finally it works

CMakeLists.txt

@@ -466,6 +466,7 @@ endif()
 
 if(ADD_GOMSPACE_CLIENTS)
   target_link_libraries(${OBSW_NAME} PRIVATE ${LIB_GOMSPACE_CLIENTS})
+  target_link_libraries(${LIB_EIVE_MISSION} PRIVATE ${LIB_GOMSPACE_CLIENTS})
 endif()
 
 if(EIVE_ADD_ETL_LIB)

bsp_q7s/boardtest/Q7STestTask.cpp

@@ -3,6 +3,7 @@
 #include <bsp_q7s/core/CoreController.h>
 #include <bsp_q7s/memory/FileSystemHandler.h>
 #include <bsp_q7s/xadc/Xadc.h>
+#include <fsfw/globalfunctions/arrayprinter.h>
 #include <fsfw/objectmanager/ObjectManager.h>
 #include <gps.h>
 #include <libgpsmm.h>

bsp_q7s/core/ObjectFactory.cpp

@@ -158,10 +158,10 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, Ua
 }
 
 void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher) {
-  CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH, addresses::P60DOCK);
+  CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH, addresses::P60DOCK, 500);
-  CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU1);
+  CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU1, 500);
-  CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU2);
+  CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU2, 500);
-  CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH, addresses::ACU);
+  CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH, addresses::ACU, 500);
 
   auto p60Fdir = new GomspacePowerFdir(objects::P60DOCK_HANDLER);
   P60DockHandler* p60dockhandler =

linux/csp/CspComIF.cpp

@@ -3,6 +3,8 @@
 #include <csp/drivers/can_socketcan.h>
 #include <fsfw/serialize/SerializeAdapter.h>
 #include <fsfw/serviceinterface/ServiceInterfaceStream.h>
+#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
+#include <p60pdu.h>
 
 #include "CspCookie.h"
 
@@ -65,45 +67,57 @@ ReturnValue_t CspComIF::initializeInterface(CookieIF* cookie) {
     /* Insert device information in CSP map */
     cspDeviceMap.emplace(cspAddress, vectorBuffer(maxReplyLength));
   }
-
   return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t CspComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
   int result;
-  if (cookie == NULL) {
+  if (cookie == nullptr) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }
   CspCookie* cspCookie = dynamic_cast<CspCookie*>(cookie);
-  if (cspCookie == NULL) {
+  if (cspCookie == nullptr) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 
-  /* Extract csp port and bytes to query from command buffer */
   uint8_t cspPort;
   uint16_t querySize = 0;
+  if(cspCookie->getRequest() == CspCookie::SpecialRequestTypes::DEFAULT_COM_IF) {
+    /* Extract csp port and bytes to query from command buffer */
     result = getPortAndQuerySize(&sendData, &sendLen, &cspPort, &querySize);
     if (result != HasReturnvaluesIF::RETURN_OK) {
       return result;
     }
+  } else {
+    cspPort = cspCookie->getCspPort();
+    querySize = cspCookie->getReplyLen();
+  }
   uint8_t cspAddress = cspCookie->getCspAddress();
   switch (cspPort) {
-    case (Ports::CSP_PING): {
+    case (GOMSPACE::CspPorts::CSP_PING): {
       initiatePingRequest(cspAddress, querySize);
       break;
     }
-    case (Ports::CSP_REBOOT): {
+    case (GOMSPACE::CspPorts::CSP_REBOOT): {
       csp_reboot(cspAddress);
       break;
     }
-    case (Ports::P60_PORT_GNDWDT_RESET):
+    case (GOMSPACE::CspPorts::P60_PORT_GNDWDT_RESET_ENUM):
-    case (Ports::P60_PORT_RPARAM): {
+    case (GOMSPACE::CspPorts::P60_PORT_RPARAM_ENUM): {
+      if(cspCookie->getRequest() == CspCookie::SpecialRequestTypes::GET_PDU_HK) {
+        param_index_t requestStruct{};
+        requestStruct.physaddr = cspDeviceMap[cspAddress].data();
+        if(!p60pdu_get_hk(&requestStruct, cspAddress, cspCookie->getTimeout())) {
+          return HasReturnvaluesIF::RETURN_FAILED;
+        }
+      } else {
         /* No CSP fixed port was selected. Send data to the specified port and
          * wait for querySize number of bytes */
         result = cspTransfer(cspAddress, cspPort, sendData, sendLen, querySize);
         if (result != HasReturnvaluesIF::RETURN_OK) {
           return HasReturnvaluesIF::RETURN_FAILED;
         }
+      }
       replySize = querySize;
       break;
     }

linux/csp/CspComIF.h

@@ -42,8 +42,6 @@ class CspComIF : public DeviceCommunicationIF, public SystemObject {
   ReturnValue_t cspTransfer(uint8_t cspAddress, uint8_t cspPort, const uint8_t *cmdBuffer,
                             int cmdLen, uint16_t querySize);
 
-  enum Ports { CSP_PING = 1, CSP_REBOOT = 4, P60_PORT_RPARAM = 7, P60_PORT_GNDWDT_RESET = 9 };
-
   typedef uint8_t node_t;
   using vectorBuffer = std::vector<uint8_t>;
   using VectorBufferMap = std::unordered_map<node_t, vectorBuffer>;
@@ -59,7 +57,6 @@ class CspComIF : public DeviceCommunicationIF, public SystemObject {
 
   /* Interface struct for csp protocol stack */
   csp_iface_t csp_if;
-
   char canInterface[5] = "can0";
   int bitrate = 1000;
 

linux/csp/CspCookie.cpp

@@ -1,10 +1,38 @@
 #include "CspCookie.h"
 
-CspCookie::CspCookie(uint16_t maxReplyLength_, uint8_t cspAddress_)
+CspCookie::CspCookie(uint16_t maxReplyLength_, uint8_t cspAddress_, uint32_t timeoutMs)
-    : maxReplyLength(maxReplyLength_), cspAddress(cspAddress_) {}
+    : maxReplyLength(maxReplyLength_), cspAddress(cspAddress_), timeoutMs(timeoutMs),
+      reqType(DEFAULT_COM_IF) {}
 
 CspCookie::~CspCookie() {}
 
 uint16_t CspCookie::getMaxReplyLength() { return maxReplyLength; }
 
-uint8_t CspCookie::getCspAddress() { return cspAddress; }
+uint8_t CspCookie::getCspAddress() {
+  return cspAddress;
+}
+
+CspCookie::SpecialRequestTypes CspCookie::getRequest() const {
+  return reqType;
+}
+
+void CspCookie::setRequest(SpecialRequestTypes request, size_t replyLen_) {
+  reqType = request;
+  replyLen = replyLen_;
+}
+
+uint8_t CspCookie::getCspPort() const {
+  return cspPort;
+}
+
+uint32_t CspCookie::getTimeout() const {
+  return timeoutMs;
+}
+
+void CspCookie::setCspPort(uint8_t port) {
+  cspPort = port;
+}
+
+size_t CspCookie::getReplyLen() const {
+  return replyLen;
+}

linux/csp/CspCookie.h

@@ -4,6 +4,7 @@
 #include <fsfw/devicehandlers/CookieIF.h>
 
 #include <cstdint>
+#include <cstddef>
 
 /**
  * @brief	This is the cookie for devices supporting the CSP (CubeSat Space
@@ -12,15 +13,35 @@
  */
 class CspCookie : public CookieIF {
  public:
-  CspCookie(uint16_t maxReplyLength_, uint8_t cspAddress_);
+  enum SpecialRequestTypes {
+    DEFAULT_COM_IF,
+    GET_PDU_HK,
+    GET_PDU_CONFIG,
+    GET_ACU_HK,
+    GET_ACU_CONFIG,
+    GET_P60DOCK_HK,
+    GET_P60DOCK_CONFIG
+  };
+
+  CspCookie(uint16_t maxReplyLength_, uint8_t cspAddress_, uint32_t timeoutMs);
   virtual ~CspCookie();
 
+  void setCspPort(uint8_t port);
+  uint8_t getCspPort() const;
   uint16_t getMaxReplyLength();
+  SpecialRequestTypes getRequest() const;
+  void setRequest(SpecialRequestTypes request, size_t replyLen);
+  size_t getReplyLen() const;
   uint8_t getCspAddress();
+  uint32_t getTimeout() const;
 
  private:
+  uint8_t cspPort;
   uint16_t maxReplyLength;
   uint8_t cspAddress;
+  size_t replyLen = 0;
+  uint32_t timeoutMs;
+  SpecialRequestTypes reqType;
 };
 
 #endif /* LINUX_CSP_CSPCOOKIE_H_ */

mission/devices/GomspaceDeviceHandler.cpp

@@ -2,9 +2,13 @@
 
 #include <common/config/commonObjects.h>
 #include <fsfw/datapool/PoolReadGuard.h>
+#include <fsfw/globalfunctions/arrayprinter.h>
+#include <linux/csp/CspComIF.h>
+#include <linux/csp/CspCookie.h>
 
 #include "devicedefinitions/GomSpacePackets.h"
 #include "devicedefinitions/powerDefinitions.h"
+#include <cassert>
 
 using namespace GOMSPACE;
 
@@ -426,8 +430,13 @@ ReturnValue_t GomspaceDeviceHandler::generateResetWatchdogCmd() {
 }
 
 ReturnValue_t GomspaceDeviceHandler::generateRequestFullTableCmd(uint8_t tableId,
-                                                                 uint16_t hkTableReplySize) {
+                                                                 uint16_t tableReplySize) {
-  uint16_t querySize = hkTableReplySize;
+  uint16_t querySize = tableReplySize;
+  if(getObjectId() == objects::PDU1_HANDLER or getObjectId() == objects::PDU2_HANDLER) {
+    auto* cspCookie = dynamic_cast<CspCookie*>(comCookie);
+    cspCookie->setRequest(CspCookie::SpecialRequestTypes::GET_PDU_HK, tableReplySize);
+    cspCookie->setCspPort(GOMSPACE::CspPorts::P60_PORT_RPARAM_ENUM);
+  } else {
     RequestFullTableCommand requestFullTableCommand(querySize, tableId);
 
     size_t cspPacketLen = 0;
@@ -442,6 +451,8 @@ ReturnValue_t GomspaceDeviceHandler::generateRequestFullTableCmd(uint8_t tableId
     }
     rawPacket = cspPacket;
     rawPacketLen = cspPacketLen;
+  }
+
   rememberRequestedSize = querySize;
   rememberCommandId = GOMSPACE::REQUEST_HK_TABLE;
   return RETURN_OK;
@@ -458,7 +469,6 @@ ReturnValue_t GomspaceDeviceHandler::printStatus(DeviceCommandId_t cmd) {
 
 ReturnValue_t GomspaceDeviceHandler::parsePduHkTable(PDU::PduCoreHk& coreHk, PDU::PduAuxHk& auxHk,
                                                      const uint8_t* packet) {
-  uint16_t dataOffset = 0;
   PoolReadGuard pg0(&coreHk);
   PoolReadGuard pg1(&auxHk);
   if (pg0.getReadResult() != HasReturnvaluesIF::RETURN_OK or
@@ -468,92 +478,51 @@ ReturnValue_t GomspaceDeviceHandler::parsePduHkTable(PDU::PduCoreHk& coreHk, PDU
   }
   /* Fist 10 bytes contain the gomspace header. Each variable is preceded by the 16-bit table
    * address. */
-  dataOffset += 12;
+  //dataOffset += 12;
   for (uint8_t idx = 0; idx < PDU::CHANNELS_LEN; idx++) {
-    coreHk.currents[idx] = (packet[dataOffset] << 8) | packet[dataOffset + 1];
+    coreHk.currents[idx] = as<int16_t>(packet + (idx * 2));
-    dataOffset += 4;
   }
   for (uint8_t idx = 0; idx < PDU::CHANNELS_LEN; idx++) {
-    coreHk.voltages[idx] = (packet[dataOffset] << 8) | packet[dataOffset + 1];
+    coreHk.voltages[idx] = as<uint16_t>(packet + 0x12 + (idx*2));
-    dataOffset += 4;
   }
-
+  auxHk.vcc.value = as<int16_t>(packet + 0x24);
-  auxHk.vcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+  auxHk.vbat.value = as<int16_t>(packet + 0x26);
-  dataOffset += 4;
+  coreHk.temperature = as<int16_t>(packet + 0x28) * 0.1;
-  auxHk.vbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  coreHk.temperature =
-      static_cast<int16_t>(*(packet + dataOffset) << 8 | *(packet + dataOffset + 1)) * 0.1;
-  dataOffset += 4;
 
   for (uint8_t idx = 0; idx < 3; idx++) {
-    auxHk.converterEnable[idx] = packet[dataOffset];
+    auxHk.converterEnable[idx] = packet[0x2a + idx];
-    dataOffset += 3;
   }
 
   for (uint8_t idx = 0; idx < PDU::CHANNELS_LEN; idx++) {
-    coreHk.outputEnables[idx] = packet[dataOffset];
+    coreHk.outputEnables[idx] = packet[0x2e + idx];
-    dataOffset += 3;
   }
-
+  auxHk.bootcause = as<uint32_t>(packet + 0x38);
-  auxHk.bootcause = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
+  coreHk.bootcount = as<uint32_t>(packet + 0x3c);
-                    *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
+  auxHk.uptime = as<uint32_t>(packet + 0x40);
-  dataOffset += 6;
+  auxHk.resetcause = as<uint16_t>(packet + 0x44);
-  coreHk.bootcount = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
+  coreHk.battMode = *(packet + 0x46);
-                     *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
-  dataOffset += 6;
-  auxHk.uptime = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
-                 *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
-  dataOffset += 6;
-  auxHk.resetcause = *(packet + dataOffset + 1) << 8 | *(packet + dataOffset);
-  dataOffset += 4;
-  coreHk.battMode = *(packet + dataOffset);
-  /* +10 because here begins the second gomspace csp packet */
-  dataOffset += 3 + 10;
 
   for (uint8_t idx = 0; idx < PDU::CHANNELS_LEN; idx++) {
-    auxHk.latchups[idx] = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    auxHk.latchups[idx] = as<uint16_t>(packet + 0x48 + (idx*2));
-    dataOffset += 4;
   }
 
   for (uint8_t idx = 0; idx < PDU::DEVICES_NUM; idx++) {
-    auxHk.deviceTypes[idx] = *(packet + dataOffset);
+    auxHk.deviceTypes[idx] = *(packet + 0x5a + idx);
-    dataOffset += 3;
   }
   for (uint8_t idx = 0; idx < PDU::DEVICES_NUM; idx++) {
-    auxHk.devicesStatus[idx] = *(packet + dataOffset);
+    auxHk.devicesStatus[idx] = *(packet + 0x62 + idx);
-    dataOffset += 3;
   }
 
-  auxHk.gndWdtReboots = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
+  auxHk.gndWdtReboots = as<uint32_t>(packet + 0x6c);
-                        *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
+  auxHk.i2cWdtReboots = as<uint32_t>(packet + 0x70);
-  dataOffset += 6;
+  auxHk.canWdtReboots = as<uint32_t>(packet + 0x74);
-  auxHk.i2cWdtReboots = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
+  auxHk.csp1WdtReboots = as<uint32_t>(packet + 0x78);
-                        *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
+  auxHk.csp2WdtReboots = as<uint32_t>(packet + 0x78 + 4);
-  dataOffset += 6;
+  auxHk.groundWatchdogSecondsLeft = as<uint32_t>(packet + 0x80);
-  auxHk.canWdtReboots = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
+  auxHk.i2cWatchdogSecondsLeft = as<uint32_t>(packet + 0x84);
-                        *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
+  auxHk.canWatchdogSecondsLeft = as<uint32_t>(packet + 0x88);
-  dataOffset += 6;
+  auxHk.csp1WatchdogPingsLeft = *(packet + 0x8c);
-  auxHk.csp1WdtReboots = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
+  auxHk.csp2WatchdogPingsLeft = *(packet + 0x8c + 1);
-                         *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
-  dataOffset += 6;
-  auxHk.csp2WdtReboots = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
-                         *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
-  dataOffset += 6;
-  auxHk.groundWatchdogSecondsLeft = *(packet + dataOffset) << 24 |
-                                    *(packet + dataOffset + 1) << 16 |
-                                    *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
-  dataOffset += 6;
-  auxHk.i2cWatchdogSecondsLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
-                                 *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
-  dataOffset += 6;
-  auxHk.canWatchdogSecondsLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
-                                 *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
-  dataOffset += 6;
-  auxHk.csp1WatchdogPingsLeft = *(packet + dataOffset);
-  dataOffset += 3;
-  auxHk.csp2WatchdogPingsLeft = *(packet + dataOffset);
-
   coreHk.setChanged(true);
   if (not coreHk.isValid()) {
     coreHk.setValidity(true, true);

mission/devices/GomspaceDeviceHandler.h

@@ -82,7 +82,7 @@ class GomspaceDeviceHandler : public DeviceHandlerBase {
    * @brief   The command to generate a request to receive the full housekeeping table is device
    *          specific. Thus the child has to build this command.
    */
-  virtual ReturnValue_t generateRequestFullTableCmd(uint8_t tableId, uint16_t hkTableSize);
+  virtual ReturnValue_t generateRequestFullTableCmd(uint8_t tableId, uint16_t tableSize);
 
   /**
    * This command handles printing the HK table to the console. This is useful for debugging
@@ -115,6 +115,7 @@ class GomspaceDeviceHandler : public DeviceHandlerBase {
                                   LocalDataPoolManager &poolManager,
                                   std::array<uint8_t, PDU::CHANNELS_LEN> initOutEnb);
 
+  template<typename T> T as(const uint8_t*);
   static bool validTableId(uint8_t id);
 
  private:
@@ -160,4 +161,9 @@ class GomspaceDeviceHandler : public DeviceHandlerBase {
   ReturnValue_t generateResetWatchdogCmd();
 };
 
+template<typename T>
+inline T GomspaceDeviceHandler::as(const uint8_t* ptr) {
+  return *(reinterpret_cast<const T*>(ptr));
+}
+
 #endif /* MISSION_DEVICES_GOMSPACEDEVICEHANDLER_H_ */

mission/devices/PDU1Handler.cpp

@@ -2,13 +2,14 @@
 
 #include <fsfw/datapool/PoolReadGuard.h>
 #include <mission/devices/devicedefinitions/GomSpacePackets.h>
+#include <p60pdu_hk.h>
 
 #include "devices/powerSwitcherList.h"
 
 PDU1Handler::PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
                          FailureIsolationBase *customFdir)
     : GomspaceDeviceHandler(objectId, comIF, comCookie, customFdir, PDU::MAX_CONFIGTABLE_ADDRESS,
-                            PDU::MAX_HKTABLE_ADDRESS, PDU::HK_TABLE_REPLY_SIZE),
+                            PDU::MAX_HKTABLE_ADDRESS, P60PDU_HK_SIZE),
       coreHk(this),
       auxHk(this) {}
 

mission/devices/PDU2Handler.cpp

@@ -2,13 +2,14 @@
 
 #include <fsfw/datapool/PoolReadGuard.h>
 #include <mission/devices/devicedefinitions/GomSpacePackets.h>
+#include <p60pdu_hk.h>
 
 #include "devices/powerSwitcherList.h"
 
 PDU2Handler::PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
                          FailureIsolationBase *customFdir)
     : GomspaceDeviceHandler(objectId, comIF, comCookie, customFdir, PDU::MAX_CONFIGTABLE_ADDRESS,
-                            PDU::MAX_HKTABLE_ADDRESS, PDU::HK_TABLE_REPLY_SIZE),
+                            PDU::MAX_HKTABLE_ADDRESS, P60PDU_HK_SIZE),
       coreHk(this),
       auxHk(this) {}
 

mission/devices/devicedefinitions/GomspaceDefinitions.h

@@ -12,6 +12,13 @@
 
 namespace GOMSPACE {
 
+enum CspPorts: uint8_t {
+  CSP_PING = 1,
+  CSP_REBOOT = 4,
+  P60_PORT_RPARAM_ENUM = 7,
+  P60_PORT_GNDWDT_RESET_ENUM = 9
+};
+
 enum class Pdu { PDU1, PDU2 };
 
 using ChannelSwitchHook = void (*)(Pdu pdu, uint8_t channel, bool on, void* args);
@@ -466,6 +473,12 @@ class PduAuxHk : public StaticLocalDataSet<36> {
       lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU_WDT_CSP_LEFT2, this);
 };
 
+//class HkWrapper {
+//public:
+//  HkWrapper(PduCoreHk& coreHk, PduAuxHk& auxHk) {
+//
+//  }
+//};
 }  // namespace PDU
 
 namespace PDU1 {

thirdparty/gomspace-sw

@@ -1 +1 @@
-Subproject commit 6b9db5e60cadcb9bbe1712f0f1b50aede2cbf7be
+Subproject commit 0b66e23a8900e315f01cfc52088adad10bdabf26