Merge remote-tracking branch 'upstream/development' into merge-upstream

This commit is contained in:
Robin Müller 2022-04-21 10:37:01 +02:00
commit b128ef9da9
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21 changed files with 93 additions and 95 deletions

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@ -38,6 +38,11 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
inside `fsfw/version.h`
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/559
## Fixed
- Small bugfix in STM32 HAL for SPI
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/599
# [v4.0.0]
## Additions

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@ -1,9 +1,9 @@
#include "MgmLIS3MDLHandler.h"
#include "fsfw/datapool/PoolReadGuard.h"
#include <cmath>
#include "fsfw/datapool/PoolReadGuard.h"
MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF *comCookie, uint32_t transitionDelay)
: DeviceHandlerBase(objectId, deviceCommunication, comCookie),

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@ -21,7 +21,7 @@ using mspCb = void (*)(void);
namespace spi {
struct MspCfgBase {
MspCfgBase();
MspCfgBase() {}
MspCfgBase(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
mspCb cleanupCb = nullptr, mspCb setupCb = nullptr)
: sck(sck), mosi(mosi), miso(miso), cleanupCb(cleanupCb), setupCb(setupCb) {}

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@ -11,14 +11,13 @@ class HybridIterator : public LinkedElement<T>::Iterator, public ArrayList<T, co
HybridIterator(typename LinkedElement<T>::Iterator *iter)
: LinkedElement<T>::Iterator(*iter), value(iter->value), linked(true) {
if(iter != nullptr) {
if (iter != nullptr) {
value = iter->value;
}
}
HybridIterator(LinkedElement<T> *start)
: LinkedElement<T>::Iterator(start), linked(true) {
if(start != nullptr) {
HybridIterator(LinkedElement<T> *start) : LinkedElement<T>::Iterator(start), linked(true) {
if (start != nullptr) {
value = start->value;
}
}

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@ -7,7 +7,7 @@
#include "fsfw/serviceinterface/ServiceInterface.h"
template <typename T>
PoolEntry<T>::PoolEntry(uint8_t len, bool setValid): length(len), valid(setValid) {
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());
}

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@ -787,6 +787,10 @@ ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid, bool i
// Serialize set packet into store.
size_t size = 0;
result = setPacket.serialize(&storePtr, &size, expectedSize, SerializeIF::Endianness::BIG);
if (result != HasReturnvaluesIF::RETURN_OK) {
ipcStore->deleteData(storeId);
return result;
}
if (expectedSize != size) {
printWarningOrError(sif::OutputTypes::OUT_WARNING, "generateSetStructurePacket",
HasReturnvaluesIF::RETURN_FAILED,
@ -801,7 +805,10 @@ ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid, bool i
HousekeepingMessage::setHkStuctureReportReply(&reply, sid, storeId);
}
hkQueue->reply(&reply);
result = hkQueue->reply(&reply);
if (result != HasReturnvaluesIF::RETURN_OK) {
ipcStore->deleteData(storeId);
}
return result;
}

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@ -179,7 +179,7 @@ class MatchTree : public SerializeableMatcherIF<T>, public BinaryTree<Serializea
virtual ReturnValue_t cleanUpElement(iterator position) { return HasReturnvaluesIF::RETURN_OK; }
bool matchSubtree(iterator iter, T number) {
if(iter == nullptr) {
if (iter == nullptr) {
return false;
}
bool isMatch = iter->match(number);

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@ -1,9 +1,9 @@
#include "MessageQueueBase.h"
MessageQueueBase::MessageQueueBase(MessageQueueId_t id, MessageQueueId_t defaultDest,
MqArgs* args): id(id) {
MessageQueueBase::MessageQueueBase(MessageQueueId_t id, MessageQueueId_t defaultDest, MqArgs* args)
: id(id) {
this->defaultDest = defaultDest;
if(args != nullptr) {
if (args != nullptr) {
this->args = *args;
}
}
@ -29,29 +29,19 @@ ReturnValue_t MessageQueueBase::receiveMessage(MessageQueueMessageIF* message,
return status;
}
MessageQueueId_t MessageQueueBase::getLastPartner() const {
return last;
}
MessageQueueId_t MessageQueueBase::getLastPartner() const { return last; }
MessageQueueId_t MessageQueueBase::getId() const {
return id;
}
MessageQueueId_t MessageQueueBase::getId() const { return id; }
MqArgs& MessageQueueBase::getMqArgs() {
return args;
}
MqArgs& MessageQueueBase::getMqArgs() { return args; }
void MessageQueueBase::setDefaultDestination(MessageQueueId_t defaultDestination) {
this->defaultDest = defaultDestination;
}
MessageQueueId_t MessageQueueBase::getDefaultDestination() const {
return defaultDest;
}
MessageQueueId_t MessageQueueBase::getDefaultDestination() const { return defaultDest; }
bool MessageQueueBase::isDefaultDestinationSet() const {
return (defaultDest != NO_QUEUE);
}
bool MessageQueueBase::isDefaultDestinationSet() const { return (defaultDest != NO_QUEUE); }
ReturnValue_t MessageQueueBase::sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
bool ignoreFault) {

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@ -1,11 +1,11 @@
#ifndef FSFW_SRC_FSFW_IPC_MESSAGEQUEUEBASE_H_
#define FSFW_SRC_FSFW_IPC_MESSAGEQUEUEBASE_H_
#include <fsfw/ipc/definitions.h>
#include <fsfw/ipc/MessageQueueIF.h>
#include <fsfw/ipc/definitions.h>
class MessageQueueBase: public MessageQueueIF {
public:
class MessageQueueBase : public MessageQueueIF {
public:
MessageQueueBase(MessageQueueId_t id, MessageQueueId_t defaultDest, MqArgs* mqArgs);
virtual ~MessageQueueBase();
@ -22,20 +22,19 @@ public:
virtual ReturnValue_t reply(MessageQueueMessageIF* message) override;
virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t* receivedFrom) override;
virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault = false) override;
virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
bool ignoreFault = false) override;
// OSAL specific, forward the abstract function
virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message) = 0;
virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault = false) = 0;
protected:
protected:
MessageQueueId_t id = MessageQueueIF::NO_QUEUE;
MessageQueueId_t last = MessageQueueIF::NO_QUEUE;
MessageQueueId_t defaultDest = MessageQueueIF::NO_QUEUE;
MqArgs args = {};
};
#endif /* FSFW_SRC_FSFW_IPC_MESSAGEQUEUEBASE_H_ */

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@ -2,6 +2,7 @@
#define FSFW_IPC_MESSAGEQUEUEIF_H_
#include <fsfw/ipc/definitions.h>
#include <cstdint>
#include "../returnvalues/HasReturnvaluesIF.h"
@ -45,7 +46,8 @@ class MessageQueueIF {
virtual ReturnValue_t reply(MessageQueueMessageIF* message) = 0;
/**
* @brief This function reads available messages from the message queue and returns the sender.
* @brief This function reads available messages from the message queue and returns the
* sender.
* @details
* It works identically to the other receiveMessage call, but in addition
* returns the sender's queue id.

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@ -2,6 +2,7 @@
#define FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
#include <fsfw/ipc/MessageQueueBase.h>
#include "FreeRTOS.h"
#include "TaskManagement.h"
#include "fsfw/internalerror/InternalErrorReporterIF.h"

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@ -1,17 +1,17 @@
#ifndef FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_
#define FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_
#include "fsfw/ipc/MessageQueueBase.h"
#include <memory>
#include <queue>
#include "fsfw/internalerror/InternalErrorReporterIF.h"
#include "fsfw/ipc/MessageQueueBase.h"
#include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/ipc/MessageQueueMessage.h"
#include "fsfw/ipc/MutexIF.h"
#include "fsfw/ipc/definitions.h"
#include "fsfw/timemanager/Clock.h"
#include <memory>
#include <queue>
/**
* @brief This class manages sending and receiving of
* message queue messages.

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@ -1,5 +1,4 @@
#include "fsfw/timemanager/Clock.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include <linux/sysinfo.h>
#include <sys/sysinfo.h>
@ -7,8 +6,10 @@
#include <time.h>
#include <unistd.h>
#include <fstream>
#include <cstring>
#include <fstream>
#include "fsfw/serviceinterface/ServiceInterface.h"
uint16_t Clock::leapSeconds = 0;
MutexIF* Clock::timeMutex = NULL;
@ -155,7 +156,6 @@ ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
return HasReturnvaluesIF::RETURN_OK;
}
void handleClockError(const char* func) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1

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@ -61,8 +61,7 @@ class MessageQueue : public MessageQueueBase {
ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
ReturnValue_t flush(uint32_t* count) override;
ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
MessageQueueId_t sentFrom,
bool ignoreFault = false) override;
MessageQueueId_t sentFrom, bool ignoreFault = false) override;
protected:
/**

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@ -2,6 +2,7 @@
#define FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_
#include <fsfw/ipc/MessageQueueBase.h>
#include "RtemsBasic.h"
#include "fsfw/internalerror/InternalErrorReporterIF.h"
#include "fsfw/ipc/MessageQueueIF.h"

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@ -59,14 +59,13 @@ class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF {
*/
ReturnValue_t addComponent(object_id_t object) override;
/**
/**
* Adds an object to the list of objects to be executed.
* The objects are executed in the order added.
* @param object pointer to the object to add.
* @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
*/
ReturnValue_t addComponent(ExecutableObjectIF* object) override;
ReturnValue_t addComponent(ExecutableObjectIF *object) override;
uint32_t getPeriodMs() const override;

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@ -3,8 +3,11 @@
#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),
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();
}
@ -25,12 +28,12 @@ ReturnValue_t PowerSwitcherComponent::performOperation(uint8_t opCode) {
continue;
}
}
if(switcher.active()) {
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) {
} else if (currState == PowerSwitcher::SWITCH_IS_ON) {
setMode(MODE_ON, 0);
}
}
@ -39,19 +42,17 @@ ReturnValue_t PowerSwitcherComponent::performOperation(uint8_t opCode) {
ReturnValue_t PowerSwitcherComponent::initialize() {
ReturnValue_t result = modeHelper.initialize();
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = healthHelper.initialize();
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return SystemObject::initialize();
}
MessageQueueId_t PowerSwitcherComponent::getCommandQueue() const {
return queue->getId();
}
MessageQueueId_t PowerSwitcherComponent::getCommandQueue() const { return queue->getId(); }
void PowerSwitcherComponent::getMode(Mode_t *mode, Submode_t *submode) {
*mode = this->mode;
@ -66,23 +67,23 @@ ReturnValue_t PowerSwitcherComponent::setHealth(HealthState health) {
ReturnValue_t PowerSwitcherComponent::checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) {
*msToReachTheMode = 5000;
if(mode != MODE_ON and mode != MODE_OFF) {
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) {
if (mode == MODE_OFF) {
switcher.turnOff(true);
switcher.doStateMachine();
if(switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
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) {
if (switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
setMode(MODE_ON, 0);
}
}
@ -103,6 +104,4 @@ void PowerSwitcherComponent::setMode(Mode_t newMode, Submode_t newSubmode) {
announceMode(false);
}
HasHealthIF::HealthState PowerSwitcherComponent::getHealth() {
return healthHelper.getHealth();
}
HasHealthIF::HealthState PowerSwitcherComponent::getHealth() { return healthHelper.getHealth(); }

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@ -6,8 +6,8 @@
#include <fsfw/modes/HasModesIF.h>
#include <fsfw/modes/ModeHelper.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/power/definitions.h>
#include <fsfw/power/PowerSwitcher.h>
#include <fsfw/power/definitions.h>
#include <fsfw/tasks/ExecutableObjectIF.h>
class PowerSwitchIF;
@ -22,19 +22,17 @@ class PowerSwitchIF;
* 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,
class PowerSwitcherComponent : public SystemObject,
public HasReturnvaluesIF,
public ExecutableObjectIF,
public HasModesIF,
public HasHealthIF {
public:
PowerSwitcherComponent(object_id_t objectId, PowerSwitchIF* pwrSwitcher,
public:
PowerSwitcherComponent(object_id_t objectId, PowerSwitchIF *pwrSwitcher,
power::Switch_t pwrSwitch);
private:
MessageQueueIF* queue = nullptr;
private:
MessageQueueIF *queue = nullptr;
PowerSwitcher switcher;
Mode_t mode = MODE_OFF;

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@ -30,7 +30,7 @@ ReturnValue_t Subsystem::checkSequence(HybridIterator<ModeListEntry> iter,
return FALLBACK_SEQUENCE_DOES_NOT_EXIST;
}
if (iter.value ==nullptr) {
if (iter.value == nullptr) {
return NO_TARGET_TABLE;
}
@ -74,7 +74,7 @@ void Subsystem::performChildOperation() {
} else {
Mode_t tableId = 0;
auto seq = getSequence(targetMode);
if(seq.value != nullptr) {
if (seq.value != nullptr) {
tableId = seq->getTableId();
}
transitionFailed(TARGET_TABLE_NOT_REACHED, tableId);
@ -257,7 +257,7 @@ ReturnValue_t Subsystem::handleCommandMessage(CommandMessage *message) {
result = modeTables.find(table, &entry);
if (result != RETURN_OK or entry == nullptr) {
replyToCommand(result, 0);
if(entry == nullptr) {
if (entry == nullptr) {
return result;
}
}

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@ -1,14 +1,13 @@
#ifndef FSFW_SUBSYSTEM_SUBSYSTEM_H_
#define FSFW_SUBSYSTEM_SUBSYSTEM_H_
#include "fsfw/FSFW.h"
#include "../container/FixedArrayList.h"
#include "../container/FixedMap.h"
#include "../container/HybridIterator.h"
#include "../container/SinglyLinkedList.h"
#include "../serialize/SerialArrayListAdapter.h"
#include "SubsystemBase.h"
#include "fsfw/FSFW.h"
#include "modes/ModeDefinitions.h"
/**

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@ -4,8 +4,8 @@
#include <cstring>
#include <queue>
#include "fsfw/ipc/MessageQueueBase.h"
#include "fsfw/ipc/CommandMessage.h"
#include "fsfw/ipc/MessageQueueBase.h"
#include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/ipc/MessageQueueMessage.h"
#include "fsfw_tests/unit/CatchDefinitions.h"