From 752601e85f6d3d182c0f7b35e784e3226aa18db4 Mon Sep 17 00:00:00 2001 From: Steffen Gaisser Date: Fri, 13 Nov 2020 14:31:30 +0100 Subject: [PATCH 01/13] WIP readme --- README.md | 150 +++++++++++++++++++++++++++++++++++++++++++++++++++++- 1 file changed, 149 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index fc86fca7..c75af4ee 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,152 @@ 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. + + +## 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 Modemangement 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 redunandcies of handlers. +Assemblies share a common core with the next level which are the Subsystems. +Those 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 check 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 command. +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 From 8aef4b9b997fbd7f4be929384e4d5695c6796be1 Mon Sep 17 00:00:00 2001 From: Steffen Gaisser Date: Fri, 13 Nov 2020 14:36:32 +0100 Subject: [PATCH 02/13] Updated formatting --- README.md | 12 +++++++----- 1 file changed, 7 insertions(+), 5 deletions(-) diff --git a/README.md b/README.md index c75af4ee..91383d48 100644 --- a/README.md +++ b/README.md @@ -82,9 +82,9 @@ Stores 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 +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 @@ -127,17 +127,19 @@ A standard FDIR component for the DH will be created automatically but can be ov #### Modes, Health The two interfaces HasModesIF and HasHealthIF provide access for commanding and monitoring of components. -On-board Modemangement is implement in hierarchy system. +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 redunandcies of handlers. Assemblies share a common core with the next level which are the Subsystems. -Those are intended to act as auto-generated components from a database which describes the subsystem modes. + +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 check 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 command. + 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. From 51443d7a68afc4fed57bc236a47815eec313c534 Mon Sep 17 00:00:00 2001 From: Steffen Gaisser Date: Fri, 13 Nov 2020 15:09:00 +0100 Subject: [PATCH 03/13] Version number --- FSFWVersion.h | 3 ++- README.md | 2 +- 2 files changed, 3 insertions(+), 2 deletions(-) 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/README.md b/README.md index 91383d48..13f7b95d 100644 --- a/README.md +++ b/README.md @@ -10,7 +10,7 @@ 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 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. ## Structure From 5b5f2f3e1d40b3109821ff334483e8a02701a963 Mon Sep 17 00:00:00 2001 From: Steffen Gaisser Date: Tue, 17 Nov 2020 09:42:38 +0100 Subject: [PATCH 04/13] Added hardware recommendations --- README.md | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index 13f7b95d..b4db3c19 100644 --- a/README.md +++ b/README.md @@ -10,7 +10,12 @@ 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 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 Zync 7000 SoC. ## Structure From 273ddf9061c53e5ab73a7ce39443b81773fef57b Mon Sep 17 00:00:00 2001 From: Steffen Gaisser Date: Tue, 17 Nov 2020 19:25:57 +0100 Subject: [PATCH 05/13] Rtems compiles again fixes #176 --- events/Event.h | 2 +- osal/rtems/Clock.cpp | 18 +++---- osal/rtems/CpuUsage.cpp | 2 +- osal/rtems/InternalErrorCodes.cpp | 4 +- osal/rtems/Interrupt.cpp | 86 ------------------------------- osal/rtems/Interrupt.h | 50 ------------------ osal/rtems/MessageQueue.cpp | 27 +++++----- osal/rtems/MessageQueue.h | 14 ++--- osal/rtems/MultiObjectTask.cpp | 4 +- osal/rtems/Mutex.cpp | 11 ++-- osal/rtems/PollingTask.cpp | 21 ++++---- osal/rtems/PollingTask.h | 2 +- osal/rtems/QueueFactory.cpp | 5 +- osal/rtems/TaskBase.cpp | 2 +- timemanager/Clock.h | 2 +- 15 files changed, 57 insertions(+), 193 deletions(-) delete mode 100644 osal/rtems/Interrupt.cpp delete mode 100644 osal/rtems/Interrupt.h 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/osal/rtems/Clock.cpp b/osal/rtems/Clock.cpp index eeffd7f3..9460fd2d 100644 --- a/osal/rtems/Clock.cpp +++ b/osal/rtems/Clock.cpp @@ -157,30 +157,24 @@ 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){ 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(){ 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..bc7e864d 100644 --- a/osal/rtems/MessageQueue.cpp +++ b/osal/rtems/MessageQueue.cpp @@ -1,4 +1,5 @@ #include "../../serviceinterface/ServiceInterfaceStream.h" +#include "../../objectmanager/ObjectManagerIF.h" #include "MessageQueue.h" #include "RtemsBasic.h" #include @@ -8,7 +9,7 @@ MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) : rtems_status_code status = rtems_message_queue_create(name, message_depth, max_message_size, 0, &(this->id)); if (status != RTEMS_SUCCESSFUL) { - 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); } @@ -79,12 +82,12 @@ 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) { @@ -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..78a1e5ca 100644 --- a/osal/rtems/MessageQueue.h +++ b/osal/rtems/MessageQueue.h @@ -60,14 +60,14 @@ 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 +75,7 @@ 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 +84,7 @@ 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 +95,7 @@ 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 +121,7 @@ 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 +129,7 @@ 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. */ diff --git a/osal/rtems/MultiObjectTask.cpp b/osal/rtems/MultiObjectTask.cpp index 2342c24c..a239d9cb 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){ @@ -63,7 +63,7 @@ void MultiObjectTask::taskFunctionality() { char nameSpace[8] = { 0 }; char* ptr = rtems_object_get_name(getId(), sizeof(nameSpace), nameSpace); - error << "ObjectTask: " << ptr << " Deadline missed." << std::endl; + sif::error << "ObjectTask: " << ptr << " Deadline missed." << std::endl; if (this->deadlineMissedFunc != NULL) { this->deadlineMissedFunc(); } 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/PollingTask.cpp b/osal/rtems/PollingTask.cpp index 04191515..1329638d 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) { diff --git a/osal/rtems/PollingTask.h b/osal/rtems/PollingTask.h index 199c34e7..5656e354 100644 --- a/osal/rtems/PollingTask.h +++ b/osal/rtems/PollingTask.h @@ -1,7 +1,7 @@ #ifndef POLLINGTASK_H_ #define POLLINGTASK_H_ -#include "../../devicehandlers/FixedSlotSequence.h" +#include "../../tasks/FixedSlotSequence.h" #include "../../tasks/FixedTimeslotTaskIF.h" #include "TaskBase.h" diff --git a/osal/rtems/QueueFactory.cpp b/osal/rtems/QueueFactory.cpp index fce55a0e..b35e7a39 100644 --- a/osal/rtems/QueueFactory.cpp +++ b/osal/rtems/QueueFactory.cpp @@ -1,4 +1,5 @@ #include "../../ipc/QueueFactory.h" +#include "../../ipc/MessageQueueSenderIF.h" #include "MessageQueue.h" #include "RtemsBasic.h" @@ -6,11 +7,11 @@ QueueFactory* QueueFactory::factoryInstance = NULL; 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 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/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 From 6489246c4b52d57b0a1fce6368787adea0115128 Mon Sep 17 00:00:00 2001 From: Steffen Gaisser Date: Tue, 17 Nov 2020 19:35:37 +0100 Subject: [PATCH 06/13] Updated include guards --- osal/rtems/Clock.cpp | 14 +++++++------- osal/rtems/MessageQueue.cpp | 6 +++--- osal/rtems/MessageQueue.h | 15 +++------------ osal/rtems/MultiObjectTask.cpp | 4 ++-- osal/rtems/MultiObjectTask.h | 2 +- osal/rtems/Mutex.h | 6 +++--- osal/rtems/MutexFactory.cpp | 1 - osal/rtems/PollingTask.cpp | 2 +- osal/rtems/PollingTask.h | 6 +++--- osal/rtems/QueueFactory.cpp | 4 ++-- osal/rtems/RtemsBasic.h | 6 +++--- osal/rtems/TaskBase.h | 6 +++--- 12 files changed, 31 insertions(+), 41 deletions(-) diff --git a/osal/rtems/Clock.cpp b/osal/rtems/Clock.cpp index 9460fd2d..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; } @@ -167,7 +167,7 @@ ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) { } ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) { - if(timeMutex==NULL){ + if(timeMutex==nullptr){ return HasReturnvaluesIF::RETURN_FAILED; } MutexHelper helper(timeMutex); @@ -178,13 +178,13 @@ ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) { } 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/MessageQueue.cpp b/osal/rtems/MessageQueue.cpp index bc7e864d..839182a6 100644 --- a/osal/rtems/MessageQueue.cpp +++ b/osal/rtems/MessageQueue.cpp @@ -4,7 +4,7 @@ #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)); @@ -91,11 +91,11 @@ ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, //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(); } } diff --git a/osal/rtems/MessageQueue.h b/osal/rtems/MessageQueue.h index 78a1e5ca..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" @@ -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 a239d9cb..970d01e1 100644 --- a/osal/rtems/MultiObjectTask.cpp +++ b/osal/rtems/MultiObjectTask.cpp @@ -64,7 +64,7 @@ void MultiObjectTask::taskFunctionality() { char* ptr = rtems_object_get_name(getId(), sizeof(nameSpace), nameSpace); sif::error << "ObjectTask: " << ptr << " Deadline missed." << std::endl; - if (this->deadlineMissedFunc != NULL) { + 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.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 1329638d..db7864fe 100644 --- a/osal/rtems/PollingTask.cpp +++ b/osal/rtems/PollingTask.cpp @@ -108,7 +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 5656e354..42deaf09 100644 --- a/osal/rtems/PollingTask.h +++ b/osal/rtems/PollingTask.h @@ -1,5 +1,5 @@ -#ifndef POLLINGTASK_H_ -#define POLLINGTASK_H_ +#ifndef FSFW_OSAL_RTEMS_POLLINGTASK_H_ +#define FSFW_OSAL_RTEMS_POLLINGTASK_H_ #include "../../tasks/FixedSlotSequence.h" #include "../../tasks/FixedTimeslotTaskIF.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 b35e7a39..ff561304 100644 --- a/osal/rtems/QueueFactory.cpp +++ b/osal/rtems/QueueFactory.cpp @@ -3,7 +3,7 @@ #include "MessageQueue.h" #include "RtemsBasic.h" -QueueFactory* QueueFactory::factoryInstance = NULL; +QueueFactory* QueueFactory::factoryInstance = nullptr; ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo, @@ -38,7 +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.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_ */ From 767f1057628f96019ba1836a83a43c94383cb0f4 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 24 Nov 2020 13:45:34 +0100 Subject: [PATCH 07/13] added changelog --- CHANGELOG | 7 +++++++ 1 file changed, 7 insertions(+) create mode 100644 CHANGELOG diff --git a/CHANGELOG b/CHANGELOG new file mode 100644 index 00000000..96f5703c --- /dev/null +++ b/CHANGELOG @@ -0,0 +1,7 @@ +## Changes from ASTP 0.0.1 to 0.0.2 + + +### FreeRTOS OSAL + +- vRequestContextSwitchFromISR is declared extern "C" so it can be defined in +a C file without issues From 227ec25e89c9f95e3bb16f1efe856761cdd7dc4e Mon Sep 17 00:00:00 2001 From: "Jakob.Meier" Date: Fri, 27 Nov 2020 11:44:11 +0100 Subject: [PATCH 08/13] some minor corrections in readme --- README.md | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index b4db3c19..52fec27e 100644 --- a/README.md +++ b/README.md @@ -15,7 +15,7 @@ Therefore, a mode and health system provides control over the states of the soft 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 Zync 7000 SoC. +For reference, current Applications use a Cobham Gaisler UT699 (LEON3FT), a ISISPACE IOBC or a Zynq-7020 SoC. ## Structure @@ -134,16 +134,16 @@ A standard FDIR component for the DH will be created automatically but can be ov 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 redunandcies of handlers. +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 check continuously by the subsystem. +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 command. +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. From 4241c00448e57c7a05b5ba26248cbb23bc72a4c0 Mon Sep 17 00:00:00 2001 From: Steffen Gaisser Date: Mon, 30 Nov 2020 18:30:58 +0100 Subject: [PATCH 09/13] Added the new logos, colors are WIP at the moment --- NOTICE | 2 + README.md | 3 +- logo/FSFW_Logo_V3.png | Bin 0 -> 137423 bytes logo/FSFW_Logo_V3.svg | 711 +++++++++++++++++++++++++++++++++++++++ logo/FSFW_Logo_V3_bw.png | Bin 0 -> 13369 bytes 5 files changed, 715 insertions(+), 1 deletion(-) create mode 100644 logo/FSFW_Logo_V3.png create mode 100644 logo/FSFW_Logo_V3.svg create mode 100644 logo/FSFW_Logo_V3_bw.png 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 52fec27e..a59f4ddd 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,5 @@ -Flight Software Framework (FSFW) +![FSFW Logo](logo/FSFW_Logo_V3_bw.png) +# Flight Software Framework (FSFW) ====== The Flight Software Framework is a C++ Object Oriented Framework for unmanned, diff --git a/logo/FSFW_Logo_V3.png b/logo/FSFW_Logo_V3.png new file mode 100644 index 0000000000000000000000000000000000000000..2ac710dd2069446e8f10108716f4c0e97bc961b9 GIT binary patch literal 137423 zcmYIv1yI!A_ckHYDcy}UOCzN;E1^qwcY}1N^s+Qk(t;pe(%mJ}-AKa%OY>j-&hLGh zVRqSJKlj`d&wWnZs1GXg*cjv(2nYz+iV89y1cVn+2nZ;gXfNTPcqtGP!e3svNhzwM z!GHYF%p>7{qdP0;xFH}Y&HVjE{BhAW0{@WgldSe9H7CnYo+hpq2%esvTsDq&Ze}LV z7F9r0{eMZUDyUYGtPQ?bn>1YWG3Su{O_wqRx+|6r^$lL76+cbcKK z1m;XStlyt#O2}2f6B{ynjDU)YHw_4>d$wX^ ziA2;d5uL_y*v-!?ByY#sg?7H{#6!>@eB#Uw1n%X|KgnUtx3VWJ)OD#i}D 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z;{zwx^_jlM4Md9kZFcLstXJ3V$!ZS_G9JBNjhNSIR(u>@kMG4?( Date: Tue, 1 Dec 2020 13:32:50 +0100 Subject: [PATCH 10/13] Update 'README.md' --- README.md | 1 - 1 file changed, 1 deletion(-) diff --git a/README.md b/README.md index a59f4ddd..4aabe36a 100644 --- a/README.md +++ b/README.md @@ -1,6 +1,5 @@ ![FSFW Logo](logo/FSFW_Logo_V3_bw.png) # Flight Software Framework (FSFW) -====== The Flight Software Framework is a C++ Object Oriented Framework for unmanned, automated systems like Satellites. From 98dae18430f6a19ee1047d5c0b47d16cf4ee6bc2 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 1 Dec 2020 13:46:29 +0100 Subject: [PATCH 11/13] update defaultcfg folder --- defaultcfg/{config => fsfwconfig}/FSFWConfig.h | 15 +++++++++------ defaultcfg/{config => fsfwconfig}/OBSWConfig.h | 0 defaultcfg/{config => fsfwconfig}/OBSWVersion.h | 0 .../devices/logicalAddresses.cpp | 0 .../devices/logicalAddresses.h | 2 +- .../devices/powerSwitcherList.cpp | 0 .../devices/powerSwitcherList.h | 0 .../events/subsystemIdRanges.h | 0 .../config.mk => fsfwconfig/fsfwconfig.mk} | 0 .../ipc/missionMessageTypes.cpp | 3 ++- .../ipc/missionMessageTypes.h | 0 .../{config => fsfwconfig}/objects/Factory.cpp | 14 +++++++------- .../{config => fsfwconfig}/objects/Factory.h | 0 .../objects/systemObjectList.h | 0 .../pollingsequence/PollingSequenceFactory.cpp | 0 .../pollingsequence/PollingSequenceFactory.h | 0 .../returnvalues/classIds.h | 0 defaultcfg/{config => fsfwconfig}/tmtc/apid.h | 0 defaultcfg/{config => fsfwconfig}/tmtc/pusIds.h | 0 19 files changed, 19 insertions(+), 15 deletions(-) rename defaultcfg/{config => fsfwconfig}/FSFWConfig.h (81%) rename defaultcfg/{config => fsfwconfig}/OBSWConfig.h (100%) rename defaultcfg/{config => fsfwconfig}/OBSWVersion.h (100%) rename defaultcfg/{config => fsfwconfig}/devices/logicalAddresses.cpp (100%) rename defaultcfg/{config => fsfwconfig}/devices/logicalAddresses.h (89%) rename defaultcfg/{config => fsfwconfig}/devices/powerSwitcherList.cpp (100%) rename defaultcfg/{config => fsfwconfig}/devices/powerSwitcherList.h (100%) rename defaultcfg/{config => fsfwconfig}/events/subsystemIdRanges.h (100%) rename defaultcfg/{config/config.mk => fsfwconfig/fsfwconfig.mk} (100%) rename defaultcfg/{config => fsfwconfig}/ipc/missionMessageTypes.cpp (79%) rename defaultcfg/{config => fsfwconfig}/ipc/missionMessageTypes.h (100%) rename defaultcfg/{config => fsfwconfig}/objects/Factory.cpp (75%) rename defaultcfg/{config => fsfwconfig}/objects/Factory.h (100%) rename defaultcfg/{config => fsfwconfig}/objects/systemObjectList.h (100%) rename defaultcfg/{config => fsfwconfig}/pollingsequence/PollingSequenceFactory.cpp (100%) rename defaultcfg/{config => fsfwconfig}/pollingsequence/PollingSequenceFactory.h (100%) rename defaultcfg/{config => fsfwconfig}/returnvalues/classIds.h (100%) rename defaultcfg/{config => fsfwconfig}/tmtc/apid.h (100%) rename defaultcfg/{config => fsfwconfig}/tmtc/pusIds.h (100%) diff --git a/defaultcfg/config/FSFWConfig.h b/defaultcfg/fsfwconfig/FSFWConfig.h similarity index 81% rename from defaultcfg/config/FSFWConfig.h rename to defaultcfg/fsfwconfig/FSFWConfig.h index ea86152c..1386bf66 100644 --- a/defaultcfg/config/FSFWConfig.h +++ b/defaultcfg/fsfwconfig/FSFWConfig.h @@ -1,19 +1,19 @@ #ifndef CONFIG_FSFWCONFIG_H_ #define CONFIG_FSFWCONFIG_H_ -#include #include +#include //! Used to determine whether C++ ostreams are used //! 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 @@ -38,7 +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/defaultcfg/config/OBSWConfig.h b/defaultcfg/fsfwconfig/OBSWConfig.h similarity index 100% rename from defaultcfg/config/OBSWConfig.h rename to defaultcfg/fsfwconfig/OBSWConfig.h diff --git a/defaultcfg/config/OBSWVersion.h b/defaultcfg/fsfwconfig/OBSWVersion.h similarity index 100% rename from defaultcfg/config/OBSWVersion.h rename to defaultcfg/fsfwconfig/OBSWVersion.h diff --git a/defaultcfg/config/devices/logicalAddresses.cpp b/defaultcfg/fsfwconfig/devices/logicalAddresses.cpp similarity index 100% rename from defaultcfg/config/devices/logicalAddresses.cpp rename to defaultcfg/fsfwconfig/devices/logicalAddresses.cpp diff --git a/defaultcfg/config/devices/logicalAddresses.h b/defaultcfg/fsfwconfig/devices/logicalAddresses.h similarity index 89% rename from defaultcfg/config/devices/logicalAddresses.h rename to defaultcfg/fsfwconfig/devices/logicalAddresses.h index 174fa788..e0827ba3 100644 --- a/defaultcfg/config/devices/logicalAddresses.h +++ b/defaultcfg/fsfwconfig/devices/logicalAddresses.h @@ -1,8 +1,8 @@ #ifndef CONFIG_DEVICES_LOGICALADDRESSES_H_ #define CONFIG_DEVICES_LOGICALADDRESSES_H_ -#include #include +#include "../objects/systemObjectList.h" #include /** diff --git a/defaultcfg/config/devices/powerSwitcherList.cpp b/defaultcfg/fsfwconfig/devices/powerSwitcherList.cpp similarity index 100% rename from defaultcfg/config/devices/powerSwitcherList.cpp rename to defaultcfg/fsfwconfig/devices/powerSwitcherList.cpp diff --git a/defaultcfg/config/devices/powerSwitcherList.h b/defaultcfg/fsfwconfig/devices/powerSwitcherList.h similarity index 100% rename from defaultcfg/config/devices/powerSwitcherList.h rename to defaultcfg/fsfwconfig/devices/powerSwitcherList.h diff --git a/defaultcfg/config/events/subsystemIdRanges.h b/defaultcfg/fsfwconfig/events/subsystemIdRanges.h similarity index 100% rename from defaultcfg/config/events/subsystemIdRanges.h rename to defaultcfg/fsfwconfig/events/subsystemIdRanges.h diff --git a/defaultcfg/config/config.mk b/defaultcfg/fsfwconfig/fsfwconfig.mk similarity index 100% rename from defaultcfg/config/config.mk rename to defaultcfg/fsfwconfig/fsfwconfig.mk diff --git a/defaultcfg/config/ipc/missionMessageTypes.cpp b/defaultcfg/fsfwconfig/ipc/missionMessageTypes.cpp similarity index 79% rename from defaultcfg/config/ipc/missionMessageTypes.cpp rename to defaultcfg/fsfwconfig/ipc/missionMessageTypes.cpp index e2edbf9c..b41b87ba 100644 --- a/defaultcfg/config/ipc/missionMessageTypes.cpp +++ b/defaultcfg/fsfwconfig/ipc/missionMessageTypes.cpp @@ -1,4 +1,5 @@ -#include +#include "missionMessageTypes.h" + #include void messagetypes::clearMissionMessage(CommandMessage* message) { diff --git a/defaultcfg/config/ipc/missionMessageTypes.h b/defaultcfg/fsfwconfig/ipc/missionMessageTypes.h similarity index 100% rename from defaultcfg/config/ipc/missionMessageTypes.h rename to defaultcfg/fsfwconfig/ipc/missionMessageTypes.h diff --git a/defaultcfg/config/objects/Factory.cpp b/defaultcfg/fsfwconfig/objects/Factory.cpp similarity index 75% rename from defaultcfg/config/objects/Factory.cpp rename to defaultcfg/fsfwconfig/objects/Factory.cpp index 51dd6130..41333b1c 100644 --- a/defaultcfg/config/objects/Factory.cpp +++ b/defaultcfg/fsfwconfig/objects/Factory.cpp @@ -11,6 +11,7 @@ #include #include #include +#include #include @@ -31,15 +32,15 @@ void Factory::produce(void) { setStaticFrameworkObjectIds(); new EventManager(objects::EVENT_MANAGER); new HealthTable(objects::HEALTH_TABLE); - //new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER); + new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER); } void Factory::setStaticFrameworkObjectIds() { - PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR; - PusServiceBase::packetDestination = objects::TM_FUNNEL; + PusServiceBase::packetSource = objects::NO_OBJECT; + PusServiceBase::packetDestination = objects::NO_OBJECT; - CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR; - CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL; + CommandingServiceBase::defaultPacketSource = objects::NO_OBJECT; + CommandingServiceBase::defaultPacketDestination = objects::NO_OBJECT; VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION; @@ -48,7 +49,6 @@ void Factory::setStaticFrameworkObjectIds() { DeviceHandlerFailureIsolation::powerConfirmationId = objects::NO_OBJECT; - TmPacketStored::timeStamperId = objects::PUS_TIME; - //TmFunnel::downlinkDestination = objects::NO_OBJECT; + TmPacketStored::timeStamperId = objects::NO_OBJECT; } diff --git a/defaultcfg/config/objects/Factory.h b/defaultcfg/fsfwconfig/objects/Factory.h similarity index 100% rename from defaultcfg/config/objects/Factory.h rename to defaultcfg/fsfwconfig/objects/Factory.h diff --git a/defaultcfg/config/objects/systemObjectList.h b/defaultcfg/fsfwconfig/objects/systemObjectList.h similarity index 100% rename from defaultcfg/config/objects/systemObjectList.h rename to defaultcfg/fsfwconfig/objects/systemObjectList.h diff --git a/defaultcfg/config/pollingsequence/PollingSequenceFactory.cpp b/defaultcfg/fsfwconfig/pollingsequence/PollingSequenceFactory.cpp similarity index 100% rename from defaultcfg/config/pollingsequence/PollingSequenceFactory.cpp rename to defaultcfg/fsfwconfig/pollingsequence/PollingSequenceFactory.cpp diff --git a/defaultcfg/config/pollingsequence/PollingSequenceFactory.h b/defaultcfg/fsfwconfig/pollingsequence/PollingSequenceFactory.h similarity index 100% rename from defaultcfg/config/pollingsequence/PollingSequenceFactory.h rename to defaultcfg/fsfwconfig/pollingsequence/PollingSequenceFactory.h diff --git a/defaultcfg/config/returnvalues/classIds.h b/defaultcfg/fsfwconfig/returnvalues/classIds.h similarity index 100% rename from defaultcfg/config/returnvalues/classIds.h rename to defaultcfg/fsfwconfig/returnvalues/classIds.h diff --git a/defaultcfg/config/tmtc/apid.h b/defaultcfg/fsfwconfig/tmtc/apid.h similarity index 100% rename from defaultcfg/config/tmtc/apid.h rename to defaultcfg/fsfwconfig/tmtc/apid.h diff --git a/defaultcfg/config/tmtc/pusIds.h b/defaultcfg/fsfwconfig/tmtc/pusIds.h similarity index 100% rename from defaultcfg/config/tmtc/pusIds.h rename to defaultcfg/fsfwconfig/tmtc/pusIds.h From 802e24e2933be81eb6f7a35af89692dfff5bc159 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 1 Dec 2020 14:43:36 +0100 Subject: [PATCH 12/13] change log update --- CHANGELOG | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CHANGELOG b/CHANGELOG index 96f5703c..d5e083dc 100644 --- a/CHANGELOG +++ b/CHANGELOG @@ -1,4 +1,4 @@ -## Changes from ASTP 0.0.1 to 0.0.2 +## Changes from ASTP 1.0.0 to 1.1.0 ### FreeRTOS OSAL From 45df446ab80e1303738889c21e15921c4b807fd6 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 1 Dec 2020 14:44:03 +0100 Subject: [PATCH 13/13] change log update --- CHANGELOG | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CHANGELOG b/CHANGELOG index d5e083dc..4937b5f8 100644 --- a/CHANGELOG +++ b/CHANGELOG @@ -1,4 +1,4 @@ -## Changes from ASTP 1.0.0 to 1.1.0 +## Changes from ASTP 0.0.1 to 1.0.0 ### FreeRTOS OSAL