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

This commit is contained in:
Robin Müller 2021-03-29 14:36:53 +02:00
parent 83d0db8242 3a75be2683
commit f2da31239c
36 changed files with 875 additions and 733 deletions
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61
CMakeLists.txt
View File

@ -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(${LIB_FSFW_NAME} PRIVATE
"Wl,--gc-sections"
)
endif()
if(FSFW_WARNING_SHADOW_LOCAL_GCC)
list(APPEND WARNING_FLAGS "-Wshadow=local")
endif()
@ -140,9 +192,14 @@ target_include_directories(${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}
)

8
datapool/PoolDataSetBase.cpp
View File

@ -64,11 +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;
}

188
internalError/InternalErrorReporter.cpp
View File

@ -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<unsigned int>(newQueueHits));
sif::printDebug("TM errors: %lu\n", static_cast<unsigned int>(newTmHits));
sif::printDebug("Store errors: %lu\n", static_cast<unsigned int>(newStoreHits));
sif::printDebug("InternalErrorReporter::performOperation: Errors occured!\n");
sif::printDebug("Queue errors: %lu\n", static_cast<unsigned int>(newQueueHits));
sif::printDebug("TM errors: %lu\n", static_cast<unsigned int>(newTmHits));
sif::printDebug("Store errors: %lu\n", static_cast<unsigned int>(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<uint32_t>());
localDataPoolMap.emplace(errorPoolIds::QUEUE_HITS,
new PoolEntry<uint32_t>());
localDataPoolMap.emplace(errorPoolIds::STORE_HITS,
new PoolEntry<uint32_t>());
poolManager.subscribeForPeriodicPacket(internalErrorSid, false,
getPeriodicOperationFrequency(), true);
localDataPoolMap.emplace(errorPoolIds::TM_HITS, new PoolEntry<uint32_t>());
localDataPoolMap.emplace(errorPoolIds::QUEUE_HITS, new PoolEntry<uint32_t>());
localDataPoolMap.emplace(errorPoolIds::STORE_HITS, new PoolEntry<uint32_t>());
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() {

87
internalError/InternalErrorReporter.h
View File

@ -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();
};

19
osal/common/CMakeLists.txt
View File

@ -1,3 +1,16 @@
target_sources(${LIB_FSFW_NAME} PRIVATE
tcpipCommon.cpp
)
if(DEFINED WIN32 OR DEFINED UNIX)
target_sources(${LIB_FSFW_NAME} PRIVATE
tcpipCommon.cpp
TcpIpBase.cpp
UdpTcPollingTask.cpp
UdpTmTcBridge.cpp
TcpTmTcServer.cpp
)
endif()
if(WIN32)
target_link_libraries(${LIB_FSFW_NAME} PRIVATE
wsock32
ws2_32
)
endif()

54
osal/common/TcpIpBase.cpp Normal file
View File

@ -0,0 +1,54 @@
#include "TcpIpBase.h"
#ifdef __unix__
#include <errno.h>
#include <unistd.h>
#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 _WIN32
return closesocket(socket);
#elif defined(__unix__)
return close(socket);
#endif
}
int TcpIpBase::getLastSocketError() {
#ifdef _WIN32
return WSAGetLastError();
#elif defined(__unix__)
return errno;
#endif
}

50
osal/common/TcpIpBase.h Normal file
View File

@ -0,0 +1,50 @@
#ifndef FSFW_OSAL_COMMON_TCPIPIF_H_
#define FSFW_OSAL_COMMON_TCPIPIF_H_
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#ifdef _WIN32
#include <winsock2.h>
#elif defined(__unix__)
#include <sys/socket.h>
#endif
class TcpIpBase {
protected:
#ifdef _WIN32
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(__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_ */

64
osal/windows/TcWinTcpServer.cpp → osal/common/TcpTmTcServer.cpp
View File

@ -1,14 +1,21 @@
#include "TcWinTcpServer.h"
#include "TcpTmTcServer.h"
#include "tcpipHelpers.h"
#include "../../serviceinterface/ServiceInterface.h"
#ifdef _WIN32
#include <winsock2.h>
#include <ws2tcpip.h>
const std::string TcWinTcpServer::DEFAULT_TCP_SERVER_PORT = "7301";
const std::string TcWinTcpServer::DEFAULT_TCP_CLIENT_PORT = "7302";
#elif defined(__unix__)
TcWinTcpServer::TcWinTcpServer(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
#include <netdb.h>
#endif
const std::string TcpTmTcServer::DEFAULT_TCP_SERVER_PORT = "7301";
const std::string TcpTmTcServer::DEFAULT_TCP_CLIENT_PORT = "7302";
TcpTmTcServer::TcpTmTcServer(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
std::string customTcpServerPort):
SystemObject(objectId), tcpPort(customTcpServerPort) {
if(tcpPort == "") {
@ -16,25 +23,18 @@ TcWinTcpServer::TcWinTcpServer(object_id_t objectId, object_id_t tmtcUnixUdpBrid
}
}
ReturnValue_t TcWinTcpServer::initialize() {
ReturnValue_t TcpTmTcServer::initialize() {
using namespace tcpip;
int retval = 0;
struct addrinfo *addrResult = nullptr;
struct addrinfo hints;
/* 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;
ReturnValue_t result = TcpIpBase::initialize();
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
ZeroMemory(&hints, sizeof (hints));
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;
@ -43,7 +43,7 @@ ReturnValue_t TcWinTcpServer::initialize() {
retval = getaddrinfo(nullptr, tcpPort.c_str(), &hints, &addrResult);
if (retval != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TcWinTcpServer::TcWinTcpServer: Retrieving address info failed!" <<
sif::warning << "TcWinTcpServer::TcpTmTcServer: Retrieving address info failed!" <<
std::endl;
#endif
handleError(Protocol::TCP, ErrorSources::GETADDRINFO_CALL);
@ -65,7 +65,7 @@ ReturnValue_t TcWinTcpServer::initialize() {
retval = bind(listenerTcpSocket, addrResult->ai_addr, static_cast<int>(addrResult->ai_addrlen));
if(retval == SOCKET_ERROR) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TcWinTcpServer::TcWinTcpServer: Binding socket failed!" <<
sif::warning << "TcWinTcpServer::TcpTmTcServer: Binding socket failed!" <<
std::endl;
#endif
freeaddrinfo(addrResult);
@ -77,17 +77,16 @@ ReturnValue_t TcWinTcpServer::initialize() {
}
TcWinTcpServer::~TcWinTcpServer() {
closesocket(listenerTcpSocket);
WSACleanup();
TcpTmTcServer::~TcpTmTcServer() {
closeSocket(listenerTcpSocket);
}
ReturnValue_t TcWinTcpServer::performOperation(uint8_t opCode) {
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 clientSocket;
sockaddr_in clientSockAddr;
int connectorSockAddrLen = 0;
socket_t clientSocket;
sockaddr clientSockAddr;
socklen_t connectorSockAddrLen = 0;
int retval = 0;
/* Listen for connection requests permanently for lifetime of program */
@ -98,8 +97,7 @@ ReturnValue_t TcWinTcpServer::performOperation(uint8_t opCode) {
continue;
}
clientSocket = accept(listenerTcpSocket, reinterpret_cast<sockaddr*>(&clientSockAddr),
&connectorSockAddrLen);
clientSocket = accept(listenerTcpSocket, &clientSockAddr, &connectorSockAddrLen);
if(clientSocket == INVALID_SOCKET) {
handleError(Protocol::TCP, ErrorSources::ACCEPT_CALL, 500);
@ -110,7 +108,7 @@ ReturnValue_t TcWinTcpServer::performOperation(uint8_t opCode) {
receptionBuffer.size(), 0);
if(retval > 0) {
#if FSFW_TCP_RCV_WIRETAPPING_ENABLED == 1
sif::info << "TcWinTcpServer::performOperation: Received " << retval << " bytes."
sif::info << "TcpTmTcServer::performOperation: Received " << retval << " bytes."
std::endl;
#endif
handleError(Protocol::TCP, ErrorSources::RECV_CALL, 500);
@ -123,7 +121,7 @@ ReturnValue_t TcWinTcpServer::performOperation(uint8_t opCode) {
}
/* Done, shut down connection */
retval = shutdown(clientSocket, SD_SEND);
retval = shutdown(clientSocket, SHUT_SEND);
}
return HasReturnvaluesIF::RETURN_OK;
}

16
osal/windows/TcWinTcpServer.h → osal/common/TcpTmTcServer.h
View File

@ -1,9 +1,14 @@
#ifndef FSFW_OSAL_WINDOWS_TCWINTCPSERVER_H_
#define FSFW_OSAL_WINDOWS_TCWINTCPSERVER_H_
#include "TcpIpBase.h"
#include "../../objectmanager/SystemObject.h"
#include "../../tasks/ExecutableObjectIF.h"
#ifdef __unix__
#include <sys/socket.h>
#endif
#include <string>
#include <vector>
@ -15,17 +20,18 @@
* @details
* Based on: https://docs.microsoft.com/en-us/windows/win32/winsock/complete-server-code
*/
class TcWinTcpServer:
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 const std::string DEFAULT_TCP_CLIENT_PORT;
TcWinTcpServer(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
TcpTmTcServer(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
std::string customTcpServerPort = "");
virtual~ TcWinTcpServer();
virtual~ TcpTmTcServer();
ReturnValue_t initialize() override;
ReturnValue_t performOperation(uint8_t opCode) override;
@ -33,8 +39,8 @@ public:
private:
std::string tcpPort;
SOCKET listenerTcpSocket = 0;
struct sockaddr_in tcpAddress;
socket_t listenerTcpSocket = 0;
struct sockaddr tcpAddress;
int tcpAddrLen = sizeof(tcpAddress);
int currentBacklog = 3;

177
osal/common/UdpTcPollingTask.cpp Normal file
View File

@ -0,0 +1,177 @@
#include "UdpTcPollingTask.h"
#include "tcpipHelpers.h"
#include "../../globalfunctions/arrayprinter.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#ifdef _WIN32
#include <winsock2.h>
#else
#include <sys/types.h>
#include <sys/socket.h>
#endif
//! Debugging preprocessor define.
#define FSFW_UDP_RCV_WIRETAPPING_ENABLED 0
UdpTcPollingTask::UdpTcPollingTask(object_id_t objectId,
object_id_t tmtcUnixUdpBridge, size_t maxRecvSize,
double timeoutSeconds): SystemObject(objectId),
tmtcBridgeId(tmtcUnixUdpBridge) {
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<char*>(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_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_RCV_WIRETAPPING_ENABLED == 1
sif::debug << "UdpTcPollingTask::performOperation: " << bytesReceived <<
" bytes received" << std::endl;
#endif
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_RCV_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<StorageManagerIF>(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<UdpTmTcBridge>(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 _WIN32
DWORD timeoutMs = timeoutSeconds * 1000.0;
int result = setsockopt(serverSocket, SOL_SOCKET, SO_RCVTIMEO,
reinterpret_cast<const char*>(&timeoutMs), sizeof(DWORD));
if(result == -1) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcWinUdpPollingTask::TcSocketPollingTask: Setting "
"receive timeout failed with " << strerror(errno) << std::endl;
#endif
}
#elif defined(__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
}

29
osal/windows/TcWinUdpPollingTask.h → osal/common/UdpTcPollingTask.h
View File

@ -1,7 +1,7 @@
#ifndef FSFW_OSAL_WINDOWS_TCSOCKETPOLLINGTASK_H_
#define FSFW_OSAL_WINDOWS_TCSOCKETPOLLINGTASK_H_
#include "TmTcWinUdpBridge.h"
#include "UdpTmTcBridge.h"
#include "../../objectmanager/SystemObject.h"
#include "../../tasks/ExecutableObjectIF.h"
#include "../../storagemanager/StorageManagerIF.h"
@ -9,25 +9,22 @@
#include <vector>
/**
* @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.
* @brief This class should be used with the UdpTmTcBridge to implement a UDP server
* for receiving and sending PUS TMTC.
*/
class TcWinUdpPollingTask: public SystemObject,
class UdpTcPollingTask:
public TcpIpBase,
public SystemObject,
public ExecutableObjectIF {
friend class TmTcWinUdpBridge;
public:
static constexpr size_t DEFAULT_MAX_FRAME_SIZE = 2048;
static constexpr size_t DEFAULT_MAX_RECV_SIZE = 1500;
//! 0.5 default milliseconds timeout for now.
static constexpr timeval DEFAULT_TIMEOUT = {0, 500};
TcWinUdpPollingTask(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
size_t frameSize = 0, double timeoutSeconds = -1);
virtual~ TcWinUdpPollingTask();
UdpTcPollingTask(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
size_t maxRecvSize = 0, double timeoutSeconds = -1);
virtual~ UdpTcPollingTask();
/**
* Turn on optional timeout for UDP polling. In the default mode,
@ -46,16 +43,12 @@ protected:
private:
//! TMTC bridge is cached.
object_id_t tmtcBridgeId = objects::NO_OBJECT;
TmTcWinUdpBridge* tmtcBridge = nullptr;
UdpTmTcBridge* tmtcBridge = nullptr;
MessageQueueId_t targetTcDestination = MessageQueueIF::NO_QUEUE;
//! See: https://docs.microsoft.com/en-us/windows/win32/api/winsock/nf-winsock-recvfrom
int receptionFlags = 0;
//! Server socket, which is member of TMTC bridge.
//! Will be cached shortly after SW intialization.
SOCKET serverUdpSocket = 0;
std::vector<uint8_t> receptionBuffer;
size_t frameSize = 0;

56
osal/windows/TmTcWinUdpBridge.cpp → osal/common/UdpTmTcBridge.cpp
View File

@ -1,16 +1,26 @@
#include "TmTcWinUdpBridge.h"
#include "tcpipHelpers.h"
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <fsfw/ipc/MutexGuard.h>
#include <fsfw/osal/common/UdpTmTcBridge.h>
#ifdef _WIN32
#include <ws2tcpip.h>
#elif defined(__unix__)
#include <netdb.h>
#include <arpa/inet.h>
#endif
//! Debugging preprocessor define.
#define FSFW_UDP_SEND_WIRETAPPING_ENABLED 0
const std::string TmTcWinUdpBridge::DEFAULT_UDP_SERVER_PORT = tcpip::DEFAULT_UDP_SERVER_PORT;
const std::string UdpTmTcBridge::DEFAULT_UDP_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT;
TmTcWinUdpBridge::TmTcWinUdpBridge(object_id_t objectId, object_id_t tcDestination,
UdpTmTcBridge::UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
object_id_t tmStoreId, object_id_t tcStoreId, std::string udpServerPort):
TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
if(udpServerPort == "") {
@ -24,16 +34,18 @@ TmTcWinUdpBridge::TmTcWinUdpBridge(object_id_t objectId, object_id_t tcDestinati
communicationLinkUp = false;
}
ReturnValue_t TmTcWinUdpBridge::initialize() {
ReturnValue_t UdpTmTcBridge::initialize() {
ReturnValue_t result = TmTcBridge::initialize();
if(result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TmTcWinUdpBridge::initialize: TmTcBridge initialization failed!"
sif::error << "TmTcUdpBridge::initialize: TmTcBridge initialization failed!"
<< std::endl;
#endif
return result;
}
#ifdef _WIN32
/* Initiates Winsock DLL. */
WSAData wsaData;
WORD wVersionRequested = MAKEWORD(2, 2);
@ -42,26 +54,22 @@ ReturnValue_t TmTcWinUdpBridge::initialize() {
/* 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: " <<
sif::error << "TmTcUdpBridge::TmTcUdpBridge: WSAStartup failed with error: " <<
err << std::endl;
#else
sif::printError("TmTcWinUdpBridge::TmTcWinUdpBridge: WSAStartup failed with error: %d\n",
sif::printError("TmTcUdpBridge::TmTcUdpBridge: WSAStartup failed with error: %d\n",
err);
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
#endif
struct addrinfo *addrResult = nullptr;
struct addrinfo hints;
struct addrinfo hints = {};
ZeroMemory(&hints, sizeof (hints));
hints.ai_family = AF_INET;
hints.ai_socktype = SOCK_DGRAM;
hints.ai_protocol = IPPROTO_UDP;
/* See:
https://docs.microsoft.com/en-us/windows/win32/api/ws2tcpip/nf-ws2tcpip-getaddrinfo
for information about AI_PASSIVE. */
hints.ai_flags = AI_PASSIVE;
/* Set up UDP socket:
https://en.wikipedia.org/wiki/Getaddrinfo
@ -70,7 +78,7 @@ ReturnValue_t TmTcWinUdpBridge::initialize() {
int retval = getaddrinfo(nullptr, udpServerPort.c_str(), &hints, &addrResult);
if (retval != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TmTcWinUdpBridge::TmTcWinUdpBridge: Retrieving address info failed!" <<
sif::warning << "TmTcUdpBridge::TmTcUdpBridge: Retrieving address info failed!" <<
std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
@ -79,7 +87,7 @@ ReturnValue_t TmTcWinUdpBridge::initialize() {
serverSocket = socket(addrResult->ai_family, addrResult->ai_socktype, addrResult->ai_protocol);
if(serverSocket == INVALID_SOCKET) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TmTcWinUdpBridge::TmTcWinUdpBridge: Could not open UDP socket!" <<
sif::warning << "TmTcUdpBridge::TmTcUdpBridge: Could not open UDP socket!" <<
std::endl;
#endif
freeaddrinfo(addrResult);
@ -90,7 +98,7 @@ ReturnValue_t TmTcWinUdpBridge::initialize() {
retval = bind(serverSocket, addrResult->ai_addr, static_cast<int>(addrResult->ai_addrlen));
if(retval != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge: Could not bind "
sif::error << "TmTcUdpBridge::TmTcUdpBridge: Could not bind "
"local port (" << udpServerPort << ") to server socket!" << std::endl;
#endif
freeaddrinfo(addrResult);
@ -100,15 +108,13 @@ ReturnValue_t TmTcWinUdpBridge::initialize() {
return HasReturnvaluesIF::RETURN_OK;
}
TmTcWinUdpBridge::~TmTcWinUdpBridge() {
UdpTmTcBridge::~UdpTmTcBridge() {
if(mutex != nullptr) {
MutexFactory::instance()->deleteMutex(mutex);
}
closesocket(serverSocket);
WSACleanup();
}
ReturnValue_t TmTcWinUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
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 */
@ -125,23 +131,23 @@ ReturnValue_t TmTcWinUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
reinterpret_cast<const char*>(data),
dataLen,
flags,
reinterpret_cast<sockaddr*>(&clientAddress),
&clientAddress,
clientAddressLen
);
if(bytesSent == SOCKET_ERROR) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TmTcWinUdpBridge::sendTm: Send operation failed." << std::endl;
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 << "TmTcUnixUdpBridge::sendTm: " << bytesSent << " bytes were"
sif::debug << "TmTcUdpBridge::sendTm: " << bytesSent << " bytes were"
" sent." << std::endl;
#endif
return HasReturnvaluesIF::RETURN_OK;
}
void TmTcWinUdpBridge::checkAndSetClientAddress(sockaddr_in& newAddress) {
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);
@ -159,7 +165,7 @@ void TmTcWinUdpBridge::checkAndSetClientAddress(sockaddr_in& newAddress) {
clientAddressLen = sizeof(clientAddress);
}
void TmTcWinUdpBridge::setMutexProperties(MutexIF::TimeoutType timeoutType,
void UdpTmTcBridge::setMutexProperties(MutexIF::TimeoutType timeoutType,
dur_millis_t timeoutMs) {
this->timeoutType = timeoutType;
this->mutexTimeoutMs = timeoutMs;

35
osal/windows/TmTcWinUdpBridge.h → osal/common/UdpTmTcBridge.h
View File

@ -1,20 +1,36 @@
#ifndef FSFW_OSAL_WINDOWS_TMTCWINUDPBRIDGE_H_
#define FSFW_OSAL_WINDOWS_TMTCWINUDPBRIDGE_H_
#include "TcpIpBase.h"
#include "../../tmtcservices/TmTcBridge.h"
#include <string>
#include <winsock2.h>
#ifdef _WIN32
class TmTcWinUdpBridge: public TmTcBridge {
friend class TcWinUdpPollingTask;
#include <ws2tcpip.h>
#elif defined(__unix__)
#include <sys/socket.h>
#endif
#include <string>
/**
* @brief This class should be used with the UdpTcPollingTask to implement a UDP server
* for receiving and sending PUS TMTC.
*/
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;
TmTcWinUdpBridge(object_id_t objectId, object_id_t tcDestination,
UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
object_id_t tmStoreId, object_id_t tcStoreId, std::string udpServerPort = "");
virtual~ TmTcWinUdpBridge();
virtual~ UdpTmTcBridge();
/**
* Set properties of internal mutex.
@ -23,17 +39,16 @@ public:
ReturnValue_t initialize() override;
void checkAndSetClientAddress(sockaddr_in& clientAddress);
void checkAndSetClientAddress(sockaddr& clientAddress);
protected:
virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override;
private:
SOCKET serverSocket = 0;
std::string udpServerPort;
struct sockaddr_in clientAddress;
int clientAddressLen = 0;
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;

3
osal/common/tcpipCommon.h
View File

@ -6,8 +6,7 @@
namespace tcpip {
const char* const DEFAULT_UDP_SERVER_PORT = "7301";
const char* const DEFAULT_TCP_SERVER_PORT = "7303";
const char* const DEFAULT_SERVER_PORT = "7301";
enum class Protocol {
UDP,

2
osal/windows/tcpipHelpers.h → osal/common/tcpipHelpers.h
View File

@ -2,7 +2,7 @@
#define FSFW_OSAL_WINDOWS_TCPIPHELPERS_H_
#include "../../timemanager/clockDefinitions.h"
#include "../common/tcpipCommon.h"
#include "tcpipCommon.h"
namespace tcpip {

1
osal/host/CMakeLists.txt
View File

@ -10,6 +10,7 @@ target_sources(${LIB_FSFW_NAME}
QueueMapManager.cpp
SemaphoreFactory.cpp
TaskFactory.cpp
taskHelpers.cpp
)
if(UNIX)

36
osal/host/FixedTimeslotTask.cpp
View File

@ -1,9 +1,8 @@
#include "taskHelpers.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 "../../tasks/ExecutableObjectIF.h"
@ -12,6 +11,7 @@
#if defined(WIN32)
#include <windows.h>
#include "../windows/winTaskHelpers.h"
#elif defined(LINUX)
#include <pthread.h>
#endif
@ -24,34 +24,12 @@ 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<HANDLE>(mainThread.native_handle()),
ABOVE_NORMAL_PRIORITY_CLASS);
if(result != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "FixedTimeslotTask: Windows SetPriorityClass failed with code "
<< GetLastError() << std::endl;
#endif
}
result = SetThreadPriority(
reinterpret_cast<HANDLE>(mainThread.native_handle()),
THREAD_PRIORITY_NORMAL);
if(result != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "FixedTimeslotTask: Windows SetPriorityClass failed with code "
<< GetLastError() << std::endl;
#endif
}
#elif defined(LINUX)
// TODO: we can just copy and paste the code from the linux OSAL here.
#if defined(_WIN32)
tasks::setTaskPriority(reinterpret_cast<HANDLE>(mainThread.native_handle()), setPriority);
#elif defined(__unix__)
// TODO: We could reuse existing code here.
#endif
tasks::insertTaskName(mainThread.get_id(), taskName);
}
FixedTimeslotTask::~FixedTimeslotTask(void) {

2
osal/host/MessageQueue.cpp
View File

@ -63,8 +63,6 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
if(messageQueue.empty()) {
return MessageQueueIF::EMPTY;
}
// not sure this will work..
//*message = std::move(messageQueue.front());
MutexGuard mutexLock(queueLock, MutexIF::TimeoutType::WAITING, 20);
MessageQueueMessage* currentMessage = &messageQueue.front();
std::copy(currentMessage->getBuffer(),

36
osal/host/PeriodicTask.cpp
View File

@ -1,5 +1,6 @@
#include "Mutex.h"
#include "PeriodicTask.h"
#include "taskHelpers.h"
#include "../../ipc/MutexFactory.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
@ -10,7 +11,8 @@
#if defined(WIN32)
#include <processthreadsapi.h>
#elif defined(LINUX)
#include <fsfw/osal/windows/winTaskHelpers.h>
#elif defined(__unix__)
#include <pthread.h>
#endif
@ -22,34 +24,12 @@ PeriodicTask::PeriodicTask(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(&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<HANDLE>(mainThread.native_handle()),
ABOVE_NORMAL_PRIORITY_CLASS);
if(result != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
<< GetLastError() << std::endl;
#endif
}
result = SetThreadPriority(
reinterpret_cast<HANDLE>(mainThread.native_handle()),
THREAD_PRIORITY_NORMAL);
if(result != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
<< GetLastError() << std::endl;
#endif
}
#elif defined(LINUX)
// we can just copy and paste the code from linux here.
#if defined(_WIN32)
tasks::setTaskPriority(reinterpret_cast<HANDLE>(mainThread.native_handle()), setPriority);
#elif defined(__unix__)
// TODO: We could reuse existing code here.
#endif
tasks::insertTaskName(mainThread.get_id(), taskName);
}
PeriodicTask::~PeriodicTask(void) {

14
osal/host/TaskFactory.cpp
View File

@ -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 <chrono>
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 */
}

27
osal/host/taskHelpers.cpp Normal file
View File

@ -0,0 +1,27 @@
#include "taskHelpers.h"
#include <map>
#include <mutex>
std::mutex nameMapLock;
std::map<std::thread::id, std::string> taskNameMap;
ReturnValue_t tasks::insertTaskName(std::thread::id threadId, std::string taskName) {
std::lock_guard<std::mutex> 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<std::mutex> lg(nameMapLock);
auto resultIter = taskNameMap.find(threadId);
if(resultIter != taskNameMap.end()) {
return resultIter->second;
}
else {
return "Unknown task";
}
}

16
osal/host/taskHelpers.h Normal file
View File

@ -0,0 +1,16 @@
#ifndef FSFW_OSAL_HOST_TASKHELPERS_H_
#define FSFW_OSAL_HOST_TASKHELPERS_H_
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <thread>
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_ */

2
osal/linux/CMakeLists.txt
View File

@ -13,8 +13,6 @@ target_sources(${LIB_FSFW_NAME}
QueueFactory.cpp
SemaphoreFactory.cpp
TaskFactory.cpp
TcUnixUdpPollingTask.cpp
TmTcUnixUdpBridge.cpp
Timer.cpp
tcpipHelpers.cpp
)

54
osal/linux/PosixThread.cpp
View File

@ -6,7 +6,7 @@
#include <errno.h>
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);
}
@ -63,33 +63,33 @@ void PosixThread::resume(){
}
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. */

152
osal/linux/TcUnixUdpPollingTask.cpp
View File

@ -1,152 +0,0 @@
#include "TcUnixUdpPollingTask.h"
#include "tcpipHelpers.h"
#include "../../globalfunctions/arrayprinter.h"
#define FSFW_UDP_RCV_WIRETAPPING_ENABLED 0
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) {
/* Sender Address is cached here. */
struct sockaddr_in senderAddress;
socklen_t senderAddressSize = sizeof(senderAddress);
/* Poll for new UDP datagrams in permanent loop. */
while(true) {
ssize_t bytesReceived = recvfrom(
serverUdpSocket,
receptionBuffer.data(),
frameSize,
receptionFlags,
reinterpret_cast<sockaddr*>(&senderAddress),
&senderAddressSize
);
if(bytesReceived < 0) {
/* Handle error */
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcSocketPollingTask::performOperation: Reception error." << std::endl;
#endif
tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::RECVFROM_CALL, 500);
continue;
}
#if FSFW_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_RCV_WIRETAPPING_ENABLED == 1
sif::debug << "TcSocketPollingTask::performOperation: " << bytesReceived
<< " bytes received" << std::endl;
#endif
ReturnValue_t result = handleSuccessfullTcRead(bytesReceived);
if(result != HasReturnvaluesIF::RETURN_FAILED) {
}
tmtcBridge->checkAndSetClientAddress(senderAddress);
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TcUnixUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
store_address_t storeId;
#if FSFW_UDP_RCV_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::error << "TcUnixUdpPollingTask::handleSuccessfullTcRead: Data "
"storage failed" << std::endl;
sif::error << "Packet size: " << bytesRead << std::endl;
#else
#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::error << "TcUnixUdpPollingTask::handleSuccessfullTcRead: Sending message to queue "
"failed" << std::endl;
#else
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
tcStore->deleteData(storeId);
}
return result;
}
ReturnValue_t TcUnixUdpPollingTask::initialize() {
tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
if (tcStore == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcSerialPollingTask::initialize: TC Store uninitialized!"
<< std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
tmtcBridge = objectManager->get<TmTcUnixUdpBridge>(tmtcBridgeId);
if(tmtcBridge == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcSocketPollingTask::TcSocketPollingTask: Invalid"
" TMTC bridge object!" << std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TcUnixUdpPollingTask::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 properly in any case*/
serverUdpSocket = tmtcBridge->serverSocket;
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
}
}

67
osal/linux/TcUnixUdpPollingTask.h
View File

@ -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 <sys/socket.h>
#include <vector>
/**
* @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<uint8_t> receptionBuffer;
size_t frameSize = 0;
timeval receptionTimeout;
ReturnValue_t handleSuccessfullTcRead(size_t bytesRead);
};
#endif /* FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_ */

2
osal/linux/tcpipHelpers.cpp
View File

@ -1,4 +1,4 @@
#include "tcpipHelpers.h"
#include "../common/tcpipHelpers.h"
#include "../../tasks/TaskFactory.h"

14
osal/linux/tcpipHelpers.h
View File

@ -1,14 +0,0 @@
#ifndef FSFW_OSAL_LINUX_TCPIPHELPERS_H_
#define FSFW_OSAL_LINUX_TCPIPHELPERS_H_
#include "../../timemanager/clockDefinitions.h"
#include "../common/tcpipCommon.h"
namespace tcpip {
void handleError(Protocol protocol, ErrorSources errorSrc, dur_millis_t sleepDuration = 0);
}
#endif /* FSFW_OSAL_LINUX_TCPIPHELPERS_H_ */

9
osal/windows/CMakeLists.txt
View File

@ -1,11 +1,4 @@
target_sources(${LIB_FSFW_NAME} PRIVATE
TcWinUdpPollingTask.cpp
TmTcWinUdpBridge.cpp
TcWinTcpServer.cpp
tcpipHelpers.cpp
winTaskHelpers.cpp
)
target_link_libraries(${LIB_FSFW_NAME} PRIVATE
wsock32
ws2_32
)

149
osal/windows/TcWinUdpPollingTask.cpp
View File

@ -1,149 +0,0 @@
#include "TcWinUdpPollingTask.h"
#include "tcpipHelpers.h"
#include "../../globalfunctions/arrayprinter.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include <winsock2.h>
//! Debugging preprocessor define.
#define FSFW_UDP_RCV_WIRETAPPING_ENABLED 0
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) {
/* Sender Address is cached here. */
struct sockaddr_in senderAddress;
int senderAddressSize = sizeof(senderAddress);
/* Poll for new UDP datagrams in permanent loop. */
while(true) {
int bytesReceived = recvfrom(
serverUdpSocket,
reinterpret_cast<char*>(receptionBuffer.data()),
frameSize,
receptionFlags,
reinterpret_cast<sockaddr*>(&senderAddress),
&senderAddressSize
);
if(bytesReceived == SOCKET_ERROR) {
/* Handle error */
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcWinUdpPollingTask::performOperation: Reception error." << std::endl;
#endif
tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::RECVFROM_CALL, 1000);
continue;
}
#if FSFW_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_RCV_WIRETAPPING_ENABLED == 1
sif::debug << "TcWinUdpPollingTask::performOperation: " << bytesReceived <<
" bytes received" << std::endl;
#endif
ReturnValue_t result = handleSuccessfullTcRead(bytesReceived);
if(result != HasReturnvaluesIF::RETURN_FAILED) {
}
tmtcBridge->checkAndSetClientAddress(senderAddress);
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TcWinUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
store_address_t storeId;
#if FSFW_UDP_RCV_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<< "TcWinUdpPollingTask::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 << "TcWinUdpPollingTask::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 TcWinUdpPollingTask::initialize() {
tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
if (tcStore == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcWinUdpPollingTask::initialize: TC store uninitialized!" << std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
tmtcBridge = objectManager->get<TmTcWinUdpBridge>(tmtcBridgeId);
if(tmtcBridge == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcWinUdpPollingTask::initialize: Invalid TMTC bridge object!" <<
std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
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();
/* The server socket is set up in the bridge intialization. Calling this function here
ensures that it is set up properly in any case*/
serverUdpSocket = tmtcBridge->serverSocket;
return HasReturnvaluesIF::RETURN_OK;
}
void TcWinUdpPollingTask::setTimeout(double timeoutSeconds) {
DWORD timeoutMs = timeoutSeconds * 1000.0;
int result = setsockopt(serverUdpSocket, SOL_SOCKET, SO_RCVTIMEO,
reinterpret_cast<const char*>(&timeoutMs), sizeof(DWORD));
if(result == -1) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcWinUdpPollingTask::TcSocketPollingTask: Setting "
"receive timeout failed with " << strerror(errno) << std::endl;
#endif
}
}

2
osal/windows/tcpipHelpers.cpp
View File

@ -1,4 +1,4 @@
#include "tcpipHelpers.h"
#include "../common/tcpipHelpers.h"
#include <FSFWConfig.h>
#include "../../tasks/TaskFactory.h"

107
osal/windows/winTaskHelpers.cpp Normal file
View File

@ -0,0 +1,107 @@
#include <fsfw/osal/windows/winTaskHelpers.h>
#include <mutex>
TaskPriority tasks::makeWinPriority(PriorityClass prioClass, PriorityNumber prioNumber) {
return (static_cast<uint16_t>(prioClass) << 16) | static_cast<uint16_t> (prioNumber);
}
void tasks::getWinPriorityParameters(TaskPriority priority,
DWORD& priorityClass, int& priorityNumber) {
PriorityClass classInternal = static_cast<PriorityClass>(priority >> 16 & 0xff);
PriorityNumber numberInternal = static_cast<PriorityNumber>(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<HANDLE>(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<HANDLE>(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;
}

37
osal/windows/winTaskHelpers.h Normal file
View File

@ -0,0 +1,37 @@
#include "../../tasks/TaskFactory.h"
#include <thread>
#include <map>
#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

22
tasks/TaskFactory.h
View File

@ -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

2
tasks/Typedef.h
View File

@ -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)();

8
tmtcservices/TmTcBridge.cpp
View File

@ -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),
@ -234,17 +236,11 @@ 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;
}