From 368ef242ff59b6556e155ba4007630991c328cff Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Sat, 18 Jan 2020 18:49:55 +0100 Subject: [PATCH 01/90] CCSDSTime bugfix for atmel Possible good for other cases too? --- timemanager/CCSDSTime.cpp | 43 +++++++++++++++++++++++---------------- 1 file changed, 26 insertions(+), 17 deletions(-) diff --git a/timemanager/CCSDSTime.cpp b/timemanager/CCSDSTime.cpp index 320327161..2eb6c4b54 100644 --- a/timemanager/CCSDSTime.cpp +++ b/timemanager/CCSDSTime.cpp @@ -154,32 +154,41 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t* if (length < 19) { return RETURN_FAILED; } - uint16_t year; - uint8_t month; - uint16_t day; - uint8_t hour; - uint8_t minute; - float second; -//try Code A (yyyy-mm-dd) - int count = sscanf((char *) from, "%4hi-%2hhi-%2hiT%2hhi:%2hhi:%fZ", &year, - &month, &day, &hour, &minute, &second); - if (count == 6) { + // In the size optimized nano library used by ATMEL, floating point conversion + // is not allowed. There is a linker flag to allow it apparently, but I + // could not manage to make it run (removing -specs=nano.specs in linker flags works though, + // but we propably should include this). Using floats with sscanf is also expensive. + // Furthermore, the stdio.c library by ATMEL can't resolve the %hhi specifiers + // Therefore, I adapted this function. + int year; + int month; + int day; + int hour; + int minute; + int second; + int usecond; + // try Code A (yyyy-mm-dd) + //int count = sscanf((char *) from, "%4hi-%2hi-%2hiT%2hi:%2hi:%fZ", &year, + // &month, &day, &hour, &minute, &second); + int count = sscanf((char *) from, "%4d-%2d-%2dT%2d:%2d:%2d.%dZ", &year, + &month, &day, &hour, &minute, &second, &usecond); + if (count == 7) { to->year = year; to->month = month; to->day = day; to->hour = hour; to->minute = minute; to->second = second; - to->usecond = (second - floor(second)) * 1000000; + to->usecond = usecond;//(second - floor(second)) * 1000000; return RETURN_OK; } - //try Code B (yyyy-ddd) - count = sscanf((char *) from, "%4hi-%3hiT%2hhi:%2hhi:%fZ", &year, &day, - &hour, &minute, &second); - if (count == 5) { + // try Code B (yyyy-ddd) + count = sscanf((char *) from, "%4i-%3iT%2i:%2i:%2i.%iZ", &year, &day, + &hour, &minute, &second, &usecond); + if (count == 6) { uint8_t tempDay; - ReturnValue_t result = CCSDSTime::convertDaysOfYear(day, year, &month, + ReturnValue_t result = CCSDSTime::convertDaysOfYear((uint16_t)day,(uint16_t) year,(uint8_t *) &month, &tempDay); if (result != RETURN_OK) { return RETURN_FAILED; @@ -190,7 +199,7 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t* to->hour = hour; to->minute = minute; to->second = second; - to->usecond = (second - floor(second)) * 1000000; + to->usecond = usecond; return RETURN_OK; } From ea904642d1c8b4085b03fdd2837912ebe242c20c Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 21 Apr 2020 16:16:02 +0200 Subject: [PATCH 02/90] CCSDS time possible bugfix for sscanf() --- timemanager/CCSDSTime.cpp | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/timemanager/CCSDSTime.cpp b/timemanager/CCSDSTime.cpp index 320327161..8a0e65b78 100644 --- a/timemanager/CCSDSTime.cpp +++ b/timemanager/CCSDSTime.cpp @@ -1,5 +1,6 @@ #include #include +#include #include CCSDSTime::CCSDSTime() { @@ -160,9 +161,10 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t* uint8_t hour; uint8_t minute; float second; -//try Code A (yyyy-mm-dd) - int count = sscanf((char *) from, "%4hi-%2hhi-%2hiT%2hhi:%2hhi:%fZ", &year, - &month, &day, &hour, &minute, &second); + //try Code A (yyyy-mm-dd) + int count = sscanf((char *) from, "%4" SCNu16 "-%2" SCNu8 "-%2" SCNu16 + "T%2" SCNu8 ":%2" SCNu8 ":%fZ", &year, &month, &day, + &hour, &minute, &second); if (count == 6) { to->year = year; to->month = month; @@ -175,8 +177,8 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t* } //try Code B (yyyy-ddd) - count = sscanf((char *) from, "%4hi-%3hiT%2hhi:%2hhi:%fZ", &year, &day, - &hour, &minute, &second); + count = sscanf((char *) from, "%4" SCNu16 "-%3" SCNu16 "T%2" SCNu8 + ":%2" SCNu8 ":%fZ", &year, &day, &hour, &minute, &second); if (count == 5) { uint8_t tempDay; ReturnValue_t result = CCSDSTime::convertDaysOfYear(day, year, &month, @@ -193,7 +195,6 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t* to->usecond = (second - floor(second)) * 1000000; return RETURN_OK; } - return UNSUPPORTED_TIME_FORMAT; } From c30cae3431d586304bf0d3fd1c5d1ff05d7f9691 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 21 Apr 2020 16:32:39 +0200 Subject: [PATCH 03/90] added back NoC99 io section --- timemanager/CCSDSTime.cpp | 46 +++++++++++++++++++++++++++++++++++++++ 1 file changed, 46 insertions(+) diff --git a/timemanager/CCSDSTime.cpp b/timemanager/CCSDSTime.cpp index 8a0e65b78..e00beb27a 100644 --- a/timemanager/CCSDSTime.cpp +++ b/timemanager/CCSDSTime.cpp @@ -155,6 +155,51 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t* if (length < 19) { return RETURN_FAILED; } + // Newlib nano can't parse uint8, see SCNu8 documentation and https://sourceware.org/newlib/README + // Suggestion: use uint16 all the time. This should work on all systems. +#ifdef NEWLIB_NANO_NO_C99_IO + uint16_t year; + uint16_t month; + uint16_t day; + uint16_t hour; + uint16_t minute; + float second; + int count = sscanf((char *) from, "%4" SCNu16 "-%2" SCNu16 "-%2" + SCNu16 "T%2" SCNu16 ":%2" SCNu16 ":%fZ", &year, &month, &day, &hour, + &minute, &second); + if (count == 6) { + to->year = year; + to->month = month; + to->day = day; + to->hour = hour; + to->minute = minute; + to->second = second; + to->usecond = (second - floor(second)) * 1000000; + return RETURN_OK; + } + + // try Code B (yyyy-ddd) + count = sscanf((char *) from, "%4" SCNu16 "-%3" SCNu16 "T%2" SCNu16 ":%2" + SCNu16 ":%fZ", &year, &day, &hour, &minute, &second); + if (count == 5) { + uint8_t tempDay; + ReturnValue_t result = CCSDSTime::convertDaysOfYear(day, year, + reinterpret_cast(&month), reinterpret_cast(&tempDay)); + if (result != RETURN_OK) { + return RETURN_FAILED; + } + to->year = year; + to->month = month; + to->day = tempDay; + to->hour = hour; + to->minute = minute; + to->second = second; + to->usecond = (second - floor(second)) * 1000000; + return RETURN_OK; + } + // Warning: Compiler/Linker fails ambiguously if library does not implement + // C99 I/O +#else uint16_t year; uint8_t month; uint16_t day; @@ -195,6 +240,7 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t* to->usecond = (second - floor(second)) * 1000000; return RETURN_OK; } +#endif return UNSUPPORTED_TIME_FORMAT; } From 8f563b7b21af065208e34b1705533bfc700cd9e5 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Fri, 29 May 2020 14:02:14 +0200 Subject: [PATCH 04/90] added retvals for mutex --- osal/FreeRTOS/Mutex.cpp | 18 ++++++++---------- osal/FreeRTOS/Mutex.h | 25 +++++++++++++++---------- 2 files changed, 23 insertions(+), 20 deletions(-) diff --git a/osal/FreeRTOS/Mutex.cpp b/osal/FreeRTOS/Mutex.cpp index 7c5110915..e304d60e9 100644 --- a/osal/FreeRTOS/Mutex.cpp +++ b/osal/FreeRTOS/Mutex.cpp @@ -1,4 +1,4 @@ -#include "Mutex.h" +#include #include @@ -6,7 +6,9 @@ const uint32_t MutexIF::NO_TIMEOUT = 0; Mutex::Mutex() { handle = xSemaphoreCreateMutex(); - //TODO print error + if(handle == NULL) { + sif::error << "Mutex creation failure" << std::endl; + } } Mutex::~Mutex() { @@ -18,8 +20,7 @@ Mutex::~Mutex() { ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) { if (handle == 0) { - //TODO Does not exist - return HasReturnvaluesIF::RETURN_FAILED; + return MutexIF::MUTEX_NOT_FOUND; } TickType_t timeout = portMAX_DELAY; if (timeoutMs != NO_TIMEOUT) { @@ -30,21 +31,18 @@ ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) { if (returncode == pdPASS) { return HasReturnvaluesIF::RETURN_OK; } else { - //TODO could not be acquired/timeout - return HasReturnvaluesIF::RETURN_FAILED; + return MutexIF::MUTEX_TIMEOUT; } } ReturnValue_t Mutex::unlockMutex() { if (handle == 0) { - //TODO Does not exist - return HasReturnvaluesIF::RETURN_FAILED; + return MutexIF::MUTEX_NOT_FOUND; } BaseType_t returncode = xSemaphoreGive(handle); if (returncode == pdPASS) { return HasReturnvaluesIF::RETURN_OK; } else { - //TODO is not owner - return HasReturnvaluesIF::RETURN_FAILED; + return MutexIF::CURR_THREAD_DOES_NOT_OWN_MUTEX; } } diff --git a/osal/FreeRTOS/Mutex.h b/osal/FreeRTOS/Mutex.h index 91f295853..e04cd20d2 100644 --- a/osal/FreeRTOS/Mutex.h +++ b/osal/FreeRTOS/Mutex.h @@ -1,22 +1,27 @@ -#ifndef OS_RTEMS_MUTEX_H_ -#define OS_RTEMS_MUTEX_H_ +#ifndef FRAMEWORK_FREERTOS_MUTEX_H_ +#define FRAMEWORK_FREERTOS_MUTEX_H_ #include +#include +#include -#include -#include "semphr.h" - - - +/** + * @brief OS component to implement MUTual EXclusion + * + * @details + * Mutexes are binary semaphores which include a priority inheritance mechanism. + * Documentation: https://www.freertos.org/Real-time-embedded-RTOS-mutexes.html + * @ingroup osal + */ class Mutex : public MutexIF { public: Mutex(); ~Mutex(); - ReturnValue_t lockMutex(uint32_t timeoutMs); - ReturnValue_t unlockMutex(); + ReturnValue_t lockMutex(uint32_t timeoutMs) override; + ReturnValue_t unlockMutex() override; private: SemaphoreHandle_t handle; }; -#endif /* OS_RTEMS_MUTEX_H_ */ +#endif /* FRAMEWORK_FREERTOS_MUTEX_H_ */ From 2eba8655641e0ef51d085f4da52b3a5ecee4b478 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Fri, 29 May 2020 14:03:39 +0200 Subject: [PATCH 05/90] some minor form corrections --- ipc/MutexHelper.h | 4 ++-- ipc/MutexIF.h | 7 +++++++ 2 files changed, 9 insertions(+), 2 deletions(-) diff --git a/ipc/MutexHelper.h b/ipc/MutexHelper.h index f76ccec47..671cd5a6a 100644 --- a/ipc/MutexHelper.h +++ b/ipc/MutexHelper.h @@ -10,11 +10,11 @@ public: internalMutex(mutex) { ReturnValue_t status = mutex->lockMutex(timeoutMs); if(status != HasReturnvaluesIF::RETURN_OK){ - sif::error << "MutexHelper: Lock of Mutex failed " << status << std::endl; + sif::error << "MutexHelper: Lock of Mutex failed " << + status << std::endl; } } - ~MutexHelper() { internalMutex->unlockMutex(); } diff --git a/ipc/MutexIF.h b/ipc/MutexIF.h index 35786d6a3..a4aff1cd8 100644 --- a/ipc/MutexIF.h +++ b/ipc/MutexIF.h @@ -3,6 +3,13 @@ #include +/** + * @brief Common interface for OS Mutex objects which provide MUTual EXclusion. + * + * @details https://en.wikipedia.org/wiki/Lock_(computer_science) + * @ingroup osal + * @ingroup interface + */ class MutexIF { public: static const uint32_t NO_TIMEOUT; //!< Needs to be defined in implementation. From 896e7f15dc9e4e4ababcf1283e5c6be460780d8a Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Fri, 29 May 2020 14:16:44 +0200 Subject: [PATCH 06/90] addd new timeout value --- ipc/MutexIF.h | 2 +- osal/FreeRTOS/Mutex.cpp | 18 +++++++++++------- osal/FreeRTOS/Mutex.h | 2 +- 3 files changed, 13 insertions(+), 9 deletions(-) diff --git a/ipc/MutexIF.h b/ipc/MutexIF.h index a4aff1cd8..dcb1cf333 100644 --- a/ipc/MutexIF.h +++ b/ipc/MutexIF.h @@ -13,7 +13,7 @@ class MutexIF { public: static const uint32_t NO_TIMEOUT; //!< Needs to be defined in implementation. - + static const uint32_t MAX_TIMEOUT; static const uint8_t INTERFACE_ID = CLASS_ID::MUTEX_IF; /** * The system lacked the necessary resources (other than memory) to initialize another mutex. diff --git a/osal/FreeRTOS/Mutex.cpp b/osal/FreeRTOS/Mutex.cpp index e304d60e9..cc2f865ff 100644 --- a/osal/FreeRTOS/Mutex.cpp +++ b/osal/FreeRTOS/Mutex.cpp @@ -3,27 +3,31 @@ #include const uint32_t MutexIF::NO_TIMEOUT = 0; +const uint32_t MutexIF::MAX_TIMEOUT = portMAX_DELAY; Mutex::Mutex() { handle = xSemaphoreCreateMutex(); - if(handle == NULL) { - sif::error << "Mutex creation failure" << std::endl; + if(handle == nullptr) { + sif::error << "Mutex: Creation failure" << std::endl; } } Mutex::~Mutex() { - if (handle != 0) { + if (handle != nullptr) { vSemaphoreDelete(handle); } } ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) { - if (handle == 0) { + if (handle == nullptr) { return MutexIF::MUTEX_NOT_FOUND; } - TickType_t timeout = portMAX_DELAY; - if (timeoutMs != NO_TIMEOUT) { + TickType_t timeout = MutexIF::NO_TIMEOUT; + if(timeoutMs == MutexIF::MAX_TIMEOUT) { + timeout = MutexIF::MAX_TIMEOUT; + } + else if(timeoutMs > MutexIF::NO_TIMEOUT){ timeout = pdMS_TO_TICKS(timeoutMs); } @@ -36,7 +40,7 @@ ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) { } ReturnValue_t Mutex::unlockMutex() { - if (handle == 0) { + if (handle == nullptr) { return MutexIF::MUTEX_NOT_FOUND; } BaseType_t returncode = xSemaphoreGive(handle); diff --git a/osal/FreeRTOS/Mutex.h b/osal/FreeRTOS/Mutex.h index e04cd20d2..90e824678 100644 --- a/osal/FreeRTOS/Mutex.h +++ b/osal/FreeRTOS/Mutex.h @@ -18,7 +18,7 @@ class Mutex : public MutexIF { public: Mutex(); ~Mutex(); - ReturnValue_t lockMutex(uint32_t timeoutMs) override; + ReturnValue_t lockMutex(uint32_t timeoutMs = MutexIF::MAX_TIMEOUT) override; ReturnValue_t unlockMutex() override; private: SemaphoreHandle_t handle; From 56340bb8b69b6a02e733960693f497b29aa75a17 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 4 Jun 2020 20:12:37 +0200 Subject: [PATCH 07/90] free rtos mutex improvements --- ipc/MutexIF.h | 17 +++++++++++++++-- osal/FreeRTOS/Mutex.cpp | 12 ++++++------ osal/FreeRTOS/Mutex.h | 2 +- 3 files changed, 22 insertions(+), 9 deletions(-) diff --git a/ipc/MutexIF.h b/ipc/MutexIF.h index dcb1cf333..29e59e588 100644 --- a/ipc/MutexIF.h +++ b/ipc/MutexIF.h @@ -12,8 +12,21 @@ */ class MutexIF { public: - static const uint32_t NO_TIMEOUT; //!< Needs to be defined in implementation. - static const uint32_t MAX_TIMEOUT; + /** + * @brief Timeout value used for polling lock attempt. + * @details + * If the lock is not successfull, MUTEX_TIMEOUT will be returned + * immediately. Value needs to be defined in implementation. + */ + static const uint32_t POLLING; + /** + * @brief Timeout value used for permanent blocking lock attempt. + * @details + * The task will be blocked (indefinitely) until the mutex is unlocked. + * Value needs to be defined in implementation. + */ + static const uint32_t BLOCKING; + static const uint8_t INTERFACE_ID = CLASS_ID::MUTEX_IF; /** * The system lacked the necessary resources (other than memory) to initialize another mutex. diff --git a/osal/FreeRTOS/Mutex.cpp b/osal/FreeRTOS/Mutex.cpp index cc2f865ff..6d90c3f61 100644 --- a/osal/FreeRTOS/Mutex.cpp +++ b/osal/FreeRTOS/Mutex.cpp @@ -2,8 +2,8 @@ #include -const uint32_t MutexIF::NO_TIMEOUT = 0; -const uint32_t MutexIF::MAX_TIMEOUT = portMAX_DELAY; +const uint32_t MutexIF::POLLING = 0; +const uint32_t MutexIF::BLOCKING = portMAX_DELAY; Mutex::Mutex() { handle = xSemaphoreCreateMutex(); @@ -23,11 +23,11 @@ ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) { if (handle == nullptr) { return MutexIF::MUTEX_NOT_FOUND; } - TickType_t timeout = MutexIF::NO_TIMEOUT; - if(timeoutMs == MutexIF::MAX_TIMEOUT) { - timeout = MutexIF::MAX_TIMEOUT; + TickType_t timeout = MutexIF::POLLING; + if(timeoutMs == MutexIF::BLOCKING) { + timeout = MutexIF::BLOCKING; } - else if(timeoutMs > MutexIF::NO_TIMEOUT){ + else if(timeoutMs > MutexIF::POLLING){ timeout = pdMS_TO_TICKS(timeoutMs); } diff --git a/osal/FreeRTOS/Mutex.h b/osal/FreeRTOS/Mutex.h index 90e824678..d6e0aab9e 100644 --- a/osal/FreeRTOS/Mutex.h +++ b/osal/FreeRTOS/Mutex.h @@ -18,7 +18,7 @@ class Mutex : public MutexIF { public: Mutex(); ~Mutex(); - ReturnValue_t lockMutex(uint32_t timeoutMs = MutexIF::MAX_TIMEOUT) override; + ReturnValue_t lockMutex(uint32_t timeoutMs = MutexIF::BLOCKING) override; ReturnValue_t unlockMutex() override; private: SemaphoreHandle_t handle; From 869700e6f52eca5efe8b1c5a20e5923730b51d8e Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 4 Jun 2020 20:20:38 +0200 Subject: [PATCH 08/90] added mutex IF timeout name --- datapool/DataPool.cpp | 2 +- events/EventManager.cpp | 2 +- health/HealthTable.cpp | 12 ++++++------ internalError/InternalErrorReporter.cpp | 18 +++++++++--------- osal/FreeRTOS/Clock.cpp | 4 ++-- osal/linux/Mutex.cpp | 8 ++++++-- storagemanager/PoolManager.h | 6 +++--- 7 files changed, 28 insertions(+), 24 deletions(-) diff --git a/datapool/DataPool.cpp b/datapool/DataPool.cpp index 70a2a3fb5..2c226c54f 100644 --- a/datapool/DataPool.cpp +++ b/datapool/DataPool.cpp @@ -61,7 +61,7 @@ ReturnValue_t DataPool::freeDataPoolLock() { } ReturnValue_t DataPool::lockDataPool() { - ReturnValue_t status = mutex->lockMutex(MutexIF::NO_TIMEOUT); + ReturnValue_t status = mutex->lockMutex(MutexIF::BLOCKING); if ( status != RETURN_OK ) { sif::error << "DataPool::DataPool: lock of mutex failed with error code: " << status << std::endl; } diff --git a/events/EventManager.cpp b/events/EventManager.cpp index 0f1511e4b..c7d9cf8fb 100644 --- a/events/EventManager.cpp +++ b/events/EventManager.cpp @@ -147,7 +147,7 @@ void EventManager::printEvent(EventMessage* message) { #endif void EventManager::lockMutex() { - mutex->lockMutex(MutexIF::NO_TIMEOUT); + mutex->lockMutex(MutexIF::BLOCKING); } void EventManager::unlockMutex() { diff --git a/health/HealthTable.cpp b/health/HealthTable.cpp index a575b2828..d0e5485af 100644 --- a/health/HealthTable.cpp +++ b/health/HealthTable.cpp @@ -26,7 +26,7 @@ ReturnValue_t HealthTable::registerObject(object_id_t object, void HealthTable::setHealth(object_id_t object, HasHealthIF::HealthState newState) { - mutex->lockMutex(MutexIF::NO_TIMEOUT); + mutex->lockMutex(MutexIF::BLOCKING); HealthMap::iterator iter = healthMap.find(object); if (iter != healthMap.end()) { iter->second = newState; @@ -36,7 +36,7 @@ void HealthTable::setHealth(object_id_t object, HasHealthIF::HealthState HealthTable::getHealth(object_id_t object) { HasHealthIF::HealthState state = HasHealthIF::HEALTHY; - mutex->lockMutex(MutexIF::NO_TIMEOUT); + mutex->lockMutex(MutexIF::BLOCKING); HealthMap::iterator iter = healthMap.find(object); if (iter != healthMap.end()) { state = iter->second; @@ -46,7 +46,7 @@ HasHealthIF::HealthState HealthTable::getHealth(object_id_t object) { } uint32_t HealthTable::getPrintSize() { - mutex->lockMutex(MutexIF::NO_TIMEOUT); + mutex->lockMutex(MutexIF::BLOCKING); uint32_t size = healthMap.size() * 5 + 2; mutex->unlockMutex(); return size; @@ -54,7 +54,7 @@ uint32_t HealthTable::getPrintSize() { bool HealthTable::hasHealth(object_id_t object) { bool exits = false; - mutex->lockMutex(MutexIF::NO_TIMEOUT); + mutex->lockMutex(MutexIF::BLOCKING); HealthMap::iterator iter = healthMap.find(object); if (iter != healthMap.end()) { exits = true; @@ -64,7 +64,7 @@ bool HealthTable::hasHealth(object_id_t object) { } void HealthTable::printAll(uint8_t* pointer, uint32_t maxSize) { - mutex->lockMutex(MutexIF::NO_TIMEOUT); + mutex->lockMutex(MutexIF::BLOCKING); uint32_t size = 0; uint16_t count = healthMap.size(); ReturnValue_t result = SerializeAdapter::serialize(&count, @@ -85,7 +85,7 @@ void HealthTable::printAll(uint8_t* pointer, uint32_t maxSize) { ReturnValue_t HealthTable::iterate( std::pair *value, bool reset) { ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; - mutex->lockMutex(MutexIF::NO_TIMEOUT); + mutex->lockMutex(MutexIF::BLOCKING); if (reset) { mapIterator = healthMap.begin(); } diff --git a/internalError/InternalErrorReporter.cpp b/internalError/InternalErrorReporter.cpp index 9a8ede002..dbcd26221 100644 --- a/internalError/InternalErrorReporter.cpp +++ b/internalError/InternalErrorReporter.cpp @@ -54,7 +54,7 @@ void InternalErrorReporter::lostTm() { uint32_t InternalErrorReporter::getAndResetQueueHits() { uint32_t value; - mutex->lockMutex(MutexIF::NO_TIMEOUT); + mutex->lockMutex(MutexIF::BLOCKING); value = queueHits; queueHits = 0; mutex->unlockMutex(); @@ -63,21 +63,21 @@ uint32_t InternalErrorReporter::getAndResetQueueHits() { uint32_t InternalErrorReporter::getQueueHits() { uint32_t value; - mutex->lockMutex(MutexIF::NO_TIMEOUT); + mutex->lockMutex(MutexIF::BLOCKING); value = queueHits; mutex->unlockMutex(); return value; } void InternalErrorReporter::incrementQueueHits() { - mutex->lockMutex(MutexIF::NO_TIMEOUT); + mutex->lockMutex(MutexIF::BLOCKING); queueHits++; mutex->unlockMutex(); } uint32_t InternalErrorReporter::getAndResetTmHits() { uint32_t value; - mutex->lockMutex(MutexIF::NO_TIMEOUT); + mutex->lockMutex(MutexIF::BLOCKING); value = tmHits; tmHits = 0; mutex->unlockMutex(); @@ -86,14 +86,14 @@ uint32_t InternalErrorReporter::getAndResetTmHits() { uint32_t InternalErrorReporter::getTmHits() { uint32_t value; - mutex->lockMutex(MutexIF::NO_TIMEOUT); + mutex->lockMutex(MutexIF::BLOCKING); value = tmHits; mutex->unlockMutex(); return value; } void InternalErrorReporter::incrementTmHits() { - mutex->lockMutex(MutexIF::NO_TIMEOUT); + mutex->lockMutex(MutexIF::BLOCKING); tmHits++; mutex->unlockMutex(); } @@ -104,7 +104,7 @@ void InternalErrorReporter::storeFull() { uint32_t InternalErrorReporter::getAndResetStoreHits() { uint32_t value; - mutex->lockMutex(MutexIF::NO_TIMEOUT); + mutex->lockMutex(MutexIF::BLOCKING); value = storeHits; storeHits = 0; mutex->unlockMutex(); @@ -113,14 +113,14 @@ uint32_t InternalErrorReporter::getAndResetStoreHits() { uint32_t InternalErrorReporter::getStoreHits() { uint32_t value; - mutex->lockMutex(MutexIF::NO_TIMEOUT); + mutex->lockMutex(MutexIF::BLOCKING); value = storeHits; mutex->unlockMutex(); return value; } void InternalErrorReporter::incrementStoreHits() { - mutex->lockMutex(MutexIF::NO_TIMEOUT); + mutex->lockMutex(MutexIF::BLOCKING); storeHits++; mutex->unlockMutex(); } diff --git a/osal/FreeRTOS/Clock.cpp b/osal/FreeRTOS/Clock.cpp index cffc2125e..589f44d52 100644 --- a/osal/FreeRTOS/Clock.cpp +++ b/osal/FreeRTOS/Clock.cpp @@ -154,7 +154,7 @@ ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) { if (checkOrCreateClockMutex() != HasReturnvaluesIF::RETURN_OK) { return HasReturnvaluesIF::RETURN_FAILED; } - ReturnValue_t result = timeMutex->lockMutex(MutexIF::NO_TIMEOUT); + ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING); if (result != HasReturnvaluesIF::RETURN_OK) { return result; } @@ -169,7 +169,7 @@ ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) { if (timeMutex == NULL) { return HasReturnvaluesIF::RETURN_FAILED; } - ReturnValue_t result = timeMutex->lockMutex(MutexIF::NO_TIMEOUT); + ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING); if (result != HasReturnvaluesIF::RETURN_OK) { return result; } diff --git a/osal/linux/Mutex.cpp b/osal/linux/Mutex.cpp index 36bb3ce43..62fbccd79 100644 --- a/osal/linux/Mutex.cpp +++ b/osal/linux/Mutex.cpp @@ -2,7 +2,8 @@ #include #include -const uint32_t MutexIF::NO_TIMEOUT = 0; +const uint32_t MutexIF::POLLING = 0; +const uint32_t MutexIF::NO_TIMEOUT = 0xffffffff; uint8_t Mutex::count = 0; @@ -39,7 +40,10 @@ Mutex::~Mutex() { ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) { int status = 0; - if (timeoutMs != MutexIF::NO_TIMEOUT) { + if(timeoutMs == MutexIF::POLLING) { + status = pthread_mutex_trylock(&mutex); + } + else if (timeoutMs != MutexIF::BLOCKING) { timespec timeOut; clock_gettime(CLOCK_REALTIME, &timeOut); uint64_t nseconds = timeOut.tv_sec * 1000000000 + timeOut.tv_nsec; diff --git a/storagemanager/PoolManager.h b/storagemanager/PoolManager.h index 68a7addc1..5fd9b5f72 100644 --- a/storagemanager/PoolManager.h +++ b/storagemanager/PoolManager.h @@ -49,7 +49,7 @@ public: template inline ReturnValue_t PoolManager::reserveSpace(const uint32_t size, store_address_t* address, bool ignoreFault) { - MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT); + MutexHelper mutexHelper(mutex,MutexIF::BLOCKING); ReturnValue_t status = LocalPool::reserveSpace(size,address,ignoreFault); return status; } @@ -70,7 +70,7 @@ template inline ReturnValue_t PoolManager::deleteData( store_address_t packet_id) { // debug << "PoolManager( " << translateObject(getObjectId()) << " )::deleteData from store " << packet_id.pool_index << ". id is " << packet_id.packet_index << std::endl; - MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT); + MutexHelper mutexHelper(mutex,MutexIF::BLOCKING); ReturnValue_t status = LocalPool::deleteData(packet_id); return status; } @@ -78,7 +78,7 @@ inline ReturnValue_t PoolManager::deleteData( template inline ReturnValue_t PoolManager::deleteData(uint8_t* buffer, uint32_t size, store_address_t* storeId) { - MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT); + MutexHelper mutexHelper(mutex,MutexIF::BLOCKING); ReturnValue_t status = LocalPool::deleteData(buffer, size, storeId); return status; } From fbf804cdca0c13e0d272af81f09493550f1ee13d Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 4 Jun 2020 20:25:15 +0200 Subject: [PATCH 09/90] linux changes for mutex --- osal/linux/Clock.cpp | 4 ++-- osal/linux/Mutex.cpp | 10 ++++++---- 2 files changed, 8 insertions(+), 6 deletions(-) diff --git a/osal/linux/Clock.cpp b/osal/linux/Clock.cpp index e24a4fe4b..53a597d67 100644 --- a/osal/linux/Clock.cpp +++ b/osal/linux/Clock.cpp @@ -170,7 +170,7 @@ ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) { if(checkOrCreateClockMutex()!=HasReturnvaluesIF::RETURN_OK){ return HasReturnvaluesIF::RETURN_FAILED; } - ReturnValue_t result = timeMutex->lockMutex(MutexIF::NO_TIMEOUT); + ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING); if (result != HasReturnvaluesIF::RETURN_OK) { return result; } @@ -185,7 +185,7 @@ ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) { if(timeMutex==NULL){ return HasReturnvaluesIF::RETURN_FAILED; } - ReturnValue_t result = timeMutex->lockMutex(MutexIF::NO_TIMEOUT); + ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING); if (result != HasReturnvaluesIF::RETURN_OK) { return result; } diff --git a/osal/linux/Mutex.cpp b/osal/linux/Mutex.cpp index 62fbccd79..169ac3543 100644 --- a/osal/linux/Mutex.cpp +++ b/osal/linux/Mutex.cpp @@ -3,7 +3,7 @@ #include const uint32_t MutexIF::POLLING = 0; -const uint32_t MutexIF::NO_TIMEOUT = 0xffffffff; +const uint32_t MutexIF::BLOCKING = 0xffffffff; uint8_t Mutex::count = 0; @@ -43,7 +43,10 @@ ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) { if(timeoutMs == MutexIF::POLLING) { status = pthread_mutex_trylock(&mutex); } - else if (timeoutMs != MutexIF::BLOCKING) { + else if (timeoutMs == MutexIF::BLOCKING) { + status = pthread_mutex_lock(&mutex); + } + else { timespec timeOut; clock_gettime(CLOCK_REALTIME, &timeOut); uint64_t nseconds = timeOut.tv_sec * 1000000000 + timeOut.tv_nsec; @@ -51,9 +54,8 @@ ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) { timeOut.tv_sec = nseconds / 1000000000; timeOut.tv_nsec = nseconds - timeOut.tv_sec * 1000000000; status = pthread_mutex_timedlock(&mutex, &timeOut); - } else { - status = pthread_mutex_lock(&mutex); } + switch (status) { case EINVAL: //The mutex was created with the protocol attribute having the value PTHREAD_PRIO_PROTECT and the calling thread's priority is higher than the mutex's current priority ceiling. From 03e9362825e474b26fe79fc9405104496bdac221 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Fri, 5 Jun 2020 20:42:39 +0200 Subject: [PATCH 10/90] mutex helper special output for timeout fail --- ipc/MutexHelper.h | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/ipc/MutexHelper.h b/ipc/MutexHelper.h index 671cd5a6a..20760b32f 100644 --- a/ipc/MutexHelper.h +++ b/ipc/MutexHelper.h @@ -9,8 +9,12 @@ public: MutexHelper(MutexIF* mutex, uint32_t timeoutMs) : internalMutex(mutex) { ReturnValue_t status = mutex->lockMutex(timeoutMs); - if(status != HasReturnvaluesIF::RETURN_OK){ - sif::error << "MutexHelper: Lock of Mutex failed " << + if(status == MutexIF::MUTEX_TIMEOUT) { + sif::error << "MutexHelper: Lock of mutex failed with timeout of" + << timeoutMs << " milliseconds!" << std::endl; + } + else if(status != HasReturnvaluesIF::RETURN_OK){ + sif::error << "MutexHelper: Lock of Mutex failed with code " << status << std::endl; } } From 20abb810f2ba16ab9781e07bd0c06c7fde4e9efb Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Mon, 8 Jun 2020 14:11:38 +0200 Subject: [PATCH 11/90] i hope this is correct --- osal/rtems/Mutex.cpp | 3 ++- osal/rtems/Mutex.h | 4 ++-- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/osal/rtems/Mutex.cpp b/osal/rtems/Mutex.cpp index d094e1dce..0c1675b1c 100644 --- a/osal/rtems/Mutex.cpp +++ b/osal/rtems/Mutex.cpp @@ -1,7 +1,8 @@ #include "Mutex.h" #include -const uint32_t MutexIF::NO_TIMEOUT = RTEMS_NO_TIMEOUT; +const uint32_t MutexIF::BLOCKING = RTEMS_NO_TIMEOUT; +const uint32_t MutexIF::POLLING = RTEMS_NO_WAIT; uint8_t Mutex::count = 0; Mutex::Mutex() : diff --git a/osal/rtems/Mutex.h b/osal/rtems/Mutex.h index 19b34e7f2..486055bad 100644 --- a/osal/rtems/Mutex.h +++ b/osal/rtems/Mutex.h @@ -1,5 +1,5 @@ -#ifndef OS_RTEMS_MUTEX_H_ -#define OS_RTEMS_MUTEX_H_ +#ifndef FRAMEWORK_OSAL_RTEMS_MUTEX_H_ +#define FRAMEWORK_OSAL_RTEMS_MUTEX_H_ #include #include "RtemsBasic.h" From b5567e8aae90e5f87e6d94b45b9c51889387bb41 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 9 Jun 2020 13:26:27 +0200 Subject: [PATCH 12/90] rtems mutex update --- osal/rtems/Mutex.cpp | 17 +++++++++++++++-- osal/rtems/Mutex.h | 2 +- 2 files changed, 16 insertions(+), 3 deletions(-) diff --git a/osal/rtems/Mutex.cpp b/osal/rtems/Mutex.cpp index 0c1675b1c..5487a5039 100644 --- a/osal/rtems/Mutex.cpp +++ b/osal/rtems/Mutex.cpp @@ -1,7 +1,7 @@ #include "Mutex.h" #include -const uint32_t MutexIF::BLOCKING = RTEMS_NO_TIMEOUT; +const uint32_t MutexIF::BLOCKING = RTEMS_WAIT; const uint32_t MutexIF::POLLING = RTEMS_NO_WAIT; uint8_t Mutex::count = 0; @@ -26,7 +26,20 @@ Mutex::~Mutex() { } ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) { - rtems_status_code status = rtems_semaphore_obtain(mutexId, RTEMS_WAIT, timeoutMs); + if(timeoutMs == MutexIF::BLOCKING) { + rtems_status_code status = rtems_semaphore_obtain(mutexId, + RTEMS_WAIT, timeoutMs); + } + else if(timeoutMs == MutexIF::POLLING) { + timeoutMs = RTEMS_NO_TIMEOUT; + rtems_status_code status = rtems_semaphore_obtain(mutexId, + RTEMS_NO_WAIT, timeoutMs); + } + else { + rtems_status_code status = rtems_semaphore_obtain(mutexId, + RTEMS_NO_WAIT, timeoutMs); + } + switch(status){ case RTEMS_SUCCESSFUL: //semaphore obtained successfully diff --git a/osal/rtems/Mutex.h b/osal/rtems/Mutex.h index 486055bad..4aa25e40e 100644 --- a/osal/rtems/Mutex.h +++ b/osal/rtems/Mutex.h @@ -8,7 +8,7 @@ class Mutex : public MutexIF { public: Mutex(); ~Mutex(); - ReturnValue_t lockMutex(uint32_t timeoutMs); + ReturnValue_t lockMutex(uint32_t timeoutMs = MutexIF::BLOCKING); ReturnValue_t unlockMutex(); private: rtems_id mutexId; From 860cdba94d4cb6d1de1ba59f4a0f1dd68f761549 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Wed, 10 Jun 2020 20:28:44 +0200 Subject: [PATCH 13/90] subservicve passed to handleRequest() --- tmtcservices/PusServiceBase.cpp | 3 ++- tmtcservices/PusServiceBase.h | 7 +++++-- 2 files changed, 7 insertions(+), 3 deletions(-) diff --git a/tmtcservices/PusServiceBase.cpp b/tmtcservices/PusServiceBase.cpp index b1d972933..c27defe61 100644 --- a/tmtcservices/PusServiceBase.cpp +++ b/tmtcservices/PusServiceBase.cpp @@ -29,7 +29,8 @@ ReturnValue_t PusServiceBase::performOperation(uint8_t opCode) { this->currentPacket.setStoreAddress(message.getStorageId()); // info << "Service " << (uint16_t) this->serviceId << ": new packet!" << std::endl; - ReturnValue_t return_code = this->handleRequest(); + ReturnValue_t return_code = this->handleRequest(currentPacket.getSubService()); + // debug << "Service " << (uint16_t)this->serviceId << ": handleRequest returned: " << (int)return_code << std::endl; if (return_code == RETURN_OK) { this->verifyReporter.sendSuccessReport( diff --git a/tmtcservices/PusServiceBase.h b/tmtcservices/PusServiceBase.h index d318ff1e0..dbb1754ce 100644 --- a/tmtcservices/PusServiceBase.h +++ b/tmtcservices/PusServiceBase.h @@ -30,7 +30,10 @@ void setStaticFrameworkObjectIds(); * All PUS Services are System Objects, so an Object ID needs to be specified on construction. * \ingroup pus_services */ -class PusServiceBase : public ExecutableObjectIF, public AcceptsTelecommandsIF, public SystemObject, public HasReturnvaluesIF { +class PusServiceBase : public ExecutableObjectIF, + public AcceptsTelecommandsIF, + public SystemObject, + public HasReturnvaluesIF { friend void (Factory::setStaticFrameworkObjectIds)(); public: /** @@ -63,7 +66,7 @@ public: * @return The returned status_code is directly taken as main error code in the Verification Report. * On success, RETURN_OK shall be returned. */ - virtual ReturnValue_t handleRequest() = 0; + virtual ReturnValue_t handleRequest(uint8_t subservice) = 0; /** * In performService, implementations can handle periodic, non-TC-triggered activities. * The performService method is always called. From ed7b4e2a3a88142ff6ff1aed74e3f0cb009c85ea Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Wed, 10 Jun 2020 20:49:30 +0200 Subject: [PATCH 14/90] PSB improvements --- objectmanager/ObjectManager.cpp | 1 + tmtcservices/PusServiceBase.cpp | 74 +++++++++++++++++++-------------- tmtcservices/PusServiceBase.h | 8 ++-- 3 files changed, 49 insertions(+), 34 deletions(-) diff --git a/objectmanager/ObjectManager.cpp b/objectmanager/ObjectManager.cpp index cfdf65621..1c54355a3 100644 --- a/objectmanager/ObjectManager.cpp +++ b/objectmanager/ObjectManager.cpp @@ -1,5 +1,6 @@ #include #include +#include #include ObjectManager::ObjectManager( void (*setProducer)() ): diff --git a/tmtcservices/PusServiceBase.cpp b/tmtcservices/PusServiceBase.cpp index c27defe61..f5d1e30bd 100644 --- a/tmtcservices/PusServiceBase.cpp +++ b/tmtcservices/PusServiceBase.cpp @@ -9,10 +9,11 @@ object_id_t PusServiceBase::packetSource = 0; object_id_t PusServiceBase::packetDestination = 0; -PusServiceBase::PusServiceBase(object_id_t setObjectId, uint16_t setApid, uint8_t setServiceId) : - SystemObject(setObjectId), apid(setApid), serviceId(setServiceId), errorParameter1( - 0), errorParameter2(0), requestQueue(NULL) { - requestQueue = QueueFactory::instance()->createMessageQueue(PUS_SERVICE_MAX_RECEPTION); +PusServiceBase::PusServiceBase(object_id_t setObjectId, uint16_t setApid, + uint8_t setServiceId) : + SystemObject(setObjectId), apid(setApid), serviceId(setServiceId) { + requestQueue = QueueFactory::instance()-> + createMessageQueue(PUS_SERVICE_MAX_RECEPTION); } PusServiceBase::~PusServiceBase() { @@ -20,51 +21,60 @@ PusServiceBase::~PusServiceBase() { } ReturnValue_t PusServiceBase::performOperation(uint8_t opCode) { + handleRequestQueue(); + ReturnValue_t result = this->performService(); + if (result != RETURN_OK) { + sif::error << "PusService " << (uint16_t) this->serviceId + << ": performService returned with " << (int16_t) result + << std::endl; + return RETURN_FAILED; + } + return RETURN_OK; +} + +void PusServiceBase::handleRequestQueue() { TmTcMessage message; + ReturnValue_t result = RETURN_FAILED; for (uint8_t count = 0; count < PUS_SERVICE_MAX_RECEPTION; count++) { ReturnValue_t status = this->requestQueue->receiveMessage(&message); - // debug << "PusServiceBase::performOperation: Receiving from MQ ID: " << std::hex << this->requestQueue.getId() - // << std::dec << " returned: " << status << std::endl; + // debug << "PusServiceBase::performOperation: Receiving from MQ ID: " + // << std::hex << this->requestQueue.getId() + // << std::dec << " returned: " << status << std::endl; if (status == RETURN_OK) { this->currentPacket.setStoreAddress(message.getStorageId()); - // info << "Service " << (uint16_t) this->serviceId << ": new packet!" << std::endl; + //info << "Service " << (uint16_t) this->serviceId << + // ": new packet!" << std::endl; - ReturnValue_t return_code = this->handleRequest(currentPacket.getSubService()); + result = this->handleRequest(currentPacket.getSubService()); - // debug << "Service " << (uint16_t)this->serviceId << ": handleRequest returned: " << (int)return_code << std::endl; - if (return_code == RETURN_OK) { + // debug << "Service " << (uint16_t)this->serviceId << + // ": handleRequest returned: " << (int)return_code << std::endl; + if (result == RETURN_OK) { this->verifyReporter.sendSuccessReport( TC_VERIFY::COMPLETION_SUCCESS, &this->currentPacket); - } else { + } + else { this->verifyReporter.sendFailureReport( TC_VERIFY::COMPLETION_FAILURE, &this->currentPacket, - return_code, 0, errorParameter1, errorParameter2); + result, 0, errorParameter1, errorParameter2); } this->currentPacket.deletePacket(); errorParameter1 = 0; errorParameter2 = 0; - } else if (status == MessageQueueIF::EMPTY) { + } + else if (status == MessageQueueIF::EMPTY) { status = RETURN_OK; - // debug << "PusService " << (uint16_t)this->serviceId << ": no new packet." << std::endl; + // debug << "PusService " << (uint16_t)this->serviceId << + // ": no new packet." << std::endl; break; - } else { - + } + else { sif::error << "PusServiceBase::performOperation: Service " << (uint16_t) this->serviceId << ": Error receiving packet. Code: " << std::hex << status << std::dec << std::endl; } } - ReturnValue_t return_code = this->performService(); - if (return_code == RETURN_OK) { - return RETURN_OK; - } else { - - sif::error << "PusService " << (uint16_t) this->serviceId - << ": performService returned with " << (int16_t) return_code - << std::endl; - return RETURN_FAILED; - } } uint16_t PusServiceBase::getIdentifier() { @@ -80,19 +90,21 @@ ReturnValue_t PusServiceBase::initialize() { if (result != RETURN_OK) { return result; } - AcceptsTelemetryIF* dest_service = objectManager->get( + AcceptsTelemetryIF* destService = objectManager->get( packetDestination); PUSDistributorIF* distributor = objectManager->get( packetSource); - if ((dest_service != NULL) && (distributor != NULL)) { + if ((destService != nullptr) && (distributor != nullptr)) { this->requestQueue->setDefaultDestination( - dest_service->getReportReceptionQueue()); + destService->getReportReceptionQueue()); distributor->registerService(this); return RETURN_OK; - } else { + } + else { sif::error << "PusServiceBase::PusServiceBase: Service " << (uint32_t) this->serviceId << ": Configuration error." - << " Make sure packetSource and packetDestination are defined correctly" << std::endl; + << " Make sure packetSource and packetDestination are defined " + "correctly" << std::endl; return RETURN_FAILED; } } diff --git a/tmtcservices/PusServiceBase.h b/tmtcservices/PusServiceBase.h index dbb1754ce..5f741410a 100644 --- a/tmtcservices/PusServiceBase.h +++ b/tmtcservices/PusServiceBase.h @@ -97,16 +97,16 @@ protected: /** * One of two error parameters for additional error information. */ - uint32_t errorParameter1; + uint32_t errorParameter1 = 0; /** * One of two error parameters for additional error information. */ - uint32_t errorParameter2; + uint32_t errorParameter2 = 0; /** * This is a complete instance of the Telecommand reception queue of the class. * It is initialized on construction of the class. */ - MessageQueueIF* requestQueue; + MessageQueueIF* requestQueue = nullptr; /** * An instance of the VerificationReporter class, that simplifies sending any kind of * Verification Message to the TC Verification Service. @@ -127,6 +127,8 @@ private: * Remember that one packet must be completely handled in one #handleRequest call. */ static const uint8_t PUS_SERVICE_MAX_RECEPTION = 10; + + void handleRequestQueue(); }; #endif /* PUSSERVICEBASE_H_ */ From 39d5fe34bb3ee1ddda0d8724ec4beb3459eed783 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Wed, 10 Jun 2020 21:36:21 +0200 Subject: [PATCH 15/90] better include guard, doc form improvement --- tmtcservices/PusServiceBase.h | 80 +++++++++++++++++++++-------------- 1 file changed, 48 insertions(+), 32 deletions(-) diff --git a/tmtcservices/PusServiceBase.h b/tmtcservices/PusServiceBase.h index 5f741410a..39600c413 100644 --- a/tmtcservices/PusServiceBase.h +++ b/tmtcservices/PusServiceBase.h @@ -1,5 +1,5 @@ -#ifndef PUSSERVICEBASE_H_ -#define PUSSERVICEBASE_H_ +#ifndef FRAMEWORK_TMTCSERVICES_PUSSERVICEBASE_H_ +#define FRAMEWORK_TMTCSERVICES_PUSSERVICEBASE_H_ #include #include @@ -9,7 +9,6 @@ #include #include #include -#include #include namespace Factory{ @@ -17,18 +16,22 @@ void setStaticFrameworkObjectIds(); } /** - * \defgroup pus_services PUS Service Framework + * @defgroup pus_services PUS Service Framework * These group contains all implementations of PUS Services in the OBSW. * Most of the Services are directly taken from the ECSS PUS Standard. */ /** - * \brief This class is the basis for all PUS Services, which can immediately process Telecommand Packets. - * It manages Telecommand reception and the generation of Verification Reports. Every class that inherits - * from this abstract class has to implement handleRequest and performService. Services that are created with this + * @brief This class is the basis for all PUS Services, + * which can immediately process Telecommand Packets. + * @details + * It manages Telecommand reception and the generation of Verification Reports. + * Every class that inherits from this abstract class has to implement + * handleRequest and performService. Services that are created with this * Base class have to handle any kind of request immediately on reception. - * All PUS Services are System Objects, so an Object ID needs to be specified on construction. - * \ingroup pus_services + * All PUS Services are System Objects, so an Object ID needs to be specified + * on construction. + * @ingroup pus_services */ class PusServiceBase : public ExecutableObjectIF, public AcceptsTelecommandsIF, @@ -37,49 +40,61 @@ class PusServiceBase : public ExecutableObjectIF, friend void (Factory::setStaticFrameworkObjectIds)(); public: /** - * The constructor for the class. - * The passed values are set, but inter-object initialization is done in the initialize method. - * @param setObjectId The system object identifier of this Service instance. - * @param set_apid The APID the Service is instantiated for. - * @param set_service_id The Service Identifier as specified in ECSS PUS. + * @brief The passed values are set, but inter-object initialization is + * done in the initialize method. + * @param setObjectId + * The system object identifier of this Service instance. + * @param setApid + * The APID the Service is instantiated for. + * @param setServiceId + * The Service Identifier as specified in ECSS PUS. */ - PusServiceBase( object_id_t setObjectId, uint16_t setApid, uint8_t setServiceId); + PusServiceBase( object_id_t setObjectId, uint16_t setApid, + uint8_t setServiceId); /** * The destructor is empty. */ virtual ~PusServiceBase(); /** - * @brief The handleRequest method shall handle any kind of Telecommand Request immediately. + * @brief The handleRequest method shall handle any kind of Telecommand + * Request immediately. * @details - * Implemetations can take the Telecommand in currentPacket and perform any kind of operation. - * They may send additional "Start Success (1,3)" messages with the verifyReporter, but Completion - * Success or Failure Reports are generated automatically after execution of this method. + * Implemetations can take the Telecommand in currentPacket and perform + * any kind of operation. + * They may send additional "Start Success (1,3)" messages with the + * verifyReporter, but Completion Success or Failure Reports are generated + * automatically after execution of this method. * * If a Telecommand can not be executed within one call cycle, * this Base class is not the right parent. * - * The child class may add additional error information by setting #errorParameters which are - * attached to the generated verification message. + * The child class may add additional error information by setting + * #errorParameters which aren attached to the generated verification + * message. * * Subservice checking should be implemented in this method. * - * @return The returned status_code is directly taken as main error code in the Verification Report. + * @return The returned status_code is directly taken as main error code + * in the Verification Report. * On success, RETURN_OK shall be returned. */ virtual ReturnValue_t handleRequest(uint8_t subservice) = 0; /** - * In performService, implementations can handle periodic, non-TC-triggered activities. + * In performService, implementations can handle periodic, + * non-TC-triggered activities. * The performService method is always called. - * @return A success or failure code that does not trigger any kind of verification message. + * @return Currently, everything other that RETURN_OK only triggers + * diagnostic output. */ virtual ReturnValue_t performService() = 0; /** * This method implements the typical activity of a simple PUS Service. - * It checks for new requests, and, if found, calls handleRequest, sends completion verification messages and deletes + * It checks for new requests, and, if found, calls handleRequest, sends + * completion verification messages and deletes * the TC requests afterwards. * performService is always executed afterwards. - * @return \c RETURN_OK if the periodic performService was successful. - * \c RETURN_FAILED else. + * @return @c RETURN_OK if the periodic performService was successful. + * @c RETURN_FAILED else. */ ReturnValue_t performOperation(uint8_t opCode); virtual uint16_t getIdentifier(); @@ -103,13 +118,13 @@ protected: */ uint32_t errorParameter2 = 0; /** - * This is a complete instance of the Telecommand reception queue of the class. - * It is initialized on construction of the class. + * This is a complete instance of the telecommand reception queue + * of the class. It is initialized on construction of the class. */ MessageQueueIF* requestQueue = nullptr; /** - * An instance of the VerificationReporter class, that simplifies sending any kind of - * Verification Message to the TC Verification Service. + * An instance of the VerificationReporter class, that simplifies + * sending any kind of verification message to the TC Verification Service. */ VerificationReporter verifyReporter; /** @@ -124,7 +139,8 @@ protected: private: /** * This constant sets the maximum number of packets accepted per call. - * Remember that one packet must be completely handled in one #handleRequest call. + * Remember that one packet must be completely handled in one + * #handleRequest call. */ static const uint8_t PUS_SERVICE_MAX_RECEPTION = 10; From 5dc2133c3a4218f5027955fc77c3a505f0e948f4 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Wed, 10 Jun 2020 21:41:48 +0200 Subject: [PATCH 16/90] CSB improvements --- tmtcservices/CommandingServiceBase.cpp | 56 +++++++++++++------------- tmtcservices/CommandingServiceBase.h | 48 +++++++++++----------- 2 files changed, 54 insertions(+), 50 deletions(-) diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp index d70b90428..adc9400fa 100644 --- a/tmtcservices/CommandingServiceBase.cpp +++ b/tmtcservices/CommandingServiceBase.cpp @@ -218,9 +218,9 @@ void CommandingServiceBase::handleRequestQueue() { } -void CommandingServiceBase::sendTmPacket(uint8_t subservice, - const uint8_t* data, uint32_t dataLen, const uint8_t* headerData, - uint32_t headerSize) { +ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice, + const uint8_t* data, size_t dataLen, const uint8_t* headerData, + size_t headerSize) { TmPacketStored tmPacketStored(this->apid, this->service, subservice, this->tmPacketCounter, data, dataLen, headerData, headerSize); ReturnValue_t result = tmPacketStored.sendPacket( @@ -228,36 +228,38 @@ void CommandingServiceBase::sendTmPacket(uint8_t subservice, if (result == HasReturnvaluesIF::RETURN_OK) { this->tmPacketCounter++; } + return result; } -void CommandingServiceBase::sendTmPacket(uint8_t subservice, - object_id_t objectId, const uint8_t *data, uint32_t dataLen) { - uint8_t buffer[sizeof(object_id_t)]; - uint8_t* pBuffer = buffer; - uint32_t size = 0; - SerializeAdapter::serialize(&objectId, &pBuffer, &size, - sizeof(object_id_t), true); - TmPacketStored tmPacketStored(this->apid, this->service, subservice, - this->tmPacketCounter, data, dataLen, buffer, size); - ReturnValue_t result = tmPacketStored.sendPacket( - requestQueue->getDefaultDestination(), requestQueue->getId()); - if (result == HasReturnvaluesIF::RETURN_OK) { - this->tmPacketCounter++; - } - +ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice, + object_id_t objectId, const uint8_t *data, size_t dataLen) { + uint8_t buffer[sizeof(object_id_t)]; + uint8_t* pBuffer = buffer; + size_t size = 0; + SerializeAdapter::serialize(&objectId, &pBuffer, &size, + sizeof(object_id_t), true); + TmPacketStored tmPacketStored(this->apid, this->service, subservice, + this->tmPacketCounter, data, dataLen, buffer, size); + ReturnValue_t result = tmPacketStored.sendPacket( + requestQueue->getDefaultDestination(), requestQueue->getId()); + if (result == HasReturnvaluesIF::RETURN_OK) { + this->tmPacketCounter++; + } + return result; } -void CommandingServiceBase::sendTmPacket(uint8_t subservice, - SerializeIF* content, SerializeIF* header) { - TmPacketStored tmPacketStored(this->apid, this->service, subservice, - this->tmPacketCounter, content, header); - ReturnValue_t result = tmPacketStored.sendPacket( - requestQueue->getDefaultDestination(), requestQueue->getId()); - if (result == HasReturnvaluesIF::RETURN_OK) { - this->tmPacketCounter++; - } +ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice, + SerializeIF* content, SerializeIF* header) { + TmPacketStored tmPacketStored(this->apid, this->service, subservice, + this->tmPacketCounter, content, header); + ReturnValue_t result = tmPacketStored.sendPacket( + requestQueue->getDefaultDestination(), requestQueue->getId()); + if (result == HasReturnvaluesIF::RETURN_OK) { + this->tmPacketCounter++; + } + return result; } diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h index bf2e82423..e79e806de 100644 --- a/tmtcservices/CommandingServiceBase.h +++ b/tmtcservices/CommandingServiceBase.h @@ -125,7 +125,7 @@ protected: * - @c CSB or implementation specific return codes */ virtual ReturnValue_t getMessageQueueAndObject(uint8_t subservice, - const uint8_t *tcData, uint32_t tcDataLen, MessageQueueId_t *id, + const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id, object_id_t *objectId) = 0; /** @@ -133,18 +133,16 @@ protected: * the command is prepared by using an implementation specific CommandMessage type * which is sent to the target object. * It contains all necessary information for the device to execute telecommands. - * @param message[out] message to be sent to the object - * @param subservice[in] Subservice of the current communication - * @param tcData Additional data of the command - * @param tcDataLen Length of the additional data - * @param state[out] Setable state of the communication + * @param message + * @param subservice + * @param tcData + * @param tcDataLen + * @param state * @param objectId Target object ID - * @return - @c RETURN_OK on success - * - @c EXECUTION_COMPLETE if exectuin is finished - * - any other return code will be part of (1,4) start failure + * @return */ virtual ReturnValue_t prepareCommand(CommandMessage *message, - uint8_t subservice, const uint8_t *tcData, uint32_t tcDataLen, + uint8_t subservice, const uint8_t *tcData, size_t tcDataLen, uint32_t *state, object_id_t objectId) = 0; /** @@ -152,10 +150,10 @@ protected: * and the respective PUS Commanding Service once the execution has started. * The PUS Commanding Service receives replies from the target device and forwards them by calling this function. * There are different translations of these replies to specify how the Command Service proceeds. - * @param reply Command Message which contains information about the command - * @param previousCommand Command_t of last command - * @param state state of the communication - * @param optionalNextCommand[out] An optional next command which can be set in this function + * @param reply[out] Command Message which contains information about the command + * @param previousCommand [out] + * @param state + * @param optionalNextCommand * @param objectId Source object ID * @param isStep Flag value to mark steps of command execution * @return - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to generate TC verification success @@ -215,34 +213,38 @@ protected: PeriodicTaskIF* executingTask; /** - * Send TM data from pointer to data. If a header is supplied it is added before data + * @brief Send TM data from pointer to data. + * If a header is supplied it is added before data * @param subservice Number of subservice * @param data Pointer to the data in the Packet * @param dataLen Lenght of data in the Packet * @param headerData HeaderData will be placed before data * @param headerSize Size of HeaderData */ - void sendTmPacket(uint8_t subservice, const uint8_t *data, uint32_t dataLen, - const uint8_t* headerData = NULL, uint32_t headerSize = 0); + ReturnValue_t sendTmPacket(uint8_t subservice, const uint8_t *data, + size_t dataLen, const uint8_t* headerData = nullptr, + size_t headerSize = 0); /** - * To send TM packets of objects that still need to be serialized and consist of an object ID with appended data + * @brief To send TM packets of objects that still need to be serialized + * and consist of an object ID with appended data. * @param subservice Number of subservice * @param objectId ObjectId is placed before data * @param data Data to append to the packet * @param dataLen Length of Data */ - void sendTmPacket(uint8_t subservice, object_id_t objectId, - const uint8_t *data, uint32_t dataLen); + ReturnValue_t sendTmPacket(uint8_t subservice, object_id_t objectId, + const uint8_t *data, size_t dataLen); /** - * To send packets has data which is in form of a SerializeIF or Adapters implementing it + * @brief To send packets which are contained inside a class implementing + * SerializeIF. * @param subservice Number of subservice * @param content This is a pointer to the serialized packet * @param header Serialize IF header which will be placed before content */ - void sendTmPacket(uint8_t subservice, SerializeIF* content, - SerializeIF* header = NULL); + ReturnValue_t sendTmPacket(uint8_t subservice, SerializeIF* content, + SerializeIF* header = nullptr); virtual void handleUnrequestedReply(CommandMessage *reply); From 482aedfaf23cca466dcd9bb060b6238ac63f185c Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Wed, 10 Jun 2020 22:13:49 +0200 Subject: [PATCH 17/90] cleaned up includes, improved doc --- tmtcservices/CommandingServiceBase.cpp | 27 +++--- tmtcservices/CommandingServiceBase.h | 114 ++++++++++++++----------- 2 files changed, 76 insertions(+), 65 deletions(-) diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp index adc9400fa..361baf3b6 100644 --- a/tmtcservices/CommandingServiceBase.cpp +++ b/tmtcservices/CommandingServiceBase.cpp @@ -1,22 +1,21 @@ -/* - * CommandingServiceBase.cpp - * - * Created on: 28.08.2019 - * Author: gaisser - */ +#include +#include +#include #include +#include +#include +#include +#include CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId, uint16_t apid, uint8_t service, uint8_t numberOfParallelCommands, - uint16_t commandTimeout_seconds, object_id_t setPacketSource, + uint16_t commandTimeoutSeconds, object_id_t setPacketSource, object_id_t setPacketDestination, size_t queueDepth) : - SystemObject(setObjectId), apid(apid), service(service), timeout_seconds( - commandTimeout_seconds), tmPacketCounter(0), IPCStore(NULL), TCStore( - NULL), commandQueue(NULL), requestQueue(NULL), commandMap( - numberOfParallelCommands), failureParameter1(0), failureParameter2( - 0), packetSource(setPacketSource), packetDestination( - setPacketDestination),executingTask(NULL) { + SystemObject(setObjectId), apid(apid), service(service), + timeoutSeconds(commandTimeoutSeconds), + commandMap(numberOfParallelCommands), packetSource(setPacketSource), + packetDestination(setPacketDestination) { commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth); requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth); } @@ -369,7 +368,7 @@ void CommandingServiceBase::checkTimeout() { typename FixedMap::Iterator iter; for (iter = commandMap.begin(); iter != commandMap.end(); ++iter) { - if ((iter->uptimeOfStart + (timeout_seconds * 1000)) < uptime) { + if ((iter->uptimeOfStart + (timeoutSeconds * 1000)) < uptime) { verificationReporter.sendFailureReport( TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl, diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h index e79e806de..37f6891c4 100644 --- a/tmtcservices/CommandingServiceBase.h +++ b/tmtcservices/CommandingServiceBase.h @@ -1,35 +1,33 @@ -#ifndef COMMANDINGSERVICEBASE_H_ -#define COMMANDINGSERVICEBASE_H_ +#ifndef FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_ +#define FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_ -#include -#include -#include -#include #include -#include #include #include -#include -#include -#include +#include #include -#include -#include + #include -#include -#include -#include +#include +#include +#include +#include + +class TcPacketStored; /** - * \brief This class is the basis for all PUS Services, which have to relay Telecommands to software bus. + * @brief This class is the basis for all PUS Services, which have to + * relay Telecommands to software bus. * - * It manages Telecommand reception and the generation of Verification Reports like PUSServiceBase. - * Every class that inherits from this abstract class has to implement four adaption points: + * It manages Telecommand reception and the generation of Verification Reports + * similar to PusServiceBase. This class is used if a telecommand can't be + * handled immediately and must be relayed to the internal software bus. * - isValidSubservice * - getMessageQueueAndObject * - prepareCommand * - handleReply - * \ingroup pus_services + * @author gaisser + * @ingroup pus_services */ class CommandingServiceBase: public SystemObject, public AcceptsTelecommandsIF, @@ -59,7 +57,7 @@ public: */ CommandingServiceBase(object_id_t setObjectId, uint16_t apid, uint8_t service, uint8_t numberOfParallelCommands, - uint16_t commandTimeout_seconds, object_id_t setPacketSource, + uint16_t commandTimeoutSeconds, object_id_t setPacketSource, object_id_t setPacketDestination, size_t queueDepth = 20); virtual ~CommandingServiceBase(); @@ -113,8 +111,9 @@ protected: virtual ReturnValue_t isValidSubservice(uint8_t subservice) = 0; /** - * Once a TC Request is valid, the existence of the destination and its target interface is checked and retrieved. - * The target message queue ID can then be acquired by using the target interface. + * Once a TC Request is valid, the existence of the destination and its + * target interface is checked and retrieved. The target message queue ID + * can then be acquired by using the target interface. * @param subservice * @param tcData Application Data of TC Packet * @param tcDataLen @@ -129,10 +128,10 @@ protected: object_id_t *objectId) = 0; /** - * After the Message Queue and Object ID are determined, - * the command is prepared by using an implementation specific CommandMessage type - * which is sent to the target object. - * It contains all necessary information for the device to execute telecommands. + * After the Message Queue and Object ID are determined, the command is + * prepared by using an implementation specific CommandMessage type + * which is sent to the target object. It contains all necessary information + * for the device to execute telecommands. * @param message * @param subservice * @param tcData @@ -146,25 +145,40 @@ protected: uint32_t *state, object_id_t objectId) = 0; /** - * This function is responsible for the communication between the Command Service Base - * and the respective PUS Commanding Service once the execution has started. - * The PUS Commanding Service receives replies from the target device and forwards them by calling this function. - * There are different translations of these replies to specify how the Command Service proceeds. - * @param reply[out] Command Message which contains information about the command - * @param previousCommand [out] - * @param state - * @param optionalNextCommand + * This function is implemented by child services to specify how replies + * to a command from another software component are handled + * @param reply + * This is the reply in form of a command message. + * @param previousCommand + * Command_t of related command + * @param state [out/in] + * Additional parameter which can be used to pass state information. + * State of the communication + * @param optionalNextCommand [out] + * An optional next command which can be set in this function * @param objectId Source object ID * @param isStep Flag value to mark steps of command execution - * @return - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to generate TC verification success - * - @c INVALID_REPLY can handle unrequested replies - * - Anything else triggers a TC verification failure + * @return + * - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to + * generate TC verification success + * - @c INVALID_REPLY calls handleUnrequestedReply + * - Anything else triggers a TC verification failure */ virtual ReturnValue_t handleReply(const CommandMessage *reply, Command_t previousCommand, uint32_t *state, CommandMessage *optionalNextCommand, object_id_t objectId, bool *isStep) = 0; + /** + * This function can be overidden to handle unrequested reply, + * when the reply sender ID is unknown or is not found is the command map. + * @param reply + */ + virtual void handleUnrequestedReply(CommandMessage *reply); + + virtual void doPeriodicOperation(); + + struct CommandInfo { struct tcInfo { uint8_t ackFlags; @@ -184,33 +198,35 @@ protected: const uint8_t service; - const uint16_t timeout_seconds; + const uint16_t timeoutSeconds; - uint8_t tmPacketCounter; + uint8_t tmPacketCounter = 0; - StorageManagerIF *IPCStore; + StorageManagerIF *IPCStore = nullptr; - StorageManagerIF *TCStore; + StorageManagerIF *TCStore = nullptr; - MessageQueueIF* commandQueue; + MessageQueueIF* commandQueue = nullptr; - MessageQueueIF* requestQueue; + MessageQueueIF* requestQueue = nullptr; VerificationReporter verificationReporter; FixedMap commandMap; - uint32_t failureParameter1; //!< May be set be children to return a more precise failure condition. - uint32_t failureParameter2; //!< May be set be children to return a more precise failure condition. + /* May be set be children to return a more precise failure condition. */ + uint32_t failureParameter1 = 0; + uint32_t failureParameter2 = 0; object_id_t packetSource; object_id_t packetDestination; /** - * Pointer to the task which executes this component, is invalid before setTaskIF was called. + * Pointer to the task which executes this component, + * is invalid before setTaskIF was called. */ - PeriodicTaskIF* executingTask; + PeriodicTaskIF* executingTask = nullptr; /** * @brief Send TM data from pointer to data. @@ -246,10 +262,6 @@ protected: ReturnValue_t sendTmPacket(uint8_t subservice, SerializeIF* content, SerializeIF* header = nullptr); - virtual void handleUnrequestedReply(CommandMessage *reply); - - virtual void doPeriodicOperation(); - void checkAndExecuteFifo( typename FixedMap::Iterator *iter); From 534fddd2c6443f52bfedbe3532cd4263470ee18c Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Wed, 10 Jun 2020 22:19:08 +0200 Subject: [PATCH 18/90] added back comment removed for unknown reasons --- tmtcservices/CommandingServiceBase.h | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h index 37f6891c4..f97eabb0e 100644 --- a/tmtcservices/CommandingServiceBase.h +++ b/tmtcservices/CommandingServiceBase.h @@ -132,11 +132,12 @@ protected: * prepared by using an implementation specific CommandMessage type * which is sent to the target object. It contains all necessary information * for the device to execute telecommands. - * @param message - * @param subservice - * @param tcData - * @param tcDataLen - * @param state + * @param message [out] message which can be set and is sent to the object + * @param subservice Subservice of the current communication + * @param tcData Application data of command + * @param tcDataLen Application data length + * @param state [out/in] Setable state of the communication. + * communication * @param objectId Target object ID * @return */ From 72f3b16c2474eadbf1569edd60b06b0296ae6bf6 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Wed, 10 Jun 2020 22:53:24 +0200 Subject: [PATCH 19/90] split up huge member function for readability --- tmtcservices/CommandingServiceBase.cpp | 193 ++++++++++++++----------- tmtcservices/CommandingServiceBase.h | 7 + 2 files changed, 113 insertions(+), 87 deletions(-) diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp index 361baf3b6..4c557f82d 100644 --- a/tmtcservices/CommandingServiceBase.cpp +++ b/tmtcservices/CommandingServiceBase.cpp @@ -56,7 +56,7 @@ ReturnValue_t CommandingServiceBase::initialize() { objectManager->get(packetDestination); PUSDistributorIF* distributor = objectManager->get( packetSource); - if ((packetForwarding == NULL) && (distributor == NULL)) { + if (packetForwarding == nullptr or distributor == nullptr) { return RETURN_FAILED; } @@ -67,7 +67,7 @@ ReturnValue_t CommandingServiceBase::initialize() { IPCStore = objectManager->get(objects::IPC_STORE); TCStore = objectManager->get(objects::TC_STORE); - if ((IPCStore == NULL) || (TCStore == NULL)) { + if (IPCStore == nullptr or TCStore == nullptr) { return RETURN_FAILED; } @@ -76,97 +76,116 @@ ReturnValue_t CommandingServiceBase::initialize() { } void CommandingServiceBase::handleCommandQueue() { - CommandMessage reply, nextCommand; - ReturnValue_t result, sendResult = RETURN_OK; - bool isStep = false; + CommandMessage reply; + ReturnValue_t result = RETURN_FAILED; for (result = commandQueue->receiveMessage(&reply); result == RETURN_OK; result = commandQueue->receiveMessage(&reply)) { - isStep = false; - typename FixedMap::Iterator iter; - if (reply.getSender() == MessageQueueIF::NO_QUEUE) { - handleUnrequestedReply(&reply); - continue; - } - if ((iter = commandMap.find(reply.getSender())) == commandMap.end()) { - handleUnrequestedReply(&reply); - continue; - } - nextCommand.setCommand(CommandMessage::CMD_NONE); - result = handleReply(&reply, iter->command, &iter->state, &nextCommand, - iter->objectId, &isStep); - switch (result) { - case EXECUTION_COMPLETE: - case RETURN_OK: - case NO_STEP_MESSAGE: - iter->command = nextCommand.getCommand(); - if (nextCommand.getCommand() != CommandMessage::CMD_NONE) { - sendResult = commandQueue->sendMessage(reply.getSender(), - &nextCommand); - } - if (sendResult == RETURN_OK) { - if (isStep) { - if (result != NO_STEP_MESSAGE) { - verificationReporter.sendSuccessReport( - TC_VERIFY::PROGRESS_SUCCESS, - iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId, - iter->tcInfo.tcSequenceControl, ++iter->step); - } - } else { - verificationReporter.sendSuccessReport( - TC_VERIFY::COMPLETION_SUCCESS, - iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId, - iter->tcInfo.tcSequenceControl, 0); - checkAndExecuteFifo(&iter); - } - } else { - if (isStep) { - nextCommand.clearCommandMessage(); - verificationReporter.sendFailureReport( - TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags, - iter->tcInfo.tcPacketId, - iter->tcInfo.tcSequenceControl, sendResult, - ++iter->step, failureParameter1, failureParameter2); - } else { - nextCommand.clearCommandMessage(); - verificationReporter.sendFailureReport( - TC_VERIFY::COMPLETION_FAILURE, - iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId, - iter->tcInfo.tcSequenceControl, sendResult, 0, - failureParameter1, failureParameter2); - } - failureParameter1 = 0; - failureParameter2 = 0; - checkAndExecuteFifo(&iter); - } - break; - case INVALID_REPLY: - //might be just an unrequested reply at a bad moment - handleUnrequestedReply(&reply); - break; - default: - if (isStep) { - verificationReporter.sendFailureReport( - TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags, - iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl, - result, ++iter->step, failureParameter1, - failureParameter2); - } else { - verificationReporter.sendFailureReport( - TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags, - iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl, - result, 0, failureParameter1, failureParameter2); - } - failureParameter1 = 0; - failureParameter2 = 0; - checkAndExecuteFifo(&iter); - break; - } - + handleCommandMessage(reply); } } +void CommandingServiceBase::handleCommandMessage(CommandMessage& reply) { + bool isStep = false; + CommandMessage nextCommand; + CommandMapIter iter; + if (reply.getSender() == MessageQueueIF::NO_QUEUE) { + handleUnrequestedReply(&reply); + return; + } + if ((iter = commandMap.find(reply.getSender())) == commandMap.end()) { + handleUnrequestedReply(&reply); + return; + } + nextCommand.setCommand(CommandMessage::CMD_NONE); + + // Implemented by child class, specifies what to do with reply. + ReturnValue_t result = handleReply(&reply, iter->command, &iter->state, + &nextCommand, iter->objectId, &isStep); + + switch (result) { + case EXECUTION_COMPLETE: + case RETURN_OK: + case NO_STEP_MESSAGE: + // handle result of reply handler implemented by developer. + handleReplyHandlerResult(result, iter, nextCommand, reply, isStep); + break; + case INVALID_REPLY: + //might be just an unrequested reply at a bad moment + handleUnrequestedReply(&reply); + break; + default: + if (isStep) { + verificationReporter.sendFailureReport( + TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags, + iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl, + result, ++iter->step, failureParameter1, + failureParameter2); + } else { + verificationReporter.sendFailureReport( + TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags, + iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl, + result, 0, failureParameter1, failureParameter2); + } + failureParameter1 = 0; + failureParameter2 = 0; + checkAndExecuteFifo(&iter); + break; + } + +} + +void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result, + CommandMapIter iter, CommandMessage& nextCommand, CommandMessage& reply, + bool& isStep) { + iter->command = nextCommand.getCommand(); + + // In case a new command is to be sent immediately, this is performed here. + // If no new command is sent, only analyse reply result by initializing + // sendResult as RETURN_OK + ReturnValue_t sendResult = RETURN_OK; + if (nextCommand.getCommand() != CommandMessage::CMD_NONE) { + sendResult = commandQueue->sendMessage(reply.getSender(), + &nextCommand); + } + + if (sendResult == RETURN_OK) { + if (isStep and result != NO_STEP_MESSAGE) { + verificationReporter.sendSuccessReport( + TC_VERIFY::PROGRESS_SUCCESS, + iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId, + iter->tcInfo.tcSequenceControl, ++iter->step); + } + else { + verificationReporter.sendSuccessReport( + TC_VERIFY::COMPLETION_SUCCESS, + iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId, + iter->tcInfo.tcSequenceControl, 0); + checkAndExecuteFifo(&iter); + } + } + else { + if (isStep) { + nextCommand.clearCommandMessage(); + verificationReporter.sendFailureReport( + TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags, + iter->tcInfo.tcPacketId, + iter->tcInfo.tcSequenceControl, sendResult, + ++iter->step, failureParameter1, failureParameter2); + } else { + nextCommand.clearCommandMessage(); + verificationReporter.sendFailureReport( + TC_VERIFY::COMPLETION_FAILURE, + iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId, + iter->tcInfo.tcSequenceControl, sendResult, 0, + failureParameter1, failureParameter2); + } + failureParameter1 = 0; + failureParameter2 = 0; + checkAndExecuteFifo(&iter); + } +} + void CommandingServiceBase::handleRequestQueue() { TmTcMessage message; ReturnValue_t result; diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h index f97eabb0e..9a68a2d3c 100644 --- a/tmtcservices/CommandingServiceBase.h +++ b/tmtcservices/CommandingServiceBase.h @@ -267,6 +267,9 @@ protected: typename FixedMap::Iterator *iter); private: + using CommandMapIter = FixedMap::Iterator; + /** * This method handles internal execution of a command, * once it has been started by @sa{startExecution()} in the Request Queue handler. @@ -298,6 +301,10 @@ private: void startExecution(TcPacketStored *storedPacket, typename FixedMap::Iterator *iter); + void handleCommandMessage(CommandMessage& reply); + void handleReplyHandlerResult(ReturnValue_t result, CommandMapIter iter, + CommandMessage& nextCommand,CommandMessage& reply, bool& isStep); + void checkTimeout(); }; From eb4880f60348969b2b70147c97e545577a32c7df Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Wed, 17 Jun 2020 20:53:10 +0200 Subject: [PATCH 20/90] singly linked list improvements --- container/SinglyLinkedList.h | 69 +++++++++++++++++++++--------------- 1 file changed, 40 insertions(+), 29 deletions(-) diff --git a/container/SinglyLinkedList.h b/container/SinglyLinkedList.h index 0a2e0531d..3c0078fc4 100644 --- a/container/SinglyLinkedList.h +++ b/container/SinglyLinkedList.h @@ -1,10 +1,13 @@ -#ifndef SINGLYLINKEDLIST_H_ -#define SINGLYLINKEDLIST_H_ +#ifndef FRAMEWORK_CONTAINER_SINGLYLINKEDLIST_H_ +#define FRAMEWORK_CONTAINER_SINGLYLINKEDLIST_H_ + +#include +#include -#include -#include /** - * \ingroup container + * @brief Linked list data structure, + * each entry has a pointer to the next entry (singly) + * @ingroup container */ template class LinkedElement { @@ -12,11 +15,8 @@ public: T *value; class Iterator { public: - LinkedElement *value; - Iterator() : - value(NULL) { - - } + LinkedElement *value = nullptr; + Iterator() {} Iterator(LinkedElement *element) : value(element) { @@ -45,12 +45,11 @@ public: } }; - LinkedElement(T* setElement, LinkedElement* setNext = NULL) : value(setElement), - next(setNext) { - } - virtual ~LinkedElement(){ + LinkedElement(T* setElement, LinkedElement* setNext = nullptr): + value(setElement), next(setNext) {} + + virtual ~LinkedElement(){} - } virtual LinkedElement* getNext() const { return next; } @@ -58,11 +57,16 @@ public: virtual void setNext(LinkedElement* next) { this->next = next; } + + virtual void setEnd() { + this->next = nullptr; + } + LinkedElement* begin() { return this; } LinkedElement* end() { - return NULL; + return nullptr; } private: LinkedElement *next; @@ -71,21 +75,21 @@ private: template class SinglyLinkedList { public: - SinglyLinkedList() : - start(NULL) { - } + using ElementIterator = typename LinkedElement::Iterator; + + SinglyLinkedList() {} + + SinglyLinkedList(ElementIterator start) : + start(start.value) {} - SinglyLinkedList(typename LinkedElement::Iterator start) : - start(start.value) { - } SinglyLinkedList(LinkedElement* startElement) : - start(startElement) { - } - typename LinkedElement::Iterator begin() const { - return LinkedElement::Iterator::Iterator(start); + start(startElement) {} + + ElementIterator begin() const { + return ElementIterator::Iterator(start); } - typename LinkedElement::Iterator::Iterator end() const { - return LinkedElement::Iterator::Iterator(); + typename ElementIterator::Iterator end() const { + return ElementIterator::Iterator(); } uint32_t getSize() const { @@ -100,8 +104,15 @@ public: void setStart(LinkedElement* setStart) { start = setStart; } + + void setEnd(LinkedElement* setEnd) { + setEnd->setEnd(); + } + + // SHOULDDO: Insertion operation ? + protected: - LinkedElement *start; + LinkedElement *start = nullptr; }; #endif /* SINGLYLINKEDLIST_H_ */ From 952fc7303a0a55f1a9fb8a39d5b05cf2fb5886eb Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Wed, 17 Jun 2020 21:15:19 +0200 Subject: [PATCH 21/90] renamed MESSAGE_TYPE to messagetypes --- action/ActionMessage.h | 2 +- devicehandlers/DeviceHandlerMessage.h | 2 +- health/HealthMessage.h | 2 +- ipc/CommandMessage.cpp | 22 +++++++++++----------- ipc/CommandMessage.h | 2 +- ipc/FwMessageTypes.h | 2 +- memory/MemoryMessage.h | 2 +- modes/ModeMessage.h | 2 +- monitoring/MonitoringMessage.h | 2 +- parameters/ParameterMessage.h | 2 +- subsystem/modes/ModeSequenceMessage.h | 2 +- tmstorage/TmStoreMessage.h | 2 +- 12 files changed, 22 insertions(+), 22 deletions(-) diff --git a/action/ActionMessage.h b/action/ActionMessage.h index 5d8332cbf..59ad619ef 100644 --- a/action/ActionMessage.h +++ b/action/ActionMessage.h @@ -10,7 +10,7 @@ class ActionMessage { private: ActionMessage(); public: - static const uint8_t MESSAGE_ID = MESSAGE_TYPE::ACTION; + static const uint8_t MESSAGE_ID = messagetypes::ACTION; static const Command_t EXECUTE_ACTION = MAKE_COMMAND_ID(1); static const Command_t STEP_SUCCESS = MAKE_COMMAND_ID(2); static const Command_t STEP_FAILED = MAKE_COMMAND_ID(3); diff --git a/devicehandlers/DeviceHandlerMessage.h b/devicehandlers/DeviceHandlerMessage.h index fad0f1b1c..26f3b4ed9 100644 --- a/devicehandlers/DeviceHandlerMessage.h +++ b/devicehandlers/DeviceHandlerMessage.h @@ -25,7 +25,7 @@ public: /** * These are the commands that can be sent to a DeviceHandlerBase */ - static const uint8_t MESSAGE_ID = MESSAGE_TYPE::DEVICE_HANDLER_COMMAND; + static const uint8_t MESSAGE_ID = messagetypes::DEVICE_HANDLER_COMMAND; static const Command_t CMD_RAW = MAKE_COMMAND_ID( 1 ); //!< Sends a raw command, setParameter is a ::store_id_t containing the raw packet to send // static const Command_t CMD_DIRECT = MAKE_COMMAND_ID( 2 ); //!< Sends a direct command, setParameter is a ::DeviceCommandId_t, setParameter2 is a ::store_id_t containing the data needed for the command static const Command_t CMD_SWITCH_IOBOARD = MAKE_COMMAND_ID( 3 ); //!< Requests a IO-Board switch, setParameter() is the IO-Board identifier diff --git a/health/HealthMessage.h b/health/HealthMessage.h index 7fd009041..13e79b88e 100644 --- a/health/HealthMessage.h +++ b/health/HealthMessage.h @@ -6,7 +6,7 @@ class HealthMessage { public: - static const uint8_t MESSAGE_ID = MESSAGE_TYPE::HEALTH_COMMAND; + 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_INFO = MAKE_COMMAND_ID(5); diff --git a/ipc/CommandMessage.cpp b/ipc/CommandMessage.cpp index fa41c6531..69a0bfd3d 100644 --- a/ipc/CommandMessage.cpp +++ b/ipc/CommandMessage.cpp @@ -15,7 +15,7 @@ #include #include -namespace MESSAGE_TYPE { +namespace messagetypes { void clearMissionMessage(CommandMessage* message); } @@ -67,35 +67,35 @@ void CommandMessage::setParameter2(uint32_t parameter2) { void CommandMessage::clearCommandMessage() { switch((getCommand()>>8) & 0xff){ - case MESSAGE_TYPE::MODE_COMMAND: + case messagetypes::MODE_COMMAND: ModeMessage::clear(this); break; - case MESSAGE_TYPE::HEALTH_COMMAND: + case messagetypes::HEALTH_COMMAND: HealthMessage::clear(this); break; - case MESSAGE_TYPE::MODE_SEQUENCE: + case messagetypes::MODE_SEQUENCE: ModeSequenceMessage::clear(this); break; - case MESSAGE_TYPE::ACTION: + case messagetypes::ACTION: ActionMessage::clear(this); break; - case MESSAGE_TYPE::DEVICE_HANDLER_COMMAND: + case messagetypes::DEVICE_HANDLER_COMMAND: DeviceHandlerMessage::clear(this); break; - case MESSAGE_TYPE::MEMORY: + case messagetypes::MEMORY: MemoryMessage::clear(this); break; - case MESSAGE_TYPE::MONITORING: + case messagetypes::MONITORING: MonitoringMessage::clear(this); break; - case MESSAGE_TYPE::TM_STORE: + case messagetypes::TM_STORE: TmStoreMessage::clear(this); break; - case MESSAGE_TYPE::PARAMETER: + case messagetypes::PARAMETER: ParameterMessage::clear(this); break; default: - MESSAGE_TYPE::clearMissionMessage(this); + messagetypes::clearMissionMessage(this); break; } } diff --git a/ipc/CommandMessage.h b/ipc/CommandMessage.h index 2d966063a..3d563607b 100644 --- a/ipc/CommandMessage.h +++ b/ipc/CommandMessage.h @@ -23,7 +23,7 @@ public: static const ReturnValue_t UNKNOW_COMMAND = MAKE_RETURN_CODE(0x01); - static const uint8_t MESSAGE_ID = MESSAGE_TYPE::COMMAND; + static const uint8_t MESSAGE_ID = messagetypes::COMMAND; static const Command_t CMD_NONE = MAKE_COMMAND_ID( 0 );//!< Used internally, will be ignored static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID( 3 ); static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID( 0xD1 );//!< Reply indicating that the current command was rejected, par1 should contain the error code diff --git a/ipc/FwMessageTypes.h b/ipc/FwMessageTypes.h index ec1c9aa28..e820b1dfc 100644 --- a/ipc/FwMessageTypes.h +++ b/ipc/FwMessageTypes.h @@ -1,7 +1,7 @@ #ifndef FRAMEWORK_IPC_FWMESSAGETYPES_H_ #define FRAMEWORK_IPC_FWMESSAGETYPES_H_ -namespace MESSAGE_TYPE { +namespace messagetypes { //Remember to add new Message Types to the clearCommandMessage function! enum FW_MESSAGE_TYPE { COMMAND = 0, diff --git a/memory/MemoryMessage.h b/memory/MemoryMessage.h index 124fad081..48badb05f 100644 --- a/memory/MemoryMessage.h +++ b/memory/MemoryMessage.h @@ -9,7 +9,7 @@ class MemoryMessage { private: MemoryMessage(); //A private ctor inhibits instantiation public: - static const uint8_t MESSAGE_ID = MESSAGE_TYPE::MEMORY; + static const uint8_t MESSAGE_ID = messagetypes::MEMORY; static const Command_t CMD_MEMORY_LOAD = MAKE_COMMAND_ID( 0x01 ); static const Command_t CMD_MEMORY_DUMP = MAKE_COMMAND_ID( 0x02 ); static const Command_t CMD_MEMORY_CHECK = MAKE_COMMAND_ID( 0x03 ); diff --git a/modes/ModeMessage.h b/modes/ModeMessage.h index f72fdeec5..675c614b2 100644 --- a/modes/ModeMessage.h +++ b/modes/ModeMessage.h @@ -17,7 +17,7 @@ class ModeMessage { private: ModeMessage(); public: - static const uint8_t MESSAGE_ID = MESSAGE_TYPE::MODE_COMMAND; + static const uint8_t MESSAGE_ID = messagetypes::MODE_COMMAND; static const Command_t CMD_MODE_COMMAND = MAKE_COMMAND_ID(0x01);//!> Command to set the specified Mode, replies are: REPLY_MODE_REPLY, REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any replies, as this will break the subsystem mode machine!! static const Command_t CMD_MODE_COMMAND_FORCED = MAKE_COMMAND_ID(0xF1);//!> Command to set the specified Mode, regardless of external control flag, replies are: REPLY_MODE_REPLY, REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any replies, as this will break the subsystem mode machine!! static const Command_t REPLY_MODE_REPLY = MAKE_COMMAND_ID(0x02);//!> Reply to a CMD_MODE_COMMAND or CMD_MODE_READ diff --git a/monitoring/MonitoringMessage.h b/monitoring/MonitoringMessage.h index d2ff9b4dd..793e1fbf3 100644 --- a/monitoring/MonitoringMessage.h +++ b/monitoring/MonitoringMessage.h @@ -6,7 +6,7 @@ class MonitoringMessage: public CommandMessage { public: - static const uint8_t MESSAGE_ID = MESSAGE_TYPE::MONITORING; + static const uint8_t MESSAGE_ID = messagetypes::MONITORING; //Object id could be useful, but we better manage that on service level (register potential reporters). static const Command_t LIMIT_VIOLATION_REPORT = MAKE_COMMAND_ID(10); virtual ~MonitoringMessage(); diff --git a/parameters/ParameterMessage.h b/parameters/ParameterMessage.h index 0f2866756..432832941 100644 --- a/parameters/ParameterMessage.h +++ b/parameters/ParameterMessage.h @@ -9,7 +9,7 @@ class ParameterMessage { private: ParameterMessage(); public: - static const uint8_t MESSAGE_ID = MESSAGE_TYPE::PARAMETER; + static const uint8_t MESSAGE_ID = messagetypes::PARAMETER; static const Command_t CMD_PARAMETER_LOAD = MAKE_COMMAND_ID( 0x01 ); static const Command_t CMD_PARAMETER_DUMP = MAKE_COMMAND_ID( 0x02 ); static const Command_t REPLY_PARAMETER_DUMP = MAKE_COMMAND_ID( 0x03 ); diff --git a/subsystem/modes/ModeSequenceMessage.h b/subsystem/modes/ModeSequenceMessage.h index 830cf5329..61d1b6285 100644 --- a/subsystem/modes/ModeSequenceMessage.h +++ b/subsystem/modes/ModeSequenceMessage.h @@ -7,7 +7,7 @@ class ModeSequenceMessage { public: - static const uint8_t MESSAGE_ID = MESSAGE_TYPE::MODE_SEQUENCE; + static const uint8_t MESSAGE_ID = messagetypes::MODE_SEQUENCE; static const Command_t ADD_SEQUENCE = MAKE_COMMAND_ID(0x01); static const Command_t ADD_TABLE = MAKE_COMMAND_ID(0x02); diff --git a/tmstorage/TmStoreMessage.h b/tmstorage/TmStoreMessage.h index 0883063ca..bd6b2def9 100644 --- a/tmstorage/TmStoreMessage.h +++ b/tmstorage/TmStoreMessage.h @@ -41,7 +41,7 @@ public: static store_address_t getStoreId(const CommandMessage* cmd); virtual ~TmStoreMessage(); - static const uint8_t MESSAGE_ID = MESSAGE_TYPE::TM_STORE; + static const uint8_t MESSAGE_ID = messagetypes::TM_STORE; static const Command_t ENABLE_STORING = MAKE_COMMAND_ID(1); static const Command_t DELETE_STORE_CONTENT = MAKE_COMMAND_ID(2); static const Command_t DOWNLINK_STORE_CONTENT = MAKE_COMMAND_ID(3); From d8e9e34ad9fc33b365f98ef3497fdc84fa698c8a Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Fri, 19 Jun 2020 14:36:49 +0200 Subject: [PATCH 22/90] framework submakefile improvements --- framework.mk | 19 ++++++++++++------- 1 file changed, 12 insertions(+), 7 deletions(-) diff --git a/framework.mk b/framework.mk index a5a653641..c88229814 100644 --- a/framework.mk +++ b/framework.mk @@ -1,5 +1,5 @@ -# This file needs FRAMEWORK_PATH and API set correctly -# Valid API settings: rtems, linux, freeRTOS +# This file needs FRAMEWORK_PATH and OS_FSFW set correctly by another Makefile. +# Valid API settings: rtems, linux, freeRTOS, host CXXSRC += $(wildcard $(FRAMEWORK_PATH)/action/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/container/*.cpp) @@ -8,11 +8,13 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/controller/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/coordinates/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datalinklayer/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapool/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoolglob/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoollocal/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/housekeeping/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/devicehandlers/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/eventmatching/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/fdir/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/framework.mk/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/matching/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/math/*.cpp) @@ -26,14 +28,16 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/objectmanager/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/*.cpp) # select the OS -ifeq ($(OS),rtems) +ifeq ($(OS_FSFW),rtems) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/rtems/*.cpp) -else ifeq ($(OS),linux) +else ifeq ($(OS_FSFW),linux) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/linux/*.cpp) -else ifeq ($(OS),freeRTOS) +else ifeq ($(OS_FSFW),freeRTOS) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/FreeRTOS/*.cpp) +else ifeq ($(OS_FSFW),host) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/host/*.cpp) else -$(error invalid OS specified, valid OS are rtems, linux, freeRTOS) +$(error invalid OS specified, valid OS are rtems, linux, freeRTOS, host) endif CXXSRC += $(wildcard $(FRAMEWORK_PATH)/parameters/*.cpp) @@ -54,3 +58,4 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/packetmatcher/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/pus/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcservices/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/test/*.cpp) \ No newline at end of file From 31e557776373eb5334430ae6f1e68616aba4a617 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Fri, 19 Jun 2020 14:45:29 +0200 Subject: [PATCH 23/90] added deadline missed check --- osal/FreeRTOS/PeriodicTask.cpp | 55 ++++++++++++------- osal/FreeRTOS/PeriodicTask.h | 96 +++++++++++++++++++--------------- 2 files changed, 90 insertions(+), 61 deletions(-) diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp index deab2dc15..318676393 100644 --- a/osal/FreeRTOS/PeriodicTask.cpp +++ b/osal/FreeRTOS/PeriodicTask.cpp @@ -1,17 +1,19 @@ +#include "PeriodicTask.h" + #include #include -#include "PeriodicTask.h" PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority, TaskStackSize setStack, TaskPeriod setPeriod, void (*setDeadlineMissedFunc)()) : started(false), handle(NULL), period(setPeriod), deadlineMissedFunc( - setDeadlineMissedFunc) { - - BaseType_t status = xTaskCreate(taskEntryPoint, name, setStack, this, setPriority, &handle); + setDeadlineMissedFunc) +{ + BaseType_t status = xTaskCreate(taskEntryPoint, name, + setStack, this, setPriority, &handle); if(status != pdPASS){ - sif::debug << "PeriodicTask Insufficient heap memory remaining. Status: " - << status << std::endl; + sif::debug << "PeriodicTask Insufficient heap memory remaining. " + "Status: " << status << std::endl; } } @@ -21,16 +23,19 @@ PeriodicTask::~PeriodicTask(void) { } void PeriodicTask::taskEntryPoint(void* argument) { - //The argument is re-interpreted as PeriodicTask. The Task object is global, so it is found from any place. + // The argument is re-interpreted as PeriodicTask. The Task object is + // global, so it is found from any place. PeriodicTask *originalTask(reinterpret_cast(argument)); - // Task should not start until explicitly requested - // in FreeRTOS, tasks start as soon as they are created if the scheduler is running - // but not if the scheduler is not running. - // to be able to accommodate both cases we check a member which is set in #startTask() - // if it is not set and we get here, the scheduler was started before #startTask() was called and we need to suspend - // if it is set, the scheduler was not running before #startTask() was called and we can continue + /* Task should not start until explicitly requested, + * but in FreeRTOS, tasks start as soon as they are created if the scheduler + * is running but not if the scheduler is not running. + * To be able to accommodate both cases we check a member which is set in + * #startTask(). If it is not set and we get here, the scheduler was started + * before #startTask() was called and we need to suspend if it is set, + * the scheduler was not running before #startTask() was called and we + * can continue */ - if (!originalTask->started) { + if (not originalTask->started) { vTaskSuspend(NULL); } @@ -59,9 +64,9 @@ void PeriodicTask::taskFunctionality() { TickType_t xLastWakeTime; const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.); /* The xLastWakeTime variable needs to be initialized with the current tick - count. Note that this is the only time the variable is written to explicitly. - After this assignment, xLastWakeTime is updated automatically internally within - vTaskDelayUntil(). */ + count. Note that this is the only time the variable is written to + explicitly. After this assignment, xLastWakeTime is updated automatically + internally within vTaskDelayUntil(). */ xLastWakeTime = xTaskGetTickCount(); /* Enter the loop that defines the task behavior. */ for (;;) { @@ -69,8 +74,22 @@ void PeriodicTask::taskFunctionality() { it != objectList.end(); ++it) { (*it)->performOperation(); } - //TODO deadline missed check + + /* If all operations are finished and the difference of the + * current time minus the last wake time is larger than the + * wait period, a deadline was missed. */ + if(xTaskGetTickCount() - xLastWakeTime >= xPeriod) { +#ifdef DEBUG + sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) << + " missed deadline!\n" << std::flush; +#endif + if(deadlineMissedFunc != nullptr) { + this->deadlineMissedFunc(); + } + } + vTaskDelayUntil(&xLastWakeTime, xPeriod); + } } diff --git a/osal/FreeRTOS/PeriodicTask.h b/osal/FreeRTOS/PeriodicTask.h index e7ba8dd26..b9930a73b 100644 --- a/osal/FreeRTOS/PeriodicTask.h +++ b/osal/FreeRTOS/PeriodicTask.h @@ -1,48 +1,49 @@ -#ifndef MULTIOBJECTTASK_H_ -#define MULTIOBJECTTASK_H_ +#ifndef FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_ +#define FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_ #include #include #include -#include -#include "task.h" +#include +#include #include class ExecutableObjectIF; /** - * @brief This class represents a specialized task for periodic activities of multiple objects. - * - * @details MultiObjectTask is an extension to ObjectTask in the way that it is able to execute - * multiple objects that implement the ExecutableObjectIF interface. The objects must be - * added prior to starting the task. - * + * @brief This class represents a specialized task for + * periodic activities of multiple objects. * @ingroup task_handling */ class PeriodicTask: public PeriodicTaskIF { public: /** - * @brief Standard constructor of the class. - * @details The class is initialized without allocated objects. These need to be added - * with #addObject. - * In the underlying TaskBase class, a new operating system task is created. - * In addition to the TaskBase parameters, the period, the pointer to the - * aforementioned initialization function and an optional "deadline-missed" - * function pointer is passed. - * @param priority Sets the priority of a task. Values range from a low 0 to a high 99. - * @param stack_size The stack size reserved by the operating system for the task. - * @param setPeriod The length of the period with which the task's functionality will be - * executed. It is expressed in clock ticks. - * @param setDeadlineMissedFunc The function pointer to the deadline missed function - * that shall be assigned. + * Keep in Mind that you need to call before this vTaskStartScheduler()! + * A lot of task parameters are set in "FreeRTOSConfig.h". + * TODO: why does this need to be called before vTaskStartScheduler? + * @details + * The class is initialized without allocated objects. + * These need to be added with #addComponent. + * @param priority + * Sets the priority of a task. Values depend on freeRTOS configuration, + * high number means high priority. + * @param stack_size + * The stack size reserved by the operating system for the task. + * @param setPeriod + * The length of the period with which the task's + * functionality will be executed. It is expressed in clock ticks. + * @param setDeadlineMissedFunc + * The function pointer to the deadline missed function that shall + * be assigned. */ - PeriodicTask(const char *name, TaskPriority setPriority, TaskStackSize setStack, TaskPeriod setPeriod, - void (*setDeadlineMissedFunc)()); + PeriodicTask(const char *name, TaskPriority setPriority, + TaskStackSize setStack, TaskPeriod setPeriod, + void (*setDeadlineMissedFunc)()); /** - * @brief Currently, the executed object's lifetime is not coupled with the task object's - * lifetime, so the destructor is empty. + * @brief Currently, the executed object's lifetime is not coupled with + * the task object's lifetime, so the destructor is empty. */ virtual ~PeriodicTask(void); @@ -58,7 +59,9 @@ public: * Adds an object to the list of objects to be executed. * The objects are executed in the order added. * @param object Id of the object to add. - * @return RETURN_OK on success, RETURN_FAILED if the object could not be added. + * @return + * -@c RETURN_OK on success + * -@c RETURN_FAILED if the object could not be added. */ ReturnValue_t addComponent(object_id_t object); @@ -69,42 +72,49 @@ protected: bool started; TaskHandle_t handle; - typedef std::vector ObjectList; //!< Typedef for the List of objects. + //! Typedef for the List of objects. + typedef std::vector ObjectList; /** * @brief This attribute holds a list of objects to be executed. */ ObjectList objectList; /** * @brief The period of the task. - * @details The period determines the frequency of the task's execution. It is expressed in clock ticks. + * @details + * The period determines the frequency of the task's execution. + * It is expressed in clock ticks. */ TaskPeriod period; /** * @brief The pointer to the deadline-missed function. - * @details This pointer stores the function that is executed if the task's deadline is missed. - * So, each may react individually on a timing failure. The pointer may be NULL, - * then nothing happens on missing the deadline. The deadline is equal to the next execution - * of the periodic task. + * @details + * This pointer stores the function that is executed if the task's deadline + * is missed so each may react individually on a timing failure. + * The pointer may be NULL, then nothing happens on missing the deadline. + * The deadline is equal to the next execution of the periodic task. */ void (*deadlineMissedFunc)(void); /** * @brief This is the function executed in the new task's context. - * @details It converts the argument back to the thread object type and copies the class instance - * to the task context. The taskFunctionality method is called afterwards. + * @details + * It converts the argument back to the thread object type and copies the + * class instance to the task context. The taskFunctionality method is + * called afterwards. * @param A pointer to the task object itself is passed as argument. */ static void taskEntryPoint(void* argument); /** * @brief The function containing the actual functionality of the task. - * @details The method sets and starts - * the task's period, then enters a loop that is repeated as long as the isRunning - * attribute is true. Within the loop, all performOperation methods of the added - * objects are called. Afterwards the checkAndRestartPeriod system call blocks the task - * until the next period. - * On missing the deadline, the deadlineMissedFunction is executed. + * @details + * The method sets and starts the task's period, then enters a loop that is + * repeated as long as the isRunning attribute is true. Within the loop, + * all performOperation methods of the added objects are called. + * Afterwards the checkAndRestartPeriod system call blocks the task until + * the next period. + * On missing the deadline, the deadlineMissedFunction is executed. */ void taskFunctionality(void); }; -#endif /* MULTIOBJECTTASK_H_ */ +#endif /* PERIODICTASK_H_ */ From 4507bdfb69f9a8239b8af6c51d1f9c1a32338ae8 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 23 Jun 2020 01:14:28 +0200 Subject: [PATCH 24/90] added setting task IF --- osal/FreeRTOS/PeriodicTask.cpp | 62 +++++++++++++++++++++++--------- osal/FreeRTOS/PeriodicTask.h | 13 ++++--- osal/linux/PeriodicPosixTask.cpp | 9 +++-- osal/linux/PeriodicPosixTask.h | 7 ++-- tasks/PeriodicTaskIF.h | 26 +++++++++++--- 5 files changed, 87 insertions(+), 30 deletions(-) diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp index 318676393..170eb0a48 100644 --- a/osal/FreeRTOS/PeriodicTask.cpp +++ b/osal/FreeRTOS/PeriodicTask.cpp @@ -70,39 +70,67 @@ void PeriodicTask::taskFunctionality() { xLastWakeTime = xTaskGetTickCount(); /* Enter the loop that defines the task behavior. */ for (;;) { - for (ObjectList::iterator it = objectList.begin(); - it != objectList.end(); ++it) { - (*it)->performOperation(); + for (auto const& object: objectList) { + object->performOperation(); } - /* If all operations are finished and the difference of the - * current time minus the last wake time is larger than the - * wait period, a deadline was missed. */ - if(xTaskGetTickCount() - xLastWakeTime >= xPeriod) { -#ifdef DEBUG - sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) << - " missed deadline!\n" << std::flush; -#endif - if(deadlineMissedFunc != nullptr) { - this->deadlineMissedFunc(); - } - } + checkMissedDeadline(xLastWakeTime, xPeriod); vTaskDelayUntil(&xLastWakeTime, xPeriod); } } -ReturnValue_t PeriodicTask::addComponent(object_id_t object) { +ReturnValue_t PeriodicTask::addComponent(object_id_t object, bool setTaskIF) { ExecutableObjectIF* newObject = objectManager->get( object); - if (newObject == NULL) { + if (newObject == nullptr) { + sif::error << "PeriodicTask::addComponent: Invalid object. Make sure" + "it implement ExecutableObjectIF" << std::endl; return HasReturnvaluesIF::RETURN_FAILED; } objectList.push_back(newObject); + + if(setTaskIF) { + newObject->setTaskIF(this); + } return HasReturnvaluesIF::RETURN_OK; } uint32_t PeriodicTask::getPeriodMs() const { return period * 1000; } + +void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime, + const TickType_t interval) { + /* Check whether deadline was missed while also taking overflows + * into account. Drawing this on paper with a timeline helps to understand + * it. */ + TickType_t currentTickCount = xTaskGetTickCount(); + TickType_t timeToWake = xLastWakeTime + interval; + // Tick count has overflown + if(currentTickCount < xLastWakeTime) { + // Time to wake has overflown as well. If the tick count + // is larger than the time to wake, a deadline was missed. + if(timeToWake < xLastWakeTime and + currentTickCount > timeToWake) { + handleMissedDeadline(); + } + } + // No tick count overflow. If the timeToWake has not overflown + // and the current tick count is larger than the time to wake, + // a deadline was missed. + else if(timeToWake > xLastWakeTime and currentTickCount > timeToWake) { + handleMissedDeadline(); + } +} + +void PeriodicTask::handleMissedDeadline() { +#ifdef DEBUG + sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) << + " missed deadline!\n" << std::flush; +#endif + if(deadlineMissedFunc != nullptr) { + this->deadlineMissedFunc(); + } +} diff --git a/osal/FreeRTOS/PeriodicTask.h b/osal/FreeRTOS/PeriodicTask.h index b9930a73b..09aa6bc7d 100644 --- a/osal/FreeRTOS/PeriodicTask.h +++ b/osal/FreeRTOS/PeriodicTask.h @@ -54,7 +54,7 @@ public: * The address of the task object is passed as an argument * to the system call. */ - ReturnValue_t startTask(void); + ReturnValue_t startTask() override; /** * Adds an object to the list of objects to be executed. * The objects are executed in the order added. @@ -63,11 +63,12 @@ public: * -@c RETURN_OK on success * -@c RETURN_FAILED if the object could not be added. */ - ReturnValue_t addComponent(object_id_t object); + ReturnValue_t addComponent(object_id_t object, + bool setTaskIF = true) override; - uint32_t getPeriodMs() const; + uint32_t getPeriodMs() const override; - ReturnValue_t sleepFor(uint32_t ms); + ReturnValue_t sleepFor(uint32_t ms) override; protected: bool started; TaskHandle_t handle; @@ -115,6 +116,10 @@ protected: * On missing the deadline, the deadlineMissedFunction is executed. */ void taskFunctionality(void); + + void checkMissedDeadline(const TickType_t xLastWakeTime, + const TickType_t interval); + void handleMissedDeadline(); }; #endif /* PERIODICTASK_H_ */ diff --git a/osal/linux/PeriodicPosixTask.cpp b/osal/linux/PeriodicPosixTask.cpp index b754c3f44..1a06a8bf5 100644 --- a/osal/linux/PeriodicPosixTask.cpp +++ b/osal/linux/PeriodicPosixTask.cpp @@ -20,13 +20,18 @@ void* PeriodicPosixTask::taskEntryPoint(void* arg) { return NULL; } -ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) { +ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object, + bool addTaskIF) { ExecutableObjectIF* newObject = objectManager->get( object); - if (newObject == NULL) { + if (newObject == nullptr) { return HasReturnvaluesIF::RETURN_FAILED; } objectList.push_back(newObject); + + if(setTaskIF) { + newObject->setTaskIF(this); + } return HasReturnvaluesIF::RETURN_OK; } diff --git a/osal/linux/PeriodicPosixTask.h b/osal/linux/PeriodicPosixTask.h index 43647eda1..e994898ab 100644 --- a/osal/linux/PeriodicPosixTask.h +++ b/osal/linux/PeriodicPosixTask.h @@ -26,11 +26,12 @@ public: * @param object Id of the object to add. * @return RETURN_OK on success, RETURN_FAILED if the object could not be added. */ - ReturnValue_t addComponent(object_id_t object); + ReturnValue_t addComponent(object_id_t object, + bool addTaskIF = true) override; - uint32_t getPeriodMs() const; + uint32_t getPeriodMs() const override; - ReturnValue_t sleepFor(uint32_t ms); + ReturnValue_t sleepFor(uint32_t ms) override; private: typedef std::vector ObjectList; //!< Typedef for the List of objects. diff --git a/tasks/PeriodicTaskIF.h b/tasks/PeriodicTaskIF.h index 304a7de60..6f4909771 100644 --- a/tasks/PeriodicTaskIF.h +++ b/tasks/PeriodicTaskIF.h @@ -1,9 +1,11 @@ -#ifndef PERIODICTASKIF_H_ -#define PERIODICTASKIF_H_ +#ifndef FRAMEWORK_TASK_PERIODICTASKIF_H_ +#define FRAMEWORK_TASK_PERIODICTASKIF_H_ #include +#include #include class ExecutableObjectIF; + /** * New version of TaskIF * Follows RAII principles, i.e. there's no create or delete method. @@ -17,11 +19,27 @@ public: */ virtual ~PeriodicTaskIF() { } /** - * @brief With the startTask method, a created task can be started for the first time. + * @brief With the startTask method, a created task can be started + * for the first time. */ virtual ReturnValue_t startTask() = 0; - virtual ReturnValue_t addComponent(object_id_t object) {return HasReturnvaluesIF::RETURN_FAILED;}; + /** + * Add a component (object) to a periodic task. The pointer to the + * task can be set optionally + * @param object + * Add an object to the task. The most important case is to add an + * executable object with a function which will be called regularly + * (see ExecutableObjectIF) + * @param setTaskIF + * Can be used to specify whether the task object pointer is passed + * to the component. + * @return + */ + virtual ReturnValue_t addComponent(object_id_t object, + bool setTaskIF = true) { + return HasReturnvaluesIF::RETURN_FAILED; + }; virtual ReturnValue_t sleepFor(uint32_t ms) = 0; From f826ada774ed53d31899483b003162c10302527d Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Wed, 24 Jun 2020 11:40:21 +0200 Subject: [PATCH 25/90] some more little changes for single linked list --- container/SinglyLinkedList.h | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/container/SinglyLinkedList.h b/container/SinglyLinkedList.h index 3c0078fc4..a78a14670 100644 --- a/container/SinglyLinkedList.h +++ b/container/SinglyLinkedList.h @@ -88,14 +88,15 @@ public: ElementIterator begin() const { return ElementIterator::Iterator(start); } - typename ElementIterator::Iterator end() const { + + ElementIterator end() const { return ElementIterator::Iterator(); } - uint32_t getSize() const { - uint32_t size = 0; + size_t getSize() const { + size_t size = 0; LinkedElement *element = start; - while (element != NULL) { + while (element != nullptr) { size++; element = element->getNext(); } From 19cbac923f885f94f40876aa41e3f163874003e6 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Wed, 24 Jun 2020 12:06:08 +0200 Subject: [PATCH 26/90] typo fix --- osal/FreeRTOS/PeriodicTask.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp index 170eb0a48..44a7b8010 100644 --- a/osal/FreeRTOS/PeriodicTask.cpp +++ b/osal/FreeRTOS/PeriodicTask.cpp @@ -86,7 +86,7 @@ ReturnValue_t PeriodicTask::addComponent(object_id_t object, bool setTaskIF) { object); if (newObject == nullptr) { sif::error << "PeriodicTask::addComponent: Invalid object. Make sure" - "it implement ExecutableObjectIF" << std::endl; + "it implements ExecutableObjectIF!" << std::endl; return HasReturnvaluesIF::RETURN_FAILED; } objectList.push_back(newObject); From 8a56964dab62de52a67563c5446fd7986100db06 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Wed, 24 Jun 2020 16:01:17 +0200 Subject: [PATCH 27/90] doc fix, various improvements --- tmtcservices/CommandingServiceBase.cpp | 140 +++++++++++++------------ tmtcservices/CommandingServiceBase.h | 53 ++++++---- 2 files changed, 102 insertions(+), 91 deletions(-) diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp index 4c557f82d..acf663893 100644 --- a/tmtcservices/CommandingServiceBase.cpp +++ b/tmtcservices/CommandingServiceBase.cpp @@ -80,39 +80,49 @@ void CommandingServiceBase::handleCommandQueue() { ReturnValue_t result = RETURN_FAILED; for (result = commandQueue->receiveMessage(&reply); result == RETURN_OK; result = commandQueue->receiveMessage(&reply)) { - handleCommandMessage(reply); + handleCommandMessage(&reply); } } -void CommandingServiceBase::handleCommandMessage(CommandMessage& reply) { +void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) { bool isStep = false; CommandMessage nextCommand; - CommandMapIter iter; - if (reply.getSender() == MessageQueueIF::NO_QUEUE) { - handleUnrequestedReply(&reply); - return; - } - if ((iter = commandMap.find(reply.getSender())) == commandMap.end()) { - handleUnrequestedReply(&reply); + CommandMapIter iter = commandMap.find(reply->getSender()); + + // handle unrequested reply first + if (reply->getSender() == MessageQueueIF::NO_QUEUE or + iter == commandMap.end()) { + handleUnrequestedReply(reply); return; } nextCommand.setCommand(CommandMessage::CMD_NONE); + // Implemented by child class, specifies what to do with reply. - ReturnValue_t result = handleReply(&reply, iter->command, &iter->state, + ReturnValue_t result = handleReply(reply, iter->command, &iter->state, &nextCommand, iter->objectId, &isStep); + /* If the child implementation does not implement special handling for + * rejected replies (RETURN_FAILED is returned), a failure verification + * will be generated with the reason as the return code and the initial + * command as failure parameter 1 */ + if(reply->getCommand() == CommandMessage::REPLY_REJECTED and + result == RETURN_FAILED) { + result = reply->getReplyRejectedReason( + reinterpret_cast(&failureParameter1)); + } + switch (result) { case EXECUTION_COMPLETE: case RETURN_OK: case NO_STEP_MESSAGE: // handle result of reply handler implemented by developer. - handleReplyHandlerResult(result, iter, nextCommand, reply, isStep); + handleReplyHandlerResult(result, iter, &nextCommand, reply, isStep); break; case INVALID_REPLY: //might be just an unrequested reply at a bad moment - handleUnrequestedReply(&reply); + handleUnrequestedReply(reply); break; default: if (isStep) { @@ -129,24 +139,24 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage& reply) { } failureParameter1 = 0; failureParameter2 = 0; - checkAndExecuteFifo(&iter); + checkAndExecuteFifo(iter); break; } } void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result, - CommandMapIter iter, CommandMessage& nextCommand, CommandMessage& reply, - bool& isStep) { - iter->command = nextCommand.getCommand(); + CommandMapIter iter, CommandMessage* nextCommand, + CommandMessage* reply, bool& isStep) { + iter->command = nextCommand->getCommand(); // In case a new command is to be sent immediately, this is performed here. // If no new command is sent, only analyse reply result by initializing // sendResult as RETURN_OK ReturnValue_t sendResult = RETURN_OK; - if (nextCommand.getCommand() != CommandMessage::CMD_NONE) { - sendResult = commandQueue->sendMessage(reply.getSender(), - &nextCommand); + if (nextCommand->getCommand() != CommandMessage::CMD_NONE) { + sendResult = commandQueue->sendMessage(reply->getSender(), + nextCommand); } if (sendResult == RETURN_OK) { @@ -161,19 +171,19 @@ void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result, TC_VERIFY::COMPLETION_SUCCESS, iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl, 0); - checkAndExecuteFifo(&iter); + checkAndExecuteFifo(iter); } } else { if (isStep) { - nextCommand.clearCommandMessage(); + nextCommand->clear(); verificationReporter.sendFailureReport( TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl, sendResult, ++iter->step, failureParameter1, failureParameter2); } else { - nextCommand.clearCommandMessage(); + nextCommand->clear(); verificationReporter.sendFailureReport( TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId, @@ -182,7 +192,7 @@ void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result, } failureParameter1 = 0; failureParameter2 = 0; - checkAndExecuteFifo(&iter); + checkAndExecuteFifo(iter); } } @@ -198,8 +208,8 @@ void CommandingServiceBase::handleRequestQueue() { address = message.getStorageId(); packet.setStoreAddress(address); - if ((packet.getSubService() == 0) - || (isValidSubservice(packet.getSubService()) != RETURN_OK)) { + if (packet.getSubService() == 0 + or isValidSubservice(packet.getSubService()) != RETURN_OK) { rejectPacket(TC_VERIFY::START_FAILURE, &packet, INVALID_SUBSERVICE); continue; } @@ -212,8 +222,7 @@ void CommandingServiceBase::handleRequestQueue() { } //Is a command already active for the target object? - typename FixedMap::Iterator iter; + CommandMapIter iter; iter = commandMap.find(queue); if (iter != commandMap.end()) { @@ -228,7 +237,7 @@ void CommandingServiceBase::handleRequestQueue() { if (result != RETURN_OK) { rejectPacket(TC_VERIFY::START_FAILURE, &packet, BUSY); } else { - startExecution(&packet, &iter); + startExecution(&packet, iter); } } @@ -281,46 +290,44 @@ ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice, } -void CommandingServiceBase::startExecution( - TcPacketStored *storedPacket, - typename FixedMap::Iterator *iter) { - ReturnValue_t result, sendResult = RETURN_OK; - CommandMessage message; - (*iter)->subservice = storedPacket->getSubService(); - result = prepareCommand(&message, (*iter)->subservice, - storedPacket->getApplicationData(), - storedPacket->getApplicationDataSize(), &(*iter)->state, - (*iter)->objectId); +void CommandingServiceBase::startExecution(TcPacketStored *storedPacket, + CommandMapIter iter) { + ReturnValue_t result = RETURN_OK; + CommandMessage command; + iter->subservice = storedPacket->getSubService(); + result = prepareCommand(&command, iter->subservice, + storedPacket->getApplicationData(), + storedPacket->getApplicationDataSize(), &iter->state, + iter->objectId); + ReturnValue_t sendResult = RETURN_OK; switch (result) { case RETURN_OK: - if (message.getCommand() != CommandMessage::CMD_NONE) { - sendResult = commandQueue->sendMessage((*iter).value->first, - &message); + if (command.getCommand() != CommandMessage::CMD_NONE) { + sendResult = commandQueue->sendMessage(iter.value->first, + &command); } if (sendResult == RETURN_OK) { - Clock::getUptime(&(*iter)->uptimeOfStart); - (*iter)->step = 0; -// (*iter)->state = 0; - (*iter)->subservice = storedPacket->getSubService(); - (*iter)->command = message.getCommand(); - (*iter)->tcInfo.ackFlags = storedPacket->getAcknowledgeFlags(); - (*iter)->tcInfo.tcPacketId = storedPacket->getPacketId(); - (*iter)->tcInfo.tcSequenceControl = + Clock::getUptime(&iter->uptimeOfStart); + iter->step = 0; + iter->subservice = storedPacket->getSubService(); + iter->command = command.getCommand(); + iter->tcInfo.ackFlags = storedPacket->getAcknowledgeFlags(); + iter->tcInfo.tcPacketId = storedPacket->getPacketId(); + iter->tcInfo.tcSequenceControl = storedPacket->getPacketSequenceControl(); acceptPacket(TC_VERIFY::START_SUCCESS, storedPacket); } else { - message.clearCommandMessage(); + command.clear(); rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult); checkAndExecuteFifo(iter); } break; case EXECUTION_COMPLETE: - if (message.getCommand() != CommandMessage::CMD_NONE) { + if (command.getCommand() != CommandMessage::CMD_NONE) { //Fire-and-forget command. - sendResult = commandQueue->sendMessage((*iter).value->first, - &message); + sendResult = commandQueue->sendMessage(iter.value->first, + &command); } if (sendResult == RETURN_OK) { verificationReporter.sendSuccessReport(TC_VERIFY::START_SUCCESS, @@ -328,7 +335,7 @@ void CommandingServiceBase::startExecution( acceptPacket(TC_VERIFY::COMPLETION_SUCCESS, storedPacket); checkAndExecuteFifo(iter); } else { - message.clearCommandMessage(); + command.clear(); rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult); checkAndExecuteFifo(iter); } @@ -355,12 +362,10 @@ void CommandingServiceBase::acceptPacket(uint8_t reportId, } -void CommandingServiceBase::checkAndExecuteFifo( - typename FixedMap::Iterator *iter) { +void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter iter) { store_address_t address; - if ((*iter)->fifo.retrieve(&address) != RETURN_OK) { - commandMap.erase(iter); + if (iter->fifo.retrieve(&address) != RETURN_OK) { + commandMap.erase(&iter); } else { TcPacketStored newPacket(address); startExecution(&newPacket, iter); @@ -368,9 +373,8 @@ void CommandingServiceBase::checkAndExecuteFifo( } -void CommandingServiceBase::handleUnrequestedReply( - CommandMessage* reply) { - reply->clearCommandMessage(); +void CommandingServiceBase::handleUnrequestedReply(CommandMessage* reply) { + reply->clear(); } @@ -384,18 +388,18 @@ MessageQueueId_t CommandingServiceBase::getCommandQueue() { void CommandingServiceBase::checkTimeout() { uint32_t uptime; Clock::getUptime(&uptime); - typename FixedMap::Iterator iter; + CommandMapIter iter; for (iter = commandMap.begin(); iter != commandMap.end(); ++iter) { if ((iter->uptimeOfStart + (timeoutSeconds * 1000)) < uptime) { verificationReporter.sendFailureReport( TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl, TIMEOUT); - checkAndExecuteFifo(&iter); + checkAndExecuteFifo(iter); } } } - - +void CommandingServiceBase::setTaskIF(PeriodicTaskIF* task_) { + executingTask = task_; +} diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h index 9a68a2d3c..277e5589e 100644 --- a/tmtcservices/CommandingServiceBase.h +++ b/tmtcservices/CommandingServiceBase.h @@ -97,9 +97,7 @@ public: * Used to setup the reference of the task, that executes this component * @param task_ Pointer to the taskIF of this task */ - virtual void setTaskIF(PeriodicTaskIF* task_){ - executingTask = task_; - }; + virtual void setTaskIF(PeriodicTaskIF* task_); protected: /** @@ -141,15 +139,15 @@ protected: * @param objectId Target object ID * @return */ - virtual ReturnValue_t prepareCommand(CommandMessage *message, + virtual ReturnValue_t prepareCommand(CommandMessage* message, uint8_t subservice, const uint8_t *tcData, size_t tcDataLen, uint32_t *state, object_id_t objectId) = 0; /** * This function is implemented by child services to specify how replies - * to a command from another software component are handled + * to a command from another software component are handled. * @param reply - * This is the reply in form of a command message. + * This is the reply in form of a generic read-only command message. * @param previousCommand * Command_t of related command * @param state [out/in] @@ -163,19 +161,26 @@ protected: * - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to * generate TC verification success * - @c INVALID_REPLY calls handleUnrequestedReply - * - Anything else triggers a TC verification failure + * - Anything else triggers a TC verification failure. If RETURN_FAILED + * is returned and the command ID is CommandMessage::REPLY_REJECTED, + * a failure verification message with the reason as the error parameter + * and the initial command as failure parameter 1. */ - virtual ReturnValue_t handleReply(const CommandMessage *reply, + virtual ReturnValue_t handleReply(const CommandMessage* reply, Command_t previousCommand, uint32_t *state, - CommandMessage *optionalNextCommand, object_id_t objectId, + CommandMessage* optionalNextCommand, object_id_t objectId, bool *isStep) = 0; /** * This function can be overidden to handle unrequested reply, * when the reply sender ID is unknown or is not found is the command map. + * The default implementation will clear the command message and all + * its contents. * @param reply + * Reply which is non-const so the default implementation can clear the + * message. */ - virtual void handleUnrequestedReply(CommandMessage *reply); + virtual void handleUnrequestedReply(CommandMessage* reply); virtual void doPeriodicOperation(); @@ -195,6 +200,9 @@ protected: FIFO fifo; }; + using CommandMapIter = FixedMap::Iterator; + const uint16_t apid; const uint8_t service; @@ -263,21 +271,21 @@ protected: ReturnValue_t sendTmPacket(uint8_t subservice, SerializeIF* content, SerializeIF* header = nullptr); - void checkAndExecuteFifo( - typename FixedMap::Iterator *iter); + void checkAndExecuteFifo(CommandMapIter iter); private: - using CommandMapIter = FixedMap::Iterator; /** * This method handles internal execution of a command, - * once it has been started by @sa{startExecution()} in the Request Queue handler. - * It handles replies generated by the devices and relayed by the specific service implementation. - * This means that it determines further course of action depending on the return values specified - * in the service implementation. + * once it has been started by @sa{startExecution()} in the request + * queue handler. + * It handles replies generated by the devices and relayed by the specific + * service implementation. This means that it determines further course of + * action depending on the return values specified in the service + * implementation. * This includes the generation of TC verification messages. Note that - * the static framework object ID @c VerificationReporter::messageReceiver needs to be set. + * the static framework object ID @c VerificationReporter::messageReceiver + * needs to be set. * - TM[1,5] Step Successs * - TM[1,6] Step Failure * - TM[1,7] Completion Success @@ -298,12 +306,11 @@ private: void acceptPacket(uint8_t reportId, TcPacketStored* packet); - void startExecution(TcPacketStored *storedPacket, - typename FixedMap::Iterator *iter); + void startExecution(TcPacketStored *storedPacket, CommandMapIter iter); - void handleCommandMessage(CommandMessage& reply); + void handleCommandMessage(CommandMessage* reply); void handleReplyHandlerResult(ReturnValue_t result, CommandMapIter iter, - CommandMessage& nextCommand,CommandMessage& reply, bool& isStep); + CommandMessage* nextCommand, CommandMessage* reply, bool& isStep); void checkTimeout(); }; From 644896245ff2eca019ebb0a5e9e0840f2b1dcc22 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Wed, 24 Jun 2020 16:03:54 +0200 Subject: [PATCH 28/90] better returnvalues for CSB init --- objectmanager/ObjectManagerIF.h | 3 ++- tmtcservices/CommandingServiceBase.cpp | 4 ++-- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/objectmanager/ObjectManagerIF.h b/objectmanager/ObjectManagerIF.h index 90a1ce3be..dcef81cd6 100644 --- a/objectmanager/ObjectManagerIF.h +++ b/objectmanager/ObjectManagerIF.h @@ -21,7 +21,8 @@ public: static constexpr uint8_t INTERFACE_ID = CLASS_ID::OBJECT_MANAGER_IF; static constexpr ReturnValue_t INSERTION_FAILED = MAKE_RETURN_CODE( 1 ); static constexpr ReturnValue_t NOT_FOUND = MAKE_RETURN_CODE( 2 ); - static constexpr ReturnValue_t CHILD_INIT_FAILED = MAKE_RETURN_CODE( 3 ); + + static constexpr ReturnValue_t CHILD_INIT_FAILED = MAKE_RETURN_CODE( 3 ); //!< Can be used if the initialization of a SystemObject failed. static constexpr ReturnValue_t INTERNAL_ERR_REPORTER_UNINIT = MAKE_RETURN_CODE( 4 ); protected: diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp index acf663893..abf5b0edb 100644 --- a/tmtcservices/CommandingServiceBase.cpp +++ b/tmtcservices/CommandingServiceBase.cpp @@ -57,7 +57,7 @@ ReturnValue_t CommandingServiceBase::initialize() { PUSDistributorIF* distributor = objectManager->get( packetSource); if (packetForwarding == nullptr or distributor == nullptr) { - return RETURN_FAILED; + return ObjectManagerIF::CHILD_INIT_FAILED; } distributor->registerService(this); @@ -68,7 +68,7 @@ ReturnValue_t CommandingServiceBase::initialize() { TCStore = objectManager->get(objects::TC_STORE); if (IPCStore == nullptr or TCStore == nullptr) { - return RETURN_FAILED; + return ObjectManagerIF::CHILD_INIT_FAILED; } return RETURN_OK; From fc0d42e3e06e6d7c632f8a60ea0e5fe0e0972c7c Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Wed, 24 Jun 2020 16:07:02 +0200 Subject: [PATCH 29/90] error output for CSB init failure --- tmtcservices/CommandingServiceBase.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp index abf5b0edb..f370cc6f7 100644 --- a/tmtcservices/CommandingServiceBase.cpp +++ b/tmtcservices/CommandingServiceBase.cpp @@ -57,6 +57,8 @@ ReturnValue_t CommandingServiceBase::initialize() { PUSDistributorIF* distributor = objectManager->get( packetSource); if (packetForwarding == nullptr or distributor == nullptr) { + sif::error << "CommandingServiceBase::intialize: Packet source or " + "packet destination invalid!" << std::endl; return ObjectManagerIF::CHILD_INIT_FAILED; } @@ -68,6 +70,8 @@ ReturnValue_t CommandingServiceBase::initialize() { TCStore = objectManager->get(objects::TC_STORE); if (IPCStore == nullptr or TCStore == nullptr) { + sif::error << "CommandingServiceBase::intialize: IPC store or TC store " + "not initialized yet!" << std::endl; return ObjectManagerIF::CHILD_INIT_FAILED; } From ce3e4a1176afd5170fb9dce62c2737c88d7d9786 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Wed, 24 Jun 2020 16:24:16 +0200 Subject: [PATCH 30/90] added getter for reject reply --- ipc/CommandMessage.cpp | 11 +++++++++++ ipc/CommandMessage.h | 2 ++ tmtcservices/CommandingServiceBase.cpp | 12 ++++++------ 3 files changed, 19 insertions(+), 6 deletions(-) diff --git a/ipc/CommandMessage.cpp b/ipc/CommandMessage.cpp index fa41c6531..991c9df87 100644 --- a/ipc/CommandMessage.cpp +++ b/ipc/CommandMessage.cpp @@ -120,3 +120,14 @@ void CommandMessage::setReplyRejected(ReturnValue_t reason, setParameter(reason); setParameter2(initialCommand); } + +ReturnValue_t CommandMessage::getReplyRejectedReason( + Command_t *initialCommand) const { + ReturnValue_t reason = HasReturnvaluesIF::RETURN_FAILED; + std::memcpy(&reason, getData(), sizeof(reason)); + if(initialCommand != nullptr) { + std::memcpy(initialCommand, getData() + sizeof(reason), + sizeof(Command_t)); + } + return reason; +} diff --git a/ipc/CommandMessage.h b/ipc/CommandMessage.h index 2d966063a..b800b9d21 100644 --- a/ipc/CommandMessage.h +++ b/ipc/CommandMessage.h @@ -124,6 +124,8 @@ public: */ void setToUnknownCommand(); void setReplyRejected(ReturnValue_t reason, Command_t initialCommand = CMD_NONE); + ReturnValue_t getReplyRejectedReason(Command_t *initialCommand) const; + size_t getMinimumMessageSize() const; }; diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp index f370cc6f7..e3ecada17 100644 --- a/tmtcservices/CommandingServiceBase.cpp +++ b/tmtcservices/CommandingServiceBase.cpp @@ -180,14 +180,14 @@ void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result, } else { if (isStep) { - nextCommand->clear(); + nextCommand->clearCommandMessage(); verificationReporter.sendFailureReport( TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl, sendResult, ++iter->step, failureParameter1, failureParameter2); } else { - nextCommand->clear(); + nextCommand->clearCommandMessage(); verificationReporter.sendFailureReport( TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId, @@ -267,7 +267,7 @@ ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice, object_id_t objectId, const uint8_t *data, size_t dataLen) { uint8_t buffer[sizeof(object_id_t)]; uint8_t* pBuffer = buffer; - size_t size = 0; + uint32_t size = 0; SerializeAdapter::serialize(&objectId, &pBuffer, &size, sizeof(object_id_t), true); TmPacketStored tmPacketStored(this->apid, this->service, subservice, @@ -322,7 +322,7 @@ void CommandingServiceBase::startExecution(TcPacketStored *storedPacket, storedPacket->getPacketSequenceControl(); acceptPacket(TC_VERIFY::START_SUCCESS, storedPacket); } else { - command.clear(); + command.clearCommandMessage(); rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult); checkAndExecuteFifo(iter); } @@ -339,7 +339,7 @@ void CommandingServiceBase::startExecution(TcPacketStored *storedPacket, acceptPacket(TC_VERIFY::COMPLETION_SUCCESS, storedPacket); checkAndExecuteFifo(iter); } else { - command.clear(); + command.clearCommandMessage(); rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult); checkAndExecuteFifo(iter); } @@ -378,7 +378,7 @@ void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter iter) { void CommandingServiceBase::handleUnrequestedReply(CommandMessage* reply) { - reply->clear(); + reply->clearCommandMessage(); } From 1ed5da3a122c98b01b9d59cac646bc9064cd33f5 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Wed, 24 Jun 2020 16:26:44 +0200 Subject: [PATCH 31/90] getter function bugfix --- ipc/CommandMessage.cpp | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/ipc/CommandMessage.cpp b/ipc/CommandMessage.cpp index 991c9df87..679793e3f 100644 --- a/ipc/CommandMessage.cpp +++ b/ipc/CommandMessage.cpp @@ -123,11 +123,9 @@ void CommandMessage::setReplyRejected(ReturnValue_t reason, ReturnValue_t CommandMessage::getReplyRejectedReason( Command_t *initialCommand) const { - ReturnValue_t reason = HasReturnvaluesIF::RETURN_FAILED; - std::memcpy(&reason, getData(), sizeof(reason)); + ReturnValue_t reason = getParameter(); if(initialCommand != nullptr) { - std::memcpy(initialCommand, getData() + sizeof(reason), - sizeof(Command_t)); + *initialCommand = getParameter2(); } return reason; } From d1b9ab51263e10f5486fe2e8f53afe8670a3087b Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 25 Jun 2020 17:17:24 +0200 Subject: [PATCH 32/90] added basic insertion operations --- container/SinglyLinkedList.h | 47 +++++++++++++++++++++++++++++++----- 1 file changed, 41 insertions(+), 6 deletions(-) diff --git a/container/SinglyLinkedList.h b/container/SinglyLinkedList.h index a78a14670..618a21e17 100644 --- a/container/SinglyLinkedList.h +++ b/container/SinglyLinkedList.h @@ -58,7 +58,7 @@ public: this->next = next; } - virtual void setEnd() { + virtual void setLast() { this->next = nullptr; } @@ -89,10 +89,23 @@ public: return ElementIterator::Iterator(start); } + /** Returns iterator to nulltr */ ElementIterator end() const { return ElementIterator::Iterator(); } + /** + * Returns last element in singly linked list. + * @return + */ + ElementIterator back() const { + LinkedElement *element = start; + while (element != nullptr) { + element = element->getNext(); + } + return ElementIterator::Iterator(element); + } + size_t getSize() const { size_t size = 0; LinkedElement *element = start; @@ -102,15 +115,37 @@ public: } return size; } - void setStart(LinkedElement* setStart) { - start = setStart; + void setStart(LinkedElement* firstElement) { + start = firstElement; } - void setEnd(LinkedElement* setEnd) { - setEnd->setEnd(); + void setNext(LinkedElement* currentElement, + LinkedElement* nextElement) { + currentElement->setNext(nextElement); + } + + void setEnd(LinkedElement* lastElement) { + lastElement->setLast(); } - // SHOULDDO: Insertion operation ? + void insertElement(LinkedElement* element, size_t position) { + LinkedElement *currentElement = start; + for(size_t count = 0; count < position; count++) { + if(currentElement == nullptr) { + return; + } + currentElement = currentElement->getNext(); + } + LinkedElement* elementAfterCurrent = currentElement->next; + currentElement->setNext(element); + if(elementAfterCurrent != nullptr) { + element->setNext(elementAfterCurrent); + } + } + + void insertBack(LinkedElement* lastElement) { + back().value->setNext(lastElement); + } protected: LinkedElement *start = nullptr; From 5400e38126d89730af33177f60963051659a985f Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Mon, 29 Jun 2020 16:53:32 +0200 Subject: [PATCH 33/90] slight change --- tmtcservices/CommandingServiceBase.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp index e3ecada17..d69a0f03f 100644 --- a/tmtcservices/CommandingServiceBase.cpp +++ b/tmtcservices/CommandingServiceBase.cpp @@ -113,8 +113,8 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) { * command as failure parameter 1 */ if(reply->getCommand() == CommandMessage::REPLY_REJECTED and result == RETURN_FAILED) { - result = reply->getReplyRejectedReason( - reinterpret_cast(&failureParameter1)); + result = reply->getReplyRejectedReason(); + failureParameter1 = iter->command; } switch (result) { From d311c499981bbd247466e1da6bf5f84999931bad Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Mon, 29 Jun 2020 16:57:00 +0200 Subject: [PATCH 34/90] setTaskIF implemented --- tmtcservices/PusServiceBase.cpp | 11 +++++++++++ tmtcservices/PusServiceBase.h | 17 +++++++++++++---- 2 files changed, 24 insertions(+), 4 deletions(-) diff --git a/tmtcservices/PusServiceBase.cpp b/tmtcservices/PusServiceBase.cpp index f5d1e30bd..82e5ff5cc 100644 --- a/tmtcservices/PusServiceBase.cpp +++ b/tmtcservices/PusServiceBase.cpp @@ -32,6 +32,10 @@ ReturnValue_t PusServiceBase::performOperation(uint8_t opCode) { return RETURN_OK; } +void PusServiceBase::setTaskIF(PeriodicTaskIF* taskHandle) { + this->taskHandle = taskHandle; +} + void PusServiceBase::handleRequestQueue() { TmTcMessage message; ReturnValue_t result = RETURN_FAILED; @@ -108,3 +112,10 @@ ReturnValue_t PusServiceBase::initialize() { return RETURN_FAILED; } } + +ReturnValue_t PusServiceBase::initializeAfterTaskCreation() { + // If task parameters, for example task frequency are required, this + // function should be overriden and the system object task IF can + // be used to get those parameters. + return HasReturnvaluesIF::RETURN_OK; +} diff --git a/tmtcservices/PusServiceBase.h b/tmtcservices/PusServiceBase.h index 39600c413..6d3d9bac6 100644 --- a/tmtcservices/PusServiceBase.h +++ b/tmtcservices/PusServiceBase.h @@ -96,11 +96,20 @@ public: * @return @c RETURN_OK if the periodic performService was successful. * @c RETURN_FAILED else. */ - ReturnValue_t performOperation(uint8_t opCode); - virtual uint16_t getIdentifier(); - MessageQueueId_t getRequestQueue(); - virtual ReturnValue_t initialize(); + ReturnValue_t performOperation(uint8_t opCode) override; + virtual uint16_t getIdentifier() override; + MessageQueueId_t getRequestQueue() override; + virtual ReturnValue_t initialize() override; + + virtual void setTaskIF(PeriodicTaskIF* taskHandle) override; + virtual ReturnValue_t initializeAfterTaskCreation() override; protected: + /** + * @brief Handle to the underlying task + * @details + * Will be set by setTaskIF(), which is called on task creation. + */ + PeriodicTaskIF* taskHandle = nullptr; /** * The APID of this instance of the Service. */ From 83484237ae67298190275965c64e83c4268fd4e1 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 9 Jul 2020 19:53:17 +0200 Subject: [PATCH 35/90] default argument for getter function --- ipc/CommandMessage.h | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/ipc/CommandMessage.h b/ipc/CommandMessage.h index b800b9d21..b75d94b15 100644 --- a/ipc/CommandMessage.h +++ b/ipc/CommandMessage.h @@ -124,7 +124,8 @@ public: */ void setToUnknownCommand(); void setReplyRejected(ReturnValue_t reason, Command_t initialCommand = CMD_NONE); - ReturnValue_t getReplyRejectedReason(Command_t *initialCommand) const; + ReturnValue_t getReplyRejectedReason( + Command_t *initialCommand = nullptr) const; size_t getMinimumMessageSize() const; }; From 6b2b788308bef172e6a83c46a44ea20bf3106f41 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Fri, 10 Jul 2020 14:16:55 +0200 Subject: [PATCH 36/90] added new pus services --- framework.mk | 13 +- pus/CService200ModeCommanding.cpp | 119 +++++++++++++++++ pus/CService200ModeCommanding.h | 85 ++++++++++++ pus/Service1TelecommandVerification.cpp | 100 ++++++++++++++ pus/Service1TelecommandVerification.h | 94 +++++++++++++ pus/Service2DeviceAccess.cpp | 167 ++++++++++++++++++++++++ pus/Service2DeviceAccess.h | 92 +++++++++++++ pus/Service5EventReporting.cpp | 91 +++++++++++++ pus/Service5EventReporting.h | 86 ++++++++++++ pus/Service8FunctionManagement.cpp | 135 +++++++++++++++++++ pus/Service8FunctionManagement.h | 67 ++++++++++ pus/servicepackets/Service1Packets.h | 166 +++++++++++++++++++++++ pus/servicepackets/Service200Packets.h | 63 +++++++++ pus/servicepackets/Service2Packets.h | 76 +++++++++++ pus/servicepackets/Service5Packets.h | 76 +++++++++++ pus/servicepackets/Service8Packets.h | 136 +++++++++++++++++++ 16 files changed, 1562 insertions(+), 4 deletions(-) create mode 100644 pus/CService200ModeCommanding.cpp create mode 100644 pus/CService200ModeCommanding.h create mode 100644 pus/Service1TelecommandVerification.cpp create mode 100644 pus/Service1TelecommandVerification.h create mode 100644 pus/Service2DeviceAccess.cpp create mode 100644 pus/Service2DeviceAccess.h create mode 100644 pus/Service5EventReporting.cpp create mode 100644 pus/Service5EventReporting.h create mode 100644 pus/Service8FunctionManagement.cpp create mode 100644 pus/Service8FunctionManagement.h create mode 100644 pus/servicepackets/Service1Packets.h create mode 100644 pus/servicepackets/Service200Packets.h create mode 100644 pus/servicepackets/Service2Packets.h create mode 100644 pus/servicepackets/Service5Packets.h create mode 100644 pus/servicepackets/Service8Packets.h diff --git a/framework.mk b/framework.mk index a5a653641..5db96b5b0 100644 --- a/framework.mk +++ b/framework.mk @@ -1,5 +1,5 @@ -# This file needs FRAMEWORK_PATH and API set correctly -# Valid API settings: rtems, linux, freeRTOS +# This file needs FRAMEWORK_PATH and OS_FSFW set correctly by another Makefile. +# Valid API settings: rtems, linux, freeRTOS, host CXXSRC += $(wildcard $(FRAMEWORK_PATH)/action/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/container/*.cpp) @@ -8,11 +8,13 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/controller/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/coordinates/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datalinklayer/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapool/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoolglob/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoollocal/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/housekeeping/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/devicehandlers/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/eventmatching/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/fdir/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/framework.mk/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/matching/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/math/*.cpp) @@ -32,8 +34,10 @@ else ifeq ($(OS),linux) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/linux/*.cpp) else ifeq ($(OS),freeRTOS) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/FreeRTOS/*.cpp) +else ifeq ($(OS),host) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/host/*.cpp) else -$(error invalid OS specified, valid OS are rtems, linux, freeRTOS) +$(error invalid OS specified, valid OS are rtems, linux, freeRTOS, host) endif CXXSRC += $(wildcard $(FRAMEWORK_PATH)/parameters/*.cpp) @@ -54,3 +58,4 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/packetmatcher/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/pus/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcservices/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/pus/*.cpp) diff --git a/pus/CService200ModeCommanding.cpp b/pus/CService200ModeCommanding.cpp new file mode 100644 index 000000000..fd6da67e9 --- /dev/null +++ b/pus/CService200ModeCommanding.cpp @@ -0,0 +1,119 @@ +#include +#include + +#include +#include +#include +#include + +CService200ModeCommanding::CService200ModeCommanding(object_id_t objectId, + uint16_t apid, uint8_t serviceId): + CommandingServiceBase(objectId, apid, serviceId, + NUMBER_OF_PARALLEL_COMMANDS,COMMAND_TIMEOUT_SECONDS) {} + +CService200ModeCommanding::~CService200ModeCommanding() {} + +ReturnValue_t CService200ModeCommanding::isValidSubservice(uint8_t subservice) { + switch(subservice) { + case(Subservice::COMMAND_MODE_COMMAND): + case(Subservice::COMMAND_MODE_READ): + case(Subservice::COMMAND_MODE_ANNCOUNCE): + return RETURN_OK; + default: + return AcceptsTelecommandsIF::INVALID_SUBSERVICE; + } +} + + +ReturnValue_t CService200ModeCommanding::getMessageQueueAndObject( + uint8_t subservice, const uint8_t *tcData, size_t tcDataLen, + MessageQueueId_t *id, object_id_t *objectId) { + if(tcDataLen < sizeof(object_id_t)) { + return CommandingServiceBase::INVALID_TC; + } + SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen, + SerializeIF::Endianness::BIG); + + return checkInterfaceAndAcquireMessageQueue(id,objectId); +} + +ReturnValue_t CService200ModeCommanding::checkInterfaceAndAcquireMessageQueue( + MessageQueueId_t* messageQueueToSet, object_id_t* objectId) { + HasModesIF * destination = objectManager->get(*objectId); + if(destination == nullptr) { + return CommandingServiceBase::INVALID_OBJECT; + + } + + *messageQueueToSet = destination->getCommandQueue(); + return HasReturnvaluesIF::RETURN_OK; +} + + +ReturnValue_t CService200ModeCommanding::prepareCommand( + CommandMessage* message,uint8_t subservice, const uint8_t *tcData, + size_t tcDataLen, uint32_t *state, object_id_t objectId) { + ModePacket modeCommandPacket; + ReturnValue_t result = modeCommandPacket.deSerialize(&tcData, + &tcDataLen, SerializeIF::Endianness::BIG); + if (result != RETURN_OK) { + return result; + } + + ModeMessage::setModeMessage(dynamic_cast(message), + ModeMessage::CMD_MODE_COMMAND, modeCommandPacket.getMode(), + modeCommandPacket.getSubmode()); + return result; +} + + +ReturnValue_t CService200ModeCommanding::handleReply( + const CommandMessage* reply, Command_t previousCommand, + uint32_t *state, CommandMessage* optionalNextCommand, + object_id_t objectId, bool *isStep) { + Command_t replyId = reply->getCommand(); + ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED; + switch(replyId) { + case(ModeMessage::REPLY_MODE_REPLY): { + result = prepareModeReply(reply, objectId); + break; + } + case(ModeMessage::REPLY_WRONG_MODE_REPLY): { + result = prepareWrongModeReply(reply, objectId); + break; + } + case(ModeMessage::REPLY_CANT_REACH_MODE): { + result = prepareCantReachModeReply(reply, objectId); + break; + } + case(ModeMessage::REPLY_MODE_INFO): + result = INVALID_REPLY; + break; + default: + result = RETURN_FAILED; + } + return result; +} + +ReturnValue_t CService200ModeCommanding::prepareModeReply( + const CommandMessage *reply, object_id_t objectId) { + ModePacket modeReplyPacket(objectId, + ModeMessage::getMode(reply), + ModeMessage::getSubmode(reply)); + return sendTmPacket(Subservice::REPLY_MODE_REPLY, &modeReplyPacket); +} + +ReturnValue_t CService200ModeCommanding::prepareWrongModeReply( + const CommandMessage *reply, object_id_t objectId) { + ModePacket wrongModeReply(objectId, ModeMessage::getMode(reply), + ModeMessage::getSubmode(reply)); + return sendTmPacket(Subservice::REPLY_WRONG_MODE_REPLY, &wrongModeReply); +} + +ReturnValue_t CService200ModeCommanding::prepareCantReachModeReply( + const CommandMessage *reply, object_id_t objectId) { + CantReachModePacket cantReachModePacket(objectId, + ModeMessage::getCantReachModeReason(reply)); + return sendTmPacket(Subservice::REPLY_CANT_REACH_MODE, + &cantReachModePacket); +} diff --git a/pus/CService200ModeCommanding.h b/pus/CService200ModeCommanding.h new file mode 100644 index 000000000..ede61a84e --- /dev/null +++ b/pus/CService200ModeCommanding.h @@ -0,0 +1,85 @@ +#ifndef FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_ +#define FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_ + +#include + +/** + * @brief Custom PUS service to set mode of all objects implementing HasModesIF + * + * Examples: Device Handlers, Assemblies or Subsystems. + * Full Documentation: ECSS-E-ST-70-41C or ECSS-E-70-41A + * Dissertation Baetz p. 115, 116, 165-167. + * + * This is a gateway service. It relays device commands using the software bus. + * @ingroup pus_services + */ +class CService200ModeCommanding: public CommandingServiceBase { +public: + static constexpr uint8_t NUMBER_OF_PARALLEL_COMMANDS = 4; + static constexpr uint16_t COMMAND_TIMEOUT_SECONDS = 60; + + CService200ModeCommanding(object_id_t objectId, + uint16_t apid, uint8_t serviceId); + virtual~ CService200ModeCommanding(); + +protected: + //! CommandingServiceBase (CSB) abstract functions. See CSB documentation. + ReturnValue_t isValidSubservice(uint8_t subservice) override; + ReturnValue_t getMessageQueueAndObject(uint8_t subservice, + const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id, + object_id_t *objectId) override; + ReturnValue_t prepareCommand(CommandMessage* message, + uint8_t subservice, const uint8_t *tcData, size_t tcDataLen, + uint32_t *state, object_id_t objectId) override; + ReturnValue_t handleReply(const CommandMessage* reply, + Command_t previousCommand, uint32_t *state, + CommandMessage* optionalNextCommand, object_id_t objectId, + bool *isStep) override; + +private: + ReturnValue_t checkAndAcquireTargetID(object_id_t* objectIdToSet, + const uint8_t* tcData, uint32_t tcDataLen); + ReturnValue_t checkInterfaceAndAcquireMessageQueue( + MessageQueueId_t* MessageQueueToSet, object_id_t* objectId); + + ReturnValue_t prepareModeReply(const CommandMessage *reply, + object_id_t objectId); + ReturnValue_t prepareWrongModeReply(const CommandMessage *reply, + object_id_t objectId); + ReturnValue_t prepareCantReachModeReply(const CommandMessage *reply, + object_id_t objectId); + + enum Subservice { //!< [EXPORT] : [COMMENT] Mode Commanding Subservices + //!< [EXPORT] : [COMMAND] Command assembly, subsystem or device mode + COMMAND_MODE_COMMAND = 1, + //!< [EXPORT] : [COMMAND] Command to set the specified Mode, + //! regardless of external control flag + COMMAND_MODE_COMMAND_FORCED = 2, + //!< [EXPORT] : [COMMAND] Read the current mode and + //! reply with a REPLY_MODE_REPLY + COMMAND_MODE_READ = 3, + //!< [EXPORT] : [COMMAND] Trigger an ModeInfo Event. + //! This command does NOT have a reply + COMMAND_MODE_ANNCOUNCE = 4, + //!< [EXPORT] : [COMMAND] Trigger a ModeInfo Event and to send this + //! command to every child. This command does NOT have a reply. + COMMAND_MODE_ANNOUNCE_RECURSIVELY = 5, + //!< [EXPORT] : [REPLY] Reply to a CMD_MODE_COMMAND or CMD_MODE_READ + REPLY_MODE_REPLY = 6, + //!< [EXPORT] : [REPLY] Reply in case a mode command can't be executed. + REPLY_CANT_REACH_MODE = 7, + //!< [EXPORT] : [REPLY] Reply to a CMD_MODE_COMMAND, indicating that a + //! mode was commanded and a transition started but was aborted, + //! the parameters contain the mode that was reached + REPLY_WRONG_MODE_REPLY = 8 + }; + + enum modeParameters { + MODE_OFF = 0, + MODE_ON = 1, + MODE_NORMAL = 2, + MODE_RAW = 3 + }; +}; + +#endif /* FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_ */ diff --git a/pus/Service1TelecommandVerification.cpp b/pus/Service1TelecommandVerification.cpp new file mode 100644 index 000000000..4ce2ce54c --- /dev/null +++ b/pus/Service1TelecommandVerification.cpp @@ -0,0 +1,100 @@ +#include +#include + +#include +#include +#include +#include +#include +#include + + +Service1TelecommandVerification::Service1TelecommandVerification( + object_id_t objectId, uint16_t apid, uint8_t serviceId, + object_id_t targetDestination): + SystemObject(objectId), apid(apid), serviceId(serviceId), + targetDestination(targetDestination) { + tmQueue = QueueFactory::instance()->createMessageQueue(); +} + +Service1TelecommandVerification::~Service1TelecommandVerification() {} + +MessageQueueId_t Service1TelecommandVerification::getVerificationQueue(){ + return tmQueue->getId(); +} + + +ReturnValue_t Service1TelecommandVerification::performOperation( + uint8_t operationCode){ + PusVerificationMessage message; + ReturnValue_t status = tmQueue->receiveMessage(&message); + while(status == HasReturnvaluesIF::RETURN_OK) { + status = sendVerificationReport(&message); + if(status != HasReturnvaluesIF::RETURN_OK) { + return status; + } + status = tmQueue->receiveMessage(&message); + } + if (status == MessageQueueIF::EMPTY) { + return HasReturnvaluesIF::RETURN_OK; + } + else { + return status; + } +} + + +ReturnValue_t Service1TelecommandVerification::sendVerificationReport( + PusVerificationMessage* message) { + ReturnValue_t result; + if(message->getReportId() % 2 == 0) { + result = generateFailureReport(message); + } else { + result = generateSuccessReport(message); + } + if(result != HasReturnvaluesIF::RETURN_OK){ + sif::error << "Service1TelecommandVerification::initialize: " + "Sending verification packet failed !" << std::endl; + } + return result; +} + +ReturnValue_t Service1TelecommandVerification::generateFailureReport( + PusVerificationMessage *message) { + FailureReport report( + message->getReportId(), message->getTcPacketId(), + message->getTcSequenceControl(), message->getStep(), + message->getErrorCode(), message->getParameter1(), + message->getParameter2()); + TmPacketStored tmPacket(apid, serviceId, message->getReportId(), + packetSubCounter++, &report); + ReturnValue_t result = tmPacket.sendPacket(tmQueue->getDefaultDestination(), + tmQueue->getId()); + return result; +} + +ReturnValue_t Service1TelecommandVerification::generateSuccessReport( + PusVerificationMessage *message) { + SuccessReport report(message->getReportId(),message->getTcPacketId(), + message->getTcSequenceControl(),message->getStep()); + TmPacketStored tmPacket(apid, serviceId, message->getReportId(), + packetSubCounter++, &report); + ReturnValue_t result = tmPacket.sendPacket(tmQueue->getDefaultDestination(), + tmQueue->getId()); + return result; +} + + +ReturnValue_t Service1TelecommandVerification::initialize() { + // Get target object for TC verification messages + AcceptsTelemetryIF* funnel = objectManager-> + get(targetDestination); + if(funnel == nullptr){ + sif::error << "Service1TelecommandVerification::initialize: Specified" + " TM funnel invalid. Make sure it is set up and implements" + " AcceptsTelemetryIF." << std::endl; + return ObjectManagerIF::CHILD_INIT_FAILED; + } + tmQueue->setDefaultDestination(funnel->getReportReceptionQueue()); + return SystemObject::initialize(); +} diff --git a/pus/Service1TelecommandVerification.h b/pus/Service1TelecommandVerification.h new file mode 100644 index 000000000..1d4b67196 --- /dev/null +++ b/pus/Service1TelecommandVerification.h @@ -0,0 +1,94 @@ +#ifndef MISSION_PUS_SERVICE1TELECOMMANDVERIFICATION_H_ +#define MISSION_PUS_SERVICE1TELECOMMANDVERIFICATION_H_ + +#include +#include +#include +#include +#include +#include + +/** + * @brief Verify TC acceptance, start, progress and execution. + * + * Full Documentation: ECSS-E70-41A p.51 + * + * The telecommand verification service provides the capability for + * explicit verification of each distinct stage of execution of a telecommand + * packet, from on-board acceptance through to completion of execution. + * + * Minimum capabilities of this service: + * + * - TM[1,1]: Telecommand Acceptance Report - Success. + * - TM[1,2]: Telecommand Acceptance Report - Failure. + * + * Additional capabilities of this service: + * + * - TM[1,3]: Telecommand Execution Started Report - Success (Req. 4). + * - TM[1,4]: Telecommand Execution Started Report - Failure (Req. 3). + * - TM[1,5]: Telecommand Execution Progress Report - Success (Req. 6). + * - TM[1,6]: Telecommand Execution Progress Report - Failure (Req. 5). + * - TM[1,7]: Telecommand Execution Completed Report - Success (Req. 8). + * - TM[1,8]: Telecommand Execution Completed Report - Failure (Req. 7). + * + * This Service is not inherited from PUSServiceBase unlike other PUS Services + * because all services implementing PUSServiceBase use this service to + * generate verification reports. + * @ingroup pus_services + */ +class Service1TelecommandVerification: public AcceptsVerifyMessageIF, + public SystemObject, + public ExecutableObjectIF, + public HasReturnvaluesIF { +public: + static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_1; + + Service1TelecommandVerification(object_id_t objectId, + uint16_t apid, uint8_t serviceId, object_id_t targetDestination); + virtual ~Service1TelecommandVerification(); + + /** + * + * @return ID of Verification Queue + */ + virtual MessageQueueId_t getVerificationQueue(); + + /** + * Performs the service periodically as specified in init_mission(). + * Triggers the handlePacket function to send TC verification messages + * @param operationCode + * @return + */ + ReturnValue_t performOperation(uint8_t operationCode = 0) override; + + /** + * Initializes the destination for TC verification messages and initializes + * Service 1 as a system object + * @return + */ + ReturnValue_t initialize() override; +private: + uint16_t apid = 0; + uint8_t serviceId = 0; + + object_id_t targetDestination = objects::NO_OBJECT; + + ReturnValue_t sendVerificationReport(PusVerificationMessage* message); + ReturnValue_t generateFailureReport(PusVerificationMessage* message); + ReturnValue_t generateSuccessReport(PusVerificationMessage* message); + + uint16_t packetSubCounter = 0; + + MessageQueueIF* tmQueue = nullptr; + + enum class Subservice: uint8_t { + VERIFY_ACCEPTANCE_SUCCESS = 1, //!< [EXPORT] : [TM] + VERIFY_ACCEPTANCE_FAILED = 2, //!< [EXPORT] : [TM] + VERIFY_START_SUCCESS = 3, //!< [EXPORT] : [TM] + VERIFY_START_FAILED = 4, //!< [EXPORT] : [TM] + VERIFY_STEP_SUCCESS = 5, //!< [EXPORT] : [TM] + VERIFY_STEP_FAILED = 6 //!< [EXPORT] : [TM] + }; +}; + +#endif /* MISSION_PUS_SERVICE1TELECOMMANDVERIFICATION_H_ */ diff --git a/pus/Service2DeviceAccess.cpp b/pus/Service2DeviceAccess.cpp new file mode 100644 index 000000000..1d5f21eba --- /dev/null +++ b/pus/Service2DeviceAccess.cpp @@ -0,0 +1,167 @@ +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +Service2DeviceAccess::Service2DeviceAccess(object_id_t objectId, + uint16_t apid, uint8_t serviceId, uint8_t numberOfParallelCommands, + uint16_t commandTimeoutSeconds): + CommandingServiceBase(objectId, apid, serviceId, + numberOfParallelCommands, commandTimeoutSeconds) {} + +Service2DeviceAccess::~Service2DeviceAccess() {} + + +ReturnValue_t Service2DeviceAccess::isValidSubservice(uint8_t subservice) { + switch(static_cast(subservice)){ + case Subservice::RAW_COMMANDING: + case Subservice::TOGGLE_WIRETAPPING: + return HasReturnvaluesIF::RETURN_OK; + default: + sif::error << "Invalid Subservice" << std::endl; + return AcceptsTelecommandsIF::INVALID_SUBSERVICE; + } +} + +ReturnValue_t Service2DeviceAccess::getMessageQueueAndObject( + uint8_t subservice, const uint8_t* tcData, size_t tcDataLen, + MessageQueueId_t* id, object_id_t* objectId) { + if(tcDataLen < sizeof(object_id_t)) { + return CommandingServiceBase::INVALID_TC; + } + SerializeAdapter::deSerialize(objectId, &tcData, + &tcDataLen, SerializeIF::Endianness::BIG); + + ReturnValue_t result = checkInterfaceAndAcquireMessageQueue(id,objectId); + return result; +} + +ReturnValue_t Service2DeviceAccess::checkInterfaceAndAcquireMessageQueue( + MessageQueueId_t * messageQueueToSet, object_id_t *objectId) { + DeviceHandlerIF* possibleTarget = + objectManager->get(*objectId); + if(possibleTarget == nullptr) { + return CommandingServiceBase::INVALID_OBJECT; + } + *messageQueueToSet = possibleTarget->getCommandQueue(); + return HasReturnvaluesIF::RETURN_OK; +} + + +ReturnValue_t Service2DeviceAccess::prepareCommand(CommandMessage* message, + uint8_t subservice, const uint8_t* tcData, size_t tcDataLen, + uint32_t* state, object_id_t objectId) { + switch(static_cast(subservice)){ + case Subservice::RAW_COMMANDING: { + return prepareRawCommand(dynamic_cast(message), + tcData, tcDataLen); + } + break; + case Subservice::TOGGLE_WIRETAPPING: { + return prepareWiretappingCommand(dynamic_cast(message), + tcData, tcDataLen); + } + break; + default: + return HasReturnvaluesIF::RETURN_FAILED; + } +} + +ReturnValue_t Service2DeviceAccess::prepareRawCommand( + CommandMessage* messageToSet, const uint8_t *tcData,size_t tcDataLen) { + RawCommand RawCommand(tcData,tcDataLen); + // store command into the Inter Process Communication Store + store_address_t storeAddress; + ReturnValue_t result = IPCStore->addData(&storeAddress, + RawCommand.getCommand(), RawCommand.getCommandSize()); + DeviceHandlerMessage::setDeviceHandlerRawCommandMessage(messageToSet, + storeAddress); + return result; +} + +ReturnValue_t Service2DeviceAccess::prepareWiretappingCommand( + CommandMessage *messageToSet, const uint8_t *tcData, + size_t tcDataLen) { + if(tcDataLen != WiretappingToggle::WIRETAPPING_COMMAND_SIZE) { + return CommandingServiceBase::INVALID_TC; + } + WiretappingToggle command; + ReturnValue_t result = command.deSerialize(&tcData, &tcDataLen, + SerializeIF::Endianness::BIG); + DeviceHandlerMessage::setDeviceHandlerWiretappingMessage(messageToSet, + command.getWiretappingMode()); + return result; +} + + +ReturnValue_t Service2DeviceAccess::handleReply(const CommandMessage* reply, + Command_t previousCommand, uint32_t* state, + CommandMessage* optionalNextCommand, object_id_t objectId, + bool* isStep) { + switch(reply->getCommand()) { + case CommandMessage::REPLY_COMMAND_OK: + return HasReturnvaluesIF::RETURN_OK; + case CommandMessage::REPLY_REJECTED: + return reply->getReplyRejectedReason(); + default: + return CommandingServiceBase::INVALID_REPLY; + } +} + +// All device handlers set service 2 as default raw receiver for wiretapping +// so we have to handle those unrequested messages. +void Service2DeviceAccess::handleUnrequestedReply(CommandMessage* reply) { + switch(reply->getCommand()) { + case DeviceHandlerMessage::REPLY_RAW_COMMAND: + sendWiretappingTm(reply, + static_cast(Subservice::WIRETAPPING_RAW_TC)); + break; + case DeviceHandlerMessage::REPLY_RAW_REPLY: + sendWiretappingTm(reply, + static_cast(Subservice::RAW_REPLY)); + break; + default: + sif::error << "Unknown message in Service2DeviceAccess::" + "handleUnrequestedReply with command ID " << + reply->getCommand() << std::endl; + break; + } + //Must be reached by all cases to clear message + reply->clear(); +} + +void Service2DeviceAccess::sendWiretappingTm(CommandMessage *reply, + uint8_t subservice) { + // Raw Wiretapping + // Get Address of Data from Message + store_address_t storeAddress = DeviceHandlerMessage::getStoreAddress(reply); + const uint8_t* data = nullptr; + size_t size = 0; + ReturnValue_t result = IPCStore->getData(storeAddress, &data, &size); + if(result != HasReturnvaluesIF::RETURN_OK){ + sif::error << "Service2DeviceAccess::sendWiretappingTm: Data Lost in " + "handleUnrequestedReply with failure ID "<< result + << std::endl; + return; + } + + // Init our dummy packet and correct endianness of object ID before + // sending it back. + WiretappingPacket TmPacket(DeviceHandlerMessage::getDeviceObjectId(reply), + data); + TmPacket.objectId = EndianConverter::convertBigEndian(TmPacket.objectId); + sendTmPacket(subservice, TmPacket.data,size, reinterpret_cast( + &TmPacket.objectId), sizeof(TmPacket.objectId)); +} + +MessageQueueId_t Service2DeviceAccess::getDeviceQueue() { + return commandQueue->getId(); +} + diff --git a/pus/Service2DeviceAccess.h b/pus/Service2DeviceAccess.h new file mode 100644 index 000000000..1a0bede0a --- /dev/null +++ b/pus/Service2DeviceAccess.h @@ -0,0 +1,92 @@ +#ifndef FRAMEWORK_PUS_SERVICE2DEVICEACCESS_H_ +#define FRAMEWORK_PUS_SERVICE2DEVICEACCESS_H_ + +#include +#include +#include + +/** + * @brief Raw Commanding and Wiretapping of devices. + * @details + * Full Documentation: ECSS-E-ST-70-41C or ECSS-E-70-41A + * Dissertation Baetz p. 115, 116, 165-167. + * + * This service provides the capability to communicate with devices in their + * native protocols with raw commands through the DeviceHandlerIF. + * + * This is a gateway service. It relays device commands to the software bus. + * This service is very closely tied to the CommandingServiceBase + * template class. + * + * There are 4 adaption points for component implementation through the + * CommandingServiceBase. + * + * This service employs custom subservices exclusively. This includes a + * wiretapping subservice to monitor all traffic between target devices and + * this service. + * + * - TC[2,128]: Raw Commanding + * - TC[2,129]: Toggle Wiretapping + * - TM[2,130]: Wiretapping Packet TM + * - TM[2,131]: Wiretapping Packet TC + * @ingroup pus_services + */ +class Service2DeviceAccess : public CommandingServiceBase, + public AcceptsDeviceResponsesIF +{ +public: + Service2DeviceAccess(object_id_t objectId, uint16_t apid, + uint8_t serviceId, uint8_t numberOfParallelCommands = 4, + uint16_t commandTimeoutSeconds = 60); + virtual ~Service2DeviceAccess(); + +protected: + //! CommandingServiceBase (CSB) abstract functions. See CSB documentation. + ReturnValue_t isValidSubservice(uint8_t subservice) override; + ReturnValue_t getMessageQueueAndObject(uint8_t subservice, + const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id, + object_id_t *objectId) override; + ReturnValue_t prepareCommand(CommandMessage* message, uint8_t subservice, + const uint8_t *tcData, size_t tcDataLen, uint32_t *state, + object_id_t objectId) override; + ReturnValue_t handleReply(const CommandMessage* reply, + Command_t previousCommand, uint32_t *state, + CommandMessage* optionalNextCommand, object_id_t objectId, + bool *isStep) override; + + /** + * @brief Generates TM packets containing either the TC wiretapping + * packets or the TM wiretapping packets. + * Note that for service 2, all telemetry will be treated as an + * unrequested reply regardless of wiretapping mode. + * @param reply + */ + void handleUnrequestedReply(CommandMessage* reply) override; + + MessageQueueId_t getDeviceQueue() override; +private: + /** + * Generates TM packets for Wiretapping Service + * @param reply + * @param subservice + */ + void sendWiretappingTm(CommandMessage* reply,uint8_t subservice); + + ReturnValue_t checkInterfaceAndAcquireMessageQueue( + MessageQueueId_t* messageQueueToSet, object_id_t* objectId); + + ReturnValue_t prepareRawCommand(CommandMessage* messageToSet, + const uint8_t* tcData, size_t tcDataLen); + ReturnValue_t prepareWiretappingCommand(CommandMessage* messageToSet, + const uint8_t* tcData, size_t tcDataLen); + + enum class Subservice { + RAW_COMMANDING = 128, //!< [EXPORT] : [COMMAND] Command in device native protocol + TOGGLE_WIRETAPPING = 129, //!< [EXPORT] : [COMMAND] Toggle wiretapping of raw communication + RAW_REPLY = 130, //!< [EXPORT] : [REPLY] Includes wiretapping TM and normal TM raw replies from device + WIRETAPPING_RAW_TC = 131 //!< [EXPORT] : [REPLY] Wiretapping packets of commands built by device handler + }; +}; + + +#endif /* MISSION_PUS_DEVICE2DEVICECOMMANDING_H_ */ diff --git a/pus/Service5EventReporting.cpp b/pus/Service5EventReporting.cpp new file mode 100644 index 000000000..1dfbe2293 --- /dev/null +++ b/pus/Service5EventReporting.cpp @@ -0,0 +1,91 @@ +#include +#include + +#include +#include +#include +#include + + +Service5EventReporting::Service5EventReporting(object_id_t objectId, + uint16_t apid, uint8_t serviceId, size_t maxNumberReportsPerCycle): + PusServiceBase(objectId, apid, serviceId), + maxNumberReportsPerCycle(maxNumberReportsPerCycle) { + eventQueue = QueueFactory::instance()->createMessageQueue(); +} + +Service5EventReporting::~Service5EventReporting(){} + +ReturnValue_t Service5EventReporting::performService() { + EventMessage message; + ReturnValue_t status = RETURN_OK; + for(uint8_t counter = 0; + counter < maxNumberReportsPerCycle; + counter++) + { + // Receive messages even if reporting is disabled for now. + status = eventQueue->receiveMessage(&message); + if(status == MessageQueueIF::EMPTY) { + return HasReturnvaluesIF::RETURN_OK; + } + + if(enableEventReport) { + status = generateEventReport(message); + if(status != HasReturnvaluesIF::RETURN_OK) { + return status; + } + } + } + sif::debug << "Service5EventReporting::generateEventReport:" + " Too many events" << std::endl; + return HasReturnvaluesIF::RETURN_OK; +} + + +ReturnValue_t Service5EventReporting::generateEventReport( + EventMessage message) +{ + EventReport report(message.getEventId(),message.getReporter(), + message.getParameter1(),message.getParameter2()); + TmPacketStored tmPacket(PusServiceBase::apid, PusServiceBase::serviceId, + message.getSeverity(), packetSubCounter++, &report); + ReturnValue_t result = tmPacket.sendPacket( + requestQueue->getDefaultDestination(),requestQueue->getId()); + if(result != HasReturnvaluesIF::RETURN_OK) { + sif::debug << "Service5EventReporting::generateEventReport:" + " Could not send TM packet" << std::endl; + } + return result; +} + +ReturnValue_t Service5EventReporting::handleRequest(uint8_t subservice) { + switch(subservice) { + case Subservice::ENABLE: { + enableEventReport = true; + return HasReturnvaluesIF::RETURN_OK; + } + case Subservice::DISABLE: { + enableEventReport = false; + return HasReturnvaluesIF::RETURN_OK; + } + default: + return AcceptsTelecommandsIF::INVALID_SUBSERVICE; + } +} + + +// In addition to the default PUSServiceBase initialization, this service needs +// to be registered to the event manager to listen for events. +ReturnValue_t Service5EventReporting::initialize() { + EventManagerIF* manager = objectManager->get( + objects::EVENT_MANAGER); + if (manager == NULL) { + return RETURN_FAILED; + } + // register Service 5 as listener for events + ReturnValue_t result = manager->registerListener(eventQueue->getId(),true); + if(result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + return PusServiceBase::initialize(); +} diff --git a/pus/Service5EventReporting.h b/pus/Service5EventReporting.h new file mode 100644 index 000000000..79b7c5e7b --- /dev/null +++ b/pus/Service5EventReporting.h @@ -0,0 +1,86 @@ +#ifndef FRAMEWORK_PUS_SERVICE5EVENTREPORTING_H_ +#define FRAMEWORK_PUS_SERVICE5EVENTREPORTING_H_ + +#include +#include + +/** + * @brief Report on-board events like information or errors + * @details + * Full Documentation: ECSS-E70-41A p.79 + * Implements the PusServiceBase template class. + * Documentation: Dissertation Baetz p.135,136 + * + * This service provides for the reporting to the service user of information of + * operational significance. + * 1. reporting of failures or anomalies detected on-board; + * 2. reporting of autonomous on-board actions; + * 3. reporting of normal progress of operations and activities, e.g. + * detection of events which are not anomalous (such as payload events), + * reaching of predefined steps in an operation. Some reports can combine + * more than one of these events. + * + * Minimum capabilities of this service: + * + * - TM[5,1]: Normal/Progress Report + * - TM[5,2]: Error/Anomaly Report - Low Severity + * - TM[5,3]: Error/Anomaly Report - Medium Severity + * - TM[5,4]: Error/Anomaly Report - High Severity + * + * Events can be translated by using translator files located in + * /config/objects/ and /config/events/. Description to events can be added by + * adding a comment behind the event definition with [//!<] as leading string + * + * Additional capabilities of this service: + * + * - TC[5,5]: Enable Event Report Generation (Req. 6) + * - TC[5,6]: Disable Event Report Generation (Req. 5) + * @author R. Mueller + * @ingroup pus_services + */ +class Service5EventReporting: public PusServiceBase { +public: + + Service5EventReporting(object_id_t objectId, uint16_t apid, + uint8_t serviceId, size_t maxNumberReportsPerCycle = 10); + virtual ~Service5EventReporting(); + + /*** + * Check for events and generate event reports if required. + * @return + */ + ReturnValue_t performService() override; + + /*** + * Turn event generation on or off. + * @return + */ + ReturnValue_t handleRequest(uint8_t subservice) override; + + /** + * The default PusServiceBase initialize has been overridden but is still + * executed. Registers this service as a listener for events at the + * EventManager. + * @return + */ + ReturnValue_t initialize() override; + + enum Subservice: uint8_t { + NORMAL_REPORT = 1, //!< [EXPORT] : [REPLY] Generate normal report + ERROR_LOW_SEVERITY = 2, //!< [EXPORT] : [REPLY] Generate error report with low severity + ERROR_MED_SEVERITY = 3, //!< [EXPORT] : [REPLY] Generate error report with medium severity + ERROR_HIGH_SEVERITY = 4, //!< [EXPORT] : [REPLY] Generate error report with high severity + ENABLE = 5, //!< [EXPORT] : [COMMAND] Enable report generation + DISABLE = 6 //!< [EXPORT] : [COMMAND] Disable report generation + }; + +private: + uint16_t packetSubCounter = 0; + MessageQueueIF* eventQueue = nullptr; + bool enableEventReport = true; + const uint8_t maxNumberReportsPerCycle; + + ReturnValue_t generateEventReport(EventMessage message); +}; + +#endif /* MISSION_PUS_SERVICE5EVENTREPORTING_H_ */ diff --git a/pus/Service8FunctionManagement.cpp b/pus/Service8FunctionManagement.cpp new file mode 100644 index 000000000..812398b94 --- /dev/null +++ b/pus/Service8FunctionManagement.cpp @@ -0,0 +1,135 @@ +#include +#include + +#include +#include +#include +#include +#include + +Service8FunctionManagement::Service8FunctionManagement(object_id_t object_id, + uint16_t apid, uint8_t serviceId, uint8_t numParallelCommands, + uint16_t commandTimeoutSeconds): + CommandingServiceBase(object_id, apid, serviceId, numParallelCommands, + commandTimeoutSeconds) {} + +Service8FunctionManagement::~Service8FunctionManagement() {} + + +ReturnValue_t Service8FunctionManagement::isValidSubservice( + uint8_t subservice) { + switch(static_cast(subservice)) { + case Subservice::DIRECT_COMMANDING: + return HasReturnvaluesIF::RETURN_OK; + default: + return AcceptsTelecommandsIF::INVALID_SUBSERVICE; + } +} + +ReturnValue_t Service8FunctionManagement::getMessageQueueAndObject( + uint8_t subservice, const uint8_t* tcData, size_t tcDataLen, + MessageQueueId_t* id, object_id_t* objectId) { + if(tcDataLen < sizeof(object_id_t)) { + return CommandingServiceBase::INVALID_TC; + } + SerializeAdapter::deSerialize(objectId, &tcData, + &tcDataLen, SerializeIF::Endianness::BIG); + + return checkInterfaceAndAcquireMessageQueue(id,objectId); +} + +ReturnValue_t Service8FunctionManagement::checkInterfaceAndAcquireMessageQueue( + MessageQueueId_t* messageQueueToSet, object_id_t* objectId) { + // check HasActionIF property of target + HasActionsIF* possibleTarget = objectManager->get(*objectId); + if(possibleTarget == nullptr){ + return CommandingServiceBase::INVALID_OBJECT; + } + *messageQueueToSet = possibleTarget->getCommandQueue(); + return HasReturnvaluesIF::RETURN_OK; +} + + +ReturnValue_t Service8FunctionManagement::prepareCommand( + CommandMessage* message, uint8_t subservice, const uint8_t* tcData, + size_t tcDataLen, uint32_t* state, object_id_t objectId) { + return prepareDirectCommand(dynamic_cast(message), + tcData, tcDataLen); +} + +ReturnValue_t Service8FunctionManagement::prepareDirectCommand( + CommandMessage *message, const uint8_t *tcData, size_t tcDataLen) { + // Create direct command instance by extracting data from Telecommand + DirectCommand command(tcData,tcDataLen); + + // store additional parameters into the IPC Store + store_address_t parameterAddress; + ReturnValue_t result = IPCStore->addData(¶meterAddress, + command.getParameters(),command.getParametersSize()); + + // setCommand expects a Command Message, an Action ID and a store adress + // pointing to additional parameters + ActionMessage::setCommand(message,command.getActionId(),parameterAddress); + return result; +} + + +ReturnValue_t Service8FunctionManagement::handleReply( + const CommandMessage* reply, Command_t previousCommand, + uint32_t* state, CommandMessage* optionalNextCommand, + object_id_t objectId, bool* isStep) { + Command_t replyId = reply->getCommand(); + ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED; + ActionId_t actionId = ActionMessage::getActionId(reply); + ReturnValue_t returnCode = ActionMessage::getReturnCode(reply); + + switch(replyId) { + case ActionMessage::COMPLETION_SUCCESS: { + DirectReply completionReply(objectId, actionId,returnCode); + result = CommandingServiceBase::EXECUTION_COMPLETE; + break; + } + case ActionMessage::STEP_SUCCESS: { + *isStep = true; + result = HasReturnvaluesIF::RETURN_OK; + break; + } + case ActionMessage::DATA_REPLY: { + result = handleDataReply(reply, objectId, actionId); + break; + } + case ActionMessage::STEP_FAILED: + *isStep = true; + /*No break, falls through*/ + case ActionMessage::COMPLETION_FAILED: + result = ActionMessage::getReturnCode(reply); + break; + default: + result = INVALID_REPLY; + } + return result; +} + +ReturnValue_t Service8FunctionManagement::handleDataReply( + const CommandMessage* reply, object_id_t objectId, + ActionId_t actionId) { + store_address_t storeId = ActionMessage::getStoreId(reply); + size_t size = 0; + const uint8_t * buffer = nullptr; + ReturnValue_t result = IPCStore->getData(storeId, &buffer, &size); + if(result != RETURN_OK) { + sif::error << "Service 8: Could not retrieve data for data reply" + << std::endl; + return result; + } + DataReply dataReply(objectId, actionId, buffer, size); + result = sendTmPacket(static_cast( + Subservice::DIRECT_COMMANDING_DATA_REPLY), &dataReply); + + auto deletionResult = IPCStore->deleteData(storeId); + if(deletionResult != HasReturnvaluesIF::RETURN_OK) { + sif::warning << "Service8FunctionManagement::handleReply: Deletion" + << " of data in pool failed." << std::endl; + } + return result; +} diff --git a/pus/Service8FunctionManagement.h b/pus/Service8FunctionManagement.h new file mode 100644 index 000000000..e2c7a84f6 --- /dev/null +++ b/pus/Service8FunctionManagement.h @@ -0,0 +1,67 @@ +#ifndef FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_ +#define FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_ + +#include +#include + +/** + * @brief Functional commanding. + * Full Documentation: ECSS-E-ST-70-41C p.64, p. 451 + * Dissertation Baetz p. 115, 116, 165-167 + * + * This service provides the capability to perform functions of an + * application process and provides high-level commanding as opposed to the + * Raw Access provided by Service 2. Examples for these functions can include + * control and operation of payload or the AOCS subsystem. + * This service will be the primary means to control the spacecraft as it is + * considered safer than the Raw Access provided + * by Service 2 and is generally sufficient for most tasks. + * + * This is a gateway service. It relays device commands using the software bus. + * This service is very closely tied to the Commanding Service Base template + * class. There is constant interaction between this Service Base und a + * subclass like this service. + * + * Service Capability: + * - TC[8,128]: Direct Commanding + * - TM[8,130]: Direct Commanding Data Reply + * + * @ingroup pus_services + */ +class Service8FunctionManagement : public CommandingServiceBase +{ +public: + Service8FunctionManagement(object_id_t objectId, uint16_t apid, + uint8_t serviceId, uint8_t numParallelCommands = 4, + uint16_t commandTimeoutSeconds = 60); + virtual ~Service8FunctionManagement(); + +protected: + /* CSB abstract functions implementation . See CSB documentation. */ + ReturnValue_t isValidSubservice(uint8_t subservice) override; + ReturnValue_t getMessageQueueAndObject(uint8_t subservice, + const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id, + object_id_t *objectId) override; + ReturnValue_t prepareCommand(CommandMessage* message, + uint8_t subservice, const uint8_t *tcData, size_t tcDataLen, + uint32_t *state, object_id_t objectId) override; + ReturnValue_t handleReply(const CommandMessage* reply, + Command_t previousCommand, uint32_t *state, + CommandMessage* optionalNextCommand, object_id_t objectId, + bool *isStep) override; + +private: + enum class Subservice { + DIRECT_COMMANDING = 128, //!< [EXPORT] : [COMMAND] Functional commanding + DIRECT_COMMANDING_DATA_REPLY = 130, //!< [EXPORT] : [REPLY] Data reply + }; + + ReturnValue_t checkInterfaceAndAcquireMessageQueue( + MessageQueueId_t* messageQueueToSet, object_id_t* objectId); + ReturnValue_t prepareDirectCommand(CommandMessage* message, + const uint8_t* tcData, size_t tcDataLen); + ReturnValue_t handleDataReply(const CommandMessage* reply, + object_id_t objectId, ActionId_t actionId); +}; + +#endif /* FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_ */ diff --git a/pus/servicepackets/Service1Packets.h b/pus/servicepackets/Service1Packets.h new file mode 100644 index 000000000..b01942c6e --- /dev/null +++ b/pus/servicepackets/Service1Packets.h @@ -0,0 +1,166 @@ +/** + * @defgroup spacepackets PUS Packet Definitions + * This group contains all implemented TM or TM packages that are sent to + * or sent by the OBC.They are exported later to display + * packet structures in Mission Information Base (MIB). + */ + +#ifndef MISSION_PUS_SERVICEPACKETS_SERVICE1PACKETS_H_ +#define MISSION_PUS_SERVICEPACKETS_SERVICE1PACKETS_H_ + +#include +#include + +/** + * @brief FailureReport class to serialize a failure report + * @brief Subservice 1, 3, 5, 7 + * @ingroup spacepackets + */ +class FailureReport: public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 1, 3, 5, 7 +public: + FailureReport(uint8_t failureSubtype_, uint16_t packetId_, + uint16_t packetSequenceControl_, uint8_t stepNumber_, + ReturnValue_t errorCode_, uint32_t errorParameter1_, + uint32_t errorParameter2_) : + packetId(packetId_), packetSequenceControl(packetSequenceControl_), + stepNumber(stepNumber_), errorCode(errorCode_), + errorParameter1(errorParameter1_), errorParameter2(errorParameter2_), + failureSubtype(failureSubtype_) {} + + /** + * This function is called by the FSFW when calling the tm packet send + * function and supplying the SerializeIF* as parameter + * @param buffer Object content is serialized into the buffer + * @param size + * @param max_size + * @param bigEndian + * @return + */ + virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, + size_t maxSize, SerializeIF::Endianness streamEndianness + ) const override { + ReturnValue_t result = SerializeAdapter::serialize(&packetId, buffer, + size, maxSize, streamEndianness); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + result = SerializeAdapter::serialize(&packetSequenceControl, buffer, + size, maxSize, streamEndianness); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + if (failureSubtype == TC_VERIFY::PROGRESS_FAILURE) { + result = SerializeAdapter::serialize(&stepNumber, buffer, size, + maxSize, streamEndianness); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + } + result = SerializeAdapter::serialize(&errorCode, buffer, size, + maxSize, streamEndianness); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + result = SerializeAdapter::serialize(&errorParameter1, buffer, size, + maxSize, streamEndianness); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + + result = SerializeAdapter::serialize(&errorParameter2, buffer, size, + maxSize, streamEndianness); + return result; + } + + + virtual size_t getSerializedSize() const { + size_t size = 0; + size += SerializeAdapter::getSerializedSize(&packetId); + size += sizeof(packetSequenceControl); + if(failureSubtype==TC_VERIFY::PROGRESS_FAILURE){ + size += SerializeAdapter::getSerializedSize(&stepNumber); + } + size += SerializeAdapter::getSerializedSize(&errorCode); + size += SerializeAdapter::getSerializedSize(&errorParameter1); + size += SerializeAdapter::getSerializedSize(&errorParameter2); + return size; + } + + /** + * Deserialization is not allowed for a report. + * @param buffer + * @param size + * @param bigEndian + * @return + */ + ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size, + SerializeIF::Endianness streamEndianness) override { + return HasReturnvaluesIF::RETURN_FAILED; + } +private: + uint16_t packetId; //!< [EXPORT] : [COMMENT] Packet ID of respective Telecommand + uint16_t packetSequenceControl; //!< [EXPORT] : [COMMENT] Packet SSC of respective Telecommand + uint8_t stepNumber; //!< [EXPORT] : [OPTIONAL][SUBSERVICE] 6 + ReturnValue_t errorCode; //!< [EXPORT] : [COMMENT] Error code which can be looked up in generated error code file + uint32_t errorParameter1; + uint32_t errorParameter2; + const uint8_t failureSubtype; //!< [EXPORT] : [IGNORE] +}; + +/** + * @brief Subservices 2, 4, 6, 8 + * @ingroup spacepackets + */ +class SuccessReport: public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 2, 4, 6, 8 +public: + SuccessReport(uint8_t subtype_, uint16_t packetId_, + uint16_t packetSequenceControl_,uint8_t stepNumber_) : + packetId(packetId_), packetSequenceControl(packetSequenceControl_), + stepNumber(stepNumber_), subtype(subtype_) {} + + virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, + size_t maxSize, SerializeIF::Endianness streamEndianness + ) const override { + ReturnValue_t result = SerializeAdapter::serialize(&packetId, buffer, + size, maxSize, streamEndianness); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + result = SerializeAdapter::serialize(&packetSequenceControl, buffer, + size, maxSize, streamEndianness); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + if (subtype == TC_VERIFY::PROGRESS_SUCCESS) { + result = SerializeAdapter::serialize(&stepNumber, buffer, size, + maxSize, streamEndianness); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + } + return result; + } + + virtual size_t getSerializedSize() const override { + size_t size = 0; + size += SerializeAdapter::getSerializedSize(&packetId); + size += sizeof(packetSequenceControl); + if(subtype == TC_VERIFY::PROGRESS_SUCCESS){ + size += SerializeAdapter::getSerializedSize(&stepNumber); + } + return size; + + } + + ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size, + SerializeIF::Endianness streamEndianness) override { + return HasReturnvaluesIF::RETURN_FAILED; + } +private: + uint16_t packetId; //!< [EXPORT] : [COMMENT] Packet ID of respective Telecommand + uint16_t packetSequenceControl; //!< [EXPORT] : [COMMENT] Packet SSC of respective Telecommand + uint8_t stepNumber; //!< [EXPORT] : [OPTIONAL][SUBSERVICE] 6 + const uint8_t subtype; //!< [EXPORT] : [IGNORE] +}; + +#endif /* MISSION_PUS_SERVICEPACKETS_SERVICE1PACKETS_H_ */ diff --git a/pus/servicepackets/Service200Packets.h b/pus/servicepackets/Service200Packets.h new file mode 100644 index 000000000..1b5bf236f --- /dev/null +++ b/pus/servicepackets/Service200Packets.h @@ -0,0 +1,63 @@ +#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_ +#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_ + +#include +#include +#include + +/** + * @brief Subservice 1, 2, 3, 4, 5 + * @ingroup spacepackets + */ +class ModePacket : public SerialLinkedListAdapter { //!< [EXPORT] : [SUBSERVICE] 1, 2, 6 +public: + + ModePacket() { + setLinks(); + } + + ModePacket(object_id_t objectId, Mode_t mode, Submode_t submode) : + objectId(objectId), mode(mode), submode(submode) { + setLinks(); + } + + Mode_t getMode() { + return mode.entry; + } + + Submode_t getSubmode() { + return submode.entry; + } + + // Forbid copying, pointers are used. + ModePacket(const ModePacket&) = delete; + ModePacket& operator=(const ModePacket&) = delete; +private: + + void setLinks() { + setStart(&objectId); + objectId.setNext(&mode); + mode.setNext(&submode); + } + SerializeElement objectId; //!< [EXPORT] : [COMMENT] Target or source object + SerializeElement mode; //!< [EXPORT] : [COMMENT] 0: MODE_OFF, 1: MODE_ON, 2: MODE_NORMAL, 3: MODE_RAW + SerializeElement submode; //!< [EXPORT] : [COMMENT] Usually 0, device specific submode possible +}; + +/** + * @brief Subservice 7 + * @ingroup spacepackets + */ +class CantReachModePacket: public SerialLinkedListAdapter { //!< [EXPORT] : [SUBSERVICE] 7 +public: + CantReachModePacket(object_id_t objectId, ReturnValue_t reason): + objectId(objectId), reason(reason) { + setStart(&this->objectId); + this->objectId.setNext(&this->reason); + } + + SerializeElement objectId; //!< [EXPORT] : [COMMENT] Reply source object + SerializeElement reason; //!< [EXPORT] : [COMMENT] Reason the mode could not be reached +}; + +#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_ */ diff --git a/pus/servicepackets/Service2Packets.h b/pus/servicepackets/Service2Packets.h new file mode 100644 index 000000000..f292611e7 --- /dev/null +++ b/pus/servicepackets/Service2Packets.h @@ -0,0 +1,76 @@ +#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_ +#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_ + +#include +#include +#include +#include + +/** + * @brief Subservice 128 + * @ingroup spacepackets + */ +class RawCommand { //!< [EXPORT] : [SUBSERVICE] 128 +public: + RawCommand(const uint8_t* buffer, size_t size) { + // Deserialize Adapter to get correct endianness + SerializeAdapter::deSerialize(&objectId, &buffer, &size, + SerializeIF::Endianness::BIG); + commandBuffer = buffer; + // size is decremented by AutoSerializeAdapter, + // remaining size is data size + dataSize = size; + } + object_id_t getObjectId() const { + return objectId; + } + + const uint8_t* getCommand() { + return commandBuffer; + } + + size_t getCommandSize() const { + return dataSize; + } +private: + object_id_t objectId = 0; + const uint8_t* commandBuffer = nullptr; //!< [EXPORT] : [MAXSIZE] 256 Bytes + size_t dataSize = 0; //!< [EXPORT] : [IGNORE] +}; + + +/** + * @brief Subservice 129: Command packet to set wiretapping mode + * @ingroup spacepackets + */ +class WiretappingToggle: public SerialLinkedListAdapter{ //!< [EXPORT] : [SUBSERVICE] 129 +public: + static const size_t WIRETAPPING_COMMAND_SIZE = 5; + WiretappingToggle(){ + setStart(&objectId); + objectId.setNext(&wiretappingMode); + } + + uint8_t getWiretappingMode() const { + return wiretappingMode.entry; + } +private: + SerializeElement objectId; + SerializeElement wiretappingMode; //!< [EXPORT] : [INPUT] Mode 0: OFF, Mode 1: RAW +}; + + +/** + * @brief Subservices 130 and 131: TM packets + * @ingroup spacepackets + */ +class WiretappingPacket { //!< [EXPORT] : [SUBSERVICE] 130, 131 +public: + object_id_t objectId; //!< [EXPORT] : [COMMENT] Object ID of source object + const uint8_t* data; //!< [EXPORT] : [MAXSIZE] Raw Command Max. Size + WiretappingPacket(object_id_t objectId, const uint8_t* buffer): + objectId(objectId), data(buffer) { + } +}; + +#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_ */ diff --git a/pus/servicepackets/Service5Packets.h b/pus/servicepackets/Service5Packets.h new file mode 100644 index 000000000..14219c936 --- /dev/null +++ b/pus/servicepackets/Service5Packets.h @@ -0,0 +1,76 @@ +#ifndef MISSION_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_ +#define MISSION_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_ + +#include +#include + + +/** + * @brief Subservice 1, 2, 3, 4 + * Structure of Event Report. + * It consists of: + * 1. Report ID(RID). This is the Event ID in the FSFW + * 2. Object ID of the reporter (e.g. subsystem) + * 2. Parameter 1 + * 3. Parameter 2 + * + * @ingroup spacepackets + */ +class EventReport: public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 1, 2, 3, 4 +public: + + EventReport(EventId_t reportId_, object_id_t objectId_, uint32_t parameter1_, + uint32_t parameter2_): + reportId(reportId_),objectId(objectId_), parameter1(parameter1_), + parameter2(parameter2_) {} + + virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, + size_t maxSize, + SerializeIF::Endianness streamEndianness) const override + { + ReturnValue_t result = SerializeAdapter::serialize(&reportId, buffer, + size, maxSize, streamEndianness); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + result = SerializeAdapter::serialize(&objectId, buffer, size, + maxSize, streamEndianness); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + result = SerializeAdapter::serialize(¶meter1, buffer, size, + maxSize, streamEndianness); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + result = SerializeAdapter::serialize(¶meter2, buffer, size, + maxSize, streamEndianness); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + return result; + } + + virtual size_t getSerializedSize() const override { + uint32_t size = 0; + size += SerializeAdapter::getSerializedSize(&reportId); + size += SerializeAdapter::getSerializedSize(&objectId); + size += SerializeAdapter::getSerializedSize(¶meter1); + size += SerializeAdapter::getSerializedSize(¶meter2); + return size; + + } + + virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size, + SerializeIF::Endianness streamEndianness) override { + return HasReturnvaluesIF::RETURN_FAILED; + } +private: + EventId_t reportId; + object_id_t objectId; + uint32_t parameter1; + uint32_t parameter2; +}; + + +#endif /* MISSION_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_ */ diff --git a/pus/servicepackets/Service8Packets.h b/pus/servicepackets/Service8Packets.h new file mode 100644 index 000000000..5ef912806 --- /dev/null +++ b/pus/servicepackets/Service8Packets.h @@ -0,0 +1,136 @@ +/** + * \file Service8Packets.h + * + * \brief Structure of a Direct Command. + * Normal reply (subservice 130) consists of + * 1. Target object ID + * 2. Action ID (taget device has specified functions with action IDs) + * 3. Return Code + * 4. Optional step number for step replies + * + * Data reply (subservice 132) consists of + * 1. Target Object ID + * 2. Action ID + * 3. Data + * + * \date 01.07.2019 + * \author R. Mueller + */ + +#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_ +#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_ + +#include +#include +#include +#include +#include +#include + + +/** + * \brief Subservice 128 + * \ingroup spacepackets + */ +class DirectCommand: public SerialLinkedListAdapter { //!< [EXPORT] : [SUBSERVICE] 128 +public: + //typedef uint16_t typeOfMaxData; + //static const typeOfMaxData MAX_DATA = 256; + DirectCommand(const uint8_t* dataBuffer_, uint32_t size_) { + size_t size = sizeof(objectId); + SerializeAdapter::deSerialize(&objectId,&dataBuffer_,&size, + SerializeIF::Endianness::BIG); + size = sizeof(actionId); + SerializeAdapter::deSerialize(&actionId,&dataBuffer_,&size, + SerializeIF::Endianness::BIG); + parameterBuffer = dataBuffer_; + parametersSize = size_ - sizeof(objectId) - sizeof(actionId); + } + ActionId_t getActionId() const { + return actionId; + } + + object_id_t getObjectId() const { + return objectId; + } + + const uint8_t* getParameters() { + return parameterBuffer; + } + + uint32_t getParametersSize() const { + return parametersSize; + } + +private: + DirectCommand(const DirectCommand &command); + object_id_t objectId; + ActionId_t actionId; + uint32_t parametersSize; //!< [EXPORT] : [IGNORE] + const uint8_t * parameterBuffer; //!< [EXPORT] : [MAXSIZE] 65535 Bytes + +}; + + +/** + * \brief Subservice 130 + * \ingroup spacepackets + */ +class DataReply: public SerialLinkedListAdapter { //!< [EXPORT] : [SUBSERVICE] 130 +public: + typedef uint16_t typeOfMaxDataSize; + static const uint16_t MAX_DATA_LENGTH = sizeof(typeOfMaxDataSize); + DataReply(object_id_t objectId_, ActionId_t actionId_, + const uint8_t * replyDataBuffer_ = NULL, uint16_t replyDataSize_ = 0): + objectId(objectId_), actionId(actionId_), replyData(replyDataBuffer_,replyDataSize_){ + setLinks(); + } + +private: + DataReply(const DataReply &reply); + void setLinks() { + setStart(&objectId); + objectId.setNext(&actionId); + actionId.setNext(&replyData); + } + SerializeElement objectId; + SerializeElement actionId; + SerializeElement> replyData; +}; + + +/** + * \brief Subservice 132 + * \ingroup spacepackets + */ +class DirectReply: public SerialLinkedListAdapter { //!< [EXPORT] : [SUBSERVICE] 132 +public: + typedef uint16_t typeOfMaxDataSize; + static const uint16_t MAX_DATA_LENGTH = sizeof(typeOfMaxDataSize); + + DirectReply(object_id_t objectId_, ActionId_t actionId_, ReturnValue_t returnCode_, + bool isStep_ = false, uint8_t step_ = 0): + isStep(isStep_), objectId(objectId_), actionId(actionId_), + returnCode(returnCode_),step(step_) { + setLinks(); + } +private: + + void setLinks() { + setStart(&objectId); + objectId.setNext(&actionId); + actionId.setNext(&returnCode); + if(isStep) { + returnCode.setNext(&step); + } + } + bool isDataReply; //!< [EXPORT] : [IGNORE] + bool isStep; //!< [EXPORT] : [IGNORE] + SerializeElement objectId; //!< [EXPORT] : [IGNORE] + SerializeElement actionId; //!< [EXPORT] : [IGNORE] + SerializeElement returnCode; //!< [EXPORT] : [IGNORE] + SerializeElement step; //!< [EXPORT] : [OPTIONAL] [IGNORE] + +}; + +#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_ */ From 97b01f837ceaf876ec2939150c444c23e7d6040e Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Fri, 10 Jul 2020 14:29:17 +0200 Subject: [PATCH 37/90] srv8 improvements --- pus/Service8FunctionManagement.cpp | 9 +++++- pus/servicepackets/Service8Packets.h | 41 ++++++++++++++-------------- 2 files changed, 29 insertions(+), 21 deletions(-) diff --git a/pus/Service8FunctionManagement.cpp b/pus/Service8FunctionManagement.cpp index 812398b94..50102b04c 100644 --- a/pus/Service8FunctionManagement.cpp +++ b/pus/Service8FunctionManagement.cpp @@ -59,8 +59,15 @@ ReturnValue_t Service8FunctionManagement::prepareCommand( ReturnValue_t Service8FunctionManagement::prepareDirectCommand( CommandMessage *message, const uint8_t *tcData, size_t tcDataLen) { + if(tcDataLen < sizeof(object_id_t) + sizeof(ActionId_t)) { + sif::debug << "Service8FunctionManagement::prepareDirectCommand:" + << " TC size smaller thant minimum size of direct command." + << std::endl; + return CommandingServiceBase::INVALID_TC; + } + // Create direct command instance by extracting data from Telecommand - DirectCommand command(tcData,tcDataLen); + DirectCommand command(tcData, tcDataLen); // store additional parameters into the IPC Store store_address_t parameterAddress; diff --git a/pus/servicepackets/Service8Packets.h b/pus/servicepackets/Service8Packets.h index 5ef912806..86681c142 100644 --- a/pus/servicepackets/Service8Packets.h +++ b/pus/servicepackets/Service8Packets.h @@ -8,10 +8,7 @@ * 3. Return Code * 4. Optional step number for step replies * - * Data reply (subservice 132) consists of - * 1. Target Object ID - * 2. Action ID - * 3. Data + * * \date 01.07.2019 * \author R. Mueller @@ -29,23 +26,21 @@ /** - * \brief Subservice 128 - * \ingroup spacepackets + * @brief Subservice 128 + * @ingroup spacepackets */ class DirectCommand: public SerialLinkedListAdapter { //!< [EXPORT] : [SUBSERVICE] 128 public: - //typedef uint16_t typeOfMaxData; - //static const typeOfMaxData MAX_DATA = 256; - DirectCommand(const uint8_t* dataBuffer_, uint32_t size_) { - size_t size = sizeof(objectId); - SerializeAdapter::deSerialize(&objectId,&dataBuffer_,&size, + + DirectCommand(const uint8_t* tcData, size_t size) { + SerializeAdapter::deSerialize(&objectId, &tcData, &size, SerializeIF::Endianness::BIG); - size = sizeof(actionId); - SerializeAdapter::deSerialize(&actionId,&dataBuffer_,&size, + SerializeAdapter::deSerialize(&actionId, &tcData, &size, SerializeIF::Endianness::BIG); - parameterBuffer = dataBuffer_; - parametersSize = size_ - sizeof(objectId) - sizeof(actionId); + parameterBuffer = tcData; + parametersSize = size; } + ActionId_t getActionId() const { return actionId; } @@ -73,8 +68,12 @@ private: /** - * \brief Subservice 130 - * \ingroup spacepackets + * @brief Subservice 130 + * Data reply (subservice 130) consists of + * 1. Target Object ID + * 2. Action ID + * 3. Data + * @ingroup spacepackets */ class DataReply: public SerialLinkedListAdapter { //!< [EXPORT] : [SUBSERVICE] 130 public: @@ -100,8 +99,10 @@ private: /** - * \brief Subservice 132 - * \ingroup spacepackets + * @brief Subservice 132 + * @details + * Not used yet. Telecommand Verification takes care of this. + * @ingroup spacepackets */ class DirectReply: public SerialLinkedListAdapter { //!< [EXPORT] : [SUBSERVICE] 132 public: @@ -124,7 +125,7 @@ private: returnCode.setNext(&step); } } - bool isDataReply; //!< [EXPORT] : [IGNORE] + bool isStep; //!< [EXPORT] : [IGNORE] SerializeElement objectId; //!< [EXPORT] : [IGNORE] SerializeElement actionId; //!< [EXPORT] : [IGNORE] From 85d24b9dfef5b13b8ae5dd4ffd8eadf60c38fd8b Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Fri, 10 Jul 2020 14:31:58 +0200 Subject: [PATCH 38/90] removed file header comment --- pus/servicepackets/Service8Packets.h | 16 ---------------- 1 file changed, 16 deletions(-) diff --git a/pus/servicepackets/Service8Packets.h b/pus/servicepackets/Service8Packets.h index 86681c142..8ea0d1086 100644 --- a/pus/servicepackets/Service8Packets.h +++ b/pus/servicepackets/Service8Packets.h @@ -1,19 +1,3 @@ -/** - * \file Service8Packets.h - * - * \brief Structure of a Direct Command. - * Normal reply (subservice 130) consists of - * 1. Target object ID - * 2. Action ID (taget device has specified functions with action IDs) - * 3. Return Code - * 4. Optional step number for step replies - * - - * - * \date 01.07.2019 - * \author R. Mueller - */ - #ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_ #define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_ From 14f86422e366390583a8070f685b390c2eccb04f Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Mon, 13 Jul 2020 19:47:31 +0200 Subject: [PATCH 39/90] additional size_t replacement --- tmtcservices/CommandingServiceBase.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp index 4277de6fb..0c5f5eab1 100644 --- a/tmtcservices/CommandingServiceBase.cpp +++ b/tmtcservices/CommandingServiceBase.cpp @@ -267,7 +267,7 @@ ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice, object_id_t objectId, const uint8_t *data, size_t dataLen) { uint8_t buffer[sizeof(object_id_t)]; uint8_t* pBuffer = buffer; - uint32_t size = 0; + size_t size = 0; SerializeAdapter::serialize(&objectId, &pBuffer, &size, sizeof(object_id_t), SerializeIF::Endianness::BIG); TmPacketStored tmPacketStored(this->apid, this->service, subservice, From d7e157d90817d26a1546d78fec56d658073465ad Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Mon, 13 Jul 2020 19:53:44 +0200 Subject: [PATCH 40/90] switch setLast and setEnd --- container/SinglyLinkedList.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/container/SinglyLinkedList.h b/container/SinglyLinkedList.h index 618a21e17..7d5fc4a9d 100644 --- a/container/SinglyLinkedList.h +++ b/container/SinglyLinkedList.h @@ -58,7 +58,7 @@ public: this->next = next; } - virtual void setLast() { + virtual void setEnd() { this->next = nullptr; } @@ -124,8 +124,8 @@ public: currentElement->setNext(nextElement); } - void setEnd(LinkedElement* lastElement) { - lastElement->setLast(); + void setLast(LinkedElement* lastElement) { + lastElement->setEnd(); } void insertElement(LinkedElement* element, size_t position) { From ef2a44c683fe0d236dfa55ad935c09d8f7472f2e Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Mon, 13 Jul 2020 22:15:38 +0200 Subject: [PATCH 41/90] added back inttypes.h for cleaner code --- timemanager/CCSDSTime.cpp | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/timemanager/CCSDSTime.cpp b/timemanager/CCSDSTime.cpp index 47cab911d..71b2539df 100644 --- a/timemanager/CCSDSTime.cpp +++ b/timemanager/CCSDSTime.cpp @@ -205,9 +205,10 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t* uint8_t hour; uint8_t minute; float second; - //try Code A (yyyy-mm-dd) - int count = sscanf((char *) from, "%4hi-%2hhi-%2hiT%2hhi:%2hhi:%fZ", &year, - &month, &day, &hour, &minute, &second); + //try Code A (yyyy-mm-dd) + int count = sscanf((char *) from, "%4" SCNu16 "-%2" SCNu8 "-%2" SCNu16 + "T%2" SCNu8 ":%2" SCNu8 ":%fZ", &year, &month, &day, + &hour, &minute, &second); if (count == 6) { to->year = year; to->month = month; @@ -219,9 +220,9 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t* return RETURN_OK; } - //try Code B (yyyy-ddd) - count = sscanf((char *) from, "%4hi-%3hiT%2hhi:%2hhi:%fZ", &year, &day, - &hour, &minute, &second); + //try Code B (yyyy-ddd) + count = sscanf((char *) from, "%4" SCNu16 "-%3" SCNu16 "T%2" SCNu8 + ":%2" SCNu8 ":%fZ", &year, &day, &hour, &minute, &second); if (count == 5) { uint8_t tempDay; ReturnValue_t result = CCSDSTime::convertDaysOfYear(day, year, &month, From aca0c94c514a3cfb6401f291e1021b2fe6c662d5 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 16 Jul 2020 11:47:11 +0200 Subject: [PATCH 42/90] CSB new update init --- tmtcservices/CommandingServiceBase.cpp | 396 ++++++++++++++----------- tmtcservices/CommandingServiceBase.h | 256 ++++++++++------ 2 files changed, 379 insertions(+), 273 deletions(-) diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp index aa41f3340..4c9b5375c 100644 --- a/tmtcservices/CommandingServiceBase.cpp +++ b/tmtcservices/CommandingServiceBase.cpp @@ -1,26 +1,35 @@ -/* - * CommandingServiceBase.cpp - * - * Created on: 28.08.2019 - * Author: gaisser - */ +#include +#include +#include #include +#include +#include +#include +#include + +object_id_t CommandingServiceBase::defaultPacketSource = objects::NO_OBJECT; +object_id_t CommandingServiceBase::defaultPacketDestination = objects::NO_OBJECT; CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId, uint16_t apid, uint8_t service, uint8_t numberOfParallelCommands, - uint16_t commandTimeout_seconds, object_id_t setPacketSource, - object_id_t setPacketDestination, size_t queueDepth) : - SystemObject(setObjectId), apid(apid), service(service), timeout_seconds( - commandTimeout_seconds), tmPacketCounter(0), IPCStore(NULL), TCStore( - NULL), commandQueue(NULL), requestQueue(NULL), commandMap( - numberOfParallelCommands), failureParameter1(0), failureParameter2( - 0), packetSource(setPacketSource), packetDestination( - setPacketDestination),executingTask(NULL) { + uint16_t commandTimeoutSeconds, size_t queueDepth) : + SystemObject(setObjectId), apid(apid), service(service), + timeoutSeconds(commandTimeoutSeconds), + commandMap(numberOfParallelCommands) { commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth); requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth); } +void CommandingServiceBase::setPacketSource(object_id_t packetSource) { + this->packetSource = packetSource; +} + +void CommandingServiceBase::setPacketDestination( + object_id_t packetDestination) { + this->packetDestination = packetDestination; +} + CommandingServiceBase::~CommandingServiceBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); @@ -53,12 +62,22 @@ ReturnValue_t CommandingServiceBase::initialize() { return result; } + if(packetDestination == objects::NO_OBJECT) { + packetDestination = defaultPacketDestination; + } AcceptsTelemetryIF* packetForwarding = objectManager->get(packetDestination); + + if(packetSource == objects::NO_OBJECT) { + packetSource = defaultPacketSource; + } PUSDistributorIF* distributor = objectManager->get( packetSource); - if ((packetForwarding == NULL) && (distributor == NULL)) { - return RETURN_FAILED; + + if (packetForwarding == nullptr or distributor == nullptr) { + sif::error << "CommandingServiceBase::intialize: Packet source or " + "packet destination invalid!" << std::endl; + return ObjectManagerIF::CHILD_INIT_FAILED; } distributor->registerService(this); @@ -68,8 +87,10 @@ ReturnValue_t CommandingServiceBase::initialize() { IPCStore = objectManager->get(objects::IPC_STORE); TCStore = objectManager->get(objects::TC_STORE); - if ((IPCStore == NULL) || (TCStore == NULL)) { - return RETURN_FAILED; + if (IPCStore == nullptr or TCStore == nullptr) { + sif::error << "CommandingServiceBase::intialize: IPC store or TC store " + "not initialized yet!" << std::endl; + return ObjectManagerIF::CHILD_INIT_FAILED; } return RETURN_OK; @@ -77,97 +98,126 @@ ReturnValue_t CommandingServiceBase::initialize() { } void CommandingServiceBase::handleCommandQueue() { - CommandMessage reply, nextCommand; - ReturnValue_t result, sendResult = RETURN_OK; - bool isStep = false; + CommandMessage reply; + ReturnValue_t result = RETURN_FAILED; for (result = commandQueue->receiveMessage(&reply); result == RETURN_OK; result = commandQueue->receiveMessage(&reply)) { - isStep = false; - typename FixedMap::Iterator iter; - if (reply.getSender() == MessageQueueIF::NO_QUEUE) { - handleUnrequestedReply(&reply); - continue; - } - if ((iter = commandMap.find(reply.getSender())) == commandMap.end()) { - handleUnrequestedReply(&reply); - continue; - } - nextCommand.setCommand(CommandMessage::CMD_NONE); - result = handleReply(&reply, iter->command, &iter->state, &nextCommand, - iter->objectId, &isStep); - switch (result) { - case EXECUTION_COMPLETE: - case RETURN_OK: - case NO_STEP_MESSAGE: - iter->command = nextCommand.getCommand(); - if (nextCommand.getCommand() != CommandMessage::CMD_NONE) { - sendResult = commandQueue->sendMessage(reply.getSender(), - &nextCommand); - } - if (sendResult == RETURN_OK) { - if (isStep) { - if (result != NO_STEP_MESSAGE) { - verificationReporter.sendSuccessReport( - TC_VERIFY::PROGRESS_SUCCESS, - iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId, - iter->tcInfo.tcSequenceControl, ++iter->step); - } - } else { - verificationReporter.sendSuccessReport( - TC_VERIFY::COMPLETION_SUCCESS, - iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId, - iter->tcInfo.tcSequenceControl, 0); - checkAndExecuteFifo(&iter); - } - } else { - if (isStep) { - nextCommand.clearCommandMessage(); - verificationReporter.sendFailureReport( - TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags, - iter->tcInfo.tcPacketId, - iter->tcInfo.tcSequenceControl, sendResult, - ++iter->step, failureParameter1, failureParameter2); - } else { - nextCommand.clearCommandMessage(); - verificationReporter.sendFailureReport( - TC_VERIFY::COMPLETION_FAILURE, - iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId, - iter->tcInfo.tcSequenceControl, sendResult, 0, - failureParameter1, failureParameter2); - } - failureParameter1 = 0; - failureParameter2 = 0; - checkAndExecuteFifo(&iter); - } - break; - case INVALID_REPLY: - //might be just an unrequested reply at a bad moment - handleUnrequestedReply(&reply); - break; - default: - if (isStep) { - verificationReporter.sendFailureReport( - TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags, - iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl, - result, ++iter->step, failureParameter1, - failureParameter2); - } else { - verificationReporter.sendFailureReport( - TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags, - iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl, - result, 0, failureParameter1, failureParameter2); - } - failureParameter1 = 0; - failureParameter2 = 0; - checkAndExecuteFifo(&iter); - break; - } - + handleCommandMessage(&reply); } } +void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) { + bool isStep = false; + CommandMessage nextCommand; + CommandMapIter iter = commandMap.find(reply->getSender()); + + // handle unrequested reply first + if (reply->getSender() == MessageQueueIF::NO_QUEUE or + iter == commandMap.end()) { + handleUnrequestedReply(reply); + return; + } + nextCommand.setCommand(CommandMessage::CMD_NONE); + + + // Implemented by child class, specifies what to do with reply. + ReturnValue_t result = handleReply(reply, iter->command, &iter->state, + &nextCommand, iter->objectId, &isStep); + + /* If the child implementation does not implement special handling for + * rejected replies (RETURN_FAILED is returned), a failure verification + * will be generated with the reason as the return code and the initial + * command as failure parameter 1 */ + if(reply->getCommand() == CommandMessage::REPLY_REJECTED and + result == RETURN_FAILED) { + result = reply->getReplyRejectedReason(); + failureParameter1 = iter->command; + } + + switch (result) { + case EXECUTION_COMPLETE: + case RETURN_OK: + case NO_STEP_MESSAGE: + // handle result of reply handler implemented by developer. + handleReplyHandlerResult(result, iter, &nextCommand, reply, isStep); + break; + case INVALID_REPLY: + //might be just an unrequested reply at a bad moment + handleUnrequestedReply(reply); + break; + default: + if (isStep) { + verificationReporter.sendFailureReport( + TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags, + iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl, + result, ++iter->step, failureParameter1, + failureParameter2); + } else { + verificationReporter.sendFailureReport( + TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags, + iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl, + result, 0, failureParameter1, failureParameter2); + } + failureParameter1 = 0; + failureParameter2 = 0; + checkAndExecuteFifo(iter); + break; + } + +} + +void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result, + CommandMapIter iter, CommandMessage* nextCommand, + CommandMessage* reply, bool& isStep) { + iter->command = nextCommand->getCommand(); + + // In case a new command is to be sent immediately, this is performed here. + // If no new command is sent, only analyse reply result by initializing + // sendResult as RETURN_OK + ReturnValue_t sendResult = RETURN_OK; + if (nextCommand->getCommand() != CommandMessage::CMD_NONE) { + sendResult = commandQueue->sendMessage(reply->getSender(), + nextCommand); + } + + if (sendResult == RETURN_OK) { + if (isStep and result != NO_STEP_MESSAGE) { + verificationReporter.sendSuccessReport( + TC_VERIFY::PROGRESS_SUCCESS, + iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId, + iter->tcInfo.tcSequenceControl, ++iter->step); + } + else { + verificationReporter.sendSuccessReport( + TC_VERIFY::COMPLETION_SUCCESS, + iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId, + iter->tcInfo.tcSequenceControl, 0); + checkAndExecuteFifo(iter); + } + } + else { + if (isStep) { + nextCommand->clearCommandMessage(); + verificationReporter.sendFailureReport( + TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags, + iter->tcInfo.tcPacketId, + iter->tcInfo.tcSequenceControl, sendResult, + ++iter->step, failureParameter1, failureParameter2); + } else { + nextCommand->clearCommandMessage(); + verificationReporter.sendFailureReport( + TC_VERIFY::COMPLETION_FAILURE, + iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId, + iter->tcInfo.tcSequenceControl, sendResult, 0, + failureParameter1, failureParameter2); + } + failureParameter1 = 0; + failureParameter2 = 0; + checkAndExecuteFifo(iter); + } +} + void CommandingServiceBase::handleRequestQueue() { TmTcMessage message; ReturnValue_t result; @@ -180,8 +230,8 @@ void CommandingServiceBase::handleRequestQueue() { address = message.getStorageId(); packet.setStoreAddress(address); - if ((packet.getSubService() == 0) - || (isValidSubservice(packet.getSubService()) != RETURN_OK)) { + if (packet.getSubService() == 0 + or isValidSubservice(packet.getSubService()) != RETURN_OK) { rejectPacket(TC_VERIFY::START_FAILURE, &packet, INVALID_SUBSERVICE); continue; } @@ -194,8 +244,7 @@ void CommandingServiceBase::handleRequestQueue() { } //Is a command already active for the target object? - typename FixedMap::Iterator iter; + CommandMapIter iter; iter = commandMap.find(queue); if (iter != commandMap.end()) { @@ -210,7 +259,7 @@ void CommandingServiceBase::handleRequestQueue() { if (result != RETURN_OK) { rejectPacket(TC_VERIFY::START_FAILURE, &packet, BUSY); } else { - startExecution(&packet, &iter); + startExecution(&packet, iter); } } @@ -218,9 +267,9 @@ void CommandingServiceBase::handleRequestQueue() { } -void CommandingServiceBase::sendTmPacket(uint8_t subservice, - const uint8_t* data, uint32_t dataLen, const uint8_t* headerData, - uint32_t headerSize) { +ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice, + const uint8_t* data, size_t dataLen, const uint8_t* headerData, + size_t headerSize) { TmPacketStored tmPacketStored(this->apid, this->service, subservice, this->tmPacketCounter, data, dataLen, headerData, headerSize); ReturnValue_t result = tmPacketStored.sendPacket( @@ -228,79 +277,79 @@ void CommandingServiceBase::sendTmPacket(uint8_t subservice, if (result == HasReturnvaluesIF::RETURN_OK) { this->tmPacketCounter++; } + return result; } -void CommandingServiceBase::sendTmPacket(uint8_t subservice, - object_id_t objectId, const uint8_t *data, uint32_t dataLen) { - uint8_t buffer[sizeof(object_id_t)]; - uint8_t* pBuffer = buffer; - size_t size = 0; - SerializeAdapter::serialize(&objectId, &pBuffer, &size, - sizeof(object_id_t), SerializeIF::Endianness::BIG); - TmPacketStored tmPacketStored(this->apid, this->service, subservice, - this->tmPacketCounter, data, dataLen, buffer, size); - ReturnValue_t result = tmPacketStored.sendPacket( - requestQueue->getDefaultDestination(), requestQueue->getId()); - if (result == HasReturnvaluesIF::RETURN_OK) { - this->tmPacketCounter++; - } - +ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice, + object_id_t objectId, const uint8_t *data, size_t dataLen) { + uint8_t buffer[sizeof(object_id_t)]; + uint8_t* pBuffer = buffer; + size_t size = 0; + SerializeAdapter::serialize(&objectId, &pBuffer, &size, + sizeof(object_id_t), SerializeIF::Endianness::BIG); + TmPacketStored tmPacketStored(this->apid, this->service, subservice, + this->tmPacketCounter, data, dataLen, buffer, size); + ReturnValue_t result = tmPacketStored.sendPacket( + requestQueue->getDefaultDestination(), requestQueue->getId()); + if (result == HasReturnvaluesIF::RETURN_OK) { + this->tmPacketCounter++; + } + return result; } -void CommandingServiceBase::sendTmPacket(uint8_t subservice, - SerializeIF* content, SerializeIF* header) { - TmPacketStored tmPacketStored(this->apid, this->service, subservice, - this->tmPacketCounter, content, header); - ReturnValue_t result = tmPacketStored.sendPacket( - requestQueue->getDefaultDestination(), requestQueue->getId()); - if (result == HasReturnvaluesIF::RETURN_OK) { - this->tmPacketCounter++; - } +ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice, + SerializeIF* content, SerializeIF* header) { + TmPacketStored tmPacketStored(this->apid, this->service, subservice, + this->tmPacketCounter, content, header); + ReturnValue_t result = tmPacketStored.sendPacket( + requestQueue->getDefaultDestination(), requestQueue->getId()); + if (result == HasReturnvaluesIF::RETURN_OK) { + this->tmPacketCounter++; + } + return result; } -void CommandingServiceBase::startExecution( - TcPacketStored *storedPacket, - typename FixedMap::Iterator *iter) { - ReturnValue_t result, sendResult = RETURN_OK; - CommandMessage message; - (*iter)->subservice = storedPacket->getSubService(); - result = prepareCommand(&message, (*iter)->subservice, - storedPacket->getApplicationData(), - storedPacket->getApplicationDataSize(), &(*iter)->state, - (*iter)->objectId); +void CommandingServiceBase::startExecution(TcPacketStored *storedPacket, + CommandMapIter iter) { + ReturnValue_t result = RETURN_OK; + CommandMessage command; + iter->subservice = storedPacket->getSubService(); + result = prepareCommand(&command, iter->subservice, + storedPacket->getApplicationData(), + storedPacket->getApplicationDataSize(), &iter->state, + iter->objectId); + ReturnValue_t sendResult = RETURN_OK; switch (result) { case RETURN_OK: - if (message.getCommand() != CommandMessage::CMD_NONE) { - sendResult = commandQueue->sendMessage((*iter).value->first, - &message); + if (command.getCommand() != CommandMessage::CMD_NONE) { + sendResult = commandQueue->sendMessage(iter.value->first, + &command); } if (sendResult == RETURN_OK) { - Clock::getUptime(&(*iter)->uptimeOfStart); - (*iter)->step = 0; -// (*iter)->state = 0; - (*iter)->subservice = storedPacket->getSubService(); - (*iter)->command = message.getCommand(); - (*iter)->tcInfo.ackFlags = storedPacket->getAcknowledgeFlags(); - (*iter)->tcInfo.tcPacketId = storedPacket->getPacketId(); - (*iter)->tcInfo.tcSequenceControl = + Clock::getUptime(&iter->uptimeOfStart); + iter->step = 0; + iter->subservice = storedPacket->getSubService(); + iter->command = command.getCommand(); + iter->tcInfo.ackFlags = storedPacket->getAcknowledgeFlags(); + iter->tcInfo.tcPacketId = storedPacket->getPacketId(); + iter->tcInfo.tcSequenceControl = storedPacket->getPacketSequenceControl(); acceptPacket(TC_VERIFY::START_SUCCESS, storedPacket); } else { - message.clearCommandMessage(); + command.clearCommandMessage(); rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult); checkAndExecuteFifo(iter); } break; case EXECUTION_COMPLETE: - if (message.getCommand() != CommandMessage::CMD_NONE) { + if (command.getCommand() != CommandMessage::CMD_NONE) { //Fire-and-forget command. - sendResult = commandQueue->sendMessage((*iter).value->first, - &message); + sendResult = commandQueue->sendMessage(iter.value->first, + &command); } if (sendResult == RETURN_OK) { verificationReporter.sendSuccessReport(TC_VERIFY::START_SUCCESS, @@ -308,7 +357,7 @@ void CommandingServiceBase::startExecution( acceptPacket(TC_VERIFY::COMPLETION_SUCCESS, storedPacket); checkAndExecuteFifo(iter); } else { - message.clearCommandMessage(); + command.clearCommandMessage(); rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult); checkAndExecuteFifo(iter); } @@ -335,12 +384,10 @@ void CommandingServiceBase::acceptPacket(uint8_t reportId, } -void CommandingServiceBase::checkAndExecuteFifo( - typename FixedMap::Iterator *iter) { +void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter iter) { store_address_t address; - if ((*iter)->fifo.retrieve(&address) != RETURN_OK) { - commandMap.erase(iter); + if (iter->fifo.retrieve(&address) != RETURN_OK) { + commandMap.erase(&iter); } else { TcPacketStored newPacket(address); startExecution(&newPacket, iter); @@ -348,8 +395,7 @@ void CommandingServiceBase::checkAndExecuteFifo( } -void CommandingServiceBase::handleUnrequestedReply( - CommandMessage* reply) { +void CommandingServiceBase::handleUnrequestedReply(CommandMessage* reply) { reply->clearCommandMessage(); } @@ -364,18 +410,18 @@ MessageQueueId_t CommandingServiceBase::getCommandQueue() { void CommandingServiceBase::checkTimeout() { uint32_t uptime; Clock::getUptime(&uptime); - typename FixedMap::Iterator iter; + CommandMapIter iter; for (iter = commandMap.begin(); iter != commandMap.end(); ++iter) { - if ((iter->uptimeOfStart + (timeout_seconds * 1000)) < uptime) { + if ((iter->uptimeOfStart + (timeoutSeconds * 1000)) < uptime) { verificationReporter.sendFailureReport( TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl, TIMEOUT); - checkAndExecuteFifo(&iter); + checkAndExecuteFifo(iter); } } } - - +void CommandingServiceBase::setTaskIF(PeriodicTaskIF* task_) { + executingTask = task_; +} diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h index bf2e82423..1bd18571e 100644 --- a/tmtcservices/CommandingServiceBase.h +++ b/tmtcservices/CommandingServiceBase.h @@ -1,40 +1,43 @@ -#ifndef COMMANDINGSERVICEBASE_H_ -#define COMMANDINGSERVICEBASE_H_ +#ifndef FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_ +#define FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_ -#include -#include -#include -#include #include -#include #include #include -#include -#include -#include +#include #include -#include -#include + #include -#include -#include -#include +#include +#include +#include +#include + +class TcPacketStored; + +namespace Factory{ +void setStaticFrameworkObjectIds(); +} /** - * \brief This class is the basis for all PUS Services, which have to relay Telecommands to software bus. + * @brief This class is the basis for all PUS Services, which have to + * relay Telecommands to software bus. * - * It manages Telecommand reception and the generation of Verification Reports like PUSServiceBase. - * Every class that inherits from this abstract class has to implement four adaption points: + * It manages Telecommand reception and the generation of Verification Reports + * similar to PusServiceBase. This class is used if a telecommand can't be + * handled immediately and must be relayed to the internal software bus. * - isValidSubservice * - getMessageQueueAndObject * - prepareCommand * - handleReply - * \ingroup pus_services + * @author gaisser + * @ingroup pus_services */ class CommandingServiceBase: public SystemObject, public AcceptsTelecommandsIF, public ExecutableObjectIF, public HasReturnvaluesIF { + friend void (Factory::setStaticFrameworkObjectIds)(); public: static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_SERVICE_BASE; static const ReturnValue_t EXECUTION_COMPLETE = MAKE_RETURN_CODE(1); @@ -59,10 +62,24 @@ public: */ CommandingServiceBase(object_id_t setObjectId, uint16_t apid, uint8_t service, uint8_t numberOfParallelCommands, - uint16_t commandTimeout_seconds, object_id_t setPacketSource, - object_id_t setPacketDestination, size_t queueDepth = 20); + uint16_t commandTimeoutSeconds, size_t queueDepth = 20); virtual ~CommandingServiceBase(); + /** + * This setter can be used to set the packet source individually instead + * of using the default static framework ID set in the factory. + * This should be called at object initialization and not during run-time! + * @param packetSource + */ + void setPacketSource(object_id_t packetSource); + /** + * This setter can be used to set the packet destination individually + * instead of using the default static framework ID set in the factory. + * This should be called at object initialization and not during run-time! + * @param packetDestination + */ + void setPacketDestination(object_id_t packetDestination); + /*** * This is the periodically called function. * Handle request queue for external commands. @@ -91,82 +108,111 @@ public: */ virtual MessageQueueId_t getCommandQueue(); - virtual ReturnValue_t initialize(); + virtual ReturnValue_t initialize() override; /** * Implementation of ExecutableObjectIF function * * Used to setup the reference of the task, that executes this component - * @param task_ Pointer to the taskIF of this task + * @param task Pointer to the taskIF of this task */ - virtual void setTaskIF(PeriodicTaskIF* task_){ - executingTask = task_; - }; + virtual void setTaskIF(PeriodicTaskIF* task); protected: /** * Check the target subservice * @param subservice[in] - * @return -@c RETURN_OK on success - * -@c INVALID_SUBSERVICE if service is not known + * @return + * -@c RETURN_OK Subservice valid, continue message handling + * -@c INVALID_SUBSERVICE if service is not known, rejects packet. */ virtual ReturnValue_t isValidSubservice(uint8_t subservice) = 0; /** - * Once a TC Request is valid, the existence of the destination and its target interface is checked and retrieved. - * The target message queue ID can then be acquired by using the target interface. + * Once a TC Request is valid, the existence of the destination and its + * target interface is checked and retrieved. The target message queue ID + * can then be acquired by using the target interface. * @param subservice * @param tcData Application Data of TC Packet * @param tcDataLen * @param id MessageQueue ID is stored here * @param objectId Object ID is extracted and stored here - * @return - @c RETURN_OK on success - * - @c RETURN_FAILED - * - @c CSB or implementation specific return codes + * @return + * - @c RETURN_OK Cotinue message handling + * - @c RETURN_FAILED Reject the packet and generates a start failure + * verification */ virtual ReturnValue_t getMessageQueueAndObject(uint8_t subservice, - const uint8_t *tcData, uint32_t tcDataLen, MessageQueueId_t *id, + const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id, object_id_t *objectId) = 0; /** - * After the Message Queue and Object ID are determined, - * the command is prepared by using an implementation specific CommandMessage type - * which is sent to the target object. - * It contains all necessary information for the device to execute telecommands. - * @param message[out] message to be sent to the object - * @param subservice[in] Subservice of the current communication - * @param tcData Additional data of the command - * @param tcDataLen Length of the additional data - * @param state[out] Setable state of the communication + * After the Message Queue and Object ID are determined, the command is + * prepared by using an implementation specific CommandMessage type + * which is sent to the target object. It contains all necessary information + * for the device to execute telecommands. + * @param message [out] message which can be set and is sent to the object + * @param subservice Subservice of the current communication + * @param tcData Application data of command + * @param tcDataLen Application data length + * @param state [out/in] Setable state of the communication. + * communication * @param objectId Target object ID - * @return - @c RETURN_OK on success - * - @c EXECUTION_COMPLETE if exectuin is finished - * - any other return code will be part of (1,4) start failure + * @return + * - @c RETURN_OK to generate a verification start message + * - @c EXECUTION_COMPELTE Fire-and-forget command. Generate a completion + * verification message. + * - @c Anything else rejects the packets and generates a start failure + * verification. */ - virtual ReturnValue_t prepareCommand(CommandMessage *message, - uint8_t subservice, const uint8_t *tcData, uint32_t tcDataLen, + virtual ReturnValue_t prepareCommand(CommandMessage* message, + uint8_t subservice, const uint8_t *tcData, size_t tcDataLen, uint32_t *state, object_id_t objectId) = 0; /** - * This function is responsible for the communication between the Command Service Base - * and the respective PUS Commanding Service once the execution has started. - * The PUS Commanding Service receives replies from the target device and forwards them by calling this function. - * There are different translations of these replies to specify how the Command Service proceeds. - * @param reply Command Message which contains information about the command - * @param previousCommand Command_t of last command - * @param state state of the communication - * @param optionalNextCommand[out] An optional next command which can be set in this function + * This function is implemented by child services to specify how replies + * to a command from another software component are handled. + * @param reply + * This is the reply which can be accessed via the command message + * interface. The internal message pointer can be passed to different + * command message implementations (see CommandMessageIF) + * @param previousCommand + * Command_t of related command + * @param state [out/in] + * Additional parameter which can be used to pass state information. + * State of the communication + * @param optionalNextCommand [out] + * An optional next command which can be set in this function * @param objectId Source object ID * @param isStep Flag value to mark steps of command execution - * @return - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to generate TC verification success - * - @c INVALID_REPLY can handle unrequested replies - * - Anything else triggers a TC verification failure + * @return + * - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to + * generate TC verification success + * - @c INVALID_REPLY Calls handleUnrequestedReply + * - Anything else triggers a TC verification failure. If RETURN_FAILED + * is returned and the command ID is CommandMessage::REPLY_REJECTED, + * a failure verification message with the reason as the error parameter + * and the initial command as failure parameter 1. */ - virtual ReturnValue_t handleReply(const CommandMessage *reply, + virtual ReturnValue_t handleReply(const CommandMessage* reply, Command_t previousCommand, uint32_t *state, - CommandMessage *optionalNextCommand, object_id_t objectId, + CommandMessage* optionalNextCommand, object_id_t objectId, bool *isStep) = 0; + /** + * This function can be overidden to handle unrequested reply, + * when the reply sender ID is unknown or is not found is the command map. + * The default implementation will clear the command message and all + * its contents. + * @param reply + * Reply which is non-const so the default implementation can clear the + * message. + */ + virtual void handleUnrequestedReply(CommandMessage* reply); + + virtual void doPeriodicOperation(); + + struct CommandInfo { struct tcInfo { uint8_t ackFlags; @@ -182,84 +228,92 @@ protected: FIFO fifo; }; + using CommandMapIter = FixedMap::Iterator; + const uint16_t apid; const uint8_t service; - const uint16_t timeout_seconds; + const uint16_t timeoutSeconds; - uint8_t tmPacketCounter; + uint8_t tmPacketCounter = 0; - StorageManagerIF *IPCStore; + StorageManagerIF *IPCStore = nullptr; - StorageManagerIF *TCStore; + StorageManagerIF *TCStore = nullptr; - MessageQueueIF* commandQueue; + MessageQueueIF* commandQueue = nullptr; - MessageQueueIF* requestQueue; + MessageQueueIF* requestQueue = nullptr; VerificationReporter verificationReporter; FixedMap commandMap; - uint32_t failureParameter1; //!< May be set be children to return a more precise failure condition. - uint32_t failureParameter2; //!< May be set be children to return a more precise failure condition. + /* May be set be children to return a more precise failure condition. */ + uint32_t failureParameter1 = 0; + uint32_t failureParameter2 = 0; - object_id_t packetSource; - - object_id_t packetDestination; + static object_id_t defaultPacketSource; + object_id_t packetSource = objects::NO_OBJECT; + static object_id_t defaultPacketDestination; + object_id_t packetDestination = objects::NO_OBJECT; /** - * Pointer to the task which executes this component, is invalid before setTaskIF was called. + * Pointer to the task which executes this component, + * is invalid before setTaskIF was called. */ - PeriodicTaskIF* executingTask; + PeriodicTaskIF* executingTask = nullptr; /** - * Send TM data from pointer to data. If a header is supplied it is added before data + * @brief Send TM data from pointer to data. + * If a header is supplied it is added before data * @param subservice Number of subservice * @param data Pointer to the data in the Packet * @param dataLen Lenght of data in the Packet * @param headerData HeaderData will be placed before data * @param headerSize Size of HeaderData */ - void sendTmPacket(uint8_t subservice, const uint8_t *data, uint32_t dataLen, - const uint8_t* headerData = NULL, uint32_t headerSize = 0); + ReturnValue_t sendTmPacket(uint8_t subservice, const uint8_t *data, + size_t dataLen, const uint8_t* headerData = nullptr, + size_t headerSize = 0); /** - * To send TM packets of objects that still need to be serialized and consist of an object ID with appended data + * @brief To send TM packets of objects that still need to be serialized + * and consist of an object ID with appended data. * @param subservice Number of subservice * @param objectId ObjectId is placed before data * @param data Data to append to the packet * @param dataLen Length of Data */ - void sendTmPacket(uint8_t subservice, object_id_t objectId, - const uint8_t *data, uint32_t dataLen); + ReturnValue_t sendTmPacket(uint8_t subservice, object_id_t objectId, + const uint8_t *data, size_t dataLen); /** - * To send packets has data which is in form of a SerializeIF or Adapters implementing it + * @brief To send packets which are contained inside a class implementing + * SerializeIF. * @param subservice Number of subservice * @param content This is a pointer to the serialized packet * @param header Serialize IF header which will be placed before content */ - void sendTmPacket(uint8_t subservice, SerializeIF* content, - SerializeIF* header = NULL); + ReturnValue_t sendTmPacket(uint8_t subservice, SerializeIF* content, + SerializeIF* header = nullptr); - virtual void handleUnrequestedReply(CommandMessage *reply); - - virtual void doPeriodicOperation(); - - void checkAndExecuteFifo( - typename FixedMap::Iterator *iter); + void checkAndExecuteFifo(CommandMapIter iter); private: /** * This method handles internal execution of a command, - * once it has been started by @sa{startExecution()} in the Request Queue handler. - * It handles replies generated by the devices and relayed by the specific service implementation. - * This means that it determines further course of action depending on the return values specified - * in the service implementation. + * once it has been started by @sa{startExecution()} in the request + * queue handler. + * It handles replies generated by the devices and relayed by the specific + * service implementation. This means that it determines further course of + * action depending on the return values specified in the service + * implementation. * This includes the generation of TC verification messages. Note that - * the static framework object ID @c VerificationReporter::messageReceiver needs to be set. + * the static framework object ID @c VerificationReporter::messageReceiver + * needs to be set. * - TM[1,5] Step Successs * - TM[1,6] Step Failure * - TM[1,7] Completion Success @@ -268,10 +322,13 @@ private: void handleCommandQueue(); /** + * @brief Handler function for request queue + * @details * Sequence of request queue handling: * isValidSubservice -> getMessageQueueAndObject -> startExecution - * Generates Start Success Reports TM[1,3] in subfunction @sa{startExecution()} - * or Start Failure Report TM[1,4] by using the TC Verification Service + * Generates a Start Success Reports TM[1,3] in subfunction + * @sa{startExecution()} or a Start Failure Report TM[1,4] by using the + * TC Verification Service. */ void handleRequestQueue(); @@ -280,8 +337,11 @@ private: void acceptPacket(uint8_t reportId, TcPacketStored* packet); - void startExecution(TcPacketStored *storedPacket, - typename FixedMap::Iterator *iter); + void startExecution(TcPacketStored *storedPacket, CommandMapIter iter); + + void handleCommandMessage(CommandMessage* reply); + void handleReplyHandlerResult(ReturnValue_t result, CommandMapIter iter, + CommandMessage* nextCommand, CommandMessage* reply, bool& isStep); void checkTimeout(); }; From 307c954007f8526d8459146e7cbd6317b365433d Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 16 Jul 2020 12:49:53 +0200 Subject: [PATCH 43/90] fixed CommandMessageTypo and integrated HasActionsIF interface changes --- action/ActionHelper.cpp | 15 ++++---- action/ActionHelper.h | 2 +- action/HasActionsIF.h | 54 ++++++++++++++++------------ devicehandlers/DeviceHandlerBase.cpp | 4 +-- devicehandlers/DeviceHandlerBase.h | 2 +- ipc/CommandMessage.cpp | 2 +- ipc/CommandMessage.h | 2 +- subsystem/SubsystemBase.cpp | 2 +- tmstorage/TmStoreMessage.cpp | 2 +- 9 files changed, 49 insertions(+), 36 deletions(-) diff --git a/action/ActionHelper.cpp b/action/ActionHelper.cpp index bcb302cda..dc6bd4982 100644 --- a/action/ActionHelper.cpp +++ b/action/ActionHelper.cpp @@ -1,9 +1,9 @@ #include #include #include + ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue) : - owner(setOwner), queueToUse(useThisQueue), ipcStore( - NULL) { + owner(setOwner), queueToUse(useThisQueue), ipcStore(nullptr) { } ActionHelper::~ActionHelper() { @@ -16,16 +16,18 @@ ReturnValue_t ActionHelper::handleActionMessage(CommandMessage* command) { ActionMessage::getStoreId(command)); return HasReturnvaluesIF::RETURN_OK; } else { - return CommandMessage::UNKNOW_COMMAND; + return CommandMessage::UNKNOWN_COMMAND; } } ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) { ipcStore = objectManager->get(objects::IPC_STORE); - if (ipcStore == NULL) { + if (ipcStore == nullptr) { return HasReturnvaluesIF::RETURN_FAILED; } - setQueueToUse(queueToUse_); + if(queueToUse_ != nullptr) { + setQueueToUse(queueToUse_); + } return HasReturnvaluesIF::RETURN_OK; } @@ -67,7 +69,8 @@ void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t act } } -ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t replyId, SerializeIF* data, bool hideSender) { +ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, + ActionId_t replyId, SerializeIF* data, bool hideSender) { CommandMessage reply; store_address_t storeAddress; uint8_t *dataPtr; diff --git a/action/ActionHelper.h b/action/ActionHelper.h index 6ba6dd89b..3d8351d66 100644 --- a/action/ActionHelper.h +++ b/action/ActionHelper.h @@ -38,7 +38,7 @@ public: * @param queueToUse_ Pointer to the messageQueue to be used * @return Returns RETURN_OK if successful */ - ReturnValue_t initialize(MessageQueueIF* queueToUse_); + 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. * diff --git a/action/HasActionsIF.h b/action/HasActionsIF.h index f30fcb45e..008d9eaf8 100644 --- a/action/HasActionsIF.h +++ b/action/HasActionsIF.h @@ -1,5 +1,5 @@ -#ifndef HASACTIONSIF_H_ -#define HASACTIONSIF_H_ +#ifndef FRAMEWORK_ACTION_HASACTIONSIF_H_ +#define FRAMEWORK_ACTION_HASACTIONSIF_H_ #include #include @@ -7,27 +7,35 @@ #include #include /** - * \brief Interface for component which uses actions + * @brief + * Interface for component which uses actions * - * This interface is used to execute actions in the component. Actions, in the sense of this interface, are activities with a well-defined beginning and - * end in time. They may adjust sub-states of components, but are not supposed to change - * the main mode of operation, which is handled with the HasModesIF described below. + * @details + * This interface is used to execute actions in the component. Actions, in the + * sense of this interface, are activities with a well-defined beginning and + * end in time. They may adjust sub-states of components, but are not supposed + * to change the main mode of operation, which is handled with the HasModesIF + * described below. * - * The HasActionsIF allows components to define such actions and make them available - * for other components to use. Implementing the interface is straightforward: There’s a - * single executeAction call, which provides an identifier for the action to execute, as well - * as arbitrary parameters for input. Aside from direct, software-based - * actions, it is used in device handler components as an interface to forward commands to - * devices. - * Implementing components of the interface are supposed to check identifier (ID) and - * parameters and immediately start execution of the action. It is, however, not required to - * immediately finish execution. Instead, this may be deferred to a later point in time, at - * which the component needs to inform the caller about finished or failed execution. + * The HasActionsIF allows components to define such actions and make them + * available for other components to use. Implementing the interface is + * straightforward: There’s a single executeAction call, which provides an + * identifier for the action to execute, as well as arbitrary parameters for + * input. + * Aside from direct, software-based actions, it is used in device handler + * components as an interface to forward commands to devices. + * Implementing components of the interface are supposed to check identifier + * (ID) and parameters and immediately start execution of the action. + * It is, however, not required to immediately finish execution. + * Instead, this may be deferred to a later point in time, at which the + * component needs to inform the caller about finished or failed execution. + * + * @ingroup interfaces */ 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); @@ -39,12 +47,14 @@ 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! + * 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! */ - virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy, const uint8_t* data, uint32_t size) = 0; + virtual ReturnValue_t executeAction(ActionId_t actionId, + MessageQueueId_t commandedBy, const uint8_t* data, size_t size) = 0; }; -#endif /* HASACTIONSIF_H_ */ +#endif /* FRAMEWORK_ACTION_HASACTIONSIF_H_ */ diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp index 872310a1a..79b504b51 100644 --- a/devicehandlers/DeviceHandlerBase.cpp +++ b/devicehandlers/DeviceHandlerBase.cpp @@ -236,7 +236,7 @@ void DeviceHandlerBase::readCommandQueue() { return; } - replyReturnvalueToCommand(CommandMessage::UNKNOW_COMMAND); + replyReturnvalueToCommand(CommandMessage::UNKNOWN_COMMAND); } @@ -1149,7 +1149,7 @@ void DeviceHandlerBase::handleDeviceTM(SerializeIF* data, } ReturnValue_t DeviceHandlerBase::executeAction(ActionId_t actionId, - MessageQueueId_t commandedBy, const uint8_t* data, uint32_t size) { + MessageQueueId_t commandedBy, const uint8_t* data, size_t size) { ReturnValue_t result = acceptExternalDeviceCommands(); if (result != HasReturnvaluesIF::RETURN_OK) { return result; diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h index 435f8e066..e79d5d5ca 100644 --- a/devicehandlers/DeviceHandlerBase.h +++ b/devicehandlers/DeviceHandlerBase.h @@ -484,7 +484,7 @@ public: /** @brief Implementation required for HasActionIF */ ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy, const uint8_t* data, - uint32_t size) override; + size_t size) override; Mode_t getTransitionSourceMode() const; Submode_t getTransitionSourceSubMode() const; diff --git a/ipc/CommandMessage.cpp b/ipc/CommandMessage.cpp index fa41c6531..ce72786b6 100644 --- a/ipc/CommandMessage.cpp +++ b/ipc/CommandMessage.cpp @@ -111,7 +111,7 @@ size_t CommandMessage::getMinimumMessageSize() const { void CommandMessage::setToUnknownCommand() { Command_t initialCommand = getCommand(); clearCommandMessage(); - setReplyRejected(UNKNOW_COMMAND, initialCommand); + setReplyRejected(UNKNOWN_COMMAND, initialCommand); } void CommandMessage::setReplyRejected(ReturnValue_t reason, diff --git a/ipc/CommandMessage.h b/ipc/CommandMessage.h index 2d966063a..c3ed20160 100644 --- a/ipc/CommandMessage.h +++ b/ipc/CommandMessage.h @@ -20,7 +20,7 @@ typedef ReturnValue_t Command_t; class CommandMessage : public MessageQueueMessage { public: static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_MESSAGE; - static const ReturnValue_t UNKNOW_COMMAND = MAKE_RETURN_CODE(0x01); + static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(0x01); static const uint8_t MESSAGE_ID = MESSAGE_TYPE::COMMAND; diff --git a/subsystem/SubsystemBase.cpp b/subsystem/SubsystemBase.cpp index 6df0b64f6..cceb2d412 100644 --- a/subsystem/SubsystemBase.cpp +++ b/subsystem/SubsystemBase.cpp @@ -329,7 +329,7 @@ void SubsystemBase::checkCommandQueue() { result = handleCommandMessage(&message); if (result != RETURN_OK) { CommandMessage reply; - reply.setReplyRejected(CommandMessage::UNKNOW_COMMAND, + reply.setReplyRejected(CommandMessage::UNKNOWN_COMMAND, message.getCommand()); replyToCommand(&reply); } diff --git a/tmstorage/TmStoreMessage.cpp b/tmstorage/TmStoreMessage.cpp index 4509ba912..e908b9235 100644 --- a/tmstorage/TmStoreMessage.cpp +++ b/tmstorage/TmStoreMessage.cpp @@ -74,7 +74,7 @@ void TmStoreMessage::clear(CommandMessage* cmd) { case DELETE_STORE_CONTENT_BLOCKS: case DOWNLINK_STORE_CONTENT_BLOCKS: case REPORT_INDEX_REQUEST: - cmd->setCommand(UNKNOW_COMMAND); + cmd->setCommand(UNKNOWN_COMMAND); cmd->setParameter(0); cmd->setParameter2(0); break; From be9d0a61f47b7e630f8d3ba94b36dd4ee25d0910 Mon Sep 17 00:00:00 2001 From: Steffen Gaisser Date: Tue, 21 Jul 2020 15:15:53 +0200 Subject: [PATCH 44/90] Fixes #149 --- serviceinterface/ServiceInterfaceBuffer.cpp | 12 ++++++------ serviceinterface/ServiceInterfaceBuffer.h | 2 +- serviceinterface/ServiceInterfaceStream.cpp | 2 +- serviceinterface/ServiceInterfaceStream.h | 2 +- 4 files changed, 9 insertions(+), 9 deletions(-) diff --git a/serviceinterface/ServiceInterfaceBuffer.cpp b/serviceinterface/ServiceInterfaceBuffer.cpp index 5c80862c2..8c510eac4 100644 --- a/serviceinterface/ServiceInterfaceBuffer.cpp +++ b/serviceinterface/ServiceInterfaceBuffer.cpp @@ -78,9 +78,9 @@ int ServiceInterfaceBuffer::sync(void) { } size_t preambleSize = 0; - auto preamble = getPreamble(&preambleSize); + std::string* preamble = getPreamble(&preambleSize); // Write logMessage and time - this->putChars(preamble.data(), preamble.data() + preambleSize); + this->putChars(preamble->data(), preamble->data() + preambleSize); // Handle output this->putChars(pbase(), pptr()); // This tells that buffer is empty again @@ -92,7 +92,7 @@ bool ServiceInterfaceBuffer::isBuffered() const { return buffered; } -std::string ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) { +std::string* ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) { Clock::TimeOfDay_t loggerTime; Clock::getDateAndTime(&loggerTime); size_t currentSize = 0; @@ -110,18 +110,18 @@ std::string ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) { loggerTime.usecond /1000); if(charCount < 0) { printf("ServiceInterfaceBuffer: Failure parsing preamble\r\n"); - return ""; + return &preamble; } if(charCount > MAX_PREAMBLE_SIZE) { printf("ServiceInterfaceBuffer: Char count too large for maximum " "preamble size"); - return ""; + return &preamble; } currentSize += charCount; if(preambleSize != nullptr) { *preambleSize = currentSize; } - return preamble; + return &preamble; } diff --git a/serviceinterface/ServiceInterfaceBuffer.h b/serviceinterface/ServiceInterfaceBuffer.h index 39ea25c2d..7a2ce2ee7 100644 --- a/serviceinterface/ServiceInterfaceBuffer.h +++ b/serviceinterface/ServiceInterfaceBuffer.h @@ -60,7 +60,7 @@ private: //! In this function, the characters are parsed. void putChars(char const* begin, char const* end); - std::string getPreamble(size_t * preambleSize = nullptr); + std::string* getPreamble(size_t * preambleSize = nullptr); }; #endif diff --git a/serviceinterface/ServiceInterfaceStream.cpp b/serviceinterface/ServiceInterfaceStream.cpp index 76481ed12..31bc7c730 100644 --- a/serviceinterface/ServiceInterfaceStream.cpp +++ b/serviceinterface/ServiceInterfaceStream.cpp @@ -9,7 +9,7 @@ void ServiceInterfaceStream::setActive( bool myActive) { this->streambuf.isActive = myActive; } -std::string ServiceInterfaceStream::getPreamble() { +std::string* ServiceInterfaceStream::getPreamble() { return streambuf.getPreamble(); } diff --git a/serviceinterface/ServiceInterfaceStream.h b/serviceinterface/ServiceInterfaceStream.h index 9e19c228c..dc111459a 100644 --- a/serviceinterface/ServiceInterfaceStream.h +++ b/serviceinterface/ServiceInterfaceStream.h @@ -33,7 +33,7 @@ public: * the unbuffered mode. * @return Preamle consisting of log message and timestamp. */ - std::string getPreamble(); + std::string* getPreamble(); /** * This prints an error with a preamble. Useful if using the unbuffered From 06e7f286d6592b454823a2027377cfde10be798f Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Sat, 25 Jul 2020 10:55:28 +0200 Subject: [PATCH 45/90] added explicit brackets --- tmtcservices/CommandingServiceBase.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp index 0c5f5eab1..331bc7c8a 100644 --- a/tmtcservices/CommandingServiceBase.cpp +++ b/tmtcservices/CommandingServiceBase.cpp @@ -212,8 +212,8 @@ void CommandingServiceBase::handleRequestQueue() { address = message.getStorageId(); packet.setStoreAddress(address); - if (packet.getSubService() == 0 - or isValidSubservice(packet.getSubService()) != RETURN_OK) { + if ((packet.getSubService() == 0) + or (isValidSubservice(packet.getSubService()) != RETURN_OK)) { rejectPacket(TC_VERIFY::START_FAILURE, &packet, INVALID_SUBSERVICE); continue; } From 5df88eb73be77446e520d542e062ebcc4728cd78 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 28 Jul 2020 12:20:23 +0200 Subject: [PATCH 46/90] singlyl inked list bugfix --- container/SinglyLinkedList.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/container/SinglyLinkedList.h b/container/SinglyLinkedList.h index 7d5fc4a9d..eb6ae276a 100644 --- a/container/SinglyLinkedList.h +++ b/container/SinglyLinkedList.h @@ -100,7 +100,7 @@ public: */ ElementIterator back() const { LinkedElement *element = start; - while (element != nullptr) { + while (element->getNext() != nullptr) { element = element->getNext(); } return ElementIterator::Iterator(element); From 0defc6a7d867ec1d966b2e6078e224c5a94f4686 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 28 Jul 2020 12:36:22 +0200 Subject: [PATCH 47/90] removed folders --- framework.mk | 4 ---- 1 file changed, 4 deletions(-) diff --git a/framework.mk b/framework.mk index c88229814..ee0a7ba4a 100644 --- a/framework.mk +++ b/framework.mk @@ -8,9 +8,6 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/controller/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/coordinates/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datalinklayer/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapool/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoolglob/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoollocal/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/housekeeping/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/devicehandlers/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/eventmatching/*.cpp) @@ -58,4 +55,3 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/packetmatcher/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/pus/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcservices/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/test/*.cpp) \ No newline at end of file From 036a887ea31124fe1ae0492343c811afceeb7eef Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 28 Jul 2020 13:02:43 +0200 Subject: [PATCH 48/90] bugfix --- serialize/SerialArrayListAdapter.h | 3 +++ 1 file changed, 3 insertions(+) diff --git a/serialize/SerialArrayListAdapter.h b/serialize/SerialArrayListAdapter.h index bcd998181..56fb3452d 100644 --- a/serialize/SerialArrayListAdapter.h +++ b/serialize/SerialArrayListAdapter.h @@ -63,6 +63,9 @@ public: count_t tempSize = 0; ReturnValue_t result = SerializeAdapter::deSerialize(&tempSize, buffer, size, streamEndianness); + if(result != HasReturnvaluesIF::RETURN_OK) { + return result; + } if (tempSize > list->maxSize()) { return SerializeIF::TOO_MANY_ELEMENTS; } From 4bffcf17fb2a70373c8d3765796cc8e9f4aac277 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 28 Jul 2020 13:04:58 +0200 Subject: [PATCH 49/90] some formatting stuff --- serialize/SerialArrayListAdapter.h | 27 ++++++++++++--------------- 1 file changed, 12 insertions(+), 15 deletions(-) diff --git a/serialize/SerialArrayListAdapter.h b/serialize/SerialArrayListAdapter.h index 56fb3452d..21c6951d9 100644 --- a/serialize/SerialArrayListAdapter.h +++ b/serialize/SerialArrayListAdapter.h @@ -1,18 +1,13 @@ -/** - * @file SerialArrayListAdapter.h - * @brief This file defines the SerialArrayListAdapter class. - * @date 22.07.2014 - * @author baetz - */ -#ifndef SERIALARRAYLISTADAPTER_H_ -#define SERIALARRAYLISTADAPTER_H_ +#ifndef FRAMEWORK_SERIALIZE_SERIALARRAYLISTADAPTER_H_ +#define FRAMEWORK_SERIALIZE_SERIALARRAYLISTADAPTER_H_ #include #include #include /** - * \ingroup serialize + * @ingroup serialize + * @author baetz */ template class SerialArrayListAdapter : public SerializeIF { @@ -25,14 +20,15 @@ public: return serialize(adaptee, buffer, size, maxSize, streamEndianness); } - static ReturnValue_t serialize(const ArrayList* list, uint8_t** buffer, size_t* size, - size_t maxSize, Endianness streamEndianness) { + static ReturnValue_t serialize(const ArrayList* list, + uint8_t** buffer, size_t* size, size_t maxSize, + Endianness streamEndianness) { ReturnValue_t result = SerializeAdapter::serialize(&list->size, buffer, size, maxSize, streamEndianness); count_t i = 0; while ((result == HasReturnvaluesIF::RETURN_OK) && (i < list->size)) { - result = SerializeAdapter::serialize(&list->entries[i], buffer, size, - maxSize, streamEndianness); + result = SerializeAdapter::serialize(&list->entries[i], buffer, + size, maxSize, streamEndianness); ++i; } return result; @@ -58,7 +54,8 @@ public: return deSerialize(adaptee, buffer, size, streamEndianness); } - static ReturnValue_t deSerialize(ArrayList* list, const uint8_t** buffer, size_t* size, + static ReturnValue_t deSerialize(ArrayList* list, + const uint8_t** buffer, size_t* size, Endianness streamEndianness) { count_t tempSize = 0; ReturnValue_t result = SerializeAdapter::deSerialize(&tempSize, @@ -85,4 +82,4 @@ private: -#endif /* SERIALARRAYLISTADAPTER_H_ */ +#endif /* FRAMEWORK_SERIALIZE_SERIALARRAYLISTADAPTER_H_ */ From 652c60c362f2b9b57ef6b54b6d3ca0b3051e6a3b Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Wed, 29 Jul 2020 20:02:04 +0200 Subject: [PATCH 50/90] important bugfix I checked all 5 cases for overflows when checking for missed deadlines (there is current time, timeToWake and lastWakeTime, with various combinations of overflows) This should be the correct implementation now --- osal/FreeRTOS/FixedTimeslotTask.cpp | 19 +++++++++---------- osal/FreeRTOS/PeriodicTask.cpp | 19 +++++++++---------- 2 files changed, 18 insertions(+), 20 deletions(-) diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp index c062101d9..17804d908 100644 --- a/osal/FreeRTOS/FixedTimeslotTask.cpp +++ b/osal/FreeRTOS/FixedTimeslotTask.cpp @@ -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(); } } diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp index 44a7b8010..911353753 100644 --- a/osal/FreeRTOS/PeriodicTask.cpp +++ b/osal/FreeRTOS/PeriodicTask.cpp @@ -108,19 +108,18 @@ 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(); } } From 21984067140f3baf3ecc30db4e1e5d196bae56e6 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Sat, 1 Aug 2020 16:53:17 +0200 Subject: [PATCH 51/90] csb update --- tmtcservices/CommandingServiceBase.cpp | 10 +++++----- tmtcservices/CommandingServiceBase.h | 15 ++++++--------- 2 files changed, 11 insertions(+), 14 deletions(-) diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp index 98cbbe2ca..330fd00f6 100644 --- a/tmtcservices/CommandingServiceBase.cpp +++ b/tmtcservices/CommandingServiceBase.cpp @@ -126,11 +126,11 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) { &nextCommand, iter->objectId, &isStep); /* If the child implementation does not implement special handling for - * rejected replies (RETURN_FAILED is returned), a failure verification - * will be generated with the reason as the return code and the initial - * command as failure parameter 1 */ - if(reply->getCommand() == CommandMessage::REPLY_REJECTED and - result == RETURN_FAILED) { + * rejected replies (RETURN_FAILED or INVALID_REPLY is returned), a + * failure verification will be generated with the reason as the + * return code and the initial command as failure parameter 1 */ + if((reply->getCommand() == CommandMessage::REPLY_REJECTED) and + (result == RETURN_FAILED or result == INVALID_REPLY)) { result = reply->getReplyRejectedReason(); failureParameter1 = iter->command; } diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h index 76eca6b7d..9290bb7c6 100644 --- a/tmtcservices/CommandingServiceBase.h +++ b/tmtcservices/CommandingServiceBase.h @@ -87,7 +87,7 @@ public: * @param opCode is unused here at the moment * @return RETURN_OK */ - virtual ReturnValue_t performOperation(uint8_t opCode); + virtual ReturnValue_t performOperation(uint8_t opCode) override; virtual uint16_t getIdentifier(); @@ -186,12 +186,11 @@ protected: * @return * - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to * generate TC verification success - * - @c INVALID_REPLY calls handleUnrequestedReply - * - Anything else triggers a TC verification failure. If RETURN_FAILED or - * INVALID_REPLY is returned and the command ID is - * CommandMessage::REPLY_REJECTED, a failure verification message - * with the reason as the error parameter and the initial command as - * failure parameter 1 is generated. + * - @c INVALID_REPLY Calls handleUnrequestedReply + * - Anything else triggers a TC verification failure. If RETURN_FAILED is + * returned and the command ID is CommandMessage::REPLY_REJECTED, + * a failure verification message with the reason as the error parameter + * and the initial command as failure parameter 1 */ virtual ReturnValue_t handleReply(const CommandMessage* reply, Command_t previousCommand, uint32_t *state, @@ -254,7 +253,6 @@ protected: uint32_t failureParameter1 = 0; uint32_t failureParameter2 = 0; - object_id_t packetSource; static object_id_t defaultPacketSource; object_id_t packetSource = objects::NO_OBJECT; static object_id_t defaultPacketDestination; @@ -303,7 +301,6 @@ protected: void checkAndExecuteFifo(CommandMapIter iter); private: - /** * This method handles internal execution of a command, * once it has been started by @sa{startExecution()} in the request From d8bf1931ccbbca5d96598905599bdf594e914c7f Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Sat, 1 Aug 2020 16:55:20 +0200 Subject: [PATCH 52/90] doc correction --- tmtcservices/CommandingServiceBase.h | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h index 9290bb7c6..b3a15985e 100644 --- a/tmtcservices/CommandingServiceBase.h +++ b/tmtcservices/CommandingServiceBase.h @@ -187,10 +187,11 @@ protected: * - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to * generate TC verification success * - @c INVALID_REPLY Calls handleUnrequestedReply - * - Anything else triggers a TC verification failure. If RETURN_FAILED is - * returned and the command ID is CommandMessage::REPLY_REJECTED, - * a failure verification message with the reason as the error parameter - * and the initial command as failure parameter 1 + * - Anything else triggers a TC verification failure. If RETURN_FAILED or + * INVALID_REPLY is returned and the command ID is + * CommandMessage::REPLY_REJECTED, a failure verification message with + * the reason as the error parameter and the initial command as + * failure parameter 1 is generated. */ virtual ReturnValue_t handleReply(const CommandMessage* reply, Command_t previousCommand, uint32_t *state, From d58fc5c6f71724221c10968bddad8a3d29e66fe5 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Sun, 2 Aug 2020 15:55:56 +0200 Subject: [PATCH 53/90] removed includes in framework.mk --- framework.mk | 2 -- 1 file changed, 2 deletions(-) diff --git a/framework.mk b/framework.mk index 7f27c037c..04fac47f6 100644 --- a/framework.mk +++ b/framework.mk @@ -8,8 +8,6 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/controller/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/coordinates/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datalinklayer/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapool/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoolglob/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoollocal/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/housekeeping/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/devicehandlers/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/*.cpp) From 6ac36cec1546ba637c822979243ab1fc4a51ba1e Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Sun, 2 Aug 2020 15:56:38 +0200 Subject: [PATCH 54/90] removed other include in framework.mk --- framework.mk | 1 - 1 file changed, 1 deletion(-) diff --git a/framework.mk b/framework.mk index 04fac47f6..c3917f20f 100644 --- a/framework.mk +++ b/framework.mk @@ -8,7 +8,6 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/controller/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/coordinates/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datalinklayer/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapool/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/housekeeping/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/devicehandlers/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/eventmatching/*.cpp) From 78442a8b92b5548098fca7439a78ba65978de4b5 Mon Sep 17 00:00:00 2001 From: Ulrich Mohr Date: Tue, 4 Aug 2020 12:22:45 +0200 Subject: [PATCH 55/90] Amending PR #145, forgot some documentation --- action/ActionHelper.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/action/ActionHelper.h b/action/ActionHelper.h index 3d8351d66..eb3bfa54c 100644 --- a/action/ActionHelper.h +++ b/action/ActionHelper.h @@ -35,7 +35,7 @@ public: 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 + * @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); From ea9288d848d62352c78e81dd98cc6555bb6a12d5 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 4 Aug 2020 15:17:40 +0200 Subject: [PATCH 56/90] updated subsystem ID range --- events/fwSubsystemIdRanges.h | 2 ++ 1 file changed, 2 insertions(+) diff --git a/events/fwSubsystemIdRanges.h b/events/fwSubsystemIdRanges.h index 4c261e57a..a05652c22 100644 --- a/events/fwSubsystemIdRanges.h +++ b/events/fwSubsystemIdRanges.h @@ -18,6 +18,8 @@ enum { SYSTEM_MANAGER = 74, SYSTEM_MANAGER_1 = 75, SYSTEM_1 = 79, + PUS_SERVICE_1 = 80, + FW_SUBSYSTEM_ID_RANGE }; } From c42b5283af448e288bc54775e51e80ebb50715a8 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 4 Aug 2020 15:19:31 +0200 Subject: [PATCH 57/90] periodic task IF: setting task if boolean removed --- osal/linux/PeriodicPosixTask.cpp | 7 ++----- osal/linux/PeriodicPosixTask.h | 3 +-- tasks/PeriodicTaskIF.h | 3 +-- 3 files changed, 4 insertions(+), 9 deletions(-) diff --git a/osal/linux/PeriodicPosixTask.cpp b/osal/linux/PeriodicPosixTask.cpp index c05f1030c..6b2ebd885 100644 --- a/osal/linux/PeriodicPosixTask.cpp +++ b/osal/linux/PeriodicPosixTask.cpp @@ -21,8 +21,7 @@ void* PeriodicPosixTask::taskEntryPoint(void* arg) { return NULL; } -ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object, - bool addTaskIF) { +ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) { ExecutableObjectIF* newObject = objectManager->get( object); if (newObject == nullptr) { @@ -30,9 +29,7 @@ ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object, } objectList.push_back(newObject); - if(setTaskIF) { - newObject->setTaskIF(this); - } + newObject->setTaskIF(this); return HasReturnvaluesIF::RETURN_OK; } diff --git a/osal/linux/PeriodicPosixTask.h b/osal/linux/PeriodicPosixTask.h index bf1a995be..b194733b6 100644 --- a/osal/linux/PeriodicPosixTask.h +++ b/osal/linux/PeriodicPosixTask.h @@ -39,8 +39,7 @@ public: * @param object Id of the object to add. * @return RETURN_OK on success, RETURN_FAILED if the object could not be added. */ - ReturnValue_t addComponent(object_id_t object, - bool addTaskIF = true) override; + ReturnValue_t addComponent(object_id_t object) override; uint32_t getPeriodMs() const override; diff --git a/tasks/PeriodicTaskIF.h b/tasks/PeriodicTaskIF.h index 6f4909771..f54d61557 100644 --- a/tasks/PeriodicTaskIF.h +++ b/tasks/PeriodicTaskIF.h @@ -36,8 +36,7 @@ public: * to the component. * @return */ - virtual ReturnValue_t addComponent(object_id_t object, - bool setTaskIF = true) { + virtual ReturnValue_t addComponent(object_id_t object) { return HasReturnvaluesIF::RETURN_FAILED; }; From 9102eec4ab20e13bd15acdac83498e88398856b3 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 4 Aug 2020 15:20:43 +0200 Subject: [PATCH 58/90] interface change for freeRTOS --- osal/FreeRTOS/PeriodicTask.cpp | 6 ++---- osal/FreeRTOS/PeriodicTask.h | 3 +-- 2 files changed, 3 insertions(+), 6 deletions(-) diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp index 44a7b8010..e84411f8e 100644 --- a/osal/FreeRTOS/PeriodicTask.cpp +++ b/osal/FreeRTOS/PeriodicTask.cpp @@ -81,7 +81,7 @@ void PeriodicTask::taskFunctionality() { } } -ReturnValue_t PeriodicTask::addComponent(object_id_t object, bool setTaskIF) { +ReturnValue_t PeriodicTask::addComponent(object_id_t object) { ExecutableObjectIF* newObject = objectManager->get( object); if (newObject == nullptr) { @@ -91,9 +91,7 @@ ReturnValue_t PeriodicTask::addComponent(object_id_t object, bool setTaskIF) { } objectList.push_back(newObject); - if(setTaskIF) { - newObject->setTaskIF(this); - } + newObject->setTaskIF(this); return HasReturnvaluesIF::RETURN_OK; } diff --git a/osal/FreeRTOS/PeriodicTask.h b/osal/FreeRTOS/PeriodicTask.h index 09aa6bc7d..eea88dfdf 100644 --- a/osal/FreeRTOS/PeriodicTask.h +++ b/osal/FreeRTOS/PeriodicTask.h @@ -63,8 +63,7 @@ public: * -@c RETURN_OK on success * -@c RETURN_FAILED if the object could not be added. */ - ReturnValue_t addComponent(object_id_t object, - bool setTaskIF = true) override; + ReturnValue_t addComponent(object_id_t object) override; uint32_t getPeriodMs() const override; From 7b3fddfd429a02f6dedaad4e33a7c0a308f540d4 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Fri, 7 Aug 2020 22:10:58 +0200 Subject: [PATCH 59/90] implemented mutex if changes --- ipc/MutexHelper.h | 5 +++-- ipc/MutexIF.h | 38 ++++++++++++++++++++------------------ osal/FreeRTOS/Mutex.cpp | 17 ++++++++--------- osal/FreeRTOS/Mutex.h | 4 +++- 4 files changed, 34 insertions(+), 30 deletions(-) diff --git a/ipc/MutexHelper.h b/ipc/MutexHelper.h index 20760b32f..fc6e38bfe 100644 --- a/ipc/MutexHelper.h +++ b/ipc/MutexHelper.h @@ -8,9 +8,10 @@ class MutexHelper { public: MutexHelper(MutexIF* mutex, uint32_t timeoutMs) : internalMutex(mutex) { - ReturnValue_t status = mutex->lockMutex(timeoutMs); + ReturnValue_t status = mutex->lockMutex(MutexIF::TimeoutType::WAITING, + timeoutMs); if(status == MutexIF::MUTEX_TIMEOUT) { - sif::error << "MutexHelper: Lock of mutex failed with timeout of" + sif::error << "MutexHelper: Lock of mutex failed with timeout of " << timeoutMs << " milliseconds!" << std::endl; } else if(status != HasReturnvaluesIF::RETURN_OK){ diff --git a/ipc/MutexIF.h b/ipc/MutexIF.h index 29e59e588..b0096a343 100644 --- a/ipc/MutexIF.h +++ b/ipc/MutexIF.h @@ -5,27 +5,31 @@ /** * @brief Common interface for OS Mutex objects which provide MUTual EXclusion. - * * @details https://en.wikipedia.org/wiki/Lock_(computer_science) * @ingroup osal * @ingroup interface */ class MutexIF { public: - /** - * @brief Timeout value used for polling lock attempt. - * @details - * If the lock is not successfull, MUTEX_TIMEOUT will be returned - * immediately. Value needs to be defined in implementation. - */ - static const uint32_t POLLING; - /** - * @brief Timeout value used for permanent blocking lock attempt. - * @details - * The task will be blocked (indefinitely) until the mutex is unlocked. - * Value needs to be defined in implementation. - */ - static const uint32_t BLOCKING; + /** + * Different types of timeout for the mutex lock. + */ + enum TimeoutType { + POLLING, //!< If mutex is not available, return immediately + WAITING, //!< Wait a specified time for the mutex to become available + BLOCKING //!< Block indefinitely until the mutex becomes available. + }; + + /** + * Lock the mutex. The timeout value will only be used for + * TimeoutType::WAITING + * @param timeoutType + * @param timeoutMs + * @return + */ + virtual ReturnValue_t lockMutex(TimeoutType timeoutType = + TimeoutType::BLOCKING, uint32_t timeoutMs = 0) = 0; + virtual ReturnValue_t unlockMutex() = 0; static const uint8_t INTERFACE_ID = CLASS_ID::MUTEX_IF; /** @@ -77,9 +81,7 @@ public: */ static const ReturnValue_t MUTEX_DESTROYED_WHILE_WAITING = MAKE_RETURN_CODE(12); - virtual ~MutexIF() {} - virtual ReturnValue_t lockMutex(uint32_t timeoutMs) = 0; - virtual ReturnValue_t unlockMutex() = 0; + virtual ~MutexIF() {} }; diff --git a/osal/FreeRTOS/Mutex.cpp b/osal/FreeRTOS/Mutex.cpp index 6d90c3f61..764b0ae09 100644 --- a/osal/FreeRTOS/Mutex.cpp +++ b/osal/FreeRTOS/Mutex.cpp @@ -2,13 +2,10 @@ #include -const uint32_t MutexIF::POLLING = 0; -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; } } @@ -19,15 +16,17 @@ Mutex::~Mutex() { } -ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) { +ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType, + uint32_t timeoutMs) { if (handle == nullptr) { return MutexIF::MUTEX_NOT_FOUND; } - TickType_t timeout = MutexIF::POLLING; - if(timeoutMs == MutexIF::BLOCKING) { - timeout = MutexIF::BLOCKING; + // If the timeout type is BLOCKING, this will be the correct value. + uint32_t timeout = portMAX_DELAY; + if(timeoutType == TimeoutType::POLLING) { + timeout = 0; } - else if(timeoutMs > MutexIF::POLLING){ + else if(timeoutType == TimeoutType::WAITING){ timeout = pdMS_TO_TICKS(timeoutMs); } diff --git a/osal/FreeRTOS/Mutex.h b/osal/FreeRTOS/Mutex.h index d6e0aab9e..2a4fae26d 100644 --- a/osal/FreeRTOS/Mutex.h +++ b/osal/FreeRTOS/Mutex.h @@ -18,8 +18,10 @@ class Mutex : public MutexIF { public: Mutex(); ~Mutex(); - ReturnValue_t lockMutex(uint32_t timeoutMs = MutexIF::BLOCKING) override; + ReturnValue_t lockMutex(TimeoutType timeoutType, + uint32_t timeoutMs) override; ReturnValue_t unlockMutex() override; + private: SemaphoreHandle_t handle; }; From caeb2f9dd639cddd9674f2b0c5cc32887a4db041 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Fri, 7 Aug 2020 22:16:10 +0200 Subject: [PATCH 60/90] mutex api changes --- ipc/MutexHelper.h | 5 +++-- osal/linux/Mutex.cpp | 41 ++++++++++++++++++++++++----------------- osal/linux/Mutex.h | 10 +++++++--- 3 files changed, 34 insertions(+), 22 deletions(-) diff --git a/ipc/MutexHelper.h b/ipc/MutexHelper.h index fc6e38bfe..52ce51e3a 100644 --- a/ipc/MutexHelper.h +++ b/ipc/MutexHelper.h @@ -6,9 +6,10 @@ class MutexHelper { public: - MutexHelper(MutexIF* mutex, uint32_t timeoutMs) : + MutexHelper(MutexIF* mutex, MutexIF::TimeoutType timeoutType = + MutexIF::TimeoutType::BLOCKING, uint32_t timeoutMs = 0) : internalMutex(mutex) { - ReturnValue_t status = mutex->lockMutex(MutexIF::TimeoutType::WAITING, + ReturnValue_t status = mutex->lockMutex(timeoutType, timeoutMs); if(status == MutexIF::MUTEX_TIMEOUT) { sif::error << "MutexHelper: Lock of mutex failed with timeout of " diff --git a/osal/linux/Mutex.cpp b/osal/linux/Mutex.cpp index 169ac3543..03789e625 100644 --- a/osal/linux/Mutex.cpp +++ b/osal/linux/Mutex.cpp @@ -2,8 +2,6 @@ #include #include -const uint32_t MutexIF::POLLING = 0; -const uint32_t MutexIF::BLOCKING = 0xffffffff; uint8_t Mutex::count = 0; @@ -26,7 +24,9 @@ Mutex::Mutex() { sif::error << "Mutex: creation with name, id " << mutex.__data.__count << ", " << " failed with " << strerror(status) << std::endl; } - //After a mutex attributes object has been used to initialize one or more mutexes, any function affecting the attributes object (including destruction) shall not affect any previously initialized mutexes. + // After a mutex attributes object has been used to initialize one or more + // mutexes, any function affecting the attributes object + // (including destruction) shall not affect any previously initialized mutexes. status = pthread_mutexattr_destroy(&mutexAttr); if (status != 0) { sif::error << "Mutex: Attribute destroy failed with " << strerror(status) << std::endl; @@ -38,15 +38,13 @@ Mutex::~Mutex() { pthread_mutex_destroy(&mutex); } -ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) { +ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType, uint32_t timeoutMs) { int status = 0; - if(timeoutMs == MutexIF::POLLING) { - status = pthread_mutex_trylock(&mutex); + + if(timeoutType == TimeoutType::POLLING) { + status = pthread_mutex_trylock(&mutex); } - else if (timeoutMs == MutexIF::BLOCKING) { - status = pthread_mutex_lock(&mutex); - } - else { + else if (timeoutType == TimeoutType::WAITING) { timespec timeOut; clock_gettime(CLOCK_REALTIME, &timeOut); uint64_t nseconds = timeOut.tv_sec * 1000000000 + timeOut.tv_nsec; @@ -55,25 +53,34 @@ ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) { timeOut.tv_nsec = nseconds - timeOut.tv_sec * 1000000000; status = pthread_mutex_timedlock(&mutex, &timeOut); } + else if(timeoutType == TimeoutType::BLOCKING) { + status = pthread_mutex_lock(&mutex); + } switch (status) { case EINVAL: - //The mutex was created with the protocol attribute having the value PTHREAD_PRIO_PROTECT and the calling thread's priority is higher than the mutex's current priority ceiling. + // The mutex was created with the protocol attribute having the value + // PTHREAD_PRIO_PROTECT and the calling thread's priority is higher + // than the mutex's current priority ceiling. return WRONG_ATTRIBUTE_SETTING; - //The process or thread would have blocked, and the abs_timeout parameter specified a nanoseconds field value less than zero or greater than or equal to 1000 million. - //The value specified by mutex does not refer to an initialized mutex object. + // The process or thread would have blocked, and the abs_timeout + // parameter specified a nanoseconds field value less than zero or + // greater than or equal to 1000 million. + // The value specified by mutex does not refer to an initialized mutex object. //return MUTEX_NOT_FOUND; case EBUSY: - //The mutex could not be acquired because it was already locked. + // The mutex could not be acquired because it was already locked. return MUTEX_ALREADY_LOCKED; case ETIMEDOUT: - //The mutex could not be locked before the specified timeout expired. + // The mutex could not be locked before the specified timeout expired. return MUTEX_TIMEOUT; case EAGAIN: - //The mutex could not be acquired because the maximum number of recursive locks for mutex has been exceeded. + // The mutex could not be acquired because the maximum number of + // recursive locks for mutex has been exceeded. return MUTEX_MAX_LOCKS; case EDEADLK: - //A deadlock condition was detected or the current thread already owns the mutex. + // A deadlock condition was detected or the current thread + // already owns the mutex. return CURR_THREAD_ALREADY_OWNS_MUTEX; case 0: //Success diff --git a/osal/linux/Mutex.h b/osal/linux/Mutex.h index d02d008fe..26420c2eb 100644 --- a/osal/linux/Mutex.h +++ b/osal/linux/Mutex.h @@ -1,14 +1,18 @@ -#ifndef OS_RTEMS_MUTEX_H_ -#define OS_RTEMS_MUTEX_H_ +#ifndef OS_LINUX_MUTEX_H_ +#define OS_LINUX_MUTEX_H_ #include + +extern "C" { #include +} + class Mutex : public MutexIF { public: Mutex(); virtual ~Mutex(); - virtual ReturnValue_t lockMutex(uint32_t timeoutMs); + virtual ReturnValue_t lockMutex(TimeoutType timeoutType, uint32_t timeoutMs); virtual ReturnValue_t unlockMutex(); private: pthread_mutex_t mutex; From 54825dca6b3c63259a4eb1a45878358e5ae1192d Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Fri, 7 Aug 2020 22:19:13 +0200 Subject: [PATCH 61/90] periodic posix task hotfix --- osal/linux/PeriodicPosixTask.cpp | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/osal/linux/PeriodicPosixTask.cpp b/osal/linux/PeriodicPosixTask.cpp index c05f1030c..548590aca 100644 --- a/osal/linux/PeriodicPosixTask.cpp +++ b/osal/linux/PeriodicPosixTask.cpp @@ -22,7 +22,7 @@ void* PeriodicPosixTask::taskEntryPoint(void* arg) { } ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object, - bool addTaskIF) { + bool addTaskIF) { ExecutableObjectIF* newObject = objectManager->get( object); if (newObject == nullptr) { @@ -30,9 +30,7 @@ ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object, } objectList.push_back(newObject); - if(setTaskIF) { - newObject->setTaskIF(this); - } + newObject->setTaskIF(this); return HasReturnvaluesIF::RETURN_OK; } From 90a3e2b8c5dfa121fb02a8627d9cbe8973261a0e Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Fri, 7 Aug 2020 22:26:01 +0200 Subject: [PATCH 62/90] linux hotfix --- osal/linux/PeriodicPosixTask.cpp | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/osal/linux/PeriodicPosixTask.cpp b/osal/linux/PeriodicPosixTask.cpp index c05f1030c..6149c84b4 100644 --- a/osal/linux/PeriodicPosixTask.cpp +++ b/osal/linux/PeriodicPosixTask.cpp @@ -29,10 +29,8 @@ ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object, return HasReturnvaluesIF::RETURN_FAILED; } objectList.push_back(newObject); + newObject->setTaskIF(this); - if(setTaskIF) { - newObject->setTaskIF(this); - } return HasReturnvaluesIF::RETURN_OK; } From a0f41d3238395e55a4bab09c16eb3c437a72d87b Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Sat, 8 Aug 2020 12:46:06 +0200 Subject: [PATCH 63/90] stack size is bytes now --- osal/FreeRTOS/FixedTimeslotTask.cpp | 11 ++++++++--- osal/FreeRTOS/FixedTimeslotTask.h | 7 +++++-- osal/FreeRTOS/FreeRTOSTaskIF.h | 13 +++++++++++++ osal/FreeRTOS/PeriodicTask.cpp | 19 +++++++++++-------- osal/FreeRTOS/PeriodicTask.h | 13 ++++++++----- tasks/Typedef.h | 1 - 6 files changed, 45 insertions(+), 19 deletions(-) create mode 100644 osal/FreeRTOS/FreeRTOSTaskIF.h diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp index 17804d908..2a7bff9cf 100644 --- a/osal/FreeRTOS/FixedTimeslotTask.cpp +++ b/osal/FreeRTOS/FixedTimeslotTask.cpp @@ -5,11 +5,12 @@ uint32_t FixedTimeslotTask::deadlineMissedCount = 0; const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE; -FixedTimeslotTask::FixedTimeslotTask(const char *name, TaskPriority setPriority, +FixedTimeslotTask::FixedTimeslotTask(TaskName name, TaskPriority setPriority, TaskStackSize setStack, TaskPeriod overallPeriod, void (*setDeadlineMissedFunc)()) : started(false), handle(NULL), pst(overallPeriod * 1000) { - xTaskCreate(taskEntryPoint, name, setStack, this, setPriority, &handle); + configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE); + xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle); // All additional attributes are applied to the object. this->deadlineMissedFunc = setDeadlineMissedFunc; } @@ -82,7 +83,7 @@ ReturnValue_t FixedTimeslotTask::checkSequence() const { void FixedTimeslotTask::taskFunctionality() { // A local iterator for the Polling Sequence Table is created to find the // start time for the first entry. - FixedSlotSequence::SlotListIter slotListIter = pst.current; + auto slotListIter = pst.current; //The start time for the first entry is read. uint32_t intervalMs = slotListIter->pollingTimeMs; @@ -155,3 +156,7 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) { vTaskDelay(pdMS_TO_TICKS(ms)); return HasReturnvaluesIF::RETURN_OK; } + +TaskHandle_t FixedTimeslotTask::getTaskHandle() { + return handle; +} diff --git a/osal/FreeRTOS/FixedTimeslotTask.h b/osal/FreeRTOS/FixedTimeslotTask.h index 66af0311b..a1fdfdeb7 100644 --- a/osal/FreeRTOS/FixedTimeslotTask.h +++ b/osal/FreeRTOS/FixedTimeslotTask.h @@ -1,6 +1,7 @@ #ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ #define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ +#include #include #include #include @@ -8,7 +9,7 @@ #include #include -class FixedTimeslotTask: public FixedTimeslotTaskIF { +class FixedTimeslotTask: public FixedTimeslotTaskIF, public FreeRTOSTaskIF { public: /** @@ -23,7 +24,7 @@ public: * @param setDeadlineMissedFunc Callback if a deadline was missed. * @return Pointer to the newly created task. */ - FixedTimeslotTask(const char *name, TaskPriority setPriority, + FixedTimeslotTask(TaskName name, TaskPriority setPriority, TaskStackSize setStack, TaskPeriod overallPeriod, void (*setDeadlineMissedFunc)()); @@ -57,6 +58,8 @@ public: ReturnValue_t sleepFor(uint32_t ms) override; + TaskHandle_t getTaskHandle() override; + protected: bool started; TaskHandle_t handle; diff --git a/osal/FreeRTOS/FreeRTOSTaskIF.h b/osal/FreeRTOS/FreeRTOSTaskIF.h new file mode 100644 index 000000000..06fda2828 --- /dev/null +++ b/osal/FreeRTOS/FreeRTOSTaskIF.h @@ -0,0 +1,13 @@ +#ifndef FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_ +#define FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_ + +#include +#include + +class FreeRTOSTaskIF { +public: + virtual~ FreeRTOSTaskIF() {} + virtual TaskHandle_t getTaskHandle() = 0; +}; + +#endif /* FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_ */ diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp index 911353753..7b0c86193 100644 --- a/osal/FreeRTOS/PeriodicTask.cpp +++ b/osal/FreeRTOS/PeriodicTask.cpp @@ -5,12 +5,13 @@ PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority, TaskStackSize setStack, TaskPeriod setPeriod, - void (*setDeadlineMissedFunc)()) : + TaskDeadlineMissedFunction deadlineMissedFunc) : started(false), handle(NULL), period(setPeriod), deadlineMissedFunc( - setDeadlineMissedFunc) + deadlineMissedFunc) { + configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE); BaseType_t status = xTaskCreate(taskEntryPoint, name, - setStack, this, setPriority, &handle); + stackSize, this, setPriority, &handle); if(status != pdPASS){ sif::debug << "PeriodicTask Insufficient heap memory remaining. " "Status: " << status << std::endl; @@ -81,19 +82,17 @@ void PeriodicTask::taskFunctionality() { } } -ReturnValue_t PeriodicTask::addComponent(object_id_t object, bool setTaskIF) { +ReturnValue_t PeriodicTask::addComponent(object_id_t object) { ExecutableObjectIF* newObject = objectManager->get( object); if (newObject == nullptr) { sif::error << "PeriodicTask::addComponent: Invalid object. Make sure" - "it implements ExecutableObjectIF!" << std::endl; + "it implement ExecutableObjectIF" << std::endl; return HasReturnvaluesIF::RETURN_FAILED; } objectList.push_back(newObject); + newObject->setTaskIF(this); - if(setTaskIF) { - newObject->setTaskIF(this); - } return HasReturnvaluesIF::RETURN_OK; } @@ -124,6 +123,10 @@ void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime, } } +TaskHandle_t PeriodicTask::getTaskHandle() { + return handle; +} + void PeriodicTask::handleMissedDeadline() { #ifdef DEBUG sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) << diff --git a/osal/FreeRTOS/PeriodicTask.h b/osal/FreeRTOS/PeriodicTask.h index 09aa6bc7d..8030baadc 100644 --- a/osal/FreeRTOS/PeriodicTask.h +++ b/osal/FreeRTOS/PeriodicTask.h @@ -1,10 +1,12 @@ #ifndef FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_ #define FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_ +#include #include #include #include + #include #include @@ -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()! @@ -38,9 +40,9 @@ public: * The function pointer to the deadline missed function that shall * be assigned. */ - PeriodicTask(const char *name, TaskPriority setPriority, + PeriodicTask(TaskName name, TaskPriority setPriority, TaskStackSize setStack, TaskPeriod setPeriod, - void (*setDeadlineMissedFunc)()); + TaskDeadlineMissedFunction deadlineMissedFunc); /** * @brief Currently, the executed object's lifetime is not coupled with * the task object's lifetime, so the destructor is empty. @@ -63,12 +65,13 @@ public: * -@c RETURN_OK on success * -@c RETURN_FAILED if the object could not be added. */ - ReturnValue_t addComponent(object_id_t object, - bool setTaskIF = true) override; + ReturnValue_t addComponent(object_id_t object) override; uint32_t getPeriodMs() const override; ReturnValue_t sleepFor(uint32_t ms) override; + + TaskHandle_t getTaskHandle() override; protected: bool started; TaskHandle_t handle; diff --git a/tasks/Typedef.h b/tasks/Typedef.h index b393ee1e1..07d96b00d 100644 --- a/tasks/Typedef.h +++ b/tasks/Typedef.h @@ -1,7 +1,6 @@ #ifndef FRAMEWORK_TASKS_TYPEDEF_H_ #define FRAMEWORK_TASKS_TYPEDEF_H_ -//TODO more generic? typedef const char* TaskName; typedef uint8_t TaskPriority; typedef size_t TaskStackSize; From 944226c2ed117120749610bdaab03503c523b2fd Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Sat, 8 Aug 2020 12:47:14 +0200 Subject: [PATCH 64/90] periodic task if fix --- tasks/PeriodicTaskIF.h | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/tasks/PeriodicTaskIF.h b/tasks/PeriodicTaskIF.h index 6f4909771..f54d61557 100644 --- a/tasks/PeriodicTaskIF.h +++ b/tasks/PeriodicTaskIF.h @@ -36,8 +36,7 @@ public: * to the component. * @return */ - virtual ReturnValue_t addComponent(object_id_t object, - bool setTaskIF = true) { + virtual ReturnValue_t addComponent(object_id_t object) { return HasReturnvaluesIF::RETURN_FAILED; }; From e61fdd0d5ef25108c64b467455971cf88a2f0b1c Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Sat, 8 Aug 2020 13:15:41 +0200 Subject: [PATCH 65/90] freeRTOS task management init --- osal/FreeRTOS/TaskManagement.cpp | 24 ++++++++++++ osal/FreeRTOS/TaskManagement.h | 64 ++++++++++++++++++++++++++++++++ 2 files changed, 88 insertions(+) create mode 100644 osal/FreeRTOS/TaskManagement.cpp create mode 100644 osal/FreeRTOS/TaskManagement.h diff --git a/osal/FreeRTOS/TaskManagement.cpp b/osal/FreeRTOS/TaskManagement.cpp new file mode 100644 index 000000000..ff552adbb --- /dev/null +++ b/osal/FreeRTOS/TaskManagement.cpp @@ -0,0 +1,24 @@ +#include + +void TaskManagement::vRequestContextSwitchFromTask() { + vTaskDelay(0); +} + +void TaskManagement::requestContextSwitch( + CallContext callContext = CallContext::TASK) { + if(callContext == CallContext::ISR) { + // This function depends on the partmacro.h definition for the specific device + vRequestContextSwitchFromISR(); + } else { + vRequestContextSwitchFromTask(); + } +} + +TaskHandle_t TaskManagement::getCurrentTaskHandle() { + return xTaskGetCurrentTaskHandle(); +} + +size_t TaskManagement::getTaskStackHighWatermark( + TaskHandle_t task) { + return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t); +} diff --git a/osal/FreeRTOS/TaskManagement.h b/osal/FreeRTOS/TaskManagement.h new file mode 100644 index 000000000..62c68331a --- /dev/null +++ b/osal/FreeRTOS/TaskManagement.h @@ -0,0 +1,64 @@ +#ifndef FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ +#define FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ + +#include + +extern "C" { +#include +#include +} +#include + +/** + * Architecture dependant portmacro.h function call. + * Should be implemented in bsp. + */ +extern void vRequestContextSwitchFromISR(); + +/*! + * Used by functions to tell if they are being called from + * within an ISR or from a regular task. This is required because FreeRTOS + * has different functions for handling semaphores and messages from within + * an ISR and task. + */ +enum class CallContext { + TASK = 0x00,//!< task_context + ISR = 0xFF //!< isr_context +}; + + +class TaskManagement { +public: + /** + * @brief In this function, a function dependant on the portmacro.h header + * function calls to request a context switch can be specified. + * This can be used if sending to the queue from an ISR caused a task + * to unblock and a context switch is required. + */ + static void requestContextSwitch(CallContext callContext); + + /** + * If task preemption in FreeRTOS is disabled, a context switch + * can be requested manually by calling this function. + */ + static void vRequestContextSwitchFromTask(void); + + /** + * @return The current task handle + */ + static TaskHandle_t getCurrentTaskHandle(); + + /** + * Get returns the minimum amount of remaining stack space in words + * that was a available to the task since the task started executing. + * Please note that the actual value in bytes depends + * on the stack depth type. + * E.g. on a 32 bit machine, a value of 200 means 800 bytes. + * @return Smallest value of stack remaining since the task was started in + * words. + */ + static size_t getTaskStackHighWatermark( + TaskHandle_t task = nullptr); +}; + +#endif /* FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ */ From 3d4daa51d537b0e957644103293b8dbadb773018 Mon Sep 17 00:00:00 2001 From: Steffen Gaisser Date: Tue, 11 Aug 2020 17:17:50 +0200 Subject: [PATCH 66/90] Corrected warning to fit name of setting --- framework.mk | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/framework.mk b/framework.mk index ee0a7ba4a..643eb74fe 100644 --- a/framework.mk +++ b/framework.mk @@ -34,7 +34,7 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/FreeRTOS/*.cpp) else ifeq ($(OS_FSFW),host) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/host/*.cpp) else -$(error invalid OS specified, valid OS are rtems, linux, freeRTOS, host) +$(error invalid OS_FSFW specified, valid OS_FSFW are rtems, linux, freeRTOS, host) endif CXXSRC += $(wildcard $(FRAMEWORK_PATH)/parameters/*.cpp) From d5dedce294d02e2afe44331f455cd65eee00197a Mon Sep 17 00:00:00 2001 From: Steffen Gaisser Date: Thu, 13 Aug 2020 20:53:35 +0200 Subject: [PATCH 67/90] Relative Paths --- action/ActionHelper.cpp | 6 +- action/ActionHelper.h | 6 +- action/ActionMessage.cpp | 6 +- action/ActionMessage.h | 6 +- action/CommandActionHelper.cpp | 10 +- action/CommandActionHelper.h | 12 +- action/CommandsActionsIF.h | 6 +- action/HasActionsIF.h | 10 +- action/SimpleActionHelper.cpp | 4 +- action/SimpleActionHelper.h | 2 +- container/ArrayList.h | 6 +- container/FIFO.h | 2 +- container/FixedArrayList.h | 2 +- container/FixedMap.h | 4 +- container/FixedOrderedMultimap.h | 2 +- container/HybridIterator.h | 4 +- container/IndexedRingMemoryArray.h | 10 +- container/PlacementFactory.h | 2 +- container/RingBufferBase.h | 2 +- container/SimpleRingBuffer.cpp | 2 +- container/SimpleRingBuffer.h | 2 +- controller/ControllerBase.cpp | 10 +- controller/ControllerBase.h | 14 +- coordinates/CoordinateTransformations.cpp | 8 +- coordinates/CoordinateTransformations.h | 2 +- coordinates/Jgm3Model.h | 8 +- coordinates/Sgp4Propagator.cpp | 12 +- coordinates/Sgp4Propagator.h | 2 +- datalinklayer/BCFrame.h | 2 +- datalinklayer/CCSDSReturnValuesIF.h | 2 +- datalinklayer/Clcw.cpp | 4 +- datalinklayer/Clcw.h | 2 +- datalinklayer/DataLinkLayer.cpp | 6 +- datalinklayer/DataLinkLayer.h | 10 +- datalinklayer/Farm1StateIF.h | 2 +- datalinklayer/Farm1StateLockout.cpp | 8 +- datalinklayer/Farm1StateLockout.h | 2 +- datalinklayer/Farm1StateOpen.cpp | 8 +- datalinklayer/Farm1StateOpen.h | 2 +- datalinklayer/Farm1StateWait.cpp | 8 +- datalinklayer/Farm1StateWait.h | 2 +- datalinklayer/MapPacketExtraction.cpp | 14 +- datalinklayer/MapPacketExtraction.h | 8 +- datalinklayer/MapPacketExtractionIF.h | 4 +- datalinklayer/TcTransferFrame.cpp | 4 +- datalinklayer/TcTransferFrameLocal.cpp | 6 +- datalinklayer/TcTransferFrameLocal.h | 2 +- datalinklayer/VirtualChannelReception.cpp | 6 +- datalinklayer/VirtualChannelReception.h | 16 +- datalinklayer/VirtualChannelReceptionIF.h | 6 +- datapool/ControllerSet.cpp | 2 +- datapool/ControllerSet.h | 2 +- datapool/DataPool.cpp | 6 +- datapool/DataPool.h | 6 +- datapool/DataPoolAdmin.cpp | 14 +- datapool/DataPoolAdmin.h | 18 +- datapool/DataPoolParameterWrapper.cpp | 6 +- datapool/DataPoolParameterWrapper.h | 4 +- datapool/DataSet.cpp | 4 +- datapool/DataSet.h | 14 +- datapool/HkSwitchHelper.cpp | 4 +- datapool/HkSwitchHelper.h | 6 +- datapool/PIDReader.h | 12 +- datapool/PIDReaderList.h | 4 +- datapool/PoolEntry.cpp | 6 +- datapool/PoolEntry.h | 2 +- datapool/PoolEntryIF.h | 2 +- datapool/PoolRawAccess.cpp | 10 +- datapool/PoolRawAccess.h | 4 +- datapool/PoolVarList.h | 4 +- datapool/PoolVariable.h | 10 +- datapool/PoolVariableIF.h | 4 +- datapool/PoolVector.h | 10 +- devicehandlers/AcceptsDeviceResponsesIF.h | 2 +- devicehandlers/AssemblyBase.cpp | 2 +- devicehandlers/AssemblyBase.h | 6 +- devicehandlers/ChildHandlerBase.cpp | 6 +- devicehandlers/ChildHandlerBase.h | 4 +- devicehandlers/ChildHandlerFDIR.cpp | 2 +- devicehandlers/ChildHandlerFDIR.h | 2 +- devicehandlers/DeviceCommunicationIF.h | 4 +- devicehandlers/DeviceHandlerBase.cpp | 24 +- devicehandlers/DeviceHandlerBase.h | 30 +- .../DeviceHandlerFailureIsolation.cpp | 12 +- .../DeviceHandlerFailureIsolation.h | 4 +- devicehandlers/DeviceHandlerIF.h | 10 +- devicehandlers/DeviceHandlerMessage.cpp | 6 +- devicehandlers/DeviceHandlerMessage.h | 8 +- devicehandlers/DeviceTmReportingWrapper.cpp | 6 +- devicehandlers/DeviceTmReportingWrapper.h | 6 +- devicehandlers/FixedSequenceSlot.cpp | 4 +- devicehandlers/FixedSequenceSlot.h | 4 +- devicehandlers/FixedSlotSequence.cpp | 4 +- devicehandlers/FixedSlotSequence.h | 4 +- devicehandlers/HealthDevice.cpp | 4 +- devicehandlers/HealthDevice.h | 10 +- events/Event.cpp | 2 +- events/Event.h | 2 +- events/EventManager.cpp | 10 +- events/EventManager.h | 14 +- events/EventManagerIF.h | 8 +- events/EventMessage.cpp | 2 +- events/EventMessage.h | 6 +- events/EventReportingProxyIF.h | 2 +- events/eventmatching/EventIdRangeMatcher.cpp | 2 +- events/eventmatching/EventIdRangeMatcher.h | 2 +- events/eventmatching/EventMatchTree.cpp | 8 +- events/eventmatching/EventMatchTree.h | 8 +- events/eventmatching/EventRangeMatcherBase.h | 6 +- events/eventmatching/ReporterRangeMatcher.cpp | 2 +- events/eventmatching/ReporterRangeMatcher.h | 2 +- events/eventmatching/SeverityRangeMatcher.cpp | 6 +- events/eventmatching/SeverityRangeMatcher.h | 2 +- events/eventmatching/eventmatching.h | 8 +- fdir/ConfirmsFailuresIF.h | 4 +- fdir/EventCorrelation.cpp | 2 +- fdir/EventCorrelation.h | 2 +- fdir/FailureIsolationBase.cpp | 12 +- fdir/FailureIsolationBase.h | 14 +- fdir/FaultCounter.cpp | 2 +- fdir/FaultCounter.h | 4 +- globalfunctions/AsciiConverter.cpp | 2 +- globalfunctions/AsciiConverter.h | 2 +- globalfunctions/CRC.cpp | 2 +- globalfunctions/DleEncoder.cpp | 2 +- globalfunctions/DleEncoder.h | 2 +- globalfunctions/Type.cpp | 6 +- globalfunctions/Type.h | 4 +- globalfunctions/arrayprinter.cpp | 4 +- globalfunctions/matching/BinaryMatcher.h | 2 +- globalfunctions/matching/DecimalMatcher.h | 2 +- globalfunctions/matching/MatchTree.h | 6 +- globalfunctions/matching/RangeMatcher.h | 4 +- .../matching/SerializeableMatcherIF.h | 4 +- globalfunctions/math/QuaternionOperations.cpp | 2 +- globalfunctions/timevalOperations.cpp | 2 +- health/HasHealthIF.h | 6 +- health/HealthHelper.cpp | 6 +- health/HealthHelper.h | 14 +- health/HealthMessage.cpp | 2 +- health/HealthMessage.h | 4 +- health/HealthTable.cpp | 6 +- health/HealthTable.h | 6 +- health/HealthTableIF.h | 6 +- health/ManagesHealthIF.h | 4 +- internalError/InternalErrorReporter.cpp | 8 +- internalError/InternalErrorReporter.h | 6 +- ipc/CommandMessage.cpp | 18 +- ipc/CommandMessage.h | 4 +- ipc/MessageQueueIF.h | 6 +- ipc/MessageQueueMessage.cpp | 4 +- ipc/MessageQueueMessage.h | 2 +- ipc/MessageQueueSenderIF.h | 2 +- ipc/MutexFactory.h | 2 +- ipc/MutexHelper.h | 4 +- ipc/MutexIF.h | 2 +- ipc/QueueFactory.h | 2 +- memory/AcceptsMemoryMessagesIF.h | 6 +- memory/HasMemoryIF.h | 2 +- memory/MemoryHelper.cpp | 12 +- memory/MemoryHelper.h | 10 +- memory/MemoryMessage.cpp | 4 +- memory/MemoryMessage.h | 4 +- memory/MemoryProxyIF.h | 2 +- modes/HasModesIF.h | 8 +- modes/ModeHelper.cpp | 6 +- modes/ModeHelper.h | 6 +- modes/ModeMessage.cpp | 2 +- modes/ModeMessage.h | 2 +- monitoring/AbsLimitMonitor.h | 2 +- monitoring/HasMonitorsIF.h | 6 +- monitoring/LimitMonitor.h | 2 +- monitoring/LimitViolationReporter.cpp | 10 +- monitoring/LimitViolationReporter.h | 8 +- monitoring/MonitorBase.h | 12 +- monitoring/MonitorReporter.h | 10 +- monitoring/MonitoringIF.h | 6 +- monitoring/MonitoringMessage.cpp | 4 +- monitoring/MonitoringMessage.h | 4 +- monitoring/MonitoringMessageContent.h | 18 +- monitoring/ReceivesMonitoringReportsIF.h | 2 +- monitoring/TriplexMonitor.h | 10 +- monitoring/TwoValueLimitMonitor.h | 2 +- objectmanager/ObjectManager.cpp | 4 +- objectmanager/ObjectManager.h | 4 +- objectmanager/ObjectManagerIF.h | 8 +- objectmanager/SystemObject.cpp | 6 +- objectmanager/SystemObject.h | 8 +- objectmanager/SystemObjectIF.h | 4 +- osal/FreeRTOS/Clock.cpp | 6 +- osal/FreeRTOS/FixedTimeslotTask.cpp | 2 +- osal/FreeRTOS/FixedTimeslotTask.h | 6 +- osal/FreeRTOS/MessageQueue.cpp | 2 +- osal/FreeRTOS/MessageQueue.h | 6 +- osal/FreeRTOS/Mutex.cpp | 2 +- osal/FreeRTOS/Mutex.h | 2 +- osal/FreeRTOS/MutexFactory.cpp | 2 +- osal/FreeRTOS/PeriodicTask.cpp | 4 +- osal/FreeRTOS/PeriodicTask.h | 6 +- osal/FreeRTOS/QueueFactory.cpp | 4 +- osal/FreeRTOS/TaskFactory.cpp | 4 +- osal/FreeRTOS/Timekeeper.cpp | 2 +- osal/FreeRTOS/Timekeeper.h | 2 +- osal/InternalErrorCodes.h | 2 +- osal/linux/Clock.cpp | 4 +- osal/linux/FixedTimeslotTask.cpp | 4 +- osal/linux/FixedTimeslotTask.h | 6 +- osal/linux/InternalErrorCodes.cpp | 2 +- osal/linux/MessageQueue.cpp | 4 +- osal/linux/MessageQueue.h | 6 +- osal/linux/Mutex.cpp | 6 +- osal/linux/Mutex.h | 2 +- osal/linux/MutexFactory.cpp | 4 +- osal/linux/PeriodicPosixTask.cpp | 6 +- osal/linux/PeriodicPosixTask.h | 8 +- osal/linux/PosixThread.cpp | 4 +- osal/linux/PosixThread.h | 2 +- osal/linux/QueueFactory.cpp | 6 +- osal/linux/TaskFactory.cpp | 8 +- osal/linux/Timer.cpp | 4 +- osal/rtems/Clock.cpp | 2 +- osal/rtems/CpuUsage.cpp | 4 +- osal/rtems/CpuUsage.h | 4 +- osal/rtems/InternalErrorCodes.cpp | 2 +- osal/rtems/Interrupt.h | 2 +- osal/rtems/MessageQueue.cpp | 2 +- osal/rtems/MessageQueue.h | 6 +- osal/rtems/MultiObjectTask.cpp | 4 +- osal/rtems/MultiObjectTask.h | 4 +- osal/rtems/Mutex.cpp | 2 +- osal/rtems/Mutex.h | 2 +- osal/rtems/MutexFactory.cpp | 2 +- osal/rtems/PollingTask.cpp | 12 +- osal/rtems/PollingTask.h | 4 +- osal/rtems/QueueFactory.cpp | 2 +- osal/rtems/RtemsBasic.h | 2 +- osal/rtems/TaskBase.cpp | 2 +- osal/rtems/TaskBase.h | 2 +- osal/rtems/TaskFactory.cpp | 4 +- parameters/HasParametersIF.h | 4 +- parameters/ParameterHelper.cpp | 6 +- parameters/ParameterHelper.h | 4 +- parameters/ParameterMessage.cpp | 4 +- parameters/ParameterMessage.h | 6 +- parameters/ParameterWrapper.cpp | 2 +- parameters/ParameterWrapper.h | 8 +- parameters/ReceivesParameterMessagesIF.h | 4 +- power/Fuse.cpp | 12 +- power/Fuse.h | 16 +- power/PowerComponent.cpp | 2 +- power/PowerComponent.h | 4 +- power/PowerComponentIF.h | 4 +- power/PowerSensor.cpp | 4 +- power/PowerSensor.h | 16 +- power/PowerSwitchIF.h | 4 +- power/PowerSwitcher.cpp | 6 +- power/PowerSwitcher.h | 6 +- pus/CService200ModeCommanding.cpp | 238 +++++----- pus/CService200ModeCommanding.h | 170 +++---- pus/Service1TelecommandVerification.cpp | 16 +- pus/Service1TelecommandVerification.h | 12 +- pus/Service2DeviceAccess.cpp | 334 +++++++------- pus/Service2DeviceAccess.h | 184 ++++---- pus/Service5EventReporting.cpp | 12 +- pus/Service5EventReporting.h | 4 +- pus/Service8FunctionManagement.cpp | 284 ++++++------ pus/Service8FunctionManagement.h | 134 +++--- pus/servicepackets/Service1Packets.h | 4 +- pus/servicepackets/Service200Packets.h | 126 +++--- pus/servicepackets/Service2Packets.h | 152 +++---- pus/servicepackets/Service5Packets.h | 4 +- pus/servicepackets/Service8Packets.h | 242 +++++----- returnvalues/HasReturnvaluesIF.h | 2 +- rmap/RMAP.cpp | 8 +- rmap/RMAP.h | 4 +- rmap/RMAPChannelIF.h | 4 +- rmap/RMAPCookie.cpp | 4 +- rmap/RMAPCookie.h | 4 +- rmap/RmapDeviceCommunicationIF.cpp | 4 +- rmap/RmapDeviceCommunicationIF.h | 2 +- serialize/EndianConverter.h | 2 +- serialize/SerialArrayListAdapter.h | 4 +- serialize/SerialBufferAdapter.cpp | 2 +- serialize/SerialBufferAdapter.h | 4 +- serialize/SerialFixedArrayListAdapter.h | 4 +- serialize/SerialLinkedListAdapter.h | 8 +- serialize/SerializeAdapter.h | 8 +- serialize/SerializeElement.h | 4 +- serialize/SerializeIF.h | 2 +- serviceinterface/ServiceInterfaceBuffer.cpp | 6 +- serviceinterface/ServiceInterfaceBuffer.h | 2 +- serviceinterface/ServiceInterfaceStream.cpp | 2 +- serviceinterface/ServiceInterfaceStream.h | 2 +- storagemanager/LocalPool.h | 12 +- storagemanager/PoolManager.h | 4 +- storagemanager/StorageManagerIF.h | 4 +- subsystem/Subsystem.cpp | 14 +- subsystem/Subsystem.h | 14 +- subsystem/SubsystemBase.cpp | 8 +- subsystem/SubsystemBase.h | 18 +- subsystem/modes/HasModeSequenceIF.h | 6 +- subsystem/modes/ModeDefinitions.h | 8 +- subsystem/modes/ModeSequenceMessage.cpp | 10 +- subsystem/modes/ModeSequenceMessage.h | 6 +- subsystem/modes/ModeStore.cpp | 2 +- subsystem/modes/ModeStore.h | 8 +- subsystem/modes/ModeStoreIF.h | 8 +- tasks/ExecutableObjectIF.h | 2 +- tasks/FixedTimeslotTaskIF.h | 4 +- tasks/PeriodicTaskIF.h | 4 +- tasks/TaskFactory.h | 4 +- tcdistribution/CCSDSDistributor.cpp | 6 +- tcdistribution/CCSDSDistributor.h | 10 +- tcdistribution/CCSDSDistributorIF.h | 4 +- tcdistribution/PUSDistributor.cpp | 10 +- tcdistribution/PUSDistributor.h | 12 +- tcdistribution/PUSDistributorIF.h | 4 +- tcdistribution/TcDistributor.cpp | 10 +- tcdistribution/TcDistributor.h | 14 +- tcdistribution/TcPacketCheck.cpp | 10 +- tcdistribution/TcPacketCheck.h | 6 +- thermal/AbstractTemperatureSensor.cpp | 2 +- thermal/AbstractTemperatureSensor.h | 12 +- thermal/CoreComponent.h | 12 +- thermal/Heater.cpp | 6 +- thermal/Heater.h | 10 +- thermal/RedundantHeater.h | 2 +- thermal/TemperatureSensor.h | 4 +- thermal/ThermalComponentIF.h | 8 +- thermal/ThermalModule.cpp | 4 +- thermal/ThermalModule.h | 8 +- thermal/ThermalMonitor.cpp | 6 +- thermal/ThermalMonitor.h | 4 +- timemanager/CCSDSTime.cpp | 2 +- timemanager/CCSDSTime.h | 4 +- timemanager/Clock.h | 6 +- timemanager/Countdown.cpp | 2 +- timemanager/Countdown.h | 2 +- timemanager/Stopwatch.cpp | 114 ++--- timemanager/Stopwatch.h | 142 +++--- timemanager/TimeMessage.cpp | 2 +- timemanager/TimeMessage.h | 4 +- timemanager/TimeStamperIF.h | 2 +- tmstorage/TmStoreBackendIF.h | 10 +- tmstorage/TmStoreFrontendIF.h | 6 +- tmstorage/TmStoreMessage.cpp | 4 +- tmstorage/TmStoreMessage.h | 8 +- tmstorage/TmStorePackets.h | 16 +- tmtcpacket/SpacePacket.cpp | 6 +- tmtcpacket/SpacePacket.h | 2 +- tmtcpacket/SpacePacketBase.cpp | 4 +- tmtcpacket/SpacePacketBase.h | 2 +- tmtcpacket/packetmatcher/ApidMatcher.h | 6 +- tmtcpacket/packetmatcher/PacketMatchTree.cpp | 8 +- tmtcpacket/packetmatcher/PacketMatchTree.h | 8 +- tmtcpacket/packetmatcher/ServiceMatcher.h | 6 +- tmtcpacket/packetmatcher/SubserviceMatcher.h | 6 +- tmtcpacket/pus/PacketTimestampInterpreterIF.h | 2 +- tmtcpacket/pus/TcPacketBase.cpp | 6 +- tmtcpacket/pus/TcPacketBase.h | 2 +- tmtcpacket/pus/TcPacketStored.cpp | 6 +- tmtcpacket/pus/TcPacketStored.h | 4 +- tmtcpacket/pus/TmPacketBase.cpp | 10 +- tmtcpacket/pus/TmPacketBase.h | 8 +- tmtcpacket/pus/TmPacketMinimal.cpp | 4 +- tmtcpacket/pus/TmPacketMinimal.h | 4 +- tmtcpacket/pus/TmPacketStored.cpp | 8 +- tmtcpacket/pus/TmPacketStored.h | 10 +- tmtcservices/AcceptsTelecommandsIF.h | 2 +- tmtcservices/AcceptsTelemetryIF.h | 2 +- tmtcservices/AcceptsVerifyMessageIF.h | 2 +- tmtcservices/CommandingServiceBase.cpp | 16 +- tmtcservices/CommandingServiceBase.h | 20 +- tmtcservices/PusServiceBase.cpp | 14 +- tmtcservices/PusServiceBase.h | 18 +- tmtcservices/PusVerificationReport.cpp | 4 +- tmtcservices/PusVerificationReport.h | 6 +- tmtcservices/SourceSequenceCounter.h | 2 +- tmtcservices/TmTcBridge.cpp | 414 +++++++++--------- tmtcservices/TmTcBridge.h | 308 ++++++------- tmtcservices/TmTcMessage.cpp | 2 +- tmtcservices/TmTcMessage.h | 4 +- tmtcservices/VerificationReporter.cpp | 8 +- tmtcservices/VerificationReporter.h | 4 +- 384 files changed, 2477 insertions(+), 2477 deletions(-) diff --git a/action/ActionHelper.cpp b/action/ActionHelper.cpp index dc6bd4982..b43c676d0 100644 --- a/action/ActionHelper.cpp +++ b/action/ActionHelper.cpp @@ -1,6 +1,6 @@ -#include -#include -#include +#include "ActionHelper.h" +#include "HasActionsIF.h" +#include "../objectmanager/ObjectManagerIF.h" ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue) : owner(setOwner), queueToUse(useThisQueue), ipcStore(nullptr) { diff --git a/action/ActionHelper.h b/action/ActionHelper.h index eb3bfa54c..bbc6d114d 100644 --- a/action/ActionHelper.h +++ b/action/ActionHelper.h @@ -1,9 +1,9 @@ #ifndef ACTIONHELPER_H_ #define ACTIONHELPER_H_ -#include -#include -#include +#include "ActionMessage.h" +#include "../serialize/SerializeIF.h" +#include "../ipc/MessageQueueIF.h" /** * \brief Action Helper is a helper class which handles action messages * diff --git a/action/ActionMessage.cpp b/action/ActionMessage.cpp index 96ff59b66..b0bcabaa0 100644 --- a/action/ActionMessage.cpp +++ b/action/ActionMessage.cpp @@ -1,6 +1,6 @@ -#include -#include -#include +#include "ActionMessage.h" +#include "../objectmanager/ObjectManagerIF.h" +#include "../storagemanager/StorageManagerIF.h" ActionMessage::ActionMessage() { } diff --git a/action/ActionMessage.h b/action/ActionMessage.h index 5d8332cbf..c564911c7 100644 --- a/action/ActionMessage.h +++ b/action/ActionMessage.h @@ -1,9 +1,9 @@ #ifndef ACTIONMESSAGE_H_ #define ACTIONMESSAGE_H_ -#include -#include -#include +#include "../ipc/CommandMessage.h" +#include "../objectmanager/ObjectManagerIF.h" +#include "../storagemanager/StorageManagerIF.h" typedef uint32_t ActionId_t; class ActionMessage { diff --git a/action/CommandActionHelper.cpp b/action/CommandActionHelper.cpp index 70ffbbdeb..4e88f3c34 100644 --- a/action/CommandActionHelper.cpp +++ b/action/CommandActionHelper.cpp @@ -1,8 +1,8 @@ -#include -#include -#include -#include -#include +#include "ActionMessage.h" +#include "CommandActionHelper.h" +#include "CommandsActionsIF.h" +#include "HasActionsIF.h" +#include "../objectmanager/ObjectManagerIF.h" CommandActionHelper::CommandActionHelper(CommandsActionsIF *setOwner) : owner(setOwner), queueToUse(NULL), ipcStore( diff --git a/action/CommandActionHelper.h b/action/CommandActionHelper.h index 24d0380c6..cfed8c941 100644 --- a/action/CommandActionHelper.h +++ b/action/CommandActionHelper.h @@ -1,12 +1,12 @@ #ifndef COMMANDACTIONHELPER_H_ #define COMMANDACTIONHELPER_H_ -#include -#include -#include -#include -#include -#include +#include "ActionMessage.h" +#include "../objectmanager/ObjectManagerIF.h" +#include "../returnvalues/HasReturnvaluesIF.h" +#include "../serialize/SerializeIF.h" +#include "../storagemanager/StorageManagerIF.h" +#include "../ipc/MessageQueueIF.h" class CommandsActionsIF; diff --git a/action/CommandsActionsIF.h b/action/CommandsActionsIF.h index db76fb505..3d04015d1 100644 --- a/action/CommandsActionsIF.h +++ b/action/CommandsActionsIF.h @@ -1,9 +1,9 @@ #ifndef COMMANDSACTIONSIF_H_ #define COMMANDSACTIONSIF_H_ -#include -#include -#include +#include "CommandActionHelper.h" +#include "../returnvalues/HasReturnvaluesIF.h" +#include "../ipc/MessageQueueIF.h" /** * Interface to separate commanding actions of other objects. diff --git a/action/HasActionsIF.h b/action/HasActionsIF.h index 008d9eaf8..886d08377 100644 --- a/action/HasActionsIF.h +++ b/action/HasActionsIF.h @@ -1,11 +1,11 @@ #ifndef FRAMEWORK_ACTION_HASACTIONSIF_H_ #define FRAMEWORK_ACTION_HASACTIONSIF_H_ -#include -#include -#include -#include -#include +#include "ActionHelper.h" +#include "ActionMessage.h" +#include "SimpleActionHelper.h" +#include "../returnvalues/HasReturnvaluesIF.h" +#include "../ipc/MessageQueueIF.h" /** * @brief * Interface for component which uses actions diff --git a/action/SimpleActionHelper.cpp b/action/SimpleActionHelper.cpp index 6861fc28c..d79a3c977 100644 --- a/action/SimpleActionHelper.cpp +++ b/action/SimpleActionHelper.cpp @@ -1,5 +1,5 @@ -#include -#include +#include "HasActionsIF.h" +#include "SimpleActionHelper.h" SimpleActionHelper::SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue) : ActionHelper(setOwner, useThisQueue), isExecuting(false), lastCommander( diff --git a/action/SimpleActionHelper.h b/action/SimpleActionHelper.h index 71e73c5ad..1329b5fb5 100644 --- a/action/SimpleActionHelper.h +++ b/action/SimpleActionHelper.h @@ -1,7 +1,7 @@ #ifndef SIMPLEACTIONHELPER_H_ #define SIMPLEACTIONHELPER_H_ -#include +#include "ActionHelper.h" class SimpleActionHelper: public ActionHelper { public: diff --git a/container/ArrayList.h b/container/ArrayList.h index 9c4c4cebc..018f98945 100644 --- a/container/ArrayList.h +++ b/container/ArrayList.h @@ -1,9 +1,9 @@ #ifndef ARRAYLIST_H_ #define ARRAYLIST_H_ -#include -#include -#include +#include "../returnvalues/HasReturnvaluesIF.h" +#include "../serialize/SerializeAdapter.h" +#include "../serialize/SerializeIF.h" /** * A List that stores its values in an array. diff --git a/container/FIFO.h b/container/FIFO.h index f70c78b0d..3172d9d12 100644 --- a/container/FIFO.h +++ b/container/FIFO.h @@ -1,7 +1,7 @@ #ifndef FIFO_H_ #define FIFO_H_ -#include +#include "../returnvalues/HasReturnvaluesIF.h" /** * @brief Simple First-In-First-Out data structure diff --git a/container/FixedArrayList.h b/container/FixedArrayList.h index eeffcc870..42b59177c 100644 --- a/container/FixedArrayList.h +++ b/container/FixedArrayList.h @@ -1,7 +1,7 @@ #ifndef FIXEDARRAYLIST_H_ #define FIXEDARRAYLIST_H_ -#include +#include "ArrayList.h" /** * \ingroup container */ diff --git a/container/FixedMap.h b/container/FixedMap.h index ac170bd2a..dc19ce539 100644 --- a/container/FixedMap.h +++ b/container/FixedMap.h @@ -1,8 +1,8 @@ #ifndef FIXEDMAP_H_ #define FIXEDMAP_H_ -#include -#include +#include "ArrayList.h" +#include "../returnvalues/HasReturnvaluesIF.h" #include /** diff --git a/container/FixedOrderedMultimap.h b/container/FixedOrderedMultimap.h index 21629664b..6152d8d7f 100644 --- a/container/FixedOrderedMultimap.h +++ b/container/FixedOrderedMultimap.h @@ -1,7 +1,7 @@ #ifndef FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_H_ #define FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_H_ -#include +#include "ArrayList.h" #include #include /** diff --git a/container/HybridIterator.h b/container/HybridIterator.h index f2fd6b288..8d020cb93 100644 --- a/container/HybridIterator.h +++ b/container/HybridIterator.h @@ -1,8 +1,8 @@ #ifndef FRAMEWORK_CONTAINER_HYBRIDITERATOR_H_ #define FRAMEWORK_CONTAINER_HYBRIDITERATOR_H_ -#include -#include +#include "ArrayList.h" +#include "SinglyLinkedList.h" template class HybridIterator: public LinkedElement::Iterator, diff --git a/container/IndexedRingMemoryArray.h b/container/IndexedRingMemoryArray.h index 6e7f330cb..0d85b49bc 100644 --- a/container/IndexedRingMemoryArray.h +++ b/container/IndexedRingMemoryArray.h @@ -1,11 +1,11 @@ #ifndef FRAMEWORK_CONTAINER_INDEXEDRINGMEMORY_H_ #define FRAMEWORK_CONTAINER_INDEXEDRINGMEMORY_H_ -#include -#include -#include -#include -#include +#include "ArrayList.h" +#include "../globalfunctions/CRC.h" +#include "../serviceinterface/ServiceInterfaceStream.h" +#include "../returnvalues/HasReturnvaluesIF.h" +#include "../serialize/SerialArrayListAdapter.h" #include template diff --git a/container/PlacementFactory.h b/container/PlacementFactory.h index daf4ee20c..055384780 100644 --- a/container/PlacementFactory.h +++ b/container/PlacementFactory.h @@ -1,7 +1,7 @@ #ifndef FRAMEWORK_CONTAINER_PLACEMENTFACTORY_H_ #define FRAMEWORK_CONTAINER_PLACEMENTFACTORY_H_ -#include +#include "../storagemanager/StorageManagerIF.h" #include class PlacementFactory { diff --git a/container/RingBufferBase.h b/container/RingBufferBase.h index 3ef782d87..e3a87d9d8 100644 --- a/container/RingBufferBase.h +++ b/container/RingBufferBase.h @@ -1,7 +1,7 @@ #ifndef FRAMEWORK_CONTAINER_RINGBUFFERBASE_H_ #define FRAMEWORK_CONTAINER_RINGBUFFERBASE_H_ -#include +#include "../returnvalues/HasReturnvaluesIF.h" template class RingBufferBase { diff --git a/container/SimpleRingBuffer.cpp b/container/SimpleRingBuffer.cpp index 63dc3514b..ee0876439 100644 --- a/container/SimpleRingBuffer.cpp +++ b/container/SimpleRingBuffer.cpp @@ -1,4 +1,4 @@ -#include +#include "SimpleRingBuffer.h" #include SimpleRingBuffer::SimpleRingBuffer(uint32_t size, bool overwriteOld) : diff --git a/container/SimpleRingBuffer.h b/container/SimpleRingBuffer.h index 6d7d67e1d..5d4fecabe 100644 --- a/container/SimpleRingBuffer.h +++ b/container/SimpleRingBuffer.h @@ -1,7 +1,7 @@ #ifndef FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_ #define FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_ -#include +#include "RingBufferBase.h" #include class SimpleRingBuffer: public RingBufferBase<> { diff --git a/controller/ControllerBase.cpp b/controller/ControllerBase.cpp index 7b11bdfa3..695517310 100644 --- a/controller/ControllerBase.cpp +++ b/controller/ControllerBase.cpp @@ -1,8 +1,8 @@ -#include -#include -#include -#include -#include +#include "../subsystem/SubsystemBase.h" +#include "ControllerBase.h" +#include "../subsystem/SubsystemBase.h" +#include "../ipc/QueueFactory.h" +#include "../action/HasActionsIF.h" ControllerBase::ControllerBase(uint32_t setObjectId, uint32_t parentId, size_t commandQueueDepth) : diff --git a/controller/ControllerBase.h b/controller/ControllerBase.h index 804bc7c25..f5182ceb3 100644 --- a/controller/ControllerBase.h +++ b/controller/ControllerBase.h @@ -1,13 +1,13 @@ #ifndef CONTROLLERBASE_H_ #define CONTROLLERBASE_H_ -#include -#include -#include -#include -#include -#include -#include +#include "../health/HasHealthIF.h" +#include "../health/HealthHelper.h" +#include "../modes/HasModesIF.h" +#include "../modes/ModeHelper.h" +#include "../objectmanager/SystemObject.h" +#include "../tasks/ExecutableObjectIF.h" +#include "../datapool/HkSwitchHelper.h" class ControllerBase: public HasModesIF, diff --git a/coordinates/CoordinateTransformations.cpp b/coordinates/CoordinateTransformations.cpp index b57519a38..4e2debbe8 100644 --- a/coordinates/CoordinateTransformations.cpp +++ b/coordinates/CoordinateTransformations.cpp @@ -1,7 +1,7 @@ -#include -#include -#include -#include +#include "CoordinateTransformations.h" +#include "../globalfunctions/constants.h" +#include "../globalfunctions/math/MatrixOperations.h" +#include "../globalfunctions/math/VectorOperations.h" #include #include diff --git a/coordinates/CoordinateTransformations.h b/coordinates/CoordinateTransformations.h index b072271fc..09ea2c48c 100644 --- a/coordinates/CoordinateTransformations.h +++ b/coordinates/CoordinateTransformations.h @@ -1,7 +1,7 @@ #ifndef COORDINATETRANSFORMATIONS_H_ #define COORDINATETRANSFORMATIONS_H_ -#include +#include "../timemanager/Clock.h" #include class CoordinateTransformations { diff --git a/coordinates/Jgm3Model.h b/coordinates/Jgm3Model.h index 8f0598f84..884ed1418 100644 --- a/coordinates/Jgm3Model.h +++ b/coordinates/Jgm3Model.h @@ -2,10 +2,10 @@ #define FRAMEWORK_COORDINATES_JGM3MODEL_H_ #include -#include -#include -#include -#include +#include "CoordinateTransformations.h" +#include "../globalfunctions/math/VectorOperations.h" +#include "../globalfunctions/timevalOperations.h" +#include "../globalfunctions/constants.h" #include diff --git a/coordinates/Sgp4Propagator.cpp b/coordinates/Sgp4Propagator.cpp index 0eb20f08a..5cb1497cf 100644 --- a/coordinates/Sgp4Propagator.cpp +++ b/coordinates/Sgp4Propagator.cpp @@ -1,9 +1,9 @@ -#include -#include -#include -#include -#include -#include +#include "CoordinateTransformations.h" +#include "Sgp4Propagator.h" +#include "../globalfunctions/constants.h" +#include "../globalfunctions/math/MatrixOperations.h" +#include "../globalfunctions/math/VectorOperations.h" +#include "../globalfunctions/timevalOperations.h" #include Sgp4Propagator::Sgp4Propagator() : initialized(false), epoch({0, 0}), whichconst(wgs84) { diff --git a/coordinates/Sgp4Propagator.h b/coordinates/Sgp4Propagator.h index 957397620..3949547e1 100644 --- a/coordinates/Sgp4Propagator.h +++ b/coordinates/Sgp4Propagator.h @@ -3,7 +3,7 @@ #include #include "../contrib/sgp4/sgp4unit.h" -#include +#include "../returnvalues/HasReturnvaluesIF.h" class Sgp4Propagator { public: diff --git a/datalinklayer/BCFrame.h b/datalinklayer/BCFrame.h index bcdf53008..b7795556d 100644 --- a/datalinklayer/BCFrame.h +++ b/datalinklayer/BCFrame.h @@ -8,7 +8,7 @@ #ifndef BCFRAME_H_ #define BCFRAME_H_ -#include +#include "CCSDSReturnValuesIF.h" /** * Small helper class to identify a BcFrame. diff --git a/datalinklayer/CCSDSReturnValuesIF.h b/datalinklayer/CCSDSReturnValuesIF.h index 4d4f4bde9..805b6969f 100644 --- a/datalinklayer/CCSDSReturnValuesIF.h +++ b/datalinklayer/CCSDSReturnValuesIF.h @@ -8,7 +8,7 @@ #ifndef CCSDSRETURNVALUESIF_H_ #define CCSDSRETURNVALUESIF_H_ -#include +#include "../returnvalues/HasReturnvaluesIF.h" /** * This is a helper class to collect special return values that come up during CCSDS Handling. * @ingroup ccsds_handling diff --git a/datalinklayer/Clcw.cpp b/datalinklayer/Clcw.cpp index ee497e206..dc435a2b4 100644 --- a/datalinklayer/Clcw.cpp +++ b/datalinklayer/Clcw.cpp @@ -7,8 +7,8 @@ -#include -#include +#include "Clcw.h" +#include "../serviceinterface/ServiceInterfaceStream.h" Clcw::Clcw() { content.raw = 0; diff --git a/datalinklayer/Clcw.h b/datalinklayer/Clcw.h index f19f37b66..8116d63b6 100644 --- a/datalinklayer/Clcw.h +++ b/datalinklayer/Clcw.h @@ -8,7 +8,7 @@ #ifndef CLCW_H_ #define CLCW_H_ -#include +#include "ClcwIF.h" /** * Small helper method to handle the Clcw values. * It has a content struct that manages the register and can be set externally. diff --git a/datalinklayer/DataLinkLayer.cpp b/datalinklayer/DataLinkLayer.cpp index 4ca7f2705..75f2edda0 100644 --- a/datalinklayer/DataLinkLayer.cpp +++ b/datalinklayer/DataLinkLayer.cpp @@ -1,6 +1,6 @@ -#include -#include -#include +#include "DataLinkLayer.h" +#include "../globalfunctions/CRC.h" +#include "../serviceinterface/ServiceInterfaceStream.h" DataLinkLayer::DataLinkLayer(uint8_t* set_frame_buffer, ClcwIF* setClcw, uint8_t set_start_sequence_length, uint16_t set_scid) : diff --git a/datalinklayer/DataLinkLayer.h b/datalinklayer/DataLinkLayer.h index 8a3bb8e5a..5a900099e 100644 --- a/datalinklayer/DataLinkLayer.h +++ b/datalinklayer/DataLinkLayer.h @@ -1,11 +1,11 @@ #ifndef DATALINKLAYER_H_ #define DATALINKLAYER_H_ -#include -#include -#include -#include -#include +#include "CCSDSReturnValuesIF.h" +#include "ClcwIF.h" +#include "TcTransferFrame.h" +#include "VirtualChannelReceptionIF.h" +#include "../events/Event.h" #include diff --git a/datalinklayer/Farm1StateIF.h b/datalinklayer/Farm1StateIF.h index 25836e6a4..71794d75e 100644 --- a/datalinklayer/Farm1StateIF.h +++ b/datalinklayer/Farm1StateIF.h @@ -8,7 +8,7 @@ #ifndef FARM1STATEIF_H_ #define FARM1STATEIF_H_ -#include +#include "CCSDSReturnValuesIF.h" class VirtualChannelReception; class TcTransferFrame; class ClcwIF; diff --git a/datalinklayer/Farm1StateLockout.cpp b/datalinklayer/Farm1StateLockout.cpp index 45ae47f9b..1b339a85f 100644 --- a/datalinklayer/Farm1StateLockout.cpp +++ b/datalinklayer/Farm1StateLockout.cpp @@ -7,10 +7,10 @@ -#include -#include -#include -#include +#include "ClcwIF.h" +#include "Farm1StateLockout.h" +#include "TcTransferFrame.h" +#include "VirtualChannelReception.h" Farm1StateLockout::Farm1StateLockout(VirtualChannelReception* setMyVC) : myVC(setMyVC) { } diff --git a/datalinklayer/Farm1StateLockout.h b/datalinklayer/Farm1StateLockout.h index aac8ed74c..63cdc4d2b 100644 --- a/datalinklayer/Farm1StateLockout.h +++ b/datalinklayer/Farm1StateLockout.h @@ -8,7 +8,7 @@ #ifndef FARM1STATELOCKOUT_H_ #define FARM1STATELOCKOUT_H_ -#include +#include "Farm1StateIF.h" /** * This class represents the FARM-1 "Lockout" State. diff --git a/datalinklayer/Farm1StateOpen.cpp b/datalinklayer/Farm1StateOpen.cpp index b06cff48d..61c0997f9 100644 --- a/datalinklayer/Farm1StateOpen.cpp +++ b/datalinklayer/Farm1StateOpen.cpp @@ -8,10 +8,10 @@ -#include -#include -#include -#include +#include "ClcwIF.h" +#include "Farm1StateOpen.h" +#include "TcTransferFrame.h" +#include "VirtualChannelReception.h" Farm1StateOpen::Farm1StateOpen(VirtualChannelReception* setMyVC) : myVC(setMyVC) { } diff --git a/datalinklayer/Farm1StateOpen.h b/datalinklayer/Farm1StateOpen.h index 09caacbbb..3b3a26048 100644 --- a/datalinklayer/Farm1StateOpen.h +++ b/datalinklayer/Farm1StateOpen.h @@ -8,7 +8,7 @@ #ifndef FARM1STATEOPEN_H_ #define FARM1STATEOPEN_H_ -#include +#include "Farm1StateIF.h" /** * This class represents the FARM-1 "Open" State. diff --git a/datalinklayer/Farm1StateWait.cpp b/datalinklayer/Farm1StateWait.cpp index 1c72e68f8..9001e1f5f 100644 --- a/datalinklayer/Farm1StateWait.cpp +++ b/datalinklayer/Farm1StateWait.cpp @@ -6,10 +6,10 @@ */ -#include -#include -#include -#include +#include "ClcwIF.h" +#include "Farm1StateWait.h" +#include "TcTransferFrame.h" +#include "VirtualChannelReception.h" Farm1StateWait::Farm1StateWait(VirtualChannelReception* setMyVC) : myVC(setMyVC) { } diff --git a/datalinklayer/Farm1StateWait.h b/datalinklayer/Farm1StateWait.h index f12017912..877c36c26 100644 --- a/datalinklayer/Farm1StateWait.h +++ b/datalinklayer/Farm1StateWait.h @@ -8,7 +8,7 @@ #ifndef FARM1STATEWAIT_H_ #define FARM1STATEWAIT_H_ -#include +#include "Farm1StateIF.h" /** * This class represents the FARM-1 "Wait" State. diff --git a/datalinklayer/MapPacketExtraction.cpp b/datalinklayer/MapPacketExtraction.cpp index 11b0792a9..cb12b3210 100644 --- a/datalinklayer/MapPacketExtraction.cpp +++ b/datalinklayer/MapPacketExtraction.cpp @@ -5,13 +5,13 @@ * @author baetz */ -#include -#include -#include -#include -#include -#include -#include +#include "MapPacketExtraction.h" +#include "../ipc/QueueFactory.h" +#include "../serviceinterface/ServiceInterfaceStream.h" +#include "../storagemanager/StorageManagerIF.h" +#include "../tmtcpacket/SpacePacketBase.h" +#include "../tmtcservices/AcceptsTelecommandsIF.h" +#include "../tmtcservices/TmTcMessage.h" #include MapPacketExtraction::MapPacketExtraction(uint8_t setMapId, diff --git a/datalinklayer/MapPacketExtraction.h b/datalinklayer/MapPacketExtraction.h index 5a32366c4..507f13dbe 100644 --- a/datalinklayer/MapPacketExtraction.h +++ b/datalinklayer/MapPacketExtraction.h @@ -8,10 +8,10 @@ #ifndef MAPPACKETEXTRACTION_H_ #define MAPPACKETEXTRACTION_H_ -#include -#include -#include -#include +#include "MapPacketExtractionIF.h" +#include "../objectmanager/ObjectManagerIF.h" +#include "../returnvalues/HasReturnvaluesIF.h" +#include "../ipc/MessageQueueSenderIF.h" class StorageManagerIF; diff --git a/datalinklayer/MapPacketExtractionIF.h b/datalinklayer/MapPacketExtractionIF.h index 802a893d0..e29ac6660 100644 --- a/datalinklayer/MapPacketExtractionIF.h +++ b/datalinklayer/MapPacketExtractionIF.h @@ -8,8 +8,8 @@ #ifndef MAPPACKETEXTRACTIONIF_H_ #define MAPPACKETEXTRACTIONIF_H_ -#include -#include +#include "CCSDSReturnValuesIF.h" +#include "TcTransferFrame.h" /** * This is the interface for MAP Packet Extraction classes. diff --git a/datalinklayer/TcTransferFrame.cpp b/datalinklayer/TcTransferFrame.cpp index 30398e9bf..f1a70bdcf 100644 --- a/datalinklayer/TcTransferFrame.cpp +++ b/datalinklayer/TcTransferFrame.cpp @@ -7,8 +7,8 @@ -#include -#include +#include "TcTransferFrame.h" +#include "../serviceinterface/ServiceInterfaceStream.h" TcTransferFrame::TcTransferFrame() { frame = NULL; diff --git a/datalinklayer/TcTransferFrameLocal.cpp b/datalinklayer/TcTransferFrameLocal.cpp index 79e141674..e8785c92a 100644 --- a/datalinklayer/TcTransferFrameLocal.cpp +++ b/datalinklayer/TcTransferFrameLocal.cpp @@ -5,9 +5,9 @@ * @author baetz */ -#include -#include -#include +#include "TcTransferFrameLocal.h" +#include "../globalfunctions/CRC.h" +#include "../serviceinterface/ServiceInterfaceStream.h" #include TcTransferFrameLocal::TcTransferFrameLocal(bool bypass, bool controlCommand, uint16_t scid, diff --git a/datalinklayer/TcTransferFrameLocal.h b/datalinklayer/TcTransferFrameLocal.h index f20f12ec2..487d8940b 100644 --- a/datalinklayer/TcTransferFrameLocal.h +++ b/datalinklayer/TcTransferFrameLocal.h @@ -8,7 +8,7 @@ #ifndef TCTRANSFERFRAMELOCAL_H_ #define TCTRANSFERFRAMELOCAL_H_ -#include +#include "TcTransferFrame.h" /** * This is a helper class to locally create TC Transfer Frames. diff --git a/datalinklayer/VirtualChannelReception.cpp b/datalinklayer/VirtualChannelReception.cpp index 373f6c62d..cde28de37 100644 --- a/datalinklayer/VirtualChannelReception.cpp +++ b/datalinklayer/VirtualChannelReception.cpp @@ -5,9 +5,9 @@ * @author baetz */ -#include -#include -#include +#include "BCFrame.h" +#include "VirtualChannelReception.h" +#include "../serviceinterface/ServiceInterfaceStream.h" VirtualChannelReception::VirtualChannelReception(uint8_t setChannelId, uint8_t setSlidingWindowWidth) : diff --git a/datalinklayer/VirtualChannelReception.h b/datalinklayer/VirtualChannelReception.h index f364c6e5d..9b4e2987e 100644 --- a/datalinklayer/VirtualChannelReception.h +++ b/datalinklayer/VirtualChannelReception.h @@ -8,14 +8,14 @@ #ifndef VIRTUALCHANNELRECEPTION_H_ #define VIRTUALCHANNELRECEPTION_H_ -#include -#include -#include -#include -#include -#include -#include -#include +#include "CCSDSReturnValuesIF.h" +#include "Clcw.h" +#include "Farm1StateIF.h" +#include "Farm1StateLockout.h" +#include "Farm1StateOpen.h" +#include "Farm1StateWait.h" +#include "MapPacketExtractionIF.h" +#include "VirtualChannelReceptionIF.h" #include /** * Implementation of a TC Virtual Channel. diff --git a/datalinklayer/VirtualChannelReceptionIF.h b/datalinklayer/VirtualChannelReceptionIF.h index 98a9b72c8..36f60e8c4 100644 --- a/datalinklayer/VirtualChannelReceptionIF.h +++ b/datalinklayer/VirtualChannelReceptionIF.h @@ -8,9 +8,9 @@ #ifndef VIRTUALCHANNELRECEPTIONIF_H_ #define VIRTUALCHANNELRECEPTIONIF_H_ -#include -#include -#include +#include "ClcwIF.h" +#include "TcTransferFrame.h" +#include "../returnvalues/HasReturnvaluesIF.h" /** * This is the interface for Virtual Channel reception classes. diff --git a/datapool/ControllerSet.cpp b/datapool/ControllerSet.cpp index eb4f6d0fd..6339034c1 100644 --- a/datapool/ControllerSet.cpp +++ b/datapool/ControllerSet.cpp @@ -1,4 +1,4 @@ -#include +#include "ControllerSet.h" ControllerSet::ControllerSet() { diff --git a/datapool/ControllerSet.h b/datapool/ControllerSet.h index de06bf918..e27debff0 100644 --- a/datapool/ControllerSet.h +++ b/datapool/ControllerSet.h @@ -1,7 +1,7 @@ #ifndef CONTROLLERSET_H_ #define CONTROLLERSET_H_ -#include +#include "DataSet.h" class ControllerSet :public DataSet { public: diff --git a/datapool/DataPool.cpp b/datapool/DataPool.cpp index f44da64ed..817089bfc 100644 --- a/datapool/DataPool.cpp +++ b/datapool/DataPool.cpp @@ -1,6 +1,6 @@ -#include -#include -#include +#include "DataPool.h" +#include "../serviceinterface/ServiceInterfaceStream.h" +#include "../ipc/MutexFactory.h" DataPool::DataPool( void ( *initFunction )( std::map* pool_map ) ) { mutex = MutexFactory::instance()->createMutex(); diff --git a/datapool/DataPool.h b/datapool/DataPool.h index 6e38dc1b9..7abf28980 100644 --- a/datapool/DataPool.h +++ b/datapool/DataPool.h @@ -11,9 +11,9 @@ #ifndef DATAPOOL_H_ #define DATAPOOL_H_ -#include -#include -#include +#include "PoolEntry.h" +#include "../globalfunctions/Type.h" +#include "../ipc/MutexIF.h" #include /** diff --git a/datapool/DataPoolAdmin.cpp b/datapool/DataPoolAdmin.cpp index 3ea266ea8..f298d530d 100644 --- a/datapool/DataPoolAdmin.cpp +++ b/datapool/DataPoolAdmin.cpp @@ -1,10 +1,10 @@ -#include -#include -#include -#include -#include -#include -#include +#include "DataPool.h" +#include "DataPoolAdmin.h" +#include "DataSet.h" +#include "PoolRawAccess.h" +#include "../ipc/CommandMessage.h" +#include "../ipc/QueueFactory.h" +#include "../parameters/ParameterMessage.h" DataPoolAdmin::DataPoolAdmin(object_id_t objectId) : SystemObject(objectId), storage(NULL), commandQueue(NULL), memoryHelper( diff --git a/datapool/DataPoolAdmin.h b/datapool/DataPoolAdmin.h index 1be920b54..e2d1e9e18 100644 --- a/datapool/DataPoolAdmin.h +++ b/datapool/DataPoolAdmin.h @@ -1,15 +1,15 @@ #ifndef DATAPOOLADMIN_H_ #define DATAPOOLADMIN_H_ -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include "../memory/MemoryHelper.h" +#include "../action/HasActionsIF.h" +#include "../action/SimpleActionHelper.h" +#include "../objectmanager/SystemObject.h" +#include "../returnvalues/HasReturnvaluesIF.h" +#include "../tasks/ExecutableObjectIF.h" +#include "../parameters/ReceivesParameterMessagesIF.h" +#include "DataPoolParameterWrapper.h" +#include "../ipc/MessageQueueIF.h" class DataPoolAdmin: public HasActionsIF, public ExecutableObjectIF, diff --git a/datapool/DataPoolParameterWrapper.cpp b/datapool/DataPoolParameterWrapper.cpp index e08eba5bb..79367405a 100644 --- a/datapool/DataPoolParameterWrapper.cpp +++ b/datapool/DataPoolParameterWrapper.cpp @@ -1,10 +1,10 @@ #include "DataPoolParameterWrapper.h" //for returncodes -#include +#include "../parameters/HasParametersIF.h" -#include -#include +#include "DataSet.h" +#include "PoolRawAccess.h" DataPoolParameterWrapper::DataPoolParameterWrapper() : type(Type::UNKNOWN_TYPE), rows(0), columns(0), poolId( diff --git a/datapool/DataPoolParameterWrapper.h b/datapool/DataPoolParameterWrapper.h index a3dbdc04d..b1e505a75 100644 --- a/datapool/DataPoolParameterWrapper.h +++ b/datapool/DataPoolParameterWrapper.h @@ -1,8 +1,8 @@ #ifndef DATAPOOLPARAMETERWRAPPER_H_ #define DATAPOOLPARAMETERWRAPPER_H_ -#include -#include +#include "../globalfunctions/Type.h" +#include "../parameters/ParameterWrapper.h" class DataPoolParameterWrapper: public SerializeIF { public: diff --git a/datapool/DataSet.cpp b/datapool/DataSet.cpp index f49f2ee57..e41489bd9 100644 --- a/datapool/DataSet.cpp +++ b/datapool/DataSet.cpp @@ -1,5 +1,5 @@ -#include -#include +#include "DataSet.h" +#include "../serviceinterface/ServiceInterfaceStream.h" DataSet::DataSet() : fill_count(0), state(DATA_SET_UNINITIALISED) { diff --git a/datapool/DataSet.h b/datapool/DataSet.h index 3d2115379..04044bfe5 100644 --- a/datapool/DataSet.h +++ b/datapool/DataSet.h @@ -12,13 +12,13 @@ #ifndef DATASET_H_ #define DATASET_H_ -#include -#include -#include -#include -#include -#include -#include +#include "DataPool.h" +#include "DataSetIF.h" +#include "PoolRawAccess.h" +#include "PoolVariable.h" +#include "PoolVarList.h" +#include "PoolVector.h" +#include "../serialize/SerializeAdapter.h" /** * \brief The DataSet class manages a set of locally checked out variables. * diff --git a/datapool/HkSwitchHelper.cpp b/datapool/HkSwitchHelper.cpp index caae21461..04096acaf 100644 --- a/datapool/HkSwitchHelper.cpp +++ b/datapool/HkSwitchHelper.cpp @@ -1,6 +1,6 @@ -#include +#include "HkSwitchHelper.h" //#include -#include +#include "../ipc/QueueFactory.h" HkSwitchHelper::HkSwitchHelper(EventReportingProxyIF* eventProxy) : commandActionHelper(this), eventProxy(eventProxy) { diff --git a/datapool/HkSwitchHelper.h b/datapool/HkSwitchHelper.h index 1a3b62758..385b2047f 100644 --- a/datapool/HkSwitchHelper.h +++ b/datapool/HkSwitchHelper.h @@ -1,9 +1,9 @@ #ifndef FRAMEWORK_DATAPOOL_HKSWITCHHELPER_H_ #define FRAMEWORK_DATAPOOL_HKSWITCHHELPER_H_ -#include -#include -#include +#include "../tasks/ExecutableObjectIF.h" +#include "../action/CommandsActionsIF.h" +#include "../events/EventReportingProxyIF.h" //TODO this class violations separation between mission and framework //but it is only a transitional solution until the Datapool is diff --git a/datapool/PIDReader.h b/datapool/PIDReader.h index 464b15495..3b38b51d1 100644 --- a/datapool/PIDReader.h +++ b/datapool/PIDReader.h @@ -1,11 +1,11 @@ #ifndef PIDREADER_H_ #define PIDREADER_H_ -#include -#include -#include -#include -#include -#include +#include "DataPool.h" +#include "DataSetIF.h" +#include "PoolEntry.h" +#include "PoolVariableIF.h" +#include "../serialize/SerializeAdapter.h" +#include "../serviceinterface/ServiceInterfaceStream.h" template class PIDReaderList; diff --git a/datapool/PIDReaderList.h b/datapool/PIDReaderList.h index 07d1b8e6d..1f6aa99cd 100644 --- a/datapool/PIDReaderList.h +++ b/datapool/PIDReaderList.h @@ -1,8 +1,8 @@ #ifndef FRAMEWORK_DATAPOOL_PIDREADERLIST_H_ #define FRAMEWORK_DATAPOOL_PIDREADERLIST_H_ -#include -#include +#include "PIDReader.h" +#include "PoolVariableIF.h" template class PIDReaderList { private: diff --git a/datapool/PoolEntry.cpp b/datapool/PoolEntry.cpp index d535a72b6..56e489a5e 100644 --- a/datapool/PoolEntry.cpp +++ b/datapool/PoolEntry.cpp @@ -1,6 +1,6 @@ -#include -#include -#include +#include "PoolEntry.h" +#include "../serviceinterface/ServiceInterfaceStream.h" +#include "../globalfunctions/arrayprinter.h" #include template diff --git a/datapool/PoolEntry.h b/datapool/PoolEntry.h index 1a22bb638..7b47c6739 100644 --- a/datapool/PoolEntry.h +++ b/datapool/PoolEntry.h @@ -1,7 +1,7 @@ #ifndef FRAMEWORK_DATAPOOL_POOLENTRY_H_ #define FRAMEWORK_DATAPOOL_POOLENTRY_H_ -#include +#include "PoolEntryIF.h" #include #include diff --git a/datapool/PoolEntryIF.h b/datapool/PoolEntryIF.h index a075436e2..462de18b8 100644 --- a/datapool/PoolEntryIF.h +++ b/datapool/PoolEntryIF.h @@ -1,7 +1,7 @@ #ifndef FRAMEWORK_DATAPOOL_POOLENTRYIF_H_ #define FRAMEWORK_DATAPOOL_POOLENTRYIF_H_ -#include +#include "../globalfunctions/Type.h" #include /** diff --git a/datapool/PoolRawAccess.cpp b/datapool/PoolRawAccess.cpp index eca354a90..f92640813 100644 --- a/datapool/PoolRawAccess.cpp +++ b/datapool/PoolRawAccess.cpp @@ -1,8 +1,8 @@ -#include -#include -#include -#include -#include +#include "DataPool.h" +#include "PoolEntryIF.h" +#include "PoolRawAccess.h" +#include "../serviceinterface/ServiceInterfaceStream.h" +#include "../serialize/EndianConverter.h" #include diff --git a/datapool/PoolRawAccess.h b/datapool/PoolRawAccess.h index 09d19afd6..0c7a06bf6 100644 --- a/datapool/PoolRawAccess.h +++ b/datapool/PoolRawAccess.h @@ -1,8 +1,8 @@ #ifndef POOLRAWACCESS_H_ #define POOLRAWACCESS_H_ -#include -#include +#include "DataSetIF.h" +#include "PoolVariableIF.h" /** * This class allows accessing Data Pool variables as raw bytes. diff --git a/datapool/PoolVarList.h b/datapool/PoolVarList.h index 90c9f1785..035ff2ac8 100644 --- a/datapool/PoolVarList.h +++ b/datapool/PoolVarList.h @@ -1,8 +1,8 @@ #ifndef POOLVARLIST_H_ #define POOLVARLIST_H_ -#include -#include +#include "PoolVariable.h" +#include "PoolVariableIF.h" template class PoolVarList { private: diff --git a/datapool/PoolVariable.h b/datapool/PoolVariable.h index a06935c37..a9d3407d0 100644 --- a/datapool/PoolVariable.h +++ b/datapool/PoolVariable.h @@ -11,11 +11,11 @@ #ifndef POOLVARIABLE_H_ #define POOLVARIABLE_H_ -#include -#include -#include -#include -#include +#include "DataSetIF.h" +#include "PoolEntry.h" +#include "PoolVariableIF.h" +#include "../serialize/SerializeAdapter.h" +#include "../serviceinterface/ServiceInterfaceStream.h" template class PoolVarList; diff --git a/datapool/PoolVariableIF.h b/datapool/PoolVariableIF.h index 7626c9c17..f47173df3 100644 --- a/datapool/PoolVariableIF.h +++ b/datapool/PoolVariableIF.h @@ -11,8 +11,8 @@ #ifndef POOLVARIABLEIF_H_ #define POOLVARIABLEIF_H_ -#include -#include +#include "../returnvalues/HasReturnvaluesIF.h" +#include "../serialize/SerializeIF.h" /** * \brief This interface is used to control local data pool variable representations. diff --git a/datapool/PoolVector.h b/datapool/PoolVector.h index 777ec7238..d4ca08426 100644 --- a/datapool/PoolVector.h +++ b/datapool/PoolVector.h @@ -11,11 +11,11 @@ #ifndef POOLVECTOR_H_ #define POOLVECTOR_H_ -#include -#include -#include -#include -#include +#include "DataSetIF.h" +#include "PoolEntry.h" +#include "PoolVariableIF.h" +#include "../serialize/SerializeAdapter.h" +#include "../serviceinterface/ServiceInterfaceStream.h" /** * \brief This is the access class for array-type data pool entries. diff --git a/devicehandlers/AcceptsDeviceResponsesIF.h b/devicehandlers/AcceptsDeviceResponsesIF.h index 0eedae889..8dc69de4f 100644 --- a/devicehandlers/AcceptsDeviceResponsesIF.h +++ b/devicehandlers/AcceptsDeviceResponsesIF.h @@ -8,7 +8,7 @@ #ifndef ACCEPTSDEVICERESPONSESIF_H_ #define ACCEPTSDEVICERESPONSESIF_H_ -#include +#include "../ipc/MessageQueueSenderIF.h" class AcceptsDeviceResponsesIF { public: diff --git a/devicehandlers/AssemblyBase.cpp b/devicehandlers/AssemblyBase.cpp index c250cf735..8b3f7f4dc 100644 --- a/devicehandlers/AssemblyBase.cpp +++ b/devicehandlers/AssemblyBase.cpp @@ -1,4 +1,4 @@ -#include +#include "AssemblyBase.h" AssemblyBase::AssemblyBase(object_id_t objectId, object_id_t parentId, uint16_t commandQueueDepth) : diff --git a/devicehandlers/AssemblyBase.h b/devicehandlers/AssemblyBase.h index ee1210324..bd2e8fada 100644 --- a/devicehandlers/AssemblyBase.h +++ b/devicehandlers/AssemblyBase.h @@ -1,9 +1,9 @@ #ifndef ASSEMBLYBASE_H_ #define ASSEMBLYBASE_H_ -#include -#include -#include +#include "../container/FixedArrayList.h" +#include "DeviceHandlerBase.h" +#include "../subsystem/SubsystemBase.h" class AssemblyBase: public SubsystemBase { public: diff --git a/devicehandlers/ChildHandlerBase.cpp b/devicehandlers/ChildHandlerBase.cpp index 34e45b684..cee2a349c 100644 --- a/devicehandlers/ChildHandlerBase.cpp +++ b/devicehandlers/ChildHandlerBase.cpp @@ -1,6 +1,6 @@ -#include -#include -#include +#include "../subsystem/SubsystemBase.h" +#include "ChildHandlerBase.h" +#include "../subsystem/SubsystemBase.h" ChildHandlerBase::ChildHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication, CookieIF * comCookie, diff --git a/devicehandlers/ChildHandlerBase.h b/devicehandlers/ChildHandlerBase.h index 59cf26b1b..005e80659 100644 --- a/devicehandlers/ChildHandlerBase.h +++ b/devicehandlers/ChildHandlerBase.h @@ -1,8 +1,8 @@ #ifndef PAYLOADHANDLERBASE_H_ #define PAYLOADHANDLERBASE_H_ -#include -#include +#include "ChildHandlerFDIR.h" +#include "DeviceHandlerBase.h" class ChildHandlerBase: public DeviceHandlerBase { public: diff --git a/devicehandlers/ChildHandlerFDIR.cpp b/devicehandlers/ChildHandlerFDIR.cpp index 1bba47fec..14043a779 100644 --- a/devicehandlers/ChildHandlerFDIR.cpp +++ b/devicehandlers/ChildHandlerFDIR.cpp @@ -1,4 +1,4 @@ -#include +#include "ChildHandlerFDIR.h" ChildHandlerFDIR::ChildHandlerFDIR(object_id_t owner, object_id_t faultTreeParent, uint32_t recoveryCount) : DeviceHandlerFailureIsolation(owner, faultTreeParent) { diff --git a/devicehandlers/ChildHandlerFDIR.h b/devicehandlers/ChildHandlerFDIR.h index 7df9d238f..ce8445183 100644 --- a/devicehandlers/ChildHandlerFDIR.h +++ b/devicehandlers/ChildHandlerFDIR.h @@ -1,7 +1,7 @@ #ifndef FRAMEWORK_DEVICEHANDLERS_CHILDHANDLERFDIR_H_ #define FRAMEWORK_DEVICEHANDLERS_CHILDHANDLERFDIR_H_ -#include +#include "DeviceHandlerFailureIsolation.h" /** * Very simple extension to normal FDIR. diff --git a/devicehandlers/DeviceCommunicationIF.h b/devicehandlers/DeviceCommunicationIF.h index 9ca31a9bc..11960d8e3 100644 --- a/devicehandlers/DeviceCommunicationIF.h +++ b/devicehandlers/DeviceCommunicationIF.h @@ -1,8 +1,8 @@ #ifndef DEVICECOMMUNICATIONIF_H_ #define DEVICECOMMUNICATIONIF_H_ -#include -#include +#include "CookieIF.h" +#include "../returnvalues/HasReturnvaluesIF.h" #include /** * @defgroup interfaces Interfaces diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp index 79b504b51..a87b6de18 100644 --- a/devicehandlers/DeviceHandlerBase.cpp +++ b/devicehandlers/DeviceHandlerBase.cpp @@ -1,16 +1,16 @@ -#include -#include -#include -#include -#include +#include "DeviceHandlerBase.h" +#include "../objectmanager/ObjectManager.h" +#include "../storagemanager/StorageManagerIF.h" +#include "../thermal/ThermalComponentIF.h" +#include "AcceptsDeviceResponsesIF.h" -#include -#include -#include -#include -#include -#include -#include +#include "../datapool/DataSet.h" +#include "../datapool/PoolVariable.h" +#include "DeviceTmReportingWrapper.h" +#include "../globalfunctions/CRC.h" +#include "../subsystem/SubsystemBase.h" +#include "../ipc/QueueFactory.h" +#include "../serviceinterface/ServiceInterfaceStream.h" #include diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h index e79d5d5ca..7c68ce065 100644 --- a/devicehandlers/DeviceHandlerBase.h +++ b/devicehandlers/DeviceHandlerBase.h @@ -1,22 +1,22 @@ #ifndef DEVICEHANDLERBASE_H_ #define DEVICEHANDLERBASE_H_ -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include "../objectmanager/SystemObject.h" +#include "../tasks/ExecutableObjectIF.h" +#include "DeviceHandlerIF.h" +#include "../returnvalues/HasReturnvaluesIF.h" +#include "../action/HasActionsIF.h" +#include "../datapool/PoolVariableIF.h" +#include "DeviceCommunicationIF.h" +#include "../modes/HasModesIF.h" +#include "../power/PowerSwitchIF.h" +#include "../ipc/MessageQueueIF.h" -#include -#include -#include -#include -#include +#include "../action/ActionHelper.h" +#include "../health/HealthHelper.h" +#include "../parameters/ParameterHelper.h" +#include "../datapool/HkSwitchHelper.h" +#include "DeviceHandlerFailureIsolation.h" #include diff --git a/devicehandlers/DeviceHandlerFailureIsolation.cpp b/devicehandlers/DeviceHandlerFailureIsolation.cpp index 65c40219a..497d64692 100644 --- a/devicehandlers/DeviceHandlerFailureIsolation.cpp +++ b/devicehandlers/DeviceHandlerFailureIsolation.cpp @@ -1,9 +1,9 @@ -#include -#include -#include -#include -#include -#include +#include "DeviceHandlerBase.h" +#include "DeviceHandlerFailureIsolation.h" +#include "../health/HealthTableIF.h" +#include "../power/Fuse.h" +#include "../serviceinterface/ServiceInterfaceStream.h" +#include "../thermal/ThermalComponentIF.h" object_id_t DeviceHandlerFailureIsolation::powerConfirmationId = 0; diff --git a/devicehandlers/DeviceHandlerFailureIsolation.h b/devicehandlers/DeviceHandlerFailureIsolation.h index 91f6ef64a..aa43b762d 100644 --- a/devicehandlers/DeviceHandlerFailureIsolation.h +++ b/devicehandlers/DeviceHandlerFailureIsolation.h @@ -1,8 +1,8 @@ #ifndef FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERFAILUREISOLATION_H_ #define FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERFAILUREISOLATION_H_ -#include -#include +#include "../fdir/FaultCounter.h" +#include "../fdir/FailureIsolationBase.h" namespace Factory{ void setStaticFrameworkObjectIds(); } diff --git a/devicehandlers/DeviceHandlerIF.h b/devicehandlers/DeviceHandlerIF.h index 666d9efc3..52a3be4d0 100644 --- a/devicehandlers/DeviceHandlerIF.h +++ b/devicehandlers/DeviceHandlerIF.h @@ -1,11 +1,11 @@ #ifndef DEVICEHANDLERIF_H_ #define DEVICEHANDLERIF_H_ -#include -#include -#include -#include -#include +#include "../action/HasActionsIF.h" +#include "DeviceHandlerMessage.h" +#include "../events/Event.h" +#include "../modes/HasModesIF.h" +#include "../ipc/MessageQueueSenderIF.h" /** * @brief This is the Interface used to communicate with a device handler. diff --git a/devicehandlers/DeviceHandlerMessage.cpp b/devicehandlers/DeviceHandlerMessage.cpp index 58a6d3126..564fae213 100644 --- a/devicehandlers/DeviceHandlerMessage.cpp +++ b/devicehandlers/DeviceHandlerMessage.cpp @@ -1,6 +1,6 @@ -#include -#include -#include +#include "../objectmanager/ObjectManagerIF.h" +#include "DeviceHandlerMessage.h" +#include "../objectmanager/ObjectManagerIF.h" DeviceHandlerMessage::DeviceHandlerMessage() { } diff --git a/devicehandlers/DeviceHandlerMessage.h b/devicehandlers/DeviceHandlerMessage.h index fad0f1b1c..f33fdad82 100644 --- a/devicehandlers/DeviceHandlerMessage.h +++ b/devicehandlers/DeviceHandlerMessage.h @@ -1,10 +1,10 @@ #ifndef DEVICEHANDLERMESSAGE_H_ #define DEVICEHANDLERMESSAGE_H_ -#include -#include -#include -#include +#include "../action/ActionMessage.h" +#include "../ipc/CommandMessage.h" +#include "../objectmanager/SystemObjectIF.h" +#include "../storagemanager/StorageManagerIF.h" //SHOULDDO: rework the static constructors to name the type of command they are building, maybe even hide setting the commandID. /** diff --git a/devicehandlers/DeviceTmReportingWrapper.cpp b/devicehandlers/DeviceTmReportingWrapper.cpp index ce5eb1094..84f926f06 100644 --- a/devicehandlers/DeviceTmReportingWrapper.cpp +++ b/devicehandlers/DeviceTmReportingWrapper.cpp @@ -1,6 +1,6 @@ -#include -#include -#include +#include "../serialize/SerializeAdapter.h" +#include "DeviceTmReportingWrapper.h" +#include "../serialize/SerializeAdapter.h" DeviceTmReportingWrapper::DeviceTmReportingWrapper(object_id_t objectId, ActionId_t actionId, SerializeIF* data) : diff --git a/devicehandlers/DeviceTmReportingWrapper.h b/devicehandlers/DeviceTmReportingWrapper.h index 4432b7f15..a14c4261d 100644 --- a/devicehandlers/DeviceTmReportingWrapper.h +++ b/devicehandlers/DeviceTmReportingWrapper.h @@ -1,9 +1,9 @@ #ifndef DEVICETMREPORTINGWRAPPER_H_ #define DEVICETMREPORTINGWRAPPER_H_ -#include -#include -#include +#include "../action/HasActionsIF.h" +#include "../objectmanager/SystemObjectIF.h" +#include "../serialize/SerializeIF.h" class DeviceTmReportingWrapper: public SerializeIF { public: diff --git a/devicehandlers/FixedSequenceSlot.cpp b/devicehandlers/FixedSequenceSlot.cpp index bb97a8e5c..667aba1d2 100644 --- a/devicehandlers/FixedSequenceSlot.cpp +++ b/devicehandlers/FixedSequenceSlot.cpp @@ -5,8 +5,8 @@ * @author baetz */ -#include -#include +#include "FixedSequenceSlot.h" +#include "../objectmanager/SystemObjectIF.h" #include FixedSequenceSlot::FixedSequenceSlot(object_id_t handlerId, uint32_t setTime, diff --git a/devicehandlers/FixedSequenceSlot.h b/devicehandlers/FixedSequenceSlot.h index 7868cce30..735049550 100644 --- a/devicehandlers/FixedSequenceSlot.h +++ b/devicehandlers/FixedSequenceSlot.h @@ -8,8 +8,8 @@ #ifndef FIXEDSEQUENCESLOT_H_ #define FIXEDSEQUENCESLOT_H_ -#include -#include +#include "../objectmanager/ObjectManagerIF.h" +#include "../tasks/ExecutableObjectIF.h" class PeriodicTaskIF; /** diff --git a/devicehandlers/FixedSlotSequence.cpp b/devicehandlers/FixedSlotSequence.cpp index 9a0dc3724..38d4dcea6 100644 --- a/devicehandlers/FixedSlotSequence.cpp +++ b/devicehandlers/FixedSlotSequence.cpp @@ -1,5 +1,5 @@ -#include -#include +#include "FixedSlotSequence.h" +#include "../serviceinterface/ServiceInterfaceStream.h" FixedSlotSequence::FixedSlotSequence(uint32_t setLengthMs) : lengthMs(setLengthMs) { diff --git a/devicehandlers/FixedSlotSequence.h b/devicehandlers/FixedSlotSequence.h index 32b61f56d..be6dc2d1f 100644 --- a/devicehandlers/FixedSlotSequence.h +++ b/devicehandlers/FixedSlotSequence.h @@ -1,8 +1,8 @@ #ifndef FRAMEWORK_DEVICEHANDLERS_FIXEDSLOTSEQUENCE_H_ #define FRAMEWORK_DEVICEHANDLERS_FIXEDSLOTSEQUENCE_H_ -#include -#include +#include "FixedSequenceSlot.h" +#include "../objectmanager/SystemObject.h" #include /** diff --git a/devicehandlers/HealthDevice.cpp b/devicehandlers/HealthDevice.cpp index 61a824215..411731dcb 100644 --- a/devicehandlers/HealthDevice.cpp +++ b/devicehandlers/HealthDevice.cpp @@ -1,5 +1,5 @@ -#include -#include +#include "HealthDevice.h" +#include "../ipc/QueueFactory.h" HealthDevice::HealthDevice(object_id_t setObjectId, MessageQueueId_t parentQueue) : diff --git a/devicehandlers/HealthDevice.h b/devicehandlers/HealthDevice.h index ffb9e5bd6..53b0ab097 100644 --- a/devicehandlers/HealthDevice.h +++ b/devicehandlers/HealthDevice.h @@ -1,11 +1,11 @@ #ifndef HEALTHDEVICE_H_ #define HEALTHDEVICE_H_ -#include -#include -#include -#include -#include +#include "../health/HasHealthIF.h" +#include "../health/HealthHelper.h" +#include "../objectmanager/SystemObject.h" +#include "../tasks/ExecutableObjectIF.h" +#include "../ipc/MessageQueueIF.h" class HealthDevice: public SystemObject, public ExecutableObjectIF, diff --git a/events/Event.cpp b/events/Event.cpp index 9ea9f552b..ea3d46fe4 100644 --- a/events/Event.cpp +++ b/events/Event.cpp @@ -1,4 +1,4 @@ -#include +#include "Event.h" namespace EVENT { EventId_t getEventId(Event event) { return (event & 0xFFFF); diff --git a/events/Event.h b/events/Event.h index 96800f34c..e22c9db16 100644 --- a/events/Event.h +++ b/events/Event.h @@ -2,7 +2,7 @@ #define EVENTOBJECT_EVENT_H_ #include -#include +#include "fwSubsystemIdRanges.h" //could be move to more suitable location #include diff --git a/events/EventManager.cpp b/events/EventManager.cpp index 0f1511e4b..fb4499b2e 100644 --- a/events/EventManager.cpp +++ b/events/EventManager.cpp @@ -1,8 +1,8 @@ -#include -#include -#include -#include -#include +#include "EventManager.h" +#include "EventMessage.h" +#include "../serviceinterface/ServiceInterfaceStream.h" +#include "../ipc/QueueFactory.h" +#include "../ipc/MutexFactory.h" const uint16_t EventManager::POOL_SIZES[N_POOLS] = { diff --git a/events/EventManager.h b/events/EventManager.h index 76dde9f8d..7badc3bf6 100644 --- a/events/EventManager.h +++ b/events/EventManager.h @@ -1,13 +1,13 @@ #ifndef EVENTMANAGER_H_ #define EVENTMANAGER_H_ -#include -#include -#include -#include -#include -#include -#include +#include "eventmatching/EventMatchTree.h" +#include "EventManagerIF.h" +#include "../objectmanager/SystemObject.h" +#include "../storagemanager/LocalPool.h" +#include "../tasks/ExecutableObjectIF.h" +#include "../ipc/MessageQueueIF.h" +#include "../ipc/MutexIF.h" #include class EventManager: public EventManagerIF, diff --git a/events/EventManagerIF.h b/events/EventManagerIF.h index bc0de4329..f9ac420b3 100644 --- a/events/EventManagerIF.h +++ b/events/EventManagerIF.h @@ -1,10 +1,10 @@ #ifndef EVENTMANAGERIF_H_ #define EVENTMANAGERIF_H_ -#include -#include -#include -#include +#include "eventmatching/eventmatching.h" +#include "EventMessage.h" +#include "../objectmanager/ObjectManagerIF.h" +#include "../ipc/MessageQueueSenderIF.h" class EventManagerIF { public: diff --git a/events/EventMessage.cpp b/events/EventMessage.cpp index f06f68c3b..b911abab9 100644 --- a/events/EventMessage.cpp +++ b/events/EventMessage.cpp @@ -1,4 +1,4 @@ -#include +#include "EventMessage.h" #include EventMessage::EventMessage() { diff --git a/events/EventMessage.h b/events/EventMessage.h index 9cbe33363..4d003bd7b 100644 --- a/events/EventMessage.h +++ b/events/EventMessage.h @@ -1,9 +1,9 @@ #ifndef EVENTMESSAGE_H_ #define EVENTMESSAGE_H_ -#include -#include -#include +#include "Event.h" +#include "../ipc/MessageQueueMessage.h" +#include "../objectmanager/ObjectManagerIF.h" /** * Passing on events through IPC. diff --git a/events/EventReportingProxyIF.h b/events/EventReportingProxyIF.h index 8aca4e26a..7a96e3d18 100644 --- a/events/EventReportingProxyIF.h +++ b/events/EventReportingProxyIF.h @@ -1,7 +1,7 @@ #ifndef FRAMEWORK_EVENTS_EVENTREPORTINGPROXYIF_H_ #define FRAMEWORK_EVENTS_EVENTREPORTINGPROXYIF_H_ -#include +#include "Event.h" class EventReportingProxyIF { diff --git a/events/eventmatching/EventIdRangeMatcher.cpp b/events/eventmatching/EventIdRangeMatcher.cpp index ac9156fd5..974567d4f 100644 --- a/events/eventmatching/EventIdRangeMatcher.cpp +++ b/events/eventmatching/EventIdRangeMatcher.cpp @@ -1,4 +1,4 @@ -#include +#include "EventIdRangeMatcher.h" EventIdRangeMatcher::EventIdRangeMatcher(EventId_t lower, EventId_t upper, bool inverted) : EventRangeMatcherBase(lower, upper, inverted) { diff --git a/events/eventmatching/EventIdRangeMatcher.h b/events/eventmatching/EventIdRangeMatcher.h index 57b77cb10..540d372f8 100644 --- a/events/eventmatching/EventIdRangeMatcher.h +++ b/events/eventmatching/EventIdRangeMatcher.h @@ -1,7 +1,7 @@ #ifndef FRAMEWORK_EVENTS_EVENTMATCHING_EVENTIDRANGEMATCHER_H_ #define FRAMEWORK_EVENTS_EVENTMATCHING_EVENTIDRANGEMATCHER_H_ -#include +#include "EventRangeMatcherBase.h" class EventIdRangeMatcher: public EventRangeMatcherBase { public: diff --git a/events/eventmatching/EventMatchTree.cpp b/events/eventmatching/EventMatchTree.cpp index e1925b8f0..55e4083f4 100644 --- a/events/eventmatching/EventMatchTree.cpp +++ b/events/eventmatching/EventMatchTree.cpp @@ -1,7 +1,7 @@ -#include -#include -#include -#include +#include "EventIdRangeMatcher.h" +#include "EventMatchTree.h" +#include "ReporterRangeMatcher.h" +#include "SeverityRangeMatcher.h" EventMatchTree::EventMatchTree(StorageManagerIF* storageBackend, bool invertedMatch) : diff --git a/events/eventmatching/EventMatchTree.h b/events/eventmatching/EventMatchTree.h index bd81e3bed..82a6de817 100644 --- a/events/eventmatching/EventMatchTree.h +++ b/events/eventmatching/EventMatchTree.h @@ -1,10 +1,10 @@ #ifndef FRAMEWORK_EVENTS_EVENTMATCHING_EVENTMATCHTREE_H_ #define FRAMEWORK_EVENTS_EVENTMATCHING_EVENTMATCHTREE_H_ -#include -#include -#include -#include +#include "../../container/PlacementFactory.h" +#include "../../events/EventMessage.h" +#include "../../globalfunctions/matching/MatchTree.h" +#include "../../returnvalues/HasReturnvaluesIF.h" class StorageManagerIF; class EventMatchTree: public MatchTree, public HasReturnvaluesIF { diff --git a/events/eventmatching/EventRangeMatcherBase.h b/events/eventmatching/EventRangeMatcherBase.h index 587669ba5..e9d57f1c2 100644 --- a/events/eventmatching/EventRangeMatcherBase.h +++ b/events/eventmatching/EventRangeMatcherBase.h @@ -1,9 +1,9 @@ #ifndef FRAMEWORK_EVENTS_EVENTMATCHING_EVENTRANGEMATCHERBASE_H_ #define FRAMEWORK_EVENTS_EVENTMATCHING_EVENTRANGEMATCHERBASE_H_ -#include -#include -#include +#include "../../events/EventMessage.h" +#include "../../globalfunctions/matching/RangeMatcher.h" +#include "../../globalfunctions/matching/SerializeableMatcherIF.h" template class EventRangeMatcherBase: public SerializeableMatcherIF { diff --git a/events/eventmatching/ReporterRangeMatcher.cpp b/events/eventmatching/ReporterRangeMatcher.cpp index 76b8e7886..611797260 100644 --- a/events/eventmatching/ReporterRangeMatcher.cpp +++ b/events/eventmatching/ReporterRangeMatcher.cpp @@ -1,4 +1,4 @@ -#include +#include "ReporterRangeMatcher.h" ReporterRangeMatcher::ReporterRangeMatcher(object_id_t lower, object_id_t upper, bool inverted) : EventRangeMatcherBase(lower, upper, inverted) { diff --git a/events/eventmatching/ReporterRangeMatcher.h b/events/eventmatching/ReporterRangeMatcher.h index 65be2365e..9a0a5fcf3 100644 --- a/events/eventmatching/ReporterRangeMatcher.h +++ b/events/eventmatching/ReporterRangeMatcher.h @@ -1,7 +1,7 @@ #ifndef FRAMEWORK_EVENTS_EVENTMATCHING_REPORTERRANGEMATCHER_H_ #define FRAMEWORK_EVENTS_EVENTMATCHING_REPORTERRANGEMATCHER_H_ -#include +#include "EventRangeMatcherBase.h" class ReporterRangeMatcher: public EventRangeMatcherBase { public: diff --git a/events/eventmatching/SeverityRangeMatcher.cpp b/events/eventmatching/SeverityRangeMatcher.cpp index 98f8d7e16..6fd382714 100644 --- a/events/eventmatching/SeverityRangeMatcher.cpp +++ b/events/eventmatching/SeverityRangeMatcher.cpp @@ -1,6 +1,6 @@ -#include -#include -#include +#include "SeverityRangeMatcher.h" +#include "../../events/EventMessage.h" +#include "../../serialize/SerializeAdapter.h" SeverityRangeMatcher::SeverityRangeMatcher(EventSeverity_t from, EventSeverity_t till, bool inverted) : EventRangeMatcherBase(from, till, inverted) { diff --git a/events/eventmatching/SeverityRangeMatcher.h b/events/eventmatching/SeverityRangeMatcher.h index ffacff818..3f7cc418b 100644 --- a/events/eventmatching/SeverityRangeMatcher.h +++ b/events/eventmatching/SeverityRangeMatcher.h @@ -1,7 +1,7 @@ #ifndef FRAMEWORK_EVENTS_EVENTMATCHING_SEVERITYRANGEMATCHER_H_ #define FRAMEWORK_EVENTS_EVENTMATCHING_SEVERITYRANGEMATCHER_H_ -#include +#include "EventRangeMatcherBase.h" class SeverityRangeMatcher: public EventRangeMatcherBase { public: diff --git a/events/eventmatching/eventmatching.h b/events/eventmatching/eventmatching.h index 435c7457f..7a87e177b 100644 --- a/events/eventmatching/eventmatching.h +++ b/events/eventmatching/eventmatching.h @@ -1,10 +1,10 @@ #ifndef EVENTMATCHING_H_ #define EVENTMATCHING_H_ -#include -#include -#include -#include +#include "EventIdRangeMatcher.h" +#include "EventMatchTree.h" +#include "ReporterRangeMatcher.h" +#include "SeverityRangeMatcher.h" #endif /* EVENTMATCHING_H_ */ diff --git a/fdir/ConfirmsFailuresIF.h b/fdir/ConfirmsFailuresIF.h index 99cd212a8..144114612 100644 --- a/fdir/ConfirmsFailuresIF.h +++ b/fdir/ConfirmsFailuresIF.h @@ -1,8 +1,8 @@ #ifndef FRAMEWORK_FDIR_CONFIRMSFAILURESIF_H_ #define FRAMEWORK_FDIR_CONFIRMSFAILURESIF_H_ -#include -#include +#include "../returnvalues/HasReturnvaluesIF.h" +#include "../ipc/MessageQueueSenderIF.h" class ConfirmsFailuresIF { public: diff --git a/fdir/EventCorrelation.cpp b/fdir/EventCorrelation.cpp index 32aa3cd3b..d60fc6ca3 100644 --- a/fdir/EventCorrelation.cpp +++ b/fdir/EventCorrelation.cpp @@ -1,4 +1,4 @@ -#include +#include "EventCorrelation.h" EventCorrelation::EventCorrelation(uint32_t timeout) : eventPending(false) { diff --git a/fdir/EventCorrelation.h b/fdir/EventCorrelation.h index 0cad6265d..b8793edfb 100644 --- a/fdir/EventCorrelation.h +++ b/fdir/EventCorrelation.h @@ -1,7 +1,7 @@ #ifndef FRAMEWORK_FDIR_EVENTCORRELATION_H_ #define FRAMEWORK_FDIR_EVENTCORRELATION_H_ -#include +#include "../timemanager/Countdown.h" class EventCorrelation { public: diff --git a/fdir/FailureIsolationBase.cpp b/fdir/FailureIsolationBase.cpp index 4b7caac53..eb7b1bfca 100644 --- a/fdir/FailureIsolationBase.cpp +++ b/fdir/FailureIsolationBase.cpp @@ -1,9 +1,9 @@ -#include -#include -#include -#include -#include -#include +#include "../events/EventManagerIF.h" +#include "FailureIsolationBase.h" +#include "../health/HasHealthIF.h" +#include "../health/HealthMessage.h" +#include "../ipc/QueueFactory.h" +#include "../objectmanager/ObjectManagerIF.h" FailureIsolationBase::FailureIsolationBase(object_id_t owner, object_id_t parent, uint8_t messageDepth, uint8_t parameterDomainBase) : eventQueue(NULL), ownerId( diff --git a/fdir/FailureIsolationBase.h b/fdir/FailureIsolationBase.h index cd582e399..6f38bc9f3 100644 --- a/fdir/FailureIsolationBase.h +++ b/fdir/FailureIsolationBase.h @@ -1,13 +1,13 @@ #ifndef FRAMEWORK_FDIR_FAILUREISOLATIONBASE_H_ #define FRAMEWORK_FDIR_FAILUREISOLATIONBASE_H_ -#include -#include -#include -#include -#include -#include -#include +#include "../events/EventMessage.h" +#include "ConfirmsFailuresIF.h" +#include "FaultCounter.h" +#include "../health/HealthMessage.h" +#include "../parameters/HasParametersIF.h" +#include "../returnvalues/HasReturnvaluesIF.h" +#include "../ipc/MessageQueueIF.h" class FailureIsolationBase: public HasReturnvaluesIF, public ConfirmsFailuresIF, diff --git a/fdir/FaultCounter.cpp b/fdir/FaultCounter.cpp index 3dc899c26..443adb52e 100644 --- a/fdir/FaultCounter.cpp +++ b/fdir/FaultCounter.cpp @@ -1,4 +1,4 @@ -#include +#include "FaultCounter.h" FaultCounter::FaultCounter(uint32_t failureThreshold, uint32_t decrementAfterMs, uint8_t setParameterDomain) : diff --git a/fdir/FaultCounter.h b/fdir/FaultCounter.h index ac23853cb..dc929debd 100644 --- a/fdir/FaultCounter.h +++ b/fdir/FaultCounter.h @@ -1,8 +1,8 @@ #ifndef FRAMEWORK_FDIR_FAULTCOUNTER_H_ #define FRAMEWORK_FDIR_FAULTCOUNTER_H_ -#include -#include +#include "../parameters/HasParametersIF.h" +#include "../timemanager/Countdown.h" class FaultCounter: public HasParametersIF { public: diff --git a/globalfunctions/AsciiConverter.cpp b/globalfunctions/AsciiConverter.cpp index 1459a2410..9eb3698fb 100644 --- a/globalfunctions/AsciiConverter.cpp +++ b/globalfunctions/AsciiConverter.cpp @@ -1,4 +1,4 @@ -#include +#include "AsciiConverter.h" #include #include diff --git a/globalfunctions/AsciiConverter.h b/globalfunctions/AsciiConverter.h index acd406dab..7af3cb3d4 100644 --- a/globalfunctions/AsciiConverter.h +++ b/globalfunctions/AsciiConverter.h @@ -1,7 +1,7 @@ #ifndef ASCIICONVERTER_H_ #define ASCIICONVERTER_H_ -#include +#include "../returnvalues/HasReturnvaluesIF.h" class AsciiConverter: public HasReturnvaluesIF { public: diff --git a/globalfunctions/CRC.cpp b/globalfunctions/CRC.cpp index ecd0b6756..7bb568066 100644 --- a/globalfunctions/CRC.cpp +++ b/globalfunctions/CRC.cpp @@ -1,4 +1,4 @@ -#include +#include "CRC.h" #include const uint16_t CRC::crc16ccitt_table[256] = { diff --git a/globalfunctions/DleEncoder.cpp b/globalfunctions/DleEncoder.cpp index a68f15249..088c9d803 100644 --- a/globalfunctions/DleEncoder.cpp +++ b/globalfunctions/DleEncoder.cpp @@ -1,4 +1,4 @@ -#include +#include "DleEncoder.h" DleEncoder::DleEncoder() { } diff --git a/globalfunctions/DleEncoder.h b/globalfunctions/DleEncoder.h index fc1556007..ff3a2727c 100644 --- a/globalfunctions/DleEncoder.h +++ b/globalfunctions/DleEncoder.h @@ -1,7 +1,7 @@ #ifndef DLEENCODER_H_ #define DLEENCODER_H_ -#include +#include "../returnvalues/HasReturnvaluesIF.h" class DleEncoder: public HasReturnvaluesIF { private: diff --git a/globalfunctions/Type.cpp b/globalfunctions/Type.cpp index a481f7687..ae595b812 100644 --- a/globalfunctions/Type.cpp +++ b/globalfunctions/Type.cpp @@ -1,6 +1,6 @@ -#include -#include -#include +#include "../serialize/SerializeAdapter.h" +#include "Type.h" +#include "../serialize/SerializeAdapter.h" Type::Type() : actualType(UNKNOWN_TYPE) { diff --git a/globalfunctions/Type.h b/globalfunctions/Type.h index 3ec250b01..be499ffc6 100644 --- a/globalfunctions/Type.h +++ b/globalfunctions/Type.h @@ -1,8 +1,8 @@ #ifndef TYPE_H_ #define TYPE_H_ -#include -#include +#include "../returnvalues/HasReturnvaluesIF.h" +#include "../serialize/SerializeIF.h" class Type: public SerializeIF { public: diff --git a/globalfunctions/arrayprinter.cpp b/globalfunctions/arrayprinter.cpp index e8fce56c6..b1e888c55 100644 --- a/globalfunctions/arrayprinter.cpp +++ b/globalfunctions/arrayprinter.cpp @@ -1,5 +1,5 @@ -#include -#include +#include "arrayprinter.h" +#include "../serviceinterface/ServiceInterfaceStream.h" #include void arrayprinter::print(const uint8_t *data, size_t size, OutputType type, diff --git a/globalfunctions/matching/BinaryMatcher.h b/globalfunctions/matching/BinaryMatcher.h index df7325cff..4f6db85d8 100644 --- a/globalfunctions/matching/BinaryMatcher.h +++ b/globalfunctions/matching/BinaryMatcher.h @@ -1,7 +1,7 @@ #ifndef BINARYMATCHER_H_ #define BINARYMATCHER_H_ -#include +#include "MatcherIF.h" template class BinaryMatcher: public MatcherIF { diff --git a/globalfunctions/matching/DecimalMatcher.h b/globalfunctions/matching/DecimalMatcher.h index f4722e6bd..535050205 100644 --- a/globalfunctions/matching/DecimalMatcher.h +++ b/globalfunctions/matching/DecimalMatcher.h @@ -1,7 +1,7 @@ #ifndef DECIMALMATCHER_H_ #define DECIMALMATCHER_H_ -#include +#include "MatcherIF.h" template class DecimalMatcher: public MatcherIF { diff --git a/globalfunctions/matching/MatchTree.h b/globalfunctions/matching/MatchTree.h index b54f5492d..755687b28 100644 --- a/globalfunctions/matching/MatchTree.h +++ b/globalfunctions/matching/MatchTree.h @@ -1,9 +1,9 @@ #ifndef FRAMEWORK_GLOBALFUNCTIONS_MATCHING_MATCHTREE_H_ #define FRAMEWORK_GLOBALFUNCTIONS_MATCHING_MATCHTREE_H_ -#include -#include -#include +#include "../../container/BinaryTree.h" +#include "SerializeableMatcherIF.h" +#include "../../serialize/SerializeAdapter.h" template class MatchTree: public SerializeableMatcherIF, public BinaryTree< diff --git a/globalfunctions/matching/RangeMatcher.h b/globalfunctions/matching/RangeMatcher.h index 6fee1f522..b64b9e30b 100644 --- a/globalfunctions/matching/RangeMatcher.h +++ b/globalfunctions/matching/RangeMatcher.h @@ -1,8 +1,8 @@ #ifndef RANGEMATCHER_H_ #define RANGEMATCHER_H_ -#include -#include +#include "SerializeableMatcherIF.h" +#include "../../serialize/SerializeAdapter.h" template class RangeMatcher: public SerializeableMatcherIF { diff --git a/globalfunctions/matching/SerializeableMatcherIF.h b/globalfunctions/matching/SerializeableMatcherIF.h index 7b00a1b3b..067b0251a 100644 --- a/globalfunctions/matching/SerializeableMatcherIF.h +++ b/globalfunctions/matching/SerializeableMatcherIF.h @@ -1,8 +1,8 @@ #ifndef FRAMEWORK_GLOBALFUNCTIONS_MATCHING_SERIALIZEABLEMATCHERIF_H_ #define FRAMEWORK_GLOBALFUNCTIONS_MATCHING_SERIALIZEABLEMATCHERIF_H_ -#include -#include +#include "MatcherIF.h" +#include "../../serialize/SerializeIF.h" template class SerializeableMatcherIF : public MatcherIF, public SerializeIF { diff --git a/globalfunctions/math/QuaternionOperations.cpp b/globalfunctions/math/QuaternionOperations.cpp index f8c751493..c09426daa 100644 --- a/globalfunctions/math/QuaternionOperations.cpp +++ b/globalfunctions/math/QuaternionOperations.cpp @@ -1,5 +1,5 @@ #include "QuaternionOperations.h" -#include +#include "VectorOperations.h" #include #include diff --git a/globalfunctions/timevalOperations.cpp b/globalfunctions/timevalOperations.cpp index 253b6eb77..6efe75ba7 100644 --- a/globalfunctions/timevalOperations.cpp +++ b/globalfunctions/timevalOperations.cpp @@ -1,4 +1,4 @@ -#include +#include "timevalOperations.h" timeval& operator+=(timeval& lhs, const timeval& rhs) { int64_t sum = lhs.tv_sec * 1000000. + lhs.tv_usec; diff --git a/health/HasHealthIF.h b/health/HasHealthIF.h index dd27fe39f..ac4043008 100644 --- a/health/HasHealthIF.h +++ b/health/HasHealthIF.h @@ -1,9 +1,9 @@ #ifndef HASHEALTHIF_H_ #define HASHEALTHIF_H_ -#include -#include -#include +#include "../events/Event.h" +#include "../returnvalues/HasReturnvaluesIF.h" +#include "../ipc/MessageQueueSenderIF.h" class HasHealthIF { public: diff --git a/health/HealthHelper.cpp b/health/HealthHelper.cpp index 7b8b3a53f..1cc7d858f 100644 --- a/health/HealthHelper.cpp +++ b/health/HealthHelper.cpp @@ -1,6 +1,6 @@ -#include -#include -#include +#include "HealthHelper.h" +#include "../ipc/MessageQueueSenderIF.h" +#include "../serviceinterface/ServiceInterfaceStream.h" HealthHelper::HealthHelper(HasHealthIF* owner, object_id_t objectId) : healthTable(NULL), eventSender(NULL), objectId(objectId), parentQueue( 0), owner(owner) { diff --git a/health/HealthHelper.h b/health/HealthHelper.h index 471bc7e9f..90155ad45 100644 --- a/health/HealthHelper.h +++ b/health/HealthHelper.h @@ -1,13 +1,13 @@ #ifndef HEALTHHELPER_H_ #define HEALTHHELPER_H_ -#include -#include -#include -#include -#include -#include -#include +#include "../events/EventManagerIF.h" +#include "../events/EventReportingProxyIF.h" +#include "HasHealthIF.h" +#include "HealthMessage.h" +#include "HealthTableIF.h" +#include "../objectmanager/ObjectManagerIF.h" +#include "../returnvalues/HasReturnvaluesIF.h" /** * Helper class for Objects that implement HasHealthIF diff --git a/health/HealthMessage.cpp b/health/HealthMessage.cpp index 768dea469..1bb29526f 100644 --- a/health/HealthMessage.cpp +++ b/health/HealthMessage.cpp @@ -1,4 +1,4 @@ -#include +#include "HealthMessage.h" void HealthMessage::setHealthMessage(CommandMessage* message, Command_t command, HasHealthIF::HealthState health, HasHealthIF::HealthState oldHealth) { diff --git a/health/HealthMessage.h b/health/HealthMessage.h index 7fd009041..95bd9d457 100644 --- a/health/HealthMessage.h +++ b/health/HealthMessage.h @@ -1,8 +1,8 @@ #ifndef HEALTHMESSAGE_H_ #define HEALTHMESSAGE_H_ -#include -#include +#include "HasHealthIF.h" +#include "../ipc/CommandMessage.h" class HealthMessage { public: diff --git a/health/HealthTable.cpp b/health/HealthTable.cpp index bd6606db9..846152f6d 100644 --- a/health/HealthTable.cpp +++ b/health/HealthTable.cpp @@ -1,6 +1,6 @@ -#include -#include -#include +#include "HealthTable.h" +#include "../serialize/SerializeAdapter.h" +#include "../ipc/MutexFactory.h" HealthTable::HealthTable(object_id_t objectid) : SystemObject(objectid) { diff --git a/health/HealthTable.h b/health/HealthTable.h index 2c74bda44..6f5dd18d6 100644 --- a/health/HealthTable.h +++ b/health/HealthTable.h @@ -1,9 +1,9 @@ #ifndef HEALTHTABLE_H_ #define HEALTHTABLE_H_ -#include -#include -#include +#include "HealthTableIF.h" +#include "../objectmanager/SystemObject.h" +#include "../ipc/MutexIF.h" #include typedef std::map HealthMap; diff --git a/health/HealthTableIF.h b/health/HealthTableIF.h index a850a8048..404c03e43 100644 --- a/health/HealthTableIF.h +++ b/health/HealthTableIF.h @@ -1,9 +1,9 @@ #ifndef HEALTHTABLEIF_H_ #define HEALTHTABLEIF_H_ -#include -#include -#include +#include "ManagesHealthIF.h" +#include "../objectmanager/ObjectManagerIF.h" +#include "../returnvalues/HasReturnvaluesIF.h" #include diff --git a/health/ManagesHealthIF.h b/health/ManagesHealthIF.h index ff0c53860..42d4c4f04 100644 --- a/health/ManagesHealthIF.h +++ b/health/ManagesHealthIF.h @@ -1,8 +1,8 @@ #ifndef FRAMEWORK_HEALTH_MANAGESHEALTHIF_H_ #define FRAMEWORK_HEALTH_MANAGESHEALTHIF_H_ -#include -#include +#include "HasHealthIF.h" +#include "../objectmanager/ObjectManagerIF.h" class ManagesHealthIF { public: virtual ~ManagesHealthIF() { diff --git a/internalError/InternalErrorReporter.cpp b/internalError/InternalErrorReporter.cpp index 9a8ede002..b468ca5e6 100644 --- a/internalError/InternalErrorReporter.cpp +++ b/internalError/InternalErrorReporter.cpp @@ -1,10 +1,10 @@ #include "InternalErrorReporter.h" -#include -#include -#include +#include "../datapool/DataSet.h" +#include "../datapool/PoolVariable.h" +#include "../ipc/MutexFactory.h" -#include +#include "../serviceinterface/ServiceInterfaceStream.h" InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t queuePoolId, uint32_t tmPoolId, uint32_t storePoolId) : diff --git a/internalError/InternalErrorReporter.h b/internalError/InternalErrorReporter.h index 7c1df6a7b..9aa24a0fa 100644 --- a/internalError/InternalErrorReporter.h +++ b/internalError/InternalErrorReporter.h @@ -3,9 +3,9 @@ #include "InternalErrorReporterIF.h" -#include -#include -#include +#include "../tasks/ExecutableObjectIF.h" +#include "../objectmanager/SystemObject.h" +#include "../ipc/MutexIF.h" class InternalErrorReporter: public SystemObject, public ExecutableObjectIF, diff --git a/ipc/CommandMessage.cpp b/ipc/CommandMessage.cpp index 05896cbcf..8c5e15b8d 100644 --- a/ipc/CommandMessage.cpp +++ b/ipc/CommandMessage.cpp @@ -5,15 +5,15 @@ * @author baetz */ -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include "../devicehandlers/DeviceHandlerMessage.h" +#include "../health/HealthMessage.h" +#include "CommandMessage.h" +#include "../memory/MemoryMessage.h" +#include "../modes/ModeMessage.h" +#include "../monitoring/MonitoringMessage.h" +#include "../subsystem/modes/ModeSequenceMessage.h" +#include "../tmstorage/TmStoreMessage.h" +#include "../parameters/ParameterMessage.h" namespace MESSAGE_TYPE { void clearMissionMessage(CommandMessage* message); diff --git a/ipc/CommandMessage.h b/ipc/CommandMessage.h index 897632fe2..87244c113 100644 --- a/ipc/CommandMessage.h +++ b/ipc/CommandMessage.h @@ -9,10 +9,10 @@ #define COMMANDMESSAGE_H_ -#include +#include "FwMessageTypes.h" #include -#include +#include "MessageQueueMessage.h" #define MAKE_COMMAND_ID( number ) ((MESSAGE_ID << 8) + (number)) typedef ReturnValue_t Command_t; diff --git a/ipc/MessageQueueIF.h b/ipc/MessageQueueIF.h index 18e2d99ab..9fff5287c 100644 --- a/ipc/MessageQueueIF.h +++ b/ipc/MessageQueueIF.h @@ -3,9 +3,9 @@ // COULDDO: We could support blocking calls -#include -#include -#include +#include "MessageQueueMessage.h" +#include "MessageQueueSenderIF.h" +#include "../returnvalues/HasReturnvaluesIF.h" class MessageQueueIF { public: diff --git a/ipc/MessageQueueMessage.cpp b/ipc/MessageQueueMessage.cpp index 30e0325cf..05dde1f53 100644 --- a/ipc/MessageQueueMessage.cpp +++ b/ipc/MessageQueueMessage.cpp @@ -1,5 +1,5 @@ -#include -#include +#include "MessageQueueMessage.h" +#include "../serviceinterface/ServiceInterfaceStream.h" #include diff --git a/ipc/MessageQueueMessage.h b/ipc/MessageQueueMessage.h index 8c4ec947b..aa3559d61 100644 --- a/ipc/MessageQueueMessage.h +++ b/ipc/MessageQueueMessage.h @@ -1,7 +1,7 @@ #ifndef MESSAGEQUEUEMESSAGE_H_ #define MESSAGEQUEUEMESSAGE_H_ -#include +#include "MessageQueueSenderIF.h" #include /** diff --git a/ipc/MessageQueueSenderIF.h b/ipc/MessageQueueSenderIF.h index 9e7e11c03..d9692f540 100644 --- a/ipc/MessageQueueSenderIF.h +++ b/ipc/MessageQueueSenderIF.h @@ -1,7 +1,7 @@ #ifndef FRAMEWORK_IPC_MESSAGEQUEUESENDERIF_H_ #define FRAMEWORK_IPC_MESSAGEQUEUESENDERIF_H_ -#include +#include "../objectmanager/ObjectManagerIF.h" class MessageQueueMessage; diff --git a/ipc/MutexFactory.h b/ipc/MutexFactory.h index b2e58b6e7..f8133d814 100644 --- a/ipc/MutexFactory.h +++ b/ipc/MutexFactory.h @@ -1,7 +1,7 @@ #ifndef FRAMEWORK_IPC_MUTEXFACTORY_H_ #define FRAMEWORK_IPC_MUTEXFACTORY_H_ -#include +#include "MutexIF.h" /** * Creates Mutex. * This class is a "singleton" interface, i.e. it provides an diff --git a/ipc/MutexHelper.h b/ipc/MutexHelper.h index f76ccec47..dffcd54eb 100644 --- a/ipc/MutexHelper.h +++ b/ipc/MutexHelper.h @@ -1,8 +1,8 @@ #ifndef FRAMEWORK_IPC_MUTEXHELPER_H_ #define FRAMEWORK_IPC_MUTEXHELPER_H_ -#include -#include +#include "MutexFactory.h" +#include "../serviceinterface/ServiceInterfaceStream.h" class MutexHelper { public: diff --git a/ipc/MutexIF.h b/ipc/MutexIF.h index 35786d6a3..851d50a1b 100644 --- a/ipc/MutexIF.h +++ b/ipc/MutexIF.h @@ -1,7 +1,7 @@ #ifndef FRAMEWORK_IPC_MUTEXIF_H_ #define FRAMEWORK_IPC_MUTEXIF_H_ -#include +#include "../returnvalues/HasReturnvaluesIF.h" class MutexIF { public: diff --git a/ipc/QueueFactory.h b/ipc/QueueFactory.h index 6e7c4a269..4f4d72c7c 100644 --- a/ipc/QueueFactory.h +++ b/ipc/QueueFactory.h @@ -1,7 +1,7 @@ #ifndef FRAMEWORK_IPC_QUEUEFACTORY_H_ #define FRAMEWORK_IPC_QUEUEFACTORY_H_ -#include +#include "MessageQueueIF.h" #include /** * Creates message queues. diff --git a/memory/AcceptsMemoryMessagesIF.h b/memory/AcceptsMemoryMessagesIF.h index 2b37f1af2..a1cbddf81 100644 --- a/memory/AcceptsMemoryMessagesIF.h +++ b/memory/AcceptsMemoryMessagesIF.h @@ -8,9 +8,9 @@ #ifndef ACCEPTSMEMORYMESSAGESIF_H_ #define ACCEPTSMEMORYMESSAGESIF_H_ -#include -#include -#include +#include "HasMemoryIF.h" +#include "MemoryMessage.h" +#include "../ipc/MessageQueueSenderIF.h" class AcceptsMemoryMessagesIF : public HasMemoryIF { public: diff --git a/memory/HasMemoryIF.h b/memory/HasMemoryIF.h index cd6e66654..4096d1b74 100644 --- a/memory/HasMemoryIF.h +++ b/memory/HasMemoryIF.h @@ -1,7 +1,7 @@ #ifndef HASMEMORYIF_H_ #define HASMEMORYIF_H_ -#include +#include "../returnvalues/HasReturnvaluesIF.h" class HasMemoryIF { public: diff --git a/memory/MemoryHelper.cpp b/memory/MemoryHelper.cpp index af56f2b83..48a605be1 100644 --- a/memory/MemoryHelper.cpp +++ b/memory/MemoryHelper.cpp @@ -1,9 +1,9 @@ -#include -#include -#include -#include -#include -#include +#include "../globalfunctions/CRC.h" +#include "MemoryHelper.h" +#include "MemoryMessage.h" +#include "../objectmanager/ObjectManagerIF.h" +#include "../serialize/EndianConverter.h" +#include "../serviceinterface/ServiceInterfaceStream.h" MemoryHelper::MemoryHelper(HasMemoryIF* workOnThis, MessageQueueIF* useThisQueue) : workOnThis(workOnThis), queueToUse(useThisQueue), ipcStore(NULL), ipcAddress(), lastCommand( diff --git a/memory/MemoryHelper.h b/memory/MemoryHelper.h index 2ff82eb39..5e1a99b65 100644 --- a/memory/MemoryHelper.h +++ b/memory/MemoryHelper.h @@ -1,10 +1,10 @@ #ifndef MEMORYHELPER_H_ #define MEMORYHELPER_H_ -#include -#include -#include -#include -#include +#include "../ipc/CommandMessage.h" +#include "AcceptsMemoryMessagesIF.h" +#include "../returnvalues/HasReturnvaluesIF.h" +#include "../storagemanager/StorageManagerIF.h" +#include "../ipc/MessageQueueIF.h" class MemoryHelper : public HasReturnvaluesIF { public: diff --git a/memory/MemoryMessage.cpp b/memory/MemoryMessage.cpp index c1116e08a..741565fc0 100644 --- a/memory/MemoryMessage.cpp +++ b/memory/MemoryMessage.cpp @@ -1,5 +1,5 @@ -#include -#include +#include "MemoryMessage.h" +#include "../objectmanager/ObjectManagerIF.h" MemoryMessage::MemoryMessage() { } diff --git a/memory/MemoryMessage.h b/memory/MemoryMessage.h index 124fad081..f723bbb63 100644 --- a/memory/MemoryMessage.h +++ b/memory/MemoryMessage.h @@ -1,8 +1,8 @@ #ifndef MEMORYMESSAGE_H_ #define MEMORYMESSAGE_H_ -#include -#include +#include "../ipc/CommandMessage.h" +#include "../storagemanager/StorageManagerIF.h" class MemoryMessage { diff --git a/memory/MemoryProxyIF.h b/memory/MemoryProxyIF.h index d325ba4eb..1494d5238 100644 --- a/memory/MemoryProxyIF.h +++ b/memory/MemoryProxyIF.h @@ -1,7 +1,7 @@ #ifndef FRAMEWORK_MEMORY_MEMORYPROXYIF_H_ #define FRAMEWORK_MEMORY_MEMORYPROXYIF_H_ -#include +#include "AcceptsMemoryMessagesIF.h" /** * This was a nice idea to transparently forward incoming messages to another object. diff --git a/modes/HasModesIF.h b/modes/HasModesIF.h index 263b0a87f..4381046cd 100644 --- a/modes/HasModesIF.h +++ b/modes/HasModesIF.h @@ -8,10 +8,10 @@ #ifndef HASMODESIF_H_ #define HASMODESIF_H_ -#include -#include -#include -#include +#include "../events/Event.h" +#include "ModeHelper.h" +#include "ModeMessage.h" +#include "../returnvalues/HasReturnvaluesIF.h" #include diff --git a/modes/ModeHelper.cpp b/modes/ModeHelper.cpp index 7b98bdc64..cb62c4687 100644 --- a/modes/ModeHelper.cpp +++ b/modes/ModeHelper.cpp @@ -1,6 +1,6 @@ -#include -#include -#include +#include "HasModesIF.h" +#include "ModeHelper.h" +#include "../ipc/MessageQueueSenderIF.h" ModeHelper::ModeHelper(HasModesIF *owner) : theOneWhoCommandedAMode(0), commandedMode(HasModesIF::MODE_OFF), commandedSubmode( diff --git a/modes/ModeHelper.h b/modes/ModeHelper.h index 87f6d4112..542fe780d 100644 --- a/modes/ModeHelper.h +++ b/modes/ModeHelper.h @@ -1,9 +1,9 @@ #ifndef MODEHELPER_H_ #define MODEHELPER_H_ -#include -#include -#include +#include "ModeMessage.h" +#include "../returnvalues/HasReturnvaluesIF.h" +#include "../timemanager/Countdown.h" class HasModesIF; diff --git a/modes/ModeMessage.cpp b/modes/ModeMessage.cpp index 1d3baad54..14dbbb314 100644 --- a/modes/ModeMessage.cpp +++ b/modes/ModeMessage.cpp @@ -1,4 +1,4 @@ -#include +#include "ModeMessage.h" Mode_t ModeMessage::getMode(const CommandMessage* message) { return message->getParameter(); diff --git a/modes/ModeMessage.h b/modes/ModeMessage.h index f72fdeec5..5fd82512d 100644 --- a/modes/ModeMessage.h +++ b/modes/ModeMessage.h @@ -8,7 +8,7 @@ #ifndef MODEMESSAGE_H_ #define MODEMESSAGE_H_ -#include +#include "../ipc/CommandMessage.h" typedef uint32_t Mode_t; typedef uint8_t Submode_t; diff --git a/monitoring/AbsLimitMonitor.h b/monitoring/AbsLimitMonitor.h index 3525ba2c7..2e60f6f8c 100644 --- a/monitoring/AbsLimitMonitor.h +++ b/monitoring/AbsLimitMonitor.h @@ -1,7 +1,7 @@ #ifndef FRAMEWORK_MONITORING_ABSLIMITMONITOR_H_ #define FRAMEWORK_MONITORING_ABSLIMITMONITOR_H_ -#include +#include "MonitorBase.h" #include template diff --git a/monitoring/HasMonitorsIF.h b/monitoring/HasMonitorsIF.h index 6f1dc1b3e..85d92b6b9 100644 --- a/monitoring/HasMonitorsIF.h +++ b/monitoring/HasMonitorsIF.h @@ -7,9 +7,9 @@ #ifndef HASMONITORSIF_H_ #define HASMONITORSIF_H_ -#include -#include -#include +#include "../events/EventReportingProxyIF.h" +#include "../objectmanager/ObjectManagerIF.h" +#include "../ipc/MessageQueueSenderIF.h" class HasMonitorsIF { public: diff --git a/monitoring/LimitMonitor.h b/monitoring/LimitMonitor.h index 45abe48bf..66e6725e8 100644 --- a/monitoring/LimitMonitor.h +++ b/monitoring/LimitMonitor.h @@ -1,7 +1,7 @@ #ifndef FRAMEWORK_MONITORING_LIMITMONITOR_H_ #define FRAMEWORK_MONITORING_LIMITMONITOR_H_ -#include +#include "MonitorBase.h" /** * Variant of a limit checking class. diff --git a/monitoring/LimitViolationReporter.cpp b/monitoring/LimitViolationReporter.cpp index 489a8f9e9..c531a6e69 100644 --- a/monitoring/LimitViolationReporter.cpp +++ b/monitoring/LimitViolationReporter.cpp @@ -4,11 +4,11 @@ * @date 17.07.2014 * @author baetz */ -#include -#include -#include -#include -#include +#include "LimitViolationReporter.h" +#include "MonitoringIF.h" +#include "ReceivesMonitoringReportsIF.h" +#include "../objectmanager/ObjectManagerIF.h" +#include "../serialize/SerializeAdapter.h" ReturnValue_t LimitViolationReporter::sendLimitViolationReport(const SerializeIF* data) { ReturnValue_t result = checkClassLoaded(); diff --git a/monitoring/LimitViolationReporter.h b/monitoring/LimitViolationReporter.h index 3a9d04ddc..a71b972ff 100644 --- a/monitoring/LimitViolationReporter.h +++ b/monitoring/LimitViolationReporter.h @@ -7,10 +7,10 @@ #ifndef LIMITVIOLATIONREPORTER_H_ #define LIMITVIOLATIONREPORTER_H_ -#include -#include -#include -#include +#include "../returnvalues/HasReturnvaluesIF.h" +#include "../serialize/SerializeIF.h" +#include "../storagemanager/StorageManagerIF.h" +#include "../ipc/MessageQueueSenderIF.h" namespace Factory{ void setStaticFrameworkObjectIds(); diff --git a/monitoring/MonitorBase.h b/monitoring/MonitorBase.h index 796226452..b2d0e6cbb 100644 --- a/monitoring/MonitorBase.h +++ b/monitoring/MonitorBase.h @@ -1,12 +1,12 @@ #ifndef MONITORBASE_H_ #define MONITORBASE_H_ -#include -#include -#include -#include -#include -#include +#include "../datapool/DataSet.h" +#include "../datapool/PIDReader.h" +#include "LimitViolationReporter.h" +#include "MonitoringIF.h" +#include "MonitoringMessageContent.h" +#include "MonitorReporter.h" /** * Base class for monitoring of parameters. diff --git a/monitoring/MonitorReporter.h b/monitoring/MonitorReporter.h index 6274313f6..ca2b534b9 100644 --- a/monitoring/MonitorReporter.h +++ b/monitoring/MonitorReporter.h @@ -1,11 +1,11 @@ #ifndef FRAMEWORK_MONITORING_MONITORREPORTER_H_ #define FRAMEWORK_MONITORING_MONITORREPORTER_H_ -#include -#include -#include -#include -#include +#include "../events/EventManagerIF.h" +#include "LimitViolationReporter.h" +#include "MonitoringIF.h" +#include "MonitoringMessageContent.h" +#include "../parameters/HasParametersIF.h" template class MonitorReporter: public HasParametersIF { diff --git a/monitoring/MonitoringIF.h b/monitoring/MonitoringIF.h index d2d62f351..44218c36d 100644 --- a/monitoring/MonitoringIF.h +++ b/monitoring/MonitoringIF.h @@ -1,9 +1,9 @@ #ifndef MONITORINGIF_H_ #define MONITORINGIF_H_ -#include -#include -#include +#include "../memory/HasMemoryIF.h" +#include "MonitoringMessage.h" +#include "../serialize/SerializeIF.h" class MonitoringIF : public SerializeIF { public: diff --git a/monitoring/MonitoringMessage.cpp b/monitoring/MonitoringMessage.cpp index 77919bfe8..8caa27aee 100644 --- a/monitoring/MonitoringMessage.cpp +++ b/monitoring/MonitoringMessage.cpp @@ -1,5 +1,5 @@ -#include -#include +#include "MonitoringMessage.h" +#include "../objectmanager/ObjectManagerIF.h" MonitoringMessage::~MonitoringMessage() { } diff --git a/monitoring/MonitoringMessage.h b/monitoring/MonitoringMessage.h index d2ff9b4dd..248cd6fff 100644 --- a/monitoring/MonitoringMessage.h +++ b/monitoring/MonitoringMessage.h @@ -1,8 +1,8 @@ #ifndef MONITORINGMESSAGE_H_ #define MONITORINGMESSAGE_H_ -#include -#include +#include "../ipc/CommandMessage.h" +#include "../storagemanager/StorageManagerIF.h" class MonitoringMessage: public CommandMessage { public: diff --git a/monitoring/MonitoringMessageContent.h b/monitoring/MonitoringMessageContent.h index 7e1aca626..c82506f3a 100644 --- a/monitoring/MonitoringMessageContent.h +++ b/monitoring/MonitoringMessageContent.h @@ -1,15 +1,15 @@ #ifndef MONITORINGMESSAGECONTENT_H_ #define MONITORINGMESSAGECONTENT_H_ -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include "HasMonitorsIF.h" +#include "MonitoringIF.h" +#include "../objectmanager/ObjectManagerIF.h" +#include "../serialize/SerialBufferAdapter.h" +#include "../serialize/SerialFixedArrayListAdapter.h" +#include "../serialize/SerializeElement.h" +#include "../serialize/SerialLinkedListAdapter.h" +#include "../serviceinterface/ServiceInterfaceStream.h" +#include "../timemanager/TimeStamperIF.h" namespace Factory{ void setStaticFrameworkObjectIds(); diff --git a/monitoring/ReceivesMonitoringReportsIF.h b/monitoring/ReceivesMonitoringReportsIF.h index 42c365c16..fb37c16c4 100644 --- a/monitoring/ReceivesMonitoringReportsIF.h +++ b/monitoring/ReceivesMonitoringReportsIF.h @@ -1,7 +1,7 @@ #ifndef RECEIVESMONITORINGREPORTSIF_H_ #define RECEIVESMONITORINGREPORTSIF_H_ -#include +#include "../ipc/MessageQueueSenderIF.h" class ReceivesMonitoringReportsIF { public: diff --git a/monitoring/TriplexMonitor.h b/monitoring/TriplexMonitor.h index 9a2e69c3b..9b60aeb63 100644 --- a/monitoring/TriplexMonitor.h +++ b/monitoring/TriplexMonitor.h @@ -1,11 +1,11 @@ #ifndef FRAMEWORK_MONITORING_TRIPLEXMONITOR_H_ #define FRAMEWORK_MONITORING_TRIPLEXMONITOR_H_ -#include -#include -#include -#include -#include +#include "../datapool/DataSet.h" +#include "../datapool/PIDReaderList.h" +#include "../health/HealthTableIF.h" +#include "../parameters/HasParametersIF.h" +#include "../objectmanager/ObjectManagerIF.h" //SHOULDDO: This is by far not perfect. Could be merged with new Monitor classes. But still, it's over-engineering. diff --git a/monitoring/TwoValueLimitMonitor.h b/monitoring/TwoValueLimitMonitor.h index c17ad4337..e690cdae2 100644 --- a/monitoring/TwoValueLimitMonitor.h +++ b/monitoring/TwoValueLimitMonitor.h @@ -1,7 +1,7 @@ #ifndef FRAMEWORK_MONITORING_TWOVALUELIMITMONITOR_H_ #define FRAMEWORK_MONITORING_TWOVALUELIMITMONITOR_H_ -#include +#include "LimitMonitor.h" template class TwoValueLimitMonitor: public LimitMonitor { diff --git a/objectmanager/ObjectManager.cpp b/objectmanager/ObjectManager.cpp index 1c54355a3..dd0ae1886 100644 --- a/objectmanager/ObjectManager.cpp +++ b/objectmanager/ObjectManager.cpp @@ -1,5 +1,5 @@ -#include -#include +#include "ObjectManager.h" +#include "../serviceinterface/ServiceInterfaceStream.h" #include #include diff --git a/objectmanager/ObjectManager.h b/objectmanager/ObjectManager.h index 634510713..0d2b3c4ae 100644 --- a/objectmanager/ObjectManager.h +++ b/objectmanager/ObjectManager.h @@ -8,8 +8,8 @@ #ifndef OBJECTMANAGER_H_ #define OBJECTMANAGER_H_ -#include -#include +#include "ObjectManagerIF.h" +#include "SystemObjectIF.h" #include /** diff --git a/objectmanager/ObjectManagerIF.h b/objectmanager/ObjectManagerIF.h index dcef81cd6..e0162af99 100644 --- a/objectmanager/ObjectManagerIF.h +++ b/objectmanager/ObjectManagerIF.h @@ -1,10 +1,10 @@ #ifndef FRAMEWORK_OBJECTMANAGER_OBJECTMANAGERIF_H_ #define FRAMEWORK_OBJECTMANAGER_OBJECTMANAGERIF_H_ -#include -#include -#include -#include +#include "frameworkObjects.h" +#include "SystemObjectIF.h" +#include "../returnvalues/HasReturnvaluesIF.h" +#include "../serviceinterface/ServiceInterfaceStream.h" /** * @brief This class provides an interface to the global object manager. diff --git a/objectmanager/SystemObject.cpp b/objectmanager/SystemObject.cpp index 85daaa358..53aac599f 100644 --- a/objectmanager/SystemObject.cpp +++ b/objectmanager/SystemObject.cpp @@ -1,6 +1,6 @@ -#include -#include -#include +#include "../events/EventManagerIF.h" +#include "ObjectManager.h" +#include "SystemObject.h" SystemObject::SystemObject(object_id_t setObjectId, bool doRegister) : objectId(setObjectId), registered(doRegister) { diff --git a/objectmanager/SystemObject.h b/objectmanager/SystemObject.h index 6a1b35b6f..8e9f20d5e 100644 --- a/objectmanager/SystemObject.h +++ b/objectmanager/SystemObject.h @@ -8,10 +8,10 @@ #ifndef SYSTEMOBJECT_H_ #define SYSTEMOBJECT_H_ -#include -#include -#include -#include +#include "../events/Event.h" +#include "../events/EventReportingProxyIF.h" +#include "SystemObjectIF.h" +#include "../timemanager/Clock.h" /** * @brief This class automates insertion into the ObjectManager and diff --git a/objectmanager/SystemObjectIF.h b/objectmanager/SystemObjectIF.h index 7540f80fb..c5a921964 100644 --- a/objectmanager/SystemObjectIF.h +++ b/objectmanager/SystemObjectIF.h @@ -8,8 +8,8 @@ #ifndef SYSTEMOBJECTIF_H_ #define SYSTEMOBJECTIF_H_ -#include -#include +#include "../events/EventReportingProxyIF.h" +#include "../returnvalues/HasReturnvaluesIF.h" #include /** * \defgroup system_objects Software System Object Management diff --git a/osal/FreeRTOS/Clock.cpp b/osal/FreeRTOS/Clock.cpp index dce202657..9733c405a 100644 --- a/osal/FreeRTOS/Clock.cpp +++ b/osal/FreeRTOS/Clock.cpp @@ -1,6 +1,6 @@ -#include -#include -#include +#include "../../timemanager/Clock.h" +#include "../../globalfunctions/timevalOperations.h" +#include "Timekeeper.h" #include #include diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp index 17804d908..902502f95 100644 --- a/osal/FreeRTOS/FixedTimeslotTask.cpp +++ b/osal/FreeRTOS/FixedTimeslotTask.cpp @@ -1,6 +1,6 @@ #include "FixedTimeslotTask.h" -#include +#include "../../serviceinterface/ServiceInterfaceStream.h" uint32_t FixedTimeslotTask::deadlineMissedCount = 0; const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE; diff --git a/osal/FreeRTOS/FixedTimeslotTask.h b/osal/FreeRTOS/FixedTimeslotTask.h index 66af0311b..d65f1fe43 100644 --- a/osal/FreeRTOS/FixedTimeslotTask.h +++ b/osal/FreeRTOS/FixedTimeslotTask.h @@ -1,9 +1,9 @@ #ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ #define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ -#include -#include -#include +#include "../../devicehandlers/FixedSlotSequence.h" +#include "../../tasks/FixedTimeslotTaskIF.h" +#include "../../tasks/Typedef.h" #include #include diff --git a/osal/FreeRTOS/MessageQueue.cpp b/osal/FreeRTOS/MessageQueue.cpp index 18e7aa3d0..3bbd4d9d7 100644 --- a/osal/FreeRTOS/MessageQueue.cpp +++ b/osal/FreeRTOS/MessageQueue.cpp @@ -1,6 +1,6 @@ #include "MessageQueue.h" -#include +#include "../../serviceinterface/ServiceInterfaceStream.h" // TODO I guess we should have a way of checking if we are in an ISR and then use the "fromISR" versions of all calls diff --git a/osal/FreeRTOS/MessageQueue.h b/osal/FreeRTOS/MessageQueue.h index 32f41b44d..aa3d54c13 100644 --- a/osal/FreeRTOS/MessageQueue.h +++ b/osal/FreeRTOS/MessageQueue.h @@ -1,9 +1,9 @@ #ifndef MESSAGEQUEUE_H_ #define MESSAGEQUEUE_H_ -#include -#include -#include +#include "../../internalError/InternalErrorReporterIF.h" +#include "../../ipc/MessageQueueIF.h" +#include "../../ipc/MessageQueueMessage.h" #include #include diff --git a/osal/FreeRTOS/Mutex.cpp b/osal/FreeRTOS/Mutex.cpp index 7c5110915..6da587834 100644 --- a/osal/FreeRTOS/Mutex.cpp +++ b/osal/FreeRTOS/Mutex.cpp @@ -1,6 +1,6 @@ #include "Mutex.h" -#include +#include "../../serviceinterface/ServiceInterfaceStream.h" const uint32_t MutexIF::NO_TIMEOUT = 0; diff --git a/osal/FreeRTOS/Mutex.h b/osal/FreeRTOS/Mutex.h index 91f295853..d376b7bc7 100644 --- a/osal/FreeRTOS/Mutex.h +++ b/osal/FreeRTOS/Mutex.h @@ -1,7 +1,7 @@ #ifndef OS_RTEMS_MUTEX_H_ #define OS_RTEMS_MUTEX_H_ -#include +#include "../../ipc/MutexIF.h" #include diff --git a/osal/FreeRTOS/MutexFactory.cpp b/osal/FreeRTOS/MutexFactory.cpp index cadb54fbd..75b63d078 100644 --- a/osal/FreeRTOS/MutexFactory.cpp +++ b/osal/FreeRTOS/MutexFactory.cpp @@ -1,4 +1,4 @@ -#include +#include "../../ipc/MutexFactory.h" #include "../FreeRTOS/Mutex.h" diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp index 911353753..a95333b48 100644 --- a/osal/FreeRTOS/PeriodicTask.cpp +++ b/osal/FreeRTOS/PeriodicTask.cpp @@ -1,7 +1,7 @@ #include "PeriodicTask.h" -#include -#include +#include "../../serviceinterface/ServiceInterfaceStream.h" +#include "../../tasks/ExecutableObjectIF.h" PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority, TaskStackSize setStack, TaskPeriod setPeriod, diff --git a/osal/FreeRTOS/PeriodicTask.h b/osal/FreeRTOS/PeriodicTask.h index 09aa6bc7d..3eb8f57ea 100644 --- a/osal/FreeRTOS/PeriodicTask.h +++ b/osal/FreeRTOS/PeriodicTask.h @@ -1,9 +1,9 @@ #ifndef FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_ #define FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_ -#include -#include -#include +#include "../../objectmanager/ObjectManagerIF.h" +#include "../../tasks/PeriodicTaskIF.h" +#include "../../tasks/Typedef.h" #include #include diff --git a/osal/FreeRTOS/QueueFactory.cpp b/osal/FreeRTOS/QueueFactory.cpp index a01289189..e639179a9 100644 --- a/osal/FreeRTOS/QueueFactory.cpp +++ b/osal/FreeRTOS/QueueFactory.cpp @@ -1,6 +1,6 @@ -#include +#include "../../ipc/QueueFactory.h" -#include +#include "MessageQueue.h" QueueFactory* QueueFactory::factoryInstance = NULL; diff --git a/osal/FreeRTOS/TaskFactory.cpp b/osal/FreeRTOS/TaskFactory.cpp index 753da60f7..80df38b2f 100644 --- a/osal/FreeRTOS/TaskFactory.cpp +++ b/osal/FreeRTOS/TaskFactory.cpp @@ -1,5 +1,5 @@ -#include -#include +#include "../../tasks/TaskFactory.h" +#include "../../returnvalues/HasReturnvaluesIF.h" #include "PeriodicTask.h" #include "FixedTimeslotTask.h" diff --git a/osal/FreeRTOS/Timekeeper.cpp b/osal/FreeRTOS/Timekeeper.cpp index 643b27479..1031f0c4d 100644 --- a/osal/FreeRTOS/Timekeeper.cpp +++ b/osal/FreeRTOS/Timekeeper.cpp @@ -1,4 +1,4 @@ -#include +#include "Timekeeper.h" #include "FreeRTOSConfig.h" diff --git a/osal/FreeRTOS/Timekeeper.h b/osal/FreeRTOS/Timekeeper.h index 7d3ca22b7..7d583f7db 100644 --- a/osal/FreeRTOS/Timekeeper.h +++ b/osal/FreeRTOS/Timekeeper.h @@ -1,7 +1,7 @@ #ifndef FRAMEWORK_OSAL_FREERTOS_TIMEKEEPER_H_ #define FRAMEWORK_OSAL_FREERTOS_TIMEKEEPER_H_ -#include +#include "../../timemanager/Clock.h" #include #include diff --git a/osal/InternalErrorCodes.h b/osal/InternalErrorCodes.h index 5419fd94d..1da116fa3 100644 --- a/osal/InternalErrorCodes.h +++ b/osal/InternalErrorCodes.h @@ -1,7 +1,7 @@ #ifndef INTERNALERRORCODES_H_ #define INTERNALERRORCODES_H_ -#include +#include "../returnvalues/HasReturnvaluesIF.h" class InternalErrorCodes { public: diff --git a/osal/linux/Clock.cpp b/osal/linux/Clock.cpp index 630b2cf4c..48e325ef1 100644 --- a/osal/linux/Clock.cpp +++ b/osal/linux/Clock.cpp @@ -1,5 +1,5 @@ -#include -#include +#include "../../serviceinterface/ServiceInterfaceStream.h" +#include "../../timemanager/Clock.h" #include #include diff --git a/osal/linux/FixedTimeslotTask.cpp b/osal/linux/FixedTimeslotTask.cpp index e5c68f9dd..858a39a7a 100644 --- a/osal/linux/FixedTimeslotTask.cpp +++ b/osal/linux/FixedTimeslotTask.cpp @@ -1,5 +1,5 @@ -#include -#include +#include "../../serviceinterface/ServiceInterfaceStream.h" +#include "FixedTimeslotTask.h" #include diff --git a/osal/linux/FixedTimeslotTask.h b/osal/linux/FixedTimeslotTask.h index 916e6d6cc..42802b1dd 100644 --- a/osal/linux/FixedTimeslotTask.h +++ b/osal/linux/FixedTimeslotTask.h @@ -1,9 +1,9 @@ #ifndef FRAMEWORK_OSAL_LINUX_FIXEDTIMESLOTTASK_H_ #define FRAMEWORK_OSAL_LINUX_FIXEDTIMESLOTTASK_H_ -#include -#include -#include +#include "../../tasks/FixedTimeslotTaskIF.h" +#include "../../devicehandlers/FixedSlotSequence.h" +#include "PosixThread.h" #include class FixedTimeslotTask: public FixedTimeslotTaskIF, public PosixThread { diff --git a/osal/linux/InternalErrorCodes.cpp b/osal/linux/InternalErrorCodes.cpp index 7f83663b1..a01cc72ac 100644 --- a/osal/linux/InternalErrorCodes.cpp +++ b/osal/linux/InternalErrorCodes.cpp @@ -1,4 +1,4 @@ -#include +#include "../../osal/InternalErrorCodes.h" ReturnValue_t InternalErrorCodes::translate(uint8_t code) { //TODO This class can be removed diff --git a/osal/linux/MessageQueue.cpp b/osal/linux/MessageQueue.cpp index a0749ded3..e5c61caef 100644 --- a/osal/linux/MessageQueue.cpp +++ b/osal/linux/MessageQueue.cpp @@ -1,5 +1,5 @@ -#include -#include +#include "../../serviceinterface/ServiceInterfaceStream.h" +#include "MessageQueue.h" #include diff --git a/osal/linux/MessageQueue.h b/osal/linux/MessageQueue.h index 2808d36e1..31cdca11c 100644 --- a/osal/linux/MessageQueue.h +++ b/osal/linux/MessageQueue.h @@ -1,9 +1,9 @@ #ifndef MESSAGEQUEUE_H_ #define MESSAGEQUEUE_H_ -#include -#include -#include +#include "../../internalError/InternalErrorReporterIF.h" +#include "../../ipc/MessageQueueIF.h" +#include "../../ipc/MessageQueueMessage.h" #include /** diff --git a/osal/linux/Mutex.cpp b/osal/linux/Mutex.cpp index 36bb3ce43..dd8d3c5b4 100644 --- a/osal/linux/Mutex.cpp +++ b/osal/linux/Mutex.cpp @@ -1,6 +1,6 @@ -#include -#include -#include +#include "Mutex.h" +#include "../../serviceinterface/ServiceInterfaceStream.h" +#include "../../timemanager/Clock.h" const uint32_t MutexIF::NO_TIMEOUT = 0; uint8_t Mutex::count = 0; diff --git a/osal/linux/Mutex.h b/osal/linux/Mutex.h index d02d008fe..9f9bf5218 100644 --- a/osal/linux/Mutex.h +++ b/osal/linux/Mutex.h @@ -1,7 +1,7 @@ #ifndef OS_RTEMS_MUTEX_H_ #define OS_RTEMS_MUTEX_H_ -#include +#include "../../ipc/MutexIF.h" #include class Mutex : public MutexIF { diff --git a/osal/linux/MutexFactory.cpp b/osal/linux/MutexFactory.cpp index d769cc334..8c2faf888 100644 --- a/osal/linux/MutexFactory.cpp +++ b/osal/linux/MutexFactory.cpp @@ -1,5 +1,5 @@ -#include -#include +#include "../../ipc/MutexFactory.h" +#include "Mutex.h" //TODO: Different variant than the lazy loading in QueueFactory. What's better and why? MutexFactory* MutexFactory::factoryInstance = new MutexFactory(); diff --git a/osal/linux/PeriodicPosixTask.cpp b/osal/linux/PeriodicPosixTask.cpp index 6149c84b4..c08bb4721 100644 --- a/osal/linux/PeriodicPosixTask.cpp +++ b/osal/linux/PeriodicPosixTask.cpp @@ -1,7 +1,7 @@ -#include -#include +#include "../../tasks/ExecutableObjectIF.h" +#include "../../serviceinterface/ServiceInterfaceStream.h" #include -#include +#include "PeriodicPosixTask.h" PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, uint32_t period_, void(deadlineMissedFunc_)()): diff --git a/osal/linux/PeriodicPosixTask.h b/osal/linux/PeriodicPosixTask.h index bf1a995be..6737cee6b 100644 --- a/osal/linux/PeriodicPosixTask.h +++ b/osal/linux/PeriodicPosixTask.h @@ -1,10 +1,10 @@ #ifndef FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_ #define FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_ -#include -#include -#include -#include +#include "../../tasks/PeriodicTaskIF.h" +#include "../../objectmanager/ObjectManagerIF.h" +#include "PosixThread.h" +#include "../../tasks/ExecutableObjectIF.h" #include class PeriodicPosixTask: public PosixThread, public PeriodicTaskIF { diff --git a/osal/linux/PosixThread.cpp b/osal/linux/PosixThread.cpp index bc3e62ed7..ddb1f74f6 100644 --- a/osal/linux/PosixThread.cpp +++ b/osal/linux/PosixThread.cpp @@ -1,5 +1,5 @@ -#include -#include +#include "../../serviceinterface/ServiceInterfaceStream.h" +#include "PosixThread.h" #include #include diff --git a/osal/linux/PosixThread.h b/osal/linux/PosixThread.h index e9d317289..7d8d349aa 100644 --- a/osal/linux/PosixThread.h +++ b/osal/linux/PosixThread.h @@ -1,7 +1,7 @@ #ifndef FRAMEWORK_OSAL_LINUX_POSIXTHREAD_H_ #define FRAMEWORK_OSAL_LINUX_POSIXTHREAD_H_ -#include +#include "../../returnvalues/HasReturnvaluesIF.h" #include #include #include diff --git a/osal/linux/QueueFactory.cpp b/osal/linux/QueueFactory.cpp index 268d0b995..afeca547b 100644 --- a/osal/linux/QueueFactory.cpp +++ b/osal/linux/QueueFactory.cpp @@ -1,8 +1,8 @@ -#include +#include "../../ipc/QueueFactory.h" #include #include -#include -#include +#include "MessageQueue.h" +#include "../../serviceinterface/ServiceInterfaceStream.h" #include QueueFactory* QueueFactory::factoryInstance = nullptr; diff --git a/osal/linux/TaskFactory.cpp b/osal/linux/TaskFactory.cpp index 219630a7e..f507c7671 100644 --- a/osal/linux/TaskFactory.cpp +++ b/osal/linux/TaskFactory.cpp @@ -1,7 +1,7 @@ -#include -#include -#include -#include +#include "FixedTimeslotTask.h" +#include "PeriodicPosixTask.h" +#include "../../tasks/TaskFactory.h" +#include "../../returnvalues/HasReturnvaluesIF.h" //TODO: Different variant than the lazy loading in QueueFactory. What's better and why? TaskFactory* TaskFactory::factoryInstance = new TaskFactory(); diff --git a/osal/linux/Timer.cpp b/osal/linux/Timer.cpp index 5e27c328e..ee964baa0 100644 --- a/osal/linux/Timer.cpp +++ b/osal/linux/Timer.cpp @@ -1,6 +1,6 @@ -#include +#include "../../serviceinterface/ServiceInterfaceStream.h" #include -#include +#include "Timer.h" Timer::Timer() { sigevent sigEvent; diff --git a/osal/rtems/Clock.cpp b/osal/rtems/Clock.cpp index 98198dd31..eeffd7f33 100644 --- a/osal/rtems/Clock.cpp +++ b/osal/rtems/Clock.cpp @@ -1,4 +1,4 @@ -#include +#include "../../timemanager/Clock.h" #include "RtemsBasic.h" #include diff --git a/osal/rtems/CpuUsage.cpp b/osal/rtems/CpuUsage.cpp index 61b66c3d0..d49de4ad6 100644 --- a/osal/rtems/CpuUsage.cpp +++ b/osal/rtems/CpuUsage.cpp @@ -1,6 +1,6 @@ #include "CpuUsage.h" -#include -#include +#include "../../serialize/SerialArrayListAdapter.h" +#include "../../serialize/SerializeAdapter.h" #include extern "C" { diff --git a/osal/rtems/CpuUsage.h b/osal/rtems/CpuUsage.h index eb03c5e33..f487e1911 100644 --- a/osal/rtems/CpuUsage.h +++ b/osal/rtems/CpuUsage.h @@ -1,8 +1,8 @@ #ifndef CPUUSAGE_H_ #define CPUUSAGE_H_ -#include -#include +#include "../../container/FixedArrayList.h" +#include "../../serialize/SerializeIF.h" #include class CpuUsage : public SerializeIF { diff --git a/osal/rtems/InternalErrorCodes.cpp b/osal/rtems/InternalErrorCodes.cpp index dbe3172e8..9346cf15d 100644 --- a/osal/rtems/InternalErrorCodes.cpp +++ b/osal/rtems/InternalErrorCodes.cpp @@ -1,4 +1,4 @@ -#include +#include "../../osal/InternalErrorCodes.h" #include ReturnValue_t InternalErrorCodes::translate(uint8_t code) { diff --git a/osal/rtems/Interrupt.h b/osal/rtems/Interrupt.h index c4c21911d..2152e2f03 100644 --- a/osal/rtems/Interrupt.h +++ b/osal/rtems/Interrupt.h @@ -1,7 +1,7 @@ #ifndef OS_RTEMS_INTERRUPT_H_ #define OS_RTEMS_INTERRUPT_H_ -#include +#include "../../returnvalues/HasReturnvaluesIF.h" #include #include diff --git a/osal/rtems/MessageQueue.cpp b/osal/rtems/MessageQueue.cpp index de148fdc6..700db444e 100644 --- a/osal/rtems/MessageQueue.cpp +++ b/osal/rtems/MessageQueue.cpp @@ -1,4 +1,4 @@ -#include +#include "../../serviceinterface/ServiceInterfaceStream.h" #include "MessageQueue.h" #include "RtemsBasic.h" #include diff --git a/osal/rtems/MessageQueue.h b/osal/rtems/MessageQueue.h index 9bdce7cad..c6fc62d52 100644 --- a/osal/rtems/MessageQueue.h +++ b/osal/rtems/MessageQueue.h @@ -10,9 +10,9 @@ #ifndef MESSAGEQUEUE_H_ #define MESSAGEQUEUE_H_ -#include -#include -#include +#include "../../internalError/InternalErrorReporterIF.h" +#include "../../ipc/MessageQueueIF.h" +#include "../../ipc/MessageQueueMessage.h" #include "RtemsBasic.h" /** diff --git a/osal/rtems/MultiObjectTask.cpp b/osal/rtems/MultiObjectTask.cpp index bb8c2c817..3c4886a57 100644 --- a/osal/rtems/MultiObjectTask.cpp +++ b/osal/rtems/MultiObjectTask.cpp @@ -5,8 +5,8 @@ * @author baetz */ -#include -#include +#include "../../serviceinterface/ServiceInterfaceStream.h" +#include "../../tasks/ExecutableObjectIF.h" #include "MultiObjectTask.h" MultiObjectTask::MultiObjectTask(const char *name, rtems_task_priority setPriority, diff --git a/osal/rtems/MultiObjectTask.h b/osal/rtems/MultiObjectTask.h index 64b09c52a..28d05fb1a 100644 --- a/osal/rtems/MultiObjectTask.h +++ b/osal/rtems/MultiObjectTask.h @@ -7,8 +7,8 @@ #ifndef MULTIOBJECTTASK_H_ #define MULTIOBJECTTASK_H_ -#include -#include +#include "../../objectmanager/ObjectManagerIF.h" +#include "../../tasks/PeriodicTaskIF.h" #include "TaskBase.h" #include diff --git a/osal/rtems/Mutex.cpp b/osal/rtems/Mutex.cpp index d094e1dce..d8babcde7 100644 --- a/osal/rtems/Mutex.cpp +++ b/osal/rtems/Mutex.cpp @@ -1,5 +1,5 @@ #include "Mutex.h" -#include +#include "../../serviceinterface/ServiceInterfaceStream.h" const uint32_t MutexIF::NO_TIMEOUT = RTEMS_NO_TIMEOUT; uint8_t Mutex::count = 0; diff --git a/osal/rtems/Mutex.h b/osal/rtems/Mutex.h index 19b34e7f2..340bb16b7 100644 --- a/osal/rtems/Mutex.h +++ b/osal/rtems/Mutex.h @@ -1,7 +1,7 @@ #ifndef OS_RTEMS_MUTEX_H_ #define OS_RTEMS_MUTEX_H_ -#include +#include "../../ipc/MutexIF.h" #include "RtemsBasic.h" class Mutex : public MutexIF { diff --git a/osal/rtems/MutexFactory.cpp b/osal/rtems/MutexFactory.cpp index d7bd16bca..ea5947895 100644 --- a/osal/rtems/MutexFactory.cpp +++ b/osal/rtems/MutexFactory.cpp @@ -1,4 +1,4 @@ -#include +#include "../../ipc/MutexFactory.h" #include "Mutex.h" #include "RtemsBasic.h" diff --git a/osal/rtems/PollingTask.cpp b/osal/rtems/PollingTask.cpp index 03ba09510..04191515b 100644 --- a/osal/rtems/PollingTask.cpp +++ b/osal/rtems/PollingTask.cpp @@ -1,9 +1,9 @@ -#include -#include -#include -#include -#include -#include +#include "../../devicehandlers/FixedSequenceSlot.h" +#include "../../objectmanager/SystemObjectIF.h" +#include "PollingTask.h" +#include "RtemsBasic.h" +#include "../../returnvalues/HasReturnvaluesIF.h" +#include "../../serviceinterface/ServiceInterfaceStream.h" #include #include #include diff --git a/osal/rtems/PollingTask.h b/osal/rtems/PollingTask.h index 82ec65a2d..199c34e71 100644 --- a/osal/rtems/PollingTask.h +++ b/osal/rtems/PollingTask.h @@ -1,8 +1,8 @@ #ifndef POLLINGTASK_H_ #define POLLINGTASK_H_ -#include -#include +#include "../../devicehandlers/FixedSlotSequence.h" +#include "../../tasks/FixedTimeslotTaskIF.h" #include "TaskBase.h" class PollingTask: public TaskBase, public FixedTimeslotTaskIF { diff --git a/osal/rtems/QueueFactory.cpp b/osal/rtems/QueueFactory.cpp index 8cc9905cb..fce55a0e4 100644 --- a/osal/rtems/QueueFactory.cpp +++ b/osal/rtems/QueueFactory.cpp @@ -1,4 +1,4 @@ -#include +#include "../../ipc/QueueFactory.h" #include "MessageQueue.h" #include "RtemsBasic.h" diff --git a/osal/rtems/RtemsBasic.h b/osal/rtems/RtemsBasic.h index f7ab86144..78e0d46e7 100644 --- a/osal/rtems/RtemsBasic.h +++ b/osal/rtems/RtemsBasic.h @@ -1,7 +1,7 @@ #ifndef OS_RTEMS_RTEMSBASIC_H_ #define OS_RTEMS_RTEMSBASIC_H_ -#include +#include "../../returnvalues/HasReturnvaluesIF.h" #include #include #include diff --git a/osal/rtems/TaskBase.cpp b/osal/rtems/TaskBase.cpp index ad795645a..adf6ee707 100644 --- a/osal/rtems/TaskBase.cpp +++ b/osal/rtems/TaskBase.cpp @@ -1,4 +1,4 @@ -#include +#include "../../serviceinterface/ServiceInterfaceStream.h" #include "TaskBase.h" const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE=RTEMS_MINIMUM_STACK_SIZE; diff --git a/osal/rtems/TaskBase.h b/osal/rtems/TaskBase.h index b9c1192aa..410d9110e 100644 --- a/osal/rtems/TaskBase.h +++ b/osal/rtems/TaskBase.h @@ -2,7 +2,7 @@ #define TASKBASE_H_ #include "RtemsBasic.h" -#include +#include "../../tasks/PeriodicTaskIF.h" /** * @brief This is the basic task handling class for rtems. diff --git a/osal/rtems/TaskFactory.cpp b/osal/rtems/TaskFactory.cpp index 2bee19c76..bab48a44e 100644 --- a/osal/rtems/TaskFactory.cpp +++ b/osal/rtems/TaskFactory.cpp @@ -1,9 +1,9 @@ -#include +#include "../../tasks/TaskFactory.h" #include "MultiObjectTask.h" #include "PollingTask.h" #include "InitTask.h" #include "RtemsBasic.h" -#include +#include "../../returnvalues/HasReturnvaluesIF.h" //TODO: Different variant than the lazy loading in QueueFactory. What's better and why? TaskFactory* TaskFactory::factoryInstance = new TaskFactory(); diff --git a/parameters/HasParametersIF.h b/parameters/HasParametersIF.h index fbb694454..71212b576 100644 --- a/parameters/HasParametersIF.h +++ b/parameters/HasParametersIF.h @@ -1,8 +1,8 @@ #ifndef HASPARAMETERSIF_H_ #define HASPARAMETERSIF_H_ -#include -#include +#include "ParameterWrapper.h" +#include "../returnvalues/HasReturnvaluesIF.h" #include typedef uint32_t ParameterId_t; diff --git a/parameters/ParameterHelper.cpp b/parameters/ParameterHelper.cpp index f896f00fd..8543515fa 100644 --- a/parameters/ParameterHelper.cpp +++ b/parameters/ParameterHelper.cpp @@ -1,6 +1,6 @@ -#include -#include -#include +#include "../objectmanager/ObjectManagerIF.h" +#include "ParameterHelper.h" +#include "ParameterMessage.h" ParameterHelper::ParameterHelper(ReceivesParameterMessagesIF* owner) : owner(owner), storage(NULL) { diff --git a/parameters/ParameterHelper.h b/parameters/ParameterHelper.h index e2fefdba0..d887bf1d1 100644 --- a/parameters/ParameterHelper.h +++ b/parameters/ParameterHelper.h @@ -1,8 +1,8 @@ #ifndef PARAMETERHELPER_H_ #define PARAMETERHELPER_H_ -#include -#include +#include "ParameterMessage.h" +#include "ReceivesParameterMessagesIF.h" class ParameterHelper { public: diff --git a/parameters/ParameterMessage.cpp b/parameters/ParameterMessage.cpp index 1c7d6911d..7e0ed1140 100644 --- a/parameters/ParameterMessage.cpp +++ b/parameters/ParameterMessage.cpp @@ -1,5 +1,5 @@ -#include -#include +#include "ParameterMessage.h" +#include "../objectmanager/ObjectManagerIF.h" ParameterId_t ParameterMessage::getParameterId(const CommandMessage* message) { return message->getParameter(); diff --git a/parameters/ParameterMessage.h b/parameters/ParameterMessage.h index 0f2866756..7cb02d965 100644 --- a/parameters/ParameterMessage.h +++ b/parameters/ParameterMessage.h @@ -1,9 +1,9 @@ #ifndef PARAMETERMESSAGE_H_ #define PARAMETERMESSAGE_H_ -#include -#include -#include +#include "../ipc/CommandMessage.h" +#include "HasParametersIF.h" +#include "../storagemanager/StorageManagerIF.h" class ParameterMessage { private: diff --git a/parameters/ParameterWrapper.cpp b/parameters/ParameterWrapper.cpp index bbf1e8a36..56f564267 100644 --- a/parameters/ParameterWrapper.cpp +++ b/parameters/ParameterWrapper.cpp @@ -1,4 +1,4 @@ -#include +#include "ParameterWrapper.h" ParameterWrapper::ParameterWrapper() : pointsToStream(false), type(Type::UNKNOWN_TYPE), rows(0), columns(0), data( diff --git a/parameters/ParameterWrapper.h b/parameters/ParameterWrapper.h index a00c997cc..b18fe2b92 100644 --- a/parameters/ParameterWrapper.h +++ b/parameters/ParameterWrapper.h @@ -1,11 +1,11 @@ #ifndef PARAMETERWRAPPER_H_ #define PARAMETERWRAPPER_H_ -#include -#include -#include +#include "../returnvalues/HasReturnvaluesIF.h" +#include "../serialize/SerializeAdapter.h" +#include "../serialize/SerializeIF.h" #include -#include +#include "../globalfunctions/Type.h" class ParameterWrapper: public SerializeIF { friend class DataPoolParameterWrapper; diff --git a/parameters/ReceivesParameterMessagesIF.h b/parameters/ReceivesParameterMessagesIF.h index 9bcd226dd..1fcbd4b39 100644 --- a/parameters/ReceivesParameterMessagesIF.h +++ b/parameters/ReceivesParameterMessagesIF.h @@ -2,8 +2,8 @@ #define RECEIVESPARAMETERMESSAGESIF_H_ -#include -#include +#include "HasParametersIF.h" +#include "../ipc/MessageQueueSenderIF.h" class ReceivesParameterMessagesIF : public HasParametersIF { public: diff --git a/power/Fuse.cpp b/power/Fuse.cpp index db24100bd..9986ab6bb 100644 --- a/power/Fuse.cpp +++ b/power/Fuse.cpp @@ -1,9 +1,9 @@ -#include -#include -#include -#include -#include -#include +#include "../monitoring/LimitViolationReporter.h" +#include "../monitoring/MonitoringMessageContent.h" +#include "../objectmanager/ObjectManagerIF.h" +#include "Fuse.h" +#include "../serialize/SerialFixedArrayListAdapter.h" +#include "../ipc/QueueFactory.h" object_id_t Fuse::powerSwitchId = 0; diff --git a/power/Fuse.h b/power/Fuse.h index 4e22e3ed0..279642be6 100644 --- a/power/Fuse.h +++ b/power/Fuse.h @@ -1,14 +1,14 @@ #ifndef FUSE_H_ #define FUSE_H_ -#include -#include -#include -#include -#include -#include -#include -#include +#include "../datapool/DataSet.h" +#include "../datapool/PIDReader.h" +#include "../devicehandlers/HealthDevice.h" +#include "../monitoring/AbsLimitMonitor.h" +#include "PowerComponentIF.h" +#include "PowerSwitchIF.h" +#include "../returnvalues/HasReturnvaluesIF.h" +#include "../parameters/ParameterHelper.h" #include namespace Factory { diff --git a/power/PowerComponent.cpp b/power/PowerComponent.cpp index cd116a86f..6012ad4ca 100644 --- a/power/PowerComponent.cpp +++ b/power/PowerComponent.cpp @@ -5,7 +5,7 @@ * @author baetz */ -#include +#include "PowerComponent.h" PowerComponent::PowerComponent() : deviceObjectId(0), switchId1(0xFF), switchId2(0xFF), doIHaveTwoSwitches( diff --git a/power/PowerComponent.h b/power/PowerComponent.h index 61ab3674e..6d1c9c06d 100644 --- a/power/PowerComponent.h +++ b/power/PowerComponent.h @@ -1,8 +1,8 @@ #ifndef POWERCOMPONENT_H_ #define POWERCOMPONENT_H_ -#include -#include +#include "../objectmanager/SystemObjectIF.h" +#include "PowerComponentIF.h" class PowerComponent: public PowerComponentIF { public: diff --git a/power/PowerComponentIF.h b/power/PowerComponentIF.h index f2aa70aec..c2e3a6a56 100644 --- a/power/PowerComponentIF.h +++ b/power/PowerComponentIF.h @@ -1,8 +1,8 @@ #ifndef POWERCOMPONENTIF_H_ #define POWERCOMPONENTIF_H_ -#include -#include +#include "../serialize/SerializeIF.h" +#include "../parameters/HasParametersIF.h" class PowerComponentIF : public SerializeIF, public HasParametersIF { public: diff --git a/power/PowerSensor.cpp b/power/PowerSensor.cpp index 5433acc93..50cb6acd2 100644 --- a/power/PowerSensor.cpp +++ b/power/PowerSensor.cpp @@ -1,5 +1,5 @@ -#include -#include +#include "PowerSensor.h" +#include "../ipc/QueueFactory.h" PowerSensor::PowerSensor(object_id_t setId, VariableIds ids, DefaultLimits limits, SensorEvents events, uint16_t confirmationCount) : diff --git a/power/PowerSensor.h b/power/PowerSensor.h index 922560d07..0f973e455 100644 --- a/power/PowerSensor.h +++ b/power/PowerSensor.h @@ -1,14 +1,14 @@ #ifndef POWERSENSOR_H_ #define POWERSENSOR_H_ -#include -#include -#include -#include -#include -#include -#include -#include +#include "../datapool/DataSet.h" +#include "../datapool/PIDReader.h" +#include "../datapool/PoolVariable.h" +#include "../devicehandlers/HealthDevice.h" +#include "../monitoring/LimitMonitor.h" +#include "../parameters/ParameterHelper.h" +#include "../objectmanager/SystemObject.h" +#include "../ipc/MessageQueueIF.h" class PowerController; diff --git a/power/PowerSwitchIF.h b/power/PowerSwitchIF.h index 1c4c06f7f..40220fb62 100644 --- a/power/PowerSwitchIF.h +++ b/power/PowerSwitchIF.h @@ -8,8 +8,8 @@ #ifndef POWERSWITCHIF_H_ #define POWERSWITCHIF_H_ -#include -#include +#include "../events/Event.h" +#include "../returnvalues/HasReturnvaluesIF.h" /** * This interface defines a connection to a device that is capable of turning on and off * switches of devices identified by a switch ID. diff --git a/power/PowerSwitcher.cpp b/power/PowerSwitcher.cpp index 6b06bf735..6296a04c7 100644 --- a/power/PowerSwitcher.cpp +++ b/power/PowerSwitcher.cpp @@ -1,6 +1,6 @@ -#include -#include -#include +#include "../objectmanager/ObjectManagerIF.h" +#include "PowerSwitcher.h" +#include "../serviceinterface/ServiceInterfaceStream.h" PowerSwitcher::PowerSwitcher(uint8_t setSwitch1, uint8_t setSwitch2, PowerSwitcher::State_t setStartState) : diff --git a/power/PowerSwitcher.h b/power/PowerSwitcher.h index 5b2789e96..0f1c02deb 100644 --- a/power/PowerSwitcher.h +++ b/power/PowerSwitcher.h @@ -1,8 +1,8 @@ #ifndef POWERSWITCHER_H_ #define POWERSWITCHER_H_ -#include -#include -#include +#include "PowerSwitchIF.h" +#include "../returnvalues/HasReturnvaluesIF.h" +#include "../timemanager/Countdown.h" class PowerSwitcher : public HasReturnvaluesIF { public: diff --git a/pus/CService200ModeCommanding.cpp b/pus/CService200ModeCommanding.cpp index fd6da67e9..32f7e5a74 100644 --- a/pus/CService200ModeCommanding.cpp +++ b/pus/CService200ModeCommanding.cpp @@ -1,119 +1,119 @@ -#include -#include - -#include -#include -#include -#include - -CService200ModeCommanding::CService200ModeCommanding(object_id_t objectId, - uint16_t apid, uint8_t serviceId): - CommandingServiceBase(objectId, apid, serviceId, - NUMBER_OF_PARALLEL_COMMANDS,COMMAND_TIMEOUT_SECONDS) {} - -CService200ModeCommanding::~CService200ModeCommanding() {} - -ReturnValue_t CService200ModeCommanding::isValidSubservice(uint8_t subservice) { - switch(subservice) { - case(Subservice::COMMAND_MODE_COMMAND): - case(Subservice::COMMAND_MODE_READ): - case(Subservice::COMMAND_MODE_ANNCOUNCE): - return RETURN_OK; - default: - return AcceptsTelecommandsIF::INVALID_SUBSERVICE; - } -} - - -ReturnValue_t CService200ModeCommanding::getMessageQueueAndObject( - uint8_t subservice, const uint8_t *tcData, size_t tcDataLen, - MessageQueueId_t *id, object_id_t *objectId) { - if(tcDataLen < sizeof(object_id_t)) { - return CommandingServiceBase::INVALID_TC; - } - SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen, - SerializeIF::Endianness::BIG); - - return checkInterfaceAndAcquireMessageQueue(id,objectId); -} - -ReturnValue_t CService200ModeCommanding::checkInterfaceAndAcquireMessageQueue( - MessageQueueId_t* messageQueueToSet, object_id_t* objectId) { - HasModesIF * destination = objectManager->get(*objectId); - if(destination == nullptr) { - return CommandingServiceBase::INVALID_OBJECT; - - } - - *messageQueueToSet = destination->getCommandQueue(); - return HasReturnvaluesIF::RETURN_OK; -} - - -ReturnValue_t CService200ModeCommanding::prepareCommand( - CommandMessage* message,uint8_t subservice, const uint8_t *tcData, - size_t tcDataLen, uint32_t *state, object_id_t objectId) { - ModePacket modeCommandPacket; - ReturnValue_t result = modeCommandPacket.deSerialize(&tcData, - &tcDataLen, SerializeIF::Endianness::BIG); - if (result != RETURN_OK) { - return result; - } - - ModeMessage::setModeMessage(dynamic_cast(message), - ModeMessage::CMD_MODE_COMMAND, modeCommandPacket.getMode(), - modeCommandPacket.getSubmode()); - return result; -} - - -ReturnValue_t CService200ModeCommanding::handleReply( - const CommandMessage* reply, Command_t previousCommand, - uint32_t *state, CommandMessage* optionalNextCommand, - object_id_t objectId, bool *isStep) { - Command_t replyId = reply->getCommand(); - ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED; - switch(replyId) { - case(ModeMessage::REPLY_MODE_REPLY): { - result = prepareModeReply(reply, objectId); - break; - } - case(ModeMessage::REPLY_WRONG_MODE_REPLY): { - result = prepareWrongModeReply(reply, objectId); - break; - } - case(ModeMessage::REPLY_CANT_REACH_MODE): { - result = prepareCantReachModeReply(reply, objectId); - break; - } - case(ModeMessage::REPLY_MODE_INFO): - result = INVALID_REPLY; - break; - default: - result = RETURN_FAILED; - } - return result; -} - -ReturnValue_t CService200ModeCommanding::prepareModeReply( - const CommandMessage *reply, object_id_t objectId) { - ModePacket modeReplyPacket(objectId, - ModeMessage::getMode(reply), - ModeMessage::getSubmode(reply)); - return sendTmPacket(Subservice::REPLY_MODE_REPLY, &modeReplyPacket); -} - -ReturnValue_t CService200ModeCommanding::prepareWrongModeReply( - const CommandMessage *reply, object_id_t objectId) { - ModePacket wrongModeReply(objectId, ModeMessage::getMode(reply), - ModeMessage::getSubmode(reply)); - return sendTmPacket(Subservice::REPLY_WRONG_MODE_REPLY, &wrongModeReply); -} - -ReturnValue_t CService200ModeCommanding::prepareCantReachModeReply( - const CommandMessage *reply, object_id_t objectId) { - CantReachModePacket cantReachModePacket(objectId, - ModeMessage::getCantReachModeReason(reply)); - return sendTmPacket(Subservice::REPLY_CANT_REACH_MODE, - &cantReachModePacket); -} +#include "CService200ModeCommanding.h" +#include "servicepackets/Service200Packets.h" + +#include "../modes/HasModesIF.h" +#include "../serviceinterface/ServiceInterfaceStream.h" +#include "../serialize/SerialLinkedListAdapter.h" +#include "../modes/ModeMessage.h" + +CService200ModeCommanding::CService200ModeCommanding(object_id_t objectId, + uint16_t apid, uint8_t serviceId): + CommandingServiceBase(objectId, apid, serviceId, + NUMBER_OF_PARALLEL_COMMANDS,COMMAND_TIMEOUT_SECONDS) {} + +CService200ModeCommanding::~CService200ModeCommanding() {} + +ReturnValue_t CService200ModeCommanding::isValidSubservice(uint8_t subservice) { + switch(subservice) { + case(Subservice::COMMAND_MODE_COMMAND): + case(Subservice::COMMAND_MODE_READ): + case(Subservice::COMMAND_MODE_ANNCOUNCE): + return RETURN_OK; + default: + return AcceptsTelecommandsIF::INVALID_SUBSERVICE; + } +} + + +ReturnValue_t CService200ModeCommanding::getMessageQueueAndObject( + uint8_t subservice, const uint8_t *tcData, size_t tcDataLen, + MessageQueueId_t *id, object_id_t *objectId) { + if(tcDataLen < sizeof(object_id_t)) { + return CommandingServiceBase::INVALID_TC; + } + SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen, + SerializeIF::Endianness::BIG); + + return checkInterfaceAndAcquireMessageQueue(id,objectId); +} + +ReturnValue_t CService200ModeCommanding::checkInterfaceAndAcquireMessageQueue( + MessageQueueId_t* messageQueueToSet, object_id_t* objectId) { + HasModesIF * destination = objectManager->get(*objectId); + if(destination == nullptr) { + return CommandingServiceBase::INVALID_OBJECT; + + } + + *messageQueueToSet = destination->getCommandQueue(); + return HasReturnvaluesIF::RETURN_OK; +} + + +ReturnValue_t CService200ModeCommanding::prepareCommand( + CommandMessage* message,uint8_t subservice, const uint8_t *tcData, + size_t tcDataLen, uint32_t *state, object_id_t objectId) { + ModePacket modeCommandPacket; + ReturnValue_t result = modeCommandPacket.deSerialize(&tcData, + &tcDataLen, SerializeIF::Endianness::BIG); + if (result != RETURN_OK) { + return result; + } + + ModeMessage::setModeMessage(dynamic_cast(message), + ModeMessage::CMD_MODE_COMMAND, modeCommandPacket.getMode(), + modeCommandPacket.getSubmode()); + return result; +} + + +ReturnValue_t CService200ModeCommanding::handleReply( + const CommandMessage* reply, Command_t previousCommand, + uint32_t *state, CommandMessage* optionalNextCommand, + object_id_t objectId, bool *isStep) { + Command_t replyId = reply->getCommand(); + ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED; + switch(replyId) { + case(ModeMessage::REPLY_MODE_REPLY): { + result = prepareModeReply(reply, objectId); + break; + } + case(ModeMessage::REPLY_WRONG_MODE_REPLY): { + result = prepareWrongModeReply(reply, objectId); + break; + } + case(ModeMessage::REPLY_CANT_REACH_MODE): { + result = prepareCantReachModeReply(reply, objectId); + break; + } + case(ModeMessage::REPLY_MODE_INFO): + result = INVALID_REPLY; + break; + default: + result = RETURN_FAILED; + } + return result; +} + +ReturnValue_t CService200ModeCommanding::prepareModeReply( + const CommandMessage *reply, object_id_t objectId) { + ModePacket modeReplyPacket(objectId, + ModeMessage::getMode(reply), + ModeMessage::getSubmode(reply)); + return sendTmPacket(Subservice::REPLY_MODE_REPLY, &modeReplyPacket); +} + +ReturnValue_t CService200ModeCommanding::prepareWrongModeReply( + const CommandMessage *reply, object_id_t objectId) { + ModePacket wrongModeReply(objectId, ModeMessage::getMode(reply), + ModeMessage::getSubmode(reply)); + return sendTmPacket(Subservice::REPLY_WRONG_MODE_REPLY, &wrongModeReply); +} + +ReturnValue_t CService200ModeCommanding::prepareCantReachModeReply( + const CommandMessage *reply, object_id_t objectId) { + CantReachModePacket cantReachModePacket(objectId, + ModeMessage::getCantReachModeReason(reply)); + return sendTmPacket(Subservice::REPLY_CANT_REACH_MODE, + &cantReachModePacket); +} diff --git a/pus/CService200ModeCommanding.h b/pus/CService200ModeCommanding.h index ede61a84e..89347dbd8 100644 --- a/pus/CService200ModeCommanding.h +++ b/pus/CService200ModeCommanding.h @@ -1,85 +1,85 @@ -#ifndef FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_ -#define FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_ - -#include - -/** - * @brief Custom PUS service to set mode of all objects implementing HasModesIF - * - * Examples: Device Handlers, Assemblies or Subsystems. - * Full Documentation: ECSS-E-ST-70-41C or ECSS-E-70-41A - * Dissertation Baetz p. 115, 116, 165-167. - * - * This is a gateway service. It relays device commands using the software bus. - * @ingroup pus_services - */ -class CService200ModeCommanding: public CommandingServiceBase { -public: - static constexpr uint8_t NUMBER_OF_PARALLEL_COMMANDS = 4; - static constexpr uint16_t COMMAND_TIMEOUT_SECONDS = 60; - - CService200ModeCommanding(object_id_t objectId, - uint16_t apid, uint8_t serviceId); - virtual~ CService200ModeCommanding(); - -protected: - //! CommandingServiceBase (CSB) abstract functions. See CSB documentation. - ReturnValue_t isValidSubservice(uint8_t subservice) override; - ReturnValue_t getMessageQueueAndObject(uint8_t subservice, - const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id, - object_id_t *objectId) override; - ReturnValue_t prepareCommand(CommandMessage* message, - uint8_t subservice, const uint8_t *tcData, size_t tcDataLen, - uint32_t *state, object_id_t objectId) override; - ReturnValue_t handleReply(const CommandMessage* reply, - Command_t previousCommand, uint32_t *state, - CommandMessage* optionalNextCommand, object_id_t objectId, - bool *isStep) override; - -private: - ReturnValue_t checkAndAcquireTargetID(object_id_t* objectIdToSet, - const uint8_t* tcData, uint32_t tcDataLen); - ReturnValue_t checkInterfaceAndAcquireMessageQueue( - MessageQueueId_t* MessageQueueToSet, object_id_t* objectId); - - ReturnValue_t prepareModeReply(const CommandMessage *reply, - object_id_t objectId); - ReturnValue_t prepareWrongModeReply(const CommandMessage *reply, - object_id_t objectId); - ReturnValue_t prepareCantReachModeReply(const CommandMessage *reply, - object_id_t objectId); - - enum Subservice { //!< [EXPORT] : [COMMENT] Mode Commanding Subservices - //!< [EXPORT] : [COMMAND] Command assembly, subsystem or device mode - COMMAND_MODE_COMMAND = 1, - //!< [EXPORT] : [COMMAND] Command to set the specified Mode, - //! regardless of external control flag - COMMAND_MODE_COMMAND_FORCED = 2, - //!< [EXPORT] : [COMMAND] Read the current mode and - //! reply with a REPLY_MODE_REPLY - COMMAND_MODE_READ = 3, - //!< [EXPORT] : [COMMAND] Trigger an ModeInfo Event. - //! This command does NOT have a reply - COMMAND_MODE_ANNCOUNCE = 4, - //!< [EXPORT] : [COMMAND] Trigger a ModeInfo Event and to send this - //! command to every child. This command does NOT have a reply. - COMMAND_MODE_ANNOUNCE_RECURSIVELY = 5, - //!< [EXPORT] : [REPLY] Reply to a CMD_MODE_COMMAND or CMD_MODE_READ - REPLY_MODE_REPLY = 6, - //!< [EXPORT] : [REPLY] Reply in case a mode command can't be executed. - REPLY_CANT_REACH_MODE = 7, - //!< [EXPORT] : [REPLY] Reply to a CMD_MODE_COMMAND, indicating that a - //! mode was commanded and a transition started but was aborted, - //! the parameters contain the mode that was reached - REPLY_WRONG_MODE_REPLY = 8 - }; - - enum modeParameters { - MODE_OFF = 0, - MODE_ON = 1, - MODE_NORMAL = 2, - MODE_RAW = 3 - }; -}; - -#endif /* FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_ */ +#ifndef FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_ +#define FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_ + +#include "../tmtcservices/CommandingServiceBase.h" + +/** + * @brief Custom PUS service to set mode of all objects implementing HasModesIF + * + * Examples: Device Handlers, Assemblies or Subsystems. + * Full Documentation: ECSS-E-ST-70-41C or ECSS-E-70-41A + * Dissertation Baetz p. 115, 116, 165-167. + * + * This is a gateway service. It relays device commands using the software bus. + * @ingroup pus_services + */ +class CService200ModeCommanding: public CommandingServiceBase { +public: + static constexpr uint8_t NUMBER_OF_PARALLEL_COMMANDS = 4; + static constexpr uint16_t COMMAND_TIMEOUT_SECONDS = 60; + + CService200ModeCommanding(object_id_t objectId, + uint16_t apid, uint8_t serviceId); + virtual~ CService200ModeCommanding(); + +protected: + //! CommandingServiceBase (CSB) abstract functions. See CSB documentation. + ReturnValue_t isValidSubservice(uint8_t subservice) override; + ReturnValue_t getMessageQueueAndObject(uint8_t subservice, + const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id, + object_id_t *objectId) override; + ReturnValue_t prepareCommand(CommandMessage* message, + uint8_t subservice, const uint8_t *tcData, size_t tcDataLen, + uint32_t *state, object_id_t objectId) override; + ReturnValue_t handleReply(const CommandMessage* reply, + Command_t previousCommand, uint32_t *state, + CommandMessage* optionalNextCommand, object_id_t objectId, + bool *isStep) override; + +private: + ReturnValue_t checkAndAcquireTargetID(object_id_t* objectIdToSet, + const uint8_t* tcData, uint32_t tcDataLen); + ReturnValue_t checkInterfaceAndAcquireMessageQueue( + MessageQueueId_t* MessageQueueToSet, object_id_t* objectId); + + ReturnValue_t prepareModeReply(const CommandMessage *reply, + object_id_t objectId); + ReturnValue_t prepareWrongModeReply(const CommandMessage *reply, + object_id_t objectId); + ReturnValue_t prepareCantReachModeReply(const CommandMessage *reply, + object_id_t objectId); + + enum Subservice { //!< [EXPORT] : [COMMENT] Mode Commanding Subservices + //!< [EXPORT] : [COMMAND] Command assembly, subsystem or device mode + COMMAND_MODE_COMMAND = 1, + //!< [EXPORT] : [COMMAND] Command to set the specified Mode, + //! regardless of external control flag + COMMAND_MODE_COMMAND_FORCED = 2, + //!< [EXPORT] : [COMMAND] Read the current mode and + //! reply with a REPLY_MODE_REPLY + COMMAND_MODE_READ = 3, + //!< [EXPORT] : [COMMAND] Trigger an ModeInfo Event. + //! This command does NOT have a reply + COMMAND_MODE_ANNCOUNCE = 4, + //!< [EXPORT] : [COMMAND] Trigger a ModeInfo Event and to send this + //! command to every child. This command does NOT have a reply. + COMMAND_MODE_ANNOUNCE_RECURSIVELY = 5, + //!< [EXPORT] : [REPLY] Reply to a CMD_MODE_COMMAND or CMD_MODE_READ + REPLY_MODE_REPLY = 6, + //!< [EXPORT] : [REPLY] Reply in case a mode command can't be executed. + REPLY_CANT_REACH_MODE = 7, + //!< [EXPORT] : [REPLY] Reply to a CMD_MODE_COMMAND, indicating that a + //! mode was commanded and a transition started but was aborted, + //! the parameters contain the mode that was reached + REPLY_WRONG_MODE_REPLY = 8 + }; + + enum modeParameters { + MODE_OFF = 0, + MODE_ON = 1, + MODE_NORMAL = 2, + MODE_RAW = 3 + }; +}; + +#endif /* FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_ */ diff --git a/pus/Service1TelecommandVerification.cpp b/pus/Service1TelecommandVerification.cpp index 4ce2ce54c..570005c54 100644 --- a/pus/Service1TelecommandVerification.cpp +++ b/pus/Service1TelecommandVerification.cpp @@ -1,12 +1,12 @@ -#include -#include +#include "Service1TelecommandVerification.h" +#include "servicepackets/Service1Packets.h" -#include -#include -#include -#include -#include -#include +#include "../ipc/QueueFactory.h" +#include "../tmtcservices/PusVerificationReport.h" +#include "/tmtcpacketTmPacketStored.h" +#include "../serviceinterface/ServiceInterfaceStream.h" +#include "../tmtcservices/AcceptsTelemetryIF.h" +#include "../serviceinterface/ServiceInterfaceStream.h" Service1TelecommandVerification::Service1TelecommandVerification( diff --git a/pus/Service1TelecommandVerification.h b/pus/Service1TelecommandVerification.h index 1d4b67196..37562d1c9 100644 --- a/pus/Service1TelecommandVerification.h +++ b/pus/Service1TelecommandVerification.h @@ -1,12 +1,12 @@ #ifndef MISSION_PUS_SERVICE1TELECOMMANDVERIFICATION_H_ #define MISSION_PUS_SERVICE1TELECOMMANDVERIFICATION_H_ -#include -#include -#include -#include -#include -#include +#include "../objectmanager/SystemObject.h" +#include "../returnvalues/HasReturnvaluesIF.h" +#include "../tasks/ExecutableObjectIF.h" +#include "../tmtcservices/AcceptsVerifyMessageIF.h" +#include "../tmtcservices/PusVerificationReport.h" +#include "../ipc/MessageQueueIF.h" /** * @brief Verify TC acceptance, start, progress and execution. diff --git a/pus/Service2DeviceAccess.cpp b/pus/Service2DeviceAccess.cpp index 1d5f21eba..2093a617d 100644 --- a/pus/Service2DeviceAccess.cpp +++ b/pus/Service2DeviceAccess.cpp @@ -1,167 +1,167 @@ -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include - -Service2DeviceAccess::Service2DeviceAccess(object_id_t objectId, - uint16_t apid, uint8_t serviceId, uint8_t numberOfParallelCommands, - uint16_t commandTimeoutSeconds): - CommandingServiceBase(objectId, apid, serviceId, - numberOfParallelCommands, commandTimeoutSeconds) {} - -Service2DeviceAccess::~Service2DeviceAccess() {} - - -ReturnValue_t Service2DeviceAccess::isValidSubservice(uint8_t subservice) { - switch(static_cast(subservice)){ - case Subservice::RAW_COMMANDING: - case Subservice::TOGGLE_WIRETAPPING: - return HasReturnvaluesIF::RETURN_OK; - default: - sif::error << "Invalid Subservice" << std::endl; - return AcceptsTelecommandsIF::INVALID_SUBSERVICE; - } -} - -ReturnValue_t Service2DeviceAccess::getMessageQueueAndObject( - uint8_t subservice, const uint8_t* tcData, size_t tcDataLen, - MessageQueueId_t* id, object_id_t* objectId) { - if(tcDataLen < sizeof(object_id_t)) { - return CommandingServiceBase::INVALID_TC; - } - SerializeAdapter::deSerialize(objectId, &tcData, - &tcDataLen, SerializeIF::Endianness::BIG); - - ReturnValue_t result = checkInterfaceAndAcquireMessageQueue(id,objectId); - return result; -} - -ReturnValue_t Service2DeviceAccess::checkInterfaceAndAcquireMessageQueue( - MessageQueueId_t * messageQueueToSet, object_id_t *objectId) { - DeviceHandlerIF* possibleTarget = - objectManager->get(*objectId); - if(possibleTarget == nullptr) { - return CommandingServiceBase::INVALID_OBJECT; - } - *messageQueueToSet = possibleTarget->getCommandQueue(); - return HasReturnvaluesIF::RETURN_OK; -} - - -ReturnValue_t Service2DeviceAccess::prepareCommand(CommandMessage* message, - uint8_t subservice, const uint8_t* tcData, size_t tcDataLen, - uint32_t* state, object_id_t objectId) { - switch(static_cast(subservice)){ - case Subservice::RAW_COMMANDING: { - return prepareRawCommand(dynamic_cast(message), - tcData, tcDataLen); - } - break; - case Subservice::TOGGLE_WIRETAPPING: { - return prepareWiretappingCommand(dynamic_cast(message), - tcData, tcDataLen); - } - break; - default: - return HasReturnvaluesIF::RETURN_FAILED; - } -} - -ReturnValue_t Service2DeviceAccess::prepareRawCommand( - CommandMessage* messageToSet, const uint8_t *tcData,size_t tcDataLen) { - RawCommand RawCommand(tcData,tcDataLen); - // store command into the Inter Process Communication Store - store_address_t storeAddress; - ReturnValue_t result = IPCStore->addData(&storeAddress, - RawCommand.getCommand(), RawCommand.getCommandSize()); - DeviceHandlerMessage::setDeviceHandlerRawCommandMessage(messageToSet, - storeAddress); - return result; -} - -ReturnValue_t Service2DeviceAccess::prepareWiretappingCommand( - CommandMessage *messageToSet, const uint8_t *tcData, - size_t tcDataLen) { - if(tcDataLen != WiretappingToggle::WIRETAPPING_COMMAND_SIZE) { - return CommandingServiceBase::INVALID_TC; - } - WiretappingToggle command; - ReturnValue_t result = command.deSerialize(&tcData, &tcDataLen, - SerializeIF::Endianness::BIG); - DeviceHandlerMessage::setDeviceHandlerWiretappingMessage(messageToSet, - command.getWiretappingMode()); - return result; -} - - -ReturnValue_t Service2DeviceAccess::handleReply(const CommandMessage* reply, - Command_t previousCommand, uint32_t* state, - CommandMessage* optionalNextCommand, object_id_t objectId, - bool* isStep) { - switch(reply->getCommand()) { - case CommandMessage::REPLY_COMMAND_OK: - return HasReturnvaluesIF::RETURN_OK; - case CommandMessage::REPLY_REJECTED: - return reply->getReplyRejectedReason(); - default: - return CommandingServiceBase::INVALID_REPLY; - } -} - -// All device handlers set service 2 as default raw receiver for wiretapping -// so we have to handle those unrequested messages. -void Service2DeviceAccess::handleUnrequestedReply(CommandMessage* reply) { - switch(reply->getCommand()) { - case DeviceHandlerMessage::REPLY_RAW_COMMAND: - sendWiretappingTm(reply, - static_cast(Subservice::WIRETAPPING_RAW_TC)); - break; - case DeviceHandlerMessage::REPLY_RAW_REPLY: - sendWiretappingTm(reply, - static_cast(Subservice::RAW_REPLY)); - break; - default: - sif::error << "Unknown message in Service2DeviceAccess::" - "handleUnrequestedReply with command ID " << - reply->getCommand() << std::endl; - break; - } - //Must be reached by all cases to clear message - reply->clear(); -} - -void Service2DeviceAccess::sendWiretappingTm(CommandMessage *reply, - uint8_t subservice) { - // Raw Wiretapping - // Get Address of Data from Message - store_address_t storeAddress = DeviceHandlerMessage::getStoreAddress(reply); - const uint8_t* data = nullptr; - size_t size = 0; - ReturnValue_t result = IPCStore->getData(storeAddress, &data, &size); - if(result != HasReturnvaluesIF::RETURN_OK){ - sif::error << "Service2DeviceAccess::sendWiretappingTm: Data Lost in " - "handleUnrequestedReply with failure ID "<< result - << std::endl; - return; - } - - // Init our dummy packet and correct endianness of object ID before - // sending it back. - WiretappingPacket TmPacket(DeviceHandlerMessage::getDeviceObjectId(reply), - data); - TmPacket.objectId = EndianConverter::convertBigEndian(TmPacket.objectId); - sendTmPacket(subservice, TmPacket.data,size, reinterpret_cast( - &TmPacket.objectId), sizeof(TmPacket.objectId)); -} - -MessageQueueId_t Service2DeviceAccess::getDeviceQueue() { - return commandQueue->getId(); -} - +#include "Service2DeviceAccess.h" +#include "servicepackets/Service2Packets.h" + +#include "../devicehandlers/DeviceHandlerIF.h" +#include "../storagemanager/StorageManagerIF.h" +#include "../devicehandlers/DeviceHandlerMessage.h" +#include "../serialize/EndianConverter.h" +#include "../action/ActionMessage.h" +#include "../serialize/SerializeAdapter.h" +#include "../serialize/SerialLinkedListAdapter.h" +#include "../serviceinterface/ServiceInterfaceStream.h" + +Service2DeviceAccess::Service2DeviceAccess(object_id_t objectId, + uint16_t apid, uint8_t serviceId, uint8_t numberOfParallelCommands, + uint16_t commandTimeoutSeconds): + CommandingServiceBase(objectId, apid, serviceId, + numberOfParallelCommands, commandTimeoutSeconds) {} + +Service2DeviceAccess::~Service2DeviceAccess() {} + + +ReturnValue_t Service2DeviceAccess::isValidSubservice(uint8_t subservice) { + switch(static_cast(subservice)){ + case Subservice::RAW_COMMANDING: + case Subservice::TOGGLE_WIRETAPPING: + return HasReturnvaluesIF::RETURN_OK; + default: + sif::error << "Invalid Subservice" << std::endl; + return AcceptsTelecommandsIF::INVALID_SUBSERVICE; + } +} + +ReturnValue_t Service2DeviceAccess::getMessageQueueAndObject( + uint8_t subservice, const uint8_t* tcData, size_t tcDataLen, + MessageQueueId_t* id, object_id_t* objectId) { + if(tcDataLen < sizeof(object_id_t)) { + return CommandingServiceBase::INVALID_TC; + } + SerializeAdapter::deSerialize(objectId, &tcData, + &tcDataLen, SerializeIF::Endianness::BIG); + + ReturnValue_t result = checkInterfaceAndAcquireMessageQueue(id,objectId); + return result; +} + +ReturnValue_t Service2DeviceAccess::checkInterfaceAndAcquireMessageQueue( + MessageQueueId_t * messageQueueToSet, object_id_t *objectId) { + DeviceHandlerIF* possibleTarget = + objectManager->get(*objectId); + if(possibleTarget == nullptr) { + return CommandingServiceBase::INVALID_OBJECT; + } + *messageQueueToSet = possibleTarget->getCommandQueue(); + return HasReturnvaluesIF::RETURN_OK; +} + + +ReturnValue_t Service2DeviceAccess::prepareCommand(CommandMessage* message, + uint8_t subservice, const uint8_t* tcData, size_t tcDataLen, + uint32_t* state, object_id_t objectId) { + switch(static_cast(subservice)){ + case Subservice::RAW_COMMANDING: { + return prepareRawCommand(dynamic_cast(message), + tcData, tcDataLen); + } + break; + case Subservice::TOGGLE_WIRETAPPING: { + return prepareWiretappingCommand(dynamic_cast(message), + tcData, tcDataLen); + } + break; + default: + return HasReturnvaluesIF::RETURN_FAILED; + } +} + +ReturnValue_t Service2DeviceAccess::prepareRawCommand( + CommandMessage* messageToSet, const uint8_t *tcData,size_t tcDataLen) { + RawCommand RawCommand(tcData,tcDataLen); + // store command into the Inter Process Communication Store + store_address_t storeAddress; + ReturnValue_t result = IPCStore->addData(&storeAddress, + RawCommand.getCommand(), RawCommand.getCommandSize()); + DeviceHandlerMessage::setDeviceHandlerRawCommandMessage(messageToSet, + storeAddress); + return result; +} + +ReturnValue_t Service2DeviceAccess::prepareWiretappingCommand( + CommandMessage *messageToSet, const uint8_t *tcData, + size_t tcDataLen) { + if(tcDataLen != WiretappingToggle::WIRETAPPING_COMMAND_SIZE) { + return CommandingServiceBase::INVALID_TC; + } + WiretappingToggle command; + ReturnValue_t result = command.deSerialize(&tcData, &tcDataLen, + SerializeIF::Endianness::BIG); + DeviceHandlerMessage::setDeviceHandlerWiretappingMessage(messageToSet, + command.getWiretappingMode()); + return result; +} + + +ReturnValue_t Service2DeviceAccess::handleReply(const CommandMessage* reply, + Command_t previousCommand, uint32_t* state, + CommandMessage* optionalNextCommand, object_id_t objectId, + bool* isStep) { + switch(reply->getCommand()) { + case CommandMessage::REPLY_COMMAND_OK: + return HasReturnvaluesIF::RETURN_OK; + case CommandMessage::REPLY_REJECTED: + return reply->getReplyRejectedReason(); + default: + return CommandingServiceBase::INVALID_REPLY; + } +} + +// All device handlers set service 2 as default raw receiver for wiretapping +// so we have to handle those unrequested messages. +void Service2DeviceAccess::handleUnrequestedReply(CommandMessage* reply) { + switch(reply->getCommand()) { + case DeviceHandlerMessage::REPLY_RAW_COMMAND: + sendWiretappingTm(reply, + static_cast(Subservice::WIRETAPPING_RAW_TC)); + break; + case DeviceHandlerMessage::REPLY_RAW_REPLY: + sendWiretappingTm(reply, + static_cast(Subservice::RAW_REPLY)); + break; + default: + sif::error << "Unknown message in Service2DeviceAccess::" + "handleUnrequestedReply with command ID " << + reply->getCommand() << std::endl; + break; + } + //Must be reached by all cases to clear message + reply->clear(); +} + +void Service2DeviceAccess::sendWiretappingTm(CommandMessage *reply, + uint8_t subservice) { + // Raw Wiretapping + // Get Address of Data from Message + store_address_t storeAddress = DeviceHandlerMessage::getStoreAddress(reply); + const uint8_t* data = nullptr; + size_t size = 0; + ReturnValue_t result = IPCStore->getData(storeAddress, &data, &size); + if(result != HasReturnvaluesIF::RETURN_OK){ + sif::error << "Service2DeviceAccess::sendWiretappingTm: Data Lost in " + "handleUnrequestedReply with failure ID "<< result + << std::endl; + return; + } + + // Init our dummy packet and correct endianness of object ID before + // sending it back. + WiretappingPacket TmPacket(DeviceHandlerMessage::getDeviceObjectId(reply), + data); + TmPacket.objectId = EndianConverter::convertBigEndian(TmPacket.objectId); + sendTmPacket(subservice, TmPacket.data,size, reinterpret_cast( + &TmPacket.objectId), sizeof(TmPacket.objectId)); +} + +MessageQueueId_t Service2DeviceAccess::getDeviceQueue() { + return commandQueue->getId(); +} + diff --git a/pus/Service2DeviceAccess.h b/pus/Service2DeviceAccess.h index 1a0bede0a..f6aa8b521 100644 --- a/pus/Service2DeviceAccess.h +++ b/pus/Service2DeviceAccess.h @@ -1,92 +1,92 @@ -#ifndef FRAMEWORK_PUS_SERVICE2DEVICEACCESS_H_ -#define FRAMEWORK_PUS_SERVICE2DEVICEACCESS_H_ - -#include -#include -#include - -/** - * @brief Raw Commanding and Wiretapping of devices. - * @details - * Full Documentation: ECSS-E-ST-70-41C or ECSS-E-70-41A - * Dissertation Baetz p. 115, 116, 165-167. - * - * This service provides the capability to communicate with devices in their - * native protocols with raw commands through the DeviceHandlerIF. - * - * This is a gateway service. It relays device commands to the software bus. - * This service is very closely tied to the CommandingServiceBase - * template class. - * - * There are 4 adaption points for component implementation through the - * CommandingServiceBase. - * - * This service employs custom subservices exclusively. This includes a - * wiretapping subservice to monitor all traffic between target devices and - * this service. - * - * - TC[2,128]: Raw Commanding - * - TC[2,129]: Toggle Wiretapping - * - TM[2,130]: Wiretapping Packet TM - * - TM[2,131]: Wiretapping Packet TC - * @ingroup pus_services - */ -class Service2DeviceAccess : public CommandingServiceBase, - public AcceptsDeviceResponsesIF -{ -public: - Service2DeviceAccess(object_id_t objectId, uint16_t apid, - uint8_t serviceId, uint8_t numberOfParallelCommands = 4, - uint16_t commandTimeoutSeconds = 60); - virtual ~Service2DeviceAccess(); - -protected: - //! CommandingServiceBase (CSB) abstract functions. See CSB documentation. - ReturnValue_t isValidSubservice(uint8_t subservice) override; - ReturnValue_t getMessageQueueAndObject(uint8_t subservice, - const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id, - object_id_t *objectId) override; - ReturnValue_t prepareCommand(CommandMessage* message, uint8_t subservice, - const uint8_t *tcData, size_t tcDataLen, uint32_t *state, - object_id_t objectId) override; - ReturnValue_t handleReply(const CommandMessage* reply, - Command_t previousCommand, uint32_t *state, - CommandMessage* optionalNextCommand, object_id_t objectId, - bool *isStep) override; - - /** - * @brief Generates TM packets containing either the TC wiretapping - * packets or the TM wiretapping packets. - * Note that for service 2, all telemetry will be treated as an - * unrequested reply regardless of wiretapping mode. - * @param reply - */ - void handleUnrequestedReply(CommandMessage* reply) override; - - MessageQueueId_t getDeviceQueue() override; -private: - /** - * Generates TM packets for Wiretapping Service - * @param reply - * @param subservice - */ - void sendWiretappingTm(CommandMessage* reply,uint8_t subservice); - - ReturnValue_t checkInterfaceAndAcquireMessageQueue( - MessageQueueId_t* messageQueueToSet, object_id_t* objectId); - - ReturnValue_t prepareRawCommand(CommandMessage* messageToSet, - const uint8_t* tcData, size_t tcDataLen); - ReturnValue_t prepareWiretappingCommand(CommandMessage* messageToSet, - const uint8_t* tcData, size_t tcDataLen); - - enum class Subservice { - RAW_COMMANDING = 128, //!< [EXPORT] : [COMMAND] Command in device native protocol - TOGGLE_WIRETAPPING = 129, //!< [EXPORT] : [COMMAND] Toggle wiretapping of raw communication - RAW_REPLY = 130, //!< [EXPORT] : [REPLY] Includes wiretapping TM and normal TM raw replies from device - WIRETAPPING_RAW_TC = 131 //!< [EXPORT] : [REPLY] Wiretapping packets of commands built by device handler - }; -}; - - -#endif /* MISSION_PUS_DEVICE2DEVICECOMMANDING_H_ */ +#ifndef FRAMEWORK_PUS_SERVICE2DEVICEACCESS_H_ +#define FRAMEWORK_PUS_SERVICE2DEVICEACCESS_H_ + +#include "../objectmanager/SystemObjectIF.h" +#include "../devicehandlers/AcceptsDeviceResponsesIF.h" +#include "../tmtcservices/CommandingServiceBase.h" + +/** + * @brief Raw Commanding and Wiretapping of devices. + * @details + * Full Documentation: ECSS-E-ST-70-41C or ECSS-E-70-41A + * Dissertation Baetz p. 115, 116, 165-167. + * + * This service provides the capability to communicate with devices in their + * native protocols with raw commands through the DeviceHandlerIF. + * + * This is a gateway service. It relays device commands to the software bus. + * This service is very closely tied to the CommandingServiceBase + * template class. + * + * There are 4 adaption points for component implementation through the + * CommandingServiceBase. + * + * This service employs custom subservices exclusively. This includes a + * wiretapping subservice to monitor all traffic between target devices and + * this service. + * + * - TC[2,128]: Raw Commanding + * - TC[2,129]: Toggle Wiretapping + * - TM[2,130]: Wiretapping Packet TM + * - TM[2,131]: Wiretapping Packet TC + * @ingroup pus_services + */ +class Service2DeviceAccess : public CommandingServiceBase, + public AcceptsDeviceResponsesIF +{ +public: + Service2DeviceAccess(object_id_t objectId, uint16_t apid, + uint8_t serviceId, uint8_t numberOfParallelCommands = 4, + uint16_t commandTimeoutSeconds = 60); + virtual ~Service2DeviceAccess(); + +protected: + //! CommandingServiceBase (CSB) abstract functions. See CSB documentation. + ReturnValue_t isValidSubservice(uint8_t subservice) override; + ReturnValue_t getMessageQueueAndObject(uint8_t subservice, + const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id, + object_id_t *objectId) override; + ReturnValue_t prepareCommand(CommandMessage* message, uint8_t subservice, + const uint8_t *tcData, size_t tcDataLen, uint32_t *state, + object_id_t objectId) override; + ReturnValue_t handleReply(const CommandMessage* reply, + Command_t previousCommand, uint32_t *state, + CommandMessage* optionalNextCommand, object_id_t objectId, + bool *isStep) override; + + /** + * @brief Generates TM packets containing either the TC wiretapping + * packets or the TM wiretapping packets. + * Note that for service 2, all telemetry will be treated as an + * unrequested reply regardless of wiretapping mode. + * @param reply + */ + void handleUnrequestedReply(CommandMessage* reply) override; + + MessageQueueId_t getDeviceQueue() override; +private: + /** + * Generates TM packets for Wiretapping Service + * @param reply + * @param subservice + */ + void sendWiretappingTm(CommandMessage* reply,uint8_t subservice); + + ReturnValue_t checkInterfaceAndAcquireMessageQueue( + MessageQueueId_t* messageQueueToSet, object_id_t* objectId); + + ReturnValue_t prepareRawCommand(CommandMessage* messageToSet, + const uint8_t* tcData, size_t tcDataLen); + ReturnValue_t prepareWiretappingCommand(CommandMessage* messageToSet, + const uint8_t* tcData, size_t tcDataLen); + + enum class Subservice { + RAW_COMMANDING = 128, //!< [EXPORT] : [COMMAND] Command in device native protocol + TOGGLE_WIRETAPPING = 129, //!< [EXPORT] : [COMMAND] Toggle wiretapping of raw communication + RAW_REPLY = 130, //!< [EXPORT] : [REPLY] Includes wiretapping TM and normal TM raw replies from device + WIRETAPPING_RAW_TC = 131 //!< [EXPORT] : [REPLY] Wiretapping packets of commands built by device handler + }; +}; + + +#endif /* MISSION_PUS_DEVICE2DEVICECOMMANDING_H_ */ diff --git a/pus/Service5EventReporting.cpp b/pus/Service5EventReporting.cpp index 1dfbe2293..831f92c1b 100644 --- a/pus/Service5EventReporting.cpp +++ b/pus/Service5EventReporting.cpp @@ -1,10 +1,10 @@ -#include -#include +#include "Service5EventReporting.h" +#include "servicepackets/Service5Packets.h" -#include -#include -#include -#include +#include "../serviceinterface/ServiceInterfaceStream.h" +#include "../events/EventManagerIF.h" +#include "../ipc/QueueFactory.h" +#include "/tmtcpacketTmPacketStored.h" Service5EventReporting::Service5EventReporting(object_id_t objectId, diff --git a/pus/Service5EventReporting.h b/pus/Service5EventReporting.h index 79b7c5e7b..0b6ee9a8c 100644 --- a/pus/Service5EventReporting.h +++ b/pus/Service5EventReporting.h @@ -1,8 +1,8 @@ #ifndef FRAMEWORK_PUS_SERVICE5EVENTREPORTING_H_ #define FRAMEWORK_PUS_SERVICE5EVENTREPORTING_H_ -#include -#include +#include "../tmtcservices/PusServiceBase.h" +#include "../events/EventMessage.h" /** * @brief Report on-board events like information or errors diff --git a/pus/Service8FunctionManagement.cpp b/pus/Service8FunctionManagement.cpp index 50102b04c..2c2e590b5 100644 --- a/pus/Service8FunctionManagement.cpp +++ b/pus/Service8FunctionManagement.cpp @@ -1,142 +1,142 @@ -#include -#include - -#include -#include -#include -#include -#include - -Service8FunctionManagement::Service8FunctionManagement(object_id_t object_id, - uint16_t apid, uint8_t serviceId, uint8_t numParallelCommands, - uint16_t commandTimeoutSeconds): - CommandingServiceBase(object_id, apid, serviceId, numParallelCommands, - commandTimeoutSeconds) {} - -Service8FunctionManagement::~Service8FunctionManagement() {} - - -ReturnValue_t Service8FunctionManagement::isValidSubservice( - uint8_t subservice) { - switch(static_cast(subservice)) { - case Subservice::DIRECT_COMMANDING: - return HasReturnvaluesIF::RETURN_OK; - default: - return AcceptsTelecommandsIF::INVALID_SUBSERVICE; - } -} - -ReturnValue_t Service8FunctionManagement::getMessageQueueAndObject( - uint8_t subservice, const uint8_t* tcData, size_t tcDataLen, - MessageQueueId_t* id, object_id_t* objectId) { - if(tcDataLen < sizeof(object_id_t)) { - return CommandingServiceBase::INVALID_TC; - } - SerializeAdapter::deSerialize(objectId, &tcData, - &tcDataLen, SerializeIF::Endianness::BIG); - - return checkInterfaceAndAcquireMessageQueue(id,objectId); -} - -ReturnValue_t Service8FunctionManagement::checkInterfaceAndAcquireMessageQueue( - MessageQueueId_t* messageQueueToSet, object_id_t* objectId) { - // check HasActionIF property of target - HasActionsIF* possibleTarget = objectManager->get(*objectId); - if(possibleTarget == nullptr){ - return CommandingServiceBase::INVALID_OBJECT; - } - *messageQueueToSet = possibleTarget->getCommandQueue(); - return HasReturnvaluesIF::RETURN_OK; -} - - -ReturnValue_t Service8FunctionManagement::prepareCommand( - CommandMessage* message, uint8_t subservice, const uint8_t* tcData, - size_t tcDataLen, uint32_t* state, object_id_t objectId) { - return prepareDirectCommand(dynamic_cast(message), - tcData, tcDataLen); -} - -ReturnValue_t Service8FunctionManagement::prepareDirectCommand( - CommandMessage *message, const uint8_t *tcData, size_t tcDataLen) { - if(tcDataLen < sizeof(object_id_t) + sizeof(ActionId_t)) { - sif::debug << "Service8FunctionManagement::prepareDirectCommand:" - << " TC size smaller thant minimum size of direct command." - << std::endl; - return CommandingServiceBase::INVALID_TC; - } - - // Create direct command instance by extracting data from Telecommand - DirectCommand command(tcData, tcDataLen); - - // store additional parameters into the IPC Store - store_address_t parameterAddress; - ReturnValue_t result = IPCStore->addData(¶meterAddress, - command.getParameters(),command.getParametersSize()); - - // setCommand expects a Command Message, an Action ID and a store adress - // pointing to additional parameters - ActionMessage::setCommand(message,command.getActionId(),parameterAddress); - return result; -} - - -ReturnValue_t Service8FunctionManagement::handleReply( - const CommandMessage* reply, Command_t previousCommand, - uint32_t* state, CommandMessage* optionalNextCommand, - object_id_t objectId, bool* isStep) { - Command_t replyId = reply->getCommand(); - ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED; - ActionId_t actionId = ActionMessage::getActionId(reply); - ReturnValue_t returnCode = ActionMessage::getReturnCode(reply); - - switch(replyId) { - case ActionMessage::COMPLETION_SUCCESS: { - DirectReply completionReply(objectId, actionId,returnCode); - result = CommandingServiceBase::EXECUTION_COMPLETE; - break; - } - case ActionMessage::STEP_SUCCESS: { - *isStep = true; - result = HasReturnvaluesIF::RETURN_OK; - break; - } - case ActionMessage::DATA_REPLY: { - result = handleDataReply(reply, objectId, actionId); - break; - } - case ActionMessage::STEP_FAILED: - *isStep = true; - /*No break, falls through*/ - case ActionMessage::COMPLETION_FAILED: - result = ActionMessage::getReturnCode(reply); - break; - default: - result = INVALID_REPLY; - } - return result; -} - -ReturnValue_t Service8FunctionManagement::handleDataReply( - const CommandMessage* reply, object_id_t objectId, - ActionId_t actionId) { - store_address_t storeId = ActionMessage::getStoreId(reply); - size_t size = 0; - const uint8_t * buffer = nullptr; - ReturnValue_t result = IPCStore->getData(storeId, &buffer, &size); - if(result != RETURN_OK) { - sif::error << "Service 8: Could not retrieve data for data reply" - << std::endl; - return result; - } - DataReply dataReply(objectId, actionId, buffer, size); - result = sendTmPacket(static_cast( - Subservice::DIRECT_COMMANDING_DATA_REPLY), &dataReply); - - auto deletionResult = IPCStore->deleteData(storeId); - if(deletionResult != HasReturnvaluesIF::RETURN_OK) { - sif::warning << "Service8FunctionManagement::handleReply: Deletion" - << " of data in pool failed." << std::endl; - } - return result; -} +#include "Service8FunctionManagement.h" +#include "servicepackets/Service8Packets.h" + +#include "../objectmanager/SystemObjectIF.h" +#include "../action/HasActionsIF.h" +#include "../devicehandlers/DeviceHandlerIF.h" +#include "../serialize/SerializeAdapter.h" +#include "../serviceinterface/ServiceInterfaceStream.h" + +Service8FunctionManagement::Service8FunctionManagement(object_id_t object_id, + uint16_t apid, uint8_t serviceId, uint8_t numParallelCommands, + uint16_t commandTimeoutSeconds): + CommandingServiceBase(object_id, apid, serviceId, numParallelCommands, + commandTimeoutSeconds) {} + +Service8FunctionManagement::~Service8FunctionManagement() {} + + +ReturnValue_t Service8FunctionManagement::isValidSubservice( + uint8_t subservice) { + switch(static_cast(subservice)) { + case Subservice::DIRECT_COMMANDING: + return HasReturnvaluesIF::RETURN_OK; + default: + return AcceptsTelecommandsIF::INVALID_SUBSERVICE; + } +} + +ReturnValue_t Service8FunctionManagement::getMessageQueueAndObject( + uint8_t subservice, const uint8_t* tcData, size_t tcDataLen, + MessageQueueId_t* id, object_id_t* objectId) { + if(tcDataLen < sizeof(object_id_t)) { + return CommandingServiceBase::INVALID_TC; + } + SerializeAdapter::deSerialize(objectId, &tcData, + &tcDataLen, SerializeIF::Endianness::BIG); + + return checkInterfaceAndAcquireMessageQueue(id,objectId); +} + +ReturnValue_t Service8FunctionManagement::checkInterfaceAndAcquireMessageQueue( + MessageQueueId_t* messageQueueToSet, object_id_t* objectId) { + // check HasActionIF property of target + HasActionsIF* possibleTarget = objectManager->get(*objectId); + if(possibleTarget == nullptr){ + return CommandingServiceBase::INVALID_OBJECT; + } + *messageQueueToSet = possibleTarget->getCommandQueue(); + return HasReturnvaluesIF::RETURN_OK; +} + + +ReturnValue_t Service8FunctionManagement::prepareCommand( + CommandMessage* message, uint8_t subservice, const uint8_t* tcData, + size_t tcDataLen, uint32_t* state, object_id_t objectId) { + return prepareDirectCommand(dynamic_cast(message), + tcData, tcDataLen); +} + +ReturnValue_t Service8FunctionManagement::prepareDirectCommand( + CommandMessage *message, const uint8_t *tcData, size_t tcDataLen) { + if(tcDataLen < sizeof(object_id_t) + sizeof(ActionId_t)) { + sif::debug << "Service8FunctionManagement::prepareDirectCommand:" + << " TC size smaller thant minimum size of direct command." + << std::endl; + return CommandingServiceBase::INVALID_TC; + } + + // Create direct command instance by extracting data from Telecommand + DirectCommand command(tcData, tcDataLen); + + // store additional parameters into the IPC Store + store_address_t parameterAddress; + ReturnValue_t result = IPCStore->addData(¶meterAddress, + command.getParameters(),command.getParametersSize()); + + // setCommand expects a Command Message, an Action ID and a store adress + // pointing to additional parameters + ActionMessage::setCommand(message,command.getActionId(),parameterAddress); + return result; +} + + +ReturnValue_t Service8FunctionManagement::handleReply( + const CommandMessage* reply, Command_t previousCommand, + uint32_t* state, CommandMessage* optionalNextCommand, + object_id_t objectId, bool* isStep) { + Command_t replyId = reply->getCommand(); + ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED; + ActionId_t actionId = ActionMessage::getActionId(reply); + ReturnValue_t returnCode = ActionMessage::getReturnCode(reply); + + switch(replyId) { + case ActionMessage::COMPLETION_SUCCESS: { + DirectReply completionReply(objectId, actionId,returnCode); + result = CommandingServiceBase::EXECUTION_COMPLETE; + break; + } + case ActionMessage::STEP_SUCCESS: { + *isStep = true; + result = HasReturnvaluesIF::RETURN_OK; + break; + } + case ActionMessage::DATA_REPLY: { + result = handleDataReply(reply, objectId, actionId); + break; + } + case ActionMessage::STEP_FAILED: + *isStep = true; + /*No break, falls through*/ + case ActionMessage::COMPLETION_FAILED: + result = ActionMessage::getReturnCode(reply); + break; + default: + result = INVALID_REPLY; + } + return result; +} + +ReturnValue_t Service8FunctionManagement::handleDataReply( + const CommandMessage* reply, object_id_t objectId, + ActionId_t actionId) { + store_address_t storeId = ActionMessage::getStoreId(reply); + size_t size = 0; + const uint8_t * buffer = nullptr; + ReturnValue_t result = IPCStore->getData(storeId, &buffer, &size); + if(result != RETURN_OK) { + sif::error << "Service 8: Could not retrieve data for data reply" + << std::endl; + return result; + } + DataReply dataReply(objectId, actionId, buffer, size); + result = sendTmPacket(static_cast( + Subservice::DIRECT_COMMANDING_DATA_REPLY), &dataReply); + + auto deletionResult = IPCStore->deleteData(storeId); + if(deletionResult != HasReturnvaluesIF::RETURN_OK) { + sif::warning << "Service8FunctionManagement::handleReply: Deletion" + << " of data in pool failed." << std::endl; + } + return result; +} diff --git a/pus/Service8FunctionManagement.h b/pus/Service8FunctionManagement.h index e2c7a84f6..b5ebcda8b 100644 --- a/pus/Service8FunctionManagement.h +++ b/pus/Service8FunctionManagement.h @@ -1,67 +1,67 @@ -#ifndef FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_ -#define FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_ - -#include -#include - -/** - * @brief Functional commanding. - * Full Documentation: ECSS-E-ST-70-41C p.64, p. 451 - * Dissertation Baetz p. 115, 116, 165-167 - * - * This service provides the capability to perform functions of an - * application process and provides high-level commanding as opposed to the - * Raw Access provided by Service 2. Examples for these functions can include - * control and operation of payload or the AOCS subsystem. - * This service will be the primary means to control the spacecraft as it is - * considered safer than the Raw Access provided - * by Service 2 and is generally sufficient for most tasks. - * - * This is a gateway service. It relays device commands using the software bus. - * This service is very closely tied to the Commanding Service Base template - * class. There is constant interaction between this Service Base und a - * subclass like this service. - * - * Service Capability: - * - TC[8,128]: Direct Commanding - * - TM[8,130]: Direct Commanding Data Reply - * - * @ingroup pus_services - */ -class Service8FunctionManagement : public CommandingServiceBase -{ -public: - Service8FunctionManagement(object_id_t objectId, uint16_t apid, - uint8_t serviceId, uint8_t numParallelCommands = 4, - uint16_t commandTimeoutSeconds = 60); - virtual ~Service8FunctionManagement(); - -protected: - /* CSB abstract functions implementation . See CSB documentation. */ - ReturnValue_t isValidSubservice(uint8_t subservice) override; - ReturnValue_t getMessageQueueAndObject(uint8_t subservice, - const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id, - object_id_t *objectId) override; - ReturnValue_t prepareCommand(CommandMessage* message, - uint8_t subservice, const uint8_t *tcData, size_t tcDataLen, - uint32_t *state, object_id_t objectId) override; - ReturnValue_t handleReply(const CommandMessage* reply, - Command_t previousCommand, uint32_t *state, - CommandMessage* optionalNextCommand, object_id_t objectId, - bool *isStep) override; - -private: - enum class Subservice { - DIRECT_COMMANDING = 128, //!< [EXPORT] : [COMMAND] Functional commanding - DIRECT_COMMANDING_DATA_REPLY = 130, //!< [EXPORT] : [REPLY] Data reply - }; - - ReturnValue_t checkInterfaceAndAcquireMessageQueue( - MessageQueueId_t* messageQueueToSet, object_id_t* objectId); - ReturnValue_t prepareDirectCommand(CommandMessage* message, - const uint8_t* tcData, size_t tcDataLen); - ReturnValue_t handleDataReply(const CommandMessage* reply, - object_id_t objectId, ActionId_t actionId); -}; - -#endif /* FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_ */ +#ifndef FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_ +#define FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_ + +#include "../action/ActionMessage.h" +#include "../tmtcservices/CommandingServiceBase.h" + +/** + * @brief Functional commanding. + * Full Documentation: ECSS-E-ST-70-41C p.64, p. 451 + * Dissertation Baetz p. 115, 116, 165-167 + * + * This service provides the capability to perform functions of an + * application process and provides high-level commanding as opposed to the + * Raw Access provided by Service 2. Examples for these functions can include + * control and operation of payload or the AOCS subsystem. + * This service will be the primary means to control the spacecraft as it is + * considered safer than the Raw Access provided + * by Service 2 and is generally sufficient for most tasks. + * + * This is a gateway service. It relays device commands using the software bus. + * This service is very closely tied to the Commanding Service Base template + * class. There is constant interaction between this Service Base und a + * subclass like this service. + * + * Service Capability: + * - TC[8,128]: Direct Commanding + * - TM[8,130]: Direct Commanding Data Reply + * + * @ingroup pus_services + */ +class Service8FunctionManagement : public CommandingServiceBase +{ +public: + Service8FunctionManagement(object_id_t objectId, uint16_t apid, + uint8_t serviceId, uint8_t numParallelCommands = 4, + uint16_t commandTimeoutSeconds = 60); + virtual ~Service8FunctionManagement(); + +protected: + /* CSB abstract functions implementation . See CSB documentation. */ + ReturnValue_t isValidSubservice(uint8_t subservice) override; + ReturnValue_t getMessageQueueAndObject(uint8_t subservice, + const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id, + object_id_t *objectId) override; + ReturnValue_t prepareCommand(CommandMessage* message, + uint8_t subservice, const uint8_t *tcData, size_t tcDataLen, + uint32_t *state, object_id_t objectId) override; + ReturnValue_t handleReply(const CommandMessage* reply, + Command_t previousCommand, uint32_t *state, + CommandMessage* optionalNextCommand, object_id_t objectId, + bool *isStep) override; + +private: + enum class Subservice { + DIRECT_COMMANDING = 128, //!< [EXPORT] : [COMMAND] Functional commanding + DIRECT_COMMANDING_DATA_REPLY = 130, //!< [EXPORT] : [REPLY] Data reply + }; + + ReturnValue_t checkInterfaceAndAcquireMessageQueue( + MessageQueueId_t* messageQueueToSet, object_id_t* objectId); + ReturnValue_t prepareDirectCommand(CommandMessage* message, + const uint8_t* tcData, size_t tcDataLen); + ReturnValue_t handleDataReply(const CommandMessage* reply, + object_id_t objectId, ActionId_t actionId); +}; + +#endif /* FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_ */ diff --git a/pus/servicepackets/Service1Packets.h b/pus/servicepackets/Service1Packets.h index b01942c6e..dbd31028c 100644 --- a/pus/servicepackets/Service1Packets.h +++ b/pus/servicepackets/Service1Packets.h @@ -8,8 +8,8 @@ #ifndef MISSION_PUS_SERVICEPACKETS_SERVICE1PACKETS_H_ #define MISSION_PUS_SERVICEPACKETS_SERVICE1PACKETS_H_ -#include -#include +#include "../../serialize/SerializeAdapter.h" +#include "../../tmtcservices/VerificationCodes.h" /** * @brief FailureReport class to serialize a failure report diff --git a/pus/servicepackets/Service200Packets.h b/pus/servicepackets/Service200Packets.h index 1b5bf236f..efcf65fcf 100644 --- a/pus/servicepackets/Service200Packets.h +++ b/pus/servicepackets/Service200Packets.h @@ -1,63 +1,63 @@ -#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_ -#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_ - -#include -#include -#include - -/** - * @brief Subservice 1, 2, 3, 4, 5 - * @ingroup spacepackets - */ -class ModePacket : public SerialLinkedListAdapter { //!< [EXPORT] : [SUBSERVICE] 1, 2, 6 -public: - - ModePacket() { - setLinks(); - } - - ModePacket(object_id_t objectId, Mode_t mode, Submode_t submode) : - objectId(objectId), mode(mode), submode(submode) { - setLinks(); - } - - Mode_t getMode() { - return mode.entry; - } - - Submode_t getSubmode() { - return submode.entry; - } - - // Forbid copying, pointers are used. - ModePacket(const ModePacket&) = delete; - ModePacket& operator=(const ModePacket&) = delete; -private: - - void setLinks() { - setStart(&objectId); - objectId.setNext(&mode); - mode.setNext(&submode); - } - SerializeElement objectId; //!< [EXPORT] : [COMMENT] Target or source object - SerializeElement mode; //!< [EXPORT] : [COMMENT] 0: MODE_OFF, 1: MODE_ON, 2: MODE_NORMAL, 3: MODE_RAW - SerializeElement submode; //!< [EXPORT] : [COMMENT] Usually 0, device specific submode possible -}; - -/** - * @brief Subservice 7 - * @ingroup spacepackets - */ -class CantReachModePacket: public SerialLinkedListAdapter { //!< [EXPORT] : [SUBSERVICE] 7 -public: - CantReachModePacket(object_id_t objectId, ReturnValue_t reason): - objectId(objectId), reason(reason) { - setStart(&this->objectId); - this->objectId.setNext(&this->reason); - } - - SerializeElement objectId; //!< [EXPORT] : [COMMENT] Reply source object - SerializeElement reason; //!< [EXPORT] : [COMMENT] Reason the mode could not be reached -}; - -#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_ */ +#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_ +#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_ + +#include "../../serialize/SerialLinkedListAdapter.h" +#include "../../modes/ModeMessage.h" +#include "../../serialize/SerializeIF.h" + +/** + * @brief Subservice 1, 2, 3, 4, 5 + * @ingroup spacepackets + */ +class ModePacket : public SerialLinkedListAdapter { //!< [EXPORT] : [SUBSERVICE] 1, 2, 6 +public: + + ModePacket() { + setLinks(); + } + + ModePacket(object_id_t objectId, Mode_t mode, Submode_t submode) : + objectId(objectId), mode(mode), submode(submode) { + setLinks(); + } + + Mode_t getMode() { + return mode.entry; + } + + Submode_t getSubmode() { + return submode.entry; + } + + // Forbid copying, pointers are used. + ModePacket(const ModePacket&) = delete; + ModePacket& operator=(const ModePacket&) = delete; +private: + + void setLinks() { + setStart(&objectId); + objectId.setNext(&mode); + mode.setNext(&submode); + } + SerializeElement objectId; //!< [EXPORT] : [COMMENT] Target or source object + SerializeElement mode; //!< [EXPORT] : [COMMENT] 0: MODE_OFF, 1: MODE_ON, 2: MODE_NORMAL, 3: MODE_RAW + SerializeElement submode; //!< [EXPORT] : [COMMENT] Usually 0, device specific submode possible +}; + +/** + * @brief Subservice 7 + * @ingroup spacepackets + */ +class CantReachModePacket: public SerialLinkedListAdapter { //!< [EXPORT] : [SUBSERVICE] 7 +public: + CantReachModePacket(object_id_t objectId, ReturnValue_t reason): + objectId(objectId), reason(reason) { + setStart(&this->objectId); + this->objectId.setNext(&this->reason); + } + + SerializeElement objectId; //!< [EXPORT] : [COMMENT] Reply source object + SerializeElement reason; //!< [EXPORT] : [COMMENT] Reason the mode could not be reached +}; + +#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_ */ diff --git a/pus/servicepackets/Service2Packets.h b/pus/servicepackets/Service2Packets.h index f292611e7..d4f3fb170 100644 --- a/pus/servicepackets/Service2Packets.h +++ b/pus/servicepackets/Service2Packets.h @@ -1,76 +1,76 @@ -#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_ -#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_ - -#include -#include -#include -#include - -/** - * @brief Subservice 128 - * @ingroup spacepackets - */ -class RawCommand { //!< [EXPORT] : [SUBSERVICE] 128 -public: - RawCommand(const uint8_t* buffer, size_t size) { - // Deserialize Adapter to get correct endianness - SerializeAdapter::deSerialize(&objectId, &buffer, &size, - SerializeIF::Endianness::BIG); - commandBuffer = buffer; - // size is decremented by AutoSerializeAdapter, - // remaining size is data size - dataSize = size; - } - object_id_t getObjectId() const { - return objectId; - } - - const uint8_t* getCommand() { - return commandBuffer; - } - - size_t getCommandSize() const { - return dataSize; - } -private: - object_id_t objectId = 0; - const uint8_t* commandBuffer = nullptr; //!< [EXPORT] : [MAXSIZE] 256 Bytes - size_t dataSize = 0; //!< [EXPORT] : [IGNORE] -}; - - -/** - * @brief Subservice 129: Command packet to set wiretapping mode - * @ingroup spacepackets - */ -class WiretappingToggle: public SerialLinkedListAdapter{ //!< [EXPORT] : [SUBSERVICE] 129 -public: - static const size_t WIRETAPPING_COMMAND_SIZE = 5; - WiretappingToggle(){ - setStart(&objectId); - objectId.setNext(&wiretappingMode); - } - - uint8_t getWiretappingMode() const { - return wiretappingMode.entry; - } -private: - SerializeElement objectId; - SerializeElement wiretappingMode; //!< [EXPORT] : [INPUT] Mode 0: OFF, Mode 1: RAW -}; - - -/** - * @brief Subservices 130 and 131: TM packets - * @ingroup spacepackets - */ -class WiretappingPacket { //!< [EXPORT] : [SUBSERVICE] 130, 131 -public: - object_id_t objectId; //!< [EXPORT] : [COMMENT] Object ID of source object - const uint8_t* data; //!< [EXPORT] : [MAXSIZE] Raw Command Max. Size - WiretappingPacket(object_id_t objectId, const uint8_t* buffer): - objectId(objectId), data(buffer) { - } -}; - -#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_ */ +#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_ +#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_ + +#include "../../action/ActionMessage.h" +#include "../../objectmanager/SystemObjectIF.h" +#include "../../serialize/SerialLinkedListAdapter.h" +#include "../../serviceinterface/ServiceInterfaceStream.h" + +/** + * @brief Subservice 128 + * @ingroup spacepackets + */ +class RawCommand { //!< [EXPORT] : [SUBSERVICE] 128 +public: + RawCommand(const uint8_t* buffer, size_t size) { + // Deserialize Adapter to get correct endianness + SerializeAdapter::deSerialize(&objectId, &buffer, &size, + SerializeIF::Endianness::BIG); + commandBuffer = buffer; + // size is decremented by AutoSerializeAdapter, + // remaining size is data size + dataSize = size; + } + object_id_t getObjectId() const { + return objectId; + } + + const uint8_t* getCommand() { + return commandBuffer; + } + + size_t getCommandSize() const { + return dataSize; + } +private: + object_id_t objectId = 0; + const uint8_t* commandBuffer = nullptr; //!< [EXPORT] : [MAXSIZE] 256 Bytes + size_t dataSize = 0; //!< [EXPORT] : [IGNORE] +}; + + +/** + * @brief Subservice 129: Command packet to set wiretapping mode + * @ingroup spacepackets + */ +class WiretappingToggle: public SerialLinkedListAdapter{ //!< [EXPORT] : [SUBSERVICE] 129 +public: + static const size_t WIRETAPPING_COMMAND_SIZE = 5; + WiretappingToggle(){ + setStart(&objectId); + objectId.setNext(&wiretappingMode); + } + + uint8_t getWiretappingMode() const { + return wiretappingMode.entry; + } +private: + SerializeElement objectId; + SerializeElement wiretappingMode; //!< [EXPORT] : [INPUT] Mode 0: OFF, Mode 1: RAW +}; + + +/** + * @brief Subservices 130 and 131: TM packets + * @ingroup spacepackets + */ +class WiretappingPacket { //!< [EXPORT] : [SUBSERVICE] 130, 131 +public: + object_id_t objectId; //!< [EXPORT] : [COMMENT] Object ID of source object + const uint8_t* data; //!< [EXPORT] : [MAXSIZE] Raw Command Max. Size + WiretappingPacket(object_id_t objectId, const uint8_t* buffer): + objectId(objectId), data(buffer) { + } +}; + +#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_ */ diff --git a/pus/servicepackets/Service5Packets.h b/pus/servicepackets/Service5Packets.h index 14219c936..9655608aa 100644 --- a/pus/servicepackets/Service5Packets.h +++ b/pus/servicepackets/Service5Packets.h @@ -1,8 +1,8 @@ #ifndef MISSION_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_ #define MISSION_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_ -#include -#include +#include "../../serialize/SerializeAdapter.h" +#include "../../tmtcservices/VerificationCodes.h" /** diff --git a/pus/servicepackets/Service8Packets.h b/pus/servicepackets/Service8Packets.h index 8ea0d1086..14f8b6e6e 100644 --- a/pus/servicepackets/Service8Packets.h +++ b/pus/servicepackets/Service8Packets.h @@ -1,121 +1,121 @@ -#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_ -#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_ - -#include -#include -#include -#include -#include -#include - - -/** - * @brief Subservice 128 - * @ingroup spacepackets - */ -class DirectCommand: public SerialLinkedListAdapter { //!< [EXPORT] : [SUBSERVICE] 128 -public: - - DirectCommand(const uint8_t* tcData, size_t size) { - SerializeAdapter::deSerialize(&objectId, &tcData, &size, - SerializeIF::Endianness::BIG); - SerializeAdapter::deSerialize(&actionId, &tcData, &size, - SerializeIF::Endianness::BIG); - parameterBuffer = tcData; - parametersSize = size; - } - - ActionId_t getActionId() const { - return actionId; - } - - object_id_t getObjectId() const { - return objectId; - } - - const uint8_t* getParameters() { - return parameterBuffer; - } - - uint32_t getParametersSize() const { - return parametersSize; - } - -private: - DirectCommand(const DirectCommand &command); - object_id_t objectId; - ActionId_t actionId; - uint32_t parametersSize; //!< [EXPORT] : [IGNORE] - const uint8_t * parameterBuffer; //!< [EXPORT] : [MAXSIZE] 65535 Bytes - -}; - - -/** - * @brief Subservice 130 - * Data reply (subservice 130) consists of - * 1. Target Object ID - * 2. Action ID - * 3. Data - * @ingroup spacepackets - */ -class DataReply: public SerialLinkedListAdapter { //!< [EXPORT] : [SUBSERVICE] 130 -public: - typedef uint16_t typeOfMaxDataSize; - static const uint16_t MAX_DATA_LENGTH = sizeof(typeOfMaxDataSize); - DataReply(object_id_t objectId_, ActionId_t actionId_, - const uint8_t * replyDataBuffer_ = NULL, uint16_t replyDataSize_ = 0): - objectId(objectId_), actionId(actionId_), replyData(replyDataBuffer_,replyDataSize_){ - setLinks(); - } - -private: - DataReply(const DataReply &reply); - void setLinks() { - setStart(&objectId); - objectId.setNext(&actionId); - actionId.setNext(&replyData); - } - SerializeElement objectId; - SerializeElement actionId; - SerializeElement> replyData; -}; - - -/** - * @brief Subservice 132 - * @details - * Not used yet. Telecommand Verification takes care of this. - * @ingroup spacepackets - */ -class DirectReply: public SerialLinkedListAdapter { //!< [EXPORT] : [SUBSERVICE] 132 -public: - typedef uint16_t typeOfMaxDataSize; - static const uint16_t MAX_DATA_LENGTH = sizeof(typeOfMaxDataSize); - - DirectReply(object_id_t objectId_, ActionId_t actionId_, ReturnValue_t returnCode_, - bool isStep_ = false, uint8_t step_ = 0): - isStep(isStep_), objectId(objectId_), actionId(actionId_), - returnCode(returnCode_),step(step_) { - setLinks(); - } -private: - - void setLinks() { - setStart(&objectId); - objectId.setNext(&actionId); - actionId.setNext(&returnCode); - if(isStep) { - returnCode.setNext(&step); - } - } - - bool isStep; //!< [EXPORT] : [IGNORE] - SerializeElement objectId; //!< [EXPORT] : [IGNORE] - SerializeElement actionId; //!< [EXPORT] : [IGNORE] - SerializeElement returnCode; //!< [EXPORT] : [IGNORE] - SerializeElement step; //!< [EXPORT] : [OPTIONAL] [IGNORE] - -}; - -#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_ */ +#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_ +#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_ + +#include "../../action/ActionMessage.h" +#include "../../objectmanager/SystemObjectIF.h" +#include "../../serialize/SerialBufferAdapter.h" +#include "../../serialize/SerializeElement.h" +#include "../../serialize/SerialLinkedListAdapter.h" +#include "../../serialize/SerialFixedArrayListAdapter.h" + + +/** + * @brief Subservice 128 + * @ingroup spacepackets + */ +class DirectCommand: public SerialLinkedListAdapter { //!< [EXPORT] : [SUBSERVICE] 128 +public: + + DirectCommand(const uint8_t* tcData, size_t size) { + SerializeAdapter::deSerialize(&objectId, &tcData, &size, + SerializeIF::Endianness::BIG); + SerializeAdapter::deSerialize(&actionId, &tcData, &size, + SerializeIF::Endianness::BIG); + parameterBuffer = tcData; + parametersSize = size; + } + + ActionId_t getActionId() const { + return actionId; + } + + object_id_t getObjectId() const { + return objectId; + } + + const uint8_t* getParameters() { + return parameterBuffer; + } + + uint32_t getParametersSize() const { + return parametersSize; + } + +private: + DirectCommand(const DirectCommand &command); + object_id_t objectId; + ActionId_t actionId; + uint32_t parametersSize; //!< [EXPORT] : [IGNORE] + const uint8_t * parameterBuffer; //!< [EXPORT] : [MAXSIZE] 65535 Bytes + +}; + + +/** + * @brief Subservice 130 + * Data reply (subservice 130) consists of + * 1. Target Object ID + * 2. Action ID + * 3. Data + * @ingroup spacepackets + */ +class DataReply: public SerialLinkedListAdapter { //!< [EXPORT] : [SUBSERVICE] 130 +public: + typedef uint16_t typeOfMaxDataSize; + static const uint16_t MAX_DATA_LENGTH = sizeof(typeOfMaxDataSize); + DataReply(object_id_t objectId_, ActionId_t actionId_, + const uint8_t * replyDataBuffer_ = NULL, uint16_t replyDataSize_ = 0): + objectId(objectId_), actionId(actionId_), replyData(replyDataBuffer_,replyDataSize_){ + setLinks(); + } + +private: + DataReply(const DataReply &reply); + void setLinks() { + setStart(&objectId); + objectId.setNext(&actionId); + actionId.setNext(&replyData); + } + SerializeElement objectId; + SerializeElement actionId; + SerializeElement> replyData; +}; + + +/** + * @brief Subservice 132 + * @details + * Not used yet. Telecommand Verification takes care of this. + * @ingroup spacepackets + */ +class DirectReply: public SerialLinkedListAdapter { //!< [EXPORT] : [SUBSERVICE] 132 +public: + typedef uint16_t typeOfMaxDataSize; + static const uint16_t MAX_DATA_LENGTH = sizeof(typeOfMaxDataSize); + + DirectReply(object_id_t objectId_, ActionId_t actionId_, ReturnValue_t returnCode_, + bool isStep_ = false, uint8_t step_ = 0): + isStep(isStep_), objectId(objectId_), actionId(actionId_), + returnCode(returnCode_),step(step_) { + setLinks(); + } +private: + + void setLinks() { + setStart(&objectId); + objectId.setNext(&actionId); + actionId.setNext(&returnCode); + if(isStep) { + returnCode.setNext(&step); + } + } + + bool isStep; //!< [EXPORT] : [IGNORE] + SerializeElement objectId; //!< [EXPORT] : [IGNORE] + SerializeElement actionId; //!< [EXPORT] : [IGNORE] + SerializeElement returnCode; //!< [EXPORT] : [IGNORE] + SerializeElement step; //!< [EXPORT] : [OPTIONAL] [IGNORE] + +}; + +#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_ */ diff --git a/returnvalues/HasReturnvaluesIF.h b/returnvalues/HasReturnvaluesIF.h index d231f4ee9..5fef91dd0 100644 --- a/returnvalues/HasReturnvaluesIF.h +++ b/returnvalues/HasReturnvaluesIF.h @@ -1,7 +1,7 @@ #ifndef FRAMEWORK_RETURNVALUES_HASRETURNVALUESIF_H_ #define FRAMEWORK_RETURNVALUES_HASRETURNVALUESIF_H_ -#include +#include "FwClassIds.h" #include #include diff --git a/rmap/RMAP.cpp b/rmap/RMAP.cpp index 4c95f6c9e..4ab8b17ba 100644 --- a/rmap/RMAP.cpp +++ b/rmap/RMAP.cpp @@ -1,7 +1,7 @@ -#include -#include -#include -#include +#include "../devicehandlers/DeviceCommunicationIF.h" +#include "rmapStructs.h" +#include "RMAP.h" +#include "RMAPChannelIF.h" #include ReturnValue_t RMAP::reset(RMAPCookie* cookie) { diff --git a/rmap/RMAP.h b/rmap/RMAP.h index 195574f85..d14320cbc 100644 --- a/rmap/RMAP.h +++ b/rmap/RMAP.h @@ -1,8 +1,8 @@ #ifndef RMAPpp_H_ #define RMAPpp_H_ -#include -#include +#include "../returnvalues/HasReturnvaluesIF.h" +#include "RMAPCookie.h" //SHOULDTODO: clean up includes for RMAP, should be enough to include RMAP.h but right now it's quite chaotic... diff --git a/rmap/RMAPChannelIF.h b/rmap/RMAPChannelIF.h index 6549c8ef9..dac4a7220 100644 --- a/rmap/RMAPChannelIF.h +++ b/rmap/RMAPChannelIF.h @@ -1,8 +1,8 @@ #ifndef RMAPCHANNELIF_H_ #define RMAPCHANNELIF_H_ -#include -#include +#include "RMAPCookie.h" +#include "../returnvalues/HasReturnvaluesIF.h" class RMAPChannelIF { public: diff --git a/rmap/RMAPCookie.cpp b/rmap/RMAPCookie.cpp index 5bf2ba9f5..597f066c5 100644 --- a/rmap/RMAPCookie.cpp +++ b/rmap/RMAPCookie.cpp @@ -1,5 +1,5 @@ -#include -#include +#include "RMAPChannelIF.h" +#include "RMAPCookie.h" #include diff --git a/rmap/RMAPCookie.h b/rmap/RMAPCookie.h index 4890c516a..4c6081bdd 100644 --- a/rmap/RMAPCookie.h +++ b/rmap/RMAPCookie.h @@ -1,8 +1,8 @@ #ifndef RMAPCOOKIE_H_ #define RMAPCOOKIE_H_ -#include -#include +#include "../devicehandlers/CookieIF.h" +#include "rmapStructs.h" class RMAPChannelIF; diff --git a/rmap/RmapDeviceCommunicationIF.cpp b/rmap/RmapDeviceCommunicationIF.cpp index 674d050db..db4a75b55 100644 --- a/rmap/RmapDeviceCommunicationIF.cpp +++ b/rmap/RmapDeviceCommunicationIF.cpp @@ -1,5 +1,5 @@ -#include -#include +#include "RmapDeviceCommunicationIF.h" +#include "RMAP.h" //TODO Cast here are all potential bugs RmapDeviceCommunicationIF::~RmapDeviceCommunicationIF() { diff --git a/rmap/RmapDeviceCommunicationIF.h b/rmap/RmapDeviceCommunicationIF.h index 9d756ea2a..dacc720b4 100644 --- a/rmap/RmapDeviceCommunicationIF.h +++ b/rmap/RmapDeviceCommunicationIF.h @@ -1,7 +1,7 @@ #ifndef MISSION_RMAP_RMAPDEVICECOMMUNICATIONINTERFACE_H_ #define MISSION_RMAP_RMAPDEVICECOMMUNICATIONINTERFACE_H_ -#include +#include "../devicehandlers/DeviceCommunicationIF.h" /** * @brief This class is a implementation of a DeviceCommunicationIF for RMAP calls. It expects RMAPCookies or a derived class of RMAPCookies diff --git a/serialize/EndianConverter.h b/serialize/EndianConverter.h index cd5d5497b..7461576dc 100644 --- a/serialize/EndianConverter.h +++ b/serialize/EndianConverter.h @@ -1,7 +1,7 @@ #ifndef ENDIANSWAPPER_H_ #define ENDIANSWAPPER_H_ -#include +#include "../osal/Endiness.h" #include #include diff --git a/serialize/SerialArrayListAdapter.h b/serialize/SerialArrayListAdapter.h index 21c6951d9..7576505a7 100644 --- a/serialize/SerialArrayListAdapter.h +++ b/serialize/SerialArrayListAdapter.h @@ -1,8 +1,8 @@ #ifndef FRAMEWORK_SERIALIZE_SERIALARRAYLISTADAPTER_H_ #define FRAMEWORK_SERIALIZE_SERIALARRAYLISTADAPTER_H_ -#include -#include +#include "../container/ArrayList.h" +#include "SerializeIF.h" #include /** diff --git a/serialize/SerialBufferAdapter.cpp b/serialize/SerialBufferAdapter.cpp index d4d8d1c7c..5dd01f54c 100644 --- a/serialize/SerialBufferAdapter.cpp +++ b/serialize/SerialBufferAdapter.cpp @@ -1,4 +1,4 @@ -#include +#include "SerialBufferAdapter.h" #include diff --git a/serialize/SerialBufferAdapter.h b/serialize/SerialBufferAdapter.h index 78d42b804..c27a5424e 100644 --- a/serialize/SerialBufferAdapter.h +++ b/serialize/SerialBufferAdapter.h @@ -1,8 +1,8 @@ #ifndef SERIALBUFFERADAPTER_H_ #define SERIALBUFFERADAPTER_H_ -#include -#include +#include "SerializeIF.h" +#include "SerializeAdapter.h" /** * \ingroup serialize diff --git a/serialize/SerialFixedArrayListAdapter.h b/serialize/SerialFixedArrayListAdapter.h index a2e683bf0..38e0d4383 100644 --- a/serialize/SerialFixedArrayListAdapter.h +++ b/serialize/SerialFixedArrayListAdapter.h @@ -1,8 +1,8 @@ #ifndef SERIALFIXEDARRAYLISTADAPTER_H_ #define SERIALFIXEDARRAYLISTADAPTER_H_ -#include -#include +#include "../container/FixedArrayList.h" +#include "SerialArrayListAdapter.h" /** * \ingroup serialize diff --git a/serialize/SerialLinkedListAdapter.h b/serialize/SerialLinkedListAdapter.h index 7b10e3317..5de8c2423 100644 --- a/serialize/SerialLinkedListAdapter.h +++ b/serialize/SerialLinkedListAdapter.h @@ -7,10 +7,10 @@ #ifndef SERIALLINKEDLISTADAPTER_H_ #define SERIALLINKEDLISTADAPTER_H_ -#include -#include -#include -#include +#include "../container/SinglyLinkedList.h" +#include "SerializeAdapter.h" +#include "SerializeElement.h" +#include "SerializeIF.h" //This is where we need the SerializeAdapter! /** diff --git a/serialize/SerializeAdapter.h b/serialize/SerializeAdapter.h index ec7275157..af5ec116a 100644 --- a/serialize/SerializeAdapter.h +++ b/serialize/SerializeAdapter.h @@ -1,10 +1,10 @@ #ifndef SERIALIZEADAPTER_H_ #define SERIALIZEADAPTER_H_ -#include -#include -#include -#include +#include "../container/IsDerivedFrom.h" +#include "../returnvalues/HasReturnvaluesIF.h" +#include "EndianConverter.h" +#include "SerializeIF.h" #include /** diff --git a/serialize/SerializeElement.h b/serialize/SerializeElement.h index 3941e9fbb..ffedeff95 100644 --- a/serialize/SerializeElement.h +++ b/serialize/SerializeElement.h @@ -1,8 +1,8 @@ #ifndef SERIALIZEELEMENT_H_ #define SERIALIZEELEMENT_H_ -#include -#include +#include "../container/SinglyLinkedList.h" +#include "SerializeAdapter.h" #include /** diff --git a/serialize/SerializeIF.h b/serialize/SerializeIF.h index 14244a7a7..9ed52d295 100644 --- a/serialize/SerializeIF.h +++ b/serialize/SerializeIF.h @@ -1,7 +1,7 @@ #ifndef SERIALIZEIF_H_ #define SERIALIZEIF_H_ -#include +#include "../returnvalues/HasReturnvaluesIF.h" #include /** diff --git a/serviceinterface/ServiceInterfaceBuffer.cpp b/serviceinterface/ServiceInterfaceBuffer.cpp index 8c510eac4..68fc4dec3 100644 --- a/serviceinterface/ServiceInterfaceBuffer.cpp +++ b/serviceinterface/ServiceInterfaceBuffer.cpp @@ -1,5 +1,5 @@ -#include -#include +#include "../timemanager/Clock.h" +#include "ServiceInterfaceBuffer.h" #include #include @@ -127,7 +127,7 @@ std::string* ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) { #ifdef UT699 -#include +#include "../osal/rtems/Interrupt.h" ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string set_message, uint16_t port) { diff --git a/serviceinterface/ServiceInterfaceBuffer.h b/serviceinterface/ServiceInterfaceBuffer.h index 7a2ce2ee7..c5d5b2584 100644 --- a/serviceinterface/ServiceInterfaceBuffer.h +++ b/serviceinterface/ServiceInterfaceBuffer.h @@ -1,7 +1,7 @@ #ifndef FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_ #define FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_ -#include +#include "../returnvalues/HasReturnvaluesIF.h" #include #include #include diff --git a/serviceinterface/ServiceInterfaceStream.cpp b/serviceinterface/ServiceInterfaceStream.cpp index 31bc7c730..5b7b9f004 100644 --- a/serviceinterface/ServiceInterfaceStream.cpp +++ b/serviceinterface/ServiceInterfaceStream.cpp @@ -1,4 +1,4 @@ -#include +#include "ServiceInterfaceStream.h" ServiceInterfaceStream::ServiceInterfaceStream(std::string setMessage, bool addCrToPreamble, bool buffered, bool errStream, uint16_t port) : diff --git a/serviceinterface/ServiceInterfaceStream.h b/serviceinterface/ServiceInterfaceStream.h index dc111459a..76fa1bf23 100644 --- a/serviceinterface/ServiceInterfaceStream.h +++ b/serviceinterface/ServiceInterfaceStream.h @@ -1,7 +1,7 @@ #ifndef FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACESTREAM_H_ #define FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACESTREAM_H_ -#include +#include "ServiceInterfaceBuffer.h" #include #include diff --git a/storagemanager/LocalPool.h b/storagemanager/LocalPool.h index 3ddcc4918..ad3deee13 100644 --- a/storagemanager/LocalPool.h +++ b/storagemanager/LocalPool.h @@ -7,11 +7,11 @@ #ifndef FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_ #define FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_ -#include -#include -#include -#include -#include +#include "../objectmanager/SystemObject.h" +#include "../serviceinterface/ServiceInterfaceStream.h" +#include "StorageManagerIF.h" +#include "../objectmanager/ObjectManagerIF.h" +#include "../internalError/InternalErrorReporterIF.h" #include /** @@ -178,6 +178,6 @@ private: ReturnValue_t findEmpty(uint16_t pool_index, uint16_t* element); }; -#include +#include "LocalPool.tpp" #endif /* FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_ */ diff --git a/storagemanager/PoolManager.h b/storagemanager/PoolManager.h index 67534cc5e..0b101d665 100644 --- a/storagemanager/PoolManager.h +++ b/storagemanager/PoolManager.h @@ -2,8 +2,8 @@ #define POOLMANAGER_H_ -#include -#include +#include "LocalPool.h" +#include "../ipc/MutexHelper.h" /** * @brief The PoolManager class provides an intermediate data storage with diff --git a/storagemanager/StorageManagerIF.h b/storagemanager/StorageManagerIF.h index 101e0dcdb..7c194d724 100644 --- a/storagemanager/StorageManagerIF.h +++ b/storagemanager/StorageManagerIF.h @@ -1,8 +1,8 @@ #ifndef STORAGEMANAGERIF_H_H #define STORAGEMANAGERIF_H_H -#include -#include +#include "../events/Event.h" +#include "../returnvalues/HasReturnvaluesIF.h" #include /** diff --git a/subsystem/Subsystem.cpp b/subsystem/Subsystem.cpp index fcf2e1891..ff3ef634a 100644 --- a/subsystem/Subsystem.cpp +++ b/subsystem/Subsystem.cpp @@ -1,10 +1,10 @@ -#include -#include -#include -#include -#include -#include -#include +#include "../health/HealthMessage.h" +#include "../objectmanager/ObjectManagerIF.h" +#include "../serialize/SerialArrayListAdapter.h" +#include "../serialize/SerialFixedArrayListAdapter.h" +#include "../serialize/SerializeElement.h" +#include "../serialize/SerialLinkedListAdapter.h" +#include "Subsystem.h" #include Subsystem::Subsystem(object_id_t setObjectId, object_id_t parent, diff --git a/subsystem/Subsystem.h b/subsystem/Subsystem.h index ca1020b94..a40b8028d 100644 --- a/subsystem/Subsystem.h +++ b/subsystem/Subsystem.h @@ -1,13 +1,13 @@ #ifndef SUBSYSTEM_H_ #define SUBSYSTEM_H_ -#include -#include -#include -#include -#include -#include -#include +#include "../container/FixedArrayList.h" +#include "../container/FixedMap.h" +#include "../container/HybridIterator.h" +#include "../container/SinglyLinkedList.h" +#include "../serialize/SerialArrayListAdapter.h" +#include "modes/ModeDefinitions.h" +#include "SubsystemBase.h" class Subsystem: public SubsystemBase, public HasModeSequenceIF { public: diff --git a/subsystem/SubsystemBase.cpp b/subsystem/SubsystemBase.cpp index cceb2d412..56ae10628 100644 --- a/subsystem/SubsystemBase.cpp +++ b/subsystem/SubsystemBase.cpp @@ -1,7 +1,7 @@ -#include -#include -#include -#include +#include "../serviceinterface/ServiceInterfaceStream.h" +#include "../serviceinterface/ServiceInterfaceStream.h" +#include "SubsystemBase.h" +#include "../ipc/QueueFactory.h" SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent, Mode_t initialMode, uint16_t commandQueueDepth) : diff --git a/subsystem/SubsystemBase.h b/subsystem/SubsystemBase.h index 3294c46d7..61a7eaef1 100644 --- a/subsystem/SubsystemBase.h +++ b/subsystem/SubsystemBase.h @@ -1,15 +1,15 @@ #ifndef SUBSYSTEMBASE_H_ #define SUBSYSTEMBASE_H_ -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include "../container/HybridIterator.h" +#include "../health/HasHealthIF.h" +#include "../health/HealthHelper.h" +#include "../modes/HasModesIF.h" +#include "../objectmanager/SystemObject.h" +#include "../returnvalues/HasReturnvaluesIF.h" +#include "modes/HasModeSequenceIF.h" +#include "../tasks/ExecutableObjectIF.h" +#include "../ipc/MessageQueueIF.h" #include class SubsystemBase: public SystemObject, diff --git a/subsystem/modes/HasModeSequenceIF.h b/subsystem/modes/HasModeSequenceIF.h index e03de4102..70b1667e9 100644 --- a/subsystem/modes/HasModeSequenceIF.h +++ b/subsystem/modes/HasModeSequenceIF.h @@ -1,9 +1,9 @@ #ifndef HASMODESEQUENCEIF_H_ #define HASMODESEQUENCEIF_H_ -#include -#include -#include +#include "ModeDefinitions.h" +#include "ModeSequenceMessage.h" +#include "ModeStoreIF.h" class HasModeSequenceIF { diff --git a/subsystem/modes/ModeDefinitions.h b/subsystem/modes/ModeDefinitions.h index 153710afb..a865ab0cf 100644 --- a/subsystem/modes/ModeDefinitions.h +++ b/subsystem/modes/ModeDefinitions.h @@ -1,10 +1,10 @@ #ifndef MODEDEFINITIONS_H_ #define MODEDEFINITIONS_H_ -#include -#include -#include -#include +#include "../../modes/HasModesIF.h" +#include "../../objectmanager/SystemObjectIF.h" +#include "../../serialize/SerializeIF.h" +#include "../../serialize/SerialLinkedListAdapter.h" class ModeListEntry: public SerializeIF, public LinkedElement { public: ModeListEntry() : diff --git a/subsystem/modes/ModeSequenceMessage.cpp b/subsystem/modes/ModeSequenceMessage.cpp index 31661739e..33019f58f 100644 --- a/subsystem/modes/ModeSequenceMessage.cpp +++ b/subsystem/modes/ModeSequenceMessage.cpp @@ -1,8 +1,8 @@ -#include -#include -#include -#include -#include +#include "../../objectmanager/ObjectManagerIF.h" +#include "../../objectmanager/ObjectManagerIF.h" +#include "../../objectmanager/ObjectManagerIF.h" +#include "../../storagemanager/StorageManagerIF.h" +#include "ModeSequenceMessage.h" void ModeSequenceMessage::setModeSequenceMessage(CommandMessage* message, Command_t command, Mode_t sequence, store_address_t storeAddress) { diff --git a/subsystem/modes/ModeSequenceMessage.h b/subsystem/modes/ModeSequenceMessage.h index 830cf5329..9f99cc991 100644 --- a/subsystem/modes/ModeSequenceMessage.h +++ b/subsystem/modes/ModeSequenceMessage.h @@ -1,9 +1,9 @@ #ifndef MODESEQUENCEMESSAGE_H_ #define MODESEQUENCEMESSAGE_H_ -#include -#include -#include +#include "../../ipc/CommandMessage.h" +#include "../../storagemanager/StorageManagerIF.h" +#include "ModeDefinitions.h" class ModeSequenceMessage { public: diff --git a/subsystem/modes/ModeStore.cpp b/subsystem/modes/ModeStore.cpp index 2aa02087e..217e177c8 100644 --- a/subsystem/modes/ModeStore.cpp +++ b/subsystem/modes/ModeStore.cpp @@ -1,4 +1,4 @@ -#include +#include "ModeStore.h" #ifdef USE_MODESTORE diff --git a/subsystem/modes/ModeStore.h b/subsystem/modes/ModeStore.h index cbc45b5af..0bf856a3e 100644 --- a/subsystem/modes/ModeStore.h +++ b/subsystem/modes/ModeStore.h @@ -3,10 +3,10 @@ #ifdef USE_MODESTORE -#include -#include -#include -#include +#include "../../container/ArrayList.h" +#include "../../container/SinglyLinkedList.h" +#include "../../objectmanager/SystemObject.h" +#include "ModeStoreIF.h" class ModeStore: public ModeStoreIF, public SystemObject { public: diff --git a/subsystem/modes/ModeStoreIF.h b/subsystem/modes/ModeStoreIF.h index 7be7a5a7d..e5cac3b2e 100644 --- a/subsystem/modes/ModeStoreIF.h +++ b/subsystem/modes/ModeStoreIF.h @@ -3,10 +3,10 @@ #ifdef USE_MODESTORE -#include -#include -#include -#include +#include "../../container/ArrayList.h" +#include "../../container/SinglyLinkedList.h" +#include "../../returnvalues/HasReturnvaluesIF.h" +#include "ModeDefinitions.h" class ModeStoreIF { public: diff --git a/tasks/ExecutableObjectIF.h b/tasks/ExecutableObjectIF.h index d716cdfbb..06b837db8 100644 --- a/tasks/ExecutableObjectIF.h +++ b/tasks/ExecutableObjectIF.h @@ -3,7 +3,7 @@ class PeriodicTaskIF; -#include +#include "../returnvalues/HasReturnvaluesIF.h" #include /** diff --git a/tasks/FixedTimeslotTaskIF.h b/tasks/FixedTimeslotTaskIF.h index 3a3582fbc..421978f0d 100644 --- a/tasks/FixedTimeslotTaskIF.h +++ b/tasks/FixedTimeslotTaskIF.h @@ -1,8 +1,8 @@ #ifndef FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_ #define FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_ -#include -#include +#include "../objectmanager/ObjectManagerIF.h" +#include "PeriodicTaskIF.h" /** * Following the same principle as the base class IF. This is the interface for a Fixed timeslot task diff --git a/tasks/PeriodicTaskIF.h b/tasks/PeriodicTaskIF.h index 6f4909771..17a64b966 100644 --- a/tasks/PeriodicTaskIF.h +++ b/tasks/PeriodicTaskIF.h @@ -1,8 +1,8 @@ #ifndef FRAMEWORK_TASK_PERIODICTASKIF_H_ #define FRAMEWORK_TASK_PERIODICTASKIF_H_ -#include -#include +#include "../objectmanager/SystemObjectIF.h" +#include "../timemanager/Clock.h" #include class ExecutableObjectIF; diff --git a/tasks/TaskFactory.h b/tasks/TaskFactory.h index 8a59adf1c..cbf2272c3 100644 --- a/tasks/TaskFactory.h +++ b/tasks/TaskFactory.h @@ -2,8 +2,8 @@ #define FRAMEWORK_TASKS_TASKFACTORY_H_ #include -#include -#include +#include "FixedTimeslotTaskIF.h" +#include "Typedef.h" /** * Singleton Class that produces Tasks. diff --git a/tcdistribution/CCSDSDistributor.cpp b/tcdistribution/CCSDSDistributor.cpp index 878b8f7d5..1ebb3185e 100644 --- a/tcdistribution/CCSDSDistributor.cpp +++ b/tcdistribution/CCSDSDistributor.cpp @@ -1,6 +1,6 @@ -#include -#include -#include +#include "../serviceinterface/ServiceInterfaceStream.h" +#include "CCSDSDistributor.h" +#include "../tmtcpacket/SpacePacketBase.h" CCSDSDistributor::CCSDSDistributor( uint16_t setDefaultApid, object_id_t setObjectId ) : TcDistributor( setObjectId ), default_apid( setDefaultApid ), tcStore(NULL) { diff --git a/tcdistribution/CCSDSDistributor.h b/tcdistribution/CCSDSDistributor.h index 9dce34f2b..bff720928 100644 --- a/tcdistribution/CCSDSDistributor.h +++ b/tcdistribution/CCSDSDistributor.h @@ -1,11 +1,11 @@ #ifndef CCSDSDISTRIBUTOR_H_ #define CCSDSDISTRIBUTOR_H_ -#include -#include -#include -#include -#include +#include "../objectmanager/ObjectManagerIF.h" +#include "../storagemanager/StorageManagerIF.h" +#include "CCSDSDistributorIF.h" +#include "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. diff --git a/tcdistribution/CCSDSDistributorIF.h b/tcdistribution/CCSDSDistributorIF.h index dc1263a97..be3c28114 100644 --- a/tcdistribution/CCSDSDistributorIF.h +++ b/tcdistribution/CCSDSDistributorIF.h @@ -1,8 +1,8 @@ #ifndef CCSDSDISTRIBUTORIF_H_ #define CCSDSDISTRIBUTORIF_H_ -#include -#include +#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, diff --git a/tcdistribution/PUSDistributor.cpp b/tcdistribution/PUSDistributor.cpp index c214f6746..f77eb99d8 100644 --- a/tcdistribution/PUSDistributor.cpp +++ b/tcdistribution/PUSDistributor.cpp @@ -1,8 +1,8 @@ -#include -#include -#include -#include -#include +#include "../serviceinterface/ServiceInterfaceStream.h" +#include "CCSDSDistributorIF.h" +#include "PUSDistributor.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( diff --git a/tcdistribution/PUSDistributor.h b/tcdistribution/PUSDistributor.h index 8d7746626..e9d4be8ca 100644 --- a/tcdistribution/PUSDistributor.h +++ b/tcdistribution/PUSDistributor.h @@ -1,12 +1,12 @@ #ifndef PUSDISTRIBUTOR_H_ #define PUSDISTRIBUTOR_H_ -#include -#include -#include -#include -#include -#include +#include "../returnvalues/HasReturnvaluesIF.h" +#include "PUSDistributorIF.h" +#include "TcDistributor.h" +#include "TcPacketCheck.h" +#include "../tmtcservices/AcceptsTelecommandsIF.h" +#include "../tmtcservices/VerificationReporter.h" /** * This class accepts PUS Telecommands and forwards them to Application services. diff --git a/tcdistribution/PUSDistributorIF.h b/tcdistribution/PUSDistributorIF.h index bb1011374..5e27b35c5 100644 --- a/tcdistribution/PUSDistributorIF.h +++ b/tcdistribution/PUSDistributorIF.h @@ -1,8 +1,8 @@ #ifndef PUSDISTRIBUTORIF_H_ #define PUSDISTRIBUTORIF_H_ -#include -#include +#include "../tmtcservices/AcceptsTelecommandsIF.h" +#include "../ipc/MessageQueueSenderIF.h" /** * This interface allows PUS Services to register themselves at a PUS Distributor. * \ingroup tc_distribution diff --git a/tcdistribution/TcDistributor.cpp b/tcdistribution/TcDistributor.cpp index 579214593..49a996d90 100644 --- a/tcdistribution/TcDistributor.cpp +++ b/tcdistribution/TcDistributor.cpp @@ -1,8 +1,8 @@ -#include -#include -#include -#include -#include +#include "../serviceinterface/ServiceInterfaceStream.h" +#include "../serviceinterface/ServiceInterfaceStream.h" +#include "TcDistributor.h" +#include "../tmtcservices/TmTcMessage.h" +#include "../ipc/QueueFactory.h" TcDistributor::TcDistributor(object_id_t set_object_id) : SystemObject(set_object_id), tcQueue(NULL) { diff --git a/tcdistribution/TcDistributor.h b/tcdistribution/TcDistributor.h index b80f08e68..fed1cb3e0 100644 --- a/tcdistribution/TcDistributor.h +++ b/tcdistribution/TcDistributor.h @@ -1,12 +1,12 @@ #ifndef TCDISTRIBUTOR_H_ #define TCDISTRIBUTOR_H_ -#include -#include -#include -#include -#include -#include -#include +#include "../objectmanager/ObjectManagerIF.h" +#include "../objectmanager/SystemObject.h" +#include "../returnvalues/HasReturnvaluesIF.h" +#include "../storagemanager/StorageManagerIF.h" +#include "../tasks/ExecutableObjectIF.h" +#include "../tmtcservices/TmTcMessage.h" +#include "../ipc/MessageQueueIF.h" #include diff --git a/tcdistribution/TcPacketCheck.cpp b/tcdistribution/TcPacketCheck.cpp index 90a1167fa..b5881083f 100644 --- a/tcdistribution/TcPacketCheck.cpp +++ b/tcdistribution/TcPacketCheck.cpp @@ -1,8 +1,8 @@ -#include -#include -#include -#include -#include +#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) { } diff --git a/tcdistribution/TcPacketCheck.h b/tcdistribution/TcPacketCheck.h index 88810ed7e..4ba269f5e 100644 --- a/tcdistribution/TcPacketCheck.h +++ b/tcdistribution/TcPacketCheck.h @@ -1,9 +1,9 @@ #ifndef TCPACKETCHECK_H_ #define TCPACKETCHECK_H_ -#include -#include -#include +#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. diff --git a/thermal/AbstractTemperatureSensor.cpp b/thermal/AbstractTemperatureSensor.cpp index be143410a..45ebe4a2a 100644 --- a/thermal/AbstractTemperatureSensor.cpp +++ b/thermal/AbstractTemperatureSensor.cpp @@ -1,5 +1,5 @@ #include "AbstractTemperatureSensor.h" -#include +#include "../ipc/QueueFactory.h" AbstractTemperatureSensor::AbstractTemperatureSensor(object_id_t setObjectid, ThermalModuleIF *thermalModule) : diff --git a/thermal/AbstractTemperatureSensor.h b/thermal/AbstractTemperatureSensor.h index 75437dca8..726ab9f4c 100644 --- a/thermal/AbstractTemperatureSensor.h +++ b/thermal/AbstractTemperatureSensor.h @@ -1,12 +1,12 @@ #ifndef ABSTRACTSENSOR_H_ #define ABSTRACTSENSOR_H_ -#include -#include -#include -#include -#include -#include +#include "../health/HasHealthIF.h" +#include "../health/HealthHelper.h" +#include "../objectmanager/SystemObject.h" +#include "../tasks/ExecutableObjectIF.h" +#include "../parameters/ParameterHelper.h" +#include "../ipc/MessageQueueIF.h" #include "ThermalModuleIF.h" #include "tcsDefinitions.h" diff --git a/thermal/CoreComponent.h b/thermal/CoreComponent.h index f7e7aff8d..48a49f7d0 100644 --- a/thermal/CoreComponent.h +++ b/thermal/CoreComponent.h @@ -1,12 +1,12 @@ #ifndef MISSION_CONTROLLERS_TCS_CORECOMPONENT_H_ #define MISSION_CONTROLLERS_TCS_CORECOMPONENT_H_ -#include -#include -#include -#include -#include -#include +#include "../datapool/DataSet.h" +#include "../datapool/PoolVariable.h" +#include "ThermalComponentIF.h" +#include "AbstractTemperatureSensor.h" +#include "ThermalModule.h" +#include "ThermalMonitor.h" class CoreComponent: public ThermalComponentIF { public: diff --git a/thermal/Heater.cpp b/thermal/Heater.cpp index 29daa15df..1301e2e01 100644 --- a/thermal/Heater.cpp +++ b/thermal/Heater.cpp @@ -1,8 +1,8 @@ -#include +#include "../devicehandlers/DeviceHandlerFailureIsolation.h" #include "Heater.h" -#include -#include +#include "../power/Fuse.h" +#include "../ipc/QueueFactory.h" Heater::Heater(uint32_t objectId, uint8_t switch0, uint8_t switch1) : HealthDevice(objectId, 0), internalState(STATE_OFF), powerSwitcher( diff --git a/thermal/Heater.h b/thermal/Heater.h index 41004e039..63fe20667 100644 --- a/thermal/Heater.h +++ b/thermal/Heater.h @@ -1,11 +1,11 @@ #ifndef FRAMEWORK_THERMAL_HEATER_H_ #define FRAMEWORK_THERMAL_HEATER_H_ -#include -#include -#include -#include -#include +#include "../devicehandlers/HealthDevice.h" +#include "../parameters/ParameterHelper.h" +#include "../power/PowerSwitchIF.h" +#include "../returnvalues/HasReturnvaluesIF.h" +#include "../timemanager/Countdown.h" #include //class RedundantHeater; diff --git a/thermal/RedundantHeater.h b/thermal/RedundantHeater.h index 29791a9a1..ab745a698 100644 --- a/thermal/RedundantHeater.h +++ b/thermal/RedundantHeater.h @@ -1,7 +1,7 @@ #ifndef REDUNDANTHEATER_H_ #define REDUNDANTHEATER_H_ -#include +#include "Heater.h" class RedundantHeater { public: diff --git a/thermal/TemperatureSensor.h b/thermal/TemperatureSensor.h index de280d877..356ca7220 100644 --- a/thermal/TemperatureSensor.h +++ b/thermal/TemperatureSensor.h @@ -1,9 +1,9 @@ #ifndef TEMPERATURESENSOR_H_ #define TEMPERATURESENSOR_H_ -#include +#include "../datapool/DataSet.h" #include "AbstractTemperatureSensor.h" -#include +#include "../monitoring/LimitMonitor.h" template class TemperatureSensor: public AbstractTemperatureSensor { diff --git a/thermal/ThermalComponentIF.h b/thermal/ThermalComponentIF.h index ad8dbd0a8..522d4e443 100644 --- a/thermal/ThermalComponentIF.h +++ b/thermal/ThermalComponentIF.h @@ -1,10 +1,10 @@ #ifndef THERMALCOMPONENTIF_H_ #define THERMALCOMPONENTIF_H_ -#include -#include -#include -#include +#include "../events/Event.h" +#include "../parameters/HasParametersIF.h" +#include "../returnvalues/HasReturnvaluesIF.h" +#include "../objectmanager/SystemObjectIF.h" class ThermalComponentIF : public HasParametersIF { public: diff --git a/thermal/ThermalModule.cpp b/thermal/ThermalModule.cpp index 24a4c90d9..c573008e6 100644 --- a/thermal/ThermalModule.cpp +++ b/thermal/ThermalModule.cpp @@ -1,5 +1,5 @@ -#include -#include +#include "../monitoring/LimitViolationReporter.h" +#include "../monitoring/MonitoringMessageContent.h" #include "ThermalModule.h" #include "AbstractTemperatureSensor.h" diff --git a/thermal/ThermalModule.h b/thermal/ThermalModule.h index d8ac7d732..19ab9a549 100644 --- a/thermal/ThermalModule.h +++ b/thermal/ThermalModule.h @@ -1,10 +1,10 @@ #ifndef THERMALMODULE_H_ #define THERMALMODULE_H_ -#include -#include -#include -#include +#include "../datapool/DataSet.h" +#include "../datapool/PoolVariable.h" +#include "../devicehandlers/HealthDevice.h" +#include "../events/EventReportingProxyIF.h" #include "ThermalModuleIF.h" #include #include "tcsDefinitions.h" diff --git a/thermal/ThermalMonitor.cpp b/thermal/ThermalMonitor.cpp index 773fa084f..11abfbe54 100644 --- a/thermal/ThermalMonitor.cpp +++ b/thermal/ThermalMonitor.cpp @@ -1,6 +1,6 @@ -#include -#include -#include +#include "ThermalMonitor.h" +#include "ThermalComponentIF.h" +#include "../monitoring/MonitoringIF.h" ThermalMonitor::~ThermalMonitor() { } diff --git a/thermal/ThermalMonitor.h b/thermal/ThermalMonitor.h index 6aca55abc..5c6806c1d 100644 --- a/thermal/ThermalMonitor.h +++ b/thermal/ThermalMonitor.h @@ -1,8 +1,8 @@ #ifndef FRAMEWORK_THERMAL_THERMALMONITOR_H_ #define FRAMEWORK_THERMAL_THERMALMONITOR_H_ -#include -#include +#include "../monitoring/MonitorReporter.h" +#include "ThermalComponentIF.h" class ThermalMonitor: public MonitorReporter { public: diff --git a/timemanager/CCSDSTime.cpp b/timemanager/CCSDSTime.cpp index 71b2539df..eddbb97b5 100644 --- a/timemanager/CCSDSTime.cpp +++ b/timemanager/CCSDSTime.cpp @@ -1,4 +1,4 @@ -#include +#include "CCSDSTime.h" #include #include #include diff --git a/timemanager/CCSDSTime.h b/timemanager/CCSDSTime.h index 92060d5d7..8563cf0fd 100644 --- a/timemanager/CCSDSTime.h +++ b/timemanager/CCSDSTime.h @@ -3,8 +3,8 @@ // COULDDO: have calls in Clock.h which return time quality and use timespec accordingly -#include -#include +#include "Clock.h" +#include "../returnvalues/HasReturnvaluesIF.h" #include bool operator<(const timeval& lhs, const timeval& rhs); diff --git a/timemanager/Clock.h b/timemanager/Clock.h index 121c63df9..6f6a97daf 100644 --- a/timemanager/Clock.h +++ b/timemanager/Clock.h @@ -1,9 +1,9 @@ #ifndef FRAMEWORK_TIMEMANAGER_CLOCK_H_ #define FRAMEWORK_TIMEMANAGER_CLOCK_H_ -#include -#include -#include +#include "../returnvalues/HasReturnvaluesIF.h" +#include "../ipc/MutexFactory.h" +#include "../globalfunctions/timevalOperations.h" #include #include diff --git a/timemanager/Countdown.cpp b/timemanager/Countdown.cpp index e65659149..d56957301 100644 --- a/timemanager/Countdown.cpp +++ b/timemanager/Countdown.cpp @@ -6,7 +6,7 @@ */ -#include +#include "Countdown.h" Countdown::Countdown(uint32_t initialTimeout) : startTime(0), timeout(initialTimeout) { } diff --git a/timemanager/Countdown.h b/timemanager/Countdown.h index 57a11f911..b86d9fe0b 100644 --- a/timemanager/Countdown.h +++ b/timemanager/Countdown.h @@ -8,7 +8,7 @@ #ifndef COUNTDOWN_H_ #define COUNTDOWN_H_ -#include +#include "Clock.h" class Countdown { private: diff --git a/timemanager/Stopwatch.cpp b/timemanager/Stopwatch.cpp index 52118d580..00373bd7e 100644 --- a/timemanager/Stopwatch.cpp +++ b/timemanager/Stopwatch.cpp @@ -1,57 +1,57 @@ -#include -#include -#include - -Stopwatch::Stopwatch(bool displayOnDestruction, - StopwatchDisplayMode displayMode): displayOnDestruction( - displayOnDestruction), displayMode(displayMode) { - // Measures start time on initialization. - Clock::getClock_timeval(&startTime); -} - -void Stopwatch::start() { - Clock::getClock_timeval(&startTime); -} - -dur_millis_t Stopwatch::stop() { - stopInternal(); - return elapsedTime.tv_sec * 1000 + elapsedTime.tv_usec / 1000; -} - -dur_seconds_t Stopwatch::stopSeconds() { - stopInternal(); - return timevalOperations::toDouble(elapsedTime); -} - -void Stopwatch::display() { - if(displayMode == StopwatchDisplayMode::MILLIS) { - sif::info << "Stopwatch: Operation took " << (elapsedTime.tv_sec * 1000 + - elapsedTime.tv_usec / 1000) << " milliseconds" << std::endl; - } - else if(displayMode == StopwatchDisplayMode::SECONDS) { - sif::info <<"Stopwatch: Operation took " << std::setprecision(3) - << std::fixed << timevalOperations::toDouble(elapsedTime) - << " seconds" << std::endl; - } -} - -Stopwatch::~Stopwatch() { - if(displayOnDestruction) { - stopInternal(); - display(); - } -} - -void Stopwatch::setDisplayMode(StopwatchDisplayMode displayMode) { - this->displayMode = displayMode; -} - -StopwatchDisplayMode Stopwatch::getDisplayMode() const { - return displayMode; -} - -void Stopwatch::stopInternal() { - timeval endTime; - Clock::getClock_timeval(&endTime); - elapsedTime = endTime - startTime; -} +#include "Stopwatch.h" +#include "../serviceinterface/ServiceInterfaceStream.h" +#include + +Stopwatch::Stopwatch(bool displayOnDestruction, + StopwatchDisplayMode displayMode): displayOnDestruction( + displayOnDestruction), displayMode(displayMode) { + // Measures start time on initialization. + Clock::getClock_timeval(&startTime); +} + +void Stopwatch::start() { + Clock::getClock_timeval(&startTime); +} + +dur_millis_t Stopwatch::stop() { + stopInternal(); + return elapsedTime.tv_sec * 1000 + elapsedTime.tv_usec / 1000; +} + +dur_seconds_t Stopwatch::stopSeconds() { + stopInternal(); + return timevalOperations::toDouble(elapsedTime); +} + +void Stopwatch::display() { + if(displayMode == StopwatchDisplayMode::MILLIS) { + sif::info << "Stopwatch: Operation took " << (elapsedTime.tv_sec * 1000 + + elapsedTime.tv_usec / 1000) << " milliseconds" << std::endl; + } + else if(displayMode == StopwatchDisplayMode::SECONDS) { + sif::info <<"Stopwatch: Operation took " << std::setprecision(3) + << std::fixed << timevalOperations::toDouble(elapsedTime) + << " seconds" << std::endl; + } +} + +Stopwatch::~Stopwatch() { + if(displayOnDestruction) { + stopInternal(); + display(); + } +} + +void Stopwatch::setDisplayMode(StopwatchDisplayMode displayMode) { + this->displayMode = displayMode; +} + +StopwatchDisplayMode Stopwatch::getDisplayMode() const { + return displayMode; +} + +void Stopwatch::stopInternal() { + timeval endTime; + Clock::getClock_timeval(&endTime); + elapsedTime = endTime - startTime; +} diff --git a/timemanager/Stopwatch.h b/timemanager/Stopwatch.h index 630202cc1..f216b7e10 100644 --- a/timemanager/Stopwatch.h +++ b/timemanager/Stopwatch.h @@ -1,71 +1,71 @@ -#ifndef FRAMEWORK_TIMEMANAGER_STOPWATCH_H_ -#define FRAMEWORK_TIMEMANAGER_STOPWATCH_H_ -#include - -enum class StopwatchDisplayMode { - MILLIS, - SECONDS -}; - -/** - * @brief Simple Stopwatch implementation to measure elapsed time - * @details - * This class can be used to measure elapsed times. It also displays elapsed - * times automatically on destruction if not explicitely deactivated in the - * constructor. The default time format is the elapsed time in miliseconds - * in seconds as a double. - * @author R. Mueller - */ -class Stopwatch { -public: - /** - * Default constructor. Call "Stopwatch stopwatch" without brackets if - * no parameters are required! - * @param displayOnDestruction If set to true, displays measured time on - * object destruction - * @param displayMode Display format is either MS rounded or MS as double - * format - * @param outputPrecision If using double format, specify precision here. - */ - Stopwatch(bool displayOnDestruction = true, StopwatchDisplayMode displayMode - = StopwatchDisplayMode::MILLIS); - virtual~ Stopwatch(); - - /** - * Caches the start time - */ - void start(); - - /** - * Calculates the elapsed time since start and returns it - * @return elapsed time in milliseconds (rounded) - */ - dur_millis_t stop(); - /** - * Calculates the elapsed time since start and returns it - * @return elapsed time in seconds (double precision) - */ - dur_seconds_t stopSeconds(); - - /** - * Displays the elapsed times on the osstream, depending on internal display - * mode. - */ - void display(); - - StopwatchDisplayMode getDisplayMode() const; - void setDisplayMode(StopwatchDisplayMode displayMode); - bool displayOnDestruction = true; -private: - timeval startTime {0, 0}; - timeval elapsedTime {0, 0}; - - StopwatchDisplayMode displayMode = StopwatchDisplayMode::MILLIS; - - void stopInternal(); -}; - - - - -#endif /* FRAMEWORK_TIMEMANAGER_STOPWATCH_H_ */ +#ifndef FRAMEWORK_TIMEMANAGER_STOPWATCH_H_ +#define FRAMEWORK_TIMEMANAGER_STOPWATCH_H_ +#include "Clock.h" + +enum class StopwatchDisplayMode { + MILLIS, + SECONDS +}; + +/** + * @brief Simple Stopwatch implementation to measure elapsed time + * @details + * This class can be used to measure elapsed times. It also displays elapsed + * times automatically on destruction if not explicitely deactivated in the + * constructor. The default time format is the elapsed time in miliseconds + * in seconds as a double. + * @author R. Mueller + */ +class Stopwatch { +public: + /** + * Default constructor. Call "Stopwatch stopwatch" without brackets if + * no parameters are required! + * @param displayOnDestruction If set to true, displays measured time on + * object destruction + * @param displayMode Display format is either MS rounded or MS as double + * format + * @param outputPrecision If using double format, specify precision here. + */ + Stopwatch(bool displayOnDestruction = true, StopwatchDisplayMode displayMode + = StopwatchDisplayMode::MILLIS); + virtual~ Stopwatch(); + + /** + * Caches the start time + */ + void start(); + + /** + * Calculates the elapsed time since start and returns it + * @return elapsed time in milliseconds (rounded) + */ + dur_millis_t stop(); + /** + * Calculates the elapsed time since start and returns it + * @return elapsed time in seconds (double precision) + */ + dur_seconds_t stopSeconds(); + + /** + * Displays the elapsed times on the osstream, depending on internal display + * mode. + */ + void display(); + + StopwatchDisplayMode getDisplayMode() const; + void setDisplayMode(StopwatchDisplayMode displayMode); + bool displayOnDestruction = true; +private: + timeval startTime {0, 0}; + timeval elapsedTime {0, 0}; + + StopwatchDisplayMode displayMode = StopwatchDisplayMode::MILLIS; + + void stopInternal(); +}; + + + + +#endif /* FRAMEWORK_TIMEMANAGER_STOPWATCH_H_ */ diff --git a/timemanager/TimeMessage.cpp b/timemanager/TimeMessage.cpp index bf514317f..5a9a416b5 100644 --- a/timemanager/TimeMessage.cpp +++ b/timemanager/TimeMessage.cpp @@ -5,7 +5,7 @@ * @author baetz */ -#include +#include "TimeMessage.h" TimeMessage::TimeMessage() { this->messageSize += sizeof(timeval) + sizeof(uint32_t); diff --git a/timemanager/TimeMessage.h b/timemanager/TimeMessage.h index 95685fec2..116002e6d 100644 --- a/timemanager/TimeMessage.h +++ b/timemanager/TimeMessage.h @@ -8,8 +8,8 @@ #ifndef TIMEMESSAGE_H_ #define TIMEMESSAGE_H_ -#include -#include +#include "../ipc/MessageQueueMessage.h" +#include "Clock.h" #include class TimeMessage : public MessageQueueMessage { diff --git a/timemanager/TimeStamperIF.h b/timemanager/TimeStamperIF.h index 7ed453716..bdc5e7e37 100644 --- a/timemanager/TimeStamperIF.h +++ b/timemanager/TimeStamperIF.h @@ -1,7 +1,7 @@ #ifndef FRAMEWORK_TIMEMANAGER_TIMESTAMPERIF_H_ #define FRAMEWORK_TIMEMANAGER_TIMESTAMPERIF_H_ -#include +#include "../returnvalues/HasReturnvaluesIF.h" /** * A class implementing this IF provides facilities to add a time stamp to the diff --git a/tmstorage/TmStoreBackendIF.h b/tmstorage/TmStoreBackendIF.h index 162bd7665..a441808e4 100644 --- a/tmstorage/TmStoreBackendIF.h +++ b/tmstorage/TmStoreBackendIF.h @@ -1,11 +1,11 @@ #ifndef PLATFORM_TMTCSERVICES_TMSTOREBACKENDIF_H_ #define PLATFORM_TMTCSERVICES_TMSTOREBACKENDIF_H_ -#include -#include -#include -#include -#include +#include "../returnvalues/HasReturnvaluesIF.h" +#include "../objectmanager/SystemObjectIF.h" +#include "../parameters/HasParametersIF.h" +#include "../storagemanager/StorageManagerIF.h" +#include "../timemanager/Clock.h" class TmPacketInformation; class TmPacketMinimal; class SpacePacketBase; diff --git a/tmstorage/TmStoreFrontendIF.h b/tmstorage/TmStoreFrontendIF.h index 787c35972..e1bc3a148 100644 --- a/tmstorage/TmStoreFrontendIF.h +++ b/tmstorage/TmStoreFrontendIF.h @@ -1,9 +1,9 @@ #ifndef PLATFORM_TMTCSERVICES_TMSTOREFRONTENDIF_H_ #define PLATFORM_TMTCSERVICES_TMSTOREFRONTENDIF_H_ -#include -#include -#include +#include "../returnvalues/HasReturnvaluesIF.h" +#include "TmStorePackets.h" +#include "../ipc/MessageQueueSenderIF.h" class TmPacketMinimal; class SpacePacketBase; class TmStoreBackendIF; diff --git a/tmstorage/TmStoreMessage.cpp b/tmstorage/TmStoreMessage.cpp index e908b9235..d2efd4033 100644 --- a/tmstorage/TmStoreMessage.cpp +++ b/tmstorage/TmStoreMessage.cpp @@ -1,5 +1,5 @@ -#include -#include +#include "../objectmanager/ObjectManagerIF.h" +#include "TmStoreMessage.h" TmStoreMessage::~TmStoreMessage() { diff --git a/tmstorage/TmStoreMessage.h b/tmstorage/TmStoreMessage.h index 0883063ca..66fdefa5d 100644 --- a/tmstorage/TmStoreMessage.h +++ b/tmstorage/TmStoreMessage.h @@ -1,10 +1,10 @@ #ifndef FRAMEWORK_TMSTORAGE_TMSTOREMESSAGE_H_ #define FRAMEWORK_TMSTORAGE_TMSTOREMESSAGE_H_ -#include -#include -#include -#include +#include "../ipc/CommandMessage.h" +#include "../storagemanager/StorageManagerIF.h" +#include "TmStorePackets.h" +#include "../objectmanager/SystemObjectIF.h" class TmStoreMessage: public CommandMessage { public: static ReturnValue_t setEnableStoringMessage(CommandMessage* cmd, diff --git a/tmstorage/TmStorePackets.h b/tmstorage/TmStorePackets.h index 16768e682..e88e741a8 100644 --- a/tmstorage/TmStorePackets.h +++ b/tmstorage/TmStorePackets.h @@ -1,14 +1,14 @@ #ifndef FRAMEWORK_TMSTORAGE_TMSTOREPACKETS_H_ #define FRAMEWORK_TMSTORAGE_TMSTOREPACKETS_H_ -#include -#include -#include -#include -#include -#include -#include -#include +#include "../serialize/SerialFixedArrayListAdapter.h" +#include "../serialize/SerializeElement.h" +#include "../serialize/SerialLinkedListAdapter.h" +#include "../serialize/SerialBufferAdapter.h" +#include "../tmtcpacket/pus/TmPacketMinimal.h" +#include "../timemanager/TimeStamperIF.h" +#include "../timemanager/CCSDSTime.h" +#include "../globalfunctions/timevalOperations.h" class ServiceSubservice: public SerialLinkedListAdapter { public: diff --git a/tmtcpacket/SpacePacket.cpp b/tmtcpacket/SpacePacket.cpp index d9bc08fa6..b8ba27e9a 100644 --- a/tmtcpacket/SpacePacket.cpp +++ b/tmtcpacket/SpacePacket.cpp @@ -1,6 +1,6 @@ -#include -#include -#include +#include "../serviceinterface/ServiceInterfaceStream.h" +#include "ccsds_header.h" +#include "SpacePacket.h" #include SpacePacket::SpacePacket( uint16_t packetDataLength, bool isTelecommand, uint16_t apid, uint16_t sequenceCount ): diff --git a/tmtcpacket/SpacePacket.h b/tmtcpacket/SpacePacket.h index f2d457528..49dd5ae52 100644 --- a/tmtcpacket/SpacePacket.h +++ b/tmtcpacket/SpacePacket.h @@ -1,7 +1,7 @@ #ifndef SPACEPACKET_H_ #define SPACEPACKET_H_ -#include +#include "SpacePacketBase.h" /** * The SpacePacket class is a representation of a simple CCSDS Space Packet diff --git a/tmtcpacket/SpacePacketBase.cpp b/tmtcpacket/SpacePacketBase.cpp index 13c062d8f..a37e024b6 100644 --- a/tmtcpacket/SpacePacketBase.cpp +++ b/tmtcpacket/SpacePacketBase.cpp @@ -1,5 +1,5 @@ -#include -#include +#include "../serviceinterface/ServiceInterfaceStream.h" +#include "SpacePacketBase.h" #include SpacePacketBase::SpacePacketBase( const uint8_t* set_address ) { diff --git a/tmtcpacket/SpacePacketBase.h b/tmtcpacket/SpacePacketBase.h index cc68f714b..ef3ad79d3 100644 --- a/tmtcpacket/SpacePacketBase.h +++ b/tmtcpacket/SpacePacketBase.h @@ -1,7 +1,7 @@ #ifndef SPACEPACKETBASE_H_ #define SPACEPACKETBASE_H_ -#include +#include "ccsds_header.h" /** * \defgroup tmtcpackets Space Packets diff --git a/tmtcpacket/packetmatcher/ApidMatcher.h b/tmtcpacket/packetmatcher/ApidMatcher.h index 3080ffef8..4f196ac97 100644 --- a/tmtcpacket/packetmatcher/ApidMatcher.h +++ b/tmtcpacket/packetmatcher/ApidMatcher.h @@ -1,9 +1,9 @@ #ifndef FRAMEWORK_TMTCPACKET_PACKETMATCHER_APIDMATCHER_H_ #define FRAMEWORK_TMTCPACKET_PACKETMATCHER_APIDMATCHER_H_ -#include -#include -#include +#include "../../globalfunctions/matching/SerializeableMatcherIF.h" +#include "../../serialize/SerializeAdapter.h" +#include "../../tmtcpacket/pus/TmPacketMinimal.h" class ApidMatcher: public SerializeableMatcherIF { private: diff --git a/tmtcpacket/packetmatcher/PacketMatchTree.cpp b/tmtcpacket/packetmatcher/PacketMatchTree.cpp index d8f61ffb8..a45796576 100644 --- a/tmtcpacket/packetmatcher/PacketMatchTree.cpp +++ b/tmtcpacket/packetmatcher/PacketMatchTree.cpp @@ -1,7 +1,7 @@ -#include -#include -#include -#include +#include "ApidMatcher.h" +#include "PacketMatchTree.h" +#include "ServiceMatcher.h" +#include "SubserviceMatcher.h" PacketMatchTree::PacketMatchTree(Node* root) : MatchTree(root, 2), factoryBackend(0, POOL_SIZES, diff --git a/tmtcpacket/packetmatcher/PacketMatchTree.h b/tmtcpacket/packetmatcher/PacketMatchTree.h index a6c0c61e9..86fb087ed 100644 --- a/tmtcpacket/packetmatcher/PacketMatchTree.h +++ b/tmtcpacket/packetmatcher/PacketMatchTree.h @@ -1,10 +1,10 @@ #ifndef FRAMEWORK_TMTCPACKET_PACKETMATCHER_PACKETMATCHTREE_H_ #define FRAMEWORK_TMTCPACKET_PACKETMATCHER_PACKETMATCHTREE_H_ -#include -#include -#include -#include +#include "../../container/PlacementFactory.h" +#include "../../globalfunctions/matching/MatchTree.h" +#include "../../storagemanager/LocalPool.h" +#include "../../tmtcpacket/pus/TmPacketMinimal.h" class PacketMatchTree: public MatchTree, public HasReturnvaluesIF { public: diff --git a/tmtcpacket/packetmatcher/ServiceMatcher.h b/tmtcpacket/packetmatcher/ServiceMatcher.h index f6e9e3608..eba23d755 100644 --- a/tmtcpacket/packetmatcher/ServiceMatcher.h +++ b/tmtcpacket/packetmatcher/ServiceMatcher.h @@ -1,9 +1,9 @@ #ifndef FRAMEWORK_TMTCPACKET_PACKETMATCHER_SERVICEMATCHER_H_ #define FRAMEWORK_TMTCPACKET_PACKETMATCHER_SERVICEMATCHER_H_ -#include -#include -#include +#include "../../globalfunctions/matching/SerializeableMatcherIF.h" +#include "../../serialize/SerializeAdapter.h" +#include "../../tmtcpacket/pus/TmPacketMinimal.h" class ServiceMatcher: public SerializeableMatcherIF { private: diff --git a/tmtcpacket/packetmatcher/SubserviceMatcher.h b/tmtcpacket/packetmatcher/SubserviceMatcher.h index 2e8b82b23..a9b6def89 100644 --- a/tmtcpacket/packetmatcher/SubserviceMatcher.h +++ b/tmtcpacket/packetmatcher/SubserviceMatcher.h @@ -1,9 +1,9 @@ #ifndef FRAMEWORK_TMTCPACKET_PACKETMATCHER_SUBSERVICEMATCHER_H_ #define FRAMEWORK_TMTCPACKET_PACKETMATCHER_SUBSERVICEMATCHER_H_ -#include -#include -#include +#include "../../globalfunctions/matching/SerializeableMatcherIF.h" +#include "../../serialize/SerializeAdapter.h" +#include "../../tmtcpacket/pus/TmPacketMinimal.h" class SubServiceMatcher: public SerializeableMatcherIF { public: diff --git a/tmtcpacket/pus/PacketTimestampInterpreterIF.h b/tmtcpacket/pus/PacketTimestampInterpreterIF.h index 6e19381ac..dd0c03285 100644 --- a/tmtcpacket/pus/PacketTimestampInterpreterIF.h +++ b/tmtcpacket/pus/PacketTimestampInterpreterIF.h @@ -1,7 +1,7 @@ #ifndef FRAMEWORK_TMTCPACKET_PUS_PACKETTIMESTAMPINTERPRETERIF_H_ #define FRAMEWORK_TMTCPACKET_PUS_PACKETTIMESTAMPINTERPRETERIF_H_ -#include +#include "../../returnvalues/HasReturnvaluesIF.h" class TmPacketMinimal; class PacketTimestampInterpreterIF { diff --git a/tmtcpacket/pus/TcPacketBase.cpp b/tmtcpacket/pus/TcPacketBase.cpp index 0f3bd52e1..3815eb204 100644 --- a/tmtcpacket/pus/TcPacketBase.cpp +++ b/tmtcpacket/pus/TcPacketBase.cpp @@ -1,6 +1,6 @@ -#include -#include -#include +#include "../../globalfunctions/CRC.h" +#include "../../serviceinterface/ServiceInterfaceStream.h" +#include "TcPacketBase.h" #include TcPacketBase::TcPacketBase(const uint8_t* set_data) : diff --git a/tmtcpacket/pus/TcPacketBase.h b/tmtcpacket/pus/TcPacketBase.h index e6e6bdad4..dd63d2beb 100644 --- a/tmtcpacket/pus/TcPacketBase.h +++ b/tmtcpacket/pus/TcPacketBase.h @@ -1,7 +1,7 @@ #ifndef TCPACKETBASE_H_ #define TCPACKETBASE_H_ -#include +#include "../../tmtcpacket/SpacePacketBase.h" /** * This struct defines a byte-wise structured PUS TC Data Field Header. diff --git a/tmtcpacket/pus/TcPacketStored.cpp b/tmtcpacket/pus/TcPacketStored.cpp index 0187b08f4..216f89c9e 100644 --- a/tmtcpacket/pus/TcPacketStored.cpp +++ b/tmtcpacket/pus/TcPacketStored.cpp @@ -1,6 +1,6 @@ -#include -#include -#include +#include "../../objectmanager/ObjectManagerIF.h" +#include "../../serviceinterface/ServiceInterfaceStream.h" +#include "TcPacketStored.h" #include TcPacketStored::TcPacketStored(store_address_t setAddress) : diff --git a/tmtcpacket/pus/TcPacketStored.h b/tmtcpacket/pus/TcPacketStored.h index c57f0e0fd..2d86f89bf 100644 --- a/tmtcpacket/pus/TcPacketStored.h +++ b/tmtcpacket/pus/TcPacketStored.h @@ -1,8 +1,8 @@ #ifndef TCPACKETSTORED_H_ #define TCPACKETSTORED_H_ -#include -#include +#include "../../storagemanager/StorageManagerIF.h" +#include "TcPacketBase.h" /** * This class generates a ECSS PUS Telecommand packet within a given diff --git a/tmtcpacket/pus/TmPacketBase.cpp b/tmtcpacket/pus/TmPacketBase.cpp index a7bda5afc..3c1a8ca4f 100644 --- a/tmtcpacket/pus/TmPacketBase.cpp +++ b/tmtcpacket/pus/TmPacketBase.cpp @@ -1,8 +1,8 @@ -#include -#include -#include -#include -#include +#include "../../globalfunctions/CRC.h" +#include "../../objectmanager/ObjectManagerIF.h" +#include "../../serviceinterface/ServiceInterfaceStream.h" +#include "TmPacketBase.h" +#include "../../timemanager/CCSDSTime.h" #include TmPacketBase::TmPacketBase(uint8_t* set_data) : diff --git a/tmtcpacket/pus/TmPacketBase.h b/tmtcpacket/pus/TmPacketBase.h index d03beba52..85ae4dacf 100644 --- a/tmtcpacket/pus/TmPacketBase.h +++ b/tmtcpacket/pus/TmPacketBase.h @@ -1,10 +1,10 @@ #ifndef TMPACKETBASE_H_ #define TMPACKETBASE_H_ -#include -#include -#include -#include +#include "../../timemanager/TimeStamperIF.h" +#include "../../tmtcpacket/SpacePacketBase.h" +#include "../../timemanager/Clock.h" +#include "../../objectmanager/SystemObjectIF.h" namespace Factory{ void setStaticFrameworkObjectIds(); diff --git a/tmtcpacket/pus/TmPacketMinimal.cpp b/tmtcpacket/pus/TmPacketMinimal.cpp index 9df0fe5db..18e9dda1e 100644 --- a/tmtcpacket/pus/TmPacketMinimal.cpp +++ b/tmtcpacket/pus/TmPacketMinimal.cpp @@ -1,7 +1,7 @@ -#include +#include "TmPacketMinimal.h" #include #include -#include +#include "PacketTimestampInterpreterIF.h" TmPacketMinimal::TmPacketMinimal(const uint8_t* set_data) : SpacePacketBase( set_data ) { this->tm_data = (TmPacketMinimalPointer*)set_data; diff --git a/tmtcpacket/pus/TmPacketMinimal.h b/tmtcpacket/pus/TmPacketMinimal.h index 7bfe0883c..728acb154 100644 --- a/tmtcpacket/pus/TmPacketMinimal.h +++ b/tmtcpacket/pus/TmPacketMinimal.h @@ -2,8 +2,8 @@ #define FRAMEWORK_TMTCPACKET_PUS_TMPACKETMINIMAL_H_ -#include -#include +#include "../../tmtcpacket/SpacePacketBase.h" +#include "../../returnvalues/HasReturnvaluesIF.h" struct timeval; class PacketTimestampInterpreterIF; diff --git a/tmtcpacket/pus/TmPacketStored.cpp b/tmtcpacket/pus/TmPacketStored.cpp index 7c3275818..4e4c9434c 100644 --- a/tmtcpacket/pus/TmPacketStored.cpp +++ b/tmtcpacket/pus/TmPacketStored.cpp @@ -1,7 +1,7 @@ -#include -#include -#include -#include +#include "../../objectmanager/ObjectManagerIF.h" +#include "../../serviceinterface/ServiceInterfaceStream.h" +#include "TmPacketStored.h" +#include "../../tmtcservices/TmTcMessage.h" #include TmPacketStored::TmPacketStored(store_address_t setAddress) : diff --git a/tmtcpacket/pus/TmPacketStored.h b/tmtcpacket/pus/TmPacketStored.h index eaa26ce75..8962d343a 100644 --- a/tmtcpacket/pus/TmPacketStored.h +++ b/tmtcpacket/pus/TmPacketStored.h @@ -1,11 +1,11 @@ #ifndef TMPACKETSTORED_H_ #define TMPACKETSTORED_H_ -#include -#include -#include -#include -#include +#include "../../serialize/SerializeIF.h" +#include "../../storagemanager/StorageManagerIF.h" +#include "TmPacketBase.h" +#include "../../internalError/InternalErrorReporterIF.h" +#include "../../ipc/MessageQueueSenderIF.h" /** * This class generates a ECSS PUS Telemetry packet within a given diff --git a/tmtcservices/AcceptsTelecommandsIF.h b/tmtcservices/AcceptsTelecommandsIF.h index 03a57aaeb..76d10a592 100644 --- a/tmtcservices/AcceptsTelecommandsIF.h +++ b/tmtcservices/AcceptsTelecommandsIF.h @@ -1,7 +1,7 @@ #ifndef ACCEPTSTELECOMMANDSIF_H_ #define ACCEPTSTELECOMMANDSIF_H_ -#include +#include "../ipc/MessageQueueSenderIF.h" /** * @brief This interface is implemented by classes that are sinks for diff --git a/tmtcservices/AcceptsTelemetryIF.h b/tmtcservices/AcceptsTelemetryIF.h index 8c00b5c60..2325dbe08 100644 --- a/tmtcservices/AcceptsTelemetryIF.h +++ b/tmtcservices/AcceptsTelemetryIF.h @@ -1,7 +1,7 @@ #ifndef ACCEPTSTELEMETRYIF_H_ #define ACCEPTSTELEMETRYIF_H_ -#include +#include "../ipc/MessageQueueSenderIF.h" /** * @brief This interface is implemented by classes that are sinks for * Telemetry. diff --git a/tmtcservices/AcceptsVerifyMessageIF.h b/tmtcservices/AcceptsVerifyMessageIF.h index fe8bb2886..c9318ab01 100644 --- a/tmtcservices/AcceptsVerifyMessageIF.h +++ b/tmtcservices/AcceptsVerifyMessageIF.h @@ -1,7 +1,7 @@ #ifndef ACCEPTSVERIFICATIONMESSAGEIF_H_ #define ACCEPTSVERIFICATIONMESSAGEIF_H_ -#include +#include "../ipc/MessageQueueSenderIF.h" class AcceptsVerifyMessageIF { public: diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp index 330fd00f6..0b33e3aad 100644 --- a/tmtcservices/CommandingServiceBase.cpp +++ b/tmtcservices/CommandingServiceBase.cpp @@ -1,12 +1,12 @@ -#include -#include -#include +#include "../tcdistribution/PUSDistributorIF.h" +#include "AcceptsTelemetryIF.h" +#include "../objectmanager/ObjectManagerIF.h" -#include -#include -#include -#include -#include +#include "CommandingServiceBase.h" +#include "TmTcMessage.h" +#include "../ipc/QueueFactory.h" +#include "../tmtcpacket/pus/TcPacketStored.h" +#include "../tmtcpacket/pus/TmPacketStored.h" object_id_t CommandingServiceBase::defaultPacketSource = objects::NO_OBJECT; object_id_t CommandingServiceBase::defaultPacketDestination = objects::NO_OBJECT; diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h index b3a15985e..c0453f2f2 100644 --- a/tmtcservices/CommandingServiceBase.h +++ b/tmtcservices/CommandingServiceBase.h @@ -1,17 +1,17 @@ #ifndef FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_ #define FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_ -#include -#include -#include -#include -#include +#include "../objectmanager/SystemObject.h" +#include "../storagemanager/StorageManagerIF.h" +#include "../tasks/ExecutableObjectIF.h" +#include "../ipc/MessageQueueIF.h" +#include "AcceptsTelecommandsIF.h" -#include -#include -#include -#include -#include +#include "VerificationReporter.h" +#include "../ipc/CommandMessage.h" +#include "../container/FixedMap.h" +#include "../container/FIFO.h" +#include "../serialize/SerializeIF.h" class TcPacketStored; diff --git a/tmtcservices/PusServiceBase.cpp b/tmtcservices/PusServiceBase.cpp index 82e5ff5cc..d35944a46 100644 --- a/tmtcservices/PusServiceBase.cpp +++ b/tmtcservices/PusServiceBase.cpp @@ -1,10 +1,10 @@ -#include -#include -#include -#include -#include -#include -#include +#include "../serviceinterface/ServiceInterfaceStream.h" +#include "../tcdistribution/PUSDistributorIF.h" +#include "AcceptsTelemetryIF.h" +#include "PusServiceBase.h" +#include "PusVerificationReport.h" +#include "TmTcMessage.h" +#include "../ipc/QueueFactory.h" object_id_t PusServiceBase::packetSource = 0; object_id_t PusServiceBase::packetDestination = 0; diff --git a/tmtcservices/PusServiceBase.h b/tmtcservices/PusServiceBase.h index 6d3d9bac6..98d65efbb 100644 --- a/tmtcservices/PusServiceBase.h +++ b/tmtcservices/PusServiceBase.h @@ -1,15 +1,15 @@ #ifndef FRAMEWORK_TMTCSERVICES_PUSSERVICEBASE_H_ #define FRAMEWORK_TMTCSERVICES_PUSSERVICEBASE_H_ -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include "../objectmanager/ObjectManagerIF.h" +#include "../objectmanager/SystemObject.h" +#include "../returnvalues/HasReturnvaluesIF.h" +#include "../tasks/ExecutableObjectIF.h" +#include "../tmtcpacket/pus/TcPacketStored.h" +#include "AcceptsTelecommandsIF.h" +#include "VerificationCodes.h" +#include "VerificationReporter.h" +#include "../ipc/MessageQueueIF.h" namespace Factory{ void setStaticFrameworkObjectIds(); diff --git a/tmtcservices/PusVerificationReport.cpp b/tmtcservices/PusVerificationReport.cpp index 07631801d..b047576bd 100644 --- a/tmtcservices/PusVerificationReport.cpp +++ b/tmtcservices/PusVerificationReport.cpp @@ -1,5 +1,5 @@ -#include -#include +#include "../serialize/SerializeAdapter.h" +#include "PusVerificationReport.h" PusVerificationMessage::PusVerificationMessage() { } diff --git a/tmtcservices/PusVerificationReport.h b/tmtcservices/PusVerificationReport.h index ee84f0c17..b47395774 100644 --- a/tmtcservices/PusVerificationReport.h +++ b/tmtcservices/PusVerificationReport.h @@ -1,9 +1,9 @@ #ifndef PUSVERIFICATIONREPORT_H_ #define PUSVERIFICATIONREPORT_H_ -#include -#include -#include +#include "../ipc/MessageQueueMessage.h" +#include "../tmtcpacket/pus/TcPacketBase.h" +#include "VerificationCodes.h" class PusVerificationMessage: public MessageQueueMessage { private: diff --git a/tmtcservices/SourceSequenceCounter.h b/tmtcservices/SourceSequenceCounter.h index b92a5c84c..1cc587587 100644 --- a/tmtcservices/SourceSequenceCounter.h +++ b/tmtcservices/SourceSequenceCounter.h @@ -7,7 +7,7 @@ #ifndef SOURCESEQUENCECOUNTER_H_ #define SOURCESEQUENCECOUNTER_H_ -#include +#include "../tmtcpacket/SpacePacketBase.h" class SourceSequenceCounter { private: diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp index b55803cbc..021b0d7b3 100644 --- a/tmtcservices/TmTcBridge.cpp +++ b/tmtcservices/TmTcBridge.cpp @@ -1,211 +1,211 @@ -#include - -#include -#include -#include -#include - -TmTcBridge::TmTcBridge(object_id_t objectId, object_id_t tcDestination, - object_id_t tmStoreId, object_id_t tcStoreId): - SystemObject(objectId),tmStoreId(tmStoreId), tcStoreId(tcStoreId), - tcDestination(tcDestination) - -{ - tmTcReceptionQueue = QueueFactory::instance()-> - createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH); -} - -TmTcBridge::~TmTcBridge() {} - -ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle( - uint8_t sentPacketsPerCycle) { - if(sentPacketsPerCycle <= LIMIT_STORED_DATA_SENT_PER_CYCLE) { - this->sentPacketsPerCycle = sentPacketsPerCycle; - return RETURN_OK; - } - else { - sif::warning << "TmTcBridge::setNumberOfSentPacketsPerCycle: Number of " - << "packets sent per cycle exceeds limits. " - << "Keeping default value." << std::endl; - return RETURN_FAILED; - } -} - -ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored( - uint8_t maxNumberOfPacketsStored) { - if(maxNumberOfPacketsStored <= LIMIT_DOWNLINK_PACKETS_STORED) { - this->maxNumberOfPacketsStored = maxNumberOfPacketsStored; - return RETURN_OK; - } - else { - sif::warning << "TmTcBridge::setMaxNumberOfPacketsStored: Number of " - << "packets stored exceeds limits. " - << "Keeping default value." << std::endl; - return RETURN_FAILED; - } -} - -ReturnValue_t TmTcBridge::initialize() { - tcStore = objectManager->get(tcStoreId); - if (tcStore == nullptr) { - sif::error << "TmTcBridge::initialize: TC store invalid. Make sure" - "it is created and set up properly." << std::endl; - return ObjectManagerIF::CHILD_INIT_FAILED; - } - tmStore = objectManager->get(tmStoreId); - if (tmStore == nullptr) { - sif::error << "TmTcBridge::initialize: TM store invalid. Make sure" - "it is created and set up properly." << std::endl; - return ObjectManagerIF::CHILD_INIT_FAILED; - } - AcceptsTelecommandsIF* tcDistributor = - objectManager->get(tcDestination); - if (tcDistributor == nullptr) { - sif::error << "TmTcBridge::initialize: TC Distributor invalid" - << std::endl; - return ObjectManagerIF::CHILD_INIT_FAILED; - } - - tmTcReceptionQueue->setDefaultDestination(tcDistributor->getRequestQueue()); - return RETURN_OK; -} - -ReturnValue_t TmTcBridge::performOperation(uint8_t operationCode) { - ReturnValue_t result; - result = handleTc(); - if(result != RETURN_OK) { - sif::debug << "TmTcBridge::performOperation: " - << "Error handling TCs" << std::endl; - } - result = handleTm(); - if (result != RETURN_OK) { - sif::debug << "TmTcBridge::performOperation: " - << "Error handling TMs" << std::endl; - } - return result; -} - -ReturnValue_t TmTcBridge::handleTc() { - return HasReturnvaluesIF::RETURN_OK; -} - -ReturnValue_t TmTcBridge::handleTm() { - ReturnValue_t result = handleTmQueue(); - if(result != RETURN_OK) { - sif::warning << "TmTcBridge: Reading TM Queue failed" << std::endl; - return RETURN_FAILED; - } - - if(tmStored and communicationLinkUp) { - result = handleStoredTm(); - } - return result; - -} - -ReturnValue_t TmTcBridge::handleTmQueue() { - TmTcMessage message; +#include "TmTcBridge.h" + +#include "../ipc/QueueFactory.h" +#include "AcceptsTelecommandsIF.h" +#include "../serviceinterface/ServiceInterfaceStream.h" +#include "../globalfunctions/arrayprinter.h" + +TmTcBridge::TmTcBridge(object_id_t objectId, object_id_t tcDestination, + object_id_t tmStoreId, object_id_t tcStoreId): + SystemObject(objectId),tmStoreId(tmStoreId), tcStoreId(tcStoreId), + tcDestination(tcDestination) + +{ + tmTcReceptionQueue = QueueFactory::instance()-> + createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH); +} + +TmTcBridge::~TmTcBridge() {} + +ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle( + uint8_t sentPacketsPerCycle) { + if(sentPacketsPerCycle <= LIMIT_STORED_DATA_SENT_PER_CYCLE) { + this->sentPacketsPerCycle = sentPacketsPerCycle; + return RETURN_OK; + } + else { + sif::warning << "TmTcBridge::setNumberOfSentPacketsPerCycle: Number of " + << "packets sent per cycle exceeds limits. " + << "Keeping default value." << std::endl; + return RETURN_FAILED; + } +} + +ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored( + uint8_t maxNumberOfPacketsStored) { + if(maxNumberOfPacketsStored <= LIMIT_DOWNLINK_PACKETS_STORED) { + this->maxNumberOfPacketsStored = maxNumberOfPacketsStored; + return RETURN_OK; + } + else { + sif::warning << "TmTcBridge::setMaxNumberOfPacketsStored: Number of " + << "packets stored exceeds limits. " + << "Keeping default value." << std::endl; + return RETURN_FAILED; + } +} + +ReturnValue_t TmTcBridge::initialize() { + tcStore = objectManager->get(tcStoreId); + if (tcStore == nullptr) { + sif::error << "TmTcBridge::initialize: TC store invalid. Make sure" + "it is created and set up properly." << std::endl; + return ObjectManagerIF::CHILD_INIT_FAILED; + } + tmStore = objectManager->get(tmStoreId); + if (tmStore == nullptr) { + sif::error << "TmTcBridge::initialize: TM store invalid. Make sure" + "it is created and set up properly." << std::endl; + return ObjectManagerIF::CHILD_INIT_FAILED; + } + AcceptsTelecommandsIF* tcDistributor = + objectManager->get(tcDestination); + if (tcDistributor == nullptr) { + sif::error << "TmTcBridge::initialize: TC Distributor invalid" + << std::endl; + return ObjectManagerIF::CHILD_INIT_FAILED; + } + + tmTcReceptionQueue->setDefaultDestination(tcDistributor->getRequestQueue()); + return RETURN_OK; +} + +ReturnValue_t TmTcBridge::performOperation(uint8_t operationCode) { + ReturnValue_t result; + result = handleTc(); + if(result != RETURN_OK) { + sif::debug << "TmTcBridge::performOperation: " + << "Error handling TCs" << std::endl; + } + result = handleTm(); + if (result != RETURN_OK) { + sif::debug << "TmTcBridge::performOperation: " + << "Error handling TMs" << std::endl; + } + return result; +} + +ReturnValue_t TmTcBridge::handleTc() { + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t TmTcBridge::handleTm() { + ReturnValue_t result = handleTmQueue(); + if(result != RETURN_OK) { + sif::warning << "TmTcBridge: Reading TM Queue failed" << std::endl; + return RETURN_FAILED; + } + + if(tmStored and communicationLinkUp) { + result = handleStoredTm(); + } + return result; + +} + +ReturnValue_t TmTcBridge::handleTmQueue() { + TmTcMessage message; const uint8_t* data = nullptr; size_t size = 0; - for (ReturnValue_t result = tmTcReceptionQueue->receiveMessage(&message); - result == RETURN_OK; result = tmTcReceptionQueue->receiveMessage(&message)) - { - if(communicationLinkUp == false) { - result = storeDownlinkData(&message); - return result; - } - - result = tmStore->getData(message.getStorageId(), &data, &size); - if (result != HasReturnvaluesIF::RETURN_OK) { - continue; - } - - result = sendTm(data, size); - if (result != RETURN_OK) { - sif::warning << "TmTcBridge: Could not send TM packet" << std::endl; - tmStore->deleteData(message.getStorageId()); - return result; - - } - tmStore->deleteData(message.getStorageId()); - } - return RETURN_OK; -} - -ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) { - store_address_t storeId = 0; - - if(tmFifo.full()) { - sif::error << "TmTcBridge::storeDownlinkData: TM downlink max. number " - << "of stored packet IDs reached! " - << "Overwriting old data" << std::endl; - tmFifo.retrieve(&storeId); - tmStore->deleteData(storeId); - } - storeId = message->getStorageId(); - tmFifo.insert(storeId); - tmStored = true; - return RETURN_OK; -} - -ReturnValue_t TmTcBridge::handleStoredTm() { - uint8_t counter = 0; - ReturnValue_t result = RETURN_OK; - while(not tmFifo.empty() and counter < sentPacketsPerCycle) { - //info << "TMTC Bridge: Sending stored TM data. There are " - // << (int) fifo.size() << " left to send\r\n" << std::flush; - store_address_t storeId; + for (ReturnValue_t result = tmTcReceptionQueue->receiveMessage(&message); + result == RETURN_OK; result = tmTcReceptionQueue->receiveMessage(&message)) + { + if(communicationLinkUp == false) { + result = storeDownlinkData(&message); + return result; + } + + result = tmStore->getData(message.getStorageId(), &data, &size); + if (result != HasReturnvaluesIF::RETURN_OK) { + continue; + } + + result = sendTm(data, size); + if (result != RETURN_OK) { + sif::warning << "TmTcBridge: Could not send TM packet" << std::endl; + tmStore->deleteData(message.getStorageId()); + return result; + + } + tmStore->deleteData(message.getStorageId()); + } + return RETURN_OK; +} + +ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) { + store_address_t storeId = 0; + + if(tmFifo.full()) { + sif::error << "TmTcBridge::storeDownlinkData: TM downlink max. number " + << "of stored packet IDs reached! " + << "Overwriting old data" << std::endl; + tmFifo.retrieve(&storeId); + tmStore->deleteData(storeId); + } + storeId = message->getStorageId(); + tmFifo.insert(storeId); + tmStored = true; + return RETURN_OK; +} + +ReturnValue_t TmTcBridge::handleStoredTm() { + uint8_t counter = 0; + ReturnValue_t result = RETURN_OK; + while(not tmFifo.empty() and counter < sentPacketsPerCycle) { + //info << "TMTC Bridge: Sending stored TM data. There are " + // << (int) fifo.size() << " left to send\r\n" << std::flush; + store_address_t storeId; const uint8_t* data = nullptr; size_t size = 0; - tmFifo.retrieve(&storeId); - result = tmStore->getData(storeId, &data, &size); - - sendTm(data,size); - - if(result != RETURN_OK) { - sif::error << "TMTC Bridge: Could not send stored downlink data" - << std::endl; - result = RETURN_FAILED; - } - counter ++; - - if(tmFifo.empty()) { - tmStored = false; - } - tmStore->deleteData(storeId); - } - return result; -} - -void TmTcBridge::registerCommConnect() { - if(not communicationLinkUp) { - //info << "TMTC Bridge: Registered Comm Link Connect" << std::endl; - communicationLinkUp = true; - } -} - -void TmTcBridge::registerCommDisconnect() { - //info << "TMTC Bridge: Registered Comm Link Disconnect" << std::endl; - if(communicationLinkUp) { - communicationLinkUp = false; - } -} - -MessageQueueId_t TmTcBridge::getReportReceptionQueue(uint8_t virtualChannel) { - return tmTcReceptionQueue->getId(); -} - - -void TmTcBridge::printData(uint8_t * data, size_t dataLen) { - arrayprinter::print(data, dataLen); -} - -uint16_t TmTcBridge::getIdentifier() { - // This is no PUS service, so we just return 0 - return 0; -} - -MessageQueueId_t TmTcBridge::getRequestQueue() { - // Default implementation: Relay TC messages to TC distributor directly. - return tmTcReceptionQueue->getDefaultDestination(); -} + tmFifo.retrieve(&storeId); + result = tmStore->getData(storeId, &data, &size); + + sendTm(data,size); + + if(result != RETURN_OK) { + sif::error << "TMTC Bridge: Could not send stored downlink data" + << std::endl; + result = RETURN_FAILED; + } + counter ++; + + if(tmFifo.empty()) { + tmStored = false; + } + tmStore->deleteData(storeId); + } + return result; +} + +void TmTcBridge::registerCommConnect() { + if(not communicationLinkUp) { + //info << "TMTC Bridge: Registered Comm Link Connect" << std::endl; + communicationLinkUp = true; + } +} + +void TmTcBridge::registerCommDisconnect() { + //info << "TMTC Bridge: Registered Comm Link Disconnect" << std::endl; + if(communicationLinkUp) { + communicationLinkUp = false; + } +} + +MessageQueueId_t TmTcBridge::getReportReceptionQueue(uint8_t virtualChannel) { + return tmTcReceptionQueue->getId(); +} + + +void TmTcBridge::printData(uint8_t * data, size_t dataLen) { + arrayprinter::print(data, dataLen); +} + +uint16_t TmTcBridge::getIdentifier() { + // This is no PUS service, so we just return 0 + return 0; +} + +MessageQueueId_t TmTcBridge::getRequestQueue() { + // Default implementation: Relay TC messages to TC distributor directly. + return tmTcReceptionQueue->getDefaultDestination(); +} diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h index 993cd5b99..32eaf7f20 100644 --- a/tmtcservices/TmTcBridge.h +++ b/tmtcservices/TmTcBridge.h @@ -1,154 +1,154 @@ -#ifndef FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_ -#define FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_ - -#include -#include -#include -#include -#include -#include - -#include -#include - -class TmTcBridge : public AcceptsTelemetryIF, - public AcceptsTelecommandsIF, - public ExecutableObjectIF, - public HasReturnvaluesIF, - public SystemObject { -public: - static constexpr uint8_t TMTC_RECEPTION_QUEUE_DEPTH = 20; - static constexpr uint8_t LIMIT_STORED_DATA_SENT_PER_CYCLE = 15; - static constexpr uint8_t LIMIT_DOWNLINK_PACKETS_STORED = 20; - - static constexpr uint8_t DEFAULT_STORED_DATA_SENT_PER_CYCLE = 5; - static constexpr uint8_t DEFAULT_DOWNLINK_PACKETS_STORED = 10; - - TmTcBridge(object_id_t objectId, object_id_t tcDestination, - object_id_t tmStoreId, object_id_t tcStoreId); - virtual ~TmTcBridge(); - - /** - * Set number of packets sent per performOperation().Please note that this - * value must be smaller than MAX_STORED_DATA_SENT_PER_CYCLE - * @param sentPacketsPerCycle - * @return -@c RETURN_OK if value was set successfully - * -@c RETURN_FAILED otherwise, stored value stays the same - */ - ReturnValue_t setNumberOfSentPacketsPerCycle(uint8_t sentPacketsPerCycle); - - /** - * Set number of packets sent per performOperation().Please note that this - * value must be smaller than MAX_DOWNLINK_PACKETS_STORED - * @param sentPacketsPerCycle - * @return -@c RETURN_OK if value was set successfully - * -@c RETURN_FAILED otherwise, stored value stays the same - */ - ReturnValue_t setMaxNumberOfPacketsStored(uint8_t maxNumberOfPacketsStored); - - virtual void registerCommConnect(); - virtual void registerCommDisconnect(); - - /** - * Initializes necessary FSFW components for the TMTC Bridge - * @return - */ - virtual ReturnValue_t initialize() override; - - /** - * @brief Handles TMTC reception - */ - virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override; - - - /** AcceptsTelemetryIF override */ - virtual MessageQueueId_t getReportReceptionQueue( - uint8_t virtualChannel = 0) override; - - /** AcceptsTelecommandsIF override */ - virtual uint16_t getIdentifier() override; - virtual MessageQueueId_t getRequestQueue() override; - -protected: - //! Cached for initialize function. - object_id_t tmStoreId = objects::NO_OBJECT; - object_id_t tcStoreId = objects::NO_OBJECT; - object_id_t tcDestination = objects::NO_OBJECT; - - //! Used to send and receive TMTC messages. - //! The TmTcMessage class is used to transport messages between tasks. - MessageQueueIF* tmTcReceptionQueue = nullptr; - - StorageManagerIF* tmStore = nullptr; - StorageManagerIF* tcStore = nullptr; - - //! Used to specify whether communication link is up. Will be true - //! by default, so telemetry will be handled immediately. - bool communicationLinkUp = true; - bool tmStored = false; - - /** - * @brief Handle TC reception - * @details - * Default implementation provided, but is empty. - * In most cases, TC reception will be handled in a separate task anyway. - * @return - */ - virtual ReturnValue_t handleTc(); - - /** - * Handle Telemetry. Default implementation provided. - * Calls sendTm() - * @return - */ - virtual ReturnValue_t handleTm(); - - /** - * Read the TM Queue and send TM if necessary. - * Default implementation provided - * @return - */ - virtual ReturnValue_t handleTmQueue(); - - /** - * Send stored data if communication link is active - * @return - */ - virtual ReturnValue_t handleStoredTm(); - - /** - * Implemented by child class. Perform sending of Telemetry by implementing - * communication drivers or wrappers, e.g. serial communication or a socket - * call. - * @param data - * @param dataLen - * @return - */ - virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) = 0; - - /** - * Store data to be sent later if communication link is not up. - * @param message - * @return - */ - virtual ReturnValue_t storeDownlinkData(TmTcMessage * message); - - - /** - * Print data as hexidecimal array - * @param data - * @param dataLen - */ - void printData(uint8_t * data, size_t dataLen); - - /** - * This fifo can be used to store downlink data - * which can not be sent at the moment. - */ - FIFO tmFifo; - uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE; - uint8_t maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED; -}; - - -#endif /* FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_ */ +#ifndef FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_ +#define FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_ + +#include "../objectmanager/SystemObject.h" +#include "AcceptsTelemetryIF.h" +#include "../tasks/ExecutableObjectIF.h" +#include "../ipc/MessageQueueIF.h" +#include "../storagemanager/StorageManagerIF.h" +#include "AcceptsTelecommandsIF.h" + +#include "../container/FIFO.h" +#include "TmTcMessage.h" + +class TmTcBridge : public AcceptsTelemetryIF, + public AcceptsTelecommandsIF, + public ExecutableObjectIF, + public HasReturnvaluesIF, + public SystemObject { +public: + static constexpr uint8_t TMTC_RECEPTION_QUEUE_DEPTH = 20; + static constexpr uint8_t LIMIT_STORED_DATA_SENT_PER_CYCLE = 15; + static constexpr uint8_t LIMIT_DOWNLINK_PACKETS_STORED = 20; + + static constexpr uint8_t DEFAULT_STORED_DATA_SENT_PER_CYCLE = 5; + static constexpr uint8_t DEFAULT_DOWNLINK_PACKETS_STORED = 10; + + TmTcBridge(object_id_t objectId, object_id_t tcDestination, + object_id_t tmStoreId, object_id_t tcStoreId); + virtual ~TmTcBridge(); + + /** + * Set number of packets sent per performOperation().Please note that this + * value must be smaller than MAX_STORED_DATA_SENT_PER_CYCLE + * @param sentPacketsPerCycle + * @return -@c RETURN_OK if value was set successfully + * -@c RETURN_FAILED otherwise, stored value stays the same + */ + ReturnValue_t setNumberOfSentPacketsPerCycle(uint8_t sentPacketsPerCycle); + + /** + * Set number of packets sent per performOperation().Please note that this + * value must be smaller than MAX_DOWNLINK_PACKETS_STORED + * @param sentPacketsPerCycle + * @return -@c RETURN_OK if value was set successfully + * -@c RETURN_FAILED otherwise, stored value stays the same + */ + ReturnValue_t setMaxNumberOfPacketsStored(uint8_t maxNumberOfPacketsStored); + + virtual void registerCommConnect(); + virtual void registerCommDisconnect(); + + /** + * Initializes necessary FSFW components for the TMTC Bridge + * @return + */ + virtual ReturnValue_t initialize() override; + + /** + * @brief Handles TMTC reception + */ + virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override; + + + /** AcceptsTelemetryIF override */ + virtual MessageQueueId_t getReportReceptionQueue( + uint8_t virtualChannel = 0) override; + + /** AcceptsTelecommandsIF override */ + virtual uint16_t getIdentifier() override; + virtual MessageQueueId_t getRequestQueue() override; + +protected: + //! Cached for initialize function. + object_id_t tmStoreId = objects::NO_OBJECT; + object_id_t tcStoreId = objects::NO_OBJECT; + object_id_t tcDestination = objects::NO_OBJECT; + + //! Used to send and receive TMTC messages. + //! The TmTcMessage class is used to transport messages between tasks. + MessageQueueIF* tmTcReceptionQueue = nullptr; + + StorageManagerIF* tmStore = nullptr; + StorageManagerIF* tcStore = nullptr; + + //! Used to specify whether communication link is up. Will be true + //! by default, so telemetry will be handled immediately. + bool communicationLinkUp = true; + bool tmStored = false; + + /** + * @brief Handle TC reception + * @details + * Default implementation provided, but is empty. + * In most cases, TC reception will be handled in a separate task anyway. + * @return + */ + virtual ReturnValue_t handleTc(); + + /** + * Handle Telemetry. Default implementation provided. + * Calls sendTm() + * @return + */ + virtual ReturnValue_t handleTm(); + + /** + * Read the TM Queue and send TM if necessary. + * Default implementation provided + * @return + */ + virtual ReturnValue_t handleTmQueue(); + + /** + * Send stored data if communication link is active + * @return + */ + virtual ReturnValue_t handleStoredTm(); + + /** + * Implemented by child class. Perform sending of Telemetry by implementing + * communication drivers or wrappers, e.g. serial communication or a socket + * call. + * @param data + * @param dataLen + * @return + */ + virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) = 0; + + /** + * Store data to be sent later if communication link is not up. + * @param message + * @return + */ + virtual ReturnValue_t storeDownlinkData(TmTcMessage * message); + + + /** + * Print data as hexidecimal array + * @param data + * @param dataLen + */ + void printData(uint8_t * data, size_t dataLen); + + /** + * This fifo can be used to store downlink data + * which can not be sent at the moment. + */ + FIFO tmFifo; + uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE; + uint8_t maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED; +}; + + +#endif /* FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_ */ diff --git a/tmtcservices/TmTcMessage.cpp b/tmtcservices/TmTcMessage.cpp index d437b41ea..987bd2321 100644 --- a/tmtcservices/TmTcMessage.cpp +++ b/tmtcservices/TmTcMessage.cpp @@ -1,4 +1,4 @@ -#include +#include "TmTcMessage.h" #include diff --git a/tmtcservices/TmTcMessage.h b/tmtcservices/TmTcMessage.h index 73f741fb6..b5e1ff8d4 100644 --- a/tmtcservices/TmTcMessage.h +++ b/tmtcservices/TmTcMessage.h @@ -1,8 +1,8 @@ #ifndef TMTCMESSAGE_H_ #define TMTCMESSAGE_H_ -#include -#include +#include "../ipc/MessageQueueMessage.h" +#include "../storagemanager/StorageManagerIF.h" /** * @brief This message class is used to pass Telecommand and Telemetry * packets between tasks. diff --git a/tmtcservices/VerificationReporter.cpp b/tmtcservices/VerificationReporter.cpp index 4484fb9b2..43e712a25 100644 --- a/tmtcservices/VerificationReporter.cpp +++ b/tmtcservices/VerificationReporter.cpp @@ -1,7 +1,7 @@ -#include -#include -#include -#include +#include "../serviceinterface/ServiceInterfaceStream.h" +#include "AcceptsVerifyMessageIF.h" +#include "PusVerificationReport.h" +#include "VerificationReporter.h" object_id_t VerificationReporter::messageReceiver = 0; diff --git a/tmtcservices/VerificationReporter.h b/tmtcservices/VerificationReporter.h index 370c44c8c..29a273c5a 100644 --- a/tmtcservices/VerificationReporter.h +++ b/tmtcservices/VerificationReporter.h @@ -1,8 +1,8 @@ #ifndef VERIFICATIONREPORTER_H_ #define VERIFICATIONREPORTER_H_ -#include -#include +#include "../objectmanager/ObjectManagerIF.h" +#include "PusVerificationReport.h" namespace Factory{ void setStaticFrameworkObjectIds(); From 9e0a90509629730ed1c5f316b6bdd4895dcba649 Mon Sep 17 00:00:00 2001 From: Steffen Gaisser Date: Thu, 13 Aug 2020 20:58:49 +0200 Subject: [PATCH 68/90] Two paths gone wrong --- pus/Service1TelecommandVerification.cpp | 2 +- pus/Service5EventReporting.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/pus/Service1TelecommandVerification.cpp b/pus/Service1TelecommandVerification.cpp index 570005c54..578eb02d4 100644 --- a/pus/Service1TelecommandVerification.cpp +++ b/pus/Service1TelecommandVerification.cpp @@ -3,7 +3,7 @@ #include "../ipc/QueueFactory.h" #include "../tmtcservices/PusVerificationReport.h" -#include "/tmtcpacketTmPacketStored.h" +#include "../tmtcpacket/pus/TmPacketStored.h" #include "../serviceinterface/ServiceInterfaceStream.h" #include "../tmtcservices/AcceptsTelemetryIF.h" #include "../serviceinterface/ServiceInterfaceStream.h" diff --git a/pus/Service5EventReporting.cpp b/pus/Service5EventReporting.cpp index 831f92c1b..829d04bde 100644 --- a/pus/Service5EventReporting.cpp +++ b/pus/Service5EventReporting.cpp @@ -4,7 +4,7 @@ #include "../serviceinterface/ServiceInterfaceStream.h" #include "../events/EventManagerIF.h" #include "../ipc/QueueFactory.h" -#include "/tmtcpacketTmPacketStored.h" +#include "../tmtcpacket/pus/TmPacketStored.h" Service5EventReporting::Service5EventReporting(object_id_t objectId, From c63665c257984be89bd2cd19f83bc81b1adbd588 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Wed, 19 Aug 2020 13:13:57 +0200 Subject: [PATCH 69/90] renamed framework.mk to fsfw.mk --- fsfw.mk | 59 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 59 insertions(+) create mode 100644 fsfw.mk diff --git a/fsfw.mk b/fsfw.mk new file mode 100644 index 000000000..c025ba23d --- /dev/null +++ b/fsfw.mk @@ -0,0 +1,59 @@ +# This submake file needs to be included by the primary Makefile. +# This file needs FRAMEWORK_PATH and OS_FSFW set correctly by another Makefile. +# Valid API settings: rtems, linux, freeRTOS, host + +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/action/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/container/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/contrib/sgp4/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/controller/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/coordinates/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datalinklayer/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapool/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/devicehandlers/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/eventmatching/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/fdir/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/matching/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/math/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/health/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/internalError/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/ipc/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/memory/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/modes/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/monitoring/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/objectmanager/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/*.cpp) + +# select the OS +ifeq ($(OS_FSFW),rtems) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/rtems/*.cpp) +else ifeq ($(OS_FSFW),linux) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/linux/*.cpp) +else ifeq ($(OS_FSFW),freeRTOS) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/FreeRTOS/*.cpp) +else ifeq ($(OS_FSFW),host) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/host/*.cpp) +else +$(error invalid OS specified, valid OS are rtems, linux, freeRTOS, host) +endif + +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/parameters/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/power/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/returnvalues/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/rmap/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/serialize/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/serviceinterface/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/storagemanager/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/subsystem/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/subsystem/modes/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tasks/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tcdistribution/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/thermal/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/timemanager/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmstorage/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/packetmatcher/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/pus/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcservices/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/pus/*.cpp) From e59022dd432cdda2fc57ba8ee9ba350af33a1317 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Wed, 19 Aug 2020 13:15:14 +0200 Subject: [PATCH 70/90] old .mk file removed --- framework.mk | 58 ---------------------------------------------------- 1 file changed, 58 deletions(-) delete mode 100644 framework.mk diff --git a/framework.mk b/framework.mk deleted file mode 100644 index 136eff3ac..000000000 --- a/framework.mk +++ /dev/null @@ -1,58 +0,0 @@ -# This file needs FRAMEWORK_PATH and OS_FSFW set correctly by another Makefile. -# Valid API settings: rtems, linux, freeRTOS, host - -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/action/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/container/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/contrib/sgp4/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/controller/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/coordinates/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datalinklayer/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapool/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/devicehandlers/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/eventmatching/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/fdir/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/matching/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/math/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/health/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/internalError/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/ipc/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/memory/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/modes/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/monitoring/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/objectmanager/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/*.cpp) - -# select the OS -ifeq ($(OS_FSFW),rtems) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/rtems/*.cpp) -else ifeq ($(OS_FSFW),linux) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/linux/*.cpp) -else ifeq ($(OS_FSFW),freeRTOS) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/FreeRTOS/*.cpp) -else ifeq ($(OS_FSFW),host) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/host/*.cpp) -else -$(error invalid OS_FSFW specified, valid OS_FSFW are rtems, linux, freeRTOS, host) -endif - -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/parameters/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/power/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/returnvalues/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/rmap/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/serialize/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/serviceinterface/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/storagemanager/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/subsystem/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/subsystem/modes/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tasks/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tcdistribution/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/thermal/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/timemanager/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmstorage/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/packetmatcher/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/pus/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcservices/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/pus/*.cpp) From 31f398cec948bd232e40f29fc128e2596a20e6b7 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Wed, 19 Aug 2020 13:16:08 +0200 Subject: [PATCH 71/90] small fix --- fsfw.mk | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/fsfw.mk b/fsfw.mk index c025ba23d..c2c6e7475 100644 --- a/fsfw.mk +++ b/fsfw.mk @@ -35,7 +35,7 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/FreeRTOS/*.cpp) else ifeq ($(OS_FSFW),host) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/host/*.cpp) else -$(error invalid OS specified, valid OS are rtems, linux, freeRTOS, host) +$(error invalid OS_FSFW specified, valid OS_FSFW are rtems, linux, freeRTOS, host) endif CXXSRC += $(wildcard $(FRAMEWORK_PATH)/parameters/*.cpp) From 1b4c4de3fa06f5a22e6ae828ad75f5ca015de7e0 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Mon, 24 Aug 2020 14:38:59 +0200 Subject: [PATCH 72/90] getter/setter functions for serial buffer adapter --- serialize/SerialBufferAdapter.cpp | 222 +++++++++++++++++------------- serialize/SerialBufferAdapter.h | 113 ++++++++++----- 2 files changed, 206 insertions(+), 129 deletions(-) diff --git a/serialize/SerialBufferAdapter.cpp b/serialize/SerialBufferAdapter.cpp index 5dd01f54c..b1e0856aa 100644 --- a/serialize/SerialBufferAdapter.cpp +++ b/serialize/SerialBufferAdapter.cpp @@ -1,94 +1,128 @@ -#include "SerialBufferAdapter.h" -#include - - - -template -SerialBufferAdapter::SerialBufferAdapter(const uint8_t* buffer, - T bufferLength, bool serializeLenght) : - serializeLength(serializeLenght), constBuffer(buffer), buffer(NULL), bufferLength( - bufferLength) { -} - -template -SerialBufferAdapter::SerialBufferAdapter(uint8_t* buffer, T bufferLength, - bool serializeLenght) : - serializeLength(serializeLenght), constBuffer(NULL), buffer(buffer), bufferLength( - bufferLength) { -} - -template -SerialBufferAdapter::~SerialBufferAdapter() { -} - -template -ReturnValue_t SerialBufferAdapter::serialize(uint8_t** buffer, size_t* size, - size_t maxSize, Endianness streamEndianness) const { - uint32_t serializedLength = bufferLength; - if (serializeLength) { - serializedLength += SerializeAdapter::getSerializedSize( - &bufferLength); - } - if (*size + serializedLength > maxSize) { - return BUFFER_TOO_SHORT; - } else { - if (serializeLength) { - SerializeAdapter::serialize(&bufferLength, buffer, size, - maxSize, streamEndianness); - } - if (this->constBuffer != NULL) { - memcpy(*buffer, this->constBuffer, bufferLength); - } else if (this->buffer != NULL) { - memcpy(*buffer, this->buffer, bufferLength); - } else { - return HasReturnvaluesIF::RETURN_FAILED; - } - *size += bufferLength; - (*buffer) += bufferLength; - return HasReturnvaluesIF::RETURN_OK; - } -} - -template -size_t SerialBufferAdapter::getSerializedSize() const { - if (serializeLength) { - return bufferLength + SerializeAdapter::getSerializedSize(&bufferLength); - } else { - return bufferLength; - } -} -template -ReturnValue_t SerialBufferAdapter::deSerialize(const uint8_t** buffer, - size_t* size, Endianness streamEndianness) { - //TODO Ignores Endian flag! - if (buffer != NULL) { - if(serializeLength){ - T serializedSize = SerializeAdapter::getSerializedSize( - &bufferLength); - if((*size - bufferLength - serializedSize) >= 0){ - *buffer += serializedSize; - *size -= serializedSize; - }else{ - return STREAM_TOO_SHORT; - } - } - //No Else If, go on with buffer - if (*size - bufferLength >= 0) { - *size -= bufferLength; - memcpy(this->buffer, *buffer, bufferLength); - (*buffer) += bufferLength; - return HasReturnvaluesIF::RETURN_OK; - } else { - return STREAM_TOO_SHORT; - } - } else { - return HasReturnvaluesIF::RETURN_FAILED; - } -} - - -//forward Template declaration for linker -template class SerialBufferAdapter; -template class SerialBufferAdapter; -template class SerialBufferAdapter; - +#include "../serialize/SerialBufferAdapter.h" +#include "../serviceinterface/ServiceInterfaceStream.h" +#include + +template +SerialBufferAdapter::SerialBufferAdapter(const uint8_t* buffer, + count_t bufferLength, bool serializeLength) : + serializeLength(serializeLength), + constBuffer(buffer), buffer(nullptr), + bufferLength(bufferLength) {} + +template +SerialBufferAdapter::SerialBufferAdapter(uint8_t* buffer, + count_t bufferLength, bool serializeLength) : + serializeLength(serializeLength), constBuffer(buffer), buffer(buffer), + bufferLength(bufferLength) {} + + +template +SerialBufferAdapter::~SerialBufferAdapter() { +} + +template +ReturnValue_t SerialBufferAdapter::serialize(uint8_t** buffer, size_t* size, + size_t maxSize, Endianness streamEndianness) const { + uint32_t serializedLength = bufferLength; + if (serializeLength) { + serializedLength += SerializeAdapter::getSerializedSize( + &bufferLength); + } + if (*size + serializedLength > maxSize) { + return BUFFER_TOO_SHORT; + } else { + if (serializeLength) { + SerializeAdapter::serialize(&bufferLength, buffer, size, + maxSize, streamEndianness); + } + if (constBuffer != nullptr) { + memcpy(*buffer, this->constBuffer, bufferLength); + } + else if (buffer != nullptr) { + // This will propably be never reached, constBuffer should always be + // set if non-const buffer is set. + memcpy(*buffer, this->buffer, bufferLength); + } + else { + return HasReturnvaluesIF::RETURN_FAILED; + } + *size += bufferLength; + (*buffer) += bufferLength; + return HasReturnvaluesIF::RETURN_OK; + } +} + +template +size_t SerialBufferAdapter::getSerializedSize() const { + if (serializeLength) { + return bufferLength + SerializeAdapter::getSerializedSize(&bufferLength); + } else { + return bufferLength; + } +} + +template +ReturnValue_t SerialBufferAdapter::deSerialize(const uint8_t** buffer, + size_t* size, Endianness streamEndianness) { + //TODO Ignores Endian flag! + if (buffer != NULL) { + if(serializeLength){ + T serializedSize = SerializeAdapter::getSerializedSize( + &bufferLength); + if(bufferLength + serializedSize <= *size) { + *buffer += serializedSize; + *size -= serializedSize; + } + else { + return STREAM_TOO_SHORT; + } + } + //No Else If, go on with buffer + if (bufferLength <= *size) { + *size -= bufferLength; + memcpy(this->buffer, *buffer, bufferLength); + (*buffer) += bufferLength; + return HasReturnvaluesIF::RETURN_OK; + } + else { + return STREAM_TOO_SHORT; + } + } + else { + return HasReturnvaluesIF::RETURN_FAILED; + } +} + +template +uint8_t * SerialBufferAdapter::getBuffer() { + if(buffer == nullptr) { + sif::error << "Wrong access function for stored type !" + " Use getConstBuffer()." << std::endl; + return nullptr; + } + return buffer; +} + +template +const uint8_t * SerialBufferAdapter::getConstBuffer() { + if(constBuffer == nullptr) { + sif::error << "SerialBufferAdapter: Buffers are unitialized!" << std::endl; + return nullptr; + } + return constBuffer; +} + +template +void SerialBufferAdapter::setBuffer(uint8_t* buffer, + count_t bufferLength) { + this->buffer = buffer; + this->constBuffer = buffer; + this->bufferLength = bufferLength; +} + + +//forward Template declaration for linker +template class SerialBufferAdapter; +template class SerialBufferAdapter; +template class SerialBufferAdapter; + diff --git a/serialize/SerialBufferAdapter.h b/serialize/SerialBufferAdapter.h index c27a5424e..c3dfcd8fb 100644 --- a/serialize/SerialBufferAdapter.h +++ b/serialize/SerialBufferAdapter.h @@ -1,35 +1,78 @@ -#ifndef SERIALBUFFERADAPTER_H_ -#define SERIALBUFFERADAPTER_H_ - -#include "SerializeIF.h" -#include "SerializeAdapter.h" - -/** - * \ingroup serialize - */ -template -class SerialBufferAdapter: public SerializeIF { -public: - SerialBufferAdapter(const uint8_t * buffer, T bufferLength, bool serializeLenght = false); - SerialBufferAdapter(uint8_t* buffer, T bufferLength, - bool serializeLenght = false); - - virtual ~SerialBufferAdapter(); - - virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, - size_t maxSize, Endianness streamEndianness) const override; - - virtual size_t getSerializedSize() const override; - - virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size, - Endianness streamEndianness) override; -private: - bool serializeLength; - const uint8_t *constBuffer; - uint8_t *buffer; - T bufferLength; -}; - - - -#endif /* SERIALBUFFERADAPTER_H_ */ +#ifndef SERIALBUFFERADAPTER_H_ +#define SERIALBUFFERADAPTER_H_ + +#include "../serialize/SerializeIF.h" +#include "../serialize/SerializeAdapter.h" + +/** + * This adapter provides an interface for SerializeIF to serialize or deserialize + * buffers with no length header but a known size. + * + * Additionally, the buffer length can be serialized too and will be put in + * front of the serialized buffer. + * + * Can be used with SerialLinkedListAdapter by declaring a SerializeElement with + * SerialElement>. + * Right now, the SerialBufferAdapter must always + * be initialized with the buffer and size ! + * + * \ingroup serialize + */ +template +class SerialBufferAdapter: public SerializeIF { +public: + + /** + * Constructor for constant uint8_t buffer. Length field can be serialized optionally. + * Type of length can be supplied as template type. + * @param buffer + * @param bufferLength + * @param serializeLength + */ + SerialBufferAdapter(const uint8_t* buffer, count_t bufferLength, + bool serializeLength = false); + + /** + * Constructor for non-constant uint8_t buffer. + * Length field can be serialized optionally. + * Type of length can be supplied as template type. + * @param buffer + * @param bufferLength + * @param serializeLength Length field will be serialized with size count_t + */ + SerialBufferAdapter(uint8_t* buffer, count_t bufferLength, + bool serializeLength = false); + + virtual ~SerialBufferAdapter(); + + virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, + size_t maxSize, Endianness streamEndianness) const override; + + virtual size_t getSerializedSize() const override; + + /** + * @brief This function deserializes a buffer into the member buffer. + * @details + * If a length field is present, it is ignored, as the size should have + * been set in the constructor. If the size is not known beforehand, + * consider using SerialFixedArrayListAdapter instead. + * @param buffer [out] Resulting buffer + * @param size remaining size to deserialize, should be larger than buffer + * + size field size + * @param bigEndian + * @return + */ + virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size, + Endianness streamEndianness) override; + + uint8_t * getBuffer(); + const uint8_t * getConstBuffer(); + void setBuffer(uint8_t* buffer, count_t bufferLength); +private: + bool serializeLength = false; + const uint8_t *constBuffer = nullptr; + uint8_t *buffer = nullptr; + count_t bufferLength = 0; +}; + +#endif /* SERIALBUFFERADAPTER_H_ */ From 26b63d63b90340823777245e194cce253509dd29 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Mon, 24 Aug 2020 14:47:53 +0200 Subject: [PATCH 73/90] small fix --- serialize/SerialBufferAdapter.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/serialize/SerialBufferAdapter.cpp b/serialize/SerialBufferAdapter.cpp index b1e0856aa..5528331d7 100644 --- a/serialize/SerialBufferAdapter.cpp +++ b/serialize/SerialBufferAdapter.cpp @@ -30,15 +30,16 @@ ReturnValue_t SerialBufferAdapter::serialize(uint8_t** buffer, size_t* size, } if (*size + serializedLength > maxSize) { return BUFFER_TOO_SHORT; - } else { + } + else { if (serializeLength) { SerializeAdapter::serialize(&bufferLength, buffer, size, maxSize, streamEndianness); } - if (constBuffer != nullptr) { + if (this->constBuffer != nullptr) { memcpy(*buffer, this->constBuffer, bufferLength); } - else if (buffer != nullptr) { + else if (this->buffer != nullptr) { // This will propably be never reached, constBuffer should always be // set if non-const buffer is set. memcpy(*buffer, this->buffer, bufferLength); From a4626aeac0682b07b5fee7ee2c4fa94d5322d1b8 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 25 Aug 2020 12:04:59 +0200 Subject: [PATCH 74/90] made rtems adaption --- osal/rtems/Mutex.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/osal/rtems/Mutex.cpp b/osal/rtems/Mutex.cpp index 685145349..f1c888267 100644 --- a/osal/rtems/Mutex.cpp +++ b/osal/rtems/Mutex.cpp @@ -25,12 +25,13 @@ Mutex::~Mutex() { } } -ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) { - if(timeoutMs == MutexIF::BLOCKING) { +ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType = + TimeoutType::BLOCKING, uint32_t timeoutMs) { + if(timeoutMs == MutexIF::TimeoutType::BLOCKING) { rtems_status_code status = rtems_semaphore_obtain(mutexId, RTEMS_WAIT, timeoutMs); } - else if(timeoutMs == MutexIF::POLLING) { + else if(timeoutMs == MutexIF::TimeoutType::POLLING) { timeoutMs = RTEMS_NO_TIMEOUT; rtems_status_code status = rtems_semaphore_obtain(mutexId, RTEMS_NO_WAIT, timeoutMs); From 49a36d6fdc9d635946e6eb307ac771aa1ce01266 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 25 Aug 2020 12:06:39 +0200 Subject: [PATCH 75/90] removed definitions --- osal/rtems/Mutex.cpp | 2 -- 1 file changed, 2 deletions(-) diff --git a/osal/rtems/Mutex.cpp b/osal/rtems/Mutex.cpp index f1c888267..31acdb3c4 100644 --- a/osal/rtems/Mutex.cpp +++ b/osal/rtems/Mutex.cpp @@ -1,8 +1,6 @@ #include "Mutex.h" #include "../../serviceinterface/ServiceInterfaceStream.h" -const uint32_t MutexIF::BLOCKING = RTEMS_WAIT; -const uint32_t MutexIF::POLLING = RTEMS_NO_WAIT; uint8_t Mutex::count = 0; Mutex::Mutex() : From ab4c65c87ae719143697de99d5a5b26c302d4e68 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 25 Aug 2020 12:08:12 +0200 Subject: [PATCH 76/90] added header file changes --- osal/rtems/Mutex.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/osal/rtems/Mutex.h b/osal/rtems/Mutex.h index 624b556f8..723682104 100644 --- a/osal/rtems/Mutex.h +++ b/osal/rtems/Mutex.h @@ -8,7 +8,7 @@ class Mutex : public MutexIF { public: Mutex(); ~Mutex(); - ReturnValue_t lockMutex(uint32_t timeoutMs = MutexIF::BLOCKING); + ReturnValue_t lockMutex(TimeoutType timeoutType, uint32_t timeoutMs = 0); ReturnValue_t unlockMutex(); private: rtems_id mutexId; From 74dea921e027f1ab6798a58b1b5e7e7cec6c7b01 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 25 Aug 2020 12:10:28 +0200 Subject: [PATCH 77/90] made fixes --- osal/rtems/Mutex.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/osal/rtems/Mutex.cpp b/osal/rtems/Mutex.cpp index 31acdb3c4..9553ac79c 100644 --- a/osal/rtems/Mutex.cpp +++ b/osal/rtems/Mutex.cpp @@ -27,16 +27,16 @@ ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType = TimeoutType::BLOCKING, uint32_t timeoutMs) { if(timeoutMs == MutexIF::TimeoutType::BLOCKING) { rtems_status_code status = rtems_semaphore_obtain(mutexId, - RTEMS_WAIT, timeoutMs); + RTEMS_WAIT, RTEMS_NO_TIMEOUT); } else if(timeoutMs == MutexIF::TimeoutType::POLLING) { timeoutMs = RTEMS_NO_TIMEOUT; rtems_status_code status = rtems_semaphore_obtain(mutexId, - RTEMS_NO_WAIT, timeoutMs); + RTEMS_NO_WAIT, 0); } else { rtems_status_code status = rtems_semaphore_obtain(mutexId, - RTEMS_NO_WAIT, timeoutMs); + RTEMS_WAIT, timeoutMs); } switch(status){ From 1235e38556b4015b3b1edfc2079d55b172db9904 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 25 Aug 2020 12:20:56 +0200 Subject: [PATCH 78/90] rtems adaption --- osal/rtems/MultiObjectTask.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/osal/rtems/MultiObjectTask.cpp b/osal/rtems/MultiObjectTask.cpp index 3c4886a57..2342c24c2 100644 --- a/osal/rtems/MultiObjectTask.cpp +++ b/osal/rtems/MultiObjectTask.cpp @@ -78,6 +78,8 @@ ReturnValue_t MultiObjectTask::addComponent(object_id_t object) { return HasReturnvaluesIF::RETURN_FAILED; } objectList.push_back(newObject); + newObject->setTaskIF(this); + return HasReturnvaluesIF::RETURN_OK; } From d0419467a7d9bdf111bd60cd5c642803bb38e69a Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 25 Aug 2020 12:23:46 +0200 Subject: [PATCH 79/90] include guard fix --- osal/rtems/MultiObjectTask.h | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/osal/rtems/MultiObjectTask.h b/osal/rtems/MultiObjectTask.h index 28d05fb1a..d7c71422b 100644 --- a/osal/rtems/MultiObjectTask.h +++ b/osal/rtems/MultiObjectTask.h @@ -4,8 +4,8 @@ * @date 30.01.2014 * @author baetz */ -#ifndef MULTIOBJECTTASK_H_ -#define MULTIOBJECTTASK_H_ +#ifndef FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_ +#define FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_ #include "../../objectmanager/ObjectManagerIF.h" #include "../../tasks/PeriodicTaskIF.h" @@ -63,11 +63,11 @@ public: * @param object Id of the object to add. * @return RETURN_OK on success, RETURN_FAILED if the object could not be added. */ - ReturnValue_t addComponent(object_id_t object); + ReturnValue_t addComponent(object_id_t object) override; - uint32_t getPeriodMs() const; + uint32_t getPeriodMs() const override; - ReturnValue_t sleepFor(uint32_t ms); + ReturnValue_t sleepFor(uint32_t ms) override; protected: typedef std::vector ObjectList; //!< Typedef for the List of objects. /** @@ -110,4 +110,4 @@ protected: void taskFunctionality(void); }; -#endif /* MULTIOBJECTTASK_H_ */ +#endif /* FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_ */ From 7e0cf49723fd4443751afd63f62d2c6f40b81b9a Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 25 Aug 2020 12:24:37 +0200 Subject: [PATCH 80/90] author tag --- osal/rtems/MultiObjectTask.h | 8 +------- 1 file changed, 1 insertion(+), 7 deletions(-) diff --git a/osal/rtems/MultiObjectTask.h b/osal/rtems/MultiObjectTask.h index d7c71422b..736e79dd1 100644 --- a/osal/rtems/MultiObjectTask.h +++ b/osal/rtems/MultiObjectTask.h @@ -1,9 +1,3 @@ -/** - * @file MultiObjectTask.h - * @brief This file defines the MultiObjectTask class. - * @date 30.01.2014 - * @author baetz - */ #ifndef FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_ #define FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_ @@ -21,7 +15,7 @@ class ExecutableObjectIF; * @details MultiObjectTask is an extension to ObjectTask in the way that it is able to execute * multiple objects that implement the ExecutableObjectIF interface. The objects must be * added prior to starting the task. - * + * @author baetz * @ingroup task_handling */ class MultiObjectTask: public TaskBase, public PeriodicTaskIF { From c0332a80a7218e45d7ba8dfc47028124530e6c98 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 25 Aug 2020 12:40:06 +0200 Subject: [PATCH 81/90] task management update --- osal/FreeRTOS/TaskManagement.cpp | 12 ++++++------ osal/FreeRTOS/TaskManagement.h | 20 ++++++++++---------- 2 files changed, 16 insertions(+), 16 deletions(-) diff --git a/osal/FreeRTOS/TaskManagement.cpp b/osal/FreeRTOS/TaskManagement.cpp index ff552adbb..16682d361 100644 --- a/osal/FreeRTOS/TaskManagement.cpp +++ b/osal/FreeRTOS/TaskManagement.cpp @@ -1,11 +1,11 @@ -#include - +#include "../../osal/FreeRTOS/TaskManagement.h" + void TaskManagement::vRequestContextSwitchFromTask() { vTaskDelay(0); } - + void TaskManagement::requestContextSwitch( - CallContext callContext = CallContext::TASK) { + CallContext callContext = CallContext::TASK) { if(callContext == CallContext::ISR) { // This function depends on the partmacro.h definition for the specific device vRequestContextSwitchFromISR(); @@ -13,7 +13,7 @@ void TaskManagement::requestContextSwitch( vRequestContextSwitchFromTask(); } } - + TaskHandle_t TaskManagement::getCurrentTaskHandle() { return xTaskGetCurrentTaskHandle(); } @@ -21,4 +21,4 @@ TaskHandle_t TaskManagement::getCurrentTaskHandle() { size_t TaskManagement::getTaskStackHighWatermark( TaskHandle_t task) { return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t); -} +} diff --git a/osal/FreeRTOS/TaskManagement.h b/osal/FreeRTOS/TaskManagement.h index 62c68331a..43003d763 100644 --- a/osal/FreeRTOS/TaskManagement.h +++ b/osal/FreeRTOS/TaskManagement.h @@ -1,14 +1,14 @@ #ifndef FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ #define FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ -#include +#include "../../returnvalues/HasReturnvaluesIF.h" extern "C" { #include #include } #include - + /** * Architecture dependant portmacro.h function call. * Should be implemented in bsp. @@ -17,9 +17,9 @@ extern void vRequestContextSwitchFromISR(); /*! * Used by functions to tell if they are being called from - * within an ISR or from a regular task. This is required because FreeRTOS + * within an ISR or from a regular task. This is required because FreeRTOS * has different functions for handling semaphores and messages from within - * an ISR and task. + * an ISR and task. */ enum class CallContext { TASK = 0x00,//!< task_context @@ -29,19 +29,19 @@ enum class CallContext { class TaskManagement { public: - /** + /** * @brief In this function, a function dependant on the portmacro.h header * function calls to request a context switch can be specified. * This can be used if sending to the queue from an ISR caused a task - * to unblock and a context switch is required. + * to unblock and a context switch is required. */ static void requestContextSwitch(CallContext callContext); /** * If task preemption in FreeRTOS is disabled, a context switch * can be requested manually by calling this function. - */ - static void vRequestContextSwitchFromTask(void); + */ + static void vRequestContextSwitchFromTask(void); /** * @return The current task handle @@ -56,9 +56,9 @@ public: * E.g. on a 32 bit machine, a value of 200 means 800 bytes. * @return Smallest value of stack remaining since the task was started in * words. - */ + */ static size_t getTaskStackHighWatermark( - TaskHandle_t task = nullptr); + TaskHandle_t task = nullptr); }; #endif /* FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ */ From 825bf62d791a077c0c9b1af642e98f074459cb30 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 25 Aug 2020 13:14:13 +0200 Subject: [PATCH 82/90] fixed deSerialize --- serialize/SerialBufferAdapter.cpp | 28 ++++++++++++---------------- 1 file changed, 12 insertions(+), 16 deletions(-) diff --git a/serialize/SerialBufferAdapter.cpp b/serialize/SerialBufferAdapter.cpp index 5528331d7..dc721f0d6 100644 --- a/serialize/SerialBufferAdapter.cpp +++ b/serialize/SerialBufferAdapter.cpp @@ -20,9 +20,9 @@ template SerialBufferAdapter::~SerialBufferAdapter() { } -template -ReturnValue_t SerialBufferAdapter::serialize(uint8_t** buffer, size_t* size, - size_t maxSize, Endianness streamEndianness) const { +template +ReturnValue_t SerialBufferAdapter::serialize(uint8_t** buffer, + size_t* size, size_t maxSize, Endianness streamEndianness) const { uint32_t serializedLength = bufferLength; if (serializeLength) { serializedLength += SerializeAdapter::getSerializedSize( @@ -53,8 +53,8 @@ ReturnValue_t SerialBufferAdapter::serialize(uint8_t** buffer, size_t* size, } } -template -size_t SerialBufferAdapter::getSerializedSize() const { +template +size_t SerialBufferAdapter::getSerializedSize() const { if (serializeLength) { return bufferLength + SerializeAdapter::getSerializedSize(&bufferLength); } else { @@ -62,20 +62,16 @@ size_t SerialBufferAdapter::getSerializedSize() const { } } -template -ReturnValue_t SerialBufferAdapter::deSerialize(const uint8_t** buffer, +template +ReturnValue_t SerialBufferAdapter::deSerialize(const uint8_t** buffer, size_t* size, Endianness streamEndianness) { //TODO Ignores Endian flag! - if (buffer != NULL) { + if (buffer != nullptr) { if(serializeLength){ - T serializedSize = SerializeAdapter::getSerializedSize( - &bufferLength); - if(bufferLength + serializedSize <= *size) { - *buffer += serializedSize; - *size -= serializedSize; - } - else { - return STREAM_TOO_SHORT; + ReturnValue_t result = SerializeAdapter::deSerialize(&bufferLength, + buffer, size, streamEndianness); + if(result != HasReturnvaluesIF::RETURN_OK) { + return result; } } //No Else If, go on with buffer From 857d61ea130ebe556cb65635e219b1eb2655b90f Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 25 Aug 2020 13:16:17 +0200 Subject: [PATCH 83/90] member pointer now checked --- serialize/SerialBufferAdapter.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/serialize/SerialBufferAdapter.cpp b/serialize/SerialBufferAdapter.cpp index dc721f0d6..53d0b8d49 100644 --- a/serialize/SerialBufferAdapter.cpp +++ b/serialize/SerialBufferAdapter.cpp @@ -66,7 +66,7 @@ template ReturnValue_t SerialBufferAdapter::deSerialize(const uint8_t** buffer, size_t* size, Endianness streamEndianness) { //TODO Ignores Endian flag! - if (buffer != nullptr) { + if (this->buffer != nullptr) { if(serializeLength){ ReturnValue_t result = SerializeAdapter::deSerialize(&bufferLength, buffer, size, streamEndianness); @@ -77,7 +77,7 @@ ReturnValue_t SerialBufferAdapter::deSerialize(const uint8_t** buffer, //No Else If, go on with buffer if (bufferLength <= *size) { *size -= bufferLength; - memcpy(this->buffer, *buffer, bufferLength); + std::memcpy(this->buffer, *buffer, bufferLength); (*buffer) += bufferLength; return HasReturnvaluesIF::RETURN_OK; } @@ -103,7 +103,8 @@ uint8_t * SerialBufferAdapter::getBuffer() { template const uint8_t * SerialBufferAdapter::getConstBuffer() { if(constBuffer == nullptr) { - sif::error << "SerialBufferAdapter: Buffers are unitialized!" << std::endl; + sif::error << "SerialBufferAdapter::getConstBuffer:" + " Buffers are unitialized!" << std::endl; return nullptr; } return constBuffer; From c8595c3442b4e48c5d50330a64e2dae7fed1fc87 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 25 Aug 2020 13:29:36 +0200 Subject: [PATCH 84/90] deSerialize fixed/improved --- serialize/SerialBufferAdapter.cpp | 39 +++++++++++++++++-------------- 1 file changed, 21 insertions(+), 18 deletions(-) diff --git a/serialize/SerialBufferAdapter.cpp b/serialize/SerialBufferAdapter.cpp index 53d0b8d49..8a5bef4a5 100644 --- a/serialize/SerialBufferAdapter.cpp +++ b/serialize/SerialBufferAdapter.cpp @@ -65,28 +65,31 @@ size_t SerialBufferAdapter::getSerializedSize() const { template ReturnValue_t SerialBufferAdapter::deSerialize(const uint8_t** buffer, size_t* size, Endianness streamEndianness) { - //TODO Ignores Endian flag! - if (this->buffer != nullptr) { - if(serializeLength){ - ReturnValue_t result = SerializeAdapter::deSerialize(&bufferLength, - buffer, size, streamEndianness); - if(result != HasReturnvaluesIF::RETURN_OK) { - return result; - } + if (this->buffer == nullptr) { + return HasReturnvaluesIF::RETURN_FAILED; + } + + if(serializeLength){ + count_t lengthField = 0; + ReturnValue_t result = SerializeAdapter::deSerialize(&lengthField, + buffer, size, streamEndianness); + if(result != HasReturnvaluesIF::RETURN_OK) { + return result; } - //No Else If, go on with buffer - if (bufferLength <= *size) { - *size -= bufferLength; - std::memcpy(this->buffer, *buffer, bufferLength); - (*buffer) += bufferLength; - return HasReturnvaluesIF::RETURN_OK; - } - else { - return STREAM_TOO_SHORT; + if(lengthField > bufferLength) { + return TOO_MANY_ELEMENTS; } + bufferLength = lengthField; + } + + if (bufferLength <= *size) { + *size -= bufferLength; + std::memcpy(this->buffer, *buffer, bufferLength); + (*buffer) += bufferLength; + return HasReturnvaluesIF::RETURN_OK; } else { - return HasReturnvaluesIF::RETURN_FAILED; + return STREAM_TOO_SHORT; } } From 7d2c48fb3375ca1ab8f1b90a3baa0256ca2f9f58 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 25 Aug 2020 13:32:17 +0200 Subject: [PATCH 85/90] serializhe improved --- serialize/SerialBufferAdapter.cpp | 41 +++++++++++++++++-------------- 1 file changed, 23 insertions(+), 18 deletions(-) diff --git a/serialize/SerialBufferAdapter.cpp b/serialize/SerialBufferAdapter.cpp index 8a5bef4a5..85a553436 100644 --- a/serialize/SerialBufferAdapter.cpp +++ b/serialize/SerialBufferAdapter.cpp @@ -28,29 +28,34 @@ ReturnValue_t SerialBufferAdapter::serialize(uint8_t** buffer, serializedLength += SerializeAdapter::getSerializedSize( &bufferLength); } + if (*size + serializedLength > maxSize) { return BUFFER_TOO_SHORT; } - else { - if (serializeLength) { - SerializeAdapter::serialize(&bufferLength, buffer, size, - maxSize, streamEndianness); + + if (serializeLength) { + ReturnValue_t result = SerializeAdapter::serialize(&bufferLength, + buffer, size, maxSize, streamEndianness); + if(result != HasReturnvaluesIF::RETURN_OK) { + return result; } - if (this->constBuffer != nullptr) { - memcpy(*buffer, this->constBuffer, bufferLength); - } - else if (this->buffer != nullptr) { - // This will propably be never reached, constBuffer should always be - // set if non-const buffer is set. - memcpy(*buffer, this->buffer, bufferLength); - } - else { - return HasReturnvaluesIF::RETURN_FAILED; - } - *size += bufferLength; - (*buffer) += bufferLength; - return HasReturnvaluesIF::RETURN_OK; } + + if (this->constBuffer != nullptr) { + std::memcpy(*buffer, this->constBuffer, bufferLength); + } + else if (this->buffer != nullptr) { + // This will propably be never reached, constBuffer should always be + // set if non-const buffer is set. + std::memcpy(*buffer, this->buffer, bufferLength); + } + else { + return HasReturnvaluesIF::RETURN_FAILED; + } + *size += bufferLength; + (*buffer) += bufferLength; + return HasReturnvaluesIF::RETURN_OK; + } template From ba4eac65ccc50898ee936b257f245a75bdd7f3e7 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 25 Aug 2020 13:33:31 +0200 Subject: [PATCH 86/90] count t replacements --- serialize/SerialBufferAdapter.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/serialize/SerialBufferAdapter.cpp b/serialize/SerialBufferAdapter.cpp index 85a553436..478957e9c 100644 --- a/serialize/SerialBufferAdapter.cpp +++ b/serialize/SerialBufferAdapter.cpp @@ -23,7 +23,7 @@ SerialBufferAdapter::~SerialBufferAdapter() { template ReturnValue_t SerialBufferAdapter::serialize(uint8_t** buffer, size_t* size, size_t maxSize, Endianness streamEndianness) const { - uint32_t serializedLength = bufferLength; + count_t serializedLength = bufferLength; if (serializeLength) { serializedLength += SerializeAdapter::getSerializedSize( &bufferLength); From fb0a3d22dbbd5d33e2ad9fde4586d7a9ef8731b7 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 25 Aug 2020 13:34:52 +0200 Subject: [PATCH 87/90] linker forward decl added --- serialize/SerialBufferAdapter.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/serialize/SerialBufferAdapter.cpp b/serialize/SerialBufferAdapter.cpp index 478957e9c..c300eb36a 100644 --- a/serialize/SerialBufferAdapter.cpp +++ b/serialize/SerialBufferAdapter.cpp @@ -131,4 +131,6 @@ void SerialBufferAdapter::setBuffer(uint8_t* buffer, template class SerialBufferAdapter; template class SerialBufferAdapter; template class SerialBufferAdapter; +template class SerialBufferAdapter; +template class SerialBufferAdapter; From de98dd0871a8c091b8413bd9172416a3afe54f71 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 25 Aug 2020 13:37:42 +0200 Subject: [PATCH 88/90] optimization --- serialize/SerialBufferAdapter.cpp | 14 ++++---------- 1 file changed, 4 insertions(+), 10 deletions(-) diff --git a/serialize/SerialBufferAdapter.cpp b/serialize/SerialBufferAdapter.cpp index c300eb36a..ab52262fb 100644 --- a/serialize/SerialBufferAdapter.cpp +++ b/serialize/SerialBufferAdapter.cpp @@ -23,16 +23,6 @@ SerialBufferAdapter::~SerialBufferAdapter() { template ReturnValue_t SerialBufferAdapter::serialize(uint8_t** buffer, size_t* size, size_t maxSize, Endianness streamEndianness) const { - count_t serializedLength = bufferLength; - if (serializeLength) { - serializedLength += SerializeAdapter::getSerializedSize( - &bufferLength); - } - - if (*size + serializedLength > maxSize) { - return BUFFER_TOO_SHORT; - } - if (serializeLength) { ReturnValue_t result = SerializeAdapter::serialize(&bufferLength, buffer, size, maxSize, streamEndianness); @@ -41,6 +31,10 @@ ReturnValue_t SerialBufferAdapter::serialize(uint8_t** buffer, } } + if (*size + bufferLength > maxSize) { + return BUFFER_TOO_SHORT; + } + if (this->constBuffer != nullptr) { std::memcpy(*buffer, this->constBuffer, bufferLength); } From 9c2925333788750422f65364445d8f428c00aeb1 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 25 Aug 2020 13:42:36 +0200 Subject: [PATCH 89/90] removed forward decl --- serialize/SerialBufferAdapter.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/serialize/SerialBufferAdapter.cpp b/serialize/SerialBufferAdapter.cpp index ab52262fb..812cd34b2 100644 --- a/serialize/SerialBufferAdapter.cpp +++ b/serialize/SerialBufferAdapter.cpp @@ -126,5 +126,4 @@ template class SerialBufferAdapter; template class SerialBufferAdapter; template class SerialBufferAdapter; template class SerialBufferAdapter; -template class SerialBufferAdapter; From d9ee6d0d909028dd1190985189e4b2f01c58e5c3 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 25 Aug 2020 18:15:02 +0200 Subject: [PATCH 90/90] include fix --- osal/FreeRTOS/Mutex.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/osal/FreeRTOS/Mutex.cpp b/osal/FreeRTOS/Mutex.cpp index e5896c411..9d9638b5f 100644 --- a/osal/FreeRTOS/Mutex.cpp +++ b/osal/FreeRTOS/Mutex.cpp @@ -1,4 +1,4 @@ -#include +#include "Mutex.h" #include "../../serviceinterface/ServiceInterfaceStream.h"