From 3a2dc5eeb60d3b06d3e77a29b433482cb53f94f0 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Mon, 13 Jul 2020 13:33:12 +0200 Subject: [PATCH 01/27] new tmtc unix udp bridge --- osal/linux/TcUnixUdpPollingTask.cpp | 137 +++++++++++++++++++++++ osal/linux/TcUnixUdpPollingTask.h | 67 +++++++++++ osal/linux/TmTcUnixUdpBridge.cpp | 168 ++++++++++++++++++++++++++++ osal/linux/TmTcUnixUdpBridge.h | 48 ++++++++ 4 files changed, 420 insertions(+) create mode 100644 osal/linux/TcUnixUdpPollingTask.cpp create mode 100644 osal/linux/TcUnixUdpPollingTask.h create mode 100644 osal/linux/TmTcUnixUdpBridge.cpp create mode 100644 osal/linux/TmTcUnixUdpBridge.h diff --git a/osal/linux/TcUnixUdpPollingTask.cpp b/osal/linux/TcUnixUdpPollingTask.cpp new file mode 100644 index 00000000..8cf7b285 --- /dev/null +++ b/osal/linux/TcUnixUdpPollingTask.cpp @@ -0,0 +1,137 @@ +#include +#include + +TcUnixUdpPollingTask::TcUnixUdpPollingTask(object_id_t objectId, + object_id_t tmtcUnixUdpBridge, size_t frameSize, + double timeoutSeconds): SystemObject(objectId), + tmtcBridgeId(tmtcUnixUdpBridge) { + + if(frameSize > 0) { + this->frameSize = frameSize; + } + else { + this->frameSize = DEFAULT_MAX_FRAME_SIZE; + } + + // Set up reception buffer with specified frame size. + // For now, it is assumed that only one frame is held in the buffer! + receptionBuffer.reserve(this->frameSize); + receptionBuffer.resize(this->frameSize); + + if(timeoutSeconds == -1) { + receptionTimeout = DEFAULT_TIMEOUT; + } + else { + receptionTimeout = timevalOperations::toTimeval(timeoutSeconds); + } +} + +TcUnixUdpPollingTask::~TcUnixUdpPollingTask() {} + +ReturnValue_t TcUnixUdpPollingTask::performOperation(uint8_t opCode) { + // Poll for new UDP datagrams in permanent loop. + while(1) { + //! Sender Address is cached here. + struct sockaddr_in senderAddress; + socklen_t senderSockLen = 0; + ssize_t bytesReceived = recvfrom(serverUdpSocket, + receptionBuffer.data(), frameSize, receptionFlags, + reinterpret_cast(&senderAddress), &senderSockLen); + if(bytesReceived < 0) { + // handle error + sif::error << "TcSocketPollingTask::performOperation: Reception" + "error." << std::endl; + handleReadError(); + + continue; + } +// sif::debug << "TcSocketPollingTask::performOperation: " << bytesReceived +// << " bytes received" << std::endl; + + ReturnValue_t result = handleSuccessfullTcRead(bytesReceived); + if(result != HasReturnvaluesIF::RETURN_FAILED) { + + } + tmtcBridge->registerCommConnect(); + tmtcBridge->checkAndSetClientAddress(senderAddress); + } + return HasReturnvaluesIF::RETURN_OK; +} + + +ReturnValue_t TcUnixUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) { + store_address_t storeId; + ReturnValue_t result = tcStore->addData(&storeId, + receptionBuffer.data(), bytesRead); + // arrayprinter::print(receptionBuffer.data(), bytesRead); + if (result != HasReturnvaluesIF::RETURN_OK) { + sif::error << "TcSerialPollingTask::transferPusToSoftwareBus: Data " + "storage failed" << std::endl; + sif::error << "Packet size: " << bytesRead << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + + TmTcMessage message(storeId); + + result = MessageQueueSenderIF::sendMessage(targetTcDestination, &message); + if (result != HasReturnvaluesIF::RETURN_OK) { + sif::error << "Serial Polling: Sending message to queue failed" + << std::endl; + tcStore->deleteData(storeId); + } + return result; +} + +ReturnValue_t TcUnixUdpPollingTask::initialize() { + tcStore = objectManager->get(objects::TC_STORE); + if (tcStore == nullptr) { + sif::error << "TcSerialPollingTask::initialize: TC Store uninitialized!" + << std::endl; + return ObjectManagerIF::CHILD_INIT_FAILED; + } + + tmtcBridge = objectManager->get(tmtcBridgeId); + if(tmtcBridge == nullptr) { + sif::error << "TcSocketPollingTask::TcSocketPollingTask: Invalid" + " TMTC bridge object!" << std::endl; + return ObjectManagerIF::CHILD_INIT_FAILED; + } + + serverUdpSocket = tmtcBridge->serverSocket; + + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t TcUnixUdpPollingTask::initializeAfterTaskCreation() { + // Initialize the destination after task creation. This ensures + // that the destination will be set in the TMTC bridge. + targetTcDestination = tmtcBridge->getRequestQueue(); + return HasReturnvaluesIF::RETURN_OK; +} + +void TcUnixUdpPollingTask::setTimeout(double timeoutSeconds) { + timeval tval; + tval = timevalOperations::toTimeval(timeoutSeconds); + int result = setsockopt(serverUdpSocket, SOL_SOCKET, SO_RCVTIMEO, + &tval, sizeof(receptionTimeout)); + if(result == -1) { + sif::error << "TcSocketPollingTask::TcSocketPollingTask: Setting " + "receive timeout failed with " << strerror(errno) << std::endl; + } +} + +void TcUnixUdpPollingTask::handleReadError() { + switch(errno) { + case(EAGAIN): { + // todo: When working in timeout mode, this will occur more often + // and is not an error. + sif::error << "TcUnixUdpPollingTask::handleReadError: Timeout." + << std::endl; + break; + } + default: { + sif::error << "TcUnixUdpPollingTask::handleReadError: " + << strerror(errno) << std::endl; + } + } +} diff --git a/osal/linux/TcUnixUdpPollingTask.h b/osal/linux/TcUnixUdpPollingTask.h new file mode 100644 index 00000000..d8de1458 --- /dev/null +++ b/osal/linux/TcUnixUdpPollingTask.h @@ -0,0 +1,67 @@ +#ifndef FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_ +#define FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_ + +#include +#include +#include + +#include +#include + +/** + * @brief This class can be used to implement the polling of a Unix socket, + * using UDP for now. + * @details + * The task will be blocked while the specified number of bytes has not been + * received, so TC reception is handled inside a separate task. + * This class caches the IP address of the sender. It is assumed there + * is only one sender for now. + */ +class TcUnixUdpPollingTask: public SystemObject, + public ExecutableObjectIF { + friend class TmTcUnixUdpBridge; +public: + static constexpr size_t DEFAULT_MAX_FRAME_SIZE = 2048; + //! 0.5 default milliseconds timeout for now. + static constexpr timeval DEFAULT_TIMEOUT = {.tv_sec = 0, .tv_usec = 500}; + + TcUnixUdpPollingTask(object_id_t objectId, object_id_t tmtcUnixUdpBridge, + size_t frameSize = 0, double timeoutSeconds = -1); + virtual~ TcUnixUdpPollingTask(); + + /** + * Turn on optional timeout for UDP polling. In the default mode, + * the receive function will block until a packet is received. + * @param timeoutSeconds + */ + void setTimeout(double timeoutSeconds); + + virtual ReturnValue_t performOperation(uint8_t opCode) override; + virtual ReturnValue_t initialize() override; + virtual ReturnValue_t initializeAfterTaskCreation() override; + +protected: + StorageManagerIF* tcStore = nullptr; + +private: + //! TMTC bridge is cached. + object_id_t tmtcBridgeId = objects::NO_OBJECT; + TmTcUnixUdpBridge* tmtcBridge = nullptr; + MessageQueueId_t targetTcDestination = MessageQueueIF::NO_QUEUE; + //! Reception flags: https://linux.die.net/man/2/recvfrom. + int receptionFlags = 0; + + //! Server socket, which is member of TMTC bridge and is assigned in + //! constructor + int serverUdpSocket = 0; + + std::vector receptionBuffer; + + size_t frameSize = 0; + timeval receptionTimeout; + + ReturnValue_t handleSuccessfullTcRead(size_t bytesRead); + void handleReadError(); +}; + +#endif /* FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_ */ diff --git a/osal/linux/TmTcUnixUdpBridge.cpp b/osal/linux/TmTcUnixUdpBridge.cpp new file mode 100644 index 00000000..92fbbdfa --- /dev/null +++ b/osal/linux/TmTcUnixUdpBridge.cpp @@ -0,0 +1,168 @@ +#include +#include +#include + +#include +#include + +TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId, + object_id_t tcDestination, object_id_t tmStoreId, object_id_t tcStoreId, + uint16_t serverPort, uint16_t clientPort): + TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) { + mutex = MutexFactory::instance()->createMutex(); + + uint16_t setServerPort = DEFAULT_UDP_SERVER_PORT; + if(serverPort != 0xFFFF) { + setServerPort = serverPort; + } + + uint16_t setClientPort = DEFAULT_UDP_CLIENT_PORT; + if(clientPort != 0xFFFF) { + setClientPort = clientPort; + } + + // Set up UDP socket: https://man7.org/linux/man-pages/man7/ip.7.html + //clientSocket = socket(AF_INET, SOCK_DGRAM, 0); + serverSocket = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP); + if(socket < 0) { + sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not open" + " UDP socket!" << std::endl; + handleSocketError(); + return; + } + + serverAddress.sin_family = AF_INET; + + // Accept packets from any interface. + //serverAddress.sin_addr.s_addr = inet_addr("127.73.73.0"); + serverAddress.sin_addr.s_addr = htonl(INADDR_ANY); + serverAddress.sin_port = htons(setServerPort); + serverAddressLen = sizeof(serverAddress); + setsockopt(serverSocket, SOL_SOCKET, SO_REUSEADDR, &serverSocketOptions, + sizeof(serverSocketOptions)); + + clientAddress.sin_family = AF_INET; + clientAddress.sin_addr.s_addr = htonl(INADDR_ANY); + clientAddress.sin_port = htons(setClientPort); + clientAddressLen = sizeof(clientAddress); + + int result = bind(serverSocket, + reinterpret_cast(&serverAddress), + serverAddressLen); + if(result == -1) { + sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not bind " + "local port " << setServerPort << " to server socket!" + << std::endl; + handleBindError(); + return; + } +} + +TmTcUnixUdpBridge::~TmTcUnixUdpBridge() { +} + +ReturnValue_t TmTcUnixUdpBridge::sendTm(const uint8_t *data, size_t dataLen) { + int flags = 0; + + clientAddress.sin_addr.s_addr = htons(INADDR_ANY); + //clientAddress.sin_addr.s_addr = inet_addr("127.73.73.1"); + clientAddressLen = sizeof(serverAddress); + +// char ipAddress [15]; +// sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET, +// &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl; + + ssize_t bytesSent = sendto(serverSocket, data, dataLen, flags, + reinterpret_cast(&clientAddress), clientAddressLen); + if(bytesSent < 0) { + sif::error << "TmTcUnixUdpBridge::sendTm: Send operation failed." + << std::endl; + handleSendError(); + } +// sif::debug << "TmTcUnixUdpBridge::sendTm: " << bytesSent << " bytes were" +// " sent." << std::endl; + return HasReturnvaluesIF::RETURN_OK; +} + +void TmTcUnixUdpBridge::checkAndSetClientAddress(sockaddr_in newAddress) { + MutexHelper lock(mutex, 10); + +// char ipAddress [15]; +// sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET, +// &newAddress.sin_addr.s_addr, ipAddress, 15) << std::endl; +// sif::debug << "IP Address Old: " << inet_ntop(AF_INET, +// &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl; + + // Set new IP address if it has changed. + if(clientAddress.sin_addr.s_addr != newAddress.sin_addr.s_addr) { + clientAddress.sin_addr.s_addr = newAddress.sin_addr.s_addr; + clientAddressLen = sizeof(clientAddress); + } +} + +void TmTcUnixUdpBridge::handleSocketError() { + + // See: https://man7.org/linux/man-pages/man2/socket.2.html + switch(errno) { + case(EACCES): + case(EINVAL): + case(EMFILE): + case(ENFILE): + case(EAFNOSUPPORT): + case(ENOBUFS): + case(ENOMEM): + case(EPROTONOSUPPORT): + sif::error << "TmTcUnixBridge::handleSocketError: Socket creation failed" + << " with " << strerror(errno) << std::endl; + break; + default: + sif::error << "TmTcUnixBridge::handleSocketError: Unknown error" + << std::endl; + break; + } +} + +void TmTcUnixUdpBridge::handleBindError() { + // See: https://man7.org/linux/man-pages/man2/bind.2.html + switch(errno) { + case(EACCES): { + /* + Ephermeral ports can be shown with following command: + sysctl -A | grep ip_local_port_range + */ + sif::error << "TmTcUnixBridge::handleBindError: Port access issue." + "Ports 1-1024 are reserved on UNIX systems and require root " + "rights while ephermeral ports should not be used as well." + << std::endl; + } + break; + case(EADDRINUSE): + case(EBADF): + case(EINVAL): + case(ENOTSOCK): + case(EADDRNOTAVAIL): + case(EFAULT): + case(ELOOP): + case(ENAMETOOLONG): + case(ENOENT): + case(ENOMEM): + case(ENOTDIR): + case(EROFS): { + sif::error << "TmTcUnixBridge::handleBindError: Socket creation failed" + << " with " << strerror(errno) << std::endl; + break; + } + default: + sif::error << "TmTcUnixBridge::handleBindError: Unknown error" + << std::endl; + break; + } +} + +void TmTcUnixUdpBridge::handleSendError() { + switch(errno) { + default: + sif::error << "Error: " << strerror(errno) << std::endl; + } +} + diff --git a/osal/linux/TmTcUnixUdpBridge.h b/osal/linux/TmTcUnixUdpBridge.h new file mode 100644 index 00000000..dbddc6c3 --- /dev/null +++ b/osal/linux/TmTcUnixUdpBridge.h @@ -0,0 +1,48 @@ +#ifndef FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_ +#define FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_ + +#include +#include +#include +#include +#include + +class TmTcUnixUdpBridge: public TmTcBridge { + friend class TcUnixUdpPollingTask; +public: + // The ports chosen here should not be used by any other process. + // List of used ports on Linux: /etc/services + static constexpr uint16_t DEFAULT_UDP_SERVER_PORT = 7301; + static constexpr uint16_t DEFAULT_UDP_CLIENT_PORT = 7302; + + TmTcUnixUdpBridge(object_id_t objectId, object_id_t tcDestination, + object_id_t tmStoreId, object_id_t tcStoreId, + uint16_t serverPort = 0xFFFF,uint16_t clientPort = 0xFFFF); + virtual~ TmTcUnixUdpBridge(); + + void checkAndSetClientAddress(sockaddr_in clientAddress); + +protected: + virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override; + +private: + int serverSocket = 0; + + const int serverSocketOptions = 0; + + struct sockaddr_in clientAddress; + socklen_t clientAddressLen = 0; + + struct sockaddr_in serverAddress; + socklen_t serverAddressLen = 0; + + //! Access to the client address is mutex protected as it is set + //! by another task. + MutexIF* mutex; + + void handleSocketError(); + void handleBindError(); + void handleSendError(); +}; + +#endif /* FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_ */ From 8c722feafb18f15e5e1db3ddde65ae66a3b09dad Mon Sep 17 00:00:00 2001 From: Steffen Gaisser Date: Tue, 11 Aug 2020 16:21:59 +0200 Subject: [PATCH 02/27] Fixes #47 and #36 --- container/ArrayList.h | 8 ++- container/FixedMap.h | 23 ++++----- container/FixedOrderedMultimap.h | 13 +---- subsystem/Subsystem.cpp | 4 +- tmtcservices/CommandingServiceBase.cpp | 70 +++++++++++++------------- 5 files changed, 54 insertions(+), 64 deletions(-) diff --git a/container/ArrayList.h b/container/ArrayList.h index 9c4c4ceb..0a2f460b 100644 --- a/container/ArrayList.h +++ b/container/ArrayList.h @@ -72,11 +72,15 @@ public: return tmp; } - T operator*() { + T& operator*(){ return *value; } - T *operator->() { + const T& operator*() const{ + return *value; + } + + T *operator->(){ return value; } diff --git a/container/FixedMap.h b/container/FixedMap.h index ac170bd2..0823b670 100644 --- a/container/FixedMap.h +++ b/container/FixedMap.h @@ -1,5 +1,5 @@ -#ifndef FIXEDMAP_H_ -#define FIXEDMAP_H_ +#ifndef FRAMEWORK_CONTAINER_FIXEDMAP_H_ +#define FRAMEWORK_CONTAINER_FIXEDMAP_H_ #include #include @@ -7,6 +7,10 @@ /** * \ingroup container + * + * + * \warning Iterators return a non-const key_t in the pair. + * \warning A User is not allowed to change the key, otherwise the map is corrupted. */ template class FixedMap: public SerializeIF { @@ -47,15 +51,6 @@ public: Iterator(std::pair *pair) : ArrayList, uint32_t>::Iterator(pair) { } - - T operator*() { - return ArrayList, uint32_t>::Iterator::value->second; - } - - T *operator->() { - return &ArrayList, uint32_t>::Iterator::value->second; - } - }; Iterator begin() const { @@ -70,7 +65,7 @@ public: return _size; } - ReturnValue_t insert(key_t key, T value, Iterator *storedValue = NULL) { + ReturnValue_t insert(key_t key, T value, Iterator *storedValue = nullptr) { if (exists(key) == HasReturnvaluesIF::RETURN_OK) { return KEY_ALREADY_EXISTS; } @@ -79,7 +74,7 @@ public: } theMap[_size].first = key; theMap[_size].second = value; - if (storedValue != NULL) { + if (storedValue != nullptr) { *storedValue = Iterator(&theMap[_size]); } ++_size; @@ -87,7 +82,7 @@ public: } ReturnValue_t insert(std::pair pair) { - return insert(pair.fist, pair.second); + return insert(pair.first, pair.second); } ReturnValue_t exists(key_t key) const { diff --git a/container/FixedOrderedMultimap.h b/container/FixedOrderedMultimap.h index 21629664..4f81c97c 100644 --- a/container/FixedOrderedMultimap.h +++ b/container/FixedOrderedMultimap.h @@ -68,15 +68,6 @@ public: Iterator(std::pair *pair) : ArrayList, uint32_t>::Iterator(pair) { } - - T operator*() { - return ArrayList, uint32_t>::Iterator::value->second; - } - - T *operator->() { - return &ArrayList, uint32_t>::Iterator::value->second; - } - }; Iterator begin() const { @@ -91,7 +82,7 @@ public: return _size; } - ReturnValue_t insert(key_t key, T value, Iterator *storedValue = NULL) { + ReturnValue_t insert(key_t key, T value, Iterator *storedValue = nullptr) { if (_size == theMap.maxSize()) { return MAP_FULL; } @@ -101,7 +92,7 @@ public: theMap[position].first = key; theMap[position].second = value; ++_size; - if (storedValue != NULL) { + if (storedValue != nullptr) { *storedValue = Iterator(&theMap[position]); } return HasReturnvaluesIF::RETURN_OK; diff --git a/subsystem/Subsystem.cpp b/subsystem/Subsystem.cpp index fcf2e189..094e79b4 100644 --- a/subsystem/Subsystem.cpp +++ b/subsystem/Subsystem.cpp @@ -549,7 +549,7 @@ Mode_t Subsystem::getFallbackSequence(Mode_t sequence) { for (FixedMap::Iterator iter = modeSequences.begin(); iter != modeSequences.end(); ++iter) { if (iter.value->first == sequence) { - return iter->fallbackSequence; + return iter->second.fallbackSequence; } } return -1; @@ -558,7 +558,7 @@ Mode_t Subsystem::getFallbackSequence(Mode_t sequence) { bool Subsystem::isFallbackSequence(Mode_t SequenceId) { for (FixedMap::Iterator iter = modeSequences.begin(); iter != modeSequences.end(); iter++) { - if (iter->fallbackSequence == SequenceId) { + if (iter->second.fallbackSequence == SequenceId) { return true; } } diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp index 331bc7c8..b08e315d 100644 --- a/tmtcservices/CommandingServiceBase.cpp +++ b/tmtcservices/CommandingServiceBase.cpp @@ -104,8 +104,8 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) { // Implemented by child class, specifies what to do with reply. - ReturnValue_t result = handleReply(reply, iter->command, &iter->state, - &nextCommand, iter->objectId, &isStep); + ReturnValue_t result = handleReply(reply, iter->second.command, &iter->second.state, + &nextCommand, iter->second.objectId, &isStep); /* If the child implementation does not implement special handling for * rejected replies (RETURN_FAILED is returned), a failure verification @@ -114,7 +114,7 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) { if(reply->getCommand() == CommandMessage::REPLY_REJECTED and result == RETURN_FAILED) { result = reply->getReplyRejectedReason(); - failureParameter1 = iter->command; + failureParameter1 = iter->second.command; } switch (result) { @@ -131,14 +131,14 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) { default: if (isStep) { verificationReporter.sendFailureReport( - TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags, - iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl, - result, ++iter->step, failureParameter1, + TC_VERIFY::PROGRESS_FAILURE, iter->second.tcInfo.ackFlags, + iter->second.tcInfo.tcPacketId, iter->second.tcInfo.tcSequenceControl, + result, ++iter->second.step, failureParameter1, failureParameter2); } else { verificationReporter.sendFailureReport( - TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags, - iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl, + TC_VERIFY::COMPLETION_FAILURE, iter->second.tcInfo.ackFlags, + iter->second.tcInfo.tcPacketId, iter->second.tcInfo.tcSequenceControl, result, 0, failureParameter1, failureParameter2); } failureParameter1 = 0; @@ -152,7 +152,7 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) { void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result, CommandMapIter iter, CommandMessage* nextCommand, CommandMessage* reply, bool& isStep) { - iter->command = nextCommand->getCommand(); + iter->second.command = nextCommand->getCommand(); // In case a new command is to be sent immediately, this is performed here. // If no new command is sent, only analyse reply result by initializing @@ -167,14 +167,14 @@ void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result, if (isStep and result != NO_STEP_MESSAGE) { verificationReporter.sendSuccessReport( TC_VERIFY::PROGRESS_SUCCESS, - iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId, - iter->tcInfo.tcSequenceControl, ++iter->step); + iter->second.tcInfo.ackFlags, iter->second.tcInfo.tcPacketId, + iter->second.tcInfo.tcSequenceControl, ++iter->second.step); } else { verificationReporter.sendSuccessReport( TC_VERIFY::COMPLETION_SUCCESS, - iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId, - iter->tcInfo.tcSequenceControl, 0); + iter->second.tcInfo.ackFlags, iter->second.tcInfo.tcPacketId, + iter->second.tcInfo.tcSequenceControl, 0); checkAndExecuteFifo(iter); } } @@ -182,16 +182,16 @@ void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result, if (isStep) { nextCommand->clearCommandMessage(); verificationReporter.sendFailureReport( - TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags, - iter->tcInfo.tcPacketId, - iter->tcInfo.tcSequenceControl, sendResult, - ++iter->step, failureParameter1, failureParameter2); + TC_VERIFY::PROGRESS_FAILURE, iter->second.tcInfo.ackFlags, + iter->second.tcInfo.tcPacketId, + iter->second.tcInfo.tcSequenceControl, sendResult, + ++iter->second.step, failureParameter1, failureParameter2); } else { nextCommand->clearCommandMessage(); verificationReporter.sendFailureReport( TC_VERIFY::COMPLETION_FAILURE, - iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId, - iter->tcInfo.tcSequenceControl, sendResult, 0, + iter->second.tcInfo.ackFlags, iter->second.tcInfo.tcPacketId, + iter->second.tcInfo.tcSequenceControl, sendResult, 0, failureParameter1, failureParameter2); } failureParameter1 = 0; @@ -230,7 +230,7 @@ void CommandingServiceBase::handleRequestQueue() { iter = commandMap.find(queue); if (iter != commandMap.end()) { - result = iter->fifo.insert(address); + result = iter->second.fifo.insert(address); if (result != RETURN_OK) { rejectPacket(TC_VERIFY::START_FAILURE, &packet, OBJECT_BUSY); } @@ -298,11 +298,11 @@ void CommandingServiceBase::startExecution(TcPacketStored *storedPacket, CommandMapIter iter) { ReturnValue_t result = RETURN_OK; CommandMessage command; - iter->subservice = storedPacket->getSubService(); - result = prepareCommand(&command, iter->subservice, + iter->second.subservice = storedPacket->getSubService(); + result = prepareCommand(&command, iter->second.subservice, storedPacket->getApplicationData(), - storedPacket->getApplicationDataSize(), &iter->state, - iter->objectId); + storedPacket->getApplicationDataSize(), &iter->second.state, + iter->second.objectId); ReturnValue_t sendResult = RETURN_OK; switch (result) { @@ -312,13 +312,13 @@ void CommandingServiceBase::startExecution(TcPacketStored *storedPacket, &command); } if (sendResult == RETURN_OK) { - Clock::getUptime(&iter->uptimeOfStart); - iter->step = 0; - iter->subservice = storedPacket->getSubService(); - iter->command = command.getCommand(); - iter->tcInfo.ackFlags = storedPacket->getAcknowledgeFlags(); - iter->tcInfo.tcPacketId = storedPacket->getPacketId(); - iter->tcInfo.tcSequenceControl = + Clock::getUptime(&iter->second.uptimeOfStart); + iter->second.step = 0; + iter->second.subservice = storedPacket->getSubService(); + iter->second.command = command.getCommand(); + iter->second.tcInfo.ackFlags = storedPacket->getAcknowledgeFlags(); + iter->second.tcInfo.tcPacketId = storedPacket->getPacketId(); + iter->second.tcInfo.tcSequenceControl = storedPacket->getPacketSequenceControl(); acceptPacket(TC_VERIFY::START_SUCCESS, storedPacket); } else { @@ -368,7 +368,7 @@ void CommandingServiceBase::acceptPacket(uint8_t reportId, void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter iter) { store_address_t address; - if (iter->fifo.retrieve(&address) != RETURN_OK) { + if (iter->second.fifo.retrieve(&address) != RETURN_OK) { commandMap.erase(&iter); } else { TcPacketStored newPacket(address); @@ -394,10 +394,10 @@ void CommandingServiceBase::checkTimeout() { Clock::getUptime(&uptime); CommandMapIter iter; for (iter = commandMap.begin(); iter != commandMap.end(); ++iter) { - if ((iter->uptimeOfStart + (timeoutSeconds * 1000)) < uptime) { + if ((iter->second.uptimeOfStart + (timeoutSeconds * 1000)) < uptime) { verificationReporter.sendFailureReport( - TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags, - iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl, + TC_VERIFY::COMPLETION_FAILURE, iter->second.tcInfo.ackFlags, + iter->second.tcInfo.tcPacketId, iter->second.tcInfo.tcSequenceControl, TIMEOUT); checkAndExecuteFifo(iter); } From e963aca02a343a8afa46e5ef0103307b1b87248d Mon Sep 17 00:00:00 2001 From: Steffen Gaisser Date: Tue, 11 Aug 2020 17:02:19 +0200 Subject: [PATCH 03/27] Fixed an issue with memmove in FixedOrderedMultimap --- container/FixedOrderedMultimap.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/container/FixedOrderedMultimap.h b/container/FixedOrderedMultimap.h index 4f81c97c..4ddc5dcb 100644 --- a/container/FixedOrderedMultimap.h +++ b/container/FixedOrderedMultimap.h @@ -48,7 +48,7 @@ private: if (_size <= position) { return; } - memmove(&theMap[position], &theMap[position + 1], + memmove(static_cast(&theMap[position]), static_cast(&theMap[position + 1]), (_size - position - 1) * sizeof(std::pair)); --_size; } @@ -87,7 +87,7 @@ public: return MAP_FULL; } uint32_t position = findNicePlace(key); - memmove(&theMap[position + 1], &theMap[position], + memmove(static_cast(&theMap[position + 1]),static_cast(&theMap[position]), (_size - position) * sizeof(std::pair)); theMap[position].first = key; theMap[position].second = value; From b484e4d5ad7325597fa42905fdb984ec145a475e Mon Sep 17 00:00:00 2001 From: Steffen Gaisser Date: Thu, 13 Aug 2020 10:27:16 +0200 Subject: [PATCH 04/27] Removed unused function --- container/FixedOrderedMultimap.h | 6 ------ 1 file changed, 6 deletions(-) diff --git a/container/FixedOrderedMultimap.h b/container/FixedOrderedMultimap.h index 4ddc5dcb..872425e6 100644 --- a/container/FixedOrderedMultimap.h +++ b/container/FixedOrderedMultimap.h @@ -136,12 +136,6 @@ public: return HasReturnvaluesIF::RETURN_OK; } - //This is potentially unsafe -// T *findValue(key_t key) const { -// return &theMap[findFirstIndex(key)].second; -// } - - Iterator find(key_t key) const { ReturnValue_t result = exists(key); if (result != HasReturnvaluesIF::RETURN_OK) { From 2748a8b93b9d6fa9663cea0bd57c94e46d7f0f15 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Wed, 26 Aug 2020 17:42:13 +0200 Subject: [PATCH 05/27] added doc to dle encoder --- globalfunctions/DleEncoder.cpp | 219 +++++++++++++++++++-------------- globalfunctions/DleEncoder.h | 104 ++++++++++++---- 2 files changed, 203 insertions(+), 120 deletions(-) diff --git a/globalfunctions/DleEncoder.cpp b/globalfunctions/DleEncoder.cpp index 088c9d80..21dbd2e6 100644 --- a/globalfunctions/DleEncoder.cpp +++ b/globalfunctions/DleEncoder.cpp @@ -1,95 +1,124 @@ -#include "DleEncoder.h" - -DleEncoder::DleEncoder() { -} - -DleEncoder::~DleEncoder() { -} - -ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream, - uint32_t sourceStreamLen, uint32_t *readLen, uint8_t *destStream, - uint32_t maxDestStreamlen, uint32_t *decodedLen) { - uint32_t encodedIndex = 0, decodedIndex = 0; - uint8_t nextByte; - if (*sourceStream != STX) { - return RETURN_FAILED; - } - ++encodedIndex; - while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen) - && (sourceStream[encodedIndex] != ETX) - && (sourceStream[encodedIndex] != STX)) { - if (sourceStream[encodedIndex] == DLE) { - nextByte = sourceStream[encodedIndex + 1]; - if (nextByte == 0x10) { - destStream[decodedIndex] = nextByte; - } else { - if ((nextByte == 0x42) || (nextByte == 0x43) - || (nextByte == 0x4D)) { - destStream[decodedIndex] = nextByte - 0x40; - } else { - return RETURN_FAILED; - } - } - ++encodedIndex; - } else { - destStream[decodedIndex] = sourceStream[encodedIndex]; - } - ++encodedIndex; - ++decodedIndex; - } - if (sourceStream[encodedIndex] != ETX) { - return RETURN_FAILED; - } else { - *readLen = ++encodedIndex; - *decodedLen = decodedIndex; - return RETURN_OK; - } -} - -ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream, - uint32_t sourceLen, uint8_t* destStream, uint32_t maxDestLen, - uint32_t* encodedLen, bool addStxEtx) { - if (maxDestLen < 2) { - return RETURN_FAILED; - } - uint32_t encodedIndex = 0, sourceIndex = 0; - uint8_t nextByte; - if (addStxEtx) { - destStream[0] = STX; - ++encodedIndex; - } - while ((encodedIndex < maxDestLen) && (sourceIndex < sourceLen)) { - nextByte = sourceStream[sourceIndex]; - if ((nextByte == STX) || (nextByte == ETX) || (nextByte == 0x0D)) { - if (encodedIndex + 1 >= maxDestLen) { - return RETURN_FAILED; - } else { - destStream[encodedIndex] = DLE; - ++encodedIndex; - destStream[encodedIndex] = nextByte + 0x40; - } - } else if (nextByte == DLE) { - if (encodedIndex + 1 >= maxDestLen) { - return RETURN_FAILED; - } else { - destStream[encodedIndex] = DLE; - ++encodedIndex; - destStream[encodedIndex] = DLE; - } - } else { - destStream[encodedIndex] = nextByte; - } - ++encodedIndex; - ++sourceIndex; - } - if ((sourceIndex == sourceLen) && (encodedIndex < maxDestLen)) { - if (addStxEtx) { - destStream[encodedIndex] = ETX; - ++encodedIndex; - } - *encodedLen = encodedIndex; - return RETURN_OK; - } else { - return RETURN_FAILED; - } -} +#include "../globalfunctions/DleEncoder.h" + +DleEncoder::DleEncoder() {} + +DleEncoder::~DleEncoder() {} + +ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream, + size_t sourceLen, uint8_t* destStream, size_t maxDestLen, + size_t* encodedLen, bool addStxEtx) { + if (maxDestLen < 2) { + return STREAM_TOO_SHORT; + } + size_t encodedIndex = 0, sourceIndex = 0; + uint8_t nextByte; + if (addStxEtx) { + destStream[0] = STX_CHAR; + ++encodedIndex; + } + + while (encodedIndex < maxDestLen and sourceIndex < sourceLen) + { + nextByte = sourceStream[sourceIndex]; + // STX, ETX and CR characters in the stream need to be escaped with DLE + if (nextByte == STX_CHAR or nextByte == ETX_CHAR or nextByte == CARRIAGE_RETURN) { + if (encodedIndex + 1 >= maxDestLen) { + return STREAM_TOO_SHORT; + } + else { + destStream[encodedIndex] = DLE_CHAR; + ++encodedIndex; + /* Escaped byte will be actual byte + 0x40. This prevents + * STX, ETX, and carriage return characters from appearing + * in the encoded data stream at all, so when polling an + * encoded stream, the transmission can be stopped at ETX. + * 0x40 was chosen at random with special requirements: + * - Prevent going from one control char to another + * - Prevent overflow for common characters */ + destStream[encodedIndex] = nextByte + 0x40; + } + } + // DLE characters are simply escaped with DLE. + else if (nextByte == DLE_CHAR) { + if (encodedIndex + 1 >= maxDestLen) { + return STREAM_TOO_SHORT; + } + else { + destStream[encodedIndex] = DLE_CHAR; + ++encodedIndex; + destStream[encodedIndex] = DLE_CHAR; + } + } + else { + destStream[encodedIndex] = nextByte; + } + ++encodedIndex; + ++sourceIndex; + } + + if (sourceIndex == sourceLen and encodedIndex < maxDestLen) { + if (addStxEtx) { + destStream[encodedIndex] = ETX_CHAR; + ++encodedIndex; + } + *encodedLen = encodedIndex; + return RETURN_OK; + } + else { + return STREAM_TOO_SHORT; + } +} + +ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream, + size_t sourceStreamLen, size_t *readLen, uint8_t *destStream, + size_t maxDestStreamlen, size_t *decodedLen) { + size_t encodedIndex = 0, decodedIndex = 0; + uint8_t nextByte; + if (*sourceStream != STX_CHAR) { + return DECODING_ERROR; + } + ++encodedIndex; + + while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen) + && (sourceStream[encodedIndex] != ETX_CHAR) + && (sourceStream[encodedIndex] != STX_CHAR)) { + if (sourceStream[encodedIndex] == DLE_CHAR) { + nextByte = sourceStream[encodedIndex + 1]; + // The next byte is a DLE character that was escaped by another + // DLE character, so we can write it to the destination stream. + if (nextByte == DLE_CHAR) { + destStream[decodedIndex] = nextByte; + } + else { + /* The next byte is a STX, DTX or 0x0D character which + * was escaped by a DLE character. The actual byte was + * also encoded by adding + 0x40 to preven having control chars, + * in the stream at all, so we convert it back. */ + if (nextByte == 0x42 or nextByte == 0x43 or nextByte == 0x4D) { + destStream[decodedIndex] = nextByte - 0x40; + } + else { + return DECODING_ERROR; + } + } + ++encodedIndex; + } + else { + destStream[decodedIndex] = sourceStream[encodedIndex]; + } + + ++encodedIndex; + ++decodedIndex; + } + + if (sourceStream[encodedIndex] != ETX_CHAR) { + *readLen = ++encodedIndex; + return DECODING_ERROR; + } + else { + *readLen = ++encodedIndex; + *decodedLen = decodedIndex; + return RETURN_OK; + } +} + diff --git a/globalfunctions/DleEncoder.h b/globalfunctions/DleEncoder.h index ff3a2727..3c327a55 100644 --- a/globalfunctions/DleEncoder.h +++ b/globalfunctions/DleEncoder.h @@ -1,25 +1,79 @@ -#ifndef DLEENCODER_H_ -#define DLEENCODER_H_ - -#include "../returnvalues/HasReturnvaluesIF.h" - -class DleEncoder: public HasReturnvaluesIF { -private: - DleEncoder(); - virtual ~DleEncoder(); - -public: - static const uint8_t STX = 0x02; - static const uint8_t ETX = 0x03; - static const uint8_t DLE = 0x10; - - static ReturnValue_t decode(const uint8_t *sourceStream, - uint32_t sourceStreamLen, uint32_t *readLen, uint8_t *destStream, - uint32_t maxDestStreamlen, uint32_t *decodedLen); - - static ReturnValue_t encode(const uint8_t *sourceStream, uint32_t sourceLen, - uint8_t *destStream, uint32_t maxDestLen, uint32_t *encodedLen, - bool addStxEtx = true); -}; - -#endif /* DLEENCODER_H_ */ +#ifndef FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_ +#define FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_ + +#include "../returnvalues/HasReturnvaluesIF.h" +#include + +/** + * @brief This DLE Encoder (Data Link Encoder) can be used to encode and + * decode arbitrary data with ASCII control characters + * @details + * List of control codes: + * https://en.wikipedia.org/wiki/C0_and_C1_control_codes + * + * This encoder can be used to achieve a basic transport layer when using + * char based transmission systems. + * The passed source strean is converted into a encoded stream by adding + * a STX marker at the start of the stream and an ETX marker at the end of + * the stream. Any STX, ETX, DLE and CR occurences in the source stream are + * escaped by a DLE character. The encoder also replaces escaped control chars + * by another char, so STX, ETX and CR should not appear anywhere in the actual + * encoded data stream. + * + * When using a strictly char based reception of packets enoded with DLE, + * STX can be used to notify a reader that actual data will start to arrive + * while ETX can be used to notify the reader that the data has ended. + */ +class DleEncoder: public HasReturnvaluesIF { +private: + DleEncoder(); + virtual ~DleEncoder(); + +public: + static constexpr uint8_t INTERFACE_ID = CLASS_ID::DLE_ENCODER; + static constexpr ReturnValue_t STREAM_TOO_SHORT = MAKE_RETURN_CODE(0x01); + static constexpr ReturnValue_t DECODING_ERROR = MAKE_RETURN_CODE(0x02); + + //! Start Of Text character. First character is encoded stream + static constexpr uint8_t STX_CHAR = 0x02; + //! End Of Text character. Last character in encoded stream + static constexpr uint8_t ETX_CHAR = 0x03; + //! Data Link Escape character. Used to escape STX, ETX and DLE occurences + //! in the source stream. + static constexpr uint8_t DLE_CHAR = 0x10; + static constexpr uint8_t CARRIAGE_RETURN = 0x0D; + + /** + * Encodes the give data stream by preceding it with the STX marker + * and ending it with an ETX marker. STX, ETX and DLE characters inside + * the stream are escaped by DLE characters and also replaced by adding + * 0x40 (which is reverted in the decoing process). + * @param sourceStream + * @param sourceLen + * @param destStream + * @param maxDestLen + * @param encodedLen + * @param addStxEtx + * Adding STX and ETX can be omitted, if they are added manually. + * @return + */ + static ReturnValue_t encode(const uint8_t *sourceStream, size_t sourceLen, + uint8_t *destStream, size_t maxDestLen, size_t *encodedLen, + bool addStxEtx = true); + + /** + * Converts an encoded stream back. + * @param sourceStream + * @param sourceStreamLen + * @param readLen + * @param destStream + * @param maxDestStreamlen + * @param decodedLen + * @return + */ + static ReturnValue_t decode(const uint8_t *sourceStream, + size_t sourceStreamLen, size_t *readLen, uint8_t *destStream, + size_t maxDestStreamlen, size_t *decodedLen); +}; + +#endif /* FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_ */ From a8f2cf910b025c22f93d1ca1f070285e6d48773f Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Wed, 26 Aug 2020 17:43:20 +0200 Subject: [PATCH 06/27] taken over dle encoder from upstream master --- globalfunctions/DleEncoder.cpp | 219 ++++++++++++++------------------- globalfunctions/DleEncoder.h | 104 ++++------------ 2 files changed, 120 insertions(+), 203 deletions(-) diff --git a/globalfunctions/DleEncoder.cpp b/globalfunctions/DleEncoder.cpp index 21dbd2e6..088c9d80 100644 --- a/globalfunctions/DleEncoder.cpp +++ b/globalfunctions/DleEncoder.cpp @@ -1,124 +1,95 @@ -#include "../globalfunctions/DleEncoder.h" - -DleEncoder::DleEncoder() {} - -DleEncoder::~DleEncoder() {} - -ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream, - size_t sourceLen, uint8_t* destStream, size_t maxDestLen, - size_t* encodedLen, bool addStxEtx) { - if (maxDestLen < 2) { - return STREAM_TOO_SHORT; - } - size_t encodedIndex = 0, sourceIndex = 0; - uint8_t nextByte; - if (addStxEtx) { - destStream[0] = STX_CHAR; - ++encodedIndex; - } - - while (encodedIndex < maxDestLen and sourceIndex < sourceLen) - { - nextByte = sourceStream[sourceIndex]; - // STX, ETX and CR characters in the stream need to be escaped with DLE - if (nextByte == STX_CHAR or nextByte == ETX_CHAR or nextByte == CARRIAGE_RETURN) { - if (encodedIndex + 1 >= maxDestLen) { - return STREAM_TOO_SHORT; - } - else { - destStream[encodedIndex] = DLE_CHAR; - ++encodedIndex; - /* Escaped byte will be actual byte + 0x40. This prevents - * STX, ETX, and carriage return characters from appearing - * in the encoded data stream at all, so when polling an - * encoded stream, the transmission can be stopped at ETX. - * 0x40 was chosen at random with special requirements: - * - Prevent going from one control char to another - * - Prevent overflow for common characters */ - destStream[encodedIndex] = nextByte + 0x40; - } - } - // DLE characters are simply escaped with DLE. - else if (nextByte == DLE_CHAR) { - if (encodedIndex + 1 >= maxDestLen) { - return STREAM_TOO_SHORT; - } - else { - destStream[encodedIndex] = DLE_CHAR; - ++encodedIndex; - destStream[encodedIndex] = DLE_CHAR; - } - } - else { - destStream[encodedIndex] = nextByte; - } - ++encodedIndex; - ++sourceIndex; - } - - if (sourceIndex == sourceLen and encodedIndex < maxDestLen) { - if (addStxEtx) { - destStream[encodedIndex] = ETX_CHAR; - ++encodedIndex; - } - *encodedLen = encodedIndex; - return RETURN_OK; - } - else { - return STREAM_TOO_SHORT; - } -} - -ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream, - size_t sourceStreamLen, size_t *readLen, uint8_t *destStream, - size_t maxDestStreamlen, size_t *decodedLen) { - size_t encodedIndex = 0, decodedIndex = 0; - uint8_t nextByte; - if (*sourceStream != STX_CHAR) { - return DECODING_ERROR; - } - ++encodedIndex; - - while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen) - && (sourceStream[encodedIndex] != ETX_CHAR) - && (sourceStream[encodedIndex] != STX_CHAR)) { - if (sourceStream[encodedIndex] == DLE_CHAR) { - nextByte = sourceStream[encodedIndex + 1]; - // The next byte is a DLE character that was escaped by another - // DLE character, so we can write it to the destination stream. - if (nextByte == DLE_CHAR) { - destStream[decodedIndex] = nextByte; - } - else { - /* The next byte is a STX, DTX or 0x0D character which - * was escaped by a DLE character. The actual byte was - * also encoded by adding + 0x40 to preven having control chars, - * in the stream at all, so we convert it back. */ - if (nextByte == 0x42 or nextByte == 0x43 or nextByte == 0x4D) { - destStream[decodedIndex] = nextByte - 0x40; - } - else { - return DECODING_ERROR; - } - } - ++encodedIndex; - } - else { - destStream[decodedIndex] = sourceStream[encodedIndex]; - } - - ++encodedIndex; - ++decodedIndex; - } - - if (sourceStream[encodedIndex] != ETX_CHAR) { - *readLen = ++encodedIndex; - return DECODING_ERROR; - } - else { - *readLen = ++encodedIndex; - *decodedLen = decodedIndex; - return RETURN_OK; - } -} - +#include "DleEncoder.h" + +DleEncoder::DleEncoder() { +} + +DleEncoder::~DleEncoder() { +} + +ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream, + uint32_t sourceStreamLen, uint32_t *readLen, uint8_t *destStream, + uint32_t maxDestStreamlen, uint32_t *decodedLen) { + uint32_t encodedIndex = 0, decodedIndex = 0; + uint8_t nextByte; + if (*sourceStream != STX) { + return RETURN_FAILED; + } + ++encodedIndex; + while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen) + && (sourceStream[encodedIndex] != ETX) + && (sourceStream[encodedIndex] != STX)) { + if (sourceStream[encodedIndex] == DLE) { + nextByte = sourceStream[encodedIndex + 1]; + if (nextByte == 0x10) { + destStream[decodedIndex] = nextByte; + } else { + if ((nextByte == 0x42) || (nextByte == 0x43) + || (nextByte == 0x4D)) { + destStream[decodedIndex] = nextByte - 0x40; + } else { + return RETURN_FAILED; + } + } + ++encodedIndex; + } else { + destStream[decodedIndex] = sourceStream[encodedIndex]; + } + ++encodedIndex; + ++decodedIndex; + } + if (sourceStream[encodedIndex] != ETX) { + return RETURN_FAILED; + } else { + *readLen = ++encodedIndex; + *decodedLen = decodedIndex; + return RETURN_OK; + } +} + +ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream, + uint32_t sourceLen, uint8_t* destStream, uint32_t maxDestLen, + uint32_t* encodedLen, bool addStxEtx) { + if (maxDestLen < 2) { + return RETURN_FAILED; + } + uint32_t encodedIndex = 0, sourceIndex = 0; + uint8_t nextByte; + if (addStxEtx) { + destStream[0] = STX; + ++encodedIndex; + } + while ((encodedIndex < maxDestLen) && (sourceIndex < sourceLen)) { + nextByte = sourceStream[sourceIndex]; + if ((nextByte == STX) || (nextByte == ETX) || (nextByte == 0x0D)) { + if (encodedIndex + 1 >= maxDestLen) { + return RETURN_FAILED; + } else { + destStream[encodedIndex] = DLE; + ++encodedIndex; + destStream[encodedIndex] = nextByte + 0x40; + } + } else if (nextByte == DLE) { + if (encodedIndex + 1 >= maxDestLen) { + return RETURN_FAILED; + } else { + destStream[encodedIndex] = DLE; + ++encodedIndex; + destStream[encodedIndex] = DLE; + } + } else { + destStream[encodedIndex] = nextByte; + } + ++encodedIndex; + ++sourceIndex; + } + if ((sourceIndex == sourceLen) && (encodedIndex < maxDestLen)) { + if (addStxEtx) { + destStream[encodedIndex] = ETX; + ++encodedIndex; + } + *encodedLen = encodedIndex; + return RETURN_OK; + } else { + return RETURN_FAILED; + } +} diff --git a/globalfunctions/DleEncoder.h b/globalfunctions/DleEncoder.h index 3c327a55..ff3a2727 100644 --- a/globalfunctions/DleEncoder.h +++ b/globalfunctions/DleEncoder.h @@ -1,79 +1,25 @@ -#ifndef FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_ -#define FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_ - -#include "../returnvalues/HasReturnvaluesIF.h" -#include - -/** - * @brief This DLE Encoder (Data Link Encoder) can be used to encode and - * decode arbitrary data with ASCII control characters - * @details - * List of control codes: - * https://en.wikipedia.org/wiki/C0_and_C1_control_codes - * - * This encoder can be used to achieve a basic transport layer when using - * char based transmission systems. - * The passed source strean is converted into a encoded stream by adding - * a STX marker at the start of the stream and an ETX marker at the end of - * the stream. Any STX, ETX, DLE and CR occurences in the source stream are - * escaped by a DLE character. The encoder also replaces escaped control chars - * by another char, so STX, ETX and CR should not appear anywhere in the actual - * encoded data stream. - * - * When using a strictly char based reception of packets enoded with DLE, - * STX can be used to notify a reader that actual data will start to arrive - * while ETX can be used to notify the reader that the data has ended. - */ -class DleEncoder: public HasReturnvaluesIF { -private: - DleEncoder(); - virtual ~DleEncoder(); - -public: - static constexpr uint8_t INTERFACE_ID = CLASS_ID::DLE_ENCODER; - static constexpr ReturnValue_t STREAM_TOO_SHORT = MAKE_RETURN_CODE(0x01); - static constexpr ReturnValue_t DECODING_ERROR = MAKE_RETURN_CODE(0x02); - - //! Start Of Text character. First character is encoded stream - static constexpr uint8_t STX_CHAR = 0x02; - //! End Of Text character. Last character in encoded stream - static constexpr uint8_t ETX_CHAR = 0x03; - //! Data Link Escape character. Used to escape STX, ETX and DLE occurences - //! in the source stream. - static constexpr uint8_t DLE_CHAR = 0x10; - static constexpr uint8_t CARRIAGE_RETURN = 0x0D; - - /** - * Encodes the give data stream by preceding it with the STX marker - * and ending it with an ETX marker. STX, ETX and DLE characters inside - * the stream are escaped by DLE characters and also replaced by adding - * 0x40 (which is reverted in the decoing process). - * @param sourceStream - * @param sourceLen - * @param destStream - * @param maxDestLen - * @param encodedLen - * @param addStxEtx - * Adding STX and ETX can be omitted, if they are added manually. - * @return - */ - static ReturnValue_t encode(const uint8_t *sourceStream, size_t sourceLen, - uint8_t *destStream, size_t maxDestLen, size_t *encodedLen, - bool addStxEtx = true); - - /** - * Converts an encoded stream back. - * @param sourceStream - * @param sourceStreamLen - * @param readLen - * @param destStream - * @param maxDestStreamlen - * @param decodedLen - * @return - */ - static ReturnValue_t decode(const uint8_t *sourceStream, - size_t sourceStreamLen, size_t *readLen, uint8_t *destStream, - size_t maxDestStreamlen, size_t *decodedLen); -}; - -#endif /* FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_ */ +#ifndef DLEENCODER_H_ +#define DLEENCODER_H_ + +#include "../returnvalues/HasReturnvaluesIF.h" + +class DleEncoder: public HasReturnvaluesIF { +private: + DleEncoder(); + virtual ~DleEncoder(); + +public: + static const uint8_t STX = 0x02; + static const uint8_t ETX = 0x03; + static const uint8_t DLE = 0x10; + + static ReturnValue_t decode(const uint8_t *sourceStream, + uint32_t sourceStreamLen, uint32_t *readLen, uint8_t *destStream, + uint32_t maxDestStreamlen, uint32_t *decodedLen); + + static ReturnValue_t encode(const uint8_t *sourceStream, uint32_t sourceLen, + uint8_t *destStream, uint32_t maxDestLen, uint32_t *encodedLen, + bool addStxEtx = true); +}; + +#endif /* DLEENCODER_H_ */ From df850116ffc924ff823e1238868994c594249094 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Wed, 26 Aug 2020 17:43:47 +0200 Subject: [PATCH 07/27] dle encoder doc added --- globalfunctions/DleEncoder.cpp | 219 +++++++++++++++++++-------------- globalfunctions/DleEncoder.h | 104 ++++++++++++---- 2 files changed, 203 insertions(+), 120 deletions(-) diff --git a/globalfunctions/DleEncoder.cpp b/globalfunctions/DleEncoder.cpp index 088c9d80..21dbd2e6 100644 --- a/globalfunctions/DleEncoder.cpp +++ b/globalfunctions/DleEncoder.cpp @@ -1,95 +1,124 @@ -#include "DleEncoder.h" - -DleEncoder::DleEncoder() { -} - -DleEncoder::~DleEncoder() { -} - -ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream, - uint32_t sourceStreamLen, uint32_t *readLen, uint8_t *destStream, - uint32_t maxDestStreamlen, uint32_t *decodedLen) { - uint32_t encodedIndex = 0, decodedIndex = 0; - uint8_t nextByte; - if (*sourceStream != STX) { - return RETURN_FAILED; - } - ++encodedIndex; - while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen) - && (sourceStream[encodedIndex] != ETX) - && (sourceStream[encodedIndex] != STX)) { - if (sourceStream[encodedIndex] == DLE) { - nextByte = sourceStream[encodedIndex + 1]; - if (nextByte == 0x10) { - destStream[decodedIndex] = nextByte; - } else { - if ((nextByte == 0x42) || (nextByte == 0x43) - || (nextByte == 0x4D)) { - destStream[decodedIndex] = nextByte - 0x40; - } else { - return RETURN_FAILED; - } - } - ++encodedIndex; - } else { - destStream[decodedIndex] = sourceStream[encodedIndex]; - } - ++encodedIndex; - ++decodedIndex; - } - if (sourceStream[encodedIndex] != ETX) { - return RETURN_FAILED; - } else { - *readLen = ++encodedIndex; - *decodedLen = decodedIndex; - return RETURN_OK; - } -} - -ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream, - uint32_t sourceLen, uint8_t* destStream, uint32_t maxDestLen, - uint32_t* encodedLen, bool addStxEtx) { - if (maxDestLen < 2) { - return RETURN_FAILED; - } - uint32_t encodedIndex = 0, sourceIndex = 0; - uint8_t nextByte; - if (addStxEtx) { - destStream[0] = STX; - ++encodedIndex; - } - while ((encodedIndex < maxDestLen) && (sourceIndex < sourceLen)) { - nextByte = sourceStream[sourceIndex]; - if ((nextByte == STX) || (nextByte == ETX) || (nextByte == 0x0D)) { - if (encodedIndex + 1 >= maxDestLen) { - return RETURN_FAILED; - } else { - destStream[encodedIndex] = DLE; - ++encodedIndex; - destStream[encodedIndex] = nextByte + 0x40; - } - } else if (nextByte == DLE) { - if (encodedIndex + 1 >= maxDestLen) { - return RETURN_FAILED; - } else { - destStream[encodedIndex] = DLE; - ++encodedIndex; - destStream[encodedIndex] = DLE; - } - } else { - destStream[encodedIndex] = nextByte; - } - ++encodedIndex; - ++sourceIndex; - } - if ((sourceIndex == sourceLen) && (encodedIndex < maxDestLen)) { - if (addStxEtx) { - destStream[encodedIndex] = ETX; - ++encodedIndex; - } - *encodedLen = encodedIndex; - return RETURN_OK; - } else { - return RETURN_FAILED; - } -} +#include "../globalfunctions/DleEncoder.h" + +DleEncoder::DleEncoder() {} + +DleEncoder::~DleEncoder() {} + +ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream, + size_t sourceLen, uint8_t* destStream, size_t maxDestLen, + size_t* encodedLen, bool addStxEtx) { + if (maxDestLen < 2) { + return STREAM_TOO_SHORT; + } + size_t encodedIndex = 0, sourceIndex = 0; + uint8_t nextByte; + if (addStxEtx) { + destStream[0] = STX_CHAR; + ++encodedIndex; + } + + while (encodedIndex < maxDestLen and sourceIndex < sourceLen) + { + nextByte = sourceStream[sourceIndex]; + // STX, ETX and CR characters in the stream need to be escaped with DLE + if (nextByte == STX_CHAR or nextByte == ETX_CHAR or nextByte == CARRIAGE_RETURN) { + if (encodedIndex + 1 >= maxDestLen) { + return STREAM_TOO_SHORT; + } + else { + destStream[encodedIndex] = DLE_CHAR; + ++encodedIndex; + /* Escaped byte will be actual byte + 0x40. This prevents + * STX, ETX, and carriage return characters from appearing + * in the encoded data stream at all, so when polling an + * encoded stream, the transmission can be stopped at ETX. + * 0x40 was chosen at random with special requirements: + * - Prevent going from one control char to another + * - Prevent overflow for common characters */ + destStream[encodedIndex] = nextByte + 0x40; + } + } + // DLE characters are simply escaped with DLE. + else if (nextByte == DLE_CHAR) { + if (encodedIndex + 1 >= maxDestLen) { + return STREAM_TOO_SHORT; + } + else { + destStream[encodedIndex] = DLE_CHAR; + ++encodedIndex; + destStream[encodedIndex] = DLE_CHAR; + } + } + else { + destStream[encodedIndex] = nextByte; + } + ++encodedIndex; + ++sourceIndex; + } + + if (sourceIndex == sourceLen and encodedIndex < maxDestLen) { + if (addStxEtx) { + destStream[encodedIndex] = ETX_CHAR; + ++encodedIndex; + } + *encodedLen = encodedIndex; + return RETURN_OK; + } + else { + return STREAM_TOO_SHORT; + } +} + +ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream, + size_t sourceStreamLen, size_t *readLen, uint8_t *destStream, + size_t maxDestStreamlen, size_t *decodedLen) { + size_t encodedIndex = 0, decodedIndex = 0; + uint8_t nextByte; + if (*sourceStream != STX_CHAR) { + return DECODING_ERROR; + } + ++encodedIndex; + + while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen) + && (sourceStream[encodedIndex] != ETX_CHAR) + && (sourceStream[encodedIndex] != STX_CHAR)) { + if (sourceStream[encodedIndex] == DLE_CHAR) { + nextByte = sourceStream[encodedIndex + 1]; + // The next byte is a DLE character that was escaped by another + // DLE character, so we can write it to the destination stream. + if (nextByte == DLE_CHAR) { + destStream[decodedIndex] = nextByte; + } + else { + /* The next byte is a STX, DTX or 0x0D character which + * was escaped by a DLE character. The actual byte was + * also encoded by adding + 0x40 to preven having control chars, + * in the stream at all, so we convert it back. */ + if (nextByte == 0x42 or nextByte == 0x43 or nextByte == 0x4D) { + destStream[decodedIndex] = nextByte - 0x40; + } + else { + return DECODING_ERROR; + } + } + ++encodedIndex; + } + else { + destStream[decodedIndex] = sourceStream[encodedIndex]; + } + + ++encodedIndex; + ++decodedIndex; + } + + if (sourceStream[encodedIndex] != ETX_CHAR) { + *readLen = ++encodedIndex; + return DECODING_ERROR; + } + else { + *readLen = ++encodedIndex; + *decodedLen = decodedIndex; + return RETURN_OK; + } +} + diff --git a/globalfunctions/DleEncoder.h b/globalfunctions/DleEncoder.h index ff3a2727..3c327a55 100644 --- a/globalfunctions/DleEncoder.h +++ b/globalfunctions/DleEncoder.h @@ -1,25 +1,79 @@ -#ifndef DLEENCODER_H_ -#define DLEENCODER_H_ - -#include "../returnvalues/HasReturnvaluesIF.h" - -class DleEncoder: public HasReturnvaluesIF { -private: - DleEncoder(); - virtual ~DleEncoder(); - -public: - static const uint8_t STX = 0x02; - static const uint8_t ETX = 0x03; - static const uint8_t DLE = 0x10; - - static ReturnValue_t decode(const uint8_t *sourceStream, - uint32_t sourceStreamLen, uint32_t *readLen, uint8_t *destStream, - uint32_t maxDestStreamlen, uint32_t *decodedLen); - - static ReturnValue_t encode(const uint8_t *sourceStream, uint32_t sourceLen, - uint8_t *destStream, uint32_t maxDestLen, uint32_t *encodedLen, - bool addStxEtx = true); -}; - -#endif /* DLEENCODER_H_ */ +#ifndef FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_ +#define FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_ + +#include "../returnvalues/HasReturnvaluesIF.h" +#include + +/** + * @brief This DLE Encoder (Data Link Encoder) can be used to encode and + * decode arbitrary data with ASCII control characters + * @details + * List of control codes: + * https://en.wikipedia.org/wiki/C0_and_C1_control_codes + * + * This encoder can be used to achieve a basic transport layer when using + * char based transmission systems. + * The passed source strean is converted into a encoded stream by adding + * a STX marker at the start of the stream and an ETX marker at the end of + * the stream. Any STX, ETX, DLE and CR occurences in the source stream are + * escaped by a DLE character. The encoder also replaces escaped control chars + * by another char, so STX, ETX and CR should not appear anywhere in the actual + * encoded data stream. + * + * When using a strictly char based reception of packets enoded with DLE, + * STX can be used to notify a reader that actual data will start to arrive + * while ETX can be used to notify the reader that the data has ended. + */ +class DleEncoder: public HasReturnvaluesIF { +private: + DleEncoder(); + virtual ~DleEncoder(); + +public: + static constexpr uint8_t INTERFACE_ID = CLASS_ID::DLE_ENCODER; + static constexpr ReturnValue_t STREAM_TOO_SHORT = MAKE_RETURN_CODE(0x01); + static constexpr ReturnValue_t DECODING_ERROR = MAKE_RETURN_CODE(0x02); + + //! Start Of Text character. First character is encoded stream + static constexpr uint8_t STX_CHAR = 0x02; + //! End Of Text character. Last character in encoded stream + static constexpr uint8_t ETX_CHAR = 0x03; + //! Data Link Escape character. Used to escape STX, ETX and DLE occurences + //! in the source stream. + static constexpr uint8_t DLE_CHAR = 0x10; + static constexpr uint8_t CARRIAGE_RETURN = 0x0D; + + /** + * Encodes the give data stream by preceding it with the STX marker + * and ending it with an ETX marker. STX, ETX and DLE characters inside + * the stream are escaped by DLE characters and also replaced by adding + * 0x40 (which is reverted in the decoing process). + * @param sourceStream + * @param sourceLen + * @param destStream + * @param maxDestLen + * @param encodedLen + * @param addStxEtx + * Adding STX and ETX can be omitted, if they are added manually. + * @return + */ + static ReturnValue_t encode(const uint8_t *sourceStream, size_t sourceLen, + uint8_t *destStream, size_t maxDestLen, size_t *encodedLen, + bool addStxEtx = true); + + /** + * Converts an encoded stream back. + * @param sourceStream + * @param sourceStreamLen + * @param readLen + * @param destStream + * @param maxDestStreamlen + * @param decodedLen + * @return + */ + static ReturnValue_t decode(const uint8_t *sourceStream, + size_t sourceStreamLen, size_t *readLen, uint8_t *destStream, + size_t maxDestStreamlen, size_t *decodedLen); +}; + +#endif /* FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_ */ From 281f13e27ba915bc987f7a4023a37a4a73305cf6 Mon Sep 17 00:00:00 2001 From: gaisser Date: Wed, 26 Aug 2020 19:58:18 +0200 Subject: [PATCH 08/27] Update 'globalfunctions/DleEncoder.h' Corrected some spelling mistakes --- globalfunctions/DleEncoder.h | 158 +++++++++++++++++------------------ 1 file changed, 79 insertions(+), 79 deletions(-) diff --git a/globalfunctions/DleEncoder.h b/globalfunctions/DleEncoder.h index 3c327a55..6d073f9a 100644 --- a/globalfunctions/DleEncoder.h +++ b/globalfunctions/DleEncoder.h @@ -1,79 +1,79 @@ -#ifndef FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_ -#define FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_ - -#include "../returnvalues/HasReturnvaluesIF.h" -#include - -/** - * @brief This DLE Encoder (Data Link Encoder) can be used to encode and - * decode arbitrary data with ASCII control characters - * @details - * List of control codes: - * https://en.wikipedia.org/wiki/C0_and_C1_control_codes - * - * This encoder can be used to achieve a basic transport layer when using - * char based transmission systems. - * The passed source strean is converted into a encoded stream by adding - * a STX marker at the start of the stream and an ETX marker at the end of - * the stream. Any STX, ETX, DLE and CR occurences in the source stream are - * escaped by a DLE character. The encoder also replaces escaped control chars - * by another char, so STX, ETX and CR should not appear anywhere in the actual - * encoded data stream. - * - * When using a strictly char based reception of packets enoded with DLE, - * STX can be used to notify a reader that actual data will start to arrive - * while ETX can be used to notify the reader that the data has ended. - */ -class DleEncoder: public HasReturnvaluesIF { -private: - DleEncoder(); - virtual ~DleEncoder(); - -public: - static constexpr uint8_t INTERFACE_ID = CLASS_ID::DLE_ENCODER; - static constexpr ReturnValue_t STREAM_TOO_SHORT = MAKE_RETURN_CODE(0x01); - static constexpr ReturnValue_t DECODING_ERROR = MAKE_RETURN_CODE(0x02); - - //! Start Of Text character. First character is encoded stream - static constexpr uint8_t STX_CHAR = 0x02; - //! End Of Text character. Last character in encoded stream - static constexpr uint8_t ETX_CHAR = 0x03; - //! Data Link Escape character. Used to escape STX, ETX and DLE occurences - //! in the source stream. - static constexpr uint8_t DLE_CHAR = 0x10; - static constexpr uint8_t CARRIAGE_RETURN = 0x0D; - - /** - * Encodes the give data stream by preceding it with the STX marker - * and ending it with an ETX marker. STX, ETX and DLE characters inside - * the stream are escaped by DLE characters and also replaced by adding - * 0x40 (which is reverted in the decoing process). - * @param sourceStream - * @param sourceLen - * @param destStream - * @param maxDestLen - * @param encodedLen - * @param addStxEtx - * Adding STX and ETX can be omitted, if they are added manually. - * @return - */ - static ReturnValue_t encode(const uint8_t *sourceStream, size_t sourceLen, - uint8_t *destStream, size_t maxDestLen, size_t *encodedLen, - bool addStxEtx = true); - - /** - * Converts an encoded stream back. - * @param sourceStream - * @param sourceStreamLen - * @param readLen - * @param destStream - * @param maxDestStreamlen - * @param decodedLen - * @return - */ - static ReturnValue_t decode(const uint8_t *sourceStream, - size_t sourceStreamLen, size_t *readLen, uint8_t *destStream, - size_t maxDestStreamlen, size_t *decodedLen); -}; - -#endif /* FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_ */ +#ifndef FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_ +#define FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_ + +#include "../returnvalues/HasReturnvaluesIF.h" +#include + +/** + * @brief This DLE Encoder (Data Link Encoder) can be used to encode and + * decode arbitrary data with ASCII control characters + * @details + * List of control codes: + * https://en.wikipedia.org/wiki/C0_and_C1_control_codes + * + * This encoder can be used to achieve a basic transport layer when using + * char based transmission systems. + * The passed source strean is converted into a encoded stream by adding + * a STX marker at the start of the stream and an ETX marker at the end of + * the stream. Any STX, ETX, DLE and CR occurrences in the source stream are + * escaped by a DLE character. The encoder also replaces escaped control chars + * by another char, so STX, ETX and CR should not appear anywhere in the actual + * encoded data stream. + * + * When using a strictly char based reception of packets encoded with DLE, + * STX can be used to notify a reader that actual data will start to arrive + * while ETX can be used to notify the reader that the data has ended. + */ +class DleEncoder: public HasReturnvaluesIF { +private: + DleEncoder(); + virtual ~DleEncoder(); + +public: + static constexpr uint8_t INTERFACE_ID = CLASS_ID::DLE_ENCODER; + static constexpr ReturnValue_t STREAM_TOO_SHORT = MAKE_RETURN_CODE(0x01); + static constexpr ReturnValue_t DECODING_ERROR = MAKE_RETURN_CODE(0x02); + + //! Start Of Text character. First character is encoded stream + static constexpr uint8_t STX_CHAR = 0x02; + //! End Of Text character. Last character in encoded stream + static constexpr uint8_t ETX_CHAR = 0x03; + //! Data Link Escape character. Used to escape STX, ETX and DLE occurrences + //! in the source stream. + static constexpr uint8_t DLE_CHAR = 0x10; + static constexpr uint8_t CARRIAGE_RETURN = 0x0D; + + /** + * Encodes the give data stream by preceding it with the STX marker + * and ending it with an ETX marker. STX, ETX and DLE characters inside + * the stream are escaped by DLE characters and also replaced by adding + * 0x40 (which is reverted in the decoding process). + * @param sourceStream + * @param sourceLen + * @param destStream + * @param maxDestLen + * @param encodedLen + * @param addStxEtx + * Adding STX and ETX can be omitted, if they are added manually. + * @return + */ + static ReturnValue_t encode(const uint8_t *sourceStream, size_t sourceLen, + uint8_t *destStream, size_t maxDestLen, size_t *encodedLen, + bool addStxEtx = true); + + /** + * Converts an encoded stream back. + * @param sourceStream + * @param sourceStreamLen + * @param readLen + * @param destStream + * @param maxDestStreamlen + * @param decodedLen + * @return + */ + static ReturnValue_t decode(const uint8_t *sourceStream, + size_t sourceStreamLen, size_t *readLen, uint8_t *destStream, + size_t maxDestStreamlen, size_t *decodedLen); +}; + +#endif /* FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_ */ From 76f145ddcfe2bd0ed6e201d70873cfe3927d80df Mon Sep 17 00:00:00 2001 From: gaisser Date: Wed, 26 Aug 2020 19:59:58 +0200 Subject: [PATCH 09/27] Update 'globalfunctions/DleEncoder.cpp' Just a missing char --- globalfunctions/DleEncoder.cpp | 248 ++++++++++++++++----------------- 1 file changed, 124 insertions(+), 124 deletions(-) diff --git a/globalfunctions/DleEncoder.cpp b/globalfunctions/DleEncoder.cpp index 21dbd2e6..8520389d 100644 --- a/globalfunctions/DleEncoder.cpp +++ b/globalfunctions/DleEncoder.cpp @@ -1,124 +1,124 @@ -#include "../globalfunctions/DleEncoder.h" - -DleEncoder::DleEncoder() {} - -DleEncoder::~DleEncoder() {} - -ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream, - size_t sourceLen, uint8_t* destStream, size_t maxDestLen, - size_t* encodedLen, bool addStxEtx) { - if (maxDestLen < 2) { - return STREAM_TOO_SHORT; - } - size_t encodedIndex = 0, sourceIndex = 0; - uint8_t nextByte; - if (addStxEtx) { - destStream[0] = STX_CHAR; - ++encodedIndex; - } - - while (encodedIndex < maxDestLen and sourceIndex < sourceLen) - { - nextByte = sourceStream[sourceIndex]; - // STX, ETX and CR characters in the stream need to be escaped with DLE - if (nextByte == STX_CHAR or nextByte == ETX_CHAR or nextByte == CARRIAGE_RETURN) { - if (encodedIndex + 1 >= maxDestLen) { - return STREAM_TOO_SHORT; - } - else { - destStream[encodedIndex] = DLE_CHAR; - ++encodedIndex; - /* Escaped byte will be actual byte + 0x40. This prevents - * STX, ETX, and carriage return characters from appearing - * in the encoded data stream at all, so when polling an - * encoded stream, the transmission can be stopped at ETX. - * 0x40 was chosen at random with special requirements: - * - Prevent going from one control char to another - * - Prevent overflow for common characters */ - destStream[encodedIndex] = nextByte + 0x40; - } - } - // DLE characters are simply escaped with DLE. - else if (nextByte == DLE_CHAR) { - if (encodedIndex + 1 >= maxDestLen) { - return STREAM_TOO_SHORT; - } - else { - destStream[encodedIndex] = DLE_CHAR; - ++encodedIndex; - destStream[encodedIndex] = DLE_CHAR; - } - } - else { - destStream[encodedIndex] = nextByte; - } - ++encodedIndex; - ++sourceIndex; - } - - if (sourceIndex == sourceLen and encodedIndex < maxDestLen) { - if (addStxEtx) { - destStream[encodedIndex] = ETX_CHAR; - ++encodedIndex; - } - *encodedLen = encodedIndex; - return RETURN_OK; - } - else { - return STREAM_TOO_SHORT; - } -} - -ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream, - size_t sourceStreamLen, size_t *readLen, uint8_t *destStream, - size_t maxDestStreamlen, size_t *decodedLen) { - size_t encodedIndex = 0, decodedIndex = 0; - uint8_t nextByte; - if (*sourceStream != STX_CHAR) { - return DECODING_ERROR; - } - ++encodedIndex; - - while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen) - && (sourceStream[encodedIndex] != ETX_CHAR) - && (sourceStream[encodedIndex] != STX_CHAR)) { - if (sourceStream[encodedIndex] == DLE_CHAR) { - nextByte = sourceStream[encodedIndex + 1]; - // The next byte is a DLE character that was escaped by another - // DLE character, so we can write it to the destination stream. - if (nextByte == DLE_CHAR) { - destStream[decodedIndex] = nextByte; - } - else { - /* The next byte is a STX, DTX or 0x0D character which - * was escaped by a DLE character. The actual byte was - * also encoded by adding + 0x40 to preven having control chars, - * in the stream at all, so we convert it back. */ - if (nextByte == 0x42 or nextByte == 0x43 or nextByte == 0x4D) { - destStream[decodedIndex] = nextByte - 0x40; - } - else { - return DECODING_ERROR; - } - } - ++encodedIndex; - } - else { - destStream[decodedIndex] = sourceStream[encodedIndex]; - } - - ++encodedIndex; - ++decodedIndex; - } - - if (sourceStream[encodedIndex] != ETX_CHAR) { - *readLen = ++encodedIndex; - return DECODING_ERROR; - } - else { - *readLen = ++encodedIndex; - *decodedLen = decodedIndex; - return RETURN_OK; - } -} - +#include "../globalfunctions/DleEncoder.h" + +DleEncoder::DleEncoder() {} + +DleEncoder::~DleEncoder() {} + +ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream, + size_t sourceLen, uint8_t* destStream, size_t maxDestLen, + size_t* encodedLen, bool addStxEtx) { + if (maxDestLen < 2) { + return STREAM_TOO_SHORT; + } + size_t encodedIndex = 0, sourceIndex = 0; + uint8_t nextByte; + if (addStxEtx) { + destStream[0] = STX_CHAR; + ++encodedIndex; + } + + while (encodedIndex < maxDestLen and sourceIndex < sourceLen) + { + nextByte = sourceStream[sourceIndex]; + // STX, ETX and CR characters in the stream need to be escaped with DLE + if (nextByte == STX_CHAR or nextByte == ETX_CHAR or nextByte == CARRIAGE_RETURN) { + if (encodedIndex + 1 >= maxDestLen) { + return STREAM_TOO_SHORT; + } + else { + destStream[encodedIndex] = DLE_CHAR; + ++encodedIndex; + /* Escaped byte will be actual byte + 0x40. This prevents + * STX, ETX, and carriage return characters from appearing + * in the encoded data stream at all, so when polling an + * encoded stream, the transmission can be stopped at ETX. + * 0x40 was chosen at random with special requirements: + * - Prevent going from one control char to another + * - Prevent overflow for common characters */ + destStream[encodedIndex] = nextByte + 0x40; + } + } + // DLE characters are simply escaped with DLE. + else if (nextByte == DLE_CHAR) { + if (encodedIndex + 1 >= maxDestLen) { + return STREAM_TOO_SHORT; + } + else { + destStream[encodedIndex] = DLE_CHAR; + ++encodedIndex; + destStream[encodedIndex] = DLE_CHAR; + } + } + else { + destStream[encodedIndex] = nextByte; + } + ++encodedIndex; + ++sourceIndex; + } + + if (sourceIndex == sourceLen and encodedIndex < maxDestLen) { + if (addStxEtx) { + destStream[encodedIndex] = ETX_CHAR; + ++encodedIndex; + } + *encodedLen = encodedIndex; + return RETURN_OK; + } + else { + return STREAM_TOO_SHORT; + } +} + +ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream, + size_t sourceStreamLen, size_t *readLen, uint8_t *destStream, + size_t maxDestStreamlen, size_t *decodedLen) { + size_t encodedIndex = 0, decodedIndex = 0; + uint8_t nextByte; + if (*sourceStream != STX_CHAR) { + return DECODING_ERROR; + } + ++encodedIndex; + + while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen) + && (sourceStream[encodedIndex] != ETX_CHAR) + && (sourceStream[encodedIndex] != STX_CHAR)) { + if (sourceStream[encodedIndex] == DLE_CHAR) { + nextByte = sourceStream[encodedIndex + 1]; + // The next byte is a DLE character that was escaped by another + // DLE character, so we can write it to the destination stream. + if (nextByte == DLE_CHAR) { + destStream[decodedIndex] = nextByte; + } + else { + /* The next byte is a STX, DTX or 0x0D character which + * was escaped by a DLE character. The actual byte was + * also encoded by adding + 0x40 to prevent having control chars, + * in the stream at all, so we convert it back. */ + if (nextByte == 0x42 or nextByte == 0x43 or nextByte == 0x4D) { + destStream[decodedIndex] = nextByte - 0x40; + } + else { + return DECODING_ERROR; + } + } + ++encodedIndex; + } + else { + destStream[decodedIndex] = sourceStream[encodedIndex]; + } + + ++encodedIndex; + ++decodedIndex; + } + + if (sourceStream[encodedIndex] != ETX_CHAR) { + *readLen = ++encodedIndex; + return DECODING_ERROR; + } + else { + *readLen = ++encodedIndex; + *decodedLen = decodedIndex; + return RETURN_OK; + } +} + From 02be87aa03f0919d7f8ba629d6afc7fb9bd02076 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 27 Aug 2020 15:57:47 +0200 Subject: [PATCH 10/27] init after task creation moved to task functionality --- osal/FreeRTOS/PeriodicTask.cpp | 281 +++++++++++++++++---------------- osal/FreeRTOS/PeriodicTask.h | 256 +++++++++++++++--------------- 2 files changed, 271 insertions(+), 266 deletions(-) diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp index ce981877..f99e8a4e 100644 --- a/osal/FreeRTOS/PeriodicTask.cpp +++ b/osal/FreeRTOS/PeriodicTask.cpp @@ -1,138 +1,143 @@ -#include "PeriodicTask.h" - -#include "../../serviceinterface/ServiceInterfaceStream.h" -#include "../../tasks/ExecutableObjectIF.h" - -PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority, - TaskStackSize setStack, TaskPeriod setPeriod, - TaskDeadlineMissedFunction deadlineMissedFunc) : - started(false), handle(NULL), period(setPeriod), deadlineMissedFunc( - deadlineMissedFunc) -{ - configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE); - BaseType_t status = xTaskCreate(taskEntryPoint, name, - stackSize, this, setPriority, &handle); - if(status != pdPASS){ - sif::debug << "PeriodicTask Insufficient heap memory remaining. " - "Status: " << status << std::endl; - } - -} - -PeriodicTask::~PeriodicTask(void) { - //Do not delete objects, we were responsible for ptrs only. -} - -void PeriodicTask::taskEntryPoint(void* argument) { - // The argument is re-interpreted as PeriodicTask. The Task object is - // global, so it is found from any place. - PeriodicTask *originalTask(reinterpret_cast(argument)); - /* Task should not start until explicitly requested, - * but in FreeRTOS, tasks start as soon as they are created if the scheduler - * is running but not if the scheduler is not running. - * To be able to accommodate both cases we check a member which is set in - * #startTask(). If it is not set and we get here, the scheduler was started - * before #startTask() was called and we need to suspend if it is set, - * the scheduler was not running before #startTask() was called and we - * can continue */ - - if (not originalTask->started) { - vTaskSuspend(NULL); - } - - originalTask->taskFunctionality(); - sif::debug << "Polling task " << originalTask->handle - << " returned from taskFunctionality." << std::endl; -} - -ReturnValue_t PeriodicTask::startTask() { - started = true; - - // We must not call resume if scheduler is not started yet - if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) { - vTaskResume(handle); - } - - return HasReturnvaluesIF::RETURN_OK; -} - -ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) { - vTaskDelay(pdMS_TO_TICKS(ms)); - return HasReturnvaluesIF::RETURN_OK; -} - -void PeriodicTask::taskFunctionality() { - TickType_t xLastWakeTime; - const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.); - /* The xLastWakeTime variable needs to be initialized with the current tick - count. Note that this is the only time the variable is written to - explicitly. After this assignment, xLastWakeTime is updated automatically - internally within vTaskDelayUntil(). */ - xLastWakeTime = xTaskGetTickCount(); - /* Enter the loop that defines the task behavior. */ - for (;;) { - for (auto const& object: objectList) { - object->performOperation(); - } - - checkMissedDeadline(xLastWakeTime, xPeriod); - - vTaskDelayUntil(&xLastWakeTime, xPeriod); - - } -} - -ReturnValue_t PeriodicTask::addComponent(object_id_t object) { - ExecutableObjectIF* newObject = objectManager->get( - object); - if (newObject == nullptr) { - sif::error << "PeriodicTask::addComponent: Invalid object. Make sure" - "it implement ExecutableObjectIF" << std::endl; - return HasReturnvaluesIF::RETURN_FAILED; - } - objectList.push_back(newObject); - newObject->setTaskIF(this); - - return HasReturnvaluesIF::RETURN_OK; -} - -uint32_t PeriodicTask::getPeriodMs() const { - return period * 1000; -} - -void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime, - const TickType_t interval) { - /* Check whether deadline was missed while also taking overflows - * into account. Drawing this on paper with a timeline helps to understand - * it. */ - TickType_t currentTickCount = xTaskGetTickCount(); - TickType_t timeToWake = xLastWakeTime + interval; - // Time to wake has not overflown. - if(timeToWake > xLastWakeTime) { - /* If the current time has overflown exclusively or the current - * tick count is simply larger than the time to wake, a deadline was - * missed */ - if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) { - handleMissedDeadline(); - } - } - /* Time to wake has overflown. A deadline was missed if the current time - * is larger than the time to wake */ - else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) { - handleMissedDeadline(); - } -} - -TaskHandle_t PeriodicTask::getTaskHandle() { - return handle; -} - -void PeriodicTask::handleMissedDeadline() { -#ifdef DEBUG - sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) << - " missed deadline!\n" << std::flush; -#endif - if(deadlineMissedFunc != nullptr) { - this->deadlineMissedFunc(); - } -} +#include "PeriodicTask.h" + +#include "../../serviceinterface/ServiceInterfaceStream.h" +#include "../../tasks/ExecutableObjectIF.h" + +PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority, + TaskStackSize setStack, TaskPeriod setPeriod, + TaskDeadlineMissedFunction deadlineMissedFunc) : + started(false), handle(NULL), period(setPeriod), deadlineMissedFunc( + deadlineMissedFunc) +{ + configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE); + BaseType_t status = xTaskCreate(taskEntryPoint, name, + stackSize, this, setPriority, &handle); + if(status != pdPASS){ + sif::debug << "PeriodicTask Insufficient heap memory remaining. " + "Status: " << status << std::endl; + } + +} + +PeriodicTask::~PeriodicTask(void) { + //Do not delete objects, we were responsible for ptrs only. +} + +void PeriodicTask::taskEntryPoint(void* argument) { + // The argument is re-interpreted as PeriodicTask. The Task object is + // global, so it is found from any place. + PeriodicTask *originalTask(reinterpret_cast(argument)); + /* Task should not start until explicitly requested, + * but in FreeRTOS, tasks start as soon as they are created if the scheduler + * is running but not if the scheduler is not running. + * To be able to accommodate both cases we check a member which is set in + * #startTask(). If it is not set and we get here, the scheduler was started + * before #startTask() was called and we need to suspend if it is set, + * the scheduler was not running before #startTask() was called and we + * can continue */ + + if (not originalTask->started) { + vTaskSuspend(NULL); + } + + originalTask->taskFunctionality(); + sif::debug << "Polling task " << originalTask->handle + << " returned from taskFunctionality." << std::endl; +} + +ReturnValue_t PeriodicTask::startTask() { + started = true; + + // We must not call resume if scheduler is not started yet + if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) { + vTaskResume(handle); + } + + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) { + vTaskDelay(pdMS_TO_TICKS(ms)); + return HasReturnvaluesIF::RETURN_OK; +} + +void PeriodicTask::taskFunctionality() { + TickType_t xLastWakeTime; + const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.); + + for (auto const& object: objectList) { + object->initializeAfterTaskCreation(); + } + + /* The xLastWakeTime variable needs to be initialized with the current tick + count. Note that this is the only time the variable is written to + explicitly. After this assignment, xLastWakeTime is updated automatically + internally within vTaskDelayUntil(). */ + xLastWakeTime = xTaskGetTickCount(); + /* Enter the loop that defines the task behavior. */ + for (;;) { + for (auto const& object: objectList) { + object->performOperation(); + } + + checkMissedDeadline(xLastWakeTime, xPeriod); + + vTaskDelayUntil(&xLastWakeTime, xPeriod); + + } +} + +ReturnValue_t PeriodicTask::addComponent(object_id_t object) { + ExecutableObjectIF* newObject = objectManager->get( + object); + if (newObject == nullptr) { + sif::error << "PeriodicTask::addComponent: Invalid object. Make sure" + "it implement ExecutableObjectIF" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + objectList.push_back(newObject); + newObject->setTaskIF(this); + + return HasReturnvaluesIF::RETURN_OK; +} + +uint32_t PeriodicTask::getPeriodMs() const { + return period * 1000; +} + +void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime, + const TickType_t interval) { + /* Check whether deadline was missed while also taking overflows + * into account. Drawing this on paper with a timeline helps to understand + * it. */ + TickType_t currentTickCount = xTaskGetTickCount(); + TickType_t timeToWake = xLastWakeTime + interval; + // Time to wake has not overflown. + if(timeToWake > xLastWakeTime) { + /* If the current time has overflown exclusively or the current + * tick count is simply larger than the time to wake, a deadline was + * missed */ + if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) { + handleMissedDeadline(); + } + } + /* Time to wake has overflown. A deadline was missed if the current time + * is larger than the time to wake */ + else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) { + handleMissedDeadline(); + } +} + +TaskHandle_t PeriodicTask::getTaskHandle() { + return handle; +} + +void PeriodicTask::handleMissedDeadline() { +#ifdef DEBUG + sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) << + " missed deadline!\n" << std::flush; +#endif + if(deadlineMissedFunc != nullptr) { + this->deadlineMissedFunc(); + } +} diff --git a/osal/FreeRTOS/PeriodicTask.h b/osal/FreeRTOS/PeriodicTask.h index ea170aba..1cdc3df7 100644 --- a/osal/FreeRTOS/PeriodicTask.h +++ b/osal/FreeRTOS/PeriodicTask.h @@ -1,128 +1,128 @@ -#ifndef FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_ -#define FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_ - -#include "../../objectmanager/ObjectManagerIF.h" -#include "../../tasks/PeriodicTaskIF.h" -#include "../../tasks/Typedef.h" -#include "FreeRTOSTaskIF.h" - - -#include -#include - -#include - -class ExecutableObjectIF; - -/** - * @brief This class represents a specialized task for - * periodic activities of multiple objects. - * @ingroup task_handling - */ -class PeriodicTask: public PeriodicTaskIF, public FreeRTOSTaskIF { -public: - /** - * Keep in Mind that you need to call before this vTaskStartScheduler()! - * A lot of task parameters are set in "FreeRTOSConfig.h". - * TODO: why does this need to be called before vTaskStartScheduler? - * @details - * The class is initialized without allocated objects. - * These need to be added with #addComponent. - * @param priority - * Sets the priority of a task. Values depend on freeRTOS configuration, - * high number means high priority. - * @param stack_size - * The stack size reserved by the operating system for the task. - * @param setPeriod - * The length of the period with which the task's - * functionality will be executed. It is expressed in clock ticks. - * @param setDeadlineMissedFunc - * The function pointer to the deadline missed function that shall - * be assigned. - */ - PeriodicTask(TaskName name, TaskPriority setPriority, - TaskStackSize setStack, TaskPeriod setPeriod, - TaskDeadlineMissedFunction deadlineMissedFunc); - /** - * @brief Currently, the executed object's lifetime is not coupled with - * the task object's lifetime, so the destructor is empty. - */ - virtual ~PeriodicTask(void); - - /** - * @brief The method to start the task. - * @details The method starts the task with the respective system call. - * Entry point is the taskEntryPoint method described below. - * The address of the task object is passed as an argument - * to the system call. - */ - ReturnValue_t startTask() override; - /** - * Adds an object to the list of objects to be executed. - * The objects are executed in the order added. - * @param object Id of the object to add. - * @return - * -@c RETURN_OK on success - * -@c RETURN_FAILED if the object could not be added. - */ - ReturnValue_t addComponent(object_id_t object) override; - - uint32_t getPeriodMs() const override; - - ReturnValue_t sleepFor(uint32_t ms) override; - - TaskHandle_t getTaskHandle() override; -protected: - bool started; - TaskHandle_t handle; - - //! Typedef for the List of objects. - typedef std::vector ObjectList; - /** - * @brief This attribute holds a list of objects to be executed. - */ - ObjectList objectList; - /** - * @brief The period of the task. - * @details - * The period determines the frequency of the task's execution. - * It is expressed in clock ticks. - */ - TaskPeriod period; - /** - * @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, then nothing happens on missing the deadline. - * The deadline is equal to the next execution of the periodic task. - */ - void (*deadlineMissedFunc)(void); - /** - * @brief This is the function executed in the new task's context. - * @details - * It converts the argument back to the thread object type and copies the - * class instance to the task context. The taskFunctionality method is - * called afterwards. - * @param A pointer to the task object itself is passed as argument. - */ - - static void taskEntryPoint(void* argument); - /** - * @brief The function containing the actual functionality of the task. - * @details - * The method sets and starts the task's period, then enters a loop that is - * repeated as long as the isRunning attribute is true. Within the loop, - * all performOperation methods of the added objects are called. - * Afterwards the checkAndRestartPeriod system call blocks the task until - * the next period. - * On missing the deadline, the deadlineMissedFunction is executed. - */ - void taskFunctionality(void); - - void checkMissedDeadline(const TickType_t xLastWakeTime, - const TickType_t interval); - void handleMissedDeadline(); -}; - -#endif /* PERIODICTASK_H_ */ +#ifndef FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_ +#define FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_ + +#include "../../osal/FreeRTOS/FreeRTOSTaskIF.h" +#include "../../objectmanager/ObjectManagerIF.h" +#include "../../tasks/PeriodicTaskIF.h" +#include "../../tasks/Typedef.h" + + +#include +#include + +#include + +class ExecutableObjectIF; + +/** + * @brief This class represents a specialized task for + * periodic activities of multiple objects. + * @ingroup task_handling + */ +class PeriodicTask: public PeriodicTaskIF, public FreeRTOSTaskIF { +public: + /** + * Keep in Mind that you need to call before this vTaskStartScheduler()! + * A lot of task parameters are set in "FreeRTOSConfig.h". + * TODO: why does this need to be called before vTaskStartScheduler? + * @details + * The class is initialized without allocated objects. + * These need to be added with #addComponent. + * @param priority + * Sets the priority of a task. Values depend on freeRTOS configuration, + * high number means high priority. + * @param stack_size + * The stack size reserved by the operating system for the task. + * @param setPeriod + * The length of the period with which the task's + * functionality will be executed. It is expressed in clock ticks. + * @param setDeadlineMissedFunc + * The function pointer to the deadline missed function that shall + * be assigned. + */ + PeriodicTask(TaskName name, TaskPriority setPriority, + TaskStackSize setStack, TaskPeriod setPeriod, + TaskDeadlineMissedFunction deadlineMissedFunc); + /** + * @brief Currently, the executed object's lifetime is not coupled with + * the task object's lifetime, so the destructor is empty. + */ + virtual ~PeriodicTask(void); + + /** + * @brief The method to start the task. + * @details The method starts the task with the respective system call. + * Entry point is the taskEntryPoint method described below. + * The address of the task object is passed as an argument + * to the system call. + */ + ReturnValue_t startTask() override; + /** + * Adds an object to the list of objects to be executed. + * The objects are executed in the order added. + * @param object Id of the object to add. + * @return + * -@c RETURN_OK on success + * -@c RETURN_FAILED if the object could not be added. + */ + ReturnValue_t addComponent(object_id_t object) override; + + uint32_t getPeriodMs() const override; + + ReturnValue_t sleepFor(uint32_t ms) override; + + TaskHandle_t getTaskHandle() override; +protected: + bool started; + TaskHandle_t handle; + + //! Typedef for the List of objects. + typedef std::vector ObjectList; + /** + * @brief This attribute holds a list of objects to be executed. + */ + ObjectList objectList; + /** + * @brief The period of the task. + * @details + * The period determines the frequency of the task's execution. + * It is expressed in clock ticks. + */ + TaskPeriod period; + /** + * @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, then nothing happens on missing the deadline. + * The deadline is equal to the next execution of the periodic task. + */ + void (*deadlineMissedFunc)(void); + /** + * @brief This is the function executed in the new task's context. + * @details + * It converts the argument back to the thread object type and copies the + * class instance to the task context. The taskFunctionality method is + * called afterwards. + * @param A pointer to the task object itself is passed as argument. + */ + + static void taskEntryPoint(void* argument); + /** + * @brief The function containing the actual functionality of the task. + * @details + * The method sets and starts the task's period, then enters a loop that is + * repeated as long as the isRunning attribute is true. Within the loop, + * all performOperation methods of the added objects are called. + * Afterwards the checkAndRestartPeriod system call blocks the task until + * the next period. + * On missing the deadline, the deadlineMissedFunction is executed. + */ + void taskFunctionality(void); + + void checkMissedDeadline(const TickType_t xLastWakeTime, + const TickType_t interval); + void handleMissedDeadline(); +}; + +#endif /* PERIODICTASK_H_ */ From 89d3fe509504382980aff1bbeaf9be1ffd508136 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 27 Aug 2020 16:11:40 +0200 Subject: [PATCH 11/27] integrated change manually --- osal/FreeRTOS/PeriodicTask.cpp | 286 ++++++++++++++++----------------- 1 file changed, 143 insertions(+), 143 deletions(-) diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp index f99e8a4e..990d38d6 100644 --- a/osal/FreeRTOS/PeriodicTask.cpp +++ b/osal/FreeRTOS/PeriodicTask.cpp @@ -1,143 +1,143 @@ -#include "PeriodicTask.h" - -#include "../../serviceinterface/ServiceInterfaceStream.h" -#include "../../tasks/ExecutableObjectIF.h" - -PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority, - TaskStackSize setStack, TaskPeriod setPeriod, - TaskDeadlineMissedFunction deadlineMissedFunc) : - started(false), handle(NULL), period(setPeriod), deadlineMissedFunc( - deadlineMissedFunc) -{ - configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE); - BaseType_t status = xTaskCreate(taskEntryPoint, name, - stackSize, this, setPriority, &handle); - if(status != pdPASS){ - sif::debug << "PeriodicTask Insufficient heap memory remaining. " - "Status: " << status << std::endl; - } - -} - -PeriodicTask::~PeriodicTask(void) { - //Do not delete objects, we were responsible for ptrs only. -} - -void PeriodicTask::taskEntryPoint(void* argument) { - // The argument is re-interpreted as PeriodicTask. The Task object is - // global, so it is found from any place. - PeriodicTask *originalTask(reinterpret_cast(argument)); - /* Task should not start until explicitly requested, - * but in FreeRTOS, tasks start as soon as they are created if the scheduler - * is running but not if the scheduler is not running. - * To be able to accommodate both cases we check a member which is set in - * #startTask(). If it is not set and we get here, the scheduler was started - * before #startTask() was called and we need to suspend if it is set, - * the scheduler was not running before #startTask() was called and we - * can continue */ - - if (not originalTask->started) { - vTaskSuspend(NULL); - } - - originalTask->taskFunctionality(); - sif::debug << "Polling task " << originalTask->handle - << " returned from taskFunctionality." << std::endl; -} - -ReturnValue_t PeriodicTask::startTask() { - started = true; - - // We must not call resume if scheduler is not started yet - if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) { - vTaskResume(handle); - } - - return HasReturnvaluesIF::RETURN_OK; -} - -ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) { - vTaskDelay(pdMS_TO_TICKS(ms)); - return HasReturnvaluesIF::RETURN_OK; -} - -void PeriodicTask::taskFunctionality() { - TickType_t xLastWakeTime; - const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.); - - for (auto const& object: objectList) { - object->initializeAfterTaskCreation(); - } - - /* The xLastWakeTime variable needs to be initialized with the current tick - count. Note that this is the only time the variable is written to - explicitly. After this assignment, xLastWakeTime is updated automatically - internally within vTaskDelayUntil(). */ - xLastWakeTime = xTaskGetTickCount(); - /* Enter the loop that defines the task behavior. */ - for (;;) { - for (auto const& object: objectList) { - object->performOperation(); - } - - checkMissedDeadline(xLastWakeTime, xPeriod); - - vTaskDelayUntil(&xLastWakeTime, xPeriod); - - } -} - -ReturnValue_t PeriodicTask::addComponent(object_id_t object) { - ExecutableObjectIF* newObject = objectManager->get( - object); - if (newObject == nullptr) { - sif::error << "PeriodicTask::addComponent: Invalid object. Make sure" - "it implement ExecutableObjectIF" << std::endl; - return HasReturnvaluesIF::RETURN_FAILED; - } - objectList.push_back(newObject); - newObject->setTaskIF(this); - - return HasReturnvaluesIF::RETURN_OK; -} - -uint32_t PeriodicTask::getPeriodMs() const { - return period * 1000; -} - -void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime, - const TickType_t interval) { - /* Check whether deadline was missed while also taking overflows - * into account. Drawing this on paper with a timeline helps to understand - * it. */ - TickType_t currentTickCount = xTaskGetTickCount(); - TickType_t timeToWake = xLastWakeTime + interval; - // Time to wake has not overflown. - if(timeToWake > xLastWakeTime) { - /* If the current time has overflown exclusively or the current - * tick count is simply larger than the time to wake, a deadline was - * missed */ - if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) { - handleMissedDeadline(); - } - } - /* Time to wake has overflown. A deadline was missed if the current time - * is larger than the time to wake */ - else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) { - handleMissedDeadline(); - } -} - -TaskHandle_t PeriodicTask::getTaskHandle() { - return handle; -} - -void PeriodicTask::handleMissedDeadline() { -#ifdef DEBUG - sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) << - " missed deadline!\n" << std::flush; -#endif - if(deadlineMissedFunc != nullptr) { - this->deadlineMissedFunc(); - } -} +#include "PeriodicTask.h" + +#include "../../serviceinterface/ServiceInterfaceStream.h" +#include "../../tasks/ExecutableObjectIF.h" + +PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority, + TaskStackSize setStack, TaskPeriod setPeriod, + TaskDeadlineMissedFunction deadlineMissedFunc) : + started(false), handle(NULL), period(setPeriod), deadlineMissedFunc( + deadlineMissedFunc) +{ + configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE); + BaseType_t status = xTaskCreate(taskEntryPoint, name, + stackSize, this, setPriority, &handle); + if(status != pdPASS){ + sif::debug << "PeriodicTask Insufficient heap memory remaining. " + "Status: " << status << std::endl; + } + +} + +PeriodicTask::~PeriodicTask(void) { + //Do not delete objects, we were responsible for ptrs only. +} + +void PeriodicTask::taskEntryPoint(void* argument) { + // The argument is re-interpreted as PeriodicTask. The Task object is + // global, so it is found from any place. + PeriodicTask *originalTask(reinterpret_cast(argument)); + /* Task should not start until explicitly requested, + * but in FreeRTOS, tasks start as soon as they are created if the scheduler + * is running but not if the scheduler is not running. + * To be able to accommodate both cases we check a member which is set in + * #startTask(). If it is not set and we get here, the scheduler was started + * before #startTask() was called and we need to suspend if it is set, + * the scheduler was not running before #startTask() was called and we + * can continue */ + + if (not originalTask->started) { + vTaskSuspend(NULL); + } + + originalTask->taskFunctionality(); + sif::debug << "Polling task " << originalTask->handle + << " returned from taskFunctionality." << std::endl; +} + +ReturnValue_t PeriodicTask::startTask() { + started = true; + + // We must not call resume if scheduler is not started yet + if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) { + vTaskResume(handle); + } + + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) { + vTaskDelay(pdMS_TO_TICKS(ms)); + return HasReturnvaluesIF::RETURN_OK; +} + +void PeriodicTask::taskFunctionality() { + TickType_t xLastWakeTime; + const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.); + + for (auto const &object: objectList) { + object->initializeAfterTaskCreation(); + } + + /* The xLastWakeTime variable needs to be initialized with the current tick + count. Note that this is the only time the variable is written to + explicitly. After this assignment, xLastWakeTime is updated automatically + internally within vTaskDelayUntil(). */ + xLastWakeTime = xTaskGetTickCount(); + /* Enter the loop that defines the task behavior. */ + for (;;) { + for (auto const& object: objectList) { + object->performOperation(); + } + + checkMissedDeadline(xLastWakeTime, xPeriod); + + vTaskDelayUntil(&xLastWakeTime, xPeriod); + + } +} + +ReturnValue_t PeriodicTask::addComponent(object_id_t object) { + ExecutableObjectIF* newObject = objectManager->get( + object); + if (newObject == nullptr) { + sif::error << "PeriodicTask::addComponent: Invalid object. Make sure" + "it implement ExecutableObjectIF" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + objectList.push_back(newObject); + newObject->setTaskIF(this); + + return HasReturnvaluesIF::RETURN_OK; +} + +uint32_t PeriodicTask::getPeriodMs() const { + return period * 1000; +} + +void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime, + const TickType_t interval) { + /* Check whether deadline was missed while also taking overflows + * into account. Drawing this on paper with a timeline helps to understand + * it. */ + TickType_t currentTickCount = xTaskGetTickCount(); + TickType_t timeToWake = xLastWakeTime + interval; + // Time to wake has not overflown. + if(timeToWake > xLastWakeTime) { + /* If the current time has overflown exclusively or the current + * tick count is simply larger than the time to wake, a deadline was + * missed */ + if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) { + handleMissedDeadline(); + } + } + /* Time to wake has overflown. A deadline was missed if the current time + * is larger than the time to wake */ + else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) { + handleMissedDeadline(); + } +} + +TaskHandle_t PeriodicTask::getTaskHandle() { + return handle; +} + +void PeriodicTask::handleMissedDeadline() { +#ifdef DEBUG + sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) << + " missed deadline!\n" << std::flush; +#endif + if(deadlineMissedFunc != nullptr) { + this->deadlineMissedFunc(); + } +} From 4530b1954811727d0f32eea4fd25b8378a153db0 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 27 Aug 2020 16:13:36 +0200 Subject: [PATCH 12/27] header update --- osal/FreeRTOS/PeriodicTask.h | 254 +++++++++++++++++------------------ 1 file changed, 126 insertions(+), 128 deletions(-) diff --git a/osal/FreeRTOS/PeriodicTask.h b/osal/FreeRTOS/PeriodicTask.h index 1cdc3df7..87b8b6d2 100644 --- a/osal/FreeRTOS/PeriodicTask.h +++ b/osal/FreeRTOS/PeriodicTask.h @@ -1,128 +1,126 @@ -#ifndef FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_ -#define FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_ - -#include "../../osal/FreeRTOS/FreeRTOSTaskIF.h" -#include "../../objectmanager/ObjectManagerIF.h" -#include "../../tasks/PeriodicTaskIF.h" -#include "../../tasks/Typedef.h" - - -#include -#include - -#include - -class ExecutableObjectIF; - -/** - * @brief This class represents a specialized task for - * periodic activities of multiple objects. - * @ingroup task_handling - */ -class PeriodicTask: public PeriodicTaskIF, public FreeRTOSTaskIF { -public: - /** - * Keep in Mind that you need to call before this vTaskStartScheduler()! - * A lot of task parameters are set in "FreeRTOSConfig.h". - * TODO: why does this need to be called before vTaskStartScheduler? - * @details - * The class is initialized without allocated objects. - * These need to be added with #addComponent. - * @param priority - * Sets the priority of a task. Values depend on freeRTOS configuration, - * high number means high priority. - * @param stack_size - * The stack size reserved by the operating system for the task. - * @param setPeriod - * The length of the period with which the task's - * functionality will be executed. It is expressed in clock ticks. - * @param setDeadlineMissedFunc - * The function pointer to the deadline missed function that shall - * be assigned. - */ - PeriodicTask(TaskName name, TaskPriority setPriority, - TaskStackSize setStack, TaskPeriod setPeriod, - TaskDeadlineMissedFunction deadlineMissedFunc); - /** - * @brief Currently, the executed object's lifetime is not coupled with - * the task object's lifetime, so the destructor is empty. - */ - virtual ~PeriodicTask(void); - - /** - * @brief The method to start the task. - * @details The method starts the task with the respective system call. - * Entry point is the taskEntryPoint method described below. - * The address of the task object is passed as an argument - * to the system call. - */ - ReturnValue_t startTask() override; - /** - * Adds an object to the list of objects to be executed. - * The objects are executed in the order added. - * @param object Id of the object to add. - * @return - * -@c RETURN_OK on success - * -@c RETURN_FAILED if the object could not be added. - */ - ReturnValue_t addComponent(object_id_t object) override; - - uint32_t getPeriodMs() const override; - - ReturnValue_t sleepFor(uint32_t ms) override; - - TaskHandle_t getTaskHandle() override; -protected: - bool started; - TaskHandle_t handle; - - //! Typedef for the List of objects. - typedef std::vector ObjectList; - /** - * @brief This attribute holds a list of objects to be executed. - */ - ObjectList objectList; - /** - * @brief The period of the task. - * @details - * The period determines the frequency of the task's execution. - * It is expressed in clock ticks. - */ - TaskPeriod period; - /** - * @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, then nothing happens on missing the deadline. - * The deadline is equal to the next execution of the periodic task. - */ - void (*deadlineMissedFunc)(void); - /** - * @brief This is the function executed in the new task's context. - * @details - * It converts the argument back to the thread object type and copies the - * class instance to the task context. The taskFunctionality method is - * called afterwards. - * @param A pointer to the task object itself is passed as argument. - */ - - static void taskEntryPoint(void* argument); - /** - * @brief The function containing the actual functionality of the task. - * @details - * The method sets and starts the task's period, then enters a loop that is - * repeated as long as the isRunning attribute is true. Within the loop, - * all performOperation methods of the added objects are called. - * Afterwards the checkAndRestartPeriod system call blocks the task until - * the next period. - * On missing the deadline, the deadlineMissedFunction is executed. - */ - void taskFunctionality(void); - - void checkMissedDeadline(const TickType_t xLastWakeTime, - const TickType_t interval); - void handleMissedDeadline(); -}; - -#endif /* PERIODICTASK_H_ */ +#ifndef FSFW_OSAL_FREERTOS_PERIODICTASK_H_ +#define FSFW_OSAL_FREERTOS_PERIODICTASK_H_ + +#include "FreeRTOSTaskIF.h" +#include "../../objectmanager/ObjectManagerIF.h" +#include "../../tasks/PeriodicTaskIF.h" +#include "../../tasks/Typedef.h" + +#include +#include + +#include + +class ExecutableObjectIF; + +/** + * @brief This class represents a specialized task for + * periodic activities of multiple objects. + * @ingroup task_handling + */ +class PeriodicTask: public PeriodicTaskIF, public FreeRTOSTaskIF { +public: + /** + * Keep in Mind that you need to call before this vTaskStartScheduler()! + * A lot of task parameters are set in "FreeRTOSConfig.h". + * @details + * The class is initialized without allocated objects. + * These need to be added with #addComponent. + * @param priority + * Sets the priority of a task. Values depend on freeRTOS configuration, + * high number means high priority. + * @param stack_size + * The stack size reserved by the operating system for the task. + * @param setPeriod + * The length of the period with which the task's + * functionality will be executed. It is expressed in clock ticks. + * @param setDeadlineMissedFunc + * The function pointer to the deadline missed function that shall + * be assigned. + */ + PeriodicTask(TaskName name, TaskPriority setPriority, + TaskStackSize setStack, TaskPeriod setPeriod, + TaskDeadlineMissedFunction deadlineMissedFunc); + /** + * @brief Currently, the executed object's lifetime is not coupled with + * the task object's lifetime, so the destructor is empty. + */ + virtual ~PeriodicTask(void); + + /** + * @brief The method to start the task. + * @details The method starts the task with the respective system call. + * Entry point is the taskEntryPoint method described below. + * The address of the task object is passed as an argument + * to the system call. + */ + ReturnValue_t startTask() override; + /** + * Adds an object to the list of objects to be executed. + * The objects are executed in the order added. + * @param object Id of the object to add. + * @return + * -@c RETURN_OK on success + * -@c RETURN_FAILED if the object could not be added. + */ + ReturnValue_t addComponent(object_id_t object) override; + + uint32_t getPeriodMs() const override; + + ReturnValue_t sleepFor(uint32_t ms) override; + + TaskHandle_t getTaskHandle() override; +protected: + bool started; + TaskHandle_t handle; + + //! Typedef for the List of objects. + typedef std::vector ObjectList; + /** + * @brief This attribute holds a list of objects to be executed. + */ + ObjectList objectList; + /** + * @brief The period of the task. + * @details + * The period determines the frequency of the task's execution. + * It is expressed in clock ticks. + */ + TaskPeriod period; + /** + * @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, then nothing happens on missing the deadline. + * The deadline is equal to the next execution of the periodic task. + */ + void (*deadlineMissedFunc)(void); + /** + * @brief This is the function executed in the new task's context. + * @details + * It converts the argument back to the thread object type and copies the + * class instance to the task context. The taskFunctionality method is + * called afterwards. + * @param A pointer to the task object itself is passed as argument. + */ + + static void taskEntryPoint(void* argument); + /** + * @brief The function containing the actual functionality of the task. + * @details + * The method sets and starts the task's period, then enters a loop that is + * repeated as long as the isRunning attribute is true. Within the loop, + * all performOperation methods of the added objects are called. + * Afterwards the checkAndRestartPeriod system call blocks the task until + * the next period. + * On missing the deadline, the deadlineMissedFunction is executed. + */ + void taskFunctionality(void); + + void checkMissedDeadline(const TickType_t xLastWakeTime, + const TickType_t interval); + void handleMissedDeadline(); +}; + +#endif /* FSFW_OSAL_FREERTOS_PERIODICTASK_H_ */ From aec557a8c06a233b3139134a8fa5db0befb4e757 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Fri, 28 Aug 2020 17:14:20 +0200 Subject: [PATCH 13/27] updated unix udp bridge --- globalfunctions/timevalOperations.cpp | 191 +++++++++++++------------- globalfunctions/timevalOperations.h | 1 + osal/linux/TcUnixUdpPollingTask.cpp | 4 +- osal/linux/TcUnixUdpPollingTask.h | 6 +- osal/linux/TmTcUnixUdpBridge.cpp | 8 +- osal/linux/TmTcUnixUdpBridge.h | 4 +- 6 files changed, 111 insertions(+), 103 deletions(-) diff --git a/globalfunctions/timevalOperations.cpp b/globalfunctions/timevalOperations.cpp index 6efe75ba..ae49ef21 100644 --- a/globalfunctions/timevalOperations.cpp +++ b/globalfunctions/timevalOperations.cpp @@ -1,92 +1,99 @@ -#include "timevalOperations.h" - -timeval& operator+=(timeval& lhs, const timeval& rhs) { - int64_t sum = lhs.tv_sec * 1000000. + lhs.tv_usec; - sum += rhs.tv_sec * 1000000. + rhs.tv_usec; - lhs.tv_sec = sum / 1000000; - lhs.tv_usec = sum - lhs.tv_sec * 1000000; - return lhs; -} - -timeval operator+(timeval lhs, const timeval& rhs) { - lhs += rhs; - return lhs; -} - -timeval& operator-=(timeval& lhs, const timeval& rhs) { - int64_t sum = lhs.tv_sec * 1000000. + lhs.tv_usec; - sum -= rhs.tv_sec * 1000000. + rhs.tv_usec; - lhs.tv_sec = sum / 1000000; - lhs.tv_usec = sum - lhs.tv_sec * 1000000; - return lhs; -} - -timeval operator-(timeval lhs, const timeval& rhs) { - lhs -= rhs; - return lhs; -} - -double operator/(const timeval& lhs, const timeval& rhs) { - double lhs64 = lhs.tv_sec * 1000000. + lhs.tv_usec; - double rhs64 = rhs.tv_sec * 1000000. + rhs.tv_usec; - return lhs64 / rhs64; -} - -timeval& operator/=(timeval& lhs, double scalar) { - int64_t product = lhs.tv_sec * 1000000. + lhs.tv_usec; - product /= scalar; - lhs.tv_sec = product / 1000000; - lhs.tv_usec = product - lhs.tv_sec * 1000000; - return lhs; -} - -timeval operator/(timeval lhs, double scalar) { - lhs /= scalar; - return lhs; -} - -timeval& operator*=(timeval& lhs, double scalar) { - int64_t product = lhs.tv_sec * 1000000. + lhs.tv_usec; - product *= scalar; - lhs.tv_sec = product / 1000000; - lhs.tv_usec = product - lhs.tv_sec * 1000000; - return lhs; -} - -timeval operator*(timeval lhs, double scalar) { - lhs *= scalar; - return lhs; -} - -timeval operator*(double scalar, timeval rhs) { - rhs *= scalar; - return rhs; -} - -bool operator==(const timeval& lhs, const timeval& rhs) { - int64_t lhs64 = lhs.tv_sec * 1000000. + lhs.tv_usec; - int64_t rhs64 = rhs.tv_sec * 1000000. + rhs.tv_usec; - return lhs64 == rhs64; -} -bool operator!=(const timeval& lhs, const timeval& rhs) { - return !operator==(lhs, rhs); -} -bool operator<(const timeval& lhs, const timeval& rhs) { - int64_t lhs64 = lhs.tv_sec * 1000000. + lhs.tv_usec; - int64_t rhs64 = rhs.tv_sec * 1000000. + rhs.tv_usec; - return lhs64 < rhs64; -} -bool operator>(const timeval& lhs, const timeval& rhs) { - return operator<(rhs, lhs); -} -bool operator<=(const timeval& lhs, const timeval& rhs) { - return !operator>(lhs, rhs); -} -bool operator>=(const timeval& lhs, const timeval& rhs) { - return !operator<(lhs, rhs); -} - -double timevalOperations::toDouble(const timeval timeval) { - double result = timeval.tv_sec * 1000000. + timeval.tv_usec; - return result / 1000000.; -} +#include "timevalOperations.h" + +timeval& operator+=(timeval& lhs, const timeval& rhs) { + int64_t sum = lhs.tv_sec * 1000000. + lhs.tv_usec; + sum += rhs.tv_sec * 1000000. + rhs.tv_usec; + lhs.tv_sec = sum / 1000000; + lhs.tv_usec = sum - lhs.tv_sec * 1000000; + return lhs; +} + +timeval operator+(timeval lhs, const timeval& rhs) { + lhs += rhs; + return lhs; +} + +timeval& operator-=(timeval& lhs, const timeval& rhs) { + int64_t sum = lhs.tv_sec * 1000000. + lhs.tv_usec; + sum -= rhs.tv_sec * 1000000. + rhs.tv_usec; + lhs.tv_sec = sum / 1000000; + lhs.tv_usec = sum - lhs.tv_sec * 1000000; + return lhs; +} + +timeval operator-(timeval lhs, const timeval& rhs) { + lhs -= rhs; + return lhs; +} + +double operator/(const timeval& lhs, const timeval& rhs) { + double lhs64 = lhs.tv_sec * 1000000. + lhs.tv_usec; + double rhs64 = rhs.tv_sec * 1000000. + rhs.tv_usec; + return lhs64 / rhs64; +} + +timeval& operator/=(timeval& lhs, double scalar) { + int64_t product = lhs.tv_sec * 1000000. + lhs.tv_usec; + product /= scalar; + lhs.tv_sec = product / 1000000; + lhs.tv_usec = product - lhs.tv_sec * 1000000; + return lhs; +} + +timeval operator/(timeval lhs, double scalar) { + lhs /= scalar; + return lhs; +} + +timeval& operator*=(timeval& lhs, double scalar) { + int64_t product = lhs.tv_sec * 1000000. + lhs.tv_usec; + product *= scalar; + lhs.tv_sec = product / 1000000; + lhs.tv_usec = product - lhs.tv_sec * 1000000; + return lhs; +} + +timeval operator*(timeval lhs, double scalar) { + lhs *= scalar; + return lhs; +} + +timeval operator*(double scalar, timeval rhs) { + rhs *= scalar; + return rhs; +} + +bool operator==(const timeval& lhs, const timeval& rhs) { + int64_t lhs64 = lhs.tv_sec * 1000000. + lhs.tv_usec; + int64_t rhs64 = rhs.tv_sec * 1000000. + rhs.tv_usec; + return lhs64 == rhs64; +} +bool operator!=(const timeval& lhs, const timeval& rhs) { + return !operator==(lhs, rhs); +} +bool operator<(const timeval& lhs, const timeval& rhs) { + int64_t lhs64 = lhs.tv_sec * 1000000. + lhs.tv_usec; + int64_t rhs64 = rhs.tv_sec * 1000000. + rhs.tv_usec; + return lhs64 < rhs64; +} +bool operator>(const timeval& lhs, const timeval& rhs) { + return operator<(rhs, lhs); +} +bool operator<=(const timeval& lhs, const timeval& rhs) { + return !operator>(lhs, rhs); +} +bool operator>=(const timeval& lhs, const timeval& rhs) { + return !operator<(lhs, rhs); +} + +double timevalOperations::toDouble(const timeval timeval) { + double result = timeval.tv_sec * 1000000. + timeval.tv_usec; + return result / 1000000.; +} + +timeval timevalOperations::toTimeval(const double seconds) { + timeval tval; + tval.tv_sec = seconds; + tval.tv_usec = seconds *(double) 1e6 - (tval.tv_sec *1e6); + return tval; +} diff --git a/globalfunctions/timevalOperations.h b/globalfunctions/timevalOperations.h index a553e60a..3977d5d9 100644 --- a/globalfunctions/timevalOperations.h +++ b/globalfunctions/timevalOperations.h @@ -41,6 +41,7 @@ namespace timevalOperations { * @return seconds */ double toDouble(const timeval timeval); +timeval toTimeval(const double seconds); } #endif /* TIMEVALOPERATIONS_H_ */ diff --git a/osal/linux/TcUnixUdpPollingTask.cpp b/osal/linux/TcUnixUdpPollingTask.cpp index 8cf7b285..95910b02 100644 --- a/osal/linux/TcUnixUdpPollingTask.cpp +++ b/osal/linux/TcUnixUdpPollingTask.cpp @@ -1,5 +1,5 @@ -#include -#include +#include "TcUnixUdpPollingTask.h" +#include "../../globalfunctions/arrayprinter.h" TcUnixUdpPollingTask::TcUnixUdpPollingTask(object_id_t objectId, object_id_t tmtcUnixUdpBridge, size_t frameSize, diff --git a/osal/linux/TcUnixUdpPollingTask.h b/osal/linux/TcUnixUdpPollingTask.h index d8de1458..cc032561 100644 --- a/osal/linux/TcUnixUdpPollingTask.h +++ b/osal/linux/TcUnixUdpPollingTask.h @@ -1,9 +1,9 @@ #ifndef FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_ #define FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_ -#include -#include -#include +#include "../../objectmanager/SystemObject.h" +#include "../../osal/linux/TmTcUnixUdpBridge.h" +#include "../../tasks/ExecutableObjectIF.h" #include #include diff --git a/osal/linux/TmTcUnixUdpBridge.cpp b/osal/linux/TmTcUnixUdpBridge.cpp index 92fbbdfa..46b26254 100644 --- a/osal/linux/TmTcUnixUdpBridge.cpp +++ b/osal/linux/TmTcUnixUdpBridge.cpp @@ -1,6 +1,6 @@ -#include -#include -#include +#include "TmTcUnixUdpBridge.h" +#include "../../serviceinterface/ServiceInterfaceStream.h" +#include "../../ipc/MutexHelper.h" #include #include @@ -85,7 +85,7 @@ ReturnValue_t TmTcUnixUdpBridge::sendTm(const uint8_t *data, size_t dataLen) { } void TmTcUnixUdpBridge::checkAndSetClientAddress(sockaddr_in newAddress) { - MutexHelper lock(mutex, 10); + MutexHelper lock(mutex, MutexIF::TimeoutType::WAITING, 10); // char ipAddress [15]; // sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET, diff --git a/osal/linux/TmTcUnixUdpBridge.h b/osal/linux/TmTcUnixUdpBridge.h index dbddc6c3..5245c44c 100644 --- a/osal/linux/TmTcUnixUdpBridge.h +++ b/osal/linux/TmTcUnixUdpBridge.h @@ -1,8 +1,8 @@ #ifndef FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_ #define FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_ -#include -#include +#include "../../tmtcservices/AcceptsTelecommandsIF.h" +#include "../../tmtcservices/TmTcBridge.h" #include #include #include From 381914886dd445b9af9669af658ac1b00c035e86 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 4 Sep 2020 14:43:53 +0200 Subject: [PATCH 14/27] initAfterTaskCreation added for linux --- osal/linux/PeriodicPosixTask.cpp | 24 +++++++++++++++--------- 1 file changed, 15 insertions(+), 9 deletions(-) diff --git a/osal/linux/PeriodicPosixTask.cpp b/osal/linux/PeriodicPosixTask.cpp index df3694ef..69dbb619 100644 --- a/osal/linux/PeriodicPosixTask.cpp +++ b/osal/linux/PeriodicPosixTask.cpp @@ -46,27 +46,33 @@ ReturnValue_t PeriodicPosixTask::startTask(void){ } void PeriodicPosixTask::taskFunctionality(void){ - if(!started){ + if(not started){ suspend(); } + + for (auto const &object: objectList) { + object->initializeAfterTaskCreation(); + } + uint64_t lastWakeTime = getCurrentMonotonicTimeMs(); //The task's "infinite" inner loop is entered. while (1) { - for (ObjectList::iterator it = objectList.begin(); - it != objectList.end(); ++it) { - (*it)->performOperation(); + for (auto const &object: objectList) { + object->performOperation(); } - if(!PosixThread::delayUntil(&lastWakeTime,periodMs)){ + + if(not PosixThread::delayUntil(&lastWakeTime, periodMs)){ char name[20] = {0}; - int status = pthread_getname_np(pthread_self(),name,sizeof(name)); - if(status==0){ + int status = pthread_getname_np(pthread_self(), name, sizeof(name)); + if(status == 0) { sif::error << "PeriodicPosixTask " << name << ": Deadline " "missed." << std::endl; - }else{ + } + else { sif::error << "PeriodicPosixTask X: Deadline missed. " << status << std::endl; } - if (this->deadlineMissedFunc != NULL) { + if (this->deadlineMissedFunc != nullptr) { this->deadlineMissedFunc(); } } From 4bdac1e0179191c67f559233d8fdebcfedada654 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 4 Sep 2020 14:49:59 +0200 Subject: [PATCH 15/27] changed from mueller/master taken over --- osal/linux/PeriodicPosixTask.cpp | 12 +++++++----- osal/linux/PeriodicPosixTask.h | 2 +- 2 files changed, 8 insertions(+), 6 deletions(-) diff --git a/osal/linux/PeriodicPosixTask.cpp b/osal/linux/PeriodicPosixTask.cpp index 69dbb619..3c1df6bb 100644 --- a/osal/linux/PeriodicPosixTask.cpp +++ b/osal/linux/PeriodicPosixTask.cpp @@ -5,8 +5,8 @@ PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, uint32_t period_, void(deadlineMissedFunc_)()): - PosixThread(name_,priority_,stackSize_),objectList(),started(false), - periodMs(period_),deadlineMissedFunc(deadlineMissedFunc_) { + PosixThread(name_, priority_, stackSize_), objectList(), started(false), + periodMs(period_), deadlineMissedFunc(deadlineMissedFunc_) { } PeriodicPosixTask::~PeriodicPosixTask() { @@ -25,6 +25,8 @@ ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) { ExecutableObjectIF* newObject = objectManager->get( object); if (newObject == nullptr) { + sif::error << "PeriodicTask::addComponent: Invalid object. Make sure" + << " it implements ExecutableObjectIF!" << std::endl; return HasReturnvaluesIF::RETURN_FAILED; } objectList.push_back(newObject); @@ -38,15 +40,15 @@ ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) { } -ReturnValue_t PeriodicPosixTask::startTask(void){ +ReturnValue_t PeriodicPosixTask::startTask(void) { started = true; //sif::info << stackSize << std::endl; PosixThread::createTask(&taskEntryPoint,this); return HasReturnvaluesIF::RETURN_OK; } -void PeriodicPosixTask::taskFunctionality(void){ - if(not started){ +void PeriodicPosixTask::taskFunctionality(void) { + if(not started) { suspend(); } diff --git a/osal/linux/PeriodicPosixTask.h b/osal/linux/PeriodicPosixTask.h index f23adf4d..ffee236b 100644 --- a/osal/linux/PeriodicPosixTask.h +++ b/osal/linux/PeriodicPosixTask.h @@ -32,7 +32,7 @@ public: * The address of the task object is passed as an argument * to the system call. */ - ReturnValue_t startTask(void); + ReturnValue_t startTask() override; /** * Adds an object to the list of objects to be executed. * The objects are executed in the order added. From 975fb9832b27372ab2e6c59af2d3642dae5dc7b1 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 4 Sep 2020 14:52:17 +0200 Subject: [PATCH 16/27] added interface ID --- returnvalues/FwClassIds.h | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/returnvalues/FwClassIds.h b/returnvalues/FwClassIds.h index ddee539e..9ab0bfeb 100644 --- a/returnvalues/FwClassIds.h +++ b/returnvalues/FwClassIds.h @@ -63,7 +63,8 @@ enum { SEMAPHORE_IF, //SPH 57 LOCAL_POOL_OWNER_IF, //LPIF 58 POOL_VARIABLE_IF, //PVA 59 - HOUSEKEEPING_MANAGER, //HKM 60 + DLE_ENCODER, //DLEE 60 + HOUSEKEEPING_MANAGER, //HKM 61 FW_CLASS_ID_COUNT //is actually count + 1 ! }; From 91d5277a94d8bd3e962b23ce22d9ca34d989c811 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 4 Sep 2020 14:54:08 +0200 Subject: [PATCH 17/27] added new returnvalues --- returnvalues/FwClassIds.h | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/returnvalues/FwClassIds.h b/returnvalues/FwClassIds.h index 9ab0bfeb..781320e3 100644 --- a/returnvalues/FwClassIds.h +++ b/returnvalues/FwClassIds.h @@ -63,8 +63,11 @@ enum { SEMAPHORE_IF, //SPH 57 LOCAL_POOL_OWNER_IF, //LPIF 58 POOL_VARIABLE_IF, //PVA 59 - DLE_ENCODER, //DLEE 60 - HOUSEKEEPING_MANAGER, //HKM 61 + HOUSEKEEPING_MANAGER, //HKM 60 + DLE_ENCODER, //DLEE 61 + PUS_PARSER, //PUSP 62 + SERIAL_ANALYZER, //SERA 63 + PUS_SERVICE_9, // PUS9 64 FW_CLASS_ID_COUNT //is actually count + 1 ! }; From 234fbcbf417d201922e13e98c0a6fe7bda37a967 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Sun, 6 Sep 2020 09:34:06 +0200 Subject: [PATCH 18/27] small bugfix in error checking --- osal/linux/TmTcUnixUdpBridge.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/osal/linux/TmTcUnixUdpBridge.cpp b/osal/linux/TmTcUnixUdpBridge.cpp index 46b26254..80d02b25 100644 --- a/osal/linux/TmTcUnixUdpBridge.cpp +++ b/osal/linux/TmTcUnixUdpBridge.cpp @@ -24,7 +24,7 @@ TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId, // Set up UDP socket: https://man7.org/linux/man-pages/man7/ip.7.html //clientSocket = socket(AF_INET, SOCK_DGRAM, 0); serverSocket = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP); - if(socket < 0) { + if(serverSocket < 0) { sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not open" " UDP socket!" << std::endl; handleSocketError(); From 2439ac455be631938c69fe6400ed025f7eaaaaa5 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Sun, 6 Sep 2020 15:48:30 +0200 Subject: [PATCH 19/27] tmtc bridge update, uses dynamic FIFO now --- tmtcservices/TmTcBridge.cpp | 108 ++++++++++++++++++++++-------------- tmtcservices/TmTcBridge.h | 20 +++++-- 2 files changed, 81 insertions(+), 47 deletions(-) diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp index 021b0d7b..8c2f15e5 100644 --- a/tmtcservices/TmTcBridge.cpp +++ b/tmtcservices/TmTcBridge.cpp @@ -1,7 +1,7 @@ -#include "TmTcBridge.h" +#include "../tmtcservices/TmTcBridge.h" #include "../ipc/QueueFactory.h" -#include "AcceptsTelecommandsIF.h" +#include "../tmtcservices/AcceptsTelecommandsIF.h" #include "../serviceinterface/ServiceInterfaceStream.h" #include "../globalfunctions/arrayprinter.h" @@ -66,6 +66,8 @@ ReturnValue_t TmTcBridge::initialize() { return ObjectManagerIF::CHILD_INIT_FAILED; } + tmFifo = new DynamicFIFO(maxNumberOfPacketsStored); + tmTcReceptionQueue->setDefaultDestination(tcDistributor->getRequestQueue()); return RETURN_OK; } @@ -90,102 +92,122 @@ ReturnValue_t TmTcBridge::handleTc() { } ReturnValue_t TmTcBridge::handleTm() { + ReturnValue_t status = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = handleTmQueue(); if(result != RETURN_OK) { - sif::warning << "TmTcBridge: Reading TM Queue failed" << std::endl; - return RETURN_FAILED; + sif::error << "TmTcBridge::handleTm: Error handling TM queue!" + << std::endl; + status = result; } - if(tmStored and communicationLinkUp) { - result = handleStoredTm(); + if(tmStored and communicationLinkUp and + (packetSentCounter < sentPacketsPerCycle)) { + result = handleStoredTm(); + if(result != RETURN_OK) { + sif::error << "TmTcBridge::handleTm: Error handling stored TMs!" + << std::endl; + status = result; + } } - return result; - + packetSentCounter = 0; + return status; } ReturnValue_t TmTcBridge::handleTmQueue() { TmTcMessage message; const uint8_t* data = nullptr; size_t size = 0; + ReturnValue_t status = HasReturnvaluesIF::RETURN_OK; for (ReturnValue_t result = tmTcReceptionQueue->receiveMessage(&message); - result == RETURN_OK; result = tmTcReceptionQueue->receiveMessage(&message)) + result == HasReturnvaluesIF::RETURN_OK; + result = tmTcReceptionQueue->receiveMessage(&message)) { - if(communicationLinkUp == false) { - result = storeDownlinkData(&message); - return result; + //sif::info << (int) packetSentCounter << std::endl; + if(communicationLinkUp == false or + packetSentCounter >= sentPacketsPerCycle) { + storeDownlinkData(&message); + continue; } result = tmStore->getData(message.getStorageId(), &data, &size); if (result != HasReturnvaluesIF::RETURN_OK) { + status = result; continue; } result = sendTm(data, size); - if (result != RETURN_OK) { - sif::warning << "TmTcBridge: Could not send TM packet" << std::endl; - tmStore->deleteData(message.getStorageId()); - return result; - + if (result != HasReturnvaluesIF::RETURN_OK) { + status = result; + } + else { + tmStore->deleteData(message.getStorageId()); + packetSentCounter++; } - tmStore->deleteData(message.getStorageId()); } - return RETURN_OK; + return status; } ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) { store_address_t storeId = 0; - if(tmFifo.full()) { - sif::error << "TmTcBridge::storeDownlinkData: TM downlink max. number " - << "of stored packet IDs reached! " - << "Overwriting old data" << std::endl; - tmFifo.retrieve(&storeId); - tmStore->deleteData(storeId); + if(tmFifo->full()) { + sif::debug << "TmTcBridge::storeDownlinkData: TM downlink max. number " + << "of stored packet IDs reached! " << std::endl; + if(overwriteOld) { + tmFifo->retrieve(&storeId); + tmStore->deleteData(storeId); + } + else { + return HasReturnvaluesIF::RETURN_FAILED; + } } + storeId = message->getStorageId(); - tmFifo.insert(storeId); + tmFifo->insert(storeId); tmStored = true; return RETURN_OK; } ReturnValue_t TmTcBridge::handleStoredTm() { - uint8_t counter = 0; - ReturnValue_t result = RETURN_OK; - while(not tmFifo.empty() and counter < sentPacketsPerCycle) { - //info << "TMTC Bridge: Sending stored TM data. There are " - // << (int) fifo.size() << " left to send\r\n" << std::flush; + ReturnValue_t status = RETURN_OK; + while(not tmFifo->empty() and packetSentCounter < sentPacketsPerCycle) { + //sif::info << "TMTC Bridge: Sending stored TM data. There are " + // << (int) tmFifo->size() << " left to send\r\n" << std::flush; + store_address_t storeId; const uint8_t* data = nullptr; size_t size = 0; - tmFifo.retrieve(&storeId); - result = tmStore->getData(storeId, &data, &size); - - sendTm(data,size); + tmFifo->retrieve(&storeId); + ReturnValue_t result = tmStore->getData(storeId, &data, &size); + if(result != HasReturnvaluesIF::RETURN_OK) { + status = result; + } + result = sendTm(data,size); if(result != RETURN_OK) { sif::error << "TMTC Bridge: Could not send stored downlink data" << std::endl; - result = RETURN_FAILED; + status = result; } - counter ++; + packetSentCounter ++; - if(tmFifo.empty()) { + if(tmFifo->empty()) { tmStored = false; } tmStore->deleteData(storeId); } - return result; + return status; } void TmTcBridge::registerCommConnect() { if(not communicationLinkUp) { - //info << "TMTC Bridge: Registered Comm Link Connect" << std::endl; + //sif::info << "TMTC Bridge: Registered Comm Link Connect" << std::endl; communicationLinkUp = true; } } void TmTcBridge::registerCommDisconnect() { - //info << "TMTC Bridge: Registered Comm Link Disconnect" << std::endl; + //sif::info << "TMTC Bridge: Registered Comm Link Disconnect" << std::endl; if(communicationLinkUp) { communicationLinkUp = false; } @@ -209,3 +231,7 @@ MessageQueueId_t TmTcBridge::getRequestQueue() { // Default implementation: Relay TC messages to TC distributor directly. return tmTcReceptionQueue->getDefaultDestination(); } + +void TmTcBridge::setFifoToOverwriteOldData(bool overwriteOld) { + this->overwriteOld = overwriteOld; +} diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h index 32eaf7f2..62cfdaac 100644 --- a/tmtcservices/TmTcBridge.h +++ b/tmtcservices/TmTcBridge.h @@ -1,15 +1,15 @@ #ifndef FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_ #define FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_ + #include "../objectmanager/SystemObject.h" -#include "AcceptsTelemetryIF.h" +#include "../tmtcservices/AcceptsTelemetryIF.h" #include "../tasks/ExecutableObjectIF.h" #include "../ipc/MessageQueueIF.h" #include "../storagemanager/StorageManagerIF.h" -#include "AcceptsTelecommandsIF.h" - -#include "../container/FIFO.h" -#include "TmTcMessage.h" +#include "../tmtcservices/AcceptsTelecommandsIF.h" +#include "../container/DynamicFIFO.h" +#include "../tmtcservices/TmTcMessage.h" class TmTcBridge : public AcceptsTelemetryIF, public AcceptsTelecommandsIF, @@ -46,6 +46,12 @@ public: */ ReturnValue_t setMaxNumberOfPacketsStored(uint8_t maxNumberOfPacketsStored); + /** + * This will set up the bridge to overwrite old data in the FIFO. + * @param overwriteOld + */ + void setFifoToOverwriteOldData(bool overwriteOld); + virtual void registerCommConnect(); virtual void registerCommDisconnect(); @@ -86,6 +92,8 @@ protected: //! by default, so telemetry will be handled immediately. bool communicationLinkUp = true; bool tmStored = false; + bool overwriteOld = true; + uint8_t packetSentCounter = 0; /** * @brief Handle TC reception @@ -145,7 +153,7 @@ protected: * This fifo can be used to store downlink data * which can not be sent at the moment. */ - FIFO tmFifo; + DynamicFIFO* tmFifo = nullptr; uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE; uint8_t maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED; }; From 6c42189371dd76082fe93e7f832c509e8967b402 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Sun, 6 Sep 2020 15:49:32 +0200 Subject: [PATCH 20/27] some minor improvements --- osal/linux/TcUnixUdpPollingTask.cpp | 1 + osal/linux/TmTcUnixUdpBridge.cpp | 6 ++++-- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/osal/linux/TcUnixUdpPollingTask.cpp b/osal/linux/TcUnixUdpPollingTask.cpp index 95910b02..670ba804 100644 --- a/osal/linux/TcUnixUdpPollingTask.cpp +++ b/osal/linux/TcUnixUdpPollingTask.cpp @@ -120,6 +120,7 @@ void TcUnixUdpPollingTask::setTimeout(double timeoutSeconds) { } } +// TODO: sleep after error detection to prevent spam void TcUnixUdpPollingTask::handleReadError() { switch(errno) { case(EAGAIN): { diff --git a/osal/linux/TmTcUnixUdpBridge.cpp b/osal/linux/TmTcUnixUdpBridge.cpp index 80d02b25..b55291b3 100644 --- a/osal/linux/TmTcUnixUdpBridge.cpp +++ b/osal/linux/TmTcUnixUdpBridge.cpp @@ -5,6 +5,7 @@ #include #include + TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId, object_id_t tcDestination, object_id_t tmStoreId, object_id_t tcStoreId, uint16_t serverPort, uint16_t clientPort): @@ -100,8 +101,8 @@ void TmTcUnixUdpBridge::checkAndSetClientAddress(sockaddr_in newAddress) { } } -void TmTcUnixUdpBridge::handleSocketError() { +void TmTcUnixUdpBridge::handleSocketError() { // See: https://man7.org/linux/man-pages/man2/socket.2.html switch(errno) { case(EACCES): @@ -162,7 +163,8 @@ void TmTcUnixUdpBridge::handleBindError() { void TmTcUnixUdpBridge::handleSendError() { switch(errno) { default: - sif::error << "Error: " << strerror(errno) << std::endl; + sif::error << "TmTcUnixBridge::handleSendError: " + << strerror(errno) << std::endl; } } From 2a28114b49fc48d01e95bb350d8c52d299bcab5c Mon Sep 17 00:00:00 2001 From: Steffen Gaisser Date: Mon, 7 Sep 2020 15:43:48 +0200 Subject: [PATCH 21/27] Fixes for #190 and #189 --- container/DynamicFIFO.h | 16 ++++++++++++++-- container/FIFO.h | 12 ++++++++++++ container/FixedMap.h | 3 +++ tmtcservices/CommandingServiceBase.h | 17 +++++++++++++++-- 4 files changed, 44 insertions(+), 4 deletions(-) diff --git a/container/DynamicFIFO.h b/container/DynamicFIFO.h index abb53330..8f5c5e40 100644 --- a/container/DynamicFIFO.h +++ b/container/DynamicFIFO.h @@ -27,14 +27,26 @@ public: /** * @brief Custom copy constructor which prevents setting the - * underlying pointer wrong. + * underlying pointer wrong. This function allocates memory! + * @details This is a very heavy operation so try to avoid this! + * */ DynamicFIFO(const DynamicFIFO& other): FIFOBase(other), fifoVector(other.maxCapacity) { this->setContainer(fifoVector.data()); } - + /** + * @brief Custom assignment operator + * @details This is a very heavy operation so try to avoid this! + * @param other DyamicFIFO to copy from + */ + DynamicFIFO& operator=(const DynamicFIFO& other){ + FIFOBase::operator=(other); + this->fifoVector = other.fifoVector; + this->setContainer(fifoVector.data()); + return *this; + } private: std::vector fifoVector; }; diff --git a/container/FIFO.h b/container/FIFO.h index 19f763fc..70113852 100644 --- a/container/FIFO.h +++ b/container/FIFO.h @@ -25,9 +25,21 @@ public: * @param other */ FIFO(const FIFO& other): FIFOBase(other) { + this->fifoArray = other.fifoArray; this->setContainer(fifoArray.data()); } + /** + * @brief Custom assignment operator + * @param other + */ + FIFO& operator=(const FIFO& other){ + FIFOBase::operator=(other); + this->fifoArray = other.fifoArray; + this->setContainer(fifoArray.data()); + return *this; + } + private: std::array fifoArray; }; diff --git a/container/FixedMap.h b/container/FixedMap.h index dc19ce53..65459631 100644 --- a/container/FixedMap.h +++ b/container/FixedMap.h @@ -4,12 +4,15 @@ #include "ArrayList.h" #include "../returnvalues/HasReturnvaluesIF.h" #include +#include /** * \ingroup container */ template class FixedMap: public SerializeIF { + static_assert (std::is_trivially_copyable::value or std::is_base_of::value, + "Types used in FixedMap must either be trivial copy-able or a derived Class from SerializeIF to be serialize-able"); public: static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MAP; static const ReturnValue_t KEY_ALREADY_EXISTS = MAKE_RETURN_CODE(0x01); diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h index 864a0614..23b08acf 100644 --- a/tmtcservices/CommandingServiceBase.h +++ b/tmtcservices/CommandingServiceBase.h @@ -211,8 +211,7 @@ protected: virtual void doPeriodicOperation(); - - struct CommandInfo { + struct CommandInfo: public SerializeIF{ struct tcInfo { uint8_t ackFlags; uint16_t tcPacketId; @@ -225,6 +224,20 @@ protected: Command_t command; object_id_t objectId; FIFO fifo; + + virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size, + size_t maxSize, Endianness streamEndianness) const override{ + return HasReturnvaluesIF::RETURN_FAILED; + }; + + virtual size_t getSerializedSize() const override { + return 0; + }; + + virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size, + Endianness streamEndianness) override{ + return HasReturnvaluesIF::RETURN_FAILED; + }; }; using CommandMapIter = FixedMap Date: Mon, 7 Sep 2020 15:49:28 +0200 Subject: [PATCH 22/27] Another fix in DynamicFIFO --- container/DynamicFIFO.h | 1 + 1 file changed, 1 insertion(+) diff --git a/container/DynamicFIFO.h b/container/DynamicFIFO.h index 8f5c5e40..86d43f7d 100644 --- a/container/DynamicFIFO.h +++ b/container/DynamicFIFO.h @@ -33,6 +33,7 @@ public: */ DynamicFIFO(const DynamicFIFO& other): FIFOBase(other), fifoVector(other.maxCapacity) { + this->fifoVector = other.fifoVector; this->setContainer(fifoVector.data()); } From b65789824cc103d8fbc46479e6eff0f09c6346d6 Mon Sep 17 00:00:00 2001 From: Steffen Gaisser Date: Mon, 7 Sep 2020 18:06:08 +0200 Subject: [PATCH 23/27] Removed old hacks and replaced by standard c++ Added overflow check in SerializeAdapter --- container/IsDerivedFrom.h | 41 ------------------------------------ serialize/SerializeAdapter.h | 32 ++++++++++++++++------------ 2 files changed, 18 insertions(+), 55 deletions(-) delete mode 100644 container/IsDerivedFrom.h diff --git a/container/IsDerivedFrom.h b/container/IsDerivedFrom.h deleted file mode 100644 index 520033db..00000000 --- a/container/IsDerivedFrom.h +++ /dev/null @@ -1,41 +0,0 @@ -#ifndef ISDERIVEDFROM_H_ -#define ISDERIVEDFROM_H_ - -template -class IsDerivedFrom { - class No { - }; - class Yes { - No no[3]; - }; - - static Yes Test(B*); // declared, but not defined - static No Test(... ); // declared, but not defined - -public: - enum { - Is = sizeof(Test(static_cast(0))) == sizeof(Yes) - }; -}; - -template -struct is_same { - static bool const value = false; -}; - -template -struct is_same { - static bool const value = true; -}; - - -template -struct enable_if { - typedef T type; -}; - -template -struct enable_if { }; - - -#endif /* ISDERIVEDFROM_H_ */ diff --git a/serialize/SerializeAdapter.h b/serialize/SerializeAdapter.h index af5ec116..cd6b6b06 100644 --- a/serialize/SerializeAdapter.h +++ b/serialize/SerializeAdapter.h @@ -1,11 +1,11 @@ #ifndef SERIALIZEADAPTER_H_ #define SERIALIZEADAPTER_H_ -#include "../container/IsDerivedFrom.h" #include "../returnvalues/HasReturnvaluesIF.h" #include "EndianConverter.h" #include "SerializeIF.h" #include +#include /** * \ingroup serialize @@ -15,34 +15,39 @@ class SerializeAdapter { public: template static ReturnValue_t serialize(const T *object, uint8_t **buffer, - size_t *size, size_t maxSize, SerializeIF::Endianness streamEndianness) { - InternalSerializeAdapter::Is> adapter; + size_t *size, size_t maxSize, + SerializeIF::Endianness streamEndianness) { + InternalSerializeAdapter::value> adapter; return adapter.serialize(object, buffer, size, maxSize, streamEndianness); } template static uint32_t getSerializedSize(const T *object) { - InternalSerializeAdapter::Is> adapter; + InternalSerializeAdapter::value> adapter; return adapter.getSerializedSize(object); } template static ReturnValue_t deSerialize(T *object, const uint8_t **buffer, size_t *size, SerializeIF::Endianness streamEndianness) { - InternalSerializeAdapter::Is> adapter; + InternalSerializeAdapter::value> adapter; return adapter.deSerialize(object, buffer, size, streamEndianness); } private: - template - class InternalSerializeAdapter { + template class InternalSerializeAdapter; + + template + class InternalSerializeAdapter { public: static ReturnValue_t serialize(const T *object, uint8_t **buffer, - size_t *size, size_t max_size, SerializeIF::Endianness streamEndianness) { + size_t *size, size_t max_size, + SerializeIF::Endianness streamEndianness) { size_t ignoredSize = 0; if (size == NULL) { size = &ignoredSize; } - //TODO check integer overflow of *size - if (sizeof(T) + *size <= max_size) { + //Check remaining size is large enough and check integer overflow of *size + size_t newSize = sizeof(T) + *size; + if ((newSize <= max_size) and (newSize > *size)) { T tmp; switch (streamEndianness) { case SerializeIF::Endianness::BIG: @@ -94,14 +99,13 @@ private: uint32_t getSerializedSize(const T *object) { return sizeof(T); } - }; template - class InternalSerializeAdapter { + class InternalSerializeAdapter { public: - ReturnValue_t serialize(const T *object, uint8_t **buffer, - size_t *size, size_t max_size, + ReturnValue_t serialize(const T *object, uint8_t **buffer, size_t *size, + size_t max_size, SerializeIF::Endianness streamEndianness) const { size_t ignoredSize = 0; if (size == NULL) { From 0258ce62f0ccb64be8f87e17321627171601f348 Mon Sep 17 00:00:00 2001 From: Steffen Gaisser Date: Mon, 7 Sep 2020 18:35:25 +0200 Subject: [PATCH 24/27] Added documentation --- serialize/SerializeAdapter.h | 71 ++++++++++++++++++++++++++++++++---- serialize/SerializeIF.h | 2 +- 2 files changed, 64 insertions(+), 9 deletions(-) diff --git a/serialize/SerializeAdapter.h b/serialize/SerializeAdapter.h index cd6b6b06..a05b1791 100644 --- a/serialize/SerializeAdapter.h +++ b/serialize/SerializeAdapter.h @@ -1,10 +1,10 @@ -#ifndef SERIALIZEADAPTER_H_ -#define SERIALIZEADAPTER_H_ +#ifndef _FSFW_SERIALIZE_SERIALIZEADAPTER_H_ +#define _FSFW_SERIALIZE_SERIALIZEADAPTER_H_ #include "../returnvalues/HasReturnvaluesIF.h" #include "EndianConverter.h" #include "SerializeIF.h" -#include +#include #include /** @@ -13,6 +13,22 @@ class SerializeAdapter { public: + /*** + * This function can be used to serialize a trivial copy-able type or a child of SerializeIF. + * The right template to be called is determined in the function itself. + * For objects of non trivial copy-able type this function is almost never called by the user directly. + * Instead helpers for specific types like SerialArrayListAdapter or SerialLinkedListAdapter is the right choice here. + * + * @param[in] object Object to serialize, the used type is deduced from this pointer + * @param[in/out] buffer Buffer to serialize into. Will be moved by the function. + * @param[in/out] size Size of current written buffer. Will be incremented by the function. + * @param[in] maxSize Max size of Buffer + * @param[in] streamEndianness Endianness of serialized element as in according to SerializeIF::Endianness + * @return + * - @c BUFFER_TOO_SHORT The given buffer in is too short + * - @c RETURN_FAILED Generic Error + * - @c RETURN_OK Successful serialization + */ template static ReturnValue_t serialize(const T *object, uint8_t **buffer, size_t *size, size_t maxSize, @@ -21,11 +37,35 @@ public: return adapter.serialize(object, buffer, size, maxSize, streamEndianness); } + /** + * Function to return the serialized size of the object in the pointer. + * May be a trivially copy-able object or a Child of SerializeIF + * + * @param object Pointer to Object + * @return Serialized size of object + */ template - static uint32_t getSerializedSize(const T *object) { + static size_t getSerializedSize(const T *object){ InternalSerializeAdapter::value> adapter; return adapter.getSerializedSize(object); } + /** + * @brief + * Deserializes a object from a given buffer of given size. + * Object Must be trivially copy-able or a child of SerializeIF. + * + * @details + * Buffer will be moved to the current read location. Size will be decreased by the function. + * + * @param[in/out] buffer Buffer to deSerialize from. Will be moved by the function. + * @param[in/out] size Remaining size of the buffer to read from. Will be decreased by function. + * @param[in] streamEndianness Endianness as in according to SerializeIF::Endianness + * @return + * - @c STREAM_TOO_SHORT The input stream is too short to deSerialize the object + * - @c TOO_MANY_ELEMENTS The buffer has more inputs than expected + * - @c RETURN_FAILED Generic Error + * - @c RETURN_OK Successful deserialization + */ template static ReturnValue_t deSerialize(T *object, const uint8_t **buffer, size_t *size, SerializeIF::Endianness streamEndianness) { @@ -33,16 +73,26 @@ public: return adapter.deSerialize(object, buffer, size, streamEndianness); } private: + /** + * Internal template to deduce the right function calls at compile time + */ template class InternalSerializeAdapter; + /** + * Template to be used if T is not a child of SerializeIF + * + * @tparam T T must be trivially_copyable + */ template class InternalSerializeAdapter { + static_assert (std::is_trivially_copyable::value, + "If a type needs to be serialized it must be a child of SerializeIF or trivially copy-able"); public: static ReturnValue_t serialize(const T *object, uint8_t **buffer, size_t *size, size_t max_size, SerializeIF::Endianness streamEndianness) { size_t ignoredSize = 0; - if (size == NULL) { + if (size == nullptr) { size = &ignoredSize; } //Check remaining size is large enough and check integer overflow of *size @@ -101,6 +151,11 @@ private: } }; + /** + * Template for objects that inherit from SerializeIF + * + * @tparam T A child of SerializeIF + */ template class InternalSerializeAdapter { public: @@ -108,12 +163,12 @@ private: size_t max_size, SerializeIF::Endianness streamEndianness) const { size_t ignoredSize = 0; - if (size == NULL) { + if (size == nullptr) { size = &ignoredSize; } return object->serialize(buffer, size, max_size, streamEndianness); } - uint32_t getSerializedSize(const T *object) const { + size_t getSerializedSize(const T *object) const { return object->getSerializedSize(); } @@ -124,4 +179,4 @@ private: }; }; -#endif /* SERIALIZEADAPTER_H_ */ +#endif /* _FSFW_SERIALIZE_SERIALIZEADAPTER_H_ */ diff --git a/serialize/SerializeIF.h b/serialize/SerializeIF.h index 7f9ea9df..a701fe53 100644 --- a/serialize/SerializeIF.h +++ b/serialize/SerializeIF.h @@ -43,7 +43,7 @@ public: * @param[in] maxSize The size of the buffer that is allowed to be used for serialize. * @param[in] streamEndianness Endianness of the serialized data according to SerializeIF::Endianness * @return - * - @ยข BUFFER_TOO_SHORT The given buffer in is too short + * - @c BUFFER_TOO_SHORT The given buffer in is too short * - @c RETURN_FAILED Generic error * - @c RETURN_OK Successful serialization */ From e7444912d5eb69dc701b12f7de5f94d730d2992d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Robin=20M=C3=BCller?= Date: Thu, 10 Sep 2020 15:29:19 +0200 Subject: [PATCH 25/27] corrected include guard --- container/FixedMap.h | 14 ++++++-------- 1 file changed, 6 insertions(+), 8 deletions(-) diff --git a/container/FixedMap.h b/container/FixedMap.h index 56a6140a..d1cc31ff 100644 --- a/container/FixedMap.h +++ b/container/FixedMap.h @@ -1,5 +1,5 @@ -#ifndef FRAMEWORK_CONTAINER_FIXEDMAP_H_ -#define FRAMEWORK_CONTAINER_FIXEDMAP_H_ +#ifndef FSFW_CONTAINER_FIXEDMAP_H_ +#define FSFW_CONTAINER_FIXEDMAP_H_ #include "ArrayList.h" #include "../returnvalues/HasReturnvaluesIF.h" @@ -7,11 +7,9 @@ #include /** - * \ingroup container - * - * - * \warning Iterators return a non-const key_t in the pair. - * \warning A User is not allowed to change the key, otherwise the map is corrupted. + * @warning Iterators return a non-const key_t in the pair. + * @warning A User is not allowed to change the key, otherwise the map is corrupted. + * @ingroup container */ template class FixedMap: public SerializeIF { @@ -194,4 +192,4 @@ public: }; -#endif /* FIXEDMAP_H_ */ +#endif /* FSFW_CONTAINER_FIXEDMAP_H_ */ From d83573cefc14ea6ff6f45e694a3f29d533117797 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 10 Sep 2020 16:47:01 +0200 Subject: [PATCH 26/27] additional IDs removed --- returnvalues/FwClassIds.h | 3 --- 1 file changed, 3 deletions(-) diff --git a/returnvalues/FwClassIds.h b/returnvalues/FwClassIds.h index 781320e3..80df5741 100644 --- a/returnvalues/FwClassIds.h +++ b/returnvalues/FwClassIds.h @@ -65,9 +65,6 @@ enum { POOL_VARIABLE_IF, //PVA 59 HOUSEKEEPING_MANAGER, //HKM 60 DLE_ENCODER, //DLEE 61 - PUS_PARSER, //PUSP 62 - SERIAL_ANALYZER, //SERA 63 - PUS_SERVICE_9, // PUS9 64 FW_CLASS_ID_COUNT //is actually count + 1 ! }; From 4f48ed9756a520520277d2efe2ebc46ed881eefd Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 10 Sep 2020 19:53:52 +0200 Subject: [PATCH 27/27] added new periodic op divider --- globalfunctions/PeriodicOperationDivider.cpp | 34 ++++++++++++ globalfunctions/PeriodicOperationDivider.h | 55 ++++++++++++++++++++ 2 files changed, 89 insertions(+) create mode 100644 globalfunctions/PeriodicOperationDivider.cpp create mode 100644 globalfunctions/PeriodicOperationDivider.h diff --git a/globalfunctions/PeriodicOperationDivider.cpp b/globalfunctions/PeriodicOperationDivider.cpp new file mode 100644 index 00000000..ad3b8bbd --- /dev/null +++ b/globalfunctions/PeriodicOperationDivider.cpp @@ -0,0 +1,34 @@ +#include "PeriodicOperationDivider.h" + + +PeriodicOperationDivider::PeriodicOperationDivider(uint32_t divider, + bool resetAutomatically): resetAutomatically(resetAutomatically), + counter(divider), divider(divider) { +} + +bool PeriodicOperationDivider::checkAndIncrement() { + if(counter >= divider) { + if(resetAutomatically) { + counter = 0; + } + return true; + } + counter ++; + return false; +} + +void PeriodicOperationDivider::resetCounter() { + counter = 0; +} + +void PeriodicOperationDivider::setDivider(uint32_t newDivider) { + divider = newDivider; +} + +uint32_t PeriodicOperationDivider::getCounter() const { + return counter; +} + +uint32_t PeriodicOperationDivider::getDivider() const { + return divider; +} diff --git a/globalfunctions/PeriodicOperationDivider.h b/globalfunctions/PeriodicOperationDivider.h new file mode 100644 index 00000000..dd970fb8 --- /dev/null +++ b/globalfunctions/PeriodicOperationDivider.h @@ -0,0 +1,55 @@ +#ifndef FSFW_GLOBALFUNCTIONS_PERIODICOPERATIONDIVIDER_H_ +#define FSFW_GLOBALFUNCTIONS_PERIODICOPERATIONDIVIDER_H_ + +#include + +/** + * @brief Lightweight helper class to facilitate periodic operation with + * decreased frequencies. + * @details + * This class is useful to perform operations which have to be performed + * with a reduced frequency, like debugging printouts in high periodic tasks + * or low priority operations. + */ +class PeriodicOperationDivider { +public: + /** + * Initialize with the desired divider and specify whether the internal + * counter will be reset automatically. + * @param divider + * @param resetAutomatically + */ + PeriodicOperationDivider(uint32_t divider, bool resetAutomatically = true); + + /** + * Check whether operation is necessary. + * If an operation is necessary and the class has been + * configured to be reset automatically, the counter will be reset. + * If not, the counter will be incremented. + * @return + * -@c true if the counter is larger or equal to the divider + * -@c false otherwise + */ + bool checkAndIncrement(); + + /** + * Can be used to reset the counter to 0 manually. + */ + void resetCounter(); + uint32_t getCounter() const; + + /** + * Can be used to set a new divider value. + * @param newDivider + */ + void setDivider(uint32_t newDivider); + uint32_t getDivider() const; +private: + bool resetAutomatically = true; + uint32_t counter = 0; + uint32_t divider = 0; +}; + + + +#endif /* FSFW_GLOBALFUNCTIONS_PERIODICOPERATIONDIVIDER_H_ */