esbo_ds/fsfw
3
0
Fork 0
forked from fsfw/fsfw
Code Issues Pull Requests Releases Wiki Activity

Merge remote-tracking branch 'upstream/master' into mueller_FixedSequenceImprovements

Browse Source
This commit is contained in:
Robin Müller 2020-04-19 21:36:50 +02:00
commit 4d64a76b8e
18 changed files with 140 additions and 73 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
container/FIFO.h
View File

@ -21,7 +21,7 @@ public:
readIndex(0), writeIndex(0), currentSize(0) {
}
bool emtpy() {
bool empty() {
return (currentSize == 0);
}
@ -45,7 +45,7 @@ public:
}
ReturnValue_t retrieve(T *value) {
if (emtpy()) {
if (empty()) {
return EMPTY;
} else {
*value = data[readIndex];

2
container/IndexedRingMemoryArray.h
View File

@ -2,10 +2,10 @@
#define FRAMEWORK_CONTAINER_INDEXEDRINGMEMORY_H_
#include <framework/container/ArrayList.h>
#include <framework/globalfunctions/CRC.h>
#include <framework/serviceinterface/ServiceInterfaceStream.h>
#include <framework/returnvalues/HasReturnvaluesIF.h>
#include <framework/serialize/SerialArrayListAdapter.h>
#include <framework/globalfunctions/crc_ccitt.h>
#include <cmath>
template<typename T>

4
datalinklayer/DataLinkLayer.cpp
View File

@ -1,5 +1,5 @@
#include <framework/datalinklayer/DataLinkLayer.h>
#include <framework/globalfunctions/crc_ccitt.h>
#include <framework/globalfunctions/CRC.h>
#include <framework/serviceinterface/ServiceInterfaceStream.h>
DataLinkLayer::DataLinkLayer(uint8_t* set_frame_buffer, ClcwIF* setClcw,
@ -60,7 +60,7 @@ ReturnValue_t DataLinkLayer::frameValidationCheck() {
}
ReturnValue_t DataLinkLayer::frameCheckCRC() {
uint16_t checkValue = ::Calculate_CRC(this->currentFrame.getFullFrame(),
uint16_t checkValue = CRC::crc16ccitt(this->currentFrame.getFullFrame(),
this->currentFrame.getFullSize());
if (checkValue == 0) {
return RETURN_OK;

6
datalinklayer/TcTransferFrameLocal.cpp
View File

@ -6,7 +6,7 @@
*/
#include <framework/datalinklayer/TcTransferFrameLocal.h>
#include <framework/globalfunctions/crc_ccitt.h>
#include <framework/globalfunctions/CRC.h>
#include <framework/serviceinterface/ServiceInterfaceStream.h>
#include <string.h>
@ -25,7 +25,7 @@ TcTransferFrameLocal::TcTransferFrameLocal(bool bypass, bool controlCommand, uin
uint16_t totalSize = sizeof(TcTransferFramePrimaryHeader) + dataSize + FRAME_CRC_SIZE -1;
frame->header.vcidAndLength_h |= (totalSize & 0x0300) >> 8;
frame->header.length_l = (totalSize & 0x00FF);
uint16_t crc = ::Calculate_CRC(getFullFrame(), getFullSize() -2);
uint16_t crc = CRC::crc16ccitt(getFullFrame(), getFullSize() -2);
this->getFullFrame()[getFullSize()-2] = (crc & 0xFF00) >> 8;
this->getFullFrame()[getFullSize()-1] = (crc & 0x00FF);
} else if (dataSize <= 1016) {
@ -33,7 +33,7 @@ TcTransferFrameLocal::TcTransferFrameLocal(bool bypass, bool controlCommand, uin
uint16_t dataCrcSize = sizeof(TcTransferFramePrimaryHeader) + 1 + dataSize + FRAME_CRC_SIZE -1;
frame->header.vcidAndLength_h |= (dataCrcSize & 0x0300) >> 8;
frame->header.length_l = (dataCrcSize & 0x00FF);
uint16_t crc = ::Calculate_CRC(getFullFrame(), getFullSize() -2);
uint16_t crc = CRC::crc16ccitt(getFullFrame(), getFullSize() -2);
this->getFullFrame()[getFullSize()-2] = (crc & 0xFF00) >> 8;
this->getFullFrame()[getFullSize()-1] = (crc & 0x00FF);
} else {

2
devicehandlers/DeviceHandlerBase.cpp
View File

@ -4,7 +4,7 @@
#include <framework/devicehandlers/AcceptsDeviceResponsesIF.h>
#include <framework/devicehandlers/DeviceHandlerBase.h>
#include <framework/devicehandlers/DeviceTmReportingWrapper.h>
#include <framework/globalfunctions/crc_ccitt.h>
#include <framework/globalfunctions/CRC.h>
#include <framework/objectmanager/ObjectManager.h>
#include <framework/storagemanager/StorageManagerIF.h>
#include <framework/subsystem/SubsystemBase.h>

13
globalfunctions/crc_ccitt.cpp → globalfunctions/CRC.cpp
View File

@ -1,7 +1,7 @@
#include <framework/globalfunctions/crc_ccitt.h>
#include <framework/globalfunctions/CRC.h>
#include <math.h>
static const uint16_t crc_table[256] = {
const uint16_t CRC::crc16ccitt_table[256] = {
0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7,
0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef,
0x1231, 0x0210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6,
@ -38,19 +38,18 @@ static const uint16_t crc_table[256] = {
// CRC implementation
uint16_t Calculate_CRC(uint8_t const input[], uint32_t length)
uint16_t CRC::crc16ccitt(uint8_t const input[], uint32_t length, uint16_t startingCrc)
{
uint16_t crc = 0xFFFF;
uint8_t *data = (uint8_t *)input;
unsigned int tbl_idx;
while (length--) {
tbl_idx = ((crc >> 8) ^ *data) & 0xff;
crc = (crc_table[tbl_idx] ^ (crc << 8)) & 0xffff;
tbl_idx = ((startingCrc >> 8) ^ *data) & 0xff;
startingCrc = (crc16ccitt_table[tbl_idx] ^ (startingCrc << 8)) & 0xffff;
data++;
}
return crc & 0xffff;
return startingCrc & 0xffff;
//The part below is not used!
// bool temr[16];

16
globalfunctions/CRC.h Normal file
View File

@ -0,0 +1,16 @@
#ifndef CRC_CCITT_H_
#define CRC_CCITT_H_
#include <stdint.h>
class CRC {
public:
static uint16_t crc16ccitt(uint8_t const input[], uint32_t length,
uint16_t startingCrc = 0xffff);
private:
CRC();
static const uint16_t crc16ccitt_table[256];
};
#endif /* CRC_H_ */

9
globalfunctions/crc_ccitt.h
View File

@ -1,9 +0,0 @@
#ifndef CRC_CCITT_H_
#define CRC_CCITT_H_
#include <stdint.h>
uint16_t Calculate_CRC(uint8_t const input[], uint32_t length);
#endif /* CRC_H_ */

4
memory/MemoryHelper.cpp
View File

@ -1,4 +1,4 @@
#include <framework/globalfunctions/crc_ccitt.h>
#include <framework/globalfunctions/CRC.h>
#include <framework/memory/MemoryHelper.h>
#include <framework/memory/MemoryMessage.h>
#include <framework/objectmanager/ObjectManagerIF.h>
@ -98,7 +98,7 @@ void MemoryHelper::completeDump(ReturnValue_t errorCode,
break;
}
case MemoryMessage::CMD_MEMORY_CHECK: {
uint16_t crc = ::Calculate_CRC(reservedSpaceInIPC, size);
uint16_t crc = CRC::crc16ccitt(reservedSpaceInIPC, size);
//Delete data immediately, was temporary.
ipcStore->deleteData(ipcAddress);
MemoryMessage::setMemoryCheckReply(&reply, crc);

25
osal/FreeRTOS/MessageQueue.cpp
View File

@ -38,7 +38,9 @@ ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
MessageQueueId_t* receivedFrom) {
ReturnValue_t status = this->receiveMessage(message);
*receivedFrom = this->lastPartner;
if(status == HasReturnvaluesIF::RETURN_OK) {
*receivedFrom = this->lastPartner;
}
return status;
}
@ -89,23 +91,24 @@ MessageQueueId_t MessageQueue::getDefaultDestination() const {
bool MessageQueue::isDefaultDestinationSet() const {
return 0;
}
ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
MessageQueueMessage *message, MessageQueueId_t sentFrom,
bool ignoreFault) {
message->setSender(sentFrom);
BaseType_t result = xQueueSendToBack(reinterpret_cast<void*>(sendTo),reinterpret_cast<const void*>(message->getBuffer()), 0);
if (result != pdPASS) {
if (!ignoreFault) {
InternalErrorReporterIF* internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
objects::INTERNAL_ERROR_REPORTER);
if (internalErrorReporter != NULL) {
internalErrorReporter->queueMessageNotSent();
}
BaseType_t result = xQueueSendToBack(reinterpret_cast<void*>(sendTo),reinterpret_cast<const void*>(message->getBuffer()), 0);
if (result != pdPASS) {
if (!ignoreFault) {
InternalErrorReporterIF* internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
objects::INTERNAL_ERROR_REPORTER);
if (internalErrorReporter != NULL) {
internalErrorReporter->queueMessageNotSent();
}
return MessageQueueIF::FULL;
}
return HasReturnvaluesIF::RETURN_OK;
return MessageQueueIF::FULL;
}
return HasReturnvaluesIF::RETURN_OK;
}

2
osal/FreeRTOS/QueueFactory.cpp
View File

@ -1,6 +1,6 @@
#include <framework/ipc/QueueFactory.h>
#include "../FreeRTOS/MessageQueue.h"
#include <framework/osal/FreeRTOS/MessageQueue.h>
QueueFactory* QueueFactory::factoryInstance = NULL;

1
osal/FreeRTOS/TaskFactory.cpp
View File

@ -15,6 +15,7 @@ TaskFactory* TaskFactory::instance() {
}
/***
* Keep in Mind that you need to call before this vTaskStartScheduler()!
* High taskPriority_ number means high priority.
*/
PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,
TaskPriority taskPriority_, TaskStackSize stackSize_,

4
tcdistribution/TcPacketCheck.cpp
View File

@ -1,4 +1,4 @@
#include <framework/globalfunctions/crc_ccitt.h>
#include <framework/globalfunctions/CRC.h>
#include <framework/serviceinterface/ServiceInterfaceStream.h>
#include <framework/storagemanager/StorageManagerIF.h>
#include <framework/tcdistribution/TcPacketCheck.h>
@ -8,7 +8,7 @@ TcPacketCheck::TcPacketCheck( uint16_t set_apid ) : apid(set_apid) {
}
ReturnValue_t TcPacketCheck::checkPacket( TcPacketStored* current_packet ) {
uint16_t calculated_crc = ::Calculate_CRC ( current_packet->getWholeData(), current_packet->getFullSize() );
uint16_t calculated_crc = CRC::crc16ccitt( current_packet->getWholeData(), current_packet->getFullSize() );
if ( calculated_crc != 0 ) {
return INCORRECT_CHECKSUM;
}

4
tmtcpacket/pus/TcPacketBase.cpp
View File

@ -1,4 +1,4 @@
#include <framework/globalfunctions/crc_ccitt.h>
#include <framework/globalfunctions/CRC.h>
#include <framework/serviceinterface/ServiceInterfaceStream.h>
#include <framework/tmtcpacket/pus/TcPacketBase.h>
#include <string.h>
@ -40,7 +40,7 @@ uint16_t TcPacketBase::getErrorControl() {
void TcPacketBase::setErrorControl() {
uint32_t full_size = getFullSize();
uint16_t crc = ::Calculate_CRC(getWholeData(), full_size - CRC_SIZE);
uint16_t crc = CRC::crc16ccitt(getWholeData(), full_size - CRC_SIZE);
uint32_t size = getApplicationDataSize();
(&tcData->data)[size] = (crc & 0XFF00) >> 8; // CRCH
(&tcData->data)[size + 1] = (crc) & 0X00FF; // CRCL

4
tmtcpacket/pus/TmPacketBase.cpp
View File

@ -1,4 +1,4 @@
#include <framework/globalfunctions/crc_ccitt.h>
#include <framework/globalfunctions/CRC.h>
#include <framework/objectmanager/ObjectManagerIF.h>
#include <framework/serviceinterface/ServiceInterfaceStream.h>
#include <framework/tmtcpacket/pus/TmPacketBase.h>
@ -39,7 +39,7 @@ uint16_t TmPacketBase::getErrorControl() {
void TmPacketBase::setErrorControl() {
uint32_t full_size = getFullSize();
uint16_t crc = ::Calculate_CRC(getWholeData(), full_size - CRC_SIZE);
uint16_t crc = CRC::crc16ccitt(getWholeData(), full_size - CRC_SIZE);
uint32_t size = getSourceDataSize();
getSourceData()[size] = (crc & 0XFF00) >> 8; // CRCH
getSourceData()[size + 1] = (crc) & 0X00FF; // CRCL

82
tmtcservices/CommandingServiceBase.h
View File

@ -64,7 +64,7 @@ public:
virtual ~CommandingServiceBase();
/***
* This is the periodic called function
* This is the periodically called function.
* Handle request queue for external commands.
* Handle command Queue for internal commands.
* @param opCode is unused here at the moment
@ -104,6 +104,69 @@ public:
};
protected:
/**
* Check the target subservice
* @param subservice[in]
* @return -@c RETURN_OK on success
* -@c INVALID_SUBSERVICE if service is not known
*/
virtual ReturnValue_t isValidSubservice(uint8_t subservice) = 0;
/**
* Once a TC Request is valid, the existence of the destination and its target interface is checked and retrieved.
* The target message queue ID can then be acquired by using the target interface.
* @param subservice
* @param tcData Application Data of TC Packet
* @param tcDataLen
* @param id MessageQueue ID is stored here
* @param objectId Object ID is extracted and stored here
* @return - @c RETURN_OK on success
* - @c RETURN_FAILED
* - @c CSB or implementation specific return codes
*/
virtual ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
const uint8_t *tcData, uint32_t tcDataLen, MessageQueueId_t *id,
object_id_t *objectId) = 0;
/**
* After the Message Queue and Object ID are determined,
* the command is prepared by using an implementation specific CommandMessage type
* which is sent to the target object.
* It contains all necessary information for the device to execute telecommands.
* @param message[out] message to be sent to the object
* @param subservice[in] Subservice of the current communication
* @param tcData Additional data of the command
* @param tcDataLen Length of the additional data
* @param state[out] Setable state of the communication
* @param objectId Target object ID
* @return - @c RETURN_OK on success
* - @c EXECUTION_COMPLETE if exectuin is finished
* - any other return code will be part of (1,4) start failure
*/
virtual ReturnValue_t prepareCommand(CommandMessage *message,
uint8_t subservice, const uint8_t *tcData, uint32_t tcDataLen,
uint32_t *state, object_id_t objectId) = 0;
/**
* This function is responsible for the communication between the Command Service Base
* and the respective PUS Commanding Service once the execution has started.
* The PUS Commanding Service receives replies from the target device and forwards them by calling this function.
* There are different translations of these replies to specify how the Command Service proceeds.
* @param reply Command Message which contains information about the command
* @param previousCommand Command_t of last command
* @param state state of the communication
* @param optionalNextCommand[out] An optional next command which can be set in this function
* @param objectId Source object ID
* @param isStep Flag value to mark steps of command execution
* @return - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to generate TC verification success
* - @c INVALID_REPLY can handle unrequested replies
* - Anything else triggers a TC verification failure
*/
virtual ReturnValue_t handleReply(const CommandMessage *reply,
Command_t previousCommand, uint32_t *state,
CommandMessage *optionalNextCommand, object_id_t objectId,
bool *isStep) = 0;
struct CommandInfo {
struct tcInfo {
uint8_t ackFlags;
@ -180,20 +243,6 @@ protected:
*/
void sendTmPacket(uint8_t subservice, SerializeIF* content,
SerializeIF* header = NULL);
virtual ReturnValue_t isValidSubservice(uint8_t subservice) = 0;
virtual ReturnValue_t prepareCommand(CommandMessage *message,
uint8_t subservice, const uint8_t *tcData, uint32_t tcDataLen,
uint32_t *state, object_id_t objectId) = 0;
virtual ReturnValue_t handleReply(const CommandMessage *reply,
Command_t previousCommand, uint32_t *state,
CommandMessage *optionalNextCommand, object_id_t objectId,
bool *isStep) = 0;
virtual ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
const uint8_t *tcData, uint32_t tcDataLen, MessageQueueId_t *id,
object_id_t *objectId) = 0;
virtual void handleUnrequestedReply(CommandMessage *reply);
@ -209,7 +258,8 @@ private:
* It handles replies generated by the devices and relayed by the specific service implementation.
* This means that it determines further course of action depending on the return values specified
* in the service implementation.
* This includes the generation of TC verification messages:
* This includes the generation of TC verification messages. Note that
* the static framework object ID @c VerificationReporter::messageReceiver needs to be set.
* - TM[1,5] Step Successs
* - TM[1,6] Step Failure
* - TM[1,7] Completion Success

10
tmtcservices/PusServiceBase.cpp
View File

@ -23,14 +23,14 @@ ReturnValue_t PusServiceBase::performOperation(uint8_t opCode) {
TmTcMessage message;
for (uint8_t count = 0; count < PUS_SERVICE_MAX_RECEPTION; count++) {
ReturnValue_t status = this->requestQueue->receiveMessage(&message);
// debug << "PusServiceBase::performOperation: Receiving from MQ ID: " << std::hex << this->requestQueue.getId() << std::dec << " returned: " << status << std::endl;
// debug << "PusServiceBase::performOperation: Receiving from MQ ID: " << std::hex << this->requestQueue.getId()
// << std::dec << " returned: " << status << std::endl;
if (status == RETURN_OK) {
this->currentPacket.setStoreAddress(message.getStorageId());
// info << "Service " << (uint16_t) this->serviceId << ": new packet!"
// << std::endl;
// info << "Service " << (uint16_t) this->serviceId << ": new packet!" << std::endl;
ReturnValue_t return_code = this->handleRequest();
// debug << "Service " << (uint16_t)this->serviceId << ": handleRequest returned: " << (int)return_code << std::endl;
// debug << "Service " << (uint16_t)this->serviceId << ": handleRequest returned: " << (int)return_code << std::endl;
if (return_code == RETURN_OK) {
this->verifyReporter.sendSuccessReport(
TC_VERIFY::COMPLETION_SUCCESS, &this->currentPacket);
@ -44,7 +44,7 @@ ReturnValue_t PusServiceBase::performOperation(uint8_t opCode) {
errorParameter2 = 0;
} else if (status == MessageQueueIF::EMPTY) {
status = RETURN_OK;
// debug << "PusService " << (uint16_t)this->serviceId << ": no new packet." << std::endl;
// debug << "PusService " << (uint16_t)this->serviceId << ": no new packet." << std::endl;
break;
} else {

21
tmtcservices/PusServiceBase.h
View File

@ -46,13 +46,20 @@ public:
*/
virtual ~PusServiceBase();
/**
* The handleRequest method shall handle any kind of Telecommand Request immediately.
* @brief The handleRequest method shall handle any kind of Telecommand Request immediately.
* @details
* Implemetations can take the Telecommand in currentPacket and perform any kind of operation.
* They may send additional "Start Success (1,3)" messages with the verifyReporter, but Completion
* Success or Failure Reports are generated automatically after execution of this method.
* If a Telecommand can not be executed within one call cycle, this Base class is not the right parent.
* The child class may add additional error information in #errorParameters which are attached to the generated
* verification message.
*
* If a Telecommand can not be executed within one call cycle,
* this Base class is not the right parent.
*
* The child class may add additional error information by setting #errorParameters which are
* attached to the generated verification message.
*
* Subservice checking should be implemented in this method.
*
* @return The returned status_code is directly taken as main error code in the Verification Report.
* On success, RETURN_OK shall be returned.
*/
@ -68,8 +75,8 @@ public:
* It checks for new requests, and, if found, calls handleRequest, sends completion verification messages and deletes
* the TC requests afterwards.
* performService is always executed afterwards.
* @return - \c RETURN_OK if the periodic performService was successful.
* - \c RETURN_FAILED else.
* @return \c RETURN_OK if the periodic performService was successful.
* \c RETURN_FAILED else.
*/
ReturnValue_t performOperation(uint8_t opCode);
virtual uint16_t getIdentifier();
@ -91,7 +98,7 @@ protected:
/**
* One of two error parameters for additional error information.
*/
uint8_t errorParameter2;
uint32_t errorParameter2;
/**
* This is a complete instance of the Telecommand reception queue of the class.
* It is initialized on construction of the class.