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Merge branch 'mueller/master' of https://egit.irs.uni-stuttgart.de/KSat/fsfw into mueller/master

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This commit is contained in:
Robin Müller 2021-06-05 19:59:51 +02:00
commit 8b83541264
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GPG Key ID: BE6480244DFE612C
17 changed files with 778 additions and 725 deletions
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4
CMakeLists.txt
View File

@ -131,9 +131,9 @@ else()
)
endif()
foreach(INCLUDE_PATH ${FSFW_ADDITIONAL_INC_PATH})
foreach(INCLUDE_PATH ${FSFW_ADDITIONAL_INC_PATHS})
if(IS_ABSOLUTE ${INCLUDE_PATH})
set(CURR_ABS_INC_PATH "${FREERTOS_PATH}")
set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
else()
get_filename_component(CURR_ABS_INC_PATH
${INCLUDE_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR})

20
events/EventManager.cpp
View File

@ -156,11 +156,11 @@ void EventManager::printUtility(sif::OutputTypes printType, EventMessage *messag
sif::info << "0x" << std::hex << std::setw(8) << std::setfill('0') <<
message->getReporter() << std::setfill(' ') << std::dec;
}
sif::info << " report event with ID " << message->getEventId() << std::endl;
sif::info << std::hex << "P1 Hex: 0x" << message->getParameter1() <<
" | P1 Dec: " << std::dec << message->getParameter1() << std::hex <<
" | P2 Hex: 0x" << message->getParameter2() << " | P2 Dec: " << std::dec <<
message->getParameter2() << std::endl;
sif::info << " reported event with ID " << message->getEventId() << std::endl;
sif::debug << translateEvents(message->getEvent()) << " | " <<std::hex << "P1 Hex: 0x" <<
message->getParameter1() << " | P1 Dec: " << std::dec << message->getParameter1() <<
std::hex << " | P2 Hex: 0x" << message->getParameter2() << " | P2 Dec: " <<
std::dec << message->getParameter2() << std::endl;
#else
if (string != 0) {
sif::printInfo("Event Manager: %s reported event with ID %d\n", string,
@ -186,11 +186,11 @@ void EventManager::printUtility(sif::OutputTypes printType, EventMessage *messag
sif::debug << "0x" << std::hex << std::setw(8) << std::setfill('0') <<
message->getReporter() << std::setfill(' ') << std::dec;
}
sif::debug << " report event with ID " << message->getEventId() << std::endl;
sif::debug << std::hex << "P1 Hex: 0x" << message->getParameter1() <<
" | P1 Dec: " << std::dec << message->getParameter1() << std::hex <<
" | P2 Hex: 0x" << message->getParameter2() << " | P2 Dec: " << std::dec <<
message->getParameter2() << std::endl;
sif::debug << " reported event with ID " << message->getEventId() << std::endl;
sif::debug << translateEvents(message->getEvent()) << " | " <<std::hex << "P1 Hex: 0x" <<
message->getParameter1() << " | P1 Dec: " << std::dec << message->getParameter1() <<
std::hex << " | P2 Hex: 0x" << message->getParameter2() << " | P2 Dec: " <<
std::dec << message->getParameter2() << std::endl;
#else
if (string != 0) {
sif::printDebug("Event Manager: %s reported event with ID %d\n", string,

3
events/EventManager.h
View File

@ -3,8 +3,7 @@
#include "EventManagerIF.h"
#include "eventmatching/EventMatchTree.h"
#include <FSFWConfig.h>
#include "FSFWConfig.h"
#include "../serviceinterface/ServiceInterface.h"
#include "../objectmanager/SystemObject.h"

5
osal/host/MessageQueue.cpp
View File

@ -14,8 +14,9 @@ MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize):
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;
sif::error << "MessageQueue::MessageQueue: Could not be created" << std::endl;
#else
sif::printError("MessageQueue::MessageQueue: Could not be created\n");
#endif
}
}

51
osal/linux/BinarySemaphore.cpp
View File

@ -1,4 +1,5 @@
#include "BinarySemaphore.h"
#include "unixUtility.h"
#include "../../serviceinterface/ServiceInterfacePrinter.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
@ -44,10 +45,7 @@ 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
utility::printUnixErrorGeneric(CLASS_NAME, "acquire", "sem_timedwait");
}
}
if(result == 0) {
@ -57,19 +55,21 @@ ReturnValue_t BinarySemaphore::acquire(TimeoutType timeoutType,
switch(errno) {
case(EAGAIN):
// Operation could not be performed without blocking (for sem_trywait)
case(ETIMEDOUT):
case(ETIMEDOUT): {
// Semaphore is 0
utility::printUnixErrorGeneric(CLASS_NAME, "acquire", "ETIMEDOUT");
return SemaphoreIF::SEMAPHORE_TIMEOUT;
case(EINVAL):
}
case(EINVAL): {
// Semaphore invalid
utility::printUnixErrorGeneric(CLASS_NAME, "acquire", "EINVAL");
return SemaphoreIF::SEMAPHORE_INVALID;
case(EINTR):
}
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 */
utility::printUnixErrorGeneric(CLASS_NAME, "acquire", "EINTR");
return HasReturnvaluesIF::RETURN_FAILED;
}
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -91,11 +91,16 @@ ReturnValue_t BinarySemaphore::release(sem_t *handle) {
}
switch(errno) {
case(EINVAL):
case(EINVAL): {
// Semaphore invalid
utility::printUnixErrorGeneric(CLASS_NAME, "release", "EINVAL");
return SemaphoreIF::SEMAPHORE_INVALID;
case(EOVERFLOW):
}
case(EOVERFLOW): {
// SEM_MAX_VALUE overflow. This should never happen
utility::printUnixErrorGeneric(CLASS_NAME, "release", "EOVERFLOW");
return HasReturnvaluesIF::RETURN_FAILED;
}
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -128,17 +133,14 @@ void BinarySemaphore::initSemaphore(uint8_t initCount) {
auto result = sem_init(&handle, true, initCount);
if(result == -1) {
switch(errno) {
case(EINVAL):
// Value exceeds SEM_VALUE_MAX
case(EINVAL): {
utility::printUnixErrorGeneric(CLASS_NAME, "initSemaphore", "EINVAL");
break;
}
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;
#else
sif::printError("BinarySemaphore: Init failed with %s\n",
strerror(errno));
#endif
utility::printUnixErrorGeneric(CLASS_NAME, "initSemaphore", "ENOSYS");
break;
}
}
}
@ -151,8 +153,7 @@ ReturnValue_t BinarySemaphore::checkCount(sem_t* handle, uint8_t maxCount) {
// Binary Semaphore special case.
// This is a config error use lightweight printf is this is called
// from an interrupt
printf("BinarySemaphore::release: Value of binary semaphore greater"
" than 1!\n");
printf("BinarySemaphore::release: Value of binary semaphore greater than 1!\n");
return HasReturnvaluesIF::RETURN_FAILED;
}
return SemaphoreIF::SEMAPHORE_NOT_OWNED;

1
osal/linux/BinarySemaphore.h
View File

@ -76,6 +76,7 @@ public:
static ReturnValue_t checkCount(sem_t* handle, uint8_t maxCount);
protected:
sem_t handle;
static constexpr const char* CLASS_NAME = "BinarySemaphore";
};
#endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */

1
osal/linux/CMakeLists.txt
View File

@ -15,6 +15,7 @@ target_sources(${LIB_FSFW_NAME}
TaskFactory.cpp
Timer.cpp
tcpipHelpers.cpp
unixUtility.cpp
)
find_package(Threads REQUIRED)

22
osal/linux/CountingSemaphore.cpp
View File

@ -1,4 +1,6 @@
#include "../../osal/linux/CountingSemaphore.h"
#include "CountingSemaphore.h"
#include "unixUtility.h"
#include "../../serviceinterface/ServiceInterface.h"
#include <errno.h>
@ -7,8 +9,11 @@ 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;
sif::warning << "CountingSemaphoreUsingTask: Max count bigger than "
"intial cout. Setting initial count to max count" << std::endl;
#else
sif::printWarning("CountingSemaphoreUsingTask: Max count bigger than "
"intial cout. Setting initial count to max count\n");
#endif
initCount = maxCount;
}
@ -42,11 +47,18 @@ ReturnValue_t CountingSemaphore::release(sem_t* handle) {
}
switch(errno) {
case(EINVAL):
case(EINVAL): {
// Semaphore invalid
utility::printUnixErrorGeneric("CountingSemaphore", "release", "EINVAL");
return SemaphoreIF::SEMAPHORE_INVALID;
case(EOVERFLOW):
}
case(EOVERFLOW): {
// SEM_MAX_VALUE overflow. This should never happen
utility::printUnixErrorGeneric("CountingSemaphore", "release", "EOVERFLOW");
return SemaphoreIF::SEMAPHORE_INVALID;
}
default:
return HasReturnvaluesIF::RETURN_FAILED;
}

294
osal/linux/MessageQueue.cpp
View File

@ -1,4 +1,5 @@
#include "MessageQueue.h"
#include "unixUtility.h"
#include "../../serviceinterface/ServiceInterface.h"
#include "../../objectmanager/ObjectManager.h"
@ -13,9 +14,7 @@
MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize):
id(MessageQueueIF::NO_QUEUE),lastPartner(MessageQueueIF::NO_QUEUE),
defaultDestination(MessageQueueIF::NO_QUEUE),
maxMessageSize(maxMessageSize) {
//debug << "MessageQueue::MessageQueue: Creating a queue" << std::endl;
defaultDestination(MessageQueueIF::NO_QUEUE), maxMessageSize(maxMessageSize) {
mq_attr attributes;
this->id = 0;
//Set attributes
@ -32,7 +31,7 @@ MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize):
mode_t mode = S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP | S_IROTH | S_IWOTH;
mqd_t tempId = mq_open(name, oflag, mode, &attributes);
if (tempId == -1) {
handleError(&attributes, messageDepth);
handleOpenError(&attributes, messageDepth);
}
else {
//Successful mq_open call
@ -43,102 +42,14 @@ 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) <<std::endl;
#endif
utility::printUnixErrorGeneric(CLASS_NAME, "~MessageQueue", "close");
}
status = mq_unlink(name);
if(status != 0){
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::Destructor: mq_unlink Failed with status: "
<< strerror(errno) << std::endl;
#endif
utility::printUnixErrorGeneric(CLASS_NAME, "~MessageQueue", "unlink");
}
}
ReturnValue_t MessageQueue::handleError(mq_attr* attributes,
uint32_t messageDepth) {
switch(errno) {
case(EINVAL): {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::MessageQueue: Invalid name or attributes"
" for message size" << std::endl;
#endif
size_t defaultMqMaxMsg = 0;
// Not POSIX conformant, but should work for all UNIX systems.
// Just an additional helpful printout :-)
if(std::ifstream("/proc/sys/fs/mqueue/msg_max",std::ios::in) >>
defaultMqMaxMsg and defaultMqMaxMsg < messageDepth) {
/*
See: https://www.man7.org/linux/man-pages/man3/mq_open.3.html
This happens if the msg_max value is not large enough
It is ignored if the executable is run in privileged mode.
Run the unlockRealtime script or grant the mode manually by using:
sudo setcap 'CAP_SYS_RESOURCE=+ep' <pathToBinary>
Persistent solution for session:
echo <newMsgMax> | sudo tee /proc/sys/fs/mqueue/msg_max
Permanent solution:
sudo nano /etc/sysctl.conf
Append at end: fs/mqueue/msg_max = <newMsgMaxLen>
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;
}
case(EEXIST): {
// An error occured during open
// We need to distinguish if it is caused by an already created queue
//There's another queue with the same name
//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
mqd_t tempId = mq_open(name,
O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL,
S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP, attributes);
if (tempId != -1) {
//Successful mq_open
this->id = tempId;
return HasReturnvaluesIF::RETURN_OK;
}
}
break;
}
default: {
// Failed either the first time or the second time
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::MessageQueue: Creating Queue " << name
<< " failed with status: " << strerror(errno) << std::endl;
#else
sif::printError("MessageQueue::MessageQueue: Creating Queue %s"
" failed with status: %s\n", name, strerror(errno));
#endif
}
}
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
MessageQueueMessageIF* message, bool ignoreFault) {
return sendMessageFrom(sendTo, message, this->getId(), false);
@ -205,14 +116,12 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
//O_NONBLOCK or MQ_NONBLOCK was set and there are no messages
//currently on the specified queue.
return MessageQueueIF::EMPTY;
case EBADF:
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:
utility::printUnixErrorGeneric(CLASS_NAME, "receiveMessage", "EBADF");
break;
}
case EINVAL: {
/*
* This value indicates one of the following:
* - The pointer to the buffer for storing the received message,
@ -222,12 +131,10 @@ 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:
utility::printUnixErrorGeneric(CLASS_NAME, "receiveMessage", "EINVAL");
break;
}
case EMSGSIZE: {
/*
* This value indicates one of the following:
* - the QNX extended option MQ_READBUF_DYNAMIC hasn't been set,
@ -237,18 +144,25 @@ 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.
default:
return HasReturnvaluesIF::RETURN_FAILED;
utility::printUnixErrorGeneric(CLASS_NAME, "receiveMessage", "EMSGSIZE");
break;
}
case EINTR: {
//The operation was interrupted by a signal.
utility::printUnixErrorGeneric(CLASS_NAME, "receiveMessage", "EINTR");
break;
}
case ETIMEDOUT: {
//The operation was interrupted by a signal.
utility::printUnixErrorGeneric(CLASS_NAME, "receiveMessage", "ETIMEDOUT");
break;
}
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_FAILED;
}
}
@ -263,16 +177,17 @@ 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
utility::printUnixErrorGeneric(CLASS_NAME, "flush", "EBADF");
break;
/*NO BREAK*/
case EINVAL:
//mq_attr is NULL
utility::printUnixErrorGeneric(CLASS_NAME, "flush", "EINVAL");
break;
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_FAILED;
}
*count = attrib.mq_curmsgs;
attrib.mq_curmsgs = 0;
@ -281,11 +196,8 @@ 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*/
utility::printUnixErrorGeneric(CLASS_NAME, "flush", "EBADF");
break;
case EINVAL:
/*
* This value indicates one of the following:
@ -294,9 +206,12 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
* mq_flags includes a 0 in the MQ_MULT_NOTIFY bit. Once
* MQ_MULT_NOTIFY has been turned on, it may never be turned off.
*/
utility::printUnixErrorGeneric(CLASS_NAME, "flush", "EINVAL");
break;
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
@ -337,6 +252,7 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
bool ignoreFault) {
if(message == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
<<<<<<< HEAD
sif::error << "MessageQueue::sendMessageFromMessageQueue: Message is "
"nullptr!" << std::endl;
#endif
@ -373,11 +289,52 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
sif::error << strerror(errno) << " in "
<<"mq_send to: " << sendTo << " sent from "
<< sentFrom << std::endl;
=======
sif::error << "MessageQueue::sendMessageFromMessageQueue: Message is nullptr!" << std::endl;
#else
sif::printError("MessageQueue::sendMessageFromMessageQueue: Message is nullptr!\n");
>>>>>>> 38910143400e455f5184ad85be98e05638c2eea6
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
message->setSender(sentFrom);
int result = mq_send(sendTo,
reinterpret_cast<const char*>(message->getBuffer()),
message->getMessageSize(),0);
//TODO: Check if we're in ISR.
if (result != 0) {
if(!ignoreFault){
InternalErrorReporterIF* internalErrorReporter =
objectManager->get<InternalErrorReporterIF>(objects::INTERNAL_ERROR_REPORTER);
if (internalErrorReporter != NULL) {
internalErrorReporter->queueMessageNotSent();
}
}
switch(errno){
case EAGAIN:
//The O_NONBLOCK flag was set when opening the queue, or the
//MQ_NONBLOCK flag was set in its attributes, and the
//specified queue is full.
return MessageQueueIF::FULL;
case EBADF: {
//mq_des doesn't represent a valid message queue descriptor,
//or mq_des wasn't opened for writing.
utility::printUnixErrorGeneric(CLASS_NAME, "sendMessageFromMessageQueue", "EBADF");
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "mq_send to: " << sendTo << " sent from "
<< sentFrom << "failed" << std::endl;
#else
sif::printWarning("mq_send to: %d sent from %d failed\n", sendTo, sentFrom);
#endif
return DESTINATION_INVALID;
}
case EINTR:
//The call was interrupted by a signal.
utility::printUnixErrorGeneric(CLASS_NAME, "sendMessageFromMessageQueue", "EINTR");
break;
case EINVAL:
/*
* This value indicates one of the following:
@ -388,22 +345,87 @@ 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*/
utility::printUnixErrorGeneric(CLASS_NAME, "sendMessageFromMessageQueue", "EINVAL");
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*/
utility::printUnixErrorGeneric(CLASS_NAME, "sendMessageFromMessageQueue", "EMSGSIZE");
break;
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t MessageQueue::handleOpenError(mq_attr* attributes,
uint32_t messageDepth) {
switch(errno) {
case(EINVAL): {
utility::printUnixErrorGeneric(CLASS_NAME, "MessageQueue", "EINVAL");
size_t defaultMqMaxMsg = 0;
// Not POSIX conformant, but should work for all UNIX systems.
// Just an additional helpful printout :-)
if(std::ifstream("/proc/sys/fs/mqueue/msg_max",std::ios::in) >>
defaultMqMaxMsg and defaultMqMaxMsg < messageDepth) {
/*
See: https://www.man7.org/linux/man-pages/man3/mq_open.3.html
This happens if the msg_max value is not large enough
It is ignored if the executable is run in privileged mode.
Run the unlockRealtime script or grant the mode manually by using:
sudo setcap 'CAP_SYS_RESOURCE=+ep' <pathToBinary>
Persistent solution for session:
echo <newMsgMax> | sudo tee /proc/sys/fs/mqueue/msg_max
Permanent solution:
sudo nano /etc/sysctl.conf
Append at end: fs/mqueue/msg_max = <newMsgMaxLen>
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;
#else
sif::printError("MessageQueue::MessageQueue: Default MQ size %d is too small for"
"requested size %d\n");
sif::printError("This error can be fixes by setting the maximum allowed"
"message size higher!\n");
#endif
}
break;
}
case(EEXIST): {
// An error occured during open.
// We need to distinguish if it is caused by an already created queue
// There's another queue with the same name
// We unlink the other queue
int status = mq_unlink(name);
if (status != 0) {
utility::printUnixErrorGeneric(CLASS_NAME, "MessageQueue", "EEXIST");
}
else {
// Successful unlinking, try to open again
mqd_t tempId = mq_open(name,
O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL,
S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP, attributes);
if (tempId != -1) {
//Successful mq_open
this->id = tempId;
return HasReturnvaluesIF::RETURN_OK;
}
}
break;
}
default: {
// Failed either the first time or the second time
utility::printUnixErrorGeneric(CLASS_NAME, "MessageQueue", "Unknown");
}
}
return HasReturnvaluesIF::RETURN_FAILED;
}

3
osal/linux/MessageQueue.h
View File

@ -181,7 +181,8 @@ private:
static uint16_t queueCounter;
const size_t maxMessageSize;
ReturnValue_t handleError(mq_attr* attributes, uint32_t messageDepth);
static constexpr const char* CLASS_NAME = "MessageQueue";
ReturnValue_t handleOpenError(mq_attr* attributes, uint32_t messageDepth);
};
#endif /* FSFW_OSAL_LINUX_MESSAGEQUEUE_H_ */

27
osal/linux/Mutex.cpp
View File

@ -1,43 +1,34 @@
#include "Mutex.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "unixUtility.h"
#include "../../serviceinterface/ServiceInterface.h"
#include "../../timemanager/Clock.h"
uint8_t Mutex::count = 0;
#include <cstring>
#include <errno.h>
uint8_t Mutex::count = 0;
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
utility::printUnixErrorGeneric("Mutex", "Mutex", "pthread_mutexattr_init");
}
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
utility::printUnixErrorGeneric("Mutex", "Mutex", "pthread_mutexattr_setprotocol");
}
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
utility::printUnixErrorGeneric("Mutex", "Mutex", "pthread_mutex_init");
}
// 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
utility::printUnixErrorGeneric("Mutex", "Mutex", "pthread_mutexattr_destroy");
}
}

7
osal/linux/PeriodicPosixTask.cpp
View File

@ -6,7 +6,6 @@
#include <errno.h>
PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_,
size_t stackSize_, uint32_t period_, void(deadlineMissedFunc_)()):
PosixThread(name_, priority_, stackSize_), objectList(), started(false),
@ -32,6 +31,9 @@ ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
<< " it implements ExecutableObjectIF!" << std::endl;
#else
sif::printError("PeriodicTask::addComponent: Invalid object. Make sure it"
"implements ExecutableObjectIF!\n");
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -48,9 +50,6 @@ 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;
}

74
osal/linux/PosixThread.cpp
View File

@ -1,4 +1,5 @@
#include "PosixThread.h"
#include "unixUtility.h"
#include "../../serviceinterface/ServiceInterface.h"
@ -49,8 +50,10 @@ void PosixThread::suspend() {
sigwait(&waitSignal, &caughtSig);
if (caughtSig != SIGUSR1) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "FixedTimeslotTask: Unknown Signal received: " <<
caughtSig << std::endl;
sif::error << "FixedTimeslotTask::suspend: Unknown Signal received: " << caughtSig <<
std::endl;
#else
sif::printError("FixedTimeslotTask::suspend: Unknown Signal received: %d\n", caughtSig);
#endif
}
}
@ -133,18 +136,11 @@ 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
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_init");
}
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) {
size_t stackMb = stackSize/10e6;
#if FSFW_CPP_OSTREAM_ENABLED == 1
@ -154,35 +150,35 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
sif::printError("PosixThread::createTask: Insufficient memory for "
"the requested %lu MB\n", static_cast<unsigned long>(stackMb));
#endif
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "ENOMEM");
}
else if(errno == EINVAL) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PosixThread::createTask: Wrong alignment argument!"
<< std::endl;
#else
sif::printError("PosixThread::createTask: "
"Wrong alignment argument!\n");
sif::printError("PosixThread::createTask: Wrong alignment argument!\n");
#endif
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "EINVAL");
}
return;
}
status = pthread_attr_setstack(&attributes, stackPointer, stackSize);
if(status != 0) {
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setstack");
#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 "
sif::warning << "Make sure the specified stack size is valid and is "
"larger than the minimum allowed stack size." << std::endl;
#else
sif::printWarning("Make sure the specified stack size is valid and is "
"larger than the minimum allowed stack size.\n");
#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
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setinheritsched");
}
#ifndef FSFW_USE_REALTIME_FOR_LINUX
#error "Please define FSFW_USE_REALTIME_FOR_LINUX with either 0 or 1"
@ -191,20 +187,14 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
// 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
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setschedpolicy");
}
sched_param scheduleParams;
scheduleParams.__sched_priority = priority;
status = pthread_attr_setschedparam(&attributes, &scheduleParams);
if(status != 0){
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Posix Thread attribute schedule params failed with: " <<
strerror(status) << std::endl;
#endif
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setschedparam");
}
#endif
//Set Signal Mask for suspend until startTask is called
@ -213,23 +203,17 @@ 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
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_sigmask");
}
status = pthread_create(&thread,&attributes,fnc_,arg_);
if(status != 0){
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_create");
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PosixThread::createTask: Failed with: " <<
strerror(status) << std::endl;
sif::error << "For FSFW_USE_REALTIME_FOR_LINUX == 1 make sure to call " <<
"\"all sudo setcap 'cap_sys_nice=eip'\" on the application or set "
"/etc/security/limit.conf" << std::endl;
#else
sif::printError("PosixThread::createTask: Create failed with: %s\n", strerror(status));
sif::printError("For FSFW_USE_REALTIME_FOR_LINUX == 1 make sure to call "
"\"all sudo setcap 'cap_sys_nice=eip'\" on the application or set "
"/etc/security/limit.conf\n");
@ -238,31 +222,25 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
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
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_setname_np");
if(status == ERANGE) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PosixThread::createTask: Task name length longer"
sif::warning << "PosixThread::createTask: Task name length longer"
" than 16 chars. Truncating.." << std::endl;
#else
sif::printWarning("PosixThread::createTask: Task name length longer"
" than 16 chars. Truncating..\n");
#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
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_setname_np");
}
}
}
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
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_destroy");
}
}

2
osal/linux/PosixThread.h
View File

@ -72,6 +72,8 @@ private:
char name[PTHREAD_MAX_NAMELEN];
int priority;
size_t stackSize = 0;
static constexpr const char* CLASS_NAME = "PosixThread";
};
#endif /* FRAMEWORK_OSAL_LINUX_POSIXTHREAD_H_ */

32
osal/linux/unixUtility.cpp Normal file
View File

@ -0,0 +1,32 @@
#include "FSFWConfig.h"
#include "unixUtility.h"
#include "../../serviceinterface/ServiceInterface.h"
#include <cstring>
#include <errno.h>
void utility::printUnixErrorGeneric(const char* const className,
const char* const function, const char* const failString,
sif::OutputTypes outputType) {
if(className == nullptr or failString == nullptr or function == nullptr) {
return;
}
#if FSFW_VERBOSE_LEVEL >= 1
if(outputType == sif::OutputTypes::OUT_ERROR) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << className << "::" << function << ":" << failString << " error: "
<< strerror(errno) << std::endl;
#else
sif::printError("%s::%s: %s error: %s\n", className, function, failString, strerror(errno));
#endif
}
else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << className << "::" << function << ":" << failString << " error: "
<< strerror(errno) << std::endl;
#else
sif::printWarning("%s::%s: %s error: %s\n", className, function, failString, strerror(errno));
#endif
}
#endif
}

13
osal/linux/unixUtility.h Normal file
View File

@ -0,0 +1,13 @@
#ifndef FSFW_OSAL_LINUX_UNIXUTILITY_H_
#define FSFW_OSAL_LINUX_UNIXUTILITY_H_
#include "../../serviceinterface/serviceInterfaceDefintions.h"
namespace utility {
void printUnixErrorGeneric(const char* const className, const char* const function,
const char* const failString, sif::OutputTypes outputType = sif::OutputTypes::OUT_ERROR);
}
#endif /* FSFW_OSAL_LINUX_UNIXUTILITY_H_ */

2
unittest/tests/datapoollocal/LocalPoolOwnerBase.h
View File

@ -1,7 +1,7 @@
#ifndef FSFW_UNITTEST_TESTS_DATAPOOLLOCAL_LOCALPOOLOWNERBASE_H_
#define FSFW_UNITTEST_TESTS_DATAPOOLLOCAL_LOCALPOOLOWNERBASE_H_
#include <testcfg/objects/systemObjectList.h>
#include "objects/systemObjectList.h"
#include <fsfw/datapoollocal/HasLocalDataPoolIF.h>
#include <fsfw/datapoollocal/LocalDataSet.h>