Compare commits

...

53 Commits

Author SHA1 Message Date
e6e1936293 Merge remote-tracking branch 'origin/mueller/dhb-periodoc-reply-fix' into mueller/master 2021-09-08 16:21:13 +02:00
15f35f200a Merge remote-tracking branch 'origin/mueller/dhb-bugfixes-improvements' into mueller/master 2021-09-08 16:20:42 +02:00
6b20bb197a Merge branch 'development' into mueller/dhb-bugfixes-improvements 2021-09-08 16:20:04 +02:00
215d01b3ca Merge branch 'mueller/dhb-bugfixes-improvements' into mueller/master 2021-09-08 16:09:03 +02:00
dfe49cc1e5 DHB improvements 2021-09-08 16:08:13 +02:00
73eb11f4f1 bugfixes and improvements 2021-09-08 16:01:46 +02:00
924c150af2 Possible bugfix in DHB
The delayCycles variables needs to be initialized differently
for periodic replies.
It is initialized to the maxDelayCycles value now
2021-09-06 12:05:30 +02:00
469eba3ce2 raised limit 2021-09-06 11:35:14 +02:00
fd2916af11 moved TCP cfg 2021-08-23 09:40:02 +02:00
afd375a7f8 minor fix for canonical read handling 2021-08-22 20:24:50 +02:00
5454169e20 UartComIF: set O_NONBLOCK in canonical mode
When using the non-canonical mode, the file descriptor can be opened
in blocking mode because the VTIME and VMIN termios parameters are
used to configure non-blocking mode. However, in canonical mode, the fd needs to be opened with O_NONBLOCK
2021-08-22 19:48:35 +02:00
7d0377845b printout for unknown command 2021-08-20 15:46:34 +02:00
882da68a2f Merge branch 'mueller/unix-file-guard-fix' into mueller/master 2021-08-19 17:17:03 +02:00
b6aebb3061 format adapted 2021-08-19 17:08:35 +02:00
04a1fe7f10 Merge pull request 'Update FSFW' (#12) from mueller/update-fsfw into eive/develop
Reviewed-on: #12
2021-08-18 12:47:31 +02:00
845c00044e printout fixes for UnixFileGuard 2021-08-18 11:27:39 +02:00
5f79f987ae Merge branch 'eive/develop' into mueller/update-fsfw 2021-08-18 11:27:02 +02:00
1183e5739d using upstream action helper
Will be merged upstream soon
2021-08-18 11:23:45 +02:00
e3697d6d8c fixed printout 2021-08-17 19:50:01 +02:00
406b77ea81 moved SPI wiretapping cfg 2021-08-17 16:34:25 +02:00
8a9eb27458 Merge pull request 'FSFW Update' (#11) from mueller/master into eive/develop
Reviewed-on: #11
2021-08-11 13:13:11 +02:00
1ac372cb89 getter function for UDP port 2021-08-09 18:22:22 +02:00
fb36dc4501 More improvements for TCP/UDP port definition 2021-08-09 18:12:25 +02:00
ba5e2ad8bb Cleaning up TCP and UDP code
Same port number used as before, but some inconsistencies fixed
2021-08-09 16:57:24 +02:00
5a6c81130d Merge remote-tracking branch 'upstream/development' into mueller/master 2021-08-09 16:18:38 +02:00
22e29144b6 Merge remote-tracking branch 'origin/eive/develop' into mueller/master 2021-08-09 11:12:37 +02:00
52bff3985f Merge pull request 'set sequence flags in space packet base' (#9) from meier/spacePacketFlag into eive/develop
Reviewed-on: #9
2021-08-09 11:11:46 +02:00
133820f463 Merge branch 'eive/develop' into meier/spacePacketFlag 2021-08-08 15:32:24 +02:00
8d3fceea8f set sequence flags in space packet base 2021-08-08 15:26:18 +02:00
3704d2b829 bugfix 2021-08-05 18:24:56 +02:00
6073abb12d added some utility to timer module 2021-08-05 18:13:01 +02:00
47bec654a0 Merge pull request 'Update EIVE FSFW' (#8) from mueller/master into eive/develop
Reviewed-on: #8
2021-08-05 16:35:23 +02:00
b2c102b2c1 Service Interface and Bugfix
1. Service Interface looks better now
2. Bugfix in CommandExecutor blocking mode
2021-08-05 16:13:22 +02:00
4202205182 getter function for current state 2021-08-05 16:02:17 +02:00
c8472beb5f added new command executor 2021-08-05 15:42:47 +02:00
1a4a85ceb2 Merge branch 'mueller/master' of https://egit.irs.uni-stuttgart.de/eive/fsfw into mueller/master 2021-08-03 18:38:27 +02:00
7922bf76da corrected README 2021-08-03 18:38:18 +02:00
bb88490cc6 Merge remote-tracking branch 'upstream/mueller/restructuring' into mueller/master 2021-08-03 15:55:38 +02:00
296c587e3d additional nullptr check 2021-08-03 15:29:22 +02:00
0ff81294e7 Merge branch 'eive/develop' of https://egit.irs.uni-stuttgart.de/eive/fsfw into eive/develop 2021-08-02 12:49:50 +02:00
b6e243b8b3 var name clarification 2021-08-02 12:49:40 +02:00
3bbcc42d39 Merge pull request 'type missmatch' (#7) from mohr-patch-1 into eive/develop
Reviewed-on: #7
2021-07-26 19:04:06 +02:00
fc4324a2fa type missmatch 2021-07-26 18:35:53 +02:00
54c028f913 naming adaptions 2021-07-26 13:50:45 +02:00
1f6a5e635f naming fixes 2021-07-26 11:46:58 +02:00
c5b4b01362 Merge branch 'mueller/master' into eive/develop 2021-07-24 15:04:01 +02:00
c5420c7b53 bumped subversion 2021-07-24 14:39:43 +02:00
3e422f51bd corrected version number 2021-07-24 13:43:13 +02:00
d1be0f9843 Merge pull request 'Update framework' (#6) from mueller/master into eive/develop
Reviewed-on: #6
2021-07-23 18:26:39 +02:00
b83259592a uart flush function 2021-07-23 18:06:36 +02:00
a7a4e0f219 api consistent now 2021-07-19 19:03:20 +02:00
bdc5f593e2 Merge remote-tracking branch 'upstream/mueller/master' into mueller/master 2021-07-19 18:50:20 +02:00
10f7185e81 added includes 2021-07-19 13:08:40 +02:00
32 changed files with 489 additions and 90 deletions

View File

@ -1,5 +1,10 @@
#include "fsfw/FSFW.h"
#include "fsfw/serviceinterface.h"
#include "fsfw_hal/linux/UnixFileGuard.h"
#include <cerrno>
#include <cstring>
UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags,
std::string diagnosticPrefix):
fileDescriptor(fileDescriptor) {
@ -10,12 +15,11 @@ UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags,
if (*fileDescriptor < 0) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << diagnosticPrefix <<"Opening device failed with error code " << errno <<
"." << std::endl;
sif::warning << "Error description: " << strerror(errno) << std::endl;
sif::warning << diagnosticPrefix << ": Opening device failed with error code " <<
errno << ": " << strerror(errno) << std::endl;
#else
sif::printError("%sOpening device failed with error code %d.\n", diagnosticPrefix);
sif::printWarning("Error description: %s\n", strerror(errno));
sif::printWarning("%s: Opening device failed with error code %d: %s\n",
diagnosticPrefix, errno, strerror(errno));
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
openStatus = OPEN_FILE_FAILED;

View File

@ -15,11 +15,6 @@
#include <cerrno>
#include <cstring>
/* Can be used for low-level debugging of the SPI bus */
#ifndef FSFW_HAL_LINUX_SPI_WIRETAPPING
#define FSFW_HAL_LINUX_SPI_WIRETAPPING 0
#endif
SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF):
SystemObject(objectId), gpioComIF(gpioComIF) {
if(gpioComIF == nullptr) {
@ -90,7 +85,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
int fileDescriptor = 0;
UnixFileGuard fileHelper(spiCookie->getSpiDevice(), &fileDescriptor, O_RDWR,
"SpiComIF::initializeInterface: ");
"SpiComIF::initializeInterface");
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
return fileHelper.getOpenResult();
}
@ -184,7 +179,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
/* Prepare transfer */
int fileDescriptor = 0;
std::string device = spiCookie->getSpiDevice();
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage: ");
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
return OPENING_FILE_FAILED;
}
@ -273,7 +268,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
std::string device = spiCookie->getSpiDevice();
int fileDescriptor = 0;
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR,
"SpiComIF::requestReceiveMessage: ");
"SpiComIF::requestReceiveMessage");
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
return OPENING_FILE_FAILED;
}

View File

@ -1,6 +1,7 @@
#ifndef LINUX_SPI_SPICOMIF_H_
#define LINUX_SPI_SPICOMIF_H_
#include "fsfw/FSFW.h"
#include "spiDefinitions.h"
#include "returnvalues/classIds.h"
#include "fsfw_hal/common/gpio/GpioIF.h"

View File

@ -1,6 +1,7 @@
#include "fsfw_hal/linux/uart/UartComIF.h"
#include "UartComIF.h"
#include "OBSWConfig.h"
#include "fsfw_hal/linux/utility.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include <cstring>
@ -60,7 +61,13 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
struct termios options = {};
std::string deviceFile = uartCookie->getDeviceFile();
int fd = open(deviceFile.c_str(), O_RDWR);
int flags = O_RDWR;
if(uartCookie->getUartMode() == UartModes::CANONICAL) {
// In non-canonical mode, don't specify O_NONBLOCK because these properties will be
// controlled by the VTIME and VMIN parameters and O_NONBLOCK would override this
flags |= O_NONBLOCK;
}
int fd = open(deviceFile.c_str(), flags);
if (fd < 0) {
sif::warning << "UartComIF::configureUartPort: Failed to open uart " << deviceFile <<
@ -259,23 +266,22 @@ void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCooki
ReturnValue_t UartComIF::sendMessage(CookieIF *cookie,
const uint8_t *sendData, size_t sendLen) {
int fd = 0;
std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter;
if(sendData == nullptr) {
sif::debug << "UartComIF::sendMessage: Send Data is nullptr" << std::endl;
return RETURN_FAILED;
}
if(sendLen == 0) {
return RETURN_OK;
}
if(sendData == nullptr) {
sif::warning << "UartComIF::sendMessage: Send data is nullptr" << std::endl;
return RETURN_FAILED;
}
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if(uartCookie == nullptr) {
sif::debug << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl;
sif::warning << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl;
return NULLPOINTER;
}
@ -347,12 +353,13 @@ ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceM
size_t maxReplySize = uartCookie.getMaxReplyLen();
int fd = iter->second.fileDescriptor;
auto bufferPtr = iter->second.replyBuffer.data();
iter->second.replyLen = 0;
do {
size_t allowedReadSize = 0;
if(currentBytesRead >= maxReplySize) {
// Overflow risk. Emit warning, trigger event and break. If this happens,
// the reception buffer is not large enough or data is not polled often enough.
#if OBSW_VERBOSE_LEVEL >= 1
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!"
<< std::endl;
@ -370,7 +377,20 @@ ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceM
bytesRead = read(fd, bufferPtr, allowedReadSize);
if (bytesRead < 0) {
return RETURN_FAILED;
// EAGAIN: No data available in non-blocking mode
if(errno != EAGAIN) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::handleCanonicalRead: read failed with code" <<
errno << ": " << strerror(errno) << std::endl;
#else
sif::printWarning("UartComIF::handleCanonicalRead: read failed with code %d: %s\n",
errno, strerror(errno));
#endif
#endif
return RETURN_FAILED;
}
}
else if(bytesRead > 0) {
iter->second.replyLen += bytesRead;

View File

@ -4,8 +4,8 @@
UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
uint32_t baudrate, size_t maxReplyLen):
handlerId(handlerId), deviceFile(deviceFile), uartMode(uartMode), baudrate(baudrate),
maxReplyLen(maxReplyLen) {
handlerId(handlerId), deviceFile(deviceFile), uartMode(uartMode),
baudrate(baudrate), maxReplyLen(maxReplyLen) {
}
UartCookie::~UartCookie() {}

View File

@ -11,6 +11,15 @@
#cmakedefine FSFW_ADD_MONITORING
#cmakedefine FSFW_ADD_SGP4_PROPAGATOR
#ifndef FSFW_TCP_RECV_WIRETAPPING_ENABLED
#define FSFW_TCP_RECV_WIRETAPPING_ENABLED 0
#endif
/* Can be used for low-level debugging of the SPI bus */
#ifndef FSFW_HAL_LINUX_SPI_WIRETAPPING
#define FSFW_HAL_LINUX_SPI_WIRETAPPING 0
#endif
#ifndef FSFW_HAL_L3GD20_GYRO_DEBUG
#define FSFW_HAL_L3GD20_GYRO_DEBUG 0
#endif /* FSFW_HAL_L3GD20_GYRO_DEBUG */

View File

@ -1,12 +1,10 @@
#ifndef FSFW_DEFAULTCFG_VERSION_H_
#define FSFW_DEFAULTCFG_VERSION_H_
#ifndef FSFW_VERSION_H_
#define FSFW_VERSION_H_
const char* const FSFW_VERSION_NAME = "ASTP";
#define FSFW_VERSION 1
#define FSFW_SUBVERSION 0
#define FSFW_SUBVERSION 3
#define FSFW_REVISION 0
#endif /* FSFW_DEFAULTCFG_VERSION_H_ */
#endif /* FSFW_VERSION_H_ */

View File

@ -85,9 +85,10 @@ public:
* Called by DHB in the GET_WRITE doGetWrite().
* Get send confirmation that the data in sendMessage() was sent successfully.
* @param cookie
* @return - @c RETURN_OK if data was sent successfull
* - Everything else triggers falure event with
* returnvalue as parameter 1
* @return
* - @c RETURN_OK if data was sent successfully but a reply is expected
* - NO_REPLY_EXPECTED if data was sent successfully and no reply is expected
* - Everything else to indicate failure
*/
virtual ReturnValue_t getSendSuccess(CookieIF *cookie) = 0;

View File

@ -653,11 +653,12 @@ void DeviceHandlerBase::doGetWrite() {
replyRawData(rawPacket, rawPacketLen, requestedRawTraffic, true);
}
//We need to distinguish here, because a raw command never expects a reply.
//(Could be done in eRIRM, but then child implementations need to be careful.
// We need to distinguish here, because a raw command never expects a reply.
// This could be done in the #enableReplyInReplyMap call,
// but then child implementations would need to be careful.
result = enableReplyInReplyMap(cookieInfo.pendingCommand);
} else {
//always generate a failure event, so that FDIR knows what's up
} else if (result != NO_REPLY_EXPECTED) {
// always generate a failure event, so that FDIR knows what's up
triggerEvent(DEVICE_SENDING_COMMAND_FAILED, result,
cookieInfo.pendingCommand->first);
}
@ -1341,10 +1342,20 @@ void DeviceHandlerBase::buildInternalCommand(void) {
DeviceCommandMap::iterator iter = deviceCommandMap.find(
deviceCommandId);
if (iter == deviceCommandMap.end()) {
#if FSFW_VERBOSE_LEVEL >= 1
char output[36];
sprintf(output, "Command 0x%08x unknown",
static_cast<unsigned int>(deviceCommandId));
// so we can track misconfigurations
printWarningOrError(sif::OutputTypes::OUT_WARNING,
"buildInternalCommand",
COMMAND_NOT_SUPPORTED,
output);
#endif
result = COMMAND_NOT_SUPPORTED;
}
else if (iter->second.isExecuting) {
#if FSFW_DISABLE_PRINTOUT == 0
#if FSFW_VERBOSE_LEVEL >= 1
char output[36];
sprintf(output, "Command 0x%08x is executing",
static_cast<unsigned int>(deviceCommandId));

View File

@ -327,15 +327,17 @@ protected:
* The existence of the command in the command map and the command size check against 0 are
* done by the base class.
*
* The base class will generate a finish reply or a step automatically as long as the
* send success is confirmed in the #getSendSuccess function call of the communication
* interface. NO_REPLY_EXPECTED should be returned for a finish reply, RETURN_OK should be
* returned for a step reply and everything else will trigger a step failure.
*
* @param deviceCommand The command to build, already checked against deviceCommandMap
* @param commandData Pointer to the data from the direct command
* @param commandDataLen Length of commandData
* @return
* - @c RETURN_OK to send command after #rawPacket and #rawPacketLen
* have been set.
* - @c HasActionsIF::EXECUTION_COMPLETE to generate a finish reply immediately. This can
* be used if no reply is expected. Otherwise, the developer can call #actionHelper.finish
* to finish the command handling.
* - Anything else triggers an event with the return code as a parameter as well as a
* step reply failed with the return code
*/

View File

@ -120,7 +120,8 @@ public:
static const ReturnValue_t WRONG_MODE_FOR_COMMAND = MAKE_RETURN_CODE(0xA5);
static const ReturnValue_t TIMEOUT = MAKE_RETURN_CODE(0xA6);
static const ReturnValue_t BUSY = MAKE_RETURN_CODE(0xA7);
static const ReturnValue_t NO_REPLY_EXPECTED = MAKE_RETURN_CODE(0xA8); //!< Used to indicate that this is a command-only command.
//!< Used to indicate that this is a command-only command.
static const ReturnValue_t NO_REPLY_EXPECTED = MAKE_RETURN_CODE(0xA8);
static const ReturnValue_t NON_OP_TEMPERATURE = MAKE_RETURN_CODE(0xA9);
static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xAA);

View File

@ -81,7 +81,7 @@ public:
* @param args Any other arguments which an implementation might require
* @return
*/
virtual ReturnValue_t deleteFile(const char* repositoryPath,
virtual ReturnValue_t removeFile(const char* repositoryPath,
const char* filename, void* args = nullptr) = 0;
/**

View File

@ -1,6 +1,5 @@
#include "fsfw/platform.h"
#include "fsfw/osal/common/TcpTmTcBridge.h"
#include "fsfw/osal/common/tcpipHelpers.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/ipc/MutexGuard.h"
@ -17,8 +16,6 @@
#endif
const std::string TcpTmTcBridge::DEFAULT_UDP_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT;
TcpTmTcBridge::TcpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
object_id_t tmStoreId, object_id_t tcStoreId):
TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {

View File

@ -2,7 +2,7 @@
#define FSFW_OSAL_COMMON_TCPTMTCBRIDGE_H_
#include "TcpIpBase.h"
#include "../../tmtcservices/TmTcBridge.h"
#include "fsfw/tmtcservices/TmTcBridge.h"
#ifdef _WIN32
@ -29,8 +29,6 @@ class TcpTmTcBridge:
public TmTcBridge {
friend class TcpTmTcServer;
public:
/* The ports chosen here should not be used by any other process. */
static const std::string DEFAULT_UDP_SERVER_PORT;
/**
* Constructor

View File

@ -1,8 +1,10 @@
#include "fsfw/osal/common/TcpTmTcServer.h"
#include "fsfw/osal/common/TcpTmTcBridge.h"
#include "fsfw/osal/common/tcpipHelpers.h"
#include "fsfw/platform.h"
#include "fsfw/FSFW.h"
#include "TcpTmTcServer.h"
#include "TcpTmTcBridge.h"
#include "tcpipHelpers.h"
#include "fsfw/container/SharedRingBuffer.h"
#include "fsfw/ipc/MessageQueueSenderIF.h"
#include "fsfw/ipc/MutexGuard.h"
@ -18,18 +20,14 @@
#include <netdb.h>
#endif
#ifndef FSFW_TCP_RECV_WIRETAPPING_ENABLED
#define FSFW_TCP_RECV_WIRETAPPING_ENABLED 0
#endif
const std::string TcpTmTcServer::DEFAULT_TCP_SERVER_PORT = "7303";
const std::string TcpTmTcServer::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT;
TcpTmTcServer::TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge,
size_t receptionBufferSize, std::string customTcpServerPort):
SystemObject(objectId), tmtcBridgeId(tmtcTcpBridge),
tcpPort(customTcpServerPort), receptionBuffer(receptionBufferSize) {
if(tcpPort == "") {
tcpPort = DEFAULT_TCP_SERVER_PORT;
tcpPort = DEFAULT_SERVER_PORT;
}
}
@ -200,6 +198,10 @@ void TcpTmTcServer::setTcpBacklog(uint8_t tcpBacklog) {
this->tcpBacklog = tcpBacklog;
}
std::string TcpTmTcServer::getTcpPort() const {
return tcpPort;
}
ReturnValue_t TcpTmTcServer::handleTmSending(socket_t connSocket) {
// Access to the FIFO is mutex protected because it is filled by the bridge
MutexGuard(tmtcBridge->mutex, tmtcBridge->timeoutType, tmtcBridge->mutexTimeoutMs);

View File

@ -3,13 +3,14 @@
#include "TcpIpBase.h"
#include "../../platform.h"
#include "../../ipc/messageQueueDefinitions.h"
#include "../../ipc/MessageQueueIF.h"
#include "../../objectmanager/frameworkObjects.h"
#include "../../objectmanager/SystemObject.h"
#include "../../storagemanager/StorageManagerIF.h"
#include "../../tasks/ExecutableObjectIF.h"
#include "fsfw/platform.h"
#include "fsfw/osal/common/tcpipHelpers.h"
#include "fsfw/ipc/messageQueueDefinitions.h"
#include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/objectmanager/frameworkObjects.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/storagemanager/StorageManagerIF.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#ifdef PLATFORM_UNIX
#include <sys/socket.h>
@ -41,10 +42,9 @@ class TcpTmTcServer:
public TcpIpBase,
public ExecutableObjectIF {
public:
/* The ports chosen here should not be used by any other process. */
static const std::string DEFAULT_TCP_SERVER_PORT;
static const std::string DEFAULT_SERVER_PORT;
static constexpr size_t ETHERNET_MTU_SIZE = 1500;
static constexpr size_t ETHERNET_MTU_SIZE = 1500;
/**
* TCP Server Constructor
@ -65,6 +65,8 @@ public:
ReturnValue_t performOperation(uint8_t opCode) override;
ReturnValue_t initializeAfterTaskCreation() override;
std::string getTcpPort() const;
protected:
StorageManagerIF* tcStore = nullptr;
StorageManagerIF* tmStore = nullptr;

View File

@ -17,13 +17,13 @@
#define FSFW_UDP_SEND_WIRETAPPING_ENABLED 0
#endif
const std::string UdpTmTcBridge::DEFAULT_UDP_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT;
const std::string UdpTmTcBridge::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT;
UdpTmTcBridge::UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
std::string udpServerPort, object_id_t tmStoreId, object_id_t tcStoreId):
TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
if(udpServerPort == "") {
this->udpServerPort = DEFAULT_UDP_SERVER_PORT;
this->udpServerPort = DEFAULT_SERVER_PORT;
}
else {
this->udpServerPort = udpServerPort;
@ -108,6 +108,10 @@ UdpTmTcBridge::~UdpTmTcBridge() {
}
}
std::string UdpTmTcBridge::getUdpPort() const {
return udpServerPort;
}
ReturnValue_t UdpTmTcBridge::sendTm(const uint8_t *data, size_t dataLen) {
int flags = 0;

View File

@ -2,8 +2,8 @@
#define FSFW_OSAL_COMMON_TMTCUDPBRIDGE_H_
#include "TcpIpBase.h"
#include "../../platform.h"
#include "../../tmtcservices/TmTcBridge.h"
#include "fsfw/platform.h"
#include "fsfw/tmtcservices/TmTcBridge.h"
#ifdef PLATFORM_WIN
#include <ws2tcpip.h>
@ -28,7 +28,7 @@ class UdpTmTcBridge:
friend class UdpTcPollingTask;
public:
/* The ports chosen here should not be used by any other process. */
static const std::string DEFAULT_UDP_SERVER_PORT;
static const std::string DEFAULT_SERVER_PORT;
UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
std::string udpServerPort = "", object_id_t tmStoreId = objects::TM_STORE,
@ -44,6 +44,8 @@ public:
void checkAndSetClientAddress(sockaddr& clientAddress);
std::string getUdpPort() const;
protected:
virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override;

View File

@ -1,7 +1,7 @@
#ifndef FSFW_OSAL_COMMON_TCPIPCOMMON_H_
#define FSFW_OSAL_COMMON_TCPIPCOMMON_H_
#include "../../timemanager/clockDefinitions.h"
#include "fsfw/timemanager/clockDefinitions.h"
#include <string>
#ifdef _WIN32
@ -13,7 +13,7 @@
namespace tcpip {
const char* const DEFAULT_SERVER_PORT = "7301";
static constexpr char DEFAULT_SERVER_PORT[] = "7301";
enum class Protocol {
UDP,

View File

@ -16,6 +16,7 @@ target_sources(${LIB_FSFW_NAME}
Timer.cpp
tcpipHelpers.cpp
unixUtility.cpp
CommandExecutor.cpp
)
find_package(Threads REQUIRED)

View File

@ -0,0 +1,185 @@
#include "CommandExecutor.h"
#include "fsfw/serviceinterface.h"
#include "fsfw/container/SimpleRingBuffer.h"
#include "fsfw/container/DynamicFIFO.h"
#include <unistd.h>
#include <cstring>
CommandExecutor::CommandExecutor(const size_t maxSize):
readVec(maxSize) {
waiter.events = POLLIN;
}
ReturnValue_t CommandExecutor::load(std::string command, bool blocking, bool printOutput) {
if(state == States::PENDING) {
return COMMAND_PENDING;
}
currentCmd = command;
this->blocking = blocking;
this->printOutput = printOutput;
if(state == States::IDLE) {
state = States::COMMAND_LOADED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CommandExecutor::execute() {
if(state == States::IDLE) {
return NO_COMMAND_LOADED_OR_PENDING;
}
else if(state == States::PENDING) {
return COMMAND_PENDING;
}
currentCmdFile = popen(currentCmd.c_str(), "r");
if(currentCmdFile == nullptr) {
lastError = errno;
return HasReturnvaluesIF::RETURN_FAILED;
}
if(blocking) {
return executeBlocking();
}
else {
currentFd = fileno(currentCmdFile);
waiter.fd = currentFd;
}
state = States::PENDING;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CommandExecutor::close() {
if(state == States::PENDING) {
// Attempt to close process, irrespective of if it is running or not
if(currentCmdFile != nullptr) {
pclose(currentCmdFile);
}
}
return HasReturnvaluesIF::RETURN_OK;
}
void CommandExecutor::printLastError(std::string funcName) const {
if(lastError != 0) {
sif::error << funcName << " pclose failed with code " <<
lastError << ": " << strerror(lastError) << std::endl;
}
}
void CommandExecutor::setRingBuffer(SimpleRingBuffer *ringBuffer,
DynamicFIFO<uint16_t>* sizesFifo) {
this->ringBuffer = ringBuffer;
this->sizesFifo = sizesFifo;
}
ReturnValue_t CommandExecutor::check(bool& bytesRead) {
if(blocking) {
return HasReturnvaluesIF::RETURN_OK;
}
switch(state) {
case(States::IDLE):
case(States::COMMAND_LOADED): {
return NO_COMMAND_LOADED_OR_PENDING;
}
case(States::PENDING): {
break;
}
}
int result = poll(&waiter, 1, 0);
switch(result) {
case(0): {
return HasReturnvaluesIF::RETURN_OK;
break;
}
case(1): {
if (waiter.revents & POLLIN) {
ssize_t readBytes = read(currentFd, readVec.data(), readVec.size());
if(readBytes == 0) {
// Should not happen
sif::warning << "CommandExecutor::check: "
"No bytes read after poll event.." << std::endl;
break;
}
else if(readBytes > 0) {
bytesRead = true;
if(printOutput) {
// It is assumed the command output is line terminated
sif::info << currentCmd << " | " << readVec.data();
}
if(ringBuffer != nullptr) {
ringBuffer->writeData(reinterpret_cast<const uint8_t*>(
readVec.data()), readBytes);
}
if(sizesFifo != nullptr) {
if(not sizesFifo->full()) {
sizesFifo->insert(readBytes);
}
}
return BYTES_READ;
}
else {
// Should also not happen
sif::warning << "CommandExecutor::check: Error " << errno << ": " <<
strerror(errno) << std::endl;
}
}
else if(waiter.revents & POLLERR) {
sif::warning << "CommandExecuter::check: Poll error" << std::endl;
return COMMAND_ERROR;
}
else if(waiter.revents & POLLHUP) {
int result = pclose(currentCmdFile);
if(result != 0) {
lastError = result;
return HasReturnvaluesIF::RETURN_FAILED;
}
state = States::IDLE;
currentCmdFile = nullptr;
currentFd = 0;
return EXECUTION_FINISHED;
}
break;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
void CommandExecutor::reset() {
CommandExecutor::close();
currentCmdFile = nullptr;
currentFd = 0;
state = States::IDLE;
}
int CommandExecutor::getLastError() const {
return this->lastError;
}
CommandExecutor::States CommandExecutor::getCurrentState() const {
return state;
}
ReturnValue_t CommandExecutor::executeBlocking() {
while(fgets(readVec.data(), readVec.size(), currentCmdFile) != nullptr) {
std::string output(readVec.data());
if(printOutput) {
sif::info << currentCmd << " | " << output;
}
if(ringBuffer != nullptr) {
ringBuffer->writeData(reinterpret_cast<const uint8_t*>(output.data()), output.size());
}
if(sizesFifo != nullptr) {
if(not sizesFifo->full()) {
sizesFifo->insert(output.size());
}
}
}
int result = pclose(currentCmdFile);
if(result != 0) {
lastError = result;
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}

View File

@ -0,0 +1,134 @@
#ifndef FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_
#define FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/returnvalues/FwClassIds.h"
#include <poll.h>
#include <string>
#include <vector>
class SimpleRingBuffer;
template <typename T> class DynamicFIFO;
/**
* @brief Helper class to execute shell commands in blocking and non-blocking mode
* @details
* This class is able to execute processes by using the Linux popen call. It also has the
* capability of writing the read output of a process into a provided ring buffer.
*
* The executor works by first loading the command which should be executed and specifying
* whether it should be executed blocking or non-blocking. After that, execution can be started
* with the execute command. In blocking mode, the execute command will block until the command
* has finished
*/
class CommandExecutor {
public:
enum class States {
IDLE,
COMMAND_LOADED,
PENDING
};
static constexpr uint8_t CLASS_ID = CLASS_ID::LINUX_OSAL;
//! [EXPORT] : [COMMENT] Execution of the current command has finished
static constexpr ReturnValue_t EXECUTION_FINISHED =
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 0);
//! [EXPORT] : [COMMENT] Command is pending. This will also be returned if the user tries
//! to load another command but a command is still pending
static constexpr ReturnValue_t COMMAND_PENDING =
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1);
//! [EXPORT] : [COMMENT] Some bytes have been read from the executing process
static constexpr ReturnValue_t BYTES_READ =
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2);
//! [EXPORT] : [COMMENT] Command execution failed
static constexpr ReturnValue_t COMMAND_ERROR =
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 3);
//! [EXPORT] : [COMMENT]
static constexpr ReturnValue_t NO_COMMAND_LOADED_OR_PENDING =
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 4);
static constexpr ReturnValue_t PCLOSE_CALL_ERROR =
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 6);
/**
* Constructor. Is initialized with maximum size of internal buffer to read data from the
* executed process.
* @param maxSize
*/
CommandExecutor(const size_t maxSize);
/**
* Load a new command which should be executed
* @param command
* @param blocking
* @param printOutput
* @return
*/
ReturnValue_t load(std::string command, bool blocking, bool printOutput = true);
/**
* Execute the loaded command.
* @return
* - In blocking mode, it will return RETURN_FAILED if
* the result of the system call was not 0. The error value can be accessed using
* getLastError
* - In non-blocking mode, this call will start
* the execution and then return RETURN_OK
*/
ReturnValue_t execute();
/**
* Only used in non-blocking mode. Checks the currently running command.
* @param bytesRead Will be set to the number of bytes read, if bytes have been read
* @return
* - BYTES_READ if bytes have been read from the executing process. It is recommended to call
* check again after this
* - RETURN_OK execution is pending, but no bytes have been read from the executing process
* - RETURN_FAILED if execution has failed, error value can be accessed using getLastError
* - EXECUTION_FINISHED if the process was executed successfully
* - COMMAND_ERROR internal poll error
*/
ReturnValue_t check(bool& bytesRead);
/**
* Abort the current command. Should normally not be necessary, check can be used to find
* out whether command execution was successful
* @return RETURN_OK
*/
ReturnValue_t close();
States getCurrentState() const;
int getLastError() const;
void printLastError(std::string funcName) const;
/**
* Assign a ring buffer and a FIFO which will be filled by the executor with the output
* read from the started process
* @param ringBuffer
* @param sizesFifo
*/
void setRingBuffer(SimpleRingBuffer* ringBuffer, DynamicFIFO<uint16_t>* sizesFifo);
/**
* Reset the executor. This calls close internally and then reset the state machine so new
* commands can be loaded and executed
*/
void reset();
private:
std::string currentCmd;
bool blocking = true;
FILE* currentCmdFile = nullptr;
int currentFd = 0;
bool printOutput = true;
std::vector<char> readVec;
struct pollfd waiter {};
SimpleRingBuffer* ringBuffer = nullptr;
DynamicFIFO<uint16_t>* sizesFifo = nullptr;
States state = States::IDLE;
int lastError = 0;
ReturnValue_t executeBlocking();
};
#endif /* FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_ */

View File

@ -27,6 +27,7 @@ int Timer::setTimer(uint32_t intervalMs) {
timer.it_value.tv_nsec = (intervalMs * 1000000) % (1000000000);
timer.it_interval.tv_sec = 0;
timer.it_interval.tv_nsec = 0;
set = true;
return timer_settime(timerId, 0, &timer, NULL);
}
@ -43,3 +44,14 @@ int Timer::getTimer(uint32_t* remainingTimeMs){
return status;
}
bool Timer::isSet() const {
return this->set;
}
void Timer::resetTimer() {
if(not this->set) {
set = false;
}
setTimer(0);
}

View File

@ -38,7 +38,11 @@ public:
*/
int getTimer(uint32_t* remainingTimeMs);
bool isSet() const;
void resetTimer();
private:
bool set = true;
timer_t timerId;
};

View File

@ -33,8 +33,8 @@ ReturnValue_t Service8FunctionManagement::getMessageQueueAndObject(
if(tcDataLen < sizeof(object_id_t)) {
return CommandingServiceBase::INVALID_TC;
}
SerializeAdapter::deSerialize(objectId, &tcData,
&tcDataLen, SerializeIF::Endianness::BIG);
// Can't fail, size was checked before
SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen, SerializeIF::Endianness::BIG);
return checkInterfaceAndAcquireMessageQueue(id,objectId);
}

View File

@ -13,10 +13,10 @@
/**
* @brief FailureReport class to serialize a failure report
* @brief Subservice 1, 3, 5, 7
* @brief Subservice 2, 4, 6, 8
* @ingroup spacepackets
*/
class FailureReport: public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 1, 3, 5, 7
class FailureReport: public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 2, 4, 6, 8
public:
FailureReport(uint8_t failureSubtype_, uint16_t packetId_,
uint16_t packetSequenceControl_, uint8_t stepNumber_,
@ -108,10 +108,10 @@ private:
};
/**
* @brief Subservices 2, 4, 6, 8
* @brief Subservices 1, 3, 5, 7
* @ingroup spacepackets
*/
class SuccessReport: public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 2, 4, 6, 8
class SuccessReport: public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 1, 3, 5, 7
public:
SuccessReport(uint8_t subtype_, uint16_t packetId_,
uint16_t packetSequenceControl_,uint8_t stepNumber_) :

View File

@ -72,6 +72,7 @@ enum: uint8_t {
PUS_SERVICE_3, //PUS3
PUS_SERVICE_9, //PUS9
FILE_SYSTEM, //FILS
LINUX_OSAL, //UXOS
HAL_SPI, //HSPI
HAL_UART, //HURT
HAL_I2C, //HI2C

View File

@ -22,9 +22,9 @@ public:
* @param number
* @return
*/
static constexpr ReturnValue_t makeReturnCode(uint8_t interfaceId,
static constexpr ReturnValue_t makeReturnCode(uint8_t classId,
uint8_t number) {
return (static_cast<ReturnValue_t>(interfaceId) << 8) + number;
return (static_cast<ReturnValue_t>(classId) << 8) + number;
}
};

View File

@ -1,5 +1,8 @@
#ifndef FRAMEWORK_TASKS_TYPEDEF_H_
#define FRAMEWORK_TASKS_TYPEDEF_H_
#ifndef FSFW_TASKS_TYPEDEF_H_
#define FSFW_TASKS_TYPEDEF_H_
#include <cstdint>
#include <cstddef>
typedef const char* TaskName;
typedef uint32_t TaskPriority;
@ -7,4 +10,4 @@ typedef size_t TaskStackSize;
typedef double TaskPeriod;
typedef void (*TaskDeadlineMissedFunction)();
#endif /* FRAMEWORK_TASKS_TYPEDEF_H_ */
#endif /* FSFW_TASKS_TYPEDEF_H_ */

View File

@ -54,6 +54,11 @@ void SpacePacketBase::setAPID( uint16_t new_apid ) {
this->data->header.packet_id_l = ( new_apid & 0x00FF );
}
void SpacePacketBase::setSequenceFlags( uint8_t sequenceflags ) {
this->data->header.sequence_control_h &= 0x3F;
this->data->header.sequence_control_h |= sequenceflags << 6;
}
uint16_t SpacePacketBase::getPacketSequenceControl( void ) {
return ( (this->data->header.sequence_control_h) << 8 )
+ this->data->header.sequence_control_l;

View File

@ -109,6 +109,13 @@ public:
* ignored.
*/
void setAPID( uint16_t setAPID );
/**
* Sets the sequence flags of a packet, which are bit 17 and 18 in the space packet header.
* @param The sequence flags to set
*/
void setSequenceFlags( uint8_t sequenceflags );
/**
* Returns the CCSDS packet sequence control field, which are the third and
* the fourth byte of the CCSDS primary header.

View File

@ -19,7 +19,7 @@ class TmTcBridge : public AcceptsTelemetryIF,
public:
static constexpr uint8_t TMTC_RECEPTION_QUEUE_DEPTH = 20;
static constexpr uint8_t LIMIT_STORED_DATA_SENT_PER_CYCLE = 15;
static constexpr uint8_t LIMIT_DOWNLINK_PACKETS_STORED = 20;
static constexpr uint8_t LIMIT_DOWNLINK_PACKETS_STORED = 200;
static constexpr uint8_t DEFAULT_STORED_DATA_SENT_PER_CYCLE = 5;
static constexpr uint8_t DEFAULT_DOWNLINK_PACKETS_STORED = 10;