added more files from main repo

mueller/fmt-tests
Robin Müller 2 years ago
parent ecc10513f7
commit 32b1e01e2c
Signed by: muellerr
GPG Key ID: 71B58F8A3CDFA9AC

32
.gitignore vendored

@ -0,0 +1,32 @@
# Python
**/.idea/*
!**/.idea/runConfigurations
__pycache__
*.db
venv
# Eclipse
.cproject
.project
!misc/eclipse/**/.project
!misc/eclipse/**/.cproject
.pydevproject
.settings
.metadata
# Build folders
/build*
_dep
_obj
_bin
Makefile*
!**/make/Makefile*
# GCOV
*.gcno
# Visual Studio
.vs
out

@ -0,0 +1,223 @@
################################################################################
# CMake support for the Flight Software Framework
#
# Developed in an effort to replace Make with a modern build system.
#
# Author: R. Mueller
################################################################################
################################################################################
# Pre-Project preparation
################################################################################
cmake_minimum_required(VERSION 3.13)
# set(CMAKE_VERBOSE TRUE)
# set(RTEMS_VERBOSE TRUE)
set(CMAKE_SCRIPT_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
if(NOT OS_FSFW)
set(OS_FSFW host CACHE STRING "OS for the FSFW.")
endif()
if(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/beagleboneblack")
option(LINUX_CROSS_COMPILE OFF)
set(FSFW_HAL_ADD_LINUX ON)
endif()
if(TGT_BSP MATCHES "arm/raspberrypi")
set(FSFW_HAL_ADD_RASPBERRY_PI ON)
endif()
if(TGT_BSP MATCHES "arm/stm32h743zi-nucleo")
set(FSFW_HAL_ADD_STM32H7 ON)
endif()
# Perform steps like loading toolchain files where applicable.
include(${CMAKE_SCRIPT_PATH}/PreProjectConfig.cmake)
pre_project_config()
# Project Name
project(fsfw_example ASM C CXX)
################################################################################
# Pre-Sources preparation
################################################################################
# Specify the C++ standard
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD_REQUIRED True)
# Set names and variables
set(TARGET_NAME ${CMAKE_PROJECT_NAME})
set(LIB_FSFW_NAME fsfw)
set(LIB_FSFW_HAL_NAME fsfw_hal)
# Set path names
set(FSFW_PATH fsfw)
set(MISSION_PATH mission)
set(COMMON_PATH common)
set(TEST_PATH test)
set(LWIP_PATH lwip)
set(LIB_FSFW_HAL_PATH fsfw_hal)
# Analyse different OS and architecture/target options, determine BSP_PATH,
# display information about compiler etc.
include (${CMAKE_SCRIPT_PATH}/HardwareOsPreConfig.cmake)
pre_source_hw_os_config()
set(COMMON_CONFIG_PATH "${COMMON_PATH}/config")
set(FSFW_CONFIG_PATH "${BSP_PATH}/fsfwconfig")
set(FSFW_ADDITIONAL_INC_PATHS
"${COMMON_CONFIG_PATH}"
"${CMAKE_CURRENT_BINARY_DIR}"
CACHE STRING
"FSFW configuration paths"
)
configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h)
configure_file(${FSFW_CONFIG_PATH}/FSFWConfig.h.in FSFWConfig.h)
configure_file(${FSFW_CONFIG_PATH}/OBSWConfig.h.in OBSWConfig.h)
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
set(WARNING_FLAGS
-Wall
-Wextra
-Wimplicit-fallthrough=1
-Wno-unused-parameter
-Wno-psabi
)
set(SHADOW_LOCAL_WARNING ON)
if(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/beagleboneblack")
set(SHADOW_LOCAL_WARNING OFF)
endif()
if(SHADOW_LOCAL_WARNING)
# Some older compilers emit odd warnings if this is used.
set(WARNING_FLAGS ${WARNING_FLAGS} -Wshadow=local)
endif()
set(FSFW_WARNING_FLAGS ${WARNING_FLAGS})
elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
add_compile_options(/permissive- /d2SSAOptimizer-)
# To avoid nameclashes with min and max macro
add_compile_definitions(NOMINMAX)
endif()
################################################################################
# Executable and Sources
################################################################################
# Add executable
add_executable(${TARGET_NAME})
# Add subdirectories
if(LIB_OS_NAME)
add_subdirectory(${LIB_OS_NAME})
endif()
if(ADD_LWIP_STACK)
add_subdirectory(${LWIP_PATH})
endif()
add_subdirectory(${BSP_PATH})
add_subdirectory(${FSFW_PATH})
add_subdirectory(${MISSION_PATH})
add_subdirectory(${COMMON_PATH})
add_subdirectory(${TEST_PATH})
add_subdirectory(${LIB_FSFW_HAL_PATH})
################################################################################
# Post-Sources preparation
################################################################################
# Add libraries for all sources.
target_link_libraries(${TARGET_NAME} PRIVATE
${LIB_FSFW_NAME}
${LIB_OS_NAME}
${LIB_FSFW_HAL_NAME}
)
# Add include paths for all sources.
target_include_directories(${TARGET_NAME} PRIVATE
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_CURRENT_BINARY_DIR}
${FSFW_CONFIG_PATH}
)
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
target_link_options(${TARGET_NAME} PRIVATE
"-Wl,-Map=${TARGET_NAME}.map"
)
# Remove unused sections.
target_compile_options(${TARGET_NAME} PRIVATE
"-ffunction-sections"
"-fdata-sections"
)
# Removed unused sections.
if(NOT ${OS_FSFW} MATCHES rtems)
target_link_options(${TARGET_NAME} PRIVATE
"-Wl,--gc-sections"
)
endif()
if(TGT_BSP MATCHES "arm/stm32h743zi-nucleo")
target_link_options(${TARGET_NAME} PRIVATE
-Wl,--undefined,_printf_float -Wl,--undefined,_scanf_float
)
endif()
elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
endif()
if(CMAKE_VERBOSE)
message(STATUS "Warning flags: ${WARNING_FLAGS}")
endif()
# Compile options for all sources.
target_compile_options(${TARGET_NAME} PRIVATE
${WARNING_FLAGS}
)
if(CMAKE_CROSSCOMPILING)
include(${CMAKE_SCRIPT_PATH}/HardwareOsPostConfig.cmake)
post_source_hw_os_config()
endif()
if(NOT CMAKE_SIZE)
set(CMAKE_SIZE size)
if(WIN32)
set(FILE_SUFFIX ".exe")
endif()
endif()
if(TGT_BSP)
set(TARGET_STRING "Target BSP: ${TGT_BSP}")
else()
set(TARGET_STRING "Target BSP: Hosted")
endif()
string(CONCAT POST_BUILD_COMMENT
"Build directory: ${CMAKE_BINARY_DIR}\n"
"Target OSAL: ${OS_FSFW}\n"
"Target Build Type: ${CMAKE_BUILD_TYPE}\n"
"${TARGET_STRING}"
)
add_custom_command(
TARGET ${TARGET_NAME}
POST_BUILD
COMMAND ${CMAKE_SIZE} ${TARGET_NAME}${FILE_SUFFIX}
COMMENT ${POST_BUILD_COMMENT}
)
include (${CMAKE_SCRIPT_PATH}/BuildType.cmake)
set_build_type()

@ -0,0 +1,202 @@
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@ -0,0 +1,37 @@
Flight Software Framework Examples
The initial version of the Flight Software Framework was developed during
the Flying Laptop Project by the Universität Stuttgart in coorporation
with Airbus Defence and Space GmbH.
The supreme FSFW Logo was designed by Markus Koller and Luise Trilsbach.
Copyrights in the Flight Software Framework Examples are retained by their contributors.
No copyright assignment is required to contribute to the Flight Software Framework Examples.
Some files include explicit copyright notices and/or license notices.
For full authorship information, see the version control history.
Except as otherwise noted (below and/or in individual files), the
Flight Software Framework Example is licensed under the Apache License, Version 2.0.
This example uses:
The Flight Software Framework from egit@irs.uni-stuttgart.de.
And optional:
The fsfw_hal from egit@irs.uni-stuttgart.de,
Hardware Abstraction Layers for common OS / Hardware.
tmtccmd, from https://github.com/rmspacefish/tmtccmd/,
A python based TM/TC Tool for testing via the PUS Interface.
rtems-cmake, from https://github.com/rmspacefish/tmtccmd/
A project to build RTEMS with cmake.

@ -0,0 +1,175 @@
# FSFW demo with Host OSAL on Windows or Linux
This demo has been tested for Windows and Linux. It uses
the host abstraction layer of the FSFW.
## General Information
This demo provides the opportunity to to test functionality of the
FSFW on a host computer without the need of setting up external embedded hardware.
## Prerequisites
1. Makefile build: make installed (bundled with MSYS2 on Windows or via [xPacks Windows Build Tools](https://xpack.github.io/windows-build-tools/install/)). Natively installed on Linux.
2. Recommended for application code development: [Eclipse for C/C++](https://www.eclipse.org/downloads/packages/) .
Project files and launch configuration are provided for Eclipse to ease development.
Visual Studio support might follow soon following CMake implementation.
3. CMake Build: Correct CMake installation.
### Windows - MinGW64 build
1. [MSYS2 and MinGW64](https://www.msys2.org/) installed
2. Update MSYS2 by opening it and running
```sh
pacman -Syuuu
```
After that, the gcc toolchain, git, make and CMake should be installed with
```sh
pacman -S git mingw-w64-x86_64-gcc mingw-w64-x86_64-gdb mingw-w64-x86_64-make mingw-w64-x86_64-cmake
```
You can install a full development environment with
```sh
pacman -S base-devel
```
or install `gcc`, `gdb` and `mingw32-make` with the following command
```sh
pacman -S mingw-w64-x86_64-toolchain
```
It is recommended to set up aliases to get to the example directory
quickly.
3. It is recommended to add the MinGW64 bit binaries to the system path so Eclipse can use
them. It is also recommended to run `git config --global core.autocrlf true` when using MinGW64
to have consistent line endings on Windows systems.
### Linux - Enabling RTOS functionalities
The last chapter in the [Linux README](README-linux.md#top) specifies some steps required
to cleanly run the FSFW on a (host) Linux system.
## Building the Software with CMake
CMake should be [installed](https://cmake.org/install/) first.
More detailed information on the CMake build process and options
can be found in the [CMake README](README-cmake.md#top).
Readers unfamiliar with CMake should read this first. The following steps will show to to build
the Debug executable using either the "Unix Makefiles" generator on Linux or
the "MinGW Makefiles" generator in Windows in the command line to be as generic as possible.
### Linux Build
1. Create a new folder for the executable.
```sh
mkdir Debug
cd Debug
```
2. Configure the build system
```sh
cmake -G "Unix Makefiles" -DCMAKE_BUILD_TYPE=Debug -DOS_FSFW=host ..
```
3. Build the software
```sh
cmake --build . -j
```
4. The binary will be located inside the Debug folder and can be run there
```sh
./fsfw-example
```
### MinGW64 Build
Set up MinGW64 like explained previously.
The CMake build can be generated either with the CMake GUI tool or with the MinGW64 command line.
Steps will be shown with the MinGW64 command line tool, but the CMake GUI can be used on Windows
as well to have a convenient way to configure the CMake build.
1. Open the MinGW64 terminal and navigate to the `fsfw_example` folder
2. Create a new folder for the executable.
```sh
mkdir Debug
cd Debug
```
The build options can be displayed with `cmake -L` .
3. Configure the project and generate the native MinGW64 buildsystem
```sh
cmake -G "MinGW Makefiles" -DCMAKE_BUILD_TYPE=Debug -DOS_FSFW=host ..
```
The build configuration can also be performed with the shell scripts located inside `cmake/scripts/Host` or the Python helper script `cmake_build_config.py` inside `cmake/scripts`.
The configured build options can now be shown with `cmake -L`.
4. Call the build system (Make)
```
cmake --build . -j
```
5. Like already mentioned, it is recommended to run the binary directly as an executable by
double-clicking it or in the Windows Terminal.
### Setting up Eclipse for CMake projects
The separate [Eclipse README](README-eclipse#top) specifies how to set up Eclipse to build CMake projects.
Separate project files and launch configurations for the MinGW build were provided.
## Building the Software with Makefiles
The Makefile is able to determine the OS and supply additonal required libraries,
but this has only been tested for Windows 10 and Linux (Ubuntu 20.04)
1. Clone this repository
```sh
git clone https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example.git
```
2. Set up submodules
```sh
git submodule init
git submodule update
```
3. Copy the `Makefile-Hosted` file in the `make` folder into the cloned folder root
and rename it to `Makefile`
4. Once all the prerequisites have been met. the binary can be built with the following command.
Replace `debug` with `release` to build the optimized binary.
```sh
make debug -j
```
### Setting up Eclipse for CMake projects
The separate [Eclipse README](README-eclipse#top) specifies how to set up Eclipse to build CMake projects. Separate project files and launch configurations for the MinGW build were provided. The debug output is colored by default. It is recommended to install the
`ANSI Escape in Console` plugin in Eclipse so the coloring works in the Eclipse console.
## Running or Debugging the Software - Makefile
### Linux
The Makefile binary will be generated in the `_bin` folder and can be run in Linux directly from the console.
### Windows
On Windows, it is recommended to run the binary in the command line or as a regular executable (double-click)
to get the full debug outpu because there seem to be issues with the MinGW output.
The Windows Terminal can be opened in Eclipse by right clicking on the `_bin` folder in the project explorer and clicking
Show in Local Terminal
## Setting up Eclipse - Makefile
The separate [Eclipse README](README-eclipse#top) specifies how to set up Eclipse. Separate project files and launch
configurations for the MinGW build were provided.

@ -0,0 +1,13 @@
target_sources(${TARGET_NAME}
PRIVATE
main.cpp
)
add_subdirectory(core)
add_subdirectory(fsfwconfig)
add_subdirectory(utility)
target_include_directories(${TARGET_NAME}
PRIVATE
${CMAKE_CURRENT_SOURCE_DIR}
)

@ -0,0 +1,18 @@
FROM ubuntu:latest
# FROM alpine:latest
RUN apt-get update && apt-get install -y cmake g++
# RUN apk add cmake make g++
WORKDIR /usr/src/app
COPY . .
RUN set -ex; \
rm -rf build-hosted; \
mkdir build-hosted; \
cd build-hosted; \
cmake -DCMAKE_BUILD_TYPE=Release -DOS_FSFW=host ..;
ENTRYPOINT ["cmake", "--build", "build-hosted"]
CMD ["-j"]
# CMD ["bash"]

@ -0,0 +1,9 @@
CSRC += $(wildcard $(CURRENTPATH)/*.c)
CXXSRC += $(wildcard $(CURRENTPATH)/*.cpp)
CSRC += $(wildcard $(CURRENTPATH)/core/*.c)
CXXSRC += $(wildcard $(CURRENTPATH)/core/*.cpp)
CSRC += $(wildcard $(CURRENTPATH)/utility/*.c)
INCLUDES += $(CURRENTPATH)

@ -0,0 +1,5 @@
target_sources(${TARGET_NAME}
PRIVATE
InitMission.cpp
ObjectFactory.cpp
)

@ -0,0 +1,310 @@
#include <OBSWConfig.h>
#include <bsp_hosted/core/InitMission.h>
#include <bsp_hosted/fsfwconfig/objects/systemObjectList.h>
#include <bsp_hosted/fsfwconfig/pollingsequence/pollingSequenceFactory.h>
#include <fsfw/modes/HasModesIF.h>
#include <mission/utility/TaskCreation.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <fsfw/tasks/PeriodicTaskIF.h>
#include <fsfw/tasks/TaskFactory.h>
#include <mission/assemblies/TestAssembly.h>
#ifdef _WIN32
#include <fsfw/osal/windows/winTaskHelpers.h>
#endif
void InitMission::createTasks() {
TaskFactory* taskFactory = TaskFactory::instance();
if(taskFactory == nullptr) {
return;
}
TaskPriority currPrio;
#ifdef _WIN32
currPrio = tasks::makeWinPriority();
#endif
TaskDeadlineMissedFunction deadlineMissedFunc = nullptr;
#if OBSW_PRINT_MISSED_DEADLINES == 1
deadlineMissedFunc = TaskFactory::printMissedDeadline;
#endif
#if OBSW_ADD_CORE_COMPONENTS == 1
#ifdef __unix__
currPrio = 40;
#endif
/* TMTC Distribution */
PeriodicTaskIF* distributerTask = taskFactory->createPeriodicTask(
"DIST", currPrio, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.1, deadlineMissedFunc);
ReturnValue_t result = distributerTask->addComponent(
objects::CCSDS_DISTRIBUTOR);
if (result != HasReturnvaluesIF::RETURN_OK) {
task::printInitError("CCSDS distributor", objects::CCSDS_DISTRIBUTOR);
}
result = distributerTask->addComponent(objects::PUS_DISTRIBUTOR);
if (result!=HasReturnvaluesIF::RETURN_OK) {
task::printInitError("PUS distributor", objects::PUS_DISTRIBUTOR);
}
result = distributerTask->addComponent(objects::TM_FUNNEL);
if (result != HasReturnvaluesIF::RETURN_OK) {
task::printInitError("TM funnel", objects::TM_FUNNEL);
}
#ifdef __unix__
currPrio = 50;
#endif
/* UDP bridge */
PeriodicTaskIF* udpBridgeTask = taskFactory->createPeriodicTask(
"UDP_UNIX_BRIDGE", currPrio, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2,
deadlineMissedFunc
);
result = udpBridgeTask->addComponent(objects::UDP_BRIDGE);
if(result != HasReturnvaluesIF::RETURN_OK) {
task::printInitError("UDP bridge", objects::UDP_BRIDGE);
}
#ifdef __unix__
currPrio = 80;
#endif
PeriodicTaskIF* udpPollingTask = taskFactory->createPeriodicTask(
"UDP_POLLING", currPrio, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, deadlineMissedFunc
);
result = udpPollingTask->addComponent(objects::UDP_POLLING_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) {
task::printInitError("UDP polling", objects::UDP_POLLING_TASK);
}
#ifdef __unix__
currPrio = 20;
#endif
PeriodicTaskIF* eventTask = taskFactory->createPeriodicTask(
"EVENT", currPrio, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.100, deadlineMissedFunc
);
result = eventTask->addComponent(objects::EVENT_MANAGER);
if(result != HasReturnvaluesIF::RETURN_OK) {
task::printInitError("Event Manager", objects::EVENT_MANAGER);
}
#endif /* OBSW_ADD_CORE_COMPONENTS == 1 */
#if OBSW_ADD_TASK_EXAMPLE == 1
#ifdef __unix__
currPrio = 50;
#endif
FixedTimeslotTaskIF* timeslotDemoTask = taskFactory->createFixedTimeslotTask(
"PST_TASK", currPrio, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, deadlineMissedFunc);
result = pst::pollingSequenceExamples(timeslotDemoTask);
if(result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "InitMission::createTasks: Timeslot demo task initialization failed!" <<
std::endl;
#else
sif::printError("InitMission::createTasks: Timeslot demo task initialization failed!\n");
#endif
}
#ifdef __unix__
currPrio = 40;
#endif
PeriodicTaskIF* readerTask = taskFactory->createPeriodicTask(
"READER_TASK", currPrio, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, deadlineMissedFunc);
result = readerTask->addComponent(objects::TEST_DUMMY_4);
if(result != HasReturnvaluesIF::RETURN_OK) {
task::printInitError("Dummy 4", objects::TEST_DUMMY_4);
}
#endif /* OBSW_ADD_TASK_EXAMPLE == 1 */
#if OBSW_ADD_PUS_STACK == 1
/* PUS Services */
#ifdef __unix__
currPrio = 45;
#endif
PeriodicTaskIF* pusVerification = taskFactory->createPeriodicTask(
"PUS_VERIF_1", currPrio, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, deadlineMissedFunc);
result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
if(result != HasReturnvaluesIF::RETURN_OK) {
task::printInitError("PUS 1", objects::PUS_SERVICE_1_VERIFICATION);
}
#ifdef __unix__
currPrio = 50;
#endif
PeriodicTaskIF* pusHighPrio = taskFactory->createPeriodicTask(
"PUS_HIGH_PRIO", currPrio, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, deadlineMissedFunc);
result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
if (result != HasReturnvaluesIF::RETURN_OK) {
task::printInitError("PUS 2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
}
result = pusHighPrio->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
if(result != HasReturnvaluesIF::RETURN_OK){
task::printInitError("PUS 5",objects::PUS_SERVICE_5_EVENT_REPORTING);
}
result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
if (result != HasReturnvaluesIF::RETURN_OK) {
task::printInitError("PUS 9", objects::PUS_SERVICE_9_TIME_MGMT);
}
#ifdef __unix__
currPrio = 40;
#endif
PeriodicTaskIF* pusMedPrio = taskFactory->createPeriodicTask(
"PUS_MED_PRIO", currPrio, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.6, deadlineMissedFunc);
result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
if (result != HasReturnvaluesIF::RETURN_OK) {
task::printInitError("PUS 3", objects::PUS_SERVICE_3_HOUSEKEEPING);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
if (result != HasReturnvaluesIF::RETURN_OK) {
task::printInitError("PUS 8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
if (result != HasReturnvaluesIF::RETURN_OK) {
task::printInitError("PUS 20", objects::PUS_SERVICE_20_PARAMETERS);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
if (result != HasReturnvaluesIF::RETURN_OK) {
task::printInitError("PUS 200", objects::PUS_SERVICE_200_MODE_MGMT);
}
#ifdef __unix__
currPrio = 30;
#endif
PeriodicTaskIF* pusLowPrio = taskFactory->createPeriodicTask(
"PUS_LOW_PRIO", currPrio, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.2, deadlineMissedFunc);
result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
if(result!=HasReturnvaluesIF::RETURN_OK) {
task::printInitError("PUS 17", objects::PUS_SERVICE_17_TEST);
}
#endif /* OBSW_ADD_PUS_STACK == 1 */
#if OBSW_ADD_DEVICE_HANDLER_DEMO == 1
#ifdef __unix__
currPrio = 60;
#elif _WIN32
currPrio = tasks::makeWinPriority(tasks::PriorityClass::CLASS_HIGH,
tasks::PriorityNumber::HIGHEST);
#endif
FixedTimeslotTaskIF* testDevicesTimeslotTask = taskFactory->createFixedTimeslotTask(
"PST_TEST_TASK", currPrio, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, deadlineMissedFunc);
result = pst::pollingSequenceDevices(testDevicesTimeslotTask);
if(result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "InitMission::createTasks: Test PST initialization failed!" << std::endl;
#else
sif::printError("InitMission::createTasks: Test PST initialization failed!\n");
#endif
}
#if _WIN32
currPrio = tasks::makeWinPriority();
#endif
PeriodicTaskIF* assemblyTask = taskFactory->createPeriodicTask("ASS_TASK", currPrio,
PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, nullptr);
if(assemblyTask == nullptr){
task::printInitError("ASS_TASK", objects::TEST_ASSEMBLY);
}
result = assemblyTask->addComponent(objects::TEST_ASSEMBLY);
if(result != HasReturnvaluesIF::RETURN_OK) {
task::printInitError("ASS_TASK", objects::TEST_ASSEMBLY);
}
#endif /* OBSW_ADD_DEVICE_HANDLER_DEMO == 1 */
#if OBSW_ADD_CONTROLLER_DEMO == 1
#ifdef __unix__
currPrio = 45;
#endif
PeriodicTaskIF* controllerTask = taskFactory->createPeriodicTask(
"TEST_CTRL", currPrio, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, deadlineMissedFunc);
result = controllerTask->addComponent(objects::TEST_CONTROLLER);
if(result != HasReturnvaluesIF::RETURN_OK) {
task::printInitError("Controller Task", objects::TEST_CONTROLLER);
}
#endif /* OBSW_ADD_CONTROLLER_DEMO == 1 */
#ifdef __unix__
currPrio = 15;
#endif
PeriodicTaskIF* testTask = TaskFactory::instance()->createPeriodicTask(
"TEST_TASK", currPrio, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, deadlineMissedFunc);
result = testTask->addComponent(objects::TEST_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) {
task::printInitError("Test Task", objects::TEST_TASK);
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "Starting tasks.." << std::endl;
#else
sif::printInfo("Starting tasks..\n");
#endif
#if OBSW_ADD_CORE_COMPONENTS == 1
distributerTask->startTask();
udpBridgeTask->startTask();
udpPollingTask->startTask();
eventTask->startTask();
#endif /* OBSW_ADD_CORE_COMPONENTS == 1 */
#if OBSW_ADD_PUS_STACK == 1
pusVerification->startTask();
pusHighPrio->startTask();
pusMedPrio->startTask();
pusLowPrio->startTask();
#endif /* OBSW_ADD_PUS_STACK == 1 */
#if OBSW_ADD_TASK_EXAMPLE == 1
timeslotDemoTask->startTask();
readerTask->startTask();
#endif /* OBSW_ADD_TASK_EXAMPLE == 1 */
#if OBSW_ADD_DEVICE_HANDLER_DEMO == 1
testDevicesTimeslotTask->startTask();
assemblyTask->startTask();
#endif /* OBSW_ADD_DEVICE_HANDLER_DEMO == 1 */
#if OBSW_ADD_CONTROLLER_DEMO == 1
controllerTask->startTask();
#endif /* OBSW_ADD_CONTROLLER_DEMO == 1 */
testTask->startTask();
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "Tasks started.." << std::endl;
#else
sif::printInfo("Tasks started..\n");
#endif
#if OBSW_ADD_DEVICE_HANDLER_DEMO
HasModesIF* assembly = ObjectManager::instance()->get<HasModesIF>(objects::TEST_ASSEMBLY);
if (assembly == nullptr){
return;
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "Waiting 5 Seconds and then command Test Assembly to Normal, Dual" << std::endl;
#else
sif::printInfo("Waiting 5 Seconds and then command Test Assembly to Normal, Dual \n");
#endif
TaskFactory::delayTask(5000);
CommandMessage modeMessage;
ModeMessage::setModeMessage(&modeMessage, ModeMessage::CMD_MODE_COMMAND,
DeviceHandlerIF::MODE_NORMAL, TestAssembly::submodes::DUAL);
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "Commanding Test Assembly to Normal, Dual" << std::endl;
#else
sif::printInfo("Commanding Test Assembly to Normal, Dual \n");
#endif
MessageQueueSenderIF::sendMessage(assembly->getCommandQueue(), &modeMessage,
MessageQueueIF::NO_QUEUE);
#endif /* OBSW_ADD_DEVICE_HANDLER_DEMO */
}

@ -0,0 +1,10 @@
#ifndef MISSION_CORE_INITMISSION_H_
#define MISSION_CORE_INITMISSION_H_
#include <fsfw/objectmanager/SystemObjectIF.h>
namespace InitMission {
void createTasks();
};
#endif /* MISSION_CORE_INITMISSION_H_ */

@ -0,0 +1,57 @@
#include "ObjectFactory.h"
#include "OBSWConfig.h"
#include <bsp_hosted/fsfwconfig/objects/systemObjectList.h>
#include <bsp_hosted/fsfwconfig/tmtc/apid.h>
#include <bsp_hosted/fsfwconfig/tmtc/pusIds.h>
#include <test/TestTask.h>
#include <mission/utility/TmFunnel.h>
#include <mission/core/GenericFactory.h>
#include <fsfw/monitoring/MonitoringMessageContent.h>
#include <fsfw/storagemanager/PoolManager.h>
#include <fsfw/datapoollocal/LocalDataPoolManager.h>
#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
#include <fsfw/tmtcservices/CommandingServiceBase.h>
#include <fsfw/tmtcservices/PusServiceBase.h>
#include <fsfw/osal/common/UdpTcPollingTask.h>
#include <fsfw/osal/common/UdpTmTcBridge.h>
void ObjectFactory::produce(void* args) {
Factory::setStaticFrameworkObjectIds();
#if OBSW_ADD_CORE_COMPONENTS == 1
{
LocalPool::LocalPoolConfig poolCfg = {
{16, 100}, {32, 50}, {64, 25}, {128,15}, {1024, 5}
};
new PoolManager(objects::TC_STORE, poolCfg);
}
{
LocalPool::LocalPoolConfig poolCfg = {
{16, 100}, {32, 50}, {64, 25}, {128,15}, {1024, 5}
};
new PoolManager(objects::TM_STORE, poolCfg);
}
{
LocalPool::LocalPoolConfig poolCfg = {
{16, 100}, {32, 50}, {64, 25}, {128,15}, {1024, 5}
};
new PoolManager(objects::IPC_STORE, poolCfg);
}
/* TMTC Reception via UDP socket */
auto tmtcBridge = new UdpTmTcBridge(objects::UDP_BRIDGE, objects::CCSDS_DISTRIBUTOR);
tmtcBridge->setMaxNumberOfPacketsStored(20);
new UdpTcPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
#endif /* OBSW_ADD_CORE_COMPONENTS == 1 */
new TestTask(objects::TEST_TASK, false);
ObjectFactory::produceGenericObjects();
}

@ -0,0 +1,12 @@
#ifndef MISSION_CORE_OBJECTFACTORY_H_
#define MISSION_CORE_OBJECTFACTORY_H_
namespace ObjectFactory {
void setStatics();
void produce(void* args);
};
#endif /* MISSION_CORE_OBJECTFACTORY_H_ */

@ -0,0 +1,25 @@
target_sources(${TARGET_NAME}
PRIVATE
ipc/missionMessageTypes.cpp
pollingsequence/pollingSequenceFactory.cpp
)
# Add include paths for the executable
target_include_directories(${TARGET_NAME}
PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}
)
# If a special translation file for object IDs exists, compile it.
if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
target_sources(${TARGET_NAME} PRIVATE
objects/translateObjects.cpp
)
endif()
# If a special translation file for events exists, compile it.
if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
target_sources(${TARGET_NAME} PRIVATE
events/translateEvents.cpp
)
endif()

@ -0,0 +1,72 @@
#ifndef CONFIG_FSFWCONFIG_H_
#define CONFIG_FSFWCONFIG_H_
#include <cstddef>
#include <cstdint>
//! Used to determine whether C++ ostreams are used which can increase
//! the binary size significantly. If this is disabled,
//! the C stdio functions can be used alternatively
#define FSFW_CPP_OSTREAM_ENABLED 1
//! More FSFW related printouts depending on level. Useful for development.
#define FSFW_VERBOSE_LEVEL 1
//! Can be used to completely disable printouts, even the C stdio ones.
#if FSFW_CPP_OSTREAM_ENABLED == 0 && FSFW_VERBOSE_LEVEL == 0
#define FSFW_DISABLE_PRINTOUT 0
#endif
#define FSFW_USE_PUS_C_TELEMETRY 1
//! Can be used to disable the ANSI color sequences for C stdio.
#define FSFW_COLORED_OUTPUT 1
//! If FSFW_OBJ_EVENT_TRANSLATION is set to one,
//! additional output which requires the translation files translateObjects
//! and translateEvents (and their compiled source files)
#define FSFW_OBJ_EVENT_TRANSLATION 0
#if FSFW_OBJ_EVENT_TRANSLATION == 1
//! Specify whether info events are printed too.
#define FSFW_DEBUG_INFO 1
#include "objects/translateObjects.h"
#include "events/translateEvents.h"
#else
#endif
//! When using the newlib nano library, C99 support for stdio facilities
//! will not be provided. This define should be set to 1 if this is the case.
#define FSFW_NO_C99_IO 1
//! Specify whether a special mode store is used for Subsystem components.
#define FSFW_USE_MODESTORE 0
//! Defines if the real time scheduler for linux should be used.
//! If set to 0, this will also disable priority settings for linux
//! as most systems will not allow to set nice values without privileges
//! For embedded linux system set this to 1.
//! If set to 1 the binary needs "cap_sys_nice=eip" privileges to run
#define FSFW_USE_REALTIME_FOR_LINUX 0
namespace fsfwconfig {
//! Default timestamp size. The default timestamp will be an seven byte CDC short timestamp.
static constexpr uint8_t FSFW_MISSION_TIMESTAMP_SIZE = 7;
//! Configure the allocated pool sizes for the event manager.
static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120;
//! Defines the FIFO depth of each commanding service base which
//! also determines how many commands a CSB service can handle in one cycle
//! simultaneously. This will increase the required RAM for
//! each CSB service !
static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6;
static constexpr size_t FSFW_PRINT_BUFFER_SIZE = 124;
}
#endif /* CONFIG_FSFWCONFIG_H_ */

@ -0,0 +1,25 @@
/**
* @brief This file can be used to add preprocessor define for conditional
* code inclusion exclusion or various other project constants and
* properties in one place.
*/
#ifndef FSFWCONFIG_OBSWCONFIG_H_
#define FSFWCONFIG_OBSWCONFIG_H_
#include <commonConfig.h>
#ifdef __cplusplus
#include "events/subsystemIdRanges.h"
#include "objects/systemObjectList.h"
namespace config {
#endif
/* Add mission configuration flags here */
#ifdef __cplusplus
}
#endif
#endif /* FSFWCONFIG_OBSWCONFIG_H_ */

@ -0,0 +1,11 @@
#ifndef FSFWCONFIG_TMTC_SUBSYSTEMIDRANGES_H_
#define FSFWCONFIG_TMTC_SUBSYSTEMIDRANGES_H_
#include <commonConfig.h>
namespace SUBSYSTEM_ID {
enum subsystemId: uint8_t {
};
}
#endif /* FSFWCONFIG_TMTC_SUBSYSTEMIDRANGES_H_ */

@ -0,0 +1,249 @@
/**
* @brief Auto-generated event translation file. Contains 78 translations.
* @details
* Generated on: 2021-05-28 18:21:33
*/
#include "translateEvents.h"
const char *STORE_SEND_WRITE_FAILED_STRING = "STORE_SEND_WRITE_FAILED";
const char *STORE_WRITE_FAILED_STRING = "STORE_WRITE_FAILED";
const char *STORE_SEND_READ_FAILED_STRING = "STORE_SEND_READ_FAILED";
const char *STORE_READ_FAILED_STRING = "STORE_READ_FAILED";
const char *UNEXPECTED_MSG_STRING = "UNEXPECTED_MSG";
const char *STORING_FAILED_STRING = "STORING_FAILED";
const char *TM_DUMP_FAILED_STRING = "TM_DUMP_FAILED";
const char *STORE_INIT_FAILED_STRING = "STORE_INIT_FAILED";
const char *STORE_INIT_EMPTY_STRING = "STORE_INIT_EMPTY";
const char *STORE_CONTENT_CORRUPTED_STRING = "STORE_CONTENT_CORRUPTED";
const char *STORE_INITIALIZE_STRING = "STORE_INITIALIZE";
const char *INIT_DONE_STRING = "INIT_DONE";
const char *DUMP_FINISHED_STRING = "DUMP_FINISHED";
const char *DELETION_FINISHED_STRING = "DELETION_FINISHED";
const char *DELETION_FAILED_STRING = "DELETION_FAILED";
const char *AUTO_CATALOGS_SENDING_FAILED_STRING = "AUTO_CATALOGS_SENDING_FAILED";
const char *GET_DATA_FAILED_STRING = "GET_DATA_FAILED";
const char *STORE_DATA_FAILED_STRING = "STORE_DATA_FAILED";
const char *DEVICE_BUILDING_COMMAND_FAILED_STRING = "DEVICE_BUILDING_COMMAND_FAILED";
const char *DEVICE_SENDING_COMMAND_FAILED_STRING = "DEVICE_SENDING_COMMAND_FAILED";
const char *DEVICE_REQUESTING_REPLY_FAILED_STRING = "DEVICE_REQUESTING_REPLY_FAILED";
const char *DEVICE_READING_REPLY_FAILED_STRING = "DEVICE_READING_REPLY_FAILED";
const char *DEVICE_INTERPRETING_REPLY_FAILED_STRING = "DEVICE_INTERPRETING_REPLY_FAILED";
const char *DEVICE_MISSED_REPLY_STRING = "DEVICE_MISSED_REPLY";
const char *DEVICE_UNKNOWN_REPLY_STRING = "DEVICE_UNKNOWN_REPLY";
const char *DEVICE_UNREQUESTED_REPLY_STRING = "DEVICE_UNREQUESTED_REPLY";
const char *INVALID_DEVICE_COMMAND_STRING = "INVALID_DEVICE_COMMAND";
const char *MONITORING_LIMIT_EXCEEDED_STRING = "MONITORING_LIMIT_EXCEEDED";
const char *MONITORING_AMBIGUOUS_STRING = "MONITORING_AMBIGUOUS";
const char *FUSE_CURRENT_HIGH_STRING = "FUSE_CURRENT_HIGH";
const char *FUSE_WENT_OFF_STRING = "FUSE_WENT_OFF";
const char *POWER_ABOVE_HIGH_LIMIT_STRING = "POWER_ABOVE_HIGH_LIMIT";
const char *POWER_BELOW_LOW_LIMIT_STRING = "POWER_BELOW_LOW_LIMIT";
const char *SWITCH_WENT_OFF_STRING = "SWITCH_WENT_OFF";
const char *HEATER_ON_STRING = "HEATER_ON";
const char *HEATER_OFF_STRING = "HEATER_OFF";
const char *HEATER_TIMEOUT_STRING = "HEATER_TIMEOUT";
const char *HEATER_STAYED_ON_STRING = "HEATER_STAYED_ON";
const char *HEATER_STAYED_OFF_STRING = "HEATER_STAYED_OFF";
const char *TEMP_SENSOR_HIGH_STRING = "TEMP_SENSOR_HIGH";
const char *TEMP_SENSOR_LOW_STRING = "TEMP_SENSOR_LOW";
const char *TEMP_SENSOR_GRADIENT_STRING = "TEMP_SENSOR_GRADIENT";
const char *COMPONENT_TEMP_LOW_STRING = "COMPONENT_TEMP_LOW";
const char *COMPONENT_TEMP_HIGH_STRING = "COMPONENT_TEMP_HIGH";
const char *COMPONENT_TEMP_OOL_LOW_STRING = "COMPONENT_TEMP_OOL_LOW";
const char *COMPONENT_TEMP_OOL_HIGH_STRING = "COMPONENT_TEMP_OOL_HIGH";
const char *TEMP_NOT_IN_OP_RANGE_STRING = "TEMP_NOT_IN_OP_RANGE";
const char *FDIR_CHANGED_STATE_STRING = "FDIR_CHANGED_STATE";
const char *FDIR_STARTS_RECOVERY_STRING = "FDIR_STARTS_RECOVERY";
const char *FDIR_TURNS_OFF_DEVICE_STRING = "FDIR_TURNS_OFF_DEVICE";
const char *MONITOR_CHANGED_STATE_STRING = "MONITOR_CHANGED_STATE";
const char *VALUE_BELOW_LOW_LIMIT_STRING = "VALUE_BELOW_LOW_LIMIT";
const char *VALUE_ABOVE_HIGH_LIMIT_STRING = "VALUE_ABOVE_HIGH_LIMIT";
const char *VALUE_OUT_OF_RANGE_STRING = "VALUE_OUT_OF_RANGE";
const char *SWITCHING_TM_FAILED_STRING = "SWITCHING_TM_FAILED";
const char *CHANGING_MODE_STRING = "CHANGING_MODE";
const char *MODE_INFO_STRING = "MODE_INFO";
const char *FALLBACK_FAILED_STRING = "FALLBACK_FAILED";
const char *MODE_TRANSITION_FAILED_STRING = "MODE_TRANSITION_FAILED";
const char *CANT_KEEP_MODE_STRING = "CANT_KEEP_MODE";
const char *OBJECT_IN_INVALID_MODE_STRING = "OBJECT_IN_INVALID_MODE";
const char *FORCING_MODE_STRING = "FORCING_MODE";
const char *MODE_CMD_REJECTED_STRING = "MODE_CMD_REJECTED";
const char *HEALTH_INFO_STRING = "HEALTH_INFO";
const char *CHILD_CHANGED_HEALTH_STRING = "CHILD_CHANGED_HEALTH";
const char *CHILD_PROBLEMS_STRING = "CHILD_PROBLEMS";
const char *OVERWRITING_HEALTH_STRING = "OVERWRITING_HEALTH";
const char *TRYING_RECOVERY_STRING = "TRYING_RECOVERY";
const char *RECOVERY_STEP_STRING = "RECOVERY_STEP";
const char *RECOVERY_DONE_STRING = "RECOVERY_DONE";
const char *RF_AVAILABLE_STRING = "RF_AVAILABLE";
const char *RF_LOST_STRING = "RF_LOST";
const char *BIT_LOCK_STRING = "BIT_LOCK";
const char *BIT_LOCK_LOST_STRING = "BIT_LOCK_LOST";
const char *FRAME_PROCESSING_FAILED_STRING = "FRAME_PROCESSING_FAILED";
const char *CLOCK_SET_STRING = "CLOCK_SET";
const char *CLOCK_SET_FAILURE_STRING = "CLOCK_SET_FAILURE";
const char *TEST_STRING = "TEST";
const char * translateEvents(Event event) {
switch( (event & 0xffff) ) {
case(2200):
return STORE_SEND_WRITE_FAILED_STRING;
case(2201):
return STORE_WRITE_FAILED_STRING;
case(2202):
return STORE_SEND_READ_FAILED_STRING;
case(2203):
return STORE_READ_FAILED_STRING;
case(2204):
return UNEXPECTED_MSG_STRING;
case(2205):
return STORING_FAILED_STRING;
case(2206):
return TM_DUMP_FAILED_STRING;
case(2207):
return STORE_INIT_FAILED_STRING;
case(2208):
return STORE_INIT_EMPTY_STRING;
case(2209):
return STORE_CONTENT_CORRUPTED_STRING;
case(2210):
return STORE_INITIALIZE_STRING;
case(2211):
return INIT_DONE_STRING;
case(2212):
return DUMP_FINISHED_STRING;
case(2213):
return DELETION_FINISHED_STRING;
case(2214):
return DELETION_FAILED_STRING;
case(2215):
return AUTO_CATALOGS_SENDING_FAILED_STRING;
case(2600):
return GET_DATA_FAILED_STRING;
case(2601):
return STORE_DATA_FAILED_STRING;
case(2800):
return DEVICE_BUILDING_COMMAND_FAILED_STRING;
case(2801):
return DEVICE_SENDING_COMMAND_FAILED_STRING;
case(2802):
return DEVICE_REQUESTING_REPLY_FAILED_STRING;
case(2803):
return DEVICE_READING_REPLY_FAILED_STRING;
case(2804):
return DEVICE_INTERPRETING_REPLY_FAILED_STRING;
case(2805):
return DEVICE_MISSED_REPLY_STRING;
case(2806):
return DEVICE_UNKNOWN_REPLY_STRING;
case(2807):
return DEVICE_UNREQUESTED_REPLY_STRING;
case(2808):
return INVALID_DEVICE_COMMAND_STRING;
case(2809):
return MONITORING_LIMIT_EXCEEDED_STRING;
case(2810):
return MONITORING_AMBIGUOUS_STRING;
case(4201):
return FUSE_CURRENT_HIGH_STRING;
case(4202):
return FUSE_WENT_OFF_STRING;
case(4204):
return POWER_ABOVE_HIGH_LIMIT_STRING;
case(4205):
return POWER_BELOW_LOW_LIMIT_STRING;
case(4300):
return SWITCH_WENT_OFF_STRING;
case(5000):
return HEATER_ON_STRING;
case(5001):
return HEATER_OFF_STRING;
case(5002):
return HEATER_TIMEOUT_STRING;
case(5003):
return HEATER_STAYED_ON_STRING;
case(5004):
return HEATER_STAYED_OFF_STRING;
case(5200):
return TEMP_SENSOR_HIGH_STRING;
case(5201):
return TEMP_SENSOR_LOW_STRING;
case(5202):
return TEMP_SENSOR_GRADIENT_STRING;
case(5901):
return COMPONENT_TEMP_LOW_STRING;
case(5902):
return COMPONENT_TEMP_HIGH_STRING;
case(5903):
return COMPONENT_TEMP_OOL_LOW_STRING;
case(5904):
return COMPONENT_TEMP_OOL_HIGH_STRING;
case(5905):
return TEMP_NOT_IN_OP_RANGE_STRING;
case(7101):
return FDIR_CHANGED_STATE_STRING;
case(7102):
return FDIR_STARTS_RECOVERY_STRING;
case(7103):
return FDIR_TURNS_OFF_DEVICE_STRING;
case(7201):
return MONITOR_CHANGED_STATE_STRING;
case(7202):
return VALUE_BELOW_LOW_LIMIT_STRING;
case(7203):
return VALUE_ABOVE_HIGH_LIMIT_STRING;
case(7204):
return VALUE_OUT_OF_RANGE_STRING;
case(7301):
return SWITCHING_TM_FAILED_STRING;
case(7400):
return CHANGING_MODE_STRING;
case(7401):
return MODE_INFO_STRING;
case(7402):
return FALLBACK_FAILED_STRING;
case(7403):
return MODE_TRANSITION_FAILED_STRING;
case(7404):
return CANT_KEEP_MODE_STRING;
case(7405):
return OBJECT_IN_INVALID_MODE_STRING;
case(7406):
return FORCING_MODE_STRING;
case(7407):
return MODE_CMD_REJECTED_STRING;
case(7506):