Merge branch 'development' into mueller/update-helper-script
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11
CHANGELOG.md
11
CHANGELOG.md
@ -8,6 +8,17 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
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# [unreleased]
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# [v5.0.0]
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## Removed
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- Removed the `HkSwitchHelper`. This module should not be needed anymore, now that the local
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datapools have been implemented
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## Additions
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- Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1
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# [v4.0.0]
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## Additions
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@ -1,4 +1,13 @@
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#include "fsfw_hal/linux/i2c/I2cComIF.h"
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#include "I2cComIF.h"
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#include "fsfw/FSFW.h"
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#include "fsfw/serviceinterface.h"
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#include "fsfw_hal/linux/UnixFileGuard.h"
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#include "fsfw_hal/linux/utility.h"
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#if FSFW_HAL_I2C_WIRETAPPING == 1
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#include "fsfw/globalfunctions/arrayprinter.h"
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#endif
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#include <errno.h>
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#include <fcntl.h>
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@ -8,11 +17,6 @@
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#include <cstring>
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#include "fsfw/FSFW.h"
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#include "fsfw/serviceinterface.h"
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#include "fsfw_hal/linux/UnixFileGuard.h"
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#include "fsfw_hal/linux/utility.h"
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I2cComIF::I2cComIF(object_id_t objectId) : SystemObject(objectId) {}
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I2cComIF::~I2cComIF() {}
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@ -112,6 +116,11 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
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#endif
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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#if FSFW_HAL_I2C_WIRETAPPING == 1
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sif::info << "Sent I2C data to bus " << deviceFile << ":" << std::endl;
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arrayprinter::print(sendData, sendLen);
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#endif
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return HasReturnvaluesIF::RETURN_OK;
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}
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@ -176,6 +185,11 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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#if FSFW_HAL_I2C_WIRETAPPING == 1
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sif::info << "I2C read bytes from bus " << deviceFile << ":" << std::endl;
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arrayprinter::print(replyBuffer, requestLen);
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#endif
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i2cDeviceMapIter->second.replyLen = requestLen;
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return HasReturnvaluesIF::RETURN_OK;
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}
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@ -69,4 +69,9 @@
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#define FSFW_HAL_LIS3MDL_MGM_DEBUG 0
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#endif /* FSFW_HAL_LIS3MDL_MGM_DEBUG */
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// Can be used for low-level debugging of the I2C bus
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#ifndef FSFW_HAL_I2C_WIRETAPPING
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#define FSFW_HAL_I2C_WIRETAPPING 0
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#endif
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#endif /* FSFW_FSFW_H_ */
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@ -1,7 +1,6 @@
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#ifndef FSFW_CONTROLLER_CONTROLLERBASE_H_
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#define FSFW_CONTROLLER_CONTROLLERBASE_H_
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#include "fsfw/datapool/HkSwitchHelper.h"
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#include "fsfw/health/HasHealthIF.h"
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#include "fsfw/health/HealthHelper.h"
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#include "fsfw/modes/HasModesIF.h"
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@ -1,6 +1,4 @@
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target_sources(${LIB_FSFW_NAME}
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PRIVATE
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HkSwitchHelper.cpp
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PoolDataSetBase.cpp
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PoolEntry.cpp
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target_sources(${LIB_FSFW_NAME} PRIVATE
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PoolDataSetBase.cpp
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PoolEntry.cpp
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)
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@ -1,67 +0,0 @@
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#include "fsfw/datapool/HkSwitchHelper.h"
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#include "fsfw/ipc/QueueFactory.h"
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HkSwitchHelper::HkSwitchHelper(EventReportingProxyIF* eventProxy)
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: commandActionHelper(this), eventProxy(eventProxy) {
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actionQueue = QueueFactory::instance()->createMessageQueue();
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}
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HkSwitchHelper::~HkSwitchHelper() { QueueFactory::instance()->deleteMessageQueue(actionQueue); }
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ReturnValue_t HkSwitchHelper::initialize() {
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ReturnValue_t result = commandActionHelper.initialize();
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if (result != HasReturnvaluesIF::RETURN_OK) {
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return result;
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}
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return result;
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}
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ReturnValue_t HkSwitchHelper::performOperation(uint8_t operationCode) {
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CommandMessage command;
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while (actionQueue->receiveMessage(&command) == HasReturnvaluesIF::RETURN_OK) {
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ReturnValue_t result = commandActionHelper.handleReply(&command);
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if (result == HasReturnvaluesIF::RETURN_OK) {
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continue;
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}
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command.setToUnknownCommand();
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actionQueue->reply(&command);
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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void HkSwitchHelper::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) {}
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void HkSwitchHelper::stepFailedReceived(ActionId_t actionId, uint8_t step,
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ReturnValue_t returnCode) {
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eventProxy->forwardEvent(SWITCHING_TM_FAILED, returnCode, actionId);
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}
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void HkSwitchHelper::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {}
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void HkSwitchHelper::completionSuccessfulReceived(ActionId_t actionId) {}
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void HkSwitchHelper::completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) {
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eventProxy->forwardEvent(SWITCHING_TM_FAILED, returnCode, actionId);
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}
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ReturnValue_t HkSwitchHelper::switchHK(SerializeIF* sids, bool enable) {
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// ActionId_t action = HKService::DISABLE_HK;
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// if (enable) {
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// action = HKService::ENABLE_HK;
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// }
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//
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// ReturnValue_t result = commandActionHelper.commandAction(
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// objects::PUS_HK_SERVICE, action, sids);
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//
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// if (result != HasReturnvaluesIF::RETURN_OK) {
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// eventProxy->forwardEvent(SWITCHING_TM_FAILED, result);
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// }
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// return result;
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return HasReturnvaluesIF::RETURN_OK;
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}
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MessageQueueIF* HkSwitchHelper::getCommandQueuePtr() { return actionQueue; }
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@ -1,44 +0,0 @@
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#ifndef FRAMEWORK_DATAPOOL_HKSWITCHHELPER_H_
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#define FRAMEWORK_DATAPOOL_HKSWITCHHELPER_H_
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#include "fsfw/action/CommandsActionsIF.h"
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#include "fsfw/events/EventReportingProxyIF.h"
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#include "fsfw/tasks/ExecutableObjectIF.h"
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// TODO this class violations separation between mission and framework
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// but it is only a transitional solution until the Datapool is
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// implemented decentrally
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class HkSwitchHelper : public ExecutableObjectIF, public CommandsActionsIF {
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public:
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static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::HK;
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static const Event SWITCHING_TM_FAILED =
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MAKE_EVENT(1, severity::LOW); //!< Commanding the HK Service failed, p1: error code, p2
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//!< action: 0 disable / 1 enable
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HkSwitchHelper(EventReportingProxyIF* eventProxy);
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virtual ~HkSwitchHelper();
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ReturnValue_t initialize();
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virtual ReturnValue_t performOperation(uint8_t operationCode = 0);
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ReturnValue_t switchHK(SerializeIF* sids, bool enable);
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virtual void setTaskIF(PeriodicTaskIF* task_){};
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protected:
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virtual void stepSuccessfulReceived(ActionId_t actionId, uint8_t step);
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virtual void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode);
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virtual void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size);
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virtual void completionSuccessfulReceived(ActionId_t actionId);
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virtual void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode);
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virtual MessageQueueIF* getCommandQueuePtr();
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private:
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CommandActionHelper commandActionHelper;
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MessageQueueIF* actionQueue;
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EventReportingProxyIF* eventProxy;
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};
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#endif /* FRAMEWORK_DATAPOOL_HKSWITCHHELPER_H_ */
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