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

Reviewed-on: #57
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>

CHANGELOG.md

@@ -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.

misc/archive/MgmRM3100Handler.h

@@ -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);

src/fsfw/cfdp/handler/defs.h

@@ -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);

src/fsfw/devicehandlers/AssemblyBase.cpp

@@ -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);
+}

src/fsfw/devicehandlers/AssemblyBase.h

@@ -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_ */

src/fsfw/devicehandlers/FreshDeviceHandlerBase.cpp

@@ -145,20 +145,20 @@ void FreshDeviceHandlerBase::setToExternalControl() { setHealth(HealthState::EXT
 
 // System Object overrides.
 ReturnValue_t FreshDeviceHandlerBase::initialize() {
-  ReturnValue_t result = modeHelper.initialize();
+  ReturnValue_t result = modeHelper.initialize(); // ModeHelper.initialize() is an empty function, always returns OK
   if (result != returnvalue::OK) {
     return result;
   }
   result = healthHelper.initialize();
-  if (result != returnvalue::OK) {
+  if (result != returnvalue::OK) { // check if all objects were successfully registered with HEALTHY flag stored in table (otherwise default HEALTHY = HEALTHY)
     return result;
   }
   result = actionHelper.initialize(messageQueue);
-  if (result != returnvalue::OK) {
+  if (result != returnvalue::OK) { // check if actionHelper got messageQueue assigned to use for its work successfully
     return result;
   }
-  result = paramHelper.initialize();
-  if (result != returnvalue::OK) {
+  result = paramHelper.initialize(); 
+  if (result != returnvalue::OK) {  
     return result;
   }
 

src/fsfw/events/Event.h

@@ -5,30 +5,31 @@
 
 #include "fwSubsystemIdRanges.h"
 
+using EventId_t = uint16_t;
 using EventSeverity_t = uint8_t;
-using GroupId_t = uint16_t;
-using UniqueEventId_t = uint16_t;
+using UniqueEventId_t = uint8_t;
 
 namespace severity {
-enum Severity : EventSeverity_t { INFO = 0, LOW = 1, MEDIUM = 2, HIGH = 3 };
+enum Severity : EventSeverity_t { INFO = 1, LOW = 2, MEDIUM = 3, HIGH = 4 };
 
 }  // namespace severity
 
-#define MAKE_EVENT(id, severity) (((severity) << 30) | (SUBSYSTEM_ID << 16) | id)
-
 typedef uint32_t Event;
 
 namespace event {
 
-constexpr UniqueEventId_t getEventId(Event event) { return (event & 0xFFFF); }
+constexpr EventId_t getEventId(Event event) { return (event & 0xFFFF); }
 
-constexpr EventSeverity_t getSeverity(Event event) { return ((event >> 30) & 0b11); }
+constexpr EventSeverity_t getSeverity(Event event) { return ((event >> 16) & 0xFF); }
 
-constexpr Event makeEvent(GroupId_t groupId, UniqueEventId_t uniqueEventId,
-                          EventSeverity_t eventSeverity) {
-  return (eventSeverity << 30) | (groupId << 16) | uniqueEventId;
+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_ */

src/fsfw/health/HasHealthIF.h

@@ -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;

src/fsfw/housekeeping/Dataset.h

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

src/fsfw/housekeeping/PeriodicHkHelper.cpp

@@ -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:

src/fsfw/objectmanager/frameworkObjects.h

@@ -29,7 +29,7 @@ enum framework_objects : object_id_t {
   //	MODE_STORE = 0x53010100,
   EVENT_MANAGER = 0x53030000,
   INTERNAL_ERROR_REPORTER = 0x53040000,
-  IPC_STORE = 0x534f0300,
+  IPC_STORE = 0x534f0300, // Inter-process communication
   // IDs for PUS Packet Communication
   TC_STORE = 0x534f0100,
   TM_STORE = 0x534f0200,

src/fsfw/parameters/ParameterHelper.cpp

@@ -117,7 +117,7 @@ ReturnValue_t ParameterHelper::sendParameter(MessageQueueId_t to, uint32_t id,
 ReturnValue_t ParameterHelper::initialize() {
   ownerQueueId = owner->getCommandQueue();
 
-  storage = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
+  storage = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE); // get storage pointer for inter-process communication
   if (storage == nullptr) {
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }

src/fsfw/pus/Service11TelecommandScheduling.h

@@ -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 {

src/fsfw/pus/Service5EventReporting.cpp

@@ -44,7 +44,7 @@ ReturnValue_t Service5EventReporting::performService() {
 }
 
 ReturnValue_t Service5EventReporting::generateEventReport(EventMessage message) {
-  EventReport report(message.getEvent(), message.getReporter(), message.getParameter1(),
+  EventReport report(message.getEventId(), message.getReporter(), message.getParameter1(),
                      message.getParameter2());
   storeHelper.preparePacket(psbParams.serviceId, message.getSeverity(), tmHelper.sendCounter);
   storeHelper.setSourceDataSerializable(report);

src/fsfw/pus/servicepackets/Service5Packets.h

@@ -17,13 +17,17 @@
  */
 class EventReport : public SerializeIF {  //!< [EXPORT] : [SUBSERVICE] 1, 2, 3, 4
  public:
-  EventReport(Event event_, object_id_t objectId_, uint32_t parameter1_, uint32_t parameter2_)
-      : event(event_), objectId(objectId_), parameter1(parameter1_), parameter2(parameter2_) {}
+  EventReport(EventId_t reportId_, object_id_t objectId_, uint32_t parameter1_,
+              uint32_t parameter2_)
+      : reportId(reportId_),
+        objectId(objectId_),
+        parameter1(parameter1_),
+        parameter2(parameter2_) {}
 
   ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
                           SerializeIF::Endianness streamEndianness) const override {
     ReturnValue_t result =
-        SerializeAdapter::serialize(&event, buffer, size, maxSize, streamEndianness);
+        SerializeAdapter::serialize(&reportId, buffer, size, maxSize, streamEndianness);
     if (result != returnvalue::OK) {
       return result;
     }
@@ -44,7 +48,7 @@ class EventReport : public SerializeIF {  //!< [EXPORT] : [SUBSERVICE] 1, 2, 3,
 
   size_t getSerializedSize() const override {
     uint32_t size = 0;
-    size += SerializeAdapter::getSerializedSize(&event);
+    size += SerializeAdapter::getSerializedSize(&reportId);
     size += SerializeAdapter::getSerializedSize(&objectId);
     size += SerializeAdapter::getSerializedSize(&parameter1);
     size += SerializeAdapter::getSerializedSize(&parameter2);
@@ -57,7 +61,7 @@ class EventReport : public SerializeIF {  //!< [EXPORT] : [SUBSERVICE] 1, 2, 3,
   }
 
  private:
-  Event event;
+  EventId_t reportId;
   object_id_t objectId;
   uint32_t parameter1;
   uint32_t parameter2;

src/fsfw/subsystem/SubsystemBase.cpp

@@ -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;
+}

src/fsfw/subsystem/SubsystemBase.h

@@ -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_ */

src/fsfw/tcdistribution/definitions.h

@@ -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

src/fsfw/tmstorage/TmStoreMessage.cpp

@@ -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(); }
 

src/fsfw/tmstorage/TmStoreMessage.h

@@ -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();