some bugfixes

fsfw.mk

@@ -37,6 +37,10 @@ else ifeq ($(OS_FSFW),freeRTOS)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/FreeRTOS/*.cpp)
 else ifeq ($(OS_FSFW),host)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/host/*.cpp)
+ifeq ($(OS),Windows_NT)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/windows/*.cpp)
+endif
+
 else
 $(error invalid OS_FSFW specified, valid OS_FSFW are rtems, linux, freeRTOS, host)
 endif

osal/host/PeriodicTask.cpp

@@ -96,6 +96,10 @@ void PeriodicTask::taskFunctionality() {
 	};
 	auto nextStartTime{ currentStartTime };
 
+	for (const auto& object: objectList) {
+	    object->initializeAfterTaskCreation();
+	}
+
 	/* Enter the loop that defines the task behavior. */
 	for (;;) {
 		if(terminateThread.load()) {

osal/host/QueueMapManager.cpp

@@ -44,8 +44,16 @@ MessageQueueIF* QueueMapManager::getMessageQueue(
 		return queueIter->second;
 	}
 	else {
-		sif::warning << "QueueMapManager::getQueueHandle: The ID" <<
-				messageQueueId << " does not exists in the map" << std::endl;
+	    if(messageQueueId == MessageQueueIF::NO_QUEUE) {
+	        sif::error << "QueueMapManager::getQueueHandle: Configuration"
+	                << " error, NO_QUEUE was passed to this function!"
+	                << std::endl;
+	    }
+	    else {
+	        sif::warning << "QueueMapManager::getQueueHandle: The ID "
+	                << messageQueueId << " does not exists in the map."
+	                << std::endl;
+	    }
 	    return nullptr;
 	}
 }

osal/windows/TcWinUdpPollingTask.cpp

@@ -0,0 +1,147 @@
+#include "TcWinUdpPollingTask.h"
+#include "../../globalfunctions/arrayprinter.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+#include <winsock2.h>
+#include <windows.h>
+
+TcWinUdpPollingTask::TcWinUdpPollingTask(object_id_t objectId,
+		object_id_t tmtcUnixUdpBridge, size_t frameSize,
+		double timeoutSeconds): SystemObject(objectId),
+		tmtcBridgeId(tmtcUnixUdpBridge) {
+	if(frameSize > 0) {
+		this->frameSize = frameSize;
+	}
+	else {
+		this->frameSize = DEFAULT_MAX_FRAME_SIZE;
+	}
+
+	// Set up reception buffer with specified frame size.
+	// For now, it is assumed that only one frame is held in the buffer!
+	receptionBuffer.reserve(this->frameSize);
+	receptionBuffer.resize(this->frameSize);
+
+	if(timeoutSeconds == -1) {
+		receptionTimeout = DEFAULT_TIMEOUT;
+	}
+	else {
+		receptionTimeout = timevalOperations::toTimeval(timeoutSeconds);
+	}
+}
+
+TcWinUdpPollingTask::~TcWinUdpPollingTask() {}
+
+ReturnValue_t TcWinUdpPollingTask::performOperation(uint8_t opCode) {
+	// Poll for new UDP datagrams in permanent loop.
+	while(1) {
+		//! Sender Address is cached here.
+		struct sockaddr_in senderAddress;
+		int senderAddressSize = sizeof(senderAddress);
+		ssize_t bytesReceived = recvfrom(serverUdpSocket,
+				reinterpret_cast<char*>(receptionBuffer.data()), frameSize,
+				receptionFlags, reinterpret_cast<sockaddr*>(&senderAddress),
+				&senderAddressSize);
+		if(bytesReceived == SOCKET_ERROR) {
+			// handle error
+			sif::error << "TcWinUdpPollingTask::performOperation: Reception"
+					" error." << std::endl;
+			handleReadError();
+			continue;
+		}
+		sif::debug << "TcSocketPollingTask::performOperation: " << bytesReceived
+				<< " bytes received" << std::endl;
+
+		ReturnValue_t result = handleSuccessfullTcRead(bytesReceived);
+		if(result != HasReturnvaluesIF::RETURN_FAILED) {
+
+		}
+		tmtcBridge->registerCommConnect();
+		tmtcBridge->checkAndSetClientAddress(senderAddress);
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+ReturnValue_t TcWinUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
+	store_address_t storeId;
+	ReturnValue_t result = tcStore->addData(&storeId,
+			receptionBuffer.data(), bytesRead);
+	// arrayprinter::print(receptionBuffer.data(), bytesRead);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		sif::error << "TcSerialPollingTask::transferPusToSoftwareBus: Data "
+				"storage failed" << std::endl;
+		sif::error << "Packet size: " << bytesRead << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	TmTcMessage message(storeId);
+
+	result  = MessageQueueSenderIF::sendMessage(targetTcDestination, &message);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		sif::error << "Serial Polling: Sending message to queue failed"
+				<< std::endl;
+		tcStore->deleteData(storeId);
+	}
+	return result;
+}
+
+ReturnValue_t TcWinUdpPollingTask::initialize() {
+	tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
+	if (tcStore == nullptr) {
+		sif::error << "TcSerialPollingTask::initialize: TC Store uninitialized!"
+				<< std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
+	}
+
+	tmtcBridge = objectManager->get<TmTcWinUdpBridge>(tmtcBridgeId);
+	if(tmtcBridge == nullptr) {
+		sif::error << "TcSocketPollingTask::TcSocketPollingTask: Invalid"
+				" TMTC bridge object!" << std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
+	}
+
+	serverUdpSocket = tmtcBridge->serverSocket;
+	//sif::info << "TcWinUdpPollingTask::initialize: Server UDP socket "
+	//        << serverUdpSocket << std::endl;
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t TcWinUdpPollingTask::initializeAfterTaskCreation() {
+	// Initialize the destination after task creation. This ensures
+	// that the destination has already been set in the TMTC bridge.
+	targetTcDestination = tmtcBridge->getRequestQueue();
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+void TcWinUdpPollingTask::setTimeout(double timeoutSeconds) {
+	DWORD timeoutMs = timeoutSeconds * 1000.0;
+	int result = setsockopt(serverUdpSocket, SOL_SOCKET, SO_RCVTIMEO,
+			reinterpret_cast<const char*>(&timeoutMs), sizeof(DWORD));
+	if(result == -1) {
+		sif::error << "TcSocketPollingTask::TcSocketPollingTask: Setting "
+				"receive timeout failed with " << strerror(errno) << std::endl;
+	}
+}
+
+void TcWinUdpPollingTask::handleReadError() {
+    int error = WSAGetLastError();
+    switch(error) {
+    case(WSANOTINITIALISED): {
+        sif::info << "TmTcWinUdpBridge::handleReadError: WSANOTINITIALISED: "
+                << "WSAStartup(...) call " << "necessary" << std::endl;
+        break;
+    }
+    case(WSAEFAULT): {
+        sif::info << "TmTcWinUdpBridge::handleReadError: WSADEFAULT: "
+                << "Bad address " << std::endl;
+        Sleep(2000);
+        break;
+    }
+    default: {
+        sif::info << "TmTcWinUdpBridge::handleReadError: Error code: "
+                << error << std::endl;
+        break;
+    }
+    }
+}

osal/windows/TcWinUdpPollingTask.h

@@ -0,0 +1,67 @@
+#ifndef FSFW_OSAL_WINDOWS_TCSOCKETPOLLINGTASK_H_
+#define FSFW_OSAL_WINDOWS_TCSOCKETPOLLINGTASK_H_
+
+#include "TmTcWinUdpBridge.h"
+#include "../../objectmanager/SystemObject.h"
+#include "../../tasks/ExecutableObjectIF.h"
+#include "../../storagemanager/StorageManagerIF.h"
+
+#include <vector>
+
+/**
+ * @brief 	This class can be used to implement the polling of a Unix socket,
+ * 			using UDP for now.
+ * @details
+ * The task will be blocked while the specified number of bytes has not been
+ * received, so TC reception is handled inside a separate task.
+ * This class caches the IP address of the sender. It is assumed there
+ * is only one sender for now.
+ */
+class TcWinUdpPollingTask: public SystemObject,
+		public ExecutableObjectIF {
+	friend class TmTcWinUdpBridge;
+public:
+	static constexpr size_t DEFAULT_MAX_FRAME_SIZE = 2048;
+	//! 0.5  default milliseconds timeout for now.
+	static constexpr timeval DEFAULT_TIMEOUT = {.tv_sec = 0, .tv_usec = 500};
+
+	TcWinUdpPollingTask(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
+			size_t frameSize = 0, double timeoutSeconds = -1);
+	virtual~ TcWinUdpPollingTask();
+
+	/**
+	 * Turn on optional timeout for UDP polling. In the default mode,
+	 * the receive function will block until a packet is received.
+	 * @param timeoutSeconds
+	 */
+	void setTimeout(double timeoutSeconds);
+
+	virtual ReturnValue_t performOperation(uint8_t opCode) override;
+	virtual ReturnValue_t initialize() override;
+	virtual ReturnValue_t initializeAfterTaskCreation() override;
+
+protected:
+	StorageManagerIF* tcStore = nullptr;
+
+private:
+	//! TMTC bridge is cached.
+	object_id_t tmtcBridgeId = objects::NO_OBJECT;
+	TmTcWinUdpBridge* tmtcBridge = nullptr;
+	MessageQueueId_t targetTcDestination = MessageQueueIF::NO_QUEUE;
+	//! Reception flags: https://linux.die.net/man/2/recvfrom.
+	int receptionFlags = 0;
+
+	//! Server socket, which is member of TMTC bridge and is assigned in
+	//! constructor
+	SOCKET serverUdpSocket = 0;
+
+	std::vector<uint8_t> receptionBuffer;
+
+	size_t frameSize = 0;
+	timeval receptionTimeout;
+
+	ReturnValue_t handleSuccessfullTcRead(size_t bytesRead);
+	void handleReadError();
+};
+
+#endif /* FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_ */

osal/windows/TmTcWinUdpBridge.cpp

@@ -31,7 +31,7 @@ TmTcWinUdpBridge::TmTcWinUdpBridge(object_id_t objectId,
     // Set up UDP socket: https://man7.org/linux/man-pages/man7/ip.7.html
     //clientSocket = socket(AF_INET, SOCK_DGRAM, 0);
     serverSocket = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
-    if(serverSocket != 0) {
+    if(serverSocket == INVALID_SOCKET) {
         sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge: Could not open"
                 " UDP socket!" << std::endl;
         handleSocketError();
@@ -62,7 +62,6 @@ TmTcWinUdpBridge::TmTcWinUdpBridge(object_id_t objectId,
                 "local port " << setServerPort << " to server socket!"
                 << std::endl;
         handleBindError();
-        return;
     }
 }
 
@@ -125,4 +124,3 @@ void TmTcWinUdpBridge::handleSendError() {
     }
 }
 
-#endif