Merge pull request 'Update FSFW' (#34) from mueller/master into eive/develop

Reviewed-on: #34

hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp

@@ -8,8 +8,7 @@ GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceC
                                        CookieIF *comCookie, uint32_t transitionDelayMs)
     : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
       transitionDelayMs(transitionDelayMs),
-      dataset(this) {
+      dataset(this) {}
-}
 
 GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {}
 
@@ -207,7 +206,6 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
         }
       }
 
-
       PoolReadGuard readSet(&dataset);
       if (readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
         if (std::abs(angVelocX) < this->absLimitX) {

hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h

@@ -1,11 +1,11 @@
 #ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_
 #define MISSION_DEVICES_GYROL3GD20HANDLER_H_
 
-#include "devicedefinitions/GyroL3GD20Definitions.h"
-
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
 
+#include "devicedefinitions/GyroL3GD20Definitions.h"
+
 /**
  * @brief 	Device Handler for the L3GD20H gyroscope sensor
  *          (https://www.st.com/en/mems-and-sensors/l3gd20h.html)
@@ -59,7 +59,6 @@ class GyroHandlerL3GD20H : public DeviceHandlerBase {
   uint32_t transitionDelayMs = 0;
   GyroPrimaryDataset dataset;
 
-
   float absLimitX = L3GD20H::RANGE_DPS_00;
   float absLimitY = L3GD20H::RANGE_DPS_00;
   float absLimitZ = L3GD20H::RANGE_DPS_00;

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp

@@ -287,7 +287,6 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
         }
       }
 
-
       PoolReadGuard readHelper(&dataset);
       if (readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
         if (std::abs(mgmX) < absLimitX) {
@@ -485,7 +484,6 @@ void MgmLIS3MDLHandler::setAbsoluteLimits(float xLimit, float yLimit, float zLim
   this->absLimitZ = zLimit;
 }
 
-
 void MgmLIS3MDLHandler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
   periodicPrintout = enable;
   debugDivider.setDivider(divider);

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h

@@ -1,11 +1,10 @@
 #ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
 #define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
 
-
 #include "devicedefinitions/MgmLIS3HandlerDefs.h"
 #include "events/subsystemIdRanges.h"
-#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
+#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
 
 class PeriodicOperationDivider;
 

hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp

@@ -10,8 +10,7 @@ MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommu
                                    CookieIF *comCookie, uint32_t transitionDelay)
     : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
       primaryDataset(this),
-      transitionDelay(transitionDelay) {
+      transitionDelay(transitionDelay) {}
-}
 
 MgmRM3100Handler::~MgmRM3100Handler() {}
 
@@ -352,7 +351,6 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
     }
   }
 
-
   // TODO: Sanity check on values?
   PoolReadGuard readGuard(&primaryDataset);
   if (readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {

hal/src/fsfw_hal/linux/spi/SpiComIF.cpp

@@ -401,4 +401,13 @@ void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed)
   if (retval != 0) {
     utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
   }
+  // This updates the SPI clock default polarity. Only setting the mode does not update
+  // the line state, which can be an issue on mode switches because the clock line will
+  // switch the state after the chip select is pulled low
+  clockUpdateTransfer.len = 0;
+  retval = ioctl(spiFd, SPI_IOC_MESSAGE(1), &clockUpdateTransfer);
+  if (retval != 0) {
+    utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Updating SPI default clock failed");
+  }
+
 }

hal/src/fsfw_hal/linux/spi/SpiComIF.h

@@ -74,6 +74,7 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
   MutexIF* spiMutex = nullptr;
   MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
   uint32_t timeoutMs = 20;
+  spi_ioc_transfer clockUpdateTransfer = {};
 
   using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;
   using SpiDeviceMapIter = SpiDeviceMap::iterator;

scripts/helper.py

@@ -97,11 +97,11 @@ def handle_docs_type(args, build_dir_list: list):
         build_directory = determine_build_dir(build_dir_list)
     os.chdir(build_directory)
     if args.build:
-        os.system("cmake --build . -j")
+        cmd_runner("cmake --build . -j")
     if args.open:
         if not os.path.isfile("docs/sphinx/index.html"):
             # try again..
-            os.system("cmake --build . -j")
+            cmd_runner("cmake --build . -j")
             if not os.path.isfile("docs/sphinx/index.html"):
                 print(
                     "No Sphinx documentation file detected. "
@@ -147,21 +147,21 @@ def handle_tests_type(args, build_dir_list: list):
             # If we are in a different directory we try to switch into it but
             # this might fail
             os.chdir(UNITTEST_FOLDER_NAME)
-        os.system("valgrind --leak-check=full ./fsfw-tests")
+        cmd_runner("valgrind --leak-check=full ./fsfw-tests")
         os.chdir("..")
 
 
 def create_tests_build_cfg():
     os.mkdir(UNITTEST_FOLDER_NAME)
     os.chdir(UNITTEST_FOLDER_NAME)
-    os.system("cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..")
+    cmd_runner("cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..")
     os.chdir("..")
 
 
 def create_docs_build_cfg():
     os.mkdir(DOCS_FOLDER_NAME)
     os.chdir(DOCS_FOLDER_NAME)
-    os.system("cmake -DFSFW_OSAL=host -DFSFW_BUILD_DOCS=ON ..")
+    cmd_runner("cmake -DFSFW_OSAL=host -DFSFW_BUILD_DOCS=ON ..")
     os.chdir("..")
 
 
@@ -184,7 +184,7 @@ def check_for_cmake_build_dir(build_dir_list: list) -> list:
 def perform_lcov_operation(directory: str, chdir: bool):
     if chdir:
         os.chdir(directory)
-    os.system("cmake --build . -- fsfw-tests_coverage -j")
+    cmd_runner("cmake --build . -- fsfw-tests_coverage -j")
 
 
 def determine_build_dir(build_dir_list: List[str]):
@@ -206,5 +206,10 @@ def determine_build_dir(build_dir_list: List[str]):
     return build_directory
 
 
+def cmd_runner(cmd: str):
+    print(f"Executing command: {cmd}")
+    os.system(cmd)
+
+
 if __name__ == "__main__":
     main()

src/fsfw/cfdp/CFDPHandler.cpp

@@ -13,8 +13,8 @@ object_id_t CFDPHandler::packetDestination = 0;
 CFDPHandler::CFDPHandler(object_id_t setObjectId, CFDPDistributor* dist)
     : SystemObject(setObjectId) {
   auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  requestQueue = QueueFactory::instance()->createMessageQueue(CFDP_HANDLER_MAX_RECEPTION,
+  requestQueue = QueueFactory::instance()->createMessageQueue(
-      MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+      CFDP_HANDLER_MAX_RECEPTION, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
   distributor = dist;
 }
 

src/fsfw/controller/ControllerBase.cpp

@@ -14,8 +14,8 @@ ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
       modeHelper(this),
       healthHelper(this, setObjectId) {
   auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth,
+  commandQueue = QueueFactory::instance()->createMessageQueue(
-      MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+      commandQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 ControllerBase::~ControllerBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }

src/fsfw/devicehandlers/HealthDevice.cpp

@@ -9,7 +9,8 @@ HealthDevice::HealthDevice(object_id_t setObjectId, MessageQueueId_t parentQueue
       commandQueue(),
       healthHelper(this, setObjectId) {
   auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  commandQueue = QueueFactory::instance()->createMessageQueue(3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  commandQueue = QueueFactory::instance()->createMessageQueue(
+      3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 HealthDevice::~HealthDevice() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }

src/fsfw/events/EventManager.cpp

@@ -19,9 +19,8 @@ EventManager::EventManager(object_id_t setObjectId)
     : SystemObject(setObjectId), factoryBackend(0, poolConfig, false, true) {
   mutex = MutexFactory::instance()->createMutex();
   auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  eventReportQueue = QueueFactory::instance()->createMessageQueue(MAX_EVENTS_PER_CYCLE,
+  eventReportQueue = QueueFactory::instance()->createMessageQueue(
-                                                                  EventMessage::EVENT_MESSAGE_SIZE,
+      MAX_EVENTS_PER_CYCLE, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
-                                                                  &mqArgs);
 }
 
 EventManager::~EventManager() {

src/fsfw/fdir/FailureIsolationBase.cpp

@@ -10,8 +10,8 @@ FailureIsolationBase::FailureIsolationBase(object_id_t owner, object_id_t parent
                                            uint8_t messageDepth, uint8_t parameterDomainBase)
     : ownerId(owner), faultTreeParent(parent), parameterDomainBase(parameterDomainBase) {
   auto mqArgs = MqArgs(owner, static_cast<void*>(this));
-  eventQueue =
+  eventQueue = QueueFactory::instance()->createMessageQueue(
-      QueueFactory::instance()->createMessageQueue(messageDepth, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
+      messageDepth, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
 }
 
 FailureIsolationBase::~FailureIsolationBase() {

src/fsfw/internalerror/InternalErrorReporter.cpp

@@ -12,7 +12,8 @@ InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t m
       internalErrorDataset(this) {
   mutex = MutexFactory::instance()->createMutex();
   auto mqArgs = MqArgs(setObjectId, static_cast<void *>(this));
-  commandQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  commandQueue = QueueFactory::instance()->createMessageQueue(
+      messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 InternalErrorReporter::~InternalErrorReporter() { MutexFactory::instance()->deleteMutex(mutex); }

src/fsfw/objectmanager/ObjectManager.cpp

@@ -95,13 +95,16 @@ void ObjectManager::initialize() {
   for (auto const& it : objectList) {
     result = it.second->initialize();
     if (result != RETURN_OK) {
+#if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      object_id_t var = it.first;
       sif::error << "ObjectManager::initialize: Object 0x" << std::hex << std::setw(8)
-                 << std::setfill('0') << var
+                 << std::setfill('0') << it.first << " failed to initialize with code 0x" << result
-                 << " failed to "
+                 << std::dec << std::setfill(' ') << std::endl;
-                    "initialize with code 0x"
+#else
-                 << result << std::dec << std::setfill(' ') << std::endl;
+      sif::printError(
+          "ObjectManager::initialize: Object 0x%08x failed to initialize with code 0x%04x\n", var,
+          it.first);
+#endif
 #endif
       errorCount++;
     }

src/fsfw/power/PowerSensor.cpp

@@ -16,7 +16,8 @@ PowerSensor::PowerSensor(object_id_t objectId, sid_t setId, VariableIds ids, Def
       voltageLimit(objectId, MODULE_ID_VOLTAGE, ids.pidVoltage, confirmationCount,
                    limits.voltageMin, limits.voltageMax, events.voltageLow, events.voltageHigh) {
   auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
-  commandQueue = QueueFactory::instance()->createMessageQueue(3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  commandQueue = QueueFactory::instance()->createMessageQueue(
+      3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 PowerSensor::~PowerSensor() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }

src/fsfw/pus/Service1TelecommandVerification.cpp

@@ -17,7 +17,8 @@ Service1TelecommandVerification::Service1TelecommandVerification(object_id_t obj
       serviceId(serviceId),
       targetDestination(targetDestination) {
   auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
-  tmQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  tmQueue = QueueFactory::instance()->createMessageQueue(
+      messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 Service1TelecommandVerification::~Service1TelecommandVerification() {

src/fsfw/pus/Service5EventReporting.cpp

@@ -13,8 +13,8 @@ Service5EventReporting::Service5EventReporting(object_id_t objectId, uint16_t ap
     : PusServiceBase(objectId, apid, serviceId),
       maxNumberReportsPerCycle(maxNumberReportsPerCycle) {
   auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
-  eventQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  eventQueue = QueueFactory::instance()->createMessageQueue(
-  sif::info << eventQueue->getId() << std::endl;
+      messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 Service5EventReporting::~Service5EventReporting() {
@@ -38,9 +38,6 @@ ReturnValue_t Service5EventReporting::performService() {
       }
     }
   }
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::warning << "Service5EventReporting::generateEventReport: Too many events" << std::endl;
-#endif
   return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -89,7 +86,7 @@ ReturnValue_t Service5EventReporting::handleRequest(uint8_t subservice) {
 // to be registered to the event manager to listen for events.
 ReturnValue_t Service5EventReporting::initialize() {
   EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
-  if (manager == NULL) {
+  if (manager == nullptr) {
     return RETURN_FAILED;
   }
   // register Service 5 as listener for events

src/fsfw/pus/Service5EventReporting.h

@@ -41,7 +41,7 @@
 class Service5EventReporting : public PusServiceBase {
  public:
   Service5EventReporting(object_id_t objectId, uint16_t apid, uint8_t serviceId,
-                         size_t maxNumberReportsPerCycle = 10, uint32_t messageQueueDepth = 10);
+                         size_t maxNumberReportsPerCycle, uint32_t messageQueueDepth);
   virtual ~Service5EventReporting();
 
   /***

src/fsfw/rmap/RMAPChannelIF.h

@@ -77,9 +77,9 @@ class RMAPChannelIF {
    * command; command was not sent
    *      - @c COMMAND_BUFFER_FULL				no receiver buffer available for
    * expected len; command was not sent
-   *      - @c COMMAND_TOO_BIG					the data that was to be sent was too long
+   *      - @c COMMAND_TOO_BIG					the data that was to be sent was too
-   * for the hw to handle (write command) or the expected len was bigger than maximal expected len
+   * long for the hw to handle (write command) or the expected len was bigger than maximal expected
-   * (read command) command was not sent
+   * len (read command) command was not sent
    *      - @c COMMAND_CHANNEL_DEACTIVATED		the channel has no port set
    *      - @c NOT_SUPPORTED						if you dont feel like
    * implementing something...

src/fsfw/subsystem/SubsystemBase.cpp

@@ -12,8 +12,8 @@ SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent, Mode_t
       modeHelper(this),
       parentId(parent) {
   auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth,
+  commandQueue = QueueFactory::instance()->createMessageQueue(
-      CommandMessage::MAX_MESSAGE_SIZE, &mqArgs);
+      commandQueueDepth, CommandMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 SubsystemBase::~SubsystemBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }

src/fsfw/tcdistribution/TcDistributor.cpp

@@ -6,7 +6,8 @@
 
 TcDistributor::TcDistributor(object_id_t objectId) : SystemObject(objectId) {
   auto mqArgs = MqArgs(objectId);
-  tcQueue = QueueFactory::instance()->createMessageQueue(DISTRIBUTER_MAX_PACKETS, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  tcQueue = QueueFactory::instance()->createMessageQueue(
+      DISTRIBUTER_MAX_PACKETS, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 TcDistributor::~TcDistributor() { QueueFactory::instance()->deleteMessageQueue(tcQueue); }

src/fsfw/thermal/AbstractTemperatureSensor.cpp

@@ -4,14 +4,13 @@
 
 AbstractTemperatureSensor::AbstractTemperatureSensor(object_id_t setObjectid,
                                                      ThermalModuleIF *thermalModule)
-    : SystemObject(setObjectid),
+    : SystemObject(setObjectid), healthHelper(this, setObjectid), parameterHelper(this) {
-      healthHelper(this, setObjectid),
-      parameterHelper(this) {
   if (thermalModule != nullptr) {
     thermalModule->registerSensor(this);
   }
   auto mqArgs = MqArgs(setObjectid, static_cast<void *>(this));
-  commandQueue = QueueFactory::instance()->createMessageQueue(3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  commandQueue = QueueFactory::instance()->createMessageQueue(
+      3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 AbstractTemperatureSensor::~AbstractTemperatureSensor() {

src/fsfw/thermal/Heater.cpp

@@ -13,7 +13,8 @@ Heater::Heater(uint32_t objectId, uint8_t switch0, uint8_t switch1)
       heaterOnCountdown(10800000) /*about two orbits*/,
       parameterHelper(this) {
   auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
-  eventQueue = QueueFactory::instance()->createMessageQueue(3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  eventQueue = QueueFactory::instance()->createMessageQueue(
+      3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 Heater::~Heater() { QueueFactory::instance()->deleteMessageQueue(eventQueue); }

src/fsfw/tmtcservices/PusServiceBase.cpp

@@ -14,7 +14,8 @@ object_id_t PusServiceBase::packetDestination = 0;
 PusServiceBase::PusServiceBase(object_id_t setObjectId, uint16_t setApid, uint8_t setServiceId)
     : SystemObject(setObjectId), apid(setApid), serviceId(setServiceId) {
   auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  requestQueue = QueueFactory::instance()->createMessageQueue(PUS_SERVICE_MAX_RECEPTION, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  requestQueue = QueueFactory::instance()->createMessageQueue(
+      PUS_SERVICE_MAX_RECEPTION, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 PusServiceBase::~PusServiceBase() { QueueFactory::instance()->deleteMessageQueue(requestQueue); }

src/fsfw/tmtcservices/TmTcBridge.cpp

@@ -16,7 +16,8 @@ TmTcBridge::TmTcBridge(object_id_t objectId, object_id_t tcDestination, object_i
 
 {
   auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
-  tmTcReceptionQueue = QueueFactory::instance()->createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  tmTcReceptionQueue = QueueFactory::instance()->createMessageQueue(
+      TMTC_RECEPTION_QUEUE_DEPTH, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 TmTcBridge::~TmTcBridge() { QueueFactory::instance()->deleteMessageQueue(tmTcReceptionQueue); }