Merge remote-tracking branch 'origin/develop' into heater_handling

This commit is contained in:
Robin Müller 2022-12-02 18:05:55 +01:00
commit 141a3e9be8
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GPG Key ID: 11D4952C8CCEF814
9 changed files with 125 additions and 54 deletions

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@ -102,11 +102,8 @@
/** CMake Defines */ /** CMake Defines */
/*******************************************************************/ /*******************************************************************/
// Use TCP instead of UDP for the TMTC bridge. This allows using the TMTC client locally #define OBSW_ADD_TMTC_UDP_SERVER 1
// because UDP packets are not allowed in the VPN #define OBSW_ADD_TMTC_TCP_SERVER 1
// This will cause the OBSW to initialize the TMTC bridge responsible for exchanging data with the
// CCSDS IP Cores.
#define OBSW_USE_TMTC_TCP_BRIDGE 0
#cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER #cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER

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@ -13,10 +13,11 @@
#include "fsfw/platform.h" #include "fsfw/platform.h"
#include "fsfw_tests/integration/task/TestTask.h" #include "fsfw_tests/integration/task/TestTask.h"
#if OBSW_USE_TMTC_TCP_BRIDGE == 0 #if OBSW_ADD_TMTC_UDP_SERVER == 1
#include "fsfw/osal/common/UdpTcPollingTask.h" #include "fsfw/osal/common/UdpTcPollingTask.h"
#include "fsfw/osal/common/UdpTmTcBridge.h" #include "fsfw/osal/common/UdpTmTcBridge.h"
#else #endif
#if OBSW_ADD_TMTC_TCP_SERVER == 1
#include "fsfw/osal/common/TcpTmTcBridge.h" #include "fsfw/osal/common/TcpTmTcBridge.h"
#include "fsfw/osal/common/TcpTmTcServer.h" #include "fsfw/osal/common/TcpTmTcServer.h"
#endif #endif

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@ -69,14 +69,24 @@ void scheduling::initTasks() {
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
sif::error << "Object add component failed" << std::endl; sif::error << "Object add component failed" << std::endl;
} }
result = tmtcDistributor->addComponent(objects::TMTC_BRIDGE); result = tmtcDistributor->addComponent(objects::UDP_TMTC_SERVER);
if (result != returnvalue::OK) {
sif::error << "Add component UDP Unix Bridge failed" << std::endl;
}
result = tmtcDistributor->addComponent(objects::TCP_TMTC_SERVER);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
sif::error << "Add component UDP Unix Bridge failed" << std::endl; sif::error << "Add component UDP Unix Bridge failed" << std::endl;
} }
PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask( PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
"UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc); "UDP_POLLING", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK); result = udpPollingTask->addComponent(objects::UDP_TMTC_POLLING_TASK);
if (result != returnvalue::OK) {
sif::error << "Add component UDP Polling failed" << std::endl;
}
PeriodicTaskIF* tcpPollingTask = factory->createPeriodicTask(
"TCP_POLLING", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = tcpPollingTask->addComponent(objects::TCP_TMTC_POLLING_TASK);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
sif::error << "Add component UDP Polling failed" << std::endl; sif::error << "Add component UDP Polling failed" << std::endl;
} }
@ -139,11 +149,6 @@ void scheduling::initTasks() {
PeriodicTaskIF* thermalTask = factory->createPeriodicTask( PeriodicTaskIF* thermalTask = factory->createPeriodicTask(
"THERMAL_CTL_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc); "THERMAL_CTL_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
result = thermalTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("SUS_0_dummy", objects::SUS_0_N_LOC_XFYFZM_PT_XF);
}
result = thermalTask->addComponent(objects::CORE_CONTROLLER); result = thermalTask->addComponent(objects::CORE_CONTROLLER);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
scheduling::printAddObjectError("Core controller dummy", objects::CORE_CONTROLLER); scheduling::printAddObjectError("Core controller dummy", objects::CORE_CONTROLLER);
@ -180,14 +185,48 @@ void scheduling::initTasks() {
} }
#endif /* OBSW_ADD_TEST_CODE == 1 */ #endif /* OBSW_ADD_TEST_CODE == 1 */
<<<<<<< HEAD
PeriodicTaskIF* tcsTask = factory->createPeriodicTask( PeriodicTaskIF* tcsTask = factory->createPeriodicTask(
"TCS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc); "TCS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc);
scheduling::scheduleTmpTempSensors(tcsTask); scheduling::scheduleTmpTempSensors(tcsTask);
scheduling::scheduleRtdSensors(tcsTask); scheduling::scheduleRtdSensors(tcsTask);
=======
PeriodicTaskIF* dummyTask = factory->createPeriodicTask(
"DUMMY_TASK", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
dummyTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
dummyTask->addComponent(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
dummyTask->addComponent(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
dummyTask->addComponent(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
dummyTask->addComponent(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
dummyTask->addComponent(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
dummyTask->addComponent(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
dummyTask->addComponent(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
dummyTask->addComponent(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
dummyTask->addComponent(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
dummyTask->addComponent(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
dummyTask->addComponent(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
dummyTask->addComponent(objects::RTD_0_IC3_PLOC_HEATSPREADER);
dummyTask->addComponent(objects::RTD_1_IC4_PLOC_MISSIONBOARD);
dummyTask->addComponent(objects::RTD_2_IC5_4K_CAMERA);
dummyTask->addComponent(objects::RTD_3_IC6_DAC_HEATSPREADER);
dummyTask->addComponent(objects::RTD_4_IC7_STARTRACKER);
dummyTask->addComponent(objects::RTD_5_IC8_RW1_MX_MY);
dummyTask->addComponent(objects::RTD_6_IC9_DRO);
dummyTask->addComponent(objects::RTD_7_IC10_SCEX);
dummyTask->addComponent(objects::RTD_8_IC11_X8);
dummyTask->addComponent(objects::RTD_9_IC12_HPA);
dummyTask->addComponent(objects::RTD_10_IC13_PL_TX);
dummyTask->addComponent(objects::RTD_11_IC14_MPA);
dummyTask->addComponent(objects::RTD_12_IC15_ACU);
dummyTask->addComponent(objects::RTD_13_IC16_PLPCDU_HEATSPREADER);
dummyTask->addComponent(objects::RTD_14_IC17_TCS_BOARD);
dummyTask->addComponent(objects::RTD_15_IC18_IMTQ);
>>>>>>> origin/develop
sif::info << "Starting tasks.." << std::endl; sif::info << "Starting tasks.." << std::endl;
tmtcDistributor->startTask(); tmtcDistributor->startTask();
tmtcPollingTask->startTask(); udpPollingTask->startTask();
tcpPollingTask->startTask();
pusVerification->startTask(); pusVerification->startTask();
eventHandling->startTask(); eventHandling->startTask();
@ -197,7 +236,11 @@ void scheduling::initTasks() {
pstTask->startTask(); pstTask->startTask();
thermalTask->startTask(); thermalTask->startTask();
<<<<<<< HEAD
tcsTask->startTask(); tcsTask->startTask();
=======
dummyTask->startTask();
>>>>>>> origin/develop
#if OBSW_ADD_PLOC_SUPERVISOR == 1 #if OBSW_ADD_PLOC_SUPERVISOR == 1
supvHelperTask->startTask(); supvHelperTask->startTask();
#endif #endif

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@ -124,7 +124,8 @@
// because UDP packets are not allowed in the VPN // because UDP packets are not allowed in the VPN
// This will cause the OBSW to initialize the TMTC bridge responsible for exchanging data with the // This will cause the OBSW to initialize the TMTC bridge responsible for exchanging data with the
// CCSDS IP Cores. // CCSDS IP Cores.
#define OBSW_USE_TMTC_TCP_BRIDGE 1 #define OBSW_ADD_TMTC_TCP_SERVER 1
#define OBSW_ADD_TMTC_UDP_SERVER 1
#cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER #cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER

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@ -10,9 +10,10 @@
#include "fsfw/timemanager/Stopwatch.h" #include "fsfw/timemanager/Stopwatch.h"
#include "fsfw/version.h" #include "fsfw/version.h"
#include "watchdog/definitions.h" #include "watchdog/definitions.h"
#if OBSW_USE_TMTC_TCP_BRIDGE == 0 #if OBSW_ADD_TMTC_UDP_SERVER == 1
#include "fsfw/osal/common/UdpTmTcBridge.h" #include "fsfw/osal/common/UdpTmTcBridge.h"
#else #endif
#if OBSW_ADD_TMTC_TCP_SERVER == 1
#include "fsfw/osal/common/TcpTmTcServer.h" #include "fsfw/osal/common/TcpTmTcServer.h"
#endif #endif
#include <fcntl.h> #include <fcntl.h>

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@ -93,11 +93,19 @@ void scheduling::initTasks() {
/* TMTC Distribution */ /* TMTC Distribution */
PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask( PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
"DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); "DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
#if OBSW_ADD_TCPIP_BRIDGE == 1 #if OBSW_ADD_TCPIP_SERVERS == 1
result = tmTcDistributor->addComponent(objects::TMTC_BRIDGE); #if OBSW_ADD_TMTC_UDP_SERVER == 1
result = tmTcDistributor->addComponent(objects::UDP_TMTC_SERVER);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
scheduling::printAddObjectError("TMTC_BRIDGE", objects::TMTC_BRIDGE); scheduling::printAddObjectError("UDP_TMTC_SERVER", objects::UDP_TMTC_SERVER);
} }
#endif
#if OBSW_ADD_TMTC_TCP_SERVER == 1
result = tmTcDistributor->addComponent(objects::TCP_TMTC_SERVER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("TCP_TMTC_SERVER", objects::TCP_TMTC_SERVER);
}
#endif
#endif #endif
result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR); result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
@ -116,14 +124,24 @@ void scheduling::initTasks() {
scheduling::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL); scheduling::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL);
} }
#if OBSW_ADD_TCPIP_BRIDGE == 1 #if OBSW_ADD_TCPIP_SERVERS == 1
PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask( #if OBSW_ADD_TMTC_UDP_SERVER == 1
"TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc); PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK); "UDP_TMTC_POLLING", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = udpPollingTask->addComponent(objects::UDP_TMTC_POLLING_TASK);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
scheduling::printAddObjectError("UDP_POLLING", objects::TMTC_POLLING_TASK); scheduling::printAddObjectError("UDP_POLLING", objects::UDP_TMTC_POLLING_TASK);
} }
#endif #endif
#if OBSW_ADD_TMTC_TCP_SERVER == 1
PeriodicTaskIF* tcpPollingTask = factory->createPeriodicTask(
"TCP_TMTC_POLLING", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = tcpPollingTask->addComponent(objects::TCP_TMTC_POLLING_TASK);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("UDP_POLLING", objects::TCP_TMTC_POLLING_TASK);
}
#endif
#endif
#if OBSW_ADD_CCSDS_IP_CORES == 1 #if OBSW_ADD_CCSDS_IP_CORES == 1
PeriodicTaskIF* ccsdsHandlerTask = factory->createPeriodicTask( PeriodicTaskIF* ccsdsHandlerTask = factory->createPeriodicTask(
@ -325,8 +343,13 @@ void scheduling::initTasks() {
sif::info << "Starting tasks.." << std::endl; sif::info << "Starting tasks.." << std::endl;
tmTcDistributor->startTask(); tmTcDistributor->startTask();
#if OBSW_ADD_TCPIP_BRIDGE == 1 #if OBSW_ADD_TCPIP_SERVERS == 1
tmtcPollingTask->startTask(); #if OBSW_ADD_TMTC_UDP_SERVER == 1
udpPollingTask->startTask();
#endif
#if OBSW_ADD_TMTC_TCP_SERVER == 1
tcpPollingTask->startTask();
#endif
#endif #endif
#if OBSW_ADD_CCSDS_IP_CORES == 1 #if OBSW_ADD_CCSDS_IP_CORES == 1

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@ -17,7 +17,7 @@ debugging. */
#define OBSW_ADD_LWGPS_TEST 0 #define OBSW_ADD_LWGPS_TEST 0
// Disable this for mission code. It allows exchanging TMTC packets via the Ethernet port // Disable this for mission code. It allows exchanging TMTC packets via the Ethernet port
#define OBSW_ADD_TCPIP_BRIDGE 1 #define OBSW_ADD_TCPIP_SERVERS 1
#define OBSW_ADD_CFDP_COMPONENTS 1 #define OBSW_ADD_CFDP_COMPONENTS 1

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@ -8,8 +8,10 @@ enum commonObjects : uint32_t {
/* First Byte 0x50-0x52 reserved for PUS Services **/ /* First Byte 0x50-0x52 reserved for PUS Services **/
CCSDS_PACKET_DISTRIBUTOR = 0x50000100, CCSDS_PACKET_DISTRIBUTOR = 0x50000100,
PUS_PACKET_DISTRIBUTOR = 0x50000200, PUS_PACKET_DISTRIBUTOR = 0x50000200,
TMTC_BRIDGE = 0x50000300, TCP_TMTC_SERVER = 0x50000300,
TMTC_POLLING_TASK = 0x50000400, UDP_TMTC_SERVER = 0x50000301,
TCP_TMTC_POLLING_TASK = 0x50000400,
UDP_TMTC_POLLING_TASK = 0x50000401,
FILE_SYSTEM_HANDLER = 0x50000500, FILE_SYSTEM_HANDLER = 0x50000500,
SDC_MANAGER = 0x50000550, SDC_MANAGER = 0x50000550,
PTME = 0x50000600, PTME = 0x50000600,

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@ -37,16 +37,14 @@
#include "objects/systemObjectList.h" #include "objects/systemObjectList.h"
#include "tmtc/pusIds.h" #include "tmtc/pusIds.h"
#if OBSW_ADD_TCPIP_BRIDGE == 1 #if OBSW_ADD_TCPIP_SERVERS == 1
#if OBSW_USE_TMTC_TCP_BRIDGE == 0 #if OBSW_ADD_TMTC_UDP_SERVER == 1
// UDP server includes // UDP server includes
#include "devices/gpioIds.h" #include "devices/gpioIds.h"
#include "fsfw/osal/common/UdpTcPollingTask.h" #include "fsfw/osal/common/UdpTcPollingTask.h"
#include "fsfw/osal/common/UdpTmTcBridge.h" #include "fsfw/osal/common/UdpTmTcBridge.h"
#include "mission/controller/ThermalController.h" #endif
#include "mission/devices/HeaterHandler.h" #if OBSW_ADD_TMTC_TCP_SERVER == 1
#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
#else
// TCP server includes // TCP server includes
#include "fsfw/osal/common/TcpTmTcBridge.h" #include "fsfw/osal/common/TcpTmTcBridge.h"
#include "fsfw/osal/common/TcpTmTcServer.h" #include "fsfw/osal/common/TcpTmTcServer.h"
@ -105,24 +103,23 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
new PoolManager(objects::IPC_STORE, poolCfg); new PoolManager(objects::IPC_STORE, poolCfg);
} }
#if OBSW_ADD_TCPIP_BRIDGE == 1 #if OBSW_ADD_TCPIP_SERVERS == 1
#if OBSW_USE_TMTC_TCP_BRIDGE == 0 #if OBSW_ADD_TMTC_UDP_SERVER == 1
auto tmtcBridge = new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR); auto udpBridge = new UdpTmTcBridge(objects::UDP_TMTC_SERVER, objects::CCSDS_PACKET_DISTRIBUTOR);
new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE); new UdpTcPollingTask(objects::UDP_TMTC_POLLING_TASK, objects::UDP_TMTC_SERVER);
sif::info << "Created UDP server for TMTC commanding with listener port " sif::info << "Created UDP server for TMTC commanding with listener port "
<< tmtcBridge->getUdpPort() << std::endl; << udpBridge->getUdpPort() << std::endl;
#else udpBridge->setMaxNumberOfPacketsStored(150);
auto tmtcBridge = new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR); #endif
auto tcpServer = new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE); #if OBSW_ADD_TMTC_TCP_SERVER == 1
auto tcpBridge = new TcpTmTcBridge(objects::TCP_TMTC_SERVER, objects::CCSDS_PACKET_DISTRIBUTOR);
auto tcpServer = new TcpTmTcServer(objects::TCP_TMTC_POLLING_TASK, objects::TCP_TMTC_SERVER);
// TCP is stream based. Use packet ID as start marker when parsing for space packets // TCP is stream based. Use packet ID as start marker when parsing for space packets
tcpServer->setSpacePacketParsingOptions({common::PUS_PACKET_ID, common::CFDP_PACKET_ID}); tcpServer->setSpacePacketParsingOptions({common::PUS_PACKET_ID, common::CFDP_PACKET_ID});
sif::info << "Created TCP server for TMTC commanding with listener port " sif::info << "Created TCP server for TMTC commanding with listener port "
<< tcpServer->getTcpPort() << std::endl; << tcpServer->getTcpPort() << std::endl;
#if OBSW_TCP_SERVER_WIRETAPPING == 1 tcpBridge->setMaxNumberOfPacketsStored(150);
tcpServer->enableWiretapping(true);
#endif /* OBSW_TCP_SERVER_WIRETAPPING == 1 */
#endif /* OBSW_USE_TMTC_TCP_BRIDGE == 0 */ #endif /* OBSW_USE_TMTC_TCP_BRIDGE == 0 */
tmtcBridge->setMaxNumberOfPacketsStored(150);
#endif /* OBSW_ADD_TCPIP_BRIDGE == 1 */ #endif /* OBSW_ADD_TCPIP_BRIDGE == 1 */
auto* ccsdsDistrib = auto* ccsdsDistrib =
@ -131,9 +128,15 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
*cfdpFunnel = new CfdpTmFunnel(objects::CFDP_TM_FUNNEL, config::EIVE_CFDP_APID, *tmStore, 50); *cfdpFunnel = new CfdpTmFunnel(objects::CFDP_TM_FUNNEL, config::EIVE_CFDP_APID, *tmStore, 50);
*pusFunnel = new PusTmFunnel(objects::PUS_TM_FUNNEL, *timeStamper, *tmStore, 80); *pusFunnel = new PusTmFunnel(objects::PUS_TM_FUNNEL, *timeStamper, *tmStore, 80);
#if OBSW_ADD_TCPIP_BRIDGE == 1 #if OBSW_ADD_TCPIP_SERVERS == 1
(*cfdpFunnel)->addDestination(*tmtcBridge, 0); #if OBSW_ADD_TMTC_UDP_SERVER == 1
(*pusFunnel)->addDestination(*tmtcBridge, 0); (*cfdpFunnel)->addDestination(*udpBridge, 0);
(*pusFunnel)->addDestination(*udpBridge, 0);
#endif
#if OBSW_ADD_TMTC_TCP_SERVER == 1
(*cfdpFunnel)->addDestination(*tcpBridge, 0);
(*pusFunnel)->addDestination(*tcpBridge, 0);
#endif
#endif #endif
// Every TM packet goes through this funnel // Every TM packet goes through this funnel
new TmFunnelHandler(objects::TM_FUNNEL, **pusFunnel, **cfdpFunnel); new TmFunnelHandler(objects::TM_FUNNEL, **pusFunnel, **cfdpFunnel);