Merge branch 'mueller/refactor-tmtc-stack' into mueller/cfdp-routers

misc/defaultcfg/fsfwconfig/objects/FsfwFactory.cpp

@@ -35,7 +35,7 @@ void Factory::produceFsfwObjects(void) {
 }
 
 void Factory::setStaticFrameworkObjectIds() {
-	PusServiceBase::packetSource = objects::NO_OBJECT;
+	PusServiceBase::PUS_DISTRIBUTOR = objects::NO_OBJECT;
 	PusServiceBase::PACKET_DESTINATION = objects::NO_OBJECT;
 
 	CommandingServiceBase::defaultPacketSource = objects::NO_OBJECT;

scripts/auto-formatter.sh

@@ -3,6 +3,11 @@ if [[ ! -f README.md ]]; then
   cd ..
 fi
 
+folder_list=(
+  "./src"
+  "./unittests"
+)
+
 cmake_fmt="cmake-format"
 file_selectors="-iname CMakeLists.txt"
 if command -v ${cmake_fmt} &> /dev/null; then
@@ -16,8 +21,10 @@ fi
 cpp_format="clang-format"
 file_selectors="-iname *.h -o -iname *.cpp -o -iname *.c -o -iname *.tpp"
 if command -v ${cpp_format} &> /dev/null; then
-  find ./src ${file_selectors} | xargs ${cpp_format} --style=file -i
+  for dir in ${folder_list[@]}; do
-  find ./unittests ${file_selectors} | xargs ${cpp_format} --style=file -i
+    echo "Auto-formatting ${dir} recursively"
+    find ${dir} ${file_selectors} | xargs clang-format --style=file -i
+  done
 else
   echo "No ${cpp_format} tool found, not formatting C++/C files"
 fi

src/fsfw/datapoollocal/LocalDataPoolManager.cpp

@@ -14,7 +14,6 @@
 #include "internal/HasLocalDpIFManagerAttorney.h"
 #include "internal/LocalPoolDataSetAttorney.h"
 
-// TODO: Get rid of this. This should be a constructor argument, not something hardcoded in any way
 object_id_t LocalDataPoolManager::defaultHkDestination = objects::PUS_SERVICE_3_HOUSEKEEPING;
 
 LocalDataPoolManager::LocalDataPoolManager(HasLocalDataPoolIF* owner, MessageQueueIF* queueToUse,
@@ -326,32 +325,28 @@ void LocalDataPoolManager::resetHkUpdateResetHelper() {
   }
 }
 
-ReturnValue_t LocalDataPoolManager::subscribeForRegularPeriodicPacket(
+ReturnValue_t LocalDataPoolManager::subscribeForPeriodicPacket(sid_t sid, bool enableReporting,
-    subdp::RegularHkPeriodicParams params) {
+                                                               float collectionInterval,
-  return subscribeForPeriodicPacket(params);
+                                                               bool isDiagnostics,
-}
+                                                               object_id_t packetDestination) {
-
-ReturnValue_t LocalDataPoolManager::subscribeForDiagPeriodicPacket(
-    subdp::DiagnosticsHkPeriodicParams params) {
-  return subscribeForPeriodicPacket(params);
-}
-
-ReturnValue_t LocalDataPoolManager::subscribeForPeriodicPacket(subdp::ParamsBase& params) {
   struct HkReceiver hkReceiver;
-  hkReceiver.dataId.sid = params.sid;
+  hkReceiver.dataId.sid = sid;
   hkReceiver.reportingType = ReportingType::PERIODIC;
   hkReceiver.dataType = DataType::DATA_SET;
-  if (params.receiver == MessageQueueIF::NO_QUEUE) {
+  if (packetDestination != objects::NO_OBJECT) {
-    hkReceiver.destinationQueue = hkDestinationId;
+    auto* receivedHkIF = ObjectManager::instance()->get<AcceptsHkPacketsIF>(packetDestination);
-  } else {
+    if (receivedHkIF->getHkQueue() == MessageQueueIF::NO_QUEUE) {
-    hkReceiver.destinationQueue = params.receiver;
+      hkReceiver.destinationQueue = hkDestinationId;
+    } else {
+      hkReceiver.destinationQueue = receivedHkIF->getHkQueue();
+    }
   }
 
-  LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, params.sid);
+  LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
   if (dataSet != nullptr) {
-    LocalPoolDataSetAttorney::setReportingEnabled(*dataSet, params.enableReporting);
+    LocalPoolDataSetAttorney::setReportingEnabled(*dataSet, enableReporting);
-    LocalPoolDataSetAttorney::setDiagnostic(*dataSet, params.isDiagnostics());
+    LocalPoolDataSetAttorney::setDiagnostic(*dataSet, isDiagnostics);
-    LocalPoolDataSetAttorney::initializePeriodicHelper(*dataSet, params.collectionInterval,
+    LocalPoolDataSetAttorney::initializePeriodicHelper(*dataSet, collectionInterval,
                                                        owner->getPeriodicOperationFrequency());
   }
 
@@ -359,30 +354,26 @@ ReturnValue_t LocalDataPoolManager::subscribeForPeriodicPacket(subdp::ParamsBase
   return returnvalue::OK;
 }
 
-ReturnValue_t LocalDataPoolManager::subscribeForRegularUpdatePacket(
+ReturnValue_t LocalDataPoolManager::subscribeForUpdatePacket(sid_t sid, bool reportingEnabled,
-    subdp::RegularHkUpdateParams params) {
+                                                             bool isDiagnostics,
-  return subscribeForUpdatePacket(params);
+                                                             object_id_t packetDestination) {
-}
-ReturnValue_t LocalDataPoolManager::subscribeForDiagUpdatePacket(
-    subdp::DiagnosticsHkUpdateParams params) {
-  return subscribeForUpdatePacket(params);
-}
-
-ReturnValue_t LocalDataPoolManager::subscribeForUpdatePacket(subdp::ParamsBase& params) {
   struct HkReceiver hkReceiver;
-  hkReceiver.dataId.sid = params.sid;
+  hkReceiver.dataId.sid = sid;
   hkReceiver.reportingType = ReportingType::UPDATE_HK;
   hkReceiver.dataType = DataType::DATA_SET;
-  if (params.receiver == MessageQueueIF::NO_QUEUE) {
+  if (packetDestination != objects::NO_OBJECT) {
-    hkReceiver.destinationQueue = hkDestinationId;
+    auto* receivedHkIF = ObjectManager::instance()->get<AcceptsHkPacketsIF>(packetDestination);
-  } else {
+    if (receivedHkIF->getHkQueue() == MessageQueueIF::NO_QUEUE) {
-    hkReceiver.destinationQueue = params.receiver;
+      hkReceiver.destinationQueue = hkDestinationId;
+    } else {
+      hkReceiver.destinationQueue = receivedHkIF->getHkQueue();
+    }
   }
 
-  LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, params.sid);
+  LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
   if (dataSet != nullptr) {
     LocalPoolDataSetAttorney::setReportingEnabled(*dataSet, true);
-    LocalPoolDataSetAttorney::setDiagnostic(*dataSet, params.isDiagnostics());
+    LocalPoolDataSetAttorney::setDiagnostic(*dataSet, isDiagnostics);
   }
 
   hkReceivers.push_back(hkReceiver);

src/fsfw/datapoollocal/LocalDataPoolManager.h

@@ -241,13 +241,13 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
   MutexIF* getMutexHandle();
 
   LocalDataPoolManager* getPoolManagerHandle() override;
-  ReturnValue_t subscribeForRegularPeriodicPacket(subdp::RegularHkPeriodicParams params) override;
+  ReturnValue_t subscribeForPeriodicPacket(
-  ReturnValue_t subscribeForDiagPeriodicPacket(subdp::DiagnosticsHkPeriodicParams params) override;
+      sid_t sid, bool enableReporting, float collectionInterval, bool isDiagnostics,
-  ReturnValue_t subscribeForPeriodicPacket(subdp::ParamsBase& params);
+      object_id_t packetDestination = objects::NO_OBJECT) override;
 
-  ReturnValue_t subscribeForRegularUpdatePacket(subdp::RegularHkUpdateParams params) override;
+  ReturnValue_t subscribeForUpdatePacket(
-  ReturnValue_t subscribeForDiagUpdatePacket(subdp::DiagnosticsHkUpdateParams params) override;
+      sid_t sid, bool reportingEnabled, bool isDiagnostics,
-  ReturnValue_t subscribeForUpdatePacket(subdp::ParamsBase& params);
+      object_id_t packetDestination = objects::NO_OBJECT) override;
 
  protected:
   /** Core data structure for the actual pool data */

src/fsfw/datapoollocal/ProvidesDataPoolSubscriptionIF.h

@@ -1,90 +1,24 @@
 #ifndef FSFW_DATAPOOLLOCAL_PROVIDESDATAPOOLSUBSCRIPTION_H_
 #define FSFW_DATAPOOLLOCAL_PROVIDESDATAPOOLSUBSCRIPTION_H_
 
-#include "fsfw/housekeeping/AcceptsHkPacketsIF.h"
+#include "../ipc/messageQueueDefinitions.h"
-#include "fsfw/ipc/MessageQueueIF.h"
+#include "../returnvalues/returnvalue.h"
-#include "fsfw/ipc/messageQueueDefinitions.h"
-#include "fsfw/returnvalues/returnvalue.h"
 #include "localPoolDefinitions.h"
 
-namespace subdp {
-
-struct ParamsBase {
-  ParamsBase(sid_t sid, bool enableReporting, float collectionInterval, bool diagnostics)
-      : sid(sid),
-        enableReporting(enableReporting),
-        collectionInterval(collectionInterval),
-        diagnostics(diagnostics) {}
-
-  [[nodiscard]] bool isDiagnostics() const { return diagnostics; }
-
-  sid_t sid;
-  bool enableReporting;
-  float collectionInterval;
-  MessageQueueId_t receiver = MessageQueueIF::NO_QUEUE;
-
- protected:
-  bool diagnostics;
-};
-
-struct RegularHkPeriodicParams : public ParamsBase {
-  RegularHkPeriodicParams(sid_t sid, bool enableReporting, float collectionInterval)
-      : ParamsBase(sid, enableReporting, collectionInterval, false) {}
-};
-
-struct DiagnosticsHkPeriodicParams : public ParamsBase {
-  DiagnosticsHkPeriodicParams(sid_t sid, bool enableReporting, float collectionInterval)
-      : ParamsBase(sid, enableReporting, collectionInterval, true) {}
-};
-
-struct RegularHkUpdateParams : public ParamsBase {
-  RegularHkUpdateParams(sid_t sid, bool enableReporting)
-      : ParamsBase(sid, enableReporting, 0.0, false) {}
-};
-
-struct DiagnosticsHkUpdateParams : public ParamsBase {
-  DiagnosticsHkUpdateParams(sid_t sid, bool enableReporting)
-      : ParamsBase(sid, enableReporting, 0.0, true) {}
-};
-}  // namespace subdp
-
 class ProvidesDataPoolSubscriptionIF {
  public:
-  virtual ~ProvidesDataPoolSubscriptionIF() = default;
+  virtual ~ProvidesDataPoolSubscriptionIF(){};
+
   /**
-   * @brief   Subscribe for the generation of periodic packets. Used for regular HK packets
+   * @brief   Subscribe for the generation of periodic packets.
    * @details
    * This subscription mechanism will generally be used by the data creator
    * to generate housekeeping packets which are downlinked directly.
    * @return
    */
-  virtual ReturnValue_t subscribeForRegularPeriodicPacket(
+  virtual ReturnValue_t subscribeForPeriodicPacket(sid_t sid, bool enableReporting,
-      subdp::RegularHkPeriodicParams params) = 0;
+                                                   float collectionInterval, bool isDiagnostics,
-  /**
+                                                   object_id_t packetDestination) = 0;
-   * @brief   Subscribe for the generation of periodic packets. Used for diagnostic packets
-   * @details
-   * This subscription mechanism will generally be used by the data creator
-   * to generate housekeeping packets which are downlinked directly.
-   * @return
-   */
-  virtual ReturnValue_t subscribeForDiagPeriodicPacket(
-      subdp::DiagnosticsHkPeriodicParams params) = 0;
-
-  [[deprecated(
-      "Please use the new API which takes all arguments as one wrapper "
-      "struct")]] virtual ReturnValue_t
-  subscribeForPeriodicPacket(sid_t sid, bool enableReporting, float collectionInterval,
-                             bool isDiagnostics,
-                             object_id_t packetDestination = objects::NO_OBJECT) {
-    if (isDiagnostics) {
-      subdp::DiagnosticsHkPeriodicParams params(sid, enableReporting, collectionInterval);
-      return subscribeForDiagPeriodicPacket(params);
-    } else {
-      subdp::RegularHkPeriodicParams params(sid, enableReporting, collectionInterval);
-      return subscribeForRegularPeriodicPacket(params);
-    }
-  }
-
   /**
    * @brief   Subscribe for the  generation of packets if the dataset
    *          is marked as changed.
@@ -95,28 +29,9 @@ class ProvidesDataPoolSubscriptionIF {
    * @param packetDestination
    * @return
    */
-  virtual ReturnValue_t subscribeForRegularUpdatePacket(subdp::RegularHkUpdateParams params) = 0;
+  virtual ReturnValue_t subscribeForUpdatePacket(sid_t sid, bool reportingEnabled,
-  virtual ReturnValue_t subscribeForDiagUpdatePacket(subdp::DiagnosticsHkUpdateParams params) = 0;
+                                                 bool isDiagnostics,
-
+                                                 object_id_t packetDestination) = 0;
-  //  virtual ReturnValue_t
-  //  subscribeForUpdatePacket(sid_t sid, bool reportingEnabled, bool isDiagnostics) {
-  //    return subscribeForUpdatePacket(sid, reportingEnabled, isDiagnostics, objects::NO_OBJECT);
-  //  }
-
-  [[deprecated(
-      "Please use the new API which takes all arguments as one wrapper "
-      "struct")]] virtual ReturnValue_t
-  subscribeForUpdatePacket(sid_t sid, bool reportingEnabled, bool isDiagnostics,
-                           object_id_t packetDestination = objects::NO_OBJECT) {
-    if (isDiagnostics) {
-      subdp::DiagnosticsHkUpdateParams params(sid, reportingEnabled);
-      return subscribeForDiagUpdatePacket(params);
-    } else {
-      subdp::RegularHkUpdateParams params(sid, reportingEnabled);
-      return subscribeForRegularUpdatePacket(params);
-    }
-  }
-
   /**
    * @brief   Subscribe for a notification message which will be sent
    *          if a dataset has changed.
@@ -131,7 +46,8 @@ class ProvidesDataPoolSubscriptionIF {
    *                              Otherwise, only an notification message is sent.
    * @return
    */
-  virtual ReturnValue_t subscribeForSetUpdateMessage(uint32_t setId, object_id_t destinationObject,
+  virtual ReturnValue_t subscribeForSetUpdateMessage(const uint32_t setId,
+                                                     object_id_t destinationObject,
                                                      MessageQueueId_t targetQueueId,
                                                      bool generateSnapshot) = 0;
   /**
@@ -148,7 +64,7 @@ class ProvidesDataPoolSubscriptionIF {
    *                              only an notification message is sent.
    * @return
    */
-  virtual ReturnValue_t subscribeForVariableUpdateMessage(lp_id_t localPoolId,
+  virtual ReturnValue_t subscribeForVariableUpdateMessage(const lp_id_t localPoolId,
                                                           object_id_t destinationObject,
                                                           MessageQueueId_t targetQueueId,
                                                           bool generateSnapshot) = 0;

src/fsfw/internalerror/InternalErrorReporter.cpp

@@ -129,9 +129,9 @@ ReturnValue_t InternalErrorReporter::initializeLocalDataPool(localpool::DataPool
   localDataPoolMap.emplace(errorPoolIds::TM_HITS, &tmHitsEntry);
   localDataPoolMap.emplace(errorPoolIds::QUEUE_HITS, &queueHitsEntry);
   localDataPoolMap.emplace(errorPoolIds::STORE_HITS, &storeHitsEntry);
-  poolManager.subscribeForDiagPeriodicPacket(subdp::DiagnosticsHkPeriodicParams(
+  poolManager.subscribeForPeriodicPacket(
       internalErrorSid, false,
-      static_cast<float>(getPeriodicOperationFrequency()) / static_cast<float>(1000.0)));
+      static_cast<float>(getPeriodicOperationFrequency()) / static_cast<float>(1000.0), true);
   internalErrorDataset.setValidity(true, true);
   return returnvalue::OK;
 }

src/fsfw/ipc/MessageQueueMessage.cpp

@@ -12,7 +12,7 @@ MessageQueueMessage::MessageQueueMessage() : messageSize(getMinimumMessageSize()
 MessageQueueMessage::MessageQueueMessage(uint8_t* data, size_t size)
     : messageSize(MessageQueueMessage::HEADER_SIZE + size) {
   if (size <= MessageQueueMessage::MAX_DATA_SIZE) {
-    std::memcpy(internalBuffer + MessageQueueMessage::HEADER_SIZE, data, size);
+    std::memcpy(MessageQueueMessage::getData(), data, size);
     this->messageSize = MessageQueueMessage::HEADER_SIZE + size;
   } else {
 #if FSFW_CPP_OSTREAM_ENABLED == 1

src/fsfw/pus/Service11TelecommandScheduling.tpp

@@ -583,10 +583,11 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::getMapFilterFr
   }
 
   // additional security check, this should never be true
-  if (itBegin->first > itEnd->first) {
+  if (itBegin > itEnd) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "11::getMapFilterFromData: itBegin > itEnd\n" << std::endl;
 #else
-    sif::printError("11::GetMapFilterFromData: itBegin > itEnd\n");
+    sif::printError("11::getMapFilterFromData: itBegin > itEnd\n");
 #endif
     return returnvalue::FAILED;
   }

src/fsfw/timemanager/CCSDSTime.h

@@ -39,13 +39,13 @@ class CCSDSTime {
    * Struct for CDS day-segmented format.
    */
   struct CDS_short {
-    uint8_t pField;
+    uint8_t pField = P_FIELD_CDS_SHORT;
-    uint8_t dayMSB;
+    uint8_t dayMSB = 0;
-    uint8_t dayLSB;
+    uint8_t dayLSB = 0;
-    uint8_t msDay_hh;
+    uint8_t msDay_hh = 0;
-    uint8_t msDay_h;
+    uint8_t msDay_h = 0;
-    uint8_t msDay_l;
+    uint8_t msDay_l = 0;
-    uint8_t msDay_ll;
+    uint8_t msDay_ll = 0;
   };
   /**
    * Struct for the CCS fromat in day of month variation with max resolution

src/fsfw/tmtcservices/VerificationCodes.h

@@ -5,7 +5,7 @@
 
 namespace tcverif {
 
-enum VerifFlags : uint8_t {
+enum VerificationFlags : uint8_t {
   NONE = 0b0000,
   ACCEPTANCE = 0b0001,
   START = 0b0010,

src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp

@@ -466,7 +466,7 @@ ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(localpool::DataPool &lo
                                                          LocalDataPoolManager &poolManager) {
   localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTHS, &mgmXYZ);
   localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, &temperature);
-  poolManager.subscribeForRegularPeriodicPacket({dataset.getSid(), false, 10.0});
+  poolManager.subscribeForPeriodicPacket(dataset.getSid(), false, 10.0, false);
   return returnvalue::OK;
 }
 

src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp

@@ -310,7 +310,7 @@ void MgmRM3100Handler::modeChanged() { internalState = InternalState::NONE; }
 ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                         LocalDataPoolManager &poolManager) {
   localDataPoolMap.emplace(RM3100::FIELD_STRENGTHS, &mgmXYZ);
-  poolManager.subscribeForRegularPeriodicPacket({primaryDataset.getSid(), false, 10.0});
+  poolManager.subscribeForPeriodicPacket(primaryDataset.getSid(), false, 10.0, false);
   return returnvalue::OK;
 }
 

unittests/datapoollocal/CMakeLists.txt

@@ -1,3 +1,6 @@
-target_sources(
+target_sources(${FSFW_TEST_TGT} PRIVATE
-  ${FSFW_TEST_TGT} PRIVATE testLocalPoolVariable.cpp testLocalPoolVector.cpp
+	testLocalPoolVariable.cpp
-                           testDataSet.cpp testLocalPoolManager.cpp)
+	testLocalPoolVector.cpp
+	testDataSet.cpp
+	testLocalPoolManager.cpp
+)

unittests/mocks/LocalPoolOwnerBase.h

@@ -11,6 +11,7 @@
 #include <fsfw/objectmanager/SystemObject.h>
 
 #include "fsfw/datapool/PoolEntry.h"
+#include "fsfw/housekeeping/AcceptsHkPacketsIF.h"
 #include "mocks/MessageQueueMock.h"
 #include "tests/TestsConfig.h"
 
@@ -104,8 +105,7 @@ class LocalPoolOwnerBase : public SystemObject, public HasLocalDataPoolIF {
   }
 
   ReturnValue_t subscribePeriodicHk(bool enableReporting) {
-    return poolManager.subscribeForRegularPeriodicPacket(
+    return poolManager.subscribeForPeriodicPacket(lpool::testSid, enableReporting, 0.2, false);
-        subdp::RegularHkPeriodicParams(lpool::testSid, enableReporting, 0.2));
   }
 
   ReturnValue_t subscribeWrapperSetUpdate(MessageQueueId_t receiverId) {
@@ -121,17 +121,9 @@ class LocalPoolOwnerBase : public SystemObject, public HasLocalDataPoolIF {
   ReturnValue_t subscribeWrapperSetUpdateHk(bool diagnostics = false,
                                             AcceptsHkPacketsIF* receiver = nullptr) {
     if (diagnostics) {
-      auto params = subdp::DiagnosticsHkUpdateParams(lpool::testSid, true);
+      return poolManager.subscribeForUpdatePacket(lpool::testSid, true, true);
-      if (receiver != nullptr) {
-        params.receiver = receiver->getHkQueue();
-      }
-      return poolManager.subscribeForDiagUpdatePacket(params);
     } else {
-      auto params = subdp::RegularHkUpdateParams(lpool::testSid, true);
+      return poolManager.subscribeForUpdatePacket(lpool::testSid, true, false);
-      if (receiver != nullptr) {
-        params.receiver = receiver->getHkQueue();
-      }
-      return poolManager.subscribeForRegularUpdatePacket(params);
     }
   }