diff --git a/CMakeLists.txt b/CMakeLists.txt index 3b0917fd2..8ba6a187e 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,5 +1,13 @@ cmake_minimum_required(VERSION 3.13) +option(FSFW_GENERATE_SECTIONS + "Generate function and data sections. Required to remove unused code" ON +) + +if(FSFW_GENERATE_SECTIONS) + option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON) +endif() + option(FSFW_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON) # Options to exclude parts of the FSFW from compilation. option(FSFW_USE_RMAP "Compile with RMAP" ON) @@ -26,15 +34,22 @@ if(NOT OS_FSFW) endif() +set(FSFW_OSAL_DEFINITION FSFW_HOST) + if(${OS_FSFW} STREQUAL host) set(OS_FSFW_NAME "Host") elseif(${OS_FSFW} STREQUAL linux) set(OS_FSFW_NAME "Linux") + set(FSFW_OSAL_DEFINITION FSFW_LINUX) elseif(${OS_FSFW} STREQUAL freertos) set(OS_FSFW_NAME "FreeRTOS") - target_link_libraries(${LIB_FSFW_NAME} ${LIB_OS_NAME}) + set(FSFW_OSAL_DEFINITION FSFW_FREERTOS) + target_link_libraries(${LIB_FSFW_NAME} PRIVATE + ${LIB_OS_NAME} + ) elseif(${OS_FSFW} STREQUAL rtems) set(OS_FSFW_NAME "RTEMS") + set(FSFW_OSAL_DEFINITION FSFW_RTEMS) else() message(WARNING "Invalid operating system for FSFW specified! Setting to host.." @@ -43,6 +58,14 @@ else() set(OS_FSFW "host") endif() +target_compile_definitions(${LIB_FSFW_NAME} PRIVATE + ${FSFW_OSAL_DEFINITION} +) + +target_compile_definitions(${LIB_FSFW_NAME} INTERFACE + ${FSFW_OSAL_DEFINITION} +) + message(STATUS "Compiling FSFW for the ${OS_FSFW_NAME} operating system.") add_subdirectory(action) @@ -88,6 +111,7 @@ add_subdirectory(timemanager) add_subdirectory(tmstorage) add_subdirectory(tmtcpacket) add_subdirectory(tmtcservices) +add_subdirectory(unittest) # The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it. # If this is not given, we include the default configuration and emit a warning. @@ -107,6 +131,21 @@ else() ) endif() +foreach(INCLUDE_PATH ${FSFW_ADDITIONAL_INC_PATH}) + if(IS_ABSOLUTE ${INCLUDE_PATH}) + set(CURR_ABS_INC_PATH "${FREERTOS_PATH}") + else() + get_filename_component(CURR_ABS_INC_PATH + ${INCLUDE_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR}) + endif() + + if(CMAKE_VERBOSE) + message(STATUS "FSFW include path: ${CURR_ABS_INC_PATH}") + endif() + + list(APPEND FSFW_ADD_INC_PATHS_ABS ${CURR_ABS_INC_PATH}) +endforeach() + if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU") if(NOT DEFINED FSFW_WARNING_FLAGS) set(FSFW_WARNING_FLAGS @@ -117,7 +156,20 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU") -Wno-psabi ) endif() - + + if(FSFW_GENERATE_SECTIONS) + target_compile_options(${LIB_FSFW_NAME} PRIVATE + "-ffunction-sections" + "-fdata-sections" + ) + endif() + + if(FSFW_REMOVE_UNUSED_CODE) + target_link_options(${LIB_FSFW_NAME} PRIVATE + "Wl,--gc-sections" + ) + endif() + if(FSFW_WARNING_SHADOW_LOCAL_GCC) list(APPEND WARNING_FLAGS "-Wshadow=local") endif() @@ -132,6 +184,7 @@ endif() target_include_directories(${LIB_FSFW_NAME} INTERFACE ${CMAKE_SOURCE_DIR} ${FSFW_CONFIG_PATH_ABSOLUTE} + ${FSFW_ADD_INC_PATHS_ABS} ) # Includes path required to compile FSFW itself as well @@ -140,9 +193,14 @@ target_include_directories(${LIB_FSFW_NAME} INTERFACE target_include_directories(${LIB_FSFW_NAME} PRIVATE ${CMAKE_SOURCE_DIR} ${FSFW_CONFIG_PATH_ABSOLUTE} + ${FSFW_ADD_INC_PATHS_ABS} ) target_compile_options(${LIB_FSFW_NAME} PRIVATE ${FSFW_WARNING_FLAGS} ${COMPILER_FLAGS} ) + +target_link_libraries(${LIB_FSFW_NAME} PRIVATE + ${FSFW_ADDITIONAL_LINK_LIBS} +) \ No newline at end of file diff --git a/FSFWVersion.h b/FSFWVersion.h index 11a608919..df2d49a51 100644 --- a/FSFWVersion.h +++ b/FSFWVersion.h @@ -3,9 +3,9 @@ const char* const FSFW_VERSION_NAME = "ASTP"; -#define FSFW_VERSION 0 -#define FSFW_SUBVERSION 0 -#define FSFW_REVISION 1 +#define FSFW_VERSION 1 +#define FSFW_SUBVERSION 0 +#define FSFW_REVISION 0 diff --git a/README.md b/README.md index fb3be429e..484d65c07 100644 --- a/README.md +++ b/README.md @@ -38,11 +38,12 @@ a starting point. The [configuration section](doc/README-config.md#top) provides [1. High-level overview](doc/README-highlevel.md#top)
[2. Core components](doc/README-core.md#top)
-[3. OSAL overview](doc/README-osal.md#top)
-[4. PUS services](doc/README-pus.md#top)
-[5. Device Handler overview](doc/README-devicehandlers.md#top)
-[6. Controller overview](doc/README-controllers.md#top)
-[7. Local Data Pools](doc/README-localpools.md#top)
+[3. Configuration](doc/README-config.md#top)
+[4. OSAL overview](doc/README-osal.md#top)
+[5. PUS services](doc/README-pus.md#top)
+[6. Device Handler overview](doc/README-devicehandlers.md#top)
+[7. Controller overview](doc/README-controllers.md#top)
+[8. Local Data Pools](doc/README-localpools.md#top)
diff --git a/action/ActionHelper.cpp b/action/ActionHelper.cpp index 4b64a40ca..b2374ed69 100644 --- a/action/ActionHelper.cpp +++ b/action/ActionHelper.cpp @@ -147,11 +147,6 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, return result; } - if (result != HasReturnvaluesIF::RETURN_OK) { - ipcStore->deleteData(storeAddress); - return result; - } - /* We don't need to report the objectId, as we receive REQUESTED data before the completion success message. True aperiodic replies need to be reported with another dedicated message. */ ActionMessage::setDataReply(&reply, replyId, storeAddress); diff --git a/container/FixedArrayList.h b/container/FixedArrayList.h index 89b76388a..7af636b67 100644 --- a/container/FixedArrayList.h +++ b/container/FixedArrayList.h @@ -8,7 +8,9 @@ */ template class FixedArrayList: public ArrayList { - static_assert(MAX_SIZE <= (pow(2,sizeof(count_t)*8)-1), "count_t is not large enough to hold MAX_SIZE"); +#if !defined(_MSC_VER) + static_assert(MAX_SIZE <= (std::pow(2,sizeof(count_t)*8)-1), "count_t is not large enough to hold MAX_SIZE"); +#endif private: T data[MAX_SIZE]; public: diff --git a/container/SharedRingBuffer.cpp b/container/SharedRingBuffer.cpp index 1681325d0..fe36341dd 100644 --- a/container/SharedRingBuffer.cpp +++ b/container/SharedRingBuffer.cpp @@ -1,6 +1,6 @@ #include "SharedRingBuffer.h" #include "../ipc/MutexFactory.h" -#include "../ipc/MutexHelper.h" +#include "../ipc/MutexGuard.h" SharedRingBuffer::SharedRingBuffer(object_id_t objectId, const size_t size, bool overwriteOld, size_t maxExcessBytes): @@ -17,6 +17,9 @@ SharedRingBuffer::SharedRingBuffer(object_id_t objectId, uint8_t *buffer, mutex = MutexFactory::instance()->createMutex(); } +SharedRingBuffer::~SharedRingBuffer() { + MutexFactory::instance()->deleteMutex(mutex); +} void SharedRingBuffer::setToUseReceiveSizeFIFO(size_t fifoDepth) { this->fifoDepth = fifoDepth; diff --git a/container/SharedRingBuffer.h b/container/SharedRingBuffer.h index 43ab6e8fe..9d6ea56c2 100644 --- a/container/SharedRingBuffer.h +++ b/container/SharedRingBuffer.h @@ -26,6 +26,18 @@ public: */ SharedRingBuffer(object_id_t objectId, const size_t size, bool overwriteOld, size_t maxExcessBytes); + /** + * This constructor takes an external buffer with the specified size. + * @param buffer + * @param size + * @param overwriteOld + * If the ring buffer is overflowing at a write operartion, the oldest data + * will be overwritten. + */ + SharedRingBuffer(object_id_t objectId, uint8_t* buffer, const size_t size, + bool overwriteOld, size_t maxExcessBytes); + + virtual~ SharedRingBuffer(); /** * @brief This function can be used to add an optional FIFO to the class @@ -37,16 +49,7 @@ public: */ void setToUseReceiveSizeFIFO(size_t fifoDepth); - /** - * This constructor takes an external buffer with the specified size. - * @param buffer - * @param size - * @param overwriteOld - * If the ring buffer is overflowing at a write operartion, the oldest data - * will be overwritten. - */ - SharedRingBuffer(object_id_t objectId, uint8_t* buffer, const size_t size, - bool overwriteOld, size_t maxExcessBytes); + /** * Unless a read-only constant value is read, all operations on the @@ -66,7 +69,7 @@ public: /** * The mutex handle can be accessed directly, for example to perform - * the lock with the #MutexHelper for a RAII compliant lock operation. + * the lock with the #MutexGuard for a RAII compliant lock operation. * @return */ MutexIF* getMutexHandle() const; diff --git a/controller/ExtendedControllerBase.cpp b/controller/ExtendedControllerBase.cpp index 95ba012eb..b5b8c6601 100644 --- a/controller/ExtendedControllerBase.cpp +++ b/controller/ExtendedControllerBase.cpp @@ -17,14 +17,6 @@ ReturnValue_t ExtendedControllerBase::executeAction(ActionId_t actionId, return HasReturnvaluesIF::RETURN_OK; } - - -ReturnValue_t ExtendedControllerBase::initializeLocalDataPool( - localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) { - /* Needs to be overriden and implemented by child class. */ - return HasReturnvaluesIF::RETURN_OK; -} - object_id_t ExtendedControllerBase::getObjectId() const { return SystemObject::getObjectId(); } @@ -107,14 +99,6 @@ MessageQueueId_t ExtendedControllerBase::getCommandQueue() const { return commandQueue->getId(); } -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; -} - LocalDataPoolManager* ExtendedControllerBase::getHkManagerHandle() { return &poolManager; } diff --git a/controller/ExtendedControllerBase.h b/controller/ExtendedControllerBase.h index f069819bc..d5d43933b 100644 --- a/controller/ExtendedControllerBase.h +++ b/controller/ExtendedControllerBase.h @@ -61,11 +61,11 @@ protected: /* HasLocalDatapoolIF overrides */ virtual LocalDataPoolManager* getHkManagerHandle() override; virtual object_id_t getObjectId() const override; - virtual ReturnValue_t initializeLocalDataPool( - localpool::DataPool& localDataPoolMap, - LocalDataPoolManager& poolManager) override; virtual uint32_t getPeriodicOperationFrequency() const override; - virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override; + + virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap, + LocalDataPoolManager& poolManager) override = 0; + virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override = 0; }; diff --git a/datalinklayer/DataLinkLayer.h b/datalinklayer/DataLinkLayer.h index 17a57d61d..27e690066 100644 --- a/datalinklayer/DataLinkLayer.h +++ b/datalinklayer/DataLinkLayer.h @@ -19,7 +19,8 @@ class VirtualChannelReception; class DataLinkLayer : public CCSDSReturnValuesIF { public: static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYSTEM_1; - static const Event RF_AVAILABLE = MAKE_EVENT(0, severity::INFO); //!< A RF available signal was detected. P1: raw RFA state, P2: 0 + //! [EXPORT] : [COMMENT] A RF available signal was detected. P1: raw RFA state, P2: 0 + static const Event RF_AVAILABLE = MAKE_EVENT(0, severity::INFO); static const Event RF_LOST = MAKE_EVENT(1, severity::INFO); //!< A previously found RF available signal was lost. P1: raw RFA state, P2: 0 static const Event BIT_LOCK = MAKE_EVENT(2, severity::INFO); //!< A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0 static const Event BIT_LOCK_LOST = MAKE_EVENT(3, severity::INFO); //!< A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0 diff --git a/datapool/HkSwitchHelper.cpp b/datapool/HkSwitchHelper.cpp index 1a2a25eb9..21e37f59d 100644 --- a/datapool/HkSwitchHelper.cpp +++ b/datapool/HkSwitchHelper.cpp @@ -7,7 +7,7 @@ HkSwitchHelper::HkSwitchHelper(EventReportingProxyIF* eventProxy) : } HkSwitchHelper::~HkSwitchHelper() { - // TODO Auto-generated destructor stub + QueueFactory::instance()->deleteMessageQueue(actionQueue); } ReturnValue_t HkSwitchHelper::initialize() { diff --git a/datapool/PoolDataSetBase.cpp b/datapool/PoolDataSetBase.cpp index bdca22c3d..1bd586986 100644 --- a/datapool/PoolDataSetBase.cpp +++ b/datapool/PoolDataSetBase.cpp @@ -8,13 +8,16 @@ PoolDataSetBase::PoolDataSetBase(PoolVariableIF** registeredVariablesArray, const size_t maxFillCount): registeredVariables(registeredVariablesArray), - maxFillCount(maxFillCount) { -} + maxFillCount(maxFillCount) {} PoolDataSetBase::~PoolDataSetBase() {} ReturnValue_t PoolDataSetBase::registerVariable(PoolVariableIF *variable) { + if(registeredVariables == nullptr) { + /* Underlying container invalid */ + return HasReturnvaluesIF::RETURN_FAILED; + } if (state != States::STATE_SET_UNINITIALISED) { #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "DataSet::registerVariable: Call made in wrong position." << std::endl; @@ -61,11 +64,11 @@ ReturnValue_t PoolDataSetBase::read(MutexIF::TimeoutType timeoutType, } 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; + sif::warning << "PoolDataSetBase::read: Call made in wrong position. Don't forget to " + "commit member datasets!" << std::endl; #else - sif::printError("DataSet::read(): Call made in wrong position. Don't forget to commit" - " member datasets!\n"); + sif::printWarning("PoolDataSetBase::read: Call made in wrong position. Don't forget to " + "commit member datasets!\n"); #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ result = SET_WAS_ALREADY_READ; } diff --git a/datapool/PoolDataSetIF.h b/datapool/PoolDataSetIF.h index 9151f2f8e..f905cc4d7 100644 --- a/datapool/PoolDataSetIF.h +++ b/datapool/PoolDataSetIF.h @@ -9,8 +9,8 @@ * and unlock a data pool and read/commit semantics. */ class PoolDataSetIF: - public DataSetIF, - public ReadCommitIF { + virtual public DataSetIF, + virtual public ReadCommitIF { public: virtual~ PoolDataSetIF() {}; diff --git a/datapool/PoolEntry.cpp b/datapool/PoolEntry.cpp index a5867222b..6504e20c5 100644 --- a/datapool/PoolEntry.cpp +++ b/datapool/PoolEntry.cpp @@ -7,7 +7,7 @@ template PoolEntry::PoolEntry(std::initializer_list initValue, bool setValid ): - length(initValue.size()), valid(setValid) { + length(static_cast(initValue.size())), valid(setValid) { this->address = new T[this->length]; if(initValue.size() == 0) { std::memset(this->address, 0, this->getByteSize()); diff --git a/datapool/SharedDataSetIF.h b/datapool/SharedDataSetIF.h index b8d98794d..4d23f87f5 100644 --- a/datapool/SharedDataSetIF.h +++ b/datapool/SharedDataSetIF.h @@ -1,13 +1,15 @@ #ifndef FRAMEWORK_DATAPOOL_SHAREDDATASETIF_H_ #define FRAMEWORK_DATAPOOL_SHAREDDATASETIF_H_ + #include "PoolDataSetIF.h" -class SharedDataSetIF: public PoolDataSetIF { +class SharedDataSetIF { public: virtual ~SharedDataSetIF() {}; private: - virtual ReturnValue_t lockDataset(dur_millis_t mutexTimeout) = 0; + virtual ReturnValue_t lockDataset(MutexIF::TimeoutType timeoutType, + dur_millis_t mutexTimeout) = 0; virtual ReturnValue_t unlockDataset() = 0; }; diff --git a/datapoollocal/HasLocalDataPoolIF.h b/datapoollocal/HasLocalDataPoolIF.h index d52c72b6c..74e372c9e 100644 --- a/datapoollocal/HasLocalDataPoolIF.h +++ b/datapoollocal/HasLocalDataPoolIF.h @@ -65,34 +65,45 @@ public: * usually be the period the pool owner performs its periodic operation. * @return */ - virtual uint32_t getPeriodicOperationFrequency() const = 0; + virtual dur_millis_t getPeriodicOperationFrequency() const = 0; /** * @brief This function will be called by the manager if an update * notification is received. * @details HasLocalDataPoolIF * Can be overriden by the child class to handle changed datasets. - * @param sid - * @param storeId If a snapshot was requested, data will be located inside + * @param sid SID of the updated set + * @param storeId If a snapshot was requested, data will be located inside * the IPC store with this store ID. + * @param clearMessage If this is set to true, the pool manager will take care of + * clearing the store automatically */ virtual void handleChangedDataset(sid_t sid, - store_address_t storeId = storeId::INVALID_STORE_ADDRESS) { - return; + store_address_t storeId = storeId::INVALID_STORE_ADDRESS, + bool* clearMessage = nullptr) { + if(clearMessage != nullptr) { + *clearMessage = true; + } } /** * @brief This function will be called by the manager if an update * notification is received. * @details - * Can be overriden by the child class to handle changed pool IDs. - * @param sid - * @param storeId If a snapshot was requested, data will be located inside + * Can be overriden by the child class to handle changed pool variables. + * @param gpid GPID of the updated variable. + * @param storeId If a snapshot was requested, data will be located inside * the IPC store with this store ID. + * @param clearMessage Relevant for snapshots. If the boolean this points to is set to true, + * the pool manager will take care of clearing the store automatically + * after the callback. */ - virtual void handleChangedPoolVariable(gp_id_t globPoolId, - store_address_t storeId = storeId::INVALID_STORE_ADDRESS) { - return; + virtual void handleChangedPoolVariable(gp_id_t gpid, + store_address_t storeId = storeId::INVALID_STORE_ADDRESS, + bool* clearMessage = nullptr) { + if(clearMessage != nullptr) { + *clearMessage = true; + } } /** diff --git a/datapoollocal/LocalDataPoolManager.cpp b/datapoollocal/LocalDataPoolManager.cpp index 72873d993..dbe68ff14 100644 --- a/datapoollocal/LocalDataPoolManager.cpp +++ b/datapoollocal/LocalDataPoolManager.cpp @@ -10,7 +10,7 @@ #include "../housekeeping/AcceptsHkPacketsIF.h" #include "../timemanager/CCSDSTime.h" #include "../ipc/MutexFactory.h" -#include "../ipc/MutexHelper.h" +#include "../ipc/MutexGuard.h" #include "../ipc/QueueFactory.h" #include @@ -38,7 +38,11 @@ LocalDataPoolManager::LocalDataPoolManager(HasLocalDataPoolIF* owner, MessageQue hkQueue = queueToUse; } -LocalDataPoolManager::~LocalDataPoolManager() {} +LocalDataPoolManager::~LocalDataPoolManager() { + if(mutex != nullptr) { + MutexFactory::instance()->deleteMutex(mutex); + } +} ReturnValue_t LocalDataPoolManager::initialize(MessageQueueIF* queueToUse) { if(queueToUse == nullptr) { @@ -132,13 +136,16 @@ ReturnValue_t LocalDataPoolManager::performHkOperation() { ReturnValue_t LocalDataPoolManager::handleHkUpdate(HkReceiver& receiver, ReturnValue_t& status) { if(receiver.dataType == DataType::LOCAL_POOL_VARIABLE) { - // Update packets shall only be generated from datasets. + /* Update packets shall only be generated from datasets. */ return HasReturnvaluesIF::RETURN_FAILED; } LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, receiver.dataId.sid); + if(dataSet == nullptr) { + return DATASET_NOT_FOUND; + } if(dataSet->hasChanged()) { - // prepare and send update notification + /* Prepare and send update notification */ ReturnValue_t result = generateHousekeepingPacket( receiver.dataId.sid, dataSet, true); if(result != HasReturnvaluesIF::RETURN_OK) { @@ -328,7 +335,7 @@ void LocalDataPoolManager::handleChangeResetLogic( toReset->setChanged(false); } /* All recipients have been notified, reset the changed flag */ - if(changeInfo.currentUpdateCounter <= 1) { + else if(changeInfo.currentUpdateCounter <= 1) { toReset->setChanged(false); changeInfo.currentUpdateCounter = 0; } @@ -372,7 +379,7 @@ ReturnValue_t LocalDataPoolManager::subscribeForPeriodicPacket(sid_t sid, LocalPoolDataSetAttorney::setReportingEnabled(*dataSet, enableReporting); LocalPoolDataSetAttorney::setDiagnostic(*dataSet, isDiagnostics); LocalPoolDataSetAttorney::initializePeriodicHelper(*dataSet, collectionInterval, - owner->getPeriodicOperationFrequency(), isDiagnostics); + owner->getPeriodicOperationFrequency()); } hkReceivers.push_back(hkReceiver); @@ -398,7 +405,6 @@ ReturnValue_t LocalDataPoolManager::subscribeForUpdatePacket(sid_t sid, hkReceiver.destinationQueue = hkReceiverObject->getHkQueue(); LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid); - //LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid); if(dataSet != nullptr) { LocalPoolDataSetAttorney::setReportingEnabled(*dataSet, true); LocalPoolDataSetAttorney::setDiagnostic(*dataSet, isDiagnostics); @@ -516,11 +522,19 @@ ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage( } case(HousekeepingMessage::REPORT_DIAGNOSTICS_REPORT_STRUCTURES): { - return generateSetStructurePacket(sid, true); + result = generateSetStructurePacket(sid, true); + if(result == HasReturnvaluesIF::RETURN_OK) { + return result; + } + break; } case(HousekeepingMessage::REPORT_HK_REPORT_STRUCTURES): { - return generateSetStructurePacket(sid, false); + result = generateSetStructurePacket(sid, false); + if(result == HasReturnvaluesIF::RETURN_OK) { + return result; + } + break; } case(HousekeepingMessage::MODIFY_DIAGNOSTICS_REPORT_COLLECTION_INTERVAL): case(HousekeepingMessage::MODIFY_PARAMETER_REPORT_COLLECTION_INTERVAL): { @@ -540,14 +554,15 @@ ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage( case(HousekeepingMessage::GENERATE_ONE_PARAMETER_REPORT): case(HousekeepingMessage::GENERATE_ONE_DIAGNOSTICS_REPORT): { LocalPoolDataSetBase* dataSet =HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid); - //LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid); if(command == HousekeepingMessage::GENERATE_ONE_PARAMETER_REPORT and LocalPoolDataSetAttorney::isDiagnostics(*dataSet)) { - return WRONG_HK_PACKET_TYPE; + result = WRONG_HK_PACKET_TYPE; + break; } else if(command == HousekeepingMessage::GENERATE_ONE_DIAGNOSTICS_REPORT and not LocalPoolDataSetAttorney::isDiagnostics(*dataSet)) { - return WRONG_HK_PACKET_TYPE; + result = WRONG_HK_PACKET_TYPE; + break; } return generateHousekeepingPacket(HousekeepingMessage::getSid(message), dataSet, true); @@ -566,14 +581,22 @@ ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage( case(HousekeepingMessage::UPDATE_SNAPSHOT_SET): { store_address_t storeId; HousekeepingMessage::getUpdateSnapshotSetCommand(message, &storeId); - owner->handleChangedDataset(sid, storeId); + bool clearMessage = true; + owner->handleChangedDataset(sid, storeId, &clearMessage); + if(clearMessage) { + message->clear(); + } return HasReturnvaluesIF::RETURN_OK; } case(HousekeepingMessage::UPDATE_SNAPSHOT_VARIABLE): { store_address_t storeId; gp_id_t globPoolId = HousekeepingMessage::getUpdateSnapshotVariableCommand(message, &storeId); - owner->handleChangedPoolVariable(globPoolId, storeId); + bool clearMessage = true; + owner->handleChangedPoolVariable(globPoolId, storeId, &clearMessage); + if(clearMessage) { + message->clear(); + } return HasReturnvaluesIF::RETURN_OK; } @@ -616,7 +639,7 @@ ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid, LocalPoolDataSetBase* dataSet, bool forDownlink, MessageQueueId_t destination) { if(dataSet == nullptr) { - // Configuration error. + /* Configuration error. */ printWarningOrError(sif::OutputTypes::OUT_WARNING, "generateHousekeepingPacket", DATASET_NOT_FOUND); @@ -632,7 +655,7 @@ ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid, return result; } - // and now we set a HK message and send it the HK packet destination. + /* Now we set a HK message and send it the HK packet destination. */ CommandMessage hkMessage; if(LocalPoolDataSetAttorney::isDiagnostics(*dataSet)) { HousekeepingMessage::setHkDiagnosticsReply(&hkMessage, sid, storeId); @@ -642,7 +665,7 @@ ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid, } if(hkQueue == nullptr) { - // error, no queue available to send packet with. + /* Error, no queue available to send packet with. */ printWarningOrError(sif::OutputTypes::OUT_WARNING, "generateHousekeepingPacket", QUEUE_OR_DESTINATION_INVALID); @@ -650,7 +673,7 @@ ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid, } if(destination == MessageQueueIF::NO_QUEUE) { if(hkDestinationId == MessageQueueIF::NO_QUEUE) { - // error, all destinations invalid + /* Error, all destinations invalid */ printWarningOrError(sif::OutputTypes::OUT_WARNING, "generateHousekeepingPacket", QUEUE_OR_DESTINATION_INVALID); @@ -729,6 +752,12 @@ void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver& receiver) { ReturnValue_t LocalDataPoolManager::togglePeriodicGeneration(sid_t sid, bool enable, bool isDiagnostics) { LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid); + if(dataSet == nullptr) { + printWarningOrError(sif::OutputTypes::OUT_WARNING, "togglePeriodicGeneration", + DATASET_NOT_FOUND); + return DATASET_NOT_FOUND; + } + if((LocalPoolDataSetAttorney::isDiagnostics(*dataSet) and not isDiagnostics) or (not LocalPoolDataSetAttorney::isDiagnostics(*dataSet) and isDiagnostics)) { return WRONG_HK_PACKET_TYPE; @@ -746,6 +775,12 @@ ReturnValue_t LocalDataPoolManager::togglePeriodicGeneration(sid_t sid, ReturnValue_t LocalDataPoolManager::changeCollectionInterval(sid_t sid, float newCollectionInterval, bool isDiagnostics) { LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid); + if(dataSet == nullptr) { + printWarningOrError(sif::OutputTypes::OUT_WARNING, "changeCollectionInterval", + DATASET_NOT_FOUND); + return DATASET_NOT_FOUND; + } + bool targetIsDiagnostics = LocalPoolDataSetAttorney::isDiagnostics(*dataSet); if((targetIsDiagnostics and not isDiagnostics) or (not targetIsDiagnostics and isDiagnostics)) { @@ -756,7 +791,7 @@ ReturnValue_t LocalDataPoolManager::changeCollectionInterval(sid_t sid, LocalPoolDataSetAttorney::getPeriodicHelper(*dataSet); if(periodicHelper == nullptr) { - // config error + /* Configuration error, set might not have a corresponding pool manager */ return PERIODIC_HELPER_INVALID; } @@ -766,13 +801,11 @@ ReturnValue_t LocalDataPoolManager::changeCollectionInterval(sid_t sid, ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid, bool isDiagnostics) { - // Get and check dataset first. - //LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid); + /* Get and check dataset first. */ LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid); if(dataSet == nullptr) { printWarningOrError(sif::OutputTypes::OUT_WARNING, - "performPeriodicHkGeneration", - DATASET_NOT_FOUND); + "performPeriodicHkGeneration", DATASET_NOT_FOUND); return DATASET_NOT_FOUND; } @@ -831,6 +864,10 @@ ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid, void LocalDataPoolManager::clearReceiversList() { /* Clear the vector completely and releases allocated memory. */ HkReceivers().swap(hkReceivers); + /* Also clear the reset helper if it exists */ + if(hkUpdateResetList != nullptr) { + HkUpdateResetList().swap(*hkUpdateResetList); + } } MutexIF* LocalDataPoolManager::getLocalPoolMutex() { @@ -843,6 +880,7 @@ object_id_t LocalDataPoolManager::getCreatorObjectId() const { void LocalDataPoolManager::printWarningOrError(sif::OutputTypes outputType, const char* functionName, ReturnValue_t error, const char* errorPrint) { +#if FSFW_VERBOSE_LEVEL >= 1 if(errorPrint == nullptr) { if(error == DATASET_NOT_FOUND) { errorPrint = "Dataset not found"; @@ -871,33 +909,32 @@ void LocalDataPoolManager::printWarningOrError(sif::OutputTypes outputType, errorPrint = "Unknown error"; } } + object_id_t objectId = 0xffffffff; + if(owner != nullptr) { + objectId = owner->getObjectId(); + } if(outputType == sif::OutputTypes::OUT_WARNING) { -#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::warning << "LocalDataPoolManager::" << functionName - << ": Object ID 0x" << std::setw(8) << std::setfill('0') - << std::hex << owner->getObjectId() << " | " << errorPrint - << std::dec << std::setfill(' ') << std::endl; + sif::warning << "LocalDataPoolManager::" << functionName << ": Object ID 0x" << + std::setw(8) << std::setfill('0') << std::hex << objectId << " | " << errorPrint << + std::dec << std::setfill(' ') << std::endl; #else sif::printWarning("LocalDataPoolManager::%s: Object ID 0x%08x | %s\n", - functionName, owner->getObjectId(), errorPrint); + functionName, objectId, errorPrint); #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ -#endif /* FSFW_VERBOSE_LEVEL >= 1 */ } else if(outputType == sif::OutputTypes::OUT_ERROR) { -#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "LocalDataPoolManager::" << functionName - << ": Object ID 0x" << std::setw(8) << std::setfill('0') - << std::hex << owner->getObjectId() << " | " << errorPrint - << std::dec << std::setfill(' ') << std::endl; + sif::error << "LocalDataPoolManager::" << functionName << ": Object ID 0x" << + std::setw(8) << std::setfill('0') << std::hex << objectId << " | " << errorPrint << + std::dec << std::setfill(' ') << std::endl; #else sif::printError("LocalDataPoolManager::%s: Object ID 0x%08x | %s\n", - functionName, owner->getObjectId(), errorPrint); + functionName, objectId, errorPrint); #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ -#endif /* FSFW_VERBOSE_LEVEL >= 1 */ } +#endif /* #if FSFW_VERBOSE_LEVEL >= 1 */ } LocalDataPoolManager* LocalDataPoolManager::getPoolManagerHandle() { diff --git a/datapoollocal/LocalDataPoolManager.h b/datapoollocal/LocalDataPoolManager.h index ff6edb95d..2ec81f1cf 100644 --- a/datapoollocal/LocalDataPoolManager.h +++ b/datapoollocal/LocalDataPoolManager.h @@ -14,7 +14,7 @@ #include "../ipc/MutexIF.h" #include "../ipc/CommandMessage.h" #include "../ipc/MessageQueueIF.h" -#include "../ipc/MutexHelper.h" +#include "../ipc/MutexGuard.h" #include #include @@ -391,6 +391,10 @@ protected: template inline ReturnValue_t LocalDataPoolManager::fetchPoolEntry(lp_id_t localPoolId, PoolEntry **poolEntry) { + if(poolEntry == nullptr) { + return HasReturnvaluesIF::RETURN_FAILED; + } + auto poolIter = localPoolMap.find(localPoolId); if (poolIter == localPoolMap.end()) { printWarningOrError(sif::OutputTypes::OUT_WARNING, "fetchPoolEntry", diff --git a/datapoollocal/LocalPoolDataSetBase.cpp b/datapoollocal/LocalPoolDataSetBase.cpp index e5ea15983..a72e9db11 100644 --- a/datapoollocal/LocalPoolDataSetBase.cpp +++ b/datapoollocal/LocalPoolDataSetBase.cpp @@ -44,7 +44,7 @@ LocalPoolDataSetBase::LocalPoolDataSetBase(HasLocalDataPoolIF *hkOwner, LocalPoolDataSetBase::LocalPoolDataSetBase(sid_t sid, PoolVariableIF** registeredVariablesArray, const size_t maxNumberOfVariables): - PoolDataSetBase(registeredVariablesArray, maxNumberOfVariables) { + PoolDataSetBase(registeredVariablesArray, maxNumberOfVariables) { HasLocalDataPoolIF* hkOwner = objectManager->get( sid.objectId); if(hkOwner != nullptr) { @@ -58,8 +58,7 @@ LocalPoolDataSetBase::LocalPoolDataSetBase(sid_t sid, PoolVariableIF** registere this->sid = sid; } -LocalPoolDataSetBase::LocalPoolDataSetBase( - PoolVariableIF **registeredVariablesArray, +LocalPoolDataSetBase::LocalPoolDataSetBase(PoolVariableIF **registeredVariablesArray, const size_t maxNumberOfVariables, bool protectEveryReadCommitCall): PoolDataSetBase(registeredVariablesArray, maxNumberOfVariables) { this->setReadCommitProtectionBehaviour(protectEveryReadCommitCall); @@ -95,14 +94,23 @@ ReturnValue_t LocalPoolDataSetBase::serializeWithValidityBuffer(uint8_t **buffer size_t *size, size_t maxSize, SerializeIF::Endianness streamEndianness) const { ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; - uint8_t validityMaskSize = std::ceil(static_cast(fillCount)/8.0); - uint8_t validityMask[validityMaskSize] = {}; + const uint8_t validityMaskSize = std::ceil(static_cast(fillCount)/8.0); + uint8_t* validityPtr = nullptr; +#ifdef _MSC_VER + /* Use a std::vector here because MSVC will (rightly) not create a fixed size array + with a non constant size specifier */ + std::vector validityMask(validityMaskSize); + validityPtr = validityMask.data(); +#else + uint8_t validityMask[validityMaskSize] = {0}; + validityPtr = validityMask; +#endif uint8_t validBufferIndex = 0; uint8_t validBufferIndexBit = 0; for (uint16_t count = 0; count < fillCount; count++) { if(registeredVariables[count]->isValid()) { /* Set bit at correct position */ - bitutil::bitSet(validityMask + validBufferIndex, validBufferIndexBit); + bitutil::bitSet(validityPtr + validBufferIndex, validBufferIndexBit); } if(validBufferIndexBit == 7) { validBufferIndex ++; @@ -123,7 +131,7 @@ ReturnValue_t LocalPoolDataSetBase::serializeWithValidityBuffer(uint8_t **buffer return SerializeIF::BUFFER_TOO_SHORT; } // copy validity buffer to end - std::memcpy(*buffer, validityMask, validityMaskSize); + std::memcpy(*buffer, validityPtr, validityMaskSize); *size += validityMaskSize; return result; } @@ -262,11 +270,9 @@ bool LocalPoolDataSetBase::getReportingEnabled() const { return reportingEnabled; } -void LocalPoolDataSetBase::initializePeriodicHelper( - float collectionInterval, dur_millis_t minimumPeriodicInterval, - bool isDiagnostics, uint8_t nonDiagIntervalFactor) { - periodicHelper->initialize(collectionInterval, minimumPeriodicInterval, - isDiagnostics, nonDiagIntervalFactor); +void LocalPoolDataSetBase::initializePeriodicHelper(float collectionInterval, + dur_millis_t minimumPeriodicInterval, uint8_t nonDiagIntervalFactor) { + periodicHelper->initialize(collectionInterval, minimumPeriodicInterval, nonDiagIntervalFactor); } void LocalPoolDataSetBase::setChanged(bool changed) { @@ -306,3 +312,12 @@ void LocalPoolDataSetBase::setAllVariablesReadOnly() { registeredVariables[idx]->setReadWriteMode(pool_rwm_t::VAR_READ); } } + +float LocalPoolDataSetBase::getCollectionInterval() const { + if(periodicHelper != nullptr) { + return periodicHelper->getCollectionIntervalInSeconds(); + } + else { + return 0.0; + } +} diff --git a/datapoollocal/LocalPoolDataSetBase.h b/datapoollocal/LocalPoolDataSetBase.h index 404509ae5..ab67dc3f9 100644 --- a/datapoollocal/LocalPoolDataSetBase.h +++ b/datapoollocal/LocalPoolDataSetBase.h @@ -166,6 +166,16 @@ public: object_id_t getCreatorObjectId(); + bool getReportingEnabled() const; + + /** + * Returns the current periodic HK generation interval this set + * belongs to a HK manager and the interval is not 0. Otherwise, + * returns 0.0 + * @return + */ + float getCollectionInterval() const; + protected: sid_t sid; //! This mutex is used if the data is created by one object only. @@ -180,11 +190,9 @@ protected: */ bool reportingEnabled = false; void setReportingEnabled(bool enabled); - bool getReportingEnabled() const; - void initializePeriodicHelper(float collectionInterval, - dur_millis_t minimumPeriodicInterval, - bool isDiagnostics, uint8_t nonDiagIntervalFactor = 5); + void initializePeriodicHelper(float collectionInterval, dur_millis_t minimumPeriodicInterval, + uint8_t nonDiagIntervalFactor = 5); /** * If the valid state of a dataset is always relevant to the whole diff --git a/datapoollocal/LocalPoolVector.tpp b/datapoollocal/LocalPoolVector.tpp index 5b2089b39..044b8fa72 100644 --- a/datapoollocal/LocalPoolVector.tpp +++ b/datapoollocal/LocalPoolVector.tpp @@ -25,7 +25,7 @@ inline LocalPoolVector::LocalPoolVector(gp_id_t globalPoolId, template inline ReturnValue_t LocalPoolVector::read( MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) { - MutexHelper(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs); + MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs); return readWithoutLock(); } template @@ -64,7 +64,7 @@ inline ReturnValue_t LocalPoolVector::commit(bool valid, template inline ReturnValue_t LocalPoolVector::commit( MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) { - MutexHelper(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs); + MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs); return commitWithoutLock(); } diff --git a/datapoollocal/SharedLocalDataSet.cpp b/datapoollocal/SharedLocalDataSet.cpp index dd1bdcc40..84c2d1c37 100644 --- a/datapoollocal/SharedLocalDataSet.cpp +++ b/datapoollocal/SharedLocalDataSet.cpp @@ -1,16 +1,37 @@ #include "SharedLocalDataSet.h" + SharedLocalDataSet::SharedLocalDataSet(object_id_t objectId, sid_t sid, const size_t maxSize): SystemObject(objectId), - LocalPoolDataSetBase(sid, nullptr, maxSize) { + LocalPoolDataSetBase(sid, nullptr, maxSize), poolVarVector(maxSize) { this->setContainer(poolVarVector.data()); datasetLock = MutexFactory::instance()->createMutex(); } -ReturnValue_t SharedLocalDataSet::lockDataset(dur_millis_t mutexTimeout) { - return datasetLock->lockMutex(MutexIF::TimeoutType::WAITING, mutexTimeout); +SharedLocalDataSet::SharedLocalDataSet(object_id_t objectId, + HasLocalDataPoolIF *owner, uint32_t setId, + const size_t maxSize): SystemObject(objectId), + LocalPoolDataSetBase(owner, setId, nullptr, maxSize), poolVarVector(maxSize) { + this->setContainer(poolVarVector.data()); + datasetLock = MutexFactory::instance()->createMutex(); +} + +ReturnValue_t SharedLocalDataSet::lockDataset(MutexIF::TimeoutType timeoutType, + dur_millis_t mutexTimeout) { + if(datasetLock != nullptr) { + return datasetLock->lockMutex(timeoutType, mutexTimeout); + } + return HasReturnvaluesIF::RETURN_FAILED; +} + + +SharedLocalDataSet::~SharedLocalDataSet() { + MutexFactory::instance()->deleteMutex(datasetLock); } ReturnValue_t SharedLocalDataSet::unlockDataset() { - return datasetLock->unlockMutex(); + if(datasetLock != nullptr) { + return datasetLock->unlockMutex(); + } + return HasReturnvaluesIF::RETURN_FAILED; } diff --git a/datapoollocal/SharedLocalDataSet.h b/datapoollocal/SharedLocalDataSet.h index 83f2a72f1..8d12610a8 100644 --- a/datapoollocal/SharedLocalDataSet.h +++ b/datapoollocal/SharedLocalDataSet.h @@ -11,16 +11,22 @@ * multiple threads. It provides a lock in addition to all other functionalities provided * by the LocalPoolDataSetBase class. * - * TODO: override and protect read, commit and some other calls used by pool manager. + * The user is completely responsible for lockingand unlocking the dataset when using the + * shared dataset. */ class SharedLocalDataSet: public SystemObject, public LocalPoolDataSetBase, public SharedDataSetIF { public: - SharedLocalDataSet(object_id_t objectId, sid_t sid, + SharedLocalDataSet(object_id_t objectId, HasLocalDataPoolIF* owner, uint32_t setId, const size_t maxSize); - ReturnValue_t lockDataset(dur_millis_t mutexTimeout) override; + SharedLocalDataSet(object_id_t objectId, sid_t sid, const size_t maxSize); + + virtual~ SharedLocalDataSet(); + + ReturnValue_t lockDataset(MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING, + dur_millis_t mutexTimeout = 20) override; ReturnValue_t unlockDataset() override; private: diff --git a/datapoollocal/datapoollocal.h b/datapoollocal/datapoollocal.h new file mode 100644 index 000000000..c5c470788 --- /dev/null +++ b/datapoollocal/datapoollocal.h @@ -0,0 +1,12 @@ +#ifndef FSFW_DATAPOOLLOCAL_DATAPOOLLOCAL_H_ +#define FSFW_DATAPOOLLOCAL_DATAPOOLLOCAL_H_ + +/* Collected related headers */ +#include "LocalPoolVariable.h" +#include "LocalPoolVector.h" +#include "StaticLocalDataSet.h" +#include "LocalDataSet.h" +#include "SharedLocalDataSet.h" + + +#endif /* FSFW_DATAPOOLLOCAL_DATAPOOLLOCAL_H_ */ diff --git a/datapoollocal/internal/LocalPoolDataSetAttorney.h b/datapoollocal/internal/LocalPoolDataSetAttorney.h index 7a34e9c8e..f81428cd1 100644 --- a/datapoollocal/internal/LocalPoolDataSetAttorney.h +++ b/datapoollocal/internal/LocalPoolDataSetAttorney.h @@ -14,9 +14,8 @@ private: } static void initializePeriodicHelper(LocalPoolDataSetBase& set, float collectionInterval, - uint32_t minimumPeriodicIntervalMs, - bool isDiagnostics, uint8_t nonDiagIntervalFactor = 5) { - set.initializePeriodicHelper(collectionInterval, minimumPeriodicIntervalMs, isDiagnostics, + uint32_t minimumPeriodicIntervalMs, uint8_t nonDiagIntervalFactor = 5) { + set.initializePeriodicHelper(collectionInterval, minimumPeriodicIntervalMs, nonDiagIntervalFactor); } diff --git a/datapoollocal/localPoolDefinitions.h b/datapoollocal/localPoolDefinitions.h index af8ce7115..daab8b9c0 100644 --- a/datapoollocal/localPoolDefinitions.h +++ b/datapoollocal/localPoolDefinitions.h @@ -96,11 +96,11 @@ union gp_id_t { return raw == INVALID_GPID; } - bool operator==(const sid_t& other) const { + bool operator==(const gp_id_t& other) const { return raw == other.raw; } - bool operator!=(const sid_t& other) const { + bool operator!=(const gp_id_t& other) const { return not (raw == other.raw); } }; diff --git a/defaultcfg/fsfwconfig/CMakeLists.txt b/defaultcfg/fsfwconfig/CMakeLists.txt index cbd4ecdec..178fc2735 100644 --- a/defaultcfg/fsfwconfig/CMakeLists.txt +++ b/defaultcfg/fsfwconfig/CMakeLists.txt @@ -1,15 +1,23 @@ -target_sources(${LIB_FSFW_NAME} PRIVATE - ipc/missionMessageTypes.cpp - objects/FsfwFactory.cpp - pollingsequence/PollingSequenceFactory.cpp -) - -# Should be added to include path target_include_directories(${TARGET_NAME} PRIVATE - ${CMAKE_CURRENT_SOURCE_DIR} + ${CMAKE_CURRENT_SOURCE_DIR} ) -if(NOT FSFW_CONFIG_PATH) - set(FSFW_CONFIG_PATH ${CMAKE_CURRENT_SOURCE_DIR}) +target_sources(${TARGET_NAME} PRIVATE + ipc/missionMessageTypes.cpp + pollingsequence/PollingSequenceFactory.cpp + objects/FsfwFactory.cpp +) + +# If a special translation file for object IDs exists, compile it. +if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp") + target_sources(${TARGET_NAME} PRIVATE + objects/translateObjects.cpp + ) endif() +# If a special translation file for events exists, compile it. +if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp") + target_sources(${TARGET_NAME} PRIVATE + events/translateEvents.cpp + ) +endif() diff --git a/defaultcfg/fsfwconfig/FSFWConfig.h b/defaultcfg/fsfwconfig/FSFWConfig.h index ed86e6e1f..1abdab4cd 100644 --- a/defaultcfg/fsfwconfig/FSFWConfig.h +++ b/defaultcfg/fsfwconfig/FSFWConfig.h @@ -17,6 +17,8 @@ #define FSFW_DISABLE_PRINTOUT 0 #endif +#define FSFW_USE_PUS_C_TELEMETRY 1 + //! Can be used to disable the ANSI color sequences for C stdio. #define FSFW_COLORED_OUTPUT 1 @@ -40,10 +42,17 @@ //! Specify whether a special mode store is used for Subsystem components. #define FSFW_USE_MODESTORE 0 +//! Defines if the real time scheduler for linux should be used. +//! If set to 0, this will also disable priority settings for linux +//! as most systems will not allow to set nice values without privileges +//! For embedded linux system set this to 1. +//! If set to 1 the binary needs "cap_sys_nice=eip" privileges to run +#define FSFW_USE_REALTIME_FOR_LINUX 1 + namespace fsfwconfig { -//! Default timestamp size. The default timestamp will be an eight byte CDC -//! short timestamp. -static constexpr uint8_t FSFW_MISSION_TIMESTAMP_SIZE = 8; + +//! Default timestamp size. The default timestamp will be an seven byte CDC short timestamp. +static constexpr uint8_t FSFW_MISSION_TIMESTAMP_SIZE = 7; //! Configure the allocated pool sizes for the event manager. static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240; @@ -52,11 +61,12 @@ static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120; //! Defines the FIFO depth of each commanding service base which //! also determines how many commands a CSB service can handle in one cycle -//! simulataneously. This will increase the required RAM for +//! simultaneously. 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_ */ diff --git a/devicehandlers/AssemblyBase.h b/devicehandlers/AssemblyBase.h index 353d5f899..6cac81b49 100644 --- a/devicehandlers/AssemblyBase.h +++ b/devicehandlers/AssemblyBase.h @@ -24,6 +24,13 @@ * 1. check logic when active-> checkChildrenStateOn * 2. transition logic to change the mode -> commandChildren * + * Important: + * + * The implementation must call registerChild(object_id_t child) + * for all commanded children during initialization. + * The implementation must call the initialization function of the base class. + * (This will call the function in SubsystemBase) + * */ class AssemblyBase: public SubsystemBase { public: @@ -41,9 +48,6 @@ public: virtual ~AssemblyBase(); protected: - - // SHOULDDO: Change that OVERWRITE_HEALTH may be returned - // (or return internalState directly?) /** * Command children to reach [mode,submode] combination * Can be done by setting #commandsOutstanding correctly, @@ -68,6 +72,18 @@ protected: virtual ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) = 0; + /** + * Check whether a combination of mode and submode is valid. + * + * Ground Controller like precise return values from HasModesIF. + * So, please return any of them. + * + * @param mode The targeted mode + * @param submode The targeted submmode + * @return Any information why this combination is invalid from HasModesIF + * like HasModesIF::INVALID_SUBMODE. + * On success return HasReturnvaluesIF::RETURN_OK + */ virtual ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) = 0; diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp index 0649aaa04..1623a1ac4 100644 --- a/devicehandlers/DeviceHandlerBase.cpp +++ b/devicehandlers/DeviceHandlerBase.cpp @@ -308,11 +308,11 @@ void DeviceHandlerBase::doStateMachine() { uint32_t currentUptime; Clock::getUptime(¤tUptime); if (currentUptime - timeoutStart >= childTransitionDelay) { -#if FSFW_VERBOSE_LEVEL >= 1 +#if FSFW_VERBOSE_LEVEL >= 1 && FSFW_OBJ_EVENT_TRANSLATION == 0 char printout[60]; sprintf(printout, "Transition timeout (%lu) occured !", static_cast(childTransitionDelay)); - /* Very common configuration error, so print it */ + /* Common configuration error for development, so print it */ printWarningOrError(sif::OutputTypes::OUT_WARNING, "doStateMachine", RETURN_FAILED, printout); #endif @@ -456,6 +456,15 @@ ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceComm } } +size_t DeviceHandlerBase::getNextReplyLength(DeviceCommandId_t commandId){ + DeviceReplyIter iter = deviceReplyMap.find(commandId); + if(iter != deviceReplyMap.end()) { + return iter->second.replyLen; + }else{ + return 0; + } +} + ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceReply, uint16_t delayCycles, uint16_t maxDelayCycles, bool periodic) { auto replyIter = deviceReplyMap.find(deviceReply); @@ -646,16 +655,12 @@ void DeviceHandlerBase::doGetWrite() { void DeviceHandlerBase::doSendRead() { ReturnValue_t result; - size_t requestLen = 0; + size_t replyLen = 0; if(cookieInfo.pendingCommand != deviceCommandMap.end()) { - DeviceReplyIter iter = deviceReplyMap.find( - cookieInfo.pendingCommand->first); - if(iter != deviceReplyMap.end()) { - requestLen = iter->second.replyLen; - } + replyLen = getNextReplyLength(cookieInfo.pendingCommand->first); } - result = communicationInterface->requestReceiveMessage(comCookie, requestLen); + result = communicationInterface->requestReceiveMessage(comCookie, replyLen); if (result == RETURN_OK) { cookieInfo.state = COOKIE_READ_SENT; @@ -1491,7 +1496,7 @@ void DeviceHandlerBase::printWarningOrError(sif::OutputTypes errorType, if(errorCode == ObjectManagerIF::CHILD_INIT_FAILED) { errorPrint = "Initialization error"; } - if(errorCode == HasReturnvaluesIF::RETURN_FAILED) { + else if(errorCode == HasReturnvaluesIF::RETURN_FAILED) { if(errorType == sif::OutputTypes::OUT_WARNING) { errorPrint = "Generic Warning"; } @@ -1503,6 +1508,9 @@ void DeviceHandlerBase::printWarningOrError(sif::OutputTypes errorType, errorPrint = "Unknown error"; } } + if(functionName == nullptr) { + functionName = "unknown function"; + } if(errorType == sif::OutputTypes::OUT_WARNING) { #if FSFW_CPP_OSTREAM_ENABLED == 1 @@ -1511,18 +1519,18 @@ void DeviceHandlerBase::printWarningOrError(sif::OutputTypes errorType, std::dec << std::setfill(' ') << std::endl; #else sif::printWarning("DeviceHandlerBase::%s: Object ID 0x%08x | %s\n", - this->getObjectId(), errorPrint); + functionName, this->getObjectId(), errorPrint); #endif } else if(errorType == sif::OutputTypes::OUT_ERROR) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "DeviceHandlerBase::" << functionName << ": Object ID " + sif::error << "DeviceHandlerBase::" << functionName << ": Object ID 0x" << std::hex << std::setw(8) << std::setfill('0') << this->getObjectId() << " | " << errorPrint << std::dec << std::setfill(' ') << std::endl; #else sif::printError("DeviceHandlerBase::%s: Object ID 0x%08x | %s\n", - this->getObjectId(), errorPrint); + functionName, this->getObjectId(), errorPrint); #endif } diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h index d61b0407d..496c08ffd 100644 --- a/devicehandlers/DeviceHandlerBase.h +++ b/devicehandlers/DeviceHandlerBase.h @@ -471,13 +471,27 @@ protected: ReturnValue_t insertInReplyMap(DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles, LocalPoolDataSetBase* dataSet = nullptr, size_t replyLen = 0, bool periodic = false); + /** - * @brief A simple command to add a command to the commandList. + * @brief A simple command to add a command to the commandList. * @param deviceCommand The command to add * @return - @c RETURN_OK when the command was successfully inserted, * - @c RETURN_FAILED else. */ ReturnValue_t insertInCommandMap(DeviceCommandId_t deviceCommand); + + /** + * @brief This function returns the reply length of the next reply to read. + * + * @param deviceCommand The command which triggered the device reply. + * + * @details The default implementation assumes only one reply is triggered by the command. In + * case the command triggers multiple replies (e.g. one acknowledgment, one data, + * and one execution status reply), this function can be overwritten to get the + * reply length of the next reply to read. + */ + virtual size_t getNextReplyLength(DeviceCommandId_t deviceCommand); + /** * @brief This is a helper method to facilitate updating entries * in the reply map. @@ -953,7 +967,7 @@ protected: * - NO_REPLY_EXPECTED if there was no reply found. This is not an * error case as many commands do not expect a reply. */ - virtual ReturnValue_t enableReplyInReplyMap(DeviceCommandMap::iterator cmd, + virtual ReturnValue_t enableReplyInReplyMap(DeviceCommandMap::iterator command, uint8_t expectedReplies = 1, bool useAlternateId = false, DeviceCommandId_t alternateReplyID = 0); diff --git a/devicehandlers/HealthDevice.cpp b/devicehandlers/HealthDevice.cpp index 418ed2576..e23dd5b69 100644 --- a/devicehandlers/HealthDevice.cpp +++ b/devicehandlers/HealthDevice.cpp @@ -16,9 +16,9 @@ ReturnValue_t HealthDevice::performOperation(uint8_t opCode) { CommandMessage command; ReturnValue_t result = commandQueue->receiveMessage(&command); if (result == HasReturnvaluesIF::RETURN_OK) { - healthHelper.handleHealthCommand(&command); + result = healthHelper.handleHealthCommand(&command); } - return HasReturnvaluesIF::RETURN_OK; + return result; } ReturnValue_t HealthDevice::initialize() { diff --git a/doc/README-config.md b/doc/README-config.md index 036a7d14c..d71feb97b 100644 --- a/doc/README-config.md +++ b/doc/README-config.md @@ -1,12 +1,30 @@ - -## Configuring the FSFW +Configuring the FSFW +====== The FSFW can be configured via the `fsfwconfig` folder. A template folder has been provided to have a starting point for this. The folder should be added -to the include path. +to the include path. The primary configuration file is the `FSFWConfig.h` folder. Some +of the available options will be explained in more detail here. +# Auto-Translation of Events -### Configuring the Event Manager +The FSFW allows the automatic translation of events, which allows developers to track triggered +events directly via console output. Using this feature requires: + +1. `FSFW_OBJ_EVENT_TRANSLATION` set to 1 in the configuration file. +2. Special auto-generated translation files which translate event IDs and object IDs into + human readable strings. These files can be generated using the + [modgen Python scripts](https://git.ksat-stuttgart.de/source/modgen.git). +3. The generated translation files for the object IDs should be named `translatesObjects.cpp` + and `translateObjects.h` and should be copied to the `fsfwconfig/objects` folder +4. The generated translation files for the event IDs should be named `translateEvents.cpp` and + `translateEvents.h` and should be copied to the `fsfwconfig/events` folder + +An example implementations of these translation file generators can be found as part +of the [SOURCE project here](https://git.ksat-stuttgart.de/source/sourceobsw/-/tree/development/generators) +or the [FSFW example](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example_public/src/branch/master/generators) + +## Configuring the Event Manager The number of allowed subscriptions can be modified with the following parameters: @@ -18,4 +36,5 @@ static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240; static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120; static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120; } -``` \ No newline at end of file +``` + diff --git a/doc/README-core.md b/doc/README-core.md index 6431b8311..e34890aef 100644 --- a/doc/README-core.md +++ b/doc/README-core.md @@ -19,8 +19,9 @@ A nullptr check of the returning Pointer must be done. This function is based on ```cpp template T* ObjectManagerIF::get( object_id_t id ) ``` -* A typical way to create all objects on startup is a handing a static produce function to the ObjectManager on creation. -By calling objectManager->initialize() the produce function will be called and all SystemObjects will be initialized afterwards. +* A typical way to create all objects on startup is a handing a static produce function to the + ObjectManager on creation. By calling objectManager->initialize() the produce function will be + called and all SystemObjects will be initialized afterwards. ### Event Manager @@ -36,14 +37,19 @@ By calling objectManager->initialize() the produce function will be called and a ### Stores -* The message based communication can only exchange a few bytes of information inside the message itself. Therefore, additional information can - be exchanged with Stores. With this, only the store address must be exchanged in the message. -* Internally, the FSFW uses an IPC Store to exchange data between processes. For incoming TCs a TC Store is used. For outgoing TM a TM store is used. +* The message based communication can only exchange a few bytes of information inside the message + itself. Therefore, additional information can be exchanged with Stores. With this, only the + store address must be exchanged in the message. +* Internally, the FSFW uses an IPC Store to exchange data between processes. For incoming TCs a TC + Store is used. For outgoing TM a TM store is used. * All of them should use the Thread Safe Class storagemanager/PoolManager ### Tasks There are two different types of tasks: - * The PeriodicTask just executes objects that are of type ExecutableObjectIF in the order of the insertion to the Tasks. - * FixedTimeslotTask executes a list of calls in the order of the given list. This is intended for DeviceHandlers, where polling should be in a defined order. An example can be found in defaultcfg/fsfwconfig/pollingSequence + * The PeriodicTask just executes objects that are of type ExecutableObjectIF in the order of the + insertion to the Tasks. + * FixedTimeslotTask executes a list of calls in the order of the given list. This is intended for + DeviceHandlers, where polling should be in a defined order. An example can be found in + `defaultcfg/fsfwconfig/pollingSequence` folder diff --git a/doc/README-highlevel.md b/doc/README-highlevel.md index fac89c536..262138a7c 100644 --- a/doc/README-highlevel.md +++ b/doc/README-highlevel.md @@ -1,99 +1,135 @@ -# High-level overview +High-level overview +====== -## Structure +# Structure The general structure is driven by the usage of interfaces provided by objects. -The FSFW uses C++11 as baseline. The intention behind this is that this C++ Standard should be widely available, even with older compilers. +The FSFW uses C++11 as baseline. The intention behind this is that this C++ Standard should be +widely available, even with older compilers. The FSFW uses dynamic allocation during the initialization but provides static containers during runtime. This simplifies the instantiation of objects and allows the usage of some standard containers. -Dynamic Allocation after initialization is discouraged and different solutions are provided in the FSFW to achieve that. -The fsfw uses run-time type information but exceptions are not allowed. +Dynamic Allocation after initialization is discouraged and different solutions are provided in the +FSFW to achieve that. The fsfw uses run-time type information but exceptions are not allowed. -### Failure Handling +# Failure Handling -Functions should return a defined ReturnValue_t to signal to the caller that something has gone wrong. -Returnvalues must be unique. For this the function HasReturnvaluesIF::makeReturnCode or the Macro MAKE_RETURN can be used. -The CLASS_ID is a unique id for that type of object. See returnvalues/FwClassIds. +Functions should return a defined `ReturnValue_t` to signal to the caller that something has +gone wrong. Returnvalues must be unique. For this the function `HasReturnvaluesIF::makeReturnCode` +or the macro `MAKE_RETURN` can be used. The `CLASS_ID` is a unique id for that type of object. +See `returnvalues/FwClassIds` folder. The user can add custom `CLASS_ID`s via the +`fsfwconfig` folder. -### OSAL +# OSAL The FSFW provides operation system abstraction layers for Linux, FreeRTOS and RTEMS. The OSAL provides periodic tasks, message queues, clocks and semaphores as well as mutexes. -The [OSAL README](doc/README-osal.md#top) provides more detailed information on provided components and how to use them. +The [OSAL README](doc/README-osal.md#top) provides more detailed information on provided components +and how to use them. -### Core Components +# Core Components The FSFW has following core components. More detailed informations can be found in the [core component section](doc/README-core.md#top): -1. Tasks: Abstraction for different (periodic) task types like periodic tasks or tasks with fixed timeslots -2. ObjectManager: This module stores all `SystemObjects` by mapping a provided unique object ID to the object handles. -3. Static Stores: Different stores are provided to store data of variable size (like telecommands or small telemetry) in a pool structure without - using dynamic memory allocation. These pools are allocated up front. +1. Tasks: Abstraction for different (periodic) task types like periodic tasks or tasks + with fixed timeslots +2. ObjectManager: This module stores all `SystemObjects` by mapping a provided unique object ID + to the object handles. +3. Static Stores: Different stores are provided to store data of variable size (like telecommands + or small telemetry) in a pool structure without using dynamic memory allocation. + These pools are allocated up front. 3. Clock: This module provided common time related functions 4. EventManager: This module allows routing of events generated by `SystemObjects` 5. HealthTable: A component which stores the health states of objects -### Static IDs in the framework +# Static IDs in the framework Some parts of the framework use a static routing address for communication. -An example setup of ids can be found in the example config in "defaultcft/fsfwconfig/objects/Factory::setStaticFrameworkObjectIds()". +An example setup of ids can be found in the example config in `defaultcft/fsfwconfig/objects` + inside the function `Factory::setStaticFrameworkObjectIds()`. -### Events +# Events -Events are tied to objects. EventIds can be generated by calling the Macro MAKE_EVENT. This works analog to the returnvalues. -Every object that needs own EventIds has to get a unique SUBSYSTEM_ID. -Every SystemObject can call triggerEvent from the parent class. -Therefore, event messages contain the specific EventId and the objectId of the object that has triggered. +Events are tied to objects. EventIds can be generated by calling the Macro MAKE_EVENT. +This works analog to the returnvalues. Every object that needs own EventIds has to get a +unique SUBSYSTEM_ID. Every SystemObject can call triggerEvent from the parent class. +Therefore, event messages contain the specific EventId and the objectId of the object that +has triggered. -### Internal Communication +# Internal Communication -Components communicate mostly over Message through Queues. -Those queues are created by calling the singleton QueueFactory::instance()->create(). +Components communicate mostly via Messages through Queues. +Those queues are created by calling the singleton `QueueFactory::instance()->create()` which +will create `MessageQueue` instances for the used OSAL. -### External Communication +# External Communication The external communication with the mission control system is mostly up to the user implementation. The FSFW provides PUS Services which can be used to but don't need to be used. The services can be seen as a conversion from a TC to a message based communication and back. -#### CCSDS Frames, CCSDS Space Packets and PUS +## TMTC Communication -If the communication is based on CCSDS Frames and Space Packets, several classes can be used to distributed the packets to the corresponding services. Those can be found in tcdistribution. -If Space Packets are used, a timestamper must be created. -An example can be found in the timemanager folder, this uses CCSDSTime::CDS_short. +The FSFW provides some components to facilitate TMTC handling via the PUS commands. +For example, a UDP or TCP PUS server socket can be opened on a specific port using the +files located in `osal/common`. The FSFW example uses this functionality to allow sending telecommands +and receiving telemetry using the [TMTC commander application](https://github.com/spacefisch/tmtccmd). +Simple commands like the PUS Service 17 ping service can be tested by simply running the +`tmtc_client_cli.py` or `tmtc_client_gui.py` utility in +the [example tmtc folder](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example_public/src/branch/master/tmtc) +while the `fsfw_example` application is running. -#### Device Handlers +More generally, any class responsible for handling incoming telecommands and sending telemetry +can implement the generic `TmTcBridge` class located in `tmtcservices`. Many applications +also use a dedicated polling task for reading telecommands which passes telecommands +to the `TmTcBridge` implementation. + +## CCSDS Frames, CCSDS Space Packets and PUS + +If the communication is based on CCSDS Frames and Space Packets, several classes can be used to +distributed the packets to the corresponding services. Those can be found in `tcdistribution`. +If Space Packets are used, a timestamper has to be provided by the user. +An example can be found in the `timemanager` folder, which uses `CCSDSTime::CDS_short`. + +# Device Handlers DeviceHandlers are another important component of the FSFW. -The idea is, to have a software counterpart of every physical device to provide a simple mode, health and commanding interface. -By separating the underlying Communication Interface with DeviceCommunicationIF, a device handler (DH) can be tested on different hardware. -The DH has mechanisms to monitor the communication with the physical device which allow for FDIR reaction. -Device Handlers can be created by overriding `DeviceHandlerBase`. -A standard FDIR component for the DH will be created automatically but can be overwritten by the user. -More information on DeviceHandlers can be found in the related [documentation section](doc/README-devicehandlers.md#top). +The idea is, to have a software counterpart of every physical device to provide a simple mode, +health and commanding interface. By separating the underlying Communication Interface with +`DeviceCommunicationIF`, a device handler (DH) can be tested on different hardware. +The DH has mechanisms to monitor the communication with the physical device which allow +for FDIR reaction. Device Handlers can be created by implementing `DeviceHandlerBase`. +A standard FDIR component for the DH will be created automatically but can +be overwritten by the user. More information on DeviceHandlers can be found in the +related [documentation section](doc/README-devicehandlers.md#top). -#### Modes, Health +# Modes and Health -The two interfaces HasModesIF and HasHealthIF provide access for commanding and monitoring of components. -On-board Mode Management is implement in hierarchy system. +The two interfaces `HasModesIF` and `HasHealthIF` provide access for commanding and monitoring +of components. On-board Mode Management is implement in hierarchy system. DeviceHandlers and Controllers are the lowest part of the hierarchy. -The next layer are Assemblies. Those assemblies act as a component which handle redundancies of handlers. -Assemblies share a common core with the next level which are the Subsystems. +The next layer are Assemblies. Those assemblies act as a component which handle +redundancies of handlers. Assemblies share a common core with the next level which +are the Subsystems. -Those Assemblies are intended to act as auto-generated components from a database which describes the subsystem modes. -The definitions contain transition and target tables which contain the DH, Assembly and Controller Modes to be commanded. -Transition tables contain as many steps as needed to reach the mode from any other mode, e.g. a switch into any higher AOCS mode might first turn on the sensors, than the actuators and the controller as last component. +Those Assemblies are intended to act as auto-generated components from a database which describes +the subsystem modes. The definitions contain transition and target tables which contain the DH, +Assembly and Controller Modes to be commanded. +Transition tables contain as many steps as needed to reach the mode from any other mode, e.g. a +switch into any higher AOCS mode might first turn on the sensors, than the actuators and the +controller as last component. The target table is used to describe the state that is checked continuously by the subsystem. All of this allows System Modes to be generated as Subsystem object as well from the same database. This System contains list of subsystem modes in the transition and target tables. -Therefore, it allows a modular system to create system modes and easy commanding of those, because only the highest components must be commanded. +Therefore, it allows a modular system to create system modes and easy commanding of those, because +only the highest components must be commanded. The health state represents if the component is able to perform its tasks. This can be used to signal the system to avoid using this component instead of a redundant one. The on-board FDIR uses the health state for isolation and recovery. -## Unit Tests +# Unit Tests -Unit Tests are provided in the unittest folder. Those use the catch2 framework but do not include catch2 itself. More information on how to run these tests can be found in the separate +Unit Tests are provided in the unittest folder. Those use the catch2 framework but do not include +catch2 itself. More information on how to run these tests can be found in the separate [`fsfw_tests` reposoitory](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_tests) diff --git a/events/EventManager.cpp b/events/EventManager.cpp index 5b2b31b54..2337ba83f 100644 --- a/events/EventManager.cpp +++ b/events/EventManager.cpp @@ -1,8 +1,6 @@ #include "EventManager.h" #include "EventMessage.h" -#include -#include "../serviceinterface/ServiceInterfaceStream.h" #include "../ipc/QueueFactory.h" #include "../ipc/MutexFactory.h" @@ -115,53 +113,6 @@ ReturnValue_t EventManager::unsubscribeFromEventRange(MessageQueueId_t listener, return result; } -#if FSFW_OBJ_EVENT_TRANSLATION == 1 - -void EventManager::printEvent(EventMessage* message) { - const char *string = 0; - switch (message->getSeverity()) { - 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; - } else { - sif::info << "0x" << std::hex << message->getReporter() << std::dec; - } - sif::info << " reported " << translateEvents(message->getEvent()) << " (" - << std::dec << message->getEventId() << std::hex << ") P1: 0x" - << message->getParameter1() << " P2: 0x" - << message->getParameter2() << std::dec << std::endl; -#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; - } - else { - sif::debug << "0x" << std::hex << message->getReporter() << std::dec; - } - 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(timeoutType, timeoutMs); } @@ -175,3 +126,85 @@ void EventManager::setMutexTimeout(MutexIF::TimeoutType timeoutType, this->timeoutType = timeoutType; this->timeoutMs = timeoutMs; } + +#if FSFW_OBJ_EVENT_TRANSLATION == 1 + +void EventManager::printEvent(EventMessage* message) { + switch (message->getSeverity()) { + case severity::INFO: { +#if FSFW_DEBUG_INFO == 1 + printUtility(sif::OutputTypes::OUT_INFO, message); +#endif /* DEBUG_INFO_EVENT == 1 */ + break; + } + default: + printUtility(sif::OutputTypes::OUT_DEBUG, message); + break; + } +} + +void EventManager::printUtility(sif::OutputTypes printType, EventMessage *message) { + const char *string = 0; + if(printType == sif::OutputTypes::OUT_INFO) { + string = translateObject(message->getReporter()); +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::info << "EventManager: "; + if (string != 0) { + sif::info << string; + } + else { + sif::info << "0x" << std::hex << std::setw(8) << std::setfill('0') << + message->getReporter() << std::setfill(' ') << std::dec; + } + sif::info << " report event with ID " << message->getEventId() << std::endl; + sif::info << std::hex << "P1 Hex: 0x" << message->getParameter1() << + " | P1 Dec: " << std::dec << message->getParameter1() << std::hex << + " | P2 Hex: 0x" << message->getParameter2() << " | P2 Dec: " << std::dec << + message->getParameter2() << std::endl; +#else + if (string != 0) { + sif::printInfo("Event Manager: %s reported event with ID %d\n", string, + message->getEventId()); + } + else { + sif::printInfo("Event Manager: Reporter ID 0x%08x reported event with ID %d\n", + message->getReporter(), message->getEventId()); + } + sif::printInfo("P1 Hex: 0x%x | P1 Dec: %d | P2 Hex: 0x%x | P2 Dec: %d\n", + message->getParameter1(), message->getParameter1(), + message->getParameter2(), message->getParameter2()); +#endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */ + } + else { + string = translateObject(message->getReporter()); +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::debug << "EventManager: "; + if (string != 0) { + sif::debug << string; + } + else { + sif::debug << "0x" << std::hex << std::setw(8) << std::setfill('0') << + message->getReporter() << std::setfill(' ') << std::dec; + } + sif::debug << " report event with ID " << message->getEventId() << std::endl; + sif::debug << std::hex << "P1 Hex: 0x" << message->getParameter1() << + " | P1 Dec: " << std::dec << message->getParameter1() << std::hex << + " | P2 Hex: 0x" << message->getParameter2() << " | P2 Dec: " << std::dec << + message->getParameter2() << std::endl; +#else + if (string != 0) { + sif::printDebug("Event Manager: %s reported event with ID %d\n", string, + message->getEventId()); + } + else { + sif::printDebug("Event Manager: Reporter ID 0x%08x reported event with ID %d\n", + message->getReporter(), message->getEventId()); + } + sif::printDebug("P1 Hex: 0x%x | P1 Dec: %d | P2 Hex: 0x%x | P2 Dec: %d\n", + message->getParameter1(), message->getParameter1(), + message->getParameter2(), message->getParameter2()); +#endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */ + } +} + +#endif /* FSFW_OBJ_EVENT_TRANSLATION == 1 */ diff --git a/events/EventManager.h b/events/EventManager.h index abce9b8ba..9189d9e7d 100644 --- a/events/EventManager.h +++ b/events/EventManager.h @@ -6,6 +6,7 @@ #include +#include "../serviceinterface/ServiceInterface.h" #include "../objectmanager/SystemObject.h" #include "../storagemanager/LocalPool.h" #include "../tasks/ExecutableObjectIF.h" @@ -67,6 +68,7 @@ protected: #if FSFW_OBJ_EVENT_TRANSLATION == 1 void printEvent(EventMessage *message); + void printUtility(sif::OutputTypes printType, EventMessage* message); #endif void lockMutex(); diff --git a/events/EventMessage.cpp b/events/EventMessage.cpp index bbc41e100..548b4f0f3 100644 --- a/events/EventMessage.cpp +++ b/events/EventMessage.cpp @@ -109,6 +109,6 @@ bool EventMessage::isClearedEventMessage() { return getEvent() == INVALID_EVENT; } -size_t EventMessage::getMinimumMessageSize() { +size_t EventMessage::getMinimumMessageSize() const { return EVENT_MESSAGE_SIZE; } diff --git a/events/EventMessage.h b/events/EventMessage.h index 4d003bd7b..f2f5ffb50 100644 --- a/events/EventMessage.h +++ b/events/EventMessage.h @@ -45,7 +45,7 @@ public: protected: static const Event INVALID_EVENT = 0; - virtual size_t getMinimumMessageSize(); + virtual size_t getMinimumMessageSize() const override; }; diff --git a/events/fwSubsystemIdRanges.h b/events/fwSubsystemIdRanges.h index 1b0b238e2..88dee9b4e 100644 --- a/events/fwSubsystemIdRanges.h +++ b/events/fwSubsystemIdRanges.h @@ -1,30 +1,37 @@ #ifndef FSFW_EVENTS_FWSUBSYSTEMIDRANGES_H_ #define FSFW_EVENTS_FWSUBSYSTEMIDRANGES_H_ +#include + namespace SUBSYSTEM_ID { -enum { - MEMORY = 22, - OBSW = 26, - CDH = 28, - TCS_1 = 59, - PCDU_1 = 42, - PCDU_2 = 43, - HEATER = 50, - T_SENSORS = 52, - FDIR = 70, - FDIR_1 = 71, - FDIR_2 = 72, - HK = 73, - SYSTEM_MANAGER = 74, - SYSTEM_MANAGER_1 = 75, - SYSTEM_1 = 79, - PUS_SERVICE_1 = 80, - PUS_SERVICE_9 = 89, - PUS_SERVICE_17 = 97, - FW_SUBSYSTEM_ID_RANGE +enum: uint8_t { + MEMORY = 22, + OBSW = 26, + CDH = 28, + TCS_1 = 59, + PCDU_1 = 42, + PCDU_2 = 43, + HEATER = 50, + T_SENSORS = 52, + FDIR = 70, + FDIR_1 = 71, + FDIR_2 = 72, + HK = 73, + SYSTEM_MANAGER = 74, + SYSTEM_MANAGER_1 = 75, + SYSTEM_1 = 79, + PUS_SERVICE_1 = 80, + PUS_SERVICE_2 = 82, + PUS_SERVICE_3 = 83, + PUS_SERVICE_5 = 85, + PUS_SERVICE_6 = 86, + PUS_SERVICE_8 = 88, + PUS_SERVICE_9 = 89, + PUS_SERVICE_17 = 97, + PUS_SERVICE_23 = 103, + + FW_SUBSYSTEM_ID_RANGE }; } - - #endif /* FSFW_EVENTS_FWSUBSYSTEMIDRANGES_H_ */ diff --git a/globalfunctions/arrayprinter.cpp b/globalfunctions/arrayprinter.cpp index 1404035ff..3c729c6bb 100644 --- a/globalfunctions/arrayprinter.cpp +++ b/globalfunctions/arrayprinter.cpp @@ -60,7 +60,7 @@ void arrayprinter::printHex(const uint8_t *data, size_t size, #else // General format: 0x01, 0x02, 0x03 so it is number of chars times 6 // plus line break plus small safety margin. - char printBuffer[(size + 1) * 7 + 1]; + char printBuffer[(size + 1) * 7 + 1] = {}; size_t currentPos = 0; for(size_t i = 0; i < size; i++) { // To avoid buffer overflows. @@ -76,7 +76,9 @@ void arrayprinter::printHex(const uint8_t *data, size_t size, } } } +#if FSFW_DISABLE_PRINTOUT == 0 printf("[%s]\n", printBuffer); +#endif /* FSFW_DISABLE_PRINTOUT == 0 */ #endif } @@ -101,7 +103,7 @@ void arrayprinter::printDec(const uint8_t *data, size_t size, #else // General format: 32, 243, -12 so it is number of chars times 5 // plus line break plus small safety margin. - char printBuffer[(size + 1) * 5 + 1]; + char printBuffer[(size + 1) * 5 + 1] = {}; size_t currentPos = 0; for(size_t i = 0; i < size; i++) { // To avoid buffer overflows. @@ -117,7 +119,9 @@ void arrayprinter::printDec(const uint8_t *data, size_t size, } } } +#if FSFW_DISABLE_PRINTOUT == 0 printf("[%s]\n", printBuffer); +#endif /* FSFW_DISABLE_PRINTOUT == 0 */ #endif } diff --git a/health/HealthTable.cpp b/health/HealthTable.cpp index 2b8b67127..3fed1deb1 100644 --- a/health/HealthTable.cpp +++ b/health/HealthTable.cpp @@ -1,5 +1,5 @@ #include "HealthTable.h" -#include "../ipc/MutexHelper.h" +#include "../ipc/MutexGuard.h" #include "../ipc/MutexFactory.h" #include "../serialize/SerializeAdapter.h" @@ -31,7 +31,7 @@ ReturnValue_t HealthTable::registerObject(object_id_t object, void HealthTable::setHealth(object_id_t object, HasHealthIF::HealthState newState) { - MutexHelper(mutex, timeoutType, mutexTimeoutMs); + MutexGuard(mutex, timeoutType, mutexTimeoutMs); HealthMap::iterator iter = healthMap.find(object); if (iter != healthMap.end()) { iter->second = newState; @@ -40,7 +40,7 @@ void HealthTable::setHealth(object_id_t object, HasHealthIF::HealthState HealthTable::getHealth(object_id_t object) { HasHealthIF::HealthState state = HasHealthIF::HEALTHY; - MutexHelper(mutex, timeoutType, mutexTimeoutMs); + MutexGuard(mutex, timeoutType, mutexTimeoutMs); HealthMap::iterator iter = healthMap.find(object); if (iter != healthMap.end()) { state = iter->second; @@ -49,7 +49,7 @@ HasHealthIF::HealthState HealthTable::getHealth(object_id_t object) { } bool HealthTable::hasHealth(object_id_t object) { - MutexHelper(mutex, timeoutType, mutexTimeoutMs); + MutexGuard(mutex, timeoutType, mutexTimeoutMs); HealthMap::iterator iter = healthMap.find(object); if (iter != healthMap.end()) { return true; @@ -58,35 +58,51 @@ bool HealthTable::hasHealth(object_id_t object) { } size_t HealthTable::getPrintSize() { - MutexHelper(mutex, timeoutType, mutexTimeoutMs); + MutexGuard(mutex, timeoutType, mutexTimeoutMs); uint32_t size = healthMap.size() * sizeof(object_id_t) + sizeof(HasHealthIF::HealthState) + sizeof(uint16_t); return size; } void HealthTable::printAll(uint8_t* pointer, size_t maxSize) { - MutexHelper(mutex, timeoutType, mutexTimeoutMs); + MutexGuard(mutex, timeoutType, mutexTimeoutMs); size_t size = 0; uint16_t count = healthMap.size(); - SerializeAdapter::serialize(&count, + ReturnValue_t result = SerializeAdapter::serialize(&count, &pointer, &size, maxSize, SerializeIF::Endianness::BIG); + if(result != HasReturnvaluesIF::RETURN_OK) { +#if FSFW_VERBOSE_LEVEL >= 1 +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::warning << "HealthTable::printAll: Serialization of health table failed" << std::endl; +#else + sif::printWarning("HealthTable::printAll: Serialization of health table failed\n"); +#endif +#endif /* FSFW_VERBOSE_LEVEL >= 1 */ + return; + } for (const auto& health: healthMap) { - SerializeAdapter::serialize(&health.first, + result = SerializeAdapter::serialize(&health.first, &pointer, &size, maxSize, SerializeIF::Endianness::BIG); + if(result != HasReturnvaluesIF::RETURN_OK) { + return; + } uint8_t healthValue = health.second; - SerializeAdapter::serialize(&healthValue, &pointer, &size, + result = SerializeAdapter::serialize(&healthValue, &pointer, &size, maxSize, SerializeIF::Endianness::BIG); + if(result != HasReturnvaluesIF::RETURN_OK) { + return; + } } } ReturnValue_t HealthTable::iterate(HealthEntry *value, bool reset) { ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; - MutexHelper(mutex, timeoutType, mutexTimeoutMs); + MutexGuard(mutex, timeoutType, mutexTimeoutMs); if (reset) { mapIterator = healthMap.begin(); } if (mapIterator == healthMap.end()) { - result = HasReturnvaluesIF::RETURN_FAILED; + return HasReturnvaluesIF::RETURN_FAILED; } *value = *mapIterator; mapIterator++; diff --git a/housekeeping/HousekeepingMessage.cpp b/housekeeping/HousekeepingMessage.cpp index d9803ef65..90ca73c8c 100644 --- a/housekeeping/HousekeepingMessage.cpp +++ b/housekeeping/HousekeepingMessage.cpp @@ -84,15 +84,21 @@ void HousekeepingMessage::setCollectionIntervalModificationCommand( else { command->setCommand(MODIFY_PARAMETER_REPORT_COLLECTION_INTERVAL); } - command->setParameter3(collectionInterval); + + /* Raw storage of the float in the message. Do not use setParameter3, does + implicit conversion to integer type! */ + std::memcpy(command->getData() + 2 * sizeof(uint32_t), &collectionInterval, + sizeof(collectionInterval)); setSid(command, sid); } sid_t HousekeepingMessage::getCollectionIntervalModificationCommand( const CommandMessage* command, float* newCollectionInterval) { + if(newCollectionInterval != nullptr) { - *newCollectionInterval = command->getParameter3(); + std::memcpy(newCollectionInterval, command->getData() + 2 * sizeof(uint32_t), + sizeof(*newCollectionInterval)); } return getSid(command); @@ -151,7 +157,8 @@ void HousekeepingMessage::clear(CommandMessage* message) { case(DIAGNOSTICS_REPORT): case(HK_DEFINITIONS_REPORT): case(DIAGNOSTICS_DEFINITION_REPORT): - case(UPDATE_SNAPSHOT_SET): { + case(UPDATE_SNAPSHOT_SET): + case(UPDATE_SNAPSHOT_VARIABLE): { store_address_t storeId; getHkDataReply(message, &storeId); StorageManagerIF *ipcStore = objectManager->get( diff --git a/housekeeping/HousekeepingSnapshot.h b/housekeeping/HousekeepingSnapshot.h index 50afd4af5..45b40d379 100644 --- a/housekeeping/HousekeepingSnapshot.h +++ b/housekeeping/HousekeepingSnapshot.h @@ -11,7 +11,8 @@ * @brief This helper class will be used to serialize and deserialize update housekeeping packets * into the store. */ -class HousekeepingSnapshot: public SerializeIF { +class HousekeepingSnapshot: + public SerializeIF { public: /** @@ -36,6 +37,17 @@ public: timeStamp(timeStamp), timeStampSize(timeStampSize), updateData(dataSetPtr) {}; + /** + * Update packet constructor for pool variables. + * @param timeStamp + * @param timeStampSize + * @param dataSetPtr + */ + HousekeepingSnapshot(CCSDSTime::CDS_short* cdsShort, LocalPoolObjectBase* dataSetPtr): + timeStamp(reinterpret_cast(cdsShort)), + timeStampSize(sizeof(CCSDSTime::CDS_short)), updateData(dataSetPtr) {}; + + /** * Update packet constructor for pool variables. * @param timeStamp @@ -47,8 +59,8 @@ public: timeStamp(timeStamp), timeStampSize(timeStampSize), updateData(dataSetPtr) {}; - virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size, - size_t maxSize, Endianness streamEndianness) const { + virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize, + Endianness streamEndianness) const { if(timeStamp != nullptr) { /* Endianness will always be MACHINE, so we can simply use memcpy here. */ diff --git a/housekeeping/PeriodicHousekeepingHelper.cpp b/housekeeping/PeriodicHousekeepingHelper.cpp index 365f00048..892eb354a 100644 --- a/housekeeping/PeriodicHousekeepingHelper.cpp +++ b/housekeeping/PeriodicHousekeepingHelper.cpp @@ -4,46 +4,87 @@ #include PeriodicHousekeepingHelper::PeriodicHousekeepingHelper( - LocalPoolDataSetBase* owner): owner(owner) {} - + LocalPoolDataSetBase* owner): owner(owner) {} void PeriodicHousekeepingHelper::initialize(float collectionInterval, - dur_millis_t minimumPeriodicInterval, bool isDiagnostics, - uint8_t nonDiagIntervalFactor) { - this->minimumPeriodicInterval = minimumPeriodicInterval; - if(not isDiagnostics) { - this->minimumPeriodicInterval = this->minimumPeriodicInterval * - nonDiagIntervalFactor; - } - collectionIntervalTicks = intervalSecondsToInterval(collectionInterval); + dur_millis_t minimumPeriodicInterval, uint8_t nonDiagIntervalFactor) { + this->minimumPeriodicInterval = minimumPeriodicInterval; + this->nonDiagIntervalFactor = nonDiagIntervalFactor; + collectionIntervalTicks = intervalSecondsToIntervalTicks(collectionInterval); + /* This will cause a checkOpNecessary call to be true immediately. I think it's okay + if a HK packet is generated immediately instead of waiting one generation cycle. */ + internalTickCounter = collectionIntervalTicks; } -float PeriodicHousekeepingHelper::getCollectionIntervalInSeconds() { - return intervalToIntervalSeconds(collectionIntervalTicks); +float PeriodicHousekeepingHelper::getCollectionIntervalInSeconds() const { + return intervalTicksToSeconds(collectionIntervalTicks); } bool PeriodicHousekeepingHelper::checkOpNecessary() { - if(internalTickCounter >= collectionIntervalTicks) { - internalTickCounter = 1; - return true; - } - internalTickCounter++; - return false; + if(internalTickCounter >= collectionIntervalTicks) { + internalTickCounter = 1; + return true; + } + internalTickCounter++; + return false; } -uint32_t PeriodicHousekeepingHelper::intervalSecondsToInterval( - float collectionIntervalSeconds) { - return std::ceil(collectionIntervalSeconds * 1000 - / minimumPeriodicInterval); +uint32_t PeriodicHousekeepingHelper::intervalSecondsToIntervalTicks( + float collectionIntervalSeconds) { + if(owner == nullptr) { + return 0; + } + bool isDiagnostics = owner->isDiagnostics(); + + /* Avoid division by zero */ + if(minimumPeriodicInterval == 0) { + if(isDiagnostics) { + /* Perform operation each cycle */ + return 1; + } + else { + return nonDiagIntervalFactor; + } + } + else { + dur_millis_t intervalInMs = collectionIntervalSeconds * 1000; + uint32_t divisor = minimumPeriodicInterval; + if(not isDiagnostics) { + /* We need to multiply the divisor because non-diagnostics only + allow a multiple of the minimum periodic interval */ + divisor *= nonDiagIntervalFactor; + } + uint32_t ticks = std::ceil(static_cast(intervalInMs) / divisor); + if(not isDiagnostics) { + /* Now we need to multiply the calculated ticks with the factor as as well + because the minimum tick count to generate a non-diagnostic is the factor itself. + + Example calculation for non-diagnostic with + 0.4 second interval and 0.2 second task interval. + Resultant tick count of 5 is equal to operation each second. + + Examle calculation for non-diagnostic with 2.0 second interval and 0.2 second + task interval. + Resultant tick count of 10 is equal to operatin every 2 seconds. + + Example calculation for diagnostic with 0.4 second interval and 0.3 + second task interval. Resulting tick count of 2 is equal to operation + every 0.6 seconds. */ + ticks *= nonDiagIntervalFactor; + } + return ticks; + } } -float PeriodicHousekeepingHelper::intervalToIntervalSeconds( - uint32_t collectionInterval) { - return static_cast(collectionInterval * - minimumPeriodicInterval); +float PeriodicHousekeepingHelper::intervalTicksToSeconds( + uint32_t collectionInterval) const { + /* Number of ticks times the minimum interval is in milliseconds, so we divide by 1000 to get + the value in seconds */ + return static_cast(collectionInterval * minimumPeriodicInterval / 1000.0); } void PeriodicHousekeepingHelper::changeCollectionInterval( - float newIntervalSeconds) { - collectionIntervalTicks = intervalSecondsToInterval(newIntervalSeconds); + float newIntervalSeconds) { + collectionIntervalTicks = intervalSecondsToIntervalTicks(newIntervalSeconds); } + diff --git a/housekeeping/PeriodicHousekeepingHelper.h b/housekeeping/PeriodicHousekeepingHelper.h index d96eae1d4..3256fbffa 100644 --- a/housekeeping/PeriodicHousekeepingHelper.h +++ b/housekeeping/PeriodicHousekeepingHelper.h @@ -10,18 +10,19 @@ class PeriodicHousekeepingHelper { public: PeriodicHousekeepingHelper(LocalPoolDataSetBase* owner); - void initialize(float collectionInterval, - dur_millis_t minimumPeriodicInterval, bool isDiagnostics, - uint8_t nonDiagIntervalFactor); + void initialize(float collectionInterval, dur_millis_t minimumPeriodicInterval, + uint8_t nonDiagIntervalFactor); void changeCollectionInterval(float newInterval); - float getCollectionIntervalInSeconds(); + float getCollectionIntervalInSeconds() const; bool checkOpNecessary(); + private: LocalPoolDataSetBase* owner = nullptr; + uint8_t nonDiagIntervalFactor = 0; - uint32_t intervalSecondsToInterval(float collectionIntervalSeconds); - float intervalToIntervalSeconds(uint32_t collectionInterval); + uint32_t intervalSecondsToIntervalTicks(float collectionIntervalSeconds); + float intervalTicksToSeconds(uint32_t collectionInterval) const; dur_millis_t minimumPeriodicInterval = 0; uint32_t internalTickCounter = 1; diff --git a/internalError/InternalErrorReporter.cpp b/internalError/InternalErrorReporter.cpp index 7e5a316ca..786184484 100644 --- a/internalError/InternalErrorReporter.cpp +++ b/internalError/InternalErrorReporter.cpp @@ -3,19 +3,20 @@ #include "../ipc/QueueFactory.h" #include "../ipc/MutexFactory.h" #include "../serviceinterface/ServiceInterface.h" +#include "../datapool/PoolReadGuard.h" InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth): SystemObject(setObjectId), - commandQueue(QueueFactory::instance()-> - createMessageQueue(messageQueueDepth)), - poolManager(this, commandQueue), - internalErrorSid(setObjectId, InternalErrorDataset::ERROR_SET_ID), - internalErrorDataset(this) { - mutex = MutexFactory::instance()->createMutex(); + commandQueue(QueueFactory::instance()-> + createMessageQueue(messageQueueDepth)), + poolManager(this, commandQueue), + internalErrorSid(setObjectId, InternalErrorDataset::ERROR_SET_ID), + internalErrorDataset(this) { + mutex = MutexFactory::instance()->createMutex(); } InternalErrorReporter::~InternalErrorReporter() { - MutexFactory::instance()->deleteMutex(mutex); + MutexFactory::instance()->deleteMutex(mutex); } void InternalErrorReporter::setDiagnosticPrintout(bool enable) { @@ -23,126 +24,128 @@ void InternalErrorReporter::setDiagnosticPrintout(bool enable) { } ReturnValue_t InternalErrorReporter::performOperation(uint8_t opCode) { - internalErrorDataset.read(timeoutType, timeoutMs); + CommandMessage message; + ReturnValue_t result = commandQueue->receiveMessage(&message); + if(result != MessageQueueIF::EMPTY) { + poolManager.handleHousekeepingMessage(&message); + } - uint32_t newQueueHits = getAndResetQueueHits(); - uint32_t newTmHits = getAndResetTmHits(); - uint32_t newStoreHits = getAndResetStoreHits(); + uint32_t newQueueHits = getAndResetQueueHits(); + uint32_t newTmHits = getAndResetTmHits(); + uint32_t newStoreHits = getAndResetStoreHits(); -#if FSFW_VERBOSE_LEVEL == 1 - if(diagnosticPrintout) { - if((newQueueHits > 0) or (newTmHits > 0) or (newStoreHits > 0)) { +#if FSFW_VERBOSE_LEVEL >= 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; + 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; #else - sif::printDebug("InternalErrorReporter::performOperation: Errors occured!\n"); - sif::printDebug("Queue errors: %lu\n", static_cast(newQueueHits)); - sif::printDebug("TM errors: %lu\n", static_cast(newTmHits)); - sif::printDebug("Store errors: %lu\n", static_cast(newStoreHits)); + sif::printDebug("InternalErrorReporter::performOperation: Errors occured!\n"); + sif::printDebug("Queue errors: %lu\n", static_cast(newQueueHits)); + sif::printDebug("TM errors: %lu\n", static_cast(newTmHits)); + sif::printDebug("Store errors: %lu\n", static_cast(newStoreHits)); #endif - } - } + } + } #endif - internalErrorDataset.queueHits.value += newQueueHits; - internalErrorDataset.storeHits.value += newStoreHits; - internalErrorDataset.tmHits.value += newTmHits; - internalErrorDataset.setValidity(true, true); - internalErrorDataset.commit(timeoutType, timeoutMs); + { + PoolReadGuard readGuard(&internalErrorDataset); + if(readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) { + internalErrorDataset.queueHits.value += newQueueHits; + internalErrorDataset.storeHits.value += newStoreHits; + internalErrorDataset.tmHits.value += newTmHits; + internalErrorDataset.setValidity(true, true); + } + } - poolManager.performHkOperation(); - - CommandMessage message; - ReturnValue_t result = commandQueue->receiveMessage(&message); - if(result != MessageQueueIF::EMPTY) { - poolManager.handleHousekeepingMessage(&message); - } - return HasReturnvaluesIF::RETURN_OK; + poolManager.performHkOperation(); + return HasReturnvaluesIF::RETURN_OK; } void InternalErrorReporter::queueMessageNotSent() { - incrementQueueHits(); + incrementQueueHits(); } void InternalErrorReporter::lostTm() { - incrementTmHits(); + incrementTmHits(); } uint32_t InternalErrorReporter::getAndResetQueueHits() { - uint32_t value; - mutex->lockMutex(timeoutType, timeoutMs); - value = queueHits; - queueHits = 0; - mutex->unlockMutex(); - return value; + uint32_t value; + mutex->lockMutex(timeoutType, timeoutMs); + value = queueHits; + queueHits = 0; + mutex->unlockMutex(); + return value; } uint32_t InternalErrorReporter::getQueueHits() { - uint32_t value; - mutex->lockMutex(timeoutType, timeoutMs); - value = queueHits; - mutex->unlockMutex(); - return value; + uint32_t value; + mutex->lockMutex(timeoutType, timeoutMs); + value = queueHits; + mutex->unlockMutex(); + return value; } void InternalErrorReporter::incrementQueueHits() { - mutex->lockMutex(timeoutType, timeoutMs); - queueHits++; - mutex->unlockMutex(); + mutex->lockMutex(timeoutType, timeoutMs); + queueHits++; + mutex->unlockMutex(); } uint32_t InternalErrorReporter::getAndResetTmHits() { - uint32_t value; - mutex->lockMutex(timeoutType, timeoutMs); - value = tmHits; - tmHits = 0; - mutex->unlockMutex(); - return value; + uint32_t value; + mutex->lockMutex(timeoutType, timeoutMs); + value = tmHits; + tmHits = 0; + mutex->unlockMutex(); + return value; } uint32_t InternalErrorReporter::getTmHits() { - uint32_t value; - mutex->lockMutex(timeoutType, timeoutMs); - value = tmHits; - mutex->unlockMutex(); - return value; + uint32_t value; + mutex->lockMutex(timeoutType, timeoutMs); + value = tmHits; + mutex->unlockMutex(); + return value; } void InternalErrorReporter::incrementTmHits() { - mutex->lockMutex(timeoutType, timeoutMs); - tmHits++; - mutex->unlockMutex(); + mutex->lockMutex(timeoutType, timeoutMs); + tmHits++; + mutex->unlockMutex(); } void InternalErrorReporter::storeFull() { - incrementStoreHits(); + incrementStoreHits(); } uint32_t InternalErrorReporter::getAndResetStoreHits() { - uint32_t value; - mutex->lockMutex(timeoutType, timeoutMs); - value = storeHits; - storeHits = 0; - mutex->unlockMutex(); - return value; + uint32_t value; + mutex->lockMutex(timeoutType, timeoutMs); + value = storeHits; + storeHits = 0; + mutex->unlockMutex(); + return value; } uint32_t InternalErrorReporter::getStoreHits() { - uint32_t value; - mutex->lockMutex(timeoutType, timeoutMs); - value = storeHits; - mutex->unlockMutex(); - return value; + uint32_t value; + mutex->lockMutex(timeoutType, timeoutMs); + value = storeHits; + mutex->unlockMutex(); + return value; } void InternalErrorReporter::incrementStoreHits() { - mutex->lockMutex(timeoutType, timeoutMs); - storeHits++; - mutex->unlockMutex(); + mutex->lockMutex(timeoutType, timeoutMs); + storeHits++; + mutex->unlockMutex(); } object_id_t InternalErrorReporter::getObjectId() const { @@ -155,14 +158,11 @@ MessageQueueId_t InternalErrorReporter::getCommandQueue() const { ReturnValue_t InternalErrorReporter::initializeLocalDataPool( localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) { - localDataPoolMap.emplace(errorPoolIds::TM_HITS, - new PoolEntry()); - localDataPoolMap.emplace(errorPoolIds::QUEUE_HITS, - new PoolEntry()); - localDataPoolMap.emplace(errorPoolIds::STORE_HITS, - new PoolEntry()); - poolManager.subscribeForPeriodicPacket(internalErrorSid, false, - getPeriodicOperationFrequency(), true); + localDataPoolMap.emplace(errorPoolIds::TM_HITS, new PoolEntry()); + localDataPoolMap.emplace(errorPoolIds::QUEUE_HITS, new PoolEntry()); + localDataPoolMap.emplace(errorPoolIds::STORE_HITS, new PoolEntry()); + poolManager.subscribeForPeriodicPacket(internalErrorSid, false, getPeriodicOperationFrequency(), + true); internalErrorDataset.setValidity(true, true); return HasReturnvaluesIF::RETURN_OK; } @@ -192,9 +192,9 @@ ReturnValue_t InternalErrorReporter::initializeAfterTaskCreation() { } void InternalErrorReporter::setMutexTimeout(MutexIF::TimeoutType timeoutType, - uint32_t timeoutMs) { - this->timeoutType = timeoutType; - this->timeoutMs = timeoutMs; + uint32_t timeoutMs) { + this->timeoutType = timeoutType; + this->timeoutMs = timeoutMs; } LocalDataPoolManager* InternalErrorReporter::getHkManagerHandle() { diff --git a/internalError/InternalErrorReporter.h b/internalError/InternalErrorReporter.h index a237418ed..580cb8f6c 100644 --- a/internalError/InternalErrorReporter.h +++ b/internalError/InternalErrorReporter.h @@ -17,77 +17,78 @@ * All functions were kept virtual so this class can be extended easily * to store custom internal errors (e.g. communication interface errors). */ -class InternalErrorReporter: public SystemObject, - public ExecutableObjectIF, - public InternalErrorReporterIF, - public HasLocalDataPoolIF { +class InternalErrorReporter: + public SystemObject, + public ExecutableObjectIF, + public InternalErrorReporterIF, + public HasLocalDataPoolIF { public: - InternalErrorReporter(object_id_t setObjectId, - uint32_t messageQueueDepth = 5); + InternalErrorReporter(object_id_t setObjectId, + uint32_t messageQueueDepth = 5); - /** - * Enable diagnostic printout. Please note that this feature will - * only work if DEBUG has been supplied to the build defines. - * @param enable - */ - void setDiagnosticPrintout(bool enable); + /** + * Enable diagnostic printout. Please note that this feature will + * only work if DEBUG has been supplied to the build defines. + * @param enable + */ + void setDiagnosticPrintout(bool enable); - void setMutexTimeout(MutexIF::TimeoutType timeoutType, - uint32_t timeoutMs); + void setMutexTimeout(MutexIF::TimeoutType timeoutType, + uint32_t timeoutMs); - virtual ~InternalErrorReporter(); + virtual ~InternalErrorReporter(); virtual object_id_t getObjectId() const override; virtual MessageQueueId_t getCommandQueue() const override; virtual ReturnValue_t initializeLocalDataPool( - localpool::DataPool& localDataPoolMap, + localpool::DataPool& localDataPoolMap, LocalDataPoolManager& poolManager) override; virtual dur_millis_t getPeriodicOperationFrequency() const override; virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override; - LocalDataPoolManager* getHkManagerHandle() override; + LocalDataPoolManager* getHkManagerHandle() override; virtual ReturnValue_t initialize() override; virtual ReturnValue_t initializeAfterTaskCreation() override; - virtual ReturnValue_t performOperation(uint8_t opCode) override; + virtual ReturnValue_t performOperation(uint8_t opCode) override; - virtual void queueMessageNotSent(); + virtual void queueMessageNotSent(); - virtual void lostTm(); + virtual void lostTm(); - virtual void storeFull(); + virtual void storeFull(); - virtual void setTaskIF(PeriodicTaskIF* task) override; + virtual void setTaskIF(PeriodicTaskIF* task) override; protected: - MessageQueueIF* commandQueue; - LocalDataPoolManager poolManager; + MessageQueueIF* commandQueue; + LocalDataPoolManager poolManager; - PeriodicTaskIF* executingTask = nullptr; + PeriodicTaskIF* executingTask = nullptr; - MutexIF* mutex = nullptr; - MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING; - uint32_t timeoutMs = 20; + MutexIF* mutex = nullptr; + MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING; + uint32_t timeoutMs = 20; - sid_t internalErrorSid; - InternalErrorDataset internalErrorDataset; + sid_t internalErrorSid; + InternalErrorDataset internalErrorDataset; - bool diagnosticPrintout = true; + bool diagnosticPrintout = true; - uint32_t queueHits = 0; - uint32_t tmHits = 0; - uint32_t storeHits = 0; + uint32_t queueHits = 0; + uint32_t tmHits = 0; + uint32_t storeHits = 0; - uint32_t getAndResetQueueHits(); - uint32_t getQueueHits(); - void incrementQueueHits(); + uint32_t getAndResetQueueHits(); + uint32_t getQueueHits(); + void incrementQueueHits(); - uint32_t getAndResetTmHits(); - uint32_t getTmHits(); - void incrementTmHits(); + uint32_t getAndResetTmHits(); + uint32_t getTmHits(); + void incrementTmHits(); - uint32_t getAndResetStoreHits(); - uint32_t getStoreHits(); - void incrementStoreHits(); + uint32_t getAndResetStoreHits(); + uint32_t getStoreHits(); + void incrementStoreHits(); }; diff --git a/ipc/MessageQueueIF.h b/ipc/MessageQueueIF.h index 1c06521ca..217174f6d 100644 --- a/ipc/MessageQueueIF.h +++ b/ipc/MessageQueueIF.h @@ -22,12 +22,12 @@ public: static const uint8_t INTERFACE_ID = CLASS_ID::MESSAGE_QUEUE_IF; //! No new messages on the queue static const ReturnValue_t EMPTY = MAKE_RETURN_CODE(1); - //! No space left for more messages + //! [EXPORT] : [COMMENT] No space left for more messages static const ReturnValue_t FULL = MAKE_RETURN_CODE(2); - //! Returned if a reply method was called without partner + //! [EXPORT] : [COMMENT] Returned if a reply method was called without partner static const ReturnValue_t NO_REPLY_PARTNER = MAKE_RETURN_CODE(3); - //! Returned if the target destination is invalid. - static constexpr ReturnValue_t DESTINVATION_INVALID = MAKE_RETURN_CODE(4); + //! [EXPORT] : [COMMENT] Returned if the target destination is invalid. + static constexpr ReturnValue_t DESTINATION_INVALID = MAKE_RETURN_CODE(4); virtual ~MessageQueueIF() {} /** diff --git a/ipc/MessageQueueMessage.cpp b/ipc/MessageQueueMessage.cpp index e97778c3f..1958af54a 100644 --- a/ipc/MessageQueueMessage.cpp +++ b/ipc/MessageQueueMessage.cpp @@ -86,3 +86,7 @@ size_t MessageQueueMessage::getMaximumMessageSize() const { return this->MAX_MESSAGE_SIZE; } +size_t MessageQueueMessage::getMaximumDataSize() const { + return this->MAX_DATA_SIZE; +} + diff --git a/ipc/MessageQueueMessage.h b/ipc/MessageQueueMessage.h index 5234f64ff..111056caf 100644 --- a/ipc/MessageQueueMessage.h +++ b/ipc/MessageQueueMessage.h @@ -139,6 +139,7 @@ public: virtual void setMessageSize(size_t messageSize) override; virtual size_t getMinimumMessageSize() const override; virtual size_t getMaximumMessageSize() const override; + virtual size_t getMaximumDataSize() const override; /** * @brief This is a debug method that prints the content. diff --git a/ipc/MessageQueueMessageIF.h b/ipc/MessageQueueMessageIF.h index 33e01e7d0..893c30b5e 100644 --- a/ipc/MessageQueueMessageIF.h +++ b/ipc/MessageQueueMessageIF.h @@ -72,6 +72,7 @@ public: virtual void setMessageSize(size_t messageSize) = 0; virtual size_t getMinimumMessageSize() const = 0; virtual size_t getMaximumMessageSize() const = 0; + virtual size_t getMaximumDataSize() const = 0; }; diff --git a/ipc/MutexGuard.h b/ipc/MutexGuard.h new file mode 100644 index 000000000..9ee68c81f --- /dev/null +++ b/ipc/MutexGuard.h @@ -0,0 +1,60 @@ +#ifndef FRAMEWORK_IPC_MUTEXGUARD_H_ +#define FRAMEWORK_IPC_MUTEXGUARD_H_ + +#include "MutexFactory.h" +#include "../serviceinterface/ServiceInterface.h" + +class MutexGuard { +public: + MutexGuard(MutexIF* mutex, MutexIF::TimeoutType timeoutType = + MutexIF::TimeoutType::BLOCKING, uint32_t timeoutMs = 0): + internalMutex(mutex) { + if(mutex == nullptr) { +#if FSFW_VERBOSE_LEVEL >= 1 +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::error << "MutexGuard: Passed mutex is invalid!" << std::endl; +#else + sif::printError("MutexGuard: Passed mutex is invalid!\n"); +#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ +#endif /* FSFW_VERBOSE_LEVEL >= 1 */ + return; + } + result = mutex->lockMutex(timeoutType, + timeoutMs); +#if FSFW_VERBOSE_LEVEL >= 1 + if(result == MutexIF::MUTEX_TIMEOUT) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::error << "MutexGuard: Lock of mutex failed with timeout of " + << timeoutMs << " milliseconds!" << std::endl; +#else + sif::printError("MutexGuard: Lock of mutex failed with timeout of %lu milliseconds\n", + timeoutMs); +#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ + + } + else if(result != HasReturnvaluesIF::RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::error << "MutexGuard: Lock of Mutex failed with code " << result << std::endl; +#else + sif::printError("MutexGuard: Lock of Mutex failed with code %d\n", result); +#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ + } +#else +#endif /* FSFW_VERBOSE_LEVEL >= 1 */ + } + + ReturnValue_t getLockResult() const { + return result; + } + + ~MutexGuard() { + if(internalMutex != nullptr) { + internalMutex->unlockMutex(); + } + } +private: + MutexIF* internalMutex; + ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED; +}; + +#endif /* FRAMEWORK_IPC_MUTEXGUARD_H_ */ diff --git a/ipc/MutexHelper.h b/ipc/MutexHelper.h deleted file mode 100644 index bc744d3f9..000000000 --- a/ipc/MutexHelper.h +++ /dev/null @@ -1,57 +0,0 @@ -#ifndef FRAMEWORK_IPC_MUTEXHELPER_H_ -#define FRAMEWORK_IPC_MUTEXHELPER_H_ - -#include "MutexFactory.h" -#include "../serviceinterface/ServiceInterface.h" - -class MutexHelper { -public: - MutexHelper(MutexIF* mutex, MutexIF::TimeoutType timeoutType = - MutexIF::TimeoutType::BLOCKING, uint32_t timeoutMs = 0): - internalMutex(mutex) { - if(mutex == nullptr) { -#if FSFW_VERBOSE_LEVEL >= 1 -#if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "MutexHelper: Passed mutex is invalid!" << std::endl; -#else - sif::printError("MutexHelper: Passed mutex is invalid!\n"); -#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ -#endif /* FSFW_VERBOSE_LEVEL >= 1 */ - return; - } - ReturnValue_t status = mutex->lockMutex(timeoutType, - timeoutMs); -#if FSFW_VERBOSE_LEVEL >= 1 - 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; -#else - sif::printError("MutexHelper: Lock of mutex failed with timeout of %lu milliseconds\n", - timeoutMs); -#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ - - } - else if(status != HasReturnvaluesIF::RETURN_OK) { -#if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "MutexHelper: Lock of Mutex failed with code " << status << std::endl; -#else - sif::printError("MutexHelper: Lock of Mutex failed with code %d\n", status); -#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ - } -#else - /* To avoid unused variable warning */ - static_cast(status); -#endif /* FSFW_VERBOSE_LEVEL >= 1 */ - } - - ~MutexHelper() { - if(internalMutex != nullptr) { - internalMutex->unlockMutex(); - } - } -private: - MutexIF* internalMutex; -}; - -#endif /* FRAMEWORK_IPC_MUTEXHELPER_H_ */ diff --git a/objectmanager/ObjectManager.cpp b/objectmanager/ObjectManager.cpp index 3c2be5321..674fedc14 100644 --- a/objectmanager/ObjectManager.cpp +++ b/objectmanager/ObjectManager.cpp @@ -108,9 +108,9 @@ void ObjectManager::initialize() { 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; + sif::error << "ObjectManager::ObjectManager: Object 0x" << std::hex << + (int) it.first << " connection check failed with code 0x" << result << + std::dec << std::endl; #endif errorCount++; } diff --git a/objectmanager/ObjectManagerIF.h b/objectmanager/ObjectManagerIF.h index 8bebb609e..61e6f4237 100644 --- a/objectmanager/ObjectManagerIF.h +++ b/objectmanager/ObjectManagerIF.h @@ -4,7 +4,7 @@ #include "frameworkObjects.h" #include "SystemObjectIF.h" #include "../returnvalues/HasReturnvaluesIF.h" -#include "../serviceinterface/ServiceInterfaceStream.h" +#include "../serviceinterface/ServiceInterface.h" /** * @brief This class provides an interface to the global object manager. diff --git a/objectmanager/frameworkObjects.h b/objectmanager/frameworkObjects.h index 2174f829a..360108079 100644 --- a/objectmanager/frameworkObjects.h +++ b/objectmanager/frameworkObjects.h @@ -1,8 +1,9 @@ #ifndef FSFW_OBJECTMANAGER_FRAMEWORKOBJECTS_H_ #define FSFW_OBJECTMANAGER_FRAMEWORKOBJECTS_H_ -#include +#include "SystemObjectIF.h" +// The objects will be instantiated in the ID order namespace objects { enum framework_objects: object_id_t { FSFW_OBJECTS_START = 0x53000000, @@ -16,6 +17,7 @@ enum framework_objects: object_id_t { PUS_SERVICE_17_TEST = 0x53000017, PUS_SERVICE_20_PARAMETERS = 0x53000020, PUS_SERVICE_200_MODE_MGMT = 0x53000200, + PUS_SERVICE_201_HEALTH = 0x53000201, //Generic IDs for IPC, modes, health, events HEALTH_TABLE = 0x53010000, diff --git a/osal/CMakeLists.txt b/osal/CMakeLists.txt index 02ff24057..76b939b1a 100644 --- a/osal/CMakeLists.txt +++ b/osal/CMakeLists.txt @@ -1,34 +1,35 @@ # Check the OS_FSFW variable if(${OS_FSFW} STREQUAL "freertos") - add_subdirectory(FreeRTOS) + add_subdirectory(FreeRTOS) elseif(${OS_FSFW} STREQUAL "rtems") - add_subdirectory(rtems) + add_subdirectory(rtems) elseif(${OS_FSFW} STREQUAL "linux") - add_subdirectory(linux) + add_subdirectory(linux) elseif(${OS_FSFW} STREQUAL "host") - add_subdirectory(host) - if (WIN32) - add_subdirectory(windows) - elseif(UNIX) - target_sources(${LIB_FSFW_NAME} - PUBLIC - linux/TcUnixUdpPollingTask.cpp - linux/TmTcUnixUdpBridge.cpp - ) - endif () + add_subdirectory(host) + if (WIN32) + add_subdirectory(windows) + elseif(UNIX) + # We still need to pull in some Linux specific sources + target_sources(${LIB_FSFW_NAME} PUBLIC + linux/tcpipHelpers.cpp + ) + endif () else() - message(WARNING "The OS_FSFW variable was not set. Assuming host OS..") - # Not set. Assumuing this is a host build, try to determine host OS - if (WIN32) - add_subdirectory(host) - add_subdirectory(windows) - elseif (UNIX) - add_subdirectory(linux) - else () - # MacOS or other OSes have not been tested yet / are not supported. - message(FATAL_ERROR "The host OS could not be determined! Aborting.") - endif() + message(WARNING "The OS_FSFW variable was not set. Assuming host OS..") + # Not set. Assumuing this is a host build, try to determine host OS + if (WIN32) + add_subdirectory(host) + add_subdirectory(windows) + elseif (UNIX) + add_subdirectory(linux) + else () + # MacOS or other OSes have not been tested yet / are not supported. + message(FATAL_ERROR "The host OS could not be determined! Aborting.") + endif() -endif() \ No newline at end of file +endif() + +add_subdirectory(common) \ No newline at end of file diff --git a/osal/FreeRTOS/Clock.cpp b/osal/FreeRTOS/Clock.cpp index 806edcc7c..c15971fee 100644 --- a/osal/FreeRTOS/Clock.cpp +++ b/osal/FreeRTOS/Clock.cpp @@ -111,7 +111,7 @@ ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) { ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from, timeval* to) { - struct tm time_tm; + struct tm time_tm = {}; time_tm.tm_year = from->year - 1900; time_tm.tm_mon = from->month - 1; diff --git a/osal/FreeRTOS/MessageQueue.cpp b/osal/FreeRTOS/MessageQueue.cpp index c0c82cf11..3a0f654ed 100644 --- a/osal/FreeRTOS/MessageQueue.cpp +++ b/osal/FreeRTOS/MessageQueue.cpp @@ -135,7 +135,7 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo, QueueHandle_t destination = nullptr; if(sendTo == MessageQueueIF::NO_QUEUE or sendTo == 0x00) { - return MessageQueueIF::DESTINVATION_INVALID; + return MessageQueueIF::DESTINATION_INVALID; } else { destination = reinterpret_cast(sendTo); diff --git a/osal/common/CMakeLists.txt b/osal/common/CMakeLists.txt new file mode 100644 index 000000000..b7c8c033a --- /dev/null +++ b/osal/common/CMakeLists.txt @@ -0,0 +1,17 @@ +if(DEFINED WIN32 OR DEFINED UNIX) + target_sources(${LIB_FSFW_NAME} PRIVATE + tcpipCommon.cpp + TcpIpBase.cpp + UdpTcPollingTask.cpp + UdpTmTcBridge.cpp + TcpTmTcServer.cpp + TcpTmTcBridge.cpp + ) +endif() + +if(WIN32) + target_link_libraries(${LIB_FSFW_NAME} PRIVATE + wsock32 + ws2_32 + ) +endif() \ No newline at end of file diff --git a/osal/common/TcpIpBase.cpp b/osal/common/TcpIpBase.cpp new file mode 100644 index 000000000..0b37e38ca --- /dev/null +++ b/osal/common/TcpIpBase.cpp @@ -0,0 +1,53 @@ +#include "TcpIpBase.h" +#include "../../platform.h" + +#ifdef PLATFORM_UNIX +#include +#include +#endif + +TcpIpBase::TcpIpBase() { + +} + +ReturnValue_t TcpIpBase::initialize() { +#ifdef _WIN32 + /* Initiates Winsock DLL. */ + WSAData wsaData; + WORD wVersionRequested = MAKEWORD(2, 2); + int err = WSAStartup(wVersionRequested, &wsaData); + 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 HasReturnvaluesIF::RETURN_FAILED; + } +#endif + return HasReturnvaluesIF::RETURN_OK; +} + +TcpIpBase::~TcpIpBase() { + closeSocket(serverSocket); +#ifdef _WIN32 + WSACleanup(); +#endif +} + +int TcpIpBase::closeSocket(socket_t socket) { +#ifdef PLATFORM_WIN + return closesocket(socket); +#elif defined(PLATFORM_UNIX) + return close(socket); +#endif +} + +int TcpIpBase::getLastSocketError() { +#ifdef PLATFORM_WIN + return WSAGetLastError(); +#elif defined(PLATFORM_UNIX) + return errno; +#endif +} + diff --git a/osal/common/TcpIpBase.h b/osal/common/TcpIpBase.h new file mode 100644 index 000000000..fe6a763c2 --- /dev/null +++ b/osal/common/TcpIpBase.h @@ -0,0 +1,47 @@ +#ifndef FSFW_OSAL_COMMON_TCPIPIF_H_ +#define FSFW_OSAL_COMMON_TCPIPIF_H_ + +#include "../../returnvalues/HasReturnvaluesIF.h" +#include "../../platform.h" + +#ifdef PLATFORM_WIN +#include +#elif defined(PLATFORM_UNIX) +#include +#endif + +class TcpIpBase { +protected: + +#ifdef PLATFORM_WIN + static constexpr int SHUT_RECV = SD_RECEIVE; + static constexpr int SHUT_SEND = SD_SEND; + static constexpr int SHUT_BOTH = SD_BOTH; + + using socket_t = SOCKET; +#elif defined(PLATFORM_UNIX) + using socket_t = int; + + static constexpr int INVALID_SOCKET = -1; + static constexpr int SOCKET_ERROR = -1; + + static constexpr int SHUT_RECV = SHUT_RD; + static constexpr int SHUT_SEND = SHUT_WR; + static constexpr int SHUT_BOTH = SHUT_RDWR; +#endif + + TcpIpBase(); + virtual ~TcpIpBase(); + + ReturnValue_t initialize(); + + int closeSocket(socket_t socket); + + int getLastSocketError(); + + socket_t serverSocket = 0; + +}; + + +#endif /* FSFW_OSAL_COMMON_TCPIPIF_H_ */ diff --git a/osal/common/TcpTmTcBridge.cpp b/osal/common/TcpTmTcBridge.cpp new file mode 100644 index 000000000..24fab9a90 --- /dev/null +++ b/osal/common/TcpTmTcBridge.cpp @@ -0,0 +1,77 @@ +#include "TcpTmTcBridge.h" +#include "tcpipHelpers.h" + +#include +#include +#include + +#ifdef _WIN32 + +#include + +#elif defined(__unix__) + +#include +#include + +#endif + +const std::string TcpTmTcBridge::DEFAULT_UDP_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT; + +TcpTmTcBridge::TcpTmTcBridge(object_id_t objectId, object_id_t tcDestination, + object_id_t tmStoreId, object_id_t tcStoreId): + TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) { + mutex = MutexFactory::instance()->createMutex(); + // Connection is always up, TM is requested by connecting to server and receiving packets + registerCommConnect(); +} + +ReturnValue_t TcpTmTcBridge::initialize() { + ReturnValue_t result = TmTcBridge::initialize(); + if(result != HasReturnvaluesIF::RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::error << "TcpTmTcBridge::initialize: TmTcBridge initialization failed!" + << std::endl; +#else + sif::printError("TcpTmTcBridge::initialize: TmTcBridge initialization failed!\n"); +#endif + return result; + } + + return HasReturnvaluesIF::RETURN_OK; +} + +TcpTmTcBridge::~TcpTmTcBridge() { + if(mutex != nullptr) { + MutexFactory::instance()->deleteMutex(mutex); + } +} + +ReturnValue_t TcpTmTcBridge::handleTm() { + // Simply store the telemetry in the FIFO, the server will use it to access the TM + MutexGuard guard(mutex, timeoutType, mutexTimeoutMs); + TmTcMessage message; + ReturnValue_t status = HasReturnvaluesIF::RETURN_OK; + for (ReturnValue_t result = tmTcReceptionQueue->receiveMessage(&message); + result == HasReturnvaluesIF::RETURN_OK; + result = tmTcReceptionQueue->receiveMessage(&message)) + { + status = storeDownlinkData(&message); + if(status != HasReturnvaluesIF::RETURN_OK) { + break; + } + } + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t TcpTmTcBridge::sendTm(const uint8_t *data, size_t dataLen) { + // Not used. The Server uses the FIFO to access and send the telemetry. + return HasReturnvaluesIF::RETURN_OK; +} + + +void TcpTmTcBridge::setMutexProperties(MutexIF::TimeoutType timeoutType, + dur_millis_t timeoutMs) { + this->timeoutType = timeoutType; + this->mutexTimeoutMs = timeoutMs; +} diff --git a/osal/common/TcpTmTcBridge.h b/osal/common/TcpTmTcBridge.h new file mode 100644 index 000000000..6cfacb9fa --- /dev/null +++ b/osal/common/TcpTmTcBridge.h @@ -0,0 +1,71 @@ +#ifndef FSFW_OSAL_COMMON_TCPTMTCBRIDGE_H_ +#define FSFW_OSAL_COMMON_TCPTMTCBRIDGE_H_ + +#include "TcpIpBase.h" +#include "../../tmtcservices/TmTcBridge.h" + +#ifdef _WIN32 + +#include + +#elif defined(__unix__) + +#include + +#endif + +#include + +/** + * @brief This class should be used with the TcpTmTcServer to implement a TCP server + * for receiving and sending PUS telemetry and telecommands (TMTC) + * @details + * This bridge tasks takes care of filling a FIFO which generated telemetry. The TcpTmTcServer + * will take care of sending the telemetry stored in the FIFO if a client connects to the + * server. This bridge will also be the default destination for telecommands, but the telecommands + * will be relayed to a specified tcDestination directly. + */ +class TcpTmTcBridge: + public TmTcBridge { + friend class TcpTmTcServer; +public: + /* The ports chosen here should not be used by any other process. */ + static const std::string DEFAULT_UDP_SERVER_PORT; + + /** + * Constructor + * @param objectId Object ID of the TcpTmTcBridge. + * @param tcDestination Destination for received TC packets. Any received telecommands will + * be sent there directly. The destination object needs to implement + * AcceptsTelecommandsIF. + * @param tmStoreId TM store object ID. It is recommended to the default object ID + * @param tcStoreId TC store object ID. It is recommended to the default object ID + */ + TcpTmTcBridge(object_id_t objectId, object_id_t tcDestination, + object_id_t tmStoreId = objects::TM_STORE, + object_id_t tcStoreId = objects::TC_STORE); + virtual~ TcpTmTcBridge(); + + /** + * Set properties of internal mutex. + */ + void setMutexProperties(MutexIF::TimeoutType timeoutType, dur_millis_t timeoutMs); + + ReturnValue_t initialize() override; + + +protected: + ReturnValue_t handleTm() override; + virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override; + +private: + + //! Access to the FIFO needs to be mutex protected because it is used by the bridge and + //! the server. + MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING; + dur_millis_t mutexTimeoutMs = 20; + MutexIF* mutex; +}; + +#endif /* FSFW_OSAL_COMMON_TCPTMTCBRIDGE_H_ */ + diff --git a/osal/common/TcpTmTcServer.cpp b/osal/common/TcpTmTcServer.cpp new file mode 100644 index 000000000..28fab4224 --- /dev/null +++ b/osal/common/TcpTmTcServer.cpp @@ -0,0 +1,226 @@ +#include "TcpTmTcServer.h" +#include "TcpTmTcBridge.h" +#include "tcpipHelpers.h" + +#include "../../platform.h" +#include "../../container/SharedRingBuffer.h" +#include "../../ipc/MessageQueueSenderIF.h" +#include "../../ipc/MutexGuard.h" +#include "../../objectmanager/ObjectManagerIF.h" + +#include "../../serviceinterface/ServiceInterface.h" +#include "../../tmtcservices/TmTcMessage.h" + +#ifdef PLATFORM_WIN +#include +#include +#elif defined(PLATFORM_UNIX) +#include +#endif + +#ifndef FSFW_TCP_RECV_WIRETAPPING_ENABLED +#define FSFW_TCP_RECV_WIRETAPPING_ENABLED 0 +#endif + +const std::string TcpTmTcServer::DEFAULT_TCP_SERVER_PORT = "7303"; + +TcpTmTcServer::TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge, + size_t receptionBufferSize, std::string customTcpServerPort): + SystemObject(objectId), tmtcBridgeId(tmtcTcpBridge), + tcpPort(customTcpServerPort), receptionBuffer(receptionBufferSize) { + if(tcpPort == "") { + tcpPort = DEFAULT_TCP_SERVER_PORT; + } +} + +ReturnValue_t TcpTmTcServer::initialize() { + using namespace tcpip; + + ReturnValue_t result = TcpIpBase::initialize(); + if(result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + + tcStore = objectManager->get(objects::TC_STORE); + if (tcStore == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::error << "TcpTmTcServer::initialize: TC store uninitialized!" << std::endl; +#else + sif::printError("TcpTmTcServer::initialize: TC store uninitialized!\n"); +#endif + return ObjectManagerIF::CHILD_INIT_FAILED; + } + + tmtcBridge = objectManager->get(tmtcBridgeId); + + int retval = 0; + struct addrinfo *addrResult = nullptr; + struct addrinfo hints = {}; + + hints.ai_family = AF_INET; + hints.ai_socktype = SOCK_STREAM; + hints.ai_protocol = IPPROTO_TCP; + hints.ai_flags = AI_PASSIVE; + + // Listen to all addresses (0.0.0.0) by using AI_PASSIVE in the hint flags + retval = getaddrinfo(nullptr, tcpPort.c_str(), &hints, &addrResult); + if (retval != 0) { + handleError(Protocol::TCP, ErrorSources::GETADDRINFO_CALL); + return HasReturnvaluesIF::RETURN_FAILED; + } + + // Open TCP (stream) socket + listenerTcpSocket = socket(addrResult->ai_family, addrResult->ai_socktype, + addrResult->ai_protocol); + if(listenerTcpSocket == INVALID_SOCKET) { + freeaddrinfo(addrResult); + handleError(Protocol::TCP, ErrorSources::SOCKET_CALL); + return HasReturnvaluesIF::RETURN_FAILED; + } + + // Bind to the address found by getaddrinfo + retval = bind(listenerTcpSocket, addrResult->ai_addr, static_cast(addrResult->ai_addrlen)); + if(retval == SOCKET_ERROR) { + freeaddrinfo(addrResult); + handleError(Protocol::TCP, ErrorSources::BIND_CALL); + return HasReturnvaluesIF::RETURN_FAILED; + } + + freeaddrinfo(addrResult); + return HasReturnvaluesIF::RETURN_OK; +} + + +TcpTmTcServer::~TcpTmTcServer() { + closeSocket(listenerTcpSocket); +} + +ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) { + using namespace tcpip; + // If a connection is accepted, the corresponding socket will be assigned to the new socket + socket_t connSocket = 0; + // sockaddr clientSockAddr = {}; + // socklen_t connectorSockAddrLen = 0; + int retval = 0; + + // Listen for connection requests permanently for lifetime of program + while(true) { + retval = listen(listenerTcpSocket, tcpBacklog); + if(retval == SOCKET_ERROR) { + handleError(Protocol::TCP, ErrorSources::LISTEN_CALL, 500); + continue; + } + + //connSocket = accept(listenerTcpSocket, &clientSockAddr, &connectorSockAddrLen); + connSocket = accept(listenerTcpSocket, nullptr, nullptr); + + if(connSocket == INVALID_SOCKET) { + handleError(Protocol::TCP, ErrorSources::ACCEPT_CALL, 500); + closeSocket(connSocket); + continue; + }; + + handleServerOperation(connSocket); + + // Done, shut down connection and go back to listening for client requests + retval = shutdown(connSocket, SHUT_SEND); + if(retval != 0) { + handleError(Protocol::TCP, ErrorSources::SHUTDOWN_CALL); + } + closeSocket(connSocket); + } + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t TcpTmTcServer::initializeAfterTaskCreation() { + if(tmtcBridge == nullptr) { + return ObjectManagerIF::CHILD_INIT_FAILED; + } + /* Initialize the destination after task creation. This ensures + that the destination has already been set in the TMTC bridge. */ + targetTcDestination = tmtcBridge->getRequestQueue(); + tcStore = tmtcBridge->tcStore; + tmStore = tmtcBridge->tmStore; + return HasReturnvaluesIF::RETURN_OK; +} + +void TcpTmTcServer::handleServerOperation(socket_t connSocket) { + int retval = 0; + do { + // Read all telecommands sent by the client + retval = recv(connSocket, + reinterpret_cast(receptionBuffer.data()), + receptionBuffer.capacity(), + tcpFlags); + if (retval > 0) { + handleTcReception(retval); + } + else if(retval == 0) { + // Client has finished sending telecommands, send telemetry now + handleTmSending(connSocket); + } + else { + // Should not happen + tcpip::handleError(tcpip::Protocol::TCP, tcpip::ErrorSources::RECV_CALL); + } + } while(retval > 0); +} + +ReturnValue_t TcpTmTcServer::handleTcReception(size_t bytesRecvd) { +#if FSFW_TCP_RECV_WIRETAPPING_ENABLED == 1 + arrayprinter::print(receptionBuffer.data(), bytesRead); +#endif + store_address_t storeId; + ReturnValue_t result = tcStore->addData(&storeId, receptionBuffer.data(), bytesRecvd); + if (result != HasReturnvaluesIF::RETURN_OK) { +#if FSFW_VERBOSE_LEVEL >= 1 +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::warning<< "TcpTmTcServer::handleServerOperation: Data storage failed." << std::endl; + sif::warning << "Packet size: " << bytesRecvd << std::endl; +#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ +#endif /* FSFW_VERBOSE_LEVEL >= 1 */ + } + + TmTcMessage message(storeId); + + result = MessageQueueSenderIF::sendMessage(targetTcDestination, &message); + if (result != HasReturnvaluesIF::RETURN_OK) { +#if FSFW_VERBOSE_LEVEL >= 1 +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::warning << "UdpTcPollingTask::handleSuccessfullTcRead: " + " Sending message to queue failed" << std::endl; +#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ +#endif /* FSFW_VERBOSE_LEVEL >= 1 */ + tcStore->deleteData(storeId); + } + return result; +} + +void TcpTmTcServer::setTcpBacklog(uint8_t tcpBacklog) { + this->tcpBacklog = tcpBacklog; +} + +ReturnValue_t TcpTmTcServer::handleTmSending(socket_t connSocket) { + // Access to the FIFO is mutex protected because it is filled by the bridge + MutexGuard(tmtcBridge->mutex, tmtcBridge->timeoutType, tmtcBridge->mutexTimeoutMs); + store_address_t storeId; + while((not tmtcBridge->tmFifo->empty()) and + (tmtcBridge->packetSentCounter < tmtcBridge->sentPacketsPerCycle)) { + tmtcBridge->tmFifo->retrieve(&storeId); + + // Using the store accessor will take care of deleting TM from the store automatically + ConstStorageAccessor storeAccessor(storeId); + ReturnValue_t result = tmStore->getData(storeId, storeAccessor); + if(result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + int retval = send(connSocket, + reinterpret_cast(storeAccessor.data()), + storeAccessor.size(), + tcpTmFlags); + if(retval != static_cast(storeAccessor.size())) { + tcpip::handleError(tcpip::Protocol::TCP, tcpip::ErrorSources::SEND_CALL); + } + } + return HasReturnvaluesIF::RETURN_OK; +} diff --git a/osal/common/TcpTmTcServer.h b/osal/common/TcpTmTcServer.h new file mode 100644 index 000000000..f7c36d69c --- /dev/null +++ b/osal/common/TcpTmTcServer.h @@ -0,0 +1,93 @@ +#ifndef FSFW_OSAL_COMMON_TCP_TMTC_SERVER_H_ +#define FSFW_OSAL_COMMON_TCP_TMTC_SERVER_H_ + +#include "TcpIpBase.h" + +#include "../../platform.h" +#include "../../ipc/messageQueueDefinitions.h" +#include "../../ipc/MessageQueueIF.h" +#include "../../objectmanager/frameworkObjects.h" +#include "../../objectmanager/SystemObject.h" +#include "../../storagemanager/StorageManagerIF.h" +#include "../../tasks/ExecutableObjectIF.h" + +#ifdef PLATFORM_UNIX +#include +#endif + +#include +#include + +class TcpTmTcBridge; + +/** + * @brief TCP server implementation + * @details + * This server will run for the whole program lifetime and will take care of serving client + * requests on a specified TCP server port. This server was written in a generic way and + * can be used on Unix and on Windows systems. + * + * If a connection is accepted, the server will read all telecommands sent by a client and then + * send all telemetry currently found in the TMTC bridge FIFO. + * + * Reading telemetry without sending telecommands is possible by connecting, shutting down the + * send operation immediately and then reading the telemetry. It is therefore recommended to + * connect to the server regularly, even if no telecommands need to be sent. + * + * The server will listen to a specific port on all addresses (0.0.0.0). + */ +class TcpTmTcServer: + public SystemObject, + public TcpIpBase, + public ExecutableObjectIF { +public: + /* The ports chosen here should not be used by any other process. */ + static const std::string DEFAULT_TCP_SERVER_PORT; + + static constexpr size_t ETHERNET_MTU_SIZE = 1500; + + /** + * TCP Server Constructor + * @param objectId Object ID of the TCP Server + * @param tmtcTcpBridge Object ID of the TCP TMTC Bridge object + * @param receptionBufferSize This will be the size of the reception buffer. Default buffer + * size will be the Ethernet MTU size + * @param customTcpServerPort The user can specify another port than the default (7301) here. + */ + TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge, + size_t receptionBufferSize = ETHERNET_MTU_SIZE + 1, + std::string customTcpServerPort = ""); + virtual~ TcpTmTcServer(); + + void setTcpBacklog(uint8_t tcpBacklog); + + ReturnValue_t initialize() override; + ReturnValue_t performOperation(uint8_t opCode) override; + ReturnValue_t initializeAfterTaskCreation() override; + +protected: + StorageManagerIF* tcStore = nullptr; + StorageManagerIF* tmStore = nullptr; +private: + //! TMTC bridge is cached. + object_id_t tmtcBridgeId = objects::NO_OBJECT; + TcpTmTcBridge* tmtcBridge = nullptr; + + std::string tcpPort; + int tcpFlags = 0; + socket_t listenerTcpSocket = 0; + struct sockaddr tcpAddress; + MessageQueueId_t targetTcDestination = MessageQueueIF::NO_QUEUE; + int tcpAddrLen = sizeof(tcpAddress); + int tcpBacklog = 3; + + std::vector receptionBuffer; + int tcpSockOpt = 0; + int tcpTmFlags = 0; + + void handleServerOperation(socket_t connSocket); + ReturnValue_t handleTcReception(size_t bytesRecvd); + ReturnValue_t handleTmSending(socket_t connSocket); +}; + +#endif /* FSFW_OSAL_COMMON_TCP_TMTC_SERVER_H_ */ diff --git a/osal/common/UdpTcPollingTask.cpp b/osal/common/UdpTcPollingTask.cpp new file mode 100644 index 000000000..877e78835 --- /dev/null +++ b/osal/common/UdpTcPollingTask.cpp @@ -0,0 +1,177 @@ +#include "UdpTcPollingTask.h" +#include "tcpipHelpers.h" +#include "../../platform.h" +#include "../../globalfunctions/arrayprinter.h" +#include "../../serviceinterface/ServiceInterfaceStream.h" + +#ifdef PLATFORM_WIN +#include +#elif defined(PLATFORM_UNIX) +#include +#include +#endif + +//! Debugging preprocessor define. +#define FSFW_UDP_RECV_WIRETAPPING_ENABLED 0 + +UdpTcPollingTask::UdpTcPollingTask(object_id_t objectId, + object_id_t tmtcUdpBridge, size_t maxRecvSize, + double timeoutSeconds): SystemObject(objectId), + tmtcBridgeId(tmtcUdpBridge) { + if(frameSize > 0) { + this->frameSize = frameSize; + } + else { + this->frameSize = DEFAULT_MAX_RECV_SIZE; + } + + /* Set up reception buffer with specified frame size. + For now, it is assumed that only one frame is held in the buffer! */ + receptionBuffer.reserve(this->frameSize); + receptionBuffer.resize(this->frameSize); + + if(timeoutSeconds == -1) { + receptionTimeout = DEFAULT_TIMEOUT; + } + else { + receptionTimeout = timevalOperations::toTimeval(timeoutSeconds); + } +} + +UdpTcPollingTask::~UdpTcPollingTask() {} + +ReturnValue_t UdpTcPollingTask::performOperation(uint8_t opCode) { + /* Sender Address is cached here. */ + struct sockaddr senderAddress; + socklen_t senderAddressSize = sizeof(senderAddress); + + /* Poll for new UDP datagrams in permanent loop. */ + while(true) { + int bytesReceived = recvfrom( + this->serverSocket, + reinterpret_cast(receptionBuffer.data()), + frameSize, + receptionFlags, + &senderAddress, + &senderAddressSize + ); + if(bytesReceived == SOCKET_ERROR) { + /* Handle error */ +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::error << "UdpTcPollingTask::performOperation: Reception error." << std::endl; +#endif + tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::RECVFROM_CALL, 1000); + continue; + } +#if FSFW_UDP_RECV_WIRETAPPING_ENABLED == 1 +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::debug << "UdpTcPollingTask::performOperation: " << bytesReceived << + " bytes received" << std::endl; +#else +#endif +#endif /* FSFW_UDP_RCV_WIRETAPPING_ENABLED == 1 */ + + ReturnValue_t result = handleSuccessfullTcRead(bytesReceived); + if(result != HasReturnvaluesIF::RETURN_FAILED) { + + } + tmtcBridge->checkAndSetClientAddress(senderAddress); + } + return HasReturnvaluesIF::RETURN_OK; +} + + +ReturnValue_t UdpTcPollingTask::handleSuccessfullTcRead(size_t bytesRead) { + store_address_t storeId; + +#if FSFW_UDP_RECV_WIRETAPPING_ENABLED == 1 + arrayprinter::print(receptionBuffer.data(), bytesRead); +#endif + + ReturnValue_t result = tcStore->addData(&storeId, receptionBuffer.data(), bytesRead); + if (result != HasReturnvaluesIF::RETURN_OK) { +#if FSFW_VERBOSE_LEVEL >= 1 +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::warning<< "UdpTcPollingTask::transferPusToSoftwareBus: Data storage failed." << + std::endl; + sif::warning << "Packet size: " << bytesRead << std::endl; +#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ +#endif /* FSFW_VERBOSE_LEVEL >= 1 */ + return HasReturnvaluesIF::RETURN_FAILED; + } + + TmTcMessage message(storeId); + + result = MessageQueueSenderIF::sendMessage(targetTcDestination, &message); + if (result != HasReturnvaluesIF::RETURN_OK) { +#if FSFW_VERBOSE_LEVEL >= 1 +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::warning << "UdpTcPollingTask::handleSuccessfullTcRead: " + " Sending message to queue failed" << std::endl; +#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ +#endif /* FSFW_VERBOSE_LEVEL >= 1 */ + tcStore->deleteData(storeId); + } + return result; +} + +ReturnValue_t UdpTcPollingTask::initialize() { + tcStore = objectManager->get(objects::TC_STORE); + if (tcStore == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::error << "UdpTcPollingTask::initialize: TC store uninitialized!" << std::endl; +#endif + return ObjectManagerIF::CHILD_INIT_FAILED; + } + + tmtcBridge = objectManager->get(tmtcBridgeId); + if(tmtcBridge == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::error << "UdpTcPollingTask::initialize: Invalid TMTC bridge object!" << + std::endl; +#endif + return ObjectManagerIF::CHILD_INIT_FAILED; + } + + ReturnValue_t result = TcpIpBase::initialize(); + if(result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t UdpTcPollingTask::initializeAfterTaskCreation() { + /* Initialize the destination after task creation. This ensures + that the destination has already been set in the TMTC bridge. */ + targetTcDestination = tmtcBridge->getRequestQueue(); + /* The server socket is set up in the bridge intialization. Calling this function here + ensures that it is set up regardless of which class was initialized first */ + this->serverSocket = tmtcBridge->serverSocket; + return HasReturnvaluesIF::RETURN_OK; +} + +void UdpTcPollingTask::setTimeout(double timeoutSeconds) { +#ifdef PLATFORM_WIN + DWORD timeoutMs = timeoutSeconds * 1000.0; + int result = setsockopt(serverSocket, SOL_SOCKET, SO_RCVTIMEO, + reinterpret_cast(&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 + } +#elif defined(PLATFORM_UNIX) + timeval tval; + tval = timevalOperations::toTimeval(timeoutSeconds); + int result = setsockopt(serverSocket, 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 + } +#endif +} diff --git a/osal/common/UdpTcPollingTask.h b/osal/common/UdpTcPollingTask.h new file mode 100644 index 000000000..9a680fb81 --- /dev/null +++ b/osal/common/UdpTcPollingTask.h @@ -0,0 +1,61 @@ +#ifndef FSFW_OSAL_COMMON_UDPTCPOLLINGTASK_H_ +#define FSFW_OSAL_COMMON_UDPTCPOLLINGTASK_H_ + +#include "UdpTmTcBridge.h" +#include "../../objectmanager/SystemObject.h" +#include "../../tasks/ExecutableObjectIF.h" +#include "../../storagemanager/StorageManagerIF.h" + +#include + +/** + * @brief This class can be used with the UdpTmTcBridge to implement a UDP server + * for receiving and sending PUS TMTC. + * @details + * This task is exclusively used to poll telecommands from a given socket and transfer them + * to the FSFW software bus. It used the blocking recvfrom call to do this. + */ +class UdpTcPollingTask: + public TcpIpBase, + public SystemObject, + public ExecutableObjectIF { + friend class TmTcWinUdpBridge; +public: + static constexpr size_t DEFAULT_MAX_RECV_SIZE = 1500; + //! 0.5 default milliseconds timeout for now. + static constexpr timeval DEFAULT_TIMEOUT = {0, 500}; + + UdpTcPollingTask(object_id_t objectId, object_id_t tmtcUdpBridge, + size_t maxRecvSize = 0, double timeoutSeconds = -1); + virtual~ UdpTcPollingTask(); + + /** + * Turn on optional timeout for UDP polling. In the default mode, + * the receive function will block until a packet is received. + * @param timeoutSeconds + */ + void setTimeout(double timeoutSeconds); + + virtual ReturnValue_t performOperation(uint8_t opCode) override; + virtual ReturnValue_t initialize() override; + virtual ReturnValue_t initializeAfterTaskCreation() override; + +protected: + StorageManagerIF* tcStore = nullptr; + +private: + //! TMTC bridge is cached. + object_id_t tmtcBridgeId = objects::NO_OBJECT; + UdpTmTcBridge* tmtcBridge = nullptr; + MessageQueueId_t targetTcDestination = MessageQueueIF::NO_QUEUE; + int receptionFlags = 0; + + std::vector receptionBuffer; + + size_t frameSize = 0; + timeval receptionTimeout; + + ReturnValue_t handleSuccessfullTcRead(size_t bytesRead); +}; + +#endif /* FSFW_OSAL_COMMON_UDPTCPOLLINGTASK_H_ */ diff --git a/osal/common/UdpTmTcBridge.cpp b/osal/common/UdpTmTcBridge.cpp new file mode 100644 index 000000000..4c83385ba --- /dev/null +++ b/osal/common/UdpTmTcBridge.cpp @@ -0,0 +1,162 @@ +#include "UdpTmTcBridge.h" +#include "tcpipHelpers.h" + +#include "../../platform.h" +#include "../../serviceinterface/ServiceInterface.h" +#include "../../ipc/MutexGuard.h" + +#ifdef PLATFORM_WIN +#include +#elif defined(PLATFORM_UNIX) +#include +#include +#endif + +//! Debugging preprocessor define. +#ifndef FSFW_UDP_SEND_WIRETAPPING_ENABLED +#define FSFW_UDP_SEND_WIRETAPPING_ENABLED 0 +#endif + +const std::string UdpTmTcBridge::DEFAULT_UDP_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT; + +UdpTmTcBridge::UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination, + std::string udpServerPort, object_id_t tmStoreId, object_id_t tcStoreId): + TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) { + if(udpServerPort == "") { + this->udpServerPort = DEFAULT_UDP_SERVER_PORT; + } + else { + this->udpServerPort = udpServerPort; + } + + mutex = MutexFactory::instance()->createMutex(); + communicationLinkUp = false; +} + +ReturnValue_t UdpTmTcBridge::initialize() { + ReturnValue_t result = TmTcBridge::initialize(); + if(result != HasReturnvaluesIF::RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::error << "UdpTmTcBridge::initialize: TmTcBridge initialization failed!" + << std::endl; +#endif + return result; + } + + +#ifdef _WIN32 + /* Initiates Winsock DLL. */ + WSAData wsaData; + WORD wVersionRequested = MAKEWORD(2, 2); + int err = WSAStartup(wVersionRequested, &wsaData); + if (err != 0) { + /* Tell the user that we could not find a usable */ + /* Winsock DLL. */ +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::error << "UdpTmTcBridge::UdpTmTcBridge: WSAStartup failed with error: " << + err << std::endl; +#else + sif::printError("UdpTmTcBridge::UdpTmTcBridge: WSAStartup failed with error: %d\n", + err); +#endif + return HasReturnvaluesIF::RETURN_FAILED; + } +#endif + + struct addrinfo *addrResult = nullptr; + struct addrinfo hints = {}; + + hints.ai_family = AF_INET; + hints.ai_socktype = SOCK_DGRAM; + hints.ai_protocol = IPPROTO_UDP; + hints.ai_flags = AI_PASSIVE; + + /* Set up UDP socket: + https://en.wikipedia.org/wiki/Getaddrinfo + Passing nullptr as the first parameter and specifying AI_PASSIVE in hints will cause + getaddrinfo to assign the address 0.0.0.0 (any address) */ + int retval = getaddrinfo(nullptr, udpServerPort.c_str(), &hints, &addrResult); + if (retval != 0) { + tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::GETADDRINFO_CALL); + return HasReturnvaluesIF::RETURN_FAILED; + } + + serverSocket = socket(addrResult->ai_family, addrResult->ai_socktype, addrResult->ai_protocol); + if(serverSocket == INVALID_SOCKET) { + freeaddrinfo(addrResult); + tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::SOCKET_CALL); + return HasReturnvaluesIF::RETURN_FAILED; + } + +#if FSFW_UDP_SEND_WIRETAPPING_ENABLED == 1 + tcpip::printAddress(addrResult->ai_addr); +#endif + + retval = bind(serverSocket, addrResult->ai_addr, static_cast(addrResult->ai_addrlen)); + if(retval != 0) { + freeaddrinfo(addrResult); + tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::BIND_CALL); + return HasReturnvaluesIF::RETURN_FAILED; + } + freeaddrinfo(addrResult); + return HasReturnvaluesIF::RETURN_OK; +} + +UdpTmTcBridge::~UdpTmTcBridge() { + if(mutex != nullptr) { + MutexFactory::instance()->deleteMutex(mutex); + } +} + +ReturnValue_t UdpTmTcBridge::sendTm(const uint8_t *data, size_t dataLen) { + int flags = 0; + + /* The target address can be set by different threads so this lock ensures thread-safety */ + MutexGuard lock(mutex, timeoutType, mutexTimeoutMs); + +#if FSFW_UDP_SEND_WIRETAPPING_ENABLED == 1 + tcpip::printAddress(&clientAddress); +#endif + + int bytesSent = sendto( + serverSocket, + reinterpret_cast(data), + dataLen, + flags, + &clientAddress, + clientAddressLen + ); + if(bytesSent == SOCKET_ERROR) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::warning << "TmTcUdpBridge::sendTm: Send operation failed." << std::endl; +#endif + tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::SENDTO_CALL); + } +#if FSFW_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_SEND_WIRETAPPING_ENABLED == 1 + sif::debug << "TmTcUdpBridge::sendTm: " << bytesSent << " bytes were" + " sent." << std::endl; +#endif + return HasReturnvaluesIF::RETURN_OK; +} + +void UdpTmTcBridge::checkAndSetClientAddress(sockaddr& newAddress) { + /* The target address can be set by different threads so this lock ensures thread-safety */ + MutexGuard lock(mutex, timeoutType, mutexTimeoutMs); + +#if FSFW_UDP_SEND_WIRETAPPING_ENABLED == 1 + tcpip::printAddress(&newAddress); + tcpip::printAddress(&clientAddress); +#endif + + registerCommConnect(); + + /* Set new IP address to reply to */ + clientAddress = newAddress; + clientAddressLen = sizeof(clientAddress); +} + +void UdpTmTcBridge::setMutexProperties(MutexIF::TimeoutType timeoutType, + dur_millis_t timeoutMs) { + this->timeoutType = timeoutType; + this->mutexTimeoutMs = timeoutMs; +} diff --git a/osal/common/UdpTmTcBridge.h b/osal/common/UdpTmTcBridge.h new file mode 100644 index 000000000..7a346de57 --- /dev/null +++ b/osal/common/UdpTmTcBridge.h @@ -0,0 +1,63 @@ +#ifndef FSFW_OSAL_COMMON_TMTCUDPBRIDGE_H_ +#define FSFW_OSAL_COMMON_TMTCUDPBRIDGE_H_ + +#include "TcpIpBase.h" +#include "../../platform.h" +#include "../../tmtcservices/TmTcBridge.h" + +#ifdef PLATFORM_WIN +#include +#elif defined(PLATFORM_UNIX) +#include +#endif + +#include + +/** + * @brief This class can be used with the UdpTcPollingTask to implement a UDP server + * for receiving and sending PUS TMTC. + * @details + * This bridge task will take care of sending telemetry back to a UDP client if a connection + * was established and store them in a FIFO if this was not done yet. It is also be the default + * destination for telecommands, but the telecommands will be relayed to a specified tcDestination + * directly. + */ +class UdpTmTcBridge: + public TmTcBridge, + public TcpIpBase { + friend class UdpTcPollingTask; +public: + /* The ports chosen here should not be used by any other process. */ + static const std::string DEFAULT_UDP_SERVER_PORT; + + UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination, + std::string udpServerPort = "", object_id_t tmStoreId = objects::TM_STORE, + object_id_t tcStoreId = objects::TC_STORE); + virtual~ UdpTmTcBridge(); + + /** + * Set properties of internal mutex. + */ + void setMutexProperties(MutexIF::TimeoutType timeoutType, dur_millis_t timeoutMs); + + ReturnValue_t initialize() override; + + void checkAndSetClientAddress(sockaddr& clientAddress); + +protected: + virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override; + +private: + std::string udpServerPort; + + struct sockaddr clientAddress; + socklen_t clientAddressLen = 0; + + //! Access to the client address is mutex protected as it is set by another task. + MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING; + dur_millis_t mutexTimeoutMs = 20; + MutexIF* mutex; +}; + +#endif /* FSFW_OSAL_COMMON_TMTCUDPBRIDGE_H_ */ + diff --git a/osal/common/tcpipCommon.cpp b/osal/common/tcpipCommon.cpp new file mode 100644 index 000000000..ca4dbf180 --- /dev/null +++ b/osal/common/tcpipCommon.cpp @@ -0,0 +1,84 @@ +#include "tcpipCommon.h" +#include + +#ifdef _WIN32 +#include +#endif + +void tcpip::determineErrorStrings(Protocol protocol, ErrorSources errorSrc, std::string &protStr, + std::string &srcString) { + if(protocol == Protocol::TCP) { + protStr = "TCP"; + } + else if(protocol == Protocol::UDP) { + protStr = "UDP"; + } + else { + protStr = "Unknown protocol"; + } + + if(errorSrc == ErrorSources::SETSOCKOPT_CALL) { + srcString = "setsockopt call"; + } + else if(errorSrc == ErrorSources::SOCKET_CALL) { + srcString = "socket call"; + } + else if(errorSrc == ErrorSources::LISTEN_CALL) { + srcString = "listen call"; + } + else if(errorSrc == ErrorSources::ACCEPT_CALL) { + srcString = "accept call"; + } + else if(errorSrc == ErrorSources::RECVFROM_CALL) { + srcString = "recvfrom call"; + } + else if(errorSrc == ErrorSources::SEND_CALL) { + srcString = "send call"; + } + else if(errorSrc == ErrorSources::SENDTO_CALL) { + srcString = "sendto call"; + } + else if(errorSrc == ErrorSources::GETADDRINFO_CALL) { + srcString = "getaddrinfo call"; + } + else if(errorSrc == ErrorSources::SHUTDOWN_CALL) { + srcString = "shutdown call"; + } + else { + srcString = "unknown call"; + } +} + +void tcpip::printAddress(struct sockaddr* addr) { + char ipAddress[INET6_ADDRSTRLEN] = {}; + const char* stringPtr = NULL; + switch(addr->sa_family) { + case AF_INET: { + struct sockaddr_in *addrIn = reinterpret_cast(addr); + stringPtr = inet_ntop(AF_INET, &(addrIn->sin_addr), ipAddress, INET_ADDRSTRLEN); + break; + } + case AF_INET6: { + struct sockaddr_in6 *addrIn = reinterpret_cast(addr); + stringPtr = inet_ntop(AF_INET6, &(addrIn->sin6_addr), ipAddress, INET6_ADDRSTRLEN); + break; + } + } +#if FSFW_CPP_OSTREAM_ENABLED == 1 + if(stringPtr == NULL) { + sif::debug << "Could not convert IP address to text representation, error code " + << errno << std::endl; + } + else { + sif::debug << "IP Address Sender: " << ipAddress << std::endl; + } +#else + if(stringPtr == NULL) { + sif::printDebug("Could not convert IP address to text representation, error code %d\n", + errno); + } + else { + sif::printDebug("IP Address Sender: %s\n", ipAddress); + } +#endif +} diff --git a/osal/common/tcpipCommon.h b/osal/common/tcpipCommon.h new file mode 100644 index 000000000..ce7a90cd1 --- /dev/null +++ b/osal/common/tcpipCommon.h @@ -0,0 +1,44 @@ +#ifndef FSFW_OSAL_COMMON_TCPIPCOMMON_H_ +#define FSFW_OSAL_COMMON_TCPIPCOMMON_H_ + +#include "../../timemanager/clockDefinitions.h" +#include + +#ifdef _WIN32 +#include +#else +#include +#include +#endif + +namespace tcpip { + +const char* const DEFAULT_SERVER_PORT = "7301"; + +enum class Protocol { + UDP, + TCP +}; + +enum class ErrorSources { + GETADDRINFO_CALL, + SOCKET_CALL, + SETSOCKOPT_CALL, + BIND_CALL, + RECV_CALL, + RECVFROM_CALL, + LISTEN_CALL, + ACCEPT_CALL, + SEND_CALL, + SENDTO_CALL, + SHUTDOWN_CALL +}; + +void determineErrorStrings(Protocol protocol, ErrorSources errorSrc, std::string& protStr, + std::string& srcString); + +void printAddress(struct sockaddr* addr); + +} + +#endif /* FSFW_OSAL_COMMON_TCPIPCOMMON_H_ */ diff --git a/osal/common/tcpipHelpers.h b/osal/common/tcpipHelpers.h new file mode 100644 index 000000000..9764a93fe --- /dev/null +++ b/osal/common/tcpipHelpers.h @@ -0,0 +1,15 @@ +#ifndef FSFW_OSAL_WINDOWS_TCPIPHELPERS_H_ +#define FSFW_OSAL_WINDOWS_TCPIPHELPERS_H_ + +#include "../../timemanager/clockDefinitions.h" +#include "tcpipCommon.h" + +namespace tcpip { + +void handleError(Protocol protocol, ErrorSources errorSrc, dur_millis_t sleepDuration = 0); + +} + + + +#endif /* FSFW_OSAL_WINDOWS_TCPIPHELPERS_H_ */ diff --git a/osal/host/CMakeLists.txt b/osal/host/CMakeLists.txt index 367f721e0..2d29ce5df 100644 --- a/osal/host/CMakeLists.txt +++ b/osal/host/CMakeLists.txt @@ -10,6 +10,7 @@ target_sources(${LIB_FSFW_NAME} QueueMapManager.cpp SemaphoreFactory.cpp TaskFactory.cpp + taskHelpers.cpp ) if(UNIX) diff --git a/osal/host/Clock.cpp b/osal/host/Clock.cpp index c097f6199..ed5aab628 100644 --- a/osal/host/Clock.cpp +++ b/osal/host/Clock.cpp @@ -1,10 +1,12 @@ #include "../../serviceinterface/ServiceInterface.h" #include "../../timemanager/Clock.h" +#include "../../platform.h" #include -#if defined(WIN32) + +#if defined(PLATFORM_WIN) #include -#elif defined(LINUX) +#elif defined(PLATFORM_UNIX) #include #endif @@ -46,7 +48,7 @@ ReturnValue_t Clock::setClock(const timeval* time) { } ReturnValue_t Clock::getClock_timeval(timeval* time) { -#if defined(WIN32) +#if defined(PLATFORM_WIN) auto now = std::chrono::system_clock::now(); auto secondsChrono = std::chrono::time_point_cast(now); auto epoch = now.time_since_epoch(); @@ -54,7 +56,7 @@ ReturnValue_t Clock::getClock_timeval(timeval* time) { auto fraction = now - secondsChrono; time->tv_usec = std::chrono::duration_cast(fraction).count(); return HasReturnvaluesIF::RETURN_OK; -#elif defined(LINUX) +#elif defined(PLATFORM_UNIX) timespec timeUnix; int status = clock_gettime(CLOCK_REALTIME,&timeUnix); if(status!=0){ @@ -85,14 +87,14 @@ ReturnValue_t Clock::getClock_usecs(uint64_t* time) { timeval Clock::getUptime() { timeval timeval; -#if defined(WIN32) +#if defined(PLATFORM_WIN) auto uptime = std::chrono::milliseconds(GetTickCount64()); auto secondsChrono = std::chrono::duration_cast(uptime); timeval.tv_sec = secondsChrono.count(); auto fraction = uptime - secondsChrono; timeval.tv_usec = std::chrono::duration_cast( fraction).count(); -#elif defined(LINUX) +#elif defined(PLATFORM_UNIX) double uptimeSeconds; if (std::ifstream("/proc/uptime", std::ios::in) >> uptimeSeconds) { @@ -119,7 +121,6 @@ ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) { return HasReturnvaluesIF::RETURN_OK; } - ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) { /* Do some magic with chrono (C++20!) */ /* Right now, the library doesn't have the new features to get the required values yet. diff --git a/osal/host/FixedTimeslotTask.cpp b/osal/host/FixedTimeslotTask.cpp index 272d99b9a..55f374995 100644 --- a/osal/host/FixedTimeslotTask.cpp +++ b/osal/host/FixedTimeslotTask.cpp @@ -1,18 +1,19 @@ +#include "taskHelpers.h" +#include "../../platform.h" #include "../../osal/host/FixedTimeslotTask.h" - #include "../../ipc/MutexFactory.h" #include "../../osal/host/Mutex.h" #include "../../osal/host/FixedTimeslotTask.h" - -#include "../../serviceinterface/ServiceInterfaceStream.h" +#include "../../serviceinterface/ServiceInterface.h" #include "../../tasks/ExecutableObjectIF.h" #include #include -#if defined(WIN32) +#if defined(PLATFORM_WIN) #include -#elif defined(LINUX) +#include "../windows/winTaskHelpers.h" +#elif defined(PLATFORM_UNIX) #include #endif @@ -24,34 +25,12 @@ FixedTimeslotTask::FixedTimeslotTask(const char *name, TaskPriority setPriority, // It is propably possible to set task priorities by using the native // task handles for Windows / Linux mainThread = std::thread(&FixedTimeslotTask::taskEntryPoint, this, this); -#if defined(WIN32) - /* List of possible priority classes: - * https://docs.microsoft.com/en-us/windows/win32/api/processthreadsapi/ - * nf-processthreadsapi-setpriorityclass - * And respective thread priority numbers: - * https://docs.microsoft.com/en-us/windows/ - * win32/procthread/scheduling-priorities */ - int result = SetPriorityClass( - reinterpret_cast(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(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. +#if defined(_WIN32) + tasks::setTaskPriority(reinterpret_cast(mainThread.native_handle()), setPriority); +#elif defined(__unix__) + // TODO: We could reuse existing code here. #endif + tasks::insertTaskName(mainThread.get_id(), taskName); } FixedTimeslotTask::~FixedTimeslotTask(void) { @@ -60,7 +39,6 @@ FixedTimeslotTask::~FixedTimeslotTask(void) { if(mainThread.joinable()) { mainThread.join(); } - delete this; } void FixedTimeslotTask::taskEntryPoint(void* argument) { @@ -141,8 +119,11 @@ ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, } #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "Component " << std::hex << componentId << - " not found, not adding it to pst" << std::endl; + sif::error << "Component " << std::hex << "0x" << componentId << "not found, " + "not adding it to PST.." << std::dec << std::endl; +#else + sif::printError("Component 0x%08x not found, not adding it to PST..\n", + static_cast(componentId)); #endif return HasReturnvaluesIF::RETURN_FAILED; } diff --git a/osal/host/MessageQueue.cpp b/osal/host/MessageQueue.cpp index dfc045e8d..a779bdcb8 100644 --- a/osal/host/MessageQueue.cpp +++ b/osal/host/MessageQueue.cpp @@ -3,7 +3,9 @@ #include "../../serviceinterface/ServiceInterfaceStream.h" #include "../../ipc/MutexFactory.h" -#include "../../ipc/MutexHelper.h" +#include "../../ipc/MutexGuard.h" + +#include MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize): messageSize(maxMessageSize), messageDepth(messageDepth) { @@ -63,12 +65,9 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) { if(messageQueue.empty()) { return MessageQueueIF::EMPTY; } - // not sure this will work.. - //*message = std::move(messageQueue.front()); - MutexHelper mutexLock(queueLock, MutexIF::TimeoutType::WAITING, 20); - MessageQueueMessage* currentMessage = &messageQueue.front(); - std::copy(currentMessage->getBuffer(), - currentMessage->getBuffer() + messageSize, message->getBuffer()); + MutexGuard mutexLock(queueLock, MutexIF::TimeoutType::WAITING, 20); + std::copy(messageQueue.front().data(), messageQueue.front().data() + messageSize, + message->getBuffer()); messageQueue.pop(); // The last partner is the first uint32_t field in the message this->lastPartner = message->getSender(); @@ -82,7 +81,7 @@ MessageQueueId_t MessageQueue::getLastPartner() const { ReturnValue_t MessageQueue::flush(uint32_t* count) { *count = messageQueue.size(); // Clears the queue. - messageQueue = std::queue(); + messageQueue = std::queue>(); return HasReturnvaluesIF::RETURN_OK; } @@ -108,6 +107,9 @@ bool MessageQueue::isDefaultDestinationSet() const { ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo, MessageQueueMessageIF* message, MessageQueueId_t sentFrom, bool ignoreFault) { + if(message == nullptr) { + return HasReturnvaluesIF::RETURN_FAILED; + } message->setSender(sentFrom); if(message->getMessageSize() > message->getMaximumMessageSize()) { // Actually, this should never happen or an error will be emitted @@ -126,25 +128,13 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo, internalErrorReporter->queueMessageNotSent(); } } - // TODO: Better returnvalue - return HasReturnvaluesIF::RETURN_FAILED; + return MessageQueueIF::DESTINATION_INVALID; } if(targetQueue->messageQueue.size() < targetQueue->messageDepth) { - MutexHelper mutexLock(targetQueue->queueLock, - MutexIF::TimeoutType::WAITING, 20); - // not ideal, works for now though. - MessageQueueMessage* mqmMessage = - dynamic_cast(message); - if(message != nullptr) { - targetQueue->messageQueue.push(*mqmMessage); - } - else { -#if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "MessageQueue::sendMessageFromMessageQueue: Message" - "is not MessageQueueMessage!" << std::endl; -#endif - } - + MutexGuard mutexLock(targetQueue->queueLock, MutexIF::TimeoutType::WAITING, 20); + targetQueue->messageQueue.push(std::vector(message->getMaximumMessageSize())); + memcpy(targetQueue->messageQueue.back().data(), message->getBuffer(), + message->getMaximumMessageSize()); } else { return MessageQueueIF::FULL; diff --git a/osal/host/MessageQueue.h b/osal/host/MessageQueue.h index 97a9e4915..1c9b5e331 100644 --- a/osal/host/MessageQueue.h +++ b/osal/host/MessageQueue.h @@ -212,20 +212,20 @@ protected: //static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault); private: - std::queue messageQueue; + std::queue> messageQueue; /** * @brief The class stores the queue id it got assigned. * If initialization fails, the queue id is set to zero. */ - MessageQueueId_t mqId = 0; + MessageQueueId_t mqId = MessageQueueIF::NO_QUEUE; size_t messageSize = 0; size_t messageDepth = 0; MutexIF* queueLock; bool defaultDestinationSet = false; - MessageQueueId_t defaultDestination = 0; - MessageQueueId_t lastPartner = 0; + MessageQueueId_t defaultDestination = MessageQueueIF::NO_QUEUE; + MessageQueueId_t lastPartner = MessageQueueIF::NO_QUEUE; }; #endif /* FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_ */ diff --git a/osal/host/MutexFactory.cpp b/osal/host/MutexFactory.cpp index bf7707d11..f3b98fd1d 100644 --- a/osal/host/MutexFactory.cpp +++ b/osal/host/MutexFactory.cpp @@ -24,5 +24,7 @@ MutexIF* MutexFactory::createMutex() { } void MutexFactory::deleteMutex(MutexIF* mutex) { - delete mutex; + if(mutex != nullptr) { + delete mutex; + } } diff --git a/osal/host/PeriodicTask.cpp b/osal/host/PeriodicTask.cpp index 7663d522d..4b3fa626e 100644 --- a/osal/host/PeriodicTask.cpp +++ b/osal/host/PeriodicTask.cpp @@ -1,6 +1,8 @@ #include "Mutex.h" #include "PeriodicTask.h" +#include "taskHelpers.h" +#include "../../platform.h" #include "../../ipc/MutexFactory.h" #include "../../serviceinterface/ServiceInterfaceStream.h" #include "../../tasks/ExecutableObjectIF.h" @@ -8,9 +10,10 @@ #include #include -#if defined(WIN32) +#if defined(PLATFORM_WIN) #include -#elif defined(LINUX) +#include +#elif defined(PLATFORM_UNIX) #include #endif @@ -19,37 +22,15 @@ PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority, void (*setDeadlineMissedFunc)()) : started(false), taskName(name), period(setPeriod), deadlineMissedFunc(setDeadlineMissedFunc) { - // It is propably possible to set task priorities by using the native + // It is probably possible to set task priorities by using the native // task handles for Windows / Linux mainThread = std::thread(&PeriodicTask::taskEntryPoint, this, this); -#if defined(WIN32) - /* List of possible priority classes: - * https://docs.microsoft.com/en-us/windows/win32/api/processthreadsapi/ - * nf-processthreadsapi-setpriorityclass - * And respective thread priority numbers: - * https://docs.microsoft.com/en-us/windows/ - * win32/procthread/scheduling-priorities */ - int result = SetPriorityClass( - reinterpret_cast(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(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. +#if defined(PLATFORM_WIN) + tasks::setTaskPriority(reinterpret_cast(mainThread.native_handle()), setPriority); +#elif defined(PLATFORM_UNIX) + // TODO: We could reuse existing code here. #endif + tasks::insertTaskName(mainThread.get_id(), taskName); } PeriodicTask::~PeriodicTask(void) { @@ -58,7 +39,6 @@ PeriodicTask::~PeriodicTask(void) { if(mainThread.joinable()) { mainThread.join(); } - delete this; } void PeriodicTask::taskEntryPoint(void* argument) { diff --git a/osal/host/QueueMapManager.cpp b/osal/host/QueueMapManager.cpp index 2a54f8134..c9100fe9a 100644 --- a/osal/host/QueueMapManager.cpp +++ b/osal/host/QueueMapManager.cpp @@ -2,7 +2,7 @@ #include "../../serviceinterface/ServiceInterface.h" #include "../../ipc/MutexFactory.h" -#include "../../ipc/MutexHelper.h" +#include "../../ipc/MutexGuard.h" QueueMapManager* QueueMapManager::mqManagerInstance = nullptr; @@ -10,6 +10,10 @@ QueueMapManager::QueueMapManager() { mapLock = MutexFactory::instance()->createMutex(); } +QueueMapManager::~QueueMapManager() { + MutexFactory::instance()->deleteMutex(mapLock); +} + QueueMapManager* QueueMapManager::instance() { if (mqManagerInstance == nullptr){ mqManagerInstance = new QueueMapManager(); @@ -43,7 +47,7 @@ ReturnValue_t QueueMapManager::addMessageQueue( MessageQueueIF* QueueMapManager::getMessageQueue( MessageQueueId_t messageQueueId) const { - MutexHelper(mapLock, MutexIF::TimeoutType::WAITING, 50); + MutexGuard(mapLock, MutexIF::TimeoutType::WAITING, 50); auto queueIter = queueMap.find(messageQueueId); if(queueIter != queueMap.end()) { return queueIter->second; diff --git a/osal/host/QueueMapManager.h b/osal/host/QueueMapManager.h index 3610ca638..90c39c2f0 100644 --- a/osal/host/QueueMapManager.h +++ b/osal/host/QueueMapManager.h @@ -36,6 +36,8 @@ public: private: //! External instantiation is forbidden. QueueMapManager(); + ~QueueMapManager(); + uint32_t queueCounter = 0; MutexIF* mapLock; QueueMap queueMap; diff --git a/osal/host/SemaphoreFactory.cpp b/osal/host/SemaphoreFactory.cpp index 3d3fe17f3..530b3e450 100644 --- a/osal/host/SemaphoreFactory.cpp +++ b/osal/host/SemaphoreFactory.cpp @@ -1,7 +1,5 @@ #include "../../tasks/SemaphoreFactory.h" -#include "../../osal/linux/BinarySemaphore.h" -#include "../../osal/linux/CountingSemaphore.h" -#include "../../serviceinterface/ServiceInterfaceStream.h" +#include "../../serviceinterface/ServiceInterface.h" SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr; diff --git a/osal/host/TaskFactory.cpp b/osal/host/TaskFactory.cpp index 4fafd3491..71d0bf8b9 100644 --- a/osal/host/TaskFactory.cpp +++ b/osal/host/TaskFactory.cpp @@ -1,14 +1,16 @@ +#include "taskHelpers.h" +#include "../../tasks/TaskFactory.h" #include "../../osal/host/FixedTimeslotTask.h" #include "../../osal/host/PeriodicTask.h" -#include "../../tasks/TaskFactory.h" #include "../../returnvalues/HasReturnvaluesIF.h" #include "../../tasks/PeriodicTaskIF.h" +#include "../../serviceinterface/ServiceInterface.h" #include TaskFactory* TaskFactory::factoryInstance = new TaskFactory(); -// Will propably not be used for hosted implementation +// Not used for the host implementation for now because C++ thread abstraction is used const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = 0; TaskFactory::TaskFactory() { @@ -49,8 +51,12 @@ ReturnValue_t TaskFactory::delayTask(uint32_t delayMs){ } void TaskFactory::printMissedDeadline() { - /* TODO: Implement */ - return; + std::string name = tasks::getTaskName(std::this_thread::get_id()); +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::warning << "TaskFactory::printMissedDeadline: " << name << std::endl; +#else + sif::printWarning("TaskFactory::printMissedDeadline: %s\n", name); +#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ } diff --git a/osal/host/taskHelpers.cpp b/osal/host/taskHelpers.cpp new file mode 100644 index 000000000..be4c29adc --- /dev/null +++ b/osal/host/taskHelpers.cpp @@ -0,0 +1,27 @@ +#include "taskHelpers.h" +#include +#include + +std::mutex nameMapLock; +std::map taskNameMap; + +ReturnValue_t tasks::insertTaskName(std::thread::id threadId, std::string taskName) { + std::lock_guard lg(nameMapLock); + auto returnPair = taskNameMap.emplace(threadId, taskName); + if(not returnPair.second) { + return HasReturnvaluesIF::RETURN_FAILED; + } + return HasReturnvaluesIF::RETURN_OK; +} + +std::string tasks::getTaskName(std::thread::id threadId) { + std::lock_guard lg(nameMapLock); + auto resultIter = taskNameMap.find(threadId); + if(resultIter != taskNameMap.end()) { + return resultIter->second; + } + else { + return "Unknown task"; + } +} + diff --git a/osal/host/taskHelpers.h b/osal/host/taskHelpers.h new file mode 100644 index 000000000..fa00490fb --- /dev/null +++ b/osal/host/taskHelpers.h @@ -0,0 +1,16 @@ +#ifndef FSFW_OSAL_HOST_TASKHELPERS_H_ +#define FSFW_OSAL_HOST_TASKHELPERS_H_ + +#include +#include + +namespace tasks { + +ReturnValue_t insertTaskName(std::thread::id threadId, std::string taskName); +std::string getTaskName(std::thread::id threadId); + +} + + + +#endif /* FSFW_OSAL_HOST_TASKHELPERS_H_ */ diff --git a/osal/linux/CMakeLists.txt b/osal/linux/CMakeLists.txt index 474e548bf..332fe2f49 100644 --- a/osal/linux/CMakeLists.txt +++ b/osal/linux/CMakeLists.txt @@ -13,9 +13,8 @@ target_sources(${LIB_FSFW_NAME} QueueFactory.cpp SemaphoreFactory.cpp TaskFactory.cpp - TcUnixUdpPollingTask.cpp - TmTcUnixUdpBridge.cpp Timer.cpp + tcpipHelpers.cpp ) find_package(Threads REQUIRED) diff --git a/osal/linux/MessageQueue.cpp b/osal/linux/MessageQueue.cpp index 60d15dee7..12774a58c 100644 --- a/osal/linux/MessageQueue.cpp +++ b/osal/linux/MessageQueue.cpp @@ -190,13 +190,15 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) { return HasReturnvaluesIF::RETURN_FAILED; } return HasReturnvaluesIF::RETURN_OK; - }else if(status==0){ + } + else if (status==0) { //Success but no message received return MessageQueueIF::EMPTY; - } else { + } + else { //No message was received. Keep lastPartner anyway, I might send //something later. But still, delete packet content. - memset(message->getData(), 0, message->getMaximumMessageSize()); + memset(message->getData(), 0, message->getMaximumDataSize()); switch(errno){ case EAGAIN: //O_NONBLOCK or MQ_NONBLOCK was set and there are no messages @@ -371,7 +373,7 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo, <<"mq_send to: " << sendTo << " sent from " << sentFrom << std::endl; #endif - return DESTINVATION_INVALID; + return DESTINATION_INVALID; } case EINTR: //The call was interrupted by a signal. diff --git a/osal/linux/PosixThread.cpp b/osal/linux/PosixThread.cpp index bc5cacee4..72adfb140 100644 --- a/osal/linux/PosixThread.cpp +++ b/osal/linux/PosixThread.cpp @@ -6,250 +6,263 @@ #include PosixThread::PosixThread(const char* name_, int priority_, size_t stackSize_): - thread(0),priority(priority_),stackSize(stackSize_) { + thread(0), priority(priority_), stackSize(stackSize_) { name[0] = '\0'; std::strncat(name, name_, PTHREAD_MAX_NAMELEN - 1); } PosixThread::~PosixThread() { - //No deletion and no free of Stack Pointer + //No deletion and no free of Stack Pointer } ReturnValue_t PosixThread::sleep(uint64_t ns) { - //TODO sleep might be better with timer instead of sleep() - timespec time; - time.tv_sec = ns/1000000000; - time.tv_nsec = ns - time.tv_sec*1e9; + //TODO sleep might be better with timer instead of sleep() + timespec time; + time.tv_sec = ns/1000000000; + time.tv_nsec = ns - time.tv_sec*1e9; - //Remaining Time is not set here - int status = nanosleep(&time,NULL); - if(status != 0){ - switch(errno){ - case EINTR: - //The nanosleep() function was interrupted by a signal. - return HasReturnvaluesIF::RETURN_FAILED; - case EINVAL: - //The rqtp argument specified a nanosecond value less than zero or - // greater than or equal to 1000 million. - return HasReturnvaluesIF::RETURN_FAILED; - default: - return HasReturnvaluesIF::RETURN_FAILED; - } + //Remaining Time is not set here + int status = nanosleep(&time,NULL); + if(status != 0){ + switch(errno){ + case EINTR: + //The nanosleep() function was interrupted by a signal. + return HasReturnvaluesIF::RETURN_FAILED; + case EINVAL: + //The rqtp argument specified a nanosecond value less than zero or + // greater than or equal to 1000 million. + return HasReturnvaluesIF::RETURN_FAILED; + default: + return HasReturnvaluesIF::RETURN_FAILED; + } - } - return HasReturnvaluesIF::RETURN_OK; + } + return HasReturnvaluesIF::RETURN_OK; } void PosixThread::suspend() { - //Wait for SIGUSR1 - int caughtSig = 0; - sigset_t waitSignal; - sigemptyset(&waitSignal); - sigaddset(&waitSignal, SIGUSR1); - sigwait(&waitSignal, &caughtSig); - if (caughtSig != SIGUSR1) { + //Wait for SIGUSR1 + int caughtSig = 0; + sigset_t waitSignal; + sigemptyset(&waitSignal); + sigaddset(&waitSignal, SIGUSR1); + sigwait(&waitSignal, &caughtSig); + if (caughtSig != SIGUSR1) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "FixedTimeslotTask: Unknown Signal received: " << - caughtSig << std::endl; + sif::error << "FixedTimeslotTask: Unknown Signal received: " << + caughtSig << std::endl; #endif - } + } } void PosixThread::resume(){ - /* Signal the thread to start. Makes sense to call kill to start or? ;) - According to POSIX raise(signal) will call pthread_kill(pthread_self(), sig), - but as the call must be done from the thread itself this is not possible here */ - pthread_kill(thread,SIGUSR1); + /* Signal the thread to start. Makes sense to call kill to start or? ;) + * + * According to Posix raise(signal) will call pthread_kill(pthread_self(), sig), + * but as the call must be done from the thread itsself this is not possible here + */ + pthread_kill(thread,SIGUSR1); } bool PosixThread::delayUntil(uint64_t* const prevoiusWakeTime_ms, - const uint64_t delayTime_ms) { - uint64_t nextTimeToWake_ms; - bool shouldDelay = false; - /* Get current Time */ - const uint64_t currentTime_ms = getCurrentMonotonicTimeMs(); - /* Generate the tick time at which the task wants to wake. */ - nextTimeToWake_ms = (*prevoiusWakeTime_ms) + delayTime_ms; + const uint64_t delayTime_ms) { + uint64_t nextTimeToWake_ms; + bool shouldDelay = false; + //Get current Time + const uint64_t currentTime_ms = getCurrentMonotonicTimeMs(); + /* Generate the tick time at which the task wants to wake. */ + nextTimeToWake_ms = (*prevoiusWakeTime_ms) + delayTime_ms; - if (currentTime_ms < *prevoiusWakeTime_ms) { - /* The tick count has overflowed since this function was - lasted called. In this case the only time we should ever - actually delay is if the wake time has also overflowed, - and the wake time is greater than the tick time. When this - is the case it is as if neither time had overflowed. */ - if ((nextTimeToWake_ms < *prevoiusWakeTime_ms) - && (nextTimeToWake_ms > currentTime_ms)) { - shouldDelay = true; - } - } else { - /* The tick time has not overflowed. In this case we will - delay if either the wake time has overflowed, and/or the - tick time is less than the wake time. */ - if ((nextTimeToWake_ms < *prevoiusWakeTime_ms) - || (nextTimeToWake_ms > currentTime_ms)) { - shouldDelay = true; - } - } + if (currentTime_ms < *prevoiusWakeTime_ms) { + /* The tick count has overflowed since this function was + lasted called. In this case the only time we should ever + actually delay is if the wake time has also overflowed, + and the wake time is greater than the tick time. When this + is the case it is as if neither time had overflowed. */ + if ((nextTimeToWake_ms < *prevoiusWakeTime_ms) + && (nextTimeToWake_ms > currentTime_ms)) { + shouldDelay = true; + } + } else { + /* The tick time has not overflowed. In this case we will + delay if either the wake time has overflowed, and/or the + tick time is less than the wake time. */ + if ((nextTimeToWake_ms < *prevoiusWakeTime_ms) + || (nextTimeToWake_ms > currentTime_ms)) { + shouldDelay = true; + } + } - /* Update the wake time ready for the next call. */ + /* Update the wake time ready for the next call. */ - (*prevoiusWakeTime_ms) = nextTimeToWake_ms; + (*prevoiusWakeTime_ms) = nextTimeToWake_ms; - if (shouldDelay) { - uint64_t sleepTime = nextTimeToWake_ms - currentTime_ms; - PosixThread::sleep(sleepTime * 1000000ull); - return true; - } - /* We are shifting the time in case the deadline was missed like RTEMS */ - (*prevoiusWakeTime_ms) = currentTime_ms; - return false; + if (shouldDelay) { + uint64_t sleepTime = nextTimeToWake_ms - currentTime_ms; + PosixThread::sleep(sleepTime * 1000000ull); + return true; + } + //We are shifting the time in case the deadline was missed like rtems + (*prevoiusWakeTime_ms) = currentTime_ms; + return false; } uint64_t PosixThread::getCurrentMonotonicTimeMs(){ - timespec timeNow; - clock_gettime(CLOCK_MONOTONIC_RAW, &timeNow); - uint64_t currentTime_ms = (uint64_t) timeNow.tv_sec * 1000 - + timeNow.tv_nsec / 1000000; + timespec timeNow; + clock_gettime(CLOCK_MONOTONIC_RAW, &timeNow); + uint64_t currentTime_ms = (uint64_t) timeNow.tv_sec * 1000 + + timeNow.tv_nsec / 1000000; - return currentTime_ms; + return currentTime_ms; } void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - //sif::debug << "PosixThread::createTask" << std::endl; + //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 - * thread; this structure is initialized using pthread_attr_init(3) and - * related functions. If attr is NULL, then the thread is created with - * default attributes. - */ - pthread_attr_t attributes; - int status = pthread_attr_init(&attributes); - if(status != 0){ + /* + * The attr argument points to a pthread_attr_t structure whose contents + are used at thread creation time to determine attributes for the new + thread; this structure is initialized using pthread_attr_init(3) and + related functions. If attr is NULL, then the thread is created with + default attributes. + */ + 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; + 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){ + } + 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; + sif::error << "PosixThread::createTask: Stack init failed with: " << + strerror(status) << std::endl; #endif - if(errno == ENOMEM) { - size_t stackMb = stackSize/10e6; + if(errno == ENOMEM) { + size_t stackMb = stackSize/10e6; #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "PosixThread::createTask: Insufficient memory for" - " the requested " << stackMb << " MB" << std::endl; + sif::error << "PosixThread::createTask: Insufficient memory for" + " the requested " << stackMb << " MB" << std::endl; #else - sif::printError("PosixThread::createTask: Insufficient memory for " - "the requested %lu MB\n", static_cast(stackMb)); + sif::printError("PosixThread::createTask: Insufficient memory for " + "the requested %lu MB\n", static_cast(stackMb)); #endif - } - else if(errno == EINVAL) { + } + else if(errno == EINVAL) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "PosixThread::createTask: Wrong alignment argument!" - << std::endl; + sif::error << "PosixThread::createTask: Wrong alignment argument!" + << std::endl; #else - sif::printError("PosixThread::createTask: " - "Wrong alignment argument!\n"); + sif::printError("PosixThread::createTask: " + "Wrong alignment argument!\n"); #endif - } - return; - } + } + return; + } - status = pthread_attr_setstack(&attributes, stackPointer, stackSize); - if(status != 0){ + 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; + 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){ + 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; + sif::error << "Posix Thread attribute setinheritsched failed with: " << + strerror(status) << std::endl; #endif - } + } +#ifndef FSFW_USE_REALTIME_FOR_LINUX +#error "Please define FSFW_USE_REALTIME_FOR_LINUX with either 0 or 1" +#endif +#if FSFW_USE_REALTIME_FOR_LINUX == 1 + // 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 + } - // TODO FIFO -> This needs root privileges for the process - status = pthread_attr_setschedpolicy(&attributes,SCHED_FIFO); - if(status != 0){ + 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 policy failed with: " << - strerror(status) << std::endl; + sif::error << "Posix Thread attribute schedule params failed with: " << + strerror(status) << std::endl; #endif - } - - sched_param scheduleParams; - scheduleParams.__sched_priority = priority; - status = pthread_attr_setschedparam(&attributes, &scheduleParams); - if(status != 0){ + } +#endif + //Set Signal Mask for suspend until startTask is called + sigset_t waitSignal; + sigemptyset(&waitSignal); + sigaddset(&waitSignal, SIGUSR1); + status = pthread_sigmask(SIG_BLOCK, &waitSignal, NULL); + if(status != 0){ #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "Posix Thread attribute schedule params failed with: " << - strerror(status) << std::endl; + sif::error << "Posix Thread sigmask failed failed with: " << + strerror(status) << " errno: " << strerror(errno) << std::endl; #endif - } - - //Set Signal Mask for suspend until startTask is called - sigset_t waitSignal; - sigemptyset(&waitSignal); - 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){ + 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; + sif::error << "PosixThread::createTask: Failed with: " << + strerror(status) << std::endl; + sif::error << "For FSFW_USE_REALTIME_FOR_LINUX == 1 make sure to call " << + "\"all sudo setcap 'cap_sys_nice=eip'\" on the application or set " + "/etc/security/limit.conf" << std::endl; +#else + sif::printError("PosixThread::createTask: Create failed with: %s\n", strerror(status)); + sif::printError("For FSFW_USE_REALTIME_FOR_LINUX == 1 make sure to call " + "\"all sudo setcap 'cap_sys_nice=eip'\" on the application or set " + "/etc/security/limit.conf\n"); #endif - } + } - status = pthread_setname_np(thread,name); - if(status != 0){ + 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; + sif::error << "PosixThread::createTask: setname failed with: " << + strerror(status) << std::endl; #endif - if(status == ERANGE) { + if(status == ERANGE) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "PosixThread::createTask: Task name length longer" - " than 16 chars. Truncating.." << std::endl; + 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){ + 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; + sif::error << "PosixThread::createTask: Setting name" + " did not work.." << std::endl; #endif - } - } - } + } + } + } - status = pthread_attr_destroy(&attributes); - if(status!=0){ + 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; + sif::error << "Posix Thread attribute destroy failed with: " << + strerror(status) << std::endl; #endif - } + } } diff --git a/osal/linux/TaskFactory.cpp b/osal/linux/TaskFactory.cpp index 935646477..80bf47b7c 100644 --- a/osal/linux/TaskFactory.cpp +++ b/osal/linux/TaskFactory.cpp @@ -2,6 +2,7 @@ #include "PeriodicPosixTask.h" #include "../../tasks/TaskFactory.h" +#include "../../serviceinterface/ServiceInterface.h" #include "../../returnvalues/HasReturnvaluesIF.h" //TODO: Different variant than the lazy loading in QueueFactory. What's better and why? diff --git a/osal/linux/TcUnixUdpPollingTask.cpp b/osal/linux/TcUnixUdpPollingTask.cpp deleted file mode 100644 index 11ed7fee6..000000000 --- a/osal/linux/TcUnixUdpPollingTask.cpp +++ /dev/null @@ -1,158 +0,0 @@ -#include "TcUnixUdpPollingTask.h" -#include "../../globalfunctions/arrayprinter.h" - -#include - -TcUnixUdpPollingTask::TcUnixUdpPollingTask(object_id_t objectId, - object_id_t tmtcUnixUdpBridge, size_t frameSize, - double timeoutSeconds): SystemObject(objectId), - tmtcBridgeId(tmtcUnixUdpBridge) { - - if(frameSize > 0) { - this->frameSize = frameSize; - } - else { - this->frameSize = DEFAULT_MAX_FRAME_SIZE; - } - - // Set up reception buffer with specified frame size. - // For now, it is assumed that only one frame is held in the buffer! - receptionBuffer.reserve(this->frameSize); - receptionBuffer.resize(this->frameSize); - - if(timeoutSeconds == -1) { - receptionTimeout = DEFAULT_TIMEOUT; - } - else { - receptionTimeout = timevalOperations::toTimeval(timeoutSeconds); - } -} - -TcUnixUdpPollingTask::~TcUnixUdpPollingTask() {} - -ReturnValue_t TcUnixUdpPollingTask::performOperation(uint8_t opCode) { - // Poll for new UDP datagrams in permanent loop. - while(1) { - //! Sender Address is cached here. - struct sockaddr_in senderAddress; - socklen_t senderSockLen = sizeof(senderAddress); - ssize_t bytesReceived = recvfrom(serverUdpSocket, - receptionBuffer.data(), frameSize, receptionFlags, - reinterpret_cast(&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) { - - } - tmtcBridge->registerCommConnect(); - tmtcBridge->checkAndSetClientAddress(senderAddress); - } - return HasReturnvaluesIF::RETURN_OK; -} - - -ReturnValue_t TcUnixUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) { - store_address_t storeId; - ReturnValue_t result = tcStore->addData(&storeId, - 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; - } - - TmTcMessage message(storeId); - - 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; -} - -ReturnValue_t TcUnixUdpPollingTask::initialize() { - tcStore = objectManager->get(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(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; - - return HasReturnvaluesIF::RETURN_OK; -} - -ReturnValue_t TcUnixUdpPollingTask::initializeAfterTaskCreation() { - // Initialize the destination after task creation. This ensures - // that the destination will be set in the TMTC bridge. - targetTcDestination = tmtcBridge->getRequestQueue(); - return HasReturnvaluesIF::RETURN_OK; -} - -void TcUnixUdpPollingTask::setTimeout(double timeoutSeconds) { - timeval tval; - tval = timevalOperations::toTimeval(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 - } -} - -// TODO: sleep after error detection to prevent spam -void TcUnixUdpPollingTask::handleReadError() { - switch(errno) { - 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 - } - } -} diff --git a/osal/linux/TcUnixUdpPollingTask.h b/osal/linux/TcUnixUdpPollingTask.h deleted file mode 100644 index cc0325616..000000000 --- a/osal/linux/TcUnixUdpPollingTask.h +++ /dev/null @@ -1,67 +0,0 @@ -#ifndef FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_ -#define FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_ - -#include "../../objectmanager/SystemObject.h" -#include "../../osal/linux/TmTcUnixUdpBridge.h" -#include "../../tasks/ExecutableObjectIF.h" - -#include -#include - -/** - * @brief This class can be used to implement the polling of a Unix socket, - * using UDP for now. - * @details - * The task will be blocked while the specified number of bytes has not been - * received, so TC reception is handled inside a separate task. - * This class caches the IP address of the sender. It is assumed there - * is only one sender for now. - */ -class TcUnixUdpPollingTask: public SystemObject, - public ExecutableObjectIF { - friend class TmTcUnixUdpBridge; -public: - static constexpr size_t DEFAULT_MAX_FRAME_SIZE = 2048; - //! 0.5 default milliseconds timeout for now. - static constexpr timeval DEFAULT_TIMEOUT = {.tv_sec = 0, .tv_usec = 500}; - - TcUnixUdpPollingTask(object_id_t objectId, object_id_t tmtcUnixUdpBridge, - size_t frameSize = 0, double timeoutSeconds = -1); - virtual~ TcUnixUdpPollingTask(); - - /** - * Turn on optional timeout for UDP polling. In the default mode, - * the receive function will block until a packet is received. - * @param timeoutSeconds - */ - void setTimeout(double timeoutSeconds); - - virtual ReturnValue_t performOperation(uint8_t opCode) override; - virtual ReturnValue_t initialize() override; - virtual ReturnValue_t initializeAfterTaskCreation() override; - -protected: - StorageManagerIF* tcStore = nullptr; - -private: - //! TMTC bridge is cached. - object_id_t tmtcBridgeId = objects::NO_OBJECT; - TmTcUnixUdpBridge* tmtcBridge = nullptr; - MessageQueueId_t targetTcDestination = MessageQueueIF::NO_QUEUE; - //! Reception flags: https://linux.die.net/man/2/recvfrom. - int receptionFlags = 0; - - //! Server socket, which is member of TMTC bridge and is assigned in - //! constructor - int serverUdpSocket = 0; - - std::vector receptionBuffer; - - size_t frameSize = 0; - timeval receptionTimeout; - - ReturnValue_t handleSuccessfullTcRead(size_t bytesRead); - void handleReadError(); -}; - -#endif /* FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_ */ diff --git a/osal/linux/TmTcUnixUdpBridge.cpp b/osal/linux/TmTcUnixUdpBridge.cpp deleted file mode 100644 index 0af1fc68b..000000000 --- a/osal/linux/TmTcUnixUdpBridge.cpp +++ /dev/null @@ -1,206 +0,0 @@ -#include "TmTcUnixUdpBridge.h" -#include "../../serviceinterface/ServiceInterface.h" -#include "../../ipc/MutexHelper.h" - -#include -#include - - -TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId, - object_id_t tcDestination, object_id_t tmStoreId, object_id_t tcStoreId, - uint16_t serverPort, uint16_t clientPort): - TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) { - mutex = MutexFactory::instance()->createMutex(); - - uint16_t setServerPort = DEFAULT_UDP_SERVER_PORT; - if(serverPort != 0xFFFF) { - setServerPort = serverPort; - } - - uint16_t setClientPort = DEFAULT_UDP_CLIENT_PORT; - if(clientPort != 0xFFFF) { - setClientPort = clientPort; - } - - // Set up UDP socket: https://man7.org/linux/man-pages/man7/ip.7.html - //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; - } - - serverAddress.sin_family = AF_INET; - - // Accept packets from any interface. - //serverAddress.sin_addr.s_addr = inet_addr("127.73.73.0"); - serverAddress.sin_addr.s_addr = htonl(INADDR_ANY); - serverAddress.sin_port = htons(setServerPort); - serverAddressLen = sizeof(serverAddress); - setsockopt(serverSocket, SOL_SOCKET, SO_REUSEADDR, &serverSocketOptions, - sizeof(serverSocketOptions)); - - clientAddress.sin_family = AF_INET; - clientAddress.sin_addr.s_addr = htonl(INADDR_ANY); - clientAddress.sin_port = htons(setClientPort); - clientAddressLen = sizeof(clientAddress); - - int result = bind(serverSocket, - reinterpret_cast(&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; - } -} - -TmTcUnixUdpBridge::~TmTcUnixUdpBridge() { -} - -ReturnValue_t TmTcUnixUdpBridge::sendTm(const uint8_t *data, size_t dataLen) { - int flags = 0; - - MutexHelper lock(mutex, MutexIF::TimeoutType::WAITING, 10); - - if(ipAddrAnySet){ - clientAddress.sin_addr.s_addr = htons(INADDR_ANY); - //clientAddress.sin_addr.s_addr = inet_addr("127.73.73.1"); - 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, data, dataLen, flags, - reinterpret_cast(&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; -} - -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) { - clientAddress.sin_addr.s_addr = newAddress.sin_addr.s_addr; - clientAddressLen = sizeof(clientAddress); - } -} - - -void TmTcUnixUdpBridge::handleSocketError() { - // See: https://man7.org/linux/man-pages/man2/socket.2.html - switch(errno) { - case(EACCES): - case(EINVAL): - case(EMFILE): - case(ENFILE): - case(EAFNOSUPPORT): - 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; - } -} - -void TmTcUnixUdpBridge::handleBindError() { - // See: https://man7.org/linux/man-pages/man2/bind.2.html - switch(errno) { - case(EACCES): { - /* - 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): - case(EBADF): - case(EINVAL): - case(ENOTSOCK): - case(EADDRNOTAVAIL): - case(EFAULT): - case(ELOOP): - case(ENAMETOOLONG): - case(ENOENT): - 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; - } -} - -void TmTcUnixUdpBridge::handleSendError() { - switch(errno) { - default: { -#if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "TmTcUnixBridge::handleSendError: " - << strerror(errno) << std::endl; -#else - sif::printError("TmTcUnixBridge::handleSendError: %s\n", - strerror(errno)); -#endif - } - } -} - -void TmTcUnixUdpBridge::setClientAddressToAny(bool ipAddrAnySet){ - this->ipAddrAnySet = ipAddrAnySet; -} - diff --git a/osal/linux/TmTcUnixUdpBridge.h b/osal/linux/TmTcUnixUdpBridge.h deleted file mode 100644 index ae6f6adca..000000000 --- a/osal/linux/TmTcUnixUdpBridge.h +++ /dev/null @@ -1,51 +0,0 @@ -#ifndef FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_ -#define FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_ - -#include "../../tmtcservices/AcceptsTelecommandsIF.h" -#include "../../tmtcservices/TmTcBridge.h" -#include -#include -#include - -class TmTcUnixUdpBridge: public TmTcBridge { - friend class TcUnixUdpPollingTask; -public: - // The ports chosen here should not be used by any other process. - // List of used ports on Linux: /etc/services - static constexpr uint16_t DEFAULT_UDP_SERVER_PORT = 7301; - static constexpr uint16_t DEFAULT_UDP_CLIENT_PORT = 7302; - - TmTcUnixUdpBridge(object_id_t objectId, object_id_t tcDestination, - object_id_t tmStoreId, object_id_t tcStoreId, - uint16_t serverPort = 0xFFFF,uint16_t clientPort = 0xFFFF); - virtual~ TmTcUnixUdpBridge(); - - void checkAndSetClientAddress(sockaddr_in& clientAddress); - - void setClientAddressToAny(bool ipAddrAnySet); -protected: - virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override; - -private: - int serverSocket = 0; - - const int serverSocketOptions = 0; - - struct sockaddr_in clientAddress; - socklen_t clientAddressLen = 0; - - struct sockaddr_in serverAddress; - socklen_t serverAddressLen = 0; - - bool ipAddrAnySet = false; - - //! Access to the client address is mutex protected as it is set - //! by another task. - MutexIF* mutex; - - void handleSocketError(); - void handleBindError(); - void handleSendError(); -}; - -#endif /* FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_ */ diff --git a/osal/linux/tcpipHelpers.cpp b/osal/linux/tcpipHelpers.cpp new file mode 100644 index 000000000..d7c644ecb --- /dev/null +++ b/osal/linux/tcpipHelpers.cpp @@ -0,0 +1,109 @@ +#include "../common/tcpipHelpers.h" + +#include "../../serviceinterface/ServiceInterface.h" +#include "../../tasks/TaskFactory.h" + +#include +#include + +void tcpip::handleError(Protocol protocol, ErrorSources errorSrc, dur_millis_t sleepDuration) { + int errCode = errno; + std::string protocolString; + std::string errorSrcString; + determineErrorStrings(protocol, errorSrc, protocolString, errorSrcString); + std::string infoString; + switch(errCode) { + case(EACCES): { + infoString = "EACCES"; + break; + } + case(EINVAL): { + infoString = "EINVAL"; + break; + } + case(EAGAIN): { + infoString = "EAGAIN"; + break; + } + case(EMFILE): { + infoString = "EMFILE"; + break; + } + case(ENFILE): { + infoString = "ENFILE"; + break; + } + case(EAFNOSUPPORT): { + infoString = "EAFNOSUPPORT"; + break; + } + case(ENOBUFS): { + infoString = "ENOBUFS"; + break; + } + case(ENOMEM): { + infoString = "ENOMEM"; + break; + } + case(EPROTONOSUPPORT): { + infoString = "EPROTONOSUPPORT"; + break; + } + case(EADDRINUSE): { + infoString = "EADDRINUSE"; + break; + } + case(EBADF): { + infoString = "EBADF"; + break; + } + case(ENOTSOCK): { + infoString = "ENOTSOCK"; + break; + } + case(EADDRNOTAVAIL): { + infoString = "EADDRNOTAVAIL"; + break; + } + case(EFAULT): { + infoString = "EFAULT"; + break; + } + case(ELOOP): { + infoString = "ELOOP"; + break; + } + case(ENAMETOOLONG): { + infoString = "ENAMETOOLONG"; + break; + } + case(ENOENT): { + infoString = "ENOENT"; + break; + } + case(ENOTDIR): { + infoString = "ENOTDIR"; + break; + } + case(EROFS): { + infoString = "EROFS"; + break; + } + + default: { + infoString = "Error code: " + std::to_string(errCode); + } + } + +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::warning << "tcpip::handleError: " << protocolString << " | " << errorSrcString << + " | " << infoString << std::endl; +#else + sif::printWarning("tcpip::handleError: %s | %s | %s\n", protocolString.c_str(), + errorSrcString.c_str(), infoString.c_str()); +#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ + + if(sleepDuration > 0) { + TaskFactory::instance()->delayTask(sleepDuration); + } +} diff --git a/osal/rtems/Clock.cpp b/osal/rtems/Clock.cpp index aef71fe15..b80786f74 100644 --- a/osal/rtems/Clock.cpp +++ b/osal/rtems/Clock.cpp @@ -1,7 +1,7 @@ #include "RtemsBasic.h" #include "../../timemanager/Clock.h" -#include "../../ipc/MutexHelper.h" +#include "../../ipc/MutexGuard.h" #include #include @@ -183,7 +183,7 @@ ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) { if(checkOrCreateClockMutex()!=HasReturnvaluesIF::RETURN_OK){ return HasReturnvaluesIF::RETURN_FAILED; } - MutexHelper helper(timeMutex); + MutexGuard helper(timeMutex); leapSeconds = leapSeconds_; @@ -196,7 +196,7 @@ ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) { if(timeMutex==nullptr){ return HasReturnvaluesIF::RETURN_FAILED; } - MutexHelper helper(timeMutex); + MutexGuard helper(timeMutex); *leapSeconds_ = leapSeconds; diff --git a/osal/rtems/MessageQueue.cpp b/osal/rtems/MessageQueue.cpp index bfaf35690..717b80dd0 100644 --- a/osal/rtems/MessageQueue.cpp +++ b/osal/rtems/MessageQueue.cpp @@ -61,7 +61,7 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) { } else { //No message was received. Keep lastPartner anyway, I might send something later. //But still, delete packet content. - memset(message->getData(), 0, message->getMaximumMessageSize()); + memset(message->getData(), 0, message->getMaximumDataSize()); } return convertReturnCode(status); } diff --git a/osal/windows/CMakeLists.txt b/osal/windows/CMakeLists.txt index b6e76d6a3..36a547658 100644 --- a/osal/windows/CMakeLists.txt +++ b/osal/windows/CMakeLists.txt @@ -1,11 +1,4 @@ -target_sources(${LIB_FSFW_NAME} - PRIVATE - TcWinUdpPollingTask.cpp - TmTcWinUdpBridge.cpp +target_sources(${LIB_FSFW_NAME} PRIVATE + tcpipHelpers.cpp + winTaskHelpers.cpp ) - -target_link_libraries(${LIB_FSFW_NAME} - PRIVATE - wsock32 - ws2_32 -) \ No newline at end of file diff --git a/osal/windows/TcWinUdpPollingTask.cpp b/osal/windows/TcWinUdpPollingTask.cpp deleted file mode 100644 index 4fd88c937..000000000 --- a/osal/windows/TcWinUdpPollingTask.cpp +++ /dev/null @@ -1,177 +0,0 @@ -#include "TcWinUdpPollingTask.h" -#include "../../globalfunctions/arrayprinter.h" -#include "../../serviceinterface/ServiceInterfaceStream.h" - -#include -#include - -TcWinUdpPollingTask::TcWinUdpPollingTask(object_id_t objectId, - object_id_t tmtcUnixUdpBridge, size_t frameSize, - double timeoutSeconds): SystemObject(objectId), - tmtcBridgeId(tmtcUnixUdpBridge) { - if(frameSize > 0) { - this->frameSize = frameSize; - } - else { - this->frameSize = DEFAULT_MAX_FRAME_SIZE; - } - - // Set up reception buffer with specified frame size. - // For now, it is assumed that only one frame is held in the buffer! - receptionBuffer.reserve(this->frameSize); - receptionBuffer.resize(this->frameSize); - - if(timeoutSeconds == -1) { - receptionTimeout = DEFAULT_TIMEOUT; - } - else { - receptionTimeout = timevalOperations::toTimeval(timeoutSeconds); - } -} - -TcWinUdpPollingTask::~TcWinUdpPollingTask() {} - -ReturnValue_t TcWinUdpPollingTask::performOperation(uint8_t opCode) { - // Poll for new UDP datagrams in permanent loop. - while(true) { - //! Sender Address is cached here. - struct sockaddr_in senderAddress; - int senderAddressSize = sizeof(senderAddress); - ssize_t bytesReceived = recvfrom(serverUdpSocket, - reinterpret_cast(receptionBuffer.data()), frameSize, - receptionFlags, reinterpret_cast(&senderAddress), - &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) { - - } - tmtcBridge->registerCommConnect(); - tmtcBridge->checkAndSetClientAddress(senderAddress); - } - return HasReturnvaluesIF::RETURN_OK; -} - - -ReturnValue_t TcWinUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) { - store_address_t storeId; - ReturnValue_t result = tcStore->addData(&storeId, - 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; - } - - TmTcMessage message(storeId); - - 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; -} - -ReturnValue_t TcWinUdpPollingTask::initialize() { - tcStore = objectManager->get(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(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; -} - -ReturnValue_t TcWinUdpPollingTask::initializeAfterTaskCreation() { - // Initialize the destination after task creation. This ensures - // that the destination has already been set in the TMTC bridge. - targetTcDestination = tmtcBridge->getRequestQueue(); - return HasReturnvaluesIF::RETURN_OK; -} - -void TcWinUdpPollingTask::setTimeout(double timeoutSeconds) { - DWORD timeoutMs = timeoutSeconds * 1000.0; - int result = setsockopt(serverUdpSocket, SOL_SOCKET, SO_RCVTIMEO, - reinterpret_cast(&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 - } -} - -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; - } - } - // to prevent spam. - Sleep(1000); -} diff --git a/osal/windows/TcWinUdpPollingTask.h b/osal/windows/TcWinUdpPollingTask.h deleted file mode 100644 index 50d39d25f..000000000 --- a/osal/windows/TcWinUdpPollingTask.h +++ /dev/null @@ -1,67 +0,0 @@ -#ifndef FSFW_OSAL_WINDOWS_TCSOCKETPOLLINGTASK_H_ -#define FSFW_OSAL_WINDOWS_TCSOCKETPOLLINGTASK_H_ - -#include "TmTcWinUdpBridge.h" -#include "../../objectmanager/SystemObject.h" -#include "../../tasks/ExecutableObjectIF.h" -#include "../../storagemanager/StorageManagerIF.h" - -#include - -/** - * @brief This class can be used to implement the polling of a Unix socket, - * using UDP for now. - * @details - * The task will be blocked while the specified number of bytes has not been - * received, so TC reception is handled inside a separate task. - * This class caches the IP address of the sender. It is assumed there - * is only one sender for now. - */ -class TcWinUdpPollingTask: public SystemObject, - public ExecutableObjectIF { - friend class TmTcWinUdpBridge; -public: - static constexpr size_t DEFAULT_MAX_FRAME_SIZE = 2048; - //! 0.5 default milliseconds timeout for now. - static constexpr timeval DEFAULT_TIMEOUT = {.tv_sec = 0, .tv_usec = 500}; - - TcWinUdpPollingTask(object_id_t objectId, object_id_t tmtcUnixUdpBridge, - size_t frameSize = 0, double timeoutSeconds = -1); - virtual~ TcWinUdpPollingTask(); - - /** - * Turn on optional timeout for UDP polling. In the default mode, - * the receive function will block until a packet is received. - * @param timeoutSeconds - */ - void setTimeout(double timeoutSeconds); - - virtual ReturnValue_t performOperation(uint8_t opCode) override; - virtual ReturnValue_t initialize() override; - virtual ReturnValue_t initializeAfterTaskCreation() override; - -protected: - StorageManagerIF* tcStore = nullptr; - -private: - //! TMTC bridge is cached. - object_id_t tmtcBridgeId = objects::NO_OBJECT; - TmTcWinUdpBridge* tmtcBridge = nullptr; - MessageQueueId_t targetTcDestination = MessageQueueIF::NO_QUEUE; - //! Reception flags: https://linux.die.net/man/2/recvfrom. - int receptionFlags = 0; - - //! Server socket, which is member of TMTC bridge and is assigned in - //! constructor - SOCKET serverUdpSocket = 0; - - std::vector receptionBuffer; - - size_t frameSize = 0; - timeval receptionTimeout; - - ReturnValue_t handleSuccessfullTcRead(size_t bytesRead); - void handleReadError(); -}; - -#endif /* FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_ */ diff --git a/osal/windows/TmTcWinUdpBridge.cpp b/osal/windows/TmTcWinUdpBridge.cpp deleted file mode 100644 index 69a48f3ee..000000000 --- a/osal/windows/TmTcWinUdpBridge.cpp +++ /dev/null @@ -1,212 +0,0 @@ -#include -#include "TmTcWinUdpBridge.h" - -TmTcWinUdpBridge::TmTcWinUdpBridge(object_id_t objectId, - object_id_t tcDestination, object_id_t tmStoreId, object_id_t tcStoreId, - uint16_t serverPort, uint16_t clientPort): - TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) { - mutex = MutexFactory::instance()->createMutex(); - communicationLinkUp = false; - - // Initiates Winsock DLL. - WSAData wsaData; - WORD wVersionRequested = MAKEWORD(2, 2); - int err = WSAStartup(wVersionRequested, &wsaData); - 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; - } - - uint16_t setServerPort = DEFAULT_UDP_SERVER_PORT; - if(serverPort != 0xFFFF) { - setServerPort = serverPort; - } - - uint16_t setClientPort = DEFAULT_UDP_CLIENT_PORT; - if(clientPort != 0xFFFF) { - setClientPort = clientPort; - } - - // Set up UDP socket: https://man7.org/linux/man-pages/man7/ip.7.html - //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; - } - - serverAddress.sin_family = AF_INET; - - // Accept packets from any interface. (potentially insecure). - serverAddress.sin_addr.s_addr = htonl(INADDR_ANY); - serverAddress.sin_port = htons(setServerPort); - serverAddressLen = sizeof(serverAddress); - setsockopt(serverSocket, SOL_SOCKET, SO_REUSEADDR, - reinterpret_cast(&serverSocketOptions), - sizeof(serverSocketOptions)); - - clientAddress.sin_family = AF_INET; - clientAddress.sin_addr.s_addr = htonl(INADDR_ANY); - clientAddress.sin_port = htons(setClientPort); - clientAddressLen = sizeof(clientAddress); - - int result = bind(serverSocket, - reinterpret_cast(&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(); - } -} - -TmTcWinUdpBridge::~TmTcWinUdpBridge() { - WSACleanup(); -} - -ReturnValue_t TmTcWinUdpBridge::sendTm(const uint8_t *data, size_t dataLen) { - int flags = 0; - - //clientAddress.sin_addr.s_addr = htons(INADDR_ANY); - //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(data), dataLen, flags, - reinterpret_cast(&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; -} - -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. - if(clientAddress.sin_addr.s_addr != newAddress.sin_addr.s_addr) { - clientAddress.sin_addr.s_addr = newAddress.sin_addr.s_addr; - clientAddressLen = sizeof(clientAddress); - } -} - -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: { - /* - 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; - } - } -} - -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: { - /* - 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; - } - } -} - -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: { - /* - 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; - } - } -} - diff --git a/osal/windows/TmTcWinUdpBridge.h b/osal/windows/TmTcWinUdpBridge.h deleted file mode 100644 index 8188039c0..000000000 --- a/osal/windows/TmTcWinUdpBridge.h +++ /dev/null @@ -1,49 +0,0 @@ -#ifndef FSFW_OSAL_WINDOWS_TMTCWINUDPBRIDGE_H_ -#define FSFW_OSAL_WINDOWS_TMTCWINUDPBRIDGE_H_ - -#include "../../tmtcservices/TmTcBridge.h" - -#include -#include - -class TmTcWinUdpBridge: public TmTcBridge { - friend class TcWinUdpPollingTask; -public: - // The ports chosen here should not be used by any other process. - static constexpr uint16_t DEFAULT_UDP_SERVER_PORT = 7301; - static constexpr uint16_t DEFAULT_UDP_CLIENT_PORT = 7302; - - TmTcWinUdpBridge(object_id_t objectId, object_id_t tcDestination, - object_id_t tmStoreId, object_id_t tcStoreId, - uint16_t serverPort = 0xFFFF,uint16_t clientPort = 0xFFFF); - virtual~ TmTcWinUdpBridge(); - - void checkAndSetClientAddress(sockaddr_in clientAddress); - -protected: - virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override; - -private: - SOCKET serverSocket = 0; - - const int serverSocketOptions = 0; - - struct sockaddr_in clientAddress; - int clientAddressLen = 0; - - struct sockaddr_in serverAddress; - int serverAddressLen = 0; - - //! Access to the client address is mutex protected as it is set - //! by another task. - MutexIF* mutex; - - void handleSocketError(); - void handleBindError(); - void handleSendError(); -}; - - - -#endif /* FSFW_OSAL_HOST_TMTCWINUDPBRIDGE_H_ */ - diff --git a/osal/windows/tcpipHelpers.cpp b/osal/windows/tcpipHelpers.cpp new file mode 100644 index 000000000..3dab9406c --- /dev/null +++ b/osal/windows/tcpipHelpers.cpp @@ -0,0 +1,63 @@ +#include "../common/tcpipHelpers.h" +#include + +#include "../../tasks/TaskFactory.h" +#include "../../serviceinterface/ServiceInterface.h" + + +#include +#include + +void tcpip::handleError(Protocol protocol, ErrorSources errorSrc, dur_millis_t sleepDuration) { +#if FSFW_VERBOSE_LEVEL >= 1 + int errCode = WSAGetLastError(); + std::string protocolString; + std::string errorSrcString; + determineErrorStrings(protocol, errorSrc, protocolString, errorSrcString); + + std::string infoString; + switch(errCode) { + case(WSANOTINITIALISED): { + infoString = "WSANOTINITIALISED"; + break; + } + case(WSAEADDRINUSE): { + infoString = "WSAEADDRINUSE"; + break; + } + case(WSAEFAULT): { + infoString = "WSAEFAULT"; + break; + } + case(WSAEADDRNOTAVAIL): { + infoString = "WSAEADDRNOTAVAIL"; + break; + } + case(WSAEINVAL): { + infoString = "WSAEINVAL"; + break; + } + default: { + /* + https://docs.microsoft.com/en-us/windows/win32/winsock/windows-sockets-error-codes-2 + */ + infoString = "Error code: " + std::to_string(errCode); + break; + } + } + +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::warning << "tcpip::handleError: " << protocolString << " | " << errorSrcString << + " | " << infoString << std::endl; +#else + sif::printWarning("tcpip::handleError: %s | %s | %s\n", protocolString.c_str(), + errorSrcString.c_str(), infoString.c_str()); +#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ + +#endif /* FSFW_VERBOSE_LEVEL >= 1 */ + + if(sleepDuration > 0) { + TaskFactory::instance()->delayTask(sleepDuration); + } +} + diff --git a/osal/windows/winTaskHelpers.cpp b/osal/windows/winTaskHelpers.cpp new file mode 100644 index 000000000..6765b952c --- /dev/null +++ b/osal/windows/winTaskHelpers.cpp @@ -0,0 +1,107 @@ +#include +#include + +TaskPriority tasks::makeWinPriority(PriorityClass prioClass, PriorityNumber prioNumber) { + return (static_cast(prioClass) << 16) | static_cast (prioNumber); +} + +void tasks::getWinPriorityParameters(TaskPriority priority, + DWORD& priorityClass, int& priorityNumber) { + PriorityClass classInternal = static_cast(priority >> 16 & 0xff); + PriorityNumber numberInternal = static_cast(priority & 0xff); + switch(classInternal) { + case(CLASS_IDLE): { + priorityClass = IDLE_PRIORITY_CLASS; + break; + } + case(CLASS_BELOW_NORMAL): { + priorityClass = BELOW_NORMAL_PRIORITY_CLASS; + break; + } + case(CLASS_NORMAL): { + priorityClass = NORMAL_PRIORITY_CLASS; + break; + } + case(CLASS_ABOVE_NORMAL): { + priorityClass = ABOVE_NORMAL_PRIORITY_CLASS; + break; + } + case(CLASS_HIGH): { + priorityClass = HIGH_PRIORITY_CLASS; + break; + } + case(CLASS_REALTIME): { + priorityClass = REALTIME_PRIORITY_CLASS; + break; + } + default: { + priorityClass = NORMAL_PRIORITY_CLASS; + } + } + + switch(numberInternal) { + case(IDLE): { + priorityNumber = THREAD_PRIORITY_IDLE; + break; + } + case(LOWEST): { + priorityNumber = THREAD_PRIORITY_LOWEST; + break; + } + case(BELOW_NORMAL): { + priorityNumber = THREAD_PRIORITY_BELOW_NORMAL; + break; + } + case(NORMAL): { + priorityNumber = THREAD_PRIORITY_NORMAL; + break; + } + case(ABOVE_NORMAL): { + priorityNumber = THREAD_PRIORITY_ABOVE_NORMAL; + break; + } + case(HIGHEST): { + priorityNumber = THREAD_PRIORITY_HIGHEST; + break; + } + case(CRITICAL): { + priorityNumber = THREAD_PRIORITY_TIME_CRITICAL; + break; + } + default: { + priorityNumber = THREAD_PRIORITY_NORMAL; + } + } +} + +ReturnValue_t tasks::setTaskPriority(HANDLE nativeHandle, TaskPriority priority) { + /* List of possible priority classes: + https://docs.microsoft.com/en-us/windows/win32/api/processthreadsapi/nf-processthreadsapi-setpriorityclass + And respective thread priority numbers: + https://docs.microsoft.com/en-us/windows/win32/procthread/scheduling-priorities + */ + DWORD dwPriorityClass = 0; + int nPriorityNumber = 0; + tasks::getWinPriorityParameters(priority, dwPriorityClass, nPriorityNumber); + int result = SetPriorityClass( + reinterpret_cast(nativeHandle), + dwPriorityClass); + if(result != 0) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::error << "PeriodicTask: Windows SetPriorityClass failed with code " + << GetLastError() << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; +#endif + } + result = SetThreadPriority( + reinterpret_cast(nativeHandle), + nPriorityNumber); + if(result != 0) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::error << "PeriodicTask: Windows SetPriorityClass failed with code " + << GetLastError() << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; +#endif + } + return HasReturnvaluesIF::RETURN_OK; +} diff --git a/osal/windows/winTaskHelpers.h b/osal/windows/winTaskHelpers.h new file mode 100644 index 000000000..64e526722 --- /dev/null +++ b/osal/windows/winTaskHelpers.h @@ -0,0 +1,37 @@ +#include "../../tasks/TaskFactory.h" + +#include +#include + +#ifdef _WIN32 + +namespace tasks { + +enum PriorityClass: uint16_t { + CLASS_IDLE, + CLASS_BELOW_NORMAL, + CLASS_NORMAL, + CLASS_ABOVE_NORMAL, + CLASS_HIGH, + CLASS_REALTIME +}; +enum PriorityNumber: uint16_t { + IDLE, + LOWEST, + BELOW_NORMAL, + NORMAL, + ABOVE_NORMAL, + HIGHEST, + CRITICAL +}; +TaskPriority makeWinPriority(PriorityClass prioClass = PriorityClass::CLASS_NORMAL, + PriorityNumber prioNumber = PriorityNumber::NORMAL); +void getWinPriorityParameters(TaskPriority priority, DWORD& priorityClass, + int& priorityNumber); + +ReturnValue_t setTaskPriority(HANDLE nativeHandle, TaskPriority priority); + +} + +#endif + diff --git a/parameters/ParameterHelper.cpp b/parameters/ParameterHelper.cpp index 24d0b2b1f..e80c2c47f 100644 --- a/parameters/ParameterHelper.cpp +++ b/parameters/ParameterHelper.cpp @@ -65,6 +65,9 @@ ReturnValue_t ParameterHelper::handleParameterMessage(CommandMessage *message) { ParameterWrapper ownerWrapper; result = owner->getParameter(domain, uniqueIdentifier, &ownerWrapper, &streamWrapper, linearIndex); + if(result != HasReturnvaluesIF::RETURN_OK) { + return result; + } result = ownerWrapper.copyFrom(&streamWrapper, linearIndex); if (result != HasReturnvaluesIF::RETURN_OK) { diff --git a/platform.h b/platform.h new file mode 100644 index 000000000..4bca33984 --- /dev/null +++ b/platform.h @@ -0,0 +1,10 @@ +#ifndef FSFW_PLATFORM_H_ +#define FSFW_PLATFORM_H_ + +#if defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__)) +#define PLATFORM_UNIX +#elif defined(_WIN32) +#define PLATFORM_WIN +#endif + +#endif /* FSFW_PLATFORM_H_ */ diff --git a/power/PowerComponent.cpp b/power/PowerComponent.cpp index 04f8658ea..9ea84dadb 100644 --- a/power/PowerComponent.cpp +++ b/power/PowerComponent.cpp @@ -1,6 +1,7 @@ #include "PowerComponent.h" #include "../serialize/SerializeAdapter.h" + PowerComponent::PowerComponent(): switchId1(0xFF), switchId2(0xFF), doIHaveTwoSwitches(false) { } @@ -8,23 +9,23 @@ PowerComponent::PowerComponent(): switchId1(0xFF), switchId2(0xFF), PowerComponent::PowerComponent(object_id_t setId, uint8_t moduleId, float min, float max, uint8_t switchId1, bool twoSwitches, uint8_t switchId2) : deviceObjectId(setId), switchId1(switchId1), switchId2(switchId2), - doIHaveTwoSwitches(twoSwitches), min(min), max(max), + doIHaveTwoSwitches(twoSwitches), minPower(min), maxPower(max), moduleId(moduleId) { } ReturnValue_t PowerComponent::serialize(uint8_t** buffer, size_t* size, size_t maxSize, Endianness streamEndianness) const { - ReturnValue_t result = SerializeAdapter::serialize(&min, buffer, + ReturnValue_t result = SerializeAdapter::serialize(&minPower, buffer, size, maxSize, streamEndianness); if (result != HasReturnvaluesIF::RETURN_OK) { return result; } - return SerializeAdapter::serialize(&max, buffer, size, maxSize, + return SerializeAdapter::serialize(&maxPower, buffer, size, maxSize, streamEndianness); } size_t PowerComponent::getSerializedSize() const { - return sizeof(min) + sizeof(max); + return sizeof(minPower) + sizeof(maxPower); } object_id_t PowerComponent::getDeviceObjectId() { @@ -44,21 +45,21 @@ bool PowerComponent::hasTwoSwitches() { } float PowerComponent::getMin() { - return min; + return minPower; } float PowerComponent::getMax() { - return max; + return maxPower; } ReturnValue_t PowerComponent::deSerialize(const uint8_t** buffer, size_t* size, Endianness streamEndianness) { - ReturnValue_t result = SerializeAdapter::deSerialize(&min, buffer, + ReturnValue_t result = SerializeAdapter::deSerialize(&minPower, buffer, size, streamEndianness); if (result != HasReturnvaluesIF::RETURN_OK) { return result; } - return SerializeAdapter::deSerialize(&max, buffer, size, streamEndianness); + return SerializeAdapter::deSerialize(&maxPower, buffer, size, streamEndianness); } ReturnValue_t PowerComponent::getParameter(uint8_t domainId, uint8_t uniqueId, @@ -69,10 +70,10 @@ ReturnValue_t PowerComponent::getParameter(uint8_t domainId, uint8_t uniqueId, } switch (uniqueId) { case 0: - parameterWrapper->set<>(min); + parameterWrapper->set<>(minPower); break; case 1: - parameterWrapper->set<>(max); + parameterWrapper->set<>(maxPower); break; default: return INVALID_IDENTIFIER_ID; diff --git a/power/PowerComponent.h b/power/PowerComponent.h index 659b68530..6b9778a59 100644 --- a/power/PowerComponent.h +++ b/power/PowerComponent.h @@ -9,7 +9,7 @@ class PowerComponent: public PowerComponentIF { public: - PowerComponent(object_id_t setId, uint8_t moduleId, float min, float max, + PowerComponent(object_id_t setId, uint8_t moduleId, float minPower, float maxPower, uint8_t switchId1, bool twoSwitches = false, uint8_t switchId2 = 0xFF); @@ -41,8 +41,8 @@ private: const bool doIHaveTwoSwitches; - float min = 0.0; - float max = 0.0; + float minPower = 0.0; + float maxPower = 0.0; uint8_t moduleId = 0; diff --git a/pus/CService200ModeCommanding.cpp b/pus/CService200ModeCommanding.cpp index c4e99359b..70caadd10 100644 --- a/pus/CService200ModeCommanding.cpp +++ b/pus/CService200ModeCommanding.cpp @@ -61,8 +61,7 @@ ReturnValue_t CService200ModeCommanding::prepareCommand( return result; } - ModeMessage::setModeMessage(dynamic_cast(message), - ModeMessage::CMD_MODE_COMMAND, modeCommandPacket.getMode(), + ModeMessage::setModeMessage(message, ModeMessage::CMD_MODE_COMMAND, modeCommandPacket.getMode(), modeCommandPacket.getSubmode()); return result; } diff --git a/pus/Service17Test.cpp b/pus/Service17Test.cpp index 85a32e1e5..daed987ae 100644 --- a/pus/Service17Test.cpp +++ b/pus/Service17Test.cpp @@ -1,6 +1,7 @@ #include "Service17Test.h" +#include -#include "../serviceinterface/ServiceInterfaceStream.h" +#include "../serviceinterface/ServiceInterface.h" #include "../objectmanager/SystemObject.h" #include "../tmtcpacket/pus/TmPacketStored.h" @@ -17,15 +18,25 @@ Service17Test::~Service17Test() { ReturnValue_t Service17Test::handleRequest(uint8_t subservice) { switch(subservice) { case Subservice::CONNECTION_TEST: { - TmPacketStored connectionPacket(apid, serviceId, +#if FSFW_USE_PUS_C_TELEMETRY == 0 + TmPacketStoredPusA connectionPacket(apid, serviceId, Subservice::CONNECTION_TEST_REPORT, packetSubCounter++); +#else + TmPacketStoredPusC connectionPacket(apid, serviceId, + Subservice::CONNECTION_TEST_REPORT, packetSubCounter++); +#endif connectionPacket.sendPacket(requestQueue->getDefaultDestination(), requestQueue->getId()); return HasReturnvaluesIF::RETURN_OK; } case Subservice::EVENT_TRIGGER_TEST: { - TmPacketStored connectionPacket(apid, serviceId, +#if FSFW_USE_PUS_C_TELEMETRY == 0 + TmPacketStoredPusA connectionPacket(apid, serviceId, Subservice::CONNECTION_TEST_REPORT, packetSubCounter++); +#else + TmPacketStoredPusC connectionPacket(apid, serviceId, + Subservice::CONNECTION_TEST_REPORT, packetSubCounter++); +#endif connectionPacket.sendPacket(requestQueue->getDefaultDestination(), requestQueue->getId()); triggerEvent(TEST, 1234, 5678); diff --git a/pus/Service1TelecommandVerification.cpp b/pus/Service1TelecommandVerification.cpp index 9e86c752a..7ef08de77 100644 --- a/pus/Service1TelecommandVerification.cpp +++ b/pus/Service1TelecommandVerification.cpp @@ -15,7 +15,9 @@ Service1TelecommandVerification::Service1TelecommandVerification( tmQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth); } -Service1TelecommandVerification::~Service1TelecommandVerification() {} +Service1TelecommandVerification::~Service1TelecommandVerification() { + QueueFactory::instance()->deleteMessageQueue(tmQueue); +} MessageQueueId_t Service1TelecommandVerification::getVerificationQueue(){ return tmQueue->getId(); @@ -66,8 +68,13 @@ ReturnValue_t Service1TelecommandVerification::generateFailureReport( message->getTcSequenceControl(), message->getStep(), message->getErrorCode(), message->getParameter1(), message->getParameter2()); - TmPacketStored tmPacket(apid, serviceId, message->getReportId(), +#if FSFW_USE_PUS_C_TELEMETRY == 0 + TmPacketStoredPusA tmPacket(apid, serviceId, message->getReportId(), packetSubCounter++, &report); +#else + TmPacketStoredPusC tmPacket(apid, serviceId, message->getReportId(), + packetSubCounter++, &report); +#endif ReturnValue_t result = tmPacket.sendPacket(tmQueue->getDefaultDestination(), tmQueue->getId()); return result; @@ -77,8 +84,13 @@ ReturnValue_t Service1TelecommandVerification::generateSuccessReport( PusVerificationMessage *message) { SuccessReport report(message->getReportId(),message->getTcPacketId(), message->getTcSequenceControl(),message->getStep()); - TmPacketStored tmPacket(apid, serviceId, message->getReportId(), +#if FSFW_USE_PUS_C_TELEMETRY == 0 + TmPacketStoredPusA tmPacket(apid, serviceId, message->getReportId(), packetSubCounter++, &report); +#else + TmPacketStoredPusC tmPacket(apid, serviceId, message->getReportId(), + packetSubCounter++, &report); +#endif ReturnValue_t result = tmPacket.sendPacket(tmQueue->getDefaultDestination(), tmQueue->getId()); return result; diff --git a/pus/Service20ParameterManagement.cpp b/pus/Service20ParameterManagement.cpp index bc3a9119b..90e966500 100644 --- a/pus/Service20ParameterManagement.cpp +++ b/pus/Service20ParameterManagement.cpp @@ -75,9 +75,8 @@ ReturnValue_t Service20ParameterManagement::checkInterfaceAndAcquireMessageQueue #else sif::printError("Service20ParameterManagement::checkInterfaceAndAcquire" "MessageQueue: Can't access object\n"); - sif::printError("Object ID: 0x%08x\n", objectId); - sif::printError("Make sure it implements " - "ReceivesParameterMessagesIF!\n"); + sif::printError("Object ID: 0x%08x\n", *objectId); + sif::printError("Make sure it implements ReceivesParameterMessagesIF!\n"); #endif return CommandingServiceBase::INVALID_OBJECT; diff --git a/pus/Service3Housekeeping.cpp b/pus/Service3Housekeeping.cpp index 5456764d0..c4f80c2a5 100644 --- a/pus/Service3Housekeeping.cpp +++ b/pus/Service3Housekeeping.cpp @@ -159,7 +159,7 @@ ReturnValue_t Service3Housekeeping::prepareCollectionIntervalModificationCommand CommandMessage *command, object_id_t objectId, bool isDiagnostics, const uint8_t *tcData, size_t tcDataLen) { if(tcDataLen < sizeof(sid_t) + sizeof(float)) { - // SID plus the size of the new collection intervL. + /* SID plus the size of the new collection interval. */ return CommandingServiceBase::INVALID_TC; } diff --git a/pus/Service5EventReporting.cpp b/pus/Service5EventReporting.cpp index 29eb7f20e..62eefcb3f 100644 --- a/pus/Service5EventReporting.cpp +++ b/pus/Service5EventReporting.cpp @@ -15,7 +15,9 @@ Service5EventReporting::Service5EventReporting(object_id_t objectId, eventQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth); } -Service5EventReporting::~Service5EventReporting(){} +Service5EventReporting::~Service5EventReporting() { + QueueFactory::instance()->deleteMessageQueue(eventQueue); +} ReturnValue_t Service5EventReporting::performService() { EventMessage message; @@ -50,8 +52,13 @@ ReturnValue_t Service5EventReporting::generateEventReport( { EventReport report(message.getEventId(),message.getReporter(), message.getParameter1(),message.getParameter2()); - TmPacketStored tmPacket(PusServiceBase::apid, PusServiceBase::serviceId, +#if FSFW_USE_PUS_C_TELEMETRY == 0 + TmPacketStoredPusA tmPacket(PusServiceBase::apid, PusServiceBase::serviceId, message.getSeverity(), packetSubCounter++, &report); +#else + TmPacketStoredPusC tmPacket(PusServiceBase::apid, PusServiceBase::serviceId, + message.getSeverity(), packetSubCounter++, &report); +#endif ReturnValue_t result = tmPacket.sendPacket( requestQueue->getDefaultDestination(),requestQueue->getId()); if(result != HasReturnvaluesIF::RETURN_OK) { diff --git a/pus/Service8FunctionManagement.cpp b/pus/Service8FunctionManagement.cpp index a2202abc1..54187a829 100644 --- a/pus/Service8FunctionManagement.cpp +++ b/pus/Service8FunctionManagement.cpp @@ -53,12 +53,14 @@ ReturnValue_t Service8FunctionManagement::checkInterfaceAndAcquireMessageQueue( ReturnValue_t Service8FunctionManagement::prepareCommand( CommandMessage* message, uint8_t subservice, const uint8_t* tcData, size_t tcDataLen, uint32_t* state, object_id_t objectId) { - return prepareDirectCommand(dynamic_cast(message), - tcData, tcDataLen); + return prepareDirectCommand(message, tcData, tcDataLen); } ReturnValue_t Service8FunctionManagement::prepareDirectCommand( CommandMessage *message, const uint8_t *tcData, size_t tcDataLen) { + if(message == nullptr) { + return HasReturnvaluesIF::RETURN_FAILED; + } if(tcDataLen < sizeof(object_id_t) + sizeof(ActionId_t)) { #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "Service8FunctionManagement::prepareDirectCommand:" diff --git a/pus/servicepackets/Service8Packets.h b/pus/servicepackets/Service8Packets.h index b026edf52..a27cf8bb6 100644 --- a/pus/servicepackets/Service8Packets.h +++ b/pus/servicepackets/Service8Packets.h @@ -43,8 +43,8 @@ public: private: DirectCommand(const DirectCommand &command); - object_id_t objectId; - ActionId_t actionId; + object_id_t objectId = 0; + ActionId_t actionId = 0; uint32_t parametersSize; //!< [EXPORT] : [IGNORE] const uint8_t * parameterBuffer; //!< [EXPORT] : [MAXSIZE] 65535 Bytes diff --git a/returnvalues/FwClassIds.h b/returnvalues/FwClassIds.h index 4c9f022ba..17c37a79d 100644 --- a/returnvalues/FwClassIds.h +++ b/returnvalues/FwClassIds.h @@ -1,72 +1,78 @@ #ifndef FSFW_RETURNVALUES_FWCLASSIDS_H_ #define FSFW_RETURNVALUES_FWCLASSIDS_H_ +#include + +// The comment block at the end is used by the returnvalue exporter. +// It is recommended to add it as well for mission returnvalues namespace CLASS_ID { -enum { - OPERATING_SYSTEM_ABSTRACTION = 1, //OS - OBJECT_MANAGER_IF, //OM - DEVICE_HANDLER_BASE, //DHB - RMAP_CHANNEL, //RMP - POWER_SWITCH_IF, //PS - HAS_MEMORY_IF, //PP - DEVICE_STATE_MACHINE_BASE, //DSMB - DATA_SET_CLASS, //DPS - POOL_RAW_ACCESS_CLASS, //DPR - CONTROLLER_BASE, //CTR - SUBSYSTEM_BASE, //SB - MODE_STORE_IF, //MS - SUBSYSTEM, //SS - HAS_MODES_IF, //HM - COMMAND_MESSAGE, //CM - CCSDS_TIME_HELPER_CLASS, //TIM - ARRAY_LIST, //AL - ASSEMBLY_BASE, //AB - MEMORY_HELPER, //MH - SERIALIZE_IF, //SE - FIXED_MAP, //FM - FIXED_MULTIMAP, //FMM - HAS_HEALTH_IF, //HHI - FIFO_CLASS, //FF - MESSAGE_PROXY, //MQP - TRIPLE_REDUNDACY_CHECK, //TRC - TC_PACKET_CHECK, //TCC - PACKET_DISTRIBUTION, //TCD - ACCEPTS_TELECOMMANDS_IF, //PUS - DEVICE_SERVICE_BASE, //DSB - COMMAND_SERVICE_BASE, //CSB - TM_STORE_BACKEND_IF, //TMB - TM_STORE_FRONTEND_IF, //TMF - STORAGE_AND_RETRIEVAL_SERVICE, //SR - MATCH_TREE_CLASS, //MT - EVENT_MANAGER_IF, //EV - HANDLES_FAILURES_IF, //FDI - DEVICE_HANDLER_IF, //DHI - STORAGE_MANAGER_IF, //SM - THERMAL_COMPONENT_IF, //TC - INTERNAL_ERROR_CODES, //IEC - TRAP, //TRP - CCSDS_HANDLER_IF, //CCS - PARAMETER_WRAPPER, //PAW - HAS_PARAMETERS_IF, //HPA - ASCII_CONVERTER, //ASC - POWER_SWITCHER, //POS - LIMITS_IF, //LIM - COMMANDS_ACTIONS_IF, //CF - HAS_ACTIONS_IF, //HF - DEVICE_COMMUNICATION_IF, //DC - BSP, //BSP - TIME_STAMPER_IF, //TSI 53 - SGP4PROPAGATOR_CLASS, //SGP4 54 - MUTEX_IF, //MUX 55 - MESSAGE_QUEUE_IF,//MQI 56 - SEMAPHORE_IF, //SPH 57 - LOCAL_POOL_OWNER_IF, //LPIF 58 - POOL_VARIABLE_IF, //PVA 59 - HOUSEKEEPING_MANAGER, //HKM 60 - DLE_ENCODER, //DLEE 61 - PUS_SERVICE_9, //PUS9 62 - FILE_SYSTEM, //FILS 63 - FW_CLASS_ID_COUNT //is actually count + 1 ! +enum: uint8_t { + FW_CLASS_ID_START = 0, // [EXPORT] : [START] + OPERATING_SYSTEM_ABSTRACTION, //OS + OBJECT_MANAGER_IF, //OM + DEVICE_HANDLER_BASE, //DHB + RMAP_CHANNEL, //RMP + POWER_SWITCH_IF, //PS + HAS_MEMORY_IF, //PP + DEVICE_STATE_MACHINE_BASE, //DSMB + DATA_SET_CLASS, //DPS + POOL_RAW_ACCESS_CLASS, //DPR + CONTROLLER_BASE, //CTR + SUBSYSTEM_BASE, //SB + MODE_STORE_IF, //MS + SUBSYSTEM, //SS + HAS_MODES_IF, //HM + COMMAND_MESSAGE, //CM + CCSDS_TIME_HELPER_CLASS, //TIM + ARRAY_LIST, //AL + ASSEMBLY_BASE, //AB + MEMORY_HELPER, //MH + SERIALIZE_IF, //SE + FIXED_MAP, //FM + FIXED_MULTIMAP, //FMM + HAS_HEALTH_IF, //HHI + FIFO_CLASS, //FF + MESSAGE_PROXY, //MQP + TRIPLE_REDUNDACY_CHECK, //TRC + TC_PACKET_CHECK, //TCC + PACKET_DISTRIBUTION, //TCD + ACCEPTS_TELECOMMANDS_IF, //PUS + DEVICE_SERVICE_BASE, //DSB + COMMAND_SERVICE_BASE, //CSB + TM_STORE_BACKEND_IF, //TMB + TM_STORE_FRONTEND_IF, //TMF + STORAGE_AND_RETRIEVAL_SERVICE, //SR + MATCH_TREE_CLASS, //MT + EVENT_MANAGER_IF, //EV + HANDLES_FAILURES_IF, //FDI + DEVICE_HANDLER_IF, //DHI + STORAGE_MANAGER_IF, //SM + THERMAL_COMPONENT_IF, //TC + INTERNAL_ERROR_CODES, //IEC + TRAP, //TRP + CCSDS_HANDLER_IF, //CCS + PARAMETER_WRAPPER, //PAW + HAS_PARAMETERS_IF, //HPA + ASCII_CONVERTER, //ASC + POWER_SWITCHER, //POS + LIMITS_IF, //LIM + COMMANDS_ACTIONS_IF, //CF + HAS_ACTIONS_IF, //HF + DEVICE_COMMUNICATION_IF, //DC + BSP, //BSP + TIME_STAMPER_IF, //TSI + SGP4PROPAGATOR_CLASS, //SGP4 + MUTEX_IF, //MUX + MESSAGE_QUEUE_IF,//MQI + SEMAPHORE_IF, //SPH + LOCAL_POOL_OWNER_IF, //LPIF + POOL_VARIABLE_IF, //PVA + HOUSEKEEPING_MANAGER, //HKM + DLE_ENCODER, //DLEE + PUS_SERVICE_3, //PUS3 + PUS_SERVICE_9, //PUS9 + FILE_SYSTEM, //FILS + FW_CLASS_ID_COUNT // [EXPORT] : [END] }; } diff --git a/serialize/SerializeElement.h b/serialize/SerializeElement.h index 470802927..db66f9cc2 100644 --- a/serialize/SerializeElement.h +++ b/serialize/SerializeElement.h @@ -25,7 +25,7 @@ public: } SerializeElement() : - LinkedElement(this) { + LinkedElement(this), entry() { } ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize, diff --git a/serialize/SerializeIF.h b/serialize/SerializeIF.h index d72218f0a..dfd854e3a 100644 --- a/serialize/SerializeIF.h +++ b/serialize/SerializeIF.h @@ -19,7 +19,10 @@ class SerializeIF { public: enum class Endianness : uint8_t { - BIG, LITTLE, MACHINE + BIG, + LITTLE, + MACHINE, + NETWORK = BIG // Added for convenience like htons on sockets }; static const uint8_t INTERFACE_ID = CLASS_ID::SERIALIZE_IF; diff --git a/serviceinterface/ServiceInterface.h b/serviceinterface/ServiceInterface.h index 1f7e5e84a..e95dd9a47 100644 --- a/serviceinterface/ServiceInterface.h +++ b/serviceinterface/ServiceInterface.h @@ -5,9 +5,9 @@ #include "serviceInterfaceDefintions.h" #if FSFW_CPP_OSTREAM_ENABLED == 1 -#include +#include "ServiceInterfaceStream.h" #else -#include +#include "ServiceInterfacePrinter.h" #endif #endif /* FSFW_SERVICEINTERFACE_SERVICEINTERFACE_H_ */ diff --git a/storagemanager/PoolManager.cpp b/storagemanager/PoolManager.cpp index 4e8014fd3..eec849078 100644 --- a/storagemanager/PoolManager.cpp +++ b/storagemanager/PoolManager.cpp @@ -15,7 +15,7 @@ PoolManager::~PoolManager(void) { ReturnValue_t PoolManager::reserveSpace(const size_t size, store_address_t* address, bool ignoreFault) { - MutexHelper mutexHelper(mutex, MutexIF::TimeoutType::WAITING, + MutexGuard mutexHelper(mutex, MutexIF::TimeoutType::WAITING, mutexTimeoutMs); ReturnValue_t status = LocalPool::reserveSpace(size, address,ignoreFault); @@ -32,7 +32,7 @@ ReturnValue_t PoolManager::deleteData( ". id is "<< storeId.packetIndex << std::endl; #endif #endif - MutexHelper mutexHelper(mutex, MutexIF::TimeoutType::WAITING, + MutexGuard mutexHelper(mutex, MutexIF::TimeoutType::WAITING, mutexTimeoutMs); return LocalPool::deleteData(storeId); } @@ -40,7 +40,7 @@ ReturnValue_t PoolManager::deleteData( ReturnValue_t PoolManager::deleteData(uint8_t* buffer, size_t size, store_address_t* storeId) { - MutexHelper mutexHelper(mutex, MutexIF::TimeoutType::WAITING, 20); + MutexGuard mutexHelper(mutex, MutexIF::TimeoutType::WAITING, 20); ReturnValue_t status = LocalPool::deleteData(buffer, size, storeId); return status; diff --git a/storagemanager/PoolManager.h b/storagemanager/PoolManager.h index 5786a2252..4dde3a23f 100644 --- a/storagemanager/PoolManager.h +++ b/storagemanager/PoolManager.h @@ -3,7 +3,7 @@ #include "LocalPool.h" #include "StorageAccessor.h" -#include "../ipc/MutexHelper.h" +#include "../ipc/MutexGuard.h" /** diff --git a/subsystem/SubsystemBase.cpp b/subsystem/SubsystemBase.cpp index bcfa4b0e3..565e0712d 100644 --- a/subsystem/SubsystemBase.cpp +++ b/subsystem/SubsystemBase.cpp @@ -5,8 +5,7 @@ SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent, Mode_t initialMode, uint16_t commandQueueDepth) : - SystemObject(setObjectId), mode(initialMode), submode(SUBMODE_NONE), - childrenChangedMode(false), + SystemObject(setObjectId), mode(initialMode), commandQueue(QueueFactory::instance()->createMessageQueue( commandQueueDepth, CommandMessage::MAX_MESSAGE_SIZE)), healthHelper(this, setObjectId), modeHelper(this), parentId(parent) { @@ -167,16 +166,16 @@ MessageQueueId_t SubsystemBase::getCommandQueue() const { } ReturnValue_t SubsystemBase::initialize() { - MessageQueueId_t parentQueue = 0; + MessageQueueId_t parentQueue = MessageQueueIF::NO_QUEUE; ReturnValue_t result = SystemObject::initialize(); if (result != RETURN_OK) { return result; } - if (parentId != 0) { + if (parentId != objects::NO_OBJECT) { SubsystemBase *parent = objectManager->get(parentId); - if (parent == NULL) { + if (parent == nullptr) { return RETURN_FAILED; } parentQueue = parent->getCommandQueue(); diff --git a/subsystem/SubsystemBase.h b/subsystem/SubsystemBase.h index b8e4f9029..6b2e9b5fd 100644 --- a/subsystem/SubsystemBase.h +++ b/subsystem/SubsystemBase.h @@ -37,6 +37,17 @@ public: virtual MessageQueueId_t getCommandQueue() const override; + /** + * Function to register the child objects. + * Performs a checks if the child does implement HasHealthIF and/or HasModesIF + * + * Also adds them to the internal childrenMap. + * + * @param objectId + * @return RETURN_OK if successful + * CHILD_DOESNT_HAVE_MODES if Child is no HasHealthIF and no HasModesIF + * COULD_NOT_INSERT_CHILD If the Child could not be added to the ChildrenMap + */ ReturnValue_t registerChild(object_id_t objectId); virtual ReturnValue_t initialize() override; @@ -56,9 +67,9 @@ protected: Mode_t mode; - Submode_t submode; + Submode_t submode = SUBMODE_NONE; - bool childrenChangedMode; + bool childrenChangedMode = false; /** * Always check this against <=0, so you are robust against too many replies diff --git a/tasks/TaskFactory.h b/tasks/TaskFactory.h index 03b5163c4..d4795202c 100644 --- a/tasks/TaskFactory.h +++ b/tasks/TaskFactory.h @@ -22,9 +22,26 @@ public: /** * Creates a new periodic task and returns the interface pointer. * @param name_ Name of the task - * @param taskPriority_ Priority of the task + * @param taskPriority_ + * Priority of the task. This value might have different ranges for the various OSALs. + * - Linux Value ranging from 0 to 99 with 99 being the highest value. + * - Host For Windows, the value can be retrieved by using the #tasks::makeWinPriority + * function. For Linux, same priority system as specified above. MacOS not tested + * yet + * - FreeRTOS Value depends on the FreeRTOS configuration, higher number means higher priority + * - RTEMS Values ranging from 0 to 99 with 99 being the highest value. + * * @param stackSize_ Stack Size of the task + * This value might have different recommended ranges for the various OSALs. + * - Linux Lowest limit is the PeriodicTaskIF::MINIMUM_STACK_SIZE value + * - Host Value is ignored for now because the C++ threading abstraction layer is used. + * - FreeRTOS Stack size in bytes. It is recommended to specify at least 1kB of stack for + * FSFW tasks, but the lowest possible size is specified in the + * FreeRTOSConfig.h file. + * - RTEMS Lowest limit is specified the PeriodicTaskIF::MINIMUM_STACK_SIZE value. + * * @param period_ Period of the task + * * @param deadLineMissedFunction_ Function to be called if a deadline was missed * @return PeriodicTaskIF* Pointer to the newly created Task */ @@ -34,7 +51,8 @@ public: TaskDeadlineMissedFunction deadLineMissedFunction_); /** - * + * The meaning for the variables for fixed timeslot tasks is the same as for periodic tasks. + * See #createPeriodicTask documentation. * @param name_ Name of the task * @param taskPriority_ Priority of the task * @param stackSize_ Stack Size of the task diff --git a/tasks/Typedef.h b/tasks/Typedef.h index 07d96b00d..55f6bda26 100644 --- a/tasks/Typedef.h +++ b/tasks/Typedef.h @@ -2,7 +2,7 @@ #define FRAMEWORK_TASKS_TYPEDEF_H_ typedef const char* TaskName; -typedef uint8_t TaskPriority; +typedef uint32_t TaskPriority; typedef size_t TaskStackSize; typedef double TaskPeriod; typedef void (*TaskDeadlineMissedFunction)(); diff --git a/tcdistribution/CCSDSDistributor.cpp b/tcdistribution/CCSDSDistributor.cpp index b795854f2..62cbfbf2b 100644 --- a/tcdistribution/CCSDSDistributor.cpp +++ b/tcdistribution/CCSDSDistributor.cpp @@ -1,8 +1,10 @@ #include "CCSDSDistributor.h" -#include "../serviceinterface/ServiceInterfaceStream.h" +#include "../serviceinterface/ServiceInterface.h" #include "../tmtcpacket/SpacePacketBase.h" +#define CCSDS_DISTRIBUTOR_DEBUGGING 0 + CCSDSDistributor::CCSDSDistributor(uint16_t setDefaultApid, object_id_t setObjectId): TcDistributor(setObjectId), defaultApid( setDefaultApid ) { @@ -11,26 +13,36 @@ CCSDSDistributor::CCSDSDistributor(uint16_t setDefaultApid, CCSDSDistributor::~CCSDSDistributor() {} TcDistributor::TcMqMapIter CCSDSDistributor::selectDestination() { +#if CCSDS_DISTRIBUTOR_DEBUGGING == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1 -// sif::debug << "CCSDSDistributor::selectDestination received: " << -// this->currentMessage.getStorageId().pool_index << ", " << -// this->currentMessage.getStorageId().packet_index << std::endl; + sif::debug << "CCSDSDistributor::selectDestination received: " << + this->currentMessage.getStorageId().poolIndex << ", " << + this->currentMessage.getStorageId().packetIndex << std::endl; +#else + sif::printDebug("CCSDSDistributor::selectDestination received: %d, %d\n", + currentMessage.getStorageId().poolIndex, currentMessage.getStorageId().packetIndex); +#endif #endif const uint8_t* packet = nullptr; size_t size = 0; ReturnValue_t result = this->tcStore->getData(currentMessage.getStorageId(), &packet, &size ); if(result != HasReturnvaluesIF::RETURN_OK) { +#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "CCSDSDistributor::selectDestination: Getting data from" " store failed!" << std::endl; +#else + sif::printError("CCSDSDistributor::selectDestination: Getting data from" + " store failed!\n"); +#endif #endif } SpacePacketBase currentPacket(packet); -#if FSFW_CPP_OSTREAM_ENABLED == 1 -// sif:: info << "CCSDSDistributor::selectDestination has packet with APID " -// << std::hex << currentPacket.getAPID() << std::dec << std::endl; +#if FSFW_CPP_OSTREAM_ENABLED == 1 && CCSDS_DISTRIBUTOR_DEBUGGING == 1 + sif::info << "CCSDSDistributor::selectDestination has packet with APID " << std::hex << + currentPacket.getAPID() << std::dec << std::endl; #endif TcMqMapIter position = this->queueMap.find(currentPacket.getAPID()); if ( position != this->queueMap.end() ) { @@ -76,9 +88,14 @@ ReturnValue_t CCSDSDistributor::initialize() { ReturnValue_t status = this->TcDistributor::initialize(); this->tcStore = objectManager->get( objects::TC_STORE ); if (this->tcStore == nullptr) { +#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "CCSDSDistributor::initialize: Could not initialize" " TC store!" << std::endl; +#else + sif::printError("CCSDSDistributor::initialize: Could not initialize" + " TC store!\n"); +#endif #endif status = RETURN_FAILED; } diff --git a/tcdistribution/PUSDistributor.cpp b/tcdistribution/PUSDistributor.cpp index 00fd9029a..abdd1f8d3 100644 --- a/tcdistribution/PUSDistributor.cpp +++ b/tcdistribution/PUSDistributor.cpp @@ -1,22 +1,24 @@ #include "CCSDSDistributorIF.h" #include "PUSDistributor.h" -#include "../serviceinterface/ServiceInterfaceStream.h" +#include "../serviceinterface/ServiceInterface.h" #include "../tmtcpacket/pus/TcPacketStored.h" #include "../tmtcservices/PusVerificationReport.h" +#define PUS_DISTRIBUTOR_DEBUGGING 0 + PUSDistributor::PUSDistributor(uint16_t setApid, object_id_t setObjectId, - object_id_t setPacketSource) : - TcDistributor(setObjectId), checker(setApid), verifyChannel(), - tcStatus(RETURN_FAILED), packetSource(setPacketSource) {} + object_id_t setPacketSource) : + TcDistributor(setObjectId), checker(setApid), verifyChannel(), + tcStatus(RETURN_FAILED), packetSource(setPacketSource) {} PUSDistributor::~PUSDistributor() {} PUSDistributor::TcMqMapIter PUSDistributor::selectDestination() { -#if FSFW_CPP_OSTREAM_ENABLED == 1 - // sif:: debug << "PUSDistributor::handlePacket received: " - // << this->current_packet_id.store_index << ", " - // << this->current_packet_id.packet_index << std::endl; +#if FSFW_CPP_OSTREAM_ENABLED == 1 && PUS_DISTRIBUTOR_DEBUGGING == 1 + store_address_t storeId = this->currentMessage.getStorageId()); + sif:: debug << "PUSDistributor::handlePacket received: " << storeId.poolIndex << ", " << + storeId.packetIndex << std::endl; #endif TcMqMapIter queueMapIt = this->queueMap.end(); if(this->currentPacket == nullptr) { @@ -25,15 +27,17 @@ PUSDistributor::TcMqMapIter PUSDistributor::selectDestination() { this->currentPacket->setStoreAddress(this->currentMessage.getStorageId()); if (currentPacket->getWholeData() != nullptr) { tcStatus = checker.checkPacket(currentPacket); -#ifdef DEBUG if(tcStatus != HasReturnvaluesIF::RETURN_OK) { +#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::debug << "PUSDistributor::handlePacket: Packet format " - << "invalid, code "<< static_cast(tcStatus) - << std::endl; + sif::debug << "PUSDistributor::handlePacket: Packet format invalid, code " << + static_cast(tcStatus) << std::endl; +#else + sif::printDebug("PUSDistributor::handlePacket: Packet format invalid, code %d\n", + static_cast(tcStatus)); +#endif #endif } -#endif uint32_t queue_id = currentPacket->getService(); queueMapIt = this->queueMap.find(queue_id); } @@ -43,11 +47,12 @@ PUSDistributor::TcMqMapIter PUSDistributor::selectDestination() { if (queueMapIt == this->queueMap.end()) { tcStatus = DESTINATION_NOT_FOUND; -#ifdef DEBUG +#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::debug << "PUSDistributor::handlePacket: Destination not found, " - << "code "<< static_cast(tcStatus) << std::endl; -#endif + sif::debug << "PUSDistributor::handlePacket: Destination not found" << std::endl; +#else + sif::printDebug("PUSDistributor::handlePacket: Destination not found\n"); +#endif /* !FSFW_CPP_OSTREAM_ENABLED == 1 */ #endif } @@ -62,46 +67,54 @@ PUSDistributor::TcMqMapIter PUSDistributor::selectDestination() { ReturnValue_t PUSDistributor::registerService(AcceptsTelecommandsIF* service) { - uint16_t serviceId = service->getIdentifier(); + uint16_t serviceId = service->getIdentifier(); +#if PUS_DISTRIBUTOR_DEBUGGING == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1 - // sif::info << "Service ID: " << (int)serviceId << std::endl; + sif::info << "Service ID: " << static_cast(serviceId) << std::endl; +#else + sif::printInfo("Service ID: %d\n", static_cast(serviceId)); #endif - MessageQueueId_t queue = service->getRequestQueue(); - auto returnPair = queueMap.emplace(serviceId, queue); - if (not returnPair.second) { +#endif + MessageQueueId_t queue = service->getRequestQueue(); + auto returnPair = queueMap.emplace(serviceId, queue); + if (not returnPair.second) { +#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "PUSDistributor::registerService: Service ID already" - " exists in map." << std::endl; + sif::error << "PUSDistributor::registerService: Service ID already" + " exists in map" << std::endl; +#else + sif::printError("PUSDistributor::registerService: Service ID already exists in map\n"); #endif - return SERVICE_ID_ALREADY_EXISTS; - } - return HasReturnvaluesIF::RETURN_OK; +#endif + return SERVICE_ID_ALREADY_EXISTS; + } + return HasReturnvaluesIF::RETURN_OK; } MessageQueueId_t PUSDistributor::getRequestQueue() { - return tcQueue->getId(); + return tcQueue->getId(); } ReturnValue_t PUSDistributor::callbackAfterSending(ReturnValue_t queueStatus) { - if (queueStatus != RETURN_OK) { - tcStatus = queueStatus; - } - if (tcStatus != RETURN_OK) { - this->verifyChannel.sendFailureReport(tc_verification::ACCEPTANCE_FAILURE, - currentPacket, tcStatus); - // A failed packet is deleted immediately after reporting, - // otherwise it will block memory. - currentPacket->deletePacket(); - return RETURN_FAILED; - } else { - this->verifyChannel.sendSuccessReport(tc_verification::ACCEPTANCE_SUCCESS, - currentPacket); - return RETURN_OK; - } + if (queueStatus != RETURN_OK) { + tcStatus = queueStatus; + } + if (tcStatus != RETURN_OK) { + this->verifyChannel.sendFailureReport(tc_verification::ACCEPTANCE_FAILURE, + currentPacket, tcStatus); + // A failed packet is deleted immediately after reporting, + // otherwise it will block memory. + currentPacket->deletePacket(); + return RETURN_FAILED; + } else { + this->verifyChannel.sendSuccessReport(tc_verification::ACCEPTANCE_SUCCESS, + currentPacket); + return RETURN_OK; + } } uint16_t PUSDistributor::getIdentifier() { - return checker.getApid(); + return checker.getApid(); } ReturnValue_t PUSDistributor::initialize() { @@ -111,15 +124,17 @@ ReturnValue_t PUSDistributor::initialize() { return ObjectManagerIF::CHILD_INIT_FAILED; } - CCSDSDistributorIF* ccsdsDistributor = - objectManager->get(packetSource); - if (ccsdsDistributor == nullptr) { + CCSDSDistributorIF* ccsdsDistributor = + objectManager->get(packetSource); + if (ccsdsDistributor == nullptr) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "PUSDistributor::initialize: Packet source invalid." - << " Make sure it exists and implements CCSDSDistributorIF!" - << std::endl; + sif::error << "PUSDistributor::initialize: Packet source invalid" << std::endl; + sif::error << " Make sure it exists and implements CCSDSDistributorIF!" << std::endl; +#else + sif::printError("PUSDistributor::initialize: Packet source invalid\n"); + sif::printError("Make sure it exists and implements CCSDSDistributorIF\n"); #endif - return RETURN_FAILED; - } - return ccsdsDistributor->registerApplication(this); + return RETURN_FAILED; + } + return ccsdsDistributor->registerApplication(this); } diff --git a/thermal/Heater.cpp b/thermal/Heater.cpp index 782ce2963..770494385 100644 --- a/thermal/Heater.cpp +++ b/thermal/Heater.cpp @@ -1,350 +1,352 @@ -#include "../devicehandlers/DeviceHandlerFailureIsolation.h" #include "Heater.h" +#include "../devicehandlers/DeviceHandlerFailureIsolation.h" #include "../power/Fuse.h" #include "../ipc/QueueFactory.h" Heater::Heater(uint32_t objectId, uint8_t switch0, uint8_t switch1) : - HealthDevice(objectId, 0), internalState(STATE_OFF), powerSwitcher( - NULL), pcduQueueId(0), switch0(switch0), switch1(switch1), wasOn( - false), timedOut(false), reactedToBeingFaulty(false), passive( - false), eventQueue(NULL), heaterOnCountdown(10800000)/*about two orbits*/, parameterHelper( - this), lastAction(CLEAR) { - eventQueue = QueueFactory::instance()->createMessageQueue(); +HealthDevice(objectId, 0), internalState(STATE_OFF), switch0(switch0), switch1(switch1), + heaterOnCountdown(10800000)/*about two orbits*/, + parameterHelper(this) { + eventQueue = QueueFactory::instance()->createMessageQueue(); } Heater::~Heater() { - QueueFactory::instance()->deleteMessageQueue(eventQueue); + QueueFactory::instance()->deleteMessageQueue(eventQueue); } ReturnValue_t Heater::set() { - passive = false; - //wait for clear before doing anything - if (internalState == STATE_WAIT) { - return HasReturnvaluesIF::RETURN_OK; - } - if (healthHelper.healthTable->isHealthy(getObjectId())) { - doAction(SET); - if ((internalState == STATE_OFF) || (internalState == STATE_PASSIVE)){ - return HasReturnvaluesIF::RETURN_FAILED; - } else { - return HasReturnvaluesIF::RETURN_OK; - } - } else { - if (healthHelper.healthTable->isFaulty(getObjectId())) { - if (!reactedToBeingFaulty) { - reactedToBeingFaulty = true; - doAction(CLEAR); - } - } - return HasReturnvaluesIF::RETURN_FAILED; - } + passive = false; + //wait for clear before doing anything + if (internalState == STATE_WAIT) { + return HasReturnvaluesIF::RETURN_OK; + } + if (healthHelper.healthTable->isHealthy(getObjectId())) { + doAction(SET); + if ((internalState == STATE_OFF) || (internalState == STATE_PASSIVE)){ + return HasReturnvaluesIF::RETURN_FAILED; + } else { + return HasReturnvaluesIF::RETURN_OK; + } + } else { + if (healthHelper.healthTable->isFaulty(getObjectId())) { + if (!reactedToBeingFaulty) { + reactedToBeingFaulty = true; + doAction(CLEAR); + } + } + return HasReturnvaluesIF::RETURN_FAILED; + } } void Heater::clear(bool passive) { - this->passive = passive; - //Force switching off - if (internalState == STATE_WAIT) { - internalState = STATE_ON; - } - if (healthHelper.healthTable->isHealthy(getObjectId())) { - doAction(CLEAR); - } else if (healthHelper.healthTable->isFaulty(getObjectId())) { - if (!reactedToBeingFaulty) { - reactedToBeingFaulty = true; - doAction(CLEAR); - } - } + this->passive = passive; + //Force switching off + if (internalState == STATE_WAIT) { + internalState = STATE_ON; + } + if (healthHelper.healthTable->isHealthy(getObjectId())) { + doAction(CLEAR); + } else if (healthHelper.healthTable->isFaulty(getObjectId())) { + if (!reactedToBeingFaulty) { + reactedToBeingFaulty = true; + doAction(CLEAR); + } + } } void Heater::doAction(Action action) { - //only act if we are not in the right state or in a transition - if (action == SET) { - if ((internalState == STATE_OFF) || (internalState == STATE_PASSIVE) - || (internalState == STATE_EXTERNAL_CONTROL)) { - switchCountdown.setTimeout(powerSwitcher->getSwitchDelayMs()); - internalState = STATE_WAIT_FOR_SWITCHES_ON; - powerSwitcher->sendSwitchCommand(switch0, PowerSwitchIF::SWITCH_ON); - powerSwitcher->sendSwitchCommand(switch1, PowerSwitchIF::SWITCH_ON); - } - } else { //clear - if ((internalState == STATE_ON) || (internalState == STATE_FAULTY) - || (internalState == STATE_EXTERNAL_CONTROL)) { - internalState = STATE_WAIT_FOR_SWITCHES_OFF; - switchCountdown.setTimeout(powerSwitcher->getSwitchDelayMs()); - powerSwitcher->sendSwitchCommand(switch0, - PowerSwitchIF::SWITCH_OFF); - powerSwitcher->sendSwitchCommand(switch1, - PowerSwitchIF::SWITCH_OFF); - } - } + //only act if we are not in the right state or in a transition + if (action == SET) { + if ((internalState == STATE_OFF) || (internalState == STATE_PASSIVE) + || (internalState == STATE_EXTERNAL_CONTROL)) { + switchCountdown.setTimeout(powerSwitcher->getSwitchDelayMs()); + internalState = STATE_WAIT_FOR_SWITCHES_ON; + powerSwitcher->sendSwitchCommand(switch0, PowerSwitchIF::SWITCH_ON); + powerSwitcher->sendSwitchCommand(switch1, PowerSwitchIF::SWITCH_ON); + } + } else { //clear + if ((internalState == STATE_ON) || (internalState == STATE_FAULTY) + || (internalState == STATE_EXTERNAL_CONTROL)) { + internalState = STATE_WAIT_FOR_SWITCHES_OFF; + switchCountdown.setTimeout(powerSwitcher->getSwitchDelayMs()); + powerSwitcher->sendSwitchCommand(switch0, + PowerSwitchIF::SWITCH_OFF); + powerSwitcher->sendSwitchCommand(switch1, + PowerSwitchIF::SWITCH_OFF); + } + } } void Heater::setPowerSwitcher(PowerSwitchIF* powerSwitch) { - this->powerSwitcher = powerSwitch; + this->powerSwitcher = powerSwitch; } ReturnValue_t Heater::performOperation(uint8_t opCode) { - handleQueue(); - handleEventQueue(); + handleQueue(); + handleEventQueue(); - if (!healthHelper.healthTable->isFaulty(getObjectId())) { - reactedToBeingFaulty = false; - } + if (!healthHelper.healthTable->isFaulty(getObjectId())) { + reactedToBeingFaulty = false; + } - switch (internalState) { - case STATE_ON: - if ((powerSwitcher->getSwitchState(switch0) == PowerSwitchIF::SWITCH_OFF) - || (powerSwitcher->getSwitchState(switch1) - == PowerSwitchIF::SWITCH_OFF)) { - //switch went off on its own - //trigger event. FDIR can confirm if it is caused by MniOps and decide on the action - //do not trigger FD events when under external control - if (healthHelper.getHealth() != EXTERNAL_CONTROL) { - triggerEvent(PowerSwitchIF::SWITCH_WENT_OFF); - } else { - internalState = STATE_EXTERNAL_CONTROL; - } - } - break; - case STATE_OFF: - //check if heater is on, ie both switches are on - //if so, just command it to off, to resolve the situation or force a switch stayed on event - //But, only do anything if not already faulty (state off is the stable point for being faulty) - if ((!healthHelper.healthTable->isFaulty(getObjectId())) - && (powerSwitcher->getSwitchState(switch0) - == PowerSwitchIF::SWITCH_ON) - && (powerSwitcher->getSwitchState(switch1) - == PowerSwitchIF::SWITCH_ON)) { - //do not trigger FD events when under external control - if (healthHelper.getHealth() != EXTERNAL_CONTROL) { - internalState = STATE_WAIT_FOR_SWITCHES_OFF; - switchCountdown.setTimeout(powerSwitcher->getSwitchDelayMs()); - powerSwitcher->sendSwitchCommand(switch0, - PowerSwitchIF::SWITCH_OFF); - powerSwitcher->sendSwitchCommand(switch1, - PowerSwitchIF::SWITCH_OFF); - } else { - internalState = STATE_EXTERNAL_CONTROL; - } - } - break; - case STATE_PASSIVE: - break; - case STATE_WAIT_FOR_SWITCHES_ON: - if (switchCountdown.hasTimedOut()) { - if ((powerSwitcher->getSwitchState(switch0) - == PowerSwitchIF::SWITCH_OFF) - || (powerSwitcher->getSwitchState(switch1) - == PowerSwitchIF::SWITCH_OFF)) { - triggerEvent(HEATER_STAYED_OFF); - internalState = STATE_WAIT_FOR_FDIR; //wait before retrying or anything - } else { - triggerEvent(HEATER_ON); - internalState = STATE_ON; - } - } - break; - case STATE_WAIT_FOR_SWITCHES_OFF: - if (switchCountdown.hasTimedOut()) { - //only check for both being on (ie heater still on) - if ((powerSwitcher->getSwitchState(switch0) - == PowerSwitchIF::SWITCH_ON) - && (powerSwitcher->getSwitchState(switch1) - == PowerSwitchIF::SWITCH_ON)) { - if (healthHelper.healthTable->isFaulty(getObjectId())) { - if (passive) { - internalState = STATE_PASSIVE; - } else { - internalState = STATE_OFF; //just accept it - } - triggerEvent(HEATER_ON); //but throw an event to make it more visible - break; - } - triggerEvent(HEATER_STAYED_ON); - internalState = STATE_WAIT_FOR_FDIR; //wait before retrying or anything - } else { - triggerEvent(HEATER_OFF); - if (passive) { - internalState = STATE_PASSIVE; - } else { - internalState = STATE_OFF; - } - } - } - break; - default: - break; - } + switch (internalState) { + case STATE_ON: + if ((powerSwitcher->getSwitchState(switch0) == PowerSwitchIF::SWITCH_OFF) + || (powerSwitcher->getSwitchState(switch1) + == PowerSwitchIF::SWITCH_OFF)) { + //switch went off on its own + //trigger event. FDIR can confirm if it is caused by MniOps and decide on the action + //do not trigger FD events when under external control + if (healthHelper.getHealth() != EXTERNAL_CONTROL) { + triggerEvent(PowerSwitchIF::SWITCH_WENT_OFF); + } else { + internalState = STATE_EXTERNAL_CONTROL; + } + } + break; + case STATE_OFF: + //check if heater is on, ie both switches are on + //if so, just command it to off, to resolve the situation or force a switch stayed on event + //But, only do anything if not already faulty (state off is the stable point for being faulty) + if ((!healthHelper.healthTable->isFaulty(getObjectId())) + && (powerSwitcher->getSwitchState(switch0) + == PowerSwitchIF::SWITCH_ON) + && (powerSwitcher->getSwitchState(switch1) + == PowerSwitchIF::SWITCH_ON)) { + //do not trigger FD events when under external control + if (healthHelper.getHealth() != EXTERNAL_CONTROL) { + internalState = STATE_WAIT_FOR_SWITCHES_OFF; + switchCountdown.setTimeout(powerSwitcher->getSwitchDelayMs()); + powerSwitcher->sendSwitchCommand(switch0, + PowerSwitchIF::SWITCH_OFF); + powerSwitcher->sendSwitchCommand(switch1, + PowerSwitchIF::SWITCH_OFF); + } else { + internalState = STATE_EXTERNAL_CONTROL; + } + } + break; + case STATE_PASSIVE: + break; + case STATE_WAIT_FOR_SWITCHES_ON: + if (switchCountdown.hasTimedOut()) { + if ((powerSwitcher->getSwitchState(switch0) + == PowerSwitchIF::SWITCH_OFF) + || (powerSwitcher->getSwitchState(switch1) + == PowerSwitchIF::SWITCH_OFF)) { + triggerEvent(HEATER_STAYED_OFF); + internalState = STATE_WAIT_FOR_FDIR; //wait before retrying or anything + } else { + triggerEvent(HEATER_ON); + internalState = STATE_ON; + } + } + break; + case STATE_WAIT_FOR_SWITCHES_OFF: + if (switchCountdown.hasTimedOut()) { + //only check for both being on (ie heater still on) + if ((powerSwitcher->getSwitchState(switch0) + == PowerSwitchIF::SWITCH_ON) + && (powerSwitcher->getSwitchState(switch1) + == PowerSwitchIF::SWITCH_ON)) { + if (healthHelper.healthTable->isFaulty(getObjectId())) { + if (passive) { + internalState = STATE_PASSIVE; + } else { + internalState = STATE_OFF; //just accept it + } + triggerEvent(HEATER_ON); //but throw an event to make it more visible + break; + } + triggerEvent(HEATER_STAYED_ON); + internalState = STATE_WAIT_FOR_FDIR; //wait before retrying or anything + } else { + triggerEvent(HEATER_OFF); + if (passive) { + internalState = STATE_PASSIVE; + } else { + internalState = STATE_OFF; + } + } + } + break; + default: + break; + } - if ((powerSwitcher->getSwitchState(switch0) == PowerSwitchIF::SWITCH_ON) - && (powerSwitcher->getSwitchState(switch1) - == PowerSwitchIF::SWITCH_ON)) { - if (wasOn) { - if (heaterOnCountdown.hasTimedOut()) { - //SHOULDDO this means if a heater fails in single mode, the timeout will start again - //I am not sure if this is a bug, but atm I have no idea how to fix this and think - //it will be ok. whatcouldpossiblygowrong™ - if (!timedOut) { - triggerEvent(HEATER_TIMEOUT); - timedOut = true; - } - } - } else { - wasOn = true; - heaterOnCountdown.resetTimer(); - timedOut = false; - } - } else { - wasOn = false; - } + if ((powerSwitcher->getSwitchState(switch0) == PowerSwitchIF::SWITCH_ON) + && (powerSwitcher->getSwitchState(switch1) + == PowerSwitchIF::SWITCH_ON)) { + if (wasOn) { + if (heaterOnCountdown.hasTimedOut()) { + //SHOULDDO this means if a heater fails in single mode, the timeout will start again + //I am not sure if this is a bug, but atm I have no idea how to fix this and think + //it will be ok. whatcouldpossiblygowrong™ + if (!timedOut) { + triggerEvent(HEATER_TIMEOUT); + timedOut = true; + } + } + } else { + wasOn = true; + heaterOnCountdown.resetTimer(); + timedOut = false; + } + } else { + wasOn = false; + } - return HasReturnvaluesIF::RETURN_OK; + return HasReturnvaluesIF::RETURN_OK; } void Heater::setSwitch(uint8_t number, ReturnValue_t state, - uint32_t* uptimeOfSwitching) { - if (powerSwitcher == NULL) { - return; - } - if (powerSwitcher->getSwitchState(number) == state) { - *uptimeOfSwitching = INVALID_UPTIME; - } else { - if ((*uptimeOfSwitching == INVALID_UPTIME)) { - powerSwitcher->sendSwitchCommand(number, state); - Clock::getUptime(uptimeOfSwitching); - } else { - uint32_t currentUptime; - Clock::getUptime(¤tUptime); - if (currentUptime - *uptimeOfSwitching - > powerSwitcher->getSwitchDelayMs()) { - *uptimeOfSwitching = INVALID_UPTIME; - if (healthHelper.healthTable->isHealthy(getObjectId())) { - if (state == PowerSwitchIF::SWITCH_ON) { - triggerEvent(HEATER_STAYED_OFF); - } else { - triggerEvent(HEATER_STAYED_ON); - } - } - //SHOULDDO MiniOps during switch timeout leads to a faulty switch - } - } - } + uint32_t* uptimeOfSwitching) { + if (powerSwitcher == NULL) { + return; + } + if (powerSwitcher->getSwitchState(number) == state) { + *uptimeOfSwitching = INVALID_UPTIME; + } else { + if ((*uptimeOfSwitching == INVALID_UPTIME)) { + powerSwitcher->sendSwitchCommand(number, state); + Clock::getUptime(uptimeOfSwitching); + } else { + uint32_t currentUptime; + Clock::getUptime(¤tUptime); + if (currentUptime - *uptimeOfSwitching + > powerSwitcher->getSwitchDelayMs()) { + *uptimeOfSwitching = INVALID_UPTIME; + if (healthHelper.healthTable->isHealthy(getObjectId())) { + if (state == PowerSwitchIF::SWITCH_ON) { + triggerEvent(HEATER_STAYED_OFF); + } else { + triggerEvent(HEATER_STAYED_ON); + } + } + } + } + } } MessageQueueId_t Heater::getCommandQueue() const { - return commandQueue->getId(); + return commandQueue->getId(); } ReturnValue_t Heater::initialize() { - ReturnValue_t result = SystemObject::initialize(); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } + ReturnValue_t result = SystemObject::initialize(); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } - EventManagerIF* manager = objectManager->get( - objects::EVENT_MANAGER); - if (manager == NULL) { - return HasReturnvaluesIF::RETURN_FAILED; - } - result = manager->registerListener(eventQueue->getId()); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } + EventManagerIF* manager = objectManager->get( + objects::EVENT_MANAGER); + if (manager == NULL) { + return HasReturnvaluesIF::RETURN_FAILED; + } + result = manager->registerListener(eventQueue->getId()); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } - ConfirmsFailuresIF* pcdu = objectManager->get( - DeviceHandlerFailureIsolation::powerConfirmationId); - if (pcdu == NULL) { - return HasReturnvaluesIF::RETURN_FAILED; - } - pcduQueueId = pcdu->getEventReceptionQueue(); + ConfirmsFailuresIF* pcdu = objectManager->get( + DeviceHandlerFailureIsolation::powerConfirmationId); + if (pcdu == NULL) { + return HasReturnvaluesIF::RETURN_FAILED; + } + pcduQueueId = pcdu->getEventReceptionQueue(); - result = manager->subscribeToAllEventsFrom(eventQueue->getId(), - getObjectId()); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } + result = manager->subscribeToAllEventsFrom(eventQueue->getId(), + getObjectId()); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } - result = parameterHelper.initialize(); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } + result = parameterHelper.initialize(); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } - result = healthHelper.initialize(); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } + result = healthHelper.initialize(); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } - return HasReturnvaluesIF::RETURN_OK; + return HasReturnvaluesIF::RETURN_OK; } void Heater::handleQueue() { - CommandMessage command; - ReturnValue_t result = commandQueue->receiveMessage(&command); - if (result == HasReturnvaluesIF::RETURN_OK) { - result = healthHelper.handleHealthCommand(&command); - if (result == HasReturnvaluesIF::RETURN_OK) { - return; - } - parameterHelper.handleParameterMessage(&command); - } + CommandMessage command; + ReturnValue_t result = commandQueue->receiveMessage(&command); + if (result == HasReturnvaluesIF::RETURN_OK) { + result = healthHelper.handleHealthCommand(&command); + if (result == HasReturnvaluesIF::RETURN_OK) { + return; + } + result = parameterHelper.handleParameterMessage(&command); + if (result == HasReturnvaluesIF::RETURN_OK) { + return; + } + } } ReturnValue_t Heater::getParameter(uint8_t domainId, uint8_t uniqueId, ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues, - uint16_t startAtIndex) { - if (domainId != DOMAIN_ID_BASE) { - return INVALID_DOMAIN_ID; - } - switch (uniqueId) { - case 0: - parameterWrapper->set(heaterOnCountdown.timeout); - break; - default: - return INVALID_IDENTIFIER_ID; - } - return HasReturnvaluesIF::RETURN_OK; + uint16_t startAtIndex) { + if (domainId != DOMAIN_ID_BASE) { + return INVALID_DOMAIN_ID; + } + switch (uniqueId) { + case 0: + parameterWrapper->set(heaterOnCountdown.timeout); + break; + default: + return INVALID_IDENTIFIER_ID; + } + return HasReturnvaluesIF::RETURN_OK; } void Heater::handleEventQueue() { - EventMessage event; - for (ReturnValue_t result = eventQueue->receiveMessage(&event); - result == HasReturnvaluesIF::RETURN_OK; - result = eventQueue->receiveMessage(&event)) { - switch (event.getMessageId()) { - case EventMessage::EVENT_MESSAGE: - switch (event.getEvent()) { - case Fuse::FUSE_WENT_OFF: - case HEATER_STAYED_OFF: - case HEATER_STAYED_ON://Setting it faulty does not help, but we need to reach a stable state and can check for being faulty before throwing this event again. - if (healthHelper.healthTable->isCommandable(getObjectId())) { - healthHelper.setHealth(HasHealthIF::FAULTY); - internalState = STATE_FAULTY; - } - break; - case PowerSwitchIF::SWITCH_WENT_OFF: - internalState = STATE_WAIT; - event.setMessageId(EventMessage::CONFIRMATION_REQUEST); - if (pcduQueueId != 0) { - eventQueue->sendMessage(pcduQueueId, &event); - } else { - healthHelper.setHealth(HasHealthIF::FAULTY); - internalState = STATE_FAULTY; - } - break; - default: - return; - } - break; - case EventMessage::YOUR_FAULT: - healthHelper.setHealth(HasHealthIF::FAULTY); - internalState = STATE_FAULTY; - break; - case EventMessage::MY_FAULT: - //do nothing, we are already in STATE_WAIT and wait for a clear() - break; - default: - return; - } - } + EventMessage event; + for (ReturnValue_t result = eventQueue->receiveMessage(&event); + result == HasReturnvaluesIF::RETURN_OK; + result = eventQueue->receiveMessage(&event)) { + switch (event.getMessageId()) { + case EventMessage::EVENT_MESSAGE: + switch (event.getEvent()) { + case Fuse::FUSE_WENT_OFF: + case HEATER_STAYED_OFF: + // HEATER_STAYED_ON is a setting if faulty does not help, but we need to reach a stable state and can check + // for being faulty before throwing this event again. + case HEATER_STAYED_ON: + if (healthHelper.healthTable->isCommandable(getObjectId())) { + healthHelper.setHealth(HasHealthIF::FAULTY); + internalState = STATE_FAULTY; + } + break; + case PowerSwitchIF::SWITCH_WENT_OFF: + internalState = STATE_WAIT; + event.setMessageId(EventMessage::CONFIRMATION_REQUEST); + if (pcduQueueId != 0) { + eventQueue->sendMessage(pcduQueueId, &event); + } else { + healthHelper.setHealth(HasHealthIF::FAULTY); + internalState = STATE_FAULTY; + } + break; + default: + return; + } + break; + case EventMessage::YOUR_FAULT: + healthHelper.setHealth(HasHealthIF::FAULTY); + internalState = STATE_FAULTY; + break; + case EventMessage::MY_FAULT: + //do nothing, we are already in STATE_WAIT and wait for a clear() + break; + default: + return; + } + } } diff --git a/thermal/Heater.h b/thermal/Heater.h index f83957a2e..2caddd852 100644 --- a/thermal/Heater.h +++ b/thermal/Heater.h @@ -1,90 +1,93 @@ -#ifndef FRAMEWORK_THERMAL_HEATER_H_ -#define FRAMEWORK_THERMAL_HEATER_H_ +#ifndef FSFW_THERMAL_HEATER_H_ +#define FSFW_THERMAL_HEATER_H_ #include "../devicehandlers/HealthDevice.h" #include "../parameters/ParameterHelper.h" #include "../power/PowerSwitchIF.h" #include "../returnvalues/HasReturnvaluesIF.h" #include "../timemanager/Countdown.h" -#include -//class RedundantHeater; +#include + class Heater: public HealthDevice, public ReceivesParameterMessagesIF { - friend class RedundantHeater; + friend class RedundantHeater; public: - static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::HEATER; - static const Event HEATER_ON = MAKE_EVENT(0, severity::INFO); - static const Event HEATER_OFF = MAKE_EVENT(1, severity::INFO); - static const Event HEATER_TIMEOUT = MAKE_EVENT(2, severity::LOW); - static const Event HEATER_STAYED_ON = MAKE_EVENT(3, severity::LOW); - static const Event HEATER_STAYED_OFF = MAKE_EVENT(4, severity::LOW); + static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::HEATER; + static const Event HEATER_ON = MAKE_EVENT(0, severity::INFO); + static const Event HEATER_OFF = MAKE_EVENT(1, severity::INFO); + static const Event HEATER_TIMEOUT = MAKE_EVENT(2, severity::LOW); + static const Event HEATER_STAYED_ON = MAKE_EVENT(3, severity::LOW); + static const Event HEATER_STAYED_OFF = MAKE_EVENT(4, severity::LOW); - Heater(uint32_t objectId, uint8_t switch0, uint8_t switch1); - virtual ~Heater(); + Heater(uint32_t objectId, uint8_t switch0, uint8_t switch1); + virtual ~Heater(); - ReturnValue_t performOperation(uint8_t opCode); + ReturnValue_t performOperation(uint8_t opCode); - ReturnValue_t initialize(); + ReturnValue_t initialize(); - ReturnValue_t set(); - void clear(bool passive); + ReturnValue_t set(); + void clear(bool passive); - void setPowerSwitcher(PowerSwitchIF *powerSwitch); + void setPowerSwitcher(PowerSwitchIF *powerSwitch); - MessageQueueId_t getCommandQueue() const; + MessageQueueId_t getCommandQueue() const; - ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId, - ParameterWrapper *parameterWrapper, - const ParameterWrapper *newValues, uint16_t startAtIndex); + ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId, + ParameterWrapper *parameterWrapper, + const ParameterWrapper *newValues, uint16_t startAtIndex); protected: - static const uint32_t INVALID_UPTIME = 0; + static const uint32_t INVALID_UPTIME = 0; - enum InternalState { - STATE_ON, - STATE_OFF, - STATE_PASSIVE, - STATE_WAIT_FOR_SWITCHES_ON, - STATE_WAIT_FOR_SWITCHES_OFF, - STATE_WAIT_FOR_FDIR, //used to avoid doing anything until fdir decided what to do - STATE_FAULTY, - STATE_WAIT, //used when waiting for system to recover from miniops - STATE_EXTERNAL_CONTROL //entered when under external control and a fdir reaction would be triggered. This is useful when leaving external control into an unknown state - //if no fdir reaction is triggered under external control the state is still ok and no need for any special treatment is needed - } internalState; + enum InternalState { + STATE_ON, + STATE_OFF, + STATE_PASSIVE, + STATE_WAIT_FOR_SWITCHES_ON, + STATE_WAIT_FOR_SWITCHES_OFF, + STATE_WAIT_FOR_FDIR, // Used to avoid doing anything until fdir decided what to do + STATE_FAULTY, + STATE_WAIT, // Used when waiting for system to recover from miniops + // Entered when under external control and a fdir reaction would be triggered. + // This is useful when leaving external control into an unknown state + STATE_EXTERNAL_CONTROL + // If no fdir reaction is triggered under external control the state is still ok and + // no need for any special treatment is needed + } internalState; - PowerSwitchIF *powerSwitcher; - MessageQueueId_t pcduQueueId; + PowerSwitchIF *powerSwitcher = nullptr; + MessageQueueId_t pcduQueueId = MessageQueueIF::NO_QUEUE; - uint8_t switch0; - uint8_t switch1; + uint8_t switch0; + uint8_t switch1; - bool wasOn; + bool wasOn = false; - bool timedOut; + bool timedOut = false; - bool reactedToBeingFaulty; + bool reactedToBeingFaulty = false; - bool passive; + bool passive = false; - MessageQueueIF* eventQueue; - Countdown heaterOnCountdown; - Countdown switchCountdown; - ParameterHelper parameterHelper; + MessageQueueIF* eventQueue = nullptr; + Countdown heaterOnCountdown; + Countdown switchCountdown; + ParameterHelper parameterHelper; - enum Action { - SET, CLEAR - } lastAction; + enum Action { + SET, CLEAR + } lastAction = CLEAR; - void doAction(Action action); + void doAction(Action action); - void setSwitch(uint8_t number, ReturnValue_t state, - uint32_t *upTimeOfSwitching); + void setSwitch(uint8_t number, ReturnValue_t state, + uint32_t *upTimeOfSwitching); - void handleQueue(); + void handleQueue(); - void handleEventQueue(); + void handleEventQueue(); }; -#endif /* FRAMEWORK_THERMAL_HEATER_H_ */ +#endif /* FSFW_THERMAL_HEATER_H_ */ diff --git a/thermal/TemperatureSensor.h b/thermal/TemperatureSensor.h index 2b1fb1f07..c7b9d771b 100644 --- a/thermal/TemperatureSensor.h +++ b/thermal/TemperatureSensor.h @@ -1,11 +1,14 @@ -#ifndef TEMPERATURESENSOR_H_ -#define TEMPERATURESENSOR_H_ +#ifndef FSFW_THERMAL_TEMPERATURESENSOR_H_ +#define FSFW_THERMAL_TEMPERATURESENSOR_H_ -#include "../thermal/AbstractTemperatureSensor.h" -#include "../datapoolglob/GlobalDataSet.h" -#include "../datapoolglob/GlobalPoolVariable.h" +#include "tcsDefinitions.h" +#include "AbstractTemperatureSensor.h" + +#include "../datapoollocal/LocalPoolDataSetBase.h" +#include "../datapoollocal/LocalPoolVariable.h" #include "../monitoring/LimitMonitor.h" + /** * @brief This building block handles non-linear value conversion and * range checks for analog temperature sensors. @@ -57,27 +60,25 @@ public: /** * Instantiate Temperature Sensor Object. - * @param setObjectid objectId of the sensor object - * @param inputValue Input value which is converted to a temperature - * @param poolVariable Pool Variable to store the temperature value - * @param vectorIndex Vector Index for the sensor monitor - * @param parameters Calculation parameters, temperature limits, gradient limit - * @param datapoolId Datapool ID of the output temperature - * @param outputSet Output dataset for the output temperature to fetch it with read() - * @param thermalModule respective thermal module, if it has one + * @param setObjectid objectId of the sensor object + * @param inputTemperature Pointer to a raw input value which is converted to an floating + * point C output temperature + * @param outputGpid Global Pool ID of the output value + * @param vectorIndex Vector Index for the sensor monitor + * @param parameters Calculation parameters, temperature limits, gradient limit + * @param outputSet Output dataset for the output temperature to fetch it with read() + * @param thermalModule Respective thermal module, if it has one */ - TemperatureSensor(object_id_t setObjectid, - inputType *inputValue, PoolVariableIF *poolVariable, - uint8_t vectorIndex, uint32_t datapoolId, Parameters parameters = {0, 0, 0, 0, 0, 0}, - GlobDataSet *outputSet = NULL, ThermalModuleIF *thermalModule = NULL) : + TemperatureSensor(object_id_t setObjectid,lp_var_t* inputTemperature, + gp_id_t outputGpid, uint8_t vectorIndex, Parameters parameters = {0, 0, 0, 0, 0, 0}, + LocalPoolDataSetBase *outputSet = nullptr, ThermalModuleIF *thermalModule = nullptr) : AbstractTemperatureSensor(setObjectid, thermalModule), parameters(parameters), - inputValue(inputValue), poolVariable(poolVariable), - outputTemperature(datapoolId, outputSet, PoolVariableIF::VAR_WRITE), - sensorMonitor(setObjectid, DOMAIN_ID_SENSOR, - GlobalDataPool::poolIdAndPositionToPid(poolVariable->getDataPoolId(), vectorIndex), + inputTemperature(inputTemperature), + outputTemperature(outputGpid, outputSet, PoolVariableIF::VAR_WRITE), + sensorMonitor(setObjectid, DOMAIN_ID_SENSOR, outputGpid, DEFAULT_CONFIRMATION_COUNT, parameters.lowerLimit, parameters.upperLimit, TEMP_SENSOR_LOW, TEMP_SENSOR_HIGH), - oldTemperature(20), uptimeOfOldTemperature( { INVALID_TEMPERATURE, 0 }) { + oldTemperature(20), uptimeOfOldTemperature({ thermal::INVALID_TEMPERATURE, 0 }) { } @@ -98,7 +99,7 @@ protected: private: void setInvalid() { - outputTemperature = INVALID_TEMPERATURE; + outputTemperature = thermal::INVALID_TEMPERATURE; outputTemperature.setValid(false); uptimeOfOldTemperature.tv_sec = INVALID_UPTIME; sensorMonitor.setToInvalid(); @@ -108,11 +109,8 @@ protected: UsedParameters parameters; - inputType * inputValue; - - PoolVariableIF *poolVariable; - - gp_float_t outputTemperature; + lp_var_t* inputTemperature; + lp_var_t outputTemperature; LimitMonitor sensorMonitor; @@ -120,22 +118,27 @@ protected: timeval uptimeOfOldTemperature; void doChildOperation() { - if (!poolVariable->isValid() - || !healthHelper.healthTable->isHealthy(getObjectId())) { + ReturnValue_t result = inputTemperature->read(MutexIF::TimeoutType::WAITING, 20); + if(result != HasReturnvaluesIF::RETURN_OK) { + return; + } + + if ((not inputTemperature->isValid()) or + (not healthHelper.healthTable->isHealthy(getObjectId()))) { setInvalid(); return; } - outputTemperature = calculateOutputTemperature(*inputValue); + outputTemperature = calculateOutputTemperature(inputTemperature->value); outputTemperature.setValid(PoolVariableIF::VALID); timeval uptime; Clock::getUptime(&uptime); if (uptimeOfOldTemperature.tv_sec != INVALID_UPTIME) { - //In theory, we could use an AbsValueMonitor to monitor the gradient. - //But this would require storing the maxGradient in DP and quite some overhead. - //The concept of delta limits is a bit strange anyway. + // In theory, we could use an AbsValueMonitor to monitor the gradient. + // But this would require storing the maxGradient in DP and quite some overhead. + // The concept of delta limits is a bit strange anyway. float deltaTime; float deltaTemp; @@ -148,17 +151,17 @@ protected: } if (parameters.gradient < deltaTemp / deltaTime) { triggerEvent(TEMP_SENSOR_GRADIENT); - //Don't set invalid, as we did not recognize it as invalid with full authority, let FDIR handle it + // Don't set invalid, as we did not recognize it as invalid with full authority, + // let FDIR handle it } } - //Check is done against raw limits. SHOULDDO: Why? Using �C would be more easy to handle. sensorMonitor.doCheck(outputTemperature.value); if (sensorMonitor.isOutOfLimits()) { uptimeOfOldTemperature.tv_sec = INVALID_UPTIME; outputTemperature.setValid(PoolVariableIF::INVALID); - outputTemperature = INVALID_TEMPERATURE; + outputTemperature = thermal::INVALID_TEMPERATURE; } else { oldTemperature = outputTemperature; uptimeOfOldTemperature = uptime; @@ -179,7 +182,10 @@ public: static const uint16_t ADDRESS_C = 2; static const uint16_t ADDRESS_GRADIENT = 3; - static const uint16_t DEFAULT_CONFIRMATION_COUNT = 1; //!< Changed due to issue with later temperature checking even tough the sensor monitor was confirming already (Was 10 before with comment = Correlates to a 10s confirmation time. Chosen rather large, should not be so bad for components and helps survive glitches.) + //! Changed due to issue with later temperature checking even tough the sensor monitor was + //! confirming already (Was 10 before with comment = Correlates to a 10s confirmation time. + //! Chosen rather large, should not be so bad for components and helps survive glitches.) + static const uint16_t DEFAULT_CONFIRMATION_COUNT = 1; static const uint8_t DOMAIN_ID_SENSOR = 1; @@ -219,4 +225,4 @@ public: }; -#endif /* TEMPERATURESENSOR_H_ */ +#endif /* FSFW_THERMAL_TEMPERATURESENSOR_H_ */ diff --git a/timemanager/TimeMessage.cpp b/timemanager/TimeMessage.cpp index a1042efe5..66aea0f4d 100644 --- a/timemanager/TimeMessage.cpp +++ b/timemanager/TimeMessage.cpp @@ -25,6 +25,6 @@ uint32_t TimeMessage::getCounterValue() { return temp; } -size_t TimeMessage::getMinimumMessageSize() { +size_t TimeMessage::getMinimumMessageSize() const { return this->MAX_SIZE; } diff --git a/timemanager/TimeMessage.h b/timemanager/TimeMessage.h index f5ac3e14d..00778fb7f 100644 --- a/timemanager/TimeMessage.h +++ b/timemanager/TimeMessage.h @@ -11,7 +11,7 @@ protected: * @brief This call always returns the same fixed size of the message. * @return Returns HEADER_SIZE + \c sizeof(timeval) + sizeof(uint32_t). */ - size_t getMinimumMessageSize(); + size_t getMinimumMessageSize() const override; public: /** diff --git a/timemanager/TimeStamperIF.h b/timemanager/TimeStamperIF.h index 57b7f0149..349905005 100644 --- a/timemanager/TimeStamperIF.h +++ b/timemanager/TimeStamperIF.h @@ -1,7 +1,9 @@ #ifndef FSFW_TIMEMANAGER_TIMESTAMPERIF_H_ #define FSFW_TIMEMANAGER_TIMESTAMPERIF_H_ +#include #include "../returnvalues/HasReturnvaluesIF.h" +#include /** * A class implementing this IF provides facilities to add a time stamp to the @@ -16,8 +18,8 @@ public: //! This is a mission-specific constant and determines the total //! size reserved for timestamps. - //! TODO: Default define in FSFWConfig ? - static const uint8_t MISSION_TIMESTAMP_SIZE = 8; + static const uint8_t MISSION_TIMESTAMP_SIZE = fsfwconfig::FSFW_MISSION_TIMESTAMP_SIZE; + virtual ReturnValue_t addTimeStamp(uint8_t* buffer, const uint8_t maxSize) = 0; virtual ~TimeStamperIF() {} diff --git a/tmtcpacket/pus/CMakeLists.txt b/tmtcpacket/pus/CMakeLists.txt index fcfc82d2c..cd4f49f17 100644 --- a/tmtcpacket/pus/CMakeLists.txt +++ b/tmtcpacket/pus/CMakeLists.txt @@ -4,5 +4,9 @@ target_sources(${LIB_FSFW_NAME} TcPacketStored.cpp TmPacketBase.cpp TmPacketMinimal.cpp - TmPacketStored.cpp + TmPacketStoredPusA.cpp + TmPacketStoredPusC.cpp + TmPacketPusA.cpp + TmPacketPusC.cpp + TmPacketStoredBase.cpp ) diff --git a/tmtcpacket/pus/TmPacketBase.cpp b/tmtcpacket/pus/TmPacketBase.cpp index c8e4b4302..25193c928 100644 --- a/tmtcpacket/pus/TmPacketBase.cpp +++ b/tmtcpacket/pus/TmPacketBase.cpp @@ -3,119 +3,66 @@ #include "../../globalfunctions/CRC.h" #include "../../globalfunctions/arrayprinter.h" #include "../../objectmanager/ObjectManagerIF.h" -#include "../../serviceinterface/ServiceInterfaceStream.h" +#include "../../serviceinterface/ServiceInterface.h" #include "../../timemanager/CCSDSTime.h" #include TimeStamperIF* TmPacketBase::timeStamper = nullptr; -object_id_t TmPacketBase::timeStamperId = 0; +object_id_t TmPacketBase::timeStamperId = objects::NO_OBJECT; -TmPacketBase::TmPacketBase(uint8_t* setData) : - SpacePacketBase(setData) { - tmData = reinterpret_cast(setData); +TmPacketBase::TmPacketBase(uint8_t* setData): + SpacePacketBase(setData) { } TmPacketBase::~TmPacketBase() { - //Nothing to do. + //Nothing to do. } -uint8_t TmPacketBase::getService() { - return tmData->data_field.service_type; -} - -uint8_t TmPacketBase::getSubService() { - return tmData->data_field.service_subtype; -} - -uint8_t* TmPacketBase::getSourceData() { - return &tmData->data; -} uint16_t TmPacketBase::getSourceDataSize() { - return getPacketDataLength() - sizeof(tmData->data_field) - - CRC_SIZE + 1; + return getPacketDataLength() - getDataFieldSize() - CRC_SIZE + 1; } uint16_t TmPacketBase::getErrorControl() { - uint32_t size = getSourceDataSize() + CRC_SIZE; - uint8_t* p_to_buffer = &tmData->data; - return (p_to_buffer[size - 2] << 8) + p_to_buffer[size - 1]; + uint32_t size = getSourceDataSize() + CRC_SIZE; + uint8_t* p_to_buffer = getSourceData(); + return (p_to_buffer[size - 2] << 8) + p_to_buffer[size - 1]; } void TmPacketBase::setErrorControl() { - uint32_t full_size = getFullSize(); - uint16_t crc = CRC::crc16ccitt(getWholeData(), full_size - CRC_SIZE); - uint32_t size = getSourceDataSize(); - getSourceData()[size] = (crc & 0XFF00) >> 8; // CRCH - getSourceData()[size + 1] = (crc) & 0X00FF; // CRCL + uint32_t full_size = getFullSize(); + uint16_t crc = CRC::crc16ccitt(getWholeData(), full_size - CRC_SIZE); + uint32_t size = getSourceDataSize(); + getSourceData()[size] = (crc & 0XFF00) >> 8; // CRCH + getSourceData()[size + 1] = (crc) & 0X00FF; // CRCL } -void TmPacketBase::setData(const uint8_t* p_Data) { - SpacePacketBase::setData(p_Data); - tmData = (TmPacketPointer*) p_Data; +ReturnValue_t TmPacketBase::getPacketTime(timeval* timestamp) const { + size_t tempSize = 0; + return CCSDSTime::convertFromCcsds(timestamp, getPacketTimeRaw(), + &tempSize, getTimestampSize()); } void TmPacketBase::print() { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::debug << "TmPacketBase::print: " << std::endl; + sif::debug << "TmPacketBase::print: " << std::endl; #endif - arrayprinter::print(getWholeData(), getFullSize()); + arrayprinter::print(getWholeData(), getFullSize()); } bool TmPacketBase::checkAndSetStamper() { - if (timeStamper == NULL) { - timeStamper = objectManager->get(timeStamperId); - if (timeStamper == NULL) { + if (timeStamper == NULL) { + timeStamper = objectManager->get(timeStamperId); + if (timeStamper == NULL) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "TmPacketBase::checkAndSetStamper: Stamper not found!" - << std::endl; + sif::warning << "TmPacketBase::checkAndSetStamper: Stamper not found!" << std::endl; +#else + sif::printWarning("TmPacketBase::checkAndSetStamper: Stamper not found!\n"); #endif - return false; - } - } - return true; + return false; + } + } + return true; } -ReturnValue_t TmPacketBase::getPacketTime(timeval* timestamp) const { - size_t tempSize = 0; - return CCSDSTime::convertFromCcsds(timestamp, tmData->data_field.time, - &tempSize, sizeof(tmData->data_field.time)); -} - -uint8_t* TmPacketBase::getPacketTimeRaw() const{ - return tmData->data_field.time; - -} - -void TmPacketBase::initializeTmPacket(uint16_t apid, uint8_t service, - uint8_t subservice, uint8_t packetSubcounter) { - //Set primary header: - initSpacePacketHeader(false, true, apid); - //Set data Field Header: - //First, set to zero. - memset(&tmData->data_field, 0, sizeof(tmData->data_field)); - - // NOTE: In PUS-C, the PUS Version is 2 and specified for the first 4 bits. - // The other 4 bits of the first byte are the spacecraft time reference - // status. To change to PUS-C, set 0b00100000. - // Set CCSDS_secondary header flag to 0, version number to 001 and ack - // to 0000 - tmData->data_field.version_type_ack = 0b00010000; - tmData->data_field.service_type = service; - tmData->data_field.service_subtype = subservice; - tmData->data_field.subcounter = packetSubcounter; - //Timestamp packet - if (checkAndSetStamper()) { - timeStamper->addTimeStamp(tmData->data_field.time, - sizeof(tmData->data_field.time)); - } -} - -void TmPacketBase::setSourceDataSize(uint16_t size) { - setPacketDataLength(size + sizeof(PUSTmDataFieldHeader) + CRC_SIZE - 1); -} - -size_t TmPacketBase::getTimestampSize() const { - return sizeof(tmData->data_field.time); -} diff --git a/tmtcpacket/pus/TmPacketBase.h b/tmtcpacket/pus/TmPacketBase.h index 6efc01658..6925e99b9 100644 --- a/tmtcpacket/pus/TmPacketBase.h +++ b/tmtcpacket/pus/TmPacketBase.h @@ -10,32 +10,6 @@ namespace Factory{ void setStaticFrameworkObjectIds(); } -/** - * This struct defines a byte-wise structured PUS TM Data Field Header. - * Any optional fields in the header must be added or removed here. - * Currently, no Destination field is present, but an eigth-byte representation - * for a time tag. - * @ingroup tmtcpackets - */ -struct PUSTmDataFieldHeader { - uint8_t version_type_ack; - uint8_t service_type; - uint8_t service_subtype; - uint8_t subcounter; -// uint8_t destination; - uint8_t time[TimeStamperIF::MISSION_TIMESTAMP_SIZE]; -}; - -/** - * This struct defines the data structure of a PUS Telecommand Packet when - * accessed via a pointer. - * @ingroup tmtcpackets - */ -struct TmPacketPointer { - CCSDSPrimaryHeader primary; - PUSTmDataFieldHeader data_field; - uint8_t data; -}; /** * This class is the basic data handler for any ECSS PUS Telemetry packet. @@ -49,61 +23,83 @@ struct TmPacketPointer { * @ingroup tmtcpackets */ class TmPacketBase : public SpacePacketBase { - friend void (Factory::setStaticFrameworkObjectIds)(); + friend void (Factory::setStaticFrameworkObjectIds)(); public: - /** - * This constant defines the minimum size of a valid PUS Telemetry Packet. - */ - static const uint32_t TM_PACKET_MIN_SIZE = (sizeof(CCSDSPrimaryHeader) + - sizeof(PUSTmDataFieldHeader) + 2); - //! Maximum size of a TM Packet in this mission. - //! TODO: Make this dependant on a config variable. - static const uint32_t MISSION_TM_PACKET_MAX_SIZE = 2048; - //! First byte of secondary header for PUS-A packets. - //! TODO: Maybe also support PUS-C via config? - static const uint8_t VERSION_NUMBER_BYTE_PUS_A = 0b00010000; - /** - * This is the default constructor. - * It sets its internal data pointer to the address passed and also - * forwards the data pointer to the parent SpacePacketBase class. - * @param set_address The position where the packet data lies. - */ - TmPacketBase( uint8_t* setData ); - /** - * This is the empty default destructor. - */ - virtual ~TmPacketBase(); + //! Maximum size of a TM Packet in this mission. + //! TODO: Make this dependant on a config variable. + static const uint32_t MISSION_TM_PACKET_MAX_SIZE = 2048; + //! First four bits of first byte of secondary header + static const uint8_t VERSION_NUMBER_BYTE = 0b00010000; - /** - * This is a getter for the packet's PUS Service ID, which is the second - * byte of the Data Field Header. - * @return The packet's PUS Service ID. - */ - uint8_t getService(); - /** - * This is a getter for the packet's PUS Service Subtype, which is the - * third byte of the Data Field Header. - * @return The packet's PUS Service Subtype. - */ - uint8_t getSubService(); - /** - * This is a getter for a pointer to the packet's Source data. - * - * These are the bytes that follow after the Data Field Header. They form - * the packet's source data. - * @return A pointer to the PUS Source Data. - */ - uint8_t* getSourceData(); - /** - * This method calculates the size of the PUS Source data field. - * - * It takes the information stored in the CCSDS Packet Data Length field - * and subtracts the Data Field Header size and the CRC size. - * @return The size of the PUS Source Data (without Error Control field) - */ - uint16_t getSourceDataSize(); + /** + * This is the default constructor. + * It sets its internal data pointer to the address passed and also + * forwards the data pointer to the parent SpacePacketBase class. + * @param set_address The position where the packet data lies. + */ + TmPacketBase( uint8_t* setData ); + /** + * This is the empty default destructor. + */ + virtual ~TmPacketBase(); + /** + * This is a getter for the packet's PUS Service ID, which is the second + * byte of the Data Field Header. + * @return The packet's PUS Service ID. + */ + virtual uint8_t getService() = 0; + /** + * This is a getter for the packet's PUS Service Subtype, which is the + * third byte of the Data Field Header. + * @return The packet's PUS Service Subtype. + */ + virtual uint8_t getSubService() = 0; + /** + * This is a getter for a pointer to the packet's Source data. + * + * These are the bytes that follow after the Data Field Header. They form + * the packet's source data. + * @return A pointer to the PUS Source Data. + */ + virtual uint8_t* getSourceData() = 0; + /** + * This method calculates the size of the PUS Source data field. + * + * It takes the information stored in the CCSDS Packet Data Length field + * and subtracts the Data Field Header size and the CRC size. + * @return The size of the PUS Source Data (without Error Control field) + */ + virtual uint16_t getSourceDataSize() = 0; + + /** + * Get size of data field which can differ based on implementation + * @return + */ + virtual uint16_t getDataFieldSize() = 0; + + virtual size_t getPacketMinimumSize() const = 0; + + /** + * Interprets the "time"-field in the secondary header and returns it in + * timeval format. + * @return Converted timestamp of packet. + */ + virtual ReturnValue_t getPacketTime(timeval* timestamp) const; + /** + * Returns a raw pointer to the beginning of the time field. + * @return Raw pointer to time field. + */ + virtual uint8_t* getPacketTimeRaw() const = 0; + + virtual size_t getTimestampSize() const = 0; + + /** + * This is a debugging helper method that prints the whole packet content + * to the screen. + */ + void print(); /** * With this method, the Error Control Field is updated to match the * current content of the packet. This method is not protected because @@ -111,79 +107,24 @@ public: * like the sequence count. */ void setErrorControl(); - - /** - * This getter returns the Error Control Field of the packet. - * - * The field is placed after any possible Source Data. If no - * Source Data is present there's still an Error Control field. It is - * supposed to be a 16bit-CRC. - * @return The PUS Error Control - */ - uint16_t getErrorControl(); - - /** - * This is a debugging helper method that prints the whole packet content - * to the screen. - */ - void print(); - /** - * Interprets the "time"-field in the secondary header and returns it in - * timeval format. - * @return Converted timestamp of packet. - */ - ReturnValue_t getPacketTime(timeval* timestamp) const; - /** - * Returns a raw pointer to the beginning of the time field. - * @return Raw pointer to time field. - */ - uint8_t* getPacketTimeRaw() const; - - size_t getTimestampSize() const; + /** + * This getter returns the Error Control Field of the packet. + * + * The field is placed after any possible Source Data. If no + * Source Data is present there's still an Error Control field. It is + * supposed to be a 16bit-CRC. + * @return The PUS Error Control + */ + uint16_t getErrorControl(); protected: - /** - * A pointer to a structure which defines the data structure of - * the packet's data. - * - * To be hardware-safe, all elements are of byte size. - */ - TmPacketPointer* tmData; - /** - * The timeStamper is responsible for adding a timestamp to the packet. - * It is initialized lazy. - */ - static TimeStamperIF* timeStamper; - //! The ID to use when looking for a time stamper. - static object_id_t timeStamperId; - /** - * Initializes the Tm Packet header. - * Does set the timestamp (to now), but not the error control field. - * @param apid APID used. - * @param service PUS Service - * @param subservice PUS Subservice - * @param packetSubcounter Additional subcounter used. + * The timeStamper is responsible for adding a timestamp to the packet. + * It is initialized lazy. */ - void initializeTmPacket(uint16_t apid, uint8_t service, uint8_t subservice, - uint8_t packetSubcounter); - - /** - * With this method, the packet data pointer can be redirected to another - * location. - * - * This call overwrites the parent's setData method to set both its - * @c tc_data pointer and the parent's @c data pointer. - * - * @param p_data A pointer to another PUS Telemetry Packet. - */ - void setData( const uint8_t* pData ); - - /** - * In case data was filled manually (almost never the case). - * @param size Size of source data (without CRC and data filed header!). - */ - void setSourceDataSize(uint16_t size); + static TimeStamperIF* timeStamper; + //! The ID to use when looking for a time stamper. + static object_id_t timeStamperId; /** * Checks if a time stamper is available and tries to set it if not. diff --git a/tmtcpacket/pus/TmPacketPusA.cpp b/tmtcpacket/pus/TmPacketPusA.cpp new file mode 100644 index 000000000..d96f6aa79 --- /dev/null +++ b/tmtcpacket/pus/TmPacketPusA.cpp @@ -0,0 +1,87 @@ +#include "TmPacketPusA.h" +#include "TmPacketBase.h" + +#include "../../globalfunctions/CRC.h" +#include "../../globalfunctions/arrayprinter.h" +#include "../../objectmanager/ObjectManagerIF.h" +#include "../../serviceinterface/ServiceInterfaceStream.h" +#include "../../timemanager/CCSDSTime.h" + +#include + + +TmPacketPusA::TmPacketPusA(uint8_t* setData) : TmPacketBase(setData) { + tmData = reinterpret_cast(setData); +} + +TmPacketPusA::~TmPacketPusA() { + //Nothing to do. +} + +uint8_t TmPacketPusA::getService() { + return tmData->data_field.service_type; +} + +uint8_t TmPacketPusA::getSubService() { + return tmData->data_field.service_subtype; +} + +uint8_t* TmPacketPusA::getSourceData() { + return &tmData->data; +} + +uint16_t TmPacketPusA::getSourceDataSize() { + return getPacketDataLength() - sizeof(tmData->data_field) + - CRC_SIZE + 1; +} + +void TmPacketPusA::setData(const uint8_t* p_Data) { + SpacePacketBase::setData(p_Data); + tmData = (TmPacketPointerPusA*) p_Data; +} + + +size_t TmPacketPusA::getPacketMinimumSize() const { + return TM_PACKET_MIN_SIZE; +} + +uint16_t TmPacketPusA::getDataFieldSize() { + return sizeof(PUSTmDataFieldHeaderPusA); +} + +uint8_t* TmPacketPusA::getPacketTimeRaw() const { + return tmData->data_field.time; + +} + +void TmPacketPusA::initializeTmPacket(uint16_t apid, uint8_t service, + uint8_t subservice, uint8_t packetSubcounter) { + //Set primary header: + initSpacePacketHeader(false, true, apid); + //Set data Field Header: + //First, set to zero. + memset(&tmData->data_field, 0, sizeof(tmData->data_field)); + + // NOTE: In PUS-C, the PUS Version is 2 and specified for the first 4 bits. + // The other 4 bits of the first byte are the spacecraft time reference + // status. To change to PUS-C, set 0b00100000. + // Set CCSDS_secondary header flag to 0, version number to 001 and ack + // to 0000 + tmData->data_field.version_type_ack = 0b00010000; + tmData->data_field.service_type = service; + tmData->data_field.service_subtype = subservice; + tmData->data_field.subcounter = packetSubcounter; + //Timestamp packet + if (TmPacketBase::checkAndSetStamper()) { + timeStamper->addTimeStamp(tmData->data_field.time, + sizeof(tmData->data_field.time)); + } +} + +void TmPacketPusA::setSourceDataSize(uint16_t size) { + setPacketDataLength(size + sizeof(PUSTmDataFieldHeaderPusA) + CRC_SIZE - 1); +} + +size_t TmPacketPusA::getTimestampSize() const { + return sizeof(tmData->data_field.time); +} diff --git a/tmtcpacket/pus/TmPacketPusA.h b/tmtcpacket/pus/TmPacketPusA.h new file mode 100644 index 000000000..dd9a5d090 --- /dev/null +++ b/tmtcpacket/pus/TmPacketPusA.h @@ -0,0 +1,129 @@ +#ifndef FSFW_TMTCPACKET_PUS_TMPACKETPUSA_H_ +#define FSFW_TMTCPACKET_PUS_TMPACKETPUSA_H_ + +#include "TmPacketBase.h" +#include "../SpacePacketBase.h" +#include "../../timemanager/TimeStamperIF.h" +#include "../../timemanager/Clock.h" +#include "../../objectmanager/SystemObjectIF.h" + +namespace Factory{ +void setStaticFrameworkObjectIds(); +} + +/** + * This struct defines a byte-wise structured PUS TM Data Field Header. + * Any optional fields in the header must be added or removed here. + * Currently, no Destination field is present, but an eigth-byte representation + * for a time tag. + * @ingroup tmtcpackets + */ +struct PUSTmDataFieldHeaderPusA { + uint8_t version_type_ack; + uint8_t service_type; + uint8_t service_subtype; + uint8_t subcounter; +// uint8_t destination; + uint8_t time[TimeStamperIF::MISSION_TIMESTAMP_SIZE]; +}; + +/** + * This struct defines the data structure of a PUS Telecommand Packet when + * accessed via a pointer. + * @ingroup tmtcpackets + */ +struct TmPacketPointerPusA { + CCSDSPrimaryHeader primary; + PUSTmDataFieldHeaderPusA data_field; + uint8_t data; +}; + +/** + * PUS A packet implementation + * @ingroup tmtcpackets + */ +class TmPacketPusA: public TmPacketBase { + friend void (Factory::setStaticFrameworkObjectIds)(); +public: + /** + * This constant defines the minimum size of a valid PUS Telemetry Packet. + */ + static const uint32_t TM_PACKET_MIN_SIZE = (sizeof(CCSDSPrimaryHeader) + + sizeof(PUSTmDataFieldHeaderPusA) + 2); + //! Maximum size of a TM Packet in this mission. + //! TODO: Make this dependant on a config variable. + static const uint32_t MISSION_TM_PACKET_MAX_SIZE = 2048; + + /** + * This is the default constructor. + * It sets its internal data pointer to the address passed and also + * forwards the data pointer to the parent SpacePacketBase class. + * @param set_address The position where the packet data lies. + */ + TmPacketPusA( uint8_t* setData ); + /** + * This is the empty default destructor. + */ + virtual ~TmPacketPusA(); + + /* TmPacketBase implementations */ + uint8_t getService() override; + uint8_t getSubService() override; + uint8_t* getSourceData() override; + uint16_t getSourceDataSize() override; + uint16_t getDataFieldSize() override; + + /** + * Returns a raw pointer to the beginning of the time field. + * @return Raw pointer to time field. + */ + uint8_t* getPacketTimeRaw() const override; + size_t getTimestampSize() const override; + + size_t getPacketMinimumSize() const override; + +protected: + /** + * A pointer to a structure which defines the data structure of + * the packet's data. + * + * To be hardware-safe, all elements are of byte size. + */ + TmPacketPointerPusA* tmData; + + /** + * Initializes the Tm Packet header. + * Does set the timestamp (to now), but not the error control field. + * @param apid APID used. + * @param service PUS Service + * @param subservice PUS Subservice + * @param packetSubcounter Additional subcounter used. + */ + void initializeTmPacket(uint16_t apid, uint8_t service, uint8_t subservice, + uint8_t packetSubcounter); + + /** + * With this method, the packet data pointer can be redirected to another + * location. + * + * This call overwrites the parent's setData method to set both its + * @c tc_data pointer and the parent's @c data pointer. + * + * @param p_data A pointer to another PUS Telemetry Packet. + */ + void setData( const uint8_t* pData ); + + /** + * In case data was filled manually (almost never the case). + * @param size Size of source data (without CRC and data filed header!). + */ + void setSourceDataSize(uint16_t size); + + /** + * Checks if a time stamper is available and tries to set it if not. + * @return Returns false if setting failed. + */ + bool checkAndSetStamper(); +}; + +#endif /* FSFW_TMTCPACKET_PUS_TMPACKETPUSA_H_ */ diff --git a/tmtcpacket/pus/TmPacketPusC.cpp b/tmtcpacket/pus/TmPacketPusC.cpp new file mode 100644 index 000000000..ca2bccdb7 --- /dev/null +++ b/tmtcpacket/pus/TmPacketPusC.cpp @@ -0,0 +1,87 @@ +#include "TmPacketPusC.h" +#include "TmPacketBase.h" + +#include "../../globalfunctions/CRC.h" +#include "../../globalfunctions/arrayprinter.h" +#include "../../objectmanager/ObjectManagerIF.h" +#include "../../serviceinterface/ServiceInterfaceStream.h" +#include "../../timemanager/CCSDSTime.h" + +#include + + +TmPacketPusC::TmPacketPusC(uint8_t* setData) : TmPacketBase(setData) { + tmData = reinterpret_cast(setData); +} + +TmPacketPusC::~TmPacketPusC() { + //Nothing to do. +} + +uint8_t TmPacketPusC::getService() { + return tmData->dataField.serviceType; +} + +uint8_t TmPacketPusC::getSubService() { + return tmData->dataField.serviceSubtype; +} + +uint8_t* TmPacketPusC::getSourceData() { + return &tmData->data; +} + +uint16_t TmPacketPusC::getSourceDataSize() { + return getPacketDataLength() - sizeof(tmData->dataField) - CRC_SIZE + 1; +} + +void TmPacketPusC::setData(const uint8_t* p_Data) { + SpacePacketBase::setData(p_Data); + tmData = (TmPacketPointerPusC*) p_Data; +} + + +size_t TmPacketPusC::getPacketMinimumSize() const { + return TM_PACKET_MIN_SIZE; +} + +uint16_t TmPacketPusC::getDataFieldSize() { + return sizeof(PUSTmDataFieldHeaderPusC); +} + +uint8_t* TmPacketPusC::getPacketTimeRaw() const{ + return tmData->dataField.time; + +} + +void TmPacketPusC::initializeTmPacket(uint16_t apid, uint8_t service, + uint8_t subservice, uint16_t packetSubcounter, uint16_t destinationId, + uint8_t timeRefField) { + //Set primary header: + initSpacePacketHeader(false, true, apid); + //Set data Field Header: + //First, set to zero. + memset(&tmData->dataField, 0, sizeof(tmData->dataField)); + + /* Only account for last 4 bytes for time reference field */ + timeRefField &= 0b1111; + tmData->dataField.versionTimeReferenceField = VERSION_NUMBER_BYTE | timeRefField; + tmData->dataField.serviceType = service; + tmData->dataField.serviceSubtype = subservice; + tmData->dataField.subcounterMsb = packetSubcounter << 8 & 0xff; + tmData->dataField.subcounterLsb = packetSubcounter & 0xff; + tmData->dataField.destinationIdMsb = destinationId << 8 & 0xff; + tmData->dataField.destinationIdLsb = destinationId & 0xff; + //Timestamp packet + if (TmPacketBase::checkAndSetStamper()) { + timeStamper->addTimeStamp(tmData->dataField.time, + sizeof(tmData->dataField.time)); + } +} + +void TmPacketPusC::setSourceDataSize(uint16_t size) { + setPacketDataLength(size + sizeof(PUSTmDataFieldHeaderPusC) + CRC_SIZE - 1); +} + +size_t TmPacketPusC::getTimestampSize() const { + return sizeof(tmData->dataField.time); +} diff --git a/tmtcpacket/pus/TmPacketPusC.h b/tmtcpacket/pus/TmPacketPusC.h new file mode 100644 index 000000000..fdc275486 --- /dev/null +++ b/tmtcpacket/pus/TmPacketPusC.h @@ -0,0 +1,126 @@ +#ifndef FSFW_TMTCPACKET_PUS_TMPACKETPUSC_H_ +#define FSFW_TMTCPACKET_PUS_TMPACKETPUSC_H_ + +#include "TmPacketBase.h" +#include "../SpacePacketBase.h" +#include "../../timemanager/TimeStamperIF.h" +#include "../../timemanager/Clock.h" +#include "../../objectmanager/SystemObjectIF.h" + +namespace Factory{ +void setStaticFrameworkObjectIds(); +} + +/** + * This struct defines a byte-wise structured PUS TM Data Field Header. + * Any optional fields in the header must be added or removed here. + * Currently, no Destination field is present, but an eigth-byte representation + * for a time tag. + * @ingroup tmtcpackets + */ +struct PUSTmDataFieldHeaderPusC { + uint8_t versionTimeReferenceField; + uint8_t serviceType; + uint8_t serviceSubtype; + uint8_t subcounterMsb; + uint8_t subcounterLsb; + uint8_t destinationIdMsb; + uint8_t destinationIdLsb; + uint8_t time[TimeStamperIF::MISSION_TIMESTAMP_SIZE]; +}; + +/** + * This struct defines the data structure of a PUS Telecommand Packet when + * accessed via a pointer. + * @ingroup tmtcpackets + */ +struct TmPacketPointerPusC { + CCSDSPrimaryHeader primary; + PUSTmDataFieldHeaderPusC dataField; + uint8_t data; +}; + +/** + * PUS A packet implementation + * @ingroup tmtcpackets + */ +class TmPacketPusC: public TmPacketBase { + friend void (Factory::setStaticFrameworkObjectIds)(); +public: + /** + * This constant defines the minimum size of a valid PUS Telemetry Packet. + */ + static const uint32_t TM_PACKET_MIN_SIZE = (sizeof(CCSDSPrimaryHeader) + + sizeof(PUSTmDataFieldHeaderPusC) + 2); + //! Maximum size of a TM Packet in this mission. + //! TODO: Make this dependant on a config variable. + static const uint32_t MISSION_TM_PACKET_MAX_SIZE = 2048; + + /** + * This is the default constructor. + * It sets its internal data pointer to the address passed and also + * forwards the data pointer to the parent SpacePacketBase class. + * @param set_address The position where the packet data lies. + */ + TmPacketPusC( uint8_t* setData ); + /** + * This is the empty default destructor. + */ + virtual ~TmPacketPusC(); + + /* TmPacketBase implementations */ + uint8_t getService() override; + uint8_t getSubService() override; + uint8_t* getSourceData() override; + uint16_t getSourceDataSize() override; + uint16_t getDataFieldSize() override; + + /** + * Returns a raw pointer to the beginning of the time field. + * @return Raw pointer to time field. + */ + uint8_t* getPacketTimeRaw() const override; + size_t getTimestampSize() const override; + + size_t getPacketMinimumSize() const override; + +protected: + /** + * A pointer to a structure which defines the data structure of + * the packet's data. + * + * To be hardware-safe, all elements are of byte size. + */ + TmPacketPointerPusC* tmData; + + /** + * Initializes the Tm Packet header. + * Does set the timestamp (to now), but not the error control field. + * @param apid APID used. + * @param service PUS Service + * @param subservice PUS Subservice + * @param packetSubcounter Additional subcounter used. + */ + void initializeTmPacket(uint16_t apid, uint8_t service, uint8_t subservice, + uint16_t packetSubcounter, uint16_t destinationId = 0, uint8_t timeRefField = 0); + + /** + * With this method, the packet data pointer can be redirected to another + * location. + * + * This call overwrites the parent's setData method to set both its + * @c tc_data pointer and the parent's @c data pointer. + * + * @param p_data A pointer to another PUS Telemetry Packet. + */ + void setData( const uint8_t* pData ); + + /** + * In case data was filled manually (almost never the case). + * @param size Size of source data (without CRC and data filed header!). + */ + void setSourceDataSize(uint16_t size); + +}; + +#endif /* FSFW_TMTCPACKET_PUS_TMPACKETPUSC_H_ */ diff --git a/tmtcpacket/pus/TmPacketStored.cpp b/tmtcpacket/pus/TmPacketStored.cpp deleted file mode 100644 index 0fd2a4a03..000000000 --- a/tmtcpacket/pus/TmPacketStored.cpp +++ /dev/null @@ -1,147 +0,0 @@ -#include "TmPacketStored.h" - -#include "../../objectmanager/ObjectManagerIF.h" -#include "../../serviceinterface/ServiceInterfaceStream.h" -#include "../../tmtcservices/TmTcMessage.h" - -#include - -StorageManagerIF *TmPacketStored::store = nullptr; -InternalErrorReporterIF *TmPacketStored::internalErrorReporter = nullptr; - -TmPacketStored::TmPacketStored(store_address_t setAddress) : - TmPacketBase(nullptr), storeAddress(setAddress) { - setStoreAddress(storeAddress); -} - -TmPacketStored::TmPacketStored(uint16_t apid, uint8_t service, - uint8_t subservice, uint8_t packetSubcounter, const uint8_t *data, - uint32_t size, const uint8_t *headerData, uint32_t headerSize) : - TmPacketBase(NULL) { - storeAddress.raw = StorageManagerIF::INVALID_ADDRESS; - if (not checkAndSetStore()) { - return; - } - uint8_t *pData = nullptr; - ReturnValue_t returnValue = store->getFreeElement(&storeAddress, - (TmPacketBase::TM_PACKET_MIN_SIZE + size + headerSize), &pData); - - if (returnValue != store->RETURN_OK) { - checkAndReportLostTm(); - return; - } - setData(pData); - initializeTmPacket(apid, service, subservice, packetSubcounter); - memcpy(getSourceData(), headerData, headerSize); - memcpy(getSourceData() + headerSize, data, size); - setPacketDataLength( - size + headerSize + sizeof(PUSTmDataFieldHeader) + CRC_SIZE - 1); -} - -TmPacketStored::TmPacketStored(uint16_t apid, uint8_t service, - uint8_t subservice, uint8_t packetSubcounter, SerializeIF *content, - SerializeIF *header) : - TmPacketBase(NULL) { - storeAddress.raw = StorageManagerIF::INVALID_ADDRESS; - if (not checkAndSetStore()) { - return; - } - size_t sourceDataSize = 0; - if (content != NULL) { - sourceDataSize += content->getSerializedSize(); - } - if (header != NULL) { - sourceDataSize += header->getSerializedSize(); - } - uint8_t *p_data = NULL; - ReturnValue_t returnValue = store->getFreeElement(&storeAddress, - (TmPacketBase::TM_PACKET_MIN_SIZE + sourceDataSize), &p_data); - if (returnValue != store->RETURN_OK) { - checkAndReportLostTm(); - } - setData(p_data); - initializeTmPacket(apid, service, subservice, packetSubcounter); - uint8_t *putDataHere = getSourceData(); - size_t size = 0; - if (header != NULL) { - header->serialize(&putDataHere, &size, sourceDataSize, - SerializeIF::Endianness::BIG); - } - if (content != NULL) { - content->serialize(&putDataHere, &size, sourceDataSize, - SerializeIF::Endianness::BIG); - } - setPacketDataLength( - sourceDataSize + sizeof(PUSTmDataFieldHeader) + CRC_SIZE - 1); -} - -store_address_t TmPacketStored::getStoreAddress() { - return storeAddress; -} - -void TmPacketStored::deletePacket() { - store->deleteData(storeAddress); - storeAddress.raw = StorageManagerIF::INVALID_ADDRESS; - setData(nullptr); -} - -void TmPacketStored::setStoreAddress(store_address_t setAddress) { - storeAddress = setAddress; - const uint8_t* tempData = nullptr; - size_t tempSize; - if (not checkAndSetStore()) { - return; - } - ReturnValue_t status = store->getData(storeAddress, &tempData, &tempSize); - if (status == StorageManagerIF::RETURN_OK) { - setData(tempData); - } else { - setData(nullptr); - storeAddress.raw = StorageManagerIF::INVALID_ADDRESS; - } -} - -bool TmPacketStored::checkAndSetStore() { - if (store == nullptr) { - store = objectManager->get(objects::TM_STORE); - if (store == nullptr) { -#if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "TmPacketStored::TmPacketStored: TM Store not found!" - << std::endl; -#endif - return false; - } - } - return true; -} - -ReturnValue_t TmPacketStored::sendPacket(MessageQueueId_t destination, - MessageQueueId_t sentFrom, bool doErrorReporting) { - if (getWholeData() == nullptr) { - //SHOULDDO: More decent code. - return HasReturnvaluesIF::RETURN_FAILED; - } - TmTcMessage tmMessage(getStoreAddress()); - ReturnValue_t result = MessageQueueSenderIF::sendMessage(destination, - &tmMessage, sentFrom); - if (result != HasReturnvaluesIF::RETURN_OK) { - deletePacket(); - if (doErrorReporting) { - checkAndReportLostTm(); - } - return result; - } - //SHOULDDO: In many cases, some counter is incremented for successfully sent packets. The check is often not done, but just incremented. - return HasReturnvaluesIF::RETURN_OK; - -} - -void TmPacketStored::checkAndReportLostTm() { - if (internalErrorReporter == nullptr) { - internalErrorReporter = objectManager->get( - objects::INTERNAL_ERROR_REPORTER); - } - if (internalErrorReporter != nullptr) { - internalErrorReporter->lostTm(); - } -} diff --git a/tmtcpacket/pus/TmPacketStored.h b/tmtcpacket/pus/TmPacketStored.h index b231407d0..fadda5610 100644 --- a/tmtcpacket/pus/TmPacketStored.h +++ b/tmtcpacket/pus/TmPacketStored.h @@ -1,108 +1,13 @@ #ifndef FSFW_TMTCPACKET_PUS_TMPACKETSTORED_H_ #define FSFW_TMTCPACKET_PUS_TMPACKETSTORED_H_ -#include "TmPacketBase.h" +#include -#include "../../serialize/SerializeIF.h" -#include "../../storagemanager/StorageManagerIF.h" -#include "../../internalError/InternalErrorReporterIF.h" -#include "../../ipc/MessageQueueSenderIF.h" - -/** - * This class generates a ECSS PUS Telemetry packet within a given - * intermediate storage. - * As most packets are passed between tasks with the help of a storage - * anyway, it seems logical to create a Packet-In-Storage access class - * which saves the user almost all storage handling operation. - * Packets can both be newly created with the class and be "linked" to - * packets in a store with the help of a storeAddress. - * @ingroup tmtcpackets - */ -class TmPacketStored : public TmPacketBase { -public: - /** - * This is a default constructor which does not set the data pointer. - * However, it does try to set the packet store. - */ - TmPacketStored( store_address_t setAddress ); - /** - * With this constructor, new space is allocated in the packet store and - * a new PUS Telemetry Packet is created there. - * Packet Application Data passed in data is copied into the packet. - * The Application data is passed in two parts, first a header, then a - * data field. This allows building a Telemetry Packet from two separate - * data sources. - * @param apid Sets the packet's APID field. - * @param service Sets the packet's Service ID field. - * This specifies the source service. - * @param subservice Sets the packet's Service Subtype field. - * This specifies the source sub-service. - * @param packet_counter Sets the Packet counter field of this packet - * @param data The payload data to be copied to the - * Application Data Field - * @param size The amount of data to be copied. - * @param headerData The header Data of the Application field, - * will be copied in front of data - * @param headerSize The size of the headerDataF - */ - TmPacketStored( uint16_t apid, uint8_t service, uint8_t subservice, - uint8_t packet_counter = 0, const uint8_t* data = nullptr, - uint32_t size = 0, const uint8_t* headerData = nullptr, - uint32_t headerSize = 0); - /** - * Another ctor to directly pass structured content and header data to the - * packet to avoid additional buffers. - */ - TmPacketStored( uint16_t apid, uint8_t service, uint8_t subservice, - uint8_t packet_counter, SerializeIF* content, - SerializeIF* header = nullptr); - /** - * This is a getter for the current store address of the packet. - * @return The current store address. The (raw) value is - * @c StorageManagerIF::INVALID_ADDRESS if - * the packet is not linked. - */ - store_address_t getStoreAddress(); - /** - * With this call, the packet is deleted. - * It removes itself from the store and sets its data pointer to NULL. - */ - void deletePacket(); - /** - * With this call, a packet can be linked to another store. This is useful - * if the packet is a class member and used for more than one packet. - * @param setAddress The new packet id to link to. - */ - void setStoreAddress( store_address_t setAddress ); - - ReturnValue_t sendPacket( MessageQueueId_t destination, - MessageQueueId_t sentFrom, bool doErrorReporting = true ); -private: - /** - * This is a pointer to the store all instances of the class use. - * If the store is not yet set (i.e. @c store is NULL), every constructor - * call tries to set it and throws an error message in case of failures. - * The default store is objects::TM_STORE. - */ - static StorageManagerIF* store; - - static InternalErrorReporterIF *internalErrorReporter; - - /** - * The address where the packet data of the object instance is stored. - */ - store_address_t storeAddress; - /** - * A helper method to check if a store is assigned to the class. - * If not, the method tries to retrieve the store from the global - * ObjectManager. - * @return @li @c true if the store is linked or could be created. - * @li @c false otherwise. - */ - bool checkAndSetStore(); - - void checkAndReportLostTm(); -}; +#if FSFW_USE_PUS_C_TELEMETRY == 1 +#include "TmPacketStoredPusC.h" +#else +#include "TmPacketStoredPusA.h" +#endif #endif /* FSFW_TMTCPACKET_PUS_TMPACKETSTORED_H_ */ diff --git a/tmtcpacket/pus/TmPacketStoredBase.cpp b/tmtcpacket/pus/TmPacketStoredBase.cpp new file mode 100644 index 000000000..3ab31a80b --- /dev/null +++ b/tmtcpacket/pus/TmPacketStoredBase.cpp @@ -0,0 +1,94 @@ +#include "TmPacketStoredBase.h" + +#include "../../objectmanager/ObjectManagerIF.h" +#include "../../serviceinterface/ServiceInterfaceStream.h" +#include "../../tmtcservices/TmTcMessage.h" + +#include + +StorageManagerIF *TmPacketStoredBase::store = nullptr; +InternalErrorReporterIF *TmPacketStoredBase::internalErrorReporter = nullptr; + +TmPacketStoredBase::TmPacketStoredBase(store_address_t setAddress): storeAddress(setAddress) { + setStoreAddress(storeAddress); +} + +TmPacketStoredBase::TmPacketStoredBase() { +} + + +TmPacketStoredBase::~TmPacketStoredBase() { +} + +store_address_t TmPacketStoredBase::getStoreAddress() { + return storeAddress; +} + +void TmPacketStoredBase::deletePacket() { + store->deleteData(storeAddress); + storeAddress.raw = StorageManagerIF::INVALID_ADDRESS; + setDataPointer(nullptr); +} + +void TmPacketStoredBase::setStoreAddress(store_address_t setAddress) { + storeAddress = setAddress; + const uint8_t* tempData = nullptr; + size_t tempSize; + if (not checkAndSetStore()) { + return; + } + ReturnValue_t status = store->getData(storeAddress, &tempData, &tempSize); + if (status == StorageManagerIF::RETURN_OK) { + setDataPointer(tempData); + } else { + setDataPointer(nullptr); + storeAddress.raw = StorageManagerIF::INVALID_ADDRESS; + } +} + +bool TmPacketStoredBase::checkAndSetStore() { + if (store == nullptr) { + store = objectManager->get(objects::TM_STORE); + if (store == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::error << "TmPacketStored::TmPacketStored: TM Store not found!" + << std::endl; +#endif + return false; + } + } + return true; +} + +ReturnValue_t TmPacketStoredBase::sendPacket(MessageQueueId_t destination, + MessageQueueId_t sentFrom, bool doErrorReporting) { + if (getAllTmData() == nullptr) { + //SHOULDDO: More decent code. + return HasReturnvaluesIF::RETURN_FAILED; + } + TmTcMessage tmMessage(getStoreAddress()); + ReturnValue_t result = MessageQueueSenderIF::sendMessage(destination, + &tmMessage, sentFrom); + if (result != HasReturnvaluesIF::RETURN_OK) { + deletePacket(); + if (doErrorReporting) { + checkAndReportLostTm(); + } + return result; + } + //SHOULDDO: In many cases, some counter is incremented for successfully sent packets. The check is often not done, but just incremented. + return HasReturnvaluesIF::RETURN_OK; + +} + +void TmPacketStoredBase::checkAndReportLostTm() { + if (internalErrorReporter == nullptr) { + internalErrorReporter = objectManager->get( + objects::INTERNAL_ERROR_REPORTER); + } + if (internalErrorReporter != nullptr) { + internalErrorReporter->lostTm(); + } +} + + diff --git a/tmtcpacket/pus/TmPacketStoredBase.h b/tmtcpacket/pus/TmPacketStoredBase.h new file mode 100644 index 000000000..dd7e31eba --- /dev/null +++ b/tmtcpacket/pus/TmPacketStoredBase.h @@ -0,0 +1,89 @@ +#ifndef FSFW_TMTCPACKET_PUS_TMPACKETSTOREDBASE_H_ +#define FSFW_TMTCPACKET_PUS_TMPACKETSTOREDBASE_H_ + +#include "TmPacketBase.h" +#include "TmPacketStoredBase.h" +#include + +#include "../../tmtcpacket/pus/TmPacketPusA.h" +#include "../../serialize/SerializeIF.h" +#include "../../storagemanager/StorageManagerIF.h" +#include "../../internalError/InternalErrorReporterIF.h" +#include "../../ipc/MessageQueueSenderIF.h" + +/** + * This class generates a ECSS PUS Telemetry packet within a given + * intermediate storage. + * As most packets are passed between tasks with the help of a storage + * anyway, it seems logical to create a Packet-In-Storage access class + * which saves the user almost all storage handling operation. + * Packets can both be newly created with the class and be "linked" to + * packets in a store with the help of a storeAddress. + * @ingroup tmtcpackets + */ +class TmPacketStoredBase { +public: + /** + * This is a default constructor which does not set the data pointer. + * However, it does try to set the packet store. + */ + TmPacketStoredBase( store_address_t setAddress ); + TmPacketStoredBase(); + + virtual ~TmPacketStoredBase(); + + virtual uint8_t* getAllTmData() = 0; + virtual void setDataPointer(const uint8_t* newPointer) = 0; + + /** + * This is a getter for the current store address of the packet. + * @return The current store address. The (raw) value is + * @c StorageManagerIF::INVALID_ADDRESS if + * the packet is not linked. + */ + store_address_t getStoreAddress(); + /** + * With this call, the packet is deleted. + * It removes itself from the store and sets its data pointer to NULL. + */ + void deletePacket(); + /** + * With this call, a packet can be linked to another store. This is useful + * if the packet is a class member and used for more than one packet. + * @param setAddress The new packet id to link to. + */ + void setStoreAddress(store_address_t setAddress); + + ReturnValue_t sendPacket(MessageQueueId_t destination, MessageQueueId_t sentFrom, + bool doErrorReporting = true); + +protected: + /** + * This is a pointer to the store all instances of the class use. + * If the store is not yet set (i.e. @c store is NULL), every constructor + * call tries to set it and throws an error message in case of failures. + * The default store is objects::TM_STORE. + */ + static StorageManagerIF* store; + + static InternalErrorReporterIF *internalErrorReporter; + + /** + * The address where the packet data of the object instance is stored. + */ + store_address_t storeAddress; + /** + * A helper method to check if a store is assigned to the class. + * If not, the method tries to retrieve the store from the global + * ObjectManager. + * @return @li @c true if the store is linked or could be created. + * @li @c false otherwise. + */ + bool checkAndSetStore(); + + void checkAndReportLostTm(); +}; + + +#endif /* FSFW_TMTCPACKET_PUS_TMPACKETSTOREDBASE_H_ */ + diff --git a/tmtcpacket/pus/TmPacketStoredPusA.cpp b/tmtcpacket/pus/TmPacketStoredPusA.cpp new file mode 100644 index 000000000..68102b621 --- /dev/null +++ b/tmtcpacket/pus/TmPacketStoredPusA.cpp @@ -0,0 +1,79 @@ +#include "TmPacketStoredPusA.h" + +#include "../../serviceinterface/ServiceInterface.h" +#include "../../tmtcservices/TmTcMessage.h" + +#include + +TmPacketStoredPusA::TmPacketStoredPusA(store_address_t setAddress) : + TmPacketStoredBase(setAddress), TmPacketPusA(nullptr){ +} + +TmPacketStoredPusA::TmPacketStoredPusA(uint16_t apid, uint8_t service, + uint8_t subservice, uint8_t packetSubcounter, const uint8_t *data, + uint32_t size, const uint8_t *headerData, uint32_t headerSize) : + TmPacketPusA(nullptr) { + storeAddress.raw = StorageManagerIF::INVALID_ADDRESS; + if (not TmPacketStoredBase::checkAndSetStore()) { + return; + } + uint8_t *pData = nullptr; + ReturnValue_t returnValue = store->getFreeElement(&storeAddress, + (getPacketMinimumSize() + size + headerSize), &pData); + + if (returnValue != store->RETURN_OK) { + TmPacketStoredBase::checkAndReportLostTm(); + return; + } + setData(pData); + initializeTmPacket(apid, service, subservice, packetSubcounter); + memcpy(getSourceData(), headerData, headerSize); + memcpy(getSourceData() + headerSize, data, size); + setPacketDataLength( + size + headerSize + sizeof(PUSTmDataFieldHeaderPusA) + CRC_SIZE - 1); +} + +TmPacketStoredPusA::TmPacketStoredPusA(uint16_t apid, uint8_t service, + uint8_t subservice, uint8_t packetSubcounter, SerializeIF *content, + SerializeIF *header) : + TmPacketPusA(nullptr) { + storeAddress.raw = StorageManagerIF::INVALID_ADDRESS; + if (not TmPacketStoredBase::checkAndSetStore()) { + return; + } + size_t sourceDataSize = 0; + if (content != NULL) { + sourceDataSize += content->getSerializedSize(); + } + if (header != NULL) { + sourceDataSize += header->getSerializedSize(); + } + uint8_t *p_data = NULL; + ReturnValue_t returnValue = store->getFreeElement(&storeAddress, + (getPacketMinimumSize() + sourceDataSize), &p_data); + if (returnValue != store->RETURN_OK) { + TmPacketStoredBase::checkAndReportLostTm(); + } + setData(p_data); + initializeTmPacket(apid, service, subservice, packetSubcounter); + uint8_t *putDataHere = getSourceData(); + size_t size = 0; + if (header != NULL) { + header->serialize(&putDataHere, &size, sourceDataSize, + SerializeIF::Endianness::BIG); + } + if (content != NULL) { + content->serialize(&putDataHere, &size, sourceDataSize, + SerializeIF::Endianness::BIG); + } + setPacketDataLength( + sourceDataSize + sizeof(PUSTmDataFieldHeaderPusA) + CRC_SIZE - 1); +} + +uint8_t* TmPacketStoredPusA::getAllTmData() { + return getWholeData(); +} + +void TmPacketStoredPusA::setDataPointer(const uint8_t *newPointer) { + setData(newPointer); +} diff --git a/tmtcpacket/pus/TmPacketStoredPusA.h b/tmtcpacket/pus/TmPacketStoredPusA.h new file mode 100644 index 000000000..0cfcf0b80 --- /dev/null +++ b/tmtcpacket/pus/TmPacketStoredPusA.h @@ -0,0 +1,65 @@ +#ifndef FSFW_TMTCPACKET_PUS_TMPACKETSTORED_PUSA_H_ +#define FSFW_TMTCPACKET_PUS_TMPACKETSTORED_PUSA_H_ + +#include "TmPacketStoredBase.h" +#include "TmPacketPusA.h" +#include + +/** + * This class generates a ECSS PUS A Telemetry packet within a given + * intermediate storage. + * As most packets are passed between tasks with the help of a storage + * anyway, it seems logical to create a Packet-In-Storage access class + * which saves the user almost all storage handling operation. + * Packets can both be newly created with the class and be "linked" to + * packets in a store with the help of a storeAddress. + * @ingroup tmtcpackets + */ +class TmPacketStoredPusA : + public TmPacketStoredBase, + public TmPacketPusA { +public: + /** + * This is a default constructor which does not set the data pointer. + * However, it does try to set the packet store. + */ + TmPacketStoredPusA( store_address_t setAddress ); + /** + * With this constructor, new space is allocated in the packet store and + * a new PUS Telemetry Packet is created there. + * Packet Application Data passed in data is copied into the packet. + * The Application data is passed in two parts, first a header, then a + * data field. This allows building a Telemetry Packet from two separate + * data sources. + * @param apid Sets the packet's APID field. + * @param service Sets the packet's Service ID field. + * This specifies the source service. + * @param subservice Sets the packet's Service Subtype field. + * This specifies the source sub-service. + * @param packet_counter Sets the Packet counter field of this packet + * @param data The payload data to be copied to the + * Application Data Field + * @param size The amount of data to be copied. + * @param headerData The header Data of the Application field, + * will be copied in front of data + * @param headerSize The size of the headerDataF + */ + TmPacketStoredPusA( uint16_t apid, uint8_t service, uint8_t subservice, + uint8_t packet_counter = 0, const uint8_t* data = nullptr, + uint32_t size = 0, const uint8_t* headerData = nullptr, + uint32_t headerSize = 0); + /** + * Another ctor to directly pass structured content and header data to the + * packet to avoid additional buffers. + */ + TmPacketStoredPusA( uint16_t apid, uint8_t service, uint8_t subservice, + uint8_t packet_counter, SerializeIF* content, + SerializeIF* header = nullptr); + + uint8_t* getAllTmData() override; + void setDataPointer(const uint8_t* newPointer) override; + +}; + + +#endif /* FSFW_TMTCPACKET_PUS_TMPACKETSTORED_PUSA_H_ */ diff --git a/tmtcpacket/pus/TmPacketStoredPusC.cpp b/tmtcpacket/pus/TmPacketStoredPusC.cpp new file mode 100644 index 000000000..7f7744114 --- /dev/null +++ b/tmtcpacket/pus/TmPacketStoredPusC.cpp @@ -0,0 +1,80 @@ +#include "TmPacketStoredPusC.h" + +#include "../../serviceinterface/ServiceInterface.h" +#include "../../tmtcservices/TmTcMessage.h" + +#include + +TmPacketStoredPusC::TmPacketStoredPusC(store_address_t setAddress) : + TmPacketStoredBase(setAddress), TmPacketPusC(nullptr){ +} + +TmPacketStoredPusC::TmPacketStoredPusC(uint16_t apid, uint8_t service, + uint8_t subservice, uint16_t packetSubcounter, const uint8_t *data, + uint32_t size, const uint8_t *headerData, uint32_t headerSize, uint16_t destinationId, + uint8_t timeRefField) : + TmPacketPusC(nullptr) { + storeAddress.raw = StorageManagerIF::INVALID_ADDRESS; + if (not TmPacketStoredBase::checkAndSetStore()) { + return; + } + uint8_t *pData = nullptr; + ReturnValue_t returnValue = store->getFreeElement(&storeAddress, + (getPacketMinimumSize() + size + headerSize), &pData); + + if (returnValue != store->RETURN_OK) { + TmPacketStoredBase::checkAndReportLostTm(); + return; + } + setData(pData); + initializeTmPacket(apid, service, subservice, packetSubcounter, destinationId, timeRefField); + memcpy(getSourceData(), headerData, headerSize); + memcpy(getSourceData() + headerSize, data, size); + setPacketDataLength( + size + headerSize + sizeof(PUSTmDataFieldHeaderPusC) + CRC_SIZE - 1); +} + +TmPacketStoredPusC::TmPacketStoredPusC(uint16_t apid, uint8_t service, + uint8_t subservice, uint16_t packetSubcounter, SerializeIF *content, + SerializeIF *header, uint16_t destinationId, uint8_t timeRefField) : + TmPacketPusC(nullptr) { + storeAddress.raw = StorageManagerIF::INVALID_ADDRESS; + if (not TmPacketStoredBase::checkAndSetStore()) { + return; + } + size_t sourceDataSize = 0; + if (content != NULL) { + sourceDataSize += content->getSerializedSize(); + } + if (header != NULL) { + sourceDataSize += header->getSerializedSize(); + } + uint8_t *p_data = NULL; + ReturnValue_t returnValue = store->getFreeElement(&storeAddress, + (getPacketMinimumSize() + sourceDataSize), &p_data); + if (returnValue != store->RETURN_OK) { + TmPacketStoredBase::checkAndReportLostTm(); + } + setData(p_data); + initializeTmPacket(apid, service, subservice, packetSubcounter, destinationId, timeRefField); + uint8_t *putDataHere = getSourceData(); + size_t size = 0; + if (header != NULL) { + header->serialize(&putDataHere, &size, sourceDataSize, + SerializeIF::Endianness::BIG); + } + if (content != NULL) { + content->serialize(&putDataHere, &size, sourceDataSize, + SerializeIF::Endianness::BIG); + } + setPacketDataLength( + sourceDataSize + sizeof(PUSTmDataFieldHeaderPusC) + CRC_SIZE - 1); +} + +uint8_t* TmPacketStoredPusC::getAllTmData() { + return getWholeData(); +} + +void TmPacketStoredPusC::setDataPointer(const uint8_t *newPointer) { + setData(newPointer); +} diff --git a/tmtcpacket/pus/TmPacketStoredPusC.h b/tmtcpacket/pus/TmPacketStoredPusC.h new file mode 100644 index 000000000..883dc0ffd --- /dev/null +++ b/tmtcpacket/pus/TmPacketStoredPusC.h @@ -0,0 +1,68 @@ +#ifndef FSFW_TMTCPACKET_PUS_TMPACKETSTOREDPUSC_H_ +#define FSFW_TMTCPACKET_PUS_TMPACKETSTOREDPUSC_H_ + +#include +#include + +/** + * This class generates a ECSS PUS C Telemetry packet within a given + * intermediate storage. + * As most packets are passed between tasks with the help of a storage + * anyway, it seems logical to create a Packet-In-Storage access class + * which saves the user almost all storage handling operation. + * Packets can both be newly created with the class and be "linked" to + * packets in a store with the help of a storeAddress. + * @ingroup tmtcpackets + */ +class TmPacketStoredPusC: + public TmPacketStoredBase, + public TmPacketPusC { +public: + /** + * This is a default constructor which does not set the data pointer. + * However, it does try to set the packet store. + */ + TmPacketStoredPusC( store_address_t setAddress ); + /** + * With this constructor, new space is allocated in the packet store and + * a new PUS Telemetry Packet is created there. + * Packet Application Data passed in data is copied into the packet. + * The Application data is passed in two parts, first a header, then a + * data field. This allows building a Telemetry Packet from two separate + * data sources. + * @param apid Sets the packet's APID field. + * @param service Sets the packet's Service ID field. + * This specifies the source service. + * @param subservice Sets the packet's Service Subtype field. + * This specifies the source sub-service. + * @param packet_counter Sets the Packet counter field of this packet + * @param data The payload data to be copied to the + * Application Data Field + * @param size The amount of data to be copied. + * @param headerData The header Data of the Application field, + * will be copied in front of data + * @param headerSize The size of the headerDataF + * @param destinationId Destination ID containing the application process ID as specified + * by PUS C + * @param timeRefField 4 bit time reference field as specified by PUS C + */ + TmPacketStoredPusC( uint16_t apid, uint8_t service, uint8_t subservice, + uint16_t packetCounter = 0, const uint8_t* data = nullptr, + uint32_t size = 0, const uint8_t* headerData = nullptr, + uint32_t headerSize = 0, uint16_t destinationId = 0, uint8_t timeRefField = 0); + /** + * Another ctor to directly pass structured content and header data to the + * packet to avoid additional buffers. + */ + TmPacketStoredPusC( uint16_t apid, uint8_t service, uint8_t subservice, + uint16_t packetCounter, SerializeIF* content, + SerializeIF* header = nullptr, uint16_t destinationId = 0, uint8_t timeRefField = 0); + + uint8_t* getAllTmData() override; + void setDataPointer(const uint8_t* newPointer) override; + +}; + + + +#endif /* FSFW_TMTCPACKET_PUS_TMPACKETSTOREDPUSC_H_ */ diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp index 8b6f7a097..fbd294685 100644 --- a/tmtcservices/CommandingServiceBase.cpp +++ b/tmtcservices/CommandingServiceBase.cpp @@ -1,6 +1,7 @@ #include "AcceptsTelemetryIF.h" #include "CommandingServiceBase.h" #include "TmTcMessage.h" +#include #include "../tcdistribution/PUSDistributorIF.h" #include "../objectmanager/ObjectManagerIF.h" @@ -293,8 +294,13 @@ void CommandingServiceBase::handleRequestQueue() { ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice, const uint8_t* data, size_t dataLen, const uint8_t* headerData, size_t headerSize) { - TmPacketStored tmPacketStored(this->apid, this->service, subservice, +#if FSFW_USE_PUS_C_TELEMETRY == 0 + TmPacketStoredPusA tmPacketStored(this->apid, this->service, subservice, this->tmPacketCounter, data, dataLen, headerData, headerSize); +#else + TmPacketStoredPusC tmPacketStored(this->apid, this->service, subservice, + this->tmPacketCounter, data, dataLen, headerData, headerSize); +#endif ReturnValue_t result = tmPacketStored.sendPacket( requestQueue->getDefaultDestination(), requestQueue->getId()); if (result == HasReturnvaluesIF::RETURN_OK) { @@ -311,8 +317,13 @@ ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice, size_t size = 0; SerializeAdapter::serialize(&objectId, &pBuffer, &size, sizeof(object_id_t), SerializeIF::Endianness::BIG); - TmPacketStored tmPacketStored(this->apid, this->service, subservice, +#if FSFW_USE_PUS_C_TELEMETRY == 0 + TmPacketStoredPusA tmPacketStored(this->apid, this->service, subservice, this->tmPacketCounter, data, dataLen, buffer, size); +#else + TmPacketStoredPusC tmPacketStored(this->apid, this->service, subservice, + this->tmPacketCounter, data, dataLen, buffer, size); +#endif ReturnValue_t result = tmPacketStored.sendPacket( requestQueue->getDefaultDestination(), requestQueue->getId()); if (result == HasReturnvaluesIF::RETURN_OK) { @@ -324,8 +335,13 @@ ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice, ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice, SerializeIF* content, SerializeIF* header) { - TmPacketStored tmPacketStored(this->apid, this->service, subservice, +#if FSFW_USE_PUS_C_TELEMETRY == 0 + TmPacketStoredPusA tmPacketStored(this->apid, this->service, subservice, this->tmPacketCounter, content, header); +#else + TmPacketStoredPusC tmPacketStored(this->apid, this->service, subservice, + this->tmPacketCounter, content, header); +#endif ReturnValue_t result = tmPacketStored.sendPacket( requestQueue->getDefaultDestination(), requestQueue->getId()); if (result == HasReturnvaluesIF::RETURN_OK) { diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp index 12d163d16..1257ef890 100644 --- a/tmtcservices/TmTcBridge.cpp +++ b/tmtcservices/TmTcBridge.cpp @@ -4,6 +4,8 @@ #include "../serviceinterface/ServiceInterface.h" #include "../globalfunctions/arrayprinter.h" +#define TMTCBRIDGE_WIRETAPPING 0 + TmTcBridge::TmTcBridge(object_id_t objectId, object_id_t tcDestination, object_id_t tmStoreId, object_id_t tcStoreId): SystemObject(objectId),tmStoreId(tmStoreId), tcStoreId(tcStoreId), @@ -14,7 +16,9 @@ TmTcBridge::TmTcBridge(object_id_t objectId, object_id_t tcDestination, createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH); } -TmTcBridge::~TmTcBridge() {} +TmTcBridge::~TmTcBridge() { + QueueFactory::instance()->deleteMessageQueue(tmTcReceptionQueue); +} ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle( uint8_t sentPacketsPerCycle) { @@ -173,11 +177,17 @@ ReturnValue_t TmTcBridge::handleTmQueue() { ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) { store_address_t storeId = 0; + if(tmFifo == nullptr) { + return HasReturnvaluesIF::RETURN_FAILED; + } if(tmFifo->full()) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::debug << "TmTcBridge::storeDownlinkData: TM downlink max. number " - << "of stored packet IDs reached! " << std::endl; + sif::warning << "TmTcBridge::storeDownlinkData: TM downlink max. number " + "of stored packet IDs reached!" << std::endl; +#else + sif::printWarning("TmTcBridge::storeDownlinkData: TM downlink max. number " + "of stored packet IDs reached!\n"); #endif if(overwriteOld) { tmFifo->retrieve(&storeId); @@ -231,17 +241,11 @@ ReturnValue_t TmTcBridge::handleStoredTm() { void TmTcBridge::registerCommConnect() { if(not communicationLinkUp) { -#if FSFW_CPP_OSTREAM_ENABLED == 1 - //sif::info << "TMTC Bridge: Registered Comm Link Connect" << std::endl; -#endif communicationLinkUp = true; } } void TmTcBridge::registerCommDisconnect() { -#if FSFW_CPP_OSTREAM_ENABLED == 1 - //sif::info << "TMTC Bridge: Registered Comm Link Disconnect" << std::endl; -#endif if(communicationLinkUp) { communicationLinkUp = false; } diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h index 0177648c0..d3e1c5471 100644 --- a/tmtcservices/TmTcBridge.h +++ b/tmtcservices/TmTcBridge.h @@ -150,8 +150,7 @@ protected: void printData(uint8_t * data, size_t dataLen); /** - * This fifo can be used to store downlink data - * which can not be sent at the moment. + * This FIFO can be used to store downlink data which can not be sent at the moment. */ DynamicFIFO* tmFifo = nullptr; uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE; diff --git a/tmtcservices/TmTcMessage.cpp b/tmtcservices/TmTcMessage.cpp index ae0283158..c0f32aaac 100644 --- a/tmtcservices/TmTcMessage.cpp +++ b/tmtcservices/TmTcMessage.cpp @@ -21,7 +21,7 @@ TmTcMessage::TmTcMessage(store_address_t storeId) { this->setStorageId(storeId); } -size_t TmTcMessage::getMinimumMessageSize() { +size_t TmTcMessage::getMinimumMessageSize() const { return this->HEADER_SIZE + sizeof(store_address_t); } diff --git a/tmtcservices/TmTcMessage.h b/tmtcservices/TmTcMessage.h index 41fe198a9..7d2a7bdb6 100644 --- a/tmtcservices/TmTcMessage.h +++ b/tmtcservices/TmTcMessage.h @@ -18,7 +18,7 @@ protected: * @brief This call always returns the same fixed size of the message. * @return Returns HEADER_SIZE + @c sizeof(store_address_t). */ - size_t getMinimumMessageSize(); + size_t getMinimumMessageSize() const override; public: /** * @brief In the default constructor, only the message_size is set. diff --git a/unittest/tests/action/TestActionHelper.cpp b/unittest/tests/action/TestActionHelper.cpp index a7adfc82d..d8bd58c99 100644 --- a/unittest/tests/action/TestActionHelper.cpp +++ b/unittest/tests/action/TestActionHelper.cpp @@ -70,7 +70,7 @@ TEST_CASE( "Action Helper" , "[ActionHelper]") { SECTION("Handle finish"){ CHECK(not testMqMock.wasMessageSent()); ReturnValue_t status = 0x9876; - actionHelper.finish(true, testMqMock.getId(), testActionId, status); + actionHelper.finish(false, testMqMock.getId(), testActionId, status); CHECK(testMqMock.wasMessageSent()); CommandMessage testMessage; REQUIRE(testMqMock.receiveMessage(&testMessage) == static_cast(HasReturnvaluesIF::RETURN_OK)); diff --git a/unittest/tests/datapoollocal/CMakeLists.txt b/unittest/tests/datapoollocal/CMakeLists.txt index f196a080a..1c98e7dc2 100644 --- a/unittest/tests/datapoollocal/CMakeLists.txt +++ b/unittest/tests/datapoollocal/CMakeLists.txt @@ -3,4 +3,5 @@ target_sources(${TARGET_NAME} PRIVATE LocalPoolVectorTest.cpp DataSetTest.cpp LocalPoolManagerTest.cpp + LocalPoolOwnerBase.cpp ) diff --git a/unittest/tests/datapoollocal/DataSetTest.cpp b/unittest/tests/datapoollocal/DataSetTest.cpp index 561345951..d0b13e86f 100644 --- a/unittest/tests/datapoollocal/DataSetTest.cpp +++ b/unittest/tests/datapoollocal/DataSetTest.cpp @@ -4,13 +4,14 @@ #include #include +#include #include -#include +#include #include #include -TEST_CASE("LocalDataSet" , "[LocDataSetTest]") { +TEST_CASE("DataSetTest" , "[DataSetTest]") { LocalPoolOwnerBase* poolOwner = objectManager-> get(objects::TEST_LOCAL_POOL_OWNER_BASE); REQUIRE(poolOwner != nullptr); @@ -21,6 +22,7 @@ TEST_CASE("LocalDataSet" , "[LocDataSetTest]") { SECTION("BasicTest") { /* Test some basic functions */ + CHECK(localSet.getReportingEnabled() == false); CHECK(localSet.getLocalPoolIdsSerializedSize(false) == 3 * sizeof(lp_id_t)); CHECK(localSet.getLocalPoolIdsSerializedSize(true) == 3 * sizeof(lp_id_t) + sizeof(uint8_t)); @@ -54,7 +56,7 @@ TEST_CASE("LocalDataSet" , "[LocDataSetTest]") { { /* Test read operation. Values should be all zeros */ - PoolReadHelper readHelper(&localSet); + PoolReadGuard readHelper(&localSet); REQUIRE(readHelper.getReadResult() == retval::CATCH_OK); CHECK(not localSet.isValid()); CHECK(localSet.localPoolVarUint8.value == 0); @@ -79,10 +81,15 @@ TEST_CASE("LocalDataSet" , "[LocDataSetTest]") { localSet.localPoolVarUint8 = 0; localSet.localPoolVarFloat = 0; + localSet.setAllVariablesReadOnly(); + CHECK(localSet.localPoolUint16Vec.getReadWriteMode() == pool_rwm_t::VAR_READ); + CHECK(localSet.localPoolVarUint8.getReadWriteMode() == pool_rwm_t::VAR_READ); + CHECK(localSet.localPoolVarFloat.getReadWriteMode() == pool_rwm_t::VAR_READ); + { /* Now we read again and check whether our zeroed values were overwritten with the values in the pool */ - PoolReadHelper readHelper(&localSet); + PoolReadGuard readHelper(&localSet); REQUIRE(readHelper.getReadResult() == retval::CATCH_OK); CHECK(localSet.isValid()); CHECK(localSet.localPoolVarUint8.value == 232); @@ -201,6 +208,75 @@ TEST_CASE("LocalDataSet" , "[LocDataSetTest]") { } + SECTION("MorePoolVariables") { + LocalDataSet set(poolOwner, 2, 10); + + /* Register same variables again to get more than 8 registered variables */ + for(uint8_t idx = 0; idx < 8; idx ++) { + REQUIRE(set.registerVariable(&localSet.localPoolVarUint8) == retval::CATCH_OK); + } + REQUIRE(set.registerVariable(&localSet.localPoolVarUint8) == retval::CATCH_OK); + REQUIRE(set.registerVariable(&localSet.localPoolUint16Vec) == retval::CATCH_OK); + + set.setValidityBufferGeneration(true); + { + PoolReadGuard readHelper(&localSet); + localSet.localPoolVarUint8.value = 42; + localSet.localPoolVarUint8.setValid(true); + localSet.localPoolUint16Vec.setValid(false); + } + + size_t maxSize = set.getSerializedSize(); + CHECK(maxSize == 9 + sizeof(uint16_t) * 3 + 2); + size_t serSize = 0; + /* Already reserve additional space for validity buffer, will be needed later */ + uint8_t buffer[maxSize + 1]; + uint8_t* buffPtr = buffer; + CHECK(set.serialize(&buffPtr, &serSize, maxSize, + SerializeIF::Endianness::MACHINE) == retval::CATCH_OK); + std::array validityBuffer; + std::memcpy(validityBuffer.data(), buffer + 9 + sizeof(uint16_t) * 3, 2); + /* The first 9 variables should be valid */ + CHECK(validityBuffer[0] == 0xff); + CHECK(bitutil::bitGet(validityBuffer.data() + 1, 0) == true); + CHECK(bitutil::bitGet(validityBuffer.data() + 1, 1) == false); + + /* Now we invert the validity */ + validityBuffer[0] = 0; + validityBuffer[1] = 0b0100'0000; + std::memcpy(buffer + 9 + sizeof(uint16_t) * 3, validityBuffer.data(), 2); + const uint8_t* constBuffPtr = buffer; + size_t sizeToDeSerialize = serSize; + CHECK(set.deSerialize(&constBuffPtr, &sizeToDeSerialize, SerializeIF::Endianness::MACHINE) + == retval::CATCH_OK); + CHECK(localSet.localPoolVarUint8.isValid() == false); + CHECK(localSet.localPoolUint16Vec.isValid() == true); + } + + SECTION("SharedDataSet") { + object_id_t sharedSetId = objects::SHARED_SET_ID; + SharedLocalDataSet sharedSet(sharedSetId, poolOwner, lpool::testSetId, 5); + localSet.localPoolVarUint8.setReadWriteMode(pool_rwm_t::VAR_WRITE); + localSet.localPoolUint16Vec.setReadWriteMode(pool_rwm_t::VAR_WRITE); + CHECK(sharedSet.registerVariable(&localSet.localPoolVarUint8) == retval::CATCH_OK); + CHECK(sharedSet.registerVariable(&localSet.localPoolUint16Vec) == retval::CATCH_OK); + CHECK(sharedSet.initialize() == retval::CATCH_OK); + CHECK(sharedSet.lockDataset() == retval::CATCH_OK); + CHECK(sharedSet.unlockDataset() == retval::CATCH_OK); + + { + //PoolReadGuard rg(&sharedSet); + //CHECK(rg.getReadResult() == retval::CATCH_OK); + localSet.localPoolVarUint8.value = 5; + localSet.localPoolUint16Vec.value[0] = 1; + localSet.localPoolUint16Vec.value[1] = 2; + localSet.localPoolUint16Vec.value[2] = 3; + CHECK(sharedSet.commit() == retval::CATCH_OK); + } + + sharedSet.setReadCommitProtectionBehaviour(true); + } + /* we need to reset the subscription list because the pool owner is a global object. */ CHECK(poolOwner->reset() == retval::CATCH_OK); diff --git a/unittest/tests/datapoollocal/LocalPoolManagerTest.cpp b/unittest/tests/datapoollocal/LocalPoolManagerTest.cpp index a10b44999..52485b011 100644 --- a/unittest/tests/datapoollocal/LocalPoolManagerTest.cpp +++ b/unittest/tests/datapoollocal/LocalPoolManagerTest.cpp @@ -3,7 +3,7 @@ #include #include -#include +#include #include #include #include @@ -20,14 +20,21 @@ TEST_CASE("LocalPoolManagerTest" , "[LocManTest]") { REQUIRE(poolOwner->initializeHkManager() == retval::CATCH_OK); REQUIRE(poolOwner->initializeHkManagerAfterTaskCreation() == retval::CATCH_OK); - //REQUIRE(poolOwner->dataset.assignPointers() == retval::CATCH_OK); + MessageQueueMockBase* mqMock = poolOwner->getMockQueueHandle(); REQUIRE(mqMock != nullptr); CommandMessage messageSent; uint8_t messagesSent = 0; - SECTION("BasicTest") { + { + /* For code coverage, should not crash */ + LocalDataPoolManager manager(nullptr, nullptr); + } + auto owner = poolOwner->poolManager.getOwner(); + REQUIRE(owner != nullptr); + CHECK(owner->getObjectId() == objects::TEST_LOCAL_POOL_OWNER_BASE); + /* Subscribe for message generation on update. */ REQUIRE(poolOwner->subscribeWrapperSetUpdate() == retval::CATCH_OK); /* Subscribe for an update message. */ @@ -72,10 +79,10 @@ TEST_CASE("LocalPoolManagerTest" , "[LocManTest]") { } - SECTION("SnapshotUpdateTests") { + SECTION("SetSnapshotUpdateTest") { /* Set the variables in the set to certain values. These are checked later. */ { - PoolReadHelper readHelper(&poolOwner->dataset); + PoolReadGuard readHelper(&poolOwner->dataset); REQUIRE(readHelper.getReadResult() == retval::CATCH_OK); poolOwner->dataset.localPoolVarUint8.value = 5; poolOwner->dataset.localPoolVarFloat.value = -12.242; @@ -137,7 +144,69 @@ TEST_CASE("LocalPoolManagerTest" , "[LocManTest]") { CHECK(cdsShort.msDay_ll == Catch::Approx(timeCdsNow.msDay_ll).margin(1)); } - SECTION("AdvancedTests") { + SECTION("VariableSnapshotTest") { + /* Acquire subscription interface */ + ProvidesDataPoolSubscriptionIF* subscriptionIF = poolOwner->getSubscriptionInterface(); + REQUIRE(subscriptionIF != nullptr); + + /* Subscribe for variable snapshot */ + REQUIRE(poolOwner->subscribeWrapperVariableSnapshot(lpool::uint8VarId) == retval::CATCH_OK); + auto poolVar = dynamic_cast*>( + poolOwner->getPoolObjectHandle(lpool::uint8VarId)); + REQUIRE(poolVar != nullptr); + + { + PoolReadGuard rg(poolVar); + CHECK(rg.getReadResult() == retval::CATCH_OK); + poolVar->value = 25; + } + + poolVar->setChanged(true); + + /* Store current time, we are going to check the (approximate) time equality later */ + CCSDSTime::CDS_short timeCdsNow; + timeval now; + Clock::getClock_timeval(&now); + CCSDSTime::convertToCcsds(&timeCdsNow, &now); + + REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK); + + /* Check update snapshot was sent. */ + REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); + CHECK(messagesSent == 1); + + /* Should have been reset. */ + CHECK(poolVar->hasChanged() == false); + REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK); + CHECK(messageSent.getCommand() == static_cast( + HousekeepingMessage::UPDATE_SNAPSHOT_VARIABLE)); + /* Now we deserialize the snapshot into a new dataset instance */ + CCSDSTime::CDS_short cdsShort; + lp_var_t varCopy = lp_var_t(lpool::uint8VarGpid); + HousekeepingSnapshot snapshot(&cdsShort, &varCopy); + store_address_t storeId; + HousekeepingMessage::getUpdateSnapshotVariableCommand(&messageSent, &storeId); + ConstAccessorPair accessorPair = tglob::getIpcStoreHandle()->getData(storeId); + REQUIRE(accessorPair.first == retval::CATCH_OK); + const uint8_t* readOnlyPtr = accessorPair.second.data(); + size_t sizeToDeserialize = accessorPair.second.size(); + CHECK(varCopy.value == 0); + /* Fill the dataset and timestamp */ + REQUIRE(snapshot.deSerialize(&readOnlyPtr, &sizeToDeserialize, + SerializeIF::Endianness::MACHINE) == retval::CATCH_OK); + CHECK(varCopy.value == 25); + + /* Now we check that both times are equal */ + CHECK(cdsShort.pField == timeCdsNow.pField); + CHECK(cdsShort.dayLSB == Catch::Approx(timeCdsNow.dayLSB).margin(1)); + CHECK(cdsShort.dayMSB == Catch::Approx(timeCdsNow.dayMSB).margin(1)); + CHECK(cdsShort.msDay_h == Catch::Approx(timeCdsNow.msDay_h).margin(1)); + CHECK(cdsShort.msDay_hh == Catch::Approx(timeCdsNow.msDay_hh).margin(1)); + CHECK(cdsShort.msDay_l == Catch::Approx(timeCdsNow.msDay_l).margin(1)); + CHECK(cdsShort.msDay_ll == Catch::Approx(timeCdsNow.msDay_ll).margin(1)); + } + + SECTION("VariableNotificationTest") { /* Acquire subscription interface */ ProvidesDataPoolSubscriptionIF* subscriptionIF = poolOwner->getSubscriptionInterface(); REQUIRE(subscriptionIF != nullptr); @@ -149,6 +218,7 @@ TEST_CASE("LocalPoolManagerTest" , "[LocManTest]") { poolOwner->getPoolObjectHandle(lpool::uint8VarId)); REQUIRE(poolVar != nullptr); poolVar->setChanged(true); + REQUIRE(poolVar->hasChanged() == true); REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK); /* Check update notification was sent. */ @@ -190,6 +260,164 @@ TEST_CASE("LocalPoolManagerTest" , "[LocManTest]") { REQUIRE(mqMock->receiveMessage(&messageSent) == static_cast(MessageQueueIF::EMPTY)); } + SECTION("PeriodicHKAndMessaging") { + /* Now we subcribe for a HK periodic generation. Even when it's difficult to simulate + the temporal behaviour correctly the HK manager should generate a HK packet + immediately and the periodic helper depends on HK op function calls anyway instead of + using the clock, so we could also just call performHkOperation multiple times */ + REQUIRE(poolOwner->subscribePeriodicHk(true) == retval::CATCH_OK); + REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK); + /* Now HK packet should be sent as message immediately. */ + REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); + CHECK(messagesSent == 1); + CHECK(mqMock->popMessage() == retval::CATCH_OK); + + LocalPoolDataSetBase* setHandle = poolOwner->getDataSetHandle(lpool::testSid); + REQUIRE(setHandle != nullptr); + CHECK(poolOwner->poolManager.generateHousekeepingPacket(lpool::testSid, + setHandle, false) == retval::CATCH_OK); + REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); + CHECK(messagesSent == 1); + CHECK(mqMock->popMessage() == retval::CATCH_OK); + + CHECK(setHandle->getReportingEnabled() == true); + CommandMessage hkCmd; + HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, false, false); + CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK); + CHECK(setHandle->getReportingEnabled() == false); + REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); + CHECK(messagesSent == 1); + CHECK(mqMock->popMessage() == retval::CATCH_OK); + + HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, true, false); + CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK); + CHECK(setHandle->getReportingEnabled() == true); + REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); + CHECK(mqMock->popMessage() == retval::CATCH_OK); + + HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, false, false); + CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK); + CHECK(setHandle->getReportingEnabled() == false); + REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); + CHECK(mqMock->popMessage() == retval::CATCH_OK); + + HousekeepingMessage::setCollectionIntervalModificationCommand(&hkCmd, + lpool::testSid, 0.4, false); + CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK); + /* For non-diagnostics and a specified minimum frequency of 0.2 seconds, the + resulting collection interval should be 1.0 second */ + CHECK(poolOwner->dataset.getCollectionInterval() == 1.0); + REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); + CHECK(messagesSent == 1); + CHECK(mqMock->popMessage() == retval::CATCH_OK); + + HousekeepingMessage::setStructureReportingCommand(&hkCmd, lpool::testSid, false); + REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK); + CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK); + /* Now HK packet should be sent as message. */ + REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); + CHECK(messagesSent == 1); + CHECK(mqMock->popMessage() == retval::CATCH_OK); + + HousekeepingMessage::setOneShotReportCommand(&hkCmd, lpool::testSid, false); + CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK); + REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); + CHECK(messagesSent == 1); + CHECK(mqMock->popMessage() == retval::CATCH_OK); + + HousekeepingMessage::setUpdateNotificationSetCommand(&hkCmd, lpool::testSid); + sid_t sidToCheck; + store_address_t storeId; + CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK); + CHECK(poolOwner->changedDataSetCallbackWasCalled(sidToCheck, storeId) == true); + CHECK(sidToCheck == lpool::testSid); + + /* Now we test the handling is the dataset is set to diagnostic */ + poolOwner->dataset.setDiagnostic(true); + + HousekeepingMessage::setStructureReportingCommand(&hkCmd, lpool::testSid, false); + CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == + static_cast(LocalDataPoolManager::WRONG_HK_PACKET_TYPE)); + /* We still expect a failure message being sent */ + REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); + CHECK(messagesSent == 1); + CHECK(mqMock->popMessage() == retval::CATCH_OK); + + HousekeepingMessage::setCollectionIntervalModificationCommand(&hkCmd, + lpool::testSid, 0.4, false); + CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == + static_cast(LocalDataPoolManager::WRONG_HK_PACKET_TYPE)); + REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); + CHECK(messagesSent == 1); + CHECK(mqMock->popMessage() == retval::CATCH_OK); + + HousekeepingMessage::setStructureReportingCommand(&hkCmd, lpool::testSid, false); + CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == + static_cast(LocalDataPoolManager::WRONG_HK_PACKET_TYPE)); + REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); + CHECK(messagesSent == 1); + CHECK(mqMock->popMessage() == retval::CATCH_OK); + + HousekeepingMessage::setStructureReportingCommand(&hkCmd, lpool::testSid, true); + CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK); + REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); + CHECK(messagesSent == 1); + CHECK(mqMock->popMessage() == retval::CATCH_OK); + + HousekeepingMessage::setCollectionIntervalModificationCommand(&hkCmd, lpool::testSid, 0.4, + true); + CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK); + REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); + CHECK(messagesSent == 1); + CHECK(mqMock->popMessage() == retval::CATCH_OK); + + HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, true, true); + CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK); + REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); + CHECK(messagesSent == 1); + CHECK(mqMock->popMessage() == retval::CATCH_OK); + + HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, false, true); + CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK); + REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); + CHECK(messagesSent == 1); + CHECK(mqMock->popMessage() == retval::CATCH_OK); + + HousekeepingMessage::setOneShotReportCommand(&hkCmd, lpool::testSid, false); + CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == + static_cast(LocalDataPoolManager::WRONG_HK_PACKET_TYPE)); + REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); + CHECK(messagesSent == 1); + CHECK(mqMock->popMessage() == retval::CATCH_OK); + + HousekeepingMessage::setOneShotReportCommand(&hkCmd, lpool::testSid, true); + CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK); + REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); + CHECK(messagesSent == 1); + CHECK(mqMock->popMessage() == retval::CATCH_OK); + + HousekeepingMessage::setUpdateNotificationVariableCommand(&hkCmd, lpool::uint8VarGpid); + gp_id_t gpidToCheck; + CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK); + CHECK(poolOwner->changedVariableCallbackWasCalled(gpidToCheck, storeId) == true); + CHECK(gpidToCheck == lpool::uint8VarGpid); + + HousekeepingMessage::setUpdateSnapshotSetCommand(&hkCmd, lpool::testSid, + storeId::INVALID_STORE_ADDRESS); + CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK); + CHECK(poolOwner->changedDataSetCallbackWasCalled(sidToCheck, storeId) == true); + CHECK(sidToCheck == lpool::testSid); + + HousekeepingMessage::setUpdateSnapshotVariableCommand(&hkCmd, lpool::uint8VarGpid, + storeId::INVALID_STORE_ADDRESS); + CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK); + CHECK(poolOwner->changedVariableCallbackWasCalled(gpidToCheck, storeId) == true); + CHECK(gpidToCheck == lpool::uint8VarGpid); + + poolOwner->poolManager.printPoolEntry(lpool::uint8VarId); + + } + /* we need to reset the subscription list because the pool owner is a global object. */ CHECK(poolOwner->reset() == retval::CATCH_OK); diff --git a/unittest/tests/datapoollocal/LocalPoolOwnerBase.cpp b/unittest/tests/datapoollocal/LocalPoolOwnerBase.cpp new file mode 100644 index 000000000..991314a9d --- /dev/null +++ b/unittest/tests/datapoollocal/LocalPoolOwnerBase.cpp @@ -0,0 +1,141 @@ +#include "LocalPoolOwnerBase.h" + +LocalPoolOwnerBase::LocalPoolOwnerBase(object_id_t objectId): + SystemObject(objectId), poolManager(this, messageQueue), + dataset(this, lpool::testSetId) { + messageQueue = new MessageQueueMockBase(); +} + +LocalPoolOwnerBase::~LocalPoolOwnerBase() { + QueueFactory::instance()->deleteMessageQueue(messageQueue); +} + +ReturnValue_t LocalPoolOwnerBase::initializeHkManager() { + if(not initialized) { + initialized = true; + return poolManager.initialize(messageQueue); + } + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t LocalPoolOwnerBase::initializeLocalDataPool(localpool::DataPool &localDataPoolMap, + LocalDataPoolManager &poolManager) { + + // Default initialization empty for now. + localDataPoolMap.emplace(lpool::uint8VarId, + new PoolEntry({0})); + localDataPoolMap.emplace(lpool::floatVarId, + new PoolEntry({0})); + localDataPoolMap.emplace(lpool::uint32VarId, + new PoolEntry({0})); + + localDataPoolMap.emplace(lpool::uint16Vec3Id, + new PoolEntry({0, 0, 0})); + localDataPoolMap.emplace(lpool::int64Vec2Id, + new PoolEntry({0, 0})); + return HasReturnvaluesIF::RETURN_OK; +} + +LocalPoolObjectBase* LocalPoolOwnerBase::getPoolObjectHandle(lp_id_t localPoolId) { + if(localPoolId == lpool::uint8VarId) { + return &testUint8; + } + else if(localPoolId == lpool::uint16Vec3Id) { + return &testUint16Vec; + } + else if(localPoolId == lpool::floatVarId) { + return &testFloat; + } + else if(localPoolId == lpool::int64Vec2Id) { + return &testInt64Vec; + } + else if(localPoolId == lpool::uint32VarId) { + return &testUint32; + } + else { + return &testUint8; + } +} + +ReturnValue_t LocalPoolOwnerBase::reset() { + resetSubscriptionList(); + ReturnValue_t status = HasReturnvaluesIF::RETURN_OK; + { + PoolReadGuard readHelper(&dataset); + if(readHelper.getReadResult() != HasReturnvaluesIF::RETURN_OK) { + status = readHelper.getReadResult(); + } + dataset.localPoolVarUint8.value = 0; + dataset.localPoolVarFloat.value = 0.0; + dataset.localPoolUint16Vec.value[0] = 0; + dataset.localPoolUint16Vec.value[1] = 0; + dataset.localPoolUint16Vec.value[2] = 0; + dataset.setValidity(false, true); + } + + { + PoolReadGuard readHelper(&testUint32); + if(readHelper.getReadResult() != HasReturnvaluesIF::RETURN_OK) { + status = readHelper.getReadResult(); + } + testUint32.value = 0; + testUint32.setValid(false); + } + + { + PoolReadGuard readHelper(&testInt64Vec); + if(readHelper.getReadResult() != HasReturnvaluesIF::RETURN_OK) { + status = readHelper.getReadResult(); + } + testInt64Vec.value[0] = 0; + testInt64Vec.value[1] = 0; + testInt64Vec.setValid(false); + } + return status; +} + +bool LocalPoolOwnerBase::changedDataSetCallbackWasCalled(sid_t &sid, store_address_t &storeId) { + bool condition = false; + if(not this->changedDatasetSid.notSet()) { + condition = true; + } + sid = changedDatasetSid; + storeId = storeIdForChangedSet; + this->changedDatasetSid.raw = sid_t::INVALID_SID; + this->storeIdForChangedSet = storeId::INVALID_STORE_ADDRESS; + return condition; +} + +void LocalPoolOwnerBase::handleChangedDataset(sid_t sid, store_address_t storeId, + bool* clearMessage) { + this->changedDatasetSid = sid; + this->storeIdForChangedSet = storeId; +} + +bool LocalPoolOwnerBase::changedVariableCallbackWasCalled(gp_id_t &gpid, store_address_t &storeId) { + bool condition = false; + if(not this->changedPoolVariableGpid.notSet()) { + condition = true; + } + gpid = changedPoolVariableGpid; + storeId = storeIdForChangedVariable; + this->changedPoolVariableGpid.raw = gp_id_t::INVALID_GPID; + this->storeIdForChangedVariable = storeId::INVALID_STORE_ADDRESS; + return condition; +} + +ReturnValue_t LocalPoolOwnerBase::initializeHkManagerAfterTaskCreation() { + if(not initializedAfterTaskCreation) { + initializedAfterTaskCreation = true; + return poolManager.initializeAfterTaskCreation(); + } + return HasReturnvaluesIF::RETURN_OK; + +} + +void LocalPoolOwnerBase::handleChangedPoolVariable(gp_id_t globPoolId, store_address_t storeId, + bool* clearMessage) { + this->changedPoolVariableGpid = globPoolId; + this->storeIdForChangedVariable = storeId; +} + diff --git a/unittest/tests/datapoollocal/LocalPoolOwnerBase.h b/unittest/tests/datapoollocal/LocalPoolOwnerBase.h index 5c277850f..8d2073b0e 100644 --- a/unittest/tests/datapoollocal/LocalPoolOwnerBase.h +++ b/unittest/tests/datapoollocal/LocalPoolOwnerBase.h @@ -1,16 +1,17 @@ #ifndef FSFW_UNITTEST_TESTS_DATAPOOLLOCAL_LOCALPOOLOWNERBASE_H_ #define FSFW_UNITTEST_TESTS_DATAPOOLLOCAL_LOCALPOOLOWNERBASE_H_ +#include + #include #include #include #include #include #include -#include #include #include -#include "../../../datapool/PoolReadHelper.h" +#include namespace lpool { static constexpr lp_id_t uint8VarId = 0; @@ -36,10 +37,11 @@ class LocalPoolStaticTestDataSet: public StaticLocalDataSet<3> { public: LocalPoolStaticTestDataSet(): StaticLocalDataSet(lpool::testSid) { + } LocalPoolStaticTestDataSet(HasLocalDataPoolIF* owner, uint32_t setId): - StaticLocalDataSet(owner, setId) { + StaticLocalDataSet(owner, setId) { } lp_var_t localPoolVarUint8 = lp_var_t(lpool::uint8VarGpid, this); @@ -52,8 +54,7 @@ private: class LocalPoolTestDataSet: public LocalDataSet { public: LocalPoolTestDataSet(): - LocalDataSet(lpool::testSid, lpool::dataSetMaxVariables) { - } + LocalDataSet(lpool::testSid, lpool::dataSetMaxVariables) {} LocalPoolTestDataSet(HasLocalDataPoolIF* owner, uint32_t setId): LocalDataSet(owner, setId, lpool::dataSetMaxVariables) { @@ -63,42 +64,26 @@ public: lp_var_t localPoolVarFloat = lp_var_t(lpool::floatVarGpid, this); lp_vec_t localPoolUint16Vec = lp_vec_t(lpool::uint16Vec3Gpid, this); + void setDiagnostic(bool isDiagnostic) { + LocalPoolDataSetBase::setDiagnostic(isDiagnostic); + } private: }; class LocalPoolOwnerBase: public SystemObject, public HasLocalDataPoolIF { public: - LocalPoolOwnerBase( - object_id_t objectId = objects::TEST_LOCAL_POOL_OWNER_BASE): - SystemObject(objectId), poolManager(this, messageQueue), - dataset(this, lpool::testSetId) { - messageQueue = new MessageQueueMockBase(); - } + LocalPoolOwnerBase(object_id_t objectId = objects::TEST_LOCAL_POOL_OWNER_BASE); - ~LocalPoolOwnerBase() { - QueueFactory::instance()->deleteMessageQueue(messageQueue); - } + ~LocalPoolOwnerBase(); object_id_t getObjectId() const override { return SystemObject::getObjectId(); } - ReturnValue_t initializeHkManager() { - if(not initialized) { - initialized = true; - return poolManager.initialize(messageQueue); - } - return HasReturnvaluesIF::RETURN_OK; - } + ReturnValue_t initializeHkManager(); - ReturnValue_t initializeHkManagerAfterTaskCreation() { - if(not initializedAfterTaskCreation) { - initializedAfterTaskCreation = true; - return poolManager.initializeAfterTaskCreation(); - } - return HasReturnvaluesIF::RETURN_OK; - } + ReturnValue_t initializeHkManagerAfterTaskCreation(); /** Command queue for housekeeping messages. */ MessageQueueId_t getCommandQueue() const override { @@ -106,30 +91,15 @@ public: } // This is called by initializeAfterTaskCreation of the HK manager. - virtual ReturnValue_t initializeLocalDataPool( - localpool::DataPool& localDataPoolMap, - LocalDataPoolManager& poolManager) { - // Default initialization empty for now. - localDataPoolMap.emplace(lpool::uint8VarId, - new PoolEntry({0})); - localDataPoolMap.emplace(lpool::floatVarId, - new PoolEntry({0})); - localDataPoolMap.emplace(lpool::uint32VarId, - new PoolEntry({0})); - - localDataPoolMap.emplace(lpool::uint16Vec3Id, - new PoolEntry({0, 0, 0})); - localDataPoolMap.emplace(lpool::int64Vec2Id, - new PoolEntry({0, 0})); - return HasReturnvaluesIF::RETURN_OK; - } + virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap, + LocalDataPoolManager& poolManager) override; LocalDataPoolManager* getHkManagerHandle() override { return &poolManager; } - uint32_t getPeriodicOperationFrequency() const override { - return 0; + dur_millis_t getPeriodicOperationFrequency() const override { + return 200; } /** @@ -142,32 +112,16 @@ public: return &dataset; } - virtual LocalPoolObjectBase* getPoolObjectHandle( - lp_id_t localPoolId) override { - if(localPoolId == lpool::uint8VarId) { - return &testUint8; - } - else if(localPoolId == lpool::uint16Vec3Id) { - return &testUint16Vec; - } - else if(localPoolId == lpool::floatVarId) { - return &testFloat; - } - else if(localPoolId == lpool::int64Vec2Id) { - return &testInt64Vec; - } - else if(localPoolId == lpool::uint32VarId) { - return &testUint32; - } - else { - return &testUint8; - } - } + virtual LocalPoolObjectBase* getPoolObjectHandle(lp_id_t localPoolId) override; MessageQueueMockBase* getMockQueueHandle() const { return dynamic_cast(messageQueue); } + ReturnValue_t subscribePeriodicHk(bool enableReporting) { + return poolManager.subscribeForPeriodicPacket(lpool::testSid, enableReporting, 0.2, false); + } + ReturnValue_t subscribeWrapperSetUpdate() { return poolManager.subscribeForSetUpdateMessage(lpool::testSetId, objects::NO_OBJECT, objects::HK_RECEIVER_MOCK, false); @@ -188,51 +142,33 @@ public: MessageQueueIF::NO_QUEUE, objects::HK_RECEIVER_MOCK, false); } - ReturnValue_t reset() { - resetSubscriptionList(); - ReturnValue_t status = HasReturnvaluesIF::RETURN_OK; - { - PoolReadGuard readHelper(&dataset); - if(readHelper.getReadResult() != HasReturnvaluesIF::RETURN_OK) { - status = readHelper.getReadResult(); - } - dataset.localPoolVarUint8.value = 0; - dataset.localPoolVarFloat.value = 0.0; - dataset.localPoolUint16Vec.value[0] = 0; - dataset.localPoolUint16Vec.value[1] = 0; - dataset.localPoolUint16Vec.value[2] = 0; - dataset.setValidity(false, true); - } - - { - PoolReadGuard readHelper(&testUint32); - if(readHelper.getReadResult() != HasReturnvaluesIF::RETURN_OK) { - status = readHelper.getReadResult(); - } - testUint32.value = 0; - testUint32.setValid(false); - } - - { - PoolReadGuard readHelper(&testInt64Vec); - if(readHelper.getReadResult() != HasReturnvaluesIF::RETURN_OK) { - status = readHelper.getReadResult(); - } - testInt64Vec.value[0] = 0; - testInt64Vec.value[1] = 0; - testInt64Vec.setValid(false); - } - return status; + ReturnValue_t subscribeWrapperVariableSnapshot(lp_id_t localPoolId) { + return poolManager.subscribeForVariableUpdateMessage(localPoolId, + MessageQueueIF::NO_QUEUE, objects::HK_RECEIVER_MOCK, true); } + ReturnValue_t reset(); + void resetSubscriptionList() { poolManager.clearReceiversList(); } + bool changedDataSetCallbackWasCalled(sid_t& sid, store_address_t& storeId); + bool changedVariableCallbackWasCalled(gp_id_t& gpid, store_address_t& storeId); + LocalDataPoolManager poolManager; LocalPoolTestDataSet dataset; private: + void handleChangedDataset(sid_t sid, store_address_t storeId, bool* clearMessage) override; + sid_t changedDatasetSid; + store_address_t storeIdForChangedSet; + + void handleChangedPoolVariable(gp_id_t globPoolId, store_address_t storeId, + bool* clearMessage) override; + gp_id_t changedPoolVariableGpid; + store_address_t storeIdForChangedVariable; + lp_var_t testUint8 = lp_var_t(this, lpool::uint8VarId); lp_var_t testFloat = lp_var_t(this, lpool::floatVarId); lp_var_t testUint32 = lp_var_t(this, lpool::uint32VarId); diff --git a/unittest/tests/datapoollocal/LocalPoolVariableTest.cpp b/unittest/tests/datapoollocal/LocalPoolVariableTest.cpp index e5a5d3645..980ffda19 100644 --- a/unittest/tests/datapoollocal/LocalPoolVariableTest.cpp +++ b/unittest/tests/datapoollocal/LocalPoolVariableTest.cpp @@ -10,8 +10,7 @@ TEST_CASE("LocalPoolVariable" , "[LocPoolVarTest]") { get(objects::TEST_LOCAL_POOL_OWNER_BASE); REQUIRE(poolOwner != nullptr); REQUIRE(poolOwner->initializeHkManager() == retval::CATCH_OK); - REQUIRE(poolOwner->initializeHkManagerAfterTaskCreation() - == retval::CATCH_OK); + REQUIRE(poolOwner->initializeHkManagerAfterTaskCreation() == retval::CATCH_OK); SECTION("Basic Tests") { /* very basic test. */ diff --git a/unittest/tests/datapoollocal/LocalPoolVectorTest.cpp b/unittest/tests/datapoollocal/LocalPoolVectorTest.cpp index 2bc47568f..db76fc00e 100644 --- a/unittest/tests/datapoollocal/LocalPoolVectorTest.cpp +++ b/unittest/tests/datapoollocal/LocalPoolVectorTest.cpp @@ -115,6 +115,7 @@ TEST_CASE("LocalPoolVector" , "[LocPoolVecTest]") { REQUIRE(readOnlyVec.commit() == static_cast(PoolVariableIF::INVALID_READ_WRITE_MODE)); } + poolOwner->reset(); } diff --git a/unittest/tests/mocks/MessageQueueMockBase.h b/unittest/tests/mocks/MessageQueueMockBase.h index 7b810b41f..3000f7fb5 100644 --- a/unittest/tests/mocks/MessageQueueMockBase.h +++ b/unittest/tests/mocks/MessageQueueMockBase.h @@ -29,16 +29,24 @@ public: return tempMessageSent; } + /** + * Pop a message, clearing it in the process. + * @return + */ + ReturnValue_t popMessage() { + CommandMessage message; + message.clear(); + return receiveMessage(&message); + } + virtual ReturnValue_t reply( MessageQueueMessageIF* message ) { - //messageSent = true; - //lastMessage = *(dynamic_cast(message)); return sendMessage(myQueueId, message); - return HasReturnvaluesIF::RETURN_OK; }; virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message, MessageQueueId_t *receivedFrom) { return receiveMessage(message); } + virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message) { if(messagesSentQueue.empty()) { return MessageQueueIF::EMPTY; @@ -61,21 +69,13 @@ public: virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessageIF* message, MessageQueueId_t sentFrom, bool ignoreFault = false ) { - //messageSent = true; - //lastMessage = *(dynamic_cast(message)); - //return HasReturnvaluesIF::RETURN_OK; return sendMessage(sendTo, message); } virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message, MessageQueueId_t sentFrom, bool ignoreFault = false ) { - //messageSent = true; - //lastMessage = *(dynamic_cast(message)); - //return HasReturnvaluesIF::RETURN_OK; return sendMessage(myQueueId, message); } virtual ReturnValue_t sendToDefault( MessageQueueMessageIF* message ) { - //messageSent = true; - //lastMessage = *(dynamic_cast(message)); return sendMessage(myQueueId, message); } virtual ReturnValue_t sendMessage( MessageQueueId_t sendTo, @@ -114,7 +114,6 @@ public: private: std::queue messagesSentQueue; - //MessageQueueMessage lastMessage; }; diff --git a/unittest/tests/tmtcpacket/CMakeLists.txt b/unittest/tests/tmtcpacket/CMakeLists.txt new file mode 100644 index 000000000..a1a4c1b6c --- /dev/null +++ b/unittest/tests/tmtcpacket/CMakeLists.txt @@ -0,0 +1,3 @@ +target_sources(${TARGET_NAME} PRIVATE + PusTmTest.cpp +) diff --git a/unittest/tests/tmtcpacket/PusTmTest.cpp b/unittest/tests/tmtcpacket/PusTmTest.cpp new file mode 100644 index 000000000..b28b04f64 --- /dev/null +++ b/unittest/tests/tmtcpacket/PusTmTest.cpp @@ -0,0 +1,3 @@ + + + diff --git a/unittest/user/testcfg/objects/systemObjectList.h b/unittest/user/testcfg/objects/systemObjectList.h index 88b92131c..76f1ff90c 100644 --- a/unittest/user/testcfg/objects/systemObjectList.h +++ b/unittest/user/testcfg/objects/systemObjectList.h @@ -15,8 +15,8 @@ namespace objects { PUS_DISTRIBUTOR = 11, TM_FUNNEL = 12, - UDP_BRIDGE = 15, - UDP_POLLING_TASK = 16, + TCPIP_BRIDGE = 15, + TCPIP_HELPER = 16, TEST_ECHO_COM_IF = 20, TEST_DEVICE = 21, diff --git a/unittest/user/unittest/core/CatchFactory.cpp b/unittest/user/unittest/core/CatchFactory.cpp index eabaa21df..9afb4fdd4 100644 --- a/unittest/user/unittest/core/CatchFactory.cpp +++ b/unittest/user/unittest/core/CatchFactory.cpp @@ -1,6 +1,6 @@ +#include "CatchFactory.h" #include #include -#include "CatchFactory.h" #include #include @@ -74,7 +74,7 @@ void Factory::setStaticFrameworkObjectIds() { DeviceHandlerFailureIsolation::powerConfirmationId = objects::NO_OBJECT; - TmPacketStored::timeStamperId = objects::NO_OBJECT; + TmPacketBase::timeStamperId = objects::NO_OBJECT; }