fsfw/fsfw
fsfw/fsfw
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Merge branch 'eive/develop' into mueller/master

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This commit is contained in:
Robin Müller 2021-11-19 13:21:40 +01:00
commit 5d719d0aeb
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GPG Key ID: 11D4952C8CCEF814
48 changed files with 2350 additions and 147 deletions
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8
automation/Dockerfile Normal file
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@ -0,0 +1,8 @@
FROM ubuntu:focal
RUN apt-get update
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

72
automation/Jenkinsfile vendored Normal file
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@ -0,0 +1,72 @@
pipeline {
agent any
environment {
BUILDDIR = 'build-unittests'
}
stages {
stage('Create Docker') {
agent {
dockerfile {
dir 'automation'
additionalBuildArgs '--no-cache'
reuseNode true
}
}
steps {
sh 'rm -rf $BUILDDIR'
}
}
stage('Configure') {
agent {
dockerfile {
dir 'automation'
reuseNode true
}
}
steps {
dir(BUILDDIR) {
sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..'
}
}
}
stage('Build') {
agent {
dockerfile {
dir 'automation'
reuseNode true
}
}
steps {
dir(BUILDDIR) {
sh 'cmake --build . -j'
}
}
}
stage('Unittests') {
agent {
dockerfile {
dir 'automation'
reuseNode true
}
}
steps {
dir(BUILDDIR) {
sh 'cmake --build . -- fsfw-tests_coverage -j'
}
}
}
stage('Valgrind') {
agent {
dockerfile {
dir 'automation'
reuseNode true
}
}
steps {
dir(BUILDDIR) {
sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
}
}
}
}
}

2
hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
View File

@ -186,7 +186,7 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const
uint8_t cmmValue = packet[1];
// We clear the seventh bit in any case
// because this one is zero sometimes for some reason
bitutil::bitClear(&cmmValue, 6);
bitutil::clear(&cmmValue, 6);
if(cmmValue == cmmRegValue and internalState == InternalState::READ_CMM) {
commandExecuted = true;
}

25
hal/src/fsfw_hal/stm32h7/definitions.h Normal file
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@ -0,0 +1,25 @@
#ifndef FSFW_HAL_STM32H7_DEFINITIONS_H_
#define FSFW_HAL_STM32H7_DEFINITIONS_H_
#include <utility>
#include "stm32h7xx.h"
namespace stm32h7 {
/**
* Typedef for STM32 GPIO pair where the first entry is the port used (e.g. GPIOA)
* and the second entry is the pin number
*/
struct GpioCfg {
GpioCfg(): port(nullptr), pin(0), altFnc(0) {};
GpioCfg(GPIO_TypeDef* port, uint16_t pin, uint8_t altFnc = 0):
port(port), pin(pin), altFnc(altFnc) {};
GPIO_TypeDef* port;
uint16_t pin;
uint8_t altFnc;
};
}
#endif /* #ifndef FSFW_HAL_STM32H7_DEFINITIONS_H_ */

8
hal/src/fsfw_hal/stm32h7/devicetest/GyroL3GD20H.cpp
View File

@ -4,7 +4,7 @@
#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
#include "fsfw_hal/stm32h7/spi/spiCore.h"
#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
#include "fsfw_hal/stm32h7/spi/stm32h743ziSpi.h"
#include "fsfw_hal/stm32h7/spi/stm32h743zi.h"
#include "fsfw/tasks/TaskFactory.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
@ -33,20 +33,20 @@ GyroL3GD20H::GyroL3GD20H(SPI_HandleTypeDef *spiHandle, spi::TransferModes transf
mspCfg = new spi::MspDmaConfigStruct();
auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct*>(mspCfg);
spi::setDmaHandles(txDmaHandle, rxDmaHandle);
spi::h743zi::standardDmaCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS,
stm32h7::h743zi::standardDmaCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS,
IrqPriorities::HIGHEST_FREERTOS, IrqPriorities::HIGHEST_FREERTOS);
spi::setSpiDmaMspFunctions(typedCfg);
}
else if(transferMode == spi::TransferModes::INTERRUPT) {
mspCfg = new spi::MspIrqConfigStruct();
auto typedCfg = dynamic_cast<spi::MspIrqConfigStruct*>(mspCfg);
spi::h743zi::standardInterruptCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS);
stm32h7::h743zi::standardInterruptCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS);
spi::setSpiIrqMspFunctions(typedCfg);
}
else if(transferMode == spi::TransferModes::POLLING) {
mspCfg = new spi::MspPollingConfigStruct();
auto typedCfg = dynamic_cast<spi::MspPollingConfigStruct*>(mspCfg);
spi::h743zi::standardPollingCfg(*typedCfg);
stm32h7::h743zi::standardPollingCfg(*typedCfg);
spi::setSpiPollingMspFunctions(typedCfg);
}

2
hal/src/fsfw_hal/stm32h7/spi/CMakeLists.txt
View File

@ -5,5 +5,5 @@ target_sources(${LIB_FSFW_NAME} PRIVATE
mspInit.cpp
SpiCookie.cpp
SpiComIF.cpp
stm32h743ziSpi.cpp
stm32h743zi.cpp
)

38
hal/src/fsfw_hal/stm32h7/spi/SpiComIF.cpp
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@ -138,12 +138,14 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
spi::setSpiDmaMspFunctions(typedCfg);
}
gpio::initializeGpioClock(gpioPort);
GPIO_InitTypeDef chipSelect = {};
chipSelect.Pin = gpioPin;
chipSelect.Mode = GPIO_MODE_OUTPUT_PP;
HAL_GPIO_Init(gpioPort, &chipSelect);
HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_SET);
if(gpioPort != nullptr) {
gpio::initializeGpioClock(gpioPort);
GPIO_InitTypeDef chipSelect = {};
chipSelect.Pin = gpioPin;
chipSelect.Mode = GPIO_MODE_OUTPUT_PP;
HAL_GPIO_Init(gpioPort, &chipSelect);
HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_SET);
}
if(HAL_SPI_Init(&spiHandle) != HAL_OK) {
sif::printWarning("SpiComIF::initialize: Error initializing SPI\n");
@ -259,10 +261,15 @@ ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t* recvPtr, SPI_HandleT
return returnval;
}
spiCookie.setTransferState(spi::TransferStates::WAIT);
HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_RESET);
if(gpioPort != nullptr) {
HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_RESET);
}
auto result = HAL_SPI_TransmitReceive(&spiHandle, const_cast<uint8_t*>(sendData),
recvPtr, sendLen, defaultPollingTimeout);
HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_SET);
if(gpioPort != nullptr) {
HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_SET);
}
spiSemaphore->release();
switch(result) {
case(HAL_OK): {
@ -392,8 +399,10 @@ ReturnValue_t SpiComIF::genericIrqSendSetup(uint8_t *recvPtr, SPI_HandleTypeDef&
// The SPI handle is passed to the default SPI callback as a void argument. This callback
// is different from the user callbacks specified above!
spi::assignSpiUserArgs(spiCookie.getSpiIdx(), reinterpret_cast<void*>(&spiHandle));
HAL_GPIO_WritePin(spiCookie.getChipSelectGpioPort(), spiCookie.getChipSelectGpioPin(),
GPIO_PIN_RESET);
if(spiCookie.getChipSelectGpioPort() != nullptr) {
HAL_GPIO_WritePin(spiCookie.getChipSelectGpioPort(), spiCookie.getChipSelectGpioPin(),
GPIO_PIN_RESET);
}
return HasReturnvaluesIF::RETURN_OK;
}
@ -426,9 +435,12 @@ void SpiComIF::genericIrqHandler(void *irqArgsVoid, spi::TransferStates targetSt
spiCookie->setTransferState(targetState);
// Pull CS pin high again
HAL_GPIO_WritePin(spiCookie->getChipSelectGpioPort(), spiCookie->getChipSelectGpioPin(),
GPIO_PIN_SET);
if(spiCookie->getChipSelectGpioPort() != nullptr) {
// Pull CS pin high again
HAL_GPIO_WritePin(spiCookie->getChipSelectGpioPort(), spiCookie->getChipSelectGpioPin(),
GPIO_PIN_SET);
}
#if defined FSFW_OSAL_FREERTOS
// Release the task semaphore

3
hal/src/fsfw_hal/stm32h7/spi/SpiComIF.h
View File

@ -60,7 +60,6 @@ public:
void addDmaHandles(DMA_HandleTypeDef* txHandle, DMA_HandleTypeDef* rxHandle);
ReturnValue_t initialize() override;
protected:
// DeviceCommunicationIF overrides
virtual ReturnValue_t initializeInterface(CookieIF * cookie) override;
@ -72,7 +71,7 @@ protected:
virtual ReturnValue_t readReceivedMessage(CookieIF *cookie,
uint8_t **buffer, size_t *size) override;
private:
protected:
struct SpiInstance {
SpiInstance(size_t maxRecvSize): replyBuffer(std::vector<uint8_t>(maxRecvSize)) {}

10
hal/src/fsfw_hal/stm32h7/spi/SpiCookie.cpp
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@ -3,10 +3,10 @@
SpiCookie::SpiCookie(address_t deviceAddress, spi::SpiBus spiIdx, spi::TransferModes transferMode,
spi::MspCfgBase* mspCfg, uint32_t spiSpeed, spi::SpiModes spiMode,
uint16_t chipSelectGpioPin, GPIO_TypeDef* chipSelectGpioPort, size_t maxRecvSize):
size_t maxRecvSize, stm32h7::GpioCfg csGpio):
deviceAddress(deviceAddress), spiIdx(spiIdx), spiSpeed(spiSpeed), spiMode(spiMode),
transferMode(transferMode), chipSelectGpioPin(chipSelectGpioPin),
chipSelectGpioPort(chipSelectGpioPort), mspCfg(mspCfg), maxRecvSize(maxRecvSize) {
transferMode(transferMode), csGpio(csGpio),
mspCfg(mspCfg), maxRecvSize(maxRecvSize) {
spiHandle.Init.DataSize = SPI_DATASIZE_8BIT;
spiHandle.Init.FirstBit = SPI_FIRSTBIT_MSB;
spiHandle.Init.TIMode = SPI_TIMODE_DISABLE;
@ -24,11 +24,11 @@ SpiCookie::SpiCookie(address_t deviceAddress, spi::SpiBus spiIdx, spi::TransferM
}
uint16_t SpiCookie::getChipSelectGpioPin() const {
return chipSelectGpioPin;
return csGpio.pin;
}
GPIO_TypeDef* SpiCookie::getChipSelectGpioPort() {
return chipSelectGpioPort;
return csGpio.port;
}
address_t SpiCookie::getDeviceAddress() const {

11
hal/src/fsfw_hal/stm32h7/spi/SpiCookie.h
View File

@ -3,11 +3,14 @@
#include "spiDefinitions.h"
#include "mspInit.h"
#include "../definitions.h"
#include "fsfw/devicehandlers/CookieIF.h"
#include "stm32h743xx.h"
#include <utility>
/**
* @brief SPI cookie implementation for the STM32H7 device family
* @details
@ -18,6 +21,7 @@
class SpiCookie: public CookieIF {
friend class SpiComIF;
public:
/**
* Allows construction of a SPI cookie for a connected SPI device
* @param deviceAddress
@ -32,10 +36,11 @@ public:
* definitions supplied in the MCU header file! (e.g. GPIO_PIN_X)
* @param chipSelectGpioPort GPIO port (e.g. GPIOA)
* @param maxRecvSize Maximum expected receive size. Chose as small as possible.
* @param csGpio Optional CS GPIO definition.
*/
SpiCookie(address_t deviceAddress, spi::SpiBus spiIdx, spi::TransferModes transferMode,
spi::MspCfgBase* mspCfg, uint32_t spiSpeed, spi::SpiModes spiMode,
uint16_t chipSelectGpioPin, GPIO_TypeDef* chipSelectGpioPort, size_t maxRecvSize);
size_t maxRecvSize, stm32h7::GpioCfg csGpio = stm32h7::GpioCfg(nullptr, 0, 0));
uint16_t getChipSelectGpioPin() const;
GPIO_TypeDef* getChipSelectGpioPort();
@ -55,8 +60,8 @@ private:
spi::SpiModes spiMode;
spi::TransferModes transferMode;
volatile spi::TransferStates transferState = spi::TransferStates::IDLE;
uint16_t chipSelectGpioPin;
GPIO_TypeDef* chipSelectGpioPort;
stm32h7::GpioCfg csGpio;
// The MSP configuration is cached here. Be careful when using this, it is automatically
// deleted by the SPI communication interface if it is not required anymore!
spi::MspCfgBase* mspCfg = nullptr;

28
hal/src/fsfw_hal/stm32h7/spi/mspInit.cpp
View File

@ -118,40 +118,40 @@ void spi::halMspInitPolling(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
GPIO_InitTypeDef GPIO_InitStruct = {};
/*##-1- Enable peripherals and GPIO Clocks #################################*/
/* Enable GPIO TX/RX clock */
cfg->setupMacroWrapper();
cfg->setupCb();
/*##-2- Configure peripheral GPIO ##########################################*/
/* SPI SCK GPIO pin configuration */
GPIO_InitStruct.Pin = cfg->sckPin;
GPIO_InitStruct.Pin = cfg->sck.pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Alternate = cfg->sckAlternateFunction;
HAL_GPIO_Init(cfg->sckPort, &GPIO_InitStruct);
GPIO_InitStruct.Alternate = cfg->sck.altFnc;
HAL_GPIO_Init(cfg->sck.port, &GPIO_InitStruct);
/* SPI MISO GPIO pin configuration */
GPIO_InitStruct.Pin = cfg->misoPin;
GPIO_InitStruct.Alternate = cfg->misoAlternateFunction;
HAL_GPIO_Init(cfg->misoPort, &GPIO_InitStruct);
GPIO_InitStruct.Pin = cfg->miso.pin;
GPIO_InitStruct.Alternate = cfg->miso.altFnc;
HAL_GPIO_Init(cfg->miso.port, &GPIO_InitStruct);
/* SPI MOSI GPIO pin configuration */
GPIO_InitStruct.Pin = cfg->mosiPin;
GPIO_InitStruct.Alternate = cfg->mosiAlternateFunction;
HAL_GPIO_Init(cfg->mosiPort, &GPIO_InitStruct);
GPIO_InitStruct.Pin = cfg->mosi.pin;
GPIO_InitStruct.Alternate = cfg->mosi.altFnc;
HAL_GPIO_Init(cfg->mosi.port, &GPIO_InitStruct);
}
void spi::halMspDeinitPolling(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
auto cfg = reinterpret_cast<MspPollingConfigStruct*>(cfgBase);
// Reset peripherals
cfg->cleanUpMacroWrapper();
cfg->cleanupCb();
// Disable peripherals and GPIO Clocks
/* Configure SPI SCK as alternate function */
HAL_GPIO_DeInit(cfg->sckPort, cfg->sckPin);
HAL_GPIO_DeInit(cfg->sck.port, cfg->sck.pin);
/* Configure SPI MISO as alternate function */
HAL_GPIO_DeInit(cfg->misoPort, cfg->misoPin);
HAL_GPIO_DeInit(cfg->miso.port, cfg->miso.pin);
/* Configure SPI MOSI as alternate function */
HAL_GPIO_DeInit(cfg->mosiPort, cfg->mosiPin);
HAL_GPIO_DeInit(cfg->mosi.port, cfg->mosi.pin);
}
void spi::halMspInitInterrupt(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {

50
hal/src/fsfw_hal/stm32h7/spi/mspInit.h
View File

@ -2,6 +2,7 @@
#define FSFW_HAL_STM32H7_SPI_MSPINIT_H_
#include "spiDefinitions.h"
#include "../definitions.h"
#include "../dma.h"
#include "stm32h7xx_hal_spi.h"
@ -12,6 +13,8 @@
extern "C" {
#endif
using mspCb = void (*) (void);
/**
* @brief This file provides MSP implementation for DMA, IRQ and Polling mode for the
* SPI peripheral. This configuration is required for the SPI communication to work.
@ -19,27 +22,37 @@ extern "C" {
namespace spi {
struct MspCfgBase {
MspCfgBase();
MspCfgBase(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
mspCb cleanupCb = nullptr, mspCb setupCb = nullptr):
sck(sck), mosi(mosi), miso(miso), cleanupCb(cleanupCb),
setupCb(setupCb) {}
virtual ~MspCfgBase() = default;
void (* cleanUpMacroWrapper) (void) = nullptr;
void (* setupMacroWrapper) (void) = nullptr;
stm32h7::GpioCfg sck;
stm32h7::GpioCfg mosi;
stm32h7::GpioCfg miso;
GPIO_TypeDef* sckPort = nullptr;
uint32_t sckPin = 0;
uint8_t sckAlternateFunction = 0;
GPIO_TypeDef* mosiPort = nullptr;
uint32_t mosiPin = 0;
uint8_t mosiAlternateFunction = 0;
GPIO_TypeDef* misoPort = nullptr;
uint32_t misoPin = 0;
uint8_t misoAlternateFunction = 0;
mspCb cleanupCb = nullptr;
mspCb setupCb = nullptr;
};
struct MspPollingConfigStruct: public MspCfgBase {};
struct MspPollingConfigStruct: public MspCfgBase {
MspPollingConfigStruct(): MspCfgBase() {};
MspPollingConfigStruct(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
mspCb cleanupCb = nullptr, mspCb setupCb = nullptr):
MspCfgBase(sck, mosi, miso, cleanupCb, setupCb) {}
};
/* A valid instance of this struct must be passed to the MSP initialization function as a void*
argument */
struct MspIrqConfigStruct: public MspPollingConfigStruct {
MspIrqConfigStruct(): MspPollingConfigStruct() {};
MspIrqConfigStruct(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
mspCb cleanupCb = nullptr, mspCb setupCb = nullptr):
MspPollingConfigStruct(sck, mosi, miso, cleanupCb, setupCb) {}
SpiBus spiBus = SpiBus::SPI_1;
user_handler_t spiIrqHandler = nullptr;
user_args_t spiUserArgs = nullptr;
@ -53,11 +66,16 @@ struct MspIrqConfigStruct: public MspPollingConfigStruct {
/* A valid instance of this struct must be passed to the MSP initialization function as a void*
argument */
struct MspDmaConfigStruct: public MspIrqConfigStruct {
MspDmaConfigStruct(): MspIrqConfigStruct() {};
MspDmaConfigStruct(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
mspCb cleanupCb = nullptr, mspCb setupCb = nullptr):
MspIrqConfigStruct(sck, mosi, miso, cleanupCb, setupCb) {}
void (* dmaClkEnableWrapper) (void) = nullptr;
dma::DMAIndexes txDmaIndex;
dma::DMAIndexes rxDmaIndex;
dma::DMAStreams txDmaStream;
dma::DMAStreams rxDmaStream;
dma::DMAIndexes txDmaIndex = dma::DMAIndexes::DMA_1;
dma::DMAIndexes rxDmaIndex = dma::DMAIndexes::DMA_1;
dma::DMAStreams txDmaStream = dma::DMAStreams::STREAM_0;
dma::DMAStreams rxDmaStream = dma::DMAStreams::STREAM_0;
IRQn_Type txDmaIrqNumber = DMA1_Stream0_IRQn;
IRQn_Type rxDmaIrqNumber = DMA1_Stream1_IRQn;
// Priorities for NVIC

32
hal/src/fsfw_hal/stm32h7/spi/stm32h743ziSpi.cpp → hal/src/fsfw_hal/stm32h7/spi/stm32h743zi.cpp
View File

@ -1,4 +1,4 @@
#include "fsfw_hal/stm32h7/spi/stm32h743ziSpi.h"
#include "fsfw_hal/stm32h7/spi/stm32h743zi.h"
#include "fsfw_hal/stm32h7/spi/spiCore.h"
#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
@ -22,27 +22,27 @@ void spiDmaClockEnableWrapper() {
__HAL_RCC_DMA2_CLK_ENABLE();
}
void spi::h743zi::standardPollingCfg(MspPollingConfigStruct& cfg) {
cfg.setupMacroWrapper = &spiSetupWrapper;
cfg.cleanUpMacroWrapper = &spiCleanUpWrapper;
cfg.sckPort = GPIOA;
cfg.sckPin = GPIO_PIN_5;
cfg.misoPort = GPIOA;
cfg.misoPin = GPIO_PIN_6;
cfg.mosiPort = GPIOA;
cfg.mosiPin = GPIO_PIN_7;
cfg.sckAlternateFunction = GPIO_AF5_SPI1;
cfg.mosiAlternateFunction = GPIO_AF5_SPI1;
cfg.misoAlternateFunction = GPIO_AF5_SPI1;
void stm32h7::h743zi::standardPollingCfg(spi::MspPollingConfigStruct& cfg) {
cfg.setupCb = &spiSetupWrapper;
cfg.cleanupCb = &spiCleanUpWrapper;
cfg.sck.port = GPIOA;
cfg.sck.pin = GPIO_PIN_5;
cfg.miso.port = GPIOA;
cfg.miso.pin = GPIO_PIN_6;
cfg.mosi.port = GPIOA;
cfg.mosi.pin = GPIO_PIN_7;
cfg.sck.altFnc = GPIO_AF5_SPI1;
cfg.mosi.altFnc = GPIO_AF5_SPI1;
cfg.miso.altFnc = GPIO_AF5_SPI1;
}
void spi::h743zi::standardInterruptCfg(MspIrqConfigStruct& cfg, IrqPriorities spiIrqPrio,
void stm32h7::h743zi::standardInterruptCfg(spi::MspIrqConfigStruct& cfg, IrqPriorities spiIrqPrio,
IrqPriorities spiSubprio) {
// High, but works on FreeRTOS as well (priorities range from 0 to 15)
cfg.preEmptPriority = spiIrqPrio;
cfg.subpriority = spiSubprio;
cfg.spiIrqNumber = SPI1_IRQn;
cfg.spiBus = SpiBus::SPI_1;
cfg.spiBus = spi::SpiBus::SPI_1;
user_handler_t spiUserHandler = nullptr;
user_args_t spiUserArgs = nullptr;
getSpiUserHandler(spi::SpiBus::SPI_1, &spiUserHandler, &spiUserArgs);
@ -55,7 +55,7 @@ void spi::h743zi::standardInterruptCfg(MspIrqConfigStruct& cfg, IrqPriorities sp
standardPollingCfg(cfg);
}
void spi::h743zi::standardDmaCfg(MspDmaConfigStruct& cfg, IrqPriorities spiIrqPrio,
void stm32h7::h743zi::standardDmaCfg(spi::MspDmaConfigStruct& cfg, IrqPriorities spiIrqPrio,
IrqPriorities txIrqPrio, IrqPriorities rxIrqPrio, IrqPriorities spiSubprio,
IrqPriorities txSubprio, IrqPriorities rxSubprio) {
cfg.dmaClkEnableWrapper = &spiDmaClockEnableWrapper;

11
hal/src/fsfw_hal/stm32h7/spi/stm32h743ziSpi.h → hal/src/fsfw_hal/stm32h7/spi/stm32h743zi.h
View File

@ -3,21 +3,20 @@
#include "mspInit.h"
namespace spi {
namespace stm32h7 {
namespace h743zi {
void standardPollingCfg(MspPollingConfigStruct& cfg);
void standardInterruptCfg(MspIrqConfigStruct& cfg, IrqPriorities spiIrqPrio,
void standardPollingCfg(spi::MspPollingConfigStruct& cfg);
void standardInterruptCfg(spi::MspIrqConfigStruct& cfg, IrqPriorities spiIrqPrio,
IrqPriorities spiSubprio = HIGHEST);
void standardDmaCfg(MspDmaConfigStruct& cfg, IrqPriorities spiIrqPrio,
void standardDmaCfg(spi::MspDmaConfigStruct& cfg, IrqPriorities spiIrqPrio,
IrqPriorities txIrqPrio, IrqPriorities rxIrqPrio,
IrqPriorities spiSubprio = HIGHEST, IrqPriorities txSubPrio = HIGHEST,
IrqPriorities rxSubprio = HIGHEST);
}
}
#endif /* FSFW_HAL_STM32H7_SPI_STM32H743ZISPI_H_ */

6
src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp
View File

@ -110,7 +110,7 @@ ReturnValue_t LocalPoolDataSetBase::serializeWithValidityBuffer(uint8_t **buffer
for (uint16_t count = 0; count < fillCount; count++) {
if(registeredVariables[count]->isValid()) {
/* Set bit at correct position */
bitutil::bitSet(validityPtr + validBufferIndex, validBufferIndexBit);
bitutil::set(validityPtr + validBufferIndex, validBufferIndexBit);
}
if(validBufferIndexBit == 7) {
validBufferIndex ++;
@ -156,8 +156,8 @@ ReturnValue_t LocalPoolDataSetBase::deSerializeWithValidityBuffer(
uint8_t validBufferIndexBit = 0;
for (uint16_t count = 0; count < fillCount; count++) {
// set validity buffer here.
bool nextVarValid = bitutil::bitGet(*buffer +
validBufferIndex, validBufferIndexBit);
bool nextVarValid = false;
bitutil::get(*buffer + validBufferIndex, validBufferIndexBit, nextVarValid);
registeredVariables[count]->setValid(nextVarValid);
if(validBufferIndexBit == 7) {

16
src/fsfw/globalfunctions/PeriodicOperationDivider.cpp
View File

@ -3,16 +3,16 @@
PeriodicOperationDivider::PeriodicOperationDivider(uint32_t divider,
bool resetAutomatically): resetAutomatically(resetAutomatically),
counter(divider), divider(divider) {
divider(divider) {
}
bool PeriodicOperationDivider::checkAndIncrement() {
counter++;
bool opNecessary = check();
if(opNecessary) {
if(resetAutomatically) {
resetCounter();
}
if(opNecessary and resetAutomatically) {
resetCounter();
}
else {
counter++;
}
return opNecessary;
}
@ -24,10 +24,8 @@ bool PeriodicOperationDivider::check() {
return false;
}
void PeriodicOperationDivider::resetCounter() {
counter = 0;
counter = 1;
}
void PeriodicOperationDivider::setDivider(uint32_t newDivider) {

17
src/fsfw/globalfunctions/PeriodicOperationDivider.h
View File

@ -16,16 +16,15 @@ public:
/**
* Initialize with the desired divider and specify whether the internal
* counter will be reset automatically.
* @param divider
* @param divider Value of 0 or 1 will cause #check and #checkAndIncrement to always return
* true
* @param resetAutomatically
*/
PeriodicOperationDivider(uint32_t divider, bool resetAutomatically = true);
/**
* Check whether operation is necessary.
* If an operation is necessary and the class has been
* configured to be reset automatically, the counter will be reset.
* Check whether operation is necessary. If an operation is necessary and the class has been
* configured to be reset automatically, the counter will be reset to 1 automatically
*
* @return
* -@c true if the counter is larger or equal to the divider
@ -34,8 +33,7 @@ public:
bool checkAndIncrement();
/**
* Checks whether an operation is necessary.
* This function will not increment the counter!
* Checks whether an operation is necessary. This function will not increment the counter.
* @return
* -@c true if the counter is larger or equal to the divider
* -@c false otherwise
@ -43,7 +41,7 @@ public:
bool check();
/**
* Can be used to reset the counter to 0 manually.
* Can be used to reset the counter to 1 manually
*/
void resetCounter();
uint32_t getCounter() const;
@ -54,9 +52,10 @@ public:
*/
void setDivider(uint32_t newDivider);
uint32_t getDivider() const;
private:
bool resetAutomatically = true;
uint32_t counter = 0;
uint32_t counter = 1;
uint32_t divider = 0;
};

22
src/fsfw/globalfunctions/arrayprinter.cpp
View File

@ -45,18 +45,18 @@ void arrayprinter::printHex(const uint8_t *data, size_t size,
std::cout << "\r" << std::endl;
}
std::cout << "[" << std::hex;
std::cout << "hex [" << std::setfill('0') << std::hex;
for(size_t i = 0; i < size; i++) {
std::cout << "0x" << static_cast<int>(data[i]);
std::cout << std::setw(2) << static_cast<int>(data[i]);
if(i < size - 1) {
std::cout << " , ";
std::cout << ",";
if(i > 0 and (i + 1) % maxCharPerLine == 0) {
std::cout << std::endl;
}
}
}
std::cout << std::dec;
std::cout << std::dec << std::setfill(' ');
std::cout << "]" << std::endl;
#else
// General format: 0x01, 0x02, 0x03 so it is number of chars times 6
@ -69,16 +69,16 @@ void arrayprinter::printHex(const uint8_t *data, size_t size,
break;
}
currentPos += snprintf(printBuffer + currentPos, 6, "0x%02x", data[i]);
currentPos += snprintf(printBuffer + currentPos, 6, "%02x", data[i]);
if(i < size - 1) {
currentPos += sprintf(printBuffer + currentPos, ", ");
currentPos += sprintf(printBuffer + currentPos, ",");
if(i > 0 and (i + 1) % maxCharPerLine == 0) {
currentPos += sprintf(printBuffer + currentPos, "\n");
}
}
}
#if FSFW_DISABLE_PRINTOUT == 0
printf("[%s]\n", printBuffer);
printf("hex [%s]\n", printBuffer);
#endif /* FSFW_DISABLE_PRINTOUT == 0 */
#endif
}
@ -90,11 +90,11 @@ void arrayprinter::printDec(const uint8_t *data, size_t size,
std::cout << "\r" << std::endl;
}
std::cout << "[" << std::dec;
std::cout << "dec [" << std::dec;
for(size_t i = 0; i < size; i++) {
std::cout << static_cast<int>(data[i]);
if(i < size - 1){
std::cout << " , ";
std::cout << ",";
if(i > 0 and (i + 1) % maxCharPerLine == 0) {
std::cout << std::endl;
}
@ -114,14 +114,14 @@ void arrayprinter::printDec(const uint8_t *data, size_t size,
currentPos += snprintf(printBuffer + currentPos, 3, "%d", data[i]);
if(i < size - 1) {
currentPos += sprintf(printBuffer + currentPos, ", ");
currentPos += sprintf(printBuffer + currentPos, ",");
if(i > 0 and (i + 1) % maxCharPerLine == 0) {
currentPos += sprintf(printBuffer + currentPos, "\n");
}
}
}
#if FSFW_DISABLE_PRINTOUT == 0
printf("[%s]\n", printBuffer);
printf("dec [%s]\n", printBuffer);
#endif /* FSFW_DISABLE_PRINTOUT == 0 */
#endif
}

11
src/fsfw/globalfunctions/bitutility.cpp
View File

@ -1,6 +1,6 @@
#include "fsfw/globalfunctions/bitutility.h"
void bitutil::bitSet(uint8_t *byte, uint8_t position) {
void bitutil::set(uint8_t *byte, uint8_t position) {
if(position > 7) {
return;
}
@ -8,7 +8,7 @@ void bitutil::bitSet(uint8_t *byte, uint8_t position) {
*byte |= 1 << shiftNumber;
}
void bitutil::bitToggle(uint8_t *byte, uint8_t position) {
void bitutil::toggle(uint8_t *byte, uint8_t position) {
if(position > 7) {
return;
}
@ -16,7 +16,7 @@ void bitutil::bitToggle(uint8_t *byte, uint8_t position) {
*byte ^= 1 << shiftNumber;
}
void bitutil::bitClear(uint8_t *byte, uint8_t position) {
void bitutil::clear(uint8_t *byte, uint8_t position) {
if(position > 7) {
return;
}
@ -24,10 +24,11 @@ void bitutil::bitClear(uint8_t *byte, uint8_t position) {
*byte &= ~(1 << shiftNumber);
}
bool bitutil::bitGet(const uint8_t *byte, uint8_t position) {
bool bitutil::get(const uint8_t *byte, uint8_t position, bool& bit) {
if(position > 7) {
return false;
}
uint8_t shiftNumber = position + (7 - 2 * position);
return *byte & (1 << shiftNumber);
bit = *byte & (1 << shiftNumber);
return true;
}

37
src/fsfw/globalfunctions/bitutility.h
View File

@ -5,13 +5,36 @@
namespace bitutil {
/* Helper functions for manipulating the individual bits of a byte.
Position refers to n-th bit of a byte, going from 0 (most significant bit) to
7 (least significant bit) */
void bitSet(uint8_t* byte, uint8_t position);
void bitToggle(uint8_t* byte, uint8_t position);
void bitClear(uint8_t* byte, uint8_t position);
bool bitGet(const uint8_t* byte, uint8_t position);
// Helper functions for manipulating the individual bits of a byte.
// Position refers to n-th bit of a byte, going from 0 (most significant bit) to
// 7 (least significant bit)
/**
* @brief Set the bit in a given byte
* @param byte
* @param position
*/
void set(uint8_t* byte, uint8_t position);
/**
* @brief Toggle the bit in a given byte
* @param byte
* @param position
*/
void toggle(uint8_t* byte, uint8_t position);
/**
* @brief Clear the bit in a given byte
* @param byte
* @param position
*/
void clear(uint8_t* byte, uint8_t position);
/**
* @brief Get the bit in a given byte
* @param byte
* @param position
* @param If the input is valid, this will be set to true if the bit is set and false otherwise.
* @return False if position is invalid, True otherwise
*/
bool get(const uint8_t* byte, uint8_t position, bool& bit);
}

13
src/fsfw/memory/FileSystemArgsIF.h Normal file
View File

@ -0,0 +1,13 @@
#ifndef FSFW_SRC_FSFW_MEMORY_FILESYSTEMARGS_H_
#define FSFW_SRC_FSFW_MEMORY_FILESYSTEMARGS_H_
/**
* Empty base interface which can be implemented by to pass arguments via the HasFileSystemIF.
* Users can then dynamic_cast the base pointer to the require child pointer.
*/
class FileSystemArgsIF {
public:
virtual~ FileSystemArgsIF() {};
};
#endif /* FSFW_SRC_FSFW_MEMORY_FILESYSTEMARGS_H_ */

25
src/fsfw/memory/HasFileSystemIF.h
View File

@ -1,9 +1,10 @@
#ifndef FSFW_MEMORY_HASFILESYSTEMIF_H_
#define FSFW_MEMORY_HASFILESYSTEMIF_H_
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../returnvalues/FwClassIds.h"
#include "../ipc/messageQueueDefinitions.h"
#include "FileSystemArgsIF.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/returnvalues/FwClassIds.h"
#include "fsfw/ipc/messageQueueDefinitions.h"
#include <cstddef>
@ -59,7 +60,7 @@ public:
*/
virtual ReturnValue_t appendToFile(const char* repositoryPath,
const char* filename, const uint8_t* data, size_t size,
uint16_t packetNumber, void* args = nullptr) = 0;
uint16_t packetNumber, FileSystemArgsIF* args = nullptr) = 0;
/**
* @brief Generic function to create a new file.
@ -72,7 +73,7 @@ public:
*/
virtual ReturnValue_t createFile(const char* repositoryPath,
const char* filename, const uint8_t* data = nullptr,
size_t size = 0, void* args = nullptr) = 0;
size_t size = 0, FileSystemArgsIF* args = nullptr) = 0;
/**
* @brief Generic function to delete a file.
@ -82,23 +83,29 @@ public:
* @return
*/
virtual ReturnValue_t removeFile(const char* repositoryPath,
const char* filename, void* args = nullptr) = 0;
const char* filename, FileSystemArgsIF* args = nullptr) = 0;
/**
* @brief Generic function to create a directory
* @param repositoryPath
* @param Equivalent to the -p flag in Unix systems. If some required parent directories
* do not exist, create them as well
* @param args Any other arguments which an implementation might require
* @return
*/
virtual ReturnValue_t createDirectory(const char* repositoryPath, void* args = nullptr) = 0;
virtual ReturnValue_t createDirectory(const char* repositoryPath, const char* dirname,
bool createParentDirs, FileSystemArgsIF* args = nullptr) = 0;
/**
* @brief Generic function to remove a directory
* @param repositoryPath
* @param args Any other arguments which an implementation might require
*/
virtual ReturnValue_t removeDirectory(const char* repositoryPath,
bool deleteRecurively = false, void* args = nullptr) = 0;
virtual ReturnValue_t removeDirectory(const char* repositoryPath, const char* dirname,
bool deleteRecurively = false, FileSystemArgsIF* args = nullptr) = 0;
virtual ReturnValue_t renameFile(const char* repositoryPath, const char* oldFilename,
const char* newFilename, FileSystemArgsIF* args = nullptr) = 0;
};

3
tests/src/fsfw_tests/CMakeLists.txt
View File

@ -1,8 +1,9 @@
if(FSFW_ADD_INTERNAL_TESTS)
add_subdirectory(internal)
endif()
if(FSFW_BUILD_UNITTESTS)
add_subdirectory(unit)
else()
add_subdirectory(integration)
endif()

4
tests/src/fsfw_tests/integration/CMakeLists.txt Normal file
View File

@ -0,0 +1,4 @@
add_subdirectory(assemblies)
add_subdirectory(controller)
add_subdirectory(devices)
add_subdirectory(task)

3
tests/src/fsfw_tests/integration/assemblies/CMakeLists.txt Normal file
View File

@ -0,0 +1,3 @@
target_sources(${LIB_FSFW_NAME} PRIVATE
TestAssembly.cpp
)

201
tests/src/fsfw_tests/integration/assemblies/TestAssembly.cpp Normal file
View File

@ -0,0 +1,201 @@
#include "TestAssembly.h"
#include <fsfw/objectmanager/ObjectManager.h>
TestAssembly::TestAssembly(object_id_t objectId, object_id_t parentId, object_id_t testDevice0,
object_id_t testDevice1):
AssemblyBase(objectId, parentId), deviceHandler0Id(testDevice0),
deviceHandler1Id(testDevice1) {
ModeListEntry newModeListEntry;
newModeListEntry.setObject(testDevice0);
newModeListEntry.setMode(MODE_OFF);
newModeListEntry.setSubmode(SUBMODE_NONE);
commandTable.insert(newModeListEntry);
newModeListEntry.setObject(testDevice1);
newModeListEntry.setMode(MODE_OFF);
newModeListEntry.setSubmode(SUBMODE_NONE);
commandTable.insert(newModeListEntry);
}
TestAssembly::~TestAssembly() {
}
ReturnValue_t TestAssembly::commandChildren(Mode_t mode,
Submode_t submode) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestAssembly: Received command to go to mode " << mode <<
" submode " << (int) submode << std::endl;
#else
sif::printInfo("TestAssembly: Received command to go to mode %d submode %d\n", mode, submode);
#endif
ReturnValue_t result = RETURN_OK;
if(mode == MODE_OFF){
commandTable[0].setMode(MODE_OFF);
commandTable[0].setSubmode(SUBMODE_NONE);
commandTable[1].setMode(MODE_OFF);
commandTable[1].setSubmode(SUBMODE_NONE);
}
else if(mode == DeviceHandlerIF::MODE_NORMAL) {
if(submode == submodes::SINGLE){
commandTable[0].setMode(MODE_OFF);
commandTable[0].setSubmode(SUBMODE_NONE);
commandTable[1].setMode(MODE_OFF);
commandTable[1].setSubmode(SUBMODE_NONE);
// We try to prefer 0 here but we try to switch to 1 even if it might fail
if(isDeviceAvailable(deviceHandler0Id)) {
if (childrenMap[deviceHandler0Id].mode == MODE_ON) {
commandTable[0].setMode(mode);
commandTable[0].setSubmode(SUBMODE_NONE);
}
else {
commandTable[0].setMode(MODE_ON);
commandTable[0].setSubmode(SUBMODE_NONE);
result = NEED_SECOND_STEP;
}
}
else {
if (childrenMap[deviceHandler1Id].mode == MODE_ON) {
commandTable[1].setMode(mode);
commandTable[1].setSubmode(SUBMODE_NONE);
}
else{
commandTable[1].setMode(MODE_ON);
commandTable[1].setSubmode(SUBMODE_NONE);
result = NEED_SECOND_STEP;
}
}
}
else{
// Dual Mode Normal
if (childrenMap[deviceHandler0Id].mode == MODE_ON) {
commandTable[0].setMode(mode);
commandTable[0].setSubmode(SUBMODE_NONE);
}
else{
commandTable[0].setMode(MODE_ON);
commandTable[0].setSubmode(SUBMODE_NONE);
result = NEED_SECOND_STEP;
}
if (childrenMap[deviceHandler1Id].mode == MODE_ON) {
commandTable[1].setMode(mode);
commandTable[1].setSubmode(SUBMODE_NONE);
}
else{
commandTable[1].setMode(MODE_ON);
commandTable[1].setSubmode(SUBMODE_NONE);
result = NEED_SECOND_STEP;
}
}
}
else{
//Mode ON
if(submode == submodes::SINGLE){
commandTable[0].setMode(MODE_OFF);
commandTable[0].setSubmode(SUBMODE_NONE);
commandTable[1].setMode(MODE_OFF);
commandTable[1].setSubmode(SUBMODE_NONE);
// We try to prefer 0 here but we try to switch to 1 even if it might fail
if(isDeviceAvailable(deviceHandler0Id)){
commandTable[0].setMode(MODE_ON);
commandTable[0].setSubmode(SUBMODE_NONE);
}
else{
commandTable[1].setMode(MODE_ON);
commandTable[1].setSubmode(SUBMODE_NONE);
}
}
else{
commandTable[0].setMode(MODE_ON);
commandTable[0].setSubmode(SUBMODE_NONE);
commandTable[1].setMode(MODE_ON);
commandTable[1].setSubmode(SUBMODE_NONE);
}
}
HybridIterator<ModeListEntry> iter(commandTable.begin(),
commandTable.end());
executeTable(iter);
return result;
}
ReturnValue_t TestAssembly::isModeCombinationValid(Mode_t mode,
Submode_t submode) {
switch (mode) {
case MODE_OFF:
if (submode == SUBMODE_NONE) {
return RETURN_OK;
} else {
return INVALID_SUBMODE;
}
case DeviceHandlerIF::MODE_NORMAL:
case MODE_ON:
if (submode < 3) {
return RETURN_OK;
} else {
return INVALID_SUBMODE;
}
}
return INVALID_MODE;
}
ReturnValue_t TestAssembly::initialize() {
ReturnValue_t result = AssemblyBase::initialize();
if(result != RETURN_OK){
return result;
}
handler0 = ObjectManager::instance()->get<TestDevice>(deviceHandler0Id);
handler1 = ObjectManager::instance()->get<TestDevice>(deviceHandler1Id);
if((handler0 == nullptr) or (handler1 == nullptr)){
return HasReturnvaluesIF::RETURN_FAILED;
}
handler0->setParentQueue(this->getCommandQueue());
handler1->setParentQueue(this->getCommandQueue());
result = registerChild(deviceHandler0Id);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = registerChild(deviceHandler1Id);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return result;
}
ReturnValue_t TestAssembly::checkChildrenStateOn(
Mode_t wantedMode, Submode_t wantedSubmode) {
if(submode == submodes::DUAL){
for(const auto& info:childrenMap) {
if(info.second.mode != wantedMode or info.second.mode != wantedSubmode){
return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
}
}
return RETURN_OK;
}
else if(submode == submodes::SINGLE) {
for(const auto& info:childrenMap) {
if(info.second.mode == wantedMode and info.second.mode != wantedSubmode){
return RETURN_OK;
}
}
}
return INVALID_SUBMODE;
}
bool TestAssembly::isDeviceAvailable(object_id_t object) {
if(healthHelper.healthTable->getHealth(object) == HasHealthIF::HEALTHY){
return true;
}
else{
return false;
}
}

56
tests/src/fsfw_tests/integration/assemblies/TestAssembly.h Normal file
View File

@ -0,0 +1,56 @@
#ifndef MISSION_ASSEMBLIES_TESTASSEMBLY_H_
#define MISSION_ASSEMBLIES_TESTASSEMBLY_H_
#include <fsfw/devicehandlers/AssemblyBase.h>
#include "../devices/TestDeviceHandler.h"
class TestAssembly: public AssemblyBase {
public:
TestAssembly(object_id_t objectId, object_id_t parentId, object_id_t testDevice0,
object_id_t testDevice1);
virtual ~TestAssembly();
ReturnValue_t initialize() override;
enum submodes: Submode_t{
SINGLE = 0,
DUAL = 1
};
protected:
/**
* Command children to reach [mode,submode] combination
* Can be done by setting #commandsOutstanding correctly,
* or using executeTable()
* @param mode
* @param submode
* @return
* - @c RETURN_OK if ok
* - @c NEED_SECOND_STEP if children need to be commanded again
*/
ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
/**
* Check whether desired assembly mode was achieved by checking the modes
* or/and health states of child device handlers.
* The assembly template class will also call this function if a health
* or mode change of a child device handler was detected.
* @param wantedMode
* @param wantedSubmode
* @return
*/
ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode)
override;
ReturnValue_t checkChildrenStateOn(Mode_t wantedMode,
Submode_t wantedSubmode) override;
private:
FixedArrayList<ModeListEntry, 2> commandTable;
object_id_t deviceHandler0Id = 0;
object_id_t deviceHandler1Id = 0;
TestDevice* handler0 = nullptr;
TestDevice* handler1 = nullptr;
bool isDeviceAvailable(object_id_t object);
};
#endif /* MISSION_ASSEMBLIES_TESTASSEMBLY_H_ */

3
tests/src/fsfw_tests/integration/controller/CMakeLists.txt Normal file
View File

@ -0,0 +1,3 @@
target_sources(${LIB_FSFW_NAME} PRIVATE
TestController.cpp
)

215
tests/src/fsfw_tests/integration/controller/TestController.cpp Normal file
View File

@ -0,0 +1,215 @@
#include "TestController.h"
#include "OBSWConfig.h"
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
TestController::TestController(object_id_t objectId, object_id_t device0, object_id_t device1,
size_t commandQueueDepth):
ExtendedControllerBase(objectId, objects::NO_OBJECT, commandQueueDepth),
deviceDataset0(device0),
deviceDataset1(device1) {
}
TestController::~TestController() {
}
ReturnValue_t TestController::handleCommandMessage(CommandMessage *message) {
return HasReturnvaluesIF::RETURN_OK;
}
void TestController::performControlOperation() {
/* We will trace vaiables if we received an update notification or snapshots */
#if OBSW_CONTROLLER_PRINTOUT == 1
if(not traceVariable) {
return;
}
switch(currentTraceType) {
case(NONE): {
break;
}
case(TRACE_DEV_0_UINT8): {
if(traceCounter == 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "Tracing finished" << std::endl;
#else
sif::printInfo("Tracing finished\n");
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
traceVariable = false;
traceCounter = traceCycles;
currentTraceType = TraceTypes::NONE;
break;
}
PoolReadGuard readHelper(&deviceDataset0.testUint8Var);
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "Tracing device 0 variable 0 (UINT8), current value: " <<
static_cast<int>(deviceDataset0.testUint8Var.value) << std::endl;
#else
sif::printInfo("Tracing device 0 variable 0 (UINT8), current value: %d\n",
deviceDataset0.testUint8Var.value);
#endif
traceCounter--;
break;
}
case(TRACE_DEV_0_VECTOR): {
break;
}
}
#endif /* OBSW_CONTROLLER_PRINTOUT == 1 */
}
void TestController::handleChangedDataset(sid_t sid, store_address_t storeId, bool* clearMessage) {
using namespace std;
#if OBSW_CONTROLLER_PRINTOUT == 1
char const* printout = nullptr;
if(storeId == storeId::INVALID_STORE_ADDRESS) {
printout = "Notification";
}
else {
printout = "Snapshot";
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestController::handleChangedDataset: " << printout << " update from object "
"ID " << setw(8) << setfill('0') << hex << sid.objectId <<
" and set ID " << sid.ownerSetId << dec << setfill(' ') << endl;
#else
sif::printInfo("TestController::handleChangedPoolVariable: %s update from object ID 0x%08x and "
"set ID %lu\n", printout, sid.objectId, sid.ownerSetId);
#endif
if (storeId == storeId::INVALID_STORE_ADDRESS) {
if(sid.objectId == objects::TEST_DEVICE_HANDLER_0) {
PoolReadGuard readHelper(&deviceDataset0.testFloat3Vec);
float floatVec[3];
floatVec[0] = deviceDataset0.testFloat3Vec.value[0];
floatVec[1] = deviceDataset0.testFloat3Vec.value[1];
floatVec[2] = deviceDataset0.testFloat3Vec.value[2];
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "Current float vector (3) values: [" << floatVec[0] << ", " <<
floatVec[1] << ", " << floatVec[2] << "]" << std::endl;
#else
sif::printInfo("Current float vector (3) values: [%f, %f, %f]\n",
floatVec[0], floatVec[1], floatVec[2]);
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
}
}
#endif /* OBSW_CONTROLLER_PRINTOUT == 1 */
/* We will trace the variables for snapshots and update notifications */
if(not traceVariable) {
traceVariable = true;
traceCounter = traceCycles;
currentTraceType = TraceTypes::TRACE_DEV_0_VECTOR;
}
}
void TestController::handleChangedPoolVariable(gp_id_t globPoolId, store_address_t storeId,
bool* clearMessage) {
using namespace std;
#if OBSW_CONTROLLER_PRINTOUT == 1
char const* printout = nullptr;
if (storeId == storeId::INVALID_STORE_ADDRESS) {
printout = "Notification";
}
else {
printout = "Snapshot";
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestController::handleChangedPoolVariable: " << printout << " update from object "
"ID 0x" << setw(8) << setfill('0') << hex << globPoolId.objectId <<
" and local pool ID " << globPoolId.localPoolId << dec << setfill(' ') << endl;
#else
sif::printInfo("TestController::handleChangedPoolVariable: %s update from object ID 0x%08x and "
"local pool ID %lu\n", printout, globPoolId.objectId, globPoolId.localPoolId);
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
if (storeId == storeId::INVALID_STORE_ADDRESS) {
if(globPoolId.objectId == objects::TEST_DEVICE_HANDLER_0) {
PoolReadGuard readHelper(&deviceDataset0.testUint8Var);
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "Current test variable 0 (UINT8) value: " << static_cast<int>(
deviceDataset0.testUint8Var.value) << std::endl;
#else
sif::printInfo("Current test variable 0 (UINT8) value %d\n",
deviceDataset0.testUint8Var.value);
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
}
}
#endif /* OBSW_CONTROLLER_PRINTOUT == 1 */
/* We will trace the variables for snapshots and update notifications */
if(not traceVariable) {
traceVariable = true;
traceCounter = traceCycles;
currentTraceType = TraceTypes::TRACE_DEV_0_UINT8;
}
}
LocalPoolDataSetBase* TestController::getDataSetHandle(sid_t sid) {
return nullptr;
}
ReturnValue_t TestController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TestController::initializeAfterTaskCreation() {
namespace td = testdevice;
HasLocalDataPoolIF* device0 = ObjectManager::instance()->get<HasLocalDataPoolIF>(
deviceDataset0.getCreatorObjectId());
if(device0 == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TestController::initializeAfterTaskCreation: Test device handler 0 "
"handle invalid!" << std::endl;
#else
sif::printWarning("TestController::initializeAfterTaskCreation: Test device handler 0 "
"handle invalid!");
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
ProvidesDataPoolSubscriptionIF* subscriptionIF = device0->getSubscriptionInterface();
if(subscriptionIF != nullptr) {
/* For DEVICE_0, we only subscribe for notifications */
subscriptionIF->subscribeForSetUpdateMessage(td::TEST_SET_ID, getObjectId(),
getCommandQueue(), false);
subscriptionIF->subscribeForVariableUpdateMessage(td::PoolIds::TEST_UINT8_ID,
getObjectId(), getCommandQueue(), false);
}
HasLocalDataPoolIF* device1 = ObjectManager::instance()->get<HasLocalDataPoolIF>(
deviceDataset0.getCreatorObjectId());
if(device1 == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TestController::initializeAfterTaskCreation: Test device handler 1 "
"handle invalid!" << std::endl;
#else
sif::printWarning("TestController::initializeAfterTaskCreation: Test device handler 1 "
"handle invalid!");
#endif
}
subscriptionIF = device1->getSubscriptionInterface();
if(subscriptionIF != nullptr) {
/* For DEVICE_1, we will subscribe for snapshots */
subscriptionIF->subscribeForSetUpdateMessage(td::TEST_SET_ID, getObjectId(),
getCommandQueue(), true);
subscriptionIF->subscribeForVariableUpdateMessage(td::PoolIds::TEST_UINT8_ID,
getObjectId(), getCommandQueue(), true);
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TestController::checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) {
return HasReturnvaluesIF::RETURN_OK;
}

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#ifndef MISSION_CONTROLLER_TESTCONTROLLER_H_
#define MISSION_CONTROLLER_TESTCONTROLLER_H_
#include "../devices/devicedefinitions/testDeviceDefinitions.h"
#include <fsfw/controller/ExtendedControllerBase.h>
class TestController:
public ExtendedControllerBase {
public:
TestController(object_id_t objectId, object_id_t device0, object_id_t device1,
size_t commandQueueDepth = 10);
virtual~ TestController();
protected:
testdevice::TestDataSet deviceDataset0;
testdevice::TestDataSet deviceDataset1;
/* Extended Controller Base overrides */
ReturnValue_t handleCommandMessage(CommandMessage *message) override;
void performControlOperation() override;
/* HasLocalDatapoolIF callbacks */
void handleChangedDataset(sid_t sid, store_address_t storeId, bool* clearMessage) override;
void handleChangedPoolVariable(gp_id_t globPoolId, store_address_t storeId,
bool* clearMessage) override;
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) override;
ReturnValue_t initializeAfterTaskCreation() override;
private:
bool traceVariable = false;
uint8_t traceCycles = 5;
uint8_t traceCounter = traceCycles;
enum TraceTypes {
NONE,
TRACE_DEV_0_UINT8,
TRACE_DEV_0_VECTOR
};
TraceTypes currentTraceType = TraceTypes::NONE;
};
#endif /* MISSION_CONTROLLER_TESTCONTROLLER_H_ */

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#ifndef MISSION_CONTROLLER_CTRLDEFINITIONS_TESTCTRLDEFINITIONS_H_
#define MISSION_CONTROLLER_CTRLDEFINITIONS_TESTCTRLDEFINITIONS_H_
#include <fsfw/objectmanager/SystemObjectIF.h>
#include <OBSWConfig.h>
namespace testcontroller {
enum sourceObjectIds: object_id_t {
DEVICE_0_ID = objects::TEST_DEVICE_HANDLER_0,
DEVICE_1_ID = objects::TEST_DEVICE_HANDLER_1,
};
}
#endif /* MISSION_CONTROLLER_CTRLDEFINITIONS_TESTCTRLDEFINITIONS_H_ */

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target_sources(${LIB_FSFW_NAME} PRIVATE
TestCookie.cpp
TestDeviceHandler.cpp
TestEchoComIF.cpp
)

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#include "TestCookie.h"
TestCookie::TestCookie(address_t address, size_t replyMaxLen):
address(address), replyMaxLen(replyMaxLen) {}
TestCookie::~TestCookie() {}
address_t TestCookie::getAddress() const {
return address;
}
size_t TestCookie::getReplyMaxLen() const {
return replyMaxLen;
}

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#ifndef MISSION_DEVICES_TESTCOOKIE_H_
#define MISSION_DEVICES_TESTCOOKIE_H_
#include <fsfw/devicehandlers/CookieIF.h>
#include <cstddef>
/**
* @brief Really simple cookie which does not do a lot.
*/
class TestCookie: public CookieIF {
public:
TestCookie(address_t address, size_t maxReplyLen);
virtual ~TestCookie();
address_t getAddress() const;
size_t getReplyMaxLen() const;
private:
address_t address = 0;
size_t replyMaxLen = 0;
};
#endif /* MISSION_DEVICES_TESTCOOKIE_H_ */

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#include "TestDeviceHandler.h"
#include "FSFWConfig.h"
#include "fsfw/datapool/PoolReadGuard.h"
#include <cstdlib>
TestDevice::TestDevice(object_id_t objectId, object_id_t comIF,
CookieIF * cookie, testdevice::DeviceIndex deviceIdx, bool fullInfoPrintout,
bool changingDataset):
DeviceHandlerBase(objectId, comIF, cookie), deviceIdx(deviceIdx),
dataset(this), fullInfoPrintout(fullInfoPrintout) {
}
TestDevice::~TestDevice() {}
void TestDevice::performOperationHook() {
if(periodicPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::performOperationHook: Alive!" << std::endl;
#else
sif::printInfo("TestDevice%d::performOperationHook: Alive!", deviceIdx);
#endif
}
if(oneShot) {
oneShot = false;
}
}
void TestDevice::doStartUp() {
if(fullInfoPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::doStartUp: Switching On" << std::endl;
#else
sif::printInfo("TestDevice%d::doStartUp: Switching On\n", static_cast<int>(deviceIdx));
#endif
}
setMode(_MODE_TO_ON);
return;
}
void TestDevice::doShutDown() {
if(fullInfoPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::doShutDown: Switching Off" << std::endl;
#else
sif::printInfo("TestDevice%d::doShutDown: Switching Off\n", static_cast<int>(deviceIdx));
#endif
}
setMode(_MODE_SHUT_DOWN);
return;
}
ReturnValue_t TestDevice::buildNormalDeviceCommand(DeviceCommandId_t* id) {
using namespace testdevice;
*id = TEST_NORMAL_MODE_CMD;
if(DeviceHandlerBase::isAwaitingReply()) {
return NOTHING_TO_SEND;
}
return buildCommandFromCommand(*id, nullptr, 0);
}
ReturnValue_t TestDevice::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
if(mode == _MODE_TO_ON) {
if(fullInfoPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::buildTransitionDeviceCommand: Was called"
" from _MODE_TO_ON mode" << std::endl;
#else
sif::printInfo("TestDevice%d::buildTransitionDeviceCommand: "
"Was called from _MODE_TO_ON mode\n", deviceIdx);
#endif
}
}
if(mode == _MODE_TO_NORMAL) {
if(fullInfoPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::buildTransitionDeviceCommand: Was called "
"from _MODE_TO_NORMAL mode" << std::endl;
#else
sif::printInfo("TestDevice%d::buildTransitionDeviceCommand: Was called from "
" _MODE_TO_NORMAL mode\n", deviceIdx);
#endif
}
setMode(MODE_NORMAL);
}
if(mode == _MODE_SHUT_DOWN) {
if(fullInfoPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::buildTransitionDeviceCommand: Was called "
"from _MODE_SHUT_DOWN mode" << std::endl;
#else
sif::printInfo("TestDevice%d::buildTransitionDeviceCommand: Was called from "
"_MODE_SHUT_DOWN mode\n", deviceIdx);
#endif
}
setMode(MODE_OFF);
}
return NOTHING_TO_SEND;
}
void TestDevice::doTransition(Mode_t modeFrom, Submode_t submodeFrom) {
if(mode == _MODE_TO_NORMAL) {
if(fullInfoPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::doTransition: Custom transition to "
"normal mode" << std::endl;
#else
sif::printInfo("TestDevice%d::doTransition: Custom transition to normal mode\n",
deviceIdx);
#endif
}
}
else {
DeviceHandlerBase::doTransition(modeFrom, submodeFrom);
}
}
ReturnValue_t TestDevice::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t* commandData,
size_t commandDataLen) {
using namespace testdevice;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
switch(deviceCommand) {
case(TEST_NORMAL_MODE_CMD): {
commandSent = true;
result = buildNormalModeCommand(deviceCommand, commandData, commandDataLen);
break;
}
case(TEST_COMMAND_0): {
commandSent = true;
result = buildTestCommand0(deviceCommand, commandData, commandDataLen);
break;
}
case(TEST_COMMAND_1): {
commandSent = true;
result = buildTestCommand1(deviceCommand, commandData, commandDataLen);
break;
}
case(TEST_NOTIF_SNAPSHOT_VAR): {
if(changingDatasets) {
changingDatasets = false;
}
PoolReadGuard readHelper(&dataset.testUint8Var);
if(deviceIdx == testdevice::DeviceIndex::DEVICE_0) {
/* This will trigger a variable notification to the demo controller */
dataset.testUint8Var = 220;
dataset.testUint8Var.setValid(true);
}
else if(deviceIdx == testdevice::DeviceIndex::DEVICE_1) {
/* This will trigger a variable snapshot to the demo controller */
dataset.testUint8Var = 30;
dataset.testUint8Var.setValid(true);
}
break;
}
case(TEST_NOTIF_SNAPSHOT_SET): {
if(changingDatasets) {
changingDatasets = false;
}
PoolReadGuard readHelper(&dataset.testFloat3Vec);
if(deviceIdx == testdevice::DeviceIndex::DEVICE_0) {
/* This will trigger a variable notification to the demo controller */
dataset.testFloat3Vec.value[0] = 60;
dataset.testFloat3Vec.value[1] = 70;
dataset.testFloat3Vec.value[2] = 55;
dataset.testFloat3Vec.setValid(true);
}
else if(deviceIdx == testdevice::DeviceIndex::DEVICE_1) {
/* This will trigger a variable notification to the demo controller */
dataset.testFloat3Vec.value[0] = -60;
dataset.testFloat3Vec.value[1] = -70;
dataset.testFloat3Vec.value[2] = -55;
dataset.testFloat3Vec.setValid(true);
}
break;
}
default:
result = DeviceHandlerIF::COMMAND_NOT_SUPPORTED;
}
return result;
}
ReturnValue_t TestDevice::buildNormalModeCommand(DeviceCommandId_t deviceCommand,
const uint8_t* commandData, size_t commandDataLen) {
if(fullInfoPrintout) {
#if OBSW_VERBOSE_LEVEL >= 3
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice::buildTestCommand1: Building normal command" << std::endl;
#else
sif::printInfo("TestDevice::buildTestCommand1: Building command from TEST_COMMAND_1\n");
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* OBSW_VERBOSE_LEVEL >= 3 */
}
if(commandDataLen > MAX_BUFFER_SIZE - sizeof(DeviceCommandId_t)) {
return DeviceHandlerIF::INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
}
/* The command is passed on in the command buffer as it is */
passOnCommand(deviceCommand, commandData, commandDataLen);
return RETURN_OK;
}
ReturnValue_t TestDevice::buildTestCommand0(DeviceCommandId_t deviceCommand,
const uint8_t* commandData, size_t commandDataLen) {
using namespace testdevice;
if(fullInfoPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::buildTestCommand0: Executing simple command "
" with completion reply" << std::endl;
#else
sif::printInfo("TestDevice%d::buildTestCommand0: Executing simple command with "
"completion reply\n", deviceIdx);
#endif
}
if(commandDataLen > MAX_BUFFER_SIZE - sizeof(DeviceCommandId_t)) {
return DeviceHandlerIF::INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
}
/* The command is passed on in the command buffer as it is */
passOnCommand(deviceCommand, commandData, commandDataLen);
return RETURN_OK;
}
ReturnValue_t TestDevice::buildTestCommand1(DeviceCommandId_t deviceCommand,
const uint8_t* commandData,
size_t commandDataLen) {
using namespace testdevice;
if(commandDataLen < 7) {
return DeviceHandlerIF::INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
}
if(fullInfoPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::buildTestCommand1: Executing command with "
"data reply" << std::endl;
#else
sif::printInfo("TestDevice%d:buildTestCommand1: Executing command with data reply\n",
deviceIdx);
#endif
}
deviceCommand = EndianConverter::convertBigEndian(deviceCommand);
memcpy(commandBuffer, &deviceCommand, sizeof(deviceCommand));
/* Assign and check parameters */
uint16_t parameter1 = 0;
size_t size = commandDataLen;
ReturnValue_t result = SerializeAdapter::deSerialize(&parameter1,
&commandData, &size, SerializeIF::Endianness::BIG);
if(result == HasReturnvaluesIF::RETURN_FAILED) {
return result;
}
/* Parameter 1 needs to be correct */
if(parameter1 != testdevice::COMMAND_1_PARAM1) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
uint64_t parameter2 = 0;
result = SerializeAdapter::deSerialize(&parameter2,
&commandData, &size, SerializeIF::Endianness::BIG);
if(parameter2!= testdevice::COMMAND_1_PARAM2){
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
/* Pass on the parameters to the Echo IF */
commandBuffer[4] = (parameter1 & 0xFF00) >> 8;
commandBuffer[5] = (parameter1 & 0xFF);
parameter2 = EndianConverter::convertBigEndian(parameter2);
memcpy(commandBuffer + 6, &parameter2, sizeof(parameter2));
rawPacket = commandBuffer;
rawPacketLen = sizeof(deviceCommand) + sizeof(parameter1) +
sizeof(parameter2);
return RETURN_OK;
}
void TestDevice::passOnCommand(DeviceCommandId_t command, const uint8_t *commandData,
size_t commandDataLen) {
DeviceCommandId_t deviceCommandBe = EndianConverter::convertBigEndian(command);
memcpy(commandBuffer, &deviceCommandBe, sizeof(deviceCommandBe));
memcpy(commandBuffer + 4, commandData, commandDataLen);
rawPacket = commandBuffer;
rawPacketLen = sizeof(deviceCommandBe) + commandDataLen;
}
void TestDevice::fillCommandAndReplyMap() {
namespace td = testdevice;
insertInCommandAndReplyMap(testdevice::TEST_NORMAL_MODE_CMD, 5, &dataset);
insertInCommandAndReplyMap(testdevice::TEST_COMMAND_0, 5);
insertInCommandAndReplyMap(testdevice::TEST_COMMAND_1, 5);
/* No reply expected for these commands */
insertInCommandMap(td::TEST_NOTIF_SNAPSHOT_SET);
insertInCommandMap(td::TEST_NOTIF_SNAPSHOT_VAR);
}
ReturnValue_t TestDevice::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) {
using namespace testdevice;
/* Unless a command was sent explicitely, we don't expect any replies and ignore this
the packet. On a real device, there might be replies which are sent without a previous
command. */
if(not commandSent) {
return DeviceHandlerBase::IGNORE_FULL_PACKET;
}
else {
commandSent = false;
}
if(len < sizeof(object_id_t)) {
return DeviceHandlerIF::LENGTH_MISSMATCH;
}
size_t size = len;
ReturnValue_t result = SerializeAdapter::deSerialize(foundId, &start, &size,
SerializeIF::Endianness::BIG);
if (result != RETURN_OK) {
return result;
}
DeviceCommandId_t pendingCmd = this->getPendingCommand();
switch(pendingCmd) {
case(TEST_NORMAL_MODE_CMD): {
if(fullInfoPrintout) {
#if OBSW_VERBOSE_LEVEL >= 3
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice::scanForReply: Reply for normal commnand (ID " <<
TEST_NORMAL_MODE_CMD << ") received!" << std::endl;
#else
sif::printInfo("TestDevice%d::scanForReply: Reply for normal command (ID %d) "
"received!\n", deviceIdx, TEST_NORMAL_MODE_CMD);
#endif
#endif
}
*foundLen = len;
*foundId = pendingCmd;
return RETURN_OK;
}
case(TEST_COMMAND_0): {
if(len < TEST_COMMAND_0_SIZE) {
return DeviceHandlerIF::LENGTH_MISSMATCH;
}
if(fullInfoPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::scanForReply: Reply for simple command "
"(ID " << TEST_COMMAND_0 << ") received!" << std::endl;
#else
sif::printInfo("TestDevice%d::scanForReply: Reply for simple command (ID %d) "
"received!\n", deviceIdx, TEST_COMMAND_0);
#endif
}
*foundLen = TEST_COMMAND_0_SIZE;
*foundId = pendingCmd;
return RETURN_OK;
}
case(TEST_COMMAND_1): {
if(fullInfoPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::scanForReply: Reply for data command "
"(ID " << TEST_COMMAND_1 << ") received!" << std::endl;
#else
sif::printInfo("TestDevice%d::scanForReply: Reply for data command (ID %d) "
"received\n", deviceIdx, TEST_COMMAND_1);
#endif
}
*foundLen = len;
*foundId = pendingCmd;
return RETURN_OK;
}
default:
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
}
ReturnValue_t TestDevice::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t* packet) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
switch(id) {
/* Periodic replies */
case testdevice::TEST_NORMAL_MODE_CMD: {
result = interpretingNormalModeReply();
break;
}
/* Simple reply */
case testdevice::TEST_COMMAND_0: {
result = interpretingTestReply0(id, packet);
break;
}
/* Data reply */
case testdevice::TEST_COMMAND_1: {
result = interpretingTestReply1(id, packet);
break;
}
default:
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
return result;
}
ReturnValue_t TestDevice::interpretingNormalModeReply() {
CommandMessage directReplyMessage;
if(changingDatasets) {
PoolReadGuard readHelper(&dataset);
if(dataset.testUint8Var.value == 0) {
dataset.testUint8Var.value = 10;
dataset.testUint32Var.value = 777;
dataset.testFloat3Vec.value[0] = 2.5;
dataset.testFloat3Vec.value[1] = -2.5;
dataset.testFloat3Vec.value[2] = 2.5;
dataset.setValidity(true, true);
}
else {
dataset.testUint8Var.value = 0;
dataset.testUint32Var.value = 0;
dataset.testFloat3Vec.value[0] = 0.0;
dataset.testFloat3Vec.value[1] = 0.0;
dataset.testFloat3Vec.value[2] = 0.0;
dataset.setValidity(false, true);
}
return RETURN_OK;
}
PoolReadGuard readHelper(&dataset);
if(dataset.testUint8Var.value == 0) {
/* Reset state */
dataset.testUint8Var.value = 128;
}
else if(dataset.testUint8Var.value > 200) {
if(not resetAfterChange) {
/* This will trigger an update notification to the controller */
dataset.testUint8Var.setChanged(true);
resetAfterChange = true;
/* Decrement by 30 automatically. This will prevent any additional notifications. */
dataset.testUint8Var.value -= 30;
}
}
/* If the value is greater than 0, it will be decremented in a linear way */
else if(dataset.testUint8Var.value > 128) {
size_t sizeToDecrement = 0;
if(dataset.testUint8Var.value > 128 + 30) {
sizeToDecrement = 30;
}
else {
sizeToDecrement = dataset.testUint8Var.value - 128;
resetAfterChange = false;
}
dataset.testUint8Var.value -= sizeToDecrement;
}
else if(dataset.testUint8Var.value < 50) {
if(not resetAfterChange) {
/* This will trigger an update snapshot to the controller */
dataset.testUint8Var.setChanged(true);
resetAfterChange = true;
}
else {
/* Increment by 30 automatically. */
dataset.testUint8Var.value += 30;
}
}
/* Increment in linear way */
else if(dataset.testUint8Var.value < 128) {
size_t sizeToIncrement = 0;
if(dataset.testUint8Var.value < 128 - 20) {
sizeToIncrement = 20;
}
else {
sizeToIncrement = 128 - dataset.testUint8Var.value;
resetAfterChange = false;
}
dataset.testUint8Var.value += sizeToIncrement;
}
/* TODO: Same for vector */
float vectorMean = (dataset.testFloat3Vec.value[0] + dataset.testFloat3Vec.value[1] +
dataset.testFloat3Vec.value[2]) / 3.0;
/* Lambda (private local function) */
auto sizeToAdd = [](bool tooHigh, float currentVal) {
if(tooHigh) {
if(currentVal - 20.0 > 10.0) {
return -10.0;
}
else {
return 20.0 - currentVal;
}
}
else {
if(std::abs(currentVal + 20.0) > 10.0) {
return 10.0;
}
else {
return -20.0 - currentVal;
}
}
};
if(vectorMean > 20.0 and std::abs(vectorMean - 20.0) > 1.0) {
if(not resetAfterChange) {
dataset.testFloat3Vec.setChanged(true);
resetAfterChange = true;
}
else {
float sizeToDecrementVal0 = 0;
float sizeToDecrementVal1 = 0;
float sizeToDecrementVal2 = 0;
sizeToDecrementVal0 = sizeToAdd(true, dataset.testFloat3Vec.value[0]);
sizeToDecrementVal1 = sizeToAdd(true, dataset.testFloat3Vec.value[1]);
sizeToDecrementVal2 = sizeToAdd(true, dataset.testFloat3Vec.value[2]);
dataset.testFloat3Vec.value[0] += sizeToDecrementVal0;
dataset.testFloat3Vec.value[1] += sizeToDecrementVal1;
dataset.testFloat3Vec.value[2] += sizeToDecrementVal2;
}
}
else if (vectorMean < -20.0 and std::abs(vectorMean + 20.0) < 1.0) {
if(not resetAfterChange) {
dataset.testFloat3Vec.setChanged(true);
resetAfterChange = true;
}
else {
float sizeToDecrementVal0 = 0;
float sizeToDecrementVal1 = 0;
float sizeToDecrementVal2 = 0;
sizeToDecrementVal0 = sizeToAdd(false, dataset.testFloat3Vec.value[0]);
sizeToDecrementVal1 = sizeToAdd(false, dataset.testFloat3Vec.value[1]);
sizeToDecrementVal2 = sizeToAdd(false, dataset.testFloat3Vec.value[2]);
dataset.testFloat3Vec.value[0] += sizeToDecrementVal0;
dataset.testFloat3Vec.value[1] += sizeToDecrementVal1;
dataset.testFloat3Vec.value[2] += sizeToDecrementVal2;
}
}
else {
if(resetAfterChange) {
resetAfterChange = false;
}
}
return RETURN_OK;
}
ReturnValue_t TestDevice::interpretingTestReply0(DeviceCommandId_t id, const uint8_t* packet) {
CommandMessage commandMessage;
if(fullInfoPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice::interpretingTestReply0: Generating step and finish reply" <<
std::endl;
#else
sif::printInfo("TestDevice::interpretingTestReply0: Generating step and finish reply\n");
#endif
}
MessageQueueId_t commander = getCommanderQueueId(id);
/* Generate one step reply and the finish reply */
actionHelper.step(1, commander, id);
actionHelper.finish(true, commander, id);
return RETURN_OK;
}
ReturnValue_t TestDevice::interpretingTestReply1(DeviceCommandId_t id,
const uint8_t* packet) {
CommandMessage directReplyMessage;
if(fullInfoPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::interpretingReply1: Setting data reply" <<
std::endl;
#else
sif::printInfo("TestDevice%d::interpretingReply1: Setting data reply\n", deviceIdx);
#endif
}
MessageQueueId_t commander = getCommanderQueueId(id);
/* Send reply with data */
ReturnValue_t result = actionHelper.reportData(commander, id, packet,
testdevice::TEST_COMMAND_1_SIZE, false);
if (result != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TestDevice" << deviceIdx << "::interpretingReply1: Sending data "
"reply failed!" << std::endl;
#else
sif::printError("TestDevice%d::interpretingReply1: Sending data reply failed!\n",
deviceIdx);
#endif
return result;
}
if(result == HasReturnvaluesIF::RETURN_OK) {
/* Finish reply */
actionHelper.finish(true, commander, id);
}
else {
/* Finish reply */
actionHelper.finish(false, commander, id, result);
}
return RETURN_OK;
}
uint32_t TestDevice::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
return 5000;
}
void TestDevice::enableFullDebugOutput(bool enable) {
this->fullInfoPrintout = enable;
}
ReturnValue_t TestDevice::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
namespace td = testdevice;
localDataPoolMap.emplace(td::PoolIds::TEST_UINT8_ID, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(td::PoolIds::TEST_UINT32_ID, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(td::PoolIds::TEST_FLOAT_VEC_3_ID,
new PoolEntry<float>({0.0, 0.0, 0.0}));
sid_t sid(this->getObjectId(), td::TEST_SET_ID);
/* Subscribe for periodic HK packets but do not enable reporting for now.
Non-diangostic with a period of one second */
poolManager.subscribeForPeriodicPacket(sid, false, 1.0, false);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TestDevice::getParameter(uint8_t domainId, uint8_t uniqueId,
ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
uint16_t startAtIndex) {
using namespace testdevice;
switch (uniqueId) {
case ParameterUniqueIds::TEST_UINT32_0: {
if(fullInfoPrintout) {
uint32_t newValue = 0;
ReturnValue_t result = newValues->getElement<uint32_t>(&newValue, 0, 0);
if(result == HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::getParameter: Setting parameter 0 to "
"new value " << newValue << std::endl;
#else
sif::printInfo("TestDevice%d::getParameter: Setting parameter 0 to new value %lu\n",
deviceIdx, static_cast<unsigned long>(newValue));
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
}
}
parameterWrapper->set(testParameter0);
break;
}
case ParameterUniqueIds::TEST_INT32_1: {
if(fullInfoPrintout) {
int32_t newValue = 0;
ReturnValue_t result = newValues->getElement<int32_t>(&newValue, 0, 0);
if(result == HasReturnvaluesIF::RETURN_OK) {
#if OBSW_DEVICE_HANDLER_PRINTOUT == 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::getParameter: Setting parameter 1 to "
"new value " << newValue << std::endl;
#else
sif::printInfo("TestDevice%d::getParameter: Setting parameter 1 to new value %lu\n",
deviceIdx, static_cast<unsigned long>(newValue));
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* OBSW_DEVICE_HANDLER_PRINTOUT == 1 */
}
}
parameterWrapper->set(testParameter1);
break;
}
case ParameterUniqueIds::TEST_FLOAT_VEC3_2: {
if(fullInfoPrintout) {
float newVector[3];
if(newValues->getElement<float>(newVector, 0, 0) != RETURN_OK or
newValues->getElement<float>(newVector + 1, 0, 1) != RETURN_OK or
newValues->getElement<float>(newVector + 2, 0, 2) != RETURN_OK) {
return HasReturnvaluesIF::RETURN_FAILED;
}
#if OBSW_DEVICE_HANDLER_PRINTOUT == 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::getParameter: Setting parameter 3 to "
"(float vector with 3 entries) to new values [" << newVector[0] << ", " <<
newVector[1] << ", " << newVector[2] << "]" << std::endl;
#else
sif::printInfo("TestDevice%d::getParameter: Setting parameter 3 to new values "
"[%f, %f, %f]\n", deviceIdx, newVector[0], newVector[1], newVector[2]);
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* OBSW_DEVICE_HANDLER_PRINTOUT == 1 */
}
parameterWrapper->setVector(vectorFloatParams2);
break;
}
case(ParameterUniqueIds::PERIODIC_PRINT_ENABLED): {
if(fullInfoPrintout) {
uint8_t enabled = 0;
ReturnValue_t result = newValues->getElement<uint8_t>(&enabled, 0, 0);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
char const* printout = nullptr;
if (enabled) {
printout = "enabled";
}
else {
printout = "disabled";
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::getParameter: Periodic printout " <<
printout << std::endl;
#else
sif::printInfo("TestDevice%d::getParameter: Periodic printout %s", printout);
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
}
parameterWrapper->set(periodicPrintout);
break;
}
case(ParameterUniqueIds::CHANGING_DATASETS): {
uint8_t enabled = 0;
ReturnValue_t result = newValues->getElement<uint8_t>(&enabled, 0, 0);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
if(not enabled) {
PoolReadGuard readHelper(&dataset);
dataset.testUint8Var.value = 0;
dataset.testUint32Var.value = 0;
dataset.testFloat3Vec.value[0] = 0.0;
dataset.testFloat3Vec.value[0] = 0.0;
dataset.testFloat3Vec.value[1] = 0.0;
}
if(fullInfoPrintout) {
char const* printout = nullptr;
if (enabled) {
printout = "enabled";
}
else {
printout = "disabled";
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::getParameter: Changing datasets " <<
printout << std::endl;
#else
sif::printInfo("TestDevice%d::getParameter: Changing datasets %s", printout);
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
}
parameterWrapper->set(changingDatasets);
break;
}
default:
return INVALID_IDENTIFIER_ID;
}
return HasReturnvaluesIF::RETURN_OK;
}
LocalPoolObjectBase* TestDevice::getPoolObjectHandle(lp_id_t localPoolId) {
namespace td = testdevice;
if (localPoolId == td::PoolIds::TEST_UINT8_ID) {
return &dataset.testUint8Var;
}
else if (localPoolId == td::PoolIds::TEST_UINT32_ID) {
return &dataset.testUint32Var;
}
else if(localPoolId == td::PoolIds::TEST_FLOAT_VEC_3_ID) {
return &dataset.testFloat3Vec;
}
else {
return nullptr;
}
}

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tests/src/fsfw_tests/integration/devices/TestDeviceHandler.h Normal file
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#ifndef TEST_TESTDEVICES_TESTDEVICEHANDLER_H_
#define TEST_TESTDEVICES_TESTDEVICEHANDLER_H_
#include "devicedefinitions/testDeviceDefinitions.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#include "fsfw/timemanager/Countdown.h"
/**
* @brief Basic dummy device handler to test device commanding without a physical device.
* @details
* This test device handler provided a basic demo for the device handler object.
* It can also be commanded with the following PUS services, using
* the specified object ID of the test device handler.
*
* 1. PUS Service 8 - Functional commanding
* 2. PUS Service 2 - Device access, raw commanding
* 3. PUS Service 20 - Parameter Management
* 4. PUS Service 3 - Housekeeping
* @author R. Mueller
* @ingroup devices
*/
class TestDevice: public DeviceHandlerBase {
public:
/**
* Build the test device in the factory.
* @param objectId This ID will be assigned to the test device handler.
* @param comIF The ID of the Communication IF used by test device handler.
* @param cookie Cookie object used by the test device handler. This is
* also used and passed to the comIF object.
* @param onImmediately This will start a transition to MODE_ON immediately
* so the device handler jumps into #doStartUp. Should only be used
* in development to reduce need of commanding while debugging.
* @param changingDataset
* Will be used later to change the local datasets containeds in the device.
*/
TestDevice(object_id_t objectId, object_id_t comIF, CookieIF * cookie,
testdevice::DeviceIndex deviceIdx = testdevice::DeviceIndex::DEVICE_0,
bool fullInfoPrintout = false, bool changingDataset = true);
/**
* This can be used to enable and disable a lot of demo print output.
* @param enable
*/
void enableFullDebugOutput(bool enable);
virtual ~ TestDevice();
//! Size of internal buffer used for communication.
static constexpr uint8_t MAX_BUFFER_SIZE = 255;
//! Unique index if the device handler is created multiple times.
testdevice::DeviceIndex deviceIdx = testdevice::DeviceIndex::DEVICE_0;
protected:
testdevice::TestDataSet dataset;
//! This is used to reset the dataset after a commanded change has been made.
bool resetAfterChange = false;
bool commandSent = false;
/** DeviceHandlerBase overrides (see DHB documentation) */
/**
* Hook into the DHB #performOperation call which is executed
* periodically.
*/
void performOperationHook() override;
virtual void doStartUp() override;
virtual void doShutDown() override;
virtual ReturnValue_t buildNormalDeviceCommand(
DeviceCommandId_t * id) override;
virtual ReturnValue_t buildTransitionDeviceCommand(
DeviceCommandId_t * id) override;
virtual ReturnValue_t buildCommandFromCommand(DeviceCommandId_t
deviceCommand, const uint8_t * commandData,
size_t commandDataLen) override;
virtual void fillCommandAndReplyMap() override;
virtual ReturnValue_t scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) override;
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) override;
virtual uint32_t getTransitionDelayMs(Mode_t modeFrom,
Mode_t modeTo) override;
virtual void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
virtual LocalPoolObjectBase* getPoolObjectHandle(lp_id_t localPoolId) override;
/* HasParametersIF overrides */
virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
ParameterWrapper *parameterWrapper,
const ParameterWrapper *newValues, uint16_t startAtIndex) override;
uint8_t commandBuffer[MAX_BUFFER_SIZE];
bool fullInfoPrintout = false;
bool oneShot = true;
/* Variables for parameter service */
uint32_t testParameter0 = 0;
int32_t testParameter1 = -2;
float vectorFloatParams2[3] = {};
/* Change device handler functionality, changeable via parameter service */
uint8_t periodicPrintout = false;
uint8_t changingDatasets = false;
ReturnValue_t buildNormalModeCommand(DeviceCommandId_t deviceCommand,
const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t buildTestCommand0(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
size_t commandDataLen);
ReturnValue_t buildTestCommand1(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
size_t commandDataLen);
void passOnCommand(DeviceCommandId_t command, const uint8_t* commandData,
size_t commandDataLen);
ReturnValue_t interpretingNormalModeReply();
ReturnValue_t interpretingTestReply0(DeviceCommandId_t id,
const uint8_t* packet);
ReturnValue_t interpretingTestReply1(DeviceCommandId_t id,
const uint8_t* packet);
ReturnValue_t interpretingTestReply2(DeviceCommandId_t id, const uint8_t* packet);
/* Some timer utilities */
uint8_t divider1 = 2;
PeriodicOperationDivider opDivider1 = PeriodicOperationDivider(divider1);
uint8_t divider2 = 10;
PeriodicOperationDivider opDivider2 = PeriodicOperationDivider(divider2);
static constexpr uint32_t initTimeout = 2000;
Countdown countdown1 = Countdown(initTimeout);
};
#endif /* TEST_TESTDEVICES_TESTDEVICEHANDLER_H_ */

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tests/src/fsfw_tests/integration/devices/TestEchoComIF.cpp Normal file
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#include "TestEchoComIF.h"
#include "TestCookie.h"
#include <fsfw/serialize/SerializeAdapter.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <fsfw/tmtcservices/CommandingServiceBase.h>
#include <fsfw/tmtcpacket/pus/tm.h>
TestEchoComIF::TestEchoComIF(object_id_t objectId):
SystemObject(objectId) {
}
TestEchoComIF::~TestEchoComIF() {}
ReturnValue_t TestEchoComIF::initializeInterface(CookieIF * cookie) {
TestCookie* dummyCookie = dynamic_cast<TestCookie*>(cookie);
if(dummyCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TestEchoComIF::initializeInterface: Invalid cookie!" << std::endl;
#else
sif::printWarning("TestEchoComIF::initializeInterface: Invalid cookie!\n");
#endif
return NULLPOINTER;
}
auto resultPair = replyMap.emplace(
dummyCookie->getAddress(), ReplyBuffer(dummyCookie->getReplyMaxLen()));
if(not resultPair.second) {
return HasReturnvaluesIF::RETURN_FAILED;
}
return RETURN_OK;
}
ReturnValue_t TestEchoComIF::sendMessage(CookieIF *cookie,
const uint8_t * sendData, size_t sendLen) {
TestCookie* dummyCookie = dynamic_cast<TestCookie*>(cookie);
if(dummyCookie == nullptr) {
return NULLPOINTER;
}
ReplyBuffer& replyBuffer = replyMap.find(dummyCookie->getAddress())->second;
if(sendLen > replyBuffer.capacity()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TestEchoComIF::sendMessage: Send length " << sendLen << " larger than "
"current reply buffer length!" << std::endl;
#else
sif::printWarning("TestEchoComIF::sendMessage: Send length %d larger than current "
"reply buffer length!\n", sendLen);
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
replyBuffer.resize(sendLen);
memcpy(replyBuffer.data(), sendData, sendLen);
return RETURN_OK;
}
ReturnValue_t TestEchoComIF::getSendSuccess(CookieIF *cookie) {
return RETURN_OK;
}
ReturnValue_t TestEchoComIF::requestReceiveMessage(CookieIF *cookie,
size_t requestLen) {
return RETURN_OK;
}
ReturnValue_t TestEchoComIF::readReceivedMessage(CookieIF *cookie,
uint8_t **buffer, size_t *size) {
TestCookie* dummyCookie = dynamic_cast<TestCookie*>(cookie);
if(dummyCookie == nullptr) {
return NULLPOINTER;
}
ReplyBuffer& replyBuffer = replyMap.find(dummyCookie->getAddress())->second;
*buffer = replyBuffer.data();
*size = replyBuffer.size();
dummyReplyCounter ++;
if(dummyReplyCounter == 10) {
// add anything that needs to be read periodically by dummy handler
dummyReplyCounter = 0;
}
return RETURN_OK;
}

56
tests/src/fsfw_tests/integration/devices/TestEchoComIF.h Normal file
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#ifndef TEST_TESTDEVICES_TESTECHOCOMIF_H_
#define TEST_TESTDEVICES_TESTECHOCOMIF_H_
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/ipc/MessageQueueIF.h>
#include <fsfw/tmtcservices/AcceptsTelemetryIF.h>
#include <vector>
/**
* @brief Used to simply returned sent data from device handler
* @details Assign this com IF in the factory when creating the device handler
* @ingroup test
*/
class TestEchoComIF: public DeviceCommunicationIF, public SystemObject {
public:
TestEchoComIF(object_id_t objectId);
virtual ~TestEchoComIF();
/**
* DeviceCommunicationIF overrides
* (see DeviceCommunicationIF documentation
*/
ReturnValue_t initializeInterface(CookieIF * cookie) override;
ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t * sendData,
size_t sendLen) override;
ReturnValue_t getSendSuccess(CookieIF *cookie) override;
ReturnValue_t requestReceiveMessage(CookieIF *cookie,
size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
size_t *size) override;
private:
/**
* Send TM packet which contains received data as TM[17,130].
* Wiretapping will do the same.
* @param data
* @param len
*/
void sendTmPacket(const uint8_t *data,uint32_t len);
AcceptsTelemetryIF* funnel = nullptr;
MessageQueueIF* tmQueue = nullptr;
size_t replyMaxLen = 0;
using ReplyBuffer = std::vector<uint8_t>;
std::map<address_t, ReplyBuffer> replyMap;
uint8_t dummyReplyCounter = 0;
uint16_t packetSubCounter = 0;
};
#endif /* TEST_TESTDEVICES_TESTECHOCOMIF_H_ */

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tests/src/fsfw_tests/integration/devices/devicedefinitions/testDeviceDefinitions.h Normal file
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#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_TESTDEVICEDEFINITIONS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_TESTDEVICEDEFINITIONS_H_
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
namespace testdevice {
enum ParameterUniqueIds: uint8_t {
TEST_UINT32_0,
TEST_INT32_1,
TEST_FLOAT_VEC3_2,
PERIODIC_PRINT_ENABLED,
CHANGING_DATASETS
};
enum DeviceIndex: uint32_t {
DEVICE_0,
DEVICE_1
};
/** Normal mode command. This ID is also used to access the set variable via the housekeeping
service */
static constexpr DeviceCommandId_t TEST_NORMAL_MODE_CMD = 0;
//! Test completion reply
static constexpr DeviceCommandId_t TEST_COMMAND_0 = 1;
//! Test data reply
static constexpr DeviceCommandId_t TEST_COMMAND_1 = 2;
/**
* Can be used to trigger a notification to the demo controller. For DEVICE_0, only notifications
* messages will be generated while for DEVICE_1, snapshot messages will be generated.
*
* DEVICE_0 VAR: Sets the set variable 0 above a treshold (200) to trigger a variable
* notification.
* DEVICE_0 SET: Sets the vector mean values above a treshold (mean larger than 20) to trigger a
* set notification.
*
* DEVICE_1 VAR: Sets the set variable 0 below a treshold (less than 50 but not 0) to trigger a
* variable snapshot.
* DEVICE_1 SET: Sets the set vector mean values below a treshold (mean smaller than -20) to
* trigger a set snapshot message.
*/
static constexpr DeviceCommandId_t TEST_NOTIF_SNAPSHOT_VAR = 3;
static constexpr DeviceCommandId_t TEST_NOTIF_SNAPSHOT_SET = 4;
/**
* Can be used to trigger a snapshot message to the demo controller.
* Depending on the device index, a notification will be triggered for different set variables.
*
* DEVICE_0: Sets the set variable 0 below a treshold (below 50 but not 0) to trigger
* a variable snapshot
* DEVICE_1: Sets the vector mean values below a treshold (mean less than -20) to trigger a
* set snapshot
*/
static constexpr DeviceCommandId_t TEST_SNAPSHOT = 5;
//! Generates a random value for variable 1 of the dataset.
static constexpr DeviceCommandId_t GENERATE_SET_VAR_1_RNG_VALUE = 6;
/**
* These parameters are sent back with the command ID as a data reply
*/
static constexpr uint16_t COMMAND_1_PARAM1 = 0xBAB0; //!< param1, 2 bytes
//! param2, 8 bytes
static constexpr uint64_t COMMAND_1_PARAM2 = 0x000000524F42494E;
static constexpr size_t TEST_COMMAND_0_SIZE = sizeof(TEST_COMMAND_0);
static constexpr size_t TEST_COMMAND_1_SIZE = sizeof(TEST_COMMAND_1) + sizeof(COMMAND_1_PARAM1) +
sizeof(COMMAND_1_PARAM2);
enum PoolIds: lp_id_t {
TEST_UINT8_ID = 0,
TEST_UINT32_ID = 1,
TEST_FLOAT_VEC_3_ID = 2
};
static constexpr uint8_t TEST_SET_ID = TEST_NORMAL_MODE_CMD;
class TestDataSet: public StaticLocalDataSet<3> {
public:
TestDataSet(HasLocalDataPoolIF* owner): StaticLocalDataSet(owner, TEST_SET_ID) {}
TestDataSet(object_id_t owner): StaticLocalDataSet(sid_t(owner, TEST_SET_ID)) {}
lp_var_t<uint8_t> testUint8Var = lp_var_t<uint8_t>(
gp_id_t(this->getCreatorObjectId(), PoolIds::TEST_UINT8_ID), this);
lp_var_t<uint32_t> testUint32Var = lp_var_t<uint32_t>(
gp_id_t(this->getCreatorObjectId(), PoolIds::TEST_UINT32_ID), this);
lp_vec_t<float ,3> testFloat3Vec = lp_vec_t<float, 3>(
gp_id_t(this->getCreatorObjectId(), PoolIds::TEST_FLOAT_VEC_3_ID), this);
};
}
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_TESTDEVICEDEFINITIONS_H_ */

3
tests/src/fsfw_tests/integration/task/CMakeLists.txt Normal file
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target_sources(${TARGET_NAME} PRIVATE
TestTask.cpp
)

68
tests/src/fsfw_tests/integration/task/TestTask.cpp Normal file
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#include "TestTask.h"
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
bool TestTask::oneShotAction = true;
MutexIF* TestTask::testLock = nullptr;
TestTask::TestTask(object_id_t objectId):
SystemObject(objectId), testMode(testModes::A) {
if(testLock == nullptr) {
testLock = MutexFactory::instance()->createMutex();
}
IPCStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
}
TestTask::~TestTask() {
}
ReturnValue_t TestTask::performOperation(uint8_t operationCode) {
ReturnValue_t result = RETURN_OK;
testLock->lockMutex(MutexIF::TimeoutType::WAITING, 20);
if(oneShotAction) {
// Add code here which should only be run once
performOneShotAction();
oneShotAction = false;
}
testLock->unlockMutex();
// Add code here which should only be run once per performOperation
performPeriodicAction();
// Add code here which should only be run on alternating cycles.
if(testMode == testModes::A) {
performActionA();
testMode = testModes::B;
}
else if(testMode == testModes::B) {
performActionB();
testMode = testModes::A;
}
return result;
}
ReturnValue_t TestTask::performOneShotAction() {
/* Everything here will only be performed once. */
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TestTask::performPeriodicAction() {
/* This is performed each task cycle */
ReturnValue_t result = RETURN_OK;
return result;
}
ReturnValue_t TestTask::performActionA() {
/* This is performed each alternating task cycle */
ReturnValue_t result = RETURN_OK;
return result;
}
ReturnValue_t TestTask::performActionB() {
/* This is performed each alternating task cycle */
ReturnValue_t result = RETURN_OK;
return result;
}

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tests/src/fsfw_tests/integration/task/TestTask.h Normal file
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#ifndef MISSION_DEMO_TESTTASK_H_
#define MISSION_DEMO_TESTTASK_H_
#include <fsfw/tasks/ExecutableObjectIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/storagemanager/StorageManagerIF.h>
/**
* @brief Test class for general C++ testing and any other code which will not be part of the
* primary mission software.
* @details
* Should not be used for board specific tests. Instead, a derived board test class should be used.
*/
class TestTask :
public SystemObject,
public ExecutableObjectIF,
public HasReturnvaluesIF {
public:
TestTask(object_id_t objectId);
virtual ~TestTask();
virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
protected:
virtual ReturnValue_t performOneShotAction();
virtual ReturnValue_t performPeriodicAction();
virtual ReturnValue_t performActionA();
virtual ReturnValue_t performActionB();
enum testModes: uint8_t {
A,
B
};
testModes testMode;
bool testFlag = false;
private:
static bool oneShotAction;
static MutexIF* testLock;
StorageManagerIF* IPCStore;
};
#endif /* TESTTASK_H_ */

4
tests/src/fsfw_tests/unit/container/RingBufferTest.cpp
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@ -78,7 +78,7 @@ TEST_CASE("Ring Buffer Test" , "[RingBufferTest]") {
TEST_CASE("Ring Buffer Test2" , "[RingBufferTest2]") {
uint8_t testData[13]= {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12};
uint8_t readBuffer[10] = {13, 13, 13, 13, 13, 13, 13, 13, 13, 13};
uint8_t* newBuffer = new uint8_t[10];
uint8_t* newBuffer = new uint8_t[15];
SimpleRingBuffer ringBuffer(newBuffer, 10, true, 5);
SECTION("Simple Test") {
@ -168,7 +168,7 @@ TEST_CASE("Ring Buffer Test2" , "[RingBufferTest2]") {
TEST_CASE("Ring Buffer Test3" , "[RingBufferTest3]") {
uint8_t testData[13]= {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12};
uint8_t readBuffer[10] = {13, 13, 13, 13, 13, 13, 13, 13, 13, 13};
uint8_t* newBuffer = new uint8_t[10];
uint8_t* newBuffer = new uint8_t[25];
SimpleRingBuffer ringBuffer(newBuffer, 10, true, 15);
SECTION("Simple Test") {

24
tests/src/fsfw_tests/unit/datapoollocal/DataSetTest.cpp
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@ -171,14 +171,19 @@ TEST_CASE("DataSetTest" , "[DataSetTest]") {
/* We can do it like this because the buffer only has one byte for
less than 8 variables */
uint8_t* validityByte = buffer + sizeof(buffer) - 1;
CHECK(bitutil::bitGet(validityByte, 0) == true);
CHECK(bitutil::bitGet(validityByte, 1) == false);
CHECK(bitutil::bitGet(validityByte, 2) == true);
bool bitSet = false;
bitutil::get(validityByte, 0, bitSet);
CHECK(bitSet == true);
bitutil::get(validityByte, 1, bitSet);
CHECK(bitSet == false);
bitutil::get(validityByte, 2, bitSet);
CHECK(bitSet == true);
/* Now we manipulate the validity buffer for the deserialization */
bitutil::bitClear(validityByte, 0);
bitutil::bitSet(validityByte, 1);
bitutil::bitClear(validityByte, 2);
bitutil::clear(validityByte, 0);
bitutil::set(validityByte, 1);
bitutil::clear(validityByte, 2);
/* Zero out everything except validity buffer */
std::memset(buffer, 0, sizeof(buffer) - 1);
sizeToDeserialize = maxSize;
@ -239,8 +244,11 @@ TEST_CASE("DataSetTest" , "[DataSetTest]") {
std::memcpy(validityBuffer.data(), buffer + 9 + sizeof(uint16_t) * 3, 2);
/* The first 9 variables should be valid */
CHECK(validityBuffer[0] == 0xff);
CHECK(bitutil::bitGet(validityBuffer.data() + 1, 0) == true);
CHECK(bitutil::bitGet(validityBuffer.data() + 1, 1) == false);
bool bitSet = false;
bitutil::get(validityBuffer.data() + 1, 0, bitSet);
CHECK(bitSet == true);
bitutil::get(validityBuffer.data() + 1, 1, bitSet);
CHECK(bitSet == false);
/* Now we invert the validity */
validityBuffer[0] = 0;

4
tests/src/fsfw_tests/unit/datapoollocal/LocalPoolManagerTest.cpp
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@ -143,7 +143,7 @@ TEST_CASE("LocalPoolManagerTest" , "[LocManTest]") {
CHECK(cdsShort.msDay_h == Catch::Approx(timeCdsNow.msDay_h).margin(1));
CHECK(cdsShort.msDay_hh == Catch::Approx(timeCdsNow.msDay_hh).margin(1));
CHECK(cdsShort.msDay_l == Catch::Approx(timeCdsNow.msDay_l).margin(1));
CHECK(cdsShort.msDay_ll == Catch::Approx(timeCdsNow.msDay_ll).margin(1));
CHECK(cdsShort.msDay_ll == Catch::Approx(timeCdsNow.msDay_ll).margin(5));
}
SECTION("VariableSnapshotTest") {
@ -205,7 +205,7 @@ TEST_CASE("LocalPoolManagerTest" , "[LocManTest]") {
CHECK(cdsShort.msDay_h == Catch::Approx(timeCdsNow.msDay_h).margin(1));
CHECK(cdsShort.msDay_hh == Catch::Approx(timeCdsNow.msDay_hh).margin(1));
CHECK(cdsShort.msDay_l == Catch::Approx(timeCdsNow.msDay_l).margin(1));
CHECK(cdsShort.msDay_ll == Catch::Approx(timeCdsNow.msDay_ll).margin(1));
CHECK(cdsShort.msDay_ll == Catch::Approx(timeCdsNow.msDay_ll).margin(5));
}
SECTION("VariableNotificationTest") {

2
tests/src/fsfw_tests/unit/globalfunctions/CMakeLists.txt
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@ -1,3 +1,5 @@
target_sources(${FSFW_TEST_TGT} PRIVATE
testDleEncoder.cpp
testOpDivider.cpp
testBitutil.cpp
)

64
tests/src/fsfw_tests/unit/globalfunctions/testBitutil.cpp Normal file
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@ -0,0 +1,64 @@
#include "fsfw/globalfunctions/bitutility.h"
#include <catch2/catch_test_macros.hpp>
TEST_CASE("Bitutility" , "[Bitutility]") {
uint8_t dummyByte = 0;
bool bitSet = false;
for(uint8_t pos = 0; pos < 8; pos++) {
bitutil::set(&dummyByte, pos);
REQUIRE(dummyByte == (1 << (7 - pos)));
bitutil::get(&dummyByte, pos, bitSet);
REQUIRE(bitSet == 1);
dummyByte = 0;
}
dummyByte = 0xff;
for(uint8_t pos = 0; pos < 8; pos++) {
bitutil::get(&dummyByte, pos, bitSet);
REQUIRE(bitSet == 1);
bitutil::clear(&dummyByte, pos);
bitutil::get(&dummyByte, pos, bitSet);
REQUIRE(bitSet == 0);
dummyByte = 0xff;
}
dummyByte = 0xf0;
for(uint8_t pos = 0; pos < 8; pos++) {
if(pos < 4) {
bitutil::get(&dummyByte, pos, bitSet);
REQUIRE(bitSet == 1);
bitutil::toggle(&dummyByte, pos);
bitutil::get(&dummyByte, pos, bitSet);
REQUIRE(bitSet == 0);
}
else {
bitutil::get(&dummyByte, pos, bitSet);
REQUIRE(bitSet == false);
bitutil::toggle(&dummyByte, pos);
bitutil::get(&dummyByte, pos, bitSet);
REQUIRE(bitSet == true);
}
}
REQUIRE(dummyByte == 0x0f);
dummyByte = 0;
bitutil::set(&dummyByte, 8);
REQUIRE(dummyByte == 0);
bitutil::set(&dummyByte, -1);
REQUIRE(dummyByte == 0);
dummyByte = 0xff;
bitutil::clear(&dummyByte, 8);
REQUIRE(dummyByte == 0xff);
bitutil::clear(&dummyByte, -1);
REQUIRE(dummyByte == 0xff);
dummyByte = 0x00;
bitutil::toggle(&dummyByte, 8);
REQUIRE(dummyByte == 0x00);
bitutil::toggle(&dummyByte, -1);
REQUIRE(dummyByte == 0x00);
REQUIRE(bitutil::get(&dummyByte, 8, bitSet) == false);
}

64
tests/src/fsfw_tests/unit/globalfunctions/testOpDivider.cpp Normal file
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@ -0,0 +1,64 @@
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#include <catch2/catch_test_macros.hpp>
TEST_CASE("OpDivider" , "[OpDivider]") {
auto opDivider = PeriodicOperationDivider(1);
REQUIRE(opDivider.getDivider() == 1);
REQUIRE(opDivider.getCounter() == 1);
REQUIRE(opDivider.check() == true);
REQUIRE(opDivider.checkAndIncrement() == true);
REQUIRE(opDivider.getCounter() == 1);
REQUIRE(opDivider.check() == true);
REQUIRE(opDivider.checkAndIncrement() == true);
REQUIRE(opDivider.checkAndIncrement() == true);
opDivider.setDivider(0);
REQUIRE(opDivider.getCounter() == 1);
REQUIRE(opDivider.checkAndIncrement() == true);
REQUIRE(opDivider.getCounter() == 1);
REQUIRE(opDivider.checkAndIncrement() == true);
REQUIRE(opDivider.checkAndIncrement() == true);
opDivider.setDivider(2);
opDivider.resetCounter();
REQUIRE(opDivider.getDivider() == 2);
REQUIRE(opDivider.getCounter() == 1);
REQUIRE(opDivider.check() == false);
REQUIRE(opDivider.checkAndIncrement() == false);
REQUIRE(opDivider.getCounter() == 2);
REQUIRE(opDivider.check() == true);
REQUIRE(opDivider.checkAndIncrement() == true);
REQUIRE(opDivider.getCounter() == 1);
REQUIRE(opDivider.check() == false);
REQUIRE(opDivider.checkAndIncrement() == false);
REQUIRE(opDivider.getCounter() == 2);
REQUIRE(opDivider.checkAndIncrement() == true);
REQUIRE(opDivider.checkAndIncrement() == false);
REQUIRE(opDivider.checkAndIncrement() == true);
REQUIRE(opDivider.checkAndIncrement() == false);
opDivider.setDivider(3);
opDivider.resetCounter();
REQUIRE(opDivider.checkAndIncrement() == false);
REQUIRE(opDivider.checkAndIncrement() == false);
REQUIRE(opDivider.getCounter() == 3);
REQUIRE(opDivider.checkAndIncrement() == true);
REQUIRE(opDivider.getCounter() == 1);
REQUIRE(opDivider.checkAndIncrement() == false);
auto opDividerNonResetting = PeriodicOperationDivider(2, false);
REQUIRE(opDividerNonResetting.getCounter() == 1);
REQUIRE(opDividerNonResetting.check() == false);
REQUIRE(opDividerNonResetting.checkAndIncrement() == false);
REQUIRE(opDividerNonResetting.getCounter() == 2);
REQUIRE(opDividerNonResetting.check() == true);
REQUIRE(opDividerNonResetting.checkAndIncrement() == true);
REQUIRE(opDividerNonResetting.getCounter() == 3);
REQUIRE(opDividerNonResetting.checkAndIncrement() == true);
REQUIRE(opDividerNonResetting.getCounter() == 4);
opDividerNonResetting.resetCounter();
REQUIRE(opDividerNonResetting.getCounter() == 1);
REQUIRE(opDividerNonResetting.check() == false);
REQUIRE(opDividerNonResetting.checkAndIncrement() == false);
REQUIRE(opDividerNonResetting.getCounter() == 2);
}