Merge remote-tracking branch 'upstream/development' into mueller/refactor-power-switch-if-etc
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commit
c5b4499d98
@ -79,9 +79,16 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
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- New typedef for switcher type
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
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- `Subsystem`: New API to add table and sequence entries
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## Fixed
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- TCP TMTC Server: `MutexGuard` was not created properly in
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`TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent)` call.
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/618
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- Fix infinite recursion in `prepareHealthSetReply` of PUS Health Service 201.
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Is not currently used right now but might be used in the future
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/617
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- Move some CMake directives further up top so they are not ignored
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/621
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- Small bugfix in STM32 HAL for SPI
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@ -2,6 +2,7 @@
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#define FIXEDARRAYLIST_H_
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#include <cmath>
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#include <limits>
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#include "ArrayList.h"
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/**
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@ -9,10 +10,8 @@
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*/
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template <typename T, size_t MAX_SIZE, typename count_t = uint8_t>
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class FixedArrayList : public ArrayList<T, count_t> {
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#if !defined(_MSC_VER) && !defined(__clang__)
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static_assert(MAX_SIZE <= (std::pow(2, sizeof(count_t) * 8) - 1),
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static_assert(MAX_SIZE <= std::numeric_limits<count_t>::max(),
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"count_t is not large enough to hold MAX_SIZE");
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#endif
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private:
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T data[MAX_SIZE];
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@ -19,6 +19,8 @@
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#include <ws2tcpip.h>
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#elif defined(PLATFORM_UNIX)
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#include <netdb.h>
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#include <utility>
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#endif
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const std::string TcpTmTcServer::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT;
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@ -29,7 +31,7 @@ TcpTmTcServer::TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge,
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: SystemObject(objectId),
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tmtcBridgeId(tmtcTcpBridge),
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receptionMode(receptionMode),
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tcpConfig(customTcpServerPort),
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tcpConfig(std::move(customTcpServerPort)),
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receptionBuffer(receptionBufferSize),
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ringBuffer(ringBufferSize, true) {}
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@ -103,7 +105,7 @@ ReturnValue_t TcpTmTcServer::initialize() {
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TcpTmTcServer::~TcpTmTcServer() { closeSocket(listenerTcpSocket); }
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ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) {
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[[noreturn]] ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) {
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using namespace tcpip;
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// If a connection is accepted, the corresponding socket will be assigned to the new socket
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socket_t connSocket = 0;
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@ -138,7 +140,6 @@ ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) {
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closeSocket(connSocket);
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connSocket = 0;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t TcpTmTcServer::initializeAfterTaskCreation() {
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@ -159,7 +160,7 @@ void TcpTmTcServer::handleServerOperation(socket_t& connSocket) {
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#endif
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while (true) {
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int retval = recv(connSocket, reinterpret_cast<char*>(receptionBuffer.data()),
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ssize_t retval = recv(connSocket, reinterpret_cast<char*>(receptionBuffer.data()),
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receptionBuffer.capacity(), tcpConfig.tcpFlags);
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if (retval == 0) {
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size_t availableReadData = ringBuffer.getAvailableReadData();
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@ -252,17 +253,17 @@ ReturnValue_t TcpTmTcServer::handleTcReception(uint8_t* spacePacket, size_t pack
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return result;
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}
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std::string TcpTmTcServer::getTcpPort() const { return tcpConfig.tcpPort; }
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const std::string& TcpTmTcServer::getTcpPort() const { return tcpConfig.tcpPort; }
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void TcpTmTcServer::setSpacePacketParsingOptions(std::vector<uint16_t> validPacketIds) {
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this->validPacketIds = validPacketIds;
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void TcpTmTcServer::setSpacePacketParsingOptions(std::vector<uint16_t> validPacketIds_) {
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this->validPacketIds = std::move(validPacketIds_);
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}
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TcpTmTcServer::TcpConfig& TcpTmTcServer::getTcpConfigStruct() { return tcpConfig; }
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ReturnValue_t TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent) {
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// Access to the FIFO is mutex protected because it is filled by the bridge
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MutexGuard(tmtcBridge->mutex, tmtcBridge->timeoutType, tmtcBridge->mutexTimeoutMs);
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MutexGuard mg(tmtcBridge->mutex, tmtcBridge->timeoutType, tmtcBridge->mutexTimeoutMs);
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store_address_t storeId;
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while ((not tmtcBridge->tmFifo->empty()) and
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(tmtcBridge->packetSentCounter < tmtcBridge->sentPacketsPerCycle)) {
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@ -283,7 +284,7 @@ ReturnValue_t TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent)
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#endif
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arrayprinter::print(storeAccessor.data(), storeAccessor.size());
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}
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int retval = send(connSocket, reinterpret_cast<const char*>(storeAccessor.data()),
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ssize_t retval = send(connSocket, reinterpret_cast<const char*>(storeAccessor.data()),
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storeAccessor.size(), tcpConfig.tcpTmFlags);
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if (retval == static_cast<int>(storeAccessor.size())) {
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// Packet sent, clear FIFO entry
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@ -339,6 +340,9 @@ ReturnValue_t TcpTmTcServer::handleTcRingBufferData(size_t availableReadData) {
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size_t foundSize = 0;
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size_t readLen = 0;
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while (readLen < readAmount) {
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if(spacePacketParser == nullptr) {
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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result =
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spacePacketParser->parseSpacePackets(bufPtrPtr, readAmount, startIdx, foundSize, readLen);
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switch (result) {
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@ -17,6 +17,7 @@
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#endif
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#include <string>
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#include <utility>
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#include <vector>
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class TcpTmTcBridge;
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@ -44,7 +45,7 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
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struct TcpConfig {
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public:
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TcpConfig(std::string tcpPort) : tcpPort(tcpPort) {}
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explicit TcpConfig(std::string tcpPort) : tcpPort(std::move(tcpPort)) {}
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/**
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* Passed to the recv call
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@ -84,7 +85,7 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
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size_t ringBufferSize = RING_BUFFER_SIZE,
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std::string customTcpServerPort = DEFAULT_SERVER_PORT,
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ReceptionModes receptionMode = ReceptionModes::SPACE_PACKETS);
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virtual ~TcpTmTcServer();
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~TcpTmTcServer() override;
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void enableWiretapping(bool enable);
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@ -97,10 +98,10 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
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void setSpacePacketParsingOptions(std::vector<uint16_t> validPacketIds);
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ReturnValue_t initialize() override;
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ReturnValue_t performOperation(uint8_t opCode) override;
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[[noreturn]] ReturnValue_t performOperation(uint8_t opCode) override;
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ReturnValue_t initializeAfterTaskCreation() override;
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std::string getTcpPort() const;
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[[nodiscard]] const std::string& getTcpPort() const;
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protected:
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StorageManagerIF* tcStore = nullptr;
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@ -115,7 +116,7 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
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ReceptionModes receptionMode;
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TcpConfig tcpConfig;
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struct sockaddr tcpAddress;
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struct sockaddr tcpAddress = {};
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socket_t listenerTcpSocket = 0;
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MessageQueueId_t targetTcDestination = MessageQueueIF::NO_QUEUE;
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@ -13,8 +13,6 @@ CService201HealthCommanding::CService201HealthCommanding(object_id_t objectId, u
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: CommandingServiceBase(objectId, apid, serviceId, numParallelCommands, commandTimeoutSeconds) {
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}
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CService201HealthCommanding::~CService201HealthCommanding() {}
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ReturnValue_t CService201HealthCommanding::isValidSubservice(uint8_t subservice) {
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switch (subservice) {
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case (Subservice::COMMAND_SET_HEALTH):
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@ -43,8 +41,8 @@ ReturnValue_t CService201HealthCommanding::getMessageQueueAndObject(uint8_t subs
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}
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ReturnValue_t CService201HealthCommanding::checkInterfaceAndAcquireMessageQueue(
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MessageQueueId_t *messageQueueToSet, object_id_t *objectId) {
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HasHealthIF *destination = ObjectManager::instance()->get<HasHealthIF>(*objectId);
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MessageQueueId_t *messageQueueToSet, const object_id_t *objectId) {
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auto *destination = ObjectManager::instance()->get<HasHealthIF>(*objectId);
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if (destination == nullptr) {
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return CommandingServiceBase::INVALID_OBJECT;
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}
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@ -77,6 +75,10 @@ ReturnValue_t CService201HealthCommanding::prepareCommand(CommandMessage *messag
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HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_ANNOUNCE_ALL);
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break;
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}
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default: {
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// Should never happen, subservice was already checked
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result = RETURN_FAILED;
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}
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}
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return result;
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}
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@ -95,10 +97,9 @@ ReturnValue_t CService201HealthCommanding::handleReply(const CommandMessage *rep
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}
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// Not used for now, health state already reported by event
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ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(const CommandMessage *reply) {
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prepareHealthSetReply(reply);
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uint8_t health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
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uint8_t oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(reply));
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[[maybe_unused]] ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(const CommandMessage *reply) {
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auto health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
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auto oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(reply));
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HealthSetReply healthSetReply(health, oldHealth);
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return sendTmPacket(Subservice::REPLY_HEALTH_SET, &healthSetReply);
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}
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@ -1,7 +1,7 @@
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#ifndef FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
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#define FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
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#include "../tmtcservices/CommandingServiceBase.h"
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#include "fsfw/tmtcservices/CommandingServiceBase.h"
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/**
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* @brief Custom PUS service to set health of all objects
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@ -21,7 +21,7 @@ class CService201HealthCommanding : public CommandingServiceBase {
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public:
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CService201HealthCommanding(object_id_t objectId, uint16_t apid, uint8_t serviceId,
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uint8_t numParallelCommands = 4, uint16_t commandTimeoutSeconds = 60);
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virtual ~CService201HealthCommanding();
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~CService201HealthCommanding() override = default;
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protected:
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/* CSB abstract function implementations */
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@ -38,12 +38,10 @@ class CService201HealthCommanding : public CommandingServiceBase {
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bool *isStep) override;
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private:
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ReturnValue_t checkAndAcquireTargetID(object_id_t *objectIdToSet, const uint8_t *tcData,
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size_t tcDataLen);
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ReturnValue_t checkInterfaceAndAcquireMessageQueue(MessageQueueId_t *MessageQueueToSet,
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object_id_t *objectId);
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static ReturnValue_t checkInterfaceAndAcquireMessageQueue(MessageQueueId_t *MessageQueueToSet,
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const object_id_t *objectId);
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ReturnValue_t prepareHealthSetReply(const CommandMessage *reply);
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[[maybe_unused]] ReturnValue_t prepareHealthSetReply(const CommandMessage *reply);
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enum Subservice {
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//! [EXPORT] : [TC] Set health of target object
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@ -307,6 +307,11 @@ void Subsystem::replyToCommand(ReturnValue_t status, uint32_t parameter) {
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}
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}
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ReturnValue_t Subsystem::addSequence(SequenceEntry sequence) {
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return addSequence(sequence.table, sequence.mode, sequence.fallbackMode, sequence.inStore,
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sequence.preInit);
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}
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ReturnValue_t Subsystem::addSequence(ArrayList<ModeListEntry> *sequence, Mode_t id,
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Mode_t fallbackSequence, bool inStore, bool preInit) {
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ReturnValue_t result;
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@ -350,6 +355,10 @@ ReturnValue_t Subsystem::addSequence(ArrayList<ModeListEntry> *sequence, Mode_t
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return result;
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}
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ReturnValue_t Subsystem::addTable(TableEntry table) {
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return addTable(table.table, table.mode, table.inStore, table.preInit);
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}
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ReturnValue_t Subsystem::addTable(ArrayList<ModeListEntry> *table, Mode_t id, bool inStore,
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bool preInit) {
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ReturnValue_t result;
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@ -458,6 +467,7 @@ ReturnValue_t Subsystem::initialize() {
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}
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mode = initialMode;
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submode = initSubmode;
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return RETURN_OK;
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}
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@ -595,7 +605,10 @@ ReturnValue_t Subsystem::checkObjectConnections() {
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return RETURN_OK;
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}
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void Subsystem::setInitialMode(Mode_t mode) { initialMode = mode; }
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void Subsystem::setInitialMode(Mode_t mode, Submode_t submode) {
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this->initialMode = mode;
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this->initSubmode = submode;
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}
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void Subsystem::cantKeepMode() {
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ReturnValue_t result;
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@ -10,6 +10,28 @@
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#include "fsfw/FSFW.h"
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#include "modes/ModeDefinitions.h"
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struct TableSequenceBase {
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public:
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TableSequenceBase(Mode_t mode, ArrayList<ModeListEntry> *table) : mode(mode), table(table){};
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Mode_t mode;
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ArrayList<ModeListEntry> *table;
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bool inStore = false;
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bool preInit = true;
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};
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struct TableEntry : public TableSequenceBase {
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public:
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TableEntry(Mode_t mode, ArrayList<ModeListEntry> *table) : TableSequenceBase(mode, table){};
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};
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struct SequenceEntry : public TableSequenceBase {
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public:
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SequenceEntry(Mode_t mode, ArrayList<ModeListEntry> *table, Mode_t fallbackMode)
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: TableSequenceBase(mode, table), fallbackMode(fallbackMode) {}
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Mode_t fallbackMode;
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};
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/**
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* @brief TODO: documentation missing
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* @details
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@ -44,13 +66,15 @@ class Subsystem : public SubsystemBase, public HasModeSequenceIF {
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uint32_t maxNumberOfTables);
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virtual ~Subsystem();
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ReturnValue_t addSequence(SequenceEntry sequence);
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ReturnValue_t addSequence(ArrayList<ModeListEntry> *sequence, Mode_t id, Mode_t fallbackSequence,
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bool inStore = true, bool preInit = true);
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ReturnValue_t addTable(TableEntry table);
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ReturnValue_t addTable(ArrayList<ModeListEntry> *table, Mode_t id, bool inStore = true,
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bool preInit = true);
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void setInitialMode(Mode_t mode);
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void setInitialMode(Mode_t mode, Submode_t submode = SUBMODE_NONE);
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virtual ReturnValue_t initialize() override;
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@ -89,6 +113,7 @@ class Subsystem : public SubsystemBase, public HasModeSequenceIF {
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Submode_t targetSubmode;
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Mode_t initialMode = 0;
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Submode_t initSubmode = SUBMODE_NONE;
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HybridIterator<ModeListEntry> currentSequenceIterator;
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|
@ -166,7 +166,7 @@ class CommandingServiceBase : public SystemObject,
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* @param objectId Target object ID
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* @return
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* - @c RETURN_OK to generate a verification start message
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* - @c EXECUTION_COMPELTE Fire-and-forget command. Generate a completion
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* - @c EXECUTION_COMPLETE Fire-and-forget command. Generate a completion
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* verification message.
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* - @c Anything else rejects the packets and generates a start failure
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* verification.
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||||
|
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