Merge remote-tracking branch 'origin/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 2022-07-18 08:53:35 +02:00
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54 changed files with 822 additions and 185 deletions

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@ -19,12 +19,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
- Bump C++ required version to C++17. Every project which uses the FSFW and every modern
compiler supports it
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/622
- HAL Linux SPI: Set the Clock Default State when setting new SPI speed
and mode
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
- GPIO HAL: `Direction`, `GpioOperation` and `Levels` are enum classes now, which prevents
name clashes with Windows defines.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
- New CMake option `FSFW_HAL_LINUX_ADD_LIBGPIOD` to specifically exclude `gpiod` code.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
- HAL Devicehandlers: Periodic printout is run-time configurable now
@ -120,6 +114,8 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
## Additions
- New constructor for PoolEntry which allows to simply specify the length of the pool entry.
This is also the new default constructor for scalar value with 0 as an initial value
- Added options for CI/CD builds: `FSFW_CICD_BUILD`. This allows the source code to know
whether it is running in CI/CD
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/623

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@ -475,14 +475,8 @@ target_include_directories(
target_compile_options(${LIB_FSFW_NAME} PRIVATE ${FSFW_WARNING_FLAGS}
${COMPILER_FLAGS})
target_link_libraries(${LIB_FSFW_NAME} PUBLIC ${FSFW_FMT_LINK_TARGET})
target_link_libraries(
${LIB_FSFW_NAME}
PRIVATE # If any ELT headers are ever exposed inside a header or as part of
# the API, the ETL target needs to be linked PUBLIC
${FSFW_ETL_LINK_TARGET} ${FSFW_ADDITIONAL_LINK_LIBS})
target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${FSFW_ADDITIONAL_LINK_LIBS})
target_link_libraries(${LIB_FSFW_NAME} PUBLIC ${FSFW_ETL_LINK_TARGET} ${FSFW_FMT_LINK_TARGET})
string(
CONCAT

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@ -139,7 +139,7 @@ You can also use `-DFSFW_OSAL=linux` on Linux systems.
Coverage data in HTML format can be generated using the `CodeCoverage`
[CMake module](https://github.com/bilke/cmake-modules/tree/master).
To build the unittests, run them and then generare the coverage data in this format,
To build the unittests, run them and then generate the coverage data in this format,
the following command can be used inside the build directory after the build system was set up
```sh
@ -188,7 +188,10 @@ and open the documentation conveniently. Try `helper.py -h for more information.
The formatting is done by the `clang-format` tool. The configuration is contained within the
`.clang-format` file in the repository root. As long as `clang-format` is installed, you
can run the `apply-clang-format.sh` helper script to format all source files consistently.
can run the `auto-format.sh` helper script to format all source files consistently. Furthermore cmake-format is required to format CMake files which can be installed with:
````sh
sudo pip install cmakelang
````
## Index

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@ -12,3 +12,9 @@ RUN git clone https://github.com/catchorg/Catch2.git && \
git checkout v3.0.0-preview5 && \
cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
cmake --build build/ --target install
RUN git clone https://github.com/ETLCPP/etl.git && \
cd etl && \
git checkout 20.28.0 && \
cmake -B build . && \
cmake --install build/

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@ -3,7 +3,7 @@ pipeline {
BUILDDIR = 'build-tests'
}
agent {
docker { image 'fsfw-ci:d2'}
docker { image 'fsfw-ci:d3'}
}
stages {
stage('Clean') {

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@ -48,6 +48,20 @@ def main():
action="store_true",
help="Run valgrind on generated test binary",
)
parser.add_argument(
"-g",
"--generators",
default = "Ninja",
action="store",
help="CMake generators",
)
parser.add_argument(
"-w",
"--windows",
default=False,
action="store_true",
help="Run on windows",
)
args = parser.parse_args()
if args.all:
@ -115,14 +129,14 @@ def handle_tests_type(args, build_dir_list: list):
if args.create:
if os.path.exists(UNITTEST_FOLDER_NAME):
shutil.rmtree(UNITTEST_FOLDER_NAME)
create_tests_build_cfg()
create_tests_build_cfg(args)
build_directory = UNITTEST_FOLDER_NAME
elif len(build_dir_list) == 0:
print(
"No valid CMake tests build directory found. "
"Trying to set up test build system"
)
create_tests_build_cfg()
create_tests_build_cfg(args)
build_directory = UNITTEST_FOLDER_NAME
elif len(build_dir_list) == 1:
build_directory = build_dir_list[0]
@ -147,10 +161,15 @@ def handle_tests_type(args, build_dir_list: list):
os.chdir("..")
def create_tests_build_cfg():
def create_tests_build_cfg(args):
os.mkdir(UNITTEST_FOLDER_NAME)
os.chdir(UNITTEST_FOLDER_NAME)
cmd_runner("cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..")
if args.windows:
cmake_cmd = 'cmake -G "' + args.generators + '" -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON \
-DGCOVR_PATH="py -m gcovr" ..'
else:
cmake_cmd = 'cmake -G "' + args.generators + '" -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..'
cmd_runner(cmake_cmd)
os.chdir("..")

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@ -6,7 +6,7 @@
ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue)
: owner(setOwner), queueToUse(useThisQueue) {}
ActionHelper::~ActionHelper() {}
ActionHelper::~ActionHelper() = default;
ReturnValue_t ActionHelper::handleActionMessage(CommandMessage* command) {
if (command->getCommand() == ActionMessage::EXECUTE_ACTION) {
@ -53,7 +53,7 @@ void ActionHelper::setQueueToUse(MessageQueueIF* queue) { queueToUse = queue; }
void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
store_address_t dataAddress) {
const uint8_t* dataPtr = NULL;
const uint8_t* dataPtr = nullptr;
size_t size = 0;
ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
if (result != HasReturnvaluesIF::RETURN_OK) {

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@ -1,9 +1,9 @@
#ifndef FSFW_ACTION_ACTIONHELPER_H_
#define FSFW_ACTION_ACTIONHELPER_H_
#include "../ipc/MessageQueueIF.h"
#include "../serialize/SerializeIF.h"
#include "ActionMessage.h"
#include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/serialize/SerializeIF.h"
/**
* @brief Action Helper is a helper class which handles action messages
*

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@ -2,9 +2,9 @@
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/storagemanager/StorageManagerIF.h"
ActionMessage::ActionMessage() {}
ActionMessage::ActionMessage() = default;
ActionMessage::~ActionMessage() {}
ActionMessage::~ActionMessage() = default;
void ActionMessage::setCommand(CommandMessage* message, ActionId_t fid,
store_address_t parameters) {
@ -64,9 +64,8 @@ void ActionMessage::clear(CommandMessage* message) {
switch (message->getCommand()) {
case EXECUTE_ACTION:
case DATA_REPLY: {
StorageManagerIF* ipcStore =
ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
if (ipcStore != NULL) {
auto* ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
if (ipcStore != nullptr) {
ipcStore->deleteData(getStoreId(message));
}
break;

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@ -2,14 +2,14 @@
#include "fsfw/objectmanager/ObjectManager.h"
CommandActionHelper::CommandActionHelper(CommandsActionsIF *setOwner)
: owner(setOwner), queueToUse(NULL), ipcStore(NULL), commandCount(0), lastTarget(0) {}
: owner(setOwner), queueToUse(nullptr), ipcStore(nullptr), commandCount(0), lastTarget(0) {}
CommandActionHelper::~CommandActionHelper() {}
CommandActionHelper::~CommandActionHelper() = default;
ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ActionId_t actionId,
SerializeIF *data) {
HasActionsIF *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
if (receiver == NULL) {
auto *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
if (receiver == nullptr) {
return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
}
store_address_t storeId;
@ -29,11 +29,8 @@ ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ActionId
ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ActionId_t actionId,
const uint8_t *data, uint32_t size) {
// if (commandCount != 0) {
// return CommandsFunctionsIF::ALREADY_COMMANDING;
// }
HasActionsIF *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
if (receiver == NULL) {
auto *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
if (receiver == nullptr) {
return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
}
store_address_t storeId;
@ -59,12 +56,12 @@ ReturnValue_t CommandActionHelper::sendCommand(MessageQueueId_t queueId, ActionI
ReturnValue_t CommandActionHelper::initialize() {
ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
if (ipcStore == NULL) {
if (ipcStore == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
queueToUse = owner->getCommandQueuePtr();
if (queueToUse == NULL) {
if (queueToUse == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
@ -104,7 +101,7 @@ ReturnValue_t CommandActionHelper::handleReply(CommandMessage *reply) {
uint8_t CommandActionHelper::getCommandCount() const { return commandCount; }
void CommandActionHelper::extractDataForOwner(ActionId_t actionId, store_address_t storeId) {
const uint8_t *data = NULL;
const uint8_t *data = nullptr;
size_t size = 0;
ReturnValue_t result = ipcStore->getData(storeId, &data, &size);
if (result != HasReturnvaluesIF::RETURN_OK) {

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@ -14,14 +14,14 @@ class CommandActionHelper {
friend class CommandsActionsIF;
public:
CommandActionHelper(CommandsActionsIF* owner);
explicit CommandActionHelper(CommandsActionsIF* owner);
virtual ~CommandActionHelper();
ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, const uint8_t* data,
uint32_t size);
ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, SerializeIF* data);
ReturnValue_t initialize();
ReturnValue_t handleReply(CommandMessage* reply);
uint8_t getCommandCount() const;
[[nodiscard]] uint8_t getCommandCount() const;
private:
CommandsActionsIF* owner;

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@ -1,9 +1,9 @@
#ifndef FSFW_ACTION_COMMANDSACTIONSIF_H_
#define FSFW_ACTION_COMMANDSACTIONSIF_H_
#include "../ipc/MessageQueueIF.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include "CommandActionHelper.h"
#include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
/**
* Interface to separate commanding actions of other objects.
@ -21,7 +21,7 @@ class CommandsActionsIF {
static const uint8_t INTERFACE_ID = CLASS_ID::COMMANDS_ACTIONS_IF;
static const ReturnValue_t OBJECT_HAS_NO_FUNCTIONS = MAKE_RETURN_CODE(1);
static const ReturnValue_t ALREADY_COMMANDING = MAKE_RETURN_CODE(2);
virtual ~CommandsActionsIF() {}
virtual ~CommandsActionsIF() = default;
virtual MessageQueueIF* getCommandQueuePtr() = 0;
protected:

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@ -1,11 +1,11 @@
#ifndef FSFW_ACTION_HASACTIONSIF_H_
#define FSFW_ACTION_HASACTIONSIF_H_
#include "../ipc/MessageQueueIF.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include "ActionHelper.h"
#include "ActionMessage.h"
#include "SimpleActionHelper.h"
#include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
/**
* @brief
@ -40,12 +40,12 @@ class HasActionsIF {
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);
virtual ~HasActionsIF() {}
virtual ~HasActionsIF() = default;
/**
* Function to get the MessageQueueId_t of the implementing object
* @return MessageQueueId_t of the object
*/
virtual MessageQueueId_t getCommandQueue() const = 0;
[[nodiscard]] virtual MessageQueueId_t getCommandQueue() const = 0;
/**
* Execute or initialize the execution of a certain function.
* The ActionHelpers will execute this function and behave differently

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@ -3,7 +3,7 @@
SimpleActionHelper::SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue)
: ActionHelper(setOwner, useThisQueue), isExecuting(false) {}
SimpleActionHelper::~SimpleActionHelper() {}
SimpleActionHelper::~SimpleActionHelper() = default;
void SimpleActionHelper::step(ReturnValue_t result) {
// STEP_OFFESET is subtracted to compensate for adding offset in base
@ -38,7 +38,7 @@ void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId
ActionMessage::setStepReply(&reply, actionId, 0, HasActionsIF::IS_BUSY);
queueToUse->sendMessage(commandedBy, &reply);
}
const uint8_t* dataPtr = NULL;
const uint8_t* dataPtr = nullptr;
size_t size = 0;
ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
if (result != HasReturnvaluesIF::RETURN_OK) {

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@ -11,15 +11,15 @@
class SimpleActionHelper : public ActionHelper {
public:
SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
virtual ~SimpleActionHelper();
~SimpleActionHelper() override;
void step(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
void finish(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
ReturnValue_t reportData(SerializeIF* data);
protected:
void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
store_address_t dataAddress);
virtual void resetHelper();
store_address_t dataAddress) override;
void resetHelper() override;
private:
bool isExecuting;
@ -28,4 +28,4 @@ class SimpleActionHelper : public ActionHelper {
uint8_t stepCount = 0;
};
#endif /* SIMPLEACTIONHELPER_H_ */
#endif /* FSFW_ACTION_SIMPLEACTIONHELPER_H_ */

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@ -26,7 +26,7 @@ ReturnValue_t ControllerBase::initialize() {
MessageQueueId_t parentQueue = 0;
if (parentId != objects::NO_OBJECT) {
SubsystemBase* parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
auto* parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
if (parent == nullptr) {
return RETURN_FAILED;
}
@ -52,7 +52,7 @@ MessageQueueId_t ControllerBase::getCommandQueue() const { return commandQueue->
void ControllerBase::handleQueue() {
CommandMessage command;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
ReturnValue_t result;
for (result = commandQueue->receiveMessage(&command); result == RETURN_OK;
result = commandQueue->receiveMessage(&command)) {
result = modeHelper.handleModeCommand(&command);
@ -73,20 +73,20 @@ void ControllerBase::handleQueue() {
}
}
void ControllerBase::startTransition(Mode_t mode, Submode_t submode) {
void ControllerBase::startTransition(Mode_t mode_, Submode_t submode_) {
changeHK(this->mode, this->submode, false);
triggerEvent(CHANGING_MODE, mode, submode);
this->mode = mode;
this->submode = submode;
mode = mode_;
submode = submode_;
modeHelper.modeChanged(mode, submode);
modeChanged(mode, submode);
announceMode(false);
changeHK(this->mode, this->submode, true);
}
void ControllerBase::getMode(Mode_t* mode, Submode_t* submode) {
*mode = this->mode;
*submode = this->submode;
void ControllerBase::getMode(Mode_t* mode_, Submode_t* submode_) {
*mode_ = this->mode;
*submode_ = this->submode;
}
void ControllerBase::setToExternalControl() { healthHelper.setHealth(EXTERNAL_CONTROL); }
@ -99,7 +99,7 @@ ReturnValue_t ControllerBase::performOperation(uint8_t opCode) {
return RETURN_OK;
}
void ControllerBase::modeChanged(Mode_t mode, Submode_t submode) { return; }
void ControllerBase::modeChanged(Mode_t mode_, Submode_t submode_) {}
ReturnValue_t ControllerBase::setHealth(HealthState health) {
switch (health) {
@ -115,6 +115,6 @@ ReturnValue_t ControllerBase::setHealth(HealthState health) {
HasHealthIF::HealthState ControllerBase::getHealth() { return healthHelper.getHealth(); }
void ControllerBase::setTaskIF(PeriodicTaskIF* task_) { executingTask = task_; }
void ControllerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {}
void ControllerBase::changeHK(Mode_t mode_, Submode_t submode_, bool enable) {}
ReturnValue_t ControllerBase::initializeAfterTaskCreation() { return HasReturnvaluesIF::RETURN_OK; }

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@ -24,21 +24,21 @@ class ControllerBase : public HasModesIF,
static const Mode_t MODE_NORMAL = 2;
ControllerBase(object_id_t setObjectId, object_id_t parentId, size_t commandQueueDepth = 3);
virtual ~ControllerBase();
~ControllerBase() override;
/** SystemObject override */
virtual ReturnValue_t initialize() override;
ReturnValue_t initialize() override;
virtual MessageQueueId_t getCommandQueue() const override;
[[nodiscard]] MessageQueueId_t getCommandQueue() const override;
/** HasHealthIF overrides */
virtual ReturnValue_t setHealth(HealthState health) override;
virtual HasHealthIF::HealthState getHealth() override;
ReturnValue_t setHealth(HealthState health) override;
HasHealthIF::HealthState getHealth() override;
/** ExecutableObjectIF overrides */
virtual ReturnValue_t performOperation(uint8_t opCode) override;
virtual void setTaskIF(PeriodicTaskIF *task) override;
virtual ReturnValue_t initializeAfterTaskCreation() override;
ReturnValue_t performOperation(uint8_t opCode) override;
void setTaskIF(PeriodicTaskIF *task) override;
ReturnValue_t initializeAfterTaskCreation() override;
protected:
/**
@ -54,8 +54,8 @@ class ControllerBase : public HasModesIF,
*/
virtual void performControlOperation() = 0;
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) override = 0;
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) override = 0;
const object_id_t parentId;
@ -80,10 +80,10 @@ class ControllerBase : public HasModesIF,
/** Mode helpers */
virtual void modeChanged(Mode_t mode, Submode_t submode);
virtual void startTransition(Mode_t mode, Submode_t submode) override;
virtual void getMode(Mode_t *mode, Submode_t *submode) override;
virtual void setToExternalControl() override;
virtual void announceMode(bool recursive);
void startTransition(Mode_t mode, Submode_t submode) override;
void getMode(Mode_t *mode, Submode_t *submode) override;
void setToExternalControl() override;
void announceMode(bool recursive) override;
/** HK helpers */
virtual void changeHK(Mode_t mode, Submode_t submode, bool enable);
};

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@ -6,7 +6,7 @@ ExtendedControllerBase::ExtendedControllerBase(object_id_t objectId, object_id_t
poolManager(this, commandQueue),
actionHelper(this, commandQueue) {}
ExtendedControllerBase::~ExtendedControllerBase() {}
ExtendedControllerBase::~ExtendedControllerBase() = default;
ReturnValue_t ExtendedControllerBase::executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy,
@ -31,7 +31,7 @@ ReturnValue_t ExtendedControllerBase::handleCommandMessage(CommandMessage *messa
void ExtendedControllerBase::handleQueue() {
CommandMessage command;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
ReturnValue_t result;
for (result = commandQueue->receiveMessage(&command); result == RETURN_OK;
result = commandQueue->receiveMessage(&command)) {
result = actionHelper.handleActionMessage(&command);

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@ -18,16 +18,16 @@ class ExtendedControllerBase : public ControllerBase,
public HasLocalDataPoolIF {
public:
ExtendedControllerBase(object_id_t objectId, object_id_t parentId, size_t commandQueueDepth = 3);
virtual ~ExtendedControllerBase();
~ExtendedControllerBase() override;
/* SystemObjectIF overrides */
virtual ReturnValue_t initialize() override;
ReturnValue_t initialize() override;
virtual MessageQueueId_t getCommandQueue() const override;
[[nodiscard]] MessageQueueId_t getCommandQueue() const override;
/* ExecutableObjectIF overrides */
virtual ReturnValue_t performOperation(uint8_t opCode) override;
virtual ReturnValue_t initializeAfterTaskCreation() override;
ReturnValue_t performOperation(uint8_t opCode) override;
ReturnValue_t initializeAfterTaskCreation() override;
protected:
LocalDataPoolManager poolManager;
@ -39,32 +39,32 @@ class ExtendedControllerBase : public ControllerBase,
* @param message
* @return
*/
virtual ReturnValue_t handleCommandMessage(CommandMessage* message) = 0;
ReturnValue_t handleCommandMessage(CommandMessage* message) override = 0;
/**
* Periodic helper from ControllerBase, implemented by child class.
*/
virtual void performControlOperation() = 0;
void performControlOperation() override = 0;
/* Handle the four messages mentioned above */
void handleQueue() override;
/* HasActionsIF overrides */
virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) override;
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) override;
/* HasLocalDatapoolIF overrides */
virtual LocalDataPoolManager* getHkManagerHandle() override;
virtual object_id_t getObjectId() const override;
virtual uint32_t getPeriodicOperationFrequency() const override;
LocalDataPoolManager* getHkManagerHandle() override;
[[nodiscard]] object_id_t getObjectId() const override;
[[nodiscard]] uint32_t getPeriodicOperationFrequency() const override;
virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override = 0;
virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override = 0;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override = 0;
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override = 0;
// Mode abstract functions
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) override = 0;
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) override = 0;
};
#endif /* FSFW_CONTROLLER_EXTENDEDCONTROLLERBASE_H_ */

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@ -7,24 +7,26 @@
#include "fsfw/serviceinterface.h"
template <typename T>
PoolEntry<T>::PoolEntry(std::initializer_list<T> initValue, bool setValid)
: length(static_cast<uint8_t>(initValue.size())), valid(setValid) {
this->address = new T[this->length];
if (initValue.size() == 0) {
std::memset(this->address, 0, this->getByteSize());
} else {
std::copy(initValue.begin(), initValue.end(), this->address);
PoolEntry<T>::PoolEntry(uint8_t len, bool setValid) : length(len), valid(setValid) {
this->address = new T[this->length]();
std::memset(this->address, 0, this->getByteSize());
}
template <typename T>
PoolEntry<T>::PoolEntry(std::initializer_list<T> initValues, bool setValid)
: length(static_cast<uint8_t>(initValues.size())), valid(setValid) {
this->address = new T[this->length]();
if (initValues.size() > 0) {
std::copy(initValues.begin(), initValues.end(), this->address);
}
}
template <typename T>
PoolEntry<T>::PoolEntry(T* initValue, uint8_t setLength, bool setValid)
PoolEntry<T>::PoolEntry(const T* initValue, uint8_t setLength, bool setValid)
: length(setLength), valid(setValid) {
this->address = new T[this->length];
this->address = new T[this->length]();
if (initValue != nullptr) {
std::memcpy(this->address, initValue, this->getByteSize());
} else {
std::memset(this->address, 0, this->getByteSize());
}
}

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@ -33,6 +33,9 @@ class PoolEntry : public PoolEntryIF {
"instead! The ECSS standard defines a boolean as a one bit "
"field. Therefore it is preferred to store a boolean as an "
"uint8_t");
PoolEntry(uint8_t len = 1, bool setValid = false);
/**
* @brief In the classe's constructor, space is allocated on the heap and
* potential initialization values are copied to that space.
@ -49,7 +52,7 @@ class PoolEntry : public PoolEntryIF {
* @param setValid
* Sets the initialization flag. It is invalid by default.
*/
PoolEntry(std::initializer_list<T> initValue = {0}, bool setValid = false);
PoolEntry(std::initializer_list<T> initValue, bool setValid = false);
/**
* @brief In the classe's constructor, space is allocated on the heap and
@ -62,7 +65,7 @@ class PoolEntry : public PoolEntryIF {
* @param setValid
* Sets the initialization flag. It is invalid by default.
*/
PoolEntry(T* initValue, uint8_t setLength = 1, bool setValid = false);
PoolEntry(const T* initValue, uint8_t setLength = 1, bool setValid = false);
//! Explicitely deleted copy ctor, copying is not allowed.
PoolEntry(const PoolEntry&) = delete;

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@ -688,7 +688,7 @@ void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver& receiver) {
ReturnValue_t result = generateHousekeepingPacket(sid, dataSet, true);
if (result != HasReturnvaluesIF::RETURN_OK) {
/* Configuration error */
FSFW_LOGWT("performHkOperation: HK generation failed");
FSFW_LOGWT("performPeriodicHkOperation: HK generation failed\n");
}
}

View File

@ -65,7 +65,9 @@ void DeviceHandlerBase::setThermalStateRequestPoolIds(lp_id_t thermalStatePoolId
}
DeviceHandlerBase::~DeviceHandlerBase() {
delete comCookie;
if (comCookie != nullptr) {
delete comCookie;
}
if (defaultFDIRUsed) {
delete fdirInstance;
}
@ -219,17 +221,26 @@ ReturnValue_t DeviceHandlerBase::initialize() {
}
void DeviceHandlerBase::decrementDeviceReplyMap() {
bool timedOut = false;
for (std::pair<const DeviceCommandId_t, DeviceReplyInfo>& replyPair : deviceReplyMap) {
if (replyPair.second.delayCycles != 0) {
if (replyPair.second.countdown != nullptr && replyPair.second.active) {
if (replyPair.second.countdown->hasTimedOut()) {
resetTimeoutControlledReply(&replyPair.second);
timedOut = true;
}
}
if (replyPair.second.delayCycles != 0 && replyPair.second.countdown == nullptr) {
replyPair.second.delayCycles--;
if (replyPair.second.delayCycles == 0) {
if (replyPair.second.periodic) {
replyPair.second.delayCycles = replyPair.second.maxDelayCycles;
}
replyToReply(replyPair.first, replyPair.second, TIMEOUT);
missedReply(replyPair.first);
resetDelayCyclesControlledReply(&replyPair.second);
timedOut = true;
}
}
if (timedOut) {
replyToReply(replyPair.first, replyPair.second, TIMEOUT);
missedReply(replyPair.first);
timedOut = false;
}
}
}
@ -344,7 +355,6 @@ void DeviceHandlerBase::doStateMachine() {
setMode(MODE_OFF);
break;
}
if (currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, 0);
setMode(MODE_ERROR_ON);
@ -393,20 +403,22 @@ ReturnValue_t DeviceHandlerBase::isModeCombinationValid(Mode_t mode, Submode_t s
ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles, LocalPoolDataSetBase* replyDataSet,
size_t replyLen, bool periodic, bool hasDifferentReplyId, DeviceCommandId_t replyId) {
size_t replyLen, bool periodic, bool hasDifferentReplyId, DeviceCommandId_t replyId,
Countdown* countdown) {
// No need to check, as we may try to insert multiple times.
insertInCommandMap(deviceCommand, hasDifferentReplyId, replyId);
if (hasDifferentReplyId) {
return insertInReplyMap(replyId, maxDelayCycles, replyDataSet, replyLen, periodic);
return insertInReplyMap(replyId, maxDelayCycles, replyDataSet, replyLen, periodic, countdown);
} else {
return insertInReplyMap(deviceCommand, maxDelayCycles, replyDataSet, replyLen, periodic);
return insertInReplyMap(deviceCommand, maxDelayCycles, replyDataSet, replyLen, periodic,
countdown);
}
}
ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
uint16_t maxDelayCycles,
LocalPoolDataSetBase* dataSet, size_t replyLen,
bool periodic) {
bool periodic, Countdown* countdown) {
DeviceReplyInfo info;
info.maxDelayCycles = maxDelayCycles;
info.periodic = periodic;
@ -414,6 +426,7 @@ ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
info.replyLen = replyLen;
info.dataSet = dataSet;
info.command = deviceCommandMap.end();
info.countdown = countdown;
auto resultPair = deviceReplyMap.emplace(replyId, info);
if (resultPair.second) {
return RETURN_OK;
@ -449,7 +462,8 @@ size_t DeviceHandlerBase::getNextReplyLength(DeviceCommandId_t commandId) {
}
DeviceReplyIter iter = deviceReplyMap.find(replyId);
if (iter != deviceReplyMap.end()) {
if (iter->second.delayCycles != 0) {
if ((iter->second.delayCycles != 0 && iter->second.countdown == nullptr) ||
(iter->second.active && iter->second.countdown != nullptr)) {
return iter->second.replyLen;
}
}
@ -485,9 +499,19 @@ ReturnValue_t DeviceHandlerBase::updatePeriodicReply(bool enable, DeviceCommandI
return COMMAND_NOT_SUPPORTED;
}
if (enable) {
info->delayCycles = info->maxDelayCycles;
info->active = true;
if (info->countdown != nullptr) {
info->delayCycles = info->maxDelayCycles;
} else {
info->countdown->resetTimer();
}
} else {
info->delayCycles = 0;
info->active = false;
if (info->countdown != nullptr) {
info->delayCycles = 0;
} else {
info->countdown->timeOut();
}
}
}
return HasReturnvaluesIF::RETURN_OK;
@ -791,17 +815,18 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData, DeviceCommandId
DeviceReplyInfo* info = &(iter->second);
if (info->delayCycles != 0) {
if ((info->delayCycles != 0 && info->countdown == nullptr) ||
(info->active && info->countdown != nullptr)) {
result = interpretDeviceReply(foundId, receivedData);
if (result == IGNORE_REPLY_DATA) {
return;
}
if (info->periodic) {
info->delayCycles = info->maxDelayCycles;
} else {
info->delayCycles = 0;
if (info->active && info->countdown != nullptr) {
resetTimeoutControlledReply(info);
} else if (info->delayCycles != 0) {
resetDelayCyclesControlledReply(info);
}
if (result != RETURN_OK) {
@ -820,6 +845,24 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData, DeviceCommandId
}
}
void DeviceHandlerBase::resetTimeoutControlledReply(DeviceReplyInfo* info) {
if (info->periodic) {
info->countdown->resetTimer();
} else {
info->active = false;
info->countdown->timeOut();
}
}
void DeviceHandlerBase::resetDelayCyclesControlledReply(DeviceReplyInfo* info) {
if (info->periodic) {
info->delayCycles = info->maxDelayCycles;
} else {
info->delayCycles = 0;
info->active = false;
}
}
ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress, uint8_t** data,
size_t* len) {
size_t lenTmp;
@ -942,9 +985,15 @@ ReturnValue_t DeviceHandlerBase::enableReplyInReplyMap(DeviceCommandMap::iterato
}
if (iter != deviceReplyMap.end()) {
DeviceReplyInfo* info = &(iter->second);
// If a countdown has been set, the delay cycles will be ignored and the reply times out
// as soon as the countdown has expired
info->delayCycles = info->maxDelayCycles;
info->command = command;
command->second.expectedReplies = expectedReplies;
if (info->countdown != nullptr) {
info->countdown->resetTimer();
}
info->active = true;
return RETURN_OK;
} else {
return NO_REPLY_EXPECTED;
@ -1179,7 +1228,8 @@ void DeviceHandlerBase::setParentQueue(MessageQueueId_t parentQueueId) {
bool DeviceHandlerBase::isAwaitingReply() {
std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator iter;
for (iter = deviceReplyMap.begin(); iter != deviceReplyMap.end(); ++iter) {
if (iter->second.delayCycles != 0) {
if ((iter->second.delayCycles != 0 && iter->second.countdown == nullptr) ||
(iter->second.active && iter->second.countdown != nullptr)) {
return true;
}
}
@ -1334,6 +1384,13 @@ uint8_t DeviceHandlerBase::getReplyDelayCycles(DeviceCommandId_t deviceCommand)
auto iter = deviceReplyMap.find(deviceCommand);
if (iter == deviceReplyMap.end()) {
return 0;
} else if (iter->second.countdown != nullptr) {
// fake a useful return value for legacy code
if (iter->second.active) {
return 1;
} else {
return 0;
}
}
return iter->second.delayCycles;
}

View File

@ -447,6 +447,9 @@ class DeviceHandlerBase : public DeviceHandlerIF,
* by the device repeatedly without request) or not. Default is aperiodic (0).
* Please note that periodic replies are disabled by default. You can enable them with
* #updatePeriodicReply
* @param countdown Instead of using maxDelayCycles to timeout a device reply it is also possible
* to provide a pointer to a Countdown object which will signal the timeout
* when expired
* @return - @c RETURN_OK when the command was successfully inserted,
* - @c RETURN_FAILED else.
*/
@ -454,7 +457,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
LocalPoolDataSetBase *replyDataSet = nullptr,
size_t replyLen = 0, bool periodic = false,
bool hasDifferentReplyId = false,
DeviceCommandId_t replyId = 0);
DeviceCommandId_t replyId = 0,
Countdown *countdown = nullptr);
/**
* @brief This is a helper method to insert replies in the reply map.
* @param deviceCommand Identifier of the reply to add.
@ -464,12 +468,15 @@ class DeviceHandlerBase : public DeviceHandlerIF,
* by the device repeatedly without request) or not. Default is aperiodic (0).
* Please note that periodic replies are disabled by default. You can enable them with
* #updatePeriodicReply
* @param countdown Instead of using maxDelayCycles to timeout a device reply it is also possible
* to provide a pointer to a Countdown object which will signal the timeout
* when expired
* @return - @c RETURN_OK when the command was successfully inserted,
* - @c RETURN_FAILED else.
*/
ReturnValue_t insertInReplyMap(DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles,
LocalPoolDataSetBase *dataSet = nullptr, size_t replyLen = 0,
bool periodic = false);
bool periodic = false, Countdown *countdown = nullptr);
/**
* @brief A simple command to add a command to the commandList.
@ -782,6 +789,11 @@ class DeviceHandlerBase : public DeviceHandlerIF,
LocalPoolDataSetBase *dataSet = nullptr;
//! The command that expects this reply.
DeviceCommandMap::iterator command;
//! Instead of using delayCycles to specify the maximum time to wait for the device reply, it
//! is also possible specify a countdown
Countdown *countdown = nullptr;
//! will be set to true when reply is enabled
bool active = false;
};
using DeviceReplyMap = std::map<DeviceCommandId_t, DeviceReplyInfo>;
@ -1243,6 +1255,17 @@ class DeviceHandlerBase : public DeviceHandlerIF,
*/
void doGetRead(void);
/**
* @brief Resets replies which use a timeout to detect missed replies.
*/
void resetTimeoutControlledReply(DeviceReplyInfo *info);
/**
* @brief Resets replies which use a number of maximum delay cycles to detect
* missed replies.
*/
void resetDelayCyclesControlledReply(DeviceReplyInfo *info);
/**
* Retrive data from the #IPCStore.
*

View File

@ -88,6 +88,11 @@ ReturnValue_t EventManager::subscribeToEventRange(MessageQueueId_t listener, Eve
return result;
}
ReturnValue_t EventManager::unsubscribeFromAllEvents(MessageQueueId_t listener,
object_id_t object) {
return unsubscribeFromEventRange(listener, 0, 0, true, object);
}
ReturnValue_t EventManager::unsubscribeFromEventRange(MessageQueueId_t listener, EventId_t idFrom,
EventId_t idTo, bool idInverted,
object_id_t reporterFrom,

View File

@ -37,6 +37,7 @@ class EventManager : public EventManagerIF, public ExecutableObjectIF, public Sy
EventId_t idTo = 0, bool idInverted = false,
object_id_t reporterFrom = 0, object_id_t reporterTo = 0,
bool reporterInverted = false);
ReturnValue_t unsubscribeFromAllEvents(MessageQueueId_t listener, object_id_t object);
ReturnValue_t unsubscribeFromEventRange(MessageQueueId_t listener, EventId_t idFrom = 0,
EventId_t idTo = 0, bool idInverted = false,
object_id_t reporterFrom = 0, object_id_t reporterTo = 0,

View File

@ -20,6 +20,7 @@ class EventManagerIF {
bool forwardAllButSelected = false) = 0;
virtual ReturnValue_t subscribeToEvent(MessageQueueId_t listener, EventId_t event) = 0;
virtual ReturnValue_t subscribeToAllEventsFrom(MessageQueueId_t listener, object_id_t object) = 0;
virtual ReturnValue_t unsubscribeFromAllEvents(MessageQueueId_t listener, object_id_t object) = 0;
virtual ReturnValue_t subscribeToEventRange(MessageQueueId_t listener, EventId_t idFrom = 0,
EventId_t idTo = 0, bool idInverted = false,
object_id_t reporterFrom = 0,

View File

@ -14,6 +14,16 @@ FailureIsolationBase::FailureIsolationBase(object_id_t owner, object_id_t parent
}
FailureIsolationBase::~FailureIsolationBase() {
EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
if (manager == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "FailureIsolationBase::~FailureIsolationBase: Event Manager has not"
" been initialized!"
<< std::endl;
#endif
return;
}
manager->unsubscribeFromAllEvents(eventQueue->getId(), ownerId);
QueueFactory::instance()->deleteMessageQueue(eventQueue);
}

View File

@ -60,14 +60,14 @@ ReturnValue_t FaultCounter::getParameter(uint8_t domainId, uint8_t uniqueId,
return INVALID_DOMAIN_ID;
}
switch (uniqueId) {
case 0:
switch (static_cast<ParameterIds>(uniqueId)) {
case ParameterIds::FAILURE_THRESHOLD:
parameterWrapper->set(failureThreshold);
break;
case 1:
case ParameterIds::FAULT_COUNT:
parameterWrapper->set(faultCount);
break;
case 2:
case ParameterIds::TIMEOUT:
parameterWrapper->set(timer.timeout);
break;
default:

View File

@ -6,6 +6,8 @@
class FaultCounter : public HasParametersIF {
public:
enum class ParameterIds { FAILURE_THRESHOLD, FAULT_COUNT, TIMEOUT };
FaultCounter();
FaultCounter(uint32_t failureThreshold, uint32_t decrementAfterMs,
uint8_t setParameterDomain = 0);
@ -25,7 +27,8 @@ class FaultCounter : public HasParametersIF {
virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
ParameterWrapper *parameterWrapper,
const ParameterWrapper *newValues, uint16_t startAtIndex);
const ParameterWrapper *newValues = nullptr,
uint16_t startAtIndex = 0);
void setParameterDomain(uint8_t domain);

View File

@ -5,7 +5,7 @@
HealthHelper::HealthHelper(HasHealthIF* owner, object_id_t objectId)
: objectId(objectId), owner(owner) {}
HealthHelper::~HealthHelper() {}
HealthHelper::~HealthHelper() { healthTable->removeObject(objectId); }
ReturnValue_t HealthHelper::handleHealthCommand(CommandMessage* message) {
switch (message->getCommand()) {

View File

@ -28,6 +28,15 @@ ReturnValue_t HealthTable::registerObject(object_id_t object,
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t HealthTable::removeObject(object_id_t object) {
mapIterator = healthMap.find(object);
if (mapIterator == healthMap.end()) {
return HasReturnvaluesIF::RETURN_FAILED;
}
healthMap.erase(mapIterator);
return HasReturnvaluesIF::RETURN_OK;
}
void HealthTable::setHealth(object_id_t object, HasHealthIF::HealthState newState) {
MutexGuard(mutex, timeoutType, mutexTimeoutMs);
HealthMap::iterator iter = healthMap.find(object);

View File

@ -17,6 +17,7 @@ class HealthTable : public HealthTableIF, public SystemObject {
/** HealthTableIF overrides */
virtual ReturnValue_t registerObject(
object_id_t object, HasHealthIF::HealthState initilialState = HasHealthIF::HEALTHY) override;
ReturnValue_t removeObject(object_id_t object) override;
virtual size_t getPrintSize() override;
virtual void printAll(uint8_t* pointer, size_t maxSize) override;

View File

@ -14,6 +14,8 @@ class HealthTableIF : public ManagesHealthIF {
virtual ReturnValue_t registerObject(
object_id_t object, HasHealthIF::HealthState initilialState = HasHealthIF::HEALTHY) = 0;
virtual ReturnValue_t removeObject(object_id_t objectId) = 0;
virtual size_t getPrintSize() = 0;
virtual void printAll(uint8_t *pointer, size_t maxSize) = 0;

View File

@ -54,7 +54,7 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
// If the deadline was missed, the deadlineMissedFunc is called.
if (!PosixThread::delayUntil(&lastWakeTime, interval)) {
// No time left on timer -> we missed the deadline
if(dlmFunc != nullptr){
if (dlmFunc != nullptr) {
dlmFunc();
}
}

View File

@ -290,10 +290,9 @@ ReturnValue_t MessageQueue::handleOpenError(mq_attr* attributes, uint32_t messag
*/
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::MessageQueue: Default MQ size " << defaultMqMaxMsg
<< " is too small for requested size " << messageDepth << std::endl;
<< " is too small for requested message depth " << messageDepth << std::endl;
sif::error << "This error can be fixed by setting the maximum "
"allowed message size higher!"
<< std::endl;
"allowed message depth higher" << std::endl;
#else
sif::printError(
"MessageQueue::MessageQueue: Default MQ size %d is too small for"

View File

@ -26,3 +26,4 @@ add_subdirectory(tmtcpacket)
add_subdirectory(cfdp)
add_subdirectory(hal)
add_subdirectory(internalerror)
add_subdirectory(devicehandler)

View File

@ -65,7 +65,7 @@ void Factory::setStaticFrameworkObjectIds() {
VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
DeviceHandlerBase