hal/CMakeLists.txt

@@ -3,7 +3,13 @@ cmake_minimum_required(VERSION 3.13)
 # Can also be changed by upper CMakeLists.txt file
 find_library(LIB_FSFW_NAME fsfw REQUIRED)
 
-option(FSFW_HAL_ADD_LINUX "Add the Linux HAL to the sources. Required gpiod library" OFF)
+option(FSFW_HAL_ADD_LINUX "Add the Linux HAL to the sources. Requires gpiod library" OFF)
+# On by default for now because I did not have an issue including and compiling those files
+# and libraries on a Desktop Linux system and the primary target of the FSFW is still embedded
+# Linux. The only exception from this is the gpiod library which requires a dedicated installation,
+# but CMake is able to determine whether this library is installed with find_library.
+option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add peripheral drivers for embedded Linux" ON)
+
 option(FSFW_HAL_ADD_RASPBERRY_PI "Add Raspberry Pi specific code to the sources" OFF)
 option(FSFW_HAL_ADD_STM32H7 "Add the STM32H7 HAL to the sources" OFF)
 option(FSFW_HAL_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)

hal/src/fsfw_hal/CMakeLists.txt

@@ -1,7 +1,7 @@
 add_subdirectory(devicehandlers)
 add_subdirectory(common)
 
-if(FSFW_HAL_ADD_LINUX)
+if(UNIX)
     add_subdirectory(linux)
 endif()
 

hal/src/fsfw_hal/linux/CMakeLists.txt

@@ -4,10 +4,13 @@ endif()
 
 target_sources(${LIB_FSFW_NAME} PRIVATE
 	UnixFileGuard.cpp
+	CommandExecutor.cpp
 	utility.cpp
 )
 
-add_subdirectory(gpio)
-add_subdirectory(spi)
-add_subdirectory(i2c)
-add_subdirectory(uart)
+if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
+	add_subdirectory(gpio)
+	add_subdirectory(spi)
+	add_subdirectory(i2c)
+	add_subdirectory(uart)
+endif()

hal/src/fsfw_hal/linux/CommandExecutor.cpp

@@ -0,0 +1,213 @@
+#include "CommandExecutor.h"
+
+#include "fsfw/serviceinterface.h"
+#include "fsfw/container/SimpleRingBuffer.h"
+#include "fsfw/container/DynamicFIFO.h"
+
+#include <unistd.h>
+
+#include <cstring>
+
+CommandExecutor::CommandExecutor(const size_t maxSize):
+readVec(maxSize) {
+    waiter.events = POLLIN;
+}
+
+ReturnValue_t CommandExecutor::load(std::string command, bool blocking, bool printOutput) {
+    if(state == States::PENDING) {
+        return COMMAND_PENDING;
+    }
+
+    currentCmd = command;
+    this->blocking = blocking;
+    this->printOutput = printOutput;
+    if(state == States::IDLE) {
+        state = States::COMMAND_LOADED;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t CommandExecutor::execute() {
+    if(state == States::IDLE) {
+        return NO_COMMAND_LOADED_OR_PENDING;
+    }
+    else if(state == States::PENDING) {
+        return COMMAND_PENDING;
+    }
+    currentCmdFile = popen(currentCmd.c_str(), "r");
+    if(currentCmdFile == nullptr) {
+        lastError = errno;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    if(blocking) {
+        ReturnValue_t result = executeBlocking();
+        state = States::IDLE;
+        return result;
+    }
+    else {
+        currentFd = fileno(currentCmdFile);
+        waiter.fd = currentFd;
+    }
+    state = States::PENDING;
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t CommandExecutor::close() {
+    if(state == States::PENDING) {
+        // Attempt to close process, irrespective of if it is running or not
+        if(currentCmdFile != nullptr) {
+            pclose(currentCmdFile);
+        }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void CommandExecutor::printLastError(std::string funcName) const {
+    if(lastError != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << funcName << " pclose failed with code " << lastError << ": " <<
+                strerror(lastError) << std::endl;
+#else
+        sif::printError("%s pclose failed with code %d: %s\n",
+                funcName, lastError, strerror(lastError));
+#endif
+    }
+}
+
+void CommandExecutor::setRingBuffer(SimpleRingBuffer *ringBuffer,
+        DynamicFIFO<uint16_t>* sizesFifo) {
+    this->ringBuffer = ringBuffer;
+    this->sizesFifo = sizesFifo;
+}
+
+ReturnValue_t CommandExecutor::check(bool& replyReceived) {
+    if(blocking) {
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+    switch(state) {
+    case(States::IDLE):
+    case(States::COMMAND_LOADED): {
+        return NO_COMMAND_LOADED_OR_PENDING;
+    }
+    case(States::PENDING): {
+        break;
+    }
+    }
+
+    int result = poll(&waiter, 1, 0);
+    switch(result) {
+    case(0): {
+        return HasReturnvaluesIF::RETURN_OK;
+        break;
+    }
+    case(1): {
+        if (waiter.revents & POLLIN) {
+            ssize_t readBytes = read(currentFd, readVec.data(), readVec.size());
+            if(readBytes == 0) {
+                // Should not happen
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+                sif::warning << "CommandExecutor::check: No bytes read "
+                        "after poll event.." << std::endl;
+#else
+                sif::printWarning("CommandExecutor::check: No bytes read after poll event..\n");
+#endif
+                break;
+            }
+            else if(readBytes > 0) {
+                replyReceived = true;
+                if(printOutput) {
+                    // It is assumed the command output is line terminated
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+                    sif::info << currentCmd << " | " << readVec.data();
+#else
+                    sif::printInfo("%s | %s", currentCmd, readVec.data());
+#endif
+                }
+                if(ringBuffer != nullptr) {
+                    ringBuffer->writeData(reinterpret_cast<const uint8_t*>(
+                            readVec.data()), readBytes);
+                }
+                if(sizesFifo != nullptr) {
+                    if(not sizesFifo->full()) {
+                        sizesFifo->insert(readBytes);
+                    }
+                }
+            }
+            else {
+                // Should also not happen
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+                sif::warning << "CommandExecutor::check: Error " << errno << ": " <<
+                        strerror(errno) << std::endl;
+#else
+                sif::printWarning("CommandExecutor::check: Error %d: %s\n", errno, strerror(errno));
+#endif
+            }
+        }
+        if(waiter.revents & POLLERR) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::warning << "CommandExecuter::check: Poll error" << std::endl;
+#else
+            sif::printWarning("CommandExecuter::check: Poll error\n");
+#endif
+            return COMMAND_ERROR;
+        }
+        if(waiter.revents & POLLHUP) {
+            result = pclose(currentCmdFile);
+            ReturnValue_t retval = EXECUTION_FINISHED;
+            if(result != 0) {
+                lastError = result;
+                retval = HasReturnvaluesIF::RETURN_FAILED;
+            }
+            state = States::IDLE;
+            currentCmdFile = nullptr;
+            currentFd = 0;
+            return retval;
+        }
+        break;
+    }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void CommandExecutor::reset() {
+    CommandExecutor::close();
+    currentCmdFile = nullptr;
+    currentFd = 0;
+    state = States::IDLE;
+}
+
+int CommandExecutor::getLastError() const {
+    // See: https://stackoverflow.com/questions/808541/any-benefit-in-using-wexitstatus-macro-in-c-over-division-by-256-on-exit-statu
+    return WEXITSTATUS(this->lastError);
+}
+
+CommandExecutor::States CommandExecutor::getCurrentState() const {
+    return state;
+}
+
+ReturnValue_t CommandExecutor::executeBlocking() {
+    while(fgets(readVec.data(), readVec.size(), currentCmdFile) != nullptr) {
+        std::string output(readVec.data());
+        if(printOutput) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::info << currentCmd << " | " << output;
+#else
+            sif::printInfo("%s | %s", currentCmd, output);
+#endif
+        }
+        if(ringBuffer != nullptr) {
+            ringBuffer->writeData(reinterpret_cast<const uint8_t*>(output.data()), output.size());
+        }
+        if(sizesFifo != nullptr) {
+            if(not sizesFifo->full()) {
+                sizesFifo->insert(output.size());
+            }
+        }
+    }
+    int result = pclose(currentCmdFile);
+    if(result != 0) {
+        lastError = result;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}

hal/src/fsfw_hal/linux/CommandExecutor.h

@@ -0,0 +1,135 @@
+#ifndef FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_
+#define FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_
+
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "fsfw/returnvalues/FwClassIds.h"
+
+#include <poll.h>
+
+#include <string>
+#include <vector>
+
+class SimpleRingBuffer;
+template <typename T> class DynamicFIFO;
+
+/**
+ * @brief   Helper class to execute shell commands in blocking and non-blocking mode
+ * @details
+ * This class is able to execute processes by using the Linux popen call. It also has the
+ * capability of writing the read output of a process into a provided ring buffer.
+ *
+ * The executor works by first loading the command which should be executed and specifying
+ * whether it should be executed blocking or non-blocking. After that, execution can be started
+ * with the execute command. In blocking mode, the execute command will block until the command
+ * has finished
+ */
+class CommandExecutor {
+public:
+    enum class States {
+        IDLE,
+        COMMAND_LOADED,
+        PENDING
+    };
+
+    static constexpr uint8_t CLASS_ID = CLASS_ID::LINUX_OSAL;
+
+    //! [EXPORT] : [COMMENT] Execution of the current command has finished
+    static constexpr ReturnValue_t EXECUTION_FINISHED =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 0);
+
+    //! [EXPORT] : [COMMENT] Command is pending. This will also be returned if the user tries
+    //! to load another command but a command is still pending
+    static constexpr ReturnValue_t COMMAND_PENDING =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1);
+    //! [EXPORT] : [COMMENT] Some bytes have been read from the executing process
+    static constexpr ReturnValue_t BYTES_READ =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2);
+    //! [EXPORT] : [COMMENT] Command execution failed
+    static constexpr ReturnValue_t COMMAND_ERROR =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 3);
+    //! [EXPORT] : [COMMENT]
+    static constexpr ReturnValue_t NO_COMMAND_LOADED_OR_PENDING =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 4);
+    static constexpr ReturnValue_t PCLOSE_CALL_ERROR =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 6);
+
+    /**
+     * Constructor. Is initialized with maximum size of internal buffer to read data from the
+     * executed process.
+     * @param maxSize
+     */
+    CommandExecutor(const size_t maxSize);
+
+    /**
+     * Load a new command which should be executed
+     * @param command
+     * @param blocking
+     * @param printOutput
+     * @return
+     */
+    ReturnValue_t load(std::string command, bool blocking, bool printOutput = true);
+    /**
+     * Execute the loaded command.
+     * @return
+     *  - In blocking mode, it will return RETURN_FAILED if
+     *    the result of the system call was not 0. The error value can be accessed using
+     *    getLastError
+     *  - In non-blocking mode, this call will start
+     *    the execution and then return RETURN_OK
+     */
+    ReturnValue_t execute();
+    /**
+     * Only used in non-blocking mode. Checks the currently running command.
+     * @param bytesRead Will be set to the number of bytes read, if bytes have been read
+     * @return
+     *  - BYTES_READ if bytes have been read from the executing process. It is recommended to call
+     *    check again after this
+     *  - RETURN_OK execution is pending, but no bytes have been read from the executing process
+     *  - RETURN_FAILED if execution has failed, error value can be accessed using getLastError
+     *  - EXECUTION_FINISHED if the process was executed successfully
+     *  - NO_COMMAND_LOADED_OR_PENDING self-explanatory
+     *  - COMMAND_ERROR internal poll error
+     */
+    ReturnValue_t check(bool& replyReceived);
+    /**
+     * Abort the current command. Should normally not be necessary, check can be used to find
+     * out whether command execution was successful
+     * @return RETURN_OK
+     */
+    ReturnValue_t close();
+
+    States getCurrentState() const;
+    int getLastError() const;
+    void printLastError(std::string funcName) const;
+
+    /**
+     * Assign a ring buffer and a FIFO which will be filled by the executor with the output
+     * read from the started process
+     * @param ringBuffer
+     * @param sizesFifo
+     */
+    void setRingBuffer(SimpleRingBuffer* ringBuffer, DynamicFIFO<uint16_t>* sizesFifo);
+
+    /**
+     * Reset the executor. This calls close internally and then reset the state machine so new
+     * commands can be loaded and executed
+     */
+    void reset();
+private:
+    std::string currentCmd;
+    bool blocking = true;
+    FILE* currentCmdFile = nullptr;
+    int currentFd = 0;
+    bool printOutput = true;
+    std::vector<char> readVec;
+    struct pollfd waiter {};
+    SimpleRingBuffer* ringBuffer = nullptr;
+    DynamicFIFO<uint16_t>* sizesFifo = nullptr;
+
+    States state = States::IDLE;
+    int lastError = 0;
+
+    ReturnValue_t executeBlocking();
+};
+
+#endif /* FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_ */

hal/src/fsfw_hal/linux/gpio/CMakeLists.txt

@@ -1,12 +1,16 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-    LinuxLibgpioIF.cpp
-)
-
 # This abstraction layer requires the gpiod library. You can install this library
 # with "sudo apt-get install -y libgpiod-dev". If you are cross-compiling, you need
 # to install the package before syncing the sysroot to your host computer.
-find_library(LIB_GPIO gpiod REQUIRED)
+find_library(LIB_GPIO gpiod)
 
-target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+if(${LIB_GPIO} MATCHES LIB_GPIO-NOTFOUND)
+    message(STATUS "gpiod library not found, not linking against it")
+else()
+    target_sources(${LIB_FSFW_NAME} PRIVATE
+        LinuxLibgpioIF.cpp
+    )
+    target_link_libraries(${LIB_FSFW_NAME} PRIVATE
         ${LIB_GPIO}
-)
+    )
+endif()
+

hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp

@@ -1,8 +1,10 @@
+#include "fsfw/FSFW.h"
+
 #include "fsfw_hal/linux/i2c/I2cComIF.h"
 #include "fsfw_hal/linux/utility.h"
 #include "fsfw_hal/linux/UnixFileGuard.h"
 
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 #include <unistd.h>
 #include <fcntl.h>
@@ -24,12 +26,16 @@ ReturnValue_t I2cComIF::initializeInterface(CookieIF* cookie) {
     std::string deviceFile;
 
     if(cookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "I2cComIF::initializeInterface: Invalid cookie!" << std::endl;
+#endif
         return NULLPOINTER;
     }
     I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
     if(i2cCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "I2cComIF::initializeInterface: Invalid I2C cookie!" << std::endl;
+#endif
         return NULLPOINTER;
     }
 
@@ -41,15 +47,19 @@ ReturnValue_t I2cComIF::initializeInterface(CookieIF* cookie) {
         I2cInstance i2cInstance = {std::vector<uint8_t>(maxReplyLen), 0};
         auto statusPair = i2cDeviceMap.emplace(i2cAddress, i2cInstance);
         if (not statusPair.second) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
             sif::error << "I2cComIF::initializeInterface: Failed to insert device with address " <<
                     i2cAddress << "to I2C device " << "map" << std::endl;
+#endif
             return HasReturnvaluesIF::RETURN_FAILED;
         }
         return HasReturnvaluesIF::RETURN_OK;
     }
 
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "I2cComIF::initializeInterface: Device with address " << i2cAddress <<
             "already in use" << std::endl;
+#endif
     return HasReturnvaluesIF::RETURN_FAILED;
 }
 
@@ -61,8 +71,10 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF *cookie,
     std::string deviceFile;
 
     if(sendData == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "I2cComIF::sendMessage: Send Data is nullptr"
                 << std::endl;
+#endif
         return HasReturnvaluesIF::RETURN_FAILED;
     }
 
@@ -72,15 +84,19 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF *cookie,
 
     I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
     if(i2cCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "I2cComIF::sendMessage: Invalid I2C Cookie!" << std::endl;
+#endif
         return NULLPOINTER;
     }
 
     address_t i2cAddress = i2cCookie->getAddress();
     i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
     if (i2cDeviceMapIter == i2cDeviceMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "I2cComIF::sendMessage: i2cAddress of Cookie not "
                 << "registered in i2cDeviceMap" << std::endl;
+#endif
         return HasReturnvaluesIF::RETURN_FAILED;
     }
 
@@ -94,10 +110,12 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF *cookie,
         return result;
     }
 
-    if (write(fd, sendData, sendLen) != (int)sendLen) {
+    if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "I2cComIF::sendMessage: Failed to send data to I2C "
                 "device with error code " << errno << ". Error description: "
                 << strerror(errno) << std::endl;
+#endif
         return HasReturnvaluesIF::RETURN_FAILED;
     }
     return HasReturnvaluesIF::RETURN_OK;
@@ -119,7 +137,9 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
 
     I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
     if(i2cCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "I2cComIF::requestReceiveMessage: Invalid I2C Cookie!" << std::endl;
+#endif
         i2cDeviceMapIter->second.replyLen = 0;
         return NULLPOINTER;
     }
@@ -127,8 +147,10 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
     address_t i2cAddress = i2cCookie->getAddress();
     i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
     if (i2cDeviceMapIter == i2cDeviceMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "I2cComIF::requestReceiveMessage: i2cAddress of Cookie not "
                 << "registered in i2cDeviceMap" << std::endl;
+#endif
         i2cDeviceMapIter->second.replyLen = 0;
         return HasReturnvaluesIF::RETURN_FAILED;
     }
@@ -156,7 +178,9 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
                 << requestLen << " bytes" << std::endl;
 #endif
         i2cDeviceMapIter->second.replyLen = 0;
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::debug << "I2cComIF::requestReceiveMessage: Read "  << readLen << " of " << requestLen << " bytes" << std::endl;
+#endif
         return HasReturnvaluesIF::RETURN_FAILED;
     }
 
@@ -168,15 +192,19 @@ ReturnValue_t I2cComIF::readReceivedMessage(CookieIF *cookie,
         uint8_t **buffer, size_t* size) {
     I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
     if(i2cCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "I2cComIF::readReceivedMessage: Invalid I2C Cookie!" << std::endl;
+#endif
         return NULLPOINTER;
     }
 
     address_t i2cAddress = i2cCookie->getAddress();
     i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
     if (i2cDeviceMapIter == i2cDeviceMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "I2cComIF::readReceivedMessage: i2cAddress of Cookie not "
                 << "found in i2cDeviceMap" << std::endl;
+#endif
         return HasReturnvaluesIF::RETURN_FAILED;
     }
     *buffer = i2cDeviceMapIter->second.replyBuffer.data();

hal/src/fsfw_hal/linux/uart/UartComIF.cpp

@@ -1,8 +1,8 @@
 #include "UartComIF.h"
-#include "OBSWConfig.h"
+#include "fsfw/FSFW.h"
 
 #include "fsfw_hal/linux/utility.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 #include <cstring>
 #include <fcntl.h>
@@ -26,7 +26,9 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
 
     UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
     if (uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "UartComIF::initializeInterface: Invalid UART Cookie!" << std::endl;
+#endif
         return NULLPOINTER;
     }
 
@@ -42,14 +44,18 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
         UartElements uartElements = {fileDescriptor, std::vector<uint8_t>(maxReplyLen), 0};
         auto status = uartDeviceMap.emplace(deviceFile, uartElements);
         if (status.second == false) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
             sif::warning << "UartComIF::initializeInterface: Failed to insert device " <<
                     deviceFile << "to UART device map" << std::endl;
+#endif
             return RETURN_FAILED;
         }
     }
     else {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::warning << "UartComIF::initializeInterface: UART device " << deviceFile <<
                 " already in use" << std::endl;
+#endif
         return RETURN_FAILED;
     }
 
@@ -70,15 +76,19 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
     int fd = open(deviceFile.c_str(), flags);
 
     if (fd < 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::warning << "UartComIF::configureUartPort: Failed to open uart " << deviceFile <<
                 "with error code " << errno << strerror(errno) << std::endl;
+#endif
         return fd;
     }
 
     /* Read in existing settings */
     if(tcgetattr(fd, &options) != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::warning << "UartComIF::configureUartPort: Error " << errno << "from tcgetattr: "
                 << strerror(errno) << std::endl;
+#endif
         return fd;
     }
 
@@ -99,8 +109,10 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
 
     /* Save option settings */
     if (tcsetattr(fd, TCSANOW, &options) != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::warning << "UartComIF::configureUartPort: Failed to set options with error " <<
                 errno << ": " << strerror(errno);
+#endif
         return fd;
     }
     return fd;
@@ -152,7 +164,9 @@ void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCook
         options->c_cflag |= CS8;
         break;
     default:
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::warning << "UartComIF::setDatasizeOptions: Invalid size specified" << std::endl;
+#endif
         break;
     }
 }
@@ -259,7 +273,9 @@ void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCooki
         cfsetospeed(options, B460800);
         break;
     default:
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
+#endif
         break;
     }
 }
@@ -275,29 +291,37 @@ ReturnValue_t UartComIF::sendMessage(CookieIF *cookie,
     }
 
     if(sendData == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::warning << "UartComIF::sendMessage: Send data is nullptr" << std::endl;
+#endif
         return RETURN_FAILED;
     }
 
     UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
     if(uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::warning << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl;
+#endif
         return NULLPOINTER;
     }
 
     deviceFile = uartCookie->getDeviceFile();
     uartDeviceMapIter = uartDeviceMap.find(deviceFile);
     if (uartDeviceMapIter == uartDeviceMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::debug << "UartComIF::sendMessage: Device file " << deviceFile <<
                 "not in UART map" << std::endl;
+#endif
         return RETURN_FAILED;
     }
 
     fd = uartDeviceMapIter->second.fileDescriptor;
 
-    if (write(fd, sendData, sendLen) != (int)sendLen) {
+    if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "UartComIF::sendMessage: Failed to send data with error code " <<
                 errno << ": Error description: " << strerror(errno) << std::endl;
+#endif
         return RETURN_FAILED;
     }
 
@@ -314,7 +338,9 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF *cookie, size_t requestL
 
     UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
     if(uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::debug << "UartComIF::requestReceiveMessage: Invalid Uart Cookie!" << std::endl;
+#endif
         return NULLPOINTER;
     }
 
@@ -327,8 +353,10 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF *cookie, size_t requestL
     }
 
     if (uartDeviceMapIter == uartDeviceMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::debug << "UartComIF::requestReceiveMessage: Device file " << deviceFile
                 << " not in uart map" << std::endl;
+#endif
         return RETURN_FAILED;
     }
 
@@ -425,8 +453,10 @@ ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie &uartCookie, UartDevi
     }
     else if (bytesRead != static_cast<int>(requestLen)) {
         if(uartCookie.isReplySizeFixed()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
             sif::warning << "UartComIF::requestReceiveMessage: Only read " << bytesRead <<
                     " of " << requestLen << " bytes" << std::endl;
+#endif
             return RETURN_FAILED;
         }
     }
@@ -442,15 +472,19 @@ ReturnValue_t UartComIF::readReceivedMessage(CookieIF *cookie,
 
     UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
     if(uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::debug << "UartComIF::readReceivedMessage: Invalid uart cookie!" << std::endl;
+#endif
         return NULLPOINTER;
     }
 
     deviceFile = uartCookie->getDeviceFile();
     uartDeviceMapIter = uartDeviceMap.find(deviceFile);
     if (uartDeviceMapIter == uartDeviceMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile <<
                 " not in uart map" << std::endl;
+#endif
         return RETURN_FAILED;
     }
 
@@ -468,7 +502,9 @@ ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF *cookie) {
     UartDeviceMapIter uartDeviceMapIter;
     UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
     if(uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::warning << "UartComIF::flushUartRxBuffer: Invalid uart cookie!" << std::endl;
+#endif
         return NULLPOINTER;
     }
     deviceFile = uartCookie->getDeviceFile();
@@ -486,7 +522,9 @@ ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF *cookie) {
     UartDeviceMapIter uartDeviceMapIter;
     UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
     if(uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::warning << "UartComIF::flushUartTxBuffer: Invalid uart cookie!" << std::endl;
+#endif
         return NULLPOINTER;
     }
     deviceFile = uartCookie->getDeviceFile();
@@ -504,7 +542,9 @@ ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF *cookie) {
     UartDeviceMapIter uartDeviceMapIter;
     UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
     if(uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::warning << "UartComIF::flushUartTxAndRxBuf: Invalid uart cookie!" << std::endl;
+#endif
         return NULLPOINTER;
     }
     deviceFile = uartCookie->getDeviceFile();

hal/src/fsfw_hal/linux/uart/UartCookie.cpp

@@ -1,6 +1,6 @@
 #include "fsfw_hal/linux/uart/UartCookie.h"
 
-#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fsfw/serviceinterface.h>
 
 UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
         uint32_t baudrate, size_t maxReplyLen):
@@ -42,7 +42,9 @@ void UartCookie::setBitsPerWord(uint8_t bitsPerWord_) {
     case 8:
         break;
     default:
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::debug << "UartCookie::setBitsPerWord: Invalid bits per word specified" << std::endl;
+#endif
         return;
     }
     bitsPerWord = bitsPerWord_;

scripts/helper.py

@@ -132,7 +132,9 @@ def handle_tests_type(args, build_dir_list: list):
 def create_tests_build_cfg():
     os.mkdir(UNITTEST_FOLDER_NAME)
     os.chdir(UNITTEST_FOLDER_NAME)
-    os.system('cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..')
+    cmake_cmd = "cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON .."
+    print(f"Executing CMake command {cmake_cmd}")
+    os.system(cmake_cmd)
     os.chdir('..')
 
 

src/fsfw/FSFW.h.in

@@ -18,6 +18,10 @@
 
 // FSFW core defines
 
+#ifndef FSFW_TCP_RECV_WIRETAPPING_ENABLED
+#define FSFW_TCP_RECV_WIRETAPPING_ENABLED   0
+#endif
+
 #ifndef FSFW_CPP_OSTREAM_ENABLED
 #define FSFW_CPP_OSTREAM_ENABLED            1
 #endif /* FSFW_CPP_OSTREAM_ENABLED */

src/fsfw/container/SimpleRingBuffer.h

@@ -5,8 +5,7 @@
 #include <cstddef>
 
 /**
- * @brief     Circular buffer implementation, useful for buffering
- *          into data streams.
+ * @brief     Circular buffer implementation, useful for buffering into data streams.
  * @details
  * Note that the deleteData() has to be called to increment the read pointer.
  * This class allocated dynamically, so
@@ -20,8 +19,8 @@ public:
      * @param size
      * @param overwriteOld If the ring buffer is overflowing at a write
      * operation, the oldest data will be overwritten.
-     * @param maxExcessBytes These additional bytes will be allocated in addtion
-     * to the specified size to accomodate contiguous write operations
+     * @param maxExcessBytes These additional bytes will be allocated in addition
+     * to the specified size to accommodate continuous write operations
      * with getFreeElement.
      *
      */
@@ -32,10 +31,10 @@ public:
      * @param buffer
      * @param size
      * @param overwriteOld
-     * If the ring buffer is overflowing at a write operartion, the oldest data
+     * If the ring buffer is overflowing at a write operation, the oldest data
      * will be overwritten.
      * @param maxExcessBytes
-     * If the buffer can accomodate additional bytes for contigous write
+     * If the buffer can accommodate additional bytes for contiguous write
      * operations with getFreeElement, this is the maximum allowed additional
      * size
      */
@@ -48,7 +47,7 @@ public:
      * Write to circular buffer and increment write pointer by amount.
      * @param data
      * @param amount
-     * @return -@c RETURN_OK if write operation was successfull
+     * @return -@c RETURN_OK if write operation was successful
      * -@c RETURN_FAILED if
      */
     ReturnValue_t writeData(const uint8_t* data, size_t amount);
@@ -108,7 +107,7 @@ public:
      * Delete data by incrementing read pointer.
      * @param amount
      * @param deleteRemaining
-     * If the amount specified is larger than the remaing size to read and this
+     * If the amount specified is larger than the remaining size to read and this
      * is set to true, the remaining amount will be deleted as well
      * @param trueAmount [out]
      * If deleteRemaining was set to true, the amount deleted will be assigned

src/fsfw/devicehandlers/AssemblyBase.h

@@ -7,7 +7,7 @@
 
 /**
  * @brief   Base class to implement reconfiguration and failure handling for
- *          redundant devices by monitoring their modes health states.
+ *          redundant devices by monitoring their modes and health states.
  * @details
  * Documentation: Dissertation Baetz p.156, 157.
  *

src/fsfw/devicehandlers/DeviceCommunicationIF.h

@@ -85,9 +85,10 @@ public:
 	 * Called by DHB in the GET_WRITE doGetWrite().
 	 * Get send confirmation that the data in sendMessage() was sent successfully.
 	 * @param cookie
-	 * @return - @c RETURN_OK if data was sent successfull
-	 * 		   - Everything else triggers falure event with
-	 * 		     returnvalue as parameter 1
+	 * @return
+	 *  - @c RETURN_OK if data was sent successfully but a reply is expected
+	 *  - NO_REPLY_EXPECTED if data was sent successfully and no reply is expected
+	 *  - Everything else to indicate failure
 	 */
 	virtual ReturnValue_t getSendSuccess(CookieIF *cookie) = 0;
 

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -334,8 +334,7 @@ protected:
      *  - @c RETURN_OK to send command after #rawPacket and #rawPacketLen
      *       have been set.
      *  - @c HasActionsIF::EXECUTION_COMPLETE to generate a finish reply immediately. This can
-     *       be used if no reply is expected. Otherwise, the developer can call #actionHelper.finish
-     *       to finish the command handling.
+     *       be used if no reply is expected
      *  - Anything else triggers an event with the return code as a parameter as well as a
      *    step reply failed with the return code
      */

src/fsfw/devicehandlers/DeviceHandlerIF.h

@@ -120,7 +120,8 @@ public:
 	static const ReturnValue_t WRONG_MODE_FOR_COMMAND = MAKE_RETURN_CODE(0xA5);
 	static const ReturnValue_t TIMEOUT = MAKE_RETURN_CODE(0xA6);
 	static const ReturnValue_t BUSY = MAKE_RETURN_CODE(0xA7);
-	static const ReturnValue_t NO_REPLY_EXPECTED = MAKE_RETURN_CODE(0xA8); //!< Used to indicate that this is a command-only command.
+	//!< Used to indicate that this is a command-only command.
+	static const ReturnValue_t NO_REPLY_EXPECTED = MAKE_RETURN_CODE(0xA8);
 	static const ReturnValue_t NON_OP_TEMPERATURE = MAKE_RETURN_CODE(0xA9);
 	static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xAA);
 

src/fsfw/osal/linux/CMakeLists.txt

@@ -1,5 +1,4 @@
-target_sources(${LIB_FSFW_NAME} 
-	PRIVATE 
+target_sources(${LIB_FSFW_NAME} PRIVATE
     Clock.cpp
 	BinarySemaphore.cpp
 	CountingSemaphore.cpp

src/fsfw/osal/linux/MessageQueue.cpp

@@ -285,10 +285,10 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 
             utility::printUnixErrorGeneric(CLASS_NAME, "sendMessageFromMessageQueue", "EBADF");
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::warning << "mq_send to: " << sendTo << " sent from "
-                    << sentFrom << "failed" << std::endl;
+            sif::warning << "mq_send to " << sendTo << " sent from "
+                    << sentFrom << " failed" << std::endl;
 #else
-            sif::printWarning("mq_send to: %d sent from %d failed\n", sendTo, sentFrom);
+            sif::printWarning("mq_send to %d sent from %d failed\n", sendTo, sentFrom);
 #endif
             return DESTINATION_INVALID;
         }

src/fsfw/subsystem/SubsystemBase.h

@@ -62,7 +62,8 @@ protected:
 	struct ChildInfo {
 		MessageQueueId_t commandQueue;
 		Mode_t mode;
-		Submode_t submode;bool healthChanged;
+		Submode_t submode;
+		bool healthChanged;
 	};
 
 	Mode_t mode;

tests/src/fsfw_tests/unit/CMakeLists.txt

@@ -21,3 +21,4 @@ add_subdirectory(storagemanager)
 add_subdirectory(globalfunctions)
 add_subdirectory(timemanager)
 add_subdirectory(tmtcpacket)
+add_subdirectory(hal)

tests/src/fsfw_tests/unit/hal/CMakeLists.txt

@@ -0,0 +1,3 @@
+target_sources(${FSFW_TEST_TGT} PRIVATE
+	testCommandExecutor.cpp
+)

tests/src/fsfw_tests/unit/hal/testCommandExecutor.cpp

@@ -0,0 +1,110 @@
+#include <catch2/catch_test_macros.hpp>
+
+#include "fsfw/serviceinterface.h"
+
+#include "fsfw/container/SimpleRingBuffer.h"
+#include "fsfw/container/DynamicFIFO.h"
+
+#include "fsfw_hal/linux/CommandExecutor.h"
+#include "fsfw/platform.h"
+
+#include <unistd.h>
+#include <fstream>
+
+#ifdef PLATFORM_UNIX
+
+static const char TEST_FILE_NAME[] = "/tmp/fsfw-unittest-test.txt";
+
+TEST_CASE( "Command Executor" , "[cmd-exec]") {
+    // Check blocking mode first
+    CommandExecutor cmdExecutor(1024);
+    std::string cmd = "echo \"test\" >> " + std::string(TEST_FILE_NAME);
+    REQUIRE(cmdExecutor.getCurrentState() == CommandExecutor::States::IDLE);
+    ReturnValue_t result = cmdExecutor.load(cmd, true, true);
+    REQUIRE(cmdExecutor.getCurrentState() == CommandExecutor::States::COMMAND_LOADED);
+    REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
+    REQUIRE(cmdExecutor.execute() == HasReturnvaluesIF::RETURN_OK);
+    // Check that file exists with contents
+    std::ifstream file(TEST_FILE_NAME);
+    std::string line;
+    std::getline(file, line);
+    CHECK(line == "test");
+    std::remove(TEST_FILE_NAME);
+    REQUIRE(cmdExecutor.getCurrentState() == CommandExecutor::States::IDLE);
+
+    // Now check non-blocking mode
+    SimpleRingBuffer outputBuffer(524, true);
+    DynamicFIFO<uint16_t> sizesFifo(12);
+    cmdExecutor.setRingBuffer(&outputBuffer, &sizesFifo);
+
+    result = cmdExecutor.load("echo \"Hello World\"", false, false);
+    REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
+    cmdExecutor.execute();
+    bool bytesHaveBeenRead = false;
+    size_t limitIdx = 0;
+    while(result != CommandExecutor::EXECUTION_FINISHED) {
+        limitIdx++;
+        result = cmdExecutor.check(bytesHaveBeenRead);
+        REQUIRE(result != CommandExecutor::COMMAND_ERROR);
+        usleep(500);
+        REQUIRE(limitIdx < 5);
+    }
+
+    limitIdx = 0;
+    CHECK(bytesHaveBeenRead == true);
+    CHECK(result == CommandExecutor::EXECUTION_FINISHED);
+    uint16_t readBytes = 0;
+    sizesFifo.retrieve(&readBytes);
+    REQUIRE(readBytes == 12);
+    REQUIRE(outputBuffer.getAvailableReadData() == 12);
+    uint8_t readBuffer[32];
+    REQUIRE(outputBuffer.readData(readBuffer, 12) == HasReturnvaluesIF::RETURN_OK);
+    CHECK(strcmp(reinterpret_cast<char*>(readBuffer), "Hello World\n") == 0);
+    outputBuffer.deleteData(12, true);
+    // Test more complex command
+    result = cmdExecutor.load("ping -c 1 localhost", false, false);
+    REQUIRE(cmdExecutor.getCurrentState() == CommandExecutor::States::COMMAND_LOADED);
+    REQUIRE(cmdExecutor.execute() == HasReturnvaluesIF::RETURN_OK);
+    REQUIRE(cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING);
+    limitIdx = 0;
+    while(result != CommandExecutor::EXECUTION_FINISHED) {
+        limitIdx++;
+        result = cmdExecutor.check(bytesHaveBeenRead);
+        REQUIRE(result != CommandExecutor::COMMAND_ERROR);
+        usleep(500);
+        REQUIRE(limitIdx < 20);
+    }
+    limitIdx = 0;
+    CHECK(bytesHaveBeenRead == true);
+    CHECK(result == CommandExecutor::EXECUTION_FINISHED);
+    REQUIRE(cmdExecutor.getCurrentState() == CommandExecutor::States::IDLE);
+    readBytes = 0;
+    sizesFifo.retrieve(&readBytes);
+    // That's about the size of the reply
+    bool beTrue = (readBytes > 200) and (readBytes < 300);
+    REQUIRE(beTrue);
+    uint8_t largerReadBuffer[1024] = {};
+    outputBuffer.readData(largerReadBuffer, readBytes);
+    // You can also check this output in the debugger
+    std::string allTheReply(reinterpret_cast<char*>(largerReadBuffer));
+    // I am just going to assume that this string is the same across ping implementations
+    // of different Linux systems
+    REQUIRE(allTheReply.find("localhost ping statistics") != std::string::npos);
+
+    // Now check failing command
+    result = cmdExecutor.load("false", false, false);
+    REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
+    result = cmdExecutor.execute();
+    REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
+    while(result != CommandExecutor::EXECUTION_FINISHED and result != HasReturnvaluesIF::RETURN_FAILED) {
+        limitIdx++;
+        result = cmdExecutor.check(bytesHaveBeenRead);
+        REQUIRE(result != CommandExecutor::COMMAND_ERROR);
+        usleep(500);
+        REQUIRE(limitIdx < 20);
+    }
+    REQUIRE(result == HasReturnvaluesIF::RETURN_FAILED);
+    REQUIRE(cmdExecutor.getLastError() == 1);
+}
+
+#endif