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Merge remote-tracking branch 'origin/main' into hinkel/comments

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Andy 2025-05-12 11:18:06 +02:00
commit f87e234651
15 changed files with 75 additions and 31 deletions
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1
CHANGELOG.md
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@ -35,6 +35,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
## Changed
- send HK one-parameter-report back to sender instead of default hk queue
- Complete overhaul of HK subsystem. Replaced local data pool manager by periodic HK
helper. The shared pool and the periodic HK generation are now distinct concepts.
- The local HK manager was replaced by a periodic HK helper which has reduced responsibilities.

4
misc/archive/MgmRM3100Handler.h
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@ -18,13 +18,13 @@ class MgmRM3100Handler : public DeviceHandlerBase {
static const uint8_t INTERFACE_ID = CLASS_ID::MGM_RM3100;
//! [EXPORT] : [COMMENT] P1: TMRC value which was set, P2: 0
static constexpr Event tmrcSet = event::makeEvent(SUBSYSTEM_ID::MGM_RM3100, 0x00, severity::INFO);
static constexpr Event tmrcSet = event::makeEvent<SUBSYSTEM_ID::MGM_RM3100, 0x00, severity::INFO>();
//! [EXPORT] : [COMMENT] Cycle counter set. P1: First two bytes new Cycle Count X
//! P1: Second two bytes new Cycle Count Y
//! P2: New cycle count Z
static constexpr Event cycleCountersSet =
event::makeEvent(SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO);
event::makeEvent<SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO>();
MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
uint32_t transitionDelay);

10
src/fsfw/cfdp/handler/defs.h
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@ -19,13 +19,13 @@ struct FsfwParams {
};
namespace events {
static constexpr Event PDU_SEND_ERROR = event::makeEvent(SSID, 1, severity::LOW);
static constexpr Event SERIALIZATION_ERROR = event::makeEvent(SSID, 2, severity::LOW);
static constexpr Event FILESTORE_ERROR = event::makeEvent(SSID, 3, severity::LOW);
static constexpr Event PDU_SEND_ERROR = event::makeEvent<SSID, 1, severity::LOW>();
static constexpr Event SERIALIZATION_ERROR = event::makeEvent<SSID, 2, severity::LOW>();
static constexpr Event FILESTORE_ERROR = event::makeEvent<SSID, 3, severity::LOW>();
//! [EXPORT] : [COMMENT] P1: Transaction step ID, P2: 0 for source file name, 1 for dest file name
static constexpr Event FILENAME_TOO_LARGE_ERROR = event::makeEvent(SSID, 4, severity::LOW);
static constexpr Event FILENAME_TOO_LARGE_ERROR = event::makeEvent<SSID, 4, severity::LOW>();
//! [EXPORT] : [COMMENT] CFDP request handling failed. P2: Returncode.
static constexpr Event HANDLING_CFDP_REQUEST_FAILED = event::makeEvent(SSID, 5, severity::LOW);
static constexpr Event HANDLING_CFDP_REQUEST_FAILED = event::makeEvent<SSID, 5, severity::LOW>();
} // namespace events
static constexpr ReturnValue_t SOURCE_TRANSACTION_PENDING = returnvalue::makeCode(CID, 0);

35
src/fsfw/devicehandlers/AssemblyBase.cpp
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@ -71,7 +71,7 @@ bool AssemblyBase::handleChildrenChangedHealth() {
if (iter == childrenMap.end()) {
return false;
}
HealthState healthState = healthHelper.healthTable->getHealth(iter->first);
HealthState healthState = healthHelper.healthTable->getHealth(convertToDeviceObjectId(iter->first));
if (healthState == HasHealthIF::NEEDS_RECOVERY) {
triggerEvent(TRYING_RECOVERY, iter->first, 0);
recoveryState = RECOVERY_STARTED;
@ -92,10 +92,15 @@ void AssemblyBase::handleChildrenTransition() {
if (commandsOutstanding <= 0) {
switch (internalState) {
case STATE_NEED_SECOND_STEP:
{
internalState = STATE_SECOND_STEP;
commandChildren(targetMode, targetSubmode);
ReturnValue_t result = commandChildren(targetMode, targetSubmode);
if(result == NEED_SECOND_STEP) {
internalState = STATE_NEED_SECOND_STEP;
}
return;
case STATE_OVERWRITE_HEALTH: {
}
case STATE_OVERWRITE_HEALTH: {
internalState = STATE_SINGLE_STEP;
ReturnValue_t result = commandChildren(mode, submode);
if (result == NEED_SECOND_STEP) {
@ -170,7 +175,7 @@ ReturnValue_t AssemblyBase::checkChildrenStateOff() {
ReturnValue_t AssemblyBase::checkChildOff(uint32_t objectId) {
ChildInfo childInfo = childrenMap.find(objectId)->second;
if (healthHelper.healthTable->isCommandable(objectId)) {
if (healthHelper.healthTable->isCommandable(convertToDeviceObjectId(objectId))) {
if (childInfo.submode != SUBMODE_NONE) {
return returnvalue::FAILED;
} else {
@ -227,7 +232,7 @@ bool AssemblyBase::checkAndHandleRecovery() {
case RECOVERY_STARTED:
// The recovery was already start in #handleChildrenChangedHealth and we just need
// to wait for an off time period.
// TODO: make time period configurable
// The timeout can be defined by #setRecoveryWaitTimer
recoveryState = RECOVERY_WAIT;
recoveryOffTimer.resetTimer();
return true;
@ -235,14 +240,14 @@ bool AssemblyBase::checkAndHandleRecovery() {
if (recoveryOffTimer.isBusy()) {
return true;
}
triggerEvent(RECOVERY_STEP, 0);
triggerEvent(RECOVERY_WAITING, recoveringDevice->first);
sendHealthCommand(recoveringDevice->second.commandQueue, HEALTHY);
internalState = STATE_NONE;
recoveryState = RECOVERY_ONGOING;
// Don't check state!
return true;
case RECOVERY_ONGOING:
triggerEvent(RECOVERY_STEP, 1);
triggerEvent(RECOVERY_RESTARTING, recoveringDevice->first);
recoveryState = RECOVERY_ONGOING_2;
recoveringDevice->second.healthChanged = false;
// Device should be healthy again, so restart a transition.
@ -250,7 +255,7 @@ bool AssemblyBase::checkAndHandleRecovery() {
doStartTransition(targetMode, targetSubmode);
return true;
case RECOVERY_ONGOING_2:
triggerEvent(RECOVERY_DONE);
triggerEvent(RECOVERY_DONE, recoveringDevice->first);
// Now we're through, but not sure if it was successful.
recoveryState = RECOVERY_IDLE;
return false;
@ -264,7 +269,15 @@ void AssemblyBase::overwriteDeviceHealth(object_id_t objectId, HasHealthIF::Heal
triggerEvent(OVERWRITING_HEALTH, objectId, oldHealth);
internalState = STATE_OVERWRITE_HEALTH;
modeHelper.setForced(true);
sendHealthCommand(childrenMap[objectId].commandQueue, EXTERNAL_CONTROL);
if(childrenMap.find(objectId) != childrenMap.end()) {
sendHealthCommand(childrenMap.at(objectId).commandQueue, EXTERNAL_CONTROL);
} else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << std::hex << SystemObject::getObjectId() << ": invalid mode table entry"
<< std::endl;
#endif
}
}
void AssemblyBase::triggerModeHelperEvents(Mode_t mode, Submode_t submode) {
@ -274,3 +287,7 @@ void AssemblyBase::triggerModeHelperEvents(Mode_t mode, Submode_t submode) {
triggerEvent(CHANGING_MODE, mode, submode);
}
}
void AssemblyBase::setRecoveryWaitTimer(uint32_t timeoutMS) {
recoveryOffTimer.setTimeout(timeoutMS);
}

2
src/fsfw/devicehandlers/AssemblyBase.h
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@ -206,6 +206,8 @@ class AssemblyBase : public SubsystemBase {
void overwriteDeviceHealth(object_id_t objectId, HasHealthIF::HealthState oldHealth);
void triggerModeHelperEvents(Mode_t mode, Submode_t submode);
void setRecoveryWaitTimer(uint32_t timeoutMS);
};
#endif /* FSFW_DEVICEHANDLERS_ASSEMBLYBASE_H_ */

9
src/fsfw/events/Event.h
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@ -14,8 +14,6 @@ enum Severity : EventSeverity_t { INFO = 1, LOW = 2, MEDIUM = 3, HIGH = 4 };
} // namespace severity
#define MAKE_EVENT(id, severity) (((severity) << 16) + (SUBSYSTEM_ID * 100) + (id))
typedef uint32_t Event;
namespace event {
@ -24,11 +22,14 @@ constexpr EventId_t getEventId(Event event) { return (event & 0xFFFF); }
constexpr EventSeverity_t getSeverity(Event event) { return ((event >> 16) & 0xFF); }
constexpr Event makeEvent(uint8_t subsystemId, UniqueEventId_t uniqueEventId,
EventSeverity_t eventSeverity) {
template<uint8_t subsystemId, UniqueEventId_t uniqueEventId, EventSeverity_t eventSeverity>
constexpr Event makeEvent() {
static_assert(uniqueEventId < 100, "The unique event ID must be smaller than 100!");
return (eventSeverity << 16) + (subsystemId * 100) + uniqueEventId;
}
} // namespace event
#define MAKE_EVENT(id, severity) event::makeEvent<SUBSYSTEM_ID, id, severity>();
#endif /* EVENTOBJECT_EVENT_H_ */

14
src/fsfw/health/HasHealthIF.h
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@ -27,13 +27,19 @@ class HasHealthIF {
static const Event CHILD_PROBLEMS = MAKE_EVENT(8, severity::LOW);
//! 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.
//! Someone starts a recovery of a component (typically power-cycle).
//! P1: Object Id of the recovering device.
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.
//! P1: Object Id of the recovering device.
static const Event RECOVERY_DONE = MAKE_EVENT(12, severity::MEDIUM);
//! Recovery is ongoing. The recovering device is currently OFF, waiting for restart.
//! P1: Object Id of the recovering device.
static const Event RECOVERY_WAITING = MAKE_EVENT(13, severity::MEDIUM);
//! Recovery is ongoing. Restarting the recovering device.
//! P1: Object Id of the recovering device.
static const Event RECOVERY_RESTARTING = MAKE_EVENT(14, severity::MEDIUM);
virtual ~HasHealthIF() {}
virtual MessageQueueId_t getCommandQueue() const = 0;

2
src/fsfw/housekeeping/Dataset.h
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@ -91,7 +91,7 @@ class Dataset : public SerializeIF {
void setChildrenValidity(bool valid) {
for (auto &serializable : serializables) {
serializable.get().setValid(true);
serializable.get().setValid(valid);
}
}

4
src/fsfw/housekeeping/PeriodicHkHelper.cpp
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@ -9,7 +9,6 @@
#include "fsfw/housekeeping/HousekeepingSnapshot.h"
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/timemanager/CCSDSTime.h"
using namespace hk;
@ -84,6 +83,7 @@ ReturnValue_t PeriodicHelper::performHkOperation() {
ReturnValue_t PeriodicHelper::handleHousekeepingMessage(CommandMessage* message) {
Command_t command = message->getCommand();
MessageQueueId_t sender = message->getSender();
dp::sid_t sid = HousekeepingMessage::getStructureId(message);
ReturnValue_t result = returnvalue::OK;
switch (command) {
@ -113,7 +113,7 @@ ReturnValue_t PeriodicHelper::handleHousekeepingMessage(CommandMessage* message)
}
case (HousekeepingMessage::GENERATE_ONE_PARAMETER_REPORT): {
return generateHousekeepingPacket(HousekeepingMessage::getStructureId(message));
return generateHousekeepingPacket(HousekeepingMessage::getStructureId(message), sender);
}
default:

2
src/fsfw/pus/Service11TelecommandScheduling.h
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@ -49,7 +49,7 @@ class Service11TelecommandScheduling final : public PusServiceBase {
//! [EXPORT] : [COMMENT] Deletion of a TC from the map failed.
//! P1: First 32 bit of request ID, P2. Last 32 bit of Request ID
static constexpr Event TC_DELETION_FAILED = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
static constexpr Event TC_DELETION_FAILED = event::makeEvent<SUBSYSTEM_ID, 0, severity::MEDIUM>();
// The types of PUS-11 subservices
enum Subservice : uint8_t {

8
src/fsfw/subsystem/SubsystemBase.cpp
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@ -78,9 +78,9 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
submodeToCommand = targetSubmode;
}
if (healthHelper.healthTable->hasHealth(object)) {
if (healthHelper.healthTable->hasHealth(convertToDeviceObjectId(object))) {
switch (healthHelper.healthTable->getHealth(object)) {
switch (healthHelper.healthTable->getHealth(convertToDeviceObjectId(object))) {
case NEEDS_RECOVERY:
case FAULTY:
case PERMANENT_FAULTY:
@ -353,3 +353,7 @@ ReturnValue_t SubsystemBase::registerChild(object_id_t childObjectId, MessageQue
}
return returnvalue::OK;
}
object_id_t SubsystemBase::convertToDeviceObjectId(object_id_t id) {
return id;
}

6
src/fsfw/subsystem/SubsystemBase.h
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@ -153,6 +153,12 @@ class SubsystemBase : public SystemObject,
virtual void announceMode(bool recursive) override;
virtual void modeChanged();
/**
* @brief Provides an adaptation point for the user to change an objectId into
* a different objectId.
*/
virtual object_id_t convertToDeviceObjectId(object_id_t id);
};
#endif /* FSFW_SUBSYSTEM_SUBSYSTEMBASE_H_ */

2
src/fsfw/tcdistribution/definitions.h
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@ -25,7 +25,7 @@ static constexpr ReturnValue_t INCORRECT_SECONDARY_HEADER = MAKE_RETURN_CODE(11)
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::TMTC_DISTRIBUTION;
//! P1: Returnvalue, P2: 0 for TM issues, 1 for TC issues
static constexpr Event HANDLE_PACKET_FAILED = event::makeEvent(SUBSYSTEM_ID, 0, severity::LOW);
static constexpr Event HANDLE_PACKET_FAILED = event::makeEvent<SUBSYSTEM_ID, 0, severity::LOW>();
}; // namespace tmtcdistrib
#endif // FSFW_TMTCPACKET_DEFINITIONS_H

5
src/fsfw/tmstorage/TmStoreMessage.cpp
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@ -114,6 +114,11 @@ void TmStoreMessage::setDownlinkContentTimeMessage(CommandMessage* cmd, store_ad
cmd->setParameter2(storeId.raw);
}
void TmStoreMessage::setStopDownlinkContentMessage(CommandMessage* cmd, store_address_t storeId) {
cmd->setCommand(STOP_DOWNLINK_STORE_CONTENT);
cmd->setParameter2(storeId.raw);
}
uint32_t TmStoreMessage::getAddressLow(CommandMessage* cmd) { return cmd->getParameter(); }
uint32_t TmStoreMessage::getAddressHigh(CommandMessage* cmd) { return cmd->getParameter2(); }

2
src/fsfw/tmstorage/TmStoreMessage.h
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@ -21,6 +21,7 @@ class TmStoreMessage {
static void setStoreCatalogueReportMessage(CommandMessage* cmd, object_id_t objectId,
store_address_t storeId);
static void setDownlinkContentTimeMessage(CommandMessage* cmd, store_address_t storeId);
static void setStopDownlinkContentMessage(CommandMessage* cmd, store_address_t storeId);
static void setIndexReportMessage(CommandMessage* cmd, store_address_t storeId);
static ReturnValue_t setDeleteBlocksMessage(CommandMessage* cmd, uint32_t addressLow,
uint32_t addressHigh);
@ -54,6 +55,7 @@ class TmStoreMessage {
static const Command_t DOWNLINK_STORE_CONTENT_BLOCKS = MAKE_COMMAND_ID(12);
static const Command_t REPORT_INDEX_REQUEST = MAKE_COMMAND_ID(13);
static const Command_t INDEX_REPORT = MAKE_COMMAND_ID(14);
static const Command_t STOP_DOWNLINK_STORE_CONTENT = MAKE_COMMAND_ID(15);
private:
TmStoreMessage();