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Merge branch 'mueller/local-pool-update' of https://egit.irs.uni-stuttgart.de/fsfw/fsfw into mueller/local-pool-update

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Robin Müller 2022-10-24 14:39:11 +02:00
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7
CHANGELOG.md
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@ -12,6 +12,9 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
## Fixes ## Fixes
- I2C Bugfixes: Do not keep iterator as member and fix some incorrect handling with the iterator.
Also properly reset the reply size for successfull transfers and erroneous transfers.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/700
- Bugfix for Serial Buffer Stream: Setting `doActive` to false now - Bugfix for Serial Buffer Stream: Setting `doActive` to false now
actually fully disables printing. actually fully disables printing.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/680 PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/680
@ -26,6 +29,10 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
## Changes ## Changes
- Remove default secondary header argument for
`uint16_t getTcSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag)` and
`uint16_t getTmSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag)`
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/689
- Removed `HasReturnvaluesIF` class in favor of `returnvalue` namespace with `OK` and `FAILED` - Removed `HasReturnvaluesIF` class in favor of `returnvalue` namespace with `OK` and `FAILED`
constants. constants.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/659 PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/659

6
CMakeLists.txt
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@ -326,7 +326,8 @@ if(FSFW_BUILD_TESTS)
"/usr/local/include/*" "/usr/local/include/*"
"*/fsfw_tests/*" "*/fsfw_tests/*"
"*/catch2-src/*" "*/catch2-src/*"
"*/fsfw_hal/*") "*/fsfw_hal/*"
"unittests/*")
endif() endif()
target_link_options(${FSFW_TEST_TGT} PRIVATE -fprofile-arcs target_link_options(${FSFW_TEST_TGT} PRIVATE -fprofile-arcs
@ -345,7 +346,8 @@ if(FSFW_BUILD_TESTS)
else() else()
setup_target_for_coverage_lcov( setup_target_for_coverage_lcov(
NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT} NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT}
DEPENDENCIES ${FSFW_TEST_TGT}) DEPENDENCIES ${FSFW_TEST_TGT}
GENHTML_ARGS --html-epilog ${CMAKE_SOURCE_DIR}/unittests/lcov_epilog.html)
endif() endif()
endif() endif()
endif() endif()

6
automation/Dockerfile
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@ -5,7 +5,7 @@ RUN apt-get --yes upgrade
#tzdata is a dependency, won't install otherwise #tzdata is a dependency, won't install otherwise
ARG DEBIAN_FRONTEND=noninteractive ARG DEBIAN_FRONTEND=noninteractive
RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping python3 pip doxygen graphviz RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping python3 pip doxygen graphviz rsync
RUN python3 -m pip install sphinx breathe RUN python3 -m pip install sphinx breathe
@ -23,3 +23,7 @@ RUN git clone https://github.com/ETLCPP/etl.git && \
#ssh needs a valid user to work #ssh needs a valid user to work
RUN adduser --uid 114 jenkins RUN adduser --uid 114 jenkins
#add documentation server to known hosts
RUN echo "|1|/LzCV4BuTmTb2wKnD146l9fTKgQ=|NJJtVjvWbtRt8OYqFgcYRnMQyVw= ecdsa-sha2-nistp256 AAAAE2VjZHNhLXNoYTItbmlzdHAyNTYAAAAIbmlzdHAyNTYAAABBBNL8ssTonYtgiR/6RRlSIK9WU1ywOcJmxFTLcEblAwH7oifZzmYq3XRfwXrgfMpylEfMFYfCU8JRqtmi19xc21A=" >> /etc/ssh/ssh_known_hosts
RUN echo "|1|CcBvBc3EG03G+XM5rqRHs6gK/Gg=|oGeJQ+1I8NGI2THIkJsW92DpTzs= ecdsa-sha2-nistp256 AAAAE2VjZHNhLXNoYTItbmlzdHAyNTYAAAAIbmlzdHAyNTYAAABBBNL8ssTonYtgiR/6RRlSIK9WU1ywOcJmxFTLcEblAwH7oifZzmYq3XRfwXrgfMpylEfMFYfCU8JRqtmi19xc21A=" >> /etc/ssh/ssh_known_hosts

14
automation/Jenkinsfile vendored
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@ -5,7 +5,7 @@ pipeline {
} }
agent { agent {
docker { docker {
image 'fsfw-ci:d5' image 'fsfw-ci:d6'
args '--network host' args '--network host'
} }
} }
@ -52,14 +52,12 @@ pipeline {
sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..' sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..'
sh 'make Sphinx' sh 'make Sphinx'
sshagent(credentials: ['documentation-buildfix']) { sshagent(credentials: ['documentation-buildfix']) {
sh 'ssh -o StrictHostKeyChecking=no buildfix@documentation.intra.irs.uni-stuttgart.de rm -rf /mnt/data/www/html/fsfw/development/*' sh 'rsync -r --delete docs/sphinx/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/development'
sh 'scp -o StrictHostKeyChecking=no -r docs/sphinx/* buildfix@documentation.intra.irs.uni-stuttgart.de:/mnt/data/www/html/fsfw/development'
} }
} }
dir(BUILDDIR) { dir(BUILDDIR) {
sshagent(credentials: ['documentation-buildfix']) { sshagent(credentials: ['documentation-buildfix']) {
sh 'ssh -o StrictHostKeyChecking=no buildfix@documentation.intra.irs.uni-stuttgart.de rm -rf /mnt/data/www/html/fsfw/coverage/development/*' sh 'rsync -r --delete fsfw-tests_coverage/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/coverage/development'
sh 'scp -o StrictHostKeyChecking=no -r fsfw-tests_coverage/* buildfix@documentation.intra.irs.uni-stuttgart.de:/mnt/data/www/html/fsfw/coverage/development'
} }
} }
} }
@ -73,14 +71,12 @@ pipeline {
sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..' sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..'
sh 'make Sphinx' sh 'make Sphinx'
sshagent(credentials: ['documentation-buildfix']) { sshagent(credentials: ['documentation-buildfix']) {
sh 'ssh -o StrictHostKeyChecking=no buildfix@documentation.intra.irs.uni-stuttgart.de rm -rf /mnt/data/www/html/fsfw/master/*' sh 'rsync -r --delete docs/sphinx/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/master'
sh 'scp -o StrictHostKeyChecking=no -r docs/sphinx/* buildfix@documentation.intra.irs.uni-stuttgart.de:/mnt/data/www/html/fsfw/master'
} }
} }
dir(BUILDDIR) { dir(BUILDDIR) {
sshagent(credentials: ['documentation-buildfix']) { sshagent(credentials: ['documentation-buildfix']) {
sh 'ssh -o StrictHostKeyChecking=no buildfix@documentation.intra.irs.uni-stuttgart.de rm -rf /mnt/data/www/html/fsfw/coverage/master/*' sh 'rsync -r --delete fsfw-tests_coverage/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/coverage/master'
sh 'scp -o StrictHostKeyChecking=no -r fsfw-tests_coverage/* buildfix@documentation.intra.irs.uni-stuttgart.de:/mnt/data/www/html/fsfw/coverage/master'
} }
} }
} }

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@ -1,40 +0,0 @@
Configuring the FSFW
======
The FSFW can be configured via the `fsfwconfig` folder. A template folder has
been provided to have a starting point for this. The folder should be added
to the include path. The primary configuration file is the `FSFWConfig.h` folder. Some
of the available options will be explained in more detail here.
# Auto-Translation of Events
The FSFW allows the automatic translation of events, which allows developers to track triggered
events directly via console output. Using this feature requires:
1. `FSFW_OBJ_EVENT_TRANSLATION` set to 1 in the configuration file.
2. Special auto-generated translation files which translate event IDs and object IDs into
human readable strings. These files can be generated using the
[modgen Python scripts](https://git.ksat-stuttgart.de/source/modgen.git).
3. The generated translation files for the object IDs should be named `translatesObjects.cpp`
and `translateObjects.h` and should be copied to the `fsfwconfig/objects` folder
4. The generated translation files for the event IDs should be named `translateEvents.cpp` and
`translateEvents.h` and should be copied to the `fsfwconfig/events` folder
An example implementations of these translation file generators can be found as part
of the [SOURCE project here](https://git.ksat-stuttgart.de/source/sourceobsw/-/tree/development/generators)
or the [FSFW example](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example_public/src/branch/master/generators)
## Configuring the Event Manager
The number of allowed subscriptions can be modified with the following
parameters:
``` c++
namespace fsfwconfig {
//! Configure the allocated pool sizes for the event manager.
static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120;
}
```

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@ -1 +0,0 @@
## Controllers

55
docs/README-core.md
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@ -1,55 +0,0 @@
## FSFW Core Modules
These core modules provide the most important functionalities of the
Flight Software Framework
### Clock
* This is a class of static functions that can be used at anytime
* Leap Seconds must be set if any time conversions from UTC to other times is used
### ObjectManager
* Must be created during program startup
* The component which handles all references. All SystemObjects register at this component.
* Any SystemObject needs to have a unique ObjectId. Those can be managed like objects::framework_objects.
* A reference to an object can be get by calling the following function. T must be the specific Interface you want to call.
A nullptr check of the returning Pointer must be done. This function is based on Run-time type information.
```cpp
template <typename T> T* ObjectManagerIF::get( object_id_t id )
```
* A typical way to create all objects on startup is a handing a static produce function to the
ObjectManager on creation. By calling objectManager->initialize() the produce function will be
called and all SystemObjects will be initialized afterwards.
### Event Manager
* Component which allows routing of events
* Other objects can subscribe to specific events, ranges of events or all events of an object.
* Subscriptions can be done during runtime but should be done during initialization
* Amounts of allowed subscriptions can be configured in `FSFWConfig.h`
### Health Table
* A component which holds every health state
* Provides a thread safe way to access all health states without the need of message exchanges
### Stores
* The message based communication can only exchange a few bytes of information inside the message
itself. Therefore, additional information can be exchanged with Stores. With this, only the
store address must be exchanged in the message.
* Internally, the FSFW uses an IPC Store to exchange data between processes. For incoming TCs a TC
Store is used. For outgoing TM a TM store is used.
* All of them should use the Thread Safe Class storagemanager/PoolManager
### Tasks
There are two different types of tasks:
* The PeriodicTask just executes objects that are of type ExecutableObjectIF in the order of the
insertion to the Tasks.
* FixedTimeslotTask executes a list of calls in the order of the given list. This is intended for
DeviceHandlers, where polling should be in a defined order. An example can be found in
`defaultcfg/fsfwconfig/pollingSequence` folder

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@ -1 +0,0 @@
## Device Handlers

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docs/README-highlevel.md
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@ -1,135 +0,0 @@
High-level overview
======
# Structure
The general structure is driven by the usage of interfaces provided by objects.
The FSFW uses C++11 as baseline. The intention behind this is that this C++ Standard should be
widely available, even with older compilers.
The FSFW uses dynamic allocation during the initialization but provides static containers during runtime.
This simplifies the instantiation of objects and allows the usage of some standard containers.
Dynamic Allocation after initialization is discouraged and different solutions are provided in the
FSFW to achieve that. The fsfw uses run-time type information but exceptions are not allowed.
# Failure Handling
Functions should return a defined `ReturnValue_t` to signal to the caller that something has
gone wrong. Returnvalues must be unique. For this the function `returnvalue::makeCode`
or the macro `MAKE_RETURN` can be used. The `CLASS_ID` is a unique id for that type of object.
See `returnvalues/FwClassIds` folder. The user can add custom `CLASS_ID`s via the
`fsfwconfig` folder.
# OSAL
The FSFW provides operation system abstraction layers for Linux, FreeRTOS and RTEMS.
The OSAL provides periodic tasks, message queues, clocks and semaphores as well as mutexes.
The [OSAL README](doc/README-osal.md#top) provides more detailed information on provided components
and how to use them.
# Core Components
The FSFW has following core components. More detailed informations can be found in the
[core component section](doc/README-core.md#top):
1. Tasks: Abstraction for different (periodic) task types like periodic tasks or tasks
with fixed timeslots
2. ObjectManager: This module stores all `SystemObjects` by mapping a provided unique object ID
to the object handles.
3. Static Stores: Different stores are provided to store data of variable size (like telecommands
or small telemetry) in a pool structure without using dynamic memory allocation.
These pools are allocated up front.
3. Clock: This module provided common time related functions
4. EventManager: This module allows routing of events generated by `SystemObjects`
5. HealthTable: A component which stores the health states of objects
# Static IDs in the framework
Some parts of the framework use a static routing address for communication.
An example setup of ids can be found in the example config in `defaultcft/fsfwconfig/objects`
inside the function `Factory::setStaticFrameworkObjectIds()`.
# Events
Events are tied to objects. EventIds can be generated by calling the Macro MAKE_EVENT.
This works analog to the returnvalues. Every object that needs own EventIds has to get a
unique SUBSYSTEM_ID. Every SystemObject can call triggerEvent from the parent class.
Therefore, event messages contain the specific EventId and the objectId of the object that
has triggered.
# Internal Communication
Components communicate mostly via Messages through Queues.
Those queues are created by calling the singleton `QueueFactory::instance()->create()` which
will create `MessageQueue` instances for the used OSAL.
# External Communication
The external communication with the mission control system is mostly up to the user implementation.
The FSFW provides PUS Services which can be used to but don't need to be used.
The services can be seen as a conversion from a TC to a message based communication and back.
## TMTC Communication
The FSFW provides some components to facilitate TMTC handling via the PUS commands.
For example, a UDP or TCP PUS server socket can be opened on a specific port using the
files located in `osal/common`. The FSFW example uses this functionality to allow sending telecommands
and receiving telemetry using the [TMTC commander application](https://github.com/spacefisch/tmtccmd).
Simple commands like the PUS Service 17 ping service can be tested by simply running the
`tmtc_client_cli.py` or `tmtc_client_gui.py` utility in
the [example tmtc folder](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example_public/src/branch/master/tmtc)
while the `fsfw_example` application is running.
More generally, any class responsible for handling incoming telecommands and sending telemetry
can implement the generic `TmTcBridge` class located in `tmtcservices`. Many applications
also use a dedicated polling task for reading telecommands which passes telecommands
to the `TmTcBridge` implementation.
## CCSDS Frames, CCSDS Space Packets and PUS
If the communication is based on CCSDS Frames and Space Packets, several classes can be used to
distributed the packets to the corresponding services. Those can be found in `tcdistribution`.
If Space Packets are used, a timestamper has to be provided by the user.
An example can be found in the `timemanager` folder, which uses `CCSDSTime::CDS_short`.
# Device Handlers
DeviceHandlers are another important component of the FSFW.
The idea is, to have a software counterpart of every physical device to provide a simple mode,
health and commanding interface. By separating the underlying Communication Interface with
`DeviceCommunicationIF`, a device handler (DH) can be tested on different hardware.
The DH has mechanisms to monitor the communication with the physical device which allow
for FDIR reaction. Device Handlers can be created by implementing `DeviceHandlerBase`.
A standard FDIR component for the DH will be created automatically but can
be overwritten by the user. More information on DeviceHandlers can be found in the
related [documentation section](doc/README-devicehandlers.md#top).
# Modes and Health
The two interfaces `HasModesIF` and `HasHealthIF` provide access for commanding and monitoring
of components. On-board Mode Management is implement in hierarchy system.
DeviceHandlers and Controllers are the lowest part of the hierarchy.
The next layer are Assemblies. Those assemblies act as a component which handle
redundancies of handlers. Assemblies share a common core with the next level which
are the Subsystems.
Those Assemblies are intended to act as auto-generated components from a database which describes
the subsystem modes. The definitions contain transition and target tables which contain the DH,
Assembly and Controller Modes to be commanded.
Transition tables contain as many steps as needed to reach the mode from any other mode, e.g. a
switch into any higher AOCS mode might first turn on the sensors, than the actuators and the
controller as last component.
The target table is used to describe the state that is checked continuously by the subsystem.
All of this allows System Modes to be generated as Subsystem object as well from the same database.
This System contains list of subsystem modes in the transition and target tables.
Therefore, it allows a modular system to create system modes and easy commanding of those, because
only the highest components must be commanded.
The health state represents if the component is able to perform its tasks.
This can be used to signal the system to avoid using this component instead of a redundant one.
The on-board FDIR uses the health state for isolation and recovery.
# Unit Tests
Unit Tests are provided in the unittest folder. Those use the catch2 framework but do not include
catch2 itself. More information on how to run these tests can be found in the separate
[`fsfw_tests` reposoitory](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_tests)

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## Local Data Pools Developer Information
The following text is targeted towards mission software developers which would like
to use the local data pools provided by the FSFW to store data like sensor values so they can be
used by other software objects like controllers as well. If a custom class should have a local
pool which can be used by other software objects as well, following steps have to be performed:
1. Create a `LocalDataPoolManager` member object in the custom class
2. Implement the `HasLocalDataPoolIF` with specifies the interface between the local pool manager
and the class owning the local pool.
The local data pool manager is also able to process housekeeping service requests in form
of messages, generate periodic housekeeping packet, generate notification and snapshots of changed
variables and datasets and process notifications and snapshots coming from other objects.
The two former tasks are related to the external interface using telemetry and telecommands (TMTC)
while the later two are related to data consumers like controllers only acting on data change
detected by the data creator instead of checking the data manually each cycle. Two important
framework classes `DeviceHandlerBase` and `ExtendedControllerBase` already perform the two steps
shown above so the steps required are altered slightly.
### Storing and Accessing pool data
The pool manager is responsible for thread-safe access of the pool data, but the actual
access to the pool data from the point of view of a mission software developer happens via proxy
classes like pool variable classes. These classes store a copy
of the pool variable with the matching datatype and copy the actual data from the local pool
on a `read` call. Changed variables can then be written to the local pool with a `commit` call.
The `read` and `commit` calls are thread-safe and can be called concurrently from data creators
and data consumers. Generally, a user will create a dataset class which in turn groups all
cohesive pool variables. These sets simply iterator over the list of variables and call the
`read` and `commit` functions of each variable. The following diagram shows the
high-level architecture of the local data pools.
.. image:: ../misc/logo/FSFW_Logo_V3_bw.png
:alt: FSFW Logo
An example is shown for using the local data pools with a Gyroscope.
For example, the following code shows an implementation to access data from a Gyroscope taken
from the SOURCE CubeSat project:
```cpp
class GyroPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
public:
/**
* Constructor for data users
* @param gyroId
*/
GyroPrimaryDataset(object_id_t gyroId):
StaticLocalDataSet(sid_t(gyroId, gyrodefs::GYRO_DATA_SET_ID)) {
setAllVariablesReadOnly();
}
lp_var_t<float> angVelocityX = lp_var_t<float>(sid.objectId,
gyrodefs::ANGULAR_VELOCITY_X, this);
lp_var_t<float> angVelocityY = lp_var_t<float>(sid.objectId,
gyrodefs::ANGULAR_VELOCITY_Y, this);
lp_var_t<float> angVelocityZ = lp_var_t<float>(sid.objectId,
gyrodefs::ANGULAR_VELOCITY_Z, this);
private:
friend class GyroHandler;
/**
* Constructor for data creator
* @param hkOwner
*/
GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
StaticLocalDataSet(hkOwner, gyrodefs::GYRO_DATA_SET_ID) {}
};
```
There is a public constructor for users which sets all variables to read-only and there is a
constructor for the GyroHandler data creator by marking it private and declaring the `GyroHandler`
as a friend class. Both the atittude controller and the `GyroHandler` can now
use the same class definition to access the pool variables with `read` and `commit` semantics
in a thread-safe way. Generally, each class requiring access will have the set class as a member
class. The data creator will also be generally a `DeviceHandlerBase` subclass and some additional
steps are necessary to expose the set for housekeeping purposes.
### Using the local data pools in a `DeviceHandlerBase` subclass
It is very common to store data generated by devices like a sensor into a pool which can
then be used by other objects. Therefore, the `DeviceHandlerBase` already has a
local pool. Using the aforementioned example, our `GyroHandler` will now have the set class
as a member:
```cpp
class GyroHandler: ... {
public:
...
private:
...
GyroPrimaryDataset gyroData;
...
};
```
The constructor used for the creators expects the owner class as a parameter, so we initialize
the object in the `GyroHandler` constructor like this:
```cpp
GyroHandler::GyroHandler(object_id_t objectId, object_id_t comIF,
CookieIF *comCookie, uint8_t switchId):
DeviceHandlerBase(objectId, comIF, comCookie), switchId(switchId),
gyroData(this) {}
```
We need to assign the set to a reply ID used in the `DeviceHandlerBase`.
The combination of the `GyroHandler` object ID and the reply ID will be the 64-bit structure ID
`sid_t` and is used to globally identify the set, for example when requesting housekeeping data or
generating update messages. We need to assign our custom set class in some way so that the local
pool manager can access the custom data sets as well.
By default, the `getDataSetHandle` will take care of this tasks. The default implementation for a
`DeviceHandlerBase` subclass will use the internal command map to retrieve
a handle to a dataset from a given reply ID. Therefore,
we assign the set in the `fillCommandAndReplyMap` function:
```cpp
void GyroHandler::fillCommandAndReplyMap() {
...
this->insertInCommandAndReplyMap(gyrodefs::GYRO_DATA, 3, &gyroData);
...
}
```
Now, we need to create the actual pool entries as well, using the `initializeLocalDataPool`
function. Here, we also immediately subscribe for periodic housekeeping packets
with an interval of 4 seconds. They are still disabled in this example and can be enabled
with a housekeeping service command.
```cpp
ReturnValue_t GyroHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_X,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Y,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Z,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(gyrodefs::GENERAL_CONFIG_REG42,
new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(gyrodefs::RANGE_CONFIG_REG43,
new PoolEntry<uint8_t>({0}));
poolManager.subscribeForPeriodicPacket(gyroData.getSid(), false, 4.0, false);
return returnvalue::OK;
}
```
Now, if we receive some sensor data and converted them into the right format,
we can write it into the pool like this, using a guard class to ensure the set is commited back
in any case:
```cpp
PoolReadGuard readHelper(&gyroData);
if(readHelper.getReadResult() == returnvalue::OK) {
if(not gyroData.isValid()) {
gyroData.setValidity(true, true);
}
gyroData.angVelocityX = angularVelocityX;
gyroData.angVelocityY = angularVelocityY;
gyroData.angVelocityZ = angularVelocityZ;
}
```
The guard class will commit the changed data on destruction automatically.
### Using the local data pools in a `ExtendedControllerBase` subclass
Coming soon

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# Operating System Abstraction Layer (OSAL)
Some specific information on the provided OSALs are provided.
## Linux OSAL
This OSAL can be used to compile for Linux host systems like Ubuntu 20.04 or for
embedded Linux targets like the Raspberry Pi. This OSAL generally requires threading support
and real-time functionalities. For most UNIX systems, this is done by adding `-lrt` and `-lpthread` to the linked libraries in the compilation process. The CMake build support provided will do this automatically for the `fsfw` target. It should be noted that most UNIX systems need to be configured specifically to allow the real-time functionalities required by the FSFW.
More information on how to set up a Linux system accordingly can be found in the
[Linux README of the FSFW example application](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example/src/branch/master/doc/README-linux.md#top)
## Hosted OSAL
This is the newest OSAL. Support for Semaphores has not been implemented yet and will propably be implemented as soon as C++20 with Semaphore support has matured. This OSAL can be used to run the FSFW on any host system, but currently has only been tested on Windows 10 and Ubuntu 20.04. Unlike the other OSALs, it uses dynamic memory allocation (e.g. for the message queue implementation). Cross-platform serial port (USB) support might be added soon.
## FreeRTOS OSAL
FreeRTOS is not included and the developer needs to take care of compiling the FreeRTOS sources and adding the `FreeRTOSConfig.h` file location to the include path. This OSAL has only been tested extensively with the pre-emptive scheduler configuration so far but it should in principle also be possible to use a cooperative scheduler. It is recommended to use the `heap_4` allocation scheme. When using newlib (nano), it is also recommended to add `#define configUSE_NEWLIB_REENTRANT` to the FreeRTOS configuration file to ensure thread-safety.
When using this OSAL, developers also need to provide an implementation for the `vRequestContextSwitchFromISR` function. This has been done because the call to request a context switch from an ISR is generally located in the `portmacro.h` header and is different depending on the target architecture or device.
## RTEMS OSAL
The RTEMS OSAL was the first implemented OSAL which is also used on the active satellite Flying Laptop.
## TCP/IP socket abstraction
The Linux and Host OSAL provide abstraction layers for the socket API. Currently, only UDP sockets have been imlemented. This is very useful to test TMTC handling either on the host computer directly (targeting localhost with a TMTC application) or on embedded Linux devices, sending TMTC packets via Ethernet.

1
docs/README-pus.md
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@ -1 +0,0 @@
## PUS Services

5
docs/conf.py
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@ -50,6 +50,11 @@ exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
# #
html_theme = 'alabaster' html_theme = 'alabaster'
html_theme_options = {
"extra_nav_links": {"Impressum" : "https://www.uni-stuttgart.de/impressum", "Datenschutz": "https://info.irs.uni-stuttgart.de/datenschutz/datenschutzWebmit.html"}
}
# Add any paths that contain custom static files (such as style sheets) here, # Add any paths that contain custom static files (such as style sheets) here,
# relative to this directory. They are copied after the builtin static files, # relative to this directory. They are copied after the builtin static files,
# so a file named "default.css" will overwrite the builtin "default.css". # so a file named "default.css" will overwrite the builtin "default.css".

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docs/highlevel.rst
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@ -7,12 +7,13 @@ Structure
---------- ----------
The general structure is driven by the usage of interfaces provided by objects. The general structure is driven by the usage of interfaces provided by objects.
The FSFW uses C++11 as baseline. The intention behind this is that this C++ Standard should be The FSFW uses C++17 as baseline. Most modern compilers like GCC should have support for this
widely available, even with older compilers. standard, even for micocontrollers.
The FSFW uses dynamic allocation during the initialization but provides static containers during runtime.
This simplifies the instantiation of objects and allows the usage of some standard containers. The FSFW might use dynamic allocation during program initialization but not during runtime.
Dynamic Allocation after initialization is discouraged and different solutions are provided in the It offers pool objects, static containers and it also exposes the
FSFW to achieve that. The fsfw uses run-time type information but exceptions are not allowed. `Embedded Template Library <https://www.etlcpp.com/>`_ to allow writing code which does not perform
allocation during runtime. The fsfw uses run-time type information but will not throw exceptions.
Failure Handling Failure Handling
----------------- -----------------

2
scripts/helper.py
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@ -199,7 +199,7 @@ def check_for_cmake_build_dir(build_dir_list: list) -> list:
def perform_lcov_operation(directory: str, chdir: bool): def perform_lcov_operation(directory: str, chdir: bool):
if chdir: if chdir:
os.chdir(directory) os.chdir(directory)
cmd_runner("cmake --build . -- fsfw-tests_coverage -j") cmd_runner("cmake --build . -j -- fsfw-tests_coverage")
def determine_build_dir(build_dir_list: List[str]): def determine_build_dir(build_dir_list: List[str]):

6
src/fsfw/datapoollocal/LocalPoolObjectBase.cpp
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@ -48,12 +48,12 @@ LocalPoolObjectBase::LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId,
if (hkOwner == nullptr) { if (hkOwner == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "LocalPoolVariable: The supplied pool owner 0x" << std::hex << poolOwner sif::error << "LocalPoolVariable: The supplied pool owner 0x" << std::hex << poolOwner
<< std::dec << " did not implement the correct interface " << std::dec << " does not exist or does not implement the correct interface "
<< "HasLocalDataPoolIF" << std::endl; << "HasLocalDataPoolIF" << std::endl;
#else #else
sif::printError( sif::printError(
"LocalPoolVariable: The supplied pool owner 0x%08x did not implement the correct " "LocalPoolVariable: The supplied pool owner 0x%08x does not exist or does not implement "
"interface HasLocalDataPoolIF\n", "the correct interface HasLocalDataPoolIF\n",
poolOwner); poolOwner);
#endif #endif
return; return;

10
src/fsfw/devicehandlers/DeviceHandlerBase.cpp
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@ -458,7 +458,7 @@ ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceComm
info.expectedReplies = 0; info.expectedReplies = 0;
info.isExecuting = false; info.isExecuting = false;
info.sendReplyTo = NO_COMMANDER; info.sendReplyTo = NO_COMMANDER;
info.useAlternativeReplyId = alternativeReplyId; info.useAlternativeReplyId = useAlternativeReply;
info.alternativeReplyId = alternativeReplyId; info.alternativeReplyId = alternativeReplyId;
auto resultPair = deviceCommandMap.emplace(deviceCommand, info); auto resultPair = deviceCommandMap.emplace(deviceCommand, info);
if (resultPair.second) { if (resultPair.second) {
@ -517,16 +517,16 @@ ReturnValue_t DeviceHandlerBase::updatePeriodicReply(bool enable, DeviceCommandI
if (enable) { if (enable) {
info->active = true; info->active = true;
if (info->countdown != nullptr) { if (info->countdown != nullptr) {
info->delayCycles = info->maxDelayCycles;
} else {
info->countdown->resetTimer(); info->countdown->resetTimer();
} else {
info->delayCycles = info->maxDelayCycles;
} }
} else { } else {
info->active = false; info->active = false;
if (info->countdown != nullptr) { if (info->countdown != nullptr) {
info->delayCycles = 0;
} else {
info->countdown->timeOut(); info->countdown->timeOut();
} else {
info->delayCycles = 0;
} }
} }
} }

3
src/fsfw/serviceinterface/ServiceInterfaceStream.h
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@ -1,9 +1,8 @@
#ifndef FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACESTREAM_H_ #ifndef FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACESTREAM_H_
#define FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACESTREAM_H_ #define FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACESTREAM_H_
#include <FSFWConfig.h>
#include "ServiceInterfaceBuffer.h" #include "ServiceInterfaceBuffer.h"
#include "fsfw/FSFW.h"
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1

10
src/fsfw/tcdistribution/definitions.h
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@ -14,11 +14,11 @@ static constexpr ReturnValue_t INVALID_PACKET_TYPE = MAKE_RETURN_CODE(2);
static constexpr ReturnValue_t INVALID_SEC_HEADER_FIELD = MAKE_RETURN_CODE(3); static constexpr ReturnValue_t INVALID_SEC_HEADER_FIELD = MAKE_RETURN_CODE(3);
static constexpr ReturnValue_t INCORRECT_PRIMARY_HEADER = MAKE_RETURN_CODE(4); static constexpr ReturnValue_t INCORRECT_PRIMARY_HEADER = MAKE_RETURN_CODE(4);
static constexpr ReturnValue_t INCOMPLETE_PACKET = MAKE_RETURN_CODE(5); static constexpr ReturnValue_t INCOMPLETE_PACKET = MAKE_RETURN_CODE(7);
static constexpr ReturnValue_t INVALID_PUS_VERSION = MAKE_RETURN_CODE(6); static constexpr ReturnValue_t INVALID_PUS_VERSION = MAKE_RETURN_CODE(8);
static constexpr ReturnValue_t INCORRECT_CHECKSUM = MAKE_RETURN_CODE(7); static constexpr ReturnValue_t INCORRECT_CHECKSUM = MAKE_RETURN_CODE(9);
static constexpr ReturnValue_t ILLEGAL_PACKET_SUBTYPE = MAKE_RETURN_CODE(8); static constexpr ReturnValue_t ILLEGAL_PACKET_SUBTYPE = MAKE_RETURN_CODE(10);
static constexpr ReturnValue_t INCORRECT_SECONDARY_HEADER = MAKE_RETURN_CODE(9); static constexpr ReturnValue_t INCORRECT_SECONDARY_HEADER = MAKE_RETURN_CODE(11);
}; // namespace tcdistrib }; // namespace tcdistrib
#endif // FSFW_TMTCPACKET_DEFINITIONS_H #endif // FSFW_TMTCPACKET_DEFINITIONS_H

4
src/fsfw/tmtcpacket/ccsds/defs.h
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@ -23,11 +23,11 @@ constexpr uint16_t getSpacePacketIdFromApid(bool isTc, uint16_t apid,
return ((isTc << 4) | (secondaryHeaderFlag << 3) | ((apid >> 8) & 0x07)) << 8 | (apid & 0x00ff); return ((isTc << 4) | (secondaryHeaderFlag << 3) | ((apid >> 8) & 0x07)) << 8 | (apid & 0x00ff);
} }
constexpr uint16_t getTcSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag = true) { constexpr uint16_t getTcSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag) {
return getSpacePacketIdFromApid(true, apid, secondaryHeaderFlag); return getSpacePacketIdFromApid(true, apid, secondaryHeaderFlag);
} }
constexpr uint16_t getTmSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag = true) { constexpr uint16_t getTmSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag) {
return getSpacePacketIdFromApid(false, apid, secondaryHeaderFlag); return getSpacePacketIdFromApid(false, apid, secondaryHeaderFlag);
} }

15
src/fsfw_hal/linux/i2c/I2cComIF.cpp
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@ -41,7 +41,7 @@ ReturnValue_t I2cComIF::initializeInterface(CookieIF* cookie) {
i2cAddress = i2cCookie->getAddress(); i2cAddress = i2cCookie->getAddress();
i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress); auto i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
if (i2cDeviceMapIter == i2cDeviceMap.end()) { if (i2cDeviceMapIter == i2cDeviceMap.end()) {
size_t maxReplyLen = i2cCookie->getMaxReplyLen(); size_t maxReplyLen = i2cCookie->getMaxReplyLen();
I2cInstance i2cInstance = {std::vector<uint8_t>(maxReplyLen), 0}; I2cInstance i2cInstance = {std::vector<uint8_t>(maxReplyLen), 0};
@ -89,7 +89,7 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
} }
address_t i2cAddress = i2cCookie->getAddress(); address_t i2cAddress = i2cCookie->getAddress();
i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress); auto i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
if (i2cDeviceMapIter == i2cDeviceMap.end()) { if (i2cDeviceMapIter == i2cDeviceMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::sendMessage: i2cAddress of Cookie not " sif::error << "I2cComIF::sendMessage: i2cAddress of Cookie not "
@ -140,20 +140,19 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::requestReceiveMessage: Invalid I2C Cookie!" << std::endl; sif::error << "I2cComIF::requestReceiveMessage: Invalid I2C Cookie!" << std::endl;
#endif #endif
i2cDeviceMapIter->second.replyLen = 0;
return NULLPOINTER; return NULLPOINTER;
} }
address_t i2cAddress = i2cCookie->getAddress(); address_t i2cAddress = i2cCookie->getAddress();
i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress); auto i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
if (i2cDeviceMapIter == i2cDeviceMap.end()) { if (i2cDeviceMapIter == i2cDeviceMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::requestReceiveMessage: i2cAddress of Cookie not " sif::error << "I2cComIF::requestReceiveMessage: i2cAddress of Cookie not "
<< "registered in i2cDeviceMap" << std::endl; << "registered in i2cDeviceMap" << std::endl;
#endif #endif
i2cDeviceMapIter->second.replyLen = 0;
return returnvalue::FAILED; return returnvalue::FAILED;
} }
i2cDeviceMapIter->second.replyLen = 0;
deviceFile = i2cCookie->getDeviceFile(); deviceFile = i2cCookie->getDeviceFile();
UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::requestReceiveMessage"); UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::requestReceiveMessage");
@ -162,7 +161,6 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
} }
result = openDevice(deviceFile, i2cAddress, &fd); result = openDevice(deviceFile, i2cAddress, &fd);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
i2cDeviceMapIter->second.replyLen = 0;
return result; return result;
} }
@ -177,7 +175,6 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
sif::error << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from " << requestLen sif::error << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from " << requestLen
<< " bytes" << std::endl; << " bytes" << std::endl;
#endif #endif
i2cDeviceMapIter->second.replyLen = 0;
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "I2cComIF::requestReceiveMessage: Read " << readLen << " of " << requestLen sif::debug << "I2cComIF::requestReceiveMessage: Read " << readLen << " of " << requestLen
<< " bytes" << std::endl; << " bytes" << std::endl;
@ -204,7 +201,7 @@ ReturnValue_t I2cComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
} }
address_t i2cAddress = i2cCookie->getAddress(); address_t i2cAddress = i2cCookie->getAddress();
i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress); auto i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
if (i2cDeviceMapIter == i2cDeviceMap.end()) { if (i2cDeviceMapIter == i2cDeviceMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::readReceivedMessage: i2cAddress of Cookie not " sif::error << "I2cComIF::readReceivedMessage: i2cAddress of Cookie not "
@ -214,7 +211,7 @@ ReturnValue_t I2cComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
} }
*buffer = i2cDeviceMapIter->second.replyBuffer.data(); *buffer = i2cDeviceMapIter->second.replyBuffer.data();
*size = i2cDeviceMapIter->second.replyLen; *size = i2cDeviceMapIter->second.replyLen;
i2cDeviceMapIter->second.replyLen = 0;
return returnvalue::OK; return returnvalue::OK;
} }

2
src/fsfw_hal/linux/i2c/I2cComIF.h
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@ -36,12 +36,10 @@ class I2cComIF : public DeviceCommunicationIF, public SystemObject {
}; };
using I2cDeviceMap = std::unordered_map<address_t, I2cInstance>; using I2cDeviceMap = std::unordered_map<address_t, I2cInstance>;
using I2cDeviceMapIter = I2cDeviceMap::iterator;
/* In this map all i2c devices will be registered with their address and /* In this map all i2c devices will be registered with their address and
* the appropriate file descriptor will be stored */ * the appropriate file descriptor will be stored */
I2cDeviceMap i2cDeviceMap; I2cDeviceMap i2cDeviceMap;
I2cDeviceMapIter i2cDeviceMapIter;
/** /**
* @brief This function opens an I2C device and binds the opened file * @brief This function opens an I2C device and binds the opened file

2
src/fsfw_tests/integration/devices/TestDeviceHandler.cpp
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@ -646,7 +646,7 @@ ReturnValue_t TestDevice::initializeLocalDataPool(localpool::DataPool& localData
/* Subscribe for periodic HK packets but do not enable reporting for now. /* Subscribe for periodic HK packets but do not enable reporting for now.
Non-diangostic with a period of one second */ Non-diangostic with a period of one second */
poolManager.subscribeForRegularPeriodicPacket({sid, false, 1.0}); poolManager.subscribeForRegularPeriodicPacket({sid, false, 1.0});
return HasReturnvaluesIF::RETURN_OK; return returnvalue::OK;
} }
ReturnValue_t TestDevice::getParameter(uint8_t domainId, uint8_t uniqueId, ReturnValue_t TestDevice::getParameter(uint8_t domainId, uint8_t uniqueId,

2
unittests/lcov_epilog.html Normal file
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@ -0,0 +1,2 @@
<center><a href='https://www.uni-stuttgart.de/impressum'>Impressum</a> <a href='https://info.irs.uni-stuttgart.de/datenschutz/datenschutzWebmit.html'>Datenschutz</a></center>
</body>

14
unittests/tmtcpacket/testCcsdsCreator.cpp
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@ -14,11 +14,17 @@ TEST_CASE("CCSDS Creator", "[ccsds-creator]") {
size_t serLen = 0; size_t serLen = 0;
SECTION("Constexpr Helpers") { SECTION("Constexpr Helpers") {
REQUIRE(ccsds::getTcSpacePacketIdFromApid(0x22) == 0x1822); REQUIRE(ccsds::getTcSpacePacketIdFromApid(0x22, true) == 0x1822);
REQUIRE(ccsds::getTmSpacePacketIdFromApid(0x22) == 0x0822); REQUIRE(ccsds::getTmSpacePacketIdFromApid(0x22, true) == 0x0822);
REQUIRE(ccsds::getTcSpacePacketIdFromApid(0x7ff) == 0x1fff); REQUIRE(ccsds::getTcSpacePacketIdFromApid(0x22, false) == 0x1022);
REQUIRE(ccsds::getTmSpacePacketIdFromApid(0x7ff) == 0xfff); REQUIRE(ccsds::getTmSpacePacketIdFromApid(0x22, false) == 0x0022);
REQUIRE(ccsds::getTcSpacePacketIdFromApid(0x7ff, true) == 0x1fff);
REQUIRE(ccsds::getTmSpacePacketIdFromApid(0x7ff, true) == 0xfff);
REQUIRE(ccsds::getTcSpacePacketIdFromApid(0x7ff, false) == 0x17ff);
REQUIRE(ccsds::getTmSpacePacketIdFromApid(0x7ff, false) == 0x7ff);
} }
SECTION("Basic Test") { SECTION("Basic Test") {