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develop_up
...
move_seman
| Author | SHA1 | Date | |
|---|---|---|---|
| 6fa453940f |
8
.idea/cmake.xml
generated
8
.idea/cmake.xml
generated
@ -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_BUILD_TESTS=ON -DFSFW_OSAL=host" />
|
||||
</configurations>
|
||||
</component>
|
||||
</project>
|
||||
157
CHANGELOG.md
157
CHANGELOG.md
@ -8,50 +8,17 @@ 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.
|
||||
|
||||
## Changed
|
||||
|
||||
- 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
|
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- Health functions are virtual now.
|
||||
|
||||
# [v6.0.0] 2023-02-10
|
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# [v6.0.0]
|
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|
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## Fixes
|
||||
|
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- Mode Service: Add allowed subservice
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/739
|
||||
- Add monotonic watchdog Clock API and use it in `Countdown` and `Stopwatch` class.
|
||||
- Bugfix in `Service11TelecommandScheduling` which allowed commands
|
||||
time tagged in the past to be inserted.
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/738
|
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- `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
|
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- `Service9TimeManagement`: Fix the time dump at the `SET_TIME` subservice: Include clock timeval
|
||||
@ -60,20 +27,16 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
|
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- HAL MGM3100 Handler: Use axis specific gain/scaling factors. Previously,
|
||||
only the X scaling factor was used.
|
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/724
|
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- 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
|
||||
- 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.
|
||||
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
|
||||
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
|
||||
@ -83,36 +46,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
|
||||
- `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
|
||||
|
||||
@ -131,36 +64,17 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
|
||||
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
|
||||
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
|
||||
so they can be used without template specification.
|
||||
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
|
||||
`uint16_t getTcSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag)` and
|
||||
@ -190,41 +104,18 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
|
||||
- `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
|
||||
- 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`:
|
||||
- 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
|
||||
|
||||
- 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
|
||||
|
||||
## CFDP
|
||||
|
||||
@ -244,7 +135,17 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
|
||||
implementation without an extra component
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/682
|
||||
|
||||
# [v5.0.0] 2022-07-25
|
||||
## HAL
|
||||
|
||||
- SPI: Cache the SPI device in the communication interface. Architecturally, this makes a
|
||||
lot more sense because each ComIF should be responsible for one SPI bus.
|
||||
- SPI: Move the empty transfer to update the line polarity to separate function. This means
|
||||
it is not automatically called when calling the setter function for SPI speed and mode.
|
||||
The user should call this function after locking the CS mutex if multiple SPI devices with
|
||||
differing speeds and modes are attached to one bus.
|
||||
- SPI: Getter functions for SPI speed and mode.
|
||||
|
||||
# [v5.0.0] 25.07.2022
|
||||
|
||||
## Changes
|
||||
|
||||
|
||||
@ -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 5)
|
||||
set(FSFW_SUBVERSION_IF_GIT_FAILS 0)
|
||||
set(FSFW_REVISION_IF_GIT_FAILS 0)
|
||||
|
||||
@ -72,7 +72,7 @@ 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)
|
||||
|
||||
|
||||
@ -1,110 +0,0 @@
|
||||
#! /bin/python
|
||||
|
||||
|
||||
import argparse
|
||||
import json
|
||||
import urllib.request
|
||||
import re
|
||||
from pathlib import Path
|
||||
|
||||
def main() -> None:
|
||||
parser = argparse.ArgumentParser(
|
||||
description="List undocumented PRs"
|
||||
)
|
||||
parser.add_argument("-v", "--version", type=str, required=True)
|
||||
args = parser.parse_args()
|
||||
|
||||
match = re.search("([0-9]+\.[0-9]+\.[0-9]+)", args.version)
|
||||
|
||||
if not match:
|
||||
print("invalid version")
|
||||
exit(1)
|
||||
|
||||
version = "v" + match.group(1)
|
||||
|
||||
print("looking for milestone for " + version + " ...")
|
||||
|
||||
|
||||
with urllib.request.urlopen("https://egit.irs.uni-stuttgart.de/api/v1/repos/fsfw/fsfw/milestones?name=" + version) as milestone_json:
|
||||
milestones = json.load(milestone_json)
|
||||
if (len(milestones) == 0):
|
||||
print("did not find any milestone")
|
||||
exit(1)
|
||||
if (len(milestones) > 1):
|
||||
print("found multiple milestons")
|
||||
milestone_title = milestones[0]['title']
|
||||
milestone = str(milestones[0]['id'])
|
||||
print("Using Milestone \""+ milestone_title + "\" with id " + milestone)
|
||||
|
||||
milestone_prs = []
|
||||
|
||||
page = 1
|
||||
last_count = 1;
|
||||
while last_count != 0:
|
||||
with urllib.request.urlopen("https://egit.irs.uni-stuttgart.de/api/v1/repos/fsfw/fsfw/pulls?state=closed&milestone=" + str(milestone) + "&limit=100&page=" + str(page)) as pull_requests_json:
|
||||
pull_requests = json.load(pull_requests_json)
|
||||
for pr in pull_requests:
|
||||
milestone_prs.append({'number': str(pr['number']), 'title' : pr['title']})
|
||||
page += 1
|
||||
last_count = len(pull_requests)
|
||||
|
||||
print("Found " + str(len(milestone_prs)) + " closed PRs in Milestone")
|
||||
|
||||
print("looking for CHANGELOG.md ...")
|
||||
|
||||
path = Path(".")
|
||||
|
||||
files = list(path.glob("CHANGELOG.md"))
|
||||
|
||||
if (len(files) != 1):
|
||||
files = list(path.glob("../CHANGELOG.md"))
|
||||
|
||||
if (len(files) != 1):
|
||||
print("did not find CHANGELOG.md. Run script in either root directory or scripts subfolder.")
|
||||
exit(1)
|
||||
|
||||
print("Scanning CHANGELOG.md ...")
|
||||
|
||||
changelog_prs = []
|
||||
|
||||
with open(files[0]) as changelog:
|
||||
line = changelog.readline()
|
||||
while (line):
|
||||
#print("line: " + line)
|
||||
match = re.search("\#.+(v[0-9]+\.[0-9]+\.[0-9]+)", line)
|
||||
if (match):
|
||||
if match.group(1) == version:
|
||||
#print("found version")
|
||||
line = changelog.readline()
|
||||
continue
|
||||
else:
|
||||
#print("done with " + match.group(1))
|
||||
break
|
||||
|
||||
match = re.search("PR: https://egit\.irs\.uni-stuttgart\.de/fsfw/fsfw/pulls/([0-9]+)", line)
|
||||
if match:
|
||||
changelog_prs.append(match.group(1))
|
||||
|
||||
line = changelog.readline()
|
||||
|
||||
print("Found " + str(len(changelog_prs)) + " PRs in CHANGELOG.md")
|
||||
|
||||
print("")
|
||||
|
||||
copy_array = changelog_prs.copy()
|
||||
print("PRs in CHANGELOG.md that are not in Milestone:")
|
||||
for pr in milestone_prs:
|
||||
if pr['number'] in copy_array:
|
||||
copy_array.remove(pr['number'])
|
||||
for pr in copy_array:
|
||||
print("https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/" + pr)
|
||||
|
||||
print("")
|
||||
|
||||
print("PRs in milestone that are not in CHANGELOG.md:")
|
||||
|
||||
for pr in milestone_prs:
|
||||
if pr['number'] not in changelog_prs:
|
||||
print("- " + pr['title'] + "\n PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/" + pr['number'])
|
||||
|
||||
main()
|
||||
@ -59,24 +59,17 @@ void ActionHelper::setQueueToUse(MessageQueueIF* queue) { queueToUse = queue; }
|
||||
|
||||
void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
|
||||
store_address_t dataAddress) {
|
||||
bool hasAdditionalData = false;
|
||||
const uint8_t* dataPtr = nullptr;
|
||||
size_t size = 0;
|
||||
ReturnValue_t result;
|
||||
if (dataAddress != store_address_t::invalid()) {
|
||||
hasAdditionalData = true;
|
||||
ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
|
||||
if (result != returnvalue::OK) {
|
||||
CommandMessage reply;
|
||||
ActionMessage::setStepReply(&reply, actionId, 0, result);
|
||||
queueToUse->sendMessage(commandedBy, &reply);
|
||||
return;
|
||||
}
|
||||
ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
|
||||
if (result != returnvalue::OK) {
|
||||
CommandMessage reply;
|
||||
ActionMessage::setStepReply(&reply, actionId, 0, result);
|
||||
queueToUse->sendMessage(commandedBy, &reply);
|
||||
return;
|
||||
}
|
||||
result = owner->executeAction(actionId, commandedBy, dataPtr, size);
|
||||
if (hasAdditionalData) {
|
||||
ipcStore->deleteData(dataAddress);
|
||||
}
|
||||
ipcStore->deleteData(dataAddress);
|
||||
if (result == HasActionsIF::EXECUTION_FINISHED) {
|
||||
CommandMessage reply;
|
||||
ActionMessage::setCompletionReply(&reply, actionId, true, result);
|
||||
|
||||
@ -2,6 +2,7 @@
|
||||
#define FSFW_CFDP_H
|
||||
|
||||
#include "cfdp/definitions.h"
|
||||
#include "cfdp/handler/CfdpHandler.h"
|
||||
#include "cfdp/handler/DestHandler.h"
|
||||
#include "cfdp/handler/FaultHandlerBase.h"
|
||||
#include "cfdp/helpers.h"
|
||||
|
||||
@ -1,2 +1,3 @@
|
||||
target_sources(${LIB_FSFW_NAME} PRIVATE SourceHandler.cpp DestHandler.cpp
|
||||
FaultHandlerBase.cpp UserBase.cpp)
|
||||
target_sources(
|
||||
${LIB_FSFW_NAME} PRIVATE SourceHandler.cpp DestHandler.cpp
|
||||
FaultHandlerBase.cpp UserBase.cpp CfdpHandler.cpp)
|
||||
|
||||
134
src/fsfw/cfdp/handler/CfdpHandler.cpp
Normal file
134
src/fsfw/cfdp/handler/CfdpHandler.cpp
Normal file
@ -0,0 +1,134 @@
|
||||
#include "CfdpHandler.h"
|
||||
|
||||
#include "fsfw/cfdp/pdu/AckPduReader.h"
|
||||
#include "fsfw/cfdp/pdu/PduHeaderReader.h"
|
||||
#include "fsfw/globalfunctions/arrayprinter.h"
|
||||
#include "fsfw/ipc/QueueFactory.h"
|
||||
#include "fsfw/tmtcservices/TmTcMessage.h"
|
||||
|
||||
using namespace returnvalue;
|
||||
using namespace cfdp;
|
||||
|
||||
CfdpHandler::CfdpHandler(const FsfwHandlerParams& fsfwParams, const CfdpHandlerCfg& cfdpCfg)
|
||||
: SystemObject(fsfwParams.objectId),
|
||||
msgQueue(fsfwParams.msgQueue),
|
||||
destHandler(
|
||||
DestHandlerParams(LocalEntityCfg(cfdpCfg.id, cfdpCfg.indicCfg, cfdpCfg.faultHandler),
|
||||
cfdpCfg.userHandler, cfdpCfg.remoteCfgProvider, cfdpCfg.packetInfoList,
|
||||
cfdpCfg.lostSegmentsList),
|
||||
FsfwParams(fsfwParams.packetDest, nullptr, this, fsfwParams.tcStore,
|
||||
fsfwParams.tmStore)) {
|
||||
destHandler.setMsgQueue(msgQueue);
|
||||
}
|
||||
|
||||
[[nodiscard]] const char* CfdpHandler::getName() const { return "CFDP Handler"; }
|
||||
|
||||
[[nodiscard]] uint32_t CfdpHandler::getIdentifier() const {
|
||||
return destHandler.getDestHandlerParams().cfg.localId.getValue();
|
||||
}
|
||||
|
||||
[[nodiscard]] MessageQueueId_t CfdpHandler::getRequestQueue() const { return msgQueue.getId(); }
|
||||
|
||||
ReturnValue_t CfdpHandler::initialize() {
|
||||
ReturnValue_t result = destHandler.initialize();
|
||||
if (result != OK) {
|
||||
return result;
|
||||
}
|
||||
tcStore = destHandler.getTcStore();
|
||||
tmStore = destHandler.getTmStore();
|
||||
|
||||
return SystemObject::initialize();
|
||||
}
|
||||
|
||||
ReturnValue_t CfdpHandler::performOperation(uint8_t operationCode) {
|
||||
// TODO: Receive TC packets and route them to source and dest handler, depending on which is
|
||||
// correct or more appropriate
|
||||
ReturnValue_t status;
|
||||
ReturnValue_t result = OK;
|
||||
TmTcMessage tmtcMsg;
|
||||
for (status = msgQueue.receiveMessage(&tmtcMsg); status == returnvalue::OK;
|
||||
status = msgQueue.receiveMessage(&tmtcMsg)) {
|
||||
result = handleCfdpPacket(tmtcMsg);
|
||||
if (result != OK) {
|
||||
status = result;
|
||||
}
|
||||
}
|
||||
auto& fsmRes = destHandler.performStateMachine();
|
||||
// TODO: Error handling?
|
||||
while (fsmRes.callStatus == CallStatus::CALL_AGAIN) {
|
||||
destHandler.performStateMachine();
|
||||
// TODO: Error handling?
|
||||
}
|
||||
return status;
|
||||
}
|
||||
|
||||
ReturnValue_t CfdpHandler::handleCfdpPacket(TmTcMessage& msg) {
|
||||
auto accessorPair = tcStore->getData(msg.getStorageId());
|
||||
if (accessorPair.first != OK) {
|
||||
return accessorPair.first;
|
||||
}
|
||||
PduHeaderReader reader(accessorPair.second.data(), accessorPair.second.size());
|
||||
ReturnValue_t result = reader.parseData();
|
||||
if (result != returnvalue::OK) {
|
||||
return INVALID_PDU_FORMAT;
|
||||
}
|
||||
// The CFDP distributor should have taken care of ensuring the destination ID is correct
|
||||
PduType type = reader.getPduType();
|
||||
// Only the destination handler can process these PDUs
|
||||
if (type == PduType::FILE_DATA) {
|
||||
// Disable auto-deletion of packet
|
||||
accessorPair.second.release();
|
||||
PacketInfo info(type, msg.getStorageId());
|
||||
result = destHandler.passPacket(info);
|
||||
} else {
|
||||
// Route depending on PDU type and directive type if applicable. It retrieves directive type
|
||||
// from the raw stream for better performance (with sanity and directive code check).
|
||||
// The routing is based on section 4.5 of the CFDP standard which specifies the PDU forwarding
|
||||
// procedure.
|
||||
|
||||
// PDU header only. Invalid supplied data. A directive packet should have a valid data field
|
||||
// with at least one byte being the directive code
|
||||
const uint8_t* pduDataField = reader.getPduDataField();
|
||||
if (pduDataField == nullptr) {
|
||||
return INVALID_PDU_FORMAT;
|
||||
}
|
||||
if (not FileDirectiveReader::checkFileDirective(pduDataField[0])) {
|
||||
return INVALID_DIRECTIVE_FIELD;
|
||||
}
|
||||
auto directive = static_cast<FileDirective>(pduDataField[0]);
|
||||
|
||||
auto passToDestHandler = [&]() {
|
||||
accessorPair.second.release();
|
||||
PacketInfo info(type, msg.getStorageId(), directive);
|
||||
result = destHandler.passPacket(info);
|
||||
};
|
||||
auto passToSourceHandler = [&]() {
|
||||
|
||||
};
|
||||
if (directive == FileDirective::METADATA or directive == FileDirective::EOF_DIRECTIVE or
|
||||
directive == FileDirective::PROMPT) {
|
||||
// Section b) of 4.5.3: These PDUs should always be targeted towards the file receiver a.k.a.
|
||||
// the destination handler
|
||||
passToDestHandler();
|
||||
} else if (directive == FileDirective::FINISH or directive == FileDirective::NAK or
|
||||
directive == FileDirective::KEEP_ALIVE) {
|
||||
// Section c) of 4.5.3: These PDUs should always be targeted towards the file sender a.k.a.
|
||||
// the source handler
|
||||
passToSourceHandler();
|
||||
} else if (directive == FileDirective::ACK) {
|
||||
// Section a): Recipient depends of the type of PDU that is being acknowledged. We can simply
|
||||
// extract the PDU type from the raw stream. If it is an EOF PDU, this packet is passed to
|
||||
// the source handler, for a Finished PDU, it is passed to the destination handler.
|
||||
FileDirective ackedDirective;
|
||||
if (not AckPduReader::checkAckedDirectiveField(pduDataField[1], ackedDirective)) {
|
||||
return INVALID_ACK_DIRECTIVE_FIELDS;
|
||||
}
|
||||
if (ackedDirective == FileDirective::EOF_DIRECTIVE) {
|
||||
passToSourceHandler();
|
||||
} else if (ackedDirective == FileDirective::FINISH) {
|
||||
passToDestHandler();
|
||||
}
|
||||
}
|
||||
}
|
||||
return result;
|
||||
}
|
||||
71
src/fsfw/cfdp/handler/CfdpHandler.h
Normal file
71
src/fsfw/cfdp/handler/CfdpHandler.h
Normal file
@ -0,0 +1,71 @@
|
||||
#ifndef FSFW_EXAMPLE_HOSTED_CFDPHANDLER_H
|
||||
#define FSFW_EXAMPLE_HOSTED_CFDPHANDLER_H
|
||||
|
||||
#include <utility>
|
||||
|
||||
#include "fsfw/cfdp/handler/DestHandler.h"
|
||||
#include "fsfw/objectmanager/SystemObject.h"
|
||||
#include "fsfw/tasks/ExecutableObjectIF.h"
|
||||
#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
|
||||
#include "fsfw/tmtcservices/TmTcMessage.h"
|
||||
|
||||
struct FsfwHandlerParams {
|
||||
FsfwHandlerParams(object_id_t objectId, HasFileSystemIF& vfs, AcceptsTelemetryIF& packetDest,
|
||||
StorageManagerIF& tcStore, StorageManagerIF& tmStore, MessageQueueIF& msgQueue)
|
||||
: objectId(objectId),
|
||||
vfs(vfs),
|
||||
packetDest(packetDest),
|
||||
tcStore(tcStore),
|
||||
tmStore(tmStore),
|
||||
msgQueue(msgQueue) {}
|
||||
object_id_t objectId{};
|
||||
HasFileSystemIF& vfs;
|
||||
AcceptsTelemetryIF& packetDest;
|
||||
StorageManagerIF& tcStore;
|
||||
StorageManagerIF& tmStore;
|
||||
MessageQueueIF& msgQueue;
|
||||
};
|
||||
|
||||
struct CfdpHandlerCfg {
|
||||
CfdpHandlerCfg(cfdp::EntityId localId, cfdp::IndicationCfg indicationCfg,
|
||||
cfdp::UserBase& userHandler, cfdp::FaultHandlerBase& userFaultHandler,
|
||||
cfdp::PacketInfoListBase& packetInfo, cfdp::LostSegmentsListBase& lostSegmentsList,
|
||||
cfdp::RemoteConfigTableIF& remoteCfgProvider)
|
||||
: id(std::move(localId)),
|
||||
indicCfg(indicationCfg),
|
||||
packetInfoList(packetInfo),
|
||||
lostSegmentsList(lostSegmentsList),
|
||||
remoteCfgProvider(remoteCfgProvider),
|
||||
userHandler(userHandler),
|
||||
faultHandler(userFaultHandler) {}
|
||||
|
||||
cfdp::EntityId id;
|
||||
cfdp::IndicationCfg indicCfg;
|
||||
cfdp::PacketInfoListBase& packetInfoList;
|
||||
cfdp::LostSegmentsListBase& lostSegmentsList;
|
||||
cfdp::RemoteConfigTableIF& remoteCfgProvider;
|
||||
cfdp::UserBase& userHandler;
|
||||
cfdp::FaultHandlerBase& faultHandler;
|
||||
};
|
||||
|
||||
class CfdpHandler : public SystemObject, public ExecutableObjectIF, public AcceptsTelecommandsIF {
|
||||
public:
|
||||
explicit CfdpHandler(const FsfwHandlerParams& fsfwParams, const CfdpHandlerCfg& cfdpCfg);
|
||||
|
||||
[[nodiscard]] const char* getName() const override;
|
||||
[[nodiscard]] uint32_t getIdentifier() const override;
|
||||
[[nodiscard]] MessageQueueId_t getRequestQueue() const override;
|
||||
|
||||
ReturnValue_t initialize() override;
|
||||
ReturnValue_t performOperation(uint8_t operationCode) override;
|
||||
|
||||
private:
|
||||
MessageQueueIF& msgQueue;
|
||||
cfdp::DestHandler destHandler;
|
||||
StorageManagerIF* tcStore = nullptr;
|
||||
StorageManagerIF* tmStore = nullptr;
|
||||
|
||||
ReturnValue_t handleCfdpPacket(TmTcMessage& msg);
|
||||
};
|
||||
|
||||
#endif // FSFW_EXAMPLE_HOSTED_CFDPHANDLER_H
|
||||
@ -24,8 +24,8 @@ ReturnValue_t HeaderCreator::serialize(uint8_t **buffer, size_t *size, size_t ma
|
||||
*buffer += 1;
|
||||
**buffer = pduDataFieldLen & 0x00ff;
|
||||
*buffer += 1;
|
||||
**buffer = segmentationCtrl << 7 | ((pduConf.sourceId.getWidth() - 1) << 4) |
|
||||
segmentMetadataFlag << 3 | (pduConf.seqNum.getWidth() - 1);
|
||||
**buffer = segmentationCtrl << 7 | pduConf.sourceId.getWidth() << 4 | segmentMetadataFlag << 3 |
|
||||
pduConf.seqNum.getWidth();
|
||||
*buffer += 1;
|
||||
*size += 4;
|
||||
ReturnValue_t result = pduConf.sourceId.serialize(buffer, size, maxSize, streamEndianness);
|
||||
|
||||
@ -78,11 +78,11 @@ cfdp::SegmentationControl PduHeaderReader::getSegmentationControl() const {
|
||||
}
|
||||
|
||||
cfdp::WidthInBytes PduHeaderReader::getLenEntityIds() const {
|
||||
return static_cast<cfdp::WidthInBytes>(((pointers.fixedHeader->fourthByte >> 4) & 0b111) + 1);
|
||||
return static_cast<cfdp::WidthInBytes>((pointers.fixedHeader->fourthByte >> 4) & 0x07);
|
||||
}
|
||||
|
||||
cfdp::WidthInBytes PduHeaderReader::getLenSeqNum() const {
|
||||
return static_cast<cfdp::WidthInBytes>((pointers.fixedHeader->fourthByte & 0b111) + 1);
|
||||
return static_cast<cfdp::WidthInBytes>(pointers.fixedHeader->fourthByte & 0x07);
|
||||
}
|
||||
|
||||
cfdp::SegmentMetadataFlag PduHeaderReader::getSegmentMetadataFlag() const {
|
||||
|
||||
@ -58,7 +58,7 @@ void ControllerBase::handleQueue() {
|
||||
|
||||
void ControllerBase::startTransition(Mode_t mode_, Submode_t submode_) {
|
||||
changeHK(this->mode, this->submode, false);
|
||||
triggerEvent(CHANGING_MODE, mode_, submode_);
|
||||
triggerEvent(CHANGING_MODE, mode, submode);
|
||||
mode = mode_;
|
||||
submode = submode_;
|
||||
modeHelper.modeChanged(mode, submode);
|
||||
|
||||
@ -166,9 +166,9 @@ ReturnValue_t Sgp4Propagator::propagate(double* position, double* velocity, time
|
||||
timeval timeSinceEpoch = time - epoch;
|
||||
double minutesSinceEpoch = timeSinceEpoch.tv_sec / 60. + timeSinceEpoch.tv_usec / 60000000.;
|
||||
|
||||
double monthsSinceEpoch = minutesSinceEpoch / 60 / 24 / 30;
|
||||
double yearsSinceEpoch = minutesSinceEpoch / 60 / 24 / 365;
|
||||
|
||||
if ((monthsSinceEpoch > 1) || (monthsSinceEpoch < -1)) {
|
||||
if ((yearsSinceEpoch > 1) || (yearsSinceEpoch < -1)) {
|
||||
return TLE_TOO_OLD;
|
||||
}
|
||||
|
||||
|
||||
@ -70,7 +70,8 @@ ReturnValue_t LocalDataPoolManager::initialize(MessageQueueIF* queueToUse) {
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
ReturnValue_t LocalDataPoolManager::initializeAfterTaskCreation() {
|
||||
ReturnValue_t LocalDataPoolManager::initializeAfterTaskCreation(uint8_t nonDiagInvlFactor) {
|
||||
setNonDiagnosticIntervalFactor(nonDiagInvlFactor);
|
||||
return initializeHousekeepingPoolEntriesOnce();
|
||||
}
|
||||
|
||||
@ -505,9 +506,9 @@ ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(CommandMessage* me
|
||||
float newCollIntvl = 0;
|
||||
HousekeepingMessage::getCollectionIntervalModificationCommand(message, &newCollIntvl);
|
||||
if (command == HousekeepingMessage::MODIFY_DIAGNOSTICS_REPORT_COLLECTION_INTERVAL) {
|
||||
result = changeCollectionInterval(sid, newCollIntvl);
|
||||
result = changeCollectionInterval(sid, newCollIntvl, true);
|
||||
} else {
|
||||
result = changeCollectionInterval(sid, newCollIntvl);
|
||||
result = changeCollectionInterval(sid, newCollIntvl, false);
|
||||
}
|
||||
break;
|
||||
}
|
||||
@ -660,6 +661,10 @@ ReturnValue_t LocalDataPoolManager::serializeHkPacketIntoStore(HousekeepingPacke
|
||||
return hkPacket.serialize(&dataPtr, serializedSize, maxSize, SerializeIF::Endianness::MACHINE);
|
||||
}
|
||||
|
||||
void LocalDataPoolManager::setNonDiagnosticIntervalFactor(uint8_t nonDiagInvlFactor) {
|
||||
this->nonDiagnosticIntervalFactor = nonDiagInvlFactor;
|
||||
}
|
||||
|
||||
void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver& receiver) {
|
||||
sid_t sid = receiver.dataId.sid;
|
||||
LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
|
||||
@ -713,15 +718,15 @@ ReturnValue_t LocalDataPoolManager::togglePeriodicGeneration(sid_t sid, bool ena
|
||||
|
||||
if ((LocalPoolDataSetAttorney::getReportingEnabled(*dataSet) and enable) or
|
||||
(not LocalPoolDataSetAttorney::getReportingEnabled(*dataSet) and not enable)) {
|
||||
return returnvalue::OK;
|
||||
return REPORTING_STATUS_UNCHANGED;
|
||||
}
|
||||
|
||||
LocalPoolDataSetAttorney::setReportingEnabled(*dataSet, enable);
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
ReturnValue_t LocalDataPoolManager::changeCollectionInterval(sid_t sid,
|
||||
float newCollectionInterval) {
|
||||
ReturnValue_t LocalDataPoolManager::changeCollectionInterval(sid_t sid, float newCollectionInterval,
|
||||
bool isDiagnostics) {
|
||||
LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
|
||||
if (dataSet == nullptr) {
|
||||
printWarningOrError(sif::OutputTypes::OUT_WARNING, "changeCollectionInterval",
|
||||
@ -729,6 +734,11 @@ ReturnValue_t LocalDataPoolManager::changeCollectionInterval(sid_t sid,
|
||||
return DATASET_NOT_FOUND;
|
||||
}
|
||||
|
||||
bool targetIsDiagnostics = LocalPoolDataSetAttorney::isDiagnostics(*dataSet);
|
||||
if ((targetIsDiagnostics and not isDiagnostics) or (not targetIsDiagnostics and isDiagnostics)) {
|
||||
return WRONG_HK_PACKET_TYPE;
|
||||
}
|
||||
|
||||
PeriodicHousekeepingHelper* periodicHelper =
|
||||
LocalPoolDataSetAttorney::getPeriodicHelper(*dataSet);
|
||||
|
||||
|
||||
@ -102,7 +102,7 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
|
||||
* @param nonDiagInvlFactor
|
||||
* @return
|
||||
*/
|
||||
ReturnValue_t initializeAfterTaskCreation();
|
||||
ReturnValue_t initializeAfterTaskCreation(uint8_t nonDiagInvlFactor = 5);
|
||||
|
||||
/**
|
||||
* @brief This should be called in the periodic handler of the owner.
|
||||
@ -152,6 +152,17 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
|
||||
MessageQueueId_t targetQueueId,
|
||||
bool generateSnapshot) override;
|
||||
|
||||
/**
|
||||
* Non-Diagnostics packets usually have a lower minimum sampling frequency
|
||||
* than diagnostic packets.
|
||||
* A factor can be specified to determine the minimum sampling frequency
|
||||
* for non-diagnostic packets. The minimum sampling frequency of the
|
||||
* diagnostics packets,which is usually jusst the period of the
|
||||
* performOperation calls, is multiplied with that factor.
|
||||
* @param factor
|
||||
*/
|
||||
void setNonDiagnosticIntervalFactor(uint8_t nonDiagInvlFactor);
|
||||
|
||||
/**
|
||||
* @brief The manager is also able to handle housekeeping messages.
|
||||
* @details
|
||||
@ -174,7 +185,6 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
|
||||
ReturnValue_t generateHousekeepingPacket(sid_t sid, LocalPoolDataSetBase* dataSet,
|
||||
bool forDownlink,
|
||||
MessageQueueId_t destination = MessageQueueIF::NO_QUEUE);
|
||||
ReturnValue_t changeCollectionInterval(sid_t sid, float newCollectionInterval);
|
||||
|
||||
HasLocalDataPoolIF* getOwner();
|
||||
|
||||
@ -338,6 +348,8 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
|
||||
|
||||
void performPeriodicHkGeneration(HkReceiver& hkReceiver);
|
||||
ReturnValue_t togglePeriodicGeneration(sid_t sid, bool enable, bool isDiagnostics);
|
||||
ReturnValue_t changeCollectionInterval(sid_t sid, float newCollectionInterval,
|
||||
bool isDiagnostics);
|
||||
ReturnValue_t generateSetStructurePacket(sid_t sid, bool isDiagnostics);
|
||||
|
||||
void handleHkUpdateResetListInsertion(DataType dataType, DataId dataId);
|
||||
|
||||
@ -250,8 +250,9 @@ void LocalPoolDataSetBase::setReportingEnabled(bool reportingEnabled) {
|
||||
bool LocalPoolDataSetBase::getReportingEnabled() const { return reportingEnabled; }
|
||||
|
||||
void LocalPoolDataSetBase::initializePeriodicHelper(float collectionInterval,
|
||||
dur_millis_t minimumPeriodicInterval) {
|
||||
periodicHelper->initialize(collectionInterval, minimumPeriodicInterval);
|
||||
dur_millis_t minimumPeriodicInterval,
|
||||
uint8_t nonDiagIntervalFactor) {
|
||||
periodicHelper->initialize(collectionInterval, minimumPeriodicInterval, nonDiagIntervalFactor);
|
||||
}
|
||||
|
||||
void LocalPoolDataSetBase::setChanged(bool changed) { this->changed = changed; }
|
||||
|
||||
@ -191,7 +191,8 @@ class LocalPoolDataSetBase : public PoolDataSetBase, public MarkChangedIF {
|
||||
*/
|
||||
bool reportingEnabled = false;
|
||||
|
||||
void initializePeriodicHelper(float collectionInterval, dur_millis_t minimumPeriodicInterval);
|
||||
void initializePeriodicHelper(float collectionInterval, dur_millis_t minimumPeriodicInterval,
|
||||
uint8_t nonDiagIntervalFactor = 5);
|
||||
|
||||
/**
|
||||
* If the valid state of a dataset is always relevant to the whole
|
||||
|
||||
@ -12,8 +12,10 @@ class LocalPoolDataSetAttorney {
|
||||
static bool isDiagnostics(LocalPoolDataSetBase& set) { return set.isDiagnostics(); }
|
||||
|
||||
static void initializePeriodicHelper(LocalPoolDataSetBase& set, float collectionInterval,
|
||||
uint32_t minimumPeriodicIntervalMs) {
|
||||
set.initializePeriodicHelper(collectionInterval, minimumPeriodicIntervalMs);
|
||||
uint32_t minimumPeriodicIntervalMs,
|
||||
uint8_t nonDiagIntervalFactor = 5) {
|
||||
set.initializePeriodicHelper(collectionInterval, minimumPeriodicIntervalMs,
|
||||
nonDiagIntervalFactor);
|
||||
}
|
||||
|
||||
static void setReportingEnabled(LocalPoolDataSetBase& set, bool enabled) {
|
||||
|
||||
@ -49,7 +49,6 @@ class DeviceCommunicationIF {
|
||||
// is this needed if there is no open/close call?
|
||||
static const ReturnValue_t NOT_ACTIVE = MAKE_RETURN_CODE(0x05);
|
||||
static const ReturnValue_t TOO_MUCH_DATA = MAKE_RETURN_CODE(0x06);
|
||||
static constexpr ReturnValue_t BUSY = MAKE_RETURN_CODE(0x07);
|
||||
|
||||
virtual ~DeviceCommunicationIF() {}
|
||||
|
||||
|
||||
@ -567,7 +567,7 @@ void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
|
||||
continueToNormal = false;
|
||||
// TODO: Check whether the following two lines are okay to do so.
|
||||
transitionSourceMode = MODE_ON;
|
||||
transitionSourceSubMode = newSubmode;
|
||||
transitionSourceSubMode = submode;
|
||||
mode = _MODE_TO_NORMAL;
|
||||
return;
|
||||
}
|
||||
|
||||
@ -257,8 +257,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
|
||||
Mode_t getTransitionSourceMode() const;
|
||||
Submode_t getTransitionSourceSubMode() const;
|
||||
virtual void getMode(Mode_t *mode, Submode_t *submode);
|
||||
virtual HealthState getHealth() override;
|
||||
virtual ReturnValue_t setHealth(HealthState health) override;
|
||||
HealthState getHealth();
|
||||
ReturnValue_t setHealth(HealthState health);
|
||||
virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
|
||||
ParameterWrapper *parameterWrapper,
|
||||
const ParameterWrapper *newValues,
|
||||
|
||||
@ -10,9 +10,8 @@
|
||||
|
||||
object_id_t DeviceHandlerFailureIsolation::powerConfirmationId = objects::NO_OBJECT;
|
||||
|
||||
DeviceHandlerFailureIsolation::DeviceHandlerFailureIsolation(object_id_t owner, object_id_t parent,
|
||||
uint8_t eventQueueDepth)
|
||||
: FailureIsolationBase(owner, parent, eventQueueDepth),
|
||||
DeviceHandlerFailureIsolation::DeviceHandlerFailureIsolation(object_id_t owner, object_id_t parent)
|
||||
: FailureIsolationBase(owner, parent),
|
||||
strangeReplyCount(DEFAULT_MAX_STRANGE_REPLIES, DEFAULT_STRANGE_REPLIES_TIME_MS,
|
||||
parameterDomainBase++),
|
||||
missedReplyCount(DEFAULT_MAX_MISSED_REPLY_COUNT, DEFAULT_MISSED_REPLY_TIME_MS,
|
||||
|
||||
@ -13,8 +13,7 @@ class DeviceHandlerFailureIsolation : public FailureIsolationBase {
|
||||
friend class Heater;
|
||||
|
||||
public:
|
||||
DeviceHandlerFailureIsolation(object_id_t owner, object_id_t parent,
|
||||
uint8_t eventQueueDepth = 10);
|
||||
DeviceHandlerFailureIsolation(object_id_t owner, object_id_t parent);
|
||||
~DeviceHandlerFailureIsolation();
|
||||
ReturnValue_t initialize();
|
||||
void triggerEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0);
|
||||
|
||||
@ -29,10 +29,11 @@ ReturnValue_t HealthDevice::initialize() {
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
if (parentQueue != MessageQueueIF::NO_QUEUE) {
|
||||
if (parentQueue != 0) {
|
||||
return healthHelper.initialize(parentQueue);
|
||||
} else {
|
||||
return healthHelper.initialize();
|
||||
}
|
||||
return healthHelper.initialize();
|
||||
}
|
||||
|
||||
MessageQueueId_t HealthDevice::getCommandQueue() const { return commandQueue->getId(); }
|
||||
|
||||
@ -29,8 +29,10 @@ class HealthDevice : public SystemObject, public ExecutableObjectIF, public HasH
|
||||
protected:
|
||||
HealthState lastHealth;
|
||||
|
||||
MessageQueueId_t parentQueue = MessageQueueIF::NO_QUEUE;
|
||||
MessageQueueId_t parentQueue;
|
||||
MessageQueueIF* commandQueue;
|
||||
|
||||
public:
|
||||
HealthHelper healthHelper;
|
||||
};
|
||||
|
||||
|
||||
@ -55,9 +55,8 @@ void EventManager::notifyListeners(EventMessage* message) {
|
||||
if (result != returnvalue::OK) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << std::hex << "EventManager::notifyListeners: MSG to 0x" << std::setfill('0')
|
||||
<< std::setw(8) << listener.first << " for event 0x" << std::setw(4)
|
||||
<< message->getEventId() << " failed with result 0x" << std::setw(4) << result
|
||||
<< std::setfill(' ') << std::endl;
|
||||
<< std::setw(8) << listener.first << " failed with result 0x" << std::setw(4)
|
||||
<< result << std::setfill(' ') << std::endl;
|
||||
#else
|
||||
sif::printError("Sending message to listener 0x%08x failed with result %04x\n",
|
||||
listener.first, result);
|
||||
|
||||
@ -10,7 +10,7 @@ enum : uint8_t {
|
||||
CDH = 28,
|
||||
TCS_1 = 59,
|
||||
PCDU_1 = 42,
|
||||
POWER_SWITCH_IF = 43,
|
||||
PCDU_2 = 43,
|
||||
HEATER = 50,
|
||||
T_SENSORS = 52,
|
||||
FDIR = 70,
|
||||
|
||||
@ -18,11 +18,8 @@
|
||||
*/
|
||||
class DleParser {
|
||||
public:
|
||||
//! [EXPORT] : [SKIP]
|
||||
static constexpr ReturnValue_t NO_PACKET_FOUND = returnvalue::makeCode(1, 1);
|
||||
//! [EXPORT] : [SKIP]
|
||||
static constexpr ReturnValue_t POSSIBLE_PACKET_LOSS = returnvalue::makeCode(1, 2);
|
||||
|
||||
using BufPair = std::pair<uint8_t*, size_t>;
|
||||
|
||||
enum class ContextType { NONE, PACKET_FOUND, ERROR };
|
||||
|
||||
@ -53,9 +53,8 @@ class VectorOperations {
|
||||
mulScalar(vector, 1 / norm(vector, size), normalizedVector, size);
|
||||
}
|
||||
|
||||
static T maxAbsValue(const T *vector, uint8_t size, uint8_t *index = nullptr) {
|
||||
T max = vector[size - 1];
|
||||
uint8_t foundIndex = size - 1;
|
||||
static T maxAbsValue(const T *vector, uint8_t size, uint8_t *index = 0) {
|
||||
T max = -1;
|
||||
|
||||
for (; size > 0; size--) {
|
||||
T abs = vector[size - 1];
|
||||
@ -65,35 +64,24 @@ class VectorOperations {
|
||||
if (abs > max) {
|
||||
max = abs;
|
||||
if (index != 0) {
|
||||
foundIndex = size - 1;
|
||||
*index = size - 1;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (index != nullptr) {
|
||||
*index = foundIndex;
|
||||
}
|
||||
|
||||
return max;
|
||||
}
|
||||
|
||||
static T maxValue(const T *vector, uint8_t size, uint8_t *index = nullptr) {
|
||||
T max = vector[size - 1];
|
||||
uint8_t foundIndex = size - 1;
|
||||
static T maxValue(const T *vector, uint8_t size, uint8_t *index = 0) {
|
||||
T max = -1;
|
||||
|
||||
for (; size > 0; size--) {
|
||||
if (vector[size - 1] > max) {
|
||||
max = vector[size - 1];
|
||||
if (index != 0) {
|
||||
foundIndex = size - 1;
|
||||
*index = size - 1;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (index != nullptr) {
|
||||
*index = foundIndex;
|
||||
}
|
||||
|
||||
return max;
|
||||
}
|
||||
|
||||
|
||||
@ -3,37 +3,85 @@
|
||||
#include <cmath>
|
||||
|
||||
#include "fsfw/datapoollocal/LocalPoolDataSetBase.h"
|
||||
#include "fsfw/serviceinterface.h"
|
||||
|
||||
PeriodicHousekeepingHelper::PeriodicHousekeepingHelper(LocalPoolDataSetBase* owner)
|
||||
: owner(owner) {}
|
||||
|
||||
void PeriodicHousekeepingHelper::initialize(float collectionInterval,
|
||||
dur_millis_t minimumPeriodicInterval) {
|
||||
dur_millis_t minimumPeriodicInterval,
|
||||
uint8_t nonDiagIntervalFactor) {
|
||||
this->minimumPeriodicInterval = minimumPeriodicInterval;
|
||||
changeCollectionInterval(collectionInterval);
|
||||
this->nonDiagIntervalFactor = nonDiagIntervalFactor;
|
||||
collectionIntervalTicks = intervalSecondsToIntervalTicks(collectionInterval);
|
||||
/* This will cause a checkOpNecessary call to be true immediately. I think it's okay
|
||||
if a HK packet is generated immediately instead of waiting one generation cycle. */
|
||||
internalTickCounter = collectionIntervalTicks;
|
||||
}
|
||||
|
||||
float PeriodicHousekeepingHelper::getCollectionIntervalInSeconds() const {
|
||||
return collectionInterval;
|
||||
return intervalTicksToSeconds(collectionIntervalTicks);
|
||||
}
|
||||
|
||||
bool PeriodicHousekeepingHelper::checkOpNecessary() {
|
||||
if (hkGenerationCd.hasTimedOut()) {
|
||||
hkGenerationCd.resetTimer();
|
||||
if (internalTickCounter >= collectionIntervalTicks) {
|
||||
internalTickCounter = 1;
|
||||
return true;
|
||||
}
|
||||
internalTickCounter++;
|
||||
return false;
|
||||
}
|
||||
|
||||
void PeriodicHousekeepingHelper::changeCollectionInterval(float newIntervalSeconds) {
|
||||
uint32_t intervalMs = newIntervalSeconds * 1000;
|
||||
if (newIntervalSeconds <= 0) {
|
||||
intervalMs = minimumPeriodicInterval;
|
||||
newIntervalSeconds = static_cast<float>(minimumPeriodicInterval) / 1000.0;
|
||||
uint32_t PeriodicHousekeepingHelper::intervalSecondsToIntervalTicks(
|
||||
float collectionIntervalSeconds) {
|
||||
if (owner == nullptr) {
|
||||
return 0;
|
||||
}
|
||||
bool isDiagnostics = owner->isDiagnostics();
|
||||
|
||||
/* Avoid division by zero */
|
||||
if (minimumPeriodicInterval == 0) {
|
||||
if (isDiagnostics) {
|
||||
/* Perform operation each cycle */
|
||||
return 1;
|
||||
} else {
|
||||
return nonDiagIntervalFactor;
|
||||
}
|
||||
} else {
|
||||
dur_millis_t intervalInMs = collectionIntervalSeconds * 1000;
|
||||
uint32_t divisor = minimumPeriodicInterval;
|
||||
if (not isDiagnostics) {
|
||||
/* We need to multiply the divisor because non-diagnostics only
|
||||
allow a multiple of the minimum periodic interval */
|
||||
divisor *= nonDiagIntervalFactor;
|
||||
}
|
||||
uint32_t ticks = std::ceil(static_cast<float>(intervalInMs) / divisor);
|
||||
if (not isDiagnostics) {
|
||||
/* Now we need to multiply the calculated ticks with the factor as as well
|
||||
because the minimum tick count to generate a non-diagnostic is the factor itself.
|
||||
|
||||
Example calculation for non-diagnostic with
|
||||
0.4 second interval and 0.2 second task interval.
|
||||
Resultant tick count of 5 is equal to operation each second.
|
||||
|
||||
Examle calculation for non-diagnostic with 2.0 second interval and 0.2 second
|
||||
task interval.
|
||||
Resultant tick count of 10 is equal to operatin every 2 seconds.
|
||||
|
||||
Example calculation for diagnostic with 0.4 second interval and 0.3
|
||||
second task interval. Resulting tick count of 2 is equal to operation
|
||||
every 0.6 seconds. */
|
||||
ticks *= nonDiagIntervalFactor;
|
||||
}
|
||||
return ticks;
|
||||
}
|
||||
collectionInterval = newIntervalSeconds;
|
||||
hkGenerationCd.setTimeout(intervalMs);
|
||||
// We want an immediate HK packet at the start, so time out the generation CD immediately.
|
||||
hkGenerationCd.timeOut();
|
||||
}
|
||||
|
||||
float PeriodicHousekeepingHelper::intervalTicksToSeconds(uint32_t collectionInterval) const {
|
||||
/* Number of ticks times the minimum interval is in milliseconds, so we divide by 1000 to get
|
||||
the value in seconds */
|
||||
return static_cast<float>(collectionInterval * minimumPeriodicInterval / 1000.0);
|
||||
}
|
||||
|
||||
void PeriodicHousekeepingHelper::changeCollectionInterval(float newIntervalSeconds) {
|
||||
collectionIntervalTicks = intervalSecondsToIntervalTicks(newIntervalSeconds);
|
||||
}
|
||||
|
||||
@ -4,7 +4,6 @@
|
||||
#include <cstdint>
|
||||
|
||||
#include "fsfw/timemanager/Clock.h"
|
||||
#include "fsfw/timemanager/Countdown.h"
|
||||
|
||||
class LocalPoolDataSetBase;
|
||||
|
||||
@ -12,7 +11,8 @@ class PeriodicHousekeepingHelper {
|
||||
public:
|
||||
PeriodicHousekeepingHelper(LocalPoolDataSetBase* owner);
|
||||
|
||||
void initialize(float collectionInterval, dur_millis_t minimumPeriodicInterval);
|
||||
void initialize(float collectionInterval, dur_millis_t minimumPeriodicInterval,
|
||||
uint8_t nonDiagIntervalFactor);
|
||||
|
||||
void changeCollectionInterval(float newInterval);
|
||||
float getCollectionIntervalInSeconds() const;
|
||||
@ -20,10 +20,14 @@ class PeriodicHousekeepingHelper {
|
||||
|
||||
private:
|
||||
LocalPoolDataSetBase* owner = nullptr;
|
||||
Countdown hkGenerationCd;
|
||||
float collectionInterval = 0.0;
|
||||
uint8_t nonDiagIntervalFactor = 0;
|
||||
|
||||
uint32_t intervalSecondsToIntervalTicks(float collectionIntervalSeconds);
|
||||
float intervalTicksToSeconds(uint32_t collectionInterval) const;
|
||||
|
||||
dur_millis_t minimumPeriodicInterval = 0;
|
||||
uint32_t internalTickCounter = 1;
|
||||
uint32_t collectionIntervalTicks = 0;
|
||||
};
|
||||
|
||||
#endif /* FSFW_HOUSEKEEPING_PERIODICHOUSEKEEPINGHELPER_H_ */
|
||||
|
||||
@ -5,12 +5,9 @@
|
||||
#include "fsfw/ipc/QueueFactory.h"
|
||||
#include "fsfw/serviceinterface/ServiceInterface.h"
|
||||
|
||||
InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth,
|
||||
bool enableSetByDefault, float generationFrequency)
|
||||
InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth)
|
||||
: SystemObject(setObjectId),
|
||||
poolManager(this, commandQueue),
|
||||
enableSetByDefault(enableSetByDefault),
|
||||
generationFrequency(generationFrequency),
|
||||
internalErrorSid(setObjectId, InternalErrorDataset::ERROR_SET_ID),
|
||||
internalErrorDataset(this) {
|
||||
commandQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
|
||||
@ -137,8 +134,9 @@ ReturnValue_t InternalErrorReporter::initializeLocalDataPool(localpool::DataPool
|
||||
localDataPoolMap.emplace(errorPoolIds::TM_HITS, &tmHitsEntry);
|
||||
localDataPoolMap.emplace(errorPoolIds::QUEUE_HITS, &queueHitsEntry);
|
||||
localDataPoolMap.emplace(errorPoolIds::STORE_HITS, &storeHitsEntry);
|
||||
poolManager.subscribeForRegularPeriodicPacket(
|
||||
subdp::RegularHkPeriodicParams(internalErrorSid, enableSetByDefault, generationFrequency));
|
||||
poolManager.subscribeForDiagPeriodicPacket(subdp::DiagnosticsHkPeriodicParams(
|
||||
internalErrorSid, false,
|
||||
static_cast<float>(getPeriodicOperationFrequency()) / static_cast<float>(1000.0)));
|
||||
internalErrorDataset.setValidity(true, true);
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
@ -21,8 +21,7 @@ class InternalErrorReporter : public SystemObject,
|
||||
public InternalErrorReporterIF,
|
||||
public HasLocalDataPoolIF {
|
||||
public:
|
||||
InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth,
|
||||
bool enableSetByDefault, float generationFrequency);
|
||||
InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth = 5);
|
||||
|
||||
/**
|
||||
* Enable diagnostic printout. Please note that this feature will
|
||||
@ -64,8 +63,6 @@ class InternalErrorReporter : public SystemObject,
|
||||
MutexIF* mutex = nullptr;
|
||||
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
|
||||
uint32_t timeoutMs = 20;
|
||||
bool enableSetByDefault;
|
||||
float generationFrequency;
|
||||
|
||||
sid_t internalErrorSid;
|
||||
InternalErrorDataset internalErrorDataset;
|
||||
|
||||
@ -20,18 +20,16 @@ TaskFactory::~TaskFactory() = default;
|
||||
|
||||
TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; }
|
||||
|
||||
PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_, TaskPriority taskPriority_,
|
||||
TaskStackSize stackSize_,
|
||||
TaskPeriod periodInSeconds_,
|
||||
TaskDeadlineMissedFunction deadLineMissedFunction_,
|
||||
void* args) {
|
||||
PeriodicTaskIF* TaskFactory::createPeriodicTask(
|
||||
TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
|
||||
TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
|
||||
return new PeriodicTask(name_, taskPriority_, stackSize_, periodInSeconds_,
|
||||
deadLineMissedFunction_);
|
||||
}
|
||||
|
||||
FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(
|
||||
TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
|
||||
TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_, void* args) {
|
||||
TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
|
||||
return new FixedTimeslotTask(name_, taskPriority_, stackSize_, periodInSeconds_,
|
||||
deadLineMissedFunction_);
|
||||
}
|
||||
|
||||
@ -89,6 +89,8 @@ timeval Clock::getUptime() {
|
||||
}
|
||||
|
||||
ReturnValue_t Clock::getUptime(timeval* uptime) {
|
||||
// TODO This is not posix compatible and delivers only seconds precision
|
||||
// Linux specific file read but more precise.
|
||||
double uptimeSeconds;
|
||||
std::ifstream ifile("/proc/uptime");
|
||||
if (ifile.bad()) {
|
||||
|
||||
@ -7,15 +7,10 @@
|
||||
const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = PTHREAD_STACK_MIN;
|
||||
|
||||
FixedTimeslotTask::FixedTimeslotTask(const char* name_, TaskPriority priority_, size_t stackSize_,
|
||||
TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_,
|
||||
PosixThreadArgs* args)
|
||||
TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_)
|
||||
: FixedTimeslotTaskBase(periodSeconds_, dlmFunc_),
|
||||
posixThread(name_, SchedulingPolicy::REGULAR, priority_, stackSize_),
|
||||
started(false) {
|
||||
if (args != nullptr) {
|
||||
posixThread.setSchedPolicy(args->policy);
|
||||
}
|
||||
}
|
||||
posixThread(name_, priority_, stackSize_),
|
||||
started(false) {}
|
||||
|
||||
void* FixedTimeslotTask::taskEntryPoint(void* arg) {
|
||||
// The argument is re-interpreted as PollingTask.
|
||||
|
||||
@ -23,8 +23,7 @@ class FixedTimeslotTask : public FixedTimeslotTaskBase {
|
||||
* @param deadlineMissedFunc_
|
||||
*/
|
||||
FixedTimeslotTask(const char* name_, TaskPriority priority_, size_t stackSize_,
|
||||
TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_,
|
||||
PosixThreadArgs* args);
|
||||
TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_);
|
||||
~FixedTimeslotTask() override = default;
|
||||
|
||||
ReturnValue_t startTask() override;
|
||||
|
||||
@ -4,15 +4,10 @@
|
||||
#include "fsfw/tasks/ExecutableObjectIF.h"
|
||||
|
||||
PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_,
|
||||
TaskPeriod period_, TaskDeadlineMissedFunction dlmFunc_,
|
||||
PosixThreadArgs* args)
|
||||
TaskPeriod period_, TaskDeadlineMissedFunction dlmFunc_)
|
||||
: PeriodicTaskBase(period_, dlmFunc_),
|
||||
posixThread(name_, SchedulingPolicy::REGULAR, priority_, stackSize_),
|
||||
started(false) {
|
||||
if (args != nullptr) {
|
||||
posixThread.setSchedPolicy(args->policy);
|
||||
}
|
||||
}
|
||||
posixThread(name_, priority_, stackSize_),
|
||||
started(false) {}
|
||||
|
||||
void* PeriodicPosixTask::taskEntryPoint(void* arg) {
|
||||
// The argument is re-interpreted as PollingTask.
|
||||
|
||||
@ -24,7 +24,7 @@ class PeriodicPosixTask : public PeriodicTaskBase {
|
||||
* @param deadlineMissedFunc_
|
||||
*/
|
||||
PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, TaskPeriod period_,
|
||||
TaskDeadlineMissedFunction dlmFunc_, PosixThreadArgs* args);
|
||||
TaskDeadlineMissedFunction dlmFunc_);
|
||||
~PeriodicPosixTask() override = default;
|
||||
|
||||
/**
|
||||
|
||||
@ -7,9 +7,8 @@
|
||||
#include "fsfw/osal/linux/unixUtility.h"
|
||||
#include "fsfw/serviceinterface/ServiceInterface.h"
|
||||
|
||||
PosixThread::PosixThread(const char* name_, SchedulingPolicy schedPolciy, int priority_,
|
||||
size_t stackSize_)
|
||||
: thread(0), schedPolicy(schedPolciy), priority(priority_), stackSize(stackSize_) {
|
||||
PosixThread::PosixThread(const char* name_, int priority_, size_t stackSize_)
|
||||
: thread(0), priority(priority_), stackSize(stackSize_) {
|
||||
name[0] = '\0';
|
||||
std::strncat(name, name_, PTHREAD_MAX_NAMELEN - 1);
|
||||
}
|
||||
@ -179,30 +178,20 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
|
||||
#ifndef FSFW_USE_REALTIME_FOR_LINUX
|
||||
#error "Please define FSFW_USE_REALTIME_FOR_LINUX with either 0 or 1"
|
||||
#endif
|
||||
if (schedPolicy == SchedulingPolicy::RR) {
|
||||
// RR -> This needs root privileges for the process
|
||||
#if FSFW_USE_REALTIME_FOR_LINUX == 1
|
||||
status = pthread_attr_setschedpolicy(&attributes, SCHED_RR);
|
||||
if (status != 0) {
|
||||
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setschedpolicy");
|
||||
}
|
||||
sched_param scheduleParams;
|
||||
scheduleParams.sched_priority = priority;
|
||||
status = pthread_attr_setschedparam(&attributes, &scheduleParams);
|
||||
if (status != 0) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "PosixThread: Setting priority failed" << std::endl;
|
||||
#endif
|
||||
}
|
||||
#else
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning
|
||||
<< "Real time priorities are only allowed if FSFW_USE_REALTIME_FOR_LINUX is set to 1"
|
||||
<< std::endl;
|
||||
#endif
|
||||
#endif
|
||||
// FIFO -> This needs root privileges for the process
|
||||
status = pthread_attr_setschedpolicy(&attributes, SCHED_FIFO);
|
||||
if (status != 0) {
|
||||
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setschedpolicy");
|
||||
}
|
||||
|
||||
sched_param scheduleParams;
|
||||
scheduleParams.__sched_priority = priority;
|
||||
status = pthread_attr_setschedparam(&attributes, &scheduleParams);
|
||||
if (status != 0) {
|
||||
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setschedparam");
|
||||
}
|
||||
#endif
|
||||
// Set Signal Mask for suspend until startTask is called
|
||||
sigset_t waitSignal;
|
||||
sigemptyset(&waitSignal);
|
||||
@ -254,5 +243,3 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
|
||||
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_destroy");
|
||||
}
|
||||
}
|
||||
|
||||
void PosixThread::setSchedPolicy(SchedulingPolicy policy) { this->schedPolicy = policy; }
|
||||
|
||||
@ -9,15 +9,10 @@
|
||||
|
||||
#include "../../returnvalues/returnvalue.h"
|
||||
|
||||
enum SchedulingPolicy { REGULAR, RR };
|
||||
struct PosixThreadArgs {
|
||||
SchedulingPolicy policy = SchedulingPolicy::REGULAR;
|
||||
};
|
||||
|
||||
class PosixThread {
|
||||
public:
|
||||
static constexpr uint8_t PTHREAD_MAX_NAMELEN = 16;
|
||||
PosixThread(const char* name_, SchedulingPolicy schedPolicy, int priority_, size_t stackSize_);
|
||||
PosixThread(const char* name_, int priority_, size_t stackSize_);
|
||||
virtual ~PosixThread();
|
||||
/**
|
||||
* Set the Thread to sleep state
|
||||
@ -25,9 +20,6 @@ class PosixThread {
|
||||
* @return Returns Failed if sleep fails
|
||||
*/
|
||||
static ReturnValue_t sleep(uint64_t ns);
|
||||
|
||||
void setSchedPolicy(SchedulingPolicy policy);
|
||||
|
||||
/**
|
||||
* @brief Function to suspend the task until SIGUSR1 was received
|
||||
*
|
||||
@ -80,7 +72,6 @@ class PosixThread {
|
||||
|
||||
private:
|
||||
char name[PTHREAD_MAX_NAMELEN];
|
||||
SchedulingPolicy schedPolicy;
|
||||
int priority;
|
||||
size_t stackSize = 0;
|
||||
|
||||
|
||||
@ -12,20 +12,18 @@ TaskFactory::~TaskFactory() = default;
|
||||
|
||||
TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; }
|
||||
|
||||
PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_, TaskPriority taskPriority_,
|
||||
TaskStackSize stackSize_,
|
||||
TaskPeriod periodInSeconds_,
|
||||
TaskDeadlineMissedFunction deadLineMissedFunction_,
|
||||
void* args) {
|
||||
PeriodicTaskIF* TaskFactory::createPeriodicTask(
|
||||
TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
|
||||
TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
|
||||
return new PeriodicPosixTask(name_, taskPriority_, stackSize_, periodInSeconds_,
|
||||
deadLineMissedFunction_, reinterpret_cast<PosixThreadArgs*>(args));
|
||||
deadLineMissedFunction_);
|
||||
}
|
||||
|
||||
FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(
|
||||
TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
|
||||
TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_, void* args) {
|
||||
TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
|
||||
return new FixedTimeslotTask(name_, taskPriority_, stackSize_, periodInSeconds_,
|
||||
deadLineMissedFunction_, reinterpret_cast<PosixThreadArgs*>(args));
|
||||
deadLineMissedFunction_);
|
||||
}
|
||||
|
||||
ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {
|
||||
|
||||
@ -1,5 +1,5 @@
|
||||
#include "fsfw/osal/rtems/BinarySemaphore.h"
|
||||
// #include "fsfw/osal/rtems/CountingSemaphore.h"
|
||||
//#include "fsfw/osal/rtems/CountingSemaphore.h"
|
||||
|
||||
#include "fsfw/serviceinterface/ServiceInterface.h"
|
||||
#include "fsfw/tasks/SemaphoreFactory.h"
|
||||
|
||||
@ -1,23 +1,21 @@
|
||||
#include "DummyPowerSwitcher.h"
|
||||
|
||||
#include <utility>
|
||||
|
||||
DummyPowerSwitcher::DummyPowerSwitcher(object_id_t objectId, size_t numberOfSwitches,
|
||||
size_t numberOfFuses, bool registerGlobally,
|
||||
uint32_t switchDelayMs)
|
||||
: SystemObject(objectId, registerGlobally),
|
||||
switcherList(numberOfSwitches),
|
||||
fuseList(numberOfFuses),
|
||||
switchDelayMs(switchDelayMs) {
|
||||
for (auto &switchState : switcherList) {
|
||||
switchState = PowerSwitchIF::SWITCH_UNKNOWN;
|
||||
}
|
||||
}
|
||||
switchDelayMs(switchDelayMs) {}
|
||||
|
||||
void DummyPowerSwitcher::setInitialSwitcherList(std::vector<ReturnValue_t> switcherList) {
|
||||
this->switcherList = switcherList;
|
||||
this->switcherList = std::move(switcherList);
|
||||
}
|
||||
|
||||
void DummyPowerSwitcher::setInitialFusesList(std::vector<ReturnValue_t> fuseList) {
|
||||
this->fuseList = fuseList;
|
||||
this->fuseList = std::move(fuseList);
|
||||
}
|
||||
|
||||
ReturnValue_t DummyPowerSwitcher::sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) {
|
||||
|
||||
@ -32,7 +32,7 @@ class Fuse : public SystemObject,
|
||||
gp_id_t poolIdPower;
|
||||
};
|
||||
|
||||
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::POWER_SWITCH_IF;
|
||||
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_1;
|
||||
//! PSS detected that current on a fuse is totally out of bounds.
|
||||
static const Event FUSE_CURRENT_HIGH = MAKE_EVENT(1, severity::LOW);
|
||||
//! PSS detected a fuse that went off.
|
||||
|
||||
@ -28,9 +28,7 @@ class PowerSwitchIF {
|
||||
static const ReturnValue_t SWITCH_TIMEOUT = MAKE_RETURN_CODE(2);
|
||||
static const ReturnValue_t FUSE_ON = MAKE_RETURN_CODE(3);
|
||||
static const ReturnValue_t FUSE_OFF = MAKE_RETURN_CODE(4);
|
||||
static const ReturnValue_t SWITCH_UNKNOWN = MAKE_RETURN_CODE(5);
|
||||
|
||||
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::POWER_SWITCH_IF;
|
||||
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_2;
|
||||
//!< Someone detected that a switch went off which shouldn't. Severity:
|
||||
//!< Low, Parameter1: switchId1, Parameter2: switchId2
|
||||
static const Event SWITCH_WENT_OFF = MAKE_EVENT(0, severity::LOW);
|
||||
@ -52,7 +50,6 @@ class PowerSwitchIF {
|
||||
* @return
|
||||
* - @c SWITCH_ON if the specified switch is on.
|
||||
* - @c SWITCH_OFF if the specified switch is off.
|
||||
* - @c SWITCH_UNKNOWN if the state of the specified switch is unknown.
|
||||
* - @c returnvalue::FAILED if an error occured
|
||||
*/
|
||||
virtual ReturnValue_t getSwitchState(power::Switch_t switchNr) const = 0;
|
||||
|
||||
@ -2,7 +2,6 @@
|
||||
|
||||
#include <fsfw/ipc/QueueFactory.h>
|
||||
#include <fsfw/power/PowerSwitchIF.h>
|
||||
#include <fsfw/subsystem/helper.h>
|
||||
|
||||
PowerSwitcherComponent::PowerSwitcherComponent(object_id_t objectId, PowerSwitchIF* pwrSwitcher,
|
||||
power::Switch_t pwrSwitch)
|
||||
@ -29,9 +28,6 @@ ReturnValue_t PowerSwitcherComponent::performOperation(uint8_t opCode) {
|
||||
continue;
|
||||
}
|
||||
}
|
||||
if (getHealth() == FAULTY) {
|
||||
performFaultyOperation();
|
||||
}
|
||||
if (switcher.active()) {
|
||||
switcher.doStateMachine();
|
||||
auto currState = switcher.getState();
|
||||
@ -115,11 +111,9 @@ const HasHealthIF* PowerSwitcherComponent::getOptHealthIF() const { return this;
|
||||
const HasModesIF& PowerSwitcherComponent::getModeIF() const { return *this; }
|
||||
|
||||
ReturnValue_t PowerSwitcherComponent::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
|
||||
return modetree::connectModeTreeParent(parent, *this, &healthHelper, modeHelper);
|
||||
return parent.registerChild(*this);
|
||||
}
|
||||
|
||||
object_id_t PowerSwitcherComponent::getObjectId() const { return SystemObject::getObjectId(); }
|
||||
|
||||
ModeTreeChildIF& PowerSwitcherComponent::getModeTreeChildIF() { return *this; }
|
||||
|
||||
void PowerSwitcherComponent::performFaultyOperation() {}
|
||||
|
||||
@ -1,4 +1,5 @@
|
||||
#pragma once
|
||||
#ifndef _FSFW_POWER_POWERSWITCHERCOMPONENT_H_
|
||||
#define _FSFW_POWER_POWERSWITCHERCOMPONENT_H_
|
||||
|
||||
#include <fsfw/health/HasHealthIF.h>
|
||||
#include <fsfw/health/HealthHelper.h>
|
||||
@ -36,13 +37,11 @@ class PowerSwitcherComponent : public SystemObject,
|
||||
ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF &parent) override;
|
||||
ModeTreeChildIF &getModeTreeChildIF() override;
|
||||
|
||||
protected:
|
||||
PowerSwitcher switcher;
|
||||
|
||||
private:
|
||||
MessageQueueIF *queue = nullptr;
|
||||
PowerSwitcher switcher;
|
||||
|
||||
Mode_t mode = MODE_UNDEFINED;
|
||||
Mode_t mode = MODE_OFF;
|
||||
Submode_t submode = 0;
|
||||
|
||||
ModeHelper modeHelper;
|
||||
@ -50,23 +49,24 @@ class PowerSwitcherComponent : public SystemObject,
|
||||
|
||||
void setMode(Mode_t newMode, Submode_t newSubmode);
|
||||
|
||||
ReturnValue_t performOperation(uint8_t opCode) override;
|
||||
virtual ReturnValue_t performOperation(uint8_t opCode) override;
|
||||
|
||||
ReturnValue_t initialize() override;
|
||||
|
||||
[[nodiscard]] MessageQueueId_t getCommandQueue() const override;
|
||||
MessageQueueId_t getCommandQueue() const override;
|
||||
void getMode(Mode_t *mode, Submode_t *submode) override;
|
||||
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
|
||||
uint32_t *msToReachTheMode) override;
|
||||
void startTransition(Mode_t mode, Submode_t submode) override;
|
||||
virtual void performFaultyOperation();
|
||||
void setToExternalControl() override;
|
||||
void announceMode(bool recursive) override;
|
||||
|
||||
ReturnValue_t setHealth(HealthState health) override;
|
||||
HasHealthIF::HealthState getHealth() override;
|
||||
|
||||
[[nodiscard]] object_id_t getObjectId() const override;
|
||||
[[nodiscard]] const HasHealthIF *getOptHealthIF() const override;
|
||||
[[nodiscard]] const HasModesIF &getModeIF() const override;
|
||||
object_id_t getObjectId() const override;
|
||||
const HasHealthIF *getOptHealthIF() const override;
|
||||
const HasModesIF &getModeIF() const override;
|
||||
};
|
||||
|
||||
#endif /* _FSFW_POWER_POWERSWITCHERCOMPONENT_H_ */
|
||||
|
||||
@ -10,23 +10,9 @@
|
||||
CServiceHealthCommanding::CServiceHealthCommanding(HealthServiceCfg args)
|
||||
: CommandingServiceBase(args.objectId, args.apid, "PUS 201 Health MGMT", args.service,
|
||||
args.numParallelCommands, args.commandTimeoutSeconds),
|
||||
healthTableId(args.table),
|
||||
healthTable(args.table),
|
||||
maxNumHealthInfoPerCycle(args.maxNumHealthInfoPerCycle) {}
|
||||
|
||||
ReturnValue_t CServiceHealthCommanding::initialize() {
|
||||
ReturnValue_t result = CommandingServiceBase::initialize();
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
|
||||
healthTable = ObjectManager::instance()->get<HealthTable>(healthTableId);
|
||||
if (healthTable == nullptr) {
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
ReturnValue_t CServiceHealthCommanding::isValidSubservice(uint8_t subservice) {
|
||||
switch (subservice) {
|
||||
case (Subservice::COMMAND_SET_HEALTH):
|
||||
@ -105,6 +91,14 @@ ReturnValue_t CServiceHealthCommanding::prepareCommand(CommandMessage *message,
|
||||
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
|
||||
@ -151,7 +145,7 @@ void CServiceHealthCommanding::doPeriodicOperation() {
|
||||
ReturnValue_t CServiceHealthCommanding::iterateHealthTable(bool reset) {
|
||||
std::pair<object_id_t, HasHealthIF::HealthState> pair;
|
||||
|
||||
ReturnValue_t result = healthTable->iterate(&pair, reset);
|
||||
ReturnValue_t result = healthTable.iterate(&pair, reset);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
} else {
|
||||
|
||||
@ -6,7 +6,7 @@
|
||||
#include "fsfw/tmtcservices/CommandingServiceBase.h"
|
||||
|
||||
struct HealthServiceCfg {
|
||||
HealthServiceCfg(object_id_t objectId, uint16_t apid, object_id_t healthTable,
|
||||
HealthServiceCfg(object_id_t objectId, uint16_t apid, HealthTable &healthTable,
|
||||
uint16_t maxNumHealthInfoPerCycle)
|
||||
: objectId(objectId),
|
||||
apid(apid),
|
||||
@ -14,7 +14,7 @@ struct HealthServiceCfg {
|
||||
maxNumHealthInfoPerCycle(maxNumHealthInfoPerCycle) {}
|
||||
object_id_t objectId;
|
||||
uint16_t apid;
|
||||
object_id_t table;
|
||||
HealthTable &table;
|
||||
uint16_t maxNumHealthInfoPerCycle;
|
||||
uint8_t service = 201;
|
||||
uint8_t numParallelCommands = 4;
|
||||
@ -40,8 +40,6 @@ class CServiceHealthCommanding : public CommandingServiceBase {
|
||||
CServiceHealthCommanding(HealthServiceCfg args);
|
||||
~CServiceHealthCommanding() override = default;
|
||||
|
||||
ReturnValue_t initialize() override;
|
||||
|
||||
protected:
|
||||
/* CSB abstract function implementations */
|
||||
ReturnValue_t isValidSubservice(uint8_t subservice) override;
|
||||
@ -59,8 +57,7 @@ class CServiceHealthCommanding : public CommandingServiceBase {
|
||||
void doPeriodicOperation() override;
|
||||
|
||||
private:
|
||||
const object_id_t healthTableId;
|
||||
HealthTable *healthTable;
|
||||
HealthTable &healthTable;
|
||||
uint16_t maxNumHealthInfoPerCycle = 0;
|
||||
bool reportAllHealth = false;
|
||||
ReturnValue_t iterateHealthTable(bool reset);
|
||||
|
||||
@ -4,10 +4,9 @@
|
||||
#include "fsfw/objectmanager/ObjectManager.h"
|
||||
#include "fsfw/pus/servicepackets/Service3Packets.h"
|
||||
|
||||
Service3Housekeeping::Service3Housekeeping(object_id_t objectId, uint16_t apid, uint8_t serviceId,
|
||||
uint32_t queueDepth, uint8_t numParallelCommands)
|
||||
: CommandingServiceBase(objectId, apid, "PUS 3 HK", serviceId, numParallelCommands,
|
||||
COMMAND_TIMEOUT_SECONDS, queueDepth) {}
|
||||
Service3Housekeeping::Service3Housekeeping(object_id_t objectId, uint16_t apid, uint8_t serviceId)
|
||||
: CommandingServiceBase(objectId, apid, "PUS 3 HK", serviceId, NUM_OF_PARALLEL_COMMANDS,
|
||||
COMMAND_TIMEOUT_SECONDS) {}
|
||||
|
||||
Service3Housekeeping::~Service3Housekeeping() {}
|
||||
|
||||
|
||||
@ -28,8 +28,7 @@ class Service3Housekeeping : public CommandingServiceBase, public AcceptsHkPacke
|
||||
static constexpr uint8_t NUM_OF_PARALLEL_COMMANDS = 4;
|
||||
static constexpr uint16_t COMMAND_TIMEOUT_SECONDS = 60;
|
||||
|
||||
Service3Housekeeping(object_id_t objectId, uint16_t apid, uint8_t serviceId, uint32_t queueDepth,
|
||||
uint8_t numParallelCommands);
|
||||
Service3Housekeeping(object_id_t objectId, uint16_t apid, uint8_t serviceId);
|
||||
virtual ~Service3Housekeeping();
|
||||
|
||||
protected:
|
||||
|
||||
@ -9,11 +9,11 @@
|
||||
#include "fsfw/serviceinterface/ServiceInterface.h"
|
||||
|
||||
Service8FunctionManagement::Service8FunctionManagement(object_id_t objectId, uint16_t apid,
|
||||
uint8_t serviceId, size_t queueDepth,
|
||||
uint8_t serviceId,
|
||||
uint8_t numParallelCommands,
|
||||
uint16_t commandTimeoutSeconds)
|
||||
: CommandingServiceBase(objectId, apid, "PUS 8 Functional Commanding", serviceId,
|
||||
numParallelCommands, commandTimeoutSeconds, queueDepth) {}
|
||||
numParallelCommands, commandTimeoutSeconds) {}
|
||||
|
||||
Service8FunctionManagement::~Service8FunctionManagement() {}
|
||||
|
||||
|
||||
@ -31,8 +31,7 @@
|
||||
class Service8FunctionManagement : public CommandingServiceBase {
|
||||
public:
|
||||
Service8FunctionManagement(object_id_t objectId, uint16_t apid, uint8_t serviceId,
|
||||
size_t queueDepth, uint8_t numParallelCommands = 4,
|
||||
uint16_t commandTimeoutSeconds = 60);
|
||||
uint8_t numParallelCommands = 4, uint16_t commandTimeoutSeconds = 60);
|
||||
~Service8FunctionManagement() override;
|
||||
|
||||
protected:
|
||||
|
||||
@ -10,11 +10,11 @@
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////////////
|
||||
// RMAP command bits
|
||||
// #define RMAP_COMMAND_BIT_INCREMENT 2
|
||||
// #define RMAP_COMMAND_BIT_REPLY 3
|
||||
// #define RMAP_COMMAND_BIT_WRITE 5
|
||||
// #define RMAP_COMMAND_BIT_VERIFY 4
|
||||
// #define RMAP_COMMAND_BIT 6
|
||||
//#define RMAP_COMMAND_BIT_INCREMENT 2
|
||||
//#define RMAP_COMMAND_BIT_REPLY 3
|
||||
//#define RMAP_COMMAND_BIT_WRITE 5
|
||||
//#define RMAP_COMMAND_BIT_VERIFY 4
|
||||
//#define RMAP_COMMAND_BIT 6
|
||||
|
||||
namespace RMAPIds {
|
||||
|
||||
@ -32,14 +32,14 @@ static const uint8_t RMAP_COMMAND_READ = ((1 << RMAP_COMMAND_BIT) | (1 << RMAP_C
|
||||
static const uint8_t RMAP_REPLY_WRITE =
|
||||
((1 << RMAP_COMMAND_BIT_WRITE) | (1 << RMAP_COMMAND_BIT_REPLY));
|
||||
static const uint8_t RMAP_REPLY_READ = ((1 << RMAP_COMMAND_BIT_REPLY));
|
||||
// #define RMAP_COMMAND_WRITE ((1<<RMAP_COMMAND_BIT) | (1<<RMAP_COMMAND_BIT_WRITE)
|
||||
//#define RMAP_COMMAND_WRITE ((1<<RMAP_COMMAND_BIT) | (1<<RMAP_COMMAND_BIT_WRITE)
|
||||
//| (1<<RMAP_COMMAND_BIT_REPLY)) #define RMAP_COMMAND_WRITE_VERIFY ((1<<RMAP_COMMAND_BIT) |
|
||||
//(1<<RMAP_COMMAND_BIT_WRITE) | (1<<RMAP_COMMAND_BIT_REPLY) | (1<<RMAP_COMMAND_BIT_VERIFY)) #define
|
||||
// RMAP_COMMAND_READ ((1<<RMAP_COMMAND_BIT) | (1<<RMAP_COMMAND_BIT_REPLY))
|
||||
// RMAP_COMMAND_READ ((1<<RMAP_COMMAND_BIT) | (1<<RMAP_COMMAND_BIT_REPLY))
|
||||
|
||||
// #define RMAP_REPLY_WRITE ((1<<RMAP_COMMAND_BIT_WRITE) |
|
||||
//#define RMAP_REPLY_WRITE ((1<<RMAP_COMMAND_BIT_WRITE) |
|
||||
//(1<<RMAP_COMMAND_BIT_REPLY))
|
||||
// #define RMAP_REPLY_WRITE_VERIFY ((1<<RMAP_COMMAND_BIT_WRITE) |
|
||||
//#define RMAP_REPLY_WRITE_VERIFY ((1<<RMAP_COMMAND_BIT_WRITE) |
|
||||
//(1<<RMAP_COMMAND_BIT_REPLY) | (1<<RMAP_COMMAND_BIT_VERIFY)) #define RMAP_REPLY_READ
|
||||
//((1<<RMAP_COMMAND_BIT_REPLY))
|
||||
|
||||
@ -49,9 +49,9 @@ static const uint8_t RMAP_COMMAND_HEADER_LEN = 16;
|
||||
static const uint8_t RMAP_WRITE_REPLY_HEADER_LEN = 8;
|
||||
static const uint8_t RMAP_READ_REPLY_HEADER_LEN = 12;
|
||||
static const uint8_t RMAP_DATA_FOOTER_SIZE = 1; // SIZE OF CRC
|
||||
// #define RMAP_COMMAND_HEADER_LEN 16
|
||||
// #define RMAP_WRITE_REPLY_HEADER_LEN 8
|
||||
// #define RMAP_READ_REPLY_HEADER_LEN 12
|
||||
//#define RMAP_COMMAND_HEADER_LEN 16
|
||||
//#define RMAP_WRITE_REPLY_HEADER_LEN 8
|
||||
//#define RMAP_READ_REPLY_HEADER_LEN 12
|
||||
|
||||
} // namespace RMAPIds
|
||||
|
||||
|
||||
@ -3,7 +3,7 @@
|
||||
#include "fsfw/FSFW.h"
|
||||
|
||||
PoolManager::PoolManager(object_id_t setObjectId, const LocalPoolConfig& localPoolConfig)
|
||||
: LocalPool(setObjectId, localPoolConfig, true, true) {
|
||||
: LocalPool(setObjectId, localPoolConfig, true) {
|
||||
mutex = MutexFactory::instance()->createMutex();
|
||||
}
|
||||
|
||||
|
||||
@ -315,7 +315,20 @@ object_id_t SubsystemBase::getObjectId() const { return SystemObject::getObjectI
|
||||
void SubsystemBase::modeChanged() {}
|
||||
|
||||
ReturnValue_t SubsystemBase::registerChild(const ModeTreeChildIF& child) {
|
||||
return registerChild(child.getObjectId(), child.getModeIF().getCommandQueue());
|
||||
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; }
|
||||
@ -323,19 +336,3 @@ const HasHealthIF* SubsystemBase::getOptHealthIF() const { return this; }
|
||||
const HasModesIF& SubsystemBase::getModeIF() const { return *this; }
|
||||
|
||||
ModeTreeChildIF& SubsystemBase::getModeTreeChildIF() { return *this; }
|
||||
|
||||
ReturnValue_t SubsystemBase::registerChild(object_id_t childObjectId, MessageQueueId_t childQueue) {
|
||||
ChildInfo info;
|
||||
|
||||
// intentional to force an initial command during system startup
|
||||
info.commandQueue = childQueue;
|
||||
info.mode = HasModesIF::MODE_UNDEFINED;
|
||||
info.submode = SUBMODE_NONE;
|
||||
info.healthChanged = false;
|
||||
|
||||
auto resultPair = childrenMap.emplace(childObjectId, info);
|
||||
if (not resultPair.second) {
|
||||
return COULD_NOT_INSERT_CHILD;
|
||||
}
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
@ -61,8 +61,6 @@ class SubsystemBase : public SystemObject,
|
||||
* COULD_NOT_INSERT_CHILD If the Child could not be added to the ChildrenMap
|
||||
*/
|
||||
ReturnValue_t registerChild(const ModeTreeChildIF &child) override;
|
||||
// TODO: Add this to HasModeTreeChildrenIF.
|
||||
ReturnValue_t registerChild(object_id_t childObjectId, MessageQueueId_t childQueue);
|
||||
|
||||
ReturnValue_t initialize() override;
|
||||
|
||||
|
||||
@ -47,8 +47,7 @@ class TaskFactory {
|
||||
*/
|
||||
PeriodicTaskIF* createPeriodicTask(TaskName name_, TaskPriority taskPriority_,
|
||||
TaskStackSize stackSize_, TaskPeriod periodInSeconds_,
|
||||
TaskDeadlineMissedFunction deadLineMissedFunction_,
|
||||
void* args = nullptr);
|
||||
TaskDeadlineMissedFunction deadLineMissedFunction_);
|
||||
|
||||
/**
|
||||
* The meaning for the variables for fixed timeslot tasks is the same as for periodic tasks.
|
||||
@ -63,8 +62,7 @@ class TaskFactory {
|
||||
FixedTimeslotTaskIF* createFixedTimeslotTask(TaskName name_, TaskPriority taskPriority_,
|
||||
TaskStackSize stackSize_,
|
||||
TaskPeriod periodInSeconds_,
|
||||
TaskDeadlineMissedFunction deadLineMissedFunction_,
|
||||
void* args = nullptr);
|
||||
TaskDeadlineMissedFunction deadLineMissedFunction_);
|
||||
|
||||
/**
|
||||
* Function to be called to delete a task
|
||||
|
||||
@ -40,7 +40,7 @@ struct PusTmParams {
|
||||
size_t dataLen)
|
||||
: secHeader(service, subservice, timeStamper), adapter(data, dataLen), sourceData(&adapter) {}
|
||||
PusTmSecHeader secHeader;
|
||||
SerialBufferAdapter<size_t> adapter;
|
||||
SerialBufferAdapter<uint8_t> adapter;
|
||||
const SerializeIF* sourceData = nullptr;
|
||||
};
|
||||
|
||||
|
||||
@ -24,9 +24,3 @@ void PusTmZeroCopyWriter::updateErrorControl() {
|
||||
crcStart[0] = (crc16 >> 8) & 0xff;
|
||||
crcStart[1] = crc16 & 0xff;
|
||||
}
|
||||
|
||||
void PusTmZeroCopyWriter::setMessageCount(uint16_t msgCount) {
|
||||
size_t serSize = 0;
|
||||
SerializeAdapter::serialize(&msgCount, const_cast<uint8_t*>(pointers.secHeaderStart + 3),
|
||||
&serSize, 2, SerializeIF::Endianness::NETWORK);
|
||||
}
|
||||
|
||||
@ -14,7 +14,6 @@ class PusTmZeroCopyWriter : public PusTmReader {
|
||||
PusTmZeroCopyWriter(TimeReaderIF& timeReader, uint8_t* data, size_t size);
|
||||
|
||||
void setSequenceCount(uint16_t seqCount);
|
||||
void setMessageCount(uint16_t msgCount);
|
||||
void updateErrorControl();
|
||||
|
||||
private:
|
||||
|
||||
@ -5,18 +5,8 @@
|
||||
|
||||
namespace spi {
|
||||
|
||||
static constexpr uint8_t CLASS_ID = CLASS_ID::HAL_SPI;
|
||||
static constexpr ReturnValue_t OPENING_FILE_FAILED = returnvalue::makeCode(CLASS_ID, 0);
|
||||
/* Full duplex (ioctl) transfer failure */
|
||||
static constexpr ReturnValue_t FULL_DUPLEX_TRANSFER_FAILED = returnvalue::makeCode(CLASS_ID, 1);
|
||||
/* Half duplex (read/write) transfer failure */
|
||||
static constexpr ReturnValue_t HALF_DUPLEX_TRANSFER_FAILED = returnvalue::makeCode(CLASS_ID, 2);
|
||||
static constexpr ReturnValue_t TIMEOUT = returnvalue::makeCode(CLASS_ID, 3);
|
||||
static constexpr ReturnValue_t BUSY = returnvalue::makeCode(CLASS_ID, 4);
|
||||
static constexpr ReturnValue_t GENERIC_ERROR = returnvalue::makeCode(CLASS_ID, 5);
|
||||
|
||||
enum SpiModes : uint8_t { MODE_0, MODE_1, MODE_2, MODE_3 };
|
||||
|
||||
} // namespace spi
|
||||
}
|
||||
|
||||
#endif /* FSFW_HAL_COMMON_SPI_SPICOMMON_H_ */
|
||||
|
||||
@ -73,10 +73,8 @@ static constexpr uint8_t CTRL_REG_4_VAL = SET_BLE;
|
||||
/* Register 5 */
|
||||
static constexpr uint8_t SET_REBOOT_MEM = 1 << 7;
|
||||
static constexpr uint8_t SET_FIFO_ENB = 1 << 6;
|
||||
static constexpr uint8_t SET_OUT_SEL_1 = 1 << 1;
|
||||
static constexpr uint8_t SET_OUT_SEL_0 = 1 << 0;
|
||||
|
||||
static constexpr uint8_t CTRL_REG_5_VAL = SET_OUT_SEL_1 | SET_OUT_SEL_0;
|
||||
static constexpr uint8_t CTRL_REG_5_VAL = 0b00000000;
|
||||
|
||||
/* Possible range values in degrees per second (DPS). */
|
||||
static constexpr uint16_t RANGE_DPS_00 = 245;
|
||||
|
||||
@ -165,8 +165,7 @@ ReturnValue_t HostFilesystem::truncateFile(FilesystemParams params) {
|
||||
if (not filesystem::exists(path, e)) {
|
||||
return FILE_DOES_NOT_EXIST;
|
||||
}
|
||||
// Specify truncation flug explicitely.
|
||||
ofstream of(path, std::ios::out | std::ios::trunc);
|
||||
ofstream of(path);
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
|
||||
@ -112,9 +112,8 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
|
||||
if (i2cCookie->errorCounter < 3) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "I2cComIF::sendMessage: Failed to send data to I2C "
|
||||
"device from "
|
||||
<< deviceFile << " with error code " << errno
|
||||
<< ". Error description: " << strerror(errno) << std::endl;
|
||||
"device from " << deviceFile << " with error code "
|
||||
<< errno << ". Error description: " << strerror(errno) << std::endl;
|
||||
#endif
|
||||
}
|
||||
return returnvalue::FAILED;
|
||||
|
||||
@ -88,11 +88,11 @@ int SerialComIF::configureUartPort(SerialCookie* uartCookie) {
|
||||
return fd;
|
||||
}
|
||||
|
||||
serial::setParity(options, uartCookie->getParity());
|
||||
uart::setParity(options, uartCookie->getParity());
|
||||
setStopBitOptions(&options, uartCookie);
|
||||
setDatasizeOptions(&options, uartCookie);
|
||||
setFixedOptions(&options);
|
||||
serial::setMode(options, uartCookie->getUartMode());
|
||||
uart::setMode(options, uartCookie->getUartMode());
|
||||
if (uartCookie->getInputShouldBeFlushed()) {
|
||||
tcflush(fd, TCIFLUSH);
|
||||
}
|
||||
@ -101,7 +101,7 @@ int SerialComIF::configureUartPort(SerialCookie* uartCookie) {
|
||||
options.c_cc[VTIME] = 0;
|
||||
options.c_cc[VMIN] = 0;
|
||||
|
||||
serial::setBaudrate(options, uartCookie->getBaudrate());
|
||||
uart::setBaudrate(options, uartCookie->getBaudrate());
|
||||
|
||||
/* Save option settings */
|
||||
if (tcsetattr(fd, TCSANOW, &options) != 0) {
|
||||
|
||||
@ -3,7 +3,7 @@
|
||||
|
||||
#include "fsfw/serviceinterface.h"
|
||||
|
||||
void serial::setMode(struct termios& options, UartModes mode) {
|
||||
void uart::setMode(struct termios& options, UartModes mode) {
|
||||
if (mode == UartModes::NON_CANONICAL) {
|
||||
/* Disable canonical mode */
|
||||
options.c_lflag &= ~ICANON;
|
||||
@ -12,7 +12,7 @@ void serial::setMode(struct termios& options, UartModes mode) {
|
||||
}
|
||||
}
|
||||
|
||||
void serial::setBaudrate(struct termios& options, UartBaudRate baud) {
|
||||
void uart::setBaudrate(struct termios& options, UartBaudRate baud) {
|
||||
switch (baud) {
|
||||
case UartBaudRate::RATE_50:
|
||||
cfsetspeed(&options, B50);
|
||||
@ -114,7 +114,7 @@ void serial::setBaudrate(struct termios& options, UartBaudRate baud) {
|
||||
}
|
||||
}
|
||||
|
||||
void serial::setBitsPerWord(struct termios& options, BitsPerWord bits) {
|
||||
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;
|
||||
@ -127,11 +127,11 @@ void serial::setBitsPerWord(struct termios& options, BitsPerWord bits) {
|
||||
}
|
||||
}
|
||||
|
||||
void serial::enableRead(struct termios& options) { options.c_cflag |= CREAD; }
|
||||
void uart::enableRead(struct termios& options) { options.c_cflag |= CREAD; }
|
||||
|
||||
void serial::ignoreCtrlLines(struct termios& options) { options.c_cflag |= CLOCAL; }
|
||||
void uart::ignoreCtrlLines(struct termios& options) { options.c_cflag |= CLOCAL; }
|
||||
|
||||
void serial::setParity(struct termios& options, Parity parity) {
|
||||
void uart::setParity(struct termios& options, Parity parity) {
|
||||
/* Clear parity bit */
|
||||
options.c_cflag &= ~PARENB;
|
||||
switch (parity) {
|
||||
@ -148,11 +148,11 @@ void serial::setParity(struct termios& options, Parity parity) {
|
||||
}
|
||||
}
|
||||
|
||||
int serial::readCountersAndErrors(int serialPort, serial_icounter_struct& icounter) {
|
||||
int uart::readCountersAndErrors(int serialPort, serial_icounter_struct& icounter) {
|
||||
return ioctl(serialPort, TIOCGICOUNT, &icounter);
|
||||
}
|
||||
|
||||
void serial::setStopbits(struct termios& options, StopBits bits) {
|
||||
void uart::setStopbits(struct termios& options, StopBits bits) {
|
||||
if (bits == StopBits::TWO_STOP_BITS) {
|
||||
// Use two stop bits
|
||||
options.c_cflag |= CSTOPB;
|
||||
@ -161,7 +161,3 @@ void serial::setStopbits(struct termios& options, StopBits bits) {
|
||||
options.c_cflag &= ~CSTOPB;
|
||||
}
|
||||
}
|
||||
|
||||
void serial::flushRxBuf(int fd) { tcflush(fd, TCIFLUSH); }
|
||||
|
||||
void serial::flushTxRxBuf(int fd) { tcflush(fd, TCIOFLUSH); }
|
||||
|
||||
@ -45,7 +45,7 @@ enum class UartBaudRate {
|
||||
RATE_4000000
|
||||
};
|
||||
|
||||
namespace serial {
|
||||
namespace uart {
|
||||
|
||||
void setMode(struct termios& options, UartModes mode);
|
||||
/**
|
||||
@ -64,11 +64,8 @@ void setParity(struct termios& options, Parity parity);
|
||||
|
||||
void ignoreCtrlLines(struct termios& options);
|
||||
|
||||
void flushRxBuf(int fd);
|
||||
void flushTxRxBuf(int fd);
|
||||
|
||||
int readCountersAndErrors(int serialPort, serial_icounter_struct& icounter);
|
||||
|
||||
} // namespace serial
|
||||
} // namespace uart
|
||||
|
||||
#endif /* FSFW_HAL_LINUX_UART_HELPER_H_ */
|
||||
|
||||
@ -173,7 +173,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
|
||||
int fileDescriptor = 0;
|
||||
UnixFileGuard fileHelper(dev, fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
|
||||
if (fileHelper.getOpenResult() != returnvalue::OK) {
|
||||
return spi::OPENING_FILE_FAILED;
|
||||
return OPENING_FILE_FAILED;
|
||||
}
|
||||
spi::SpiModes spiMode = spi::SpiModes::MODE_0;
|
||||
uint32_t spiSpeed = 0;
|
||||
@ -234,7 +234,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
|
||||
if (retval < 0) {
|
||||
spiCookie->setTransferSize(0);
|
||||
utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
|
||||
result = spi::FULL_DUPLEX_TRANSFER_FAILED;
|
||||
result = FULL_DUPLEX_TRANSFER_FAILED;
|
||||
}
|
||||
#if FSFW_HAL_SPI_WIRETAPPING == 1
|
||||
performSpiWiretapping(spiCookie);
|
||||
@ -250,7 +250,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
|
||||
sif::printWarning("SpiComIF::sendMessage: Half-Duplex write operation failed!\n");
|
||||
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
|
||||
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
|
||||
result = spi::HALF_DUPLEX_TRANSFER_FAILED;
|
||||
result = HALF_DUPLEX_TRANSFER_FAILED;
|
||||
}
|
||||
}
|
||||
|
||||
@ -287,7 +287,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
|
||||
int fileDescriptor = 0;
|
||||
UnixFileGuard fileHelper(dev, fileDescriptor, O_RDWR, "SpiComIF::requestReceiveMessage");
|
||||
if (fileHelper.getOpenResult() != returnvalue::OK) {
|
||||
return spi::OPENING_FILE_FAILED;
|
||||
return OPENING_FILE_FAILED;
|
||||
}
|
||||
|
||||
uint8_t* rxBuf = nullptr;
|
||||
@ -327,7 +327,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
|
||||
sif::printWarning("SpiComIF::sendMessage: Half-Duplex read operation failed!\n");
|
||||
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
|
||||
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
|
||||
result = spi::HALF_DUPLEX_TRANSFER_FAILED;
|
||||
result = HALF_DUPLEX_TRANSFER_FAILED;
|
||||
}
|
||||
|
||||
if (gpioId != gpio::NO_GPIO and not csLockManual) {
|
||||
|
||||
@ -22,6 +22,15 @@ class SpiCookie;
|
||||
*/
|
||||
class SpiComIF : public DeviceCommunicationIF, public SystemObject {
|
||||
public:
|
||||
static constexpr uint8_t spiRetvalId = CLASS_ID::HAL_SPI;
|
||||
static constexpr ReturnValue_t OPENING_FILE_FAILED = returnvalue::makeCode(spiRetvalId, 0);
|
||||
/* Full duplex (ioctl) transfer failure */
|
||||
static constexpr ReturnValue_t FULL_DUPLEX_TRANSFER_FAILED =
|
||||
returnvalue::makeCode(spiRetvalId, 1);
|
||||
/* Half duplex (read/write) transfer failure */
|
||||
static constexpr ReturnValue_t HALF_DUPLEX_TRANSFER_FAILED =
|
||||
returnvalue::makeCode(spiRetvalId, 2);
|
||||
|
||||
SpiComIF(object_id_t objectId, std::string devname, GpioIF& gpioComIF);
|
||||
|
||||
ReturnValue_t initializeInterface(CookieIF* cookie) override;
|
||||
|
||||
@ -36,7 +36,7 @@ UioMapper::~UioMapper() {}
|
||||
|
||||
ReturnValue_t UioMapper::getMappedAdress(uint32_t** address, Permissions permissions) {
|
||||
ReturnValue_t result = returnvalue::OK;
|
||||
int fd = open(uioFile.c_str(), O_RDWR | O_SYNC);
|
||||
int fd = open(uioFile.c_str(), O_RDWR);
|
||||
if (fd < 1) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "UioMapper::getMappedAdress: Invalid UIO device file " << uioFile << std::endl;
|
||||
|
||||
@ -357,13 +357,13 @@ ReturnValue_t SpiComIF::halErrorHandler(HAL_StatusTypeDef status, spi::TransferM
|
||||
sif::printWarning("SpiComIF::handle%sSendOperation: HAL error %d occured\n", modeString, status);
|
||||
switch (status) {
|
||||
case (HAL_BUSY): {
|
||||
return spi::BUSY;
|
||||
return spi::HAL_BUSY_RETVAL;
|
||||
}
|
||||
case (HAL_ERROR): {
|
||||
return spi::GENERIC_ERROR;
|
||||
return spi::HAL_ERROR_RETVAL;
|
||||
}
|
||||
case (HAL_TIMEOUT): {
|
||||
return spi::TIMEOUT;
|
||||
return spi::HAL_TIMEOUT_RETVAL;
|
||||
}
|
||||
default: {
|
||||
return returnvalue::FAILED;
|
||||
|
||||
@ -30,9 +30,9 @@
|
||||
*/
|
||||
void Factory::produceFrameworkObjects(void* args) {
|
||||
setStaticFrameworkObjectIds();
|
||||
new EventManager(objects::EVENT_MANAGER, 120);
|
||||
new EventManager(objects::EVENT_MANAGER);
|
||||
new HealthTable(objects::HEALTH_TABLE);
|
||||
new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER, 20, false, 1.0);
|
||||
new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
|
||||
|
||||
{
|
||||
PoolManager::LocalPoolConfig poolCfg = {{100, 16}, {50, 32}, {25, 64}, {15, 128}, {5, 1024}};
|
||||
|
||||
@ -27,7 +27,12 @@ TEST_CASE("Action Helper", "[action]") {
|
||||
CHECK(not testDhMock.executeActionCalled);
|
||||
REQUIRE(actionHelper.handleActionMessage(&actionMessage) == returnvalue::OK);
|
||||
CHECK(testDhMock.executeActionCalled);
|
||||
// No message is sent if everything is alright.
|
||||
CHECK(not testMqMock.wasMessageSent());
|
||||
store_address_t invalidAddress;
|
||||
ActionMessage::setCommand(&actionMessage, testActionId, invalidAddress);
|
||||
actionHelper.handleActionMessage(&actionMessage);
|
||||
CHECK(testMqMock.wasMessageSent());
|
||||
const uint8_t* ptr = nullptr;
|
||||
size_t size = 0;
|
||||
REQUIRE(ipcStore->getData(paramAddress, &ptr, &size) ==
|
||||
@ -39,10 +44,6 @@ TEST_CASE("Action Helper", "[action]") {
|
||||
for (uint8_t i = 0; i < 3; i++) {
|
||||
REQUIRE(ptr[i] == (i + 1));
|
||||
}
|
||||
// Action message without application data is also valid
|
||||
store_address_t invalidAddress;
|
||||
ActionMessage::setCommand(&actionMessage, testActionId, invalidAddress);
|
||||
actionHelper.handleActionMessage(&actionMessage);
|
||||
testDhMock.clearBuffer();
|
||||
}
|
||||
|
||||
@ -94,5 +95,17 @@ TEST_CASE("Action Helper", "[action]") {
|
||||
REQUIRE(ActionMessage::getActionId(&testMessage) == testActionId);
|
||||
}
|
||||
|
||||
SECTION("Missing IPC Data") {
|
||||
ActionMessage::setCommand(&actionMessage, testActionId, store_address_t::invalid());
|
||||
CHECK(not testDhMock.executeActionCalled);
|
||||
REQUIRE(actionHelper.handleActionMessage(&actionMessage) == returnvalue::OK);
|
||||
CommandMessage testMessage;
|
||||
REQUIRE(testMqMock.getNextSentMessage(testMessage) == returnvalue::OK);
|
||||
REQUIRE(testMessage.getCommand() == static_cast<uint32_t>(ActionMessage::STEP_FAILED));
|
||||
REQUIRE(ActionMessage::getReturnCode(&testMessage) ==
|
||||
static_cast<uint32_t>(StorageManagerIF::ILLEGAL_STORAGE_ID));
|
||||
REQUIRE(ActionMessage::getStep(&testMessage) == 0);
|
||||
}
|
||||
|
||||
SECTION("Data Reply") {}
|
||||
}
|
||||
|
||||
@ -97,7 +97,7 @@ TEST_CASE("CFDP Header", "[cfdp]") {
|
||||
REQUIRE(creator.serialize(&serTarget, &serSize, serBuf.size(),
|
||||
SerializeIF::Endianness::BIG) == returnvalue::OK);
|
||||
CHECK(serBuf[0] == 0x3f);
|
||||
CHECK(serBuf[3] == 0x88);
|
||||
CHECK(serBuf[3] == 0x99);
|
||||
REQUIRE(creator.getCrcFlag() == true);
|
||||
REQUIRE(creator.getDirection() == cfdp::Direction::TOWARDS_SENDER);
|
||||
REQUIRE(creator.getLargeFileFlag() == true);
|
||||
@ -127,7 +127,7 @@ TEST_CASE("CFDP Header", "[cfdp]") {
|
||||
REQUIRE(creator.getTransmissionMode() == cfdp::TransmissionMode::UNACKNOWLEDGED);
|
||||
REQUIRE(creator.getSegmentationControl() == true);
|
||||
// Last three bits are 2 now (length of seq number) and bit 1 to bit 3 is 4 (len entity IDs)
|
||||
REQUIRE(serBuf[3] == 0b10111001);
|
||||
REQUIRE(serBuf[3] == 0b11001010);
|
||||
uint32_t entityId = 0;
|
||||
size_t deSerSize = 0;
|
||||
SerializeAdapter::deSerialize(&entityId, serBuf.data() + 4, &deSerSize,
|
||||
@ -175,7 +175,7 @@ TEST_CASE("CFDP Header", "[cfdp]") {
|
||||
REQUIRE(serBuf[1] == 0);
|
||||
REQUIRE(serBuf[2] == 0);
|
||||
// Entity and Transaction Sequence number are 1 byte large
|
||||
REQUIRE(serBuf[3] == 0b00000000);
|
||||
REQUIRE(serBuf[3] == 0b00010001);
|
||||
// Source ID
|
||||
REQUIRE(serBuf[4] == 0);
|
||||
// Transaction Seq Number
|
||||
@ -220,7 +220,7 @@ TEST_CASE("CFDP Header", "[cfdp]") {
|
||||
REQUIRE(serBuf[1] == 0);
|
||||
REQUIRE(serBuf[2] == 0);
|
||||
// Entity and Transaction Sequence number are 1 byte large
|
||||
REQUIRE(serBuf[3] == 0b00000000);
|
||||
REQUIRE(serBuf[3] == 0b00010001);
|
||||
REQUIRE(serSize == 7);
|
||||
// Deser call not strictly necessary
|
||||
auto reader = PduHeaderReader(serBuf.data(), serBuf.size());
|
||||
@ -270,7 +270,7 @@ TEST_CASE("CFDP Header", "[cfdp]") {
|
||||
REQUIRE(reader.parseData() == returnvalue::OK);
|
||||
// Everything except version bit flipped to one now
|
||||
REQUIRE(serBuf[0] == 0x3f);
|
||||
REQUIRE(serBuf[3] == 0b10111001);
|
||||
REQUIRE(serBuf[3] == 0b11001010);
|
||||
REQUIRE(reader.getWholePduSize() == 14);
|
||||
|
||||
REQUIRE(reader.getCrcFlag() == true);
|
||||
|
||||
@ -68,7 +68,7 @@ TEST_CASE("File Data PDU", "[cfdp][pdu]") {
|
||||
// Bits 1 to 3 length of enitity IDs is 2
|
||||
// Bit 4: Segment metadata flag is set
|
||||
// Bit 5 to seven: length of transaction seq num is 2
|
||||
REQUIRE(fileDataBuffer[3] == 0b10011001);
|
||||
REQUIRE(fileDataBuffer[3] == 0b10101010);
|
||||
REQUIRE((fileDataBuffer[10] >> 6) &
|
||||
0b11 == cfdp::RecordContinuationState::CONTAINS_START_AND_END);
|
||||
// Segment metadata length
|
||||
|
||||
@ -30,7 +30,7 @@ TEST_CASE("CFDP File Directive", "[cfdp][pdu]") {
|
||||
REQUIRE(serBuf[1] == 0);
|
||||
REQUIRE(serBuf[2] == 5);
|
||||
// Entity and Transaction Sequence number are 1 byte large
|
||||
REQUIRE(serBuf[3] == 0b00000000);
|
||||
REQUIRE(serBuf[3] == 0b00010001);
|
||||
// Source ID
|
||||
REQUIRE(serBuf[4] == 0);
|
||||
// Transaction Seq Number
|
||||
@ -82,4 +82,4 @@ TEST_CASE("CFDP File Directive", "[cfdp][pdu]") {
|
||||
// Invalid file directive
|
||||
REQUIRE(fdDeser.parseData() == cfdp::INVALID_DIRECTIVE_FIELD);
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -33,8 +33,8 @@ TEST_CASE("CFDP Base", "[cfdp]") {
|
||||
// PDU data field length is 5 (4 + Directive code octet)
|
||||
REQUIRE(serBuf[1] == 0);
|
||||
REQUIRE(serBuf[2] == 5);
|
||||
// Entity and Transaction Sequence number are 1 byte large, value minus one is stored
|
||||
REQUIRE(serBuf[3] == 0b00000000);
|
||||
// Entity and Transaction Sequence number are 1 byte large
|
||||
REQUIRE(serBuf[3] == 0b00010001);
|
||||
// Source ID
|
||||
REQUIRE(serBuf[4] == 0);
|
||||
// Transaction Seq Number
|
||||
|
||||
@ -9,7 +9,6 @@
|
||||
|
||||
#include <catch2/catch_approx.hpp>
|
||||
#include <catch2/catch_test_macros.hpp>
|
||||
#include <catch2/matchers/catch_matchers_floating_point.hpp>
|
||||
#include <iostream>
|
||||
|
||||
#include "CatchDefinitions.h"
|
||||
@ -310,7 +309,9 @@ TEST_CASE("Local Pool Manager Tests", "[LocManTest]") {
|
||||
HousekeepingMessage::setCollectionIntervalModificationCommand(&hkCmd, lpool::testSid, 0.4,
|
||||
false);
|
||||
CHECK(poolOwner.poolManager.handleHousekeepingMessage(&hkCmd) == returnvalue::OK);
|
||||
CHECK_THAT(poolOwner.dataset.getCollectionInterval(), Catch::Matchers::WithinAbs(0.4, 0.01));
|
||||
/* For non-diagnostics and a specified minimum frequency of 0.2 seconds, the
|
||||
resulting collection interval should be 1.0 second */
|
||||
CHECK(poolOwner.dataset.getCollectionInterval() == 1.0);
|
||||
REQUIRE(poolOwnerMock.wasMessageSent());
|
||||
REQUIRE(poolOwnerMock.numberOfSentMessages() == 1);
|
||||
CHECK(poolOwnerMock.clearLastSentMessage() == returnvalue::OK);
|
||||
@ -347,6 +348,14 @@ TEST_CASE("Local Pool Manager Tests", "[LocManTest]") {
|
||||
REQUIRE(poolOwnerMock.numberOfSentMessages() == 1);
|
||||
CHECK(poolOwnerMock.clearLastSentMessage() == returnvalue::OK);
|
||||
|
||||
HousekeepingMessage::setCollectionIntervalModificationCommand(&hkCmd, lpool::testSid, 0.4,
|
||||
false);
|
||||
CHECK(poolOwner.poolManager.handleHousekeepingMessage(&hkCmd) ==
|
||||
static_cast<int>(LocalDataPoolManager::WRONG_HK_PACKET_TYPE));
|
||||
REQUIRE(poolOwnerMock.wasMessageSent());
|
||||
REQUIRE(poolOwnerMock.numberOfSentMessages() == 1);
|
||||
CHECK(poolOwnerMock.clearLastSentMessage() == returnvalue::OK);
|
||||
|
||||
HousekeepingMessage::setStructureReportingCommand(&hkCmd, lpool::testSid, false);
|
||||
CHECK(poolOwner.poolManager.handleHousekeepingMessage(&hkCmd) ==
|
||||
static_cast<int>(LocalDataPoolManager::WRONG_HK_PACKET_TYPE));
|
||||
|
||||
Reference in New Issue
Block a user