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Merge branch 'development' into mueller/gpio-update

This commit is contained in:
Robin Müller 2021-09-23 18:00:31 +02:00
parent f40f783cb4 9429f6b868
commit ea3812fbbd
10 changed files with 62 additions and 51 deletions
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8
hal/src/fsfw_hal/linux/spi/SpiComIF.cpp
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@ -15,11 +15,6 @@
#include <cerrno> #include <cerrno>
#include <cstring> #include <cstring>
/* Can be used for low-level debugging of the SPI bus */
#ifndef FSFW_HAL_LINUX_SPI_WIRETAPPING
#define FSFW_HAL_LINUX_SPI_WIRETAPPING 0
#endif
SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF): SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF):
SystemObject(objectId), gpioComIF(gpioComIF) { SystemObject(objectId), gpioComIF(gpioComIF) {
if(gpioComIF == nullptr) { if(gpioComIF == nullptr) {
@ -193,7 +188,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
spiCookie->getSpiParameters(spiMode, spiSpeed, nullptr); spiCookie->getSpiParameters(spiMode, spiSpeed, nullptr);
setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed); setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
spiCookie->assignWriteBuffer(sendData); spiCookie->assignWriteBuffer(sendData);
spiCookie->assignTransferSize(sendLen); spiCookie->setTransferSize(sendLen);
bool fullDuplex = spiCookie->isFullDuplex(); bool fullDuplex = spiCookie->isFullDuplex();
gpioId_t gpioId = spiCookie->getChipSelectPin(); gpioId_t gpioId = spiCookie->getChipSelectPin();
@ -335,6 +330,7 @@ ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
*buffer = rxBuf; *buffer = rxBuf;
*size = spiCookie->getCurrentTransferSize(); *size = spiCookie->getCurrentTransferSize();
spiCookie->setTransferSize(0);
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }

1
hal/src/fsfw_hal/linux/spi/SpiComIF.h
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@ -1,6 +1,7 @@
#ifndef LINUX_SPI_SPICOMIF_H_ #ifndef LINUX_SPI_SPICOMIF_H_
#define LINUX_SPI_SPICOMIF_H_ #define LINUX_SPI_SPICOMIF_H_
#include "fsfw/FSFW.h"
#include "spiDefinitions.h" #include "spiDefinitions.h"
#include "returnvalues/classIds.h" #include "returnvalues/classIds.h"
#include "fsfw_hal/common/gpio/GpioIF.h" #include "fsfw_hal/common/gpio/GpioIF.h"

2
hal/src/fsfw_hal/linux/spi/SpiCookie.cpp
View File

@ -121,7 +121,7 @@ bool SpiCookie::isFullDuplex() const {
return not this->halfDuplex; return not this->halfDuplex;
} }
void SpiCookie::assignTransferSize(size_t transferSize) { void SpiCookie::setTransferSize(size_t transferSize) {
spiTransferStruct.len = transferSize; spiTransferStruct.len = transferSize;
} }

6
hal/src/fsfw_hal/linux/spi/SpiCookie.h
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@ -103,10 +103,10 @@ public:
void assignReadBuffer(uint8_t* rx); void assignReadBuffer(uint8_t* rx);
void assignWriteBuffer(const uint8_t* tx); void assignWriteBuffer(const uint8_t* tx);
/** /**
* Assign size for the next transfer. * Set size for the next transfer. Set to 0 for no transfer
* @param transferSize * @param transferSize
*/ */
void assignTransferSize(size_t transferSize); void setTransferSize(size_t transferSize);
size_t getCurrentTransferSize() const; size_t getCurrentTransferSize() const;
struct UncommonParameters { struct UncommonParameters {
@ -158,8 +158,6 @@ private:
std::string spiDev, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed, std::string spiDev, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
spi::send_callback_function_t callback, void* args); spi::send_callback_function_t callback, void* args);
size_t currentTransferSize = 0;
address_t spiAddress; address_t spiAddress;
gpioId_t chipSelectPin; gpioId_t chipSelectPin;
std::string spiDevice; std::string spiDevice;

28
src/fsfw/devicehandlers/DeviceHandlerBase.cpp
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@ -461,7 +461,7 @@ size_t DeviceHandlerBase::getNextReplyLength(DeviceCommandId_t commandId){
return iter->second.replyLen; return iter->second.replyLen;
}else{ }else{
return 0; return 0;
} }
} }
ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceReply, ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceReply,
@ -612,15 +612,15 @@ void DeviceHandlerBase::replyToReply(const DeviceCommandId_t command, DeviceRepl
} }
DeviceCommandInfo* info = &replyInfo.command->second; DeviceCommandInfo* info = &replyInfo.command->second;
if (info == nullptr){ if (info == nullptr){
printWarningOrError(sif::OutputTypes::OUT_ERROR, printWarningOrError(sif::OutputTypes::OUT_ERROR,
"replyToReply", HasReturnvaluesIF::RETURN_FAILED, "replyToReply", HasReturnvaluesIF::RETURN_FAILED,
"Command pointer not found"); "Command pointer not found");
return; return;
} }
if (info->expectedReplies > 0){ if (info->expectedReplies > 0){
// Check before to avoid underflow // Check before to avoid underflow
info->expectedReplies--; info->expectedReplies--;
} }
// Check if more replies are expected. If so, do nothing. // Check if more replies are expected. If so, do nothing.
if (info->expectedReplies == 0) { if (info->expectedReplies == 0) {
@ -1355,10 +1355,20 @@ void DeviceHandlerBase::buildInternalCommand(void) {
DeviceCommandMap::iterator iter = deviceCommandMap.find( DeviceCommandMap::iterator iter = deviceCommandMap.find(
deviceCommandId); deviceCommandId);
if (iter == deviceCommandMap.end()) { if (iter == deviceCommandMap.end()) {
#if FSFW_VERBOSE_LEVEL >= 1
char output[36];
sprintf(output, "Command 0x%08x unknown",
static_cast<unsigned int>(deviceCommandId));
// so we can track misconfigurations
printWarningOrError(sif::OutputTypes::OUT_WARNING,
"buildInternalCommand",
COMMAND_NOT_SUPPORTED,
output);
#endif
result = COMMAND_NOT_SUPPORTED; result = COMMAND_NOT_SUPPORTED;
} }
else if (iter->second.isExecuting) { else if (iter->second.isExecuting) {
#if FSFW_DISABLE_PRINTOUT == 0 #if FSFW_VERBOSE_LEVEL >= 1
char output[36]; char output[36];
sprintf(output, "Command 0x%08x is executing", sprintf(output, "Command 0x%08x is executing",
static_cast<unsigned int>(deviceCommandId)); static_cast<unsigned int>(deviceCommandId));
@ -1569,7 +1579,7 @@ LocalDataPoolManager* DeviceHandlerBase::getHkManagerHandle() {
return &poolManager; return &poolManager;
} }
MessageQueueId_t DeviceHandlerBase::getCommanderId(DeviceCommandId_t replyId) const { MessageQueueId_t DeviceHandlerBase::getCommanderQueueId(DeviceCommandId_t replyId) const {
auto commandIter = deviceCommandMap.find(replyId); auto commandIter = deviceCommandMap.find(replyId);
if(commandIter == deviceCommandMap.end()) { if(commandIter == deviceCommandMap.end()) {
return MessageQueueIF::NO_QUEUE; return MessageQueueIF::NO_QUEUE;

34
src/fsfw/devicehandlers/DeviceHandlerBase.h
View File

@ -6,22 +6,22 @@
#include "DeviceHandlerFailureIsolation.h" #include "DeviceHandlerFailureIsolation.h"
#include "DeviceHandlerThermalSet.h" #include "DeviceHandlerThermalSet.h"
#include "../serviceinterface/ServiceInterface.h" #include "fsfw/serviceinterface/ServiceInterface.h"
#include "../serviceinterface/serviceInterfaceDefintions.h" #include "fsfw/serviceinterface/serviceInterfaceDefintions.h"
#include "../objectmanager/SystemObject.h" #include "fsfw/objectmanager/SystemObject.h"
#include "../tasks/ExecutableObjectIF.h" #include "fsfw/tasks/ExecutableObjectIF.h"
#include "../returnvalues/HasReturnvaluesIF.h" #include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "../action/HasActionsIF.h" #include "fsfw/action/HasActionsIF.h"
#include "../datapool/PoolVariableIF.h" #include "fsfw/datapool/PoolVariableIF.h"
#include "../modes/HasModesIF.h" #include "fsfw/modes/HasModesIF.h"
#include "../power/PowerSwitchIF.h" #include "fsfw/power/PowerSwitchIF.h"
#include "../ipc/MessageQueueIF.h" #include "fsfw/ipc/MessageQueueIF.h"
#include "../tasks/PeriodicTaskIF.h" #include "fsfw/tasks/PeriodicTaskIF.h"
#include "../action/ActionHelper.h" #include "fsfw/action/ActionHelper.h"
#include "../health/HealthHelper.h" #include "fsfw/health/HealthHelper.h"
#include "../parameters/ParameterHelper.h" #include "fsfw/parameters/ParameterHelper.h"
#include "../datapoollocal/HasLocalDataPoolIF.h" #include "fsfw/datapoollocal/HasLocalDataPoolIF.h"
#include "../datapoollocal/LocalDataPoolManager.h" #include "fsfw/datapoollocal/LocalDataPoolManager.h"
#include <map> #include <map>
@ -399,7 +399,7 @@ protected:
*/ */
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) = 0; const uint8_t *packet) = 0;
MessageQueueId_t getCommanderId(DeviceCommandId_t replyId) const; MessageQueueId_t getCommanderQueueId(DeviceCommandId_t replyId) const;
/** /**
* Helper function to get pending command. This is useful for devices * Helper function to get pending command. This is useful for devices
* like SPI sensors to identify the last sent command. * like SPI sensors to identify the last sent command.

9
tests/src/fsfw_tests/internal/InternalUnitTester.cpp
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@ -16,15 +16,18 @@ InternalUnitTester::~InternalUnitTester() {}
ReturnValue_t InternalUnitTester::performTests( ReturnValue_t InternalUnitTester::performTests(
const struct InternalUnitTester::TestConfig& testConfig) { const struct InternalUnitTester::TestConfig& testConfig) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "Running internal unit tests.." << std::endl; sif::info << "Running internal unit tests.. Error messages might follow" <<
std::endl;
#else #else
sif::printInfo("Running internal unit tests..\n"); sif::printInfo("Running internal unit tests..\n");
#endif #endif
testserialize::test_serialization(); testserialize::test_serialization();
testmq::testMq(); testmq::testMq();
testsemaph::testBinSemaph(); if(testConfig.testSemaphores) {
testsemaph::testCountingSemaph(); testsemaph::testBinSemaph();
testsemaph::testCountingSemaph();
}
testmutex::testMutex(); testmutex::testMutex();
if(testConfig.testArrayPrinter) { if(testConfig.testArrayPrinter) {
arrayprinter::testArrayPrinter(); arrayprinter::testArrayPrinter();

1
tests/src/fsfw_tests/internal/InternalUnitTester.h
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@ -18,6 +18,7 @@ class InternalUnitTester: public HasReturnvaluesIF {
public: public:
struct TestConfig { struct TestConfig {
bool testArrayPrinter = false; bool testArrayPrinter = false;
bool testSemaphores = true;
}; };
InternalUnitTester(); InternalUnitTester();

11
tests/src/fsfw_tests/internal/osal/IntTestMutex.cpp
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@ -1,10 +1,12 @@
#include "fsfw_tests/internal/osal/IntTestMutex.h" #include "fsfw_tests/internal/osal/IntTestMutex.h"
#include "fsfw_tests/internal/UnittDefinitions.h" #include "fsfw_tests/internal/UnittDefinitions.h"
#include "fsfw/platform.h"
#include <fsfw/ipc/MutexFactory.h> #include <fsfw/ipc/MutexFactory.h>
#if defined(WIN32) || defined(UNIX) #if defined PLATFORM_WIN || defined PLATFORM_UNIX
#include <fsfw/osal/host/Mutex.h> #include "fsfw/osal/host/Mutex.h"
#include <thread> #include <thread>
#include <future> #include <future>
#endif #endif
@ -20,7 +22,7 @@ void testmutex::testMutex() {
// timed_mutex from the C++ library specifies undefined behaviour if // timed_mutex from the C++ library specifies undefined behaviour if
// the timed mutex is locked twice from the same thread. // the timed mutex is locked twice from the same thread.
// TODO: we should pass a define like FSFW_OSAL_HOST to the build. // TODO: we should pass a define like FSFW_OSAL_HOST to the build.
#if defined(WIN32) || defined(UNIX) #if defined PLATFORM_WIN || defined PLATFORM_UNIX
// This calls the function from // This calls the function from
// another thread and stores the returnvalue in a future. // another thread and stores the returnvalue in a future.
auto future = std::async(&MutexIF::lockMutex, mutex, MutexIF::TimeoutType::WAITING, 1); auto future = std::async(&MutexIF::lockMutex, mutex, MutexIF::TimeoutType::WAITING, 1);
@ -37,8 +39,7 @@ void testmutex::testMutex() {
unitt::put_error(id); unitt::put_error(id);
} }
// TODO: we should pass a define like FSFW_OSAL_HOST to the build. #if !defined PLATFORM_WIN && !defined PLATFORM_UNIX
#if !defined(WIN32) && !defined(UNIX)
result = mutex->unlockMutex(); result = mutex->unlockMutex();
if(result != MutexIF::CURR_THREAD_DOES_NOT_OWN_MUTEX) { if(result != MutexIF::CURR_THREAD_DOES_NOT_OWN_MUTEX) {
unitt::put_error(id); unitt::put_error(id);

13
tests/src/fsfw_tests/internal/osal/IntTestSemaphore.cpp
View File

@ -1,9 +1,10 @@
#include "fsfw/FSFW.h"
#include "fsfw_tests/internal/osal/IntTestSemaphore.h" #include "fsfw_tests/internal/osal/IntTestSemaphore.h"
#include "fsfw_tests/internal/UnittDefinitions.h" #include "fsfw_tests/internal/UnittDefinitions.h"
#include <fsfw/tasks/SemaphoreFactory.h> #include "fsfw/tasks/SemaphoreFactory.h"
#include <fsfw/serviceinterface/ServiceInterface.h> #include "fsfw/serviceinterface/ServiceInterface.h"
#include <fsfw/timemanager/Stopwatch.h> #include "fsfw/timemanager/Stopwatch.h"
#include <cstdlib> #include <cstdlib>
@ -16,7 +17,7 @@ void testsemaph::testBinSemaph() {
} }
testBinSemaphoreImplementation(binSemaph, id); testBinSemaphoreImplementation(binSemaph, id);
SemaphoreFactory::instance()->deleteSemaphore(binSemaph); SemaphoreFactory::instance()->deleteSemaphore(binSemaph);
#if defined(freeRTOS) #if defined FSFW_OSAL_FREERTOS
SemaphoreIF* binSemaphUsingTask = SemaphoreIF* binSemaphUsingTask =
SemaphoreFactory::instance()->createBinarySemaphore(1); SemaphoreFactory::instance()->createBinarySemaphore(1);
testBinSemaphoreImplementation(binSemaphUsingTask, id); testBinSemaphoreImplementation(binSemaphUsingTask, id);
@ -36,7 +37,7 @@ void testsemaph::testCountingSemaph() {
} }
testBinSemaphoreImplementation(countingSemaph, id); testBinSemaphoreImplementation(countingSemaph, id);
SemaphoreFactory::instance()->deleteSemaphore(countingSemaph); SemaphoreFactory::instance()->deleteSemaphore(countingSemaph);
#if defined(freeRTOS) #if defined FSFW_OSAL_FREERTOS
countingSemaph = SemaphoreFactory::instance()-> countingSemaph = SemaphoreFactory::instance()->
createCountingSemaphore(1, 1, 1); createCountingSemaphore(1, 1, 1);
testBinSemaphoreImplementation(countingSemaph, id); testBinSemaphoreImplementation(countingSemaph, id);
@ -50,7 +51,7 @@ void testsemaph::testCountingSemaph() {
createCountingSemaphore(3,3); createCountingSemaphore(3,3);
testCountingSemaphImplementation(countingSemaph, id); testCountingSemaphImplementation(countingSemaph, id);
SemaphoreFactory::instance()->deleteSemaphore(countingSemaph); SemaphoreFactory::instance()->deleteSemaphore(countingSemaph);
#if defined(freeRTOS) #if defined FSFW_OSAL_FREERTOS
countingSemaph = SemaphoreFactory::instance()-> countingSemaph = SemaphoreFactory::instance()->
createCountingSemaphore(3, 0, 1); createCountingSemaphore(3, 0, 1);
uint8_t semaphCount = countingSemaph->getSemaphoreCounter(); uint8_t semaphCount = countingSemaph->getSemaphoreCounter();