fsfw/fsfw
fsfw/fsfw
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Merge branch 'master' into mueller/feature/windowsUdpBridge

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This commit is contained in:
Robin Müller 2020-11-02 15:28:07 +01:00
commit 652dc00cc9
130 changed files with 5505 additions and 761 deletions
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0
.gitmodules vendored Normal file
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11
FSFWVersion.h Normal file
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@ -0,0 +1,11 @@
#ifndef FSFW_DEFAULTCFG_VERSION_H_
#define FSFW_DEFAULTCFG_VERSION_H_
const char* const FSFW_VERSION_NAME = "fsfw";
#define FSFW_VERSION 0
#define FSFW_SUBVERSION 0
#endif /* FSFW_DEFAULTCFG_VERSION_H_ */

4
README.md Normal file
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@ -0,0 +1,4 @@
Flight Software Framework (FSFW)
======
I want to be written!

76
action/ActionHelper.cpp
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@ -3,8 +3,9 @@
#include "../ipc/MessageQueueSenderIF.h"
#include "../objectmanager/ObjectManagerIF.h"
ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue) :
owner(setOwner), queueToUse(useThisQueue), ipcStore(nullptr) {
ActionHelper::ActionHelper(HasActionsIF* setOwner,
MessageQueueIF* useThisQueue) :
owner(setOwner), queueToUse(useThisQueue) {
}
ActionHelper::~ActionHelper() {
@ -33,13 +34,15 @@ ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) {
return HasReturnvaluesIF::RETURN_OK;
}
void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result) {
void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo,
ActionId_t commandId, ReturnValue_t result) {
CommandMessage reply;
ActionMessage::setStepReply(&reply, commandId, step + STEP_OFFSET, result);
queueToUse->sendMessage(reportTo, &reply);
}
void ActionHelper::finish(MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result) {
void ActionHelper::finish(MessageQueueId_t reportTo, ActionId_t commandId,
ReturnValue_t result) {
CommandMessage reply;
ActionMessage::setCompletionReply(&reply, commandId, result);
queueToUse->sendMessage(reportTo, &reply);
@ -49,8 +52,8 @@ void ActionHelper::setQueueToUse(MessageQueueIF* queue) {
queueToUse = queue;
}
void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
store_address_t dataAddress) {
void ActionHelper::prepareExecution(MessageQueueId_t commandedBy,
ActionId_t actionId, store_address_t dataAddress) {
const uint8_t* dataPtr = NULL;
size_t size = 0;
ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
@ -62,6 +65,11 @@ void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t act
}
result = owner->executeAction(actionId, commandedBy, dataPtr, size);
ipcStore->deleteData(dataAddress);
if(result == HasActionsIF::EXECUTION_FINISHED) {
CommandMessage reply;
ActionMessage::setCompletionReply(&reply, actionId, result);
queueToUse->sendMessage(commandedBy, &reply);
}
if (result != HasReturnvaluesIF::RETURN_OK) {
CommandMessage reply;
ActionMessage::setStepReply(&reply, actionId, 0, result);
@ -86,22 +94,28 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = data->serialize(&dataPtr, &size, maxSize, SerializeIF::Endianness::BIG);
result = data->serialize(&dataPtr, &size, maxSize,
SerializeIF::Endianness::BIG);
if (result != HasReturnvaluesIF::RETURN_OK) {
ipcStore->deleteData(storeAddress);
return result;
}
//We don't need to report the objectId, as we receive REQUESTED data before the completion success message.
//True aperiodic replies need to be reported with another dedicated message.
// We don't need to report the objectId, as we receive REQUESTED data
// before the completion success message.
// True aperiodic replies need to be reported with
// another dedicated message.
ActionMessage::setDataReply(&reply, replyId, storeAddress);
//TODO Service Implementation sucks at the moment
if (hideSender){
// If the sender needs to be hidden, for example to handle packet
// as unrequested reply, this will be done here.
if (hideSender) {
result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
} else {
}
else {
result = queueToUse->sendMessage(reportTo, &reply);
}
if ( result != HasReturnvaluesIF::RETURN_OK){
if (result != HasReturnvaluesIF::RETURN_OK){
ipcStore->deleteData(storeAddress);
}
return result;
@ -109,3 +123,39 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
void ActionHelper::resetHelper() {
}
ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
ActionId_t replyId, const uint8_t *data, size_t dataSize,
bool hideSender) {
CommandMessage reply;
store_address_t storeAddress;
ReturnValue_t result = ipcStore->addData(&storeAddress, data, dataSize);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
if (result != HasReturnvaluesIF::RETURN_OK) {
ipcStore->deleteData(storeAddress);
return result;
}
// We don't need to report the objectId, as we receive REQUESTED data
// before the completion success message.
// True aperiodic replies need to be reported with
// another dedicated message.
ActionMessage::setDataReply(&reply, replyId, storeAddress);
// If the sender needs to be hidden, for example to handle packet
// as unrequested reply, this will be done here.
if (hideSender) {
result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
}
else {
result = queueToUse->sendMessage(reportTo, &reply);
}
if (result != HasReturnvaluesIF::RETURN_OK){
ipcStore->deleteData(storeAddress);
}
return result;
}

90
action/ActionHelper.h
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@ -1,15 +1,18 @@
#ifndef ACTIONHELPER_H_
#define ACTIONHELPER_H_
#ifndef FSFW_ACTION_ACTIONHELPER_H_
#define FSFW_ACTION_ACTIONHELPER_H_
#include "ActionMessage.h"
#include "../serialize/SerializeIF.h"
#include "../ipc/MessageQueueIF.h"
/**
* \brief Action Helper is a helper class which handles action messages
* @brief Action Helper is a helper class which handles action messages
*
* Components which use the HasActionIF this helper can be used to handle the action messages.
* It does handle step messages as well as other answers to action calls. It uses the executeAction function
* of its owner as callback. The call of the initialize function is mandatory and it needs a valid messageQueueIF pointer!
* Components which use the HasActionIF this helper can be used to handle
* the action messages.
* It does handle step messages as well as other answers to action calls.
* It uses the executeAction function of its owner as callback.
* The call of the initialize function is mandatory and needs a
* valid MessageQueueIF pointer!
*/
class HasActionsIF;
@ -18,7 +21,8 @@ public:
/**
* Constructor of the action helper
* @param setOwner Pointer to the owner of the interface
* @param useThisQueue messageQueue to be used, can be set during initialize function as well.
* @param useThisQueue messageQueue to be used, can be set during
* initialize function as well.
*/
ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
@ -26,28 +30,36 @@ public:
/**
* Function to be called from the owner with a new command message
*
* If the message is a valid action message the helper will use the executeAction function from HasActionsIF.
* If the message is invalid or the callback fails a message reply will be send to the sender of the message automatically.
* If the message is a valid action message the helper will use the
* executeAction function from HasActionsIF.
* If the message is invalid or the callback fails a message reply will be
* send to the sender of the message automatically.
*
* @param command Pointer to a command message received by the owner
* @return HasReturnvaluesIF::RETURN_OK if the message is a action message, CommandMessage::UNKNOW_COMMAND if this message ID is unkown
* @return HasReturnvaluesIF::RETURN_OK if the message is a action message,
* CommandMessage::UNKNOW_COMMAND if this message ID is unkown
*/
ReturnValue_t handleActionMessage(CommandMessage* command);
/**
* Helper initialize function. Must be called before use of any other helper function
* @param queueToUse_ Pointer to the messageQueue to be used, optional if queue was set in constructor
* Helper initialize function. Must be called before use of any other
* helper function
* @param queueToUse_ Pointer to the messageQueue to be used, optional
* if queue was set in constructor
* @return Returns RETURN_OK if successful
*/
ReturnValue_t initialize(MessageQueueIF* queueToUse_ = nullptr);
/**
* Function to be called from the owner to send a step message. Success or failure will be determined by the result value.
* Function to be called from the owner to send a step message.
* Success or failure will be determined by the result value.
*
* @param step Number of steps already done
* @param reportTo The messageQueueId to report the step message to
* @param commandId ID of the executed command
* @param result Result of the execution
*/
void step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
void step(uint8_t step, MessageQueueId_t reportTo,
ActionId_t commandId,
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
/**
* Function to be called by the owner to send a action completion message
*
@ -55,39 +67,59 @@ public:
* @param commandId ID of the executed command
* @param result Result of the execution
*/
void finish(MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
void finish(MessageQueueId_t reportTo, ActionId_t commandId,
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
/**
* Function to be called by the owner if an action does report data
*
* @param reportTo MessageQueueId_t to report the action completion message to
* Function to be called by the owner if an action does report data.
* Takes a SerializeIF* pointer and serializes it into the IPC store.
* @param reportTo MessageQueueId_t to report the action completion
* message to
* @param replyId ID of the executed command
* @param data Pointer to the data
* @return Returns RETURN_OK if successful, otherwise failure code
*/
ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, SerializeIF* data, bool hideSender = false);
ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId,
SerializeIF* data, bool hideSender = false);
/**
* Function to be called by the owner if an action does report data.
* Takes the raw data and writes it into the IPC store.
* @param reportTo MessageQueueId_t to report the action completion
* message to
* @param replyId ID of the executed command
* @param data Pointer to the data
* @return Returns RETURN_OK if successful, otherwise failure code
*/
ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId,
const uint8_t* data, size_t dataSize, bool hideSender = false);
/**
* Function to setup the MessageQueueIF* of the helper. Can be used to set the messageQueueIF* if
* message queue is unavailable at construction and initialize but must be setup before first call of other functions.
* Function to setup the MessageQueueIF* of the helper. Can be used to
* set the MessageQueueIF* if message queue is unavailable at construction
* and initialize but must be setup before first call of other functions.
* @param queue Queue to be used by the helper
*/
void setQueueToUse(MessageQueueIF *queue);
protected:
static const uint8_t STEP_OFFSET = 1;//!< Increase of value of this per step
//!< Increase of value of this per step
static const uint8_t STEP_OFFSET = 1;
HasActionsIF* owner;//!< Pointer to the owner
MessageQueueIF* queueToUse;//!< Queue to be used as response sender, has to be set with
StorageManagerIF* ipcStore;//!< Pointer to an IPC Store, initialized during construction or initialize(MessageQueueIF* queueToUse_) or with setQueueToUse(MessageQueueIF *queue)
//! Queue to be used as response sender, has to be set in ctor or with
//! setQueueToUse
MessageQueueIF* queueToUse;
//! Pointer to an IPC Store, initialized during construction or
StorageManagerIF* ipcStore = nullptr;
/**
*Internal function called by handleActionMessage(CommandMessage* command)
*
* Internal function called by handleActionMessage
* @param commandedBy MessageQueueID of Commander
* @param actionId ID of action to be done
* @param dataAddress Address of additional data in IPC Store
*/
virtual void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId, store_address_t dataAddress);
virtual void prepareExecution(MessageQueueId_t commandedBy,
ActionId_t actionId, store_address_t dataAddress);
/**
*
* @brief Default implementation is empty.
*/
virtual void resetHelper();
};
#endif /* ACTIONHELPER_H_ */
#endif /* FSFW_ACTION_ACTIONHELPER_H_ */

17
action/HasActionsIF.h
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@ -1,11 +1,12 @@
#ifndef FRAMEWORK_ACTION_HASACTIONSIF_H_
#define FRAMEWORK_ACTION_HASACTIONSIF_H_
#ifndef FSFW_ACTION_HASACTIONSIF_H_
#define FSFW_ACTION_HASACTIONSIF_H_
#include "ActionHelper.h"
#include "ActionMessage.h"
#include "SimpleActionHelper.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../ipc/MessageQueueIF.h"
/**
* @brief
* Interface for component which uses actions
@ -47,14 +48,16 @@ public:
virtual MessageQueueId_t getCommandQueue() const = 0;
/**
* Execute or initialize the execution of a certain function.
* Returning #EXECUTION_FINISHED or a failure code, nothing else needs to
* be done. When needing more steps, return RETURN_OK and issue steps and
* completion manually.
* One "step failed" or completion report must be issued!
* The ActionHelpers will execute this function and behave differently
* depending on the returnvalue.
*
* @return
* -@c EXECUTION_FINISHED Finish reply will be generated
* -@c Not RETURN_OK Step failure reply will be generated
*/
virtual ReturnValue_t executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t* data, size_t size) = 0;
};
#endif /* FRAMEWORK_ACTION_HASACTIONSIF_H_ */
#endif /* FSFW_ACTION_HASACTIONSIF_H_ */

7
action/SimpleActionHelper.cpp
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@ -1,16 +1,17 @@
#include "HasActionsIF.h"
#include "SimpleActionHelper.h"
SimpleActionHelper::SimpleActionHelper(HasActionsIF* setOwner,
MessageQueueIF* useThisQueue) :
ActionHelper(setOwner, useThisQueue), isExecuting(false), lastCommander(
0), lastAction(0), stepCount(0) {
ActionHelper(setOwner, useThisQueue), isExecuting(false) {
}
SimpleActionHelper::~SimpleActionHelper() {
}
void SimpleActionHelper::step(ReturnValue_t result) {
//STEP_OFFESET is subtracted to compensate for adding offset in base method, which is not necessary here.
// STEP_OFFESET is subtracted to compensate for adding offset in base
// method, which is not necessary here.
ActionHelper::step(stepCount - STEP_OFFSET, lastCommander, lastAction,
result);
if (result != HasReturnvaluesIF::RETURN_OK) {

20
action/SimpleActionHelper.h
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@ -1,8 +1,13 @@
#ifndef SIMPLEACTIONHELPER_H_
#define SIMPLEACTIONHELPER_H_
#ifndef FSFW_ACTION_SIMPLEACTIONHELPER_H_
#define FSFW_ACTION_SIMPLEACTIONHELPER_H_
#include "ActionHelper.h"
/**
* @brief This is an action helper which is only able to service one action
* at a time but remembers last commander and last action which
* simplifies usage
*/
class SimpleActionHelper: public ActionHelper {
public:
SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
@ -12,13 +17,14 @@ public:
ReturnValue_t reportData(SerializeIF* data);
protected:
void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId, store_address_t dataAddress);
virtual void resetHelper();
void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
store_address_t dataAddress);
virtual void resetHelper();
private:
bool isExecuting;
MessageQueueId_t lastCommander;
ActionId_t lastAction;
uint8_t stepCount;
MessageQueueId_t lastCommander = MessageQueueIF::NO_QUEUE;
ActionId_t lastAction = 0;
uint8_t stepCount = 0;
};
#endif /* SIMPLEACTIONHELPER_H_ */

25
container/SharedRingBuffer.cpp
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@ -9,6 +9,7 @@ SharedRingBuffer::SharedRingBuffer(object_id_t objectId, const size_t size,
mutex = MutexFactory::instance()->createMutex();
}
SharedRingBuffer::SharedRingBuffer(object_id_t objectId, uint8_t *buffer,
const size_t size, bool overwriteOld, size_t maxExcessBytes):
SystemObject(objectId), SimpleRingBuffer(buffer, size, overwriteOld,
@ -16,6 +17,11 @@ SharedRingBuffer::SharedRingBuffer(object_id_t objectId, uint8_t *buffer,
mutex = MutexFactory::instance()->createMutex();
}
void SharedRingBuffer::setToUseReceiveSizeFIFO(size_t fifoDepth) {
this->fifoDepth = fifoDepth;
}
ReturnValue_t SharedRingBuffer::lockRingBufferMutex(
MutexIF::TimeoutType timeoutType, dur_millis_t timeout) {
return mutex->lockMutex(timeoutType, timeout);
@ -25,6 +31,25 @@ ReturnValue_t SharedRingBuffer::unlockRingBufferMutex() {
return mutex->unlockMutex();
}
MutexIF* SharedRingBuffer::getMutexHandle() const {
return mutex;
}
ReturnValue_t SharedRingBuffer::initialize() {
if(fifoDepth > 0) {
receiveSizesFIFO = new DynamicFIFO<size_t>(fifoDepth);
}
return SystemObject::initialize();
}
DynamicFIFO<size_t>* SharedRingBuffer::getReceiveSizesFIFO() {
if(receiveSizesFIFO == nullptr) {
// Configuration error.
sif::warning << "SharedRingBuffer::getReceiveSizesFIFO: Ring buffer"
<< " was not configured to have sizes FIFO, returning nullptr!"
<< std::endl;
}
return receiveSizesFIFO;
}

24
container/SharedRingBuffer.h
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@ -2,6 +2,7 @@
#define FSFW_CONTAINER_SHAREDRINGBUFFER_H_
#include "SimpleRingBuffer.h"
#include "DynamicFIFO.h"
#include "../ipc/MutexIF.h"
#include "../objectmanager/SystemObject.h"
#include "../timemanager/Clock.h"
@ -26,6 +27,16 @@ public:
SharedRingBuffer(object_id_t objectId, const size_t size,
bool overwriteOld, size_t maxExcessBytes);
/**
* @brief This function can be used to add an optional FIFO to the class
* @details
* This FIFO will be allocated in the initialize function (and will
* have a fixed maximum size after that). It can be used to store
* values like packet sizes, for example for a shared ring buffer
* used by producer/consumer tasks.
*/
void setToUseReceiveSizeFIFO(size_t fifoDepth);
/**
* This constructor takes an external buffer with the specified size.
* @param buffer
@ -59,8 +70,21 @@ public:
* @return
*/
MutexIF* getMutexHandle() const;
ReturnValue_t initialize() override;
/**
* If the shared ring buffer was configured to have a sizes FIFO, a handle
* to that FIFO can be retrieved with this function.
* Do not forget to protect access with a lock if required!
* @return
*/
DynamicFIFO<size_t>* getReceiveSizesFIFO();
private:
MutexIF* mutex = nullptr;
size_t fifoDepth = 0;
DynamicFIFO<size_t>* receiveSizesFIFO = nullptr;
};

6
defaultcfg/README.md Normal file
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@ -0,0 +1,6 @@
# How to setup configuration folder for FSFW
It is recommended to copy the content of the defaultcfg folder
into a config folder which is in the same directory as the Flight
Software Framework submodule. After that, the config.mk folder should be
included by the primary Makefile with CURRENTPATH set correctly.

54
defaultcfg/config/FSFWConfig.h Normal file
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@ -0,0 +1,54 @@
#ifndef CONFIG_FSFWCONFIG_H_
#define CONFIG_FSFWCONFIG_H_
#include <FSFWVersion.h>
#include <cstddef>
//! Used to determine whether C++ ostreams are used
//! Those can lead to code bloat.
#define FSFW_CPP_OSTREAM_ENABLED 1
//! Reduced printout to further decrese code size
//! Be careful, this also turns off most diagnostic prinouts!
#define FSFW_REDUCED_PRINTOUT 0
//! Can be used to enable debugging printouts for developing the FSFW
#define FSFW_DEBUGGING 0
//! Defines the FIFO depth of each commanding service base which
//! also determines how many commands a CSB service can handle in one cycle
//! simulataneously. This will increase the required RAM for
//! each CSB service !
#define FSFW_CSB_FIFO_DEPTH 6
//! If FSFW_OBJ_EVENT_TRANSLATION is set to one,
//! additional output which requires the translation files translateObjects
//! and translateEvents (and their compiled source files)
#define FSFW_OBJ_EVENT_TRANSLATION 0
#if FSFW_OBJ_EVENT_TRANSLATION == 1
#define FSFW_DEBUG_OUTPUT 1
//! Specify whether info events are printed too.
#define FSFW_DEBUG_INFO 1
#include <translateObjects.h>
#include <translateEvents.h>
#else
#define FSFW_DEBUG_OUTPUT 0
#endif
//! When using the newlib nano library, C99 support for stdio facilities
//! will not be provided. This define should be set to 1 if this is the case.
#define FSFW_NO_C99_IO 1
namespace fsfwconfig {
//! Default timestamp size. The default timestamp will be an eight byte CDC
//! short timestamp.
static constexpr uint8_t FSFW_MISSION_TIMESTAMP_SIZE = 8;
//! Configure the allocated pool sizes for the event manager.
static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120;
}
#endif /* CONFIG_FSFWCONFIG_H_ */

16
defaultcfg/config/OBSWConfig.h Normal file
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@ -0,0 +1,16 @@
#ifndef CONFIG_OBSWCONFIG_H_
#define CONFIG_OBSWCONFIG_H_
#include "OBSWVersion.h"
#ifdef __cplusplus
namespace config {
#endif
/* Add mission configuration flags here */
#ifdef __cplusplus
}
#endif
#endif /* CONFIG_OBSWCONFIG_H_ */

9
defaultcfg/config/OBSWVersion.h Normal file
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@ -0,0 +1,9 @@
#ifndef CONFIG_VERSION_H_
#define CONFIG_VERSION_H_
/* OBSW versioning can be specified in this file */
#define OBSW_VERSION 0
#define OBSW_SUBVERSION 0
#endif /* CONFIG_VERSION_H_ */

15
defaultcfg/config/config.mk Normal file
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@ -0,0 +1,15 @@
CXXSRC += $(wildcard $(CURRENTPATH)/ipc/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/objects/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/pollingsequence/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/events/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/tmtc/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/devices/*.cpp)
INCLUDES += $(CURRENTPATH)
INCLUDES += $(CURRENTPATH)/objects
INCLUDES += $(CURRENTPATH)/returnvalues
INCLUDES += $(CURRENTPATH)/tmtc
INCLUDES += $(CURRENTPATH)/events
INCLUDES += $(CURRENTPATH)/devices
INCLUDES += $(CURRENTPATH)/pollingsequence
INCLUDES += $(CURRENTPATH)/ipc

5
defaultcfg/config/devices/logicalAddresses.cpp Normal file
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@ -0,0 +1,5 @@
#include "logicalAddresses.h"

18
defaultcfg/config/devices/logicalAddresses.h Normal file
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@ -0,0 +1,18 @@
#ifndef CONFIG_DEVICES_LOGICALADDRESSES_H_
#define CONFIG_DEVICES_LOGICALADDRESSES_H_
#include <config/objects/systemObjectList.h>
#include <fsfw/devicehandlers/CookieIF.h>
#include <cstdint>
/**
* Can be used for addresses for physical devices like I2C adresses.
*/
namespace addresses {
/* Logical addresses have uint32_t datatype */
enum logicalAddresses: address_t {
};
}
#endif /* CONFIG_DEVICES_LOGICALADDRESSES_H_ */

4
defaultcfg/config/devices/powerSwitcherList.cpp Normal file
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@ -0,0 +1,4 @@
#include "powerSwitcherList.h"

12
defaultcfg/config/devices/powerSwitcherList.h Normal file
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@ -0,0 +1,12 @@
#ifndef CONFIG_DEVICES_POWERSWITCHERLIST_H_
#define CONFIG_DEVICES_POWERSWITCHERLIST_H_
namespace switches {
/* Switches are uint8_t datatype and go from 0 to 255 */
enum switcherList {
};
}
#endif /* CONFIG_DEVICES_POWERSWITCHERLIST_H_ */

18
defaultcfg/config/events/subsystemIdRanges.h Normal file
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@ -0,0 +1,18 @@
#ifndef CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_
#define CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_
#include <cstdint>
#include <fsfw/events/fwSubsystemIdRanges.h>
/**
* @brief Custom subsystem IDs can be added here
* @details
* Subsystem IDs are used to create unique events.
*/
namespace SUBSYSTEM_ID {
enum: uint8_t {
SUBSYSTEM_ID_START = FW_SUBSYSTEM_ID_RANGE,
};
}
#endif /* CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_ */

11
defaultcfg/config/ipc/missionMessageTypes.cpp Normal file
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@ -0,0 +1,11 @@
#include <config/ipc/MissionMessageTypes.h>
#include <fsfw/ipc/CommandMessageIF.h>
void messagetypes::clearMissionMessage(CommandMessage* message) {
switch(message->getMessageType()) {
default:
break;
}
}

21
defaultcfg/config/ipc/missionMessageTypes.h Normal file
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@ -0,0 +1,21 @@
#ifndef CONFIG_IPC_MISSIONMESSAGETYPES_H_
#define CONFIG_IPC_MISSIONMESSAGETYPES_H_
#include <fsfw/ipc/CommandMessage.h>
#include <fsfw/ipc/FwMessageTypes.h>
/**
* Custom command messages are specified here.
* Most messages needed to use FSFW are already located in
* <fsfw/ipc/FwMessageTypes.h>
* @param message Generic Command Message
*/
namespace messagetypes {
enum CustomMessageTypes {
MISSION_MESSAGE_TYPE_START = FW_MESSAGES_COUNT
};
void clearMissionMessage(CommandMessage* message);
}
#endif /* CONFIG_IPC_MISSIONMESSAGETYPES_H_ */

54
defaultcfg/config/objects/Factory.cpp Normal file
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@ -0,0 +1,54 @@
#include "Factory.h"
#include "../tmtc/apid.h"
#include "../tmtc/pusIds.h"
#include "../objects/systemObjectList.h"
#include "../devices/logicalAddresses.h"
#include "../devices/powerSwitcherList.h"
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/events/EventManager.h>
#include <fsfw/health/HealthTable.h>
#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
#include <fsfw/tmtcservices/CommandingServiceBase.h>
#include <fsfw/tmtcservices/PusServiceBase.h>
#include <cstdint>
/**
* This class should be used to create all system objects required for
* the on-board software, using the object ID list from the configuration
* folder.
*
* The objects are registered in the internal object manager automatically.
* This is used later to add objects to tasks.
*
* This file also sets static framework IDs.
*
* Framework objects are created first.
* @ingroup init
*/
void Factory::produce(void) {
setStaticFrameworkObjectIds();
new EventManager(objects::EVENT_MANAGER);
new HealthTable(objects::HEALTH_TABLE);
//new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
}
void Factory::setStaticFrameworkObjectIds() {
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
PusServiceBase::packetDestination = objects::TM_FUNNEL;
CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
DeviceHandlerBase::rawDataReceiverId = objects::PUS_SERVICE_2_DEVICE_ACCESS;
DeviceHandlerFailureIsolation::powerConfirmationId = objects::NO_OBJECT;
TmPacketStored::timeStamperId = objects::PUS_TIME;
//TmFunnel::downlinkDestination = objects::NO_OBJECT;
}

17
defaultcfg/config/objects/Factory.h Normal file
View File

@ -0,0 +1,17 @@
#ifndef FACTORY_H_
#define FACTORY_H_
#include <fsfw/objectmanager/SystemObjectIF.h>
#include <cstddef>
namespace Factory {
/**
* @brief Creates all SystemObject elements which are persistent
* during execution.
*/
void produce();
void setStaticFrameworkObjectIds();
}
#endif /* FACTORY_H_ */

16
defaultcfg/config/objects/systemObjectList.h Normal file
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@ -0,0 +1,16 @@
#ifndef CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
#define CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
#include <cstdint>
#include <fsfw/objectmanager/frameworkObjects.h>
// The objects will be instantiated in the ID order
namespace objects {
enum sourceObjects: uint32_t {
/* All addresses between start and end are reserved for the FSFW */
FSFW_CONFIG_RESERVED_START = PUS_SERVICE_1_VERIFICATION,
FSFW_CONFIG_RESERVED_END = TM_STORE
};
}
#endif /* BSP_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_ */

23
defaultcfg/config/pollingsequence/PollingSequenceFactory.cpp Normal file
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@ -0,0 +1,23 @@
#include "PollingSequenceFactory.h"
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
ReturnValue_t pst::pollingSequenceInitDefault(
FixedTimeslotTaskIF *thisSequence) {
/* Length of a communication cycle */
uint32_t length = thisSequence->getPeriodMs();
/* Add polling sequence table here */
if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
sif::error << "pst::pollingSequenceInitDefault: Sequence invalid!"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
}

32
defaultcfg/config/pollingsequence/PollingSequenceFactory.h Normal file
View File

@ -0,0 +1,32 @@
#ifndef POLLINGSEQUENCEFACTORY_H_
#define POLLINGSEQUENCEFACTORY_H_
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
class FixedTimeslotTaskIF;
/**
* All device handlers are scheduled by adding them into Polling Sequence Tables (PST)
* to satisfy stricter timing requirements of device communication,
* A device handler has four different communication steps:
* 1. DeviceHandlerIF::SEND_WRITE -> Send write via interface
* 2. DeviceHandlerIF::GET_WRITE -> Get confirmation for write
* 3. DeviceHandlerIF::SEND_READ -> Send read request
* 4. DeviceHandlerIF::GET_READ -> Read from interface
* The PST specifies precisely when the respective ComIF functions are called
* during the communication cycle time.
* The task is created using the FixedTimeslotTaskIF,
* which utilises the underlying Operating System Abstraction Layer (OSAL)
*
* @param thisSequence FixedTimeslotTaskIF * object is passed inside the Factory class when creating the PST
* @return
*/
namespace pst {
/* Default PST */
ReturnValue_t pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence);
}
#endif /* POLLINGSEQUENCEINIT_H_ */

16
defaultcfg/config/returnvalues/classIds.h Normal file
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@ -0,0 +1,16 @@
#ifndef CONFIG_RETURNVALUES_CLASSIDS_H_
#define CONFIG_RETURNVALUES_CLASSIDS_H_
#include <fsfw/returnvalues/FwClassIds.h>
/**
* @brief CLASS_ID defintions which are required for custom returnvalues.
*/
namespace CLASS_ID {
enum {
MISSION_CLASS_ID_START = FW_CLASS_ID_COUNT,
};
}
#endif /* CONFIG_RETURNVALUES_CLASSIDS_H_ */

18
defaultcfg/config/tmtc/apid.h Normal file
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@ -0,0 +1,18 @@
#ifndef CONFIG_TMTC_APID_H_
#define CONFIG_TMTC_APID_H_
#include <cstdint>
/**
* Application Process Definition: entity, uniquely identified by an
* application process ID (APID), capable of generating telemetry source
* packets and receiving telecommand packets.
*
* Chose APID(s) for mission and define it here.
*/
namespace apid {
static const uint16_t DEFAULT_APID = 0x00;
}
#endif /* CONFIG_TMTC_APID_H_ */

23
defaultcfg/config/tmtc/pusIds.h Normal file
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@ -0,0 +1,23 @@
#ifndef CONFIG_TMTC_PUSIDS_HPP_
#define CONFIG_TMTC_PUSIDS_HPP_
namespace pus {
enum Ids: uint8_t {
PUS_SERVICE_1 = 1,
PUS_SERVICE_2 = 2,
PUS_SERVICE_3 = 3,
PUS_SERVICE_5 = 5,
PUS_SERVICE_6 = 6,
PUS_SERVICE_8 = 8,
PUS_SERVICE_9 = 9,
PUS_SERVICE_11 = 11,
PUS_SERVICE_17 = 17,
PUS_SERVICE_19 = 19,
PUS_SERVICE_20 = 20,
PUS_SERVICE_23 = 23,
PUS_SERVICE_200 = 200,
PUS_SERVICE_201 = 201,
};
};
#endif /* CONFIG_TMTC_PUSIDS_HPP_ */

2
devicehandlers/DeviceHandlerBase.cpp
View File

@ -1224,7 +1224,7 @@ void DeviceHandlerBase::buildInternalCommand(void) {
if (result == BUSY) {
//so we can track misconfigurations
sif::debug << std::hex << getObjectId()
<< ": DHB::buildInternalCommand: Busy" << std::endl;
<< ": DHB::buildInternalCommand: Busy" << std::dec << std::endl;
result = NOTHING_TO_SEND; //no need to report this
}
}

2
events/Event.h
View File

@ -4,7 +4,7 @@
#include <stdint.h>
#include "fwSubsystemIdRanges.h"
//could be move to more suitable location
#include <config/tmtc/subsystemIdRanges.h>
#include <subsystemIdRanges.h>
typedef uint16_t EventId_t;
typedef uint8_t EventSeverity_t;

8
events/EventManager.cpp
View File

@ -1,5 +1,7 @@
#include "EventManager.h"
#include "EventMessage.h"
#include <FSFWConfig.h>
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../ipc/QueueFactory.h"
#include "../ipc/MutexFactory.h"
@ -12,8 +14,10 @@ const uint16_t EventManager::POOL_SIZES[N_POOLS] = {
// objects registering for certain events.
// Each listener requires 1 or 2 EventIdMatcher and 1 or 2 ReportRangeMatcher.
// So a good guess is 75 to a max of 100 pools required for each, which fits well.
// SHOULDDO: Shouldn't this be in the config folder and passed via ctor?
const uint16_t EventManager::N_ELEMENTS[N_POOLS] = { 240, 120, 120 };
const uint16_t EventManager::N_ELEMENTS[N_POOLS] = {
fsfwconfig::FSFW_EVENTMGMR_MATCHTREE_NODES ,
fsfwconfig::FSFW_EVENTMGMT_EVENTIDMATCHERS,
fsfwconfig::FSFW_EVENTMGMR_RANGEMATCHERS };
EventManager::EventManager(object_id_t setObjectId) :
SystemObject(setObjectId),

25
health/HasHealthIF.h
View File

@ -1,5 +1,5 @@
#ifndef HASHEALTHIF_H_
#define HASHEALTHIF_H_
#ifndef FSFW_HEALTH_HASHEALTHIF_H_
#define FSFW_HEALTH_HASHEALTHIF_H_
#include "../events/Event.h"
#include "../returnvalues/HasReturnvaluesIF.h"
@ -8,9 +8,13 @@
class HasHealthIF {
public:
typedef enum {
HEALTHY = 1, FAULTY = 0, EXTERNAL_CONTROL = 2, NEEDS_RECOVERY = 3, PERMANENT_FAULTY = 4
} HealthState;
enum HealthState: uint8_t {
HEALTHY = 1,
FAULTY = 0,
EXTERNAL_CONTROL = 2,
NEEDS_RECOVERY = 3,
PERMANENT_FAULTY = 4
};
static const uint8_t INTERFACE_ID = CLASS_ID::HAS_HEALTH_IF;
static const ReturnValue_t OBJECT_NOT_HEALTHY = MAKE_RETURN_CODE(1);
@ -31,20 +35,17 @@ public:
virtual MessageQueueId_t getCommandQueue() const = 0;
/**
* set the Health State
*
* @brief Set the Health State
* The parent will be informed, if the Health changes
*
* @param health
*/
virtual ReturnValue_t setHealth(HealthState health) = 0;
/**
* get Health State
*
* @return Health State of the object
* @brief Get Health State
* @return Health State of the object
*/
virtual HasHealthIF::HealthState getHealth() = 0;
};
#endif /* HASHEALTHIF_H_ */
#endif /* FSFW_HEALTH_HASHEALTHIF_H_ */

45
health/HealthHelper.h
View File

@ -12,13 +12,15 @@
#include "../returnvalues/HasReturnvaluesIF.h"
/**
* Helper class for Objects that implement HasHealthIF
* @brief Helper class for Objects that implement HasHealthIF
* @details
* It takes care of registering with the Health Table as well as handling
* health commands (including replying to the sender) and updating
* the Health Table.
*
* It takes care of registering with the Health Table as well as handling health commands
* (including replying to the sender) and updating the Health Table.
*
* If a parent is set in the ctor, the parent will be informed with a @c HEALTH_INFO message
* about changes in the health state. Note that a @c HEALTH_INFO is only generated if the Health
* If a parent is set in the ctor, the parent will be informed with a
* @c HEALTH_INFO message about changes in the health state.
* Note that a @c HEALTH_INFO is only generated if the Health
* changes, not for all @c HEALTH_SET commands received.
*
* It does NOT handle @c HEALTH_INFO messages
@ -27,10 +29,9 @@ class HealthHelper {
public:
/**
* ctor
*
* @param owner
* @param objectId the object Id to use when communication with the HealthTable
* @param objectId The object Id to use when communication with
* the HealthTable
*/
HealthHelper(HasHealthIF* owner, object_id_t objectId);
@ -56,8 +57,9 @@ public:
*
* @param message
* @return
* -@c RETURN_OK if the message was handled
* -@c RETURN_FAILED if the message could not be handled (ie it was not a @c HEALTH_SET or @c HEALTH_READ message)
* -@c RETURN_OK if the message was handled
* -@c RETURN_FAILED if the message could not be handled
* (ie it was not a @c HEALTH_SET or @c HEALTH_READ message)
*/
ReturnValue_t handleHealthCommand(CommandMessage *message);
@ -78,16 +80,19 @@ public:
HasHealthIF::HealthState getHealth();
/**
* @param parentQueue the Queue id of the parent object. Set to 0 if no parent present
* @param parentQueue The queue ID of the parent object.
* Set to 0 if no parent present
*/
void setParentQueue(MessageQueueId_t parentQueue);
/**
*
* @param parentQueue the Queue id of the parent object. Set to 0 if no parent present
* @param parentQueue The queue ID of the parent object.
* Set to 0 if no parent present
* @return
* -@c RETURN_OK if the Health Table was found and the object could be registered
* -@c RETURN_FAILED else
* -@c RETURN_OK if the Health Table was found and the object
* could be registered
* -@c RETURN_FAILED else
*/
ReturnValue_t initialize(MessageQueueId_t parentQueue );
@ -110,11 +115,15 @@ private:
HasHealthIF* owner;
/**
* if the #parentQueue is not NULL, a @c HEALTH_INFO message will be sent to this queue
* @param health the health is passed as parameter so that the number of calls to the health table can be minimized
* if the #parentQueue is not NULL, a @c HEALTH_INFO message
* will be sent to this queue
* @param health
* The health is passed as parameter so that the number of
* calls to the health table can be minimized
* @param oldHealth information of the previous health state.
*/
void informParent(HasHealthIF::HealthState health, HasHealthIF::HealthState oldHealth);
void informParent(HasHealthIF::HealthState health,
HasHealthIF::HealthState oldHealth);
void handleSetHealthCommand(CommandMessage *message);
};

6
health/HealthMessage.cpp
View File

@ -7,11 +7,13 @@ void HealthMessage::setHealthMessage(CommandMessage* message, Command_t command,
message->setParameter2(oldHealth);
}
void HealthMessage::setHealthMessage(CommandMessage* message, Command_t command) {
void HealthMessage::setHealthMessage(CommandMessage* message,
Command_t command) {
message->setCommand(command);
}
HasHealthIF::HealthState HealthMessage::getHealth(const CommandMessage* message) {
HasHealthIF::HealthState HealthMessage::getHealth(
const CommandMessage* message) {
return (HasHealthIF::HealthState) message->getParameter();
}

20
health/HealthMessage.h
View File

@ -1,5 +1,5 @@
#ifndef HEALTHMESSAGE_H_
#define HEALTHMESSAGE_H_
#ifndef FSFW_HEALTH_HEALTHMESSAGE_H_
#define FSFW_HEALTH_HEALTHMESSAGE_H_
#include "HasHealthIF.h"
#include "../ipc/CommandMessage.h"
@ -7,14 +7,20 @@
class HealthMessage {
public:
static const uint8_t MESSAGE_ID = messagetypes::HEALTH_COMMAND;
static const Command_t HEALTH_SET = MAKE_COMMAND_ID(1);//REPLY_COMMAND_OK/REPLY_REJECTED
static const Command_t HEALTH_ANNOUNCE = MAKE_COMMAND_ID(3); //NO REPLY!
static const Command_t HEALTH_SET = MAKE_COMMAND_ID(1);
// No reply expected, health will be announced as event!
static const Command_t HEALTH_ANNOUNCE = MAKE_COMMAND_ID(2);
// Same as before, but all objects in health table will
// announce their health as events.
static const Command_t HEALTH_ANNOUNCE_ALL = MAKE_COMMAND_ID(3);
static const Command_t HEALTH_INFO = MAKE_COMMAND_ID(5);
static const Command_t REPLY_HEALTH_SET = MAKE_COMMAND_ID(6);
static void setHealthMessage(CommandMessage *message, Command_t command,
HasHealthIF::HealthState health, HasHealthIF::HealthState oldHealth = HasHealthIF::FAULTY);
HasHealthIF::HealthState health,
HasHealthIF::HealthState oldHealth = HasHealthIF::FAULTY);
static void setHealthMessage(CommandMessage *message, Command_t command);
static HasHealthIF::HealthState getHealth(const CommandMessage *message);
@ -27,4 +33,4 @@ private:
HealthMessage();
};
#endif /* HEALTHMESSAGE_H_ */
#endif /* FSFW_HEALTH_HEALTHMESSAGE_H_ */

64
health/HealthTable.cpp
View File

@ -1,6 +1,7 @@
#include "HealthTable.h"
#include "../serialize/SerializeAdapter.h"
#include "../ipc/MutexHelper.h"
#include "../ipc/MutexFactory.h"
#include "../serialize/SerializeAdapter.h"
HealthTable::HealthTable(object_id_t objectid) :
SystemObject(objectid) {
@ -9,6 +10,12 @@ HealthTable::HealthTable(object_id_t objectid) :
mapIterator = healthMap.begin();
}
void HealthTable::setMutexTimeout(MutexIF::TimeoutType timeoutType,
uint32_t timeoutMs) {
this->timeoutType = timeoutType;
this->mutexTimeoutMs = timeoutMs;
}
HealthTable::~HealthTable() {
MutexFactory::instance()->deleteMutex(mutex);
}
@ -18,74 +25,63 @@ ReturnValue_t HealthTable::registerObject(object_id_t object,
if (healthMap.count(object) != 0) {
return HasReturnvaluesIF::RETURN_FAILED;
}
healthMap.insert(
std::pair<object_id_t, HasHealthIF::HealthState>(object,
initilialState));
healthMap.emplace(object, initilialState);
return HasReturnvaluesIF::RETURN_OK;
}
void HealthTable::setHealth(object_id_t object,
HasHealthIF::HealthState newState) {
mutex->lockMutex(MutexIF::BLOCKING);
MutexHelper(mutex, timeoutType, mutexTimeoutMs);
HealthMap::iterator iter = healthMap.find(object);
if (iter != healthMap.end()) {
iter->second = newState;
}
mutex->unlockMutex();
}
HasHealthIF::HealthState HealthTable::getHealth(object_id_t object) {
HasHealthIF::HealthState state = HasHealthIF::HEALTHY;
mutex->lockMutex(MutexIF::BLOCKING);
MutexHelper(mutex, timeoutType, mutexTimeoutMs);
HealthMap::iterator iter = healthMap.find(object);
if (iter != healthMap.end()) {
state = iter->second;
}
mutex->unlockMutex();
return state;
}
uint32_t HealthTable::getPrintSize() {
mutex->lockMutex(MutexIF::BLOCKING);
uint32_t size = healthMap.size() * 5 + 2;
mutex->unlockMutex();
return size;
}
bool HealthTable::hasHealth(object_id_t object) {
bool exits = false;
mutex->lockMutex(MutexIF::BLOCKING);
MutexHelper(mutex, timeoutType, mutexTimeoutMs);
HealthMap::iterator iter = healthMap.find(object);
if (iter != healthMap.end()) {
exits = true;
return true;
}
mutex->unlockMutex();
return exits;
return false;
}
size_t HealthTable::getPrintSize() {
MutexHelper(mutex, timeoutType, mutexTimeoutMs);
uint32_t size = healthMap.size() * sizeof(object_id_t) +
sizeof(HasHealthIF::HealthState) + sizeof(uint16_t);
return size;
}
void HealthTable::printAll(uint8_t* pointer, size_t maxSize) {
mutex->lockMutex(MutexIF::BLOCKING);
MutexHelper(mutex, timeoutType, mutexTimeoutMs);
size_t size = 0;
uint16_t count = healthMap.size();
ReturnValue_t result = SerializeAdapter::serialize(&count,
SerializeAdapter::serialize(&count,
&pointer, &size, maxSize, SerializeIF::Endianness::BIG);
HealthMap::iterator iter;
for (iter = healthMap.begin();
iter != healthMap.end() && result == HasReturnvaluesIF::RETURN_OK;
++iter) {
result = SerializeAdapter::serialize(&iter->first,
for (const auto& health: healthMap) {
SerializeAdapter::serialize(&health.first,
&pointer, &size, maxSize, SerializeIF::Endianness::BIG);
uint8_t health = iter->second;
result = SerializeAdapter::serialize(&health, &pointer, &size,
uint8_t healthValue = health.second;
SerializeAdapter::serialize(&healthValue, &pointer, &size,
maxSize, SerializeIF::Endianness::BIG);
}
mutex->unlockMutex();
}
ReturnValue_t HealthTable::iterate(
std::pair<object_id_t, HasHealthIF::HealthState> *value, bool reset) {
ReturnValue_t HealthTable::iterate(HealthEntry *value, bool reset) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
mutex->lockMutex(MutexIF::BLOCKING);
MutexHelper(mutex, timeoutType, mutexTimeoutMs);
if (reset) {
mapIterator = healthMap.begin();
}
@ -94,7 +90,5 @@ ReturnValue_t HealthTable::iterate(
}
*value = *mapIterator;
mapIterator++;
mutex->unlockMutex();
return result;
}

36
health/HealthTable.h
View File

@ -1,35 +1,47 @@
#ifndef HEALTHTABLE_H_
#define HEALTHTABLE_H_
#ifndef FSFW_HEALTH_HEALTHTABLE_H_
#define FSFW_HEALTH_HEALTHTABLE_H_
#include "HealthTableIF.h"
#include "../objectmanager/SystemObject.h"
#include "../ipc/MutexIF.h"
#include <map>
typedef std::map<object_id_t, HasHealthIF::HealthState> HealthMap;
class HealthTable: public HealthTableIF, public SystemObject {
public:
HealthTable(object_id_t objectid);
virtual ~HealthTable();
virtual ReturnValue_t registerObject(object_id_t object,
HasHealthIF::HealthState initilialState = HasHealthIF::HEALTHY);
void setMutexTimeout(MutexIF::TimeoutType timeoutType, uint32_t timeoutMs);
virtual bool hasHealth(object_id_t object);
virtual void setHealth(object_id_t object, HasHealthIF::HealthState newState);
virtual HasHealthIF::HealthState getHealth(object_id_t);
/** HealthTableIF overrides */
virtual ReturnValue_t registerObject(object_id_t object,
HasHealthIF::HealthState initilialState =
HasHealthIF::HEALTHY) override;
virtual size_t getPrintSize() override;
virtual void printAll(uint8_t *pointer, size_t maxSize) override;
virtual uint32_t getPrintSize();
virtual void printAll(uint8_t *pointer, size_t maxSize);
/** ManagesHealthIF overrides */
virtual bool hasHealth(object_id_t object) override;
virtual void setHealth(object_id_t object,
HasHealthIF::HealthState newState) override;
virtual HasHealthIF::HealthState getHealth(object_id_t) override;
protected:
using HealthMap = std::map<object_id_t, HasHealthIF::HealthState>;
using HealthEntry = std::pair<object_id_t, HasHealthIF::HealthState>;
MutexIF* mutex;
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t mutexTimeoutMs = 20;
HealthMap healthMap;
HealthMap::iterator mapIterator;
virtual ReturnValue_t iterate(std::pair<object_id_t,HasHealthIF::HealthState> *value, bool reset = false);
virtual ReturnValue_t iterate(
HealthEntry* value,
bool reset = false) override;
};
#endif /* HEALTHTABLE_H_ */
#endif /* FSFW_HEALTH_HEALTHTABLE_H_ */

18
health/HealthTableIF.h
View File

@ -1,26 +1,24 @@
#ifndef HEALTHTABLEIF_H_
#define HEALTHTABLEIF_H_
#ifndef FSFW_HEALTH_HEALTHTABLEIF_H_
#define FSFW_HEALTH_HEALTHTABLEIF_H_
#include "ManagesHealthIF.h"
#include "../objectmanager/ObjectManagerIF.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include <map>
class HealthTableIF: public ManagesHealthIF {
friend class HealthCommandingService;
public:
virtual ~HealthTableIF() {
}
virtual ~HealthTableIF() {}
virtual ReturnValue_t registerObject(object_id_t object,
HasHealthIF::HealthState initilialState = HasHealthIF::HEALTHY) = 0;
virtual uint32_t getPrintSize() = 0;
virtual size_t getPrintSize() = 0;
virtual void printAll(uint8_t *pointer, size_t maxSize) = 0;
protected:
virtual ReturnValue_t iterate(std::pair<object_id_t,HasHealthIF::HealthState> *value, bool reset = false) = 0;
virtual ReturnValue_t iterate(
std::pair<object_id_t,HasHealthIF::HealthState> *value,
bool reset = false) = 0;
};
#endif /* HEALTHTABLEIF_H_ */
#endif /* FRAMEWORK_HEALTH_HEALTHTABLEIF_H_ */

7
health/ManagesHealthIF.h
View File

@ -1,8 +1,9 @@
#ifndef FRAMEWORK_HEALTH_MANAGESHEALTHIF_H_
#define FRAMEWORK_HEALTH_MANAGESHEALTHIF_H_
#ifndef FSFW_HEALTH_MANAGESHEALTHIF_H_
#define FSFW_HEALTH_MANAGESHEALTHIF_H_
#include "HasHealthIF.h"
#include "../objectmanager/ObjectManagerIF.h"
class ManagesHealthIF {
public:
virtual ~ManagesHealthIF() {
@ -49,4 +50,4 @@ public:
}
};
#endif /* FRAMEWORK_HEALTH_MANAGESHEALTHIF_H_ */
#endif /* FSFW_HEALTH_MANAGESHEALTHIF_H_ */

7
osal/host/QueueFactory.cpp
View File

@ -1,6 +1,11 @@
#include "MessageQueue.h"
#include "../../ipc/MessageQueueSenderIF.h"
#include "../../ipc/MessageQueueMessageIF.h"
#include "../../ipc/QueueFactory.h"
#include "../../osal/host/MessageQueue.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include <cstring>
QueueFactory* QueueFactory::factoryInstance = nullptr;

20
returnvalues/HasReturnvaluesIF.h
View File

@ -1,8 +1,8 @@
#ifndef FRAMEWORK_RETURNVALUES_HASRETURNVALUESIF_H_
#define FRAMEWORK_RETURNVALUES_HASRETURNVALUESIF_H_
#ifndef FSFW_RETURNVALUES_HASRETURNVALUESIF_H_
#define FSFW_RETURNVALUES_HASRETURNVALUESIF_H_
#include "FwClassIds.h"
#include <config/returnvalues/classIds.h>
#include <returnvalues/classIds.h>
#include <cstdint>
#define MAKE_RETURN_CODE( number ) ((INTERFACE_ID << 8) + (number))
@ -15,9 +15,17 @@ public:
static const ReturnValue_t RETURN_FAILED = 1;
virtual ~HasReturnvaluesIF() {}
static ReturnValue_t makeReturnCode(uint8_t interfaceId, uint8_t number) {
return (interfaceId << 8) + number;
/**
* It is discouraged to use the input parameters 0,0 and 0,1 as this
* will generate the RETURN_OK and RETURN_FAILED returnvalues.
* @param interfaceId
* @param number
* @return
*/
static constexpr ReturnValue_t makeReturnCode(uint8_t interfaceId,
uint8_t number) {
return (static_cast<ReturnValue_t>(interfaceId) << 8) + number;
}
};
#endif /* FRAMEWORK_RETURNVALUES_HASRETURNVALUESIF_H_ */
#endif /* FSFW_RETURNVALUES_HASRETURNVALUESIF_H_ */

59
tcdistribution/CCSDSDistributor.cpp
View File

@ -1,31 +1,39 @@
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "CCSDSDistributor.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../tmtcpacket/SpacePacketBase.h"
CCSDSDistributor::CCSDSDistributor( uint16_t setDefaultApid, object_id_t setObjectId ) :
TcDistributor( setObjectId ), default_apid( setDefaultApid ), tcStore(NULL) {
CCSDSDistributor::CCSDSDistributor(uint16_t setDefaultApid,
object_id_t setObjectId):
TcDistributor(setObjectId), defaultApid( setDefaultApid ) {
}
CCSDSDistributor::~CCSDSDistributor() {
CCSDSDistributor::~CCSDSDistributor() {}
}
iterator_t CCSDSDistributor::selectDestination() {
// debug << "CCSDSDistributor::selectDestination received: " << this->currentMessage.getStorageId().pool_index << ", " << this->currentMessage.getStorageId().packet_index << std::endl;
const uint8_t* p_packet = NULL;
TcDistributor::TcMqMapIter CCSDSDistributor::selectDestination() {
// sif::debug << "CCSDSDistributor::selectDestination received: " <<
// this->currentMessage.getStorageId().pool_index << ", " <<
// this->currentMessage.getStorageId().packet_index << std::endl;
const uint8_t* packet = nullptr;
size_t size = 0;
//TODO check returncode?
this->tcStore->getData( this->currentMessage.getStorageId(), &p_packet, &size );
SpacePacketBase current_packet( p_packet );
// info << "CCSDSDistributor::selectDestination has packet with APID " << std::hex << current_packet.getAPID() << std::dec << std::endl;
iterator_t position = this->queueMap.find( current_packet.getAPID() );
ReturnValue_t result = this->tcStore->getData(currentMessage.getStorageId(),
&packet, &size );
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "CCSDSDistributor::selectDestination: Getting data from"
" store failed!" << std::endl;
}
SpacePacketBase currentPacket(packet);
// sif:: info << "CCSDSDistributor::selectDestination has packet with APID "
// << std::hex << currentPacket.getAPID() << std::dec << std::endl;
TcMqMapIter position = this->queueMap.find(currentPacket.getAPID());
if ( position != this->queueMap.end() ) {
return position;
} else {
//The APID was not found. Forward packet to main SW-APID anyway to create acceptance failure report.
return this->queueMap.find( this->default_apid );
//The APID was not found. Forward packet to main SW-APID anyway to
// create acceptance failure report.
return this->queueMap.find( this->defaultApid );
}
}
MessageQueueId_t CCSDSDistributor::getRequestQueue() {
@ -35,9 +43,9 @@ MessageQueueId_t CCSDSDistributor::getRequestQueue() {
ReturnValue_t CCSDSDistributor::registerApplication(
AcceptsTelecommandsIF* application) {
ReturnValue_t returnValue = RETURN_OK;
bool errorCode = true;
errorCode = this->queueMap.insert( std::pair<uint32_t, MessageQueueId_t>( application->getIdentifier(), application->getRequestQueue() ) ).second;
if( errorCode == false ) {
auto insertPair = this->queueMap.emplace(application->getIdentifier(),
application->getRequestQueue());
if(not insertPair.second) {
returnValue = RETURN_FAILED;
}
return returnValue;
@ -46,9 +54,8 @@ ReturnValue_t CCSDSDistributor::registerApplication(
ReturnValue_t CCSDSDistributor::registerApplication(uint16_t apid,
MessageQueueId_t id) {
ReturnValue_t returnValue = RETURN_OK;
bool errorCode = true;
errorCode = this->queueMap.insert( std::pair<uint32_t, MessageQueueId_t>( apid, id ) ).second;
if( errorCode == false ) {
auto insertPair = this->queueMap.emplace(apid, id);
if(not insertPair.second) {
returnValue = RETURN_FAILED;
}
return returnValue;
@ -62,7 +69,11 @@ uint16_t CCSDSDistributor::getIdentifier() {
ReturnValue_t CCSDSDistributor::initialize() {
ReturnValue_t status = this->TcDistributor::initialize();
this->tcStore = objectManager->get<StorageManagerIF>( objects::TC_STORE );
if (this->tcStore == NULL) status = RETURN_FAILED;
if (this->tcStore == nullptr) {
sif::error << "CCSDSDistributor::initialize: Could not initialize"
" TC store!" << std::endl;
status = RETURN_FAILED;
}
return status;
}

99
tcdistribution/CCSDSDistributor.h
View File

@ -1,58 +1,71 @@
#ifndef CCSDSDISTRIBUTOR_H_
#define CCSDSDISTRIBUTOR_H_
#ifndef FRAMEWORK_TCDISTRIBUTION_CCSDSDISTRIBUTOR_H_
#define FRAMEWORK_TCDISTRIBUTION_CCSDSDISTRIBUTOR_H_
#include "../objectmanager/ObjectManagerIF.h"
#include "../storagemanager/StorageManagerIF.h"
#include "CCSDSDistributorIF.h"
#include "TcDistributor.h"
#include "../tcdistribution/CCSDSDistributorIF.h"
#include "../tcdistribution/TcDistributor.h"
#include "../tmtcservices/AcceptsTelecommandsIF.h"
/**
* An instantiation of the CCSDSDistributorIF.
* It receives Space Packets, and selects a destination depending on the APID of the telecommands.
* @brief An instantiation of the CCSDSDistributorIF.
* @details
* It receives Space Packets, and selects a destination depending on the
* APID of the telecommands.
* The Secondary Header (with Service/Subservice) is ignored.
* \ingroup tc_distribution
* @ingroup tc_distribution
*/
class CCSDSDistributor : public TcDistributor, public CCSDSDistributorIF, public AcceptsTelecommandsIF {
protected:
/**
* This implementation checks if an Application with fitting APID has registered and forwards the
* packet to the according message queue.
* If the packet is not found, it returns the queue to \c default_apid, where a Acceptance Failure
* message should be generated.
* @return Iterator to map entry of found APID or iterator to default APID.
*/
iterator_t selectDestination();
/**
* The default APID, where packets with unknown APID are sent to.
*/
uint16_t default_apid;
/**
* A reference to the TC storage must be maintained, as this class handles pure Space Packets and there
* exists no SpacePacketStored class.
*/
StorageManagerIF* tcStore;
/**
* The callback here handles the generation of acceptance success/failure messages.
*/
ReturnValue_t callbackAfterSending( ReturnValue_t queueStatus );
class CCSDSDistributor : public TcDistributor,
public CCSDSDistributorIF,
public AcceptsTelecommandsIF {
public:
/**
* The constructor sets the default APID and calls the TcDistributor ctor with a certain object id.
* \c tcStore is set in the \c initialize method.
* @param set_default_apid The default APID, where packets with unknown destination are sent to.
* @brief The constructor sets the default APID and calls the
* TcDistributor ctor with a certain object id.
* @details
* @c tcStore is set in the @c initialize method.
* @param setDefaultApid The default APID, where packets with unknown
* destination are sent to.
*/
CCSDSDistributor( uint16_t setDefaultApid, object_id_t setObjectId );
CCSDSDistributor(uint16_t setDefaultApid, object_id_t setObjectId);
/**
* The destructor is empty.
*/
~CCSDSDistributor();
MessageQueueId_t getRequestQueue();
ReturnValue_t registerApplication( uint16_t apid, MessageQueueId_t id );
ReturnValue_t registerApplication( AcceptsTelecommandsIF* application );
uint16_t getIdentifier();
ReturnValue_t initialize();
virtual ~CCSDSDistributor();
MessageQueueId_t getRequestQueue() override;
ReturnValue_t registerApplication( uint16_t apid,
MessageQueueId_t id) override;
ReturnValue_t registerApplication(
AcceptsTelecommandsIF* application) override;
uint16_t getIdentifier() override;
ReturnValue_t initialize() override;
protected:
/**
* This implementation checks if an application with fitting APID has
* registered and forwards the packet to the according message queue.
* If the packet is not found, it returns the queue to @c defaultApid,
* where a Acceptance Failure message should be generated.
* @return Iterator to map entry of found APID or iterator to default APID.
*/
TcMqMapIter selectDestination() override;
/**
* The callback here handles the generation of acceptance
* success/failure messages.
*/
ReturnValue_t callbackAfterSending( ReturnValue_t queueStatus ) override;
/**
* The default APID, where packets with unknown APID are sent to.
*/
uint16_t defaultApid;
/**
* A reference to the TC storage must be maintained, as this class handles
* pure Space Packets and there exists no SpacePacketStored class.
*/
StorageManagerIF* tcStore = nullptr;
};
#endif /* CCSDSDISTRIBUTOR_H_ */
#endif /* FRAMEWORK_TCDISTRIBUTION_CCSDSDISTRIBUTOR_H_ */

36
tcdistribution/CCSDSDistributorIF.h
View File

@ -1,34 +1,38 @@
#ifndef CCSDSDISTRIBUTORIF_H_
#define CCSDSDISTRIBUTORIF_H_
#ifndef FSFW_TCDISTRIBUTION_CCSDSDISTRIBUTORIF_H_
#define FSFW_TCDISTRIBUTION_CCSDSDISTRIBUTORIF_H_
#include "../tmtcservices/AcceptsTelecommandsIF.h"
#include "../ipc/MessageQueueSenderIF.h"
/**
* This is the Interface to a CCSDS Distributor.
* On a CCSDS Distributor, Applications (in terms of CCSDS) may register themselves,
* either by passing a pointer to themselves (and implementing the CCSDSApplicationIF,
* or by explicitly passing an APID and a MessageQueueId to route the TC's to.
* \ingroup tc_distribution
* On a CCSDS Distributor, Applications (in terms of CCSDS) may register
* themselves, either by passing a pointer to themselves (and implementing the
* CCSDSApplicationIF), or by explicitly passing an APID and a MessageQueueId
* to route the TC's to.
* @ingroup tc_distribution
*/
class CCSDSDistributorIF {
public:
/**
* With this call, a class implementing the CCSDSApplicationIF can register at the
* distributor.
* With this call, a class implementing the CCSDSApplicationIF can register
* at the distributor.
* @param application A pointer to the Application to register.
* @return - \c RETURN_OK on success,
* - \c RETURN_FAILED on failure.
* @return - @c RETURN_OK on success,
* - @c RETURN_FAILED on failure.
*/
virtual ReturnValue_t registerApplication( AcceptsTelecommandsIF* application ) = 0;
virtual ReturnValue_t registerApplication(
AcceptsTelecommandsIF* application) = 0;
/**
* With this call, other Applications can register to the CCSDS distributor.
* This is done by passing an APID and a MessageQueueId to the method.
* @param apid The APID to register.
* @param id The MessageQueueId of the message queue to send the TC Packets to.
* @return - \c RETURN_OK on success,
* - \c RETURN_FAILED on failure.
* @param id The MessageQueueId of the message queue to send the
* TC Packets to.
* @return - @c RETURN_OK on success,
* - @c RETURN_FAILED on failure.
*/
virtual ReturnValue_t registerApplication( uint16_t apid, MessageQueueId_t id ) = 0;
virtual ReturnValue_t registerApplication( uint16_t apid,
MessageQueueId_t id) = 0;
/**
* The empty virtual destructor.
*/
@ -37,4 +41,4 @@ public:
};
#endif /* CCSDSDISTRIBUTORIF_H_ */
#endif /* FSFW_TCDISTRIBUTION_CCSDSDISTRIBUTORIF_H_ */

125
tcdistribution/PUSDistributor.cpp
View File

@ -1,61 +1,71 @@
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "CCSDSDistributorIF.h"
#include "PUSDistributor.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../tmtcpacket/pus/TcPacketStored.h"
#include "../tmtcservices/PusVerificationReport.h"
PUSDistributor::PUSDistributor(uint16_t setApid, object_id_t setObjectId, object_id_t setPacketSource) :
TcDistributor(setObjectId), checker(setApid), verifyChannel(), currentPacket(), tcStatus(
RETURN_FAILED), packetSource(setPacketSource) {
PUSDistributor::PUSDistributor(uint16_t setApid, object_id_t setObjectId,
object_id_t setPacketSource) :
TcDistributor(setObjectId), checker(setApid), verifyChannel(),
tcStatus(RETURN_FAILED), packetSource(setPacketSource) {}
PUSDistributor::~PUSDistributor() {}
PUSDistributor::TcMqMapIter PUSDistributor::selectDestination() {
// sif:: debug << "PUSDistributor::handlePacket received: "
// << this->current_packet_id.store_index << ", "
// << this->current_packet_id.packet_index << std::endl;
TcMqMapIter queueMapIt = this->queueMap.end();
if(this->currentPacket == nullptr) {
return queueMapIt;
}
this->currentPacket->setStoreAddress(this->currentMessage.getStorageId());
if (currentPacket->getWholeData() != nullptr) {
tcStatus = checker.checkPacket(currentPacket);
#ifdef DEBUG
if(tcStatus != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "PUSDistributor::handlePacket: Packet format "
<< "invalid, code "<< static_cast<int>(tcStatus)
<< std::endl;
}
#endif
uint32_t queue_id = currentPacket->getService();
queueMapIt = this->queueMap.find(queue_id);
}
else {
tcStatus = PACKET_LOST;
}
if (queueMapIt == this->queueMap.end()) {
tcStatus = DESTINATION_NOT_FOUND;
#ifdef DEBUG
sif::debug << "PUSDistributor::handlePacket: Destination not found, "
<< "code "<< static_cast<int>(tcStatus) << std::endl;
#endif
}
if (tcStatus != RETURN_OK) {
return this->queueMap.end();
}
else {
return queueMapIt;
}
}
PUSDistributor::~PUSDistributor() {
}
iterator_t PUSDistributor::selectDestination() {
// debug << "PUSDistributor::handlePacket received: " << this->current_packet_id.store_index << ", " << this->current_packet_id.packet_index << std::endl;
iterator_t queueMapIt = this->queueMap.end();
this->currentPacket.setStoreAddress(this->currentMessage.getStorageId());
if (currentPacket.getWholeData() != NULL) {
tcStatus = checker.checkPacket(&currentPacket);
// info << "PUSDistributor::handlePacket: packetCheck returned with " << (int)tc_status << std::endl;
uint32_t queue_id = currentPacket.getService();
queueMapIt = this->queueMap.find(queue_id);
} else {
tcStatus = PACKET_LOST;
}
if (queueMapIt == this->queueMap.end()) {
tcStatus = DESTINATION_NOT_FOUND;
}
if (tcStatus != RETURN_OK) {
sif::debug << "PUSDistributor::handlePacket: error with " << (int) tcStatus
<< std::endl;
return this->queueMap.end();
} else {
return queueMapIt;
}
}
//uint16_t PUSDistributor::createDestination( uint8_t service_id, uint8_t subservice_id ) {
// return ( service_id << 8 ) + subservice_id;
//}
ReturnValue_t PUSDistributor::registerService(AcceptsTelecommandsIF* service) {
ReturnValue_t returnValue = RETURN_OK;
bool errorCode = true;
uint16_t serviceId = service->getIdentifier();
// sif::info << "Service ID: " << (int)serviceId << std::endl;
MessageQueueId_t queue = service->getRequestQueue();
errorCode = this->queueMap.insert(
std::pair<uint32_t, MessageQueueId_t>(serviceId, queue)).second;
if (errorCode == false) {
//TODO Return Code
returnValue = MessageQueueIF::NO_QUEUE;
auto returnPair = queueMap.emplace(serviceId, queue);
if (not returnPair.second) {
sif::error << "PUSDistributor::registerService: Service ID already"
" exists in map." << std::endl;
return SERVICE_ID_ALREADY_EXISTS;
}
return returnValue;
return HasReturnvaluesIF::RETURN_OK;
}
MessageQueueId_t PUSDistributor::getRequestQueue() {
@ -68,13 +78,14 @@ ReturnValue_t PUSDistributor::callbackAfterSending(ReturnValue_t queueStatus) {
}
if (tcStatus != RETURN_OK) {
this->verifyChannel.sendFailureReport(TC_VERIFY::ACCEPTANCE_FAILURE,
&currentPacket, tcStatus);
//A failed packet is deleted immediately after reporting, otherwise it will block memory.
currentPacket.deletePacket();
currentPacket, tcStatus);
// A failed packet is deleted immediately after reporting,
// otherwise it will block memory.
currentPacket->deletePacket();
return RETURN_FAILED;
} else {
this->verifyChannel.sendSuccessReport(TC_VERIFY::ACCEPTANCE_SUCCESS,
&currentPacket);
currentPacket);
return RETURN_OK;
}
}
@ -84,11 +95,19 @@ uint16_t PUSDistributor::getIdentifier() {
}
ReturnValue_t PUSDistributor::initialize() {
currentPacket = new TcPacketStored();
if(currentPacket == nullptr) {
// Should not happen, memory allocation failed!
return ObjectManagerIF::CHILD_INIT_FAILED;
}
CCSDSDistributorIF* ccsdsDistributor =
objectManager->get<CCSDSDistributorIF>(packetSource);
if (ccsdsDistributor == NULL) {
return RETURN_FAILED;
} else {
return ccsdsDistributor->registerApplication(this);
if (ccsdsDistributor == nullptr) {
sif::error << "PUSDistributor::initialize: Packet source invalid."
<< " Make sure it exists and implements CCSDSDistributorIF!"
<< std::endl;
return RETURN_FAILED;
}
return ccsdsDistributor->registerApplication(this);
}

60
tcdistribution/PUSDistributor.h
View File

@ -1,67 +1,79 @@
#ifndef PUSDISTRIBUTOR_H_
#define PUSDISTRIBUTOR_H_
#ifndef FSFW_TCDISTRIBUTION_PUSDISTRIBUTOR_H_
#define FSFW_TCDISTRIBUTION_PUSDISTRIBUTOR_H_
#include "../returnvalues/HasReturnvaluesIF.h"
#include "PUSDistributorIF.h"
#include "TcDistributor.h"
#include "TcPacketCheck.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../tmtcservices/AcceptsTelecommandsIF.h"
#include "../tmtcservices/VerificationReporter.h"
/**
* This class accepts PUS Telecommands and forwards them to Application services.
* In addition, the class performs a formal packet check and sends acceptance success
* or failure messages.
* \ingroup tc_distribution
* This class accepts PUS Telecommands and forwards them to Application
* services. In addition, the class performs a formal packet check and
* sends acceptance success or failure messages.
* @ingroup tc_distribution
*/
class PUSDistributor: public TcDistributor,
public PUSDistributorIF,
public AcceptsTelecommandsIF {
public:
/**
* The ctor passes \c set_apid to the checker class and calls the TcDistribution ctor with a certain object id.
* The ctor passes @c set_apid to the checker class and calls the
* TcDistribution ctor with a certain object id.
* @param setApid The APID of this receiving Application.
* @param setObjectId Object ID of the distributor itself
* @param setPacketSource Object ID of the source of TC packets. Must implement CCSDSDistributorIF.
* @param setPacketSource Object ID of the source of TC packets.
* Must implement CCSDSDistributorIF.
*/
PUSDistributor(uint16_t setApid, object_id_t setObjectId, object_id_t setPacketSource);
PUSDistributor(uint16_t setApid, object_id_t setObjectId,
object_id_t setPacketSource);
/**
* The destructor is empty.
*/
virtual ~PUSDistributor();
ReturnValue_t registerService(AcceptsTelecommandsIF* service);
MessageQueueId_t getRequestQueue();
uint16_t getIdentifier();
ReturnValue_t initialize();
ReturnValue_t registerService(AcceptsTelecommandsIF* service) override;
MessageQueueId_t getRequestQueue() override;
ReturnValue_t initialize() override;
uint16_t getIdentifier() override;
protected:
/**
* This attribute contains the class, that performs a formal packet check.
*/
TcPacketCheck checker;
/**
* With this class, verification messages are sent to the TC Verification service.
* With this class, verification messages are sent to the
* TC Verification service.
*/
VerificationReporter verifyChannel;
/**
* The currently handled packet is stored here.
*/
TcPacketStored currentPacket;
TcPacketStored* currentPacket = nullptr;
/**
* With this variable, the current check status is stored to generate acceptance messages later.
* With this variable, the current check status is stored to generate
* acceptance messages later.
*/
ReturnValue_t tcStatus;
const object_id_t packetSource;
/**
* This method reads the packet service, checks if such a service is registered and forwards the packet to the destination.
* It also initiates the formal packet check and sending of verification messages.
* @return Iterator to map entry of found service id or iterator to \c map.end().
* This method reads the packet service, checks if such a service is
* registered and forwards the packet to the destination.
* It also initiates the formal packet check and sending of verification
* messages.
* @return Iterator to map entry of found service id
* or iterator to @c map.end().
*/
iterator_t selectDestination();
TcMqMapIter selectDestination() override;
/**
* The callback here handles the generation of acceptance success/failure messages.
* The callback here handles the generation of acceptance
* success/failure messages.
*/
ReturnValue_t callbackAfterSending(ReturnValue_t queueStatus);
ReturnValue_t callbackAfterSending(ReturnValue_t queueStatus) override;
};
#endif /* PUSDISTRIBUTOR_H_ */
#endif /* FSFW_TCDISTRIBUTION_PUSDISTRIBUTOR_H_ */

13
tcdistribution/PUSDistributorIF.h
View File

@ -1,11 +1,12 @@
#ifndef PUSDISTRIBUTORIF_H_
#define PUSDISTRIBUTORIF_H_
#ifndef FSFW_TCDISTRIBUTION_PUSDISTRIBUTORIF_H_
#define FSFW_TCDISTRIBUTION_PUSDISTRIBUTORIF_H_
#include "../tmtcservices/AcceptsTelecommandsIF.h"
#include "../ipc/MessageQueueSenderIF.h"
/**
* This interface allows PUS Services to register themselves at a PUS Distributor.
* \ingroup tc_distribution
* @ingroup tc_distribution
*/
class PUSDistributorIF {
public:
@ -17,10 +18,10 @@ public:
/**
* With this method, Services can register themselves at the PUS Distributor.
* @param service A pointer to the registering Service.
* @return - \c RETURN_OK on success,
* - \c RETURN_FAILED on failure.
* @return - @c RETURN_OK on success,
* - @c RETURN_FAILED on failure.
*/
virtual ReturnValue_t registerService( AcceptsTelecommandsIF* service ) = 0;
};
#endif /* PUSDISTRIBUTORIF_H_ */
#endif /* FSFW_TCDISTRIBUTION_PUSDISTRIBUTORIF_H_ */

28
tcdistribution/TcDistributor.cpp
View File

@ -1,12 +1,13 @@
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "TcDistributor.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../tmtcservices/TmTcMessage.h"
#include "../ipc/QueueFactory.h"
TcDistributor::TcDistributor(object_id_t set_object_id) :
SystemObject(set_object_id), tcQueue(NULL) {
tcQueue = QueueFactory::instance()->createMessageQueue(DISTRIBUTER_MAX_PACKETS);
TcDistributor::TcDistributor(object_id_t objectId) :
SystemObject(objectId) {
tcQueue = QueueFactory::instance()->
createMessageQueue(DISTRIBUTER_MAX_PACKETS);
}
TcDistributor::~TcDistributor() {
@ -15,7 +16,6 @@ TcDistributor::~TcDistributor() {
ReturnValue_t TcDistributor::performOperation(uint8_t opCode) {
ReturnValue_t status = RETURN_OK;
// debug << "TcDistributor: performing Operation." << std::endl;
for (status = tcQueue->receiveMessage(&currentMessage); status == RETURN_OK;
status = tcQueue->receiveMessage(&currentMessage)) {
status = handlePacket();
@ -29,7 +29,7 @@ ReturnValue_t TcDistributor::performOperation(uint8_t opCode) {
ReturnValue_t TcDistributor::handlePacket() {
iterator_t queueMapIt = this->selectDestination();
TcMqMapIter queueMapIt = this->selectDestination();
ReturnValue_t returnValue = RETURN_FAILED;
if (queueMapIt != this->queueMap.end()) {
returnValue = this->tcQueue->sendMessage(queueMapIt->second,
@ -39,14 +39,14 @@ ReturnValue_t TcDistributor::handlePacket() {
}
void TcDistributor::print() {
sif::debug << "Distributor content is: " << std::endl << "ID\t| message queue id"
<< std::endl;
for (iterator_t it = this->queueMap.begin(); it != this->queueMap.end();
it++) {
sif::debug << it->first << "\t| 0x" << std::hex << it->second << std::dec
<< std::endl;
sif::debug << "Distributor content is: " << std::endl
<< "ID\t| Message Queue ID" << std::endl;
sif::debug << std::setfill('0') << std::setw(8) << std::hex;
for (const auto& queueMapIter: queueMap) {
sif::debug << queueMapIter.first << "\t| 0x" << queueMapIter.second
<< std::endl;
}
sif::debug << std::dec;
sif::debug << std::setfill(' ') << std::dec;
}

136
tcdistribution/TcDistributor.h
View File

@ -1,5 +1,6 @@
#ifndef TCDISTRIBUTOR_H_
#define TCDISTRIBUTOR_H_
#ifndef FSFW_TMTCSERVICES_TCDISTRIBUTOR_H_
#define FSFW_TMTCSERVICES_TCDISTRIBUTOR_H_
#include "../objectmanager/ObjectManagerIF.h"
#include "../objectmanager/SystemObject.h"
#include "../returnvalues/HasReturnvaluesIF.h"
@ -9,16 +10,12 @@
#include "../ipc/MessageQueueIF.h"
#include <map>
/**
* \defgroup tc_distribution Telecommand Distribution
* All classes associated with Routing and Distribution of Telecommands belong to this group.
* @defgroup tc_distribution Telecommand Distribution
* All classes associated with Routing and Distribution of Telecommands
* belong to this group.
*/
/**
* This typedef simplifies writing down the \c map iterator.
*/
typedef std::map<uint32_t, MessageQueueId_t>::iterator iterator_t;
/**
* This is the base class to implement distributors for Space Packets.
@ -28,62 +25,19 @@ typedef std::map<uint32_t, MessageQueueId_t>::iterator iterator_t;
* message queue ids to some identifier. The process of unpacking the
* destination information from the packet is handled by the child class
* implementations.
* \ingroup tc_distribution
* @ingroup tc_distribution
*/
class TcDistributor : public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
private:
/**
* This constant sets the maximum number of packets distributed per call.
*/
static const uint8_t DISTRIBUTER_MAX_PACKETS = 128;
protected:
/**
* This is the receiving queue for incoming Telecommands.
* The child classes must make its queue id public.
*/
MessageQueueIF* tcQueue;
/**
* The last received incoming packet information is stored in this
* member.
* As different child classes unpack the incoming packet differently
* (i.e. as a CCSDS Space Packet or as a PUS Telecommand Packet), it
* is not tried to unpack the packet information within this class.
*/
TmTcMessage currentMessage;
/**
* The map that links certain packet information to a destination.
* The packet information may be the APID of the packet or the service
* identifier. Filling of the map is under control of the different child
* classes.
*/
std::map<uint32_t, MessageQueueId_t> queueMap;
/**
* This method shall unpack the routing information from the incoming
* packet and select the map entry which represents the packet's target.
* @return An iterator to the map element to forward to or queuMap.end().
*/
virtual iterator_t selectDestination() = 0;
/**
* The handlePacket method calls the child class's selectDestination method
* and forwards the packet to its destination, if found.
* @return The message queue return value or \c RETURN_FAILED, in case no
* destination was found.
*/
ReturnValue_t handlePacket();
/**
* This method gives the child class a chance to perform some kind of operation
* after the parent tried to forward the message.
* A typically application would be sending success/failure messages.
* The default implementation just returns \c RETURN_OK.
* @param queueStatus The status of the message queue after an attempt to send the TC.
* @return - \c RETURN_OK on success
* - \c RETURN_FAILED on failure
*/
virtual ReturnValue_t callbackAfterSending( ReturnValue_t queueStatus );
class TcDistributor : public SystemObject,
public ExecutableObjectIF,
public HasReturnvaluesIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::PACKET_DISTRIBUTION;
static const ReturnValue_t PACKET_LOST = MAKE_RETURN_CODE( 1 );
static const ReturnValue_t DESTINATION_NOT_FOUND = MAKE_RETURN_CODE( 2 );
using TcMessageQueueMap = std::map<uint32_t, MessageQueueId_t>;
using TcMqMapIter = std::map<uint32_t, MessageQueueId_t>::iterator;
static constexpr uint8_t INTERFACE_ID = CLASS_ID::PACKET_DISTRIBUTION;
static constexpr ReturnValue_t PACKET_LOST = MAKE_RETURN_CODE( 1 );
static constexpr ReturnValue_t DESTINATION_NOT_FOUND = MAKE_RETURN_CODE( 2 );
static constexpr ReturnValue_t SERVICE_ID_ALREADY_EXISTS = MAKE_RETURN_CODE(3);
/**
* Within the default constructor, the SystemObject id is set and the
* message queue is initialized.
@ -91,7 +45,7 @@ public:
* @param set_object_id This id is assigned to the distributor
* implementation.
*/
TcDistributor( object_id_t set_object_id );
TcDistributor(object_id_t objectId);
/**
* The destructor is empty, the message queues are not in the vicinity of
* this class.
@ -110,7 +64,59 @@ public:
* queueMap.
*/
void print();
protected:
/**
* This is the receiving queue for incoming Telecommands.
* The child classes must make its queue id public.
*/
MessageQueueIF* tcQueue = nullptr;
/**
* The last received incoming packet information is stored in this
* member.
* As different child classes unpack the incoming packet differently
* (i.e. as a CCSDS Space Packet or as a PUS Telecommand Packet), it
* is not tried to unpack the packet information within this class.
*/
TmTcMessage currentMessage;
/**
* The map that links certain packet information to a destination.
* The packet information may be the APID of the packet or the service
* identifier. Filling of the map is under control of the different child
* classes.
*/
TcMessageQueueMap queueMap;
/**
* This method shall unpack the routing information from the incoming
* packet and select the map entry which represents the packet's target.
* @return An iterator to the map element to forward to or queuMap.end().
*/
virtual TcMqMapIter selectDestination() = 0;
/**
* The handlePacket method calls the child class's selectDestination method
* and forwards the packet to its destination, if found.
* @return The message queue return value or @c RETURN_FAILED, in case no
* destination was found.
*/
ReturnValue_t handlePacket();
/**
* This method gives the child class a chance to perform some kind of
* operation after the parent tried to forward the message.
* A typically application would be sending success/failure messages.
* The default implementation just returns @c RETURN_OK.
* @param queueStatus The status of the message queue after an attempt
* to send the TC.
* @return - @c RETURN_OK on success
* - @c RETURN_FAILED on failure
*/
virtual ReturnValue_t callbackAfterSending( ReturnValue_t queueStatus );
private:
/**
* This constant sets the maximum number of packets distributed per call.
*/
static constexpr uint8_t DISTRIBUTER_MAX_PACKETS = 128;
};
#endif /* TCDISTRIBUTOR_H_ */
#endif /* FSFW_TMTCSERVICES_TCDISTRIBUTOR_H_ */

24
tcdistribution/TcPacketCheck.cpp
View File

@ -1,31 +1,33 @@
#include "TcPacketCheck.h"
#include "../globalfunctions/CRC.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../storagemanager/StorageManagerIF.h"
#include "TcPacketCheck.h"
#include "../tmtcservices/VerificationCodes.h"
TcPacketCheck::TcPacketCheck( uint16_t set_apid ) : apid(set_apid) {
TcPacketCheck::TcPacketCheck( uint16_t setApid ) : apid(setApid) {
}
ReturnValue_t TcPacketCheck::checkPacket( TcPacketStored* current_packet ) {
uint16_t calculated_crc = CRC::crc16ccitt( current_packet->getWholeData(), current_packet->getFullSize() );
ReturnValue_t TcPacketCheck::checkPacket( TcPacketStored* currentPacket ) {
uint16_t calculated_crc = CRC::crc16ccitt( currentPacket->getWholeData(),
currentPacket->getFullSize() );
if ( calculated_crc != 0 ) {
return INCORRECT_CHECKSUM;
}
bool condition = !(current_packet->hasSecondaryHeader()) ||
current_packet->getPacketVersionNumber() != CCSDS_VERSION_NUMBER ||
!(current_packet->isTelecommand());
bool condition = (not currentPacket->hasSecondaryHeader()) or
(currentPacket->getPacketVersionNumber() != CCSDS_VERSION_NUMBER) or
(not currentPacket->isTelecommand());
if ( condition ) {
return INCORRECT_PRIMARY_HEADER;
}
if ( current_packet->getAPID() != this->apid )
if ( currentPacket->getAPID() != this->apid )
return ILLEGAL_APID;
if ( !current_packet->isSizeCorrect() ) {
if ( not currentPacket->isSizeCorrect() ) {
return INCOMPLETE_PACKET;
}
condition = (current_packet->getSecondaryHeaderFlag() != CCSDS_SECONDARY_HEADER_FLAG) ||
(current_packet->getPusVersionNumber() != PUS_VERSION_NUMBER);
condition = (currentPacket->getSecondaryHeaderFlag() != CCSDS_SECONDARY_HEADER_FLAG) ||
(currentPacket->getPusVersionNumber() != PUS_VERSION_NUMBER);
if ( condition ) {
return INCORRECT_SECONDARY_HEADER;
}

25
tcdistribution/TcPacketCheck.h
View File

@ -1,28 +1,29 @@
#ifndef TCPACKETCHECK_H_
#define TCPACKETCHECK_H_
#ifndef FSFW_TCDISTRIBUTION_TCPACKETCHECK_H_
#define FSFW_TCDISTRIBUTION_TCPACKETCHECK_H_
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../tmtcpacket/pus/TcPacketStored.h"
#include "../tmtcservices/PusVerificationReport.h"
/**
* This class performs a formal packet check for incoming PUS Telecommand Packets.
* Currently, it only checks if the APID and CRC are correct.
* \ingroup tc_distribution
* @ingroup tc_distribution
*/
class TcPacketCheck : public HasReturnvaluesIF {
protected:
/**
* Describes the version number a packet must have to pass.
*/
static const uint8_t CCSDS_VERSION_NUMBER = 0;
static constexpr uint8_t CCSDS_VERSION_NUMBER = 0;
/**
* Describes the secondary header a packet must have to pass.
*/
static const uint8_t CCSDS_SECONDARY_HEADER_FLAG = 0;
static constexpr uint8_t CCSDS_SECONDARY_HEADER_FLAG = 0;
/**
* Describes the TC Packet PUS Version Number a packet must have to pass.
*/
static const uint8_t PUS_VERSION_NUMBER = 1;
static constexpr uint8_t PUS_VERSION_NUMBER = 1;
/**
* The packet id each correct packet should have.
* It is composed of the APID and some static fields.
@ -41,19 +42,19 @@ public:
* The constructor only sets the APID attribute.
* @param set_apid The APID to set.
*/
TcPacketCheck( uint16_t set_apid );
TcPacketCheck( uint16_t setApid );
/**
* This is the actual method to formally check a certain Telecommand Packet.
* The packet's Application Data can not be checked here.
* @param current_packet The packt to check
* @return - \c RETURN_OK on success.
* - \c INCORRECT_CHECKSUM if checksum is invalid.
* - \c ILLEGAL_APID if APID does not match.
* @return - @c RETURN_OK on success.
* - @c INCORRECT_CHECKSUM if checksum is invalid.
* - @c ILLEGAL_APID if APID does not match.
*/
ReturnValue_t checkPacket( TcPacketStored* current_packet );
ReturnValue_t checkPacket( TcPacketStored* currentPacket );
uint16_t getApid() const;
};
#endif /* TCPACKETCHECK_H_ */
#endif /* FSFW_TCDISTRIBUTION_TCPACKETCHECK_H_ */

19
timemanager/CCSDSTime.cpp
View File

@ -1,8 +1,9 @@
#include "../timemanager/CCSDSTime.h"
#include "CCSDSTime.h"
#include <cstdio>
#include <cinttypes>
#include <cmath>
#include <FSFWConfig.h>
CCSDSTime::CCSDSTime() {
}
@ -158,15 +159,16 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
}
// Newlib nano can't parse uint8, see SCNu8 documentation and https://sourceware.org/newlib/README
// Suggestion: use uint16 all the time. This should work on all systems.
#ifdef NEWLIB_NANO_NO_C99_IO
#if FSFW_NO_C99_IO == 1
uint16_t year;
uint16_t month;
uint16_t day;
uint16_t hour;
uint16_t minute;
float second;
int count = sscanf((char *) from, "%4" SCNu16 "-%2" SCNu16 "-%2" SCNu16 "T%2" SCNu16 ":%2" SCNu16 ":%fZ", &year,
&month, &day, &hour, &minute, &second);
int count = sscanf((char *) from, "%4" SCNu16 "-%2" SCNu16 "-%2" SCNu16 "T%"
"2" SCNu16 ":%2" SCNu16 ":%fZ", &year, &month, &day, &hour,
&minute, &second);
if (count == 6) {
to->year = year;
to->month = month;
@ -179,12 +181,13 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
}
// try Code B (yyyy-ddd)
count = sscanf((char *) from, "%4" SCNu16 "-%3" SCNu16 "T%2" SCNu16 ":%2" SCNu16 ":%fZ", &year, &day,
&hour, &minute, &second);
count = sscanf((char *) from, "%4" SCNu16 "-%3" SCNu16 "T%2" SCNu16 ":%"
"2" SCNu16 ":%fZ", &year, &day, &hour, &minute, &second);
if (count == 5) {
uint8_t tempDay;
ReturnValue_t result = CCSDSTime::convertDaysOfYear(day, year,
reinterpret_cast<uint8_t *>(&month), reinterpret_cast<uint8_t *>(&tempDay));
reinterpret_cast<uint8_t *>(&month),
reinterpret_cast<uint8_t *>(&tempDay));
if (result != RETURN_OK) {
return RETURN_FAILED;
}

8
timemanager/TimeStamperIF.h
View File

@ -14,8 +14,12 @@ public:
static const uint8_t INTERFACE_ID = CLASS_ID::TIME_STAMPER_IF;
static const ReturnValue_t BAD_TIMESTAMP = MAKE_RETURN_CODE(1);
static const uint8_t MISSION_TIMESTAMP_SIZE = 8; //!< This is a mission-specific constant and determines the total size reserved for timestamps.
virtual ReturnValue_t addTimeStamp(uint8_t* buffer, const uint8_t maxSize) = 0;
//! This is a mission-specific constant and determines the total
//! size reserved for timestamps.
//! TODO: Default define in FSFWConfig ?
static const uint8_t MISSION_TIMESTAMP_SIZE = 8;
virtual ReturnValue_t addTimeStamp(uint8_t* buffer,
const uint8_t maxSize) = 0;
virtual ~TimeStamperIF() {}
};

9
tmtcpacket/SpacePacketBase.cpp
View File

@ -1,6 +1,6 @@
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "SpacePacketBase.h"
#include <string.h>
#include "../serviceinterface/ServiceInterfaceStream.h"
#include <cstring>
SpacePacketBase::SpacePacketBase( const uint8_t* set_address ) {
this->data = (SpacePacketPointer*) set_address;
@ -14,7 +14,8 @@ uint8_t SpacePacketBase::getPacketVersionNumber( void ) {
return (this->data->header.packet_id_h & 0b11100000) >> 5;
}
void SpacePacketBase::initSpacePacketHeader(bool isTelecommand, bool hasSecondaryHeader, uint16_t apid, uint16_t sequenceCount) {
void SpacePacketBase::initSpacePacketHeader(bool isTelecommand,
bool hasSecondaryHeader, uint16_t apid, uint16_t sequenceCount) {
//reset header to zero:
memset(data,0, sizeof(this->data->header) );
//Set TC/TM bit.
@ -81,7 +82,7 @@ void SpacePacketBase::setPacketDataLength( uint16_t new_length) {
this->data->header.packet_length_l = ( new_length & 0x00FF );
}
uint32_t SpacePacketBase::getFullSize() {
size_t SpacePacketBase::getFullSize() {
//+1 is done because size in packet data length field is: size of data field -1
return this->getPacketDataLength() + sizeof(this->data->header) + 1;
}

14
tmtcpacket/SpacePacketBase.h
View File

@ -1,10 +1,11 @@
#ifndef SPACEPACKETBASE_H_
#define SPACEPACKETBASE_H_
#ifndef FSFW_TMTCPACKET_SPACEPACKETBASE_H_
#define FSFW_TMTCPACKET_SPACEPACKETBASE_H_
#include "ccsds_header.h"
#include <cstddef>
/**
* \defgroup tmtcpackets Space Packets
* @defgroup tmtcpackets Space Packets
* This is the group, where all classes associated with Telecommand and
* Telemetry packets belong to.
* The class hierarchy resembles the dependency between the different standards
@ -81,7 +82,8 @@ public:
*/
bool isTelecommand( void );
void initSpacePacketHeader(bool isTelecommand, bool hasSecondaryHeader, uint16_t apid, uint16_t sequenceCount = 0);
void initSpacePacketHeader(bool isTelecommand, bool hasSecondaryHeader,
uint16_t apid, uint16_t sequenceCount = 0);
/**
* The CCSDS header provides a secondary header flag (the fifth-highest bit),
* which is checked with this method.
@ -167,10 +169,10 @@ public:
* This method returns the full raw packet size.
* @return The full size of the packet in bytes.
*/
uint32_t getFullSize();
size_t getFullSize();
uint32_t getApidAndSequenceCount() const;
};
#endif /* SPACEPACKETBASE_H_ */
#endif /* FSFW_TMTCPACKET_SPACEPACKETBASE_H_ */

3
tmtcpacket/pus/PacketTimestampInterpreterIF.h
View File

@ -7,7 +7,8 @@ class TmPacketMinimal;
class PacketTimestampInterpreterIF {
public:
virtual ~PacketTimestampInterpreterIF() {}
virtual ReturnValue_t getPacketTime(TmPacketMinimal* packet, timeval* timestamp) const = 0;
virtual ReturnValue_t getPacketTime(TmPacketMinimal* packet,
timeval* timestamp) const = 0;
virtual ReturnValue_t getPacketTimeRaw(TmPacketMinimal* packet, const uint8_t** timePtr, uint32_t* size) const = 0;
};

70
tmtcpacket/pus/TcPacketBase.cpp
View File

@ -1,11 +1,14 @@
#include "../../globalfunctions/CRC.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "TcPacketBase.h"
#include <string.h>
TcPacketBase::TcPacketBase(const uint8_t* set_data) :
SpacePacketBase(set_data) {
tcData = (TcPacketPointer*) set_data;
#include "../../globalfunctions/CRC.h"
#include "../../globalfunctions/arrayprinter.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include <cstring>
TcPacketBase::TcPacketBase(const uint8_t* setData) :
SpacePacketBase(setData) {
tcData = reinterpret_cast<TcPacketPointer*>(const_cast<uint8_t*>(setData));
}
TcPacketBase::~TcPacketBase() {
@ -13,28 +16,28 @@ TcPacketBase::~TcPacketBase() {
}
uint8_t TcPacketBase::getService() {
return tcData->data_field.service_type;
return tcData->dataField.service_type;
}
uint8_t TcPacketBase::getSubService() {
return tcData->data_field.service_subtype;
return tcData->dataField.service_subtype;
}
uint8_t TcPacketBase::getAcknowledgeFlags() {
return tcData->data_field.version_type_ack & 0b00001111;
return tcData->dataField.version_type_ack & 0b00001111;
}
const uint8_t* TcPacketBase::getApplicationData() const {
return &tcData->data;
return &tcData->appData;
}
uint16_t TcPacketBase::getApplicationDataSize() {
return getPacketDataLength() - sizeof(tcData->data_field) - CRC_SIZE + 1;
return getPacketDataLength() - sizeof(tcData->dataField) - CRC_SIZE + 1;
}
uint16_t TcPacketBase::getErrorControl() {
uint16_t size = getApplicationDataSize() + CRC_SIZE;
uint8_t* p_to_buffer = &tcData->data;
uint8_t* p_to_buffer = &tcData->appData;
return (p_to_buffer[size - 2] << 8) + p_to_buffer[size - 1];
}
@ -42,41 +45,42 @@ void TcPacketBase::setErrorControl() {
uint32_t full_size = getFullSize();
uint16_t crc = CRC::crc16ccitt(getWholeData(), full_size - CRC_SIZE);
uint32_t size = getApplicationDataSize();
(&tcData->data)[size] = (crc & 0XFF00) >> 8; // CRCH
(&tcData->data)[size + 1] = (crc) & 0X00FF; // CRCL
(&tcData->appData)[size] = (crc & 0XFF00) >> 8; // CRCH
(&tcData->appData)[size + 1] = (crc) & 0X00FF; // CRCL
}
void TcPacketBase::setData(const uint8_t* p_Data) {
SpacePacketBase::setData(p_Data);
tcData = (TcPacketPointer*) p_Data;
void TcPacketBase::setData(const uint8_t* pData) {
SpacePacketBase::setData(pData);
tcData = (TcPacketPointer*) pData;
}
uint8_t TcPacketBase::getSecondaryHeaderFlag() {
return (tcData->data_field.version_type_ack & 0b10000000) >> 7;
return (tcData->dataField.version_type_ack & 0b10000000) >> 7;
}
uint8_t TcPacketBase::getPusVersionNumber() {
return (tcData->data_field.version_type_ack & 0b01110000) >> 4;
return (tcData->dataField.version_type_ack & 0b01110000) >> 4;
}
void TcPacketBase::print() {
uint8_t * wholeData = getWholeData();
sif::debug << "TcPacket contains: " << std::endl;
for (uint8_t count = 0; count < getFullSize(); ++count) {
sif::debug << std::hex << (uint16_t) wholeData[count] << " ";
}
sif::debug << std::dec << std::endl;
sif::debug << "TcPacketBase::print: " << std::endl;
arrayprinter::print(getWholeData(), getFullSize());
}
void TcPacketBase::initializeTcPacket(uint16_t apid, uint16_t sequenceCount,
uint8_t ack, uint8_t service, uint8_t subservice) {
uint8_t ack, uint8_t service, uint8_t subservice) {
initSpacePacketHeader(true, true, apid, sequenceCount);
memset(&tcData->data_field, 0, sizeof(tcData->data_field));
setPacketDataLength(sizeof(tcData->data_field) + CRC_SIZE);
std::memset(&tcData->dataField, 0, sizeof(tcData->dataField));
setPacketDataLength(sizeof(PUSTcDataFieldHeader) + CRC_SIZE - 1);
//Data Field Header:
//Set CCSDS_secondary_header_flag to 0, version number to 001 and ack to 0000
tcData->data_field.version_type_ack = 0b00010000;
tcData->data_field.version_type_ack |= (ack & 0x0F);
tcData->data_field.service_type = service;
tcData->data_field.service_subtype = subservice;
//Set CCSDS_secondary_header_flag to 0 and version number to 001
tcData->dataField.version_type_ack = 0b00010000;
tcData->dataField.version_type_ack |= (ack & 0x0F);
tcData->dataField.service_type = service;
tcData->dataField.service_subtype = subservice;
}
size_t TcPacketBase::calculateFullPacketLength(size_t appDataLen) {
return sizeof(CCSDSPrimaryHeader) + sizeof(PUSTcDataFieldHeader) +
appDataLen + TcPacketBase::CRC_SIZE;
}

134
tmtcpacket/pus/TcPacketBase.h
View File

@ -1,7 +1,9 @@
#ifndef TCPACKETBASE_H_
#define TCPACKETBASE_H_
#ifndef TMTCPACKET_PUS_TCPACKETBASE_H_
#define TMTCPACKET_PUS_TCPACKETBASE_H_
#include "../../tmtcpacket/SpacePacketBase.h"
#include <cstddef>
/**
* This struct defines a byte-wise structured PUS TC Data Field Header.
@ -23,14 +25,14 @@ struct PUSTcDataFieldHeader {
*/
struct TcPacketPointer {
CCSDSPrimaryHeader primary;
PUSTcDataFieldHeader data_field;
uint8_t data;
PUSTcDataFieldHeader dataField;
uint8_t appData;
};
/**
* This class is the basic data handler for any ECSS PUS Telecommand packet.
*
* In addition to \SpacePacketBase, the class provides methods to handle
* In addition to #SpacePacketBase, the class provides methods to handle
* the standardized entries of the PUS TC Packet Data Field Header.
* It does not contain the packet data itself but a pointer to the
* data must be set on instantiation. An invalid pointer may cause
@ -39,67 +41,38 @@ struct TcPacketPointer {
* @ingroup tmtcpackets
*/
class TcPacketBase : public SpacePacketBase {
protected:
/**
* A pointer to a structure which defines the data structure of
* the packet's data.
*
* To be hardware-safe, all elements are of byte size.
*/
TcPacketPointer* tcData;
public:
static const uint16_t TC_PACKET_MIN_SIZE = (sizeof(CCSDSPrimaryHeader) + sizeof(PUSTcDataFieldHeader) + 2);
/**
* With this constant for the acknowledge field responses on all levels are expected.
*/
static const uint8_t ACK_ALL = 0b1111;
/**
* With this constant for the acknowledge field a response on acceptance is expected.
*/
static const uint8_t ACK_ACCEPTANCE = 0b0001;
/**
* With this constant for the acknowledge field a response on start of execution is expected.
*/
static const uint8_t ACK_START = 0b0010;
/**
* With this constant for the acknowledge field responses on execution steps are expected.
*/
static const uint8_t ACK_STEP = 0b0100;
/**
* With this constant for the acknowledge field a response on completion is expected.
*/
static const uint8_t ACK_COMPLETION = 0b1000;
/**
* With this constant for the acknowledge field no responses are expected.
*/
static const uint8_t ACK_NONE = 0b000;
static const uint16_t TC_PACKET_MIN_SIZE = (sizeof(CCSDSPrimaryHeader) +
sizeof(PUSTcDataFieldHeader) + 2);
enum AckField {
//! No acknowledgements are expected.
ACK_NONE = 0b0000,
//! Acknowledgements on acceptance are expected.
ACK_ACCEPTANCE = 0b0001,
//! Acknowledgements on start are expected.
ACK_START = 0b0010,
//! Acknowledgements on step are expected.
ACK_STEP = 0b0100,
//! Acknowledfgement on completion are expected.
ACK_COMPLETION = 0b1000
};
static constexpr uint8_t ACK_ALL = ACK_ACCEPTANCE | ACK_START | ACK_STEP |
ACK_COMPLETION;
/**
* This is the default constructor.
* It sets its internal data pointer to the address passed and also
* forwards the data pointer to the parent SpacePacketBase class.
* @param set_address The position where the packet data lies.
* @param setData The position where the packet data lies.
*/
TcPacketBase( const uint8_t* set_data );
TcPacketBase( const uint8_t* setData );
/**
* This is the empty default destructor.
*/
virtual ~TcPacketBase();
/**
* Initializes the Tc Packet header.
* @param apid APID used.
* @param service PUS Service
* @param subservice PUS Subservice
* @param packetSubcounter Additional subcounter used.
*/
/**
* Initializes the Tc Packet header.
* @param apid APID used.
* @param sequenceCount Sequence Count in the primary header.
* @param ack Which acknowledeges are expected from the receiver.
* @param service PUS Service
* @param subservice PUS Subservice
*/
void initializeTcPacket(uint16_t apid, uint16_t sequenceCount, uint8_t ack, uint8_t service, uint8_t subservice);
/**
* This command returns the CCSDS Secondary Header Flag.
* It shall always be zero for PUS Packets. This is the
@ -166,22 +139,49 @@ public:
* current content of the packet.
*/
void setErrorControl();
/**
* With this method, the packet data pointer can be redirected to another
* location.
*
* This call overwrites the parent's setData method to set both its
* \c tc_data pointer and the parent's \c data pointer.
*
* @param p_data A pointer to another PUS Telecommand Packet.
*/
void setData( const uint8_t* p_data );
/**
* This is a debugging helper method that prints the whole packet content
* to the screen.
*/
void print();
/**
* Calculate full packet length from application data length.
* @param appDataLen
* @return
*/
static size_t calculateFullPacketLength(size_t appDataLen);
protected:
/**
* A pointer to a structure which defines the data structure of
* the packet's data.
*
* To be hardware-safe, all elements are of byte size.
*/
TcPacketPointer* tcData;
/**
* Initializes the Tc Packet header.
* @param apid APID used.
* @param sequenceCount Sequence Count in the primary header.
* @param ack Which acknowledeges are expected from the receiver.
* @param service PUS Service
* @param subservice PUS Subservice
*/
void initializeTcPacket(uint16_t apid, uint16_t sequenceCount, uint8_t ack,
uint8_t service, uint8_t subservice);
/**
* With this method, the packet data pointer can be redirected to another
* location.
* This call overwrites the parent's setData method to set both its
* @c tc_data pointer and the parent's @c data pointer.
*
* @param p_data A pointer to another PUS Telecommand Packet.
*/
void setData( const uint8_t* pData );
};
#endif /* TCPACKETBASE_H_ */
#endif /* TMTCPACKET_PUS_TCPACKETBASE_H_ */

65
tmtcpacket/pus/TcPacketStored.cpp
View File

@ -1,37 +1,50 @@
#include "TcPacketStored.h"
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "TcPacketStored.h"
#include <string.h>
#include <cstring>
StorageManagerIF* TcPacketStored::store = nullptr;
TcPacketStored::TcPacketStored(store_address_t setAddress) :
TcPacketBase(NULL), storeAddress(setAddress) {
this->setStoreAddress(this->storeAddress);
TcPacketBase(nullptr), storeAddress(setAddress) {
setStoreAddress(storeAddress);
}
TcPacketStored::TcPacketStored(uint16_t apid, uint8_t ack, uint8_t service,
uint8_t subservice, uint8_t sequence_count, const uint8_t* data,
uint32_t size) :
TcPacketBase(NULL) {
TcPacketStored::TcPacketStored(uint16_t apid, uint8_t service,
uint8_t subservice, uint8_t sequenceCount, const uint8_t* data,
size_t size, uint8_t ack) :
TcPacketBase(nullptr) {
this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
if (!this->checkAndSetStore()) {
if (not this->checkAndSetStore()) {
return;
}
uint8_t* p_data = NULL;
uint8_t* pData = nullptr;
ReturnValue_t returnValue = this->store->getFreeElement(&this->storeAddress,
(TC_PACKET_MIN_SIZE + size), &p_data);
(TC_PACKET_MIN_SIZE + size), &pData);
if (returnValue != this->store->RETURN_OK) {
sif::warning << "TcPacketStored: Could not get free element from store!"
<< std::endl;
return;
}
this->setData(p_data);
initializeTcPacket(apid, sequence_count, ack, service, subservice);
memcpy(&tcData->data, data, size);
this->setData(pData);
initializeTcPacket(apid, sequenceCount, ack, service, subservice);
memcpy(&tcData->appData, data, size);
this->setPacketDataLength(
size + sizeof(PUSTcDataFieldHeader) + CRC_SIZE - 1);
this->setErrorControl();
}
TcPacketStored::TcPacketStored() :
TcPacketBase(NULL) {
ReturnValue_t TcPacketStored::getData(const uint8_t ** dataPtr,
size_t* dataSize) {
auto result = this->store->getData(storeAddress, dataPtr, dataSize);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "TcPacketStored: Could not get data!" << std::endl;
}
return result;
}
TcPacketStored::TcPacketStored(): TcPacketBase(nullptr) {
this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
this->checkAndSetStore();
@ -40,14 +53,14 @@ TcPacketStored::TcPacketStored() :
ReturnValue_t TcPacketStored::deletePacket() {
ReturnValue_t result = this->store->deleteData(this->storeAddress);
this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
this->setData( NULL);
this->setData(nullptr);
return result;
}
bool TcPacketStored::checkAndSetStore() {
if (this->store == NULL) {
if (this->store == nullptr) {
this->store = objectManager->get<StorageManagerIF>(objects::TC_STORE);
if (this->store == NULL) {
if (this->store == nullptr) {
sif::error << "TcPacketStored::TcPacketStored: TC Store not found!"
<< std::endl;
return false;
@ -58,17 +71,17 @@ bool TcPacketStored::checkAndSetStore() {
void TcPacketStored::setStoreAddress(store_address_t setAddress) {
this->storeAddress = setAddress;
const uint8_t* temp_data = NULL;
const uint8_t* tempData = nullptr;
size_t temp_size;
ReturnValue_t status = StorageManagerIF::RETURN_FAILED;
if (this->checkAndSetStore()) {
status = this->store->getData(this->storeAddress, &temp_data,
status = this->store->getData(this->storeAddress, &tempData,
&temp_size);
}
if (status == StorageManagerIF::RETURN_OK) {
this->setData(temp_data);
this->setData(tempData);
} else {
this->setData(NULL);
this->setData(nullptr);
this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
}
}
@ -78,7 +91,7 @@ store_address_t TcPacketStored::getStoreAddress() {
}
bool TcPacketStored::isSizeCorrect() {
const uint8_t* temp_data = NULL;
const uint8_t* temp_data = nullptr;
size_t temp_size;
ReturnValue_t status = this->store->getData(this->storeAddress, &temp_data,
&temp_size);
@ -90,8 +103,6 @@ bool TcPacketStored::isSizeCorrect() {
return false;
}
StorageManagerIF* TcPacketStored::store = NULL;
TcPacketStored::TcPacketStored(const uint8_t* data, uint32_t size) :
TcPacketBase(data) {
if (getFullSize() != size) {
@ -100,7 +111,7 @@ TcPacketStored::TcPacketStored(const uint8_t* data, uint32_t size) :
if (this->checkAndSetStore()) {
ReturnValue_t status = store->addData(&storeAddress, data, size);
if (status != HasReturnvaluesIF::RETURN_OK) {
this->setData(NULL);
this->setData(nullptr);
}
}
}

78
tmtcpacket/pus/TcPacketStored.h
View File

@ -1,8 +1,8 @@
#ifndef TCPACKETSTORED_H_
#define TCPACKETSTORED_H_
#ifndef TMTCPACKET_PUS_TCPACKETSTORED_H_
#define TMTCPACKET_PUS_TCPACKETSTORED_H_
#include "../../storagemanager/StorageManagerIF.h"
#include "TcPacketBase.h"
#include "../../storagemanager/StorageManagerIF.h"
/**
* This class generates a ECSS PUS Telecommand packet within a given
@ -15,26 +15,6 @@
* @ingroup tmtcpackets
*/
class TcPacketStored : public TcPacketBase {
private:
/**
* This is a pointer to the store all instances of the class use.
* If the store is not yet set (i.e. \c store is NULL), every constructor
* call tries to set it and throws an error message in case of failures.
* The default store is objects::TC_STORE.
*/
static StorageManagerIF* store;
/**
* The address where the packet data of the object instance is stored.
*/
store_address_t storeAddress;
/**
* A helper method to check if a store is assigned to the class.
* If not, the method tries to retrieve the store from the global
* ObjectManager.
* @return @li \c true if the store is linked or could be created.
* @li \c false otherwise.
*/
bool checkAndSetStore();
public:
/**
* This is a default constructor which does not set the data pointer.
@ -53,18 +33,20 @@ public:
* a new PUS Telecommand Packet is created there.
* Packet Application Data passed in data is copied into the packet.
* @param apid Sets the packet's APID field.
* @param ack Set's the packet's Ack field,
* which specifies number and size of verification packets returned
* for this command.
* @param service Sets the packet's Service ID field.
* This specifies the destination service.
* This specifies the destination service.
* @param subservice Sets the packet's Service Subtype field.
* This specifies the destination sub-service.
* @param sequence_count Sets the packet's Source Sequence Count field.
* This specifies the destination sub-service.
* @param sequence_count Sets the packet's Source Sequence Count field.
* @param data The data to be copied to the Application Data Field.
* @param size The amount of data to be copied.
* @param ack Set's the packet's Ack field, which specifies
* number of verification packets returned
* for this command.
*/
TcPacketStored( uint16_t apid, uint8_t ack, uint8_t service, uint8_t subservice, uint8_t sequence_count = 0, const uint8_t* data = NULL, uint32_t size = 0 );
TcPacketStored(uint16_t apid, uint8_t service, uint8_t subservice,
uint8_t sequence_count = 0, const uint8_t* data = nullptr,
size_t size = 0, uint8_t ack = TcPacketBase::ACK_ALL);
/**
* Another constructor to create a TcPacket from a raw packet stream.
* Takes the data and adds it unchecked to the TcStore.
@ -72,10 +54,19 @@ public:
* @param Size size of the packet.
*/
TcPacketStored( const uint8_t* data, uint32_t size);
/**
* Getter function for the raw data.
* @param dataPtr [out] Pointer to the data pointer to set
* @param dataSize [out] Address of size to set.
* @return -@c RETURN_OK if data was retrieved successfully.
*/
ReturnValue_t getData(const uint8_t ** dataPtr,
size_t* dataSize);
/**
* This is a getter for the current store address of the packet.
* @return The current store address. The (raw) value is \c StorageManagerIF::INVALID_ADDRESS if
* the packet is not linked.
* @return The current store address. The (raw) value is
* @c StorageManagerIF::INVALID_ADDRESS if the packet is not linked.
*/
store_address_t getStoreAddress();
/**
@ -99,7 +90,28 @@ public:
* store or size is incorrect.
*/
bool isSizeCorrect();
private:
/**
* This is a pointer to the store all instances of the class use.
* If the store is not yet set (i.e. @c store is NULL), every constructor
* call tries to set it and throws an error message in case of failures.
* The default store is objects::TC_STORE.
*/
static StorageManagerIF* store;
/**
* The address where the packet data of the object instance is stored.
*/
store_address_t storeAddress;
/**
* A helper method to check if a store is assigned to the class.
* If not, the method tries to retrieve the store from the global
* ObjectManager.
* @return @li @c true if the store is linked or could be created.
* @li @c false otherwise.
*/
bool checkAndSetStore();
};
#endif /* TCPACKETSTORED_H_ */
#endif /* TMTCPACKET_PUS_TCPACKETSTORED_H_ */

73
tmtcpacket/pus/TmPacketBase.cpp
View File

@ -1,13 +1,19 @@
#include "TmPacketBase.h"
#include "../../globalfunctions/CRC.h"
#include "../../globalfunctions/arrayprinter.h"
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "TmPacketBase.h"
#include "../../timemanager/CCSDSTime.h"
#include <string.h>
TmPacketBase::TmPacketBase(uint8_t* set_data) :
SpacePacketBase(set_data) {
tm_data = (TmPacketPointer*) set_data;
#include <cstring>
TimeStamperIF* TmPacketBase::timeStamper = nullptr;
object_id_t TmPacketBase::timeStamperId = 0;
TmPacketBase::TmPacketBase(uint8_t* setData) :
SpacePacketBase(setData) {
tmData = reinterpret_cast<TmPacketPointer*>(setData);
}
TmPacketBase::~TmPacketBase() {
@ -15,25 +21,25 @@ TmPacketBase::~TmPacketBase() {
}
uint8_t TmPacketBase::getService() {
return tm_data->data_field.service_type;
return tmData->data_field.service_type;
}
uint8_t TmPacketBase::getSubService() {
return tm_data->data_field.service_subtype;
return tmData->data_field.service_subtype;
}
uint8_t* TmPacketBase::getSourceData() {
return &tm_data->data;
return &tmData->data;
}
uint16_t TmPacketBase::getSourceDataSize() {
return getPacketDataLength() - sizeof(tm_data->data_field)
return getPacketDataLength() - sizeof(tmData->data_field)
- CRC_SIZE + 1;
}
uint16_t TmPacketBase::getErrorControl() {
uint32_t size = getSourceDataSize() + CRC_SIZE;
uint8_t* p_to_buffer = &tm_data->data;
uint8_t* p_to_buffer = &tmData->data;
return (p_to_buffer[size - 2] << 8) + p_to_buffer[size - 1];
}
@ -47,16 +53,12 @@ void TmPacketBase::setErrorControl() {
void TmPacketBase::setData(const uint8_t* p_Data) {
SpacePacketBase::setData(p_Data);
tm_data = (TmPacketPointer*) p_Data;
tmData = (TmPacketPointer*) p_Data;
}
void TmPacketBase::print() {
/*uint8_t * wholeData = getWholeData();
debug << "TmPacket contains: " << std::endl;
for (uint8_t count = 0; count < getFullSize(); ++count ) {
debug << std::hex << (uint16_t)wholeData[count] << " ";
}
debug << std::dec << std::endl;*/
sif::debug << "TmPacketBase::print: " << std::endl;
arrayprinter::print(getWholeData(), getFullSize());
}
bool TmPacketBase::checkAndSetStamper() {
@ -73,32 +75,36 @@ bool TmPacketBase::checkAndSetStamper() {
ReturnValue_t TmPacketBase::getPacketTime(timeval* timestamp) const {
uint32_t tempSize = 0;
return CCSDSTime::convertFromCcsds(timestamp, tm_data->data_field.time,
&tempSize, sizeof(tm_data->data_field.time));
return CCSDSTime::convertFromCcsds(timestamp, tmData->data_field.time,
&tempSize, sizeof(tmData->data_field.time));
}
uint8_t* TmPacketBase::getPacketTimeRaw() const{
return tm_data->data_field.time;
return tmData->data_field.time;
}
void TmPacketBase::initializeTmPacket(uint16_t apid, uint8_t service, uint8_t subservice, uint8_t packetSubcounter) {
void TmPacketBase::initializeTmPacket(uint16_t apid, uint8_t service,
uint8_t subservice, uint8_t packetSubcounter) {
//Set primary header:
initSpacePacketHeader(false, true, apid);
//Set data Field Header:
//First, set to zero.
memset(&tm_data->data_field, 0, sizeof(tm_data->data_field));
//Set CCSDS_secondary header flag to 0, version number to 001 and ack to 0000
memset(&tmData->data_field, 0, sizeof(tmData->data_field));
// NOTE: In PUS-C, the PUS Version is 2 and specified for the first 4 bits.
// The other 4 bits of the first byte are the spacecraft time reference status
// To change to PUS-C, set 0b00100000
tm_data->data_field.version_type_ack = 0b00010000;
tm_data->data_field.service_type = service;
tm_data->data_field.service_subtype = subservice;
tm_data->data_field.subcounter = packetSubcounter;
// The other 4 bits of the first byte are the spacecraft time reference
// status. To change to PUS-C, set 0b00100000.
// Set CCSDS_secondary header flag to 0, version number to 001 and ack
// to 0000
tmData->data_field.version_type_ack = 0b00010000;
tmData->data_field.service_type = service;
tmData->data_field.service_subtype = subservice;
tmData->data_field.subcounter = packetSubcounter;
//Timestamp packet
if (checkAndSetStamper()) {
timeStamper->addTimeStamp(tm_data->data_field.time, sizeof(tm_data->data_field.time));
timeStamper->addTimeStamp(tmData->data_field.time,
sizeof(tmData->data_field.time));
}
}
@ -106,9 +112,6 @@ void TmPacketBase::setSourceDataSize(uint16_t size) {
setPacketDataLength(size + sizeof(PUSTmDataFieldHeader) + CRC_SIZE - 1);
}
uint32_t TmPacketBase::getTimestampSize() const {
return sizeof(tm_data->data_field.time);
size_t TmPacketBase::getTimestampSize() const {
return sizeof(tmData->data_field.time);
}
TimeStamperIF* TmPacketBase::timeStamper = NULL;
object_id_t TmPacketBase::timeStamperId = 0;

113
tmtcpacket/pus/TmPacketBase.h
View File

@ -1,8 +1,8 @@
#ifndef TMPACKETBASE_H_
#define TMPACKETBASE_H_
#ifndef TMTCPACKET_PUS_TMPACKETBASE_H_
#define TMTCPACKET_PUS_TMPACKETBASE_H_
#include "../SpacePacketBase.h"
#include "../../timemanager/TimeStamperIF.h"
#include "../../tmtcpacket/SpacePacketBase.h"
#include "../../timemanager/Clock.h"
#include "../../objectmanager/SystemObjectIF.h"
@ -14,7 +14,7 @@ void setStaticFrameworkObjectIds();
* This struct defines a byte-wise structured PUS TM Data Field Header.
* Any optional fields in the header must be added or removed here.
* Currently, no Destination field is present, but an eigth-byte representation
* for a time tag [TBD].
* for a time tag.
* @ingroup tmtcpackets
*/
struct PUSTmDataFieldHeader {
@ -40,7 +40,7 @@ struct TmPacketPointer {
/**
* This class is the basic data handler for any ECSS PUS Telemetry packet.
*
* In addition to \SpacePacketBase, the class provides methods to handle
* In addition to #SpacePacketBase, the class provides methods to handle
* the standardized entries of the PUS TM Packet Data Field Header.
* It does not contain the packet data itself but a pointer to the
* data must be set on instantiation. An invalid pointer may cause
@ -54,29 +54,27 @@ public:
/**
* This constant defines the minimum size of a valid PUS Telemetry Packet.
*/
static const uint32_t TM_PACKET_MIN_SIZE = (sizeof(CCSDSPrimaryHeader) + sizeof(PUSTmDataFieldHeader) + 2); //!< Minimum size of a valid PUS Telemetry Packet.
static const uint32_t MISSION_TM_PACKET_MAX_SIZE = 2048; //!< Maximum size of a TM Packet in this mission.
static const uint8_t VERSION_NUMBER_BYTE_PUS_A = 0b00010000; //!< First byte of secondary header for PUS-A packets.
static const uint32_t TM_PACKET_MIN_SIZE = (sizeof(CCSDSPrimaryHeader) +
sizeof(PUSTmDataFieldHeader) + 2);
//! Maximum size of a TM Packet in this mission.
//! TODO: Make this dependant on a config variable.
static const uint32_t MISSION_TM_PACKET_MAX_SIZE = 2048;
//! First byte of secondary header for PUS-A packets.
//! TODO: Maybe also support PUS-C via config?
static const uint8_t VERSION_NUMBER_BYTE_PUS_A = 0b00010000;
/**
* This is the default constructor.
* It sets its internal data pointer to the address passed and also
* forwards the data pointer to the parent SpacePacketBase class.
* @param set_address The position where the packet data lies.
*/
TmPacketBase( uint8_t* set_data );
TmPacketBase( uint8_t* setData );
/**
* This is the empty default destructor.
*/
virtual ~TmPacketBase();
/**
* Initializes the Tm Packet header.
* Does set the timestamp (to now), but not the error control field.
* @param apid APID used.
* @param service PUS Service
* @param subservice PUS Subservice
* @param packetSubcounter Additional subcounter used.
*/
void initializeTmPacket(uint16_t apid, uint8_t service, uint8_t subservice, uint8_t packetSubcounter);
/**
* This is a getter for the packet's PUS Service ID, which is the second
* byte of the Data Field Header.
@ -106,11 +104,14 @@ public:
*/
uint16_t getSourceDataSize();
/**
* In case data was filled manually (almost never the case).
* @param size Size of source data (without CRC and data filed header!).
*/
void setSourceDataSize(uint16_t size);
/**
* With this method, the Error Control Field is updated to match the
* current content of the packet. This method is not protected because
* a recalculation by the user might be necessary when manipulating fields
* like the sequence count.
*/
void setErrorControl();
/**
* This getter returns the Error Control Field of the packet.
*
@ -120,28 +121,15 @@ public:
* @return The PUS Error Control
*/
uint16_t getErrorControl();
/**
* With this method, the Error Control Field is updated to match the
* current content of the packet.
*/
void setErrorControl();
/**
* With this method, the packet data pointer can be redirected to another
* location.
*
* This call overwrites the parent's setData method to set both its
* \c tc_data pointer and the parent's \c data pointer.
*
* @param p_data A pointer to another PUS Telemetry Packet.
*/
void setData( const uint8_t* p_Data );
/**
* This is a debugging helper method that prints the whole packet content
* to the screen.
*/
void print();
/**
* Interprets the "time"-field in the secondary header and returns it in timeval format.
* Interprets the "time"-field in the secondary header and returns it in
* timeval format.
* @return Converted timestamp of packet.
*/
ReturnValue_t getPacketTime(timeval* timestamp) const;
@ -151,7 +139,7 @@ public:
*/
uint8_t* getPacketTimeRaw() const;
uint32_t getTimestampSize() const;
size_t getTimestampSize() const;
protected:
/**
@ -160,20 +148,49 @@ protected:
*
* To be hardware-safe, all elements are of byte size.
*/
TmPacketPointer* tm_data;
TmPacketPointer* tmData;
/**
* The timeStamper is responsible for adding a timestamp to the packet.
* It is initialized lazy.
*/
static TimeStamperIF* timeStamper;
//! The ID to use when looking for a time stamper.
static object_id_t timeStamperId;
static object_id_t timeStamperId; //!< The ID to use when looking for a time stamper.
/**
* Checks if a time stamper is available and tries to set it if not.
* @return Returns false if setting failed.
*/
bool checkAndSetStamper();
/**
* Initializes the Tm Packet header.
* Does set the timestamp (to now), but not the error control field.
* @param apid APID used.
* @param service PUS Service
* @param subservice PUS Subservice
* @param packetSubcounter Additional subcounter used.
*/
void initializeTmPacket(uint16_t apid, uint8_t service, uint8_t subservice,
uint8_t packetSubcounter);
/**
* With this method, the packet data pointer can be redirected to another
* location.
*
* This call overwrites the parent's setData method to set both its
* @c tc_data pointer and the parent's @c data pointer.
*
* @param p_data A pointer to another PUS Telemetry Packet.
*/
void setData( const uint8_t* pData );
/**
* In case data was filled manually (almost never the case).
* @param size Size of source data (without CRC and data filed header!).
*/
void setSourceDataSize(uint16_t size);
/**
* Checks if a time stamper is available and tries to set it if not.
* @return Returns false if setting failed.
*/
bool checkAndSetStamper();
};
#endif /* TMPACKETBASE_H_ */
#endif /* TMTCPACKET_PUS_TMPACKETBASE_H_ */

44
tmtcpacket/pus/TmPacketStored.cpp
View File

@ -1,11 +1,16 @@
#include "TmPacketStored.h"
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "TmPacketStored.h"
#include "../../tmtcservices/TmTcMessage.h"
#include <string.h>
#include <cstring>
StorageManagerIF *TmPacketStored::store = nullptr;
InternalErrorReporterIF *TmPacketStored::internalErrorReporter = nullptr;
TmPacketStored::TmPacketStored(store_address_t setAddress) :
TmPacketBase(NULL), storeAddress(setAddress) {
TmPacketBase(nullptr), storeAddress(setAddress) {
setStoreAddress(storeAddress);
}
@ -14,10 +19,10 @@ TmPacketStored::TmPacketStored(uint16_t apid, uint8_t service,
uint32_t size, const uint8_t *headerData, uint32_t headerSize) :
TmPacketBase(NULL) {
storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
if (!checkAndSetStore()) {
if (not checkAndSetStore()) {
return;
}
uint8_t *pData = NULL;
uint8_t *pData = nullptr;
ReturnValue_t returnValue = store->getFreeElement(&storeAddress,
(TmPacketBase::TM_PACKET_MIN_SIZE + size + headerSize), &pData);
@ -38,7 +43,7 @@ TmPacketStored::TmPacketStored(uint16_t apid, uint8_t service,
SerializeIF *header) :
TmPacketBase(NULL) {
storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
if (!checkAndSetStore()) {
if (not checkAndSetStore()) {
return;
}
size_t sourceDataSize = 0;
@ -77,29 +82,29 @@ store_address_t TmPacketStored::getStoreAddress() {
void TmPacketStored::deletePacket() {
store->deleteData(storeAddress);
storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
setData(NULL);
setData(nullptr);
}
void TmPacketStored::setStoreAddress(store_address_t setAddress) {
storeAddress = setAddress;
const uint8_t* temp_data = NULL;
size_t temp_size;
if (!checkAndSetStore()) {
const uint8_t* tempData = nullptr;
size_t tempSize;
if (not checkAndSetStore()) {
return;
}
ReturnValue_t status = store->getData(storeAddress, &temp_data, &temp_size);
ReturnValue_t status = store->getData(storeAddress, &tempData, &tempSize);
if (status == StorageManagerIF::RETURN_OK) {
setData(temp_data);
setData(tempData);
} else {
setData(NULL);
setData(nullptr);
storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
}
}
bool TmPacketStored::checkAndSetStore() {
if (store == NULL) {
if (store == nullptr) {
store = objectManager->get<StorageManagerIF>(objects::TM_STORE);
if (store == NULL) {
if (store == nullptr) {
sif::error << "TmPacketStored::TmPacketStored: TM Store not found!"
<< std::endl;
return false;
@ -108,12 +113,9 @@ bool TmPacketStored::checkAndSetStore() {
return true;
}
StorageManagerIF *TmPacketStored::store = NULL;
InternalErrorReporterIF *TmPacketStored::internalErrorReporter = NULL;
ReturnValue_t TmPacketStored::sendPacket(MessageQueueId_t destination,
MessageQueueId_t sentFrom, bool doErrorReporting) {
if (getWholeData() == NULL) {
if (getWholeData() == nullptr) {
//SHOULDDO: More decent code.
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -133,11 +135,11 @@ ReturnValue_t TmPacketStored::sendPacket(MessageQueueId_t destination,
}
void TmPacketStored::checkAndReportLostTm() {
if (internalErrorReporter == NULL) {
if (internalErrorReporter == nullptr) {
internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
objects::INTERNAL_ERROR_REPORTER);
}
if (internalErrorReporter != NULL) {
if (internalErrorReporter != nullptr) {
internalErrorReporter->lostTm();
}
}

90
tmtcpacket/pus/TmPacketStored.h
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@ -1,9 +1,10 @@
#ifndef TMPACKETSTORED_H_
#define TMPACKETSTORED_H_
#ifndef TMTCPACKET_PUS_TMPACKETSTORED_H_
#define TMTCPACKET_PUS_TMPACKETSTORED_H_
#include "TmPacketBase.h"
#include "../../serialize/SerializeIF.h"
#include "../../storagemanager/StorageManagerIF.h"
#include "TmPacketBase.h"
#include "../../internalError/InternalErrorReporterIF.h"
#include "../../ipc/MessageQueueSenderIF.h"
@ -18,31 +19,6 @@
* @ingroup tmtcpackets
*/
class TmPacketStored : public TmPacketBase {
private:
/**
* This is a pointer to the store all instances of the class use.
* If the store is not yet set (i.e. \c store is NULL), every constructor
* call tries to set it and throws an error message in case of failures.
* The default store is objects::TM_STORE.
*/
static StorageManagerIF* store;
static InternalErrorReporterIF *internalErrorReporter;
/**
* The address where the packet data of the object instance is stored.
*/
store_address_t storeAddress;
/**
* A helper method to check if a store is assigned to the class.
* If not, the method tries to retrieve the store from the global
* ObjectManager.
* @return @li \c true if the store is linked or could be created.
* @li \c false otherwise.
*/
bool checkAndSetStore();
void checkAndReportLostTm();
public:
/**
* This is a default constructor which does not set the data pointer.
@ -52,28 +28,38 @@ public:
/**
* With this constructor, new space is allocated in the packet store and
* a new PUS Telemetry Packet is created there.
* Packet Application Data passed in data is copied into the packet. The Application data is
* passed in two parts, first a header, then a data field. This allows building a Telemetry
* Packet from two separate data sources.
* Packet Application Data passed in data is copied into the packet.
* The Application data is passed in two parts, first a header, then a
* data field. This allows building a Telemetry Packet from two separate
* data sources.
* @param apid Sets the packet's APID field.
* @param service Sets the packet's Service ID field.
* This specifies the source service.
* @param subservice Sets the packet's Service Subtype field.
* This specifies the source sub-service.
* @param packet_counter Sets the Packet counter field of this packet
* @param data The payload data to be copied to the Application Data Field
* @param data The payload data to be copied to the
* Application Data Field
* @param size The amount of data to be copied.
* @param headerData The header Data of the Application field; will be copied in front of data
* @param headerData The header Data of the Application field,
* will be copied in front of data
* @param headerSize The size of the headerDataF
*/
TmPacketStored( uint16_t apid, uint8_t service, uint8_t subservice, uint8_t packet_counter = 0, const uint8_t* data = NULL, uint32_t size = 0, const uint8_t* headerData = NULL, uint32_t headerSize = 0);
TmPacketStored( uint16_t apid, uint8_t service, uint8_t subservice,
uint8_t packet_counter = 0, const uint8_t* data = nullptr,
uint32_t size = 0, const uint8_t* headerData = nullptr,
uint32_t headerSize = 0);
/**
* Another ctor to directly pass structured content and header data to the packet to avoid additional buffers.
* Another ctor to directly pass structured content and header data to the
* packet to avoid additional buffers.
*/
TmPacketStored( uint16_t apid, uint8_t service, uint8_t subservice, uint8_t packet_counter, SerializeIF* content, SerializeIF* header = NULL);
TmPacketStored( uint16_t apid, uint8_t service, uint8_t subservice,
uint8_t packet_counter, SerializeIF* content,
SerializeIF* header = nullptr);
/**
* This is a getter for the current store address of the packet.
* @return The current store address. The (raw) value is \c StorageManagerIF::INVALID_ADDRESS if
* @return The current store address. The (raw) value is
* @c StorageManagerIF::INVALID_ADDRESS if
* the packet is not linked.
*/
store_address_t getStoreAddress();
@ -89,8 +75,34 @@ public:
*/
void setStoreAddress( store_address_t setAddress );
ReturnValue_t sendPacket( MessageQueueId_t destination, MessageQueueId_t sentFrom, bool doErrorReporting = true );
ReturnValue_t sendPacket( MessageQueueId_t destination,
MessageQueueId_t sentFrom, bool doErrorReporting = true );
private:
/**
* This is a pointer to the store all instances of the class use.
* If the store is not yet set (i.e. @c store is NULL), every constructor
* call tries to set it and throws an error message in case of failures.
* The default store is objects::TM_STORE.
*/
static StorageManagerIF* store;
static InternalErrorReporterIF *internalErrorReporter;
/**
* The address where the packet data of the object instance is stored.
*/
store_address_t storeAddress;
/**
* A helper method to check if a store is assigned to the class.
* If not, the method tries to retrieve the store from the global
* ObjectManager.
* @return @li @c true if the store is linked or could be created.
* @li @c false otherwise.
*/
bool checkAndSetStore();
void checkAndReportLostTm();
};
#endif /* TMPACKETSTORED_H_ */
#endif /* TMTCPACKET_PUS_TMPACKETSTORED_H_ */

59
unittest/README.md Normal file
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@ -0,0 +1,59 @@
## FSFW Testing
This repository contains testing and unit testing components.
[Catch2](https://github.com/catchorg/Catch2) has been used as a framework,
and these unit tests can only be run on a linux host machine.
The makefile with default settings creates the unit test binary which can be
run in the terminal or in eclipse.
### Instructions
To run the fsfw unittests in the project, perform following steps:
1. Copy the testcfg folder the project root (folder containing the FSFW).
2. There is a makefile inside the testcfg folder which can be used to have
a starting point to compile the unit tests. Copy that Makefile to the project
root
3. Create a folder named catch2 (can have other name which requires Makefile
adaption) and copy the Catch2 header files there (NOTE: CMake support
not enabled yet!)
### Eclipse CDT settings
The default eclipse terminal has issues displaying the colors used
when running the unit test binary by catch2. To fix this issue,
install the ANSI Escape In Console package from the eclipse marketplace.
### GCOV integration
GCOV has been integrated as a code coverage tool.
It can be enabled by adding `GCOV=1` to the build process as an additional argument.
Coverage data will be provided in form of .gcno and .gcda files.
These can be displayed in eclipse by looking
for a .gcno or .gcda file in the \_obj folder, double-clicking it
and picking the right source-binary. This will generate
information about which lines of a file have run, provided it is open in
eclipse.
### LCOV integration
The files generated by GCOV can also be processed by the tool LCOV.
On ubuntu, the tool can be installed with the following command:
```sh
sudo apt-get install lcov
````
After that, the tool can be run by building the unit tests with `GCOV=1`,
running them at least one time and then executing the `lcov.sh` script.
### Adding unit tests
The catch unit tests are located in unittest/testfw. To add new unit tests,
add them to the UnitTestCatch.cpp file or add a new source file which
includes catch.hpp.
For writing basics tests, the [assertion documentation](https://github.com/catchorg/Catch2/blob/master/docs/assertions.md#top)
or the existing examples are a good guideliens.
For more advanced tests, refer to the [catch2 documentation](https://github.com/catchorg/Catch2/blob/master/docs/Readme.md#top).

11
unittest/core/CatchDefinitions.cpp Normal file
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@ -0,0 +1,11 @@
#include "CatchDefinitions.h"
#include <fsfw/objectmanager/ObjectManagerIF.h>
StorageManagerIF* tglob::getIpcStoreHandle() {
if(objectManager != nullptr) {
return objectManager->get<StorageManagerIF>(objects::IPC_STORE);
} else {
sif::error << "Global object manager uninitialized" << std::endl;
return nullptr;
}
}

21
unittest/core/CatchDefinitions.h Normal file
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@ -0,0 +1,21 @@
#ifndef FSFW_UNITTEST_CORE_CATCHDEFINITIONS_H_
#define FSFW_UNITTEST_CORE_CATCHDEFINITIONS_H_
#include <fsfw/ipc/messageQueueDefinitions.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/storagemanager/StorageManagerIF.h>
namespace retval {
static constexpr int CATCH_OK = static_cast<int>(HasReturnvaluesIF::RETURN_OK);
static constexpr int CATCH_FAILED = static_cast<int>(HasReturnvaluesIF::RETURN_FAILED);
}
namespace tconst {
static constexpr MessageQueueId_t testQueueId = 42;
}
namespace tglob {
StorageManagerIF* getIpcStoreHandle();
}
#endif /* FSFW_UNITTEST_CORE_CATCHDEFINITIONS_H_ */

31
unittest/core/CatchRunner.cpp Normal file
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@ -0,0 +1,31 @@
/**
* @file CatchSource.cpp
* @brief Source file to compile catch framework.
* @details All tests should be written in other files.
* For eclipse console output, install ANSI Escape in Console
* from the eclipse market place to get colored characters.
*/
#ifndef NO_UNIT_TEST_FRAMEWORK
#define CATCH_CONFIG_RUNNER
#include <catch2/catch.hpp>
#if CUSTOM_UNITTEST_RUNNER == 0
extern int customSetup();
int main( int argc, char* argv[] ) {
customSetup();
// Catch internal function call
int result = Catch::Session().run( argc, argv );
// global clean-up
return result;
}
#endif
#endif

42
unittest/core/CatchSetup.cpp Normal file
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@ -0,0 +1,42 @@
#include "CatchDefinitions.h"
#include <testcfg/cdatapool/dataPoolInit.h>
#include <testcfg/objects/Factory.h>
#ifdef GCOV
#include <gcov.h>
#endif
#include "../../objectmanager/ObjectManager.h"
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../storagemanager/StorageManagerIF.h"
#include "../../datapool/DataPool.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
/* Global instantiations normally done in main.cpp */
/* Initialize Data Pool */
//namespace glob {
DataPool dataPool(datapool::dataPoolInit);
//}
namespace sif {
/* Set up output streams */
ServiceInterfaceStream debug("DEBUG");
ServiceInterfaceStream info("INFO");
ServiceInterfaceStream error("ERROR");
ServiceInterfaceStream warning("WARNING");
}
/* Global object manager */
ObjectManagerIF *objectManager;
int customSetup() {
// global setup
objectManager = new ObjectManager(Factory::produce);
objectManager -> initialize();
return 0;
}

3
unittest/core/core.mk Normal file
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@ -0,0 +1,3 @@
CXXSRC += $(wildcard $(CURRENTPATH)/*.cpp)
INCLUDES += $(CURRENTPATH)

10
unittest/core/printChar.cpp Normal file
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@ -0,0 +1,10 @@
#include <fsfw/unittest/core/printChar.h>
#include <cstdio>
void printChar(const char* character, bool errStream) {
if(errStream) {
std::putc(*character, stderr);
return;
}
std::putc(*character, stdout);
}

8
unittest/core/printChar.h Normal file
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@ -0,0 +1,8 @@
#ifndef FSFW_UNITTEST_CORE_PRINTCHAR_H_
#define FSFW_UNITTEST_CORE_PRINTCHAR_H_
extern "C" void printChar(const char*, bool errStream);
#endif /* FSFW_UNITTEST_CORE_PRINTCHAR_H_ */

27
unittest/internal/InternalUnitTester.cpp Normal file
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@ -0,0 +1,27 @@
#include "InternalUnitTester.h"
#include "UnittDefinitions.h"
#include "osal/IntTestMq.h"
#include "osal/IntTestSemaphore.h"
#include "osal/IntTestMutex.h"
#include "serialize/IntTestSerialization.h"
#include <cstdlib>
InternalUnitTester::InternalUnitTester() {}
InternalUnitTester::~InternalUnitTester() {}
ReturnValue_t InternalUnitTester::performTests() {
sif::info << "Running internal unit tests.." << std::endl;
testserialize::test_serialization();
testmq::testMq();
testsemaph::testBinSemaph();
testsemaph::testCountingSemaph();
testmutex::testMutex();
sif::info << "Internal unit tests finished." << std::endl;
return RETURN_OK;
}

29
unittest/internal/InternalUnitTester.h Normal file
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@ -0,0 +1,29 @@
#ifndef FRAMEWORK_TEST_UNITTESTCLASS_H_
#define FRAMEWORK_TEST_UNITTESTCLASS_H_
#include "UnittDefinitions.h"
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
/**
* @brief Can be used for internal testing, for example for hardware specific
* tests which can not be run on a host-machine.
*
* TODO: A lot of ways to improve this class. A way for tests to subscribe
* in this central class would be nice. Right now, this is the class
* which simply calls all other tests from other files manually.
* Maybe there is a better way..
*/
class InternalUnitTester: public HasReturnvaluesIF {
public:
InternalUnitTester();
virtual~ InternalUnitTester();
/**
* Some function which calls all other tests
* @return
*/
virtual ReturnValue_t performTests();
};
#endif /* FRAMEWORK_TEST_UNITTESTCLASS_H_ */

7
unittest/internal/UnittDefinitions.cpp Normal file
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@ -0,0 +1,7 @@
#include <fsfw/unittest/internal/UnittDefinitions.h>
ReturnValue_t unitt::put_error(std::string errorId) {
sif::error << "Unit Tester error: Failed at test ID "
<< errorId << "\n" << std::flush;
return HasReturnvaluesIF::RETURN_FAILED;
}

33
unittest/internal/UnittDefinitions.h Normal file
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@ -0,0 +1,33 @@
#ifndef UNITTEST_INTERNAL_UNITTDEFINITIONS_H_
#define UNITTEST_INTERNAL_UNITTDEFINITIONS_H_
#include "../../returnvalues/HasReturnvaluesIF.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include <cstdint>
#include <cstddef>
namespace tv {
// POD test values
static const bool tv_bool = true;
static const uint8_t tv_uint8 {5};
static const uint16_t tv_uint16 {283};
static const uint32_t tv_uint32 {929221};
static const uint64_t tv_uint64 {2929329429};
static const int8_t tv_int8 {-16};
static const int16_t tv_int16 {-829};
static const int32_t tv_int32 {-2312};
static const float tv_float {8.2149214};
static const float tv_sfloat = {-922.2321321};
static const double tv_double {9.2132142141e8};
static const double tv_sdouble {-2.2421e19};
}
namespace unitt {
ReturnValue_t put_error(std::string errorId);
}
#endif /* UNITTEST_INTERNAL_UNITTDEFINITIONS_H_ */

3
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@ -0,0 +1,3 @@
CXXSRC += $(wildcard $(CURRENTPATH)/osal/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/serialize/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/*.cpp)

52
unittest/internal/osal/IntTestMq.cpp Normal file
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@ -0,0 +1,52 @@
#include <fsfw/ipc/MessageQueueIF.h>
#include <fsfw/ipc/QueueFactory.h>
#include <fsfw/unittest/internal/osal/IntTestMq.h>
#include <fsfw/unittest/internal/UnittDefinitions.h>
#include <array>
using retval = HasReturnvaluesIF;
void testmq::testMq() {
std::string id = "[testMq]";
MessageQueueIF* testSenderMq =
QueueFactory::instance()->createMessageQueue(1);
MessageQueueId_t testSenderMqId = testSenderMq->getId();
MessageQueueIF* testReceiverMq =
QueueFactory::instance()->createMessageQueue(1);
MessageQueueId_t testReceiverMqId = testReceiverMq->getId();
std::array<uint8_t, 20> testData { 0 };
testData[0] = 42;
MessageQueueMessage testMessage(testData.data(), 1);
testSenderMq->setDefaultDestination(testReceiverMqId);
auto result = testSenderMq->sendMessage(testReceiverMqId, &testMessage);
if(result != retval::RETURN_OK) {
unitt::put_error(id);
}
MessageQueueMessage recvMessage;
result = testReceiverMq->receiveMessage(&recvMessage);
if(result != retval::RETURN_OK or recvMessage.getData()[0] != 42) {
unitt::put_error(id);
}
result = testSenderMq->sendMessage(testReceiverMqId, &testMessage);
if(result != retval::RETURN_OK) {
unitt::put_error(id);
}
MessageQueueId_t senderId = 0;
result = testReceiverMq->receiveMessage(&recvMessage,&senderId);
if(result != retval::RETURN_OK or recvMessage.getData()[0] != 42) {
unitt::put_error(id);
}
if(senderId != testSenderMqId) {
unitt::put_error(id);
}
senderId = testReceiverMq->getLastPartner();
if(senderId != testSenderMqId) {
unitt::put_error(id);
}
}

9
unittest/internal/osal/IntTestMq.h Normal file
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@ -0,0 +1,9 @@
#ifndef UNITTEST_INTERNAL_INTESTMQ_H_
#define UNITTEST_INTERNAL_INTESTMQ_H_
namespace testmq {
void testMq();
}
#endif /* UNITTEST_INTERNAL_INTESTMQ_H_ */

42
unittest/internal/osal/IntTestMutex.cpp Normal file
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@ -0,0 +1,42 @@
#include "IntTestMutex.h"
#include <fsfw/ipc/MutexFactory.h>
#include <unittest/internal/UnittDefinitions.h>
#if defined(hosted)
#include <fsfw/osal/hosted/Mutex.h>
#include <thread>
#include <future>
#endif
void testmutex::testMutex() {
std::string id = "[testMutex]";
MutexIF* mutex = MutexFactory::instance()->createMutex();
auto result = mutex->lockMutex(MutexIF::POLLING);
if(result != HasReturnvaluesIF::RETURN_OK) {
unitt::put_error(id);
}
// timed_mutex from the C++ library specifies undefined behaviour if
// the timed mutex is locked twice from the same thread.
#if defined(hosted)
// hold on, this actually worked ? :-D This calls the function from
// another thread and stores the returnvalue in a future.
auto future = std::async(&MutexIF::lockMutex, mutex, 1);
result = future.get();
#else
result = mutex->lockMutex(MutexIF::TimeoutType::WAITING, 1);
#endif
if(result != MutexIF::MUTEX_TIMEOUT) {
unitt::put_error(id);
}
result = mutex->unlockMutex();
if(result != HasReturnvaluesIF::RETURN_OK) {
unitt::put_error(id);
}
result = mutex->unlockMutex();
if(result != MutexIF::CURR_THREAD_DOES_NOT_OWN_MUTEX) {
unitt::put_error(id);
}
}

10
unittest/internal/osal/IntTestMutex.h Normal file
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@ -0,0 +1,10 @@
#ifndef UNITTEST_INTERNAL_INTTESTMUTEX_H_
#define UNITTEST_INTERNAL_INTTESTMUTEX_H_
namespace testmutex {
void testMutex();
}
#endif /* UNITTEST_INTERNAL_INTTESTMUTEX_H_ */

160
unittest/internal/osal/IntTestSemaphore.cpp Normal file
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@ -0,0 +1,160 @@
#include "IntTestSemaphore.h"
#include <fsfw/tasks/SemaphoreFactory.h>
#include <unittest/internal/UnittDefinitions.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/timemanager/Stopwatch.h>
void testsemaph::testBinSemaph() {
std::string id = "[BinSemaphore]";
SemaphoreIF* binSemaph =
SemaphoreFactory::instance()->createBinarySemaphore();
if(binSemaph == nullptr) {
return;
}
testBinSemaphoreImplementation(binSemaph, id);
SemaphoreFactory::instance()->deleteSemaphore(binSemaph);
#if defined(freeRTOS)
SemaphoreIF* binSemaphUsingTask =
SemaphoreFactory::instance()->createBinarySemaphore(1);
testBinSemaphoreImplementation(binSemaphUsingTask, id);
SemaphoreFactory::instance()->deleteSemaphore(binSemaphUsingTask);
#endif
}
void testsemaph::testCountingSemaph() {
std::string id = "[CountingSemaph]";
{
// First test: create a binary semaphore by using a counting semaphore.
SemaphoreIF* countingSemaph = SemaphoreFactory::instance()->
createCountingSemaphore(1,1);
if(countingSemaph == nullptr) {
return;
}
testBinSemaphoreImplementation(countingSemaph, id);
SemaphoreFactory::instance()->deleteSemaphore(countingSemaph);
#if defined(freeRTOS)
countingSemaph = SemaphoreFactory::instance()->
createCountingSemaphore(1, 1, 1);
testBinSemaphoreImplementation(countingSemaph, id);
SemaphoreFactory::instance()->deleteSemaphore(countingSemaph);
#endif
}
{
// Second test: counting semaphore with count 3 and init count of 3.
SemaphoreIF* countingSemaph = SemaphoreFactory::instance()->
createCountingSemaphore(3,3);
testCountingSemaphImplementation(countingSemaph, id);
SemaphoreFactory::instance()->deleteSemaphore(countingSemaph);
#if defined(freeRTOS)
countingSemaph = SemaphoreFactory::instance()->
createCountingSemaphore(3, 0, 1);
uint8_t semaphCount = countingSemaph->getSemaphoreCounter();
if(semaphCount != 0) {
unitt::put_error(id);
}
// release 3 times in a row
for(int i = 0; i < 3; i++) {
auto result = countingSemaph->release();
if(result != HasReturnvaluesIF::RETURN_OK) {
unitt::put_error(id);
}
}
testCountingSemaphImplementation(countingSemaph, id);
SemaphoreFactory::instance()->deleteSemaphore(countingSemaph);
#endif
}
}
void testsemaph::testBinSemaphoreImplementation(SemaphoreIF* binSemaph,
std::string id) {
uint8_t semaphCount = binSemaph->getSemaphoreCounter();
if(semaphCount != 1) {
unitt::put_error(id);
}
ReturnValue_t result = binSemaph->release();
if(result != SemaphoreIF::SEMAPHORE_NOT_OWNED) {
unitt::put_error(id);
}
result = binSemaph->acquire(SemaphoreIF::BLOCKING);
if(result != HasReturnvaluesIF::RETURN_OK) {
unitt::put_error(id);
}
// There is not really a point in testing time related, the task
// might get interrupted..
{
//Stopwatch stopwatch(false);
result = binSemaph->acquire(SemaphoreIF::TimeoutType::WAITING, 10);
//dur_millis_t time = stopwatch.stop();
// if(abs(time - 10) > 2) {
// sif::error << "UnitTester: Semaphore timeout measured incorrect."
// << std::endl;
// unitt::put_error(id);
// }
}
if(result != SemaphoreIF::SEMAPHORE_TIMEOUT) {
unitt::put_error(id);
}
semaphCount = binSemaph->getSemaphoreCounter();
if(semaphCount != 0) {
unitt::put_error(id);
}
result = binSemaph->release();
if(result != HasReturnvaluesIF::RETURN_OK) {
unitt::put_error(id);
}
}
void testsemaph::testCountingSemaphImplementation(SemaphoreIF* countingSemaph,
std::string id) {
// check count getter function
uint8_t semaphCount = countingSemaph->getSemaphoreCounter();
if(semaphCount != 3) {
unitt::put_error(id);
}
ReturnValue_t result = countingSemaph->release();
if(result != SemaphoreIF::SEMAPHORE_NOT_OWNED) {
unitt::put_error(id);
}
// acquire 3 times in a row
for(int i = 0; i < 3; i++) {
result = countingSemaph->acquire(SemaphoreIF::BLOCKING);
if(result != HasReturnvaluesIF::RETURN_OK) {
unitt::put_error(id);
}
}
{
Stopwatch stopwatch(false);
// attempt to take when count is 0, measure time
result = countingSemaph->acquire(SemaphoreIF::TimeoutType::WAITING, 10);
dur_millis_t time = stopwatch.stop();
if(abs(time - 10) > 1) {
unitt::put_error(id);
}
}
if(result != SemaphoreIF::SEMAPHORE_TIMEOUT) {
unitt::put_error(id);
}
// release 3 times in a row
for(int i = 0; i < 3; i++) {
result = countingSemaph->release();
if(result != HasReturnvaluesIF::RETURN_OK) {
unitt::put_error(id);
}
}
// assert correct full count
if(countingSemaph->getSemaphoreCounter() != 3) {
unitt::put_error(id);
}
}

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#ifndef UNITTEST_INTERNAL_INTTESTSEMAPHORE_H_
#define UNITTEST_INTERNAL_INTTESTSEMAPHORE_H_
class SemaphoreIF;
#include <string>
namespace testsemaph {
void testBinSemaph();
void testBinSemaphoreImplementation(SemaphoreIF* binSemaph, std::string id);
void testCountingSemaph();
void testCountingSemaphImplementation(SemaphoreIF* countingSemaph,
std::string id);
}
#endif /* UNITTEST_INTERNAL_INTTESTSEMAPHORE_H_ */

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#include "IntTestSerialization.h"
#include <fsfw/serialize/SerializeElement.h>
#include <fsfw/serialize/SerialBufferAdapter.h>
#include <unittest/internal/UnittDefinitions.h>
#include <fsfw/serialize/SerializeIF.h>
#include <array>
using retval = HasReturnvaluesIF;
std::array<uint8_t, 512> testserialize::test_array = { 0 };
ReturnValue_t testserialize::test_serialization() {
// Here, we test all serialization tools. First test basic cases.
ReturnValue_t result = test_endianness_tools();
if(result != retval::RETURN_OK) {
return result;
}
result = test_autoserialization();
if(result != retval::RETURN_OK) {
return result;
}
result = test_serial_buffer_adapter();
if(result != retval::RETURN_OK) {
return result;
}
return retval::RETURN_OK;
}
ReturnValue_t testserialize::test_endianness_tools() {
std::string id = "[test_endianness_tools]";
test_array[0] = 0;
test_array[1] = 0;
uint16_t two_byte_value = 1;
size_t size = 0;
uint8_t* p_array = test_array.data();
SerializeAdapter::serialize(&two_byte_value, &p_array, &size, 2,
SerializeIF::Endianness::MACHINE);
// Little endian: Value one on first byte
if(test_array[0] != 1 and test_array[1] != 0) {
return unitt::put_error(id);
}
p_array = test_array.data();
size = 0;
SerializeAdapter::serialize(&two_byte_value, &p_array, &size, 2,
SerializeIF::Endianness::BIG);
// Big endian: Value one on second byte
if(test_array[0] != 0 and test_array[1] != 1) {
return unitt::put_error(id);
}
return retval::RETURN_OK;
}
ReturnValue_t testserialize::test_autoserialization() {
std::string id = "[test_autoserialization]";
// Unit Test getSerializedSize
if(SerializeAdapter::
getSerializedSize(&tv::tv_bool) != sizeof(tv::tv_bool) or
SerializeAdapter::
getSerializedSize(&tv::tv_uint8) != sizeof(tv::tv_uint8) or
SerializeAdapter::
getSerializedSize(&tv::tv_uint16) != sizeof(tv::tv_uint16) or
SerializeAdapter::
getSerializedSize(&tv::tv_uint32) != sizeof(tv::tv_uint32) or
SerializeAdapter::
getSerializedSize(&tv::tv_uint64) != sizeof(tv::tv_uint64) or
SerializeAdapter::
getSerializedSize(&tv::tv_int8) != sizeof(tv::tv_int8) or
SerializeAdapter::
getSerializedSize(&tv::tv_double) != sizeof(tv::tv_double) or
SerializeAdapter::
getSerializedSize(&tv::tv_int16) != sizeof(tv::tv_int16) or
SerializeAdapter::
getSerializedSize(&tv::tv_int32) != sizeof(tv::tv_int32) or
SerializeAdapter::
getSerializedSize(&tv::tv_float) != sizeof(tv::tv_float))
{
return unitt::put_error(id);
}
size_t serialized_size = 0;
uint8_t * p_array = test_array.data();
SerializeAdapter::serialize(&tv::tv_bool, &p_array,
&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
SerializeAdapter::serialize(&tv::tv_uint8, &p_array,
&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
SerializeAdapter::serialize(&tv::tv_uint16, &p_array,
&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
SerializeAdapter::serialize(&tv::tv_uint32, &p_array,
&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
SerializeAdapter::serialize(&tv::tv_int8, &p_array,
&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
SerializeAdapter::serialize(&tv::tv_int16, &p_array,
&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
SerializeAdapter::serialize(&tv::tv_int32, &p_array,
&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
SerializeAdapter::serialize(&tv::tv_uint64, &p_array,
&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
SerializeAdapter::serialize(&tv::tv_float, &p_array,
&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
SerializeAdapter::serialize(&tv::tv_double, &p_array,
&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
SerializeAdapter::serialize(&tv::tv_sfloat, &p_array,
&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
SerializeAdapter::serialize(&tv::tv_sdouble, &p_array,
&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
// expected size is 1 + 1 + 2 + 4 + 1 + 2 + 4 + 8 + 4 + 8 + 4 + 8
if(serialized_size != 47) {
return unitt::put_error(id);
}
p_array = test_array.data();
size_t remaining_size = serialized_size;
bool tv_bool;
uint8_t tv_uint8;
uint16_t tv_uint16;
uint32_t tv_uint32;
int8_t tv_int8;
int16_t tv_int16;
int32_t tv_int32;
uint64_t tv_uint64;
float tv_float;
double tv_double;
float tv_sfloat;
double tv_sdouble;
SerializeAdapter::deSerialize(&tv_bool,
const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
SerializeAdapter::deSerialize(&tv_uint8,
const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
SerializeAdapter::deSerialize(&tv_uint16,
const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
SerializeAdapter::deSerialize(&tv_uint32,
const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
SerializeAdapter::deSerialize(&tv_int8,
const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
SerializeAdapter::deSerialize(&tv_int16,
const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
SerializeAdapter::deSerialize(&tv_int32,
const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
SerializeAdapter::deSerialize(&tv_uint64,
const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
SerializeAdapter::deSerialize(&tv_float,
const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
SerializeAdapter::deSerialize(&tv_double,
const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
SerializeAdapter::deSerialize(&tv_sfloat,
const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
SerializeAdapter::deSerialize(&tv_sdouble,
const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
if(tv_bool != tv::tv_bool or tv_uint8 != tv::tv_uint8 or
tv_uint16 != tv::tv_uint16 or tv_uint32 != tv::tv_uint32 or
tv_uint64 != tv::tv_uint64 or tv_int8 != tv::tv_int8 or
tv_int16 != tv::tv_int16 or tv_int32 != tv::tv_int32)
{
return unitt::put_error(id);
}
// These epsilon values were just guessed.. It appears to work though.
if(abs(tv_float - tv::tv_float) > 0.0001 or
abs(tv_double - tv::tv_double) > 0.01 or
abs(tv_sfloat - tv::tv_sfloat) > 0.0001 or
abs(tv_sdouble - tv::tv_sdouble) > 0.01) {
return unitt::put_error(id);
}
// Check overflow
return retval::RETURN_OK;
}
// TODO: Also test for constant buffers.
ReturnValue_t testserialize::test_serial_buffer_adapter() {
std::string id = "[test_serial_buffer_adapter]";
// I will skip endian swapper testing, its going to be changed anyway..
// uint8_t tv::tv_uint8_swapped = EndianSwapper::swap(tv::tv_uint8);
size_t serialized_size = 0;
uint8_t * p_array = test_array.data();
std::array<uint8_t, 5> test_serial_buffer {5, 4, 3, 2, 1};
SerialBufferAdapter<uint8_t> tv_serial_buffer_adapter =
SerialBufferAdapter<uint8_t>(test_serial_buffer.data(),
test_serial_buffer.size(), false);
uint16_t testUint16 = 16;
SerializeAdapter::serialize(&tv::tv_bool, &p_array,&serialized_size,
test_array.size(), SerializeIF::Endianness::MACHINE);
SerializeAdapter::serialize(&tv_serial_buffer_adapter, &p_array,
&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
SerializeAdapter::serialize(&testUint16, &p_array, &serialized_size,
test_array.size(), SerializeIF::Endianness::MACHINE);
if(serialized_size != 8 or test_array[0] != true or test_array[1] != 5
or test_array[2] != 4 or test_array[3] != 3 or test_array[4] != 2
or test_array[5] != 1)
{
return unitt::put_error(id);
}
memcpy(&testUint16, test_array.data() + 6, sizeof(testUint16));
if(testUint16 != 16) {
return unitt::put_error(id);
}
// Serialize with size field
SerialBufferAdapter<uint8_t> tv_serial_buffer_adapter2 =
SerialBufferAdapter<uint8_t>(test_serial_buffer.data(),
test_serial_buffer.size(), true);
serialized_size = 0;
p_array = test_array.data();
SerializeAdapter::serialize(&tv::tv_bool, &p_array,&serialized_size,
test_array.size(), SerializeIF::Endianness::MACHINE);
SerializeAdapter::serialize(&tv_serial_buffer_adapter2, &p_array,
&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
SerializeAdapter::serialize(&testUint16, &p_array, &serialized_size,
test_array.size(), SerializeIF::Endianness::MACHINE);
if(serialized_size != 9 or test_array[0] != true or test_array[1] != 5
or test_array[2] != 5 or test_array[3] != 4 or test_array[4] != 3
or test_array[5] != 2 or test_array[6] != 1)
{
return unitt::put_error(id);
}
memcpy(&testUint16, test_array.data() + 7, sizeof(testUint16));
if(testUint16 != 16) {
return unitt::put_error(id);
}
return retval::RETURN_OK;
}

15
unittest/internal/serialize/IntTestSerialization.h Normal file
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#ifndef UNITTEST_INTERNAL_INTTESTSERIALIZATION_H_
#define UNITTEST_INTERNAL_INTTESTSERIALIZATION_H_
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <array>
namespace testserialize {
ReturnValue_t test_serialization();
ReturnValue_t test_endianness_tools();
ReturnValue_t test_autoserialization();
ReturnValue_t test_serial_buffer_adapter();
extern std::array<uint8_t, 512> test_array;
}
#endif /* UNITTEST_INTERNAL_INTTESTSERIALIZATION_H_ */

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unittest/lcov.sh Normal file
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#!/bin/bash
lcov --capture --directory . --output-file coverage.info
genhtml coverage.info --output-directory _coverage

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unittest/testcfg/FSFWConfig.h Normal file
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#ifndef CONFIG_FSFWCONFIG_H_
#define CONFIG_FSFWCONFIG_H_
#include <FSFWVersion.h>
//! Used to determine whether C++ ostreams are used
//! Those can lead to code bloat.
#define FSFW_CPP_OSTREAM_ENABLED 1
//! Reduced printout to further decrese code size
//! Be careful, this also turns off most diagnostic prinouts!
#define FSFW_REDUCED_PRINTOUT 0
//! Can be used to enable debugging printouts for developing the FSFW
#define FSFW_DEBUGGING 0
//! Defines the FIFO depth of each commanding service base which
//! also determines how many commands a CSB service can handle in one cycle
//! simulataneously. This will increase the required RAM for
//! each CSB service !
#define FSFW_CSB_FIFO_DEPTH 6
//! If FSFW_OBJ_EVENT_TRANSLATION is set to one,
//! additional output which requires the translation files translateObjects
//! and translateEvents (and their compiled source files)
#define FSFW_OBJ_EVENT_TRANSLATION 0
//! If -DDEBUG is supplied in the build defines, there will be
//! additional output which requires the translation files translateObjects
//! and translateEvents (and their compiles source files)
#if FSFW_OBJ_EVENT_TRANSLATION == 1
#define FSFW_DEBUG_OUTPUT 1
//! Specify whether info events are printed too.
#define FSFW_DEBUG_INFO 1
#include <translateObjects.h>
#include <translateEvents.h>
#else
#define FSFW_DEBUG_OUTPUT 0
#endif
//! When using the newlib nano library, C99 support for stdio facilities
//! will not be provided. This define should be set to 1 if this is the case.
#define FSFW_NO_C99_IO 1
#endif /* CONFIG_FSFWCONFIG_H_ */

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unittest/testcfg/Makefile-FSFW-Tests Normal file
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#-------------------------------------------------------------------------------
# Makefile for FSFW Test
#-------------------------------------------------------------------------------
# User-modifiable options
#-------------------------------------------------------------------------------
# Fundamentals on the build process of C/C++ Software:
# https://www3.ntu.edu.sg/home/ehchua/programming/cpp/gcc_make.html
# Make documentation: https://www.gnu.org/software/make/manual/make.pdf
# Online: https://www.gnu.org/software/make/manual/make.html
# General rules: http://make.mad-scientist.net/papers/rules-of-makefiles/#rule3
SHELL = /bin/sh
# Chip & board used for compilation
# (can be overriden by adding CHIP=chip and BOARD=board to the command-line)
# Unit Test can only be run on host machine for now (Linux)
FRAMEWORK_PATH = fsfw
FILE_ROOT = $(FRAMEWORK_PATH)/unittest
BOARD = unittest
LINUX = 1
OS_FSFW = linux
CUSTOM_DEFINES += -D$(OS_FSFW)
# Copied from stackoverflow, can be used to differentiate between Windows
# and Linux
ifeq ($(OS),Windows_NT)
CUSTOM_DEFINES += -DWIN32
ifeq ($(PROCESSOR_ARCHITEW6432),AMD64)
CUSTOM_DEFINES += -DAMD64
else
ifeq ($(PROCESSOR_ARCHITECTURE),AMD64)
CUSTOM_DEFINES += -DAMD64
endif
ifeq ($(PROCESSOR_ARCHITECTURE),x86)
CUSTOM_DEFINES += -DIA32
endif
endif
else
UNAME_S := $(shell uname -s)
ifeq ($(UNAME_S),Linux)
DETECTED_OS = LINUX
CUSTOM_DEFINES += -DLINUX
endif
ifeq ($(UNAME_S),Darwin)
CUSTOM_DEFINES += -DOSX
endif
UNAME_P := $(shell uname -p)
ifeq ($(UNAME_P),x86_64)
CUSTOM_DEFINES += -DAMD64
endif
ifneq ($(filter %86,$(UNAME_P)),)
CUSTOM_DEFINES += -DIA32
endif
ifneq ($(filter arm%,$(UNAME_P)),)
CUSTOM_DEFINES += -DARM
endif
endif
UNIT_TEST = 1
# General folder paths
CONFIG_PATH = $(FILE_ROOT)/config
UNIT_TEST_PATH = $(FILE_ROOT)/tests
CORE_PATH = $(FILE_ROOT)/core
# Output file basename
BASENAME = fsfw
BINARY_NAME := $(BASENAME)-$(BOARD)
# Output files will be put in this directory inside
OUTPUT_FOLDER = $(OS)
# Optimization level. Optimized for debugging.
OPTIMIZATION = -O0
# Default debug output. Optimized for debugging.
DEBUG_LEVEL = -g3
ifdef GCOV
CUSTOM_DEFINES += -DGCOV
endif
# Output directories
BUILDPATH = _bin
DEPENDPATH = _dep
OBJECTPATH = _obj
ifeq ($(MAKECMDGOALS),mission)
BUILD_FOLDER = mission
else
BUILD_FOLDER = devel
endif
DEPENDDIR = $(DEPENDPATH)/$(OUTPUT_FOLDER)/$(BUILD_FOLDER)
OBJDIR = $(OBJECTPATH)/$(OUTPUT_FOLDER)/$(BUILD_FOLDER)
BINDIR = $(BUILDPATH)
CLEANDEP = $(DEPENDPATH)/$(OUTPUT_FOLDER)
CLEANOBJ = $(OBJECTPATH)/$(OUTPUT_FOLDER)
CLEANBIN = $(BUILDPATH)
#-------------------------------------------------------------------------------
# Tools and Includes
#-------------------------------------------------------------------------------
# Tool suffix when cross-compiling
CROSS_COMPILE =
# C Compiler
CC = $(CROSS_COMPILE)gcc
# C++ compiler
CXX = $(CROSS_COMPILE)g++
# Additional Tools
SIZE = $(CROSS_COMPILE)size
STRIP = $(CROSS_COMPILE)strip
CP = $(CROSS_COMPILE)objcopy
HEXCOPY = $(CP) -O ihex
BINCOPY = $(CP) -O binary
# files to be compiled, will be filled in by include makefiles
# := assignment is neccessary so we get all paths right
# https://www.gnu.org/software/make/manual/html_node/Flavors.html
CSRC :=
CXXSRC :=
ASRC :=
INCLUDES :=
# Directories where $(directoryname).mk files should be included from
SUBDIRS := $(FRAMEWORK_PATH) $(TEST_PATH) $(UNIT_TEST_PATH) $(CONFIG_PATH) \
$(CORE_PATH)
I_INCLUDES += $(addprefix -I, $(INCLUDES))
# This is a hack from http://make.mad-scientist.net/the-eval-function/
#
# The problem is, that included makefiles should be aware of their relative path
# but not need to guess or hardcode it. So we set $(CURRENTPATH) for them. If
# we do this globally and the included makefiles want to include other makefiles as
# well, they would overwrite $(CURRENTPATH), screwing the include after them.
#
# By using a for-loop with an eval'd macro, we can generate the code to include all
# sub-makefiles (with the correct $(CURRENTPATH) set) before actually evaluating
# (and by this possibly changing $(CURRENTPATH)) them.
#
# This works recursively, if an included makefile wants to include, it can safely set
# $(SUBDIRS) (which has already been evaluated here) and do
# "$(foreach S,$(SUBDIRS),$(eval $(INCLUDE_FILE)))"
# $(SUBDIRS) must be relative to the project root, so to include subdir foo, set
# $(SUBDIRS) = $(CURRENTPATH)/foo.
define INCLUDE_FILE
CURRENTPATH := $S
include $(S)/$(notdir $S).mk
endef
$(foreach S,$(SUBDIRS),$(eval $(INCLUDE_FILE)))
INCLUDES += $(FILE_ROOT)
INCLUDES += $(FILE_ROOT)/catch2/
#-------------------------------------------------------------------------------
# Source Files
#-------------------------------------------------------------------------------
# All source files which are not includes by the .mk files are added here
# Please ensure that no files are included by both .mk file and here !
# if a target is not listed in the current directory,
# make searches in the directories specified with VPATH
# All C Sources included by .mk files are assigned here
# Add the objects to sources so dependency handling works
C_OBJECTS += $(CSRC:.c=.o)
# Objects built from Assembly source files
ASM_OBJECTS = $(ASRC:.S=.o)
# Objects built from C++ source files
CXX_OBJECTS += $(CXXSRC:.cpp=.o)
#-------------------------------------------------------------------------------
# Build Configuration + Output
#-------------------------------------------------------------------------------
TARGET = Debug build.
DEBUG_MESSAGE = Off
OPTIMIZATION_MESSAGE = Off
# Define Messages
MSG_INFO = Software: Hosted unittest \(Catch2\) for the FSFW.
MSG_OPTIMIZATION = Optimization: $(OPTIMIZATION), $(OPTIMIZATION_MESSAGE)
MSG_TARGET = Target Build: $(TARGET)
MSG_DEBUG = Debug level: $(DEBUG_LEVEL), FSFW Debugging: $(DEBUG_MESSAGE)
MSG_LINKING = Linking:
MSG_COMPILING = Compiling:
MSG_ASSEMBLING = Assembling:
MSG_DEPENDENCY = Collecting dependencies for:
MSG_BINARY = Generate binary:
# See https://stackoverflow.com/questions/6687630/how-to-remove-unused-c-c-symbols-with-gcc-and-ld
# Used to throw away unused code. Reduces code size significantly !
# -Wl,--gc-sections: needs to be passed to the linker to throw aways unused code
ifdef KEEP_UNUSED_CODE
PROTOTYPE_OPTIMIZATION =
UNUSED_CODE_REMOVAL =
else
PROTOTYPE_OPTIMIZATION = -ffunction-sections -fdata-sections
UNUSED_CODE_REMOVAL = -Wl,--gc-sections
# Link time optimization
# See https://gcc.gnu.org/onlinedocs/gcc/Optimize-Options.html for reference
# Link time is larger and size of object files can not be retrieved
# but resulting binary is smaller. Could be used in mission/deployment build
# Requires -ffunction-section in linker call
LINK_TIME_OPTIMIZATION = -flto
OPTIMIZATION += $(PROTOTYPE_OPTIMIZATION)
endif
# Dependency Flags
# These flags tell the compiler to build dependencies
# See: https://www.gnu.org/software/make/manual/html_node/Automatic-Prerequisites.html
# Using following guide: http://make.mad-scientist.net/papers/advanced-auto-dependency-generation/#combine
DEPFLAGS = -MT $@ -MMD -MP -MF $(DEPENDDIR)/$*.d
# Flags for the compiler call
# - std: Which C++ version to use. Common versions: c++11, c++14 and c++17
# - Wall: enable all warnings
# - Wextra: enable extra warnings
# - g: defines debug level
# - fmessage-length: to control the formatting algorithm for diagnostic messages;
# =0 means no line-wrapping is done; each error message appears on a single line
# - fno-exceptions: stops generating extra code needed to propagate exceptions,
# which can produce significant data size overhead
CUSTOM_DEFINES += -DUNIT_TEST
WARNING_FLAGS = -Wall -Wshadow=local -Wextra -Wimplicit-fallthrough=1 \
-Wno-unused-parameter
CXXDEFINES := $(CUSTOM_DEFINES)
CFLAGS +=
CXXFLAGS += -I. $(DEBUG_LEVEL) $(WARNING_FLAGS) $(DEPFLAGS) -fmessage-length=0 $(OPTIMIZATION)\
$(I_INCLUDES) $(CXXDEFINES)
CPPFLAGS += -std=c++11
# Flags for the linker call
# LINK_INCLUDES specify the path to used libraries and the linker script
# LINK_LIBRARIES: Link real time support
LDFLAGS := $(DEBUG_LEVEL) $(UNUSED_CODE_REMOVAL) $(OPTIMIZATION) -pthread
LINK_INCLUDES :=
LINK_LIBRARIES :=
ifdef LINUX
LINK_LIBRARIES += -lrt
endif
ifeq ($(OS),Windows_NT)
LINK_LIBRARIES += -lwsock32 -lws2_32
LDFLASGS += -fuse-ld=lld
endif
# Gnu Coverage Tools Flags
ifdef GCOV
GCOV_CXXFLAGS = -fprofile-arcs -ftest-coverage --coverage -fno-inline \
-fno-inline-small-functions -fno-default-inline
CXXFLAGS += $(GCOV_CXXFLAGS)
GCOV_LINKER_LIBS = -lgcov -fprofile-arcs -ftest-coverage
LINK_LIBRARIES += $(GCOV_LINKER_LIBS)
endif
# $(info $${CXXFLAGS} is [${CXXFLAGS}])
#-------------------------------------------------------------------------------
# Rules
#-------------------------------------------------------------------------------
# the call function assigns parameters to temporary variables
# https://www.gnu.org/software/make/manual/make.html#Call-Function
# $(1) = Memory names
# Rules are called for each memory type
# Two Expansion Symbols $$ are to escape the dollar sign for eval.
# See: http://make.mad-scientist.net/the-eval-function/
default: all
# Cleans all files
hardclean:
-rm -rf $(BUILDPATH)
-rm -rf $(OBJECTPATH)
-rm -rf $(DEPENDPATH)
# Only clean files for current build
clean:
-rm -rf $(CLEANOBJ)
-rm -rf $(CLEANBIN)
-rm -rf $(CLEANDEP)
# Only clean binaries. Useful for changing the binary type when object files
# are already compiled so complete rebuild is not necessary
cleanbin:
-rm -rf $(CLEANBIN)
# In this section, the binaries are built for all selected memories
# notestfw: all
all: executable
# Build target configuration
release: OPTIMIZATION = -Os $(PROTOTYPE_OPTIMIZATION) $(LINK_TIME_OPTIMIZATION)
release: LINK_TIME_OPTIMIZATION = -flto
release: TARGET = Mission build.
release: OPTIMIZATION_MESSAGE = On with Link Time Optimization
debug: CXXDEFINES += -DDEBUG
debug: TARGET = Debug
debug: DEBUG_MESSAGE = On
ifndef KEEP_UNUSED_CODE
debug release: OPTIMIZATION_MESSAGE += , no unused code removal
endif
debug release notestfw: executable
executable: $(BINDIR)/$(BINARY_NAME).elf
@echo
@echo $(MSG_INFO)
@echo $(MSG_TARGET)
@echo $(MSG_OPTIMIZATION)
@echo $(MSG_DEBUG)
C_OBJECTS_PREFIXED = $(addprefix $(OBJDIR)/, $(C_OBJECTS))
CXX_OBJECTS_PREFIXED = $(addprefix $(OBJDIR)/, $(CXX_OBJECTS))
ASM_OBJECTS_PREFIXED = $(addprefix $(OBJDIR)/, $(ASM_OBJECTS))
ALL_OBJECTS = $(ASM_OBJECTS_PREFIXED) $(C_OBJECTS_PREFIXED) \
$(CXX_OBJECTS_PREFIXED)
# Useful for debugging the Makefile
# Also see: https://www.oreilly.com/openbook/make3/book/ch12.pdf
# $(info $${ALL_OBJECTS} is [${ALL_OBJECTS}])
# $(info $${CXXSRC} is [${CXXSRC}])
# Automatic variables are used here extensively. Some of them
# are escaped($$) to suppress immediate evaluation. The most important ones are:
# $@: Name of Target (left side of rule)
# $<: Name of the first prerequisite (right side of rule)
# @^: List of all prerequisite, omitting duplicates
# @D: Directory and file-within-directory part of $@
# Generates binary and displays all build properties
# -p with mkdir ignores error and creates directory when needed.
# SHOW_DETAILS = 1
# Link with required libraries: HAL (Hardware Abstraction Layer) and
# HCC (File System Library)
$(BINDIR)/$(BINARY_NAME).elf: $(ALL_OBJECTS)
@echo
@echo $(MSG_LINKING) Target $@
@mkdir -p $(@D)
ifdef SHOW_DETAILS
$(CXX) $(LDFLAGS) $(LINK_INCLUDES) -o $@ $^ $(LINK_LIBRARIES)
else
@$(CXX) $(LDFLAGS) $(LINK_INCLUDES) -o $@ $^ $(LINK_LIBRARIES)
endif
ifeq ($(BUILD_FOLDER), mission)
# With Link Time Optimization, section size is not available
$(SIZE) $@
else
$(SIZE) $^ $@
endif
$(BINDIR)/$(BINARY_NAME).hex: $(BINDIR)/$(BINARY_NAME).elf
@echo
@echo $(MSG_BINARY)
@mkdir -p $(@D)
$(HEXCOPY) $< $@
# Build new objects for changed dependencies.
$(OBJDIR)/%.o: %.cpp
$(OBJDIR)/%.o: %.cpp $(DEPENDDIR)/%.d | $(DEPENDDIR)
@echo
@echo $(MSG_COMPILING) $<
@mkdir -p $(@D)
ifdef SHOW_DETAILS
$(CXX) $(CXXFLAGS) $(CPPFLAGS) -c -o $@ $<
else
@$(CXX) $(CXXFLAGS) $(CPPFLAGS) -c -o $@ $<
endif
$(OBJDIR)/%.o: %.c
$(OBJDIR)/%.o: %.c $(DEPENDDIR)/%.d | $(DEPENDDIR)
@echo
@echo $(MSG_COMPILING) $<
@mkdir -p $(@D)
ifdef SHOW_DETAILS
$(CC) $(CXXFLAGS) $(CFLAGS) -c -o $@ $<
else
@$(CC) $(CXXFLAGS) $(CFLAGS) -c -o $@ $<
endif
#-------------------------------------------------------------------------------
# Dependency Handling
#-------------------------------------------------------------------------------
# Dependency Handling according to following guide:
# http://make.mad-scientist.net/papers/advanced-auto-dependency-generation/
$(DEPENDDIR):
@mkdir -p $(@D)
DEPENDENCY_RELATIVE = $(CSRC:.c=.d) $(CXXSRC:.cpp=.d)
# This is the list of all dependencies
DEPFILES = $(addprefix $(DEPENDDIR)/, $(DEPENDENCY_RELATIVE))
# Create subdirectories for dependencies
$(DEPFILES):
@mkdir -p $(@D)
# Include all dependencies
include $(wildcard $(DEPFILES))
# .PHONY tells make that these targets aren't files
.PHONY: clean release debug all hardclean cleanbin

8
unittest/testcfg/TestsConfig.h Normal file
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@ -0,0 +1,8 @@
#ifndef FSFW_UNITTEST_CONFIG_TESTSCONFIG_H_
#define FSFW_UNITTEST_CONFIG_TESTSCONFIG_H_
#define CUSTOM_UNITTEST_RUNNER 0
#endif /* FSFW_UNITTEST_CONFIG_TESTSCONFIG_H_ */

5
unittest/testcfg/cdatapool/dataPoolInit.cpp Normal file
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#include "dataPoolInit.h"
void datapool::dataPoolInit(std::map<uint32_t, PoolEntryIF*> * poolMap) {
}

17
unittest/testcfg/cdatapool/dataPoolInit.h Normal file
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@ -0,0 +1,17 @@
#ifndef HOSTED_CONFIG_CDATAPOOL_DATAPOOLINIT_H_
#define HOSTED_CONFIG_CDATAPOOL_DATAPOOLINIT_H_
#include <fsfw/datapool/DataPool.h>
#include <fsfw/datapool/PoolEntryIF.h>
#include <map>
#include <cstdint>
namespace datapool {
void dataPoolInit(std::map<uint32_t, PoolEntryIF*> * poolMap);
enum datapoolvariables {
NO_PARAMETER = 0,
};
}
#endif /* CONFIG_CDATAPOOL_DATAPOOLINIT_H_ */

5
unittest/testcfg/devices/logicalAddresses.cpp Normal file
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@ -0,0 +1,5 @@
#include "logicalAddresses.h"

15
unittest/testcfg/devices/logicalAddresses.h Normal file
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@ -0,0 +1,15 @@
#ifndef CONFIG_DEVICES_LOGICALADDRESSES_H_
#define CONFIG_DEVICES_LOGICALADDRESSES_H_
#include <fsfw/devicehandlers/CookieIF.h>
#include <fsfw/unittest/config/objects/systemObjectList.h>
#include <cstdint>
namespace addresses {
/* Logical addresses have uint32_t datatype */
enum logicalAddresses: address_t {
};
}
#endif /* CONFIG_DEVICES_LOGICALADDRESSES_H_ */

4
unittest/testcfg/devices/powerSwitcherList.cpp Normal file
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#include "powerSwitcherList.h"

12
unittest/testcfg/devices/powerSwitcherList.h Normal file
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@ -0,0 +1,12 @@
#ifndef CONFIG_DEVICES_POWERSWITCHERLIST_H_
#define CONFIG_DEVICES_POWERSWITCHERLIST_H_
namespace switches {
/* Switches are uint8_t datatype and go from 0 to 255 */
enum switcherList {
};
}
#endif /* CONFIG_DEVICES_POWERSWITCHERLIST_H_ */

18
unittest/testcfg/events/subsystemIdRanges.h Normal file
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@ -0,0 +1,18 @@
#ifndef CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_
#define CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_
#include <cstdint>
#include <fsfw/events/fwSubsystemIdRanges.h>
/**
* @brief Custom subsystem IDs can be added here
* @details
* Subsystem IDs are used to create unique events.
*/
namespace SUBSYSTEM_ID {
enum: uint8_t {
SUBSYSTEM_ID_START = FW_SUBSYSTEM_ID_RANGE,
};
}
#endif /* CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_ */

12
unittest/testcfg/ipc/MissionMessageTypes.cpp Normal file
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#include "MissionMessageTypes.h"
#include <fsfw/ipc/CommandMessage.h>
void messagetypes::clearMissionMessage(CommandMessage* message) {
switch(message->getMessageType()) {
default:
break;
}
}

22
unittest/testcfg/ipc/MissionMessageTypes.h Normal file
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#ifndef CONFIG_IPC_MISSIONMESSAGETYPES_H_
#define CONFIG_IPC_MISSIONMESSAGETYPES_H_
#include <fsfw/ipc/FwMessageTypes.h>
class CommandMessage;
/**
* Custom command messages are specified here.
* Most messages needed to use FSFW are already located in
* <fsfw/ipc/FwMessageTypes.h>
* @param message Generic Command Message
*/
namespace messagetypes{
enum MESSAGE_TYPE {
MISSION_MESSAGE_TYPE_START = FW_MESSAGES_COUNT,
};
void clearMissionMessage(CommandMessage* message);
}
#endif /* CONFIG_IPC_MISSIONMESSAGETYPES_H_ */

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