CHANGELOG.md

@@ -10,6 +10,13 @@ list yields a list of all related PRs for each release.
 
 # [unreleased]
 
+## Added
+
+- PLOC Supervisor Update: Update SW to use newest PLOC SUPV version by TAS
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/316
+
+# [v1.16.0] 18.11.2022
+
 - It is now possible to compile Linux components for the hosted build conditionally
   PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/322
 - ACS Subsystem. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/231

CMakeLists.txt

@@ -10,7 +10,7 @@
 cmake_minimum_required(VERSION 3.13)
 
 set(OBSW_VERSION_MAJOR_IF_GIT_FAILS 1)
-set(OBSW_VERSION_MINOR_IF_GIT_FAILS 15)
+set(OBSW_VERSION_MINOR_IF_GIT_FAILS 16)
 set(OBSW_VERSION_REVISION_IF_GIT_FAILS 0)
 
 # set(CMAKE_VERBOSE TRUE)
@@ -141,7 +141,7 @@ set(OBSW_ADD_TMP_DEVICES
     ${INIT_VAL}
     CACHE STRING "Add TMP devices")
 set(OBSW_ADD_GOMSPACE_PCDU
-    ${INIT_VAL}
+    1
     CACHE STRING "Add GomSpace PCDU modules")
 set(OBSW_ADD_RW
     ${INIT_VAL}
@@ -296,6 +296,9 @@ if(TGT_BSP)
 else()
   # Required by FSFW library
   set(FSFW_CONFIG_PATH "${BSP_PATH}/fsfwconfig")
+  if(UNIX)
+    set(EIVE_ADD_LINUX_FILES ON)
+  endif()
 endif()
 
 # Configuration files

README.md

@@ -1055,6 +1055,29 @@ Get fill count:
 xsc_scratch read | wc -c
 ```
 
+## Custom device names in Linux with the `udev` module
+
+You can assign custom device names using the Linux `udev` system.
+This works by specifying a rules file inside the `/etc/udev/rules.d` folder
+which creates a SYMLINK if certain device properties are true.
+
+Each rule is a new line inside a rules file.
+For example, the rule
+
+```txt
+SUBSYSTEM=="tty", ATTRS{interface}=="Dual RS232-HS", ATTRS{bInterfaceNumber}=="01", SYMLINK+="ploc_supv
+```
+
+Will create a symlink `/dev/ploc_supv` if a connected USB device has the
+same `interface` and `bInterfaceNumber` properties as shown above.
+
+You can list the properties for a given connected device using `udevadm`.
+For example, you can do this for a connected example device `/dev/ttyUSB0`
+by using
+
+```txt
+udevadm info -a /dev/ttyUSB0
+```
 
 ## Using `system` when debugging
 

bsp_hosted/CMakeLists.txt

@@ -1,4 +1,4 @@
-target_sources(${OBSW_NAME} PUBLIC InitMission.cpp main.cpp ObjectFactory.cpp)
+target_sources(${OBSW_NAME} PUBLIC scheduling.cpp main.cpp ObjectFactory.cpp)
 
 add_subdirectory(fsfwconfig)
 add_subdirectory(boardconfig)

bsp_hosted/InitMission.h

@@ -1,9 +0,0 @@
-#ifndef BSP_LINUX_INITMISSION_H_
-#define BSP_LINUX_INITMISSION_H_
-
-namespace initmission {
-void initMission();
-void initTasks();
-};  // namespace initmission
-
-#endif /* BSP_LINUX_INITMISSION_H_ */

bsp_hosted/OBSWConfig.h.in

@@ -15,7 +15,7 @@
 
 #define OBSW_ENABLE_TIMERS                          1
 #define OBSW_ADD_STAR_TRACKER                       0
-#define OBSW_ADD_PLOC_SUPERVISOR                    0
+#define OBSW_ADD_PLOC_SUPERVISOR                    1
 #define OBSW_ADD_PLOC_MPSOC                         0
 #define OBSW_ADD_SUN_SENSORS                        0
 #define OBSW_ADD_MGT                                0
@@ -24,6 +24,7 @@
 #define OBSW_ADD_GPS_0                              0
 #define OBSW_ADD_GPS_1                              0
 #define OBSW_ADD_RW                                 0
+#define OBSW_DEBUG_TMP1075                          0
 #define OBSW_ADD_BPX_BATTERY_HANDLER                0
 #define OBSW_ADD_RTD_DEVICES                        0
 #define OBSW_ADD_PL_PCDU                            0
@@ -100,6 +101,13 @@
 /*******************************************************************/
 /** CMake Defines                                                  */
 /*******************************************************************/
+
+// Use TCP instead of UDP for the TMTC bridge. This allows using the TMTC client locally
+// because UDP packets are not allowed in the VPN
+// This will cause the OBSW to initialize the TMTC bridge responsible for exchanging data with the
+// CCSDS IP Cores. 
+#define OBSW_USE_TMTC_TCP_BRIDGE            0
+
 #cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER
 
 #cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@

bsp_hosted/ObjectFactory.cpp

@@ -1,16 +1,19 @@
 #include "ObjectFactory.h"
 
+#include <fsfw/power/DummyPowerSwitcher.h>
 #include <fsfw/tmtcservices/CommandingServiceBase.h>
 #include <fsfw/tmtcservices/PusServiceBase.h>
 #include <mission/controller/ThermalController.h>
 #include <mission/core/GenericFactory.h>
 #include <mission/tmtc/TmFunnelHandler.h>
 #include <objects/systemObjectList.h>
-#include <tmtc/pusIds.h>
 
 #include "OBSWConfig.h"
+#include "devConf.h"
 #include "eive/definitions.h"
+#include "fsfw/platform.h"
 #include "fsfw_tests/integration/task/TestTask.h"
+#include "tmtc/pusIds.h"
 
 #if OBSW_USE_TMTC_TCP_BRIDGE == 0
 #include "fsfw/osal/common/UdpTcPollingTask.h"
@@ -47,12 +50,25 @@
 #include "dummies/helpers.h"
 #include "mission/utility/GlobalConfigHandler.h"
 
+#ifdef PLATFORM_UNIX
+#include <fsfw_hal/linux/serial/SerialComIF.h>
+#include <fsfw_hal/linux/serial/SerialCookie.h>
+
+#include "devices/gpioIds.h"
+#include "fsfw_hal/linux/gpio/Gpio.h"
+#include "linux/devices/ploc/PlocMPSoCHandler.h"
+#include "linux/devices/ploc/PlocMPSoCHelper.h"
+#include "linux/devices/ploc/PlocSupervisorHandler.h"
+#include "linux/devices/ploc/PlocSupvUartMan.h"
+#include "test/gpio/DummyGpioIF.h"
+#endif
+
 void Factory::setStaticFrameworkObjectIds() {
   PusServiceBase::PUS_DISTRIBUTOR = objects::PUS_PACKET_DISTRIBUTOR;
-  PusServiceBase::PACKET_DESTINATION = objects::TM_FUNNEL;
+  PusServiceBase::PACKET_DESTINATION = objects::PUS_TM_FUNNEL;
 
   CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
-  CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
+  CommandingServiceBase::defaultPacketDestination = objects::PUS_TM_FUNNEL;
 
   VerificationReporter::DEFAULT_RECEIVER = objects::PUS_SERVICE_1_VERIFICATION;
 }
@@ -63,10 +79,36 @@ void ObjectFactory::produce(void* args) {
   CfdpTmFunnel* cfdpFunnel;
   ObjectFactory::produceGenericObjects(nullptr, &pusFunnel, &cfdpFunnel);
 
+  DummyGpioIF* dummyGpioIF = new DummyGpioIF();
+  auto* dummySwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
+  static_cast<void>(dummyGpioIF);
+#ifdef PLATFORM_UNIX
+  new SerialComIF(objects::UART_COM_IF);
+#if OBSW_ADD_PLOC_MPSOC == 1
+  std::string mpscoDev = "";
+  auto mpsocCookie = new UartCookie(objects::PLOC_MPSOC_HANDLER, mpscoDev, uart::PLOC_MPSOC_BAUD,
+                                    mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
+  mpsocCookie->setNoFixedSizeReply();
+  auto plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
+  new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie,
+                       plocMpsocHelper, Gpio(gpioIds::ENABLE_MPSOC_UART, dummyGpioIF),
+                       objects::PLOC_SUPERVISOR_HANDLER);
+#endif /* OBSW_ADD_PLOC_MPSOC == 1 */
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
+  std::string plocSupvString = "/dev/ploc_supv";
+  auto supervisorCookie =
+      new SerialCookie(objects::PLOC_SUPERVISOR_HANDLER, plocSupvString, uart::PLOC_SUPV_BAUD,
+                       supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
+  supervisorCookie->setNoFixedSizeReply();
+  auto supvHelper = new PlocSupvUartManager(objects::PLOC_SUPERVISOR_HELPER);
+  new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, supervisorCookie,
+                            Gpio(gpioIds::ENABLE_SUPV_UART, dummyGpioIF), pcdu::PDU1_CH6_PLOC_12V,
+                            *supvHelper);
+#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
+#endif
+
   dummy::DummyCfg cfg;
-  dummy::createDummies(cfg);
+  dummy::createDummies(cfg, *dummySwitcher);
-  new TemperatureSensorsDummy();
-  new SusDummy();
   new ThermalController(objects::THERMAL_CONTROLLER);
   new TestTask(objects::TEST_TASK);
 }

bsp_hosted/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 83 translations.
+ * @brief    Auto-generated event translation file. Contains 239 translations.
  * @details
- * Generated on: 2021-05-17 19:49:55
+ * Generated on: 2022-11-16 15:25:08
  */
 #include "translateEvents.h"
 
@@ -34,6 +34,7 @@ const char *DEVICE_UNREQUESTED_REPLY_STRING = "DEVICE_UNREQUESTED_REPLY";
 const char *INVALID_DEVICE_COMMAND_STRING = "INVALID_DEVICE_COMMAND";
 const char *MONITORING_LIMIT_EXCEEDED_STRING = "MONITORING_LIMIT_EXCEEDED";
 const char *MONITORING_AMBIGUOUS_STRING = "MONITORING_AMBIGUOUS";
+const char *DEVICE_WANTS_HARD_REBOOT_STRING = "DEVICE_WANTS_HARD_REBOOT";
 const char *FUSE_CURRENT_HIGH_STRING = "FUSE_CURRENT_HIGH";
 const char *FUSE_WENT_OFF_STRING = "FUSE_WENT_OFF";
 const char *POWER_ABOVE_HIGH_LIMIT_STRING = "POWER_ABOVE_HIGH_LIMIT";
@@ -59,7 +60,6 @@ const char *MONITOR_CHANGED_STATE_STRING = "MONITOR_CHANGED_STATE";
 const char *VALUE_BELOW_LOW_LIMIT_STRING = "VALUE_BELOW_LOW_LIMIT";
 const char *VALUE_ABOVE_HIGH_LIMIT_STRING = "VALUE_ABOVE_HIGH_LIMIT";
 const char *VALUE_OUT_OF_RANGE_STRING = "VALUE_OUT_OF_RANGE";
-const char *SWITCHING_TM_FAILED_STRING = "SWITCHING_TM_FAILED";
 const char *CHANGING_MODE_STRING = "CHANGING_MODE";
 const char *MODE_INFO_STRING = "MODE_INFO";
 const char *FALLBACK_FAILED_STRING = "FALLBACK_FAILED";
@@ -75,6 +75,7 @@ const char *OVERWRITING_HEALTH_STRING = "OVERWRITING_HEALTH";
 const char *TRYING_RECOVERY_STRING = "TRYING_RECOVERY";
 const char *RECOVERY_STEP_STRING = "RECOVERY_STEP";
 const char *RECOVERY_DONE_STRING = "RECOVERY_DONE";
+const char *HANDLE_PACKET_FAILED_STRING = "HANDLE_PACKET_FAILED";
 const char *RF_AVAILABLE_STRING = "RF_AVAILABLE";
 const char *RF_LOST_STRING = "RF_LOST";
 const char *BIT_LOCK_STRING = "BIT_LOCK";
@@ -82,15 +83,166 @@ const char *BIT_LOCK_LOST_STRING = "BIT_LOCK_LOST";
 const char *FRAME_PROCESSING_FAILED_STRING = "FRAME_PROCESSING_FAILED";
 const char *CLOCK_SET_STRING = "CLOCK_SET";
 const char *CLOCK_SET_FAILURE_STRING = "CLOCK_SET_FAILURE";
+const char *TC_DELETION_FAILED_STRING = "TC_DELETION_FAILED";
 const char *TEST_STRING = "TEST";
 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 *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
+const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
+const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
+const char *FDIR_REACTION_IGNORED_STRING = "FDIR_REACTION_IGNORED";
+const char *GPIO_PULL_HIGH_FAILED_STRING = "GPIO_PULL_HIGH_FAILED";
+const char *GPIO_PULL_LOW_FAILED_STRING = "GPIO_PULL_LOW_FAILED";
+const char *HEATER_WENT_ON_STRING = "HEATER_WENT_ON";
+const char *HEATER_WENT_OFF_STRING = "HEATER_WENT_OFF";
+const char *SWITCH_ALREADY_ON_STRING = "SWITCH_ALREADY_ON";
+const char *SWITCH_ALREADY_OFF_STRING = "SWITCH_ALREADY_OFF";
+const char *MAIN_SWITCH_TIMEOUT_STRING = "MAIN_SWITCH_TIMEOUT";
+const char *FAULTY_HEATER_WAS_ON_STRING = "FAULTY_HEATER_WAS_ON";
+const char *BURN_PHASE_START_STRING = "BURN_PHASE_START";
+const char *BURN_PHASE_DONE_STRING = "BURN_PHASE_DONE";
+const char *MAIN_SWITCH_ON_TIMEOUT_STRING = "MAIN_SWITCH_ON_TIMEOUT";
+const char *MAIN_SWITCH_OFF_TIMEOUT_STRING = "MAIN_SWITCH_OFF_TIMEOUT";
+const char *DEPL_SA1_GPIO_SWTICH_ON_FAILED_STRING = "DEPL_SA1_GPIO_SWTICH_ON_FAILED";
+const char *DEPL_SA2_GPIO_SWTICH_ON_FAILED_STRING = "DEPL_SA2_GPIO_SWTICH_ON_FAILED";
+const char *DEPL_SA1_GPIO_SWTICH_OFF_FAILED_STRING = "DEPL_SA1_GPIO_SWTICH_OFF_FAILED";
+const char *DEPL_SA2_GPIO_SWTICH_OFF_FAILED_STRING = "DEPL_SA2_GPIO_SWTICH_OFF_FAILED";
+const char *AUTONOMOUS_DEPLOYMENT_COMPLETED_STRING = "AUTONOMOUS_DEPLOYMENT_COMPLETED";
 const char *MEMORY_READ_RPT_CRC_FAILURE_STRING = "MEMORY_READ_RPT_CRC_FAILURE";
 const char *ACK_FAILURE_STRING = "ACK_FAILURE";
 const char *EXE_FAILURE_STRING = "EXE_FAILURE";
-const char *CRC_FAILURE_EVENT_STRING = "CRC_FAILURE_EVENT";
+const char *MPSOC_HANDLER_CRC_FAILURE_STRING = "MPSOC_HANDLER_CRC_FAILURE";
+const char *MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH";
+const char *MPSOC_SHUTDOWN_FAILED_STRING = "MPSOC_SHUTDOWN_FAILED";
+const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE";
+const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE";
+const char *SELF_TEST_ADC_FAILURE_STRING = "SELF_TEST_ADC_FAILURE";
+const char *SELF_TEST_PWM_FAILURE_STRING = "SELF_TEST_PWM_FAILURE";
+const char *SELF_TEST_TC_FAILURE_STRING = "SELF_TEST_TC_FAILURE";
+const char *SELF_TEST_MTM_RANGE_FAILURE_STRING = "SELF_TEST_MTM_RANGE_FAILURE";
+const char *SELF_TEST_COIL_CURRENT_FAILURE_STRING = "SELF_TEST_COIL_CURRENT_FAILURE";
+const char *INVALID_ERROR_BYTE_STRING = "INVALID_ERROR_BYTE";
+const char *ERROR_STATE_STRING = "ERROR_STATE";
+const char *RESET_OCCURED_STRING = "RESET_OCCURED";
+const char *BOOTING_FIRMWARE_FAILED_STRING = "BOOTING_FIRMWARE_FAILED";
+const char *BOOTING_BOOTLOADER_FAILED_STRING = "BOOTING_BOOTLOADER_FAILED";
+const char *SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING = "SUPV_MEMORY_READ_RPT_CRC_FAILURE";
+const char *SUPV_UNKNOWN_TM_STRING = "SUPV_UNKNOWN_TM";
+const char *SUPV_UNINIMPLEMENTED_TM_STRING = "SUPV_UNINIMPLEMENTED_TM";
+const char *SUPV_ACK_FAILURE_STRING = "SUPV_ACK_FAILURE";
+const char *SUPV_EXE_FAILURE_STRING = "SUPV_EXE_FAILURE";
+const char *SUPV_CRC_FAILURE_EVENT_STRING = "SUPV_CRC_FAILURE_EVENT";
+const char *SUPV_HELPER_EXECUTING_STRING = "SUPV_HELPER_EXECUTING";
+const char *SUPV_MPSOC_SHUWDOWN_BUILD_FAILED_STRING = "SUPV_MPSOC_SHUWDOWN_BUILD_FAILED";
+const char *SANITIZATION_FAILED_STRING = "SANITIZATION_FAILED";
+const char *MOUNTED_SD_CARD_STRING = "MOUNTED_SD_CARD";
+const char *SEND_MRAM_DUMP_FAILED_STRING = "SEND_MRAM_DUMP_FAILED";
+const char *MRAM_DUMP_FAILED_STRING = "MRAM_DUMP_FAILED";
+const char *MRAM_DUMP_FINISHED_STRING = "MRAM_DUMP_FINISHED";
+const char *INVALID_TC_FRAME_STRING = "INVALID_TC_FRAME";
+const char *INVALID_FAR_STRING = "INVALID_FAR";
+const char *CARRIER_LOCK_STRING = "CARRIER_LOCK";
+const char *BIT_LOCK_PDEC_STRING = "BIT_LOCK_PDEC";
+const char *LOST_CARRIER_LOCK_PDEC_STRING = "LOST_CARRIER_LOCK_PDEC";
+const char *LOST_BIT_LOCK_PDEC_STRING = "LOST_BIT_LOCK_PDEC";
+const char *POLL_ERROR_PDEC_STRING = "POLL_ERROR_PDEC";
+const char *IMAGE_UPLOAD_FAILED_STRING = "IMAGE_UPLOAD_FAILED";
+const char *IMAGE_DOWNLOAD_FAILED_STRING = "IMAGE_DOWNLOAD_FAILED";
+const char *IMAGE_UPLOAD_SUCCESSFUL_STRING = "IMAGE_UPLOAD_SUCCESSFUL";
+const char *IMAGE_DOWNLOAD_SUCCESSFUL_STRING = "IMAGE_DOWNLOAD_SUCCESSFUL";
+const char *FLASH_WRITE_SUCCESSFUL_STRING = "FLASH_WRITE_SUCCESSFUL";
+const char *FLASH_READ_SUCCESSFUL_STRING = "FLASH_READ_SUCCESSFUL";
+const char *FLASH_READ_FAILED_STRING = "FLASH_READ_FAILED";
+const char *FIRMWARE_UPDATE_SUCCESSFUL_STRING = "FIRMWARE_UPDATE_SUCCESSFUL";
+const char *FIRMWARE_UPDATE_FAILED_STRING = "FIRMWARE_UPDATE_FAILED";
+const char *STR_HELPER_READING_REPLY_FAILED_STRING = "STR_HELPER_READING_REPLY_FAILED";
+const char *STR_HELPER_COM_ERROR_STRING = "STR_HELPER_COM_ERROR";
+const char *STR_HELPER_NO_REPLY_STRING = "STR_HELPER_NO_REPLY";
+const char *STR_HELPER_DEC_ERROR_STRING = "STR_HELPER_DEC_ERROR";
+const char *POSITION_MISMATCH_STRING = "POSITION_MISMATCH";
+const char *STR_HELPER_FILE_NOT_EXISTS_STRING = "STR_HELPER_FILE_NOT_EXISTS";
+const char *STR_HELPER_SENDING_PACKET_FAILED_STRING = "STR_HELPER_SENDING_PACKET_FAILED";
+const char *STR_HELPER_REQUESTING_MSG_FAILED_STRING = "STR_HELPER_REQUESTING_MSG_FAILED";
+const char *MPSOC_FLASH_WRITE_FAILED_STRING = "MPSOC_FLASH_WRITE_FAILED";
+const char *MPSOC_FLASH_WRITE_SUCCESSFUL_STRING = "MPSOC_FLASH_WRITE_SUCCESSFUL";
+const char *MPSOC_SENDING_COMMAND_FAILED_STRING = "MPSOC_SENDING_COMMAND_FAILED";
+const char *MPSOC_HELPER_REQUESTING_REPLY_FAILED_STRING = "MPSOC_HELPER_REQUESTING_REPLY_FAILED";
+const char *MPSOC_HELPER_READING_REPLY_FAILED_STRING = "MPSOC_HELPER_READING_REPLY_FAILED";
+const char *MPSOC_MISSING_ACK_STRING = "MPSOC_MISSING_ACK";
+const char *MPSOC_MISSING_EXE_STRING = "MPSOC_MISSING_EXE";
+const char *MPSOC_ACK_FAILURE_REPORT_STRING = "MPSOC_ACK_FAILURE_REPORT";
+const char *MPSOC_EXE_FAILURE_REPORT_STRING = "MPSOC_EXE_FAILURE_REPORT";
+const char *MPSOC_ACK_INVALID_APID_STRING = "MPSOC_ACK_INVALID_APID";
+const char *MPSOC_EXE_INVALID_APID_STRING = "MPSOC_EXE_INVALID_APID";
+const char *MPSOC_HELPER_SEQ_CNT_MISMATCH_STRING = "MPSOC_HELPER_SEQ_CNT_MISMATCH";
+const char *MPSOC_TM_SIZE_ERROR_STRING = "MPSOC_TM_SIZE_ERROR";
+const char *MPSOC_TM_CRC_MISSMATCH_STRING = "MPSOC_TM_CRC_MISSMATCH";
+const char *TRANSITION_BACK_TO_OFF_STRING = "TRANSITION_BACK_TO_OFF";
+const char *NEG_V_OUT_OF_BOUNDS_STRING = "NEG_V_OUT_OF_BOUNDS";
+const char *U_DRO_OUT_OF_BOUNDS_STRING = "U_DRO_OUT_OF_BOUNDS";
+const char *I_DRO_OUT_OF_BOUNDS_STRING = "I_DRO_OUT_OF_BOUNDS";
+const char *U_X8_OUT_OF_BOUNDS_STRING = "U_X8_OUT_OF_BOUNDS";
+const char *I_X8_OUT_OF_BOUNDS_STRING = "I_X8_OUT_OF_BOUNDS";
+const char *U_TX_OUT_OF_BOUNDS_STRING = "U_TX_OUT_OF_BOUNDS";
+const char *I_TX_OUT_OF_BOUNDS_STRING = "I_TX_OUT_OF_BOUNDS";
+const char *U_MPA_OUT_OF_BOUNDS_STRING = "U_MPA_OUT_OF_BOUNDS";
+const char *I_MPA_OUT_OF_BOUNDS_STRING = "I_MPA_OUT_OF_BOUNDS";
+const char *U_HPA_OUT_OF_BOUNDS_STRING = "U_HPA_OUT_OF_BOUNDS";
+const char *I_HPA_OUT_OF_BOUNDS_STRING = "I_HPA_OUT_OF_BOUNDS";
+const char *TRANSITION_OTHER_SIDE_FAILED_STRING = "TRANSITION_OTHER_SIDE_FAILED";
+const char *NOT_ENOUGH_DEVICES_DUAL_MODE_STRING = "NOT_ENOUGH_DEVICES_DUAL_MODE";
+const char *POWER_STATE_MACHINE_TIMEOUT_STRING = "POWER_STATE_MACHINE_TIMEOUT";
+const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING = "SIDE_SWITCH_TRANSITION_NOT_ALLOWED";
+const char *CHILDREN_LOST_MODE_STRING = "CHILDREN_LOST_MODE";
+const char *GPS_FIX_CHANGE_STRING = "GPS_FIX_CHANGE";
+const char *P60_BOOT_COUNT_STRING = "P60_BOOT_COUNT";
+const char *BATT_MODE_STRING = "BATT_MODE";
+const char *BATT_MODE_CHANGED_STRING = "BATT_MODE_CHANGED";
+const char *SUPV_UPDATE_FAILED_STRING = "SUPV_UPDATE_FAILED";
+const char *SUPV_UPDATE_SUCCESSFUL_STRING = "SUPV_UPDATE_SUCCESSFUL";
+const char *SUPV_CONTINUE_UPDATE_FAILED_STRING = "SUPV_CONTINUE_UPDATE_FAILED";
+const char *SUPV_CONTINUE_UPDATE_SUCCESSFUL_STRING = "SUPV_CONTINUE_UPDATE_SUCCESSFUL";
+const char *TERMINATED_UPDATE_PROCEDURE_STRING = "TERMINATED_UPDATE_PROCEDURE";
+const char *SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL_STRING = "SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL";
+const char *SUPV_EVENT_BUFFER_REQUEST_FAILED_STRING = "SUPV_EVENT_BUFFER_REQUEST_FAILED";
+const char *SUPV_EVENT_BUFFER_REQUEST_TERMINATED_STRING = "SUPV_EVENT_BUFFER_REQUEST_TERMINATED";
+const char *SUPV_MEM_CHECK_OK_STRING = "SUPV_MEM_CHECK_OK";
+const char *SUPV_MEM_CHECK_FAIL_STRING = "SUPV_MEM_CHECK_FAIL";
+const char *SUPV_SENDING_COMMAND_FAILED_STRING = "SUPV_SENDING_COMMAND_FAILED";
+const char *SUPV_HELPER_REQUESTING_REPLY_FAILED_STRING = "SUPV_HELPER_REQUESTING_REPLY_FAILED";
+const char *SUPV_HELPER_READING_REPLY_FAILED_STRING = "SUPV_HELPER_READING_REPLY_FAILED";
+const char *SUPV_MISSING_ACK_STRING = "SUPV_MISSING_ACK";
+const char *SUPV_MISSING_EXE_STRING = "SUPV_MISSING_EXE";
+const char *SUPV_ACK_FAILURE_REPORT_STRING = "SUPV_ACK_FAILURE_REPORT";
+const char *SUPV_EXE_FAILURE_REPORT_STRING = "SUPV_EXE_FAILURE_REPORT";
+const char *SUPV_ACK_INVALID_APID_STRING = "SUPV_ACK_INVALID_APID";
+const char *SUPV_EXE_INVALID_APID_STRING = "SUPV_EXE_INVALID_APID";
+const char *ACK_RECEPTION_FAILURE_STRING = "ACK_RECEPTION_FAILURE";
+const char *EXE_RECEPTION_FAILURE_STRING = "EXE_RECEPTION_FAILURE";
+const char *WRITE_MEMORY_FAILED_STRING = "WRITE_MEMORY_FAILED";
+const char *SUPV_REPLY_SIZE_MISSMATCH_STRING = "SUPV_REPLY_SIZE_MISSMATCH";
+const char *SUPV_REPLY_CRC_MISSMATCH_STRING = "SUPV_REPLY_CRC_MISSMATCH";
+const char *SUPV_UPDATE_PROGRESS_STRING = "SUPV_UPDATE_PROGRESS";
+const char *HDLC_FRAME_REMOVAL_ERROR_STRING = "HDLC_FRAME_REMOVAL_ERROR";
+const char *HDLC_CRC_ERROR_STRING = "HDLC_CRC_ERROR";
+const char *ALLOC_FAILURE_STRING = "ALLOC_FAILURE";
+const char *REBOOT_SW_STRING = "REBOOT_SW";
+const char *REBOOT_MECHANISM_TRIGGERED_STRING = "REBOOT_MECHANISM_TRIGGERED";
+const char *REBOOT_HW_STRING = "REBOOT_HW";
+const char *NO_SD_CARD_ACTIVE_STRING = "NO_SD_CARD_ACTIVE";
+const char *MISSING_PACKET_STRING = "MISSING_PACKET";
+const char *EXPERIMENT_TIMEDOUT_STRING = "EXPERIMENT_TIMEDOUT";
+const char *MULTI_PACKET_COMMAND_DONE_STRING = "MULTI_PACKET_COMMAND_DONE";
+const char *SET_CONFIGFILEVALUE_FAILED_STRING = "SET_CONFIGFILEVALUE_FAILED";
+const char *GET_CONFIGFILEVALUE_FAILED_STRING = "GET_CONFIGFILEVALUE_FAILED";
+const char *INSERT_CONFIGFILEVALUE_FAILED_STRING = "INSERT_CONFIGFILEVALUE_FAILED";
+const char *WRITE_CONFIGFILE_FAILED_STRING = "WRITE_CONFIGFILE_FAILED";
+const char *READ_CONFIGFILE_FAILED_STRING = "READ_CONFIGFILE_FAILED";
 
 const char *translateEvents(Event event) {
-  switch ((event & 0xffff)) {
+  switch ((event & 0xFFFF)) {
     case (2200):
       return STORE_SEND_WRITE_FAILED_STRING;
     case (2201):
@@ -149,6 +301,8 @@ const char *translateEvents(Event event) {
       return MONITORING_LIMIT_EXCEEDED_STRING;
     case (2810):
       return MONITORING_AMBIGUOUS_STRING;
+    case (2811):
+      return DEVICE_WANTS_HARD_REBOOT_STRING;
     case (4201):
       return FUSE_CURRENT_HIGH_STRING;
     case (4202):
@@ -199,8 +353,6 @@ const char *translateEvents(Event event) {
       return VALUE_ABOVE_HIGH_LIMIT_STRING;
     case (7204):
       return VALUE_OUT_OF_RANGE_STRING;
-    case (7301):
-      return SWITCHING_TM_FAILED_STRING;
     case (7400):
       return CHANGING_MODE_STRING;
     case (7401):
@@ -231,6 +383,8 @@ const char *translateEvents(Event event) {
       return RECOVERY_STEP_STRING;
     case (7512):
       return RECOVERY_DONE_STRING;
+    case (7600):
+      return HANDLE_PACKET_FAILED_STRING;
     case (7900):
       return RF_AVAILABLE_STRING;
     case (7901):
@@ -245,18 +399,320 @@ const char *translateEvents(Event event) {
       return CLOCK_SET_STRING;
     case (8901):
       return CLOCK_SET_FAILURE_STRING;
+    case (9100):
+      return TC_DELETION_FAILED_STRING;
     case (9700):
       return TEST_STRING;
     case (10600):
       return CHANGE_OF_SETUP_PARAMETER_STRING;
-    case (11101):
+    case (10800):
+      return STORE_ERROR_STRING;
+    case (10801):
+      return MSG_QUEUE_ERROR_STRING;
+    case (10802):
+      return SERIALIZATION_ERROR_STRING;
+    case (11300):
+      return SWITCH_CMD_SENT_STRING;
+    case (11301):
+      return SWITCH_HAS_CHANGED_STRING;
+    case (11302):
+      return SWITCHING_Q7S_DENIED_STRING;
+    case (11303):
+      return FDIR_REACTION_IGNORED_STRING;
+    case (11400):
+      return GPIO_PULL_HIGH_FAILED_STRING;
+    case (11401):
+      return GPIO_PULL_LOW_FAILED_STRING;
+    case (11402):
+      return HEATER_WENT_ON_STRING;
+    case (11403):
+      return HEATER_WENT_OFF_STRING;
+    case (11404):
+      return SWITCH_ALREADY_ON_STRING;
+    case (11405):
+      return SWITCH_ALREADY_OFF_STRING;
+    case (11406):
+      return MAIN_SWITCH_TIMEOUT_STRING;
+    case (11407):
+      return FAULTY_HEATER_WAS_ON_STRING;
+    case (11500):
+      return BURN_PHASE_START_STRING;
+    case (11501):
+      return BURN_PHASE_DONE_STRING;
+    case (11502):
+      return MAIN_SWITCH_ON_TIMEOUT_STRING;
+    case (11503):
+      return MAIN_SWITCH_OFF_TIMEOUT_STRING;
+    case (11504):
+      return DEPL_SA1_GPIO_SWTICH_ON_FAILED_STRING;
+    case (11505):
+      return DEPL_SA2_GPIO_SWTICH_ON_FAILED_STRING;
+    case (11506):
+      return DEPL_SA1_GPIO_SWTICH_OFF_FAILED_STRING;
+    case (11507):
+      return DEPL_SA2_GPIO_SWTICH_OFF_FAILED_STRING;
+    case (11508):
+      return AUTONOMOUS_DEPLOYMENT_COMPLETED_STRING;
+    case (11601):
       return MEMORY_READ_RPT_CRC_FAILURE_STRING;
-    case (11102):
+    case (11602):
       return ACK_FAILURE_STRING;
-    case (11103):
+    case (11603):
       return EXE_FAILURE_STRING;
-    case (11104):
+    case (11604):
-      return CRC_FAILURE_EVENT_STRING;
+      return MPSOC_HANDLER_CRC_FAILURE_STRING;
+    case (11605):
+      return MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING;
+    case (11606):
+      return MPSOC_SHUTDOWN_FAILED_STRING;
+    case (11701):
+      return SELF_TEST_I2C_FAILURE_STRING;
+    case (11702):
+      return SELF_TEST_SPI_FAILURE_STRING;
+    case (11703):
+      return SELF_TEST_ADC_FAILURE_STRING;
+    case (11704):
+      return SELF_TEST_PWM_FAILURE_STRING;
+    case (11705):
+      return SELF_TEST_TC_FAILURE_STRING;
+    case (11706):
+      return SELF_TEST_MTM_RANGE_FAILURE_STRING;
+    case (11707):
+      return SELF_TEST_COIL_CURRENT_FAILURE_STRING;
+    case (11708):
+      return INVALID_ERROR_BYTE_STRING;
+    case (11801):
+      return ERROR_STATE_STRING;
+    case (11802):
+      return RESET_OCCURED_STRING;
+    case (11901):
+      return BOOTING_FIRMWARE_FAILED_STRING;
+    case (11902):
+      return BOOTING_BOOTLOADER_FAILED_STRING;
+    case (12001):
+      return SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING;
+    case (12002):
+      return SUPV_UNKNOWN_TM_STRING;
+    case (12003):
+      return SUPV_UNINIMPLEMENTED_TM_STRING;
+    case (12004):
+      return SUPV_ACK_FAILURE_STRING;
+    case (12005):
+      return SUPV_EXE_FAILURE_STRING;
+    case (12006):
+      return SUPV_CRC_FAILURE_EVENT_STRING;
+    case (12007):
+      return SUPV_HELPER_EXECUTING_STRING;
+    case (12008):
+      return SUPV_MPSOC_SHUWDOWN_BUILD_FAILED_STRING;
+    case (12100):
+      return SANITIZATION_FAILED_STRING;
+    case (12101):
+      return MOUNTED_SD_CARD_STRING;
+    case (12300):
+      return SEND_MRAM_DUMP_FAILED_STRING;
+    case (12301):
+      return MRAM_DUMP_FAILED_STRING;
+    case (12302):
+      return MRAM_DUMP_FINISHED_STRING;
+    case (12401):
+      return INVALID_TC_FRAME_STRING;
+    case (12402):
+      return INVALID_FAR_STRING;
+    case (12403):
+      return CARRIER_LOCK_STRING;
+    case (12404):
+      return BIT_LOCK_PDEC_STRING;
+    case (12405):
+      return LOST_CARRIER_LOCK_PDEC_STRING;
+    case (12406):
+      return LOST_BIT_LOCK_PDEC_STRING;
+    case (12407):
+      return POLL_ERROR_PDEC_STRING;
+    case (12500):
+      return IMAGE_UPLOAD_FAILED_STRING;
+    case (12501):
+      return IMAGE_DOWNLOAD_FAILED_STRING;
+    case (12502):
+      return IMAGE_UPLOAD_SUCCESSFUL_STRING;
+    case (12503):
+      return IMAGE_DOWNLOAD_SUCCESSFUL_STRING;
+    case (12504):
+      return FLASH_WRITE_SUCCESSFUL_STRING;
+    case (12505):
+      return FLASH_READ_SUCCESSFUL_STRING;
+    case (12506):
+      return FLASH_READ_FAILED_STRING;
+    case (12507):
+      return FIRMWARE_UPDATE_SUCCESSFUL_STRING;
+    case (12508):
+      return FIRMWARE_UPDATE_FAILED_STRING;
+    case (12509):
+      return STR_HELPER_READING_REPLY_FAILED_STRING;
+    case (12510):
+      return STR_HELPER_COM_ERROR_STRING;
+    case (12511):
+      return STR_HELPER_NO_REPLY_STRING;
+    case (12512):
+      return STR_HELPER_DEC_ERROR_STRING;
+    case (12513):
+      return POSITION_MISMATCH_STRING;
+    case (12514):
+      return STR_HELPER_FILE_NOT_EXISTS_STRING;
+    case (12515):
+      return STR_HELPER_SENDING_PACKET_FAILED_STRING;
+    case (12516):
+      return STR_HELPER_REQUESTING_MSG_FAILED_STRING;
+    case (12600):
+      return MPSOC_FLASH_WRITE_FAILED_STRING;
+    case (12601):
+      return MPSOC_FLASH_WRITE_SUCCESSFUL_STRING;
+    case (12602):
+      return MPSOC_SENDING_COMMAND_FAILED_STRING;
+    case (12603):
+      return MPSOC_HELPER_REQUESTING_REPLY_FAILED_STRING;
+    case (12604):
+      return MPSOC_HELPER_READING_REPLY_FAILED_STRING;
+    case (12605):
+      return MPSOC_MISSING_ACK_STRING;
+    case (12606):
+      return MPSOC_MISSING_EXE_STRING;
+    case (12607):
+      return MPSOC_ACK_FAILURE_REPORT_STRING;
+    case (12608):
+      return MPSOC_EXE_FAILURE_REPORT_STRING;
+    case (12609):
+      return MPSOC_ACK_INVALID_APID_STRING;
+    case (12610):
+      return MPSOC_EXE_INVALID_APID_STRING;
+    case (12611):
+      return MPSOC_HELPER_SEQ_CNT_MISMATCH_STRING;
+    case (12612):
+      return MPSOC_TM_SIZE_ERROR_STRING;
+    case (12613):
+      return MPSOC_TM_CRC_MISSMATCH_STRING;
+    case (12700):
+      return TRANSITION_BACK_TO_OFF_STRING;
+    case (12701):
+      return NEG_V_OUT_OF_BOUNDS_STRING;
+    case (12702):
+      return U_DRO_OUT_OF_BOUNDS_STRING;
+    case (12703):
+      return I_DRO_OUT_OF_BOUNDS_STRING;
+    case (12704):
+      return U_X8_OUT_OF_BOUNDS_STRING;
+    case (12705):
+      return I_X8_OUT_OF_BOUNDS_STRING;
+    case (12706):
+      return U_TX_OUT_OF_BOUNDS_STRING;
+    case (12707):
+      return I_TX_OUT_OF_BOUNDS_STRING;
+    case (12708):
+      return U_MPA_OUT_OF_BOUNDS_STRING;
+    case (12709):
+      return I_MPA_OUT_OF_BOUNDS_STRING;
+    case (12710):
+      return U_HPA_OUT_OF_BOUNDS_STRING;
+    case (12711):
+      return I_HPA_OUT_OF_BOUNDS_STRING;
+    case (12800):
+      return TRANSITION_OTHER_SIDE_FAILED_STRING;
+    case (12801):
+      return NOT_ENOUGH_DEVICES_DUAL_MODE_STRING;
+    case (12802):
+      return POWER_STATE_MACHINE_TIMEOUT_STRING;
+    case (12803):
+      return SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING;
+    case (13000):
+      return CHILDREN_LOST_MODE_STRING;
+    case (13100):
+      return GPS_FIX_CHANGE_STRING;
+    case (13200):
+      return P60_BOOT_COUNT_STRING;
+    case (13201):
+      return BATT_MODE_STRING;
+    case (13202):
+      return BATT_MODE_CHANGED_STRING;
+    case (13600):
+      return SUPV_UPDATE_FAILED_STRING;
+    case (13601):
+      return SUPV_UPDATE_SUCCESSFUL_STRING;
+    case (13602):
+      return SUPV_CONTINUE_UPDATE_FAILED_STRING;
+    case (13603):
+      return SUPV_CONTINUE_UPDATE_SUCCESSFUL_STRING;
+    case (13604):
+      return TERMINATED_UPDATE_PROCEDURE_STRING;
+    case (13605):
+      return SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL_STRING;
+    case (13606):
+      return SUPV_EVENT_BUFFER_REQUEST_FAILED_STRING;
+    case (13607):
+      return SUPV_EVENT_BUFFER_REQUEST_TERMINATED_STRING;
+    case (13608):
+      return SUPV_MEM_CHECK_OK_STRING;
+    case (13609):
+      return SUPV_MEM_CHECK_FAIL_STRING;
+    case (13616):
+      return SUPV_SENDING_COMMAND_FAILED_STRING;
+    case (13617):
+      return SUPV_HELPER_REQUESTING_REPLY_FAILED_STRING;
+    case (13618):
+      return SUPV_HELPER_READING_REPLY_FAILED_STRING;
+    case (13619):
+      return SUPV_MISSING_ACK_STRING;
+    case (13620):
+      return SUPV_MISSING_EXE_STRING;
+    case (13621):
+      return SUPV_ACK_FAILURE_REPORT_STRING;
+    case (13622):
+      return SUPV_EXE_FAILURE_REPORT_STRING;
+    case (13623):
+      return SUPV_ACK_INVALID_APID_STRING;
+    case (13624):
+      return SUPV_EXE_INVALID_APID_STRING;
+    case (13625):
+      return ACK_RECEPTION_FAILURE_STRING;
+    case (13626):
+      return EXE_RECEPTION_FAILURE_STRING;
+    case (13627):
+      return WRITE_MEMORY_FAILED_STRING;
+    case (13628):
+      return SUPV_REPLY_SIZE_MISSMATCH_STRING;
+    case (13629):
+      return SUPV_REPLY_CRC_MISSMATCH_STRING;
+    case (13630):
+      return SUPV_UPDATE_PROGRESS_STRING;
+    case (13631):
+      return HDLC_FRAME_REMOVAL_ERROR_STRING;
+    case (13632):
+      return HDLC_CRC_ERROR_STRING;
+    case (13700):
+      return ALLOC_FAILURE_STRING;
+    case (13701):
+      return REBOOT_SW_STRING;
+    case (13702):
+      return REBOOT_MECHANISM_TRIGGERED_STRING;
+    case (13703):
+      return REBOOT_HW_STRING;
+    case (13704):
+      return NO_SD_CARD_ACTIVE_STRING;
+    case (13800):
+      return MISSING_PACKET_STRING;
+    case (13801):
+      return EXPERIMENT_TIMEDOUT_STRING;
+    case (13802):
+      return MULTI_PACKET_COMMAND_DONE_STRING;
+    case (13901):
+      return SET_CONFIGFILEVALUE_FAILED_STRING;
+    case (13902):
+      return GET_CONFIGFILEVALUE_FAILED_STRING;
+    case (13903):
+      return INSERT_CONFIGFILEVALUE_FAILED_STRING;
+    case (13904):
+      return WRITE_CONFIGFILE_FAILED_STRING;
+    case (13905):
+      return READ_CONFIGFILE_FAILED_STRING;
     default:
       return "UNKNOWN_EVENT";
   }

bsp_hosted/fsfwconfig/events/translateEvents.h

@@ -1,8 +1,8 @@
 #ifndef FSFWCONFIG_EVENTS_TRANSLATEEVENTS_H_
 #define FSFWCONFIG_EVENTS_TRANSLATEEVENTS_H_
 
-#include <fsfw/events/Event.h>
+#include "fsfw/events/Event.h"
 
-const char* translateEvents(Event event);
+const char *translateEvents(Event event);
 
 #endif /* FSFWCONFIG_EVENTS_TRANSLATEEVENTS_H_ */

bsp_hosted/fsfwconfig/objects/translateObjects.cpp

@@ -1,23 +1,105 @@
 /**
- * @brief	Auto-generated object translation file.
+ * @brief  Auto-generated object translation file.
  * @details
- * Contains 31 translations.
+ * Contains 148 translations.
- * Generated on: 2021-05-17 19:12:49
+ * Generated on: 2022-11-15 17:44:20
  */
 #include "translateObjects.h"
 
-#include "systemObjectList.h"
+const char *P60DOCK_TEST_TASK_STRING = "P60DOCK_TEST_TASK";
-
+const char *ACS_CONTROLLER_STRING = "ACS_CONTROLLER";
-const char *TEST_TASK_STRING = "TEST_TASK";
+const char *CORE_CONTROLLER_STRING = "CORE_CONTROLLER";
-const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER";
+const char *GLOBAL_JSON_CFG_STRING = "GLOBAL_JSON_CFG";
+const char *THERMAL_CONTROLLER_STRING = "THERMAL_CONTROLLER";
+const char *MGM_0_LIS3_HANDLER_STRING = "MGM_0_LIS3_HANDLER";
+const char *GYRO_0_ADIS_HANDLER_STRING = "GYRO_0_ADIS_HANDLER";
+const char *SUS_0_N_LOC_XFYFZM_PT_XF_STRING = "SUS_0_N_LOC_XFYFZM_PT_XF";
+const char *SUS_1_N_LOC_XBYFZM_PT_XB_STRING = "SUS_1_N_LOC_XBYFZM_PT_XB";
+const char *SUS_2_N_LOC_XFYBZB_PT_YB_STRING = "SUS_2_N_LOC_XFYBZB_PT_YB";
+const char *SUS_3_N_LOC_XFYBZF_PT_YF_STRING = "SUS_3_N_LOC_XFYBZF_PT_YF";
+const char *SUS_4_N_LOC_XMYFZF_PT_ZF_STRING = "SUS_4_N_LOC_XMYFZF_PT_ZF";
+const char *SUS_5_N_LOC_XFYMZB_PT_ZB_STRING = "SUS_5_N_LOC_XFYMZB_PT_ZB";
+const char *SUS_6_R_LOC_XFYBZM_PT_XF_STRING = "SUS_6_R_LOC_XFYBZM_PT_XF";
+const char *SUS_7_R_LOC_XBYBZM_PT_XB_STRING = "SUS_7_R_LOC_XBYBZM_PT_XB";
+const char *SUS_8_R_LOC_XBYBZB_PT_YB_STRING = "SUS_8_R_LOC_XBYBZB_PT_YB";
+const char *SUS_9_R_LOC_XBYBZB_PT_YF_STRING = "SUS_9_R_LOC_XBYBZB_PT_YF";
+const char *SUS_10_N_LOC_XMYBZF_PT_ZF_STRING = "SUS_10_N_LOC_XMYBZF_PT_ZF";
+const char *SUS_11_R_LOC_XBYMZB_PT_ZB_STRING = "SUS_11_R_LOC_XBYMZB_PT_ZB";
+const char *RW1_STRING = "RW1";
+const char *MGM_1_RM3100_HANDLER_STRING = "MGM_1_RM3100_HANDLER";
+const char *GYRO_1_L3G_HANDLER_STRING = "GYRO_1_L3G_HANDLER";
+const char *RW2_STRING = "RW2";
+const char *MGM_2_LIS3_HANDLER_STRING = "MGM_2_LIS3_HANDLER";
+const char *GYRO_2_ADIS_HANDLER_STRING = "GYRO_2_ADIS_HANDLER";
+const char *RW3_STRING = "RW3";
+const char *MGM_3_RM3100_HANDLER_STRING = "MGM_3_RM3100_HANDLER";
+const char *GYRO_3_L3G_HANDLER_STRING = "GYRO_3_L3G_HANDLER";
+const char *RW4_STRING = "RW4";
+const char *STAR_TRACKER_STRING = "STAR_TRACKER";
+const char *GPS_CONTROLLER_STRING = "GPS_CONTROLLER";
+const char *IMTQ_HANDLER_STRING = "IMTQ_HANDLER";
+const char *PCDU_HANDLER_STRING = "PCDU_HANDLER";
+const char *P60DOCK_HANDLER_STRING = "P60DOCK_HANDLER";
+const char *PDU1_HANDLER_STRING = "PDU1_HANDLER";
+const char *PDU2_HANDLER_STRING = "PDU2_HANDLER";
+const char *ACU_HANDLER_STRING = "ACU_HANDLER";
+const char *BPX_BATT_HANDLER_STRING = "BPX_BATT_HANDLER";
+const char *PLPCDU_HANDLER_STRING = "PLPCDU_HANDLER";
+const char *RAD_SENSOR_STRING = "RAD_SENSOR";
+const char *PLOC_UPDATER_STRING = "PLOC_UPDATER";
+const char *PLOC_MEMORY_DUMPER_STRING = "PLOC_MEMORY_DUMPER";
+const char *STR_HELPER_STRING = "STR_HELPER";
+const char *PLOC_MPSOC_HELPER_STRING = "PLOC_MPSOC_HELPER";
+const char *AXI_PTME_CONFIG_STRING = "AXI_PTME_CONFIG";
+const char *PTME_CONFIG_STRING = "PTME_CONFIG";
+const char *PLOC_MPSOC_HANDLER_STRING = "PLOC_MPSOC_HANDLER";
+const char *PLOC_SUPERVISOR_HANDLER_STRING = "PLOC_SUPERVISOR_HANDLER";
+const char *PLOC_SUPERVISOR_HELPER_STRING = "PLOC_SUPERVISOR_HELPER";
+const char *SCEX_STRING = "SCEX";
+const char *SOLAR_ARRAY_DEPL_HANDLER_STRING = "SOLAR_ARRAY_DEPL_HANDLER";
+const char *HEATER_HANDLER_STRING = "HEATER_HANDLER";
+const char *TMP1075_HANDLER_TCS_0_STRING = "TMP1075_HANDLER_TCS_0";
+const char *TMP1075_HANDLER_TCS_1_STRING = "TMP1075_HANDLER_TCS_1";
+const char *TMP1075_HANDLER_PLPCDU_0_STRING = "TMP1075_HANDLER_PLPCDU_0";
+const char *TMP1075_HANDLER_PLPCDU_1_STRING = "TMP1075_HANDLER_PLPCDU_1";
+const char *TMP1075_HANDLER_IF_BOARD_STRING = "TMP1075_HANDLER_IF_BOARD";
+const char *TMP1075_HANDLER_OBC_IF_BOARD_STRING = "TMP1075_HANDLER_OBC_IF_BOARD";
+const char *RTD_0_IC3_PLOC_HEATSPREADER_STRING = "RTD_0_IC3_PLOC_HEATSPREADER";
+const char *RTD_1_IC4_PLOC_MISSIONBOARD_STRING = "RTD_1_IC4_PLOC_MISSIONBOARD";
+const char *RTD_2_IC5_4K_CAMERA_STRING = "RTD_2_IC5_4K_CAMERA";
+const char *RTD_3_IC6_DAC_HEATSPREADER_STRING = "RTD_3_IC6_DAC_HEATSPREADER";
+const char *RTD_4_IC7_STARTRACKER_STRING = "RTD_4_IC7_STARTRACKER";
+const char *RTD_5_IC8_RW1_MX_MY_STRING = "RTD_5_IC8_RW1_MX_MY";
+const char *RTD_6_IC9_DRO_STRING = "RTD_6_IC9_DRO";
+const char *RTD_7_IC10_SCEX_STRING = "RTD_7_IC10_SCEX";
+const char *RTD_8_IC11_X8_STRING = "RTD_8_IC11_X8";
+const char *RTD_9_IC12_HPA_STRING = "RTD_9_IC12_HPA";
+const char *RTD_10_IC13_PL_TX_STRING = "RTD_10_IC13_PL_TX";
+const char *RTD_11_IC14_MPA_STRING = "RTD_11_IC14_MPA";
+const char *RTD_12_IC15_ACU_STRING = "RTD_12_IC15_ACU";
+const char *RTD_13_IC16_PLPCDU_HEATSPREADER_STRING = "RTD_13_IC16_PLPCDU_HEATSPREADER";
+const char *RTD_14_IC17_TCS_BOARD_STRING = "RTD_14_IC17_TCS_BOARD";
+const char *RTD_15_IC18_IMTQ_STRING = "RTD_15_IC18_IMTQ";
+const char *SYRLINKS_HK_HANDLER_STRING = "SYRLINKS_HK_HANDLER";
 const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
-const char *PUS_SERVICE_3_STRING = "PUS_SERVICE_3";
+const char *GPIO_IF_STRING = "GPIO_IF";
-const char *PUS_SERVICE_5_STRING = "PUS_SERVICE_5";
+const char *SCEX_UART_READER_STRING = "SCEX_UART_READER";
+const char *SPI_MAIN_COM_IF_STRING = "SPI_MAIN_COM_IF";
+const char *SPI_RW_COM_IF_STRING = "SPI_RW_COM_IF";
+const char *SPI_RTD_COM_IF_STRING = "SPI_RTD_COM_IF";
+const char *UART_COM_IF_STRING = "UART_COM_IF";
+const char *I2C_COM_IF_STRING = "I2C_COM_IF";
+const char *CSP_COM_IF_STRING = "CSP_COM_IF";
+const char *CCSDS_PACKET_DISTRIBUTOR_STRING = "CCSDS_PACKET_DISTRIBUTOR";
+const char *PUS_PACKET_DISTRIBUTOR_STRING = "PUS_PACKET_DISTRIBUTOR";
+const char *TMTC_BRIDGE_STRING = "TMTC_BRIDGE";
+const char *TMTC_POLLING_TASK_STRING = "TMTC_POLLING_TASK";
+const char *FILE_SYSTEM_HANDLER_STRING = "FILE_SYSTEM_HANDLER";
+const char *SDC_MANAGER_STRING = "SDC_MANAGER";
+const char *PTME_STRING = "PTME";
+const char *PDEC_HANDLER_STRING = "PDEC_HANDLER";
+const char *CCSDS_HANDLER_STRING = "CCSDS_HANDLER";
 const char *PUS_SERVICE_6_STRING = "PUS_SERVICE_6";
-const char *PUS_SERVICE_8_STRING = "PUS_SERVICE_8";
-const char *PUS_SERVICE_23_STRING = "PUS_SERVICE_23";
-const char *PUS_SERVICE_201_STRING = "PUS_SERVICE_201";
-const char *TM_FUNNEL_STRING = "TM_FUNNEL";
 const char *FSFW_OBJECTS_START_STRING = "FSFW_OBJECTS_START";
 const char *PUS_SERVICE_1_VERIFICATION_STRING = "PUS_SERVICE_1_VERIFICATION";
 const char *PUS_SERVICE_2_DEVICE_ACCESS_STRING = "PUS_SERVICE_2_DEVICE_ACCESS";
@@ -25,9 +107,12 @@ const char *PUS_SERVICE_3_HOUSEKEEPING_STRING = "PUS_SERVICE_3_HOUSEKEEPING";
 const char *PUS_SERVICE_5_EVENT_REPORTING_STRING = "PUS_SERVICE_5_EVENT_REPORTING";
 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_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";
+const char *PUS_SERVICE_201_HEALTH_STRING = "PUS_SERVICE_201_HEALTH";
+const char *CFDP_PACKET_DISTRIBUTOR_STRING = "CFDP_PACKET_DISTRIBUTOR";
 const char *HEALTH_TABLE_STRING = "HEALTH_TABLE";
 const char *MODE_STORE_STRING = "MODE_STORE";
 const char *EVENT_MANAGER_STRING = "EVENT_MANAGER";
@@ -36,33 +121,230 @@ const char *TC_STORE_STRING = "TC_STORE";
 const char *TM_STORE_STRING = "TM_STORE";
 const char *IPC_STORE_STRING = "IPC_STORE";
 const char *TIME_STAMPER_STRING = "TIME_STAMPER";
+const char *VERIFICATION_REPORTER_STRING = "VERIFICATION_REPORTER";
 const char *FSFW_OBJECTS_END_STRING = "FSFW_OBJECTS_END";
+const char *SPI_TEST_STRING = "SPI_TEST";
+const char *UART_TEST_STRING = "UART_TEST";
+const char *I2C_TEST_STRING = "I2C_TEST";
+const char *DUMMY_COM_IF_STRING = "DUMMY_COM_IF";
+const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER";
 const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE";
-const char *THERMAL_CONTROLLER_STRING = "THERMAL_CONTROLLER";
+const char *LIBGPIOD_TEST_STRING = "LIBGPIOD_TEST";
+const char *TEST_TASK_STRING = "TEST_TASK";
+const char *HEATER_0_PLOC_PROC_BRD_STRING = "HEATER_0_PLOC_PROC_BRD";
+const char *HEATER_1_PCDU_BRD_STRING = "HEATER_1_PCDU_BRD";
+const char *HEATER_2_ACS_BRD_STRING = "HEATER_2_ACS_BRD";
+const char *HEATER_3_OBC_BRD_STRING = "HEATER_3_OBC_BRD";
+const char *HEATER_4_CAMERA_STRING = "HEATER_4_CAMERA";
+const char *HEATER_5_STR_STRING = "HEATER_5_STR";
+const char *HEATER_6_DRO_STRING = "HEATER_6_DRO";
+const char *HEATER_7_HPA_STRING = "HEATER_7_HPA";
+const char *ACS_BOARD_ASS_STRING = "ACS_BOARD_ASS";
+const char *SUS_BOARD_ASS_STRING = "SUS_BOARD_ASS";
+const char *TCS_BOARD_ASS_STRING = "TCS_BOARD_ASS";
+const char *RW_ASS_STRING = "RW_ASS";
+const char *CAM_SWITCHER_STRING = "CAM_SWITCHER";
+const char *TM_FUNNEL_STRING = "TM_FUNNEL";
+const char *PUS_TM_FUNNEL_STRING = "PUS_TM_FUNNEL";
+const char *CFDP_TM_FUNNEL_STRING = "CFDP_TM_FUNNEL";
+const char *CFDP_HANDLER_STRING = "CFDP_HANDLER";
+const char *CFDP_DISTRIBUTOR_STRING = "CFDP_DISTRIBUTOR";
+const char *EIVE_SYSTEM_STRING = "EIVE_SYSTEM";
+const char *ACS_SUBSYSTEM_STRING = "ACS_SUBSYSTEM";
+const char *PL_SUBSYSTEM_STRING = "PL_SUBSYSTEM";
+const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
 const char *NO_OBJECT_STRING = "NO_OBJECT";
 
 const char *translateObject(object_id_t object) {
   switch ((object & 0xFFFFFFFF)) {
-    case 0x42694269:
+    case 0x00005060:
-      return TEST_TASK_STRING;
+      return P60DOCK_TEST_TASK_STRING;
-    case 0x4400AFFE:
+    case 0x43000002:
-      return DUMMY_HANDLER_STRING;
+      return ACS_CONTROLLER_STRING;
-    case 0x49000001:
+    case 0x43000003:
+      return CORE_CONTROLLER_STRING;
+    case 0x43000006:
+      return GLOBAL_JSON_CFG_STRING;
+    case 0x43400001:
+      return THERMAL_CONTROLLER_STRING;
+    case 0x44120006:
+      return MGM_0_LIS3_HANDLER_STRING;
+    case 0x44120010:
+      return GYRO_0_ADIS_HANDLER_STRING;
+    case 0x44120032:
+      return SUS_0_N_LOC_XFYFZM_PT_XF_STRING;
+    case 0x44120033:
+      return SUS_1_N_LOC_XBYFZM_PT_XB_STRING;
+    case 0x44120034:
+      return SUS_2_N_LOC_XFYBZB_PT_YB_STRING;
+    case 0x44120035:
+      return SUS_3_N_LOC_XFYBZF_PT_YF_STRING;
+    case 0x44120036:
+      return SUS_4_N_LOC_XMYFZF_PT_ZF_STRING;
+    case 0x44120037:
+      return SUS_5_N_LOC_XFYMZB_PT_ZB_STRING;
+    case 0x44120038:
+      return SUS_6_R_LOC_XFYBZM_PT_XF_STRING;
+    case 0x44120039:
+      return SUS_7_R_LOC_XBYBZM_PT_XB_STRING;
+    case 0x44120040:
+      return SUS_8_R_LOC_XBYBZB_PT_YB_STRING;
+    case 0x44120041:
+      return SUS_9_R_LOC_XBYBZB_PT_YF_STRING;
+    case 0x44120042:
+      return SUS_10_N_LOC_XMYBZF_PT_ZF_STRING;
+    case 0x44120043:
+      return SUS_11_R_LOC_XBYMZB_PT_ZB_STRING;
+    case 0x44120047:
+      return RW1_STRING;
+    case 0x44120107:
+      return MGM_1_RM3100_HANDLER_STRING;
+    case 0x44120111:
+      return GYRO_1_L3G_HANDLER_STRING;
+    case 0x44120148:
+      return RW2_STRING;
+    case 0x44120208:
+      return MGM_2_LIS3_HANDLER_STRING;
+    case 0x44120212:
+      return GYRO_2_ADIS_HANDLER_STRING;
+    case 0x44120249:
+      return RW3_STRING;
+    case 0x44120309:
+      return MGM_3_RM3100_HANDLER_STRING;
+    case 0x44120313:
+      return GYRO_3_L3G_HANDLER_STRING;
+    case 0x44120350:
+      return RW4_STRING;
+    case 0x44130001:
+      return STAR_TRACKER_STRING;
+    case 0x44130045:
+      return GPS_CONTROLLER_STRING;
+    case 0x44140014:
+      return IMTQ_HANDLER_STRING;
+    case 0x442000A1:
+      return PCDU_HANDLER_STRING;
+    case 0x44250000:
+      return P60DOCK_HANDLER_STRING;
+    case 0x44250001:
+      return PDU1_HANDLER_STRING;
+    case 0x44250002:
+      return PDU2_HANDLER_STRING;
+    case 0x44250003:
+      return ACU_HANDLER_STRING;
+    case 0x44260000:
+      return BPX_BATT_HANDLER_STRING;
+    case 0x44300000:
+      return PLPCDU_HANDLER_STRING;
+    case 0x443200A5:
+      return RAD_SENSOR_STRING;
+    case 0x44330000:
+      return PLOC_UPDATER_STRING;
+    case 0x44330001:
+      return PLOC_MEMORY_DUMPER_STRING;
+    case 0x44330002:
+      return STR_HELPER_STRING;
+    case 0x44330003:
+      return PLOC_MPSOC_HELPER_STRING;
+    case 0x44330004:
+      return AXI_PTME_CONFIG_STRING;
+    case 0x44330005:
+      return PTME_CONFIG_STRING;
+    case 0x44330015:
+      return PLOC_MPSOC_HANDLER_STRING;
+    case 0x44330016:
+      return PLOC_SUPERVISOR_HANDLER_STRING;
+    case 0x44330017:
+      return PLOC_SUPERVISOR_HELPER_STRING;
+    case 0x44330032:
+      return SCEX_STRING;
+    case 0x444100A2:
+      return SOLAR_ARRAY_DEPL_HANDLER_STRING;
+    case 0x444100A4:
+      return HEATER_HANDLER_STRING;
+    case 0x44420004:
+      return TMP1075_HANDLER_TCS_0_STRING;
+    case 0x44420005:
+      return TMP1075_HANDLER_TCS_1_STRING;
+    case 0x44420006:
+      return TMP1075_HANDLER_PLPCDU_0_STRING;
+    case 0x44420007:
+      return TMP1075_HANDLER_PLPCDU_1_STRING;
+    case 0x44420008:
+      return TMP1075_HANDLER_IF_BOARD_STRING;
+    case 0x44420009:
+      return TMP1075_HANDLER_OBC_IF_BOARD_STRING;
+    case 0x44420016:
+      return RTD_0_IC3_PLOC_HEATSPREADER_STRING;
+    case 0x44420017:
+      return RTD_1_IC4_PLOC_MISSIONBOARD_STRING;
+    case 0x44420018:
+      return RTD_2_IC5_4K_CAMERA_STRING;
+    case 0x44420019:
+      return RTD_3_IC6_DAC_HEATSPREADER_STRING;
+    case 0x44420020:
+      return RTD_4_IC7_STARTRACKER_STRING;
+    case 0x44420021:
+      return RTD_5_IC8_RW1_MX_MY_STRING;
+    case 0x44420022:
+      return RTD_6_IC9_DRO_STRING;
+    case 0x44420023:
+      return RTD_7_IC10_SCEX_STRING;
+    case 0x44420024:
+      return RTD_8_IC11_X8_STRING;
+    case 0x44420025:
+      return RTD_9_IC12_HPA_STRING;
+    case 0x44420026:
+      return RTD_10_IC13_PL_TX_STRING;
+    case 0x44420027:
+      return RTD_11_IC14_MPA_STRING;
+    case 0x44420028:
+      return RTD_12_IC15_ACU_STRING;
+    case 0x44420029:
+      return RTD_13_IC16_PLPCDU_HEATSPREADER_STRING;
+    case 0x44420030:
+      return RTD_14_IC17_TCS_BOARD_STRING;
+    case 0x44420031:
+      return RTD_15_IC18_IMTQ_STRING;
+    case 0x445300A3:
+      return SYRLINKS_HK_HANDLER_STRING;
+    case 0x49000000:
       return ARDUINO_COM_IF_STRING;
-    case 0x51000300:
+    case 0x49010005:
-      return PUS_SERVICE_3_STRING;
+      return GPIO_IF_STRING;
-    case 0x51000400:
+    case 0x49010006:
-      return PUS_SERVICE_5_STRING;
+      return SCEX_UART_READER_STRING;
+    case 0x49020004:
+      return SPI_MAIN_COM_IF_STRING;
+    case 0x49020005:
+      return SPI_RW_COM_IF_STRING;
+    case 0x49020006:
+      return SPI_RTD_COM_IF_STRING;
+    case 0x49030003:
+      return UART_COM_IF_STRING;
+    case 0x49040002:
+      return I2C_COM_IF_STRING;
+    case 0x49050001:
+      return CSP_COM_IF_STRING;
+    case 0x50000100:
+      return CCSDS_PACKET_DISTRIBUTOR_STRING;
+    case 0x50000200:
+      return PUS_PACKET_DISTRIBUTOR_STRING;
+    case 0x50000300:
+      return TMTC_BRIDGE_STRING;
+    case 0x50000400:
+      return TMTC_POLLING_TASK_STRING;
+    case 0x50000500:
+      return FILE_SYSTEM_HANDLER_STRING;
+    case 0x50000550:
+      return SDC_MANAGER_STRING;
+    case 0x50000600:
+      return PTME_STRING;
+    case 0x50000700:
+      return PDEC_HANDLER_STRING;
+    case 0x50000800:
+      return CCSDS_HANDLER_STRING;
     case 0x51000500:
       return PUS_SERVICE_6_STRING;
-    case 0x51000800:
-      return PUS_SERVICE_8_STRING;
-    case 0x51002300:
-      return PUS_SERVICE_23_STRING;
-    case 0x51020100:
-      return PUS_SERVICE_201_STRING;
-    case 0x52000002:
-      return TM_FUNNEL_STRING;
     case 0x53000000:
       return FSFW_OBJECTS_START_STRING;
     case 0x53000001:
@@ -77,12 +359,18 @@ const char *translateObject(object_id_t object) {
       return PUS_SERVICE_8_FUNCTION_MGMT_STRING;
     case 0x53000009:
       return PUS_SERVICE_9_TIME_MGMT_STRING;
+    case 0x53000011:
+      return PUS_SERVICE_11_TC_SCHEDULER_STRING;
     case 0x53000017:
       return PUS_SERVICE_17_TEST_STRING;
     case 0x53000020:
       return PUS_SERVICE_20_PARAMETERS_STRING;
     case 0x53000200:
       return PUS_SERVICE_200_MODE_MGMT_STRING;
+    case 0x53000201:
+      return PUS_SERVICE_201_HEALTH_STRING;
+    case 0x53001000:
+      return CFDP_PACKET_DISTRIBUTOR_STRING;
     case 0x53010000:
       return HEALTH_TABLE_STRING;
     case 0x53010100:
@@ -99,12 +387,70 @@ const char *translateObject(object_id_t object) {
       return IPC_STORE_STRING;
     case 0x53500010:
       return TIME_STAMPER_STRING;
+    case 0x53500020:
+      return VERIFICATION_REPORTER_STRING;
     case 0x53ffffff:
       return FSFW_OBJECTS_END_STRING;
-    case 0xCAFECAFE:
+    case 0x54000010:
+      return SPI_TEST_STRING;
+    case 0x54000020:
+      return UART_TEST_STRING;
+    case 0x54000030:
+      return I2C_TEST_STRING;
+    case 0x54000040:
+      return DUMMY_COM_IF_STRING;
+    case 0x5400AFFE:
+      return DUMMY_HANDLER_STRING;
+    case 0x5400CAFE:
       return DUMMY_INTERFACE_STRING;
-    case objects::THERMAL_CONTROLLER:
+    case 0x54123456:
-      return THERMAL_CONTROLLER_STRING;
+      return LIBGPIOD_TEST_STRING;
+    case 0x54694269:
+      return TEST_TASK_STRING;
+    case 0x60000000:
+      return HEATER_0_PLOC_PROC_BRD_STRING;
+    case 0x60000001:
+      return HEATER_1_PCDU_BRD_STRING;
+    case 0x60000002:
+      return HEATER_2_ACS_BRD_STRING;
+    case 0x60000003:
+      return HEATER_3_OBC_BRD_STRING;
+    case 0x60000004:
+      return HEATER_4_CAMERA_STRING;
+    case 0x60000005:
+      return HEATER_5_STR_STRING;
+    case 0x60000006:
+      return HEATER_6_DRO_STRING;
+    case 0x60000007:
+      return HEATER_7_HPA_STRING;
+    case 0x73000001:
+      return ACS_BOARD_ASS_STRING;
+    case 0x73000002:
+      return SUS_BOARD_ASS_STRING;
+    case 0x73000003:
+      return TCS_BOARD_ASS_STRING;
+    case 0x73000004:
+      return RW_ASS_STRING;
+    case 0x73000006:
+      return CAM_SWITCHER_STRING;
+    case 0x73000100:
+      return TM_FUNNEL_STRING;
+    case 0x73000101:
+      return PUS_TM_FUNNEL_STRING;
+    case 0x73000102:
+      return CFDP_TM_FUNNEL_STRING;
+    case 0x73000205:
+      return CFDP_HANDLER_STRING;
+    case 0x73000206:
+      return CFDP_DISTRIBUTOR_STRING;
+    case 0x73010000:
+      return EIVE_SYSTEM_STRING;
+    case 0x73010001:
+      return ACS_SUBSYSTEM_STRING;
+    case 0x73010002:
+      return PL_SUBSYSTEM_STRING;
+    case 0x73500000:
+      return CCSDS_IP_CORE_BRIDGE_STRING;
     case 0xFFFFFFFF:
       return NO_OBJECT_STRING;
     default:

bsp_hosted/fsfwconfig/objects/translateObjects.h

@@ -3,6 +3,6 @@
 
 #include <fsfw/objectmanager/SystemObjectIF.h>
 
-const char* translateObject(object_id_t object);
+const char *translateObject(object_id_t object);
 
 #endif /* FSFWCONFIG_OBJECTS_TRANSLATEOBJECTS_H_ */

bsp_hosted/main.cpp

@@ -2,7 +2,6 @@
 
 #include <iostream>
 
-#include "InitMission.h"
 #include "commonConfig.h"
 #include "fsfw/FSFWVersion.h"
 #include "fsfw/controller/ControllerBase.h"
@@ -11,6 +10,7 @@
 #include "fsfw/modes/ModeMessage.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/tasks/TaskFactory.h"
+#include "scheduling.h"
 
 #ifdef WIN32
 static const char* COMPILE_PRINTOUT = "Windows";
@@ -35,7 +35,7 @@ int main(void) {
             << " BSP HOSTED"
             << " --" << std::endl;
 
-  initmission::initMission();
+  scheduling::initMission();
 
   for (;;) {
     // suspend main thread by sleeping it.

bsp_hosted/scheduling.cpp

@@ -1,6 +1,5 @@
-#include "InitMission.h"
+#include "linux/scheduling.h"
 
-#include <OBSWConfig.h>
 #include <bsp_hosted/fsfwconfig/pollingsequence/DummyPst.h>
 #include <fsfw/objectmanager/ObjectManager.h>
 #include <fsfw/objectmanager/ObjectManagerIF.h>
@@ -13,7 +12,9 @@
 
 #include <iostream>
 
+#include "OBSWConfig.h"
 #include "ObjectFactory.h"
+#include "scheduling.h"
 
 #ifdef LINUX
 ServiceInterfaceStream sif::debug("DEBUG");
@@ -29,7 +30,7 @@ ServiceInterfaceStream sif::error("ERROR", true, false, true);
 
 ObjectManagerIF* objectManager = nullptr;
 
-void initmission::initMission() {
+void scheduling::initMission() {
   sif::info << "Building global objects.." << std::endl;
   /* Instantiate global object manager and also create all objects */
   ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
@@ -40,7 +41,7 @@ void initmission::initMission() {
   initTasks();
 }
 
-void initmission::initTasks() {
+void scheduling::initTasks() {
   TaskFactory* factory = TaskFactory::instance();
   if (factory == nullptr) {
     /* Should never happen ! */
@@ -53,28 +54,25 @@ void initmission::initTasks() {
 #endif
 
   /* TMTC Distribution */
-  PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
+  PeriodicTaskIF* tmtcDistributor = factory->createPeriodicTask(
-      "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+      "DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-  ReturnValue_t result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
+  ReturnValue_t result = tmtcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
   if (result != returnvalue::OK) {
     sif::error << "Object add component failed" << std::endl;
   }
-  result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
+  result = tmtcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
   if (result != returnvalue::OK) {
     sif::error << "Object add component failed" << std::endl;
   }
-  result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
+  result = tmtcDistributor->addComponent(objects::TM_FUNNEL);
   if (result != returnvalue::OK) {
     sif::error << "Object add component failed" << std::endl;
   }
-
+  result = tmtcDistributor->addComponent(objects::TMTC_BRIDGE);
-  /* UDP bridge */
-  PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
-      "TMTC_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-  result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
   if (result != returnvalue::OK) {
     sif::error << "Add component UDP Unix Bridge failed" << std::endl;
   }
+
   PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
       "UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
   result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
@@ -94,69 +92,69 @@ void initmission::initTasks() {
       "EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
   result = eventHandling->addComponent(objects::EVENT_MANAGER);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("EVENT_MNGR", objects::EVENT_MANAGER);
+    scheduling::printAddObjectError("EVENT_MNGR", objects::EVENT_MANAGER);
   }
   result = eventHandling->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
+    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) {
-    initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
+    scheduling::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
   }
   result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
+    scheduling::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
   }
   result = pusHighPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
+    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) {
-    initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
+    scheduling::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
   }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
+    scheduling::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
   }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
+    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);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
+    scheduling::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
   }
 
   PeriodicTaskIF* thermalTask = factory->createPeriodicTask(
       "THERMAL_CTL_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
   result = thermalTask->addComponent(objects::RTD_0_IC3_PLOC_HEATSPREADER);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("RTD_0_dummy", objects::RTD_0_IC3_PLOC_HEATSPREADER);
+    scheduling::printAddObjectError("RTD_0_dummy", objects::RTD_0_IC3_PLOC_HEATSPREADER);
   }
   result = thermalTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("SUS_0_dummy", objects::SUS_0_N_LOC_XFYFZM_PT_XF);
+    scheduling::printAddObjectError("SUS_0_dummy", objects::SUS_0_N_LOC_XFYFZM_PT_XF);
   }
 
   result = thermalTask->addComponent(objects::CORE_CONTROLLER);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("Core controller dummy", objects::CORE_CONTROLLER);
+    scheduling::printAddObjectError("Core controller dummy", objects::CORE_CONTROLLER);
   }
 
   result = thermalTask->addComponent(objects::THERMAL_CONTROLLER);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);
+    scheduling::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);
   }
 
   FixedTimeslotTaskIF* pstTask = factory->createFixedTimeslotTask(
@@ -166,16 +164,27 @@ void initmission::initTasks() {
     sif::error << "Failed to add dummy pst to fixed timeslot task" << std::endl;
   }
 
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
+  PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
+      "PLOC_SUPV_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+  result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
+  }
+#endif /* OBSW_ADD_PLOC_SUPERVISOR */
+
+  PeriodicTaskIF* plTask = factory->createPeriodicTask(
+      "PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+  scheduling::addMpsocSupvHandlers(plTask);
 #if OBSW_ADD_TEST_CODE == 1
   result = testTask->addComponent(objects::TEST_TASK);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
+    scheduling::printAddObjectError("TEST_TASK", objects::TEST_TASK);
   }
 #endif /* OBSW_ADD_TEST_CODE == 1 */
 
   sif::info << "Starting tasks.." << std::endl;
-  tmTcDistributor->startTask();
+  tmtcDistributor->startTask();
-  tmtcBridgeTask->startTask();
   tmtcPollingTask->startTask();
 
   pusVerification->startTask();
@@ -186,6 +195,12 @@ void initmission::initTasks() {
 
   pstTask->startTask();
   thermalTask->startTask();
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
+  supvHelperTask->startTask();
+#endif
+#if OBSW_ADD_PLOC_SUPERVISOR == 1 || OBSW_ADD_PLOC_MPSOC == 1
+  plTask->startTask();
+#endif
 
 #if OBSW_ADD_TEST_CODE == 1
   testTask->startTask();

bsp_hosted/scheduling.h

@@ -0,0 +1,6 @@
+#pragma once
+
+namespace scheduling {
+void initMission();
+void initTasks();
+};  // namespace scheduling

bsp_q7s/OBSWConfig.h.in

@@ -119,6 +119,13 @@
 /*******************************************************************/
 /** CMake Defines                                                  */
 /*******************************************************************/
+
+// Use TCP instead of UDP for the TMTC bridge. This allows using the TMTC client locally
+// because UDP packets are not allowed in the VPN
+// This will cause the OBSW to initialize the TMTC bridge responsible for exchanging data with the
+// CCSDS IP Cores. 
+#define OBSW_USE_TMTC_TCP_BRIDGE            1
+
 #cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER
 
 #cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@

bsp_q7s/core/InitMission.cpp

@@ -1,7 +1,7 @@
 #include "bsp_q7s/core/InitMission.h"
 
 #include <fsfw/devicehandlers/DeviceCommunicationIF.h>
-#include <linux/InitMission.h>
+#include <linux/scheduling.h>
 
 #include <iostream>
 #include <vector>
@@ -74,7 +74,7 @@ void initmission::initTasks() {
       "SOLAR_ARRAY_DEPL", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
   result = solarArrayDeplTask->addComponent(objects::SOLAR_ARRAY_DEPL_HANDLER);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("SOLAR_ARRAY_DEPL", objects::SOLAR_ARRAY_DEPL_HANDLER);
+    scheduling::printAddObjectError("SOLAR_ARRAY_DEPL", objects::SOLAR_ARRAY_DEPL_HANDLER);
   }
 #endif
 
@@ -82,11 +82,11 @@ void initmission::initTasks() {
       "CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
   result = sysTask->addComponent(objects::CORE_CONTROLLER);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
+    scheduling::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
   }
   result = sysTask->addComponent(objects::PL_SUBSYSTEM);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PL_SUBSYSTEM", objects::PL_SUBSYSTEM);
+    scheduling::printAddObjectError("PL_SUBSYSTEM", objects::PL_SUBSYSTEM);
   }
 
   /* TMTC Distribution */
@@ -95,24 +95,24 @@ void initmission::initTasks() {
 #if OBSW_ADD_TCPIP_BRIDGE == 1
   result = tmTcDistributor->addComponent(objects::TMTC_BRIDGE);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("TMTC_BRIDGE", objects::TMTC_BRIDGE);
+    scheduling::printAddObjectError("TMTC_BRIDGE", objects::TMTC_BRIDGE);
   }
 #endif
   result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("CCSDS_DISTRIB", objects::CCSDS_PACKET_DISTRIBUTOR);
+    scheduling::printAddObjectError("CCSDS_DISTRIB", objects::CCSDS_PACKET_DISTRIBUTOR);
   }
   result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PUS_PACKET_DISTRIB", objects::PUS_PACKET_DISTRIBUTOR);
+    scheduling::printAddObjectError("PUS_PACKET_DISTRIB", objects::PUS_PACKET_DISTRIBUTOR);
   }
   result = tmTcDistributor->addComponent(objects::CFDP_DISTRIBUTOR);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("CFDP_DISTRIBUTOR", objects::CFDP_DISTRIBUTOR);
+    scheduling::printAddObjectError("CFDP_DISTRIBUTOR", objects::CFDP_DISTRIBUTOR);
   }
   result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL);
+    scheduling::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL);
   }
 
 #if OBSW_ADD_TCPIP_BRIDGE == 1
@@ -120,7 +120,7 @@ void initmission::initTasks() {
       "TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
   result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("UDP_POLLING", objects::TMTC_POLLING_TASK);
+    scheduling::printAddObjectError("UDP_POLLING", objects::TMTC_POLLING_TASK);
   }
 #endif
 
@@ -129,7 +129,7 @@ void initmission::initTasks() {
       "CCSDS_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
   result = ccsdsHandlerTask->addComponent(objects::CCSDS_HANDLER);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER);
+    scheduling::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER);
   }
 
   // Runs in IRQ mode, frequency does not really matter
@@ -137,7 +137,7 @@ void initmission::initTasks() {
       "PDEC_HANDLER", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
   result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
+    scheduling::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
   }
 #endif /* OBSW_ADD_CCSDS_IP_CORE == 1 */
 
@@ -146,7 +146,7 @@ void initmission::initTasks() {
       "CFDP Handler", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
   result = cfdpTask->addComponent(objects::CFDP_HANDLER);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("CFDP Handler", objects::CFDP_HANDLER);
+    scheduling::printAddObjectError("CFDP Handler", objects::CFDP_HANDLER);
   }
 #endif
 
@@ -155,14 +155,14 @@ void initmission::initTasks() {
 #if OBSW_ADD_GPS_CTRL == 1
   result = acsCtrlTask->addComponent(objects::GPS_CONTROLLER);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
+    scheduling::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
   }
 #endif /* OBSW_ADD_GPS_CTRL */
 
 #if OBSW_ADD_ACS_CTRL == 1
   acsCtrlTask->addComponent(objects::ACS_CONTROLLER);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("ACS_CTRL", objects::ACS_CONTROLLER);
+    scheduling::printAddObjectError("ACS_CTRL", objects::ACS_CONTROLLER);
   }
 #endif
 
@@ -172,24 +172,24 @@ void initmission::initTasks() {
 #if OBSW_ADD_ACS_BOARD == 1
   result = acsSysTask->addComponent(objects::ACS_BOARD_ASS);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("ACS_BOARD_ASS", objects::ACS_BOARD_ASS);
+    scheduling::printAddObjectError("ACS_BOARD_ASS", objects::ACS_BOARD_ASS);
   }
 #endif /* OBSW_ADD_ACS_HANDLERS */
 #if OBSW_ADD_RW == 1
   result = acsSysTask->addComponent(objects::RW_ASS);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("RW_ASS", objects::RW_ASS);
+    scheduling::printAddObjectError("RW_ASS", objects::RW_ASS);
   }
 #endif
 #if OBSW_ADD_SUS_BOARD_ASS == 1
   result = acsSysTask->addComponent(objects::SUS_BOARD_ASS);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
+    scheduling::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
   }
 #endif
   result = acsSysTask->addComponent(objects::ACS_SUBSYSTEM);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
+    scheduling::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
   }
 
 #if OBSW_ADD_RTD_DEVICES == 1
@@ -197,7 +197,7 @@ void initmission::initTasks() {
       "TCS_POLLING_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.5, missedDeadlineFunc);
   result = tcsPollingTask->addComponent(objects::SPI_RTD_COM_IF);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("SPI_RTD_POLLING", objects::SPI_RTD_COM_IF);
+    scheduling::printAddObjectError("SPI_RTD_POLLING", objects::SPI_RTD_COM_IF);
   }
 
   PeriodicTaskIF* tcsTask = factory->createPeriodicTask(
@@ -235,19 +235,19 @@ void initmission::initTasks() {
 #if OBSW_ADD_RTD_DEVICES == 1
   result = tcsSystemTask->addComponent(objects::TCS_BOARD_ASS);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("TCS_BOARD_ASS", objects::TCS_BOARD_ASS);
+    scheduling::printAddObjectError("TCS_BOARD_ASS", objects::TCS_BOARD_ASS);
   }
 #endif /* OBSW_ADD_RTD_DEVICES */
 #if OBSW_ADD_TCS_CTRL == 1
   result = tcsSystemTask->addComponent(objects::THERMAL_CONTROLLER);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);
+    scheduling::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);
   }
 #endif
 #if OBSW_ADD_HEATERS == 1
   result = tcsSystemTask->addComponent(objects::HEATER_HANDLER);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
+    scheduling::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
   }
 #endif
 
@@ -256,7 +256,7 @@ void initmission::initTasks() {
       "STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
   result = strHelperTask->addComponent(objects::STR_HELPER);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("STR_HELPER", objects::STR_HELPER);
+    scheduling::printAddObjectError("STR_HELPER", objects::STR_HELPER);
   }
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 
@@ -265,7 +265,7 @@ void initmission::initTasks() {
       "PLOC_MPSOC_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
   result = mpsocHelperTask->addComponent(objects::PLOC_MPSOC_HELPER);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PLOC_MPSOC_HELPER", objects::PLOC_MPSOC_HELPER);
+    scheduling::printAddObjectError("PLOC_MPSOC_HELPER", objects::PLOC_MPSOC_HELPER);
   }
 #endif /* OBSW_ADD_PLOC_MPSOC */
 
@@ -274,7 +274,7 @@ void initmission::initTasks() {
       "PLOC_SUPV_HELPER", 10, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
   result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
+    scheduling::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
   }
 #endif /* OBSW_ADD_PLOC_SUPERVISOR */
 
@@ -300,7 +300,7 @@ void initmission::initTasks() {
       "PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
   result = ptmeTestTask->addComponent(objects::CCSDS_IP_CORE_BRIDGE);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PTME_TEST", objects::CCSDS_IP_CORE_BRIDGE);
+    scheduling::printAddObjectError("PTME_TEST", objects::CCSDS_IP_CORE_BRIDGE);
   }
 #endif
   std::vector<PeriodicTaskIF*> testTasks;
@@ -458,7 +458,7 @@ void initmission::createPusTasks(TaskFactory& factory,
       "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
   result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
+    scheduling::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
   }
   taskVec.push_back(pusVerification);
 
@@ -466,11 +466,11 @@ void initmission::createPusTasks(TaskFactory& factory,
       "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
   result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
+    scheduling::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
   }
   result = pusEvents->addComponent(objects::EVENT_MANAGER);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
+    scheduling::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
   }
   taskVec.push_back(pusEvents);
 
@@ -478,11 +478,11 @@ void initmission::createPusTasks(TaskFactory& factory,
       "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
   result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
+    scheduling::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
   }
   result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT);
+    scheduling::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT);
   }
 
   taskVec.push_back(pusHighPrio);
@@ -492,32 +492,32 @@ void initmission::createPusTasks(TaskFactory& factory,
 
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PUS_3", objects::PUS_SERVICE_3_HOUSEKEEPING);
+    scheduling::printAddObjectError("PUS_3", objects::PUS_SERVICE_3_HOUSEKEEPING);
   }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PUS_8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
+    scheduling::printAddObjectError("PUS_8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
   }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_11_TC_SCHEDULER);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PUS_11", objects::PUS_SERVICE_11_TC_SCHEDULER);
+    scheduling::printAddObjectError("PUS_11", objects::PUS_SERVICE_11_TC_SCHEDULER);
   }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
+    scheduling::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
   }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PUS_200", objects::PUS_SERVICE_200_MODE_MGMT);
+    scheduling::printAddObjectError("PUS_200", objects::PUS_SERVICE_200_MODE_MGMT);
   }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_201_HEALTH);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PUS_201", objects::PUS_SERVICE_201_HEALTH);
+    scheduling::printAddObjectError("PUS_201", objects::PUS_SERVICE_201_HEALTH);
   }
   // Used for connection tests, therefore use higher priority
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_17_TEST);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
+    scheduling::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
   }
   taskVec.push_back(pusMedPrio);
 
@@ -525,7 +525,7 @@ void initmission::createPusTasks(TaskFactory& factory,
       "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
   result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
+    scheduling::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
   }
   taskVec.push_back(pusLowPrio);
 }
@@ -542,25 +542,25 @@ void initmission::createTestTasks(TaskFactory& factory,
 
   result = testTask->addComponent(objects::TEST_TASK);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
+    scheduling::printAddObjectError("TEST_TASK", objects::TEST_TASK);
   }
 
 #if OBSW_ADD_SPI_TEST_CODE == 1
   result = testTask->addComponent(objects::SPI_TEST);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
+    scheduling::printAddObjectError("SPI_TEST", objects::SPI_TEST);
   }
 #endif
 #if OBSW_ADD_I2C_TEST_CODE == 1
   result = testTask->addComponent(objects::I2C_TEST);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("I2C_TEST", objects::I2C_TEST);
+    scheduling::printAddObjectError("I2C_TEST", objects::I2C_TEST);
   }
 #endif
 #if OBSW_ADD_UART_TEST_CODE == 1
   result = testTask->addComponent(objects::UART_TEST);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("UART_TEST", objects::UART_TEST);
+    scheduling::printAddObjectError("UART_TEST", objects::UART_TEST);
   }
 #endif
 

bsp_q7s/core/ObjectFactory.cpp

@@ -600,7 +600,6 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
   auto* camSwitcher =
       new CamSwitcher(objects::CAM_SWITCHER, pwrSwitch, pcdu::PDU2_CH8_PAYLOAD_CAMERA);
   camSwitcher->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
-  // camSwitcher->
 #if OBSW_ADD_PLOC_MPSOC == 1
   consumer << "0x" << std::hex << objects::PLOC_MPSOC_HANDLER;
   auto gpioConfigMPSoC = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_MPSOC_UART,
@@ -629,10 +628,10 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
       new SerialCookie(objects::PLOC_SUPERVISOR_HANDLER, q7s::UART_PLOC_SUPERVSIOR_DEV,
                        uart::PLOC_SUPV_BAUD, supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
   supervisorCookie->setNoFixedSizeReply();
-  auto supvHelper = new PlocSupvHelper(objects::PLOC_SUPERVISOR_HELPER);
+  auto supvHelper = new PlocSupvUartManager(objects::PLOC_SUPERVISOR_HELPER);
-  auto* supvHandler = new PlocSupervisorHandler(
+  auto* supvHandler = new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, supervisorCookie,
-      objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF, supervisorCookie,
+                                                Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF),
-      Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF), pcdu::PDU1_CH6_PLOC_12V, supvHelper);
+                                                pcdu::PDU1_CH6_PLOC_12V, *supvHelper);
   supvHandler->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
 #endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
   static_cast<void>(consumer);

bsp_q7s/em/emObjectFactory.cpp

@@ -1,6 +1,7 @@
 #include <bsp_q7s/callbacks/q7sGpioCallbacks.h>
 #include <fsfw/health/HealthTableIF.h>
 #include <fsfw/power/DummyPowerSwitcher.h>
+#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
 
 #include "OBSWConfig.h"
 #include "bsp_q7s/core/CoreController.h"
@@ -38,13 +39,21 @@ void ObjectFactory::produce(void* args) {
 #if OBSW_ADD_SYRLINKS == 1
   dummyCfg.addSyrlinksDummies = false;
 #endif
-  dummy::createDummies(dummyCfg);
+#if OBSW_ADD_GOMSPACE_PCDU == 1
+  dummyCfg.addPowerDummies = false;
+#endif
+
+  PowerSwitchIF* pwrSwitcher = nullptr;
+#if OBSW_ADD_GOMSPACE_PCDU == 0
+  pwrSwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
+#else
+  createPcduComponents(gpioComIF, &pwrSwitcher);
+#endif
+
+  dummy::createDummies(dummyCfg, *pwrSwitcher);
 
   new CoreController(objects::CORE_CONTROLLER);
 
-  PowerSwitchIF* pwrSwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
-  static_cast<void>(pwrSwitcher);
-
   // Regular FM code, does not work for EM if the hardware is not connected
   // createPcduComponents(gpioComIF, &pwrSwitcher);
   // createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
@@ -95,8 +104,8 @@ void ObjectFactory::produce(void* args) {
   createTestComponents(gpioComIF);
 #endif /* OBSW_ADD_TEST_CODE == 1 */
 #if OBSW_ADD_SCEX_DEVICE == 1
-  createScexComponents(q7s::UART_SCEX_DEV, pwrSwitcher, *SdCardManager::instance(), true,
+  createScexComponents(q7s::UART_SCEX_DEV, pwrSwitcher, *SdCardManager::instance(), false,
-                       std::nullopt);
+                       pcdu::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V);
 #endif
   createAcsController(true);
 }

common/config/commonConfig.h.in

@@ -19,12 +19,6 @@ debugging. */
 // Disable this for mission code. It allows exchanging TMTC packets via the Ethernet port
 #define OBSW_ADD_TCPIP_BRIDGE               1
 
-// Use TCP instead of UDP for the TMTC bridge. This allows using the TMTC client locally
-// because UDP packets are not allowed in the VPN
-// This will cause the OBSW to initialize the TMTC bridge responsible for exchanging data with the
-// CCSDS IP Cores. 
-#define OBSW_USE_TMTC_TCP_BRIDGE            1
-
 #define OBSW_ADD_CFDP_COMPONENTS            1
 
 namespace common {

common/config/devConf.h

@@ -1,6 +1,8 @@
 #ifndef COMMON_CONFIG_DEVCONF_H_
 #define COMMON_CONFIG_DEVCONF_H_
 
+#include <fsfw_hal/linux/serial/SerialCookie.h>
+
 #include <cstdint>
 
 #include "fsfw/timemanager/clockDefinitions.h"
@@ -55,7 +57,7 @@ namespace uart {
 
 static constexpr size_t HYPERION_GPS_REPLY_MAX_BUFFER = 1024;
 static constexpr UartBaudRate SYRLINKS_BAUD = UartBaudRate::RATE_38400;
-static constexpr UartBaudRate SCEX_BAUD = UartBaudRate::RATE_38400;
+static constexpr UartBaudRate SCEX_BAUD = UartBaudRate::RATE_115200;
 static constexpr UartBaudRate GNSS_BAUD = UartBaudRate::RATE_9600;
 static constexpr UartBaudRate PLOC_MPSOC_BAUD = UartBaudRate::RATE_115200;
 static constexpr UartBaudRate PLOC_SUPV_BAUD = UartBaudRate::RATE_115200;

common/config/eive/objects.h

@@ -16,6 +16,10 @@ enum commonObjects : uint32_t {
   PDEC_HANDLER = 0x50000700,
   CCSDS_HANDLER = 0x50000800,
 
+  /* 0x49 ('I') for Communication Interfaces **/
+  UART_COM_IF = 0x49030003,
+  SCEX_UART_READER = 0x49010006,
+
   /* 0x43 ('C') for Controllers */
   THERMAL_CONTROLLER = 0x43400001,
   ACS_CONTROLLER = 0x43000002,

dummies/TemperatureSensorsDummy.cpp

@@ -26,6 +26,10 @@ TemperatureSensorsDummy::TemperatureSensorsDummy()
   ObjectManager::instance()->insert(objects::RTD_15_IC18_IMTQ, this);
   ObjectManager::instance()->insert(objects::TMP1075_HANDLER_TCS_0, this);
   ObjectManager::instance()->insert(objects::TMP1075_HANDLER_TCS_1, this);
+
+  ObjectManager::instance()->insert(objects::TMP1075_HANDLER_PLPCDU_0, this);
+  ObjectManager::instance()->insert(objects::TMP1075_HANDLER_PLPCDU_1, this);
+  ObjectManager::instance()->insert(objects::TMP1075_HANDLER_IF_BOARD, this);
 }
 
 ReturnValue_t TemperatureSensorsDummy::initialize() {

dummies/helpers.cpp

@@ -19,10 +19,11 @@
 #include <dummies/SusDummy.h>
 #include <dummies/SyrlinksDummy.h>
 #include <dummies/TemperatureSensorsDummy.h>
+#include <mission/system/objects/CamSwitcher.h>
 
 using namespace dummy;
 
-void dummy::createDummies(DummyCfg cfg) {
+void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch) {
   new ComIFDummy(objects::DUMMY_COM_IF);
   ComCookieDummy* comCookieDummy = new ComCookieDummy();
   new BpxDummy(objects::BPX_BATT_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
@@ -67,5 +68,6 @@ void dummy::createDummies(DummyCfg cfg) {
   if (cfg.addTempSensorDummies) {
     new TemperatureSensorsDummy();
   }
+  new CamSwitcher(objects::CAM_SWITCHER, pwrSwitch, power::NO_SWITCH);
   new PlPcduDummy(objects::PLPCDU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
 }

dummies/helpers.h

@@ -1,5 +1,7 @@
 #pragma once
 
+#include <fsfw/power/PowerSwitchIF.h>
+
 namespace dummy {
 
 struct DummyCfg {
@@ -12,6 +14,6 @@ struct DummyCfg {
   bool addRtdComIFDummy = true;
 };
 
-void createDummies(DummyCfg cfg);
+void createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch);
 
 }  // namespace dummy

generators/bsp_q7s_events.csv

@@ -123,10 +123,13 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11901;0x2e7d;BOOTING_FIRMWARE_FAILED;LOW;Failed to boot firmware;linux/devices/startracker/StarTrackerHandler.h
 11902;0x2e7e;BOOTING_BOOTLOADER_FAILED;LOW;Failed to boot star tracker into bootloader mode;linux/devices/startracker/StarTrackerHandler.h
 12001;0x2ee1;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC supervisor crc failure in telemetry packet;linux/devices/ploc/PlocSupervisorHandler.h
-12002;0x2ee2;SUPV_ACK_FAILURE;LOW;PLOC supervisor received acknowledgment failure report;linux/devices/ploc/PlocSupervisorHandler.h
+12002;0x2ee2;SUPV_UNKNOWN_TM;LOW;Unhandled event. P1: APID, P2: Service ID;linux/devices/ploc/PlocSupervisorHandler.h
-12003;0x2ee3;SUPV_EXE_FAILURE;LOW;PLOC received execution failure report P1: ID of command for which the execution failed P2: Status code sent by the supervisor handler;linux/devices/ploc/PlocSupervisorHandler.h
+12003;0x2ee3;SUPV_UNINIMPLEMENTED_TM;LOW;;linux/devices/ploc/PlocSupervisorHandler.h
-12004;0x2ee4;SUPV_CRC_FAILURE_EVENT;LOW;PLOC supervisor reply has invalid crc;linux/devices/ploc/PlocSupervisorHandler.h
+12004;0x2ee4;SUPV_ACK_FAILURE;LOW;PLOC supervisor received acknowledgment failure report;linux/devices/ploc/PlocSupervisorHandler.h
-12005;0x2ee5;SUPV_MPSOC_SHUWDOWN_BUILD_FAILED;LOW;Failed to build the command to shutdown the MPSoC;linux/devices/ploc/PlocSupervisorHandler.h
+12005;0x2ee5;SUPV_EXE_FAILURE;LOW;PLOC received execution failure report P1: ID of command for which the execution failed P2: Status code sent by the supervisor handler;linux/devices/ploc/PlocSupervisorHandler.h
+12006;0x2ee6;SUPV_CRC_FAILURE_EVENT;LOW;PLOC supervisor reply has invalid crc;linux/devices/ploc/PlocSupervisorHandler.h
+12007;0x2ee7;SUPV_HELPER_EXECUTING;LOW;Supervisor helper currently executing a command;linux/devices/ploc/PlocSupervisorHandler.h
+12008;0x2ee8;SUPV_MPSOC_SHUWDOWN_BUILD_FAILED;LOW;Failed to build the command to shutdown the MPSoC;linux/devices/ploc/PlocSupervisorHandler.h
 12100;0x2f44;SANITIZATION_FAILED;LOW;;bsp_q7s/fs/SdCardManager.h
 12101;0x2f45;MOUNTED_SD_CARD;INFO;;bsp_q7s/fs/SdCardManager.h
 12300;0x300c;SEND_MRAM_DUMP_FAILED;LOW;Failed to send mram dump command to supervisor handler P1: Return value of commandAction function P2: Start address of MRAM to dump with this command;linux/devices/ploc/PlocMemoryDumper.h
@@ -195,31 +198,33 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 13200;0x3390;P60_BOOT_COUNT;INFO;P60 boot count is broadcasted once at SW startup. P1: Boot count;mission/devices/P60DockHandler.h
 13201;0x3391;BATT_MODE;INFO;Battery mode is broadcasted at startup. P1: Mode;mission/devices/P60DockHandler.h
 13202;0x3392;BATT_MODE_CHANGED;MEDIUM;Battery mode has changed. P1: Old mode. P2: New mode;mission/devices/P60DockHandler.h
-13600;0x3520;SUPV_UPDATE_FAILED;LOW;update failed;linux/devices/ploc/PlocSupvHelper.h
+13600;0x3520;SUPV_UPDATE_FAILED;LOW;update failed;linux/devices/ploc/PlocSupvUartMan.h
-13601;0x3521;SUPV_UPDATE_SUCCESSFUL;LOW;update successful;linux/devices/ploc/PlocSupvHelper.h
+13601;0x3521;SUPV_UPDATE_SUCCESSFUL;LOW;update successful;linux/devices/ploc/PlocSupvUartMan.h
-13602;0x3522;SUPV_CONTINUE_UPDATE_FAILED;LOW;Continue update command failed;linux/devices/ploc/PlocSupvHelper.h
+13602;0x3522;SUPV_CONTINUE_UPDATE_FAILED;LOW;Continue update command failed;linux/devices/ploc/PlocSupvUartMan.h
-13603;0x3523;SUPV_CONTINUE_UPDATE_SUCCESSFUL;LOW;Continue update command successful;linux/devices/ploc/PlocSupvHelper.h
+13603;0x3523;SUPV_CONTINUE_UPDATE_SUCCESSFUL;LOW;Continue update command successful;linux/devices/ploc/PlocSupvUartMan.h
-13604;0x3524;TERMINATED_UPDATE_PROCEDURE;LOW;Terminated update procedure by command;linux/devices/ploc/PlocSupvHelper.h
+13604;0x3524;TERMINATED_UPDATE_PROCEDURE;LOW;Terminated update procedure by command;linux/devices/ploc/PlocSupvUartMan.h
-13605;0x3525;SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL;LOW;Requesting event buffer was successful;linux/devices/ploc/PlocSupvHelper.h
+13605;0x3525;SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL;LOW;Requesting event buffer was successful;linux/devices/ploc/PlocSupvUartMan.h
-13606;0x3526;SUPV_EVENT_BUFFER_REQUEST_FAILED;LOW;Requesting event buffer failed;linux/devices/ploc/PlocSupvHelper.h
+13606;0x3526;SUPV_EVENT_BUFFER_REQUEST_FAILED;LOW;Requesting event buffer failed;linux/devices/ploc/PlocSupvUartMan.h
-13607;0x3527;SUPV_EVENT_BUFFER_REQUEST_TERMINATED;LOW;Terminated event buffer request by command P1: Number of packets read before process was terminated;linux/devices/ploc/PlocSupvHelper.h
+13607;0x3527;SUPV_EVENT_BUFFER_REQUEST_TERMINATED;LOW;Terminated event buffer request by command P1: Number of packets read before process was terminated;linux/devices/ploc/PlocSupvUartMan.h
-13608;0x3528;SUPV_MEM_CHECK_OK;INFO;;linux/devices/ploc/PlocSupvHelper.h
+13608;0x3528;SUPV_MEM_CHECK_OK;INFO;;linux/devices/ploc/PlocSupvUartMan.h
-13609;0x3529;SUPV_MEM_CHECK_FAIL;INFO;;linux/devices/ploc/PlocSupvHelper.h
+13609;0x3529;SUPV_MEM_CHECK_FAIL;INFO;;linux/devices/ploc/PlocSupvUartMan.h
-13616;0x3530;SUPV_SENDING_COMMAND_FAILED;LOW;;linux/devices/ploc/PlocSupvHelper.h
+13616;0x3530;SUPV_SENDING_COMMAND_FAILED;LOW;;linux/devices/ploc/PlocSupvUartMan.h
-13617;0x3531;SUPV_HELPER_REQUESTING_REPLY_FAILED;LOW;Request receive message of communication interface failed P1: Return value returned by the communication interface requestReceiveMessage function P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvHelper.h
+13617;0x3531;SUPV_HELPER_REQUESTING_REPLY_FAILED;LOW;Request receive message of communication interface failed P1: Return value returned by the communication interface requestReceiveMessage function P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvUartMan.h
-13618;0x3532;SUPV_HELPER_READING_REPLY_FAILED;LOW;Reading receive message of communication interface failed P1: Return value returned by the communication interface readingReceivedMessage function P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvHelper.h
+13618;0x3532;SUPV_HELPER_READING_REPLY_FAILED;LOW;Reading receive message of communication interface failed P1: Return value returned by the communication interface readingReceivedMessage function P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvUartMan.h
-13619;0x3533;SUPV_MISSING_ACK;LOW;Did not receive acknowledgement report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/devices/ploc/PlocSupvHelper.h
+13619;0x3533;SUPV_MISSING_ACK;LOW;Did not receive acknowledgement report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/devices/ploc/PlocSupvUartMan.h
-13620;0x3534;SUPV_MISSING_EXE;LOW;Supervisor did not receive execution report P1: Number of bytes missing P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvHelper.h
+13620;0x3534;SUPV_MISSING_EXE;LOW;Supervisor did not receive execution report P1: Number of bytes missing P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvUartMan.h
-13621;0x3535;SUPV_ACK_FAILURE_REPORT;LOW;Supervisor received acknowledgment failure report P1: Internal state of supervisor helper;linux/devices/ploc/PlocSupvHelper.h
+13621;0x3535;SUPV_ACK_FAILURE_REPORT;LOW;Supervisor received acknowledgment failure report P1: Internal state of supervisor helper;linux/devices/ploc/PlocSupvUartMan.h
-13622;0x3536;SUPV_EXE_FAILURE_REPORT;LOW;Execution report failure P1:;linux/devices/ploc/PlocSupvHelper.h
+13622;0x3536;SUPV_EXE_FAILURE_REPORT;LOW;Execution report failure P1:;linux/devices/ploc/PlocSupvUartMan.h
-13623;0x3537;SUPV_ACK_INVALID_APID;LOW;Supervisor expected acknowledgment report but received space packet with other apid P1: Apid of received space packet P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvHelper.h
+13623;0x3537;SUPV_ACK_INVALID_APID;LOW;Supervisor expected acknowledgment report but received space packet with other apid P1: Apid of received space packet P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvUartMan.h
-13624;0x3538;SUPV_EXE_INVALID_APID;LOW;Supervisor helper expected execution report but received space packet with other apid P1: Apid of received space packet P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvHelper.h
+13624;0x3538;SUPV_EXE_INVALID_APID;LOW;Supervisor helper expected execution report but received space packet with other apid P1: Apid of received space packet P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvUartMan.h
-13625;0x3539;ACK_RECEPTION_FAILURE;LOW;Failed to receive acknowledgment report P1: Return value P2: Apid of command for which the reception of the acknowledgment report failed;linux/devices/ploc/PlocSupvHelper.h
+13625;0x3539;ACK_RECEPTION_FAILURE;LOW;Failed to receive acknowledgment report P1: Return value P2: Apid of command for which the reception of the acknowledgment report failed;linux/devices/ploc/PlocSupvUartMan.h
-13626;0x353a;EXE_RECEPTION_FAILURE;LOW;Failed to receive execution report P1: Return value P2: Apid of command for which the reception of the execution report failed;linux/devices/ploc/PlocSupvHelper.h
+13626;0x353a;EXE_RECEPTION_FAILURE;LOW;Failed to receive execution report P1: Return value P2: Apid of command for which the reception of the execution report failed;linux/devices/ploc/PlocSupvUartMan.h
-13627;0x353b;WRITE_MEMORY_FAILED;LOW;Update procedure failed when sending packet. P1: First byte percent, third and fourth byte Sequence Count, P2: Bytes written;linux/devices/ploc/PlocSupvHelper.h
+13627;0x353b;WRITE_MEMORY_FAILED;LOW;Update procedure failed when sending packet. P1: First byte percent, third and fourth byte Sequence Count, P2: Bytes written;linux/devices/ploc/PlocSupvUartMan.h
-13628;0x353c;SUPV_REPLY_SIZE_MISSMATCH;LOW;;linux/devices/ploc/PlocSupvHelper.h
+13628;0x353c;SUPV_REPLY_SIZE_MISSMATCH;LOW;;linux/devices/ploc/PlocSupvUartMan.h
-13629;0x353d;SUPV_REPLY_CRC_MISSMATCH;LOW;;linux/devices/ploc/PlocSupvHelper.h
+13629;0x353d;SUPV_REPLY_CRC_MISSMATCH;LOW;;linux/devices/ploc/PlocSupvUartMan.h
-13630;0x353e;SUPV_UPDATE_PROGRESS;INFO;Will be triggered every 5 percent of the update progress. P1: First byte percent, third and fourth byte Sequence Count, P2: Bytes written;linux/devices/ploc/PlocSupvHelper.h
+13630;0x353e;SUPV_UPDATE_PROGRESS;INFO;Will be triggered every 5 percent of the update progress. P1: First byte percent, third and fourth byte Sequence Count, P2: Bytes written;linux/devices/ploc/PlocSupvUartMan.h
+13631;0x353f;HDLC_FRAME_REMOVAL_ERROR;INFO;;linux/devices/ploc/PlocSupvUartMan.h
+13632;0x3540;HDLC_CRC_ERROR;INFO;;linux/devices/ploc/PlocSupvUartMan.h
 13700;0x3584;ALLOC_FAILURE;MEDIUM;;bsp_q7s/core/CoreController.h
 13701;0x3585;REBOOT_SW;MEDIUM; Software reboot occurred. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
 13702;0x3586;REBOOT_MECHANISM_TRIGGERED;MEDIUM;The reboot mechanism was triggered. P1: First 16 bits: Last Chip, Last 16 bits: Last Copy, P2: Each byte is the respective reboot count for the slots;bsp_q7s/core/CoreController.h

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 234 translations.
+ * @brief    Auto-generated event translation file. Contains 239 translations.
  * @details
- * Generated on: 2022-11-14 17:10:10
+ * Generated on: 2022-11-16 15:25:08
  */
 #include "translateEvents.h"
 
@@ -129,9 +129,12 @@ const char *RESET_OCCURED_STRING = "RESET_OCCURED";
 const char *BOOTING_FIRMWARE_FAILED_STRING = "BOOTING_FIRMWARE_FAILED";
 const char *BOOTING_BOOTLOADER_FAILED_STRING = "BOOTING_BOOTLOADER_FAILED";
 const char *SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING = "SUPV_MEMORY_READ_RPT_CRC_FAILURE";
+const char *SUPV_UNKNOWN_TM_STRING = "SUPV_UNKNOWN_TM";
+const char *SUPV_UNINIMPLEMENTED_TM_STRING = "SUPV_UNINIMPLEMENTED_TM";
 const char *SUPV_ACK_FAILURE_STRING = "SUPV_ACK_FAILURE";
 const char *SUPV_EXE_FAILURE_STRING = "SUPV_EXE_FAILURE";
 const char *SUPV_CRC_FAILURE_EVENT_STRING = "SUPV_CRC_FAILURE_EVENT";
+const char *SUPV_HELPER_EXECUTING_STRING = "SUPV_HELPER_EXECUTING";
 const char *SUPV_MPSOC_SHUWDOWN_BUILD_FAILED_STRING = "SUPV_MPSOC_SHUWDOWN_BUILD_FAILED";
 const char *SANITIZATION_FAILED_STRING = "SANITIZATION_FAILED";
 const char *MOUNTED_SD_CARD_STRING = "MOUNTED_SD_CARD";
@@ -222,6 +225,8 @@ const char *WRITE_MEMORY_FAILED_STRING = "WRITE_MEMORY_FAILED";
 const char *SUPV_REPLY_SIZE_MISSMATCH_STRING = "SUPV_REPLY_SIZE_MISSMATCH";
 const char *SUPV_REPLY_CRC_MISSMATCH_STRING = "SUPV_REPLY_CRC_MISSMATCH";
 const char *SUPV_UPDATE_PROGRESS_STRING = "SUPV_UPDATE_PROGRESS";
+const char *HDLC_FRAME_REMOVAL_ERROR_STRING = "HDLC_FRAME_REMOVAL_ERROR";
+const char *HDLC_CRC_ERROR_STRING = "HDLC_CRC_ERROR";
 const char *ALLOC_FAILURE_STRING = "ALLOC_FAILURE";
 const char *REBOOT_SW_STRING = "REBOOT_SW";
 const char *REBOOT_MECHANISM_TRIGGERED_STRING = "REBOOT_MECHANISM_TRIGGERED";
@@ -487,12 +492,18 @@ const char *translateEvents(Event event) {
     case (12001):
       return SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING;
     case (12002):
-      return SUPV_ACK_FAILURE_STRING;
+      return SUPV_UNKNOWN_TM_STRING;
     case (12003):
-      return SUPV_EXE_FAILURE_STRING;
+      return SUPV_UNINIMPLEMENTED_TM_STRING;
     case (12004):
-      return SUPV_CRC_FAILURE_EVENT_STRING;
+      return SUPV_ACK_FAILURE_STRING;
     case (12005):
+      return SUPV_EXE_FAILURE_STRING;
+    case (12006):
+      return SUPV_CRC_FAILURE_EVENT_STRING;
+    case (12007):
+      return SUPV_HELPER_EXECUTING_STRING;
+    case (12008):
       return SUPV_MPSOC_SHUWDOWN_BUILD_FAILED_STRING;
     case (12100):
       return SANITIZATION_FAILED_STRING;
@@ -672,6 +683,10 @@ const char *translateEvents(Event event) {
       return SUPV_REPLY_CRC_MISSMATCH_STRING;
     case (13630):
       return SUPV_UPDATE_PROGRESS_STRING;
+    case (13631):
+      return HDLC_FRAME_REMOVAL_ERROR_STRING;
+    case (13632):
+      return HDLC_CRC_ERROR_STRING;
     case (13700):
       return ALLOC_FAILURE_STRING;
     case (13701):

generators/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 148 translations.
- * Generated on: 2022-11-14 17:10:10
+ * Generated on: 2022-11-16 15:25:08
  */
 #include "translateObjects.h"
 

linux/CMakeLists.txt

@@ -9,4 +9,4 @@ if(EIVE_ADD_LINUX_FSFWCONFIG)
   add_subdirectory(fsfwconfig)
 endif()
 
-target_sources(${OBSW_NAME} PUBLIC ObjectFactory.cpp InitMission.cpp)
+target_sources(${OBSW_NAME} PUBLIC ObjectFactory.cpp scheduling.cpp)

linux/devices/ScexUartReader.cpp

@@ -98,18 +98,11 @@ ReturnValue_t ScexUartReader::initializeInterface(CookieIF *cookie) {
   }
   // Setting up UART parameters
   tty.c_cflag &= ~PARENB;  // Clear parity bit
-  if (uartCookie->getStopBits() == StopBits::TWO_STOP_BITS) {
+  uart::setStopbits(tty, uartCookie->getStopBits());
-    // Use two stop bits
+  uart::setBitsPerWord(tty, BitsPerWord::BITS_8);
-    tty.c_cflag |= CSTOPB;
+  tty.c_cflag &= ~CRTSCTS;  // Disable RTS/CTS hardware flow control
-  } else {
+  uart::enableRead(tty);
-    // Clear stop field, only one stop bit used in communication
+  uart::ignoreCtrlLines(tty);
-    tty.c_cflag &= ~CSTOPB;
-  }
-
-  tty.c_cflag &= ~CSIZE;          // Clear all the size bits
-  tty.c_cflag |= CS8;             // 8 bits per byte
-  tty.c_cflag &= ~CRTSCTS;        // Disable RTS/CTS hardware flow control
-  tty.c_cflag |= CREAD | CLOCAL;  // Turn on READ & ignore ctrl lines (CLOCAL = 1)
 
   // Use non-canonical mode and clear echo flag
   tty.c_lflag &= ~(ICANON | ECHO);

linux/devices/devicedefinitions/MPSoCReturnValuesIF.h

@@ -1,6 +1,7 @@
 #ifndef MPSOC_RETURN_VALUES_IF_H_
 #define MPSOC_RETURN_VALUES_IF_H_
 
+#include "eive/resultClassIds.h"
 #include "fsfw/returnvalues/returnvalue.h"
 
 class MPSoCReturnValuesIF {

linux/devices/devicedefinitions/PlocMPSoCDefinitions.h

@@ -153,7 +153,7 @@ class TcBase : public ploc::SpTcBase, public MPSoCReturnValuesIF {
    */
   TcBase(ploc::SpTcParams params, uint16_t apid, uint16_t sequenceCount)
       : ploc::SpTcBase(params, apid, sequenceCount) {
-    spParams.setDataFieldLen(INIT_LENGTH);
+    spParams.setFullPayloadLen(INIT_LENGTH);
   }
 
   ReturnValue_t buildPacket() { return buildPacket(nullptr, 0); }
@@ -181,7 +181,7 @@ class TcBase : public ploc::SpTcBase, public MPSoCReturnValuesIF {
     if (res != returnvalue::OK) {
       return res;
     }
-    return calcCrc();
+    return calcAndSetCrc();
   }
 
  protected:
@@ -206,7 +206,7 @@ class TcMemRead : public TcBase {
    */
   TcMemRead(ploc::SpTcParams params, uint16_t sequenceCount)
       : TcBase(params, apid::TC_MEM_READ, sequenceCount) {
-    spParams.setPayloadLen(COMMAND_LENGTH);
+    spParams.setFullPayloadLen(COMMAND_LENGTH + CRC_SIZE);
   }
 
   uint16_t getMemLen() const { return memLen; }
@@ -267,7 +267,7 @@ class TcMemWrite : public TcBase {
     }
     uint16_t memLen =
         *(commandData + MEM_ADDRESS_SIZE) << 8 | *(commandData + MEM_ADDRESS_SIZE + 1);
-    spParams.setPayloadLen(MIN_FIXED_PAYLOAD_LENGTH + memLen * 4);
+    spParams.setFullPayloadLen(MIN_FIXED_PAYLOAD_LENGTH + memLen * 4 + CRC_SIZE);
     result = checkPayloadLen();
     if (result != returnvalue::OK) {
       return result;
@@ -313,7 +313,7 @@ class FlashFopen : public ploc::SpTcBase {
   ReturnValue_t createPacket(std::string filename, char accessMode_) {
     accessMode = accessMode_;
     size_t nameSize = filename.size();
-    spParams.setPayloadLen(nameSize + sizeof(NULL_TERMINATOR) + sizeof(accessMode));
+    spParams.setFullPayloadLen(nameSize + sizeof(NULL_TERMINATOR) + sizeof(accessMode) + CRC_SIZE);
     ReturnValue_t result = checkPayloadLen();
     if (result != returnvalue::OK) {
       return result;
@@ -322,7 +322,7 @@ class FlashFopen : public ploc::SpTcBase {
     *(spParams.buf + nameSize) = NULL_TERMINATOR;
     std::memcpy(payloadStart + nameSize + sizeof(NULL_TERMINATOR), &accessMode, sizeof(accessMode));
     updateSpFields();
-    return calcCrc();
+    return calcAndSetCrc();
   }
 
  private:
@@ -339,14 +339,14 @@ class FlashFclose : public ploc::SpTcBase {
 
   ReturnValue_t createPacket(std::string filename) {
     size_t nameSize = filename.size();
-    spParams.setPayloadLen(nameSize + sizeof(NULL_TERMINATOR));
+    spParams.setFullPayloadLen(nameSize + sizeof(NULL_TERMINATOR) + CRC_SIZE);
     ReturnValue_t result = checkPayloadLen();
     if (result != returnvalue::OK) {
       return result;
     }
     std::memcpy(payloadStart, filename.c_str(), nameSize);
     *(payloadStart + nameSize) = NULL_TERMINATOR;
-    return calcCrc();
+    return calcAndSetCrc();
   }
 };
 
@@ -365,7 +365,7 @@ class TcFlashWrite : public ploc::SpTcBase {
       sif::debug << "FlashWrite::createPacket: Command data too big" << std::endl;
       return returnvalue::FAILED;
     }
-    spParams.setPayloadLen(static_cast<uint16_t>(writeLen) + 4);
+    spParams.setFullPayloadLen(static_cast<uint16_t>(writeLen) + 4 + CRC_SIZE);
     result = checkPayloadLen();
     if (result != returnvalue::OK) {
       return result;
@@ -382,7 +382,7 @@ class TcFlashWrite : public ploc::SpTcBase {
     if (res != returnvalue::OK) {
       return res;
     }
-    return calcCrc();
+    return calcAndSetCrc();
   }
 
  private:
@@ -399,7 +399,7 @@ class TcFlashDelete : public ploc::SpTcBase {
 
   ReturnValue_t buildPacket(std::string filename) {
     size_t nameSize = filename.size();
-    spParams.setPayloadLen(nameSize + sizeof(NULL_TERMINATOR));
+    spParams.setFullPayloadLen(nameSize + sizeof(NULL_TERMINATOR) + CRC_SIZE);
     auto res = checkPayloadLen();
     if (res != returnvalue::OK) {
       return res;
@@ -412,7 +412,7 @@ class TcFlashDelete : public ploc::SpTcBase {
     if (res != returnvalue::OK) {
       return res;
     }
-    return calcCrc();
+    return calcAndSetCrc();
   }
 };
 
@@ -439,7 +439,7 @@ class TcReplayStart : public TcBase {
  protected:
   ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) override {
     ReturnValue_t result = returnvalue::OK;
-    spParams.setPayloadLen(commandDataLen);
+    spParams.setFullPayloadLen(commandDataLen + CRC_SIZE);
     result = lengthCheck(commandDataLen);
     if (result != returnvalue::OK) {
       return result;
@@ -500,7 +500,7 @@ class TcDownlinkPwrOn : public TcBase {
     if (result != returnvalue::OK) {
       return result;
     }
-    spParams.setPayloadLen(commandDataLen + sizeof(MAX_AMPLITUDE));
+    spParams.setFullPayloadLen(commandDataLen + sizeof(MAX_AMPLITUDE) + CRC_SIZE);
     result = checkPayloadLen();
     if (result != returnvalue::OK) {
       return result;
@@ -571,7 +571,7 @@ class TcReplayWriteSeq : public TcBase {
  protected:
   ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) override {
     ReturnValue_t result = returnvalue::OK;
-    spParams.setPayloadLen(commandDataLen + sizeof(NULL_TERMINATOR));
+    spParams.setFullPayloadLen(commandDataLen + sizeof(NULL_TERMINATOR) + CRC_SIZE);
     result = lengthCheck(commandDataLen);
     if (result != returnvalue::OK) {
       return result;
@@ -657,7 +657,8 @@ class TcCamcmdSend : public TcBase {
       return INVALID_LENGTH;
     }
     uint16_t dataLen = static_cast<uint16_t>(commandDataLen + sizeof(CARRIAGE_RETURN));
-    spParams.setPayloadLen(sizeof(dataLen) + commandDataLen + sizeof(CARRIAGE_RETURN));
+    spParams.setFullPayloadLen(sizeof(dataLen) + commandDataLen + sizeof(CARRIAGE_RETURN) +
+                               CRC_SIZE);
     auto res = checkPayloadLen();
     if (res != returnvalue::OK) {
       return res;

linux/devices/devicedefinitions/SupvReturnValuesIF.h

@@ -1,61 +0,0 @@
-#ifndef SUPV_RETURN_VALUES_IF_H_
-#define SUPV_RETURN_VALUES_IF_H_
-
-#include "fsfw/returnvalues/returnvalue.h"
-
-class SupvReturnValuesIF {
- public:
-  static const uint8_t INTERFACE_ID = CLASS_ID::SUPV_RETURN_VALUES_IF;
-
-  //! [EXPORT] : [COMMENT] Space Packet received from PLOC supervisor has invalid CRC
-  static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA0);
-  //! [EXPORT] : [COMMENT] Received ACK failure reply from PLOC supervisor
-  static const ReturnValue_t RECEIVED_ACK_FAILURE = MAKE_RETURN_CODE(0xA1);
-  //! [EXPORT] : [COMMENT] Received execution failure reply from PLOC supervisor
-  static const ReturnValue_t RECEIVED_EXE_FAILURE = MAKE_RETURN_CODE(0xA2);
-  //! [EXPORT] : [COMMENT] Received space packet with invalid APID from PLOC supervisor
-  static const ReturnValue_t INVALID_APID = MAKE_RETURN_CODE(0xA3);
-  //! [EXPORT] : [COMMENT] Failed to read current system time
-  static const ReturnValue_t GET_TIME_FAILURE = MAKE_RETURN_CODE(0xA4);
-  //! [EXPORT] : [COMMENT] Received command with invalid watchdog parameter. Valid watchdogs are 0
-  //! for PS, 1 for PL and 2 for INT
-  static const ReturnValue_t INVALID_WATCHDOG = MAKE_RETURN_CODE(0xA5);
-  //! [EXPORT] : [COMMENT] Received watchdog timeout config command with invalid timeout. Valid
-  //! timeouts must be in the range between 1000 and 360000 ms.
-  static const ReturnValue_t INVALID_WATCHDOG_TIMEOUT = MAKE_RETURN_CODE(0xA6);
-  //! [EXPORT] : [COMMENT] Received latchup config command with invalid latchup ID
-  static const ReturnValue_t INVALID_LATCHUP_ID = MAKE_RETURN_CODE(0xA7);
-  //! [EXPORT] : [COMMENT] Received set adc sweep period command with invalid sweep period. Must be
-  //! larger than 21.
-  static const ReturnValue_t SWEEP_PERIOD_TOO_SMALL = MAKE_RETURN_CODE(0xA8);
-  //! [EXPORT] : [COMMENT] Receive auto EM test command with invalid test param. Valid params are 1
-  //! and 2.
-  static const ReturnValue_t INVALID_TEST_PARAM = MAKE_RETURN_CODE(0xA9);
-  //! [EXPORT] : [COMMENT] Returned when scanning for MRAM dump packets failed.
-  static const ReturnValue_t MRAM_PACKET_PARSING_FAILURE = MAKE_RETURN_CODE(0xAA);
-  //! [EXPORT] : [COMMENT] Returned when the start and stop addresses of the MRAM dump or MRAM  wipe
-  //! commands are invalid (e.g. start address bigger than stop address)
-  static const ReturnValue_t INVALID_MRAM_ADDRESSES = MAKE_RETURN_CODE(0xAB);
-  //! [EXPORT] : [COMMENT] Expect reception of an MRAM dump packet but received space packet with
-  //! other apid.
-  static const ReturnValue_t NO_MRAM_PACKET = MAKE_RETURN_CODE(0xAC);
-  //! [EXPORT] : [COMMENT] Path to PLOC directory on SD card does not exist
-  static const ReturnValue_t PATH_DOES_NOT_EXIST = MAKE_RETURN_CODE(0xAD);
-  //! [EXPORT] : [COMMENT] MRAM dump file does not exists. The file should actually already have
-  //! been created with the reception of the first dump packet.
-  static const ReturnValue_t MRAM_FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xAE);
-  //! [EXPORT] : [COMMENT] Received action command has invalid length
-  static const ReturnValue_t INVALID_LENGTH = MAKE_RETURN_CODE(0xAF);
-  //! [EXPORT] : [COMMENT] Filename too long
-  static const ReturnValue_t FILENAME_TOO_LONG = MAKE_RETURN_CODE(0xB0);
-  //! [EXPORT] : [COMMENT] Received update status report with invalid packet length field
-  static const ReturnValue_t UPDATE_STATUS_REPORT_INVALID_LENGTH = MAKE_RETURN_CODE(0xB1);
-  //! [EXPORT] : [COMMENT] Update status report does not contain expected CRC. There might be a bit
-  //! flip in the update memory region.
-  static const ReturnValue_t UPDATE_CRC_FAILURE = MAKE_RETURN_CODE(0xB2);
-  //! [EXPORT] : [COMMENT] Supervisor helper task ist currently executing a command (wait until
-  //! helper tas has finished or interrupt by sending the terminate command)
-  static const ReturnValue_t SUPV_HELPER_EXECUTING = MAKE_RETURN_CODE(0xB3);
-};
-
-#endif /* SUPV_RETURN_VALUES_IF_H_ */

linux/devices/ploc/CMakeLists.txt

@@ -1,4 +1,4 @@
 target_sources(
   ${OBSW_NAME}
   PRIVATE PlocSupervisorHandler.cpp PlocMemoryDumper.cpp PlocMPSoCHandler.cpp
-          PlocMPSoCHelper.cpp PlocSupvHelper.cpp)
+          PlocMPSoCHelper.cpp PlocSupvUartMan.cpp)

linux/devices/ploc/PlocMemoryDumper.h

@@ -5,7 +5,12 @@
 #include <linux/devices/devicedefinitions/PlocSupervisorDefinitions.h>
 
 #include "OBSWConfig.h"
+
+#ifdef XIPHOS_Q7S
 #include "bsp_q7s/fs/SdCardManager.h"
+#endif
+
+#include "eive/eventSubsystemIds.h"
 #include "fsfw/action/ActionHelper.h"
 #include "fsfw/action/CommandActionHelper.h"
 #include "fsfw/action/CommandsActionsIF.h"
@@ -13,7 +18,7 @@
 #include "fsfw/objectmanager/SystemObject.h"
 #include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
-#include "linux/fsfwconfig/objects/systemObjectList.h"
+#include "objects/systemObjectList.h"
 
 /**
  * @brief   Because the buffer of the linux tty driver is limited to 2 x 65535 bytes, this class is

linux/devices/ploc/PlocSupervisorHandler.h

@@ -1,9 +1,9 @@
 #ifndef MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_
 #define MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_
 
+#include <linux/devices/ploc/PlocSupvUartMan.h>
+
 #include "OBSWConfig.h"
-#include "PlocSupvHelper.h"
-#include "bsp_q7s/fs/SdCardManager.h"
 #include "devices/powerSwitcherList.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 #include "fsfw/timemanager/Countdown.h"
@@ -11,7 +11,12 @@
 #include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
 #include "fsfw_hal/linux/serial/SerialComIF.h"
 #include "linux/devices/devicedefinitions/PlocSupervisorDefinitions.h"
-#include "linux/devices/devicedefinitions/SupvReturnValuesIF.h"
+
+#ifdef XIPHOS_Q7S
+#include "bsp_q7s/fs/SdCardManager.h"
+#endif
+
+using supv::ExecutionReport;
 
 /**
  * @brief	This is the device handler for the supervisor of the PLOC which is programmed by
@@ -27,9 +32,8 @@
  */
 class PlocSupervisorHandler : public DeviceHandlerBase {
  public:
-  PlocSupervisorHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF* comCookie,
+  PlocSupervisorHandler(object_id_t objectId, CookieIF* comCookie, Gpio uartIsolatorSwitch,
-                        Gpio uartIsolatorSwitch, power::Switch_t powerSwitch,
+                        power::Switch_t powerSwitch, PlocSupvUartManager& supvHelper);
-                        PlocSupvHelper* supvHelper);
   virtual ~PlocSupervisorHandler();
 
   virtual ReturnValue_t initialize() override;
@@ -48,7 +52,6 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
   ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
                              size_t* foundLen) override;
   ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
-  void setNormalDatapoolEntriesInvalid() override;
   uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
   ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                         LocalDataPoolManager& poolManager) override;
@@ -64,18 +67,21 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
 
   //! [EXPORT] : [COMMENT] PLOC supervisor crc failure in telemetry packet
   static const Event SUPV_MEMORY_READ_RPT_CRC_FAILURE = MAKE_EVENT(1, severity::LOW);
+  //! [EXPORT] : [COMMENT] Unhandled event. P1: APID, P2: Service ID
+  static constexpr Event SUPV_UNKNOWN_TM = MAKE_EVENT(2, severity::LOW);
+  static constexpr Event SUPV_UNINIMPLEMENTED_TM = MAKE_EVENT(3, severity::LOW);
   //! [EXPORT] : [COMMENT] PLOC supervisor received acknowledgment failure report
-  static const Event SUPV_ACK_FAILURE = MAKE_EVENT(2, severity::LOW);
+  static const Event SUPV_ACK_FAILURE = MAKE_EVENT(4, severity::LOW);
   //! [EXPORT] : [COMMENT] PLOC received execution failure report
   //! P1: ID of command for which the execution failed
   //! P2: Status code sent by the supervisor handler
-  static const Event SUPV_EXE_FAILURE = MAKE_EVENT(3, severity::LOW);
+  static const Event SUPV_EXE_FAILURE = MAKE_EVENT(5, severity::LOW);
   //! [EXPORT] : [COMMENT] PLOC supervisor reply has invalid crc
-  static const Event SUPV_CRC_FAILURE_EVENT = MAKE_EVENT(4, severity::LOW);
+  static const Event SUPV_CRC_FAILURE_EVENT = MAKE_EVENT(6, severity::LOW);
   //! [EXPORT] : [COMMENT] Supervisor helper currently executing a command
-  static const Event SUPV_HELPER_EXECUTING = MAKE_EVENT(5, severity::LOW);
+  static const Event SUPV_HELPER_EXECUTING = MAKE_EVENT(7, severity::LOW);
   //! [EXPORT] : [COMMENT] Failed to build the command to shutdown the MPSoC
-  static const Event SUPV_MPSOC_SHUWDOWN_BUILD_FAILED = MAKE_EVENT(5, severity::LOW);
+  static const Event SUPV_MPSOC_SHUWDOWN_BUILD_FAILED = MAKE_EVENT(8, severity::LOW);
 
   static const uint16_t APID_MASK = 0x7FF;
   static const uint16_t PACKET_SEQUENCE_COUNT_MASK = 0x3FFF;
@@ -101,7 +107,7 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
 
   uint8_t commandBuffer[supv::MAX_COMMAND_SIZE];
   SpacePacketCreator creator;
-  ploc::SpTcParams spParams = ploc::SpTcParams(creator);
+  supv::TcParams spParams = supv::TcParams(creator);
 
   /**
    * This variable is used to store the id of the next reply to receive. This is necessary
@@ -121,8 +127,9 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
   supv::AdcReport adcReport;
 
   const power::Switch_t powerSwitch = power::NO_SWITCH;
+  supv::TmBase tmReader;
 
-  PlocSupvHelper* supvHelper = nullptr;
+  PlocSupvUartManager& uartManager;
   MessageQueueIF* eventQueue = nullptr;
 
   /** Number of expected replies following the MRAM dump command */
@@ -136,9 +143,9 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
   /** This buffer is used to concatenate space packets received in two different read steps */
   uint8_t spacePacketBuffer[supv::MAX_PACKET_SIZE];
 
-#ifndef TE0720_1CFA
+#ifdef XIPHOS_Q7S
   SdCardManager* sdcMan = nullptr;
-#endif /* BOARD_TE0720 == 0 */
+#endif
 
   // Path to supervisor specific files on SD card
   std::string supervisorFilePath = "ploc/supervisor";
@@ -210,7 +217,8 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
   ReturnValue_t handleBootStatusReport(const uint8_t* data);
 
   ReturnValue_t handleLatchupStatusReport(const uint8_t* data);
-  ReturnValue_t handleLoggingReport(const uint8_t* data);
+  void handleBadApidServiceCombination(Event result, unsigned int apid, unsigned int serviceId);
+  // ReturnValue_t handleLoggingReport(const uint8_t* data);
   ReturnValue_t handleAdcReport(const uint8_t* data);
 
   /**
@@ -229,13 +237,13 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
    * @param dataSize  Size of telemetry in bytes.
    * @param replyId   Id of the reply. This will be added to the ActionMessage.
    */
-  void handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId);
+  void handleDeviceTm(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId);
 
   /**
    * @brief   This function prepares a space packet which does not transport any data in the
    *          packet data field apart from the crc.
    */
-  ReturnValue_t prepareEmptyCmd(uint16_t apid);
+  ReturnValue_t prepareEmptyCmd(uint16_t apid, uint8_t serviceId);
 
   /**
    * @brief   This function initializes the space packet to select the boot image of the MPSoC.
@@ -258,6 +266,8 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
 
   ReturnValue_t prepareRestartTriesCmd(const uint8_t* commandData);
 
+  ReturnValue_t prepareFactoryResetCmd(const uint8_t* commandData, size_t len);
+
   /**
    * @brief   This function fills the command buffer with the packet to enable or disable the
    *          watchdogs on the PLOC.
@@ -278,11 +288,11 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
   ReturnValue_t prepareSetAdcThresholdCmd(const uint8_t* commandData);
   ReturnValue_t prepareRunAutoEmTest(const uint8_t* commandData);
   ReturnValue_t prepareWipeMramCmd(const uint8_t* commandData);
-  ReturnValue_t prepareDumpMramCmd(const uint8_t* commandData);
+  // ReturnValue_t prepareDumpMramCmd(const uint8_t* commandData);
   ReturnValue_t prepareSetGpioCmd(const uint8_t* commandData);
   ReturnValue_t prepareReadGpioCmd(const uint8_t* commandData);
-  ReturnValue_t prepareLoggingRequest(const uint8_t* commandData, size_t commandDataLen);
+  // ReturnValue_t prepareLoggingRequest(const uint8_t* commandData, size_t commandDataLen);
-  ReturnValue_t prepareEnableNvmsCommand(const uint8_t* commandData);
+  //  ReturnValue_t prepareEnableNvmsCommand(const uint8_t* commandData);
 
   /**
    * @brief   Copies the content of a space packet to the command buffer.
@@ -317,7 +327,7 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
    * @brief   Function is called in scanForReply and fills the spacePacketBuffer with the read
    *          data until a full packet has been received.
    */
-  ReturnValue_t parseMramPackets(const uint8_t* packet, size_t remainingSize, size_t* foundlen);
+  // ReturnValue_t parseMramPackets(const uint8_t* packet, size_t remainingSize, size_t* foundlen);
 
   /**
    * @brief   This function generates the Service 8 packets for the MRAM dump data.
@@ -335,7 +345,7 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
    * @brief   Function checks if the packet written to the space packet buffer is really a
    *          MRAM dump packet.
    */
-  ReturnValue_t checkMramPacketApid();
+  // ReturnValue_t checkMramPacketApid();
 
   /**
    * @brief   Writes the data of the MRAM dump to a file. The file will be created when receiving
@@ -373,8 +383,8 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
                                   supv::UpdateParams& params);
   ReturnValue_t eventSubscription();
 
-  ReturnValue_t handleExecutionSuccessReport(const uint8_t* data);
+  ReturnValue_t handleExecutionSuccessReport(ExecutionReport& report);
-  void handleExecutionFailureReport(uint16_t statusCode);
+  void handleExecutionFailureReport(ExecutionReport& report);
 
   void printAckFailureInfo(uint16_t statusCode, DeviceCommandId_t commandId);
 };

linux/devices/ploc/PlocSupvHelper.cpp

@@ -1,803 +0,0 @@
-#include "PlocSupvHelper.h"
-
-#include <etl/crc16_ccitt.h>
-#include <fsfw/filesystem/HasFileSystemIF.h>
-
-#include <cmath>
-#include <filesystem>
-#include <fstream>
-
-#include "OBSWConfig.h"
-#ifdef XIPHOS_Q7S
-#include "bsp_q7s/fs/FilesystemHelper.h"
-#include "bsp_q7s/fs/SdCardManager.h"
-#endif
-
-#include "fsfw/tasks/TaskFactory.h"
-#include "fsfw/timemanager/Countdown.h"
-#include "mission/utility/Filenaming.h"
-#include "mission/utility/ProgressPrinter.h"
-#include "mission/utility/Timestamp.h"
-
-PlocSupvHelper::PlocSupvHelper(object_id_t objectId) : SystemObject(objectId) {
-  spParams.maxSize = sizeof(commandBuffer);
-  resetSpParams();
-}
-
-PlocSupvHelper::~PlocSupvHelper() {}
-
-ReturnValue_t PlocSupvHelper::initialize() {
-#ifdef XIPHOS_Q7S
-  sdcMan = SdCardManager::instance();
-  if (sdcMan == nullptr) {
-    sif::warning << "PlocSupvHelper::initialize: Invalid SD Card Manager" << std::endl;
-    return returnvalue::FAILED;
-  }
-#endif
-  return returnvalue::OK;
-}
-
-ReturnValue_t PlocSupvHelper::performOperation(uint8_t operationCode) {
-  ReturnValue_t result = returnvalue::OK;
-  semaphore.acquire();
-  while (true) {
-    switch (internalState) {
-      case InternalState::IDLE: {
-        semaphore.acquire();
-        break;
-      }
-      case InternalState::UPDATE: {
-        result = executeUpdate();
-        if (result == returnvalue::OK) {
-          triggerEvent(SUPV_UPDATE_SUCCESSFUL, result);
-        } else if (result == PROCESS_TERMINATED) {
-          // Event already triggered
-        } else {
-          triggerEvent(SUPV_UPDATE_FAILED, result);
-        }
-        internalState = InternalState::IDLE;
-        break;
-      }
-      case InternalState::CHECK_MEMORY: {
-        executeFullCheckMemoryCommand();
-        internalState = InternalState::IDLE;
-        break;
-      }
-      case InternalState::CONTINUE_UPDATE: {
-        result = continueUpdate();
-        if (result == returnvalue::OK) {
-          triggerEvent(SUPV_CONTINUE_UPDATE_SUCCESSFUL, result);
-        } else if (result == PROCESS_TERMINATED) {
-          // Event already triggered
-        } else {
-          triggerEvent(SUPV_CONTINUE_UPDATE_FAILED, result);
-        }
-        internalState = InternalState::IDLE;
-        break;
-      }
-      case InternalState::REQUEST_EVENT_BUFFER: {
-        result = performEventBufferRequest();
-        if (result == returnvalue::OK) {
-          triggerEvent(SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL, result);
-        } else if (result == PROCESS_TERMINATED) {
-          // Event already triggered
-          break;
-        } else {
-          triggerEvent(SUPV_EVENT_BUFFER_REQUEST_FAILED, result);
-        }
-        internalState = InternalState::IDLE;
-        break;
-      }
-      default:
-        sif::debug << "PlocSupvHelper::performOperation: Invalid state" << std::endl;
-        break;
-    }
-  }
-}
-
-ReturnValue_t PlocSupvHelper::setComIF(SerialComIF* uartComIF_) {
-  if (uartComIF_ == nullptr) {
-    sif::warning << "PlocSupvHelper::initialize: Provided invalid uart com if" << std::endl;
-    return returnvalue::FAILED;
-  }
-  uartComIF = uartComIF_;
-  return returnvalue::OK;
-}
-
-void PlocSupvHelper::setComCookie(CookieIF* comCookie_) { comCookie = comCookie_; }
-
-ReturnValue_t PlocSupvHelper::startUpdate(std::string file, uint8_t memoryId,
-                                          uint32_t startAddress) {
-  supv::UpdateParams params;
-  params.file = file;
-  params.memId = memoryId;
-  params.startAddr = startAddress;
-  params.bytesWritten = 0;
-  params.seqCount = 1;
-  params.deleteMemory = true;
-  return performUpdate(params);
-}
-
-ReturnValue_t PlocSupvHelper::performUpdate(const supv::UpdateParams& params) {
-  ReturnValue_t result = returnvalue::OK;
-#ifdef XIPHOS_Q7S
-  result = FilesystemHelper::checkPath(params.file);
-  if (result != returnvalue::OK) {
-    sif::warning << "PlocSupvHelper::startUpdate: File " << params.file << " does not exist"
-                 << std::endl;
-    return result;
-  }
-  result = FilesystemHelper::fileExists(params.file);
-  if (result != returnvalue::OK) {
-    sif::warning << "PlocSupvHelper::startUpdate: The file " << params.file << " does not exist"
-                 << std::endl;
-    return result;
-  }
-#endif
-#ifdef TE0720_1CFA
-  if (not std::filesystem::exists(file)) {
-    sif::warning << "PlocSupvHelper::startUpdate: The file " << file << " does not exist"
-                 << std::endl;
-    return returnvalue::FAILED;
-  }
-#endif
-  update.file = params.file;
-  update.fullFileSize = getFileSize(update.file);
-  if (params.bytesWritten > update.fullFileSize) {
-    sif::warning << "Invalid start bytes counter " << params.bytesWritten
-                 << ", smaller than full file length" << update.fullFileSize << std::endl;
-    return returnvalue::FAILED;
-  }
-  update.length = update.fullFileSize - params.bytesWritten;
-  update.memoryId = params.memId;
-  update.startAddress = params.startAddr;
-  update.progressPercent = 0;
-  update.bytesWritten = params.bytesWritten;
-  update.crcShouldBeChecked = true;
-  update.packetNum = 1;
-  update.deleteMemory = params.deleteMemory;
-  update.sequenceCount = params.seqCount;
-  internalState = InternalState::UPDATE;
-  uartComIF->flushUartTxAndRxBuf(comCookie);
-  semaphore.release();
-  return result;
-}
-
-ReturnValue_t PlocSupvHelper::performMemCheck(std::string file, uint8_t memoryId,
-                                              uint32_t startAddress) {
-  update.file = file;
-  update.fullFileSize = getFileSize(file);
-  return performMemCheck(memoryId, startAddress, getFileSize(update.file), true);
-}
-
-ReturnValue_t PlocSupvHelper::performMemCheck(uint8_t memoryId, uint32_t startAddress,
-                                              size_t sizeToCheck, bool checkCrc) {
-  update.memoryId = memoryId;
-  update.startAddress = startAddress;
-  update.length = sizeToCheck;
-  update.crcShouldBeChecked = checkCrc;
-  internalState = InternalState::CHECK_MEMORY;
-  uartComIF->flushUartTxAndRxBuf(comCookie);
-  semaphore.release();
-  return returnvalue::OK;
-}
-
-void PlocSupvHelper::initiateUpdateContinuation() {
-  internalState = InternalState::CONTINUE_UPDATE;
-  semaphore.release();
-}
-
-ReturnValue_t PlocSupvHelper::startEventbBufferRequest(std::string path) {
-#ifdef XIPHOS_Q7S
-  ReturnValue_t result = FilesystemHelper::checkPath(path);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-#endif
-  if (not std::filesystem::exists(path)) {
-    return PATH_NOT_EXISTS;
-  }
-  eventBufferReq.path = path;
-  internalState = InternalState::REQUEST_EVENT_BUFFER;
-  uartComIF->flushUartTxAndRxBuf(comCookie);
-  semaphore.release();
-  return returnvalue::OK;
-}
-
-void PlocSupvHelper::stopProcess() { terminate = true; }
-
-void PlocSupvHelper::executeFullCheckMemoryCommand() {
-  ReturnValue_t result;
-  if (update.crcShouldBeChecked) {
-    sif::info << "PLOC SUPV Mem Check: Calculating Image CRC" << std::endl;
-    result = calcImageCrc();
-    if (result != returnvalue::OK) {
-      triggerEvent(SUPV_MEM_CHECK_FAIL, result);
-      return;
-    }
-  }
-  sif::info << "PLOC SUPV Mem Check: Selecting Memory" << std::endl;
-  result = selectMemory();
-  if (result != returnvalue::OK) {
-    triggerEvent(SUPV_MEM_CHECK_FAIL, result);
-    return;
-  }
-  sif::info << "PLOC SUPV Mem Check: Preparing Update" << std::endl;
-  result = prepareUpdate();
-  if (result != returnvalue::OK) {
-    triggerEvent(SUPV_MEM_CHECK_FAIL, result);
-    return;
-  }
-  sif::info << "PLOC SUPV Mem Check: Memory Check" << std::endl;
-  result = handleCheckMemoryCommand();
-  if (result == returnvalue::OK) {
-    triggerEvent(SUPV_MEM_CHECK_OK, result);
-  } else {
-    triggerEvent(SUPV_MEM_CHECK_FAIL, result);
-  }
-}
-
-ReturnValue_t PlocSupvHelper::executeUpdate() {
-  ReturnValue_t result = returnvalue::OK;
-  sif::info << "PLOC SUPV Update MPSoC: Calculating Image CRC" << std::endl;
-  result = calcImageCrc();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  sif::info << "PLOC SUPV Update MPSoC: Selecting Memory" << std::endl;
-  result = selectMemory();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  sif::info << "PLOC SUPV Update MPSoC: Preparing Update" << std::endl;
-  result = prepareUpdate();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  if (update.deleteMemory) {
-    sif::info << "PLOC SUPV Update MPSoC: Erasing Memory" << std::endl;
-    result = eraseMemory();
-    if (result != returnvalue::OK) {
-      return result;
-    }
-  }
-  return updateOperation();
-}
-
-ReturnValue_t PlocSupvHelper::continueUpdate() {
-  ReturnValue_t result = prepareUpdate();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  return updateOperation();
-}
-
-ReturnValue_t PlocSupvHelper::updateOperation() {
-  sif::info << "PlocSupvHelper::performUpdate: Writing Update Packets" << std::endl;
-  auto result = writeUpdatePackets();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  sif::info << "PlocSupvHelper::performUpdate: Memory Check" << std::endl;
-  return handleCheckMemoryCommand();
-}
-
-ReturnValue_t PlocSupvHelper::writeUpdatePackets() {
-  ReturnValue_t result = returnvalue::OK;
-#if OBSW_DEBUG_PLOC_SUPERVISOR == 1
-  ProgressPrinter progressPrinter("Supervisor update", update.fullFileSize,
-                                  ProgressPrinter::HALF_PERCENT);
-#endif /* OBSW_DEBUG_PLOC_SUPERVISOR == 1 */
-  uint8_t tempData[supv::WriteMemory::CHUNK_MAX + 1]{};
-  std::ifstream file(update.file, std::ifstream::binary);
-  uint16_t dataLength = 0;
-  ccsds::SequenceFlags seqFlags;
-  while (update.bytesWritten < update.fullFileSize) {
-    if (terminate) {
-      terminate = false;
-      triggerEvent(TERMINATED_UPDATE_PROCEDURE);
-      return PROCESS_TERMINATED;
-    }
-    size_t remainingSize = update.fullFileSize - update.bytesWritten;
-    bool lastSegment = false;
-    if (remainingSize > supv::WriteMemory::CHUNK_MAX) {
-      dataLength = supv::WriteMemory::CHUNK_MAX;
-    } else {
-      lastSegment = true;
-      dataLength = static_cast<uint16_t>(remainingSize);
-    }
-    if (file.is_open()) {
-      file.seekg(update.bytesWritten, std::ios::beg);
-      file.read(reinterpret_cast<char*>(tempData), dataLength);
-      if (!file) {
-        sif::warning << "PlocSupvHelper::performUpdate: Read only " << file.gcount() << " of "
-                     << dataLength << " bytes" << std::endl;
-        sif::info << "PlocSupvHelper::performUpdate: Failed when trying to read byte "
-                  << update.bytesWritten << std::endl;
-      }
-    } else {
-      return FILE_CLOSED_ACCIDENTALLY;
-    }
-    if (update.bytesWritten == 0) {
-      seqFlags = ccsds::SequenceFlags::FIRST_SEGMENT;
-    } else if (lastSegment) {
-      seqFlags = ccsds::SequenceFlags::LAST_SEGMENT;
-    } else {
-      seqFlags = ccsds::SequenceFlags::CONTINUATION;
-    }
-    resetSpParams();
-    float progress = static_cast<float>(update.bytesWritten) / update.fullFileSize;
-    uint8_t progPercent = std::floor(progress * 100);
-    if (progPercent > update.progressPercent) {
-      update.progressPercent = progPercent;
-      if (progPercent % 5 == 0) {
-        // Useful to allow restarting the update
-        triggerEvent(SUPV_UPDATE_PROGRESS, buildProgParams1(progPercent, update.sequenceCount),
-                     update.bytesWritten);
-      }
-    }
-    supv::WriteMemory packet(spParams);
-    result = packet.buildPacket(seqFlags, update.sequenceCount, update.memoryId,
-                                update.startAddress + update.bytesWritten, dataLength, tempData);
-    if (result != returnvalue::OK) {
-      triggerEvent(WRITE_MEMORY_FAILED, buildProgParams1(progPercent, update.sequenceCount),
-                   update.bytesWritten);
-      return result;
-    }
-    result = handlePacketTransmission(packet);
-    if (result != returnvalue::OK) {
-      triggerEvent(WRITE_MEMORY_FAILED, buildProgParams1(progPercent, update.sequenceCount),
-                   update.bytesWritten);
-      return result;
-    }
-    update.sequenceCount++;
-    update.packetNum += 1;
-    update.bytesWritten += dataLength;
-
-#if OBSW_DEBUG_PLOC_SUPERVISOR == 1
-    progressPrinter.print(update.bytesWritten);
-#endif /* OBSW_DEBUG_PLOC_SUPERVISOR == 1 */
-  }
-  return result;
-}
-
-uint32_t PlocSupvHelper::buildProgParams1(uint8_t percent, uint16_t seqCount) {
-  return (static_cast<uint32_t>(percent) << 24) | static_cast<uint32_t>(seqCount);
-}
-
-ReturnValue_t PlocSupvHelper::performEventBufferRequest() {
-  using namespace supv;
-  ReturnValue_t result = returnvalue::OK;
-  resetSpParams();
-  RequestLoggingData packet(spParams);
-  result = packet.buildPacket(RequestLoggingData::Sa::REQUEST_EVENT_BUFFERS);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = sendCommand(packet);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = handleAck();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result =
-      handleTmReception(ccsds::HEADER_LEN, tmBuf.data(), supv::recv_timeout::UPDATE_STATUS_REPORT);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  ploc::SpTmReader spReader(tmBuf.data(), tmBuf.size());
-  bool exeAlreadyReceived = false;
-  if (spReader.getApid() == supv::APID_EXE_FAILURE) {
-    exeAlreadyReceived = true;
-    result = handleRemainingExeReport(spReader);
-  } else if (spReader.getApid() == supv::APID_MRAM_DUMP_TM) {
-    result = handleEventBufferReception(spReader);
-  }
-
-  if (not exeAlreadyReceived) {
-    result = handleExe();
-    if (result != returnvalue::OK) {
-      return result;
-    }
-  }
-  return result;
-}
-
-ReturnValue_t PlocSupvHelper::handleRemainingExeReport(ploc::SpTmReader& reader) {
-  size_t remBytes = reader.getPacketDataLen() + 1;
-  ReturnValue_t result = handleTmReception(remBytes, tmBuf.data() + ccsds::HEADER_LEN);
-  if (result != returnvalue::OK) {
-    sif::warning << "Reading exe failure report failed" << std::endl;
-  }
-  result = exeReportHandling();
-  if (result != returnvalue::OK) {
-    sif::warning << "Handling exe report failed" << std::endl;
-  }
-  return result;
-}
-
-ReturnValue_t PlocSupvHelper::selectMemory() {
-  ReturnValue_t result = returnvalue::OK;
-  resetSpParams();
-  supv::MPSoCBootSelect packet(spParams);
-  result = packet.buildPacket(update.memoryId);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = handlePacketTransmission(packet);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  return returnvalue::OK;
-}
-
-ReturnValue_t PlocSupvHelper::prepareUpdate() {
-  ReturnValue_t result = returnvalue::OK;
-  resetSpParams();
-  supv::ApidOnlyPacket packet(spParams, supv::APID_PREPARE_UPDATE);
-  result = packet.buildPacket();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = handlePacketTransmission(packet, PREPARE_UPDATE_EXECUTION_REPORT);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  return returnvalue::OK;
-}
-
-ReturnValue_t PlocSupvHelper::eraseMemory() {
-  ReturnValue_t result = returnvalue::OK;
-  resetSpParams();
-  supv::EraseMemory eraseMemory(spParams);
-  result = eraseMemory.buildPacket(update.memoryId, update.startAddress + update.bytesWritten,
-                                   update.length);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = handlePacketTransmission(eraseMemory, supv::recv_timeout::ERASE_MEMORY);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  return returnvalue::OK;
-}
-
-ReturnValue_t PlocSupvHelper::handlePacketTransmission(ploc::SpTcBase& packet,
-                                                       uint32_t timeoutExecutionReport) {
-  ReturnValue_t result = returnvalue::OK;
-  result = sendCommand(packet);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = handleAck();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = handleExe(timeoutExecutionReport);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  return returnvalue::OK;
-}
-
-ReturnValue_t PlocSupvHelper::sendCommand(ploc::SpTcBase& packet) {
-  ReturnValue_t result = returnvalue::OK;
-  rememberApid = packet.getApid();
-  result = uartComIF->sendMessage(comCookie, packet.getFullPacket(), packet.getFullPacketLen());
-  if (result != returnvalue::OK) {
-    sif::warning << "PlocSupvHelper::sendCommand: Failed to send command" << std::endl;
-    triggerEvent(SUPV_SENDING_COMMAND_FAILED, result, static_cast<uint32_t>(internalState));
-    return result;
-  }
-  return result;
-}
-
-ReturnValue_t PlocSupvHelper::handleAck() {
-  ReturnValue_t result = returnvalue::OK;
-
-  result = handleTmReception(supv::SIZE_ACK_REPORT);
-  if (result != returnvalue::OK) {
-    triggerEvent(ACK_RECEPTION_FAILURE, result, static_cast<uint32_t>(rememberApid));
-    sif::warning << "PlocSupvHelper::handleAck: Error in reception of acknowledgment report"
-                 << std::endl;
-    return result;
-  }
-  supv::AcknowledgmentReport ackReport(tmBuf.data(), tmBuf.size());
-  result = checkReceivedTm(ackReport);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = ackReport.checkApid();
-  if (result != returnvalue::OK) {
-    if (result == SupvReturnValuesIF::RECEIVED_ACK_FAILURE) {
-      triggerEvent(SUPV_ACK_FAILURE_REPORT, static_cast<uint32_t>(ackReport.getRefApid()));
-    } else if (result == SupvReturnValuesIF::INVALID_APID) {
-      triggerEvent(SUPV_ACK_INVALID_APID, static_cast<uint32_t>(rememberApid));
-    }
-    return result;
-  }
-  return returnvalue::OK;
-}
-
-ReturnValue_t PlocSupvHelper::handleExe(uint32_t timeout) {
-  ReturnValue_t result = returnvalue::OK;
-
-  result = handleTmReception(supv::SIZE_EXE_REPORT, tmBuf.data(), timeout);
-  if (result != returnvalue::OK) {
-    triggerEvent(EXE_RECEPTION_FAILURE, result, static_cast<uint32_t>(rememberApid));
-    sif::warning << "PlocSupvHelper::handleExe: Error in reception of execution report"
-                 << std::endl;
-    return result;
-  }
-
-  return exeReportHandling();
-}
-
-ReturnValue_t PlocSupvHelper::exeReportHandling() {
-  supv::ExecutionReport exeReport(tmBuf.data(), tmBuf.size());
-
-  ReturnValue_t result = checkReceivedTm(exeReport);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = exeReport.checkApid();
-  if (result != returnvalue::OK) {
-    if (result == SupvReturnValuesIF::RECEIVED_EXE_FAILURE) {
-      triggerEvent(SUPV_EXE_FAILURE_REPORT, static_cast<uint32_t>(exeReport.getRefApid()));
-    } else if (result == SupvReturnValuesIF::INVALID_APID) {
-      triggerEvent(SUPV_EXE_INVALID_APID, static_cast<uint32_t>(rememberApid));
-    }
-    return result;
-  }
-  return result;
-}
-
-ReturnValue_t PlocSupvHelper::handleTmReception(size_t remainingBytes, uint8_t* readBuf,
-                                                uint32_t timeout) {
-  ReturnValue_t result = returnvalue::OK;
-  size_t readBytes = 0;
-  size_t currentBytes = 0;
-  Countdown countdown(timeout);
-  if (readBuf == nullptr) {
-    readBuf = tmBuf.data();
-  }
-  while (!countdown.hasTimedOut()) {
-    result = receive(readBuf + readBytes, &currentBytes, remainingBytes);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-    readBytes += currentBytes;
-    remainingBytes = remainingBytes - currentBytes;
-    if (remainingBytes == 0) {
-      break;
-    }
-  }
-  if (remainingBytes != 0) {
-    sif::warning << "PlocSupvHelper::handleTmReception: Failed to read " << std::dec
-                 << remainingBytes << " remaining bytes" << std::endl;
-    return returnvalue::FAILED;
-  }
-  return result;
-}
-
-ReturnValue_t PlocSupvHelper::checkReceivedTm(ploc::SpTmReader& reader) {
-  ReturnValue_t result = reader.checkSize();
-  if (result != returnvalue::OK) {
-    triggerEvent(SUPV_REPLY_SIZE_MISSMATCH, rememberApid);
-    return result;
-  }
-  result = reader.checkCrc();
-  if (result != returnvalue::OK) {
-    triggerEvent(SUPV_REPLY_CRC_MISSMATCH, rememberApid);
-    return result;
-  }
-  return result;
-}
-
-ReturnValue_t PlocSupvHelper::receive(uint8_t* data, size_t* readBytes, size_t requestBytes) {
-  ReturnValue_t result = returnvalue::OK;
-  uint8_t* buffer = nullptr;
-  result = uartComIF->requestReceiveMessage(comCookie, requestBytes);
-  if (result != returnvalue::OK) {
-    sif::warning << "PlocSupvHelper::receive: Failed to request reply" << std::endl;
-    triggerEvent(SUPV_HELPER_REQUESTING_REPLY_FAILED, result,
-                 static_cast<uint32_t>(static_cast<uint32_t>(internalState)));
-    return returnvalue::FAILED;
-  }
-  result = uartComIF->readReceivedMessage(comCookie, &buffer, readBytes);
-  if (result != returnvalue::OK) {
-    sif::warning << "PlocSupvHelper::receive: Failed to read received message" << std::endl;
-    triggerEvent(SUPV_HELPER_READING_REPLY_FAILED, result, static_cast<uint32_t>(internalState));
-    return returnvalue::FAILED;
-  }
-  if (*readBytes > 0) {
-    std::memcpy(data, buffer, *readBytes);
-  } else {
-    TaskFactory::delayTask(40);
-  }
-  return result;
-}
-
-ReturnValue_t PlocSupvHelper::calcImageCrc() {
-  ReturnValue_t result = returnvalue::OK;
-  if (update.fullFileSize == 0) {
-    return returnvalue::FAILED;
-  }
-#ifdef XIPHOS_Q7S
-  result = FilesystemHelper::checkPath(update.file);
-  if (result != returnvalue::OK) {
-    sif::warning << "PlocSupvHelper::calcImageCrc: File " << update.file << " does not exist"
-                 << std::endl;
-    return result;
-  }
-#endif
-
-  auto crc16Calcer = etl::crc16_ccitt();
-  std::ifstream file(update.file, std::ifstream::binary);
-  std::array<uint8_t, 1025> crcBuf{};
-#if OBSW_DEBUG_PLOC_SUPERVISOR == 1
-  ProgressPrinter progress("Supervisor update crc calculation", update.fullFileSize,
-                           ProgressPrinter::ONE_PERCENT);
-#endif /* OBSW_DEBUG_PLOC_SUPERVISOR == 1 */
-  uint32_t byteCount = 0;
-  size_t bytesToRead = 1024;
-  while (byteCount < update.fullFileSize) {
-    size_t remLen = update.fullFileSize - byteCount;
-    if (remLen < 1024) {
-      bytesToRead = remLen;
-    } else {
-      bytesToRead = 1024;
-    }
-    file.seekg(byteCount, file.beg);
-    file.read(reinterpret_cast<char*>(crcBuf.data()), bytesToRead);
-    crc16Calcer.add(crcBuf.begin(), crcBuf.begin() + bytesToRead);
-
-#if OBSW_DEBUG_PLOC_SUPERVISOR == 1
-    progress.print(byteCount);
-#endif /* OBSW_DEBUG_PLOC_SUPERVISOR == 1 */
-    byteCount += bytesToRead;
-  }
-#if OBSW_DEBUG_PLOC_SUPERVISOR == 1
-  progress.print(byteCount);
-#endif /* OBSW_DEBUG_PLOC_SUPERVISOR == 1 */
-  update.crc = crc16Calcer.value();
-  return result;
-}
-
-ReturnValue_t PlocSupvHelper::handleCheckMemoryCommand() {
-  ReturnValue_t result = returnvalue::OK;
-  resetSpParams();
-  // Will hold status report for later processing
-  std::array<uint8_t, 32> statusReportBuf{};
-  supv::UpdateStatusReport updateStatusReport(tmBuf.data(), tmBuf.size());
-  // Verification of update write procedure
-  supv::CheckMemory packet(spParams);
-  result = packet.buildPacket(update.memoryId, update.startAddress, update.fullFileSize);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = sendCommand(packet);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = handleAck();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-
-  bool exeAlreadyHandled = false;
-  uint32_t timeout = std::max(CRC_EXECUTION_TIMEOUT, supv::recv_timeout::UPDATE_STATUS_REPORT);
-  result = handleTmReception(ccsds::HEADER_LEN, tmBuf.data(), timeout);
-  ploc::SpTmReader spReader(tmBuf.data(), tmBuf.size());
-  if (spReader.getApid() == supv::APID_EXE_FAILURE) {
-    exeAlreadyHandled = true;
-    result = handleRemainingExeReport(spReader);
-  } else if (spReader.getApid() == supv::APID_UPDATE_STATUS_REPORT) {
-    size_t remBytes = spReader.getPacketDataLen() + 1;
-    result = handleTmReception(remBytes, tmBuf.data() + ccsds::HEADER_LEN,
-                               supv::recv_timeout::UPDATE_STATUS_REPORT);
-    if (result != returnvalue::OK) {
-      sif::warning
-          << "PlocSupvHelper::handleCheckMemoryCommand: Failed to receive update status report"
-          << std::endl;
-      return result;
-    }
-    result = updateStatusReport.checkCrc();
-    if (result != returnvalue::OK) {
-      sif::warning << "PlocSupvHelper::handleCheckMemoryCommand: CRC check failed" << std::endl;
-      return result;
-    }
-    // Copy into other buffer because data will be overwritten when reading execution report
-    std::memcpy(statusReportBuf.data(), tmBuf.data(), updateStatusReport.getNominalSize());
-  }
-
-  if (not exeAlreadyHandled) {
-    result = handleExe(CRC_EXECUTION_TIMEOUT);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-  }
-
-  // Now process the status report
-  updateStatusReport.setData(statusReportBuf.data(), statusReportBuf.size());
-  result = updateStatusReport.parseDataField();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  if (update.crcShouldBeChecked) {
-    result = updateStatusReport.verifycrc(update.crc);
-    if (result != returnvalue::OK) {
-      sif::warning << "PlocSupvHelper::handleCheckMemoryCommand: CRC failure. Expected CRC 0x"
-                   << std::setfill('0') << std::hex << std::setw(4)
-                   << static_cast<uint16_t>(update.crc) << " but received CRC 0x" << std::setw(4)
-                   << updateStatusReport.getCrc() << std::dec << std::endl;
-      return result;
-    }
-  }
-  return result;
-}
-
-uint32_t PlocSupvHelper::getFileSize(std::string filename) {
-  std::ifstream file(filename, std::ifstream::binary);
-  file.seekg(0, file.end);
-  uint32_t size = file.tellg();
-  file.close();
-  return size;
-}
-
-ReturnValue_t PlocSupvHelper::handleEventBufferReception(ploc::SpTmReader& reader) {
-  ReturnValue_t result = returnvalue::OK;
-#ifdef XIPHOS_Q7S
-  if (not sdcMan->getActiveSdCard()) {
-    return HasFileSystemIF::FILESYSTEM_INACTIVE;
-  }
-#endif
-  std::string filename = Filenaming::generateAbsoluteFilename(
-      eventBufferReq.path, eventBufferReq.filename, timestamping);
-  std::ofstream file(filename, std::ios_base::app | std::ios_base::out);
-  uint32_t packetsRead = 0;
-  size_t requestLen = 0;
-  bool firstPacket = true;
-  for (packetsRead = 0; packetsRead < NUM_EVENT_BUFFER_PACKETS; packetsRead++) {
-    if (terminate) {
-      triggerEvent(SUPV_EVENT_BUFFER_REQUEST_TERMINATED, packetsRead - 1);
-      file.close();
-      return PROCESS_TERMINATED;
-    }
-    if (packetsRead == NUM_EVENT_BUFFER_PACKETS - 1) {
-      requestLen = SIZE_EVENT_BUFFER_LAST_PACKET;
-    } else {
-      requestLen = SIZE_EVENT_BUFFER_FULL_PACKET;
-    }
-    if (firstPacket) {
-      firstPacket = false;
-      requestLen -= 6;
-    }
-    result = handleTmReception(requestLen);
-    if (result != returnvalue::OK) {
-      sif::debug << "PlocSupvHelper::handleEventBufferReception: Failed while trying to read packet"
-                 << " " << packetsRead + 1 << std::endl;
-      file.close();
-      return result;
-    }
-    ReturnValue_t result = reader.checkCrc();
-    if (result != returnvalue::OK) {
-      triggerEvent(SUPV_REPLY_CRC_MISSMATCH, rememberApid);
-      return result;
-    }
-    uint16_t apid = reader.getApid();
-    if (apid != supv::APID_MRAM_DUMP_TM) {
-      sif::warning << "PlocSupvHelper::handleEventBufferReception: Did not expect space packet "
-                   << "with APID 0x" << std::hex << apid << std::endl;
-      file.close();
-      return EVENT_BUFFER_REPLY_INVALID_APID;
-    }
-    file.write(reinterpret_cast<const char*>(reader.getPacketData()),
-               reader.getPayloadDataLength());
-  }
-  return result;
-}
-
-void PlocSupvHelper::resetSpParams() { spParams.buf = commandBuffer; }

linux/devices/ploc/PlocSupvUartMan.h

@@ -1,9 +1,13 @@
 #ifndef BSP_Q7S_DEVICES_PLOCSUPVHELPER_H_
 #define BSP_Q7S_DEVICES_PLOCSUPVHELPER_H_
 
+#include <fsfw/container/SimpleRingBuffer.h>
+#include <termios.h>
+
 #include <string>
 
 #include "OBSWConfig.h"
+#include "fsfw/container/FIFO.h"
 #include "fsfw/devicehandlers/CookieIF.h"
 #include "fsfw/objectmanager/SystemObject.h"
 #include "fsfw/osal/linux/BinarySemaphore.h"
@@ -11,6 +15,7 @@
 #include "fsfw/tasks/ExecutableObjectIF.h"
 #include "fsfw_hal/linux/serial/SerialComIF.h"
 #include "linux/devices/devicedefinitions/PlocSupervisorDefinitions.h"
+#include "tas/crc.h"
 
 #ifdef XIPHOS_Q7S
 #include "bsp_q7s/fs/SdCardManager.h"
@@ -21,8 +26,21 @@
  *          the supervisor and the OBC.
  * @author  J. Meier
  */
-class PlocSupvHelper : public SystemObject, public ExecutableObjectIF {
+class PlocSupvUartManager : public DeviceCommunicationIF,
+                            public SystemObject,
+                            public ExecutableObjectIF {
  public:
+  static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_SUPV_HELPER;
+
+  //! [EXPORT] : [COMMENT] File accidentally close
+  static const ReturnValue_t FILE_CLOSED_ACCIDENTALLY = MAKE_RETURN_CODE(0xA0);
+  //! [EXPORT] : [COMMENT] Process has been terminated by command
+  static const ReturnValue_t PROCESS_TERMINATED = MAKE_RETURN_CODE(0xA1);
+  //! [EXPORT] : [COMMENT] Received command with invalid pathname
+  static const ReturnValue_t PATH_NOT_EXISTS = MAKE_RETURN_CODE(0xA2);
+  //! [EXPORT] : [COMMENT] Expected event buffer TM but received space packet with other APID
+  static const ReturnValue_t EVENT_BUFFER_REPLY_INVALID_APID = MAKE_RETURN_CODE(0xA3);
+
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_SUPV_HELPER;
 
   //! [EXPORT] : [COMMENT] update failed
@@ -97,16 +115,15 @@ class PlocSupvHelper : public SystemObject, public ExecutableObjectIF {
   //! [EXPORT] : [COMMENT] Will be triggered every 5 percent of the update progress.
   //! P1: First byte percent, third and fourth byte Sequence Count, P2: Bytes written
   static constexpr Event SUPV_UPDATE_PROGRESS = MAKE_EVENT(30, severity::INFO);
+  static constexpr Event HDLC_FRAME_REMOVAL_ERROR = MAKE_EVENT(31, severity::INFO);
+  static constexpr Event HDLC_CRC_ERROR = MAKE_EVENT(32, severity::INFO);
 
-  PlocSupvHelper(object_id_t objectId);
+  PlocSupvUartManager(object_id_t objectId);
-  virtual ~PlocSupvHelper();
+  virtual ~PlocSupvUartManager();
 
   ReturnValue_t initialize() override;
   ReturnValue_t performOperation(uint8_t operationCode = 0) override;
 
-  ReturnValue_t setComIF(SerialComIF* uartComfIF_);
-  void setComCookie(CookieIF* comCookie_);
-
   /**
    * @brief   Starts update procedure
    *
@@ -119,38 +136,41 @@ class PlocSupvHelper : public SystemObject, public ExecutableObjectIF {
   ReturnValue_t performUpdate(const supv::UpdateParams& params);
   ReturnValue_t startUpdate(std::string file, uint8_t memoryId, uint32_t startAddress);
 
-  ReturnValue_t performMemCheck(uint8_t memoryId, uint32_t startAddress, size_t sizeToCheck,
+  ReturnValue_t performMemCheck(std::string file, uint8_t memoryId, uint32_t startAddress,
-                                bool checkCrc);
+                                size_t sizeToCheck, bool checkCrc);
   ReturnValue_t performMemCheck(std::string file, uint8_t memoryId, uint32_t startAddress);
 
   /**
    * @brief This initiate the continuation of a failed update.
    */
-  void initiateUpdateContinuation();
+  ReturnValue_t initiateUpdateContinuation();
 
   /**
    * @brief Calling this function will initiate the procedure to request the event buffer
    */
-  ReturnValue_t startEventbBufferRequest(std::string path);
+  // ReturnValue_t startEventBufferRequest(std::string path);
 
   /**
-   * @brief   Can be used to interrupt a running data transfer.
+   * @brief   Can be used to stop the UART reception and put the task to sleep
    */
-  void stopProcess();
+  void stop();
+
+  /**
+   * @brief Can be used to start the UART reception
+   */
+  void start();
 
   static uint32_t buildProgParams1(uint8_t percent, uint16_t seqCount);
+  static uint32_t buildApidServiceParam1(uint8_t apid, uint8_t serviceId);
 
  private:
-  static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_SUPV_HELPER;
+  static constexpr ReturnValue_t REQUEST_DONE = returnvalue::makeCode(1, 0);
-
+  static constexpr ReturnValue_t NO_PACKET_FOUND = returnvalue::makeCode(1, 1);
-  //! [EXPORT] : [COMMENT] File accidentally close
+  static constexpr ReturnValue_t DECODE_BUF_TOO_SMALL = returnvalue::makeCode(1, 2);
-  static const ReturnValue_t FILE_CLOSED_ACCIDENTALLY = MAKE_RETURN_CODE(0xA0);
+  static constexpr ReturnValue_t POSSIBLE_PACKET_LOSS_CONSECUTIVE_START =
-  //! [EXPORT] : [COMMENT] Process has been terminated by command
+      returnvalue::makeCode(1, 3);
-  static const ReturnValue_t PROCESS_TERMINATED = MAKE_RETURN_CODE(0xA1);
+  static constexpr ReturnValue_t POSSIBLE_PACKET_LOSS_CONSECUTIVE_END = returnvalue::makeCode(1, 4);
-  //! [EXPORT] : [COMMENT] Received command with invalid pathname
+  static constexpr ReturnValue_t HDLC_ERROR = returnvalue::makeCode(1, 5);
-  static const ReturnValue_t PATH_NOT_EXISTS = MAKE_RETURN_CODE(0xA2);
-  //! [EXPORT] : [COMMENT] Expected event buffer TM but received space packet with other APID
-  static const ReturnValue_t EVENT_BUFFER_REPLY_INVALID_APID = MAKE_RETURN_CODE(0xA3);
 
   static const uint16_t CRC16_INIT = 0xFFFF;
   // Event buffer reply will carry 24 space packets with 1016 bytes and one space packet with
@@ -158,19 +178,22 @@ class PlocSupvHelper : public SystemObject, public ExecutableObjectIF {
   static const uint8_t NUM_EVENT_BUFFER_PACKETS = 25;
   static const size_t SIZE_EVENT_BUFFER_FULL_PACKET = 1024;
   static const size_t SIZE_EVENT_BUFFER_LAST_PACKET = 200;
-  static const uint32_t CRC_EXECUTION_TIMEOUT = 60000;
   static const uint32_t PREPARE_UPDATE_EXECUTION_REPORT = 2000;
 
+  static constexpr uint8_t MAX_STORED_DECODED_PACKETS = 4;
+  static constexpr uint8_t HDLC_START_MARKER = 0x7E;
+  static constexpr uint8_t HDLC_END_MARKER = 0x7C;
+
   struct Update {
     uint8_t memoryId;
     uint32_t startAddress;
     // Absolute name of file containing update data
     std::string file;
     // Length of full file
-    size_t fullFileSize;
+    size_t fullFileSize = 0;
     // Size of update
-    uint32_t length;
+    uint32_t length = 0;
-    uint32_t crc;
+    uint32_t crc = 0;
     bool crcShouldBeChecked = true;
     size_t bytesWritten;
     uint32_t packetNum;
@@ -181,6 +204,13 @@ class PlocSupvHelper : public SystemObject, public ExecutableObjectIF {
 
   struct Update update;
 
+  SemaphoreIF* semaphore;
+  MutexIF* lock;
+  MutexIF* ipcLock;
+  supv::TmBase tmReader;
+  int serialPort = 0;
+  struct termios tty = {};
+
   struct EventBufferRequest {
     std::string path = "";
     // Default name of file where event buffer data will be written to. Timestamp will be added to
@@ -190,54 +220,64 @@ class PlocSupvHelper : public SystemObject, public ExecutableObjectIF {
 
   EventBufferRequest eventBufferReq;
 
-  enum class InternalState { IDLE, UPDATE, CONTINUE_UPDATE, REQUEST_EVENT_BUFFER, CHECK_MEMORY };
+  enum class InternalState { SLEEPING, DEFAULT, DEDICATED_REQUEST, GO_TO_SLEEP };
 
-  InternalState internalState = InternalState::IDLE;
+  enum class Request {
+    DEFAULT,
+    UPDATE,
+    CONTINUE_UPDATE,
+    REQUEST_EVENT_BUFFER,
+    CHECK_MEMORY,
+  };
+  InternalState state = InternalState::SLEEPING;
+  Request request = Request::DEFAULT;
 
-  BinarySemaphore semaphore;
 #ifdef XIPHOS_Q7S
   SdCardManager* sdcMan = nullptr;
 #endif
-  uint8_t commandBuffer[supv::MAX_COMMAND_SIZE]{};
+  SimpleRingBuffer recRingBuf;
+  std::array<uint8_t, 1200> cmdBuf = {};
+  std::array<uint8_t, 2048> encodedSendBuf = {};
+  std::array<uint8_t, 2048> recBuf = {};
+  std::array<uint8_t, 2048> encodedBuf = {};
+  std::array<uint8_t, 1200> decodedBuf = {};
+  std::array<uint8_t, 1200> ipcBuffer = {};
+  SimpleRingBuffer decodedRingBuf;
+  FIFO<size_t, MAX_STORED_DECODED_PACKETS> decodedQueue;
+  SimpleRingBuffer ipcRingBuf;
+  FIFO<size_t, MAX_STORED_DECODED_PACKETS> ipcQueue;
+
   SpacePacketCreator creator;
-  ploc::SpTcParams spParams = ploc::SpTcParams(creator);
+  supv::TcParams spParams = supv::TcParams(creator);
 
   std::array<uint8_t, supv::MAX_COMMAND_SIZE> tmBuf{};
 
-  bool terminate = false;
+  bool debugMode = false;
-
-  /**
-   * Communication interface responsible for data transactions between OBC and Supervisor.
-   */
-  SerialComIF* uartComIF = nullptr;
-  // Communication cookie. Must be set by the supervisor Handler
-  CookieIF* comCookie = nullptr;
-
   bool timestamping = true;
 
   // Remembers APID to know at which command a procedure failed
   uint16_t rememberApid = 0;
 
+  ReturnValue_t handleRunningLongerRequest();
+  bool handleUartReception();
+  void addHdlcFraming(const uint8_t* src, size_t slen, uint8_t* dst, size_t* dlen, size_t maxDest);
+  int removeHdlcFramingWithCrcCheck(const uint8_t* src, size_t slen, uint8_t* dst, size_t* dlen);
+
+  ReturnValue_t encodeAndSendPacket(const uint8_t* sendData, size_t sendLen);
   void executeFullCheckMemoryCommand();
 
+  ReturnValue_t tryHdlcParsing();
+  ReturnValue_t parseRecRingBufForHdlc(size_t& readSize, size_t& decodedLen);
   ReturnValue_t executeUpdate();
   ReturnValue_t continueUpdate();
   ReturnValue_t updateOperation();
   ReturnValue_t writeUpdatePackets();
-  ReturnValue_t performEventBufferRequest();
+  // ReturnValue_t performEventBufferRequest();
-  ReturnValue_t handlePacketTransmission(ploc::SpTcBase& packet,
+  ReturnValue_t handlePacketTransmissionNoReply(supv::TcBase& packet,
-                                         uint32_t timeoutExecutionReport = 60000);
+                                                uint32_t timeoutExecutionReport = 60000);
-  ReturnValue_t sendCommand(ploc::SpTcBase& packet);
+  int handleAckReception(supv::TcBase& tc, uint8_t serviceId, size_t packetLen);
-  /**
+  int handleExeAckReception(supv::TcBase& tc, uint8_t serviceId, size_t packetLen);
-   * @brief Function which reads form the communication interface
+
-   *
-   * @param data            Pointer to buffer where read data will be written to
-   * @param raedBytes       Actual number of bytes read
-   * @param requestBytes    Number of bytes to read
-   */
-  ReturnValue_t receive(uint8_t* data, size_t* readBytes, size_t requestBytes);
-  ReturnValue_t handleAck();
-  ReturnValue_t handleExe(uint32_t timeout = 1000);
   /**
    * @brief Handles reading of TM packets from the communication interface
    *
@@ -250,7 +290,7 @@ class PlocSupvHelper : public SystemObject, public ExecutableObjectIF {
    */
   ReturnValue_t handleTmReception(size_t remainingBytes, uint8_t* readBuf = nullptr,
                                   uint32_t timeout = 70000);
-  ReturnValue_t checkReceivedTm(ploc::SpTmReader& reader);
+  ReturnValue_t checkReceivedTm();
 
   ReturnValue_t selectMemory();
   ReturnValue_t prepareUpdate();
@@ -272,6 +312,61 @@ class PlocSupvHelper : public SystemObject, public ExecutableObjectIF {
   ReturnValue_t handleRemainingExeReport(ploc::SpTmReader& reader);
 
   void resetSpParams();
+  void pushIpcData(const uint8_t* data, size_t len);
+
+  /**
+   * @brief Device specific initialization, using the cookie.
+   * @details
+   * The cookie is already prepared in the factory. If the communication
+   * interface needs to be set up in some way and requires cookie information,
+   * this can be performed in this function, which is called on device handler
+   * initialization.
+   * @param cookie
+   * @return
+   *  - @c returnvalue::OK if initialization was successfull
+   *  - Everything else triggers failure event with returnvalue as parameter 1
+   */
+  ReturnValue_t initializeInterface(CookieIF* cookie) override;
+
+  /**
+   * Called by DHB in the SEND_WRITE doSendWrite().
+   * This function is used to send data to the physical device
+   * by implementing and calling related drivers or wrapper functions.
+   * @param cookie
+   * @param data
+   * @param len If this is 0, nothing shall be sent.
+   * @return
+   *  - @c returnvalue::OK for successfull send
+   *  - Everything else triggers failure event with returnvalue as parameter 1
+   */
+  ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
+  /**
+   * Called by DHB in the GET_WRITE doGetWrite().
+   * Get send confirmation that the data in sendMessage() was sent successfully.
+   * @param cookie
+   * @return
+   *  - @c returnvalue::OK if data was sent successfully but a reply is expected
+   *  - NO_REPLY_EXPECTED if data was sent successfully and no reply is expected
+   *  - Everything else to indicate failure
+   */
+  ReturnValue_t getSendSuccess(CookieIF* cookie) override;
+  /**
+   * Called by DHB in the SEND_WRITE doSendRead().
+   * It is assumed that it is always possible to request a reply
+   * from a device. If a requestLen of 0 is supplied, no reply was enabled
+   * and communication specific action should be taken (e.g. read nothing
+   * or read everything).
+   *
+   * @param cookie
+   * @param requestLen Size of data to read
+   * @return - @c returnvalue::OK to confirm the request for data has been sent.
+   *         - Everything else triggers failure event with
+   *           returnvalue as parameter 1
+   */
+  ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
+  ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
+
+  void performUartShutdown();
 };
 
 #endif /* BSP_Q7S_DEVICES_PLOCSUPVHELPER_H_ */

linux/devices/startracker/ArcsecDatalinkLayer.h

@@ -1,6 +1,7 @@
 #ifndef BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_
 #define BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_
 
+#include "eive/resultClassIds.h"
 #include "fsfw/returnvalues/returnvalue.h"
 #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
 

linux/devices/startracker/ArcsecJsonParamBase.h

@@ -5,6 +5,7 @@
 #include <fstream>
 #include <nlohmann/json.hpp>
 
+#include "eive/resultClassIds.h"
 #include "fsfw/returnvalues/returnvalue.h"
 #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
 

linux/devices/startracker/StarTrackerHandler.cpp

@@ -1591,7 +1591,7 @@ void StarTrackerHandler::preparePowerRequest() {
 
 void StarTrackerHandler::prepareSwitchToBootloaderCmd() {
   uint32_t length = 0;
-  struct RebootActionRequest rebootReq;
+  struct RebootActionRequest rebootReq {};
   arc_pack_reboot_action_req(&rebootReq, commandBuffer, &length);
   dataLinkLayer.encodeFrame(commandBuffer, length);
   rawPacket = dataLinkLayer.getEncodedFrame();

linux/fsfwconfig/devices/addresses.cpp

@@ -1 +0,0 @@
-#include "addresses.h"

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 234 translations.
+ * @brief    Auto-generated event translation file. Contains 239 translations.
  * @details
- * Generated on: 2022-11-14 17:10:10
+ * Generated on: 2022-11-16 15:25:08
  */
 #include "translateEvents.h"
 
@@ -129,9 +129,12 @@ const char *RESET_OCCURED_STRING = "RESET_OCCURED";
 const char *BOOTING_FIRMWARE_FAILED_STRING = "BOOTING_FIRMWARE_FAILED";
 const char *BOOTING_BOOTLOADER_FAILED_STRING = "BOOTING_BOOTLOADER_FAILED";
 const char *SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING = "SUPV_MEMORY_READ_RPT_CRC_FAILURE";
+const char *SUPV_UNKNOWN_TM_STRING = "SUPV_UNKNOWN_TM";
+const char *SUPV_UNINIMPLEMENTED_TM_STRING = "SUPV_UNINIMPLEMENTED_TM";
 const char *SUPV_ACK_FAILURE_STRING = "SUPV_ACK_FAILURE";
 const char *SUPV_EXE_FAILURE_STRING = "SUPV_EXE_FAILURE";
 const char *SUPV_CRC_FAILURE_EVENT_STRING = "SUPV_CRC_FAILURE_EVENT";
+const char *SUPV_HELPER_EXECUTING_STRING = "SUPV_HELPER_EXECUTING";
 const char *SUPV_MPSOC_SHUWDOWN_BUILD_FAILED_STRING = "SUPV_MPSOC_SHUWDOWN_BUILD_FAILED";
 const char *SANITIZATION_FAILED_STRING = "SANITIZATION_FAILED";
 const char *MOUNTED_SD_CARD_STRING = "MOUNTED_SD_CARD";
@@ -222,6 +225,8 @@ const char *WRITE_MEMORY_FAILED_STRING = "WRITE_MEMORY_FAILED";
 const char *SUPV_REPLY_SIZE_MISSMATCH_STRING = "SUPV_REPLY_SIZE_MISSMATCH";
 const char *SUPV_REPLY_CRC_MISSMATCH_STRING = "SUPV_REPLY_CRC_MISSMATCH";
 const char *SUPV_UPDATE_PROGRESS_STRING = "SUPV_UPDATE_PROGRESS";
+const char *HDLC_FRAME_REMOVAL_ERROR_STRING = "HDLC_FRAME_REMOVAL_ERROR";
+const char *HDLC_CRC_ERROR_STRING = "HDLC_CRC_ERROR";
 const char *ALLOC_FAILURE_STRING = "ALLOC_FAILURE";
 const char *REBOOT_SW_STRING = "REBOOT_SW";
 const char *REBOOT_MECHANISM_TRIGGERED_STRING = "REBOOT_MECHANISM_TRIGGERED";
@@ -487,12 +492,18 @@ const char *translateEvents(Event event) {
     case (12001):
       return SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING;
     case (12002):
-      return SUPV_ACK_FAILURE_STRING;
+      return SUPV_UNKNOWN_TM_STRING;
     case (12003):
-      return SUPV_EXE_FAILURE_STRING;
+      return SUPV_UNINIMPLEMENTED_TM_STRING;
     case (12004):
-      return SUPV_CRC_FAILURE_EVENT_STRING;
+      return SUPV_ACK_FAILURE_STRING;
     case (12005):
+      return SUPV_EXE_FAILURE_STRING;
+    case (12006):
+      return SUPV_CRC_FAILURE_EVENT_STRING;
+    case (12007):
+      return SUPV_HELPER_EXECUTING_STRING;
+    case (12008):
       return SUPV_MPSOC_SHUWDOWN_BUILD_FAILED_STRING;
     case (12100):
       return SANITIZATION_FAILED_STRING;
@@ -672,6 +683,10 @@ const char *translateEvents(Event event) {
       return SUPV_REPLY_CRC_MISSMATCH_STRING;
     case (13630):
       return SUPV_UPDATE_PROGRESS_STRING;
+    case (13631):
+      return HDLC_FRAME_REMOVAL_ERROR_STRING;
+    case (13632):
+      return HDLC_CRC_ERROR_STRING;
     case (13700):
       return ALLOC_FAILURE_STRING;
     case (13701):

linux/fsfwconfig/objects/systemObjectList.h

@@ -45,10 +45,8 @@ enum sourceObjects : uint32_t {
   ARDUINO_COM_IF = 0x49000000,
   CSP_COM_IF = 0x49050001,
   I2C_COM_IF = 0x49040002,
-  UART_COM_IF = 0x49030003,
   SPI_MAIN_COM_IF = 0x49020004,
   GPIO_IF = 0x49010005,
-  SCEX_UART_READER = 0x49010006,
 
   /* Custom device handler */
   SPI_RW_COM_IF = 0x49020005,

linux/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 148 translations.
- * Generated on: 2022-11-14 17:10:10
+ * Generated on: 2022-11-16 15:25:08
  */
 #include "translateObjects.h"
 

linux/scheduling.cpp

@@ -1,4 +1,4 @@
-#include "InitMission.h"
+#include "scheduling.h"
 
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <fsfw/tasks/PeriodicTaskIF.h>
@@ -10,7 +10,7 @@
 
 void scheduling::schedulingScex(TaskFactory& factory, PeriodicTaskIF*& scexDevHandler,
                                 PeriodicTaskIF*& scexReaderTask) {
-  using namespace initmission;
+  using namespace scheduling;
   ReturnValue_t result = returnvalue::OK;
 #if OBSW_PRINT_MISSED_DEADLINES == 1
   void (*missedDeadlineFunc)(void) = TaskFactory::printMissedDeadline;
@@ -37,6 +37,17 @@ void scheduling::schedulingScex(TaskFactory& factory, PeriodicTaskIF*& scexDevHa
     printAddObjectError("SCEX_DEV", objects::SCEX);
   }
   result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::GET_READ);
+  if (result != returnvalue::OK) {
+    printAddObjectError("SCEX_DEV", objects::SCEX);
+  }
+  result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::SEND_READ);
+  if (result != returnvalue::OK) {
+    printAddObjectError("SCEX_DEV", objects::SCEX);
+  }
+  result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::GET_READ);
+  if (result != returnvalue::OK) {
+    printAddObjectError("SCEX_DEV", objects::SCEX);
+  }
 
   result = returnvalue::OK;
   scexReaderTask = factory.createPeriodicTask(
@@ -50,17 +61,17 @@ void scheduling::schedulingScex(TaskFactory& factory, PeriodicTaskIF*& scexDevHa
 void scheduling::addMpsocSupvHandlers(PeriodicTaskIF* plTask) {
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
   plTask->addComponent(objects::PLOC_SUPERVISOR_HANDLER, DeviceHandlerIF::PERFORM_OPERATION);
-  plTask->addComponent(objects::PLOC_SUPERVISOR_HANDLER, DeviceHandlerIF::SEND_READ);
-  plTask->addComponent(objects::PLOC_SUPERVISOR_HANDLER, DeviceHandlerIF::GET_READ);
   plTask->addComponent(objects::PLOC_SUPERVISOR_HANDLER, DeviceHandlerIF::SEND_WRITE);
   plTask->addComponent(objects::PLOC_SUPERVISOR_HANDLER, DeviceHandlerIF::GET_WRITE);
+  plTask->addComponent(objects::PLOC_SUPERVISOR_HANDLER, DeviceHandlerIF::SEND_READ);
+  plTask->addComponent(objects::PLOC_SUPERVISOR_HANDLER, DeviceHandlerIF::GET_READ);
 #endif
 
 #if OBSW_ADD_PLOC_MPSOC == 1
   plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::PERFORM_OPERATION);
-  plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::SEND_READ);
-  plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::GET_READ);
   plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::SEND_WRITE);
   plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::GET_WRITE);
+  plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::SEND_READ);
+  plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::GET_READ);
 #endif
 }

linux/scheduling.h

@@ -1,9 +1,9 @@
 #pragma once
+
 #include <fsfw/tasks/TaskFactory.h>
 
 namespace scheduling {
 void schedulingScex(TaskFactory& factory, PeriodicTaskIF*& scexDevHandler,
                     PeriodicTaskIF*& scexReaderTask);
 void addMpsocSupvHandlers(PeriodicTaskIF* task);
-
 }  // namespace scheduling

mission/core/GenericFactory.cpp

@@ -99,12 +99,12 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
 
 #if OBSW_ADD_TCPIP_BRIDGE == 1
 #if OBSW_USE_TMTC_TCP_BRIDGE == 0
-  auto tcpIpTmtcBridge = new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
+  auto tmtcBridge = new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
   new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
   sif::info << "Created UDP server for TMTC commanding with listener port "
-            << udpBridge->getUdpPort() << std::endl;
+            << tmtcBridge->getUdpPort() << std::endl;
 #else
-  auto tcpIpTmtcBridge = new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
+  auto tmtcBridge = new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
   auto tcpServer = new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
   // TCP is stream based. Use packet ID as start marker when parsing for space packets
   tcpServer->setSpacePacketParsingOptions({common::PUS_PACKET_ID, common::CFDP_PACKET_ID});
@@ -114,7 +114,7 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
   tcpServer->enableWiretapping(true);
 #endif /* OBSW_TCP_SERVER_WIRETAPPING == 1 */
 #endif /* OBSW_USE_TMTC_TCP_BRIDGE == 0 */
-  tcpIpTmtcBridge->setMaxNumberOfPacketsStored(150);
+  tmtcBridge->setMaxNumberOfPacketsStored(150);
 #endif /* OBSW_ADD_TCPIP_BRIDGE == 1 */
 
   auto* ccsdsDistrib =
@@ -124,8 +124,8 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
   *cfdpFunnel = new CfdpTmFunnel(objects::CFDP_TM_FUNNEL, config::EIVE_CFDP_APID, *tmStore, 50);
   *pusFunnel = new PusTmFunnel(objects::PUS_TM_FUNNEL, *timeStamper, *tmStore, 80);
 #if OBSW_ADD_TCPIP_BRIDGE == 1
-  (*cfdpFunnel)->addDestination(*tcpIpTmtcBridge, 0);
+  (*cfdpFunnel)->addDestination(*tmtcBridge, 0);
-  (*pusFunnel)->addDestination(*tcpIpTmtcBridge, 0);
+  (*pusFunnel)->addDestination(*tmtcBridge, 0);
 #endif
   // Every TM packet goes through this funnel
   new TmFunnelHandler(objects::TM_FUNNEL, **pusFunnel, **cfdpFunnel);

mission/devices/devicedefinitions/SpBase.h

@@ -14,43 +14,46 @@ struct SpTcParams {
   SpTcParams(SpacePacketCreator& creator, uint8_t* buf, size_t maxSize)
       : creator(creator), buf(buf), maxSize(maxSize) {}
 
-  void setPayloadLen(size_t payloadLen_) { dataFieldLen = payloadLen_ + 2; }
+  void setFullPayloadLen(size_t fullPayloadLen_) { fullPayloadLen = fullPayloadLen_; }
-
-  void setDataFieldLen(size_t dataFieldLen_) { dataFieldLen = dataFieldLen_; }
 
   SpacePacketCreator& creator;
   uint8_t* buf = nullptr;
   size_t maxSize = 0;
-  size_t dataFieldLen = 0;
+  size_t fullPayloadLen = 0;
 };
 
 class SpTcBase {
  public:
-  SpTcBase(SpTcParams params) : spParams(params) {
+  SpTcBase(SpTcParams params) : SpTcBase(params, 0x00, 1, 0) {}
-    payloadStart = spParams.buf + ccsds::HEADER_LEN;
-    updateSpFields();
-  }
 
-  SpTcBase(SpTcParams params, uint16_t apid, uint16_t seqCount) : spParams(params) {
+  SpTcBase(SpTcParams params, uint16_t apid, size_t payloadLen)
+      : SpTcBase(params, apid, payloadLen, 0) {}
+
+  SpTcBase(SpTcParams params, uint16_t apid, size_t payloadLen, uint16_t seqCount)
+      : spParams(params) {
     spParams.creator.setApid(apid);
     spParams.creator.setSeqCount(seqCount);
     payloadStart = spParams.buf + ccsds::HEADER_LEN;
+    spParams.fullPayloadLen = payloadLen;
     updateSpFields();
   }
 
   void updateSpFields() {
-    spParams.creator.setDataLenField(spParams.dataFieldLen - 1);
+    updateLenFromParams();
     spParams.creator.setPacketType(ccsds::PacketType::TC);
   }
 
+  void updateLenFromParams() { spParams.creator.setDataLenField(spParams.fullPayloadLen - 1); }
   const uint8_t* getFullPacket() const { return spParams.buf; }
 
   size_t getFullPacketLen() const { return spParams.creator.getFullPacketLen(); }
 
   uint16_t getApid() const { return spParams.creator.getApid(); }
 
+  uint16_t getSeqCount() const { return spParams.creator.getSequenceCount(); }
+
   ReturnValue_t checkPayloadLen() {
-    if (ccsds::HEADER_LEN + spParams.dataFieldLen > spParams.maxSize) {
+    if (ccsds::HEADER_LEN + spParams.fullPayloadLen > spParams.maxSize) {
       return SerializeIF::BUFFER_TOO_SHORT;
     }
 
@@ -71,7 +74,7 @@ class SpTcBase {
     return serializeHeader();
   }
 
-  ReturnValue_t calcCrc() {
+  ReturnValue_t calcAndSetCrc() {
     /* Calculate crc */
     uint16_t crc = CRC::crc16ccitt(spParams.buf, getFullPacketLen() - 2);
 
@@ -101,12 +104,7 @@ class SpTmReader : public SpacePacketReader {
     return setReadOnlyData(buf, maxSize);
   }
 
-  /**
+  ReturnValue_t checkCrc() const {
-   * @brief Returns the payload data length (data field length without CRC)
-   */
-  uint16_t getPayloadDataLength() { return getPacketDataLen() - 2; }
-
-  ReturnValue_t checkCrc() {
     if (CRC::crc16ccitt(getFullData(), getFullPacketLen()) != 0) {
       return returnvalue::FAILED;
     }

mission/utility/InitMission.h

@@ -3,7 +3,7 @@
 #include <fsfw/objectmanager/SystemObjectIF.h>
 #include <fsfw/serviceinterface/ServiceInterface.h>
 
-namespace initmission {
+namespace scheduling {
 
 static void printAddObjectError(const char* name, object_id_t objectId) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -16,4 +16,4 @@ static void printAddObjectError(const char* name, object_id_t objectId) {
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 }
 
-}  // namespace initmission
+}  // namespace scheduling

thirdparty/CMakeLists.txt

@@ -1 +1,5 @@
+if(EIVE_ADD_LINUX_FILES)
+	add_subdirectory(tas)
+endif()
+
 add_subdirectory(rapidcsv)

thirdparty/tas/CMakeLists.txt

@@ -0,0 +1,9 @@
+target_sources(${OBSW_NAME} PRIVATE
+    hdlc.c
+    uart.c
+    crc.c
+)
+
+target_include_directories(${OBSW_NAME} PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}
+)

thirdparty/tas/crc.c

@@ -0,0 +1,195 @@
+/***************************************************************************************
+* \copyright:    2020-2022 Thales Alenia Space Deutschland GmbH
+* \project:      multiMIND
+* \file:         crc.c
+* \date:         22.02.2022
+* \author:       David Woodward
+* \brief:        CRC algorithms
+***************************************************************************************/
+
+#include <stddef.h>
+#include "tas/crc.h"
+
+
+const uint16_t crc16_0x1021_table[256] = {
+	0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50A5, 0x60C6, 0x70E7,
+	0x8108, 0x9129, 0xA14A, 0xB16B, 0xC18C, 0xD1AD, 0xE1CE, 0xF1EF,
+	0x1231, 0x0210, 0x3273, 0x2252, 0x52B5, 0x4294, 0x72F7, 0x62D6,
+	0x9339, 0x8318, 0xB37B, 0xA35A, 0xD3BD, 0xC39C, 0xF3FF, 0xE3DE,
+	0x2462, 0x3443, 0x0420, 0x1401, 0x64E6, 0x74C7, 0x44A4, 0x5485,
+	0xA56A, 0xB54B, 0x8528, 0x9509, 0xE5EE, 0xF5CF, 0xC5AC, 0xD58D,
+	0x3653, 0x2672, 0x1611, 0x0630, 0x76D7, 0x66F6, 0x5695, 0x46B4,
+	0xB75B, 0xA77A, 0x9719, 0x8738, 0xF7DF, 0xE7FE, 0xD79D, 0xC7BC,
+	0x48C4, 0x58E5, 0x6886, 0x78A7, 0x0840, 0x1861, 0x2802, 0x3823,
+	0xC9CC, 0xD9ED, 0xE98E, 0xF9AF, 0x8948, 0x9969, 0xA90A, 0xB92B,
+	0x5AF5, 0x4AD4, 0x7AB7, 0x6A96, 0x1A71, 0x0A50, 0x3A33, 0x2A12,
+	0xDBFD, 0xCBDC, 0xFBBF, 0xEB9E, 0x9B79, 0x8B58, 0xBB3B, 0xAB1A,
+	0x6CA6, 0x7C87, 0x4CE4, 0x5CC5, 0x2C22, 0x3C03, 0x0C60, 0x1C41,
+	0xEDAE, 0xFD8F, 0xCDEC, 0xDDCD, 0xAD2A, 0xBD0B, 0x8D68, 0x9D49,
+	0x7E97, 0x6EB6, 0x5ED5, 0x4EF4, 0x3E13, 0x2E32, 0x1E51, 0x0E70,
+	0xFF9F, 0xEFBE, 0xDFDD, 0xCFFC, 0xBF1B, 0xAF3A, 0x9F59, 0x8F78,
+	0x9188, 0x81A9, 0xB1CA, 0xA1EB, 0xD10C, 0xC12D, 0xF14E, 0xE16F,
+	0x1080, 0x00A1, 0x30C2, 0x20E3, 0x5004, 0x4025, 0x7046, 0x6067,
+	0x83B9, 0x9398, 0xA3FB, 0xB3DA, 0xC33D, 0xD31C, 0xE37F, 0xF35E,
+	0x02B1, 0x1290, 0x22F3, 0x32D2, 0x4235, 0x5214, 0x6277, 0x7256,
+	0xB5EA, 0xA5CB, 0x95A8, 0x8589, 0xF56E, 0xE54F, 0xD52C, 0xC50D,
+	0x34E2, 0x24C3, 0x14A0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
+	0xA7DB, 0xB7FA, 0x8799, 0x97B8, 0xE75F, 0xF77E, 0xC71D, 0xD73C,
+	0x26D3, 0x36F2, 0x0691, 0x16B0, 0x6657, 0x7676, 0x4615, 0x5634,
+	0xD94C, 0xC96D, 0xF90E, 0xE92F, 0x99C8, 0x89E9, 0xB98A, 0xA9AB,
+	0x5844, 0x4865, 0x7806, 0x6827, 0x18C0, 0x08E1, 0x3882, 0x28A3,
+	0xCB7D, 0xDB5C, 0xEB3F, 0xFB1E, 0x8BF9, 0x9BD8, 0xABBB, 0xBB9A,
+	0x4A75, 0x5A54, 0x6A37, 0x7A16, 0x0AF1, 0x1AD0, 0x2AB3, 0x3A92,
+	0xFD2E, 0xED0F, 0xDD6C, 0xCD4D, 0xBDAA, 0xAD8B, 0x9DE8, 0x8DC9,
+	0x7C26, 0x6C07, 0x5C64, 0x4C45, 0x3CA2, 0x2C83, 0x1CE0, 0x0CC1,
+	0xEF1F, 0xFF3E, 0xCF5D, 0xDF7C, 0xAF9B, 0xBFBA, 0x8FD9, 0x9FF8,
+	0x6E17, 0x7E36, 0x4E55, 0x5E74, 0x2E93, 0x3EB2, 0x0ED1, 0x1EF0
+};
+
+const uint16_t crc16_0x1021_table_reverse[256] =
+{
+	0x0000, 0x1189, 0x2312, 0x329B, 0x4624, 0x57AD, 0x6536, 0x74BF,
+	0x8C48, 0x9DC1, 0xAF5A, 0xBED3, 0xCA6C, 0xDBE5, 0xE97E, 0xF8F7,
+	0x1081, 0x0108, 0x3393, 0x221A, 0x56A5, 0x472C, 0x75B7, 0x643E,
+	0x9CC9, 0x8D40, 0xBFDB, 0xAE52, 0xDAED, 0xCB64, 0xF9FF, 0xE876,
+	0x2102, 0x308B, 0x0210, 0x1399, 0x6726, 0x76AF, 0x4434, 0x55BD,
+	0xAD4A, 0xBCC3, 0x8E58, 0x9FD1, 0xEB6E, 0xFAE7, 0xC87C, 0xD9F5,
+	0x3183, 0x200A, 0x1291, 0x0318, 0x77A7, 0x662E, 0x54B5, 0x453C,
+	0xBDCB, 0xAC42, 0x9ED9, 0x8F50, 0xFBEF, 0xEA66, 0xD8FD, 0xC974,
+	0x4204, 0x538D, 0x6116, 0x709F, 0x0420, 0x15A9, 0x2732, 0x36BB,
+	0xCE4C, 0xDFC5, 0xED5E, 0xFCD7, 0x8868, 0x99E1, 0xAB7A, 0xBAF3,
+	0x5285, 0x430C, 0x7197, 0x601E, 0x14A1, 0x0528, 0x37B3, 0x263A,
+	0xDECD, 0xCF44, 0xFDDF, 0xEC56, 0x98E9, 0x8960, 0xBBFB, 0xAA72,
+	0x6306, 0x728F, 0x4014, 0x519D, 0x2522, 0x34AB, 0x0630, 0x17B9,
+	0xEF4E, 0xFEC7, 0xCC5C, 0xDDD5, 0xA96A, 0xB8E3, 0x8A78, 0x9BF1,
+	0x7387, 0x620E, 0x5095, 0x411C, 0x35A3, 0x242A, 0x16B1, 0x0738,
+	0xFFCF, 0xEE46, 0xDCDD, 0xCD54, 0xB9EB, 0xA862, 0x9AF9, 0x8B70,
+	0x8408, 0x9581, 0xA71A, 0xB693, 0xC22C, 0xD3A5, 0xE13E, 0xF0B7,
+	0x0840, 0x19C9, 0x2B52, 0x3ADB, 0x4E64, 0x5FED, 0x6D76, 0x7CFF,
+	0x9489, 0x8500, 0xB79B, 0xA612, 0xD2AD, 0xC324, 0xF1BF, 0xE036,
+	0x18C1, 0x0948, 0x3BD3, 0x2A5A, 0x5EE5, 0x4F6C, 0x7DF7, 0x6C7E,
+	0xA50A, 0xB483, 0x8618, 0x9791, 0xE32E, 0xF2A7, 0xC03C, 0xD1B5,
+	0x2942, 0x38CB, 0x0A50, 0x1BD9, 0x6F66, 0x7EEF, 0x4C74, 0x5DFD,
+	0xB58B, 0xA402, 0x9699, 0x8710, 0xF3AF, 0xE226, 0xD0BD, 0xC134,
+	0x39C3, 0x284A, 0x1AD1, 0x0B58, 0x7FE7, 0x6E6E, 0x5CF5, 0x4D7C,
+	0xC60C, 0xD785, 0xE51E, 0xF497, 0x8028, 0x91A1, 0xA33A, 0xB2B3,
+	0x4A44, 0x5BCD, 0x6956, 0x78DF, 0x0C60, 0x1DE9, 0x2F72, 0x3EFB,
+	0xD68D, 0xC704, 0xF59F, 0xE416, 0x90A9, 0x8120, 0xB3BB, 0xA232,
+	0x5AC5, 0x4B4C, 0x79D7, 0x685E, 0x1CE1, 0x0D68, 0x3FF3, 0x2E7A,
+	0xE70E, 0xF687, 0xC41C, 0xD595, 0xA12A, 0xB0A3, 0x8238, 0x93B1,
+	0x6B46, 0x7ACF, 0x4854, 0x59DD, 0x2D62, 0x3CEB, 0x0E70, 0x1FF9,
+	0xF78F, 0xE606, 0xD49D, 0xC514, 0xB1AB, 0xA022, 0x92B9, 0x8330,
+	0x7BC7, 0x6A4E, 0x58D5, 0x495C, 0x3DE3, 0x2C6A, 0x1EF1, 0x0F78
+};
+
+// CRC-32 calculation from original implementation (Sarthak)
+// The used algorithm is (most likely) CRC32/BZIP2, as found here:
+// https://www.cl.cam.ac.uk/research/srg/projects/fairisle/bluebook/21/crc/node6.html
+uint32_t Crc32(const uint8_t *msg, int numBytes, uint32_t remainder) {
+
+	int byte;
+	unsigned char bit;
+
+	// Perform modulo-2 division, a byte at a time.
+	for (byte = 0; byte < numBytes; ++byte)
+	{
+		// Bring the next byte into the remainder.
+		remainder ^= (*(msg + byte) << 16);
+
+		// Perform modulo-2 division, a bit at a time.
+		for (bit = 8; bit > 0; --bit) {
+
+			// Try to divide the current data bit.
+			if (remainder & CRC32_TOPBIT) {
+				remainder = (remainder << 1) ^ CRC32_POLYNOMIAL;
+			}
+			else {
+				remainder = (remainder << 1);
+			}
+		}
+	}
+
+	// The final remainder is the CRC result.
+	return remainder;
+}
+
+// ref.: CRC-16/CCITT-FALSE, alias: CRC-16/AUTOSAR
+// https://reveng.sourceforge.io/crc-catalogue/16.htm#crc.cat.crc-16-xmodem
+// initial: 0xFFFF, xorOut: 0x0000, RefIn: false, RefOut: false, polynomial: 0x1021
+uint16_t calc_crc16_unreflected(const uint8_t *data, uint32_t len, uint16_t remainder, uint16_t final_xor)
+{
+	uint16_t crc = remainder;
+	uint16_t temp;
+
+	// unreflected
+	while (len-- != 0)
+	{
+		temp = (*data++ ^ (crc >> 8)) & 0xff;
+		crc = crc16_0x1021_table[temp] ^ (crc << 8);
+	}
+
+	crc ^= final_xor;
+
+	return crc;
+}
+
+void calc_crc16_byte_unreflected(uint16_t *crc16, uint8_t bt)
+{
+	uint16_t temp;
+	temp = *crc16;
+
+	// unreflected
+	*crc16 = crc16_0x1021_table[((temp >> 8) ^ bt) & 0xff] ^ (temp << 8);
+}
+
+// initial: 0xFFFF, xorOut: 0x0000, RefIn: false, RefOut: false, polynomial: 0x1021
+uint16_t calc_crc16_buff_unreflected(uint8_t *data, uint16_t len)
+{
+  uint16_t crc16 = 0xFFFF;
+
+	// unreflected
+  while (len-- != 0)
+	{
+		crc16 = crc16_0x1021_table[((crc16 >> 8) ^ *data++) & 0xff] ^ (crc16 << 8);
+	}
+
+  return crc16;
+}
+
+// ref.: CRC-16/X25
+// initial: 0xFFFF, xorOut: 0xFFFF, RefIn: true, RefOut: true, polynomial: 0x1021
+uint16_t calc_crc16_reflected(const uint8_t *data, uint32_t len, uint16_t remainder, uint16_t final_xor)
+{
+	uint16_t crc16 = remainder;
+
+	// reflected
+	while (len-- != 0)
+	{
+		crc16 = crc16_0x1021_table_reverse[(crc16 ^ *data++) & 0xff] ^ (crc16 >> 8);
+	}
+
+	return (crc16 ^ final_xor);
+}
+
+void calc_crc16_byte_reflected(uint16_t *crc16, uint8_t bt)
+{
+	uint16_t temp;
+	temp = *crc16;
+
+	// reflected
+	*crc16 = crc16_0x1021_table_reverse[(temp ^ bt) & 0xff] ^ (temp >> 8);
+}
+
+// initial: 0xFFFF, xorOut: 0xFFFF, RefIn: true, RefOut: true, polynomial: 0x1021
+uint16_t calc_crc16_buff_reflected(const uint8_t *data, uint16_t len)
+{
+  uint16_t crc16 = 0xFFFF;
+
+	// reflected
+  while (len-- != 0)
+	{
+		crc16 = crc16_0x1021_table_reverse[(crc16 ^ *data++) & 0xff] ^ (crc16 >> 8);
+	}
+
+  return (crc16 ^ 0xFFFF);
+}

thirdparty/tas/hdlc.c

@@ -0,0 +1,90 @@
+//**************************************************************************************
+/*! \copyright:     2020-2021 Thales Alenia Space Deutschland GmbH
+* \project:         multiMIND
+* \file:            (name of source file: hdlc.c)
+* \date:            (09.02.2022)
+* \author:          (Stelios Filippopoulos)
+* \brief:           (hdlc functions)
+* \language:        (C)
+**************************************************************************************
+*/
+
+#include "tas/hdlc.h"
+#include "tas/crc.h"
+
+#include <stdint.h>
+
+void hdlc_add_byte(uint8_t ch, uint8_t *buff, size_t *pos)
+{
+	size_t templen = *pos;
+
+	if ((ch == 0x7E) ||
+	    (ch == 0x7D) ||
+		(ch == 0x7C))
+	{
+		buff[templen++] = 0x7D;
+		ch ^= 0x20;
+	}
+	buff[templen++] = ch;
+
+	*pos = templen;
+}
+
+void hdlc_add_framing(const uint8_t *src, size_t slen, uint8_t *dst, size_t *dlen)
+{
+	size_t tlen = 0;
+	uint16_t ii;
+	uint16_t crc16;
+	uint8_t  bt;
+
+	// calc crc16
+	crc16 = calc_crc16_buff_reflected( src, slen );
+
+	dst[tlen++] = 0x7E;
+	for (ii = 0; ii < slen; ii++)
+	{
+		bt = *src++;
+		hdlc_add_byte(bt, dst, &tlen);
+	}
+
+	// hdlc crc16 is in little endian format
+	// WARNING: This is not portable code! Bytes need to be swapped on a big
+	// endian system
+	// TODO: Fix
+	hdlc_add_byte((uint8_t) (crc16 & 0xFF), dst, &tlen);
+	hdlc_add_byte((uint8_t) ((crc16 >> 8) & 0xFF), dst, &tlen);
+
+	dst[tlen++] = 0x7C;
+	*dlen = tlen;
+}
+
+int hdlc_remove_framing_with_crc_check(const uint8_t *src, size_t slen, uint8_t *dst, size_t *dlen)
+{
+	uint16_t tlen = 0;
+	uint16_t ii;
+	uint8_t  bt;
+
+	*dlen = 0;
+	if (slen < 4) return -1;
+	if ((src[tlen] != 0x7E) && (src[slen-1] != 0x7C)) return -2;
+	src++;
+	for (ii = 1; ii < slen-1; ii++)
+	{
+		bt = *src++;
+
+		if (bt == 0x7D)
+		{
+			bt = *src++ ^ 0x20;
+			ii++;
+		}
+		dst[tlen++] = bt;
+	}
+	// calc crc16
+	if(calc_crc16_buff_reflected( dst,  tlen ) != 0x0f47) {
+		return 1;
+	}
+	*dlen = tlen - 2;
+	return 0;
+}
+
+

thirdparty/tas/tas/crc.h

@@ -0,0 +1,116 @@
+/***************************************************************************************
+* \copyright:    2020-2022 Thales Alenia Space Deutschland GmbH
+* \project:      multiMIND
+* \file:         crc.c
+* \date:         22.02.2022
+* \author:       David Woodward
+* \brief:        CRC algorithms
+***************************************************************************************/
+
+#ifndef TAS_D_C_CRC_H
+#define TAS_D_C_CRC_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stdbool.h>
+
+// NOTE: These defines are in the header as some are needed for (initial) crc function calls
+//CRC-32/BZIP2
+#define CRC32_TOPBIT (1UL<<31)
+#define CRC32_POLYNOMIAL 0x04C11DB7
+#define CRC32_INITIAL_REMAINDER 0xFFFFFFFF
+#define CRC32_FINAL_XOR_VALUE	0xFFFFFFFF
+
+// CRC-16/CCITT-FALSE
+#define CRC16_INITIAL_REMAINDER 0xFFFF
+#define CRC16_FINAL_XOR_VALUE 0x0
+
+extern const uint16_t crc16_0x1021_table[256];
+
+extern const uint16_t crc16_0x1021_table_reverse[256];
+
+/**
+ * \brief CRC-32/BZIP2 algorithm
+ */
+uint32_t Crc32(const uint8_t *msg, int numBytes, uint32_t remainder);
+
+
+/**
+ * \brief CRC-16/CCITT-FALSE (alias CRC-16/AUTOSAR) algorithm,
+// initial: 0xFFFF, xorOut: 0x0000, RefIn: false, RefOut: false, polynomial: 0x1021
+ * using a lookup table
+ * \param data Data
+ * \param len Data length
+ * \param remainder Remainder to be used,
+ * use initial remainder for non coherent/standalone calculations
+ * \param final_xor The value that the final result will be xored
+ * \return CRC result
+ */
+uint16_t calc_crc16_unreflected(const uint8_t *data, uint32_t len, uint16_t remainder, uint16_t final_xor);
+
+/**
+ * generates a 16-bit CRC for the said data
+ *
+ * @param data input data for CRC
+ * @param len length of the data
+ * @return crc Generated 16-bit CRC
+ */
+void calc_crc16_byte_unreflected(uint16_t *crc16, uint8_t bt);
+
+/**
+ * \brief CRC-16/CCITT-FALSE (alias CRC-16/AUTOSAR) algorithm,
+ * polynomial: 0x1021, initial: 0xFFFF, final xor: 0x0,
+ * using a lookup table
+ * \param data Data
+ * \param len Data length
+ * \param remainder Remainder to be used,
+ * use initial remainder for non coherent/standalone calculations
+ * \param final_xor The value that the final result will be xored
+ * \return CRC result
+ */
+uint16_t calc_crc16_buff_unreflected(uint8_t *data, uint16_t len);
+
+/**
+ * \brief CRC-16/X25 algorithm,
+ * initial: 0xFFFF, xorOut: 0xFFFF, RefIn: true, RefOut: true, polynomial: 0x1021
+ * using a lookup table
+ * \param data Data
+ * \param len Data length
+ * \param remainder Remainder to be used,
+ * use initial remainder for non coherent/standalone calculations
+ * \param final_xor The value that the final result will be xored
+ * \return CRC result
+ */
+uint16_t calc_crc16_reflected(const uint8_t *data, uint32_t len, uint16_t remainder, uint16_t final_xor);
+
+/**
+ * \brief CRC-16/X25 algorithm,
+ * calculates the crc16 for the next byte, given an already calculated crc16
+ *
+ * @param *crc16 : calculated crc16 - the value will be updated
+ * @param bt : next byte for crc16 calculation
+ * @return none
+ */
+void calc_crc16_byte_reflected(uint16_t *crc16, uint8_t bt);
+
+/**
+ * \brief CRC-16/X25 algorithm,
+ * initial: 0xFFFF, xorOut: 0xFFFF, RefIn: true, RefOut: true, polynomial: 0x1021
+ * using a lookup table
+ * \param data Data
+ * \param len Data length
+ * \param remainder Remainder to be used,
+ * use initial remainder for non coherent/standalone calculations
+ * \param final_xor The value that the final result will be xored
+ * \return CRC result
+ */
+uint16_t calc_crc16_buff_reflected(const uint8_t *data, uint16_t len);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

thirdparty/tas/tas/hdlc.h

@@ -0,0 +1,52 @@
+//**************************************************************************************
+/*! \copyright:     2020-2021 Thales Alenia Space Deutschland GmbH
+* \project:         multiMIND
+* \file:            (name of source file: hdlc.h)
+* \date:            (09.02.2022)
+* \author:          (Stelios Filippopoulos)
+* \brief:           (hdlc header file)
+* \language:        (C)
+**************************************************************************************
+*/
+
+#ifndef LIB_HDLC_H_
+#define LIB_HDLC_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+
+#define HDLC_ENABLE
+
+#define HDLC_START_BYTE  (0x7Eu)
+#define HDLC_ESC_BYTE    (0x7Du)
+#define HDLC_END_BYTE    (0x7Cu)
+#define HDLC_ESCAPE_CHAR (0x20u)
+
+void hdlc_add_byte(uint8_t ch, uint8_t *buff, size_t *pos);
+
+void hdlc_add_framing(const uint8_t *src, size_t slen, uint8_t *dst, size_t *dlen);
+
+/**
+ * Decode a HDLC frame, including CRC check and CRC removal in addition
+ * to the removal of the frame markers.
+ * @param src
+ * @param slen
+ * @param dst
+ * @param dlen
+ * @return
+ *   -1 Invalid source length
+ *   -2 No start marker at first byte or end marker at slen - 1
+ *    1 Invalid CRC
+ *    0 CRC OK, framing and CRC removed
+ */
+int hdlc_remove_framing_with_crc_check(const uint8_t *src, size_t slen, uint8_t *dst, size_t *dlen);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* LIB_HDLC_H_ */

thirdparty/tas/tas/uart.h

@@ -0,0 +1,124 @@
+//**************************************************************************************
+/*! \copyright:     2020-2021 Thales Alenia Space Deutschland GmbH
+* \project:         multiMIND
+* \file:            (name of source file: uart.h)
+* \date:            (20.05.2021)
+* \author:          (Sarthak Kelapure)
+* \brief:           (UART thread to collect data on serial interface)
+* \language:        (C)
+**************************************************************************************
+*/
+#ifndef LIB_UART_H
+#define LIB_UART_H
+
+#define BUFF_SIZE 512
+#define POLL_TIMEOUT 2000
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <termios.h>
+#include <fcntl.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#include <unistd.h>
+#include <pthread.h>
+#include <signal.h>
+#include <poll.h>
+#include <errno.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+typedef struct serial_s serial_t;
+
+/**
+ * Destroy the serial structure
+ */
+void uart_destroy(serial_t* s);
+
+/**
+ * Initializes the serial connection
+ * @param device - serial device name.
+ * @param baud - baud rate for connection.
+ * @return serial structure.
+ */
+serial_t* uart_init(char device[], int baud);
+
+/**
+ * Send data.
+ * @param s - serial structure.
+ * @param data - character array to transmit.
+ * @param length - size of the data array.
+ */
+uint32_t uart_length_send(serial_t* s, uint8_t data[], int length);
+
+/**
+ * Send a single character.
+ * @param s - serial structure.
+ * @param data - single character to be sent.
+ */
+void uart_send(serial_t* s, uint8_t data);
+
+/**
+ * Determine how much data is available
+ * in the serial buffer.
+ * @param s - serial structure.
+ * @return number of characters available.
+ */
+int uart_available(serial_t* s);
+
+/**
+ * Fetch one char from the serial buffer.
+ * @param s - serial structure.
+ * @return character. Null if empty.
+ */
+char uart_get(serial_t* s);
+
+/**
+ * Fetch length of chars from the serial buffer.
+ * @param s - serial structure.
+ * @param buff - readback storage
+ * @param len - length to get
+ * @return length. zero if empty.
+ */
+int uart_length_get(serial_t* s, char* buff, int len, bool start_of_packet);
+
+uint16_t uart_get_hdlc_packet(serial_t* s, uint8_t *buff, uint16_t buff_len);
+
+/**
+ * Fetch one char from the serial buffer.
+ * Blocks until data becomes available.
+ * @param s - serial structure.
+ * @return character.
+ */
+char uart_blocking_get(serial_t* s);
+
+/**
+ * Clear the serial buffer.
+ * @param s - serial structure.
+ */
+void uart_clear(serial_t* s);
+
+/**
+ * Close the serial port.
+ * @param s - serial structure.
+ * @return value of close().
+ */
+int uart_close(serial_t* s);
+
+/**
+ * Deinitializes the UART
+ * @param s - serial structure.
+ */
+void uart_deinit(serial_t* s);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif	//LIB_UART_H

thirdparty/tas/uart.c

@@ -0,0 +1,603 @@
+//**************************************************************************************
+/*! \copyright:     2020-2021 Thales Alenia Space Deutschland GmbH
+ * \project:         multiMIND
+ * \file:            (name of source file: uart.c)
+ * \date:            (20.05.2021)
+ * \author:          (Sarthak Kelapure)
+ * \brief:           (UART thread to collect data on serial interface)
+ * \language:        (C)
+ **************************************************************************************
+ */
+
+#include "tas/uart.h"
+#include "tas/hdlc.h"
+
+#ifdef HDLC_ENABLE
+#define HDLC_RX_STATE_IDLE      (0u)
+#define HDLC_RX_STATE_RECEIVING (1u)
+#define HDLC_RX_STATE_ESCAPE    (2u)
+#endif
+
+/**
+ * @struct Serial device structure.
+ * Encapsulates a serial connection.
+ */
+struct serial_s {
+	int fd;                  //>! Connection file descriptor.
+	int state;               //>! Signifies connection state.
+	int running;             //>! Signifies thread state.
+
+	char rxbuff[BUFF_SIZE];  //>! Buffer for RX data.
+	int start, end;          //>! Pointers to start and end of buffer.
+
+	pthread_t rx_thread;     //>! Listening thread.
+};
+
+// ---------------        Internal Functions        ---------------
+
+/**
+ * Connect to a serial device.
+ * @param s - serial structure.
+ * @param device - serial device name.
+ * @param baud - baud rate for connection.
+ * @return -ve on error, 0 on success.
+ */
+static int serial_connect(serial_t* s, char device[], int baud);
+
+/**
+ * Create the serial structure.
+ * Convenience method to allocate memory
+ * and instantiate objects.
+ * @return serial structure.
+ */
+static serial_t* serial_create();
+
+static int serial_resolve_baud(int baud);
+
+/**
+ * Recieve data.
+ * Retrieves data from the serial device.
+ * @param s - serial structure.
+ * @param data - pointer to a buffer to read data into.
+ * @param maxLength - size of input buffer.
+ * @return amount of data recieved.
+ */
+static int serial_recieve(serial_t* obj, uint8_t data[], int maxLength);
+
+/**
+ * @brief Serial Listener Thread.
+ * This blocks waiting for data to be recieved from the serial device,
+ * and calls the serial_callback method with appropriate context when
+ * data is recieved.
+ * Exits when close method is called, or serial error occurs.
+ * @param param - context passed from thread instantiation.
+ */
+static void *serial_data_listener(void *param);
+
+/**
+ * @brief Start the serial threads.
+ * This spawns the listening and transmitting threads
+ * if they are not already running.
+ * @param s - serial structure.
+ * @return 0 on success, or -1 on error.
+ */
+static int serial_start(serial_t* s);
+
+/**
+ * Stop serial listener thread.
+ * @param s - serial structure.
+ * @return 0;
+ */
+static int serial_stop(serial_t* s);
+
+/**
+ * Callback to handle recieved data.
+ * Puts recieved data into the rx buffer.
+ * @param s - serial structure.
+ * @param data - data to be stored.
+ * @param length - length of recieved data.
+ */
+static void serial_rx_callback(serial_t* s, char data[], int length);
+
+// Put character in rx buffer.
+static int buffer_put(serial_t* s, char c)
+{
+	//if there is space in the buffer
+	if ( s->end != ((s->start + BUFF_SIZE - 1) % BUFF_SIZE)) {
+		s->rxbuff[s->end] = c;
+		s->end ++;
+		s->end = s->end % BUFF_SIZE;
+		//printf("Put: %x start: %d, end: %d\r\n", c, s->start, s->end);
+		return 0;        //No error
+	} else {
+		//buffer is full, this is a bad state
+		return -1;        //Report error
+	}
+}
+
+// Get character from rx buffer.
+static char buffer_get(serial_t* s)
+{
+	char c = (char)0;
+	//if there is data to process
+	if (s->end != s->start) {
+		c = (s->rxbuff[s->start]);
+		s->start ++;
+		//wrap around
+		s->start = s->start % BUFF_SIZE;
+	} else {
+	}
+	//printf("Get: %x start: %d, end: %d\r\n", c, s->start, s->end);
+	return c;
+}
+
+//Get data available in the rx buffer.
+static int buffer_available(serial_t* s)
+{
+	return (s->end - s->start + BUFF_SIZE) % BUFF_SIZE;
+}
+
+// ---------------        External Functions        ---------------
+
+//Create serial object.
+serial_t* serial_create()
+{
+	//Allocate serial object.
+	serial_t* s = malloc(sizeof(serial_t));
+	//Reconfigure buffer object.
+	s->start = 0;
+	s->end = 0;
+	//Return pointer.
+	return s;
+}
+
+
+void uart_destroy(serial_t* s)
+{
+	free(s);
+}
+
+
+//Connect to serial device.
+int serial_connect(serial_t* s, char device[], int baud)
+{
+	struct termios oldtio;
+
+	// Resolve baud.
+	int speed = serial_resolve_baud(baud);
+	if (speed < 0) {
+		printf("Error: Baud rate not recognized.\r\n");
+		return -1;
+	}
+
+	//Open device.
+	s->fd = open(device, O_RDWR | O_NOCTTY);
+	//Catch file open error.
+	if (s->fd < 0) {
+		perror(device);
+		return -2;
+	}
+	//Retrieve settings.
+	tcgetattr(s->fd, &oldtio);
+	//Set baud rate.
+	cfsetspeed(&oldtio, speed);
+	//Flush cache.
+	tcflush(s->fd, TCIFLUSH);
+
+	//Set UART settings, standard ones. 8N1
+	oldtio.c_cflag = (oldtio.c_cflag & ~CSIZE) | CS8;     // 8-bit chars
+	// disable IGNBRK for mismatched speed tests; otherwise receive break
+	// as \000 chars
+	oldtio.c_iflag &= ~IGNBRK;         // disable break processing
+	oldtio.c_lflag = 0;                // no signaling chars, no echo,
+	// no canonical processing
+	oldtio.c_oflag = 0;                // no remapping, no delays
+	oldtio.c_cc[VMIN]  = 0;            // read doesn't block
+	oldtio.c_cc[VTIME] = 5;            // 0.5 seconds read timeout
+
+	oldtio.c_iflag &= ~(IXON | IXOFF | IXANY); // shut off xon/xoff ctrl
+	oldtio.c_iflag &= ~(IGNCR | ICRNL | INLCR);  // CR and LF characters are not affected
+
+	oldtio.c_cflag |= (CLOCAL | CREAD);// ignore modem controls,
+	// enable reading
+	oldtio.c_cflag &= ~(PARENB | PARODD);      // shut off parity
+	oldtio.c_cflag |= 0;
+	oldtio.c_cflag &= ~CSTOPB;
+	oldtio.c_cflag &= ~(020000000000);
+	//Apply settings.
+	if(tcsetattr(s->fd, TCSANOW, &oldtio) !=0){
+		printf("ERROR: serial settings failed\r\n");
+		return -1;
+	}
+
+	//Start listener thread.
+	int res = serial_start(s);
+	//Catch error.
+	if (res < 0) {
+		printf("Error: serial thread could not be spawned\r\n");
+		return -3;
+	}
+
+	//Indicate connection was successful.
+	s->state = 1;
+	return 0;
+}
+
+serial_t* uart_init(char device[], int baud)
+{
+	serial_t* s = serial_create();
+	if(serial_connect(s, device, baud)< 0)
+	{
+		return NULL;
+	}
+	return s;
+}
+
+//Send data.
+uint32_t uart_length_send(serial_t* s, uint8_t data[], int length)
+{
+//	uint16_t ii;
+//	int res;
+//	for (ii = 0; ii < length; ii++)
+//	{
+//		res = write(s->fd, &data[ii], 1);
+//	}
+	int res = write(s->fd, data, length);
+	return res;
+}
+
+void uart_send(serial_t* s, uint8_t data)
+{
+	char arr[1];
+	arr[0] = data;
+	write(s->fd, arr, 1);
+}
+
+//Determine characters available.
+int uart_available(serial_t* s)
+{
+	return buffer_available(s);
+}
+
+//Fetch a character.
+char uart_get(serial_t* s)
+{
+	char c = buffer_get(s);
+
+	return c;
+}
+
+int uart_length_get(serial_t* s, char* buff, int len, bool start_of_packet)
+{
+	int ret = 0;
+	if (len > 0 && len < BUFF_SIZE)
+	{
+#ifdef HDLC_ENABLE
+		uint8_t ch;
+		uint8_t hdlc_rx_state;
+		int     rxb = 0;
+
+		if (start_of_packet)
+			hdlc_rx_state = HDLC_RX_STATE_IDLE;
+		else
+			hdlc_rx_state = HDLC_RX_STATE_RECEIVING;
+
+		while (rxb < len)
+		{
+			ch = uart_blocking_get(s);
+
+			switch (hdlc_rx_state)
+			{
+				case HDLC_RX_STATE_IDLE:
+					if (ch == HDLC_START_BYTE)
+					{
+						rxb = 0;
+						ret = 0;
+						hdlc_rx_state = HDLC_RX_STATE_RECEIVING;
+					}
+					break;
+				case HDLC_RX_STATE_RECEIVING:
+					if (ch == HDLC_START_BYTE)
+					{
+						rxb = 0;
+						ret = 0;
+						break;
+					}
+					if (ch == HDLC_ESC_BYTE)
+					{
+						hdlc_rx_state = HDLC_RX_STATE_ESCAPE;
+						break;
+					}
+					buff[rxb++] = ch;
+					ret++;
+					break;
+				case HDLC_RX_STATE_ESCAPE:
+					if (ch == HDLC_START_BYTE)
+					{
+						rxb = 0;
+						ret = 0;
+						break;
+					}
+					buff[rxb++] = ch ^ HDLC_ESCAPE_CHAR;
+					ret++;
+					hdlc_rx_state = HDLC_RX_STATE_RECEIVING;
+					break;
+			}
+		}
+#else
+		for (int i=0;i<len;i++)
+		{
+			buff[i] = uart_blocking_get(s);
+			ret++;
+		}
+#endif
+	}
+	return ret;
+}
+
+uint16_t uart_get_hdlc_packet(serial_t* s, uint8_t *buff, uint16_t buff_len)
+{
+	uint8_t hdlc_rx_state = HDLC_RX_STATE_IDLE;
+	uint8_t ch;
+	uint16_t buff_pos = 0u;
+
+	while (1)
+	{
+		ch = uart_blocking_get(s);
+
+		switch (hdlc_rx_state)
+		{
+			case HDLC_RX_STATE_IDLE:
+				if (ch == HDLC_START_BYTE)
+				{
+					buff_pos = 0u;
+					hdlc_rx_state = HDLC_RX_STATE_RECEIVING;
+				}
+				break;
+
+			case HDLC_RX_STATE_RECEIVING:
+				if (ch == HDLC_START_BYTE)
+				{
+					buff_pos = 0u;
+					break;
+				}
+				if (ch == HDLC_END_BYTE)
+				{
+					if (buff_pos > 2u) // do not include HDLC CRC16
+					{
+						return buff_pos;
+					}
+					buff_pos = 0u;
+					hdlc_rx_state = HDLC_RX_STATE_IDLE;
+					break;
+				}
+				if (ch == HDLC_ESC_BYTE)
+				{
+					hdlc_rx_state = HDLC_RX_STATE_ESCAPE;
+					break;
+				}
+				if (buff_pos >= buff_len)
+				{
+					hdlc_rx_state = HDLC_RX_STATE_RECEIVING;
+					break;
+				}
+				buff[buff_pos++] = ch;
+				break;
+
+			case HDLC_RX_STATE_ESCAPE:
+				if ((ch == HDLC_START_BYTE) || (ch == HDLC_END_BYTE))
+				{
+					buff_pos = 0;
+					hdlc_rx_state = HDLC_RX_STATE_RECEIVING;
+					break;
+				}
+				if (buff_pos >= buff_len)
+				{
+					hdlc_rx_state = HDLC_RX_STATE_RECEIVING;
+					break;
+				}
+				buff[buff_pos++] = ch ^ HDLC_ESCAPE_CHAR;
+				hdlc_rx_state = HDLC_RX_STATE_RECEIVING;
+				break;
+
+			default:
+				buff_pos = 0u;
+				hdlc_rx_state = HDLC_RX_STATE_IDLE;
+				break;
+		}
+	}
+}
+
+char uart_blocking_get(serial_t* s)
+{
+	while (uart_available(s) == 0);
+	return uart_get(s);
+}
+
+void uart_clear(serial_t* s)
+{
+	//Clear the buffer.
+	while (buffer_available(s)) {
+		buffer_get(s);
+	}
+	tcflush(s->fd, TCIFLUSH);
+}
+
+//Close serial port.
+int uart_close(serial_t* s)
+{
+	//Stop thread.
+	serial_stop(s);
+	return 0;
+}
+
+void uart_deinit(serial_t* s){
+	uart_clear(s);
+	uart_close(s);
+	uart_destroy(s);
+}
+
+// ---------------        Internal Functions        --------------
+
+//Stop serial listener thread.
+static int serial_stop(serial_t* s)
+{
+	s->running = 0;
+	return close(s->fd);
+}
+
+// Resolves standard baud rates to linux constants.
+static int serial_resolve_baud(int baud)
+{
+	int speed;
+	// Switch common baud rates to temios constants.
+	switch (baud) {
+	case 9600:
+		speed = B9600;
+		break;
+	case 19200:
+		speed = B19200;
+		break;
+	case 38400:
+		speed = B38400;
+		break;
+	case 57600:
+		speed = B57600;
+		break;
+	case 115200:
+		speed = B115200;
+		break;
+	case 230400:
+		speed = B230400;
+		break;
+	case 460800:
+		speed = B460800;
+		break;
+	case 500000:
+		speed = B500000;
+		break;
+	case 576000:
+		speed = B576000;
+		break;
+	case 921600:
+		speed = B921600;
+		break;
+	case 1000000:
+		speed = B1000000;
+		break;
+	case 1152000:
+		speed = B1152000;
+		break;
+	case 1500000:
+		speed = B1500000;
+		break;
+	case 2000000:
+		speed = B2000000;
+		break;
+	case 3000000:
+		speed = B3000000;
+		break;
+	default:
+		speed = -1;
+		break;
+	}
+	// Return.
+	return speed;
+}
+
+// Start serial listener.
+static int serial_start(serial_t* s)
+{
+	//Only start if it is not currently running.
+	if (s->running != 1) {
+		//Set running.
+		s->running = 1;
+		//Spawn thread.
+		int res;
+		res = pthread_create(&s->rx_thread, NULL, serial_data_listener, (void*) s);
+		if (res != 0) {
+			return -2;
+		}
+		//Return result.
+		return 0;
+	} else {
+		return -1;
+	}
+}
+
+
+
+//Recieve data.
+static int serial_recieve(serial_t* s, uint8_t data[], int maxLength)
+{
+	return read(s->fd, data, maxLength);
+}
+
+//Callback to store data in buffer.
+static void serial_rx_callback(serial_t* s, char data[], int length)
+{
+	//Put data into buffer.
+	int i;
+	//Put data into buffer.
+	for (i = 0; i < length; i++) {
+		buffer_put(s, data[i]);
+	}
+
+}
+
+//Serial data listener thread.
+static void *serial_data_listener(void *param)
+{
+	int res = 0;
+	int err = 0;
+	struct pollfd ufds;
+	uint8_t buff[BUFF_SIZE];
+
+	//Retrieve paramaters and store locally.
+	serial_t* serial = (serial_t*) param;
+	int fd = serial->fd;
+
+	//Set up poll file descriptors.
+	ufds.fd = fd;        //Attach socket to watch.
+	ufds.events = POLLIN;        //Set events to notify on.
+
+	//Run until ended.
+	while (serial->running != 0) {
+		//Poll socket for data.
+		res = poll(&ufds, 1, POLL_TIMEOUT);
+		//If data was recieved.
+		if (res > 0) {
+			//Fetch the data.
+			int count = serial_recieve(serial, buff, BUFF_SIZE - 1);
+			//If data was recieved.
+			if (count > 0) {
+				//Pad end of buffer to ensure there is a termination symbol.
+				buff[count] = '\0';
+				// Call the serial callback.
+				serial_rx_callback(serial, (char *)buff, count);
+				//If an error occured.
+			} else if (count < 0) {
+				//Inform user and exit thread.
+				printf("Error: Serial disconnect\r\n");
+				err = 1;
+				break;
+			}
+			//If there was an error.
+		} else if (res < 0) {
+			//Inform user and exit thread.
+			printf("Error: Polling error in serial thread");
+			err = 1;
+			break;
+		}
+		//Otherwise, keep going around.
+	}
+	//If there was an error, close socket.
+	if (err) {
+		uart_close(serial);
+		//raise(SIGLOST);
+	}
+	//Close file.
+	res = close(serial->fd);
+
+	return NULL;
+}