diff --git a/CHANGELOG b/CHANGELOG new file mode 100644 index 00000000..4937b5f8 --- /dev/null +++ b/CHANGELOG @@ -0,0 +1,7 @@ +## Changes from ASTP 0.0.1 to 1.0.0 + + +### FreeRTOS OSAL + +- vRequestContextSwitchFromISR is declared extern "C" so it can be defined in +a C file without issues diff --git a/FSFWVersion.h b/FSFWVersion.h index dcb592dc..11a60891 100644 --- a/FSFWVersion.h +++ b/FSFWVersion.h @@ -1,10 +1,11 @@ #ifndef FSFW_DEFAULTCFG_VERSION_H_ #define FSFW_DEFAULTCFG_VERSION_H_ -const char* const FSFW_VERSION_NAME = "fsfw"; +const char* const FSFW_VERSION_NAME = "ASTP"; #define FSFW_VERSION 0 #define FSFW_SUBVERSION 0 +#define FSFW_REVISION 1 diff --git a/NOTICE b/NOTICE index e1663282..be1a37c4 100644 --- a/NOTICE +++ b/NOTICE @@ -4,6 +4,8 @@ The initial version of the Flight Software Framework was developed during the Flying Laptop Project by the Universität Stuttgart in coorporation with Airbus Defence and Space GmbH. +The supreme FSFW Logo was designed by Markus Koller and Luise Trilsbach. + Copyrights in the Flight Software Framework are retained by their contributors. No copyright assignment is required to contribute to the Flight Software Framework. diff --git a/README.md b/README.md index fc86fca7..4aabe36a 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,159 @@ -Flight Software Framework (FSFW) -====== +![FSFW Logo](logo/FSFW_Logo_V3_bw.png) +# Flight Software Framework (FSFW) -I want to be written! +The Flight Software Framework is a C++ Object Oriented Framework for unmanned, +automated systems like Satellites. + +The initial version of the Flight Software Framework was developed during +the Flying Laptop Project by the University of Stuttgart in cooperation +with Airbus Defence and Space GmbH. + +## Intended Use + +The framework is designed for systems, which communicate with external devices, perform control loops, receive telecommands and send telemetry, and need to maintain a high level of availability. +Therefore, a mode and health system provides control over the states of the software and the controlled devices. +In addition, a simple mechanism of event based fault detection, isolation and recovery is implemented as well. + +The recommended hardware is a microprocessor with more than 2 MB of RAM and 1 MB of non-volatile Memory. +For reference, current Applications use a Cobham Gaisler UT699 (LEON3FT), a ISISPACE IOBC or a Zynq-7020 SoC. + + +## Structure + +The general structure is driven by the usage of interfaces provided by objects. The FSFW uses C++11 as baseline. The intention behind this is that this C++ Standard should be widely available, even with older compilers. +The FSFW uses dynamic allocation during the initialization but provides static containers during runtime. +This simplifies the instantiation of objects and allows the usage of some standard containers. +Dynamic Allocation after initialization is discouraged and different solutions are provided in the FSFW to achieve that. +The fsfw uses Run-time type information. +Exceptions are not allowed. + +### Failure Handling + +Functions should return a defined ReturnValue_t to signal to the caller that something is gone wrong. +Returnvalues must be unique. For this the function HasReturnvaluesIF::makeReturnCode or the Macro MAKE_RETURN can be used. +The CLASS_ID is a unique id for that type of object. See returnvalues/FwClassIds. + +### OSAL +The FSFW provides operation system abstraction layers for Linux, FreeRTOS and RTEMS. A independent OSAL called "host" is currently not finished. This aims to be running on windows as well. +The OSAL provides periodic tasks, message queues, clocks and Semaphores as well as Mutexes. + +### Core Components + +Clock: + * This is a class of static functions that can be used at anytime + * Leap Seconds must be set if any time conversions from UTC to other times is used + +ObjectManager (must be created): + +* The component which handles all references. All SystemObjects register at this component. +* Any SystemObject needs to have a unique ObjectId. Those can be managed like objects::framework_objects. +* A reference to an object can be get by calling the following function. T must be the specific Interface you want to call. +A nullptr check of the returning Pointer must be done. This function is based on Run-time type information. + +``` c++ + template T* ObjectManagerIF::get( object_id_t id ) + +``` +* A typical way to create all objects on startup is a handing a static produce function to the ObjectManager on creation. +By calling objectManager->initialize() the produce function will be called and all SystemObjects will be initialized afterwards. + +Event Manager: + +* Component which allows routing of events +* Other objects can subscribe to specific events, ranges of events or all events of an object. +* Subscriptions can be done during runtime but should be done during initialization +* Amounts of allowed subscriptions must be configured by setting this parameters: + +``` c++ +namespace fsfwconfig { +//! Configure the allocated pool sizes for the event manager. +static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240; +static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120; +static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120; +} +``` + + +Health Table: + +* A component which holds every health state +* Provides a thread safe way to access all health states without the need of message exchanges + +Stores + +* The message based communication can only exchange a few bytes of information inside the message itself. Therefore, additional information can be exchanged with Stores. With this, only the store address must be exchanged in the message. +* Internally, the FSFW uses an IPC Store to exchange data between processes. For incoming TCs a TC Store is used. For outgoing TM a TM store is used. +* All of them should use the Thread Safe Class storagemanager/PoolManager + +Tasks + +There are two different types of tasks: + * The PeriodicTask just executes objects that are of type ExecutableObjectIF in the order of the insertion to the Tasks. + * FixedTimeslotTask executes a list of calls in the order of the given list. This is intended for DeviceHandlers, where polling should be in a defined order. An example can be found in defaultcfg/fsfwconfig/pollingSequence + + +### Static Ids in the framework + +Some parts of the framework use a static routing address for communication. +An example setup of ids can be found in the example config in "defaultcft/fsfwconfig/objects/Factory::setStaticFrameworkObjectIds()". + +### Events + +Events are tied to objects. EventIds can be generated by calling the Macro MAKE_EVENT. This works analog to the returnvalues. +Every object that needs own EventIds has to get a unique SUBSYSTEM_ID. +Every SystemObject can call triggerEvent from the parent class. +Therefore, event messages contain the specific EventId and the objectId of the object that has triggered. + +### Internal Communication + +Components communicate mostly over Message through Queues. +Those queues are created by calling the singleton QueueFactory::instance()->create(). + +### External Communication + +The external communication with the mission control system is mostly up to the user implementation. +The FSFW provides PUS Services which can be used to but don't need to be used. +The services can be seen as a conversion from a TC to a message based communication and back. + +#### CCSDS Frames, CCSDS Space Packets and PUS + +If the communication is based on CCSDS Frames and Space Packets, several classes can be used to distributed the packets to the corresponding services. Those can be found in tcdistribution. +If Space Packets are used, a timestamper must be created. +An example can be found in the timemanager folder, this uses CCSDSTime::CDS_short. + +#### DeviceHandling + +DeviceHandlers are a core component of the FSFW. +The idea is, to have a software counterpart of every physical device to provide a simple mode, health and commanding interface. +By separating the underlying Communication Interface with DeviceCommunicationIF, a DH can be tested on different hardware. +The DH has mechanisms to monitor the communication with the physical device which allow for FDIR reaction. +A standard FDIR component for the DH will be created automatically but can be overwritten by the user. + +#### Modes, Health + +The two interfaces HasModesIF and HasHealthIF provide access for commanding and monitoring of components. +On-board Mode Management is implement in hierarchy system. +DeviceHandlers and Controllers are the lowest part of the hierarchy. +The next layer are Assemblies. Those assemblies act as a component which handle redundancies of handlers. +Assemblies share a common core with the next level which are the Subsystems. + +Those Assemblies are intended to act as auto-generated components from a database which describes the subsystem modes. +The definitions contain transition and target tables which contain the DH, Assembly and Controller Modes to be commanded. +Transition tables contain as many steps as needed to reach the mode from any other mode, e.g. a switch into any higher AOCS mode might first turn on the sensors, than the actuators and the controller as last component. +The target table is used to describe the state that is checked continuously by the subsystem. +All of this allows System Modes to be generated as Subsystem object as well from the same database. +This System contains list of subsystem modes in the transition and target tables. +Therefore, it allows a modular system to create system modes and easy commanding of those, because only the highest components must be commanded. + +The health state represents if the component is able to perform its tasks. +This can be used to signal the system to avoid using this component instead of a redundant one. +The on-board FDIR uses the health state for isolation and recovery. + +## Example config + +A example config can be found in defaultcfg/fsfwconfig. + +## Unit Tests + +Unit Tests are provided in the unittest folder. Those use the catch2 framework but do not include catch2 itself. +See README.md in the unittest Folder. \ No newline at end of file diff --git a/defaultcfg/fsfwconfig/FSFWConfig.h b/defaultcfg/fsfwconfig/FSFWConfig.h index be3717b4..1386bf66 100644 --- a/defaultcfg/fsfwconfig/FSFWConfig.h +++ b/defaultcfg/fsfwconfig/FSFWConfig.h @@ -1,7 +1,6 @@ #ifndef CONFIG_FSFWCONFIG_H_ #define CONFIG_FSFWCONFIG_H_ -#include #include #include @@ -9,12 +8,12 @@ //! Those can lead to code bloat. #define FSFW_CPP_OSTREAM_ENABLED 1 -//! Reduced printout to further decrese code size +//! Reduced printout to further decrease code size //! Be careful, this also turns off most diagnostic prinouts! -#define FSFW_REDUCED_PRINTOUT 0 +#define FSFW_ENHANCED_PRINTOUT 0 -//! Can be used to enable debugging printouts for developing the FSFW -#define FSFW_DEBUGGING 0 +//! Can be used to enable additional debugging printouts for developing the FSFW +#define FSFW_PRINT_VERBOSITY_LEVEL 0 //! Defines the FIFO depth of each commanding service base which //! also determines how many commands a CSB service can handle in one cycle @@ -39,7 +38,10 @@ //! When using the newlib nano library, C99 support for stdio facilities //! will not be provided. This define should be set to 1 if this is the case. -#define FSFW_NO_C99_IO 1 +#define FSFW_NO_C99_IO 1 + +//! Specify whether a special mode store is used for Subsystem components. +#define FSFW_USE_MODESTORE 0 namespace fsfwconfig { //! Default timestamp size. The default timestamp will be an eight byte CDC diff --git a/events/Event.h b/events/Event.h index f8410f32..aba156f2 100644 --- a/events/Event.h +++ b/events/Event.h @@ -4,7 +4,7 @@ #include #include "fwSubsystemIdRanges.h" //could be move to more suitable location -#include +#include typedef uint16_t EventId_t; typedef uint8_t EventSeverity_t; diff --git a/logo/FSFW_Logo_V3.png b/logo/FSFW_Logo_V3.png new file mode 100644 index 00000000..2ac710dd Binary files /dev/null and b/logo/FSFW_Logo_V3.png differ diff --git a/logo/FSFW_Logo_V3.svg b/logo/FSFW_Logo_V3.svg new file mode 100644 index 00000000..da561d1e --- /dev/null +++ b/logo/FSFW_Logo_V3.svg @@ -0,0 +1,711 @@ + + + + + + + + + + + + + + + + + + + + + + + + fs fw + + + + + + + + + + + + + + + + + + + + + + + + image/svg+xml + + + + + + + + + + + fs fw + + + + + + + + + + + + + fs fw + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/logo/FSFW_Logo_V3_bw.png b/logo/FSFW_Logo_V3_bw.png new file mode 100644 index 00000000..99b9b4f9 Binary files /dev/null and b/logo/FSFW_Logo_V3_bw.png differ diff --git a/osal/rtems/Clock.cpp b/osal/rtems/Clock.cpp index eeffd7f3..e5f37ec6 100644 --- a/osal/rtems/Clock.cpp +++ b/osal/rtems/Clock.cpp @@ -3,7 +3,7 @@ #include uint16_t Clock::leapSeconds = 0; -MutexIF* Clock::timeMutex = NULL; +MutexIF* Clock::timeMutex = nullptr; uint32_t Clock::getTicksPerSecond(void){ rtems_interval ticks_per_second = rtems_clock_get_ticks_per_second(); @@ -40,7 +40,7 @@ ReturnValue_t Clock::setClock(const timeval* time) { //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,NULL); + _TOD_Set(&newTime,nullptr); return HasReturnvaluesIF::RETURN_OK; } @@ -131,7 +131,7 @@ ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) { ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) { //SHOULDDO: works not for dates in the past (might have less leap seconds) - if (timeMutex == NULL) { + if (timeMutex == nullptr) { return HasReturnvaluesIF::RETURN_FAILED; } @@ -157,40 +157,34 @@ ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) { if(checkOrCreateClockMutex()!=HasReturnvaluesIF::RETURN_OK){ return HasReturnvaluesIF::RETURN_FAILED; } - ReturnValue_t result = timeMutex->lockMutex(MutexIF::NO_TIMEOUT); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } + MutexHelper helper(timeMutex); + leapSeconds = leapSeconds_; - result = timeMutex->unlockMutex(); - return result; + + return HasReturnvaluesIF::RETURN_OK; } ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) { - if(timeMutex==NULL){ + if(timeMutex==nullptr){ return HasReturnvaluesIF::RETURN_FAILED; } - ReturnValue_t result = timeMutex->lockMutex(MutexIF::NO_TIMEOUT); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } + MutexHelper helper(timeMutex); *leapSeconds_ = leapSeconds; - result = timeMutex->unlockMutex(); - return result; + return HasReturnvaluesIF::RETURN_OK; } ReturnValue_t Clock::checkOrCreateClockMutex(){ - if(timeMutex==NULL){ + if(timeMutex==nullptr){ MutexFactory* mutexFactory = MutexFactory::instance(); - if (mutexFactory == NULL) { + if (mutexFactory == nullptr) { return HasReturnvaluesIF::RETURN_FAILED; } timeMutex = mutexFactory->createMutex(); - if (timeMutex == NULL) { + if (timeMutex == nullptr) { return HasReturnvaluesIF::RETURN_FAILED; } } diff --git a/osal/rtems/CpuUsage.cpp b/osal/rtems/CpuUsage.cpp index d49de4ad..6655c69b 100644 --- a/osal/rtems/CpuUsage.cpp +++ b/osal/rtems/CpuUsage.cpp @@ -158,7 +158,7 @@ uint32_t CpuUsage::ThreadData::getSerializedSize() const { } ReturnValue_t CpuUsage::ThreadData::deSerialize(const uint8_t** buffer, - int32_t* size, Endianness streamEndianness) { + size_t* size, Endianness streamEndianness) { ReturnValue_t result = SerializeAdapter::deSerialize(&id, buffer, size, streamEndianness); if (result != HasReturnvaluesIF::RETURN_OK) { diff --git a/osal/rtems/InternalErrorCodes.cpp b/osal/rtems/InternalErrorCodes.cpp index 9346cf15..ddf365d5 100644 --- a/osal/rtems/InternalErrorCodes.cpp +++ b/osal/rtems/InternalErrorCodes.cpp @@ -12,8 +12,8 @@ ReturnValue_t InternalErrorCodes::translate(uint8_t code) { // return INVALID_WORKSPACE_ADDRESS; case INTERNAL_ERROR_TOO_LITTLE_WORKSPACE: return TOO_LITTLE_WORKSPACE; - case INTERNAL_ERROR_WORKSPACE_ALLOCATION: - return WORKSPACE_ALLOCATION; +// case INTERNAL_ERROR_WORKSPACE_ALLOCATION: +// return WORKSPACE_ALLOCATION; // case INTERNAL_ERROR_INTERRUPT_STACK_TOO_SMALL: // return INTERRUPT_STACK_TOO_SMALL; case INTERNAL_ERROR_THREAD_EXITTED: diff --git a/osal/rtems/Interrupt.cpp b/osal/rtems/Interrupt.cpp deleted file mode 100644 index b740f1ca..00000000 --- a/osal/rtems/Interrupt.cpp +++ /dev/null @@ -1,86 +0,0 @@ -#include "Interrupt.h" -extern "C" { -#include -#include -} -#include "RtemsBasic.h" - - -ReturnValue_t Interrupt::enableInterrupt(InterruptNumber_t interruptNumber) { - volatile uint32_t* irqMask = hw_irq_mask; - uint32_t expectedValue = *irqMask | (1 << interruptNumber); - *irqMask = expectedValue; - uint32_t tempValue = *irqMask; - if (tempValue == expectedValue) { - return HasReturnvaluesIF::RETURN_OK; - } else { - return HasReturnvaluesIF::RETURN_FAILED; - } -} - -ReturnValue_t Interrupt::setInterruptServiceRoutine(IsrHandler_t handler, - InterruptNumber_t interrupt, IsrHandler_t* oldHandler) { - IsrHandler_t oldHandler_local; - if (oldHandler == NULL) { - oldHandler = &oldHandler_local; - } - //+ 0x10 comes because of trap type assignment to IRQs in UT699 processor - rtems_status_code status = rtems_interrupt_catch(handler, interrupt + 0x10, - oldHandler); - switch(status){ - case RTEMS_SUCCESSFUL: - //ISR established successfully - return HasReturnvaluesIF::RETURN_OK; - case RTEMS_INVALID_NUMBER: - //illegal vector number - return HasReturnvaluesIF::RETURN_FAILED; - case RTEMS_INVALID_ADDRESS: - //illegal ISR entry point or invalid old_isr_handler - return HasReturnvaluesIF::RETURN_FAILED; - default: - return HasReturnvaluesIF::RETURN_FAILED; - } - -} - -ReturnValue_t Interrupt::disableInterrupt(InterruptNumber_t interruptNumber) { - //TODO Not implemented - return HasReturnvaluesIF::RETURN_FAILED; -} - -//SHOULDDO: Make default values (edge, polarity) settable? -ReturnValue_t Interrupt::enableGpioInterrupt(InterruptNumber_t interrupt) { - volatile uint32_t* irqMask = hw_irq_mask; - uint32_t expectedValue = *irqMask | (1 << interrupt); - *irqMask = expectedValue; - uint32_t tempValue = *irqMask; - if (tempValue == expectedValue) { - volatile hw_gpio_port_t* ioPorts = hw_gpio_port; - ioPorts->direction &= ~(1 << interrupt); //Direction In - ioPorts->interrupt_edge |= 1 << interrupt; //Edge triggered - ioPorts->interrupt_polarity |= 1 << interrupt; //Trigger on rising edge - ioPorts->interrupt_mask |= 1 << interrupt; //Enable - return HasReturnvaluesIF::RETURN_OK; - } else { - return HasReturnvaluesIF::RETURN_FAILED; - } -} - -ReturnValue_t Interrupt::disableGpioInterrupt(InterruptNumber_t interrupt) { - volatile uint32_t* irqMask = hw_irq_mask; - uint32_t expectedValue = *irqMask & ~(1 << interrupt); - *irqMask = expectedValue; - uint32_t tempValue = *irqMask; - if (tempValue == expectedValue) { - //Disable gpio IRQ - volatile hw_gpio_port_t* ioPorts = hw_gpio_port; - ioPorts->interrupt_mask &= ~(1 << interrupt); - return HasReturnvaluesIF::RETURN_OK; - } else { - return HasReturnvaluesIF::RETURN_FAILED; - } -} - -bool Interrupt::isInterruptInProgress() { - return rtems_interrupt_is_in_progress(); -} diff --git a/osal/rtems/Interrupt.h b/osal/rtems/Interrupt.h deleted file mode 100644 index 2152e2f0..00000000 --- a/osal/rtems/Interrupt.h +++ /dev/null @@ -1,50 +0,0 @@ -#ifndef OS_RTEMS_INTERRUPT_H_ -#define OS_RTEMS_INTERRUPT_H_ - -#include "../../returnvalues/HasReturnvaluesIF.h" -#include -#include - -typedef rtems_isr_entry IsrHandler_t; -typedef rtems_isr IsrReturn_t; -typedef rtems_vector_number InterruptNumber_t; - -class Interrupt { -public: - virtual ~Interrupt(){}; - - /** - * Establishes a new interrupt service routine. - * @param handler The service routine to establish - * @param interrupt The interrupt (NOT trap type) the routine shall react to. - * @return RETURN_OK on success. Otherwise, the OS failure code is returned. - */ - static ReturnValue_t setInterruptServiceRoutine(IsrHandler_t handler, - InterruptNumber_t interrupt, IsrHandler_t *oldHandler = NULL); - static ReturnValue_t enableInterrupt(InterruptNumber_t interruptNumber); - static ReturnValue_t disableInterrupt(InterruptNumber_t interruptNumber); - /** - * Enables the interrupt given. - * The function tests, if the InterruptMask register was written successfully. - * @param interrupt The interrupt to enable. - * @return RETURN_OK if the interrupt was set successfully. RETURN_FAILED else. - */ - static ReturnValue_t enableGpioInterrupt(InterruptNumber_t interrupt); - /** - * Disables the interrupt given. - * @param interrupt The interrupt to disable. - * @return RETURN_OK if the interrupt was set successfully. RETURN_FAILED else. - */ - static ReturnValue_t disableGpioInterrupt(InterruptNumber_t interrupt); - - - /** - * Checks if the current executing context is an ISR. - * @return true if handling an interrupt, false else. - */ - static bool isInterruptInProgress(); - -}; - - -#endif /* OS_RTEMS_INTERRUPT_H_ */ diff --git a/osal/rtems/MessageQueue.cpp b/osal/rtems/MessageQueue.cpp index 700db444..839182a6 100644 --- a/osal/rtems/MessageQueue.cpp +++ b/osal/rtems/MessageQueue.cpp @@ -1,14 +1,15 @@ #include "../../serviceinterface/ServiceInterfaceStream.h" +#include "../../objectmanager/ObjectManagerIF.h" #include "MessageQueue.h" #include "RtemsBasic.h" #include MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) : - id(0), lastPartner(0), defaultDestination(NO_QUEUE), internalErrorReporter(NULL) { + id(0), lastPartner(0), defaultDestination(NO_QUEUE), internalErrorReporter(nullptr) { rtems_name name = ('Q' << 24) + (queueCounter++ << 8); rtems_status_code status = rtems_message_queue_create(name, message_depth, max_message_size, 0, &(this->id)); if (status != RTEMS_SUCCESSFUL) { - error << "MessageQueue::MessageQueue: Creating Queue " << std::hex + sif::error << "MessageQueue::MessageQueue: Creating Queue " << std::hex << name << std::dec << " failed with status:" << (uint32_t) status << std::endl; this->id = 0; @@ -20,15 +21,15 @@ MessageQueue::~MessageQueue() { } ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo, - MessageQueueMessage* message, bool ignoreFault) { + MessageQueueMessageIF* message, bool ignoreFault) { return sendMessageFrom(sendTo, message, this->getId(), ignoreFault); } -ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessage* message) { +ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) { return sendToDefaultFrom(message, this->getId()); } -ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) { +ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) { if (this->lastPartner != 0) { return sendMessage(this->lastPartner, message, this->getId()); } else { @@ -36,27 +37,29 @@ ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) { } } -ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message, +ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message, MessageQueueId_t* receivedFrom) { ReturnValue_t status = this->receiveMessage(message); *receivedFrom = this->lastPartner; return status; } -ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) { +ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) { + size_t size = 0; rtems_status_code status = rtems_message_queue_receive(id, - message->getBuffer(), &(message->messageSize), + message->getBuffer(),&size, RTEMS_NO_WAIT, 1); if (status == RTEMS_SUCCESSFUL) { + message->setMessageSize(size); this->lastPartner = message->getSender(); //Check size of incoming message. - if (message->messageSize < message->getMinimumMessageSize()) { + if (message->getMessageSize() < message->getMinimumMessageSize()) { return HasReturnvaluesIF::RETURN_FAILED; } } else { //No message was received. Keep lastPartner anyway, I might send something later. //But still, delete packet content. - memset(message->getData(), 0, message->MAX_DATA_SIZE); + memset(message->getData(), 0, message->getMaximumMessageSize()); } return convertReturnCode(status); } @@ -79,20 +82,20 @@ void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) { } ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, - MessageQueueMessage* message, MessageQueueId_t sentFrom, + MessageQueueMessageIF* message, MessageQueueId_t sentFrom, bool ignoreFault) { message->setSender(sentFrom); rtems_status_code result = rtems_message_queue_send(sendTo, - message->getBuffer(), message->messageSize); + message->getBuffer(), message->getMessageSize()); //TODO: Check if we're in ISR. if (result != RTEMS_SUCCESSFUL && !ignoreFault) { - if (internalErrorReporter == NULL) { + if (internalErrorReporter == nullptr) { internalErrorReporter = objectManager->get( objects::INTERNAL_ERROR_REPORTER); } - if (internalErrorReporter != NULL) { + if (internalErrorReporter != nullptr) { internalErrorReporter->queueMessageNotSent(); } } @@ -105,7 +108,7 @@ ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, return returnCode; } -ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessage* message, +ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message, MessageQueueId_t sentFrom, bool ignoreFault) { return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault); } diff --git a/osal/rtems/MessageQueue.h b/osal/rtems/MessageQueue.h index c6fc62d5..342f1e30 100644 --- a/osal/rtems/MessageQueue.h +++ b/osal/rtems/MessageQueue.h @@ -1,14 +1,5 @@ -/** - * @file MessageQueue.h - * - * @date 10/02/2012 - * @author Bastian Baetz - * - * @brief This file contains the definition of the MessageQueue class. - */ - -#ifndef MESSAGEQUEUE_H_ -#define MESSAGEQUEUE_H_ +#ifndef FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_ +#define FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_ #include "../../internalError/InternalErrorReporterIF.h" #include "../../ipc/MessageQueueIF.h" @@ -60,14 +51,14 @@ public: * @param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full. */ ReturnValue_t sendMessage(MessageQueueId_t sendTo, - MessageQueueMessage* message, bool ignoreFault = false ); + MessageQueueMessageIF* message, bool ignoreFault = false ); /** * @brief This operation sends a message to the default destination. * @details As in the sendMessage method, this function uses the sendToDefault call of the * MessageQueueSender parent class and adds its queue id as "sentFrom" information. * @param message A pointer to a previously created message, which is sent. */ - ReturnValue_t sendToDefault( MessageQueueMessage* message ); + ReturnValue_t sendToDefault( MessageQueueMessageIF* message ); /** * @brief This operation sends a message to the last communication partner. * @details This operation simplifies answering an incoming message by using the stored @@ -75,7 +66,7 @@ public: * (i.e. lastPartner is zero), an error code is returned. * @param message A pointer to a previously created message, which is sent. */ - ReturnValue_t reply( MessageQueueMessage* message ); + ReturnValue_t reply( MessageQueueMessageIF* message ); /** * @brief This function reads available messages from the message queue and returns the sender. @@ -84,7 +75,7 @@ public: * @param message A pointer to a message in which the received data is stored. * @param receivedFrom A pointer to a queue id in which the sender's id is stored. */ - ReturnValue_t receiveMessage(MessageQueueMessage* message, + ReturnValue_t receiveMessage(MessageQueueMessageIF* message, MessageQueueId_t *receivedFrom); /** @@ -95,7 +86,7 @@ public: * message's content is cleared and the function returns immediately. * @param message A pointer to a message in which the received data is stored. */ - ReturnValue_t receiveMessage(MessageQueueMessage* message); + ReturnValue_t receiveMessage(MessageQueueMessageIF* message); /** * Deletes all pending messages in the queue. * @param count The number of flushed messages. @@ -121,7 +112,7 @@ public: * This variable is set to zero by default. * \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full. */ - virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false ); + virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false ); /** * \brief The sendToDefault method sends a queue message to the default destination. * \details In all other aspects, it works identical to the sendMessage method. @@ -129,7 +120,7 @@ public: * \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message. * This variable is set to zero by default. */ - virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false ); + virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false ); /** * \brief This method is a simple setter for the default destination. */ @@ -178,4 +169,4 @@ private: static ReturnValue_t convertReturnCode(rtems_status_code inValue); }; -#endif /* MESSAGEQUEUE_H_ */ +#endif /* FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_ */ diff --git a/osal/rtems/MultiObjectTask.cpp b/osal/rtems/MultiObjectTask.cpp index 2342c24c..970d01e1 100644 --- a/osal/rtems/MultiObjectTask.cpp +++ b/osal/rtems/MultiObjectTask.cpp @@ -30,7 +30,7 @@ ReturnValue_t MultiObjectTask::startTask() { rtems_status_code status = rtems_task_start(id, MultiObjectTask::taskEntryPoint, rtems_task_argument((void *) this)); if (status != RTEMS_SUCCESSFUL) { - error << "ObjectTask::startTask for " << std::hex << this->getId() + sif::error << "ObjectTask::startTask for " << std::hex << this->getId() << std::dec << " failed." << std::endl; } switch(status){ @@ -63,8 +63,8 @@ void MultiObjectTask::taskFunctionality() { char nameSpace[8] = { 0 }; char* ptr = rtems_object_get_name(getId(), sizeof(nameSpace), nameSpace); - error << "ObjectTask: " << ptr << " Deadline missed." << std::endl; - if (this->deadlineMissedFunc != NULL) { + sif::error << "ObjectTask: " << ptr << " Deadline missed." << std::endl; + if (this->deadlineMissedFunc != nullptr) { this->deadlineMissedFunc(); } } @@ -74,7 +74,7 @@ void MultiObjectTask::taskFunctionality() { ReturnValue_t MultiObjectTask::addComponent(object_id_t object) { ExecutableObjectIF* newObject = objectManager->get( object); - if (newObject == NULL) { + if (newObject == nullptr) { return HasReturnvaluesIF::RETURN_FAILED; } objectList.push_back(newObject); diff --git a/osal/rtems/MultiObjectTask.h b/osal/rtems/MultiObjectTask.h index 736e79dd..04d122a3 100644 --- a/osal/rtems/MultiObjectTask.h +++ b/osal/rtems/MultiObjectTask.h @@ -80,7 +80,7 @@ protected: /** * @brief The pointer to the deadline-missed function. * @details This pointer stores the function that is executed if the task's deadline is missed. - * So, each may react individually on a timing failure. The pointer may be NULL, + * So, each may react individually on a timing failure. The pointer may be nullptr, * then nothing happens on missing the deadline. The deadline is equal to the next execution * of the periodic task. */ diff --git a/osal/rtems/Mutex.cpp b/osal/rtems/Mutex.cpp index 9553ac79..a5ec9635 100644 --- a/osal/rtems/Mutex.cpp +++ b/osal/rtems/Mutex.cpp @@ -10,7 +10,7 @@ Mutex::Mutex() : RTEMS_BINARY_SEMAPHORE | RTEMS_PRIORITY | RTEMS_INHERIT_PRIORITY, 0, &mutexId); if (status != RTEMS_SUCCESSFUL) { - error << "Mutex: creation with name, id " << mutexName << ", " << mutexId + sif::error << "Mutex: creation with name, id " << mutexName << ", " << mutexId << " failed with " << status << std::endl; } } @@ -18,24 +18,25 @@ Mutex::Mutex() : Mutex::~Mutex() { rtems_status_code status = rtems_semaphore_delete(mutexId); if (status != RTEMS_SUCCESSFUL) { - error << "Mutex: deletion for id " << mutexId + sif::error << "Mutex: deletion for id " << mutexId << " failed with " << status << std::endl; } } ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType = TimeoutType::BLOCKING, uint32_t timeoutMs) { + rtems_status_code status = RTEMS_INVALID_ID; if(timeoutMs == MutexIF::TimeoutType::BLOCKING) { - rtems_status_code status = rtems_semaphore_obtain(mutexId, + status = rtems_semaphore_obtain(mutexId, RTEMS_WAIT, RTEMS_NO_TIMEOUT); } else if(timeoutMs == MutexIF::TimeoutType::POLLING) { timeoutMs = RTEMS_NO_TIMEOUT; - rtems_status_code status = rtems_semaphore_obtain(mutexId, + status = rtems_semaphore_obtain(mutexId, RTEMS_NO_WAIT, 0); } else { - rtems_status_code status = rtems_semaphore_obtain(mutexId, + status = rtems_semaphore_obtain(mutexId, RTEMS_WAIT, timeoutMs); } diff --git a/osal/rtems/Mutex.h b/osal/rtems/Mutex.h index 72368210..4c861318 100644 --- a/osal/rtems/Mutex.h +++ b/osal/rtems/Mutex.h @@ -1,5 +1,5 @@ -#ifndef FRAMEWORK_OSAL_RTEMS_MUTEX_H_ -#define FRAMEWORK_OSAL_RTEMS_MUTEX_H_ +#ifndef FSFW_OSAL_RTEMS_MUTEX_H_ +#define FSFW_OSAL_RTEMS_MUTEX_H_ #include "../../ipc/MutexIF.h" #include "RtemsBasic.h" @@ -15,4 +15,4 @@ private: static uint8_t count; }; -#endif /* OS_RTEMS_MUTEX_H_ */ +#endif /* FSFW_OSAL_RTEMS_MUTEX_H_ */ diff --git a/osal/rtems/MutexFactory.cpp b/osal/rtems/MutexFactory.cpp index ea594789..24af5fa9 100644 --- a/osal/rtems/MutexFactory.cpp +++ b/osal/rtems/MutexFactory.cpp @@ -2,7 +2,6 @@ #include "Mutex.h" #include "RtemsBasic.h" -//TODO: Different variant than the lazy loading in QueueFactory. What's better and why? MutexFactory* MutexFactory::factoryInstance = new MutexFactory(); MutexFactory::MutexFactory() { diff --git a/osal/rtems/PollingTask.cpp b/osal/rtems/PollingTask.cpp index 04191515..db7864fe 100644 --- a/osal/rtems/PollingTask.cpp +++ b/osal/rtems/PollingTask.cpp @@ -1,5 +1,6 @@ -#include "../../devicehandlers/FixedSequenceSlot.h" +#include "../../tasks/FixedSequenceSlot.h" #include "../../objectmanager/SystemObjectIF.h" +#include "../../objectmanager/ObjectManagerIF.h" #include "PollingTask.h" #include "RtemsBasic.h" #include "../../returnvalues/HasReturnvaluesIF.h" @@ -34,14 +35,14 @@ rtems_task PollingTask::taskEntryPoint(rtems_task_argument argument) { PollingTask *originalTask(reinterpret_cast(argument)); //The task's functionality is called. originalTask->taskFunctionality(); - debug << "Polling task " << originalTask->getId() + sif::debug << "Polling task " << originalTask->getId() << " returned from taskFunctionality." << std::endl; } void PollingTask::missedDeadlineCounter() { PollingTask::deadlineMissedCount++; if (PollingTask::deadlineMissedCount % 10 == 0) { - error << "PST missed " << PollingTask::deadlineMissedCount + sif::error << "PST missed " << PollingTask::deadlineMissedCount << " deadlines." << std::endl; } } @@ -50,7 +51,7 @@ ReturnValue_t PollingTask::startTask() { rtems_status_code status = rtems_task_start(id, PollingTask::taskEntryPoint, rtems_task_argument((void *) this)); if (status != RTEMS_SUCCESSFUL) { - error << "PollingTask::startTask for " << std::hex << this->getId() + sif::error << "PollingTask::startTask for " << std::hex << this->getId() << std::dec << " failed." << std::endl; } switch(status){ @@ -68,12 +69,13 @@ ReturnValue_t PollingTask::startTask() { ReturnValue_t PollingTask::addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep) { - if (objectManager->get(componentId) != nullptr) { - pst.addSlot(componentId, slotTimeMs, executionStep, this); + ExecutableObjectIF* object = objectManager->get(componentId); + if (object != nullptr) { + pst.addSlot(componentId, slotTimeMs, executionStep, object, this); return HasReturnvaluesIF::RETURN_OK; } - error << "Component " << std::hex << componentId << + sif::error << "Component " << std::hex << componentId << " not found, not adding it to pst" << std::endl; return HasReturnvaluesIF::RETURN_FAILED; } @@ -90,11 +92,10 @@ ReturnValue_t PollingTask::checkSequence() const { void PollingTask::taskFunctionality() { // A local iterator for the Polling Sequence Table is created to find the start time for the first entry. - std::list::iterator it = pst.current; + FixedSlotSequence::SlotListIter it = pst.current; //The start time for the first entry is read. - rtems_interval interval = RtemsBasic::convertMsToTicks( - (*it)->pollingTimeMs); + rtems_interval interval = RtemsBasic::convertMsToTicks(it->pollingTimeMs); TaskBase::setAndStartPeriod(interval,&periodId); //The task's "infinite" inner loop is entered. while (1) { @@ -107,7 +108,7 @@ void PollingTask::taskFunctionality() { //If the deadline was missed, the deadlineMissedFunc is called. rtems_status_code status = TaskBase::restartPeriod(interval,periodId); if (status == RTEMS_TIMEOUT) { - if (this->deadlineMissedFunc != NULL) { + if (this->deadlineMissedFunc != nullptr) { this->deadlineMissedFunc(); } } diff --git a/osal/rtems/PollingTask.h b/osal/rtems/PollingTask.h index 199c34e7..42deaf09 100644 --- a/osal/rtems/PollingTask.h +++ b/osal/rtems/PollingTask.h @@ -1,7 +1,7 @@ -#ifndef POLLINGTASK_H_ -#define POLLINGTASK_H_ +#ifndef FSFW_OSAL_RTEMS_POLLINGTASK_H_ +#define FSFW_OSAL_RTEMS_POLLINGTASK_H_ -#include "../../devicehandlers/FixedSlotSequence.h" +#include "../../tasks/FixedSlotSequence.h" #include "../../tasks/FixedTimeslotTaskIF.h" #include "TaskBase.h" @@ -82,4 +82,4 @@ protected: void taskFunctionality( void ); }; -#endif /* POLLINGTASK_H_ */ +#endif /* FSFW_OSAL_RTEMS_POLLINGTASK_H_ */ diff --git a/osal/rtems/QueueFactory.cpp b/osal/rtems/QueueFactory.cpp index fce55a0e..ff561304 100644 --- a/osal/rtems/QueueFactory.cpp +++ b/osal/rtems/QueueFactory.cpp @@ -1,16 +1,17 @@ #include "../../ipc/QueueFactory.h" +#include "../../ipc/MessageQueueSenderIF.h" #include "MessageQueue.h" #include "RtemsBasic.h" -QueueFactory* QueueFactory::factoryInstance = NULL; +QueueFactory* QueueFactory::factoryInstance = nullptr; ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo, - MessageQueueMessage* message, MessageQueueId_t sentFrom,bool ignoreFault) { + MessageQueueMessageIF* message, MessageQueueId_t sentFrom,bool ignoreFault) { //TODO add ignoreFault functionality message->setSender(sentFrom); rtems_status_code result = rtems_message_queue_send(sendTo, message->getBuffer(), - message->messageSize); + message->getMessageSize()); switch(result){ case RTEMS_SUCCESSFUL: //message sent successfully @@ -37,7 +38,7 @@ ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo, } QueueFactory* QueueFactory::instance() { - if (factoryInstance == NULL) { + if (factoryInstance == nullptr) { factoryInstance = new QueueFactory; } return factoryInstance; diff --git a/osal/rtems/RtemsBasic.h b/osal/rtems/RtemsBasic.h index 78e0d46e..d0ca5aba 100644 --- a/osal/rtems/RtemsBasic.h +++ b/osal/rtems/RtemsBasic.h @@ -1,5 +1,5 @@ -#ifndef OS_RTEMS_RTEMSBASIC_H_ -#define OS_RTEMS_RTEMSBASIC_H_ +#ifndef FSFW_OSAL_RTEMS_RTEMSBASIC_H_ +#define FSFW_OSAL_RTEMS_RTEMSBASIC_H_ #include "../../returnvalues/HasReturnvaluesIF.h" #include @@ -22,4 +22,4 @@ public: } }; -#endif /* OS_RTEMS_RTEMSBASIC_H_ */ +#endif /* FSFW_OSAL_RTEMS_RTEMSBASIC_H_ */ diff --git a/osal/rtems/TaskBase.cpp b/osal/rtems/TaskBase.cpp index adf6ee70..4e0c8f00 100644 --- a/osal/rtems/TaskBase.cpp +++ b/osal/rtems/TaskBase.cpp @@ -22,7 +22,7 @@ TaskBase::TaskBase(rtems_task_priority set_priority, size_t stack_size, } ReturnValue_t result = convertReturnCode(status); if (result != HasReturnvaluesIF::RETURN_OK) { - error << "TaskBase::TaskBase: createTask with name " << std::hex + sif::error << "TaskBase::TaskBase: createTask with name " << std::hex << osalName << std::dec << " failed with return code " << (uint32_t) status << std::endl; this->id = 0; diff --git a/osal/rtems/TaskBase.h b/osal/rtems/TaskBase.h index 410d9110..0e186e67 100644 --- a/osal/rtems/TaskBase.h +++ b/osal/rtems/TaskBase.h @@ -1,5 +1,5 @@ -#ifndef TASKBASE_H_ -#define TASKBASE_H_ +#ifndef FSFW_OSAL_RTEMS_TASKBASE_H_ +#define FSFW_OSAL_RTEMS_TASKBASE_H_ #include "RtemsBasic.h" #include "../../tasks/PeriodicTaskIF.h" @@ -44,4 +44,4 @@ private: }; -#endif /* TASKBASE_H_ */ +#endif /* FSFW_OSAL_RTEMS_TASKBASE_H_ */ diff --git a/timemanager/Clock.h b/timemanager/Clock.h index acb68e2e..bc112388 100644 --- a/timemanager/Clock.h +++ b/timemanager/Clock.h @@ -2,7 +2,7 @@ #define FRAMEWORK_TIMEMANAGER_CLOCK_H_ #include "../returnvalues/HasReturnvaluesIF.h" -#include "../ipc/MutexFactory.h" +#include "../ipc/MutexHelper.h" #include "../globalfunctions/timevalOperations.h" #include