CHANGELOG.md

@@ -16,7 +16,10 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+# [v1.45.0] 2023-04-14
+
 - q7s-package: v2.5.0
+- eive-tmtc: v3.0.0
 - STR firmware was updated to v10.7. `wire` library still needs to be updated.
 
 ## Fixed
@@ -40,6 +43,14 @@ will consitute of a breaking change warranting a new major release:
 - Custom FDIR for TMP1075 sensors. The device handlers reject `NEEDS_RECOVERY` health commands
   anyway, so it does not really make sense to use the default FDIR.
 - Reject `NEEDS_RECOVERY` health commands for the heater health devices.
+- Adapted some queue sizes so that EM startup works without queue errors
+  - Event Manager: 120 -> 160
+  - UDP TMTC Bridge: 50 -> 120
+  - TCP TMTC Bridge: 50 -> 120
+  - Service 5: 120 -> 160, number of events handled in one cycle increased to 80
+- EM: PCDU dummy is not a device handler anymore, but a custom power switcher object. This avoids
+  some issues where the event manager could not send an event message to the PCDU dummy because
+  the FDIR event queue was too small.
 
 ## Added
 

CMakeLists.txt

@@ -10,8 +10,8 @@
 cmake_minimum_required(VERSION 3.13)
 
 set(OBSW_VERSION_MAJOR 1)
-set(OBSW_VERSION_MINOR 44)
-set(OBSW_VERSION_REVISION 1)
+set(OBSW_VERSION_MINOR 45)
+set(OBSW_VERSION_REVISION 0)
 
 # set(CMAKE_VERBOSE TRUE)
 

bsp_q7s/em/emObjectFactory.cpp

@@ -63,8 +63,7 @@ void ObjectFactory::produce(void* args) {
 
   PowerSwitchIF* pwrSwitcher = nullptr;
 #if OBSW_ADD_GOMSPACE_PCDU == 0
-  auto* comCookieDummy = new ComCookieDummy();
-  pwrSwitcher = new PcduHandlerDummy(objects::PCDU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  pwrSwitcher = new PcduHandlerDummy(objects::PCDU_HANDLER);
 #else
   createPcduComponents(gpioComIF, &pwrSwitcher, enableHkSets);
 #endif

dummies/ImtqDummy.cpp

@@ -43,5 +43,7 @@ ReturnValue_t ImtqDummy::initializeLocalDataPool(localpool::DataPool &localDataP
   localDataPoolMap.emplace(imtq::ACTUATION_CAL_STATUS, new PoolEntry<uint8_t>({0}));
   localDataPoolMap.emplace(imtq::MTM_RAW, new PoolEntry<float>({0.12, 0.76, -0.45}, true));
   localDataPoolMap.emplace(imtq::ACTUATION_RAW_STATUS, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(imtq::DIPOLES_ID, new PoolEntry<int16_t>({0, 0, 0}));
+  localDataPoolMap.emplace(imtq::CURRENT_TORQUE_DURATION, new PoolEntry<uint16_t>({0}));
   return DeviceHandlerBase::initializeLocalDataPool(localDataPoolMap, poolManager);
 }

dummies/PcduHandlerDummy.cpp

@@ -1,49 +1,20 @@
 #include "PcduHandlerDummy.h"
 
+#include <fsfw/ipc/QueueFactory.h>
 #include <mission/power/gsDefs.h>
 
 #include "mission/power/defs.h"
 
-PcduHandlerDummy::PcduHandlerDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
-    : DeviceHandlerBase(objectId, comif, comCookie), dummySwitcher(objectId, 18, 18, false) {
+PcduHandlerDummy::PcduHandlerDummy(object_id_t objectId)
+    : SystemObject(objectId), manager(this, nullptr), dummySwitcher(objectId, 18, 18, false) {
   switcherLock = MutexFactory::instance()->createMutex();
+  queue = QueueFactory::instance()->createMessageQueue(20);
 }
 
 PcduHandlerDummy::~PcduHandlerDummy() {}
 
-void PcduHandlerDummy::doStartUp() { setMode(MODE_NORMAL); }
-
-void PcduHandlerDummy::doShutDown() { setMode(MODE_OFF); }
-
-ReturnValue_t PcduHandlerDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
-  return NOTHING_TO_SEND;
-}
-
-ReturnValue_t PcduHandlerDummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
-  return NOTHING_TO_SEND;
-}
-
-ReturnValue_t PcduHandlerDummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
-                                                        const uint8_t *commandData,
-                                                        size_t commandDataLen) {
-  return returnvalue::OK;
-}
-
-ReturnValue_t PcduHandlerDummy::scanForReply(const uint8_t *start, size_t len,
-                                             DeviceCommandId_t *foundId, size_t *foundLen) {
-  return returnvalue::OK;
-}
-
-ReturnValue_t PcduHandlerDummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
-  return returnvalue::OK;
-}
-
-void PcduHandlerDummy::fillCommandAndReplyMap() {}
-
-uint32_t PcduHandlerDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
-
-ReturnValue_t PcduHandlerDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
-                                                        LocalDataPoolManager &poolManager) {
+ReturnValue_t PcduHandlerDummy::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+                                                        LocalDataPoolManager& poolManager) {
   return returnvalue::OK;
 }
 
@@ -76,7 +47,8 @@ ReturnValue_t PcduHandlerDummy::getFuseState(uint8_t fuseNr) const {
 
 uint32_t PcduHandlerDummy::getSwitchDelayMs(void) const { return dummySwitcher.getSwitchDelayMs(); }
 
-void PcduHandlerDummy::performOperationHook() {
+ReturnValue_t PcduHandlerDummy::performOperation(uint8_t opCode) {
+  // TODO: Handle HK messages in queue.
   SwitcherBoolArray switcherChangeCopy{};
   {
     MutexGuard mg(switcherLock);
@@ -93,4 +65,18 @@ void PcduHandlerDummy::performOperationHook() {
       switchChangeArray[idx] = false;
     }
   }
+  return returnvalue::OK;
 }
+
+object_id_t PcduHandlerDummy::getObjectId() const { return SystemObject::getObjectId(); }
+
+MessageQueueId_t PcduHandlerDummy::getCommandQueue() const { return queue->getId(); }
+
+dur_millis_t PcduHandlerDummy::getPeriodicOperationFrequency() const {
+  // TODO: dummy value. Retrieve from intiitalize after task creation..
+  return 400;
+}
+
+LocalDataPoolManager* PcduHandlerDummy::getHkManagerHandle() { return &manager; }
+
+LocalPoolDataSetBase* PcduHandlerDummy::getDataSetHandle(sid_t sid) { return nullptr; }

dummies/PcduHandlerDummy.h

@@ -3,7 +3,10 @@
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <fsfw/power/DummyPowerSwitcher.h>
 
-class PcduHandlerDummy : public DeviceHandlerBase, public PowerSwitchIF {
+class PcduHandlerDummy : public PowerSwitchIF,
+                         public HasLocalDataPoolIF,
+                         public SystemObject,
+                         public ExecutableObjectIF {
  public:
   static const DeviceCommandId_t SIMPLE_COMMAND = 1;
   static const DeviceCommandId_t PERIODIC_REPLY = 2;
@@ -11,33 +14,49 @@ class PcduHandlerDummy : public DeviceHandlerBase, public PowerSwitchIF {
   static const uint8_t SIMPLE_COMMAND_DATA = 1;
   static const uint8_t PERIODIC_REPLY_DATA = 2;
 
-  PcduHandlerDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
+  PcduHandlerDummy(object_id_t objectId);
   virtual ~PcduHandlerDummy();
 
  protected:
-  MutexIF *switcherLock;
+  MessageQueueIF* queue;
+  LocalDataPoolManager manager;
+  MutexIF* switcherLock;
   DummyPowerSwitcher dummySwitcher;
   using SwitcherBoolArray = std::array<bool, 18>;
 
+  ReturnValue_t performOperation(uint8_t opCode) override;
   SwitcherBoolArray switchChangeArray{};
-  void performOperationHook() override;
-  void doStartUp() override;
-  void doShutDown() override;
-  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
-  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
-  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
-                                        size_t commandDataLen) override;
-  ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
-                             size_t *foundLen) override;
-  ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
-  void fillCommandAndReplyMap() override;
-  uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
-  ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
-                                        LocalDataPoolManager &poolManager) override;
+
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+                                        LocalDataPoolManager& poolManager) override;
 
   ReturnValue_t sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) override;
   ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) override;
   ReturnValue_t getSwitchState(power::Switch_t switchNr) const override;
   ReturnValue_t getFuseState(uint8_t fuseNr) const override;
   uint32_t getSwitchDelayMs(void) const override;
+
+  object_id_t getObjectId() const override;
+
+  /** Command queue for housekeeping messages. */
+  MessageQueueId_t getCommandQueue() const override;
+
+  dur_millis_t getPeriodicOperationFrequency() const override;
+
+  /**
+   * Every class implementing this interface should have a local data pool manager. This
+   * function will return a reference to the manager.
+   * @return
+   */
+  LocalDataPoolManager* getHkManagerHandle() override;
+
+  /**
+   * This function is used by the pool manager to get a valid dataset
+   * from a SID. This function is protected to prevent users from
+   * using raw data set pointers which could not be thread-safe. Users
+   * should use the #ProvidesDataPoolSubscriptionIF.
+   * @param sid Corresponding structure ID
+   * @return
+   */
+  LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
 };

dummies/StarTrackerDummy.cpp

@@ -64,6 +64,7 @@ ReturnValue_t StarTrackerDummy::initializeLocalDataPool(localpool::DataPool &loc
   localDataPoolMap.emplace(startracker::LISA_NR_CLOSE, new PoolEntry<uint8_t>({0}));
   localDataPoolMap.emplace(startracker::TRUST_WORTHY, new PoolEntry<uint8_t>({0}));
   localDataPoolMap.emplace(startracker::STABLE_COUNT, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(startracker::STR_MODE, new PoolEntry<uint8_t>({0}));
   localDataPoolMap.emplace(startracker::SOLUTION_STRATEGY, new PoolEntry<uint8_t>({0}));
   return returnvalue::OK;
 }

dummies/TemperatureSensorInserter.cpp

@@ -15,7 +15,7 @@ TemperatureSensorInserter::TemperatureSensorInserter(object_id_t objectId,
       tmp1075DummyMap(std::move(tempTmpSensorDummies_)) {}
 
 ReturnValue_t TemperatureSensorInserter::initialize() {
-  testCase = TestCase::COLD_STR_CONSECUTIVE;
+  testCase = TestCase::NONE;
   return returnvalue::OK;
 }
 

fsfw

@@ -1 +1 @@
-Subproject commit ffa2fa477f105cc876264335d5b25fc9b174a181
+Subproject commit 5eb9ee8bc1e6f8640cbea46febd11e4b92241881

mission/genericFactory.cpp

@@ -98,7 +98,7 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
                                           StorageManagerIF** ipcStore, StorageManagerIF** tmStore,
                                           PersistentTmStores& stores) {
   // Framework objects
-  new EventManager(objects::EVENT_MANAGER, 120);
+  new EventManager(objects::EVENT_MANAGER, 160);
   auto healthTable = new HealthTable(objects::HEALTH_TABLE);
   if (healthTable_ != nullptr) {
     *healthTable_ = healthTable;
@@ -131,7 +131,7 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
 #if OBSW_ADD_TCPIP_SERVERS == 1
 #if OBSW_ADD_TMTC_UDP_SERVER == 1
   auto udpBridge =
-      new UdpTmTcBridge(objects::UDP_TMTC_SERVER, objects::CCSDS_PACKET_DISTRIBUTOR, 50);
+      new UdpTmTcBridge(objects::UDP_TMTC_SERVER, objects::CCSDS_PACKET_DISTRIBUTOR, 120);
   new UdpTcPollingTask(objects::UDP_TMTC_POLLING_TASK, objects::UDP_TMTC_SERVER);
   sif::info << "Created UDP server for TMTC commanding with listener port "
             << udpBridge->getUdpPort() << std::endl;
@@ -139,7 +139,7 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
 #endif
 #if OBSW_ADD_TMTC_TCP_SERVER == 1
   auto tcpBridge =
-      new TcpTmTcBridge(objects::TCP_TMTC_SERVER, objects::CCSDS_PACKET_DISTRIBUTOR, 50);
+      new TcpTmTcBridge(objects::TCP_TMTC_SERVER, objects::CCSDS_PACKET_DISTRIBUTOR, 120);
   TcpTmTcServer::TcpConfig cfg(true, true);
   auto tcpServer = new TcpTmTcServer(objects::TCP_TMTC_POLLING_TASK, objects::TCP_TMTC_SERVER, cfg);
   // TCP is stream based. Use packet ID as start marker when parsing for space packets
@@ -240,7 +240,7 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
                            pus::PUS_SERVICE_3, config::HK_SERVICE_QUEUE_DEPTH);
   new Service5EventReporting(
       PsbParams(objects::PUS_SERVICE_5_EVENT_REPORTING, config::EIVE_PUS_APID, pus::PUS_SERVICE_5),
-      40, 120);
+      80, 160);
   new Service8FunctionManagement(objects::PUS_SERVICE_8_FUNCTION_MGMT, config::EIVE_PUS_APID,
                                  pus::PUS_SERVICE_8, 16, 60);
   new Service9TimeManagement(

mission/tmtc/PusLiveDemux.cpp

@@ -33,6 +33,7 @@ ReturnValue_t PusLiveDemux::demultiplexPackets(StorageManagerIF& tmStore,
     if (result != returnvalue::OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::error << "PusLiveDemux::handlePacket: Error sending TM to downlink handler " << dest.name
+                 << ", failed with code 0x" << std::hex << std::setw(4) << result << std::dec
                  << std::endl;
 #endif
       tmStore.deleteData(message.getStorageId());

tmtc

@@ -1 +1 @@
-Subproject commit a07f21329adcffa963d75769d523b3df34222543
+Subproject commit d00e4247f66eb2f010f1fe53ee7f59b7fb992481