fsfw/fsfw
fsfw/fsfw
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Merge remote-tracking branch 'upstream/mueller/master' into mueller/master

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This commit is contained in:
Robin Müller 2021-01-07 20:31:44 +01:00
commit bd5cc7ae3e
154 changed files with 2077 additions and 468 deletions
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12
CHANGELOG
View File

@ -70,3 +70,15 @@ now
### Commanding Service Base
- CSB uses the new fsfwconfig::FSFW_CSB_FIFO_DEPTH variable to determine the FIFO depth for each CSB instance. This variable has to be set in the FSFWConfig.h file
### Service Interface
- Proper printf support contained in ServiceInterfacePrinter.h
- CPP ostream support now optional (can reduce executable size by 150 - 250 kB)
- Amalagated header which determines automatically which service interface to use depending on FSFWConfig.h configuration.
Users can just use #include <fsfw/serviceinterface/ServiceInterface.h>
- If CPP streams are excluded, sif:: calls won't work anymore and need to be replaced by their printf counterparts.
For the fsfw, this can be done by checking the processor define FSFW_CPP_OSTREAM_ENABLED from FSFWConfig.h.
For mission code, developers need to replace sif:: calls by the printf counterparts, but only if the CPP stream are excluded.
If this is not the case, everything should work as usual.
-

1
container/FixedOrderedMultimap.h
View File

@ -3,6 +3,7 @@
#include "ArrayList.h"
#include <cstring>
#include <functional>
/**
* @brief An associative container which allows multiple entries of the same key.

2
container/SharedRingBuffer.cpp
View File

@ -47,9 +47,11 @@ ReturnValue_t SharedRingBuffer::initialize() {
DynamicFIFO<size_t>* SharedRingBuffer::getReceiveSizesFIFO() {
if(receiveSizesFIFO == nullptr) {
// Configuration error.
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SharedRingBuffer::getReceiveSizesFIFO: Ring buffer"
<< " was not configured to have sizes FIFO, returning nullptr!"
<< std::endl;
#endif
}
return receiveSizesFIFO;
}

2
controller/ExtendedControllerBase.cpp
View File

@ -107,7 +107,9 @@ MessageQueueId_t ExtendedControllerBase::getCommandQueue() const {
}
LocalPoolDataSetBase* ExtendedControllerBase::getDataSetHandle(sid_t sid) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "ExtendedControllerBase::getDataSetHandle: No child "
<< " implementation provided, returning nullptr!" << std::endl;
#endif
return nullptr;
}

2
datalinklayer/Clcw.cpp
View File

@ -55,7 +55,9 @@ void Clcw::setBitLock(bool bitLock) {
}
void Clcw::print() {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "Clcw::print: Clcw is: " << std::hex << getAsWhole() << std::dec << std::endl;
#endif
}
void Clcw::setWhole(uint32_t rawClcw) {

4
datalinklayer/DataLinkLayer.cpp
View File

@ -98,8 +98,10 @@ ReturnValue_t DataLinkLayer::processFrame(uint16_t length) {
receivedDataLength = length;
ReturnValue_t status = allFramesReception();
if (status != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "DataLinkLayer::processFrame: frame reception failed. "
"Error code: " << std::hex << status << std::dec << std::endl;
#endif
// currentFrame.print();
return status;
} else {
@ -124,7 +126,9 @@ ReturnValue_t DataLinkLayer::initialize() {
if ( virtualChannels.begin() != virtualChannels.end() ) {
clcw->setVirtualChannel( virtualChannels.begin()->second->getChannelId() );
} else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "DataLinkLayer::initialize: No VC assigned to this DLL instance! " << std::endl;
#endif
return RETURN_FAILED;
}

12
datalinklayer/MapPacketExtraction.cpp
View File

@ -29,9 +29,11 @@ ReturnValue_t MapPacketExtraction::extractPackets(TcTransferFrame* frame) {
bufferPosition = &packetBuffer[packetLength];
status = RETURN_OK;
} else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error
<< "MapPacketExtraction::extractPackets. Packet too large! Size: "
<< packetLength << std::endl;
#endif
clearBuffers();
status = CONTENT_TOO_LARGE;
}
@ -51,24 +53,30 @@ ReturnValue_t MapPacketExtraction::extractPackets(TcTransferFrame* frame) {
}
status = RETURN_OK;
} else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error
<< "MapPacketExtraction::extractPackets. Packet too large! Size: "
<< packetLength << std::endl;
#endif
clearBuffers();
status = CONTENT_TOO_LARGE;
}
} else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error
<< "MapPacketExtraction::extractPackets. Illegal segment! Last flag: "
<< (int) lastSegmentationFlag << std::endl;
#endif
clearBuffers();
status = ILLEGAL_SEGMENTATION_FLAG;
}
break;
default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error
<< "MapPacketExtraction::extractPackets. Illegal segmentationFlag: "
<< (int) segmentationFlag << std::endl;
#endif
clearBuffers();
status = DATA_CORRUPTED;
break;
@ -135,10 +143,14 @@ ReturnValue_t MapPacketExtraction::initialize() {
}
void MapPacketExtraction::printPacketBuffer(void) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "DLL: packet_buffer contains: " << std::endl;
#endif
for (uint32_t i = 0; i < this->packetLength; ++i) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "packet_buffer[" << std::dec << i << "]: 0x" << std::hex
<< (uint16_t) this->packetBuffer[i] << std::endl;
#endif
}
}

23
datalinklayer/TcTransferFrame.cpp
View File

@ -87,16 +87,25 @@ uint8_t* TcTransferFrame::getFullDataField() {
}
void TcTransferFrame::print() {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "Raw Frame: " << std::hex << std::endl;
for (uint16_t count = 0; count < this->getFullSize(); count++ ) {
sif::debug << (uint16_t)this->getFullFrame()[count] << " ";
}
sif::debug << std::dec << std::endl;
// debug << "Frame Header:" << std::endl;
// debug << "Version Number: " << std::hex << (uint16_t)this->current_frame.getVersionNumber() << std::endl;
// debug << "Bypass Flag set?| Ctrl Cmd Flag set?: " << (uint16_t)this->current_frame.bypassFlagSet() << " | " << (uint16_t)this->current_frame.controlCommandFlagSet() << std::endl;
// debug << "SCID : " << this->current_frame.getSpacecraftId() << std::endl;
// debug << "VCID : " << (uint16_t)this->current_frame.getVirtualChannelId() << std::endl;
// debug << "Frame length: " << std::dec << this->current_frame.getFrameLength() << std::endl;
// debug << "Sequence Number: " << (uint16_t)this->current_frame.getSequenceNumber() << std::endl;
sif::debug << "Frame Header:" << std::endl;
sif::debug << "Version Number: " << std::hex
<< (uint16_t)this->getVersionNumber() << std::endl;
sif::debug << "Bypass Flag set?| Ctrl Cmd Flag set?: "
<< (uint16_t)this->bypassFlagSet() << " | "
<< (uint16_t)this->controlCommandFlagSet() << std::endl;
sif::debug << "SCID : " << this->getSpacecraftId() << std::endl;
sif::debug << "VCID : " << (uint16_t)this->getVirtualChannelId()
<< std::endl;
sif::debug << "Frame length: " << std::dec << this->getFrameLength()
<< std::endl;
sif::debug << "Sequence Number: " << (uint16_t)this->getSequenceNumber()
<< std::endl;
#endif
}

2
datalinklayer/TcTransferFrameLocal.cpp
View File

@ -37,7 +37,9 @@ TcTransferFrameLocal::TcTransferFrameLocal(bool bypass, bool controlCommand, uin
this->getFullFrame()[getFullSize()-2] = (crc & 0xFF00) >> 8;
this->getFullFrame()[getFullSize()-1] = (crc & 0x00FF);
} else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "TcTransferFrameLocal: dataSize too large: " << dataSize << std::endl;
#endif
}
} else {
//No data in frame

2
datalinklayer/VirtualChannelReception.cpp
View File

@ -102,8 +102,10 @@ uint8_t VirtualChannelReception::getChannelId() const {
ReturnValue_t VirtualChannelReception::initialize() {
ReturnValue_t returnValue = RETURN_FAILED;
if ((slidingWindowWidth > 254) || (slidingWindowWidth % 2 != 0)) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "VirtualChannelReception::initialize: Illegal sliding window width: "
<< (int) slidingWindowWidth << std::endl;
#endif
return RETURN_FAILED;
}
for (mapChannelIterator iterator = mapChannels.begin(); iterator != mapChannels.end();

44
datapool/PoolDataSetBase.cpp
View File

@ -13,18 +13,24 @@ PoolDataSetBase::~PoolDataSetBase() {}
ReturnValue_t PoolDataSetBase::registerVariable(
PoolVariableIF *variable) {
if (state != States::STATE_SET_UNINITIALISED) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "DataSet::registerVariable: "
"Call made in wrong position." << std::endl;
#endif
return DataSetIF::DATA_SET_UNINITIALISED;
}
if (variable == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "DataSet::registerVariable: "
"Pool variable is nullptr." << std::endl;
#endif
return DataSetIF::POOL_VAR_NULL;
}
if (fillCount >= maxFillCount) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "DataSet::registerVariable: "
"DataSet is full." << std::endl;
#endif
return DataSetIF::DATA_SET_FULL;
}
registeredVariables[fillCount] = variable;
@ -32,11 +38,12 @@ ReturnValue_t PoolDataSetBase::registerVariable(
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t PoolDataSetBase::read(uint32_t lockTimeout) {
ReturnValue_t PoolDataSetBase::read(MutexIF::TimeoutType timeoutType,
uint32_t lockTimeout) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
ReturnValue_t error = result;
if (state == States::STATE_SET_UNINITIALISED) {
lockDataPool(lockTimeout);
lockDataPool(timeoutType, lockTimeout);
for (uint16_t count = 0; count < fillCount; count++) {
result = readVariable(count);
if(result != RETURN_OK) {
@ -47,9 +54,11 @@ ReturnValue_t PoolDataSetBase::read(uint32_t lockTimeout) {
unlockDataPool();
}
else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "DataSet::read(): "
"Call made in wrong position. Don't forget to commit"
" member datasets!" << std::endl;
#endif
result = SET_WAS_ALREADY_READ;
}
@ -78,7 +87,8 @@ ReturnValue_t PoolDataSetBase::readVariable(uint16_t count) {
!= PoolVariableIF::NO_PARAMETER)
{
if(protectEveryReadCommitCall) {
result = registeredVariables[count]->read(mutexTimeout);
result = registeredVariables[count]->read(
MutexIF::TimeoutType::WAITING, mutexTimeout);
}
else {
result = registeredVariables[count]->readWithoutLock();
@ -91,25 +101,28 @@ ReturnValue_t PoolDataSetBase::readVariable(uint16_t count) {
return result;
}
ReturnValue_t PoolDataSetBase::commit(uint32_t lockTimeout) {
ReturnValue_t PoolDataSetBase::commit(MutexIF::TimeoutType timeoutType,
uint32_t lockTimeout) {
if (state == States::STATE_SET_WAS_READ) {
handleAlreadyReadDatasetCommit(lockTimeout);
handleAlreadyReadDatasetCommit(timeoutType, lockTimeout);
return HasReturnvaluesIF::RETURN_OK;
}
else {
return handleUnreadDatasetCommit(lockTimeout);
return handleUnreadDatasetCommit(timeoutType, lockTimeout);
}
}
void PoolDataSetBase::handleAlreadyReadDatasetCommit(uint32_t lockTimeout) {
lockDataPool(lockTimeout);
void PoolDataSetBase::handleAlreadyReadDatasetCommit(
MutexIF::TimeoutType timeoutType, uint32_t lockTimeout) {
lockDataPool(timeoutType, lockTimeout);
for (uint16_t count = 0; count < fillCount; count++) {
if (registeredVariables[count]->getReadWriteMode()
!= PoolVariableIF::VAR_READ
&& registeredVariables[count]->getDataPoolId()
!= PoolVariableIF::NO_PARAMETER) {
if(protectEveryReadCommitCall) {
registeredVariables[count]->commit(mutexTimeout);
registeredVariables[count]->commit(
MutexIF::TimeoutType::WAITING, mutexTimeout);
}
else {
registeredVariables[count]->commitWithoutLock();
@ -120,16 +133,18 @@ void PoolDataSetBase::handleAlreadyReadDatasetCommit(uint32_t lockTimeout) {
unlockDataPool();
}
ReturnValue_t PoolDataSetBase::handleUnreadDatasetCommit(uint32_t lockTimeout) {
ReturnValue_t PoolDataSetBase::handleUnreadDatasetCommit(
MutexIF::TimeoutType timeoutType, uint32_t lockTimeout) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
lockDataPool(lockTimeout);
lockDataPool(timeoutType, lockTimeout);
for (uint16_t count = 0; count < fillCount; count++) {
if (registeredVariables[count]->getReadWriteMode()
== PoolVariableIF::VAR_WRITE
&& registeredVariables[count]->getDataPoolId()
!= PoolVariableIF::NO_PARAMETER) {
if(protectEveryReadCommitCall) {
result = registeredVariables[count]->commit(mutexTimeout);
result = registeredVariables[count]->commit(
MutexIF::TimeoutType::WAITING, mutexTimeout);
}
else {
result = registeredVariables[count]->commitWithoutLock();
@ -138,8 +153,10 @@ ReturnValue_t PoolDataSetBase::handleUnreadDatasetCommit(uint32_t lockTimeout) {
} else if (registeredVariables[count]->getDataPoolId()
!= PoolVariableIF::NO_PARAMETER) {
if (result != COMMITING_WITHOUT_READING) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "DataSet::commit(): commit-without-read call made "
"with non write-only variable." << std::endl;
#endif
result = COMMITING_WITHOUT_READING;
}
}
@ -150,7 +167,8 @@ ReturnValue_t PoolDataSetBase::handleUnreadDatasetCommit(uint32_t lockTimeout) {
}
ReturnValue_t PoolDataSetBase::lockDataPool(uint32_t timeoutMs) {
ReturnValue_t PoolDataSetBase::lockDataPool(MutexIF::TimeoutType timeoutType,
uint32_t lockTimeout) {
return HasReturnvaluesIF::RETURN_OK;
}

23
datapool/PoolDataSetBase.h
View File

@ -62,8 +62,9 @@ public:
* - @c SET_WAS_ALREADY_READ if read() is called twice without calling
* commit() in between
*/
virtual ReturnValue_t read(uint32_t lockTimeout =
MutexIF::BLOCKING) override;
virtual ReturnValue_t read(
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
uint32_t lockTimeout = 20) override;
/**
* @brief The commit call initializes writing back the registered variables.
* @details
@ -82,8 +83,9 @@ public:
* - @c COMMITING_WITHOUT_READING if set was not read yet and
* contains non write-only variables
*/
virtual ReturnValue_t commit(uint32_t lockTimeout =
MutexIF::BLOCKING) override;
virtual ReturnValue_t commit(
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
uint32_t lockTimeout = 20) override;
/**
* Register the passed pool variable instance into the data set.
@ -97,8 +99,9 @@ public:
* thread-safety. Default implementation is empty
* @return Always returns -@c RETURN_OK
*/
virtual ReturnValue_t lockDataPool(uint32_t timeoutMs =
MutexIF::BLOCKING) override;
virtual ReturnValue_t lockDataPool(
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
uint32_t timeoutMs = 20) override;
/**
* Provides the means to unlock the underlying data structure to ensure
* thread-safety. Default implementation is empty
@ -160,8 +163,12 @@ private:
uint32_t mutexTimeout = 20;
ReturnValue_t readVariable(uint16_t count);
void handleAlreadyReadDatasetCommit(uint32_t lockTimeout);
ReturnValue_t handleUnreadDatasetCommit(uint32_t lockTimeout);
void handleAlreadyReadDatasetCommit(
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
uint32_t timeoutMs = 20);
ReturnValue_t handleUnreadDatasetCommit(
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
uint32_t timeoutMs = 20);
};
#endif /* FSFW_DATAPOOL_POOLDATASETBASE_H_ */

5
datapool/PoolDataSetIF.h
View File

@ -18,7 +18,10 @@ public:
* thread-safety
* @return Lock operation result
*/
virtual ReturnValue_t lockDataPool(dur_millis_t timeoutMs) = 0;
virtual ReturnValue_t lockDataPool(
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
uint32_t timeoutMs = 20) = 0;
/**
* @brief Unlock call corresponding to the lock call.
* @return Unlock operation result

9
datapool/PoolEntry.cpp
View File

@ -3,6 +3,7 @@
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../globalfunctions/arrayprinter.h"
#include <cstring>
#include <algorithm>
template <typename T>
PoolEntry<T>::PoolEntry(std::initializer_list<T> initValue, uint8_t setLength,
@ -12,9 +13,11 @@ PoolEntry<T>::PoolEntry(std::initializer_list<T> initValue, uint8_t setLength,
std::memset(this->address, 0, this->getByteSize());
}
else if (initValue.size() != setLength){
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "PoolEntry: setLength is not equal to initializer list"
"length! Performing zero initialization with given setLength"
<< std::endl;
#endif
std::memset(this->address, 0, this->getByteSize());
}
else {
@ -67,10 +70,14 @@ bool PoolEntry<T>::getValid() {
template <typename T>
void PoolEntry<T>::print() {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "Pool Entry Validity: " <<
(this->valid? " (valid) " : " (invalid) ") << std::endl;
#endif
arrayprinter::print(reinterpret_cast<uint8_t*>(address), length);
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << std::dec << std::endl;
#endif
}
template<typename T>
@ -81,8 +88,10 @@ Type PoolEntry<T>::getType() {
template class PoolEntry<uint8_t>;
template class PoolEntry<uint16_t>;
template class PoolEntry<uint32_t>;
template class PoolEntry<uint64_t>;
template class PoolEntry<int8_t>;
template class PoolEntry<int16_t>;
template class PoolEntry<int32_t>;
template class PoolEntry<int64_t>;
template class PoolEntry<float>;
template class PoolEntry<double>;

1
datapool/PoolVariableIF.h
View File

@ -25,6 +25,7 @@ class PoolVariableIF : public SerializeIF,
public:
static constexpr uint8_t INTERFACE_ID = CLASS_ID::POOL_VARIABLE_IF;
static constexpr ReturnValue_t INVALID_READ_WRITE_MODE = MAKE_RETURN_CODE(0xA0);
static constexpr ReturnValue_t INVALID_POOL_ENTRY = MAKE_RETURN_CODE(0xA1);
static constexpr bool VALID = 1;
static constexpr bool INVALID = 0;

11
datapool/ReadCommitIF.h
View File

@ -2,6 +2,7 @@
#define FSFW_DATAPOOL_READCOMMITIF_H_
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/ipc/MutexIF.h>
/**
* @brief Common interface for all software objects which employ read-commit
@ -10,8 +11,10 @@
class ReadCommitIF {
public:
virtual ~ReadCommitIF() {}
virtual ReturnValue_t read(uint32_t mutexTimeout) = 0;
virtual ReturnValue_t commit(uint32_t mutexTimeout) = 0;
virtual ReturnValue_t read(MutexIF::TimeoutType timeoutType,
uint32_t timeoutMs) = 0;
virtual ReturnValue_t commit(MutexIF::TimeoutType timeoutType,
uint32_t timeoutMs) = 0;
protected:
@ -19,11 +22,11 @@ protected:
//! members with commit and read semantics where the lock is only necessary
//! once.
virtual ReturnValue_t readWithoutLock() {
return read(20);
return read(MutexIF::TimeoutType::WAITING, 20);
}
virtual ReturnValue_t commitWithoutLock() {
return commit(20);
return commit(MutexIF::TimeoutType::WAITING, 20);
}
};

2
datapoollocal/HasLocalDataPoolIF.h
View File

@ -89,8 +89,10 @@ public:
* @return
*/
virtual LocalPoolObjectBase* getPoolObjectHandle(lp_id_t localPoolId) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "HasLocalDataPoolIF::getPoolObjectHandle: Not overriden"
<< ". Returning nullptr!" << std::endl;
#endif
return nullptr;
}

28
datapoollocal/LocalDataPoolManager.cpp
View File

@ -21,15 +21,19 @@ LocalDataPoolManager::LocalDataPoolManager(HasLocalDataPoolIF* owner,
MessageQueueIF* queueToUse, bool appendValidityBuffer):
appendValidityBuffer(appendValidityBuffer) {
if(owner == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "LocalDataPoolManager::LocalDataPoolManager: "
<< "Invalid supplied owner!" << std::endl;
#endif
return;
}
this->owner = owner;
mutex = MutexFactory::instance()->createMutex();
if(mutex == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "LocalDataPoolManager::LocalDataPoolManager: "
<< "Could not create mutex." << std::endl;
#endif
}
hkQueue = queueToUse;
@ -39,17 +43,21 @@ LocalDataPoolManager::~LocalDataPoolManager() {}
ReturnValue_t LocalDataPoolManager::initialize(MessageQueueIF* queueToUse) {
if(queueToUse == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "LocalDataPoolManager::initialize: "
<< std::hex << "0x" << owner->getObjectId() << ". Supplied "
<< "queue invalid!" << std::dec << std::endl;
#endif
}
hkQueue = queueToUse;
ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
if(ipcStore == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "LocalDataPoolManager::initialize: "
<< std::hex << "0x" << owner->getObjectId() << ": Could not "
<< "set IPC store." <<std::dec << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -61,8 +69,10 @@ ReturnValue_t LocalDataPoolManager::initialize(MessageQueueIF* queueToUse) {
hkDestinationId = hkPacketReceiver->getHkQueue();
}
else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "LocalDataPoolManager::LocalDataPoolManager: "
<< "Default HK destination object is invalid!" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
}
@ -85,8 +95,10 @@ ReturnValue_t LocalDataPoolManager::initializeHousekeepingPoolEntriesOnce() {
}
return result;
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "HousekeepingManager: The map should only be initialized "
<< "once!" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_OK;
}
@ -339,8 +351,10 @@ ReturnValue_t LocalDataPoolManager::subscribeForPeriodicPacket(sid_t sid,
AcceptsHkPacketsIF* hkReceiverObject =
objectManager->get<AcceptsHkPacketsIF>(packetDestination);
if(hkReceiverObject == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "LocalDataPoolManager::subscribeForPeriodicPacket:"
<< " Invalid receiver!"<< std::endl;
#endif
return HasReturnvaluesIF::RETURN_OK;
}
@ -369,8 +383,10 @@ ReturnValue_t LocalDataPoolManager::subscribeForUpdatePackets(sid_t sid,
AcceptsHkPacketsIF* hkReceiverObject =
objectManager->get<AcceptsHkPacketsIF>(packetDestination);
if(hkReceiverObject == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "LocalDataPoolManager::subscribeForPeriodicPacket:"
<< " Invalid receiver!"<< std::endl;
#endif
return HasReturnvaluesIF::RETURN_OK;
}
@ -575,8 +591,10 @@ ReturnValue_t LocalDataPoolManager::printPoolEntry(
lp_id_t localPoolId) {
auto poolIter = localPoolMap.find(localPoolId);
if (poolIter == localPoolMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "HousekeepingManager::fechPoolEntry:"
<< " Pool entry not found." << std::endl;
#endif
return HasLocalDataPoolIF::POOL_ENTRY_NOT_FOUND;
}
poolIter->second->print();
@ -596,8 +614,10 @@ ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid,
MessageQueueId_t destination) {
if(dataSet == nullptr) {
// Configuration error.
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "HousekeepingManager::generateHousekeepingPacket:"
<< " Set ID not found or dataset not assigned!" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -678,10 +698,12 @@ void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver& receiver) {
sid, dataSet, true);
if(result != HasReturnvaluesIF::RETURN_OK) {
// configuration error
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "LocalDataPoolManager::performHkOperation:"
<< "0x" << std::hex << std::setfill('0') << std::setw(8)
<< owner->getObjectId() << " Error generating "
<< "HK packet" << std::setfill(' ') << std::dec << std::endl;
#endif
}
}
@ -726,8 +748,10 @@ ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid,
// Get and check dataset first.
LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
if(dataSet == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "HousekeepingManager::generateHousekeepingPacket:"
<< " Set ID not found" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -752,8 +776,10 @@ ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid,
ReturnValue_t result = ipcStore->getFreeElement(&storeId,
expectedSize,&storePtr);
if(result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "HousekeepingManager::generateHousekeepingPacket: "
<< "Could not get free element from IPC store." << std::endl;
#endif
return result;
}
@ -762,8 +788,10 @@ ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid,
result = setPacket.serialize(&storePtr, &size, expectedSize,
SerializeIF::Endianness::BIG);
if(expectedSize != size) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "HousekeepingManager::generateSetStructurePacket: "
<< "Expected size is not equal to serialized size" << std::endl;
#endif
}
// Send structure reporting reply.

15
datapoollocal/LocalDataPoolManager.h
View File

@ -3,6 +3,7 @@
#include "HasLocalDataPoolIF.h"
#include "../serviceinterface/ServiceInterface.h"
#include "../housekeeping/HousekeepingPacketDownlink.h"
#include "../housekeeping/HousekeepingMessage.h"
#include "../housekeeping/PeriodicHousekeepingHelper.h"
@ -375,15 +376,25 @@ ReturnValue_t LocalDataPoolManager::fetchPoolEntry(lp_id_t localPoolId,
PoolEntry<T> **poolEntry) {
auto poolIter = localPoolMap.find(localPoolId);
if (poolIter == localPoolMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "HousekeepingManager::fechPoolEntry: Pool entry "
"not found." << std::endl;
#else
fsfw::printWarning("HousekeepingManager::fechPoolEntry: Pool entry "
"not found.");
#endif
return HasLocalDataPoolIF::POOL_ENTRY_NOT_FOUND;
}
*poolEntry = dynamic_cast< PoolEntry<T>* >(poolIter->second);
if(*poolEntry == nullptr) {
sif::debug << "HousekeepingManager::fetchPoolEntry:"
" Pool entry not found." << std::endl;
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "HousekeepingManager::fetchPoolEntry:"
" Pool entry type conflict." << std::endl;
#else
fsfw::printWarning("HousekeepingManager::fetchPoolEntry:"
" Pool entry type conflict.");
#endif
return HasLocalDataPoolIF::POOL_ENTRY_TYPE_CONFLICT;
}
return HasReturnvaluesIF::RETURN_OK;

69
datapoollocal/LocalPoolDataSetBase.cpp
View File

@ -1,4 +1,6 @@
#include "LocalPoolDataSetBase.h"
#include "../serviceinterface/ServiceInterface.h"
#include "../datapoollocal/LocalDataPoolManager.h"
#include "../housekeeping/PeriodicHousekeepingHelper.h"
#include "../serialize/SerializeAdapter.h"
@ -12,8 +14,13 @@ LocalPoolDataSetBase::LocalPoolDataSetBase(HasLocalDataPoolIF *hkOwner,
PoolDataSetBase(registeredVariablesArray, maxNumberOfVariables) {
if(hkOwner == nullptr) {
// Configuration error.
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "LocalPoolDataSetBase::LocalPoolDataSetBase: Owner "
<< "invalid!" << std::endl;
#else
fsfw::printError("LocalPoolDataSetBase::LocalPoolDataSetBase: Owner "
"invalid!\n\r");
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
return;
}
hkManager = hkOwner->getHkManagerHandle();
@ -42,13 +49,26 @@ LocalPoolDataSetBase::LocalPoolDataSetBase(sid_t sid,
mutex = MutexFactory::instance()->createMutex();
}
LocalPoolDataSetBase::LocalPoolDataSetBase(
PoolVariableIF **registeredVariablesArray,
const size_t maxNumberOfVariables, bool protectFunctions):
PoolDataSetBase(registeredVariablesArray, maxNumberOfVariables) {
if(protectFunctions) {
mutex = MutexFactory::instance()->createMutex();
}
}
LocalPoolDataSetBase::~LocalPoolDataSetBase() {
}
ReturnValue_t LocalPoolDataSetBase::lockDataPool(uint32_t timeoutMs) {
ReturnValue_t LocalPoolDataSetBase::lockDataPool(
MutexIF::TimeoutType timeoutType,
uint32_t timeoutMs) {
if(hkManager != nullptr) {
MutexIF* mutex = hkManager->getMutexHandle();
return mutex->lockMutex(MutexIF::TimeoutType::WAITING, timeoutMs);
MutexIF* poolMutex = hkManager->getMutexHandle();
return poolMutex->lockMutex(timeoutType, timeoutMs);
}
return HasReturnvaluesIF::RETURN_OK;
}
@ -147,8 +167,13 @@ ReturnValue_t LocalPoolDataSetBase::serializeLocalPoolIds(uint8_t** buffer,
auto result = SerializeAdapter::serialize(&currentPoolId, buffer,
size, maxSize, streamEndianness);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "LocalDataSet::serializeLocalPoolIds: Serialization"
" error!" << std::endl;
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LocalPoolDataSetBase::serializeLocalPoolIds: "
<< "Serialization error!" << std::endl;
#else
fsfw::printWarning("LocalPoolDataSetBase::serializeLocalPoolIds: "
"Serialization error!\n\r");
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
return result;
}
}
@ -206,8 +231,13 @@ ReturnValue_t LocalPoolDataSetBase::serialize(uint8_t **buffer, size_t *size,
void LocalPoolDataSetBase::bitSetter(uint8_t* byte, uint8_t position) const {
if(position > 7) {
sif::debug << "Pool Raw Access: Bit setting invalid position"
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LocalPoolDataSetBase::bitSetter: Invalid position!"
<< std::endl;
#else
fsfw::printWarning("LocalPoolDataSetBase::bitSetter: "
"Invalid position!\n\r");
#endif
return;
}
uint8_t shiftNumber = position + (7 - 2 * position);
@ -238,14 +268,19 @@ void LocalPoolDataSetBase::initializePeriodicHelper(
}
void LocalPoolDataSetBase::setChanged(bool changed) {
// TODO: Make this configurable?
MutexHelper(mutex, MutexIF::TimeoutType::WAITING, 20);
if(mutex == nullptr) {
this->changed = changed;
return;
}
MutexHelper(mutex, MutexIF::TimeoutType::WAITING, mutexTimeout);
this->changed = changed;
}
bool LocalPoolDataSetBase::hasChanged() const {
// TODO: Make this configurable?
MutexHelper(mutex, MutexIF::TimeoutType::WAITING, 20);
if(mutex == nullptr) {
return changed;
}
MutexHelper(mutex, MutexIF::TimeoutType::WAITING, mutexTimeout);
return changed;
}
@ -256,8 +291,10 @@ sid_t LocalPoolDataSetBase::getSid() const {
bool LocalPoolDataSetBase::bitGetter(const uint8_t* byte,
uint8_t position) const {
if(position > 7) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "Pool Raw Access: Bit setting invalid position"
<< std::endl;
#endif
return false;
}
uint8_t shiftNumber = position + (7 - 2 * position);
@ -265,18 +302,22 @@ bool LocalPoolDataSetBase::bitGetter(const uint8_t* byte,
}
bool LocalPoolDataSetBase::isValid() const {
if(mutex == nullptr) {
return this->valid;
}
MutexHelper(mutex, MutexIF::TimeoutType::WAITING, 5);
return this->valid;
}
void LocalPoolDataSetBase::setValidity(bool valid, bool setEntriesRecursively) {
MutexHelper(mutex, MutexIF::TimeoutType::WAITING, 5);
mutex->lockMutex(timeoutType, mutexTimeout);
if(setEntriesRecursively) {
for(size_t idx = 0; idx < this->getFillCount(); idx++) {
registeredVariables[idx] -> setValid(valid);
}
}
this->valid = valid;
mutex->unlockMutex();
}
void LocalPoolDataSetBase::setReadCommitProtectionBehaviour(
@ -284,3 +325,9 @@ void LocalPoolDataSetBase::setReadCommitProtectionBehaviour(
PoolDataSetBase::setReadCommitProtectionBehaviour(protectEveryReadCommit,
mutexTimeout);
}
void LocalPoolDataSetBase::setDataSetMutexTimeout(
MutexIF::TimeoutType timeoutType, uint32_t mutexTimeout) {
this->timeoutType = timeoutType;
this->mutexTimeout = mutexTimeout;
}

21
datapoollocal/LocalPoolDataSetBase.h
View File

@ -67,6 +67,15 @@ public:
LocalPoolDataSetBase(sid_t sid, PoolVariableIF** registeredVariablesArray,
const size_t maxNumberOfVariables);
/**
* Simple constructor, if the dataset is not owner permanently by
* a class with a HK manager.
* @param registeredVariablesArray
* @param maxNumberOfVariables
*/
LocalPoolDataSetBase(PoolVariableIF** registeredVariablesArray,
const size_t maxNumberOfVariables, bool protectFunctions = true);
/**
* @brief The destructor automatically manages writing the valid
* information of variables.
@ -87,6 +96,9 @@ public:
void setReadCommitProtectionBehaviour(bool protectEveryReadCommit,
uint32_t mutexTimeout = 20);
void setDataSetMutexTimeout(MutexIF::TimeoutType timeoutType,
uint32_t mutexTimeout);
void setValidityBufferGeneration(bool withValidityBuffer);
sid_t getSid() const;
@ -138,7 +150,12 @@ public:
protected:
sid_t sid;
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t mutexTimeout = 20;
/**
* This mutex is required because the dataset can potentially be accessed
* by multiple threads for information like change status or validity.
*/
MutexIF* mutex = nullptr;
bool diagnostic = false;
@ -183,7 +200,9 @@ protected:
* @details
* It makes use of the lockDataPool method offered by the DataPool class.
*/
ReturnValue_t lockDataPool(uint32_t timeoutMs) override;
ReturnValue_t lockDataPool(MutexIF::TimeoutType timeoutType,
uint32_t timeoutMs) override;
/**
* @brief This is a small helper function to facilitate
* unlocking the global data pool

49
datapoollocal/LocalPoolObjectBase.cpp
View File

@ -5,12 +5,16 @@ LocalPoolObjectBase::LocalPoolObjectBase(lp_id_t poolId,
pool_rwm_t setReadWriteMode): localPoolId(poolId),
readWriteMode(setReadWriteMode) {
if(poolId == PoolVariableIF::NO_PARAMETER) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LocalPoolVar<T>::LocalPoolVar: 0 passed as pool ID, "
<< "which is the NO_PARAMETER value!" << std::endl;
#endif
}
if(hkOwner == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "LocalPoolVar<T>::LocalPoolVar: The supplied pool "
<< "owner is a invalid!" << std::endl;
#endif
return;
}
hkManager = hkOwner->getHkManagerHandle();
@ -23,15 +27,19 @@ LocalPoolObjectBase::LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId,
DataSetIF *dataSet, pool_rwm_t setReadWriteMode): localPoolId(poolId),
readWriteMode(setReadWriteMode) {
if(poolId == PoolVariableIF::NO_PARAMETER) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LocalPoolVar<T>::LocalPoolVar: 0 passed as pool ID, "
<< "which is the NO_PARAMETER value!" << std::endl;
#endif
}
HasLocalDataPoolIF* hkOwner =
objectManager->get<HasLocalDataPoolIF>(poolOwner);
if(hkOwner == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "LocalPoolVariable: The supplied pool owner did not "
<< "implement the correct interface"
<< " HasLocalDataPoolIF!" << std::endl;
#endif
return;
}
hkManager = hkOwner->getHkManagerHandle();
@ -71,3 +79,44 @@ bool LocalPoolObjectBase::hasChanged() const {
void LocalPoolObjectBase::setReadWriteMode(pool_rwm_t newReadWriteMode) {
this->readWriteMode = newReadWriteMode;
}
void LocalPoolObjectBase::reportReadCommitError(const char* variableType,
ReturnValue_t error, bool read, object_id_t objectId, lp_id_t lpId) {
#if FSFW_DISABLE_PRINTOUT == 0
const char* type = nullptr;
if(read) {
type = "read";
}
else {
type = "commit";
}
const char* errMsg = nullptr;
if(error == HasLocalDataPoolIF::POOL_ENTRY_NOT_FOUND) {
errMsg = "Pool entry not found";
}
else if(error == HasLocalDataPoolIF::POOL_ENTRY_TYPE_CONFLICT) {
errMsg = "Pool entry type conflict";
}
else if(error == PoolVariableIF::INVALID_READ_WRITE_MODE) {
errMsg = "Pool variable wrong read-write mode";
}
else if(error == PoolVariableIF::INVALID_POOL_ENTRY) {
errMsg = "Pool entry invalid";
}
else {
errMsg = "Unknown error code";
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << variableType << ": " << type << " call | " << errMsg
<< " | Owner: " << std::hex << std::setw(8)
<< std::setfill('0') << objectId << " LPID: 0x" << lpId
<< std::dec << std::endl;
#else
fsfw::printWarning("LocalPoolVariable: %s of local pool variable of "
"object 0x%08x and lp ID 0x%08x failed.\n\r",
type, objectId, lpId);
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_DISABLE_PRINTOUT == 0 */
}

2
datapoollocal/LocalPoolObjectBase.h
View File

@ -56,6 +56,8 @@ protected:
//! @brief Pointer to the class which manages the HK pool.
LocalDataPoolManager* hkManager;
void reportReadCommitError(const char* variableType,
ReturnValue_t error, bool read, object_id_t objectId, lp_id_t lpId);
};

24
datapoollocal/LocalPoolVariable.h
View File

@ -7,6 +7,7 @@
#include "../datapool/PoolVariableIF.h"
#include "../datapool/DataSetIF.h"
#include "../serviceinterface/ServiceInterface.h"
#include "../objectmanager/ObjectManagerIF.h"
#include "../serialize/SerializeAdapter.h"
@ -105,7 +106,9 @@ public:
* at once to avoid the overhead of unnecessary lock und unlock operations.
*
*/
ReturnValue_t read(dur_millis_t lockTimeout = MutexIF::BLOCKING) override;
ReturnValue_t read(MutexIF::TimeoutType timeoutType =
MutexIF::TimeoutType::WAITING,
uint32_t timeoutMs = 20) override;
/**
* @brief The commit call copies the array values back to the data pool.
* @details
@ -115,8 +118,21 @@ public:
* It is recommended to use DataSets to read and commit multiple variables
* at once to avoid the overhead of unnecessary lock und unlock operations.
*/
ReturnValue_t commit(dur_millis_t lockTimeout = MutexIF::BLOCKING) override;
ReturnValue_t commit(MutexIF::TimeoutType timeoutType =
MutexIF::TimeoutType::WAITING,
uint32_t timeoutMs = 20) override;
/**
* @brief This commit function can be used to set the pool variable valid
* as well.
* @param setValid
* @param timeoutType
* @param timeoutMs
* @return
*/
ReturnValue_t commit(bool setValid, MutexIF::TimeoutType timeoutType =
MutexIF::TimeoutType::WAITING,
uint32_t timeoutMs = 20);
LocalPoolVariable<T> &operator=(const T& newValue);
LocalPoolVariable<T> &operator=(const LocalPoolVariable<T>& newPoolVariable);
@ -157,12 +173,12 @@ protected:
*/
ReturnValue_t commitWithoutLock() override;
#if FSFW_CPP_OSTREAM_ENABLED == 1
// std::ostream is the type for object std::cout
template <typename U>
friend std::ostream& operator<< (std::ostream &out,
const LocalPoolVariable<U> &var);
private:
#endif
};
#include "LocalPoolVariable.tpp"

81
datapoollocal/LocalPoolVariable.tpp
View File

@ -24,65 +24,87 @@ inline LocalPoolVariable<T>::LocalPoolVariable(gp_id_t globalPoolId,
template<typename T>
inline ReturnValue_t LocalPoolVariable<T>::read(dur_millis_t lockTimeout) {
MutexHelper(hkManager->getMutexHandle(), MutexIF::TimeoutType::WAITING,
lockTimeout);
inline ReturnValue_t LocalPoolVariable<T>::read(
MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
MutexHelper(hkManager->getMutexHandle(), timeoutType, timeoutMs);
return readWithoutLock();
}
template<typename T>
inline ReturnValue_t LocalPoolVariable<T>::readWithoutLock() {
if(readWriteMode == pool_rwm_t::VAR_WRITE) {
sif::debug << "LocalPoolVar: Invalid read write "
"mode for read() call." << std::endl;
object_id_t targetObjectId = hkManager->getOwner()->getObjectId();
reportReadCommitError("LocalPoolVector",
PoolVariableIF::INVALID_READ_WRITE_MODE, true, targetObjectId,
localPoolId);
return PoolVariableIF::INVALID_READ_WRITE_MODE;
}
PoolEntry<T>* poolEntry = nullptr;
ReturnValue_t result = hkManager->fetchPoolEntry(localPoolId, &poolEntry);
if(result != RETURN_OK or poolEntry == nullptr) {
sif::error << "PoolVector: Read of local pool variable of object "
<< std::hex << std::setw(8) << std::setfill('0')
<< hkManager->getOwner() << " and lp ID " << localPoolId
<< std::dec << " failed." << std::setfill(' ') << std::endl;
if(result != RETURN_OK) {
object_id_t ownerObjectId = hkManager->getOwner()->getObjectId();
reportReadCommitError("LocalPoolVariable", result,
false, ownerObjectId, localPoolId);
return result;
}
// Actually this should never happen..
if(poolEntry->address == nullptr) {
result = PoolVariableIF::INVALID_POOL_ENTRY;
object_id_t ownerObjectId = hkManager->getOwner()->getObjectId();
reportReadCommitError("LocalPoolVariable", result,
false, ownerObjectId, localPoolId);
return result;
}
this->value = *(poolEntry->address);
this->valid = poolEntry->valid;
return RETURN_OK;
}
template<typename T>
inline ReturnValue_t LocalPoolVariable<T>::commit(dur_millis_t lockTimeout) {
MutexHelper(hkManager->getMutexHandle(), MutexIF::TimeoutType::WAITING,
lockTimeout);
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) {
MutexHelper(hkManager->getMutexHandle(), timeoutType, timeoutMs);
return commitWithoutLock();
}
template<typename T>
inline ReturnValue_t LocalPoolVariable<T>::commitWithoutLock() {
if(readWriteMode == pool_rwm_t::VAR_READ) {
sif::debug << "LocalPoolVariable: Invalid read write "
"mode for commit() call." << std::endl;
object_id_t targetObjectId = hkManager->getOwner()->getObjectId();
reportReadCommitError("LocalPoolVector",
PoolVariableIF::INVALID_READ_WRITE_MODE, false, targetObjectId,
localPoolId);
return PoolVariableIF::INVALID_READ_WRITE_MODE;
}
PoolEntry<T>* poolEntry = nullptr;
ReturnValue_t result = hkManager->fetchPoolEntry(localPoolId, &poolEntry);
if(result != RETURN_OK) {
sif::error << "PoolVector: Read of local pool variable of object "
"0x" << std::hex << std::setw(8) << std::setfill('0') <<
hkManager->getOwner() << " and lp ID 0x" << localPoolId <<
std::dec << " failed.\n" << std::flush;
object_id_t ownerObjectId = hkManager->getOwner()->getObjectId();
reportReadCommitError("LocalPoolVariable", result,
false, ownerObjectId, localPoolId);
return result;
}
*(poolEntry->address) = this->value;
poolEntry->valid = 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 {
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);
}
@ -98,12 +120,14 @@ inline ReturnValue_t LocalPoolVariable<T>::deSerialize(const uint8_t** buffer,
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;
}
#endif
template<typename T>
inline LocalPoolVariable<T>::operator T() const {
@ -111,7 +135,8 @@ inline LocalPoolVariable<T>::operator T() const {
}
template<typename T>
inline LocalPoolVariable<T> & LocalPoolVariable<T>::operator=(const T& newValue) {
inline LocalPoolVariable<T> & LocalPoolVariable<T>::operator=(
const T& newValue) {
value = newValue;
return *this;
}
@ -124,7 +149,8 @@ inline LocalPoolVariable<T>& LocalPoolVariable<T>::operator =(
}
template<typename T>
inline bool LocalPoolVariable<T>::operator ==(const LocalPoolVariable<T> &other) const {
inline bool LocalPoolVariable<T>::operator ==(
const LocalPoolVariable<T> &other) const {
return this->value == other.value;
}
@ -135,7 +161,8 @@ inline bool LocalPoolVariable<T>::operator ==(const T &other) const {
template<typename T>
inline bool LocalPoolVariable<T>::operator !=(const LocalPoolVariable<T> &other) const {
inline bool LocalPoolVariable<T>::operator !=(
const LocalPoolVariable<T> &other) const {
return not (*this == other);
}
@ -146,7 +173,8 @@ inline bool LocalPoolVariable<T>::operator !=(const T &other) const {
template<typename T>
inline bool LocalPoolVariable<T>::operator <(const LocalPoolVariable<T> &other) const {
inline bool LocalPoolVariable<T>::operator <(
const LocalPoolVariable<T> &other) const {
return this->value < other.value;
}
@ -157,7 +185,8 @@ inline bool LocalPoolVariable<T>::operator <(const T &other) const {
template<typename T>
inline bool LocalPoolVariable<T>::operator >(const LocalPoolVariable<T> &other) const {
inline bool LocalPoolVariable<T>::operator >(
const LocalPoolVariable<T> &other) const {
return not (*this < other);
}

14
datapoollocal/LocalPoolVector.h
View File

@ -7,7 +7,7 @@
#include "../datapool/PoolVariableIF.h"
#include "../datapoollocal/LocalDataPoolManager.h"
#include "../serialize/SerializeAdapter.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../serviceinterface/ServiceInterface.h"
/**
@ -123,7 +123,9 @@ public:
* It is recommended to use DataSets to read and commit multiple variables
* at once to avoid the overhead of unnecessary lock und unlock operations.
*/
ReturnValue_t read(uint32_t lockTimeout = MutexIF::BLOCKING) override;
ReturnValue_t read(MutexIF::TimeoutType timeoutType =
MutexIF::TimeoutType::WAITING,
uint32_t timeoutMs = 20) override;
/**
* @brief The commit call copies the array values back to the data pool.
* @details
@ -133,7 +135,9 @@ public:
* It is recommended to use DataSets to read and commit multiple variables
* at once to avoid the overhead of unnecessary lock und unlock operations.
*/
ReturnValue_t commit(uint32_t lockTimeout = MutexIF::BLOCKING) override;
ReturnValue_t commit(MutexIF::TimeoutType timeoutType =
MutexIF::TimeoutType::WAITING,
uint32_t timeoutMs = 20) override;
protected:
/**
@ -157,12 +161,12 @@ protected:
private:
#if FSFW_CPP_OSTREAM_ENABLED == 1
// std::ostream is the type for object std::cout
template <typename U, uint16_t otherSize>
friend std::ostream& operator<< (std::ostream &out,
const LocalPoolVector<U, otherSize> &var);
#endif
};

43
datapoollocal/LocalPoolVector.tpp
View File

@ -24,16 +24,18 @@ inline LocalPoolVector<T, vectorSize>::LocalPoolVector(gp_id_t globalPoolId,
dataSet, setReadWriteMode) {}
template<typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::read(uint32_t lockTimeout) {
MutexHelper(hkManager->getMutexHandle(), MutexIF::TimeoutType::WAITING,
lockTimeout);
inline ReturnValue_t LocalPoolVector<T, vectorSize>::read(
MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
MutexHelper(hkManager->getMutexHandle(), timeoutType, timeoutMs);
return readWithoutLock();
}
template<typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::readWithoutLock() {
if(readWriteMode == pool_rwm_t::VAR_WRITE) {
sif::debug << "LocalPoolVar: Invalid read write "
"mode for read() call." << std::endl;
object_id_t targetObjectId = hkManager->getOwner()->getObjectId();
reportReadCommitError("LocalPoolVector",
PoolVariableIF::INVALID_READ_WRITE_MODE, true, targetObjectId,
localPoolId);
return PoolVariableIF::INVALID_READ_WRITE_MODE;
}
@ -42,10 +44,9 @@ inline ReturnValue_t LocalPoolVector<T, vectorSize>::readWithoutLock() {
memset(this->value, 0, vectorSize * sizeof(T));
if(result != RETURN_OK) {
sif::error << "PoolVector: Read of local pool variable of object "
"0x" << std::hex << std::setw(8) << std::setfill('0') <<
hkManager->getOwner() << "and lp ID 0x" << localPoolId <<
std::dec << " failed." << std::endl;
object_id_t targetObjectId = hkManager->getOwner()->getObjectId();
reportReadCommitError("LocalPoolVector", result, true, targetObjectId,
localPoolId);
return result;
}
std::memcpy(this->value, poolEntry->address, poolEntry->getByteSize());
@ -55,26 +56,26 @@ inline ReturnValue_t LocalPoolVector<T, vectorSize>::readWithoutLock() {
template<typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::commit(
uint32_t lockTimeout) {
MutexHelper(hkManager->getMutexHandle(), MutexIF::TimeoutType::WAITING,
lockTimeout);
MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
MutexHelper(hkManager->getMutexHandle(), timeoutType, timeoutMs);
return commitWithoutLock();
}
template<typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::commitWithoutLock() {
if(readWriteMode == pool_rwm_t::VAR_READ) {
sif::debug << "LocalPoolVar: Invalid read write "
"mode for commit() call." << std::endl;
object_id_t targetObjectId = hkManager->getOwner()->getObjectId();
reportReadCommitError("LocalPoolVector",
PoolVariableIF::INVALID_READ_WRITE_MODE, false, targetObjectId,
localPoolId);
return PoolVariableIF::INVALID_READ_WRITE_MODE;
}
PoolEntry<T>* poolEntry = nullptr;
ReturnValue_t result = hkManager->fetchPoolEntry(localPoolId, &poolEntry);
if(result != RETURN_OK) {
sif::error << "PoolVector: Read of local pool variable of object "
"0x" << std::hex << std::setw(8) << std::setfill('0') <<
hkManager->getOwner() << " and lp ID 0x" << localPoolId <<
std::dec << " failed.\n" << std::flush;
object_id_t targetObjectId = hkManager->getOwner()->getObjectId();
reportReadCommitError("LocalPoolVector", result, false, targetObjectId,
localPoolId);
return result;
}
std::memcpy(poolEntry->address, this->value, poolEntry->getByteSize());
@ -89,8 +90,10 @@ inline T& LocalPoolVector<T, vectorSize>::operator [](int 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::error << "LocalPoolVector: Invalid index. Setting or returning"
" last value!" << std::endl;
#endif
return value[i];
}
@ -101,8 +104,10 @@ inline const T& LocalPoolVector<T, vectorSize>::operator [](int i) const {
}
// 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::error << "LocalPoolVector: Invalid index. Setting or returning"
" last value!" << std::endl;
#endif
return value[i];
}
@ -141,6 +146,7 @@ inline ReturnValue_t LocalPoolVector<T, vectorSize>::deSerialize(
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) {
@ -154,5 +160,6 @@ inline std::ostream& operator<< (std::ostream &out,
out << "]";
return out;
}
#endif
#endif /* FSFW_DATAPOOLLOCAL_LOCALPOOLVECTOR_TPP_ */

11
datapoollocal/PoolReadHelper.h
View File

@ -9,12 +9,16 @@
*/
class PoolReadHelper {
public:
PoolReadHelper(ReadCommitIF* readObject, uint32_t mutexTimeout = 20):
PoolReadHelper(ReadCommitIF* readObject,
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
uint32_t mutexTimeout = 20):
readObject(readObject), mutexTimeout(mutexTimeout) {
if(readObject != nullptr) {
readResult = readObject->read(mutexTimeout);
readResult = readObject->read(timeoutType, mutexTimeout);
#if FSFW_PRINT_VERBOSITY_LEVEL == 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PoolReadHelper: Read failed!" << std::endl;
#endif
#endif
}
}
@ -25,7 +29,7 @@ public:
~PoolReadHelper() {
if(readObject != nullptr) {
readObject->commit(mutexTimeout);
readObject->commit(timeoutType, mutexTimeout);
}
}
@ -33,6 +37,7 @@ public:
private:
ReadCommitIF* readObject = nullptr;
ReturnValue_t readResult = HasReturnvaluesIF::RETURN_OK;
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t mutexTimeout = 20;
};

22
defaultcfg/fsfwconfig/CMakeLists.txt
View File

@ -1,15 +1,15 @@
target_sources(${TARGET_NAME}
PRIVATE
target_sources(${LIB_FSFW_NAME} PRIVATE
ipc/missionMessageTypes.cpp
objects/FsfwFactory.cpp
pollingsequence/PollingSequenceFactory.cpp
)
# Add include paths for the executable
target_include_directories(${TARGET_NAME}
PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}
# Should be added to include path
target_include_directories(${TARGET_NAME} PRIVATE
${CMAKE_CURRENT_SOURCE_DIR}
)
# Add include paths for the FSFW library
target_include_directories(${LIB_FSFW_NAME}
PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}
)
if(NOT FSFW_CONFIG_PATH)
set(FSFW_CONFIG_PATH ${CMAKE_CURRENT_SOURCE_DIR})
endif()

17
defaultcfg/fsfwconfig/FSFWConfig.h
View File

@ -4,17 +4,26 @@
#include <cstddef>
#include <cstdint>
//! Used to determine whether C++ ostreams are used
//! Those can lead to code bloat.
//! Used to determine whether C++ ostreams are used which can increase
//! the binary size significantly. If this is disabled,
//! the C stdio functions can be used alternatively
#define FSFW_CPP_OSTREAM_ENABLED 1
//! Reduced printout to further decrease code size
//! More FSFW related printouts.
//! Be careful, this also turns off most diagnostic prinouts!
#define FSFW_ENHANCED_PRINTOUT 0
//! Can be used to completely disable printouts, even the C stdio ones.
#if FSFW_CPP_OSTREAM_ENABLED == 0 && FSFW_ENHANCED_PRINTOUT == 0
#define FSFW_DISABLE_PRINTOUT 0
#endif
//! Can be used to enable additional debugging printouts for developing the FSFW
#define FSFW_PRINT_VERBOSITY_LEVEL 0
//! Can be used to disable the ANSI color sequences for C stdio.
#define FSFW_COLORED_OUTPUT 1
//! If FSFW_OBJ_EVENT_TRANSLATION is set to one,
//! additional output which requires the translation files translateObjects
//! and translateEvents (and their compiled source files)
@ -50,6 +59,8 @@ static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120;
//! simulataneously. This will increase the required RAM for
//! each CSB service !
static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6;
static constexpr size_t FSFW_PRINT_BUFFER_SIZE = 124;
}
#endif /* CONFIG_FSFWCONFIG_H_ */

5
defaultcfg/fsfwconfig/devices/logicalAddresses.cpp
View File

@ -1,5 +0,0 @@
#include "logicalAddresses.h"

2
defaultcfg/fsfwconfig/devices/logicalAddresses.h
View File

@ -2,7 +2,7 @@
#define CONFIG_DEVICES_LOGICALADDRESSES_H_
#include <fsfw/devicehandlers/CookieIF.h>
#include "../objects/systemObjectList.h"
#include <objects/systemObjectList.h>
#include <cstdint>
/**

4
defaultcfg/fsfwconfig/devices/powerSwitcherList.cpp
View File

@ -1,4 +0,0 @@
#include "powerSwitcherList.h"

29
defaultcfg/fsfwconfig/objects/Factory.cpp → defaultcfg/fsfwconfig/objects/FsfwFactory.cpp
View File

@ -1,9 +1,5 @@
#include "Factory.h"
#include "../tmtc/apid.h"
#include "../tmtc/pusIds.h"
#include "../objects/systemObjectList.h"
#include "../devices/logicalAddresses.h"
#include "../devices/powerSwitcherList.h"
#include "FsfwFactory.h"
#include <OBSWConfig.h>
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/events/EventManager.h>
@ -11,24 +7,27 @@
#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
#include <fsfw/tmtcservices/CommandingServiceBase.h>
#include <fsfw/tmtcservices/PusServiceBase.h>
#include <internalError/InternalErrorReporter.h>
#include <fsfw/internalError/InternalErrorReporter.h>
#include <cstdint>
/**
* This class should be used to create all system objects required for
* the on-board software, using the object ID list from the configuration
* folder.
* This function builds all system objects required for using
* the FSFW. It is recommended to build all other required objects
* in a function with an identical prototype, call this function in it and
* then pass the function to the object manager so it builds all system
* objects on software startup.
*
* The objects are registered in the internal object manager automatically.
* This is used later to add objects to tasks.
* All system objects are registered in the internal object manager
* automatically. The objects should be added to tasks at a later stage, using
* their objects IDs.
*
* This file also sets static framework IDs.
* This function also sets static framework IDs.
*
* Framework objects are created first.
* Framework should be created first before creating mission system objects.
* @ingroup init
*/
void Factory::produce(void) {
void Factory::produceFsfwObjects(void) {
setStaticFrameworkObjectIds();
new EventManager(objects::EVENT_MANAGER);
new HealthTable(objects::HEALTH_TABLE);

8
defaultcfg/fsfwconfig/objects/Factory.h → defaultcfg/fsfwconfig/objects/FsfwFactory.h
View File

@ -1,5 +1,5 @@
#ifndef FACTORY_H_
#define FACTORY_H_
#ifndef FSFWCONFIG_OBJECTS_FACTORY_H_
#define FSFWCONFIG_OBJECTS_FACTORY_H_
#include <fsfw/objectmanager/SystemObjectIF.h>
#include <cstddef>
@ -9,9 +9,9 @@ namespace Factory {
* @brief Creates all SystemObject elements which are persistent
* during execution.
*/
void produce();
void produceFsfwObjects();
void setStaticFrameworkObjectIds();
}
#endif /* FACTORY_H_ */
#endif /* FSFWCONFIG_OBJECTS_FACTORY_H_ */

2
defaultcfg/fsfwconfig/pollingsequence/PollingSequenceFactory.cpp
View File

@ -15,8 +15,10 @@ ReturnValue_t pst::pollingSequenceInitDefault(
return HasReturnvaluesIF::RETURN_OK;
}
else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "pst::pollingSequenceInitDefault: Sequence invalid!"
<< std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
}

29
devicehandlers/DeviceHandlerBase.cpp
View File

@ -39,11 +39,13 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
cookieInfo.state = COOKIE_UNUSED;
cookieInfo.pendingCommand = deviceCommandMap.end();
if (comCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "DeviceHandlerBase: ObjectID 0x" << std::hex
<< std::setw(8) << std::setfill('0') << this->getObjectId()
<< std::dec << ": Do not pass nullptr as a cookie, consider "
<< std::setfill(' ') << "passing a dummy cookie instead!"
<< std::endl;
#endif
}
if (this->fdirInstance == nullptr) {
this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId,
@ -130,24 +132,30 @@ ReturnValue_t DeviceHandlerBase::initialize() {
communicationInterface = objectManager->get<DeviceCommunicationIF>(
deviceCommunicationId);
if (communicationInterface == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "DeviceHandlerBase::initialize: Communication interface "
"invalid." << std::endl;
sif::error << "Make sure it is set up properly and implements"
" DeviceCommunicationIF" << std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
result = communicationInterface->initializeInterface(comCookie);
if (result != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "DeviceHandlerBase::initialize: Initializing "
"communication interface failed!" << std::endl;
#endif
return result;
}
IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
if (IPCStore == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "DeviceHandlerBase::initialize: IPC store not set up in "
"factory." << std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
@ -156,10 +164,12 @@ ReturnValue_t DeviceHandlerBase::initialize() {
AcceptsDeviceResponsesIF>(rawDataReceiverId);
if (rawReceiver == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "DeviceHandlerBase::initialize: Raw receiver object "
"ID set but no valid object found." << std::endl;
sif::error << "Make sure the raw receiver object is set up properly"
" and implements AcceptsDeviceResponsesIF" << std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
defaultRawReceiver = rawReceiver->getDeviceQueue();
@ -168,10 +178,12 @@ ReturnValue_t DeviceHandlerBase::initialize() {
if(powerSwitcherId != objects::NO_OBJECT) {
powerSwitcher = objectManager->get<PowerSwitchIF>(powerSwitcherId);
if (powerSwitcher == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "DeviceHandlerBase::initialize: Power switcher "
<< "object ID set but no valid object found." << std::endl;
sif::error << "Make sure the raw receiver object is set up properly"
<< " and implements PowerSwitchIF" << std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
}
@ -217,7 +229,8 @@ ReturnValue_t DeviceHandlerBase::initialize() {
if(result == HasReturnvaluesIF::RETURN_OK) {
thermalSet->heaterRequest.value =
ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
thermalSet->commit(PoolVariableIF::VALID);
thermalSet->heaterRequest.setValid(true);
thermalSet->commit();
}
}
@ -682,8 +695,10 @@ void DeviceHandlerBase::doGetRead() {
replyRawData(receivedData, receivedDataLen, requestedRawTraffic);
}
if (mode == MODE_RAW and defaultRawReceiver != MessageQueueIF::NO_QUEUE) {
replyRawReplyIfnotWiretapped(receivedData, receivedDataLen);
if (mode == MODE_RAW) {
if (defaultRawReceiver != MessageQueueIF::NO_QUEUE) {
replyRawReplyIfnotWiretapped(receivedData, receivedDataLen);
}
}
else {
parseReply(receivedData, receivedDataLen);
@ -706,8 +721,10 @@ void DeviceHandlerBase::parseReply(const uint8_t* receivedData,
case RETURN_OK:
handleReply(receivedData, foundId, foundLen);
if(foundLen == 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "DeviceHandlerBase::parseReply: foundLen is 0!"
" Packet parsing will be stuck." << std::endl;
#endif
}
break;
case APERIODIC_REPLY: {
@ -718,8 +735,10 @@ void DeviceHandlerBase::parseReply(const uint8_t* receivedData,
foundId);
}
if(foundLen == 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "DeviceHandlerBase::parseReply: foundLen is 0!"
" Packet parsing will be stuck." << std::endl;
#endif
}
break;
}
@ -1273,9 +1292,11 @@ void DeviceHandlerBase::buildInternalCommand(void) {
result = buildNormalDeviceCommand(&deviceCommandId);
if (result == BUSY) {
//so we can track misconfigurations
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << std::hex << getObjectId()
<< ": DHB::buildInternalCommand: Busy" << std::dec
<< std::endl;
#endif
result = NOTHING_TO_SEND; //no need to report this
}
}
@ -1300,10 +1321,12 @@ void DeviceHandlerBase::buildInternalCommand(void) {
result = COMMAND_NOT_SUPPORTED;
} else if (iter->second.isExecuting) {
//so we can track misconfigurations
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << std::hex << getObjectId()
<< ": DHB::buildInternalCommand: Command "
<< deviceCommandId << " isExecuting" << std::dec
<< std::endl;
#endif
// this is an internal command, no need to report a failure here,
// missed reply will track if a reply is too late, otherwise, it's ok
return;

4
devicehandlers/DeviceHandlerFailureIsolation.cpp
View File

@ -169,8 +169,10 @@ void DeviceHandlerFailureIsolation::clearFaultCounters() {
ReturnValue_t DeviceHandlerFailureIsolation::initialize() {
ReturnValue_t result = FailureIsolationBase::initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "DeviceHandlerFailureIsolation::initialize: Could not"
" initialize FailureIsolationBase." << std::endl;
#endif
return result;
}
ConfirmsFailuresIF* power = objectManager->get<ConfirmsFailuresIF>(
@ -250,8 +252,10 @@ bool DeviceHandlerFailureIsolation::isFdirInActionOrAreWeFaulty(
if (owner == nullptr) {
// Configuration error.
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "DeviceHandlerFailureIsolation::"
<< "isFdirInActionOrAreWeFaulty: Owner not set!" << std::endl;
#endif
return false;
}

15
events/EventManager.cpp
View File

@ -122,6 +122,7 @@ void EventManager::printEvent(EventMessage* message) {
case severity::INFO:
#if DEBUG_INFO_EVENT == 1
string = translateObject(message->getReporter());
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "EVENT: ";
if (string != 0) {
sif::info << string;
@ -132,10 +133,12 @@ void EventManager::printEvent(EventMessage* message) {
<< std::dec << message->getEventId() << std::hex << ") P1: 0x"
<< message->getParameter1() << " P2: 0x"
<< message->getParameter2() << std::dec << std::endl;
#endif
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* DEBUG_INFO_EVENT == 1 */
break;
default:
string = translateObject(message->getReporter());
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "EventManager: ";
if (string != 0) {
sif::debug << string;
@ -146,22 +149,28 @@ void EventManager::printEvent(EventMessage* message) {
sif::debug << " reported " << translateEvents(message->getEvent())
<< " (" << std::dec << message->getEventId() << ") "
<< std::endl;
sif::debug << std::hex << "P1 Hex: 0x" << message->getParameter1()
<< ", P1 Dec: " << std::dec << message->getParameter1()
<< std::endl;
sif::debug << std::hex << "P2 Hex: 0x" << message->getParameter2()
<< ", P2 Dec: " << std::dec << message->getParameter2()
<< std::endl;
#endif
break;
}
}
#endif
void EventManager::lockMutex() {
mutex->lockMutex(MutexIF::BLOCKING);
mutex->lockMutex(timeoutType, timeoutMs);
}
void EventManager::unlockMutex() {
mutex->unlockMutex();
}
void EventManager::setMutexTimeout(MutexIF::TimeoutType timeoutType,
uint32_t timeoutMs) {
this->timeoutType = timeoutType;
this->timeoutMs = timeoutMs;
}

4
events/EventManager.h
View File

@ -29,6 +29,8 @@ public:
EventManager(object_id_t setObjectId);
virtual ~EventManager();
void setMutexTimeout(MutexIF::TimeoutType timeoutType, uint32_t timeoutMs);
MessageQueueId_t getEventReportQueue();
ReturnValue_t registerListener(MessageQueueId_t listener, bool forwardAllButSelected = false);
@ -51,6 +53,8 @@ protected:
std::map<MessageQueueId_t, EventMatchTree> listenerList;
MutexIF* mutex = nullptr;
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t timeoutMs = 20;
static const uint8_t N_POOLS = 3;
LocalPool factoryBackend;

8
fdir/FailureIsolationBase.cpp
View File

@ -21,8 +21,10 @@ ReturnValue_t FailureIsolationBase::initialize() {
EventManagerIF* manager = objectManager->get<EventManagerIF>(
objects::EVENT_MANAGER);
if (manager == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "FailureIsolationBase::initialize: Event Manager has not"
" been initialized!" << std::endl;
#endif
return RETURN_FAILED;
}
ReturnValue_t result = manager->registerListener(eventQueue->getId());
@ -36,8 +38,10 @@ ReturnValue_t FailureIsolationBase::initialize() {
}
owner = objectManager->get<HasHealthIF>(ownerId);
if (owner == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "FailureIsolationBase::intialize: Owner object "
"invalid. Make sure it implements HasHealthIF" << std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
}
@ -45,10 +49,14 @@ ReturnValue_t FailureIsolationBase::initialize() {
ConfirmsFailuresIF* parentIF = objectManager->get<ConfirmsFailuresIF>(
faultTreeParent);
if (parentIF == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "FailureIsolationBase::intialize: Parent object"
<< "invalid." << std::endl;
#endif
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Make sure it implements ConfirmsFailuresIF."
<< std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
return RETURN_FAILED;
}

10
globalfunctions/arrayprinter.cpp
View File

@ -4,10 +4,12 @@
void arrayprinter::print(const uint8_t *data, size_t size, OutputType type,
bool printInfo, size_t maxCharPerLine) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
if(printInfo) {
sif::info << "Printing data with size " << size << ": ";
}
sif::info << "[";
#endif
if(type == OutputType::HEX) {
arrayprinter::printHex(data, size, maxCharPerLine);
}
@ -21,6 +23,7 @@ void arrayprinter::print(const uint8_t *data, size_t size, OutputType type,
void arrayprinter::printHex(const uint8_t *data, size_t size,
size_t maxCharPerLine) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << std::hex;
for(size_t i = 0; i < size; i++) {
sif::info << "0x" << static_cast<int>(data[i]);
@ -28,16 +31,18 @@ void arrayprinter::printHex(const uint8_t *data, size_t size,
sif::info << " , ";
if(i > 0 and i % maxCharPerLine == 0) {
sif::info << std::endl;
}
}
}
sif::info << std::dec;
sif::info << "]" << std::endl;
#endif
}
void arrayprinter::printDec(const uint8_t *data, size_t size,
size_t maxCharPerLine) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << std::dec;
for(size_t i = 0; i < size; i++) {
sif::info << static_cast<int>(data[i]);
@ -49,13 +54,16 @@ void arrayprinter::printDec(const uint8_t *data, size_t size,
}
}
sif::info << "]" << std::endl;
#endif
}
void arrayprinter::printBin(const uint8_t *data, size_t size) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "\n" << std::flush;
for(size_t i = 0; i < size; i++) {
sif::info << "Byte " << i + 1 << ": 0b"<<
std::bitset<8>(data[i]) << ",\n" << std::flush;
}
sif::info << "]" << std::endl;
#endif
}

8
health/HealthHelper.cpp
View File

@ -41,14 +41,18 @@ ReturnValue_t HealthHelper::initialize() {
eventSender = objectManager->get<EventReportingProxyIF>(objectId);
if (healthTable == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "HealthHelper::initialize: Health table object needs"
"to be created in factory." << std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
if(eventSender == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "HealthHelper::initialize: Owner has to implement "
"ReportingProxyIF." << std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
@ -79,8 +83,10 @@ void HealthHelper::informParent(HasHealthIF::HealthState health,
health, oldHealth);
if (MessageQueueSenderIF::sendMessage(parentQueue, &information,
owner->getCommandQueue()) != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "HealthHelper::informParent: sending health reply failed."
<< std::endl;
#endif
}
}
@ -98,8 +104,10 @@ void HealthHelper::handleSetHealthCommand(CommandMessage* command) {
}
if (MessageQueueSenderIF::sendMessage(command->getSender(), &reply,
owner->getCommandQueue()) != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "HealthHelper::handleHealthCommand: sending health "
"reply failed." << std::endl;
#endif
}
}

2
health/HealthTableIF.h
View File

@ -5,6 +5,8 @@
#include "../objectmanager/ObjectManagerIF.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include <utility>
class HealthTableIF: public ManagesHealthIF {
public:
virtual ~HealthTableIF() {}

33
internalError/InternalErrorReporter.cpp
View File

@ -23,20 +23,22 @@ void InternalErrorReporter::setDiagnosticPrintout(bool enable) {
}
ReturnValue_t InternalErrorReporter::performOperation(uint8_t opCode) {
internalErrorDataset.read(INTERNAL_ERROR_MUTEX_TIMEOUT);
internalErrorDataset.read(timeoutType, timeoutMs);
uint32_t newQueueHits = getAndResetQueueHits();
uint32_t newTmHits = getAndResetTmHits();
uint32_t newStoreHits = getAndResetStoreHits();
#ifdef DEBUG
#if FSFW_ENHANCED_PRINTOUT == 1
if(diagnosticPrintout) {
if((newQueueHits > 0) or (newTmHits > 0) or (newStoreHits > 0)) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "InternalErrorReporter::performOperation: Errors "
<< "occured!" << std::endl;
sif::debug << "Queue errors: " << newQueueHits << std::endl;
sif::debug << "TM errors: " << newTmHits << std::endl;
sif::debug << "Store errors: " << newStoreHits << std::endl;
#endif
}
}
#endif
@ -44,8 +46,8 @@ ReturnValue_t InternalErrorReporter::performOperation(uint8_t opCode) {
internalErrorDataset.queueHits.value += newQueueHits;
internalErrorDataset.storeHits.value += newStoreHits;
internalErrorDataset.tmHits.value += newTmHits;
internalErrorDataset.commit(INTERNAL_ERROR_MUTEX_TIMEOUT);
internalErrorDataset.setValidity(true, true);
internalErrorDataset.commit(timeoutType, timeoutMs);
poolManager.performHkOperation();
@ -67,7 +69,7 @@ void InternalErrorReporter::lostTm() {
uint32_t InternalErrorReporter::getAndResetQueueHits() {
uint32_t value;
mutex->lockMutex(MutexIF::WAITING, INTERNAL_ERROR_MUTEX_TIMEOUT);
mutex->lockMutex(timeoutType, timeoutMs);
value = queueHits;
queueHits = 0;
mutex->unlockMutex();
@ -76,21 +78,21 @@ uint32_t InternalErrorReporter::getAndResetQueueHits() {
uint32_t InternalErrorReporter::getQueueHits() {
uint32_t value;
mutex->lockMutex(MutexIF::WAITING, INTERNAL_ERROR_MUTEX_TIMEOUT);
mutex->lockMutex(timeoutType, timeoutMs);
value = queueHits;
mutex->unlockMutex();
return value;
}
void InternalErrorReporter::incrementQueueHits() {
mutex->lockMutex(MutexIF::WAITING, INTERNAL_ERROR_MUTEX_TIMEOUT);
mutex->lockMutex(timeoutType, timeoutMs);
queueHits++;
mutex->unlockMutex();
}
uint32_t InternalErrorReporter::getAndResetTmHits() {
uint32_t value;
mutex->lockMutex(MutexIF::WAITING, INTERNAL_ERROR_MUTEX_TIMEOUT);
mutex->lockMutex(timeoutType, timeoutMs);
value = tmHits;
tmHits = 0;
mutex->unlockMutex();
@ -99,14 +101,14 @@ uint32_t InternalErrorReporter::getAndResetTmHits() {
uint32_t InternalErrorReporter::getTmHits() {
uint32_t value;
mutex->lockMutex(MutexIF::WAITING, INTERNAL_ERROR_MUTEX_TIMEOUT);
mutex->lockMutex(timeoutType, timeoutMs);
value = tmHits;
mutex->unlockMutex();
return value;
}
void InternalErrorReporter::incrementTmHits() {
mutex->lockMutex(MutexIF::WAITING, INTERNAL_ERROR_MUTEX_TIMEOUT);
mutex->lockMutex(timeoutType, timeoutMs);
tmHits++;
mutex->unlockMutex();
}
@ -117,7 +119,7 @@ void InternalErrorReporter::storeFull() {
uint32_t InternalErrorReporter::getAndResetStoreHits() {
uint32_t value;
mutex->lockMutex(MutexIF::WAITING, INTERNAL_ERROR_MUTEX_TIMEOUT);
mutex->lockMutex(timeoutType, timeoutMs);
value = storeHits;
storeHits = 0;
mutex->unlockMutex();
@ -126,14 +128,14 @@ uint32_t InternalErrorReporter::getAndResetStoreHits() {
uint32_t InternalErrorReporter::getStoreHits() {
uint32_t value;
mutex->lockMutex(MutexIF::WAITING, INTERNAL_ERROR_MUTEX_TIMEOUT);
mutex->lockMutex(timeoutType, timeoutMs);
value = storeHits;
mutex->unlockMutex();
return value;
}
void InternalErrorReporter::incrementStoreHits() {
mutex->lockMutex(MutexIF::WAITING, INTERNAL_ERROR_MUTEX_TIMEOUT);
mutex->lockMutex(timeoutType, timeoutMs);
storeHits++;
mutex->unlockMutex();
}
@ -188,3 +190,8 @@ ReturnValue_t InternalErrorReporter::initializeAfterTaskCreation() {
return poolManager.initializeAfterTaskCreation();
}
void InternalErrorReporter::setMutexTimeout(MutexIF::TimeoutType timeoutType,
uint32_t timeoutMs) {
this->timeoutType = timeoutType;
this->timeoutMs = timeoutMs;
}

8
internalError/InternalErrorReporter.h
View File

@ -22,7 +22,6 @@ class InternalErrorReporter: public SystemObject,
public InternalErrorReporterIF,
public HasLocalDataPoolIF {
public:
static constexpr uint8_t INTERNAL_ERROR_MUTEX_TIMEOUT = 20;
InternalErrorReporter(object_id_t setObjectId,
uint32_t messageQueueDepth = 5);
@ -34,6 +33,9 @@ public:
*/
void setDiagnosticPrintout(bool enable);
void setMutexTimeout(MutexIF::TimeoutType timeoutType,
uint32_t timeoutMs);
virtual ~InternalErrorReporter();
virtual object_id_t getObjectId() const override;
@ -61,7 +63,11 @@ protected:
LocalDataPoolManager poolManager;
PeriodicTaskIF* executingTask = nullptr;
MutexIF* mutex = nullptr;
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t timeoutMs = 20;
sid_t internalErrorSid;
InternalErrorDataset internalErrorDataset;

4
ipc/MessageQueueMessage.cpp
View File

@ -15,8 +15,10 @@ MessageQueueMessage::MessageQueueMessage(uint8_t* data, size_t size) :
this->messageSize = this->HEADER_SIZE + size;
}
else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "MessageQueueMessage: Passed size larger than maximum"
"allowed size! Setting content to 0" << std::endl;
#endif
memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
this->messageSize = this->HEADER_SIZE;
}
@ -52,7 +54,9 @@ void MessageQueueMessage::setSender(MessageQueueId_t setId) {
}
void MessageQueueMessage::print(bool printWholeMessage) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "MessageQueueMessage content: " << std::endl;
#endif
if(printWholeMessage) {
arrayprinter::print(getData(), getMaximumMessageSize());
}

4
ipc/MutexHelper.h
View File

@ -12,12 +12,16 @@ public:
ReturnValue_t status = mutex->lockMutex(timeoutType,
timeoutMs);
if(status == MutexIF::MUTEX_TIMEOUT) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MutexHelper: Lock of mutex failed with timeout of "
<< timeoutMs << " milliseconds!" << std::endl;
#endif
}
else if(status != HasReturnvaluesIF::RETURN_OK){
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MutexHelper: Lock of Mutex failed with code "
<< status << std::endl;
#endif
}
}

2
ipc/MutexIF.h
View File

@ -14,7 +14,7 @@ public:
/**
* Different types of timeout for the mutex lock.
*/
enum TimeoutType {
enum class TimeoutType {
POLLING, //!< If mutex is not available, return immediately
WAITING, //!< Wait a specified time for the mutex to become available
BLOCKING //!< Block indefinitely until the mutex becomes available.

2
memory/MemoryHelper.cpp
View File

@ -16,7 +16,9 @@ ReturnValue_t MemoryHelper::handleMemoryCommand(CommandMessage* message) {
lastSender = message->getSender();
lastCommand = message->getCommand();
if (busy) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "MemHelper: Busy!" << std::endl;
#endif
}
switch (lastCommand) {
case MemoryMessage::CMD_MEMORY_DUMP:

2
monitoring/MonitoringMessageContent.h
View File

@ -72,8 +72,10 @@ private:
if (timeStamper == nullptr) {
timeStamper = objectManager->get<TimeStamperIF>( timeStamperId );
if ( timeStamper == nullptr ) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MonitoringReportContent::checkAndSetStamper: "
"Stamper not found!" << std::endl;
#endif
return false;
}
}

27
objectmanager/ObjectManager.cpp
View File

@ -1,6 +1,9 @@
#include "ObjectManager.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#if FSFW_CPP_OSTREAM_ENABLED == 1
#include <iomanip>
#endif
#include <cstdlib>
ObjectManager::ObjectManager( void (*setProducer)() ):
@ -18,13 +21,18 @@ ObjectManager::~ObjectManager() {
ReturnValue_t ObjectManager::insert( object_id_t id, SystemObjectIF* object) {
auto returnPair = objectList.emplace(id, object);
if (returnPair.second) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
// sif::debug << "ObjectManager::insert: Object " << std::hex
// << (int)id << std::dec << " inserted." << std::endl;
#endif
return this->RETURN_OK;
} else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "ObjectManager::insert: Object id " << std::hex
<< (int)id << std::dec << " is already in use!" << std::endl;
<< static_cast<uint32_t>(id) << std::dec
<< " is already in use!" << std::endl;
sif::error << "Terminating program." << std::endl;
#endif
//This is very severe and difficult to handle in other places.
std::exit(INSERTION_FAILED);
}
@ -33,12 +41,16 @@ ReturnValue_t ObjectManager::insert( object_id_t id, SystemObjectIF* object) {
ReturnValue_t ObjectManager::remove( object_id_t id ) {
if ( this->getSystemObject(id) != NULL ) {
this->objectList.erase( id );
#if FSFW_CPP_OSTREAM_ENABLED == 1
//sif::debug << "ObjectManager::removeObject: Object " << std::hex
// << (int)id << std::dec << " removed." << std::endl;
#endif
return RETURN_OK;
} else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "ObjectManager::removeObject: Requested object "
<< std::hex << (int)id << std::dec << " not found." << std::endl;
#endif
return NOT_FOUND;
}
}
@ -60,8 +72,10 @@ ObjectManager::ObjectManager() : produceObjects(nullptr) {
void ObjectManager::initialize() {
if(produceObjects == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "ObjectManager::initialize: Passed produceObjects "
"functions is nullptr!" << std::endl;
#endif
return;
}
this->produceObjects();
@ -70,38 +84,49 @@ void ObjectManager::initialize() {
for (auto const& it : objectList) {
result = it.second->initialize();
if ( result != RETURN_OK ) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
object_id_t var = it.first;
sif::error << "ObjectManager::initialize: Object 0x" << std::hex <<
std::setw(8) << std::setfill('0')<< var << " failed to "
"initialize with code 0x" << result << std::dec <<
std::setfill(' ') << std::endl;
#endif
errorCount++;
}
}
if (errorCount > 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "ObjectManager::ObjectManager: Counted " << errorCount
<< " failed initializations." << std::endl;
#endif
}
//Init was successful. Now check successful interconnections.
errorCount = 0;
for (auto const& it : objectList) {
result = it.second->checkObjectConnections();
if ( result != RETURN_OK ) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "ObjectManager::ObjectManager: Object " << std::hex <<
(int) it.first << " connection check failed with code 0x"
<< result << std::dec << std::endl;
#endif
errorCount++;
}
}
if (errorCount > 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "ObjectManager::ObjectManager: Counted " << errorCount
<< " failed connection checks." << std::endl;
#endif
}
}
void ObjectManager::printList() {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "ObjectManager: Object List contains:" << std::endl;
for (auto const& it : objectList) {
sif::debug << std::hex << it.first << " | " << it.second << std::endl;
}
#endif
}

2
objectmanager/ObjectManagerIF.h
View File

@ -86,8 +86,10 @@ extern ObjectManagerIF *objectManager;
template <typename T>
T* ObjectManagerIF::get( object_id_t id ) {
if(objectManager == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "ObjectManagerIF: Global object manager has not "
"been initialized yet!" << std::endl;
#endif
}
SystemObjectIF* temp = this->getSystemObject(id);
return dynamic_cast<T*>(temp);

2
osal/FreeRTOS/BinSemaphUsingTask.cpp
View File

@ -8,8 +8,10 @@
BinarySemaphoreUsingTask::BinarySemaphoreUsingTask() {
handle = TaskManagement::getCurrentTaskHandle();
if(handle == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Could not retrieve task handle. Please ensure the"
"constructor was called inside a task." << std::endl;
#endif
}
xTaskNotifyGive(handle);
}

6
osal/FreeRTOS/BinarySemaphore.cpp
View File

@ -5,7 +5,9 @@
BinarySemaphore::BinarySemaphore() {
handle = xSemaphoreCreateBinary();
if(handle == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Semaphore: Binary semaph creation failure" << std::endl;
#endif
}
// Initiated semaphore must be given before it can be taken.
xSemaphoreGive(handle);
@ -18,7 +20,9 @@ BinarySemaphore::~BinarySemaphore() {
BinarySemaphore::BinarySemaphore(BinarySemaphore&& s) {
handle = xSemaphoreCreateBinary();
if(handle == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Binary semaphore creation failure" << std::endl;
#endif
}
xSemaphoreGive(handle);
}
@ -28,7 +32,9 @@ BinarySemaphore& BinarySemaphore::operator =(
if(&s != this) {
handle = xSemaphoreCreateBinary();
if(handle == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Binary semaphore creation failure" << std::endl;
#endif
}
xSemaphoreGive(handle);
}

4
osal/FreeRTOS/Clock.cpp
View File

@ -163,7 +163,7 @@ ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
if (checkOrCreateClockMutex() != HasReturnvaluesIF::RETURN_OK) {
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
ReturnValue_t result = timeMutex->lockMutex(MutexIF::TimeoutType::BLOCKING);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
@ -178,7 +178,7 @@ ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
if (timeMutex == NULL) {
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
ReturnValue_t result = timeMutex->lockMutex(MutexIF::TimeoutType::BLOCKING);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}

6
osal/FreeRTOS/CountingSemaphUsingTask.cpp
View File

@ -9,25 +9,31 @@
CountingSemaphoreUsingTask::CountingSemaphoreUsingTask(const uint8_t maxCount,
uint8_t initCount): maxCount(maxCount) {
if(initCount > maxCount) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
"intial cout. Setting initial count to max count." << std::endl;
#endif
initCount = maxCount;
}
handle = TaskManagement::getCurrentTaskHandle();
if(handle == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "CountingSemaphoreUsingTask: Could not retrieve task "
"handle. Please ensure the constructor was called inside a "
"task." << std::endl;
#endif
}
uint32_t oldNotificationValue;
xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite,
&oldNotificationValue);
if(oldNotificationValue != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "CountinSemaphoreUsingTask: Semaphore initiated but "
"current notification value is not 0. Please ensure the "
"notification value is not used for other purposes!" << std::endl;
#endif
}
for(int i = 0; i < initCount; i++) {
xTaskNotifyGive(handle);

8
osal/FreeRTOS/CountingSemaphore.cpp
View File

@ -10,14 +10,18 @@
CountingSemaphore::CountingSemaphore(const uint8_t maxCount, uint8_t initCount):
maxCount(maxCount), initCount(initCount) {
if(initCount > maxCount) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
"intial cout. Setting initial count to max count." << std::endl;
#endif
initCount = maxCount;
}
handle = xSemaphoreCreateCounting(maxCount, initCount);
if(handle == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "CountingSemaphore: Creation failure" << std::endl;
#endif
}
}
@ -25,7 +29,9 @@ CountingSemaphore::CountingSemaphore(CountingSemaphore&& other):
maxCount(other.maxCount), initCount(other.initCount) {
handle = xSemaphoreCreateCounting(other.maxCount, other.initCount);
if(handle == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "CountingSemaphore: Creation failure" << std::endl;
#endif
}
}
@ -33,7 +39,9 @@ CountingSemaphore& CountingSemaphore::operator =(
CountingSemaphore&& other) {
handle = xSemaphoreCreateCounting(other.maxCount, other.initCount);
if(handle == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "CountingSemaphore: Creation failure" << std::endl;
#endif
}
return * this;
}

6
osal/FreeRTOS/FixedTimeslotTask.cpp
View File

@ -37,15 +37,19 @@ void FixedTimeslotTask::taskEntryPoint(void* argument) {
}
originalTask->taskFunctionality();
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "Polling task " << originalTask->handle
<< " returned from taskFunctionality." << std::endl;
#endif
}
void FixedTimeslotTask::missedDeadlineCounter() {
FixedTimeslotTask::deadlineMissedCount++;
if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount
<< " deadlines." << std::endl;
#endif
}
}
@ -69,8 +73,10 @@ ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
return HasReturnvaluesIF::RETURN_OK;
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Component " << std::hex << componentId <<
" not found, not adding it to pst" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}

3
osal/FreeRTOS/MessageQueue.cpp
View File

@ -10,6 +10,7 @@
MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize):
maxMessageSize(maxMessageSize) {
handle = xQueueCreate(messageDepth, maxMessageSize);
#if FSFW_CPP_OSTREAM_ENABLED == 1
if (handle == nullptr) {
sif::error << "MessageQueue::MessageQueue:"
<< " Creation failed." << std::endl;
@ -17,7 +18,9 @@ MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize):
<< std::endl;
sif::error << "Specified Maximum Message Size: "
<< maxMessageSize << std::endl;
}
#endif
}
MessageQueue::~MessageQueue() {

2
osal/FreeRTOS/Mutex.cpp
View File

@ -5,7 +5,9 @@
Mutex::Mutex() {
handle = xSemaphoreCreateMutex();
if(handle == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Mutex::Mutex(FreeRTOS): Creation failure" << std::endl;
#endif
}
}

6
osal/FreeRTOS/PeriodicTask.cpp
View File

@ -13,8 +13,10 @@ PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
BaseType_t status = xTaskCreate(taskEntryPoint, name,
stackSize, this, setPriority, &handle);
if(status != pdPASS){
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "PeriodicTask Insufficient heap memory remaining. "
"Status: " << status << std::endl;
#endif
}
}
@ -41,8 +43,10 @@ void PeriodicTask::taskEntryPoint(void* argument) {
}
originalTask->taskFunctionality();
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "Polling task " << originalTask->handle
<< " returned from taskFunctionality." << std::endl;
#endif
}
ReturnValue_t PeriodicTask::startTask() {
@ -99,8 +103,10 @@ ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
object);
if (newObject == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
"it implement ExecutableObjectIF" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
objectList.push_back(newObject);

4
osal/FreeRTOS/SemaphoreFactory.cpp
View File

@ -32,8 +32,10 @@ SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t argument) {
return new BinarySemaphoreUsingTask();
}
else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SemaphoreFactory: Invalid argument, return regular"
"binary semaphore" << std::endl;
#endif
return new BinarySemaphore();
}
}
@ -47,8 +49,10 @@ SemaphoreIF* SemaphoreFactory::createCountingSemaphore(uint8_t maxCount,
return new CountingSemaphoreUsingTask(maxCount, initCount);
}
else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SemaphoreFactory: Invalid argument, return regular"
"binary semaphore" << std::endl;
#endif
return new CountingSemaphore(maxCount, initCount);
}

20
osal/host/Clock.cpp
View File

@ -14,7 +14,9 @@ MutexIF* Clock::timeMutex = NULL;
using SystemClock = std::chrono::system_clock;
uint32_t Clock::getTicksPerSecond(void){
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "Clock::getTicksPerSecond: not implemented yet" << std::endl;
#endif
return 0;
//return CLOCKS_PER_SEC;
//uint32_t ticks = sysconf(_SC_CLK_TCK);
@ -23,7 +25,9 @@ uint32_t Clock::getTicksPerSecond(void){
ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
// do some magic with chrono
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "Clock::setClock: not implemented yet" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_OK;
}
@ -36,7 +40,9 @@ ReturnValue_t Clock::setClock(const timeval* time) {
#else
#endif
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -60,7 +66,9 @@ ReturnValue_t Clock::getClock_timeval(timeval* time) {
time->tv_usec = timeUnix.tv_nsec / 1000.0;
return HasReturnvaluesIF::RETURN_OK;
#else
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
#endif
@ -68,7 +76,9 @@ ReturnValue_t Clock::getClock_timeval(timeval* time) {
ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
// do some magic with chrono
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "Clock::gerClock_usecs: not implemented yet" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_OK;
}
@ -90,7 +100,9 @@ timeval Clock::getUptime() {
timeval.tv_usec = uptimeSeconds *(double) 1e6 - (timeval.tv_sec *1e6);
}
#else
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl;
#endif
#endif
return timeval;
}
@ -126,7 +138,9 @@ ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
auto usecond = std::chrono::duration_cast<std::chrono::microseconds>(fraction);
time->usecond = usecond.count();
#if FSFW_CPP_OSTREAM_ENABLED == 1
//sif::warning << "Clock::getDateAndTime: not implemented yet" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_OK;
}
@ -148,7 +162,9 @@ ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from,
to->tv_usec = from->usecond;
//Fails in 2038..
return HasReturnvaluesIF::RETURN_OK;
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "Clock::convertTimeBla: not implemented yet" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_OK;
}
@ -186,7 +202,7 @@ ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
if(checkOrCreateClockMutex()!=HasReturnvaluesIF::RETURN_OK){
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
ReturnValue_t result = timeMutex->lockMutex();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
@ -201,7 +217,7 @@ ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
if(timeMutex == nullptr){
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
ReturnValue_t result = timeMutex->lockMutex();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}

8
osal/host/FixedTimeslotTask.cpp
View File

@ -35,15 +35,19 @@ FixedTimeslotTask::FixedTimeslotTask(const char *name, TaskPriority setPriority,
reinterpret_cast<HANDLE>(mainThread.native_handle()),
ABOVE_NORMAL_PRIORITY_CLASS);
if(result != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "FixedTimeslotTask: Windows SetPriorityClass failed with code "
<< GetLastError() << std::endl;
#endif
}
result = SetThreadPriority(
reinterpret_cast<HANDLE>(mainThread.native_handle()),
THREAD_PRIORITY_NORMAL);
if(result != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "FixedTimeslotTask: Windows SetPriorityClass failed with code "
<< GetLastError() << std::endl;
#endif
}
#elif defined(LINUX)
// TODO: we can just copy and paste the code from the linux OSAL here.
@ -70,8 +74,10 @@ void FixedTimeslotTask::taskEntryPoint(void* argument) {
}
this->taskFunctionality();
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "FixedTimeslotTask::taskEntryPoint: "
"Returned from taskFunctionality." << std::endl;
#endif
}
ReturnValue_t FixedTimeslotTask::startTask() {
@ -134,8 +140,10 @@ ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
return HasReturnvaluesIF::RETURN_OK;
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Component " << std::hex << componentId <<
" not found, not adding it to pst" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}

4
osal/host/MessageQueue.cpp
View File

@ -10,8 +10,10 @@ MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize):
queueLock = MutexFactory::instance()->createMutex();
auto result = QueueMapManager::instance()->addMessageQueue(this, &mqId);
if(result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::MessageQueue:"
<< " Could not be created" << std::endl;
#endif
}
}
@ -137,8 +139,10 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
targetQueue->messageQueue.push(*mqmMessage);
}
else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::sendMessageFromMessageQueue: Message"
"is not MessageQueueMessage!" << std::endl;
#endif
}
}

6
osal/host/Mutex.cpp
View File

@ -4,16 +4,16 @@
Mutex::Mutex() {}
ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType, uint32_t timeoutMs) {
if(timeoutType == MutexIF::BLOCKING) {
if(timeoutType == TimeoutType::BLOCKING) {
mutex.lock();
return HasReturnvaluesIF::RETURN_OK;
}
else if(timeoutType == MutexIF::POLLING) {
else if(timeoutType == TimeoutType::POLLING) {
if(mutex.try_lock()) {
return HasReturnvaluesIF::RETURN_OK;
}
}
else if(timeoutMs > MutexIF::POLLING){
else if(timeoutType == TimeoutType::WAITING){
auto chronoMs = std::chrono::milliseconds(timeoutMs);
if(mutex.try_lock_for(chronoMs)) {
return HasReturnvaluesIF::RETURN_OK;

6
osal/host/PeriodicTask.cpp
View File

@ -33,15 +33,19 @@ PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
reinterpret_cast<HANDLE>(mainThread.native_handle()),
ABOVE_NORMAL_PRIORITY_CLASS);
if(result != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
<< GetLastError() << std::endl;
#endif
}
result = SetThreadPriority(
reinterpret_cast<HANDLE>(mainThread.native_handle()),
THREAD_PRIORITY_NORMAL);
if(result != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
<< GetLastError() << std::endl;
#endif
}
#elif defined(LINUX)
// we can just copy and paste the code from linux here.
@ -69,8 +73,10 @@ void PeriodicTask::taskEntryPoint(void* argument) {
}
this->taskFunctionality();
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "PeriodicTask::taskEntryPoint: "
"Returned from taskFunctionality." << std::endl;
#endif
}
ReturnValue_t PeriodicTask::startTask() {

4
osal/host/QueueMapManager.cpp
View File

@ -26,8 +26,10 @@ ReturnValue_t QueueMapManager::addMessageQueue(
auto returnPair = queueMap.emplace(currentId, queueToInsert);
if(not returnPair.second) {
// this should never happen for the atomic variable.
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "QueueMapManager: This ID is already inside the map!"
<< std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
if (id != nullptr) {
@ -44,8 +46,10 @@ MessageQueueIF* QueueMapManager::getMessageQueue(
return queueIter->second;
}
else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "QueueMapManager::getQueueHandle: The ID " <<
messageQueueId << " does not exists in the map" << std::endl;
#endif
return nullptr;
}
}

4
osal/host/SemaphoreFactory.cpp
View File

@ -21,16 +21,20 @@ SemaphoreFactory* SemaphoreFactory::instance() {
SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t arguments) {
// Just gonna wait for full C++20 for now.
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SemaphoreFactory: Binary Semaphore not implemented yet."
" Returning nullptr!\n" << std::flush;
#endif
return nullptr;
}
SemaphoreIF* SemaphoreFactory::createCountingSemaphore(const uint8_t maxCount,
uint8_t initCount, uint32_t arguments) {
// Just gonna wait for full C++20 for now.
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SemaphoreFactory: Counting Semaphore not implemented yet."
" Returning nullptr!\n" << std::flush;
#endif
return nullptr;
}

6
osal/linux/BinarySemaphore.cpp
View File

@ -43,8 +43,10 @@ ReturnValue_t BinarySemaphore::acquire(TimeoutType timeoutType,
timeOut.tv_nsec = nseconds - timeOut.tv_sec * 1000000000;
result = sem_timedwait(&handle, &timeOut);
if(result != 0 and errno == EINVAL) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "BinarySemaphore::acquire: Invalid time value possible"
<< std::endl;
#endif
}
}
if(result == 0) {
@ -62,8 +64,10 @@ ReturnValue_t BinarySemaphore::acquire(TimeoutType timeoutType,
return SemaphoreIF::SEMAPHORE_INVALID;
case(EINTR):
// Call was interrupted by signal handler
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "BinarySemaphore::acquire: Signal handler interrupted."
"Code " << strerror(errno) << std::endl;
#endif
/* No break */
default:
return HasReturnvaluesIF::RETURN_FAILED;
@ -126,8 +130,10 @@ void BinarySemaphore::initSemaphore(uint8_t initCount) {
// Value exceeds SEM_VALUE_MAX
case(ENOSYS):
// System does not support process-shared semaphores
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "BinarySemaphore: Init failed with" << strerror(errno)
<< std::endl;
#endif
}
}
}

12
osal/linux/Clock.cpp
View File

@ -69,7 +69,9 @@ timeval Clock::getUptime() {
timeval uptime;
auto result = getUptime(&uptime);
if(result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Clock::getUptime: Error getting uptime" << std::endl;
#endif
}
return uptime;
}
@ -180,7 +182,7 @@ ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
if(checkOrCreateClockMutex()!=HasReturnvaluesIF::RETURN_OK){
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
ReturnValue_t result = timeMutex->lockMutex(MutexIF::TimeoutType::BLOCKING);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
@ -195,7 +197,7 @@ ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
if(timeMutex==NULL){
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
ReturnValue_t result = timeMutex->lockMutex(MutexIF::TimeoutType::BLOCKING);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
@ -207,13 +209,13 @@ ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
}
ReturnValue_t Clock::checkOrCreateClockMutex(){
if(timeMutex==NULL){
if(timeMutex == nullptr){
MutexFactory* mutexFactory = MutexFactory::instance();
if (mutexFactory == NULL) {
if (mutexFactory == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
timeMutex = mutexFactory->createMutex();
if (timeMutex == NULL) {
if (timeMutex == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
}

2
osal/linux/CountingSemaphore.cpp
View File

@ -4,8 +4,10 @@
CountingSemaphore::CountingSemaphore(const uint8_t maxCount, uint8_t initCount):
maxCount(maxCount), initCount(initCount) {
if(initCount > maxCount) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
"intial cout. Setting initial count to max count." << std::endl;
#endif
initCount = maxCount;
}

4
osal/linux/FixedTimeslotTask.cpp
View File

@ -47,8 +47,10 @@ ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
return HasReturnvaluesIF::RETURN_OK;
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Component " << std::hex << componentId <<
" not found, not adding it to pst" << std::dec << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -91,7 +93,9 @@ void FixedTimeslotTask::taskFunctionality() {
void FixedTimeslotTask::missedDeadlineCounter() {
FixedTimeslotTask::deadlineMissedCount++;
if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount
<< " deadlines." << std::endl;
#endif
}
}

35
osal/linux/MessageQueue.cpp
View File

@ -10,7 +10,6 @@
#include <errno.h>
MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize):
id(MessageQueueIF::NO_QUEUE),lastPartner(MessageQueueIF::NO_QUEUE),
defaultDestination(MessageQueueIF::NO_QUEUE),
@ -43,13 +42,17 @@ MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize):
MessageQueue::~MessageQueue() {
int status = mq_close(this->id);
if(status != 0){
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::Destructor: mq_close Failed with status: "
<< strerror(errno) <<std::endl;
#endif
}
status = mq_unlink(name);
if(status != 0){
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::Destructor: mq_unlink Failed with status: "
<< strerror(errno) << std::endl;
#endif
}
}
@ -57,8 +60,10 @@ ReturnValue_t MessageQueue::handleError(mq_attr* attributes,
uint32_t messageDepth) {
switch(errno) {
case(EINVAL): {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::MessageQueue: Invalid name or attributes"
" for message size" << std::endl;
#endif
size_t defaultMqMaxMsg = 0;
// Not POSIX conformant, but should work for all UNIX systems.
// Just an additional helpful printout :-)
@ -79,11 +84,13 @@ ReturnValue_t MessageQueue::handleError(mq_attr* attributes,
Append at end: fs/mqueue/msg_max = <newMsgMaxLen>
Apply changes with: sudo sysctl -p
*/
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::MessageQueue: Default MQ size "
<< defaultMqMaxMsg << " is too small for requested size "
<< messageDepth << std::endl;
sif::error << "This error can be fixed by setting the maximum "
"allowed message size higher!" << std::endl;
#endif
}
break;
@ -95,8 +102,10 @@ ReturnValue_t MessageQueue::handleError(mq_attr* attributes,
//We unlink the other queue
int status = mq_unlink(name);
if (status != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "mq_unlink Failed with status: " << strerror(errno)
<< std::endl;
#endif
}
else {
// Successful unlinking, try to open again
@ -114,9 +123,11 @@ ReturnValue_t MessageQueue::handleError(mq_attr* attributes,
default:
// Failed either the first time or the second time
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::MessageQueue: Creating Queue " << std::hex
<< name << std::dec << " failed with status: "
<< strerror(errno) << std::endl;
#endif
}
return HasReturnvaluesIF::RETURN_FAILED;
@ -151,15 +162,19 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
if(message == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::receiveMessage: Message is "
"nullptr!" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
if(message->getMaximumMessageSize() < maxMessageSize) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::receiveMessage: Message size "
<< message->getMaximumMessageSize()
<< " too small to receive data!" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -187,8 +202,10 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
return MessageQueueIF::EMPTY;
case EBADF:
//mqdes doesn't represent a valid queue open for reading.
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::receive: configuration error "
<< strerror(errno) << std::endl;
#endif
/*NO BREAK*/
case EINVAL:
/*
@ -200,8 +217,10 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
* queue, and the QNX extended option MQ_READBUF_DYNAMIC hasn't
* been set in the queue's mq_flags.
*/
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::receive: configuration error "
<< strerror(errno) << std::endl;
#endif
/*NO BREAK*/
case EMSGSIZE:
/*
@ -213,8 +232,10 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
* given msg_len is too short for the message that would have
* been received.
*/
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::receive: configuration error "
<< strerror(errno) << std::endl;
#endif
/*NO BREAK*/
case EINTR:
//The operation was interrupted by a signal.
@ -237,8 +258,10 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
switch(errno){
case EBADF:
//mqdes doesn't represent a valid message queue.
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::flush configuration error, "
"called flush with an invalid queue ID" << std::endl;
#endif
/*NO BREAK*/
case EINVAL:
//mq_attr is NULL
@ -253,8 +276,10 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
switch(errno){
case EBADF:
//mqdes doesn't represent a valid message queue.
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::flush configuration error, "
"called flush with an invalid queue ID" << std::endl;
#endif
/*NO BREAK*/
case EINVAL:
/*
@ -306,8 +331,10 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
MessageQueueMessageIF *message, MessageQueueId_t sentFrom,
bool ignoreFault) {
if(message == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::sendMessageFromMessageQueue: Message is "
"nullptr!" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -335,11 +362,13 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
case EBADF: {
//mq_des doesn't represent a valid message queue descriptor,
//or mq_des wasn't opened for writing.
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::sendMessage: Configuration error, MQ"
<< " destination invalid." << std::endl;
sif::error << strerror(errno) << " in "
<<"mq_send to: " << sendTo << " sent from "
<< sentFrom << std::endl;
#endif
return DESTINVATION_INVALID;
}
case EINTR:
@ -354,14 +383,18 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
* - MQ_PRIO_RESTRICT is set in the mq_attr of mq_des, and
* msg_prio is greater than the priority of the calling process.
*/
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::sendMessage: Configuration error "
<< strerror(errno) << " in mq_send" << std::endl;
#endif
/*NO BREAK*/
case EMSGSIZE:
// The msg_len is greater than the msgsize associated with
//the specified queue.
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::sendMessage: Size error [" <<
strerror(errno) << "] in mq_send" << std::endl;
#endif
/*NO BREAK*/
default:
return HasReturnvaluesIF::RETURN_FAILED;

8
osal/linux/Mutex.cpp
View File

@ -12,24 +12,32 @@ Mutex::Mutex() {
pthread_mutexattr_t mutexAttr;
int status = pthread_mutexattr_init(&mutexAttr);
if (status != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Mutex: Attribute init failed with: " << strerror(status) << std::endl;
#endif
}
status = pthread_mutexattr_setprotocol(&mutexAttr, PTHREAD_PRIO_INHERIT);
if (status != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Mutex: Attribute set PRIO_INHERIT failed with: " << strerror(status)
<< std::endl;
#endif
}
status = pthread_mutex_init(&mutex, &mutexAttr);
if (status != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Mutex: creation with name, id " << mutex.__data.__count
<< ", " << " failed with " << strerror(status) << std::endl;
#endif
}
// After a mutex attributes object has been used to initialize one or more
// mutexes, any function affecting the attributes object
// (including destruction) shall not affect any previously initialized mutexes.
status = pthread_mutexattr_destroy(&mutexAttr);
if (status != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Mutex: Attribute destroy failed with " << strerror(status) << std::endl;
#endif
}
}

8
osal/linux/PeriodicPosixTask.cpp
View File

@ -25,8 +25,10 @@ ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
object);
if (newObject == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
<< " it implements ExecutableObjectIF!" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
objectList.push_back(newObject);
@ -42,7 +44,9 @@ ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) {
ReturnValue_t PeriodicPosixTask::startTask(void) {
started = true;
#if FSFW_CPP_OSTREAM_ENABLED == 1
//sif::info << stackSize << std::endl;
#endif
PosixThread::createTask(&taskEntryPoint,this);
return HasReturnvaluesIF::RETURN_OK;
}
@ -67,12 +71,16 @@ void PeriodicPosixTask::taskFunctionality(void) {
char name[20] = {0};
int status = pthread_getname_np(pthread_self(), name, sizeof(name));
if(status == 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PeriodicPosixTask " << name << ": Deadline "
"missed." << std::endl;
#endif
}
else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PeriodicPosixTask X: Deadline missed. " <<
status << std::endl;
#endif
}
if (this->deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();

32
osal/linux/PosixThread.cpp
View File

@ -48,8 +48,10 @@ void PosixThread::suspend() {
sigaddset(&waitSignal, SIGUSR1);
sigwait(&waitSignal, &caughtSig);
if (caughtSig != SIGUSR1) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "FixedTimeslotTask: Unknown Signal received: " <<
caughtSig << std::endl;
#endif
}
}
@ -118,7 +120,9 @@ uint64_t PosixThread::getCurrentMonotonicTimeMs(){
void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
//sif::debug << "PosixThread::createTask" << std::endl;
#endif
/*
* The attr argument points to a pthread_attr_t structure whose contents
are used at thread creation time to determine attributes for the new
@ -129,53 +133,69 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
pthread_attr_t attributes;
int status = pthread_attr_init(&attributes);
if(status != 0){
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Posix Thread attribute init failed with: " <<
strerror(status) << std::endl;
#endif
}
void* stackPointer;
status = posix_memalign(&stackPointer, sysconf(_SC_PAGESIZE), stackSize);
if(status != 0){
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PosixThread::createTask: Stack init failed with: " <<
strerror(status) << std::endl;
#endif
if(errno == ENOMEM) {
uint64_t stackMb = stackSize/10e6;
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PosixThread::createTask: Insufficient memory for"
" the requested " << stackMb << " MB" << std::endl;
#endif
}
else if(errno == EINVAL) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PosixThread::createTask: Wrong alignment argument!"
<< std::endl;
#endif
}
return;
}
status = pthread_attr_setstack(&attributes, stackPointer, stackSize);
if(status != 0){
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PosixThread::createTask: pthread_attr_setstack "
" failed with: " << strerror(status) << std::endl;
sif::error << "Make sure the specified stack size is valid and is "
"larger than the minimum allowed stack size." << std::endl;
#endif
}
status = pthread_attr_setinheritsched(&attributes, PTHREAD_EXPLICIT_SCHED);
if(status != 0){
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Posix Thread attribute setinheritsched failed with: " <<
strerror(status) << std::endl;
#endif
}
// TODO FIFO -> This needs root privileges for the process
status = pthread_attr_setschedpolicy(&attributes,SCHED_FIFO);
if(status != 0){
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Posix Thread attribute schedule policy failed with: " <<
strerror(status) << std::endl;
#endif
}
sched_param scheduleParams;
scheduleParams.__sched_priority = priority;
status = pthread_attr_setschedparam(&attributes, &scheduleParams);
if(status != 0){
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Posix Thread attribute schedule params failed with: " <<
strerror(status) << std::endl;
#endif
}
//Set Signal Mask for suspend until startTask is called
@ -184,36 +204,48 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
sigaddset(&waitSignal, SIGUSR1);
status = pthread_sigmask(SIG_BLOCK, &waitSignal, NULL);
if(status != 0){
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Posix Thread sigmask failed failed with: " <<
strerror(status) << " errno: " << strerror(errno) << std::endl;
#endif
}
status = pthread_create(&thread,&attributes,fnc_,arg_);
if(status != 0){
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Posix Thread create failed with: " <<
strerror(status) << std::endl;
#endif
}
status = pthread_setname_np(thread,name);
if(status != 0){
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PosixThread::createTask: setname failed with: " <<
strerror(status) << std::endl;
#endif
if(status == ERANGE) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PosixThread::createTask: Task name length longer"
" than 16 chars. Truncating.." << std::endl;
#endif
name[15] = '\0';
status = pthread_setname_np(thread,name);
if(status != 0){
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PosixThread::createTask: Setting name"
" did not work.." << std::endl;
#endif
}
}
}
status = pthread_attr_destroy(&attributes);
if(status!=0){
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Posix Thread attribute destroy failed with: " <<
strerror(status) << std::endl;
#endif
}
}

18
osal/linux/TcUnixUdpPollingTask.cpp
View File

@ -39,14 +39,18 @@ ReturnValue_t TcUnixUdpPollingTask::performOperation(uint8_t opCode) {
reinterpret_cast<sockaddr*>(&senderAddress), &senderSockLen);
if(bytesReceived < 0) {
// handle error
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcSocketPollingTask::performOperation: Reception"
"error." << std::endl;
#endif
handleReadError();
continue;
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
// sif::debug << "TcSocketPollingTask::performOperation: " << bytesReceived
// << " bytes received" << std::endl;
#endif
ReturnValue_t result = handleSuccessfullTcRead(bytesReceived);
if(result != HasReturnvaluesIF::RETURN_FAILED) {
@ -65,9 +69,11 @@ ReturnValue_t TcUnixUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
receptionBuffer.data(), bytesRead);
// arrayprinter::print(receptionBuffer.data(), bytesRead);
if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcSerialPollingTask::transferPusToSoftwareBus: Data "
"storage failed" << std::endl;
sif::error << "Packet size: " << bytesRead << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -75,8 +81,10 @@ ReturnValue_t TcUnixUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
result = MessageQueueSenderIF::sendMessage(targetTcDestination, &message);
if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Serial Polling: Sending message to queue failed"
<< std::endl;
#endif
tcStore->deleteData(storeId);
}
return result;
@ -85,15 +93,19 @@ ReturnValue_t TcUnixUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
ReturnValue_t TcUnixUdpPollingTask::initialize() {
tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
if (tcStore == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcSerialPollingTask::initialize: TC Store uninitialized!"
<< std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
tmtcBridge = objectManager->get<TmTcUnixUdpBridge>(tmtcBridgeId);
if(tmtcBridge == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcSocketPollingTask::TcSocketPollingTask: Invalid"
" TMTC bridge object!" << std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
@ -115,8 +127,10 @@ void TcUnixUdpPollingTask::setTimeout(double timeoutSeconds) {
int result = setsockopt(serverUdpSocket, SOL_SOCKET, SO_RCVTIMEO,
&tval, sizeof(receptionTimeout));
if(result == -1) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcSocketPollingTask::TcSocketPollingTask: Setting "
"receive timeout failed with " << strerror(errno) << std::endl;
#endif
}
}
@ -126,13 +140,17 @@ void TcUnixUdpPollingTask::handleReadError() {
case(EAGAIN): {
// todo: When working in timeout mode, this will occur more often
// and is not an error.
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcUnixUdpPollingTask::handleReadError: Timeout."
<< std::endl;
#endif
break;
}
default: {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcUnixUdpPollingTask::handleReadError: "
<< strerror(errno) << std::endl;
#endif
}
}
}

2
osal/linux/Timer.cpp
View File

@ -10,8 +10,10 @@ Timer::Timer() {
sigEvent.sigev_value.sival_ptr = &timerId;
int status = timer_create(CLOCK_MONOTONIC, &sigEvent, &timerId);
if(status!=0){
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Timer creation failed with: " << status <<
" errno: " << errno << std::endl;
#endif
}
}

24
osal/linux/TmTcUnixUdpBridge.cpp
View File

@ -26,8 +26,10 @@ TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
//clientSocket = socket(AF_INET, SOCK_DGRAM, 0);
serverSocket = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
if(serverSocket < 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not open"
" UDP socket!" << std::endl;
#endif
handleSocketError();
return;
}
@ -51,9 +53,11 @@ TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
reinterpret_cast<struct sockaddr*>(&serverAddress),
serverAddressLen);
if(result == -1) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not bind "
"local port " << setServerPort << " to server socket!"
<< std::endl;
#endif
handleBindError();
return;
}
@ -74,18 +78,24 @@ ReturnValue_t TmTcUnixUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
}
// char ipAddress [15];
#if FSFW_CPP_OSTREAM_ENABLED == 1
// sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
// &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
#endif
ssize_t bytesSent = sendto(serverSocket, data, dataLen, flags,
reinterpret_cast<sockaddr*>(&clientAddress), clientAddressLen);
if(bytesSent < 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TmTcUnixUdpBridge::sendTm: Send operation failed."
<< std::endl;
#endif
handleSendError();
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
// sif::debug << "TmTcUnixUdpBridge::sendTm: " << bytesSent << " bytes were"
// " sent." << std::endl;
#endif
return HasReturnvaluesIF::RETURN_OK;
}
@ -93,10 +103,12 @@ void TmTcUnixUdpBridge::checkAndSetClientAddress(sockaddr_in& newAddress) {
MutexHelper lock(mutex, MutexIF::TimeoutType::WAITING, 10);
// char ipAddress [15];
#if FSFW_CPP_OSTREAM_ENABLED == 1
// sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
// &newAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
// sif::debug << "IP Address Old: " << inet_ntop(AF_INET,
// &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
#endif
// Set new IP address if it has changed.
if(clientAddress.sin_addr.s_addr != newAddress.sin_addr.s_addr) {
@ -117,12 +129,16 @@ void TmTcUnixUdpBridge::handleSocketError() {
case(ENOBUFS):
case(ENOMEM):
case(EPROTONOSUPPORT):
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TmTcUnixBridge::handleSocketError: Socket creation failed"
<< " with " << strerror(errno) << std::endl;
#endif
break;
default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TmTcUnixBridge::handleSocketError: Unknown error"
<< std::endl;
#endif
break;
}
}
@ -135,10 +151,12 @@ void TmTcUnixUdpBridge::handleBindError() {
Ephermeral ports can be shown with following command:
sysctl -A | grep ip_local_port_range
*/
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TmTcUnixBridge::handleBindError: Port access issue."
"Ports 1-1024 are reserved on UNIX systems and require root "
"rights while ephermeral ports should not be used as well."
<< std::endl;
#endif
}
break;
case(EADDRINUSE):
@ -153,13 +171,17 @@ void TmTcUnixUdpBridge::handleBindError() {
case(ENOMEM):
case(ENOTDIR):
case(EROFS): {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TmTcUnixBridge::handleBindError: Socket creation failed"
<< " with " << strerror(errno) << std::endl;
#endif
break;
}
default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TmTcUnixBridge::handleBindError: Unknown error"
<< std::endl;
#endif
break;
}
}
@ -167,8 +189,10 @@ void TmTcUnixUdpBridge::handleBindError() {
void TmTcUnixUdpBridge::handleSendError() {
switch(errno) {
default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TmTcUnixBridge::handleSendError: "
<< strerror(errno) << std::endl;
#endif
}
}

18
osal/rtems/CMakeLists.txt Normal file
View File

@ -0,0 +1,18 @@
target_sources(${LIB_FSFW_NAME}
PRIVATE
Clock.cpp
CpuUsage.cpp
InitTask.cpp
InternalErrorCodes.cpp
MessageQueue.cpp
MultiObjectTask.cpp
Mutex.cpp
MutexFactory.cpp
PollingTask.cpp
QueueFactory.cpp
RtemsBasic.cpp
TaskBase.cpp
TaskFactory.cpp
)

28
osal/rtems/Clock.cpp
View File

@ -1,6 +1,10 @@
#include "../../timemanager/Clock.h"
#include "RtemsBasic.h"
#include "../../timemanager/Clock.h"
#include "../../ipc/MutexHelper.h"
#include <rtems/score/todimpl.h>
#include <rtems/rtems/clockimpl.h>
uint16_t Clock::leapSeconds = 0;
MutexIF* Clock::timeMutex = nullptr;
@ -33,15 +37,24 @@ ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
}
ReturnValue_t Clock::setClock(const timeval* time) {
//TODO This routine uses _TOD_Set which is not
timespec newTime;
newTime.tv_sec = time->tv_sec;
if(time->tv_usec < 0) {
// better returnvalue.
return HasReturnvaluesIF::RETURN_FAILED;
}
newTime.tv_nsec = time->tv_usec * TOD_NANOSECONDS_PER_MICROSECOND;
//SHOULDDO: Not sure if we need to protect this call somehow (by thread lock or something).
//Uli: rtems docu says you can call this from an ISR, not sure if this means no protetion needed
//TODO Second parameter is ISR_lock_Context
_TOD_Set(&newTime,nullptr);
return HasReturnvaluesIF::RETURN_OK;
ISR_lock_Context context;
_TOD_Lock();
_TOD_Acquire(&context);
Status_Control status = _TOD_Set(&newTime, &context);
_TOD_Unlock();
if(status == STATUS_SUCCESSFUL) {
return HasReturnvaluesIF::RETURN_OK;
}
// better returnvalue
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t Clock::getClock_timeval(timeval* time) {
@ -91,6 +104,7 @@ ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
}
ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
// TIsn't this a bug? Are RTEMS ticks always microseconds?
rtems_time_of_day* timeRtems = reinterpret_cast<rtems_time_of_day*>(time);
rtems_status_code status = rtems_clock_get_tod(timeRtems);
switch (status) {

2
osal/rtems/InternalErrorCodes.cpp
View File

@ -34,8 +34,10 @@ ReturnValue_t InternalErrorCodes::translate(uint8_t code) {
return OUT_OF_PROXIES;
case INTERNAL_ERROR_INVALID_GLOBAL_ID:
return INVALID_GLOBAL_ID;
#ifndef STM32H743ZI_NUCLEO
case INTERNAL_ERROR_BAD_STACK_HOOK:
return BAD_STACK_HOOK;
#endif
// case INTERNAL_ERROR_BAD_ATTRIBUTES:
// return BAD_ATTRIBUTES;
// case INTERNAL_ERROR_IMPLEMENTATION_KEY_CREATE_INCONSISTENCY:

2
osal/rtems/MessageQueue.cpp
View File

@ -9,9 +9,11 @@ MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) :
rtems_status_code status = rtems_message_queue_create(name, message_depth,
max_message_size, 0, &(this->id));
if (status != RTEMS_SUCCESSFUL) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::MessageQueue: Creating Queue " << std::hex
<< name << std::dec << " failed with status:"
<< (uint32_t) status << std::endl;
#endif
this->id = 0;
}
}

4
osal/rtems/MultiObjectTask.cpp
View File

@ -30,8 +30,10 @@ ReturnValue_t MultiObjectTask::startTask() {
rtems_status_code status = rtems_task_start(id, MultiObjectTask::taskEntryPoint,
rtems_task_argument((void *) this));
if (status != RTEMS_SUCCESSFUL) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "ObjectTask::startTask for " << std::hex << this->getId()
<< std::dec << " failed." << std::endl;
#endif
}
switch(status){
case RTEMS_SUCCESSFUL:
@ -63,7 +65,9 @@ void MultiObjectTask::taskFunctionality() {
char nameSpace[8] = { 0 };
char* ptr = rtems_object_get_name(getId(), sizeof(nameSpace),
nameSpace);
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "ObjectTask: " << ptr << " Deadline missed." << std::endl;
#endif
if (this->deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();
}

8
osal/rtems/Mutex.cpp
View File

@ -10,27 +10,31 @@ Mutex::Mutex() :
RTEMS_BINARY_SEMAPHORE | RTEMS_PRIORITY | RTEMS_INHERIT_PRIORITY, 0,
&mutexId);
if (status != RTEMS_SUCCESSFUL) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Mutex: creation with name, id " << mutexName << ", " << mutexId
<< " failed with " << status << std::endl;
#endif
}
}
Mutex::~Mutex() {
rtems_status_code status = rtems_semaphore_delete(mutexId);
if (status != RTEMS_SUCCESSFUL) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Mutex: deletion for id " << mutexId
<< " failed with " << status << std::endl;
#endif
}
}
ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType =
TimeoutType::BLOCKING, uint32_t timeoutMs) {
rtems_status_code status = RTEMS_INVALID_ID;
if(timeoutMs == MutexIF::TimeoutType::BLOCKING) {
if(timeoutType == MutexIF::TimeoutType::BLOCKING) {
status = rtems_semaphore_obtain(mutexId,
RTEMS_WAIT, RTEMS_NO_TIMEOUT);
}
else if(timeoutMs == MutexIF::TimeoutType::POLLING) {
else if(timeoutType == MutexIF::TimeoutType::POLLING) {
timeoutMs = RTEMS_NO_TIMEOUT;
status = rtems_semaphore_obtain(mutexId,
RTEMS_NO_WAIT, 0);

8
osal/rtems/PollingTask.cpp
View File

@ -35,15 +35,19 @@ rtems_task PollingTask::taskEntryPoint(rtems_task_argument argument) {
PollingTask *originalTask(reinterpret_cast<PollingTask*>(argument));
//The task's functionality is called.
originalTask->taskFunctionality();
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "Polling task " << originalTask->getId()
<< " returned from taskFunctionality." << std::endl;
#endif
}
void PollingTask::missedDeadlineCounter() {
PollingTask::deadlineMissedCount++;
if (PollingTask::deadlineMissedCount % 10 == 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PST missed " << PollingTask::deadlineMissedCount
<< " deadlines." << std::endl;
#endif
}
}
@ -51,8 +55,10 @@ ReturnValue_t PollingTask::startTask() {
rtems_status_code status = rtems_task_start(id, PollingTask::taskEntryPoint,
rtems_task_argument((void *) this));
if (status != RTEMS_SUCCESSFUL) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PollingTask::startTask for " << std::hex << this->getId()
<< std::dec << " failed." << std::endl;
#endif
}
switch(status){
case RTEMS_SUCCESSFUL:
@ -75,8 +81,10 @@ ReturnValue_t PollingTask::addSlot(object_id_t componentId,
return HasReturnvaluesIF::RETURN_OK;
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Component " << std::hex << componentId <<
" not found, not adding it to pst" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}

2
osal/rtems/TaskBase.cpp
View File

@ -22,9 +22,11 @@ TaskBase::TaskBase(rtems_task_priority set_priority, size_t stack_size,
}
ReturnValue_t result = convertReturnCode(status);
if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TaskBase::TaskBase: createTask with name " << std::hex
<< osalName << std::dec << " failed with return code "
<< (uint32_t) status << std::endl;
#endif
this->id = 0;
}
}

24
osal/windows/TcWinUdpPollingTask.cpp
View File

@ -43,13 +43,17 @@ ReturnValue_t TcWinUdpPollingTask::performOperation(uint8_t opCode) {
&senderAddressSize);
if(bytesReceived == SOCKET_ERROR) {
// handle error
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcWinUdpPollingTask::performOperation: Reception"
" error." << std::endl;
#endif
handleReadError();
continue;
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
//sif::debug << "TcWinUdpPollingTask::performOperation: " << bytesReceived
// << " bytes received" << std::endl;
#endif
ReturnValue_t result = handleSuccessfullTcRead(bytesReceived);
if(result != HasReturnvaluesIF::RETURN_FAILED) {
@ -68,9 +72,11 @@ ReturnValue_t TcWinUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
receptionBuffer.data(), bytesRead);
// arrayprinter::print(receptionBuffer.data(), bytesRead);
if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcSerialPollingTask::transferPusToSoftwareBus: Data "
"storage failed" << std::endl;
sif::error << "Packet size: " << bytesRead << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -78,8 +84,10 @@ ReturnValue_t TcWinUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
result = MessageQueueSenderIF::sendMessage(targetTcDestination, &message);
if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Serial Polling: Sending message to queue failed"
<< std::endl;
#endif
tcStore->deleteData(storeId);
}
return result;
@ -88,21 +96,27 @@ ReturnValue_t TcWinUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
ReturnValue_t TcWinUdpPollingTask::initialize() {
tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
if (tcStore == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcSerialPollingTask::initialize: TC Store uninitialized!"
<< std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
tmtcBridge = objectManager->get<TmTcWinUdpBridge>(tmtcBridgeId);
if(tmtcBridge == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcSocketPollingTask::TcSocketPollingTask: Invalid"
" TMTC bridge object!" << std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
serverUdpSocket = tmtcBridge->serverSocket;
#if FSFW_CPP_OSTREAM_ENABLED == 1
//sif::info << "TcWinUdpPollingTask::initialize: Server UDP socket "
// << serverUdpSocket << std::endl;
#endif
return HasReturnvaluesIF::RETURN_OK;
}
@ -119,8 +133,10 @@ void TcWinUdpPollingTask::setTimeout(double timeoutSeconds) {
int result = setsockopt(serverUdpSocket, SOL_SOCKET, SO_RCVTIMEO,
reinterpret_cast<const char*>(&timeoutMs), sizeof(DWORD));
if(result == -1) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcWinUdpPollingTask::TcSocketPollingTask: Setting "
"receive timeout failed with " << strerror(errno) << std::endl;
#endif
}
}
@ -128,23 +144,31 @@ void TcWinUdpPollingTask::handleReadError() {
int error = WSAGetLastError();
switch(error) {
case(WSANOTINITIALISED): {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TcWinUdpPollingTask::handleReadError: WSANOTINITIALISED: "
<< "WSAStartup(...) call " << "necessary" << std::endl;
#endif
break;
}
case(WSAEFAULT): {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TcWinUdpPollingTask::handleReadError: WSADEFAULT: "
<< "Bad address " << std::endl;
#endif
break;
}
case(WSAEINVAL): {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TcWinUdpPollingTask::handleReadError: WSAEINVAL: "
<< "Invalid input parameters. " << std::endl;
#endif
break;
}
default: {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TcWinUdpPollingTask::handleReadError: Error code: "
<< error << std::endl;
#endif
break;
}
}

30
osal/windows/TmTcWinUdpBridge.cpp
View File

@ -15,8 +15,10 @@ TmTcWinUdpBridge::TmTcWinUdpBridge(object_id_t objectId,
if (err != 0) {
/* Tell the user that we could not find a usable */
/* Winsock DLL. */
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge:"
"WSAStartup failed with error: " << err << std::endl;
#endif
return;
}
@ -34,8 +36,10 @@ TmTcWinUdpBridge::TmTcWinUdpBridge(object_id_t objectId,
//clientSocket = socket(AF_INET, SOCK_DGRAM, 0);
serverSocket = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
if(serverSocket == INVALID_SOCKET) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge: Could not open"
" UDP socket!" << std::endl;
#endif
handleSocketError();
return;
}
@ -59,9 +63,11 @@ TmTcWinUdpBridge::TmTcWinUdpBridge(object_id_t objectId,
reinterpret_cast<struct sockaddr*>(&serverAddress),
serverAddressLen);
if(result != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge: Could not bind "
"local port " << setServerPort << " to server socket!"
<< std::endl;
#endif
handleBindError();
}
}
@ -77,19 +83,25 @@ ReturnValue_t TmTcWinUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
//clientAddressLen = sizeof(serverAddress);
// char ipAddress [15];
#if FSFW_CPP_OSTREAM_ENABLED == 1
// sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
// &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
#endif
ssize_t bytesSent = sendto(serverSocket,
reinterpret_cast<const char*>(data), dataLen, flags,
reinterpret_cast<sockaddr*>(&clientAddress), clientAddressLen);
if(bytesSent == SOCKET_ERROR) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TmTcWinUdpBridge::sendTm: Send operation failed."
<< std::endl;
#endif
handleSendError();
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
// sif::debug << "TmTcUnixUdpBridge::sendTm: " << bytesSent << " bytes were"
// " sent." << std::endl;
#endif
return HasReturnvaluesIF::RETURN_OK;
}
@ -97,10 +109,12 @@ void TmTcWinUdpBridge::checkAndSetClientAddress(sockaddr_in newAddress) {
MutexHelper lock(mutex, MutexIF::TimeoutType::WAITING, 10);
// char ipAddress [15];
#if FSFW_CPP_OSTREAM_ENABLED == 1
// sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
// &newAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
// sif::debug << "IP Address Old: " << inet_ntop(AF_INET,
// &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
#endif
registerCommConnect();
// Set new IP address if it has changed.
@ -114,8 +128,10 @@ void TmTcWinUdpBridge::handleSocketError() {
int errCode = WSAGetLastError();
switch(errCode) {
case(WSANOTINITIALISED): {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TmTcWinUdpBridge::handleSocketError: WSANOTINITIALISED: "
<< "WSAStartup(...) call necessary" << std::endl;
#endif
break;
}
default: {
@ -123,8 +139,10 @@ void TmTcWinUdpBridge::handleSocketError() {
https://docs.microsoft.com/en-us/windows/win32/winsock/
windows-sockets-error-codes-2
*/
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TmTcWinUdpBridge::handleSocketError: Error code: "
<< errCode << std::endl;
#endif
break;
}
}
@ -134,13 +152,17 @@ void TmTcWinUdpBridge::handleBindError() {
int errCode = WSAGetLastError();
switch(errCode) {
case(WSANOTINITIALISED): {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TmTcWinUdpBridge::handleBindError: WSANOTINITIALISED: "
<< "WSAStartup(...) call " << "necessary" << std::endl;
#endif
break;
}
case(WSAEADDRINUSE): {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TmTcWinUdpBridge::handleBindError: WSAEADDRINUSE: "
<< "Port is already in use!" << std::endl;
#endif
break;
}
default: {
@ -148,8 +170,10 @@ void TmTcWinUdpBridge::handleBindError() {
https://docs.microsoft.com/en-us/windows/win32/winsock/
windows-sockets-error-codes-2
*/
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TmTcWinUdpBridge::handleBindError: Error code: "
<< errCode << std::endl;
#endif
break;
}
}
@ -159,13 +183,17 @@ void TmTcWinUdpBridge::handleSendError() {
int errCode = WSAGetLastError();
switch(errCode) {
case(WSANOTINITIALISED): {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TmTcWinUdpBridge::handleSendError: WSANOTINITIALISED: "
<< "WSAStartup(...) call necessary" << std::endl;
#endif
break;
}
case(WSAEADDRNOTAVAIL): {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TmTcWinUdpBridge::handleSendError: WSAEADDRNOTAVAIL: "
<< "Check target address. " << std::endl;
#endif
break;
}
default: {
@ -173,8 +201,10 @@ void TmTcWinUdpBridge::handleSendError() {
https://docs.microsoft.com/en-us/windows/win32/winsock/
windows-sockets-error-codes-2
*/
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TmTcWinUdpBridge::handleSendError: Error code: "
<< errCode << std::endl;
#endif
break;
}
}

2
parameters/ParameterHelper.cpp
View File

@ -48,8 +48,10 @@ ReturnValue_t ParameterHelper::handleParameterMessage(CommandMessage *message) {
ConstStorageAccessor accessor(storeId);
result = storage->getData(storeId, accessor);
if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "ParameterHelper::handleParameterMessage: Getting"
<< " store data failed for load command." << std::endl;
#endif
break;
}

7
power/Fuse.cpp
View File

@ -65,8 +65,8 @@ ReturnValue_t Fuse::check() {
set.read();
if (!healthHelper.healthTable->isHealthy(getObjectId())) {
setAllMonitorsToUnchecked();
set.commit(PoolVariableIF::INVALID);
return RETURN_OK;
set.setValidity(false, true);
return set.commit();
}
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
checkFuseState();
@ -206,7 +206,8 @@ float Fuse::getPower() {
void Fuse::setDataPoolEntriesInvalid() {
set.read();
set.commit(PoolVariableIF::INVALID);
set.setValidity(false, true);
set.commit();
}
ReturnValue_t Fuse::getParameter(uint8_t domainId, uint16_t parameterId,

3
power/PowerSensor.cpp
View File

@ -97,7 +97,8 @@ void PowerSensor::checkCommandQueue() {
void PowerSensor::setDataPoolEntriesInvalid() {
powerSensorSet.read();
powerSensorSet.commit(PoolVariableIF::INVALID);
powerSensorSet.setValidity(false, true);
powerSensorSet.commit();
}
float PowerSensor::getPower() {

2
pus/CService201HealthCommanding.cpp
View File

@ -22,7 +22,9 @@ ReturnValue_t CService201HealthCommanding::isValidSubservice(uint8_t subservice)
case(Subservice::COMMAND_ANNOUNCE_HEALTH_ALL):
return RETURN_OK;
default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Invalid Subservice" << std::endl;
#endif
return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
}
}

4
pus/Service1TelecommandVerification.cpp
View File

@ -51,8 +51,10 @@ ReturnValue_t Service1TelecommandVerification::sendVerificationReport(
result = generateSuccessReport(message);
}
if(result != HasReturnvaluesIF::RETURN_OK){
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Service1TelecommandVerification::sendVerificationReport: "
"Sending verification packet failed !" << std::endl;
#endif
}
return result;
}
@ -88,9 +90,11 @@ ReturnValue_t Service1TelecommandVerification::initialize() {
AcceptsTelemetryIF* funnel = objectManager->
get<AcceptsTelemetryIF>(targetDestination);
if(funnel == nullptr){
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Service1TelecommandVerification::initialize: Specified"
" TM funnel invalid. Make sure it is set up and implements"
" AcceptsTelemetryIF." << std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
tmQueue->setDefaultDestination(funnel->getReportReceptionQueue());

6
pus/Service2DeviceAccess.cpp
View File

@ -25,7 +25,9 @@ ReturnValue_t Service2DeviceAccess::isValidSubservice(uint8_t subservice) {
case Subservice::COMMAND_TOGGLE_WIRETAPPING:
return HasReturnvaluesIF::RETURN_OK;
default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Invalid Subservice" << std::endl;
#endif
return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
}
}
@ -125,9 +127,11 @@ void Service2DeviceAccess::handleUnrequestedReply(CommandMessage* reply) {
static_cast<uint8_t>(Subservice::REPLY_RAW));
break;
default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Unknown message in Service2DeviceAccess::"
"handleUnrequestedReply with command ID " <<
reply->getCommand() << std::endl;
#endif
break;
}
//Must be reached by all cases to clear message
@ -143,9 +147,11 @@ void Service2DeviceAccess::sendWiretappingTm(CommandMessage *reply,
size_t size = 0;
ReturnValue_t result = IPCStore->getData(storeAddress, &data, &size);
if(result != HasReturnvaluesIF::RETURN_OK){
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Service2DeviceAccess::sendWiretappingTm: Data Lost in "
"handleUnrequestedReply with failure ID "<< result
<< std::endl;
#endif
return;
}

6
pus/Service3Housekeeping.cpp
View File

@ -222,8 +222,10 @@ ReturnValue_t Service3Housekeeping::handleReply(const CommandMessage* reply,
}
default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Service3Housekeeping::handleReply: Invalid reply with "
<< "reply command " << command << "!" << std::endl;
#endif
return CommandingServiceBase::INVALID_REPLY;
}
return HasReturnvaluesIF::RETURN_OK;
@ -249,16 +251,20 @@ void Service3Housekeeping::handleUnrequestedReply(
}
default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Service3Housekeeping::handleUnrequestedReply: Invalid "
<< "reply with " << "reply command " << command << "!"
<< std::endl;
#endif
return;
}
if(result != HasReturnvaluesIF::RETURN_OK) {
// Configuration error
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "Service3Housekeeping::handleUnrequestedReply:"
<< "Could not generate reply!" << std::endl;
#endif
}
}

4
pus/Service5EventReporting.cpp
View File

@ -37,8 +37,10 @@ ReturnValue_t Service5EventReporting::performService() {
}
}
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "Service5EventReporting::generateEventReport:"
" Too many events" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_OK;
}
@ -53,8 +55,10 @@ ReturnValue_t Service5EventReporting::generateEventReport(
ReturnValue_t result = tmPacket.sendPacket(
requestQueue->getDefaultDestination(),requestQueue->getId());
if(result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "Service5EventReporting::generateEventReport:"
" Could not send TM packet" << std::endl;
#endif
}
return result;
}

6
pus/Service8FunctionManagement.cpp
View File

@ -60,9 +60,11 @@ ReturnValue_t Service8FunctionManagement::prepareCommand(
ReturnValue_t Service8FunctionManagement::prepareDirectCommand(
CommandMessage *message, const uint8_t *tcData, size_t tcDataLen) {
if(tcDataLen < sizeof(object_id_t) + sizeof(ActionId_t)) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "Service8FunctionManagement::prepareDirectCommand:"
<< " TC size smaller thant minimum size of direct command."
<< std::endl;
#endif
return CommandingServiceBase::INVALID_TC;
}
@ -125,8 +127,10 @@ ReturnValue_t Service8FunctionManagement::handleDataReply(
const uint8_t * buffer = nullptr;
ReturnValue_t result = IPCStore->getData(storeId, &buffer, &size);
if(result != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Service 8: Could not retrieve data for data reply"
<< std::endl;
#endif
return result;
}
DataReply dataReply(objectId, actionId, buffer, size);
@ -135,8 +139,10 @@ ReturnValue_t Service8FunctionManagement::handleDataReply(
auto deletionResult = IPCStore->deleteData(storeId);
if(deletionResult != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "Service8FunctionManagement::handleReply: Deletion"
<< " of data in pool failed." << std::endl;
#endif
}
return result;
}

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