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+1
-1
@@ -1,5 +1,5 @@
|
||||
# PyCharm and CLion
|
||||
.idea/*
|
||||
/.idea/*
|
||||
!/.idea/runConfigurations
|
||||
!/.idea/cmake.xml
|
||||
!/.idea/codeStyles
|
||||
|
||||
Generated
-8
@@ -1,8 +0,0 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<project version="4">
|
||||
<component name="CMakeSharedSettings">
|
||||
<configurations>
|
||||
<configuration PROFILE_NAME="Debug Test" ENABLED="true" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON" NO_GENERATOR="true" />
|
||||
</configurations>
|
||||
</component>
|
||||
</project>
|
||||
+2
-251
@@ -8,248 +8,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
|
||||
|
||||
# [unreleased]
|
||||
|
||||
## Fixes
|
||||
|
||||
- The `PusTmCreator` API only accepted 255 bytes of source data. It can now accept source
|
||||
data with a size limited only by the size of `size_t`.
|
||||
- Important bugfix in CFDP PDU header format: The entity length field and the transaction sequence
|
||||
number fields stored the actual length of the field instead of the length minus 1 like specified
|
||||
in the CFDP standard.
|
||||
- PUS Health Service: Size check for set health command.
|
||||
Perform operation completion for announce health command.
|
||||
https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/746
|
||||
- Linux OSAL `getUptime` fix: Check validity of `/proc/uptime` file before reading uptime.
|
||||
https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/745
|
||||
- Small tweak for version getter
|
||||
https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/744
|
||||
|
||||
## Added
|
||||
|
||||
- add CFDP subsystem ID
|
||||
https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/742
|
||||
- `PusTmZcWriter` now exposes API to set message counter field.
|
||||
- Relative timeshift in the PUS time service.
|
||||
|
||||
## Changed
|
||||
|
||||
- The PUS time service now dumps the time before setting a new time and after having set the
|
||||
time.
|
||||
- HK generation is now countdown based.
|
||||
- Bump ETL version to 20.35.14
|
||||
https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/748
|
||||
- Renamed `PCDU_2` subsystem ID to `POWER_SWITCH_IF`.
|
||||
https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/743
|
||||
- Add new `PowerSwitchIF::SWITCH_UNKNOWN` returnvalue.
|
||||
https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/743
|
||||
- Assert that `FixedArrayList` is larger than 0 at compile time.
|
||||
https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/740
|
||||
- Health functions are virtual now.
|
||||
- PUS Service Base request queue depth and maximum number of handled packets per cycle is now
|
||||
configurable.
|
||||
|
||||
# [v6.0.0] 2023-02-10
|
||||
|
||||
## Fixes
|
||||
|
||||
- Mode Service: Add allowed subservice
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/739
|
||||
- `CService200ModeManagement`: Various bugfixes which lead to now execution complete being generated
|
||||
on mode announcements, duplicate mode reply generated on announce commands, and the mode read
|
||||
subservice not working properly.
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/736
|
||||
- Memory leak fixes for the TCP/IP TMTC bridge.
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/737
|
||||
- `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
|
||||
- HAL MGM3100 Handler: Use axis specific gain/scaling factors. Previously,
|
||||
only the X scaling factor was used.
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/724
|
||||
- HAL MGM3100 Handler: Z value was previously calculated with bytes of the X value.
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/733
|
||||
- DHB `setNormalDatapoolEntriesInvalid`: The default implementation did not set the validity
|
||||
to false correctly because the `read` and `write` calls were missing.
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/728
|
||||
- PUS TMTC creator module: Sequence flags were set to continuation segment (0b00) instead
|
||||
of the correct unsegmented flags (0b11) as specified in the standard.
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/727
|
||||
- TC Scheduler Service 11: Add size and CRC check for contained TC.
|
||||
Bug: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/issues/719
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/720
|
||||
- Only delete health table entry in `HealthHelper` destructor if
|
||||
health table was set.
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/710
|
||||
- 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
|
||||
actually fully disables printing.
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/680
|
||||
- `TcpTmTcServer.cpp`: The server was actually not able to handle
|
||||
CCSDS packets which were clumped together. This has been fixed now.
|
||||
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/fsfw/fsfw/pulls/725
|
||||
- various fixes related to linux Unittests and memory leaks
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/715
|
||||
- small fix to allow teardown handling
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/713
|
||||
- fix compiler warning for fixed array list copy ctor
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/704
|
||||
- missing include
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/703
|
||||
- defaultconfig did not build anymore
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/702
|
||||
- hotfix
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/699
|
||||
- small fix for helper
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/698
|
||||
- missing retval conv
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/697
|
||||
- DHB Countdown Bug
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/693
|
||||
- doc corrections
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/687
|
||||
- better error printout
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/686
|
||||
- include correction
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/683
|
||||
- better warning for missing include paths
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/676
|
||||
- Service 11 regression
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/670
|
||||
|
||||
## Added
|
||||
|
||||
- `CServiceHealthCommanding`: Add announce all health info implementation
|
||||
PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/122
|
||||
- Empty constructor for `CdsShortTimeStamper` which does not do an object manager registration.
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/730
|
||||
- `Service9TimeManagement`: Add `DUMP_TIME` (129) subservice.
|
||||
- `TcpTmTcServer`: Allow setting the `SO_REUSEADDR` and `SO_REUSEPORT`
|
||||
option on the TCP server. CTOR prototype has changed and expects an explicit
|
||||
TCP configuration struct to be passed.
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/722
|
||||
- `DleParser` helper class to parse DLE encoded packets from a byte stream.
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/711
|
||||
- `UioMapper` is able to resolve symlinks now.
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/709
|
||||
- Add new `UnsignedByteField` class
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/660
|
||||
- publish documentation for development and master branch
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/681
|
||||
- Add Linux HAL options
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/663
|
||||
- Expand SerializeIF
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/656
|
||||
- PUS Service 11: Additional Safety Check
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/666
|
||||
- improvements for auto-formatter script
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/665
|
||||
- provide a weak print char impl
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/674
|
||||
|
||||
## Removed
|
||||
|
||||
- now that doc server is up, remove markdown files
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/688
|
||||
- remove bsp specific code
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/679
|
||||
|
||||
## Changes
|
||||
|
||||
- `CService201HealthCommanding` renamed to `CServiceHealthCommanding`,
|
||||
service ID customizable now. `CServiceHealthCommanding` expects configuration struct
|
||||
`HealthServiceCfg` now
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/725
|
||||
- `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
|
||||
so they can be used without template specification.
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/707
|
||||
- Remove default secondary header argument for
|
||||
`uint16_t getTcSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag)` and
|
||||
`uint16_t getTmSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag)`
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/689
|
||||
- Removed `HasReturnvaluesIF` class in favor of `returnvalue` namespace with `OK` and `FAILED`
|
||||
constants.
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/659
|
||||
- Overhaul of the TMTC stack, including various changes and improvements
|
||||
for other modules
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/655
|
||||
which also includes a migration guide
|
||||
- Bump Catch2 dependency to regular version `v3.1.0`
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/678
|
||||
- `SerialBufferAdapter`: Rename `setBuffer` to `setConstBuffer` and update
|
||||
API to expect `const uint8_t*` accordingly.
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/677
|
||||
- Remove the following user includes from `fsfw/events/Event.h` and
|
||||
`fsfw/returnvalues/returnvalue.h`:
|
||||
- `#include "events/subsystemIdRanges.h"`
|
||||
- `#include "returnvalues/classIds.h"`
|
||||
The user has to include those themselves now
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/675
|
||||
- `DeviceHandlerBase`: Set command sender before calling `buildCommandFromCommand`.
|
||||
This allows finishing action commands immediately inside the function.
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/672
|
||||
- `DeviceHandlerBase`: New signature of `handleDeviceTm` which expects
|
||||
a `const SerializeIF&` and additional helper variant which expects `const uint8_t*`
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/671
|
||||
- Improvements for `AcceptsTelemetryIF` and `AcceptsTelecommandsIF`:
|
||||
- Make functions `const` where it makes sense
|
||||
- Add `const char* getName const` abstract function
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/684
|
||||
- Generic TMTC Bridge Update
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/734
|
||||
- comment tweak to event parser can read everything
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/732
|
||||
- CMakeLists file updates
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/731
|
||||
- improve srv20 error messages
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/723
|
||||
- I2C Linux: remove duplicate printout
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/718
|
||||
- printout handling improvements
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/717
|
||||
- vec getter, reset for content
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/716
|
||||
- updates for source sequence counter
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/714
|
||||
- SP reader getPacketData is const now
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/708
|
||||
- refactoring of serial drivers for linux
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/705
|
||||
- Local Pool Update Remove Add Data Ignore Fault Argument
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/701
|
||||
- Switch to new documentation server
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/694
|
||||
- Windows Tweaks
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/691
|
||||
- Refactor Local Pool API
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/667
|
||||
- group MGM data in local pool vectors
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/664
|
||||
|
||||
|
||||
## CFDP
|
||||
|
||||
- Refactoring of CFDP stack which was done during implementation of the CFDP source and destination
|
||||
handlers.
|
||||
- New filesystem module, changes for filesystem abstraction `HasFileSystemIF` to better
|
||||
fit requirements of CFDP
|
||||
- New `HostFilesystem` implementation of the `HasFileSystemIF`
|
||||
- New `cfdp::UserBase` class which is the abstraction for the CFDP user in an OBSW context.
|
||||
- mib module for the CFDP stack
|
||||
- PDU classes renamed from `...Serializer`/`...Deserializer` to `...Creator`/`...Reader`
|
||||
respetively
|
||||
- Renamed `TcDistributor` to `TcDistributorBase` to prevent confusion
|
||||
- Refactored `TcDisitributorBase` to be more flexible and usable for CFDP distribution
|
||||
- Renamed `CCSDSDistributor` to `CcsdsDistributor` and add feature which allows it
|
||||
to remove the CCSDS header when routing a packet. This allows CCSDS agnostic receiver
|
||||
implementation without an extra component
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/682
|
||||
|
||||
# [v5.0.0] 2022-07-25
|
||||
# [v5.0.0]
|
||||
|
||||
## Changes
|
||||
|
||||
@@ -264,9 +23,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
|
||||
- HAL Devicehandlers: Periodic printout is run-time configurable now
|
||||
- `oneShotAction` flag in the `TestTask` class is not static anymore
|
||||
- `SimpleRingBuffer::writeData` now checks if the amount is larger than the total size of the
|
||||
Buffer and rejects such writeData calls with `returnvalue::FAILED`
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/586
|
||||
- Major update for version handling, using `git describe` to fetch version information with git.
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/601
|
||||
- Add helper functions provided by [`cmake-modules`](https://github.com/bilke/cmake-modules)
|
||||
@@ -284,9 +40,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
|
||||
creation call. It allows passing context information and an arbitrary user argument into
|
||||
the message queue. Also streamlined and simplified `MessageQueue` implementation for all OSALs
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/583
|
||||
- Internal API change: Moved the `fsfw_hal` to the `src` folder and integration and internal
|
||||
tests part of `fsfw_tests` to `src`. Unittests are now in a dedicated folder called `unittests`
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/653
|
||||
|
||||
### Task Module Refactoring
|
||||
|
||||
@@ -332,6 +85,7 @@ PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/636
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
|
||||
- HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
|
||||
- Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1
|
||||
|
||||
### Time
|
||||
|
||||
@@ -361,8 +115,6 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
|
||||
|
||||
## Additions
|
||||
|
||||
- New constructor for PoolEntry which allows to simply specify the length of the pool entry.
|
||||
This is also the new default constructor for scalar value with 0 as an initial value
|
||||
- Added options for CI/CD builds: `FSFW_CICD_BUILD`. This allows the source code to know
|
||||
whether it is running in CI/CD
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/623
|
||||
@@ -382,7 +134,6 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
|
||||
- https://gitlab.kitware.com/cmake/cmake/-/issues/21696
|
||||
Easiest solution for now: Keep this option OFF by default.
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616
|
||||
- Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1
|
||||
- Dedicated Version class and constant `fsfw::FSFW_VERSION` containing version information
|
||||
inside `fsfw/version.h`
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/559
|
||||
|
||||
+27
-42
@@ -13,7 +13,7 @@ list(APPEND CMAKE_MODULE_PATH
|
||||
# Version file handling #
|
||||
# ##############################################################################
|
||||
|
||||
set(FSFW_VERSION_IF_GIT_FAILS 6)
|
||||
set(FSFW_VERSION_IF_GIT_FAILS 4)
|
||||
set(FSFW_SUBVERSION_IF_GIT_FAILS 0)
|
||||
set(FSFW_REVISION_IF_GIT_FAILS 0)
|
||||
|
||||
@@ -67,12 +67,11 @@ endif()
|
||||
set(FSFW_SOURCES_DIR "${CMAKE_SOURCE_DIR}/src/fsfw")
|
||||
|
||||
set(FSFW_ETL_LIB_NAME etl)
|
||||
set(FSFW_ETL_LINK_TARGET etl::etl)
|
||||
set(FSFW_ETL_LIB_MAJOR_VERSION
|
||||
20
|
||||
CACHE STRING "ETL library major version requirement")
|
||||
set(FSFW_ETL_LIB_VERSION
|
||||
${FSFW_ETL_LIB_MAJOR_VERSION}.35.14
|
||||
${FSFW_ETL_LIB_MAJOR_VERSION}.28.0
|
||||
CACHE STRING "ETL library exact version requirement")
|
||||
set(FSFW_ETL_LINK_TARGET etl::etl)
|
||||
|
||||
@@ -80,7 +79,7 @@ set(FSFW_CATCH2_LIB_MAJOR_VERSION
|
||||
3
|
||||
CACHE STRING "Catch2 library major version requirement")
|
||||
set(FSFW_CATCH2_LIB_VERSION
|
||||
v${FSFW_CATCH2_LIB_MAJOR_VERSION}.1.0
|
||||
v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5
|
||||
CACHE STRING "Catch2 library exact version requirement")
|
||||
|
||||
# Keep this off by default for now. See PR:
|
||||
@@ -104,27 +103,20 @@ if(FSFW_GENERATE_SECTIONS)
|
||||
option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
|
||||
endif()
|
||||
|
||||
option(FSFW_BUILD_TESTS
|
||||
"Build unittest binary in addition to static library. Requires Catch2"
|
||||
OFF)
|
||||
option(FSFW_BUILD_UNITTESTS
|
||||
"Build unittest binary in addition to static library" OFF)
|
||||
option(FSFW_CICD_BUILD "Build for CI/CD. This can disable problematic test" OFF)
|
||||
option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF)
|
||||
if(FSFW_BUILD_TESTS)
|
||||
if(FSFW_BUILD_UNITTESTS)
|
||||
option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
|
||||
endif()
|
||||
|
||||
option(FSFW_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)
|
||||
# Options to exclude parts of the FSFW from compilation.
|
||||
option(FSFW_ADD_INTERNAL_TESTS "Add internal unit tests" ON)
|
||||
option(FSFW_ADD_UNITTESTS "Add regular unittests. Requires Catch2" OFF)
|
||||
option(FSFW_ADD_HAL "Add Hardware Abstraction Layer" ON)
|
||||
|
||||
if(UNIX)
|
||||
option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add Linux peripheral drivers"
|
||||
OFF)
|
||||
option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Attempt to add Linux GPIOD drivers" OFF)
|
||||
option(FSFW_HAL_LINUX_ADD_SERIAL_DRIVERS "Add serial drivers" ON)
|
||||
endif()
|
||||
|
||||
# Optional sources
|
||||
option(FSFW_ADD_PUS "Compile with PUS sources" ON)
|
||||
option(FSFW_ADD_MONITORING "Compile with monitoring components" ON)
|
||||
@@ -147,18 +139,18 @@ if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
|
||||
TRUE)
|
||||
endif()
|
||||
|
||||
if(FSFW_BUILD_TESTS)
|
||||
if(FSFW_BUILD_UNITTESTS)
|
||||
message(
|
||||
STATUS
|
||||
"${MSG_PREFIX} Building the FSFW unittests in addition to the static library"
|
||||
)
|
||||
# Check whether the user has already installed Catch2 first
|
||||
find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION} QUIET)
|
||||
find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION})
|
||||
# Not installed, so use FetchContent to download and provide Catch2
|
||||
if(NOT Catch2_FOUND)
|
||||
message(
|
||||
STATUS
|
||||
"${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent."
|
||||
"${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent"
|
||||
)
|
||||
include(FetchContent)
|
||||
|
||||
@@ -170,9 +162,10 @@ if(FSFW_BUILD_TESTS)
|
||||
list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
|
||||
endif()
|
||||
|
||||
set(FSFW_CONFIG_PATH unittests/testcfg)
|
||||
configure_file(unittests/testcfg/FSFWConfig.h.in FSFWConfig.h)
|
||||
configure_file(unittests/testcfg/TestsConfig.h.in tests/TestsConfig.h)
|
||||
set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
|
||||
configure_file(tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in FSFWConfig.h)
|
||||
configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in
|
||||
tests/TestsConfig.h)
|
||||
|
||||
project(${FSFW_TEST_TGT} CXX C)
|
||||
add_executable(${FSFW_TEST_TGT})
|
||||
@@ -201,8 +194,8 @@ find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
|
||||
if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
|
||||
message(
|
||||
STATUS
|
||||
"${MSG_PREFIX} ETL installation not found. Downloading ETL with FetchContent."
|
||||
)
|
||||
"${MSG_PREFIX} No ETL installation was found with find_package. Installing and providing "
|
||||
"etl with FindPackage")
|
||||
include(FetchContent)
|
||||
|
||||
FetchContent_Declare(
|
||||
@@ -291,15 +284,16 @@ message(
|
||||
)
|
||||
|
||||
add_subdirectory(src)
|
||||
add_subdirectory(contrib)
|
||||
if(FSFW_BUILD_TESTS)
|
||||
add_subdirectory(unittests)
|
||||
add_subdirectory(tests)
|
||||
if(FSFW_ADD_HAL)
|
||||
add_subdirectory(hal)
|
||||
endif()
|
||||
add_subdirectory(contrib)
|
||||
if(FSFW_BUILD_DOCS)
|
||||
add_subdirectory(docs)
|
||||
endif()
|
||||
|
||||
if(FSFW_BUILD_TESTS)
|
||||
if(FSFW_BUILD_UNITTESTS)
|
||||
if(FSFW_TESTS_GEN_COV)
|
||||
if(CMAKE_COMPILER_IS_GNUCXX)
|
||||
include(CodeCoverage)
|
||||
@@ -327,8 +321,7 @@ if(FSFW_BUILD_TESTS)
|
||||
"/usr/local/include/*"
|
||||
"*/fsfw_tests/*"
|
||||
"*/catch2-src/*"
|
||||
"*/fsfw_hal/*"
|
||||
"unittests/*")
|
||||
"*/fsfw_hal/*")
|
||||
endif()
|
||||
|
||||
target_link_options(${FSFW_TEST_TGT} PRIVATE -fprofile-arcs
|
||||
@@ -346,15 +339,8 @@ if(FSFW_BUILD_TESTS)
|
||||
DEPENDENCIES ${FSFW_TEST_TGT})
|
||||
else()
|
||||
setup_target_for_coverage_lcov(
|
||||
NAME
|
||||
${FSFW_TEST_TGT}_coverage
|
||||
EXECUTABLE
|
||||
${FSFW_TEST_TGT}
|
||||
DEPENDENCIES
|
||||
${FSFW_TEST_TGT}
|
||||
GENHTML_ARGS
|
||||
--html-epilog
|
||||
${CMAKE_SOURCE_DIR}/unittests/lcov_epilog.html)
|
||||
NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT}
|
||||
DEPENDENCIES ${FSFW_TEST_TGT})
|
||||
endif()
|
||||
endif()
|
||||
endif()
|
||||
@@ -369,8 +355,7 @@ if(NOT FSFW_CONFIG_PATH)
|
||||
if(NOT FSFW_BUILD_DOCS)
|
||||
message(
|
||||
WARNING
|
||||
"${MSG_PREFIX} Flight Software Framework configuration path FSFW_CONFIG_PATH not set"
|
||||
)
|
||||
"${MSG_PREFIX} Flight Software Framework configuration path not set")
|
||||
message(
|
||||
WARNING
|
||||
"${MSG_PREFIX} Setting default configuration from ${DEF_CONF_PATH} ..")
|
||||
@@ -465,8 +450,8 @@ target_include_directories(
|
||||
target_compile_options(${LIB_FSFW_NAME} PRIVATE ${FSFW_WARNING_FLAGS}
|
||||
${COMPILER_FLAGS})
|
||||
|
||||
target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${FSFW_ADDITIONAL_LINK_LIBS})
|
||||
target_link_libraries(${LIB_FSFW_NAME} PUBLIC ${FSFW_ETL_LINK_TARGET})
|
||||
target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${FSFW_ETL_LINK_TARGET}
|
||||
${FSFW_ADDITIONAL_LINK_LIBS})
|
||||
|
||||
string(
|
||||
CONCAT
|
||||
|
||||
@@ -132,14 +132,14 @@ You can use the following commands inside the `fsfw` folder to set up the build
|
||||
|
||||
```sh
|
||||
mkdir build-tests && cd build-tests
|
||||
cmake -DFSFW_BUILD_TESTS=ON -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
|
||||
cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
|
||||
```
|
||||
|
||||
You can also use `-DFSFW_OSAL=linux` on Linux systems.
|
||||
|
||||
Coverage data in HTML format can be generated using the `CodeCoverage`
|
||||
[CMake module](https://github.com/bilke/cmake-modules/tree/master).
|
||||
To build the unittests, run them and then generate the coverage data in this format,
|
||||
To build the unittests, run them and then generare the coverage data in this format,
|
||||
the following command can be used inside the build directory after the build system was set up
|
||||
|
||||
```sh
|
||||
@@ -175,7 +175,7 @@ cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..
|
||||
Then you can generate the documentation using
|
||||
|
||||
```sh
|
||||
cmake --build . -- Sphinx -j
|
||||
cmake --build . -j
|
||||
```
|
||||
|
||||
You can find the generated documentation inside the `docs/sphinx` folder inside the build
|
||||
@@ -188,10 +188,7 @@ and open the documentation conveniently. Try `helper.py -h for more information.
|
||||
|
||||
The formatting is done by the `clang-format` tool. The configuration is contained within the
|
||||
`.clang-format` file in the repository root. As long as `clang-format` is installed, you
|
||||
can run the `auto-format.sh` helper script to format all source files consistently. Furthermore cmake-format is required to format CMake files which can be installed with:
|
||||
````sh
|
||||
sudo pip install cmakelang
|
||||
````
|
||||
can run the `apply-clang-format.sh` helper script to format all source files consistently.
|
||||
|
||||
## Index
|
||||
|
||||
|
||||
+5
-20
@@ -5,25 +5,10 @@ RUN apt-get --yes upgrade
|
||||
|
||||
#tzdata is a dependency, won't install otherwise
|
||||
ARG DEBIAN_FRONTEND=noninteractive
|
||||
RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping python3 pip doxygen graphviz rsync
|
||||
|
||||
RUN python3 -m pip install sphinx breathe
|
||||
RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping
|
||||
|
||||
RUN git clone https://github.com/catchorg/Catch2.git && \
|
||||
cd Catch2 && \
|
||||
git checkout v3.1.0 && \
|
||||
cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
|
||||
cmake --build build/ --target install
|
||||
|
||||
RUN git clone https://github.com/ETLCPP/etl.git && \
|
||||
cd etl && \
|
||||
git checkout 20.28.0 && \
|
||||
cmake -B build . && \
|
||||
cmake --install build/
|
||||
|
||||
#ssh needs a valid user to work
|
||||
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
|
||||
cd Catch2 && \
|
||||
git checkout v3.0.0-preview5 && \
|
||||
cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
|
||||
cmake --build build/ --target install
|
||||
|
||||
Vendored
+25
-109
@@ -1,125 +1,41 @@
|
||||
pipeline {
|
||||
environment {
|
||||
BUILDDIR_HOST = 'cmake-build-tests-host'
|
||||
BUILDDIR_LINUX = 'cmake-build-tests-linux'
|
||||
DOCDDIR = 'cmake-build-documentation'
|
||||
BUILDDIR = 'build-tests'
|
||||
}
|
||||
agent {
|
||||
docker {
|
||||
image 'fsfw-ci:d6'
|
||||
args '--network host --sysctl fs.mqueue.msg_max=100'
|
||||
}
|
||||
docker { image 'fsfw-ci:d2'}
|
||||
}
|
||||
stages {
|
||||
stage('Host') {
|
||||
stages{
|
||||
stage('Clean') {
|
||||
steps {
|
||||
sh 'rm -rf $BUILDDIR_HOST'
|
||||
}
|
||||
}
|
||||
stage('Configure') {
|
||||
steps {
|
||||
dir(BUILDDIR_HOST) {
|
||||
sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
|
||||
}
|
||||
}
|
||||
}
|
||||
stage('Build') {
|
||||
steps {
|
||||
dir(BUILDDIR_HOST) {
|
||||
sh 'cmake --build . -j4'
|
||||
}
|
||||
}
|
||||
}
|
||||
stage('Unittests') {
|
||||
steps {
|
||||
dir(BUILDDIR_HOST) {
|
||||
sh 'cmake --build . -- fsfw-tests_coverage -j4'
|
||||
}
|
||||
}
|
||||
}
|
||||
stage('Valgrind') {
|
||||
steps {
|
||||
dir(BUILDDIR_HOST) {
|
||||
sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
stage('Linux') {
|
||||
stages{
|
||||
stage('Clean') {
|
||||
steps {
|
||||
sh 'rm -rf $BUILDDIR_LINUX'
|
||||
}
|
||||
}
|
||||
stage('Configure') {
|
||||
steps {
|
||||
dir(BUILDDIR_LINUX) {
|
||||
sh 'cmake -DFSFW_OSAL=linux -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
|
||||
}
|
||||
}
|
||||
}
|
||||
stage('Build') {
|
||||
steps {
|
||||
dir(BUILDDIR_LINUX) {
|
||||
sh 'cmake --build . -j4'
|
||||
}
|
||||
}
|
||||
}
|
||||
stage('Unittests') {
|
||||
steps {
|
||||
dir(BUILDDIR_LINUX) {
|
||||
sh 'cmake --build . -- fsfw-tests_coverage -j4'
|
||||
}
|
||||
}
|
||||
}
|
||||
stage('Valgrind') {
|
||||
steps {
|
||||
dir(BUILDDIR_LINUX) {
|
||||
sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
stage('Documentation') {
|
||||
when {
|
||||
branch 'development'
|
||||
}
|
||||
stage('Clean') {
|
||||
steps {
|
||||
sh 'rm -rf $BUILDDIR'
|
||||
}
|
||||
}
|
||||
stage('Configure') {
|
||||
steps {
|
||||
dir(DOCDDIR) {
|
||||
sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..'
|
||||
sh 'make Sphinx'
|
||||
sshagent(credentials: ['documentation-buildfix']) {
|
||||
sh 'rsync -r --delete docs/sphinx/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/development'
|
||||
}
|
||||
}
|
||||
dir(BUILDDIR) {
|
||||
sshagent(credentials: ['documentation-buildfix']) {
|
||||
sh 'rsync -r --delete fsfw-tests_coverage/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/coverage/development'
|
||||
}
|
||||
sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON -DFSFW_CICD_BUILD=ON ..'
|
||||
}
|
||||
}
|
||||
}
|
||||
stage('Master Documentation') {
|
||||
when {
|
||||
branch 'master'
|
||||
}
|
||||
stage('Build') {
|
||||
steps {
|
||||
dir(DOCDDIR) {
|
||||
sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..'
|
||||
sh 'make Sphinx'
|
||||
sshagent(credentials: ['documentation-buildfix']) {
|
||||
sh 'rsync -r --delete docs/sphinx/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/master'
|
||||
}
|
||||
}
|
||||
dir(BUILDDIR) {
|
||||
sshagent(credentials: ['documentation-buildfix']) {
|
||||
sh 'rsync -r --delete fsfw-tests_coverage/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/coverage/master'
|
||||
}
|
||||
sh 'cmake --build . -j4'
|
||||
}
|
||||
}
|
||||
}
|
||||
stage('Unittests') {
|
||||
steps {
|
||||
dir(BUILDDIR) {
|
||||
sh 'cmake --build . -- fsfw-tests_coverage -j4'
|
||||
}
|
||||
}
|
||||
}
|
||||
stage('Valgrind') {
|
||||
steps {
|
||||
dir(BUILDDIR) {
|
||||
sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -140,7 +140,7 @@ find_program( GCOV_PATH gcov )
|
||||
find_program( LCOV_PATH NAMES lcov lcov.bat lcov.exe lcov.perl)
|
||||
find_program( FASTCOV_PATH NAMES fastcov fastcov.py )
|
||||
find_program( GENHTML_PATH NAMES genhtml genhtml.perl genhtml.bat )
|
||||
find_program( GCOVR_PATH gcovr )
|
||||
find_program( GCOVR_PATH gcovr PATHS ${CMAKE_SOURCE_DIR}/scripts/test)
|
||||
find_program( CPPFILT_PATH NAMES c++filt )
|
||||
|
||||
if(NOT GCOV_PATH)
|
||||
|
||||
@@ -0,0 +1,40 @@
|
||||
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;
|
||||
}
|
||||
```
|
||||
|
||||
@@ -0,0 +1 @@
|
||||
## Controllers
|
||||
@@ -0,0 +1,55 @@
|
||||
## 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
|
||||
|
||||
@@ -0,0 +1 @@
|
||||
## Device Handlers
|
||||
@@ -0,0 +1,135 @@
|
||||
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 `HasReturnvaluesIF::makeReturnCode`
|
||||
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)
|
||||
@@ -0,0 +1,174 @@
|
||||
## 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 HasReturnvaluesIF::RETURN_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() == HasReturnvaluesIF::RETURN_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
|
||||
|
||||
|
||||
@@ -0,0 +1,32 @@
|
||||
# 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.
|
||||
|
||||
|
||||
@@ -0,0 +1 @@
|
||||
## PUS Services
|
||||
@@ -4,7 +4,6 @@ API
|
||||
.. toctree::
|
||||
:maxdepth: 4
|
||||
|
||||
api/cfdp
|
||||
api/objectmanager
|
||||
api/task
|
||||
api/ipc
|
||||
|
||||
@@ -1,8 +0,0 @@
|
||||
CFDP API
|
||||
=================
|
||||
|
||||
``UserBase``
|
||||
-----------------
|
||||
|
||||
.. doxygenclass:: cfdp::UserBase
|
||||
:members:
|
||||
@@ -3,7 +3,7 @@
|
||||
Returnvalue API
|
||||
==================
|
||||
|
||||
.. doxygenfile:: returnvalue.h
|
||||
.. doxygenfile:: HasReturnvaluesIF.h
|
||||
|
||||
.. _fwclassids:
|
||||
|
||||
|
||||
+9
-17
@@ -17,12 +17,12 @@
|
||||
|
||||
# -- Project information -----------------------------------------------------
|
||||
|
||||
project = "Flight Software Framework"
|
||||
copyright = "2021, Institute of Space Systems (IRS)"
|
||||
author = "Institute of Space Systems (IRS)"
|
||||
project = 'Flight Software Framework'
|
||||
copyright = '2021, Institute of Space Systems (IRS)'
|
||||
author = 'Institute of Space Systems (IRS)'
|
||||
|
||||
# The full version, including alpha/beta/rc tags
|
||||
release = "5.0.0"
|
||||
release = '2.0.1'
|
||||
|
||||
|
||||
# -- General configuration ---------------------------------------------------
|
||||
@@ -30,17 +30,17 @@ release = "5.0.0"
|
||||
# Add any Sphinx extension module names here, as strings. They can be
|
||||
# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
|
||||
# ones.
|
||||
extensions = ["breathe"]
|
||||
extensions = [ "breathe" ]
|
||||
|
||||
breathe_default_project = "fsfw"
|
||||
|
||||
# Add any paths that contain templates here, relative to this directory.
|
||||
templates_path = ["_templates"]
|
||||
templates_path = ['_templates']
|
||||
|
||||
# List of patterns, relative to source directory, that match files and
|
||||
# directories to ignore when looking for source files.
|
||||
# This pattern also affects html_static_path and html_extra_path.
|
||||
exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
|
||||
exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
|
||||
|
||||
|
||||
# -- Options for HTML output -------------------------------------------------
|
||||
@@ -48,17 +48,9 @@ exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
|
||||
# The theme to use for HTML and HTML Help pages. See the documentation for
|
||||
# a list of builtin themes.
|
||||
#
|
||||
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",
|
||||
}
|
||||
}
|
||||
|
||||
html_theme = 'alabaster'
|
||||
|
||||
# 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,
|
||||
# so a file named "default.css" will overwrite the builtin "default.css".
|
||||
html_static_path = []
|
||||
html_static_path = []
|
||||
@@ -75,11 +75,11 @@ and the respective source file with sensible default return values:
|
||||
void TestDeviceHandler::doShutDown() {}
|
||||
|
||||
ReturnValue_t TestDeviceHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
|
||||
return returnvalue::OK;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t TestDeviceHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
|
||||
return returnvalue::OK;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
void TestDeviceHandler::fillCommandAndReplyMap() {}
|
||||
@@ -87,17 +87,17 @@ and the respective source file with sensible default return values:
|
||||
ReturnValue_t TestDeviceHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
|
||||
const uint8_t* commandData,
|
||||
size_t commandDataLen) {
|
||||
return returnvalue::OK;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t TestDeviceHandler::scanForReply(const uint8_t* start, size_t remainingSize,
|
||||
DeviceCommandId_t* foundId, size_t* foundLen) {
|
||||
return returnvalue::OK;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t TestDeviceHandler::interpretDeviceReply(DeviceCommandId_t id,
|
||||
const uint8_t* packet) {
|
||||
return returnvalue::OK;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
uint32_t TestDeviceHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
|
||||
@@ -106,5 +106,5 @@ and the respective source file with sensible default return values:
|
||||
|
||||
ReturnValue_t TestDeviceHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
|
||||
LocalDataPoolManager& poolManager) {
|
||||
return returnvalue::OK;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
@@ -106,7 +106,7 @@ You can use the following commands inside the ``fsfw`` folder to set up the buil
|
||||
.. code-block:: console
|
||||
|
||||
mkdir build-tests && cd build-tests
|
||||
cmake -DFSFW_BUILD_TESTS=ON -DFSFW_OSAL=host ..
|
||||
cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host ..
|
||||
|
||||
|
||||
You can also use ``-DFSFW_OSAL=linux`` on Linux systems.
|
||||
|
||||
+8
-9
@@ -6,20 +6,19 @@ High-level overview
|
||||
Structure
|
||||
----------
|
||||
|
||||
The general structure is driven by the usage of interfaces provided by objects.
|
||||
The FSFW uses C++17 as baseline. Most modern compilers like GCC should have support for this
|
||||
standard, even for micocontrollers.
|
||||
|
||||
The FSFW might use dynamic allocation during program initialization but not during runtime.
|
||||
It offers pool objects, static containers and it also exposes the
|
||||
`Embedded Template Library <https://www.etlcpp.com/>`_ to allow writing code which does not perform
|
||||
allocation during runtime. The fsfw uses run-time type information but will not throw exceptions.
|
||||
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 :cpp:type:`ReturnValue_t` to signal to the caller that something has
|
||||
gone wrong. Returnvalues must be unique. For this the function :cpp:func:`returnvalue::makeCode`
|
||||
gone wrong. Returnvalues must be unique. For this the function :cpp:func:`HasReturnvaluesIF::makeReturnCode`
|
||||
or the :ref:`macro MAKE_RETURN_CODE <retvalapi>` can be used. The ``CLASS_ID`` is a unique ID for that type of object.
|
||||
See the :ref:`FSFW Class IDs file <fwclassids>`. The user can add custom ``CLASS_ID``\s via the
|
||||
``fsfwconfig`` folder.
|
||||
|
||||
+2
-2
@@ -150,7 +150,7 @@ with a housekeeping service command.
|
||||
new PoolEntry<uint8_t>({0}));
|
||||
|
||||
poolManager.subscribeForPeriodicPacket(gyroData.getSid(), false, 4.0, false);
|
||||
return returnvalue::OK;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
Now, if we receive some sensor data and converted them into the right format,
|
||||
@@ -160,7 +160,7 @@ in any case:
|
||||
.. code-block:: cpp
|
||||
|
||||
PoolReadGuard readHelper(&gyroData);
|
||||
if(readHelper.getReadResult() == returnvalue::OK) {
|
||||
if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
|
||||
if(not gyroData.isValid()) {
|
||||
gyroData.setValidity(true, true);
|
||||
}
|
||||
|
||||
@@ -0,0 +1,48 @@
|
||||
cmake_minimum_required(VERSION 3.13)
|
||||
|
||||
# Can also be changed by upper CMakeLists.txt file
|
||||
find_library(LIB_FSFW_NAME fsfw REQUIRED)
|
||||
|
||||
option(FSFW_HAL_ADD_LINUX "Add the Linux HAL to the sources. Requires gpiod library" OFF)
|
||||
# On by default for now because I did not have an issue including and compiling those files
|
||||
# and libraries on a Desktop Linux system and the primary target of the FSFW is still embedded
|
||||
# Linux. The only exception from this is the gpiod library which requires a dedicated installation,
|
||||
# but CMake is able to determine whether this library is installed with find_library.
|
||||
option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add peripheral drivers for embedded Linux" ON)
|
||||
option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Target implements libgpiod" ON)
|
||||
|
||||
option(FSFW_HAL_ADD_RASPBERRY_PI "Add Raspberry Pi specific code to the sources" OFF)
|
||||
option(FSFW_HAL_ADD_STM32H7 "Add the STM32H7 HAL to the sources" OFF)
|
||||
option(FSFW_HAL_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)
|
||||
|
||||
set(LINUX_HAL_PATH_NAME linux)
|
||||
set(STM32H7_PATH_NAME stm32h7)
|
||||
|
||||
add_subdirectory(src)
|
||||
|
||||
foreach(INCLUDE_PATH ${FSFW_HAL_ADDITIONAL_INC_PATHS})
|
||||
if(IS_ABSOLUTE ${INCLUDE_PATH})
|
||||
set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
|
||||
else()
|
||||
get_filename_component(CURR_ABS_INC_PATH
|
||||
${INCLUDE_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR})
|
||||
endif()
|
||||
|
||||
if(CMAKE_VERBOSE)
|
||||
message(STATUS "FSFW include path: ${CURR_ABS_INC_PATH}")
|
||||
endif()
|
||||
|
||||
list(APPEND FSFW_HAL_ADD_INC_PATHS_ABS ${CURR_ABS_INC_PATH})
|
||||
endforeach()
|
||||
|
||||
target_include_directories(${LIB_FSFW_NAME} PRIVATE
|
||||
${FSFW_HAL_ADD_INC_PATHS_ABS}
|
||||
)
|
||||
|
||||
target_compile_definitions(${LIB_FSFW_NAME} PRIVATE
|
||||
${FSFW_HAL_DEFINES}
|
||||
)
|
||||
|
||||
target_link_libraries(${LIB_FSFW_NAME} PRIVATE
|
||||
${FSFW_HAL_LINK_LIBS}
|
||||
)
|
||||
@@ -0,0 +1,9 @@
|
||||
target_include_directories(${LIB_FSFW_NAME} PRIVATE
|
||||
${CMAKE_CURRENT_SOURCE_DIR}
|
||||
)
|
||||
|
||||
target_include_directories(${LIB_FSFW_NAME} INTERFACE
|
||||
${CMAKE_CURRENT_SOURCE_DIR}
|
||||
)
|
||||
|
||||
add_subdirectory(fsfw_hal)
|
||||
@@ -1,11 +1,10 @@
|
||||
add_subdirectory(devicehandlers)
|
||||
add_subdirectory(common)
|
||||
add_subdirectory(host)
|
||||
|
||||
if(UNIX)
|
||||
add_subdirectory(linux)
|
||||
add_subdirectory(linux)
|
||||
endif()
|
||||
|
||||
if(FSFW_HAL_ADD_STM32H7)
|
||||
add_subdirectory(stm32h7)
|
||||
add_subdirectory(stm32h7)
|
||||
endif()
|
||||
@@ -0,0 +1 @@
|
||||
add_subdirectory(gpio)
|
||||
@@ -0,0 +1,3 @@
|
||||
target_sources(${LIB_FSFW_NAME} PRIVATE
|
||||
GpioCookie.cpp
|
||||
)
|
||||
+4
-4
@@ -11,7 +11,7 @@ ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
|
||||
#else
|
||||
sif::printWarning("GpioCookie::addGpio: gpioConfig is nullpointer\n");
|
||||
#endif
|
||||
return returnvalue::FAILED;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
auto gpioMapIter = gpioMap.find(gpioId);
|
||||
if (gpioMapIter == gpioMap.end()) {
|
||||
@@ -25,9 +25,9 @@ ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
|
||||
sif::printWarning("GpioCookie::addGpio: Failed to add GPIO %d to GPIO map\n", gpioId);
|
||||
#endif
|
||||
#endif
|
||||
return returnvalue::FAILED;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
return returnvalue::OK;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
#if FSFW_VERBOSE_LEVEL >= 1
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
@@ -36,7 +36,7 @@ ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
|
||||
sif::printWarning("GpioCookie::addGpio: GPIO already exists in GPIO map\n");
|
||||
#endif
|
||||
#endif
|
||||
return returnvalue::FAILED;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
GpioMap GpioCookie::getGpioMap() const { return gpioMap; }
|
||||
@@ -2,7 +2,7 @@
|
||||
#define COMMON_GPIO_GPIOCOOKIE_H_
|
||||
|
||||
#include <fsfw/devicehandlers/CookieIF.h>
|
||||
#include <fsfw/returnvalues/returnvalue.h>
|
||||
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
|
||||
|
||||
#include "GpioIF.h"
|
||||
#include "gpioDefinitions.h"
|
||||
@@ -2,7 +2,7 @@
|
||||
#define COMMON_GPIO_GPIOIF_H_
|
||||
|
||||
#include <fsfw/devicehandlers/CookieIF.h>
|
||||
#include <fsfw/returnvalues/returnvalue.h>
|
||||
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
|
||||
|
||||
#include "gpioDefinitions.h"
|
||||
|
||||
@@ -13,7 +13,7 @@ class GpioCookie;
|
||||
* over GPIOs.
|
||||
* @author J. Meier
|
||||
*/
|
||||
class GpioIF {
|
||||
class GpioIF : public HasReturnvaluesIF {
|
||||
public:
|
||||
virtual ~GpioIF(){};
|
||||
|
||||
@@ -29,7 +29,7 @@ class GpioIF {
|
||||
* functionality to pull a certain GPIO to high logic level.
|
||||
*
|
||||
* @param gpioId A unique number which specifies the GPIO to drive.
|
||||
* @return Returns returnvalue::OK for success. This should never return returnvalue::FAILED.
|
||||
* @return Returns RETURN_OK for success. This should never return RETURN_FAILED.
|
||||
*/
|
||||
virtual ReturnValue_t pullHigh(gpioId_t gpioId) = 0;
|
||||
|
||||
-8
@@ -5,14 +5,6 @@
|
||||
#include <string>
|
||||
#include <unordered_map>
|
||||
|
||||
#ifdef PLATFORM_WIN
|
||||
// Defined in Windows header for whatever reason, and leads to nameclash issues with
|
||||
// class enums which have entries of the same name.
|
||||
#undef IN
|
||||
#undef OUT
|
||||
#undef CALLBACK
|
||||
#endif
|
||||
|
||||
using gpioId_t = uint16_t;
|
||||
|
||||
namespace gpio {
|
||||
@@ -0,0 +1,12 @@
|
||||
#ifndef FSFW_HAL_COMMON_SPI_SPICOMMON_H_
|
||||
#define FSFW_HAL_COMMON_SPI_SPICOMMON_H_
|
||||
|
||||
#include <cstdint>
|
||||
|
||||
namespace spi {
|
||||
|
||||
enum SpiModes : uint8_t { MODE_0, MODE_1, MODE_2, MODE_3 };
|
||||
|
||||
}
|
||||
|
||||
#endif /* FSFW_HAL_COMMON_SPI_SPICOMMON_H_ */
|
||||
@@ -0,0 +1,5 @@
|
||||
target_sources(${LIB_FSFW_NAME} PRIVATE
|
||||
GyroL3GD20Handler.cpp
|
||||
MgmRM3100Handler.cpp
|
||||
MgmLIS3MDLHandler.cpp
|
||||
)
|
||||
+44
-45
@@ -46,17 +46,17 @@ ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t
|
||||
return NOTHING_TO_SEND;
|
||||
}
|
||||
case (InternalState::CONFIGURE): {
|
||||
*id = l3gd20h::CONFIGURE_CTRL_REGS;
|
||||
*id = L3GD20H::CONFIGURE_CTRL_REGS;
|
||||
uint8_t command[5];
|
||||
command[0] = l3gd20h::CTRL_REG_1_VAL;
|
||||
command[1] = l3gd20h::CTRL_REG_2_VAL;
|
||||
command[2] = l3gd20h::CTRL_REG_3_VAL;
|
||||
command[3] = l3gd20h::CTRL_REG_4_VAL;
|
||||
command[4] = l3gd20h::CTRL_REG_5_VAL;
|
||||
command[0] = L3GD20H::CTRL_REG_1_VAL;
|
||||
command[1] = L3GD20H::CTRL_REG_2_VAL;
|
||||
command[2] = L3GD20H::CTRL_REG_3_VAL;
|
||||
command[3] = L3GD20H::CTRL_REG_4_VAL;
|
||||
command[4] = L3GD20H::CTRL_REG_5_VAL;
|
||||
return buildCommandFromCommand(*id, command, 5);
|
||||
}
|
||||
case (InternalState::CHECK_REGS): {
|
||||
*id = l3gd20h::READ_REGS;
|
||||
*id = L3GD20H::READ_REGS;
|
||||
return buildCommandFromCommand(*id, nullptr, 0);
|
||||
}
|
||||
default:
|
||||
@@ -70,13 +70,13 @@ ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t
|
||||
"GyroL3GD20Handler::buildTransitionDeviceCommand: "
|
||||
"Unknown internal state!\n");
|
||||
#endif
|
||||
return returnvalue::OK;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
return returnvalue::OK;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t GyroHandlerL3GD20H::buildNormalDeviceCommand(DeviceCommandId_t *id) {
|
||||
*id = l3gd20h::READ_REGS;
|
||||
*id = L3GD20H::READ_REGS;
|
||||
return buildCommandFromCommand(*id, nullptr, 0);
|
||||
}
|
||||
|
||||
@@ -84,15 +84,15 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(DeviceCommandId_t devi
|
||||
const uint8_t *commandData,
|
||||
size_t commandDataLen) {
|
||||
switch (deviceCommand) {
|
||||
case (l3gd20h::READ_REGS): {
|
||||
commandBuffer[0] = l3gd20h::READ_START | l3gd20h::AUTO_INCREMENT_MASK | l3gd20h::READ_MASK;
|
||||
std::memset(commandBuffer + 1, 0, l3gd20h::READ_LEN);
|
||||
case (L3GD20H::READ_REGS): {
|
||||
commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;
|
||||
std::memset(commandBuffer + 1, 0, L3GD20H::READ_LEN);
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = l3gd20h::READ_LEN + 1;
|
||||
rawPacketLen = L3GD20H::READ_LEN + 1;
|
||||
break;
|
||||
}
|
||||
case (l3gd20h::CONFIGURE_CTRL_REGS): {
|
||||
commandBuffer[0] = l3gd20h::CTRL_REG_1 | l3gd20h::AUTO_INCREMENT_MASK;
|
||||
case (L3GD20H::CONFIGURE_CTRL_REGS): {
|
||||
commandBuffer[0] = L3GD20H::CTRL_REG_1 | L3GD20H::AUTO_INCREMENT_MASK;
|
||||
if (commandData == nullptr or commandDataLen != 5) {
|
||||
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
|
||||
}
|
||||
@@ -103,15 +103,15 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(DeviceCommandId_t devi
|
||||
ctrlReg4Value = commandData[3];
|
||||
ctrlReg5Value = commandData[4];
|
||||
|
||||
bool fsH = ctrlReg4Value & l3gd20h::SET_FS_1;
|
||||
bool fsL = ctrlReg4Value & l3gd20h::SET_FS_0;
|
||||
bool fsH = ctrlReg4Value & L3GD20H::SET_FS_1;
|
||||
bool fsL = ctrlReg4Value & L3GD20H::SET_FS_0;
|
||||
|
||||
if (not fsH and not fsL) {
|
||||
sensitivity = l3gd20h::SENSITIVITY_00;
|
||||
sensitivity = L3GD20H::SENSITIVITY_00;
|
||||
} else if (not fsH and fsL) {
|
||||
sensitivity = l3gd20h::SENSITIVITY_01;
|
||||
sensitivity = L3GD20H::SENSITIVITY_01;
|
||||
} else {
|
||||
sensitivity = l3gd20h::SENSITIVITY_11;
|
||||
sensitivity = L3GD20H::SENSITIVITY_11;
|
||||
}
|
||||
|
||||
commandBuffer[1] = ctrlReg1Value;
|
||||
@@ -124,8 +124,8 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(DeviceCommandId_t devi
|
||||
rawPacketLen = 6;
|
||||
break;
|
||||
}
|
||||
case (l3gd20h::READ_CTRL_REGS): {
|
||||
commandBuffer[0] = l3gd20h::READ_START | l3gd20h::AUTO_INCREMENT_MASK | l3gd20h::READ_MASK;
|
||||
case (L3GD20H::READ_CTRL_REGS): {
|
||||
commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;
|
||||
|
||||
std::memset(commandBuffer + 1, 0, 5);
|
||||
rawPacket = commandBuffer;
|
||||
@@ -135,7 +135,7 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(DeviceCommandId_t devi
|
||||
default:
|
||||
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
|
||||
}
|
||||
return returnvalue::OK;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len,
|
||||
@@ -144,18 +144,18 @@ ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len,
|
||||
*foundId = this->getPendingCommand();
|
||||
*foundLen = this->rawPacketLen;
|
||||
|
||||
return returnvalue::OK;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
|
||||
const uint8_t *packet) {
|
||||
ReturnValue_t result = returnvalue::OK;
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
switch (id) {
|
||||
case (l3gd20h::CONFIGURE_CTRL_REGS): {
|
||||
case (L3GD20H::CONFIGURE_CTRL_REGS): {
|
||||
commandExecuted = true;
|
||||
break;
|
||||
}
|
||||
case (l3gd20h::READ_CTRL_REGS): {
|
||||
case (L3GD20H::READ_CTRL_REGS): {
|
||||
if (packet[1] == ctrlReg1Value and packet[2] == ctrlReg2Value and
|
||||
packet[3] == ctrlReg3Value and packet[4] == ctrlReg4Value and
|
||||
packet[5] == ctrlReg5Value) {
|
||||
@@ -167,7 +167,7 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
|
||||
}
|
||||
break;
|
||||
}
|
||||
case (l3gd20h::READ_REGS): {
|
||||
case (L3GD20H::READ_REGS): {
|
||||
if (packet[1] != ctrlReg1Value and packet[2] != ctrlReg2Value and
|
||||
packet[3] != ctrlReg3Value and packet[4] != ctrlReg4Value and
|
||||
packet[5] != ctrlReg5Value) {
|
||||
@@ -178,16 +178,16 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
|
||||
}
|
||||
}
|
||||
|
||||
statusReg = packet[l3gd20h::STATUS_IDX];
|
||||
statusReg = packet[L3GD20H::STATUS_IDX];
|
||||
|
||||
int16_t angVelocXRaw = packet[l3gd20h::OUT_X_H] << 8 | packet[l3gd20h::OUT_X_L];
|
||||
int16_t angVelocYRaw = packet[l3gd20h::OUT_Y_H] << 8 | packet[l3gd20h::OUT_Y_L];
|
||||
int16_t angVelocZRaw = packet[l3gd20h::OUT_Z_H] << 8 | packet[l3gd20h::OUT_Z_L];
|
||||
int16_t angVelocXRaw = packet[L3GD20H::OUT_X_H] << 8 | packet[L3GD20H::OUT_X_L];
|
||||
int16_t angVelocYRaw = packet[L3GD20H::OUT_Y_H] << 8 | packet[L3GD20H::OUT_Y_L];
|
||||
int16_t angVelocZRaw = packet[L3GD20H::OUT_Z_H] << 8 | packet[L3GD20H::OUT_Z_L];
|
||||
float angVelocX = angVelocXRaw * sensitivity;
|
||||
float angVelocY = angVelocYRaw * sensitivity;
|
||||
float angVelocZ = angVelocZRaw * sensitivity;
|
||||
|
||||
int8_t temperaturOffset = (-1) * packet[l3gd20h::TEMPERATURE_IDX];
|
||||
int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
|
||||
float temperature = 25.0 + temperaturOffset;
|
||||
if (periodicPrintout) {
|
||||
if (debugDivider.checkAndIncrement()) {
|
||||
@@ -207,7 +207,7 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
|
||||
}
|
||||
|
||||
PoolReadGuard readSet(&dataset);
|
||||
if (readSet.getReadResult() == returnvalue::OK) {
|
||||
if (readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
|
||||
if (std::abs(angVelocX) < this->absLimitX) {
|
||||
dataset.angVelocX = angVelocX;
|
||||
dataset.angVelocX.setValid(true);
|
||||
@@ -248,19 +248,18 @@ void GyroHandlerL3GD20H::setToGoToNormalMode(bool enable) { this->goNormalModeIm
|
||||
|
||||
ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
|
||||
LocalDataPoolManager &poolManager) {
|
||||
localDataPoolMap.emplace(l3gd20h::ANG_VELOC_X, new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(l3gd20h::ANG_VELOC_Y, new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(l3gd20h::ANG_VELOC_Z, new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(l3gd20h::TEMPERATURE, new PoolEntry<float>({0.0}));
|
||||
poolManager.subscribeForRegularPeriodicPacket(
|
||||
subdp::RegularHkPeriodicParams(dataset.getSid(), false, 10.0));
|
||||
return returnvalue::OK;
|
||||
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X, new PoolEntry<float>({0.0}));
|
||||