Compare commits

...

42 Commits

Author SHA1 Message Date
dba08fed7a refactor task IF 2022-05-14 09:40:31 +02:00
4841d5d92d doc update 2022-05-13 17:24:55 +02:00
ac78a79ca2 Merge pull request 'Command Executor Improvements' (#83) from mueller/cmd-executer-improvements into develop
Reviewed-on: #83
2022-05-13 14:57:18 +02:00
bf7388c059 Merge pull request 'HealthIF extensions and upstream updates' (#82) from mueller/health-if-extension-eive into develop
Reviewed-on: #82
2022-05-13 14:56:50 +02:00
c2de911efa Merge branch 'develop' into mueller/cmd-executer-improvements 2022-05-13 11:22:53 +02:00
fc2b709148 resolve merge conflict 2022-05-12 20:48:50 +02:00
02473a0cd7 Merge remote-tracking branch 'origin/develop' into mueller/health-if-extension-eive 2022-05-12 20:11:45 +02:00
ab45aa1296 HasHealthIF additions 2022-05-12 20:06:10 +02:00
a83b86ccd2 Merge pull request 'refactor power module' (#590) from eive/fsfw:mueller/refactor-power-switch-if-etc into development
Reviewed-on: fsfw/fsfw#590
2022-05-12 18:37:45 +02:00
c561271070 Merge branch 'development' into mueller/refactor-power-switch-if-etc 2022-05-12 17:09:27 +02:00
b99160e850 Merge pull request 'Add LTO support' (#616) from mueller/add-lto-support into development
Reviewed-on: fsfw/fsfw#616
2022-05-12 16:56:54 +02:00
d11f898f70 update dummy power switcher docs 2022-05-12 15:02:06 +02:00
d1ff32bf96 reset read vec values, add getter function 2022-05-11 16:12:24 +02:00
e05c72b062 minor formatting fix 2022-05-10 13:08:14 +02:00
2ca8523215 Merge branch 'mueller/add-lto-support' of https://egit.irs.uni-stuttgart.de/fsfw/fsfw into mueller/add-lto-support 2022-05-10 11:57:01 +02:00
25775614de only check IPO support if enabled 2022-05-10 11:56:51 +02:00
0410ecd9e3 Merge branch 'development' into mueller/add-lto-support 2022-05-10 11:51:39 +02:00
0fe1b70bae keep LTO option off by default 2022-05-10 11:19:29 +02:00
c5b4499d98 Merge remote-tracking branch 'upstream/development' into mueller/refactor-power-switch-if-etc 2022-05-10 09:58:21 +02:00
eb0223bc51 Merge branch 'development' into mueller/add-lto-support 2022-05-09 22:34:28 +02:00
dd9e28fca1 Merge branch 'development' into mueller/add-lto-support 2022-05-09 16:09:31 +02:00
7b7f5d7e0a Merge branch 'mueller/add-lto-support' of https://egit.irs.uni-stuttgart.de/fsfw/fsfw into mueller/add-lto-support 2022-05-09 16:07:19 +02:00
fd112ed597 enable lto for test target 2022-05-09 16:07:05 +02:00
75132c1e39 Merge branch 'development' into mueller/add-lto-support 2022-05-09 15:52:28 +02:00
15352b539d Merge remote-tracking branch 'upstream/development' into mueller/refactor-power-switch-if-etc 2022-05-09 15:37:32 +02:00
8a40878eb5 Merge remote-tracking branch 'origin/development' into mueller/add-lto-support 2022-05-09 15:17:16 +02:00
c78b7c432b Merge branch 'development' into mueller/refactor-power-switch-if-etc 2022-05-09 11:02:45 +02:00
637512ad77 changelog update 2022-05-09 10:34:14 +02:00
a4bd5a2aaa update changelog 2022-05-09 10:31:03 +02:00
a943e4eebb enable LTO where applicable 2022-05-09 02:23:20 +02:00
cb0c80d8dc add option and cmake module for lto support 2022-05-09 02:22:16 +02:00
2c8531ea48 Merge remote-tracking branch 'upstream/development' into mueller/refactor-power-switch-if-etc 2022-04-27 08:45:04 +02:00
b94685e045 added missing PR cross-ref 2022-04-25 15:44:46 +02:00
572d602b72 improve changelog, add entry 2022-04-25 15:42:44 +02:00
88051c9302 Merge remote-tracking branch 'upstream/development' into mueller/refactor-power-switch-if-etc 2022-04-25 15:37:03 +02:00
4ed9cc933f Merge branch 'development' into mueller/refactor-power-switch-if-etc 2022-04-11 16:11:27 +02:00
b764194ed0 added more unit tests 2022-04-01 18:43:46 +02:00
2d0e4ba951 applied afmt 2022-04-01 18:38:54 +02:00
0d549b687d Merge branch 'mueller/refactor-power-switch-if-etc' of https://egit.irs.uni-stuttgart.de/eive/fsfw into mueller/refactor-power-switch-if-etc 2022-04-01 18:38:34 +02:00
738f572043 added unit tests, minor API change 2022-04-01 18:38:25 +02:00
cab508fd64 Merge branch 'development' into mueller/refactor-power-switch-if-etc 2022-04-01 17:28:14 +02:00
c20be13733 change switch type in header as well 2022-04-01 16:40:13 +02:00
26 changed files with 403 additions and 60 deletions

View File

@ -25,8 +25,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
- HAL Devicehandlers: Periodic printout is run-time configurable now
- `oneShotAction` flag in the `TestTask` class is not static anymore
- HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
- Major update for version handling, using `git describe` to fetch version information with git.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/601
- Place `Version` class outside of `fsfw` namespace. It is generic
@ -45,12 +43,39 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
creation call. It allows passing context information and an arbitrary user argument into
the message queue. Also streamlined and simplified `MessageQueue` implementation for all OSALs
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/583
- Clock:
- `timeval` to `TimeOfDay_t`
- Added Mutex for gmtime calls: (compare http://www.opengate.at/blog/2020/01/timeless/)
- Moved the statics used by Clock in ClockCommon.cpp to this file
- Better check for leap seconds
- Added Unittests for Clock (only getter)
### HAL
- HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
- HAL Linux SPI: Set the Clock Default State when setting new SPI speed
and mode
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
- GPIO HAL: `Direction`, `GpioOperation` and `Levels` are enum classes now, which prevents
name clashes with Windows defines.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
- HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
### Time
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/584 and
https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
- `timeval` to `TimeOfDay_t`
- Added Mutex for gmtime calls: (compare http://www.opengate.at/blog/2020/01/timeless/)
- Moved the statics used by Clock in ClockCommon.cpp to this file
- Better check for leap seconds
- Added Unittests for Clock (only getter)
### Power
- `PowerSwitchIF`: Remove `const` specifier from `sendSwitchCommand` and `sendFuseOnCommand` and
also specify a `ReturnValue_t` return type
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
- Extend `PowerSwitcher` module to optionally check current state when calling `turnOn` or
`turnOff`. Tis can be helpful to avoid commanding switches which do not need commanding
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
## Removed
@ -60,11 +85,29 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
## Additions
- LTO support: Allow using LTO/IPO by setting `FSFW_ENABLE_LTO=1`. CMake is able to detect whether
the user compiler supports IPO/LPO. LTO is on by default now. Most modern compilers support it,
can make good use of it and it usually makes the code faster and/or smaller.
After some more research:
Enabling LTO will actually cause the compiler to only produce thin LTO by adding
`-flto -fno-fat-lto-objects` to the compiler options. I am not sure this is an ideal choice
because if an application linking against the FSFW does not use LTO, there can be compile
issues (e.g. observed when compiling the FSFW tests without LTO). This is a known issue as
can be seen in the multiple CMake issues for it:
- https://gitlab.kitware.com/cmake/cmake/-/issues/22913,
- https://gitlab.kitware.com/cmake/cmake/-/issues/16808,
- https://gitlab.kitware.com/cmake/cmake/-/issues/21696
Easiest solution for now: Keep this option OFF by default.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616
- Dedicated Version class and constant `fsfw::FSFW_VERSION` containing version information
inside `fsfw/version.h`
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/559
- Added ETL dependency and improved library dependency management
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/592
- Add a `DummyPowerSwitcher` module which can be useful for test setups when no PCDU is available
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
- New typedef for switcher type
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
- `Subsystem`: New API to add table and sequence entries
## HAL

View File

@ -18,11 +18,12 @@ list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" )
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules")
set(MSG_PREFIX "fsfw |")
set(FSFW_ETL_LIB_NAME etl)
set(FSFW_ETL_LIB_MAJOR_VERSION 20 CACHE STRING
"ETL library major version requirement"
"ETL library major version requirement"
)
set(FSFW_ETL_LIB_VERSION ${FSFW_ETL_LIB_MAJOR_VERSION}.27.3 CACHE STRING
"ETL library exact version requirement"
"ETL library exact version requirement"
)
set(FSFW_ETL_LINK_TARGET etl::etl)
@ -33,19 +34,28 @@ set(FSFW_CATCH2_LIB_VERSION v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5 CACHE
"Catch2 library exact version requirement"
)
set(FSFW_ETL_LIB_NAME etl)
# Keep this off by default for now. See PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616
# for information which keeping this on by default is problematic
option(FSFW_ENABLE_IPO "Enable interprocedural optimization or link-time optimization if available" OFF)
if(FSFW_ENABLE_IPO)
include(CheckIPOSupported)
check_ipo_supported(RESULT IPO_SUPPORTED OUTPUT IPO_ERROR)
if(NOT IPO_SUPPORTED)
message(STATUS "FSFW | IPO/LTO not supported: ${IPO_ERROR}")
endif()
endif()
option(FSFW_GENERATE_SECTIONS
"Generate function and data sections. Required to remove unused code" ON
"Generate function and data sections. Required to remove unused code" ON
)
if(FSFW_GENERATE_SECTIONS)
option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
endif()
option(FSFW_BUILD_UNITTESTS "Build unittest binary in addition to static library" OFF)
option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF)
if(FSFW_BUILD_UNITTESTS)
option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
endif()
option(FSFW_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)
@ -72,6 +82,10 @@ set(FSFW_DUMMY_TGT fsfw-dummy)
add_library(${LIB_FSFW_NAME})
if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
set_property(TARGET ${LIB_FSFW_NAME} PROPERTY INTERPROCEDURAL_OPTIMIZATION TRUE)
endif()
set(FSFW_GIT_VER_HANDLING_OK FALSE)
# Version handling
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
@ -128,6 +142,9 @@ if(FSFW_BUILD_UNITTESTS)
project(${FSFW_TEST_TGT} CXX C)
add_executable(${FSFW_TEST_TGT})
if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
set_property(TARGET ${FSFW_TEST_TGT} PROPERTY INTERPROCEDURAL_OPTIMIZATION TRUE)
endif()
if(FSFW_TESTS_GEN_COV)
message(STATUS "${MSG_PREFIX} Generating coverage data for the library")

View File

@ -32,6 +32,8 @@ ReturnValue_t CommandExecutor::execute() {
} else if (state == States::PENDING) {
return COMMAND_PENDING;
}
// Reset data in read vector
std::memset(readVec.data(), 0, readVec.size());
currentCmdFile = popen(currentCmd.c_str(), "r");
if (currentCmdFile == nullptr) {
lastError = errno;
@ -205,3 +207,5 @@ ReturnValue_t CommandExecutor::executeBlocking() {
}
return HasReturnvaluesIF::RETURN_OK;
}
const std::vector<char>& CommandExecutor::getReadVector() const { return readVec; }

View File

@ -109,6 +109,8 @@ class CommandExecutor {
*/
void reset();
const std::vector<char>& getReadVector() const;
private:
std::string currentCmd;
bool blocking = true;

View File

@ -417,9 +417,7 @@ void SpiComIF::getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& spee
}
}
const std::string& SpiComIF::getSpiDev() const {
return dev;
}
const std::string& SpiComIF::getSpiDev() const { return dev; }
void SpiComIF::updateLinePolarity(int spiFd) {
clockUpdateTransfer.len = 0;
@ -428,3 +426,8 @@ void SpiComIF::updateLinePolarity(int spiFd) {
utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Updating SPI default clock failed");
}
}
void SpiComIF::setMutexParams(MutexIF::TimeoutType timeoutType_, uint32_t timeoutMs_) {
timeoutType = timeoutType_;
timeoutMs = timeoutMs_;
}

View File

@ -22,15 +22,17 @@ class SpiCookie;
*/
class SpiComIF : public DeviceCommunicationIF, public SystemObject {
public:
static constexpr uint8_t spiRetvalId = CLASS_ID::HAL_SPI;
static constexpr dur_millis_t DEFAULT_MUTEX_TIMEOUT = 20;
static constexpr uint8_t CLASS_ID = CLASS_ID::HAL_SPI;
static constexpr ReturnValue_t OPENING_FILE_FAILED =
HasReturnvaluesIF::makeReturnCode(spiRetvalId, 0);
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 0);
/* Full duplex (ioctl) transfer failure */
static constexpr ReturnValue_t FULL_DUPLEX_TRANSFER_FAILED =
HasReturnvaluesIF::makeReturnCode(spiRetvalId, 1);
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1);
/* Half duplex (read/write) transfer failure */
static constexpr ReturnValue_t HALF_DUPLEX_TRANSFER_FAILED =
HasReturnvaluesIF::makeReturnCode(spiRetvalId, 2);
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2);
SpiComIF(object_id_t objectId, std::string devname, GpioIF* gpioComIF);
@ -45,6 +47,7 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
* the chip select must be driven from outside of the com if.
*/
MutexIF* getMutex(MutexIF::TimeoutType* timeoutType = nullptr, uint32_t* timeoutMs = nullptr);
void setMutexParams(MutexIF::TimeoutType timeoutType, uint32_t timeoutMs);
/**
* Perform a regular send operation using Linux iotcl. This is public so it can be used
@ -59,6 +62,7 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
GpioIF* getGpioInterface();
void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
void getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& speed) const;
/**
* This updates the SPI clock default polarity. Only setting the mode does not update
@ -70,7 +74,6 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
* @param spiFd
*/
void updateLinePolarity(int spiFd);
void getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& speed) const;
const std::string& getSpiDev() const;
void performSpiWiretapping(SpiCookie* spiCookie);
@ -91,7 +94,7 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
*/
MutexIF* csMutex = nullptr;
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t timeoutMs = 20;
uint32_t timeoutMs = DEFAULT_MUTEX_TIMEOUT;
spi_ioc_transfer clockUpdateTransfer = {};
using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;

View File

@ -467,14 +467,14 @@ class DeviceHandlerBase : public DeviceHandlerIF,
* @brief This is a helper method to insert replies in the reply map.
* @param deviceCommand Identifier of the reply to add.
* @param maxDelayCycles The maximum number of delay cycles the reply waits
* until it times out.
* until it times out.
* @param periodic Indicates if the command is periodic (i.e. it is sent
* by the device repeatedly without request) or not. Default is aperiodic (0).
* Please note that periodic replies are disabled by default. You can enable them with
* #updatePeriodicReply
* by the device repeatedly without request) or not. Default is aperiodic (0).
* Please note that periodic replies are disabled by default. You can enable them with
* #updatePeriodicReply
* @param countdown Instead of using maxDelayCycles to timeout a device reply it is also possible
* to provide a pointer to a Countdown object which will signal the timeout
* when expired
* to provide a pointer to a Countdown object which will signal the timeout
* when expired
* @return - @c RETURN_OK when the command was successfully inserted,
* - @c RETURN_FAILED else.
*/
@ -783,11 +783,18 @@ class DeviceHandlerBase : public DeviceHandlerIF,
* This is used to keep track of pending replies.
*/
struct DeviceReplyInfo {
//! For Command-Reply combinations:
//! The maximum number of cycles the handler should wait for a reply
//! to this command.
//!
//! Reply Only:
//! For periodic replies, this variable will be the number of delay cycles between the replies.
//! For the non-periodic variant, this variable is not used as there is no meaningful
//! definition for delay
uint16_t maxDelayCycles;
//! The currently remaining cycles the handler should wait for a reply,
//! 0 means there is no reply expected
//! This variable will be set to #maxDelayCycles if a reply is expected.
//! For non-periodic replies without a command, this variable is unused.
//! A runtime value of 0 means there is no reply is currently expected.
uint16_t delayCycles;
size_t replyLen = 0; //!< Expected size of the reply.
//! if this is !=0, the delayCycles will not be reset to 0 but to

View File

@ -16,10 +16,15 @@ class HasHealthIF {
};
static const uint8_t INTERFACE_ID = CLASS_ID::HAS_HEALTH_IF;
static const ReturnValue_t OBJECT_NOT_HEALTHY = MAKE_RETURN_CODE(1);
static const ReturnValue_t INVALID_HEALTH_STATE = MAKE_RETURN_CODE(2);
static constexpr ReturnValue_t OBJECT_NOT_HEALTHY =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 1);
static constexpr ReturnValue_t INVALID_HEALTH_STATE =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 2);
static constexpr ReturnValue_t IS_EXTERNALLY_CONTROLLED =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 3);
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYSTEM_MANAGER_1;
//! P1: New Health, P2: Old Health
static const Event HEALTH_INFO = MAKE_EVENT(6, severity::INFO);
static const Event CHILD_CHANGED_HEALTH = MAKE_EVENT(7, severity::INFO);
static const Event CHILD_PROBLEMS = MAKE_EVENT(8, severity::LOW);

View File

@ -14,6 +14,8 @@ FixedTimeslotTask::FixedTimeslotTask(const char* name_, int priority_, size_t st
FixedTimeslotTask::~FixedTimeslotTask() {}
bool FixedTimeslotTask::isEmpty() const { return pst.isEmpty(); }
void* FixedTimeslotTask::taskEntryPoint(void* arg) {
// The argument is re-interpreted as PollingTask.
FixedTimeslotTask* originalTask(reinterpret_cast<FixedTimeslotTask*>(arg));
@ -50,7 +52,7 @@ ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotT
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t FixedTimeslotTask::checkSequence() const { return pst.checkSequence(); }
ReturnValue_t FixedTimeslotTask::checkSequence() { return pst.checkSequence(); }
void FixedTimeslotTask::taskFunctionality() {
// Like FreeRTOS pthreads are running as soon as they are created

View File

@ -24,15 +24,18 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread {
FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_, uint32_t periodMs_);
virtual ~FixedTimeslotTask();
virtual ReturnValue_t startTask();
ReturnValue_t startTask() override;
virtual ReturnValue_t sleepFor(uint32_t ms);
ReturnValue_t sleepFor(uint32_t ms) override;
virtual uint32_t getPeriodMs() const;
uint32_t getPeriodMs() const override;
virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
int8_t executionStep) override;
virtual ReturnValue_t checkSequence() const;
ReturnValue_t checkSequence() override;
bool isEmpty() const override;
/**
* This static function can be used as #deadlineMissedFunc.

View File

@ -26,12 +26,12 @@ void* PeriodicPosixTask::taskEntryPoint(void* arg) {
return NULL;
}
ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object, uint8_t opCode) {
ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
return addComponent(newObject);
return addComponent(newObject, opCode);
}
ReturnValue_t PeriodicPosixTask::addComponent(ExecutableObjectIF* object) {
ReturnValue_t PeriodicPosixTask::addComponent(ExecutableObjectIF* object, uint8_t opCode) {
if (object == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
@ -43,7 +43,7 @@ ReturnValue_t PeriodicPosixTask::addComponent(ExecutableObjectIF* object) {
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
objectList.push_back(object);
objectList.emplace(object, opCode);
object->setTaskIF(this);
return HasReturnvaluesIF::RETURN_OK;
@ -54,6 +54,9 @@ ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) {
}
ReturnValue_t PeriodicPosixTask::startTask(void) {
if (isEmpty()) {
return HasReturnvaluesIF::RETURN_FAILED;
}
started = true;
PosixThread::createTask(&taskEntryPoint, this);
return HasReturnvaluesIF::RETURN_OK;
@ -64,15 +67,13 @@ void PeriodicPosixTask::taskFunctionality(void) {
suspend();
}
for (auto const& object : objectList) {
object->initializeAfterTaskCreation();
}
initObjsAfterTaskCreation();
uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
// The task's "infinite" inner loop is entered.
while (1) {
for (auto const& object : objectList) {
object->performOperation();
for (auto const& objOpCodePair : objectList) {
objOpCodePair.first->performOperation(objOpCodePair.second);
}
if (not PosixThread::delayUntil(&lastWakeTime, periodMs)) {
@ -84,3 +85,25 @@ void PeriodicPosixTask::taskFunctionality(void) {
}
uint32_t PeriodicPosixTask::getPeriodMs() const { return periodMs; }
bool PeriodicPosixTask::isEmpty() const { return objectList.empty(); }
ReturnValue_t PeriodicPosixTask::initObjsAfterTaskCreation() {
std::multiset<ExecutableObjectIF*> uniqueObjects;
ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
uint32_t count = 0;
for (const auto& obj : objectList) {
// Ensure that each unique object is initialized once.
if (uniqueObjects.find(obj.first) == uniqueObjects.end()) {
ReturnValue_t result = obj.first->initializeAfterTaskCreation();
if (result != HasReturnvaluesIF::RETURN_OK) {
count++;
status = result;
}
uniqueObjects.emplace(obj.first);
}
}
if (count > 0) {
}
return status;
}

View File

@ -1,7 +1,7 @@
#ifndef FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_
#define FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_
#include <vector>
#include <set>
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../tasks/ExecutableObjectIF.h"
@ -40,7 +40,7 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
* @param object Id of the object to add.
* @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
*/
ReturnValue_t addComponent(object_id_t object) override;
ReturnValue_t addComponent(object_id_t object, uint8_t opCode) override;
/**
* Adds an object to the list of objects to be executed.
@ -48,14 +48,20 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
* @param object pointer to the object to add.
* @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
*/
ReturnValue_t addComponent(ExecutableObjectIF* object) override;
ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode) override;
uint32_t getPeriodMs() const override;
ReturnValue_t sleepFor(uint32_t ms) override;
ReturnValue_t initObjsAfterTaskCreation();
bool isEmpty() const override;
private:
typedef std::vector<ExecutableObjectIF*> ObjectList; //!< Typedef for the List of objects.
//! Typedef for the List of objects. Will contain the objects to execute and their respective
//! op codes
using ObjectList = std::multiset<std::pair<ExecutableObjectIF*, uint8_t>>;
/**
* @brief This attribute holds a list of objects to be executed.
*/

View File

@ -1,8 +1,9 @@
#include "DummyPowerSwitcher.h"
DummyPowerSwitcher::DummyPowerSwitcher(object_id_t objectId, size_t numberOfSwitches,
size_t numberOfFuses, uint32_t switchDelayMs)
: SystemObject(objectId),
size_t numberOfFuses, bool registerGlobally,
uint32_t switchDelayMs)
: SystemObject(objectId, registerGlobally),
switcherList(numberOfSwitches),
fuseList(numberOfFuses),
switchDelayMs(switchDelayMs) {}

View File

@ -8,10 +8,17 @@
#include "definitions.h"
#include "fsfw/objectmanager/SystemObject.h"
/**
* @brief This component can be used to simulate a power switcher like a
* Power Control Distribution Unit (PCDU)
* @details
* The dummy switcher will simply cache the commanded fuse and switch states and return them
* in the according switch getter functions. In that sense, it simulates an ideal PCDU.
*/
class DummyPowerSwitcher : public SystemObject, public PowerSwitchIF {
public:
DummyPowerSwitcher(object_id_t objectId, size_t numberOfSwitches, size_t numberOfFuses,
uint32_t switchDelayMs = 5000);
bool registerGlobally = true, uint32_t switchDelayMs = 5000);
void setInitialSwitcherList(std::vector<ReturnValue_t> switcherList);
void setInitialFusesList(std::vector<ReturnValue_t> switcherList);

View File

@ -18,7 +18,8 @@ class PowerSwitcher : public HasReturnvaluesIF {
static const uint8_t INTERFACE_ID = CLASS_ID::POWER_SWITCHER;
static const ReturnValue_t IN_POWER_TRANSITION = MAKE_RETURN_CODE(1);
static const ReturnValue_t SWITCH_STATE_MISMATCH = MAKE_RETURN_CODE(2);
PowerSwitcher(PowerSwitchIF* switcher, uint8_t setSwitch1, uint8_t setSwitch2 = power::NO_SWITCH,
PowerSwitcher(PowerSwitchIF* switcher, power::Switch_t setSwitch1,
power::Switch_t setSwitch2 = power::NO_SWITCH,
State_t setStartState = SWITCH_IS_OFF);
void turnOn(bool checkCurrentState = true);
void turnOff(bool checkCurrentState = true);

View File

@ -164,3 +164,5 @@ ReturnValue_t FixedSlotSequence::intializeSequenceAfterTaskCreation() const {
void FixedSlotSequence::addCustomCheck(ReturnValue_t (*customCheckFunction)(const SlotList&)) {
this->customCheckFunction = customCheckFunction;
}
bool FixedSlotSequence::isEmpty() const { return slotList.empty(); }

View File

@ -159,6 +159,8 @@ class FixedSlotSequence {
*/
ReturnValue_t intializeSequenceAfterTaskCreation() const;
bool isEmpty() const;
protected:
/**
* @brief This list contains all PollingSlot objects, defining order and

View File

@ -30,7 +30,7 @@ class FixedTimeslotTaskIF : public PeriodicTaskIF {
* Check whether the sequence is valid and perform all other required
* initialization steps which are needed after task creation
*/
virtual ReturnValue_t checkSequence() const = 0;
virtual ReturnValue_t checkSequence() = 0;
};
#endif /* FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_ */

View File

@ -31,7 +31,7 @@ class PeriodicTaskIF {
* Add an object to the task. The object needs to implement ExecutableObjectIF
* @return
*/
virtual ReturnValue_t addComponent(object_id_t object) {
virtual ReturnValue_t addComponent(object_id_t object, uint8_t opCode = 0) {
return HasReturnvaluesIF::RETURN_FAILED;
};
@ -41,13 +41,15 @@ class PeriodicTaskIF {
* Add an object to the task.
* @return
*/
virtual ReturnValue_t addComponent(ExecutableObjectIF* object) {
virtual ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode = 0) {
return HasReturnvaluesIF::RETURN_FAILED;
};
virtual ReturnValue_t sleepFor(uint32_t ms) = 0;
virtual uint32_t getPeriodMs() const = 0;
virtual bool isEmpty() const = 0;
};
#endif /* PERIODICTASKIF_H_ */

View File

@ -11,7 +11,10 @@ target_sources(${FSFW_TEST_TGT} PRIVATE
)
add_subdirectory(testcfg)
add_subdirectory(mocks)
add_subdirectory(action)
add_subdirectory(power)
add_subdirectory(container)
add_subdirectory(osal)
add_subdirectory(serialize)

View File

@ -0,0 +1,3 @@
target_sources(${FSFW_TEST_TGT} PRIVATE
PowerSwitcherMock.cpp
)

View File

@ -0,0 +1,77 @@
#include "PowerSwitcherMock.h"
static uint32_t SWITCH_REQUEST_UPDATE_VALUE = 0;
PowerSwitcherMock::PowerSwitcherMock() {}
ReturnValue_t PowerSwitcherMock::sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) {
if (switchMap.count(switchNr) == 0) {
switchMap.emplace(switchNr, SwitchInfo(switchNr, onOff));
} else {
SwitchInfo& info = switchMap.at(switchNr);
info.currentState = onOff;
if (onOff == PowerSwitchIF::SWITCH_ON) {
info.timesCalledOn++;
} else {
info.timesCalledOff++;
}
}
return RETURN_OK;
}
ReturnValue_t PowerSwitcherMock::sendFuseOnCommand(uint8_t fuseNr) {
if (fuseMap.count(fuseNr) == 0) {
fuseMap.emplace(fuseNr, FuseInfo(fuseNr));
} else {
FuseInfo& info = fuseMap.at(fuseNr);
info.timesCalled++;
}
return RETURN_OK;
}
ReturnValue_t PowerSwitcherMock::getSwitchState(power::Switch_t switchNr) const {
if (switchMap.count(switchNr) == 1) {
auto& info = switchMap.at(switchNr);
SWITCH_REQUEST_UPDATE_VALUE++;
return info.currentState;
}
return RETURN_FAILED;
}
ReturnValue_t PowerSwitcherMock::getFuseState(uint8_t fuseNr) const {
if (fuseMap.count(fuseNr) == 1) {
return FUSE_ON;
} else {
return FUSE_OFF;
}
return RETURN_FAILED;
}
uint32_t PowerSwitcherMock::getSwitchDelayMs(void) const { return 5000; }
SwitchInfo::SwitchInfo() : switcher(0) {}
SwitchInfo::SwitchInfo(power::Switch_t switcher, ReturnValue_t initState)
: switcher(switcher), currentState(initState) {}
FuseInfo::FuseInfo(uint8_t fuse) : fuse(fuse) {}
void PowerSwitcherMock::getSwitchInfo(power::Switch_t switcher, SwitchInfo& info) {
if (switchMap.count(switcher) == 1) {
info = switchMap.at(switcher);
}
}
void PowerSwitcherMock::getFuseInfo(uint8_t fuse, FuseInfo& info) {
if (fuseMap.count(fuse) == 1) {
info = fuseMap.at(fuse);
}
}
uint32_t PowerSwitcherMock::getAmountSwitchStatWasRequested() {
return SWITCH_REQUEST_UPDATE_VALUE;
}
void PowerSwitcherMock::initSwitch(power::Switch_t switchNr) {
switchMap.emplace(switchNr, SwitchInfo(switchNr, PowerSwitchIF::SWITCH_OFF));
}

View File

@ -0,0 +1,52 @@
#ifndef FSFW_TESTS_SRC_FSFW_TESTS_UNIT_MOCKS_POWERSWITCHERMOCK_H_
#define FSFW_TESTS_SRC_FSFW_TESTS_UNIT_MOCKS_POWERSWITCHERMOCK_H_
#include <fsfw/power/PowerSwitchIF.h>
#include <map>
#include <utility>
struct SwitchInfo {
public:
SwitchInfo();
SwitchInfo(power::Switch_t switcher, ReturnValue_t initState);
power::Switch_t switcher;
ReturnValue_t currentState = PowerSwitchIF::SWITCH_OFF;
uint32_t timesCalledOn = 0;
uint32_t timesCalledOff = 0;
uint32_t timesStatusRequested = 0;
};
struct FuseInfo {
public:
FuseInfo(uint8_t fuse);
uint8_t fuse;
uint32_t timesCalled = 0;
};
class PowerSwitcherMock : public PowerSwitchIF {
public:
PowerSwitcherMock();
ReturnValue_t sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) override;
ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) override;
ReturnValue_t getSwitchState(power::Switch_t switchNr) const override;
ReturnValue_t getFuseState(uint8_t fuseNr) const override;
uint32_t getSwitchDelayMs(void) const override;
void getSwitchInfo(power::Switch_t switcher, SwitchInfo& info);
void getFuseInfo(uint8_t fuse, FuseInfo& info);
uint32_t getAmountSwitchStatWasRequested();
void initSwitch(power::Switch_t switchNr);
private:
using SwitchOnOffPair = std::pair<power::Switch_t, ReturnValue_t>;
using FuseOnOffPair = std::pair<uint8_t, ReturnValue_t>;
std::map<power::Switch_t, SwitchInfo> switchMap;
std::map<uint8_t, FuseInfo> fuseMap;
};
#endif /* FSFW_TESTS_SRC_FSFW_TESTS_UNIT_MOCKS_POWERSWITCHERMOCK_H_ */

View File

@ -0,0 +1,3 @@
target_sources(${FSFW_TEST_TGT} PRIVATE
testPowerSwitcher.cpp
)

View File

@ -0,0 +1,71 @@
#include <fsfw/power/DummyPowerSwitcher.h>
#include <fsfw/power/PowerSwitcher.h>
#include <fsfw_tests/unit/mocks/PowerSwitcherMock.h>
#include <catch2/catch_test_macros.hpp>
#include "objects/systemObjectList.h"
TEST_CASE("Power Switcher", "[power-switcher]") {
PowerSwitcherMock mock;
PowerSwitcher switcher(&mock, 1);
DummyPowerSwitcher dummySwitcher(objects::DUMMY_POWER_SWITCHER, 5, 5, false);
PowerSwitcher switcherUsingDummy(&dummySwitcher, 1);
SwitchInfo switchInfo;
mock.initSwitch(1);
SECTION("Basic Tests") {
REQUIRE(switcher.getFirstSwitch() == 1);
REQUIRE(switcher.getSecondSwitch() == power::NO_SWITCH);
// Default start state
REQUIRE(switcher.getState() == PowerSwitcher::SWITCH_IS_OFF);
switcher.turnOn(true);
REQUIRE(mock.getAmountSwitchStatWasRequested() == 1);
REQUIRE(switcher.getState() == PowerSwitcher::WAIT_ON);
REQUIRE(switcher.checkSwitchState() == PowerSwitcher::IN_POWER_TRANSITION);
REQUIRE(switcher.active());
switcher.doStateMachine();
REQUIRE(switcher.getState() == PowerSwitcher::SWITCH_IS_ON);
mock.getSwitchInfo(1, switchInfo);
REQUIRE(switchInfo.timesCalledOn == 1);
REQUIRE(not switcher.active());
REQUIRE(mock.getAmountSwitchStatWasRequested() == 2);
REQUIRE(switcher.checkSwitchState() == HasReturnvaluesIF::RETURN_OK);
REQUIRE(mock.getAmountSwitchStatWasRequested() == 3);
switcher.turnOff(false);
REQUIRE(mock.getAmountSwitchStatWasRequested() == 3);
REQUIRE(switcher.getState() == PowerSwitcher::WAIT_OFF);
REQUIRE(switcher.active());
REQUIRE(switcher.getState() == PowerSwitcher::WAIT_OFF);
switcher.doStateMachine();
mock.getSwitchInfo(1, switchInfo);
REQUIRE(switcher.getState() == PowerSwitcher::SWITCH_IS_OFF);
REQUIRE(switchInfo.timesCalledOn == 1);
REQUIRE(switchInfo.timesCalledOff == 1);
REQUIRE(not switcher.active());
REQUIRE(mock.getAmountSwitchStatWasRequested() == 4);
}
SECTION("Dummy Test") {
// Same tests, but we can't really check the dummy
REQUIRE(switcherUsingDummy.getFirstSwitch() == 1);
REQUIRE(switcherUsingDummy.getSecondSwitch() == power::NO_SWITCH);
REQUIRE(switcherUsingDummy.getState() == PowerSwitcher::SWITCH_IS_OFF);
switcherUsingDummy.turnOn(true);
REQUIRE(switcherUsingDummy.getState() == PowerSwitcher::WAIT_ON);
REQUIRE(switcherUsingDummy.active());
switcherUsingDummy.doStateMachine();
REQUIRE(switcherUsingDummy.getState() == PowerSwitcher::SWITCH_IS_ON);
REQUIRE(not switcherUsingDummy.active());
switcherUsingDummy.turnOff(false);
REQUIRE(switcherUsingDummy.getState() == PowerSwitcher::WAIT_OFF);
REQUIRE(switcherUsingDummy.active());
REQUIRE(switcherUsingDummy.getState() == PowerSwitcher::WAIT_OFF);
switcherUsingDummy.doStateMachine();
REQUIRE(switcherUsingDummy.getState() == PowerSwitcher::SWITCH_IS_OFF);
REQUIRE(not switcherUsingDummy.active());
}
SECTION("More Dummy Tests") {}
}

View File

@ -21,8 +21,9 @@ enum sourceObjects : uint32_t {
HK_RECEIVER_MOCK = 22,
TEST_LOCAL_POOL_OWNER_BASE = 25,
SHARED_SET_ID = 26
SHARED_SET_ID = 26,
DUMMY_POWER_SWITCHER = 27
};
}