mission and config folders added , make file is added
This commit is contained in:
parent
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336
Makefile
Normal file
336
Makefile
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@ -0,0 +1,336 @@
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#-------------------------------------------------------------------------------
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# Makefile for FSFW Example
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#-------------------------------------------------------------------------------
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# User-modifiable options
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#-------------------------------------------------------------------------------
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# Fundamentals on the build process of C/C++ Software:
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# https://www3.ntu.edu.sg/home/ehchua/programming/cpp/gcc_make.html
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# Make documentation: https://www.gnu.org/software/make/manual/make.pdf
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# Online: https://www.gnu.org/software/make/manual/make.html
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# General rules: http://make.mad-scientist.net/papers/rules-of-makefiles/#rule3
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SHELL = /bin/sh
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#$(SHELL ./setup-siso-env.sh)
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FRAMEWORK_PATH = fsfw
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MISSION_PATH = mission
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CONFIG_PATH = bsp_linux/fsfwconfig
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#TEST_PATH = test
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# Board support package path. This will generally contain code which is
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# not portable and depends on the hardware.
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BSP_PATH = bsp_linux
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BASE_NAME = fsfw-example
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OS_FSFW = linux
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BOARD = linux
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OUTPUT_FOLDER = $(BOARD)
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BINARY_NAME = $(BASE_NAME)-$(BOARD)
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# Default debug level (for full debugging information)
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DEBUG_LEVEL = -g3
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# Default optimization level.
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# 1. -O0 default for debugging
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# 2. -Os for size
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# 3. -O3/-O2 for speed and size.
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OPTIMIZATION = -O0
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# Output directories
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BUILDPATH = _bin
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DEPENDPATH = _dep
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OBJECTPATH = _obj
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ifeq ($(MAKECMDGOALS),release)
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BUILD_FOLDER = release
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else
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BUILD_FOLDER = debug
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endif
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DEPENDDIR = $(DEPENDPATH)/$(OUTPUT_FOLDER)/$(BUILD_FOLDER)
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OBJDIR = $(OBJECTPATH)/$(OUTPUT_FOLDER)/$(BUILD_FOLDER)
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BINDIR = $(BUILDPATH)/$(OUTPUT_FOLDER)/$(BUILD_FOLDER)
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CLEANDEP = $(DEPENDPATH)/$(OUTPUT_FOLDER)
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CLEANOBJ = $(OBJECTPATH)/$(OUTPUT_FOLDER)
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CLEANBIN = $(BUILDPATH)
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#-------------------------------------------------------------------------------
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# Tools and Includes
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#-------------------------------------------------------------------------------
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CROSS_COMPILE =
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# c++ compiler
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CXX := $(CROSS_COMPILE)g++
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# c compiler
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CC := $(CROSS_COMPILE)gcc
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SIZE := $(CROSS_COMPILE)size
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# Empty initialization is important for submakefile handling!
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CXXSRC :=
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CSRC :=
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INCLUDES :=
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# Directries where $(directoryname).mk files should be included from
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SUBDIRS := $(BSP_PATH) $(CONFIG_PATH) $(MISSION_PATH) \
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$(FRAMEWORK_PATH)
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#SISODIR5 = /opt/siso
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#SISODIR5_INCLUDE=/opt/siso/include
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#PCODIR_1=/opt/pco_camera/pco_common/pco_include
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#PCODIR_2=/opt/pco_camera/pco_common/pco_classes
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#PCODIR_3=/opt/pco_camera/pco_me4/pco_classes
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#PCOLIB_DIR=/opt/pco_camera/pco_common/pco_lib
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#SISOLIB_DIR=/opt/siso/lib64
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#FG_LIB_PATH=/home/esbo/ESBOSW/DeviceTestsExample/mission/devices/Visible_Instrument
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# This is a hack from http://make.mad-scientist.net/the-eval-function/
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#
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# The problem is, that included makefiles should be aware of their relative path
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# but not need to guess or hardcode it. So we set $(CURRENTPATH) for them. If
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# we do this globally and the included makefiles want to include other makefiles as
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# well, they would overwrite $(CURRENTPATH), screwing the include after them.
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#
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# By using a for-loop with an eval'd macro, we can generate the code to include all
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# sub-makefiles (with the correct $(CURRENTPATH) set) before actually evaluating
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# (and by this possibly changing $(CURRENTPATH)) them.
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#
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# This works recursively, if an included makefile wants to include, it can safely set
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# $(SUBDIRS) (which has already been evaluated here) and do
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# "$(foreach S,$(SUBDIRS),$(eval $(INCLUDE_FILE)))"
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# $(SUBDIRS) must be relative to the project root, so to include subdir foo, set
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# $(SUBDIRS) = $(CURRENTPATH)/foo.
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define INCLUDE_FILE
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CURRENTPATH := $S
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include $(S)/$(notdir $S).mk
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endef
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$(foreach S,$(SUBDIRS),$(eval $(INCLUDE_FILE)))
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# Include all includes defined as INCLUDES=...
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I_INCLUDES += $(addprefix -I, $(INCLUDES))
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# Debug Info
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# $(info $${I_INCLUDES} is [${I_INCLUDES}])
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#-------------------------------------------------------------------------------
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# Source Files
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#-------------------------------------------------------------------------------
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# Additional source files which were not includes by other .mk
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# files are added here.
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# To help Makefile find source files, the source location paths
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# can be added by using the VPATH variable
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# See: https://www.gnu.org/software/make/manual/html_node/General-Search.html
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# It is recommended to only use VPATH to add source locations
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# See: http://make.mad-scientist.net/papers/how-not-to-use-vpath/
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# Please ensure that no files are included by both .mk file and here !
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# All C Sources included by .mk files are assigned here
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# Add the objects to sources so dependency handling works
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C_OBJECTS += $(CSRC:.c=.o)
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# Objects built from Assembly source files
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ASM_OBJECTS = $(ASRC:.S=.o)
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# Objects built from C++ source files
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CXX_OBJECTS += $(CXXSRC:.cpp=.o)
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#-------------------------------------------------------------------------------
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# Build Configuration + Output
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#-------------------------------------------------------------------------------
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WARNING_FLAGS = -Wall -Wshadow=local -Wextra -Wimplicit-fallthrough=1 \
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-Wno-unused-parameter -Wno-write-strings -Wno-unused-but-set-variable -Wno-unknown-pragmas
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CUSTOM_DEFINES += -DAPI=LINUX -DLINUX=2
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# Flags for both c++ and c
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CXXFLAGS += -I. $(OPTIMIZATION) $(DEBUG_LEVEL) $(DEPFLAGS) $(WARNING_FLAGS) \
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-fmessage-length=0 $(CUSTOM_DEFINES) $(I_INCLUDES)
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# Flags for c only
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CFLAGS +=
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# Flags for c++ only
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CPPFLAGS += -std=c++11 -fno-exceptions
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# For debugging.
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# $(info $${CXXFLAGS} is [${CXXFLAGS}])
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# $(info $${CFLAGS} is [${CFLAGS}])
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# $(info $${CPPFLAGS} is [${CPPFLAGS}])
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# See: https://stackoverflow.com/questions/6687630/how-to-remove-unused-c-c-symbols-with-gcc-and-ld
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# Used to throw away unused code. Reduces code size significantly !
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# -Wl,--gc-sections: needs to be passed to the linker to discard unused sections
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# KEEP_UNUSED_CODE = 1
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ifdef KEEP_UNUSED_CODE
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PROTOTYPE_OPTIMIZATION =
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UNUSED_CODE_REMOVAL =
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else
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PROTOTYPE_OPTIMIZATION = -ffunction-sections -fdata-sections
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UNUSED_CODE_REMOVAL = -Wl,--gc-sections
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# Link time optimization
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# See https://gcc.gnu.org/onlinedocs/gcc/Optimize-Options.html for reference
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# Link time is larger and size of object files can not be retrieved
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# but resulting binary is smaller. Could be used in mission/deployment build
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# Requires -ffunction-section in linker call
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LINK_TIME_OPTIMIZATION = -flto
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OPTIMIZATION += $(PROTOTYPE_OPTIMIZATION)
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endif
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# Dependency Flags
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# These flags tell the compiler to build dependencies
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# See: https://www.gnu.org/software/make/manual/html_node/Automatic-Prerequisites.html
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# Using following guide:
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# http://make.mad-scientist.net/papers/advanced-auto-dependency-generation/
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DEPFLAGS = -MT $@ -MMD -MP -MF $(DEPENDDIR)/$*.d
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#-L $(SISOLIB_DIR) -L $(SISOLIB_DIR) -L $(PCOLIB_DIR)
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LINKFLAGS = $(DEBUG_LEVEL) $(UNUSED_CODE_REMOVAL) $(OPTIMIZATION) -pthread
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#LINKLIB = -lrt -lfglib5 -lpcocom_me4 -lclsersis -lpcolog `pkg-config --libs opencv4`
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LINKLIB = -lrt
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TARGET = Debug
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OPTIMIZATION_MESSAGE = Off
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DEBUG_MESSAGE = Off\(no -DDEBUG\)
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# Define Messages
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MSG_INFO = Software: Hosted Flight Software Framework \(FSFW\) example.
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MSG_TARGET = Target Build: $(TARGET)
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MSG_DEPENDENCY = Collecting dependencies for:
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MSG_COMPILING = Compiling:
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MSG_LINKING = Linking:
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MSG_DEBUG = Debug level: $(DEBUG_LEVEL), FSFW Debugging: $(DEBUG_MESSAGE)
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MSG_OPTIMIZATION = Optimization: $(OPTIMIZATION), $(OPTIMIZATION_MESSAGE)
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#-------------------------------------------------------------------------------
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# Rules
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#-------------------------------------------------------------------------------
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# Makefile rules: https://www.gnu.org/software/make/manual/html_node/Rules.html
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# This is the primary section which defines the ruleset to build
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# the executable from the sources.
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# Default target
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default: all
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all: debug
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# building the different builds.
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release debug: executable
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# Target specific variables for release build.
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release: OPTIMIZATION = -O2
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release: DEBUG_LEVEL = -g0
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release: TARGET = Release
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release: OPTIMIZATION_MESSAGE = On
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# Target specific variables for debug build.
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debug: CXXDEFINES += -DDEBUG
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debug: DEBUG_MESSAGE = On\(-DDEBUG\)
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# Cleans all files
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hardclean:
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-rm -rf $(BUILDPATH)
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-rm -rf $(OBJECTPATH)
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-rm -rf $(DEPENDPATH)
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# Only clean files for current build
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clean:
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-rm -rf $(CLEANOBJ)
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-rm -rf $(CLEANBIN)
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-rm -rf $(CLEANDEP)
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# Only clean binaries. Useful for changing the binary type when object
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# files are already compiled so complete rebuild is not necessary
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cleanbin:
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-rm -rf $(BUILDPATH)/$(OUTPUT_FOLDER)
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executable: $(BINDIR)/$(BINARY_NAME).elf
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@echo
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@echo $(MSG_INFO)
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@echo $(MSG_TARGET)
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@echo $(MSG_OPTIMIZATION)
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@echo $(MSG_DEBUG)
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# For debugging.
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# $(info $${C_OBJECTS} is [${C_OBJECTS}])
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# $(info $${CXX_OBJECTS} is [${CXX_OBJECTS}])
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C_OBJECTS_PREFIXED = $(addprefix $(OBJDIR)/, $(C_OBJECTS))
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CXX_OBJECTS_PREFIXED = $(addprefix $(OBJDIR)/, $(CXX_OBJECTS))
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ASM_OBJECTS_PREFIXED = $(addprefix $(OBJDIR)/, $(ASM_OBJECTS))
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ALL_OBJECTS_PREFIXED = $(ASM_OBJECTS_PREFIXED) $(C_OBJECTS_PREFIXED) \
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$(CXX_OBJECTS_PREFIXED)
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# Useful for debugging the Makefile
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# Also see: https://www.oreilly.com/openbook/make3/book/ch12.pdf
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# $$(info $${ALL_OBJECTS_PREFIXED} is [${ALL_OBJECTS_PREFIXED}])
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# Automatic variables are used here extensively. Some of them
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# are escaped($$) to suppress immediate evaluation. The most important ones are:
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# $@: Name of Target (left side of rule)
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# $<: Name of the first prerequisite (right side of rule)
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# @^: List of all prerequisite, omitting duplicates
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# @D: Directory and file-within-directory part of $@
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# Generates binary and displays all build properties
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# -p with mkdir ignores error and creates directory when needed.
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# SHOW_DETAILS = 1
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$(BINDIR)/$(BINARY_NAME).elf: $(ALL_OBJECTS_PREFIXED)
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@echo $(MSG_LINKING) Target $@
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@mkdir -p $(@D)
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ifdef SHOW_DETAILS
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$(CXX) $(LINKFLAGS) $(LINK_INCLUDES) -o $@ $^ $(LINKLIB)
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else
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@$(CXX) $(LINKFLAGS) $(LINK_INCLUDES) -o $@ $^ $(LINKLIB)
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endif
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ifeq ($(BUILD_FOLDER), release)
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# With Link Time Optimization, section size is not available
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$(SIZE) $@
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else
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@$(SIZE) $^ $@
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endif
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$(OBJDIR)/%.o: %.cpp
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$(OBJDIR)/%.o: %.cpp $(DEPENDDIR)/%.d | $(DEPENDDIR)
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@echo
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@echo $(MSG_COMPILING) $<
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@mkdir -p $(@D)
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ifdef SHOW_DETAILS
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$(CXX) $(CXXFLAGS) $(CPPFLAGS) -c -o $@ $<
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else
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@$(CXX) $(CXXFLAGS) $(CPPFLAGS) -c -o $@ $<
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endif
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$(OBJDIR)/%.o: %.c
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$(OBJDIR)/%.o: %.c $(DEPENDDIR)/%.d | $(DEPENDDIR)
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@echo
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@echo $(MSG_COMPILING) $<
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@mkdir -p $(@D)
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ifdef SHOW_DETAILS
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$(CC) $(CXXFLAGS) $(CFLAGS) -c -o $@ $<
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else
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@$(CC) $(CXXFLAGS) $(CFLAGS) -c -o $@ $<
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endif
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#-------------------------------------------------------------------------------
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# Dependency Handling
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#-------------------------------------------------------------------------------
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# Dependency Handling according to following guide:
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# http://make.mad-scientist.net/papers/advanced-auto-dependency-generation/
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$(DEPENDDIR):
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@mkdir -p $(@D)
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DEPENDENCY_RELATIVE = $(CSRC:.c=.d) $(CXXSRC:.cpp=.d)
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# This is the list of all dependencies
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DEPFILES = $(addprefix $(DEPENDDIR)/, $(DEPENDENCY_RELATIVE))
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# Create subdirectories for dependencies
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$(DEPFILES):
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@mkdir -p $(@D)
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# Include all dependencies
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include $(wildcard $(DEPFILES))
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.PHONY: release debug hardclean clean binclean all
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14
bsp_linux/CMakeLists.txt
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14
bsp_linux/CMakeLists.txt
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target_sources(${TARGET_NAME}
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PRIVATE
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main.cpp
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)
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add_subdirectory(core)
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add_subdirectory(fsfwconfig)
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add_subdirectory(utility)
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add_subdirectory(test)
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target_include_directories(${TARGET_NAME}
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PRIVATE
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${CMAKE_CURRENT_SOURCE_DIR}
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)
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7
bsp_linux/bsp_linux.mk
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7
bsp_linux/bsp_linux.mk
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CSRC += $(wildcard $(CURRENTPATH)/*.c)
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CXXSRC += $(wildcard $(CURRENTPATH)/*.cpp)
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CSRC += $(wildcard $(CURRENTPATH)/core/*.c)
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CXXSRC += $(wildcard $(CURRENTPATH)/core/*.cpp)
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CSRC += $(wildcard $(CURRENTPATH)/utility/*.c)
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5
bsp_linux/core/CMakeLists.txt
Normal file
5
bsp_linux/core/CMakeLists.txt
Normal file
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target_sources(${TARGET_NAME}
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PRIVATE
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InitMission.cpp
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ObjectFactory.cpp
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)
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167
bsp_linux/core/InitMission.cpp
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167
bsp_linux/core/InitMission.cpp
Normal file
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#include "../../bsp_linux/core/InitMission.h"
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#include <OBSWConfig.h>
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#include <fsfw/returnvalues/HasReturnvaluesIF.h>
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#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
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#include <fsfw/tasks/FixedTimeslotTaskIF.h>
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#include <fsfw/tasks/PeriodicTaskIF.h>
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#include <fsfw/tasks/TaskFactory.h>
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#include <iostream>
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#include "../../bsp_linux/fsfwconfig/objects/systemObjectList.h"
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#include "../../bsp_linux/fsfwconfig/OBSWConfig.h"
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#include "../fsfwconfig/pollingsequence/PollingSequenceArduino.h"
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void InitMission::createTasks(){
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/* TMTC Distribution */
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PeriodicTaskIF* distributerTask = TaskFactory::instance()->
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createPeriodicTask("DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE,
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0.100, nullptr);
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ReturnValue_t result = distributerTask->addComponent(
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objects::CCSDS_DISTRIBUTOR);
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if(result!=HasReturnvaluesIF::RETURN_OK){
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sif::error << "Object add component failed" << std::endl;
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}
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result = distributerTask->addComponent(objects::PUS_DISTRIBUTOR);
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if(result!=HasReturnvaluesIF::RETURN_OK){
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sif::error << "Object add component failed" << std::endl;
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}
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result = distributerTask->addComponent(objects::TM_FUNNEL);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "Object add component failed" << std::endl;
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}
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/* UDP bridge */
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PeriodicTaskIF* udpBridgeTask = TaskFactory::instance()->createPeriodicTask(
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"UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE,
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0.2, nullptr);
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result = udpBridgeTask->addComponent(objects::UDP_BRIDGE);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "Add component UDP Unix Bridge failed" << std::endl;
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}
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PeriodicTaskIF* udpPollingTask = TaskFactory::instance()->
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createPeriodicTask("UDP_POLLING", 80,
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PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, nullptr);
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result = udpPollingTask->addComponent(objects::UDP_POLLING_TASK);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "Add component UDP Polling failed" << std::endl;
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}
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||||
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||||
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||||
PeriodicTaskIF* eventTask = TaskFactory::instance()->
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createPeriodicTask("EVENT", 20,
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PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.100, nullptr);
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result = eventTask->addComponent(objects::EVENT_MANAGER);
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||||
if(result!=HasReturnvaluesIF::RETURN_OK){
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sif::error << "Object add component failed" << std::endl;
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||||
}
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||||
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||||
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||||
/* PUS Services */
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||||
PeriodicTaskIF* pusVerification = TaskFactory::instance()->
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||||
createPeriodicTask("PUS_VERIF_1", 40,
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||||
PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, nullptr);
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result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
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||||
if(result != HasReturnvaluesIF::RETURN_OK){
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sif::error << "Object add component failed" << std::endl;
|
||||
}
|
||||
|
||||
PeriodicTaskIF* pusEvents = TaskFactory::instance()->
|
||||
createPeriodicTask("PUS_VERIF_1", 60,
|
||||
PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, nullptr);
|
||||
result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK){
|
||||
sif::error << "Object add component failed" << std::endl;
|
||||
}
|
||||
|
||||
PeriodicTaskIF* pusHighPrio = TaskFactory::instance()->
|
||||
createPeriodicTask("PUS_HIGH_PRIO", 50,
|
||||
PeriodicTaskIF::MINIMUM_STACK_SIZE,
|
||||
0.200, nullptr);
|
||||
result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
|
||||
if(result!=HasReturnvaluesIF::RETURN_OK){
|
||||
sif::error << "Object add component failed" << std::endl;
|
||||
}
|
||||
result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
|
||||
if(result!=HasReturnvaluesIF::RETURN_OK){
|
||||
sif::error << "Object add component failed" << std::endl;
|
||||
}
|
||||
|
||||
PeriodicTaskIF* pusMedPrio = TaskFactory::instance()->
|
||||
createPeriodicTask("PUS_HIGH_PRIO", 40,
|
||||
PeriodicTaskIF::MINIMUM_STACK_SIZE,
|
||||
0.8, nullptr);
|
||||
result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
|
||||
if(result!=HasReturnvaluesIF::RETURN_OK){
|
||||
sif::error << "Object add component failed" << std::endl;
|
||||
}
|
||||
result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
|
||||
if(result!=HasReturnvaluesIF::RETURN_OK){
|
||||
sif::error << "Object add component failed" << std::endl;
|
||||
}
|
||||
|
||||
PeriodicTaskIF* pusLowPrio = TaskFactory::instance()->
|
||||
createPeriodicTask("PUSB", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE,
|
||||
1.6, nullptr);
|
||||
result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
|
||||
if(result!=HasReturnvaluesIF::RETURN_OK){
|
||||
sif::error << "Object add component failed" << std::endl;
|
||||
}
|
||||
|
||||
FixedTimeslotTaskIF* arduinoTask = TaskFactory::instance()->
|
||||
createFixedTimeslotTask("ARDUINO_TASK",40,
|
||||
PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.102, nullptr);
|
||||
result = pollingSequenceArduinoFunction(arduinoTask);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "InitMission::createTasks:ArduinoPST initialization failed!"
|
||||
<< std::endl;
|
||||
}
|
||||
|
||||
#if OBSW_ADD_TEST_CODE == 1
|
||||
FixedTimeslotTaskIF* testTimeslotTask = TaskFactory::instance()->
|
||||
createFixedTimeslotTask("PST_TEST_TASK", 10,
|
||||
PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
|
||||
result = pst::pollingSequenceTestFunction(testTimeslotTask);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "InitMission::createTasks: Test PST initialization "
|
||||
<< "failed!" << std::endl;
|
||||
}
|
||||
|
||||
PeriodicTaskIF* testTask = TaskFactory::instance()->
|
||||
createPeriodicTask("TEST", 15, PeriodicTaskIF::MINIMUM_STACK_SIZE,
|
||||
1.0, nullptr);
|
||||
result = testTask->addComponent(objects::TEST_TASK);
|
||||
if(result!=HasReturnvaluesIF::RETURN_OK){
|
||||
sif::error << "InitMission::createTasks: Adding test task "
|
||||
<< "failed" << std::endl;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
//Main thread sleep
|
||||
sif::debug << "Starting Tasks in 2 seconds" << std::endl;
|
||||
TaskFactory::delayTask(2000);
|
||||
distributerTask->startTask();
|
||||
udpBridgeTask->startTask();
|
||||
udpPollingTask->startTask();
|
||||
//serializeTask->startTask();
|
||||
arduinoTask->startTask();
|
||||
|
||||
//payloadTask->startTask();
|
||||
eventTask->startTask();
|
||||
|
||||
pusVerification->startTask();
|
||||
pusEvents->startTask();
|
||||
pusHighPrio->startTask();
|
||||
pusMedPrio->startTask();
|
||||
pusLowPrio->startTask();
|
||||
|
||||
#if OBSW_ADD_TEST_CODE == 1
|
||||
testTimeslotTask->startTask();
|
||||
testTask->startTask();
|
||||
#endif
|
||||
sif::debug << "Tasks started.." << std::endl;
|
||||
}
|
||||
|
||||
|
||||
8
bsp_linux/core/InitMission.h
Normal file
8
bsp_linux/core/InitMission.h
Normal file
@ -0,0 +1,8 @@
|
||||
#ifndef MISSION_CORE_INITMISSION_H_
|
||||
#define MISSION_CORE_INITMISSION_H_
|
||||
|
||||
namespace InitMission {
|
||||
void createTasks();
|
||||
};
|
||||
|
||||
#endif /* MISSION_CORE_INITMISSION_H_ */
|
||||
86
bsp_linux/core/ObjectFactory.cpp
Normal file
86
bsp_linux/core/ObjectFactory.cpp
Normal file
@ -0,0 +1,86 @@
|
||||
#include "../../bsp_linux/core/ObjectFactory.h"
|
||||
#include <OBSWConfig.h>
|
||||
#include <mission/utility/TmFunnel.h>
|
||||
#include <mission/core/GenericFactory.h>
|
||||
#include <fsfw/monitoring/MonitoringMessageContent.h>
|
||||
#include <fsfw/osal/linux/TcUnixUdpPollingTask.h>
|
||||
#include <fsfw/osal/linux/TmTcUnixUdpBridge.h>
|
||||
#include <fsfw/storagemanager/PoolManager.h>
|
||||
#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
|
||||
#include <fsfw/tmtcservices/CommandingServiceBase.h>
|
||||
#include <fsfw/tmtcservices/PusServiceBase.h>
|
||||
#include "../../bsp_linux/fsfwconfig/datapool/dataPoolInit.h"
|
||||
#include "../../bsp_linux/fsfwconfig/objects/systemObjectList.h"
|
||||
#include "../../bsp_linux/fsfwconfig/OBSWConfig.h"
|
||||
#include "../../bsp_linux/fsfwconfig/tmtc/apid.h"
|
||||
#include "../../bsp_linux/fsfwconfig/tmtc/pusIds.h"
|
||||
|
||||
#if OBSW_ADD_TEST_CODE == 1
|
||||
#include <mission/test/TestTask.h>
|
||||
#endif
|
||||
|
||||
void Factory::setStaticFrameworkObjectIds(){
|
||||
MonitoringReportContent<float>::timeStamperId = objects::TIME_STAMPER;
|
||||
MonitoringReportContent<double>::timeStamperId = objects::TIME_STAMPER;
|
||||
MonitoringReportContent<uint32_t>::timeStamperId = objects::TIME_STAMPER;
|
||||
MonitoringReportContent<int32_t>::timeStamperId = objects::TIME_STAMPER;
|
||||
MonitoringReportContent<int16_t>::timeStamperId = objects::TIME_STAMPER;
|
||||
MonitoringReportContent<uint16_t>::timeStamperId = objects::TIME_STAMPER;
|
||||
|
||||
TmFunnel::downlinkDestination = objects::UDP_BRIDGE;
|
||||
// No storage object for now.
|
||||
TmFunnel::storageDestination = objects::NO_OBJECT;
|
||||
|
||||
PusServiceBase::packetSource = objects::PUS_DISTRIBUTOR;
|
||||
PusServiceBase::packetDestination = objects::TM_FUNNEL;
|
||||
|
||||
CommandingServiceBase::defaultPacketSource = objects::PUS_DISTRIBUTOR;
|
||||
CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
|
||||
|
||||
VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
|
||||
|
||||
TmPacketStored::timeStamperId = objects::TIME_STAMPER;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void ObjectFactory::produce(){
|
||||
Factory::setStaticFrameworkObjectIds();
|
||||
|
||||
{
|
||||
static constexpr uint8_t NUMBER_OF_POOLS = 5;
|
||||
const uint16_t element_sizes[NUMBER_OF_POOLS] = {16, 32, 64, 128, 1024};
|
||||
const uint16_t n_elements[NUMBER_OF_POOLS] = {100, 50, 25, 15, 5};
|
||||
new PoolManager<NUMBER_OF_POOLS>(objects::TC_STORE, element_sizes,
|
||||
n_elements);
|
||||
}
|
||||
|
||||
{
|
||||
static constexpr uint8_t NUMBER_OF_POOLS = 5;
|
||||
const uint16_t element_sizes[NUMBER_OF_POOLS] = {16, 32, 64, 128, 1024};
|
||||
const uint16_t n_elements[NUMBER_OF_POOLS] = {100, 50, 25, 15, 5};
|
||||
new PoolManager<NUMBER_OF_POOLS>(objects::TM_STORE, element_sizes,
|
||||
n_elements);
|
||||
}
|
||||
|
||||
{
|
||||
static constexpr uint8_t NUMBER_OF_POOLS = 6;
|
||||
const uint16_t element_sizes[NUMBER_OF_POOLS] = {32, 64, 512,
|
||||
1024, 2048, 4096};
|
||||
const uint16_t n_elements[NUMBER_OF_POOLS] = {200, 100, 50, 25, 15, 5};
|
||||
new PoolManager<NUMBER_OF_POOLS>(objects::IPC_STORE, element_sizes,
|
||||
n_elements);
|
||||
}
|
||||
|
||||
ObjectFactory::produceGenericObjects();
|
||||
|
||||
/* TMTC Reception via UDP socket */
|
||||
new TmTcUnixUdpBridge(objects::UDP_BRIDGE, objects::CCSDS_DISTRIBUTOR,
|
||||
objects::TM_STORE, objects::TC_STORE);
|
||||
new TcUnixUdpPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
|
||||
|
||||
#if OBSW_ADD_TEST_CODE == 1
|
||||
new TestTask(objects::TEST_TASK, false);
|
||||
#endif
|
||||
|
||||
}
|
||||
17
bsp_linux/core/ObjectFactory.h
Normal file
17
bsp_linux/core/ObjectFactory.h
Normal file
@ -0,0 +1,17 @@
|
||||
/*
|
||||
* ObjectFactory.h
|
||||
*
|
||||
* Created on: Sep 22, 2020
|
||||
* Author: steffen
|
||||
*/
|
||||
|
||||
#ifndef MISSION_CORE_OBJECTFACTORY_H_
|
||||
#define MISSION_CORE_OBJECTFACTORY_H_
|
||||
|
||||
|
||||
namespace ObjectFactory {
|
||||
void setStatics();
|
||||
void produce();
|
||||
};
|
||||
|
||||
#endif /* MISSION_CORE_OBJECTFACTORY_H_ */
|
||||
8
bsp_linux/fsfwconfig/CMakeLists.txt
Normal file
8
bsp_linux/fsfwconfig/CMakeLists.txt
Normal file
@ -0,0 +1,8 @@
|
||||
target_sources(${TARGET_NAME} PRIVATE
|
||||
ipc/missionMessageTypes.cpp
|
||||
)
|
||||
|
||||
# Add include paths for the executable
|
||||
target_include_directories(${TARGET_NAME} PUBLIC
|
||||
${CMAKE_CURRENT_SOURCE_DIR}
|
||||
)
|
||||
57
bsp_linux/fsfwconfig/FSFWConfig.h
Normal file
57
bsp_linux/fsfwconfig/FSFWConfig.h
Normal file
@ -0,0 +1,57 @@
|
||||
#ifndef CONFIG_FSFWCONFIG_H_
|
||||
#define CONFIG_FSFWCONFIG_H_
|
||||
|
||||
#include <cstddef>
|
||||
#include <cstdint>
|
||||
|
||||
//! Used to determine whether C++ ostreams are used
|
||||
//! Those can lead to code bloat.
|
||||
#define FSFW_CPP_OSTREAM_ENABLED 1
|
||||
|
||||
//! Reduced printout to further decrease code size
|
||||
//! Be careful, this also turns off most diagnostic prinouts!
|
||||
#define FSFW_ENHANCED_PRINTOUT 0
|
||||
|
||||
//! Can be used to enable additional debugging printouts for developing the FSFW
|
||||
#define FSFW_PRINT_VERBOSITY_LEVEL 0
|
||||
|
||||
//! Defines the FIFO depth of each commanding service base which
|
||||
//! also determines how many commands a CSB service can handle in one cycle
|
||||
//! simulataneously. This will increase the required RAM for
|
||||
//! each CSB service !
|
||||
#define FSFW_CSB_FIFO_DEPTH 6
|
||||
|
||||
//! If FSFW_OBJ_EVENT_TRANSLATION is set to one,
|
||||
//! additional output which requires the translation files translateObjects
|
||||
//! and translateEvents (and their compiled source files)
|
||||
#define FSFW_OBJ_EVENT_TRANSLATION 0
|
||||
|
||||
#if FSFW_OBJ_EVENT_TRANSLATION == 1
|
||||
#define FSFW_DEBUG_OUTPUT 1
|
||||
//! Specify whether info events are printed too.
|
||||
#define FSFW_DEBUG_INFO 1
|
||||
#include <translateObjects.h>
|
||||
#include <translateEvents.h>
|
||||
#else
|
||||
#define FSFW_DEBUG_OUTPUT 0
|
||||
#endif
|
||||
|
||||
//! When using the newlib nano library, C99 support for stdio facilities
|
||||
//! will not be provided. This define should be set to 1 if this is the case.
|
||||
#define FSFW_NO_C99_IO 1
|
||||
|
||||
//! Specify whether a special mode store is used for Subsystem components.
|
||||
#define FSFW_USE_MODESTORE 0
|
||||
|
||||
namespace fsfwconfig {
|
||||
//! Default timestamp size. The default timestamp will be an eight byte CDC
|
||||
//! short timestamp.
|
||||
static constexpr uint8_t FSFW_MISSION_TIMESTAMP_SIZE = 8;
|
||||
|
||||
//! Configure the allocated pool sizes for the event manager.
|
||||
static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
|
||||
static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
|
||||
static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120;
|
||||
}
|
||||
|
||||
#endif /* CONFIG_FSFWCONFIG_H_ */
|
||||
15
bsp_linux/fsfwconfig/OBSWConfig.h
Normal file
15
bsp_linux/fsfwconfig/OBSWConfig.h
Normal file
@ -0,0 +1,15 @@
|
||||
/**
|
||||
* @brief This file can be used to add preprocessor define for conditional
|
||||
* code inclusion exclusion or various other project constants and
|
||||
* properties in one place.
|
||||
*/
|
||||
#ifndef FSFWCONFIG_OBSWCONFIG_H_
|
||||
#define FSFWCONFIG_OBSWCONFIG_H_
|
||||
|
||||
#define ADD_TEST_FOLDER 0
|
||||
#define OBSW_ADD_TEST_CODE 0
|
||||
|
||||
// Define not used yet, PUS stack and TMTC tasks are always started
|
||||
#define ADD_PUS_STACK 1
|
||||
|
||||
#endif /* FSFWCONFIG_OBSWCONFIG_H_ */
|
||||
46
bsp_linux/fsfwconfig/datapool/dataPoolInit.cpp
Normal file
46
bsp_linux/fsfwconfig/datapool/dataPoolInit.cpp
Normal file
@ -0,0 +1,46 @@
|
||||
/*
|
||||
* dataPoolInit.cpp
|
||||
*
|
||||
* brief: Initialisation function for all variables in the data pool.
|
||||
* This file was auto-generated by getDataPoolFromFLPmib.py via
|
||||
* the flpmib database at 2018-06-04T12:02:46+00:00.
|
||||
*/
|
||||
#include "../../../bsp_linux/fsfwconfig/datapool/dataPoolInit.h"
|
||||
|
||||
void dataPoolInit(std::map<uint32_t, PoolEntryIF*>* pool_map) {
|
||||
uint32_t testVar[1] = { 0 };
|
||||
pool_map->insert(
|
||||
std::pair<uint32_t, PoolEntryIF*>(datapool::DUMMY1,
|
||||
new PoolEntry<uint32_t>(testVar, 1)));
|
||||
pool_map->insert(
|
||||
std::pair<uint32_t, PoolEntryIF*>(datapool::DUMMY2,
|
||||
new PoolEntry<uint32_t>(testVar, 1)));
|
||||
pool_map->insert(
|
||||
std::pair<uint32_t, PoolEntryIF*>(datapool::DUMMY3,
|
||||
new PoolEntry<uint32_t>(testVar, 1)));
|
||||
pool_map->insert(
|
||||
std::pair<uint32_t, PoolEntryIF*>(datapool::DUMMY4,
|
||||
new PoolEntry<uint32_t>(testVar, 1)));
|
||||
pool_map->insert(
|
||||
std::pair<uint32_t, PoolEntryIF*>(datapool::DUMMY5,
|
||||
new PoolEntry<uint32_t>(testVar, 1)));
|
||||
pool_map->insert(
|
||||
std::pair<uint32_t, PoolEntryIF*>(datapool::DUMMY6,
|
||||
new PoolEntry<uint32_t>(testVar, 1)));
|
||||
int32_t testVarSigned[1] = { 0 };
|
||||
pool_map->insert(
|
||||
std::pair<int32_t, PoolEntryIF*>(datapool::LIMIT_VAR,
|
||||
new PoolEntry<int32_t>(testVarSigned, 1)));
|
||||
|
||||
/*float t_Centroid_PoolId[2] = {0,0};
|
||||
pool_map->insert(
|
||||
std::pair<uint32_t, PoolEntryIF*>(datapool::Centroid_PoolId,
|
||||
new PoolEntry<float>(t_Centroid_PoolId, 2)));
|
||||
uint32_t t_CentroidTime_PoolId[2] = {0,0};
|
||||
pool_map->insert(
|
||||
std::pair<uint32_t, PoolEntryIF*>(datapool::CentroidTime_PoolId,
|
||||
new PoolEntry<uint32_t>(t_CentroidTime_PoolId, 2)));
|
||||
*/
|
||||
|
||||
//TODO: define your pool map entries here
|
||||
}
|
||||
32
bsp_linux/fsfwconfig/datapool/dataPoolInit.h
Normal file
32
bsp_linux/fsfwconfig/datapool/dataPoolInit.h
Normal file
@ -0,0 +1,32 @@
|
||||
/*
|
||||
* dataPoolInit.h
|
||||
*
|
||||
* brief: Initialisation function for all variables in the data pool.
|
||||
* This file was auto-generated by getDataPoolFromFLPmib.py via
|
||||
* the flpmib database at 2018-06-04T12:02:46+00:00.
|
||||
*/
|
||||
#ifndef DATAPOOLINIT_H_
|
||||
#define DATAPOOLINIT_H_
|
||||
|
||||
#include <fsfw/datapool/DataPool.h>
|
||||
|
||||
namespace datapool {
|
||||
enum opus_variable_id {
|
||||
NO_PARAMETER = 0x0, //This PID is used to denote a non-existing param in the OBSW (NOPARAME), Size: 1
|
||||
DUMMY1 = 0x100000,
|
||||
DUMMY2 = 0x100001,
|
||||
DUMMY3 = 0x100002,
|
||||
DUMMY4 = 0x100003,
|
||||
DUMMY5 = 0x100004,
|
||||
DUMMY6 = 0x100005,//TEST VAR
|
||||
LIMIT_VAR = 0x100006,
|
||||
TIME_STAMPER = 0x100007,
|
||||
//Centroid_PoolId = 0x100008,
|
||||
//CentroidTime_PoolId = 0x100009
|
||||
|
||||
//TODO: add your unique datapool Ids here
|
||||
};
|
||||
}
|
||||
|
||||
void dataPoolInit( std::map<uint32_t, PoolEntryIF*>* pool_map );
|
||||
#endif /* DATAPOOLINIT_H_ */
|
||||
20
bsp_linux/fsfwconfig/events/subsystemIdRanges.h
Normal file
20
bsp_linux/fsfwconfig/events/subsystemIdRanges.h
Normal file
@ -0,0 +1,20 @@
|
||||
/*
|
||||
* subsystemIdRanges.h
|
||||
*
|
||||
* Created on: Jul 27, 2018
|
||||
* Author: gaisser
|
||||
*/
|
||||
|
||||
#ifndef FSFWCONFIG_TMTC_SUBSYSTEMIDRANGES_H_
|
||||
#define FSFWCONFIG_TMTC_SUBSYSTEMIDRANGES_H_
|
||||
|
||||
namespace SUBSYSTEM_ID {
|
||||
enum {
|
||||
DUMMY = 10,
|
||||
//VISIBLE=11
|
||||
//TODO: add your subsystem id for your device here
|
||||
};
|
||||
}
|
||||
|
||||
|
||||
#endif /* FSFWCONFIG_TMTC_SUBSYSTEMIDRANGES_H_ */
|
||||
10
bsp_linux/fsfwconfig/fsfwconfig.mk
Normal file
10
bsp_linux/fsfwconfig/fsfwconfig.mk
Normal file
@ -0,0 +1,10 @@
|
||||
CXXSRC += $(wildcard $(CURRENTPATH)/datapool/*.cpp)
|
||||
CXXSRC += $(wildcard $(CURRENTPATH)/events/*.cpp)
|
||||
CXXSRC += $(wildcard $(CURRENTPATH)/ipc/*.cpp)
|
||||
CXXSRC += $(wildcard $(CURRENTPATH)/objects/*.cpp)
|
||||
CXXSRC += $(wildcard $(CURRENTPATH)/pollingsequence/*.cpp)
|
||||
|
||||
INCLUDES += $(CURRENTPATH)
|
||||
INCLUDES += $(CURRENTPATH)/events
|
||||
INCLUDES += $(CURRENTPATH)/returnvalues
|
||||
INCLUDES += $(CURRENTPATH)/tmtc
|
||||
16
bsp_linux/fsfwconfig/ipc/MissionMessageTypes.cpp
Normal file
16
bsp_linux/fsfwconfig/ipc/MissionMessageTypes.cpp
Normal file
@ -0,0 +1,16 @@
|
||||
/*
|
||||
* MissionMessageTypes.cpp
|
||||
*
|
||||
* Created on: 17.06.2016
|
||||
* Author: baetz
|
||||
*/
|
||||
|
||||
#include <fsfw/ipc/CommandMessageCleaner.h>
|
||||
|
||||
void messagetypes::clearMissionMessage(CommandMessage* message) {
|
||||
switch((message->getCommand()>>8) & 0xff){
|
||||
default:
|
||||
message->setCommand(CommandMessage::CMD_NONE);
|
||||
break;
|
||||
}
|
||||
}
|
||||
28
bsp_linux/fsfwconfig/ipc/MissionMessageTypes.h
Normal file
28
bsp_linux/fsfwconfig/ipc/MissionMessageTypes.h
Normal file
@ -0,0 +1,28 @@
|
||||
/*
|
||||
* MissionMessageTypes.h
|
||||
*
|
||||
* Created on: 16.06.2016
|
||||
* Author: baetz
|
||||
*/
|
||||
|
||||
#ifndef FSFWCONFIG_IPC_MISSIONMESSAGETYPES_H_
|
||||
#define FSFWCONFIG_IPC_MISSIONMESSAGETYPES_H_
|
||||
|
||||
#include <fsfw/ipc/FwMessageTypes.h>
|
||||
|
||||
class CommandMessage;
|
||||
|
||||
namespace messagetypes {
|
||||
//First type must have number MESSAGE_TYPE::FW_MESSAGES_COUNT!
|
||||
//Remember to add new message types to the clearMissionMessage() function below!
|
||||
enum MISSION_MESSAGE_TYPE {
|
||||
COSTUM_MESSAGE = FW_MESSAGES_COUNT,
|
||||
};
|
||||
|
||||
void clearMissionMessage(CommandMessage* message);
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
#endif /* FSFWCONFIG_IPC_MISSIONMESSAGETYPES_H_ */
|
||||
59
bsp_linux/fsfwconfig/objects/systemObjectList.h
Normal file
59
bsp_linux/fsfwconfig/objects/systemObjectList.h
Normal file
@ -0,0 +1,59 @@
|
||||
#ifndef FSFWCONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
|
||||
#define FSFWCONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
|
||||
|
||||
#include <fsfw/objectmanager/frameworkObjects.h>
|
||||
|
||||
namespace objects {
|
||||
enum mission_objects {
|
||||
UDP_BRIDGE = 0x50000300,
|
||||
UDP_POLLING_TASK = 0x50000400,
|
||||
TM_FUNNEL = 0x50000500,
|
||||
|
||||
/****************Assembly********************/
|
||||
|
||||
SOFTWARE = 0x1,
|
||||
DUMMY_ASS = 0xCAFECAFE,
|
||||
|
||||
|
||||
/****************Controller******************/
|
||||
|
||||
DUMMY_CONTROLLER = 0xCAFEAFFE,
|
||||
|
||||
/****************Device Handler**************/
|
||||
|
||||
DUMMY1 = 0x01,
|
||||
DUMMY2 = 0x02,
|
||||
DUMMY3 = 0x03,
|
||||
DUMMY4 = 0x04,
|
||||
DUMMY5 = 0x05,
|
||||
DUMMY6 = 0x06,
|
||||
DUMMY7 = 0x07,
|
||||
DUMMY8 = 0x08,
|
||||
|
||||
/****************MISC*********************/
|
||||
TIME_STAMPER = 0x09,
|
||||
|
||||
|
||||
/**************TC Handling****************/
|
||||
CCSDS_DISTRIBUTOR = 0x10,
|
||||
PUS_DISTRIBUTOR = 0x11,
|
||||
|
||||
|
||||
/****** 0x49 ('I') for Communication Interfaces *****/
|
||||
//TEST_ECHO_COM_IF = 0x4900AFFE,
|
||||
/**************** Test *********************/
|
||||
//TEST_DEVICE_HANDLER = 0x4400AFFE,
|
||||
//TEST_TASK = 0x4400CAFE,
|
||||
//TEST_DEVICE_SERIALIZE=0x4401CAFE,
|
||||
/**************** PCO *********************/
|
||||
//PCO_HANDLER= 0x12,
|
||||
//PCO_COMMIF=0x13,
|
||||
//CENTROID_INJECTOR=0x14,
|
||||
//CENTROID_WRITER = 0x15
|
||||
|
||||
//TODO: add the object ids for your device and your communication interface
|
||||
|
||||
};
|
||||
}
|
||||
|
||||
#endif /* FSFWCONFIG_OBJECTS_SYSTEMOBJECTLIST_H_ */
|
||||
@ -0,0 +1,21 @@
|
||||
/*
|
||||
* PollingSequenceCentroid.h
|
||||
*
|
||||
* Created on: May 1, 2021
|
||||
* Author: mala
|
||||
*/
|
||||
|
||||
#ifndef BSP_LINUX_FSFWCONFIG_POLLINGSEQUENCE_POLLINGSEQUENCEARDUINO_H_
|
||||
#define BSP_LINUX_FSFWCONFIG_POLLINGSEQUENCE_POLLINGSEQUENCEARDUINO_H_
|
||||
|
||||
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
|
||||
#include "../../fsfwconfig/OBSWConfig.h"
|
||||
class FixedTimeslotTaskIF;
|
||||
|
||||
|
||||
ReturnValue_t pollingSequenceArduinoFunction(FixedTimeslotTaskIF *thisSequence);
|
||||
|
||||
|
||||
|
||||
|
||||
#endif /* BSP_LINUX_FSFWCONFIG_POLLINGSEQUENCE_POLLINGSEQUENCEARDUINO_H_ */
|
||||
@ -0,0 +1,38 @@
|
||||
/*
|
||||
* PollingSequenceCentroidFunction.cpp
|
||||
*
|
||||
* Created on: May 1, 2021
|
||||
* Author: mala
|
||||
*/
|
||||
|
||||
#include <fsfw/objectmanager/ObjectManagerIF.h>
|
||||
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
|
||||
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
|
||||
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
||||
#include "../../../bsp_linux/fsfwconfig/objects/systemObjectList.h"
|
||||
#include "../../../bsp_linux/fsfwconfig/OBSWConfig.h"
|
||||
#include "PollingSequenceArduino.h"
|
||||
ReturnValue_t pollingSequenceArduinoFunction(
|
||||
FixedTimeslotTaskIF* thisSequence){
|
||||
uint32_t length = thisSequence->getPeriodMs();
|
||||
|
||||
//thisSequence->addSlot(objects::CENTROID_INJECTOR, length * 0, 2);
|
||||
//thisSequence->addSlot(objects::CENTROID_WRITER, length * 0.1, 2);
|
||||
thisSequence->addSlot(objects::ARDUINO_HANDLER, length * 0, 0);
|
||||
thisSequence->addSlot(objects::ARDUINO_HANDLER, length * 0.2, 1);
|
||||
thisSequence->addSlot(objects::ARDUINO_HANDLER, length * 0.4, 2);
|
||||
thisSequence->addSlot(objects::ARDUINO_HANDLER, length * 0.6, 3);
|
||||
//thisSequence->addSlot(objects::CENTROID_WRITER, length * 0.1, 2);
|
||||
|
||||
if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
else {
|
||||
sif::error << "pollingSequenceCentroidFunction::initialize has errors!"
|
||||
<< std::endl;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
22
bsp_linux/fsfwconfig/returnvalues/classIds.h
Normal file
22
bsp_linux/fsfwconfig/returnvalues/classIds.h
Normal file
@ -0,0 +1,22 @@
|
||||
/*
|
||||
* classIds.h
|
||||
*
|
||||
* Created on: 30.06.2016
|
||||
* Author: baetz
|
||||
*/
|
||||
|
||||
#ifndef FSFWCONFIG_RETURNVALUES_CLASSIDS_H_
|
||||
#define FSFWCONFIG_RETURNVALUES_CLASSIDS_H_
|
||||
|
||||
#include <fsfw/returnvalues/FwClassIds.h>
|
||||
|
||||
namespace CLASS_ID {
|
||||
enum {
|
||||
DUMMY_HANDLER = FW_CLASS_ID_COUNT, //DDH
|
||||
//VISIBLE_HANDLER_CLASS=FW_CLASS_ID_COUNT+1
|
||||
//TODO: add your arduino handler class id
|
||||
};
|
||||
}
|
||||
|
||||
|
||||
#endif /* FSFWCONFIG_RETURNVALUES_CLASSIDS_H_ */
|
||||
19
bsp_linux/fsfwconfig/tmtc/apid.h
Normal file
19
bsp_linux/fsfwconfig/tmtc/apid.h
Normal file
@ -0,0 +1,19 @@
|
||||
/*
|
||||
* apid.h
|
||||
*
|
||||
* Created on: Sep 22, 2020
|
||||
* Author: steffen
|
||||
*/
|
||||
|
||||
#ifndef FSFWCONFIG_TMTC_APID_H_
|
||||
#define FSFWCONFIG_TMTC_APID_H_
|
||||
|
||||
#include <cstdint>
|
||||
|
||||
namespace apid{
|
||||
static const uint16_t APID = 0xEF;
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif /* FSFWCONFIG_TMTC_APID_H_ */
|
||||
20
bsp_linux/fsfwconfig/tmtc/pusIds.h
Normal file
20
bsp_linux/fsfwconfig/tmtc/pusIds.h
Normal file
@ -0,0 +1,20 @@
|
||||
#ifndef FSFWCONFIG_TMTC_PUSIDS_H_
|
||||
#define FSFWCONFIG_TMTC_PUSIDS_H_
|
||||
|
||||
namespace pus {
|
||||
enum {
|
||||
PUS_SERVICE_1 = 1,
|
||||
PUS_SERVICE_2 = 2,
|
||||
PUS_SERVICE_3 = 3,
|
||||
PUS_SERVICE_5 = 5,
|
||||
PUS_SERVICE_8 = 8,
|
||||
PUS_SERVICE_9 = 9,
|
||||
PUS_SERVICE_17 = 17,
|
||||
PUS_SERVICE_200 = 200
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
#endif /* FSFWCONFIG_TMTC_PUSIDS_H_ */
|
||||
53
bsp_linux/main.cpp
Normal file
53
bsp_linux/main.cpp
Normal file
@ -0,0 +1,53 @@
|
||||
#include <fsfw/datapool/DataPool.h>
|
||||
#include <fsfw/objectmanager/ObjectManager.h>
|
||||
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
|
||||
#include <fsfw/tasks/TaskFactory.h>
|
||||
#include <bsp_linux/core/InitMission.h>
|
||||
#include <bsp_linux/core/ObjectFactory.h>
|
||||
|
||||
#include <mission/test/MutexExample.h>
|
||||
#include <mission/utility/PusPacketCreator.h>
|
||||
|
||||
#include <iostream>
|
||||
#include "../bsp_linux/fsfwconfig/datapool/dataPoolInit.h"
|
||||
|
||||
#ifdef WIN32
|
||||
static const char* COMPILE_PRINTOUT = "Windows";
|
||||
#elif LINUX
|
||||
static const char* COMPILE_PRINTOUT = "Linux";
|
||||
#else
|
||||
static const char* COMPILE_PRINTOUT = "unknown OS";
|
||||
#endif
|
||||
|
||||
// This is configured for linux without \cr
|
||||
ServiceInterfaceStream sif::debug("DEBUG", false);
|
||||
ServiceInterfaceStream sif::info("INFO", false);
|
||||
ServiceInterfaceStream sif::warning("WARNING", false);
|
||||
ServiceInterfaceStream sif::error("ERROR", false, false, true);
|
||||
|
||||
ObjectManagerIF *objectManager = nullptr;
|
||||
|
||||
//Initialize Data Pool
|
||||
DataPool dataPool(dataPoolInit);
|
||||
|
||||
#include <array>
|
||||
|
||||
int main() {
|
||||
|
||||
std::cout << "-- FSFW Example (Hosted) --" << std::endl;
|
||||
std::cout << "-- Compiled for " << COMPILE_PRINTOUT << " --" << std::endl;
|
||||
std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
|
||||
|
||||
objectManager = new ObjectManager(ObjectFactory::produce);
|
||||
objectManager->initialize();
|
||||
InitMission::createTasks();
|
||||
MutexExample::example();
|
||||
PusPacketCreator::createPusPacketAndPrint();
|
||||
|
||||
// Permanent loop.
|
||||
for(;;) {
|
||||
// sleep main thread, not needed anymore.
|
||||
TaskFactory::delayTask(5000);
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
7
bsp_linux/utility/CMakeLists.txt
Normal file
7
bsp_linux/utility/CMakeLists.txt
Normal file
@ -0,0 +1,7 @@
|
||||
target_sources(${TARGET_NAME}
|
||||
PUBLIC
|
||||
printChar.c
|
||||
)
|
||||
|
||||
|
||||
|
||||
21
bsp_linux/utility/printChar.c
Normal file
21
bsp_linux/utility/printChar.c
Normal file
@ -0,0 +1,21 @@
|
||||
/*
|
||||
* printChar.c
|
||||
*
|
||||
* Created on: Jul 30, 2018
|
||||
* Author: gaisser
|
||||
*/
|
||||
|
||||
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdbool.h>
|
||||
|
||||
|
||||
void printChar(const char* character, bool errStream) {
|
||||
if(errStream) {
|
||||
fprintf( stderr, "%c", *character);
|
||||
} else {
|
||||
printf("%c", *character);
|
||||
}
|
||||
}
|
||||
|
||||
67
mission/core/GenericFactory.cpp
Normal file
67
mission/core/GenericFactory.cpp
Normal file
@ -0,0 +1,67 @@
|
||||
#include "GenericFactory.h"
|
||||
|
||||
#include <OBSWConfig.h>
|
||||
#include <datapool/dataPoolInit.h>
|
||||
#include <fsfw/devicehandlers/CookieIF.h>
|
||||
#include <objects/systemObjectList.h>
|
||||
#include <tmtc/apid.h>
|
||||
#include <tmtc/pusIds.h>
|
||||
|
||||
#include <fsfw/events/EventManager.h>
|
||||
#include <fsfw/health/HealthTable.h>
|
||||
#include <fsfw/internalError/InternalErrorReporter.h>
|
||||
#include <fsfw/pus/CService200ModeCommanding.h>
|
||||
#include <fsfw/pus/Service17Test.h>
|
||||
#include <fsfw/pus/Service1TelecommandVerification.h>
|
||||
#include <fsfw/pus/Service2DeviceAccess.h>
|
||||
#include <fsfw/pus/Service5EventReporting.h>
|
||||
#include <fsfw/pus/Service8FunctionManagement.h>
|
||||
#include <fsfw/pus/Service9TimeManagement.h>
|
||||
#include <fsfw/tcdistribution/CCSDSDistributor.h>
|
||||
#include <fsfw/tcdistribution/PUSDistributor.h>
|
||||
#include <fsfw/timemanager/TimeStamper.h>
|
||||
|
||||
#include <mission/utility/TmFunnel.h>
|
||||
//TODO: include your headers
|
||||
|
||||
void ObjectFactory::produceGenericObjects() {
|
||||
/* Framework objects */
|
||||
new EventManager(objects::EVENT_MANAGER);
|
||||
new HealthTable(objects::HEALTH_TABLE);
|
||||
new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER, 0, 0, 0);
|
||||
new TimeStamper(objects::TIME_STAMPER);
|
||||
new CCSDSDistributor(apid::APID, objects::CCSDS_DISTRIBUTOR);
|
||||
new PUSDistributor(apid::APID, objects::PUS_DISTRIBUTOR,
|
||||
objects::CCSDS_DISTRIBUTOR);
|
||||
new TmFunnel(objects::TM_FUNNEL);
|
||||
|
||||
/* PUS stack */
|
||||
new Service1TelecommandVerification(objects::PUS_SERVICE_1_VERIFICATION,
|
||||
apid::APID, pus::PUS_SERVICE_1, objects::TM_FUNNEL);
|
||||
new Service2DeviceAccess(objects::PUS_SERVICE_2_DEVICE_ACCESS,
|
||||
apid::APID, pus::PUS_SERVICE_2, 3, 10);
|
||||
new Service5EventReporting(objects::PUS_SERVICE_5_EVENT_REPORTING,
|
||||
apid::APID, pus::PUS_SERVICE_5, 50);
|
||||
new Service8FunctionManagement(objects::PUS_SERVICE_8_FUNCTION_MGMT,
|
||||
apid::APID, pus::PUS_SERVICE_8, 3, 10);
|
||||
new Service9TimeManagement(objects::PUS_SERVICE_9_TIME_MGMT, apid::APID,
|
||||
pus::PUS_SERVICE_9);
|
||||
new Service17Test(objects::PUS_SERVICE_17_TEST, apid::APID,
|
||||
pus::PUS_SERVICE_17);
|
||||
new CService200ModeCommanding(objects::PUS_SERVICE_200_MODE_MGMT,
|
||||
apid::APID, pus::PUS_SERVICE_200);
|
||||
|
||||
|
||||
/* Demo objects */
|
||||
|
||||
CookieIF* arduinoCookie = new ARDUINOCookie();
|
||||
//new handler and commIF
|
||||
|
||||
#if OBSW_ADD_TEST_CODE == 1
|
||||
CookieIF* testCookie = new TestCookie(0);
|
||||
new TestEchoComIF(objects::TEST_ECHO_COM_IF);
|
||||
new TestDevice(objects::TEST_DEVICE_HANDLER, objects::TEST_ECHO_COM_IF,
|
||||
testCookie, true);
|
||||
#endif
|
||||
}
|
||||
|
||||
16
mission/core/GenericFactory.h
Normal file
16
mission/core/GenericFactory.h
Normal file
@ -0,0 +1,16 @@
|
||||
#ifndef MISSION_CORE_GENERICFACTORY_H_
|
||||
#define MISSION_CORE_GENERICFACTORY_H_
|
||||
|
||||
|
||||
namespace ObjectFactory {
|
||||
|
||||
/**
|
||||
* @brief Produce hardware independant objects. Called by bsp specific
|
||||
* object factory.
|
||||
*/
|
||||
void produceGenericObjects();
|
||||
|
||||
}
|
||||
|
||||
|
||||
#endif /* MISSION_CORE_GENERICFACTORY_H_ */
|
||||
16
mission/mission.mk
Normal file
16
mission/mission.mk
Normal file
@ -0,0 +1,16 @@
|
||||
# add main and others
|
||||
CXXSRC += $(wildcard $(CURRENTPATH)/*.cpp)
|
||||
CSRC += $(wildcard $(CURRENTPATH)/*.c)
|
||||
|
||||
CSRC += $(wildcard $(CURRENTPATH)/core/*.c)
|
||||
CXXSRC += $(wildcard $(CURRENTPATH)/core/*.cpp)
|
||||
|
||||
CXXSRC += $(wildcard $(CURRENTPATH)/devices/*.cpp)
|
||||
CSRC += $(wildcard $(CURRENTPATH)/devices/*.c)
|
||||
|
||||
CXXSRC += $(wildcard $(CURRENTPATH)/devices/Visible_Instrument/*.cpp)
|
||||
CSRC += $(wildcard $(CURRENTPATH)/devices/Visible_Instrument/*.c)
|
||||
|
||||
CXXSRC += $(wildcard $(CURRENTPATH)/utility/*.cpp)
|
||||
CSRC += $(wildcard $(CURRENTPATH)/utility/*.c)
|
||||
|
||||
20
mission/utility/PusPacketCreator.cpp
Normal file
20
mission/utility/PusPacketCreator.cpp
Normal file
@ -0,0 +1,20 @@
|
||||
#include <fsfw/tmtcpacket/pus/TcPacketBase.h>
|
||||
#include <fsfw/tmtcpacket/pus/TmPacketBase.h>
|
||||
#include <fsfw/globalfunctions/arrayprinter.h>
|
||||
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
|
||||
#include <mission/utility/PusPacketCreator.h>
|
||||
#include <iomanip>
|
||||
|
||||
void PusPacketCreator::createPusPacketAndPrint() {
|
||||
// TODO: use TC packet stored here instead..
|
||||
|
||||
// uint8_t packetStore[TcPacketBase::TC_PACKET_MIN_SIZE];
|
||||
// TcPacketBase packet(packetStore);
|
||||
// packet.initSpacePacketHeader(true, true, 0x73, 25);
|
||||
// packet.initializeTcPacket(0x73, 25, 0, 17, 1);
|
||||
// packet.setPacketDataLength(sizeof(PUSTcDataFieldHeader)
|
||||
// + TcPacketBase::CRC_SIZE-1);
|
||||
// packet.setErrorControl();
|
||||
// sif::info << "PUS packet created: " << std::endl;
|
||||
// arrayprinter::print(packet.getWholeData(), packet.getFullSize());
|
||||
}
|
||||
16
mission/utility/PusPacketCreator.h
Normal file
16
mission/utility/PusPacketCreator.h
Normal file
@ -0,0 +1,16 @@
|
||||
/*
|
||||
* PusPacketCreator.h
|
||||
*
|
||||
* Created on: 21.03.2019
|
||||
* Author: gaisser
|
||||
*/
|
||||
|
||||
#ifndef MISSION_UTILITY_PUSPACKETCREATOR_H_
|
||||
#define MISSION_UTILITY_PUSPACKETCREATOR_H_
|
||||
|
||||
class PusPacketCreator {
|
||||
public:
|
||||
static void createPusPacketAndPrint();
|
||||
};
|
||||
|
||||
#endif /* MISSION_UTILITY_PUSPACKETCREATOR_H_ */
|
||||
115
mission/utility/TmFunnel.cpp
Normal file
115
mission/utility/TmFunnel.cpp
Normal file
@ -0,0 +1,115 @@
|
||||
#include <fsfw/ipc/QueueFactory.h>
|
||||
#include <fsfw/tmtcpacket/pus/TmPacketBase.h>
|
||||
#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
|
||||
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
|
||||
#include <mission/utility/TmFunnel.h>
|
||||
|
||||
object_id_t TmFunnel::downlinkDestination = objects::NO_OBJECT;
|
||||
object_id_t TmFunnel::storageDestination = objects::NO_OBJECT;
|
||||
|
||||
TmFunnel::TmFunnel(object_id_t objectId, uint32_t messageDepth):
|
||||
SystemObject(objectId), messageDepth(messageDepth) {
|
||||
tmQueue = QueueFactory::instance()->createMessageQueue(messageDepth,
|
||||
MessageQueueMessage::MAX_MESSAGE_SIZE);
|
||||
storageQueue = QueueFactory::instance()->createMessageQueue(messageDepth,
|
||||
MessageQueueMessage::MAX_MESSAGE_SIZE);
|
||||
}
|
||||
|
||||
TmFunnel::~TmFunnel() {
|
||||
}
|
||||
|
||||
MessageQueueId_t TmFunnel::getReportReceptionQueue(uint8_t virtualChannel) {
|
||||
return tmQueue->getId();
|
||||
}
|
||||
|
||||
ReturnValue_t TmFunnel::performOperation(uint8_t operationCode) {
|
||||
TmTcMessage currentMessage;
|
||||
ReturnValue_t status = tmQueue->receiveMessage(¤tMessage);
|
||||
while(status == HasReturnvaluesIF::RETURN_OK)
|
||||
{
|
||||
status = handlePacket(¤tMessage);
|
||||
if(status != HasReturnvaluesIF::RETURN_OK){
|
||||
break;
|
||||
}
|
||||
status = tmQueue->receiveMessage(¤tMessage);
|
||||
}
|
||||
|
||||
if (status == MessageQueueIF::EMPTY) {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
else {
|
||||
return status;
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t TmFunnel::handlePacket(TmTcMessage* message) {
|
||||
uint8_t* packetData = nullptr;
|
||||
size_t size = 0;
|
||||
ReturnValue_t result = tmPool->modifyData(message->getStorageId(),
|
||||
&packetData, &size);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK){
|
||||
return result;
|
||||
}
|
||||
TmPacketBase packet(packetData);
|
||||
packet.setPacketSequenceCount(this->sourceSequenceCount);
|
||||
sourceSequenceCount++;
|
||||
sourceSequenceCount = sourceSequenceCount %
|
||||
SpacePacketBase::LIMIT_SEQUENCE_COUNT;
|
||||
packet.setErrorControl();
|
||||
|
||||
result = tmQueue->sendToDefault(message);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK){
|
||||
tmPool->deleteData(message->getStorageId());
|
||||
sif::error << "TmFunnel::handlePacket: Error sending to downlink "
|
||||
"handler" << std::endl;
|
||||
return result;
|
||||
}
|
||||
|
||||
if(storageDestination != objects::NO_OBJECT) {
|
||||
result = storageQueue->sendToDefault(message);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK){
|
||||
tmPool->deleteData(message->getStorageId());
|
||||
sif::error << "TmFunnel::handlePacket: Error sending to storage "
|
||||
"handler" << std::endl;
|
||||
return result;
|
||||
}
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
ReturnValue_t TmFunnel::initialize() {
|
||||
|
||||
tmPool = objectManager->get<StorageManagerIF>(objects::TM_STORE);
|
||||
if(tmPool == nullptr) {
|
||||
sif::error << "TmFunnel::initialize: TM store not set."
|
||||
<< std::endl;
|
||||
sif::error << "Make sure the tm store is set up properly"
|
||||
" and implements StorageManagerIF" << std::endl;
|
||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||
}
|
||||
|
||||
AcceptsTelemetryIF* tmTarget =
|
||||
objectManager->get<AcceptsTelemetryIF>(downlinkDestination);
|
||||
if(tmTarget == nullptr){
|
||||
sif::error << "TmFunnel::initialize: Downlink Destination not set."
|
||||
<< std::endl;
|
||||
sif::error << "Make sure the downlink destination object is set up "
|
||||
"properly and implements AcceptsTelemetryIF" << std::endl;
|
||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||
}
|
||||
tmQueue->setDefaultDestination(tmTarget->getReportReceptionQueue());
|
||||
|
||||
// Storage destination is optional.
|
||||
if(storageDestination == objects::NO_OBJECT) {
|
||||
return SystemObject::initialize();
|
||||
}
|
||||
|
||||
AcceptsTelemetryIF* storageTarget =
|
||||
objectManager->get<AcceptsTelemetryIF>(storageDestination);
|
||||
if(storageTarget != nullptr) {
|
||||
storageQueue->setDefaultDestination(
|
||||
storageTarget->getReportReceptionQueue());
|
||||
}
|
||||
|
||||
return SystemObject::initialize();
|
||||
}
|
||||
50
mission/utility/TmFunnel.h
Normal file
50
mission/utility/TmFunnel.h
Normal file
@ -0,0 +1,50 @@
|
||||
#ifndef MISSION_UTILITY_TMFUNNEL_H_
|
||||
#define MISSION_UTILITY_TMFUNNEL_H_
|
||||
|
||||
#include <fsfw/objectmanager/SystemObject.h>
|
||||
#include <fsfw/tasks/ExecutableObjectIF.h>
|
||||
#include <fsfw/tmtcservices/AcceptsTelemetryIF.h>
|
||||
#include <fsfw/ipc/MessageQueueIF.h>
|
||||
#include <fsfw/tmtcservices/TmTcMessage.h>
|
||||
|
||||
namespace Factory{
|
||||
void setStaticFrameworkObjectIds();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief TM Recipient.
|
||||
* @details
|
||||
* Main telemetry receiver. All generated telemetry is funneled into
|
||||
* this object.
|
||||
* @ingroup utility
|
||||
* @author J. Meier
|
||||
*/
|
||||
class TmFunnel: public AcceptsTelemetryIF,
|
||||
public ExecutableObjectIF,
|
||||
public SystemObject {
|
||||
friend void (Factory::setStaticFrameworkObjectIds)();
|
||||
public:
|
||||
TmFunnel(object_id_t objectId, uint32_t messageDepth = 20);
|
||||
virtual ~TmFunnel();
|
||||
|
||||
virtual MessageQueueId_t getReportReceptionQueue(
|
||||
uint8_t virtualChannel = 0) override;
|
||||
virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
|
||||
virtual ReturnValue_t initialize() override;
|
||||
|
||||
protected:
|
||||
static object_id_t downlinkDestination;
|
||||
static object_id_t storageDestination;
|
||||
|
||||
private:
|
||||
uint16_t sourceSequenceCount = 0;
|
||||
MessageQueueIF* tmQueue = nullptr;
|
||||
MessageQueueIF* storageQueue = nullptr;
|
||||
|
||||
StorageManagerIF* tmPool = nullptr;
|
||||
uint32_t messageDepth = 0;
|
||||
|
||||
ReturnValue_t handlePacket(TmTcMessage* message);
|
||||
};
|
||||
|
||||
#endif /* MISSION_UTILITY_TMFUNNEL_H_ */
|
||||
31
unlockRealtime
Executable file
31
unlockRealtime
Executable file
@ -0,0 +1,31 @@
|
||||
#!/bin/bash
|
||||
# Run this script to unlock all permissions to run the linux binaries
|
||||
# and create threads
|
||||
|
||||
binaries=$(find $directory -type f -name "*.elf")
|
||||
|
||||
# Set up the soft realtime limit to maximum (99)
|
||||
# Please note that the hard limit needs to be set to 99 too
|
||||
# for this to work (check with ulimit -Hr).
|
||||
# If that has not been done yet, add
|
||||
# <username> hard rtprio 99
|
||||
# to /etc/security/limits.conf
|
||||
ulimit -Sr 99
|
||||
|
||||
echo Unlocking real time permissions for binaries...
|
||||
|
||||
for binary in ${binaries}; do
|
||||
sudo setcap 'cap_sys_nice=eip' ${binary}
|
||||
result=$?
|
||||
if [ ${result} = 0 ];then
|
||||
echo ${binary} was unlocked
|
||||
fi
|
||||
done
|
||||
|
||||
# Safety issues, so this should not be done.
|
||||
# sudo setcap 'cap_sys_nice=eip' /bin/bash
|
||||
# result=$?
|
||||
# if [ ${result} = 0 ];then
|
||||
# echo /bin/bash was unlocked
|
||||
# fi
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user