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Merge remote-tracking branch 'origin/development' into mueller/refactor-logging-with-fmt

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Robin Müller 2022-05-10 10:10:56 +02:00
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12
CHANGELOG.md
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@ -12,6 +12,9 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
## Changes
- Bump C++ required version to C++17. Every project which uses the FSFW and every modern
compiler supports it
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/622
- HAL Linux SPI: Set the Clock Default State when setting new SPI speed
and mode
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
@ -49,9 +52,18 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/559
- Added ETL dependency and improved library dependency management
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/592
- `Subsystem`: New API to add table and sequence entries
## Fixed
- TCP TMTC Server: `MutexGuard` was not created properly in
`TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent)` call.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/618
- Fix infinite recursion in `prepareHealthSetReply` of PUS Health Service 201.
Is not currently used right now but might be used in the future
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/617
- Move some CMake directives further up top so they are not ignored
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/621
- Small bugfix in STM32 HAL for SPI
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/599
- HAL GPIO: Improved error checking in `LinuxLibgpioIF::configureGpios(...)`. If a GPIO

20
CMakeLists.txt
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@ -1,5 +1,15 @@
cmake_minimum_required(VERSION 3.13)
set(LIB_FSFW_NAME fsfw)
project(${LIB_FSFW_NAME})
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED True)
elseif(${CMAKE_CXX_STANDARD} LESS 17)
message(FATAL_ERROR "Compiling the FSFW requires a minimum of C++17 support")
endif()
set(FSFW_VERSION 4)
set(FSFW_SUBVERSION 0)
set(FSFW_REVISION 0)
@ -69,11 +79,10 @@ option(FSFW_ADD_TMSTORAGE "Compile with tm storage components" OFF)
# Contrib sources
option(FSFW_ADD_SGP4_PROPAGATOR "Add SGP4 propagator code" OFF)
set(LIB_FSFW_NAME fsfw)
set(FSFW_TEST_TGT fsfw-tests)
set(FSFW_DUMMY_TGT fsfw-dummy)
project(${LIB_FSFW_NAME})
add_library(${LIB_FSFW_NAME})
if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
@ -191,13 +200,6 @@ target_include_directories(${LIB_FSFW_NAME} INTERFACE
${CMAKE_CURRENT_BINARY_DIR}
)
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD_REQUIRED True)
elseif(${CMAKE_CXX_STANDARD} LESS 11)
message(FATAL_ERROR "Compiling the FSFW requires a minimum of C++11 support")
endif()
# Backwards comptability
if(OS_FSFW AND NOT FSFW_OSAL)
message(WARNING "Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW")

6
src/fsfw/container/FixedArrayList.h
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@ -2,6 +2,7 @@
#define FIXEDARRAYLIST_H_
#include <cmath>
#include <limits>
#include "ArrayList.h"
/**
@ -9,10 +10,9 @@
*/
template <typename T, size_t MAX_SIZE, typename count_t = uint8_t>
class FixedArrayList : public ArrayList<T, count_t> {
#if !defined(_MSC_VER) && !defined(__clang__)
static_assert(MAX_SIZE <= (std::pow(2, sizeof(count_t) * 8) - 1),
static_assert(MAX_SIZE <= std::numeric_limits<count_t>::max(),
"count_t is not large enough to hold MAX_SIZE");
#endif
private:
T data[MAX_SIZE];

14
src/fsfw/osal/common/TcpTmTcServer.cpp
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@ -19,6 +19,8 @@
#include <ws2tcpip.h>
#elif defined(PLATFORM_UNIX)
#include <netdb.h>
#include <utility>
#endif
const std::string TcpTmTcServer::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT;
@ -29,7 +31,7 @@ TcpTmTcServer::TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge,
: SystemObject(objectId),
tmtcBridgeId(tmtcTcpBridge),
receptionMode(receptionMode),
tcpConfig(customTcpServerPort),
tcpConfig(std::move(customTcpServerPort)),
receptionBuffer(receptionBufferSize),
ringBuffer(ringBufferSize, true) {}
@ -99,7 +101,7 @@ ReturnValue_t TcpTmTcServer::initialize() {
TcpTmTcServer::~TcpTmTcServer() { closeSocket(listenerTcpSocket); }
ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) {
[[noreturn]] 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_t connSocket = 0;
@ -134,7 +136,6 @@ ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) {
closeSocket(connSocket);
connSocket = 0;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TcpTmTcServer::initializeAfterTaskCreation() {
@ -155,7 +156,7 @@ void TcpTmTcServer::handleServerOperation(socket_t& connSocket) {
#endif
while (true) {
int retval = recv(connSocket, reinterpret_cast<char*>(receptionBuffer.data()),
ssize_t retval = recv(connSocket, reinterpret_cast<char*>(receptionBuffer.data()),
receptionBuffer.capacity(), tcpConfig.tcpFlags);
if (retval == 0) {
size_t availableReadData = ringBuffer.getAvailableReadData();
@ -224,7 +225,7 @@ ReturnValue_t TcpTmTcServer::handleTcReception(uint8_t* spacePacket, size_t pack
return result;
}
std::string TcpTmTcServer::getTcpPort() const { return tcpConfig.tcpPort; }
const std::string& TcpTmTcServer::getTcpPort() const { return tcpConfig.tcpPort; }
void TcpTmTcServer::setSpacePacketParsingOptions(std::vector<uint16_t> validPacketIds_) {
this->validPacketIds = std::move(validPacketIds_);
@ -290,6 +291,9 @@ ReturnValue_t TcpTmTcServer::handleTcRingBufferData(size_t availableReadData) {
size_t foundSize = 0;
size_t readLen = 0;
while (readLen < readAmount) {
if (spacePacketParser == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
result =
spacePacketParser->parseSpacePackets(bufPtrPtr, readAmount, startIdx, foundSize, readLen);
switch (result) {

11
src/fsfw/osal/common/TcpTmTcServer.h
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@ -17,6 +17,7 @@
#endif
#include <string>
#include <utility>
#include <vector>
class TcpTmTcBridge;
@ -44,7 +45,7 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
struct TcpConfig {
public:
TcpConfig(std::string tcpPort) : tcpPort(tcpPort) {}
explicit TcpConfig(std::string tcpPort) : tcpPort(std::move(tcpPort)) {}
/**
* Passed to the recv call
@ -84,7 +85,7 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
size_t ringBufferSize = RING_BUFFER_SIZE,
std::string customTcpServerPort = DEFAULT_SERVER_PORT,
ReceptionModes receptionMode = ReceptionModes::SPACE_PACKETS);
virtual ~TcpTmTcServer();
~TcpTmTcServer() override;
void enableWiretapping(bool enable);
@ -97,10 +98,10 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
void setSpacePacketParsingOptions(std::vector<uint16_t> validPacketIds);
ReturnValue_t initialize() override;
ReturnValue_t performOperation(uint8_t opCode) override;
[[noreturn]] ReturnValue_t performOperation(uint8_t opCode) override;
ReturnValue_t initializeAfterTaskCreation() override;
std::string getTcpPort() const;
[[nodiscard]] const std::string& getTcpPort() const;
protected:
StorageManagerIF* tcStore = nullptr;
@ -115,7 +116,7 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
ReceptionModes receptionMode;
TcpConfig tcpConfig;
struct sockaddr tcpAddress;
struct sockaddr tcpAddress = {};
socket_t listenerTcpSocket = 0;
MessageQueueId_t targetTcDestination = MessageQueueIF::NO_QUEUE;

9
src/fsfw/pus/CService201HealthCommanding.cpp
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@ -13,8 +13,6 @@ CService201HealthCommanding::CService201HealthCommanding(object_id_t objectId, u
: CommandingServiceBase(objectId, apid, serviceId, numParallelCommands, commandTimeoutSeconds) {
}
CService201HealthCommanding::~CService201HealthCommanding() {}
ReturnValue_t CService201HealthCommanding::isValidSubservice(uint8_t subservice) {
switch (subservice) {
case (Subservice::COMMAND_SET_HEALTH):
@ -75,6 +73,10 @@ ReturnValue_t CService201HealthCommanding::prepareCommand(CommandMessage *messag
HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_ANNOUNCE_ALL);
break;
}
default: {
// Should never happen, subservice was already checked
result = RETURN_FAILED;
}
}
return result;
}
@ -93,7 +95,8 @@ ReturnValue_t CService201HealthCommanding::handleReply(const CommandMessage *rep
}
// Not used for now, health state already reported by event
ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(const CommandMessage *reply) {
[[maybe_unused]] ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(
const CommandMessage *reply) {
auto health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
auto oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(reply));
HealthSetReply healthSetReply(health, oldHealth);

10
src/fsfw/pus/CService201HealthCommanding.h
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@ -1,7 +1,7 @@
#ifndef FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
#define FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
#include "../tmtcservices/CommandingServiceBase.h"
#include "fsfw/tmtcservices/CommandingServiceBase.h"
/**
* @brief Custom PUS service to set health of all objects
@ -21,7 +21,7 @@ class CService201HealthCommanding : public CommandingServiceBase {
public:
CService201HealthCommanding(object_id_t objectId, uint16_t apid, uint8_t serviceId,
uint8_t numParallelCommands = 4, uint16_t commandTimeoutSeconds = 60);
virtual ~CService201HealthCommanding();
~CService201HealthCommanding() override = default;
protected:
/* CSB abstract function implementations */
@ -38,12 +38,10 @@ class CService201HealthCommanding : public CommandingServiceBase {
bool *isStep) override;
private:
ReturnValue_t checkAndAcquireTargetID(object_id_t *objectIdToSet, const uint8_t *tcData,
size_t tcDataLen);
ReturnValue_t checkInterfaceAndAcquireMessageQueue(MessageQueueId_t *MessageQueueToSet,
static ReturnValue_t checkInterfaceAndAcquireMessageQueue(MessageQueueId_t *MessageQueueToSet,
const object_id_t *objectId);
ReturnValue_t prepareHealthSetReply(const CommandMessage *reply);
[[maybe_unused]] ReturnValue_t prepareHealthSetReply(const CommandMessage *reply);
enum Subservice {
//! [EXPORT] : [TC] Set health of target object

15
src/fsfw/subsystem/Subsystem.cpp
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@ -307,6 +307,11 @@ void Subsystem::replyToCommand(ReturnValue_t status, uint32_t parameter) {
}
}
ReturnValue_t Subsystem::addSequence(SequenceEntry sequence) {
return addSequence(sequence.table, sequence.mode, sequence.fallbackMode, sequence.inStore,
sequence.preInit);
}
ReturnValue_t Subsystem::addSequence(ArrayList<ModeListEntry> *sequence, Mode_t id,
Mode_t fallbackSequence, bool inStore, bool preInit) {
ReturnValue_t result;
@ -350,6 +355,10 @@ ReturnValue_t Subsystem::addSequence(ArrayList<ModeListEntry> *sequence, Mode_t
return result;
}
ReturnValue_t Subsystem::addTable(TableEntry table) {
return addTable(table.table, table.mode, table.inStore, table.preInit);
}
ReturnValue_t Subsystem::addTable(ArrayList<ModeListEntry> *table, Mode_t id, bool inStore,
bool preInit) {
ReturnValue_t result;
@ -458,6 +467,7 @@ ReturnValue_t Subsystem::initialize() {
}
mode = initialMode;
submode = initSubmode;
return RETURN_OK;
}
@ -595,7 +605,10 @@ ReturnValue_t Subsystem::checkObjectConnections() {
return RETURN_OK;
}
void Subsystem::setInitialMode(Mode_t mode) { initialMode = mode; }
void Subsystem::setInitialMode(Mode_t mode, Submode_t submode) {
this->initialMode = mode;
this->initSubmode = submode;
}
void Subsystem::cantKeepMode() {
ReturnValue_t result;

27
src/fsfw/subsystem/Subsystem.h
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@ -10,6 +10,28 @@
#include "fsfw/FSFW.h"
#include "modes/ModeDefinitions.h"
struct TableSequenceBase {
public:
TableSequenceBase(Mode_t mode, ArrayList<ModeListEntry> *table) : mode(mode), table(table){};
Mode_t mode;
ArrayList<ModeListEntry> *table;
bool inStore = false;
bool preInit = true;
};
struct TableEntry : public TableSequenceBase {
public:
TableEntry(Mode_t mode, ArrayList<ModeListEntry> *table) : TableSequenceBase(mode, table){};
};
struct SequenceEntry : public TableSequenceBase {
public:
SequenceEntry(Mode_t mode, ArrayList<ModeListEntry> *table, Mode_t fallbackMode)
: TableSequenceBase(mode, table), fallbackMode(fallbackMode) {}
Mode_t fallbackMode;
};
/**
* @brief TODO: documentation missing
* @details
@ -44,13 +66,15 @@ class Subsystem : public SubsystemBase, public HasModeSequenceIF {
uint32_t maxNumberOfTables);
virtual ~Subsystem();
ReturnValue_t addSequence(SequenceEntry sequence);
ReturnValue_t addSequence(ArrayList<ModeListEntry> *sequence, Mode_t id, Mode_t fallbackSequence,
bool inStore = true, bool preInit = true);
ReturnValue_t addTable(TableEntry table);
ReturnValue_t addTable(ArrayList<ModeListEntry> *table, Mode_t id, bool inStore = true,
bool preInit = true);
void setInitialMode(Mode_t mode);
void setInitialMode(Mode_t mode, Submode_t submode = SUBMODE_NONE);
virtual ReturnValue_t initialize() override;
@ -89,6 +113,7 @@ class Subsystem : public SubsystemBase, public HasModeSequenceIF {
Submode_t targetSubmode;
Mode_t initialMode = 0;
Submode_t initSubmode = SUBMODE_NONE;
HybridIterator<ModeListEntry> currentSequenceIterator;

2
src/fsfw/tmtcservices/CommandingServiceBase.h
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@ -166,7 +166,7 @@ class CommandingServiceBase : public SystemObject,
* @param objectId Target object ID
* @return
* - @c RETURN_OK to generate a verification start message
* - @c EXECUTION_COMPELTE Fire-and-forget command. Generate a completion
* - @c EXECUTION_COMPLETE Fire-and-forget command. Generate a completion
* verification message.
* - @c Anything else rejects the packets and generates a start failure
* verification.