fsfw/fsfw-example-common
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This commit is contained in:
Robin Müller 2022-05-22 15:30:08 +02:00
parent b53aed9cf9
commit d34effb278
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GPG Key ID: 11D4952C8CCEF814
34 changed files with 697 additions and 512 deletions
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4
config/commonClassIds.h
View File

@ -6,8 +6,8 @@
namespace CLASS_ID {
enum commonClassIds : uint8_t {
COMMON_CLASS_ID_START = FW_CLASS_ID_COUNT,
DUMMY_HANDLER, // DDH
COMMON_CLASS_ID_END // [EXPORT] : [END]
DUMMY_HANDLER, // DDH
COMMON_CLASS_ID_END // [EXPORT] : [END]
};
}

64
config/commonPollingSequenceFactory.cpp
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@ -6,12 +6,15 @@
#include "objects/systemObjectList.h"
#include "pollingsequence/pollingSequenceFactory.h"
ReturnValue_t pst::pollingSequenceExamples(FixedTimeslotTaskIF* thisSequence) {
ReturnValue_t pst::pollingSequenceExamples(FixedTimeslotTaskIF *thisSequence) {
uint32_t length = thisSequence->getPeriodMs();
thisSequence->addSlot(objects::TEST_DUMMY_1, length * 0, FsfwExampleTask::OpCodes::SEND_RAND_NUM);
thisSequence->addSlot(objects::TEST_DUMMY_2, length * 0, FsfwExampleTask::OpCodes::SEND_RAND_NUM);
thisSequence->addSlot(objects::TEST_DUMMY_3, length * 0, FsfwExampleTask::OpCodes::SEND_RAND_NUM);
thisSequence->addSlot(objects::TEST_DUMMY_1, length * 0,
FsfwExampleTask::OpCodes::SEND_RAND_NUM);
thisSequence->addSlot(objects::TEST_DUMMY_2, length * 0,
FsfwExampleTask::OpCodes::SEND_RAND_NUM);
thisSequence->addSlot(objects::TEST_DUMMY_3, length * 0,
FsfwExampleTask::OpCodes::SEND_RAND_NUM);
thisSequence->addSlot(objects::TEST_DUMMY_1, length * 0.2,
FsfwExampleTask::OpCodes::RECEIVE_RAND_NUM);
@ -20,47 +23,64 @@ ReturnValue_t pst::pollingSequenceExamples(FixedTimeslotTaskIF* thisSequence) {
thisSequence->addSlot(objects::TEST_DUMMY_3, length * 0.2,
FsfwExampleTask::OpCodes::RECEIVE_RAND_NUM);
thisSequence->addSlot(objects::TEST_DUMMY_1, length * 0.5, FsfwExampleTask::OpCodes::DELAY_SHORT);
thisSequence->addSlot(objects::TEST_DUMMY_2, length * 0.5, FsfwExampleTask::OpCodes::DELAY_SHORT);
thisSequence->addSlot(objects::TEST_DUMMY_3, length * 0.5, FsfwExampleTask::OpCodes::DELAY_SHORT);
thisSequence->addSlot(objects::TEST_DUMMY_1, length * 0.5,
FsfwExampleTask::OpCodes::DELAY_SHORT);
thisSequence->addSlot(objects::TEST_DUMMY_2, length * 0.5,
FsfwExampleTask::OpCodes::DELAY_SHORT);
thisSequence->addSlot(objects::TEST_DUMMY_3, length * 0.5,
FsfwExampleTask::OpCodes::DELAY_SHORT);
if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
return HasReturnvaluesIF::RETURN_OK;
} else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "pst::pollingSequenceInitFunction: Initialization errors!" << std::endl;
sif::error << "pst::pollingSequenceInitFunction: Initialization errors!"
<< std::endl;
#else
sif::printError("pst::pollingSequenceInitFunction: Initialization errors!\n");
sif::printError(
"pst::pollingSequenceInitFunction: Initialization errors!\n");
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
}
ReturnValue_t pst::pollingSequenceDevices(FixedTimeslotTaskIF* thisSequence) {
ReturnValue_t pst::pollingSequenceDevices(FixedTimeslotTaskIF *thisSequence) {
uint32_t length = thisSequence->getPeriodMs();
thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_0, 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_1, 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_0, 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_1, 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_0, 0.3 * length, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_1, 0.3 * length, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_0, 0.3 * length,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_1, 0.3 * length,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_0, 0.45 * length, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_1, 0.45 * length, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_0, 0.45 * length,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_1, 0.45 * length,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_0, 0.6 * length, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_1, 0.6 * length, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_0, 0.6 * length,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_1, 0.6 * length,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_0, 0.8 * length, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_1, 0.8 * length, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_0, 0.8 * length,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_1, 0.8 * length,
DeviceHandlerIF::GET_READ);
if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
return HasReturnvaluesIF::RETURN_OK;
} else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "pst::pollingSequenceTestFunction: Initialization errors!" << std::endl;
sif::error << "pst::pollingSequenceTestFunction: Initialization errors!"
<< std::endl;
#else
sif::printError("pst::pollingSequenceTestFunction: Initialization errors!\n");
sif::printError(
"pst::pollingSequenceTestFunction: Initialization errors!\n");
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}

161
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;
}
@ -28,35 +27,36 @@ void FsfwTestController::performControlOperation() {
return;
}
switch (currentTraceType) {
case (NONE): {
break;
}
case (TRACE_DEV_0_UINT8): {
if (traceCounter == 0) {
case (NONE): {
break;
}
case (TRACE_DEV_0_UINT8): {
if (traceCounter == 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "Tracing finished" << std::endl;
sif::info << "Tracing finished" << std::endl;
#else
sif::printInfo("Tracing finished\n");
sif::printInfo("Tracing finished\n");
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
traceVariable = false;
traceCounter = traceCycles;
currentTraceType = TraceTypes::NONE;
break;
}
PoolReadGuard readHelper(&deviceDataset0.testUint8Var);
traceVariable = false;
traceCounter = traceCycles;
currentTraceType = TraceTypes::NONE;
break;
}
PoolReadGuard readHelper(&deviceDataset0.testUint8Var);
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "Tracing device 0 variable 0 (UINT8), current value: "
<< static_cast<int>(deviceDataset0.testUint8Var.value) << std::endl;
sif::info << "Tracing device 0 variable 0 (UINT8), current value: "
<< static_cast<int>(deviceDataset0.testUint8Var.value)
<< std::endl;
#else
sif::printInfo("Tracing device 0 variable 0 (UINT8), current value: %d\n",
deviceDataset0.testUint8Var.value);
sif::printInfo("Tracing device 0 variable 0 (UINT8), current value: %d\n",
deviceDataset0.testUint8Var.value);
#endif
traceCounter--;
break;
}
case (TRACE_DEV_0_VECTOR): {
break;
}
traceCounter--;
break;
}
case (TRACE_DEV_0_VECTOR): {
break;
}
}
}
}
@ -67,13 +67,15 @@ ReturnValue_t FsfwTestController::initializeAfterTaskCreation() {
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
HasLocalDataPoolIF* device0 =
ObjectManager::instance()->get<HasLocalDataPoolIF>(deviceDataset0.getCreatorObjectId());
HasLocalDataPoolIF *device0 =
ObjectManager::instance()->get<HasLocalDataPoolIF>(
deviceDataset0.getCreatorObjectId());
if (device0 == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TestController::initializeAfterTaskCreation: Test device handler 0 "
"handle invalid!"
<< std::endl;
sif::warning
<< "TestController::initializeAfterTaskCreation: Test device handler 0 "
"handle invalid!"
<< std::endl;
#else
sif::printWarning(
"TestController::initializeAfterTaskCreation: Test device handler 0 "
@ -81,22 +83,25 @@ ReturnValue_t FsfwTestController::initializeAfterTaskCreation() {
#endif
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);
}
HasLocalDataPoolIF* device1 =
ObjectManager::instance()->get<HasLocalDataPoolIF>(deviceDataset0.getCreatorObjectId());
HasLocalDataPoolIF *device1 =
ObjectManager::instance()->get<HasLocalDataPoolIF>(
deviceDataset0.getCreatorObjectId());
if (device1 == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TestController::initializeAfterTaskCreation: Test device handler 1 "
"handle invalid!"
<< std::endl;
sif::warning
<< "TestController::initializeAfterTaskCreation: Test device handler 1 "
"handle invalid!"
<< std::endl;
#else
sif::printWarning(
"TestController::initializeAfterTaskCreation: Test device handler 1 "
@ -107,27 +112,31 @@ 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 {
@ -137,8 +146,9 @@ void FsfwTestController::handleChangedDataset(sid_t sid, store_address_t storeId
sif::info << "FsfwTestController::handleChangedDataset: " << printout
<< " update"
"from object ID "
<< setw(8) << setfill('0') << hex << sid.objectId << " and set ID " << sid.ownerSetId
<< dec << setfill(' ') << endl;
<< setw(8) << setfill('0') << hex << sid.objectId
<< " and set ID " << sid.ownerSetId << dec << setfill(' ')
<< endl;
#else
sif::printInfo(
"FsfwTestController::handleChangedPoolVariable: %s update from"
@ -154,11 +164,11 @@ void FsfwTestController::handleChangedDataset(sid_t sid, store_address_t storeId
floatVec[1] = deviceDataset0.testFloat3Vec.value[1];
floatVec[2] = deviceDataset0.testFloat3Vec.value[2];
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "Current float vector (3) values: [" << floatVec[0] << ", " << floatVec[1]
<< ", " << floatVec[2] << "]" << std::endl;
sif::info << "Current float vector (3) values: [" << floatVec[0] << ", "
<< floatVec[1] << ", " << floatVec[2] << "]" << std::endl;
#else
sif::printInfo("Current float vector (3) values: [%f, %f, %f]\n", floatVec[0], floatVec[1],
floatVec[2]);
sif::printInfo("Current float vector (3) values: [%f, %f, %f]\n",
floatVec[0], floatVec[1], floatVec[2]);
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
}
}
@ -172,12 +182,13 @@ 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 {
@ -188,13 +199,14 @@ void FsfwTestController::handleChangedPoolVariable(gp_id_t globPoolId, store_add
sif::info << "TestController::handleChangedPoolVariable: " << printout
<< " update from object "
"ID 0x"
<< setw(8) << setfill('0') << hex << globPoolId.objectId << " and local pool ID "
<< globPoolId.localPoolId << dec << setfill(' ') << endl;
<< setw(8) << setfill('0') << hex << globPoolId.objectId
<< " and local pool ID " << globPoolId.localPoolId << dec
<< setfill(' ') << endl;
#else
sif::printInfo(
"TestController::handleChangedPoolVariable: %s update from object ID 0x%08x and "
"local pool ID %lu\n",
printout, globPoolId.objectId, globPoolId.localPoolId);
sif::printInfo("TestController::handleChangedPoolVariable: %s update from "
"object ID 0x%08x and "
"local pool ID %lu\n",
printout, globPoolId.objectId, globPoolId.localPoolId);
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
if (storeId == storeId::INVALID_STORE_ADDRESS) {
@ -202,7 +214,8 @@ void FsfwTestController::handleChangedPoolVariable(gp_id_t globPoolId, store_add
PoolReadGuard readHelper(&deviceDataset0.testUint8Var);
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "Current test variable 0 (UINT8) value: "
<< static_cast<int>(deviceDataset0.testUint8Var.value) << std::endl;
<< static_cast<int>(deviceDataset0.testUint8Var.value)
<< std::endl;
#else
sif::printInfo("Current test variable 0 (UINT8) value %d\n",
deviceDataset0.testUint8Var.value);

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_ */

62
example/core/GenericFactory.cpp
View File

@ -40,28 +40,35 @@ void ObjectFactory::produceGenericObjects() {
new HealthTable(objects::HEALTH_TABLE);
new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
new TimeStamper(objects::TIME_STAMPER);
auto* ccsdsDistrib = 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);
new Service11TelecommandScheduling<cfg::OBSW_MAX_SCHEDULED_TCS>(
objects::PUS_SERVICE_11_TC_SCHEDULER, apid::APID, pus::PUS_SERVICE_11, ccsdsDistrib);
objects::PUS_SERVICE_11_TC_SCHEDULER, apid::APID, pus::PUS_SERVICE_11,
ccsdsDistrib);
new CService200ModeCommanding(objects::PUS_SERVICE_200_MODE_MGMT, apid::APID,
pus::PUS_SERVICE_200);
#endif /* OBSW_ADD_PUS_STACK == 1 */
@ -89,17 +96,22 @@ 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_ */

165
example/test/FsfwExampleTask.cpp
View File

@ -11,11 +11,11 @@
#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() {}
@ -47,54 +47,58 @@ 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;
}
}
ReturnValue_t FsfwExampleTask::initialize() {
// Get the dataset of the sender. Will be cached for later checks.
object_id_t sender = getSender();
HasLocalDataPoolIF* senderIF = ObjectManager::instance()->get<HasLocalDataPoolIF>(sender);
HasLocalDataPoolIF *senderIF =
ObjectManager::instance()->get<HasLocalDataPoolIF>(sender);
if (senderIF == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "FsfwDemoTask::initialize: Sender object invalid!" << std::endl;
sif::error << "FsfwDemoTask::initialize: Sender object invalid!"
<< std::endl;
#else
sif::printError("FsfwDemoTask::initialize: Sender object invalid!\n");
#endif
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) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "FsfwDemoTask::initialize: Sender dataset invalid!" << std::endl;
sif::error << "FsfwDemoTask::initialize: Sender dataset invalid!"
<< std::endl;
#else
sif::printError("FsfwDemoTask::initialize: Sender dataset invalid!\n");
#endif
@ -107,31 +111,45 @@ 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 */
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "DummyObject::performOperation: Could not read variableLimit!" << std::endl;
sif::error << "DummyObject::performOperation: Could not read variableLimit!"
<< std::endl;
#else
sif::printError("DummyObject::performOperation: Could not read variableLimit!\n");
sif::printError(
"DummyObject::performOperation: Could not read variableLimit!\n");
#endif
return result;
}
@ -148,13 +166,17 @@ ReturnValue_t FsfwExampleTask::performMonitoringDemo() {
ReturnValue_t FsfwExampleTask::performSendOperation() {
object_id_t nextRecipient = getNextRecipient();
FsfwExampleTask* target = ObjectManager::instance()->get<FsfwExampleTask>(nextRecipient);
FsfwExampleTask *target =
ObjectManager::instance()->get<FsfwExampleTask>(nextRecipient);
if (target == nullptr) {
/* Configuration error */
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "DummyObject::performOperation: Next recipient does not exist!" << std::endl;
sif::error
<< "DummyObject::performOperation: Next recipient does not exist!"
<< std::endl;
#else
sif::printError("DummyObject::performOperation: Next recipient does not exist!\n");
sif::printError(
"DummyObject::performOperation: Next recipient does not exist!\n");
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -165,23 +187,30 @@ ReturnValue_t FsfwExampleTask::performSendOperation() {
message.setParameter2(this->getMessageQueueId());
/* Send message using own message queue */
ReturnValue_t result = commandQueue->sendMessage(target->getMessageQueueId(), &message);
if (result != HasReturnvaluesIF::RETURN_OK && result != MessageQueueIF::FULL) {
ReturnValue_t result =
commandQueue->sendMessage(target->getMessageQueueId(), &message);
if (result != HasReturnvaluesIF::RETURN_OK &&
result != MessageQueueIF::FULL) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "FsfwDemoTask::performSendOperation: Send failed with " << result << std::endl;
sif::error << "FsfwDemoTask::performSendOperation: Send failed with "
<< result << std::endl;
#else
sif::printError("FsfwDemoTask::performSendOperation: Send failed with %hu\n", result);
sif::printError(
"FsfwDemoTask::performSendOperation: Send failed with %hu\n", result);
#endif
}
/* Send message without via MessageQueueSenderIF */
result = MessageQueueSenderIF::sendMessage(target->getMessageQueueId(), &message,
commandQueue->getId());
if (result != HasReturnvaluesIF::RETURN_OK && result != MessageQueueIF::FULL) {
result = MessageQueueSenderIF::sendMessage(target->getMessageQueueId(),
&message, commandQueue->getId());
if (result != HasReturnvaluesIF::RETURN_OK &&
result != MessageQueueIF::FULL) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "FsfwDemoTask::performSendOperation: Send failed with " << result << std::endl;
sif::error << "FsfwDemoTask::performSendOperation: Send failed with "
<< result << std::endl;
#else
sif::printError("FsfwDemoTask::performSendOperation: Send failed with %hu\n", result);
sif::printError(
"FsfwDemoTask::performSendOperation: Send failed with %hu\n", result);
#endif
}
@ -196,7 +225,8 @@ ReturnValue_t FsfwExampleTask::performReceiveOperation() {
while (result != MessageQueueIF::EMPTY) {
CommandMessage receivedMessage;
result = commandQueue->receiveMessage(&receivedMessage);
if (result != HasReturnvaluesIF::RETURN_OK && result != MessageQueueIF::EMPTY) {
if (result != HasReturnvaluesIF::RETURN_OK &&
result != MessageQueueIF::EMPTY) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "Receive failed with " << result << std::endl;
#endif
@ -206,8 +236,9 @@ 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
@ -221,11 +252,13 @@ ReturnValue_t FsfwExampleTask::performReceiveOperation() {
}
if (senderSet->variableRead.value != receivedMessage.getParameter()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "FsfwDemoTask::performReceiveOperation: Variable " << std::hex << "0x"
<< senderSet->variableRead.getDataPoolId() << std::dec << " has wrong value."
<< std::endl;
sif::error << "FsfwDemoTask::performReceiveOperation: Variable "
<< std::hex << "0x"
<< senderSet->variableRead.getDataPoolId() << std::dec
<< " has wrong value." << std::endl;
sif::error << "Value: " << demoSet.variableRead.value
<< ", expected: " << receivedMessage.getParameter() << std::endl;
<< ", expected: " << receivedMessage.getParameter()
<< std::endl;
#endif
}
}
@ -233,6 +266,10 @@ 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();

16
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);
}
@ -35,12 +35,14 @@ ReturnValue_t FsfwReaderTask::performOperation(uint8_t operationCode) {
#if OBSW_VERBOSE_LEVEL >= 1
if (opDivider.checkAndIncrement() and printoutEnabled) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "FsfwPeriodicTask::performOperation: Reading variables." << std::endl;
sif::info << "FsfwPeriodicTask::performOperation: Reading variables."
<< std::endl;
sif::info << "Variable read from demo object 1: " << variable1 << std::endl;
sif::info << "Variable read from demo object 2: " << variable2 << std::endl;
sif::info << "Variable read from demo object 3: " << variable3 << std::endl;
#else
sif::printInfo("FsfwPeriodicTask::performOperation: Reading variables.\n\r");
sif::printInfo(
"FsfwPeriodicTask::performOperation: Reading variables.\n\r");
sif::printInfo("Variable read from demo object 1: %d\n\r", variable1);
sif::printInfo("Variable read from demo object 2: %d\n\r", variable2);
sif::printInfo("Variable read from demo object 3: %d\n\r", variable3);

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_ */

19
example/test/MutexExample.cpp
View File

@ -4,13 +4,15 @@
#include <fsfw/serviceinterface/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) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MutexExample::example: Lock Failed with " << result << std::endl;
sif::error << "MutexExample::example: Lock Failed with " << result
<< std::endl;
#else
sif::printError("MutexExample::example: Lock Failed with %hu\n", result);
#endif
@ -19,7 +21,8 @@ void MutexExample::example() {
result = mutex2->lockMutex(MutexIF::TimeoutType::BLOCKING);
if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MutexExample::example: Lock Failed with " << result << std::endl;
sif::error << "MutexExample::example: Lock Failed with " << result
<< std::endl;
#else
sif::printError("MutexExample::example: Lock Failed with %hu\n", result);
#endif
@ -28,7 +31,8 @@ void MutexExample::example() {
result = mutex->unlockMutex();
if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MutexExample::example: Unlock Failed with " << result << std::endl;
sif::error << "MutexExample::example: Unlock Failed with " << result
<< std::endl;
#else
sif::printError("MutexExample::example: Unlock Failed with %hu\n", result);
#endif
@ -37,7 +41,8 @@ void MutexExample::example() {
result = mutex2->unlockMutex();
if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MutexExample::example: Unlock Failed with " << result << std::endl;
sif::error << "MutexExample::example: Unlock Failed with " << result
<< std::endl;
#else
sif::printError("MutexExample::example: Unlock Failed with %hu\n", result);
#endif

105
example/test/testFmt.h
View File

@ -14,8 +14,9 @@
#include "fsfw/ipc/MutexIF.h"
#include "fsfw/timemanager/Clock.h"
#define __FILENAME_REL__ (((const char*)__FILE__ + SOURCE_PATH_SIZE))
#define __FILENAME__ (strrchr(__FILE__, '/') ? strrchr(__FILE__, '/') + 1 : __FILE__)
#define __FILENAME_REL__ (((const char *)__FILE__ + SOURCE_PATH_SIZE))
#define __FILENAME__ \
(strrchr(__FILE__, '/') ? strrchr(__FILE__, '/') + 1 : __FILE__)
void fmtTests();
@ -28,26 +29,34 @@ static const char DEBUG_PREFIX[] = "DEBUG";
static const char WARNING_PREFIX[] = "WARNING";
static const char ERROR_PREFIX[] = "ERROR";
enum class LogLevel : unsigned int { DEBUG = 0, INFO = 1, WARNING = 2, ERROR = 3 };
enum class LogLevel : unsigned int {
DEBUG = 0,
INFO = 1,
WARNING = 2,
ERROR = 3
};
static const char* PREFIX_ARR[4] = {DEBUG_PREFIX, INFO_PREFIX, WARNING_PREFIX, ERROR_PREFIX};
static const char *PREFIX_ARR[4] = {DEBUG_PREFIX, INFO_PREFIX, WARNING_PREFIX,
ERROR_PREFIX};
static const std::array<fmt::color, 4> LOG_COLOR_ARR = {
fmt::color::deep_sky_blue, fmt::color::forest_green, fmt::color::orange_red, fmt::color::red};
fmt::color::deep_sky_blue, fmt::color::forest_green, fmt::color::orange_red,
fmt::color::red};
static MutexIF* PRINT_MUTEX = MutexFactory::instance()->createMutex();
static MutexIF *PRINT_MUTEX = MutexFactory::instance()->createMutex();
static size_t writeTypePrefix(LogLevel level) {
auto idx = static_cast<unsigned int>(level);
const auto result =
fmt::format_to_n(PRINT_BUF.begin(), PRINT_BUF.size() - 1,
fmt::runtime(fmt::format(fg(LOG_COLOR_ARR[idx]), PREFIX_ARR[idx])));
const auto result = fmt::format_to_n(
PRINT_BUF.begin(), PRINT_BUF.size() - 1,
fmt::runtime(fmt::format(fg(LOG_COLOR_ARR[idx]), PREFIX_ARR[idx])));
return result.size;
}
template <typename... T>
size_t logTraced(LogLevel level, const char* file, unsigned int line, bool timed,
fmt::format_string<T...> fmt, T&&... args) noexcept {
size_t logTraced(LogLevel level, const char *file, unsigned int line,
bool timed, fmt::format_string<T...> fmt,
T &&...args) noexcept {
try {
MutexGuard mg(PRINT_MUTEX);
size_t bufPos = writeTypePrefix(level);
@ -55,30 +64,32 @@ size_t logTraced(LogLevel level, const char* file, unsigned int line, bool timed
if (timed) {
Clock::TimeOfDay_t logTime;
Clock::getDateAndTime(&logTime);
const auto result = fmt::format_to_n(currentIter, PRINT_BUF.size() - 1 - bufPos,
" | {}[l.{}] | {:02}:{:02}:{:02}.{:03} | {}", file, line,
logTime.hour, logTime.minute, logTime.second,
logTime.usecond / 1000, fmt::format(fmt, args...));
const auto result =
fmt::format_to_n(currentIter, PRINT_BUF.size() - 1 - bufPos,
" | {}[l.{}] | {:02}:{:02}:{:02}.{:03} | {}", file,
line, logTime.hour, logTime.minute, logTime.second,
logTime.usecond / 1000, fmt::format(fmt, args...));
*result.out = '\0';
bufPos += result.size;
} else {
const auto result =
fmt::format_to_n(currentIter, PRINT_BUF.size() - 1 - bufPos, " | {}[l.{}] | {}", file,
line, fmt::format(fmt, args...));
const auto result = fmt::format_to_n(
currentIter, PRINT_BUF.size() - 1 - bufPos, " | {}[l.{}] | {}", file,
line, fmt::format(fmt, args...));
*result.out = '\0';
bufPos += result.size;
}
fmt::print(fmt::runtime(PRINT_BUF.data()));
return bufPos;
} catch (const fmt::v8::format_error& e) {
} catch (const fmt::v8::format_error &e) {
fmt::print("Printing failed with error: {}\n", e.what());
return 0;
}
}
template <typename... T>
size_t log(LogLevel level, bool timed, fmt::format_string<T...> fmt, T&&... args) noexcept {
size_t log(LogLevel level, bool timed, fmt::format_string<T...> fmt,
T &&...args) noexcept {
try {
MutexGuard mg(PRINT_MUTEX);
size_t bufPos = writeTypePrefix(level);
@ -87,76 +98,86 @@ size_t log(LogLevel level, bool timed, fmt::format_string<T...> fmt, T&&... args
Clock::TimeOfDay_t logTime;
Clock::getDateAndTime(&logTime);
const auto result = fmt::format_to_n(
currentIter, PRINT_BUF.size() - bufPos, " | {:02}:{:02}:{:02}.{:03} | {}", logTime.hour,
logTime.minute, logTime.second, logTime.usecond / 1000, fmt::format(fmt, args...));
currentIter, PRINT_BUF.size() - bufPos,
" | {:02}:{:02}:{:02}.{:03} | {}", logTime.hour, logTime.minute,
logTime.second, logTime.usecond / 1000, fmt::format(fmt, args...));
bufPos += result.size;
}
fmt::print(fmt::runtime(PRINT_BUF.data()));
return bufPos;
} catch (const fmt::v8::format_error& e) {
} catch (const fmt::v8::format_error &e) {
fmt::print("Printing failed with error: {}\n", e.what());
return 0;
}
}
template <typename... T>
void fdebug(const char* file, unsigned int line, fmt::format_string<T...> fmt,
T&&... args) noexcept {
void fdebug(const char *file, unsigned int line, fmt::format_string<T...> fmt,
T &&...args) noexcept {
logTraced(LogLevel::DEBUG, file, line, false, fmt, args...);
}
template <typename... T>
void fdebug_t(const char* file, unsigned int line, fmt::format_string<T...> fmt,
T&&... args) noexcept {
void fdebug_t(const char *file, unsigned int line, fmt::format_string<T...> fmt,
T &&...args) noexcept {
logTraced(LogLevel::DEBUG, file, line, true, fmt, args...);
}
template <typename... T>
void finfo_t(fmt::format_string<T...> fmt, T&&... args) {
void finfo_t(fmt::format_string<T...> fmt, T &&...args) {
log(LogLevel::INFO, true, fmt, args...);
}
template <typename... T>
void finfo(fmt::format_string<T...> fmt, T&&... args) {
template <typename... T> void finfo(fmt::format_string<T...> fmt, T &&...args) {
log(LogLevel::INFO, false, fmt, args...);
}
template <typename... T>
void fwarning(const char* file, unsigned int line, fmt::format_string<T...> fmt, T&&... args) {
void fwarning(const char *file, unsigned int line, fmt::format_string<T...> fmt,
T &&...args) {
logTraced(LogLevel::WARNING, file, line, false, fmt, args...);
}
template <typename... T>
void fwarning_t(const char* file, unsigned int line, fmt::format_string<T...> fmt, T&&... args) {
void fwarning_t(const char *file, unsigned int line,
fmt::format_string<T...> fmt, T &&...args) {
logTraced(LogLevel::WARNING, file, line, true, fmt, args...);
}
template <typename... T>
void ferror(const char* file, unsigned int line, fmt::format_string<T...> fmt, T&&... args) {
void ferror(const char *file, unsigned int line, fmt::format_string<T...> fmt,
T &&...args) {
logTraced(LogLevel::ERROR, file, line, false, fmt, args...);
}
template <typename... T>
void ferror_t(const char* file, unsigned int line, fmt::format_string<T...> fmt, T&&... args) {
void ferror_t(const char *file, unsigned int line, fmt::format_string<T...> fmt,
T &&...args) {
logTraced(LogLevel::ERROR, file, line, true, fmt, args...);
}
} // namespace sif
} // namespace sif
#define FSFW_LOGI(format, ...) finfo(FMT_STRING(format), __VA_ARGS__)
#define FSFW_LOGIT(format, ...) finfo_t(FMT_STRING(format), __VA_ARGS__)
#define FSFW_LOGD(format, ...) sif::fdebug(__FILENAME__, __LINE__, FMT_STRING(format), __VA_ARGS__)
#define FSFW_LOGD(format, ...) \
sif::fdebug(__FILENAME__, __LINE__, FMT_STRING(format), __VA_ARGS__)
#define FSFW_LOGDT(format, ...) fdebug_t(__FILENAME__, __LINE__, FMT_STRING(format), __VA_ARGS__)
#define FSFW_LOGDT(format, ...) \
fdebug_t(__FILENAME__, __LINE__, FMT_STRING(format), __VA_ARGS__)
#define FSFW_LOGW(format, ...) fdebug(__FILENAME__, __LINE__, FMT_STRING(format), __VA_ARGS__)
#define FSFW_LOGW(format, ...) \
fdebug(__FILENAME__, __LINE__, FMT_STRING(format), __VA_ARGS__)
#define FSFW_LOGWT(format, ...) fdebug_t(__FILENAME__, __LINE__, FMT_STRING(format), __VA_ARGS__)
#define FSFW_LOGWT(format, ...) \
fdebug_t(__FILENAME__, __LINE__, FMT_STRING(format), __VA_ARGS__)
#define FSFW_LOGE(format, ...) fdebug(__FILENAME__, __LINE__, FMT_STRING(format), __VA_ARGS__)
#define FSFW_LOGE(format, ...) \
fdebug(__FILENAME__, __LINE__, FMT_STRING(format), __VA_ARGS__)
#define FSFW_LOGET(format, ...) fdebug_t(__FILENAME__, __LINE__, FMT_STRING(format), __VA_ARGS__)
#define FSFW_LOGET(format, ...) \
fdebug_t(__FILENAME__, __LINE__, FMT_STRING(format), __VA_ARGS__)
#endif // FSFW_EXAMPLE_HOSTED_TESTFMT_H
#endif // FSFW_EXAMPLE_HOSTED_TESTFMT_H

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_ */

2
example/utility/PusPacketCreator.h
View File

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

9
example/utility/TaskCreation.h
View File

@ -6,16 +6,17 @@
namespace task {
void printInitError(const char* objName, object_id_t objectId) {
void printInitError(const char *objName, object_id_t objectId) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "InitMission: Adding object " << objName << "(" << std::setw(8) << std::setfill('0')
<< std::hex << objectId << std::dec << ") failed." << std::endl;
sif::error << "InitMission: Adding object " << objName << "(" << std::setw(8)
<< std::setfill('0') << std::hex << objectId << std::dec
<< ") failed." << std::endl;
#else
sif::printError("InitMission: Adding object %s (0x%08x) failed.\n", objName,
static_cast<unsigned int>(objectId));
#endif
}
} // namespace task
} // namespace task
#endif /* MISSION_UTILITY_TASKCREATION_H_ */

36
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);
}
@ -40,24 +40,27 @@ 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());
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TmFunnel::handlePacket: Error sending to downlink handler" << std::endl;
sif::error << "TmFunnel::handlePacket: Error sending to downlink handler"
<< std::endl;
#endif
return result;
}
@ -67,7 +70,8 @@ ReturnValue_t TmFunnel::handlePacket(TmTcMessage* message) {
if (result != HasReturnvaluesIF::RETURN_OK) {
tmPool->deleteData(message->getStorageId());
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TmFunnel::handlePacket: Error sending to storage handler" << std::endl;
sif::error << "TmFunnel::handlePacket: Error sending to storage handler"
<< std::endl;
#endif
return result;
}
@ -80,18 +84,21 @@ ReturnValue_t TmFunnel::initialize() {
if (tmPool == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TmFunnel::initialize: TM store not set." << std::endl;
sif::error << "Make sure the tm store is set up properly and implements StorageManagerIF"
sif::error << "Make sure the tm store is set up properly and implements "
"StorageManagerIF"
<< std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
AcceptsTelemetryIF* tmTarget =
AcceptsTelemetryIF *tmTarget =
ObjectManager::instance()->get<AcceptsTelemetryIF>(downlinkDestination);
if (tmTarget == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TmFunnel::initialize: Downlink Destination not set." << std::endl;
sif::error << "Make sure the downlink destination object is set up properly and implements "
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;
#endif
@ -104,10 +111,11 @@ 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

8
example/utility/utility.cpp
View File

@ -4,15 +4,17 @@
#include <OBSWVersion.h>
#include <fsfw/serviceinterface/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;
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
std::cout << "-- FSFW Example (" << os << ") v" << FSFW_EXAMPLE_VERSION << "."
<< FSFW_EXAMPLE_SUBVERSION << "." << FSFW_EXAMPLE_REVISION << " --" << std::endl;
<< FSFW_EXAMPLE_SUBVERSION << "." << FSFW_EXAMPLE_REVISION << " --"
<< std::endl;
std::cout << "-- Compiled for " << board << " --" << std::endl;
std::cout << "-- Compiled on " << __DATE__ << " " << __TIME__ << " --" << 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);

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);
}

3
stm32h7/STM32TestTask.cpp
View File

@ -3,7 +3,8 @@
#include "OBSWConfig.h"
#include "stm32h7xx_nucleo.h"
STM32TestTask::STM32TestTask(object_id_t objectId, bool enablePrintout, bool blinkyLed)
STM32TestTask::STM32TestTask(object_id_t objectId, bool enablePrintout,
bool blinkyLed)
: TestTask(objectId), blinkyLed(blinkyLed) {
BSP_LED_Init(LED1);
BSP_LED_Init(LED2);

11
stm32h7/STM32TestTask.h
View File

@ -5,15 +5,16 @@
#include "fsfw_tests/integration/task/TestTask.h"
class STM32TestTask : public TestTask {
public:
STM32TestTask(object_id_t objectId, bool enablePrintout, bool blinkyLed = true);
public:
STM32TestTask(object_id_t objectId, bool enablePrintout,
bool blinkyLed = true);
ReturnValue_t initialize() override;
ReturnValue_t performPeriodicAction() override;
private:
SpiComIF* spiComIF = nullptr;
SpiTest* spiTest = nullptr;
private:
SpiComIF *spiComIF = nullptr;
SpiTest *spiTest = nullptr;
bool blinkyLed = false;
bool testSpi = true;

62
stm32h7/networking/TmTcLwIpUdpBridge.cpp
View File

@ -9,8 +9,10 @@
#include "ethernetif.h"
#include "udp_config.h"
TmTcLwIpUdpBridge::TmTcLwIpUdpBridge(object_id_t objectId, object_id_t ccsdsPacketDistributor,
object_id_t tmStoreId, object_id_t tcStoreId)
TmTcLwIpUdpBridge::TmTcLwIpUdpBridge(object_id_t objectId,
object_id_t ccsdsPacketDistributor,
object_id_t tmStoreId,
object_id_t tcStoreId)
: TmTcBridge(objectId, ccsdsPacketDistributor, tmStoreId, tcStoreId) {
TmTcLwIpUdpBridge::lastAdd.addr = IPADDR_TYPE_ANY;
}
@ -38,7 +40,8 @@ ReturnValue_t TmTcLwIpUdpBridge::udp_server_init(void) {
if (err == ERR_OK) {
/* Set a receive callback for the upcb */
udp_recv(TmTcLwIpUdpBridge::upcb, &udp_server_receive_callback, (void*)this);
udp_recv(TmTcLwIpUdpBridge::upcb, &udp_server_receive_callback,
(void *)this);
return RETURN_OK;
} else {
udp_remove(TmTcLwIpUdpBridge::upcb);
@ -54,20 +57,22 @@ ReturnValue_t TmTcLwIpUdpBridge::performOperation(uint8_t operationCode) {
#if TCPIP_RECV_WIRETAPPING == 1
if (connectFlag) {
uint32_t ipAddress = ((ip4_addr*)&lastAdd)->addr;
uint32_t ipAddress = ((ip4_addr *)&lastAdd)->addr;
int ipAddress1 = (ipAddress & 0xFF000000) >> 24;
int ipAddress2 = (ipAddress & 0xFF0000) >> 16;
int ipAddress3 = (ipAddress & 0xFF00) >> 8;
int ipAddress4 = ipAddress & 0xFF;
#if OBSW_VERBOSE_LEVEL == 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TmTcLwIpUdpBridge: Client IP Address " << std::dec << ipAddress4 << "."
<< ipAddress3 << "." << ipAddress2 << "." << ipAddress1 << std::endl;
sif::info << "TmTcLwIpUdpBridge: Client IP Address " << std::dec
<< ipAddress4 << "." << ipAddress3 << "." << ipAddress2 << "."
<< ipAddress1 << std::endl;
uint16_t portSwapped = EndianConverter::convertBigEndian(lastPort);
sif::info << "TmTcLwIpUdpBridge: Client IP Port " << (int)portSwapped << std::endl;
sif::info << "TmTcLwIpUdpBridge: Client IP Port " << (int)portSwapped
<< std::endl;
#else
sif::printInfo("TmTcLwIpUdpBridge: Client IP Address %d.%d.%d.%d\n", ipAddress4, ipAddress3,
ipAddress2, ipAddress1);
sif::printInfo("TmTcLwIpUdpBridge: Client IP Address %d.%d.%d.%d\n",
ipAddress4, ipAddress3, ipAddress2, ipAddress1);
uint16_t portSwapped = EndianConverter::convertBigEndian(lastPort);
sif::printInfo("TmTcLwIpUdpBridge: Client IP Port: %d\n", portSwapped);
#endif
@ -79,11 +84,12 @@ ReturnValue_t TmTcLwIpUdpBridge::performOperation(uint8_t operationCode) {
return RETURN_OK;
}
ReturnValue_t TmTcLwIpUdpBridge::sendTm(const uint8_t* data, size_t dataLen) {
struct pbuf* p_tx = pbuf_alloc(PBUF_TRANSPORT, dataLen, PBUF_RAM);
if ((p_tx != nullptr) && (lastAdd.addr != IPADDR_TYPE_ANY) && (upcb != nullptr)) {
ReturnValue_t TmTcLwIpUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
struct pbuf *p_tx = pbuf_alloc(PBUF_TRANSPORT, dataLen, PBUF_RAM);
if ((p_tx != nullptr) && (lastAdd.addr != IPADDR_TYPE_ANY) &&
(upcb != nullptr)) {
/* copy data to pbuf */
err_t err = pbuf_take(p_tx, (char*)data, dataLen);
err_t err = pbuf_take(p_tx, (char *)data, dataLen);
if (err != ERR_OK) {
pbuf_free(p_tx);
return err;
@ -109,17 +115,21 @@ ReturnValue_t TmTcLwIpUdpBridge::sendTm(const uint8_t* data, size_t dataLen) {
return RETURN_OK;
}
void TmTcLwIpUdpBridge::udp_server_receive_callback(void* arg, struct udp_pcb* upcb_,
struct pbuf* p, const ip_addr_t* addr,
void TmTcLwIpUdpBridge::udp_server_receive_callback(void *arg,
struct udp_pcb *upcb_,
struct pbuf *p,
const ip_addr_t *addr,
u16_t port) {
struct pbuf* p_tx = nullptr;
auto udpBridge = reinterpret_cast<TmTcLwIpUdpBridge*>(arg);
struct pbuf *p_tx = nullptr;
auto udpBridge = reinterpret_cast<TmTcLwIpUdpBridge *>(arg);
if (udpBridge == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TmTcLwIpUdpBridge::udp_server_receive_callback: Invalid UDP bridge!"
<< std::endl;
sif::warning
<< "TmTcLwIpUdpBridge::udp_server_receive_callback: Invalid UDP bridge!"
<< std::endl;
#else
sif::printWarning("TmTcLwIpUdpBridge::udp_server_receive_callback: Invalid UDP bridge!\n");
sif::printWarning("TmTcLwIpUdpBridge::udp_server_receive_callback: Invalid "
"UDP bridge!\n");
#endif
}
/* allocate pbuf from RAM*/
@ -140,9 +150,9 @@ void TmTcLwIpUdpBridge::udp_server_receive_callback(void* arg, struct udp_pcb* u
udpBridge->physicalConnectStatusChange(true);
}
}
pbuf_take(p_tx, (char*)p->payload, p->len);
pbuf_take(p_tx, (char *)p->payload, p->len);
/* send the received data to the uart port */
char* data = reinterpret_cast<char*>(p_tx->payload);
char *data = reinterpret_cast<char *>(p_tx->payload);
*(data + p_tx->len) = '\0';
#if TCPIP_RECV_WIRETAPPING == 1
@ -150,8 +160,8 @@ void TmTcLwIpUdpBridge::udp_server_receive_callback(void* arg, struct udp_pcb* u
#endif
store_address_t storeId;
ReturnValue_t returnValue =
udpBridge->tcStore->addData(&storeId, reinterpret_cast<uint8_t*>(p->payload), p->len);
ReturnValue_t returnValue = udpBridge->tcStore->addData(
&storeId, reinterpret_cast<uint8_t *>(p->payload), p->len);
if (returnValue != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UDP Server: Data storage failed" << std::endl;
@ -178,8 +188,8 @@ bool TmTcLwIpUdpBridge::comLinkUp() const { return communicationLinkUp; }
/* Caller must ensure thread-safety */
void TmTcLwIpUdpBridge::physicalConnectStatusChange(bool connect) {
if (connect) {
/* Physical connection does not mean there is a recipient to send packets too.
This will be done by the receive callback! */
/* Physical connection does not mean there is a recipient to send packets
too. This will be done by the receive callback! */
physicalConnection = true;
} else {
physicalConnection = false;

22
stm32h7/networking/TmTcLwIpUdpBridge.h
View File

@ -8,14 +8,15 @@
#define TCPIP_RECV_WIRETAPPING 0
/**
* This bridge is used to forward TMTC packets received via LwIP UDP to the internal software bus.
* This bridge is used to forward TMTC packets received via LwIP UDP to the
* internal software bus.
*/
class TmTcLwIpUdpBridge : public TmTcBridge {
friend class UdpTcLwIpPollingTask;
public:
TmTcLwIpUdpBridge(object_id_t objectId, object_id_t ccsdsPacketDistributor, object_id_t tmStoreId,
object_id_t tcStoreId);
public:
TmTcLwIpUdpBridge(object_id_t objectId, object_id_t ccsdsPacketDistributor,
object_id_t tmStoreId, object_id_t tcStoreId);
virtual ~TmTcLwIpUdpBridge();
virtual ReturnValue_t initialize() override;
@ -44,8 +45,9 @@ class TmTcLwIpUdpBridge : public TmTcBridge {
* @param addr Source address which will be bound to TmTcUdpBridge::lastAdd
* @param port
*/
static void udp_server_receive_callback(void *arg, struct udp_pcb *upcb_, struct pbuf *p,
const ip_addr_t *addr, u16_t port);
static void udp_server_receive_callback(void *arg, struct udp_pcb *upcb_,
struct pbuf *p, const ip_addr_t *addr,
u16_t port);
/**
* Check whether the communication link is up.
@ -54,7 +56,7 @@ class TmTcLwIpUdpBridge : public TmTcBridge {
*/
bool comLinkUp() const;
private:
private:
struct udp_pcb *upcb = nullptr;
ip_addr_t lastAdd;
u16_t lastPort = 0;
@ -67,9 +69,9 @@ class TmTcLwIpUdpBridge : public TmTcBridge {
/**
* Used to notify bridge about change in the physical ethernet connection.
* Connection does not mean that replies are possible (recipient not set yet), but
* disconnect means that we can't send anything. Caller must ensure thread-safety
* by using the bridge lock.
* Connection does not mean that replies are possible (recipient not set yet),
* but disconnect means that we can't send anything. Caller must ensure
* thread-safety by using the bridge lock.
*/
void physicalConnectStatusChange(bool connect);
};

11
stm32h7/networking/UdpTcLwIpPollingTask.cpp
View File

@ -12,9 +12,11 @@
#include "lwip/timeouts.h"
#include "networking.h"
UdpTcLwIpPollingTask::UdpTcLwIpPollingTask(object_id_t objectId, object_id_t bridgeId,
struct netif* gnetif)
: SystemObject(objectId), periodicHandleCounter(0), bridgeId(bridgeId), gnetif(gnetif) {}
UdpTcLwIpPollingTask::UdpTcLwIpPollingTask(object_id_t objectId,
object_id_t bridgeId,
struct netif *gnetif)
: SystemObject(objectId), periodicHandleCounter(0), bridgeId(bridgeId),
gnetif(gnetif) {}
UdpTcLwIpPollingTask::~UdpTcLwIpPollingTask() {}
@ -47,7 +49,8 @@ ReturnValue_t UdpTcLwIpPollingTask::performOperation(uint8_t operationCode) {
/* In case ethernet cable is disconnected */
if (not networking::getEthCableConnected() and udpBridge->comLinkUp()) {
udpBridge->physicalConnectStatusChange(false);
} else if (networking::getEthCableConnected() and not udpBridge->comLinkUp()) {
} else if (networking::getEthCableConnected() and
not udpBridge->comLinkUp()) {
udpBridge->physicalConnectStatusChange(true);
}
}

11
stm32h7/networking/UdpTcLwIpPollingTask.h
View File

@ -15,8 +15,9 @@ class TmTcLwIpUdpBridge;
class UdpTcLwIpPollingTask : public SystemObject,
public ExecutableObjectIF,
public HasReturnvaluesIF {
public:
UdpTcLwIpPollingTask(object_id_t objectId, object_id_t bridgeId, struct netif* gnetif);
public:
UdpTcLwIpPollingTask(object_id_t objectId, object_id_t bridgeId,
struct netif *gnetif);
virtual ~UdpTcLwIpPollingTask();
virtual ReturnValue_t initialize() override;
@ -28,12 +29,12 @@ class UdpTcLwIpPollingTask : public SystemObject,
*/
virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
private:
private:
static const uint8_t PERIODIC_HANDLE_TRIGGER = 5;
uint8_t periodicHandleCounter;
object_id_t bridgeId = 0;
TmTcLwIpUdpBridge* udpBridge = nullptr;
struct netif* gnetif = nullptr;
TmTcLwIpUdpBridge *udpBridge = nullptr;
struct netif *gnetif = nullptr;
};
#endif /* BSP_STM32_RTEMS_EMACPOLLINGTASK_H_ */

62
stm32h7/networking/app_dhcp.cpp
View File

@ -13,39 +13,39 @@
uint8_t DHCP_state = DHCP_OFF;
uint32_t DHCPfineTimer = 0;
void handle_dhcp_timeout(struct netif* netif);
void handle_dhcp_start(struct netif* netif);
void handle_dhcp_wait(struct netif* netif, struct dhcp** dhcp);
void handle_dhcp_down(struct netif* netif);
void handle_dhcp_timeout(struct netif *netif);
void handle_dhcp_start(struct netif *netif);
void handle_dhcp_wait(struct netif *netif, struct dhcp **dhcp);
void handle_dhcp_down(struct netif *netif);
/**
* @brief DHCP_Process_Handle
* @param None
* @retval None
*/
void DHCP_Process(struct netif* netif) {
struct dhcp* dhcp = NULL;
void DHCP_Process(struct netif *netif) {
struct dhcp *dhcp = NULL;
switch (DHCP_state) {
case DHCP_START: {
handle_dhcp_start(netif);
break;
}
case DHCP_WAIT_ADDRESS: {
handle_dhcp_wait(netif, &dhcp);
break;
}
case DHCP_START: {
handle_dhcp_start(netif);
break;
}
case DHCP_WAIT_ADDRESS: {
handle_dhcp_wait(netif, &dhcp);
break;
}
case DHCP_LINK_DOWN: {
handle_dhcp_down(netif);
break;
}
default: {
break;
}
case DHCP_LINK_DOWN: {
handle_dhcp_down(netif);
break;
}
default: {
break;
}
}
}
void handle_dhcp_timeout(struct netif* netif) {
void handle_dhcp_timeout(struct netif *netif) {
ip_addr_t ipaddr;
ip_addr_t netmask;
ip_addr_t gw;
@ -61,11 +61,11 @@ void handle_dhcp_timeout(struct netif* netif) {
printf("DHCP Timeout\n\r");
uint8_t iptxt[20];
sprintf((char*)iptxt, "%s", ip4addr_ntoa(netif_ip4_addr(netif)));
sprintf((char *)iptxt, "%s", ip4addr_ntoa(netif_ip4_addr(netif)));
printf("Assigning static IP address: %s\n", iptxt);
#if defined FSFW_OSAL_FREERTOS
ETH_HandleTypeDef* handle = getEthernetHandle();
ETH_HandleTypeDef *handle = getEthernetHandle();
handle->gState = HAL_ETH_STATE_READY;
#endif
@ -82,7 +82,7 @@ void handle_dhcp_timeout(struct netif* netif) {
* @param netif
* @retval None
*/
void DHCP_Periodic_Handle(struct netif* netif) {
void DHCP_Periodic_Handle(struct netif *netif) {
/* Fine DHCP periodic process every 500ms */
if (HAL_GetTick() - DHCPfineTimer >= DHCP_FINE_TIMER_MSECS) {
DHCPfineTimer = HAL_GetTick();
@ -91,7 +91,7 @@ void DHCP_Periodic_Handle(struct netif* netif) {
}
}
void handle_dhcp_start(struct netif* netif) {
void handle_dhcp_start(struct netif *netif) {
printf("handle_dhcp_start: Looking for DHCP server ...\n\r");
#if OBSW_ETHERNET_TMTC_COMMANDING == 1
#if OBSW_ETHERNET_USE_LED1_LED2 == 1
@ -106,10 +106,11 @@ void handle_dhcp_start(struct netif* netif) {
DHCP_state = DHCP_WAIT_ADDRESS;
}
void handle_dhcp_wait(struct netif* netif, struct dhcp** dhcp) {
void handle_dhcp_wait(struct netif *netif, struct dhcp **dhcp) {
if (dhcp_supplied_address(netif)) {
DHCP_state = DHCP_ADDRESS_ASSIGNED;
printf("IP address assigned by a DHCP server: %s\n\r", ip4addr_ntoa(netif_ip4_addr(netif)));
printf("IP address assigned by a DHCP server: %s\n\r",
ip4addr_ntoa(netif_ip4_addr(netif)));
printf("Listener port: %d\n\r", UDP_SERVER_PORT);
#if OBSW_ETHERNET_TMTC_COMMANDING == 1
#if OBSW_ETHERNET_USE_LED1_LED2 == 1
@ -118,7 +119,8 @@ void handle_dhcp_wait(struct netif* netif, struct dhcp** dhcp) {
#endif
#endif
} else {
*dhcp = (struct dhcp*)netif_get_client_data(netif, LWIP_NETIF_CLIENT_DATA_INDEX_DHCP);
*dhcp = (struct dhcp *)netif_get_client_data(
netif, LWIP_NETIF_CLIENT_DATA_INDEX_DHCP);
/* DHCP timeout */
if ((*dhcp)->tries > MAX_DHCP_TRIES) {
@ -127,7 +129,7 @@ void handle_dhcp_wait(struct netif* netif, struct dhcp** dhcp) {
}
}
void handle_dhcp_down(struct netif* netif) {
void handle_dhcp_down(struct netif *netif) {
DHCP_state = DHCP_OFF;
#if OBSW_ETHERNET_TMTC_COMMANDING == 1
printf("DHCP_Process: The network cable is not connected.\n\r");

14
stm32h7/networking/app_ethernet.cpp
View File

@ -21,7 +21,7 @@
uint32_t ethernetLinkTimer = 0;
/* Private function prototypes -----------------------------------------------*/
void handle_status_change(struct netif* netif, bool link_up);
void handle_status_change(struct netif *netif, bool link_up);
/* Private functions ---------------------------------------------------------*/
/**
@ -29,7 +29,7 @@ void handle_status_change(struct netif* netif, bool link_up);
* @param netif: the network interface
* @retval None
*/
void networking::ethernetLinkStatusUpdated(struct netif* netif) {
void networking::ethernetLinkStatusUpdated(struct netif *netif) {
if (netif_is_link_up(netif)) {
networking::setEthCableConnected(true);
handle_status_change(netif, true);
@ -39,16 +39,16 @@ void networking::ethernetLinkStatusUpdated(struct netif* netif) {
}
}
void handle_status_change(struct netif* netif, bool link_up) {
void handle_status_change(struct netif *netif, bool link_up) {
if (link_up) {
#if LWIP_DHCP
/* Update DHCP state machine */
set_dhcp_state(DHCP_START);
#else
uint8_t iptxt[20];
sprintf((char*)iptxt, "%s", ip4addr_ntoa(netif_ip4_addr(netif)));
printf("\rNetwork cable connected. Static IP address: %s | Port: %d\n\r", iptxt,
UDP_SERVER_PORT);
sprintf((char *)iptxt, "%s", ip4addr_ntoa(netif_ip4_addr(netif)));
printf("\rNetwork cable connected. Static IP address: %s | Port: %d\n\r",
iptxt, UDP_SERVER_PORT);
#if OBSW_ETHERNET_USE_LED1_LED2 == 1
BSP_LED_On(LED1);
BSP_LED_Off(LED2);
@ -75,7 +75,7 @@ void handle_status_change(struct netif* netif, bool link_up) {
* @param netif
* @retval None
*/
void networking::ethernetLinkPeriodicHandle(struct netif* netif) {
void networking::ethernetLinkPeriodicHandle(struct netif *netif) {
/* Ethernet Link every 100ms */
if (HAL_GetTick() - ethernetLinkTimer >= 100) {
ethernetLinkTimer = HAL_GetTick();

2
stm32h7/networking/app_ethernet.h
View File

@ -65,7 +65,7 @@ namespace networking {
void ethernetLinkStatusUpdated(struct netif *netif);
void ethernetLinkPeriodicHandle(struct netif *netif);
} // namespace networking
} // namespace networking
#ifdef __cplusplus
}

158
stm32h7/networking/ethernetif.c
View File

@ -72,8 +72,8 @@
/* Private variables ---------------------------------------------------------*/
/*
@Note: This interface is implemented to operate in zero-copy mode only:
- Rx buffers are allocated statically and passed directly to the LwIP stack
they will return back to DMA after been processed by the stack.
- Rx buffers are allocated statically and passed directly to the LwIP
stack they will return back to DMA after been processed by the stack.
- Tx Buffers will be allocated from LwIP stack memory heap,
then passed to ETH HAL driver.
@ -91,40 +91,44 @@
#if defined(__ICCARM__) /*!< IAR Compiler */
#pragma location = 0x30040000
ETH_DMADescTypeDef DMARxDscrTab[ETH_RX_DESC_CNT]; /* Ethernet Rx DMA Descriptors */
ETH_DMADescTypeDef
DMARxDscrTab[ETH_RX_DESC_CNT]; /* Ethernet Rx DMA Descriptors */
#pragma location = 0x30040060
ETH_DMADescTypeDef DMATxDscrTab[ETH_TX_DESC_CNT]; /* Ethernet Tx DMA Descriptors */
ETH_DMADescTypeDef
DMATxDscrTab[ETH_TX_DESC_CNT]; /* Ethernet Tx DMA Descriptors */
#pragma location = 0x30040200
uint8_t Rx_Buff[ETH_RX_DESC_CNT][ETH_RX_BUFFER_SIZE]; /* Ethernet Receive Buffers */
uint8_t Rx_Buff[ETH_RX_DESC_CNT]
[ETH_RX_BUFFER_SIZE]; /* Ethernet Receive Buffers */
#elif defined(__CC_ARM) /* MDK ARM Compiler */
__attribute__((section(".RxDecripSection")))
ETH_DMADescTypeDef DMARxDscrTab[ETH_RX_DESC_CNT]; /* Ethernet Rx DMA Descriptors */
__attribute__((section(".TxDecripSection")))
ETH_DMADescTypeDef DMATxDscrTab[ETH_TX_DESC_CNT]; /* Ethernet Tx DMA Descriptors */
__attribute__((section(".RxArraySection")))
uint8_t Rx_Buff[ETH_RX_DESC_CNT][ETH_RX_BUFFER_SIZE]; /* Ethernet Receive Buffer */
__attribute__((section(".RxDecripSection"))) ETH_DMADescTypeDef
DMARxDscrTab[ETH_RX_DESC_CNT]; /* Ethernet Rx DMA Descriptors */
__attribute__((section(".TxDecripSection"))) ETH_DMADescTypeDef
DMATxDscrTab[ETH_TX_DESC_CNT]; /* Ethernet Tx DMA Descriptors */
__attribute__((section(".RxArraySection"))) uint8_t
Rx_Buff[ETH_RX_DESC_CNT][ETH_RX_BUFFER_SIZE]; /* Ethernet Receive Buffer */
#elif defined(__GNUC__) /* GNU Compiler */
#ifdef FSFW_OSAL_RTEMS
/* Put into special RTEMS section and align correctly */
ETH_DMADescTypeDef DMARxDscrTab[ETH_RX_DESC_CNT]
__attribute__((section(".bsp_nocache"),
__aligned__(DMA_DESCRIPTOR_ALIGNMENT))); /* Ethernet Rx DMA Descriptors */
ETH_DMADescTypeDef DMARxDscrTab[ETH_RX_DESC_CNT] __attribute__((
section(".bsp_nocache"),
__aligned__(DMA_DESCRIPTOR_ALIGNMENT))); /* Ethernet Rx DMA Descriptors */
/* Put into special RTEMS section and align correctly */
ETH_DMADescTypeDef DMATxDscrTab[ETH_TX_DESC_CNT]
__attribute__((section(".bsp_nocache"),
__aligned__(DMA_DESCRIPTOR_ALIGNMENT))); /* Ethernet Tx DMA Descriptors */
/* Ethernet Receive Buffers. Just place somewhere is BSS instead of explicitely placing it */
ETH_DMADescTypeDef DMATxDscrTab[ETH_TX_DESC_CNT] __attribute__((
section(".bsp_nocache"),
__aligned__(DMA_DESCRIPTOR_ALIGNMENT))); /* Ethernet Tx DMA Descriptors */
/* Ethernet Receive Buffers. Just place somewhere is BSS instead of explicitely
* placing it */
uint8_t Rx_Buff[ETH_RX_DESC_CNT][ETH_RX_BUFFER_SIZE];
#elif defined FSFW_OSAL_FREERTOS
/* Placement and alignment specified in linker script here */
ETH_DMADescTypeDef DMARxDscrTab[ETH_RX_DESC_CNT]
__attribute__((section(".RxDecripSection"))); /* Ethernet Rx DMA Descriptors */
ETH_DMADescTypeDef DMATxDscrTab[ETH_TX_DESC_CNT]
__attribute__((section(".TxDecripSection"))); /* Ethernet Tx DMA Descriptors */
ETH_DMADescTypeDef DMARxDscrTab[ETH_RX_DESC_CNT] __attribute__((
section(".RxDecripSection"))); /* Ethernet Rx DMA Descriptors */
ETH_DMADescTypeDef DMATxDscrTab[ETH_TX_DESC_CNT] __attribute__((
section(".TxDecripSection"))); /* Ethernet Tx DMA Descriptors */
uint8_t Rx_Buff[ETH_RX_DESC_CNT][ETH_RX_BUFFER_SIZE]
__attribute__((section(".RxArraySection"))); /* Ethernet Receive Buffers */
#endif /* FSFW_FREERTOS */
@ -148,12 +152,15 @@ void pbuf_free_custom(struct pbuf *p);
int32_t ETH_PHY_IO_Init(void);
int32_t ETH_PHY_IO_DeInit(void);
int32_t ETH_PHY_IO_ReadReg(uint32_t DevAddr, uint32_t RegAddr, uint32_t *pRegVal);
int32_t ETH_PHY_IO_WriteReg(uint32_t DevAddr, uint32_t RegAddr, uint32_t RegVal);
int32_t ETH_PHY_IO_ReadReg(uint32_t DevAddr, uint32_t RegAddr,
uint32_t *pRegVal);
int32_t ETH_PHY_IO_WriteReg(uint32_t DevAddr, uint32_t RegAddr,
uint32_t RegVal);
int32_t ETH_PHY_IO_GetTick(void);
lan8742_IOCtx_t LAN8742_IOCtx = {ETH_PHY_IO_Init, ETH_PHY_IO_DeInit, ETH_PHY_IO_WriteReg,
ETH_PHY_IO_ReadReg, ETH_PHY_IO_GetTick};
lan8742_IOCtx_t LAN8742_IOCtx = {ETH_PHY_IO_Init, ETH_PHY_IO_DeInit,
ETH_PHY_IO_WriteReg, ETH_PHY_IO_ReadReg,
ETH_PHY_IO_GetTick};
/* Private functions ---------------------------------------------------------*/
/*******************************************************************************
LL Driver Interface ( LwIP stack --> ETH)
@ -207,7 +214,8 @@ static void low_level_init(struct netif *netif) {
/* Set Tx packet config common parameters */
memset(&TxConfig, 0, sizeof(ETH_TxPacketConfig));
TxConfig.Attributes = ETH_TX_PACKETS_FEATURES_CSUM | ETH_TX_PACKETS_FEATURES_CRCPAD;
TxConfig.Attributes =
ETH_TX_PACKETS_FEATURES_CSUM | ETH_TX_PACKETS_FEATURES_CRCPAD;
TxConfig.ChecksumCtrl = ETH_CHECKSUM_IPHDR_PAYLOAD_INSERT_PHDR_CALC;
TxConfig.CRCPadCtrl = ETH_CRC_PAD_INSERT;
@ -221,12 +229,13 @@ static void low_level_init(struct netif *netif) {
}
/**
* @brief This function should do the actual transmission of the packet. The packet is
* contained in the pbuf that is passed to the function. This pbuf
* @brief This function should do the actual transmission of the packet. The
* packet is contained in the pbuf that is passed to the function. This pbuf
* might be chained.
*
* @param netif the lwip network interface structure for this ethernetif
* @param p the MAC packet to send (e.g. IP packet including MAC addresses and type)
* @param p the MAC packet to send (e.g. IP packet including MAC addresses and
* type)
* @return ERR_OK if the packet could be sent
* an err_t value if the packet couldn't be sent
*
@ -242,7 +251,8 @@ static err_t low_level_output(struct netif *netif, struct pbuf *p) {
ETH_BufferTypeDef Txbuffer[ETH_TX_DESC_CNT];
for (q = p; q != NULL; q = q->next) {
if (i >= ETH_TX_DESC_CNT) return ERR_IF;
if (i >= ETH_TX_DESC_CNT)
return ERR_IF;
Txbuffer[i].buffer = q->payload;
Txbuffer[i].len = q->len;
@ -265,7 +275,8 @@ static err_t low_level_output(struct netif *netif, struct pbuf *p) {
HAL_StatusTypeDef ret = HAL_ETH_Transmit(&EthHandle, &TxConfig, 20);
if (ret != HAL_OK) {
printf("low_level_output: Could not transmit ethernet packet, code %d!\n\r", ret);
printf("low_level_output: Could not transmit ethernet packet, code %d!\n\r",
ret);
}
return errval;
@ -289,10 +300,12 @@ static struct pbuf *low_level_input(struct netif *netif) {
HAL_ETH_GetRxDataLength(&EthHandle, &framelength);
/* Invalidate data cache for ETH Rx Buffers */
SCB_InvalidateDCache_by_Addr((uint32_t *)Rx_Buff, (ETH_RX_DESC_CNT * ETH_RX_BUFFER_SIZE));
SCB_InvalidateDCache_by_Addr((uint32_t *)Rx_Buff,
(ETH_RX_DESC_CNT * ETH_RX_BUFFER_SIZE));
p = pbuf_alloced_custom(PBUF_RAW, framelength, PBUF_POOL, &rx_pbuf[current_pbuf_idx],
RxBuff.buffer, ETH_RX_BUFFER_SIZE);
p = pbuf_alloced_custom(PBUF_RAW, framelength, PBUF_POOL,
&rx_pbuf[current_pbuf_idx], RxBuff.buffer,
ETH_RX_BUFFER_SIZE);
if (current_pbuf_idx < (ETH_RX_DESC_CNT - 1)) {
current_pbuf_idx++;
} else {
@ -306,11 +319,11 @@ static struct pbuf *low_level_input(struct netif *netif) {
}
/**
* @brief This function is the ethernetif_input task, it is processed when a packet
* is ready to be read from the interface. It uses the function low_level_input()
* that should handle the actual reception of bytes from the network
* interface. Then the type of the received packet is determined and
* the appropriate input function is called.
* @brief This function is the ethernetif_input task, it is processed when a
* packet is ready to be read from the interface. It uses the function
* low_level_input() that should handle the actual reception of bytes from the
* network interface. Then the type of the received packet is determined and the
* appropriate input function is called.
*
* @param netif the lwip network interface structure for this ethernetif
*/
@ -322,7 +335,8 @@ void ethernetif_input(struct netif *netif) {
p = low_level_input(netif);
/* no packet could be read, silently ignore this */
if (p == NULL) return;
if (p == NULL)
return;
/* entry point to the LwIP stack */
err = netif->input(p, netif);
@ -413,7 +427,8 @@ void HAL_ETH_MspInit(ETH_HandleTypeDef *heth) {
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOG_CLK_ENABLE();
/* Ethernet pins configuration ************************************************/
/* Ethernet pins configuration
* ************************************************/
/*
RMII_REF_CLK ----------------------> PA1
RMII_MDIO -------------------------> PA2
@ -492,8 +507,10 @@ int32_t ETH_PHY_IO_DeInit(void) { return 0; }
* @param pRegVal: pointer to hold the register value
* @retval 0 if OK -1 if Error
*/
int32_t ETH_PHY_IO_ReadReg(uint32_t DevAddr, uint32_t RegAddr, uint32_t *pRegVal) {
if (HAL_ETH_ReadPHYRegister(&EthHandle, DevAddr, RegAddr, pRegVal) != HAL_OK) {
int32_t ETH_PHY_IO_ReadReg(uint32_t DevAddr, uint32_t RegAddr,
uint32_t *pRegVal) {
if (HAL_ETH_ReadPHYRegister(&EthHandle, DevAddr, RegAddr, pRegVal) !=
HAL_OK) {
return -1;
}
@ -507,8 +524,10 @@ int32_t ETH_PHY_IO_ReadReg(uint32_t DevAddr, uint32_t RegAddr, uint32_t *pRegVal
* @param RegVal: Value to be written
* @retval 0 if OK -1 if Error
*/
int32_t ETH_PHY_IO_WriteReg(uint32_t DevAddr, uint32_t RegAddr, uint32_t RegVal) {
if (HAL_ETH_WritePHYRegister(&EthHandle, DevAddr, RegAddr, RegVal) != HAL_OK) {
int32_t ETH_PHY_IO_WriteReg(uint32_t DevAddr, uint32_t RegAddr,
uint32_t RegVal) {
if (HAL_ETH_WritePHYRegister(&EthHandle, DevAddr, RegAddr, RegVal) !=
HAL_OK) {
return -1;
}
@ -536,30 +555,31 @@ void ethernet_link_check_state(struct netif *netif) {
HAL_ETH_Stop(&EthHandle);
netif_set_down(netif);
netif_set_link_down(netif);
} else if (!netif_is_link_up(netif) && (PHYLinkState > LAN8742_STATUS_LINK_DOWN)) {
} else if (!netif_is_link_up(netif) &&
(PHYLinkState > LAN8742_STATUS_LINK_DOWN)) {
switch (PHYLinkState) {
case LAN8742_STATUS_100MBITS_FULLDUPLEX:
duplex = ETH_FULLDUPLEX_MODE;
speed = ETH_SPEED_100M;
linkchanged = 1;
break;
case LAN8742_STATUS_100MBITS_HALFDUPLEX:
duplex = ETH_HALFDUPLEX_MODE;
speed = ETH_SPEED_100M;
linkchanged = 1;
break;
case LAN8742_STATUS_10MBITS_FULLDUPLEX:
duplex = ETH_FULLDUPLEX_MODE;
speed = ETH_SPEED_10M;
linkchanged = 1;
break;
case LAN8742_STATUS_10MBITS_HALFDUPLEX:
duplex = ETH_HALFDUPLEX_MODE;
speed = ETH_SPEED_10M;
linkchanged = 1;
break;
default:
break;
case LAN8742_STATUS_100MBITS_FULLDUPLEX:
duplex = ETH_FULLDUPLEX_MODE;
speed = ETH_SPEED_100M;
linkchanged = 1;
break;
case LAN8742_STATUS_100MBITS_HALFDUPLEX:
duplex = ETH_HALFDUPLEX_MODE;
speed = ETH_SPEED_100M;
linkchanged = 1;
break;
case LAN8742_STATUS_10MBITS_FULLDUPLEX:
duplex = ETH_FULLDUPLEX_MODE;
speed = ETH_SPEED_10M;
linkchanged = 1;
break;
case LAN8742_STATUS_10MBITS_HALFDUPLEX:
duplex = ETH_HALFDUPLEX_MODE;
speed = ETH_SPEED_10M;
linkchanged = 1;
break;
default:
break;
}
if (linkchanged) {

7
stm32h7/networking/networking.cpp
View File

@ -4,11 +4,14 @@
bool ethernetCableConnected = false;
void networking::setEthCableConnected(bool status) { ethernetCableConnected = status; }
void networking::setEthCableConnected(bool status) {
ethernetCableConnected = status;
}
bool networking::getEthCableConnected() { return ethernetCableConnected; }
void networking::setLwipAddresses(ip_addr_t* ipaddr, ip_addr_t* netmask, ip_addr_t* gw) {
void networking::setLwipAddresses(ip_addr_t *ipaddr, ip_addr_t *netmask,
ip_addr_t *gw) {
IP4_ADDR(ipaddr, IP_ADDR0, IP_ADDR1, IP_ADDR2, IP_ADDR3);
IP4_ADDR(netmask, NETMASK_ADDR0, NETMASK_ADDR1, NETMASK_ADDR2, NETMASK_ADDR3);
IP4_ADDR(gw, GW_ADDR0, GW_ADDR1, GW_ADDR2, GW_ADDR3);

4
stm32h7/networking/networking.h
View File

@ -7,8 +7,8 @@ namespace networking {
void setEthCableConnected(bool status);
bool getEthCableConnected();
void setLwipAddresses(ip_addr_t* ipaddr, ip_addr_t* netmask, ip_addr_t* gw);
void setLwipAddresses(ip_addr_t *ipaddr, ip_addr_t *netmask, ip_addr_t *gw);
} // namespace networking
} // namespace networking
#endif /* BSP_STM32H7_RTEMS_NETWORKING_NETWORKING_H_ */

3
stm32h7/networking/udp_config.h
View File

@ -8,7 +8,8 @@ extern "C" {
/* UDP local connection port. Client needs to bind to this port */
#define UDP_SERVER_PORT 7
/*Static DEST IP ADDRESS: DEST_IP_ADDR0.DEST_IP_ADDR1.DEST_IP_ADDR2.DEST_IP_ADDR3 */
/*Static DEST IP ADDRESS:
* DEST_IP_ADDR0.DEST_IP_ADDR1.DEST_IP_ADDR2.DEST_IP_ADDR3 */
#define DEST_IP_ADDR0 ((uint8_t)169U)
#define DEST_IP_ADDR1 ((uint8_t)254U)
#define DEST_IP_ADDR2 ((uint8_t)39U)