Merge remote-tracking branch 'upstream/development' into mueller/refactor-logging-with-fmt
fsfw/fsfw/pipeline/pr-development There was a failure building this commit Details

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Robin Müller 2022-05-16 14:41:19 +02:00
commit 8d966de735
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GPG Key ID: 71B58F8A3CDFA9AC
14 changed files with 1438 additions and 418 deletions

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@ -87,6 +87,9 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
- Dedicated Version class and constant `fsfw::FSFW_VERSION` containing version information
inside `fsfw/version.h`
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/559
- Added generic PUS TC Scheduler Service 11. It depends on the new added Emebeded Template Library
(ETL) dependency.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/594
- Added ETL dependency and improved library dependency management
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/592
- Add a `DummyPowerSwitcher` module which can be useful for test setups when no PCDU is available

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@ -20,7 +20,9 @@ LinuxLibgpioIF::~LinuxLibgpioIF() {
ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
ReturnValue_t result;
if (gpioCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "LinuxLibgpioIF::addGpios: Invalid cookie" << std::endl;
#endif
return RETURN_FAILED;
}
@ -96,8 +98,10 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId,
std::string& label = gpioByLabel.label;
struct gpiod_chip* chip = gpiod_chip_open_by_label(label.c_str());
if (chip == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LinuxLibgpioIF::configureGpioByLabel: Failed to open gpio from gpio "
<< "group with label " << label << ". Gpio ID: " << gpioId << std::endl;
#endif
return RETURN_FAILED;
}
std::string failOutput = "label: " + label;
@ -108,8 +112,10 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId, GpiodRegularB
std::string& chipname = gpioByChip.chipname;
struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname.c_str());
if (chip == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LinuxLibgpioIF::configureGpioByChip: Failed to open chip " << chipname
<< ". Gpio ID: " << gpioId << std::endl;
#endif
return RETURN_FAILED;
}
std::string failOutput = "chipname: " + chipname;
@ -133,8 +139,10 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname);
if (chip == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LinuxLibgpioIF::configureGpioByLineName: Failed to open chip " << chipname
<< ". <Gpio ID: " << gpioId << std::endl;
#endif
return RETURN_FAILED;
}
std::string failOutput = "line name: " + lineName;
@ -153,10 +161,12 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
lineNum = regularGpio.lineNum;
lineHandle = gpiod_chip_get_line(chip, lineNum);
if (!lineHandle) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
sif::warning << "GPIO ID: " << gpioId << ", line number: " << lineNum << ", " << failOutput
<< std::endl;
sif::warning << "Check if Linux GPIO configuration has changed. " << std::endl;
#endif
gpiod_chip_close(chip);
return RETURN_FAILED;
}
@ -175,7 +185,9 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
break;
}
default: {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified" << std::endl;
#endif
return GPIO_INVALID_INSTANCE;
}
@ -204,7 +216,9 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
gpioMapIter = gpioMap.find(gpioId);
if (gpioMapIter == gpioMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LinuxLibgpioIF::pullHigh: Unknown GPIO ID " << gpioId << std::endl;
#endif
return UNKNOWN_GPIO_ID;
}

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@ -5,89 +5,88 @@
#error Include FIFOBase.h before FIFOBase.tpp!
#endif
template<typename T>
inline FIFOBase<T>::FIFOBase(T* values, const size_t maxCapacity):
maxCapacity(maxCapacity), values(values){};
template <typename T>
inline FIFOBase<T>::FIFOBase(T* values, const size_t maxCapacity)
: maxCapacity(maxCapacity), values(values){};
template<typename T>
template <typename T>
inline ReturnValue_t FIFOBase<T>::insert(T value) {
if (full()) {
return FULL;
} else {
values[writeIndex] = value;
writeIndex = next(writeIndex);
++currentSize;
return HasReturnvaluesIF::RETURN_OK;
}
if (full()) {
return FULL;
} else {
values[writeIndex] = value;
writeIndex = next(writeIndex);
++currentSize;
return HasReturnvaluesIF::RETURN_OK;
}
};
template<typename T>
template <typename T>
inline ReturnValue_t FIFOBase<T>::retrieve(T* value) {
if (empty()) {
return EMPTY;
} else {
if (value == nullptr){
return HasReturnvaluesIF::RETURN_FAILED;
}
*value = values[readIndex];
readIndex = next(readIndex);
--currentSize;
return HasReturnvaluesIF::RETURN_OK;
if (empty()) {
return EMPTY;
} else {
if (value == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
*value = values[readIndex];
readIndex = next(readIndex);
--currentSize;
return HasReturnvaluesIF::RETURN_OK;
}
};
template<typename T>
template <typename T>
inline ReturnValue_t FIFOBase<T>::peek(T* value) {
if(empty()) {
return EMPTY;
} else {
if (value == nullptr){
return HasReturnvaluesIF::RETURN_FAILED;
}
*value = values[readIndex];
return HasReturnvaluesIF::RETURN_OK;
if (empty()) {
return EMPTY;
} else {
if (value == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
*value = values[readIndex];
return HasReturnvaluesIF::RETURN_OK;
}
};
template<typename T>
template <typename T>
inline ReturnValue_t FIFOBase<T>::pop() {
T value;
return this->retrieve(&value);
T value;
return this->retrieve(&value);
};
template<typename T>
template <typename T>
inline bool FIFOBase<T>::empty() {
return (currentSize == 0);
return (currentSize == 0);
};
template<typename T>
template <typename T>
inline bool FIFOBase<T>::full() {
return (currentSize == maxCapacity);
return (currentSize == maxCapacity);
}
template<typename T>
template <typename T>
inline size_t FIFOBase<T>::size() {
return currentSize;
return currentSize;
}
template<typename T>
template <typename T>
inline size_t FIFOBase<T>::next(size_t current) {
++current;
if (current == maxCapacity) {
current = 0;
}
return current;
++current;
if (current == maxCapacity) {
current = 0;
}
return current;
}
template<typename T>
template <typename T>
inline size_t FIFOBase<T>::getMaxCapacity() const {
return maxCapacity;
return maxCapacity;
}
template<typename T>
inline void FIFOBase<T>::setContainer(T *data) {
this->values = data;
template <typename T>
inline void FIFOBase<T>::setContainer(T* data) {
this->values = data;
}
#endif

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@ -1,109 +1,109 @@
#ifndef FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_
#define FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_
template<typename key_t, typename T, typename KEY_COMPARE>
inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(key_t key, T value, Iterator *storedValue) {
if (_size == theMap.maxSize()) {
return MAP_FULL;
}
size_t position = findNicePlace(key);
memmove(static_cast<void*>(&theMap[position + 1]),static_cast<void*>(&theMap[position]),
(_size - position) * sizeof(std::pair<key_t,T>));
theMap[position].first = key;
theMap[position].second = value;
++_size;
if (storedValue != nullptr) {
*storedValue = Iterator(&theMap[position]);
}
return HasReturnvaluesIF::RETURN_OK;
template <typename key_t, typename T, typename KEY_COMPARE>
inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(key_t key, T value,
Iterator *storedValue) {
if (_size == theMap.maxSize()) {
return MAP_FULL;
}
size_t position = findNicePlace(key);
memmove(static_cast<void *>(&theMap[position + 1]), static_cast<void *>(&theMap[position]),
(_size - position) * sizeof(std::pair<key_t, T>));
theMap[position].first = key;
theMap[position].second = value;
++_size;
if (storedValue != nullptr) {
*storedValue = Iterator(&theMap[position]);
}
return HasReturnvaluesIF::RETURN_OK;
}
template<typename key_t, typename T, typename KEY_COMPARE>
template <typename key_t, typename T, typename KEY_COMPARE>
inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(std::pair<key_t, T> pair) {
return insert(pair.first, pair.second);
return insert(pair.first, pair.second);
}
template<typename key_t, typename T, typename KEY_COMPARE>
template <typename key_t, typename T, typename KEY_COMPARE>
inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::exists(key_t key) const {
ReturnValue_t result = KEY_DOES_NOT_EXIST;
if (findFirstIndex(key) < _size) {
result = HasReturnvaluesIF::RETURN_OK;
}
return result;
ReturnValue_t result = KEY_DOES_NOT_EXIST;
if (findFirstIndex(key) < _size) {
result = HasReturnvaluesIF::RETURN_OK;
}
return result;
}
template<typename key_t, typename T, typename KEY_COMPARE>
template <typename key_t, typename T, typename KEY_COMPARE>
inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::erase(Iterator *iter) {
size_t i;
if ((i = findFirstIndex((*iter).value->first)) >= _size) {
return KEY_DOES_NOT_EXIST;
}
removeFromPosition(i);
if (*iter != begin()) {
(*iter)--;
} else {
*iter = begin();
}
return HasReturnvaluesIF::RETURN_OK;
size_t i;
if ((i = findFirstIndex((*iter).value->first)) >= _size) {
return KEY_DOES_NOT_EXIST;
}
removeFromPosition(i);
if (*iter != begin()) {
(*iter)--;
} else {
*iter = begin();
}
return HasReturnvaluesIF::RETURN_OK;
}
template<typename key_t, typename T, typename KEY_COMPARE>
template <typename key_t, typename T, typename KEY_COMPARE>
inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::erase(key_t key) {
size_t i;
if ((i = findFirstIndex(key)) >= _size) {
return KEY_DOES_NOT_EXIST;
}
do {
removeFromPosition(i);
i = findFirstIndex(key, i);
} while (i < _size);
return HasReturnvaluesIF::RETURN_OK;
size_t i;
if ((i = findFirstIndex(key)) >= _size) {
return KEY_DOES_NOT_EXIST;
}
do {
removeFromPosition(i);
i = findFirstIndex(key, i);
} while (i < _size);
return HasReturnvaluesIF::RETURN_OK;
}
template<typename key_t, typename T, typename KEY_COMPARE>
template <typename key_t, typename T, typename KEY_COMPARE>
inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::find(key_t key, T **value) const {
ReturnValue_t result = exists(key);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
*value = &theMap[findFirstIndex(key)].second;
return HasReturnvaluesIF::RETURN_OK;
ReturnValue_t result = exists(key);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
*value = &theMap[findFirstIndex(key)].second;
return HasReturnvaluesIF::RETURN_OK;
}
template<typename key_t, typename T, typename KEY_COMPARE>
inline size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findFirstIndex(key_t key, size_t startAt) const {
if (startAt >= _size) {
return startAt + 1;
template <typename key_t, typename T, typename KEY_COMPARE>
inline size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findFirstIndex(key_t key,
size_t startAt) const {
if (startAt >= _size) {
return startAt + 1;
}
size_t i = startAt;
for (i = startAt; i < _size; ++i) {
if (theMap[i].first == key) {
return i;
}
size_t i = startAt;
for (i = startAt; i < _size; ++i) {
if (theMap[i].first == key) {
return i;
}
}
return i;
}
return i;
}
template<typename key_t, typename T, typename KEY_COMPARE>
template <typename key_t, typename T, typename KEY_COMPARE>
inline size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findNicePlace(key_t key) const {
size_t i = 0;
for (i = 0; i < _size; ++i) {
if (myComp(key, theMap[i].first)) {
return i;
}
size_t i = 0;
for (i = 0; i < _size; ++i) {
if (myComp(key, theMap[i].first)) {
return i;
}
return i;
}
return i;
}
template<typename key_t, typename T, typename KEY_COMPARE>
template <typename key_t, typename T, typename KEY_COMPARE>
inline void FixedOrderedMultimap<key_t, T, KEY_COMPARE>::removeFromPosition(size_t position) {
if (_size <= position) {
return;
}
memmove(static_cast<void*>(&theMap[position]), static_cast<void*>(&theMap[position + 1]),
(_size - position - 1) * sizeof(std::pair<key_t,T>));
--_size;
if (_size <= position) {
return;
}
memmove(static_cast<void *>(&theMap[position]), static_cast<void *>(&theMap[position + 1]),
(_size - position - 1) * sizeof(std::pair<key_t, T>));
--_size;
}
#endif /* FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_ */

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@ -5,205 +5,189 @@
#error Include LocalPoolVariable.h before LocalPoolVariable.tpp!
#endif
template<typename T>
inline LocalPoolVariable<T>::LocalPoolVariable(HasLocalDataPoolIF* hkOwner,
lp_id_t poolId, DataSetIF* dataSet, pool_rwm_t setReadWriteMode):
LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
template <typename T>
inline LocalPoolVariable<T>::LocalPoolVariable(HasLocalDataPoolIF* hkOwner, lp_id_t poolId,
DataSetIF* dataSet, pool_rwm_t setReadWriteMode)
: LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
template<typename T>
inline LocalPoolVariable<T>::LocalPoolVariable(object_id_t poolOwner,
lp_id_t poolId, DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
template <typename T>
inline LocalPoolVariable<T>::LocalPoolVariable(object_id_t poolOwner, lp_id_t poolId,
DataSetIF* dataSet, pool_rwm_t setReadWriteMode)
: LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
template <typename T>
inline LocalPoolVariable<T>::LocalPoolVariable(gp_id_t globalPoolId, DataSetIF* dataSet,
pool_rwm_t setReadWriteMode)
: LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId, dataSet,
setReadWriteMode) {}
template<typename T>
inline LocalPoolVariable<T>::LocalPoolVariable(gp_id_t globalPoolId,
DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId,
dataSet, setReadWriteMode){}
template<typename T>
inline ReturnValue_t LocalPoolVariable<T>::read(
MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
if(hkManager == nullptr) {
return readWithoutLock();
}
MutexIF* mutex = LocalDpManagerAttorney::getMutexHandle(*hkManager);
ReturnValue_t result = mutex->lockMutex(timeoutType, timeoutMs);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = readWithoutLock();
mutex->unlockMutex();
template <typename T>
inline ReturnValue_t LocalPoolVariable<T>::read(MutexIF::TimeoutType timeoutType,
uint32_t timeoutMs) {
if (hkManager == nullptr) {
return readWithoutLock();
}
MutexIF* mutex = LocalDpManagerAttorney::getMutexHandle(*hkManager);
ReturnValue_t result = mutex->lockMutex(timeoutType, timeoutMs);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = readWithoutLock();
mutex->unlockMutex();
return result;
}
template<typename T>
template <typename T>
inline ReturnValue_t LocalPoolVariable<T>::readWithoutLock() {
if(readWriteMode == pool_rwm_t::VAR_WRITE) {
object_id_t targetObjectId = hkManager->getCreatorObjectId();
reportReadCommitError("LocalPoolVector",
PoolVariableIF::INVALID_READ_WRITE_MODE, true, targetObjectId,
localPoolId);
return PoolVariableIF::INVALID_READ_WRITE_MODE;
}
if (readWriteMode == pool_rwm_t::VAR_WRITE) {
object_id_t targetObjectId = hkManager->getCreatorObjectId();
reportReadCommitError("LocalPoolVector", PoolVariableIF::INVALID_READ_WRITE_MODE, true,
targetObjectId, localPoolId);
return PoolVariableIF::INVALID_READ_WRITE_MODE;
}
PoolEntry<T>* poolEntry = nullptr;
ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId,
&poolEntry);
if(result != RETURN_OK) {
object_id_t ownerObjectId = hkManager->getCreatorObjectId();
reportReadCommitError("LocalPoolVariable", result,
false, ownerObjectId, localPoolId);
return result;
}
this->value = *(poolEntry->getDataPtr());
this->valid = poolEntry->getValid();
return RETURN_OK;
}
template<typename T>
inline ReturnValue_t LocalPoolVariable<T>::commit(bool setValid,
MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
this->setValid(setValid);
return commit(timeoutType, timeoutMs);
}
template<typename T>
inline ReturnValue_t LocalPoolVariable<T>::commit(
MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
if(hkManager == nullptr) {
return commitWithoutLock();
}
MutexIF* mutex = LocalDpManagerAttorney::getMutexHandle(*hkManager);
ReturnValue_t result = mutex->lockMutex(timeoutType, timeoutMs);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = commitWithoutLock();
mutex->unlockMutex();
PoolEntry<T>* poolEntry = nullptr;
ReturnValue_t result =
LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, &poolEntry);
if (result != RETURN_OK) {
object_id_t ownerObjectId = hkManager->getCreatorObjectId();
reportReadCommitError("LocalPoolVariable", result, false, ownerObjectId, localPoolId);
return result;
}
this->value = *(poolEntry->getDataPtr());
this->valid = poolEntry->getValid();
return RETURN_OK;
}
template<typename T>
template <typename T>
inline ReturnValue_t LocalPoolVariable<T>::commit(bool setValid, MutexIF::TimeoutType timeoutType,
uint32_t timeoutMs) {
this->setValid(setValid);
return commit(timeoutType, timeoutMs);
}
template <typename T>
inline ReturnValue_t LocalPoolVariable<T>::commit(MutexIF::TimeoutType timeoutType,
uint32_t timeoutMs) {
if (hkManager == nullptr) {
return commitWithoutLock();
}
MutexIF* mutex = LocalDpManagerAttorney::getMutexHandle(*hkManager);
ReturnValue_t result = mutex->lockMutex(timeoutType, timeoutMs);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = commitWithoutLock();
mutex->unlockMutex();
return result;
}
template <typename T>
inline ReturnValue_t LocalPoolVariable<T>::commitWithoutLock() {
if(readWriteMode == pool_rwm_t::VAR_READ) {
object_id_t targetObjectId = hkManager->getCreatorObjectId();
reportReadCommitError("LocalPoolVector",
PoolVariableIF::INVALID_READ_WRITE_MODE, false, targetObjectId,
localPoolId);
return PoolVariableIF::INVALID_READ_WRITE_MODE;
}
if (readWriteMode == pool_rwm_t::VAR_READ) {
object_id_t targetObjectId = hkManager->getCreatorObjectId();
reportReadCommitError("LocalPoolVector", PoolVariableIF::INVALID_READ_WRITE_MODE, false,
targetObjectId, localPoolId);
return PoolVariableIF::INVALID_READ_WRITE_MODE;
}
PoolEntry<T>* poolEntry = nullptr;
ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId,
&poolEntry);
if(result != RETURN_OK) {
object_id_t ownerObjectId = hkManager->getCreatorObjectId();
reportReadCommitError("LocalPoolVariable", result,
false, ownerObjectId, localPoolId);
return result;
}
PoolEntry<T>* poolEntry = nullptr;
ReturnValue_t result =
LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, &poolEntry);
if (result != RETURN_OK) {
object_id_t ownerObjectId = hkManager->getCreatorObjectId();
reportReadCommitError("LocalPoolVariable", result, false, ownerObjectId, localPoolId);
return result;
}
*(poolEntry->getDataPtr()) = this->value;
poolEntry->setValid(this->valid);
return RETURN_OK;
*(poolEntry->getDataPtr()) = this->value;
poolEntry->setValid(this->valid);
return RETURN_OK;
}
template<typename T>
inline ReturnValue_t LocalPoolVariable<T>::serialize(uint8_t** buffer,
size_t* size, const size_t max_size,
SerializeIF::Endianness streamEndianness) const {
return SerializeAdapter::serialize(&value,
buffer, size ,max_size, streamEndianness);
template <typename T>
inline ReturnValue_t LocalPoolVariable<T>::serialize(
uint8_t** buffer, size_t* size, const size_t max_size,
SerializeIF::Endianness streamEndianness) const {
return SerializeAdapter::serialize(&value, buffer, size, max_size, streamEndianness);
}
template<typename T>
template <typename T>
inline size_t LocalPoolVariable<T>::getSerializedSize() const {
return SerializeAdapter::getSerializedSize(&value);
return SerializeAdapter::getSerializedSize(&value);
}
template<typename T>
inline ReturnValue_t LocalPoolVariable<T>::deSerialize(const uint8_t** buffer,
size_t* size, SerializeIF::Endianness streamEndianness) {
return SerializeAdapter::deSerialize(&value, buffer, size, streamEndianness);
template <typename T>
inline ReturnValue_t LocalPoolVariable<T>::deSerialize(const uint8_t** buffer, size_t* size,
SerializeIF::Endianness streamEndianness) {
return SerializeAdapter::deSerialize(&value, buffer, size, streamEndianness);
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
template<typename T>
inline std::ostream& operator<< (std::ostream &out,
const LocalPoolVariable<T> &var) {
out << var.value;
return out;
template <typename T>
inline std::ostream& operator<<(std::ostream& out, const LocalPoolVariable<T>& var) {
out << var.value;
return out;
}
#endif
template<typename T>
template <typename T>
inline LocalPoolVariable<T>::operator T() const {
return value;
return value;
}
template<typename T>
inline LocalPoolVariable<T> & LocalPoolVariable<T>::operator=(
const T& newValue) {
value = newValue;
return *this;
template <typename T>
inline LocalPoolVariable<T>& LocalPoolVariable<T>::operator=(const T& newValue) {
value = newValue;
return *this;
}
template<typename T>
inline LocalPoolVariable<T>& LocalPoolVariable<T>::operator =(
const LocalPoolVariable<T>& newPoolVariable) {
value = newPoolVariable.value;
return *this;
template <typename T>
inline LocalPoolVariable<T>& LocalPoolVariable<T>::operator=(
const LocalPoolVariable<T>& newPoolVariable) {
value = newPoolVariable.value;
return *this;
}
template<typename T>
inline bool LocalPoolVariable<T>::operator ==(
const LocalPoolVariable<T> &other) const {
return this->value == other.value;
template <typename T>
inline bool LocalPoolVariable<T>::operator==(const LocalPoolVariable<T>& other) const {
return this->value == other.value;
}
template<typename T>
inline bool LocalPoolVariable<T>::operator ==(const T &other) const {
return this->value == other;
template <typename T>
inline bool LocalPoolVariable<T>::operator==(const T& other) const {
return this->value == other;
}
template<typename T>
inline bool LocalPoolVariable<T>::operator !=(
const LocalPoolVariable<T> &other) const {
return not (*this == other);
template <typename T>
inline bool LocalPoolVariable<T>::operator!=(const LocalPoolVariable<T>& other) const {
return not(*this == other);
}
template<typename T>
inline bool LocalPoolVariable<T>::operator !=(const T &other) const {
return not (*this == other);
template <typename T>
inline bool LocalPoolVariable<T>::operator!=(const T& other) const {
return not(*this == other);
}
template<typename T>
inline bool LocalPoolVariable<T>::operator <(
const LocalPoolVariable<T> &other) const {
return this->value < other.value;
template <typename T>
inline bool LocalPoolVariable<T>::operator<(const LocalPoolVariable<T>& other) const {
return this->value < other.value;
}
template<typename T>
inline bool LocalPoolVariable<T>::operator <(const T &other) const {
return this->value < other;
template <typename T>
inline bool LocalPoolVariable<T>::operator<(const T& other) const {
return this->value < other;
}
template<typename T>
inline bool LocalPoolVariable<T>::operator >(
const LocalPoolVariable<T> &other) const {
return not (*this < other);
template <typename T>
inline bool LocalPoolVariable<T>::operator>(const LocalPoolVariable<T>& other) const {
return not(*this < other);
}
template<typename T>
inline bool LocalPoolVariable<T>::operator >(const T &other) const {
return not (*this < other);
template <typename T>
inline bool LocalPoolVariable<T>::operator>(const T& other) const {
return not(*this < other);
}
#endif /* FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_TPP_ */

View File

@ -5,162 +5,212 @@
#error Include LocalPoolVector.h before LocalPoolVector.tpp!
#endif
template<typename T, uint16_t vectorSize>
inline LocalPoolVector<T, vectorSize>::LocalPoolVector(
HasLocalDataPoolIF* hkOwner, lp_id_t poolId, DataSetIF* dataSet,
pool_rwm_t setReadWriteMode):
LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
template <typename T, uint16_t vectorSize>
inline LocalPoolVector<T, vectorSize>::LocalPoolVector(HasLocalDataPoolIF* hkOwner, lp_id_t poolId,
DataSetIF* dataSet,
pool_rwm_t setReadWriteMode)
: LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
template<typename T, uint16_t vectorSize>
inline LocalPoolVector<T, vectorSize>::LocalPoolVector(object_id_t poolOwner,
lp_id_t poolId, DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
template <typename T, uint16_t vectorSize>
inline LocalPoolVector<T, vectorSize>::LocalPoolVector(object_id_t poolOwner, lp_id_t poolId,
DataSetIF* dataSet,
pool_rwm_t setReadWriteMode)
: LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
template<typename T, uint16_t vectorSize>
inline LocalPoolVector<T, vectorSize>::LocalPoolVector(gp_id_t globalPoolId,
DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId,
dataSet, setReadWriteMode) {}
template <typename T, uint16_t vectorSize>
inline LocalPoolVector<T, vectorSize>::LocalPoolVector(gp_id_t globalPoolId, DataSetIF* dataSet,
pool_rwm_t setReadWriteMode)
: LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId, dataSet,
setReadWriteMode) {}
template<typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::read(
MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
return readWithoutLock();
template <typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::read(MutexIF::TimeoutType timeoutType,
uint32_t timeoutMs) {
MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
return readWithoutLock();
}
template<typename T, uint16_t vectorSize>
template <typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::readWithoutLock() {
if(readWriteMode == pool_rwm_t::VAR_WRITE) {
object_id_t targetObjectId = hkManager->getCreatorObjectId();
reportReadCommitError("LocalPoolVector",
PoolVariableIF::INVALID_READ_WRITE_MODE, true, targetObjectId,
localPoolId);
return PoolVariableIF::INVALID_READ_WRITE_MODE;
}
if (readWriteMode == pool_rwm_t::VAR_WRITE) {
object_id_t targetObjectId = hkManager->getCreatorObjectId();
reportReadCommitError("LocalPoolVector", PoolVariableIF::INVALID_READ_WRITE_MODE, true,
targetObjectId, localPoolId);
return PoolVariableIF::INVALID_READ_WRITE_MODE;
}
PoolEntry<T>* poolEntry = nullptr;
ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId,
&poolEntry);
memset(this->value, 0, vectorSize * sizeof(T));
PoolEntry<T>* poolEntry = nullptr;
ReturnValue_t result =
LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, &poolEntry);
memset(this->value, 0, vectorSize * sizeof(T));
if(result != RETURN_OK) {
object_id_t targetObjectId = hkManager->getCreatorObjectId();
reportReadCommitError("LocalPoolVector", result, true, targetObjectId,
localPoolId);
return result;
}
std::memcpy(this->value, poolEntry->getDataPtr(), poolEntry->getByteSize());
this->valid = poolEntry->getValid();
return RETURN_OK;
if (result != RETURN_OK) {
object_id_t targetObjectId = hkManager->getCreatorObjectId();
reportReadCommitError("LocalPoolVector", result, true, targetObjectId, localPoolId);
return result;
}
std::memcpy(this->value, poolEntry->getDataPtr(), poolEntry->getByteSize());
this->valid = poolEntry->getValid();
return RETURN_OK;
}
template<typename T, uint16_t vectorSize>
template <typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::commit(bool valid,
MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
this->setValid(valid);
return commit(timeoutType, timeoutMs);
MutexIF::TimeoutType timeoutType,
uint32_t timeoutMs) {
this->setValid(valid);
return commit(timeoutType, timeoutMs);
}
template<typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::commit(
MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
return commitWithoutLock();
template <typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::commit(MutexIF::TimeoutType timeoutType,
uint32_t timeoutMs) {
MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
return commitWithoutLock();
}
template<typename T, uint16_t vectorSize>
template <typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::commitWithoutLock() {
if(readWriteMode == pool_rwm_t::VAR_READ) {
object_id_t targetObjectId = hkManager->getCreatorObjectId();
reportReadCommitError("LocalPoolVector",
PoolVariableIF::INVALID_READ_WRITE_MODE, false, targetObjectId,
localPoolId);
return PoolVariableIF::INVALID_READ_WRITE_MODE;
}
PoolEntry<T>* poolEntry = nullptr;
ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId,
&poolEntry);
if(result != RETURN_OK) {
object_id_t targetObjectId = hkManager->getCreatorObjectId();
reportReadCommitError("LocalPoolVector", result, false, targetObjectId,
localPoolId);
return result;
}
std::memcpy(poolEntry->getDataPtr(), this->value, poolEntry->getByteSize());
poolEntry->setValid(this->valid);
return RETURN_OK;
}
template<typename T, uint16_t vectorSize>
inline T& LocalPoolVector<T, vectorSize>::operator [](size_t i) {
if(i < vectorSize) {
return value[i];
}
// If this happens, I have to set some value. I consider this
// a configuration error, but I wont exit here.
FSFW_LOGWT("{}", "operator[]: Invalid index. Setting or returning last value\n");
return value[vectorSize - 1];
}
template<typename T, uint16_t vectorSize>
inline const T& LocalPoolVector<T, vectorSize>::operator [](size_t i) const {
if(i < vectorSize) {
return value[i];
}
// If this happens, I have to set some value. I consider this
// a configuration error, but I wont exit here.
FSFW_LOGWT("{}", "operator[]: Invalid index. Setting or returning last value\n");
return value[vectorSize - 1];
}
template<typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::serialize(uint8_t** buffer,
size_t* size, size_t maxSize,
SerializeIF::Endianness streamEndianness) const {
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
for (uint16_t i = 0; i < vectorSize; i++) {
result = SerializeAdapter::serialize(&(value[i]), buffer, size,
maxSize, streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
break;
}
}
if (readWriteMode == pool_rwm_t::VAR_READ) {
object_id_t targetObjectId = hkManager->getCreatorObjectId();
reportReadCommitError("LocalPoolVector", PoolVariableIF::INVALID_READ_WRITE_MODE, false,
targetObjectId, localPoolId);
return PoolVariableIF::INVALID_READ_WRITE_MODE;
}
PoolEntry<T>* poolEntry = nullptr;
ReturnValue_t result =
LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, &poolEntry);
if (result != RETURN_OK) {
object_id_t targetObjectId = hkManager->getCreatorObjectId();
reportReadCommitError("LocalPoolVector", result, false, targetObjectId, localPoolId);
return result;
}
std::memcpy(poolEntry->getDataPtr(), this->value, poolEntry->getByteSize());
poolEntry->setValid(this->valid);
return RETURN_OK;
}
template<typename T, uint16_t vectorSize>
template <typename T, uint16_t vectorSize>
inline T& LocalPoolVector<T, vectorSize>::operator[](size_t i) {
if (i < vectorSize) {
return value[i];
}
// If this happens, I have to set some value. I consider this
// a configuration error, but I wont exit here.
FSFW_LOGWT("{}", "operator[]: Invalid index. Setting or returning last value\n");
return value[vectorSize - 1];
}
template <typename T, uint16_t vectorSize>
inline const T& LocalPoolVector<T, vectorSize>::operator[](size_t i) const {
if (i < vectorSize) {
return value[i];
}
// If this happens, I have to set some value. I consider this
// a configuration error, but I wont exit here.
FSFW_LOGWT("{}", "operator[]: Invalid index. Setting or returning last value\n");
return value[vectorSize - 1];
}
template <typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::serialize(
uint8_t** buffer, size_t* size, size_t maxSize,
SerializeIF::Endianness streamEndianness) const {
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
for (uint16_t i = 0; i < vectorSize; i++) {
result = SerializeAdapter::serialize(&(value[i]), buffer, size, maxSize, streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
break;
}
}
return result;
}
std::memcpy(poolEntry->getDataPtr(), this->value, poolEntry->getByteSize());
poolEntry->setValid(this->valid);
return RETURN_OK;
}
template <typename T, uint16_t vectorSize>
inline T& LocalPoolVector<T, vectorSize>::operator[](size_t i) {
if (i < vectorSize) {
return value[i];
}
// If this happens, I have to set some value. I consider this
// a configuration error, but I wont exit here.
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LocalPoolVector: Invalid index. Setting or returning"
" last value!"
<< std::endl;
#else
sif::printWarning(
"LocalPoolVector: Invalid index. Setting or returning"
" last value!\n");
#endif
return value[vectorSize - 1];
}
template <typename T, uint16_t vectorSize>
inline const T& LocalPoolVector<T, vectorSize>::operator[](size_t i) const {
if (i < vectorSize) {
return value[i];
}
// If this happens, I have to set some value. I consider this
// a configuration error, but I wont exit here.
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LocalPoolVector: Invalid index. Setting or returning"
" last value!"
<< std::endl;
#else
sif::printWarning(
"LocalPoolVector: Invalid index. Setting or returning"
" last value!\n");
#endif
return value[vectorSize - 1];
}
template <typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::serialize(
uint8_t** buffer, size_t* size, size_t maxSize,
SerializeIF::Endianness streamEndianness) const {
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
for (uint16_t i = 0; i < vectorSize; i++) {
result = SerializeAdapter::serialize(&(value[i]), buffer, size, maxSize, streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
break;
}
}
return result;
}
template <typename T, uint16_t vectorSize>
inline size_t LocalPoolVector<T, vectorSize>::getSerializedSize() const {
return vectorSize * SerializeAdapter::getSerializedSize(value);
return vectorSize * SerializeAdapter::getSerializedSize(value);
}
template<typename T, uint16_t vectorSize>
template <typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::deSerialize(
const uint8_t** buffer, size_t* size,
SerializeIF::Endianness streamEndianness) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
for (uint16_t i = 0; i < vectorSize; i++) {
result = SerializeAdapter::deSerialize(&(value[i]), buffer, size,
streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
break;
}
const uint8_t** buffer, size_t* size, SerializeIF::Endianness streamEndianness) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
for (uint16_t i = 0; i < vectorSize; i++) {
result = SerializeAdapter::deSerialize(&(value[i]), buffer, size, streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
break;
}
return result;
}
return result;
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
template<typename T, uint16_t vectorSize>
inline std::ostream& operator<< (std::ostream &out,
const LocalPoolVector<T, vectorSize> &var) {
out << "Vector: [";
for(int i = 0;i < vectorSize; i++) {
out << var.value[i];
if(i < vectorSize - 1) {
out << ", ";
}
template <typename T, uint16_t vectorSize>
inline std::ostream& operator<<(std::ostream& out, const LocalPoolVector<T, vectorSize>& var) {
out << "Vector: [";
for (int i = 0; i < vectorSize; i++) {
out << var.value[i];
if (i < vectorSize - 1) {
out << ", ";
}
out << "]";
return out;
}
out << "]";
return out;
}
#endif

View File

@ -4,4 +4,5 @@ target_sources(${LIB_FSFW_NAME} PRIVATE
PowerSensor.cpp
PowerSwitcher.cpp
DummyPowerSwitcher.cpp
PowerSwitcherComponent.cpp
)

View File

@ -17,28 +17,28 @@ void DummyPowerSwitcher::setInitialFusesList(std::vector<ReturnValue_t> fuseList
}
ReturnValue_t DummyPowerSwitcher::sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) {
if (switchNr < switcherList.capacity()) {
if (switchNr < switcherList.size()) {
switcherList[switchNr] = onOff;
}
return RETURN_FAILED;
}
ReturnValue_t DummyPowerSwitcher::sendFuseOnCommand(uint8_t fuseNr) {
if (fuseNr < fuseList.capacity()) {
if (fuseNr < fuseList.size()) {
fuseList[fuseNr] = FUSE_ON;
}
return RETURN_FAILED;
}
ReturnValue_t DummyPowerSwitcher::getSwitchState(power::Switch_t switchNr) const {
if (switchNr < switcherList.capacity()) {
if (switchNr < switcherList.size()) {
return switcherList[switchNr];
}
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t DummyPowerSwitcher::getFuseState(uint8_t fuseNr) const {
if (fuseNr < fuseList.capacity()) {
if (fuseNr < fuseList.size()) {
return fuseList[fuseNr];
}
return HasReturnvaluesIF::RETURN_FAILED;

View File

@ -15,8 +15,7 @@ PowerSensor::PowerSensor(object_id_t objectId, sid_t setId, VariableIds ids, Def
limits.currentMin, limits.currentMax, events.currentLow, events.currentHigh),
voltageLimit(objectId, MODULE_ID_VOLTAGE, ids.pidVoltage, confirmationCount,
limits.voltageMin, limits.voltageMax, events.voltageLow, events.voltageHigh) {
commandQueue =
QueueFactory::instance()->createMessageQueue(3, MessageQueueMessage::MAX_MESSAGE_SIZE);
commandQueue = QueueFactory::instance()->createMessageQueue();
}
PowerSensor::~PowerSensor() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }

View File

@ -0,0 +1,107 @@
#include "PowerSwitcherComponent.h"
#include <fsfw/ipc/QueueFactory.h>
#include <fsfw/power/PowerSwitchIF.h>
PowerSwitcherComponent::PowerSwitcherComponent(object_id_t objectId, PowerSwitchIF *pwrSwitcher,
power::Switch_t pwrSwitch)
: SystemObject(objectId),
switcher(pwrSwitcher, pwrSwitch),
modeHelper(this),
healthHelper(this, objectId) {
queue = QueueFactory::instance()->createMessageQueue();
}
ReturnValue_t PowerSwitcherComponent::performOperation(uint8_t opCode) {
ReturnValue_t result;
CommandMessage command;
for (result = queue->receiveMessage(&command); result == RETURN_OK;
result = queue->receiveMessage(&command)) {
result = healthHelper.handleHealthCommand(&command);
if (result == RETURN_OK) {
continue;
}
result = modeHelper.handleModeCommand(&command);
if (result == RETURN_OK) {
continue;
}
}
if (switcher.active()) {
switcher.doStateMachine();
auto currState = switcher.getState();
if (currState == PowerSwitcher::SWITCH_IS_OFF) {
setMode(MODE_OFF, 0);
} else if (currState == PowerSwitcher::SWITCH_IS_ON) {
setMode(MODE_ON, 0);
}
}
return RETURN_OK;
}
ReturnValue_t PowerSwitcherComponent::initialize() {
ReturnValue_t result = modeHelper.initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = healthHelper.initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return SystemObject::initialize();
}
MessageQueueId_t PowerSwitcherComponent::getCommandQueue() const { return queue->getId(); }
void PowerSwitcherComponent::getMode(Mode_t *mode, Submode_t *submode) {
*mode = this->mode;
*submode = this->submode;
}
ReturnValue_t PowerSwitcherComponent::setHealth(HealthState health) {
healthHelper.setHealth(health);
return RETURN_OK;
}
ReturnValue_t PowerSwitcherComponent::checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) {
*msToReachTheMode = 5000;
if (mode != MODE_ON and mode != MODE_OFF) {
return TRANS_NOT_ALLOWED;
}
return RETURN_OK;
}
void PowerSwitcherComponent::startTransition(Mode_t mode, Submode_t submode) {
if (mode == MODE_OFF) {
switcher.turnOff(true);
switcher.doStateMachine();
if (switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
setMode(MODE_OFF, 0);
}
} else if (mode == MODE_ON) {
switcher.turnOn(true);
switcher.doStateMachine();
if (switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
setMode(MODE_ON, 0);
}
}
}
void PowerSwitcherComponent::setToExternalControl() {
healthHelper.setHealth(HasHealthIF::EXTERNAL_CONTROL);
}
void PowerSwitcherComponent::announceMode(bool recursive) {
triggerEvent(MODE_INFO, mode, submode);
}
void PowerSwitcherComponent::setMode(Mode_t newMode, Submode_t newSubmode) {
this->mode = newMode;
this->submode = newSubmode;
modeHelper.modeChanged(mode, submode);
announceMode(false);
}
HasHealthIF::HealthState PowerSwitcherComponent::getHealth() { return healthHelper.getHealth(); }

View File

@ -0,0 +1,62 @@
#ifndef _FSFW_POWER_POWERSWITCHERCOMPONENT_H_
#define _FSFW_POWER_POWERSWITCHERCOMPONENT_H_
#include <fsfw/health/HasHealthIF.h>
#include <fsfw/health/HealthHelper.h>
#include <fsfw/modes/HasModesIF.h>
#include <fsfw/modes/ModeHelper.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/power/PowerSwitcher.h>
#include <fsfw/power/definitions.h>
#include <fsfw/tasks/ExecutableObjectIF.h>
class PowerSwitchIF;
/**
* @brief Allows to create an power switch object with its own mode and health
* @details
* This basic component allows to create an object which is solely responsible for managing a
* switch. It also has a mode and a health by implementing the respective interface components
* which allows integrating this component into a system mode tree.
*
* Commanding this component to MODE_OFF will cause the switcher to turn the switch off while
* commanding in to MODE_ON will cause the switcher to turn the switch on.
*/
class PowerSwitcherComponent : public SystemObject,
public HasReturnvaluesIF,
public ExecutableObjectIF,
public HasModesIF,
public HasHealthIF {
public:
PowerSwitcherComponent(object_id_t objectId, PowerSwitchIF *pwrSwitcher,
power::Switch_t pwrSwitch);
private:
MessageQueueIF *queue = nullptr;
PowerSwitcher switcher;
Mode_t mode = MODE_OFF;
Submode_t submode = 0;
ModeHelper modeHelper;
HealthHelper healthHelper;
void setMode(Mode_t newMode, Submode_t newSubmode);
virtual ReturnValue_t performOperation(uint8_t opCode) override;
ReturnValue_t initialize() override;
MessageQueueId_t getCommandQueue() const override;
void getMode(Mode_t *mode, Submode_t *submode) override;
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) override;
void startTransition(Mode_t mode, Submode_t submode) override;
void setToExternalControl() override;
void announceMode(bool recursive) override;
ReturnValue_t setHealth(HealthState health) override;
HasHealthIF::HealthState getHealth() override;
};
#endif /* _FSFW_POWER_POWERSWITCHERCOMPONENT_H_ */

View File

@ -0,0 +1,202 @@
#ifndef MISSION_PUS_SERVICE11TELECOMMANDSCHEDULING_H_
#define MISSION_PUS_SERVICE11TELECOMMANDSCHEDULING_H_
#include <etl/multimap.h>
#include <fsfw/tmtcservices/PusServiceBase.h>
#include <fsfw/tmtcservices/TmTcMessage.h>
#include "fsfw/FSFW.h"
#include "fsfw/returnvalues/FwClassIds.h"
/**
* @brief: PUS-Service 11 - Telecommand scheduling.
* @details:
* PUS-Service 11 - Telecommand scheduling.
* Full documentation: ECSS-E-ST-70-41C, p. 168:
* ST[11] time-based scheduling
*
* This service provides the capability to command pre-loaded
* application processes (telecommands) by releasing them at their
* due-time.
* References to telecommands are stored together with their due-timepoints
* and are released at their corresponding due-time.
*