Merge remote-tracking branch 'origin/develop' into mueller/pus-15-tm-storage

This commit is contained in:
Robin Müller 2022-11-11 11:29:29 +01:00
commit 4d2802a470
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86 changed files with 827 additions and 935 deletions

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@ -12,6 +12,9 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
## Fixes
- I2C Bugfixes: Do not keep iterator as member and fix some incorrect handling with the iterator.
Also properly reset the reply size for successfull transfers and erroneous transfers.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/700
- Bugfix for Serial Buffer Stream: Setting `doActive` to false now
actually fully disables printing.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/680

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@ -122,6 +122,7 @@ if(UNIX)
option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add Linux peripheral drivers"
OFF)
option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Attempt to add Linux GPIOD drivers" OFF)
option(FSFW_HAL_LINUX_ADD_SERIAL_DRIVERS "Add serial drivers" ON)
endif()
# Optional sources
@ -326,7 +327,8 @@ if(FSFW_BUILD_TESTS)
"/usr/local/include/*"
"*/fsfw_tests/*"
"*/catch2-src/*"
"*/fsfw_hal/*")
"*/fsfw_hal/*"
"unittests/*")
endif()
target_link_options(${FSFW_TEST_TGT} PRIVATE -fprofile-arcs
@ -344,8 +346,15 @@ if(FSFW_BUILD_TESTS)
DEPENDENCIES ${FSFW_TEST_TGT})
else()
setup_target_for_coverage_lcov(
NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT}
DEPENDENCIES ${FSFW_TEST_TGT})
NAME
${FSFW_TEST_TGT}_coverage
EXECUTABLE
${FSFW_TEST_TGT}
DEPENDENCIES
${FSFW_TEST_TGT}
GENHTML_ARGS
--html-epilog
${CMAKE_SOURCE_DIR}/unittests/lcov_epilog.html)
endif()
endif()
endif()

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@ -5,7 +5,7 @@ RUN apt-get --yes upgrade
#tzdata is a dependency, won't install otherwise
ARG DEBIAN_FRONTEND=noninteractive
RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping python3 pip doxygen graphviz
RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping python3 pip doxygen graphviz rsync
RUN python3 -m pip install sphinx breathe
@ -23,3 +23,7 @@ RUN git clone https://github.com/ETLCPP/etl.git && \
#ssh needs a valid user to work
RUN adduser --uid 114 jenkins
#add documentation server to known hosts
RUN echo "|1|/LzCV4BuTmTb2wKnD146l9fTKgQ=|NJJtVjvWbtRt8OYqFgcYRnMQyVw= ecdsa-sha2-nistp256 AAAAE2VjZHNhLXNoYTItbmlzdHAyNTYAAAAIbmlzdHAyNTYAAABBBNL8ssTonYtgiR/6RRlSIK9WU1ywOcJmxFTLcEblAwH7oifZzmYq3XRfwXrgfMpylEfMFYfCU8JRqtmi19xc21A=" >> /etc/ssh/ssh_known_hosts
RUN echo "|1|CcBvBc3EG03G+XM5rqRHs6gK/Gg=|oGeJQ+1I8NGI2THIkJsW92DpTzs= ecdsa-sha2-nistp256 AAAAE2VjZHNhLXNoYTItbmlzdHAyNTYAAAAIbmlzdHAyNTYAAABBBNL8ssTonYtgiR/6RRlSIK9WU1ywOcJmxFTLcEblAwH7oifZzmYq3XRfwXrgfMpylEfMFYfCU8JRqtmi19xc21A=" >> /etc/ssh/ssh_known_hosts

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@ -5,7 +5,7 @@ pipeline {
}
agent {
docker {
image 'fsfw-ci:d5'
image 'fsfw-ci:d6'
args '--network host'
}
}
@ -52,14 +52,12 @@ pipeline {
sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..'
sh 'make Sphinx'
sshagent(credentials: ['documentation-buildfix']) {
sh 'ssh -o StrictHostKeyChecking=no buildfix@documentation.intra.irs.uni-stuttgart.de rm -rf /mnt/data/www/html/fsfw/development/*'
sh 'scp -o StrictHostKeyChecking=no -r docs/sphinx/* buildfix@documentation.intra.irs.uni-stuttgart.de:/mnt/data/www/html/fsfw/development'
sh 'rsync -r --delete docs/sphinx/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/development'
}
}
dir(BUILDDIR) {
sshagent(credentials: ['documentation-buildfix']) {
sh 'ssh -o StrictHostKeyChecking=no buildfix@documentation.intra.irs.uni-stuttgart.de rm -rf /mnt/data/www/html/fsfw/coverage/development/*'
sh 'scp -o StrictHostKeyChecking=no -r fsfw-tests_coverage/* buildfix@documentation.intra.irs.uni-stuttgart.de:/mnt/data/www/html/fsfw/coverage/development'
sh 'rsync -r --delete fsfw-tests_coverage/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/coverage/development'
}
}
}
@ -73,14 +71,12 @@ pipeline {
sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..'
sh 'make Sphinx'
sshagent(credentials: ['documentation-buildfix']) {
sh 'ssh -o StrictHostKeyChecking=no buildfix@documentation.intra.irs.uni-stuttgart.de rm -rf /mnt/data/www/html/fsfw/master/*'
sh 'scp -o StrictHostKeyChecking=no -r docs/sphinx/* buildfix@documentation.intra.irs.uni-stuttgart.de:/mnt/data/www/html/fsfw/master'
sh 'rsync -r --delete docs/sphinx/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/master'
}
}
dir(BUILDDIR) {
sshagent(credentials: ['documentation-buildfix']) {
sh 'ssh -o StrictHostKeyChecking=no buildfix@documentation.intra.irs.uni-stuttgart.de rm -rf /mnt/data/www/html/fsfw/coverage/master/*'
sh 'scp -o StrictHostKeyChecking=no -r fsfw-tests_coverage/* buildfix@documentation.intra.irs.uni-stuttgart.de:/mnt/data/www/html/fsfw/coverage/master'
sh 'rsync -r --delete fsfw-tests_coverage/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/coverage/master'
}
}
}

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@ -1,40 +0,0 @@
Configuring the FSFW
======
The FSFW can be configured via the `fsfwconfig` folder. A template folder has
been provided to have a starting point for this. The folder should be added
to the include path. The primary configuration file is the `FSFWConfig.h` folder. Some
of the available options will be explained in more detail here.
# Auto-Translation of Events
The FSFW allows the automatic translation of events, which allows developers to track triggered
events directly via console output. Using this feature requires:
1. `FSFW_OBJ_EVENT_TRANSLATION` set to 1 in the configuration file.
2. Special auto-generated translation files which translate event IDs and object IDs into
human readable strings. These files can be generated using the
[modgen Python scripts](https://git.ksat-stuttgart.de/source/modgen.git).
3. The generated translation files for the object IDs should be named `translatesObjects.cpp`
and `translateObjects.h` and should be copied to the `fsfwconfig/objects` folder
4. The generated translation files for the event IDs should be named `translateEvents.cpp` and
`translateEvents.h` and should be copied to the `fsfwconfig/events` folder
An example implementations of these translation file generators can be found as part
of the [SOURCE project here](https://git.ksat-stuttgart.de/source/sourceobsw/-/tree/development/generators)
or the [FSFW example](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example_public/src/branch/master/generators)
## Configuring the Event Manager
The number of allowed subscriptions can be modified with the following
parameters:
``` c++
namespace fsfwconfig {
//! Configure the allocated pool sizes for the event manager.
static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120;
}
```

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@ -1 +0,0 @@
## Controllers

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@ -1,55 +0,0 @@
## FSFW Core Modules
These core modules provide the most important functionalities of the
Flight Software Framework
### Clock
* This is a class of static functions that can be used at anytime
* Leap Seconds must be set if any time conversions from UTC to other times is used
### ObjectManager
* Must be created during program startup
* The component which handles all references. All SystemObjects register at this component.
* Any SystemObject needs to have a unique ObjectId. Those can be managed like objects::framework_objects.
* A reference to an object can be get by calling the following function. T must be the specific Interface you want to call.
A nullptr check of the returning Pointer must be done. This function is based on Run-time type information.
```cpp
template <typename T> T* ObjectManagerIF::get( object_id_t id )
```
* A typical way to create all objects on startup is a handing a static produce function to the
ObjectManager on creation. By calling objectManager->initialize() the produce function will be
called and all SystemObjects will be initialized afterwards.
### Event Manager
* Component which allows routing of events
* Other objects can subscribe to specific events, ranges of events or all events of an object.
* Subscriptions can be done during runtime but should be done during initialization
* Amounts of allowed subscriptions can be configured in `FSFWConfig.h`
### Health Table
* A component which holds every health state
* Provides a thread safe way to access all health states without the need of message exchanges
### Stores
* The message based communication can only exchange a few bytes of information inside the message
itself. Therefore, additional information can be exchanged with Stores. With this, only the
store address must be exchanged in the message.
* Internally, the FSFW uses an IPC Store to exchange data between processes. For incoming TCs a TC
Store is used. For outgoing TM a TM store is used.
* All of them should use the Thread Safe Class storagemanager/PoolManager
### Tasks
There are two different types of tasks:
* The PeriodicTask just executes objects that are of type ExecutableObjectIF in the order of the
insertion to the Tasks.
* FixedTimeslotTask executes a list of calls in the order of the given list. This is intended for
DeviceHandlers, where polling should be in a defined order. An example can be found in
`defaultcfg/fsfwconfig/pollingSequence` folder

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@ -1 +0,0 @@
## Device Handlers

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@ -1,135 +0,0 @@
High-level overview
======
# Structure
The general structure is driven by the usage of interfaces provided by objects.
The FSFW uses C++11 as baseline. The intention behind this is that this C++ Standard should be
widely available, even with older compilers.
The FSFW uses dynamic allocation during the initialization but provides static containers during runtime.
This simplifies the instantiation of objects and allows the usage of some standard containers.
Dynamic Allocation after initialization is discouraged and different solutions are provided in the
FSFW to achieve that. The fsfw uses run-time type information but exceptions are not allowed.
# Failure Handling
Functions should return a defined `ReturnValue_t` to signal to the caller that something has
gone wrong. Returnvalues must be unique. For this the function `returnvalue::makeCode`
or the macro `MAKE_RETURN` can be used. The `CLASS_ID` is a unique id for that type of object.
See `returnvalues/FwClassIds` folder. The user can add custom `CLASS_ID`s via the
`fsfwconfig` folder.
# OSAL
The FSFW provides operation system abstraction layers for Linux, FreeRTOS and RTEMS.
The OSAL provides periodic tasks, message queues, clocks and semaphores as well as mutexes.
The [OSAL README](doc/README-osal.md#top) provides more detailed information on provided components
and how to use them.
# Core Components
The FSFW has following core components. More detailed informations can be found in the
[core component section](doc/README-core.md#top):
1. Tasks: Abstraction for different (periodic) task types like periodic tasks or tasks
with fixed timeslots
2. ObjectManager: This module stores all `SystemObjects` by mapping a provided unique object ID
to the object handles.
3. Static Stores: Different stores are provided to store data of variable size (like telecommands
or small telemetry) in a pool structure without using dynamic memory allocation.
These pools are allocated up front.
3. Clock: This module provided common time related functions
4. EventManager: This module allows routing of events generated by `SystemObjects`
5. HealthTable: A component which stores the health states of objects
# Static IDs in the framework
Some parts of the framework use a static routing address for communication.
An example setup of ids can be found in the example config in `defaultcft/fsfwconfig/objects`
inside the function `Factory::setStaticFrameworkObjectIds()`.
# Events
Events are tied to objects. EventIds can be generated by calling the Macro MAKE_EVENT.
This works analog to the returnvalues. Every object that needs own EventIds has to get a
unique SUBSYSTEM_ID. Every SystemObject can call triggerEvent from the parent class.
Therefore, event messages contain the specific EventId and the objectId of the object that
has triggered.
# Internal Communication
Components communicate mostly via Messages through Queues.
Those queues are created by calling the singleton `QueueFactory::instance()->create()` which
will create `MessageQueue` instances for the used OSAL.
# External Communication
The external communication with the mission control system is mostly up to the user implementation.
The FSFW provides PUS Services which can be used to but don't need to be used.
The services can be seen as a conversion from a TC to a message based communication and back.
## TMTC Communication
The FSFW provides some components to facilitate TMTC handling via the PUS commands.
For example, a UDP or TCP PUS server socket can be opened on a specific port using the
files located in `osal/common`. The FSFW example uses this functionality to allow sending telecommands
and receiving telemetry using the [TMTC commander application](https://github.com/spacefisch/tmtccmd).
Simple commands like the PUS Service 17 ping service can be tested by simply running the
`tmtc_client_cli.py` or `tmtc_client_gui.py` utility in
the [example tmtc folder](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example_public/src/branch/master/tmtc)
while the `fsfw_example` application is running.
More generally, any class responsible for handling incoming telecommands and sending telemetry
can implement the generic `TmTcBridge` class located in `tmtcservices`. Many applications
also use a dedicated polling task for reading telecommands which passes telecommands
to the `TmTcBridge` implementation.
## CCSDS Frames, CCSDS Space Packets and PUS
If the communication is based on CCSDS Frames and Space Packets, several classes can be used to
distributed the packets to the corresponding services. Those can be found in `tcdistribution`.
If Space Packets are used, a timestamper has to be provided by the user.
An example can be found in the `timemanager` folder, which uses `CCSDSTime::CDS_short`.
# Device Handlers
DeviceHandlers are another important component of the FSFW.
The idea is, to have a software counterpart of every physical device to provide a simple mode,
health and commanding interface. By separating the underlying Communication Interface with
`DeviceCommunicationIF`, a device handler (DH) can be tested on different hardware.
The DH has mechanisms to monitor the communication with the physical device which allow
for FDIR reaction. Device Handlers can be created by implementing `DeviceHandlerBase`.
A standard FDIR component for the DH will be created automatically but can
be overwritten by the user. More information on DeviceHandlers can be found in the
related [documentation section](doc/README-devicehandlers.md#top).
# Modes and Health
The two interfaces `HasModesIF` and `HasHealthIF` provide access for commanding and monitoring
of components. On-board Mode Management is implement in hierarchy system.
DeviceHandlers and Controllers are the lowest part of the hierarchy.
The next layer are Assemblies. Those assemblies act as a component which handle
redundancies of handlers. Assemblies share a common core with the next level which
are the Subsystems.
Those Assemblies are intended to act as auto-generated components from a database which describes
the subsystem modes. The definitions contain transition and target tables which contain the DH,
Assembly and Controller Modes to be commanded.
Transition tables contain as many steps as needed to reach the mode from any other mode, e.g. a
switch into any higher AOCS mode might first turn on the sensors, than the actuators and the
controller as last component.
The target table is used to describe the state that is checked continuously by the subsystem.
All of this allows System Modes to be generated as Subsystem object as well from the same database.
This System contains list of subsystem modes in the transition and target tables.
Therefore, it allows a modular system to create system modes and easy commanding of those, because
only the highest components must be commanded.
The health state represents if the component is able to perform its tasks.
This can be used to signal the system to avoid using this component instead of a redundant one.
The on-board FDIR uses the health state for isolation and recovery.
# Unit Tests
Unit Tests are provided in the unittest folder. Those use the catch2 framework but do not include
catch2 itself. More information on how to run these tests can be found in the separate
[`fsfw_tests` reposoitory](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_tests)

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@ -1,174 +0,0 @@
## Local Data Pools Developer Information
The following text is targeted towards mission software developers which would like
to use the local data pools provided by the FSFW to store data like sensor values so they can be
used by other software objects like controllers as well. If a custom class should have a local
pool which can be used by other software objects as well, following steps have to be performed:
1. Create a `LocalDataPoolManager` member object in the custom class
2. Implement the `HasLocalDataPoolIF` with specifies the interface between the local pool manager
and the class owning the local pool.
The local data pool manager is also able to process housekeeping service requests in form
of messages, generate periodic housekeeping packet, generate notification and snapshots of changed
variables and datasets and process notifications and snapshots coming from other objects.
The two former tasks are related to the external interface using telemetry and telecommands (TMTC)
while the later two are related to data consumers like controllers only acting on data change
detected by the data creator instead of checking the data manually each cycle. Two important
framework classes `DeviceHandlerBase` and `ExtendedControllerBase` already perform the two steps
shown above so the steps required are altered slightly.
### Storing and Accessing pool data
The pool manager is responsible for thread-safe access of the pool data, but the actual
access to the pool data from the point of view of a mission software developer happens via proxy
classes like pool variable classes. These classes store a copy
of the pool variable with the matching datatype and copy the actual data from the local pool
on a `read` call. Changed variables can then be written to the local pool with a `commit` call.
The `read` and `commit` calls are thread-safe and can be called concurrently from data creators
and data consumers. Generally, a user will create a dataset class which in turn groups all
cohesive pool variables. These sets simply iterator over the list of variables and call the
`read` and `commit` functions of each variable. The following diagram shows the
high-level architecture of the local data pools.
.. image:: ../misc/logo/FSFW_Logo_V3_bw.png
:alt: FSFW Logo
An example is shown for using the local data pools with a Gyroscope.
For example, the following code shows an implementation to access data from a Gyroscope taken
from the SOURCE CubeSat project:
```cpp
class GyroPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
public:
/**
* Constructor for data users
* @param gyroId
*/
GyroPrimaryDataset(object_id_t gyroId):
StaticLocalDataSet(sid_t(gyroId, gyrodefs::GYRO_DATA_SET_ID)) {
setAllVariablesReadOnly();
}
lp_var_t<float> angVelocityX = lp_var_t<float>(sid.objectId,
gyrodefs::ANGULAR_VELOCITY_X, this);
lp_var_t<float> angVelocityY = lp_var_t<float>(sid.objectId,
gyrodefs::ANGULAR_VELOCITY_Y, this);
lp_var_t<float> angVelocityZ = lp_var_t<float>(sid.objectId,
gyrodefs::ANGULAR_VELOCITY_Z, this);
private:
friend class GyroHandler;
/**
* Constructor for data creator
* @param hkOwner
*/
GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
StaticLocalDataSet(hkOwner, gyrodefs::GYRO_DATA_SET_ID) {}
};
```
There is a public constructor for users which sets all variables to read-only and there is a
constructor for the GyroHandler data creator by marking it private and declaring the `GyroHandler`
as a friend class. Both the atittude controller and the `GyroHandler` can now
use the same class definition to access the pool variables with `read` and `commit` semantics
in a thread-safe way. Generally, each class requiring access will have the set class as a member
class. The data creator will also be generally a `DeviceHandlerBase` subclass and some additional
steps are necessary to expose the set for housekeeping purposes.
### Using the local data pools in a `DeviceHandlerBase` subclass
It is very common to store data generated by devices like a sensor into a pool which can
then be used by other objects. Therefore, the `DeviceHandlerBase` already has a
local pool. Using the aforementioned example, our `GyroHandler` will now have the set class
as a member:
```cpp
class GyroHandler: ... {
public:
...
private:
...
GyroPrimaryDataset gyroData;
...
};
```
The constructor used for the creators expects the owner class as a parameter, so we initialize
the object in the `GyroHandler` constructor like this:
```cpp
GyroHandler::GyroHandler(object_id_t objectId, object_id_t comIF,
CookieIF *comCookie, uint8_t switchId):
DeviceHandlerBase(objectId, comIF, comCookie), switchId(switchId),
gyroData(this) {}
```
We need to assign the set to a reply ID used in the `DeviceHandlerBase`.
The combination of the `GyroHandler` object ID and the reply ID will be the 64-bit structure ID
`sid_t` and is used to globally identify the set, for example when requesting housekeeping data or
generating update messages. We need to assign our custom set class in some way so that the local
pool manager can access the custom data sets as well.
By default, the `getDataSetHandle` will take care of this tasks. The default implementation for a
`DeviceHandlerBase` subclass will use the internal command map to retrieve
a handle to a dataset from a given reply ID. Therefore,
we assign the set in the `fillCommandAndReplyMap` function:
```cpp
void GyroHandler::fillCommandAndReplyMap() {
...
this->insertInCommandAndReplyMap(gyrodefs::GYRO_DATA, 3, &gyroData);
...
}
```
Now, we need to create the actual pool entries as well, using the `initializeLocalDataPool`
function. Here, we also immediately subscribe for periodic housekeeping packets
with an interval of 4 seconds. They are still disabled in this example and can be enabled
with a housekeeping service command.
```cpp
ReturnValue_t GyroHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_X,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Y,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Z,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(gyrodefs::GENERAL_CONFIG_REG42,
new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(gyrodefs::RANGE_CONFIG_REG43,
new PoolEntry<uint8_t>({0}));
poolManager.subscribeForPeriodicPacket(gyroData.getSid(), false, 4.0, false);
return returnvalue::OK;
}
```
Now, if we receive some sensor data and converted them into the right format,
we can write it into the pool like this, using a guard class to ensure the set is commited back
in any case:
```cpp
PoolReadGuard readHelper(&gyroData);
if(readHelper.getReadResult() == returnvalue::OK) {
if(not gyroData.isValid()) {
gyroData.setValidity(true, true);
}
gyroData.angVelocityX = angularVelocityX;
gyroData.angVelocityY = angularVelocityY;
gyroData.angVelocityZ = angularVelocityZ;
}
```
The guard class will commit the changed data on destruction automatically.
### Using the local data pools in a `ExtendedControllerBase` subclass
Coming soon

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@ -1,32 +0,0 @@
# Operating System Abstraction Layer (OSAL)
Some specific information on the provided OSALs are provided.
## Linux OSAL
This OSAL can be used to compile for Linux host systems like Ubuntu 20.04 or for
embedded Linux targets like the Raspberry Pi. This OSAL generally requires threading support
and real-time functionalities. For most UNIX systems, this is done by adding `-lrt` and `-lpthread` to the linked libraries in the compilation process. The CMake build support provided will do this automatically for the `fsfw` target. It should be noted that most UNIX systems need to be configured specifically to allow the real-time functionalities required by the FSFW.
More information on how to set up a Linux system accordingly can be found in the
[Linux README of the FSFW example application](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example/src/branch/master/doc/README-linux.md#top)
## Hosted OSAL
This is the newest OSAL. Support for Semaphores has not been implemented yet and will propably be implemented as soon as C++20 with Semaphore support has matured. This OSAL can be used to run the FSFW on any host system, but currently has only been tested on Windows 10 and Ubuntu 20.04. Unlike the other OSALs, it uses dynamic memory allocation (e.g. for the message queue implementation). Cross-platform serial port (USB) support might be added soon.
## FreeRTOS OSAL
FreeRTOS is not included and the developer needs to take care of compiling the FreeRTOS sources and adding the `FreeRTOSConfig.h` file location to the include path. This OSAL has only been tested extensively with the pre-emptive scheduler configuration so far but it should in principle also be possible to use a cooperative scheduler. It is recommended to use the `heap_4` allocation scheme. When using newlib (nano), it is also recommended to add `#define configUSE_NEWLIB_REENTRANT` to the FreeRTOS configuration file to ensure thread-safety.
When using this OSAL, developers also need to provide an implementation for the `vRequestContextSwitchFromISR` function. This has been done because the call to request a context switch from an ISR is generally located in the `portmacro.h` header and is different depending on the target architecture or device.
## RTEMS OSAL
The RTEMS OSAL was the first implemented OSAL which is also used on the active satellite Flying Laptop.
## TCP/IP socket abstraction
The Linux and Host OSAL provide abstraction layers for the socket API. Currently, only UDP sockets have been imlemented. This is very useful to test TMTC handling either on the host computer directly (targeting localhost with a TMTC application) or on embedded Linux devices, sending TMTC packets via Ethernet.

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@ -1 +0,0 @@
## PUS Services

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@ -50,6 +50,11 @@ exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
#
html_theme = "alabaster"
html_theme_options = {
"extra_nav_links": {"Impressum" : "https://www.uni-stuttgart.de/impressum", "Datenschutz": "https://info.irs.uni-stuttgart.de/datenschutz/datenschutzWebmit.html"}
}
# Add any paths that contain custom static files (such as style sheets) here,
# relative to this directory. They are copied after the builtin static files,
# so a file named "default.css" will overwrite the builtin "default.css".

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@ -6,15 +6,14 @@ High-level overview
Structure
----------
The general structure is driven by the usage of interfaces provided by objects.
The FSFW uses C++17 as baseline.
It also uses dynamic allocation during the initialization but provides
static containers during runtime.
This simplifies the instantiation of objects and allows the usage of some
standard containers.
Dynamic Allocation after initialization is discouraged and different solutions
are provided in the FSFW to achieve that. The fsfw uses run-time type
information but will not throw exceptions.
The general structure is driven by the usage of interfaces provided by objects.
The FSFW uses C++17 as baseline. Most modern compilers like GCC should have support for this
standard, even for micocontrollers.
The FSFW might use dynamic allocation during program initialization but not during runtime.
It offers pool objects, static containers and it also exposes the
`Embedded Template Library <https://www.etlcpp.com/>`_ to allow writing code which does not perform
allocation during runtime. The fsfw uses run-time type information but will not throw exceptions.
Failure Handling
-----------------

View File

@ -207,7 +207,7 @@ def check_for_cmake_build_dir(build_dir_list: list) -> list:
def perform_lcov_operation(directory: str, chdir: bool):
if chdir:
os.chdir(directory)
cmd_runner("cmake --build . -- fsfw-tests_coverage -j")
cmd_runner("cmake --build . -j -- fsfw-tests_coverage")
def determine_build_dir(build_dir_list: List[str]):

View File

@ -4,6 +4,7 @@
#include "../returnvalues/returnvalue.h"
#include "../serialize/SerializeAdapter.h"
#include "../serialize/SerializeIF.h"
#include "definitions.h"
/**
* @brief A List that stores its values in an array.
@ -19,9 +20,6 @@ class ArrayList {
friend class SerialArrayListAdapter;
public:
static const uint8_t INTERFACE_ID = CLASS_ID::ARRAY_LIST;
static const ReturnValue_t FULL = MAKE_RETURN_CODE(0x01);
/**
* This is the allocating constructor.
* It allocates an array of the specified size.
@ -187,7 +185,7 @@ class ArrayList {
*/
ReturnValue_t insert(T entry) {
if (size >= maxSize_) {
return FULL;
return containers::LIST_FULL;
}
entries[size] = entry;
++size;

View File

@ -20,9 +20,11 @@ class FixedArrayList : public ArrayList<T, count_t> {
FixedArrayList() : ArrayList<T, count_t>(data, MAX_SIZE) {}
FixedArrayList(const FixedArrayList& other) : ArrayList<T, count_t>(data, MAX_SIZE) {
memcpy(this->data, other.data, sizeof(this->data));
this->entries = data;
this->size = other.size;
for (size_t idx = 0; idx < this->size; idx++) {
data[idx] = other.data[idx];
}
}
FixedArrayList& operator=(FixedArrayList other) {

View File

@ -4,8 +4,8 @@
#include <type_traits>
#include <utility>
#include "../returnvalues/returnvalue.h"
#include "ArrayList.h"
#include "definitions.h"
/**
* @brief Map implementation for maps with a pre-defined size.
@ -24,11 +24,6 @@ class FixedMap : public SerializeIF {
"derived class from SerializeIF to be serialize-able");
public:
static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MAP;
static const ReturnValue_t KEY_ALREADY_EXISTS = MAKE_RETURN_CODE(0x01);
static const ReturnValue_t MAP_FULL = MAKE_RETURN_CODE(0x02);
static const ReturnValue_t KEY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x03);
private:
static const key_t EMPTY_SLOT = -1;
ArrayList<std::pair<key_t, T>, uint32_t> theMap;
@ -76,10 +71,10 @@ class FixedMap : public SerializeIF {
ReturnValue_t insert(key_t key, T value, Iterator* storedValue = nullptr) {
if (exists(key) == returnvalue::OK) {
return KEY_ALREADY_EXISTS;
return containers::KEY_ALREADY_EXISTS;
}
if (_size == theMap.maxSize()) {
return MAP_FULL;
return containers::MAP_FULL;
}
theMap[_size].first = key;
theMap[_size].second = value;
@ -93,7 +88,7 @@ class FixedMap : public SerializeIF {
ReturnValue_t insert(std::pair<key_t, T> pair) { return insert(pair.first, pair.second); }
ReturnValue_t exists(key_t key) const {
ReturnValue_t result = KEY_DOES_NOT_EXIST;
ReturnValue_t result = containers::KEY_DOES_NOT_EXIST;
if (findIndex(key) < _size) {
result = returnvalue::OK;
}
@ -103,7 +98,7 @@ class FixedMap : public SerializeIF {
ReturnValue_t erase(Iterator* iter) {
uint32_t i;
if ((i = findIndex((*iter).value->first)) >= _size) {
return KEY_DOES_NOT_EXIST;
return containers::KEY_DOES_NOT_EXIST;
}
theMap[i] = theMap[_size - 1];
--_size;
@ -114,7 +109,7 @@ class FixedMap : public SerializeIF {
ReturnValue_t erase(key_t key) {
uint32_t i;
if ((i = findIndex(key)) >= _size) {
return KEY_DOES_NOT_EXIST;
return containers::KEY_DOES_NOT_EXIST;
}
theMap[i] = theMap[_size - 1];
--_size;

View File

@ -0,0 +1,14 @@
#ifndef FSFW_CONTAINER_DEFINITIONS_H_
#define FSFW_CONTAINER_DEFINITIONS_H_
#include "fsfw/retval.h"
namespace containers {
static const ReturnValue_t KEY_ALREADY_EXISTS = returnvalue::makeCode(CLASS_ID::FIXED_MAP, 0x01);
static const ReturnValue_t MAP_FULL = returnvalue::makeCode(CLASS_ID::FIXED_MAP, 0x02);
static const ReturnValue_t KEY_DOES_NOT_EXIST = returnvalue::makeCode(CLASS_ID::FIXED_MAP, 0x03);
static const ReturnValue_t LIST_FULL = returnvalue::makeCode(CLASS_ID::ARRAY_LIST, 0x01);
} // namespace containers
#endif /* FSFW_CONTAINER_DEFINITIONS_H_ */

View File

@ -4,11 +4,10 @@
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/subsystem/SubsystemBase.h"
#include "fsfw/subsystem/helper.h"
ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
size_t commandQueueDepth)
ControllerBase::ControllerBase(object_id_t setObjectId, size_t commandQueueDepth)
: SystemObject(setObjectId),
parentId(parentId),
mode(MODE_OFF),
submode(SUBMODE_NONE),
modeHelper(this),
@ -21,33 +20,15 @@ ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
ControllerBase::~ControllerBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }
ReturnValue_t ControllerBase::initialize() {
ReturnValue_t result = SystemObject::initialize();
ReturnValue_t result = modeHelper.initialize();
if (result != returnvalue::OK) {
return result;
}
MessageQueueId_t parentQueue = 0;
if (parentId != objects::NO_OBJECT) {
auto* parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
if (parent == nullptr) {
return returnvalue::FAILED;
}
parentQueue = parent->getCommandQueue();
parent->registerChild(getObjectId());
}
result = healthHelper.initialize(parentQueue);
result = healthHelper.initialize();
if (result != returnvalue::OK) {
return result;
}
result = modeHelper.initialize(parentQueue);
if (result != returnvalue::OK) {
return result;
}
return returnvalue::OK;
return SystemObject::initialize();
}
MessageQueueId_t ControllerBase::getCommandQueue() const { return commandQueue->getId(); }
@ -120,3 +101,13 @@ void ControllerBase::setTaskIF(PeriodicTaskIF* task_) { executingTask = task_; }
void ControllerBase::changeHK(Mode_t mode_, Submode_t submode_, bool enable) {}
ReturnValue_t ControllerBase::initializeAfterTaskCreation() { return returnvalue::OK; }
const HasHealthIF* ControllerBase::getOptHealthIF() const { return this; }
const HasModesIF& ControllerBase::getModeIF() const { return *this; }
ModeTreeChildIF& ControllerBase::getModeTreeChildIF() { return *this; }
ReturnValue_t ControllerBase::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
return modetree::connectModeTreeParent(parent, *this, healthHelper, modeHelper);
}

View File

@ -6,6 +6,9 @@
#include "fsfw/modes/HasModesIF.h"
#include "fsfw/modes/ModeHelper.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/subsystem/HasModeTreeChildrenIF.h"
#include "fsfw/subsystem/ModeTreeChildIF.h"
#include "fsfw/subsystem/ModeTreeConnectionIF.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw/tasks/PeriodicTaskIF.h"
@ -18,13 +21,18 @@
class ControllerBase : public HasModesIF,
public HasHealthIF,
public ExecutableObjectIF,
public ModeTreeChildIF,
public ModeTreeConnectionIF,
public SystemObject {
public:
static const Mode_t MODE_NORMAL = 2;
ControllerBase(object_id_t setObjectId, object_id_t parentId, size_t commandQueueDepth = 3);
ControllerBase(object_id_t setObjectId, size_t commandQueueDepth = 3);
~ControllerBase() override;
ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF &parent) override;
ModeTreeChildIF &getModeTreeChildIF() override;
/** SystemObject override */
ReturnValue_t initialize() override;
@ -38,6 +46,8 @@ class ControllerBase : public HasModesIF,
ReturnValue_t performOperation(uint8_t opCode) override;
void setTaskIF(PeriodicTaskIF *task) override;
ReturnValue_t initializeAfterTaskCreation() override;
const HasHealthIF *getOptHealthIF() const override;
const HasModesIF &getModeIF() const override;
protected:
/**
@ -56,8 +66,6 @@ class ControllerBase : public HasModesIF,
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) override = 0;
const object_id_t parentId;
Mode_t mode;
Submode_t submode;

View File

@ -1,8 +1,7 @@
#include "fsfw/controller/ExtendedControllerBase.h"
ExtendedControllerBase::ExtendedControllerBase(object_id_t objectId, object_id_t parentId,
size_t commandQueueDepth)
: ControllerBase(objectId, parentId, commandQueueDepth),
ExtendedControllerBase::ExtendedControllerBase(object_id_t objectId, size_t commandQueueDepth)
: ControllerBase(objectId, commandQueueDepth),
poolManager(this, commandQueue),
actionHelper(this, commandQueue) {}

View File

@ -17,7 +17,7 @@ class ExtendedControllerBase : public ControllerBase,
public HasActionsIF,
public HasLocalDataPoolIF {
public:
ExtendedControllerBase(object_id_t objectId, object_id_t parentId, size_t commandQueueDepth = 3);
ExtendedControllerBase(object_id_t objectId, size_t commandQueueDepth = 3);
~ExtendedControllerBase() override;
/* SystemObjectIF overrides */

View File

@ -1,7 +1,7 @@
#include "fsfw/devicehandlers/AssemblyBase.h"
AssemblyBase::AssemblyBase(object_id_t objectId, object_id_t parentId, uint16_t commandQueueDepth)
: SubsystemBase(objectId, parentId, MODE_OFF, commandQueueDepth),
AssemblyBase::AssemblyBase(object_id_t objectId, uint16_t commandQueueDepth)
: SubsystemBase(objectId, MODE_OFF, commandQueueDepth),
internalState(STATE_NONE),
recoveryState(RECOVERY_IDLE),
recoveringDevice(childrenMap.end()),

View File

@ -41,7 +41,7 @@ class AssemblyBase : public SubsystemBase {
static const ReturnValue_t NEED_TO_CHANGE_HEALTH = MAKE_RETURN_CODE(0x05);
static const ReturnValue_t NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE = MAKE_RETURN_CODE(0xa1);
AssemblyBase(object_id_t objectId, object_id_t parentId, uint16_t commandQueueDepth = 8);
AssemblyBase(object_id_t objectId, uint16_t commandQueueDepth = 8);
virtual ~AssemblyBase();
protected:

View File

@ -3,17 +3,12 @@
#include "fsfw/subsystem/SubsystemBase.h"
ChildHandlerBase::ChildHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
CookieIF* cookie, object_id_t hkDestination,
uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
object_id_t parent, FailureIsolationBase* customFdir,
size_t cmdQueueSize)
CookieIF* cookie, HasModeTreeChildrenIF& parent,
FailureIsolationBase* customFdir, size_t cmdQueueSize)
: DeviceHandlerBase(setObjectId, deviceCommunication, cookie,
(customFdir == nullptr ? &childHandlerFdir : customFdir), cmdQueueSize),
parentId(parent),
childHandlerFdir(setObjectId) {
this->setHkDestination(hkDestination);
this->setThermalStateRequestPoolIds(thermalStatePoolId, thermalRequestPoolId);
}
parent(parent),
childHandlerFdir(setObjectId) {}
ChildHandlerBase::~ChildHandlerBase() {}
@ -23,21 +18,5 @@ ReturnValue_t ChildHandlerBase::initialize() {
return result;
}
MessageQueueId_t parentQueue = 0;
if (parentId != objects::NO_OBJECT) {
SubsystemBase* parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
if (parent == NULL) {
return returnvalue::FAILED;
}
parentQueue = parent->getCommandQueue();
parent->registerChild(getObjectId());
}
healthHelper.setParentQueue(parentQueue);
modeHelper.setParentQueue(parentQueue);
return returnvalue::OK;
return DeviceHandlerBase::connectModeTreeParent(parent);
}

View File

@ -1,22 +1,23 @@
#ifndef FSFW_DEVICEHANDLER_CHILDHANDLERBASE_H_
#define FSFW_DEVICEHANDLER_CHILDHANDLERBASE_H_
#include <fsfw/subsystem/HasModeTreeChildrenIF.h>
#include "ChildHandlerFDIR.h"
#include "DeviceHandlerBase.h"
class ChildHandlerBase : public DeviceHandlerBase {
public:
ChildHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication, CookieIF* cookie,
object_id_t hkDestination, uint32_t thermalStatePoolId,
uint32_t thermalRequestPoolId, object_id_t parent = objects::NO_OBJECT,
FailureIsolationBase* customFdir = nullptr, size_t cmdQueueSize = 20);
HasModeTreeChildrenIF& parent, FailureIsolationBase* customFdir = nullptr,
size_t cmdQueueSize = 20);
virtual ~ChildHandlerBase();
virtual ReturnValue_t initialize();
protected:
const uint32_t parentId;
HasModeTreeChildrenIF& parent;
ChildHandlerFDIR childHandlerFdir;
};

View File

@ -1,4 +1,4 @@
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "DeviceHandlerBase.h"
#include "fsfw/datapoollocal/LocalPoolVariable.h"
#include "fsfw/devicehandlers/AcceptsDeviceResponsesIF.h"
@ -12,6 +12,7 @@
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/storagemanager/StorageManagerIF.h"
#include "fsfw/subsystem/SubsystemBase.h"
#include "fsfw/subsystem/helper.h"
#include "fsfw/thermal/ThermalComponentIF.h"
object_id_t DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
@ -22,8 +23,6 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
CookieIF* comCookie, FailureIsolationBase* fdirInstance,
size_t cmdQueueSize)
: SystemObject(setObjectId),
mode(MODE_OFF),
submode(SUBMODE_NONE),
wiretappingMode(OFF),
storedRawData(StorageManagerIF::INVALID_ADDRESS),
deviceCommunicationId(deviceCommunication),
@ -38,6 +37,8 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
defaultFDIRUsed(fdirInstance == nullptr),
switchOffWasReported(false),
childTransitionDelay(5000),
mode(MODE_OFF),
submode(SUBMODE_NONE),
transitionSourceMode(_MODE_POWER_DOWN),
transitionSourceSubMode(SUBMODE_NONE) {
auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
@ -132,14 +133,6 @@ ReturnValue_t DeviceHandlerBase::initialize() {
new DeviceHandlerFailureIsolation(this->getObjectId(), defaultFdirParentId);
}
if (this->parent != objects::NO_OBJECT) {
HasModesIF* modeIF = ObjectManager::instance()->get<HasModesIF>(this->parent);
HasHealthIF* healthIF = ObjectManager::instance()->get<HasHealthIF>(this->parent);
if (modeIF != nullptr and healthIF != nullptr) {
setParentQueue(modeIF->getCommandQueue());
}
}
communicationInterface =
ObjectManager::instance()->get<DeviceCommunicationIF>(deviceCommunicationId);
if (communicationInterface == nullptr) {
@ -362,7 +355,6 @@ void DeviceHandlerBase::doStateMachine() {
currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, 0);
setMode(_MODE_POWER_DOWN);
callChildStatemachine();
break;
}
ReturnValue_t switchState = getStateOfSwitches();
@ -574,8 +566,15 @@ void DeviceHandlerBase::setTransition(Mode_t modeTo, Submode_t submodeTo) {
}
void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
/* TODO: This will probably be done by the LocalDataPoolManager now */
// changeHK(mode, submode, false);
/**
* handle transition from OFF to NORMAL by continuing towards normal when ON is reached
*/
if (newMode == MODE_ON and continueToNormal) {
continueToNormal = false;
mode = _MODE_TO_NORMAL;
return;
}
submode = newSubmode;
mode = newMode;
modeChanged();
@ -584,6 +583,8 @@ void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
disableCommandsAndReplies();
}
if (!isTransitionalMode()) {
// clear this flag when a non-transitional Mode is reached to be safe
continueToNormal = false;
modeHelper.modeChanged(newMode, newSubmode);
announceMode(false);
}
@ -1068,8 +1069,7 @@ Mode_t DeviceHandlerBase::getBaseMode(Mode_t transitionMode) {
return transitionMode & ~(TRANSITION_MODE_BASE_ACTION_MASK | TRANSITION_MODE_CHILD_ACTION_MASK);
}
// SHOULDDO: Allow transition from OFF to NORMAL to reduce complexity in assemblies. And, by the
// way, throw away DHB and write a new one:
// SHOULDDO: throw away DHB and write a new one:
// - Include power and thermal completely, but more modular :-)
// - Don't use modes for state transitions, reduce FSM (Finte State Machine) complexity.
// - Modularization?
@ -1081,11 +1081,10 @@ ReturnValue_t DeviceHandlerBase::checkModeCommand(Mode_t commandedMode, Submode_
if ((mode == MODE_ERROR_ON) && (commandedMode != MODE_OFF)) {
return TRANS_NOT_ALLOWED;
}
if ((commandedMode == MODE_NORMAL) && (mode == MODE_OFF)) {
return TRANS_NOT_ALLOWED;
}
if ((commandedMode == MODE_ON) && (mode == MODE_OFF) and (thermalSet != nullptr)) {
// Do not check thermal state for MODE_RAW
if ((mode == MODE_OFF) and ((commandedMode == MODE_ON) or (commandedMode == MODE_NORMAL)) and
(thermalSet != nullptr)) {
ReturnValue_t result = thermalSet->read();
if (result == returnvalue::OK) {
if ((thermalSet->heaterRequest.value != ThermalComponentIF::STATE_REQUEST_IGNORE) and
@ -1100,6 +1099,7 @@ ReturnValue_t DeviceHandlerBase::checkModeCommand(Mode_t commandedMode, Submode_
}
void DeviceHandlerBase::startTransition(Mode_t commandedMode, Submode_t commandedSubmode) {
continueToNormal = false;
switch (commandedMode) {
case MODE_ON:
handleTransitionToOnMode(commandedMode, commandedSubmode);
@ -1129,8 +1129,9 @@ void DeviceHandlerBase::startTransition(Mode_t commandedMode, Submode_t commande
case MODE_NORMAL:
if (mode != MODE_OFF) {
setTransition(MODE_NORMAL, commandedSubmode);
} else {
replyReturnvalueToCommand(HasModesIF::TRANS_NOT_ALLOWED);
} else { // mode is off
continueToNormal = true;
handleTransitionToOnMode(MODE_NORMAL, commandedSubmode);
}
break;
}
@ -1578,12 +1579,14 @@ MessageQueueId_t DeviceHandlerBase::getCommanderQueueId(DeviceCommandId_t replyI
void DeviceHandlerBase::setCustomFdir(FailureIsolationBase* fdir) { this->fdirInstance = fdir; }
void DeviceHandlerBase::setParent(object_id_t parent) { this->parent = parent; }
void DeviceHandlerBase::setPowerSwitcher(PowerSwitchIF* switcher) {
this->powerSwitcher = switcher;
}
Mode_t DeviceHandlerBase::getMode() { return mode; }
Submode_t DeviceHandlerBase::getSubmode() { return submode; }
void DeviceHandlerBase::disableCommandsAndReplies() {
for (auto& command : deviceCommandMap) {
if (command.second.isExecuting) {
@ -1602,6 +1605,16 @@ void DeviceHandlerBase::disableCommandsAndReplies() {
}
}
ReturnValue_t DeviceHandlerBase::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
return modetree::connectModeTreeParent(parent, *this, healthHelper, modeHelper);
}
const HasHealthIF* DeviceHandlerBase::getOptHealthIF() const { return this; }
const HasModesIF& DeviceHandlerBase::getModeIF() const { return *this; }
ModeTreeChildIF& DeviceHandlerBase::getModeTreeChildIF() { return *this; }
ReturnValue_t DeviceHandlerBase::finishAction(bool success, DeviceCommandId_t action,
ReturnValue_t result) {
auto commandIter = deviceCommandMap.find(action);

View File

@ -21,6 +21,7 @@
#include "fsfw/returnvalues/returnvalue.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/serviceinterface/serviceInterfaceDefintions.h"
#include "fsfw/subsystem/ModeTreeConnectionIF.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw/tasks/PeriodicTaskIF.h"
#include "fsfw/util/dataWrapper.h"
@ -84,6 +85,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
public HasModesIF,
public HasHealthIF,
public HasActionsIF,
public ModeTreeChildIF,
public ModeTreeConnectionIF,
public ReceivesParameterMessagesIF,
public HasLocalDataPoolIF {
friend void(Factory::setStaticFrameworkObjectIds)();
@ -104,8 +107,55 @@ class DeviceHandlerBase : public DeviceHandlerIF,
FailureIsolationBase *fdirInstance = nullptr, size_t cmdQueueSize = 20);
void setCustomFdir(FailureIsolationBase *fdir);
void setParent(object_id_t parent);
void setPowerSwitcher(PowerSwitchIF *switcher);
/**
* extending the modes of DeviceHandler IF for internal state machine
*/
static constexpr uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20;
static constexpr uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10;
//! This is a transitional state which can not be commanded. The device
//! handler performs all commands to get the device in a state ready to
//! perform commands. When this is completed, the mode changes to @c MODE_ON.
static const Mode_t _MODE_START_UP = TRANSITION_MODE_CHILD_ACTION_MASK | 5;
//! This is a transitional state which can not be commanded.
//! The device handler performs all actions and commands to get the device
//! shut down. When the device is off, the mode changes to @c MODE_OFF.
//! It is possible to set the mode to _MODE_SHUT_DOWN to use the to off
//! transition if available.
static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6;
//! It is possible to set the mode to _MODE_TO_ON to use the to on
//! transition if available.
static const Mode_t _MODE_TO_ON = TRANSITION_MODE_CHILD_ACTION_MASK | HasModesIF::MODE_ON;
//! It is possible to set the mode to _MODE_TO_RAW to use the to raw
//! transition if available.
static const Mode_t _MODE_TO_RAW = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_RAW;
//! It is possible to set the mode to _MODE_TO_NORMAL to use the to normal
//! transition if available.
static const Mode_t _MODE_TO_NORMAL = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_NORMAL;
//! This is a transitional state which can not be commanded.
//! The device is shut down and ready to be switched off.
//! After the command to set the switch off has been sent,
//! the mode changes to @c _MODE_WAIT_OFF
static const Mode_t _MODE_POWER_DOWN = TRANSITION_MODE_BASE_ACTION_MASK | 1;
//! This is a transitional state which can not be commanded. The device
//! will be switched on in this state. After the command to set the switch
//! on has been sent, the mode changes to @c _MODE_WAIT_ON.
static const Mode_t _MODE_POWER_ON = TRANSITION_MODE_BASE_ACTION_MASK | 2;
//! This is a transitional state which can not be commanded. The switch has
//! been commanded off and the handler waits for it to be off.
//! When the switch is off, the mode changes to @c MODE_OFF.
static const Mode_t _MODE_WAIT_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 3;
//! This is a transitional state which can not be commanded. The switch
//! has been commanded on and the handler waits for it to be on.
//! When the switch is on, the mode changes to @c _MODE_TO_ON.
static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4;
//! This is a transitional state which can not be commanded. The switch has
//! been commanded off and is off now. This state is only to do an RMAP
//! cycle once more where the doSendRead() function will set the mode to
//! MODE_OFF. The reason to do this is to get rid of stuck packets in the IO Board.
static const Mode_t _MODE_SWITCH_IS_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 5;
void setHkDestination(object_id_t hkDestination);
/**
@ -121,6 +171,10 @@ class DeviceHandlerBase : public DeviceHandlerIF,
lp_id_t thermalStatePoolId = DeviceHandlerIF::DEFAULT_THERMAL_STATE_POOL_ID,
lp_id_t thermalRequestPoolId = DeviceHandlerIF::DEFAULT_THERMAL_HEATING_REQUEST_POOL_ID,
uint32_t thermalSetId = DeviceHandlerIF::DEFAULT_THERMAL_SET_ID);
ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF &parent) override;
ModeTreeChildIF &getModeTreeChildIF() override;
/**
* @brief Helper function to ease device handler development.
* This will instruct the transition to MODE_ON immediately
@ -166,7 +220,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
* @param counter Specifies which Action to perform
* @return returnvalue::OK for successful execution
*/
virtual ReturnValue_t performOperation(uint8_t counter) override;
ReturnValue_t performOperation(uint8_t counter) override;
/**
* @brief Initializes the device handler
@ -176,14 +230,14 @@ class DeviceHandlerBase : public DeviceHandlerIF,
* Calls fillCommandAndReplyMap().
* @return
*/
virtual ReturnValue_t initialize() override;
ReturnValue_t initialize() override;
/**
* @brief Intialization steps performed after all tasks have been created.
* This function will be called by the executing task.
* @return
*/
virtual ReturnValue_t initializeAfterTaskCreation() override;
ReturnValue_t initializeAfterTaskCreation() override;
/** Destructor. */
virtual ~DeviceHandlerBase();
@ -200,6 +254,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
virtual object_id_t getObjectId() const override;
/**
* This is a helper method for classes which are parent nodes in the mode tree.
* It registers the passed queue as the destination for mode and health messages.
* @param parentQueueId
*/
virtual void setParentQueue(MessageQueueId_t parentQueueId);
@ -696,15 +752,18 @@ class DeviceHandlerBase : public DeviceHandlerIF,
size_t rawPacketLen = 0;
/**
* The mode the device handler is currently in.
* This should never be changed directly but only with setMode()
* Get the current mode
*
* set via setMode()
*/
Mode_t mode;
Mode_t getMode();
/**
* The submode the device handler is currently in.
* This should never be changed directly but only with setMode()
* Get the current Submode
*
* set via setMode()
*/
Submode_t submode;
Submode_t getSubmode();
/** This is the counter value from performOperation(). */
uint8_t pstStep = 0;
@ -893,8 +952,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
* Do the transition to the main modes (MODE_ON, MODE_NORMAL and MODE_RAW).
*
* If the transition is complete, the mode should be set to the target mode,
* which can be deduced from the current mode which is
* [_MODE_TO_ON, _MODE_TO_NORMAL, _MODE_TO_RAW]
* which can be deduced from the current mode (which is
* [_MODE_TO_ON, _MODE_TO_NORMAL, _MODE_TO_RAW]) using getBaseMode()
*
* The intended target submode is already set.
* The origin submode can be read in subModeFrom.
@ -961,6 +1020,9 @@ class DeviceHandlerBase : public DeviceHandlerIF,
*/
LocalDataPoolManager *getHkManagerHandle() override;
const HasHealthIF *getOptHealthIF() const override;
const HasModesIF &getModeIF() const override;
/**
* Returns the delay cycle count of a reply.
* A count != 0 indicates that the command is already executed.
@ -1206,6 +1268,18 @@ class DeviceHandlerBase : public DeviceHandlerIF,
*/
uint32_t childTransitionDelay;
/**
* The mode the device handler is currently in.
* This should not be changed directly but only with setMode()
*/
Mode_t mode;
/**
* The submode the device handler is currently in.
* This should not be changed directly but only with setMode()
*/
Submode_t submode;