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

.gitignore

@@ -12,8 +12,13 @@
 #vscode
 /.vscode
 
+# IntelliJ
+/.idea/*
+
 # Python
 __pycache__
-.idea
+
+# CLion
+!/.idea/cmake.xml
 
 generators/*.db

.run/Q7S FM.run.xml

@@ -0,0 +1,10 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Q7S FM" type="com.jetbrains.cidr.remote.gdbserver.type" factoryName="com.jetbrains.cidr.remote.gdbserver.factory" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="eive-obsw" TARGET_NAME="eive-obsw" CONFIG_NAME="Debug" version="1" RUN_TARGET_PROJECT_NAME="eive-obsw" RUN_TARGET_NAME="eive-obsw">
+    <custom-gdb-server version="1" gdb-connect="localhost:1234" executable="" warmup-ms="0" download-type="NONE" sshConfigName="Q7S FM" uploadFile="/tmp/eive-obsw" defaultGdbServerArgs=":1234 /tmp/eive-obsw">
+      <debugger kind="GDB" isBundled="true" />
+    </custom-gdb-server>
+    <method v="2">
+      <option name="CLION.COMPOUND.BUILD" enabled="true" />
+    </method>
+  </configuration>
+</component>

CHANGELOG.md

@@ -28,9 +28,46 @@ will consitute of a breaking change warranting a new major release:
 - The SD card prefix is now set earlier inside the `CoreController` constructor
 - The watchdog handling was moved outside the `CoreController` into the main loop.
 
+# [v1.32.0]
+
+eive-tmtc: v2.16.1
+
 ## Fixed
 
 - ADIS1650X: Added missing MDL_RANG pool entry for configuration set
+- Bumped FSFW for bugfix in health service: No execution complete for targeted health announce
+  command.
+- Removed matrix determinant calculation as part of the `MEKF`, which would take about
+  300ms of runtime
+- Resetting the `MEKF` now also actually resets its stored state
+- Bumped FSFW for bugfix in destination handler: Better error handling and able to process
+  destination folder path.
+
+## Changed
+
+- Added basic persistent TM store for PUS telemetry and basic interface to dump and delete
+  telemetry. Implementation is based on a timed rotating files, with the addition that files
+  might be generated more often if the maximum file size of 8192 bytes is exceeded.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/320/files
+- Commented out commanding of actuators as part of the `AcsController`
+- Collection sets of the `AcsController` now get updated before running the actual ACS
+  algorithm
+- `GpsController` now always gets scheduled
+- The `CoreController` now initializes the initial clock from the time file as early as possible
+  (in the constructor) if possible, which should usually be the case.
+
+## Added
+
+- Added basic persistent TM store for PUS telemetry and basic interface to dump and delete
+  telemetry.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/320/files
+- `ExecutableComIfDummy` class to have a dummy for classes like the RTD polling class.
+- Added `AcsController` action command to confirm solar array deployment, which then deletes
+  two files
+- Added `AcsController` action command to reset `MEKF`
+- `GpsCtrlDummy` now initializes the `gpsSet`
+- `RwDummy` now initializes with a non faulty state
+
 
 # [v1.31.1]
 

CMakeLists.txt

@@ -10,8 +10,8 @@
 cmake_minimum_required(VERSION 3.13)
 
 set(OBSW_VERSION_MAJOR 1)
-set(OBSW_VERSION_MINOR 31)
-set(OBSW_VERSION_REVISION 1)
+set(OBSW_VERSION_MINOR 32)
+set(OBSW_VERSION_REVISION 0)
 
 # set(CMAKE_VERBOSE TRUE)
 
@@ -223,6 +223,7 @@ set(LIB_JSON_PATH ${THIRD_PARTY_FOLDER}/json)
 
 set(FSFW_WARNING_SHADOW_LOCAL_GCC OFF)
 set(EIVE_ADD_LINUX_FILES OFF)
+set(FSFW_ADD_TMSTORAGE ON)
 
 # Analyse different OS and architecture/target options, determine BSP_PATH,
 # display information about compiler etc.

README.md

@@ -18,6 +18,7 @@
 11. [Q7S OBC](#q7s)
 12. [Static Code Analysis](#static-code-analysis)
 13. [Eclipse](#eclipse)
+14. [CLion](#clion)
 14. [Running the OBSW on a Raspberry Pi](#rpi)
 15. [Running OBSW on EGSE](#egse)
 16. [Manually preparing sysroots to compile gpsd](#gpsd)
@@ -1229,6 +1230,22 @@ Finally, you can convert the generated `.xml` file to HTML with the following co
 cppcheck-htmlreport --file=report.xml --report-dir=cppcheck --source-dir=..
 ```
 
+# <a id="CLion"></a> CLion
+
+CLion is the recommended IDE for the development of the hosted version of EIVE.
+You can also set up CLion for cross-compilation of the primary OBSW.
+
+There is a shared `.idea/cmake.xml` file to get started with this.
+To make cross-compilation work, two special environment variables
+need to be set:
+
+- `ZYNQ_7020_ROOTFS` pointing to the root filesystem
+- `CROSS_COMPILE` pointing to the the full path of the cross-compiler
+  without the specific tool suffix. For example, if the the cross-compiler
+  tools are located at `/opt/q7s-gcc/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin`,
+  this variable would be set
+  to `/opt/q7s-gcc/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin/arm-linux-gnueabihf`
+
 # <a id="eclipse"></a> Eclipse
 
 When using Eclipse, there are two special build variables in the project properties

bsp_hosted/ObjectFactory.cpp

@@ -8,6 +8,7 @@
 #include <mission/tmtc/TmFunnelHandler.h>
 #include <objects/systemObjectList.h>
 
+#include "../mission/utility/DummySdCardManager.h"
 #include "OBSWConfig.h"
 #include "fsfw/platform.h"
 #include "fsfw_tests/integration/task/TestTask.h"
@@ -58,7 +59,8 @@ void ObjectFactory::produce(void* args) {
   Factory::setStaticFrameworkObjectIds();
   PusTmFunnel* pusFunnel;
   CfdpTmFunnel* cfdpFunnel;
-  ObjectFactory::produceGenericObjects(nullptr, &pusFunnel, &cfdpFunnel);
+  auto sdcMan = new DummySdCardManager("/tmp");
+  ObjectFactory::produceGenericObjects(nullptr, &pusFunnel, &cfdpFunnel, *sdcMan);
 
   auto* dummyGpioIF = new DummyGpioIF();
   auto* dummySwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);

bsp_hosted/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 260 translations.
+ * @brief    Auto-generated event translation file. Contains 263 translations.
  * @details
- * Generated on: 2023-02-23 15:39:20
+ * Generated on: 2023-02-24 16:57:00
  */
 #include "translateEvents.h"
 
@@ -90,6 +90,8 @@ const char *CHANGE_OF_SETUP_PARAMETER_STRING = "CHANGE_OF_SETUP_PARAMETER";
 const char *STORE_ERROR_STRING = "STORE_ERROR";
 const char *MSG_QUEUE_ERROR_STRING = "MSG_QUEUE_ERROR";
 const char *SERIALIZATION_ERROR_STRING = "SERIALIZATION_ERROR";
+const char *FILESTORE_ERROR_STRING = "FILESTORE_ERROR";
+const char *FILENAME_TOO_LARGE_ERROR_STRING = "FILENAME_TOO_LARGE_ERROR";
 const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
 const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
 const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
@@ -253,6 +255,7 @@ const char *REBOOT_HW_STRING = "REBOOT_HW";
 const char *NO_SD_CARD_ACTIVE_STRING = "NO_SD_CARD_ACTIVE";
 const char *VERSION_INFO_STRING = "VERSION_INFO";
 const char *CURRENT_IMAGE_INFO_STRING = "CURRENT_IMAGE_INFO";
+const char *POSSIBLE_FILE_CORRUPTION_STRING = "POSSIBLE_FILE_CORRUPTION";
 const char *NO_VALID_SENSOR_TEMPERATURE_STRING = "NO_VALID_SENSOR_TEMPERATURE";
 const char *NO_HEALTHY_HEATER_AVAILABLE_STRING = "NO_HEALTHY_HEATER_AVAILABLE";
 const char *SYRLINKS_OVERHEATING_STRING = "SYRLINKS_OVERHEATING";
@@ -433,6 +436,10 @@ const char *translateEvents(Event event) {
       return MSG_QUEUE_ERROR_STRING;
     case (10802):
       return SERIALIZATION_ERROR_STRING;
+    case (10803):
+      return FILESTORE_ERROR_STRING;
+    case (10804):
+      return FILENAME_TOO_LARGE_ERROR_STRING;
     case (11200):
       return SAFE_RATE_VIOLATION_STRING;
     case (11201):
@@ -760,18 +767,20 @@ const char *translateEvents(Event event) {
     case (14006):
       return CURRENT_IMAGE_INFO_STRING;
     case (14100):
+      return POSSIBLE_FILE_CORRUPTION_STRING;
+    case (14200):
       return NO_VALID_SENSOR_TEMPERATURE_STRING;
-    case (14101):
+    case (14201):
       return NO_HEALTHY_HEATER_AVAILABLE_STRING;
-    case (14102):
+    case (14202):
       return SYRLINKS_OVERHEATING_STRING;
-    case (14103):
+    case (14203):
       return PLOC_OVERHEATING_STRING;
-    case (14104):
+    case (14204):
       return OBC_OVERHEATING_STRING;
-    case (14105):
+    case (14205):
       return HPA_OVERHEATING_STRING;
-    case (14106):
+    case (14206):
       return PLPCDU_OVERHEATING_STRING;
     default:
       return "UNKNOWN_EVENT";

bsp_hosted/fsfwconfig/objects/translateObjects.cpp

@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 148 translations.
- * Generated on: 2023-02-23 15:39:20
+ * Contains 154 translations.
+ * Generated on: 2023-02-24 16:57:00
  */
 #include "translateObjects.h"
 
@@ -112,6 +112,7 @@ const char *PUS_SERVICE_5_EVENT_REPORTING_STRING = "PUS_SERVICE_5_EVENT_REPORTIN
 const char *PUS_SERVICE_8_FUNCTION_MGMT_STRING = "PUS_SERVICE_8_FUNCTION_MGMT";
 const char *PUS_SERVICE_9_TIME_MGMT_STRING = "PUS_SERVICE_9_TIME_MGMT";
 const char *PUS_SERVICE_11_TC_SCHEDULER_STRING = "PUS_SERVICE_11_TC_SCHEDULER";
+const char *PUS_SERVICE_15_TM_STORAGE_STRING = "PUS_SERVICE_15_TM_STORAGE";
 const char *PUS_SERVICE_17_TEST_STRING = "PUS_SERVICE_17_TEST";
 const char *PUS_SERVICE_20_PARAMETERS_STRING = "PUS_SERVICE_20_PARAMETERS";
 const char *PUS_SERVICE_200_MODE_MGMT_STRING = "PUS_SERVICE_200_MODE_MGMT";
@@ -150,6 +151,11 @@ const char *ACS_SUBSYSTEM_STRING = "ACS_SUBSYSTEM";
 const char *PL_SUBSYSTEM_STRING = "PL_SUBSYSTEM";
 const char *TCS_SUBSYSTEM_STRING = "TCS_SUBSYSTEM";
 const char *COM_SUBSYSTEM_STRING = "COM_SUBSYSTEM";
+const char *MISC_TM_STORE_STRING = "MISC_TM_STORE";
+const char *OK_TM_STORE_STRING = "OK_TM_STORE";
+const char *NOT_OK_TM_STORE_STRING = "NOT_OK_TM_STORE";
+const char *HK_TM_STORE_STRING = "HK_TM_STORE";
+const char *CFDP_TM_STORE_STRING = "CFDP_TM_STORE";
 const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
 const char *THERMAL_TEMP_INSERTER_STRING = "THERMAL_TEMP_INSERTER";
 const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE";
@@ -369,6 +375,8 @@ const char *translateObject(object_id_t object) {
       return PUS_SERVICE_9_TIME_MGMT_STRING;
     case 0x53000011:
       return PUS_SERVICE_11_TC_SCHEDULER_STRING;
+    case 0x53000015:
+      return PUS_SERVICE_15_TM_STORAGE_STRING;
     case 0x53000017:
       return PUS_SERVICE_17_TEST_STRING;
     case 0x53000020:
@@ -445,6 +453,16 @@ const char *translateObject(object_id_t object) {
       return TCS_SUBSYSTEM_STRING;
     case 0x73010004:
       return COM_SUBSYSTEM_STRING;
+    case 0x73020001:
+      return MISC_TM_STORE_STRING;
+    case 0x73020002:
+      return OK_TM_STORE_STRING;
+    case 0x73020003:
+      return NOT_OK_TM_STORE_STRING;
+    case 0x73020004:
+      return HK_TM_STORE_STRING;
+    case 0x73030000:
+      return CFDP_TM_STORE_STRING;
     case 0x73500000:
       return CCSDS_IP_CORE_BRIDGE_STRING;
     case 0x90000003:

bsp_hosted/scheduling.cpp

@@ -95,46 +95,43 @@ void scheduling::initTasks() {
     sif::error << "Add component UDP Polling failed" << std::endl;
   }
 
-  /* PUS Services */
-  PeriodicTaskIF* pusVerification = factory->createPeriodicTask(
-      "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-  result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
+  PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
+      "PUS_HIGH_PRIO", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
   if (result != returnvalue::OK) {
     sif::error << "Object add component failed" << std::endl;
   }
-
-  PeriodicTaskIF* eventHandling = factory->createPeriodicTask(
-      "EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-  result = eventHandling->addComponent(objects::EVENT_MANAGER);
+  result = pusHighPrio->addComponent(objects::EVENT_MANAGER);
   if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("EVENT_MNGR", objects::EVENT_MANAGER);
+    scheduling::printAddObjectError("EVENT_MGMT", objects::EVENT_MANAGER);
   }
-  result = eventHandling->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
   }
-
-  PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
-      "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-  result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
-  }
   result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
   }
+
+  PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
+      "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
+  }
   result = pusHighPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
   }
-
-  PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
-      "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
   }
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_15_TM_STORAGE);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS15", objects::PUS_SERVICE_15_TM_STORAGE);
+  }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
@@ -143,10 +140,7 @@ void scheduling::initTasks() {
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
   }
-
-  PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
-      "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
-  result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_17_TEST);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
   }
@@ -220,11 +214,8 @@ void scheduling::initTasks() {
   udpPollingTask->startTask();
   tcpPollingTask->startTask();
 
-  pusVerification->startTask();
-  eventHandling->startTask();
   pusHighPrio->startTask();
   pusMedPrio->startTask();
-  pusLowPrio->startTask();
 
   pstTask->startTask();
   thermalTask->startTask();

bsp_linux_board/CMakeLists.txt

@@ -1,5 +1,5 @@
 target_sources(${OBSW_NAME} PUBLIC InitMission.cpp main.cpp gpioInit.cpp
-                                   ObjectFactory.cpp RPiSdCardManager.cpp)
+                                   ObjectFactory.cpp)
 
 add_subdirectory(boardconfig)
 add_subdirectory(boardtest)

bsp_linux_board/ObjectFactory.cpp

@@ -82,7 +82,7 @@ void ObjectFactory::produce(void* args) {
 #endif
 
 #if OBSW_ADD_SCEX_DEVICE == 1
-  auto* sdcMan = new RPiSdCardManager("/tmp");
+  auto* sdcMan = new DummySdCardManager("/tmp");
   createScexComponents(uart::DEV, pwrSwitcher, *sdcMan, true, std::nullopt);
 #endif
 

bsp_linux_board/RPiSdCardManager.cpp

@@ -1,13 +0,0 @@
-#include "RPiSdCardManager.h"
-
-RPiSdCardManager::RPiSdCardManager(std::string prefix) : prefix(std::move(prefix)) {}
-
-const std::string& RPiSdCardManager::getCurrentMountPrefix() const { return prefix; }
-
-bool RPiSdCardManager::isSdCardUsable(sd::SdCard sdCard) { return true; }
-
-std::optional<sd::SdCard> RPiSdCardManager::getPreferredSdCard() const { return std::nullopt; }
-
-void RPiSdCardManager::setActiveSdCard(sd::SdCard sdCard) {}
-
-std::optional<sd::SdCard> RPiSdCardManager::getActiveSdCard() const { return std::nullopt; }

bsp_q7s/core/CoreController.cpp

@@ -54,6 +54,8 @@ CoreController::CoreController(object_id_t objectId)
     currMntPrefix = sdcMan->getCurrentMountPrefix();
 
     getCurrentBootCopy(CURRENT_CHIP, CURRENT_COPY);
+
+    initClockFromTimeFile();
   } catch (const std::filesystem::filesystem_error &e) {
     sif::error << "CoreController::CoreController: Failed with exception " << e.what() << std::endl;
   }
@@ -1196,10 +1198,12 @@ void CoreController::performMountedSdCardOperations() {
       if (result != returnvalue::OK) {
         sif::warning << "CoreController::CoreController: Boot copy init" << std::endl;
       }
-      initClockFromTimeFile();
+      if (not timeFileInitDone) {
+        initClockFromTimeFile();
+      }
       performRebootFileHandling(false);
     }
-    timeFileHandler();
+    backupTimeFileHandler();
   };
   bool someSdCardActive = false;
   if (sdInfo.active == sd::SdCard::SLOT_0 and sdcMan->isSdCardUsable(sd::SdCard::SLOT_0)) {
@@ -1713,7 +1717,7 @@ void CoreController::setRebootMechanismLock(bool lock, xsc::Chip tgtChip, xsc::C
   rewriteRebootFile(rebootFile);
 }
 
-ReturnValue_t CoreController::timeFileHandler() {
+ReturnValue_t CoreController::backupTimeFileHandler() {
   // Always set time. We could only set it if it is updated by GPS, but then the backup time would
   // become obsolete on GPS problems.
   if (opDivider10.check()) {
@@ -1723,14 +1727,14 @@ ReturnValue_t CoreController::timeFileHandler() {
     if (result != returnvalue::OK) {
       return result;
     }
-    std::string fileName = currMntPrefix + TIME_FILE;
+    std::string fileName = currMntPrefix + BACKUP_TIME_FILE;
     std::ofstream timeFile(fileName);
     if (not timeFile.good()) {
       sif::error << "CoreController::timeFileHandler: Error opening time file: " << strerror(errno)
                  << std::endl;
       return returnvalue::FAILED;
     }
-    timeFile << "UNIX SECONDS: " << currentTime.tv_sec << std::endl;
+    timeFile << "UNIX SECONDS: " << currentTime.tv_sec + BOOT_OFFSET_SECONDS << std::endl;
   }
   return returnvalue::OK;
 }
@@ -1738,8 +1742,8 @@ ReturnValue_t CoreController::timeFileHandler() {
 ReturnValue_t CoreController::initClockFromTimeFile() {
   using namespace GpsHyperion;
   using namespace std;
-  std::string fileName = currMntPrefix + TIME_FILE;
-  if (std::filesystem::exists(fileName) and
+  std::string fileName = currMntPrefix + BACKUP_TIME_FILE;
+  if (sdcMan->isSdCardUsable(std::nullopt) and std::filesystem::exists(fileName) and
       ((gpsFix == FixMode::UNKNOWN or gpsFix == FixMode::NOT_SEEN) or
        not utility::timeSanityCheck())) {
     ifstream timeFile(fileName);
@@ -1767,6 +1771,7 @@ ReturnValue_t CoreController::initClockFromTimeFile() {
     sif::info << "Setting system time from time files: " << std::put_time(time, "%c %Z")
               << std::endl;
 #endif
+    timeFileInitDone = true;
     return Clock::setClock(&currentTime);
   }
   return returnvalue::OK;

bsp_q7s/core/CoreController.h

@@ -58,13 +58,14 @@ class CoreController : public ExtendedControllerBase {
 
   static constexpr char VERSION_FILE_NAME[] = "version.txt";
   static constexpr char REBOOT_FILE_NAME[] = "reboot.txt";
-  static constexpr char TIME_FILE_NAME[] = "time.txt";
+  static constexpr char TIME_FILE_NAME[] = "time_backup.txt";
 
   const std::string VERSION_FILE =
       "/" + std::string(CONF_FOLDER) + "/" + std::string(VERSION_FILE_NAME);
   const std::string REBOOT_FILE =
       "/" + std::string(CONF_FOLDER) + "/" + std::string(REBOOT_FILE_NAME);
-  const std::string TIME_FILE = "/" + std::string(CONF_FOLDER) + "/" + std::string(TIME_FILE_NAME);
+  const std::string BACKUP_TIME_FILE =
+      "/" + std::string(CONF_FOLDER) + "/" + std::string(TIME_FILE_NAME);
 
   static constexpr char CHIP_0_COPY_0_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi0-nom-rootfs";
   static constexpr char CHIP_0_COPY_1_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi0-gold-rootfs";
@@ -160,6 +161,7 @@ class CoreController : public ExtendedControllerBase {
   bool sdInitFinished() const;
 
  private:
+  static constexpr uint32_t BOOT_OFFSET_SECONDS = 15;
   static constexpr MutexIF::TimeoutType TIMEOUT_TYPE = MutexIF::TimeoutType::WAITING;
   static constexpr uint32_t MUTEX_TIMEOUT = 20;
   GpsHyperion::FixMode gpsFix = GpsHyperion::FixMode::UNKNOWN;
@@ -218,6 +220,7 @@ class CoreController : public ExtendedControllerBase {
 
   RebootFile rebootFile = {};
   std::string currMntPrefix;
+  bool timeFileInitDone = false;
   bool performOneShotSdCardOpsSwitch = false;
   uint8_t shortSdCardCdCounter = 0;
 #if OBSW_THREAD_TRACING == 1
@@ -255,7 +258,7 @@ class CoreController : public ExtendedControllerBase {
 
   ReturnValue_t initClockFromTimeFile();
   ReturnValue_t performSdCardCheck();
-  ReturnValue_t timeFileHandler();
+  ReturnValue_t backupTimeFileHandler();
   ReturnValue_t initBootCopyFile();
   ReturnValue_t initSdCardBlocking();
   bool startSdStateMachine(sd::SdCard targetActiveSd, SdCfgMode mode, MessageQueueId_t commander,

bsp_q7s/core/scheduling.cpp

@@ -187,14 +187,12 @@ void scheduling::initTasks() {
   }
 #endif
 
-#if OBSW_ADD_GPS_CTRL == 1
   PeriodicTaskIF* gpsTask = factory->createPeriodicTask(
       "GPS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
   result = gpsTask->addComponent(objects::GPS_CONTROLLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
   }
-#endif /* OBSW_ADD_GPS_CTRL */
 
 #if OBSW_ADD_RW == 1
   PeriodicTaskIF* rwPolling = factory->createPeriodicTask(
@@ -378,9 +376,7 @@ void scheduling::initTasks() {
 #if OBSW_ADD_RW == 1
   rwPolling->startTask();
 #endif
-#if OBSW_ADD_GPS_CTRL == 1
   gpsTask->startTask();
-#endif
   acsSysTask->startTask();
   if (not tcsSystemTask->isEmpty()) {
     tcsSystemTask->startTask();

bsp_q7s/em/emObjectFactory.cpp

@@ -3,6 +3,7 @@
 #include <fsfw/power/DummyPowerSwitcher.h>
 #include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
 #include <mission/system/tree/system.h>
+#include <mission/utility/DummySdCardManager.h>
 
 #include "OBSWConfig.h"
 #include "bsp_q7s/core/CoreController.h"
@@ -22,7 +23,8 @@ void ObjectFactory::produce(void* args) {
   HealthTableIF* healthTable = nullptr;
   PusTmFunnel* pusFunnel = nullptr;
   CfdpTmFunnel* cfdpFunnel = nullptr;
-  ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel);
+  ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
+                                       *SdCardManager::instance());
 
   LinuxLibgpioIF* gpioComIF = nullptr;
   SerialComIF* uartComIF = nullptr;

bsp_q7s/fmObjectFactory.cpp

@@ -18,7 +18,8 @@ void ObjectFactory::produce(void* args) {
   HealthTableIF* healthTable = nullptr;
   PusTmFunnel* pusFunnel = nullptr;
   CfdpTmFunnel* cfdpFunnel = nullptr;
-  ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel);
+  ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
+                                       *SdCardManager::instance());
 
   LinuxLibgpioIF* gpioComIF = nullptr;
   SerialComIF* uartComIF = nullptr;

bsp_q7s/fs/SdCardManager.cpp

@@ -410,9 +410,12 @@ ReturnValue_t SdCardManager::updateSdCardStateFile() {
   return result;
 }
 
-const std::string& SdCardManager::getCurrentMountPrefix() const {
+const char* SdCardManager::getCurrentMountPrefix() const {
   MutexGuard mg(mutex);
-  return currentPrefix;
+  if (currentPrefix.has_value()) {
+    return currentPrefix.value().c_str();
+  }
+  return nullptr;
 }
 
 SdCardManager::OpStatus SdCardManager::checkCurrentOp(Operations& currentOp) {

bsp_q7s/fs/SdCardManager.h

@@ -187,7 +187,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
    * @param prefSdCardPtr
    * @return
    */
-  const std::string& getCurrentMountPrefix() const override;
+  const char* getCurrentMountPrefix() const override;
 
   OpStatus checkCurrentOp(Operations& currentOp);
 
@@ -232,7 +232,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
   void processSdStatusLine(SdStatePair& active, std::string& line, uint8_t& idx,
                            sd::SdCard& currentSd);
 
-  std::string currentPrefix;
+  std::optional<std::string> currentPrefix;
 
   static SdCardManager* INSTANCE;
 };

bsp_q7s/fs/helpers.cpp

@@ -3,6 +3,9 @@
 std::filesystem::path fshelpers::getPrefixedPath(SdCardManager &man,
                                                  std::filesystem::path pathWihtoutPrefix) {
   auto prefix = man.getCurrentMountPrefix();
+  if (prefix == nullptr) {
+    return pathWihtoutPrefix;
+  }
   auto resPath = prefix / pathWihtoutPrefix;
   return resPath;
 }

common/config/eive/definitions.h

@@ -61,8 +61,8 @@ static constexpr uint32_t SCHED_BLOCK_1_SUS_READ_MS = 15;
 static constexpr uint32_t SCHED_BLOCK_2_SENSOR_READ_MS = 30;
 static constexpr uint32_t SCHED_BLOCK_3_READ_IMTQ_MGM_MS = 42;
 static constexpr uint32_t SCHED_BLOCK_4_ACS_CTRL_MS = 45;
-static constexpr uint32_t SCHED_BLOCK_5_ACTUATOR_MS = 50;
-static constexpr uint32_t SCHED_BLOCK_6_IMTQ_BLOCK_2_MS = 90;
+static constexpr uint32_t SCHED_BLOCK_5_ACTUATOR_MS = 55;
+static constexpr uint32_t SCHED_BLOCK_6_IMTQ_BLOCK_2_MS = 95;
 static constexpr uint32_t SCHED_BLOCK_RTD = 150;
 static constexpr uint32_t SCHED_BLOCK_7_RW_READ_MS = 300;
 

common/config/eive/eventSubsystemIds.h

@@ -36,7 +36,8 @@ enum : uint8_t {
   SCEX_HANDLER = 138,
   CONFIGHANDLER = 139,
   CORE = 140,
-  TCS_CONTROLLER = 141,
+  PERSISTENT_TM_STORE = 141,
+  TCS_CONTROLLER = 142,
   COMMON_SUBSYSTEM_ID_END
 
 };

common/config/eive/objects.h

@@ -152,6 +152,11 @@ enum commonObjects : uint32_t {
   CFDP_TM_FUNNEL = 0x73000102,
   CFDP_HANDLER = 0x73000205,
   CFDP_DISTRIBUTOR = 0x73000206,
+  MISC_TM_STORE = 0x73020001,
+  OK_TM_STORE = 0x73020002,
+  NOT_OK_TM_STORE = 0x73020003,
+  HK_TM_STORE = 0x73020004,
+  CFDP_TM_STORE = 0x73030000,
 
   // Other stuff
   THERMAL_TEMP_INSERTER = 0x90000003,

common/config/eive/resultClassIds.h

@@ -35,14 +35,13 @@ enum commonClassIds : uint8_t {
   SA_DEPL_HANDLER,          // SADPL
   MPSOC_RETURN_VALUES_IF,   // MPSOCRTVIF
   SUPV_RETURN_VALUES_IF,    // SPVRTVIF
-  ACS_KALMAN,               // ACSKAL
+  ACS_CTRL,                 // ACSCTRL
+  ACS_MEKF,                 // ACSMEKF
   ACS_SAFE,                 // ACSSAF
   ACS_PTG,                  // ACSPTG
   ACS_DETUMBLE,             // ACSDTB
-  ACS_MEKF,                 // ACSMEK
   COMMON_CLASS_ID_END       // [EXPORT] : [END]
 };
-
 }
 
 #endif /* COMMON_CONFIG_COMMONCLASSIDS_H_ */

common/config/tmtc/pusIds.h

@@ -12,6 +12,7 @@ enum Ids {
   PUS_SERVICE_8 = 8,
   PUS_SERVICE_9 = 9,
   PUS_SERVICE_11 = 11,
+  PUS_SERVICE_15 = 15,
   PUS_SERVICE_17 = 17,
   PUS_SERVICE_19 = 19,
   PUS_SERVICE_20 = 20,

dummies/CMakeLists.txt

@@ -20,6 +20,7 @@ target_sources(
          GyroL3GD20Dummy.cpp
          MgmLIS3MDLDummy.cpp
          PlPcduDummy.cpp
+         ExecutableComIfDummy.cpp
          ScexDummy.cpp
          CoreControllerDummy.cpp
          PlocMpsocDummy.cpp

dummies/ExecutableComIfDummy.cpp

@@ -0,0 +1,27 @@
+#include <dummies/ExecutableComIfDummy.h>
+
+ExecutableComIfDummy::ExecutableComIfDummy(object_id_t objectId) : SystemObject(objectId) {}
+
+ReturnValue_t ExecutableComIfDummy::initializeInterface(CookieIF *cookie) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t ExecutableComIfDummy::sendMessage(CookieIF *cookie, const uint8_t *sendData,
+                                                size_t sendLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t ExecutableComIfDummy::getSendSuccess(CookieIF *cookie) { return returnvalue::OK; }
+
+ReturnValue_t ExecutableComIfDummy::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t ExecutableComIfDummy::performOperation(uint8_t operationCode) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t ExecutableComIfDummy::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
+                                                        size_t *size) {
+  return returnvalue::OK;
+}

dummies/ExecutableComIfDummy.h

@@ -0,0 +1,21 @@
+#ifndef DUMMIES_EXECUTABLECOMIFDUMMY_H_
+#define DUMMIES_EXECUTABLECOMIFDUMMY_H_
+
+#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/tasks/ExecutableObjectIF.h>
+
+class ExecutableComIfDummy : public ExecutableObjectIF,
+                             public DeviceCommunicationIF,
+                             public SystemObject {
+ public:
+  ExecutableComIfDummy(object_id_t objectId);
+  ReturnValue_t performOperation(uint8_t operationCode = 0) override;
+  ReturnValue_t initializeInterface(CookieIF *cookie) override;
+  ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) override;
+  ReturnValue_t getSendSuccess(CookieIF *cookie) override;
+  ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override;
+  ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) override;
+};
+
+#endif /* DUMMIES_EXECUTABLECOMIFDUMMY_H_ */

dummies/GpsCtrlDummy.cpp

@@ -1,6 +1,7 @@
 #include "GpsCtrlDummy.h"
 
-GpsCtrlDummy::GpsCtrlDummy(object_id_t objectId) : ExtendedControllerBase(objectId, 20) {}
+GpsCtrlDummy::GpsCtrlDummy(object_id_t objectId)
+    : ExtendedControllerBase(objectId, 20), gpsSet(this) {}
 
 ReturnValue_t GpsCtrlDummy::handleCommandMessage(CommandMessage* message) {
   return returnvalue::OK;
@@ -13,9 +14,23 @@ ReturnValue_t GpsCtrlDummy::checkModeCommand(Mode_t mode, Submode_t submode,
   return returnvalue::OK;
 }
 
+LocalPoolDataSetBase* GpsCtrlDummy::getDataSetHandle(sid_t sid) { return &gpsSet; }
+
 ReturnValue_t GpsCtrlDummy::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                     LocalDataPoolManager& poolManager) {
+  localDataPoolMap.emplace(GpsHyperion::ALTITUDE, new PoolEntry<double>({537222.3469}, true));
+  localDataPoolMap.emplace(GpsHyperion::LONGITUDE, new PoolEntry<double>({-8.8579}, true));
+  localDataPoolMap.emplace(GpsHyperion::LATITUDE, new PoolEntry<double>({49.5952}, true));
+  localDataPoolMap.emplace(GpsHyperion::SPEED, new PoolEntry<double>({0}));
+  localDataPoolMap.emplace(GpsHyperion::YEAR, new PoolEntry<uint16_t>({2023}, true));
+  localDataPoolMap.emplace(GpsHyperion::MONTH, new PoolEntry<uint8_t>({5}, true));
+  localDataPoolMap.emplace(GpsHyperion::DAY, new PoolEntry<uint8_t>({16}, true));
+  localDataPoolMap.emplace(GpsHyperion::HOURS, new PoolEntry<uint8_t>({1}, true));
+  localDataPoolMap.emplace(GpsHyperion::MINUTES, new PoolEntry<uint8_t>({0}, true));
+  localDataPoolMap.emplace(GpsHyperion::SECONDS, new PoolEntry<uint8_t>({0}, true));
+  localDataPoolMap.emplace(GpsHyperion::UNIX_SECONDS, new PoolEntry<uint32_t>({1684191600}, true));
+  localDataPoolMap.emplace(GpsHyperion::SATS_IN_USE, new PoolEntry<uint8_t>());
+  localDataPoolMap.emplace(GpsHyperion::SATS_IN_VIEW, new PoolEntry<uint8_t>());
+  localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>());
   return returnvalue::OK;
 }
-
-LocalPoolDataSetBase* GpsCtrlDummy::getDataSetHandle(sid_t sid) { return nullptr; }

dummies/GpsCtrlDummy.h

@@ -2,12 +2,15 @@
 #define DUMMIES_GPSCTRLDUMMY_H_
 
 #include <fsfw/controller/ExtendedControllerBase.h>
+#include <mission/devices/devicedefinitions/GPSDefinitions.h>
 
 class GpsCtrlDummy : public ExtendedControllerBase {
  public:
   GpsCtrlDummy(object_id_t objectId);
 
  private:
+  GpsPrimaryDataset gpsSet;
+
   ReturnValue_t handleCommandMessage(CommandMessage* message) override;
   void performControlOperation() override;
   ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,

dummies/PduDummy.cpp

@@ -3,7 +3,8 @@
 #include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
 
 PduDummy::PduDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
-    : DeviceHandlerBase(objectId, comif, comCookie) {}
+    : DeviceHandlerBase(objectId, comif, comCookie),
+      coreHk(this, static_cast<uint32_t>(P60System::SetIds::CORE)) {}
 
 PduDummy::~PduDummy() {}
 
@@ -38,5 +39,7 @@ uint32_t PduDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return
 ReturnValue_t PduDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                 LocalDataPoolManager &poolManager) {
   localDataPoolMap.emplace(PDU::pool::PDU_TEMPERATURE, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(PDU::pool::PDU_VOLTAGES, &pduVoltages);
+  localDataPoolMap.emplace(PDU::pool::PDU_CURRENTS, &pduCurrents);
   return returnvalue::OK;
 }

dummies/PduDummy.h

@@ -3,6 +3,8 @@
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 
+#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
+
 class PduDummy : public DeviceHandlerBase {
  public:
   static const DeviceCommandId_t SIMPLE_COMMAND = 1;
@@ -15,6 +17,10 @@ class PduDummy : public DeviceHandlerBase {
   virtual ~PduDummy();
 
  protected:
+  PDU::PduCoreHk coreHk;
+  PoolEntry<int16_t> pduVoltages = PoolEntry<int16_t>(9);
+  PoolEntry<int16_t> pduCurrents = PoolEntry<int16_t>(9);
+
   void doStartUp() override;
   void doShutDown() override;
   ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;

dummies/RwDummy.cpp

@@ -41,7 +41,7 @@ ReturnValue_t RwDummy::initializeLocalDataPool(localpool::DataPool &localDataPoo
 
   localDataPoolMap.emplace(rws::CURR_SPEED, new PoolEntry<int32_t>({0}));
   localDataPoolMap.emplace(rws::REFERENCE_SPEED, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(rws::STATE, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::STATE, new PoolEntry<uint8_t>({1}, true));
   localDataPoolMap.emplace(rws::CLC_MODE, new PoolEntry<uint8_t>({0}));
 
   localDataPoolMap.emplace(rws::LAST_RESET_STATUS, new PoolEntry<uint8_t>({0}));

dummies/SusDummy.cpp

@@ -37,7 +37,7 @@ ReturnValue_t SusDummy::initializeLocalDataPool(localpool::DataPool &localDataPo
                                                 LocalDataPoolManager &poolManager) {
   localDataPoolMap.emplace(SUS::SusPoolIds::TEMPERATURE_C, new PoolEntry<float>({0}, 1, true));
   localDataPoolMap.emplace(SUS::SusPoolIds::CHANNEL_VEC,
-                           new PoolEntry<uint16_t>({0, 0, 0, 0, 0, 0}, true));
+                           new PoolEntry<uint16_t>({2603, 781, 2760, 2048, 4056, 0}, true));
 
   return returnvalue::OK;
 }

dummies/helpers.cpp

@@ -5,6 +5,7 @@
 #include <dummies/ComCookieDummy.h>
 #include <dummies/ComIFDummy.h>
 #include <dummies/CoreControllerDummy.h>
+#include <dummies/ExecutableComIfDummy.h>
 #include <dummies/GpsCtrlDummy.h>
 #include <dummies/GpsDhbDummy.h>
 #include <dummies/GyroAdisDummy.h>
@@ -45,7 +46,7 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
     new CoreControllerDummy(objects::CORE_CONTROLLER);
   }
   if (cfg.addRtdComIFDummy) {
-    new ComIFDummy(objects::SPI_RTD_COM_IF);
+    new ExecutableComIfDummy(objects::SPI_RTD_COM_IF);
   }
   std::array<object_id_t, 4> rwIds = {objects::RW1, objects::RW2, objects::RW3, objects::RW4};
   std::array<DeviceHandlerBase*, 4> rws;

fsfw

@@ -1 +1 @@
-Subproject commit bd208038dd85a94dce8c763397ad5ac7eae76402
+Subproject commit bdfe31dba48039b60fe700e7d03bfb95e9549688

generators/.gitignore

@@ -1,2 +1,4 @@
 .~lock*
 /venv
+/.idea/*
+!/.idea/runConfigurations

generators/bsp_hosted_events.csv

@@ -84,6 +84,8 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 10800;0x2a30;STORE_ERROR;LOW;No description;fsfw/src/fsfw/cfdp/handler/defs.h
 10801;0x2a31;MSG_QUEUE_ERROR;LOW;No description;fsfw/src/fsfw/cfdp/handler/defs.h
 10802;0x2a32;SERIALIZATION_ERROR;LOW;No description;fsfw/src/fsfw/cfdp/handler/defs.h
+10803;0x2a33;FILESTORE_ERROR;LOW;No description;fsfw/src/fsfw/cfdp/handler/defs.h
+10804;0x2a34;FILENAME_TOO_LARGE_ERROR;LOW;P1: Transaction step ID, P2: 0 for source file name, 1 for dest file name;fsfw/src/fsfw/cfdp/handler/defs.h
 11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;No description;mission/acsDefs.h
 11201;0x2bc1;SAFE_RATE_RECOVERY;MEDIUM;No description;mission/acsDefs.h
 11202;0x2bc2;MULTIPLE_RW_INVALID;HIGH;No description;mission/acsDefs.h
@@ -252,10 +254,11 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 14004;0x36b4;NO_SD_CARD_ACTIVE;HIGH;No SD card was active. Core controller will attempt to re-initialize a SD card.;bsp_q7s/core/CoreController.h
 14005;0x36b5;VERSION_INFO;INFO;P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash P2: First four letters of Git SHA is the last byte of P1 is set.;bsp_q7s/core/CoreController.h
 14006;0x36b6;CURRENT_IMAGE_INFO;INFO;P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
-14100;0x3714;NO_VALID_SENSOR_TEMPERATURE;MEDIUM;No description;mission/controller/ThermalController.h
-14101;0x3715;NO_HEALTHY_HEATER_AVAILABLE;MEDIUM;No description;mission/controller/ThermalController.h
-14102;0x3716;SYRLINKS_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
-14103;0x3717;PLOC_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
-14104;0x3718;OBC_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
-14105;0x3719;HPA_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
-14106;0x371a;PLPCDU_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
+14100;0x3714;POSSIBLE_FILE_CORRUPTION;LOW;P1: Result code of TM packet parser. P2: Timestamp of possibly corrupt file as a unix timestamp.;mission/tmtc/PersistentTmStore.h
+14200;0x3778;NO_VALID_SENSOR_TEMPERATURE;MEDIUM;No description;mission/controller/ThermalController.h
+14201;0x3779;NO_HEALTHY_HEATER_AVAILABLE;MEDIUM;No description;mission/controller/ThermalController.h
+14202;0x377a;SYRLINKS_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
+14203;0x377b;PLOC_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
+14204;0x377c;OBC_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
+14205;0x377d;HPA_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
+14206;0x377e;PLPCDU_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h

generators/bsp_hosted_objects.csv

@@ -104,6 +104,7 @@
 0x53000008;PUS_SERVICE_8_FUNCTION_MGMT
 0x53000009;PUS_SERVICE_9_TIME_MGMT
 0x53000011;PUS_SERVICE_11_TC_SCHEDULER
+0x53000015;PUS_SERVICE_15_TM_STORAGE
 0x53000017;PUS_SERVICE_17_TEST
 0x53000020;PUS_SERVICE_20_PARAMETERS
 0x53000200;PUS_SERVICE_200_MODE_MGMT
@@ -142,6 +143,11 @@
 0x73010002;PL_SUBSYSTEM
 0x73010003;TCS_SUBSYSTEM
 0x73010004;COM_SUBSYSTEM
+0x73020001;MISC_TM_STORE
+0x73020002;OK_TM_STORE
+0x73020003;NOT_OK_TM_STORE
+0x73020004;HK_TM_STORE
+0x73030000;CFDP_TM_STORE
 0x73500000;CCSDS_IP_CORE_BRIDGE
 0x90000003;THERMAL_TEMP_INSERTER
 0xCAFECAFE;DUMMY_INTERFACE

generators/bsp_hosted_returnvalues.csv

@@ -49,16 +49,17 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x4fa4;HEATER_MainSwitchSetTimeout;No description;164;HEATER_HANDLER;mission/devices/HeaterHandler.h
 0x4fa5;HEATER_CommandAlreadyWaiting;No description;165;HEATER_HANDLER;mission/devices/HeaterHandler.h
 0x60a0;CCSDS_CommandNotImplemented;Received action message with unknown action id;160;CCSDS_HANDLER;mission/tmtc/CcsdsIpCoreHandler.h
-0x6a01;ACSSAF_SafectrlMekfInputInvalid;No description;1;ACS_SAFE;mission/controller/acs/control/SafeCtrl.h
-0x6b01;ACSPTG_PtgctrlMekfInputInvalid;No description;1;ACS_PTG;mission/controller/acs/control/PtgCtrl.h
-0x6c01;ACSDTB_DetumbleNoSensordata;No description;1;ACS_DETUMBLE;mission/controller/acs/control/Detumble.h
-0x6902;ACSKAL_KalmanUninitialized;No description;2;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
-0x6903;ACSKAL_KalmanNoGyrData;No description;3;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
-0x6904;ACSKAL_KalmanNoModelVectors;No description;4;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
-0x6905;ACSKAL_KalmanNoSusMgmStrData;No description;5;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
-0x6906;ACSKAL_KalmanCovarianceInversionFailed;No description;6;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
-0x6907;ACSKAL_KalmanInitialized;No description;7;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
-0x6908;ACSKAL_KalmanRunning;No description;8;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6b01;ACSSAF_SafectrlMekfInputInvalid;No description;1;ACS_SAFE;mission/controller/acs/control/SafeCtrl.h
+0x6c01;ACSPTG_PtgctrlMekfInputInvalid;No description;1;ACS_PTG;mission/controller/acs/control/PtgCtrl.h
+0x6d01;ACSDTB_DetumbleNoSensordata;No description;1;ACS_DETUMBLE;mission/controller/acs/control/Detumble.h
+0x6a02;ACSMEKF_MekfUninitialized;No description;2;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6a03;ACSMEKF_MekfNoGyrData;No description;3;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6a04;ACSMEKF_MekfNoModelVectors;No description;4;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6a05;ACSMEKF_MekfNoSusMgmStrData;No description;5;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6a06;ACSMEKF_MekfCovarianceInversionFailed;No description;6;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6a07;ACSMEKF_MekfInitialized;No description;7;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6a08;ACSMEKF_MekfRunning;No description;8;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6900;ACSCTRL_FileDeletionFailed;No description;0;ACS_CTRL;mission/controller/AcsController.h
 0x4500;HSPI_OpeningFileFailed;No description;0;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
 0x4501;HSPI_FullDuplexTransferFailed;No description;1;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
 0x4502;HSPI_HalfDuplexTransferFailed;No description;2;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h

generators/bsp_q7s_events.csv

@@ -84,6 +84,8 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 10800;0x2a30;STORE_ERROR;LOW;No description;fsfw/src/fsfw/cfdp/handler/defs.h
 10801;0x2a31;MSG_QUEUE_ERROR;LOW;No description;fsfw/src/fsfw/cfdp/handler/defs.h
 10802;0x2a32;SERIALIZATION_ERROR;LOW;No description;fsfw/src/fsfw/cfdp/handler/defs.h
+10803;0x2a33;FILESTORE_ERROR;LOW;No description;fsfw/src/fsfw/cfdp/handler/defs.h
+10804;0x2a34;FILENAME_TOO_LARGE_ERROR;LOW;P1: Transaction step ID, P2: 0 for source file name, 1 for dest file name;fsfw/src/fsfw/cfdp/handler/defs.h
 11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;No description;mission/acsDefs.h
 11201;0x2bc1;SAFE_RATE_RECOVERY;MEDIUM;No description;mission/acsDefs.h
 11202;0x2bc2;MULTIPLE_RW_INVALID;HIGH;No description;mission/acsDefs.h
@@ -252,10 +254,11 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 14004;0x36b4;NO_SD_CARD_ACTIVE;HIGH;No SD card was active. Core controller will attempt to re-initialize a SD card.;bsp_q7s/core/CoreController.h
 14005;0x36b5;VERSION_INFO;INFO;P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash P2: First four letters of Git SHA is the last byte of P1 is set.;bsp_q7s/core/CoreController.h
 14006;0x36b6;CURRENT_IMAGE_INFO;INFO;P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
-14100;0x3714;NO_VALID_SENSOR_TEMPERATURE;MEDIUM;No description;mission/controller/ThermalController.h
-14101;0x3715;NO_HEALTHY_HEATER_AVAILABLE;MEDIUM;No description;mission/controller/ThermalController.h
-14102;0x3716;SYRLINKS_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
-14103;0x3717;PLOC_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
-14104;0x3718;OBC_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
-14105;0x3719;HPA_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
-14106;0x371a;PLPCDU_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
+14100;0x3714;POSSIBLE_FILE_CORRUPTION;LOW;P1: Result code of TM packet parser. P2: Timestamp of possibly corrupt file as a unix timestamp.;mission/tmtc/PersistentTmStore.h
+14200;0x3778;NO_VALID_SENSOR_TEMPERATURE;MEDIUM;No description;mission/controller/ThermalController.h
+14201;0x3779;NO_HEALTHY_HEATER_AVAILABLE;MEDIUM;No description;mission/controller/ThermalController.h
+14202;0x377a;SYRLINKS_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
+14203;0x377b;PLOC_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
+14204;0x377c;OBC_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
+14205;0x377d;HPA_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
+14206;0x377e;PLPCDU_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h

generators/bsp_q7s_objects.csv

@@ -102,6 +102,7 @@
 0x53000008;PUS_SERVICE_8_FUNCTION_MGMT
 0x53000009;PUS_SERVICE_9_TIME_MGMT
 0x53000011;PUS_SERVICE_11_TC_SCHEDULER
+0x53000015;PUS_SERVICE_15_TM_STORAGE
 0x53000017;PUS_SERVICE_17_TEST
 0x53000020;PUS_SERVICE_20_PARAMETERS
 0x53000200;PUS_SERVICE_200_MODE_MGMT
@@ -148,6 +149,11 @@
 0x73010002;PL_SUBSYSTEM
 0x73010003;TCS_SUBSYSTEM
 0x73010004;COM_SUBSYSTEM
+0x73020001;MISC_TM_STORE
+0x73020002;OK_TM_STORE
+0x73020003;NOT_OK_TM_STORE
+0x73020004;HK_TM_STORE
+0x73030000;CFDP_TM_STORE
 0x73500000;CCSDS_IP_CORE_BRIDGE
 0x90000003;THERMAL_TEMP_INSERTER
 0xFFFFFFFF;NO_OBJECT

generators/bsp_q7s_returnvalues.csv

@@ -49,16 +49,17 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x4fa4;HEATER_MainSwitchSetTimeout;No description;164;HEATER_HANDLER;mission/devices/HeaterHandler.h
 0x4fa5;HEATER_CommandAlreadyWaiting;No description;165;HEATER_HANDLER;mission/devices/HeaterHandler.h
 0x60a0;CCSDS_CommandNotImplemented;Received action message with unknown action id;160;CCSDS_HANDLER;mission/tmtc/CcsdsIpCoreHandler.h
-0x6a01;ACSSAF_SafectrlMekfInputInvalid;No description;1;ACS_SAFE;mission/controller/acs/control/SafeCtrl.h
-0x6b01;ACSPTG_PtgctrlMekfInputInvalid;No description;1;ACS_PTG;mission/controller/acs/control/PtgCtrl.h
-0x6c01;ACSDTB_DetumbleNoSensordata;No description;1;ACS_DETUMBLE;mission/controller/acs/control/Detumble.h
-0x6902;ACSKAL_KalmanUninitialized;No description;2;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
-0x6903;ACSKAL_KalmanNoGyrData;No description;3;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
-0x6904;ACSKAL_KalmanNoModelVectors;No description;4;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
-0x6905;ACSKAL_KalmanNoSusMgmStrData;No description;5;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
-0x6906;ACSKAL_KalmanCovarianceInversionFailed;No description;6;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
-0x6907;ACSKAL_KalmanInitialized;No description;7;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
-0x6908;ACSKAL_KalmanRunning;No description;8;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6b01;ACSSAF_SafectrlMekfInputInvalid;No description;1;ACS_SAFE;mission/controller/acs/control/SafeCtrl.h
+0x6c01;ACSPTG_PtgctrlMekfInputInvalid;No description;1;ACS_PTG;mission/controller/acs/control/PtgCtrl.h
+0x6d01;ACSDTB_DetumbleNoSensordata;No description;1;ACS_DETUMBLE;mission/controller/acs/control/Detumble.h
+0x6a02;ACSMEKF_MekfUninitialized;No description;2;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6a03;ACSMEKF_MekfNoGyrData;No description;3;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6a04;ACSMEKF_MekfNoModelVectors;No description;4;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6a05;ACSMEKF_MekfNoSusMgmStrData;No description;5;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6a06;ACSMEKF_MekfCovarianceInversionFailed;No description;6;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6a07;ACSMEKF_MekfInitialized;No description;7;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6a08;ACSMEKF_MekfRunning;No description;8;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6900;ACSCTRL_FileDeletionFailed;No description;0;ACS_CTRL;mission/controller/AcsController.h
 0x4500;HSPI_OpeningFileFailed;No description;0;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
 0x4501;HSPI_FullDuplexTransferFailed;No description;1;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
 0x4502;HSPI_HalfDuplexTransferFailed;No description;2;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 260 translations.
+ * @brief    Auto-generated event translation file. Contains 263 translations.
  * @details
- * Generated on: 2023-02-23 15:39:20
+ * Generated on: 2023-02-24 16:57:00
  */
 #include "translateEvents.h"
 
@@ -90,6 +90,8 @@ const char *CHANGE_OF_SETUP_PARAMETER_STRING = "CHANGE_OF_SETUP_PARAMETER";
 const char *STORE_ERROR_STRING = "STORE_ERROR";
 const char *MSG_QUEUE_ERROR_STRING = "MSG_QUEUE_ERROR";
 const char *SERIALIZATION_ERROR_STRING = "SERIALIZATION_ERROR";
+const char *FILESTORE_ERROR_STRING = "FILESTORE_ERROR";
+const char *FILENAME_TOO_LARGE_ERROR_STRING = "FILENAME_TOO_LARGE_ERROR";
 const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
 const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
 const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
@@ -253,6 +255,7 @@ const char *REBOOT_HW_STRING = "REBOOT_HW";
 const char *NO_SD_CARD_ACTIVE_STRING = "NO_SD_CARD_ACTIVE";
 const char *VERSION_INFO_STRING = "VERSION_INFO";
 const char *CURRENT_IMAGE_INFO_STRING = "CURRENT_IMAGE_INFO";
+const char *POSSIBLE_FILE_CORRUPTION_STRING = "POSSIBLE_FILE_CORRUPTION";
 const char *NO_VALID_SENSOR_TEMPERATURE_STRING = "NO_VALID_SENSOR_TEMPERATURE";
 const char *NO_HEALTHY_HEATER_AVAILABLE_STRING = "NO_HEALTHY_HEATER_AVAILABLE";
 const char *SYRLINKS_OVERHEATING_STRING = "SYRLINKS_OVERHEATING";
@@ -433,6 +436,10 @@ const char *translateEvents(Event event) {
       return MSG_QUEUE_ERROR_STRING;
     case (10802):
       return SERIALIZATION_ERROR_STRING;
+    case (10803):
+      return FILESTORE_ERROR_STRING;
+    case (10804):
+      return FILENAME_TOO_LARGE_ERROR_STRING;
     case (11200):
       return SAFE_RATE_VIOLATION_STRING;
     case (11201):
@@ -760,18 +767,20 @@ const char *translateEvents(Event event) {
     case (14006):
       return CURRENT_IMAGE_INFO_STRING;
     case (14100):
+      return POSSIBLE_FILE_CORRUPTION_STRING;
+    case (14200):
       return NO_VALID_SENSOR_TEMPERATURE_STRING;
-    case (14101):
+    case (14201):
       return NO_HEALTHY_HEATER_AVAILABLE_STRING;
-    case (14102):
+    case (14202):
       return SYRLINKS_OVERHEATING_STRING;
-    case (14103):
+    case (14203):
       return PLOC_OVERHEATING_STRING;
-    case (14104):
+    case (14204):
       return OBC_OVERHEATING_STRING;
-    case (14105):
+    case (14205):
       return HPA_OVERHEATING_STRING;
-    case (14106):
+    case (14206):
       return PLPCDU_OVERHEATING_STRING;
     default:
       return "UNKNOWN_EVENT";

generators/objects/translateObjects.cpp

@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 153 translations.
- * Generated on: 2023-02-23 15:39:20
+ * Contains 159 translations.
+ * Generated on: 2023-02-24 16:57:00
  */
 #include "translateObjects.h"
 
@@ -110,6 +110,7 @@ const char *PUS_SERVICE_5_EVENT_REPORTING_STRING = "PUS_SERVICE_5_EVENT_REPORTIN
 const char *PUS_SERVICE_8_FUNCTION_MGMT_STRING = "PUS_SERVICE_8_FUNCTION_MGMT";
 const char *PUS_SERVICE_9_TIME_MGMT_STRING = "PUS_SERVICE_9_TIME_MGMT";
 const char *PUS_SERVICE_11_TC_SCHEDULER_STRING = "PUS_SERVICE_11_TC_SCHEDULER";
+const char *PUS_SERVICE_15_TM_STORAGE_STRING = "PUS_SERVICE_15_TM_STORAGE";
 const char *PUS_SERVICE_17_TEST_STRING = "PUS_SERVICE_17_TEST";
 const char *PUS_SERVICE_20_PARAMETERS_STRING = "PUS_SERVICE_20_PARAMETERS";
 const char *PUS_SERVICE_200_MODE_MGMT_STRING = "PUS_SERVICE_200_MODE_MGMT";
@@ -156,6 +157,11 @@ const char *ACS_SUBSYSTEM_STRING = "ACS_SUBSYSTEM";
 const char *PL_SUBSYSTEM_STRING = "PL_SUBSYSTEM";
 const char *TCS_SUBSYSTEM_STRING = "TCS_SUBSYSTEM";
 const char *COM_SUBSYSTEM_STRING = "COM_SUBSYSTEM";
+const char *MISC_TM_STORE_STRING = "MISC_TM_STORE";
+const char *OK_TM_STORE_STRING = "OK_TM_STORE";
+const char *NOT_OK_TM_STORE_STRING = "NOT_OK_TM_STORE";
+const char *HK_TM_STORE_STRING = "HK_TM_STORE";
+const char *CFDP_TM_STORE_STRING = "CFDP_TM_STORE";
 const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
 const char *THERMAL_TEMP_INSERTER_STRING = "THERMAL_TEMP_INSERTER";
 const char *NO_OBJECT_STRING = "NO_OBJECT";
@@ -370,6 +376,8 @@ const char *translateObject(object_id_t object) {
       return PUS_SERVICE_9_TIME_MGMT_STRING;
     case 0x53000011:
       return PUS_SERVICE_11_TC_SCHEDULER_STRING;
+    case 0x53000015:
+      return PUS_SERVICE_15_TM_STORAGE_STRING;
     case 0x53000017:
       return PUS_SERVICE_17_TEST_STRING;
     case 0x53000020:
@@ -462,6 +470,16 @@ const char *translateObject(object_id_t object) {
       return TCS_SUBSYSTEM_STRING;
     case 0x73010004:
       return COM_SUBSYSTEM_STRING;
+    case 0x73020001:
+      return MISC_TM_STORE_STRING;
+    case 0x73020002:
+      return OK_TM_STORE_STRING;
+    case 0x73020003:
+      return NOT_OK_TM_STORE_STRING;
+    case 0x73020004:
+      return HK_TM_STORE_STRING;
+    case 0x73030000:
+      return CFDP_TM_STORE_STRING;
     case 0x73500000:
       return CCSDS_IP_CORE_BRIDGE_STRING;
     case 0x90000003:

linux/devices/ploc/PlocSupervisorHandler.cpp

@@ -1742,18 +1742,21 @@ ReturnValue_t PlocSupervisorHandler::createMramDumpFile() {
   std::string filename = "mram-dump--" + timeStamp + ".bin";
 
 #ifdef XIPHOS_Q7S
-  std::string currentMountPrefix = sdcMan->getCurrentMountPrefix();
+  const char* currentMountPrefix = sdcMan->getCurrentMountPrefix();
 #else
-  std::string currentMountPrefix("/mnt/sd0");
+  const char* currentMountPrefix = "/mnt/sd0";
 #endif /* BOARD_TE0720 == 0 */
+  if (currentMountPrefix == nullptr) {
+    return returnvalue::FAILED;
+  }
 
   // Check if path to PLOC directory exists
-  if (not std::filesystem::exists(std::string(currentMountPrefix + "/" + supervisorFilePath))) {
+  if (not std::filesystem::exists(std::string(currentMountPrefix) + "/" + supervisorFilePath)) {
     sif::warning << "PlocSupervisorHandler::createMramDumpFile: Supervisor path does not exist"
                  << std::endl;
     return result::PATH_DOES_NOT_EXIST;
   }
-  activeMramFile = currentMountPrefix + "/" + supervisorFilePath + "/" + filename;
+  activeMramFile = std::string(currentMountPrefix) + "/" + supervisorFilePath + "/" + filename;
   // Create new file
   std::ofstream file(activeMramFile, std::ios_base::out);
   file.close();

linux/fsfwconfig/FSFWConfig.h.in

@@ -42,7 +42,7 @@
 
 //! When using the newlib nano library, C99 support for stdio facilities
 //! will not be provided. This define should be set to 1 if this is the case.
-#define FSFW_NO_C99_IO 	            1
+#define FSFW_NO_C99_IO 	            0
 
 //! Specify whether a special mode store is used for Subsystem components.
 #define FSFW_USE_MODESTORE          0

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 260 translations.
+ * @brief    Auto-generated event translation file. Contains 263 translations.
  * @details
- * Generated on: 2023-02-23 15:39:20
+ * Generated on: 2023-02-24 16:57:00
  */
 #include "translateEvents.h"
 
@@ -90,6 +90,8 @@ const char *CHANGE_OF_SETUP_PARAMETER_STRING = "CHANGE_OF_SETUP_PARAMETER";
 const char *STORE_ERROR_STRING = "STORE_ERROR";
 const char *MSG_QUEUE_ERROR_STRING = "MSG_QUEUE_ERROR";
 const char *SERIALIZATION_ERROR_STRING = "SERIALIZATION_ERROR";
+const char *FILESTORE_ERROR_STRING = "FILESTORE_ERROR";
+const char *FILENAME_TOO_LARGE_ERROR_STRING = "FILENAME_TOO_LARGE_ERROR";
 const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
 const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
 const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
@@ -253,6 +255,7 @@ const char *REBOOT_HW_STRING = "REBOOT_HW";
 const char *NO_SD_CARD_ACTIVE_STRING = "NO_SD_CARD_ACTIVE";
 const char *VERSION_INFO_STRING = "VERSION_INFO";
 const char *CURRENT_IMAGE_INFO_STRING = "CURRENT_IMAGE_INFO";
+const char *POSSIBLE_FILE_CORRUPTION_STRING = "POSSIBLE_FILE_CORRUPTION";
 const char *NO_VALID_SENSOR_TEMPERATURE_STRING = "NO_VALID_SENSOR_TEMPERATURE";
 const char *NO_HEALTHY_HEATER_AVAILABLE_STRING = "NO_HEALTHY_HEATER_AVAILABLE";
 const char *SYRLINKS_OVERHEATING_STRING = "SYRLINKS_OVERHEATING";
@@ -433,6 +436,10 @@ const char *translateEvents(Event event) {
       return MSG_QUEUE_ERROR_STRING;
     case (10802):
       return SERIALIZATION_ERROR_STRING;
+    case (10803):
+      return FILESTORE_ERROR_STRING;
+    case (10804):
+      return FILENAME_TOO_LARGE_ERROR_STRING;
     case (11200):
       return SAFE_RATE_VIOLATION_STRING;
     case (11201):
@@ -760,18 +767,20 @@ const char *translateEvents(Event event) {
     case (14006):
       return CURRENT_IMAGE_INFO_STRING;
     case (14100):
+      return POSSIBLE_FILE_CORRUPTION_STRING;
+    case (14200):
       return NO_VALID_SENSOR_TEMPERATURE_STRING;
-    case (14101):
+    case (14201):
       return NO_HEALTHY_HEATER_AVAILABLE_STRING;
-    case (14102):
+    case (14202):
       return SYRLINKS_OVERHEATING_STRING;
-    case (14103):
+    case (14203):
       return PLOC_OVERHEATING_STRING;
-    case (14104):
+    case (14204):
       return OBC_OVERHEATING_STRING;
-    case (14105):
+    case (14205):
       return HPA_OVERHEATING_STRING;
-    case (14106):
+    case (14206):
       return PLPCDU_OVERHEATING_STRING;
     default:
       return "UNKNOWN_EVENT";

linux/fsfwconfig/objects/translateObjects.cpp

@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 153 translations.
- * Generated on: 2023-02-23 15:39:20
+ * Contains 159 translations.
+ * Generated on: 2023-02-24 16:57:00
  */
 #include "translateObjects.h"
 
@@ -110,6 +110,7 @@ const char *PUS_SERVICE_5_EVENT_REPORTING_STRING = "PUS_SERVICE_5_EVENT_REPORTIN
 const char *PUS_SERVICE_8_FUNCTION_MGMT_STRING = "PUS_SERVICE_8_FUNCTION_MGMT";
 const char *PUS_SERVICE_9_TIME_MGMT_STRING = "PUS_SERVICE_9_TIME_MGMT";
 const char *PUS_SERVICE_11_TC_SCHEDULER_STRING = "PUS_SERVICE_11_TC_SCHEDULER";
+const char *PUS_SERVICE_15_TM_STORAGE_STRING = "PUS_SERVICE_15_TM_STORAGE";
 const char *PUS_SERVICE_17_TEST_STRING = "PUS_SERVICE_17_TEST";
 const char *PUS_SERVICE_20_PARAMETERS_STRING = "PUS_SERVICE_20_PARAMETERS";
 const char *PUS_SERVICE_200_MODE_MGMT_STRING = "PUS_SERVICE_200_MODE_MGMT";
@@ -156,6 +157,11 @@ const char *ACS_SUBSYSTEM_STRING = "ACS_SUBSYSTEM";
 const char *PL_SUBSYSTEM_STRING = "PL_SUBSYSTEM";
 const char *TCS_SUBSYSTEM_STRING = "TCS_SUBSYSTEM";
 const char *COM_SUBSYSTEM_STRING = "COM_SUBSYSTEM";
+const char *MISC_TM_STORE_STRING = "MISC_TM_STORE";
+const char *OK_TM_STORE_STRING = "OK_TM_STORE";
+const char *NOT_OK_TM_STORE_STRING = "NOT_OK_TM_STORE";
+const char *HK_TM_STORE_STRING = "HK_TM_STORE";
+const char *CFDP_TM_STORE_STRING = "CFDP_TM_STORE";
 const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
 const char *THERMAL_TEMP_INSERTER_STRING = "THERMAL_TEMP_INSERTER";
 const char *NO_OBJECT_STRING = "NO_OBJECT";
@@ -370,6 +376,8 @@ const char *translateObject(object_id_t object) {
       return PUS_SERVICE_9_TIME_MGMT_STRING;
     case 0x53000011:
       return PUS_SERVICE_11_TC_SCHEDULER_STRING;
+    case 0x53000015:
+      return PUS_SERVICE_15_TM_STORAGE_STRING;
     case 0x53000017:
       return PUS_SERVICE_17_TEST_STRING;
     case 0x53000020:
@@ -462,6 +470,16 @@ const char *translateObject(object_id_t object) {
       return TCS_SUBSYSTEM_STRING;
     case 0x73010004:
       return COM_SUBSYSTEM_STRING;
+    case 0x73020001:
+      return MISC_TM_STORE_STRING;
+    case 0x73020002:
+      return OK_TM_STORE_STRING;
+    case 0x73020003:
+      return NOT_OK_TM_STORE_STRING;
+    case 0x73020004:
+      return HK_TM_STORE_STRING;
+    case 0x73030000:
+      return CFDP_TM_STORE_STRING;
     case 0x73500000:
       return CCSDS_IP_CORE_BRIDGE_STRING;
     case 0x90000003:

mission/controller/AcsController.cpp

@@ -1,9 +1,8 @@
 #include "AcsController.h"
 
 #include <fsfw/datapool/PoolReadGuard.h>
-
-#include "mission/acsDefs.h"
-#include "mission/config/torquer.h"
+#include <mission/acsDefs.h>
+#include <mission/config/torquer.h>
 
 AcsController::AcsController(object_id_t objectId)
     : ExtendedControllerBase(objectId),
@@ -46,6 +45,26 @@ ReturnValue_t AcsController::handleCommandMessage(CommandMessage *message) {
   return result;
 }
 
+ReturnValue_t AcsController::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+                                           const uint8_t *data, size_t size) {
+  switch (actionId) {
+    case SOLAR_ARRAY_DEPLOYMENT_SUCCESSFUL: {
+      ReturnValue_t result = guidance.solarArrayDeploymentComplete();
+      if (result == returnvalue::FAILED) {
+        return FILE_DELETION_FAILED;
+      }
+      return HasActionsIF::EXECUTION_FINISHED;
+    }
+    case RESET_MEKF: {
+      navigation.resetMekf(&mekfData);
+      return HasActionsIF::EXECUTION_FINISHED;
+    }
+    default: {
+      return HasActionsIF::INVALID_ACTION_ID;
+    }
+  }
+}
+
 MessageQueueId_t AcsController::getCommandQueue() const { return commandQueue->getId(); }
 
 ReturnValue_t AcsController::getParameter(uint8_t domainId, uint8_t parameterId,
@@ -60,6 +79,25 @@ void AcsController::performControlOperation() {
 #if OBSW_THREAD_TRACING == 1
   trace::threadTrace(opCounter, "ACS & TCS PST");
 #endif
+  {
+    PoolReadGuard pg(&mgmDataRaw);
+    if (pg.getReadResult() == returnvalue::OK) {
+      copyMgmData();
+    }
+  }
+  {
+    PoolReadGuard pg(&susDataRaw);
+    if (pg.getReadResult() == returnvalue::OK) {
+      copySusData();
+    }
+  }
+  {
+    PoolReadGuard pg(&gyrDataRaw);
+    if (pg.getReadResult() == returnvalue::OK) {
+      copyGyrData();
+    }
+  }
+
   switch (internalState) {
     case InternalState::STARTUP: {
       initialCountdown.resetTimer();
@@ -95,25 +133,6 @@ void AcsController::performControlOperation() {
     default:
       break;
   }
-
-  {
-    PoolReadGuard pg(&mgmDataRaw);
-    if (pg.getReadResult() == returnvalue::OK) {
-      copyMgmData();
-    }
-  }
-  {
-    PoolReadGuard pg(&susDataRaw);
-    if (pg.getReadResult() == returnvalue::OK) {
-      copySusData();
-    }
-  }
-  {
-    PoolReadGuard pg(&gyrDataRaw);
-    if (pg.getReadResult() == returnvalue::OK) {
-      copyGyrData();
-    }
-  }
 }
 
 void AcsController::performSafe() {
@@ -124,8 +143,8 @@ void AcsController::performSafe() {
                            &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
   ReturnValue_t result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
                                             &susDataProcessed, &mekfData);
-  if (result != MultiplicativeKalmanFilter::KALMAN_RUNNING &&
-      result != MultiplicativeKalmanFilter::KALMAN_INITIALIZED) {
+  if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
+      result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
     if (not mekfInvalidFlag) {
       triggerEvent(acs::MEKF_INVALID_INFO);
       mekfInvalidFlag = true;
@@ -139,7 +158,7 @@ void AcsController::performSafe() {
   // if MEKF is working
   double magMomMtq[3] = {0, 0, 0}, errAng = 0.0;
   bool magMomMtqValid = false;
-  if (result == MultiplicativeKalmanFilter::KALMAN_RUNNING) {
+  if (result == MultiplicativeKalmanFilter::MEKF_RUNNING) {
     safeCtrl.safeMekf(now, mekfData.quatMekf.value, mekfData.quatMekf.isValid(),
                       mgmDataProcessed.magIgrfModel.value, mgmDataProcessed.magIgrfModel.isValid(),
                       susDataProcessed.sunIjkModel.value, susDataProcessed.isValid(),
@@ -189,8 +208,8 @@ void AcsController::performDetumble() {
                            &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
   ReturnValue_t result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
                                             &susDataProcessed, &mekfData);
-  if (result != MultiplicativeKalmanFilter::KALMAN_RUNNING &&
-      result != MultiplicativeKalmanFilter::KALMAN_INITIALIZED) {
+  if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
+      result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
     if (not mekfInvalidFlag) {
       triggerEvent(acs::MEKF_INVALID_INFO);
       mekfInvalidFlag = true;
@@ -236,8 +255,8 @@ void AcsController::performPointingCtrl() {
                            &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
   ReturnValue_t result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
                                             &susDataProcessed, &mekfData);
-  if (result != MultiplicativeKalmanFilter::KALMAN_RUNNING &&
-      result != MultiplicativeKalmanFilter::KALMAN_INITIALIZED) {
+  if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
+      result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
     if (not mekfInvalidFlag) {
       triggerEvent(acs::MEKF_INVALID_INFO);
       mekfInvalidFlag = true;
@@ -246,9 +265,10 @@ void AcsController::performPointingCtrl() {
       triggerEvent(acs::MEKF_INVALID_MODE_VIOLATION);
     }
     mekfInvalidCounter++;
-    commandActuators(0, 0, 0, acsParameters.magnetorquesParameter.torqueDuration, cmdSpeedRws[0],
-                     cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3],
-                     acsParameters.rwHandlingParameters.rampTime);
+    //    commandActuators(0, 0, 0, acsParameters.magnetorquesParameter.torqueDuration,
+    //    cmdSpeedRws[0],
+    //                     cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3],
+    //                     acsParameters.rwHandlingParameters.rampTime);
     return;
   } else {
     mekfInvalidFlag = false;
@@ -395,7 +415,7 @@ void AcsController::performPointingCtrl() {
                             sensorValues.rw4Set.currSpeed.value, torqueRwsScaled, cmdSpeedRws);
   actuatorCmd.cmdDipolMtq(mgtDpDes, cmdDipolMtqs);
 
-  updateCtrlValData(targetQuat, errorQuat, errorAngle);
+  updateCtrlValData(targetQuat, errorQuat, errorAngle, targetSatRotRate);
   updateActuatorCmdData(rwTrqNs, cmdSpeedRws, cmdDipolMtqs);
   //  commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
   //                   acsParameters.magnetorquesParameter.torqueDuration, cmdSpeedRws[0],
@@ -457,16 +477,20 @@ void AcsController::updateCtrlValData(double errAng) {
     ctrlValData.errQuat.setValid(false);
     ctrlValData.errAng.value = errAng;
     ctrlValData.errAng.setValid(true);
+    std::memcpy(ctrlValData.tgtRotRate.value, ZERO_VEC, 3 * sizeof(double));
+    ctrlValData.tgtRotRate.setValid(false);
     ctrlValData.setValidity(true, false);
   }
 }
 
-void AcsController::updateCtrlValData(const double *tgtQuat, const double *errQuat, double errAng) {
+void AcsController::updateCtrlValData(const double *tgtQuat, const double *errQuat, double errAng,
+                                      const double *tgtRotRate) {
   PoolReadGuard pg(&ctrlValData);
   if (pg.getReadResult() == returnvalue::OK) {
     std::memcpy(ctrlValData.tgtQuat.value, tgtQuat, 4 * sizeof(double));
     std::memcpy(ctrlValData.errQuat.value, errQuat, 4 * sizeof(double));
     ctrlValData.errAng.value = errAng;
+    std::memcpy(ctrlValData.tgtRotRate.value, tgtRotRate, 3 * sizeof(double));
     ctrlValData.setValidity(true, true);
   }
 }
@@ -477,6 +501,7 @@ void AcsController::disableCtrlValData() {
     std::memcpy(ctrlValData.tgtQuat.value, UNIT_QUAT, 4 * sizeof(double));
     std::memcpy(ctrlValData.errQuat.value, UNIT_QUAT, 4 * sizeof(double));
     ctrlValData.errAng.value = 0;
+    std::memcpy(ctrlValData.tgtRotRate.value, ZERO_VEC, 3 * sizeof(double));
     ctrlValData.setValidity(false, true);
   }
 }

mission/controller/AcsController.h

@@ -1,12 +1,17 @@
 #ifndef MISSION_CONTROLLER_ACSCONTROLLER_H_
 #define MISSION_CONTROLLER_ACSCONTROLLER_H_
 
+#include <eive/objects.h>
 #include <fsfw/controller/ExtendedControllerBase.h>
 #include <fsfw/globalfunctions/math/VectorOperations.h>
 #include <fsfw/parameters/ParameterHelper.h>
 #include <fsfw/parameters/ReceivesParameterMessagesIF.h>
+#include <fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h>
+#include <fsfw_hal/devicehandlers/MgmRM3100Handler.h>
+#include <mission/devices/devicedefinitions/SusDefinitions.h>
 #include <mission/devices/devicedefinitions/imtqHelpers.h>
 #include <mission/devices/devicedefinitions/rwHelpers.h>
+#include <mission/trace.h>
 
 #include "acs/ActuatorCmd.h"
 #include "acs/Guidance.h"
@@ -17,11 +22,6 @@
 #include "acs/control/PtgCtrl.h"
 #include "acs/control/SafeCtrl.h"
 #include "controllerdefinitions/AcsCtrlDefinitions.h"
-#include "eive/objects.h"
-#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
-#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
-#include "mission/devices/devicedefinitions/SusDefinitions.h"
-#include "mission/trace.h"
 
 class AcsController : public ExtendedControllerBase, public ReceivesParameterMessagesIF {
  public:
@@ -41,6 +41,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
 
  private:
   static constexpr double UNIT_QUAT[4] = {0, 0, 0, 1};
+  static constexpr double ZERO_VEC[3] = {0, 0, 0};
   static constexpr double RW_OFF_TORQUE[4] = {0.0, 0.0, 0.0, 0.0};
   static constexpr int32_t RW_OFF_SPEED[4] = {0, 0, 0, 0};
 
@@ -58,7 +59,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
 
   uint8_t detumbleCounter = 0;
   uint8_t multipleRwUnavailableCounter = 0;
-  bool mekfInvalidFlag = true;
+  bool mekfInvalidFlag = false;
   uint8_t mekfInvalidCounter = 0;
   int32_t cmdSpeedRws[4] = {0, 0, 0, 0};
   int16_t cmdDipolMtqs[3] = {0, 0, 0};
@@ -68,13 +69,23 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
 #endif
 
   enum class InternalState { STARTUP, INITIAL_DELAY, READY };
-
   InternalState internalState = InternalState::STARTUP;
 
+  /** Device command IDs */
+  static const DeviceCommandId_t SOLAR_ARRAY_DEPLOYMENT_SUCCESSFUL = 0x0;
+  static const DeviceCommandId_t RESET_MEKF = 0x1;
+
+  static const uint8_t INTERFACE_ID = CLASS_ID::ACS_CTRL;
+  static constexpr ReturnValue_t FILE_DELETION_FAILED = MAKE_RETURN_CODE(0);
+
   ReturnValue_t initialize() override;
   ReturnValue_t handleCommandMessage(CommandMessage* message) override;
   void performControlOperation() override;
 
+  /* HasActionsIF overrides */
+  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+                              const uint8_t* data, size_t size) override;
+
   ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                         LocalDataPoolManager& poolManager) override;
   LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
@@ -92,7 +103,8 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   void updateActuatorCmdData(const double* rwTargetTorque, const int32_t* rwTargetSpeed,
                              const int16_t* mtqTargetDipole);
   void updateCtrlValData(double errAng);
-  void updateCtrlValData(const double* tgtQuat, const double* errQuat, double errAng);
+  void updateCtrlValData(const double* tgtQuat, const double* errQuat, double errAng,
+                         const double* tgtRotRate);
   void disableCtrlValData();
 
   /* ACS Sensor Values */

mission/controller/acs/AcsParameters.h

@@ -1,8 +1,3 @@
-/*******************************
- *	EIVE Flight Software Framework (FSFW)
- * (c) 2022 IRS, Uni Stuttgart
- *******************************/
-
 #ifndef ACSPARAMETERS_H_
 #define ACSPARAMETERS_H_
 

mission/controller/acs/Guidance.cpp

@@ -551,3 +551,19 @@ void Guidance::getTargetParamsSafe(double sunTargetSafe[3], double satRateSafe[3
   std::memcpy(satRateSafe, acsParameters.safeModeControllerParameters.satRateRef,
               3 * sizeof(double));
 }
+
+ReturnValue_t Guidance::solarArrayDeploymentComplete() {
+  if (std::filesystem::exists(SD_0_SKEWED_PTG_FILE)) {
+    std::remove(SD_0_SKEWED_PTG_FILE);
+    if (std::filesystem::exists(SD_0_SKEWED_PTG_FILE)) {
+      return returnvalue::FAILED;
+    }
+  }
+  if (std::filesystem::exists(SD_1_SKEWED_PTG_FILE)) {
+    std::remove(SD_1_SKEWED_PTG_FILE);
+    if (std::filesystem::exists(SD_1_SKEWED_PTG_FILE)) {
+      return returnvalue::FAILED;
+    }
+  }
+  return returnvalue::OK;
+}

mission/controller/acs/Guidance.h

@@ -13,6 +13,7 @@ class Guidance {
   virtual ~Guidance();
 
   void getTargetParamsSafe(double sunTargetSafe[3], double satRateRef[3]);
+  ReturnValue_t solarArrayDeploymentComplete();
 
   // Function to get the target quaternion and refence rotation rate from gps position and
   // position of the ground station

mission/controller/acs/MultiplicativeKalmanFilter.cpp

@@ -189,12 +189,12 @@ ReturnValue_t MultiplicativeKalmanFilter::init(
     initialCovarianceMatrix[5][4] = initGyroCov[2][1];
     initialCovarianceMatrix[5][5] = initGyroCov[2][2];
     updateDataSetWithoutData(mekfData, MekfStatus::INITIALIZED);
-    return KALMAN_INITIALIZED;
+    return MEKF_INITIALIZED;
   } else {
     // no initialisation possible, no valid measurements
     validInit = false;
     updateDataSetWithoutData(mekfData, MekfStatus::UNINITIALIZED);
-    return KALMAN_UNINITIALIZED;
+    return MEKF_UNINITIALIZED;
   }
 }
 
@@ -211,12 +211,12 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(const double *quaternionSTR, c
   int MDF = 0;  // Matrix Dimension Factor
   if (!validGYRs_) {
     updateDataSetWithoutData(mekfData, MekfStatus::NO_GYR_DATA);
-    return KALMAN_NO_GYR_DATA;
+    return MEKF_NO_GYR_DATA;
   }
   // Check for Model Calculations
   else if (!validSSModel || !validMagModel) {
     updateDataSetWithoutData(mekfData, MekfStatus::NO_MODEL_VECTORS);
-    return KALMAN_NO_MODEL_VECTORS;
+    return MEKF_NO_MODEL_VECTORS;
   }
   // Check Measurements available from SS, MAG, STR
   if (validSS && validMagField_ && validSTR_) {
@@ -854,7 +854,7 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(const double *quaternionSTR, c
   int inversionFailed = MathOperations<double>::inverseMatrix(*residualCov, *invResidualCov, MDF);
   if (inversionFailed) {
     updateDataSetWithoutData(mekfData, MekfStatus::COVARIANCE_INVERSION_FAILED);
-    return KALMAN_COVARIANCE_INVERSION_FAILED;  // RETURN VALUE ? -- Like: Kalman Inversion Failed
+    return MEKF_COVARIANCE_INVERSION_FAILED;  // RETURN VALUE ? -- Like: Kalman Inversion Failed
   }
 
   // [K = P * H' / (H * P * H' + R)]
@@ -1085,16 +1085,17 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(const double *quaternionSTR, c
   MatrixOperations<double>::add(*cov0, *cov1, *initialCovarianceMatrix, 6, 6);
 
   updateDataSet(mekfData, MekfStatus::RUNNING, quatBJ, rotRateEst);
-  return KALMAN_RUNNING;
+  return MEKF_RUNNING;
 }
 
-void MultiplicativeKalmanFilter::reset(acsctrl::MekfData *mekfData) {
+ReturnValue_t MultiplicativeKalmanFilter::reset(acsctrl::MekfData *mekfData) {
   double resetQuaternion[4] = {0, 0, 0, 1};
   double resetCovarianceMatrix[6][6] = {{0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0},
                                         {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}};
   std::memcpy(initialQuaternion, resetQuaternion, 4 * sizeof(double));
   std::memcpy(initialCovarianceMatrix, resetCovarianceMatrix, 6 * 6 * sizeof(double));
   updateDataSetWithoutData(mekfData, MekfStatus::UNINITIALIZED);
+  return MEKF_UNINITIALIZED;
 }
 
 void MultiplicativeKalmanFilter::updateDataSetWithoutData(acsctrl::MekfData *mekfData,

mission/controller/acs/MultiplicativeKalmanFilter.h

@@ -1,17 +1,3 @@
-/*
- * MultiplicativeKalmanFilter.h
- *
- *  Created on: 4 Feb 2022
- *      Author: Robin Marquardt
- *
- *      @brief: This class handles the calculation of an estimated quaternion and the gyro bias by
- *      means of the spacecraft attitude sensors
- *
- *      @note: A description of the used algorithms can be found in the bachelor thesis of Robin
- * Marquardt
- *      https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_Studenten/Marquardt_Robin&openfile=500811
- */
-
 #ifndef MULTIPLICATIVEKALMANFILTER_H_
 #define MULTIPLICATIVEKALMANFILTER_H_
 
@@ -22,6 +8,13 @@
 #include "eive/resultClassIds.h"
 
 class MultiplicativeKalmanFilter {
+  /* @brief: This class handles the calculation of an estimated quaternion and the gyro bias by
+   *           means of the spacecraft attitude sensors
+   *
+   * @note: A description of the used algorithms can be found in the bachelor thesis of Robin
+   *        Marquardt
+   *        https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_Studenten/Marquardt_Robin&openfile=500811
+   */
  public:
   /* @brief: Constructor
    * @param: acsParameters_   Pointer to object which defines the ACS configuration parameters
@@ -29,7 +22,7 @@ class MultiplicativeKalmanFilter {
   MultiplicativeKalmanFilter(AcsParameters *acsParameters_);
   virtual ~MultiplicativeKalmanFilter();
 
-  void reset(acsctrl::MekfData *mekfData);
+  ReturnValue_t reset(acsctrl::MekfData *mekfData);
 
   /* @brief: init() - This function initializes the Kalman Filter and will provide the first
    * quaternion through the QUEST algorithm
@@ -74,15 +67,15 @@ class MultiplicativeKalmanFilter {
   };
 
   // resetting Mekf
-  static constexpr uint8_t IF_KAL_ID = CLASS_ID::ACS_KALMAN;
-  static constexpr ReturnValue_t KALMAN_UNINITIALIZED = returnvalue::makeCode(IF_KAL_ID, 2);
-  static constexpr ReturnValue_t KALMAN_NO_GYR_DATA = returnvalue::makeCode(IF_KAL_ID, 3);
-  static constexpr ReturnValue_t KALMAN_NO_MODEL_VECTORS = returnvalue::makeCode(IF_KAL_ID, 4);
-  static constexpr ReturnValue_t KALMAN_NO_SUS_MGM_STR_DATA = returnvalue::makeCode(IF_KAL_ID, 5);
-  static constexpr ReturnValue_t KALMAN_COVARIANCE_INVERSION_FAILED =
-      returnvalue::makeCode(IF_KAL_ID, 6);
-  static constexpr ReturnValue_t KALMAN_INITIALIZED = returnvalue::makeCode(IF_KAL_ID, 7);
-  static constexpr ReturnValue_t KALMAN_RUNNING = returnvalue::makeCode(IF_KAL_ID, 8);
+  static constexpr uint8_t IF_MEKF_ID = CLASS_ID::ACS_MEKF;
+  static constexpr ReturnValue_t MEKF_UNINITIALIZED = returnvalue::makeCode(IF_MEKF_ID, 2);
+  static constexpr ReturnValue_t MEKF_NO_GYR_DATA = returnvalue::makeCode(IF_MEKF_ID, 3);
+  static constexpr ReturnValue_t MEKF_NO_MODEL_VECTORS = returnvalue::makeCode(IF_MEKF_ID, 4);
+  static constexpr ReturnValue_t MEKF_NO_SUS_MGM_STR_DATA = returnvalue::makeCode(IF_MEKF_ID, 5);
+  static constexpr ReturnValue_t MEKF_COVARIANCE_INVERSION_FAILED =
+      returnvalue::makeCode(IF_MEKF_ID, 6);
+  static constexpr ReturnValue_t MEKF_INITIALIZED = returnvalue::makeCode(IF_MEKF_ID, 7);
+  static constexpr ReturnValue_t MEKF_RUNNING = returnvalue::makeCode(IF_MEKF_ID, 8);
 
  private:
   /*Parameters*/

mission/controller/acs/Navigation.cpp

@@ -25,26 +25,25 @@ ReturnValue_t Navigation::useMekf(ACS::SensorValues *sensorValues,
                      sensorValues->strSet.caliQy.isValid() &&
                      sensorValues->strSet.caliQz.isValid() && sensorValues->strSet.caliQw.isValid();
 
-  if (kalmanInit) {
-    return multiplicativeKalmanFilter.mekfEst(
+  if (mekfStatus == MultiplicativeKalmanFilter::MEKF_UNINITIALIZED) {
+    mekfStatus = multiplicativeKalmanFilter.init(
+        mgmDataProcessed->mgmVecTot.value, mgmDataProcessed->mgmVecTot.isValid(),
+        susDataProcessed->susVecTot.value, susDataProcessed->susVecTot.isValid(),
+        susDataProcessed->sunIjkModel.value, susDataProcessed->sunIjkModel.isValid(),
+        mgmDataProcessed->magIgrfModel.value, mgmDataProcessed->magIgrfModel.isValid(), mekfData);
+    return mekfStatus;
+  } else {
+    mekfStatus = multiplicativeKalmanFilter.mekfEst(
         quatIB, quatIBValid, gyrDataProcessed->gyrVecTot.value,
         gyrDataProcessed->gyrVecTot.isValid(), mgmDataProcessed->mgmVecTot.value,
         mgmDataProcessed->mgmVecTot.isValid(), susDataProcessed->susVecTot.value,
         susDataProcessed->susVecTot.isValid(), susDataProcessed->sunIjkModel.value,
         susDataProcessed->sunIjkModel.isValid(), mgmDataProcessed->magIgrfModel.value,
         mgmDataProcessed->magIgrfModel.isValid(), acsParameters.onBoardParams.sampleTime, mekfData);
-  } else {
-    ReturnValue_t result;
-    result = multiplicativeKalmanFilter.init(
-        mgmDataProcessed->mgmVecTot.value, mgmDataProcessed->mgmVecTot.isValid(),
-        susDataProcessed->susVecTot.value, susDataProcessed->susVecTot.isValid(),
-        susDataProcessed->sunIjkModel.value, susDataProcessed->sunIjkModel.isValid(),
-        mgmDataProcessed->magIgrfModel.value, mgmDataProcessed->magIgrfModel.isValid(), mekfData);
-    kalmanInit = true;
-    return result;
+    return mekfStatus;
   }
 }
 
 void Navigation::resetMekf(acsctrl::MekfData *mekfData) {
-  multiplicativeKalmanFilter.reset(mekfData);
+  mekfStatus = multiplicativeKalmanFilter.reset(mekfData);
 }

mission/controller/acs/Navigation.h

@@ -22,7 +22,7 @@ class Navigation {
  private:
   MultiplicativeKalmanFilter multiplicativeKalmanFilter;
   AcsParameters acsParameters;
-  bool kalmanInit = false;
+  ReturnValue_t mekfStatus = MultiplicativeKalmanFilter::MEKF_UNINITIALIZED;
 };
 
 #endif /* ACS_NAVIGATION_H_ */

mission/controller/acs/SensorProcessing.h

@@ -1,7 +1,3 @@
-/*******************************
- *	EIVE Flight Software
- * (c) 2022 IRS, Uni Stuttgart
- *******************************/
 #ifndef SENSORPROCESSING_H_
 #define SENSORPROCESSING_H_
 

mission/controller/acs/SensorValues.cpp

@@ -1,9 +1,3 @@
-/*
- * SensorValues.cpp
- *
- *  Created on: 30 Mar 2022
- *      Author: rooob
- */
 #include "SensorValues.h"
 
 #include <fsfw/datapool/PoolReadGuard.h>

mission/controller/acs/SusConverter.cpp

@@ -1,16 +1,9 @@
-/*
- * SusConverter.cpp
- *
- *  Created on: 17.01.2022
- *      Author: Timon Schwarz
- */
-
 #include "SusConverter.h"
 
 #include <fsfw/datapoollocal/LocalPoolVariable.h>
 #include <fsfw/datapoollocal/LocalPoolVector.h>
 #include <fsfw/globalfunctions/math/VectorOperations.h>
-#include <math.h>  //for atan2
+#include <math.h>
 
 #include <iostream>
 

mission/controller/acs/SusConverter.h

@@ -1,10 +1,3 @@
-/*
- * SusConverter.h
- *
- *  Created on: Sep 22, 2022
- *      Author: marius
- */
-
 #ifndef MISSION_CONTROLLER_ACS_SUSCONVERTER_H_
 #define MISSION_CONTROLLER_ACS_SUSCONVERTER_H_
 
@@ -28,8 +21,6 @@ class SusConverter {
 
  private:
   float alphaBetaRaw[2];          //[°]
-                                  //  float coeffAlpha[9][10];
-                                  //  float coeffBeta[9][10];
   float alphaBetaCalibrated[2];   //[°]
   float sunVectorSensorFrame[3];  //[-]
 

mission/controller/acs/util/MathOperations.h

@@ -300,6 +300,7 @@ class MathOperations {
   }
 
   static float matrixDeterminant(const T1 *inputMatrix, uint8_t size) {
+    /* do not use this. takes 300ms */
     float det = 0;
     T1 matrix[size][size], submatrix[size - 1][size - 1];
     for (uint8_t row = 0; row < size; row++) {
@@ -329,9 +330,7 @@ class MathOperations {
   }
 
   static int inverseMatrix(const T1 *inputMatrix, T1 *inverse, uint8_t size) {
-    if (MathOperations<T1>::matrixDeterminant(inputMatrix, size) == 0) {
-      return 1;  // Matrix is singular and not invertible
-    }
+    // Stopwatch stopwatch;
     T1 matrix[size][size], identity[size][size];
     // reformat array to matrix
     for (uint8_t row = 0; row < size; row++) {
@@ -346,7 +345,6 @@ class MathOperations {
     }
     // gauss-jordan algo
     // sort matrix such as no diag entry shall be 0
-    // should not be needed as such a matrix has a det=0
     for (uint8_t row = 0; row < size; row++) {
       if (matrix[row][row] == 0.0) {
         bool swaped = false;

mission/core/GenericFactory.cpp

@@ -58,6 +58,7 @@
 // TCP server includes
 #include "fsfw/osal/common/TcpTmTcBridge.h"
 #include "fsfw/osal/common/TcpTmTcServer.h"
+#include "mission/tmtc/Service15TmStorage.h"
 #endif
 #endif
 
@@ -83,7 +84,7 @@ EiveFaultHandler EIVE_FAULT_HANDLER;
 }  // namespace cfdp
 
 void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFunnel** pusFunnel,
-                                          CfdpTmFunnel** cfdpFunnel) {
+                                          CfdpTmFunnel** cfdpFunnel, SdCardMountedIF& sdcMan) {
   // Framework objects
   new EventManager(objects::EVENT_MANAGER);
   auto healthTable = new HealthTable(objects::HEALTH_TABLE);
@@ -95,6 +96,7 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
   auto* timeStamper = new CdsShortTimeStamper(objects::TIME_STAMPER);
   StorageManagerIF* tcStore;
   StorageManagerIF* tmStore;
+  StorageManagerIF* ipcStore;
   {
     PoolManager::LocalPoolConfig poolCfg = {{250, 16},  {250, 32},   {250, 64},
                                             {150, 128}, {120, 1024}, {120, 2048}};
@@ -109,8 +111,8 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
 
   {
     PoolManager::LocalPoolConfig poolCfg = {{300, 16},  {200, 32}, {150, 64},  {150, 128},
-                                            {100, 256}, {50, 512}, {50, 1024}, {50, 2048}};
-    new PoolManager(objects::IPC_STORE, poolCfg);
+                                            {100, 256}, {50, 512}, {50, 1024}, {10, 2048}};
+    ipcStore = new PoolManager(objects::IPC_STORE, poolCfg);
   }
 
 #if OBSW_ADD_TCPIP_SERVERS == 1
@@ -137,9 +139,11 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
       new CcsdsDistributor(config::EIVE_PUS_APID, objects::CCSDS_PACKET_DISTRIBUTOR);
   new PusDistributor(config::EIVE_PUS_APID, objects::PUS_PACKET_DISTRIBUTOR, ccsdsDistrib);
 
-  *cfdpFunnel = new CfdpTmFunnel(objects::CFDP_TM_FUNNEL, config::EIVE_CFDP_APID, *tmStore, 50);
-  *pusFunnel = new PusTmFunnel(objects::PUS_TM_FUNNEL, *timeStamper, *tmStore,
-                               config::MAX_PUS_FUNNEL_QUEUE_DEPTH);
+  PusTmFunnel::FunnelCfg cfdpFunnelCfg(objects::CFDP_TM_FUNNEL, *tmStore, *ipcStore, 50);
+  *cfdpFunnel = new CfdpTmFunnel(cfdpFunnelCfg, config::EIVE_CFDP_APID);
+  PusTmFunnel::FunnelCfg pusFunnelCfg(objects::PUS_TM_FUNNEL, *tmStore, *ipcStore,
+                                      config::MAX_PUS_FUNNEL_QUEUE_DEPTH);
+  *pusFunnel = new PusTmFunnel(pusFunnelCfg, *timeStamper, sdcMan);
 #if OBSW_ADD_TCPIP_SERVERS == 1
 #if OBSW_ADD_TMTC_UDP_SERVER == 1
   (*cfdpFunnel)->addDestination("UDP Server", *udpBridge, 0);
@@ -171,6 +175,7 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
   new Service11TelecommandScheduling<common::OBSW_MAX_SCHEDULED_TCS>(
       PsbParams(objects::PUS_SERVICE_11_TC_SCHEDULER, config::EIVE_PUS_APID, pus::PUS_SERVICE_11),
       ccsdsDistrib);
+  new Service15TmStorage(objects::PUS_SERVICE_15_TM_STORAGE, config::EIVE_PUS_APID, 10);
   new Service17Test(
       PsbParams(objects::PUS_SERVICE_17_TEST, config::EIVE_PUS_APID, pus::PUS_SERVICE_17));
   new Service20ParameterManagement(objects::PUS_SERVICE_20_PARAMETERS, config::EIVE_PUS_APID,
@@ -232,7 +237,7 @@ void ObjectFactory::createRwAssy(PowerSwitchIF& pwrSwitcher, power::Switch_t the
                                  std::array<object_id_t, 4> rwIds) {
   RwHelper rwHelper(rwIds);
   auto* rwAss = new RwAssembly(objects::RW_ASS, &pwrSwitcher, theSwitch, rwHelper);
-  for (uint8_t idx = 0; idx < rwIds.size(); idx++) {
+  for (size_t idx = 0; idx < rwIds.size(); idx++) {
     ReturnValue_t result = rws[idx]->connectModeTreeParent(*rwAss);
     if (result != returnvalue::OK) {
       sif::error << "Connecting RW " << static_cast<int>(idx) << " to RW assembly failed"
@@ -251,7 +256,7 @@ void ObjectFactory::createSusAssy(PowerSwitchIF& pwrSwitcher,
       objects::SUS_6_R_LOC_XFYBZM_PT_XF,  objects::SUS_7_R_LOC_XBYBZM_PT_XB,
       objects::SUS_8_R_LOC_XBYBZB_PT_YB,  objects::SUS_9_R_LOC_XBYBZB_PT_YF,
       objects::SUS_10_N_LOC_XMYBZF_PT_ZF, objects::SUS_11_R_LOC_XBYMZB_PT_ZB};
-  SusAssHelper susAssHelper = SusAssHelper(susIds);
+  auto susAssHelper = SusAssHelper(susIds);
   auto susAss = new SusAssembly(objects::SUS_BOARD_ASS, &pwrSwitcher, susAssHelper);
   for (auto& sus : suses) {
     if (sus != nullptr) {
@@ -287,8 +292,8 @@ void ObjectFactory::createAcsBoardAssy(PowerSwitchIF& pwrSwitcher,
 
 TcsBoardAssembly* ObjectFactory::createTcsBoardAssy(PowerSwitchIF& pwrSwitcher) {
   TcsBoardHelper helper(RTD_INFOS);
-  TcsBoardAssembly* tcsBoardAss = new TcsBoardAssembly(
-      objects::TCS_BOARD_ASS, &pwrSwitcher, pcdu::Switches::PDU1_CH0_TCS_BOARD_3V3, helper);
+  auto* tcsBoardAss = new TcsBoardAssembly(objects::TCS_BOARD_ASS, &pwrSwitcher,
+                                           pcdu::Switches::PDU1_CH0_TCS_BOARD_3V3, helper);
   tcsBoardAss->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
   return tcsBoardAss;
 }

mission/core/GenericFactory.h

@@ -2,6 +2,7 @@
 #define MISSION_CORE_GENERICFACTORY_H_
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include <mission/memory/SdCardMountedIF.h>
 
 #include "fsfw/objectmanager/SystemObjectIF.h"
 #include "fsfw/power/PowerSwitchIF.h"
@@ -37,7 +38,7 @@ const std::array<std::pair<object_id_t, std::string>, EiveMax31855::NUM_RTDS> RT
 namespace ObjectFactory {
 
 void produceGenericObjects(HealthTableIF** healthTable, PusTmFunnel** pusFunnel,
-                           CfdpTmFunnel** cfdpFunnel);
+                           CfdpTmFunnel** cfdpFunnel, SdCardMountedIF& sdcMan);
 void createGenericHeaterComponents(GpioIF& gpioIF, PowerSwitchIF& pwrSwitcher,
                                    HeaterHandler*& heaterHandler);
 

mission/devices/PayloadPcduHandler.cpp

@@ -517,6 +517,9 @@ void PayloadPcduHandler::checkJsonFileInit() {
   if (not jsonFileInitComplete) {
     auto activeSd = sdcMan->getActiveSdCard();
     if (activeSd and sdcMan->isSdCardUsable(activeSd.value())) {
+      if (sdcMan->getCurrentMountPrefix() == nullptr) {
+        return;
+      }
       params.initialize(sdcMan->getCurrentMountPrefix());
       jsonFileInitComplete = true;
     }

mission/devices/ScexDeviceHandler.cpp

@@ -214,6 +214,9 @@ ReturnValue_t ScexDeviceHandler::interpretDeviceReply(DeviceCommandId_t id, cons
     fileId = date_time_string();
     std::ostringstream oss;
     auto prefix = sdcMan.getCurrentMountPrefix();
+    if (prefix == nullptr) {
+      return returnvalue::FAILED;
+    }
     oss << prefix << "/scex/scex-" << cmdName << fileId << ".bin";
     fileName = oss.str();
     ofstream out(fileName, ofstream::binary);
@@ -234,6 +237,9 @@ ReturnValue_t ScexDeviceHandler::interpretDeviceReply(DeviceCommandId_t id, cons
       fileId = date_time_string();
       std::ostringstream oss;
       auto prefix = sdcMan.getCurrentMountPrefix();
+      if (prefix == nullptr) {
+        return returnvalue::FAILED;
+      }
       oss << prefix << "/scex/scex-" << cmdName << fileId << ".bin";
       fileName = oss.str();
       fileNameSet = true;
@@ -310,6 +316,16 @@ ReturnValue_t ScexDeviceHandler::interpretDeviceReply(DeviceCommandId_t id, cons
 }
 
 void ScexDeviceHandler::performOperationHook() {
+  auto mntPrefix = sdcMan.getCurrentMountPrefix();
+  if (mntPrefix != nullptr) {
+    std::filesystem::path fullFilePath = mntPrefix;
+    fullFilePath /= "scex";
+    bool fileExists = std::filesystem::exists(fullFilePath);
+
+    if (not fileExists) {
+      std::filesystem::create_directory(fullFilePath);
+    }
+  }
   uint32_t remainingMillis = finishCountdown.getRemainingMillis();
   if (commandActive and finishCountdown.hasTimedOut()) {
     triggerEvent(scex::EXPERIMENT_TIMEDOUT, currCmd, 0);
@@ -373,13 +389,5 @@ void ScexDeviceHandler::setPowerSwitcher(PowerSwitchIF& powerSwitcher, power::Sw
 }
 
 ReturnValue_t ScexDeviceHandler::initializeAfterTaskCreation() {
-  auto mntPrefix = sdcMan.getCurrentMountPrefix();
-  std::filesystem::path fullFilePath = mntPrefix;
-  fullFilePath /= "scex";
-  bool fileExists = std::filesystem::exists(fullFilePath);
-
-  if (not fileExists) {
-    std::filesystem::create_directory(fullFilePath);
-  }
   return DeviceHandlerBase::initializeAfterTaskCreation();
 }

mission/devices/devicedefinitions/GPSDefinitions.h

@@ -67,6 +67,7 @@ class GpsPrimaryDataset : public StaticLocalDataSet<18> {
 
  private:
   friend class GpsHyperionLinuxController;
+  friend class GpsCtrlDummy;
   GpsPrimaryDataset(HasLocalDataPoolIF* hkOwner)
       : StaticLocalDataSet(hkOwner, GpsHyperion::DATASET_ID) {}
 };

mission/memory/SdCardMountedIF.h

@@ -9,7 +9,7 @@
 class SdCardMountedIF {
  public:
   virtual ~SdCardMountedIF(){};
-  virtual const std::string& getCurrentMountPrefix() const = 0;
+  virtual const char* getCurrentMountPrefix() const = 0;
   virtual bool isSdCardUsable(std::optional<sd::SdCard> sdCard) = 0;
   virtual std::optional<sd::SdCard> getPreferredSdCard() const = 0;
   virtual void setActiveSdCard(sd::SdCard sdCard) = 0;

mission/tmtc/CMakeLists.txt

@@ -1,4 +1,10 @@
 target_sources(
   ${LIB_EIVE_MISSION}
-  PRIVATE CcsdsIpCoreHandler.cpp VirtualChannel.cpp TmFunnelHandler.cpp
-          TmFunnelBase.cpp CfdpTmFunnel.cpp PusTmFunnel.cpp)
+  PRIVATE CcsdsIpCoreHandler.cpp
+          VirtualChannel.cpp
+          TmFunnelHandler.cpp
+          TmFunnelBase.cpp
+          CfdpTmFunnel.cpp
+          Service15TmStorage.cpp
+          PersistentTmStore.cpp
+          PusTmFunnel.cpp)

mission/tmtc/CfdpTmFunnel.cpp

@@ -4,9 +4,8 @@
 #include "fsfw/tmtcpacket/ccsds/SpacePacketCreator.h"
 #include "fsfw/tmtcservices/TmTcMessage.h"
 
-CfdpTmFunnel::CfdpTmFunnel(object_id_t objectId, uint16_t cfdpInCcsdsApid,
-                           StorageManagerIF& tmStore, uint32_t messageDepth)
-    : TmFunnelBase(objectId, tmStore, messageDepth), cfdpInCcsdsApid(cfdpInCcsdsApid) {}
+CfdpTmFunnel::CfdpTmFunnel(TmFunnelBase::FunnelCfg cfg, uint16_t cfdpInCcsdsApid)
+    : TmFunnelBase(cfg), cfdpInCcsdsApid(cfdpInCcsdsApid) {}
 
 const char* CfdpTmFunnel::getName() const { return "CFDP TM Funnel"; }
 

mission/tmtc/CfdpTmFunnel.h

@@ -12,8 +12,7 @@
 
 class CfdpTmFunnel : public TmFunnelBase {
  public:
-  CfdpTmFunnel(object_id_t objectId, uint16_t cfdpInCcsdsApid, StorageManagerIF& tmStore,
-               uint32_t messageDepth);
+  CfdpTmFunnel(TmFunnelBase::FunnelCfg cfg, uint16_t cfdpInCcsdsApid);
   [[nodiscard]] const char* getName() const override;
   ReturnValue_t performOperation(uint8_t opCode);
   ReturnValue_t initialize() override;

mission/tmtc/PersistentTmStore.cpp

@@ -0,0 +1,362 @@
+#include "PersistentTmStore.h"
+
+#include <mission/memory/SdCardMountedIF.h>
+
+#include <algorithm>
+#include <cinttypes>
+#include <filesystem>
+#include <fstream>
+#include <utility>
+
+#include "fsfw/ipc/CommandMessage.h"
+#include "fsfw/ipc/QueueFactory.h"
+#include "fsfw/tmstorage/TmStoreMessage.h"
+
+using namespace returnvalue;
+
+PersistentTmStore::PersistentTmStore(object_id_t objectId, const char* baseDir,
+                                     std::string baseName, RolloverInterval intervalUnit,
+                                     uint32_t intervalCount, StorageManagerIF& tmStore,
+                                     SdCardMountedIF& sdcMan)
+    : SystemObject(objectId),
+      baseDir(baseDir),
+      baseName(std::move(baseName)),
+      sdcMan(sdcMan),
+      tmStore(tmStore) {
+  tcQueue = QueueFactory::instance()->createMessageQueue();
+  calcDiffSeconds(intervalUnit, intervalCount);
+}
+
+ReturnValue_t PersistentTmStore::assignAndOrCreateMostRecentFile() {
+  using namespace std::filesystem;
+  for (auto const& file : directory_iterator(basePath)) {
+    if (file.is_directory()) {
+      continue;
+    }
+    auto pathStr = file.path().string();
+    if (pathStr.find(baseName) == std::string::npos) {
+      continue;
+    }
+    unsigned int underscorePos = pathStr.find_last_of('_');
+    std::string stampStr = pathStr.substr(underscorePos + 1);
+    struct tm time {};
+    if (nullptr == strptime(stampStr.c_str(), FILE_DATE_FORMAT, &time)) {
+      sif::error << "PersistentTmStore::assignOrCreateMostRecentFile: Error reading timestamp"
+                 << std::endl;
+      // Delete the file and re-create it.
+      activeFile = std::nullopt;
+      std::filesystem::remove(file.path());
+      break;
+    }
+    time_t fileEpoch = timegm(&time);
+    // There is still a file within the active time window, so re-use that file for new TMs to
+    // store.
+    if (fileEpoch + static_cast<time_t>(rolloverDiffSeconds) > currentTv.tv_sec) {
+      activeFileTv.tv_sec = fileEpoch;
+      activeFile = file.path();
+      break;
+    }
+  }
+  if (not activeFile.has_value()) {
+    return createMostRecentFile(std::nullopt);
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t PersistentTmStore::handleCommandQueue(StorageManagerIF& ipcStore,
+                                                    TmFunnelBase& tmFunnel) {
+  CommandMessage cmdMessage;
+  ReturnValue_t result = tcQueue->receiveMessage(&cmdMessage);
+  if (result == MessageQueueIF::EMPTY) {
+    return returnvalue::OK;
+  }
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  if (cmdMessage.getMessageType() == messagetypes::TM_STORE) {
+    Command_t cmd = cmdMessage.getCommand();
+    if (cmd == TmStoreMessage::DELETE_STORE_CONTENT_TIME) {
+      Clock::getClock_timeval(&currentTv);
+      store_address_t storeId = TmStoreMessage::getStoreId(&cmdMessage);
+      auto accessor = ipcStore.getData(storeId);
+      uint32_t deleteUpToUnixSeconds = 0;
+      size_t size = accessor.second.size();
+      SerializeAdapter::deSerialize(&deleteUpToUnixSeconds, accessor.second.data(), &size,
+                                    SerializeIF::Endianness::NETWORK);
+      deleteUpTo(deleteUpToUnixSeconds);
+    } else if (cmd == TmStoreMessage::DOWNLINK_STORE_CONTENT_TIME) {
+      Clock::getClock_timeval(&currentTv);
+      store_address_t storeId = TmStoreMessage::getStoreId(&cmdMessage);
+      auto accessor = ipcStore.getData(storeId);
+      if (accessor.second.size() < 8) {
+        return returnvalue::FAILED;
+      }
+      uint32_t dumpFromUnixSeconds;
+      uint32_t dumpUntilUnixSeconds;
+      size_t size = 8;
+      SerializeAdapter::deSerialize(&dumpFromUnixSeconds, accessor.second.data(), &size,
+                                    SerializeIF::Endianness::NETWORK);
+      SerializeAdapter::deSerialize(&dumpUntilUnixSeconds, accessor.second.data() + 4, &size,
+                                    SerializeIF::Endianness::NETWORK);
+      dumpFromUpTo(dumpFromUnixSeconds, dumpUntilUnixSeconds, tmFunnel);
+    }
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t PersistentTmStore::passPacket(PusTmReader& reader) {
+  bool inApidList = false;
+  if (filter.apid) {
+    auto& apidFilter = filter.apid.value();
+    if (std::find(apidFilter.begin(), apidFilter.end(), reader.getApid()) != apidFilter.end()) {
+      if (not filter.serviceSubservices and not filter.services) {
+        return storePacket(reader);
+      }
+      inApidList = true;
+    }
+  }
+  std::pair<uint8_t, uint8_t> serviceSubservice;
+  serviceSubservice.first = reader.getService();
+  serviceSubservice.second = reader.getSubService();
+  if (filter.services) {
+    auto& serviceFilter = filter.services.value();
+    if (std::find(serviceFilter.begin(), serviceFilter.end(), serviceSubservice.first) !=
+        serviceFilter.end()) {
+      if (filter.apid and inApidList) {
+        return storePacket(reader);
+      }
+    }
+  }
+  if (filter.serviceSubservices) {
+    auto& serviceSubserviceFilter = filter.serviceSubservices.value();
+    if (std::find(serviceSubserviceFilter.begin(), serviceSubserviceFilter.end(),
+                  serviceSubservice) != serviceSubserviceFilter.end()) {
+      if (filter.apid and inApidList) {
+        return storePacket(reader);
+      }
+    }
+  }
+  return returnvalue::OK;
+}
+
+void PersistentTmStore::dumpFrom(uint32_t fromUnixSeconds, TmFunnelBase& tmFunnel) {
+  return dumpFromUpTo(fromUnixSeconds, currentTv.tv_sec, tmFunnel);
+}
+
+ReturnValue_t PersistentTmStore::storePacket(PusTmReader& reader) {
+  using namespace std::filesystem;
+  if (baseDirUninitialized) {
+    updateBaseDir();
+  }
+  Clock::getClock_timeval(&currentTv);
+  // It is assumed here that the filesystem is usable.
+  if (not activeFile.has_value()) {
+    ReturnValue_t result = assignAndOrCreateMostRecentFile();
+    if (result != returnvalue::OK) {
+      return result;
+    }
+  }
+
+  bool createNewFile = false;
+  std::optional<uint8_t> suffix = std::nullopt;
+  if (currentTv.tv_sec > activeFileTv.tv_sec + static_cast<int>(rolloverDiffSeconds)) {
+    createNewFile = true;
+    currentSameSecNumber = 0;
+  } else if (file_size(activeFile.value()) + reader.getFullPacketLen() > fileBuf.size()) {
+    createNewFile = true;
+    if (currentSameSecNumber >= MAX_FILES_IN_ONE_SECOND) {
+      currentSameSecNumber = 0;
+    }
+    if (currentTv.tv_sec == activeFileTv.tv_sec) {
+      suffix = currentSameSecNumber++;
+    } else {
+      currentSameSecNumber = 0;
+    }
+  }
+  if (createNewFile) {
+    createMostRecentFile(suffix);
+  }
+
+  // Rollover conditions were handled, write to file now
+  std::ofstream of(activeFile.value(), std::ios::app | std::ios::binary);
+  of.write(reinterpret_cast<const char*>(reader.getFullData()),
+           static_cast<std::streamsize>(reader.getFullPacketLen()));
+  return returnvalue::OK;
+}
+
+MessageQueueId_t PersistentTmStore::getCommandQueue() const { return tcQueue->getId(); }
+
+void PersistentTmStore::calcDiffSeconds(RolloverInterval intervalUnit, uint32_t intervalCount) {
+  if (intervalUnit == RolloverInterval::MINUTELY) {
+    rolloverDiffSeconds = 60 * intervalCount;
+  } else if (intervalUnit == RolloverInterval::HOURLY) {
+    rolloverDiffSeconds = 60 * 60 * intervalCount;
+  } else if (intervalUnit == RolloverInterval::DAILY) {
+    rolloverDiffSeconds = 60 * 60 * 24 * intervalCount;
+  }
+}
+
+bool PersistentTmStore::updateBaseDir() {
+  using namespace std::filesystem;
+  const char* currentPrefix = sdcMan.getCurrentMountPrefix();
+  if (currentPrefix == nullptr) {
+    return false;
+  }
+  basePath = path(currentPrefix) / baseDir / baseName;
+  if (not exists(basePath)) {
+    create_directories(basePath);
+  }
+  baseDirUninitialized = false;
+  return true;
+}
+
+void PersistentTmStore::addApid(uint16_t apid) {
+  if (not filter.apid) {
+    filter.apid = std::vector<uint16_t>({apid});
+    return;
+  }
+  filter.apid.value().push_back(apid);
+}
+
+void PersistentTmStore::addService(uint8_t service) {
+  if (not filter.services) {
+    filter.services = std::vector<uint8_t>({service});
+    return;
+  }
+  filter.services.value().push_back(service);
+}
+
+void PersistentTmStore::addServiceSubservice(uint8_t service, uint8_t subservice) {
+  if (not filter.serviceSubservices) {
+    filter.serviceSubservices =
+        std::vector<std::pair<uint8_t, uint8_t>>({std::pair(service, subservice)});
+    return;
+  }
+  filter.serviceSubservices.value().emplace_back(service, subservice);
+}
+
+void PersistentTmStore::deleteUpTo(uint32_t unixSeconds) {
+  using namespace std::filesystem;
+  for (auto const& file : directory_iterator(basePath)) {
+    if (file.is_directory() or (activeFile.has_value() and (activeFile.value() == file.path()))) {
+      continue;
+    }
+    // Convert file time to the UNIX epoch
+    struct tm fileTime {};
+    if (pathToTm(file.path(), fileTime) != returnvalue::OK) {
+      sif::error << "Time extraction for " << file << "failed" << std::endl;
+      continue;
+    }
+    time_t fileEpoch = timegm(&fileTime);
+    if (fileEpoch + rolloverDiffSeconds < unixSeconds) {
+      std::filesystem::remove(file.path());
+    }
+  }
+}
+
+void PersistentTmStore::dumpFromUpTo(uint32_t fromUnixSeconds, uint32_t upToUnixSeconds,
+                                     TmFunnelBase& funnel) {
+  using namespace std::filesystem;
+  for (auto const& file : directory_iterator(basePath)) {
+    if (file.is_directory()) {
+      continue;
+    }
+    struct tm fileTime {};
+    if (pathToTm(file.path(), fileTime) != returnvalue::OK) {
+      sif::error << "Time extraction for file " << file << "failed" << std::endl;
+      continue;
+    }
+    auto fileEpoch = static_cast<uint32_t>(timegm(&fileTime));
+    if ((fileEpoch > fromUnixSeconds) and (fileEpoch + rolloverDiffSeconds <= upToUnixSeconds)) {
+      fileToPackets(file, fileEpoch, funnel);
+    }
+  }
+}
+
+ReturnValue_t PersistentTmStore::pathToTm(const std::filesystem::path& path, struct tm& time) {
+  auto pathStr = path.string();
+  size_t splitChar = pathStr.find('_');
+  auto timeOnlyStr = pathStr.substr(splitChar + 1);
+  if (nullptr == strptime(timeOnlyStr.c_str(), FILE_DATE_FORMAT, &time)) {
+    return returnvalue::FAILED;
+  }
+  return returnvalue::OK;
+}
+
+void PersistentTmStore::fileToPackets(const std::filesystem::path& path, uint32_t unixStamp,
+                                      TmFunnelBase& funnel) {
+  store_address_t storeId;
+  TmTcMessage message;
+  size_t size = std::filesystem::file_size(path);
+  if (size < 6) {
+    // Can't even read the CCSDS header
+    return;
+  }
+  std::ifstream ifile(path, std::ios::binary);
+  ifile.read(reinterpret_cast<char*>(fileBuf.data()), static_cast<std::streamsize>(size));
+  size_t currentIdx = 0;
+  while (currentIdx < size) {
+    PusTmReader reader(&timeReader, fileBuf.data(), fileBuf.size());
+    // CRC check to fully ensure this is a valid TM
+    ReturnValue_t result = reader.parseDataWithCrcCheck();
+    if (result == returnvalue::OK) {
+      result = tmStore.addData(&storeId, fileBuf.data() + currentIdx, reader.getFullPacketLen());
+      if (result != returnvalue::OK) {
+        continue;
+      }
+      funnel.sendPacketToDestinations(storeId, message, fileBuf.data() + currentIdx,
+                                      reader.getFullPacketLen());
+      currentIdx += reader.getFullPacketLen();
+    } else {
+      sif::error << "Parsing of PUS TM failed with code " << result << std::endl;
+      triggerEvent(POSSIBLE_FILE_CORRUPTION, result, unixStamp);
+      // Stop for now, do not really know where to continue and we do not trust the file anymore.
+      break;
+    }
+  }
+}
+
+ReturnValue_t PersistentTmStore::createMostRecentFile(std::optional<uint8_t> suffix) {
+  using namespace std::filesystem;
+  unsigned currentIdx = 0;
+  path pathStart = basePath / baseName;
+  memcpy(fileBuf.data() + currentIdx, pathStart.c_str(), pathStart.string().length());
+  currentIdx += pathStart.string().length();
+  fileBuf[currentIdx] = '_';
+  currentIdx += 1;
+  time_t epoch = currentTv.tv_sec;
+  struct tm* time = gmtime(&epoch);
+  size_t writtenBytes = strftime(reinterpret_cast<char*>(fileBuf.data() + currentIdx),
+                                 fileBuf.size(), FILE_DATE_FORMAT, time);
+  if (writtenBytes == 0) {
+    sif::error << "PersistentTmStore::createMostRecentFile: Could not create file timestamp"
+               << std::endl;
+    return returnvalue::FAILED;
+  }
+  currentIdx += writtenBytes;
+  char* res = strcpy(reinterpret_cast<char*>(fileBuf.data() + currentIdx), ".bin");
+  if (res == nullptr) {
+    return returnvalue::FAILED;
+  }
+  currentIdx += 4;
+  if (suffix.has_value()) {
+    std::string fullSuffix = "." + std::to_string(suffix.value());
+    res = strcpy(reinterpret_cast<char*>(fileBuf.data() + currentIdx), fullSuffix.c_str());
+    if (res == nullptr) {
+      return returnvalue::FAILED;
+    }
+    currentIdx += fullSuffix.size();
+  }
+
+  path newPath(std::string(reinterpret_cast<const char*>(fileBuf.data()), currentIdx));
+  std::ofstream of(newPath, std::ios::binary);
+  activeFile = newPath;
+  activeFileTv = currentTv;
+  return returnvalue::OK;
+}
+
+ReturnValue_t PersistentTmStore::initializeTmStore() {
+  Clock::getClock_timeval(&currentTv);
+  updateBaseDir();
+  return assignAndOrCreateMostRecentFile();
+}

mission/tmtc/PersistentTmStore.h

@@ -0,0 +1,87 @@
+#ifndef MISSION_TMTC_TMSTOREBACKEND_H_
+#define MISSION_TMTC_TMSTOREBACKEND_H_
+
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/timemanager/CdsShortTimeStamper.h>
+#include <fsfw/tmstorage/TmStoreFrontendSimpleIF.h>
+#include <fsfw/tmtcpacket/pus/tm/PusTmReader.h>
+#include <fsfw/tmtcservices/AcceptsTelemetryIF.h>
+#include <mission/memory/SdCardMountedIF.h>
+
+#include <filesystem>
+
+#include "TmFunnelBase.h"
+#include "eive/eventSubsystemIds.h"
+
+struct PacketFilter {
+  std::optional<std::vector<uint16_t>> apid;
+  std::optional<std::vector<uint8_t>> services;
+  std::optional<std::vector<std::pair<uint8_t, uint8_t>>> serviceSubservices;
+};
+
+enum class RolloverInterval { MINUTELY, HOURLY, DAILY };
+
+class PersistentTmStore : public TmStoreFrontendSimpleIF, public SystemObject {
+ public:
+  static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PERSISTENT_TM_STORE;
+
+  //! [EXPORT] : [COMMENT]
+  //! P1: Result code of TM packet parser.
+  //! P2: Timestamp of possibly corrupt file as a unix timestamp.
+  static constexpr Event POSSIBLE_FILE_CORRUPTION =
+      event::makeEvent(SUBSYSTEM_ID, 0, severity::LOW);
+  PersistentTmStore(object_id_t objectId, const char* baseDir, std::string baseName,
+                    RolloverInterval intervalUnit, uint32_t intervalCount,
+                    StorageManagerIF& tmStore, SdCardMountedIF& sdcMan);
+
+  ReturnValue_t initializeTmStore();
+  ReturnValue_t handleCommandQueue(StorageManagerIF& ipcStore, TmFunnelBase& tmFunnel);
+
+  void addApid(uint16_t apid);
+  void addService(uint8_t service);
+  void addServiceSubservice(uint8_t service, uint8_t subservice);
+
+  void deleteUpTo(uint32_t unixSeconds);
+  void dumpFrom(uint32_t fromUnixSeconds, TmFunnelBase& tmFunnel);
+  void dumpFromUpTo(uint32_t fromUnixSeconds, uint32_t upToUnixSeconds, TmFunnelBase& tmFunnel);
+
+  ReturnValue_t passPacket(PusTmReader& reader);
+
+ private:
+  static constexpr uint8_t MAX_FILES_IN_ONE_SECOND = 10;
+  static constexpr size_t MAX_FILESIZE = 8192;
+  // ISO8601 timestamp.
+  static constexpr char FILE_DATE_FORMAT[] = "%FT%H%M%SZ";
+
+  MessageQueueIF* tcQueue;
+  PacketFilter filter;
+  CdsShortTimeStamper timeReader;
+  bool baseDirUninitialized = true;
+  const char* baseDir;
+  std::string baseName;
+  uint8_t currentSameSecNumber = 0;
+  std::filesystem::path basePath;
+  uint32_t rolloverDiffSeconds = 0;
+  std::array<uint8_t, MAX_FILESIZE> fileBuf{};
+  timeval currentTv;
+  timeval activeFileTv{};
+  std::optional<std::filesystem::path> activeFile;
+  SdCardMountedIF& sdcMan;
+  StorageManagerIF& tmStore;
+
+  /**
+   * To get the queue where commands shall be sent.
+   * @return  Id of command queue.
+   */
+  [[nodiscard]] MessageQueueId_t getCommandQueue() const override;
+
+  void calcDiffSeconds(RolloverInterval intervalUnit, uint32_t intervalCount);
+  ReturnValue_t createMostRecentFile(std::optional<uint8_t> suffix);
+  static ReturnValue_t pathToTm(const std::filesystem::path& path, struct tm& time);
+  void fileToPackets(const std::filesystem::path& path, uint32_t unixStamp, TmFunnelBase& funnel);
+  bool updateBaseDir();
+  ReturnValue_t assignAndOrCreateMostRecentFile();
+  ReturnValue_t storePacket(PusTmReader& reader);
+};
+
+#endif /* MISSION_TMTC_TMSTOREBACKEND_H_ */

mission/tmtc/PusTmFunnel.cpp

@@ -1,22 +1,87 @@
 #include "PusTmFunnel.h"
 
+#include "eive/definitions.h"
+#include "eive/objects.h"
+#include "fsfw/ipc/CommandMessage.h"
 #include "fsfw/ipc/QueueFactory.h"
 #include "fsfw/objectmanager.h"
+#include "fsfw/pus/Service5EventReporting.h"
+#include "fsfw/tmstorage/TmStoreMessage.h"
 #include "fsfw/tmtcpacket/pus/tm/PusTmZcWriter.h"
+#include "tmtc/pusIds.h"
 
-PusTmFunnel::PusTmFunnel(object_id_t objectId, TimeReaderIF &timeReader, StorageManagerIF &tmStore,
-                         uint32_t messageDepth)
-    : TmFunnelBase(objectId, tmStore, messageDepth), timeReader(timeReader) {}
+PusTmFunnel::PusTmFunnel(TmFunnelBase::FunnelCfg cfg, TimeReaderIF &timeReader,
+                         SdCardMountedIF &sdcMan)
+    : TmFunnelBase(cfg),
+      timeReader(timeReader),
+      miscStore(objects::MISC_TM_STORE, "tm", "misc", RolloverInterval::HOURLY, 2, tmStore, sdcMan),
+      okStore(objects::OK_TM_STORE, "tm", "ok", RolloverInterval::MINUTELY, 30, tmStore, sdcMan),
+      notOkStore(objects::NOT_OK_TM_STORE, "tm", "nok", RolloverInterval::MINUTELY, 30, tmStore,
+                 sdcMan),
+      hkStore(objects::HK_TM_STORE, "tm", "hk", RolloverInterval::MINUTELY, 15, tmStore, sdcMan),
+      sdcMan(sdcMan) {
+  Clock::getClock_timeval(&currentTv);
+  Clock::getUptime(&lastTvUpdate);
+  hkStore.addApid(config::EIVE_PUS_APID);
+  hkStore.addService(pus::PUS_SERVICE_3);
+  miscStore.addApid(config::EIVE_PUS_APID);
+  miscStore.addService(pus::PUS_SERVICE_17);
+  miscStore.addService(pus::PUS_SERVICE_2);
+  miscStore.addService(pus::PUS_SERVICE_200);
+  miscStore.addService(pus::PUS_SERVICE_201);
+  miscStore.addService(pus::PUS_SERVICE_9);
+  miscStore.addService(pus::PUS_SERVICE_20);
+  okStore.addApid(config::EIVE_PUS_APID);
+  okStore.addServiceSubservice(pus::PUS_SERVICE_5,
+                               Service5EventReporting::Subservice::NORMAL_REPORT);
+  okStore.addService(pus::PUS_SERVICE_8);
+  okStore.addServiceSubservice(pus::PUS_SERVICE_1, 1);
+  okStore.addServiceSubservice(pus::PUS_SERVICE_1, 3);
+  okStore.addServiceSubservice(pus::PUS_SERVICE_1, 5);
+  okStore.addServiceSubservice(pus::PUS_SERVICE_1, 7);
+  notOkStore.addApid(config::EIVE_PUS_APID);
+  notOkStore.addServiceSubservice(pus::PUS_SERVICE_5, 2);
+  notOkStore.addServiceSubservice(pus::PUS_SERVICE_5, 3);
+  notOkStore.addServiceSubservice(pus::PUS_SERVICE_5, 4);
+  notOkStore.addServiceSubservice(pus::PUS_SERVICE_1, 2);
+  notOkStore.addServiceSubservice(pus::PUS_SERVICE_1, 4);
+  notOkStore.addServiceSubservice(pus::PUS_SERVICE_1, 6);
+  notOkStore.addServiceSubservice(pus::PUS_SERVICE_1, 8);
+}
 
 PusTmFunnel::~PusTmFunnel() = default;
 
 ReturnValue_t PusTmFunnel::performOperation(uint8_t) {
+  CommandMessage cmdMessage;
+  ReturnValue_t result;
+  try {
+    result = okStore.handleCommandQueue(ipcStore, *this);
+    if (result != returnvalue::OK) {
+      sif::error << "PusTmFunnel::performOperation: Issue handling OK store command" << std::endl;
+    }
+    result = notOkStore.handleCommandQueue(ipcStore, *this);
+    if (result != returnvalue::OK) {
+      sif::error << "PusTmFunnel::performOperation: Issue handling NOT OK store command"
+                 << std::endl;
+    }
+    result = hkStore.handleCommandQueue(ipcStore, *this);
+    if (result != returnvalue::OK) {
+      sif::error << "PusTmFunnel::performOperation: Issue handling HK store command" << std::endl;
+    }
+    result = miscStore.handleCommandQueue(ipcStore, *this);
+    if (result != returnvalue::OK) {
+      sif::error << "PusTmFunnel::performOperation: Issue handling MISC store command" << std::endl;
+    }
+  } catch (const std::bad_optional_access &e) {
+    sif::error << e.what() << "when handling TM store command" << std::endl;
+  }
+
   TmTcMessage currentMessage;
   unsigned int count = 0;
-  ReturnValue_t status = tmQueue->receiveMessage(&currentMessage);
-  while (status == returnvalue::OK) {
-    status = handlePacket(currentMessage);
-    if (status != returnvalue::OK) {
+  result = tmQueue->receiveMessage(&currentMessage);
+  while (result == returnvalue::OK) {
+    result = handleTmPacket(currentMessage);
+    if (result != returnvalue::OK) {
       sif::warning << "TmFunnel packet handling failed" << std::endl;
       break;
     }
@@ -25,16 +90,16 @@ ReturnValue_t PusTmFunnel::performOperation(uint8_t) {
       sif::error << "PusTmFunnel: Possible message storm detected" << std::endl;
       break;
     }
-    status = tmQueue->receiveMessage(&currentMessage);
+    result = tmQueue->receiveMessage(&currentMessage);
   }
 
-  if (status == MessageQueueIF::EMPTY) {
+  if (result == MessageQueueIF::EMPTY) {
     return returnvalue::OK;
   }
-  return status;
+  return result;
 }
 
-ReturnValue_t PusTmFunnel::handlePacket(TmTcMessage &message) {
+ReturnValue_t PusTmFunnel::handleTmPacket(TmTcMessage &message) {
   uint8_t *packetData = nullptr;
   size_t size = 0;
   store_address_t origStoreId = message.getStorageId();
@@ -54,36 +119,38 @@ ReturnValue_t PusTmFunnel::handlePacket(TmTcMessage &message) {
   sourceSequenceCount = sourceSequenceCount % ccsds::LIMIT_SEQUENCE_COUNT;
   packet.updateErrorControl();
 
-  for (unsigned int idx = 0; idx < destinations.size(); idx++) {
-    const auto &dest = destinations[idx];
-    if (destinations.size() > 1) {
-      if (idx < destinations.size() - 1) {
-        // Create copy of data to ensure each TM recipient has its own copy. That way, we don't need
-        // to bother with send order and where the data is deleted.
-        store_address_t storeId;
-        result = tmStore.addData(&storeId, packetData, size);
-        if (result == returnvalue::OK) {
-          message.setStorageId(storeId);
-        } else {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-          sif::error << "PusTmFunnel::handlePacket: Store too full to create data copy"
-                     << std::endl;
-#endif
-        }
-      } else {
-        message.setStorageId(origStoreId);
-      }
-    }
-    result = tmQueue->sendMessage(dest.queueId, &message);
-    if (result != returnvalue::OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "PusTmFunnel::handlePacket: Error sending TM to downlink handler " << dest.name
-                 << " failed" << std::endl;
-#endif
-      tmStore.deleteData(message.getStorageId());
-    }
+  timeval currentUptime{};
+  Clock::getUptime(&currentUptime);
+  if (currentUptime.tv_sec - lastTvUpdate.tv_sec >
+      static_cast<signed int>(TV_UPDATE_INTERVAL_SECS)) {
+    Clock::getClock_timeval(&currentTv);
+    lastTvUpdate = currentUptime;
   }
-  return result;
+
+  bool sdcUsable = sdcMan.isSdCardUsable(std::nullopt);
+  initStoresIfPossible(sdcUsable);
+  if (sdcUsable) {
+    miscStore.passPacket(packet);
+    okStore.passPacket(packet);
+    notOkStore.passPacket(packet);
+    hkStore.passPacket(packet);
+  }
+  return sendPacketToDestinations(origStoreId, message, packetData, size);
 }
 
 const char *PusTmFunnel::getName() const { return "PUS TM Funnel"; }
+
+void PusTmFunnel::initStoresIfPossible(bool sdCardUsable) {
+  if (not storesInitialized and sdCardUsable and sdcMan.getCurrentMountPrefix() != nullptr) {
+    miscStore.initializeTmStore();
+    okStore.initializeTmStore();
+    hkStore.initializeTmStore();
+    notOkStore.initializeTmStore();
+    storesInitialized = true;
+  }
+}
+
+ReturnValue_t PusTmFunnel::initialize() {
+  initStoresIfPossible(sdcMan.isSdCardUsable(std::nullopt));
+  return returnvalue::OK;
+}

mission/tmtc/PusTmFunnel.h

@@ -10,33 +10,43 @@
 
 #include <vector>
 
+#include "PersistentTmStore.h"
+#include "fsfw/ipc/CommandMessage.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.
+ * Main telemetry receiver. All generated telemetry is funneled into this object.
  * @ingroup     utility
  * @author      J. Meier, R. Mueller
  */
 class PusTmFunnel : public TmFunnelBase {
  public:
-  explicit PusTmFunnel(object_id_t objectId, TimeReaderIF &timeReader, StorageManagerIF &tmStore,
-                       uint32_t messageDepth = 10);
+  PusTmFunnel(TmFunnelBase::FunnelCfg cfg, TimeReaderIF &timeReader, SdCardMountedIF &sdcMan);
   [[nodiscard]] const char *getName() const override;
   ~PusTmFunnel() override;
 
   ReturnValue_t performOperation(uint8_t operationCode);
 
  private:
+  // Update TV stamp every 5 minutes
+  static constexpr dur_millis_t TV_UPDATE_INTERVAL_SECS = 60 * 5;
+
   uint16_t sourceSequenceCount = 0;
   TimeReaderIF &timeReader;
+  bool storesInitialized = false;
+  timeval currentTv{};
+  timeval lastTvUpdate{};
+  PersistentTmStore miscStore;
+  PersistentTmStore okStore;
+  PersistentTmStore notOkStore;
+  PersistentTmStore hkStore;
+  SdCardMountedIF &sdcMan;
 
-  ReturnValue_t handlePacket(TmTcMessage &message);
+  ReturnValue_t handleTmPacket(TmTcMessage &message);
+  void initStoresIfPossible(bool sdCardUsable);
+  ReturnValue_t initialize() override;
 };
 
 #endif  // FSFW_EXAMPLE_COMMON_PUSTMFUNNEL_H

mission/tmtc/Service15TmStorage.cpp

@@ -0,0 +1,85 @@
+#include "Service15TmStorage.h"
+
+#include <fsfw/objectmanager/ObjectManager.h>
+#include <fsfw/tmstorage/TmStoreFrontendSimpleIF.h>
+
+#include "eive/objects.h"
+#include "fsfw/tmstorage/TmStoreMessage.h"
+
+using namespace returnvalue;
+
+Service15TmStorage::Service15TmStorage(object_id_t objectId, uint16_t apid,
+                                       uint8_t numParallelCommands, uint16_t commandTimeoutSecs,
+                                       size_t queueDepth)
+    : CommandingServiceBase(objectId, apid, "PUS Service 15", 15, numParallelCommands,
+                            commandTimeoutSecs, queueDepth) {}
+
+ReturnValue_t Service15TmStorage::isValidSubservice(uint8_t subservice) {
+  switch (subservice) {
+    case (Subservices::DELETE_UP_TO):
+    case (Subservices::START_BY_TIME_RANGE_RETRIEVAL): {
+      return OK;
+    }
+    default: {
+      return FAILED;
+    }
+  }
+}
+
+ReturnValue_t Service15TmStorage::getMessageQueueAndObject(uint8_t subservice,
+                                                           const uint8_t *tcData, size_t tcDataLen,
+                                                           MessageQueueId_t *id,
+                                                           object_id_t *objectId) {
+  if (tcDataLen < 4) {
+    return CommandingServiceBase::INVALID_TC;
+  }
+  SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen, SerializeIF::Endianness::NETWORK);
+  auto *frontendIF = ObjectManager::instance()->get<TmStoreFrontendSimpleIF>(*objectId);
+  if (frontendIF == nullptr) {
+    return CommandingServiceBase::INVALID_OBJECT;
+  }
+  *id = frontendIF->getCommandQueue();
+  return OK;
+}
+
+ReturnValue_t Service15TmStorage::prepareCommand(CommandMessage *message, uint8_t subservice,
+                                                 const uint8_t *tcData, size_t tcDataLen,
+                                                 uint32_t *state, object_id_t objectId) {
+  if (subservice == Subservices::START_BY_TIME_RANGE_RETRIEVAL) {
+    // TODO: Hardcoded to UNIX timestamps.. Should allow arbitrary timestamp and let receiver
+    //       to time reading and reply handling
+    if (tcDataLen != 12) {
+      return INVALID_TC;
+    }
+    store_address_t storeId;
+    ReturnValue_t result = ipcStore->addData(&storeId, tcData + 4, tcDataLen - 4);
+    if (result != OK) {
+      return result;
+    }
+    // Store timestamps
+    TmStoreMessage::setDownlinkContentTimeMessage(message, storeId);
+    return CommandingServiceBase::EXECUTION_COMPLETE;
+  } else if (subservice == Subservices::DELETE_UP_TO) {
+    // TODO: Hardcoded to UNIX timestamps.. Should allow arbitrary timestamp and let receiver
+    //       to time reading and reply handling
+    if (tcDataLen != 8) {
+      return INVALID_TC;
+    }
+    store_address_t storeId;
+    ReturnValue_t result = ipcStore->addData(&storeId, tcData + 4, tcDataLen - 4);
+    if (result != OK) {
+      return result;
+    }
+    // Store timestamps
+    TmStoreMessage::setDeleteContentTimeMessage(message, storeId);
+    return CommandingServiceBase::EXECUTION_COMPLETE;
+  }
+  return OK;
+}
+
+ReturnValue_t Service15TmStorage::handleReply(const CommandMessage *reply,
+                                              Command_t previousCommand, uint32_t *state,
+                                              CommandMessage *optionalNextCommand,
+                                              object_id_t objectId, bool *isStep) {
+  return OK;
+}

mission/tmtc/Service15TmStorage.h

@@ -0,0 +1,24 @@
+#ifndef MISSION_TMTC_SERVICE15TMSTORAGE_H_
+#define MISSION_TMTC_SERVICE15TMSTORAGE_H_
+
+#include <fsfw/tmtcservices/CommandingServiceBase.h>
+
+class Service15TmStorage : public CommandingServiceBase {
+ public:
+  enum Subservices : uint8_t { START_BY_TIME_RANGE_RETRIEVAL = 9, DELETE_UP_TO = 11 };
+  explicit Service15TmStorage(object_id_t objectId, uint16_t apid, uint8_t numParallelCommands,
+                              uint16_t commandTimeoutSecs = 60, size_t queueDepth = 10);
+
+ private:
+  ReturnValue_t isValidSubservice(uint8_t subservice) override;
+  ReturnValue_t getMessageQueueAndObject(uint8_t subservice, const uint8_t* tcData,
+                                         size_t tcDataLen, MessageQueueId_t* id,
+                                         object_id_t* objectId) override;
+  ReturnValue_t prepareCommand(CommandMessage* message, uint8_t subservice, const uint8_t* tcData,
+                               size_t tcDataLen, uint32_t* state, object_id_t objectId) override;
+  ReturnValue_t handleReply(const CommandMessage* reply, Command_t previousCommand, uint32_t* state,
+                            CommandMessage* optionalNextCommand, object_id_t objectId,
+                            bool* isStep) override;
+};
+
+#endif /* MISSION_TMTC_SERVICE15TMSTORAGE_H_ */

mission/tmtc/TmFunnelBase.cpp

@@ -1,10 +1,12 @@
 #include "TmFunnelBase.h"
 
+#include <fsfw/tmtcservices/TmTcMessage.h>
+
 #include "fsfw/ipc/QueueFactory.h"
 
-TmFunnelBase::TmFunnelBase(object_id_t objectId, StorageManagerIF &tmStore, uint32_t tmMsgDepth)
-    : SystemObject(objectId), tmStore(tmStore) {
-  tmQueue = QueueFactory::instance()->createMessageQueue(tmMsgDepth);
+TmFunnelBase::TmFunnelBase(FunnelCfg cfg)
+    : SystemObject(cfg.objectId), tmStore(cfg.tmStore), ipcStore(cfg.ipcStore) {
+  tmQueue = QueueFactory::instance()->createMessageQueue(cfg.tmMsgDepth);
 }
 
 TmFunnelBase::~TmFunnelBase() { QueueFactory::instance()->deleteMessageQueue(tmQueue); }
@@ -18,3 +20,38 @@ void TmFunnelBase::addDestination(const char *name, const AcceptsTelemetryIF &do
   auto queueId = downlinkDestination.getReportReceptionQueue(vcid);
   destinations.emplace_back(name, queueId, vcid);
 }
+
+ReturnValue_t TmFunnelBase::sendPacketToDestinations(store_address_t origStoreId,
+                                                     TmTcMessage &message,
+                                                     const uint8_t *packetData, size_t size) {
+  ReturnValue_t result;
+  for (unsigned int idx = 0; idx < destinations.size(); idx++) {
+    const auto &dest = destinations[idx];
+    if (destinations.size() > 1) {
+      if (idx < destinations.size() - 1) {
+        // Create copy of data to ensure each TM recipient has its own copy. That way, we don't need
+        // to bother with send order and where the data is deleted.
+        store_address_t storeId;
+        result = tmStore.addData(&storeId, packetData, size);
+        if (result == returnvalue::OK) {
+          message.setStorageId(storeId);
+        } else {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+          sif::error << "PusTmFunnel::handlePacket: Store too full to create data copy"
+                     << std::endl;
+#endif
+        }
+      } else {
+        message.setStorageId(origStoreId);
+      }
+    }
+    result = tmQueue->sendMessage(dest.queueId, &message);
+    if (result != returnvalue::OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::error << "PusTmFunnel::handlePacket: Error sending TM to downlink handler" << std::endl;
+#endif
+      tmStore.deleteData(message.getStorageId());
+    }
+  }
+  return result;
+}

mission/tmtc/TmFunnelBase.h

@@ -3,21 +3,36 @@
 
 #include <fsfw/objectmanager/SystemObject.h>
 #include <fsfw/storagemanager/StorageManagerIF.h>
+#include <fsfw/tmstorage/TmStoreFrontendSimpleIF.h>
 #include <fsfw/tmtcservices/AcceptsTelemetryIF.h>
+#include <fsfw/tmtcservices/TmTcMessage.h>
 
 #include <vector>
 
 class TmFunnelBase : public AcceptsTelemetryIF, public SystemObject {
  public:
-  TmFunnelBase(object_id_t objectId, StorageManagerIF& tmStore, uint32_t tmMsgDepth);
+  struct FunnelCfg {
+    FunnelCfg(object_id_t objId, StorageManagerIF& tmStore, StorageManagerIF& ipcStore,
+              uint32_t tmMsgDepth)
+        : objectId(objId), tmStore(tmStore), ipcStore(ipcStore), tmMsgDepth(tmMsgDepth) {}
+    object_id_t objectId;
+    StorageManagerIF& tmStore;
+    StorageManagerIF& ipcStore;
+    uint32_t tmMsgDepth;
+  };
+  explicit TmFunnelBase(FunnelCfg cfg);
   void addDestination(const char* name, const AcceptsTelemetryIF& downlinkDestination,
                       uint8_t vcid = 0);
+  ReturnValue_t sendPacketToDestinations(store_address_t origStoreId, TmTcMessage& message,
+                                         const uint8_t* packetData, size_t size);
   [[nodiscard]] MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel) const override;
 
-  virtual ~TmFunnelBase();
+  ~TmFunnelBase() override;
 
  protected:
   StorageManagerIF& tmStore;
+  StorageManagerIF& ipcStore;
+
   struct Destination {
     Destination(const char* name, MessageQueueId_t queueId, uint8_t virtualChannel)
         : name(name), queueId(queueId), virtualChannel(virtualChannel) {}

mission/utility/CMakeLists.txt

@@ -1,3 +1,3 @@
 target_sources(
   ${LIB_EIVE_MISSION} PRIVATE Timestamp.cpp ProgressPrinter.cpp Filenaming.cpp
-                              GlobalConfigHandler.cpp)
+                              GlobalConfigHandler.cpp DummySdCardManager.cpp)

mission/utility/DummySdCardManager.cpp

@@ -0,0 +1,13 @@
+#include "DummySdCardManager.h"
+
+DummySdCardManager::DummySdCardManager(std::string prefix) : prefix(std::move(prefix)) {}
+
+const char* DummySdCardManager::getCurrentMountPrefix() const { return prefix.c_str(); }
+
+bool DummySdCardManager::isSdCardUsable(std::optional<sd::SdCard> sdCard) { return true; }
+
+std::optional<sd::SdCard> DummySdCardManager::getPreferredSdCard() const { return std::nullopt; }
+
+void DummySdCardManager::setActiveSdCard(sd::SdCard sdCard) {}
+
+std::optional<sd::SdCard> DummySdCardManager::getActiveSdCard() const { return std::nullopt; }

mission/utility/DummySdCardManager.h

@@ -2,11 +2,11 @@
 #define BSP_LINUX_BOARD_RPISDCARDMANAGER_H_
 #include <mission/memory/SdCardMountedIF.h>
 
-class RPiSdCardManager : public SdCardMountedIF {
+class DummySdCardManager : public SdCardMountedIF {
  public:
-  RPiSdCardManager(std::string prefix);
-  const std::string& getCurrentMountPrefix() const override;
-  bool isSdCardUsable(sd::SdCard sdCard) override;
+  DummySdCardManager(std::string prefix);
+  const char* getCurrentMountPrefix() const override;
+  bool isSdCardUsable(std::optional<sd::SdCard> sdCard) override;
   std::optional<sd::SdCard> getPreferredSdCard() const override;
   void setActiveSdCard(sd::SdCard sdCard) override;
   std::optional<sd::SdCard> getActiveSdCard() const override;

release_checklist.md

@@ -4,8 +4,10 @@ OBSW Release Checklist
 # Pre-Release
 
 1. Update version in `CMakeLists.txt`
-2. Verify that the Q7S, Q7S EM and Host build are working
-3. Wait for CI/CD results
+2. Re-run the auto-formatters with the `scripts/auto-formatter.sh` script
+3. Re-run the generators with `generators/gen.py all`
+4. Verify that the Q7S, Q7S EM and Host build are working
+5. Wait for CI/CD results
 
 # Post-Release
 

tmtc

@@ -1 +1 @@
-Subproject commit 24f0d8e1a6a8ea1323623932e699326214c78159
+Subproject commit 13014eb25053368f4fb9a445788aba71ff98de19

unittest/CMakeLists.txt

@@ -4,6 +4,7 @@ add_subdirectory(mocks)
 target_sources(${UNITTEST_NAME} PRIVATE
     main.cpp
     testEnvironment.cpp
+    testStampInFilename.cpp
     hdlcEncodingRw.cpp
     printChar.cpp
 )

unittest/testStampInFilename.cpp

@@ -0,0 +1,21 @@
+
+#include <catch2/catch_test_macros.hpp>
+#include <cinttypes>
+
+#include "fsfw/timemanager/Clock.h"
+
+TEST_CASE("Stamp in Filename", "[Stamp In Filename]") {
+  Clock::TimeOfDay_t tod;
+  std::string baseName = "verif";
+  std::string pathStr = "verif_2022-05-25T16:55:23Z.bin";
+  unsigned int underscorePos = pathStr.find_last_of('_');
+  std::string stampStr = pathStr.substr(underscorePos + 1);
+  float seconds = 0.0;
+  char* prefix = nullptr;
+  int count =
+      sscanf(stampStr.c_str(),
+             "%4" SCNu32 "-%2" SCNu32 "-%2" SCNu32 "T%2" SCNu32 ":%2" SCNu32 ":%2" SCNu32 "Z",
+             &tod.year, &tod.month, &tod.day, &tod.hour, &tod.minute, &tod.second);
+  static_cast<void>(count);
+  CHECK(count == 6);
+}