Merge branch 'master' into mueller/health-convergence

FSFWVersion.h

@@ -0,0 +1,11 @@
+#ifndef FSFW_DEFAULTCFG_VERSION_H_
+#define FSFW_DEFAULTCFG_VERSION_H_
+
+const char* const FSFW_VERSION_NAME = "fsfw";
+
+#define FSFW_VERSION 		0
+#define	FSFW_SUBVERSION 	0
+
+
+
+#endif /* FSFW_DEFAULTCFG_VERSION_H_ */

README.md

@@ -0,0 +1,4 @@
+Flight Software Framework (FSFW)
+======
+
+I want to be written!

defaultcfg/README.md

@@ -0,0 +1,6 @@
+# How to setup configuration folder for FSFW
+
+It is recommended to copy the content of the defaultcfg folder
+into a config folder which is in the same directory as the Flight
+Software Framework submodule. After that, the config.mk folder should be
+included by the primary Makefile with CURRENTPATH set correctly.

defaultcfg/config/FSFWConfig.h

@@ -0,0 +1,54 @@
+#ifndef CONFIG_FSFWCONFIG_H_
+#define CONFIG_FSFWCONFIG_H_
+
+#include <FSFWVersion.h>
+#include <cstddef>
+
+//! Used to determine whether C++ ostreams are used
+//! Those can lead to code bloat.
+#define FSFW_CPP_OSTREAM_ENABLED 	1
+
+//! Reduced printout to further decrese code size
+//! Be careful, this also turns off most diagnostic prinouts!
+#define FSFW_REDUCED_PRINTOUT		0
+
+//! Can be used to enable debugging printouts for developing the FSFW
+#define FSFW_DEBUGGING              0
+
+//! Defines the FIFO depth of each commanding service base which
+//! also determines how many commands a CSB service can handle in one cycle
+//! simulataneously. This will increase the required RAM for
+//! each CSB service !
+#define FSFW_CSB_FIFO_DEPTH			6
+
+//! If FSFW_OBJ_EVENT_TRANSLATION is set to one,
+//! additional output which requires the translation files translateObjects
+//! and translateEvents (and their compiled source files)
+#define FSFW_OBJ_EVENT_TRANSLATION	0
+
+#if FSFW_OBJ_EVENT_TRANSLATION == 1
+#define FSFW_DEBUG_OUTPUT 			1
+//! Specify whether info events are printed too.
+#define FSFW_DEBUG_INFO				1
+#include <translateObjects.h>
+#include <translateEvents.h>
+#else
+#define FSFW_DEBUG_OUTPUT			0
+#endif
+
+//! When using the newlib nano library, C99 support for stdio facilities
+//! will not be provided. This define should be set to 1 if this is the case.
+#define FSFW_NO_C99_IO 	1
+
+namespace fsfwconfig {
+//! Default timestamp size. The default timestamp will be an eight byte CDC
+//! short timestamp.
+static constexpr uint8_t FSFW_MISSION_TIMESTAMP_SIZE = 8;
+
+//! Configure the allocated pool sizes for the event manager.
+static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
+static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
+static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS   = 120;
+}
+
+#endif /* CONFIG_FSFWCONFIG_H_ */

defaultcfg/config/OBSWConfig.h

@@ -0,0 +1,16 @@
+#ifndef CONFIG_OBSWCONFIG_H_
+#define CONFIG_OBSWCONFIG_H_
+
+#include "OBSWVersion.h"
+
+#ifdef __cplusplus
+namespace config {
+#endif
+
+/* Add mission configuration flags here */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CONFIG_OBSWCONFIG_H_ */

defaultcfg/config/OBSWVersion.h

@@ -0,0 +1,9 @@
+#ifndef CONFIG_VERSION_H_
+#define CONFIG_VERSION_H_
+
+/* OBSW versioning can be specified in this file */
+
+#define OBSW_VERSION      0
+#define OBSW_SUBVERSION   0
+
+#endif /* CONFIG_VERSION_H_ */

defaultcfg/config/config.mk

@@ -0,0 +1,15 @@
+CXXSRC += $(wildcard $(CURRENTPATH)/ipc/*.cpp)
+CXXSRC += $(wildcard $(CURRENTPATH)/objects/*.cpp)
+CXXSRC += $(wildcard $(CURRENTPATH)/pollingsequence/*.cpp)
+CXXSRC += $(wildcard $(CURRENTPATH)/events/*.cpp)
+CXXSRC += $(wildcard $(CURRENTPATH)/tmtc/*.cpp)
+CXXSRC += $(wildcard $(CURRENTPATH)/devices/*.cpp)
+
+INCLUDES += $(CURRENTPATH)
+INCLUDES += $(CURRENTPATH)/objects
+INCLUDES += $(CURRENTPATH)/returnvalues
+INCLUDES += $(CURRENTPATH)/tmtc
+INCLUDES += $(CURRENTPATH)/events
+INCLUDES += $(CURRENTPATH)/devices
+INCLUDES += $(CURRENTPATH)/pollingsequence
+INCLUDES += $(CURRENTPATH)/ipc

defaultcfg/config/devices/logicalAddresses.cpp

@@ -0,0 +1,5 @@
+#include "logicalAddresses.h"
+
+
+
+

defaultcfg/config/devices/logicalAddresses.h

@@ -0,0 +1,18 @@
+#ifndef CONFIG_DEVICES_LOGICALADDRESSES_H_
+#define CONFIG_DEVICES_LOGICALADDRESSES_H_
+
+#include <config/objects/systemObjectList.h>
+#include <fsfw/devicehandlers/CookieIF.h>
+#include <cstdint>
+
+/**
+ * Can be used for addresses for physical devices like I2C adresses.
+ */
+namespace addresses {
+	/* Logical addresses have uint32_t datatype */
+	enum logicalAddresses: address_t {
+	};
+}
+
+
+#endif /* CONFIG_DEVICES_LOGICALADDRESSES_H_ */

defaultcfg/config/devices/powerSwitcherList.cpp

@@ -0,0 +1,4 @@
+#include "powerSwitcherList.h"
+
+
+

defaultcfg/config/devices/powerSwitcherList.h

@@ -0,0 +1,12 @@
+#ifndef CONFIG_DEVICES_POWERSWITCHERLIST_H_
+#define CONFIG_DEVICES_POWERSWITCHERLIST_H_
+
+namespace switches {
+	/* Switches are uint8_t datatype and go from 0 to 255 */
+	enum switcherList {
+	};
+
+}
+
+
+#endif /* CONFIG_DEVICES_POWERSWITCHERLIST_H_ */

defaultcfg/config/events/subsystemIdRanges.h

@@ -0,0 +1,18 @@
+#ifndef CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_
+#define CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_
+
+#include <cstdint>
+#include <fsfw/events/fwSubsystemIdRanges.h>
+
+/**
+ * @brief	Custom subsystem IDs can be added here
+ * @details
+ * Subsystem IDs are used to create unique events.
+ */
+namespace SUBSYSTEM_ID {
+enum: uint8_t {
+	SUBSYSTEM_ID_START = FW_SUBSYSTEM_ID_RANGE,
+};
+}
+
+#endif /* CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_ */

defaultcfg/config/ipc/missionMessageTypes.cpp

@@ -0,0 +1,11 @@
+#include <config/ipc/MissionMessageTypes.h>
+#include <fsfw/ipc/CommandMessageIF.h>
+
+void messagetypes::clearMissionMessage(CommandMessage* message) {
+	switch(message->getMessageType()) {
+	default:
+		break;
+	}
+}
+
+

defaultcfg/config/ipc/missionMessageTypes.h

@@ -0,0 +1,21 @@
+#ifndef CONFIG_IPC_MISSIONMESSAGETYPES_H_
+#define CONFIG_IPC_MISSIONMESSAGETYPES_H_
+
+#include <fsfw/ipc/CommandMessage.h>
+#include <fsfw/ipc/FwMessageTypes.h>
+
+/**
+ * Custom command messages are specified here.
+ * Most messages needed to use FSFW are already located in
+ * <fsfw/ipc/FwMessageTypes.h>
+ * @param message Generic Command Message
+ */
+namespace messagetypes {
+enum CustomMessageTypes {
+	MISSION_MESSAGE_TYPE_START = FW_MESSAGES_COUNT
+};
+
+void clearMissionMessage(CommandMessage* message);
+}
+
+#endif /* CONFIG_IPC_MISSIONMESSAGETYPES_H_ */

defaultcfg/config/objects/Factory.cpp

@@ -0,0 +1,54 @@
+#include "Factory.h"
+#include "../tmtc/apid.h"
+#include "../tmtc/pusIds.h"
+#include "../objects/systemObjectList.h"
+#include "../devices/logicalAddresses.h"
+#include "../devices/powerSwitcherList.h"
+
+#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include <fsfw/events/EventManager.h>
+#include <fsfw/health/HealthTable.h>
+#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
+#include <fsfw/tmtcservices/CommandingServiceBase.h>
+#include <fsfw/tmtcservices/PusServiceBase.h>
+
+#include <cstdint>
+
+/**
+ * This class should be used to create all system objects required for
+ * the on-board software, using the object ID list from the configuration
+ * folder.
+ *
+ * The objects are registered in the internal object manager automatically.
+ * This is used later to add objects to tasks.
+ *
+ * This file also sets static framework IDs.
+ *
+ * Framework objects are created first.
+ * @ingroup init
+ */
+void Factory::produce(void) {
+	setStaticFrameworkObjectIds();
+	new EventManager(objects::EVENT_MANAGER);
+	new HealthTable(objects::HEALTH_TABLE);
+	//new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
+}
+
+void Factory::setStaticFrameworkObjectIds() {
+	PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
+	PusServiceBase::packetDestination = objects::TM_FUNNEL;
+
+	CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
+	CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
+
+	VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
+
+	DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
+	DeviceHandlerBase::rawDataReceiverId = objects::PUS_SERVICE_2_DEVICE_ACCESS;
+
+	DeviceHandlerFailureIsolation::powerConfirmationId = objects::NO_OBJECT;
+
+	TmPacketStored::timeStamperId = objects::PUS_TIME;
+	//TmFunnel::downlinkDestination = objects::NO_OBJECT;
+}
+

defaultcfg/config/objects/Factory.h

@@ -0,0 +1,17 @@
+#ifndef FACTORY_H_
+#define FACTORY_H_
+
+#include <fsfw/objectmanager/SystemObjectIF.h>
+#include <cstddef>
+
+namespace Factory {
+	/**
+	 * @brief   Creates all SystemObject elements which are persistent
+	 *          during execution.
+	 */
+	void produce();
+	void setStaticFrameworkObjectIds();
+}
+
+
+#endif /* FACTORY_H_ */

defaultcfg/config/objects/systemObjectList.h

@@ -0,0 +1,16 @@
+#ifndef CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
+#define CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
+
+#include <cstdint>
+#include <fsfw/objectmanager/frameworkObjects.h>
+
+// The objects will be instantiated in the ID order
+namespace objects {
+	enum sourceObjects: uint32_t {
+		/* All addresses between start and end are reserved for the FSFW */
+		FSFW_CONFIG_RESERVED_START = PUS_SERVICE_1_VERIFICATION,
+		FSFW_CONFIG_RESERVED_END = TM_STORE
+	};
+}
+
+#endif /* BSP_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_ */

defaultcfg/config/pollingsequence/PollingSequenceFactory.cpp

@@ -0,0 +1,23 @@
+#include "PollingSequenceFactory.h"
+
+#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
+#include <fsfw/devicehandlers/DeviceHandlerIF.h>
+#include <fsfw/tasks/FixedTimeslotTaskIF.h>
+
+ReturnValue_t pst::pollingSequenceInitDefault(
+        FixedTimeslotTaskIF *thisSequence) {
+	/* Length of a communication cycle */
+	uint32_t length = thisSequence->getPeriodMs();
+
+	/* Add polling sequence table here */
+
+	if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		sif::error << "pst::pollingSequenceInitDefault: Sequence invalid!"
+		        << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+

defaultcfg/config/pollingsequence/PollingSequenceFactory.h

@@ -0,0 +1,32 @@
+#ifndef POLLINGSEQUENCEFACTORY_H_
+#define POLLINGSEQUENCEFACTORY_H_
+
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+
+class FixedTimeslotTaskIF;
+
+/**
+ * All device handlers are scheduled by adding them into  Polling Sequence Tables (PST)
+ * to satisfy stricter timing requirements of device communication,
+ * A device handler has four different communication steps:
+ *   1. DeviceHandlerIF::SEND_WRITE -> Send write via interface
+ *   2. DeviceHandlerIF::GET_WRITE -> Get confirmation for write
+ *   3. DeviceHandlerIF::SEND_READ -> Send read request
+ *   4. DeviceHandlerIF::GET_READ -> Read from interface
+ * The PST specifies precisely when the respective ComIF functions are called
+ * during the communication cycle time.
+ * The task is created using the FixedTimeslotTaskIF,
+ * which utilises the underlying Operating System Abstraction Layer (OSAL)
+ *
+ * @param thisSequence FixedTimeslotTaskIF * object is passed inside the Factory class when creating the PST
+ * @return
+ */
+namespace pst {
+
+/* Default PST */
+ReturnValue_t pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence);
+
+
+}
+
+#endif /* POLLINGSEQUENCEINIT_H_ */

defaultcfg/config/returnvalues/classIds.h

@@ -0,0 +1,16 @@
+#ifndef CONFIG_RETURNVALUES_CLASSIDS_H_
+#define CONFIG_RETURNVALUES_CLASSIDS_H_
+
+#include <fsfw/returnvalues/FwClassIds.h>
+
+/**
+ * @brief   CLASS_ID defintions which are required for custom returnvalues.
+ */
+namespace CLASS_ID {
+enum {
+	MISSION_CLASS_ID_START = FW_CLASS_ID_COUNT,
+};
+}
+
+
+#endif /* CONFIG_RETURNVALUES_CLASSIDS_H_ */

defaultcfg/config/tmtc/apid.h

@@ -0,0 +1,18 @@
+#ifndef CONFIG_TMTC_APID_H_
+#define CONFIG_TMTC_APID_H_
+
+#include <cstdint>
+
+/**
+ * Application Process Definition: entity, uniquely identified by an
+ * application process ID (APID), capable of generating telemetry source
+ * packets and receiving telecommand packets.
+ *
+ * Chose APID(s) for mission and define it here.
+ */
+namespace apid {
+	static const uint16_t DEFAULT_APID = 0x00;
+}
+
+
+#endif /* CONFIG_TMTC_APID_H_ */

defaultcfg/config/tmtc/pusIds.h

@@ -0,0 +1,23 @@
+#ifndef CONFIG_TMTC_PUSIDS_HPP_
+#define CONFIG_TMTC_PUSIDS_HPP_
+
+namespace pus {
+enum Ids: uint8_t {
+	PUS_SERVICE_1 = 1,
+	PUS_SERVICE_2 = 2,
+	PUS_SERVICE_3 = 3,
+	PUS_SERVICE_5 = 5,
+	PUS_SERVICE_6 = 6,
+	PUS_SERVICE_8 = 8,
+	PUS_SERVICE_9 = 9,
+	PUS_SERVICE_11 = 11,
+	PUS_SERVICE_17 = 17,
+	PUS_SERVICE_19 = 19,
+	PUS_SERVICE_20 = 20,
+	PUS_SERVICE_23 = 23,
+	PUS_SERVICE_200 = 200,
+	PUS_SERVICE_201 = 201,
+};
+};
+
+#endif /* CONFIG_TMTC_PUSIDS_HPP_ */

events/EventManager.cpp

@@ -1,5 +1,7 @@
 #include "EventManager.h"
 #include "EventMessage.h"
+#include <FSFWConfig.h>
+
 #include "../serviceinterface/ServiceInterfaceStream.h"
 #include "../ipc/QueueFactory.h"
 #include "../ipc/MutexFactory.h"
@@ -12,8 +14,10 @@ const uint16_t EventManager::POOL_SIZES[N_POOLS] = {
 // objects registering for certain events.
 // Each listener requires 1 or 2 EventIdMatcher and 1 or 2 ReportRangeMatcher.
 // So a good guess is 75 to a max of 100 pools required for each, which fits well.
-// SHOULDDO: Shouldn't this be in the config folder and passed via ctor?
+const uint16_t EventManager::N_ELEMENTS[N_POOLS] = {
-const uint16_t EventManager::N_ELEMENTS[N_POOLS] = { 240, 120, 120 };
+		fsfwconfig::FSFW_EVENTMGMR_MATCHTREE_NODES ,
+		fsfwconfig::FSFW_EVENTMGMT_EVENTIDMATCHERS,
+		fsfwconfig::FSFW_EVENTMGMR_RANGEMATCHERS };
 
 EventManager::EventManager(object_id_t setObjectId) :
 		SystemObject(setObjectId),

osal/host/QueueFactory.cpp

@@ -1,6 +1,11 @@
+
+#include "MessageQueue.h"
+
+#include "../../ipc/MessageQueueSenderIF.h"
+#include "../../ipc/MessageQueueMessageIF.h"
 #include "../../ipc/QueueFactory.h"
-#include "../../osal/host/MessageQueue.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
+
 #include <cstring>
 
 QueueFactory* QueueFactory::factoryInstance = nullptr;

timemanager/CCSDSTime.cpp

@@ -1,8 +1,9 @@
-#include "../timemanager/CCSDSTime.h"
+#include "CCSDSTime.h"
+
 #include <cstdio>
 #include <cinttypes>
 #include <cmath>
-
+#include <FSFWConfig.h>
 
 CCSDSTime::CCSDSTime() {
 }
@@ -158,15 +159,16 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
 	}
 // Newlib nano can't parse uint8, see SCNu8 documentation and https://sourceware.org/newlib/README
 // Suggestion: use uint16 all the time. This should work on all systems.
-#ifdef NEWLIB_NANO_NO_C99_IO
+#if FSFW_NO_C99_IO == 1
 	uint16_t year;
 	uint16_t month;
 	uint16_t day;
 	uint16_t hour;
 	uint16_t minute;
 	float second;
-	int count = sscanf((char *) from, "%4" SCNu16 "-%2" SCNu16 "-%2" SCNu16 "T%2" SCNu16 ":%2" SCNu16 ":%fZ", &year,
+	int count = sscanf((char *) from, "%4" SCNu16 "-%2" SCNu16 "-%2" SCNu16 "T%"
-				&month, &day, &hour, &minute, &second);
+	        "2" SCNu16 ":%2" SCNu16 ":%fZ", &year, &month, &day, &hour,
+	        &minute, &second);
 	if (count == 6) {
 		to->year = year;
 		to->month = month;
@@ -179,12 +181,13 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
 	}
 
 	// try Code B (yyyy-ddd)
-	count = sscanf((char *) from, "%4" SCNu16 "-%3" SCNu16 "T%2" SCNu16 ":%2" SCNu16 ":%fZ", &year, &day,
+	count = sscanf((char *) from, "%4" SCNu16 "-%3" SCNu16 "T%2" SCNu16 ":%"
-			&hour, &minute, &second);
+	        "2" SCNu16 ":%fZ", &year, &day, &hour, &minute, &second);
 	if (count == 5) {
 		uint8_t tempDay;
 		ReturnValue_t result = CCSDSTime::convertDaysOfYear(day, year,
-				reinterpret_cast<uint8_t *>(&month), reinterpret_cast<uint8_t *>(&tempDay));
+				reinterpret_cast<uint8_t *>(&month),
+				reinterpret_cast<uint8_t *>(&tempDay));
 		if (result != RETURN_OK) {
 			return RETURN_FAILED;
 		}

unittest/README.md

@@ -8,6 +8,16 @@ run in the terminal or in eclipse.
 
 ### Instructions
 
+To run the fsfw unittests in the project, perform following steps:
+
+1. Copy the testcfg folder  the project root (folder containing the FSFW).
+2. There is a makefile inside the testcfg folder which can be used to have 
+   a starting point to compile the unit tests. Copy that Makefile to the project
+   root
+3. Create a folder named catch2 (can have other name which requires Makefile 
+   adaption) and copy the Catch2 header files there (NOTE: CMake support
+   not enabled yet!)
+   
 ### Eclipse CDT settings
 
 The default eclipse terminal has issues displaying the colors used

unittest/testcfg/Makefile-FSFW-Tests

@@ -1,5 +1,5 @@
 #-------------------------------------------------------------------------------
-# Makefile  for FSFW Test
+# Makefile for FSFW Test
 #-------------------------------------------------------------------------------
 #		User-modifiable options
 #-------------------------------------------------------------------------------

unittest/testcfg/cdatapool/dataPoolInit.h

@@ -1,7 +1,7 @@
 #ifndef HOSTED_CONFIG_CDATAPOOL_DATAPOOLINIT_H_
 #define HOSTED_CONFIG_CDATAPOOL_DATAPOOLINIT_H_
 
-#include <fsfw/datapoolglob/GlobalDataPool.h>
+#include <fsfw/datapool/DataPool.h>
 #include <fsfw/datapool/PoolEntryIF.h>
 #include <map>
 #include <cstdint>