diff --git a/CHANGELOG b/CHANGELOG index 2d901791..298ef0d4 100644 --- a/CHANGELOG +++ b/CHANGELOG @@ -70,3 +70,15 @@ now ### Commanding Service Base - CSB uses the new fsfwconfig::FSFW_CSB_FIFO_DEPTH variable to determine the FIFO depth for each CSB instance. This variable has to be set in the FSFWConfig.h file + +### Service Interface + +- Proper printf support contained in ServiceInterfacePrinter.h +- CPP ostream support now optional (can reduce executable size by 150 - 250 kB) +- Amalagated header which determines automatically which service interface to use depending on FSFWConfig.h configuration. + Users can just use #include +- If CPP streams are excluded, sif:: calls won't work anymore and need to be replaced by their printf counterparts. + For the fsfw, this can be done by checking the processor define FSFW_CPP_OSTREAM_ENABLED from FSFWConfig.h. + For mission code, developers need to replace sif:: calls by the printf counterparts, but only if the CPP stream are excluded. + If this is not the case, everything should work as usual. +- \ No newline at end of file diff --git a/CMakeLists.txt b/CMakeLists.txt index 02849ca4..3cc5ffd5 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -139,5 +139,4 @@ target_include_directories(${LIB_FSFW_NAME} PRIVATE target_compile_options(${LIB_FSFW_NAME} PRIVATE ${WARNING_FLAGS} ${COMPILER_FLAGS} - ${ABI_FLAGS} ) diff --git a/container/SharedRingBuffer.cpp b/container/SharedRingBuffer.cpp index 6ddb3d3e..769ce000 100644 --- a/container/SharedRingBuffer.cpp +++ b/container/SharedRingBuffer.cpp @@ -47,9 +47,11 @@ ReturnValue_t SharedRingBuffer::initialize() { DynamicFIFO* SharedRingBuffer::getReceiveSizesFIFO() { if(receiveSizesFIFO == nullptr) { // Configuration error. +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "SharedRingBuffer::getReceiveSizesFIFO: Ring buffer" << " was not configured to have sizes FIFO, returning nullptr!" << std::endl; +#endif } return receiveSizesFIFO; } diff --git a/controller/ExtendedControllerBase.cpp b/controller/ExtendedControllerBase.cpp index fa4f6786..017acafe 100644 --- a/controller/ExtendedControllerBase.cpp +++ b/controller/ExtendedControllerBase.cpp @@ -107,7 +107,9 @@ MessageQueueId_t ExtendedControllerBase::getCommandQueue() const { } LocalPoolDataSetBase* ExtendedControllerBase::getDataSetHandle(sid_t sid) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "ExtendedControllerBase::getDataSetHandle: No child " << " implementation provided, returning nullptr!" << std::endl; +#endif return nullptr; } diff --git a/datalinklayer/Clcw.cpp b/datalinklayer/Clcw.cpp index dc435a2b..13971929 100644 --- a/datalinklayer/Clcw.cpp +++ b/datalinklayer/Clcw.cpp @@ -55,7 +55,9 @@ void Clcw::setBitLock(bool bitLock) { } void Clcw::print() { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "Clcw::print: Clcw is: " << std::hex << getAsWhole() << std::dec << std::endl; +#endif } void Clcw::setWhole(uint32_t rawClcw) { diff --git a/datalinklayer/DataLinkLayer.cpp b/datalinklayer/DataLinkLayer.cpp index 75f2edda..1bdaa4f5 100644 --- a/datalinklayer/DataLinkLayer.cpp +++ b/datalinklayer/DataLinkLayer.cpp @@ -98,8 +98,10 @@ ReturnValue_t DataLinkLayer::processFrame(uint16_t length) { receivedDataLength = length; ReturnValue_t status = allFramesReception(); if (status != RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "DataLinkLayer::processFrame: frame reception failed. " "Error code: " << std::hex << status << std::dec << std::endl; +#endif // currentFrame.print(); return status; } else { @@ -124,7 +126,9 @@ ReturnValue_t DataLinkLayer::initialize() { if ( virtualChannels.begin() != virtualChannels.end() ) { clcw->setVirtualChannel( virtualChannels.begin()->second->getChannelId() ); } else { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "DataLinkLayer::initialize: No VC assigned to this DLL instance! " << std::endl; +#endif return RETURN_FAILED; } diff --git a/datalinklayer/MapPacketExtraction.cpp b/datalinklayer/MapPacketExtraction.cpp index 845ed7c1..cdc9ae27 100644 --- a/datalinklayer/MapPacketExtraction.cpp +++ b/datalinklayer/MapPacketExtraction.cpp @@ -29,9 +29,11 @@ ReturnValue_t MapPacketExtraction::extractPackets(TcTransferFrame* frame) { bufferPosition = &packetBuffer[packetLength]; status = RETURN_OK; } else { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "MapPacketExtraction::extractPackets. Packet too large! Size: " << packetLength << std::endl; +#endif clearBuffers(); status = CONTENT_TOO_LARGE; } @@ -51,24 +53,30 @@ ReturnValue_t MapPacketExtraction::extractPackets(TcTransferFrame* frame) { } status = RETURN_OK; } else { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "MapPacketExtraction::extractPackets. Packet too large! Size: " << packetLength << std::endl; +#endif clearBuffers(); status = CONTENT_TOO_LARGE; } } else { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "MapPacketExtraction::extractPackets. Illegal segment! Last flag: " << (int) lastSegmentationFlag << std::endl; +#endif clearBuffers(); status = ILLEGAL_SEGMENTATION_FLAG; } break; default: +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "MapPacketExtraction::extractPackets. Illegal segmentationFlag: " << (int) segmentationFlag << std::endl; +#endif clearBuffers(); status = DATA_CORRUPTED; break; @@ -135,10 +143,14 @@ ReturnValue_t MapPacketExtraction::initialize() { } void MapPacketExtraction::printPacketBuffer(void) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "DLL: packet_buffer contains: " << std::endl; +#endif for (uint32_t i = 0; i < this->packetLength; ++i) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "packet_buffer[" << std::dec << i << "]: 0x" << std::hex << (uint16_t) this->packetBuffer[i] << std::endl; +#endif } } diff --git a/datalinklayer/TcTransferFrame.cpp b/datalinklayer/TcTransferFrame.cpp index f1a70bdc..ee094dc3 100644 --- a/datalinklayer/TcTransferFrame.cpp +++ b/datalinklayer/TcTransferFrame.cpp @@ -87,16 +87,25 @@ uint8_t* TcTransferFrame::getFullDataField() { } void TcTransferFrame::print() { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "Raw Frame: " << std::hex << std::endl; for (uint16_t count = 0; count < this->getFullSize(); count++ ) { sif::debug << (uint16_t)this->getFullFrame()[count] << " "; } sif::debug << std::dec << std::endl; -// debug << "Frame Header:" << std::endl; -// debug << "Version Number: " << std::hex << (uint16_t)this->current_frame.getVersionNumber() << std::endl; -// debug << "Bypass Flag set?| Ctrl Cmd Flag set?: " << (uint16_t)this->current_frame.bypassFlagSet() << " | " << (uint16_t)this->current_frame.controlCommandFlagSet() << std::endl; -// debug << "SCID : " << this->current_frame.getSpacecraftId() << std::endl; -// debug << "VCID : " << (uint16_t)this->current_frame.getVirtualChannelId() << std::endl; -// debug << "Frame length: " << std::dec << this->current_frame.getFrameLength() << std::endl; -// debug << "Sequence Number: " << (uint16_t)this->current_frame.getSequenceNumber() << std::endl; + + sif::debug << "Frame Header:" << std::endl; + sif::debug << "Version Number: " << std::hex + << (uint16_t)this->getVersionNumber() << std::endl; + sif::debug << "Bypass Flag set?| Ctrl Cmd Flag set?: " + << (uint16_t)this->bypassFlagSet() << " | " + << (uint16_t)this->controlCommandFlagSet() << std::endl; + sif::debug << "SCID : " << this->getSpacecraftId() << std::endl; + sif::debug << "VCID : " << (uint16_t)this->getVirtualChannelId() + << std::endl; + sif::debug << "Frame length: " << std::dec << this->getFrameLength() + << std::endl; + sif::debug << "Sequence Number: " << (uint16_t)this->getSequenceNumber() + << std::endl; +#endif } diff --git a/datalinklayer/TcTransferFrameLocal.cpp b/datalinklayer/TcTransferFrameLocal.cpp index e8785c92..de8f568f 100644 --- a/datalinklayer/TcTransferFrameLocal.cpp +++ b/datalinklayer/TcTransferFrameLocal.cpp @@ -37,7 +37,9 @@ TcTransferFrameLocal::TcTransferFrameLocal(bool bypass, bool controlCommand, uin this->getFullFrame()[getFullSize()-2] = (crc & 0xFF00) >> 8; this->getFullFrame()[getFullSize()-1] = (crc & 0x00FF); } else { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "TcTransferFrameLocal: dataSize too large: " << dataSize << std::endl; +#endif } } else { //No data in frame diff --git a/datalinklayer/VirtualChannelReception.cpp b/datalinklayer/VirtualChannelReception.cpp index cde28de3..3a56fe1e 100644 --- a/datalinklayer/VirtualChannelReception.cpp +++ b/datalinklayer/VirtualChannelReception.cpp @@ -102,8 +102,10 @@ uint8_t VirtualChannelReception::getChannelId() const { ReturnValue_t VirtualChannelReception::initialize() { ReturnValue_t returnValue = RETURN_FAILED; if ((slidingWindowWidth > 254) || (slidingWindowWidth % 2 != 0)) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "VirtualChannelReception::initialize: Illegal sliding window width: " << (int) slidingWindowWidth << std::endl; +#endif return RETURN_FAILED; } for (mapChannelIterator iterator = mapChannels.begin(); iterator != mapChannels.end(); diff --git a/datapool/PoolDataSetBase.cpp b/datapool/PoolDataSetBase.cpp index cb2348f7..5fb1c3c7 100644 --- a/datapool/PoolDataSetBase.cpp +++ b/datapool/PoolDataSetBase.cpp @@ -9,21 +9,28 @@ PoolDataSetBase::PoolDataSetBase(PoolVariableIF** registeredVariablesArray, PoolDataSetBase::~PoolDataSetBase() {} + ReturnValue_t PoolDataSetBase::registerVariable( PoolVariableIF *variable) { - if (state != States::DATA_SET_UNINITIALISED) { + if (state != States::STATE_SET_UNINITIALISED) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "DataSet::registerVariable: " "Call made in wrong position." << std::endl; +#endif return DataSetIF::DATA_SET_UNINITIALISED; } if (variable == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "DataSet::registerVariable: " "Pool variable is nullptr." << std::endl; +#endif return DataSetIF::POOL_VAR_NULL; } if (fillCount >= maxFillCount) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "DataSet::registerVariable: " "DataSet is full." << std::endl; +#endif return DataSetIF::DATA_SET_FULL; } registeredVariables[fillCount] = variable; @@ -33,23 +40,30 @@ ReturnValue_t PoolDataSetBase::registerVariable( ReturnValue_t PoolDataSetBase::read(uint32_t lockTimeout) { ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; - if (state == States::DATA_SET_UNINITIALISED) { + ReturnValue_t error = result; + if (state == States::STATE_SET_UNINITIALISED) { lockDataPool(lockTimeout); for (uint16_t count = 0; count < fillCount; count++) { result = readVariable(count); if(result != RETURN_OK) { - break; + error = result; } } - state = States::DATA_SET_WAS_READ; + state = States::STATE_SET_WAS_READ; unlockDataPool(); } else { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "DataSet::read(): " "Call made in wrong position. Don't forget to commit" " member datasets!" << std::endl; +#endif result = SET_WAS_ALREADY_READ; } + + if(error != HasReturnvaluesIF::RETURN_OK) { + result = error; + } return result; } @@ -71,7 +85,13 @@ ReturnValue_t PoolDataSetBase::readVariable(uint16_t count) { registeredVariables[count]->getDataPoolId() != PoolVariableIF::NO_PARAMETER) { - result = registeredVariables[count]->readWithoutLock(); + if(protectEveryReadCommitCall) { + result = registeredVariables[count]->read(mutexTimeout); + } + else { + result = registeredVariables[count]->readWithoutLock(); + } + if(result != HasReturnvaluesIF::RETURN_OK) { result = INVALID_PARAMETER_DEFINITION; } @@ -80,7 +100,7 @@ ReturnValue_t PoolDataSetBase::readVariable(uint16_t count) { } ReturnValue_t PoolDataSetBase::commit(uint32_t lockTimeout) { - if (state == States::DATA_SET_WAS_READ) { + if (state == States::STATE_SET_WAS_READ) { handleAlreadyReadDatasetCommit(lockTimeout); return HasReturnvaluesIF::RETURN_OK; } @@ -96,10 +116,15 @@ void PoolDataSetBase::handleAlreadyReadDatasetCommit(uint32_t lockTimeout) { != PoolVariableIF::VAR_READ && registeredVariables[count]->getDataPoolId() != PoolVariableIF::NO_PARAMETER) { - registeredVariables[count]->commitWithoutLock(); + if(protectEveryReadCommitCall) { + registeredVariables[count]->commit(mutexTimeout); + } + else { + registeredVariables[count]->commitWithoutLock(); + } } } - state = States::DATA_SET_UNINITIALISED; + state = States::STATE_SET_UNINITIALISED; unlockDataPool(); } @@ -111,17 +136,25 @@ ReturnValue_t PoolDataSetBase::handleUnreadDatasetCommit(uint32_t lockTimeout) { == PoolVariableIF::VAR_WRITE && registeredVariables[count]->getDataPoolId() != PoolVariableIF::NO_PARAMETER) { - registeredVariables[count]->commitWithoutLock(); + if(protectEveryReadCommitCall) { + result = registeredVariables[count]->commit(mutexTimeout); + } + else { + result = registeredVariables[count]->commitWithoutLock(); + } + } else if (registeredVariables[count]->getDataPoolId() != PoolVariableIF::NO_PARAMETER) { if (result != COMMITING_WITHOUT_READING) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "DataSet::commit(): commit-without-read call made " "with non write-only variable." << std::endl; +#endif result = COMMITING_WITHOUT_READING; } } } - state = States::DATA_SET_UNINITIALISED; + state = States::STATE_SET_UNINITIALISED; unlockDataPool(); return result; } @@ -172,3 +205,9 @@ size_t PoolDataSetBase::getSerializedSize() const { void PoolDataSetBase::setContainer(PoolVariableIF **variablesContainer) { this->registeredVariables = variablesContainer; } + +void PoolDataSetBase::setReadCommitProtectionBehaviour( + bool protectEveryReadCommit, uint32_t mutexTimeout) { + this->protectEveryReadCommitCall = protectEveryReadCommit; + this->mutexTimeout = mutexTimeout; +} diff --git a/datapool/PoolDataSetBase.h b/datapool/PoolDataSetBase.h index a8931d62..7c1d84a4 100644 --- a/datapool/PoolDataSetBase.h +++ b/datapool/PoolDataSetBase.h @@ -44,6 +44,7 @@ public: /** * @brief The read call initializes reading out all registered variables. + * It is mandatory to call commit after every read call! * @details * It iterates through the list of registered variables and calls all read() * functions of the registered pool variables (which read out their values @@ -52,13 +53,14 @@ public: * the operation is aborted and @c INVALID_PARAMETER_DEFINITION returned. * * The data pool is locked during the whole read operation and - * freed afterwards.The state changes to "was written" after this operation. + * freed afterwards. It is mandatory to call commit after a read call, + * even if the read operation is not successful! * @return * - @c RETURN_OK if all variables were read successfully. - * - @c INVALID_PARAMETER_DEFINITION if PID, size or type of the - * requested variable is invalid. + * - @c INVALID_PARAMETER_DEFINITION if a pool entry does not exist or there + * is a type conflict. * - @c SET_WAS_ALREADY_READ if read() is called twice without calling - * commit() in between + * commit() in between */ virtual ReturnValue_t read(uint32_t lockTimeout = MutexIF::BLOCKING) override; @@ -75,7 +77,7 @@ public: * If the set does contain at least one variable which is not write-only * commit() can only be called after read(). If the set only contains * variables which are write only, commit() can be called without a - * preceding read() call. + * preceding read() call. Every read call must be followed by a commit call! * @return - @c RETURN_OK if all variables were read successfully. * - @c COMMITING_WITHOUT_READING if set was not read yet and * contains non write-only variables @@ -89,6 +91,7 @@ public: * @return */ virtual ReturnValue_t registerVariable( PoolVariableIF* variable) override; + /** * Provides the means to lock the underlying data structure to ensure * thread-safety. Default implementation is empty @@ -114,6 +117,15 @@ public: SerializeIF::Endianness streamEndianness) override; protected: + + /** + * Can be used to individually protect every read and commit call. + * @param protectEveryReadCommit + * @param mutexTimeout + */ + void setReadCommitProtectionBehaviour(bool protectEveryReadCommit, + uint32_t mutexTimeout = 20); + /** * @brief The fill_count attribute ensures that the variables * register in the correct array position and that the maximum @@ -124,14 +136,14 @@ protected: * States of the seet. */ enum class States { - DATA_SET_UNINITIALISED, //!< DATA_SET_UNINITIALISED - DATA_SET_WAS_READ //!< DATA_SET_WAS_READ + STATE_SET_UNINITIALISED, //!< DATA_SET_UNINITIALISED + STATE_SET_WAS_READ //!< DATA_SET_WAS_READ }; /** * @brief state manages the internal state of the data set, * which is important e.g. for the behavior on destruction. */ - States state = States::DATA_SET_UNINITIALISED; + States state = States::STATE_SET_UNINITIALISED; /** * @brief This array represents all pool variables registered in this set. @@ -144,6 +156,9 @@ protected: void setContainer(PoolVariableIF** variablesContainer); private: + bool protectEveryReadCommitCall = false; + uint32_t mutexTimeout = 20; + ReturnValue_t readVariable(uint16_t count); void handleAlreadyReadDatasetCommit(uint32_t lockTimeout); ReturnValue_t handleUnreadDatasetCommit(uint32_t lockTimeout); diff --git a/datapool/PoolDataSetIF.h b/datapool/PoolDataSetIF.h index aa45fa54..99c06cfd 100644 --- a/datapool/PoolDataSetIF.h +++ b/datapool/PoolDataSetIF.h @@ -1,19 +1,17 @@ #ifndef FSFW_DATAPOOL_POOLDATASETIF_H_ #define FSFW_DATAPOOL_POOLDATASETIF_H_ +#include "ReadCommitIF.h" #include "DataSetIF.h" /** * @brief Extendes the DataSetIF by adding abstract functions to lock * and unlock a data pool and read/commit semantics. */ -class PoolDataSetIF: public DataSetIF { +class PoolDataSetIF: public DataSetIF, public ReadCommitIF { public: virtual~ PoolDataSetIF() {}; - virtual ReturnValue_t read(dur_millis_t lockTimeout) = 0; - virtual ReturnValue_t commit(dur_millis_t lockTimeout) = 0; - /** * @brief Most underlying data structures will have a pool like structure * and will require a lock and unlock mechanism to ensure diff --git a/datapool/PoolEntry.cpp b/datapool/PoolEntry.cpp index fb73328c..58375162 100644 --- a/datapool/PoolEntry.cpp +++ b/datapool/PoolEntry.cpp @@ -3,6 +3,7 @@ #include "../serviceinterface/ServiceInterfaceStream.h" #include "../globalfunctions/arrayprinter.h" #include +#include template PoolEntry::PoolEntry(std::initializer_list initValue, uint8_t setLength, @@ -12,9 +13,11 @@ PoolEntry::PoolEntry(std::initializer_list initValue, uint8_t setLength, std::memset(this->address, 0, this->getByteSize()); } else if (initValue.size() != setLength){ +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "PoolEntry: setLength is not equal to initializer list" "length! Performing zero initialization with given setLength" << std::endl; +#endif std::memset(this->address, 0, this->getByteSize()); } else { @@ -67,10 +70,14 @@ bool PoolEntry::getValid() { template void PoolEntry::print() { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "Pool Entry Validity: " << (this->valid? " (valid) " : " (invalid) ") << std::endl; +#endif arrayprinter::print(reinterpret_cast(address), length); +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << std::dec << std::endl; +#endif } template diff --git a/datapool/PoolVariableIF.h b/datapool/PoolVariableIF.h index cd15f744..9740fc12 100644 --- a/datapool/PoolVariableIF.h +++ b/datapool/PoolVariableIF.h @@ -3,6 +3,7 @@ #include "../returnvalues/HasReturnvaluesIF.h" #include "../serialize/SerializeIF.h" +#include "ReadCommitIF.h" /** * @brief This interface is used to control data pool @@ -17,9 +18,9 @@ * @author Bastian Baetz * @ingroup data_pool */ -class PoolVariableIF : public SerializeIF { +class PoolVariableIF : public SerializeIF, + public ReadCommitIF { friend class PoolDataSetBase; - friend class GlobDataSet; friend class LocalPoolDataSetBase; public: static constexpr uint8_t INTERFACE_ID = CLASS_ID::POOL_VARIABLE_IF; @@ -57,41 +58,6 @@ public: */ virtual void setValid(bool validity) = 0; - /** - * @brief The commit call shall write back a newly calculated local - * value to the data pool. - * @details - * It is assumed that these calls are implemented in a thread-safe manner! - */ - virtual ReturnValue_t commit(uint32_t lockTimeout) = 0; - /** - * @brief The read call shall read the value of this parameter from - * the data pool and store the content locally. - * @details - * It is assumbed that these calls are implemented in a thread-safe manner! - */ - virtual ReturnValue_t read(uint32_t lockTimeout) = 0; - -protected: - - /** - * @brief Same as commit with the difference that comitting will be - * performed without a lock - * @return - * This can be used if the lock protection is handled externally - * to avoid the overhead of locking and unlocking consecutively. - * Declared protected to avoid free public usage. - */ - virtual ReturnValue_t readWithoutLock() = 0; - /** - * @brief Same as commit with the difference that comitting will be - * performed without a lock - * @return - * This can be used if the lock protection is handled externally - * to avoid the overhead of locking and unlocking consecutively. - * Declared protected to avoid free public usage. - */ - virtual ReturnValue_t commitWithoutLock() = 0; }; using pool_rwm_t = PoolVariableIF::ReadWriteMode_t; diff --git a/datapool/ReadCommitIF.h b/datapool/ReadCommitIF.h new file mode 100644 index 00000000..0cdce371 --- /dev/null +++ b/datapool/ReadCommitIF.h @@ -0,0 +1,31 @@ +#ifndef FSFW_DATAPOOL_READCOMMITIF_H_ +#define FSFW_DATAPOOL_READCOMMITIF_H_ + +#include + +/** + * @brief Common interface for all software objects which employ read-commit + * semantics. + */ +class ReadCommitIF { +public: + virtual ~ReadCommitIF() {} + virtual ReturnValue_t read(uint32_t mutexTimeout) = 0; + virtual ReturnValue_t commit(uint32_t mutexTimeout) = 0; + +protected: + + //! Optional and protected because this is interesting for classes grouping + //! members with commit and read semantics where the lock is only necessary + //! once. + virtual ReturnValue_t readWithoutLock() { + return read(20); + } + + virtual ReturnValue_t commitWithoutLock() { + return commit(20); + } +}; + + +#endif /* FSFW_DATAPOOL_READCOMMITIF_H_ */ diff --git a/datapoollocal/HasLocalDataPoolIF.h b/datapoollocal/HasLocalDataPoolIF.h index 7f1f202e..7707fab8 100644 --- a/datapoollocal/HasLocalDataPoolIF.h +++ b/datapoollocal/HasLocalDataPoolIF.h @@ -44,6 +44,9 @@ public: static constexpr uint8_t INTERFACE_ID = CLASS_ID::LOCAL_POOL_OWNER_IF; + static constexpr ReturnValue_t POOL_ENTRY_NOT_FOUND = MAKE_RETURN_CODE(0x00); + static constexpr ReturnValue_t POOL_ENTRY_TYPE_CONFLICT = MAKE_RETURN_CODE(0x01); + static constexpr uint32_t INVALID_LPID = localpool::INVALID_LPID; virtual object_id_t getObjectId() const = 0; @@ -86,8 +89,10 @@ public: * @return */ virtual LocalPoolObjectBase* getPoolObjectHandle(lp_id_t localPoolId) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "HasLocalDataPoolIF::getPoolObjectHandle: Not overriden" << ". Returning nullptr!" << std::endl; +#endif return nullptr; } diff --git a/datapoollocal/LocalDataPoolManager.cpp b/datapoollocal/LocalDataPoolManager.cpp index f649a362..24516aad 100644 --- a/datapoollocal/LocalDataPoolManager.cpp +++ b/datapoollocal/LocalDataPoolManager.cpp @@ -21,15 +21,19 @@ LocalDataPoolManager::LocalDataPoolManager(HasLocalDataPoolIF* owner, MessageQueueIF* queueToUse, bool appendValidityBuffer): appendValidityBuffer(appendValidityBuffer) { if(owner == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "LocalDataPoolManager::LocalDataPoolManager: " << "Invalid supplied owner!" << std::endl; +#endif return; } this->owner = owner; mutex = MutexFactory::instance()->createMutex(); if(mutex == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "LocalDataPoolManager::LocalDataPoolManager: " << "Could not create mutex." << std::endl; +#endif } hkQueue = queueToUse; @@ -39,17 +43,21 @@ LocalDataPoolManager::~LocalDataPoolManager() {} ReturnValue_t LocalDataPoolManager::initialize(MessageQueueIF* queueToUse) { if(queueToUse == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "LocalDataPoolManager::initialize: " << std::hex << "0x" << owner->getObjectId() << ". Supplied " << "queue invalid!" << std::dec << std::endl; +#endif } hkQueue = queueToUse; ipcStore = objectManager->get(objects::IPC_STORE); if(ipcStore == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "LocalDataPoolManager::initialize: " << std::hex << "0x" << owner->getObjectId() << ": Could not " << "set IPC store." <getHkQueue(); } else { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "LocalDataPoolManager::LocalDataPoolManager: " << "Default HK destination object is invalid!" << std::endl; +#endif return HasReturnvaluesIF::RETURN_FAILED; } } @@ -85,8 +95,10 @@ ReturnValue_t LocalDataPoolManager::initializeHousekeepingPoolEntriesOnce() { } return result; } +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "HousekeepingManager: The map should only be initialized " << "once!" << std::endl; +#endif return HasReturnvaluesIF::RETURN_OK; } @@ -339,8 +351,10 @@ ReturnValue_t LocalDataPoolManager::subscribeForPeriodicPacket(sid_t sid, AcceptsHkPacketsIF* hkReceiverObject = objectManager->get(packetDestination); if(hkReceiverObject == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "LocalDataPoolManager::subscribeForPeriodicPacket:" << " Invalid receiver!"<< std::endl; +#endif return HasReturnvaluesIF::RETURN_OK; } @@ -369,8 +383,10 @@ ReturnValue_t LocalDataPoolManager::subscribeForUpdatePackets(sid_t sid, AcceptsHkPacketsIF* hkReceiverObject = objectManager->get(packetDestination); if(hkReceiverObject == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "LocalDataPoolManager::subscribeForPeriodicPacket:" << " Invalid receiver!"<< std::endl; +#endif return HasReturnvaluesIF::RETURN_OK; } @@ -575,9 +591,11 @@ ReturnValue_t LocalDataPoolManager::printPoolEntry( lp_id_t localPoolId) { auto poolIter = localPoolMap.find(localPoolId); if (poolIter == localPoolMap.end()) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "HousekeepingManager::fechPoolEntry:" << " Pool entry not found." << std::endl; - return POOL_ENTRY_NOT_FOUND; +#endif + return HasLocalDataPoolIF::POOL_ENTRY_NOT_FOUND; } poolIter->second->print(); return HasReturnvaluesIF::RETURN_OK; @@ -596,8 +614,10 @@ ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid, MessageQueueId_t destination) { if(dataSet == nullptr) { // Configuration error. +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "HousekeepingManager::generateHousekeepingPacket:" << " Set ID not found or dataset not assigned!" << std::endl; +#endif return HasReturnvaluesIF::RETURN_FAILED; } @@ -678,10 +698,12 @@ void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver& receiver) { sid, dataSet, true); if(result != HasReturnvaluesIF::RETURN_OK) { // configuration error +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "LocalDataPoolManager::performHkOperation:" << "0x" << std::hex << std::setfill('0') << std::setw(8) << owner->getObjectId() << " Error generating " << "HK packet" << std::setfill(' ') << std::dec << std::endl; +#endif } } @@ -726,8 +748,10 @@ ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid, // Get and check dataset first. LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid); if(dataSet == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "HousekeepingManager::generateHousekeepingPacket:" << " Set ID not found" << std::endl; +#endif return HasReturnvaluesIF::RETURN_FAILED; } @@ -752,8 +776,10 @@ ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid, ReturnValue_t result = ipcStore->getFreeElement(&storeId, expectedSize,&storePtr); if(result != HasReturnvaluesIF::RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "HousekeepingManager::generateHousekeepingPacket: " << "Could not get free element from IPC store." << std::endl; +#endif return result; } @@ -762,8 +788,10 @@ ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid, result = setPacket.serialize(&storePtr, &size, expectedSize, SerializeIF::Endianness::BIG); if(expectedSize != size) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "HousekeepingManager::generateSetStructurePacket: " << "Expected size is not equal to serialized size" << std::endl; +#endif } // Send structure reporting reply. diff --git a/datapoollocal/LocalDataPoolManager.h b/datapoollocal/LocalDataPoolManager.h index c4024cf9..0e98b90c 100644 --- a/datapoollocal/LocalDataPoolManager.h +++ b/datapoollocal/LocalDataPoolManager.h @@ -55,14 +55,11 @@ class LocalDataPoolManager { public: static constexpr uint8_t INTERFACE_ID = CLASS_ID::HOUSEKEEPING_MANAGER; - static constexpr ReturnValue_t POOL_ENTRY_NOT_FOUND = MAKE_RETURN_CODE(0x00); - static constexpr ReturnValue_t POOL_ENTRY_TYPE_CONFLICT = MAKE_RETURN_CODE(0x01); + static constexpr ReturnValue_t QUEUE_OR_DESTINATION_NOT_SET = MAKE_RETURN_CODE(0x0); - static constexpr ReturnValue_t QUEUE_OR_DESTINATION_NOT_SET = MAKE_RETURN_CODE(0x02); - - static constexpr ReturnValue_t WRONG_HK_PACKET_TYPE = MAKE_RETURN_CODE(0x03); - static constexpr ReturnValue_t REPORTING_STATUS_UNCHANGED = MAKE_RETURN_CODE(0x04); - static constexpr ReturnValue_t PERIODIC_HELPER_INVALID = MAKE_RETURN_CODE(0x05); + static constexpr ReturnValue_t WRONG_HK_PACKET_TYPE = MAKE_RETURN_CODE(0x01); + static constexpr ReturnValue_t REPORTING_STATUS_UNCHANGED = MAKE_RETURN_CODE(0x02); + static constexpr ReturnValue_t PERIODIC_HELPER_INVALID = MAKE_RETURN_CODE(0x03); /** * This constructor is used by a class which wants to implement @@ -378,16 +375,20 @@ ReturnValue_t LocalDataPoolManager::fetchPoolEntry(lp_id_t localPoolId, PoolEntry **poolEntry) { auto poolIter = localPoolMap.find(localPoolId); if (poolIter == localPoolMap.end()) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "HousekeepingManager::fechPoolEntry: Pool entry " "not found." << std::endl; - return POOL_ENTRY_NOT_FOUND; +#endif + return HasLocalDataPoolIF::POOL_ENTRY_NOT_FOUND; } *poolEntry = dynamic_cast< PoolEntry* >(poolIter->second); if(*poolEntry == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "HousekeepingManager::fetchPoolEntry:" " Pool entry not found." << std::endl; - return POOL_ENTRY_TYPE_CONFLICT; +#endif + return HasLocalDataPoolIF::POOL_ENTRY_TYPE_CONFLICT; } return HasReturnvaluesIF::RETURN_OK; } diff --git a/datapoollocal/LocalPoolDataSetBase.cpp b/datapoollocal/LocalPoolDataSetBase.cpp index 640956db..dbe34dfd 100644 --- a/datapoollocal/LocalPoolDataSetBase.cpp +++ b/datapoollocal/LocalPoolDataSetBase.cpp @@ -8,12 +8,14 @@ LocalPoolDataSetBase::LocalPoolDataSetBase(HasLocalDataPoolIF *hkOwner, uint32_t setId, PoolVariableIF** registeredVariablesArray, - const size_t maxNumberOfVariables, bool noPeriodicHandling): + const size_t maxNumberOfVariables, bool periodicHandling): PoolDataSetBase(registeredVariablesArray, maxNumberOfVariables) { if(hkOwner == nullptr) { // Configuration error. +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "LocalPoolDataSetBase::LocalPoolDataSetBase: Owner " << "invalid!" << std::endl; +#endif return; } hkManager = hkOwner->getHkManagerHandle(); @@ -23,7 +25,7 @@ LocalPoolDataSetBase::LocalPoolDataSetBase(HasLocalDataPoolIF *hkOwner, mutex = MutexFactory::instance()->createMutex(); // Data creators get a periodic helper for periodic HK data generation. - if(not noPeriodicHandling) { + if(periodicHandling) { periodicHelper = new PeriodicHousekeepingHelper(this); } } @@ -34,13 +36,9 @@ LocalPoolDataSetBase::LocalPoolDataSetBase(sid_t sid, PoolDataSetBase(registeredVariablesArray, maxNumberOfVariables) { HasLocalDataPoolIF* hkOwner = objectManager->get( sid.objectId); - if(hkOwner == nullptr) { - // Configuration error. - sif::error << "LocalPoolDataSetBase::LocalPoolDataSetBase: Owner " - << "invalid!" << std::endl; - return; + if(hkOwner != nullptr) { + hkManager = hkOwner->getHkManagerHandle(); } - hkManager = hkOwner->getHkManagerHandle(); this->sid = sid; mutex = MutexFactory::instance()->createMutex(); @@ -50,8 +48,11 @@ LocalPoolDataSetBase::~LocalPoolDataSetBase() { } ReturnValue_t LocalPoolDataSetBase::lockDataPool(uint32_t timeoutMs) { - MutexIF* mutex = hkManager->getMutexHandle(); - return mutex->lockMutex(MutexIF::TimeoutType::WAITING, timeoutMs); + if(hkManager != nullptr) { + MutexIF* mutex = hkManager->getMutexHandle(); + return mutex->lockMutex(MutexIF::TimeoutType::WAITING, timeoutMs); + } + return HasReturnvaluesIF::RETURN_OK; } ReturnValue_t LocalPoolDataSetBase::serializeWithValidityBuffer(uint8_t **buffer, @@ -127,8 +128,11 @@ ReturnValue_t LocalPoolDataSetBase::deSerializeWithValidityBuffer( } ReturnValue_t LocalPoolDataSetBase::unlockDataPool() { - MutexIF* mutex = hkManager->getMutexHandle(); - return mutex->unlockMutex(); + if(hkManager != nullptr) { + MutexIF* mutex = hkManager->getMutexHandle(); + return mutex->unlockMutex(); + } + return HasReturnvaluesIF::RETURN_OK; } ReturnValue_t LocalPoolDataSetBase::serializeLocalPoolIds(uint8_t** buffer, @@ -145,8 +149,10 @@ ReturnValue_t LocalPoolDataSetBase::serializeLocalPoolIds(uint8_t** buffer, auto result = SerializeAdapter::serialize(¤tPoolId, buffer, size, maxSize, streamEndianness); if(result != HasReturnvaluesIF::RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "LocalDataSet::serializeLocalPoolIds: Serialization" " error!" << std::endl; +#endif return result; } } @@ -204,8 +210,10 @@ ReturnValue_t LocalPoolDataSetBase::serialize(uint8_t **buffer, size_t *size, void LocalPoolDataSetBase::bitSetter(uint8_t* byte, uint8_t position) const { if(position > 7) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "Pool Raw Access: Bit setting invalid position" << std::endl; +#endif return; } uint8_t shiftNumber = position + (7 - 2 * position); @@ -254,8 +262,10 @@ sid_t LocalPoolDataSetBase::getSid() const { bool LocalPoolDataSetBase::bitGetter(const uint8_t* byte, uint8_t position) const { if(position > 7) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "Pool Raw Access: Bit setting invalid position" << std::endl; +#endif return false; } uint8_t shiftNumber = position + (7 - 2 * position); @@ -276,3 +286,9 @@ void LocalPoolDataSetBase::setValidity(bool valid, bool setEntriesRecursively) { } this->valid = valid; } + +void LocalPoolDataSetBase::setReadCommitProtectionBehaviour( + bool protectEveryReadCommit, uint32_t mutexTimeout) { + PoolDataSetBase::setReadCommitProtectionBehaviour(protectEveryReadCommit, + mutexTimeout); +} diff --git a/datapoollocal/LocalPoolDataSetBase.h b/datapoollocal/LocalPoolDataSetBase.h index aa155bf1..d9b6a221 100644 --- a/datapoollocal/LocalPoolDataSetBase.h +++ b/datapoollocal/LocalPoolDataSetBase.h @@ -54,7 +54,7 @@ public: */ LocalPoolDataSetBase(HasLocalDataPoolIF *hkOwner, uint32_t setId, PoolVariableIF** registeredVariablesArray, - const size_t maxNumberOfVariables, bool noPeriodicHandling = false); + const size_t maxNumberOfVariables, bool periodicHandling = true); /** * @brief Constructor for users of local pool data. @@ -77,6 +77,16 @@ public: */ ~LocalPoolDataSetBase(); + /** + * If the data is pulled from different local data pools, every read and + * commit call should be mutex protected for thread safety. + * This can be specified with the second parameter. + * @param dataCreator + * @param protectEveryReadCommit + */ + void setReadCommitProtectionBehaviour(bool protectEveryReadCommit, + uint32_t mutexTimeout = 20); + void setValidityBufferGeneration(bool withValidityBuffer); sid_t getSid() const; @@ -128,6 +138,7 @@ public: protected: sid_t sid; + uint32_t mutexTimeout = 20; MutexIF* mutex = nullptr; bool diagnostic = false; @@ -181,7 +192,7 @@ protected: */ ReturnValue_t unlockDataPool() override; - LocalDataPoolManager* hkManager; + LocalDataPoolManager* hkManager = nullptr; /** * Set n-th bit of a byte, with n being the position from 0 diff --git a/datapoollocal/LocalPoolObjectBase.cpp b/datapoollocal/LocalPoolObjectBase.cpp index b4d0e306..4b57dede 100644 --- a/datapoollocal/LocalPoolObjectBase.cpp +++ b/datapoollocal/LocalPoolObjectBase.cpp @@ -5,12 +5,16 @@ LocalPoolObjectBase::LocalPoolObjectBase(lp_id_t poolId, pool_rwm_t setReadWriteMode): localPoolId(poolId), readWriteMode(setReadWriteMode) { if(poolId == PoolVariableIF::NO_PARAMETER) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "LocalPoolVar::LocalPoolVar: 0 passed as pool ID, " << "which is the NO_PARAMETER value!" << std::endl; +#endif } if(hkOwner == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "LocalPoolVar::LocalPoolVar: The supplied pool " << "owner is a invalid!" << std::endl; +#endif return; } hkManager = hkOwner->getHkManagerHandle(); @@ -23,15 +27,19 @@ LocalPoolObjectBase::LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId, DataSetIF *dataSet, pool_rwm_t setReadWriteMode): localPoolId(poolId), readWriteMode(setReadWriteMode) { if(poolId == PoolVariableIF::NO_PARAMETER) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "LocalPoolVar::LocalPoolVar: 0 passed as pool ID, " << "which is the NO_PARAMETER value!" << std::endl; +#endif } HasLocalDataPoolIF* hkOwner = objectManager->get(poolOwner); if(hkOwner == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "LocalPoolVariable: The supplied pool owner did not " << "implement the correct interface" << " HasLocalDataPoolIF!" << std::endl; +#endif return; } hkManager = hkOwner->getHkManagerHandle(); diff --git a/datapoollocal/LocalPoolVariable.h b/datapoollocal/LocalPoolVariable.h index 7b7e443e..84be54b1 100644 --- a/datapoollocal/LocalPoolVariable.h +++ b/datapoollocal/LocalPoolVariable.h @@ -157,10 +157,12 @@ protected: */ ReturnValue_t commitWithoutLock() override; +#if FSFW_CPP_OSTREAM_ENABLED == 1 // std::ostream is the type for object std::cout template friend std::ostream& operator<< (std::ostream &out, const LocalPoolVariable &var); +#endif private: }; diff --git a/datapoollocal/LocalPoolVariable.tpp b/datapoollocal/LocalPoolVariable.tpp index 48649ad5..cd5117c8 100644 --- a/datapoollocal/LocalPoolVariable.tpp +++ b/datapoollocal/LocalPoolVariable.tpp @@ -11,14 +11,14 @@ inline LocalPoolVariable::LocalPoolVariable(HasLocalDataPoolIF* hkOwner, LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {} template -inline LocalPoolVariable::LocalPoolVariable(object_id_t poolOwner, lp_id_t poolId, - DataSetIF *dataSet, pool_rwm_t setReadWriteMode): +inline LocalPoolVariable::LocalPoolVariable(object_id_t poolOwner, + lp_id_t poolId, DataSetIF *dataSet, pool_rwm_t setReadWriteMode): LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {} template -inline LocalPoolVariable::LocalPoolVariable(gp_id_t globalPoolId, DataSetIF *dataSet, - pool_rwm_t setReadWriteMode): +inline LocalPoolVariable::LocalPoolVariable(gp_id_t globalPoolId, + DataSetIF *dataSet, pool_rwm_t setReadWriteMode): LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId, dataSet, setReadWriteMode){} @@ -33,18 +33,22 @@ inline ReturnValue_t LocalPoolVariable::read(dur_millis_t lockTimeout) { template inline ReturnValue_t LocalPoolVariable::readWithoutLock() { if(readWriteMode == pool_rwm_t::VAR_WRITE) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "LocalPoolVar: Invalid read write " "mode for read() call." << std::endl; +#endif return PoolVariableIF::INVALID_READ_WRITE_MODE; } PoolEntry* poolEntry = nullptr; ReturnValue_t result = hkManager->fetchPoolEntry(localPoolId, &poolEntry); - if(result != RETURN_OK and poolEntry != nullptr) { + if(result != RETURN_OK or poolEntry == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "PoolVector: Read of local pool variable of object " - "0x" << std::hex << std::setw(8) << std::setfill('0') << - hkManager->getOwner() << " and lp ID 0x" << localPoolId << - std::dec << " failed.\n" << std::flush; + << std::hex << std::setw(8) << std::setfill('0') + << hkManager->getOwner() << " and lp ID " << localPoolId + << std::dec << " failed." << std::setfill(' ') << std::endl; +#endif return result; } this->value = *(poolEntry->address); @@ -62,17 +66,21 @@ inline ReturnValue_t LocalPoolVariable::commit(dur_millis_t lockTimeout) { template inline ReturnValue_t LocalPoolVariable::commitWithoutLock() { if(readWriteMode == pool_rwm_t::VAR_READ) { - sif::debug << "LocalPoolVar: Invalid read write " +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::debug << "LocalPoolVariable: Invalid read write " "mode for commit() call." << std::endl; +#endif return PoolVariableIF::INVALID_READ_WRITE_MODE; } PoolEntry* poolEntry = nullptr; ReturnValue_t result = hkManager->fetchPoolEntry(localPoolId, &poolEntry); if(result != RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "PoolVector: Read of local pool variable of object " "0x" << std::hex << std::setw(8) << std::setfill('0') << hkManager->getOwner() << " and lp ID 0x" << localPoolId << std::dec << " failed.\n" << std::flush; +#endif return result; } *(poolEntry->address) = this->value; @@ -98,12 +106,14 @@ inline ReturnValue_t LocalPoolVariable::deSerialize(const uint8_t** buffer, return SerializeAdapter::deSerialize(&value, buffer, size, streamEndianness); } +#if FSFW_CPP_OSTREAM_ENABLED == 1 template inline std::ostream& operator<< (std::ostream &out, const LocalPoolVariable &var) { out << var.value; return out; } +#endif template inline LocalPoolVariable::operator T() const { diff --git a/datapoollocal/LocalPoolVector.tpp b/datapoollocal/LocalPoolVector.tpp index 46123ccc..5c3b0ce0 100644 --- a/datapoollocal/LocalPoolVector.tpp +++ b/datapoollocal/LocalPoolVector.tpp @@ -32,8 +32,10 @@ inline ReturnValue_t LocalPoolVector::read(uint32_t lockTimeout) template inline ReturnValue_t LocalPoolVector::readWithoutLock() { if(readWriteMode == pool_rwm_t::VAR_WRITE) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "LocalPoolVar: Invalid read write " "mode for read() call." << std::endl; +#endif return PoolVariableIF::INVALID_READ_WRITE_MODE; } @@ -42,10 +44,12 @@ inline ReturnValue_t LocalPoolVector::readWithoutLock() { memset(this->value, 0, vectorSize * sizeof(T)); if(result != RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "PoolVector: Read of local pool variable of object " "0x" << std::hex << std::setw(8) << std::setfill('0') << hkManager->getOwner() << "and lp ID 0x" << localPoolId << std::dec << " failed." << std::endl; +#endif return result; } std::memcpy(this->value, poolEntry->address, poolEntry->getByteSize()); @@ -64,17 +68,21 @@ inline ReturnValue_t LocalPoolVector::commit( template inline ReturnValue_t LocalPoolVector::commitWithoutLock() { if(readWriteMode == pool_rwm_t::VAR_READ) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "LocalPoolVar: Invalid read write " "mode for commit() call." << std::endl; +#endif return PoolVariableIF::INVALID_READ_WRITE_MODE; } PoolEntry* poolEntry = nullptr; ReturnValue_t result = hkManager->fetchPoolEntry(localPoolId, &poolEntry); if(result != RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "PoolVector: Read of local pool variable of object " "0x" << std::hex << std::setw(8) << std::setfill('0') << hkManager->getOwner() << " and lp ID 0x" << localPoolId << std::dec << " failed.\n" << std::flush; +#endif return result; } std::memcpy(poolEntry->address, this->value, poolEntry->getByteSize()); @@ -89,8 +97,10 @@ inline T& LocalPoolVector::operator [](int i) { } // If this happens, I have to set some value. I consider this // a configuration error, but I wont exit here. +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "LocalPoolVector: Invalid index. Setting or returning" " last value!" << std::endl; +#endif return value[i]; } @@ -101,8 +111,10 @@ inline const T& LocalPoolVector::operator [](int i) const { } // If this happens, I have to set some value. I consider this // a configuration error, but I wont exit here. +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "LocalPoolVector: Invalid index. Setting or returning" " last value!" << std::endl; +#endif return value[i]; } diff --git a/datapoollocal/PoolReadHelper.h b/datapoollocal/PoolReadHelper.h new file mode 100644 index 00000000..0510dbb5 --- /dev/null +++ b/datapoollocal/PoolReadHelper.h @@ -0,0 +1,43 @@ +#ifndef FSFW_DATAPOOLLOCAL_POOLREADHELPER_H_ +#define FSFW_DATAPOOLLOCAL_POOLREADHELPER_H_ + +#include +#include + +/** + * @brief Helper class to read data sets or pool variables + */ +class PoolReadHelper { +public: + PoolReadHelper(ReadCommitIF* readObject, uint32_t mutexTimeout = 20): + readObject(readObject), mutexTimeout(mutexTimeout) { + if(readObject != nullptr) { + readResult = readObject->read(mutexTimeout); +#if FSFW_PRINT_VERBOSITY_LEVEL == 1 +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::error << "PoolReadHelper: Read failed!" << std::endl; +#endif /* FSFW_PRINT_VERBOSITY_LEVEL == 1 */ +#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ + } + } + + ReturnValue_t getReadResult() const { + return readResult; + } + + ~PoolReadHelper() { + if(readObject != nullptr) { + readObject->commit(mutexTimeout); + } + + } + +private: + ReadCommitIF* readObject = nullptr; + ReturnValue_t readResult = HasReturnvaluesIF::RETURN_OK; + uint32_t mutexTimeout = 20; +}; + + + +#endif /* FSFW_DATAPOOLLOCAL_POOLREADHELPER_H_ */ diff --git a/defaultcfg/fsfwconfig/CMakeLists.txt b/defaultcfg/fsfwconfig/CMakeLists.txt index b8b41c93..cbd4ecde 100644 --- a/defaultcfg/fsfwconfig/CMakeLists.txt +++ b/defaultcfg/fsfwconfig/CMakeLists.txt @@ -1,15 +1,15 @@ -target_sources(${TARGET_NAME} - PRIVATE +target_sources(${LIB_FSFW_NAME} PRIVATE + ipc/missionMessageTypes.cpp + objects/FsfwFactory.cpp + pollingsequence/PollingSequenceFactory.cpp ) -# Add include paths for the executable -target_include_directories(${TARGET_NAME} - PUBLIC - ${CMAKE_CURRENT_SOURCE_DIR} +# Should be added to include path +target_include_directories(${TARGET_NAME} PRIVATE + ${CMAKE_CURRENT_SOURCE_DIR} ) -# Add include paths for the FSFW library -target_include_directories(${LIB_FSFW_NAME} - PUBLIC - ${CMAKE_CURRENT_SOURCE_DIR} -) \ No newline at end of file +if(NOT FSFW_CONFIG_PATH) + set(FSFW_CONFIG_PATH ${CMAKE_CURRENT_SOURCE_DIR}) +endif() + diff --git a/defaultcfg/fsfwconfig/FSFWConfig.h b/defaultcfg/fsfwconfig/FSFWConfig.h index e1815d05..261e3d6d 100644 --- a/defaultcfg/fsfwconfig/FSFWConfig.h +++ b/defaultcfg/fsfwconfig/FSFWConfig.h @@ -4,17 +4,26 @@ #include #include -//! Used to determine whether C++ ostreams are used -//! Those can lead to code bloat. +//! Used to determine whether C++ ostreams are used which can increase +//! the binary size significantly. If this is disabled, +//! the C stdio functions can be used alternatively #define FSFW_CPP_OSTREAM_ENABLED 1 -//! Reduced printout to further decrease code size +//! More FSFW related printouts. //! Be careful, this also turns off most diagnostic prinouts! #define FSFW_ENHANCED_PRINTOUT 0 +//! Can be used to completely disable printouts, even the C stdio ones. +#if FSFW_CPP_OSTREAM_ENABLED == 0 && FSFW_ENHANCED_PRINTOUT == 0 + #define FSFW_DISABLE_PRINTOUT 0 +#endif + //! Can be used to enable additional debugging printouts for developing the FSFW #define FSFW_PRINT_VERBOSITY_LEVEL 0 +//! Can be used to disable the ANSI color sequences for C stdio. +#define FSFW_COLORED_OUTPUT 1 + //! If FSFW_OBJ_EVENT_TRANSLATION is set to one, //! additional output which requires the translation files translateObjects //! and translateEvents (and their compiled source files) @@ -50,6 +59,8 @@ static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120; //! simulataneously. This will increase the required RAM for //! each CSB service ! static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6; + +static constexpr size_t FSFW_PRINT_BUFFER_SIZE = 124; } #endif /* CONFIG_FSFWCONFIG_H_ */ diff --git a/defaultcfg/fsfwconfig/OBSWConfig.h b/defaultcfg/fsfwconfig/OBSWConfig.h index 8ad2cb67..6ed8ea2c 100644 --- a/defaultcfg/fsfwconfig/OBSWConfig.h +++ b/defaultcfg/fsfwconfig/OBSWConfig.h @@ -3,11 +3,12 @@ #include "OBSWVersion.h" +#ifdef __cplusplus + #include "objects/systemObjectList.h" #include "events/subsystemIdRanges.h" #include "returnvalues/classIds.h" -#ifdef __cplusplus namespace config { #endif diff --git a/defaultcfg/fsfwconfig/devices/logicalAddresses.h b/defaultcfg/fsfwconfig/devices/logicalAddresses.h index e0827ba3..53edcd54 100644 --- a/defaultcfg/fsfwconfig/devices/logicalAddresses.h +++ b/defaultcfg/fsfwconfig/devices/logicalAddresses.h @@ -2,7 +2,7 @@ #define CONFIG_DEVICES_LOGICALADDRESSES_H_ #include -#include "../objects/systemObjectList.h" +#include #include /** diff --git a/defaultcfg/fsfwconfig/objects/Factory.cpp b/defaultcfg/fsfwconfig/objects/FsfwFactory.cpp similarity index 60% rename from defaultcfg/fsfwconfig/objects/Factory.cpp rename to defaultcfg/fsfwconfig/objects/FsfwFactory.cpp index 41333b1c..428adf1d 100644 --- a/defaultcfg/fsfwconfig/objects/Factory.cpp +++ b/defaultcfg/fsfwconfig/objects/FsfwFactory.cpp @@ -1,9 +1,5 @@ -#include "Factory.h" -#include "../tmtc/apid.h" -#include "../tmtc/pusIds.h" -#include "../objects/systemObjectList.h" -#include "../devices/logicalAddresses.h" -#include "../devices/powerSwitcherList.h" +#include "FsfwFactory.h" +#include #include #include @@ -11,24 +7,27 @@ #include #include #include -#include +#include #include /** - * This class should be used to create all system objects required for - * the on-board software, using the object ID list from the configuration - * folder. + * This function builds all system objects required for using + * the FSFW. It is recommended to build all other required objects + * in a function with an identical prototype, call this function in it and + * then pass the function to the object manager so it builds all system + * objects on software startup. * - * The objects are registered in the internal object manager automatically. - * This is used later to add objects to tasks. + * All system objects are registered in the internal object manager + * automatically. The objects should be added to tasks at a later stage, using + * their objects IDs. * - * This file also sets static framework IDs. + * This function also sets static framework IDs. * - * Framework objects are created first. + * Framework should be created first before creating mission system objects. * @ingroup init */ -void Factory::produce(void) { +void Factory::produceFsfwObjects(void) { setStaticFrameworkObjectIds(); new EventManager(objects::EVENT_MANAGER); new HealthTable(objects::HEALTH_TABLE); diff --git a/defaultcfg/fsfwconfig/objects/Factory.h b/defaultcfg/fsfwconfig/objects/FsfwFactory.h similarity index 61% rename from defaultcfg/fsfwconfig/objects/Factory.h rename to defaultcfg/fsfwconfig/objects/FsfwFactory.h index fe55deff..198b22f2 100644 --- a/defaultcfg/fsfwconfig/objects/Factory.h +++ b/defaultcfg/fsfwconfig/objects/FsfwFactory.h @@ -1,5 +1,5 @@ -#ifndef FACTORY_H_ -#define FACTORY_H_ +#ifndef FSFWCONFIG_OBJECTS_FACTORY_H_ +#define FSFWCONFIG_OBJECTS_FACTORY_H_ #include #include @@ -9,9 +9,9 @@ namespace Factory { * @brief Creates all SystemObject elements which are persistent * during execution. */ - void produce(); + void produceFsfwObjects(); void setStaticFrameworkObjectIds(); } -#endif /* FACTORY_H_ */ +#endif /* FSFWCONFIG_OBJECTS_FACTORY_H_ */ diff --git a/defaultcfg/fsfwconfig/pollingsequence/PollingSequenceFactory.cpp b/defaultcfg/fsfwconfig/pollingsequence/PollingSequenceFactory.cpp index f836a746..b7f1fb3e 100644 --- a/defaultcfg/fsfwconfig/pollingsequence/PollingSequenceFactory.cpp +++ b/defaultcfg/fsfwconfig/pollingsequence/PollingSequenceFactory.cpp @@ -15,8 +15,10 @@ ReturnValue_t pst::pollingSequenceInitDefault( return HasReturnvaluesIF::RETURN_OK; } else { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "pst::pollingSequenceInitDefault: Sequence invalid!" << std::endl; +#endif return HasReturnvaluesIF::RETURN_FAILED; } } diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp index d0630854..1af6932a 100644 --- a/devicehandlers/DeviceHandlerBase.cpp +++ b/devicehandlers/DeviceHandlerBase.cpp @@ -39,11 +39,13 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, cookieInfo.state = COOKIE_UNUSED; cookieInfo.pendingCommand = deviceCommandMap.end(); if (comCookie == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "DeviceHandlerBase: ObjectID 0x" << std::hex << std::setw(8) << std::setfill('0') << this->getObjectId() << std::dec << ": Do not pass nullptr as a cookie, consider " << std::setfill(' ') << "passing a dummy cookie instead!" << std::endl; +#endif } if (this->fdirInstance == nullptr) { this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId, @@ -130,24 +132,30 @@ ReturnValue_t DeviceHandlerBase::initialize() { communicationInterface = objectManager->get( deviceCommunicationId); if (communicationInterface == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "DeviceHandlerBase::initialize: Communication interface " "invalid." << std::endl; sif::error << "Make sure it is set up properly and implements" " DeviceCommunicationIF" << std::endl; +#endif return ObjectManagerIF::CHILD_INIT_FAILED; } result = communicationInterface->initializeInterface(comCookie); if (result != RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "DeviceHandlerBase::initialize: Initializing " "communication interface failed!" << std::endl; +#endif return result; } IPCStore = objectManager->get(objects::IPC_STORE); if (IPCStore == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "DeviceHandlerBase::initialize: IPC store not set up in " "factory." << std::endl; +#endif return ObjectManagerIF::CHILD_INIT_FAILED; } @@ -156,10 +164,12 @@ ReturnValue_t DeviceHandlerBase::initialize() { AcceptsDeviceResponsesIF>(rawDataReceiverId); if (rawReceiver == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "DeviceHandlerBase::initialize: Raw receiver object " "ID set but no valid object found." << std::endl; sif::error << "Make sure the raw receiver object is set up properly" " and implements AcceptsDeviceResponsesIF" << std::endl; +#endif return ObjectManagerIF::CHILD_INIT_FAILED; } defaultRawReceiver = rawReceiver->getDeviceQueue(); @@ -168,10 +178,12 @@ ReturnValue_t DeviceHandlerBase::initialize() { if(powerSwitcherId != objects::NO_OBJECT) { powerSwitcher = objectManager->get(powerSwitcherId); if (powerSwitcher == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "DeviceHandlerBase::initialize: Power switcher " << "object ID set but no valid object found." << std::endl; sif::error << "Make sure the raw receiver object is set up properly" << " and implements PowerSwitchIF" << std::endl; +#endif return ObjectManagerIF::CHILD_INIT_FAILED; } } @@ -682,8 +694,10 @@ void DeviceHandlerBase::doGetRead() { replyRawData(receivedData, receivedDataLen, requestedRawTraffic); } - if (mode == MODE_RAW and defaultRawReceiver != MessageQueueIF::NO_QUEUE) { - replyRawReplyIfnotWiretapped(receivedData, receivedDataLen); + if (mode == MODE_RAW) { + if (defaultRawReceiver != MessageQueueIF::NO_QUEUE) { + replyRawReplyIfnotWiretapped(receivedData, receivedDataLen); + } } else { parseReply(receivedData, receivedDataLen); @@ -706,8 +720,10 @@ void DeviceHandlerBase::parseReply(const uint8_t* receivedData, case RETURN_OK: handleReply(receivedData, foundId, foundLen); if(foundLen == 0) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "DeviceHandlerBase::parseReply: foundLen is 0!" " Packet parsing will be stuck." << std::endl; +#endif } break; case APERIODIC_REPLY: { @@ -718,8 +734,10 @@ void DeviceHandlerBase::parseReply(const uint8_t* receivedData, foundId); } if(foundLen == 0) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "DeviceHandlerBase::parseReply: foundLen is 0!" " Packet parsing will be stuck." << std::endl; +#endif } break; } @@ -1273,9 +1291,11 @@ void DeviceHandlerBase::buildInternalCommand(void) { result = buildNormalDeviceCommand(&deviceCommandId); if (result == BUSY) { //so we can track misconfigurations +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << std::hex << getObjectId() << ": DHB::buildInternalCommand: Busy" << std::dec << std::endl; +#endif result = NOTHING_TO_SEND; //no need to report this } } @@ -1300,10 +1320,12 @@ void DeviceHandlerBase::buildInternalCommand(void) { result = COMMAND_NOT_SUPPORTED; } else if (iter->second.isExecuting) { //so we can track misconfigurations +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << std::hex << getObjectId() << ": DHB::buildInternalCommand: Command " << deviceCommandId << " isExecuting" << std::dec << std::endl; +#endif // this is an internal command, no need to report a failure here, // missed reply will track if a reply is too late, otherwise, it's ok return; diff --git a/devicehandlers/DeviceHandlerFailureIsolation.cpp b/devicehandlers/DeviceHandlerFailureIsolation.cpp index 9d0535bf..5f7ab89f 100644 --- a/devicehandlers/DeviceHandlerFailureIsolation.cpp +++ b/devicehandlers/DeviceHandlerFailureIsolation.cpp @@ -169,8 +169,10 @@ void DeviceHandlerFailureIsolation::clearFaultCounters() { ReturnValue_t DeviceHandlerFailureIsolation::initialize() { ReturnValue_t result = FailureIsolationBase::initialize(); if (result != HasReturnvaluesIF::RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "DeviceHandlerFailureIsolation::initialize: Could not" " initialize FailureIsolationBase." << std::endl; +#endif return result; } ConfirmsFailuresIF* power = objectManager->get( @@ -250,8 +252,10 @@ bool DeviceHandlerFailureIsolation::isFdirInActionOrAreWeFaulty( if (owner == nullptr) { // Configuration error. +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "DeviceHandlerFailureIsolation::" << "isFdirInActionOrAreWeFaulty: Owner not set!" << std::endl; +#endif return false; } diff --git a/events/EventManager.cpp b/events/EventManager.cpp index 6cc97eb6..65e19d10 100644 --- a/events/EventManager.cpp +++ b/events/EventManager.cpp @@ -122,6 +122,7 @@ void EventManager::printEvent(EventMessage* message) { case severity::INFO: #if DEBUG_INFO_EVENT == 1 string = translateObject(message->getReporter()); +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::info << "EVENT: "; if (string != 0) { sif::info << string; @@ -132,10 +133,12 @@ void EventManager::printEvent(EventMessage* message) { << std::dec << message->getEventId() << std::hex << ") P1: 0x" << message->getParameter1() << " P2: 0x" << message->getParameter2() << std::dec << std::endl; -#endif +#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ +#endif /* DEBUG_INFO_EVENT == 1 */ break; default: string = translateObject(message->getReporter()); +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "EventManager: "; if (string != 0) { sif::debug << string; @@ -146,13 +149,13 @@ void EventManager::printEvent(EventMessage* message) { sif::debug << " reported " << translateEvents(message->getEvent()) << " (" << std::dec << message->getEventId() << ") " << std::endl; - sif::debug << std::hex << "P1 Hex: 0x" << message->getParameter1() << ", P1 Dec: " << std::dec << message->getParameter1() << std::endl; sif::debug << std::hex << "P2 Hex: 0x" << message->getParameter2() << ", P2 Dec: " << std::dec << message->getParameter2() << std::endl; +#endif break; } } diff --git a/fdir/FailureIsolationBase.cpp b/fdir/FailureIsolationBase.cpp index a04a0313..69cb0f01 100644 --- a/fdir/FailureIsolationBase.cpp +++ b/fdir/FailureIsolationBase.cpp @@ -21,8 +21,10 @@ ReturnValue_t FailureIsolationBase::initialize() { EventManagerIF* manager = objectManager->get( objects::EVENT_MANAGER); if (manager == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "FailureIsolationBase::initialize: Event Manager has not" " been initialized!" << std::endl; +#endif return RETURN_FAILED; } ReturnValue_t result = manager->registerListener(eventQueue->getId()); @@ -36,8 +38,10 @@ ReturnValue_t FailureIsolationBase::initialize() { } owner = objectManager->get(ownerId); if (owner == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "FailureIsolationBase::intialize: Owner object " "invalid. Make sure it implements HasHealthIF" << std::endl; +#endif return ObjectManagerIF::CHILD_INIT_FAILED; } } @@ -45,10 +49,14 @@ ReturnValue_t FailureIsolationBase::initialize() { ConfirmsFailuresIF* parentIF = objectManager->get( faultTreeParent); if (parentIF == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "FailureIsolationBase::intialize: Parent object" << "invalid." << std::endl; +#endif +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Make sure it implements ConfirmsFailuresIF." << std::endl; +#endif return ObjectManagerIF::CHILD_INIT_FAILED; return RETURN_FAILED; } diff --git a/globalfunctions/arrayprinter.cpp b/globalfunctions/arrayprinter.cpp index b1e888c5..c273b250 100644 --- a/globalfunctions/arrayprinter.cpp +++ b/globalfunctions/arrayprinter.cpp @@ -4,10 +4,12 @@ void arrayprinter::print(const uint8_t *data, size_t size, OutputType type, bool printInfo, size_t maxCharPerLine) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 if(printInfo) { sif::info << "Printing data with size " << size << ": "; } sif::info << "["; +#endif if(type == OutputType::HEX) { arrayprinter::printHex(data, size, maxCharPerLine); } @@ -21,6 +23,7 @@ void arrayprinter::print(const uint8_t *data, size_t size, OutputType type, void arrayprinter::printHex(const uint8_t *data, size_t size, size_t maxCharPerLine) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::info << std::hex; for(size_t i = 0; i < size; i++) { sif::info << "0x" << static_cast(data[i]); @@ -28,16 +31,18 @@ void arrayprinter::printHex(const uint8_t *data, size_t size, sif::info << " , "; if(i > 0 and i % maxCharPerLine == 0) { sif::info << std::endl; + } } - } sif::info << std::dec; sif::info << "]" << std::endl; +#endif } void arrayprinter::printDec(const uint8_t *data, size_t size, size_t maxCharPerLine) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::info << std::dec; for(size_t i = 0; i < size; i++) { sif::info << static_cast(data[i]); @@ -49,13 +54,16 @@ void arrayprinter::printDec(const uint8_t *data, size_t size, } } sif::info << "]" << std::endl; +#endif } void arrayprinter::printBin(const uint8_t *data, size_t size) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::info << "\n" << std::flush; for(size_t i = 0; i < size; i++) { sif::info << "Byte " << i + 1 << ": 0b"<< std::bitset<8>(data[i]) << ",\n" << std::flush; } sif::info << "]" << std::endl; +#endif } diff --git a/health/HealthHelper.cpp b/health/HealthHelper.cpp index d574634d..231d616e 100644 --- a/health/HealthHelper.cpp +++ b/health/HealthHelper.cpp @@ -41,14 +41,18 @@ ReturnValue_t HealthHelper::initialize() { eventSender = objectManager->get(objectId); if (healthTable == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "HealthHelper::initialize: Health table object needs" "to be created in factory." << std::endl; +#endif return ObjectManagerIF::CHILD_INIT_FAILED; } if(eventSender == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "HealthHelper::initialize: Owner has to implement " "ReportingProxyIF." << std::endl; +#endif return ObjectManagerIF::CHILD_INIT_FAILED; } @@ -79,8 +83,10 @@ void HealthHelper::informParent(HasHealthIF::HealthState health, health, oldHealth); if (MessageQueueSenderIF::sendMessage(parentQueue, &information, owner->getCommandQueue()) != HasReturnvaluesIF::RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "HealthHelper::informParent: sending health reply failed." << std::endl; +#endif } } @@ -98,8 +104,10 @@ void HealthHelper::handleSetHealthCommand(CommandMessage* command) { } if (MessageQueueSenderIF::sendMessage(command->getSender(), &reply, owner->getCommandQueue()) != HasReturnvaluesIF::RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "HealthHelper::handleHealthCommand: sending health " "reply failed." << std::endl; +#endif } } diff --git a/health/HealthTableIF.h b/health/HealthTableIF.h index d61e6761..727c4496 100644 --- a/health/HealthTableIF.h +++ b/health/HealthTableIF.h @@ -5,6 +5,8 @@ #include "../objectmanager/ObjectManagerIF.h" #include "../returnvalues/HasReturnvaluesIF.h" +#include + class HealthTableIF: public ManagesHealthIF { public: virtual ~HealthTableIF() {} diff --git a/internalError/InternalErrorReporter.cpp b/internalError/InternalErrorReporter.cpp index bfb67289..48b6f851 100644 --- a/internalError/InternalErrorReporter.cpp +++ b/internalError/InternalErrorReporter.cpp @@ -29,14 +29,16 @@ ReturnValue_t InternalErrorReporter::performOperation(uint8_t opCode) { uint32_t newTmHits = getAndResetTmHits(); uint32_t newStoreHits = getAndResetStoreHits(); -#ifdef DEBUG +#if FSFW_ENHANCED_PRINTOUT == 1 if(diagnosticPrintout) { if((newQueueHits > 0) or (newTmHits > 0) or (newStoreHits > 0)) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "InternalErrorReporter::performOperation: Errors " << "occured!" << std::endl; sif::debug << "Queue errors: " << newQueueHits << std::endl; sif::debug << "TM errors: " << newTmHits << std::endl; sif::debug << "Store errors: " << newStoreHits << std::endl; +#endif } } #endif diff --git a/ipc/MessageQueueMessage.cpp b/ipc/MessageQueueMessage.cpp index dcd4def3..e97778c3 100644 --- a/ipc/MessageQueueMessage.cpp +++ b/ipc/MessageQueueMessage.cpp @@ -15,8 +15,10 @@ MessageQueueMessage::MessageQueueMessage(uint8_t* data, size_t size) : this->messageSize = this->HEADER_SIZE + size; } else { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "MessageQueueMessage: Passed size larger than maximum" "allowed size! Setting content to 0" << std::endl; +#endif memset(this->internalBuffer, 0, sizeof(this->internalBuffer)); this->messageSize = this->HEADER_SIZE; } @@ -52,7 +54,9 @@ void MessageQueueMessage::setSender(MessageQueueId_t setId) { } void MessageQueueMessage::print(bool printWholeMessage) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "MessageQueueMessage content: " << std::endl; +#endif if(printWholeMessage) { arrayprinter::print(getData(), getMaximumMessageSize()); } diff --git a/ipc/MutexHelper.h b/ipc/MutexHelper.h index 97001ade..befa69bc 100644 --- a/ipc/MutexHelper.h +++ b/ipc/MutexHelper.h @@ -12,12 +12,16 @@ public: ReturnValue_t status = mutex->lockMutex(timeoutType, timeoutMs); if(status == MutexIF::MUTEX_TIMEOUT) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "MutexHelper: Lock of mutex failed with timeout of " << timeoutMs << " milliseconds!" << std::endl; +#endif } else if(status != HasReturnvaluesIF::RETURN_OK){ +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "MutexHelper: Lock of Mutex failed with code " << status << std::endl; +#endif } } diff --git a/memory/MemoryHelper.cpp b/memory/MemoryHelper.cpp index 6b11882f..42ac2654 100644 --- a/memory/MemoryHelper.cpp +++ b/memory/MemoryHelper.cpp @@ -16,7 +16,9 @@ ReturnValue_t MemoryHelper::handleMemoryCommand(CommandMessage* message) { lastSender = message->getSender(); lastCommand = message->getCommand(); if (busy) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "MemHelper: Busy!" << std::endl; +#endif } switch (lastCommand) { case MemoryMessage::CMD_MEMORY_DUMP: diff --git a/monitoring/MonitoringMessageContent.h b/monitoring/MonitoringMessageContent.h index 44d32656..2822743a 100644 --- a/monitoring/MonitoringMessageContent.h +++ b/monitoring/MonitoringMessageContent.h @@ -72,8 +72,10 @@ private: if (timeStamper == nullptr) { timeStamper = objectManager->get( timeStamperId ); if ( timeStamper == nullptr ) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "MonitoringReportContent::checkAndSetStamper: " "Stamper not found!" << std::endl; +#endif return false; } } diff --git a/objectmanager/ObjectManager.cpp b/objectmanager/ObjectManager.cpp index 5871bfcd..882d2762 100644 --- a/objectmanager/ObjectManager.cpp +++ b/objectmanager/ObjectManager.cpp @@ -1,6 +1,9 @@ #include "ObjectManager.h" #include "../serviceinterface/ServiceInterfaceStream.h" + +#if FSFW_CPP_OSTREAM_ENABLED == 1 #include +#endif #include ObjectManager::ObjectManager( void (*setProducer)() ): @@ -18,13 +21,18 @@ ObjectManager::~ObjectManager() { ReturnValue_t ObjectManager::insert( object_id_t id, SystemObjectIF* object) { auto returnPair = objectList.emplace(id, object); if (returnPair.second) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 // sif::debug << "ObjectManager::insert: Object " << std::hex // << (int)id << std::dec << " inserted." << std::endl; +#endif return this->RETURN_OK; } else { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "ObjectManager::insert: Object id " << std::hex - << (int)id << std::dec << " is already in use!" << std::endl; + << static_cast(id) << std::dec + << " is already in use!" << std::endl; sif::error << "Terminating program." << std::endl; +#endif //This is very severe and difficult to handle in other places. std::exit(INSERTION_FAILED); } @@ -33,12 +41,16 @@ ReturnValue_t ObjectManager::insert( object_id_t id, SystemObjectIF* object) { ReturnValue_t ObjectManager::remove( object_id_t id ) { if ( this->getSystemObject(id) != NULL ) { this->objectList.erase( id ); +#if FSFW_CPP_OSTREAM_ENABLED == 1 //sif::debug << "ObjectManager::removeObject: Object " << std::hex // << (int)id << std::dec << " removed." << std::endl; +#endif return RETURN_OK; } else { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "ObjectManager::removeObject: Requested object " << std::hex << (int)id << std::dec << " not found." << std::endl; +#endif return NOT_FOUND; } } @@ -60,8 +72,10 @@ ObjectManager::ObjectManager() : produceObjects(nullptr) { void ObjectManager::initialize() { if(produceObjects == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "ObjectManager::initialize: Passed produceObjects " "functions is nullptr!" << std::endl; +#endif return; } this->produceObjects(); @@ -70,38 +84,49 @@ void ObjectManager::initialize() { for (auto const& it : objectList) { result = it.second->initialize(); if ( result != RETURN_OK ) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 object_id_t var = it.first; sif::error << "ObjectManager::initialize: Object 0x" << std::hex << std::setw(8) << std::setfill('0')<< var << " failed to " "initialize with code 0x" << result << std::dec << std::setfill(' ') << std::endl; +#endif errorCount++; } } if (errorCount > 0) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "ObjectManager::ObjectManager: Counted " << errorCount << " failed initializations." << std::endl; +#endif } //Init was successful. Now check successful interconnections. errorCount = 0; for (auto const& it : objectList) { result = it.second->checkObjectConnections(); if ( result != RETURN_OK ) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "ObjectManager::ObjectManager: Object " << std::hex << (int) it.first << " connection check failed with code 0x" << result << std::dec << std::endl; +#endif errorCount++; } } if (errorCount > 0) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "ObjectManager::ObjectManager: Counted " << errorCount << " failed connection checks." << std::endl; +#endif } } void ObjectManager::printList() { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "ObjectManager: Object List contains:" << std::endl; for (auto const& it : objectList) { sif::debug << std::hex << it.first << " | " << it.second << std::endl; + } +#endif } diff --git a/objectmanager/ObjectManagerIF.h b/objectmanager/ObjectManagerIF.h index 4bd1d915..8bebb609 100644 --- a/objectmanager/ObjectManagerIF.h +++ b/objectmanager/ObjectManagerIF.h @@ -86,8 +86,10 @@ extern ObjectManagerIF *objectManager; template T* ObjectManagerIF::get( object_id_t id ) { if(objectManager == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "ObjectManagerIF: Global object manager has not " "been initialized yet!" << std::endl; +#endif } SystemObjectIF* temp = this->getSystemObject(id); return dynamic_cast(temp); diff --git a/osal/FreeRTOS/BinSemaphUsingTask.cpp b/osal/FreeRTOS/BinSemaphUsingTask.cpp index a420ec48..7d609aee 100644 --- a/osal/FreeRTOS/BinSemaphUsingTask.cpp +++ b/osal/FreeRTOS/BinSemaphUsingTask.cpp @@ -8,8 +8,10 @@ BinarySemaphoreUsingTask::BinarySemaphoreUsingTask() { handle = TaskManagement::getCurrentTaskHandle(); if(handle == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Could not retrieve task handle. Please ensure the" "constructor was called inside a task." << std::endl; +#endif } xTaskNotifyGive(handle); } diff --git a/osal/FreeRTOS/BinarySemaphore.cpp b/osal/FreeRTOS/BinarySemaphore.cpp index 6fee5c35..c0349b7c 100644 --- a/osal/FreeRTOS/BinarySemaphore.cpp +++ b/osal/FreeRTOS/BinarySemaphore.cpp @@ -5,7 +5,9 @@ BinarySemaphore::BinarySemaphore() { handle = xSemaphoreCreateBinary(); if(handle == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Semaphore: Binary semaph creation failure" << std::endl; +#endif } // Initiated semaphore must be given before it can be taken. xSemaphoreGive(handle); @@ -18,7 +20,9 @@ BinarySemaphore::~BinarySemaphore() { BinarySemaphore::BinarySemaphore(BinarySemaphore&& s) { handle = xSemaphoreCreateBinary(); if(handle == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Binary semaphore creation failure" << std::endl; +#endif } xSemaphoreGive(handle); } @@ -28,7 +32,9 @@ BinarySemaphore& BinarySemaphore::operator =( if(&s != this) { handle = xSemaphoreCreateBinary(); if(handle == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Binary semaphore creation failure" << std::endl; +#endif } xSemaphoreGive(handle); } diff --git a/osal/FreeRTOS/CountingSemaphUsingTask.cpp b/osal/FreeRTOS/CountingSemaphUsingTask.cpp index 9d309acc..750ea9d6 100644 --- a/osal/FreeRTOS/CountingSemaphUsingTask.cpp +++ b/osal/FreeRTOS/CountingSemaphUsingTask.cpp @@ -9,25 +9,31 @@ CountingSemaphoreUsingTask::CountingSemaphoreUsingTask(const uint8_t maxCount, uint8_t initCount): maxCount(maxCount) { if(initCount > maxCount) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "CountingSemaphoreUsingTask: Max count bigger than " "intial cout. Setting initial count to max count." << std::endl; +#endif initCount = maxCount; } handle = TaskManagement::getCurrentTaskHandle(); if(handle == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "CountingSemaphoreUsingTask: Could not retrieve task " "handle. Please ensure the constructor was called inside a " "task." << std::endl; +#endif } uint32_t oldNotificationValue; xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite, &oldNotificationValue); if(oldNotificationValue != 0) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "CountinSemaphoreUsingTask: Semaphore initiated but " "current notification value is not 0. Please ensure the " "notification value is not used for other purposes!" << std::endl; +#endif } for(int i = 0; i < initCount; i++) { xTaskNotifyGive(handle); diff --git a/osal/FreeRTOS/CountingSemaphore.cpp b/osal/FreeRTOS/CountingSemaphore.cpp index a202e480..40884d27 100644 --- a/osal/FreeRTOS/CountingSemaphore.cpp +++ b/osal/FreeRTOS/CountingSemaphore.cpp @@ -10,14 +10,18 @@ CountingSemaphore::CountingSemaphore(const uint8_t maxCount, uint8_t initCount): maxCount(maxCount), initCount(initCount) { if(initCount > maxCount) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "CountingSemaphoreUsingTask: Max count bigger than " "intial cout. Setting initial count to max count." << std::endl; +#endif initCount = maxCount; } handle = xSemaphoreCreateCounting(maxCount, initCount); if(handle == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "CountingSemaphore: Creation failure" << std::endl; +#endif } } @@ -25,7 +29,9 @@ CountingSemaphore::CountingSemaphore(CountingSemaphore&& other): maxCount(other.maxCount), initCount(other.initCount) { handle = xSemaphoreCreateCounting(other.maxCount, other.initCount); if(handle == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "CountingSemaphore: Creation failure" << std::endl; +#endif } } @@ -33,7 +39,9 @@ CountingSemaphore& CountingSemaphore::operator =( CountingSemaphore&& other) { handle = xSemaphoreCreateCounting(other.maxCount, other.initCount); if(handle == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "CountingSemaphore: Creation failure" << std::endl; +#endif } return * this; } diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp index fc5b89fe..aa7e6c59 100644 --- a/osal/FreeRTOS/FixedTimeslotTask.cpp +++ b/osal/FreeRTOS/FixedTimeslotTask.cpp @@ -37,15 +37,19 @@ void FixedTimeslotTask::taskEntryPoint(void* argument) { } originalTask->taskFunctionality(); +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "Polling task " << originalTask->handle << " returned from taskFunctionality." << std::endl; +#endif } void FixedTimeslotTask::missedDeadlineCounter() { FixedTimeslotTask::deadlineMissedCount++; if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines." << std::endl; +#endif } } @@ -69,8 +73,10 @@ ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, return HasReturnvaluesIF::RETURN_OK; } +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Component " << std::hex << componentId << " not found, not adding it to pst" << std::endl; +#endif return HasReturnvaluesIF::RETURN_FAILED; } diff --git a/osal/FreeRTOS/MessageQueue.cpp b/osal/FreeRTOS/MessageQueue.cpp index fdadf8b7..c0c82cf1 100644 --- a/osal/FreeRTOS/MessageQueue.cpp +++ b/osal/FreeRTOS/MessageQueue.cpp @@ -10,6 +10,7 @@ MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize): maxMessageSize(maxMessageSize) { handle = xQueueCreate(messageDepth, maxMessageSize); +#if FSFW_CPP_OSTREAM_ENABLED == 1 if (handle == nullptr) { sif::error << "MessageQueue::MessageQueue:" << " Creation failed." << std::endl; @@ -17,7 +18,9 @@ MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize): << std::endl; sif::error << "Specified Maximum Message Size: " << maxMessageSize << std::endl; + } +#endif } MessageQueue::~MessageQueue() { diff --git a/osal/FreeRTOS/Mutex.cpp b/osal/FreeRTOS/Mutex.cpp index 9d9638b5..0b85ca13 100644 --- a/osal/FreeRTOS/Mutex.cpp +++ b/osal/FreeRTOS/Mutex.cpp @@ -5,7 +5,9 @@ Mutex::Mutex() { handle = xSemaphoreCreateMutex(); if(handle == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Mutex::Mutex(FreeRTOS): Creation failure" << std::endl; +#endif } } diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp index 2ee7bec0..3e830c7f 100644 --- a/osal/FreeRTOS/PeriodicTask.cpp +++ b/osal/FreeRTOS/PeriodicTask.cpp @@ -13,8 +13,10 @@ PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority, BaseType_t status = xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle); if(status != pdPASS){ +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "PeriodicTask Insufficient heap memory remaining. " "Status: " << status << std::endl; +#endif } } @@ -41,8 +43,10 @@ void PeriodicTask::taskEntryPoint(void* argument) { } originalTask->taskFunctionality(); +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "Polling task " << originalTask->handle << " returned from taskFunctionality." << std::endl; +#endif } ReturnValue_t PeriodicTask::startTask() { @@ -99,8 +103,10 @@ ReturnValue_t PeriodicTask::addComponent(object_id_t object) { ExecutableObjectIF* newObject = objectManager->get( object); if (newObject == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "PeriodicTask::addComponent: Invalid object. Make sure" "it implement ExecutableObjectIF" << std::endl; +#endif return HasReturnvaluesIF::RETURN_FAILED; } objectList.push_back(newObject); diff --git a/osal/FreeRTOS/SemaphoreFactory.cpp b/osal/FreeRTOS/SemaphoreFactory.cpp index beb0d096..df005f6a 100644 --- a/osal/FreeRTOS/SemaphoreFactory.cpp +++ b/osal/FreeRTOS/SemaphoreFactory.cpp @@ -32,8 +32,10 @@ SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t argument) { return new BinarySemaphoreUsingTask(); } else { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "SemaphoreFactory: Invalid argument, return regular" "binary semaphore" << std::endl; +#endif return new BinarySemaphore(); } } @@ -47,8 +49,10 @@ SemaphoreIF* SemaphoreFactory::createCountingSemaphore(uint8_t maxCount, return new CountingSemaphoreUsingTask(maxCount, initCount); } else { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "SemaphoreFactory: Invalid argument, return regular" "binary semaphore" << std::endl; +#endif return new CountingSemaphore(maxCount, initCount); } diff --git a/osal/host/CMakeLists.txt b/osal/host/CMakeLists.txt index aa32990b..367f721e 100644 --- a/osal/host/CMakeLists.txt +++ b/osal/host/CMakeLists.txt @@ -13,9 +13,11 @@ target_sources(${LIB_FSFW_NAME} ) if(UNIX) + find_package(Threads REQUIRED) + target_link_libraries(${LIB_FSFW_NAME} PRIVATE rt - pthread + ${CMAKE_THREAD_LIBS_INIT} ) endif() \ No newline at end of file diff --git a/osal/host/Clock.cpp b/osal/host/Clock.cpp index 41321eeb..2bc78785 100644 --- a/osal/host/Clock.cpp +++ b/osal/host/Clock.cpp @@ -14,7 +14,9 @@ MutexIF* Clock::timeMutex = NULL; using SystemClock = std::chrono::system_clock; uint32_t Clock::getTicksPerSecond(void){ +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "Clock::getTicksPerSecond: not implemented yet" << std::endl; +#endif return 0; //return CLOCKS_PER_SEC; //uint32_t ticks = sysconf(_SC_CLK_TCK); @@ -23,7 +25,9 @@ uint32_t Clock::getTicksPerSecond(void){ ReturnValue_t Clock::setClock(const TimeOfDay_t* time) { // do some magic with chrono +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "Clock::setClock: not implemented yet" << std::endl; +#endif return HasReturnvaluesIF::RETURN_OK; } @@ -36,7 +40,9 @@ ReturnValue_t Clock::setClock(const timeval* time) { #else #endif +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl; +#endif return HasReturnvaluesIF::RETURN_FAILED; } @@ -60,7 +66,9 @@ ReturnValue_t Clock::getClock_timeval(timeval* time) { time->tv_usec = timeUnix.tv_nsec / 1000.0; return HasReturnvaluesIF::RETURN_OK; #else +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl; +#endif return HasReturnvaluesIF::RETURN_FAILED; #endif @@ -68,7 +76,9 @@ ReturnValue_t Clock::getClock_timeval(timeval* time) { ReturnValue_t Clock::getClock_usecs(uint64_t* time) { // do some magic with chrono +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "Clock::gerClock_usecs: not implemented yet" << std::endl; +#endif return HasReturnvaluesIF::RETURN_OK; } @@ -90,7 +100,9 @@ timeval Clock::getUptime() { timeval.tv_usec = uptimeSeconds *(double) 1e6 - (timeval.tv_sec *1e6); } #else +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl; +#endif #endif return timeval; } @@ -126,7 +138,9 @@ ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) { auto usecond = std::chrono::duration_cast(fraction); time->usecond = usecond.count(); +#if FSFW_CPP_OSTREAM_ENABLED == 1 //sif::warning << "Clock::getDateAndTime: not implemented yet" << std::endl; +#endif return HasReturnvaluesIF::RETURN_OK; } @@ -148,7 +162,9 @@ ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from, to->tv_usec = from->usecond; //Fails in 2038.. return HasReturnvaluesIF::RETURN_OK; +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "Clock::convertTimeBla: not implemented yet" << std::endl; +#endif return HasReturnvaluesIF::RETURN_OK; } diff --git a/osal/host/FixedTimeslotTask.cpp b/osal/host/FixedTimeslotTask.cpp index 9e892bb5..272d99b9 100644 --- a/osal/host/FixedTimeslotTask.cpp +++ b/osal/host/FixedTimeslotTask.cpp @@ -35,15 +35,19 @@ FixedTimeslotTask::FixedTimeslotTask(const char *name, TaskPriority setPriority, reinterpret_cast(mainThread.native_handle()), ABOVE_NORMAL_PRIORITY_CLASS); if(result != 0) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "FixedTimeslotTask: Windows SetPriorityClass failed with code " << GetLastError() << std::endl; +#endif } result = SetThreadPriority( reinterpret_cast(mainThread.native_handle()), THREAD_PRIORITY_NORMAL); if(result != 0) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "FixedTimeslotTask: Windows SetPriorityClass failed with code " << GetLastError() << std::endl; +#endif } #elif defined(LINUX) // TODO: we can just copy and paste the code from the linux OSAL here. @@ -70,8 +74,10 @@ void FixedTimeslotTask::taskEntryPoint(void* argument) { } this->taskFunctionality(); +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "FixedTimeslotTask::taskEntryPoint: " "Returned from taskFunctionality." << std::endl; +#endif } ReturnValue_t FixedTimeslotTask::startTask() { @@ -134,8 +140,10 @@ ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, return HasReturnvaluesIF::RETURN_OK; } +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Component " << std::hex << componentId << " not found, not adding it to pst" << std::endl; +#endif return HasReturnvaluesIF::RETURN_FAILED; } diff --git a/osal/host/MessageQueue.cpp b/osal/host/MessageQueue.cpp index d662d782..dfc045e8 100644 --- a/osal/host/MessageQueue.cpp +++ b/osal/host/MessageQueue.cpp @@ -10,8 +10,10 @@ MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize): queueLock = MutexFactory::instance()->createMutex(); auto result = QueueMapManager::instance()->addMessageQueue(this, &mqId); if(result != HasReturnvaluesIF::RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "MessageQueue::MessageQueue:" << " Could not be created" << std::endl; +#endif } } @@ -137,8 +139,10 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo, targetQueue->messageQueue.push(*mqmMessage); } else { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "MessageQueue::sendMessageFromMessageQueue: Message" "is not MessageQueueMessage!" << std::endl; +#endif } } diff --git a/osal/host/PeriodicTask.cpp b/osal/host/PeriodicTask.cpp index bfa6c3fd..1f427546 100644 --- a/osal/host/PeriodicTask.cpp +++ b/osal/host/PeriodicTask.cpp @@ -33,15 +33,19 @@ PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority, reinterpret_cast(mainThread.native_handle()), ABOVE_NORMAL_PRIORITY_CLASS); if(result != 0) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "PeriodicTask: Windows SetPriorityClass failed with code " << GetLastError() << std::endl; +#endif } result = SetThreadPriority( reinterpret_cast(mainThread.native_handle()), THREAD_PRIORITY_NORMAL); if(result != 0) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "PeriodicTask: Windows SetPriorityClass failed with code " << GetLastError() << std::endl; +#endif } #elif defined(LINUX) // we can just copy and paste the code from linux here. @@ -69,8 +73,10 @@ void PeriodicTask::taskEntryPoint(void* argument) { } this->taskFunctionality(); +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "PeriodicTask::taskEntryPoint: " "Returned from taskFunctionality." << std::endl; +#endif } ReturnValue_t PeriodicTask::startTask() { diff --git a/osal/host/QueueMapManager.cpp b/osal/host/QueueMapManager.cpp index 621f46bc..7ffd4758 100644 --- a/osal/host/QueueMapManager.cpp +++ b/osal/host/QueueMapManager.cpp @@ -26,8 +26,10 @@ ReturnValue_t QueueMapManager::addMessageQueue( auto returnPair = queueMap.emplace(currentId, queueToInsert); if(not returnPair.second) { // this should never happen for the atomic variable. +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "QueueMapManager: This ID is already inside the map!" << std::endl; +#endif return HasReturnvaluesIF::RETURN_FAILED; } if (id != nullptr) { @@ -44,8 +46,10 @@ MessageQueueIF* QueueMapManager::getMessageQueue( return queueIter->second; } else { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "QueueMapManager::getQueueHandle: The ID " << messageQueueId << " does not exists in the map" << std::endl; +#endif return nullptr; } } diff --git a/osal/host/SemaphoreFactory.cpp b/osal/host/SemaphoreFactory.cpp index b19b2c75..3d3fe17f 100644 --- a/osal/host/SemaphoreFactory.cpp +++ b/osal/host/SemaphoreFactory.cpp @@ -21,16 +21,20 @@ SemaphoreFactory* SemaphoreFactory::instance() { SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t arguments) { // Just gonna wait for full C++20 for now. +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "SemaphoreFactory: Binary Semaphore not implemented yet." " Returning nullptr!\n" << std::flush; +#endif return nullptr; } SemaphoreIF* SemaphoreFactory::createCountingSemaphore(const uint8_t maxCount, uint8_t initCount, uint32_t arguments) { // Just gonna wait for full C++20 for now. +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "SemaphoreFactory: Counting Semaphore not implemented yet." " Returning nullptr!\n" << std::flush; +#endif return nullptr; } diff --git a/osal/linux/BinarySemaphore.cpp b/osal/linux/BinarySemaphore.cpp index b81fa109..0a6bb29f 100644 --- a/osal/linux/BinarySemaphore.cpp +++ b/osal/linux/BinarySemaphore.cpp @@ -43,8 +43,10 @@ ReturnValue_t BinarySemaphore::acquire(TimeoutType timeoutType, timeOut.tv_nsec = nseconds - timeOut.tv_sec * 1000000000; result = sem_timedwait(&handle, &timeOut); if(result != 0 and errno == EINVAL) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "BinarySemaphore::acquire: Invalid time value possible" << std::endl; +#endif } } if(result == 0) { @@ -62,8 +64,10 @@ ReturnValue_t BinarySemaphore::acquire(TimeoutType timeoutType, return SemaphoreIF::SEMAPHORE_INVALID; case(EINTR): // Call was interrupted by signal handler +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "BinarySemaphore::acquire: Signal handler interrupted." "Code " << strerror(errno) << std::endl; +#endif /* No break */ default: return HasReturnvaluesIF::RETURN_FAILED; @@ -126,8 +130,10 @@ void BinarySemaphore::initSemaphore(uint8_t initCount) { // Value exceeds SEM_VALUE_MAX case(ENOSYS): // System does not support process-shared semaphores +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "BinarySemaphore: Init failed with" << strerror(errno) << std::endl; +#endif } } } diff --git a/osal/linux/CMakeLists.txt b/osal/linux/CMakeLists.txt index c0096e42..474e548b 100644 --- a/osal/linux/CMakeLists.txt +++ b/osal/linux/CMakeLists.txt @@ -18,8 +18,14 @@ target_sources(${LIB_FSFW_NAME} Timer.cpp ) -target_link_libraries(${LIB_FSFW_NAME} - PRIVATE - rt - pthread +find_package(Threads REQUIRED) + +target_link_libraries(${LIB_FSFW_NAME} PRIVATE + ${CMAKE_THREAD_LIBS_INIT} + rt ) + +target_link_libraries(${LIB_FSFW_NAME} INTERFACE + ${CMAKE_THREAD_LIBS_INIT} +) + diff --git a/osal/linux/Clock.cpp b/osal/linux/Clock.cpp index 6cddda35..54dad839 100644 --- a/osal/linux/Clock.cpp +++ b/osal/linux/Clock.cpp @@ -69,7 +69,9 @@ timeval Clock::getUptime() { timeval uptime; auto result = getUptime(&uptime); if(result != HasReturnvaluesIF::RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Clock::getUptime: Error getting uptime" << std::endl; +#endif } return uptime; } diff --git a/osal/linux/CountingSemaphore.cpp b/osal/linux/CountingSemaphore.cpp index 18339399..0bb71831 100644 --- a/osal/linux/CountingSemaphore.cpp +++ b/osal/linux/CountingSemaphore.cpp @@ -4,8 +4,10 @@ CountingSemaphore::CountingSemaphore(const uint8_t maxCount, uint8_t initCount): maxCount(maxCount), initCount(initCount) { if(initCount > maxCount) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "CountingSemaphoreUsingTask: Max count bigger than " "intial cout. Setting initial count to max count." << std::endl; +#endif initCount = maxCount; } diff --git a/osal/linux/FixedTimeslotTask.cpp b/osal/linux/FixedTimeslotTask.cpp index 247a34ed..a545eeb7 100644 --- a/osal/linux/FixedTimeslotTask.cpp +++ b/osal/linux/FixedTimeslotTask.cpp @@ -47,8 +47,10 @@ ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, return HasReturnvaluesIF::RETURN_OK; } +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Component " << std::hex << componentId << " not found, not adding it to pst" << std::dec << std::endl; +#endif return HasReturnvaluesIF::RETURN_FAILED; } @@ -91,7 +93,9 @@ void FixedTimeslotTask::taskFunctionality() { void FixedTimeslotTask::missedDeadlineCounter() { FixedTimeslotTask::deadlineMissedCount++; if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines." << std::endl; +#endif } } diff --git a/osal/linux/MessageQueue.cpp b/osal/linux/MessageQueue.cpp index cfadb793..e7b09b4f 100644 --- a/osal/linux/MessageQueue.cpp +++ b/osal/linux/MessageQueue.cpp @@ -10,7 +10,6 @@ #include - MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize): id(MessageQueueIF::NO_QUEUE),lastPartner(MessageQueueIF::NO_QUEUE), defaultDestination(MessageQueueIF::NO_QUEUE), @@ -43,13 +42,17 @@ MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize): MessageQueue::~MessageQueue() { int status = mq_close(this->id); if(status != 0){ +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "MessageQueue::Destructor: mq_close Failed with status: " << strerror(errno) < Apply changes with: sudo sysctl -p */ +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "MessageQueue::MessageQueue: Default MQ size " << defaultMqMaxMsg << " is too small for requested size " << messageDepth << std::endl; sif::error << "This error can be fixed by setting the maximum " "allowed message size higher!" << std::endl; +#endif } break; @@ -95,8 +102,10 @@ ReturnValue_t MessageQueue::handleError(mq_attr* attributes, //We unlink the other queue int status = mq_unlink(name); if (status != 0) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "mq_unlink Failed with status: " << strerror(errno) << std::endl; +#endif } else { // Successful unlinking, try to open again @@ -114,9 +123,11 @@ ReturnValue_t MessageQueue::handleError(mq_attr* attributes, default: // Failed either the first time or the second time +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "MessageQueue::MessageQueue: Creating Queue " << std::hex << name << std::dec << " failed with status: " << strerror(errno) << std::endl; +#endif } return HasReturnvaluesIF::RETURN_FAILED; @@ -151,15 +162,19 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message, ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) { if(message == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "MessageQueue::receiveMessage: Message is " "nullptr!" << std::endl; +#endif return HasReturnvaluesIF::RETURN_FAILED; } if(message->getMaximumMessageSize() < maxMessageSize) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "MessageQueue::receiveMessage: Message size " << message->getMaximumMessageSize() << " too small to receive data!" << std::endl; +#endif return HasReturnvaluesIF::RETURN_FAILED; } @@ -187,8 +202,10 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) { return MessageQueueIF::EMPTY; case EBADF: //mqdes doesn't represent a valid queue open for reading. +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "MessageQueue::receive: configuration error " << strerror(errno) << std::endl; +#endif /*NO BREAK*/ case EINVAL: /* @@ -200,8 +217,10 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) { * queue, and the QNX extended option MQ_READBUF_DYNAMIC hasn't * been set in the queue's mq_flags. */ +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "MessageQueue::receive: configuration error " << strerror(errno) << std::endl; +#endif /*NO BREAK*/ case EMSGSIZE: /* @@ -213,8 +232,10 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) { * given msg_len is too short for the message that would have * been received. */ +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "MessageQueue::receive: configuration error " << strerror(errno) << std::endl; +#endif /*NO BREAK*/ case EINTR: //The operation was interrupted by a signal. @@ -237,8 +258,10 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) { switch(errno){ case EBADF: //mqdes doesn't represent a valid message queue. +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "MessageQueue::flush configuration error, " "called flush with an invalid queue ID" << std::endl; +#endif /*NO BREAK*/ case EINVAL: //mq_attr is NULL @@ -253,8 +276,10 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) { switch(errno){ case EBADF: //mqdes doesn't represent a valid message queue. +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "MessageQueue::flush configuration error, " "called flush with an invalid queue ID" << std::endl; +#endif /*NO BREAK*/ case EINVAL: /* @@ -306,8 +331,10 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo, MessageQueueMessageIF *message, MessageQueueId_t sentFrom, bool ignoreFault) { if(message == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "MessageQueue::sendMessageFromMessageQueue: Message is " "nullptr!" << std::endl; +#endif return HasReturnvaluesIF::RETURN_FAILED; } @@ -335,11 +362,13 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo, case EBADF: { //mq_des doesn't represent a valid message queue descriptor, //or mq_des wasn't opened for writing. +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "MessageQueue::sendMessage: Configuration error, MQ" << " destination invalid." << std::endl; sif::error << strerror(errno) << " in " <<"mq_send to: " << sendTo << " sent from " << sentFrom << std::endl; +#endif return DESTINVATION_INVALID; } case EINTR: @@ -354,14 +383,18 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo, * - MQ_PRIO_RESTRICT is set in the mq_attr of mq_des, and * msg_prio is greater than the priority of the calling process. */ +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "MessageQueue::sendMessage: Configuration error " << strerror(errno) << " in mq_send" << std::endl; +#endif /*NO BREAK*/ case EMSGSIZE: // The msg_len is greater than the msgsize associated with //the specified queue. +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "MessageQueue::sendMessage: Size error [" << strerror(errno) << "] in mq_send" << std::endl; +#endif /*NO BREAK*/ default: return HasReturnvaluesIF::RETURN_FAILED; diff --git a/osal/linux/Mutex.cpp b/osal/linux/Mutex.cpp index b27ff8c0..c642b132 100644 --- a/osal/linux/Mutex.cpp +++ b/osal/linux/Mutex.cpp @@ -12,24 +12,32 @@ Mutex::Mutex() { pthread_mutexattr_t mutexAttr; int status = pthread_mutexattr_init(&mutexAttr); if (status != 0) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Mutex: Attribute init failed with: " << strerror(status) << std::endl; +#endif } status = pthread_mutexattr_setprotocol(&mutexAttr, PTHREAD_PRIO_INHERIT); if (status != 0) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Mutex: Attribute set PRIO_INHERIT failed with: " << strerror(status) << std::endl; +#endif } status = pthread_mutex_init(&mutex, &mutexAttr); if (status != 0) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Mutex: creation with name, id " << mutex.__data.__count << ", " << " failed with " << strerror(status) << std::endl; +#endif } // After a mutex attributes object has been used to initialize one or more // mutexes, any function affecting the attributes object // (including destruction) shall not affect any previously initialized mutexes. status = pthread_mutexattr_destroy(&mutexAttr); if (status != 0) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Mutex: Attribute destroy failed with " << strerror(status) << std::endl; +#endif } } diff --git a/osal/linux/PeriodicPosixTask.cpp b/osal/linux/PeriodicPosixTask.cpp index 3c1df6bb..a8f2de60 100644 --- a/osal/linux/PeriodicPosixTask.cpp +++ b/osal/linux/PeriodicPosixTask.cpp @@ -25,8 +25,10 @@ ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) { ExecutableObjectIF* newObject = objectManager->get( object); if (newObject == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "PeriodicTask::addComponent: Invalid object. Make sure" << " it implements ExecutableObjectIF!" << std::endl; +#endif return HasReturnvaluesIF::RETURN_FAILED; } objectList.push_back(newObject); @@ -42,7 +44,9 @@ ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) { ReturnValue_t PeriodicPosixTask::startTask(void) { started = true; +#if FSFW_CPP_OSTREAM_ENABLED == 1 //sif::info << stackSize << std::endl; +#endif PosixThread::createTask(&taskEntryPoint,this); return HasReturnvaluesIF::RETURN_OK; } @@ -67,12 +71,16 @@ void PeriodicPosixTask::taskFunctionality(void) { char name[20] = {0}; int status = pthread_getname_np(pthread_self(), name, sizeof(name)); if(status == 0) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "PeriodicPosixTask " << name << ": Deadline " "missed." << std::endl; +#endif } else { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "PeriodicPosixTask X: Deadline missed. " << status << std::endl; +#endif } if (this->deadlineMissedFunc != nullptr) { this->deadlineMissedFunc(); diff --git a/osal/linux/PosixThread.cpp b/osal/linux/PosixThread.cpp index 55d74de3..a0e540cf 100644 --- a/osal/linux/PosixThread.cpp +++ b/osal/linux/PosixThread.cpp @@ -48,8 +48,10 @@ void PosixThread::suspend() { sigaddset(&waitSignal, SIGUSR1); sigwait(&waitSignal, &caughtSig); if (caughtSig != SIGUSR1) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "FixedTimeslotTask: Unknown Signal received: " << caughtSig << std::endl; +#endif } } @@ -118,7 +120,9 @@ uint64_t PosixThread::getCurrentMonotonicTimeMs(){ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 //sif::debug << "PosixThread::createTask" << std::endl; +#endif /* * The attr argument points to a pthread_attr_t structure whose contents are used at thread creation time to determine attributes for the new @@ -129,53 +133,69 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) { pthread_attr_t attributes; int status = pthread_attr_init(&attributes); if(status != 0){ +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Posix Thread attribute init failed with: " << strerror(status) << std::endl; +#endif } void* stackPointer; status = posix_memalign(&stackPointer, sysconf(_SC_PAGESIZE), stackSize); if(status != 0){ +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "PosixThread::createTask: Stack init failed with: " << strerror(status) << std::endl; +#endif if(errno == ENOMEM) { uint64_t stackMb = stackSize/10e6; +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "PosixThread::createTask: Insufficient memory for" " the requested " << stackMb << " MB" << std::endl; +#endif } else if(errno == EINVAL) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "PosixThread::createTask: Wrong alignment argument!" << std::endl; +#endif } return; } status = pthread_attr_setstack(&attributes, stackPointer, stackSize); if(status != 0){ +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "PosixThread::createTask: pthread_attr_setstack " " failed with: " << strerror(status) << std::endl; sif::error << "Make sure the specified stack size is valid and is " "larger than the minimum allowed stack size." << std::endl; +#endif } status = pthread_attr_setinheritsched(&attributes, PTHREAD_EXPLICIT_SCHED); if(status != 0){ +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Posix Thread attribute setinheritsched failed with: " << strerror(status) << std::endl; +#endif } // TODO FIFO -> This needs root privileges for the process status = pthread_attr_setschedpolicy(&attributes,SCHED_FIFO); if(status != 0){ +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Posix Thread attribute schedule policy failed with: " << strerror(status) << std::endl; +#endif } sched_param scheduleParams; scheduleParams.__sched_priority = priority; status = pthread_attr_setschedparam(&attributes, &scheduleParams); if(status != 0){ +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Posix Thread attribute schedule params failed with: " << strerror(status) << std::endl; +#endif } //Set Signal Mask for suspend until startTask is called @@ -184,36 +204,48 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) { sigaddset(&waitSignal, SIGUSR1); status = pthread_sigmask(SIG_BLOCK, &waitSignal, NULL); if(status != 0){ +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Posix Thread sigmask failed failed with: " << strerror(status) << " errno: " << strerror(errno) << std::endl; +#endif } status = pthread_create(&thread,&attributes,fnc_,arg_); if(status != 0){ +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Posix Thread create failed with: " << strerror(status) << std::endl; +#endif } status = pthread_setname_np(thread,name); if(status != 0){ +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "PosixThread::createTask: setname failed with: " << strerror(status) << std::endl; +#endif if(status == ERANGE) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "PosixThread::createTask: Task name length longer" " than 16 chars. Truncating.." << std::endl; +#endif name[15] = '\0'; status = pthread_setname_np(thread,name); if(status != 0){ +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "PosixThread::createTask: Setting name" " did not work.." << std::endl; +#endif } } } status = pthread_attr_destroy(&attributes); if(status!=0){ +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Posix Thread attribute destroy failed with: " << strerror(status) << std::endl; +#endif } } diff --git a/osal/linux/TcUnixUdpPollingTask.cpp b/osal/linux/TcUnixUdpPollingTask.cpp index af99ec91..a8387e87 100644 --- a/osal/linux/TcUnixUdpPollingTask.cpp +++ b/osal/linux/TcUnixUdpPollingTask.cpp @@ -39,14 +39,18 @@ ReturnValue_t TcUnixUdpPollingTask::performOperation(uint8_t opCode) { reinterpret_cast(&senderAddress), &senderSockLen); if(bytesReceived < 0) { // handle error +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "TcSocketPollingTask::performOperation: Reception" "error." << std::endl; +#endif handleReadError(); continue; } +#if FSFW_CPP_OSTREAM_ENABLED == 1 // sif::debug << "TcSocketPollingTask::performOperation: " << bytesReceived // << " bytes received" << std::endl; +#endif ReturnValue_t result = handleSuccessfullTcRead(bytesReceived); if(result != HasReturnvaluesIF::RETURN_FAILED) { @@ -65,9 +69,11 @@ ReturnValue_t TcUnixUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) { receptionBuffer.data(), bytesRead); // arrayprinter::print(receptionBuffer.data(), bytesRead); if (result != HasReturnvaluesIF::RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "TcSerialPollingTask::transferPusToSoftwareBus: Data " "storage failed" << std::endl; sif::error << "Packet size: " << bytesRead << std::endl; +#endif return HasReturnvaluesIF::RETURN_FAILED; } @@ -75,8 +81,10 @@ ReturnValue_t TcUnixUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) { result = MessageQueueSenderIF::sendMessage(targetTcDestination, &message); if (result != HasReturnvaluesIF::RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Serial Polling: Sending message to queue failed" << std::endl; +#endif tcStore->deleteData(storeId); } return result; @@ -85,15 +93,19 @@ ReturnValue_t TcUnixUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) { ReturnValue_t TcUnixUdpPollingTask::initialize() { tcStore = objectManager->get(objects::TC_STORE); if (tcStore == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "TcSerialPollingTask::initialize: TC Store uninitialized!" << std::endl; +#endif return ObjectManagerIF::CHILD_INIT_FAILED; } tmtcBridge = objectManager->get(tmtcBridgeId); if(tmtcBridge == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "TcSocketPollingTask::TcSocketPollingTask: Invalid" " TMTC bridge object!" << std::endl; +#endif return ObjectManagerIF::CHILD_INIT_FAILED; } @@ -115,8 +127,10 @@ void TcUnixUdpPollingTask::setTimeout(double timeoutSeconds) { int result = setsockopt(serverUdpSocket, SOL_SOCKET, SO_RCVTIMEO, &tval, sizeof(receptionTimeout)); if(result == -1) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "TcSocketPollingTask::TcSocketPollingTask: Setting " "receive timeout failed with " << strerror(errno) << std::endl; +#endif } } @@ -126,13 +140,17 @@ void TcUnixUdpPollingTask::handleReadError() { case(EAGAIN): { // todo: When working in timeout mode, this will occur more often // and is not an error. +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "TcUnixUdpPollingTask::handleReadError: Timeout." << std::endl; +#endif break; } default: { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "TcUnixUdpPollingTask::handleReadError: " << strerror(errno) << std::endl; +#endif } } } diff --git a/osal/linux/Timer.cpp b/osal/linux/Timer.cpp index bae631d7..fe0fbebb 100644 --- a/osal/linux/Timer.cpp +++ b/osal/linux/Timer.cpp @@ -10,8 +10,10 @@ Timer::Timer() { sigEvent.sigev_value.sival_ptr = &timerId; int status = timer_create(CLOCK_MONOTONIC, &sigEvent, &timerId); if(status!=0){ +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Timer creation failed with: " << status << " errno: " << errno << std::endl; +#endif } } diff --git a/osal/linux/TmTcUnixUdpBridge.cpp b/osal/linux/TmTcUnixUdpBridge.cpp index ab28623e..1d318d3b 100644 --- a/osal/linux/TmTcUnixUdpBridge.cpp +++ b/osal/linux/TmTcUnixUdpBridge.cpp @@ -26,8 +26,10 @@ TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId, //clientSocket = socket(AF_INET, SOCK_DGRAM, 0); serverSocket = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP); if(serverSocket < 0) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not open" " UDP socket!" << std::endl; +#endif handleSocketError(); return; } @@ -51,9 +53,11 @@ TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId, reinterpret_cast(&serverAddress), serverAddressLen); if(result == -1) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not bind " "local port " << setServerPort << " to server socket!" << std::endl; +#endif handleBindError(); return; } @@ -74,18 +78,24 @@ ReturnValue_t TmTcUnixUdpBridge::sendTm(const uint8_t *data, size_t dataLen) { } // char ipAddress [15]; +#if FSFW_CPP_OSTREAM_ENABLED == 1 // sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET, // &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl; +#endif ssize_t bytesSent = sendto(serverSocket, data, dataLen, flags, reinterpret_cast(&clientAddress), clientAddressLen); if(bytesSent < 0) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "TmTcUnixUdpBridge::sendTm: Send operation failed." << std::endl; +#endif handleSendError(); } +#if FSFW_CPP_OSTREAM_ENABLED == 1 // sif::debug << "TmTcUnixUdpBridge::sendTm: " << bytesSent << " bytes were" // " sent." << std::endl; +#endif return HasReturnvaluesIF::RETURN_OK; } @@ -93,10 +103,12 @@ void TmTcUnixUdpBridge::checkAndSetClientAddress(sockaddr_in& newAddress) { MutexHelper lock(mutex, MutexIF::TimeoutType::WAITING, 10); // char ipAddress [15]; +#if FSFW_CPP_OSTREAM_ENABLED == 1 // sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET, // &newAddress.sin_addr.s_addr, ipAddress, 15) << std::endl; // sif::debug << "IP Address Old: " << inet_ntop(AF_INET, // &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl; +#endif // Set new IP address if it has changed. if(clientAddress.sin_addr.s_addr != newAddress.sin_addr.s_addr) { @@ -117,12 +129,16 @@ void TmTcUnixUdpBridge::handleSocketError() { case(ENOBUFS): case(ENOMEM): case(EPROTONOSUPPORT): +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "TmTcUnixBridge::handleSocketError: Socket creation failed" << " with " << strerror(errno) << std::endl; +#endif break; default: +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "TmTcUnixBridge::handleSocketError: Unknown error" << std::endl; +#endif break; } } @@ -135,10 +151,12 @@ void TmTcUnixUdpBridge::handleBindError() { Ephermeral ports can be shown with following command: sysctl -A | grep ip_local_port_range */ +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "TmTcUnixBridge::handleBindError: Port access issue." "Ports 1-1024 are reserved on UNIX systems and require root " "rights while ephermeral ports should not be used as well." << std::endl; +#endif } break; case(EADDRINUSE): @@ -153,13 +171,17 @@ void TmTcUnixUdpBridge::handleBindError() { case(ENOMEM): case(ENOTDIR): case(EROFS): { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "TmTcUnixBridge::handleBindError: Socket creation failed" << " with " << strerror(errno) << std::endl; +#endif break; } default: +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "TmTcUnixBridge::handleBindError: Unknown error" << std::endl; +#endif break; } } @@ -167,8 +189,10 @@ void TmTcUnixUdpBridge::handleBindError() { void TmTcUnixUdpBridge::handleSendError() { switch(errno) { default: +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "TmTcUnixBridge::handleSendError: " << strerror(errno) << std::endl; +#endif } } diff --git a/osal/rtems/CMakeLists.txt b/osal/rtems/CMakeLists.txt new file mode 100644 index 00000000..bff03184 --- /dev/null +++ b/osal/rtems/CMakeLists.txt @@ -0,0 +1,18 @@ +target_sources(${LIB_FSFW_NAME} + PRIVATE + Clock.cpp + CpuUsage.cpp + InitTask.cpp + InternalErrorCodes.cpp + MessageQueue.cpp + MultiObjectTask.cpp + Mutex.cpp + MutexFactory.cpp + PollingTask.cpp + QueueFactory.cpp + RtemsBasic.cpp + TaskBase.cpp + TaskFactory.cpp +) + + diff --git a/osal/rtems/Clock.cpp b/osal/rtems/Clock.cpp index e5f37ec6..8bd7ac37 100644 --- a/osal/rtems/Clock.cpp +++ b/osal/rtems/Clock.cpp @@ -1,6 +1,10 @@ -#include "../../timemanager/Clock.h" #include "RtemsBasic.h" + +#include "../../timemanager/Clock.h" +#include "../../ipc/MutexHelper.h" + #include +#include uint16_t Clock::leapSeconds = 0; MutexIF* Clock::timeMutex = nullptr; @@ -33,15 +37,24 @@ ReturnValue_t Clock::setClock(const TimeOfDay_t* time) { } ReturnValue_t Clock::setClock(const timeval* time) { - //TODO This routine uses _TOD_Set which is not timespec newTime; newTime.tv_sec = time->tv_sec; + if(time->tv_usec < 0) { + // better returnvalue. + return HasReturnvaluesIF::RETURN_FAILED; + } newTime.tv_nsec = time->tv_usec * TOD_NANOSECONDS_PER_MICROSECOND; - //SHOULDDO: Not sure if we need to protect this call somehow (by thread lock or something). - //Uli: rtems docu says you can call this from an ISR, not sure if this means no protetion needed - //TODO Second parameter is ISR_lock_Context - _TOD_Set(&newTime,nullptr); - return HasReturnvaluesIF::RETURN_OK; + + ISR_lock_Context context; + _TOD_Lock(); + _TOD_Acquire(&context); + Status_Control status = _TOD_Set(&newTime, &context); + _TOD_Unlock(); + if(status == STATUS_SUCCESSFUL) { + return HasReturnvaluesIF::RETURN_OK; + } + // better returnvalue + return HasReturnvaluesIF::RETURN_FAILED; } ReturnValue_t Clock::getClock_timeval(timeval* time) { @@ -91,6 +104,7 @@ ReturnValue_t Clock::getClock_usecs(uint64_t* time) { } ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) { + // TIsn't this a bug? Are RTEMS ticks always microseconds? rtems_time_of_day* timeRtems = reinterpret_cast(time); rtems_status_code status = rtems_clock_get_tod(timeRtems); switch (status) { diff --git a/osal/rtems/InternalErrorCodes.cpp b/osal/rtems/InternalErrorCodes.cpp index ddf365d5..f4079814 100644 --- a/osal/rtems/InternalErrorCodes.cpp +++ b/osal/rtems/InternalErrorCodes.cpp @@ -34,8 +34,10 @@ ReturnValue_t InternalErrorCodes::translate(uint8_t code) { return OUT_OF_PROXIES; case INTERNAL_ERROR_INVALID_GLOBAL_ID: return INVALID_GLOBAL_ID; +#ifndef STM32H743ZI_NUCLEO case INTERNAL_ERROR_BAD_STACK_HOOK: return BAD_STACK_HOOK; +#endif // case INTERNAL_ERROR_BAD_ATTRIBUTES: // return BAD_ATTRIBUTES; // case INTERNAL_ERROR_IMPLEMENTATION_KEY_CREATE_INCONSISTENCY: diff --git a/osal/rtems/MessageQueue.cpp b/osal/rtems/MessageQueue.cpp index 839182a6..bfaf3569 100644 --- a/osal/rtems/MessageQueue.cpp +++ b/osal/rtems/MessageQueue.cpp @@ -9,9 +9,11 @@ MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) : rtems_status_code status = rtems_message_queue_create(name, message_depth, max_message_size, 0, &(this->id)); if (status != RTEMS_SUCCESSFUL) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "MessageQueue::MessageQueue: Creating Queue " << std::hex << name << std::dec << " failed with status:" << (uint32_t) status << std::endl; +#endif this->id = 0; } } diff --git a/osal/rtems/MultiObjectTask.cpp b/osal/rtems/MultiObjectTask.cpp index 970d01e1..b111f724 100644 --- a/osal/rtems/MultiObjectTask.cpp +++ b/osal/rtems/MultiObjectTask.cpp @@ -30,8 +30,10 @@ ReturnValue_t MultiObjectTask::startTask() { rtems_status_code status = rtems_task_start(id, MultiObjectTask::taskEntryPoint, rtems_task_argument((void *) this)); if (status != RTEMS_SUCCESSFUL) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "ObjectTask::startTask for " << std::hex << this->getId() << std::dec << " failed." << std::endl; +#endif } switch(status){ case RTEMS_SUCCESSFUL: @@ -63,7 +65,9 @@ void MultiObjectTask::taskFunctionality() { char nameSpace[8] = { 0 }; char* ptr = rtems_object_get_name(getId(), sizeof(nameSpace), nameSpace); +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "ObjectTask: " << ptr << " Deadline missed." << std::endl; +#endif if (this->deadlineMissedFunc != nullptr) { this->deadlineMissedFunc(); } diff --git a/osal/rtems/Mutex.cpp b/osal/rtems/Mutex.cpp index a5ec9635..71c5782f 100644 --- a/osal/rtems/Mutex.cpp +++ b/osal/rtems/Mutex.cpp @@ -10,16 +10,20 @@ Mutex::Mutex() : RTEMS_BINARY_SEMAPHORE | RTEMS_PRIORITY | RTEMS_INHERIT_PRIORITY, 0, &mutexId); if (status != RTEMS_SUCCESSFUL) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Mutex: creation with name, id " << mutexName << ", " << mutexId << " failed with " << status << std::endl; +#endif } } Mutex::~Mutex() { rtems_status_code status = rtems_semaphore_delete(mutexId); if (status != RTEMS_SUCCESSFUL) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Mutex: deletion for id " << mutexId << " failed with " << status << std::endl; +#endif } } diff --git a/osal/rtems/PollingTask.cpp b/osal/rtems/PollingTask.cpp index db7864fe..0ebf63e2 100644 --- a/osal/rtems/PollingTask.cpp +++ b/osal/rtems/PollingTask.cpp @@ -35,15 +35,19 @@ rtems_task PollingTask::taskEntryPoint(rtems_task_argument argument) { PollingTask *originalTask(reinterpret_cast(argument)); //The task's functionality is called. originalTask->taskFunctionality(); +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "Polling task " << originalTask->getId() << " returned from taskFunctionality." << std::endl; +#endif } void PollingTask::missedDeadlineCounter() { PollingTask::deadlineMissedCount++; if (PollingTask::deadlineMissedCount % 10 == 0) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "PST missed " << PollingTask::deadlineMissedCount << " deadlines." << std::endl; +#endif } } @@ -51,8 +55,10 @@ ReturnValue_t PollingTask::startTask() { rtems_status_code status = rtems_task_start(id, PollingTask::taskEntryPoint, rtems_task_argument((void *) this)); if (status != RTEMS_SUCCESSFUL) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "PollingTask::startTask for " << std::hex << this->getId() << std::dec << " failed." << std::endl; +#endif } switch(status){ case RTEMS_SUCCESSFUL: @@ -75,8 +81,10 @@ ReturnValue_t PollingTask::addSlot(object_id_t componentId, return HasReturnvaluesIF::RETURN_OK; } +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Component " << std::hex << componentId << " not found, not adding it to pst" << std::endl; +#endif return HasReturnvaluesIF::RETURN_FAILED; } diff --git a/osal/rtems/TaskBase.cpp b/osal/rtems/TaskBase.cpp index 4e0c8f00..6abfcca8 100644 --- a/osal/rtems/TaskBase.cpp +++ b/osal/rtems/TaskBase.cpp @@ -22,9 +22,11 @@ TaskBase::TaskBase(rtems_task_priority set_priority, size_t stack_size, } ReturnValue_t result = convertReturnCode(status); if (result != HasReturnvaluesIF::RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "TaskBase::TaskBase: createTask with name " << std::hex << osalName << std::dec << " failed with return code " << (uint32_t) status << std::endl; +#endif this->id = 0; } } diff --git a/osal/windows/TcWinUdpPollingTask.cpp b/osal/windows/TcWinUdpPollingTask.cpp index 06deafd1..4fd88c93 100644 --- a/osal/windows/TcWinUdpPollingTask.cpp +++ b/osal/windows/TcWinUdpPollingTask.cpp @@ -43,13 +43,17 @@ ReturnValue_t TcWinUdpPollingTask::performOperation(uint8_t opCode) { &senderAddressSize); if(bytesReceived == SOCKET_ERROR) { // handle error +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "TcWinUdpPollingTask::performOperation: Reception" " error." << std::endl; +#endif handleReadError(); continue; } +#if FSFW_CPP_OSTREAM_ENABLED == 1 //sif::debug << "TcWinUdpPollingTask::performOperation: " << bytesReceived // << " bytes received" << std::endl; +#endif ReturnValue_t result = handleSuccessfullTcRead(bytesReceived); if(result != HasReturnvaluesIF::RETURN_FAILED) { @@ -68,9 +72,11 @@ ReturnValue_t TcWinUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) { receptionBuffer.data(), bytesRead); // arrayprinter::print(receptionBuffer.data(), bytesRead); if (result != HasReturnvaluesIF::RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "TcSerialPollingTask::transferPusToSoftwareBus: Data " "storage failed" << std::endl; sif::error << "Packet size: " << bytesRead << std::endl; +#endif return HasReturnvaluesIF::RETURN_FAILED; } @@ -78,8 +84,10 @@ ReturnValue_t TcWinUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) { result = MessageQueueSenderIF::sendMessage(targetTcDestination, &message); if (result != HasReturnvaluesIF::RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Serial Polling: Sending message to queue failed" << std::endl; +#endif tcStore->deleteData(storeId); } return result; @@ -88,21 +96,27 @@ ReturnValue_t TcWinUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) { ReturnValue_t TcWinUdpPollingTask::initialize() { tcStore = objectManager->get(objects::TC_STORE); if (tcStore == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "TcSerialPollingTask::initialize: TC Store uninitialized!" << std::endl; +#endif return ObjectManagerIF::CHILD_INIT_FAILED; } tmtcBridge = objectManager->get(tmtcBridgeId); if(tmtcBridge == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "TcSocketPollingTask::TcSocketPollingTask: Invalid" " TMTC bridge object!" << std::endl; +#endif return ObjectManagerIF::CHILD_INIT_FAILED; } serverUdpSocket = tmtcBridge->serverSocket; +#if FSFW_CPP_OSTREAM_ENABLED == 1 //sif::info << "TcWinUdpPollingTask::initialize: Server UDP socket " // << serverUdpSocket << std::endl; +#endif return HasReturnvaluesIF::RETURN_OK; } @@ -119,8 +133,10 @@ void TcWinUdpPollingTask::setTimeout(double timeoutSeconds) { int result = setsockopt(serverUdpSocket, SOL_SOCKET, SO_RCVTIMEO, reinterpret_cast(&timeoutMs), sizeof(DWORD)); if(result == -1) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "TcWinUdpPollingTask::TcSocketPollingTask: Setting " "receive timeout failed with " << strerror(errno) << std::endl; +#endif } } @@ -128,23 +144,31 @@ void TcWinUdpPollingTask::handleReadError() { int error = WSAGetLastError(); switch(error) { case(WSANOTINITIALISED): { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::info << "TcWinUdpPollingTask::handleReadError: WSANOTINITIALISED: " << "WSAStartup(...) call " << "necessary" << std::endl; +#endif break; } case(WSAEFAULT): { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::info << "TcWinUdpPollingTask::handleReadError: WSADEFAULT: " << "Bad address " << std::endl; +#endif break; } case(WSAEINVAL): { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::info << "TcWinUdpPollingTask::handleReadError: WSAEINVAL: " << "Invalid input parameters. " << std::endl; +#endif break; } default: { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::info << "TcWinUdpPollingTask::handleReadError: Error code: " << error << std::endl; +#endif break; } } diff --git a/osal/windows/TmTcWinUdpBridge.cpp b/osal/windows/TmTcWinUdpBridge.cpp index e1ba132e..69a48f3e 100644 --- a/osal/windows/TmTcWinUdpBridge.cpp +++ b/osal/windows/TmTcWinUdpBridge.cpp @@ -15,8 +15,10 @@ TmTcWinUdpBridge::TmTcWinUdpBridge(object_id_t objectId, if (err != 0) { /* Tell the user that we could not find a usable */ /* Winsock DLL. */ +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge:" "WSAStartup failed with error: " << err << std::endl; +#endif return; } @@ -34,8 +36,10 @@ TmTcWinUdpBridge::TmTcWinUdpBridge(object_id_t objectId, //clientSocket = socket(AF_INET, SOCK_DGRAM, 0); serverSocket = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP); if(serverSocket == INVALID_SOCKET) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge: Could not open" " UDP socket!" << std::endl; +#endif handleSocketError(); return; } @@ -59,9 +63,11 @@ TmTcWinUdpBridge::TmTcWinUdpBridge(object_id_t objectId, reinterpret_cast(&serverAddress), serverAddressLen); if(result != 0) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge: Could not bind " "local port " << setServerPort << " to server socket!" << std::endl; +#endif handleBindError(); } } @@ -77,19 +83,25 @@ ReturnValue_t TmTcWinUdpBridge::sendTm(const uint8_t *data, size_t dataLen) { //clientAddressLen = sizeof(serverAddress); // char ipAddress [15]; +#if FSFW_CPP_OSTREAM_ENABLED == 1 // sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET, // &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl; +#endif ssize_t bytesSent = sendto(serverSocket, reinterpret_cast(data), dataLen, flags, reinterpret_cast(&clientAddress), clientAddressLen); if(bytesSent == SOCKET_ERROR) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "TmTcWinUdpBridge::sendTm: Send operation failed." << std::endl; +#endif handleSendError(); } +#if FSFW_CPP_OSTREAM_ENABLED == 1 // sif::debug << "TmTcUnixUdpBridge::sendTm: " << bytesSent << " bytes were" // " sent." << std::endl; +#endif return HasReturnvaluesIF::RETURN_OK; } @@ -97,10 +109,12 @@ void TmTcWinUdpBridge::checkAndSetClientAddress(sockaddr_in newAddress) { MutexHelper lock(mutex, MutexIF::TimeoutType::WAITING, 10); // char ipAddress [15]; +#if FSFW_CPP_OSTREAM_ENABLED == 1 // sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET, // &newAddress.sin_addr.s_addr, ipAddress, 15) << std::endl; // sif::debug << "IP Address Old: " << inet_ntop(AF_INET, // &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl; +#endif registerCommConnect(); // Set new IP address if it has changed. @@ -114,8 +128,10 @@ void TmTcWinUdpBridge::handleSocketError() { int errCode = WSAGetLastError(); switch(errCode) { case(WSANOTINITIALISED): { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::info << "TmTcWinUdpBridge::handleSocketError: WSANOTINITIALISED: " << "WSAStartup(...) call necessary" << std::endl; +#endif break; } default: { @@ -123,8 +139,10 @@ void TmTcWinUdpBridge::handleSocketError() { https://docs.microsoft.com/en-us/windows/win32/winsock/ windows-sockets-error-codes-2 */ +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::info << "TmTcWinUdpBridge::handleSocketError: Error code: " << errCode << std::endl; +#endif break; } } @@ -134,13 +152,17 @@ void TmTcWinUdpBridge::handleBindError() { int errCode = WSAGetLastError(); switch(errCode) { case(WSANOTINITIALISED): { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::info << "TmTcWinUdpBridge::handleBindError: WSANOTINITIALISED: " << "WSAStartup(...) call " << "necessary" << std::endl; +#endif break; } case(WSAEADDRINUSE): { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "TmTcWinUdpBridge::handleBindError: WSAEADDRINUSE: " << "Port is already in use!" << std::endl; +#endif break; } default: { @@ -148,8 +170,10 @@ void TmTcWinUdpBridge::handleBindError() { https://docs.microsoft.com/en-us/windows/win32/winsock/ windows-sockets-error-codes-2 */ +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::info << "TmTcWinUdpBridge::handleBindError: Error code: " << errCode << std::endl; +#endif break; } } @@ -159,13 +183,17 @@ void TmTcWinUdpBridge::handleSendError() { int errCode = WSAGetLastError(); switch(errCode) { case(WSANOTINITIALISED): { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::info << "TmTcWinUdpBridge::handleSendError: WSANOTINITIALISED: " << "WSAStartup(...) call necessary" << std::endl; +#endif break; } case(WSAEADDRNOTAVAIL): { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::info << "TmTcWinUdpBridge::handleSendError: WSAEADDRNOTAVAIL: " << "Check target address. " << std::endl; +#endif break; } default: { @@ -173,8 +201,10 @@ void TmTcWinUdpBridge::handleSendError() { https://docs.microsoft.com/en-us/windows/win32/winsock/ windows-sockets-error-codes-2 */ +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::info << "TmTcWinUdpBridge::handleSendError: Error code: " << errCode << std::endl; +#endif break; } } diff --git a/parameters/ParameterHelper.cpp b/parameters/ParameterHelper.cpp index 23d1a1f3..4ad5cdf2 100644 --- a/parameters/ParameterHelper.cpp +++ b/parameters/ParameterHelper.cpp @@ -48,8 +48,10 @@ ReturnValue_t ParameterHelper::handleParameterMessage(CommandMessage *message) { ConstStorageAccessor accessor(storeId); result = storage->getData(storeId, accessor); if (result != HasReturnvaluesIF::RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "ParameterHelper::handleParameterMessage: Getting" << " store data failed for load command." << std::endl; +#endif break; } diff --git a/pus/CService201HealthCommanding.cpp b/pus/CService201HealthCommanding.cpp index edacd73a..ca761f14 100644 --- a/pus/CService201HealthCommanding.cpp +++ b/pus/CService201HealthCommanding.cpp @@ -22,7 +22,9 @@ ReturnValue_t CService201HealthCommanding::isValidSubservice(uint8_t subservice) case(Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): return RETURN_OK; default: +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Invalid Subservice" << std::endl; +#endif return AcceptsTelecommandsIF::INVALID_SUBSERVICE; } } diff --git a/pus/Service1TelecommandVerification.cpp b/pus/Service1TelecommandVerification.cpp index 86b0dcde..9e86c752 100644 --- a/pus/Service1TelecommandVerification.cpp +++ b/pus/Service1TelecommandVerification.cpp @@ -51,8 +51,10 @@ ReturnValue_t Service1TelecommandVerification::sendVerificationReport( result = generateSuccessReport(message); } if(result != HasReturnvaluesIF::RETURN_OK){ +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Service1TelecommandVerification::sendVerificationReport: " "Sending verification packet failed !" << std::endl; +#endif } return result; } @@ -88,9 +90,11 @@ ReturnValue_t Service1TelecommandVerification::initialize() { AcceptsTelemetryIF* funnel = objectManager-> get(targetDestination); if(funnel == nullptr){ +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Service1TelecommandVerification::initialize: Specified" " TM funnel invalid. Make sure it is set up and implements" " AcceptsTelemetryIF." << std::endl; +#endif return ObjectManagerIF::CHILD_INIT_FAILED; } tmQueue->setDefaultDestination(funnel->getReportReceptionQueue()); diff --git a/pus/Service2DeviceAccess.cpp b/pus/Service2DeviceAccess.cpp index 3648b7eb..72db82df 100644 --- a/pus/Service2DeviceAccess.cpp +++ b/pus/Service2DeviceAccess.cpp @@ -25,7 +25,9 @@ ReturnValue_t Service2DeviceAccess::isValidSubservice(uint8_t subservice) { case Subservice::COMMAND_TOGGLE_WIRETAPPING: return HasReturnvaluesIF::RETURN_OK; default: +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Invalid Subservice" << std::endl; +#endif return AcceptsTelecommandsIF::INVALID_SUBSERVICE; } } @@ -125,9 +127,11 @@ void Service2DeviceAccess::handleUnrequestedReply(CommandMessage* reply) { static_cast(Subservice::REPLY_RAW)); break; default: +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Unknown message in Service2DeviceAccess::" "handleUnrequestedReply with command ID " << reply->getCommand() << std::endl; +#endif break; } //Must be reached by all cases to clear message @@ -143,9 +147,11 @@ void Service2DeviceAccess::sendWiretappingTm(CommandMessage *reply, size_t size = 0; ReturnValue_t result = IPCStore->getData(storeAddress, &data, &size); if(result != HasReturnvaluesIF::RETURN_OK){ +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Service2DeviceAccess::sendWiretappingTm: Data Lost in " "handleUnrequestedReply with failure ID "<< result << std::endl; +#endif return; } diff --git a/pus/Service3Housekeeping.cpp b/pus/Service3Housekeeping.cpp index 175af026..ba7ff6ee 100644 --- a/pus/Service3Housekeeping.cpp +++ b/pus/Service3Housekeeping.cpp @@ -222,8 +222,10 @@ ReturnValue_t Service3Housekeeping::handleReply(const CommandMessage* reply, } default: +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Service3Housekeeping::handleReply: Invalid reply with " << "reply command " << command << "!" << std::endl; +#endif return CommandingServiceBase::INVALID_REPLY; } return HasReturnvaluesIF::RETURN_OK; @@ -249,16 +251,20 @@ void Service3Housekeeping::handleUnrequestedReply( } default: +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Service3Housekeeping::handleUnrequestedReply: Invalid " << "reply with " << "reply command " << command << "!" << std::endl; +#endif return; } if(result != HasReturnvaluesIF::RETURN_OK) { // Configuration error +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "Service3Housekeeping::handleUnrequestedReply:" << "Could not generate reply!" << std::endl; +#endif } } diff --git a/pus/Service5EventReporting.cpp b/pus/Service5EventReporting.cpp index e0b34a5b..29eb7f20 100644 --- a/pus/Service5EventReporting.cpp +++ b/pus/Service5EventReporting.cpp @@ -37,8 +37,10 @@ ReturnValue_t Service5EventReporting::performService() { } } } +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "Service5EventReporting::generateEventReport:" " Too many events" << std::endl; +#endif return HasReturnvaluesIF::RETURN_OK; } @@ -53,8 +55,10 @@ ReturnValue_t Service5EventReporting::generateEventReport( ReturnValue_t result = tmPacket.sendPacket( requestQueue->getDefaultDestination(),requestQueue->getId()); if(result != HasReturnvaluesIF::RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "Service5EventReporting::generateEventReport:" " Could not send TM packet" << std::endl; +#endif } return result; } diff --git a/pus/Service8FunctionManagement.cpp b/pus/Service8FunctionManagement.cpp index d710c56e..49fa6ebe 100644 --- a/pus/Service8FunctionManagement.cpp +++ b/pus/Service8FunctionManagement.cpp @@ -60,9 +60,11 @@ ReturnValue_t Service8FunctionManagement::prepareCommand( ReturnValue_t Service8FunctionManagement::prepareDirectCommand( CommandMessage *message, const uint8_t *tcData, size_t tcDataLen) { if(tcDataLen < sizeof(object_id_t) + sizeof(ActionId_t)) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "Service8FunctionManagement::prepareDirectCommand:" << " TC size smaller thant minimum size of direct command." << std::endl; +#endif return CommandingServiceBase::INVALID_TC; } @@ -125,8 +127,10 @@ ReturnValue_t Service8FunctionManagement::handleDataReply( const uint8_t * buffer = nullptr; ReturnValue_t result = IPCStore->getData(storeId, &buffer, &size); if(result != RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Service 8: Could not retrieve data for data reply" << std::endl; +#endif return result; } DataReply dataReply(objectId, actionId, buffer, size); @@ -135,8 +139,10 @@ ReturnValue_t Service8FunctionManagement::handleDataReply( auto deletionResult = IPCStore->deleteData(storeId); if(deletionResult != HasReturnvaluesIF::RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "Service8FunctionManagement::handleReply: Deletion" << " of data in pool failed." << std::endl; +#endif } return result; } diff --git a/serialize/EndianConverter.h b/serialize/EndianConverter.h index c888a905..3b19832e 100644 --- a/serialize/EndianConverter.h +++ b/serialize/EndianConverter.h @@ -3,7 +3,7 @@ #include "../osal/Endiness.h" #include -#include +#include /** * Helper class to convert variables or bitstreams between machine diff --git a/serialize/SerialBufferAdapter.cpp b/serialize/SerialBufferAdapter.cpp index 1c11afd4..53b8c3d5 100644 --- a/serialize/SerialBufferAdapter.cpp +++ b/serialize/SerialBufferAdapter.cpp @@ -95,8 +95,10 @@ ReturnValue_t SerialBufferAdapter::deSerialize(const uint8_t** buffer, template uint8_t * SerialBufferAdapter::getBuffer() { if(buffer == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Wrong access function for stored type !" " Use getConstBuffer()." << std::endl; +#endif return nullptr; } return buffer; @@ -105,8 +107,10 @@ uint8_t * SerialBufferAdapter::getBuffer() { template const uint8_t * SerialBufferAdapter::getConstBuffer() { if(constBuffer == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "SerialBufferAdapter::getConstBuffer:" " Buffers are unitialized!" << std::endl; +#endif return nullptr; } return constBuffer; diff --git a/serviceinterface/CMakeLists.txt b/serviceinterface/CMakeLists.txt index d84adbeb..84c79177 100644 --- a/serviceinterface/CMakeLists.txt +++ b/serviceinterface/CMakeLists.txt @@ -1,5 +1,5 @@ -target_sources(${LIB_FSFW_NAME} - PRIVATE - ServiceInterfaceStream.cpp - ServiceInterfaceBuffer.cpp +target_sources(${LIB_FSFW_NAME} PRIVATE + ServiceInterfaceStream.cpp + ServiceInterfaceBuffer.cpp + ServiceInterfacePrinter.cpp ) \ No newline at end of file diff --git a/serviceinterface/ServiceInterface.h b/serviceinterface/ServiceInterface.h new file mode 100644 index 00000000..1f7e5e84 --- /dev/null +++ b/serviceinterface/ServiceInterface.h @@ -0,0 +1,13 @@ +#ifndef FSFW_SERVICEINTERFACE_SERVICEINTERFACE_H_ +#define FSFW_SERVICEINTERFACE_SERVICEINTERFACE_H_ + +#include +#include "serviceInterfaceDefintions.h" + +#if FSFW_CPP_OSTREAM_ENABLED == 1 +#include +#else +#include +#endif + +#endif /* FSFW_SERVICEINTERFACE_SERVICEINTERFACE_H_ */ diff --git a/serviceinterface/ServiceInterfaceBuffer.cpp b/serviceinterface/ServiceInterfaceBuffer.cpp index 68fc4dec..1a02d6e9 100644 --- a/serviceinterface/ServiceInterfaceBuffer.cpp +++ b/serviceinterface/ServiceInterfaceBuffer.cpp @@ -1,8 +1,17 @@ -#include "../timemanager/Clock.h" #include "ServiceInterfaceBuffer.h" + +#if FSFW_CPP_OSTREAM_ENABLED == 1 + +#include "../timemanager/Clock.h" + +#include "serviceInterfaceDefintions.h" #include #include +#if defined(WIN32) && FSFW_COLORED_OUTPUT == 1 +#include "Windows.h" +#endif + // to be implemented by bsp extern "C" void printChar(const char*, bool errStream); @@ -17,6 +26,34 @@ ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string setMessage, // Set pointers if the stream is buffered. setp( buf, buf + BUF_SIZE ); } + +#if FSFW_COLORED_OUTPUT == 1 + if(setMessage.find("DEBUG") != std::string::npos) { + colorPrefix = sif::ANSI_COLOR_MAGENTA; + } + else if(setMessage.find("INFO") != std::string::npos) { + colorPrefix = sif::ANSI_COLOR_GREEN; + } + else if(setMessage.find("WARNING") != std::string::npos) { + colorPrefix = sif::ANSI_COLOR_YELLOW; + } + else if(setMessage.find("ERROR") != std::string::npos) { + colorPrefix = sif::ANSI_COLOR_RED; + } + else { + colorPrefix = sif::ANSI_COLOR_RESET; + } + +#ifdef WIN32 + HANDLE hOut = GetStdHandle(STD_OUTPUT_HANDLE); + DWORD dwMode = 0; + GetConsoleMode(hOut, &dwMode); + dwMode |= ENABLE_VIRTUAL_TERMINAL_PROCESSING; + SetConsoleMode(hOut, dwMode); +#endif + +#endif + preamble.reserve(MAX_PREAMBLE_SIZE); preamble.resize(MAX_PREAMBLE_SIZE); } @@ -102,6 +139,12 @@ std::string* ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) { currentSize += 1; parsePosition += 1; } + +#if FSFW_COLORED_OUTPUT == 1 + currentSize += sprintf(parsePosition, "%s", colorPrefix.c_str()); + parsePosition += colorPrefix.size(); +#endif + int32_t charCount = sprintf(parsePosition, "%s: | %02" SCNu32 ":%02" SCNu32 ":%02" SCNu32 ".%03" SCNu32 " | ", this->logMessage.c_str(), loggerTime.hour, @@ -215,3 +258,5 @@ void ServiceInterfaceBuffer::initSocket() { } #endif //ML505 + +#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ diff --git a/serviceinterface/ServiceInterfaceBuffer.h b/serviceinterface/ServiceInterfaceBuffer.h index c5d5b258..b1a50848 100644 --- a/serviceinterface/ServiceInterfaceBuffer.h +++ b/serviceinterface/ServiceInterfaceBuffer.h @@ -2,6 +2,10 @@ #define FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_ #include "../returnvalues/HasReturnvaluesIF.h" +#include + +#if FSFW_CPP_OSTREAM_ENABLED == 1 + #include #include #include @@ -41,6 +45,11 @@ private: //! For additional message information std::string logMessage; std::string preamble; + +#if FSFW_COLORED_OUTPUT == 1 + std::string colorPrefix; +#endif + // For EOF detection typedef std::char_traits Traits; @@ -54,7 +63,7 @@ private: bool errStream; //! Needed for buffered mode. - static size_t const BUF_SIZE = 128; + static size_t const BUF_SIZE = fsfwconfig::FSFW_PRINT_BUFFER_SIZE; char buf[BUF_SIZE]; //! In this function, the characters are parsed. @@ -141,5 +150,6 @@ private: }; #endif //ML505 +#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ #endif /* FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_ */ diff --git a/serviceinterface/ServiceInterfacePrinter.cpp b/serviceinterface/ServiceInterfacePrinter.cpp new file mode 100644 index 00000000..a12f49e3 --- /dev/null +++ b/serviceinterface/ServiceInterfacePrinter.cpp @@ -0,0 +1,140 @@ +#include +#include "ServiceInterfacePrinter.h" +#include "serviceInterfaceDefintions.h" +#include "../timemanager/Clock.h" + +#include +#include + +static sif::PrintLevel printLevel = sif::PrintLevel::DEBUG_LEVEL; +#if defined(WIN32) && FSFW_COLORED_OUTPUT == 1 +static bool consoleInitialized = false; +#endif /* defined(WIN32) && FSFW_COLORED_OUTPUT == 1 */ + +#if FSFW_DISABLE_PRINTOUT == 0 + +static bool addCrAtEnd = false; + +uint8_t printBuffer[fsfwconfig::FSFW_PRINT_BUFFER_SIZE]; + +void fsfwPrint(sif::PrintLevel printType, const char* fmt, va_list arg) { + +#if defined(WIN32) && FSFW_COLORED_OUTPUT == 1 + if(not consoleInitialized) { + HANDLE hOut = GetStdHandle(STD_OUTPUT_HANDLE); + DWORD dwMode = 0; + GetConsoleMode(hOut, &dwMode); + dwMode |= ENABLE_VIRTUAL_TERMINAL_PROCESSING; + SetConsoleMode(hOut, dwMode); + } + consoleInitialized = true; +#endif + + size_t len = 0; + char* bufferPosition = reinterpret_cast(printBuffer); + + /* Check logger level */ + if(printType == sif::PrintLevel::NONE or printType > printLevel) { + return; + } + + /* Log message to terminal */ + +#if FSFW_COLORED_OUTPUT == 1 + if(printType == sif::PrintLevel::INFO_LEVEL) { + len += sprintf(bufferPosition, sif::ANSI_COLOR_GREEN); + } + else if(printType == sif::PrintLevel::DEBUG_LEVEL) { + len += sprintf(bufferPosition, sif::ANSI_COLOR_MAGENTA); + } + else if(printType == sif::PrintLevel::WARNING_LEVEL) { + len += sprintf(bufferPosition, sif::ANSI_COLOR_YELLOW); + } + else if(printType == sif::PrintLevel::ERROR_LEVEL) { + len += sprintf(bufferPosition, sif::ANSI_COLOR_RED); + } +#endif + + if (printType == sif::PrintLevel::INFO_LEVEL) { + len += sprintf(bufferPosition + len, "INFO: "); + } + if(printType == sif::PrintLevel::DEBUG_LEVEL) { + len += sprintf(bufferPosition + len, "DEBUG: "); + } + if(printType == sif::PrintLevel::WARNING_LEVEL) { + len += sprintf(bufferPosition + len, "WARNING: "); + } + + if(printType == sif::PrintLevel::ERROR_LEVEL) { + len += sprintf(bufferPosition + len, "ERROR: "); + } + + Clock::TimeOfDay_t now; + Clock::getDateAndTime(&now); + /* + * Log current time to terminal if desired. + */ + len += sprintf(bufferPosition + len, "| %lu:%02lu:%02lu.%03lu | ", + (unsigned long) now.hour, + (unsigned long) now.minute, + (unsigned long) now.second, + (unsigned long) now.usecond /1000); + + len += vsnprintf(bufferPosition + len, sizeof(printBuffer) - len, fmt, arg); + + if(addCrAtEnd) { + len += sprintf(bufferPosition + len, "\r"); + } + + printf("%s", printBuffer); +} + + +void sif::printInfo(const char *fmt, ...) { + va_list args; + va_start(args, fmt); + fsfwPrint(sif::PrintLevel::INFO_LEVEL, fmt, args); + va_end(args); +} + +void sif::printWarning(const char *fmt, ...) { + va_list args; + va_start(args, fmt); + fsfwPrint(sif::PrintLevel::WARNING_LEVEL, fmt, args); + va_end(args); +} + +void sif::printDebug(const char *fmt, ...) { + va_list args; + va_start(args, fmt); + fsfwPrint(sif::PrintLevel::DEBUG_LEVEL, fmt, args); + va_end(args); +} + +void sif::setToAddCrAtEnd(bool addCrAtEnd_) { + addCrAtEnd = addCrAtEnd_; +} + +void sif::printError(const char *fmt, ...) { + va_list args; + va_start(args, fmt); + fsfwPrint(sif::PrintLevel::ERROR_LEVEL, fmt, args); + va_end(args); +} + +#else + +void sif::printInfo(const char *fmt, ...) {} +void sif::printWarning(const char *fmt, ...) {} +void sif::printDebug(const char *fmt, ...) {} +void sif::printError(const char *fmt, ...) {} + +#endif /* FSFW_DISABLE_PRINTOUT == 0 */ + +void sif::setPrintLevel(PrintLevel printLevel_) { + printLevel = printLevel_; +} + +sif::PrintLevel sif::getPrintLevel() { + return printLevel; +} diff --git a/serviceinterface/ServiceInterfacePrinter.h b/serviceinterface/ServiceInterfacePrinter.h new file mode 100644 index 00000000..fbdccdd1 --- /dev/null +++ b/serviceinterface/ServiceInterfacePrinter.h @@ -0,0 +1,40 @@ +#if FSFW_DISABLE_PRINTOUT == 0 +#include +#endif + +namespace sif { + +enum PrintLevel { + NONE = 0, + //! Strange error when using just ERROR.. + ERROR_LEVEL = 1, + WARNING_LEVEL = 2, + INFO_LEVEL = 3, + DEBUG_LEVEL = 4 +}; + +/** + * Set the print level. All print types with a smaller level will be printed + * as well. For example, set to PrintLevel::WARNING to only enable error + * and warning output. + * @param printLevel + */ +void setPrintLevel(PrintLevel printLevel); +PrintLevel getPrintLevel(); + +void setToAddCrAtEnd(bool addCrAtEnd_); + +/** + * These functions can be used like the C stdio printf and forward the + * supplied formatted string arguments to a printf function. + * They prepend the string with a color (if enabled), a log preamble and + * a timestamp. + * @param fmt Formatted string + */ +void printInfo(const char *fmt, ...); +void printWarning(const char* fmt, ...); +void printDebug(const char* fmt, ...); +void printError(const char* fmt, ...); + +} + diff --git a/serviceinterface/ServiceInterfaceStream.cpp b/serviceinterface/ServiceInterfaceStream.cpp index 5b7b9f00..59526536 100644 --- a/serviceinterface/ServiceInterfaceStream.cpp +++ b/serviceinterface/ServiceInterfaceStream.cpp @@ -1,5 +1,7 @@ #include "ServiceInterfaceStream.h" +#if FSFW_CPP_OSTREAM_ENABLED == 1 + ServiceInterfaceStream::ServiceInterfaceStream(std::string setMessage, bool addCrToPreamble, bool buffered, bool errStream, uint16_t port) : std::ostream(&streambuf), @@ -13,20 +15,5 @@ std::string* ServiceInterfaceStream::getPreamble() { return streambuf.getPreamble(); } -void ServiceInterfaceStream::print(std::string error, - bool withPreamble, bool withNewline, bool flush) { - if(not streambuf.isBuffered() and withPreamble) { - *this << getPreamble() << error; - } - else { - *this << error; - } +#endif - if(withNewline) { - *this << "\n"; - } - // if mode is non-buffered, no need to flush. - if(flush and streambuf.isBuffered()) { - this->flush(); - } -} diff --git a/serviceinterface/ServiceInterfaceStream.h b/serviceinterface/ServiceInterfaceStream.h index 76fa1bf2..f3cb2cd0 100644 --- a/serviceinterface/ServiceInterfaceStream.h +++ b/serviceinterface/ServiceInterfaceStream.h @@ -2,6 +2,10 @@ #define FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACESTREAM_H_ #include "ServiceInterfaceBuffer.h" +#include + +#if FSFW_CPP_OSTREAM_ENABLED == 1 + #include #include @@ -35,13 +39,6 @@ public: */ std::string* getPreamble(); - /** - * This prints an error with a preamble. Useful if using the unbuffered - * mode. Flushes in default mode (prints immediately). - */ - void print(std::string error, bool withPreamble = true, - bool withNewline = true, bool flush = true); - protected: ServiceInterfaceBuffer streambuf; }; @@ -55,4 +52,6 @@ extern ServiceInterfaceStream warning; extern ServiceInterfaceStream error; } +#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ + #endif /* FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACESTREAM_H_ */ diff --git a/serviceinterface/serviceInterfaceDefintions.h b/serviceinterface/serviceInterfaceDefintions.h new file mode 100644 index 00000000..eb36a84b --- /dev/null +++ b/serviceinterface/serviceInterfaceDefintions.h @@ -0,0 +1,23 @@ +#ifndef FSFW_SERVICEINTERFACE_SERVICEINTERFACEDEFINTIONS_H_ +#define FSFW_SERVICEINTERFACE_SERVICEINTERFACEDEFINTIONS_H_ + +namespace sif { + +enum class OutputTypes { + OUT_INFO, + OUT_DEBUG, + OUT_WARNING, + OUT_ERROR +}; + +static const char* const ANSI_COLOR_RED = "\x1b[31m"; +static const char* const ANSI_COLOR_GREEN = "\x1b[32m"; +static const char* const ANSI_COLOR_YELLOW = "\x1b[33m"; +static const char* const ANSI_COLOR_BLUE = "\x1b[34m"; +static const char* const ANSI_COLOR_MAGENTA = "\x1b[35m"; +static const char* const ANSI_COLOR_CYAN = "\x1b[36m"; +static const char* const ANSI_COLOR_RESET = "\x1b[0m"; + +} + +#endif /* FSFW_SERVICEINTERFACE_SERVICEINTERFACEDEFINTIONS_H_ */ diff --git a/storagemanager/ConstStorageAccessor.cpp b/storagemanager/ConstStorageAccessor.cpp index 842f1ce8..aab84862 100644 --- a/storagemanager/ConstStorageAccessor.cpp +++ b/storagemanager/ConstStorageAccessor.cpp @@ -4,6 +4,8 @@ #include "../serviceinterface/ServiceInterfaceStream.h" #include "../globalfunctions/arrayprinter.h" +#include + ConstStorageAccessor::ConstStorageAccessor(store_address_t storeId): storeId(storeId) {} @@ -46,7 +48,9 @@ const uint8_t* ConstStorageAccessor::data() const { size_t ConstStorageAccessor::size() const { if(internalState == AccessState::UNINIT) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "StorageAccessor: Not initialized!" << std::endl; +#endif } return size_; } @@ -54,12 +58,16 @@ size_t ConstStorageAccessor::size() const { ReturnValue_t ConstStorageAccessor::getDataCopy(uint8_t *pointer, size_t maxSize) { if(internalState == AccessState::UNINIT) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "StorageAccessor: Not initialized!" << std::endl; +#endif return HasReturnvaluesIF::RETURN_FAILED; } if(size_ > maxSize) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "StorageAccessor: Supplied buffer not large enough" << std::endl; +#endif return HasReturnvaluesIF::RETURN_FAILED; } std::copy(constDataPointer, constDataPointer + size_, pointer); @@ -76,7 +84,9 @@ store_address_t ConstStorageAccessor::getId() const { void ConstStorageAccessor::print() const { if(internalState == AccessState::UNINIT or constDataPointer == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "StorageAccessor: Not initialized!" << std::endl; +#endif return; } arrayprinter::print(constDataPointer, size_); diff --git a/storagemanager/LocalPool.cpp b/storagemanager/LocalPool.cpp index 74e362d4..cc7c9266 100644 --- a/storagemanager/LocalPool.cpp +++ b/storagemanager/LocalPool.cpp @@ -8,8 +8,10 @@ LocalPool::LocalPool(object_id_t setObjectId, const LocalPoolConfig& poolConfig, NUMBER_OF_POOLS(poolConfig.size()), spillsToHigherPools(spillsToHigherPools) { if(NUMBER_OF_POOLS == 0) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "LocalPool::LocalPool: Passed pool configuration is " << " invalid!" << std::endl; +#endif } max_pools_t index = 0; for (const auto& currentPoolConfig: poolConfig) { @@ -118,8 +120,10 @@ ReturnValue_t LocalPool::modifyData(store_address_t storeId, ReturnValue_t LocalPool::deleteData(store_address_t storeId) { #if FSFW_VERBOSE_PRINTOUT == 2 +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "Delete: Pool: " << std::dec << storeId.poolIndex << " Index: " << storeId.packetIndex << std::endl; +#endif #endif ReturnValue_t status = RETURN_OK; @@ -134,8 +138,10 @@ ReturnValue_t LocalPool::deleteData(store_address_t storeId) { } else { //pool_index or packet_index is too large +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "LocalPool::deleteData: Illegal store ID, no deletion!" << std::endl; +#endif status = ILLEGAL_STORAGE_ID; } return status; @@ -158,8 +164,10 @@ ReturnValue_t LocalPool::deleteData(uint8_t *ptr, size_t size, result = deleteData(localId); #if FSFW_VERBOSE_PRINTOUT == 2 if (deltaAddress % elementSizes[n] != 0) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "LocalPool::deleteData: Address not aligned!" << std::endl; +#endif } #endif break; @@ -186,8 +194,10 @@ ReturnValue_t LocalPool::initialize() { //Check if any pool size is large than the maximum allowed. for (uint8_t count = 0; count < NUMBER_OF_POOLS; count++) { if (elementSizes[count] >= STORAGE_FREE) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "LocalPool::initialize: Pool is too large! " "Max. allowed size is: " << (STORAGE_FREE - 1) << std::endl; +#endif return StorageManagerIF::POOL_TOO_LARGE; } } @@ -209,8 +219,10 @@ ReturnValue_t LocalPool::reserveSpace(const size_t size, store_address_t *storeId, bool ignoreFault) { ReturnValue_t status = getPoolIndex(size, &storeId->poolIndex); if (status != RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "LocalPool( " << std::hex << getObjectId() << std::dec << " )::reserveSpace: Packet too large." << std::endl; +#endif return status; } status = findEmpty(storeId->poolIndex, &storeId->packetIndex); @@ -224,9 +236,11 @@ ReturnValue_t LocalPool::reserveSpace(const size_t size, } if (status == RETURN_OK) { #if FSFW_VERBOSE_PRINTOUT == 2 +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "Reserve: Pool: " << std::dec << storeId->poolIndex << " Index: " << storeId->packetIndex << std::endl; +#endif #endif sizeLists[storeId->poolIndex][storeId->packetIndex] = size; } @@ -266,8 +280,10 @@ ReturnValue_t LocalPool::getPoolIndex(size_t packetSize, uint16_t *poolIndex, uint16_t startAtIndex) { for (uint16_t n = startAtIndex; n < NUMBER_OF_POOLS; n++) { #if FSFW_VERBOSE_PRINTOUT == 2 +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "LocalPool " << getObjectId() << "::getPoolIndex: Pool: " << n << ", Element Size: " << elementSizes[n] << std::endl; +#endif #endif if (elementSizes[n] >= packetSize) { *poolIndex = n; diff --git a/storagemanager/PoolManager.cpp b/storagemanager/PoolManager.cpp index 3b7b549b..4e8014fd 100644 --- a/storagemanager/PoolManager.cpp +++ b/storagemanager/PoolManager.cpp @@ -26,9 +26,11 @@ ReturnValue_t PoolManager::reserveSpace(const size_t size, ReturnValue_t PoolManager::deleteData( store_address_t storeId) { #if FSFW_VERBOSE_PRINTOUT == 2 +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "PoolManager( " << translateObject(getObjectId()) << " )::deleteData from store " << storeId.poolIndex << ". id is "<< storeId.packetIndex << std::endl; +#endif #endif MutexHelper mutexHelper(mutex, MutexIF::TimeoutType::WAITING, mutexTimeoutMs); diff --git a/storagemanager/StorageAccessor.cpp b/storagemanager/StorageAccessor.cpp index 9c2f936a..a7b4fae4 100644 --- a/storagemanager/StorageAccessor.cpp +++ b/storagemanager/StorageAccessor.cpp @@ -2,6 +2,8 @@ #include "StorageManagerIF.h" #include "../serviceinterface/ServiceInterfaceStream.h" +#include + StorageAccessor::StorageAccessor(store_address_t storeId): ConstStorageAccessor(storeId) { } @@ -26,12 +28,16 @@ StorageAccessor::StorageAccessor(StorageAccessor&& other): ReturnValue_t StorageAccessor::getDataCopy(uint8_t *pointer, size_t maxSize) { if(internalState == AccessState::UNINIT) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "StorageAccessor: Not initialized!" << std::endl; +#endif return HasReturnvaluesIF::RETURN_FAILED; } if(size_ > maxSize) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "StorageAccessor: Supplied buffer not large " "enough" << std::endl; +#endif return HasReturnvaluesIF::RETURN_FAILED; } std::copy(dataPointer, dataPointer + size_, pointer); @@ -40,7 +46,9 @@ ReturnValue_t StorageAccessor::getDataCopy(uint8_t *pointer, size_t maxSize) { uint8_t* StorageAccessor::data() { if(internalState == AccessState::UNINIT) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "StorageAccessor: Not initialized!" << std::endl; +#endif } return dataPointer; } @@ -48,12 +56,16 @@ uint8_t* StorageAccessor::data() { ReturnValue_t StorageAccessor::write(uint8_t *data, size_t size, uint16_t offset) { if(internalState == AccessState::UNINIT) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "StorageAccessor: Not initialized!" << std::endl; +#endif return HasReturnvaluesIF::RETURN_FAILED; } if(offset + size > size_) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "StorageAccessor: Data too large for pool " "entry!" << std::endl; +#endif return HasReturnvaluesIF::RETURN_FAILED; } std::copy(data, data + size, dataPointer + offset); diff --git a/subsystem/SubsystemBase.cpp b/subsystem/SubsystemBase.cpp index f60c8847..bcfa4b0e 100644 --- a/subsystem/SubsystemBase.cpp +++ b/subsystem/SubsystemBase.cpp @@ -86,8 +86,10 @@ void SubsystemBase::executeTable(HybridIterator tableIter, object_id_t object = tableIter.value->getObject(); if ((iter = childrenMap.find(object)) == childrenMap.end()) { //illegal table entry, should only happen due to misconfigured mode table +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << std::hex << getObjectId() << ": invalid mode table entry" << std::endl; +#endif continue; } diff --git a/tasks/FixedSlotSequence.cpp b/tasks/FixedSlotSequence.cpp index e5db4301..54b6ae6d 100644 --- a/tasks/FixedSlotSequence.cpp +++ b/tasks/FixedSlotSequence.cpp @@ -91,8 +91,10 @@ void FixedSlotSequence::addSlot(object_id_t componentId, uint32_t slotTimeMs, ReturnValue_t FixedSlotSequence::checkSequence() const { if(slotList.empty()) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "FixedSlotSequence::checkSequence:" << " Slot list is empty!" << std::endl; +#endif return HasReturnvaluesIF::RETURN_FAILED; } @@ -100,8 +102,10 @@ ReturnValue_t FixedSlotSequence::checkSequence() const { ReturnValue_t result = customCheckFunction(slotList); if(result != HasReturnvaluesIF::RETURN_OK) { // Continue for now but print error output. +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "FixedSlotSequence::checkSequence:" << " Custom check failed!" << std::endl; +#endif } } @@ -112,21 +116,27 @@ ReturnValue_t FixedSlotSequence::checkSequence() const { errorCount++; } else if (slot.pollingTimeMs < time) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "FixedSlotSequence::checkSequence: Time: " << slot.pollingTimeMs << " is smaller than previous with " << time << std::endl; +#endif errorCount++; } else { // All ok, print slot. +#if FSFW_CPP_OSTREAM_ENABLED == 1 //sif::info << "Current slot polling time: " << std::endl; //sif::info << std::dec << slotIt->pollingTimeMs << std::endl; +#endif } time = slot.pollingTimeMs; } +#if FSFW_CPP_OSTREAM_ENABLED == 1 //sif::info << "Number of elements in slot list: " // << slotList.size() << std::endl; +#endif if (errorCount > 0) { return HasReturnvaluesIF::RETURN_FAILED; } @@ -149,8 +159,10 @@ ReturnValue_t FixedSlotSequence::intializeSequenceAfterTaskCreation() const { } } if (count > 0) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "FixedSlotSequence::intializeSequenceAfterTaskCreation:" "Counted " << count << " failed initializations!" << std::endl; +#endif return HasReturnvaluesIF::RETURN_FAILED; } return HasReturnvaluesIF::RETURN_OK; diff --git a/tcdistribution/CCSDSDistributor.cpp b/tcdistribution/CCSDSDistributor.cpp index ddd63308..b795854f 100644 --- a/tcdistribution/CCSDSDistributor.cpp +++ b/tcdistribution/CCSDSDistributor.cpp @@ -11,21 +11,27 @@ CCSDSDistributor::CCSDSDistributor(uint16_t setDefaultApid, CCSDSDistributor::~CCSDSDistributor() {} TcDistributor::TcMqMapIter CCSDSDistributor::selectDestination() { +#if FSFW_CPP_OSTREAM_ENABLED == 1 // sif::debug << "CCSDSDistributor::selectDestination received: " << // this->currentMessage.getStorageId().pool_index << ", " << // this->currentMessage.getStorageId().packet_index << std::endl; +#endif const uint8_t* packet = nullptr; size_t size = 0; ReturnValue_t result = this->tcStore->getData(currentMessage.getStorageId(), &packet, &size ); if(result != HasReturnvaluesIF::RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "CCSDSDistributor::selectDestination: Getting data from" " store failed!" << std::endl; +#endif } SpacePacketBase currentPacket(packet); +#if FSFW_CPP_OSTREAM_ENABLED == 1 // sif:: info << "CCSDSDistributor::selectDestination has packet with APID " // << std::hex << currentPacket.getAPID() << std::dec << std::endl; +#endif TcMqMapIter position = this->queueMap.find(currentPacket.getAPID()); if ( position != this->queueMap.end() ) { return position; @@ -70,8 +76,10 @@ ReturnValue_t CCSDSDistributor::initialize() { ReturnValue_t status = this->TcDistributor::initialize(); this->tcStore = objectManager->get( objects::TC_STORE ); if (this->tcStore == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "CCSDSDistributor::initialize: Could not initialize" " TC store!" << std::endl; +#endif status = RETURN_FAILED; } return status; diff --git a/tcdistribution/PUSDistributor.cpp b/tcdistribution/PUSDistributor.cpp index 8e5b94cc..00fd9029 100644 --- a/tcdistribution/PUSDistributor.cpp +++ b/tcdistribution/PUSDistributor.cpp @@ -13,9 +13,11 @@ PUSDistributor::PUSDistributor(uint16_t setApid, object_id_t setObjectId, PUSDistributor::~PUSDistributor() {} PUSDistributor::TcMqMapIter PUSDistributor::selectDestination() { +#if FSFW_CPP_OSTREAM_ENABLED == 1 // sif:: debug << "PUSDistributor::handlePacket received: " // << this->current_packet_id.store_index << ", " // << this->current_packet_id.packet_index << std::endl; +#endif TcMqMapIter queueMapIt = this->queueMap.end(); if(this->currentPacket == nullptr) { return queueMapIt; @@ -25,9 +27,11 @@ PUSDistributor::TcMqMapIter PUSDistributor::selectDestination() { tcStatus = checker.checkPacket(currentPacket); #ifdef DEBUG if(tcStatus != HasReturnvaluesIF::RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "PUSDistributor::handlePacket: Packet format " << "invalid, code "<< static_cast(tcStatus) << std::endl; +#endif } #endif uint32_t queue_id = currentPacket->getService(); @@ -40,8 +44,10 @@ PUSDistributor::TcMqMapIter PUSDistributor::selectDestination() { if (queueMapIt == this->queueMap.end()) { tcStatus = DESTINATION_NOT_FOUND; #ifdef DEBUG +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "PUSDistributor::handlePacket: Destination not found, " << "code "<< static_cast(tcStatus) << std::endl; +#endif #endif } @@ -57,12 +63,16 @@ PUSDistributor::TcMqMapIter PUSDistributor::selectDestination() { ReturnValue_t PUSDistributor::registerService(AcceptsTelecommandsIF* service) { uint16_t serviceId = service->getIdentifier(); +#if FSFW_CPP_OSTREAM_ENABLED == 1 // sif::info << "Service ID: " << (int)serviceId << std::endl; +#endif MessageQueueId_t queue = service->getRequestQueue(); auto returnPair = queueMap.emplace(serviceId, queue); if (not returnPair.second) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "PUSDistributor::registerService: Service ID already" " exists in map." << std::endl; +#endif return SERVICE_ID_ALREADY_EXISTS; } return HasReturnvaluesIF::RETURN_OK; @@ -104,9 +114,11 @@ ReturnValue_t PUSDistributor::initialize() { CCSDSDistributorIF* ccsdsDistributor = objectManager->get(packetSource); if (ccsdsDistributor == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "PUSDistributor::initialize: Packet source invalid." << " Make sure it exists and implements CCSDSDistributorIF!" << std::endl; +#endif return RETURN_FAILED; } return ccsdsDistributor->registerApplication(this); diff --git a/tcdistribution/TcDistributor.cpp b/tcdistribution/TcDistributor.cpp index 06e1817f..df069556 100644 --- a/tcdistribution/TcDistributor.cpp +++ b/tcdistribution/TcDistributor.cpp @@ -39,6 +39,7 @@ ReturnValue_t TcDistributor::handlePacket() { } void TcDistributor::print() { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "Distributor content is: " << std::endl << "ID\t| Message Queue ID" << std::endl; sif::debug << std::setfill('0') << std::setw(8) << std::hex; @@ -47,7 +48,7 @@ void TcDistributor::print() { << std::endl; } sif::debug << std::setfill(' ') << std::dec; - +#endif } ReturnValue_t TcDistributor::callbackAfterSending(ReturnValue_t queueStatus) { diff --git a/timemanager/Stopwatch.cpp b/timemanager/Stopwatch.cpp index 302e2ac0..f79d2eeb 100644 --- a/timemanager/Stopwatch.cpp +++ b/timemanager/Stopwatch.cpp @@ -28,13 +28,17 @@ double Stopwatch::stopSeconds() { void Stopwatch::display() { if(displayMode == StopwatchDisplayMode::MILLIS) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::info << "Stopwatch: Operation took " << (elapsedTime.tv_sec * 1000 + elapsedTime.tv_usec / 1000) << " milliseconds" << std::endl; +#endif } else if(displayMode == StopwatchDisplayMode::SECONDS) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::info <<"Stopwatch: Operation took " << std::setprecision(3) << std::fixed << timevalOperations::toDouble(elapsedTime) << " seconds" << std::endl; +#endif } } diff --git a/tmstorage/TmStoreBackendIF.h b/tmstorage/TmStoreBackendIF.h index 4b2a8836..4ae77609 100644 --- a/tmstorage/TmStoreBackendIF.h +++ b/tmstorage/TmStoreBackendIF.h @@ -1,5 +1,5 @@ -#ifndef PLATFORM_TMTCSERVICES_TMSTOREBACKENDIF_H_ -#define PLATFORM_TMTCSERVICES_TMSTOREBACKENDIF_H_ +#ifndef FSFW_TMTCSERVICES_TMSTOREBACKENDIF_H_ +#define FSFW_TMTCSERVICES_TMSTOREBACKENDIF_H_ #include "../returnvalues/HasReturnvaluesIF.h" #include "../objectmanager/SystemObjectIF.h" @@ -49,14 +49,33 @@ public: static const Event AUTO_CATALOGS_SENDING_FAILED = MAKE_EVENT(15, severity::INFO);//!< Info that the a auto catalog report failed virtual ~TmStoreBackendIF() {} + + /** + * SHOULDDO: Specification on what has to be implemented here + * @param opCode + * @return + */ virtual ReturnValue_t performOperation(uint8_t opCode) = 0; virtual ReturnValue_t initialize() = 0; + + /** + * Implement the storage of TM packets to mass memory + * @param tmPacket + * @return + */ virtual ReturnValue_t storePacket(TmPacketMinimal* tmPacket) = 0; virtual ReturnValue_t setFetchLimitTime(const timeval* loverLimit, const timeval* upperLimit) = 0; virtual ReturnValue_t setFetchLimitBlocks(uint32_t startAddress, uint32_t endAddress) = 0; virtual ReturnValue_t fetchPackets(bool fromBegin = false) = 0; virtual ReturnValue_t initializeStore(object_id_t dumpTarget) = 0; virtual ReturnValue_t dumpIndex(store_address_t* storeId) = 0; + + /** + * SHOULDDO: Adapt for file management system? + * @param startAddress + * @param endAddress + * @return + */ virtual ReturnValue_t deleteBlocks(uint32_t startAddress, uint32_t endAddress) = 0; virtual ReturnValue_t deleteTime(const timeval* timeUntil, uint32_t* deletedPackets) = 0; @@ -73,4 +92,4 @@ public: -#endif /* PLATFORM_TMTCSERVICES_TMSTOREBACKENDIF_H_ */ +#endif /* FSFW_TMTCSERVICES_TMSTOREBACKENDIF_H_ */ diff --git a/tmstorage/TmStoreFrontendIF.h b/tmstorage/TmStoreFrontendIF.h index e1bc3a14..beee7ede 100644 --- a/tmstorage/TmStoreFrontendIF.h +++ b/tmstorage/TmStoreFrontendIF.h @@ -1,9 +1,10 @@ -#ifndef PLATFORM_TMTCSERVICES_TMSTOREFRONTENDIF_H_ -#define PLATFORM_TMTCSERVICES_TMSTOREFRONTENDIF_H_ +#ifndef FSFW_TMTCSERVICES_TMSTOREFRONTENDIF_H_ +#define FSFW_TMTCSERVICES_TMSTOREFRONTENDIF_H_ -#include "../returnvalues/HasReturnvaluesIF.h" #include "TmStorePackets.h" +#include "../returnvalues/HasReturnvaluesIF.h" #include "../ipc/MessageQueueSenderIF.h" + class TmPacketMinimal; class SpacePacketBase; class TmStoreBackendIF; @@ -11,6 +12,14 @@ class TmStoreBackendIF; class TmStoreFrontendIF { public: virtual TmStoreBackendIF* getBackend() const = 0; + + /** + * What do I need to implement here? + * This is propably used by PUS Service 15 so we should propably check for messages.. + * Provide base implementation? + * @param opCode + * @return + */ virtual ReturnValue_t performOperation(uint8_t opCode) = 0; /** * Callback from the back-end to indicate a certain packet was received. @@ -52,4 +61,4 @@ public: -#endif /* PLATFORM_TMTCSERVICES_TMSTOREFRONTENDIF_H_ */ +#endif /* FSFW_TMTCSERVICES_TMSTOREFRONTENDIF_H_ */ diff --git a/tmstorage/TmStoreMessage.cpp b/tmstorage/TmStoreMessage.cpp index d2efd403..033cbb1d 100644 --- a/tmstorage/TmStoreMessage.cpp +++ b/tmstorage/TmStoreMessage.cpp @@ -1,5 +1,5 @@ -#include "../objectmanager/ObjectManagerIF.h" #include "TmStoreMessage.h" +#include "../objectmanager/ObjectManagerIF.h" TmStoreMessage::~TmStoreMessage() { @@ -74,7 +74,7 @@ void TmStoreMessage::clear(CommandMessage* cmd) { case DELETE_STORE_CONTENT_BLOCKS: case DOWNLINK_STORE_CONTENT_BLOCKS: case REPORT_INDEX_REQUEST: - cmd->setCommand(UNKNOWN_COMMAND); + cmd->setCommand(CommandMessage::UNKNOWN_COMMAND); cmd->setParameter(0); cmd->setParameter2(0); break; diff --git a/tmstorage/TmStoreMessage.h b/tmstorage/TmStoreMessage.h index 5b928569..d0178920 100644 --- a/tmstorage/TmStoreMessage.h +++ b/tmstorage/TmStoreMessage.h @@ -1,11 +1,12 @@ -#ifndef FRAMEWORK_TMSTORAGE_TMSTOREMESSAGE_H_ -#define FRAMEWORK_TMSTORAGE_TMSTOREMESSAGE_H_ +#ifndef FSFW_TMSTORAGE_TMSTOREMESSAGE_H_ +#define FSFW_TMSTORAGE_TMSTOREMESSAGE_H_ +#include "TmStorePackets.h" #include "../ipc/CommandMessage.h" #include "../storagemanager/StorageManagerIF.h" -#include "TmStorePackets.h" #include "../objectmanager/SystemObjectIF.h" -class TmStoreMessage: public CommandMessage { + +class TmStoreMessage { public: static ReturnValue_t setEnableStoringMessage(CommandMessage* cmd, bool setEnabled); @@ -25,8 +26,10 @@ public: static void setDownlinkContentTimeMessage(CommandMessage* cmd, store_address_t storeId); static void setIndexReportMessage(CommandMessage* cmd, store_address_t storeId); - static ReturnValue_t setDeleteBlocksMessage(CommandMessage* cmd, uint32_t addressLow, uint32_t addressHigh); - static ReturnValue_t setDownlinkBlocksMessage(CommandMessage* cmd, uint32_t addressLow, uint32_t addressHigh); + static ReturnValue_t setDeleteBlocksMessage(CommandMessage* cmd, + uint32_t addressLow, uint32_t addressHigh); + static ReturnValue_t setDownlinkBlocksMessage(CommandMessage* cmd, + uint32_t addressLow, uint32_t addressHigh); static ReturnValue_t setIndexRequestMessage(CommandMessage* cmd); static void setDeleteContentTimeMessage(CommandMessage* cmd, store_address_t storeId); @@ -60,4 +63,4 @@ private: TmStoreMessage(); }; -#endif /* FRAMEWORK_TMSTORAGE_TMSTOREMESSAGE_H_ */ +#endif /* FSFW_TMSTORAGE_TMSTOREMESSAGE_H_ */ diff --git a/tmstorage/TmStorePackets.h b/tmstorage/TmStorePackets.h index b46ae6f6..3abd0c1c 100644 --- a/tmstorage/TmStorePackets.h +++ b/tmstorage/TmStorePackets.h @@ -1,5 +1,5 @@ -#ifndef FRAMEWORK_TMSTORAGE_TMSTOREPACKETS_H_ -#define FRAMEWORK_TMSTORAGE_TMSTOREPACKETS_H_ +#ifndef FSFW_TMSTORAGE_TMSTOREPACKETS_H_ +#define FSFW_TMSTORAGE_TMSTOREPACKETS_H_ #include "../serialize/SerialFixedArrayListAdapter.h" #include "../serialize/SerializeElement.h" @@ -140,8 +140,8 @@ public: if(packet->isValid()){ timeval packetTime = {0,0}; size_t foundlen = 0; - CCSDSTime::convertFromCcsds(&packetTime, - &packet->rawTimestamp[0],&foundlen,sizeof(rawTimestamp)); + CCSDSTime::convertFromCcsds(&packetTime,&packet->rawTimestamp[0], + &foundlen,sizeof(rawTimestamp)); if(packetTime <= *cmpTime){ return true; } @@ -154,7 +154,7 @@ public: timeval packetTime = {0,0}; size_t foundlen = 0; CCSDSTime::convertFromCcsds(&packetTime,&packet->rawTimestamp[0], - &foundlen,sizeof(rawTimestamp)); + &foundlen,sizeof(rawTimestamp)); if(packetTime >= *cmpTime){ return true; } @@ -208,7 +208,7 @@ public: timeval packetTime = {0,0}; size_t foundlen = 0; CCSDSTime::convertFromCcsds(&packetTime, &this->rawTimestamp[0], - &foundlen,sizeof(rawTimestamp)); + &foundlen, sizeof(rawTimestamp)); return packetTime; } @@ -300,4 +300,4 @@ private: uint8_t rawTimestamp[TimeStamperIF::MISSION_TIMESTAMP_SIZE]; }; -#endif /* FRAMEWORK_TMSTORAGE_TMSTOREPACKETS_H_ */ +#endif /* FSFW_TMSTORAGE_TMSTOREPACKETS_H_ */ diff --git a/tmtcpacket/pus/TcPacketBase.cpp b/tmtcpacket/pus/TcPacketBase.cpp index eaa8416a..ca3e2a99 100644 --- a/tmtcpacket/pus/TcPacketBase.cpp +++ b/tmtcpacket/pus/TcPacketBase.cpp @@ -63,7 +63,9 @@ uint8_t TcPacketBase::getPusVersionNumber() { } void TcPacketBase::print() { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "TcPacketBase::print: " << std::endl; +#endif arrayprinter::print(getWholeData(), getFullSize()); } diff --git a/tmtcpacket/pus/TcPacketStored.cpp b/tmtcpacket/pus/TcPacketStored.cpp index fffc86ae..f320386c 100644 --- a/tmtcpacket/pus/TcPacketStored.cpp +++ b/tmtcpacket/pus/TcPacketStored.cpp @@ -23,8 +23,10 @@ TcPacketStored::TcPacketStored(uint16_t apid, uint8_t service, ReturnValue_t returnValue = this->store->getFreeElement(&this->storeAddress, (TC_PACKET_MIN_SIZE + size), &pData); if (returnValue != this->store->RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "TcPacketStored: Could not get free element from store!" << std::endl; +#endif return; } this->setData(pData); @@ -39,7 +41,9 @@ ReturnValue_t TcPacketStored::getData(const uint8_t ** dataPtr, size_t* dataSize) { auto result = this->store->getData(storeAddress, dataPtr, dataSize); if(result != HasReturnvaluesIF::RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "TcPacketStored: Could not get data!" << std::endl; +#endif } return result; } @@ -61,8 +65,10 @@ bool TcPacketStored::checkAndSetStore() { if (this->store == nullptr) { this->store = objectManager->get(objects::TC_STORE); if (this->store == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "TcPacketStored::TcPacketStored: TC Store not found!" << std::endl; +#endif return false; } } diff --git a/tmtcpacket/pus/TmPacketBase.cpp b/tmtcpacket/pus/TmPacketBase.cpp index 2c8bfd63..c8e4b430 100644 --- a/tmtcpacket/pus/TmPacketBase.cpp +++ b/tmtcpacket/pus/TmPacketBase.cpp @@ -57,7 +57,9 @@ void TmPacketBase::setData(const uint8_t* p_Data) { } void TmPacketBase::print() { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "TmPacketBase::print: " << std::endl; +#endif arrayprinter::print(getWholeData(), getFullSize()); } @@ -65,8 +67,10 @@ bool TmPacketBase::checkAndSetStamper() { if (timeStamper == NULL) { timeStamper = objectManager->get(timeStamperId); if (timeStamper == NULL) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "TmPacketBase::checkAndSetStamper: Stamper not found!" << std::endl; +#endif return false; } } diff --git a/tmtcpacket/pus/TmPacketStored.cpp b/tmtcpacket/pus/TmPacketStored.cpp index 0fb789aa..0fd2a4a0 100644 --- a/tmtcpacket/pus/TmPacketStored.cpp +++ b/tmtcpacket/pus/TmPacketStored.cpp @@ -105,8 +105,10 @@ bool TmPacketStored::checkAndSetStore() { if (store == nullptr) { store = objectManager->get(objects::TM_STORE); if (store == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "TmPacketStored::TmPacketStored: TM Store not found!" << std::endl; +#endif return false; } } diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp index ed765ecc..259f2ccb 100644 --- a/tmtcservices/CommandingServiceBase.cpp +++ b/tmtcservices/CommandingServiceBase.cpp @@ -75,8 +75,10 @@ ReturnValue_t CommandingServiceBase::initialize() { packetSource); if (packetForwarding == nullptr or distributor == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "CommandingServiceBase::intialize: Packet source or " "packet destination invalid!" << std::endl; +#endif return ObjectManagerIF::CHILD_INIT_FAILED; } @@ -88,8 +90,10 @@ ReturnValue_t CommandingServiceBase::initialize() { TCStore = objectManager->get(objects::TC_STORE); if (IPCStore == nullptr or TCStore == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "CommandingServiceBase::intialize: IPC store or TC store " "not initialized yet!" << std::endl; +#endif return ObjectManagerIF::CHILD_INIT_FAILED; } diff --git a/tmtcservices/PusServiceBase.cpp b/tmtcservices/PusServiceBase.cpp index cb5a1247..0a5cb202 100644 --- a/tmtcservices/PusServiceBase.cpp +++ b/tmtcservices/PusServiceBase.cpp @@ -25,9 +25,11 @@ ReturnValue_t PusServiceBase::performOperation(uint8_t opCode) { handleRequestQueue(); ReturnValue_t result = this->performService(); if (result != RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "PusService " << (uint16_t) this->serviceId << ": performService returned with " << (int16_t) result << std::endl; +#endif return RETURN_FAILED; } return RETURN_OK; @@ -43,11 +45,13 @@ void PusServiceBase::handleRequestQueue() { for (uint8_t count = 0; count < PUS_SERVICE_MAX_RECEPTION; count++) { ReturnValue_t status = this->requestQueue->receiveMessage(&message); // if(status != MessageQueueIF::EMPTY) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 // sif::debug << "PusServiceBase::performOperation: Receiving from " // << "MQ ID: " << std::hex << "0x" << std::setw(8) // << std::setfill('0') << this->requestQueue->getId() // << std::dec << " returned: " << status << std::setfill(' ') // << std::endl; +#endif // } if (status == RETURN_OK) { @@ -79,9 +83,11 @@ void PusServiceBase::handleRequestQueue() { break; } else { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "PusServiceBase::performOperation: Service " << this->serviceId << ": Error receiving packet. Code: " << std::hex << status << std::dec << std::endl; +#endif } } } @@ -104,10 +110,12 @@ ReturnValue_t PusServiceBase::initialize() { PUSDistributorIF* distributor = objectManager->get( packetSource); if (destService == nullptr or distributor == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "PusServiceBase::PusServiceBase: Service " << this->serviceId << ": Configuration error. Make sure " << "packetSource and packetDestination are defined correctly" << std::endl; +#endif return ObjectManagerIF::CHILD_INIT_FAILED; } this->requestQueue->setDefaultDestination( diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp index b4e9967b..2513071a 100644 --- a/tmtcservices/TmTcBridge.cpp +++ b/tmtcservices/TmTcBridge.cpp @@ -23,9 +23,11 @@ ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle( return RETURN_OK; } else { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "TmTcBridge::setNumberOfSentPacketsPerCycle: Number of " << "packets sent per cycle exceeds limits. " << "Keeping default value." << std::endl; +#endif return RETURN_FAILED; } } @@ -37,9 +39,11 @@ ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored( return RETURN_OK; } else { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "TmTcBridge::setMaxNumberOfPacketsStored: Number of " << "packets stored exceeds limits. " << "Keeping default value." << std::endl; +#endif return RETURN_FAILED; } } @@ -47,21 +51,27 @@ ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored( ReturnValue_t TmTcBridge::initialize() { tcStore = objectManager->get(tcStoreId); if (tcStore == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "TmTcBridge::initialize: TC store invalid. Make sure" "it is created and set up properly." << std::endl; +#endif return ObjectManagerIF::CHILD_INIT_FAILED; } tmStore = objectManager->get(tmStoreId); if (tmStore == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "TmTcBridge::initialize: TM store invalid. Make sure" "it is created and set up properly." << std::endl; +#endif return ObjectManagerIF::CHILD_INIT_FAILED; } AcceptsTelecommandsIF* tcDistributor = objectManager->get(tcDestination); if (tcDistributor == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "TmTcBridge::initialize: TC Distributor invalid" << std::endl; +#endif return ObjectManagerIF::CHILD_INIT_FAILED; } @@ -75,13 +85,17 @@ ReturnValue_t TmTcBridge::performOperation(uint8_t operationCode) { ReturnValue_t result; result = handleTc(); if(result != RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "TmTcBridge::performOperation: " << "Error handling TCs" << std::endl; +#endif } result = handleTm(); if (result != RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "TmTcBridge::performOperation: " << "Error handling TMs" << std::endl; +#endif } return result; } @@ -94,9 +108,11 @@ ReturnValue_t TmTcBridge::handleTm() { ReturnValue_t status = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = handleTmQueue(); if(result != RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "TmTcBridge::handleTm: Error handling TM queue with " << "error code 0x" << std::hex << result << std::dec << "!" << std::endl; +#endif status = result; } @@ -104,8 +120,10 @@ ReturnValue_t TmTcBridge::handleTm() { (packetSentCounter < sentPacketsPerCycle)) { result = handleStoredTm(); if(result != RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "TmTcBridge::handleTm: Error handling stored TMs!" << std::endl; +#endif status = result; } } @@ -122,7 +140,9 @@ ReturnValue_t TmTcBridge::handleTmQueue() { result == HasReturnvaluesIF::RETURN_OK; result = tmTcReceptionQueue->receiveMessage(&message)) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 //sif::info << (int) packetSentCounter << std::endl; +#endif if(communicationLinkUp == false or packetSentCounter >= sentPacketsPerCycle) { storeDownlinkData(&message); @@ -151,8 +171,10 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) { store_address_t storeId = 0; if(tmFifo->full()) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "TmTcBridge::storeDownlinkData: TM downlink max. number " << "of stored packet IDs reached! " << std::endl; +#endif if(overwriteOld) { tmFifo->retrieve(&storeId); tmStore->deleteData(storeId); @@ -171,8 +193,10 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) { ReturnValue_t TmTcBridge::handleStoredTm() { ReturnValue_t status = RETURN_OK; while(not tmFifo->empty() and packetSentCounter < sentPacketsPerCycle) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 //sif::info << "TMTC Bridge: Sending stored TM data. There are " // << (int) tmFifo->size() << " left to send\r\n" << std::flush; +#endif store_address_t storeId; const uint8_t* data = nullptr; @@ -185,8 +209,10 @@ ReturnValue_t TmTcBridge::handleStoredTm() { result = sendTm(data,size); if(result != RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "TMTC Bridge: Could not send stored downlink data" << std::endl; +#endif status = result; } packetSentCounter ++; @@ -201,13 +227,17 @@ ReturnValue_t TmTcBridge::handleStoredTm() { void TmTcBridge::registerCommConnect() { if(not communicationLinkUp) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 //sif::info << "TMTC Bridge: Registered Comm Link Connect" << std::endl; +#endif communicationLinkUp = true; } } void TmTcBridge::registerCommDisconnect() { +#if FSFW_CPP_OSTREAM_ENABLED == 1 //sif::info << "TMTC Bridge: Registered Comm Link Disconnect" << std::endl; +#endif if(communicationLinkUp) { communicationLinkUp = false; } diff --git a/tmtcservices/VerificationReporter.cpp b/tmtcservices/VerificationReporter.cpp index 7e40bd27..ff6f54f9 100644 --- a/tmtcservices/VerificationReporter.cpp +++ b/tmtcservices/VerificationReporter.cpp @@ -27,9 +27,11 @@ void VerificationReporter::sendSuccessReport(uint8_t set_report_id, ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message); if (status != HasReturnvaluesIF::RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "VerificationReporter::sendSuccessReport: Error writing " << "to queue. Code: " << std::hex << status << std::dec << std::endl; +#endif } } @@ -44,9 +46,11 @@ void VerificationReporter::sendSuccessReport(uint8_t set_report_id, ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message); if (status != HasReturnvaluesIF::RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "VerificationReporter::sendSuccessReport: Error writing " << "to queue. Code: " << std::hex << status << std::dec << std::endl; +#endif } } @@ -64,9 +68,11 @@ void VerificationReporter::sendFailureReport(uint8_t report_id, ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message); if (status != HasReturnvaluesIF::RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "VerificationReporter::sendFailureReport: Error writing " << "to queue. Code: " << std::hex << "0x" << status << std::dec << std::endl; +#endif } } @@ -82,24 +88,30 @@ void VerificationReporter::sendFailureReport(uint8_t report_id, ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message); if (status != HasReturnvaluesIF::RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "VerificationReporter::sendFailureReport: Error writing " << "to queue. Code: " << std::hex << "0x" << status << std::dec << std::endl; +#endif } } void VerificationReporter::initialize() { if(messageReceiver == objects::NO_OBJECT) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "VerificationReporter::initialize: Verification message" " receiver object ID not set yet in Factory!" << std::endl; +#endif return; } AcceptsVerifyMessageIF* temp = objectManager->get( messageReceiver); if (temp == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "VerificationReporter::initialize: Message " << "receiver invalid. Make sure it is set up properly and " << "implementsAcceptsVerifyMessageIF" << std::endl; +#endif return; } this->acknowledgeQueue = temp->getVerificationQueue(); diff --git a/unittest/CMakeLists.txt b/unittest/CMakeLists.txt new file mode 100644 index 00000000..119ef243 --- /dev/null +++ b/unittest/CMakeLists.txt @@ -0,0 +1,2 @@ +add_subdirectory(internal) +add_subdirectory(tests) \ No newline at end of file diff --git a/unittest/README.md b/unittest/README.md index 8a787c07..d6a4bb85 100644 --- a/unittest/README.md +++ b/unittest/README.md @@ -1,59 +1,19 @@ ## FSFW Testing -This repository contains testing and unit testing components. -[Catch2](https://github.com/catchorg/Catch2) has been used as a framework, -and these unit tests can only be run on a linux host machine. -The makefile with default settings creates the unit test binary which can be -run in the terminal or in eclipse. +This folder contains testing and unit testing components. ### Instructions -To run the fsfw unittests in the project, perform following steps: +The easiest way to run the unittest contained in this folder is to follow +the steps in the [test repository](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_tests). +This is recommended even if the goal is to set up a custom test repository to have +a starting point. -1. Copy the testcfg folder the project root (folder containing the FSFW). -2. There is a makefile inside the testcfg folder which can be used to have - a starting point to compile the unit tests. Copy that Makefile to the project - root -3. Create a folder named catch2 (can have other name which requires Makefile - adaption) and copy the Catch2 header files there (NOTE: CMake support - not enabled yet!) +To set up a custom test repository or project, following steps can be performed: + +1. Copy the user folder content into the project root. +2. Clone [Catch2](https://github.com/catchorg/Catch2) in the project root. +3. Use the `CMakeLists.txt` as a starting point to add tests and build the test + executable. -### Eclipse CDT settings - -The default eclipse terminal has issues displaying the colors used -when running the unit test binary by catch2. To fix this issue, -install the ANSI Escape In Console package from the eclipse marketplace. - -### GCOV integration - -GCOV has been integrated as a code coverage tool. -It can be enabled by adding `GCOV=1` to the build process as an additional argument. -Coverage data will be provided in form of .gcno and .gcda files. -These can be displayed in eclipse by looking -for a .gcno or .gcda file in the \_obj folder, double-clicking it -and picking the right source-binary. This will generate -information about which lines of a file have run, provided it is open in -eclipse. - -### LCOV integration - -The files generated by GCOV can also be processed by the tool LCOV. -On ubuntu, the tool can be installed with the following command: - -```sh -sudo apt-get install lcov -```` - -After that, the tool can be run by building the unit tests with `GCOV=1`, -running them at least one time and then executing the `lcov.sh` script. - -### Adding unit tests - -The catch unit tests are located in unittest/testfw. To add new unit tests, -add them to the UnitTestCatch.cpp file or add a new source file which -includes catch.hpp. - -For writing basics tests, the [assertion documentation](https://github.com/catchorg/Catch2/blob/master/docs/assertions.md#top) -or the existing examples are a good guideliens. -For more advanced tests, refer to the [catch2 documentation](https://github.com/catchorg/Catch2/blob/master/docs/Readme.md#top). diff --git a/unittest/internal/CMakeLists.txt b/unittest/internal/CMakeLists.txt new file mode 100644 index 00000000..9c24317f --- /dev/null +++ b/unittest/internal/CMakeLists.txt @@ -0,0 +1,7 @@ +target_sources(${TARGET_NAME} PRIVATE + InternalUnitTester.cpp + UnittDefinitions.cpp +) + +add_subdirectory(osal) +add_subdirectory(serialize) \ No newline at end of file diff --git a/unittest/internal/InternalUnitTester.cpp b/unittest/internal/InternalUnitTester.cpp index 503a71ec..bd41969c 100644 --- a/unittest/internal/InternalUnitTester.cpp +++ b/unittest/internal/InternalUnitTester.cpp @@ -13,13 +13,17 @@ InternalUnitTester::InternalUnitTester() {} InternalUnitTester::~InternalUnitTester() {} ReturnValue_t InternalUnitTester::performTests() { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::info << "Running internal unit tests.." << std::endl; +#endif testserialize::test_serialization(); testmq::testMq(); testsemaph::testBinSemaph(); testsemaph::testCountingSemaph(); testmutex::testMutex(); +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::info << "Internal unit tests finished." << std::endl; +#endif return RETURN_OK; } diff --git a/unittest/internal/UnittDefinitions.cpp b/unittest/internal/UnittDefinitions.cpp index 6265e9fd..7138e6c6 100644 --- a/unittest/internal/UnittDefinitions.cpp +++ b/unittest/internal/UnittDefinitions.cpp @@ -1,7 +1,9 @@ #include "UnittDefinitions.h" ReturnValue_t unitt::put_error(std::string errorId) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Unit Tester error: Failed at test ID " << errorId << "\n" << std::flush; +#endif return HasReturnvaluesIF::RETURN_FAILED; } diff --git a/unittest/internal/osal/CMakeLists.txt b/unittest/internal/osal/CMakeLists.txt new file mode 100644 index 00000000..c6f1eb95 --- /dev/null +++ b/unittest/internal/osal/CMakeLists.txt @@ -0,0 +1,5 @@ +target_sources(${TARGET_NAME} PRIVATE + IntTestMq.cpp + IntTestMutex.cpp + IntTestSemaphore.cpp +) diff --git a/unittest/internal/osal/IntTestMq.cpp b/unittest/internal/osal/IntTestMq.cpp index 9917285f..fc8e963e 100644 --- a/unittest/internal/osal/IntTestMq.cpp +++ b/unittest/internal/osal/IntTestMq.cpp @@ -1,8 +1,8 @@ #include "IntTestMq.h" -#include "../UnittDefinitions.h" +#include -#include "../../../ipc/MessageQueueIF.h" -#include "../../../ipc/QueueFactory.h" +#include +#include #include diff --git a/unittest/internal/osal/IntTestMutex.cpp b/unittest/internal/osal/IntTestMutex.cpp index d2f8b962..3316de74 100644 --- a/unittest/internal/osal/IntTestMutex.cpp +++ b/unittest/internal/osal/IntTestMutex.cpp @@ -1,10 +1,10 @@ #include "IntTestMutex.h" -#include "../../../ipc/MutexFactory.h" -#include "../UnittDefinitions.h" +#include +#include #if defined(hosted) -#include "../../osal/hosted/Mutex.h" +#include #include #include #endif diff --git a/unittest/internal/osal/IntTestSemaphore.cpp b/unittest/internal/osal/IntTestSemaphore.cpp index 6d2719d5..43990c2c 100644 --- a/unittest/internal/osal/IntTestSemaphore.cpp +++ b/unittest/internal/osal/IntTestSemaphore.cpp @@ -1,10 +1,11 @@ #include "IntTestSemaphore.h" -#include "../UnittDefinitions.h" +#include -#include "../../../tasks/SemaphoreFactory.h" -#include "../../../serviceinterface/ServiceInterfaceStream.h" -#include "../../../timemanager/Stopwatch.h" +#include +#include +#include +#include void testsemaph::testBinSemaph() { std::string id = "[BinSemaphore]"; @@ -93,8 +94,10 @@ void testsemaph::testBinSemaphoreImplementation(SemaphoreIF* binSemaph, result = binSemaph->acquire(SemaphoreIF::TimeoutType::WAITING, 10); //dur_millis_t time = stopwatch.stop(); // if(abs(time - 10) > 2) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 // sif::error << "UnitTester: Semaphore timeout measured incorrect." // << std::endl; +#endif // unitt::put_error(id); // } } @@ -138,7 +141,7 @@ void testsemaph::testCountingSemaphImplementation(SemaphoreIF* countingSemaph, // attempt to take when count is 0, measure time result = countingSemaph->acquire(SemaphoreIF::TimeoutType::WAITING, 10); dur_millis_t time = stopwatch.stop(); - if(abs(time - 10) > 1) { + if(std::abs(static_cast(time - 10)) > 1) { unitt::put_error(id); } } diff --git a/unittest/internal/serialize/CMakeLists.txt b/unittest/internal/serialize/CMakeLists.txt new file mode 100644 index 00000000..e8dc5717 --- /dev/null +++ b/unittest/internal/serialize/CMakeLists.txt @@ -0,0 +1,3 @@ +target_sources(${TARGET_NAME} PRIVATE + IntTestSerialization.cpp +) diff --git a/unittest/internal/serialize/IntTestSerialization.cpp b/unittest/internal/serialize/IntTestSerialization.cpp index 793661c5..69d82942 100644 --- a/unittest/internal/serialize/IntTestSerialization.cpp +++ b/unittest/internal/serialize/IntTestSerialization.cpp @@ -1,9 +1,9 @@ #include "IntTestSerialization.h" -#include "../UnittDefinitions.h" +#include -#include "../../../serialize/SerializeElement.h" -#include "../../../serialize/SerialBufferAdapter.h" -#include "../../../serialize/SerializeIF.h" +#include +#include +#include #include diff --git a/unittest/testcfg/devices/logicalAddresses.cpp b/unittest/testcfg/devices/logicalAddresses.cpp deleted file mode 100644 index c7ce314d..00000000 --- a/unittest/testcfg/devices/logicalAddresses.cpp +++ /dev/null @@ -1,5 +0,0 @@ -#include "logicalAddresses.h" - - - - diff --git a/unittest/testcfg/devices/powerSwitcherList.cpp b/unittest/testcfg/devices/powerSwitcherList.cpp deleted file mode 100644 index 343f78d0..00000000 --- a/unittest/testcfg/devices/powerSwitcherList.cpp +++ /dev/null @@ -1,4 +0,0 @@ -#include "powerSwitcherList.h" - - - diff --git a/unittest/tests/CMakeLists.txt b/unittest/tests/CMakeLists.txt new file mode 100644 index 00000000..97074417 --- /dev/null +++ b/unittest/tests/CMakeLists.txt @@ -0,0 +1,6 @@ +add_subdirectory(action) +add_subdirectory(container) +add_subdirectory(osal) +add_subdirectory(serialize) +add_subdirectory(storagemanager) + diff --git a/unittest/tests/action/CMakeLists.txt b/unittest/tests/action/CMakeLists.txt new file mode 100644 index 00000000..0339000f --- /dev/null +++ b/unittest/tests/action/CMakeLists.txt @@ -0,0 +1,3 @@ +target_sources(${TARGET_NAME} PRIVATE + TestActionHelper.cpp +) diff --git a/unittest/tests/action/TestActionHelper.cpp b/unittest/tests/action/TestActionHelper.cpp index 944ad705..3109eba1 100644 --- a/unittest/tests/action/TestActionHelper.cpp +++ b/unittest/tests/action/TestActionHelper.cpp @@ -1,8 +1,11 @@ #include "TestActionHelper.h" + +#include + #include #include -#include -#include "../../core/CatchDefinitions.h" + +#include TEST_CASE( "Action Helper" , "[ActionHelper]") { diff --git a/unittest/tests/action/TestActionHelper.h b/unittest/tests/action/TestActionHelper.h index 4ba417eb..610fb09e 100644 --- a/unittest/tests/action/TestActionHelper.h +++ b/unittest/tests/action/TestActionHelper.h @@ -3,7 +3,7 @@ #include #include -#include +#include #include diff --git a/unittest/tests/container/CMakeLists.txt b/unittest/tests/container/CMakeLists.txt new file mode 100644 index 00000000..966c5834 --- /dev/null +++ b/unittest/tests/container/CMakeLists.txt @@ -0,0 +1,10 @@ +target_sources(${TARGET_NAME} PRIVATE + RingBufferTest.cpp + TestArrayList.cpp + TestDynamicFifo.cpp + TestFifo.cpp + TestFixedArrayList.cpp + TestFixedMap.cpp + TestFixedOrderedMultimap.cpp + TestPlacementFactory.cpp +) diff --git a/unittest/tests/container/RingBufferTest.cpp b/unittest/tests/container/RingBufferTest.cpp index 9c1c8a23..32a2502d 100644 --- a/unittest/tests/container/RingBufferTest.cpp +++ b/unittest/tests/container/RingBufferTest.cpp @@ -1,7 +1,7 @@ -#include "../../core/CatchDefinitions.h" -#include "../../container/SimpleRingBuffer.h" +#include +#include -#include +#include #include TEST_CASE("Ring Buffer Test" , "[RingBufferTest]") { diff --git a/unittest/tests/container/TestArrayList.cpp b/unittest/tests/container/TestArrayList.cpp index 2f884276..1fd330b6 100644 --- a/unittest/tests/container/TestArrayList.cpp +++ b/unittest/tests/container/TestArrayList.cpp @@ -1,8 +1,8 @@ -#include "../../container/ArrayList.h" -#include "../../returnvalues/HasReturnvaluesIF.h" +#include +#include -#include -#include "../../core/CatchDefinitions.h" +#include +#include /** * @brief Array List test diff --git a/unittest/tests/container/TestDynamicFifo.cpp b/unittest/tests/container/TestDynamicFifo.cpp index bb19131e..2b572d52 100644 --- a/unittest/tests/container/TestDynamicFifo.cpp +++ b/unittest/tests/container/TestDynamicFifo.cpp @@ -1,10 +1,9 @@ +#include +#include +#include -#include "../../container/DynamicFIFO.h" -#include "../../container/FIFO.h" -#include "../../returnvalues/HasReturnvaluesIF.h" - -#include -#include +#include +#include TEST_CASE( "Dynamic Fifo Tests", "[TestDynamicFifo]") { INFO("Dynamic Fifo Tests"); diff --git a/unittest/tests/container/TestFifo.cpp b/unittest/tests/container/TestFifo.cpp index bd727e00..fbcd40cc 100644 --- a/unittest/tests/container/TestFifo.cpp +++ b/unittest/tests/container/TestFifo.cpp @@ -1,10 +1,9 @@ +#include +#include +#include -#include "../../container/DynamicFIFO.h" -#include "../../container/FIFO.h" -#include "../../returnvalues/HasReturnvaluesIF.h" - -#include -#include "../../core/CatchDefinitions.h" +#include +#include TEST_CASE( "Static Fifo Tests", "[TestFifo]") { INFO("Fifo Tests"); diff --git a/unittest/tests/container/TestFixedArrayList.cpp b/unittest/tests/container/TestFixedArrayList.cpp index 5a1bd280..1a85f30d 100644 --- a/unittest/tests/container/TestFixedArrayList.cpp +++ b/unittest/tests/container/TestFixedArrayList.cpp @@ -1,9 +1,8 @@ -#include "../../core/CatchDefinitions.h" +#include +#include -#include "../../container/FixedArrayList.h" -#include "../../returnvalues/HasReturnvaluesIF.h" - -#include +#include +#include TEST_CASE( "FixedArrayList Tests", "[TestFixedArrayList]") { diff --git a/unittest/tests/container/TestFixedMap.cpp b/unittest/tests/container/TestFixedMap.cpp index da0c84e3..297171ca 100644 --- a/unittest/tests/container/TestFixedMap.cpp +++ b/unittest/tests/container/TestFixedMap.cpp @@ -1,8 +1,8 @@ -#include "../../container/FixedMap.h" -#include "../../returnvalues/HasReturnvaluesIF.h" +#include +#include -#include -#include "../../core/CatchDefinitions.h" +#include +#include template class FixedMap; diff --git a/unittest/tests/container/TestFixedOrderedMultimap.cpp b/unittest/tests/container/TestFixedOrderedMultimap.cpp index e625b559..a47d6efb 100644 --- a/unittest/tests/container/TestFixedOrderedMultimap.cpp +++ b/unittest/tests/container/TestFixedOrderedMultimap.cpp @@ -1,8 +1,8 @@ -#include "../../container/FixedOrderedMultimap.h" -#include "../../returnvalues/HasReturnvaluesIF.h" +#include +#include -#include -#include "../../core/CatchDefinitions.h" +#include +#include TEST_CASE( "FixedOrderedMultimap Tests", "[TestFixedOrderedMultimap]") { INFO("FixedOrderedMultimap Tests"); diff --git a/unittest/tests/osal/CMakeLists.txt b/unittest/tests/osal/CMakeLists.txt new file mode 100644 index 00000000..5ca5e400 --- /dev/null +++ b/unittest/tests/osal/CMakeLists.txt @@ -0,0 +1,4 @@ +target_sources(${TARGET_NAME} PRIVATE + TestMessageQueue.cpp + TestSemaphore.cpp +) diff --git a/unittest/tests/osal/TestMessageQueue.cpp b/unittest/tests/osal/TestMessageQueue.cpp index 441d32e7..e33b7240 100644 --- a/unittest/tests/osal/TestMessageQueue.cpp +++ b/unittest/tests/osal/TestMessageQueue.cpp @@ -1,8 +1,10 @@ -#include "../../ipc/MessageQueueIF.h" -#include "../../ipc/QueueFactory.h" -#include +#include +#include + +#include +#include + #include -#include "../../core/CatchDefinitions.h" TEST_CASE("MessageQueue Basic Test","[TestMq]") { MessageQueueIF* testSenderMq = diff --git a/unittest/tests/serialize/CMakeLists.txt b/unittest/tests/serialize/CMakeLists.txt new file mode 100644 index 00000000..5a9d9a0f --- /dev/null +++ b/unittest/tests/serialize/CMakeLists.txt @@ -0,0 +1,5 @@ +target_sources(${TARGET_NAME} PRIVATE + TestSerialBufferAdapter.cpp + TestSerialization.cpp + TestSerialLinkedPacket.cpp +) diff --git a/unittest/tests/serialize/TestSerialBufferAdapter.cpp b/unittest/tests/serialize/TestSerialBufferAdapter.cpp index 07cd3f9c..1938746d 100644 --- a/unittest/tests/serialize/TestSerialBufferAdapter.cpp +++ b/unittest/tests/serialize/TestSerialBufferAdapter.cpp @@ -1,7 +1,9 @@ -#include "../../serialize/SerialBufferAdapter.h" +#include -#include -#include "../../core/CatchDefinitions.h" +#include +#include + +#include static bool test_value_bool = true; diff --git a/unittest/tests/serialize/TestSerialLinkedPacket.cpp b/unittest/tests/serialize/TestSerialLinkedPacket.cpp index fbe48894..b90ae9f8 100644 --- a/unittest/tests/serialize/TestSerialLinkedPacket.cpp +++ b/unittest/tests/serialize/TestSerialLinkedPacket.cpp @@ -1,9 +1,12 @@ #include "TestSerialLinkedPacket.h" -#include "../../core/CatchDefinitions.h" +#include -#include "../../globalfunctions/arrayprinter.h" +#include -#include +#include +#include + +#include TEST_CASE("Serial Linked Packet" , "[SerLinkPacket]") { diff --git a/unittest/tests/serialize/TestSerialLinkedPacket.h b/unittest/tests/serialize/TestSerialLinkedPacket.h index 6c720577..71f258f9 100644 --- a/unittest/tests/serialize/TestSerialLinkedPacket.h +++ b/unittest/tests/serialize/TestSerialLinkedPacket.h @@ -37,7 +37,7 @@ public: return buffer.entry.getConstBuffer(); } - const size_t getBufferLength() { + size_t getBufferLength() { return buffer.getSerializedSize(); } diff --git a/unittest/tests/serialize/TestSerialization.cpp b/unittest/tests/serialize/TestSerialization.cpp index 6e31170a..3de581ec 100644 --- a/unittest/tests/serialize/TestSerialization.cpp +++ b/unittest/tests/serialize/TestSerialization.cpp @@ -1,8 +1,10 @@ -#include "../../serialize/SerializeAdapter.h" +#include + +#include +#include +#include -#include "catch.hpp" #include -#include "../../core/CatchDefinitions.h" static bool test_value_bool = true; static uint8_t tv_uint8 {5}; @@ -119,10 +121,10 @@ TEST_CASE("Auto Serialize Adapter testing", "[single-file]") { REQUIRE(tv_int16 == -829); REQUIRE(tv_int32 == -2312); - REQUIRE(tv_float == Approx(8.214921)); - REQUIRE(tv_double == Approx(9.2132142141e8)); - REQUIRE(tv_sfloat == Approx(-922.2321321)); - REQUIRE(tv_sdouble == Approx(-2.2421e19)); + REQUIRE(tv_float == Catch::Approx(8.214921)); + REQUIRE(tv_double == Catch::Approx(9.2132142141e8)); + REQUIRE(tv_sfloat == Catch::Approx(-922.2321321)); + REQUIRE(tv_sdouble == Catch::Approx(-2.2421e19)); } } diff --git a/unittest/tests/storagemanager/CMakeLists.txt b/unittest/tests/storagemanager/CMakeLists.txt new file mode 100644 index 00000000..ed7be7d5 --- /dev/null +++ b/unittest/tests/storagemanager/CMakeLists.txt @@ -0,0 +1,4 @@ +target_sources(${TARGET_NAME} PRIVATE + TestNewAccessor.cpp + TestPool.cpp +) diff --git a/unittest/tests/storagemanager/TestPool.cpp b/unittest/tests/storagemanager/TestPool.cpp index daeb6bb5..dcfb6c03 100644 --- a/unittest/tests/storagemanager/TestPool.cpp +++ b/unittest/tests/storagemanager/TestPool.cpp @@ -1,10 +1,8 @@ -#include "CatchDefinitions.h" - #include #include -#include -#include +#include +#include #include diff --git a/unittest/user/CMakeLists.txt b/unittest/user/CMakeLists.txt new file mode 100644 index 00000000..6ec314c3 --- /dev/null +++ b/unittest/user/CMakeLists.txt @@ -0,0 +1,165 @@ +################################################################################ +# CMake support for the Flight Software Framework Tests +# +# Developed in an effort to replace Make with a modern build system. +# +# Author: R. Mueller +################################################################################ + +################################################################################ +# Pre-Project preparation +################################################################################ +cmake_minimum_required(VERSION 3.13) + +# set(CMAKE_VERBOSE TRUE) + +set(CMAKE_SCRIPT_PATH "${CMAKE_CURRENT_SOURCE_DIR}/buildsystem/cmake") + +# Tests can be built with the Host OSAL or with the Linux OSAL. +if(NOT OS_FSFW) + set(OS_FSFW host CACHE STRING "OS for the FSFW.") +endif() + +option(CUSTOM_UNITTEST_RUNNER + "Specify whether custom main or Catch2 main is used" TRUE +) + +# Perform steps like loading toolchain files where applicable. +#include(${CMAKE_SCRIPT_PATH}/PreProjectConfig.cmake) +#pre_project_config() + +# Project Name +project(fsfw_tests C CXX) + +################################################################################ +# Pre-Sources preparation +################################################################################ + +# Specify the C++ standard +set(CMAKE_CXX_STANDARD 11) +set(CMAKE_CXX_STANDARD_REQUIRED True) + +# Set names and variables +set(TARGET_NAME ${CMAKE_PROJECT_NAME}) +if(CUSTOM_UNITTEST_RUNNER) + set(CATCH2_TARGET Catch2) +else() + set(CATCH2_TARGET Catch2WithMain) +endif() +set(LIB_FSFW_NAME fsfw) + +# Set path names +set(FSFW_PATH fsfw) +set(CATCH2_PATH Catch2) +set(FSFW_TESTS_PATH fsfw/unittest) +set(TEST_SETUP_PATH unittest) + +# Analyse different OS and architecture/target options and +# determine BSP_PATH + +# FreeRTOS +if(${OS_FSFW} STREQUAL linux) + add_definitions(-DUNIX -DLINUX) + find_package(Threads REQUIRED) +# Hosted +else() + if(WIN32) + add_definitions(-DWIN32) + elseif(UNIX) + find_package(Threads REQUIRED) + add_definitions(-DUNIX -DLINUX) + endif() +endif() + +set(FSFW_CONFIG_PATH testcfg) + +################################################################################ +# Executable and Sources +################################################################################ + +# Add executable +add_executable(${TARGET_NAME}) + +# Add subdirectories +add_subdirectory(${FSFW_PATH}) +add_subdirectory(${CATCH2_PATH}) +add_subdirectory(${FSFW_CONFIG_PATH}) +add_subdirectory(${FSFW_TESTS_PATH}) +add_subdirectory(${TEST_SETUP_PATH}) + +################################################################################ +# Post-Sources preparation +################################################################################ + +# Add libraries for all sources. +target_link_libraries(${TARGET_NAME} PRIVATE + ${LIB_FSFW_NAME} + ${CATCH2_TARGET} +) + +# Add include paths for all sources. +target_include_directories(${TARGET_NAME} PRIVATE + ${CMAKE_CURRENT_SOURCE_DIR} + ${FSFW_CONFIG_PATH} +) + +if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU") + set(WARNING_FLAGS + -Wall + -Wextra + -Wshadow=local + -Wimplicit-fallthrough=1 + -Wno-unused-parameter + -Wno-psabi + ) + + # Remove unused sections. + target_compile_options(${TARGET_NAME} PRIVATE + "-ffunction-sections" + "-fdata-sections" + ) + + # Removed unused sections. + target_link_options(${TARGET_NAME} PRIVATE + "-Wl,--gc-sections" + ) + +elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC") + set(COMPILER_FLAGS "/permissive-") +endif() + +if(CMAKE_VERBOSE) + message(STATUS "Warning flags: ${WARNING_FLAGS}") +endif() + + +# Compile options for all sources. +target_compile_options(${TARGET_NAME} PRIVATE + $<$:${WARNING_FLAGS} ${COMPILER_FLAGS}> + $<$:${WARNING_FLAGS} ${COMPILER_FLAGS}> + ${ABI_FLAGS} +) + +if(NOT CMAKE_SIZE) + set(CMAKE_SIZE size) + if(WIN32) + set(FILE_SUFFIX ".exe") + endif() +endif() + +add_custom_command( + TARGET ${TARGET_NAME} + POST_BUILD + COMMAND echo "Build directory: ${CMAKE_BINARY_DIR}" + COMMAND echo "Target OSAL: ${OS_FSFW}" + COMMAND echo "Target Build Type: ${CMAKE_BUILD_TYPE}" + COMMAND ${CMAKE_SIZE} ${TARGET_NAME}${FILE_SUFFIX} +) + +include (${CMAKE_CURRENT_SOURCE_DIR}/buildsystem/cmake/BuildType.cmake) +set_build_type() + + + + + diff --git a/unittest/user/testcfg/CMakeLists.txt b/unittest/user/testcfg/CMakeLists.txt new file mode 100644 index 00000000..dbf0256f --- /dev/null +++ b/unittest/user/testcfg/CMakeLists.txt @@ -0,0 +1,11 @@ +target_sources(${TARGET_NAME} + PRIVATE + ipc/MissionMessageTypes.cpp + pollingsequence/PollingSequenceFactory.cpp +) + +# Add include paths for the executable +target_include_directories(${TARGET_NAME} + PUBLIC + ${CMAKE_CURRENT_SOURCE_DIR} +) diff --git a/unittest/testcfg/FSFWConfig.h b/unittest/user/testcfg/FSFWConfig.h similarity index 100% rename from unittest/testcfg/FSFWConfig.h rename to unittest/user/testcfg/FSFWConfig.h diff --git a/unittest/testcfg/Makefile-FSFW-Tests b/unittest/user/testcfg/Makefile-FSFW-Tests similarity index 100% rename from unittest/testcfg/Makefile-FSFW-Tests rename to unittest/user/testcfg/Makefile-FSFW-Tests diff --git a/unittest/testcfg/TestsConfig.h b/unittest/user/testcfg/TestsConfig.h similarity index 100% rename from unittest/testcfg/TestsConfig.h rename to unittest/user/testcfg/TestsConfig.h diff --git a/unittest/testcfg/cdatapool/dataPoolInit.cpp b/unittest/user/testcfg/cdatapool/dataPoolInit.cpp similarity index 100% rename from unittest/testcfg/cdatapool/dataPoolInit.cpp rename to unittest/user/testcfg/cdatapool/dataPoolInit.cpp diff --git a/unittest/testcfg/cdatapool/dataPoolInit.h b/unittest/user/testcfg/cdatapool/dataPoolInit.h similarity index 100% rename from unittest/testcfg/cdatapool/dataPoolInit.h rename to unittest/user/testcfg/cdatapool/dataPoolInit.h diff --git a/defaultcfg/fsfwconfig/devices/logicalAddresses.cpp b/unittest/user/testcfg/devices/logicalAddresses.cpp similarity index 100% rename from defaultcfg/fsfwconfig/devices/logicalAddresses.cpp rename to unittest/user/testcfg/devices/logicalAddresses.cpp diff --git a/unittest/testcfg/devices/logicalAddresses.h b/unittest/user/testcfg/devices/logicalAddresses.h similarity index 100% rename from unittest/testcfg/devices/logicalAddresses.h rename to unittest/user/testcfg/devices/logicalAddresses.h diff --git a/defaultcfg/fsfwconfig/devices/powerSwitcherList.cpp b/unittest/user/testcfg/devices/powerSwitcherList.cpp similarity index 100% rename from defaultcfg/fsfwconfig/devices/powerSwitcherList.cpp rename to unittest/user/testcfg/devices/powerSwitcherList.cpp diff --git a/unittest/testcfg/devices/powerSwitcherList.h b/unittest/user/testcfg/devices/powerSwitcherList.h similarity index 100% rename from unittest/testcfg/devices/powerSwitcherList.h rename to unittest/user/testcfg/devices/powerSwitcherList.h diff --git a/unittest/testcfg/events/subsystemIdRanges.h b/unittest/user/testcfg/events/subsystemIdRanges.h similarity index 100% rename from unittest/testcfg/events/subsystemIdRanges.h rename to unittest/user/testcfg/events/subsystemIdRanges.h diff --git a/unittest/testcfg/ipc/MissionMessageTypes.cpp b/unittest/user/testcfg/ipc/MissionMessageTypes.cpp similarity index 100% rename from unittest/testcfg/ipc/MissionMessageTypes.cpp rename to unittest/user/testcfg/ipc/MissionMessageTypes.cpp diff --git a/unittest/testcfg/ipc/MissionMessageTypes.h b/unittest/user/testcfg/ipc/MissionMessageTypes.h similarity index 100% rename from unittest/testcfg/ipc/MissionMessageTypes.h rename to unittest/user/testcfg/ipc/MissionMessageTypes.h diff --git a/unittest/testcfg/objects/systemObjectList.h b/unittest/user/testcfg/objects/systemObjectList.h similarity index 100% rename from unittest/testcfg/objects/systemObjectList.h rename to unittest/user/testcfg/objects/systemObjectList.h diff --git a/unittest/testcfg/pollingsequence/PollingSequenceFactory.cpp b/unittest/user/testcfg/pollingsequence/PollingSequenceFactory.cpp similarity index 94% rename from unittest/testcfg/pollingsequence/PollingSequenceFactory.cpp rename to unittest/user/testcfg/pollingsequence/PollingSequenceFactory.cpp index f836a746..b7f1fb3e 100644 --- a/unittest/testcfg/pollingsequence/PollingSequenceFactory.cpp +++ b/unittest/user/testcfg/pollingsequence/PollingSequenceFactory.cpp @@ -15,8 +15,10 @@ ReturnValue_t pst::pollingSequenceInitDefault( return HasReturnvaluesIF::RETURN_OK; } else { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "pst::pollingSequenceInitDefault: Sequence invalid!" << std::endl; +#endif return HasReturnvaluesIF::RETURN_FAILED; } } diff --git a/unittest/testcfg/pollingsequence/PollingSequenceFactory.h b/unittest/user/testcfg/pollingsequence/PollingSequenceFactory.h similarity index 100% rename from unittest/testcfg/pollingsequence/PollingSequenceFactory.h rename to unittest/user/testcfg/pollingsequence/PollingSequenceFactory.h diff --git a/unittest/testcfg/returnvalues/classIds.h b/unittest/user/testcfg/returnvalues/classIds.h similarity index 100% rename from unittest/testcfg/returnvalues/classIds.h rename to unittest/user/testcfg/returnvalues/classIds.h diff --git a/unittest/testcfg/testcfg.mk b/unittest/user/testcfg/testcfg.mk similarity index 100% rename from unittest/testcfg/testcfg.mk rename to unittest/user/testcfg/testcfg.mk diff --git a/unittest/testcfg/tmtc/apid.h b/unittest/user/testcfg/tmtc/apid.h similarity index 100% rename from unittest/testcfg/tmtc/apid.h rename to unittest/user/testcfg/tmtc/apid.h diff --git a/unittest/testcfg/tmtc/pusIds.h b/unittest/user/testcfg/tmtc/pusIds.h similarity index 100% rename from unittest/testcfg/tmtc/pusIds.h rename to unittest/user/testcfg/tmtc/pusIds.h diff --git a/unittest/testtemplate/TestTemplate.cpp b/unittest/user/testtemplate/TestTemplate.cpp similarity index 100% rename from unittest/testtemplate/TestTemplate.cpp rename to unittest/user/testtemplate/TestTemplate.cpp diff --git a/unittest/user/unittest/core/CMakeLists.txt b/unittest/user/unittest/core/CMakeLists.txt new file mode 100644 index 00000000..d78f45f1 --- /dev/null +++ b/unittest/user/unittest/core/CMakeLists.txt @@ -0,0 +1,7 @@ +target_sources(${TARGET_NAME} PRIVATE + CatchDefinitions.cpp + CatchFactory.cpp + CatchRunner.cpp + CatchSetup.cpp + printChar.cpp +) diff --git a/unittest/core/CatchDefinitions.cpp b/unittest/user/unittest/core/CatchDefinitions.cpp similarity index 88% rename from unittest/core/CatchDefinitions.cpp rename to unittest/user/unittest/core/CatchDefinitions.cpp index 0b66558a..00daf015 100644 --- a/unittest/core/CatchDefinitions.cpp +++ b/unittest/user/unittest/core/CatchDefinitions.cpp @@ -5,7 +5,9 @@ StorageManagerIF* tglob::getIpcStoreHandle() { if(objectManager != nullptr) { return objectManager->get(objects::IPC_STORE); } else { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Global object manager uninitialized" << std::endl; +#endif return nullptr; } } diff --git a/unittest/core/CatchDefinitions.h b/unittest/user/unittest/core/CatchDefinitions.h similarity index 100% rename from unittest/core/CatchDefinitions.h rename to unittest/user/unittest/core/CatchDefinitions.h diff --git a/unittest/core/CatchFactory.cpp b/unittest/user/unittest/core/CatchFactory.cpp similarity index 100% rename from unittest/core/CatchFactory.cpp rename to unittest/user/unittest/core/CatchFactory.cpp diff --git a/unittest/core/CatchFactory.h b/unittest/user/unittest/core/CatchFactory.h similarity index 100% rename from unittest/core/CatchFactory.h rename to unittest/user/unittest/core/CatchFactory.h diff --git a/unittest/core/CatchRunner.cpp b/unittest/user/unittest/core/CatchRunner.cpp similarity index 100% rename from unittest/core/CatchRunner.cpp rename to unittest/user/unittest/core/CatchRunner.cpp diff --git a/unittest/core/CatchSetup.cpp b/unittest/user/unittest/core/CatchSetup.cpp similarity index 100% rename from unittest/core/CatchSetup.cpp rename to unittest/user/unittest/core/CatchSetup.cpp diff --git a/unittest/core/core.mk b/unittest/user/unittest/core/core.mk similarity index 100% rename from unittest/core/core.mk rename to unittest/user/unittest/core/core.mk diff --git a/unittest/core/printChar.cpp b/unittest/user/unittest/core/printChar.cpp similarity index 100% rename from unittest/core/printChar.cpp rename to unittest/user/unittest/core/printChar.cpp diff --git a/unittest/core/printChar.h b/unittest/user/unittest/core/printChar.h similarity index 100% rename from unittest/core/printChar.h rename to unittest/user/unittest/core/printChar.h diff --git a/unittest/unlockRealtime.sh b/unittest/user/unlockRealtime.sh similarity index 100% rename from unittest/unlockRealtime.sh rename to unittest/user/unlockRealtime.sh