Merge remote-tracking branch 'origin/development' into mueller/refactor-tmtc-stack

CHANGELOG.md

@@ -8,6 +8,10 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 # [unreleased]
 
+## Added
+
+- Add new `UnsignedByteField` class
+
 # [v5.0.0] 25.07.2022
 
 ## Changes

CMakeLists.txt

@@ -118,6 +118,12 @@ option(FSFW_ADD_INTERNAL_TESTS "Add internal unit tests" ON)
 option(FSFW_ADD_UNITTESTS "Add regular unittests. Requires Catch2" OFF)
 option(FSFW_ADD_HAL "Add Hardware Abstraction Layer" ON)
 
+if(UNIX)
+  option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add Linux peripheral drivers"
+         OFF)
+  option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Attempt to add Linux GPIOD drivers" OFF)
+endif()
+
 # Optional sources
 option(FSFW_ADD_PUS "Compile with PUS sources" ON)
 option(FSFW_ADD_MONITORING "Compile with monitoring components" ON)
@@ -183,7 +189,10 @@ if(FSFW_BUILD_TESTS)
   endif()
 endif()
 
-message(STATUS "${MSG_PREFIX} Finding and/or providing ETL library")
+message(
+  STATUS
+    "${MSG_PREFIX} Finding and/or providing etl library with version ${FSFW_ETL_LIB_MAJOR_VERSION}"
+)
 
 # Check whether the user has already installed ETL first
 find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
@@ -191,7 +200,7 @@ find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
 if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
   message(
     STATUS
-      "No ETL installation was found with find_package. Installing and providing "
+      "${MSG_PREFIX} No ETL installation was found with find_package. Installing and providing "
       "etl with FindPackage")
   include(FetchContent)
 

src/fsfw/objectmanager/SystemObjectIF.h

@@ -16,7 +16,7 @@
  * This is the typedef for object identifiers.
  * @ingroup system_objects
  */
-typedef uint32_t object_id_t;
+using object_id_t = uint32_t;
 
 /**
  * This interface allows a class to be included in the object manager

src/fsfw/serialize/EndianConverter.h

@@ -75,7 +75,6 @@ class EndianConverter {
     }
 #elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
     memcpy(out, in, size);
-    return;
 #endif
   }
 
@@ -112,7 +111,6 @@ class EndianConverter {
     for (size_t count = 0; count < size; count++) {
       out[size - count - 1] = in[count];
     }
-    return;
 #elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
     memcpy(out, in, size);
 #endif

src/fsfw/serialize/SerializeIF.h

@@ -68,13 +68,6 @@ class SerializeIF {
                                                   size_t maxSize) const {
     return serialize(buffer, size, maxSize, SerializeIF::Endianness::NETWORK);
   }
-  /**
-   * If endianness is not explicitly specified, use machine endianness
-   */
-  [[nodiscard]] virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
-                                                size_t maxSize) const {
-    return serialize(buffer, size, maxSize, SerializeIF::Endianness::MACHINE);
-  }
 
   /**
    * Gets the size of a object if it would be serialized in a buffer
@@ -110,12 +103,6 @@ class SerializeIF {
   virtual ReturnValue_t deSerializeBe(const uint8_t **buffer, size_t *size) {
     return deSerialize(buffer, size, SerializeIF::Endianness::NETWORK);
   }
-  /**
-   * If endianness is not explicitly specified, use machine endianness
-   */
-  virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size) {
-    return deSerialize(buffer, size, SerializeIF::Endianness::MACHINE);
-  }
 
   /**
    * Helper method which can be used if serialization should be performed without any additional
@@ -139,13 +126,6 @@ class SerializeIF {
                                                   size_t maxSize) const {
     return serialize(buffer, serLen, maxSize, SerializeIF::Endianness::NETWORK);
   }
-  /**
-   * If endianness is not explicitly specified, use machine endianness
-   */
-  [[nodiscard]] virtual ReturnValue_t serialize(uint8_t *buffer, size_t &serLen,
-                                                size_t maxSize) const {
-    return serialize(buffer, serLen, maxSize, SerializeIF::Endianness::MACHINE);
-  }
 
   /**
    * Helper methods which can be used if deserialization should be performed without any additional
@@ -168,12 +148,6 @@ class SerializeIF {
   virtual ReturnValue_t deSerializeBe(const uint8_t *buffer, size_t &deserSize, size_t maxSize) {
     return deSerialize(buffer, deserSize, maxSize, SerializeIF::Endianness::NETWORK);
   }
-  /**
-   * If endianness is not explicitly specified, use machine endianness
-   */
-  virtual ReturnValue_t deSerialize(const uint8_t *buffer, size_t &deserSize, size_t maxSize) {
-    return deSerialize(buffer, deserSize, maxSize, SerializeIF::Endianness::MACHINE);
-  }
 };
 
 #endif /* FSFW_SERIALIZE_SERIALIZEIF_H_ */

src/fsfw/util/UnsignedByteField.h

@@ -0,0 +1,52 @@
+#ifndef FSFW_UTIL_UNSIGNEDBYTEFIELD_H
+#define FSFW_UTIL_UNSIGNEDBYTEFIELD_H
+
+#include "fsfw/serialize.h"
+
+template<typename T>
+class UnsignedByteField: public SerializeIF {
+ public:
+  static_assert(std::is_unsigned<T>::value);
+
+  explicit UnsignedByteField(T value): value(value) {}
+  [[nodiscard]] ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
+                                                Endianness streamEndianness) const override {
+    return SerializeAdapter::serialize(&value, buffer, size, maxSize, streamEndianness);
+  }
+
+  ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+                                    Endianness streamEndianness) override {
+    return SerializeAdapter::deSerialize(&value, buffer, size, streamEndianness);
+  }
+
+  [[nodiscard]] size_t getSerializedSize() const override {
+    return sizeof(T);
+  }
+
+  [[nodiscard]] T getValue() const {
+    return value;
+  }
+
+  void setValue(T value_) {
+    value = value_;
+  }
+ private:
+  T value;
+};
+
+class U32ByteField: public UnsignedByteField<uint32_t> {
+ public:
+  explicit U32ByteField(uint32_t value): UnsignedByteField<uint32_t>(value) {}
+};
+
+class U16ByteField: public UnsignedByteField<uint16_t> {
+ public:
+  explicit U16ByteField(uint16_t value): UnsignedByteField<uint16_t>(value) {}
+};
+
+class U8ByteField: public UnsignedByteField<uint8_t> {
+ public:
+  explicit U8ByteField(uint8_t value): UnsignedByteField<uint8_t>(value) {}
+};
+
+#endif  // FSFW_UTIL_UNSIGNEDBYTEFIELD_H

src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp

@@ -286,26 +286,22 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
 
       PoolReadGuard readHelper(&dataset);
       if (readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
+        if (std::abs(mgmX) > absLimitX or std::abs(mgmY) > absLimitY or
+            std::abs(mgmZ) > absLimitZ) {
+          dataset.fieldStrengths.setValid(false);
+        }
         if (std::abs(mgmX) < absLimitX) {
-          dataset.fieldStrengthX = mgmX;
+          dataset.fieldStrengths[0] = mgmX;
-          dataset.fieldStrengthX.setValid(true);
-        } else {
-          dataset.fieldStrengthX.setValid(false);
         }
 
         if (std::abs(mgmY) < absLimitY) {
-          dataset.fieldStrengthY = mgmY;
+          dataset.fieldStrengths[1] = mgmY;
-          dataset.fieldStrengthY.setValid(true);
-        } else {
-          dataset.fieldStrengthY.setValid(false);
         }
 
         if (std::abs(mgmZ) < absLimitZ) {
-          dataset.fieldStrengthZ = mgmZ;
+          dataset.fieldStrengths[2] = mgmZ;
-          dataset.fieldStrengthZ.setValid(true);
-        } else {
-          dataset.fieldStrengthZ.setValid(false);
         }
+        dataset.fieldStrengths.setValid(true);
       }
       break;
     }
@@ -468,10 +464,9 @@ void MgmLIS3MDLHandler::modeChanged(void) { internalState = InternalState::STATE
 
 ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                          LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTHS, &mgmXYZ);
-  localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, &temperature);
-  localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
+  poolManager.subscribeForPeriodicPacket(dataset.getSid(), false, 10.0, false);
-  localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, new PoolEntry<float>({0.0}));
   return HasReturnvaluesIF::RETURN_OK;
 }
 

src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h

@@ -103,6 +103,8 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
   CommunicationStep communicationStep = CommunicationStep::DATA;
   bool commandExecuted = false;
 
+  PoolEntry<float> mgmXYZ = PoolEntry<float>(3);
+  PoolEntry<float> temperature = PoolEntry<float>();
   /*------------------------------------------------------------------------*/
   /* Device specific commands and variables */
   /*------------------------------------------------------------------------*/

src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp

@@ -309,9 +309,8 @@ void MgmRM3100Handler::modeChanged(void) { internalState = InternalState::NONE;
 
 ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                         LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(RM3100::FIELD_STRENGTHS, &mgmXYZ);
-  localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
+  poolManager.subscribeForPeriodicPacket(primaryDataset.getSid(), false, 10.0, false);
-  localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
   return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -354,9 +353,9 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
   // TODO: Sanity check on values?
   PoolReadGuard readGuard(&primaryDataset);
   if (readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
-    primaryDataset.fieldStrengthX = fieldStrengthX;
+    primaryDataset.fieldStrengths[0] = fieldStrengthX;
-    primaryDataset.fieldStrengthY = fieldStrengthY;
+    primaryDataset.fieldStrengths[1] = fieldStrengthY;
-    primaryDataset.fieldStrengthZ = fieldStrengthZ;
+    primaryDataset.fieldStrengths[2] = fieldStrengthZ;
     primaryDataset.setValidity(true, true);
   }
   return RETURN_OK;

src/fsfw_hal/devicehandlers/MgmRM3100Handler.h

@@ -85,6 +85,7 @@ class MgmRM3100Handler : public DeviceHandlerBase {
 
   bool goToNormalModeAtStartup = false;
   uint32_t transitionDelay;
+  PoolEntry<float> mgmXYZ = PoolEntry<float>(3);
 
   ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
                                               const uint8_t *commandData, size_t commandDataLen);

src/fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h

@@ -139,12 +139,7 @@ static const uint8_t CTRL_REG5_DEFAULT = 0;
 
 static const uint32_t MGM_DATA_SET_ID = READ_CONFIG_AND_DATA;
 
-enum MgmPoolIds : lp_id_t {
+enum MgmPoolIds : lp_id_t { FIELD_STRENGTHS, TEMPERATURE_CELCIUS };
-  FIELD_STRENGTH_X,
-  FIELD_STRENGTH_Y,
-  FIELD_STRENGTH_Z,
-  TEMPERATURE_CELCIUS
-};
 
 class MgmPrimaryDataset : public StaticLocalDataSet<4> {
  public:
@@ -152,9 +147,10 @@ class MgmPrimaryDataset : public StaticLocalDataSet<4> {
 
   MgmPrimaryDataset(object_id_t mgmId) : StaticLocalDataSet(sid_t(mgmId, MGM_DATA_SET_ID)) {}
 
-  lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_X, this);
+  /**
-  lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Y, this);
+   * Field strenghts in uT
-  lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Z, this);
+   */
+  lp_vec_t<float, 3> fieldStrengths = lp_vec_t<float, 3>(sid.objectId, FIELD_STRENGTHS, this);
   lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, TEMPERATURE_CELCIUS, this);
 };
 

src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h

@@ -101,11 +101,7 @@ class CycleCountCommand : public SerialLinkedListAdapter<SerializeIF> {
 
 static constexpr uint32_t MGM_DATASET_ID = READ_DATA;
 
-enum MgmPoolIds : lp_id_t {
+enum MgmPoolIds : lp_id_t { FIELD_STRENGTHS };
-  FIELD_STRENGTH_X,
-  FIELD_STRENGTH_Y,
-  FIELD_STRENGTH_Z,
-};
 
 class Rm3100PrimaryDataset : public StaticLocalDataSet<3> {
  public:
@@ -113,10 +109,10 @@ class Rm3100PrimaryDataset : public StaticLocalDataSet<3> {
 
   Rm3100PrimaryDataset(object_id_t mgmId) : StaticLocalDataSet(sid_t(mgmId, MGM_DATASET_ID)) {}
 
-  // Field strengths in micro Tesla.
+  /**
-  lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_X, this);
+   * Field strenghts in uT
-  lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Y, this);
+   */
-  lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Z, this);
+  lp_vec_t<float, 3> fieldStrengths = lp_vec_t<float, 3>(sid.objectId, FIELD_STRENGTHS, this);
 };
 
 }  // namespace RM3100

unittests/CMakeLists.txt

@@ -15,6 +15,7 @@ add_subdirectory(mocks)
 
 add_subdirectory(action)
 add_subdirectory(power)
+add_subdirectory(util)
 add_subdirectory(container)
 add_subdirectory(osal)
 add_subdirectory(serialize)

unittests/serialize/testSerializeIF.cpp

@@ -76,37 +76,6 @@ TEST_CASE("Serialize IF Serialize", "[serialize-if-ser]") {
     CHECK(buf[2] == 3);
     CHECK(serLen == 3);
   }
-
-  SECTION("Machine Endian Implicit") {
-    REQUIRE(simpleSer.SerializeIF::serialize(&ptr, &len, buf.size()) ==
-            HasReturnvaluesIF::RETURN_OK);
-    CHECK(buf[0] == 1);
-#if BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
-    CHECK(buf[1] == 3);
-    CHECK(buf[2] == 2);
-#else
-    CHECK(buf[1] == 2);
-    CHECK(buf[2] == 3);
-#endif
-    // Verify pointer arithmetic and size increment
-    CHECK(ptr == buf.data() + 3);
-    CHECK(len == 3);
-  }
-
-  SECTION("Machine Endian Simple Implicit") {
-    size_t serLen = 0xff;
-    REQUIRE(simpleSer.SerializeIF::serialize(buf.data(), serLen, buf.size()) ==
-            HasReturnvaluesIF::RETURN_OK);
-    CHECK(buf[0] == 1);
-#if BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
-    CHECK(buf[1] == 3);
-    CHECK(buf[2] == 2);
-#else
-    CHECK(buf[1] == 2);
-    CHECK(buf[2] == 3);
-#endif
-    CHECK(serLen == 3);
-  }
 }
 
 TEST_CASE("SerializeIF Deserialize", "[serialize-if-de]") {
@@ -172,30 +141,4 @@ TEST_CASE("SerializeIF Deserialize", "[serialize-if-de]") {
     CHECK(simpleSer.getU16() == 1);
     CHECK(deserLen == 3);
   }
-
-  SECTION("Machine Endian Implicit") {
-    REQUIRE(simpleSer.SerializeIF::deSerialize(&ptr, &len) == HasReturnvaluesIF::RETURN_OK);
-    CHECK(simpleSer.getU8() == 5);
-#if BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
-    CHECK(simpleSer.getU16() == 0x0100);
-#else
-    CHECK(simpleSer.getU16() == 1);
-#endif
-    // Verify pointer arithmetic and size increment
-    CHECK(ptr == buf.data() + 3);
-    CHECK(len == 0);
-  }
-
-  SECTION("Machine Endian Simple Implicit") {
-    size_t deserLen = 0xff;
-    REQUIRE(simpleSer.SerializeIF::deSerialize(buf.data(), deserLen, buf.size()) ==
-            HasReturnvaluesIF::RETURN_OK);
-    CHECK(simpleSer.getU8() == 5);
-#if BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
-    CHECK(simpleSer.getU16() == 0x0100);
-#else
-    CHECK(simpleSer.getU16() == 1);
-#endif
-    CHECK(deserLen == 3);
-  }
 }

unittests/util/CMakeLists.txt

@@ -0,0 +1,3 @@
+target_sources(${FSFW_TEST_TGT} PRIVATE
+  testUnsignedByteField.cpp
+)

unittests/util/testUnsignedByteField.cpp

@@ -0,0 +1,74 @@
+
+#include <catch2/catch_test_macros.hpp>
+
+#include "fsfw/util/UnsignedByteField.h"
+
+#include <array>
+
+TEST_CASE("Unsigned Byte Field", "[unsigned-byte-field]") {
+  auto testByteField = UnsignedByteField<uint32_t>(10);
+  auto u32ByteField = U32ByteField(10);
+  auto u16ByteField = U16ByteField(5);
+  auto u8ByteField = U8ByteField(2);
+  std::array<uint8_t, 16> buf{};
+  size_t serLen = 0;
+  SECTION("State") {
+    CHECK(testByteField.getValue() == 10);
+    CHECK(testByteField.getSerializedSize() == 4);
+    CHECK(u32ByteField.getValue() == 10);
+    CHECK(u32ByteField.getSerializedSize() == 4);
+    CHECK(u16ByteField.getValue() == 5);
+    CHECK(u8ByteField.getValue() == 2);
+    CHECK(u8ByteField.getSerializedSize() == 1);
+  }
+
+  SECTION("Setter") {
+    u32ByteField.setValue(20);
+    REQUIRE(u32ByteField.getValue() == 20);
+  }
+
+  SECTION("Serialize U32") {
+    CHECK(testByteField.serializeBe(buf.data(), serLen, buf.size()) == HasReturnvaluesIF::RETURN_OK);
+    CHECK(serLen == 4);
+    CHECK(buf[0] == 0);
+    CHECK(buf[3] == 10);
+  }
+
+  SECTION("Serialize U32 Concrete") {
+    CHECK(u32ByteField.serializeBe(buf.data(), serLen, buf.size()) == HasReturnvaluesIF::RETURN_OK);
+    CHECK(serLen == 4);
+    CHECK(buf[0] == 0);
+    CHECK(buf[3] == 10);
+  }
+
+  SECTION("Serialize U16 Concrete") {
+    CHECK(u16ByteField.serializeBe(buf.data(), serLen, buf.size()) == HasReturnvaluesIF::RETURN_OK);
+    CHECK(serLen == 2);
+    CHECK(buf[0] == 0);
+    CHECK(buf[1] == 5);
+  }
+
+  SECTION("Serialize U8 Concrete") {
+    CHECK(u8ByteField.serializeBe(buf.data(), serLen, buf.size()) == HasReturnvaluesIF::RETURN_OK);
+    CHECK(serLen == 1);
+    CHECK(buf[0] == 2);
+  }
+
+  SECTION("Deserialize") {
+    buf[0] = 0x50;
+    buf[1] = 0x40;
+    buf[2] = 0x30;
+    buf[3] = 0x20;
+    size_t deserLen = 0;
+    CHECK(testByteField.deSerializeBe(buf.data(), deserLen, buf.size()) == HasReturnvaluesIF::RETURN_OK);
+    CHECK(testByteField.getValue() == 0x50403020);
+  }
+
+  SECTION("Deserialize U16") {
+    buf[0] = 0x50;
+    buf[1] = 0x40;
+    size_t deserLen = 0;
+    CHECK(u16ByteField.deSerializeBe(buf.data(), deserLen, buf.size()) == HasReturnvaluesIF::RETURN_OK);
+    CHECK(u16ByteField.getValue() == 0x5040);
+  }
+}