fsfw/fsfw
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Merge branch 'mueller/master' into source/master

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This commit is contained in:
Robin Müller 2020-08-01 12:34:46 +02:00
commit 76cc3e96e8
28 changed files with 185 additions and 165 deletions
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2
action/HasActionsIF.h
View File

@ -35,7 +35,7 @@
class HasActionsIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::HAS_ACTIONS_IF;
static const ReturnValue_t IS_BUSY = MAKE_RETURN_CODE(1);//!<
static const ReturnValue_t IS_BUSY = MAKE_RETURN_CODE(1);
static const ReturnValue_t INVALID_PARAMETERS = MAKE_RETURN_CODE(2);
static const ReturnValue_t EXECUTION_FINISHED = MAKE_RETURN_CODE(3);
static const ReturnValue_t INVALID_ACTION_ID = MAKE_RETURN_CODE(4);

61
container/SinglyLinkedList.h
View File

@ -16,13 +16,8 @@ public:
class Iterator {
public:
LinkedElement<T> *value = nullptr;
//! Creates an uninitialized iterator which points to nullptr.
Iterator() {}
/**
* Initialize iterator at specified linked element.
* @param element
*/
Iterator(LinkedElement<T> *element) :
value(element) {
}
@ -77,11 +72,6 @@ private:
LinkedElement *next;
};
/**
* @brief SinglyLinkedList data structure which keeps a pointer to its
* first element to perform all operations.
* @tparam T
*/
template<typename T>
class SinglyLinkedList {
public:
@ -99,12 +89,21 @@ public:
return ElementIterator::Iterator(start);
}
/** Returns iterator to nulltr */
ElementIterator end() const {
LinkedElement<T> *element = start;
while (element != nullptr) {
element = element->getNext();
}
return ElementIterator::Iterator(element);
return ElementIterator::Iterator();
}
/**
* Returns last element in singly linked list.
* @return
*/
ElementIterator back() const {
LinkedElement<T> *element = start;
while (element != nullptr) {
element = element->getNext();
}
return ElementIterator::Iterator(element);
}
size_t getSize() const {
@ -116,15 +115,37 @@ public:
}
return size;
}
void setStart(LinkedElement<T>* setStart) {
start = setStart;
void setStart(LinkedElement<T>* firstElement) {
start = firstElement;
}
void setEnd(LinkedElement<T>* setEnd) {
setEnd->setEnd();
void setNext(LinkedElement<T>* currentElement,
LinkedElement<T>* nextElement) {
currentElement->setNext(nextElement);
}
void setLast(LinkedElement<T>* lastElement) {
lastElement->setEnd();
}
// SHOULDDO: Insertion operation ?
void insertElement(LinkedElement<T>* element, size_t position) {
LinkedElement<T> *currentElement = start;
for(size_t count = 0; count < position; count++) {
if(currentElement == nullptr) {
return;
}
currentElement = currentElement->getNext();
}
LinkedElement<T>* elementAfterCurrent = currentElement->next;
currentElement->setNext(element);
if(elementAfterCurrent != nullptr) {
element->setNext(elementAfterCurrent);
}
}
void insertBack(LinkedElement<T>* lastElement) {
back().value->setNext(lastElement);
}
protected:
LinkedElement<T> *start = nullptr;

7
devicehandlers/ChildHandlerBase.cpp
View File

@ -4,15 +4,14 @@
ChildHandlerBase::ChildHandlerBase(object_id_t setObjectId,
object_id_t deviceCommunication, CookieIF * cookie,
uint8_t setDeviceSwitch, object_id_t hkDestination,
uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
object_id_t hkDestination, uint32_t thermalStatePoolId,
uint32_t thermalRequestPoolId,
object_id_t parent,
FailureIsolationBase* customFdir, size_t cmdQueueSize) :
DeviceHandlerBase(setObjectId, deviceCommunication, cookie,
(customFdir == nullptr? &childHandlerFdir : customFdir),
cmdQueueSize),
parentId(parent), childHandlerFdir(setObjectId) {
this->setDeviceSwitch(setDeviceSwitch);
this->setHkDestination(hkDestination);
this->setThermalStateRequestPoolIds(thermalStatePoolId,
thermalRequestPoolId);
@ -40,7 +39,7 @@ ReturnValue_t ChildHandlerBase::initialize() {
parent->registerChild(getObjectId());
}
healthHelper.setParentQeueue(parentQueue);
healthHelper.setParentQueue(parentQueue);
modeHelper.setParentQueue(parentQueue);

6
devicehandlers/ChildHandlerBase.h
View File

@ -7,9 +7,9 @@
class ChildHandlerBase: public DeviceHandlerBase {
public:
ChildHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
CookieIF * cookie, uint8_t setDeviceSwitch,
object_id_t hkDestination, uint32_t thermalStatePoolId,
uint32_t thermalRequestPoolId, object_id_t parent = objects::NO_OBJECT,
CookieIF * cookie, object_id_t hkDestination,
uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
object_id_t parent = objects::NO_OBJECT,
FailureIsolationBase* customFdir = nullptr, size_t cmdQueueSize = 20);
virtual ~ChildHandlerBase();

90
devicehandlers/DeviceHandlerBase.cpp
View File

@ -63,10 +63,6 @@ void DeviceHandlerBase::setThermalStateRequestPoolIds(
}
void DeviceHandlerBase::setDeviceSwitch(uint8_t deviceSwitch) {
this->deviceSwitch = deviceSwitch;
}
DeviceHandlerBase::~DeviceHandlerBase() {
delete comCookie;
if (defaultFDIRUsed) {
@ -132,7 +128,9 @@ ReturnValue_t DeviceHandlerBase::initialize() {
result = communicationInterface->initializeInterface(comCookie);
if (result != RETURN_OK) {
return result;
sif::error << "DeviceHandlerBase::initialize: Initializing "
"communication interface failed!" << std::endl;
return result;
}
IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
@ -168,12 +166,8 @@ ReturnValue_t DeviceHandlerBase::initialize() {
}
result = healthHelper.initialize();
if (result == RETURN_OK) {
healthHelperActive = true;
}
else {
sif::warning << "DeviceHandlerBase::initialize: Health Helper "
"initialization failure." << std::endl;
if (result != RETURN_OK) {
return result;
}
result = modeHelper.initialize();
@ -250,11 +244,9 @@ void DeviceHandlerBase::readCommandQueue() {
return;
}
if(healthHelperActive) {
result = healthHelper.handleHealthCommand(&command);
if (result == RETURN_OK) {
return;
}
result = healthHelper.handleHealthCommand(&command);
if (result == RETURN_OK) {
return;
}
result = modeHelper.handleModeCommand(&command);
@ -688,16 +680,24 @@ void DeviceHandlerBase::parseReply(const uint8_t* receivedData,
switch (result) {
case RETURN_OK:
handleReply(receivedData, foundId, foundLen);
if(foundLen == 0) {
sif::warning << "DeviceHandlerBase::parseReply: foundLen is 0!"
" Packet parsing will be stuck." << std::endl;
}
break;
case APERIODIC_REPLY: {
result = interpretDeviceReply(foundId, receivedData);
if (result != RETURN_OK) {
replyRawReplyIfnotWiretapped(receivedData, foundLen);
triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result,
foundId);
replyRawReplyIfnotWiretapped(receivedData, foundLen);
triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result,
foundId);
}
if(foundLen == 0) {
sif::warning << "DeviceHandlerBase::parseReply: foundLen is 0!"
" Packet parsing will be stuck." << std::endl;
}
break;
}
break;
case IGNORE_REPLY_DATA:
break;
case IGNORE_FULL_PACKET:
@ -1032,9 +1032,7 @@ void DeviceHandlerBase::getMode(Mode_t* mode, Submode_t* submode) {
}
void DeviceHandlerBase::setToExternalControl() {
if(healthHelperActive) {
healthHelper.setHealth(EXTERNAL_CONTROL);
}
healthHelper.setHealth(EXTERNAL_CONTROL);
}
void DeviceHandlerBase::announceMode(bool recursive) {
@ -1054,25 +1052,12 @@ void DeviceHandlerBase::missedReply(DeviceCommandId_t id) {
}
HasHealthIF::HealthState DeviceHandlerBase::getHealth() {
if(healthHelperActive) {
return healthHelper.getHealth();
}
else {
sif::warning << "DeviceHandlerBase::getHealth: Health helper not active"
<< std::endl;
return HasHealthIF::HEALTHY;
}
return healthHelper.getHealth();
}
ReturnValue_t DeviceHandlerBase::setHealth(HealthState health) {
if(healthHelperActive) {
healthHelper.setHealth(health);
}
else {
sif::warning << "DeviceHandlerBase::getHealth: Health helper not active"
<< std::endl;
}
return HasReturnvaluesIF::RETURN_OK;
healthHelper.setHealth(health);
return HasReturnvaluesIF::RETURN_OK;
}
void DeviceHandlerBase::checkSwitchState() {
@ -1159,7 +1144,7 @@ ReturnValue_t DeviceHandlerBase::handleDeviceHandlerMessage(
void DeviceHandlerBase::setParentQueue(MessageQueueId_t parentQueueId) {
modeHelper.setParentQueue(parentQueueId);
healthHelper.setParentQeueue(parentQueueId);
healthHelper.setParentQueue(parentQueueId);
}
bool DeviceHandlerBase::isAwaitingReply() {
@ -1264,18 +1249,23 @@ void DeviceHandlerBase::buildInternalCommand(void) {
if (mode == MODE_NORMAL) {
result = buildNormalDeviceCommand(&deviceCommandId);
if (result == BUSY) {
//so we can track misconfigurations
sif::debug << std::hex << getObjectId()
<< ": DHB::buildInternalCommand busy" << std::endl; //so we can track misconfigurations
<< ": DHB::buildInternalCommand: Busy" << std::endl;
result = NOTHING_TO_SEND; //no need to report this
}
} else if (mode == MODE_RAW) {
}
else if (mode == MODE_RAW) {
result = buildChildRawCommand();
deviceCommandId = RAW_COMMAND_ID;
} else if (mode & TRANSITION_MODE_CHILD_ACTION_MASK) {
}
else if (mode & TRANSITION_MODE_CHILD_ACTION_MASK) {
result = buildTransitionDeviceCommand(&deviceCommandId);
} else {
}
else {
return;
}
if (result == NOTHING_TO_SEND) {
return;
}
@ -1386,18 +1376,6 @@ LocalDataPoolManager* DeviceHandlerBase::getHkManagerHandle() {
return &hkManager;
}
ReturnValue_t DeviceHandlerBase::addDataSet(sid_t sid) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t DeviceHandlerBase::removeDataSet(sid_t sid) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t DeviceHandlerBase::changeCollectionInterval(sid_t sid,
dur_seconds_t newInterval) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() {
// In this function, the task handle should be valid if the task

16
devicehandlers/DeviceHandlerBase.h
View File

@ -108,7 +108,6 @@ public:
CookieIF * comCookie, FailureIsolationBase* fdirInstance = nullptr,
size_t cmdQueueSize = 20);
void setDeviceSwitch(uint8_t deviceSwitch);
void setHkDestination(object_id_t hkDestination);
void setThermalStateRequestPoolIds(uint32_t thermalStatePoolId,
uint32_t thermalRequestPoolId);
@ -380,6 +379,8 @@ protected:
* @param deviceCommand Identifier of the command to add.
* @param maxDelayCycles The maximum number of delay cycles the command
* waits until it times out.
* @param replyLen Will be supplied to the requestReceiveMessage call of
* the communication interface.
* @param periodic Indicates if the command is periodic (i.e. it is sent
* by the device repeatedly without request) or not. Default is aperiodic (0)
* @return - @c RETURN_OK when the command was successfully inserted,
@ -487,11 +488,6 @@ protected:
/** Get the HK manager object handle */
virtual LocalDataPoolManager* getHkManagerHandle() override;
virtual ReturnValue_t addDataSet(sid_t sid) override;
virtual ReturnValue_t removeDataSet(sid_t sid) override;
virtual ReturnValue_t changeCollectionInterval(sid_t sid,
dur_seconds_t newInterval) override;
/**
* @brief Hook function for child handlers which is called once per
* performOperation(). Default implementation is empty.
@ -610,7 +606,6 @@ protected:
/** Health helper for HasHealthIF */
HealthHelper healthHelper;
bool healthHelperActive = false;
/** Mode helper for HasModesIF */
ModeHelper modeHelper;
/** Parameter helper for ReceivesParameterMessagesIF */
@ -1079,13 +1074,6 @@ private:
*/
Submode_t transitionSourceSubMode;
/**
* the switch of the device
*
* for devices using two switches override getSwitches()
*/
uint8_t deviceSwitch;
/**
* read the command queue
*/

2
devicehandlers/DeviceHandlerIF.h
View File

@ -98,7 +98,7 @@ public:
static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;
// Standard codes used when building commands.
static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA0); //!< If the command size is 0. Checked in DHB
static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA0); //!< If no command data was given when expected.
static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA1); //!< Command ID not in commandMap. Checked in DHB
static const ReturnValue_t COMMAND_ALREADY_SENT = MAKE_RETURN_CODE(0xA2); //!< Command was already executed. Checked in DHB
static const ReturnValue_t COMMAND_WAS_NOT_SENT = MAKE_RETURN_CODE(0xA3);

2
devicehandlers/HealthDevice.cpp
View File

@ -38,7 +38,7 @@ MessageQueueId_t HealthDevice::getCommandQueue() const {
}
void HealthDevice::setParentQueue(MessageQueueId_t parentQueue) {
healthHelper.setParentQeueue(parentQueue);
healthHelper.setParentQueue(parentQueue);
}
bool HealthDevice::hasHealthChanged() {

11
events/Event.h
View File

@ -1,10 +1,10 @@
#ifndef EVENTOBJECT_EVENT_H_
#define EVENTOBJECT_EVENT_H_
#ifndef FRAMEWORK_EVENTS_EVENT_H_
#define FRAMEWORK_EVENTS_EVENT_H_
#include <stdint.h>
#include <cstdint>
#include <framework/events/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;
@ -21,6 +21,7 @@ EventSeverity_t getSeverity(Event event);
Event makeEvent(EventId_t eventId, EventSeverity_t eventSeverity);
}
namespace SEVERITY {
static const EventSeverity_t INFO = 1;
static const EventSeverity_t LOW = 2;
@ -41,4 +42,4 @@ namespace SEVERITY {
// static const EventSeverity_t HIGH = 4;
//};
#endif /* EVENTOBJECT_EVENT_H_ */
#endif /* FRAMEWORK_EVENTS_EVENT_H_ */

4
fdir/FailureIsolationBase.cpp
View File

@ -104,9 +104,9 @@ MessageQueueId_t FailureIsolationBase::getEventReceptionQueue() {
ReturnValue_t FailureIsolationBase::sendConfirmationRequest(EventMessage* event,
MessageQueueId_t destination) {
event->setMessageId(EventMessage::CONFIRMATION_REQUEST);
if (destination != 0) {
if (destination != MessageQueueIF::NO_QUEUE) {
return eventQueue->sendMessage(destination, event);
} else if (faultTreeParent != 0) {
} else if (faultTreeParent != objects::NO_OBJECT) {
return eventQueue->sendToDefault(event);
}
return RETURN_FAILED;

2
fdir/FailureIsolationBase.h
View File

@ -45,7 +45,7 @@ protected:
virtual ReturnValue_t confirmFault(EventMessage* event);
virtual void decrementFaultCounters() = 0;
ReturnValue_t sendConfirmationRequest(EventMessage* event,
MessageQueueId_t destination = 0);
MessageQueueId_t destination = MessageQueueIF::NO_QUEUE);
void throwFdirEvent(Event event, uint32_t parameter1 = 0,
uint32_t parameter2 = 0);
private:

19
health/HealthHelper.cpp
View File

@ -28,21 +28,30 @@ HasHealthIF::HealthState HealthHelper::getHealth() {
}
ReturnValue_t HealthHelper::initialize(MessageQueueId_t parentQueue) {
setParentQeueue(parentQueue);
setParentQueue(parentQueue);
return initialize();
}
void HealthHelper::setParentQeueue(MessageQueueId_t parentQueue) {
void HealthHelper::setParentQueue(MessageQueueId_t parentQueue) {
this->parentQueue = parentQueue;
}
ReturnValue_t HealthHelper::initialize() {
healthTable = objectManager->get<HealthTableIF>(objects::HEALTH_TABLE);
eventSender = objectManager->get<EventReportingProxyIF>(objectId);
// TODO: Better returnvalues
if ((healthTable == NULL) || eventSender == NULL) {
return HasReturnvaluesIF::RETURN_FAILED;
if (healthTable == nullptr) {
sif::error << "HealthHelper::initialize: Health table object needs"
"to be created in factory." << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
if(eventSender == nullptr) {
sif::error << "HealthHelper::initialize: Owner has to implement "
"ReportingProxyIF." << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
ReturnValue_t result = healthTable->registerObject(objectId,
HasHealthIF::HEALTHY);
if (result != HasReturnvaluesIF::RETURN_OK) {

2
health/HealthHelper.h
View File

@ -79,7 +79,7 @@ public:
/**
* @param parentQueue the Queue id of the parent object. Set to 0 if no parent present
*/
void setParentQeueue(MessageQueueId_t parentQueue);
void setParentQueue(MessageQueueId_t parentQueue);
/**
*

21
osal/FreeRTOS/FixedTimeslotTask.cpp
View File

@ -125,19 +125,18 @@ void FixedTimeslotTask::checkMissedDeadline(const TickType_t xLastWakeTime,
* it. */
TickType_t currentTickCount = xTaskGetTickCount();
TickType_t timeToWake = xLastWakeTime + interval;
// Tick count has overflown
if(currentTickCount < xLastWakeTime) {
// Time to wake has overflown as well. If the tick count
// is larger than the time to wake, a deadline was missed.
if(timeToWake < xLastWakeTime and
currentTickCount > timeToWake) {
// Time to wake has not overflown.
if(timeToWake > xLastWakeTime) {
/* If the current time has overflown exclusively or the current
* tick count is simply larger than the time to wake, a deadline was
* missed */
if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
handleMissedDeadline();
}
}
// No tick count overflow. If the timeToWake has not overflown
// and the current tick count is larger than the time to wake,
// a deadline was missed.
else if(timeToWake > xLastWakeTime and currentTickCount > timeToWake) {
/* Time to wake has overflown. A deadline was missed if the current time
* is larger than the time to wake */
else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
handleMissedDeadline();
}
}
@ -157,6 +156,6 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
return HasReturnvaluesIF::RETURN_OK;
}
TaskHandle_t FixedTimeslotTask::getTaskHandle() const {
TaskHandle_t FixedTimeslotTask::getTaskHandle() {
return handle;
}

5
osal/FreeRTOS/FixedTimeslotTask.h
View File

@ -1,6 +1,7 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
#define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
#include <framework/osal/FreeRTOS/FreeRTOSTaskIF.h>
#include <framework/tasks/FixedSlotSequence.h>
#include <framework/tasks/FixedTimeslotTaskIF.h>
#include <framework/tasks/Typedef.h>
@ -8,7 +9,7 @@
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
class FixedTimeslotTask: public FixedTimeslotTaskIF {
class FixedTimeslotTask: public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
public:
/**
@ -57,7 +58,7 @@ public:
ReturnValue_t sleepFor(uint32_t ms) override;
TaskHandle_t getTaskHandle() const;
TaskHandle_t getTaskHandle() override;
protected:
bool started;

13
osal/FreeRTOS/FreeRTOSTaskIF.h Normal file
View File

@ -0,0 +1,13 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_
#define FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
class FreeRTOSTaskIF {
public:
virtual~ FreeRTOSTaskIF() {}
virtual TaskHandle_t getTaskHandle() = 0;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_ */

2
osal/FreeRTOS/Mutex.cpp
View File

@ -8,7 +8,7 @@ const uint32_t MutexIF::BLOCKING = portMAX_DELAY;
Mutex::Mutex() {
handle = xSemaphoreCreateMutex();
if(handle == nullptr) {
sif::error << "Mutex: Creation failure" << std::endl;
sif::error << "Mutex::Mutex(FreeRTOS): Creation failure" << std::endl;
}
}

1
osal/FreeRTOS/Mutex.h
View File

@ -20,6 +20,7 @@ public:
~Mutex();
ReturnValue_t lockMutex(uint32_t timeoutMs = MutexIF::BLOCKING) override;
ReturnValue_t unlockMutex() override;
private:
SemaphoreHandle_t handle;
};

21
osal/FreeRTOS/PeriodicTask.cpp
View File

@ -109,24 +109,23 @@ void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
* it. */
TickType_t currentTickCount = xTaskGetTickCount();
TickType_t timeToWake = xLastWakeTime + interval;
// Tick count has overflown
if(currentTickCount < xLastWakeTime) {
// Time to wake has overflown as well. If the tick count
// is larger than the time to wake, a deadline was missed.
if(timeToWake < xLastWakeTime and
currentTickCount > timeToWake) {
// Time to wake has not overflown.
if(timeToWake > xLastWakeTime) {
/* If the current time has overflown exclusively or the current
* tick count is simply larger than the time to wake, a deadline was
* missed */
if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
handleMissedDeadline();
}
}
// No tick count overflow. If the timeToWake has not overflown
// and the current tick count is larger than the time to wake,
// a deadline was missed.
else if(timeToWake > xLastWakeTime and currentTickCount > timeToWake) {
/* Time to wake has overflown. A deadline was missed if the current time
* is larger than the time to wake */
else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
handleMissedDeadline();
}
}
TaskHandle_t PeriodicTask::getTaskHandle() const {
TaskHandle_t PeriodicTask::getTaskHandle() {
return handle;
}

6
osal/FreeRTOS/PeriodicTask.h
View File

@ -1,10 +1,12 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
#define FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
#include <framework/osal/FreeRTOS/FreeRTOSTaskIF.h>
#include <framework/objectmanager/ObjectManagerIF.h>
#include <framework/tasks/PeriodicTaskIF.h>
#include <framework/tasks/Typedef.h>
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
@ -17,7 +19,7 @@ class ExecutableObjectIF;
* periodic activities of multiple objects.
* @ingroup task_handling
*/
class PeriodicTask: public PeriodicTaskIF {
class PeriodicTask: public PeriodicTaskIF, public FreeRTOSTaskIF {
public:
/**
* Keep in Mind that you need to call before this vTaskStartScheduler()!
@ -70,7 +72,7 @@ public:
ReturnValue_t sleepFor(uint32_t ms) override;
TaskHandle_t getTaskHandle() const;
TaskHandle_t getTaskHandle() override;
protected:
bool started;
TaskHandle_t handle;

10
osal/FreeRTOS/TaskManagement.cpp
View File

@ -1,6 +1,6 @@
#include <framework/osal/FreeRTOS/TaskManagement.h>
void TaskManagement::requestContextSwitchFromTask() {
void TaskManagement::vRequestContextSwitchFromTask() {
vTaskDelay(0);
}
@ -8,9 +8,9 @@ void TaskManagement::requestContextSwitch(
CallContext callContext = CallContext::TASK) {
if(callContext == CallContext::ISR) {
// This function depends on the partmacro.h definition for the specific device
requestContextSwitchFromISR();
vRequestContextSwitchFromISR();
} else {
requestContextSwitchFromTask();
vRequestContextSwitchFromTask();
}
}
@ -18,7 +18,7 @@ TaskHandle_t TaskManagement::getCurrentTaskHandle() {
return xTaskGetCurrentTaskHandle();
}
configSTACK_DEPTH_TYPE TaskManagement::getTaskStackHighWatermark(
size_t TaskManagement::getTaskStackHighWatermark(
TaskHandle_t task) {
return uxTaskGetStackHighWaterMark(task);
return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t);
}

6
osal/FreeRTOS/TaskManagement.h
View File

@ -13,7 +13,7 @@ extern "C" {
* Architecture dependant portmacro.h function call.
* Should be implemented in bsp.
*/
extern "C" void requestContextSwitchFromISR();
extern void vRequestContextSwitchFromISR();
/*!
* Used by functions to tell if they are being called from
@ -41,7 +41,7 @@ public:
* If task preemption in FreeRTOS is disabled, a context switch
* can be requested manually by calling this function.
*/
static void requestContextSwitchFromTask(void);
static void vRequestContextSwitchFromTask(void);
/**
* @return The current task handle
@ -57,7 +57,7 @@ public:
* @return Smallest value of stack remaining since the task was started in
* words.
*/
static configSTACK_DEPTH_TYPE getTaskStackHighWatermark(
static size_t getTaskStackHighWatermark(
TaskHandle_t task = nullptr);
};

10
returnvalues/HasReturnvaluesIF.h
View File

@ -15,7 +15,15 @@ public:
static const ReturnValue_t RETURN_FAILED = 1;
virtual ~HasReturnvaluesIF() {}
static ReturnValue_t makeReturnCode(uint8_t interfaceId, uint8_t 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 (interfaceId << 8) + number;
}
};

12
serviceinterface/ServiceInterfaceBuffer.cpp
View File

@ -78,9 +78,9 @@ int ServiceInterfaceBuffer::sync(void) {
}
size_t preambleSize = 0;
auto preamble = getPreamble(&preambleSize);
std::string* preamble = getPreamble(&preambleSize);
// Write logMessage and time
this->putChars(preamble.data(), preamble.data() + preambleSize);
this->putChars(preamble->data(), preamble->data() + preambleSize);
// Handle output
this->putChars(pbase(), pptr());
// This tells that buffer is empty again
@ -92,7 +92,7 @@ bool ServiceInterfaceBuffer::isBuffered() const {
return buffered;
}
std::string ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) {
std::string* ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) {
Clock::TimeOfDay_t loggerTime;
Clock::getDateAndTime(&loggerTime);
size_t currentSize = 0;
@ -110,18 +110,18 @@ std::string ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) {
loggerTime.usecond /1000);
if(charCount < 0) {
printf("ServiceInterfaceBuffer: Failure parsing preamble\r\n");
return "";
return &preamble;
}
if(charCount > MAX_PREAMBLE_SIZE) {
printf("ServiceInterfaceBuffer: Char count too large for maximum "
"preamble size");
return "";
return &preamble;
}
currentSize += charCount;
if(preambleSize != nullptr) {
*preambleSize = currentSize;
}
return preamble;
return &preamble;
}

2
serviceinterface/ServiceInterfaceBuffer.h
View File

@ -60,7 +60,7 @@ private:
//! In this function, the characters are parsed.
void putChars(char const* begin, char const* end);
std::string getPreamble(size_t * preambleSize = nullptr);
std::string* getPreamble(size_t * preambleSize = nullptr);
};
#endif

2
serviceinterface/ServiceInterfaceStream.cpp
View File

@ -9,7 +9,7 @@ void ServiceInterfaceStream::setActive( bool myActive) {
this->streambuf.isActive = myActive;
}
std::string ServiceInterfaceStream::getPreamble() {
std::string* ServiceInterfaceStream::getPreamble() {
return streambuf.getPreamble();
}

2
serviceinterface/ServiceInterfaceStream.h
View File

@ -33,7 +33,7 @@ public:
* the unbuffered mode.
* @return Preamle consisting of log message and timestamp.
*/
std::string getPreamble();
std::string* getPreamble();
/**
* This prints an error with a preamble. Useful if using the unbuffered

13
timemanager/CCSDSTime.cpp
View File

@ -205,9 +205,10 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
uint8_t hour;
uint8_t minute;
float second;
//try Code A (yyyy-mm-dd)
int count = sscanf((char *) from, "%4hi-%2hhi-%2hiT%2hhi:%2hhi:%fZ", &year,
&month, &day, &hour, &minute, &second);
//try Code A (yyyy-mm-dd)
int count = sscanf((char *) from, "%4" SCNu16 "-%2" SCNu8 "-%2" SCNu16
"T%2" SCNu8 ":%2" SCNu8 ":%fZ", &year, &month, &day,
&hour, &minute, &second);
if (count == 6) {
to->year = year;
to->month = month;
@ -219,9 +220,9 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
return RETURN_OK;
}
//try Code B (yyyy-ddd)
count = sscanf((char *) from, "%4hi-%3hiT%2hhi:%2hhi:%fZ", &year, &day,
&hour, &minute, &second);
//try Code B (yyyy-ddd)
count = sscanf((char *) from, "%4" SCNu16 "-%3" SCNu16 "T%2" SCNu8
":%2" SCNu8 ":%fZ", &year, &day, &hour, &minute, &second);
if (count == 5) {
uint8_t tempDay;
ReturnValue_t result = CCSDSTime::convertDaysOfYear(day, year, &month,