From 7adb47aecb5f5e0b6e20a46128f44b4f44e4e49a Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 10 Jan 2023 11:55:54 +0100 Subject: [PATCH 01/49] remove duplicate printout --- src/fsfw_hal/linux/i2c/I2cComIF.cpp | 4 ---- 1 file changed, 4 deletions(-) diff --git a/src/fsfw_hal/linux/i2c/I2cComIF.cpp b/src/fsfw_hal/linux/i2c/I2cComIF.cpp index 1ad19e82..e3e50040 100644 --- a/src/fsfw_hal/linux/i2c/I2cComIF.cpp +++ b/src/fsfw_hal/linux/i2c/I2cComIF.cpp @@ -180,10 +180,6 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe } #else #endif -#endif -#if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::debug << "I2cComIF::requestReceiveMessage: Read " << readLen << " of " << requestLen - << " bytes" << std::endl; #endif return returnvalue::FAILED; } From ba62c28b64f9ff38fd9e09026e3d0daa62e36dad Mon Sep 17 00:00:00 2001 From: Ulrich Mohr Date: Thu, 12 Jan 2023 15:40:52 +0100 Subject: [PATCH 02/49] adding linux ci and fixing problems --- automation/Jenkinsfile | 96 +++++++++++++------ src/fsfw/events/EventManager.cpp | 6 ++ src/fsfw/events/EventManager.h | 1 + src/fsfw/events/EventManagerIF.h | 1 + src/fsfw/fdir/FailureIsolationBase.cpp | 2 +- src/fsfw/globalfunctions/matching/MatchTree.h | 41 +++++++- src/fsfw/health/HealthTable.cpp | 2 - .../internalerror/InternalErrorReporter.cpp | 7 +- src/fsfw/objectmanager/ObjectManager.cpp | 18 +++- src/fsfw/objectmanager/ObjectManager.h | 10 +- src/fsfw/osal/CMakeLists.txt | 10 +- src/fsfw/osal/linux/MessageQueue.cpp | 2 +- src/fsfw/osal/osal.h.in | 36 +++++++ unittests/CatchSetup.cpp | 5 +- .../devicehandler/DeviceHandlerCommander.cpp | 4 +- unittests/osal/TestSemaphore.cpp | 68 ++++++------- 16 files changed, 230 insertions(+), 79 deletions(-) create mode 100644 src/fsfw/osal/osal.h.in diff --git a/automation/Jenkinsfile b/automation/Jenkinsfile index 27136606..64c32237 100644 --- a/automation/Jenkinsfile +++ b/automation/Jenkinsfile @@ -1,45 +1,87 @@ pipeline { environment { - BUILDDIR = 'cmake-build-tests' + BUILDDIR_HOST = 'cmake-build-tests-host' + BUILDDIR_LINUX = 'cmake-build-tests-linux' DOCDDIR = 'cmake-build-documentation' } agent { docker { image 'fsfw-ci:d6' - args '--network host' + args '--network host --sysctl fs.mqueue.msg_max=100' } } stages { - stage('Clean') { - steps { - sh 'rm -rf $BUILDDIR' - } - } - stage('Configure') { - steps { - dir(BUILDDIR) { - sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..' + stage('Host') { + stages{ + stage('Clean') { + steps { + sh 'rm -rf $BUILDDIR_HOST' + } + } + stage('Configure') { + steps { + dir(BUILDDIR_HOST) { + sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..' + } + } + } + stage('Build') { + steps { + dir(BUILDDIR_HOST) { + sh 'cmake --build . -j4' + } + } + } + stage('Unittests') { + steps { + dir(BUILDDIR_HOST) { + sh 'cmake --build . -- fsfw-tests_coverage -j4' + } + } + } + stage('Valgrind') { + steps { + dir(BUILDDIR_HOST) { + sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests' + } + } } } } - stage('Build') { - steps { - dir(BUILDDIR) { - sh 'cmake --build . -j4' + stage('Linux') { + stages{ + stage('Clean') { + steps { + sh 'rm -rf $BUILDDIR_LINUX' + } } - } - } - stage('Unittests') { - steps { - dir(BUILDDIR) { - sh 'cmake --build . -- fsfw-tests_coverage -j4' + stage('Configure') { + steps { + dir(BUILDDIR_LINUX) { + sh 'cmake -DFSFW_OSAL=linux -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..' + } + } } - } - } - stage('Valgrind') { - steps { - dir(BUILDDIR) { - sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests' + stage('Build') { + steps { + dir(BUILDDIR_LINUX) { + sh 'cmake --build . -j4' + } + } + } + stage('Unittests') { + steps { + dir(BUILDDIR_LINUX) { + sh 'cmake --build . -- fsfw-tests_coverage -j4' + } + } + } + stage('Valgrind') { + steps { + dir(BUILDDIR_LINUX) { + sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests' + } + } } } } diff --git a/src/fsfw/events/EventManager.cpp b/src/fsfw/events/EventManager.cpp index f4466817..8bd26282 100644 --- a/src/fsfw/events/EventManager.cpp +++ b/src/fsfw/events/EventManager.cpp @@ -23,6 +23,7 @@ EventManager::EventManager(object_id_t setObjectId) } EventManager::~EventManager() { + listenerList.clear(); QueueFactory::instance()->deleteMessageQueue(eventReportQueue); MutexFactory::instance()->deleteMutex(mutex); } @@ -61,9 +62,14 @@ ReturnValue_t EventManager::registerListener(MessageQueueId_t listener, if (!result.second) { return returnvalue::FAILED; } + return returnvalue::OK; } +ReturnValue_t EventManager::unregisterListener(MessageQueueId_t listener) { + return listenerList.erase(listener) == 1 ? returnvalue::OK : returnvalue::FAILED; +} + ReturnValue_t EventManager::subscribeToEvent(MessageQueueId_t listener, EventId_t event) { return subscribeToEventRange(listener, event); } diff --git a/src/fsfw/events/EventManager.h b/src/fsfw/events/EventManager.h index 70245f5d..0e6dace0 100644 --- a/src/fsfw/events/EventManager.h +++ b/src/fsfw/events/EventManager.h @@ -31,6 +31,7 @@ class EventManager : public EventManagerIF, public ExecutableObjectIF, public Sy MessageQueueId_t getEventReportQueue(); ReturnValue_t registerListener(MessageQueueId_t listener, bool forwardAllButSelected = false); + ReturnValue_t unregisterListener(MessageQueueId_t listener) override; ReturnValue_t subscribeToEvent(MessageQueueId_t listener, EventId_t event); ReturnValue_t subscribeToAllEventsFrom(MessageQueueId_t listener, object_id_t object); ReturnValue_t subscribeToEventRange(MessageQueueId_t listener, EventId_t idFrom = 0, diff --git a/src/fsfw/events/EventManagerIF.h b/src/fsfw/events/EventManagerIF.h index adb61f2b..12014090 100644 --- a/src/fsfw/events/EventManagerIF.h +++ b/src/fsfw/events/EventManagerIF.h @@ -18,6 +18,7 @@ class EventManagerIF { virtual ReturnValue_t registerListener(MessageQueueId_t listener, bool forwardAllButSelected = false) = 0; + virtual ReturnValue_t unregisterListener(MessageQueueId_t listener) = 0; virtual ReturnValue_t subscribeToEvent(MessageQueueId_t listener, EventId_t event) = 0; virtual ReturnValue_t subscribeToAllEventsFrom(MessageQueueId_t listener, object_id_t object) = 0; virtual ReturnValue_t unsubscribeFromAllEvents(MessageQueueId_t listener, object_id_t object) = 0; diff --git a/src/fsfw/fdir/FailureIsolationBase.cpp b/src/fsfw/fdir/FailureIsolationBase.cpp index 28df16d8..0d3b0214 100644 --- a/src/fsfw/fdir/FailureIsolationBase.cpp +++ b/src/fsfw/fdir/FailureIsolationBase.cpp @@ -23,7 +23,7 @@ FailureIsolationBase::~FailureIsolationBase() { #endif return; } - manager->unsubscribeFromAllEvents(eventQueue->getId(), ownerId); + manager->unregisterListener(eventQueue->getId()); QueueFactory::instance()->deleteMessageQueue(eventQueue); } diff --git a/src/fsfw/globalfunctions/matching/MatchTree.h b/src/fsfw/globalfunctions/matching/MatchTree.h index 0c31cf2a..69f660d3 100644 --- a/src/fsfw/globalfunctions/matching/MatchTree.h +++ b/src/fsfw/globalfunctions/matching/MatchTree.h @@ -24,7 +24,7 @@ class MatchTree : public SerializeableMatcherIF, public BinaryTree>(root.element), maxDepth(maxDepth) {} MatchTree() : BinaryTree>(), maxDepth(-1) {} - virtual ~MatchTree() {} + virtual ~MatchTree() { clear(); } virtual bool match(T number) override { return matchesTree(number); } bool matchesTree(T number) { iterator iter = this->begin(); @@ -176,6 +176,45 @@ class MatchTree : public SerializeableMatcherIF, public BinaryTree>::rootNode; + + if (localRoot == nullptr) { + return; + } + + Node* node = localRoot->left; + + while (true) { + if (node->left != nullptr) { + node = node->left; + continue; + } + if (node->right != nullptr) { + node = node->right; + continue; + } + if (node->parent == nullptr) { + // this is the root node with no children + if (node->value != nullptr) { + cleanUpElement(iterator(node)); + } + return; + } + // leaf + { + Node* parent = node->parent; + if (parent->left == node) { + parent->left = nullptr; + } else { + parent->right = nullptr; + } + cleanUpElement(iterator(node)); + node = parent; + } + } + } + virtual ReturnValue_t cleanUpElement(iterator position) { return returnvalue::OK; } bool matchSubtree(iterator iter, T number) { diff --git a/src/fsfw/health/HealthTable.cpp b/src/fsfw/health/HealthTable.cpp index 5fb45fb9..3fcf7f77 100644 --- a/src/fsfw/health/HealthTable.cpp +++ b/src/fsfw/health/HealthTable.cpp @@ -6,8 +6,6 @@ HealthTable::HealthTable(object_id_t objectid) : SystemObject(objectid) { mutex = MutexFactory::instance()->createMutex(); - ; - mapIterator = healthMap.begin(); } diff --git a/src/fsfw/internalerror/InternalErrorReporter.cpp b/src/fsfw/internalerror/InternalErrorReporter.cpp index b3b77366..fb2dc8a6 100644 --- a/src/fsfw/internalerror/InternalErrorReporter.cpp +++ b/src/fsfw/internalerror/InternalErrorReporter.cpp @@ -7,14 +7,17 @@ InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth) : SystemObject(setObjectId), - commandQueue(QueueFactory::instance()->createMessageQueue(messageQueueDepth)), poolManager(this, commandQueue), internalErrorSid(setObjectId, InternalErrorDataset::ERROR_SET_ID), internalErrorDataset(this) { + commandQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth); mutex = MutexFactory::instance()->createMutex(); } -InternalErrorReporter::~InternalErrorReporter() { MutexFactory::instance()->deleteMutex(mutex); } +InternalErrorReporter::~InternalErrorReporter() { + MutexFactory::instance()->deleteMutex(mutex); + QueueFactory::instance()->deleteMessageQueue(commandQueue); +} void InternalErrorReporter::setDiagnosticPrintout(bool enable) { this->diagnosticPrintout = enable; diff --git a/src/fsfw/objectmanager/ObjectManager.cpp b/src/fsfw/objectmanager/ObjectManager.cpp index ddf5ab80..29c1b2fc 100644 --- a/src/fsfw/objectmanager/ObjectManager.cpp +++ b/src/fsfw/objectmanager/ObjectManager.cpp @@ -23,9 +23,17 @@ void ObjectManager::setObjectFactoryFunction(produce_function_t objFactoryFunc, ObjectManager::ObjectManager() = default; +void ObjectManager::clear() { + if (objManagerInstance != nullptr) { + delete objManagerInstance; + objManagerInstance = nullptr; + } +} + ObjectManager::~ObjectManager() { - for (auto const& iter : objectList) { - delete iter.second; + teardown = true; + for (auto iter = objectList.begin(); iter != objectList.end(); iter = objectList.erase(iter)) { + delete iter->second; } } @@ -53,6 +61,12 @@ ReturnValue_t ObjectManager::insert(object_id_t id, SystemObjectIF* object) { } ReturnValue_t ObjectManager::remove(object_id_t id) { + // this function is called during destruction of System Objects + // disabeld for teardown to avoid iterator invalidation and + // double free + if (teardown) { + return returnvalue::OK; + } if (this->getSystemObject(id) != nullptr) { this->objectList.erase(id); #if FSFW_CPP_OSTREAM_ENABLED == 1 diff --git a/src/fsfw/objectmanager/ObjectManager.h b/src/fsfw/objectmanager/ObjectManager.h index e0e74792..355f5d0a 100644 --- a/src/fsfw/objectmanager/ObjectManager.h +++ b/src/fsfw/objectmanager/ObjectManager.h @@ -24,12 +24,17 @@ class ObjectManager : public ObjectManagerIF { using produce_function_t = void (*)(void* args); /** - * Returns the single instance of TaskFactory. + * Returns the single instance of ObjectManager. * The implementation of #instance is found in its subclasses. * Thus, we choose link-time variability of the instance. */ static ObjectManager* instance(); + /** + * Deletes the single instance of ObjectManager + */ + static void clear(); + void setObjectFactoryFunction(produce_function_t prodFunc, void* args); template @@ -66,6 +71,9 @@ class ObjectManager : public ObjectManagerIF { */ std::map objectList; static ObjectManager* objManagerInstance; + // used when the OM itself is deleted to modify behaviour of remove() + // to avoid iterator invalidation and double free + bool teardown = false; }; // Documentation can be found in the class method declaration above diff --git a/src/fsfw/osal/CMakeLists.txt b/src/fsfw/osal/CMakeLists.txt index 50fd6102..a4097649 100644 --- a/src/fsfw/osal/CMakeLists.txt +++ b/src/fsfw/osal/CMakeLists.txt @@ -1,10 +1,13 @@ # Check the OS_FSFW variable if(FSFW_OSAL MATCHES "freertos") add_subdirectory(freertos) + set(FSFW_OSAL_FREERTOS 1) elseif(FSFW_OSAL MATCHES "rtems") add_subdirectory(rtems) + set(FSFW_OSAL_RTEMS 1) elseif(FSFW_OSAL MATCHES "linux") add_subdirectory(linux) + set(FSFW_OSAL_LINUX 1) elseif(FSFW_OSAL MATCHES "host") add_subdirectory(host) if(WIN32) @@ -13,16 +16,17 @@ elseif(FSFW_OSAL MATCHES "host") # We still need to pull in some Linux specific sources target_sources(${LIB_FSFW_NAME} PUBLIC linux/tcpipHelpers.cpp) endif() - + set(FSFW_OSAL_HOST 1) else() - message(WARNING "The OS_FSFW variable was not set. Assuming host OS..") # Not set. Assumuing this is a host build, try to determine host OS if(WIN32) add_subdirectory(host) add_subdirectory(windows) + set(FSFW_OSAL_HOST 1) elseif(UNIX) add_subdirectory(linux) + set(FSFW_OSAL_LINUX 1) else() # MacOS or other OSes have not been tested yet / are not supported. message(FATAL_ERROR "The host OS could not be determined! Aborting.") @@ -31,3 +35,5 @@ else() endif() add_subdirectory(common) + +configure_file(osal.h.in ${CMAKE_BINARY_DIR}/fsfw/osal/osal.h) diff --git a/src/fsfw/osal/linux/MessageQueue.cpp b/src/fsfw/osal/linux/MessageQueue.cpp index b2cca3f1..c08e3775 100644 --- a/src/fsfw/osal/linux/MessageQueue.cpp +++ b/src/fsfw/osal/linux/MessageQueue.cpp @@ -21,7 +21,7 @@ MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs* attributes.mq_msgsize = maxMessageSize; attributes.mq_flags = 0; // Flags are ignored on Linux during mq_open // Set the name of the queue. The slash is mandatory! - sprintf(name, "/FSFW_MQ%u\n", queueCounter++); + sprintf(name, "/FSFW_MQ%u", queueCounter++); // Create a nonblocking queue if the name is available (the queue is read // and writable for the owner as well as the group) diff --git a/src/fsfw/osal/osal.h.in b/src/fsfw/osal/osal.h.in new file mode 100644 index 00000000..8e48c31a --- /dev/null +++ b/src/fsfw/osal/osal.h.in @@ -0,0 +1,36 @@ +#pragma once + +namespace osal { + enum osalTarget{ + HOST, + LINUX, + WINDOWS, + FREERTOS, + RTEMS, + }; + +#cmakedefine FSFW_OSAL_HOST +#cmakedefine FSFW_OSAL_LINUX +#cmakedefine FSFW_OSAL_WINDOWS +#cmakedefine FSFW_OSAL_FREERTOS +#cmakedefine FSFW_OSAL_RTEMS + + + constexpr osalTarget getTarget() { +#ifdef FSFW_OSAL_HOST + return HOST; +#endif +#ifdef FSFW_OSAL_LINUX + return LINUX; +#endif +#ifdef FSFW_OSAL_WINDOWS + return WINDOWS; +#endif +#ifdef FSFW_OSAL_FREERTOS + return FREERTOS; +#endif +#ifdef FSFW_OSAL_RTEMS + return RTEMS; +#endif + } +}; \ No newline at end of file diff --git a/unittests/CatchSetup.cpp b/unittests/CatchSetup.cpp index 4f2a4a54..fc5bb3f5 100644 --- a/unittests/CatchSetup.cpp +++ b/unittests/CatchSetup.cpp @@ -31,4 +31,7 @@ int customSetup() { return 0; } -int customTeardown() { return 0; } +int customTeardown() { + ObjectManager::clear(); + return 0; +} diff --git a/unittests/devicehandler/DeviceHandlerCommander.cpp b/unittests/devicehandler/DeviceHandlerCommander.cpp index 03ff992c..835faf2b 100644 --- a/unittests/devicehandler/DeviceHandlerCommander.cpp +++ b/unittests/devicehandler/DeviceHandlerCommander.cpp @@ -9,7 +9,9 @@ DeviceHandlerCommander::DeviceHandlerCommander(object_id_t objectId) QUEUE_SIZE, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); } -DeviceHandlerCommander::~DeviceHandlerCommander() {} +DeviceHandlerCommander::~DeviceHandlerCommander() { + QueueFactory::instance()->deleteMessageQueue(commandQueue); +} ReturnValue_t DeviceHandlerCommander::performOperation(uint8_t operationCode) { readCommandQueue(); diff --git a/unittests/osal/TestSemaphore.cpp b/unittests/osal/TestSemaphore.cpp index 376b08db..1d8758b1 100644 --- a/unittests/osal/TestSemaphore.cpp +++ b/unittests/osal/TestSemaphore.cpp @@ -1,46 +1,38 @@ - -#ifdef LINUX - -/* +#include #include #include -#include "catch.hpp" -#include "core/CatchDefinitions.h" +#include -TEST_CASE("Binary Semaphore Test" , "[BinSemaphore]") { - //perform set-up here - SemaphoreIF* binSemaph = SemaphoreFactory::instance()-> - createBinarySemaphore(); - REQUIRE(binSemaph != nullptr); - SECTION("Simple Test") { - // set-up is run for each section - REQUIRE(binSemaph->getSemaphoreCounter() == 1); - REQUIRE(binSemaph->release() == - static_cast(SemaphoreIF::SEMAPHORE_NOT_OWNED)); - REQUIRE(binSemaph->acquire(SemaphoreIF::POLLING) == - result::OK); - { - // not precise enough on linux.. should use clock instead.. - //Stopwatch stopwatch(false); - //REQUIRE(binSemaph->acquire(SemaphoreIF::TimeoutType::WAITING, 5) == - // SemaphoreIF::SEMAPHORE_TIMEOUT); - //dur_millis_t time = stopwatch.stop(); - //CHECK(time == 5); - } - REQUIRE(binSemaph->getSemaphoreCounter() == 0); - REQUIRE(binSemaph->release() == result::OK); - } - SemaphoreFactory::instance()->deleteSemaphore(binSemaph); - // perform tear-down here +// binary semaphores currently only supported on linux +#ifdef FSFW_OSAL_LINUX + +TEST_CASE("Binary Semaphore Test", "[BinSemaphore]") { + // perform set-up here + SemaphoreIF* binSemaph = SemaphoreFactory::instance()->createBinarySemaphore(); + REQUIRE(binSemaph != nullptr); + SECTION("Simple Test") { + // set-up is run for each section + REQUIRE(binSemaph->getSemaphoreCounter() == 1); + REQUIRE(binSemaph->release() == static_cast(SemaphoreIF::SEMAPHORE_NOT_OWNED)); + REQUIRE(binSemaph->acquire(SemaphoreIF::POLLING) == returnvalue::OK); + { + // not precise enough on linux.. should use clock instead.. + // Stopwatch stopwatch(false); + // REQUIRE(binSemaph->acquire(SemaphoreIF::TimeoutType::WAITING, 5) == + // SemaphoreIF::SEMAPHORE_TIMEOUT); + // dur_millis_t time = stopwatch.stop(); + // CHECK(time == 5); + } + REQUIRE(binSemaph->getSemaphoreCounter() == 0); + REQUIRE(binSemaph->release() == returnvalue::OK); + } + SemaphoreFactory::instance()->deleteSemaphore(binSemaph); + // perform tear-down here } - -TEST_CASE("Counting Semaphore Test" , "[CountingSemaph]") { - SECTION("Simple Test") { - - } +TEST_CASE("Counting Semaphore Test", "[CountingSemaph]") { + SECTION("Simple Test") {} } -*/ -#endif +#endif \ No newline at end of file From bf12f284faa2938254794f00d18883be38d3645b Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 13 Jan 2023 10:53:04 +0100 Subject: [PATCH 03/49] add size and crc check for contained TC --- src/fsfw/pus/Service11TelecommandScheduling.h | 2 ++ src/fsfw/pus/Service11TelecommandScheduling.tpp | 10 ++++++++++ 2 files changed, 12 insertions(+) diff --git a/src/fsfw/pus/Service11TelecommandScheduling.h b/src/fsfw/pus/Service11TelecommandScheduling.h index aa958193..83b2b4c0 100644 --- a/src/fsfw/pus/Service11TelecommandScheduling.h +++ b/src/fsfw/pus/Service11TelecommandScheduling.h @@ -41,6 +41,8 @@ class Service11TelecommandScheduling final : public PusServiceBase { static constexpr ReturnValue_t INVALID_TIME_WINDOW = returnvalue::makeCode(CLASS_ID, 2); static constexpr ReturnValue_t TIMESHIFTING_NOT_POSSIBLE = returnvalue::makeCode(CLASS_ID, 3); static constexpr ReturnValue_t INVALID_RELATIVE_TIME = returnvalue::makeCode(CLASS_ID, 4); + static constexpr ReturnValue_t CONTAINED_TC_TOO_SMALL = returnvalue::makeCode(CLASS_ID, 5); + static constexpr ReturnValue_t CONTAINED_TC_CRC_MISSMATCH = returnvalue::makeCode(CLASS_ID, 6); static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_11; diff --git a/src/fsfw/pus/Service11TelecommandScheduling.tpp b/src/fsfw/pus/Service11TelecommandScheduling.tpp index 9016af80..8bf92460 100644 --- a/src/fsfw/pus/Service11TelecommandScheduling.tpp +++ b/src/fsfw/pus/Service11TelecommandScheduling.tpp @@ -6,6 +6,8 @@ #include "fsfw/serialize/SerializeAdapter.h" #include "fsfw/serviceinterface.h" #include "fsfw/tmtcservices/AcceptsTelecommandsIF.h" +#include "fsfw/tmtcpacket/pus/tc/PusTcReader.h" +#include "fsfw/globalfunctions/CRC.h": static constexpr auto DEF_END = SerializeIF::Endianness::BIG; @@ -171,6 +173,14 @@ inline ReturnValue_t Service11TelecommandScheduling::doInsertActivi return returnvalue::FAILED; } + if (size < PusTcIF::MIN_SIZE) { + return CONTAINED_TC_TOO_SMALL; + } + + if (CRC::crc16ccitt(data, size) != 0) { + return CONTAINED_TC_CRC_MISSMATCH; + } + // store currentPacket and receive the store address store_address_t addr{}; if (tcStore->addData(&addr, data, size) != returnvalue::OK || From 97c629ad8446ff9525dd29f3211e0041cb469532 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 13 Jan 2023 10:53:36 +0100 Subject: [PATCH 04/49] update changelog --- CHANGELOG.md | 1 + 1 file changed, 1 insertion(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index 80338446..f738032f 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -12,6 +12,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/). ## Fixes +- TC Scheduler Service 11: Add size and CRC check for contained TC. - Only delete health table entry in `HealthHelper` destructor if health table was set. PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/710/files From a4531e4ced145832e271f846da533d75fc4ae5c2 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 13 Jan 2023 10:59:39 +0100 Subject: [PATCH 05/49] typo --- src/fsfw/pus/Service11TelecommandScheduling.tpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/fsfw/pus/Service11TelecommandScheduling.tpp b/src/fsfw/pus/Service11TelecommandScheduling.tpp index 8bf92460..cbfa3103 100644 --- a/src/fsfw/pus/Service11TelecommandScheduling.tpp +++ b/src/fsfw/pus/Service11TelecommandScheduling.tpp @@ -7,7 +7,7 @@ #include "fsfw/serviceinterface.h" #include "fsfw/tmtcservices/AcceptsTelecommandsIF.h" #include "fsfw/tmtcpacket/pus/tc/PusTcReader.h" -#include "fsfw/globalfunctions/CRC.h": +#include "fsfw/globalfunctions/CRC.h" static constexpr auto DEF_END = SerializeIF::Endianness::BIG; From d16c5024dc7ece711afe88b156fe16aae6f4bd80 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 13 Jan 2023 11:15:36 +0100 Subject: [PATCH 06/49] small include improvement --- src/fsfw/pus/Service11TelecommandScheduling.tpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/fsfw/pus/Service11TelecommandScheduling.tpp b/src/fsfw/pus/Service11TelecommandScheduling.tpp index cbfa3103..540f6c68 100644 --- a/src/fsfw/pus/Service11TelecommandScheduling.tpp +++ b/src/fsfw/pus/Service11TelecommandScheduling.tpp @@ -6,7 +6,7 @@ #include "fsfw/serialize/SerializeAdapter.h" #include "fsfw/serviceinterface.h" #include "fsfw/tmtcservices/AcceptsTelecommandsIF.h" -#include "fsfw/tmtcpacket/pus/tc/PusTcReader.h" +#include "fsfw/tmtcpacket/pus/tc/PusTcIF.h" #include "fsfw/globalfunctions/CRC.h" static constexpr auto DEF_END = SerializeIF::Endianness::BIG; From 99d8c845f2690a55a6436e31fb0f50a21a285ff0 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 30 Jan 2023 14:05:39 +0100 Subject: [PATCH 07/49] allow using SO_REUSEADDR and SO_REUSEPORT on TCP server --- src/fsfw/osal/common/TcpTmTcServer.cpp | 15 ++++++++++++--- src/fsfw/osal/common/TcpTmTcServer.h | 26 ++++++++++++++++++++------ 2 files changed, 32 insertions(+), 9 deletions(-) diff --git a/src/fsfw/osal/common/TcpTmTcServer.cpp b/src/fsfw/osal/common/TcpTmTcServer.cpp index dff959ba..903d8752 100644 --- a/src/fsfw/osal/common/TcpTmTcServer.cpp +++ b/src/fsfw/osal/common/TcpTmTcServer.cpp @@ -26,12 +26,12 @@ const std::string TcpTmTcServer::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT; TcpTmTcServer::TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge, - size_t receptionBufferSize, size_t ringBufferSize, - std::string customTcpServerPort, ReceptionModes receptionMode) + TcpTmTcServer::TcpConfig cfg, size_t receptionBufferSize, + size_t ringBufferSize, ReceptionModes receptionMode) : SystemObject(objectId), tmtcBridgeId(tmtcTcpBridge), receptionMode(receptionMode), - tcpConfig(std::move(customTcpServerPort)), + tcpConfig(cfg), receptionBuffer(receptionBufferSize), ringBuffer(ringBufferSize, true) {} @@ -91,6 +91,15 @@ ReturnValue_t TcpTmTcServer::initialize() { return returnvalue::FAILED; } + if (tcpConfig.reuseAddr) { + unsigned int enable = 1; + setsockopt(listenerTcpSocket, SOL_SOCKET, SO_REUSEADDR, &enable, sizeof(enable)); + } + if (tcpConfig.reusePort) { + unsigned int enable = 1; + setsockopt(listenerTcpSocket, SOL_SOCKET, SO_REUSEPORT, &enable, sizeof(enable)); + } + // Bind to the address found by getaddrinfo retval = bind(listenerTcpSocket, addrResult->ai_addr, static_cast(addrResult->ai_addrlen)); if (retval == SOCKET_ERROR) { diff --git a/src/fsfw/osal/common/TcpTmTcServer.h b/src/fsfw/osal/common/TcpTmTcServer.h index 0e2182a5..8668d845 100644 --- a/src/fsfw/osal/common/TcpTmTcServer.h +++ b/src/fsfw/osal/common/TcpTmTcServer.h @@ -41,11 +41,11 @@ class SpacePacketParser; */ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableObjectIF { public: - enum class ReceptionModes { SPACE_PACKETS }; - struct TcpConfig { public: - explicit TcpConfig(std::string tcpPort) : tcpPort(std::move(tcpPort)) {} + TcpConfig(bool reuseAddr, bool reusePort) : reuseAddr(reuseAddr), reusePort(reusePort) {} + TcpConfig(std::string tcpPort, bool reuseAddr, bool reusePort) + : tcpPort(std::move(tcpPort)), reuseAddr(reuseAddr), reusePort(reusePort) {} /** * Passed to the recv call @@ -63,8 +63,23 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb */ int tcpTmFlags = 0; - const std::string tcpPort; + /** + * Sets the SO_REUSEADDR option on the socket. See + * https://man7.org/linux/man-pages/man7/socket.7.html for more details. This option is + * especially useful in a debugging and development environment where an OBSW image might be + * re-flashed oftentimes and where all incoming telecommands are received on a dedicated TCP + * port. + */ + bool reuseAddr = false; + /** + * Sets the SO_REUSEPORT option on the socket. See + * https://man7.org/linux/man-pages/man7/socket.7.html for more details. + */ + bool reusePort = false; + + std::string tcpPort = DEFAULT_SERVER_PORT; }; + enum class ReceptionModes { SPACE_PACKETS }; static const std::string DEFAULT_SERVER_PORT; @@ -80,10 +95,9 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb * size will be the Ethernet MTU size * @param customTcpServerPort The user can specify another port than the default (7301) here. */ - TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge, + TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge, TcpTmTcServer::TcpConfig cfg, size_t receptionBufferSize = RING_BUFFER_SIZE, size_t ringBufferSize = RING_BUFFER_SIZE, - std::string customTcpServerPort = DEFAULT_SERVER_PORT, ReceptionModes receptionMode = ReceptionModes::SPACE_PACKETS); ~TcpTmTcServer() override; From b646717a7610d430f999e4582a439a17eafaadc9 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 30 Jan 2023 14:11:00 +0100 Subject: [PATCH 08/49] bump changelog --- CHANGELOG.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index f738032f..bc0fa937 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -28,6 +28,10 @@ and this project adheres to [Semantic Versioning](http://semver.org/). ## Added +- `TcpTmTcServer`: Allow setting the `SO_REUSEADDR` and `SO_REUSEPORT` + option on the TCP server. CTOR prototype has changed and expects an explicit + TCP configuration struct to be passed. + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/722 - `DleParser` helper class to parse DLE encoded packets from a byte stream. PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/711 - `UioMapper` is able to resolve symlinks now. From fe7197846748040bbe4ab4c3cdd15d6cbf58cc43 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Sat, 28 Jan 2023 14:31:32 +0100 Subject: [PATCH 09/49] improve srv20 error messages --- src/fsfw/pus/Service20ParameterManagement.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/fsfw/pus/Service20ParameterManagement.cpp b/src/fsfw/pus/Service20ParameterManagement.cpp index e12d47bc..87bd5a13 100644 --- a/src/fsfw/pus/Service20ParameterManagement.cpp +++ b/src/fsfw/pus/Service20ParameterManagement.cpp @@ -69,14 +69,14 @@ ReturnValue_t Service20ParameterManagement::checkInterfaceAndAcquireMessageQueue #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Service20ParameterManagement::checkInterfaceAndAcquire" << "MessageQueue: Can't access object" << std::endl; - sif::error << "Object ID: " << std::hex << objectId << std::dec << std::endl; - sif::error << "Make sure it implements ReceivesParameterMessagesIF!" << std::endl; + sif::error << "Object ID: 0x" << std::hex << *objectId << std::dec << std::endl; + sif::error << "Make sure it implements ReceivesParameterMessagesIF" << std::endl; #else sif::printError( "Service20ParameterManagement::checkInterfaceAndAcquire" "MessageQueue: Can't access object\n"); sif::printError("Object ID: 0x%08x\n", *objectId); - sif::printError("Make sure it implements ReceivesParameterMessagesIF!\n"); + sif::printError("Make sure it implements ReceivesParameterMessagesIF\n"); #endif return CommandingServiceBase::INVALID_OBJECT; From 3656662d8881bb8b8e200a412dad4a1867ce759c Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 20 Jan 2023 11:10:05 +0100 Subject: [PATCH 10/49] small tweak, gain factory was always them same --- src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp b/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp index a32153eb..ce215a64 100644 --- a/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp +++ b/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp @@ -329,8 +329,8 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) { // Now scale to physical value in microtesla float fieldStrengthX = fieldStrengthRawX * scaleFactorX; - float fieldStrengthY = fieldStrengthRawY * scaleFactorX; - float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX; + float fieldStrengthY = fieldStrengthRawY * scaleFactorY; + float fieldStrengthZ = fieldStrengthRawZ * scaleFactorZ; if (periodicPrintout) { if (debugDivider.checkAndIncrement()) { From eb223dae880266fdbff7f26e700e14c819ad8f8b Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 30 Jan 2023 14:20:28 +0100 Subject: [PATCH 11/49] bump changelog --- CHANGELOG.md | 3 +++ 1 file changed, 3 insertions(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index f738032f..e379a6f3 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -12,6 +12,9 @@ and this project adheres to [Semantic Versioning](http://semver.org/). ## Fixes +- HAL MGM3100 Handler: Use axis specific gain/scaling factors. Previously, + only the X scaling factor was used. + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/724 - TC Scheduler Service 11: Add size and CRC check for contained TC. - Only delete health table entry in `HealthHelper` destructor if health table was set. From 9b05e8f27406e0bc1df4db6dde6ff85fbc9ea8e8 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 30 Jan 2023 14:24:28 +0100 Subject: [PATCH 12/49] re-order fields in TcpConfig --- src/fsfw/osal/common/TcpTmTcServer.h | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/fsfw/osal/common/TcpTmTcServer.h b/src/fsfw/osal/common/TcpTmTcServer.h index 8668d845..3d182827 100644 --- a/src/fsfw/osal/common/TcpTmTcServer.h +++ b/src/fsfw/osal/common/TcpTmTcServer.h @@ -63,6 +63,8 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb */ int tcpTmFlags = 0; + std::string tcpPort = DEFAULT_SERVER_PORT; + /** * Sets the SO_REUSEADDR option on the socket. See * https://man7.org/linux/man-pages/man7/socket.7.html for more details. This option is @@ -77,7 +79,6 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb */ bool reusePort = false; - std::string tcpPort = DEFAULT_SERVER_PORT; }; enum class ReceptionModes { SPACE_PACKETS }; From e487f5be871bcdadda49d2536944d6b2a3bb12eb Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 1 Feb 2023 17:07:38 +0100 Subject: [PATCH 13/49] proper announce all impl --- src/fsfw/health/HealthTable.h | 2 + src/fsfw/pus/CService201HealthCommanding.cpp | 44 ++++++++++++++++---- src/fsfw/pus/CService201HealthCommanding.h | 7 +++- 3 files changed, 43 insertions(+), 10 deletions(-) diff --git a/src/fsfw/health/HealthTable.h b/src/fsfw/health/HealthTable.h index 076228c1..9b0722df 100644 --- a/src/fsfw/health/HealthTable.h +++ b/src/fsfw/health/HealthTable.h @@ -8,6 +8,8 @@ #include "HealthTableIF.h" class HealthTable : public HealthTableIF, public SystemObject { + friend class CService201HealthCommanding; + public: explicit HealthTable(object_id_t objectid); ~HealthTable() override; diff --git a/src/fsfw/pus/CService201HealthCommanding.cpp b/src/fsfw/pus/CService201HealthCommanding.cpp index bf21c5bd..af261caf 100644 --- a/src/fsfw/pus/CService201HealthCommanding.cpp +++ b/src/fsfw/pus/CService201HealthCommanding.cpp @@ -1,5 +1,7 @@ #include "fsfw/pus/CService201HealthCommanding.h" +#include + #include "fsfw/health/HasHealthIF.h" #include "fsfw/health/HealthMessage.h" #include "fsfw/objectmanager/ObjectManager.h" @@ -7,11 +9,12 @@ #include "fsfw/serviceinterface/ServiceInterface.h" CService201HealthCommanding::CService201HealthCommanding(object_id_t objectId, uint16_t apid, - uint8_t serviceId, + uint8_t serviceId, HealthTable &table, uint8_t numParallelCommands, uint16_t commandTimeoutSeconds) : CommandingServiceBase(objectId, apid, "PUS 201 Health MGMT", serviceId, numParallelCommands, - commandTimeoutSeconds) {} + commandTimeoutSeconds), + healthTable(table) {} ReturnValue_t CService201HealthCommanding::isValidSubservice(uint8_t subservice) { switch (subservice) { @@ -32,12 +35,16 @@ ReturnValue_t CService201HealthCommanding::getMessageQueueAndObject(uint8_t subs size_t tcDataLen, MessageQueueId_t *id, object_id_t *objectId) { - if (tcDataLen < sizeof(object_id_t)) { - return CommandingServiceBase::INVALID_TC; - } - SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen, SerializeIF::Endianness::BIG); + if (subservice == Subservice::COMMAND_SET_HEALTH and + subservice == Subservice::COMMAND_ANNOUNCE_HEALTH) { + if (tcDataLen < sizeof(object_id_t)) { + return CommandingServiceBase::INVALID_TC; + } + SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen, SerializeIF::Endianness::BIG); - return checkInterfaceAndAcquireMessageQueue(id, objectId); + return checkInterfaceAndAcquireMessageQueue(id, objectId); + } + return returnvalue::OK; } ReturnValue_t CService201HealthCommanding::checkInterfaceAndAcquireMessageQueue( @@ -72,8 +79,15 @@ ReturnValue_t CService201HealthCommanding::prepareCommand(CommandMessage *messag break; } case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): { - HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_ANNOUNCE_ALL); - break; + ReturnValue_t result = iterateHealthTable(true); + while (true) { + ReturnValue_t result = iterateHealthTable(false); + if (result != returnvalue::OK) { + break; + } + } + + return returnvalue::OK; } default: { // Should never happen, subservice was already checked @@ -104,3 +118,15 @@ ReturnValue_t CService201HealthCommanding::handleReply(const CommandMessage *rep HealthSetReply healthSetReply(health, oldHealth); return sendTmPacket(Subservice::REPLY_HEALTH_SET, healthSetReply); } + +ReturnValue_t CService201HealthCommanding::iterateHealthTable(bool reset) { + std::pair pair; + + ReturnValue_t result = healthTable.iterate(&pair, reset); + if (result != returnvalue::OK) { + return result; + } else { + EventManagerIF::triggerEvent(pair.first, HasHealthIF::HEALTH_INFO, pair.second, pair.second); + return returnvalue::OK; + } +} diff --git a/src/fsfw/pus/CService201HealthCommanding.h b/src/fsfw/pus/CService201HealthCommanding.h index 71b7caa0..8cef5599 100644 --- a/src/fsfw/pus/CService201HealthCommanding.h +++ b/src/fsfw/pus/CService201HealthCommanding.h @@ -1,6 +1,8 @@ #ifndef FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_ #define FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_ +#include + #include "fsfw/tmtcservices/CommandingServiceBase.h" /** @@ -20,7 +22,8 @@ class CService201HealthCommanding : public CommandingServiceBase { public: CService201HealthCommanding(object_id_t objectId, uint16_t apid, uint8_t serviceId, - uint8_t numParallelCommands = 4, uint16_t commandTimeoutSeconds = 60); + HealthTable &table, uint8_t numParallelCommands = 4, + uint16_t commandTimeoutSeconds = 60); ~CService201HealthCommanding() override = default; protected: @@ -38,6 +41,8 @@ class CService201HealthCommanding : public CommandingServiceBase { bool *isStep) override; private: + HealthTable &healthTable; + ReturnValue_t iterateHealthTable(bool reset); static ReturnValue_t checkInterfaceAndAcquireMessageQueue(MessageQueueId_t *MessageQueueToSet, const object_id_t *objectId); From 29ea89044e4a45ff207cb58175b3d1941740bfa3 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 1 Feb 2023 17:33:24 +0100 Subject: [PATCH 14/49] beatufil --- src/fsfw/health/HealthTable.h | 2 +- src/fsfw/pus/CMakeLists.txt | 2 +- ...nding.cpp => CServiceHealthCommanding.cpp} | 88 ++++++++++++------- ...ommanding.h => CServiceHealthCommanding.h} | 28 ++++-- 4 files changed, 79 insertions(+), 41 deletions(-) rename src/fsfw/pus/{CService201HealthCommanding.cpp => CServiceHealthCommanding.cpp} (56%) rename src/fsfw/pus/{CService201HealthCommanding.h => CServiceHealthCommanding.h} (75%) diff --git a/src/fsfw/health/HealthTable.h b/src/fsfw/health/HealthTable.h index 9b0722df..7b42dfba 100644 --- a/src/fsfw/health/HealthTable.h +++ b/src/fsfw/health/HealthTable.h @@ -8,7 +8,7 @@ #include "HealthTableIF.h" class HealthTable : public HealthTableIF, public SystemObject { - friend class CService201HealthCommanding; + friend class CServiceHealthCommanding; public: explicit HealthTable(object_id_t objectid); diff --git a/src/fsfw/pus/CMakeLists.txt b/src/fsfw/pus/CMakeLists.txt index 35b35bea..7c5b340c 100644 --- a/src/fsfw/pus/CMakeLists.txt +++ b/src/fsfw/pus/CMakeLists.txt @@ -9,4 +9,4 @@ target_sources( Service17Test.cpp Service20ParameterManagement.cpp CService200ModeCommanding.cpp - CService201HealthCommanding.cpp) + CServiceHealthCommanding.cpp) diff --git a/src/fsfw/pus/CService201HealthCommanding.cpp b/src/fsfw/pus/CServiceHealthCommanding.cpp similarity index 56% rename from src/fsfw/pus/CService201HealthCommanding.cpp rename to src/fsfw/pus/CServiceHealthCommanding.cpp index af261caf..9a2af7bc 100644 --- a/src/fsfw/pus/CService201HealthCommanding.cpp +++ b/src/fsfw/pus/CServiceHealthCommanding.cpp @@ -1,6 +1,5 @@ -#include "fsfw/pus/CService201HealthCommanding.h" - #include +#include #include "fsfw/health/HasHealthIF.h" #include "fsfw/health/HealthMessage.h" @@ -8,15 +7,13 @@ #include "fsfw/pus/servicepackets/Service201Packets.h" #include "fsfw/serviceinterface/ServiceInterface.h" -CService201HealthCommanding::CService201HealthCommanding(object_id_t objectId, uint16_t apid, - uint8_t serviceId, HealthTable &table, - uint8_t numParallelCommands, - uint16_t commandTimeoutSeconds) - : CommandingServiceBase(objectId, apid, "PUS 201 Health MGMT", serviceId, numParallelCommands, - commandTimeoutSeconds), - healthTable(table) {} +CServiceHealthCommanding::CServiceHealthCommanding(HealthServiceCfg args) + : CommandingServiceBase(args.objectId, args.apid, "PUS 201 Health MGMT", args.service, + args.numParallelCommands, args.commandTimeoutSeconds), + healthTable(args.table), + maxNumHealthInfoPerCycle(args.maxNumHealthInfoPerCycle) {} -ReturnValue_t CService201HealthCommanding::isValidSubservice(uint8_t subservice) { +ReturnValue_t CServiceHealthCommanding::isValidSubservice(uint8_t subservice) { switch (subservice) { case (Subservice::COMMAND_SET_HEALTH): case (Subservice::COMMAND_ANNOUNCE_HEALTH): @@ -30,24 +27,31 @@ ReturnValue_t CService201HealthCommanding::isValidSubservice(uint8_t subservice) } } -ReturnValue_t CService201HealthCommanding::getMessageQueueAndObject(uint8_t subservice, - const uint8_t *tcData, - size_t tcDataLen, - MessageQueueId_t *id, - object_id_t *objectId) { - if (subservice == Subservice::COMMAND_SET_HEALTH and - subservice == Subservice::COMMAND_ANNOUNCE_HEALTH) { - if (tcDataLen < sizeof(object_id_t)) { - return CommandingServiceBase::INVALID_TC; - } - SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen, SerializeIF::Endianness::BIG); +ReturnValue_t CServiceHealthCommanding::getMessageQueueAndObject(uint8_t subservice, + const uint8_t *tcData, + size_t tcDataLen, + MessageQueueId_t *id, + object_id_t *objectId) { + switch (subservice) { + case (Subservice::COMMAND_SET_HEALTH): + case (Subservice::COMMAND_ANNOUNCE_HEALTH): { + if (tcDataLen < sizeof(object_id_t)) { + return CommandingServiceBase::INVALID_TC; + } + SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen, SerializeIF::Endianness::BIG); - return checkInterfaceAndAcquireMessageQueue(id, objectId); + return checkInterfaceAndAcquireMessageQueue(id, objectId); + } + case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): { + return returnvalue::OK; + } + default: { + return returnvalue::FAILED; + } } - return returnvalue::OK; } -ReturnValue_t CService201HealthCommanding::checkInterfaceAndAcquireMessageQueue( +ReturnValue_t CServiceHealthCommanding::checkInterfaceAndAcquireMessageQueue( MessageQueueId_t *messageQueueToSet, const object_id_t *objectId) { auto *destination = ObjectManager::instance()->get(*objectId); if (destination == nullptr) { @@ -58,10 +62,9 @@ ReturnValue_t CService201HealthCommanding::checkInterfaceAndAcquireMessageQueue( return returnvalue::OK; } -ReturnValue_t CService201HealthCommanding::prepareCommand(CommandMessage *message, - uint8_t subservice, const uint8_t *tcData, - size_t tcDataLen, uint32_t *state, - object_id_t objectId) { +ReturnValue_t CServiceHealthCommanding::prepareCommand(CommandMessage *message, uint8_t subservice, + const uint8_t *tcData, size_t tcDataLen, + uint32_t *state, object_id_t objectId) { ReturnValue_t result = returnvalue::OK; switch (subservice) { case (Subservice::COMMAND_SET_HEALTH): { @@ -80,6 +83,11 @@ ReturnValue_t CService201HealthCommanding::prepareCommand(CommandMessage *messag } case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): { ReturnValue_t result = iterateHealthTable(true); + if (result == returnvalue::OK) { + reportAllHealth = true; + return EXECUTION_COMPLETE; + } + return result; while (true) { ReturnValue_t result = iterateHealthTable(false); if (result != returnvalue::OK) { @@ -97,10 +105,10 @@ ReturnValue_t CService201HealthCommanding::prepareCommand(CommandMessage *messag return result; } -ReturnValue_t CService201HealthCommanding::handleReply(const CommandMessage *reply, - Command_t previousCommand, uint32_t *state, - CommandMessage *optionalNextCommand, - object_id_t objectId, bool *isStep) { +ReturnValue_t CServiceHealthCommanding::handleReply(const CommandMessage *reply, + Command_t previousCommand, uint32_t *state, + CommandMessage *optionalNextCommand, + object_id_t objectId, bool *isStep) { Command_t replyId = reply->getCommand(); if (replyId == HealthMessage::REPLY_HEALTH_SET) { return EXECUTION_COMPLETE; @@ -110,8 +118,20 @@ ReturnValue_t CService201HealthCommanding::handleReply(const CommandMessage *rep return CommandingServiceBase::INVALID_REPLY; } +void CServiceHealthCommanding::doPeriodicOperation() { + if (reportAllHealth) { + for (uint8_t i = 0; i < maxNumHealthInfoPerCycle; i++) { + ReturnValue_t result = iterateHealthTable(true); + if (result != returnvalue::OK) { + reportAllHealth = false; + break; + } + } + } +} + // Not used for now, health state already reported by event -[[maybe_unused]] ReturnValue_t CService201HealthCommanding::prepareHealthSetReply( +[[maybe_unused]] ReturnValue_t CServiceHealthCommanding::prepareHealthSetReply( const CommandMessage *reply) { auto health = static_cast(HealthMessage::getHealth(reply)); auto oldHealth = static_cast(HealthMessage::getOldHealth(reply)); @@ -119,7 +139,7 @@ ReturnValue_t CService201HealthCommanding::handleReply(const CommandMessage *rep return sendTmPacket(Subservice::REPLY_HEALTH_SET, healthSetReply); } -ReturnValue_t CService201HealthCommanding::iterateHealthTable(bool reset) { +ReturnValue_t CServiceHealthCommanding::iterateHealthTable(bool reset) { std::pair pair; ReturnValue_t result = healthTable.iterate(&pair, reset); diff --git a/src/fsfw/pus/CService201HealthCommanding.h b/src/fsfw/pus/CServiceHealthCommanding.h similarity index 75% rename from src/fsfw/pus/CService201HealthCommanding.h rename to src/fsfw/pus/CServiceHealthCommanding.h index 8cef5599..18f6c140 100644 --- a/src/fsfw/pus/CService201HealthCommanding.h +++ b/src/fsfw/pus/CServiceHealthCommanding.h @@ -5,6 +5,22 @@ #include "fsfw/tmtcservices/CommandingServiceBase.h" +struct HealthServiceCfg { + HealthServiceCfg(object_id_t objectId, uint16_t apid, HealthTable &healthTable, + uint16_t maxNumHealthInfoPerCycle) + : objectId(objectId), + apid(apid), + table(healthTable), + maxNumHealthInfoPerCycle(maxNumHealthInfoPerCycle) {} + object_id_t objectId; + uint16_t apid; + HealthTable &table; + uint16_t maxNumHealthInfoPerCycle; + uint8_t service = 201; + uint8_t numParallelCommands = 4; + uint16_t commandTimeoutSeconds = 60; +}; + /** * @brief Custom PUS service to set health of all objects * implementing hasHealthIF. @@ -19,12 +35,10 @@ * child class like this service * */ -class CService201HealthCommanding : public CommandingServiceBase { +class CServiceHealthCommanding : public CommandingServiceBase { public: - CService201HealthCommanding(object_id_t objectId, uint16_t apid, uint8_t serviceId, - HealthTable &table, uint8_t numParallelCommands = 4, - uint16_t commandTimeoutSeconds = 60); - ~CService201HealthCommanding() override = default; + CServiceHealthCommanding(HealthServiceCfg args); + ~CServiceHealthCommanding() override = default; protected: /* CSB abstract function implementations */ @@ -40,8 +54,12 @@ class CService201HealthCommanding : public CommandingServiceBase { CommandMessage *optionalNextCommand, object_id_t objectId, bool *isStep) override; + void doPeriodicOperation() override; + private: HealthTable &healthTable; + uint16_t maxNumHealthInfoPerCycle = 0; + bool reportAllHealth = false; ReturnValue_t iterateHealthTable(bool reset); static ReturnValue_t checkInterfaceAndAcquireMessageQueue(MessageQueueId_t *MessageQueueToSet, const object_id_t *objectId); From 61df451dd8844bc1310595712fd492b0b017cddc Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 1 Feb 2023 17:41:47 +0100 Subject: [PATCH 15/49] update changelog --- CHANGELOG.md | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index f738032f..8c8260b6 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -25,6 +25,8 @@ and this project adheres to [Semantic Versioning](http://semver.org/). - `TcpTmTcServer.cpp`: The server was actually not able to handle CCSDS packets which were clumped together. This has been fixed now. PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/673 +- `CServiceHealthCommanding`: Add announce all health info implementation + PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/122 ## Added @@ -37,6 +39,10 @@ and this project adheres to [Semantic Versioning](http://semver.org/). ## Changes +- `CService201HealthCommanding` renamed to `CServiceHealthCommanding`, + service ID customizable now. `CServiceHealthCommanding` expects configuration struct + `HealthServiceCfg` now + PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/122 - `AcceptsTelemetryIF`: `getReportReceptionQueue` is const now PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/712 - Moved some container returnvalues to dedicated header and namespace From 7e94baceef7ae88e82fed6b1c6fb788672a77af3 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 1 Feb 2023 18:10:07 +0100 Subject: [PATCH 16/49] service 9 update - fix time info event - add time dump subservice --- CHANGELOG.md | 2 ++ src/fsfw/pus/Service9TimeManagement.cpp | 22 ++++++++++++++++------ src/fsfw/pus/Service9TimeManagement.h | 16 ++++++++++------ 3 files changed, 28 insertions(+), 12 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index f738032f..0646cf5e 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -12,6 +12,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/). ## Fixes + - TC Scheduler Service 11: Add size and CRC check for contained TC. - Only delete health table entry in `HealthHelper` destructor if health table was set. @@ -28,6 +29,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/). ## Added +- `Service9TimeManagement`: Add `DUMP_TIME` (129) subservice. - `DleParser` helper class to parse DLE encoded packets from a byte stream. PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/711 - `UioMapper` is able to resolve symlinks now. diff --git a/src/fsfw/pus/Service9TimeManagement.cpp b/src/fsfw/pus/Service9TimeManagement.cpp index d19cb518..fb32f60e 100644 --- a/src/fsfw/pus/Service9TimeManagement.cpp +++ b/src/fsfw/pus/Service9TimeManagement.cpp @@ -1,5 +1,7 @@ #include "fsfw/pus/Service9TimeManagement.h" +#include + #include "fsfw/events/EventManagerIF.h" #include "fsfw/pus/servicepackets/Service9Packets.h" #include "fsfw/serviceinterface/ServiceInterface.h" @@ -15,9 +17,17 @@ ReturnValue_t Service9TimeManagement::performService() { return returnvalue::OK; ReturnValue_t Service9TimeManagement::handleRequest(uint8_t subservice) { switch (subservice) { - case SUBSERVICE::SET_TIME: { + case Subservice::SET_TIME: { return setTime(); } + case Subservice::DUMP_TIME: { + timeval newTime; + Clock::getClock_timeval(&newTime); + uint32_t subsecondMs = + static_cast(std::floor(static_cast(newTime.tv_usec) / 1000.0)); + triggerEvent(CLOCK_DUMP, newTime.tv_sec, subsecondMs); + return returnvalue::OK; + } default: return AcceptsTelecommandsIF::INVALID_SUBSERVICE; } @@ -33,14 +43,14 @@ ReturnValue_t Service9TimeManagement::setTime() { return result; } - uint32_t formerUptime; - Clock::getUptime(&formerUptime); + timeval time; + Clock::getClock_timeval(&time); result = Clock::setClock(&timeToSet); if (result == returnvalue::OK) { - uint32_t newUptime; - Clock::getUptime(&newUptime); - triggerEvent(CLOCK_SET, newUptime, formerUptime); + timeval newTime; + Clock::getClock_timeval(&newTime); + triggerEvent(CLOCK_SET, time.tv_sec, newTime.tv_sec); return returnvalue::OK; } else { triggerEvent(CLOCK_SET_FAILURE, result, 0); diff --git a/src/fsfw/pus/Service9TimeManagement.h b/src/fsfw/pus/Service9TimeManagement.h index b4886bb0..556f3df3 100644 --- a/src/fsfw/pus/Service9TimeManagement.h +++ b/src/fsfw/pus/Service9TimeManagement.h @@ -6,10 +6,13 @@ class Service9TimeManagement : public PusServiceBase { public: static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_9; - static constexpr Event CLOCK_SET = - MAKE_EVENT(0, severity::INFO); //!< Clock has been set. P1: New Uptime. P2: Old Uptime - static constexpr Event CLOCK_SET_FAILURE = - MAKE_EVENT(1, severity::LOW); //!< Clock could not be set. P1: Returncode. + + //!< Clock has been set. P1: old timeval seconds. P2: new timeval seconds. + static constexpr Event CLOCK_SET = MAKE_EVENT(0, severity::INFO); + //!< Clock dump event. P1: timeval seconds P2: timeval milliseconds. + static constexpr Event CLOCK_DUMP = MAKE_EVENT(1, severity::INFO); + //!< Clock could not be set. P1: Returncode. + static constexpr Event CLOCK_SET_FAILURE = MAKE_EVENT(2, severity::LOW); static constexpr uint8_t CLASS_ID = CLASS_ID::PUS_SERVICE_9; @@ -30,8 +33,9 @@ class Service9TimeManagement : public PusServiceBase { virtual ReturnValue_t setTime(); private: - enum SUBSERVICE { - SET_TIME = 128 //!< [EXPORT] : [COMMAND] Time command in ASCII, CUC or CDS format + enum Subservice { + SET_TIME = 128, //!< [EXPORT] : [COMMAND] Time command in ASCII, CUC or CDS format + DUMP_TIME = 129, }; }; From 1f88c006d99738a5ab124e0db078e08de967fc4d Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 1 Feb 2023 18:42:09 +0100 Subject: [PATCH 17/49] update changelog --- CHANGELOG.md | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 0646cf5e..04969f87 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -12,7 +12,9 @@ and this project adheres to [Semantic Versioning](http://semver.org/). ## Fixes - +- `Service9TimeManagement`: Fix the time dump at the `SET_TIME` subservice: Include clock timeval + seconds instead of uptime. + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/726 - TC Scheduler Service 11: Add size and CRC check for contained TC. - Only delete health table entry in `HealthHelper` destructor if health table was set. From c1f42618dbb8cd541297205a37f27bef7c993aa1 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 1 Feb 2023 19:58:27 +0100 Subject: [PATCH 18/49] small but important bugfix for health service --- src/fsfw/pus/CServiceHealthCommanding.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/fsfw/pus/CServiceHealthCommanding.cpp b/src/fsfw/pus/CServiceHealthCommanding.cpp index 9a2af7bc..57b704fd 100644 --- a/src/fsfw/pus/CServiceHealthCommanding.cpp +++ b/src/fsfw/pus/CServiceHealthCommanding.cpp @@ -121,7 +121,7 @@ ReturnValue_t CServiceHealthCommanding::handleReply(const CommandMessage *reply, void CServiceHealthCommanding::doPeriodicOperation() { if (reportAllHealth) { for (uint8_t i = 0; i < maxNumHealthInfoPerCycle; i++) { - ReturnValue_t result = iterateHealthTable(true); + ReturnValue_t result = iterateHealthTable(false); if (result != returnvalue::OK) { reportAllHealth = false; break; From e93137939eb42c5cdc72b50b22191e38fd99425b Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 1 Feb 2023 20:46:48 +0100 Subject: [PATCH 19/49] set sequence flags for PUS TMTC to unsegmented --- src/fsfw/tmtcpacket/pus/tc/PusTcCreator.cpp | 1 + src/fsfw/tmtcpacket/pus/tm/PusTmCreator.cpp | 1 + 2 files changed, 2 insertions(+) diff --git a/src/fsfw/tmtcpacket/pus/tc/PusTcCreator.cpp b/src/fsfw/tmtcpacket/pus/tc/PusTcCreator.cpp index 2c818c7b..82dd1c41 100644 --- a/src/fsfw/tmtcpacket/pus/tc/PusTcCreator.cpp +++ b/src/fsfw/tmtcpacket/pus/tc/PusTcCreator.cpp @@ -100,5 +100,6 @@ ReturnValue_t PusTcCreator::setSerializableUserData(const SerializeIF &serializa void PusTcCreator::setup() { spCreator.setPacketType(ccsds::PacketType::TC); spCreator.setSecHeaderFlag(); + spCreator.setSeqFlags(ccsds::SequenceFlags::UNSEGMENTED); updateSpLengthField(); } diff --git a/src/fsfw/tmtcpacket/pus/tm/PusTmCreator.cpp b/src/fsfw/tmtcpacket/pus/tm/PusTmCreator.cpp index d95a18ea..c9b3290a 100644 --- a/src/fsfw/tmtcpacket/pus/tm/PusTmCreator.cpp +++ b/src/fsfw/tmtcpacket/pus/tm/PusTmCreator.cpp @@ -119,6 +119,7 @@ void PusTmCreator::setup() { updateSpLengthField(); spCreator.setPacketType(ccsds::PacketType::TM); spCreator.setSecHeaderFlag(); + spCreator.setSeqFlags(ccsds::SequenceFlags::UNSEGMENTED); } void PusTmCreator::setMessageTypeCounter(uint16_t messageTypeCounter) { From 0f811777a7447254da65ceb6077ff73a06cdf545 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 1 Feb 2023 20:49:53 +0100 Subject: [PATCH 20/49] changelog update --- CHANGELOG.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index f738032f..316ebbf5 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -12,6 +12,8 @@ and this project adheres to [Semantic Versioning](http://semver.org/). ## Fixes +- PUS TMTC creator module: Sequence flags were set to continuation segment (0b00) instead + of the correct unsegmented flags (0b11) as specified in the standard. - TC Scheduler Service 11: Add size and CRC check for contained TC. - Only delete health table entry in `HealthHelper` destructor if health table was set. From 5343844be54329763d7d76caf552eaf6adb8a32d Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 3 Feb 2023 15:58:26 +0100 Subject: [PATCH 21/49] bugfix in setNormalDataPoolEntriesInvalid Do not forget to call read and write to actually update the validity state --- src/fsfw/devicehandlers/DeviceHandlerBase.cpp | 7 ++++++- unittests/testcfg/devices/logicalAddresses.h | 2 +- 2 files changed, 7 insertions(+), 2 deletions(-) diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp index 60966501..26c9a1bb 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp @@ -1,5 +1,7 @@ #include "fsfw/devicehandlers/DeviceHandlerBase.h" +#include + #include "fsfw/datapoollocal/LocalPoolVariable.h" #include "fsfw/devicehandlers/AcceptsDeviceResponsesIF.h" #include "fsfw/devicehandlers/DeviceTmReportingWrapper.h" @@ -1508,7 +1510,10 @@ DeviceCommandId_t DeviceHandlerBase::getPendingCommand() const { void DeviceHandlerBase::setNormalDatapoolEntriesInvalid() { for (const auto& reply : deviceReplyMap) { if (reply.second.dataSet != nullptr) { - reply.second.dataSet->setValidity(false, true); + PoolReadGuard pg(reply.second.dataSet); + if (pg.getReadResult() == returnvalue::OK) { + reply.second.dataSet->setValidity(false, true); + } } } } diff --git a/unittests/testcfg/devices/logicalAddresses.h b/unittests/testcfg/devices/logicalAddresses.h index 788c124f..a7e34cce 100644 --- a/unittests/testcfg/devices/logicalAddresses.h +++ b/unittests/testcfg/devices/logicalAddresses.h @@ -7,7 +7,7 @@ namespace addresses { /* Logical addresses have uint32_t datatype */ -enum logicalAddresses : address_t {}; +enum LogicAddress : address_t {}; } // namespace addresses #endif /* CONFIG_DEVICES_LOGICALADDRESSES_H_ */ From 4374c7c4f4fc075e7ec1d4b18b819d36622c64b3 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 3 Feb 2023 16:01:56 +0100 Subject: [PATCH 22/49] changelog --- CHANGELOG.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index 316ebbf5..969af78e 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -12,6 +12,8 @@ and this project adheres to [Semantic Versioning](http://semver.org/). ## Fixes +- DHB `setNormalDatapoolEntriesInvalid`: The default implementation did not set the validity + to false correctly because the `read` and `write` calls were missing. - PUS TMTC creator module: Sequence flags were set to continuation segment (0b00) instead of the correct unsegmented flags (0b11) as specified in the standard. - TC Scheduler Service 11: Add size and CRC check for contained TC. From 034eb34c2e86cb47cedb1d8e773ada9aae3ee8a0 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 3 Feb 2023 16:05:50 +0100 Subject: [PATCH 23/49] small tweak --- src/fsfw/devicehandlers/DeviceHandlerBase.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp index 26c9a1bb..bc528128 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp @@ -1,7 +1,6 @@ #include "fsfw/devicehandlers/DeviceHandlerBase.h" -#include - +#include "fsfw/datapool/PoolReadGuard.h" #include "fsfw/datapoollocal/LocalPoolVariable.h" #include "fsfw/devicehandlers/AcceptsDeviceResponsesIF.h" #include "fsfw/devicehandlers/DeviceTmReportingWrapper.h" From 066f7a6f9bb69e8f4356ebb7098207322ae9095f Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 6 Feb 2023 14:41:14 +0100 Subject: [PATCH 24/49] remove unreachable code --- src/fsfw/pus/CServiceHealthCommanding.cpp | 8 -------- 1 file changed, 8 deletions(-) diff --git a/src/fsfw/pus/CServiceHealthCommanding.cpp b/src/fsfw/pus/CServiceHealthCommanding.cpp index 57b704fd..4a2339d9 100644 --- a/src/fsfw/pus/CServiceHealthCommanding.cpp +++ b/src/fsfw/pus/CServiceHealthCommanding.cpp @@ -88,14 +88,6 @@ ReturnValue_t CServiceHealthCommanding::prepareCommand(CommandMessage *message, return EXECUTION_COMPLETE; } return result; - while (true) { - ReturnValue_t result = iterateHealthTable(false); - if (result != returnvalue::OK) { - break; - } - } - - return returnvalue::OK; } default: { // Should never happen, subservice was already checked From 7e7b3bbbc9eccfb8610e712116c1398ce877b23e Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 7 Feb 2023 12:06:34 +0100 Subject: [PATCH 25/49] time stamper empty ctor --- src/fsfw/timemanager/CdsShortTimeStamper.cpp | 2 ++ src/fsfw/timemanager/CdsShortTimeStamper.h | 1 + 2 files changed, 3 insertions(+) diff --git a/src/fsfw/timemanager/CdsShortTimeStamper.cpp b/src/fsfw/timemanager/CdsShortTimeStamper.cpp index 8fb33f12..aa259029 100644 --- a/src/fsfw/timemanager/CdsShortTimeStamper.cpp +++ b/src/fsfw/timemanager/CdsShortTimeStamper.cpp @@ -4,6 +4,8 @@ #include "fsfw/timemanager/Clock.h" +CdsShortTimeStamper::CdsShortTimeStamper() : SystemObject(0, false) {} + CdsShortTimeStamper::CdsShortTimeStamper(object_id_t objectId) : SystemObject(objectId) {} ReturnValue_t CdsShortTimeStamper::serialize(uint8_t **buffer, size_t *size, size_t maxSize, diff --git a/src/fsfw/timemanager/CdsShortTimeStamper.h b/src/fsfw/timemanager/CdsShortTimeStamper.h index 244d54b6..a16a07b6 100644 --- a/src/fsfw/timemanager/CdsShortTimeStamper.h +++ b/src/fsfw/timemanager/CdsShortTimeStamper.h @@ -18,6 +18,7 @@ class CdsShortTimeStamper : public TimeWriterIF, public TimeReaderIF, public SystemObject { public: static constexpr size_t TIMESTAMP_LEN = 7; + CdsShortTimeStamper(); /** * @brief Default constructor which also registers the time stamper as a * system object so it can be found with the #objectManager. From b22d4393002f6d5a72bfc24c7ca6be98a1cccfe1 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 7 Feb 2023 12:10:11 +0100 Subject: [PATCH 26/49] bump changelog --- CHANGELOG.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index 4c5cf023..0c70147e 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -35,6 +35,8 @@ and this project adheres to [Semantic Versioning](http://semver.org/). ## Added +- Empty constructor for `CdsShortTimeStamper` which does not do an object manager registration. + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/730 - `TcpTmTcServer`: Allow setting the `SO_REUSEADDR` and `SO_REUSEPORT` option on the TCP server. CTOR prototype has changed and expects an explicit TCP configuration struct to be passed. From 0a23f2c85a712c01e884b0d5e00cc17db26f21a4 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 7 Feb 2023 12:15:44 +0100 Subject: [PATCH 27/49] correction for printout, add prefix --- src/fsfw/osal/CMakeLists.txt | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/src/fsfw/osal/CMakeLists.txt b/src/fsfw/osal/CMakeLists.txt index a4097649..6ccea974 100644 --- a/src/fsfw/osal/CMakeLists.txt +++ b/src/fsfw/osal/CMakeLists.txt @@ -18,7 +18,10 @@ elseif(FSFW_OSAL MATCHES "host") endif() set(FSFW_OSAL_HOST 1) else() - message(WARNING "The OS_FSFW variable was not set. Assuming host OS..") + message( + WARNING + "${MSG_PREFIX} The FSFW_OSAL variable was not set. Assuming host OS..") + # Not set. Assumuing this is a host build, try to determine host OS if(WIN32) add_subdirectory(host) From 539d7aac9ebbe0ed68db7a338e4e18360de7299f Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 7 Feb 2023 12:17:03 +0100 Subject: [PATCH 28/49] suppress error if ETL is not found --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 8308f523..9025537a 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -196,7 +196,7 @@ message( ) # Check whether the user has already installed ETL first -find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET) +find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} CONFIG QUIET) # Not installed, so use FetchContent to download and provide etl if(NOT ${FSFW_ETL_LIB_NAME}_FOUND) message( From c8e065a713fcb7d10efa1a13a770af4ce76e9404 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 7 Feb 2023 12:36:42 +0100 Subject: [PATCH 29/49] comment tweak to event parser can read everything --- src/fsfw/health/HasHealthIF.h | 28 +++++++++++++--------------- 1 file changed, 13 insertions(+), 15 deletions(-) diff --git a/src/fsfw/health/HasHealthIF.h b/src/fsfw/health/HasHealthIF.h index 77a1c12f..16666bbc 100644 --- a/src/fsfw/health/HasHealthIF.h +++ b/src/fsfw/health/HasHealthIF.h @@ -16,26 +16,24 @@ class HasHealthIF { }; static const uint8_t INTERFACE_ID = CLASS_ID::HAS_HEALTH_IF; - static const ReturnValue_t OBJECT_NOT_HEALTHY = MAKE_RETURN_CODE(1); - static const ReturnValue_t INVALID_HEALTH_STATE = MAKE_RETURN_CODE(2); + static constexpr ReturnValue_t OBJECT_NOT_HEALTHY = returnvalue::makeCode(INTERFACE_ID, 1); + static constexpr ReturnValue_t INVALID_HEALTH_STATE = returnvalue::makeCode(INTERFACE_ID, 2); + static constexpr ReturnValue_t IS_EXTERNALLY_CONTROLLED = returnvalue::makeCode(INTERFACE_ID, 3); static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYSTEM_MANAGER_1; + //! P1: New Health, P2: Old Health static const Event HEALTH_INFO = MAKE_EVENT(6, severity::INFO); static const Event CHILD_CHANGED_HEALTH = MAKE_EVENT(7, severity::INFO); static const Event CHILD_PROBLEMS = MAKE_EVENT(8, severity::LOW); - static const Event OVERWRITING_HEALTH = - MAKE_EVENT(9, severity::LOW); //!< Assembly overwrites health information of children to keep - //!< satellite alive. - static const Event TRYING_RECOVERY = - MAKE_EVENT(10, severity::MEDIUM); //!< Someone starts a recovery of a component (typically - //!< power-cycle). No parameters. - static const Event RECOVERY_STEP = - MAKE_EVENT(11, severity::MEDIUM); //!< Recovery is ongoing. Comes twice during recovery. P1: - //!< 0 for the first, 1 for the second event. P2: 0 - static const Event RECOVERY_DONE = MAKE_EVENT( - 12, - severity::MEDIUM); //!< Recovery was completed. Not necessarily successful. No parameters. - + //! Assembly overwrites health information of children to keep satellite alive. + static const Event OVERWRITING_HEALTH = MAKE_EVENT(9, severity::LOW); + //! Someone starts a recovery of a component (typically power-cycle). No parameters. + static const Event TRYING_RECOVERY = MAKE_EVENT(10, severity::MEDIUM); + //! Recovery is ongoing. Comes twice during recovery. + //! P1: 0 for the first, 1 for the second event. P2: 0 + static const Event RECOVERY_STEP = MAKE_EVENT(11, severity::MEDIUM); + //! Recovery was completed. Not necessarily successful. No parameters. + static const Event RECOVERY_DONE = MAKE_EVENT(12, severity::MEDIUM); virtual ~HasHealthIF() {} virtual MessageQueueId_t getCommandQueue() const = 0; From c2e6a22deca2033ed79276f4dceb515aa87f4bd4 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 7 Feb 2023 12:39:43 +0100 Subject: [PATCH 30/49] important bugfix for RM3100 --- src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp b/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp index ce215a64..4becd420 100644 --- a/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp +++ b/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp @@ -169,7 +169,7 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const case (RM3100::CONFIGURE_CYCLE_COUNT): case (RM3100::CONFIGURE_TMRC): { // We can only check whether write was successful with read operation - if (mode == _MODE_START_UP) { + if (getMode() == _MODE_START_UP) { commandExecuted = true; } break; @@ -192,7 +192,7 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const if (packet[1] == tmrcRegValue) { commandExecuted = true; // Reading TMRC was commanded. Trigger event to inform ground - if (mode != _MODE_START_UP) { + if (getMode() != _MODE_START_UP) { triggerEvent(tmrcSet, tmrcRegValue, 0); } } else { @@ -211,7 +211,7 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const return DeviceHandlerIF::DEVICE_REPLY_INVALID; } // Reading TMRC was commanded. Trigger event to inform ground - if (mode != _MODE_START_UP) { + if (getMode() != _MODE_START_UP) { uint32_t eventParam1 = (cycleCountX << 16) | cycleCountY; triggerEvent(cycleCountersSet, eventParam1, cycleCountZ); } @@ -325,7 +325,7 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) { // trickery here to calculate the raw values first int32_t fieldStrengthRawX = ((packet[1] << 24) | (packet[2] << 16) | (packet[3] << 8)) >> 8; int32_t fieldStrengthRawY = ((packet[4] << 24) | (packet[5] << 16) | (packet[6] << 8)) >> 8; - int32_t fieldStrengthRawZ = ((packet[7] << 24) | (packet[8] << 16) | (packet[3] << 8)) >> 8; + int32_t fieldStrengthRawZ = ((packet[7] << 24) | (packet[8] << 16) | (packet[9] << 8)) >> 8; // Now scale to physical value in microtesla float fieldStrengthX = fieldStrengthRawX * scaleFactorX; From 5adf89b9110fac3367735419a2aa82fb434f0297 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 7 Feb 2023 12:41:42 +0100 Subject: [PATCH 31/49] changelog update --- CHANGELOG.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index ecc585d6..96b2df80 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -18,6 +18,8 @@ and this project adheres to [Semantic Versioning](http://semver.org/). - HAL MGM3100 Handler: Use axis specific gain/scaling factors. Previously, only the X scaling factor was used. PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/724 +- Bugfix for RM3100 MGM sensors. Z value was previously calculated + with bytes of the X value. - DHB `setNormalDatapoolEntriesInvalid`: The default implementation did not set the validity to false correctly because the `read` and `write` calls were missing. - PUS TMTC creator module: Sequence flags were set to continuation segment (0b00) instead From f39054edd4a90833903190af7d9400ec5a2335b1 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 7 Feb 2023 12:45:29 +0100 Subject: [PATCH 32/49] introduce warning switch --- src/fsfw/tmtcservices/TmTcBridge.cpp | 22 ++++++++++++++-------- 1 file changed, 14 insertions(+), 8 deletions(-) diff --git a/src/fsfw/tmtcservices/TmTcBridge.cpp b/src/fsfw/tmtcservices/TmTcBridge.cpp index f22d70d6..9ff58766 100644 --- a/src/fsfw/tmtcservices/TmTcBridge.cpp +++ b/src/fsfw/tmtcservices/TmTcBridge.cpp @@ -16,7 +16,9 @@ TmTcBridge::TmTcBridge(const char* name, object_id_t objectId, object_id_t tcDes tcDestination(tcDestination) { - tmTcReceptionQueue = QueueFactory::instance()->createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH); + auto mqArgs = MqArgs(objectId, static_cast(this)); + tmTcReceptionQueue = QueueFactory::instance()->createMessageQueue( + TMTC_RECEPTION_QUEUE_DEPTH, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); } TmTcBridge::~TmTcBridge() { QueueFactory::instance()->deleteMessageQueue(tmTcReceptionQueue); } @@ -35,7 +37,7 @@ ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle(uint8_t sentPacketsPerC } } -ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored(uint8_t maxNumberOfPacketsStored) { +ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored(unsigned int maxNumberOfPacketsStored) { if (maxNumberOfPacketsStored <= LIMIT_DOWNLINK_PACKETS_STORED) { this->maxNumberOfPacketsStored = maxNumberOfPacketsStored; return returnvalue::OK; @@ -171,15 +173,18 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage* message) { } if (tmFifo->full()) { + if (warningSwitch) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::warning << "TmTcBridge::storeDownlinkData: TM downlink max. number " - "of stored packet IDs reached!" - << std::endl; + sif::warning << "TmTcBridge::storeDownlinkData: TM downlink max. number " + "of stored packet IDs reached!" + << std::endl; #else - sif::printWarning( - "TmTcBridge::storeDownlinkData: TM downlink max. number " - "of stored packet IDs reached!\n"); + sif::printWarning( + "TmTcBridge::storeDownlinkData: TM downlink max. number " + "of stored packet IDs reached!\n"); #endif + warningSwitch = false; + } if (overwriteOld) { tmFifo->retrieve(&storeId); tmStore->deleteData(storeId); @@ -221,6 +226,7 @@ ReturnValue_t TmTcBridge::handleStoredTm() { packetSentCounter++; if (tmFifo->empty()) { + warningSwitch = true; tmStored = false; } tmStore->deleteData(storeId); From 40a9e12416ce0d174e8402d97f155dd603fc670b Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 7 Feb 2023 12:47:40 +0100 Subject: [PATCH 33/49] 1000 is a bit much --- src/fsfw/tmtcservices/TmTcBridge.h | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/src/fsfw/tmtcservices/TmTcBridge.h b/src/fsfw/tmtcservices/TmTcBridge.h index ed4d254e..3df3419c 100644 --- a/src/fsfw/tmtcservices/TmTcBridge.h +++ b/src/fsfw/tmtcservices/TmTcBridge.h @@ -17,7 +17,7 @@ class TmTcBridge : public AcceptsTelemetryIF, public: static constexpr uint8_t TMTC_RECEPTION_QUEUE_DEPTH = 20; static constexpr uint8_t LIMIT_STORED_DATA_SENT_PER_CYCLE = 15; - static constexpr uint8_t LIMIT_DOWNLINK_PACKETS_STORED = 200; + static constexpr unsigned int LIMIT_DOWNLINK_PACKETS_STORED = 500; static constexpr uint8_t DEFAULT_STORED_DATA_SENT_PER_CYCLE = 5; static constexpr uint8_t DEFAULT_DOWNLINK_PACKETS_STORED = 10; @@ -42,7 +42,7 @@ class TmTcBridge : public AcceptsTelemetryIF, * @return -@c returnvalue::OK if value was set successfully * -@c returnvalue::FAILED otherwise, stored value stays the same */ - ReturnValue_t setMaxNumberOfPacketsStored(uint8_t maxNumberOfPacketsStored); + ReturnValue_t setMaxNumberOfPacketsStored(unsigned int maxNumberOfPacketsStored); /** * This will set up the bridge to overwrite old data in the FIFO. @@ -91,6 +91,7 @@ class TmTcBridge : public AcceptsTelemetryIF, //! by default, so telemetry will be handled immediately. bool communicationLinkUp = true; bool tmStored = false; + bool warningSwitch = true; bool overwriteOld = true; uint8_t packetSentCounter = 0; @@ -152,7 +153,7 @@ class TmTcBridge : public AcceptsTelemetryIF, */ DynamicFIFO* tmFifo = nullptr; uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE; - uint8_t maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED; + unsigned int maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED; }; #endif /* FSFW_TMTCSERVICES_TMTCBRIDGE_H_ */ From 134d908f2651648c9f9f3d053f6a1961ebb5d0e5 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 7 Feb 2023 12:52:18 +0100 Subject: [PATCH 34/49] that stuff is not in upstream yet.. --- src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp b/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp index 4becd420..307d0a55 100644 --- a/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp +++ b/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp @@ -169,7 +169,7 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const case (RM3100::CONFIGURE_CYCLE_COUNT): case (RM3100::CONFIGURE_TMRC): { // We can only check whether write was successful with read operation - if (getMode() == _MODE_START_UP) { + if (mode == _MODE_START_UP) { commandExecuted = true; } break; @@ -192,7 +192,7 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const if (packet[1] == tmrcRegValue) { commandExecuted = true; // Reading TMRC was commanded. Trigger event to inform ground - if (getMode() != _MODE_START_UP) { + if (mode != _MODE_START_UP) { triggerEvent(tmrcSet, tmrcRegValue, 0); } } else { @@ -211,7 +211,7 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const return DeviceHandlerIF::DEVICE_REPLY_INVALID; } // Reading TMRC was commanded. Trigger event to inform ground - if (getMode() != _MODE_START_UP) { + if (mode != _MODE_START_UP) { uint32_t eventParam1 = (cycleCountX << 16) | cycleCountY; triggerEvent(cycleCountersSet, eventParam1, cycleCountZ); } From 8014e4adf90bfcece6267294436af804d657a094 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 8 Feb 2023 01:20:28 +0100 Subject: [PATCH 35/49] mode service fixes --- src/fsfw/modes/ModeMessage.cpp | 16 ++++++++ src/fsfw/modes/ModeMessage.h | 3 ++ src/fsfw/pus/CService200ModeCommanding.cpp | 44 ++++++++++++++++------ 3 files changed, 52 insertions(+), 11 deletions(-) diff --git a/src/fsfw/modes/ModeMessage.cpp b/src/fsfw/modes/ModeMessage.cpp index ecc52c94..fbfb71aa 100644 --- a/src/fsfw/modes/ModeMessage.cpp +++ b/src/fsfw/modes/ModeMessage.cpp @@ -24,3 +24,19 @@ void ModeMessage::setCantReachMode(CommandMessage* message, ReturnValue_t reason message->setParameter(reason); message->setParameter2(0); } + +void ModeMessage::setModeAnnounceMessage(CommandMessage& message, bool recursive) { + Command_t cmd; + if (recursive) { + cmd = CMD_MODE_ANNOUNCE_RECURSIVELY; + } else { + cmd = CMD_MODE_ANNOUNCE; + } + message.setCommand(cmd); +} + +void ModeMessage::setCmdModeMessage(CommandMessage& message, Mode_t mode, Submode_t submode) { + setModeMessage(&message, CMD_MODE_COMMAND, mode, submode); +} + +void ModeMessage::setModeReadMessage(CommandMessage& message) { message.setCommand(CMD_MODE_READ); } diff --git a/src/fsfw/modes/ModeMessage.h b/src/fsfw/modes/ModeMessage.h index 84429e84..c00e6c9e 100644 --- a/src/fsfw/modes/ModeMessage.h +++ b/src/fsfw/modes/ModeMessage.h @@ -45,6 +45,9 @@ class ModeMessage { static void setModeMessage(CommandMessage* message, Command_t command, Mode_t mode, Submode_t submode); + static void setCmdModeMessage(CommandMessage& message, Mode_t mode, Submode_t submode); + static void setModeAnnounceMessage(CommandMessage& message, bool recursive); + static void setModeReadMessage(CommandMessage& message); static void setCantReachMode(CommandMessage* message, ReturnValue_t reason); static void clear(CommandMessage* message); }; diff --git a/src/fsfw/pus/CService200ModeCommanding.cpp b/src/fsfw/pus/CService200ModeCommanding.cpp index d28df59b..a82e7f5c 100644 --- a/src/fsfw/pus/CService200ModeCommanding.cpp +++ b/src/fsfw/pus/CService200ModeCommanding.cpp @@ -53,16 +53,36 @@ ReturnValue_t CService200ModeCommanding::checkInterfaceAndAcquireMessageQueue( ReturnValue_t CService200ModeCommanding::prepareCommand(CommandMessage *message, uint8_t subservice, const uint8_t *tcData, size_t tcDataLen, uint32_t *state, object_id_t objectId) { - ModePacket modeCommandPacket; - ReturnValue_t result = - modeCommandPacket.deSerialize(&tcData, &tcDataLen, SerializeIF::Endianness::BIG); - if (result != returnvalue::OK) { - return result; - } + switch (subservice) { + case (Subservice::COMMAND_MODE_COMMAND): { + ModePacket modeCommandPacket; + ReturnValue_t result = + modeCommandPacket.deSerialize(&tcData, &tcDataLen, SerializeIF::Endianness::BIG); + if (result != returnvalue::OK) { + return result; + } - ModeMessage::setModeMessage(message, ModeMessage::CMD_MODE_COMMAND, modeCommandPacket.getMode(), - modeCommandPacket.getSubmode()); - return result; + ModeMessage::setModeMessage(message, ModeMessage::CMD_MODE_COMMAND, + modeCommandPacket.getMode(), modeCommandPacket.getSubmode()); + return returnvalue::OK; + } + case (Subservice::COMMAND_MODE_ANNCOUNCE): + case (Subservice::COMMAND_MODE_ANNOUNCE_RECURSIVELY): { + bool recursive = true; + if (subservice == Subservice::COMMAND_MODE_ANNCOUNCE) { + recursive = false; + } + ModeMessage::setModeAnnounceMessage(*message, recursive); + return EXECUTION_COMPLETE; + } + case (Subservice::COMMAND_MODE_READ): { + ModeMessage::setModeReadMessage(*message); + return returnvalue::OK; + } + default: { + return CommandingServiceBase::INVALID_SUBSERVICE; + } + } } ReturnValue_t CService200ModeCommanding::handleReply(const CommandMessage *reply, @@ -73,8 +93,10 @@ ReturnValue_t CService200ModeCommanding::handleReply(const CommandMessage *reply ReturnValue_t result = returnvalue::FAILED; switch (replyId) { case (ModeMessage::REPLY_MODE_REPLY): { - result = prepareModeReply(reply, objectId); - break; + if (previousCommand != ModeMessage::CMD_MODE_COMMAND) { + return prepareModeReply(reply, objectId); + } + return returnvalue::OK; } case (ModeMessage::REPLY_WRONG_MODE_REPLY): { result = prepareWrongModeReply(reply, objectId); From 6445debfa182475baefa77ce95c8489f3e0cd7f5 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 8 Feb 2023 01:31:32 +0100 Subject: [PATCH 36/49] bump changelog --- CHANGELOG.md | 3 +++ 1 file changed, 3 insertions(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index 969af78e..18f3dedb 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -12,6 +12,9 @@ and this project adheres to [Semantic Versioning](http://semver.org/). ## Fixes +- `CService200ModeManagement`: Various bugfixes which lead to now execution complete being generated + on mode announcements, duplicate mode reply generated on announce commands, and the mode read + subservice not working properly. - DHB `setNormalDatapoolEntriesInvalid`: The default implementation did not set the validity to false correctly because the `read` and `write` calls were missing. - PUS TMTC creator module: Sequence flags were set to continuation segment (0b00) instead From 1fffcc2229c3cc2fea52c9c3e6829ed99a70e7f1 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 8 Feb 2023 20:38:32 +0100 Subject: [PATCH 37/49] possiible leak fixes --- src/fsfw/tmtcservices/TmTcBridge.cpp | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/src/fsfw/tmtcservices/TmTcBridge.cpp b/src/fsfw/tmtcservices/TmTcBridge.cpp index f22d70d6..bed2c911 100644 --- a/src/fsfw/tmtcservices/TmTcBridge.cpp +++ b/src/fsfw/tmtcservices/TmTcBridge.cpp @@ -143,13 +143,17 @@ ReturnValue_t TmTcBridge::handleTmQueue() { #endif /* FSFW_VERBOSE_LEVEL >= 3 */ if (communicationLinkUp == false or packetSentCounter >= sentPacketsPerCycle) { - storeDownlinkData(&message); + ReturnValue_t result = storeDownlinkData(&message); + if (result != returnvalue::OK) { + tmStore->deleteData(message.getStorageId()); + } continue; } result = tmStore->getData(message.getStorageId(), &data, &size); if (result != returnvalue::OK) { status = result; + tmStore->deleteData(message.getStorageId()); continue; } @@ -157,9 +161,9 @@ ReturnValue_t TmTcBridge::handleTmQueue() { if (result != returnvalue::OK) { status = result; } else { - tmStore->deleteData(message.getStorageId()); packetSentCounter++; } + tmStore->deleteData(message.getStorageId()); } return status; } From 000df85556bb2bfc4e648f1e0324f71e240afd90 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 8 Feb 2023 21:24:00 +0100 Subject: [PATCH 38/49] bump changelog --- CHANGELOG.md | 1 + 1 file changed, 1 insertion(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index ecc585d6..add39a3f 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -12,6 +12,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/). ## Fixes +- Memory leak fixes for the TCP/IP TMTC bridge. - `Service9TimeManagement`: Fix the time dump at the `SET_TIME` subservice: Include clock timeval seconds instead of uptime. PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/726 From f1b0ca7cffd53ef86ec94ebc6db084ffcee8c8fd Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 8 Feb 2023 21:26:37 +0100 Subject: [PATCH 39/49] add PR link --- CHANGELOG.md | 1 + 1 file changed, 1 insertion(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index add39a3f..c7f0ce52 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -13,6 +13,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/). ## Fixes - Memory leak fixes for the TCP/IP TMTC bridge. + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/737 - `Service9TimeManagement`: Fix the time dump at the `SET_TIME` subservice: Include clock timeval seconds instead of uptime. PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/726 From 8c712441ab659d33663908e694216d437e5921d6 Mon Sep 17 00:00:00 2001 From: Ulrich Mohr Date: Thu, 9 Feb 2023 11:34:58 +0100 Subject: [PATCH 40/49] Making fetch Catch2 quiet as well. --- CMakeLists.txt | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 9025537a..33d55351 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -153,12 +153,12 @@ if(FSFW_BUILD_TESTS) "${MSG_PREFIX} Building the FSFW unittests in addition to the static library" ) # Check whether the user has already installed Catch2 first - find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION}) + find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION} QUIET) # Not installed, so use FetchContent to download and provide Catch2 if(NOT Catch2_FOUND) message( STATUS - "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent" + "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent." ) include(FetchContent) @@ -201,8 +201,8 @@ find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} CONFIG QUIET) if(NOT ${FSFW_ETL_LIB_NAME}_FOUND) message( STATUS - "${MSG_PREFIX} No ETL installation was found with find_package. Installing and providing " - "etl with FindPackage") + "${MSG_PREFIX} ETL installation not found. Downloading ETL with FetchContent." + ) include(FetchContent) FetchContent_Declare( From 010509efb442bf0d075b280afb5a74d8c84d1cb3 Mon Sep 17 00:00:00 2001 From: Ulrich Mohr Date: Thu, 9 Feb 2023 13:50:16 +0100 Subject: [PATCH 41/49] removed unneeded find_package parameter for etl --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 33d55351..56601aaa 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -196,7 +196,7 @@ message( ) # Check whether the user has already installed ETL first -find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} CONFIG QUIET) +find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET) # Not installed, so use FetchContent to download and provide etl if(NOT ${FSFW_ETL_LIB_NAME}_FOUND) message( From 3a2393885f6228502737adb50923e73d99756a42 Mon Sep 17 00:00:00 2001 From: Ulrich Mohr Date: Thu, 9 Feb 2023 15:44:39 +0100 Subject: [PATCH 42/49] more style --- src/fsfw/pus/CService200ModeCommanding.cpp | 20 ++++++++------------ src/fsfw/pus/CService200ModeCommanding.h | 2 +- 2 files changed, 9 insertions(+), 13 deletions(-) diff --git a/src/fsfw/pus/CService200ModeCommanding.cpp b/src/fsfw/pus/CService200ModeCommanding.cpp index a82e7f5c..15745a37 100644 --- a/src/fsfw/pus/CService200ModeCommanding.cpp +++ b/src/fsfw/pus/CService200ModeCommanding.cpp @@ -19,7 +19,7 @@ ReturnValue_t CService200ModeCommanding::isValidSubservice(uint8_t subservice) { switch (subservice) { case (Subservice::COMMAND_MODE_COMMAND): case (Subservice::COMMAND_MODE_READ): - case (Subservice::COMMAND_MODE_ANNCOUNCE): + case (Subservice::COMMAND_MODE_ANNOUNCE): return returnvalue::OK; default: return AcceptsTelecommandsIF::INVALID_SUBSERVICE; @@ -53,6 +53,7 @@ ReturnValue_t CService200ModeCommanding::checkInterfaceAndAcquireMessageQueue( ReturnValue_t CService200ModeCommanding::prepareCommand(CommandMessage *message, uint8_t subservice, const uint8_t *tcData, size_t tcDataLen, uint32_t *state, object_id_t objectId) { + bool recursive = false; switch (subservice) { case (Subservice::COMMAND_MODE_COMMAND): { ModePacket modeCommandPacket; @@ -66,22 +67,17 @@ ReturnValue_t CService200ModeCommanding::prepareCommand(CommandMessage *message, modeCommandPacket.getMode(), modeCommandPacket.getSubmode()); return returnvalue::OK; } - case (Subservice::COMMAND_MODE_ANNCOUNCE): - case (Subservice::COMMAND_MODE_ANNOUNCE_RECURSIVELY): { - bool recursive = true; - if (subservice == Subservice::COMMAND_MODE_ANNCOUNCE) { - recursive = false; - } + case (Subservice::COMMAND_MODE_ANNOUNCE_RECURSIVELY): + recursive = true; + [[fallthrough]]; + case (Subservice::COMMAND_MODE_ANNOUNCE): ModeMessage::setModeAnnounceMessage(*message, recursive); return EXECUTION_COMPLETE; - } - case (Subservice::COMMAND_MODE_READ): { + case (Subservice::COMMAND_MODE_READ): ModeMessage::setModeReadMessage(*message); return returnvalue::OK; - } - default: { + default: return CommandingServiceBase::INVALID_SUBSERVICE; - } } } diff --git a/src/fsfw/pus/CService200ModeCommanding.h b/src/fsfw/pus/CService200ModeCommanding.h index 830e5950..cf2baf7e 100644 --- a/src/fsfw/pus/CService200ModeCommanding.h +++ b/src/fsfw/pus/CService200ModeCommanding.h @@ -52,7 +52,7 @@ class CService200ModeCommanding : public CommandingServiceBase { COMMAND_MODE_READ = 3, //!< [EXPORT] : [COMMAND] Trigger an ModeInfo Event. //! This command does NOT have a reply - COMMAND_MODE_ANNCOUNCE = 4, + COMMAND_MODE_ANNOUNCE = 4, //!< [EXPORT] : [COMMAND] Trigger a ModeInfo Event and to send this //! command to every child. This command does NOT have a reply. COMMAND_MODE_ANNOUNCE_RECURSIVELY = 5, From 0a9c563bbc24ce7b8ea0f33231dcd29ce68e8d20 Mon Sep 17 00:00:00 2001 From: Ulrich Mohr Date: Thu, 9 Feb 2023 15:58:48 +0100 Subject: [PATCH 43/49] format --- src/fsfw/osal/common/TcpTmTcServer.h | 1 - src/fsfw/osal/rtems/SemaphoreFactory.cpp | 2 +- .../pus/Service11TelecommandScheduling.tpp | 6 ++--- src/fsfw/rmap/rmapStructs.h | 24 +++++++++---------- 4 files changed, 16 insertions(+), 17 deletions(-) diff --git a/src/fsfw/osal/common/TcpTmTcServer.h b/src/fsfw/osal/common/TcpTmTcServer.h index 3d182827..009a1680 100644 --- a/src/fsfw/osal/common/TcpTmTcServer.h +++ b/src/fsfw/osal/common/TcpTmTcServer.h @@ -78,7 +78,6 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb * https://man7.org/linux/man-pages/man7/socket.7.html for more details. */ bool reusePort = false; - }; enum class ReceptionModes { SPACE_PACKETS }; diff --git a/src/fsfw/osal/rtems/SemaphoreFactory.cpp b/src/fsfw/osal/rtems/SemaphoreFactory.cpp index 35099ddc..1e470f40 100644 --- a/src/fsfw/osal/rtems/SemaphoreFactory.cpp +++ b/src/fsfw/osal/rtems/SemaphoreFactory.cpp @@ -1,5 +1,5 @@ #include "fsfw/osal/rtems/BinarySemaphore.h" -//#include "fsfw/osal/rtems/CountingSemaphore.h" +// #include "fsfw/osal/rtems/CountingSemaphore.h" #include "fsfw/serviceinterface/ServiceInterface.h" #include "fsfw/tasks/SemaphoreFactory.h" diff --git a/src/fsfw/pus/Service11TelecommandScheduling.tpp b/src/fsfw/pus/Service11TelecommandScheduling.tpp index 540f6c68..ac08f02c 100644 --- a/src/fsfw/pus/Service11TelecommandScheduling.tpp +++ b/src/fsfw/pus/Service11TelecommandScheduling.tpp @@ -2,12 +2,12 @@ #include +#include "fsfw/globalfunctions/CRC.h" #include "fsfw/objectmanager/ObjectManager.h" #include "fsfw/serialize/SerializeAdapter.h" #include "fsfw/serviceinterface.h" -#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h" #include "fsfw/tmtcpacket/pus/tc/PusTcIF.h" -#include "fsfw/globalfunctions/CRC.h" +#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h" static constexpr auto DEF_END = SerializeIF::Endianness::BIG; @@ -180,7 +180,7 @@ inline ReturnValue_t Service11TelecommandScheduling::doInsertActivi if (CRC::crc16ccitt(data, size) != 0) { return CONTAINED_TC_CRC_MISSMATCH; } - + // store currentPacket and receive the store address store_address_t addr{}; if (tcStore->addData(&addr, data, size) != returnvalue::OK || diff --git a/src/fsfw/rmap/rmapStructs.h b/src/fsfw/rmap/rmapStructs.h index 55e32606..1e86734b 100644 --- a/src/fsfw/rmap/rmapStructs.h +++ b/src/fsfw/rmap/rmapStructs.h @@ -10,11 +10,11 @@ ////////////////////////////////////////////////////////////////////////////////// // RMAP command bits -//#define RMAP_COMMAND_BIT_INCREMENT 2 -//#define RMAP_COMMAND_BIT_REPLY 3 -//#define RMAP_COMMAND_BIT_WRITE 5 -//#define RMAP_COMMAND_BIT_VERIFY 4 -//#define RMAP_COMMAND_BIT 6 +// #define RMAP_COMMAND_BIT_INCREMENT 2 +// #define RMAP_COMMAND_BIT_REPLY 3 +// #define RMAP_COMMAND_BIT_WRITE 5 +// #define RMAP_COMMAND_BIT_VERIFY 4 +// #define RMAP_COMMAND_BIT 6 namespace RMAPIds { @@ -32,14 +32,14 @@ static const uint8_t RMAP_COMMAND_READ = ((1 << RMAP_COMMAND_BIT) | (1 << RMAP_C static const uint8_t RMAP_REPLY_WRITE = ((1 << RMAP_COMMAND_BIT_WRITE) | (1 << RMAP_COMMAND_BIT_REPLY)); static const uint8_t RMAP_REPLY_READ = ((1 << RMAP_COMMAND_BIT_REPLY)); -//#define RMAP_COMMAND_WRITE ((1< Date: Thu, 9 Feb 2023 18:30:08 +0100 Subject: [PATCH 44/49] add allowed subservice --- src/fsfw/pus/CService200ModeCommanding.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/fsfw/pus/CService200ModeCommanding.cpp b/src/fsfw/pus/CService200ModeCommanding.cpp index 15745a37..0dbdedfe 100644 --- a/src/fsfw/pus/CService200ModeCommanding.cpp +++ b/src/fsfw/pus/CService200ModeCommanding.cpp @@ -20,6 +20,7 @@ ReturnValue_t CService200ModeCommanding::isValidSubservice(uint8_t subservice) { case (Subservice::COMMAND_MODE_COMMAND): case (Subservice::COMMAND_MODE_READ): case (Subservice::COMMAND_MODE_ANNOUNCE): + case (Subservice::COMMAND_MODE_ANNOUNCE_RECURSIVELY): return returnvalue::OK; default: return AcceptsTelecommandsIF::INVALID_SUBSERVICE; From fffb2b61e5e65dbffc561dc2ae7372483b760a13 Mon Sep 17 00:00:00 2001 From: Ulrich Mohr Date: Thu, 9 Feb 2023 17:00:44 +0100 Subject: [PATCH 45/49] release check helper --- CHANGELOG.md | 17 +++--- scripts/check_release.py | 110 +++++++++++++++++++++++++++++++++++++++ 2 files changed, 121 insertions(+), 6 deletions(-) create mode 100755 scripts/check_release.py diff --git a/CHANGELOG.md b/CHANGELOG.md index b7788808..17a77692 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -8,13 +8,14 @@ and this project adheres to [Semantic Versioning](http://semver.org/). # [unreleased] -# [v6.0.0] +# [v6.0.0] 2023-02-10 ## Fixes - `CService200ModeManagement`: Various bugfixes which lead to now execution complete being generated on mode announcements, duplicate mode reply generated on announce commands, and the mode read subservice not working properly. + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/736 - Memory leak fixes for the TCP/IP TMTC bridge. PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/737 - `Service9TimeManagement`: Fix the time dump at the `SET_TIME` subservice: Include clock timeval @@ -23,16 +24,20 @@ and this project adheres to [Semantic Versioning](http://semver.org/). - HAL MGM3100 Handler: Use axis specific gain/scaling factors. Previously, only the X scaling factor was used. PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/724 -- Bugfix for RM3100 MGM sensors. Z value was previously calculated - with bytes of the X value. +- HAL MGM3100 Handler: Z value was previously calculated with bytes of the X value. + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/733 - DHB `setNormalDatapoolEntriesInvalid`: The default implementation did not set the validity to false correctly because the `read` and `write` calls were missing. + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/728 - PUS TMTC creator module: Sequence flags were set to continuation segment (0b00) instead of the correct unsegmented flags (0b11) as specified in the standard. + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/727 - TC Scheduler Service 11: Add size and CRC check for contained TC. + Bug: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/issues/719 + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/720 - Only delete health table entry in `HealthHelper` destructor if health table was set. - PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/710/files + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/710 - I2C Bugfixes: Do not keep iterator as member and fix some incorrect handling with the iterator. Also properly reset the reply size for successfull transfers and erroneous transfers. PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/700 @@ -64,7 +69,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/). - `AcceptsTelemetryIF`: `getReportReceptionQueue` is const now PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/712 - Moved some container returnvalues to dedicated header and namespace - to they can be used without template specification. + so they can be used without template specification. PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/707 - Remove default secondary header argument for `uint16_t getTcSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag)` and @@ -125,7 +130,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/). implementation without an extra component PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/682 -# [v5.0.0] 25.07.2022 +# [v5.0.0] 2022-07-25 ## Changes diff --git a/scripts/check_release.py b/scripts/check_release.py new file mode 100755 index 00000000..eb5c89f9 --- /dev/null +++ b/scripts/check_release.py @@ -0,0 +1,110 @@ +#! /bin/python + + +import argparse +import json +import urllib.request +import re +from pathlib import Path + +def main() -> None: + parser = argparse.ArgumentParser( + description="List undocumented PRs" + ) + parser.add_argument("-v", "--version", type=str, required=True) + args = parser.parse_args() + + match = re.search("([0-9]+\.[0-9]+\.[0-9]+)", args.version) + + if not match: + print("invalid version") + exit(1) + + version = "v" + match.group(1) + + print("looking for milestone for " + version + " ...") + + + with urllib.request.urlopen("https://egit.irs.uni-stuttgart.de/api/v1/repos/fsfw/fsfw/milestones?name=" + version) as milestone_json: + milestones = json.load(milestone_json) + if (len(milestones) == 0): + print("did not find any milestone") + exit(1) + if (len(milestones) > 1): + print("found multiple milestons") + milestone_title = milestones[0]['title'] + milestone = str(milestones[0]['id']) + print("Using Milestone \""+ milestone_title + "\" with id " + milestone) + + milestone_prs = [] + + page = 1 + last_count = 1; + while last_count != 0: + with urllib.request.urlopen("https://egit.irs.uni-stuttgart.de/api/v1/repos/fsfw/fsfw/pulls?state=closed&milestone=" + str(milestone) + "&limit=100&page=" + str(page)) as pull_requests_json: + pull_requests = json.load(pull_requests_json) + for pr in pull_requests: + milestone_prs.append({'number': str(pr['number']), 'title' : pr['title']}) + page += 1 + last_count = len(pull_requests) + + print("Found " + str(len(milestone_prs)) + " closed PRs in Milestone") + + print("looking for CHANGELOG.md ...") + + path = Path(".") + + files = list(path.glob("CHANGELOG.md")) + + if (len(files) != 1): + files = list(path.glob("../CHANGELOG.md")) + + if (len(files) != 1): + print("did not find CHANGELOG.md. Run script in either root directory or scripts subfolder.") + exit(1) + + print("Scanning CHANGELOG.md ...") + + changelog_prs = [] + + with open(files[0]) as changelog: + line = changelog.readline() + while (line): + #print("line: " + line) + match = re.search("\#.+(v[0-9]+\.[0-9]+\.[0-9]+)", line) + if (match): + if match.group(1) == version: + #print("found version") + line = changelog.readline() + continue + else: + #print("done with " + match.group(1)) + break + + match = re.search("PR: https://egit\.irs\.uni-stuttgart\.de/fsfw/fsfw/pulls/([0-9]+)", line) + if match: + changelog_prs.append(match.group(1)) + + line = changelog.readline() + + print("Found " + str(len(changelog_prs)) + " PRs in CHANGELOG.md") + + print("") + + copy_array = changelog_prs.copy() + print("PRs in CHANGELOG.md that are not in Milestone:") + for pr in milestone_prs: + if pr['number'] in copy_array: + copy_array.remove(pr['number']) + for pr in copy_array: + print("https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/" + pr) + + print("") + + print("PRs in milestone that are not in CHANGELOG.md:") + + for pr in milestone_prs: + if pr['number'] not in changelog_prs: + print("- " + pr['title'] + "\n PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/" + pr['number']) + +main() From 3562bf11b9d5ea75478f927c1061ba0bfacb3e16 Mon Sep 17 00:00:00 2001 From: Ulrich Mohr Date: Fri, 10 Feb 2023 11:06:46 +0100 Subject: [PATCH 46/49] CHANGELOG update --- CHANGELOG.md | 106 +++++++++++++++++++++++++++++++++++++++++++++++---- 1 file changed, 98 insertions(+), 8 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 17a77692..6ae6f59f 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -9,6 +9,26 @@ and this project adheres to [Semantic Versioning](http://semver.org/). # [unreleased] # [v6.0.0] 2023-02-10 + + + + + + + + + + + + + + + + + + + + ## Fixes @@ -47,6 +67,34 @@ and this project adheres to [Semantic Versioning](http://semver.org/). - `TcpTmTcServer.cpp`: The server was actually not able to handle CCSDS packets which were clumped together. This has been fixed now. PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/673 +- various fixes related to linux Unittests and memory leaks + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/715 +- small fix to allow teardown handling + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/713 +- fix compiler warning for fixed array list copy ctor + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/704 +- missing include + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/703 +- defaultconfig did not build anymore + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/702 +- hotfix + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/699 +- small fix for helper + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/698 +- missing retval conv + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/697 +- DHB Countdown Bug + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/693 +- doc corrections + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/687 +- better error printout + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/686 +- include correction + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/683 +- better warning for missing include paths + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/676 +- Service 11 regression + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/670 ## Added @@ -63,6 +111,25 @@ and this project adheres to [Semantic Versioning](http://semver.org/). PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/709 - Add new `UnsignedByteField` class PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/660 +- publish documentation for development and master branch + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/681 +- Add Linux HAL options + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/663 +- Expand SerializeIF + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/656 +- PUS Service 11: Additional Safety Check + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/666 +- improvements for auto-formatter script + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/665 +- provide a weak print char impl + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/674 + +## Removed + +- now that doc server is up, remove markdown files + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/688 +- remove bsp specific code + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/679 ## Changes @@ -99,18 +166,41 @@ and this project adheres to [Semantic Versioning](http://semver.org/). - `DeviceHandlerBase`: New signature of `handleDeviceTm` which expects a `const SerializeIF&` and additional helper variant which expects `const uint8_t*` PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/671 -- Move some generic `StorageManagerIF` implementations from `LocalPool` to - interface itself so it can be re-used more easily. Also add new - abstract function `bool hasDataAtId(store_address_t storeId) const`. - PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/685 - Improvements for `AcceptsTelemetryIF` and `AcceptsTelecommandsIF`: - Make functions `const` where it makes sense - Add `const char* getName const` abstract function PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/684 -- Move some generic `StorageManagerIF` implementations from `LocalPool` to - interface itself so it can be re-used more easily. Also add new - abstract function `bool hasDataAtId(store_address_t storeId) const`. - PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/685 +- Generic TMTC Bridge Update + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/734 +- comment tweak to event parser can read everything + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/732 +- CMakeLists file updates + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/731 +- improve srv20 error messages + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/723 +- I2C Linux: remove duplicate printout + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/718 +- printout handling improvements + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/717 +- vec getter, reset for content + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/716 +- updates for source sequence counter + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/714 +- SP reader getPacketData is const now + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/708 +- refactoring of serial drivers for linux + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/705 +- Local Pool Update Remove Add Data Ignore Fault Argument + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/701 +- Switch to new documentation server + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/694 +- Windows Tweaks + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/691 +- Refactor Local Pool API + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/667 +- group MGM data in local pool vectors + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/664 + ## CFDP From d76d97a36b74f67b8248a152d2001eb0ff267459 Mon Sep 17 00:00:00 2001 From: Ulrich Mohr Date: Thu, 23 Feb 2023 12:44:42 +0100 Subject: [PATCH 47/49] changed health table parameter to objectId --- src/fsfw/pus/CServiceHealthCommanding.cpp | 18 ++++++++++++++++-- src/fsfw/pus/CServiceHealthCommanding.h | 9 ++++++--- 2 files changed, 22 insertions(+), 5 deletions(-) diff --git a/src/fsfw/pus/CServiceHealthCommanding.cpp b/src/fsfw/pus/CServiceHealthCommanding.cpp index 4a2339d9..8efa3287 100644 --- a/src/fsfw/pus/CServiceHealthCommanding.cpp +++ b/src/fsfw/pus/CServiceHealthCommanding.cpp @@ -10,9 +10,23 @@ CServiceHealthCommanding::CServiceHealthCommanding(HealthServiceCfg args) : CommandingServiceBase(args.objectId, args.apid, "PUS 201 Health MGMT", args.service, args.numParallelCommands, args.commandTimeoutSeconds), - healthTable(args.table), + healthTableId(args.table), maxNumHealthInfoPerCycle(args.maxNumHealthInfoPerCycle) {} +ReturnValue_t CServiceHealthCommanding::initialize() { + ReturnValue_t result = CommandingServiceBase::initialize(); + if (result != returnvalue::OK) { + return result; + } + + healthTable = ObjectManager::instance()->get(healthTableId); + if(healthTable == nullptr) { + return returnvalue::FAILED; + } + + return returnvalue::OK; +} + ReturnValue_t CServiceHealthCommanding::isValidSubservice(uint8_t subservice) { switch (subservice) { case (Subservice::COMMAND_SET_HEALTH): @@ -134,7 +148,7 @@ void CServiceHealthCommanding::doPeriodicOperation() { ReturnValue_t CServiceHealthCommanding::iterateHealthTable(bool reset) { std::pair pair; - ReturnValue_t result = healthTable.iterate(&pair, reset); + ReturnValue_t result = healthTable->iterate(&pair, reset); if (result != returnvalue::OK) { return result; } else { diff --git a/src/fsfw/pus/CServiceHealthCommanding.h b/src/fsfw/pus/CServiceHealthCommanding.h index 18f6c140..2cc16589 100644 --- a/src/fsfw/pus/CServiceHealthCommanding.h +++ b/src/fsfw/pus/CServiceHealthCommanding.h @@ -6,7 +6,7 @@ #include "fsfw/tmtcservices/CommandingServiceBase.h" struct HealthServiceCfg { - HealthServiceCfg(object_id_t objectId, uint16_t apid, HealthTable &healthTable, + HealthServiceCfg(object_id_t objectId, uint16_t apid, object_id_t healthTable, uint16_t maxNumHealthInfoPerCycle) : objectId(objectId), apid(apid), @@ -14,7 +14,7 @@ struct HealthServiceCfg { maxNumHealthInfoPerCycle(maxNumHealthInfoPerCycle) {} object_id_t objectId; uint16_t apid; - HealthTable &table; + object_id_t table; uint16_t maxNumHealthInfoPerCycle; uint8_t service = 201; uint8_t numParallelCommands = 4; @@ -40,6 +40,8 @@ class CServiceHealthCommanding : public CommandingServiceBase { CServiceHealthCommanding(HealthServiceCfg args); ~CServiceHealthCommanding() override = default; + ReturnValue_t initialize() override; + protected: /* CSB abstract function implementations */ ReturnValue_t isValidSubservice(uint8_t subservice) override; @@ -57,7 +59,8 @@ class CServiceHealthCommanding : public CommandingServiceBase { void doPeriodicOperation() override; private: - HealthTable &healthTable; + const object_id_t healthTableId; + HealthTable *healthTable; uint16_t maxNumHealthInfoPerCycle = 0; bool reportAllHealth = false; ReturnValue_t iterateHealthTable(bool reset); From dc7afc5415abc712774b4d9036524f92eccf654e Mon Sep 17 00:00:00 2001 From: Ulrich Mohr Date: Thu, 23 Feb 2023 13:38:24 +0100 Subject: [PATCH 48/49] Version bump, CHANGELOG update, format --- CHANGELOG.md | 6 ++++-- CMakeLists.txt | 2 +- src/fsfw/pus/CServiceHealthCommanding.cpp | 2 +- 3 files changed, 6 insertions(+), 4 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index acd56f3a..0cc07f78 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -12,6 +12,8 @@ and this project adheres to [Semantic Versioning](http://semver.org/). ## Fixes +- Mode Service: Add allowed subservice + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/739 - `CService200ModeManagement`: Various bugfixes which lead to now execution complete being generated on mode announcements, duplicate mode reply generated on announce commands, and the mode read subservice not working properly. @@ -48,7 +50,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/). CCSDS packets which were clumped together. This has been fixed now. PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/673 - `CServiceHealthCommanding`: Add announce all health info implementation - PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/122 + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/725 - various fixes related to linux Unittests and memory leaks PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/715 - small fix to allow teardown handling @@ -118,7 +120,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/). - `CService201HealthCommanding` renamed to `CServiceHealthCommanding`, service ID customizable now. `CServiceHealthCommanding` expects configuration struct `HealthServiceCfg` now - PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/122 + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/725 - `AcceptsTelemetryIF`: `getReportReceptionQueue` is const now PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/712 - Moved some container returnvalues to dedicated header and namespace diff --git a/CMakeLists.txt b/CMakeLists.txt index 56601aaa..5eddde7f 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -13,7 +13,7 @@ list(APPEND CMAKE_MODULE_PATH # Version file handling # # ############################################################################## -set(FSFW_VERSION_IF_GIT_FAILS 5) +set(FSFW_VERSION_IF_GIT_FAILS 6) set(FSFW_SUBVERSION_IF_GIT_FAILS 0) set(FSFW_REVISION_IF_GIT_FAILS 0) diff --git a/src/fsfw/pus/CServiceHealthCommanding.cpp b/src/fsfw/pus/CServiceHealthCommanding.cpp index 8efa3287..7faf8174 100644 --- a/src/fsfw/pus/CServiceHealthCommanding.cpp +++ b/src/fsfw/pus/CServiceHealthCommanding.cpp @@ -20,7 +20,7 @@ ReturnValue_t CServiceHealthCommanding::initialize() { } healthTable = ObjectManager::instance()->get(healthTableId); - if(healthTable == nullptr) { + if (healthTable == nullptr) { return returnvalue::FAILED; } From 47503824d7ca4cf656b9f603c8e10daac85b3393 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 15 Mar 2023 12:27:39 +0100 Subject: [PATCH 49/49] health service fixes and changelog --- CHANGELOG.md | 5 +++++ src/fsfw/pus/CServiceHealthCommanding.cpp | 5 ++++- 2 files changed, 9 insertions(+), 1 deletion(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 0cc07f78..f12aa90e 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -8,6 +8,11 @@ and this project adheres to [Semantic Versioning](http://semver.org/). # [unreleased] +## Fixes + +- PUS Health Service: Size check for set health command. +- PUS Health Service: Perform operation completion for announce health command. + # [v6.0.0] 2023-02-10 ## Fixes diff --git a/src/fsfw/pus/CServiceHealthCommanding.cpp b/src/fsfw/pus/CServiceHealthCommanding.cpp index 7faf8174..3ced4ffb 100644 --- a/src/fsfw/pus/CServiceHealthCommanding.cpp +++ b/src/fsfw/pus/CServiceHealthCommanding.cpp @@ -82,6 +82,9 @@ ReturnValue_t CServiceHealthCommanding::prepareCommand(CommandMessage *message, ReturnValue_t result = returnvalue::OK; switch (subservice) { case (Subservice::COMMAND_SET_HEALTH): { + if (tcDataLen != sizeof(object_id_t) + sizeof(HasHealthIF::HealthState)) { + return CommandingServiceBase::INVALID_TC; + } HealthSetCommand healthCommand; result = healthCommand.deSerialize(&tcData, &tcDataLen, SerializeIF::Endianness::BIG); if (result != returnvalue::OK) { @@ -93,7 +96,7 @@ ReturnValue_t CServiceHealthCommanding::prepareCommand(CommandMessage *message, } case (Subservice::COMMAND_ANNOUNCE_HEALTH): { HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_ANNOUNCE); - break; + return CommandingServiceBase::EXECUTION_COMPLETE; } case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): { ReturnValue_t result = iterateHealthTable(true);