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Modern cmake for skeleton app #9

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Modern cmake for skeleton app #9

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9974c15
compile with latest cFS
May 6, 2021
f5fe74e
Adapt and to modern cfs and fix runtime issue
renn0xtek9 Jun 4, 2022
955d4ec
Refactor the CMakeLists.txt
renn0xtek9 Jun 4, 2022
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11 changes: 5 additions & 6 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,10 +1,9 @@
cmake_minimum_required(VERSION 2.6.4)
project(CFE_SKELETON_APP C)

include_directories(fsw/mission_inc)
include_directories(fsw/platform_inc)

aux_source_directory(fsw/src APP_SRC_FILES)

# Create the app module
add_cfe_app(skeleton_app ${APP_SRC_FILES})
add_cfe_app(skeleton_app fsw/src/skeleton_app.c)

target_include_directories(skeleton_app PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/fsw/platform_inc>
$<INSTALL_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/fsw/platform_inc> )
90 changes: 44 additions & 46 deletions fsw/src/skeleton_app.c
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Original file line number Diff line number Diff line change
Expand Up @@ -47,11 +47,7 @@ SKELETON_AppData_t SKELETON_AppData;
void SKELETON_AppMain( void )
{
int32 status;

/*
** Register the app with Executive services
*/
CFE_ES_RegisterApp();
CFE_SB_Buffer_t *SBBufPtr;

/*
** Perform application specific initialization
Expand All @@ -67,16 +63,17 @@ void SKELETON_AppMain( void )
/*
** SKELETON Runloop
*/

while (CFE_ES_RunLoop(&SKELETON_AppData.RunStatus) == true)
{
status = CFE_SB_RcvMsg(&SKELETON_AppData.MsgPtr,
status = CFE_SB_ReceiveBuffer(&SBBufPtr,
SKELETON_AppData.CommandPipe,
CFE_SB_PEND_FOREVER);


if (status == CFE_SUCCESS)
{
SKELETON_ProcessCommandPacket(SKELETON_AppData.MsgPtr);
SKELETON_ProcessCommandPacket(SBBufPtr);
}
else
{
Expand Down Expand Up @@ -114,8 +111,9 @@ int32 SKELETON_AppInit( void )
** Initialize app configuration data
*/
SKELETON_AppData.PipeDepth = SKELETON_PIPE_DEPTH;

strcpy(SKELETON_AppData.PipeName, "SKELETON_CMD_PIPE");

strncpy(SKELETON_AppData.PipeName, "SKELETON_CMD_PIPE", sizeof(SKELETON_AppData.PipeName));
SKELETON_AppData.PipeName[sizeof(SKELETON_AppData.PipeName) - 1] = 0;

/*
** Register the events
Expand All @@ -130,10 +128,9 @@ int32 SKELETON_AppInit( void )
/*
** Initialize housekeeping packet (clear user data area).
*/
CFE_SB_InitMsg(&SKELETON_AppData.HkBuf.MsgHdr,
SKELETON_APP_HK_TLM_MID,
sizeof(SKELETON_AppData.HkBuf),
true);
CFE_MSG_Init(&SKELETON_AppData.HkTlm.TlmHeader.Msg,
CFE_SB_ValueToMsgId(SKELETON_APP_HK_TLM_MID),
sizeof(SKELETON_AppData.HkTlm));

/*
** Create Software Bus message pipe.
Expand All @@ -151,7 +148,7 @@ int32 SKELETON_AppInit( void )
/*
** Subscribe to Housekeeping request commands
*/
status = CFE_SB_Subscribe(SKELETON_APP_SEND_HK_MID,
status = CFE_SB_Subscribe(CFE_SB_ValueToMsgId(SKELETON_APP_SEND_HK_MID),
SKELETON_AppData.CommandPipe);
if (status != CFE_SUCCESS)
{
Expand All @@ -163,7 +160,7 @@ int32 SKELETON_AppInit( void )
/*
** Subscribe to ground command packets
*/
status = CFE_SB_Subscribe(SKELETON_APP_CMD_MID,
status = CFE_SB_Subscribe(CFE_SB_ValueToMsgId(SKELETON_APP_CMD_MID),
SKELETON_AppData.CommandPipe);
if (status != CFE_SUCCESS )
{
Expand Down Expand Up @@ -193,27 +190,27 @@ int32 SKELETON_AppInit( void )
/* command pipe. */
/* */
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
void SKELETON_ProcessCommandPacket( CFE_SB_MsgPtr_t Msg )
void SKELETON_ProcessCommandPacket(CFE_SB_Buffer_t *SBBufPtr )
{
CFE_SB_MsgId_t MsgId;
CFE_SB_MsgId_t MsgId = CFE_SB_INVALID_MSG_ID;

MsgId = CFE_SB_GetMsgId(Msg);
CFE_MSG_GetMsgId(&SBBufPtr->Msg, &MsgId);

switch (MsgId)
switch (CFE_SB_MsgIdToValue(MsgId))
{
case SKELETON_APP_CMD_MID:
SKELETON_ProcessGroundCommand(Msg);
SKELETON_ProcessGroundCommand(SBBufPtr);
break;

case SKELETON_APP_SEND_HK_MID:
SKELETON_ReportHousekeeping((CCSDS_CommandPacket_t *)Msg);
SKELETON_ReportHousekeeping((CFE_MSG_CommandHeader_t *)SBBufPtr);
break;

default:
CFE_EVS_SendEvent(SKELETON_INVALID_MSGID_ERR_EID,
CFE_EVS_EventType_ERROR,
"SKELETON: invalid command packet,MID = 0x%x",
MsgId);
CFE_SB_MsgIdToValue(MsgId));
break;
}

Expand All @@ -226,37 +223,37 @@ void SKELETON_ProcessCommandPacket( CFE_SB_MsgPtr_t Msg )
/* SKELETON_ProcessGroundCommand() -- SKELETON ground commands */
/* */
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * **/
void SKELETON_ProcessGroundCommand( CFE_SB_MsgPtr_t Msg )
void SKELETON_ProcessGroundCommand(CFE_SB_Buffer_t *SBBufPtr )
{
uint16 CommandCode;
CFE_MSG_FcnCode_t CommandCode = 0;

CommandCode = CFE_SB_GetCmdCode(Msg);
CFE_MSG_GetFcnCode(&SBBufPtr->Msg, &CommandCode);

/*
** Process "known" SKELETON app ground commands
*/
switch (CommandCode)
{
case SKELETON_APP_NOOP_CC:
if (SKELETON_VerifyCmdLength(Msg, sizeof(SKELETON_Noop_t)))
if (SKELETON_VerifyCmdLength(&SBBufPtr->Msg, sizeof(SKELETON_Noop_t)))
{
SKELETON_Noop((SKELETON_Noop_t *)Msg);
SKELETON_Noop((SKELETON_Noop_t *)SBBufPtr);
}

break;

case SKELETON_APP_RESET_COUNTERS_CC:
if (SKELETON_VerifyCmdLength(Msg, sizeof(SKELETON_ResetCounters_t)))
if (SKELETON_VerifyCmdLength(&SBBufPtr->Msg, sizeof(SKELETON_ResetCounters_t)))
{
SKELETON_ResetCounters((SKELETON_ResetCounters_t *)Msg);
SKELETON_ResetCounters((SKELETON_ResetCounters_t *)SBBufPtr);
}

break;

case SKELETON_APP_PROCESS_CC:
if (SKELETON_VerifyCmdLength(Msg, sizeof(SKELETON_Process_t)))
if (SKELETON_VerifyCmdLength(&SBBufPtr->Msg, sizeof(SKELETON_Process_t)))
{
SKELETON_Process((SKELETON_Process_t *)Msg);
SKELETON_Process((SKELETON_Process_t *)SBBufPtr);
}

break;
Expand All @@ -283,19 +280,19 @@ void SKELETON_ProcessGroundCommand( CFE_SB_MsgPtr_t Msg )
/* telemetry, packetize it and send it to the housekeeping task via */
/* the software bus */
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
int32 SKELETON_ReportHousekeeping( const CCSDS_CommandPacket_t *Msg )
int32 SKELETON_ReportHousekeeping( const CFE_MSG_CommandHeader_t *Msg )
{
/*
** Get command execution counters...
*/
SKELETON_AppData.HkBuf.HkTlm.Payload.CommandErrorCounter = SKELETON_AppData.ErrCounter;
SKELETON_AppData.HkBuf.HkTlm.Payload.CommandCounter = SKELETON_AppData.CmdCounter;
SKELETON_AppData.HkTlm.Payload.CommandErrorCounter = SKELETON_AppData.ErrCounter;
SKELETON_AppData.HkTlm.Payload.CommandCounter = SKELETON_AppData.CmdCounter;

/*
** Send housekeeping telemetry packet...
*/
CFE_SB_TimeStampMsg(&SKELETON_AppData.HkBuf.MsgHdr);
CFE_SB_SendMsg(&SKELETON_AppData.HkBuf.MsgHdr);
CFE_SB_TimeStampMsg(&SKELETON_AppData.HkTlm.TlmHeader.Msg);
CFE_SB_TransmitMsg(&SKELETON_AppData.HkTlm.TlmHeader.Msg, true);

return CFE_SUCCESS;

Expand Down Expand Up @@ -363,27 +360,28 @@ int32 SKELETON_Process( const SKELETON_Process_t *Msg )
/* SKELETON_VerifyCmdLength() -- Verify command packet length */
/* */
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * **/
bool SKELETON_VerifyCmdLength( CFE_SB_MsgPtr_t Msg, uint16 ExpectedLength )
bool SKELETON_VerifyCmdLength( CFE_MSG_Message_t *MsgPtr, size_t ExpectedLength )
{
bool result = true;
bool result = true;
size_t ActualLength = 0;
CFE_SB_MsgId_t MsgId = CFE_SB_INVALID_MSG_ID;
CFE_MSG_FcnCode_t FcnCode = 0;

uint16 ActualLength = CFE_SB_GetTotalMsgLength(Msg);
CFE_MSG_GetSize(MsgPtr, &ActualLength);

/*
** Verify the command packet length.
*/
if (ExpectedLength != ActualLength)
{
CFE_SB_MsgId_t MessageID = CFE_SB_GetMsgId(Msg);
uint16 CommandCode = CFE_SB_GetCmdCode(Msg);
CFE_MSG_GetMsgId(MsgPtr, &MsgId);
CFE_MSG_GetFcnCode(MsgPtr, &FcnCode);

CFE_EVS_SendEvent(SKELETON_LEN_ERR_EID,
CFE_EVS_EventType_ERROR,
"Invalid Msg length: ID = 0x%X, CC = %d, Len = %d, Expected = %d",
MessageID,
CommandCode,
ActualLength,
ExpectedLength);
"Invalid Msg length: ID = 0x%X, CC = %u, Len = %u, Expected = %u",
(unsigned int)CFE_SB_MsgIdToValue(MsgId), (unsigned int)FcnCode, (unsigned int)ActualLength,
(unsigned int)ExpectedLength);

result = false;

Expand Down
24 changes: 7 additions & 17 deletions fsw/src/skeleton_app.h
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Original file line number Diff line number Diff line change
Expand Up @@ -48,16 +48,6 @@
** Type Definitions
*************************************************************************/

/*
* Buffer to hold telemetry data prior to sending
* Defined as a union to ensure proper alignment for a CFE_SB_Msg_t type
*/
typedef union
{
CFE_SB_Msg_t MsgHdr;
SKELETON_HkTlm_t HkTlm;
} SKELETON_HkBuffer_t;

/*
** Global Data
*/
Expand All @@ -72,7 +62,7 @@ typedef struct
/*
** Housekeeping telemetry packet...
*/
SKELETON_HkBuffer_t HkBuf;
SKELETON_HkTlm_t HkTlm;

/*
** Run Status variable used in the main processing loop
Expand All @@ -83,13 +73,13 @@ typedef struct
** Operational data (not reported in housekeeping)...
*/
CFE_SB_PipeId_t CommandPipe;
CFE_SB_MsgPtr_t MsgPtr;

/*
** Initialization data (not reported in housekeeping)...
*/
char PipeName[16];
uint16 PipeDepth;

} SKELETON_AppData_t;

/****************************************************************************/
Expand All @@ -101,13 +91,13 @@ typedef struct
*/
void SKELETON_AppMain(void);
int32 SKELETON_AppInit(void);
void SKELETON_ProcessCommandPacket(CFE_SB_MsgPtr_t Msg);
void SKELETON_ProcessGroundCommand(CFE_SB_MsgPtr_t Msg);
int32 SKELETON_ReportHousekeeping(const CCSDS_CommandPacket_t *Msg);
void SKELETON_ProcessCommandPacket(CFE_SB_Buffer_t *SBBufPtr);
void SKELETON_ProcessGroundCommand(CFE_SB_Buffer_t *SBBufPtr);
int32 SKELETON_ReportHousekeeping(const CFE_MSG_CommandHeader_t *Msg);
int32 SKELETON_ResetCounters(const SKELETON_ResetCounters_t *Msg);
int32 SKELETON_Process(const SKELETON_Process_t *Msg);
int32 SKELETON_Noop(const SKELETON_Noop_t *Msg);
void SKELETON_GetCrc(const char *TableName);
bool SKELETON_VerifyCmdLength(CFE_SB_MsgPtr_t Msg, uint16 ExpectedLength);
bool SKELETON_VerifyCmdLength(CFE_MSG_Message_t *MsgPtr, size_t ExpectedLength);

#endif /* _skeleton_app_h_ */
#endif
11 changes: 6 additions & 5 deletions fsw/src/skeleton_app_msg.h
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Original file line number Diff line number Diff line change
Expand Up @@ -44,7 +44,7 @@
*/
typedef struct
{
uint8 CmdHeader[CFE_SB_CMD_HDR_SIZE];
CFE_MSG_CommandHeader_t CmdHeader;

} SKELETON_NoArgsCmd_t;

Expand All @@ -69,16 +69,17 @@ typedef struct
uint8 CommandErrorCounter;
uint8 CommandCounter;
uint8 spare[2];

} SKELETON_HkTlm_Payload_t;

typedef struct
{
uint8 TlmHeader[CFE_SB_TLM_HDR_SIZE];
SKELETON_HkTlm_Payload_t Payload;
CFE_MSG_TelemetryHeader_t TlmHeader; /**< \brief Telemetry header */
SKELETON_HkTlm_Payload_t Payload; /**< \brief Telemetry payload */

} OS_PACK SKELETON_HkTlm_t;
} SKELETON_HkTlm_t;

#endif /* _skeleton_app_msg_h_ */
#endif

/************************/
/* End of File Comment */
Expand Down