Merge remote-tracking branch 'upstream/development' into mueller/timeman-update

CMakeLists.txt

@@ -3,30 +3,42 @@ cmake_minimum_required(VERSION 3.13)
 set(LIB_FSFW_NAME fsfw)
 add_library(${LIB_FSFW_NAME})
 
-# Set options for FSFW OSAL selection.
-if(UNIX)
-set(OS_FSFW  "linux" CACHE STRING "OS abstraction layer used in the FSFW")
-elseif(WIN32)
-set(OS_FSFW  "host" CACHE STRING "OS abstraction layer used in the FSFW")
-endif()
-
 set_property(CACHE OS_FSFW PROPERTY STRINGS host linux rtems freertos)
 
-if(${OS_FSFW} STREQUAL host)
+if(NOT OS_FSFW)
-set(OS_FSFW_NAME "Host")
+	message(STATUS "No OS for FSFW via OS_FSFW set. Assuming host OS")
-elseif(${OS_FSFW} STREQUAL linux)
+	# Assume host OS and autodetermine from OS_FSFW
-set(OS_FSFW_NAME "Linux")
+	if(UNIX)
-elseif(${OS_FSFW} STREQUAL  freertos)
+		set(OS_FSFW  "linux" 
-set(OS_FSFW_NAME "FreeRTOS")
+			CACHE STRING 
-elseif(${OS_FSFW} STREQUAL rtems)
+			"OS abstraction layer used in the FSFW"
-set(OS_FSFW_NAME "RTEMS")
+		)
-else()
+	elseif(WIN32)
-message(WARNING "Invalid operating system for FSFW specified! Setting to host..")
+		set(OS_FSFW  "host" 
-set(OS_FSFW_NAME "Host")
+			CACHE STRING "OS abstraction layer used in the FSFW"
-set(OS_FSFW "host")
+		)
+	endif()
+
 endif()
 
-message(STATUS "Compiling FSFW for the ${OS_FSFW_NAME} operating system")
+if(${OS_FSFW} STREQUAL host)
+	set(OS_FSFW_NAME "Host")
+elseif(${OS_FSFW} STREQUAL linux)
+	set(OS_FSFW_NAME "Linux")
+elseif(${OS_FSFW} STREQUAL  freertos)
+	set(OS_FSFW_NAME "FreeRTOS")
+	target_link_libraries(${LIB_FSFW_NAME} ${LIB_OS_NAME})
+elseif(${OS_FSFW} STREQUAL rtems)
+	set(OS_FSFW_NAME "RTEMS")
+else()
+	message(WARNING 
+		"Invalid operating system for FSFW specified! Setting to host.."
+	)
+	set(OS_FSFW_NAME "Host")
+	set(OS_FSFW "host")
+endif()
+
+message(STATUS "Compiling FSFW for the ${OS_FSFW_NAME} operating system.")
 
 # Options to exclude parts of the FSFW from compilation.
 option(FSFW_USE_RMAP "Compile with RMAP" ON)
@@ -36,8 +48,14 @@ add_subdirectory(action)
 add_subdirectory(container)
 add_subdirectory(controller)
 add_subdirectory(coordinates)
-add_subdirectory(datalinklayer)
+
+if(FSFW_USE_DATALINKLAYER)
+	add_subdirectory(datalinklayer)
+endif()
+
 add_subdirectory(datapool)
+add_subdirectory(datapoollocal)
+add_subdirectory(housekeeping)
 add_subdirectory(devicehandlers)
 add_subdirectory(events)
 add_subdirectory(fdir)
@@ -55,7 +73,7 @@ add_subdirectory(power)
 add_subdirectory(pus)
 
 if(FSFW_USE_RMAP)
-add_subdirectory(rmap)
+	add_subdirectory(rmap)
 endif()
 
 add_subdirectory(serialize)
@@ -73,13 +91,53 @@ add_subdirectory(tmtcservices)
 # The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it.
 # If this is not given, we include the default configuration and emit a warning.
 if(NOT FSFW_CONFIG_PATH)
-message(WARNING "Flight Software Framework configuration path not set!")
+	message(WARNING "Flight Software Framework configuration path not set!")
-message(WARNING "Setting default configuration!")
+	message(WARNING "Setting default configuration!")
-add_subdirectory(defaultcfg/fsfwconfig)
+	add_subdirectory(defaultcfg/fsfwconfig)
+endif()
+
+# FSFW might be part of a possibly complicated folder structure, so we 
+# extract the absolute path of the fsfwconfig folder.
+if(IS_ABSOLUTE ${FSFW_CONFIG_PATH})
+	set(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH})
+else()
+	get_filename_component(FSFW_CONFIG_PATH_ABSOLUTE
+		${FSFW_CONFIG_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR}
+	)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX)
+	set(WARNING_FLAGS
+		-Wall
+		-Wextra
+		-Wshadow=local
+		-Wimplicit-fallthrough=1
+		-Wno-unused-parameter
+		-Wno-psabi
+	)
+endif()
+
+if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
+	set(COMPILER_FLAGS "/permissive-")
 endif()
 
 # Required include paths to compile the FSFW
-target_include_directories(${LIB_FSFW_NAME} 
+target_include_directories(${LIB_FSFW_NAME} INTERFACE 
-	INTERFACE 
+	${CMAKE_SOURCE_DIR}
-		${FSFW_CONFIG_PATH}
+	${FSFW_CONFIG_PATH_ABSOLUTE}
+)
+
+# Includes path required to compile FSFW itself as well
+# We assume that the fsfwconfig folder uses include relative to the project
+# root here!
+target_include_directories(${LIB_FSFW_NAME} PRIVATE 
+	${CMAKE_SOURCE_DIR}
+	${FSFW_CONFIG_PATH_ABSOLUTE}
+)
+
+# Machine specific options can be set with the ABI_FLAGS variable.
+target_compile_options(${LIB_FSFW_NAME} PRIVATE 
+	${WARNING_FLAGS}
+	${COMPILER_FLAGS}
+	${ABI_FLAGS}
 )

coordinates/Sgp4Propagator.h

@@ -1,7 +1,9 @@
 #ifndef SGP4PROPAGATOR_H_
 #define SGP4PROPAGATOR_H_
 
+#ifndef WIN32
 #include <sys/time.h>
+#endif
 #include "../contrib/sgp4/sgp4unit.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 

datapool/CMakeLists.txt

@@ -1,11 +1,6 @@
 target_sources(${LIB_FSFW_NAME} 
 	PRIVATE 
-		ControllerSet.cpp
-		DataPool.cpp
-		DataPoolAdmin.cpp
-		DataPoolParameterWrapper.cpp
-		DataSet.cpp
 		HkSwitchHelper.cpp
+		PoolDataSetBase.cpp
 		PoolEntry.cpp
-		PoolRawAccess.cpp
 )

datapoollocal/CMakeLists.txt

@@ -0,0 +1,8 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		LocalDataPoolManager.cpp
+		LocalDataSet.cpp
+		LocalPoolDataSetBase.cpp
+		LocalPoolObjectBase.cpp
+		SharedLocalDataSet.cpp
+)

events/CMakeLists.txt

@@ -1,6 +1,5 @@
 target_sources(${LIB_FSFW_NAME} 
 	PRIVATE 
-		Event.cpp
 		EventManager.cpp
 		EventMessage.cpp
 )

globalfunctions/timevalOperations.h

@@ -2,7 +2,12 @@
 #define TIMEVALOPERATIONS_H_
 
 #include <stdint.h>
+
+#ifdef WIN32
+#include <winsock2.h>
+#else
 #include <sys/time.h>
+#endif
 
 timeval& operator+=(timeval& lhs, const timeval& rhs);
 

housekeeping/CMakeLists.txt

@@ -0,0 +1,5 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		HousekeepingMessage.cpp
+		PeriodicHousekeepingHelper.cpp
+)

osal/Endiness.h

@@ -22,9 +22,23 @@
 #else
 #error "Can't decide which end is which!"
 #endif
+#else
+
+#ifdef WIN32
+#include <Windows.h>
+#if REG_DWORD == REG_DWORD_LITTLE_ENDIAN
+#define BYTE_ORDER_SYSTEM LITTLE_ENDIAN
+#else
+#define BYTE_ORDER_SYSTEM BIG_ENDIAN
+#endif
+
+
 #else
 #error __BYTE_ORDER__ not defined
 #endif
+
+#endif
+
 #endif
 
 

osal/FreeRTOS/CMakeLists.txt

@@ -0,0 +1,30 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		Clock.cpp
+		FixedTimeslotTask.cpp
+		BinarySemaphore.cpp
+		BinSemaphUsingTask.cpp
+		CountingSemaphore.cpp
+		CountingSemaphUsingTask.cpp
+		MessageQueue.cpp
+		Mutex.cpp
+		MutexFactory.cpp
+		PeriodicTask.cpp
+		QueueFactory.cpp
+		SemaphoreFactory.cpp
+		TaskFactory.cpp
+		Timekeeper.cpp
+		TaskManagement.cpp
+)
+
+# FreeRTOS is required to link the FSFW now. It is recommended to compile 
+# FreeRTOS as a static library and set LIB_OS_NAME to the target name of the 
+# library.
+if(NOT LIB_OS_NAME)
+	message(FATAL_ERROR 
+		"FreeRTOS needs to be linked as a target and "
+		"LIB_OS_NAME needs to be set to the target"
+	)
+endif()
+
+target_link_libraries(${LIB_FSWFW_NAME} ${LIB_OS_NAME})

osal/host/CMakeLists.txt

@@ -13,9 +13,9 @@ target_sources(${LIB_FSFW_NAME}
 )
 
 if(UNIX)
-	add_definitions(-pthread)
 	target_link_libraries(${LIB_FSFW_NAME} 
 	PRIVATE
 		rt
+		pthread
 	)
 endif()

osal/windows/TcWinUdpPollingTask.cpp

@@ -119,7 +119,7 @@ void TcWinUdpPollingTask::setTimeout(double timeoutSeconds) {
 	int result = setsockopt(serverUdpSocket, SOL_SOCKET, SO_RCVTIMEO,
 			reinterpret_cast<const char*>(&timeoutMs), sizeof(DWORD));
 	if(result == -1) {
-		sif::error << "TcSocketPollingTask::TcSocketPollingTask: Setting "
+		sif::error << "TcWinUdpPollingTask::TcSocketPollingTask: Setting "
 				"receive timeout failed with " << strerror(errno) << std::endl;
 	}
 }
@@ -128,17 +128,22 @@ void TcWinUdpPollingTask::handleReadError() {
     int error = WSAGetLastError();
     switch(error) {
     case(WSANOTINITIALISED): {
-        sif::info << "TmTcWinUdpBridge::handleReadError: WSANOTINITIALISED: "
+        sif::info << "TcWinUdpPollingTask::handleReadError: WSANOTINITIALISED: "
                 << "WSAStartup(...) call " << "necessary" << std::endl;
         break;
     }
     case(WSAEFAULT): {
-        sif::info << "TmTcWinUdpBridge::handleReadError: WSADEFAULT: "
+        sif::info << "TcWinUdpPollingTask::handleReadError: WSADEFAULT: "
                 << "Bad address " << std::endl;
         break;
     }
+    case(WSAEINVAL): {
+        sif::info << "TcWinUdpPollingTask::handleReadError: WSAEINVAL: "
+                << "Invalid input parameters. " << std::endl;
+        break;
+    }
     default: {
-        sif::info << "TmTcWinUdpBridge::handleReadError: Error code: "
+        sif::info << "TcWinUdpPollingTask::handleReadError: Error code: "
                 << error << std::endl;
         break;
     }

storagemanager/CMakeLists.txt

@@ -2,4 +2,6 @@ target_sources(${LIB_FSFW_NAME}
 	PRIVATE 
 		ConstStorageAccessor.cpp
 		StorageAccessor.cpp
+		LocalPool.cpp
+		PoolManager.cpp
 )

thermal/CMakeLists.txt

@@ -1,10 +1,10 @@
 target_sources(${LIB_FSFW_NAME} 
 	PRIVATE 
 		AbstractTemperatureSensor.cpp
-		CoreComponent.cpp
 		Heater.cpp
 		RedundantHeater.cpp
+		ThermalComponentCore.cpp
 		ThermalComponent.cpp
 		ThermalModule.cpp
-		ThermalMonitor.cpp
+		ThermalMonitorReporter.cpp
 )

timemanager/Clock.h

@@ -7,7 +7,12 @@
 #include "../globalfunctions/timevalOperations.h"
 
 #include <cstdint>
+
+#ifdef WIN32
+#include <winsock2.h>
+#else
 #include <sys/time.h>
+#endif
 
 class Clock {
 public: