode Management is implement in hierarchy system.
DeviceHandlers and Controllers are the lowest part of the hierarchy.
The next layer are Assemblies. Those assemblies act as a component which handle
redundancies of handlers. Assemblies share a common core with the next level which
are the Subsystems.
Those Assemblies are intended to act as auto-generated components from a database which describes
the subsystem modes. The definitions contain transition and target tables which contain the DH,
Assembly and Controller Modes to be commanded.
Transition tables contain as many steps as needed to reach the mode from any other mode, e.g. a
switch into any higher AOCS mode might first turn on the sensors, than the actuators and the
controller as last component.
The target table is used to describe the state that is checked continuously by the subsystem.
All of this allows System Modes to be generated as Subsystem object as well from the same database.
This System contains list of subsystem modes in the transition and target tables.
Therefore, it allows a modular system to create system modes and easy commanding of those, because
only the highest components must be commanded.
The health state represents if the component is able to perform its tasks.
This can be used to signal the system to avoid using this component instead of a redundant one.
The on-board FDIR uses the health state for isolation and recovery.
# Unit Tests
Unit Tests are provided in the unittest folder. Those use the catch2 framework but do not include
catch2 itself. More information on how to run these tests can be found in the separate
[`fsfw_tests` reposoitory](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_tests)

View File

@ -1,174 +0,0 @@
## Local Data Pools Developer Information
The following text is targeted towards mission software developers which would like
to use the local data pools provided by the FSFW to store data like sensor values so they can be
used by other software objects like controllers as well. If a custom class should have a local
pool which can be used by other software objects as well, following steps have to be performed:
1. Create a `LocalDataPoolManager` member object in the custom class
2. Implement the `HasLocalDataPoolIF` with specifies the interface between the local pool manager
and the class owning the local pool.
The local data pool manager is also able to process housekeeping service requests in form
of messages, generate periodic housekeeping packet, generate notification and snapshots of changed
variables and datasets and process notifications and snapshots coming from other objects.
The two former tasks are related to the external interface using telemetry and telecommands (TMTC)
while the later two are related to data consumers like controllers only acting on data change
detected by the data creator instead of checking the data manually each cycle. Two important
framework classes `DeviceHandlerBase` and `ExtendedControllerBase` already perform the two steps
shown above so the steps required are altered slightly.
### Storing and Accessing pool data
The pool manager is responsible for thread-safe access of the pool data, but the actual
access to the pool data from the point of view of a mission software developer happens via proxy
classes like pool variable classes. These classes store a copy
of the pool variable with the matching datatype and copy the actual data from the local pool
on a `read` call. Changed variables can then be written to the local pool with a `commit` call.
The `read` and `commit` calls are thread-safe and can be called concurrently from data creators
and data consumers. Generally, a user will create a dataset class which in turn groups all
cohesive pool variables. These sets simply iterator over the list of variables and call the
`read` and `commit` functions of each variable. The following diagram shows the
high-level architecture of the local data pools.
.. image:: ../misc/logo/FSFW_Logo_V3_bw.png
:alt: FSFW Logo
An example is shown for using the local data pools with a Gyroscope.
For example, the following code shows an implementation to access data from a Gyroscope taken
from the SOURCE CubeSat project:
```cpp
class GyroPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
public:
/**
* Constructor for data users
* @param gyroId
*/
GyroPrimaryDataset(object_id_t gyroId):
StaticLocalDataSet(sid_t(gyroId, gyrodefs::GYRO_DATA_SET_ID)) {
setAllVariablesReadOnly();
}
lp_var_t<float> angVelocityX = lp_var_t<float>(sid.objectId,
gyrodefs::ANGULAR_VELOCITY_X, this);
lp_var_t<float> angVelocityY = lp_var_t<float>(sid.objectId,
gyrodefs::ANGULAR_VELOCITY_Y, this);
lp_var_t<float> angVelocityZ = lp_var_t<float>(sid.objectId,
gyrodefs::ANGULAR_VELOCITY_Z, this);
private:
friend class GyroHandler;
/**
* Constructor for data creator
* @param hkOwner
*/
GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
StaticLocalDataSet(hkOwner, gyrodefs::GYRO_DATA_SET_ID) {}
};
```
There is a public constructor for users which sets all variables to read-only and there is a
constructor for the GyroHandler data creator by marking it private and declaring the `GyroHandler`
as a friend class. Both the atittude controller and the `GyroHandler` can now
use the same class definition to access the pool variables with `read` and `commit` semantics
in a thread-safe way. Generally, each class requiring access will have the set class as a member
class. The data creator will also be generally a `DeviceHandlerBase` subclass and some additional
steps are necessary to expose the set for housekeeping purposes.
### Using the local data pools in a `DeviceHandlerBase` subclass
It is very common to store data generated by devices like a sensor into a pool which can
then be used by other objects. Therefore, the `DeviceHandlerBase` already has a
local pool. Using the aforementioned example, our `GyroHandler` will now have the set class
as a member:
```cpp
class GyroHandler: ... {
public:
...
private:
...
GyroPrimaryDataset gyroData;
...
};
```
The constructor used for the creators expects the owner class as a parameter, so we initialize
the object in the `GyroHandler` constructor like this:
```cpp
GyroHandler::GyroHandler(object_id_t objectId, object_id_t comIF,
CookieIF *comCookie, uint8_t switchId):
DeviceHandlerBase(objectId, comIF, comCookie), switchId(switchId),
gyroData(this) {}
```
We need to assign the set to a reply ID used in the `DeviceHandlerBase`.
The combination of the `GyroHandler` object ID and the reply ID will be the 64-bit structure ID
`sid_t` and is used to globally identify the set, for example when requesting housekeeping data or
generating update messages. We need to assign our custom set class in some way so that the local
pool manager can access the custom data sets as well.
By default, the `getDataSetHandle` will take care of this tasks. The default implementation for a
`DeviceHandlerBase` subclass will use the internal command map to retrieve
a handle to a dataset from a given reply ID. Therefore,
we assign the set in the `fillCommandAndReplyMap` function:
```cpp
void GyroHandler::fillCommandAndReplyMap() {
...
this->insertInCommandAndReplyMap(gyrodefs::GYRO_DATA, 3, &gyroData);
...
}
```
Now, we need to create the actual pool entries as well, using the `initializeLocalDataPool`
function. Here, we also immediately subscribe for periodic housekeeping packets
with an interval of 4 seconds. They are still disabled in this example and can be enabled
with a housekeeping service command.
```cpp
ReturnValue_t GyroHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_X,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Y,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Z,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(gyrodefs::GENERAL_CONFIG_REG42,
new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(gyrodefs::RANGE_CONFIG_REG43,
new PoolEntry<uint8_t>({0}));
poolManager.subscribeForPeriodicPacket(gyroData.getSid(), false, 4.0, false);
return returnvalue::OK;
}
```
Now, if we receive some sensor data and converted them into the right format,
we can write it into the pool like this, using a guard class to ensure the set is commited back
in any case:
```cpp
PoolReadGuard readHelper(&gyroData);
if(readHelper.getReadResult() == returnvalue::OK) {
if(not gyroData.isValid()) {
gyroData.setValidity(true, true);
}
gyroData.angVelocityX = angularVelocityX;
gyroData.angVelocityY = angularVelocityY;
gyroData.angVelocityZ = angularVelocityZ;
}
```
The guard class will commit the changed data on destruction automatically.
### Using the local data pools in a `ExtendedControllerBase` subclass
Coming soon

View File

@ -1,32 +0,0 @@
# Operating System Abstraction Layer (OSAL)
Some specific information on the provided OSALs are provided.
## Linux OSAL
This OSAL can be used to compile for Linux host systems like Ubuntu 20.04 or for
embedded Linux targets like the Raspberry Pi. This OSAL generally requires threading support
and real-time functionalities. For most UNIX systems, this is done by adding `-lrt` and `-lpthread` to the linked libraries in the compilation process. The CMake build support provided will do this automatically for the `fsfw` target. It should be noted that most UNIX systems need to be configured specifically to allow the real-time functionalities required by the FSFW.
More information on how to set up a Linux system accordingly can be found in the
[Linux README of the FSFW example application](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example/src/branch/master/doc/README-linux.md#top)
## Hosted OSAL
This is the newest OSAL. Support for Semaphores has not been implemented yet and will propably be implemented as soon as C++20 with Semaphore support has matured. This OSAL can be used to run the FSFW on any host system, but currently has only been tested on Windows 10 and Ubuntu 20.04. Unlike the other OSALs, it uses dynamic memory allocation (e.g. for the message queue implementation). Cross-platform serial port (USB) support might be added soon.
## FreeRTOS OSAL
FreeRTOS is not included and the developer needs to take care of compiling the FreeRTOS sources and adding the `FreeRTOSConfig.h` file location to the include path. This OSAL has only been tested extensively with the pre-emptive scheduler configuration so far but it should in principle also be possible to use a cooperative scheduler. It is recommended to use the `heap_4` allocation scheme. When using newlib (nano), it is also recommended to add `#define configUSE_NEWLIB_REENTRANT` to the FreeRTOS configuration file to ensure thread-safety.
When using this OSAL, developers also need to provide an implementation for the `vRequestContextSwitchFromISR` function. This has been done because the call to request a context switch from an ISR is generally located in the `portmacro.h` header and is different depending on the target architecture or device.
## RTEMS OSAL
The RTEMS OSAL was the first implemented OSAL which is also used on the active satellite Flying Laptop.
## TCP/IP socket abstraction
The Linux and Host OSAL provide abstraction layers for the socket API. Currently, only UDP sockets have been imlemented. This is very useful to test TMTC handling either on the host computer directly (targeting localhost with a TMTC application) or on embedded Linux devices, sending TMTC packets via Ethernet.

View File

@ -1 +0,0 @@
## PUS Services

View File

@ -50,6 +50,14 @@ exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
# #
html_theme = "alabaster" html_theme = "alabaster"
html_theme_options = {
"extra_nav_links": {
"Impressum": "https://www.uni-stuttgart.de/impressum",
"Datenschutz": "https://info.irs.uni-stuttgart.de/datenschutz/datenschutzWebmit.html",
}
}
# Add any paths that contain custom static files (such as style sheets) here, # Add any paths that contain custom static files (such as style sheets) here,
# relative to this directory. They are copied after the builtin static files, # relative to this directory. They are copied after the builtin static files,
# so a file named "default.css" will overwrite the builtin "default.css". # so a file named "default.css" will overwrite the builtin "default.css".

View File

@ -6,15 +6,14 @@ High-level overview
Structure Structure
---------- ----------
The general structure is driven by the usage of interfaces provided by objects. The general structure is driven by the usage of interfaces provided by objects.
The FSFW uses C++17 as baseline. The FSFW uses C++17 as baseline. Most modern compilers like GCC should have support for this
It also uses dynamic allocation during the initialization but provides standard, even for micocontrollers.
static containers during runtime.
This simplifies the instantiation of objects and allows the usage of some The FSFW might use dynamic allocation during program initialization but not during runtime.
standard containers. It offers pool objects, static containers and it also exposes the
Dynamic Allocation after initialization is discouraged and different solutions `Embedded Template Library <https://www.etlcpp.com/>`_ to allow writing code which does not perform
are provided in the FSFW to achieve that. The fsfw uses run-time type allocation during runtime. The fsfw uses run-time type information but will not throw exceptions.
information but will not throw exceptions.
Failure Handling Failure Handling
----------------- -----------------

View File

@ -207,7 +207,7 @@ def check_for_cmake_build_dir(build_dir_list: list) -> list:
def perform_lcov_operation(directory: str, chdir: bool): def perform_lcov_operation(directory: str, chdir: bool):
if chdir: if chdir:
os.chdir(directory) os.chdir(directory)
cmd_runner("cmake --build . -- fsfw-tests_coverage -j") cmd_runner("cmake --build . -j -- fsfw-tests_coverage")
def determine_build_dir(build_dir_list: List[str]): def determine_build_dir(build_dir_list: List[str]):

View File

@ -4,6 +4,7 @@
#include "../returnvalues/returnvalue.h" #include "../returnvalues/returnvalue.h"
#include "../serialize/SerializeAdapter.h" #include "../serialize/SerializeAdapter.h"
#include "../serialize/SerializeIF.h" #include "../serialize/SerializeIF.h"
#include "definitions.h"
/** /**
* @brief A List that stores its values in an array. * @brief A List that stores its values in an array.
@ -19,9 +20,6 @@ class ArrayList {
friend class SerialArrayListAdapter; friend class SerialArrayListAdapter;
public: public:
static const uint8_t INTERFACE_ID = CLASS_ID::ARRAY_LIST;
static const ReturnValue_t FULL = MAKE_RETURN_CODE(0x01);
/** /**
* This is the allocating constructor. * This is the allocating constructor.
* It allocates an array of the specified size. * It allocates an array of the specified size.
@ -187,7 +185,7 @@ class ArrayList {
*/ */
ReturnValue_t insert(T entry) { ReturnValue_t insert(T entry) {
if (size >= maxSize_) { if (size >= maxSize_) {
return FULL; return containers::LIST_FULL;
} }
entries[size] = entry; entries[size] = entry;
++size; ++size;

View File

@ -12,6 +12,7 @@ template <typename T, size_t MAX_SIZE, typename count_t = uint8_t>
class FixedArrayList : public ArrayList<T, count_t> { class FixedArrayList : public ArrayList<T, count_t> {
static_assert(MAX_SIZE <= std::numeric_limits<count_t>::max(), static_assert(MAX_SIZE <= std::numeric_limits<count_t>::max(),
"count_t is not large enough to hold MAX_SIZE"); "count_t is not large enough to hold MAX_SIZE");
static_assert(MAX_SIZE > 0, "MAX_SIZE is 0");
private: private:
T data[MAX_SIZE]; T data[MAX_SIZE];
@ -20,15 +21,19 @@ class FixedArrayList : public ArrayList<T, count_t> {
FixedArrayList() : ArrayList<T, count_t>(data, MAX_SIZE) {} FixedArrayList() : ArrayList<T, count_t>(data, MAX_SIZE) {}
FixedArrayList(const FixedArrayList& other) : ArrayList<T, count_t>(data, MAX_SIZE) { FixedArrayList(const FixedArrayList& other) : ArrayList<T, count_t>(data, MAX_SIZE) {
memcpy(this->data, other.data, sizeof(this->data));
this->entries = data; this->entries = data;
this->size = other.size; this->size = other.size;
for (size_t idx = 0; idx < this->size; idx++) {
data[idx] = other.data[idx];
}
} }
FixedArrayList& operator=(FixedArrayList other) { FixedArrayList& operator=(FixedArrayList other) {
memcpy(this->data, other.data, sizeof(this->data));
this->entries = data; this->entries = data;
this->size = other.size; this->size = other.size;
for (size_t idx = 0; idx < this->size; idx++) {
data[idx] = other.data[idx];
}
return *this; return *this;
} }

View File

@ -4,8 +4,8 @@
#include <type_traits> #include <type_traits>
#include <utility> #include <utility>
#include "../returnvalues/returnvalue.h"
#include "ArrayList.h" #include "ArrayList.h"
#include "definitions.h"
/** /**
* @brief Map implementation for maps with a pre-defined size. * @brief Map implementation for maps with a pre-defined size.
@ -24,11 +24,6 @@ class FixedMap : public SerializeIF {
"derived class from SerializeIF to be serialize-able"); "derived class from SerializeIF to be serialize-able");
public: public:
static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MAP;
static const ReturnValue_t KEY_ALREADY_EXISTS = MAKE_RETURN_CODE(0x01);
static const ReturnValue_t MAP_FULL = MAKE_RETURN_CODE(0x02);
static const ReturnValue_t KEY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x03);
private: private:
static const key_t EMPTY_SLOT = -1; static const key_t EMPTY_SLOT = -1;
ArrayList<std::pair<key_t, T>, uint32_t> theMap; ArrayList<std::pair<key_t, T>, uint32_t> theMap;
@ -76,10 +71,10 @@ class FixedMap : public SerializeIF {
ReturnValue_t insert(key_t key, T value, Iterator* storedValue = nullptr) { ReturnValue_t insert(key_t key, T value, Iterator* storedValue = nullptr) {
if (exists(key) == returnvalue::OK) { if (exists(key) == returnvalue::OK) {
return KEY_ALREADY_EXISTS; return containers::KEY_ALREADY_EXISTS;
} }
if (_size == theMap.maxSize()) { if (_size == theMap.maxSize()) {
return MAP_FULL; return containers::MAP_FULL;
} }
theMap[_size].first = key; theMap[_size].first = key;
theMap[_size].second = value; theMap[_size].second = value;
@ -93,7 +88,7 @@ class FixedMap : public SerializeIF {
ReturnValue_t insert(std::pair<key_t, T> pair) { return insert(pair.first, pair.second); } ReturnValue_t insert(std::pair<key_t, T> pair) { return insert(pair.first, pair.second); }
ReturnValue_t exists(key_t key) const { ReturnValue_t exists(key_t key) const {
ReturnValue_t result = KEY_DOES_NOT_EXIST; ReturnValue_t result = containers::KEY_DOES_NOT_EXIST;
if (findIndex(key) < _size) { if (findIndex(key) < _size) {
result = returnvalue::OK; result = returnvalue::OK;
} }
@ -103,7 +98,7 @@ class FixedMap : public SerializeIF {
ReturnValue_t erase(Iterator* iter) { ReturnValue_t erase(Iterator* iter) {
uint32_t i; uint32_t i;
if ((i = findIndex((*iter).value->first)) >= _size) { if ((i = findIndex((*iter).value->first)) >= _size) {
return KEY_DOES_NOT_EXIST; return containers::KEY_DOES_NOT_EXIST;
} }
theMap[i] = theMap[_size - 1]; theMap[i] = theMap[_size - 1];
--_size; --_size;
@ -114,7 +109,7 @@ class FixedMap : public SerializeIF {
ReturnValue_t erase(key_t key) { ReturnValue_t erase(key_t key) {
uint32_t i; uint32_t i;
if ((i = findIndex(key)) >= _size) { if ((i = findIndex(key)) >= _size) {
return KEY_DOES_NOT_EXIST; return containers::KEY_DOES_NOT_EXIST;
} }
theMap[i] = theMap[_size - 1]; theMap[i] = theMap[_size - 1];
--_size; --_size;

View File

@ -0,0 +1,14 @@
#ifndef FSFW_CONTAINER_DEFINITIONS_H_
#define FSFW_CONTAINER_DEFINITIONS_H_
#include "fsfw/retval.h"
namespace containers {
static const ReturnValue_t KEY_ALREADY_EXISTS = returnvalue::makeCode(CLASS_ID::FIXED_MAP, 0x01);
static const ReturnValue_t MAP_FULL = returnvalue::makeCode(CLASS_ID::FIXED_MAP, 0x02);
static const ReturnValue_t KEY_DOES_NOT_EXIST = returnvalue::makeCode(CLASS_ID::FIXED_MAP, 0x03);
static const ReturnValue_t LIST_FULL = returnvalue::makeCode(CLASS_ID::ARRAY_LIST, 0x01);
} // namespace containers
#endif /* FSFW_CONTAINER_DEFINITIONS_H_ */

View File

@ -4,11 +4,10 @@
#include "fsfw/ipc/QueueFactory.h" #include "fsfw/ipc/QueueFactory.h"
#include "fsfw/objectmanager/ObjectManager.h" #include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/subsystem/SubsystemBase.h" #include "fsfw/subsystem/SubsystemBase.h"
#include "fsfw/subsystem/helper.h"
ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId, ControllerBase::ControllerBase(object_id_t setObjectId, size_t commandQueueDepth)
size_t commandQueueDepth)
: SystemObject(setObjectId), : SystemObject(setObjectId),
parentId(parentId),
mode(MODE_OFF), mode(MODE_OFF),
submode(SUBMODE_NONE), submode(SUBMODE_NONE),
modeHelper(this), modeHelper(this),
@ -21,33 +20,15 @@ ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
ControllerBase::~ControllerBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); } ControllerBase::~ControllerBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }
ReturnValue_t ControllerBase::initialize() { ReturnValue_t ControllerBase::initialize() {
ReturnValue_t result = SystemObject::initialize(); ReturnValue_t result = modeHelper.initialize();
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
return result; return result;
} }
result = healthHelper.initialize();
MessageQueueId_t parentQueue = 0;
if (parentId != objects::NO_OBJECT) {
auto* parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
if (parent == nullptr) {
return returnvalue::FAILED;
}
parentQueue = parent->getCommandQueue();
parent->registerChild(getObjectId());
}
result = healthHelper.initialize(parentQueue);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
return result; return result;
} }
return SystemObject::initialize();
result = modeHelper.initialize(parentQueue);
if (result != returnvalue::OK) {
return result;
}
return returnvalue::OK;
} }
MessageQueueId_t ControllerBase::getCommandQueue() const { return commandQueue->getId(); } MessageQueueId_t ControllerBase::getCommandQueue() const { return commandQueue->getId(); }
@ -120,3 +101,13 @@ void ControllerBase::setTaskIF(PeriodicTaskIF* task_) { executingTask = task_; }
void ControllerBase::changeHK(Mode_t mode_, Submode_t submode_, bool enable) {} void ControllerBase::changeHK(Mode_t mode_, Submode_t submode_, bool enable) {}
ReturnValue_t ControllerBase::initializeAfterTaskCreation() { return returnvalue::OK; } ReturnValue_t ControllerBase::initializeAfterTaskCreation() { return returnvalue::OK; }
const HasHealthIF* ControllerBase::getOptHealthIF() const { return this; }
const HasModesIF& ControllerBase::getModeIF() const { return *this; }
ModeTreeChildIF& ControllerBase::getModeTreeChildIF() { return *this; }
ReturnValue_t ControllerBase::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
return modetree::connectModeTreeParent(parent, *this, &healthHelper, modeHelper);
}

View File

@ -6,6 +6,9 @@
#include "fsfw/modes/HasModesIF.h" #include "fsfw/modes/HasModesIF.h"
#include "fsfw/modes/ModeHelper.h" #include "fsfw/modes/ModeHelper.h"
#include "fsfw/objectmanager/SystemObject.h" #include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/subsystem/HasModeTreeChildrenIF.h"
#include "fsfw/subsystem/ModeTreeChildIF.h"
#include "fsfw/subsystem/ModeTreeConnectionIF.h"
#include "fsfw/tasks/ExecutableObjectIF.h" #include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw/tasks/PeriodicTaskIF.h" #include "fsfw/tasks/PeriodicTaskIF.h"
@ -18,13 +21,18 @@
class ControllerBase : public HasModesIF, class ControllerBase : public HasModesIF,
public HasHealthIF, public HasHealthIF,
public ExecutableObjectIF, public ExecutableObjectIF,
public ModeTreeChildIF,
public ModeTreeConnectionIF,
public SystemObject { public SystemObject {
public: public:
static const Mode_t MODE_NORMAL = 2; static const Mode_t MODE_NORMAL = 2;
ControllerBase(object_id_t setObjectId, object_id_t parentId, size_t commandQueueDepth = 3); ControllerBase(object_id_t setObjectId, size_t commandQueueDepth = 3);
~ControllerBase() override; ~ControllerBase() override;
ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF &parent) override;
ModeTreeChildIF &getModeTreeChildIF() override;
/** SystemObject override */ /** SystemObject override */
ReturnValue_t initialize() override; ReturnValue_t initialize() override;
@ -38,6 +46,8 @@ class ControllerBase : public HasModesIF,
ReturnValue_t performOperation(uint8_t opCode) override; ReturnValue_t performOperation(uint8_t opCode) override;
void setTaskIF(PeriodicTaskIF *task) override; void setTaskIF(PeriodicTaskIF *task) override;
ReturnValue_t initializeAfterTaskCreation() override; ReturnValue_t initializeAfterTaskCreation() override;
const HasHealthIF *getOptHealthIF() const override;
const HasModesIF &getModeIF() const override;
protected: protected:
/** /**
@ -56,8 +66,6 @@ class ControllerBase : public HasModesIF,
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) override = 0; uint32_t *msToReachTheMode) override = 0;
const object_id_t parentId;
Mode_t mode; Mode_t mode;
Submode_t submode; Submode_t submode;

View File

@ -1,8 +1,7 @@
#include "fsfw/controller/ExtendedControllerBase.h" #include "fsfw/controller/ExtendedControllerBase.h"
ExtendedControllerBase::ExtendedControllerBase(object_id_t objectId, object_id_t parentId, ExtendedControllerBase::ExtendedControllerBase(object_id_t objectId, size_t commandQueueDepth)
size_t commandQueueDepth) : ControllerBase(objectId, commandQueueDepth),
: ControllerBase(objectId, parentId, commandQueueDepth),
poolManager(this, commandQueue), poolManager(this, commandQueue),
actionHelper(this, commandQueue) {} actionHelper(this, commandQueue) {}

View File

@ -17,7 +17,7 @@ class ExtendedControllerBase : public ControllerBase,
public HasActionsIF, public HasActionsIF,
public HasLocalDataPoolIF { public HasLocalDataPoolIF {
public: public:
ExtendedControllerBase(object_id_t objectId, object_id_t parentId, size_t commandQueueDepth = 3); ExtendedControllerBase(object_id_t objectId, size_t commandQueueDepth = 3);
~ExtendedControllerBase() override; ~ExtendedControllerBase() override;
/* SystemObjectIF overrides */ /* SystemObjectIF overrides */

View File

@ -1,7 +1,7 @@
#include "fsfw/devicehandlers/AssemblyBase.h" #include "fsfw/devicehandlers/AssemblyBase.h"
AssemblyBase::AssemblyBase(object_id_t objectId, object_id_t parentId, uint16_t commandQueueDepth) AssemblyBase::AssemblyBase(object_id_t objectId, uint16_t commandQueueDepth)
: SubsystemBase(objectId, parentId, MODE_OFF, commandQueueDepth), : SubsystemBase(objectId, MODE_OFF, commandQueueDepth),
internalState(STATE_NONE), internalState(STATE_NONE),
recoveryState(RECOVERY_IDLE), recoveryState(RECOVERY_IDLE),
recoveringDevice(childrenMap.end()), recoveringDevice(childrenMap.end()),

View File

@ -41,7 +41,7 @@ class AssemblyBase : public SubsystemBase {
static const ReturnValue_t NEED_TO_CHANGE_HEALTH = MAKE_RETURN_CODE(0x05); static const ReturnValue_t NEED_TO_CHANGE_HEALTH = MAKE_RETURN_CODE(0x05);
static const ReturnValue_t NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE = MAKE_RETURN_CODE(0xa1); static const ReturnValue_t NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE = MAKE_RETURN_CODE(0xa1);
AssemblyBase(object_id_t objectId, object_id_t parentId, uint16_t commandQueueDepth = 8); AssemblyBase(object_id_t objectId, uint16_t commandQueueDepth = 8);
virtual ~AssemblyBase(); virtual ~AssemblyBase();
protected: protected:

View File

@ -3,17 +3,12 @@
#include "fsfw/subsystem/SubsystemBase.h" #include "fsfw/subsystem/SubsystemBase.h"
ChildHandlerBase::ChildHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication, ChildHandlerBase::ChildHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
CookieIF* cookie, object_id_t hkDestination, CookieIF* cookie, HasModeTreeChildrenIF& parent,
uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId, FailureIsolationBase* customFdir, size_t cmdQueueSize)
object_id_t parent, FailureIsolationBase* customFdir,
size_t cmdQueueSize)
: DeviceHandlerBase(setObjectId, deviceCommunication, cookie, : DeviceHandlerBase(setObjectId, deviceCommunication, cookie,
(customFdir == nullptr ? &childHandlerFdir : customFdir), cmdQueueSize), (customFdir == nullptr ? &childHandlerFdir : customFdir), cmdQueueSize),
parentId(parent), parent(parent),
childHandlerFdir(setObjectId) { childHandlerFdir(setObjectId) {}
this->setHkDestination(hkDestination);
this->setThermalStateRequestPoolIds(thermalStatePoolId, thermalRequestPoolId);
}
ChildHandlerBase::~ChildHandlerBase() {} ChildHandlerBase::~ChildHandlerBase() {}
@ -23,21 +18,5 @@ ReturnValue_t ChildHandlerBase::initialize() {
return result; return result;
} }
MessageQueueId_t parentQueue = 0; return DeviceHandlerBase::connectModeTreeParent(parent);
if (parentId != objects::NO_OBJECT) {
SubsystemBase* parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
if (parent == NULL) {
return returnvalue::FAILED;
}
parentQueue = parent->getCommandQueue();
parent->registerChild(getObjectId());
}
healthHelper.setParentQueue(parentQueue);
modeHelper.setParentQueue(parentQueue);
return returnvalue::OK;
} }

View File

@ -1,22 +1,23 @@
#ifndef FSFW_DEVICEHANDLER_CHILDHANDLERBASE_H_ #ifndef FSFW_DEVICEHANDLER_CHILDHANDLERBASE_H_
#define FSFW_DEVICEHANDLER_CHILDHANDLERBASE_H_ #define FSFW_DEVICEHANDLER_CHILDHANDLERBASE_H_
#include <fsfw/subsystem/HasModeTreeChildrenIF.h>
#include "ChildHandlerFDIR.h" #include "ChildHandlerFDIR.h"
#include "DeviceHandlerBase.h" #include "DeviceHandlerBase.h"
class ChildHandlerBase : public DeviceHandlerBase { class ChildHandlerBase : public DeviceHandlerBase {
public: public:
ChildHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication, CookieIF* cookie, ChildHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication, CookieIF* cookie,
object_id_t hkDestination, uint32_t thermalStatePoolId, HasModeTreeChildrenIF& parent, FailureIsolationBase* customFdir = nullptr,
uint32_t thermalRequestPoolId, object_id_t parent = objects::NO_OBJECT, size_t cmdQueueSize = 20);
FailureIsolationBase* customFdir = nullptr, size_t cmdQueueSize = 20);
virtual ~ChildHandlerBase(); virtual ~ChildHandlerBase();
virtual ReturnValue_t initialize(); virtual ReturnValue_t initialize();
protected: protected:
const uint32_t parentId; HasModeTreeChildrenIF& parent;
ChildHandlerFDIR childHandlerFdir; ChildHandlerFDIR childHandlerFdir;
}; };

View File

@ -1,5 +1,6 @@
#include "fsfw/devicehandlers/DeviceHandlerBase.h" #include "DeviceHandlerBase.h"
#include "fsfw/datapool/PoolReadGuard.h"
#include "fsfw/datapoollocal/LocalPoolVariable.h" #include "fsfw/datapoollocal/LocalPoolVariable.h"
#include "fsfw/devicehandlers/AcceptsDeviceResponsesIF.h" #include "fsfw/devicehandlers/AcceptsDeviceResponsesIF.h"
#include "fsfw/devicehandlers/DeviceTmReportingWrapper.h" #include "fsfw/devicehandlers/DeviceTmReportingWrapper.h"
@ -12,6 +13,7 @@
#include "fsfw/serviceinterface/ServiceInterface.h" #include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/storagemanager/StorageManagerIF.h" #include "fsfw/storagemanager/StorageManagerIF.h"
#include "fsfw/subsystem/SubsystemBase.h" #include "fsfw/subsystem/SubsystemBase.h"
#include "fsfw/subsystem/helper.h"
#include "fsfw/thermal/ThermalComponentIF.h" #include "fsfw/thermal/ThermalComponentIF.h"
object_id_t DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT; object_id_t DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
@ -22,8 +24,6 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
CookieIF* comCookie, FailureIsolationBase* fdirInstance, CookieIF* comCookie, FailureIsolationBase* fdirInstance,
size_t cmdQueueSize) size_t cmdQueueSize)
: SystemObject(setObjectId), : SystemObject(setObjectId),
mode(MODE_OFF),
submode(SUBMODE_NONE),
wiretappingMode(OFF), wiretappingMode(OFF),
storedRawData(StorageManagerIF::INVALID_ADDRESS), storedRawData(StorageManagerIF::INVALID_ADDRESS),
deviceCommunicationId(deviceCommunication), deviceCommunicationId(deviceCommunication),
@ -38,6 +38,8 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
defaultFDIRUsed(fdirInstance == nullptr), defaultFDIRUsed(fdirInstance == nullptr),
switchOffWasReported(false), switchOffWasReported(false),
childTransitionDelay(5000), childTransitionDelay(5000),
mode(MODE_OFF),
submode(SUBMODE_NONE),
transitionSourceMode(_MODE_POWER_DOWN), transitionSourceMode(_MODE_POWER_DOWN),
transitionSourceSubMode(SUBMODE_NONE) { transitionSourceSubMode(SUBMODE_NONE) {
auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this)); auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
@ -132,14 +134,6 @@ ReturnValue_t DeviceHandlerBase::initialize() {
new DeviceHandlerFailureIsolation(this->getObjectId(), defaultFdirParentId); new DeviceHandlerFailureIsolation(this->getObjectId(), defaultFdirParentId);
} }
if (this->parent != objects::NO_OBJECT) {
HasModesIF* modeIF = ObjectManager::instance()->get<HasModesIF>(this->parent);
HasHealthIF* healthIF = ObjectManager::instance()->get<HasHealthIF>(this->parent);
if (modeIF != nullptr and healthIF != nullptr) {
setParentQueue(modeIF->getCommandQueue());
}
}
communicationInterface = communicationInterface =
ObjectManager::instance()->get<DeviceCommunicationIF>(deviceCommunicationId); ObjectManager::instance()->get<DeviceCommunicationIF>(deviceCommunicationId);
if (communicationInterface == nullptr) { if (communicationInterface == nullptr) {
@ -362,13 +356,14 @@ void DeviceHandlerBase::doStateMachine() {
currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) { currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, 0); triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, 0);
setMode(_MODE_POWER_DOWN); setMode(_MODE_POWER_DOWN);
callChildStatemachine();
break; break;
} }
ReturnValue_t switchState = getStateOfSwitches(); ReturnValue_t switchState = getStateOfSwitches();
if ((switchState == PowerSwitchIF::SWITCH_ON) || (switchState == NO_SWITCH)) { if ((switchState == PowerSwitchIF::SWITCH_ON) || (switchState == NO_SWITCH)) {
// NOTE: TransitionSourceMode and -SubMode are set by handleCommandedModeTransition // NOTE: TransitionSourceMode and -SubMode are set by handleCommandedModeTransition
childTransitionFailure = CHILD_TIMEOUT; childTransitionFailure = CHILD_TIMEOUT;
transitionSourceMode = _MODE_SHUT_DOWN;
transitionSourceSubMode = SUBMODE_NONE;
setMode(_MODE_START_UP); setMode(_MODE_START_UP);
callChildStatemachine(); callChildStatemachine();
} }
@ -574,8 +569,15 @@ void DeviceHandlerBase::setTransition(Mode_t modeTo, Submode_t submodeTo) {
} }
void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) { void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
/* TODO: This will probably be done by the LocalDataPoolManager now */ /**
// changeHK(mode, submode, false); * handle transition from OFF to NORMAL by continuing towards normal when ON is reached
*/
if (newMode == MODE_ON and continueToNormal) {
continueToNormal = false;
mode = _MODE_TO_NORMAL;
return;
}
submode = newSubmode; submode = newSubmode;
mode = newMode; mode = newMode;
modeChanged(); modeChanged();
@ -584,6 +586,8 @@ void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
disableCommandsAndReplies(); disableCommandsAndReplies();
} }
if (!isTransitionalMode()) { if (!isTransitionalMode()) {
// clear this flag when a non-transitional Mode is reached to be safe
continueToNormal = false;
modeHelper.modeChanged(newMode, newSubmode); modeHelper.modeChanged(newMode, newSubmode);
announceMode(false); announceMode(false);
} }
@ -1068,8 +1072,7 @@ Mode_t DeviceHandlerBase::getBaseMode(Mode_t transitionMode) {
return transitionMode & ~(TRANSITION_MODE_BASE_ACTION_MASK | TRANSITION_MODE_CHILD_ACTION_MASK); return transitionMode & ~(TRANSITION_MODE_BASE_ACTION_MASK | TRANSITION_MODE_CHILD_ACTION_MASK);
} }
// SHOULDDO: Allow transition from OFF to NORMAL to reduce complexity in assemblies. And, by the // SHOULDDO: throw away DHB and write a new one:
// way, throw away DHB and write a new one:
// - Include power and thermal completely, but more modular :-) // - Include power and thermal completely, but more modular :-)
// - Don't use modes for state transitions, reduce FSM (Finte State Machine) complexity. // - Don't use modes for state transitions, reduce FSM (Finte State Machine) complexity.
// - Modularization? // - Modularization?
@ -1081,11 +1084,10 @@ ReturnValue_t DeviceHandlerBase::checkModeCommand(Mode_t commandedMode, Submode_
if ((mode == MODE_ERROR_ON) && (commandedMode != MODE_OFF)) { if ((mode == MODE_ERROR_ON) && (commandedMode != MODE_OFF)) {
return TRANS_NOT_ALLOWED; return TRANS_NOT_ALLOWED;
} }
if ((commandedMode == MODE_NORMAL) && (mode == MODE_OFF)) {
return TRANS_NOT_ALLOWED;
}
if ((commandedMode == MODE_ON) && (mode == MODE_OFF) and (thermalSet != nullptr)) { // Do not check thermal state for MODE_RAW
if ((mode == MODE_OFF) and ((commandedMode == MODE_ON) or (commandedMode == MODE_NORMAL)) and
(thermalSet != nullptr)) {
ReturnValue_t result = thermalSet->read(); ReturnValue_t result = thermalSet->read();
if (result == returnvalue::OK) { if (result == returnvalue::OK) {
if ((thermalSet->heaterRequest.value != ThermalComponentIF::STATE_REQUEST_IGNORE) and if ((thermalSet->heaterRequest.value != ThermalComponentIF::STATE_REQUEST_IGNORE) and
@ -1100,6 +1102,7 @@ ReturnValue_t DeviceHandlerBase::checkModeCommand(Mode_t commandedMode, Submode_
} }
void DeviceHandlerBase::startTransition(Mode_t commandedMode, Submode_t commandedSubmode) { void DeviceHandlerBase::startTransition(Mode_t commandedMode, Submode_t commandedSubmode) {
continueToNormal = false;
switch (commandedMode) { switch (commandedMode) {
case MODE_ON: case MODE_ON:
handleTransitionToOnMode(commandedMode, commandedSubmode); handleTransitionToOnMode(commandedMode, commandedSubmode);
@ -1129,8 +1132,9 @@ void DeviceHandlerBase::startTransition(Mode_t commandedMode, Submode_t commande
case MODE_NORMAL: case MODE_NORMAL:
if (mode != MODE_OFF) { if (mode != MODE_OFF) {
setTransition(MODE_NORMAL, commandedSubmode); setTransition(MODE_NORMAL, commandedSubmode);
} else { } else { // mode is off
replyReturnvalueToCommand(HasModesIF::TRANS_NOT_ALLOWED); continueToNormal = true;
handleTransitionToOnMode(MODE_NORMAL, commandedSubmode);
} }
break; break;
} }
@ -1521,7 +1525,10 @@ DeviceCommandId_t DeviceHandlerBase::getPendingCommand() const {
void DeviceHandlerBase::setNormalDatapoolEntriesInvalid() { void DeviceHandlerBase::setNormalDatapoolEntriesInvalid() {
for (const auto& reply : deviceReplyMap) { for (const auto& reply : deviceReplyMap) {
if (reply.second.dataSet != nullptr) { if (reply.second.dataSet != nullptr) {
reply.second.dataSet->setValidity(false, true); PoolReadGuard pg(reply.second.dataSet);
if (pg.getReadResult() == returnvalue::OK) {
reply.second.dataSet->setValidity(false, true);
}
} }
} }
} }
@ -1578,12 +1585,14 @@ MessageQueueId_t DeviceHandlerBase::getCommanderQueueId(DeviceCommandId_t replyI
void DeviceHandlerBase::setCustomFdir(FailureIsolationBase* fdir) { this->fdirInstance = fdir; } void DeviceHandlerBase::setCustomFdir(FailureIsolationBase* fdir) { this->fdirInstance = fdir; }
void DeviceHandlerBase::setParent(object_id_t parent) { this->parent = parent; }
void DeviceHandlerBase::setPowerSwitcher(PowerSwitchIF* switcher) { void DeviceHandlerBase::setPowerSwitcher(PowerSwitchIF* switcher) {
this->powerSwitcher = switcher; this->powerSwitcher = switcher;
} }
Mode_t DeviceHandlerBase::getMode() { return mode; }
Submode_t DeviceHandlerBase::getSubmode() { return submode; }
void DeviceHandlerBase::disableCommandsAndReplies() { void DeviceHandlerBase::disableCommandsAndReplies() {
for (auto& command : deviceCommandMap) { for (auto& command : deviceCommandMap) {
if (command.second.isExecuting) { if (command.second.isExecuting) {
@ -1602,13 +1611,23 @@ void DeviceHandlerBase::disableCommandsAndReplies() {
} }
} }
ReturnValue_t DeviceHandlerBase::finishAction(bool success, DeviceCommandId_t action, ReturnValue_t DeviceHandlerBase::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
ReturnValue_t result) { return modetree::connectModeTreeParent(parent, *this, &healthHelper, modeHelper);
auto commandIter = deviceCommandMap.find(action); }
if (commandIter == deviceCommandMap.end()) {
return MessageQueueIF::NO_QUEUE; const HasHealthIF* DeviceHandlerBase::getOptHealthIF() const { return this; }
}
commandIter->second.isExecuting = false; const HasModesIF& DeviceHandlerBase::getModeIF() const { return *this; }
actionHelper.finish(success, commandIter->second.sendReplyTo, action, result);
return returnvalue::OK; ModeTreeChildIF& DeviceHandlerBase::getModeTreeChildIF() { return *this; }
ReturnValue_t DeviceHandlerBase::finishAction(bool success, DeviceCommandId_t action,
ReturnValue_t result) {
auto commandIter = deviceCommandMap.find(action);
if (commandIter == deviceCommandMap.end()) {
return MessageQueueIF::NO_QUEUE;
}
commandIter->second.isExecuting = false;
actionHelper.finish(success, commandIter->second.sendReplyTo, action, result);
return returnvalue::OK;
} }

View File

@ -21,9 +21,9 @@
#include "fsfw/returnvalues/returnvalue.h" #include "fsfw/returnvalues/returnvalue.h"
#include "fsfw/serviceinterface/ServiceInterface.h" #include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/serviceinterface/serviceInterfaceDefintions.h" #include "fsfw/serviceinterface/serviceInterfaceDefintions.h"
#include "fsfw/subsystem/ModeTreeConnectionIF.h"
#include "fsfw/tasks/ExecutableObjectIF.h" #include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw/tasks/PeriodicTaskIF.h" #include "fsfw/tasks/PeriodicTaskIF.h"
#include "fsfw/util/dataWrapper.h"
namespace Factory { namespace Factory {
void setStaticFrameworkObjectIds(); void setStaticFrameworkObjectIds();
@ -84,6 +84,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
public HasModesIF, public HasModesIF,
public HasHealthIF, public HasHealthIF,
public HasActionsIF, public HasActionsIF,
public ModeTreeChildIF,
public ModeTreeConnectionIF,
public ReceivesParameterMessagesIF, public ReceivesParameterMessagesIF,
public HasLocalDataPoolIF { public HasLocalDataPoolIF {
friend void(Factory::setStaticFrameworkObjectIds)(); friend void(Factory::setStaticFrameworkObjectIds)();
@ -104,8 +106,55 @@ class DeviceHandlerBase : public DeviceHandlerIF,
FailureIsolationBase *fdirInstance = nullptr, size_t cmdQueueSize = 20); FailureIsolationBase *fdirInstance = nullptr, size_t cmdQueueSize = 20);
void setCustomFdir(FailureIsolationBase *fdir); void setCustomFdir(FailureIsolationBase *fdir);
void setParent(object_id_t parent);
void setPowerSwitcher(PowerSwitchIF *switcher); void setPowerSwitcher(PowerSwitchIF *switcher);
/**
* extending the modes of DeviceHandler IF for internal state machine
*/
static constexpr uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20;
static constexpr uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10;
//! This is a transitional state which can not be commanded. The device
//! handler performs all commands to get the device in a state ready to
//! perform commands. When this is completed, the mode changes to @c MODE_ON.
static const Mode_t _MODE_START_UP = TRANSITION_MODE_CHILD_ACTION_MASK | 5;
//! This is a transitional state which can not be commanded.
//! The device handler performs all actions and commands to get the device
//! shut down. When the device is off, the mode changes to @c MODE_OFF.
//! It is possible to set the mode to _MODE_SHUT_DOWN to use the to off
//! transition if available.
static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6;
//! It is possible to set the mode to _MODE_TO_ON to use the to on
//! transition if available.
static const Mode_t _MODE_TO_ON = TRANSITION_MODE_CHILD_ACTION_MASK | HasModesIF::MODE_ON;
//! It is possible to set the mode to _MODE_TO_RAW to use the to raw
//! transition if available.
static const Mode_t _MODE_TO_RAW = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_RAW;
//! It is possible to set the mode to _MODE_TO_NORMAL to use the to normal
//! transition if available.
static const Mode_t _MODE_TO_NORMAL = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_NORMAL;
//! This is a transitional state which can not be commanded.
//! The device is shut down and ready to be switched off.
//! After the command to set the switch off has been sent,
//! the mode changes to @c _MODE_WAIT_OFF
static const Mode_t _MODE_POWER_DOWN = TRANSITION_MODE_BASE_ACTION_MASK | 1;
//! This is a transitional state which can not be commanded. The device
//! will be switched on in this state. After the command to set the switch
//! on has been sent, the mode changes to @c _MODE_WAIT_ON.
static const Mode_t _MODE_POWER_ON = TRANSITION_MODE_BASE_ACTION_MASK | 2;
//! This is a transitional state which can not be commanded. The switch has
//! been commanded off and the handler waits for it to be off.
//! When the switch is off, the mode changes to @c MODE_OFF.
static const Mode_t _MODE_WAIT_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 3;
//! This is a transitional state which can not be commanded. The switch
//! has been commanded on and the handler waits for it to be on.
//! When the switch is on, the mode changes to @c _MODE_TO_ON.
static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4;
//! This is a transitional state which can not be commanded. The switch has
//! been commanded off and is off now. This state is only to do an RMAP
//! cycle once more where the doSendRead() function will set the mode to
//! MODE_OFF. The reason to do this is to get rid of stuck packets in the IO Board.
static const Mode_t _MODE_SWITCH_IS_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 5;
void setHkDestination(object_id_t hkDestination); void setHkDestination(object_id_t hkDestination);
/** /**
@ -121,6 +170,10 @@ class DeviceHandlerBase : public DeviceHandlerIF,
lp_id_t thermalStatePoolId = DeviceHandlerIF::DEFAULT_THERMAL_STATE_POOL_ID, lp_id_t thermalStatePoolId = DeviceHandlerIF::DEFAULT_THERMAL_STATE_POOL_ID,
lp_id_t thermalRequestPoolId = DeviceHandlerIF::DEFAULT_THERMAL_HEATING_REQUEST_POOL_ID, lp_id_t thermalRequestPoolId = DeviceHandlerIF::DEFAULT_THERMAL_HEATING_REQUEST_POOL_ID,
uint32_t thermalSetId = DeviceHandlerIF::DEFAULT_THERMAL_SET_ID); uint32_t thermalSetId = DeviceHandlerIF::DEFAULT_THERMAL_SET_ID);
ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF &parent) override;
ModeTreeChildIF &getModeTreeChildIF() override;
/** /**
* @brief Helper function to ease device handler development. * @brief Helper function to ease device handler development.
* This will instruct the transition to MODE_ON immediately * This will instruct the transition to MODE_ON immediately
@ -166,7 +219,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
* @param counter Specifies which Action to perform * @param counter Specifies which Action to perform
* @return returnvalue::OK for successful execution * @return returnvalue::OK for successful execution
*/ */
virtual ReturnValue_t performOperation(uint8_t counter) override; ReturnValue_t performOperation(uint8_t counter) override;
/** /**
* @brief Initializes the device handler * @brief Initializes the device handler
@ -176,14 +229,14 @@ class DeviceHandlerBase : public DeviceHandlerIF,
* Calls fillCommandAndReplyMap(). * Calls fillCommandAndReplyMap().
* @return * @return
*/ */
virtual ReturnValue_t initialize() override; ReturnValue_t initialize() override;
/** /**
* @brief Intialization steps performed after all tasks have been created. * @brief Intialization steps performed after all tasks have been created.
* This function will be called by the executing task. * This function will be called by the executing task.
* @return * @return
*/ */
virtual ReturnValue_t initializeAfterTaskCreation() override; ReturnValue_t initializeAfterTaskCreation() override;
/** Destructor. */ /** Destructor. */
virtual ~DeviceHandlerBase(); virtual ~DeviceHandlerBase();
@ -200,6 +253,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
virtual object_id_t getObjectId() const override; virtual object_id_t getObjectId() const override;
/** /**
* This is a helper method for classes which are parent nodes in the mode tree.
* It registers the passed queue as the destination for mode and health messages.
* @param parentQueueId * @param parentQueueId
*/ */
virtual void setParentQueue(MessageQueueId_t parentQueueId); virtual void setParentQueue(MessageQueueId_t parentQueueId);
@ -696,15 +751,18 @@ class DeviceHandlerBase : public DeviceHandlerIF,
size_t rawPacketLen = 0; size_t rawPacketLen = 0;
/** /**
* The mode the device handler is currently in. * Get the current mode
* This should never be changed directly but only with setMode() *
* set via setMode()
*/ */
Mode_t mode; Mode_t getMode();
/** /**
* The submode the device handler is currently in. * Get the current Submode
* This should never be changed directly but only with setMode() *
* set via setMode()
*/ */
Submode_t submode; Submode_t getSubmode();
/** This is the counter value from performOperation(). */ /** This is the counter value from performOperation(). */
uint8_t pstStep = 0; uint8_t pstStep = 0;
@ -893,8 +951,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
* Do the transition to the main modes (MODE_ON, MODE_NORMAL and MODE_RAW). * Do the transition to the main modes (MODE_ON, MODE_NORMAL and MODE_RAW).
* *
* If the transition is complete, the mode should be set to the target mode, * If the transition is complete, the mode should be set to the target mode,
* which can be deduced from the current mode which is * which can be deduced from the current mode (which is
* [_MODE_TO_ON, _MODE_TO_NORMAL, _MODE_TO_RAW] * [_MODE_TO_ON, _MODE_TO_NORMAL, _MODE_TO_RAW]) using getBaseMode()
* *
* The intended target submode is already set. * The intended target submode is already set.
* The origin submode can be read in subModeFrom. * The origin submode can be read in subModeFrom.
@ -961,6 +1019,9 @@ class DeviceHandlerBase : public DeviceHandlerIF,
*/ */
LocalDataPoolManager *getHkManagerHandle() override; LocalDataPoolManager *getHkManagerHandle() override;
const HasHealthIF *getOptHealthIF() const override;
const HasModesIF &getModeIF() const override;
/** /**
* Returns the delay cycle count of a reply. * Returns the delay cycle count of a reply.
* A count != 0 indicates that the command is already executed. * A count != 0 indicates that the command is already executed.
@ -1206,6 +1267,18 @@ class DeviceHandlerBase : public DeviceHandlerIF,
*/ */
uint32_t childTransitionDelay; uint32_t childTransitionDelay;
/**
* The mode the device handler is currently in.
* This should not be changed directly but only with setMode()
*/
Mode_t mode;
/**
* The submode the device handler is currently in.
* This should not be changed directly but only with setMode()
*/
Submode_t submode;
/** /**
* @brief The mode the current transition originated from * @brief The mode the current transition originated from
* *
@ -1223,6 +1296,15 @@ class DeviceHandlerBase : public DeviceHandlerIF,
*/ */
Submode_t transitionSourceSubMode; Submode_t transitionSourceSubMode;
/**
* used to make the state machine continue from ON to NOMAL when
* a Device is commanded to NORMAL in OFF mode
*
* set in startTransition()
* evaluated in setMode() to continue to NORMAL when ON is reached
*/
bool continueToNormal;
/** /**
* read the command queue * read the command queue
*/ */

View File

@ -24,9 +24,6 @@ class DeviceHandlerIF {
static const DeviceCommandId_t RAW_COMMAND_ID = -1; static const DeviceCommandId_t RAW_COMMAND_ID = -1;
static const DeviceCommandId_t NO_COMMAND_ID = -2; static const DeviceCommandId_t NO_COMMAND_ID = -2;
static constexpr uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20;
static constexpr uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10;
using dh_heater_request_t = uint8_t; using dh_heater_request_t = uint8_t;
using dh_thermal_state_t = int8_t; using dh_thermal_state_t = int8_t;
@ -54,47 +51,6 @@ class DeviceHandlerIF {
//! device still is powered. In this mode, only a mode change to @c MODE_OFF //! device still is powered. In this mode, only a mode change to @c MODE_OFF
//! can be commanded, which tries to switch off the device again. //! can be commanded, which tries to switch off the device again.
static const Mode_t MODE_ERROR_ON = 4; static const Mode_t MODE_ERROR_ON = 4;
//! This is a transitional state which can not be commanded. The device
//! handler performs all commands to get the device in a state ready to
//! perform commands. When this is completed, the mode changes to @c MODE_ON.
static const Mode_t _MODE_START_UP = TRANSITION_MODE_CHILD_ACTION_MASK | 5;
//! This is a transitional state which can not be commanded.
//! The device handler performs all actions and commands to get the device
//! shut down. When the device is off, the mode changes to @c MODE_OFF.
//! It is possible to set the mode to _MODE_SHUT_DOWN to use the to off
//! transition if available.
static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6;
//! It is possible to set the mode to _MODE_TO_ON to use the to on
//! transition if available.
static const Mode_t _MODE_TO_ON = TRANSITION_MODE_CHILD_ACTION_MASK | HasModesIF::MODE_ON;
//! It is possible to set the mode to _MODE_TO_RAW to use the to raw
//! transition if available.
static const Mode_t _MODE_TO_RAW = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_RAW;
//! It is possible to set the mode to _MODE_TO_NORMAL to use the to normal
//! transition if available.
static const Mode_t _MODE_TO_NORMAL = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_NORMAL;
//! This is a transitional state which can not be commanded.
//! The device is shut down and ready to be switched off.
//! After the command to set the switch off has been sent,
//! the mode changes to @c MODE_WAIT_OFF
static const Mode_t _MODE_POWER_DOWN = TRANSITION_MODE_BASE_ACTION_MASK | 1;
//! This is a transitional state which can not be commanded. The device
//! will be switched on in this state. After the command to set the switch
//! on has been sent, the mode changes to @c MODE_WAIT_ON.
static const Mode_t _MODE_POWER_ON = TRANSITION_MODE_BASE_ACTION_MASK | 2;
//! This is a transitional state which can not be commanded. The switch has
//! been commanded off and the handler waits for it to be off.
//! When the switch is off, the mode changes to @c MODE_OFF.
static const Mode_t _MODE_WAIT_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 3;
//! This is a transitional state which can not be commanded. The switch
//! has been commanded on and the handler waits for it to be on.
//! When the switch is on, the mode changes to @c MODE_TO_ON.
static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4;
//! This is a transitional state which can not be commanded. The switch has
//! been commanded off and is off now. This state is only to do an RMAP
//! cycle once more where the doSendRead() function will set the mode to
//! MODE_OFF. The reason to do this is to get rid of stuck packets in the IO Board.
static const Mode_t _MODE_SWITCH_IS_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 5;
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CDH; static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CDH;
static const Event DEVICE_BUILDING_COMMAND_FAILED = MAKE_EVENT(0, severity::LOW); static const Event DEVICE_BUILDING_COMMAND_FAILED = MAKE_EVENT(0, severity::LOW);

View File

@ -4,7 +4,6 @@
#include "fsfw/action/HasActionsIF.h" #include "fsfw/action/HasActionsIF.h"
#include "fsfw/objectmanager/SystemObjectIF.h" #include "fsfw/objectmanager/SystemObjectIF.h"
#include "fsfw/serialize/SerializeIF.h" #include "fsfw/serialize/SerializeIF.h"
#include "fsfw/util/dataWrapper.h"
class DeviceTmReportingWrapper : public SerializeIF { class DeviceTmReportingWrapper : public SerializeIF {
public: public:

View File

@ -11,8 +11,7 @@ DleParser::DleParser(SimpleRingBuffer& decodeRingBuf, DleEncoder& decoder, BufPa
: decodeRingBuf(decodeRingBuf), : decodeRingBuf(decodeRingBuf),
decoder(decoder), decoder(decoder),
encodedBuf(encodedBuf), encodedBuf(encodedBuf),
decodedBuf(decodedBuf) { decodedBuf(decodedBuf) {}
}
ReturnValue_t DleParser::passData(const uint8_t* data, size_t len) { ReturnValue_t DleParser::passData(const uint8_t* data, size_t len) {
if (data == nullptr or len == 0) { if (data == nullptr or len == 0) {
@ -24,7 +23,7 @@ ReturnValue_t DleParser::passData(const uint8_t* data, size_t len) {
ReturnValue_t DleParser::parseRingBuf(size_t& readSize) { ReturnValue_t DleParser::parseRingBuf(size_t& readSize) {
ctx.setType(DleParser::ContextType::NONE); ctx.setType(DleParser::ContextType::NONE);
size_t availableData = decodeRingBuf.getAvailableReadData(); size_t availableData = decodeRingBuf.getAvailableReadData();
if(availableData == 0) { if (availableData == 0) {
return NO_PACKET_FOUND; return NO_PACKET_FOUND;
} }
if (availableData > encodedBuf.second) { if (availableData > encodedBuf.second) {
@ -106,7 +105,7 @@ void DleParser::defaultFoundPacketHandler(uint8_t* packet, size_t len, void* arg
} }
void DleParser::defaultErrorHandler() { void DleParser::defaultErrorHandler() {
if(ctx.getType() != DleParser::ContextType::ERROR) { if (ctx.getType() != DleParser::ContextType::ERROR) {
errorPrinter("No error"); errorPrinter("No error");
return; return;
} }
@ -126,7 +125,8 @@ void DleParser::defaultErrorHandler() {
case (ErrorTypes::ENCODED_BUF_TOO_SMALL): case (ErrorTypes::ENCODED_BUF_TOO_SMALL):
case (ErrorTypes::DECODING_BUF_TOO_SMALL): { case (ErrorTypes::DECODING_BUF_TOO_SMALL): {
char opt[64]; char opt[64];
snprintf(opt, sizeof(opt), ": Too small for packet with length %zu", ctx.decodedPacket.second); snprintf(opt, sizeof(opt), ": Too small for packet with length %zu",
ctx.decodedPacket.second);
if (ctx.error.first == ErrorTypes::ENCODED_BUF_TOO_SMALL) { if (ctx.error.first == ErrorTypes::ENCODED_BUF_TOO_SMALL) {
errorPrinter("Encoded buf too small", opt); errorPrinter("Encoded buf too small", opt);
} else { } else {
@ -168,10 +168,6 @@ ReturnValue_t DleParser::confirmBytesRead(size_t bytesRead) {
return decodeRingBuf.deleteData(bytesRead); return decodeRingBuf.deleteData(bytesRead);
} }
const DleParser::Context& DleParser::getContext() { const DleParser::Context& DleParser::getContext() { return ctx; }
return ctx;
}
void DleParser::reset() { void DleParser::reset() { decodeRingBuf.clear(); }
decodeRingBuf.clear();
}

View File

@ -1,8 +1,8 @@
#include "fsfw/globalfunctions/timevalOperations.h" #include "fsfw/globalfunctions/timevalOperations.h"
timeval& operator+=(timeval& lhs, const timeval& rhs) { timeval& operator+=(timeval& lhs, const timeval& rhs) {
int64_t sum = lhs.tv_sec * 1000000. + lhs.tv_usec; int64_t sum = static_cast<int64_t>(lhs.tv_sec) * 1000000. + lhs.tv_usec;
sum += rhs.tv_sec * 1000000. + rhs.tv_usec; sum += static_cast<int64_t>(rhs.tv_sec) * 1000000. + rhs.tv_usec;
lhs.tv_sec = sum / 1000000; lhs.tv_sec = sum / 1000000;
lhs.tv_usec = sum - lhs.tv_sec * 1000000; lhs.tv_usec = sum - lhs.tv_sec * 1000000;
return lhs; return lhs;

View File

@ -5,7 +5,11 @@
HealthHelper::HealthHelper(HasHealthIF* owner, object_id_t objectId) HealthHelper::HealthHelper(HasHealthIF* owner, object_id_t objectId)
: objectId(objectId), owner(owner) {} : objectId(objectId), owner(owner) {}
HealthHelper::~HealthHelper() { healthTable->removeObject(objectId); } HealthHelper::~HealthHelper() {
if (healthTable != nullptr) {
healthTable->removeObject(objectId);
}
}
ReturnValue_t HealthHelper::handleHealthCommand(CommandMessage* message) { ReturnValue_t HealthHelper::handleHealthCommand(CommandMessage* message) {
switch (message->getCommand()) { switch (message->getCommand()) {

View File

@ -8,6 +8,8 @@
#include "HealthTableIF.h" #include "HealthTableIF.h"
class HealthTable : public HealthTableIF, public SystemObject { class HealthTable : public HealthTableIF, public SystemObject {
friend class CServiceHealthCommanding;
public: public:
explicit HealthTable(object_id_t objectid); explicit HealthTable(object_id_t objectid);
~HealthTable() override; ~HealthTable() override;

View File

@ -24,3 +24,17 @@ void ModeMessage::setCantReachMode(CommandMessage* message, ReturnValue_t reason
message->setParameter(reason); message->setParameter(reason);
message->setParameter2(0); message->setParameter2(0);
} }
void ModeMessage::setModeAnnounceMessage(CommandMessage& message, bool recursive) {
Command_t cmd;
if (recursive) {
cmd = CMD_MODE_ANNOUNCE_RECURSIVELY;
} else {
cmd = CMD_MODE_ANNOUNCE;
}
message.setCommand(cmd);
}
void ModeMessage::setCmdModeModeMessage(CommandMessage& message, Mode_t mode, Submode_t submode) {
setModeMessage(&message, CMD_MODE_COMMAND, mode, submode);
}

View File

@ -1,50 +1,51 @@
#ifndef FSFW_MODES_MODEMESSAGE_H_ #ifndef FSFW_MODES_MODEMESSAGE_H_
#define FSFW_MODES_MODEMESSAGE_H_ #define FSFW_MODES_MODEMESSAGE_H_
#include "../ipc/CommandMessage.h" #include "fsfw/ipc/CommandMessage.h"
typedef uint32_t Mode_t; typedef uint32_t Mode_t;
typedef uint8_t Submode_t; typedef uint8_t Submode_t;
class ModeMessage { class ModeMessage {
private:
ModeMessage();
public: public:
static const uint8_t MESSAGE_ID = messagetypes::MODE_COMMAND; static const uint8_t MESSAGE_ID = messagetypes::MODE_COMMAND;
static const Command_t CMD_MODE_COMMAND = //!> Command to set the specified Mode, replies are: REPLY_MODE_REPLY,
MAKE_COMMAND_ID(0x01); //!> Command to set the specified Mode, replies are: REPLY_MODE_REPLY, //! REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any replies,
//! REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any replies, //! as this will break the subsystem mode machine!!
//! as this will break the subsystem mode machine!! static const Command_t CMD_MODE_COMMAND = MAKE_COMMAND_ID(0x01);
static const Command_t CMD_MODE_COMMAND_FORCED = MAKE_COMMAND_ID( //!> Command to set the specified Mode, regardless of external control flag, replies
0xF1); //!> Command to set the specified Mode, regardless of external control flag, replies //! are: REPLY_MODE_REPLY, REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any
//! are: REPLY_MODE_REPLY, REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any //! replies, as this will break the subsystem mode machine!!
//! replies, as this will break the subsystem mode machine!! static const Command_t CMD_MODE_COMMAND_FORCED = MAKE_COMMAND_ID(0xF1);
static const Command_t REPLY_MODE_REPLY = //!> Reply to a CMD_MODE_COMMAND or CMD_MODE_READ
MAKE_COMMAND_ID(0x02); //!> Reply to a CMD_MODE_COMMAND or CMD_MODE_READ static const Command_t REPLY_MODE_REPLY = MAKE_COMMAND_ID(0x02);
static const Command_t REPLY_MODE_INFO = //!> Unrequested info about the current mode (used for composites to
MAKE_COMMAND_ID(0x03); //!> Unrequested info about the current mode (used for composites to //! inform their container of a changed mode)
//! inform their container of a changed mode) static const Command_t REPLY_MODE_INFO = MAKE_COMMAND_ID(0x03);
static const Command_t REPLY_CANT_REACH_MODE = MAKE_COMMAND_ID( //!> Reply in case a mode command can't be executed. Par1: returnCode, Par2: 0
0x04); //!> Reply in case a mode command can't be executed. Par1: returnCode, Par2: 0 static const Command_t REPLY_CANT_REACH_MODE = MAKE_COMMAND_ID(0x04);
static const Command_t REPLY_WRONG_MODE_REPLY = //!> Reply to a CMD_MODE_COMMAND, indicating that a mode was commanded
MAKE_COMMAND_ID(0x05); //!> Reply to a CMD_MODE_COMMAND, indicating that a mode was commanded //! and a transition started but was aborted; the parameters contain
//! and a transition started but was aborted; the parameters contain //! the mode that was reached
//! the mode that was reached static const Command_t REPLY_WRONG_MODE_REPLY = MAKE_COMMAND_ID(0x05);
static const Command_t CMD_MODE_READ = MAKE_COMMAND_ID( //!> Command to read the current mode and reply with a REPLY_MODE_REPLY
0x06); //!> Command to read the current mode and reply with a REPLY_MODE_REPLY static const Command_t CMD_MODE_READ = MAKE_COMMAND_ID(0x06);
static const Command_t CMD_MODE_ANNOUNCE = MAKE_COMMAND_ID( //!> Command to trigger an ModeInfo Event. This command does NOT have a reply.
0x07); //!> Command to trigger an ModeInfo Event. This command does NOT have a reply. static const Command_t CMD_MODE_ANNOUNCE = MAKE_COMMAND_ID(0x07);
static const Command_t CMD_MODE_ANNOUNCE_RECURSIVELY = //!> Command to trigger an ModeInfo Event and to send this command to
MAKE_COMMAND_ID(0x08); //!> Command to trigger an ModeInfo Event and to send this command to //! every child. This command does NOT have a reply.
//! every child. This command does NOT have a reply. static const Command_t CMD_MODE_ANNOUNCE_RECURSIVELY = MAKE_COMMAND_ID(0x08);
ModeMessage() = delete;
static void setModeMessage(CommandMessage* message, Command_t command, Mode_t mode,
Submode_t submode);
static Mode_t getMode(const CommandMessage* message); static Mode_t getMode(const CommandMessage* message);
static Submode_t getSubmode(const CommandMessage* message); static Submode_t getSubmode(const CommandMessage* message);
static ReturnValue_t getCantReachModeReason(const CommandMessage* message); static ReturnValue_t getCantReachModeReason(const CommandMessage* message);
static void setModeMessage(CommandMessage* message, Command_t command, Mode_t mode, static void setCmdModeModeMessage(CommandMessage& message, Mode_t mode, Submode_t submode);
Submode_t submode); static void setModeAnnounceMessage(CommandMessage& message, bool recursive);
static void setCantReachMode(CommandMessage* message, ReturnValue_t reason); static void setCantReachMode(CommandMessage* message, ReturnValue_t reason);
static void clear(CommandMessage* message); static void clear(CommandMessage* message);
}; };

View File

@ -26,12 +26,12 @@
const std::string TcpTmTcServer::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT; const std::string TcpTmTcServer::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT;
TcpTmTcServer::TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge, TcpTmTcServer::TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge,
size_t receptionBufferSize, size_t ringBufferSize, TcpTmTcServer::TcpConfig cfg, size_t receptionBufferSize,
std::string customTcpServerPort, ReceptionModes receptionMode) size_t ringBufferSize, ReceptionModes receptionMode)
: SystemObject(objectId), : SystemObject(objectId),
tmtcBridgeId(tmtcTcpBridge), tmtcBridgeId(tmtcTcpBridge),
receptionMode(receptionMode), receptionMode(receptionMode),
tcpConfig(std::move(customTcpServerPort)), tcpConfig(cfg),
receptionBuffer(receptionBufferSize), receptionBuffer(receptionBufferSize),
ringBuffer(ringBufferSize, true) {} ringBuffer(ringBufferSize, true) {}
@ -91,6 +91,15 @@ ReturnValue_t TcpTmTcServer::initialize() {
return returnvalue::FAILED; return returnvalue::FAILED;
} }
if (tcpConfig.reuseAddr) {
unsigned int enable = 1;
setsockopt(listenerTcpSocket, SOL_SOCKET, SO_REUSEADDR, &enable, sizeof(enable));
}
if (tcpConfig.reusePort) {
unsigned int enable = 1;
setsockopt(listenerTcpSocket, SOL_SOCKET, SO_REUSEPORT, &enable, sizeof(enable));
}
// Bind to the address found by getaddrinfo // Bind to the address found by getaddrinfo
retval = bind(listenerTcpSocket, addrResult->ai_addr, static_cast<int>(addrResult->ai_addrlen)); retval = bind(listenerTcpSocket, addrResult->ai_addr, static_cast<int>(addrResult->ai_addrlen));
if (retval == SOCKET_ERROR) { if (retval == SOCKET_ERROR) {
@ -274,6 +283,8 @@ ReturnValue_t TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent)
ConstStorageAccessor storeAccessor(storeId); ConstStorageAccessor storeAccessor(storeId);
ReturnValue_t result = tmStore->getData(storeId, storeAccessor); ReturnValue_t result = tmStore->getData(storeId, storeAccessor);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
// Invalid entry, pop FIFO
tmtcBridge->tmFifo->pop();
return result; return result;
} }
if (wiretappingEnabled) { if (wiretappingEnabled) {

View File

@ -41,11 +41,11 @@ class SpacePacketParser;
*/ */
class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableObjectIF { class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableObjectIF {
public: public:
enum class ReceptionModes { SPACE_PACKETS };
struct TcpConfig { struct TcpConfig {
public: public:
explicit TcpConfig(std::string tcpPort) : tcpPort(std::move(tcpPort)) {} TcpConfig(bool reuseAddr, bool reusePort) : reuseAddr(reuseAddr), reusePort(reusePort) {}
TcpConfig(std::string tcpPort, bool reuseAddr, bool reusePort)
: tcpPort(std::move(tcpPort)), reuseAddr(reuseAddr), reusePort(reusePort) {}
/** /**
* Passed to the recv call * Passed to the recv call
@ -63,8 +63,23 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
*/ */
int tcpTmFlags = 0; int tcpTmFlags = 0;
const std::string tcpPort; std::string tcpPort = DEFAULT_SERVER_PORT;
/**
* Sets the SO_REUSEADDR option on the socket. See
* https://man7.org/linux/man-pages/man7/socket.7.html for more details. This option is
* especially useful in a debugging and development environment where an OBSW image might be
* re-flashed oftentimes and where all incoming telecommands are received on a dedicated TCP
* port.
*/
bool reuseAddr = false;
/**
* Sets the SO_REUSEPORT option on the socket. See
* https://man7.org/linux/man-pages/man7/socket.7.html for more details.
*/
bool reusePort = false;
}; };
enum class ReceptionModes { SPACE_PACKETS };
static const std::string DEFAULT_SERVER_PORT; static const std::string DEFAULT_SERVER_PORT;
@ -80,10 +95,9 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
* size will be the Ethernet MTU size * size will be the Ethernet MTU size
* @param customTcpServerPort The user can specify another port than the default (7301) here. * @param customTcpServerPort The user can specify another port than the default (7301) here.
*/ */
TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge, TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge, TcpTmTcServer::TcpConfig cfg,
size_t receptionBufferSize = RING_BUFFER_SIZE, size_t receptionBufferSize = RING_BUFFER_SIZE,
size_t ringBufferSize = RING_BUFFER_SIZE, size_t ringBufferSize = RING_BUFFER_SIZE,
std::string customTcpServerPort = DEFAULT_SERVER_PORT,
ReceptionModes receptionMode = ReceptionModes::SPACE_PACKETS); ReceptionModes receptionMode = ReceptionModes::SPACE_PACKETS);
~TcpTmTcServer() override; ~TcpTmTcServer() override;

View File

@ -3,7 +3,7 @@
#include <fsfw/ipc/QueueFactory.h> #include <fsfw/ipc/QueueFactory.h>
#include <fsfw/power/PowerSwitchIF.h> #include <fsfw/power/PowerSwitchIF.h>
PowerSwitcherComponent::PowerSwitcherComponent(object_id_t objectId, PowerSwitchIF *pwrSwitcher, PowerSwitcherComponent::PowerSwitcherComponent(object_id_t objectId, PowerSwitchIF* pwrSwitcher,
power::Switch_t pwrSwitch) power::Switch_t pwrSwitch)
: SystemObject(objectId), : SystemObject(objectId),
switcher(pwrSwitcher, pwrSwitch), switcher(pwrSwitcher, pwrSwitch),
@ -54,7 +54,7 @@ ReturnValue_t PowerSwitcherComponent::initialize() {
MessageQueueId_t PowerSwitcherComponent::getCommandQueue() const { return queue->getId(); } MessageQueueId_t PowerSwitcherComponent::getCommandQueue() const { return queue->getId(); }
void PowerSwitcherComponent::getMode(Mode_t *mode, Submode_t *submode) { void PowerSwitcherComponent::getMode(Mode_t* mode, Submode_t* submode) {
*mode = this->mode; *mode = this->mode;
*submode = this->submode; *submode = this->submode;
} }
@ -65,7 +65,7 @@ ReturnValue_t PowerSwitcherComponent::setHealth(HealthState health) {
} }
ReturnValue_t PowerSwitcherComponent::checkModeCommand(Mode_t mode, Submode_t submode, ReturnValue_t PowerSwitcherComponent::checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) { uint32_t* msToReachTheMode) {
*msToReachTheMode = 5000; *msToReachTheMode = 5000;
if (mode != MODE_ON and mode != MODE_OFF) { if (mode != MODE_ON and mode != MODE_OFF) {
return TRANS_NOT_ALLOWED; return TRANS_NOT_ALLOWED;
@ -105,3 +105,15 @@ void PowerSwitcherComponent::setMode(Mode_t newMode, Submode_t newSubmode) {
} }
HasHealthIF::HealthState PowerSwitcherComponent::getHealth() { return healthHelper.getHealth(); } HasHealthIF::HealthState PowerSwitcherComponent::getHealth() { return healthHelper.getHealth(); }
const HasHealthIF* PowerSwitcherComponent::getOptHealthIF() const { return this; }
const HasModesIF& PowerSwitcherComponent::getModeIF() const { return *this; }
ReturnValue_t PowerSwitcherComponent::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
return parent.registerChild(*this);
}
object_id_t PowerSwitcherComponent::getObjectId() const { return SystemObject::getObjectId(); }
ModeTreeChildIF& PowerSwitcherComponent::getModeTreeChildIF() { return *this; }

View File

@ -8,6 +8,8 @@
#include <fsfw/objectmanager/SystemObject.h> #include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/power/PowerSwitcher.h> #include <fsfw/power/PowerSwitcher.h>
#include <fsfw/power/definitions.h> #include <fsfw/power/definitions.h>
#include <fsfw/subsystem/ModeTreeChildIF.h>
#include <fsfw/subsystem/ModeTreeConnectionIF.h>
#include <fsfw/tasks/ExecutableObjectIF.h> #include <fsfw/tasks/ExecutableObjectIF.h>
class PowerSwitchIF; class PowerSwitchIF;
@ -24,12 +26,17 @@ class PowerSwitchIF;
*/ */
class PowerSwitcherComponent : public SystemObject, class PowerSwitcherComponent : public SystemObject,
public ExecutableObjectIF, public ExecutableObjectIF,
public ModeTreeChildIF,
public ModeTreeConnectionIF,
public HasModesIF, public HasModesIF,
public HasHealthIF { public HasHealthIF {
public: public:
PowerSwitcherComponent(object_id_t objectId, PowerSwitchIF *pwrSwitcher, PowerSwitcherComponent(object_id_t objectId, PowerSwitchIF *pwrSwitcher,
power::Switch_t pwrSwitch); power::Switch_t pwrSwitch);
ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF &parent) override;
ModeTreeChildIF &getModeTreeChildIF() override;
private: private:
MessageQueueIF *queue = nullptr; MessageQueueIF *queue = nullptr;
PowerSwitcher switcher; PowerSwitcher switcher;
@ -56,6 +63,10 @@ class PowerSwitcherComponent : public SystemObject,
ReturnValue_t setHealth(HealthState health) override; ReturnValue_t setHealth(HealthState health) override;
HasHealthIF::HealthState getHealth() override; HasHealthIF::HealthState getHealth() override;
object_id_t getObjectId() const override;
const HasHealthIF *getOptHealthIF() const override;
const HasModesIF &getModeIF() const override;
}; };
#endif /* _FSFW_POWER_POWERSWITCHERCOMPONENT_H_ */ #endif /* _FSFW_POWER_POWERSWITCHERCOMPONENT_H_ */

View File

@ -9,4 +9,4 @@ target_sources(
Service17Test.cpp Service17Test.cpp
Service20ParameterManagement.cpp Service20ParameterManagement.cpp
CService200ModeCommanding.cpp CService200ModeCommanding.cpp
CService201HealthCommanding.cpp) CServiceHealthCommanding.cpp)

View File

@ -20,6 +20,7 @@ ReturnValue_t CService200ModeCommanding::isValidSubservice(uint8_t subservice) {
case (Subservice::COMMAND_MODE_COMMAND): case (Subservice::COMMAND_MODE_COMMAND):
case (Subservice::COMMAND_MODE_READ): case (Subservice::COMMAND_MODE_READ):
case (Subservice::COMMAND_MODE_ANNCOUNCE): case (Subservice::COMMAND_MODE_ANNCOUNCE):
case (Subservice::COMMAND_MODE_ANNOUNCE_RECURSIVELY):
return returnvalue::OK; return returnvalue::OK;
default: default:
return AcceptsTelecommandsIF::INVALID_SUBSERVICE; return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
@ -53,15 +54,26 @@ ReturnValue_t CService200ModeCommanding::checkInterfaceAndAcquireMessageQueue(
ReturnValue_t CService200ModeCommanding::prepareCommand(CommandMessage *message, uint8_t subservice, ReturnValue_t CService200ModeCommanding::prepareCommand(CommandMessage *message, uint8_t subservice,
const uint8_t *tcData, size_t tcDataLen, const uint8_t *tcData, size_t tcDataLen,
uint32_t *state, object_id_t objectId) { uint32_t *state, object_id_t objectId) {
ModePacket modeCommandPacket; ReturnValue_t result = returnvalue::OK;
ReturnValue_t result = if (subservice == Subservice::COMMAND_MODE_ANNCOUNCE or
modeCommandPacket.deSerialize(&tcData, &tcDataLen, SerializeIF::Endianness::BIG); subservice == Subservice::COMMAND_MODE_ANNOUNCE_RECURSIVELY) {
if (result != returnvalue::OK) { bool recursive = true;
return result; if (subservice == Subservice::COMMAND_MODE_ANNCOUNCE) {
recursive = false;
}
ModeMessage::setModeAnnounceMessage(*message, recursive);
} else {
ModePacket modeCommandPacket;
ReturnValue_t result =
modeCommandPacket.deSerialize(&tcData, &tcDataLen, SerializeIF::Endianness::BIG);
if (result != returnvalue::OK) {
return result;
}
ModeMessage::setModeMessage(message, ModeMessage::CMD_MODE_COMMAND, modeCommandPacket.getMode(),
modeCommandPacket.getSubmode());
} }
ModeMessage::setModeMessage(message, ModeMessage::CMD_MODE_COMMAND, modeCommandPacket.getMode(),
modeCommandPacket.getSubmode());
return result; return result;
} }

View File

@ -1,106 +0,0 @@
#include "fsfw/pus/CService201HealthCommanding.h"
#include "fsfw/health/HasHealthIF.h"
#include "fsfw/health/HealthMessage.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/pus/servicepackets/Service201Packets.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
CService201HealthCommanding::CService201HealthCommanding(object_id_t objectId, uint16_t apid,
uint8_t serviceId,
uint8_t numParallelCommands,
uint16_t commandTimeoutSeconds)
: CommandingServiceBase(objectId, apid, "PUS 201 Health MGMT", serviceId, numParallelCommands,
commandTimeoutSeconds) {}
ReturnValue_t CService201HealthCommanding::isValidSubservice(uint8_t subservice) {
switch (subservice) {
case (Subservice::COMMAND_SET_HEALTH):
case (Subservice::COMMAND_ANNOUNCE_HEALTH):
case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL):
return returnvalue::OK;
default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Invalid Subservice" << std::endl;
#endif
return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
}
}
ReturnValue_t CService201HealthCommanding::getMessageQueueAndObject(uint8_t subservice,
const uint8_t *tcData,
size_t tcDataLen,
MessageQueueId_t *id,
object_id_t *objectId) {
if (tcDataLen < sizeof(object_id_t)) {
return CommandingServiceBase::INVALID_TC;
}
SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen, SerializeIF::Endianness::BIG);
return checkInterfaceAndAcquireMessageQueue(id, objectId);
}
ReturnValue_t CService201HealthCommanding::checkInterfaceAndAcquireMessageQueue(
MessageQueueId_t *messageQueueToSet, const object_id_t *objectId) {
auto *destination = ObjectManager::instance()->get<HasHealthIF>(*objectId);
if (destination == nullptr) {
return CommandingServiceBase::INVALID_OBJECT;
}
*messageQueueToSet = destination->getCommandQueue();
return returnvalue::OK;
}
ReturnValue_t CService201HealthCommanding::prepareCommand(CommandMessage *message,
uint8_t subservice, const uint8_t *tcData,
size_t tcDataLen, uint32_t *state,
object_id_t objectId) {
ReturnValue_t result = returnvalue::OK;
switch (subservice) {
case (Subservice::COMMAND_SET_HEALTH): {
HealthSetCommand healthCommand;
result = healthCommand.deSerialize(&tcData, &tcDataLen, SerializeIF::Endianness::BIG);
if (result != returnvalue::OK) {
break;
}
HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_SET,
healthCommand.getHealth());
break;
}
case (Subservice::COMMAND_ANNOUNCE_HEALTH): {
HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_ANNOUNCE);
break;
}
case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): {
HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_ANNOUNCE_ALL);
break;
}
default: {
// Should never happen, subservice was already checked
result = returnvalue::FAILED;
}
}
return result;
}
ReturnValue_t CService201HealthCommanding::handleReply(const CommandMessage *reply,
Command_t previousCommand, uint32_t *state,
CommandMessage *optionalNextCommand,
object_id_t objectId, bool *isStep) {
Command_t replyId = reply->getCommand();
if (replyId == HealthMessage::REPLY_HEALTH_SET) {
return EXECUTION_COMPLETE;
} else if (replyId == CommandMessageIF::REPLY_REJECTED) {
return reply->getReplyRejectedReason();
}
return CommandingServiceBase::INVALID_REPLY;
}
// Not used for now, health state already reported by event
[[maybe_unused]] ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(
const CommandMessage *reply) {
auto health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
auto oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(reply));
HealthSetReply healthSetReply(health, oldHealth);
return sendTmPacket(Subservice::REPLY_HEALTH_SET, healthSetReply);
}

View File

@ -0,0 +1,152 @@
#include <fsfw/events/EventManagerIF.h>
#include <fsfw/pus/CServiceHealthCommanding.h>
#include "fsfw/health/HasHealthIF.h"
#include "fsfw/health/HealthMessage.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/pus/servicepackets/Service201Packets.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
CServiceHealthCommanding::CServiceHealthCommanding(HealthServiceCfg args)
: CommandingServiceBase(args.objectId, args.apid, "PUS 201 Health MGMT", args.service,
args.numParallelCommands, args.commandTimeoutSeconds),
healthTable(args.table),
maxNumHealthInfoPerCycle(args.maxNumHealthInfoPerCycle) {}
ReturnValue_t CServiceHealthCommanding::isValidSubservice(uint8_t subservice) {
switch (subservice) {
case (Subservice::COMMAND_SET_HEALTH):
case (Subservice::COMMAND_ANNOUNCE_HEALTH):
case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL):
return returnvalue::OK;
default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Invalid Subservice" << std::endl;
#endif
return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
}
}
ReturnValue_t CServiceHealthCommanding::getMessageQueueAndObject(uint8_t subservice,
const uint8_t *tcData,
size_t tcDataLen,
MessageQueueId_t *id,
object_id_t *objectId) {
switch (subservice) {
case (Subservice::COMMAND_SET_HEALTH):
case (Subservice::COMMAND_ANNOUNCE_HEALTH): {
if (tcDataLen < sizeof(object_id_t)) {
return CommandingServiceBase::INVALID_TC;
}
SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen, SerializeIF::Endianness::BIG);
return checkInterfaceAndAcquireMessageQueue(id, objectId);
}
case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): {
return returnvalue::OK;
}
default: {
return returnvalue::FAILED;
}
}
}
ReturnValue_t CServiceHealthCommanding::checkInterfaceAndAcquireMessageQueue(
MessageQueueId_t *messageQueueToSet, const object_id_t *objectId) {
auto *destination = ObjectManager::instance()->get<HasHealthIF>(*objectId);
if (destination == nullptr) {
return CommandingServiceBase::INVALID_OBJECT;
}
*messageQueueToSet = destination->getCommandQueue();
return returnvalue::OK;
}
ReturnValue_t CServiceHealthCommanding::prepareCommand(CommandMessage *message, uint8_t subservice,
const uint8_t *tcData, size_t tcDataLen,
uint32_t *state, object_id_t objectId) {
ReturnValue_t result = returnvalue::OK;
switch (subservice) {
case (Subservice::COMMAND_SET_HEALTH): {
HealthSetCommand healthCommand;
result = healthCommand.deSerialize(&tcData, &tcDataLen, SerializeIF::Endianness::BIG);
if (result != returnvalue::OK) {
break;
}
HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_SET,
healthCommand.getHealth());
break;
}
case (Subservice::COMMAND_ANNOUNCE_HEALTH): {
HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_ANNOUNCE);
break;
}
case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): {
ReturnValue_t result = iterateHealthTable(true);
if (result == returnvalue::OK) {
reportAllHealth = true;
return EXECUTION_COMPLETE;
}
return result;
while (true) {
ReturnValue_t result = iterateHealthTable(false);
if (result != returnvalue::OK) {
break;
}
}
return returnvalue::OK;
}
default: {
// Should never happen, subservice was already checked
result = returnvalue::FAILED;
}
}
return result;
}
ReturnValue_t CServiceHealthCommanding::handleReply(const CommandMessage *reply,
Command_t previousCommand, uint32_t *state,
CommandMessage *optionalNextCommand,
object_id_t objectId, bool *isStep) {
Command_t replyId = reply->getCommand();
if (replyId == HealthMessage::REPLY_HEALTH_SET) {
return EXECUTION_COMPLETE;
} else if (replyId == CommandMessageIF::REPLY_REJECTED) {
return reply->getReplyRejectedReason();
}
return CommandingServiceBase::INVALID_REPLY;
}
void CServiceHealthCommanding::doPeriodicOperation() {
if (reportAllHealth) {
for (uint8_t i = 0; i < maxNumHealthInfoPerCycle; i++) {
ReturnValue_t result = iterateHealthTable(false);
if (result != returnvalue::OK) {
reportAllHealth = false;
break;
}
}
}
}
// Not used for now, health state already reported by event
[[maybe_unused]] ReturnValue_t CServiceHealthCommanding::prepareHealthSetReply(
const CommandMessage *reply) {
auto health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
auto oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(reply));
HealthSetReply healthSetReply(health, oldHealth);
return sendTmPacket(Subservice::REPLY_HEALTH_SET, healthSetReply);
}
ReturnValue_t CServiceHealthCommanding::iterateHealthTable(bool reset) {
std::pair<object_id_t, HasHealthIF::HealthState> pair;
ReturnValue_t result = healthTable.iterate(&pair, reset);
if (result != returnvalue::OK) {
return result;
} else {
EventManagerIF::triggerEvent(pair.first, HasHealthIF::HEALTH_INFO, pair.second, pair.second);
return returnvalue::OK;
}
}

View File

@ -1,8 +1,26 @@
#ifndef FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_ #ifndef FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
#define FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_ #define FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
#include <fsfw/health/HealthTable.h>
#include "fsfw/tmtcservices/CommandingServiceBase.h" #include "fsfw/tmtcservices/CommandingServiceBase.h"
struct HealthServiceCfg {
HealthServiceCfg(object_id_t objectId, uint16_t apid, HealthTable &healthTable,
uint16_t maxNumHealthInfoPerCycle)
: objectId(objectId),
apid(apid),
table(healthTable),
maxNumHealthInfoPerCycle(maxNumHealthInfoPerCycle) {}
object_id_t objectId;
uint16_t apid;
HealthTable &table;
uint16_t maxNumHealthInfoPerCycle;
uint8_t service = 201;
uint8_t numParallelCommands = 4;
uint16_t commandTimeoutSeconds = 60;
};
/** /**
* @brief Custom PUS service to set health of all objects * @brief Custom PUS service to set health of all objects
* implementing hasHealthIF. * implementing hasHealthIF.
@ -17,11 +35,10 @@
* child class like this service * child class like this service
* *
*/ */
class CService201HealthCommanding : public CommandingServiceBase { class CServiceHealthCommanding : public CommandingServiceBase {
public: public:
CService201HealthCommanding(object_id_t objectId, uint16_t apid, uint8_t serviceId, CServiceHealthCommanding(HealthServiceCfg args);
uint8_t numParallelCommands = 4, uint16_t commandTimeoutSeconds = 60); ~CServiceHealthCommanding() override = default;
~CService201HealthCommanding() override = default;
protected: protected:
/* CSB abstract function implementations */ /* CSB abstract function implementations */
@ -37,7 +54,13 @@ class CService201HealthCommanding : public CommandingServiceBase {
CommandMessage *optionalNextCommand, object_id_t objectId, CommandMessage *optionalNextCommand, object_id_t objectId,
bool *isStep) override; bool *isStep) override;
void doPeriodicOperation() override;
private: private:
HealthTable &healthTable;
uint16_t maxNumHealthInfoPerCycle = 0;
bool reportAllHealth = false;
ReturnValue_t iterateHealthTable(bool reset);
static ReturnValue_t checkInterfaceAndAcquireMessageQueue(MessageQueueId_t *MessageQueueToSet, static ReturnValue_t checkInterfaceAndAcquireMessageQueue(MessageQueueId_t *MessageQueueToSet,
const object_id_t *objectId); const object_id_t *objectId);

View File

@ -41,6 +41,8 @@ class Service11TelecommandScheduling final : public PusServiceBase {
static constexpr ReturnValue_t INVALID_TIME_WINDOW = returnvalue::makeCode(CLASS_ID, 2); static constexpr ReturnValue_t INVALID_TIME_WINDOW = returnvalue::makeCode(CLASS_ID, 2);
static constexpr ReturnValue_t TIMESHIFTING_NOT_POSSIBLE = returnvalue::makeCode(CLASS_ID, 3); static constexpr ReturnValue_t TIMESHIFTING_NOT_POSSIBLE = returnvalue::makeCode(CLASS_ID, 3);
static constexpr ReturnValue_t INVALID_RELATIVE_TIME = returnvalue::makeCode(CLASS_ID, 4); static constexpr ReturnValue_t INVALID_RELATIVE_TIME = returnvalue::makeCode(CLASS_ID, 4);
static constexpr ReturnValue_t CONTAINED_TC_TOO_SMALL = returnvalue::makeCode(CLASS_ID, 5);
static constexpr ReturnValue_t CONTAINED_TC_CRC_MISSMATCH = returnvalue::makeCode(CLASS_ID, 6);
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_11; static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_11;

View File

@ -2,9 +2,11 @@
#include <cstddef> #include <cstddef>
#include "fsfw/globalfunctions/CRC.h"
#include "fsfw/objectmanager/ObjectManager.h" #include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/serialize/SerializeAdapter.h" #include "fsfw/serialize/SerializeAdapter.h"
#include "fsfw/serviceinterface.h" #include "fsfw/serviceinterface.h"
#include "fsfw/tmtcpacket/pus/tc/PusTcIF.h"
#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h" #include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
static constexpr auto DEF_END = SerializeIF::Endianness::BIG; static constexpr auto DEF_END = SerializeIF::Endianness::BIG;
@ -171,6 +173,14 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doInsertActivi
return returnvalue::FAILED; return returnvalue::FAILED;
} }
if (size < PusTcIF::MIN_SIZE) {
return CONTAINED_TC_TOO_SMALL;
}
if (CRC::crc16ccitt(data, size) != 0) {
return CONTAINED_TC_CRC_MISSMATCH;
}
// store currentPacket and receive the store address // store currentPacket and receive the store address
store_address_t addr{}; store_address_t addr{};
if (tcStore->addData(&addr, data, size) != returnvalue::OK || if (tcStore->addData(&addr, data, size) != returnvalue::OK ||

View File

@ -1,5 +1,7 @@
#include "fsfw/pus/Service17Test.h" #include "fsfw/pus/Service17Test.h"
#include <fsfw/serialize/SerializeElement.h>
#include "fsfw/FSFW.h" #include "fsfw/FSFW.h"
#include "fsfw/objectmanager/ObjectManager.h" #include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/objectmanager/SystemObject.h" #include "fsfw/objectmanager/SystemObject.h"
@ -31,6 +33,15 @@ ReturnValue_t Service17Test::handleRequest(uint8_t subservice) {
} }
return tmHelper.storeAndSendTmPacket(); return tmHelper.storeAndSendTmPacket();
} }
case Subservice::PING_WITH_DATA: {
SerializeElement<uint32_t> receivedDataLen = currentPacket.getUserDataLen();
ReturnValue_t result =
tmHelper.prepareTmPacket(Subservice::PING_WITH_DATA_REPORT_WITH_SIZE, receivedDataLen);
if (result != returnvalue::OK) {
return result;
}
return tmHelper.storeAndSendTmPacket();
}
default: default:
return AcceptsTelecommandsIF::INVALID_SUBSERVICE; return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
} }

View File

@ -32,6 +32,9 @@ class Service17Test : public PusServiceBase {
CONNECTION_TEST_REPORT = 2, CONNECTION_TEST_REPORT = 2,
//! [EXPORT] : [COMMAND] Trigger test reply and test event //! [EXPORT] : [COMMAND] Trigger test reply and test event
EVENT_TRIGGER_TEST = 128, EVENT_TRIGGER_TEST = 128,
PING_WITH_DATA = 129,
//! [EXPORT] : [COMMAND] Report which reports the sent user data size
PING_WITH_DATA_REPORT_WITH_SIZE = 130
}; };
explicit Service17Test(PsbParams params); explicit Service17Test(PsbParams params);

View File

@ -69,14 +69,14 @@ ReturnValue_t Service20ParameterManagement::checkInterfaceAndAcquireMessageQueue
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Service20ParameterManagement::checkInterfaceAndAcquire" sif::error << "Service20ParameterManagement::checkInterfaceAndAcquire"
<< "MessageQueue: Can't access object" << std::endl; << "MessageQueue: Can't access object" << std::endl;
sif::error << "Object ID: " << std::hex << objectId << std::dec << std::endl; sif::error << "Object ID: 0x" << std::hex << *objectId << std::dec << std::endl;
sif::error << "Make sure it implements ReceivesParameterMessagesIF!" << std::endl; sif::error << "Make sure it implements ReceivesParameterMessagesIF" << std::endl;
#else #else
sif::printError( sif::printError(
"Service20ParameterManagement::checkInterfaceAndAcquire" "Service20ParameterManagement::checkInterfaceAndAcquire"
"MessageQueue: Can't access object\n"); "MessageQueue: Can't access object\n");
sif::printError("Object ID: 0x%08x\n", *objectId); sif::printError("Object ID: 0x%08x\n", *objectId);
sif::printError("Make sure it implements ReceivesParameterMessagesIF!\n"); sif::printError("Make sure it implements ReceivesParameterMessagesIF\n");
#endif #endif
return CommandingServiceBase::INVALID_OBJECT; return CommandingServiceBase::INVALID_OBJECT;

View File

@ -42,7 +42,7 @@
class Service5EventReporting : public PusServiceBase { class Service5EventReporting : public PusServiceBase {
public: public:
Service5EventReporting(PsbParams params, size_t maxNumberReportsPerCycle = 10, Service5EventReporting(PsbParams params, size_t maxNumberReportsPerCycle = 10,
uint32_t messageQueueDepth = 10); uint32_t messageQueueDepth = 20);
~Service5EventReporting() override; ~Service5EventReporting() override;
/*** /***

View File

@ -1,5 +1,7 @@
#include "fsfw/pus/Service9TimeManagement.h" #include "fsfw/pus/Service9TimeManagement.h"
#include <cmath>
#include "fsfw/events/EventManagerIF.h" #include "fsfw/events/EventManagerIF.h"
#include "fsfw/pus/servicepackets/Service9Packets.h" #include "fsfw/pus/servicepackets/Service9Packets.h"
#include "fsfw/serviceinterface/ServiceInterface.h" #include "fsfw/serviceinterface/ServiceInterface.h"
@ -15,9 +17,17 @@ ReturnValue_t Service9TimeManagement::performService() { return returnvalue::OK;
ReturnValue_t Service9TimeManagement::handleRequest(uint8_t subservice) { ReturnValue_t Service9TimeManagement::handleRequest(uint8_t subservice) {
switch (subservice) { switch (subservice) {
case SUBSERVICE::SET_TIME: { case Subservice::SET_TIME: {
return setTime(); return setTime();
} }
case Subservice::DUMP_TIME: {
timeval newTime;
Clock::getClock_timeval(&newTime);
uint32_t subsecondMs =
static_cast<uint32_t>(std::floor(static_cast<double>(newTime.tv_usec) / 1000.0));
triggerEvent(CLOCK_DUMP, newTime.tv_sec, subsecondMs);
return returnvalue::OK;
}
default: default:
return AcceptsTelecommandsIF::INVALID_SUBSERVICE; return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
} }
@ -33,14 +43,14 @@ ReturnValue_t Service9TimeManagement::setTime() {
return result; return result;
} }
uint32_t formerUptime; timeval time;
Clock::getUptime(&formerUptime); Clock::getClock_timeval(&time);
result = Clock::setClock(&timeToSet); result = Clock::setClock(&timeToSet);
if (result == returnvalue::OK) { if (result == returnvalue::OK) {
uint32_t newUptime; timeval newTime;
Clock::getUptime(&newUptime); Clock::getClock_timeval(&newTime);
triggerEvent(CLOCK_SET, newUptime, formerUptime); triggerEvent(CLOCK_SET, time.tv_sec, newTime.tv_sec);
return returnvalue::OK; return returnvalue::OK;
} else { } else {
triggerEvent(CLOCK_SET_FAILURE, result, 0); triggerEvent(CLOCK_SET_FAILURE, result, 0);

View File

@ -6,10 +6,13 @@
class Service9TimeManagement : public PusServiceBase { class Service9TimeManagement : public PusServiceBase {
public: public:
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_9; static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_9;
//!< Clock has been set. P1: New Uptime. P2: Old Uptime
//!< Clock has been set. P1: old timeval seconds. P2: new timeval seconds.
static constexpr Event CLOCK_SET = MAKE_EVENT(0, severity::INFO); static constexpr Event CLOCK_SET = MAKE_EVENT(0, severity::INFO);
//!< Clock dump event. P1: timeval seconds P2: timeval milliseconds.
static constexpr Event CLOCK_DUMP = MAKE_EVENT(1, severity::INFO);
//!< Clock could not be set. P1: Returncode. //!< Clock could not be set. P1: Returncode.
static constexpr Event CLOCK_SET_FAILURE = MAKE_EVENT(1, severity::LOW); static constexpr Event CLOCK_SET_FAILURE = MAKE_EVENT(2, severity::LOW);
static constexpr uint8_t CLASS_ID = CLASS_ID::PUS_SERVICE_9; static constexpr uint8_t CLASS_ID = CLASS_ID::PUS_SERVICE_9;
@ -30,8 +33,9 @@ class Service9TimeManagement : public PusServiceBase {
virtual ReturnValue_t setTime(); virtual ReturnValue_t setTime();
private: private:
enum SUBSERVICE { enum Subservice {
SET_TIME = 128 //!< [EXPORT] : [COMMAND] Time command in ASCII, CUC or CDS format SET_TIME = 128, //!< [EXPORT] : [COMMAND] Time command in ASCII, CUC or CDS format
DUMP_TIME = 129,
}; };
}; };

View File

@ -1,9 +1,9 @@
#ifndef FSFW_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_ #ifndef FSFW_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_
#define FSFW_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_ #define FSFW_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_
#include "../../modes/ModeMessage.h" #include "fsfw/modes/ModeMessage.h"
#include "../../serialize/SerialLinkedListAdapter.h" #include "fsfw/serialize/SerialLinkedListAdapter.h"
#include "../../serialize/SerializeIF.h" #include "fsfw/serialize/SerializeIF.h"
/** /**
* @brief Subservice 1, 2, 3, 4, 5 * @brief Subservice 1, 2, 3, 4, 5

View File

@ -31,9 +31,8 @@ LocalPool::LocalPool(object_id_t setObjectId, const LocalPoolConfig& poolConfig,
LocalPool::~LocalPool() = default; LocalPool::~LocalPool() = default;
ReturnValue_t LocalPool::addData(store_address_t* storageId, const uint8_t* data, size_t size, ReturnValue_t LocalPool::addData(store_address_t* storageId, const uint8_t* data, size_t size) {
bool ignoreFault) { ReturnValue_t status = reserveSpace(size, storageId);
ReturnValue_t status = reserveSpace(size, storageId, ignoreFault);
if (status == returnvalue::OK) { if (status == returnvalue::OK) {
write(*storageId, data, size); write(*storageId, data, size);
} }
@ -49,8 +48,8 @@ ReturnValue_t LocalPool::getData(store_address_t packetId, const uint8_t** packe
} }
ReturnValue_t LocalPool::getFreeElement(store_address_t* storageId, const size_t size, ReturnValue_t LocalPool::getFreeElement(store_address_t* storageId, const size_t size,
uint8_t** pData, bool ignoreFault) { uint8_t** pData) {
ReturnValue_t status = reserveSpace(size, storageId, ignoreFault); ReturnValue_t status = reserveSpace(size, storageId);
if (status == returnvalue::OK) { if (status == returnvalue::OK) {
*pData = &store[storageId->poolIndex][getRawPosition(*storageId)]; *pData = &store[storageId->poolIndex][getRawPosition(*storageId)];
} else { } else {
@ -167,7 +166,7 @@ void LocalPool::clearStore() {
} }
} }
ReturnValue_t LocalPool::reserveSpace(size_t size, store_address_t* storeId, bool ignoreFault) { ReturnValue_t LocalPool::reserveSpace(size_t size, store_address_t* storeId) {
ReturnValue_t status = getSubPoolIndex(size, &storeId->poolIndex); ReturnValue_t status = getSubPoolIndex(size, &storeId->poolIndex);
if (status != returnvalue::OK) { if (status != returnvalue::OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
@ -318,27 +317,3 @@ bool LocalPool::hasDataAtId(store_address_t storeId) const {
} }
return false; return false;
} }
ReturnValue_t LocalPool::getFreeElement(store_address_t* storeId, size_t size, uint8_t** pData) {
return StorageManagerIF::getFreeElement(storeId, size, pData);
}
ConstAccessorPair LocalPool::getData(store_address_t storeId) {
return StorageManagerIF::getData(storeId);
}
ReturnValue_t LocalPool::addData(store_address_t* storeId, const uint8_t* data, size_t size) {
return StorageManagerIF::addData(storeId, data, size);
}
ReturnValue_t LocalPool::getData(store_address_t storeId, ConstStorageAccessor& accessor) {
return StorageManagerIF::getData(storeId, accessor);
}
ReturnValue_t LocalPool::modifyData(store_address_t storeId, StorageAccessor& accessor) {
return StorageManagerIF::modifyData(storeId, accessor);
}
AccessorPair LocalPool::modifyData(store_address_t storeId) {
return StorageManagerIF::modifyData(storeId);
}

View File

@ -86,21 +86,13 @@ class LocalPool : public SystemObject, public StorageManagerIF {
/** /**
* Documentation: See StorageManagerIF.h * Documentation: See StorageManagerIF.h
*/ */
ReturnValue_t addData(store_address_t* storeId, const uint8_t* data, size_t size,
bool ignoreFault) override;
ReturnValue_t addData(store_address_t* storeId, const uint8_t* data, size_t size) override; ReturnValue_t addData(store_address_t* storeId, const uint8_t* data, size_t size) override;
ReturnValue_t getFreeElement(store_address_t* storeId, size_t size, uint8_t** pData) override; ReturnValue_t getFreeElement(store_address_t* storeId, size_t size, uint8_t** pData) override;
ReturnValue_t getFreeElement(store_address_t* storeId, size_t size, uint8_t** pData,
bool ignoreFault) override;
ConstAccessorPair getData(store_address_t storeId) override;
ReturnValue_t getData(store_address_t storeId, ConstStorageAccessor& accessor) override;
ReturnValue_t getData(store_address_t storeId, const uint8_t** packet_ptr, size_t* size) override; ReturnValue_t getData(store_address_t storeId, const uint8_t** packet_ptr, size_t* size) override;
AccessorPair modifyData(store_address_t storeId) override;
ReturnValue_t modifyData(store_address_t storeId, uint8_t** packet_ptr, size_t* size) override; ReturnValue_t modifyData(store_address_t storeId, uint8_t** packet_ptr, size_t* size) override;
ReturnValue_t modifyData(store_address_t storeId, StorageAccessor& accessor) override;
ReturnValue_t deleteData(store_address_t storeId) override; ReturnValue_t deleteData(store_address_t storeId) override;
ReturnValue_t deleteData(uint8_t* ptr, size_t size, store_address_t* storeId) override; ReturnValue_t deleteData(uint8_t* ptr, size_t size, store_address_t* storeId) override;
@ -136,6 +128,12 @@ class LocalPool : public SystemObject, public StorageManagerIF {
[[nodiscard]] max_subpools_t getNumberOfSubPools() const override; [[nodiscard]] max_subpools_t getNumberOfSubPools() const override;
[[nodiscard]] bool hasDataAtId(store_address_t storeId) const override; [[nodiscard]] bool hasDataAtId(store_address_t storeId) const override;
// Using functions provided by StorageManagerIF requires either a fully qualified path
// like for example localPool.StorageManagerIF::getFreeElement(...) or re-exporting
// the fully qualified path with the using directive.
using StorageManagerIF::getData;
using StorageManagerIF::modifyData;
protected: protected:
/** /**
* With this helper method, a free element of @c size is reserved. * With this helper method, a free element of @c size is reserved.
@ -144,7 +142,7 @@ class LocalPool : public SystemObject, public StorageManagerIF {
* @return - returnvalue::OK on success, * @return - returnvalue::OK on success,
* - the return codes of #getPoolIndex or #findEmpty otherwise. * - the return codes of #getPoolIndex or #findEmpty otherwise.
*/ */
virtual ReturnValue_t reserveSpace(size_t size, store_address_t* address, bool ignoreFault); virtual ReturnValue_t reserveSpace(size_t size, store_address_t* address);
private: private:
/** /**
@ -188,6 +186,8 @@ class LocalPool : public SystemObject, public StorageManagerIF {
std::vector<std::vector<size_type>> sizeLists = std::vector<std::vector<size_type>> sizeLists =
std::vector<std::vector<size_type>>(NUMBER_OF_SUBPOOLS); std::vector<std::vector<size_type>>(NUMBER_OF_SUBPOOLS);
bool ignoreFault = false;
//! A variable to determine whether higher n pools are used if //! A variable to determine whether higher n pools are used if
//! the store is full. //! the store is full.
bool spillsToHigherPools = false; bool spillsToHigherPools = false;

View File

@ -9,10 +9,9 @@ PoolManager::PoolManager(object_id_t setObjectId, const LocalPoolConfig& localPo
PoolManager::~PoolManager() { MutexFactory::instance()->deleteMutex(mutex); } PoolManager::~PoolManager() { MutexFactory::instance()->deleteMutex(mutex); }
ReturnValue_t PoolManager::reserveSpace(const size_t size, store_address_t* address, ReturnValue_t PoolManager::reserveSpace(const size_t size, store_address_t* address) {
bool ignoreFault) {
MutexGuard mutexHelper(mutex, MutexIF::TimeoutType::WAITING, mutexTimeoutMs); MutexGuard mutexHelper(mutex, MutexIF::TimeoutType::WAITING, mutexTimeoutMs);
ReturnValue_t status = LocalPool::reserveSpace(size, address, ignoreFault); ReturnValue_t status = LocalPool::reserveSpace(size, address);
return status; return status;
} }

View File

@ -57,7 +57,7 @@ class PoolManager : public LocalPool {
//! Default mutex timeout value to prevent permanent blocking. //! Default mutex timeout value to prevent permanent blocking.
uint32_t mutexTimeoutMs = 20; uint32_t mutexTimeoutMs = 20;
ReturnValue_t reserveSpace(size_t size, store_address_t* address, bool ignoreFault) override; ReturnValue_t reserveSpace(size_t size, store_address_t* address) override;
/** /**
* @brief The mutex is created in the constructor and makes * @brief The mutex is created in the constructor and makes

View File

@ -55,7 +55,7 @@ class StorageManagerIF {
/** /**
* @brief This is the empty virtual destructor as required for C++ interfaces. * @brief This is the empty virtual destructor as required for C++ interfaces.
*/ */
~StorageManagerIF() = default; virtual ~StorageManagerIF() = default;
/** /**
* @brief With addData, a free storage position is allocated and data * @brief With addData, a free storage position is allocated and data
* stored there. * stored there.
@ -66,12 +66,7 @@ class StorageManagerIF {
* @return Returns @returnvalue::OK if data was added. * @return Returns @returnvalue::OK if data was added.
* @returnvalue::FAILED if data could not be added, storageId is unchanged then. * @returnvalue::FAILED if data could not be added, storageId is unchanged then.
*/ */
virtual ReturnValue_t addData(store_address_t* storageId, const uint8_t* data, size_t size, virtual ReturnValue_t addData(store_address_t* storageId, const uint8_t* data, size_t size) = 0;
bool ignoreFault) = 0;
virtual ReturnValue_t addData(store_address_t* storageId, const uint8_t* data, size_t size) {
return addData(storageId, data, size, false);
}
/** /**
* @brief With deleteData, the storageManager frees the memory region * @brief With deleteData, the storageManager frees the memory region
@ -186,12 +181,8 @@ class StorageManagerIF {
* @return Returns @returnvalue::OK if data was added. * @return Returns @returnvalue::OK if data was added.
* @returnvalue::FAILED if data could not be added, storageId is unchanged then. * @returnvalue::FAILED if data could not be added, storageId is unchanged then.
*/ */
virtual ReturnValue_t getFreeElement(store_address_t* storageId, size_t size, uint8_t** dataPtr, virtual ReturnValue_t getFreeElement(store_address_t* storageId, size_t size,
bool ignoreFault) = 0; uint8_t** dataPtr) = 0;
virtual ReturnValue_t getFreeElement(store_address_t* storageId, size_t size, uint8_t** dataPtr) {
return getFreeElement(storageId, size, dataPtr, false);
}
[[nodiscard]] virtual bool hasDataAtId(store_address_t storeId) const = 0; [[nodiscard]] virtual bool hasDataAtId(store_address_t storeId) const = 0;

View File

@ -1,3 +1,4 @@
target_sources(${LIB_FSFW_NAME} PRIVATE Subsystem.cpp SubsystemBase.cpp) target_sources(${LIB_FSFW_NAME} PRIVATE Subsystem.cpp SubsystemBase.cpp
helper.cpp)
add_subdirectory(modes) add_subdirectory(modes)

View File

@ -0,0 +1,13 @@
#ifndef FSFW_SUBSYSTEM_HASMODETREECHILDRENIF_H_
#define FSFW_SUBSYSTEM_HASMODETREECHILDRENIF_H_
#include "ModeTreeChildIF.h"
class HasModeTreeChildrenIF {
public:
virtual ~HasModeTreeChildrenIF() = default;
virtual ReturnValue_t registerChild(const ModeTreeChildIF& child) = 0;
virtual MessageQueueId_t getCommandQueue() const = 0;
};
#endif // FSFW_SUBSYSTEM_HASMODETREECHILDRENIF_H_

View File

@ -0,0 +1,15 @@
#ifndef FSFW_SUBSYSTEM_MODETREECHILDIF_H_
#define FSFW_SUBSYSTEM_MODETREECHILDIF_H_
#include <fsfw/health/HasHealthIF.h>
#include <fsfw/modes/HasModesIF.h>
class ModeTreeChildIF {
public:
virtual ~ModeTreeChildIF() = default;
virtual object_id_t getObjectId() const = 0;
virtual const HasHealthIF* getOptHealthIF() const = 0;
virtual const HasModesIF& getModeIF() const = 0;
};
#endif /* FSFW_SUBSYSTEM_MODETREECHILDIF_H_ */

View File

@ -0,0 +1,13 @@
#ifndef FSFW_SUBSYSTEM_MODES_MODETREECONNECTIONIF_H_
#define FSFW_SUBSYSTEM_MODES_MODETREECONNECTIONIF_H_
#include "fsfw/subsystem/HasModeTreeChildrenIF.h"
class ModeTreeConnectionIF {
public:
virtual ~ModeTreeConnectionIF() = default;
virtual ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF& parent) = 0;
virtual ModeTreeChildIF& getModeTreeChildIF() = 0;
};
#endif /* FSFW_SRC_FSFW_SUBSYSTEM_MODES_MODETREECONNECTIONIF_H_ */

View File

@ -9,9 +9,9 @@
#include "fsfw/serialize/SerialLinkedListAdapter.h" #include "fsfw/serialize/SerialLinkedListAdapter.h"
#include "fsfw/serialize/SerializeElement.h" #include "fsfw/serialize/SerializeElement.h"
Subsystem::Subsystem(object_id_t setObjectId, object_id_t parent, uint32_t maxNumberOfSequences, Subsystem::Subsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
uint32_t maxNumberOfTables) uint32_t maxNumberOfTables)
: SubsystemBase(setObjectId, parent, 0), : SubsystemBase(setObjectId, 0),
isInTransition(false), isInTransition(false),
childrenChangedHealth(false), childrenChangedHealth(false),
currentTargetTable(), currentTargetTable(),
@ -36,6 +36,13 @@ ReturnValue_t Subsystem::checkSequence(HybridIterator<ModeListEntry> iter,
for (; iter.value != nullptr; ++iter) { for (; iter.value != nullptr; ++iter) {
if (!existsModeTable(iter->getTableId())) { if (!existsModeTable(iter->getTableId())) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
using namespace std;
sif::warning << "Subsystem::checkSequence: "
<< "Object " << setfill('0') << hex << "0x" << setw(8) << getObjectId()
<< setw(0) << ": Mode table for mode ID "
<< "0x" << setw(8) << iter->getTableId() << " does not exist" << dec << endl;
#endif
return TABLE_DOES_NOT_EXIST; return TABLE_DOES_NOT_EXIST;
} else { } else {
ReturnValue_t result = checkTable(getTable(iter->getTableId())); ReturnValue_t result = checkTable(getTable(iter->getTableId()));

View File

@ -66,8 +66,7 @@ class Subsystem : public SubsystemBase, public HasModeSequenceIF {
* @param maxNumberOfSequences * @param maxNumberOfSequences
* @param maxNumberOfTables * @param maxNumberOfTables
*/ */
Subsystem(object_id_t setObjectId, object_id_t parent, uint32_t maxNumberOfSequences, Subsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
uint32_t maxNumberOfTables);
virtual ~Subsystem(); virtual ~Subsystem();
ReturnValue_t addSequence(SequenceEntry sequence); ReturnValue_t addSequence(SequenceEntry sequence);

View File

@ -1,16 +1,17 @@
#include "fsfw/subsystem/SubsystemBase.h" #include "fsfw/subsystem/SubsystemBase.h"
#include "fsfw/FSFW.h"
#include "fsfw/ipc/QueueFactory.h" #include "fsfw/ipc/QueueFactory.h"
#include "fsfw/objectmanager/ObjectManager.h" #include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/serviceinterface/ServiceInterface.h" #include "fsfw/serviceinterface.h"
#include "fsfw/subsystem/helper.h"
SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent, Mode_t initialMode, SubsystemBase::SubsystemBase(object_id_t setObjectId, Mode_t initialMode,
uint16_t commandQueueDepth) uint16_t commandQueueDepth)
: SystemObject(setObjectId), : SystemObject(setObjectId),
mode(initialMode), mode(initialMode),
healthHelper(this, setObjectId), healthHelper(this, setObjectId),
modeHelper(this), modeHelper(this) {
parentId(parent) {
auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this)); auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
commandQueue = QueueFactory::instance()->createMessageQueue( commandQueue = QueueFactory::instance()->createMessageQueue(
commandQueueDepth, CommandMessage::MAX_MESSAGE_SIZE, &mqArgs); commandQueueDepth, CommandMessage::MAX_MESSAGE_SIZE, &mqArgs);
@ -18,36 +19,6 @@ SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent, Mode_t
SubsystemBase::~SubsystemBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); } SubsystemBase::~SubsystemBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }
ReturnValue_t SubsystemBase::registerChild(object_id_t objectId) {
ChildInfo info;
HasModesIF* child = ObjectManager::instance()->get<HasModesIF>(objectId);
// This is a rather ugly hack to have the changedHealth info for all
// children available.
HasHealthIF* healthChild = ObjectManager::instance()->get<HasHealthIF>(objectId);
if (child == nullptr) {
if (healthChild == nullptr) {
return CHILD_DOESNT_HAVE_MODES;
} else {
info.commandQueue = healthChild->getCommandQueue();
info.mode = MODE_OFF;
}
} else {
// intentional to force an initial command during system startup
info.commandQueue = child->getCommandQueue();
info.mode = HasModesIF::MODE_UNDEFINED;
}
info.submode = SUBMODE_NONE;
info.healthChanged = false;
auto resultPair = childrenMap.emplace(objectId, info);
if (not resultPair.second) {
return COULD_NOT_INSERT_CHILD;
}
return returnvalue::OK;
}
ReturnValue_t SubsystemBase::checkStateAgainstTable(HybridIterator<ModeListEntry> tableIter, ReturnValue_t SubsystemBase::checkStateAgainstTable(HybridIterator<ModeListEntry> tableIter,
Submode_t targetSubmode) { Submode_t targetSubmode) {
std::map<object_id_t, ChildInfo>::iterator childIter; std::map<object_id_t, ChildInfo>::iterator childIter;
@ -87,7 +58,8 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
if ((iter = childrenMap.find(object)) == childrenMap.end()) { if ((iter = childrenMap.find(object)) == childrenMap.end()) {
// illegal table entry, should only happen due to misconfigured mode table // illegal table entry, should only happen due to misconfigured mode table
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << std::hex << getObjectId() << ": invalid mode table entry" << std::endl; sif::debug << std::hex << SystemObject::getObjectId() << ": invalid mode table entry"
<< std::endl;
#endif #endif
continue; continue;
} }
@ -158,36 +130,15 @@ ReturnValue_t SubsystemBase::updateChildChangedHealth(MessageQueueId_t queue, bo
MessageQueueId_t SubsystemBase::getCommandQueue() const { return commandQueue->getId(); } MessageQueueId_t SubsystemBase::getCommandQueue() const { return commandQueue->getId(); }
ReturnValue_t SubsystemBase::initialize() { ReturnValue_t SubsystemBase::initialize() {
MessageQueueId_t parentQueue = MessageQueueIF::NO_QUEUE; ReturnValue_t result = modeHelper.initialize();
ReturnValue_t result = SystemObject::initialize();
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
return result; return result;
} }
result = healthHelper.initialize();
if (parentId != objects::NO_OBJECT) {
SubsystemBase* parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
if (parent == nullptr) {
return returnvalue::FAILED;
}
parentQueue = parent->getCommandQueue();
parent->registerChild(getObjectId());
}
result = healthHelper.initialize(parentQueue);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
return result; return result;
} }
return SystemObject::initialize();
result = modeHelper.initialize(parentQueue);
if (result != returnvalue::OK) {
return result;
}
return returnvalue::OK;
} }
ReturnValue_t SubsystemBase::performOperation(uint8_t opCode) { ReturnValue_t SubsystemBase::performOperation(uint8_t opCode) {
@ -240,8 +191,14 @@ ReturnValue_t SubsystemBase::handleModeReply(CommandMessage* message) {
} }
ReturnValue_t SubsystemBase::checkTable(HybridIterator<ModeListEntry> tableIter) { ReturnValue_t SubsystemBase::checkTable(HybridIterator<ModeListEntry> tableIter) {
for (; tableIter.value != NULL; ++tableIter) { for (; tableIter.value != nullptr; ++tableIter) {
if (childrenMap.find(tableIter.value->getObject()) == childrenMap.end()) { if (childrenMap.find(tableIter.value->getObject()) == childrenMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
using namespace std;
sif::warning << "SubsystemBase::checkTable: Could not find object " << setfill('0') << hex
<< "0x" << setw(8) << tableIter.value->getObject() << " in object " << setw(8)
<< setw(0) << "0x" << setw(8) << SystemObject::getObjectId() << dec << std::endl;
#endif
return TABLE_CONTAINS_INVALID_OBJECT_ID; return TABLE_CONTAINS_INVALID_OBJECT_ID;
} }
} }
@ -326,4 +283,33 @@ ReturnValue_t SubsystemBase::setHealth(HealthState health) {
HasHealthIF::HealthState SubsystemBase::getHealth() { return healthHelper.getHealth(); } HasHealthIF::HealthState SubsystemBase::getHealth() { return healthHelper.getHealth(); }
ReturnValue_t SubsystemBase::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
return modetree::connectModeTreeParent(parent, *this, &healthHelper, modeHelper);
}
object_id_t SubsystemBase::getObjectId() const { return SystemObject::getObjectId(); }
void SubsystemBase::modeChanged() {} void SubsystemBase::modeChanged() {}
ReturnValue_t SubsystemBase::registerChild(const ModeTreeChildIF& child) {
ChildInfo info;
const HasModesIF& modeChild = child.getModeIF();
// intentional to force an initial command during system startup
info.commandQueue = modeChild.getCommandQueue();
info.mode = HasModesIF::MODE_UNDEFINED;
info.submode = SUBMODE_NONE;
info.healthChanged = false;
auto resultPair = childrenMap.emplace(child.getObjectId(), info);
if (not resultPair.second) {
return COULD_NOT_INSERT_CHILD;
}
return returnvalue::OK;
}
const HasHealthIF* SubsystemBase::getOptHealthIF() const { return this; }
const HasModesIF& SubsystemBase::getModeIF() const { return *this; }
ModeTreeChildIF& SubsystemBase::getModeTreeChildIF() { return *this; }

View File

@ -3,14 +3,16 @@
#include <map> #include <map>
#include "../container/HybridIterator.h" #include "fsfw/container/HybridIterator.h"
#include "../health/HasHealthIF.h" #include "fsfw/health/HasHealthIF.h"
#include "../health/HealthHelper.h" #include "fsfw/health/HealthHelper.h"
#include "../ipc/MessageQueueIF.h" #include "fsfw/ipc/MessageQueueIF.h"
#include "../modes/HasModesIF.h" #include "fsfw/modes/HasModesIF.h"
#include "../objectmanager/SystemObject.h" #include "fsfw/objectmanager/SystemObject.h"
#include "../returnvalues/returnvalue.h" #include "fsfw/returnvalues/returnvalue.h"
#include "../tasks/ExecutableObjectIF.h" #include "fsfw/subsystem/HasModeTreeChildrenIF.h"
#include "fsfw/subsystem/ModeTreeConnectionIF.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "modes/HasModeSequenceIF.h" #include "modes/HasModeSequenceIF.h"
/** /**
@ -27,6 +29,9 @@
class SubsystemBase : public SystemObject, class SubsystemBase : public SystemObject,
public HasModesIF, public HasModesIF,
public HasHealthIF, public HasHealthIF,
public HasModeTreeChildrenIF,
public ModeTreeConnectionIF,
public ModeTreeChildIF,
public ExecutableObjectIF { public ExecutableObjectIF {
public: public:
static const uint8_t INTERFACE_ID = CLASS_ID::SUBSYSTEM_BASE; static const uint8_t INTERFACE_ID = CLASS_ID::SUBSYSTEM_BASE;
@ -36,32 +41,34 @@ class SubsystemBase : public SystemObject,
static const ReturnValue_t COULD_NOT_INSERT_CHILD = MAKE_RETURN_CODE(0x04); static const ReturnValue_t COULD_NOT_INSERT_CHILD = MAKE_RETURN_CODE(0x04);
static const ReturnValue_t TABLE_CONTAINS_INVALID_OBJECT_ID = MAKE_RETURN_CODE(0x05); static const ReturnValue_t TABLE_CONTAINS_INVALID_OBJECT_ID = MAKE_RETURN_CODE(0x05);
SubsystemBase(object_id_t setObjectId, object_id_t parent, Mode_t initialMode = 0, SubsystemBase(object_id_t setObjectId, Mode_t initialMode = 0, uint16_t commandQueueDepth = 8);
uint16_t commandQueueDepth = 8);
virtual ~SubsystemBase(); virtual ~SubsystemBase();
virtual MessageQueueId_t getCommandQueue() const override; virtual MessageQueueId_t getCommandQueue() const override;
ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF &parent) override;
ModeTreeChildIF &getModeTreeChildIF() override;
/** /**
* Function to register the child objects. * Function to register the child objects.
* Performs a checks if the child does implement HasHealthIF and/or HasModesIF * Performs a checks if the child does implement HasHealthIF and/or HasModesIF
* *
* Also adds them to the internal childrenMap. * Also adds them to the internal childrenMap.
* *
* @param objectId * @param objectId
* @return returnvalue::OK if successful * @return returnvalue::OK if successful
* CHILD_DOESNT_HAVE_MODES if Child is no HasHealthIF and no HasModesIF * CHILD_DOESNT_HAVE_MODES if Child is no HasHealthIF and no HasModesIF
* COULD_NOT_INSERT_CHILD If the Child could not be added to the ChildrenMap * COULD_NOT_INSERT_CHILD If the Child could not be added to the ChildrenMap
*/ */
ReturnValue_t registerChild(object_id_t objectId); ReturnValue_t registerChild(const ModeTreeChildIF &child) override;
virtual ReturnValue_t initialize() override; ReturnValue_t initialize() override;
virtual ReturnValue_t performOperation(uint8_t opCode) override; ReturnValue_t performOperation(uint8_t opCode) override;
virtual ReturnValue_t setHealth(HealthState health) override; ReturnValue_t setHealth(HealthState health) override;
virtual HasHealthIF::HealthState getHealth() override; HasHealthIF::HealthState getHealth() override;
protected: protected:
struct ChildInfo { struct ChildInfo {
@ -88,8 +95,6 @@ class SubsystemBase : public SystemObject,
ModeHelper modeHelper; ModeHelper modeHelper;
const object_id_t parentId;
typedef std::map<object_id_t, ChildInfo> ChildrenMap; typedef std::map<object_id_t, ChildInfo> ChildrenMap;
ChildrenMap childrenMap; ChildrenMap childrenMap;
@ -136,6 +141,10 @@ class SubsystemBase : public SystemObject,
virtual void getMode(Mode_t *mode, Submode_t *submode) override; virtual void getMode(Mode_t *mode, Submode_t *submode) override;
object_id_t getObjectId() const override;
const HasHealthIF *getOptHealthIF() const override;
const HasModesIF &getModeIF() const override;
virtual void setToExternalControl() override; virtual void setToExternalControl() override;
virtual void announceMode(bool recursive) override; virtual void announceMode(bool recursive) override;

View File

@ -0,0 +1,15 @@
#include "helper.h"
ReturnValue_t modetree::connectModeTreeParent(HasModeTreeChildrenIF& parent,
const ModeTreeChildIF& child,
HealthHelper* healthHelper, ModeHelper& modeHelper) {
ReturnValue_t result = parent.registerChild(child);
if (result != returnvalue::OK) {
return result;
}
if (healthHelper != nullptr) {
healthHelper->setParentQueue(parent.getCommandQueue());
}
modeHelper.setParentQueue(parent.getCommandQueue());
return returnvalue::OK;
}

View File

@ -0,0 +1,14 @@
#ifndef FSFW_SUBSYSTEM_HELPER_H_
#define FSFW_SUBSYSTEM_HELPER_H_
#include "HasModeTreeChildrenIF.h"
#include "fsfw/health/HealthHelper.h"
namespace modetree {
ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF& parent, const ModeTreeChildIF& child,
HealthHelper* healthHelper, ModeHelper& modeHelper);
}
#endif /* FSFW_SRC_FSFW_SUBSYSTEM_HELPER_H_ */

View File

@ -1,6 +1,7 @@
#ifndef FSFW_TIMEMANAGER_TIMEREADERIF_H #ifndef FSFW_TIMEMANAGER_TIMEREADERIF_H
#define FSFW_TIMEMANAGER_TIMEREADERIF_H #define FSFW_TIMEMANAGER_TIMEREADERIF_H
#include <cstdio>
#include <cstdlib> #include <cstdlib>
#include "fsfw/platform.h" #include "fsfw/platform.h"

View File

@ -21,7 +21,7 @@ SpacePacketReader::~SpacePacketReader() = default;
inline uint16_t SpacePacketReader::getPacketIdRaw() const { return ccsds::getPacketId(*spHeader); } inline uint16_t SpacePacketReader::getPacketIdRaw() const { return ccsds::getPacketId(*spHeader); }
const uint8_t* SpacePacketReader::getPacketData() { return packetDataField; } const uint8_t* SpacePacketReader::getPacketData() const { return packetDataField; }
ReturnValue_t SpacePacketReader::setData(uint8_t* data, size_t maxSize_, void* args) { ReturnValue_t SpacePacketReader::setData(uint8_t* data, size_t maxSize_, void* args) {
return setInternalFields(data, maxSize_); return setInternalFields(data, maxSize_);

View File

@ -71,7 +71,7 @@ class SpacePacketReader : public SpacePacketIF,
// Helper methods: // Helper methods:
[[nodiscard]] ReturnValue_t checkSize() const; [[nodiscard]] ReturnValue_t checkSize() const;
const uint8_t* getPacketData(); const uint8_t* getPacketData() const;
ReturnValue_t setReadOnlyData(const uint8_t* data, size_t maxSize); ReturnValue_t setReadOnlyData(const uint8_t* data, size_t maxSize);

View File

@ -100,5 +100,6 @@ ReturnValue_t PusTcCreator::setSerializableUserData(const SerializeIF &serializa
void PusTcCreator::setup() { void PusTcCreator::setup() {
spCreator.setPacketType(ccsds::PacketType::TC); spCreator.setPacketType(ccsds::PacketType::TC);
spCreator.setSecHeaderFlag(); spCreator.setSecHeaderFlag();
spCreator.setSeqFlags(ccsds::SequenceFlags::UNSEGMENTED);
updateSpLengthField(); updateSpLengthField();
} }

View File

@ -119,6 +119,7 @@ void PusTmCreator::setup() {
updateSpLengthField(); updateSpLengthField();
spCreator.setPacketType(ccsds::PacketType::TM); spCreator.setPacketType(ccsds::PacketType::TM);
spCreator.setSecHeaderFlag(); spCreator.setSecHeaderFlag();
spCreator.setSeqFlags(ccsds::SequenceFlags::UNSEGMENTED);
} }
void PusTmCreator::setMessageTypeCounter(uint16_t messageTypeCounter) { void PusTmCreator::setMessageTypeCounter(uint16_t messageTypeCounter) {

View File

@ -23,7 +23,9 @@ class AcceptsTelemetryIF {
*/ */
[[nodiscard]] virtual MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel) const = 0; [[nodiscard]] virtual MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel) const = 0;
[[nodiscard]] virtual MessageQueueId_t getReportReceptionQueue() const { return getReportReceptionQueue(0); } [[nodiscard]] virtual MessageQueueId_t getReportReceptionQueue() const {
return getReportReceptionQueue(0);
}
}; };
#endif /* FSFW_TMTCSERVICES_ACCEPTSTELEMETRYIF_H_ */ #endif /* FSFW_TMTCSERVICES_ACCEPTSTELEMETRYIF_H_ */

View File

@ -27,8 +27,8 @@ ReturnValue_t PusServiceBase::performOperation(uint8_t opCode) {
ReturnValue_t result = performService(); ReturnValue_t result = performService();
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PusService " << psbParams.serviceId << ": performService returned with " sif::error << "PusService " << static_cast<int>(psbParams.serviceId)
<< static_cast<uint16_t>(result) << std::endl; << ": performService returned with " << static_cast<uint16_t>(result) << std::endl;
#endif #endif
return returnvalue::FAILED; return returnvalue::FAILED;
} }

View File

@ -11,7 +11,7 @@ class SourceSequenceCounter {
SourceSequenceCounter(uint16_t initialSequenceCount = 0) : sequenceCount(initialSequenceCount) {} SourceSequenceCounter(uint16_t initialSequenceCount = 0) : sequenceCount(initialSequenceCount) {}
void increment() { sequenceCount = (sequenceCount + 1) % (ccsds::LIMIT_SEQUENCE_COUNT); } void increment() { sequenceCount = (sequenceCount + 1) % (ccsds::LIMIT_SEQUENCE_COUNT); }
void decrement() { sequenceCount = (sequenceCount - 1) % (ccsds::LIMIT_SEQUENCE_COUNT); } void decrement() { sequenceCount = (sequenceCount - 1) % (ccsds::LIMIT_SEQUENCE_COUNT); }
uint16_t get() { return this->sequenceCount; } uint16_t get() const { return this->sequenceCount; }
void reset(uint16_t toValue = 0) { sequenceCount = toValue % (ccsds::LIMIT_SEQUENCE_COUNT); } void reset(uint16_t toValue = 0) { sequenceCount = toValue % (ccsds::LIMIT_SEQUENCE_COUNT); }
SourceSequenceCounter& operator++(int) { SourceSequenceCounter& operator++(int) {
this->increment(); this->increment();

View File

@ -183,7 +183,7 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage* message) {
"TmTcBridge::storeDownlinkData: TM downlink max. number " "TmTcBridge::storeDownlinkData: TM downlink max. number "
"of stored packet IDs reached!\n"); "of stored packet IDs reached!\n");
#endif #endif
warningSwitch = true; warningSwitch = false;
} }
if (overwriteOld) { if (overwriteOld) {
tmFifo->retrieve(&storeId); tmFifo->retrieve(&storeId);
@ -226,6 +226,7 @@ ReturnValue_t TmTcBridge::handleStoredTm() {
packetSentCounter++; packetSentCounter++;
if (tmFifo->empty()) { if (tmFifo->empty()) {
warningSwitch = true;
tmStored = false; tmStored = false;
} }
tmStore->deleteData(storeId); tmStore->deleteData(storeId);

View File

@ -65,15 +65,13 @@ class TmTcBridge : public AcceptsTelemetryIF,
ReturnValue_t performOperation(uint8_t operationCode = 0) override; ReturnValue_t performOperation(uint8_t operationCode = 0) override;
/** AcceptsTelemetryIF override */ /** AcceptsTelemetryIF override */
MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) const override; MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel) const override;
/** AcceptsTelecommandsIF override */ /** AcceptsTelecommandsIF override */
uint32_t getIdentifier() const override; uint32_t getIdentifier() const override;
MessageQueueId_t getRequestQueue() const override; MessageQueueId_t getRequestQueue() const override;
const char* getName() const override; const char* getName() const override;
bool warningSwitch = true;
protected: protected:
const char* name = ""; const char* name = "";
@ -93,6 +91,7 @@ class TmTcBridge : public AcceptsTelemetryIF,
//! by default, so telemetry will be handled immediately. //! by default, so telemetry will be handled immediately.
bool communicationLinkUp = true; bool communicationLinkUp = true;
bool tmStored = false; bool tmStored = false;
bool warningSwitch = true;
bool overwriteOld = true; bool overwriteOld = true;
uint8_t packetSentCounter = 0; uint8_t packetSentCounter = 0;

View File

@ -1,72 +0,0 @@
#ifndef FSFW_UTIL_DATAWRAPPER_H
#define FSFW_UTIL_DATAWRAPPER_H
#include <cstddef>
#include <cstdint>
#include <utility>
#include "fsfw/serialize.h"
namespace util {
using BufPair = std::pair<const uint8_t*, size_t>;
struct RawData {
RawData() = default;
const uint8_t* data = nullptr;
size_t len = 0;
};
enum DataTypes { NONE, RAW, SERIALIZABLE };
union DataUnion {
RawData raw{};
SerializeIF* serializable;
};
struct DataWrapper {
DataWrapper() = default;
DataWrapper(const uint8_t* data, size_t size) : type(DataTypes::RAW) { setRawData({data, size}); }
explicit DataWrapper(BufPair raw) : type(DataTypes::RAW) { setRawData(raw); }
explicit DataWrapper(SerializeIF& serializable) : type(DataTypes::SERIALIZABLE) {
setSerializable(serializable);
}
DataTypes type = DataTypes::NONE;
DataUnion dataUnion;
[[nodiscard]] size_t getLength() const {
if (type == DataTypes::RAW) {
return dataUnion.raw.len;
} else if (type == DataTypes::SERIALIZABLE and dataUnion.serializable != nullptr) {
return dataUnion.serializable->getSerializedSize();
}
return 0;
}
[[nodiscard]] bool isNull() const {
if ((type == DataTypes::NONE) or (type == DataTypes::RAW and dataUnion.raw.data == nullptr) or
(type == DataTypes::SERIALIZABLE and dataUnion.serializable == nullptr)) {
return true;
}
return false;
}
void setRawData(BufPair bufPair) {
type = DataTypes::RAW;
dataUnion.raw.data = bufPair.first;
dataUnion.raw.len = bufPair.second;
}
void setSerializable(SerializeIF& serializable) {
type = DataTypes::SERIALIZABLE;
dataUnion.serializable = &serializable;
}
};
} // namespace util
#endif // FSFW_UTIL_DATAWRAPPER_H

View File

@ -195,7 +195,7 @@ ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, size_t len,
#endif #endif
return DeviceHandlerIF::INVALID_DATA; return DeviceHandlerIF::INVALID_DATA;
} }
if (mode == _MODE_START_UP) { if (getMode() == _MODE_START_UP) {
commandExecuted = true; commandExecuted = true;
} }
@ -224,7 +224,7 @@ ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, size_t len,
return DeviceHandlerIF::INVALID_DATA; return DeviceHandlerIF::INVALID_DATA;
} }
if (mode == _MODE_START_UP) { if (getMode() == _MODE_START_UP) {
commandExecuted = true; commandExecuted = true;
} }
} }

View File

@ -169,7 +169,7 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const
case (RM3100::CONFIGURE_CYCLE_COUNT): case (RM3100::CONFIGURE_CYCLE_COUNT):
case (RM3100::CONFIGURE_TMRC): { case (RM3100::CONFIGURE_TMRC): {
// We can only check whether write was successful with read operation // We can only check whether write was successful with read operation
if (mode == _MODE_START_UP) { if (getMode() == _MODE_START_UP) {
commandExecuted = true; commandExecuted = true;
} }
break; break;
@ -192,7 +192,7 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const
if (packet[1] == tmrcRegValue) { if (packet[1] == tmrcRegValue) {
commandExecuted = true; commandExecuted = true;
// Reading TMRC was commanded. Trigger event to inform ground // Reading TMRC was commanded. Trigger event to inform ground
if (mode != _MODE_START_UP) { if (getMode() != _MODE_START_UP) {
triggerEvent(tmrcSet, tmrcRegValue, 0); triggerEvent(tmrcSet, tmrcRegValue, 0);
} }
} else { } else {
@ -211,7 +211,7 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const
return DeviceHandlerIF::DEVICE_REPLY_INVALID; return DeviceHandlerIF::DEVICE_REPLY_INVALID;
} }
// Reading TMRC was commanded. Trigger event to inform ground // Reading TMRC was commanded. Trigger event to inform ground
if (mode != _MODE_START_UP) { if (getMode() != _MODE_START_UP) {
uint32_t eventParam1 = (cycleCountX << 16) | cycleCountY; uint32_t eventParam1 = (cycleCountX << 16) | cycleCountY;
triggerEvent(cycleCountersSet, eventParam1, cycleCountZ); triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
} }
@ -325,12 +325,12 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
// trickery here to calculate the raw values first // trickery here to calculate the raw values first
int32_t fieldStrengthRawX = ((packet[1] << 24) | (packet[2] << 16) | (packet[3] << 8)) >> 8; int32_t fieldStrengthRawX = ((packet[1] << 24) | (packet[2] << 16) | (packet[3] << 8)) >> 8;
int32_t fieldStrengthRawY = ((packet[4] << 24) | (packet[5] << 16) | (packet[6] << 8)) >> 8; int32_t fieldStrengthRawY = ((packet[4] << 24) | (packet[5] << 16) | (packet[6] << 8)) >> 8;
int32_t fieldStrengthRawZ = ((packet[7] << 24) | (packet[8] << 16) | (packet[3] << 8)) >> 8; int32_t fieldStrengthRawZ = ((packet[7] << 24) | (packet[8] << 16) | (packet[9] << 8)) >> 8;
// Now scale to physical value in microtesla // Now scale to physical value in microtesla
float fieldStrengthX = fieldStrengthRawX * scaleFactorX; float fieldStrengthX = fieldStrengthRawX * scaleFactorX;
float fieldStrengthY = fieldStrengthRawY * scaleFactorX; float fieldStrengthY = fieldStrengthRawY * scaleFactorY;
float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX; float fieldStrengthZ = fieldStrengthRawZ * scaleFactorZ;
if (periodicPrintout) { if (periodicPrintout) {
if (debugDivider.checkAndIncrement()) { if (debugDivider.checkAndIncrement()) {

View File

@ -5,11 +5,14 @@ endif()
target_sources(${LIB_FSFW_NAME} PRIVATE UnixFileGuard.cpp CommandExecutor.cpp target_sources(${LIB_FSFW_NAME} PRIVATE UnixFileGuard.cpp CommandExecutor.cpp
utility.cpp) utility.cpp)
if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
add_subdirectory(gpio)
endif()
if(FSFW_HAL_LINUX_ADD_SERIAL_DRIVERS)
add_subdirectory(serial)
endif()
if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS) if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
add_subdirectory(gpio)
endif()
add_subdirectory(uart)
# Adding those does not really make sense on Apple systems which are generally # 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 # host systems. It won't even compile as the headers are missing
if(NOT APPLE) if(NOT APPLE)

View File

@ -109,14 +109,17 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
} }
if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) { if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
i2cCookie->errorCounter++;
if (i2cCookie->errorCounter < 3) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::sendMessage: Failed to send data to I2C " sif::error << "I2cComIF::sendMessage: Failed to send data to I2C "
"device with error code " "device with error code "
<< errno << ". Error description: " << strerror(errno) << std::endl; << errno << ". Error description: " << strerror(errno) << std::endl;
#endif #endif
}
return returnvalue::FAILED; return returnvalue::FAILED;
} }
i2cCookie->errorCounter = 0;
#if FSFW_HAL_I2C_WIRETAPPING == 1 #if FSFW_HAL_I2C_WIRETAPPING == 1
sif::info << "Sent I2C data to bus " << deviceFile << ":" << std::endl; sif::info << "Sent I2C data to bus " << deviceFile << ":" << std::endl;
arrayprinter::print(sendData, sendLen); arrayprinter::print(sendData, sendLen);
@ -180,10 +183,6 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
} }
#else #else
#endif #endif
#endif
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "I2cComIF::requestReceiveMessage: Read " << readLen << " of " << requestLen
<< " bytes" << std::endl;
#endif #endif
return returnvalue::FAILED; return returnvalue::FAILED;
} }

View File

@ -27,6 +27,8 @@ class I2cCookie : public CookieIF {
size_t getMaxReplyLen() const; size_t getMaxReplyLen() const;
std::string getDeviceFile() const; std::string getDeviceFile() const;
uint8_t errorCounter = 0;
private: private:
address_t i2cAddress = 0; address_t i2cAddress = 0;
size_t maxReplyLen = 0; size_t maxReplyLen = 0;

View File

@ -0,0 +1,2 @@
target_sources(${LIB_FSFW_NAME} PUBLIC SerialComIF.cpp SerialCookie.cpp
helper.cpp)

View File

@ -1,6 +1,8 @@
#include "UartComIF.h" #include "SerialComIF.h"
#include <errno.h> #include <errno.h>
#include <fcntl.h> #include <fcntl.h>
#include <fsfw_hal/linux/serial/SerialComIF.h>
#include <termios.h> #include <termios.h>
#include <unistd.h> #include <unistd.h>
@ -10,18 +12,18 @@
#include "fsfw/serviceinterface.h" #include "fsfw/serviceinterface.h"
#include "fsfw_hal/linux/utility.h" #include "fsfw_hal/linux/utility.h"
UartComIF::UartComIF(object_id_t objectId) : SystemObject(objectId) {} SerialComIF::SerialComIF(object_id_t objectId) : SystemObject(objectId) {}
UartComIF::~UartComIF() {} SerialComIF::~SerialComIF() {}
ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) { ReturnValue_t SerialComIF::initializeInterface(CookieIF* cookie) {
std::string deviceFile; std::string deviceFile;
if (cookie == nullptr) { if (cookie == nullptr) {
return NULLPOINTER; return NULLPOINTER;
} }
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie); SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(cookie);
if (uartCookie == nullptr) { if (uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "UartComIF::initializeInterface: Invalid UART Cookie!" << std::endl; sif::error << "UartComIF::initializeInterface: Invalid UART Cookie!" << std::endl;
@ -58,7 +60,7 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
return returnvalue::OK; return returnvalue::OK;
} }
int UartComIF::configureUartPort(UartCookie* uartCookie) { int SerialComIF::configureUartPort(SerialCookie* uartCookie) {
struct termios options = {}; struct termios options = {};
std::string deviceFile = uartCookie->getDeviceFile(); std::string deviceFile = uartCookie->getDeviceFile();
@ -87,7 +89,7 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
return fd; return fd;
} }
setParityOptions(&options, uartCookie); uart::setParity(options, uartCookie->getParity());
setStopBitOptions(&options, uartCookie); setStopBitOptions(&options, uartCookie);
setDatasizeOptions(&options, uartCookie); setDatasizeOptions(&options, uartCookie);
setFixedOptions(&options); setFixedOptions(&options);
@ -113,24 +115,7 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
return fd; return fd;
} }
void UartComIF::setParityOptions(struct termios* options, UartCookie* uartCookie) { void SerialComIF::setStopBitOptions(struct termios* options, SerialCookie* uartCookie) {
/* Clear parity bit */
options->c_cflag &= ~PARENB;
switch (uartCookie->getParity()) {
case Parity::EVEN:
options->c_cflag |= PARENB;
options->c_cflag &= ~PARODD;
break;
case Parity::ODD:
options->c_cflag |= PARENB;
options->c_cflag |= PARODD;
break;
default:
break;
}
}
void UartComIF::setStopBitOptions(struct termios* options, UartCookie* uartCookie) {
/* Clear stop field. Sets stop bit to one bit */ /* Clear stop field. Sets stop bit to one bit */
options->c_cflag &= ~CSTOPB; options->c_cflag &= ~CSTOPB;
switch (uartCookie->getStopBits()) { switch (uartCookie->getStopBits()) {
@ -142,7 +127,7 @@ void UartComIF::setStopBitOptions(struct termios* options, UartCookie* uartCooki
} }
} }
void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCookie) { void SerialComIF::setDatasizeOptions(struct termios* options, SerialCookie* uartCookie) {
/* Clear size bits */ /* Clear size bits */
options->c_cflag &= ~CSIZE; options->c_cflag &= ~CSIZE;
switch (uartCookie->getBitsPerWord()) { switch (uartCookie->getBitsPerWord()) {
@ -166,7 +151,7 @@ void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCook
} }
} }
void UartComIF::setFixedOptions(struct termios* options) { void SerialComIF::setFixedOptions(struct termios* options) {
/* Disable RTS/CTS hardware flow control */ /* Disable RTS/CTS hardware flow control */
options->c_cflag &= ~CRTSCTS; options->c_cflag &= ~CRTSCTS;
/* Turn on READ & ignore ctrl lines (CLOCAL = 1) */ /* Turn on READ & ignore ctrl lines (CLOCAL = 1) */
@ -189,7 +174,7 @@ void UartComIF::setFixedOptions(struct termios* options) {
options->c_oflag &= ~ONLCR; options->c_oflag &= ~ONLCR;
} }
ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) { ReturnValue_t SerialComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
int fd = 0; int fd = 0;
std::string deviceFile; std::string deviceFile;
@ -204,7 +189,7 @@ ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData,
return returnvalue::FAILED; return returnvalue::FAILED;
} }
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie); SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(cookie);
if (uartCookie == nullptr) { if (uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl; sif::warning << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl;
@ -235,12 +220,12 @@ ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData,
return returnvalue::OK; return returnvalue::OK;
} }
ReturnValue_t UartComIF::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; } ReturnValue_t SerialComIF::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; }
ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) { ReturnValue_t SerialComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
std::string deviceFile; std::string deviceFile;
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie); SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(cookie);
if (uartCookie == nullptr) { if (uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "UartComIF::requestReceiveMessage: Invalid Uart Cookie!" << std::endl; sif::debug << "UartComIF::requestReceiveMessage: Invalid Uart Cookie!" << std::endl;
@ -273,8 +258,8 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestL
} }
} }
ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceMap::iterator& iter, ReturnValue_t SerialComIF::handleCanonicalRead(SerialCookie& uartCookie,
size_t requestLen) { UartDeviceMap::iterator& iter, size_t requestLen) {
ReturnValue_t result = returnvalue::OK; ReturnValue_t result = returnvalue::OK;
uint8_t maxReadCycles = uartCookie.getReadCycles(); uint8_t maxReadCycles = uartCookie.getReadCycles();
uint8_t currentReadCycles = 0; uint8_t currentReadCycles = 0;
@ -331,8 +316,9 @@ ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceM
return result; return result;
} }
ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMap::iterator& iter, ReturnValue_t SerialComIF::handleNoncanonicalRead(SerialCookie& uartCookie,
size_t requestLen) { UartDeviceMap::iterator& iter,
size_t requestLen) {
int fd = iter->second.fileDescriptor; int fd = iter->second.fileDescriptor;
auto bufferPtr = iter->second.replyBuffer.data(); auto bufferPtr = iter->second.replyBuffer.data();
// Size check to prevent buffer overflow // Size check to prevent buffer overflow
@ -365,10 +351,10 @@ ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie& uartCookie, UartDevi
return returnvalue::OK; return returnvalue::OK;
} }
ReturnValue_t UartComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) { ReturnValue_t SerialComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
std::string deviceFile; std::string deviceFile;
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie); SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(cookie);
if (uartCookie == nullptr) { if (uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "UartComIF::readReceivedMessage: Invalid uart cookie!" << std::endl; sif::debug << "UartComIF::readReceivedMessage: Invalid uart cookie!" << std::endl;
@ -395,9 +381,9 @@ ReturnValue_t UartComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
return returnvalue::OK; return returnvalue::OK;
} }
ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF* cookie) { ReturnValue_t SerialComIF::flushUartRxBuffer(CookieIF* cookie) {
std::string deviceFile; std::string deviceFile;
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie); SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(cookie);
if (uartCookie == nullptr) { if (uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::flushUartRxBuffer: Invalid uart cookie!" << std::endl; sif::warning << "UartComIF::flushUartRxBuffer: Invalid uart cookie!" << std::endl;
@ -414,9 +400,9 @@ ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF* cookie) {
return returnvalue::FAILED; return returnvalue::FAILED;
} }
ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF* cookie) { ReturnValue_t SerialComIF::flushUartTxBuffer(CookieIF* cookie) {
std::string deviceFile; std::string deviceFile;
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie); SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(cookie);
if (uartCookie == nullptr) { if (uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::flushUartTxBuffer: Invalid uart cookie!" << std::endl; sif::warning << "UartComIF::flushUartTxBuffer: Invalid uart cookie!" << std::endl;
@ -433,9 +419,9 @@ ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF* cookie) {
return returnvalue::FAILED; return returnvalue::FAILED;
} }
ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF* cookie) { ReturnValue_t SerialComIF::flushUartTxAndRxBuf(CookieIF* cookie) {
std::string deviceFile; std::string deviceFile;
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie); SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(cookie);
if (uartCookie == nullptr) { if (uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::flushUartTxAndRxBuf: Invalid uart cookie!" << std::endl; sif::warning << "UartComIF::flushUartTxAndRxBuf: Invalid uart cookie!" << std::endl;
@ -451,5 +437,3 @@ ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF* cookie) {
} }
return returnvalue::FAILED; return returnvalue::FAILED;
} }

View File

@ -1,16 +1,14 @@
#ifndef BSP_Q7S_COMIF_UARTCOMIF_H_ #ifndef BSP_Q7S_COMIF_UARTCOMIF_H_
#define BSP_Q7S_COMIF_UARTCOMIF_H_ #define BSP_Q7S_COMIF_UARTCOMIF_H_
#include "UartCookie.h"
#include "helper.h"
#include <fsfw/devicehandlers/DeviceCommunicationIF.h> #include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/objectmanager/SystemObject.h> #include <fsfw/objectmanager/SystemObject.h>
#include <fsfw_hal/linux/serial/SerialCookie.h>
#include <fsfw_hal/linux/serial/helper.h>
#include <unordered_map> #include <unordered_map>
#include <vector> #include <vector>
/** /**
* @brief This is the communication interface to access serial ports on linux based operating * @brief This is the communication interface to access serial ports on linux based operating
* systems. * systems.
@ -20,7 +18,7 @@
* *
* @author J. Meier * @author J. Meier
*/ */
class UartComIF : public DeviceCommunicationIF, public SystemObject { class SerialComIF : public DeviceCommunicationIF, public SystemObject {
public: public:
static constexpr uint8_t uartRetvalId = CLASS_ID::HAL_UART; static constexpr uint8_t uartRetvalId = CLASS_ID::HAL_UART;
@ -28,9 +26,9 @@ class UartComIF : public DeviceCommunicationIF, public SystemObject {
static constexpr ReturnValue_t UART_READ_SIZE_MISSMATCH = returnvalue::makeCode(uartRetvalId, 2); static constexpr ReturnValue_t UART_READ_SIZE_MISSMATCH = returnvalue::makeCode(uartRetvalId, 2);
static constexpr ReturnValue_t UART_RX_BUFFER_TOO_SMALL = returnvalue::makeCode(uartRetvalId, 3); static constexpr ReturnValue_t UART_RX_BUFFER_TOO_SMALL = returnvalue::makeCode(uartRetvalId, 3);
UartComIF(object_id_t objectId); SerialComIF(object_id_t objectId);
virtual ~UartComIF(); virtual ~SerialComIF();
ReturnValue_t initializeInterface(CookieIF* cookie) override; ReturnValue_t initializeInterface(CookieIF* cookie) override;
ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override; ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
@ -77,20 +75,9 @@ class UartComIF : public DeviceCommunicationIF, public SystemObject {
* uart device file, baudrate, parity, stopbits etc. * uart device file, baudrate, parity, stopbits etc.
* @return The file descriptor of the configured uart. * @return The file descriptor of the configured uart.
*/ */
int configureUartPort(UartCookie* uartCookie); int configureUartPort(SerialCookie* uartCookie);
/** void setStopBitOptions(struct termios* options, SerialCookie* uartCookie);
* @brief This function adds the parity settings to the termios options struct.
*
* @param options Pointer to termios options struct which will be modified to enable or disable
* parity checking.
* @param uartCookie Pointer to uart cookie containing the information about the desired
* parity settings.
*
*/
void setParityOptions(struct termios* options, UartCookie* uartCookie);
void setStopBitOptions(struct termios* options, UartCookie* uartCookie);
/** /**
* @brief This function sets options which are not configurable by the uartCookie. * @brief This function sets options which are not configurable by the uartCookie.
@ -100,11 +87,11 @@ class UartComIF : public DeviceCommunicationIF, public SystemObject {
/** /**
* @brief With this function the datasize settings are added to the termios options struct. * @brief With this function the datasize settings are added to the termios options struct.
*/ */
void setDatasizeOptions(struct termios* options, UartCookie* uartCookie); void setDatasizeOptions(struct termios* options, SerialCookie* uartCookie);
ReturnValue_t handleCanonicalRead(UartCookie& uartCookie, UartDeviceMap::iterator& iter, ReturnValue_t handleCanonicalRead(SerialCookie& uartCookie, UartDeviceMap::iterator& iter,
size_t requestLen); size_t requestLen);
ReturnValue_t handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMap::iterator& iter, ReturnValue_t handleNoncanonicalRead(SerialCookie& uartCookie, UartDeviceMap::iterator& iter,
size_t requestLen); size_t requestLen);
}; };

View File

@ -0,0 +1,51 @@
#include "SerialCookie.h"
#include <fsfw/serviceinterface.h>
SerialCookie::SerialCookie(object_id_t handlerId, std::string deviceFile, UartBaudRate baudrate,
size_t maxReplyLen, UartModes uartMode)
: handlerId(handlerId),
deviceFile(deviceFile),
uartMode(uartMode),
baudrate(baudrate),
maxReplyLen(maxReplyLen) {}
SerialCookie::~SerialCookie() {}
UartBaudRate SerialCookie::getBaudrate() const { return baudrate; }
size_t SerialCookie::getMaxReplyLen() const { return maxReplyLen; }
std::string SerialCookie::getDeviceFile() const { return deviceFile; }
void SerialCookie::setParityOdd() { parity = Parity::ODD; }
void SerialCookie::setParityEven() { parity = Parity::EVEN; }
Parity SerialCookie::getParity() const { return parity; }
void SerialCookie::setBitsPerWord(BitsPerWord bitsPerWord_) { bitsPerWord = bitsPerWord_; }
BitsPerWord SerialCookie::getBitsPerWord() const { return bitsPerWord; }
StopBits SerialCookie::getStopBits() const { return stopBits; }
void SerialCookie::setTwoStopBits() { stopBits = StopBits::TWO_STOP_BITS; }
void SerialCookie::setOneStopBit() { stopBits = StopBits::ONE_STOP_BIT; }
UartModes SerialCookie::getUartMode() const { return uartMode; }
void SerialCookie::setReadCycles(uint8_t readCycles) { this->readCycles = readCycles; }
void SerialCookie::setToFlushInput(bool enable) { this->flushInput = enable; }
uint8_t SerialCookie::getReadCycles() const { return readCycles; }
bool SerialCookie::getInputShouldBeFlushed() { return this->flushInput; }
object_id_t SerialCookie::getHandlerId() const { return this->handlerId; }
void SerialCookie::setNoFixedSizeReply() { replySizeFixed = false; }
bool SerialCookie::isReplySizeFixed() { return replySizeFixed; }

View File

@ -1,15 +1,12 @@
#ifndef SAM9G20_COMIF_COOKIES_UART_COOKIE_H_ #ifndef SAM9G20_COMIF_COOKIES_UART_COOKIE_H_
#define SAM9G20_COMIF_COOKIES_UART_COOKIE_H_ #define SAM9G20_COMIF_COOKIES_UART_COOKIE_H_
#include "helper.h"
#include <fsfw/devicehandlers/CookieIF.h> #include <fsfw/devicehandlers/CookieIF.h>
#include <fsfw/objectmanager/SystemObjectIF.h> #include <fsfw/objectmanager/SystemObjectIF.h>
#include <fsfw_hal/linux/serial/helper.h>
#include <string> #include <string>
/** /**
* @brief Cookie for the UartComIF. There are many options available to configure the UART driver. * @brief Cookie for the UartComIF. There are many options available to configure the UART driver.
* The constructor only requests for common options like the baudrate. Other options can * The constructor only requests for common options like the baudrate. Other options can
@ -17,7 +14,7 @@
* *
* @author J. Meier * @author J. Meier
*/ */
class UartCookie : public CookieIF { class SerialCookie : public CookieIF {
public: public:
/** /**
* @brief Constructor for the uart cookie. * @brief Constructor for the uart cookie.
@ -32,10 +29,10 @@ class UartCookie : public CookieIF {
* 8 databits (number of bits transfered with one uart frame) * 8 databits (number of bits transfered with one uart frame)
* One stop bit * One stop bit
*/ */
UartCookie(object_id_t handlerId, std::string deviceFile, UartBaudRate baudrate, SerialCookie(object_id_t handlerId, std::string deviceFile, UartBaudRate baudrate,
size_t maxReplyLen, UartModes uartMode = UartModes::NON_CANONICAL); size_t maxReplyLen, UartModes uartMode = UartModes::NON_CANONICAL);
virtual ~UartCookie(); virtual ~SerialCookie();
UartBaudRate getBaudrate() const; UartBaudRate getBaudrate() const;
size_t getMaxReplyLen() const; size_t getMaxReplyLen() const;

View File

@ -0,0 +1,163 @@
#include <fsfw_hal/linux/serial/helper.h>
#include <sys/ioctl.h>
#include "fsfw/serviceinterface.h"
void uart::setMode(struct termios& options, UartModes mode) {
if (mode == UartModes::NON_CANONICAL) {
/* Disable canonical mode */
options.c_lflag &= ~ICANON;
} else if (mode == UartModes::CANONICAL) {
options.c_lflag |= ICANON;
}
}
void uart::setBaudrate(struct termios& options, UartBaudRate baud) {
switch (baud) {
case UartBaudRate::RATE_50:
cfsetspeed(&options, B50);
break;
case UartBaudRate::RATE_75:
cfsetspeed(&options, B75);
break;
case UartBaudRate::RATE_110:
cfsetspeed(&options, B110);
break;
case UartBaudRate::RATE_134:
cfsetspeed(&options, B134);
break;
case UartBaudRate::RATE_150:
cfsetspeed(&options, B150);
break;
case UartBaudRate::RATE_200:
cfsetspeed(&options, B200);
break;
case UartBaudRate::RATE_300:
cfsetspeed(&options, B300);
break;
case UartBaudRate::RATE_600:
cfsetspeed(&options, B600);
break;
case UartBaudRate::RATE_1200:
cfsetspeed(&options, B1200);
break;
case UartBaudRate::RATE_1800:
cfsetspeed(&options, B1800);
break;
case UartBaudRate::RATE_2400:
cfsetspeed(&options, B2400);
break;
case UartBaudRate::RATE_4800:
cfsetspeed(&options, B4800);
break;
case UartBaudRate::RATE_9600:
cfsetspeed(&options, B9600);
break;
case UartBaudRate::RATE_19200:
cfsetspeed(&options, B19200);
break;
case UartBaudRate::RATE_38400:
cfsetspeed(&options, B38400);
break;
case UartBaudRate::RATE_57600:
cfsetspeed(&options, B57600);
break;
case UartBaudRate::RATE_115200:
cfsetspeed(&options, B115200);
break;
case UartBaudRate::RATE_230400:
cfsetspeed(&options, B230400);
break;
#ifndef __APPLE__
case UartBaudRate::RATE_460800:
cfsetspeed(&options, B460800);
break;
case UartBaudRate::RATE_500000:
cfsetspeed(&options, B500000);
break;
case UartBaudRate::RATE_576000:
cfsetspeed(&options, B576000);
break;
case UartBaudRate::RATE_921600:
cfsetspeed(&options, B921600);
break;
case UartBaudRate::RATE_1000000:
cfsetspeed(&options, B1000000);
break;
case UartBaudRate::RATE_1152000:
cfsetspeed(&options, B1152000);
break;
case UartBaudRate::RATE_1500000:
cfsetspeed(&options, B1500000);
break;
case UartBaudRate::RATE_2000000:
cfsetspeed(&options, B2000000);
break;
case UartBaudRate::RATE_2500000:
cfsetspeed(&options, B2500000);
break;
case UartBaudRate::RATE_3000000:
cfsetspeed(&options, B3000000);
break;
case UartBaudRate::RATE_3500000:
cfsetspeed(&options, B3500000);
break;
case UartBaudRate::RATE_4000000:
cfsetspeed(&options, B4000000);
break;
#endif // ! __APPLE__
default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
#endif
break;
}
}
void uart::setBitsPerWord(struct termios& options, BitsPerWord bits) {
options.c_cflag &= ~CSIZE; // Clear all the size bits
if (bits == BitsPerWord::BITS_5) {
options.c_cflag |= CS5;
} else if (bits == BitsPerWord::BITS_6) {
options.c_cflag |= CS6;
} else if (bits == BitsPerWord::BITS_7) {
options.c_cflag |= CS7;
} else if (bits == BitsPerWord::BITS_8) {
options.c_cflag |= CS8;
}
}
void uart::enableRead(struct termios& options) { options.c_cflag |= CREAD; }
void uart::ignoreCtrlLines(struct termios& options) { options.c_cflag |= CLOCAL; }
void uart::setParity(struct termios& options, Parity parity) {
/* Clear parity bit */
options.c_cflag &= ~PARENB;
switch (parity) {
case Parity::EVEN:
options.c_cflag |= PARENB;
options.c_cflag &= ~PARODD;
break;
case Parity::ODD:
options.c_cflag |= PARENB;
options.c_cflag |= PARODD;
break;
default:
break;
}
}
int uart::readCountersAndErrors(int serialPort, serial_icounter_struct& icounter) {
return ioctl(serialPort, TIOCGICOUNT, &icounter);
}
void uart::setStopbits(struct termios& options, StopBits bits) {
if (bits == StopBits::TWO_STOP_BITS) {
// Use two stop bits
options.c_cflag |= CSTOPB;
} else {
// Clear stop field, only one stop bit used in communication
options.c_cflag &= ~CSTOPB;
}
}

View File

@ -1,8 +1,8 @@
#ifndef FSFW_HAL_LINUX_UART_HELPER_H_ #ifndef FSFW_HAL_LINUX_UART_HELPER_H_
#define FSFW_HAL_LINUX_UART_HELPER_H_ #define FSFW_HAL_LINUX_UART_HELPER_H_
#include <termios.h>
#include <linux/serial.h> #include <linux/serial.h>
#include <termios.h>
enum class Parity { NONE, EVEN, ODD }; enum class Parity { NONE, EVEN, ODD };
@ -54,9 +54,18 @@ void setMode(struct termios& options, UartModes mode);
*/ */
void setBaudrate(struct termios& options, UartBaudRate baud); void setBaudrate(struct termios& options, UartBaudRate baud);
void setStopbits(struct termios& options, StopBits bits);
void setBitsPerWord(struct termios& options, BitsPerWord bits);
void enableRead(struct termios& options);
void setParity(struct termios& options, Parity parity);
void ignoreCtrlLines(struct termios& options);
int readCountersAndErrors(int serialPort, serial_icounter_struct& icounter); int readCountersAndErrors(int serialPort, serial_icounter_struct& icounter);
} } // namespace uart
#endif /* FSFW_HAL_LINUX_UART_HELPER_H_ */ #endif /* FSFW_HAL_LINUX_UART_HELPER_H_ */

View File

@ -1 +0,0 @@
target_sources(${LIB_FSFW_NAME} PUBLIC UartComIF.cpp UartCookie.cpp helper.cpp)

View File

@ -1,51 +0,0 @@
#include "UartCookie.h"
#include <fsfw/serviceinterface.h>
UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartBaudRate baudrate,
size_t maxReplyLen, UartModes uartMode)
: handlerId(handlerId),
deviceFile(deviceFile),
uartMode(uartMode),
baudrate(baudrate),
maxReplyLen(maxReplyLen) {}
UartCookie::~UartCookie() {}
UartBaudRate UartCookie::getBaudrate() const { return baudrate; }
size_t UartCookie::getMaxReplyLen() const { return maxReplyLen; }
std::string UartCookie::getDeviceFile() const { return deviceFile; }
void UartCookie::setParityOdd() { parity = Parity::ODD; }
void UartCookie::setParityEven() { parity = Parity::EVEN; }
Parity UartCookie::getParity() const { return parity; }
void UartCookie::setBitsPerWord(BitsPerWord bitsPerWord_) { bitsPerWord = bitsPerWord_; }
BitsPerWord UartCookie::getBitsPerWord() const { return bitsPerWord; }
StopBits UartCookie::getStopBits() const { return stopBits; }
void UartCookie::setTwoStopBits() { stopBits = StopBits::TWO_STOP_BITS; }
void UartCookie::setOneStopBit() { stopBits = StopBits::ONE_STOP_BIT; }
UartModes UartCookie::getUartMode() const { return uartMode; }
void UartCookie::setReadCycles(uint8_t readCycles) { this->readCycles = readCycles; }
void UartCookie::setToFlushInput(bool enable) { this->flushInput = enable; }
uint8_t UartCookie::getReadCycles() const { return readCycles; }
bool UartCookie::getInputShouldBeFlushed() { return this->flushInput; }
object_id_t UartCookie::getHandlerId() const { return this->handlerId; }
void UartCookie::setNoFixedSizeReply() { replySizeFixed = false; }
bool UartCookie::isReplySizeFixed() { return replySizeFixed; }

View File

@ -1,148 +0,0 @@
#include "helper.h"
#include "fsfw/serviceinterface.h"
#include <sys/ioctl.h>
void uart::setMode(struct termios& options, UartModes mode) {
if (mode == UartModes::NON_CANONICAL) {
/* Disable canonical mode */
options.c_lflag &= ~ICANON;
} else if (mode == UartModes::CANONICAL) {
options.c_lflag |= ICANON;
}
}
void uart::setBaudrate(struct termios& options, UartBaudRate baud) {
switch (baud) {
case UartBaudRate::RATE_50:
cfsetispeed(&options, B50);
cfsetospeed(&options, B50);
break;
case UartBaudRate::RATE_75:
cfsetispeed(&options, B75);
cfsetospeed(&options, B75);
break;
case UartBaudRate::RATE_110:
cfsetispeed(&options, B110);
cfsetospeed(&options, B110);
break;
case UartBaudRate::RATE_134:
cfsetispeed(&options, B134);
cfsetospeed(&options, B134);
break;
case UartBaudRate::RATE_150:
cfsetispeed(&options, B150);
cfsetospeed(&options, B150);
break;
case UartBaudRate::RATE_200:
cfsetispeed(&options, B200);
cfsetospeed(&options, B200);
break;
case UartBaudRate::RATE_300:
cfsetispeed(&options, B300);
cfsetospeed(&options, B300);
break;
case UartBaudRate::RATE_600:
cfsetispeed(&options, B600);
cfsetospeed(&options, B600);
break;
case UartBaudRate::RATE_1200:
cfsetispeed(&options, B1200);
cfsetospeed(&options, B1200);
break;
case UartBaudRate::RATE_1800:
cfsetispeed(&options, B1800);
cfsetospeed(&options, B1800);
break;
case UartBaudRate::RATE_2400:
cfsetispeed(&options, B2400);
cfsetospeed(&options, B2400);
break;
case UartBaudRate::RATE_4800:
cfsetispeed(&options, B4800);
cfsetospeed(&options, B4800);
break;
case UartBaudRate::RATE_9600:
cfsetispeed(&options, B9600);
cfsetospeed(&options, B9600);
break;
case UartBaudRate::RATE_19200:
cfsetispeed(&options, B19200);
cfsetospeed(&options, B19200);
break;
case UartBaudRate::RATE_38400:
cfsetspeed(&options, B38400);
break;
case UartBaudRate::RATE_57600:
cfsetispeed(&options, B57600);
cfsetospeed(&options, B57600);
break;
case UartBaudRate::RATE_115200:
cfsetspeed(&options, B115200);
break;
case UartBaudRate::RATE_230400:
cfsetispeed(&options, B230400);
cfsetospeed(&options, B230400);
break;
#ifndef __APPLE__
case UartBaudRate::RATE_460800:
cfsetispeed(&options, B460800);
cfsetospeed(&options, B460800);
break;
case UartBaudRate::RATE_500000:
cfsetispeed(&options, B500000);
cfsetospeed(&options, B500000);
break;
case UartBaudRate::RATE_576000:
cfsetispeed(&options, B576000);
cfsetospeed(&options, B576000);
break;
case UartBaudRate::RATE_921600:
cfsetispeed(&options, B921600);
cfsetospeed(&options, B921600);
break;
case UartBaudRate::RATE_1000000:
cfsetispeed(&options, B1000000);
cfsetospeed(&options, B1000000);
break;
case UartBaudRate::RATE_1152000:
cfsetispeed(&options, B1152000);
cfsetospeed(&options, B1152000);
break;
case UartBaudRate::RATE_1500000:
cfsetispeed(&options, B1500000);
cfsetospeed(&options, B1500000);
break;
case UartBaudRate::RATE_2000000:
cfsetispeed(&options, B2000000);
cfsetospeed(&options, B2000000);
break;
case UartBaudRate::RATE_2500000:
cfsetispeed(&options, B2500000);
cfsetospeed(&options, B2500000);
break;
case UartBaudRate::RATE_3000000:
cfsetispeed(&options, B3000000);
cfsetospeed(&options, B3000000);
break;
case UartBaudRate::RATE_3500000:
cfsetispeed(&options, B3500000);
cfsetospeed(&options, B3500000);
break;
case UartBaudRate::RATE_4000000:
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;
#endif
break;
}
}
int uart::readCountersAndErrors(int serialPort, serial_icounter_struct& icounter) {
return ioctl(serialPort, TIOCGICOUNT, &icounter);
}

View File

@ -1,6 +1,7 @@
#include "UioMapper.h" #include "UioMapper.h"
#include <fcntl.h> #include <fcntl.h>
#include <sys/stat.h>
#include <unistd.h> #include <unistd.h>
#include <filesystem> #include <filesystem>
@ -13,7 +14,23 @@ const char UioMapper::UIO_PATH_PREFIX[] = "/sys/class/uio/";
const char UioMapper::MAP_SUBSTR[] = "/maps/map"; const char UioMapper::MAP_SUBSTR[] = "/maps/map";
const char UioMapper::SIZE_FILE_PATH[] = "/size"; const char UioMapper::SIZE_FILE_PATH[] = "/size";
UioMapper::UioMapper(std::string uioFile, int mapNum) : uioFile(uioFile), mapNum(mapNum) {} UioMapper::UioMapper(std::string uioFile, int mapNum) : mapNum(mapNum) {
struct stat buf;
lstat(uioFile.c_str(), &buf);
if (S_ISLNK(buf.st_mode)) {
char* res = realpath(uioFile.c_str(), nullptr);
if (res) {
this->uioFile = res;
free(res);
} else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Could not resolve real path of UIO file " << uioFile << std::endl;
#endif
}
} else {
this->uioFile = std::move(uioFile);
}
}
UioMapper::~UioMapper() {} UioMapper::~UioMapper() {}
@ -22,7 +39,7 @@ ReturnValue_t UioMapper::getMappedAdress(uint32_t** address, Permissions permiss
int fd = open(uioFile.c_str(), O_RDWR); int fd = open(uioFile.c_str(), O_RDWR);
if (fd < 1) { if (fd < 1) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PtmeAxiConfig::initialize: Invalid UIO device file" << std::endl; sif::error << "UioMapper::getMappedAdress: Invalid UIO device file " << uioFile << std::endl;
#endif #endif
return returnvalue::FAILED; return returnvalue::FAILED;
} }

View File

@ -2,19 +2,17 @@
#include <fsfw/objectmanager/ObjectManager.h> #include <fsfw/objectmanager/ObjectManager.h>
TestAssembly::TestAssembly(object_id_t objectId, object_id_t parentId, object_id_t testDevice0, TestAssembly::TestAssembly(object_id_t objectId, object_id_t parentId, ModeTreeChildIF& testDevice0,
object_id_t testDevice1) ModeTreeChildIF& testDevice1)
: AssemblyBase(objectId, parentId), : AssemblyBase(objectId, parentId), deviceHandler0(testDevice0), deviceHandler1(testDevice1) {
deviceHandler0Id(testDevice0),
deviceHandler1Id(testDevice1) {
ModeListEntry newModeListEntry; ModeListEntry newModeListEntry;
newModeListEntry.setObject(testDevice0); newModeListEntry.setObject(testDevice0.getObjectId());
newModeListEntry.setMode(MODE_OFF); newModeListEntry.setMode(MODE_OFF);
newModeListEntry.setSubmode(SUBMODE_NONE); newModeListEntry.setSubmode(SUBMODE_NONE);
commandTable.insert(newModeListEntry); commandTable.insert(newModeListEntry);
newModeListEntry.setObject(testDevice1); newModeListEntry.setObject(testDevice1.getObjectId());
newModeListEntry.setMode(MODE_OFF); newModeListEntry.setMode(MODE_OFF);
newModeListEntry.setSubmode(SUBMODE_NONE); newModeListEntry.setSubmode(SUBMODE_NONE);
@ -43,8 +41,8 @@ ReturnValue_t TestAssembly::commandChildren(Mode_t mode, Submode_t submode) {
commandTable[1].setMode(MODE_OFF); commandTable[1].setMode(MODE_OFF);
commandTable[1].setSubmode(SUBMODE_NONE); commandTable[1].setSubmode(SUBMODE_NONE);
// We try to prefer 0 here but we try to switch to 1 even if it might fail // We try to prefer 0 here but we try to switch to 1 even if it might fail
if (isDeviceAvailable(deviceHandler0Id)) { if (isDeviceAvailable(deviceHandler0.getObjectId())) {
if (childrenMap[deviceHandler0Id].mode == MODE_ON) { if (childrenMap[deviceHandler0.getObjectId()].mode == MODE_ON) {
commandTable[0].setMode(mode); commandTable[0].setMode(mode);
commandTable[0].setSubmode(SUBMODE_NONE); commandTable[0].setSubmode(SUBMODE_NONE);
} else { } else {
@ -53,7 +51,7 @@ ReturnValue_t TestAssembly::commandChildren(Mode_t mode, Submode_t submode) {
result = NEED_SECOND_STEP; result = NEED_SECOND_STEP;
} }
} else { } else {
if (childrenMap[deviceHandler1Id].mode == MODE_ON) { if (childrenMap[deviceHandler1.getObjectId()].mode == MODE_ON) {
commandTable[1].setMode(mode); commandTable[1].setMode(mode);
commandTable[1].setSubmode(SUBMODE_NONE); commandTable[1].setSubmode(SUBMODE_NONE);
} else { } else {
@ -64,7 +62,7 @@ ReturnValue_t TestAssembly::commandChildren(Mode_t mode, Submode_t submode) {
} }
} else { } else {
// Dual Mode Normal // Dual Mode Normal
if (childrenMap[deviceHandler0Id].mode == MODE_ON) { if (childrenMap[deviceHandler0.getObjectId()].mode == MODE_ON) {
commandTable[0].setMode(mode); commandTable[0].setMode(mode);
commandTable[0].setSubmode(SUBMODE_NONE); commandTable[0].setSubmode(SUBMODE_NONE);
} else { } else {
@ -72,7 +70,7 @@ ReturnValue_t TestAssembly::commandChildren(Mode_t mode, Submode_t submode) {
commandTable[0].setSubmode(SUBMODE_NONE); commandTable[0].setSubmode(SUBMODE_NONE);
result = NEED_SECOND_STEP; result = NEED_SECOND_STEP;
} }
if (childrenMap[deviceHandler1Id].mode == MODE_ON) { if (childrenMap[deviceHandler1.getObjectId()].mode == MODE_ON) {
commandTable[1].setMode(mode); commandTable[1].setMode(mode);
commandTable[1].setSubmode(SUBMODE_NONE); commandTable[1].setSubmode(SUBMODE_NONE);
} else { } else {
@ -89,7 +87,7 @@ ReturnValue_t TestAssembly::commandChildren(Mode_t mode, Submode_t submode) {
commandTable[1].setMode(MODE_OFF); commandTable[1].setMode(MODE_OFF);
commandTable[1].setSubmode(SUBMODE_NONE); commandTable[1].setSubmode(SUBMODE_NONE);
// We try to prefer 0 here but we try to switch to 1 even if it might fail // We try to prefer 0 here but we try to switch to 1 even if it might fail
if (isDeviceAvailable(deviceHandler0Id)) { if (isDeviceAvailable(deviceHandler0.getObjectId())) {
commandTable[0].setMode(MODE_ON); commandTable[0].setMode(MODE_ON);
commandTable[0].setSubmode(SUBMODE_NONE); commandTable[0].setSubmode(SUBMODE_NONE);
} else { } else {
@ -133,23 +131,14 @@ ReturnValue_t TestAssembly::initialize() {
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
return result; return result;
} }
handler0 = ObjectManager::instance()->get<TestDevice>(deviceHandler0Id); auto* handler0 = ObjectManager::instance()->get<TestDevice>(deviceHandler0.getObjectId());
handler1 = ObjectManager::instance()->get<TestDevice>(deviceHandler1Id); auto* handler1 = ObjectManager::instance()->get<TestDevice>(deviceHandler1.getObjectId());
if ((handler0 == nullptr) or (handler1 == nullptr)) { if ((handler0 == nullptr) or (handler1 == nullptr)) {
return returnvalue::FAILED; return returnvalue::FAILED;
} }
handler0->setParentQueue(this->getCommandQueue()); handler0->connectModeTreeParent(*this);
handler1->setParentQueue(this->getCommandQueue()); handler1->connectModeTreeParent(*this);
result = registerChild(deviceHandler0Id);
if (result != returnvalue::OK) {
return result;
}
result = registerChild(deviceHandler1Id);
if (result != returnvalue::OK) {
return result;
}
return result; return result;
} }

View File

@ -7,8 +7,8 @@
class TestAssembly : public AssemblyBase { class TestAssembly : public AssemblyBase {
public: public:
TestAssembly(object_id_t objectId, object_id_t parentId, object_id_t testDevice0, TestAssembly(object_id_t objectId, object_id_t parentId, ModeTreeChildIF& testDevice0,
object_id_t testDevice1); ModeTreeChildIF& testDevice1);
virtual ~TestAssembly(); virtual ~TestAssembly();
ReturnValue_t initialize() override; ReturnValue_t initialize() override;
@ -41,10 +41,8 @@ class TestAssembly : public AssemblyBase {
private: private:
FixedArrayList<ModeListEntry, 2> commandTable; FixedArrayList<ModeListEntry, 2> commandTable;
object_id_t deviceHandler0Id = 0; ModeTreeChildIF& deviceHandler0;
object_id_t deviceHandler1Id = 0; ModeTreeChildIF& deviceHandler1;
TestDevice* handler0 = nullptr;
TestDevice* handler1 = nullptr;
bool isDeviceAvailable(object_id_t object); bool isDeviceAvailable(object_id_t object);
}; };

Some files were not shown because too many files have changed in this diff Show More