From 368ef242ff59b6556e155ba4007630991c328cff Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Sat, 18 Jan 2020 18:49:55 +0100 Subject: [PATCH 01/27] CCSDSTime bugfix for atmel Possible good for other cases too? --- timemanager/CCSDSTime.cpp | 43 +++++++++++++++++++++++---------------- 1 file changed, 26 insertions(+), 17 deletions(-) diff --git a/timemanager/CCSDSTime.cpp b/timemanager/CCSDSTime.cpp index 320327161..2eb6c4b54 100644 --- a/timemanager/CCSDSTime.cpp +++ b/timemanager/CCSDSTime.cpp @@ -154,32 +154,41 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t* if (length < 19) { return RETURN_FAILED; } - uint16_t year; - uint8_t month; - uint16_t day; - uint8_t hour; - uint8_t minute; - float second; -//try Code A (yyyy-mm-dd) - int count = sscanf((char *) from, "%4hi-%2hhi-%2hiT%2hhi:%2hhi:%fZ", &year, - &month, &day, &hour, &minute, &second); - if (count == 6) { + // In the size optimized nano library used by ATMEL, floating point conversion + // is not allowed. There is a linker flag to allow it apparently, but I + // could not manage to make it run (removing -specs=nano.specs in linker flags works though, + // but we propably should include this). Using floats with sscanf is also expensive. + // Furthermore, the stdio.c library by ATMEL can't resolve the %hhi specifiers + // Therefore, I adapted this function. + int year; + int month; + int day; + int hour; + int minute; + int second; + int usecond; + // try Code A (yyyy-mm-dd) + //int count = sscanf((char *) from, "%4hi-%2hi-%2hiT%2hi:%2hi:%fZ", &year, + // &month, &day, &hour, &minute, &second); + int count = sscanf((char *) from, "%4d-%2d-%2dT%2d:%2d:%2d.%dZ", &year, + &month, &day, &hour, &minute, &second, &usecond); + if (count == 7) { to->year = year; to->month = month; to->day = day; to->hour = hour; to->minute = minute; to->second = second; - to->usecond = (second - floor(second)) * 1000000; + to->usecond = usecond;//(second - floor(second)) * 1000000; return RETURN_OK; } - //try Code B (yyyy-ddd) - count = sscanf((char *) from, "%4hi-%3hiT%2hhi:%2hhi:%fZ", &year, &day, - &hour, &minute, &second); - if (count == 5) { + // try Code B (yyyy-ddd) + count = sscanf((char *) from, "%4i-%3iT%2i:%2i:%2i.%iZ", &year, &day, + &hour, &minute, &second, &usecond); + if (count == 6) { uint8_t tempDay; - ReturnValue_t result = CCSDSTime::convertDaysOfYear(day, year, &month, + ReturnValue_t result = CCSDSTime::convertDaysOfYear((uint16_t)day,(uint16_t) year,(uint8_t *) &month, &tempDay); if (result != RETURN_OK) { return RETURN_FAILED; @@ -190,7 +199,7 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t* to->hour = hour; to->minute = minute; to->second = second; - to->usecond = (second - floor(second)) * 1000000; + to->usecond = usecond; return RETURN_OK; } From ea904642d1c8b4085b03fdd2837912ebe242c20c Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 21 Apr 2020 16:16:02 +0200 Subject: [PATCH 02/27] CCSDS time possible bugfix for sscanf() --- timemanager/CCSDSTime.cpp | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/timemanager/CCSDSTime.cpp b/timemanager/CCSDSTime.cpp index 320327161..8a0e65b78 100644 --- a/timemanager/CCSDSTime.cpp +++ b/timemanager/CCSDSTime.cpp @@ -1,5 +1,6 @@ #include #include +#include #include CCSDSTime::CCSDSTime() { @@ -160,9 +161,10 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t* uint8_t hour; uint8_t minute; float second; -//try Code A (yyyy-mm-dd) - int count = sscanf((char *) from, "%4hi-%2hhi-%2hiT%2hhi:%2hhi:%fZ", &year, - &month, &day, &hour, &minute, &second); + //try Code A (yyyy-mm-dd) + int count = sscanf((char *) from, "%4" SCNu16 "-%2" SCNu8 "-%2" SCNu16 + "T%2" SCNu8 ":%2" SCNu8 ":%fZ", &year, &month, &day, + &hour, &minute, &second); if (count == 6) { to->year = year; to->month = month; @@ -175,8 +177,8 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t* } //try Code B (yyyy-ddd) - count = sscanf((char *) from, "%4hi-%3hiT%2hhi:%2hhi:%fZ", &year, &day, - &hour, &minute, &second); + count = sscanf((char *) from, "%4" SCNu16 "-%3" SCNu16 "T%2" SCNu8 + ":%2" SCNu8 ":%fZ", &year, &day, &hour, &minute, &second); if (count == 5) { uint8_t tempDay; ReturnValue_t result = CCSDSTime::convertDaysOfYear(day, year, &month, @@ -193,7 +195,6 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t* to->usecond = (second - floor(second)) * 1000000; return RETURN_OK; } - return UNSUPPORTED_TIME_FORMAT; } From c30cae3431d586304bf0d3fd1c5d1ff05d7f9691 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 21 Apr 2020 16:32:39 +0200 Subject: [PATCH 03/27] added back NoC99 io section --- timemanager/CCSDSTime.cpp | 46 +++++++++++++++++++++++++++++++++++++++ 1 file changed, 46 insertions(+) diff --git a/timemanager/CCSDSTime.cpp b/timemanager/CCSDSTime.cpp index 8a0e65b78..e00beb27a 100644 --- a/timemanager/CCSDSTime.cpp +++ b/timemanager/CCSDSTime.cpp @@ -155,6 +155,51 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t* if (length < 19) { return RETURN_FAILED; } + // Newlib nano can't parse uint8, see SCNu8 documentation and https://sourceware.org/newlib/README + // Suggestion: use uint16 all the time. This should work on all systems. +#ifdef NEWLIB_NANO_NO_C99_IO + uint16_t year; + uint16_t month; + uint16_t day; + uint16_t hour; + uint16_t minute; + float second; + int count = sscanf((char *) from, "%4" SCNu16 "-%2" SCNu16 "-%2" + SCNu16 "T%2" SCNu16 ":%2" SCNu16 ":%fZ", &year, &month, &day, &hour, + &minute, &second); + if (count == 6) { + to->year = year; + to->month = month; + to->day = day; + to->hour = hour; + to->minute = minute; + to->second = second; + to->usecond = (second - floor(second)) * 1000000; + return RETURN_OK; + } + + // try Code B (yyyy-ddd) + count = sscanf((char *) from, "%4" SCNu16 "-%3" SCNu16 "T%2" SCNu16 ":%2" + SCNu16 ":%fZ", &year, &day, &hour, &minute, &second); + if (count == 5) { + uint8_t tempDay; + ReturnValue_t result = CCSDSTime::convertDaysOfYear(day, year, + reinterpret_cast(&month), reinterpret_cast(&tempDay)); + if (result != RETURN_OK) { + return RETURN_FAILED; + } + to->year = year; + to->month = month; + to->day = tempDay; + to->hour = hour; + to->minute = minute; + to->second = second; + to->usecond = (second - floor(second)) * 1000000; + return RETURN_OK; + } + // Warning: Compiler/Linker fails ambiguously if library does not implement + // C99 I/O +#else uint16_t year; uint8_t month; uint16_t day; @@ -195,6 +240,7 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t* to->usecond = (second - floor(second)) * 1000000; return RETURN_OK; } +#endif return UNSUPPORTED_TIME_FORMAT; } From 860cdba94d4cb6d1de1ba59f4a0f1dd68f761549 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Wed, 10 Jun 2020 20:28:44 +0200 Subject: [PATCH 04/27] subservicve passed to handleRequest() --- tmtcservices/PusServiceBase.cpp | 3 ++- tmtcservices/PusServiceBase.h | 7 +++++-- 2 files changed, 7 insertions(+), 3 deletions(-) diff --git a/tmtcservices/PusServiceBase.cpp b/tmtcservices/PusServiceBase.cpp index b1d972933..c27defe61 100644 --- a/tmtcservices/PusServiceBase.cpp +++ b/tmtcservices/PusServiceBase.cpp @@ -29,7 +29,8 @@ ReturnValue_t PusServiceBase::performOperation(uint8_t opCode) { this->currentPacket.setStoreAddress(message.getStorageId()); // info << "Service " << (uint16_t) this->serviceId << ": new packet!" << std::endl; - ReturnValue_t return_code = this->handleRequest(); + ReturnValue_t return_code = this->handleRequest(currentPacket.getSubService()); + // debug << "Service " << (uint16_t)this->serviceId << ": handleRequest returned: " << (int)return_code << std::endl; if (return_code == RETURN_OK) { this->verifyReporter.sendSuccessReport( diff --git a/tmtcservices/PusServiceBase.h b/tmtcservices/PusServiceBase.h index d318ff1e0..dbb1754ce 100644 --- a/tmtcservices/PusServiceBase.h +++ b/tmtcservices/PusServiceBase.h @@ -30,7 +30,10 @@ void setStaticFrameworkObjectIds(); * All PUS Services are System Objects, so an Object ID needs to be specified on construction. * \ingroup pus_services */ -class PusServiceBase : public ExecutableObjectIF, public AcceptsTelecommandsIF, public SystemObject, public HasReturnvaluesIF { +class PusServiceBase : public ExecutableObjectIF, + public AcceptsTelecommandsIF, + public SystemObject, + public HasReturnvaluesIF { friend void (Factory::setStaticFrameworkObjectIds)(); public: /** @@ -63,7 +66,7 @@ public: * @return The returned status_code is directly taken as main error code in the Verification Report. * On success, RETURN_OK shall be returned. */ - virtual ReturnValue_t handleRequest() = 0; + virtual ReturnValue_t handleRequest(uint8_t subservice) = 0; /** * In performService, implementations can handle periodic, non-TC-triggered activities. * The performService method is always called. From ed7b4e2a3a88142ff6ff1aed74e3f0cb009c85ea Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Wed, 10 Jun 2020 20:49:30 +0200 Subject: [PATCH 05/27] PSB improvements --- objectmanager/ObjectManager.cpp | 1 + tmtcservices/PusServiceBase.cpp | 74 +++++++++++++++++++-------------- tmtcservices/PusServiceBase.h | 8 ++-- 3 files changed, 49 insertions(+), 34 deletions(-) diff --git a/objectmanager/ObjectManager.cpp b/objectmanager/ObjectManager.cpp index cfdf65621..1c54355a3 100644 --- a/objectmanager/ObjectManager.cpp +++ b/objectmanager/ObjectManager.cpp @@ -1,5 +1,6 @@ #include #include +#include #include ObjectManager::ObjectManager( void (*setProducer)() ): diff --git a/tmtcservices/PusServiceBase.cpp b/tmtcservices/PusServiceBase.cpp index c27defe61..f5d1e30bd 100644 --- a/tmtcservices/PusServiceBase.cpp +++ b/tmtcservices/PusServiceBase.cpp @@ -9,10 +9,11 @@ object_id_t PusServiceBase::packetSource = 0; object_id_t PusServiceBase::packetDestination = 0; -PusServiceBase::PusServiceBase(object_id_t setObjectId, uint16_t setApid, uint8_t setServiceId) : - SystemObject(setObjectId), apid(setApid), serviceId(setServiceId), errorParameter1( - 0), errorParameter2(0), requestQueue(NULL) { - requestQueue = QueueFactory::instance()->createMessageQueue(PUS_SERVICE_MAX_RECEPTION); +PusServiceBase::PusServiceBase(object_id_t setObjectId, uint16_t setApid, + uint8_t setServiceId) : + SystemObject(setObjectId), apid(setApid), serviceId(setServiceId) { + requestQueue = QueueFactory::instance()-> + createMessageQueue(PUS_SERVICE_MAX_RECEPTION); } PusServiceBase::~PusServiceBase() { @@ -20,51 +21,60 @@ PusServiceBase::~PusServiceBase() { } ReturnValue_t PusServiceBase::performOperation(uint8_t opCode) { + handleRequestQueue(); + ReturnValue_t result = this->performService(); + if (result != RETURN_OK) { + sif::error << "PusService " << (uint16_t) this->serviceId + << ": performService returned with " << (int16_t) result + << std::endl; + return RETURN_FAILED; + } + return RETURN_OK; +} + +void PusServiceBase::handleRequestQueue() { TmTcMessage message; + ReturnValue_t result = RETURN_FAILED; for (uint8_t count = 0; count < PUS_SERVICE_MAX_RECEPTION; count++) { ReturnValue_t status = this->requestQueue->receiveMessage(&message); - // debug << "PusServiceBase::performOperation: Receiving from MQ ID: " << std::hex << this->requestQueue.getId() - // << std::dec << " returned: " << status << std::endl; + // debug << "PusServiceBase::performOperation: Receiving from MQ ID: " + // << std::hex << this->requestQueue.getId() + // << std::dec << " returned: " << status << std::endl; if (status == RETURN_OK) { this->currentPacket.setStoreAddress(message.getStorageId()); - // info << "Service " << (uint16_t) this->serviceId << ": new packet!" << std::endl; + //info << "Service " << (uint16_t) this->serviceId << + // ": new packet!" << std::endl; - ReturnValue_t return_code = this->handleRequest(currentPacket.getSubService()); + result = this->handleRequest(currentPacket.getSubService()); - // debug << "Service " << (uint16_t)this->serviceId << ": handleRequest returned: " << (int)return_code << std::endl; - if (return_code == RETURN_OK) { + // debug << "Service " << (uint16_t)this->serviceId << + // ": handleRequest returned: " << (int)return_code << std::endl; + if (result == RETURN_OK) { this->verifyReporter.sendSuccessReport( TC_VERIFY::COMPLETION_SUCCESS, &this->currentPacket); - } else { + } + else { this->verifyReporter.sendFailureReport( TC_VERIFY::COMPLETION_FAILURE, &this->currentPacket, - return_code, 0, errorParameter1, errorParameter2); + result, 0, errorParameter1, errorParameter2); } this->currentPacket.deletePacket(); errorParameter1 = 0; errorParameter2 = 0; - } else if (status == MessageQueueIF::EMPTY) { + } + else if (status == MessageQueueIF::EMPTY) { status = RETURN_OK; - // debug << "PusService " << (uint16_t)this->serviceId << ": no new packet." << std::endl; + // debug << "PusService " << (uint16_t)this->serviceId << + // ": no new packet." << std::endl; break; - } else { - + } + else { sif::error << "PusServiceBase::performOperation: Service " << (uint16_t) this->serviceId << ": Error receiving packet. Code: " << std::hex << status << std::dec << std::endl; } } - ReturnValue_t return_code = this->performService(); - if (return_code == RETURN_OK) { - return RETURN_OK; - } else { - - sif::error << "PusService " << (uint16_t) this->serviceId - << ": performService returned with " << (int16_t) return_code - << std::endl; - return RETURN_FAILED; - } } uint16_t PusServiceBase::getIdentifier() { @@ -80,19 +90,21 @@ ReturnValue_t PusServiceBase::initialize() { if (result != RETURN_OK) { return result; } - AcceptsTelemetryIF* dest_service = objectManager->get( + AcceptsTelemetryIF* destService = objectManager->get( packetDestination); PUSDistributorIF* distributor = objectManager->get( packetSource); - if ((dest_service != NULL) && (distributor != NULL)) { + if ((destService != nullptr) && (distributor != nullptr)) { this->requestQueue->setDefaultDestination( - dest_service->getReportReceptionQueue()); + destService->getReportReceptionQueue()); distributor->registerService(this); return RETURN_OK; - } else { + } + else { sif::error << "PusServiceBase::PusServiceBase: Service " << (uint32_t) this->serviceId << ": Configuration error." - << " Make sure packetSource and packetDestination are defined correctly" << std::endl; + << " Make sure packetSource and packetDestination are defined " + "correctly" << std::endl; return RETURN_FAILED; } } diff --git a/tmtcservices/PusServiceBase.h b/tmtcservices/PusServiceBase.h index dbb1754ce..5f741410a 100644 --- a/tmtcservices/PusServiceBase.h +++ b/tmtcservices/PusServiceBase.h @@ -97,16 +97,16 @@ protected: /** * One of two error parameters for additional error information. */ - uint32_t errorParameter1; + uint32_t errorParameter1 = 0; /** * One of two error parameters for additional error information. */ - uint32_t errorParameter2; + uint32_t errorParameter2 = 0; /** * This is a complete instance of the Telecommand reception queue of the class. * It is initialized on construction of the class. */ - MessageQueueIF* requestQueue; + MessageQueueIF* requestQueue = nullptr; /** * An instance of the VerificationReporter class, that simplifies sending any kind of * Verification Message to the TC Verification Service. @@ -127,6 +127,8 @@ private: * Remember that one packet must be completely handled in one #handleRequest call. */ static const uint8_t PUS_SERVICE_MAX_RECEPTION = 10; + + void handleRequestQueue(); }; #endif /* PUSSERVICEBASE_H_ */ From 39d5fe34bb3ee1ddda0d8724ec4beb3459eed783 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Wed, 10 Jun 2020 21:36:21 +0200 Subject: [PATCH 06/27] better include guard, doc form improvement --- tmtcservices/PusServiceBase.h | 80 +++++++++++++++++++++-------------- 1 file changed, 48 insertions(+), 32 deletions(-) diff --git a/tmtcservices/PusServiceBase.h b/tmtcservices/PusServiceBase.h index 5f741410a..39600c413 100644 --- a/tmtcservices/PusServiceBase.h +++ b/tmtcservices/PusServiceBase.h @@ -1,5 +1,5 @@ -#ifndef PUSSERVICEBASE_H_ -#define PUSSERVICEBASE_H_ +#ifndef FRAMEWORK_TMTCSERVICES_PUSSERVICEBASE_H_ +#define FRAMEWORK_TMTCSERVICES_PUSSERVICEBASE_H_ #include #include @@ -9,7 +9,6 @@ #include #include #include -#include #include namespace Factory{ @@ -17,18 +16,22 @@ void setStaticFrameworkObjectIds(); } /** - * \defgroup pus_services PUS Service Framework + * @defgroup pus_services PUS Service Framework * These group contains all implementations of PUS Services in the OBSW. * Most of the Services are directly taken from the ECSS PUS Standard. */ /** - * \brief This class is the basis for all PUS Services, which can immediately process Telecommand Packets. - * It manages Telecommand reception and the generation of Verification Reports. Every class that inherits - * from this abstract class has to implement handleRequest and performService. Services that are created with this + * @brief This class is the basis for all PUS Services, + * which can immediately process Telecommand Packets. + * @details + * It manages Telecommand reception and the generation of Verification Reports. + * Every class that inherits from this abstract class has to implement + * handleRequest and performService. Services that are created with this * Base class have to handle any kind of request immediately on reception. - * All PUS Services are System Objects, so an Object ID needs to be specified on construction. - * \ingroup pus_services + * All PUS Services are System Objects, so an Object ID needs to be specified + * on construction. + * @ingroup pus_services */ class PusServiceBase : public ExecutableObjectIF, public AcceptsTelecommandsIF, @@ -37,49 +40,61 @@ class PusServiceBase : public ExecutableObjectIF, friend void (Factory::setStaticFrameworkObjectIds)(); public: /** - * The constructor for the class. - * The passed values are set, but inter-object initialization is done in the initialize method. - * @param setObjectId The system object identifier of this Service instance. - * @param set_apid The APID the Service is instantiated for. - * @param set_service_id The Service Identifier as specified in ECSS PUS. + * @brief The passed values are set, but inter-object initialization is + * done in the initialize method. + * @param setObjectId + * The system object identifier of this Service instance. + * @param setApid + * The APID the Service is instantiated for. + * @param setServiceId + * The Service Identifier as specified in ECSS PUS. */ - PusServiceBase( object_id_t setObjectId, uint16_t setApid, uint8_t setServiceId); + PusServiceBase( object_id_t setObjectId, uint16_t setApid, + uint8_t setServiceId); /** * The destructor is empty. */ virtual ~PusServiceBase(); /** - * @brief The handleRequest method shall handle any kind of Telecommand Request immediately. + * @brief The handleRequest method shall handle any kind of Telecommand + * Request immediately. * @details - * Implemetations can take the Telecommand in currentPacket and perform any kind of operation. - * They may send additional "Start Success (1,3)" messages with the verifyReporter, but Completion - * Success or Failure Reports are generated automatically after execution of this method. + * Implemetations can take the Telecommand in currentPacket and perform + * any kind of operation. + * They may send additional "Start Success (1,3)" messages with the + * verifyReporter, but Completion Success or Failure Reports are generated + * automatically after execution of this method. * * If a Telecommand can not be executed within one call cycle, * this Base class is not the right parent. * - * The child class may add additional error information by setting #errorParameters which are - * attached to the generated verification message. + * The child class may add additional error information by setting + * #errorParameters which aren attached to the generated verification + * message. * * Subservice checking should be implemented in this method. * - * @return The returned status_code is directly taken as main error code in the Verification Report. + * @return The returned status_code is directly taken as main error code + * in the Verification Report. * On success, RETURN_OK shall be returned. */ virtual ReturnValue_t handleRequest(uint8_t subservice) = 0; /** - * In performService, implementations can handle periodic, non-TC-triggered activities. + * In performService, implementations can handle periodic, + * non-TC-triggered activities. * The performService method is always called. - * @return A success or failure code that does not trigger any kind of verification message. + * @return Currently, everything other that RETURN_OK only triggers + * diagnostic output. */ virtual ReturnValue_t performService() = 0; /** * This method implements the typical activity of a simple PUS Service. - * It checks for new requests, and, if found, calls handleRequest, sends completion verification messages and deletes + * It checks for new requests, and, if found, calls handleRequest, sends + * completion verification messages and deletes * the TC requests afterwards. * performService is always executed afterwards. - * @return \c RETURN_OK if the periodic performService was successful. - * \c RETURN_FAILED else. + * @return @c RETURN_OK if the periodic performService was successful. + * @c RETURN_FAILED else. */ ReturnValue_t performOperation(uint8_t opCode); virtual uint16_t getIdentifier(); @@ -103,13 +118,13 @@ protected: */ uint32_t errorParameter2 = 0; /** - * This is a complete instance of the Telecommand reception queue of the class. - * It is initialized on construction of the class. + * This is a complete instance of the telecommand reception queue + * of the class. It is initialized on construction of the class. */ MessageQueueIF* requestQueue = nullptr; /** - * An instance of the VerificationReporter class, that simplifies sending any kind of - * Verification Message to the TC Verification Service. + * An instance of the VerificationReporter class, that simplifies + * sending any kind of verification message to the TC Verification Service. */ VerificationReporter verifyReporter; /** @@ -124,7 +139,8 @@ protected: private: /** * This constant sets the maximum number of packets accepted per call. - * Remember that one packet must be completely handled in one #handleRequest call. + * Remember that one packet must be completely handled in one + * #handleRequest call. */ static const uint8_t PUS_SERVICE_MAX_RECEPTION = 10; From 5dc2133c3a4218f5027955fc77c3a505f0e948f4 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Wed, 10 Jun 2020 21:41:48 +0200 Subject: [PATCH 07/27] CSB improvements --- tmtcservices/CommandingServiceBase.cpp | 56 +++++++++++++------------- tmtcservices/CommandingServiceBase.h | 48 +++++++++++----------- 2 files changed, 54 insertions(+), 50 deletions(-) diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp index d70b90428..adc9400fa 100644 --- a/tmtcservices/CommandingServiceBase.cpp +++ b/tmtcservices/CommandingServiceBase.cpp @@ -218,9 +218,9 @@ void CommandingServiceBase::handleRequestQueue() { } -void CommandingServiceBase::sendTmPacket(uint8_t subservice, - const uint8_t* data, uint32_t dataLen, const uint8_t* headerData, - uint32_t headerSize) { +ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice, + const uint8_t* data, size_t dataLen, const uint8_t* headerData, + size_t headerSize) { TmPacketStored tmPacketStored(this->apid, this->service, subservice, this->tmPacketCounter, data, dataLen, headerData, headerSize); ReturnValue_t result = tmPacketStored.sendPacket( @@ -228,36 +228,38 @@ void CommandingServiceBase::sendTmPacket(uint8_t subservice, if (result == HasReturnvaluesIF::RETURN_OK) { this->tmPacketCounter++; } + return result; } -void CommandingServiceBase::sendTmPacket(uint8_t subservice, - object_id_t objectId, const uint8_t *data, uint32_t dataLen) { - uint8_t buffer[sizeof(object_id_t)]; - uint8_t* pBuffer = buffer; - uint32_t size = 0; - SerializeAdapter::serialize(&objectId, &pBuffer, &size, - sizeof(object_id_t), true); - TmPacketStored tmPacketStored(this->apid, this->service, subservice, - this->tmPacketCounter, data, dataLen, buffer, size); - ReturnValue_t result = tmPacketStored.sendPacket( - requestQueue->getDefaultDestination(), requestQueue->getId()); - if (result == HasReturnvaluesIF::RETURN_OK) { - this->tmPacketCounter++; - } - +ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice, + object_id_t objectId, const uint8_t *data, size_t dataLen) { + uint8_t buffer[sizeof(object_id_t)]; + uint8_t* pBuffer = buffer; + size_t size = 0; + SerializeAdapter::serialize(&objectId, &pBuffer, &size, + sizeof(object_id_t), true); + TmPacketStored tmPacketStored(this->apid, this->service, subservice, + this->tmPacketCounter, data, dataLen, buffer, size); + ReturnValue_t result = tmPacketStored.sendPacket( + requestQueue->getDefaultDestination(), requestQueue->getId()); + if (result == HasReturnvaluesIF::RETURN_OK) { + this->tmPacketCounter++; + } + return result; } -void CommandingServiceBase::sendTmPacket(uint8_t subservice, - SerializeIF* content, SerializeIF* header) { - TmPacketStored tmPacketStored(this->apid, this->service, subservice, - this->tmPacketCounter, content, header); - ReturnValue_t result = tmPacketStored.sendPacket( - requestQueue->getDefaultDestination(), requestQueue->getId()); - if (result == HasReturnvaluesIF::RETURN_OK) { - this->tmPacketCounter++; - } +ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice, + SerializeIF* content, SerializeIF* header) { + TmPacketStored tmPacketStored(this->apid, this->service, subservice, + this->tmPacketCounter, content, header); + ReturnValue_t result = tmPacketStored.sendPacket( + requestQueue->getDefaultDestination(), requestQueue->getId()); + if (result == HasReturnvaluesIF::RETURN_OK) { + this->tmPacketCounter++; + } + return result; } diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h index bf2e82423..e79e806de 100644 --- a/tmtcservices/CommandingServiceBase.h +++ b/tmtcservices/CommandingServiceBase.h @@ -125,7 +125,7 @@ protected: * - @c CSB or implementation specific return codes */ virtual ReturnValue_t getMessageQueueAndObject(uint8_t subservice, - const uint8_t *tcData, uint32_t tcDataLen, MessageQueueId_t *id, + const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id, object_id_t *objectId) = 0; /** @@ -133,18 +133,16 @@ protected: * the command is prepared by using an implementation specific CommandMessage type * which is sent to the target object. * It contains all necessary information for the device to execute telecommands. - * @param message[out] message to be sent to the object - * @param subservice[in] Subservice of the current communication - * @param tcData Additional data of the command - * @param tcDataLen Length of the additional data - * @param state[out] Setable state of the communication + * @param message + * @param subservice + * @param tcData + * @param tcDataLen + * @param state * @param objectId Target object ID - * @return - @c RETURN_OK on success - * - @c EXECUTION_COMPLETE if exectuin is finished - * - any other return code will be part of (1,4) start failure + * @return */ virtual ReturnValue_t prepareCommand(CommandMessage *message, - uint8_t subservice, const uint8_t *tcData, uint32_t tcDataLen, + uint8_t subservice, const uint8_t *tcData, size_t tcDataLen, uint32_t *state, object_id_t objectId) = 0; /** @@ -152,10 +150,10 @@ protected: * and the respective PUS Commanding Service once the execution has started. * The PUS Commanding Service receives replies from the target device and forwards them by calling this function. * There are different translations of these replies to specify how the Command Service proceeds. - * @param reply Command Message which contains information about the command - * @param previousCommand Command_t of last command - * @param state state of the communication - * @param optionalNextCommand[out] An optional next command which can be set in this function + * @param reply[out] Command Message which contains information about the command + * @param previousCommand [out] + * @param state + * @param optionalNextCommand * @param objectId Source object ID * @param isStep Flag value to mark steps of command execution * @return - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to generate TC verification success @@ -215,34 +213,38 @@ protected: PeriodicTaskIF* executingTask; /** - * Send TM data from pointer to data. If a header is supplied it is added before data + * @brief Send TM data from pointer to data. + * If a header is supplied it is added before data * @param subservice Number of subservice * @param data Pointer to the data in the Packet * @param dataLen Lenght of data in the Packet * @param headerData HeaderData will be placed before data * @param headerSize Size of HeaderData */ - void sendTmPacket(uint8_t subservice, const uint8_t *data, uint32_t dataLen, - const uint8_t* headerData = NULL, uint32_t headerSize = 0); + ReturnValue_t sendTmPacket(uint8_t subservice, const uint8_t *data, + size_t dataLen, const uint8_t* headerData = nullptr, + size_t headerSize = 0); /** - * To send TM packets of objects that still need to be serialized and consist of an object ID with appended data + * @brief To send TM packets of objects that still need to be serialized + * and consist of an object ID with appended data. * @param subservice Number of subservice * @param objectId ObjectId is placed before data * @param data Data to append to the packet * @param dataLen Length of Data */ - void sendTmPacket(uint8_t subservice, object_id_t objectId, - const uint8_t *data, uint32_t dataLen); + ReturnValue_t sendTmPacket(uint8_t subservice, object_id_t objectId, + const uint8_t *data, size_t dataLen); /** - * To send packets has data which is in form of a SerializeIF or Adapters implementing it + * @brief To send packets which are contained inside a class implementing + * SerializeIF. * @param subservice Number of subservice * @param content This is a pointer to the serialized packet * @param header Serialize IF header which will be placed before content */ - void sendTmPacket(uint8_t subservice, SerializeIF* content, - SerializeIF* header = NULL); + ReturnValue_t sendTmPacket(uint8_t subservice, SerializeIF* content, + SerializeIF* header = nullptr); virtual void handleUnrequestedReply(CommandMessage *reply); From 482aedfaf23cca466dcd9bb060b6238ac63f185c Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Wed, 10 Jun 2020 22:13:49 +0200 Subject: [PATCH 08/27] cleaned up includes, improved doc --- tmtcservices/CommandingServiceBase.cpp | 27 +++--- tmtcservices/CommandingServiceBase.h | 114 ++++++++++++++----------- 2 files changed, 76 insertions(+), 65 deletions(-) diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp index adc9400fa..361baf3b6 100644 --- a/tmtcservices/CommandingServiceBase.cpp +++ b/tmtcservices/CommandingServiceBase.cpp @@ -1,22 +1,21 @@ -/* - * CommandingServiceBase.cpp - * - * Created on: 28.08.2019 - * Author: gaisser - */ +#include +#include +#include #include +#include +#include +#include +#include CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId, uint16_t apid, uint8_t service, uint8_t numberOfParallelCommands, - uint16_t commandTimeout_seconds, object_id_t setPacketSource, + uint16_t commandTimeoutSeconds, object_id_t setPacketSource, object_id_t setPacketDestination, size_t queueDepth) : - SystemObject(setObjectId), apid(apid), service(service), timeout_seconds( - commandTimeout_seconds), tmPacketCounter(0), IPCStore(NULL), TCStore( - NULL), commandQueue(NULL), requestQueue(NULL), commandMap( - numberOfParallelCommands), failureParameter1(0), failureParameter2( - 0), packetSource(setPacketSource), packetDestination( - setPacketDestination),executingTask(NULL) { + SystemObject(setObjectId), apid(apid), service(service), + timeoutSeconds(commandTimeoutSeconds), + commandMap(numberOfParallelCommands), packetSource(setPacketSource), + packetDestination(setPacketDestination) { commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth); requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth); } @@ -369,7 +368,7 @@ void CommandingServiceBase::checkTimeout() { typename FixedMap::Iterator iter; for (iter = commandMap.begin(); iter != commandMap.end(); ++iter) { - if ((iter->uptimeOfStart + (timeout_seconds * 1000)) < uptime) { + if ((iter->uptimeOfStart + (timeoutSeconds * 1000)) < uptime) { verificationReporter.sendFailureReport( TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl, diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h index e79e806de..37f6891c4 100644 --- a/tmtcservices/CommandingServiceBase.h +++ b/tmtcservices/CommandingServiceBase.h @@ -1,35 +1,33 @@ -#ifndef COMMANDINGSERVICEBASE_H_ -#define COMMANDINGSERVICEBASE_H_ +#ifndef FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_ +#define FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_ -#include -#include -#include -#include #include -#include #include #include -#include -#include -#include +#include #include -#include -#include + #include -#include -#include -#include +#include +#include +#include +#include + +class TcPacketStored; /** - * \brief This class is the basis for all PUS Services, which have to relay Telecommands to software bus. + * @brief This class is the basis for all PUS Services, which have to + * relay Telecommands to software bus. * - * It manages Telecommand reception and the generation of Verification Reports like PUSServiceBase. - * Every class that inherits from this abstract class has to implement four adaption points: + * It manages Telecommand reception and the generation of Verification Reports + * similar to PusServiceBase. This class is used if a telecommand can't be + * handled immediately and must be relayed to the internal software bus. * - isValidSubservice * - getMessageQueueAndObject * - prepareCommand * - handleReply - * \ingroup pus_services + * @author gaisser + * @ingroup pus_services */ class CommandingServiceBase: public SystemObject, public AcceptsTelecommandsIF, @@ -59,7 +57,7 @@ public: */ CommandingServiceBase(object_id_t setObjectId, uint16_t apid, uint8_t service, uint8_t numberOfParallelCommands, - uint16_t commandTimeout_seconds, object_id_t setPacketSource, + uint16_t commandTimeoutSeconds, object_id_t setPacketSource, object_id_t setPacketDestination, size_t queueDepth = 20); virtual ~CommandingServiceBase(); @@ -113,8 +111,9 @@ protected: virtual ReturnValue_t isValidSubservice(uint8_t subservice) = 0; /** - * Once a TC Request is valid, the existence of the destination and its target interface is checked and retrieved. - * The target message queue ID can then be acquired by using the target interface. + * Once a TC Request is valid, the existence of the destination and its + * target interface is checked and retrieved. The target message queue ID + * can then be acquired by using the target interface. * @param subservice * @param tcData Application Data of TC Packet * @param tcDataLen @@ -129,10 +128,10 @@ protected: object_id_t *objectId) = 0; /** - * After the Message Queue and Object ID are determined, - * the command is prepared by using an implementation specific CommandMessage type - * which is sent to the target object. - * It contains all necessary information for the device to execute telecommands. + * After the Message Queue and Object ID are determined, the command is + * prepared by using an implementation specific CommandMessage type + * which is sent to the target object. It contains all necessary information + * for the device to execute telecommands. * @param message * @param subservice * @param tcData @@ -146,25 +145,40 @@ protected: uint32_t *state, object_id_t objectId) = 0; /** - * This function is responsible for the communication between the Command Service Base - * and the respective PUS Commanding Service once the execution has started. - * The PUS Commanding Service receives replies from the target device and forwards them by calling this function. - * There are different translations of these replies to specify how the Command Service proceeds. - * @param reply[out] Command Message which contains information about the command - * @param previousCommand [out] - * @param state - * @param optionalNextCommand + * This function is implemented by child services to specify how replies + * to a command from another software component are handled + * @param reply + * This is the reply in form of a command message. + * @param previousCommand + * Command_t of related command + * @param state [out/in] + * Additional parameter which can be used to pass state information. + * State of the communication + * @param optionalNextCommand [out] + * An optional next command which can be set in this function * @param objectId Source object ID * @param isStep Flag value to mark steps of command execution - * @return - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to generate TC verification success - * - @c INVALID_REPLY can handle unrequested replies - * - Anything else triggers a TC verification failure + * @return + * - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to + * generate TC verification success + * - @c INVALID_REPLY calls handleUnrequestedReply + * - Anything else triggers a TC verification failure */ virtual ReturnValue_t handleReply(const CommandMessage *reply, Command_t previousCommand, uint32_t *state, CommandMessage *optionalNextCommand, object_id_t objectId, bool *isStep) = 0; + /** + * This function can be overidden to handle unrequested reply, + * when the reply sender ID is unknown or is not found is the command map. + * @param reply + */ + virtual void handleUnrequestedReply(CommandMessage *reply); + + virtual void doPeriodicOperation(); + + struct CommandInfo { struct tcInfo { uint8_t ackFlags; @@ -184,33 +198,35 @@ protected: const uint8_t service; - const uint16_t timeout_seconds; + const uint16_t timeoutSeconds; - uint8_t tmPacketCounter; + uint8_t tmPacketCounter = 0; - StorageManagerIF *IPCStore; + StorageManagerIF *IPCStore = nullptr; - StorageManagerIF *TCStore; + StorageManagerIF *TCStore = nullptr; - MessageQueueIF* commandQueue; + MessageQueueIF* commandQueue = nullptr; - MessageQueueIF* requestQueue; + MessageQueueIF* requestQueue = nullptr; VerificationReporter verificationReporter; FixedMap commandMap; - uint32_t failureParameter1; //!< May be set be children to return a more precise failure condition. - uint32_t failureParameter2; //!< May be set be children to return a more precise failure condition. + /* May be set be children to return a more precise failure condition. */ + uint32_t failureParameter1 = 0; + uint32_t failureParameter2 = 0; object_id_t packetSource; object_id_t packetDestination; /** - * Pointer to the task which executes this component, is invalid before setTaskIF was called. + * Pointer to the task which executes this component, + * is invalid before setTaskIF was called. */ - PeriodicTaskIF* executingTask; + PeriodicTaskIF* executingTask = nullptr; /** * @brief Send TM data from pointer to data. @@ -246,10 +262,6 @@ protected: ReturnValue_t sendTmPacket(uint8_t subservice, SerializeIF* content, SerializeIF* header = nullptr); - virtual void handleUnrequestedReply(CommandMessage *reply); - - virtual void doPeriodicOperation(); - void checkAndExecuteFifo( typename FixedMap::Iterator *iter); From 534fddd2c6443f52bfedbe3532cd4263470ee18c Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Wed, 10 Jun 2020 22:19:08 +0200 Subject: [PATCH 09/27] added back comment removed for unknown reasons --- tmtcservices/CommandingServiceBase.h | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h index 37f6891c4..f97eabb0e 100644 --- a/tmtcservices/CommandingServiceBase.h +++ b/tmtcservices/CommandingServiceBase.h @@ -132,11 +132,12 @@ protected: * prepared by using an implementation specific CommandMessage type * which is sent to the target object. It contains all necessary information * for the device to execute telecommands. - * @param message - * @param subservice - * @param tcData - * @param tcDataLen - * @param state + * @param message [out] message which can be set and is sent to the object + * @param subservice Subservice of the current communication + * @param tcData Application data of command + * @param tcDataLen Application data length + * @param state [out/in] Setable state of the communication. + * communication * @param objectId Target object ID * @return */ From 72f3b16c2474eadbf1569edd60b06b0296ae6bf6 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Wed, 10 Jun 2020 22:53:24 +0200 Subject: [PATCH 10/27] split up huge member function for readability --- tmtcservices/CommandingServiceBase.cpp | 193 ++++++++++++++----------- tmtcservices/CommandingServiceBase.h | 7 + 2 files changed, 113 insertions(+), 87 deletions(-) diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp index 361baf3b6..4c557f82d 100644 --- a/tmtcservices/CommandingServiceBase.cpp +++ b/tmtcservices/CommandingServiceBase.cpp @@ -56,7 +56,7 @@ ReturnValue_t CommandingServiceBase::initialize() { objectManager->get(packetDestination); PUSDistributorIF* distributor = objectManager->get( packetSource); - if ((packetForwarding == NULL) && (distributor == NULL)) { + if (packetForwarding == nullptr or distributor == nullptr) { return RETURN_FAILED; } @@ -67,7 +67,7 @@ ReturnValue_t CommandingServiceBase::initialize() { IPCStore = objectManager->get(objects::IPC_STORE); TCStore = objectManager->get(objects::TC_STORE); - if ((IPCStore == NULL) || (TCStore == NULL)) { + if (IPCStore == nullptr or TCStore == nullptr) { return RETURN_FAILED; } @@ -76,97 +76,116 @@ ReturnValue_t CommandingServiceBase::initialize() { } void CommandingServiceBase::handleCommandQueue() { - CommandMessage reply, nextCommand; - ReturnValue_t result, sendResult = RETURN_OK; - bool isStep = false; + CommandMessage reply; + ReturnValue_t result = RETURN_FAILED; for (result = commandQueue->receiveMessage(&reply); result == RETURN_OK; result = commandQueue->receiveMessage(&reply)) { - isStep = false; - typename FixedMap::Iterator iter; - if (reply.getSender() == MessageQueueIF::NO_QUEUE) { - handleUnrequestedReply(&reply); - continue; - } - if ((iter = commandMap.find(reply.getSender())) == commandMap.end()) { - handleUnrequestedReply(&reply); - continue; - } - nextCommand.setCommand(CommandMessage::CMD_NONE); - result = handleReply(&reply, iter->command, &iter->state, &nextCommand, - iter->objectId, &isStep); - switch (result) { - case EXECUTION_COMPLETE: - case RETURN_OK: - case NO_STEP_MESSAGE: - iter->command = nextCommand.getCommand(); - if (nextCommand.getCommand() != CommandMessage::CMD_NONE) { - sendResult = commandQueue->sendMessage(reply.getSender(), - &nextCommand); - } - if (sendResult == RETURN_OK) { - if (isStep) { - if (result != NO_STEP_MESSAGE) { - verificationReporter.sendSuccessReport( - TC_VERIFY::PROGRESS_SUCCESS, - iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId, - iter->tcInfo.tcSequenceControl, ++iter->step); - } - } else { - verificationReporter.sendSuccessReport( - TC_VERIFY::COMPLETION_SUCCESS, - iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId, - iter->tcInfo.tcSequenceControl, 0); - checkAndExecuteFifo(&iter); - } - } else { - if (isStep) { - nextCommand.clearCommandMessage(); - verificationReporter.sendFailureReport( - TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags, - iter->tcInfo.tcPacketId, - iter->tcInfo.tcSequenceControl, sendResult, - ++iter->step, failureParameter1, failureParameter2); - } else { - nextCommand.clearCommandMessage(); - verificationReporter.sendFailureReport( - TC_VERIFY::COMPLETION_FAILURE, - iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId, - iter->tcInfo.tcSequenceControl, sendResult, 0, - failureParameter1, failureParameter2); - } - failureParameter1 = 0; - failureParameter2 = 0; - checkAndExecuteFifo(&iter); - } - break; - case INVALID_REPLY: - //might be just an unrequested reply at a bad moment - handleUnrequestedReply(&reply); - break; - default: - if (isStep) { - verificationReporter.sendFailureReport( - TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags, - iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl, - result, ++iter->step, failureParameter1, - failureParameter2); - } else { - verificationReporter.sendFailureReport( - TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags, - iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl, - result, 0, failureParameter1, failureParameter2); - } - failureParameter1 = 0; - failureParameter2 = 0; - checkAndExecuteFifo(&iter); - break; - } - + handleCommandMessage(reply); } } +void CommandingServiceBase::handleCommandMessage(CommandMessage& reply) { + bool isStep = false; + CommandMessage nextCommand; + CommandMapIter iter; + if (reply.getSender() == MessageQueueIF::NO_QUEUE) { + handleUnrequestedReply(&reply); + return; + } + if ((iter = commandMap.find(reply.getSender())) == commandMap.end()) { + handleUnrequestedReply(&reply); + return; + } + nextCommand.setCommand(CommandMessage::CMD_NONE); + + // Implemented by child class, specifies what to do with reply. + ReturnValue_t result = handleReply(&reply, iter->command, &iter->state, + &nextCommand, iter->objectId, &isStep); + + switch (result) { + case EXECUTION_COMPLETE: + case RETURN_OK: + case NO_STEP_MESSAGE: + // handle result of reply handler implemented by developer. + handleReplyHandlerResult(result, iter, nextCommand, reply, isStep); + break; + case INVALID_REPLY: + //might be just an unrequested reply at a bad moment + handleUnrequestedReply(&reply); + break; + default: + if (isStep) { + verificationReporter.sendFailureReport( + TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags, + iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl, + result, ++iter->step, failureParameter1, + failureParameter2); + } else { + verificationReporter.sendFailureReport( + TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags, + iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl, + result, 0, failureParameter1, failureParameter2); + } + failureParameter1 = 0; + failureParameter2 = 0; + checkAndExecuteFifo(&iter); + break; + } + +} + +void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result, + CommandMapIter iter, CommandMessage& nextCommand, CommandMessage& reply, + bool& isStep) { + iter->command = nextCommand.getCommand(); + + // In case a new command is to be sent immediately, this is performed here. + // If no new command is sent, only analyse reply result by initializing + // sendResult as RETURN_OK + ReturnValue_t sendResult = RETURN_OK; + if (nextCommand.getCommand() != CommandMessage::CMD_NONE) { + sendResult = commandQueue->sendMessage(reply.getSender(), + &nextCommand); + } + + if (sendResult == RETURN_OK) { + if (isStep and result != NO_STEP_MESSAGE) { + verificationReporter.sendSuccessReport( + TC_VERIFY::PROGRESS_SUCCESS, + iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId, + iter->tcInfo.tcSequenceControl, ++iter->step); + } + else { + verificationReporter.sendSuccessReport( + TC_VERIFY::COMPLETION_SUCCESS, + iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId, + iter->tcInfo.tcSequenceControl, 0); + checkAndExecuteFifo(&iter); + } + } + else { + if (isStep) { + nextCommand.clearCommandMessage(); + verificationReporter.sendFailureReport( + TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags, + iter->tcInfo.tcPacketId, + iter->tcInfo.tcSequenceControl, sendResult, + ++iter->step, failureParameter1, failureParameter2); + } else { + nextCommand.clearCommandMessage(); + verificationReporter.sendFailureReport( + TC_VERIFY::COMPLETION_FAILURE, + iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId, + iter->tcInfo.tcSequenceControl, sendResult, 0, + failureParameter1, failureParameter2); + } + failureParameter1 = 0; + failureParameter2 = 0; + checkAndExecuteFifo(&iter); + } +} + void CommandingServiceBase::handleRequestQueue() { TmTcMessage message; ReturnValue_t result; diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h index f97eabb0e..9a68a2d3c 100644 --- a/tmtcservices/CommandingServiceBase.h +++ b/tmtcservices/CommandingServiceBase.h @@ -267,6 +267,9 @@ protected: typename FixedMap::Iterator *iter); private: + using CommandMapIter = FixedMap::Iterator; + /** * This method handles internal execution of a command, * once it has been started by @sa{startExecution()} in the Request Queue handler. @@ -298,6 +301,10 @@ private: void startExecution(TcPacketStored *storedPacket, typename FixedMap::Iterator *iter); + void handleCommandMessage(CommandMessage& reply); + void handleReplyHandlerResult(ReturnValue_t result, CommandMapIter iter, + CommandMessage& nextCommand,CommandMessage& reply, bool& isStep); + void checkTimeout(); }; From d8e9e34ad9fc33b365f98ef3497fdc84fa698c8a Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Fri, 19 Jun 2020 14:36:49 +0200 Subject: [PATCH 11/27] framework submakefile improvements --- framework.mk | 19 ++++++++++++------- 1 file changed, 12 insertions(+), 7 deletions(-) diff --git a/framework.mk b/framework.mk index a5a653641..c88229814 100644 --- a/framework.mk +++ b/framework.mk @@ -1,5 +1,5 @@ -# This file needs FRAMEWORK_PATH and API set correctly -# Valid API settings: rtems, linux, freeRTOS +# This file needs FRAMEWORK_PATH and OS_FSFW set correctly by another Makefile. +# Valid API settings: rtems, linux, freeRTOS, host CXXSRC += $(wildcard $(FRAMEWORK_PATH)/action/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/container/*.cpp) @@ -8,11 +8,13 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/controller/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/coordinates/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datalinklayer/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapool/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoolglob/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoollocal/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/housekeeping/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/devicehandlers/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/eventmatching/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/fdir/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/framework.mk/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/matching/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/math/*.cpp) @@ -26,14 +28,16 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/objectmanager/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/*.cpp) # select the OS -ifeq ($(OS),rtems) +ifeq ($(OS_FSFW),rtems) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/rtems/*.cpp) -else ifeq ($(OS),linux) +else ifeq ($(OS_FSFW),linux) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/linux/*.cpp) -else ifeq ($(OS),freeRTOS) +else ifeq ($(OS_FSFW),freeRTOS) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/FreeRTOS/*.cpp) +else ifeq ($(OS_FSFW),host) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/host/*.cpp) else -$(error invalid OS specified, valid OS are rtems, linux, freeRTOS) +$(error invalid OS specified, valid OS are rtems, linux, freeRTOS, host) endif CXXSRC += $(wildcard $(FRAMEWORK_PATH)/parameters/*.cpp) @@ -54,3 +58,4 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/packetmatcher/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/pus/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcservices/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/test/*.cpp) \ No newline at end of file From 31e557776373eb5334430ae6f1e68616aba4a617 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Fri, 19 Jun 2020 14:45:29 +0200 Subject: [PATCH 12/27] added deadline missed check --- osal/FreeRTOS/PeriodicTask.cpp | 55 ++++++++++++------- osal/FreeRTOS/PeriodicTask.h | 96 +++++++++++++++++++--------------- 2 files changed, 90 insertions(+), 61 deletions(-) diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp index deab2dc15..318676393 100644 --- a/osal/FreeRTOS/PeriodicTask.cpp +++ b/osal/FreeRTOS/PeriodicTask.cpp @@ -1,17 +1,19 @@ +#include "PeriodicTask.h" + #include #include -#include "PeriodicTask.h" PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority, TaskStackSize setStack, TaskPeriod setPeriod, void (*setDeadlineMissedFunc)()) : started(false), handle(NULL), period(setPeriod), deadlineMissedFunc( - setDeadlineMissedFunc) { - - BaseType_t status = xTaskCreate(taskEntryPoint, name, setStack, this, setPriority, &handle); + setDeadlineMissedFunc) +{ + BaseType_t status = xTaskCreate(taskEntryPoint, name, + setStack, this, setPriority, &handle); if(status != pdPASS){ - sif::debug << "PeriodicTask Insufficient heap memory remaining. Status: " - << status << std::endl; + sif::debug << "PeriodicTask Insufficient heap memory remaining. " + "Status: " << status << std::endl; } } @@ -21,16 +23,19 @@ PeriodicTask::~PeriodicTask(void) { } void PeriodicTask::taskEntryPoint(void* argument) { - //The argument is re-interpreted as PeriodicTask. The Task object is global, so it is found from any place. + // The argument is re-interpreted as PeriodicTask. The Task object is + // global, so it is found from any place. PeriodicTask *originalTask(reinterpret_cast(argument)); - // Task should not start until explicitly requested - // in FreeRTOS, tasks start as soon as they are created if the scheduler is running - // but not if the scheduler is not running. - // to be able to accommodate both cases we check a member which is set in #startTask() - // if it is not set and we get here, the scheduler was started before #startTask() was called and we need to suspend - // if it is set, the scheduler was not running before #startTask() was called and we can continue + /* Task should not start until explicitly requested, + * but in FreeRTOS, tasks start as soon as they are created if the scheduler + * is running but not if the scheduler is not running. + * To be able to accommodate both cases we check a member which is set in + * #startTask(). If it is not set and we get here, the scheduler was started + * before #startTask() was called and we need to suspend if it is set, + * the scheduler was not running before #startTask() was called and we + * can continue */ - if (!originalTask->started) { + if (not originalTask->started) { vTaskSuspend(NULL); } @@ -59,9 +64,9 @@ void PeriodicTask::taskFunctionality() { TickType_t xLastWakeTime; const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.); /* The xLastWakeTime variable needs to be initialized with the current tick - count. Note that this is the only time the variable is written to explicitly. - After this assignment, xLastWakeTime is updated automatically internally within - vTaskDelayUntil(). */ + count. Note that this is the only time the variable is written to + explicitly. After this assignment, xLastWakeTime is updated automatically + internally within vTaskDelayUntil(). */ xLastWakeTime = xTaskGetTickCount(); /* Enter the loop that defines the task behavior. */ for (;;) { @@ -69,8 +74,22 @@ void PeriodicTask::taskFunctionality() { it != objectList.end(); ++it) { (*it)->performOperation(); } - //TODO deadline missed check + + /* If all operations are finished and the difference of the + * current time minus the last wake time is larger than the + * wait period, a deadline was missed. */ + if(xTaskGetTickCount() - xLastWakeTime >= xPeriod) { +#ifdef DEBUG + sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) << + " missed deadline!\n" << std::flush; +#endif + if(deadlineMissedFunc != nullptr) { + this->deadlineMissedFunc(); + } + } + vTaskDelayUntil(&xLastWakeTime, xPeriod); + } } diff --git a/osal/FreeRTOS/PeriodicTask.h b/osal/FreeRTOS/PeriodicTask.h index e7ba8dd26..b9930a73b 100644 --- a/osal/FreeRTOS/PeriodicTask.h +++ b/osal/FreeRTOS/PeriodicTask.h @@ -1,48 +1,49 @@ -#ifndef MULTIOBJECTTASK_H_ -#define MULTIOBJECTTASK_H_ +#ifndef FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_ +#define FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_ #include #include #include -#include -#include "task.h" +#include +#include #include class ExecutableObjectIF; /** - * @brief This class represents a specialized task for periodic activities of multiple objects. - * - * @details MultiObjectTask is an extension to ObjectTask in the way that it is able to execute - * multiple objects that implement the ExecutableObjectIF interface. The objects must be - * added prior to starting the task. - * + * @brief This class represents a specialized task for + * periodic activities of multiple objects. * @ingroup task_handling */ class PeriodicTask: public PeriodicTaskIF { public: /** - * @brief Standard constructor of the class. - * @details The class is initialized without allocated objects. These need to be added - * with #addObject. - * In the underlying TaskBase class, a new operating system task is created. - * In addition to the TaskBase parameters, the period, the pointer to the - * aforementioned initialization function and an optional "deadline-missed" - * function pointer is passed. - * @param priority Sets the priority of a task. Values range from a low 0 to a high 99. - * @param stack_size The stack size reserved by the operating system for the task. - * @param setPeriod The length of the period with which the task's functionality will be - * executed. It is expressed in clock ticks. - * @param setDeadlineMissedFunc The function pointer to the deadline missed function - * that shall be assigned. + * Keep in Mind that you need to call before this vTaskStartScheduler()! + * A lot of task parameters are set in "FreeRTOSConfig.h". + * TODO: why does this need to be called before vTaskStartScheduler? + * @details + * The class is initialized without allocated objects. + * These need to be added with #addComponent. + * @param priority + * Sets the priority of a task. Values depend on freeRTOS configuration, + * high number means high priority. + * @param stack_size + * The stack size reserved by the operating system for the task. + * @param setPeriod + * The length of the period with which the task's + * functionality will be executed. It is expressed in clock ticks. + * @param setDeadlineMissedFunc + * The function pointer to the deadline missed function that shall + * be assigned. */ - PeriodicTask(const char *name, TaskPriority setPriority, TaskStackSize setStack, TaskPeriod setPeriod, - void (*setDeadlineMissedFunc)()); + PeriodicTask(const char *name, TaskPriority setPriority, + TaskStackSize setStack, TaskPeriod setPeriod, + void (*setDeadlineMissedFunc)()); /** - * @brief Currently, the executed object's lifetime is not coupled with the task object's - * lifetime, so the destructor is empty. + * @brief Currently, the executed object's lifetime is not coupled with + * the task object's lifetime, so the destructor is empty. */ virtual ~PeriodicTask(void); @@ -58,7 +59,9 @@ public: * Adds an object to the list of objects to be executed. * The objects are executed in the order added. * @param object Id of the object to add. - * @return RETURN_OK on success, RETURN_FAILED if the object could not be added. + * @return + * -@c RETURN_OK on success + * -@c RETURN_FAILED if the object could not be added. */ ReturnValue_t addComponent(object_id_t object); @@ -69,42 +72,49 @@ protected: bool started; TaskHandle_t handle; - typedef std::vector ObjectList; //!< Typedef for the List of objects. + //! Typedef for the List of objects. + typedef std::vector ObjectList; /** * @brief This attribute holds a list of objects to be executed. */ ObjectList objectList; /** * @brief The period of the task. - * @details The period determines the frequency of the task's execution. It is expressed in clock ticks. + * @details + * The period determines the frequency of the task's execution. + * It is expressed in clock ticks. */ TaskPeriod period; /** * @brief The pointer to the deadline-missed function. - * @details This pointer stores the function that is executed if the task's deadline is missed. - * So, each may react individually on a timing failure. The pointer may be NULL, - * then nothing happens on missing the deadline. The deadline is equal to the next execution - * of the periodic task. + * @details + * This pointer stores the function that is executed if the task's deadline + * is missed so each may react individually on a timing failure. + * The pointer may be NULL, then nothing happens on missing the deadline. + * The deadline is equal to the next execution of the periodic task. */ void (*deadlineMissedFunc)(void); /** * @brief This is the function executed in the new task's context. - * @details It converts the argument back to the thread object type and copies the class instance - * to the task context. The taskFunctionality method is called afterwards. + * @details + * It converts the argument back to the thread object type and copies the + * class instance to the task context. The taskFunctionality method is + * called afterwards. * @param A pointer to the task object itself is passed as argument. */ static void taskEntryPoint(void* argument); /** * @brief The function containing the actual functionality of the task. - * @details The method sets and starts - * the task's period, then enters a loop that is repeated as long as the isRunning - * attribute is true. Within the loop, all performOperation methods of the added - * objects are called. Afterwards the checkAndRestartPeriod system call blocks the task - * until the next period. - * On missing the deadline, the deadlineMissedFunction is executed. + * @details + * The method sets and starts the task's period, then enters a loop that is + * repeated as long as the isRunning attribute is true. Within the loop, + * all performOperation methods of the added objects are called. + * Afterwards the checkAndRestartPeriod system call blocks the task until + * the next period. + * On missing the deadline, the deadlineMissedFunction is executed. */ void taskFunctionality(void); }; -#endif /* MULTIOBJECTTASK_H_ */ +#endif /* PERIODICTASK_H_ */ From 4507bdfb69f9a8239b8af6c51d1f9c1a32338ae8 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 23 Jun 2020 01:14:28 +0200 Subject: [PATCH 13/27] added setting task IF --- osal/FreeRTOS/PeriodicTask.cpp | 62 +++++++++++++++++++++++--------- osal/FreeRTOS/PeriodicTask.h | 13 ++++--- osal/linux/PeriodicPosixTask.cpp | 9 +++-- osal/linux/PeriodicPosixTask.h | 7 ++-- tasks/PeriodicTaskIF.h | 26 +++++++++++--- 5 files changed, 87 insertions(+), 30 deletions(-) diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp index 318676393..170eb0a48 100644 --- a/osal/FreeRTOS/PeriodicTask.cpp +++ b/osal/FreeRTOS/PeriodicTask.cpp @@ -70,39 +70,67 @@ void PeriodicTask::taskFunctionality() { xLastWakeTime = xTaskGetTickCount(); /* Enter the loop that defines the task behavior. */ for (;;) { - for (ObjectList::iterator it = objectList.begin(); - it != objectList.end(); ++it) { - (*it)->performOperation(); + for (auto const& object: objectList) { + object->performOperation(); } - /* If all operations are finished and the difference of the - * current time minus the last wake time is larger than the - * wait period, a deadline was missed. */ - if(xTaskGetTickCount() - xLastWakeTime >= xPeriod) { -#ifdef DEBUG - sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) << - " missed deadline!\n" << std::flush; -#endif - if(deadlineMissedFunc != nullptr) { - this->deadlineMissedFunc(); - } - } + checkMissedDeadline(xLastWakeTime, xPeriod); vTaskDelayUntil(&xLastWakeTime, xPeriod); } } -ReturnValue_t PeriodicTask::addComponent(object_id_t object) { +ReturnValue_t PeriodicTask::addComponent(object_id_t object, bool setTaskIF) { ExecutableObjectIF* newObject = objectManager->get( object); - if (newObject == NULL) { + if (newObject == nullptr) { + sif::error << "PeriodicTask::addComponent: Invalid object. Make sure" + "it implement ExecutableObjectIF" << std::endl; return HasReturnvaluesIF::RETURN_FAILED; } objectList.push_back(newObject); + + if(setTaskIF) { + newObject->setTaskIF(this); + } return HasReturnvaluesIF::RETURN_OK; } uint32_t PeriodicTask::getPeriodMs() const { return period * 1000; } + +void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime, + const TickType_t interval) { + /* Check whether deadline was missed while also taking overflows + * into account. Drawing this on paper with a timeline helps to understand + * it. */ + TickType_t currentTickCount = xTaskGetTickCount(); + TickType_t timeToWake = xLastWakeTime + interval; + // Tick count has overflown + if(currentTickCount < xLastWakeTime) { + // Time to wake has overflown as well. If the tick count + // is larger than the time to wake, a deadline was missed. + if(timeToWake < xLastWakeTime and + currentTickCount > timeToWake) { + handleMissedDeadline(); + } + } + // No tick count overflow. If the timeToWake has not overflown + // and the current tick count is larger than the time to wake, + // a deadline was missed. + else if(timeToWake > xLastWakeTime and currentTickCount > timeToWake) { + handleMissedDeadline(); + } +} + +void PeriodicTask::handleMissedDeadline() { +#ifdef DEBUG + sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) << + " missed deadline!\n" << std::flush; +#endif + if(deadlineMissedFunc != nullptr) { + this->deadlineMissedFunc(); + } +} diff --git a/osal/FreeRTOS/PeriodicTask.h b/osal/FreeRTOS/PeriodicTask.h index b9930a73b..09aa6bc7d 100644 --- a/osal/FreeRTOS/PeriodicTask.h +++ b/osal/FreeRTOS/PeriodicTask.h @@ -54,7 +54,7 @@ public: * The address of the task object is passed as an argument * to the system call. */ - ReturnValue_t startTask(void); + ReturnValue_t startTask() override; /** * Adds an object to the list of objects to be executed. * The objects are executed in the order added. @@ -63,11 +63,12 @@ public: * -@c RETURN_OK on success * -@c RETURN_FAILED if the object could not be added. */ - ReturnValue_t addComponent(object_id_t object); + ReturnValue_t addComponent(object_id_t object, + bool setTaskIF = true) override; - uint32_t getPeriodMs() const; + uint32_t getPeriodMs() const override; - ReturnValue_t sleepFor(uint32_t ms); + ReturnValue_t sleepFor(uint32_t ms) override; protected: bool started; TaskHandle_t handle; @@ -115,6 +116,10 @@ protected: * On missing the deadline, the deadlineMissedFunction is executed. */ void taskFunctionality(void); + + void checkMissedDeadline(const TickType_t xLastWakeTime, + const TickType_t interval); + void handleMissedDeadline(); }; #endif /* PERIODICTASK_H_ */ diff --git a/osal/linux/PeriodicPosixTask.cpp b/osal/linux/PeriodicPosixTask.cpp index b754c3f44..1a06a8bf5 100644 --- a/osal/linux/PeriodicPosixTask.cpp +++ b/osal/linux/PeriodicPosixTask.cpp @@ -20,13 +20,18 @@ void* PeriodicPosixTask::taskEntryPoint(void* arg) { return NULL; } -ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) { +ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object, + bool addTaskIF) { ExecutableObjectIF* newObject = objectManager->get( object); - if (newObject == NULL) { + if (newObject == nullptr) { return HasReturnvaluesIF::RETURN_FAILED; } objectList.push_back(newObject); + + if(setTaskIF) { + newObject->setTaskIF(this); + } return HasReturnvaluesIF::RETURN_OK; } diff --git a/osal/linux/PeriodicPosixTask.h b/osal/linux/PeriodicPosixTask.h index 43647eda1..e994898ab 100644 --- a/osal/linux/PeriodicPosixTask.h +++ b/osal/linux/PeriodicPosixTask.h @@ -26,11 +26,12 @@ public: * @param object Id of the object to add. * @return RETURN_OK on success, RETURN_FAILED if the object could not be added. */ - ReturnValue_t addComponent(object_id_t object); + ReturnValue_t addComponent(object_id_t object, + bool addTaskIF = true) override; - uint32_t getPeriodMs() const; + uint32_t getPeriodMs() const override; - ReturnValue_t sleepFor(uint32_t ms); + ReturnValue_t sleepFor(uint32_t ms) override; private: typedef std::vector ObjectList; //!< Typedef for the List of objects. diff --git a/tasks/PeriodicTaskIF.h b/tasks/PeriodicTaskIF.h index 304a7de60..6f4909771 100644 --- a/tasks/PeriodicTaskIF.h +++ b/tasks/PeriodicTaskIF.h @@ -1,9 +1,11 @@ -#ifndef PERIODICTASKIF_H_ -#define PERIODICTASKIF_H_ +#ifndef FRAMEWORK_TASK_PERIODICTASKIF_H_ +#define FRAMEWORK_TASK_PERIODICTASKIF_H_ #include +#include #include class ExecutableObjectIF; + /** * New version of TaskIF * Follows RAII principles, i.e. there's no create or delete method. @@ -17,11 +19,27 @@ public: */ virtual ~PeriodicTaskIF() { } /** - * @brief With the startTask method, a created task can be started for the first time. + * @brief With the startTask method, a created task can be started + * for the first time. */ virtual ReturnValue_t startTask() = 0; - virtual ReturnValue_t addComponent(object_id_t object) {return HasReturnvaluesIF::RETURN_FAILED;}; + /** + * Add a component (object) to a periodic task. The pointer to the + * task can be set optionally + * @param object + * Add an object to the task. The most important case is to add an + * executable object with a function which will be called regularly + * (see ExecutableObjectIF) + * @param setTaskIF + * Can be used to specify whether the task object pointer is passed + * to the component. + * @return + */ + virtual ReturnValue_t addComponent(object_id_t object, + bool setTaskIF = true) { + return HasReturnvaluesIF::RETURN_FAILED; + }; virtual ReturnValue_t sleepFor(uint32_t ms) = 0; From 19cbac923f885f94f40876aa41e3f163874003e6 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Wed, 24 Jun 2020 12:06:08 +0200 Subject: [PATCH 14/27] typo fix --- osal/FreeRTOS/PeriodicTask.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp index 170eb0a48..44a7b8010 100644 --- a/osal/FreeRTOS/PeriodicTask.cpp +++ b/osal/FreeRTOS/PeriodicTask.cpp @@ -86,7 +86,7 @@ ReturnValue_t PeriodicTask::addComponent(object_id_t object, bool setTaskIF) { object); if (newObject == nullptr) { sif::error << "PeriodicTask::addComponent: Invalid object. Make sure" - "it implement ExecutableObjectIF" << std::endl; + "it implements ExecutableObjectIF!" << std::endl; return HasReturnvaluesIF::RETURN_FAILED; } objectList.push_back(newObject); From 8a56964dab62de52a67563c5446fd7986100db06 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Wed, 24 Jun 2020 16:01:17 +0200 Subject: [PATCH 15/27] doc fix, various improvements --- tmtcservices/CommandingServiceBase.cpp | 140 +++++++++++++------------ tmtcservices/CommandingServiceBase.h | 53 ++++++---- 2 files changed, 102 insertions(+), 91 deletions(-) diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp index 4c557f82d..acf663893 100644 --- a/tmtcservices/CommandingServiceBase.cpp +++ b/tmtcservices/CommandingServiceBase.cpp @@ -80,39 +80,49 @@ void CommandingServiceBase::handleCommandQueue() { ReturnValue_t result = RETURN_FAILED; for (result = commandQueue->receiveMessage(&reply); result == RETURN_OK; result = commandQueue->receiveMessage(&reply)) { - handleCommandMessage(reply); + handleCommandMessage(&reply); } } -void CommandingServiceBase::handleCommandMessage(CommandMessage& reply) { +void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) { bool isStep = false; CommandMessage nextCommand; - CommandMapIter iter; - if (reply.getSender() == MessageQueueIF::NO_QUEUE) { - handleUnrequestedReply(&reply); - return; - } - if ((iter = commandMap.find(reply.getSender())) == commandMap.end()) { - handleUnrequestedReply(&reply); + CommandMapIter iter = commandMap.find(reply->getSender()); + + // handle unrequested reply first + if (reply->getSender() == MessageQueueIF::NO_QUEUE or + iter == commandMap.end()) { + handleUnrequestedReply(reply); return; } nextCommand.setCommand(CommandMessage::CMD_NONE); + // Implemented by child class, specifies what to do with reply. - ReturnValue_t result = handleReply(&reply, iter->command, &iter->state, + ReturnValue_t result = handleReply(reply, iter->command, &iter->state, &nextCommand, iter->objectId, &isStep); + /* If the child implementation does not implement special handling for + * rejected replies (RETURN_FAILED is returned), a failure verification + * will be generated with the reason as the return code and the initial + * command as failure parameter 1 */ + if(reply->getCommand() == CommandMessage::REPLY_REJECTED and + result == RETURN_FAILED) { + result = reply->getReplyRejectedReason( + reinterpret_cast(&failureParameter1)); + } + switch (result) { case EXECUTION_COMPLETE: case RETURN_OK: case NO_STEP_MESSAGE: // handle result of reply handler implemented by developer. - handleReplyHandlerResult(result, iter, nextCommand, reply, isStep); + handleReplyHandlerResult(result, iter, &nextCommand, reply, isStep); break; case INVALID_REPLY: //might be just an unrequested reply at a bad moment - handleUnrequestedReply(&reply); + handleUnrequestedReply(reply); break; default: if (isStep) { @@ -129,24 +139,24 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage& reply) { } failureParameter1 = 0; failureParameter2 = 0; - checkAndExecuteFifo(&iter); + checkAndExecuteFifo(iter); break; } } void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result, - CommandMapIter iter, CommandMessage& nextCommand, CommandMessage& reply, - bool& isStep) { - iter->command = nextCommand.getCommand(); + CommandMapIter iter, CommandMessage* nextCommand, + CommandMessage* reply, bool& isStep) { + iter->command = nextCommand->getCommand(); // In case a new command is to be sent immediately, this is performed here. // If no new command is sent, only analyse reply result by initializing // sendResult as RETURN_OK ReturnValue_t sendResult = RETURN_OK; - if (nextCommand.getCommand() != CommandMessage::CMD_NONE) { - sendResult = commandQueue->sendMessage(reply.getSender(), - &nextCommand); + if (nextCommand->getCommand() != CommandMessage::CMD_NONE) { + sendResult = commandQueue->sendMessage(reply->getSender(), + nextCommand); } if (sendResult == RETURN_OK) { @@ -161,19 +171,19 @@ void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result, TC_VERIFY::COMPLETION_SUCCESS, iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl, 0); - checkAndExecuteFifo(&iter); + checkAndExecuteFifo(iter); } } else { if (isStep) { - nextCommand.clearCommandMessage(); + nextCommand->clear(); verificationReporter.sendFailureReport( TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl, sendResult, ++iter->step, failureParameter1, failureParameter2); } else { - nextCommand.clearCommandMessage(); + nextCommand->clear(); verificationReporter.sendFailureReport( TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId, @@ -182,7 +192,7 @@ void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result, } failureParameter1 = 0; failureParameter2 = 0; - checkAndExecuteFifo(&iter); + checkAndExecuteFifo(iter); } } @@ -198,8 +208,8 @@ void CommandingServiceBase::handleRequestQueue() { address = message.getStorageId(); packet.setStoreAddress(address); - if ((packet.getSubService() == 0) - || (isValidSubservice(packet.getSubService()) != RETURN_OK)) { + if (packet.getSubService() == 0 + or isValidSubservice(packet.getSubService()) != RETURN_OK) { rejectPacket(TC_VERIFY::START_FAILURE, &packet, INVALID_SUBSERVICE); continue; } @@ -212,8 +222,7 @@ void CommandingServiceBase::handleRequestQueue() { } //Is a command already active for the target object? - typename FixedMap::Iterator iter; + CommandMapIter iter; iter = commandMap.find(queue); if (iter != commandMap.end()) { @@ -228,7 +237,7 @@ void CommandingServiceBase::handleRequestQueue() { if (result != RETURN_OK) { rejectPacket(TC_VERIFY::START_FAILURE, &packet, BUSY); } else { - startExecution(&packet, &iter); + startExecution(&packet, iter); } } @@ -281,46 +290,44 @@ ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice, } -void CommandingServiceBase::startExecution( - TcPacketStored *storedPacket, - typename FixedMap::Iterator *iter) { - ReturnValue_t result, sendResult = RETURN_OK; - CommandMessage message; - (*iter)->subservice = storedPacket->getSubService(); - result = prepareCommand(&message, (*iter)->subservice, - storedPacket->getApplicationData(), - storedPacket->getApplicationDataSize(), &(*iter)->state, - (*iter)->objectId); +void CommandingServiceBase::startExecution(TcPacketStored *storedPacket, + CommandMapIter iter) { + ReturnValue_t result = RETURN_OK; + CommandMessage command; + iter->subservice = storedPacket->getSubService(); + result = prepareCommand(&command, iter->subservice, + storedPacket->getApplicationData(), + storedPacket->getApplicationDataSize(), &iter->state, + iter->objectId); + ReturnValue_t sendResult = RETURN_OK; switch (result) { case RETURN_OK: - if (message.getCommand() != CommandMessage::CMD_NONE) { - sendResult = commandQueue->sendMessage((*iter).value->first, - &message); + if (command.getCommand() != CommandMessage::CMD_NONE) { + sendResult = commandQueue->sendMessage(iter.value->first, + &command); } if (sendResult == RETURN_OK) { - Clock::getUptime(&(*iter)->uptimeOfStart); - (*iter)->step = 0; -// (*iter)->state = 0; - (*iter)->subservice = storedPacket->getSubService(); - (*iter)->command = message.getCommand(); - (*iter)->tcInfo.ackFlags = storedPacket->getAcknowledgeFlags(); - (*iter)->tcInfo.tcPacketId = storedPacket->getPacketId(); - (*iter)->tcInfo.tcSequenceControl = + Clock::getUptime(&iter->uptimeOfStart); + iter->step = 0; + iter->subservice = storedPacket->getSubService(); + iter->command = command.getCommand(); + iter->tcInfo.ackFlags = storedPacket->getAcknowledgeFlags(); + iter->tcInfo.tcPacketId = storedPacket->getPacketId(); + iter->tcInfo.tcSequenceControl = storedPacket->getPacketSequenceControl(); acceptPacket(TC_VERIFY::START_SUCCESS, storedPacket); } else { - message.clearCommandMessage(); + command.clear(); rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult); checkAndExecuteFifo(iter); } break; case EXECUTION_COMPLETE: - if (message.getCommand() != CommandMessage::CMD_NONE) { + if (command.getCommand() != CommandMessage::CMD_NONE) { //Fire-and-forget command. - sendResult = commandQueue->sendMessage((*iter).value->first, - &message); + sendResult = commandQueue->sendMessage(iter.value->first, + &command); } if (sendResult == RETURN_OK) { verificationReporter.sendSuccessReport(TC_VERIFY::START_SUCCESS, @@ -328,7 +335,7 @@ void CommandingServiceBase::startExecution( acceptPacket(TC_VERIFY::COMPLETION_SUCCESS, storedPacket); checkAndExecuteFifo(iter); } else { - message.clearCommandMessage(); + command.clear(); rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult); checkAndExecuteFifo(iter); } @@ -355,12 +362,10 @@ void CommandingServiceBase::acceptPacket(uint8_t reportId, } -void CommandingServiceBase::checkAndExecuteFifo( - typename FixedMap::Iterator *iter) { +void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter iter) { store_address_t address; - if ((*iter)->fifo.retrieve(&address) != RETURN_OK) { - commandMap.erase(iter); + if (iter->fifo.retrieve(&address) != RETURN_OK) { + commandMap.erase(&iter); } else { TcPacketStored newPacket(address); startExecution(&newPacket, iter); @@ -368,9 +373,8 @@ void CommandingServiceBase::checkAndExecuteFifo( } -void CommandingServiceBase::handleUnrequestedReply( - CommandMessage* reply) { - reply->clearCommandMessage(); +void CommandingServiceBase::handleUnrequestedReply(CommandMessage* reply) { + reply->clear(); } @@ -384,18 +388,18 @@ MessageQueueId_t CommandingServiceBase::getCommandQueue() { void CommandingServiceBase::checkTimeout() { uint32_t uptime; Clock::getUptime(&uptime); - typename FixedMap::Iterator iter; + CommandMapIter iter; for (iter = commandMap.begin(); iter != commandMap.end(); ++iter) { if ((iter->uptimeOfStart + (timeoutSeconds * 1000)) < uptime) { verificationReporter.sendFailureReport( TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl, TIMEOUT); - checkAndExecuteFifo(&iter); + checkAndExecuteFifo(iter); } } } - - +void CommandingServiceBase::setTaskIF(PeriodicTaskIF* task_) { + executingTask = task_; +} diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h index 9a68a2d3c..277e5589e 100644 --- a/tmtcservices/CommandingServiceBase.h +++ b/tmtcservices/CommandingServiceBase.h @@ -97,9 +97,7 @@ public: * Used to setup the reference of the task, that executes this component * @param task_ Pointer to the taskIF of this task */ - virtual void setTaskIF(PeriodicTaskIF* task_){ - executingTask = task_; - }; + virtual void setTaskIF(PeriodicTaskIF* task_); protected: /** @@ -141,15 +139,15 @@ protected: * @param objectId Target object ID * @return */ - virtual ReturnValue_t prepareCommand(CommandMessage *message, + virtual ReturnValue_t prepareCommand(CommandMessage* message, uint8_t subservice, const uint8_t *tcData, size_t tcDataLen, uint32_t *state, object_id_t objectId) = 0; /** * This function is implemented by child services to specify how replies - * to a command from another software component are handled + * to a command from another software component are handled. * @param reply - * This is the reply in form of a command message. + * This is the reply in form of a generic read-only command message. * @param previousCommand * Command_t of related command * @param state [out/in] @@ -163,19 +161,26 @@ protected: * - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to * generate TC verification success * - @c INVALID_REPLY calls handleUnrequestedReply - * - Anything else triggers a TC verification failure + * - Anything else triggers a TC verification failure. If RETURN_FAILED + * is returned and the command ID is CommandMessage::REPLY_REJECTED, + * a failure verification message with the reason as the error parameter + * and the initial command as failure parameter 1. */ - virtual ReturnValue_t handleReply(const CommandMessage *reply, + virtual ReturnValue_t handleReply(const CommandMessage* reply, Command_t previousCommand, uint32_t *state, - CommandMessage *optionalNextCommand, object_id_t objectId, + CommandMessage* optionalNextCommand, object_id_t objectId, bool *isStep) = 0; /** * This function can be overidden to handle unrequested reply, * when the reply sender ID is unknown or is not found is the command map. + * The default implementation will clear the command message and all + * its contents. * @param reply + * Reply which is non-const so the default implementation can clear the + * message. */ - virtual void handleUnrequestedReply(CommandMessage *reply); + virtual void handleUnrequestedReply(CommandMessage* reply); virtual void doPeriodicOperation(); @@ -195,6 +200,9 @@ protected: FIFO fifo; }; + using CommandMapIter = FixedMap::Iterator; + const uint16_t apid; const uint8_t service; @@ -263,21 +271,21 @@ protected: ReturnValue_t sendTmPacket(uint8_t subservice, SerializeIF* content, SerializeIF* header = nullptr); - void checkAndExecuteFifo( - typename FixedMap::Iterator *iter); + void checkAndExecuteFifo(CommandMapIter iter); private: - using CommandMapIter = FixedMap::Iterator; /** * This method handles internal execution of a command, - * once it has been started by @sa{startExecution()} in the Request Queue handler. - * It handles replies generated by the devices and relayed by the specific service implementation. - * This means that it determines further course of action depending on the return values specified - * in the service implementation. + * once it has been started by @sa{startExecution()} in the request + * queue handler. + * It handles replies generated by the devices and relayed by the specific + * service implementation. This means that it determines further course of + * action depending on the return values specified in the service + * implementation. * This includes the generation of TC verification messages. Note that - * the static framework object ID @c VerificationReporter::messageReceiver needs to be set. + * the static framework object ID @c VerificationReporter::messageReceiver + * needs to be set. * - TM[1,5] Step Successs * - TM[1,6] Step Failure * - TM[1,7] Completion Success @@ -298,12 +306,11 @@ private: void acceptPacket(uint8_t reportId, TcPacketStored* packet); - void startExecution(TcPacketStored *storedPacket, - typename FixedMap::Iterator *iter); + void startExecution(TcPacketStored *storedPacket, CommandMapIter iter); - void handleCommandMessage(CommandMessage& reply); + void handleCommandMessage(CommandMessage* reply); void handleReplyHandlerResult(ReturnValue_t result, CommandMapIter iter, - CommandMessage& nextCommand,CommandMessage& reply, bool& isStep); + CommandMessage* nextCommand, CommandMessage* reply, bool& isStep); void checkTimeout(); }; From 644896245ff2eca019ebb0a5e9e0840f2b1dcc22 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Wed, 24 Jun 2020 16:03:54 +0200 Subject: [PATCH 16/27] better returnvalues for CSB init --- objectmanager/ObjectManagerIF.h | 3 ++- tmtcservices/CommandingServiceBase.cpp | 4 ++-- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/objectmanager/ObjectManagerIF.h b/objectmanager/ObjectManagerIF.h index 90a1ce3be..dcef81cd6 100644 --- a/objectmanager/ObjectManagerIF.h +++ b/objectmanager/ObjectManagerIF.h @@ -21,7 +21,8 @@ public: static constexpr uint8_t INTERFACE_ID = CLASS_ID::OBJECT_MANAGER_IF; static constexpr ReturnValue_t INSERTION_FAILED = MAKE_RETURN_CODE( 1 ); static constexpr ReturnValue_t NOT_FOUND = MAKE_RETURN_CODE( 2 ); - static constexpr ReturnValue_t CHILD_INIT_FAILED = MAKE_RETURN_CODE( 3 ); + + static constexpr ReturnValue_t CHILD_INIT_FAILED = MAKE_RETURN_CODE( 3 ); //!< Can be used if the initialization of a SystemObject failed. static constexpr ReturnValue_t INTERNAL_ERR_REPORTER_UNINIT = MAKE_RETURN_CODE( 4 ); protected: diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp index acf663893..abf5b0edb 100644 --- a/tmtcservices/CommandingServiceBase.cpp +++ b/tmtcservices/CommandingServiceBase.cpp @@ -57,7 +57,7 @@ ReturnValue_t CommandingServiceBase::initialize() { PUSDistributorIF* distributor = objectManager->get( packetSource); if (packetForwarding == nullptr or distributor == nullptr) { - return RETURN_FAILED; + return ObjectManagerIF::CHILD_INIT_FAILED; } distributor->registerService(this); @@ -68,7 +68,7 @@ ReturnValue_t CommandingServiceBase::initialize() { TCStore = objectManager->get(objects::TC_STORE); if (IPCStore == nullptr or TCStore == nullptr) { - return RETURN_FAILED; + return ObjectManagerIF::CHILD_INIT_FAILED; } return RETURN_OK; From fc0d42e3e06e6d7c632f8a60ea0e5fe0e0972c7c Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Wed, 24 Jun 2020 16:07:02 +0200 Subject: [PATCH 17/27] error output for CSB init failure --- tmtcservices/CommandingServiceBase.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp index abf5b0edb..f370cc6f7 100644 --- a/tmtcservices/CommandingServiceBase.cpp +++ b/tmtcservices/CommandingServiceBase.cpp @@ -57,6 +57,8 @@ ReturnValue_t CommandingServiceBase::initialize() { PUSDistributorIF* distributor = objectManager->get( packetSource); if (packetForwarding == nullptr or distributor == nullptr) { + sif::error << "CommandingServiceBase::intialize: Packet source or " + "packet destination invalid!" << std::endl; return ObjectManagerIF::CHILD_INIT_FAILED; } @@ -68,6 +70,8 @@ ReturnValue_t CommandingServiceBase::initialize() { TCStore = objectManager->get(objects::TC_STORE); if (IPCStore == nullptr or TCStore == nullptr) { + sif::error << "CommandingServiceBase::intialize: IPC store or TC store " + "not initialized yet!" << std::endl; return ObjectManagerIF::CHILD_INIT_FAILED; } From ce3e4a1176afd5170fb9dce62c2737c88d7d9786 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Wed, 24 Jun 2020 16:24:16 +0200 Subject: [PATCH 18/27] added getter for reject reply --- ipc/CommandMessage.cpp | 11 +++++++++++ ipc/CommandMessage.h | 2 ++ tmtcservices/CommandingServiceBase.cpp | 12 ++++++------ 3 files changed, 19 insertions(+), 6 deletions(-) diff --git a/ipc/CommandMessage.cpp b/ipc/CommandMessage.cpp index fa41c6531..991c9df87 100644 --- a/ipc/CommandMessage.cpp +++ b/ipc/CommandMessage.cpp @@ -120,3 +120,14 @@ void CommandMessage::setReplyRejected(ReturnValue_t reason, setParameter(reason); setParameter2(initialCommand); } + +ReturnValue_t CommandMessage::getReplyRejectedReason( + Command_t *initialCommand) const { + ReturnValue_t reason = HasReturnvaluesIF::RETURN_FAILED; + std::memcpy(&reason, getData(), sizeof(reason)); + if(initialCommand != nullptr) { + std::memcpy(initialCommand, getData() + sizeof(reason), + sizeof(Command_t)); + } + return reason; +} diff --git a/ipc/CommandMessage.h b/ipc/CommandMessage.h index 2d966063a..b800b9d21 100644 --- a/ipc/CommandMessage.h +++ b/ipc/CommandMessage.h @@ -124,6 +124,8 @@ public: */ void setToUnknownCommand(); void setReplyRejected(ReturnValue_t reason, Command_t initialCommand = CMD_NONE); + ReturnValue_t getReplyRejectedReason(Command_t *initialCommand) const; + size_t getMinimumMessageSize() const; }; diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp index f370cc6f7..e3ecada17 100644 --- a/tmtcservices/CommandingServiceBase.cpp +++ b/tmtcservices/CommandingServiceBase.cpp @@ -180,14 +180,14 @@ void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result, } else { if (isStep) { - nextCommand->clear(); + nextCommand->clearCommandMessage(); verificationReporter.sendFailureReport( TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl, sendResult, ++iter->step, failureParameter1, failureParameter2); } else { - nextCommand->clear(); + nextCommand->clearCommandMessage(); verificationReporter.sendFailureReport( TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId, @@ -267,7 +267,7 @@ ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice, object_id_t objectId, const uint8_t *data, size_t dataLen) { uint8_t buffer[sizeof(object_id_t)]; uint8_t* pBuffer = buffer; - size_t size = 0; + uint32_t size = 0; SerializeAdapter::serialize(&objectId, &pBuffer, &size, sizeof(object_id_t), true); TmPacketStored tmPacketStored(this->apid, this->service, subservice, @@ -322,7 +322,7 @@ void CommandingServiceBase::startExecution(TcPacketStored *storedPacket, storedPacket->getPacketSequenceControl(); acceptPacket(TC_VERIFY::START_SUCCESS, storedPacket); } else { - command.clear(); + command.clearCommandMessage(); rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult); checkAndExecuteFifo(iter); } @@ -339,7 +339,7 @@ void CommandingServiceBase::startExecution(TcPacketStored *storedPacket, acceptPacket(TC_VERIFY::COMPLETION_SUCCESS, storedPacket); checkAndExecuteFifo(iter); } else { - command.clear(); + command.clearCommandMessage(); rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult); checkAndExecuteFifo(iter); } @@ -378,7 +378,7 @@ void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter iter) { void CommandingServiceBase::handleUnrequestedReply(CommandMessage* reply) { - reply->clear(); + reply->clearCommandMessage(); } From 1ed5da3a122c98b01b9d59cac646bc9064cd33f5 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Wed, 24 Jun 2020 16:26:44 +0200 Subject: [PATCH 19/27] getter function bugfix --- ipc/CommandMessage.cpp | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/ipc/CommandMessage.cpp b/ipc/CommandMessage.cpp index 991c9df87..679793e3f 100644 --- a/ipc/CommandMessage.cpp +++ b/ipc/CommandMessage.cpp @@ -123,11 +123,9 @@ void CommandMessage::setReplyRejected(ReturnValue_t reason, ReturnValue_t CommandMessage::getReplyRejectedReason( Command_t *initialCommand) const { - ReturnValue_t reason = HasReturnvaluesIF::RETURN_FAILED; - std::memcpy(&reason, getData(), sizeof(reason)); + ReturnValue_t reason = getParameter(); if(initialCommand != nullptr) { - std::memcpy(initialCommand, getData() + sizeof(reason), - sizeof(Command_t)); + *initialCommand = getParameter2(); } return reason; } From 5400e38126d89730af33177f60963051659a985f Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Mon, 29 Jun 2020 16:53:32 +0200 Subject: [PATCH 20/27] slight change --- tmtcservices/CommandingServiceBase.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp index e3ecada17..d69a0f03f 100644 --- a/tmtcservices/CommandingServiceBase.cpp +++ b/tmtcservices/CommandingServiceBase.cpp @@ -113,8 +113,8 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) { * command as failure parameter 1 */ if(reply->getCommand() == CommandMessage::REPLY_REJECTED and result == RETURN_FAILED) { - result = reply->getReplyRejectedReason( - reinterpret_cast(&failureParameter1)); + result = reply->getReplyRejectedReason(); + failureParameter1 = iter->command; } switch (result) { From d311c499981bbd247466e1da6bf5f84999931bad Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Mon, 29 Jun 2020 16:57:00 +0200 Subject: [PATCH 21/27] setTaskIF implemented --- tmtcservices/PusServiceBase.cpp | 11 +++++++++++ tmtcservices/PusServiceBase.h | 17 +++++++++++++---- 2 files changed, 24 insertions(+), 4 deletions(-) diff --git a/tmtcservices/PusServiceBase.cpp b/tmtcservices/PusServiceBase.cpp index f5d1e30bd..82e5ff5cc 100644 --- a/tmtcservices/PusServiceBase.cpp +++ b/tmtcservices/PusServiceBase.cpp @@ -32,6 +32,10 @@ ReturnValue_t PusServiceBase::performOperation(uint8_t opCode) { return RETURN_OK; } +void PusServiceBase::setTaskIF(PeriodicTaskIF* taskHandle) { + this->taskHandle = taskHandle; +} + void PusServiceBase::handleRequestQueue() { TmTcMessage message; ReturnValue_t result = RETURN_FAILED; @@ -108,3 +112,10 @@ ReturnValue_t PusServiceBase::initialize() { return RETURN_FAILED; } } + +ReturnValue_t PusServiceBase::initializeAfterTaskCreation() { + // If task parameters, for example task frequency are required, this + // function should be overriden and the system object task IF can + // be used to get those parameters. + return HasReturnvaluesIF::RETURN_OK; +} diff --git a/tmtcservices/PusServiceBase.h b/tmtcservices/PusServiceBase.h index 39600c413..6d3d9bac6 100644 --- a/tmtcservices/PusServiceBase.h +++ b/tmtcservices/PusServiceBase.h @@ -96,11 +96,20 @@ public: * @return @c RETURN_OK if the periodic performService was successful. * @c RETURN_FAILED else. */ - ReturnValue_t performOperation(uint8_t opCode); - virtual uint16_t getIdentifier(); - MessageQueueId_t getRequestQueue(); - virtual ReturnValue_t initialize(); + ReturnValue_t performOperation(uint8_t opCode) override; + virtual uint16_t getIdentifier() override; + MessageQueueId_t getRequestQueue() override; + virtual ReturnValue_t initialize() override; + + virtual void setTaskIF(PeriodicTaskIF* taskHandle) override; + virtual ReturnValue_t initializeAfterTaskCreation() override; protected: + /** + * @brief Handle to the underlying task + * @details + * Will be set by setTaskIF(), which is called on task creation. + */ + PeriodicTaskIF* taskHandle = nullptr; /** * The APID of this instance of the Service. */ From 83484237ae67298190275965c64e83c4268fd4e1 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 9 Jul 2020 19:53:17 +0200 Subject: [PATCH 22/27] default argument for getter function --- ipc/CommandMessage.h | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/ipc/CommandMessage.h b/ipc/CommandMessage.h index b800b9d21..b75d94b15 100644 --- a/ipc/CommandMessage.h +++ b/ipc/CommandMessage.h @@ -124,7 +124,8 @@ public: */ void setToUnknownCommand(); void setReplyRejected(ReturnValue_t reason, Command_t initialCommand = CMD_NONE); - ReturnValue_t getReplyRejectedReason(Command_t *initialCommand) const; + ReturnValue_t getReplyRejectedReason( + Command_t *initialCommand = nullptr) const; size_t getMinimumMessageSize() const; }; From 14f86422e366390583a8070f685b390c2eccb04f Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Mon, 13 Jul 2020 19:47:31 +0200 Subject: [PATCH 23/27] additional size_t replacement --- tmtcservices/CommandingServiceBase.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp index 4277de6fb..0c5f5eab1 100644 --- a/tmtcservices/CommandingServiceBase.cpp +++ b/tmtcservices/CommandingServiceBase.cpp @@ -267,7 +267,7 @@ ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice, object_id_t objectId, const uint8_t *data, size_t dataLen) { uint8_t buffer[sizeof(object_id_t)]; uint8_t* pBuffer = buffer; - uint32_t size = 0; + size_t size = 0; SerializeAdapter::serialize(&objectId, &pBuffer, &size, sizeof(object_id_t), SerializeIF::Endianness::BIG); TmPacketStored tmPacketStored(this->apid, this->service, subservice, From ef2a44c683fe0d236dfa55ad935c09d8f7472f2e Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Mon, 13 Jul 2020 22:15:38 +0200 Subject: [PATCH 24/27] added back inttypes.h for cleaner code --- timemanager/CCSDSTime.cpp | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/timemanager/CCSDSTime.cpp b/timemanager/CCSDSTime.cpp index 47cab911d..71b2539df 100644 --- a/timemanager/CCSDSTime.cpp +++ b/timemanager/CCSDSTime.cpp @@ -205,9 +205,10 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t* uint8_t hour; uint8_t minute; float second; - //try Code A (yyyy-mm-dd) - int count = sscanf((char *) from, "%4hi-%2hhi-%2hiT%2hhi:%2hhi:%fZ", &year, - &month, &day, &hour, &minute, &second); + //try Code A (yyyy-mm-dd) + int count = sscanf((char *) from, "%4" SCNu16 "-%2" SCNu8 "-%2" SCNu16 + "T%2" SCNu8 ":%2" SCNu8 ":%fZ", &year, &month, &day, + &hour, &minute, &second); if (count == 6) { to->year = year; to->month = month; @@ -219,9 +220,9 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t* return RETURN_OK; } - //try Code B (yyyy-ddd) - count = sscanf((char *) from, "%4hi-%3hiT%2hhi:%2hhi:%fZ", &year, &day, - &hour, &minute, &second); + //try Code B (yyyy-ddd) + count = sscanf((char *) from, "%4" SCNu16 "-%3" SCNu16 "T%2" SCNu8 + ":%2" SCNu8 ":%fZ", &year, &day, &hour, &minute, &second); if (count == 5) { uint8_t tempDay; ReturnValue_t result = CCSDSTime::convertDaysOfYear(day, year, &month, From be9d0a61f47b7e630f8d3ba94b36dd4ee25d0910 Mon Sep 17 00:00:00 2001 From: Steffen Gaisser Date: Tue, 21 Jul 2020 15:15:53 +0200 Subject: [PATCH 25/27] Fixes #149 --- serviceinterface/ServiceInterfaceBuffer.cpp | 12 ++++++------ serviceinterface/ServiceInterfaceBuffer.h | 2 +- serviceinterface/ServiceInterfaceStream.cpp | 2 +- serviceinterface/ServiceInterfaceStream.h | 2 +- 4 files changed, 9 insertions(+), 9 deletions(-) diff --git a/serviceinterface/ServiceInterfaceBuffer.cpp b/serviceinterface/ServiceInterfaceBuffer.cpp index 5c80862c2..8c510eac4 100644 --- a/serviceinterface/ServiceInterfaceBuffer.cpp +++ b/serviceinterface/ServiceInterfaceBuffer.cpp @@ -78,9 +78,9 @@ int ServiceInterfaceBuffer::sync(void) { } size_t preambleSize = 0; - auto preamble = getPreamble(&preambleSize); + std::string* preamble = getPreamble(&preambleSize); // Write logMessage and time - this->putChars(preamble.data(), preamble.data() + preambleSize); + this->putChars(preamble->data(), preamble->data() + preambleSize); // Handle output this->putChars(pbase(), pptr()); // This tells that buffer is empty again @@ -92,7 +92,7 @@ bool ServiceInterfaceBuffer::isBuffered() const { return buffered; } -std::string ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) { +std::string* ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) { Clock::TimeOfDay_t loggerTime; Clock::getDateAndTime(&loggerTime); size_t currentSize = 0; @@ -110,18 +110,18 @@ std::string ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) { loggerTime.usecond /1000); if(charCount < 0) { printf("ServiceInterfaceBuffer: Failure parsing preamble\r\n"); - return ""; + return &preamble; } if(charCount > MAX_PREAMBLE_SIZE) { printf("ServiceInterfaceBuffer: Char count too large for maximum " "preamble size"); - return ""; + return &preamble; } currentSize += charCount; if(preambleSize != nullptr) { *preambleSize = currentSize; } - return preamble; + return &preamble; } diff --git a/serviceinterface/ServiceInterfaceBuffer.h b/serviceinterface/ServiceInterfaceBuffer.h index 39ea25c2d..7a2ce2ee7 100644 --- a/serviceinterface/ServiceInterfaceBuffer.h +++ b/serviceinterface/ServiceInterfaceBuffer.h @@ -60,7 +60,7 @@ private: //! In this function, the characters are parsed. void putChars(char const* begin, char const* end); - std::string getPreamble(size_t * preambleSize = nullptr); + std::string* getPreamble(size_t * preambleSize = nullptr); }; #endif diff --git a/serviceinterface/ServiceInterfaceStream.cpp b/serviceinterface/ServiceInterfaceStream.cpp index 76481ed12..31bc7c730 100644 --- a/serviceinterface/ServiceInterfaceStream.cpp +++ b/serviceinterface/ServiceInterfaceStream.cpp @@ -9,7 +9,7 @@ void ServiceInterfaceStream::setActive( bool myActive) { this->streambuf.isActive = myActive; } -std::string ServiceInterfaceStream::getPreamble() { +std::string* ServiceInterfaceStream::getPreamble() { return streambuf.getPreamble(); } diff --git a/serviceinterface/ServiceInterfaceStream.h b/serviceinterface/ServiceInterfaceStream.h index 9e19c228c..dc111459a 100644 --- a/serviceinterface/ServiceInterfaceStream.h +++ b/serviceinterface/ServiceInterfaceStream.h @@ -33,7 +33,7 @@ public: * the unbuffered mode. * @return Preamle consisting of log message and timestamp. */ - std::string getPreamble(); + std::string* getPreamble(); /** * This prints an error with a preamble. Useful if using the unbuffered From 06e7f286d6592b454823a2027377cfde10be798f Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Sat, 25 Jul 2020 10:55:28 +0200 Subject: [PATCH 26/27] added explicit brackets --- tmtcservices/CommandingServiceBase.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp index 0c5f5eab1..331bc7c8a 100644 --- a/tmtcservices/CommandingServiceBase.cpp +++ b/tmtcservices/CommandingServiceBase.cpp @@ -212,8 +212,8 @@ void CommandingServiceBase::handleRequestQueue() { address = message.getStorageId(); packet.setStoreAddress(address); - if (packet.getSubService() == 0 - or isValidSubservice(packet.getSubService()) != RETURN_OK) { + if ((packet.getSubService() == 0) + or (isValidSubservice(packet.getSubService()) != RETURN_OK)) { rejectPacket(TC_VERIFY::START_FAILURE, &packet, INVALID_SUBSERVICE); continue; } From 0defc6a7d867ec1d966b2e6078e224c5a94f4686 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 28 Jul 2020 12:36:22 +0200 Subject: [PATCH 27/27] removed folders --- framework.mk | 4 ---- 1 file changed, 4 deletions(-) diff --git a/framework.mk b/framework.mk index c88229814..ee0a7ba4a 100644 --- a/framework.mk +++ b/framework.mk @@ -8,9 +8,6 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/controller/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/coordinates/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datalinklayer/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapool/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoolglob/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoollocal/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/housekeeping/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/devicehandlers/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/eventmatching/*.cpp) @@ -58,4 +55,3 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/packetmatcher/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/pus/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcservices/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/test/*.cpp) \ No newline at end of file