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Fix nasa#66, Implement message alignment pattern
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- Replace CFE_SB_RcvMsg with CFE_SB_ReceiveBuffer
- Use CFE_SB_Buffer_t for receiving and casting to command types
- Use CFE_MSG_CommandHeader_t and CFE_MSG_TelemetryHeader_t in
  command and telemetry type definitions
- Use CFE_SB_TransmitMsg_t to copy the command and telemetry
  into a CFE_SB_Buffer_t and send it where needed
- Avoids need to create send buffers within the app (or union
  the packet types with CFE_SB_Buffer_t)
- Eliminates references to CFE_SB_CmdHdr_t and CFE_SB_TlmHdr_t
  that formerly enforced alignment since these had potential
  to change the actual packet sizes
- No need to cast to CFE_MSG_Message_t anywhere since it's
  available in the CFE_SB_Buffer_t union
- Replaced CFE_MSG_Size_t with size_t
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@skliper
skliper committed Nov 30, 2020
1 parent c20250e commit 5eb6d0b
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Showing 4 changed files with 101 additions and 111 deletions.
3 changes: 1 addition & 2 deletions fsw/platform_inc/to_lab_sub_table.h
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Original file line number Diff line number Diff line change
Expand Up @@ -43,7 +43,6 @@ typedef struct
typedef struct
{
TO_LAB_Sub_t Subs[CFE_PLATFORM_SB_MAX_MSG_IDS];
}
TO_LAB_Subs_t;
} TO_LAB_Subs_t;

#endif /* to_lab_sub_table_h_ */
118 changes: 60 additions & 58 deletions fsw/src/to_lab_app.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -54,7 +54,7 @@ typedef struct

TO_LAB_GlobalData_t TO_LAB_Global;

TO_LAB_Subs_t *TO_LAB_Subs;
TO_LAB_Subs_t * TO_LAB_Subs;
CFE_TBL_Handle_t TO_SubTblHandle;
/*
** Event Filter Table
Expand All @@ -68,23 +68,23 @@ static CFE_EVS_BinFilter_t CFE_TO_EVS_Filters[] = {/* Event ID mask */
/*
** Prototypes Section
*/
void TO_LAB_openTLM(void);
void TO_LAB_openTLM(void);
int32 TO_LAB_init(void);
void TO_LAB_exec_local_command(CFE_MSG_Message_t *MsgPtr);
void TO_LAB_process_commands(void);
void TO_LAB_forward_telemetry(void);
void TO_LAB_exec_local_command(CFE_SB_Buffer_t *SBBufPtr);
void TO_LAB_process_commands(void);
void TO_LAB_forward_telemetry(void);

/*
* Individual Command Handler prototypes
*/
int32 TO_LAB_AddPacket(const TO_LAB_AddPacket_t *data);
int32 TO_LAB_Noop(const TO_LAB_Noop_t *data);
int32 TO_LAB_EnableOutput(const TO_LAB_EnableOutput_t *data);
int32 TO_LAB_RemoveAll(const TO_LAB_RemoveAll_t *data);
int32 TO_LAB_RemovePacket(const TO_LAB_RemovePacket_t *data);
int32 TO_LAB_ResetCounters(const TO_LAB_ResetCounters_t *data);
int32 TO_LAB_SendDataTypes(const TO_LAB_SendDataTypes_t *data);
int32 TO_LAB_SendHousekeeping(const CFE_SB_CmdHdr_t *data);
int32 TO_LAB_AddPacket(const TO_LAB_AddPacketCmd_t *data);
int32 TO_LAB_Noop(const TO_LAB_NoopCmd_t *data);
int32 TO_LAB_EnableOutput(const TO_LAB_EnableOutputCmd_t *data);
int32 TO_LAB_RemoveAll(const TO_LAB_RemoveAllCmd_t *data);
int32 TO_LAB_RemovePacket(const TO_LAB_RemovePacketCmd_t *data);
int32 TO_LAB_ResetCounters(const TO_LAB_ResetCountersCmd_t *data);
int32 TO_LAB_SendDataTypes(const TO_LAB_SendDataTypesCmd_t *data);
int32 TO_LAB_SendHousekeeping(const CFE_MSG_CommandHeader_t *data);

/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
/* */
Expand All @@ -94,7 +94,7 @@ int32 TO_LAB_SendHousekeeping(const CFE_SB_CmdHdr_t *data);
void TO_Lab_AppMain(void)
{
uint32 RunStatus = CFE_ES_RunStatus_APP_RUN;
int32 status;
int32 status;

CFE_ES_PerfLogEntry(TO_MAIN_TASK_PERF_ID);

Expand Down Expand Up @@ -168,29 +168,32 @@ int32 TO_LAB_init(void)
/*
** Initialize housekeeping packet (clear user data area)...
*/
CFE_MSG_Init(&TO_LAB_Global.HkTlm.TlmHeader.BaseMsg, TO_LAB_HK_TLM_MID, sizeof(TO_LAB_Global.HkTlm));
CFE_MSG_Init(&TO_LAB_Global.HkTlm.TlmHeader.Msg, TO_LAB_HK_TLM_MID, sizeof(TO_LAB_Global.HkTlm));

status = CFE_TBL_Register(&TO_SubTblHandle, "TO_LAB_Subs", sizeof(*TO_LAB_Subs), CFE_TBL_OPT_DEFAULT, NULL);

if (status != CFE_SUCCESS)
{
CFE_EVS_SendEvent(TO_TBL_ERR_EID, CFE_EVS_EventType_ERROR, "L%d TO Can't register table status %i", __LINE__, (int)status);
CFE_EVS_SendEvent(TO_TBL_ERR_EID, CFE_EVS_EventType_ERROR, "L%d TO Can't register table status %i", __LINE__,
(int)status);
return status;
}

status = CFE_TBL_Load(TO_SubTblHandle, CFE_TBL_SRC_FILE, "/cf/to_lab_sub.tbl");

if (status != CFE_SUCCESS)
{
CFE_EVS_SendEvent(TO_TBL_ERR_EID, CFE_EVS_EventType_ERROR, "L%d TO Can't load table status %i", __LINE__, (int)status);
CFE_EVS_SendEvent(TO_TBL_ERR_EID, CFE_EVS_EventType_ERROR, "L%d TO Can't load table status %i", __LINE__,
(int)status);
return status;
}

status = CFE_TBL_GetAddress((void *)&TO_LAB_Subs, TO_SubTblHandle);

if (status != CFE_SUCCESS && status != CFE_TBL_INFO_UPDATED)
{
CFE_EVS_SendEvent(TO_TBL_ERR_EID, CFE_EVS_EventType_ERROR, "L%d TO Can't get table addr status %i", __LINE__, (int)status);
CFE_EVS_SendEvent(TO_TBL_ERR_EID, CFE_EVS_EventType_ERROR, "L%d TO Can't get table addr status %i", __LINE__,
(int)status);
return status;
}

Expand Down Expand Up @@ -238,8 +241,8 @@ int32 TO_LAB_init(void)
*/
OS_TaskInstallDeleteHandler(&TO_delete_callback);

CFE_EVS_SendEvent(TO_INIT_INF_EID, CFE_EVS_EventType_INFORMATION,
"TO Lab Initialized.%s, Awaiting enable command.", TO_LAB_VERSION_STRING);
CFE_EVS_SendEvent(TO_INIT_INF_EID, CFE_EVS_EventType_INFORMATION, "TO Lab Initialized.%s, Awaiting enable command.",
TO_LAB_VERSION_STRING);

return CFE_SUCCESS;
} /* End of TO_LAB_init() */
Expand All @@ -249,7 +252,7 @@ int32 TO_LAB_init(void)
/* TO_LAB_EnableOutput() -- TLM output enabled */
/* */
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
int32 TO_LAB_EnableOutput(const TO_LAB_EnableOutput_t *data)
int32 TO_LAB_EnableOutput(const TO_LAB_EnableOutputCmd_t *data)
{
const TO_LAB_EnableOutput_Payload_t *pCmd = &data->Payload;

Expand All @@ -276,26 +279,26 @@ int32 TO_LAB_EnableOutput(const TO_LAB_EnableOutput_t *data)
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
void TO_LAB_process_commands(void)
{
CFE_MSG_Message_t *MsgPtr;
CFE_SB_MsgId_t MsgId = CFE_SB_INVALID_MSG_ID;
CFE_SB_Buffer_t *SBBufPtr;
CFE_SB_MsgId_t MsgId = CFE_SB_INVALID_MSG_ID;

while (1)
{
switch (CFE_SB_RcvMsg(&MsgPtr, TO_LAB_Global.Cmd_pipe, CFE_SB_POLL))
switch (CFE_SB_ReceiveBuffer(&SBBufPtr, TO_LAB_Global.Cmd_pipe, CFE_SB_POLL))
{
case CFE_SUCCESS:

CFE_MSG_GetMsgId(MsgPtr, &MsgId);
CFE_MSG_GetMsgId(&SBBufPtr->Msg, &MsgId);

/* For SB return statuses that imply a message: process it. */
switch (CFE_SB_MsgIdToValue(MsgId))
{
case TO_LAB_CMD_MID:
TO_LAB_exec_local_command(MsgPtr);
TO_LAB_exec_local_command(SBBufPtr);
break;

case TO_LAB_SEND_HK_MID:
TO_LAB_SendHousekeeping((const CFE_SB_CmdHdr_t *)MsgPtr);
TO_LAB_SendHousekeeping((const CFE_MSG_CommandHeader_t *)SBBufPtr);
break;

default:
Expand All @@ -316,40 +319,40 @@ void TO_LAB_process_commands(void)
/* TO_exec_local_command() -- Process local message */
/* */
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
void TO_LAB_exec_local_command(CFE_MSG_Message_t *MsgPtr)
void TO_LAB_exec_local_command(CFE_SB_Buffer_t *SBBufPtr)
{
CFE_MSG_FcnCode_t CommandCode = 0;

CFE_MSG_GetFcnCode(MsgPtr, &CommandCode);
CFE_MSG_GetFcnCode(&SBBufPtr->Msg, &CommandCode);

switch (CommandCode)
{
case TO_NOP_CC:
TO_LAB_Noop((const TO_LAB_Noop_t *)MsgPtr);
TO_LAB_Noop((const TO_LAB_NoopCmd_t *)SBBufPtr);
break;

case TO_RESET_STATUS_CC:
TO_LAB_ResetCounters((const TO_LAB_ResetCounters_t *)MsgPtr);
TO_LAB_ResetCounters((const TO_LAB_ResetCountersCmd_t *)SBBufPtr);
break;

case TO_SEND_DATA_TYPES_CC:
TO_LAB_SendDataTypes((const TO_LAB_SendDataTypes_t *)MsgPtr);
TO_LAB_SendDataTypes((const TO_LAB_SendDataTypesCmd_t *)SBBufPtr);
break;

case TO_ADD_PKT_CC:
TO_LAB_AddPacket((const TO_LAB_AddPacket_t *)MsgPtr);
TO_LAB_AddPacket((const TO_LAB_AddPacketCmd_t *)SBBufPtr);
break;

case TO_REMOVE_PKT_CC:
TO_LAB_RemovePacket((const TO_LAB_RemovePacket_t *)MsgPtr);
TO_LAB_RemovePacket((const TO_LAB_RemovePacketCmd_t *)SBBufPtr);
break;

case TO_REMOVE_ALL_PKT_CC:
TO_LAB_RemoveAll((const TO_LAB_RemoveAll_t *)MsgPtr);
TO_LAB_RemoveAll((const TO_LAB_RemoveAllCmd_t *)SBBufPtr);
break;

case TO_OUTPUT_ENABLE_CC:
TO_LAB_EnableOutput((const TO_LAB_EnableOutput_t *)MsgPtr);
TO_LAB_EnableOutput((const TO_LAB_EnableOutputCmd_t *)SBBufPtr);
break;

default:
Expand All @@ -366,7 +369,7 @@ void TO_LAB_exec_local_command(CFE_MSG_Message_t *MsgPtr)
/* TO_LAB_Noop() -- Noop Handler */
/* */
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
int32 TO_LAB_Noop(const TO_LAB_Noop_t *data)
int32 TO_LAB_Noop(const TO_LAB_NoopCmd_t *data)
{
CFE_EVS_SendEvent(TO_NOOP_INF_EID, CFE_EVS_EventType_INFORMATION, "No-op command");
++TO_LAB_Global.HkTlm.Payload.CommandCounter;
Expand All @@ -378,7 +381,7 @@ int32 TO_LAB_Noop(const TO_LAB_Noop_t *data)
/* TO_LAB_ResetCounters() -- Reset counters */
/* */
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
int32 TO_LAB_ResetCounters(const TO_LAB_ResetCounters_t *data)
int32 TO_LAB_ResetCounters(const TO_LAB_ResetCountersCmd_t *data)
{
TO_LAB_Global.HkTlm.Payload.CommandErrorCounter = 0;
TO_LAB_Global.HkTlm.Payload.CommandCounter = 0;
Expand All @@ -390,16 +393,15 @@ int32 TO_LAB_ResetCounters(const TO_LAB_ResetCounters_t *data)
/* TO_LAB_SendDataTypes() -- Output data types */
/* */
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
int32 TO_LAB_SendDataTypes(const TO_LAB_SendDataTypes_t *data)
int32 TO_LAB_SendDataTypes(const TO_LAB_SendDataTypesCmd_t *data)
{
int16 i;
char string_variable[10] = "ABCDEFGHIJ";

/* initialize data types packet */
CFE_MSG_Init(&TO_LAB_Global.DataTypesTlm.TlmHeader.BaseMsg, TO_LAB_DATA_TYPES_MID,
sizeof(TO_LAB_Global.DataTypesTlm));
CFE_MSG_Init(&TO_LAB_Global.DataTypesTlm.TlmHeader.Msg, TO_LAB_DATA_TYPES_MID, sizeof(TO_LAB_Global.DataTypesTlm));

CFE_SB_TimeStampMsg(&TO_LAB_Global.DataTypesTlm.TlmHeader.BaseMsg);
CFE_SB_TimeStampMsg(&TO_LAB_Global.DataTypesTlm.TlmHeader.Msg);

/* initialize the packet data */
TO_LAB_Global.DataTypesTlm.Payload.synch = 0x6969;
Expand Down Expand Up @@ -430,7 +432,7 @@ int32 TO_LAB_SendDataTypes(const TO_LAB_SendDataTypes_t *data)
for (i = 0; i < 10; i++)
TO_LAB_Global.DataTypesTlm.Payload.str[i] = string_variable[i];

CFE_SB_SendMsg(&TO_LAB_Global.DataTypesTlm.TlmHeader.BaseMsg);
CFE_SB_TransmitMsg(&TO_LAB_Global.DataTypesTlm.TlmHeader.Msg, true);

++TO_LAB_Global.HkTlm.Payload.CommandCounter;
return CFE_SUCCESS;
Expand All @@ -441,10 +443,10 @@ int32 TO_LAB_SendDataTypes(const TO_LAB_SendDataTypes_t *data)
/* TO_LAB_SendHousekeeping() -- HK status */
/* Does not increment CommandCounter */
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
int32 TO_LAB_SendHousekeeping(const CFE_SB_CmdHdr_t *data)
int32 TO_LAB_SendHousekeeping(const CFE_MSG_CommandHeader_t *data)
{
CFE_SB_TimeStampMsg(&TO_LAB_Global.HkTlm.TlmHeader.BaseMsg);
CFE_SB_SendMsg(&TO_LAB_Global.HkTlm.TlmHeader.BaseMsg);
CFE_SB_TimeStampMsg(&TO_LAB_Global.HkTlm.TlmHeader.Msg);
CFE_SB_TransmitMsg(&TO_LAB_Global.HkTlm.TlmHeader.Msg, true);
return CFE_SUCCESS;
} /* End of TO_LAB_SendHousekeeping() */

Expand Down Expand Up @@ -473,7 +475,7 @@ void TO_LAB_openTLM(void)
/* TO_LAB_AddPacket() -- Add packets */
/* */
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
int32 TO_LAB_AddPacket(const TO_LAB_AddPacket_t *data)
int32 TO_LAB_AddPacket(const TO_LAB_AddPacketCmd_t *data)
{
const TO_LAB_AddPacket_Payload_t *pCmd = &data->Payload;
int32 status;
Expand All @@ -497,7 +499,7 @@ int32 TO_LAB_AddPacket(const TO_LAB_AddPacket_t *data)
/* TO_LAB_RemovePacket() -- Remove Packet */
/* */
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
int32 TO_LAB_RemovePacket(const TO_LAB_RemovePacket_t *data)
int32 TO_LAB_RemovePacket(const TO_LAB_RemovePacketCmd_t *data)
{
const TO_LAB_RemovePacket_Payload_t *pCmd = &data->Payload;
int32 status;
Expand All @@ -519,7 +521,7 @@ int32 TO_LAB_RemovePacket(const TO_LAB_RemovePacket_t *data)
/* TO_LAB_RemoveAll() -- Remove All Packets */
/* */
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
int32 TO_LAB_RemoveAll(const TO_LAB_RemoveAll_t *data)
int32 TO_LAB_RemoveAll(const TO_LAB_RemoveAllCmd_t *data)
{
int32 status;
int i;
Expand Down Expand Up @@ -564,11 +566,11 @@ int32 TO_LAB_RemoveAll(const TO_LAB_RemoveAll_t *data)
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
void TO_LAB_forward_telemetry(void)
{
OS_SockAddr_t d_addr;
int32 status;
int32 CFE_SB_status;
CFE_MSG_Size_t size;
CFE_MSG_Message_t *PktPtr;
OS_SockAddr_t d_addr;
int32 status;
int32 CFE_SB_status;
size_t size;
CFE_SB_Buffer_t *SBBufPtr;

OS_SocketAddrInit(&d_addr, OS_SocketDomain_INET);
OS_SocketAddrSetPort(&d_addr, cfgTLM_PORT);
Expand All @@ -577,17 +579,17 @@ void TO_LAB_forward_telemetry(void)

do
{
CFE_SB_status = CFE_SB_RcvMsg(&PktPtr, TO_LAB_Global.Tlm_pipe, CFE_SB_POLL);
CFE_SB_status = CFE_SB_ReceiveBuffer(&SBBufPtr, TO_LAB_Global.Tlm_pipe, CFE_SB_POLL);

if ((CFE_SB_status == CFE_SUCCESS) && (TO_LAB_Global.suppress_sendto == false))
{
CFE_MSG_GetSize(PktPtr, &size);
CFE_MSG_GetSize(&SBBufPtr->Msg, &size);

if (TO_LAB_Global.downlink_on == true)
{
CFE_ES_PerfLogEntry(TO_SOCKET_SEND_PERF_ID);

status = OS_SocketSendTo(TO_LAB_Global.TLMsockid, PktPtr, size, &d_addr);
status = OS_SocketSendTo(TO_LAB_Global.TLMsockid, SBBufPtr, size, &d_addr);

CFE_ES_PerfLogExit(TO_SOCKET_SEND_PERF_ID);
}
Expand All @@ -602,7 +604,7 @@ void TO_LAB_forward_telemetry(void)
TO_LAB_Global.suppress_sendto = true;
}
}
/* If CFE_SB_status != CFE_SUCCESS, then no packet was received from CFE_SB_RcvMsg() */
/* If CFE_SB_status != CFE_SUCCESS, then no packet was received from CFE_SB_ReceiveBuffer() */
} while (CFE_SB_status == CFE_SUCCESS);
} /* End of TO_forward_telemetry() */

Expand Down
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