CHANGELOG.md

@@ -26,6 +26,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Added
 
+- functions to configure pus routing
 - FreeRTOS monotonic clock which is not subjected to time jumps of the system clock
 - add CFDP subsystem ID
   https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/742

src/fsfw/devicehandlers/AssemblyBase.cpp

@@ -71,7 +71,8 @@ bool AssemblyBase::handleChildrenChangedHealth() {
   if (iter == childrenMap.end()) {
     return false;
   }
-  HealthState healthState = healthHelper.healthTable->getHealth(convertToDeviceObjectId(iter->first));
+  HealthState healthState =
+      healthHelper.healthTable->getHealth(convertToDeviceObjectId(iter->first));
   if (healthState == HasHealthIF::NEEDS_RECOVERY) {
     triggerEvent(TRYING_RECOVERY, iter->first, 0);
     recoveryState = RECOVERY_STARTED;
@@ -91,16 +92,15 @@ bool AssemblyBase::handleChildrenChangedHealth() {
 void AssemblyBase::handleChildrenTransition() {
   if (commandsOutstanding <= 0) {
     switch (internalState) {
-      case STATE_NEED_SECOND_STEP:
-      {
+      case STATE_NEED_SECOND_STEP: {
         internalState = STATE_SECOND_STEP;
         ReturnValue_t result = commandChildren(targetMode, targetSubmode);
-        if(result == NEED_SECOND_STEP) {
+        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) {
@@ -269,15 +269,14 @@ void AssemblyBase::overwriteDeviceHealth(object_id_t objectId, HasHealthIF::Heal
   triggerEvent(OVERWRITING_HEALTH, objectId, oldHealth);
   internalState = STATE_OVERWRITE_HEALTH;
   modeHelper.setForced(true);
-  if(childrenMap.find(objectId) != childrenMap.end()) {
+  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;
+    sif::debug << std::hex << SystemObject::getObjectId() << ": invalid mode table entry"
+               << std::endl;
 #endif
   }
-  
 }
 
 void AssemblyBase::triggerModeHelperEvents(Mode_t mode, Submode_t submode) {

src/fsfw/events/Event.h

@@ -22,7 +22,7 @@ constexpr EventId_t getEventId(Event event) { return (event & 0xFFFF); }
 
 constexpr EventSeverity_t getSeverity(Event event) { return ((event >> 16) & 0xFF); }
 
-template<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;

src/fsfw/osal/common/UdpTcPollingTask.cpp

@@ -41,7 +41,7 @@ UdpTcPollingTask::UdpTcPollingTask(object_id_t objectId, object_id_t tmtcUdpBrid
 
 [[noreturn]] ReturnValue_t UdpTcPollingTask::performOperation(uint8_t opCode) {
   /* Sender Address is cached here. */
-  struct sockaddr senderAddress {};
+  struct sockaddr senderAddress{};
   socklen_t senderAddressSize = sizeof(senderAddress);
 
   /* Poll for new UDP datagrams in permanent loop. */

src/fsfw/osal/freertos/Clock.cpp

@@ -5,8 +5,8 @@
 
 #include "FreeRTOS.h"
 #include "fsfw/globalfunctions/timevalOperations.h"
-#include "fsfw/serviceinterface/ServiceInterfacePrinter.h"
 #include "fsfw/osal/freertos/Timekeeper.h"
+#include "fsfw/serviceinterface/ServiceInterfacePrinter.h"
 #include "task.h"
 
 // TODO sanitize input?
@@ -48,7 +48,7 @@ ReturnValue_t Clock::getClock(timeval* time) {
 }
 
 ReturnValue_t Clock::getClockMonotonic(timeval* time) {
-	*time = Timekeeper::instance()->getMonotonicClockOffset() + getUptime();
+  *time = Timekeeper::instance()->getMonotonicClockOffset() + getUptime();
   return returnvalue::OK;
 }
 

src/fsfw/osal/freertos/Timekeeper.cpp

@@ -18,11 +18,11 @@ Timekeeper* Timekeeper::instance() {
 }
 
 void Timekeeper::setOffset(const timeval& offset) {
-	if (not monotonicClockInitialized) {
-		this->monotonicClockOffset = offset;
-		monotonicClockInitialized = true;
-	}
-	this->offset = offset;
+  if (not monotonicClockInitialized) {
+    this->monotonicClockOffset = offset;
+    monotonicClockInitialized = true;
+  }
+  this->offset = offset;
 }
 
 timeval Timekeeper::ticksToTimeval(TickType_t ticks) {
@@ -40,6 +40,4 @@ timeval Timekeeper::ticksToTimeval(TickType_t ticks) {
 
 TickType_t Timekeeper::getTicks() { return xTaskGetTickCount(); }
 
-const timeval Timekeeper::getMonotonicClockOffset() const {
-	return monotonicClockOffset;
-}
+const timeval Timekeeper::getMonotonicClockOffset() const { return monotonicClockOffset; }

src/fsfw/osal/host/Clock.cpp

@@ -173,7 +173,7 @@ ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
 }
 
 ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from, timeval* to) {
-  struct tm time_tm {};
+  struct tm time_tm{};
 
   time_tm.tm_year = from->year - 1900;
   time_tm.tm_mon = from->month - 1;

src/fsfw/subsystem/SubsystemBase.cpp

@@ -79,7 +79,6 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
     }
 
     if (healthHelper.healthTable->hasHealth(convertToDeviceObjectId(object))) {
-
       switch (healthHelper.healthTable->getHealth(convertToDeviceObjectId(object))) {
         case NEEDS_RECOVERY:
         case FAULTY:
@@ -354,6 +353,4 @@ ReturnValue_t SubsystemBase::registerChild(object_id_t childObjectId, MessageQue
   return returnvalue::OK;
 }
 
-object_id_t SubsystemBase::convertToDeviceObjectId(object_id_t id) {
-  return id;
-}
+object_id_t SubsystemBase::convertToDeviceObjectId(object_id_t id) { return id; }

src/fsfw/tcdistribution/PusDistributor.cpp

@@ -18,6 +18,10 @@ PusDistributor::PusDistributor(uint16_t setApid, object_id_t setObjectId, Storag
 
 PusDistributor::~PusDistributor() = default;
 
+void PusDistributor::setVerificationReporter(object_id_t verificationReporter_) {
+  verificationReporter = verificationReporter_;
+}
+
 ReturnValue_t PusDistributor::selectDestination(MessageQueueId_t& destId) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1 && PUS_DISTRIBUTOR_DEBUGGING == 1
   store_address_t storeId = currentMessage.getStorageId();
@@ -131,8 +135,7 @@ ReturnValue_t PusDistributor::initialize() {
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
   if (verifyChannel == nullptr) {
-    verifyChannel =
-        ObjectManager::instance()->get<VerificationReporterIF>(objects::VERIFICATION_REPORTER);
+    verifyChannel = ObjectManager::instance()->get<VerificationReporterIF>(verificationReporter);
     if (verifyChannel == nullptr) {
       return ObjectManagerIF::CHILD_INIT_FAILED;
     }

src/fsfw/tcdistribution/PusDistributor.h

@@ -43,6 +43,10 @@ class PusDistributor : public TcDistributorBase,
   [[nodiscard]] MessageQueueId_t getRequestQueue() const override;
   ReturnValue_t initialize() override;
   [[nodiscard]] uint32_t getIdentifier() const override;
+  /**
+   * @brief Can be used to set the verification reporter if another than the default should be used
+   */
+  void setVerificationReporter(object_id_t verificationReporter_);
 
  protected:
   struct ServiceInfo {
@@ -75,6 +79,8 @@ class PusDistributor : public TcDistributorBase,
    */
   ReturnValue_t tcStatus;
 
+  object_id_t verificationReporter = objects::VERIFICATION_REPORTER;
+
   /**
    * This method reads the packet service, checks if such a service is
    * registered and forwards the packet to the destination.

src/fsfw/tmtcservices/CommandingServiceBase.cpp

@@ -128,7 +128,7 @@ ReturnValue_t CommandingServiceBase::initialize() {
 
   if (verificationReporter == nullptr) {
     verificationReporter =
-        ObjectManager::instance()->get<VerificationReporterIF>(objects::VERIFICATION_REPORTER);
+        ObjectManager::instance()->get<VerificationReporterIF>(verificationReporterId);
     if (verificationReporter == nullptr) {
       return ObjectManagerIF::CHILD_INIT_FAILED;
     }
@@ -136,6 +136,10 @@ ReturnValue_t CommandingServiceBase::initialize() {
   return returnvalue::OK;
 }
 
+void CommandingServiceBase::setVerificationReporter(object_id_t verificationReporterId_) {
+  verificationReporterId = verificationReporterId_;
+}
+
 void CommandingServiceBase::handleCommandQueue() {
   CommandMessage reply;
   ReturnValue_t result;

src/fsfw/tmtcservices/CommandingServiceBase.h

@@ -126,6 +126,8 @@ class CommandingServiceBase : public SystemObject,
 
   ReturnValue_t initialize() override;
 
+  void setVerificationReporter(object_id_t verificationReporterId_);
+
   /**
    * Implementation of ExecutableObjectIF function
    *
@@ -262,6 +264,8 @@ class CommandingServiceBase : public SystemObject,
 
   const uint16_t timeoutSeconds;
 
+  object_id_t verificationReporterId = objects::VERIFICATION_REPORTER;
+
   PusTcReader tcReader;
   TmStoreHelper tmStoreHelper;
   TmSendHelper tmSendHelper;

src/fsfw/tmtcservices/PusServiceBase.cpp

@@ -111,7 +111,7 @@ ReturnValue_t PusServiceBase::initialize() {
   }
 
   if (psbParams.pusDistributor == nullptr) {
-    psbParams.pusDistributor = ObjectManager::instance()->get<PusDistributorIF>(PUS_DISTRIBUTOR);
+    psbParams.pusDistributor = ObjectManager::instance()->get<PusDistributorIF>(pusDistributor);
     if (psbParams.pusDistributor != nullptr) {
       registerService(*psbParams.pusDistributor);
     }
@@ -126,7 +126,7 @@ ReturnValue_t PusServiceBase::initialize() {
 
   if (psbParams.verifReporter == nullptr) {
     psbParams.verifReporter =
-        ObjectManager::instance()->get<VerificationReporterIF>(objects::VERIFICATION_REPORTER);
+        ObjectManager::instance()->get<VerificationReporterIF>(verificationReporter);
     if (psbParams.verifReporter == nullptr) {
       return ObjectManagerIF::CHILD_INIT_FAILED;
     }
@@ -134,6 +134,14 @@ ReturnValue_t PusServiceBase::initialize() {
   return returnvalue::OK;
 }
 
+void PusServiceBase::setPusDistributor(object_id_t pusDistributor_) {
+  pusDistributor = pusDistributor_;
+}
+
+void PusServiceBase::setVerificationReporter(object_id_t verificationReporter_) {
+  verificationReporter = verificationReporter_;
+}
+
 void PusServiceBase::setTcPool(StorageManagerIF& tcPool) { psbParams.tcPool = &tcPool; }
 
 void PusServiceBase::setErrorReporter(InternalErrorReporterIF& errReporter_) {

src/fsfw/tmtcservices/PusServiceBase.h

@@ -201,6 +201,9 @@ class PusServiceBase : public ExecutableObjectIF,
   void setTaskIF(PeriodicTaskIF* taskHandle) override;
   [[nodiscard]] const char* getName() const override;
 
+  void setPusDistributor(object_id_t pusDistributor_);
+  void setVerificationReporter(object_id_t verificationReporter_);
+
  protected:
   /**
    * @brief   Handle to the underlying task
@@ -228,6 +231,9 @@ class PusServiceBase : public ExecutableObjectIF,
   static object_id_t PACKET_DESTINATION;
   static object_id_t PUS_DISTRIBUTOR;
 
+  object_id_t pusDistributor = PUS_DISTRIBUTOR;
+  object_id_t verificationReporter = objects::VERIFICATION_REPORTER;
+
  private:
   void handleRequestQueue();
 };

src/fsfw_hal/linux/CommandExecutor.h

@@ -116,7 +116,7 @@ class CommandExecutor {
   int currentFd = 0;
   bool printOutput = true;
   std::vector<char> readVec;
-  struct pollfd waiter {};
+  struct pollfd waiter{};
   SimpleRingBuffer* ringBuffer = nullptr;
   DynamicFIFO<uint16_t>* sizesFifo = nullptr;
 

unittests/tmtcpacket/testPusTmReader.cpp

@@ -38,7 +38,7 @@ TEST_CASE("PUS TM Reader", "[pus-tm-reader]") {
       readerPtr->setTimeReader(&timeStamperAndReader);
       deleteReader = true;
     }
-    REQUIRE(not *readerPtr);
+    REQUIRE(not*readerPtr);
     REQUIRE(readerPtr->isNull());
     REQUIRE(readerPtr->parseDataWithCrcCheck() == returnvalue::OK);
     REQUIRE(not readerPtr->isNull());