Merge remote-tracking branch 'origin/develop' into mueller/imtq-updates

CMakeLists.txt

@@ -105,7 +105,7 @@ set(OBSW_ADD_ACS_CTRL
     ${INIT_VAL}
     CACHE STRING "Add ACS controller")
 set(OBSW_ADD_RTD_DEVICES
-    1
+    ${INIT_VAL}
     CACHE STRING "Add RTD devices")
 set(OBSW_ADD_RAD_SENSORS
     ${INIT_VAL}

bsp_hosted/ObjectFactory.cpp

@@ -54,10 +54,6 @@ void Factory::setStaticFrameworkObjectIds() {
   CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
   CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
 
-  TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
-  // No storage object for now.
-  TmFunnel::storageDestination = objects::NO_OBJECT;
-
   VerificationReporter::DEFAULT_RECEIVER = objects::PUS_SERVICE_1_VERIFICATION;
 }
 

bsp_hosted/fsfwconfig/objects/systemObjectList.h

@@ -16,8 +16,6 @@ enum sourceObjects : uint32_t {
   PUS_SERVICE_23 = 0x51002300,
   PUS_SERVICE_201 = 0x51020100,
 
-  TM_FUNNEL = 0x52000002,
-
   /* Test Task */
 
   TEST_TASK = 0x42694269,

bsp_q7s/core/ObjectFactory.cpp

@@ -98,10 +98,10 @@ ResetArgs RESET_ARGS_GNSS;
 
 void Factory::setStaticFrameworkObjectIds() {
   PusServiceBase::PUS_DISTRIBUTOR = objects::PUS_PACKET_DISTRIBUTOR;
-  PusServiceBase::PACKET_DESTINATION = objects::TM_FUNNEL;
+  PusServiceBase::PACKET_DESTINATION = objects::PUS_TM_FUNNEL;
 
   CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
-  CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
+  CommandingServiceBase::defaultPacketDestination = objects::PUS_TM_FUNNEL;
 
 #if OBSW_Q7S_EM == 1
   DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
@@ -109,14 +109,6 @@ void Factory::setStaticFrameworkObjectIds() {
   DeviceHandlerBase::powerSwitcherId = objects::PCDU_HANDLER;
 #endif /* OBSW_Q7S_EM == 1 */
 
-#if OBSW_TM_TO_PTME == 1
-  TmFunnel::downlinkDestination = objects::CCSDS_HANDLER;
-#else
-  TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
-#endif /* OBSW_TM_TO_PTME == 1 */
-  // No storage object for now.
-  TmFunnel::storageDestination = objects::NO_OBJECT;
-
   LocalDataPoolManager::defaultHkDestination = objects::PUS_SERVICE_3_HOUSEKEEPING;
 
   VerificationReporter::DEFAULT_RECEIVER = objects::PUS_SERVICE_1_VERIFICATION;

bsp_q7s/em/emObjectFactory.cpp

@@ -43,13 +43,14 @@ void ObjectFactory::produce(void* args) {
   // createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
   // createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
   // createTmpComponents();
+  // createSolarArrayDeploymentComponents();
   createRadSensorComponent(gpioComIF);
 
 #if OBSW_ADD_ACS_BOARD == 1
   createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
 #endif
   createHeaterComponents(gpioComIF, pwrSwitcher, healthTable);
-  createSolarArrayDeploymentComponents();
+
   createPayloadComponents(gpioComIF);
 
 #if OBSW_ADD_MGT == 1
@@ -71,6 +72,10 @@ void ObjectFactory::produce(void* args) {
 #if OBSW_ADD_TEST_CODE == 1
   createTestComponents(gpioComIF);
 #endif /* OBSW_ADD_TEST_CODE == 1 */
+#if OBSW_ADD_SCEX_DEVICE == 1
+  createScexComponents(q7s::UART_SCEX_DEV, pwrSwitcher, *SdCardManager::instance(), true,
+                       std::nullopt);
+#endif
 
   createMiscComponents();
   createAcsController();

common/config/eive/objects.h

@@ -128,7 +128,10 @@ enum commonObjects : uint32_t {
   TCS_BOARD_ASS = 0x73000003,
   RW_ASS = 0x73000004,
   CFDP_HANDLER = 0x73000005,
-  CFDP_DISTRIBUTOR = 0x73000006
+  CFDP_DISTRIBUTOR = 0x73000006,
+  TM_FUNNEL = 0x73000100,
+  PUS_TM_FUNNEL = 0x73000101,
+  CFDP_TM_FUNNEL = 0x73000102,
 };
 }
 

dummies/CMakeLists.txt

@@ -12,6 +12,7 @@ target_sources(
          AcuDummy.cpp
          PduDummy.cpp
          P60DockDummy.cpp
+         SaDeploymentDummy.cpp
          GyroAdisDummy.cpp
          GyroL3GD20Dummy.cpp
          MgmLIS3MDLDummy.cpp

dummies/SaDeploymentDummy.cpp

@@ -0,0 +1,7 @@
+#include "SaDeploymentDummy.h"
+
+SaDeplDummy::SaDeplDummy(object_id_t objectId) : SystemObject(objectId) {}
+
+SaDeplDummy::~SaDeplDummy() = default;
+
+ReturnValue_t SaDeplDummy::performOperation(uint8_t opCode) { return returnvalue::OK; }

dummies/SaDeploymentDummy.h

@@ -0,0 +1,19 @@
+
+#ifndef DUMMIES_SADEPLOYMENT_H_
+#define DUMMIES_SADEPLOYMENT_H_
+
+#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+
+#include "SaDeploymentDummy.h"
+
+class SaDeplDummy : public SystemObject, public ExecutableObjectIF {
+ public:
+  SaDeplDummy(object_id_t objectId);
+  virtual ~SaDeplDummy();
+
+  ReturnValue_t performOperation(uint8_t opCode) override;
+
+ protected:
+};
+
+#endif /* DUMMIES_SADEPLOYMENT_H_ */

dummies/helpers.cpp

@@ -14,6 +14,7 @@
 #include <dummies/PduDummy.h>
 #include <dummies/PlPcduDummy.h>
 #include <dummies/RwDummy.h>
+#include <dummies/SaDeploymentDummy.h>
 #include <dummies/StarTrackerDummy.h>
 #include <dummies/SusDummy.h>
 #include <dummies/SyrlinksDummy.h>
@@ -35,6 +36,7 @@ void dummy::createDummies(DummyCfg cfg) {
   new RwDummy(objects::RW2, objects::DUMMY_COM_IF, comCookieDummy);
   new RwDummy(objects::RW3, objects::DUMMY_COM_IF, comCookieDummy);
   new RwDummy(objects::RW4, objects::DUMMY_COM_IF, comCookieDummy);
+  new SaDeplDummy(objects::SOLAR_ARRAY_DEPL_HANDLER);
   new StarTrackerDummy(objects::STAR_TRACKER, objects::DUMMY_COM_IF, comCookieDummy);
   new SyrlinksDummy(objects::SYRLINKS_HK_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
   new ImtqDummy(objects::IMTQ_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);

fsfw

@@ -1 +1 @@
-Subproject commit 73454c629c042de8efe7aa4fa6dcbf1e184b0961
+Subproject commit 754b71a35fc27208d7c679ea58783cacda973996

linux/fsfwconfig/objects/systemObjectList.h

@@ -40,7 +40,6 @@ enum sourceObjects : uint32_t {
   PUS_SERVICE_6 = 0x51000500,
 
   CCSDS_IP_CORE_BRIDGE = 0x73500000,
-  TM_FUNNEL = 0x73000100,
 
   /* 0x49 ('I') for Communication Interfaces **/
   ARDUINO_COM_IF = 0x49000000,

mission/core/GenericFactory.cpp

@@ -22,6 +22,8 @@
 #include <fsfw/tcdistribution/PusDistributor.h>
 #include <fsfw/timemanager/CdsShortTimeStamper.h>
 #include <fsfw_hal/host/HostFilesystem.h>
+#include <mission/tmtc/CfdpTmFunnel.h>
+#include <mission/tmtc/PusTmFunnel.h>
 #include <mission/tmtc/TmFunnel.h>
 
 #include "OBSWConfig.h"
@@ -94,6 +96,26 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_) {
     new PoolManager(objects::IPC_STORE, poolCfg);
   }
 
+#if OBSW_ADD_TCPIP_BRIDGE == 1
+#if OBSW_USE_TMTC_TCP_BRIDGE == 0
+  auto tmtcBridge = new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
+  new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
+  sif::info << "Created UDP server for TMTC commanding with listener port "
+            << udpBridge->getUdpPort() << std::endl;
+#else
+  auto tmtcBridge = new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
+  auto tcpServer = new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
+  // 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});
+  sif::info << "Created TCP server for TMTC commanding with listener port "
+            << tcpServer->getTcpPort() << std::endl;
+#if OBSW_TCP_SERVER_WIRETAPPING == 1
+  tcpServer->enableWiretapping(true);
+#endif /* OBSW_TCP_SERVER_WIRETAPPING == 1 */
+#endif /* OBSW_USE_TMTC_TCP_BRIDGE == 0 */
+  tmtcBridge->setMaxNumberOfPacketsStored(300);
+#endif /* OBSW_ADD_TCPIP_BRIDGE == 1 */
+
   auto* ccsdsDistrib =
       new CcsdsDistributor(config::EIVE_PUS_APID, objects::CCSDS_PACKET_DISTRIBUTOR);
   new PusDistributor(config::EIVE_PUS_APID, objects::PUS_PACKET_DISTRIBUTOR, ccsdsDistrib);
@@ -102,12 +124,16 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_) {
 #if OBSW_TM_TO_PTME == 1
   vc = config::LIVE_TM;
 #endif
+  auto* cfdpFunnel =
+      new CfdpTmFunnel(objects::CFDP_TM_FUNNEL, config::EIVE_CFDP_APID, *tmtcBridge, *tmStore, vc);
+  auto* pusFunnel =
+      new PusTmFunnel(objects::PUS_TM_FUNNEL, *tmtcBridge, *timeStamper, *tmStore, vc);
   // Every TM packet goes through this funnel
-  auto* funnel = new TmFunnel(objects::TM_FUNNEL, *timeStamper, 50, vc);
+  new TmFunnel(objects::TM_FUNNEL, *pusFunnel, *cfdpFunnel);
 
   // PUS service stack
   new Service1TelecommandVerification(objects::PUS_SERVICE_1_VERIFICATION, config::EIVE_PUS_APID,
-                                      pus::PUS_SERVICE_1, objects::TM_FUNNEL, 20);
+                                      pus::PUS_SERVICE_1, objects::PUS_TM_FUNNEL, 20);
   new Service2DeviceAccess(objects::PUS_SERVICE_2_DEVICE_ACCESS, config::EIVE_PUS_APID,
                            pus::PUS_SERVICE_2, 3, 10);
   new Service3Housekeeping(objects::PUS_SERVICE_3_HOUSEKEEPING, config::EIVE_PUS_APID,
@@ -131,25 +157,6 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_) {
                                 pus::PUS_SERVICE_200, 8);
   new CService201HealthCommanding(objects::PUS_SERVICE_201_HEALTH, config::EIVE_PUS_APID,
                                   pus::PUS_SERVICE_201);
-#if OBSW_ADD_TCPIP_BRIDGE == 1
-#if OBSW_USE_TMTC_TCP_BRIDGE == 0
-  auto tmtcBridge = new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
-  new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
-  sif::info << "Created UDP server for TMTC commanding with listener port "
-            << udpBridge->getUdpPort() << std::endl;
-#else
-  auto tmtcBridge = new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
-  auto tcpServer = new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
-  // 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});
-  sif::info << "Created TCP server for TMTC commanding with listener port "
-            << tcpServer->getTcpPort() << std::endl;
-#if OBSW_TCP_SERVER_WIRETAPPING == 1
-  tcpServer->enableWiretapping(true);
-#endif /* OBSW_TCP_SERVER_WIRETAPPING == 1 */
-#endif /* OBSW_USE_TMTC_TCP_BRIDGE == 0 */
-  tmtcBridge->setMaxNumberOfPacketsStored(300);
-#endif /* OBSW_ADD_TCPIP_BRIDGE == 1 */
 
 #if OBSW_ADD_CFDP_COMPONENTS == 1
   using namespace cfdp;
@@ -158,7 +165,8 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_) {
   new CfdpDistributor(distribCfg);
 
   auto* msgQueue = QueueFactory::instance()->createMessageQueue(32);
-  FsfwHandlerParams params(objects::CFDP_HANDLER, HOST_FS, *funnel, *tcStore, *tmStore, *msgQueue);
+  FsfwHandlerParams params(objects::CFDP_HANDLER, HOST_FS, *cfdpFunnel, *tcStore, *tmStore,
+                           *msgQueue);
   cfdp::IndicationCfg indicationCfg;
   UnsignedByteField<uint16_t> apid(config::EIVE_LOCAL_CFDP_ENTITY_ID);
   cfdp::EntityId localId(apid);

mission/tmtc/CCSDSHandler.cpp

@@ -180,9 +180,9 @@ void CCSDSHandler::addVirtualChannel(VcId_t vcId, VirtualChannel* virtualChannel
   }
 }
 
-MessageQueueId_t CCSDSHandler::getReportReceptionQueue(uint8_t virtualChannel) {
+MessageQueueId_t CCSDSHandler::getReportReceptionQueue(uint8_t virtualChannel) const {
   if (virtualChannel < common::NUMBER_OF_VIRTUAL_CHANNELS) {
-    VirtualChannelMapIter iter = virtualChannelMap.find(virtualChannel);
+    auto iter = virtualChannelMap.find(virtualChannel);
     if (iter != virtualChannelMap.end()) {
       return iter->second->getReportReceptionQueue();
     } else {

mission/tmtc/CCSDSHandler.h

@@ -67,7 +67,7 @@ class CCSDSHandler : public SystemObject,
    */
   void addVirtualChannel(VcId_t virtualChannelId, VirtualChannel* virtualChannel);
 
-  MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0);
+  MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) const override;
   ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
                              ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
                              uint16_t startAtIndex);

mission/tmtc/CMakeLists.txt

@@ -1,2 +1,3 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE CCSDSHandler.cpp VirtualChannel.cpp
-                                           TmFunnel.cpp)
+target_sources(
+  ${LIB_EIVE_MISSION} PRIVATE CCSDSHandler.cpp VirtualChannel.cpp TmFunnel.cpp
+                              CfdpTmFunnel.cpp PusTmFunnel.cpp)

mission/tmtc/CfdpTmFunnel.cpp

@@ -0,0 +1,85 @@
+#include "CfdpTmFunnel.h"
+
+#include "fsfw/ipc/QueueFactory.h"
+#include "fsfw/tmtcpacket/ccsds/SpacePacketCreator.h"
+#include "fsfw/tmtcservices/TmTcMessage.h"
+
+CfdpTmFunnel::CfdpTmFunnel(object_id_t objectId, uint16_t cfdpInCcsdsApid,
+                           const AcceptsTelemetryIF& downlinkDestination, StorageManagerIF& tmStore,
+                           uint8_t vc)
+    : SystemObject(objectId), cfdpInCcsdsApid(cfdpInCcsdsApid), tmStore(tmStore) {
+  msgQueue = QueueFactory::instance()->createMessageQueue(5);
+  msgQueue->setDefaultDestination(downlinkDestination.getReportReceptionQueue(vc));
+}
+
+const char* CfdpTmFunnel::getName() const { return "CFDP TM Funnel"; }
+
+MessageQueueId_t CfdpTmFunnel::getReportReceptionQueue(uint8_t virtualChannel) const {
+  return msgQueue->getId();
+}
+
+ReturnValue_t CfdpTmFunnel::performOperation(uint8_t) {
+  TmTcMessage currentMessage;
+  ReturnValue_t status = msgQueue->receiveMessage(&currentMessage);
+  while (status == returnvalue::OK) {
+    status = handlePacket(currentMessage);
+    if (status != returnvalue::OK) {
+      sif::warning << "CfdpTmFunnel packet handling failed" << std::endl;
+      break;
+    }
+    status = msgQueue->receiveMessage(&currentMessage);
+  }
+
+  if (status == MessageQueueIF::EMPTY) {
+    return returnvalue::OK;
+  }
+  return status;
+}
+
+ReturnValue_t CfdpTmFunnel::initialize() { return returnvalue::OK; }
+
+ReturnValue_t CfdpTmFunnel::handlePacket(TmTcMessage& msg) {
+  const uint8_t* cfdpPacket = nullptr;
+  size_t cfdpPacketLen = 0;
+  ReturnValue_t result = tmStore.getData(msg.getStorageId(), &cfdpPacket, &cfdpPacketLen);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  auto spacePacketHeader =
+      SpacePacketCreator(ccsds::PacketType::TM, false, cfdpInCcsdsApid,
+                         ccsds::SequenceFlags::UNSEGMENTED, sourceSequenceCount++, 0);
+  sourceSequenceCount = sourceSequenceCount & ccsds::LIMIT_SEQUENCE_COUNT;
+  spacePacketHeader.setCcsdsLenFromTotalDataFieldLen(cfdpPacketLen);
+  uint8_t* newPacketData = nullptr;
+  store_address_t newStoreId{};
+  result =
+      tmStore.getFreeElement(&newStoreId, spacePacketHeader.getFullPacketLen(), &newPacketData);
+  if (result != returnvalue::OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "CfdpTmFunnel::handlePacket: Error getting TM store element of size "
+                 << spacePacketHeader.getFullPacketLen() << std::endl;
+#endif
+    return result;
+  }
+  size_t serSize = 0;
+  result =
+      spacePacketHeader.serializeBe(&newPacketData, &serSize, spacePacketHeader.getFullPacketLen());
+  if (result != returnvalue::OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "CfdpTmFunnel::handlePacket: Error serializing packet" << std::endl;
+#endif
+    return result;
+  }
+  std::memcpy(newPacketData, cfdpPacket, cfdpPacketLen);
+  // Delete old packet
+  tmStore.deleteData(msg.getStorageId());
+  msg.setStorageId(newStoreId);
+  result = msgQueue->sendToDefault(&msg);
+  if (result != returnvalue::OK) {
+    tmStore.deleteData(msg.getStorageId());
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "CfdpTmFunnel::handlePacket: Error sending TM to downlink handler" << std::endl;
+#endif
+  }
+  return result;
+}

mission/tmtc/CfdpTmFunnel.h

@@ -0,0 +1,28 @@
+#ifndef FSFW_EXAMPLE_COMMON_CFDPTMFUNNEL_H
+#define FSFW_EXAMPLE_COMMON_CFDPTMFUNNEL_H
+
+#include "fsfw/objectmanager/SystemObject.h"
+#include "fsfw/storagemanager/StorageManagerIF.h"
+#include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
+#include "fsfw/tmtcservices/TmTcMessage.h"
+
+class CfdpTmFunnel : public AcceptsTelemetryIF, public SystemObject {
+ public:
+  CfdpTmFunnel(object_id_t objectId, uint16_t cfdpInCcsdsApid,
+               const AcceptsTelemetryIF& downlinkDestination, StorageManagerIF& tmStore,
+               uint8_t vc);
+  [[nodiscard]] const char* getName() const override;
+  [[nodiscard]] MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel) const override;
+
+  ReturnValue_t performOperation(uint8_t opCode);
+  ReturnValue_t initialize() override;
+
+ private:
+  ReturnValue_t handlePacket(TmTcMessage& msg);
+
+  uint16_t sourceSequenceCount = 0;
+  uint16_t cfdpInCcsdsApid;
+  MessageQueueIF* msgQueue;
+  StorageManagerIF& tmStore;
+};
+#endif  // FSFW_EXAMPLE_COMMON_CFDPTMFUNNEL_H

mission/tmtc/PusTmFunnel.cpp

@@ -0,0 +1,69 @@
+#include "PusTmFunnel.h"
+
+#include "fsfw/ipc/QueueFactory.h"
+#include "fsfw/objectmanager.h"
+#include "fsfw/tmtcpacket/pus/tm/PusTmZcWriter.h"
+
+PusTmFunnel::PusTmFunnel(object_id_t objectId, const AcceptsTelemetryIF &downlinkDestination,
+                         TimeReaderIF &timeReader, StorageManagerIF &tmStore, uint8_t vcId,
+                         uint32_t messageDepth)
+    : SystemObject(objectId), timeReader(timeReader), tmStore(tmStore) {
+  tmQueue = QueueFactory::instance()->createMessageQueue(messageDepth,
+                                                         MessageQueueMessage::MAX_MESSAGE_SIZE);
+  tmQueue->setDefaultDestination(downlinkDestination.getReportReceptionQueue(vcId));
+}
+
+PusTmFunnel::~PusTmFunnel() = default;
+
+MessageQueueId_t PusTmFunnel::getReportReceptionQueue(uint8_t virtualChannel) const {
+  return tmQueue->getId();
+}
+
+ReturnValue_t PusTmFunnel::performOperation(uint8_t) {
+  TmTcMessage currentMessage;
+  ReturnValue_t status = tmQueue->receiveMessage(&currentMessage);
+  while (status == returnvalue::OK) {
+    status = handlePacket(currentMessage);
+    if (status != returnvalue::OK) {
+      sif::warning << "TmFunnel packet handling failed" << std::endl;
+      break;
+    }
+    status = tmQueue->receiveMessage(&currentMessage);
+  }
+
+  if (status == MessageQueueIF::EMPTY) {
+    return returnvalue::OK;
+  }
+  return status;
+}
+
+ReturnValue_t PusTmFunnel::handlePacket(TmTcMessage &message) {
+  uint8_t *packetData = nullptr;
+  size_t size = 0;
+  ReturnValue_t result = tmStore.modifyData(message.getStorageId(), &packetData, &size);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  PusTmZeroCopyWriter packet(timeReader, packetData, size);
+  result = packet.parseDataWithoutCrcCheck();
+  if (result != returnvalue::OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "PusTmFunnel::handlePacket: Error parsing received PUS packet" << std::endl;
+#endif
+    return result;
+  }
+  packet.setSequenceCount(sourceSequenceCount++);
+  sourceSequenceCount = sourceSequenceCount % ccsds::LIMIT_SEQUENCE_COUNT;
+  packet.updateErrorControl();
+
+  result = tmQueue->sendToDefault(&message);
+  if (result != returnvalue::OK) {
+    tmStore.deleteData(message.getStorageId());
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "PusTmFunnel::handlePacket: Error sending TM to downlink handler" << std::endl;
+#endif
+  }
+  return result;
+}
+
+const char *PusTmFunnel::getName() const { return "PUS TM Funnel"; }

mission/tmtc/PusTmFunnel.h

@@ -0,0 +1,42 @@
+#ifndef FSFW_EXAMPLE_COMMON_PUSTMFUNNEL_H
+#define FSFW_EXAMPLE_COMMON_PUSTMFUNNEL_H
+
+#include <fsfw/ipc/MessageQueueIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/tasks/ExecutableObjectIF.h>
+#include <fsfw/tmtcservices/AcceptsTelemetryIF.h>
+#include <fsfw/tmtcservices/TmTcMessage.h>
+
+#include "fsfw/timemanager/TimeReaderIF.h"
+
+/**
+ * @brief       TM Recipient.
+ * @details
+ * TODO: Add support for TM storage by using the (or a) LIVE flag provided by the CCSDS or Syrlinks
+ *       handler. If we are in LIVE TM mode, forward TM to downlink destination directly. Otherwise,
+ *       forward to TM storage backend which stores TMs into files.
+ * Main telemetry receiver. All generated telemetry is funneled into
+ * this object.
+ * @ingroup     utility
+ * @author      J. Meier, R. Mueller
+ */
+class PusTmFunnel : public AcceptsTelemetryIF, public SystemObject {
+ public:
+  explicit PusTmFunnel(object_id_t objectId, const AcceptsTelemetryIF &downlinkDestination,
+                       TimeReaderIF &timeReader, StorageManagerIF &tmStore, uint8_t vdId,
+                       uint32_t messageDepth = 20);
+  [[nodiscard]] const char *getName() const override;
+  ~PusTmFunnel() override;
+
+  [[nodiscard]] MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel) const override;
+  ReturnValue_t performOperation(uint8_t operationCode);
+
+ private:
+  uint16_t sourceSequenceCount = 0;
+  TimeReaderIF &timeReader;
+  StorageManagerIF &tmStore;
+  MessageQueueIF *tmQueue = nullptr;
+  ReturnValue_t handlePacket(TmTcMessage &message);
+};
+
+#endif  // FSFW_EXAMPLE_COMMON_PUSTMFUNNEL_H

mission/tmtc/TmFunnel.cpp

@@ -1,125 +1,16 @@
+#include "TmFunnel.h"
+
 #include <fsfw/ipc/QueueFactory.h>
-#include <fsfw/objectmanager/ObjectManager.h>
-#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
-#include <fsfw/timemanager/CdsShortTimeStamper.h>
-#include <fsfw/tmtcpacket/pus/tm.h>
-#include <mission/tmtc/TmFunnel.h>
 
-#include "OBSWConfig.h"
+TmFunnel::TmFunnel(object_id_t objectId, PusTmFunnel& pusFunnel, CfdpTmFunnel& cfdpFunnel)
+    : SystemObject(objectId), pusFunnel(pusFunnel), cfdpFunnel(cfdpFunnel) {}
 
-object_id_t TmFunnel::downlinkDestination = objects::NO_OBJECT;
-object_id_t TmFunnel::storageDestination = objects::NO_OBJECT;
-
-TmFunnel::TmFunnel(object_id_t objectId, CdsShortTimeStamper& timeReader, uint32_t messageDepth,
-                   uint8_t reportReceptionVc)
-    : SystemObject(objectId),
-      timeReader(timeReader),
-      messageDepth(messageDepth),
-      reportReceptionVc(reportReceptionVc) {
-  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
-  tmQueue = QueueFactory::instance()->createMessageQueue(
-      messageDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
-  storageQueue = QueueFactory::instance()->createMessageQueue(
-      messageDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
-}
-
-TmFunnel::~TmFunnel() {}
-
-MessageQueueId_t TmFunnel::getReportReceptionQueue(uint8_t virtualChannel) {
-  return tmQueue->getId();
-}
+TmFunnel::~TmFunnel() = default;
 
 ReturnValue_t TmFunnel::performOperation(uint8_t operationCode) {
-  TmTcMessage currentMessage;
-  ReturnValue_t status = tmQueue->receiveMessage(&currentMessage);
-  while (status == returnvalue::OK) {
-    status = handlePacket(&currentMessage);
-    if (status != returnvalue::OK) {
-      break;
-    }
-    status = tmQueue->receiveMessage(&currentMessage);
-  }
-
-  if (status == MessageQueueIF::EMPTY) {
+  pusFunnel.performOperation(operationCode);
+  cfdpFunnel.performOperation(operationCode);
   return returnvalue::OK;
-  } else {
-    return status;
-  }
 }
 
-ReturnValue_t TmFunnel::handlePacket(TmTcMessage* message) {
-  uint8_t* packetData = nullptr;
-  size_t size = 0;
-  ReturnValue_t result = tmStore->modifyData(message->getStorageId(), &packetData, &size);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-
-  PusTmZeroCopyWriter packet(timeReader, packetData, size);
-  result = packet.parseDataWithoutCrcCheck();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  packet.setSequenceCount(sourceSequenceCount++);
-  sourceSequenceCount = sourceSequenceCount % ccsds::LIMIT_SEQUENCE_COUNT;
-  packet.updateErrorControl();
-
-  result = tmQueue->sendToDefault(message);
-  if (result != returnvalue::OK) {
-    tmStore->deleteData(message->getStorageId());
-    sif::error << "TmFunnel::handlePacket: Error sending to downlink "
-                  "handler"
-               << std::endl;
-    return result;
-  }
-
-  if (storageDestination != objects::NO_OBJECT) {
-    result = storageQueue->sendToDefault(message);
-    if (result != returnvalue::OK) {
-      tmStore->deleteData(message->getStorageId());
-      sif::error << "TmFunnel::handlePacket: Error sending to storage "
-                    "handler"
-                 << std::endl;
-      return result;
-    }
-  }
-  return result;
-}
-
-ReturnValue_t TmFunnel::initialize() {
-  tmStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TM_STORE);
-  if (tmStore == nullptr) {
-    sif::error << "TmFunnel::initialize: TM store not set." << std::endl;
-    sif::error << "Make sure the tm store is set up properly"
-                  " and implements StorageManagerIF"
-               << std::endl;
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-
-  AcceptsTelemetryIF* tmTarget =
-      ObjectManager::instance()->get<AcceptsTelemetryIF>(downlinkDestination);
-  if (tmTarget == nullptr) {
-    sif::error << "TmFunnel::initialize: Downlink Destination not set." << std::endl;
-    sif::error << "Make sure the downlink destination object is set up "
-                  "properly and implements AcceptsTelemetryIF"
-               << std::endl;
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-
-  tmQueue->setDefaultDestination(tmTarget->getReportReceptionQueue(reportReceptionVc));
-
-  // Storage destination is optional.
-  if (storageDestination == objects::NO_OBJECT) {
-    return SystemObject::initialize();
-  }
-
-  AcceptsTelemetryIF* storageTarget =
-      ObjectManager::instance()->get<AcceptsTelemetryIF>(storageDestination);
-  if (storageTarget != nullptr) {
-    storageQueue->setDefaultDestination(storageTarget->getReportReceptionQueue(0));
-  }
-
-  return SystemObject::initialize();
-}
-
-const char* TmFunnel::getName() const { return "TM Funnel"; }
+ReturnValue_t TmFunnel::initialize() { return returnvalue::OK; }

mission/tmtc/TmFunnel.h

@@ -4,13 +4,12 @@
 #include <fsfw/ipc/MessageQueueIF.h>
 #include <fsfw/objectmanager/SystemObject.h>
 #include <fsfw/tasks/ExecutableObjectIF.h>
-#include <fsfw/timemanager/CdsShortTimeStamper.h>
 #include <fsfw/tmtcservices/AcceptsTelemetryIF.h>
 #include <fsfw/tmtcservices/TmTcMessage.h>
 
-namespace Factory {
-void setStaticFrameworkObjectIds();
-}
+#include "CfdpTmFunnel.h"
+#include "PusTmFunnel.h"
+#include "fsfw/timemanager/TimeReaderIF.h"
 
 /**
  * @brief       TM Recipient.
@@ -18,36 +17,19 @@ void setStaticFrameworkObjectIds();
  * Main telemetry receiver. All generated telemetry is funneled into
  * this object.
  * @ingroup     utility
- * @author      J. Meier
+ * @author      J. Meier, R. Mueller
  */
-class TmFunnel : public AcceptsTelemetryIF, public ExecutableObjectIF, public SystemObject {
-  friend void(Factory::setStaticFrameworkObjectIds)();
-
+class TmFunnel : public ExecutableObjectIF, public SystemObject {
  public:
-  TmFunnel(object_id_t objectId, CdsShortTimeStamper& timeReader, uint32_t messageDepth = 20,
-           uint8_t reportReceptionVc = 0);
-  virtual ~TmFunnel();
+  TmFunnel(object_id_t objectId, PusTmFunnel& pusFunnel, CfdpTmFunnel& cfdpFunnel);
+  ~TmFunnel() override;
 
-  const char* getName() const override;
-  MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) override;
-  ReturnValue_t performOperation(uint8_t operationCode = 0) override;
+  ReturnValue_t performOperation(uint8_t operationCode) override;
   ReturnValue_t initialize() override;
 
- protected:
-  static object_id_t downlinkDestination;
-  static object_id_t storageDestination;
-
  private:
-  CdsShortTimeStamper& timeReader;
-  uint32_t messageDepth = 0;
-  uint8_t reportReceptionVc = 0;
-  uint16_t sourceSequenceCount = 0;
-  MessageQueueIF* tmQueue = nullptr;
-  MessageQueueIF* storageQueue = nullptr;
-
-  StorageManagerIF* tmStore = nullptr;
-
-  ReturnValue_t handlePacket(TmTcMessage* message);
+  PusTmFunnel& pusFunnel;
+  CfdpTmFunnel& cfdpFunnel;
 };
 
 #endif /* MISSION_UTILITY_TMFUNNEL_H_ */

mission/tmtc/VirtualChannel.cpp

@@ -53,7 +53,7 @@ ReturnValue_t VirtualChannel::performOperation() {
   return result;
 }
 
-MessageQueueId_t VirtualChannel::getReportReceptionQueue(uint8_t virtualChannel) {
+MessageQueueId_t VirtualChannel::getReportReceptionQueue(uint8_t virtualChannel) const {
   return tmQueue->getId();
 }
 

mission/tmtc/VirtualChannel.h

@@ -27,7 +27,7 @@ class VirtualChannel : public AcceptsTelemetryIF {
   VirtualChannel(uint8_t vcId, uint32_t tmQueueDepth, object_id_t ownerId);
 
   ReturnValue_t initialize();
-  MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) override;
+  MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) const override;
   ReturnValue_t performOperation();
 
   /**

q7s-env-em.sh

@@ -19,5 +19,5 @@ if [[ -d "eive-obsw" ]]; then
 	export PATH=$PATH:"$(pwd)/eive-obsw/scripts"
 	cd "eive-obsw"
 fi
-export CONSOLE_PREFIX="[Q7S ENV]"
+export CONSOLE_PREFIX="[Q7S ENV EM]"
 /bin/bash

scripts/install-obsw-yocto.sh

@@ -2,13 +2,10 @@
 # This is a helper script to install the compiles EIVE OBSW files
 # into the yocto repository to re-generate the mission root filesystem
 build_dir=cmake-build-release-q7s
-em_install="0"
-if [ ! -z ${1} ]; then
-  if [[ "${1}" == "em" ]]; then
+if [ ! -z ${1} && "${1}" == "em" ] || [[ ${EIVE_Q7S_EM} == "1" ]]; then
   echo "-I- Installing EM binaries"
   em_install="1"
   build_dir=cmake-build-release-q7s-em
-  fi
 fi
 
 init_dir=$(pwd)
@@ -84,17 +81,17 @@ else
   echo "-I- Installed EIVE OBSW into yocto repository successfully"
 fi
 
-if [ ! -f ${build_dir}/${watchdog_bin_name} ]; then
-  echo "-W- No EIVE Watchdog found to intall to yocto"
-else
-  cp_cmd="cp $(pwd)/${build_dir}/${watchdog_bin_name} ${yocto_root}/${yocto_watchdog_path}/${watchdog_target_name}"
-  echo "-I- Executing: ${cp_cmd}"
-  eval ${cp_cmd}
-  cp_ver_cmd="cp $(pwd)/${obsw_version_filename} ${yocto_root}/${yocto_watchdog_path}"
-  echo "-I- Executing: ${cp_ver_cmd}"
-  eval ${cp_ver_cmd}
-  echo "-I- Installed EIVE watchdog into yocto repository successfully"
-fi
+#if [ ! -f ${build_dir}/${watchdog_bin_name} ]; then
+#  echo "-W- No EIVE Watchdog found to intall to yocto"
+#else
+#  cp_cmd="cp $(pwd)/${build_dir}/${watchdog_bin_name} ${yocto_root}/${yocto_watchdog_path}/${watchdog_target_name}"
+#  echo "-I- Executing: ${cp_cmd}"
+#  eval ${cp_cmd}
+#  cp_ver_cmd="cp $(pwd)/${obsw_version_filename} ${yocto_root}/${yocto_watchdog_path}"
+#  echo "-I- Executing: ${cp_ver_cmd}"
+#  eval ${cp_ver_cmd}
+#  echo "-I- Installed EIVE watchdog into yocto repository successfully"
+#fi
 
 if [ -f $(pwd)/${obsw_version_filename} ]; then
   rm $(pwd)/${obsw_version_filename}

tmtc

@@ -1 +1 @@
-Subproject commit 1dfc2fca2f58f8d226fab01c87eb529ba7ec8376
+Subproject commit c13f4a8575f99c0e9f17b1868e7abfbe28fa5648