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Fix #110, Apply 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 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 0d11d9e commit 172f86c
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Showing 5 changed files with 85 additions and 91 deletions.
58 changes: 29 additions & 29 deletions fsw/src/sample_app.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -48,7 +48,8 @@ SAMPLE_APP_Data_t SAMPLE_APP_Data;
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * **/
void SAMPLE_APP_Main(void)
{
int32 status;
int32 status;
CFE_SB_Buffer_t *SBBufPtr;

/*
** Register the app with Executive services
Expand Down Expand Up @@ -82,7 +83,7 @@ void SAMPLE_APP_Main(void)
CFE_ES_PerfLogExit(SAMPLE_APP_PERF_ID);

/* Pend on receipt of command packet */
status = CFE_SB_RcvMsg(&SAMPLE_APP_Data.MsgPtr, SAMPLE_APP_Data.CommandPipe, CFE_SB_PEND_FOREVER);
status = CFE_SB_ReceiveBuffer(&SBBufPtr, SAMPLE_APP_Data.CommandPipe, CFE_SB_PEND_FOREVER);

/*
** Performance Log Entry Stamp
Expand All @@ -91,7 +92,7 @@ void SAMPLE_APP_Main(void)

if (status == CFE_SUCCESS)
{
SAMPLE_APP_ProcessCommandPacket(SAMPLE_APP_Data.MsgPtr);
SAMPLE_APP_ProcessCommandPacket(SBBufPtr);
}
else
{
Expand Down Expand Up @@ -133,9 +134,8 @@ int32 SAMPLE_APP_Init(void)
*/
SAMPLE_APP_Data.PipeDepth = SAMPLE_APP_PIPE_DEPTH;

strncpy(SAMPLE_APP_Data.PipeName, "SAMPLE_APP_CMD_PIPE",
sizeof(SAMPLE_APP_Data.PipeName));
SAMPLE_APP_Data.PipeName[sizeof(SAMPLE_APP_Data.PipeName)-1] = 0;
strncpy(SAMPLE_APP_Data.PipeName, "SAMPLE_APP_CMD_PIPE", sizeof(SAMPLE_APP_Data.PipeName));
SAMPLE_APP_Data.PipeName[sizeof(SAMPLE_APP_Data.PipeName) - 1] = 0;

/*
** Initialize event filter table...
Expand Down Expand Up @@ -168,7 +168,7 @@ int32 SAMPLE_APP_Init(void)
/*
** Initialize housekeeping packet (clear user data area).
*/
CFE_MSG_Init(&SAMPLE_APP_Data.HkTlm.TlmHeader.BaseMsg, SAMPLE_APP_HK_TLM_MID, sizeof(SAMPLE_APP_Data.HkTlm));
CFE_MSG_Init(&SAMPLE_APP_Data.HkTlm.TlmHeader.Msg, SAMPLE_APP_HK_TLM_MID, sizeof(SAMPLE_APP_Data.HkTlm));

/*
** Create Software Bus message pipe.
Expand Down Expand Up @@ -232,20 +232,20 @@ int32 SAMPLE_APP_Init(void)
/* command pipe. */
/* */
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
void SAMPLE_APP_ProcessCommandPacket(CFE_MSG_Message_t *MsgPtr)
void SAMPLE_APP_ProcessCommandPacket(CFE_SB_Buffer_t *SBBufPtr)
{
CFE_SB_MsgId_t MsgId = CFE_SB_INVALID_MSG_ID;

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

switch (MsgId)
{
case SAMPLE_APP_CMD_MID:
SAMPLE_APP_ProcessGroundCommand(MsgPtr);
SAMPLE_APP_ProcessGroundCommand(SBBufPtr);
break;

case SAMPLE_APP_SEND_HK_MID:
SAMPLE_APP_ReportHousekeeping((CFE_SB_CmdHdr_t *)MsgPtr);
SAMPLE_APP_ReportHousekeeping((CFE_MSG_CommandHeader_t *)SBBufPtr);
break;

default:
Expand All @@ -263,37 +263,37 @@ void SAMPLE_APP_ProcessCommandPacket(CFE_MSG_Message_t *MsgPtr)
/* SAMPLE_APP_ProcessGroundCommand() -- SAMPLE ground commands */
/* */
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * **/
void SAMPLE_APP_ProcessGroundCommand(CFE_MSG_Message_t *MsgPtr)
void SAMPLE_APP_ProcessGroundCommand(CFE_SB_Buffer_t *SBBufPtr)
{
CFE_MSG_FcnCode_t CommandCode = 0;

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

/*
** Process "known" SAMPLE app ground commands
*/
switch (CommandCode)
{
case SAMPLE_APP_NOOP_CC:
if (SAMPLE_APP_VerifyCmdLength(MsgPtr, sizeof(SAMPLE_APP_Noop_t)))
if (SAMPLE_APP_VerifyCmdLength(&SBBufPtr->Msg, sizeof(SAMPLE_APP_NoopCmd_t)))
{
SAMPLE_APP_Noop((SAMPLE_APP_Noop_t *)MsgPtr);
SAMPLE_APP_Noop((SAMPLE_APP_NoopCmd_t *)SBBufPtr);
}

break;

case SAMPLE_APP_RESET_COUNTERS_CC:
if (SAMPLE_APP_VerifyCmdLength(MsgPtr, sizeof(SAMPLE_APP_ResetCounters_t)))
if (SAMPLE_APP_VerifyCmdLength(&SBBufPtr->Msg, sizeof(SAMPLE_APP_ResetCountersCmd_t)))
{
SAMPLE_APP_ResetCounters((SAMPLE_APP_ResetCounters_t *)MsgPtr);
SAMPLE_APP_ResetCounters((SAMPLE_APP_ResetCountersCmd_t *)SBBufPtr);
}

break;

case SAMPLE_APP_PROCESS_CC:
if (SAMPLE_APP_VerifyCmdLength(MsgPtr, sizeof(SAMPLE_APP_Process_t)))
if (SAMPLE_APP_VerifyCmdLength(&SBBufPtr->Msg, sizeof(SAMPLE_APP_ProcessCmd_t)))
{
SAMPLE_APP_Process((SAMPLE_APP_Process_t *)MsgPtr);
SAMPLE_APP_Process((SAMPLE_APP_ProcessCmd_t *)SBBufPtr);
}

break;
Expand All @@ -318,7 +318,7 @@ void SAMPLE_APP_ProcessGroundCommand(CFE_MSG_Message_t *MsgPtr)
/* telemetry, packetize it and send it to the housekeeping task via */
/* the software bus */
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
int32 SAMPLE_APP_ReportHousekeeping(const CFE_SB_CmdHdr_t *Msg)
int32 SAMPLE_APP_ReportHousekeeping(const CFE_MSG_CommandHeader_t *Msg)
{
int i;

Expand All @@ -331,8 +331,8 @@ int32 SAMPLE_APP_ReportHousekeeping(const CFE_SB_CmdHdr_t *Msg)
/*
** Send housekeeping telemetry packet...
*/
CFE_SB_TimeStampMsg(&SAMPLE_APP_Data.HkTlm.TlmHeader.BaseMsg);
CFE_SB_SendMsg(&SAMPLE_APP_Data.HkTlm.TlmHeader.BaseMsg);
CFE_SB_TimeStampMsg(&SAMPLE_APP_Data.HkTlm.TlmHeader.Msg);
CFE_SB_TransmitMsg(&SAMPLE_APP_Data.HkTlm.TlmHeader.Msg, true);

/*
** Manage any pending table loads, validations, etc.
Expand All @@ -351,7 +351,7 @@ int32 SAMPLE_APP_ReportHousekeeping(const CFE_SB_CmdHdr_t *Msg)
/* SAMPLE_APP_Noop -- SAMPLE NOOP commands */
/* */
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * **/
int32 SAMPLE_APP_Noop(const SAMPLE_APP_Noop_t *Msg)
int32 SAMPLE_APP_Noop(const SAMPLE_APP_NoopCmd_t *Msg)
{

SAMPLE_APP_Data.CmdCounter++;
Expand All @@ -371,7 +371,7 @@ int32 SAMPLE_APP_Noop(const SAMPLE_APP_Noop_t *Msg)
/* part of the task telemetry. */
/* */
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
int32 SAMPLE_APP_ResetCounters(const SAMPLE_APP_ResetCounters_t *Msg)
int32 SAMPLE_APP_ResetCounters(const SAMPLE_APP_ResetCountersCmd_t *Msg)
{

SAMPLE_APP_Data.CmdCounter = 0;
Expand All @@ -390,7 +390,7 @@ int32 SAMPLE_APP_ResetCounters(const SAMPLE_APP_ResetCounters_t *Msg)
/* This function Process Ground Station Command */
/* */
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
int32 SAMPLE_APP_Process(const SAMPLE_APP_Process_t *Msg)
int32 SAMPLE_APP_Process(const SAMPLE_APP_ProcessCmd_t *Msg)
{
int32 status;
SAMPLE_APP_Table_t *TblPtr;
Expand Down Expand Up @@ -429,10 +429,10 @@ int32 SAMPLE_APP_Process(const SAMPLE_APP_Process_t *Msg)
/* SAMPLE_APP_VerifyCmdLength() -- Verify command packet length */
/* */
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * **/
bool SAMPLE_APP_VerifyCmdLength(CFE_MSG_Message_t *MsgPtr, CFE_MSG_Size_t ExpectedLength)
bool SAMPLE_APP_VerifyCmdLength(CFE_MSG_Message_t *MsgPtr, size_t ExpectedLength)
{
bool result = true;
CFE_MSG_Size_t ActualLength = 0;
size_t ActualLength = 0;
CFE_SB_MsgId_t MsgId = CFE_SB_INVALID_MSG_ID;
CFE_MSG_FcnCode_t FcnCode = 0;

Expand All @@ -448,8 +448,8 @@ bool SAMPLE_APP_VerifyCmdLength(CFE_MSG_Message_t *MsgPtr, CFE_MSG_Size_t Expect

CFE_EVS_SendEvent(SAMPLE_APP_LEN_ERR_EID, CFE_EVS_EventType_ERROR,
"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);
(unsigned int)CFE_SB_MsgIdToValue(MsgId), (unsigned int)FcnCode, (unsigned int)ActualLength,
(unsigned int)ExpectedLength);

result = false;

Expand Down
17 changes: 8 additions & 9 deletions fsw/src/sample_app.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -81,8 +81,7 @@ typedef struct
/*
** Operational data (not reported in housekeeping)...
*/
CFE_SB_PipeId_t CommandPipe;
CFE_MSG_Message_t *MsgPtr;
CFE_SB_PipeId_t CommandPipe;

/*
** Initialization data (not reported in housekeeping)...
Expand All @@ -104,16 +103,16 @@ typedef struct
*/
void SAMPLE_APP_Main(void);
int32 SAMPLE_APP_Init(void);
void SAMPLE_APP_ProcessCommandPacket(CFE_MSG_Message_t *MsgPtr);
void SAMPLE_APP_ProcessGroundCommand(CFE_MSG_Message_t *MsgPtr);
int32 SAMPLE_APP_ReportHousekeeping(const CFE_SB_CmdHdr_t *Msg);
int32 SAMPLE_APP_ResetCounters(const SAMPLE_APP_ResetCounters_t *Msg);
int32 SAMPLE_APP_Process(const SAMPLE_APP_Process_t *Msg);
int32 SAMPLE_APP_Noop(const SAMPLE_APP_Noop_t *Msg);
void SAMPLE_APP_ProcessCommandPacket(CFE_SB_Buffer_t *SBBufPtr);
void SAMPLE_APP_ProcessGroundCommand(CFE_SB_Buffer_t *SBBufPtr);
int32 SAMPLE_APP_ReportHousekeeping(const CFE_MSG_CommandHeader_t *Msg);
int32 SAMPLE_APP_ResetCounters(const SAMPLE_APP_ResetCountersCmd_t *Msg);
int32 SAMPLE_APP_Process(const SAMPLE_APP_ProcessCmd_t *Msg);
int32 SAMPLE_APP_Noop(const SAMPLE_APP_NoopCmd_t *Msg);
void SAMPLE_APP_GetCrc(const char *TableName);

int32 SAMPLE_APP_TblValidationFunc(void *TblData);

bool SAMPLE_APP_VerifyCmdLength(CFE_MSG_Message_t *MsgPtr, CFE_MSG_Size_t ExpectedLength);
bool SAMPLE_APP_VerifyCmdLength(CFE_MSG_Message_t *MsgPtr, size_t ExpectedLength);

#endif /* _sample_app_h_ */
16 changes: 7 additions & 9 deletions fsw/src/sample_app_msg.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -44,20 +44,19 @@
*/
typedef struct
{
uint8 CmdHeader[CFE_SB_CMD_HDR_SIZE];

CFE_MSG_CommandHeader_t CmdHeader; /**< \brief Command header */
} SAMPLE_APP_NoArgsCmd_t;

/*
** The following commands all share the "NoArgs" format
**
** They are each given their own type name matching the command name, which_open_mode
** They are each given their own type name matching the command name, which
** allows them to change independently in the future without changing the prototype
** of the handler function
*/
typedef SAMPLE_APP_NoArgsCmd_t SAMPLE_APP_Noop_t;
typedef SAMPLE_APP_NoArgsCmd_t SAMPLE_APP_ResetCounters_t;
typedef SAMPLE_APP_NoArgsCmd_t SAMPLE_APP_Process_t;
typedef SAMPLE_APP_NoArgsCmd_t SAMPLE_APP_NoopCmd_t;
typedef SAMPLE_APP_NoArgsCmd_t SAMPLE_APP_ResetCountersCmd_t;
typedef SAMPLE_APP_NoArgsCmd_t SAMPLE_APP_ProcessCmd_t;

/*************************************************************************/
/*
Expand All @@ -73,11 +72,10 @@ typedef struct

typedef struct
{
CFE_SB_TlmHdr_t TlmHeader;
SAMPLE_APP_HkTlm_Payload_t Payload;
CFE_MSG_TelemetryHeader_t TlmHeader; /**< \brief Telemetry header */
SAMPLE_APP_HkTlm_Payload_t Payload; /**< \brief Telemetry payload */
} SAMPLE_APP_HkTlm_t;


#endif /* _sample_app_msg_h_ */

/************************/
Expand Down
4 changes: 2 additions & 2 deletions fsw/src/sample_app_version.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -40,8 +40,8 @@

#define SAMPLE_APP_MAJOR_VERSION 1 /*!< @brief ONLY APPLY for OFFICIAL releases. Major version number. */
#define SAMPLE_APP_MINOR_VERSION 1 /*!< @brief ONLY APPLY for OFFICIAL releases. Minor version number. */
#define SAMPLE_APP_REVISION 99 /*!< @brief ONLY APPLY for OFFICIAL releases. The value "99" indicates a development version. Revision version number. */
#define SAMPLE_APP_MISSION_REV 0 /*!< @brief ONLY USED by MISSION Implementations. Mission revision */
#define SAMPLE_APP_REVISION 99 /*!< @brief ONLY APPLY for OFFICIAL releases. Revision version number. */
#define SAMPLE_APP_MISSION_REV 0 /*!< @brief ONLY USED by MISSION Implementations. Mission revision */

#define SAMPLE_APP_STR_HELPER(x) #x /*!< @brief Helper function to concatenate strings from integer macros */
#define SAMPLE_APP_STR(x) \
Expand Down
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