Merge remote-tracking branch 'upstream/development' into mueller/LocalPoolRefactoring
This commit is contained in:
commit
9c64ebcaec
@ -1,4 +1,4 @@
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|||||||
## Changes from ASTP 0.0.1 to 0.0.2
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## Changes from ASTP 0.0.1 to 1.0.0
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||||||
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||||||
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||||||
### FreeRTOS OSAL
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### FreeRTOS OSAL
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||||||
@ -6,6 +6,10 @@
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|||||||
- vRequestContextSwitchFromISR is declared extern "C" so it can be defined in
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- vRequestContextSwitchFromISR is declared extern "C" so it can be defined in
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||||||
a C file without issues
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a C file without issues
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||||||
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||||||
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### PUS Services
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||||||
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- PUS Health Service added, which allows to command and retrieve health via PUS packets
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### Local Pool
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### Local Pool
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- Interface of LocalPools has change. LocalPool is not a template anymore. Instead the size and bucket number of the pools per page and the number of pages are passed to the ctor instead of two ctor arguments and a template parameter
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- Interface of LocalPools has change. LocalPool is not a template anymore. Instead the size and bucket number of the pools per page and the number of pages are passed to the ctor instead of two ctor arguments and a template parameter
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|||||||
2
NOTICE
2
NOTICE
@ -4,6 +4,8 @@ The initial version of the Flight Software Framework was developed during
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|||||||
the Flying Laptop Project by the Universität Stuttgart in coorporation
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the Flying Laptop Project by the Universität Stuttgart in coorporation
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with Airbus Defence and Space GmbH.
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with Airbus Defence and Space GmbH.
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||||||
|
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||||||
|
The supreme FSFW Logo was designed by Markus Koller and Luise Trilsbach.
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||||||
|
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||||||
Copyrights in the Flight Software Framework are retained by their contributors.
|
Copyrights in the Flight Software Framework are retained by their contributors.
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||||||
No copyright assignment is required to contribute to the Flight Software Framework.
|
No copyright assignment is required to contribute to the Flight Software Framework.
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||||||
|
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||||||
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|||||||
@ -1,5 +1,5 @@
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|||||||
Flight Software Framework (FSFW)
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||||||
======
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# Flight Software Framework (FSFW)
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||||||
|
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||||||
The Flight Software Framework is a C++ Object Oriented Framework for unmanned,
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The Flight Software Framework is a C++ Object Oriented Framework for unmanned,
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||||||
automated systems like Satellites.
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automated systems like Satellites.
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||||||
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|||||||
@ -1,7 +1,6 @@
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|||||||
#ifndef CONFIG_FSFWCONFIG_H_
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#ifndef CONFIG_FSFWCONFIG_H_
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#define CONFIG_FSFWCONFIG_H_
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#define CONFIG_FSFWCONFIG_H_
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||||||
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||||||
#include <FSFWVersion.h>
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||||||
#include <cstddef>
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#include <cstddef>
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#include <cstdint>
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#include <cstdint>
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|
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||||||
@ -9,12 +8,12 @@
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|||||||
//! Those can lead to code bloat.
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//! Those can lead to code bloat.
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#define FSFW_CPP_OSTREAM_ENABLED 1
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#define FSFW_CPP_OSTREAM_ENABLED 1
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||||||
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//! Reduced printout to further decrese code size
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//! Reduced printout to further decrease code size
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//! Be careful, this also turns off most diagnostic prinouts!
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//! Be careful, this also turns off most diagnostic prinouts!
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#define FSFW_REDUCED_PRINTOUT 0
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#define FSFW_ENHANCED_PRINTOUT 0
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||||||
|
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||||||
//! Can be used to enable debugging printouts for developing the FSFW
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//! Can be used to enable additional debugging printouts for developing the FSFW
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||||||
#define FSFW_DEBUGGING 0
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#define FSFW_PRINT_VERBOSITY_LEVEL 0
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||||||
|
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||||||
//! Defines the FIFO depth of each commanding service base which
|
//! Defines the FIFO depth of each commanding service base which
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//! also determines how many commands a CSB service can handle in one cycle
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//! also determines how many commands a CSB service can handle in one cycle
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||||||
@ -41,6 +40,9 @@
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//! will not be provided. This define should be set to 1 if this is the case.
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//! will not be provided. This define should be set to 1 if this is the case.
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#define FSFW_NO_C99_IO 1
|
#define FSFW_NO_C99_IO 1
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||||||
|
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|
//! Specify whether a special mode store is used for Subsystem components.
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|
#define FSFW_USE_MODESTORE 0
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||||||
|
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||||||
namespace fsfwconfig {
|
namespace fsfwconfig {
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//! Default timestamp size. The default timestamp will be an eight byte CDC
|
//! Default timestamp size. The default timestamp will be an eight byte CDC
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||||||
//! short timestamp.
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//! short timestamp.
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||||||
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|||||||
BIN
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After Width: | Height: | Size: 58 KiB |
BIN
logo/FSFW_Logo_V3_bw.png
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logo/FSFW_Logo_V3_bw.png
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|
After Width: | Height: | Size: 13 KiB |
106
pus/CService201HealthCommanding.cpp
Normal file
106
pus/CService201HealthCommanding.cpp
Normal file
@ -0,0 +1,106 @@
|
|||||||
|
#include "CService201HealthCommanding.h"
|
||||||
|
|
||||||
|
#include "../health/HasHealthIF.h"
|
||||||
|
#include "../serviceinterface/ServiceInterfaceStream.h"
|
||||||
|
#include "../health/HealthMessage.h"
|
||||||
|
#include "servicepackets/Service201Packets.h"
|
||||||
|
|
||||||
|
CService201HealthCommanding::CService201HealthCommanding(object_id_t objectId,
|
||||||
|
uint16_t apid, uint8_t serviceId, uint8_t numParallelCommands,
|
||||||
|
uint16_t commandTimeoutSeconds):
|
||||||
|
CommandingServiceBase(objectId, apid, serviceId,
|
||||||
|
numParallelCommands, commandTimeoutSeconds) {
|
||||||
|
}
|
||||||
|
|
||||||
|
CService201HealthCommanding::~CService201HealthCommanding() {
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t CService201HealthCommanding::isValidSubservice(uint8_t subservice) {
|
||||||
|
switch(subservice) {
|
||||||
|
case(Subservice::COMMAND_SET_HEALTH):
|
||||||
|
case(Subservice::COMMAND_ANNOUNCE_HEALTH):
|
||||||
|
case(Subservice::COMMAND_ANNOUNCE_HEALTH_ALL):
|
||||||
|
return RETURN_OK;
|
||||||
|
default:
|
||||||
|
sif::error << "Invalid Subservice" << std::endl;
|
||||||
|
return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t CService201HealthCommanding::getMessageQueueAndObject(
|
||||||
|
uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
|
||||||
|
MessageQueueId_t *id, object_id_t *objectId) {
|
||||||
|
if(tcDataLen < sizeof(object_id_t)) {
|
||||||
|
return CommandingServiceBase::INVALID_TC;
|
||||||
|
}
|
||||||
|
SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen,
|
||||||
|
SerializeIF::Endianness::BIG);
|
||||||
|
|
||||||
|
return checkInterfaceAndAcquireMessageQueue(id,objectId);
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t CService201HealthCommanding::checkInterfaceAndAcquireMessageQueue(
|
||||||
|
MessageQueueId_t* messageQueueToSet, object_id_t* objectId) {
|
||||||
|
HasHealthIF * destination = objectManager->get<HasHealthIF>(*objectId);
|
||||||
|
if(destination == nullptr) {
|
||||||
|
return CommandingServiceBase::INVALID_OBJECT;
|
||||||
|
}
|
||||||
|
|
||||||
|
*messageQueueToSet = destination->getCommandQueue();
|
||||||
|
return HasReturnvaluesIF::RETURN_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t CService201HealthCommanding::prepareCommand(
|
||||||
|
CommandMessage* message, uint8_t subservice, const uint8_t *tcData,
|
||||||
|
size_t tcDataLen, uint32_t *state, object_id_t objectId) {
|
||||||
|
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||||
|
switch(subservice) {
|
||||||
|
case(Subservice::COMMAND_SET_HEALTH): {
|
||||||
|
HealthSetCommand healthCommand;
|
||||||
|
result = healthCommand.deSerialize(&tcData, &tcDataLen,
|
||||||
|
SerializeIF::Endianness::BIG);
|
||||||
|
if (result != RETURN_OK) {
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_SET,
|
||||||
|
healthCommand.getHealth());
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
case(Subservice::COMMAND_ANNOUNCE_HEALTH): {
|
||||||
|
HealthMessage::setHealthMessage(message,
|
||||||
|
HealthMessage::HEALTH_ANNOUNCE);
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
case(Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): {
|
||||||
|
HealthMessage::setHealthMessage(message,
|
||||||
|
HealthMessage::HEALTH_ANNOUNCE_ALL);
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t CService201HealthCommanding::handleReply
|
||||||
|
(const CommandMessage* reply, Command_t previousCommand,
|
||||||
|
uint32_t *state, CommandMessage* optionalNextCommand,
|
||||||
|
object_id_t objectId, bool *isStep) {
|
||||||
|
Command_t replyId = reply->getCommand();
|
||||||
|
if (replyId == HealthMessage::REPLY_HEALTH_SET) {
|
||||||
|
return EXECUTION_COMPLETE;
|
||||||
|
}
|
||||||
|
else if(replyId == CommandMessageIF::REPLY_REJECTED) {
|
||||||
|
return reply->getReplyRejectedReason();
|
||||||
|
}
|
||||||
|
return CommandingServiceBase::INVALID_REPLY;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Not used for now, health state already reported by event
|
||||||
|
ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(
|
||||||
|
const CommandMessage* reply) {
|
||||||
|
prepareHealthSetReply(reply);
|
||||||
|
uint8_t health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
|
||||||
|
uint8_t oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(reply));
|
||||||
|
HealthSetReply healthSetReply(health, oldHealth);
|
||||||
|
return sendTmPacket(Subservice::REPLY_HEALTH_SET, &healthSetReply);
|
||||||
|
}
|
||||||
|
|
||||||
63
pus/CService201HealthCommanding.h
Normal file
63
pus/CService201HealthCommanding.h
Normal file
@ -0,0 +1,63 @@
|
|||||||
|
#ifndef FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
|
||||||
|
#define FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
|
||||||
|
|
||||||
|
#include "../tmtcservices/CommandingServiceBase.h"
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Custom PUS service to set health of all objects
|
||||||
|
* implementing hasHealthIF.
|
||||||
|
*
|
||||||
|
* Examples: Device Handlers, Assemblies or Subsystems.
|
||||||
|
* Full Documentation: ECSS-E-ST-70-41C or ECSS-E-70-41A
|
||||||
|
* Dissertation Baetz p. 115, 116, 165-167.
|
||||||
|
*
|
||||||
|
* This is a gateway service. It relays device commands using the software bus.
|
||||||
|
* This service is very closely tied to the Commanding Service Base template
|
||||||
|
* class. There is constant interaction between this Service Base und a
|
||||||
|
* child class like this service
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
class CService201HealthCommanding: public CommandingServiceBase {
|
||||||
|
public:
|
||||||
|
|
||||||
|
CService201HealthCommanding(object_id_t objectId, uint16_t apid,
|
||||||
|
uint8_t serviceId, uint8_t numParallelCommands = 4,
|
||||||
|
uint16_t commandTimeoutSeconds = 60);
|
||||||
|
virtual~ CService201HealthCommanding();
|
||||||
|
protected:
|
||||||
|
/* CSB abstract function implementations */
|
||||||
|
ReturnValue_t isValidSubservice(uint8_t subservice) override;
|
||||||
|
ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
|
||||||
|
const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
|
||||||
|
object_id_t *objectId) override;
|
||||||
|
/** Prepare health command */
|
||||||
|
ReturnValue_t prepareCommand(CommandMessage* message,
|
||||||
|
uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
|
||||||
|
uint32_t *state, object_id_t objectId) override;
|
||||||
|
/** Handle health reply */
|
||||||
|
ReturnValue_t handleReply(const CommandMessage* reply,
|
||||||
|
Command_t previousCommand, uint32_t *state,
|
||||||
|
CommandMessage* optionalNextCommand, object_id_t objectId,
|
||||||
|
bool *isStep) override;
|
||||||
|
|
||||||
|
private:
|
||||||
|
ReturnValue_t checkAndAcquireTargetID(object_id_t* objectIdToSet,
|
||||||
|
const uint8_t* tcData, size_t tcDataLen);
|
||||||
|
ReturnValue_t checkInterfaceAndAcquireMessageQueue(
|
||||||
|
MessageQueueId_t* MessageQueueToSet, object_id_t* objectId);
|
||||||
|
|
||||||
|
ReturnValue_t prepareHealthSetReply(const CommandMessage *reply);
|
||||||
|
|
||||||
|
enum Subservice {
|
||||||
|
//! [EXPORT] : [TC] Set health of target object
|
||||||
|
COMMAND_SET_HEALTH = 1,
|
||||||
|
//! [EXPORT] : [TM] Reply to health set command which also provides old health
|
||||||
|
REPLY_HEALTH_SET = 2,
|
||||||
|
//! [EXPORT] : [TC] Commands object to announce their health as an event
|
||||||
|
COMMAND_ANNOUNCE_HEALTH = 3,
|
||||||
|
//! [EXPORT] : [TC] Commands all objects in the health map to announce their health
|
||||||
|
COMMAND_ANNOUNCE_HEALTH_ALL = 4
|
||||||
|
};
|
||||||
|
};
|
||||||
|
|
||||||
|
#endif /* FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_ */
|
||||||
Loading…
Reference in New Issue
Block a user