eive/eive-obsw
eive/eive-obsw
12
3
Fork 0
Code Issues 4 Pull Requests 2 Releases 119 Wiki Activity

Merge branch 'meier/syrlinks' into meier/StarTracker

Browse Source
This commit is contained in:
Jakob Meier 2021-12-02 13:55:03 +01:00
commit ed8399ef9a
9 changed files with 174 additions and 85 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

45
bsp_q7s/boardtest/Q7STestTask.cpp
View File

@ -26,8 +26,8 @@ ReturnValue_t Q7STestTask::performOneShotAction() {
//testJsonLibDirect();
//testDummyParams();
//testProtHandler();
//FsOpCodes opCode = FsOpCodes::ATTEMPT_DIR_REMOVAL_NON_EMPTY;
//testFileSystemHandlerDirect(opCode);
FsOpCodes opCode = FsOpCodes::APPEND_TO_FILE;
testFileSystemHandlerDirect(opCode);
return TestTask::performOneShotAction();
}
@ -252,7 +252,7 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
cfg.useMountPrefix = false;
sif::info << "Creating empty file in /tmp folder" << std::endl;
// Do not delete file, user can check existence in shell
fsHandler->createFile("/tmp", "test.txt", nullptr, 0, &cfg);
fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
break;
}
case(FsOpCodes::REMOVE_TMP_FILE): {
@ -262,7 +262,7 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
if(not std::filesystem::exists("/tmp/test.txt")) {
// Creating sample file
sif::info << "Creating sample file /tmp/test.txt to delete" << std::endl;
fsHandler->createFile("/tmp", "test.txt", nullptr, 0, &cfg);
fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
}
result = fsHandler->removeFile("/tmp", "test.txt", &cfg);
if(result == HasReturnvaluesIF::RETURN_OK) {
@ -278,7 +278,7 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
cfg.useMountPrefix = false;
sif::info << "Creating empty file in /tmp folder" << std::endl;
// Do not delete file, user can check existence in shell
ReturnValue_t result = fsHandler->createDirectory("/tmp", "test", false, &cfg);
ReturnValue_t result = fsHandler->createDirectory("/tmp/", "test", false, &cfg);
if(result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "Directory created successfully" << std::endl;
}
@ -297,7 +297,7 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
// Delete any leftover files to regular dir removal works
std::remove("/tmp/test/*");
}
result = fsHandler->removeDirectory("/tmp", "test", false, &cfg);
result = fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
if(result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "Directory removed successfully" << std::endl;
}
@ -311,7 +311,7 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
if(result != HasReturnvaluesIF::RETURN_OK) {
return;
}
result = fsHandler->removeDirectory("/tmp", "test", true, &cfg);
result = fsHandler->removeDirectory("/tmp/", "test", true, &cfg);
if(result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "Directory removed recursively successfully" << std::endl;
}
@ -325,13 +325,42 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
if(result != HasReturnvaluesIF::RETURN_OK) {
return;
}
result = fsHandler->removeDirectory("/tmp", "test", false, &cfg);
result = fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::info << "Directory removal attempt failed as expected" << std::endl;
}
else {
sif::warning << "Directory removal worked when it should not have!" << std::endl;
}
break;
}
case(FsOpCodes::RENAME_FILE): {
// No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false;
if(std::filesystem::exists("/tmp/test.txt")) {
fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
}
sif::info << "Creating empty file /tmp/test.txt and rename to /tmp/test2.txt" << std::endl;
// Do not delete file, user can check existence in shell
fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
fsHandler->renameFile("/tmp/", "test.txt", "test2.txt", &cfg);
break;
}
case(FsOpCodes::APPEND_TO_FILE): {
// No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false;
if(std::filesystem::exists("/tmp/test.txt")) {
fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
}
if(std::filesystem::exists("/tmp/test.txt")) {
fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
}
sif::info << "Creating empty file /tmp/test.txt and adding content" << std::endl;
std::string content = "Hello World\n";
// Do not delete file, user can check existence in shell
fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
fsHandler->appendToFile("/tmp/", "test.txt", reinterpret_cast<const uint8_t*>(
content.data()), content.size(), 0, &cfg);
}
}
}

2
bsp_q7s/boardtest/Q7STestTask.h
View File

@ -27,6 +27,8 @@ private:
REMOVE_EMPTY_DIR_IN_TMP,
ATTEMPT_DIR_REMOVAL_NON_EMPTY,
REMOVE_FILLED_DIR_IN_TMP,
RENAME_FILE,
APPEND_TO_FILE,
};
void testFileSystemHandlerDirect(FsOpCodes opCode);
};

87
bsp_q7s/memory/FileSystemHandler.cpp
View File

@ -136,13 +136,11 @@ ReturnValue_t FileSystemHandler::initialize() {
ReturnValue_t FileSystemHandler::appendToFile(const char* repositoryPath,
const char* filename, const uint8_t* data, size_t size,
uint16_t packetNumber, FileSystemArgsIF* args) {
// A double slash between repo and filename should not be an issue, so add it in any case
std::string fullPath = currentMountPrefix + std::string(repositoryPath) + "/" +
std::string(filename);
if(not std::filesystem::exists(fullPath)) {
auto path = getInitPath(args) / repositoryPath / filename;
if(not std::filesystem::exists(path)) {
return FILE_DOES_NOT_EXIST;
}
std::ofstream file(fullPath, std::ios_base::app|std::ios_base::out);
std::ofstream file(path, std::ios_base::app|std::ios_base::out);
file.write(reinterpret_cast<const char*>(data), size);
if(not file.good()) {
return GENERIC_FILE_ERROR;
@ -152,19 +150,11 @@ ReturnValue_t FileSystemHandler::appendToFile(const char* repositoryPath,
ReturnValue_t FileSystemHandler::createFile(const char* repositoryPath,
const char* filename, const uint8_t* data, size_t size, FileSystemArgsIF* args) {
std::string fullPath;
bool useMountPrefix = true;
parseCfg(reinterpret_cast<FsCommandCfg*>(args), useMountPrefix);
if(useMountPrefix) {
fullPath += currentMountPrefix;
}
// A double slash between repo and filename should not be an issue, so add it in any case
fullPath += std::string(repositoryPath) + "/" + std::string(filename);
if(std::filesystem::exists(fullPath)) {
auto path = getInitPath(args) / filename;
if(std::filesystem::exists(path)) {
return FILE_ALREADY_EXISTS;
}
std::ofstream file(fullPath);
std::ofstream file(path);
file.write(reinterpret_cast<const char*>(data), size);
if(not file.good()) {
return GENERIC_FILE_ERROR;
@ -174,19 +164,11 @@ ReturnValue_t FileSystemHandler::createFile(const char* repositoryPath,
ReturnValue_t FileSystemHandler::removeFile(const char* repositoryPath,
const char* filename, FileSystemArgsIF* args) {
std::string fullPath;
bool useMountPrefix = true;
parseCfg(reinterpret_cast<FsCommandCfg*>(args), useMountPrefix);
if(useMountPrefix) {
fullPath += currentMountPrefix;
}
// A double slash between repo and filename should not be an issue, so add it in any case
fullPath += std::string(repositoryPath) + "/" + std::string(filename);
if(not std::filesystem::exists(fullPath)) {
auto path = getInitPath(args) / repositoryPath / filename;
if(not std::filesystem::exists(path)) {
return FILE_DOES_NOT_EXIST;
}
int result = std::remove(fullPath.c_str());
int result = std::remove(path.c_str());
if(result != 0) {
sif::warning << "FileSystemHandler::deleteFile: Failed with code " << result << std::endl;
return GENERIC_FILE_ERROR;
@ -196,42 +178,26 @@ ReturnValue_t FileSystemHandler::removeFile(const char* repositoryPath,
ReturnValue_t FileSystemHandler:: createDirectory(const char* repositoryPath, const char* dirname,
bool createParentDirs, FileSystemArgsIF* args) {
std::string fullPath;
bool useMountPrefix = true;
parseCfg(reinterpret_cast<FsCommandCfg*>(args), useMountPrefix);
if(useMountPrefix) {
fullPath += currentMountPrefix;
}
fullPath += std::string(repositoryPath);
fullPath += "/" + std::string(dirname);
if(std::filesystem::exists(fullPath)) {
auto path = getInitPath(args) / repositoryPath / dirname;
if(std::filesystem::exists(path)) {
return DIRECTORY_ALREADY_EXISTS;
}
if(std::filesystem::create_directory(fullPath)) {
if(std::filesystem::create_directory(path)) {
return HasReturnvaluesIF::RETURN_OK;
}
sif::warning << "Creating directory " << fullPath << " failed" << std::endl;
sif::warning << "Creating directory " << path << " failed" << std::endl;
return GENERIC_FILE_ERROR;
}
ReturnValue_t FileSystemHandler::removeDirectory(const char* repositoryPath, const char* dirname,
bool deleteRecurively, FileSystemArgsIF* args) {
std::string fullPath;
bool useMountPrefix = true;
parseCfg(reinterpret_cast<FsCommandCfg*>(args), useMountPrefix);
if(useMountPrefix) {
fullPath += currentMountPrefix;
}
fullPath += std::string(repositoryPath);
fullPath += "/" + std::string(dirname);
if(not std::filesystem::exists(fullPath)) {
auto path = getInitPath(args) / repositoryPath / dirname;
if(not std::filesystem::exists(path)) {
return DIRECTORY_DOES_NOT_EXIST;
}
std::error_code err;
if(not deleteRecurively) {
if(std::filesystem::remove(fullPath, err)) {
if(std::filesystem::remove(path, err)) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
@ -248,7 +214,7 @@ ReturnValue_t FileSystemHandler::removeDirectory(const char* repositoryPath, con
}
}
else {
if(std::filesystem::remove_all(fullPath, err)) {
if(std::filesystem::remove_all(path, err)) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
@ -267,14 +233,25 @@ ReturnValue_t FileSystemHandler::removeDirectory(const char* repositoryPath, con
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FileSystemHandler::renameFile(const char *repositoryPath, const char *oldFilename,
const char *newFilename, FileSystemArgsIF *args) {
auto basepath = getInitPath(args) / repositoryPath;
std::filesystem::rename(basepath / oldFilename, basepath / newFilename);
return HasReturnvaluesIF::RETURN_OK;
}
void FileSystemHandler::parseCfg(FsCommandCfg *cfg, bool& useMountPrefix) {
if(cfg != nullptr) {
useMountPrefix = cfg->useMountPrefix;
}
}
ReturnValue_t FileSystemHandler::renameFile(const char *repositoryPath, const char *oldFilename,
const char *newFilename, FileSystemArgsIF *args) {
// TODO: Implement
return HasReturnvaluesIF::RETURN_OK;
std::filesystem::path FileSystemHandler::getInitPath(FileSystemArgsIF* args) {
bool useMountPrefix = true;
parseCfg(reinterpret_cast<FsCommandCfg*>(args), useMountPrefix);
std::string path;
if(useMountPrefix) {
path = currentMountPrefix;
}
return std::filesystem::path(path);
}

2
bsp_q7s/memory/FileSystemHandler.h
View File

@ -10,6 +10,7 @@
#include "fsfw/memory/HasFileSystemIF.h"
#include <string>
#include <filesystem>
class CoreController;
@ -61,6 +62,7 @@ private:
void fileSystemHandlerLoop();
void fileSystemCheckup();
std::filesystem::path getInitPath(FileSystemArgsIF* args);
void parseCfg(FsCommandCfg* cfg, bool& useMountPrefix);
};

2
fsfw

@ -1 +1 @@
Subproject commit d8580074c2730d861353ab47e659afeb707afe71
Subproject commit ceb87b5abb2992a18266328e0ea34d9af15db7af

56
linux/obc/PdecHandler.cpp
View File

@ -257,7 +257,7 @@ bool PdecHandler::checkFrameAna(uint32_t pdecFar) {
switch(frameAna) {
case(FrameAna_t::ABANDONED_CLTU): {
triggerEvent(INVALID_TC_FRAME, ABANDONED_CLTU);
sif::debug << "PdecHandler::checkFrameAna: Abondoned CLTU" << std::endl;
sif::warning << "PdecHandler::checkFrameAna: Abondoned CLTU" << std::endl;
break;
}
case(FrameAna_t::FRAME_DIRTY): {
@ -266,36 +266,38 @@ bool PdecHandler::checkFrameAna(uint32_t pdecFar) {
break;
}
case(FrameAna_t::FRAME_ILLEGAL): {
sif::debug << "PdecHandler::checkFrameAna: Frame illegal for one reason" << std::endl;
sif::warning << "PdecHandler::checkFrameAna: Frame illegal for one reason" << std::endl;
handleIReason(pdecFar, FRAME_ILLEGAL_ONE_REASON);
break;
}
case(FrameAna_t::FRAME_ILLEGAL_MULTI_REASON): {
sif::debug << "PdecHandler::checkFrameAna: Frame illegal for multiple reasons"
sif::warning << "PdecHandler::checkFrameAna: Frame illegal for multiple reasons"
<< std::endl;
handleIReason(pdecFar, FRAME_ILLEGAL_MULTIPLE_REASONS);
break;
}
case(FrameAna_t::AD_DISCARDED_LOCKOUT): {
triggerEvent(INVALID_TC_FRAME, AD_DISCARDED_LOCKOUT);
sif::debug << "PdecHandler::checkFrameAna: AD frame discarded because of lockout"
sif::warning << "PdecHandler::checkFrameAna: AD frame discarded because of lockout"
<< std::endl;
break;
}
case(FrameAna_t::AD_DISCARDED_WAIT): {
triggerEvent(INVALID_TC_FRAME, AD_DISCARDED_LOCKOUT);
sif::debug << "PdecHandler::checkFrameAna: AD frame discarded because of wait"
sif::warning << "PdecHandler::checkFrameAna: AD frame discarded because of wait"
<< std::endl;
break;
}
case(FrameAna_t::AD_DISCARDED_NS_VR): {
triggerEvent(INVALID_TC_FRAME, AD_DISCARDED_NS_VS);
sif::debug << "PdecHandler::checkFrameAna: AD frame discarded because N(S) or V(R)"
sif::warning << "PdecHandler::checkFrameAna: AD frame discarded because N(S) or V(R)"
<< std::endl;
break;
}
case(FrameAna_t::FRAME_ACCEPTED): {
sif::debug << "PdecHandler::checkFrameAna: Accepted TC frame" << std::endl;
#if OBSW_DEBUG_PDEC_HANDLER == 1
sif::info << "PdecHandler::checkFrameAna: Accepted TC frame" << std::endl;
#endif
frameValid = true;
break;
}
@ -482,6 +484,10 @@ uint32_t PdecHandler::getClcw() {
return *(registerBaseAddress + PDEC_CLCW_OFFSET);
}
uint32_t PdecHandler::getPdecMon() {
return *(registerBaseAddress + PDEC_MON_OFFSET);
}
void PdecHandler::printClcw() {
uint32_t clcw = getClcw();
uint8_t type = static_cast<uint8_t>((clcw >> 31) & 0x1);
@ -523,6 +529,39 @@ void PdecHandler::printClcw() {
<< "0x" << static_cast<unsigned int>(repValue) << std::endl;
}
void PdecHandler::printPdecMon() {
uint32_t pdecMon = getPdecMon();
uint32_t tc0ChannelStatus = (pdecMon & TC0_STATUS_MASK) >> TC0_STATUS_POS;
uint32_t tc1ChannelStatus = (pdecMon & TC1_STATUS_MASK) >> TC1_STATUS_POS;
uint32_t tc2ChannelStatus = (pdecMon & TC2_STATUS_MASK) >> TC2_STATUS_POS;
uint32_t tc3ChannelStatus = (pdecMon & TC3_STATUS_MASK) >> TC3_STATUS_POS;
uint32_t tc4ChannelStatus = (pdecMon & TC4_STATUS_MASK) >> TC4_STATUS_POS;
uint32_t tc5ChannelStatus = (pdecMon & TC5_STATUS_MASK) >> TC5_STATUS_POS;
uint32_t lock = (pdecMon & LOCK_MASK) >> LOCK_POS;
sif::info << std::setw(30) << std::left << "TC0 status: " << getMonStatusString(tc0ChannelStatus) << std::endl;
sif::info << std::setw(30) << std::left << "TC1 status: " << getMonStatusString(tc1ChannelStatus) << std::endl;
sif::info << std::setw(30) << std::left << "TC2 status: " << getMonStatusString(tc2ChannelStatus) << std::endl;
sif::info << std::setw(30) << std::left << "TC3 status: " << getMonStatusString(tc3ChannelStatus) << std::endl;
sif::info << std::setw(30) << std::left << "TC4 status: " << getMonStatusString(tc4ChannelStatus) << std::endl;
sif::info << std::setw(30) << std::left << "TC5 status: " << getMonStatusString(tc5ChannelStatus) << std::endl;
sif::info << std::setw(30) << std::left << "Start sequence lock: " << lock << std::endl;
}
std::string PdecHandler::getMonStatusString(uint32_t status) {
switch(status) {
case TC_CHANNEL_INACTIVE:
return std::string("inactive");
case TC_CHANNEL_ACTIVE:
return std::string("active");
case TC_CHANNEL_TIMEDOUT:
return std::string("timed out");
default:
sif::warning << "PdecHandler::getMonStatusString: Invalid status" << std::endl;
return std::string();
break;
}
}
ReturnValue_t PdecHandler::executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
@ -530,6 +569,9 @@ ReturnValue_t PdecHandler::executeAction(ActionId_t actionId,
case PRINT_CLCW:
printClcw();
return EXECUTION_FINISHED;
case PRINT_PDEC_MON:
printPdecMon();
return EXECUTION_FINISHED;
default:
return COMMAND_NOT_IMPLEMENTED;
}

59
linux/obc/PdecHandler.h
View File

@ -61,16 +61,6 @@ public:
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) override;
/**
* brief Returns the 32-bit wide communication link control word (CLCW)
*/
uint32_t getClcw();
/**
* @rief Reads and prints the CLCW. Can be useful for debugging.
*/
void printClcw();
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PDEC_HANDLER;
//! [EXPORT] : [COMMENT] Frame acceptance report signals an invalid frame
@ -119,6 +109,8 @@ private:
// Action IDs
static const ActionId_t PRINT_CLCW = 0;
// Print PDEC monitor register
static const ActionId_t PRINT_PDEC_MON = 1;
static const uint8_t STAT_POSITION = 31;
static const uint8_t FRAME_ANA_POSITION = 28;
@ -129,6 +121,28 @@ private:
static const uint32_t FRAME_ANA_MASK = 0x70000000;
static const uint32_t IREASON_MASK = 0x0E000000;
static const uint32_t TC_CHANNEL_INACTIVE = 0x0;
static const uint32_t TC_CHANNEL_ACTIVE = 0x1;
static const uint32_t TC_CHANNEL_TIMEDOUT = 0x2;
static const uint32_t TC0_STATUS_MASK = 0x3;
static const uint32_t TC1_STATUS_MASK = 0xC;
static const uint32_t TC2_STATUS_MASK = 0x300;
static const uint32_t TC3_STATUS_MASK = 0xC00;
static const uint32_t TC4_STATUS_MASK = 0x30000;
static const uint32_t TC5_STATUS_MASK = 0xc00000;
// Lock register set to 1 when start sequence has been found (CLTU is beeing processed)
static const uint32_t LOCK_MASK = 0xc00000;
static const uint32_t TC0_STATUS_POS = 0;
static const uint32_t TC1_STATUS_POS = 2;
static const uint32_t TC2_STATUS_POS = 4;
static const uint32_t TC3_STATUS_POS = 6;
static const uint32_t TC4_STATUS_POS = 8;
static const uint32_t TC5_STATUS_POS = 10;
// Lock register set to 1 when start sequence has been found (CLTU is beeing processed)
static const uint32_t LOCK_POS = 12;
/**
* UIO is 4 byte aligned. Thus offset is calculated with "true offset" / 4
* Example: PDEC_FAR = 0x2840 => Offset in virtual address space is 0xA10
@ -138,7 +152,7 @@ private:
static const uint32_t PDEC_BFREE_OFFSET = 0xA24;
static const uint32_t PDEC_BPTR_OFFSET = 0xA25;
static const uint32_t PDEC_SLEN_OFFSET = 0xA26;
static const uint32_t PDEC_MON = 0xA27;
static const uint32_t PDEC_MON_OFFSET = 0xA27;
#if BOARD_TE0720 == 1
static const int CONFIG_MEMORY_MAP_SIZE = 0x400;
@ -330,6 +344,29 @@ private:
*/
uint8_t getOddParity(uint8_t number);
/**
* brief Returns the 32-bit wide communication link control word (CLCW)
*/
uint32_t getClcw();
/**
* @brief Returns the PDEC monitor register content
*
*/
uint32_t getPdecMon();
/**
* @brief Reads and prints the CLCW. Can be useful for debugging.
*/
void printClcw();
/**
* @brief Prints monitor register information to debug console.
*/
void printPdecMon();
std::string getMonStatusString(uint32_t status);
object_id_t tcDestinationId;
AcceptsTelecommandsIF* tcDestination = nullptr;

4
mission/core/GenericFactory.cpp
View File

@ -101,18 +101,18 @@ void ObjectFactory::produceGenericObjects() {
#if OBSW_ADD_TCPIP_BRIDGE == 1
#if OBSW_USE_TCP_BRIDGE == 0
auto tmtcBridge = new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
tmtcBridge->setMaxNumberOfPacketsStored(50);
new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
sif::info << "Created UDP server for TMTC commanding with listener port " <<
udpBridge->getUdpPort() << std::endl;
#else
auto tmtcBridge = new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
tmtcBridge->setMaxNumberOfPacketsStored(50);
auto tcpServer = new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
// TCP is stream based. Use packet ID as start marker when parsing for space packets
tcpServer->setSpacePacketParsingOptions({common::PUS_PACKET_ID});
sif::info << "Created TCP server for TMTC commanding with listener port "
<< tcpServer->getTcpPort() << std::endl;
#endif /* OBSW_USE_TMTC_TCP_BRIDGE == 0 */
tmtcBridge->setMaxNumberOfPacketsStored(70);
#endif /* OBSW_ADD_TCPIP_BRIDGE == 1 */
}

2
tmtc

@ -1 +1 @@
Subproject commit dedb28497f62314498034cd87d1e2a4361b92950
Subproject commit bcec5df6e2636e3751f7a7eb103b893dc4581c10