fsfw/fsfw-example-common
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Merge remote-tracking branch 'origin/master' into mueller/fmt-log

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This commit is contained in:
Robin Müller
2022-06-21 11:01:00 +02:00
parent 503c6301c6 c564fa37fd
commit b8e06cba99
49 changed files with 888 additions and 582 deletions
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4
example/controller/CMakeLists.txt
View File

@ -1,3 +1 @@
target_sources(${TARGET_NAME} PRIVATE
FsfwTestController.cpp
)
target_sources(${TARGET_NAME} PRIVATE FsfwTestController.cpp)

61
example/controller/FsfwTestController.cpp
View File

@ -2,22 +2,21 @@
#include <fsfw/datapool/PoolReadGuard.h>
FsfwTestController::FsfwTestController(object_id_t objectId, object_id_t device0,
object_id_t device1, uint8_t verboseLevel)
: TestController(objectId, objects::NO_OBJECT, 5),
device0Id(device0),
device1Id(device1),
deviceDataset0(device0),
deviceDataset1(device1) {}
FsfwTestController::FsfwTestController(object_id_t objectId,
object_id_t device0, object_id_t device1,
uint8_t verboseLevel)
: TestController(objectId, objects::NO_OBJECT, 5), device0Id(device0),
device1Id(device1), deviceDataset0(device0), deviceDataset1(device1) {}
FsfwTestController::~FsfwTestController() {}
ReturnValue_t FsfwTestController::handleCommandMessage(CommandMessage* message) {
ReturnValue_t
FsfwTestController::handleCommandMessage(CommandMessage *message) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FsfwTestController::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
ReturnValue_t FsfwTestController::initializeLocalDataPool(
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
return HasReturnvaluesIF::RETURN_OK;
}
@ -64,13 +63,14 @@ ReturnValue_t FsfwTestController::initializeAfterTaskCreation() {
FSFW_LOGW("initializeAfterTaskCreation: Test device handler 0 handle invalid\n");
return ObjectManagerIF::CHILD_INIT_FAILED;
}
ProvidesDataPoolSubscriptionIF* subscriptionIF = device0->getSubscriptionInterface();
ProvidesDataPoolSubscriptionIF *subscriptionIF =
device0->getSubscriptionInterface();
if (subscriptionIF != nullptr) {
/* For DEVICE_0, we only subscribe for notifications */
subscriptionIF->subscribeForSetUpdateMessage(td::TEST_SET_ID, getObjectId(), getCommandQueue(),
false);
subscriptionIF->subscribeForVariableUpdateMessage(td::PoolIds::TEST_UINT8_ID, getObjectId(),
getCommandQueue(), false);
subscriptionIF->subscribeForSetUpdateMessage(td::TEST_SET_ID, getObjectId(),
getCommandQueue(), false);
subscriptionIF->subscribeForVariableUpdateMessage(
td::PoolIds::TEST_UINT8_ID, getObjectId(), getCommandQueue(), false);
}
auto* device1 =
@ -82,27 +82,31 @@ ReturnValue_t FsfwTestController::initializeAfterTaskCreation() {
subscriptionIF = device1->getSubscriptionInterface();
if (subscriptionIF != nullptr) {
/* For DEVICE_1, we will subscribe for snapshots */
subscriptionIF->subscribeForSetUpdateMessage(td::TEST_SET_ID, getObjectId(), getCommandQueue(),
true);
subscriptionIF->subscribeForVariableUpdateMessage(td::PoolIds::TEST_UINT8_ID, getObjectId(),
getCommandQueue(), true);
subscriptionIF->subscribeForSetUpdateMessage(td::TEST_SET_ID, getObjectId(),
getCommandQueue(), true);
subscriptionIF->subscribeForVariableUpdateMessage(
td::PoolIds::TEST_UINT8_ID, getObjectId(), getCommandQueue(), true);
}
return result;
}
LocalPoolDataSetBase* FsfwTestController::getDataSetHandle(sid_t sid) { return nullptr; }
LocalPoolDataSetBase *FsfwTestController::getDataSetHandle(sid_t sid) {
return nullptr;
}
ReturnValue_t FsfwTestController::checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) {
ReturnValue_t FsfwTestController::checkModeCommand(Mode_t mode,
Submode_t submode,
uint32_t *msToReachTheMode) {
return HasReturnvaluesIF::RETURN_OK;
}
void FsfwTestController::handleChangedDataset(sid_t sid, store_address_t storeId,
bool* clearMessage) {
void FsfwTestController::handleChangedDataset(sid_t sid,
store_address_t storeId,
bool *clearMessage) {
using namespace std;
if (verboseLevel >= 1) {
char const* printout = nullptr;
char const *printout = nullptr;
if (storeId == storeId::INVALID_STORE_ADDRESS) {
printout = "Notification";
} else {
@ -132,12 +136,13 @@ void FsfwTestController::handleChangedDataset(sid_t sid, store_address_t storeId
}
}
void FsfwTestController::handleChangedPoolVariable(gp_id_t globPoolId, store_address_t storeId,
bool* clearMessage) {
void FsfwTestController::handleChangedPoolVariable(gp_id_t globPoolId,
store_address_t storeId,
bool *clearMessage) {
using namespace std;
if (verboseLevel >= 1) {
char const* printout = nullptr;
char const *printout = nullptr;
if (storeId == storeId::INVALID_STORE_ADDRESS) {
printout = "Notification";
} else {

24
example/controller/FsfwTestController.h
View File

@ -5,18 +5,18 @@
#include "fsfw_tests/integration/controller/TestController.h"
class FsfwTestController : public TestController {
public:
FsfwTestController(object_id_t objectId, object_id_t device0, object_id_t device1,
uint8_t verboseLevel = 0);
public:
FsfwTestController(object_id_t objectId, object_id_t device0,
object_id_t device1, uint8_t verboseLevel = 0);
virtual ~FsfwTestController();
ReturnValue_t handleCommandMessage(CommandMessage* message) override;
ReturnValue_t handleCommandMessage(CommandMessage *message) override;
/**
* Periodic helper from ControllerBase, implemented by child class.
*/
void performControlOperation() override;
private:
private:
object_id_t device0Id;
object_id_t device1Id;
testdevice::TestDataSet deviceDataset0;
@ -31,14 +31,16 @@ class FsfwTestController : public TestController {
TraceTypes currentTraceType = TraceTypes::NONE;
ReturnValue_t initializeAfterTaskCreation() override;
void handleChangedDataset(sid_t sid, store_address_t storeId, bool* clearMessage) override;
void handleChangedDataset(sid_t sid, store_address_t storeId,
bool *clearMessage) override;
void handleChangedPoolVariable(gp_id_t globPoolId, store_address_t storeId,
bool* clearMessage) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
bool *clearMessage) override;
ReturnValue_t
initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) override;
uint32_t *msToReachTheMode) override;
};
#endif /* EXAMPLE_COMMON_EXAMPLE_CONTROLLER_FSFWTESTCONTROLLER_H_ */

4
example/core/CMakeLists.txt
View File

@ -1,3 +1 @@
target_sources(${TARGET_NAME} PRIVATE
GenericFactory.cpp
)
target_sources(${TARGET_NAME} PRIVATE GenericFactory.cpp)

67
example/core/GenericFactory.cpp
View File

@ -1,6 +1,7 @@
#include "GenericFactory.h"
#include "OBSWConfig.h"
#include "common/definitions.h"
#include "example/test/FsfwExampleTask.h"
#include "example/test/FsfwReaderTask.h"
#include "example/utility/TmFunnel.h"
@ -10,6 +11,7 @@
#include "fsfw/health/HealthTable.h"
#include "fsfw/internalerror/InternalErrorReporter.h"
#include "fsfw/pus/CService200ModeCommanding.h"
#include "fsfw/pus/Service11TelecommandScheduling.h"
#include "fsfw/pus/Service17Test.h"
#include "fsfw/pus/Service1TelecommandVerification.h"
#include "fsfw/pus/Service20ParameterManagement.h"
@ -30,7 +32,6 @@
#include "fsfw_tests/internal/InternalUnitTester.h"
#include "objects/systemObjectList.h"
#include "tmtc/apid.h"
#include "tmtc/pusIds.h"
void ObjectFactory::produceGenericObjects() {
#if OBSW_ADD_CORE_COMPONENTS == 1
@ -39,26 +40,37 @@ void ObjectFactory::produceGenericObjects() {
new HealthTable(objects::HEALTH_TABLE);
new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
new TimeStamper(objects::TIME_STAMPER);
new CCSDSDistributor(apid::APID, objects::CCSDS_DISTRIBUTOR);
new PUSDistributor(apid::APID, objects::PUS_DISTRIBUTOR, objects::CCSDS_DISTRIBUTOR);
auto *ccsdsDistrib =
new CCSDSDistributor(apid::APID, objects::CCSDS_DISTRIBUTOR);
new PUSDistributor(apid::APID, objects::PUS_DISTRIBUTOR,
objects::CCSDS_DISTRIBUTOR);
new TmFunnel(objects::TM_FUNNEL);
#endif /* OBSW_ADD_CORE_COMPONENTS == 1 */
/* PUS stack */
#if OBSW_ADD_PUS_STACK == 1
new Service1TelecommandVerification(objects::PUS_SERVICE_1_VERIFICATION, apid::APID,
pus::PUS_SERVICE_1, objects::TM_FUNNEL, 5);
new Service2DeviceAccess(objects::PUS_SERVICE_2_DEVICE_ACCESS, apid::APID, pus::PUS_SERVICE_2, 3,
10);
new Service3Housekeeping(objects::PUS_SERVICE_3_HOUSEKEEPING, apid::APID, pus::PUS_SERVICE_3);
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 Service20ParameterManagement(objects::PUS_SERVICE_20_PARAMETERS, apid::APID,
pus::PUS_SERVICE_20);
new Service1TelecommandVerification(objects::PUS_SERVICE_1_VERIFICATION,
apid::APID, pus::PUS_SERVICE_1,
objects::TM_FUNNEL, 5);
new Service2DeviceAccess(objects::PUS_SERVICE_2_DEVICE_ACCESS, apid::APID,
pus::PUS_SERVICE_2, 3, 10);
new Service3Housekeeping(objects::PUS_SERVICE_3_HOUSEKEEPING, apid::APID,
pus::PUS_SERVICE_3);
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 Service20ParameterManagement(objects::PUS_SERVICE_20_PARAMETERS,
apid::APID, pus::PUS_SERVICE_20);
#if OBSW_ADD_CORE_COMPONENTS == 1
new Service11TelecommandScheduling<cfg::OBSW_MAX_SCHEDULED_TCS>(
objects::PUS_SERVICE_11_TC_SCHEDULER, apid::APID, pus::PUS_SERVICE_11,
ccsdsDistrib);
#endif
new CService200ModeCommanding(objects::PUS_SERVICE_200_MODE_MGMT, apid::APID,
pus::PUS_SERVICE_200);
#endif /* OBSW_ADD_PUS_STACK == 1 */
@ -86,17 +98,22 @@ void ObjectFactory::produceGenericObjects() {
/* Demo device handler object */
size_t expectedMaxReplyLen = 64;
CookieIF* testCookie = new TestCookie(static_cast<address_t>(testdevice::DeviceIndex::DEVICE_0),
expectedMaxReplyLen);
CookieIF *testCookie =
new TestCookie(static_cast<address_t>(testdevice::DeviceIndex::DEVICE_0),
expectedMaxReplyLen);
new TestEchoComIF(objects::TEST_ECHO_COM_IF);
new TestDevice(objects::TEST_DEVICE_HANDLER_0, objects::TEST_ECHO_COM_IF, testCookie,
testdevice::DeviceIndex::DEVICE_0, enableInfoPrintout);
testCookie = new TestCookie(static_cast<address_t>(testdevice::DeviceIndex::DEVICE_1),
expectedMaxReplyLen);
new TestDevice(objects::TEST_DEVICE_HANDLER_1, objects::TEST_ECHO_COM_IF, testCookie,
testdevice::DeviceIndex::DEVICE_1, enableInfoPrintout);
new TestDevice(objects::TEST_DEVICE_HANDLER_0, objects::TEST_ECHO_COM_IF,
testCookie, testdevice::DeviceIndex::DEVICE_0,
enableInfoPrintout);
testCookie =
new TestCookie(static_cast<address_t>(testdevice::DeviceIndex::DEVICE_1),
expectedMaxReplyLen);
new TestDevice(objects::TEST_DEVICE_HANDLER_1, objects::TEST_ECHO_COM_IF,
testCookie, testdevice::DeviceIndex::DEVICE_1,
enableInfoPrintout);
new TestAssembly(objects::TEST_ASSEMBLY, objects::NO_OBJECT, objects::TEST_DEVICE_HANDLER_0,
new TestAssembly(objects::TEST_ASSEMBLY, objects::NO_OBJECT,
objects::TEST_DEVICE_HANDLER_0,
objects::TEST_DEVICE_HANDLER_1);
#endif /* OBSW_ADD_DEVICE_HANDLER_DEMO == 1 */

2
example/core/GenericFactory.h
View File

@ -11,6 +11,6 @@ namespace ObjectFactory {
*/
void produceGenericObjects();
} // namespace ObjectFactory
} // namespace ObjectFactory
#endif /* MISSION_CORE_GENERICFACTORY_H_ */

1
example/devices/CMakeLists.txt
View File

@ -0,0 +1 @@

8
example/test/CMakeLists.txt
View File

@ -1,9 +1,5 @@
target_sources(${TARGET_NAME} PRIVATE
FsfwReaderTask.cpp
FsfwExampleTask.cpp
MutexExample.cpp
FsfwTestTask.cpp
)
target_sources(${TARGET_NAME} PRIVATE FsfwReaderTask.cpp FsfwExampleTask.cpp
MutexExample.cpp FsfwTestTask.cpp)
if(OBSW_ADD_FMT_TESTS)
target_sources(${TARGET_NAME} PRIVATE

104
example/test/FsfwExampleTask.cpp
View File

@ -7,15 +7,15 @@
#include <fsfw/tasks/TaskFactory.h>
#include "OBSWConfig.h"
#include "commonSystemObjects.h"
#include "commonObjects.h"
#include "objects/systemObjectList.h"
FsfwExampleTask::FsfwExampleTask(object_id_t objectId)
: SystemObject(objectId),
poolManager(this, nullptr),
demoSet(this),
monitor(objectId, MONITOR_ID, gp_id_t(objectId, FsfwDemoSet::VARIABLE_LIMIT), 30, 10) {
commandQueue = QueueFactory::instance()->createMessageQueue(10, CommandMessage::MAX_MESSAGE_SIZE);
: SystemObject(objectId), poolManager(this, nullptr), demoSet(this),
monitor(objectId, MONITOR_ID,
gp_id_t(objectId, FsfwDemoSet::VARIABLE_LIMIT), 30, 10) {
commandQueue = QueueFactory::instance()->createMessageQueue(
10, CommandMessage::MAX_MESSAGE_SIZE);
}
FsfwExampleTask::~FsfwExampleTask() {}
@ -47,33 +47,33 @@ ReturnValue_t FsfwExampleTask::performOperation(uint8_t operationCode) {
object_id_t FsfwExampleTask::getNextRecipient() {
switch (this->getObjectId()) {
case (objects::TEST_DUMMY_1): {
return objects::TEST_DUMMY_2;
}
case (objects::TEST_DUMMY_2): {
return objects::TEST_DUMMY_3;
}
case (objects::TEST_DUMMY_3): {
return objects::TEST_DUMMY_1;
}
default:
return objects::TEST_DUMMY_1;
case (objects::TEST_DUMMY_1): {
return objects::TEST_DUMMY_2;
}
case (objects::TEST_DUMMY_2): {
return objects::TEST_DUMMY_3;
}
case (objects::TEST_DUMMY_3): {
return objects::TEST_DUMMY_1;
}
default:
return objects::TEST_DUMMY_1;
}
}
object_id_t FsfwExampleTask::getSender() {
switch (this->getObjectId()) {
case (objects::TEST_DUMMY_1): {
return objects::TEST_DUMMY_3;
}
case (objects::TEST_DUMMY_2): {
return objects::TEST_DUMMY_1;
}
case (objects::TEST_DUMMY_3): {
return objects::TEST_DUMMY_2;
}
default:
return objects::TEST_DUMMY_1;
case (objects::TEST_DUMMY_1): {
return objects::TEST_DUMMY_3;
}
case (objects::TEST_DUMMY_2): {
return objects::TEST_DUMMY_1;
}
case (objects::TEST_DUMMY_3): {
return objects::TEST_DUMMY_2;
}
default:
return objects::TEST_DUMMY_1;
}
}
@ -86,7 +86,8 @@ ReturnValue_t FsfwExampleTask::initialize() {
return HasReturnvaluesIF::RETURN_FAILED;
}
// we need a private copy of the previous dataset.. or we use the shared dataset.
// we need a private copy of the previous dataset.. or we use the shared
// dataset.
senderSet = new FsfwDemoSet(senderIF);
if (senderSet == nullptr) {
FSFW_LOGE("initialize: Sender dataset invalid\n");
@ -99,25 +100,37 @@ ReturnValue_t FsfwExampleTask::initializeAfterTaskCreation() {
return poolManager.initializeAfterTaskCreation();
}
object_id_t FsfwExampleTask::getObjectId() const { return SystemObject::getObjectId(); }
object_id_t FsfwExampleTask::getObjectId() const {
return SystemObject::getObjectId();
}
MessageQueueId_t FsfwExampleTask::getMessageQueueId() { return commandQueue->getId(); }
MessageQueueId_t FsfwExampleTask::getMessageQueueId() {
return commandQueue->getId();
}
void FsfwExampleTask::setTaskIF(PeriodicTaskIF* task) { this->task = task; }
void FsfwExampleTask::setTaskIF(PeriodicTaskIF *task) { this->task = task; }
LocalPoolDataSetBase* FsfwExampleTask::getDataSetHandle(sid_t sid) { return &demoSet; }
LocalPoolDataSetBase *FsfwExampleTask::getDataSetHandle(sid_t sid) {
return &demoSet;
}
uint32_t FsfwExampleTask::getPeriodicOperationFrequency() const { return task->getPeriodMs(); }
uint32_t FsfwExampleTask::getPeriodicOperationFrequency() const {
return task->getPeriodMs();
}
ReturnValue_t FsfwExampleTask::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
localDataPoolMap.emplace(FsfwDemoSet::PoolIds::VARIABLE, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(FsfwDemoSet::PoolIds::VARIABLE_LIMIT, new PoolEntry<uint16_t>({0}));
ReturnValue_t
FsfwExampleTask::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(FsfwDemoSet::PoolIds::VARIABLE,
new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(FsfwDemoSet::PoolIds::VARIABLE_LIMIT,
new PoolEntry<uint16_t>({0}));
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FsfwExampleTask::performMonitoringDemo() {
ReturnValue_t result = demoSet.variableLimit.read(MutexIF::TimeoutType::WAITING, 20);
ReturnValue_t result =
demoSet.variableLimit.read(MutexIF::TimeoutType::WAITING, 20);
if (result != HasReturnvaluesIF::RETURN_OK) {
/* Configuration error */
FSFW_LOGE("DummyObject::performOperation: Could not read variableLimit\n");
@ -180,8 +193,9 @@ ReturnValue_t FsfwExampleTask::performReceiveOperation() {
#if FSFW_CPP_OSTREAM_ENABLED == 1
#if OBSW_VERBOSE_LEVEL >= 2
sif::debug << "Message Received by " << getObjectId() << " from Queue "
<< receivedMessage.getSender() << " ObjectId " << receivedMessage.getParameter()
<< " Queue " << receivedMessage.getParameter2() << std::endl;
<< receivedMessage.getSender() << " ObjectId "
<< receivedMessage.getParameter() << " Queue "
<< receivedMessage.getParameter2() << std::endl;
#endif
#endif
@ -204,6 +218,10 @@ ReturnValue_t FsfwExampleTask::performReceiveOperation() {
return result;
}
MessageQueueId_t FsfwExampleTask::getCommandQueue() const { return commandQueue->getId(); }
MessageQueueId_t FsfwExampleTask::getCommandQueue() const {
return commandQueue->getId();
}
LocalDataPoolManager* FsfwExampleTask::getHkManagerHandle() { return &poolManager; }
LocalDataPoolManager *FsfwExampleTask::getHkManagerHandle() {
return &poolManager;
}

25
example/test/FsfwExampleTask.h
View File

@ -24,8 +24,10 @@ class PeriodicTaskIF;
* value directly from the sender via the local data pool interface.
* If the timing is set up correctly, the values will always be the same.
*/
class FsfwExampleTask : public ExecutableObjectIF, public SystemObject, public HasLocalDataPoolIF {
public:
class FsfwExampleTask : public ExecutableObjectIF,
public SystemObject,
public HasLocalDataPoolIF {
public:
enum OpCodes { SEND_RAND_NUM, RECEIVE_RAND_NUM, DELAY_SHORT };
static constexpr uint8_t MONITOR_ID = 2;
@ -72,27 +74,28 @@ class FsfwExampleTask : public ExecutableObjectIF, public SystemObject, public H
* task interface handle can be cached to access task specific properties.
* @param task
*/
void setTaskIF(PeriodicTaskIF* task) override;
void setTaskIF(PeriodicTaskIF *task) override;
object_id_t getObjectId() const override;
MessageQueueId_t getMessageQueueId();
private:
private:
LocalDataPoolManager poolManager;
FsfwDemoSet* senderSet = nullptr;
FsfwDemoSet *senderSet = nullptr;
FsfwDemoSet demoSet;
AbsLimitMonitor<int32_t> monitor;
PeriodicTaskIF* task = nullptr;
MessageQueueIF* commandQueue = nullptr;
PeriodicTaskIF *task = nullptr;
MessageQueueIF *commandQueue = nullptr;
/* HasLocalDatapoolIF overrides */
MessageQueueId_t getCommandQueue() const override;
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
uint32_t getPeriodicOperationFrequency() const override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
LocalDataPoolManager* getHkManagerHandle() override;
ReturnValue_t
initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
LocalDataPoolManager *getHkManagerHandle() override;
object_id_t getNextRecipient();
object_id_t getSender();

10
example/test/FsfwReaderTask.cpp
View File

@ -7,13 +7,13 @@
#include <fsfw/timemanager/Stopwatch.h>
FsfwReaderTask::FsfwReaderTask(object_id_t objectId, bool enablePrintout)
: SystemObject(objectId),
printoutEnabled(enablePrintout),
opDivider(10),
readSet(this->getObjectId(), gp_id_t(objects::TEST_DUMMY_1, FsfwDemoSet::PoolIds::VARIABLE),
: SystemObject(objectId), printoutEnabled(enablePrintout), opDivider(10),
readSet(this->getObjectId(),
gp_id_t(objects::TEST_DUMMY_1, FsfwDemoSet::PoolIds::VARIABLE),
gp_id_t(objects::TEST_DUMMY_2, FsfwDemoSet::PoolIds::VARIABLE),
gp_id_t(objects::TEST_DUMMY_3, FsfwDemoSet::PoolIds::VARIABLE)) {
/* Special protection for set reading because each variable is read from a different pool */
/* Special protection for set reading because each variable is read from a
* different pool */
readSet.setReadCommitProtectionBehaviour(true);
}

4
example/test/FsfwReaderTask.h
View File

@ -8,14 +8,14 @@
#include "testdefinitions/demoDefinitions.h"
class FsfwReaderTask : public ExecutableObjectIF, public SystemObject {
public:
public:
FsfwReaderTask(object_id_t objectId, bool enablePrintout);
~FsfwReaderTask() override;
ReturnValue_t initializeAfterTaskCreation() override;
ReturnValue_t performOperation(uint8_t operationCode = 0) override;
private:
private:
bool printoutEnabled = false;
PeriodicOperationDivider opDivider;
CompleteDemoReadSet readSet;

7
example/test/FsfwTestTask.h
View File

@ -6,15 +6,16 @@
#include "fsfw_tests/integration/task/TestTask.h"
class FsfwTestTask : public TestTask {
public:
public:
FsfwTestTask(object_id_t objectId, bool periodicEvent);
ReturnValue_t performPeriodicAction() override;
private:
private:
bool periodicEvent = false;
static constexpr uint8_t subsystemId = SUBSYSTEM_ID::TEST_TASK_ID;
static constexpr Event TEST_EVENT = event::makeEvent(subsystemId, 0, severity::INFO);
static constexpr Event TEST_EVENT =
event::makeEvent(subsystemId, 0, severity::INFO);
};
#endif /* EXAMPLE_COMMON_EXAMPLE_TEST_FSFWTESTTASK_H_ */

7
example/test/MutexExample.cpp
View File

@ -4,10 +4,11 @@
#include <fsfw/serviceinterface.h>
void MutexExample::example() {
MutexIF* mutex = MutexFactory::instance()->createMutex();
MutexIF* mutex2 = MutexFactory::instance()->createMutex();
MutexIF *mutex = MutexFactory::instance()->createMutex();
MutexIF *mutex2 = MutexFactory::instance()->createMutex();
ReturnValue_t result = mutex->lockMutex(MutexIF::TimeoutType::WAITING, 2 * 60 * 1000);
ReturnValue_t result =
mutex->lockMutex(MutexIF::TimeoutType::WAITING, 2 * 60 * 1000);
if (result != HasReturnvaluesIF::RETURN_OK) {
FSFW_LOGET("MutexExample::example: Lock Failed with {}\n", result);
}

22
example/test/testdefinitions/demoDefinitions.h
View File

@ -12,21 +12,22 @@
* pool variables (for read and write access respectively).
*/
class FsfwDemoSet : public StaticLocalDataSet<3> {
public:
public:
static constexpr uint32_t DEMO_SET_ID = 0;
enum PoolIds { VARIABLE, VARIABLE_LIMIT };
FsfwDemoSet(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, DEMO_SET_ID) {}
FsfwDemoSet(HasLocalDataPoolIF *hkOwner)
: StaticLocalDataSet(hkOwner, DEMO_SET_ID) {}
lp_var_t<uint32_t> variableRead =
lp_var_t<uint32_t>(sid.objectId, PoolIds::VARIABLE, this, pool_rwm_t::VAR_READ);
lp_var_t<uint32_t> variableWrite =
lp_var_t<uint32_t>(sid.objectId, PoolIds::VARIABLE, this, pool_rwm_t::VAR_WRITE);
lp_var_t<uint32_t> variableRead = lp_var_t<uint32_t>(
sid.objectId, PoolIds::VARIABLE, this, pool_rwm_t::VAR_READ);
lp_var_t<uint32_t> variableWrite = lp_var_t<uint32_t>(
sid.objectId, PoolIds::VARIABLE, this, pool_rwm_t::VAR_WRITE);
lp_var_t<uint16_t> variableLimit =
lp_var_t<uint16_t>(sid.objectId, PoolIds::VARIABLE_LIMIT, this);
private:
private:
};
/**
@ -35,10 +36,11 @@ class FsfwDemoSet : public StaticLocalDataSet<3> {
* which reads multiple sensor values at once.
*/
class CompleteDemoReadSet : public StaticLocalDataSet<3> {
public:
public:
static constexpr uint32_t DEMO_SET_ID = 0;
CompleteDemoReadSet(object_id_t owner, gp_id_t variable1, gp_id_t variable2, gp_id_t variable3)
CompleteDemoReadSet(object_id_t owner, gp_id_t variable1, gp_id_t variable2,
gp_id_t variable3)
: StaticLocalDataSet(sid_t(owner, DEMO_SET_ID)),
variable1(variable1, this, pool_rwm_t::VAR_READ),
variable2(variable2, this, pool_rwm_t::VAR_READ),
@ -48,7 +50,7 @@ class CompleteDemoReadSet : public StaticLocalDataSet<3> {
lp_var_t<uint32_t> variable2;
lp_var_t<uint32_t> variable3;
private:
private:
};
#endif /* MISSION_DEMO_DEMODEFINITIONS_H_ */

5
example/utility/CMakeLists.txt
View File

@ -1,4 +1 @@
target_sources(${TARGET_NAME} PRIVATE
utility.cpp
TmFunnel.cpp
)
target_sources(${TARGET_NAME} PRIVATE utility.cpp TmFunnel.cpp)

2
example/utility/PusPacketCreator.h
View File

@ -9,7 +9,7 @@
#define MISSION_UTILITY_PUSPACKETCREATOR_H_
class PusPacketCreator {
public:
public:
static void createPusPacketAndPrint();
};

2
example/utility/TaskCreation.h
View File

@ -10,6 +10,6 @@ void printInitError(const char* objName, object_id_t objectId) {
FSFW_LOGW("InitMission: Adding object {} ({:#010x}) failed\n", objName, objectId);
}
} // namespace task
} // namespace task
#endif /* MISSION_UTILITY_TASKCREATION_H_ */

23
example/utility/TmFunnel.cpp
View File

@ -10,8 +10,8 @@ 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);
tmQueue = QueueFactory::instance()->createMessageQueue(
messageDepth, MessageQueueMessage::MAX_MESSAGE_SIZE);
storageQueue = QueueFactory::instance()->createMessageQueue(
messageDepth, MessageQueueMessage::MAX_MESSAGE_SIZE);
}
@ -40,23 +40,25 @@ ReturnValue_t TmFunnel::performOperation(uint8_t operationCode) {
}
}
ReturnValue_t TmFunnel::handlePacket(TmTcMessage* message) {
uint8_t* packetData = nullptr;
ReturnValue_t TmFunnel::handlePacket(TmTcMessage *message) {
uint8_t *packetData = nullptr;
size_t size = 0;
ReturnValue_t result = tmPool->modifyData(message->getStorageId(), &packetData, &size);
ReturnValue_t result =
tmPool->modifyData(message->getStorageId(), &packetData, &size);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
TmPacketPusC packet(packetData);
packet.setPacketSequenceCount(this->sourceSequenceCount);
sourceSequenceCount++;
sourceSequenceCount = sourceSequenceCount % SpacePacketBase::LIMIT_SEQUENCE_COUNT;
sourceSequenceCount =
sourceSequenceCount % SpacePacketBase::LIMIT_SEQUENCE_COUNT;
packet.setErrorControl();
result = tmQueue->sendToDefault(message);
if (result != HasReturnvaluesIF::RETURN_OK) {
tmPool->deleteData(message->getStorageId());
FSFW_LOGET("{}", "handlePacket: Error sending to downlink handler\n");
FSFW_LOGET("handlePacket: Error sending to downlink handler\n");
return result;
}
@ -64,7 +66,7 @@ ReturnValue_t TmFunnel::handlePacket(TmTcMessage* message) {
result = storageQueue->sendToDefault(message);
if (result != HasReturnvaluesIF::RETURN_OK) {
tmPool->deleteData(message->getStorageId());
FSFW_LOGET("{}", "handlePacket: Error sending to storage handler\n");
FSFW_LOGET("handlePacket: Error sending to storage handler\n");
return result;
}
}
@ -96,10 +98,11 @@ ReturnValue_t TmFunnel::initialize() {
return SystemObject::initialize();
}
AcceptsTelemetryIF* storageTarget =
AcceptsTelemetryIF *storageTarget =
ObjectManager::instance()->get<AcceptsTelemetryIF>(storageDestination);
if (storageTarget != nullptr) {
storageQueue->setDefaultDestination(storageTarget->getReportReceptionQueue());
storageQueue->setDefaultDestination(
storageTarget->getReportReceptionQueue());
}
return SystemObject::initialize();

21
example/utility/TmFunnel.h
View File

@ -19,30 +19,33 @@ void setStaticFrameworkObjectIds();
* @ingroup utility
* @author J. Meier
*/
class TmFunnel : public AcceptsTelemetryIF, public ExecutableObjectIF, public SystemObject {
class TmFunnel : public AcceptsTelemetryIF,
public ExecutableObjectIF,
public SystemObject {
friend void(Factory::setStaticFrameworkObjectIds)();
public:
public:
TmFunnel(object_id_t objectId, uint32_t messageDepth = 20);
virtual ~TmFunnel();
virtual MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) override;
virtual MessageQueueId_t
getReportReceptionQueue(uint8_t virtualChannel = 0) override;
virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
virtual ReturnValue_t initialize() override;
protected:
protected:
static object_id_t downlinkDestination;
static object_id_t storageDestination;
private:
private:
uint16_t sourceSequenceCount = 0;
MessageQueueIF* tmQueue = nullptr;
MessageQueueIF* storageQueue = nullptr;
MessageQueueIF *tmQueue = nullptr;
MessageQueueIF *storageQueue = nullptr;
StorageManagerIF* tmPool = nullptr;
StorageManagerIF *tmPool = nullptr;
uint32_t messageDepth = 0;
ReturnValue_t handlePacket(TmTcMessage* message);
ReturnValue_t handlePacket(TmTcMessage *message);
};
#endif /* MISSION_UTILITY_TMFUNNEL_H_ */

81
example/utility/compile_time.h
View File

@ -13,11 +13,13 @@
*
* Assembled by Jean Rabault
*
* UNIX_TIMESTAMP gives the UNIX timestamp (unsigned long integer of seconds since 1st Jan 1970) of
* compilation from macros using the compiler defined __TIME__ macro. This should include Gregorian
* calendar leap days, in particular the 29ths of February, 100 and 400 years modulo leaps.
* UNIX_TIMESTAMP gives the UNIX timestamp (unsigned long integer of seconds
* since 1st Jan 1970) of compilation from macros using the compiler defined
* __TIME__ macro. This should include Gregorian calendar leap days, in
* particular the 29ths of February, 100 and 400 years modulo leaps.
*
* Careful: __TIME__ is the local time of the computer, NOT the UTC time in general!
* Careful: __TIME__ is the local time of the computer, NOT the UTC time in
* general!
*
*/
@ -37,19 +39,19 @@
#define CONV_STR2DEC_4(str, i) (CONV_STR2DEC_3(str, i) * 10 + str[i + 3] - '0')
// Custom "glue logic" to convert the month name to a usable number
#define GET_MONTH(str, i) \
(str[i] == 'J' && str[i + 1] == 'a' && str[i + 2] == 'n' ? 1 \
: str[i] == 'F' && str[i + 1] == 'e' && str[i + 2] == 'b' ? 2 \
: str[i] == 'M' && str[i + 1] == 'a' && str[i + 2] == 'r' ? 3 \
: str[i] == 'A' && str[i + 1] == 'p' && str[i + 2] == 'r' ? 4 \
: str[i] == 'M' && str[i + 1] == 'a' && str[i + 2] == 'y' ? 5 \
: str[i] == 'J' && str[i + 1] == 'u' && str[i + 2] == 'n' ? 6 \
: str[i] == 'J' && str[i + 1] == 'u' && str[i + 2] == 'l' ? 7 \
: str[i] == 'A' && str[i + 1] == 'u' && str[i + 2] == 'g' ? 8 \
: str[i] == 'S' && str[i + 1] == 'e' && str[i + 2] == 'p' ? 9 \
: str[i] == 'O' && str[i + 1] == 'c' && str[i + 2] == 't' ? 10 \
: str[i] == 'N' && str[i + 1] == 'o' && str[i + 2] == 'v' ? 11 \
: str[i] == 'D' && str[i + 1] == 'e' && str[i + 2] == 'c' ? 12 \
#define GET_MONTH(str, i) \
(str[i] == 'J' && str[i + 1] == 'a' && str[i + 2] == 'n' ? 1 \
: str[i] == 'F' && str[i + 1] == 'e' && str[i + 2] == 'b' ? 2 \
: str[i] == 'M' && str[i + 1] == 'a' && str[i + 2] == 'r' ? 3 \
: str[i] == 'A' && str[i + 1] == 'p' && str[i + 2] == 'r' ? 4 \
: str[i] == 'M' && str[i + 1] == 'a' && str[i + 2] == 'y' ? 5 \
: str[i] == 'J' && str[i + 1] == 'u' && str[i + 2] == 'n' ? 6 \
: str[i] == 'J' && str[i + 1] == 'u' && str[i + 2] == 'l' ? 7 \
: str[i] == 'A' && str[i + 1] == 'u' && str[i + 2] == 'g' ? 8 \
: str[i] == 'S' && str[i + 1] == 'e' && str[i + 2] == 'p' ? 9 \
: str[i] == 'O' && str[i + 1] == 'c' && str[i + 2] == 't' ? 10 \
: str[i] == 'N' && str[i + 1] == 'o' && str[i + 2] == 'v' ? 11 \
: str[i] == 'D' && str[i + 1] == 'e' && str[i + 2] == 'c' ? 12 \
: 0)
// extract the information from the time string given by __TIME__ and __DATE__
@ -61,30 +63,37 @@
#define __TIME_YEARS__ CONV_STR2DEC_4(__DATE__, 7)
// Days in February
#define _UNIX_TIMESTAMP_FDAY(year) \
(((year) % 400) == 0UL ? 29UL \
: (((year) % 100) == 0UL ? 28UL : (((year) % 4) == 0UL ? 29UL : 28UL)))
#define _UNIX_TIMESTAMP_FDAY(year) \
(((year) % 400) == 0UL \
? 29UL \
: (((year) % 100) == 0UL ? 28UL : (((year) % 4) == 0UL ? 29UL : 28UL)))
// Days in the year
#define _UNIX_TIMESTAMP_YDAY(year, month, day) \
(/* January */ day /* February */ + (month >= 2 ? 31UL : 0UL) /* March */ + \
(month >= 3 ? _UNIX_TIMESTAMP_FDAY(year) : 0UL) /* April */ + \
(month >= 4 ? 31UL : 0UL) /* May */ + (month >= 5 ? 30UL : 0UL) /* June */ + \
(month >= 6 ? 31UL : 0UL) /* July */ + (month >= 7 ? 30UL : 0UL) /* August */ + \
(month >= 8 ? 31UL : 0UL) /* September */ + (month >= 9 ? 31UL : 0UL) /* October */ + \
(month >= 10 ? 30UL : 0UL) /* November */ + (month >= 11 ? 31UL : 0UL) /* December */ + \
(month >= 12 ? 30UL : 0UL))
#define _UNIX_TIMESTAMP_YDAY(year, month, day) \
(/* January */ day /* February */ + (month >= 2 ? 31UL : 0UL) /* March */ + \
(month >= 3 ? _UNIX_TIMESTAMP_FDAY(year) : 0UL) /* April */ + \
(month >= 4 ? 31UL : 0UL) /* May */ + \
(month >= 5 ? 30UL : 0UL) /* June */ + \
(month >= 6 ? 31UL : 0UL) /* July */ + \
(month >= 7 ? 30UL : 0UL) /* August */ + \
(month >= 8 ? 31UL : 0UL) /* September */ + \
(month >= 9 ? 31UL : 0UL) /* October */ + \
(month >= 10 ? 30UL : 0UL) /* November */ + \
(month >= 11 ? 31UL : 0UL) /* December */ + (month >= 12 ? 30UL : 0UL))
// get the UNIX timestamp from a digits representation
#define _UNIX_TIMESTAMP(year, month, day, hour, minute, second) \
(/* time */ second + minute * SEC_PER_MIN + hour * SEC_PER_HOUR + \
/* year day (month + day) */ (_UNIX_TIMESTAMP_YDAY(year, month, day) - 1) * SEC_PER_DAY + \
/* year */ (year - 1970UL) * SEC_PER_YEAR + ((year - 1969UL) / 4UL) * SEC_PER_DAY - \
((year - 1901UL) / 100UL) * SEC_PER_DAY + ((year - 1601UL) / 400UL) * SEC_PER_DAY)
#define _UNIX_TIMESTAMP(year, month, day, hour, minute, second) \
(/* time */ second + minute * SEC_PER_MIN + hour * SEC_PER_HOUR + \
/* year day (month + day) */ (_UNIX_TIMESTAMP_YDAY(year, month, day) - 1) * \
SEC_PER_DAY + \
/* year */ (year - 1970UL) * SEC_PER_YEAR + \
((year - 1969UL) / 4UL) * SEC_PER_DAY - \
((year - 1901UL) / 100UL) * SEC_PER_DAY + \
((year - 1601UL) / 400UL) * SEC_PER_DAY)
// the UNIX timestamp
#define UNIX_TIMESTAMP \
(_UNIX_TIMESTAMP(__TIME_YEARS__, __TIME_MONTH__, __TIME_DAYS__, __TIME_HOURS__, \
__TIME_MINUTES__, __TIME_SECONDS__))
#define UNIX_TIMESTAMP \
(_UNIX_TIMESTAMP(__TIME_YEARS__, __TIME_MONTH__, __TIME_DAYS__, \
__TIME_HOURS__, __TIME_MINUTES__, __TIME_SECONDS__))
#endif

18
example/utility/utility.cpp
View File

@ -4,13 +4,29 @@
#include "fsfw/serviceinterface.h"
void utility::commonInitPrint(const char* const os, const char* const board) {
void utility::commonInitPrint(const char *const os, const char *const board) {
if (os == nullptr or board == nullptr) {
return;
}
<<<<<<< HEAD
fmt::print("-- FSFW Example ({}) v{}.{}.{} --\n", os, FSFW_EXAMPLE_VERSION,
FSFW_EXAMPLE_SUBVERSION, FSFW_EXAMPLE_REVISION);
fmt::print("-- Compiled for {}\n", board);
fmt::print("-- Compiled on {} {}\n", __DATE__, __TIME__);
sif::initialize();
=======
#if FSFW_CPP_OSTREAM_ENABLED == 1
std::cout << "-- FSFW Example (" << os << ") v" << FSFW_EXAMPLE_VERSION << "."
<< FSFW_EXAMPLE_SUBVERSION << "." << FSFW_EXAMPLE_REVISION << " --"
<< std::endl;
std::cout << "-- Compiled for " << board << " --" << std::endl;
std::cout << "-- Compiled on " << __DATE__ << " " << __TIME__ << " --"
<< std::endl;
#else
printf("\n\r-- FSFW Example (%s) v%d.%d.%d --\n", os, FSFW_EXAMPLE_VERSION,
FSFW_EXAMPLE_SUBVERSION, FSFW_EXAMPLE_REVISION);
printf("-- Compiled for %s --\n", board);
printf("-- Compiled on %s %s --\n", __DATE__, __TIME__);
#endif
>>>>>>> origin/master
}

2
example/utility/utility.h
View File

@ -3,7 +3,7 @@
namespace utility {
void commonInitPrint(const char* const os, const char* const board);
void commonInitPrint(const char *const os, const char *const board);
}