diff --git a/CMakeLists.txt b/CMakeLists.txt index 330786b9..ad60176f 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -20,7 +20,7 @@ set(FSFW_ETL_LINK_TARGET etl::etl) set(FSFW_CATCH2_LIB_MAJOR_VERSION 3 CACHE STRING "Catch2 library major version requirement" ) -set(FSFW_CATCH2_LIB_VERSION v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview4 CACHE STRING +set(FSFW_CATCH2_LIB_VERSION v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5 CACHE STRING "Catch2 library exact version requirement" ) @@ -162,6 +162,7 @@ if(FSFW_FETCH_CONTENT_TARGETS) endif() if(TARGET Catch2) # Fixes regression -preview4, to be confirmed in later releases + # Related GitHub issue: https://github.com/catchorg/Catch2/issues/2417 set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "") endif() endif() diff --git a/automation/Dockerfile b/automation/Dockerfile index 9df67fc8..0eb98fbb 100644 --- a/automation/Dockerfile +++ b/automation/Dockerfile @@ -6,3 +6,9 @@ RUN apt-get --yes upgrade #tzdata is a dependency, won't install otherwise ARG DEBIAN_FRONTEND=noninteractive RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping + +RUN git clone https://github.com/catchorg/Catch2.git && \ + cd Catch2 && \ + git checkout v3.0.0-preview5 && \ + cmake -Bbuild -H. -DBUILD_TESTING=OFF && \ + cmake --build build/ --target install diff --git a/automation/Jenkinsfile b/automation/Jenkinsfile index d1459e52..6abf5636 100644 --- a/automation/Jenkinsfile +++ b/automation/Jenkinsfile @@ -3,7 +3,7 @@ pipeline { BUILDDIR = 'build-tests' } agent { - docker { image 'fsfw-ci:d1'} + docker { image 'fsfw-ci:d2'} } stages { stage('Clean') { diff --git a/hal/src/fsfw_hal/linux/CMakeLists.txt b/hal/src/fsfw_hal/linux/CMakeLists.txt index 56d4bf48..f6d1a460 100644 --- a/hal/src/fsfw_hal/linux/CMakeLists.txt +++ b/hal/src/fsfw_hal/linux/CMakeLists.txt @@ -12,9 +12,14 @@ if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS) if(FSFW_HAL_LINUX_ADD_LIBGPIOD) add_subdirectory(gpio) endif() - add_subdirectory(spi) - add_subdirectory(i2c) add_subdirectory(uart) + # Adding those does not really make sense on Apple systems which + # are generally host systems. It won't even compile as the headers + # are missing + if(NOT APPLE) + add_subdirectory(i2c) + add_subdirectory(spi) + endif() endif() add_subdirectory(uio) diff --git a/hal/src/fsfw_hal/linux/spi/SpiCookie.cpp b/hal/src/fsfw_hal/linux/spi/SpiCookie.cpp index e6271c5e..c94fcdf1 100644 --- a/hal/src/fsfw_hal/linux/spi/SpiCookie.cpp +++ b/hal/src/fsfw_hal/linux/spi/SpiCookie.cpp @@ -1,4 +1,4 @@ -#include "fsfw_hal/linux/spi/SpiCookie.h" +#include "SpiCookie.h" SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed) diff --git a/hal/src/fsfw_hal/linux/uart/UartComIF.cpp b/hal/src/fsfw_hal/linux/uart/UartComIF.cpp index 5aa72138..72c79df6 100644 --- a/hal/src/fsfw_hal/linux/uart/UartComIF.cpp +++ b/hal/src/fsfw_hal/linux/uart/UartComIF.cpp @@ -265,6 +265,7 @@ void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCooki cfsetispeed(options, B230400); cfsetospeed(options, B230400); break; +#ifndef __APPLE__ case UartBaudRate::RATE_460800: cfsetispeed(options, B460800); cfsetospeed(options, B460800); @@ -313,6 +314,7 @@ void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCooki cfsetispeed(options, B4000000); cfsetospeed(options, B4000000); break; +#endif // ! __APPLE__ default: #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl; diff --git a/src/fsfw/cfdp/pdu/HeaderSerializer.h b/src/fsfw/cfdp/pdu/HeaderSerializer.h index 8f2fc3fd..1de97d63 100644 --- a/src/fsfw/cfdp/pdu/HeaderSerializer.h +++ b/src/fsfw/cfdp/pdu/HeaderSerializer.h @@ -44,7 +44,7 @@ class HeaderSerializer : public SerializeIF, public PduHeaderIF { cfdp::WidthInBytes getLenEntityIds() const override; cfdp::WidthInBytes getLenSeqNum() const override; cfdp::SegmentMetadataFlag getSegmentMetadataFlag() const override; - bool hasSegmentMetadataFlag() const; + bool hasSegmentMetadataFlag() const override; void setSegmentationControl(cfdp::SegmentationControl); void getSourceId(cfdp::EntityId& sourceId) const override; diff --git a/src/fsfw/container/FixedArrayList.h b/src/fsfw/container/FixedArrayList.h index c09a421e..26a73921 100644 --- a/src/fsfw/container/FixedArrayList.h +++ b/src/fsfw/container/FixedArrayList.h @@ -9,7 +9,7 @@ */ template class FixedArrayList : public ArrayList { -#if !defined(_MSC_VER) +#if !defined(_MSC_VER) && !defined(__clang__) static_assert(MAX_SIZE <= (std::pow(2, sizeof(count_t) * 8) - 1), "count_t is not large enough to hold MAX_SIZE"); #endif diff --git a/src/fsfw/controller/ControllerBase.h b/src/fsfw/controller/ControllerBase.h index 7032f817..227b859b 100644 --- a/src/fsfw/controller/ControllerBase.h +++ b/src/fsfw/controller/ControllerBase.h @@ -55,7 +55,7 @@ class ControllerBase : public HasModesIF, virtual void performControlOperation() = 0; virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, - uint32_t *msToReachTheMode) = 0; + uint32_t *msToReachTheMode) override = 0; const object_id_t parentId; @@ -80,9 +80,9 @@ class ControllerBase : public HasModesIF, /** Mode helpers */ virtual void modeChanged(Mode_t mode, Submode_t submode); - virtual void startTransition(Mode_t mode, Submode_t submode); - virtual void getMode(Mode_t *mode, Submode_t *submode); - virtual void setToExternalControl(); + virtual void startTransition(Mode_t mode, Submode_t submode) override; + virtual void getMode(Mode_t *mode, Submode_t *submode) override; + virtual void setToExternalControl() override; virtual void announceMode(bool recursive); /** HK helpers */ virtual void changeHK(Mode_t mode, Submode_t submode, bool enable); diff --git a/src/fsfw/datapool/PoolDataSetBase.h b/src/fsfw/datapool/PoolDataSetBase.h index 1b4bacda..dc6ec135 100644 --- a/src/fsfw/datapool/PoolDataSetBase.h +++ b/src/fsfw/datapool/PoolDataSetBase.h @@ -109,7 +109,7 @@ class PoolDataSetBase : public PoolDataSetIF, public SerializeIF, public HasRetu */ virtual ReturnValue_t unlockDataPool() override; - virtual uint16_t getFillCount() const; + virtual uint16_t getFillCount() const override; /* SerializeIF implementations */ virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, const size_t maxSize, diff --git a/src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp b/src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp index 4a076212..62fdb184 100644 --- a/src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp +++ b/src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp @@ -94,13 +94,14 @@ ReturnValue_t LocalPoolDataSetBase::serializeWithValidityBuffer( ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; const uint8_t validityMaskSize = std::ceil(static_cast(fillCount) / 8.0); uint8_t *validityPtr = nullptr; -#ifdef _MSC_VER - /* Use a std::vector here because MSVC will (rightly) not create a fixed size array - with a non constant size specifier */ - std::vector validityMask(validityMaskSize); +#if defined(_MSC_VER) || defined(__clang__) + // Use a std::vector here because MSVC will (rightly) not create a fixed size array + // with a non constant size specifier. The Apple compiler (LLVM) will not accept + // the initialization of a variable sized array + std::vector validityMask(validityMaskSize, 0); validityPtr = validityMask.data(); #else - uint8_t validityMask[validityMaskSize] = {0}; + uint8_t validityMask[validityMaskSize] = {}; validityPtr = validityMask; #endif uint8_t validBufferIndex = 0; diff --git a/src/fsfw/datapoollocal/LocalPoolObjectBase.h b/src/fsfw/datapoollocal/LocalPoolObjectBase.h index 56e190df..b2ffa4c1 100644 --- a/src/fsfw/datapoollocal/LocalPoolObjectBase.h +++ b/src/fsfw/datapoollocal/LocalPoolObjectBase.h @@ -23,8 +23,8 @@ class LocalPoolObjectBase : public PoolVariableIF, public HasReturnvaluesIF, pub LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId, DataSetIF* dataSet = nullptr, pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE); - void setReadWriteMode(pool_rwm_t newReadWriteMode); - pool_rwm_t getReadWriteMode() const; + void setReadWriteMode(pool_rwm_t newReadWriteMode) override; + pool_rwm_t getReadWriteMode() const override; bool isValid() const override; void setValid(bool valid) override; diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.h b/src/fsfw/devicehandlers/DeviceHandlerBase.h index 5e974831..5808b8e6 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.h +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.h @@ -163,7 +163,7 @@ class DeviceHandlerBase : public DeviceHandlerIF, * @param counter Specifies which Action to perform * @return RETURN_OK for successful execution */ - virtual ReturnValue_t performOperation(uint8_t counter); + virtual ReturnValue_t performOperation(uint8_t counter) override; /** * @brief Initializes the device handler @@ -173,7 +173,7 @@ class DeviceHandlerBase : public DeviceHandlerIF, * Calls fillCommandAndReplyMap(). * @return */ - virtual ReturnValue_t initialize(); + virtual ReturnValue_t initialize() override; /** * @brief Intialization steps performed after all tasks have been created. @@ -1058,11 +1058,11 @@ class DeviceHandlerBase : public DeviceHandlerIF, * @param parameter1 Optional parameter 1 * @param parameter2 Optional parameter 2 */ - void triggerEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0); + void triggerEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) override; /** * Same as triggerEvent, but for forwarding if object is used as proxy. */ - virtual void forwardEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) const; + virtual void forwardEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) const override; /** * Checks if current mode is transitional mode. diff --git a/src/fsfw/globalfunctions/matching/MatchTree.h b/src/fsfw/globalfunctions/matching/MatchTree.h index 68b8f270..ec98e22a 100644 --- a/src/fsfw/globalfunctions/matching/MatchTree.h +++ b/src/fsfw/globalfunctions/matching/MatchTree.h @@ -25,7 +25,7 @@ class MatchTree : public SerializeableMatcherIF, public BinaryTree>(root.element), maxDepth(maxDepth) {} MatchTree() : BinaryTree>(), maxDepth(-1) {} virtual ~MatchTree() {} - virtual bool match(T number) { return matchesTree(number); } + virtual bool match(T number) override { return matchesTree(number); } bool matchesTree(T number) { iterator iter = this->begin(); if (iter == this->end()) { diff --git a/src/fsfw/globalfunctions/matching/RangeMatcher.h b/src/fsfw/globalfunctions/matching/RangeMatcher.h index 4e1f3922..c5962ab3 100644 --- a/src/fsfw/globalfunctions/matching/RangeMatcher.h +++ b/src/fsfw/globalfunctions/matching/RangeMatcher.h @@ -15,7 +15,7 @@ class RangeMatcher : public SerializeableMatcherIF { RangeMatcher(T lowerBound, T upperBound, bool inverted = false) : inverted(inverted), lowerBound(lowerBound), upperBound(upperBound) {} - bool match(T input) { + bool match(T input) override { if (inverted) { return !doMatch(input); } else { diff --git a/src/fsfw/monitoring/MonitoringMessageContent.h b/src/fsfw/monitoring/MonitoringMessageContent.h index 0ac455eb..fb3ace3d 100644 --- a/src/fsfw/monitoring/MonitoringMessageContent.h +++ b/src/fsfw/monitoring/MonitoringMessageContent.h @@ -34,7 +34,7 @@ class MonitoringReportContent : public SerialLinkedListAdapter { SerializeElement limitValue; SerializeElement oldState; SerializeElement newState; - uint8_t rawTimestamp[TimeStamperIF::MISSION_TIMESTAMP_SIZE]; + uint8_t rawTimestamp[TimeStamperIF::MISSION_TIMESTAMP_SIZE] = {}; SerializeElement> timestampSerializer; TimeStamperIF* timeStamper; MonitoringReportContent() @@ -46,7 +46,6 @@ class MonitoringReportContent : public SerialLinkedListAdapter { limitValue(0), oldState(0), newState(0), - rawTimestamp({0}), timestampSerializer(rawTimestamp, sizeof(rawTimestamp)), timeStamper(NULL) { setAllNext(); diff --git a/src/fsfw/objectmanager/SystemObject.h b/src/fsfw/objectmanager/SystemObject.h index 6d5b8303..eeb68b8f 100644 --- a/src/fsfw/objectmanager/SystemObject.h +++ b/src/fsfw/objectmanager/SystemObject.h @@ -48,9 +48,9 @@ class SystemObject : public SystemObjectIF { virtual ~SystemObject(); object_id_t getObjectId() const override; virtual ReturnValue_t initialize() override; - virtual ReturnValue_t checkObjectConnections(); + virtual ReturnValue_t checkObjectConnections() override; - virtual void forwardEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) const; + virtual void forwardEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) const override; }; #endif /* FSFW_OBJECTMANAGER_SYSTEMOBJECT_H_ */ diff --git a/src/fsfw/osal/common/UdpTcPollingTask.cpp b/src/fsfw/osal/common/UdpTcPollingTask.cpp index ab982a3c..38fb1921 100644 --- a/src/fsfw/osal/common/UdpTcPollingTask.cpp +++ b/src/fsfw/osal/common/UdpTcPollingTask.cpp @@ -16,11 +16,13 @@ //! Debugging preprocessor define. #define FSFW_UDP_RECV_WIRETAPPING_ENABLED 0 +const timeval UdpTcPollingTask::DEFAULT_TIMEOUT = {0, 500000}; + UdpTcPollingTask::UdpTcPollingTask(object_id_t objectId, object_id_t tmtcUdpBridge, size_t maxRecvSize, double timeoutSeconds) : SystemObject(objectId), tmtcBridgeId(tmtcUdpBridge) { - if (frameSize > 0) { - this->frameSize = frameSize; + if (maxRecvSize > 0) { + this->frameSize = maxRecvSize; } else { this->frameSize = DEFAULT_MAX_RECV_SIZE; } @@ -31,22 +33,20 @@ UdpTcPollingTask::UdpTcPollingTask(object_id_t objectId, object_id_t tmtcUdpBrid receptionBuffer.resize(this->frameSize); if (timeoutSeconds == -1) { - receptionTimeout = DEFAULT_TIMEOUT; + receptionTimeout = UdpTcPollingTask::DEFAULT_TIMEOUT; } else { receptionTimeout = timevalOperations::toTimeval(timeoutSeconds); } } -UdpTcPollingTask::~UdpTcPollingTask() {} - -ReturnValue_t UdpTcPollingTask::performOperation(uint8_t opCode) { +[[noreturn]] ReturnValue_t UdpTcPollingTask::performOperation(uint8_t opCode) { /* Sender Address is cached here. */ - struct sockaddr senderAddress; + struct sockaddr senderAddress {}; socklen_t senderAddressSize = sizeof(senderAddress); /* Poll for new UDP datagrams in permanent loop. */ while (true) { - int bytesReceived = + ssize_t bytesReceived = recvfrom(this->serverSocket, reinterpret_cast(receptionBuffer.data()), frameSize, receptionFlags, &senderAddress, &senderAddressSize); if (bytesReceived == SOCKET_ERROR) { @@ -70,7 +70,6 @@ ReturnValue_t UdpTcPollingTask::performOperation(uint8_t opCode) { } tmtcBridge->checkAndSetClientAddress(senderAddress); } - return HasReturnvaluesIF::RETURN_OK; } ReturnValue_t UdpTcPollingTask::handleSuccessfullTcRead(size_t bytesRead) { @@ -155,7 +154,7 @@ void UdpTcPollingTask::setTimeout(double timeoutSeconds) { #endif } #elif defined(PLATFORM_UNIX) - timeval tval; + timeval tval {}; tval = timevalOperations::toTimeval(timeoutSeconds); int result = setsockopt(serverSocket, SOL_SOCKET, SO_RCVTIMEO, &tval, sizeof(receptionTimeout)); if (result == -1) { diff --git a/src/fsfw/osal/common/UdpTcPollingTask.h b/src/fsfw/osal/common/UdpTcPollingTask.h index afcd32a1..894716d7 100644 --- a/src/fsfw/osal/common/UdpTcPollingTask.h +++ b/src/fsfw/osal/common/UdpTcPollingTask.h @@ -21,11 +21,11 @@ class UdpTcPollingTask : public TcpIpBase, public SystemObject, public Executabl public: static constexpr size_t DEFAULT_MAX_RECV_SIZE = 1500; //! 0.5 default milliseconds timeout for now. - static constexpr timeval DEFAULT_TIMEOUT = {0, 500}; + static const timeval DEFAULT_TIMEOUT; UdpTcPollingTask(object_id_t objectId, object_id_t tmtcUdpBridge, size_t maxRecvSize = 0, double timeoutSeconds = -1); - virtual ~UdpTcPollingTask(); + ~UdpTcPollingTask() override = default; /** * Turn on optional timeout for UDP polling. In the default mode, @@ -34,9 +34,9 @@ class UdpTcPollingTask : public TcpIpBase, public SystemObject, public Executabl */ void setTimeout(double timeoutSeconds); - virtual ReturnValue_t performOperation(uint8_t opCode) override; - virtual ReturnValue_t initialize() override; - virtual ReturnValue_t initializeAfterTaskCreation() override; + [[noreturn]] ReturnValue_t performOperation(uint8_t opCode) override; + ReturnValue_t initialize() override; + ReturnValue_t initializeAfterTaskCreation() override; protected: StorageManagerIF* tcStore = nullptr; @@ -51,7 +51,7 @@ class UdpTcPollingTask : public TcpIpBase, public SystemObject, public Executabl std::vector receptionBuffer; size_t frameSize = 0; - timeval receptionTimeout; + timeval receptionTimeout{}; ReturnValue_t handleSuccessfullTcRead(size_t bytesRead); }; diff --git a/src/fsfw/osal/common/UdpTmTcBridge.cpp b/src/fsfw/osal/common/UdpTmTcBridge.cpp index 0efe1c74..6089f266 100644 --- a/src/fsfw/osal/common/UdpTmTcBridge.cpp +++ b/src/fsfw/osal/common/UdpTmTcBridge.cpp @@ -20,13 +20,13 @@ const std::string UdpTmTcBridge::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT; UdpTmTcBridge::UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination, - std::string udpServerPort, object_id_t tmStoreId, + const std::string& udpServerPort_, object_id_t tmStoreId, object_id_t tcStoreId) : TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) { - if (udpServerPort == "") { - this->udpServerPort = DEFAULT_SERVER_PORT; + if (udpServerPort_.empty()) { + udpServerPort = DEFAULT_SERVER_PORT; } else { - this->udpServerPort = udpServerPort; + udpServerPort = udpServerPort_; } mutex = MutexFactory::instance()->createMutex(); @@ -117,7 +117,7 @@ ReturnValue_t UdpTmTcBridge::sendTm(const uint8_t *data, size_t dataLen) { tcpip::printAddress(&clientAddress); #endif - int bytesSent = sendto(serverSocket, reinterpret_cast(data), dataLen, flags, + ssize_t bytesSent = sendto(serverSocket, reinterpret_cast(data), dataLen, flags, &clientAddress, clientAddressLen); if (bytesSent == SOCKET_ERROR) { #if FSFW_CPP_OSTREAM_ENABLED == 1 @@ -150,7 +150,7 @@ void UdpTmTcBridge::checkAndSetClientAddress(sockaddr &newAddress) { clientAddressLen = sizeof(clientAddress); } -void UdpTmTcBridge::setMutexProperties(MutexIF::TimeoutType timeoutType, dur_millis_t timeoutMs) { - this->timeoutType = timeoutType; - this->mutexTimeoutMs = timeoutMs; +void UdpTmTcBridge::setMutexProperties(MutexIF::TimeoutType timeoutType_, dur_millis_t timeoutMs) { + timeoutType = timeoutType_; + mutexTimeoutMs = timeoutMs; } diff --git a/src/fsfw/osal/common/UdpTmTcBridge.h b/src/fsfw/osal/common/UdpTmTcBridge.h index 78843ccd..b0a67430 100644 --- a/src/fsfw/osal/common/UdpTmTcBridge.h +++ b/src/fsfw/osal/common/UdpTmTcBridge.h @@ -29,10 +29,10 @@ class UdpTmTcBridge : public TmTcBridge, public TcpIpBase { /* The ports chosen here should not be used by any other process. */ static const std::string DEFAULT_SERVER_PORT; - UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination, std::string udpServerPort = "", + UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination, const std::string& udpServerPort = "", object_id_t tmStoreId = objects::TM_STORE, object_id_t tcStoreId = objects::TC_STORE); - virtual ~UdpTmTcBridge(); + ~UdpTmTcBridge() override; /** * Set properties of internal mutex. @@ -46,12 +46,12 @@ class UdpTmTcBridge : public TmTcBridge, public TcpIpBase { std::string getUdpPort() const; protected: - virtual ReturnValue_t sendTm(const uint8_t* data, size_t dataLen) override; + ReturnValue_t sendTm(const uint8_t* data, size_t dataLen) override; private: std::string udpServerPort; - struct sockaddr clientAddress; + struct sockaddr clientAddress = {}; socklen_t clientAddressLen = 0; //! Access to the client address is mutex protected as it is set by another task. diff --git a/src/fsfw/osal/host/CMakeLists.txt b/src/fsfw/osal/host/CMakeLists.txt index 2d29ce5d..8b11a531 100644 --- a/src/fsfw/osal/host/CMakeLists.txt +++ b/src/fsfw/osal/host/CMakeLists.txt @@ -1,24 +1,27 @@ -target_sources(${LIB_FSFW_NAME} - PRIVATE - Clock.cpp - FixedTimeslotTask.cpp - MessageQueue.cpp - Mutex.cpp - MutexFactory.cpp - PeriodicTask.cpp - QueueFactory.cpp - QueueMapManager.cpp - SemaphoreFactory.cpp - TaskFactory.cpp - taskHelpers.cpp +target_sources(${LIB_FSFW_NAME} PRIVATE + Clock.cpp + FixedTimeslotTask.cpp + MessageQueue.cpp + Mutex.cpp + MutexFactory.cpp + PeriodicTask.cpp + QueueFactory.cpp + QueueMapManager.cpp + SemaphoreFactory.cpp + TaskFactory.cpp + taskHelpers.cpp ) if(UNIX) - find_package(Threads REQUIRED) - - target_link_libraries(${LIB_FSFW_NAME} - PRIVATE - rt - ${CMAKE_THREAD_LIBS_INIT} - ) + find_package(Threads REQUIRED) + + target_link_libraries(${LIB_FSFW_NAME} PRIVATE + ${CMAKE_THREAD_LIBS_INIT} + ) + if(NOT APPLE) + target_link_libraries(${LIB_FSFW_NAME} PRIVATE + rt + ) + endif() + endif() \ No newline at end of file diff --git a/src/fsfw/osal/linux/CMakeLists.txt b/src/fsfw/osal/linux/CMakeLists.txt index 679b2931..2e88d6d0 100644 --- a/src/fsfw/osal/linux/CMakeLists.txt +++ b/src/fsfw/osal/linux/CMakeLists.txt @@ -1,29 +1,29 @@ target_sources(${LIB_FSFW_NAME} PRIVATE - Clock.cpp - BinarySemaphore.cpp - CountingSemaphore.cpp - FixedTimeslotTask.cpp - InternalErrorCodes.cpp - MessageQueue.cpp - Mutex.cpp - MutexFactory.cpp - PeriodicPosixTask.cpp - PosixThread.cpp - QueueFactory.cpp - SemaphoreFactory.cpp - TaskFactory.cpp - tcpipHelpers.cpp - unixUtility.cpp -) + Clock.cpp + BinarySemaphore.cpp + CountingSemaphore.cpp + FixedTimeslotTask.cpp + InternalErrorCodes.cpp + MessageQueue.cpp + Mutex.cpp + MutexFactory.cpp + PeriodicPosixTask.cpp + PosixThread.cpp + QueueFactory.cpp + SemaphoreFactory.cpp + TaskFactory.cpp + tcpipHelpers.cpp + unixUtility.cpp + ) find_package(Threads REQUIRED) -target_link_libraries(${LIB_FSFW_NAME} PRIVATE - ${CMAKE_THREAD_LIBS_INIT} +target_link_libraries(${LIB_FSFW_NAME} PUBLIC + ${CMAKE_THREAD_LIBS_INIT} + ) + +if(NOT APPLE) + target_link_libraries(${LIB_FSFW_NAME} PUBLIC rt -) - -target_link_libraries(${LIB_FSFW_NAME} INTERFACE - ${CMAKE_THREAD_LIBS_INIT} -) - + ) +endif() diff --git a/src/fsfw/power/Fuse.h b/src/fsfw/power/Fuse.h index e6f9c149..787fa38d 100644 --- a/src/fsfw/power/Fuse.h +++ b/src/fsfw/power/Fuse.h @@ -54,7 +54,7 @@ class Fuse : public SystemObject, ReturnValue_t check(); uint8_t getFuseId() const; - ReturnValue_t initialize(); + ReturnValue_t initialize() override; DeviceList devices; ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize, SerializeIF::Endianness streamEndianness) const override; diff --git a/src/fsfw/pus/Service3Housekeeping.h b/src/fsfw/pus/Service3Housekeeping.h index c1928891..70f15762 100644 --- a/src/fsfw/pus/Service3Housekeeping.h +++ b/src/fsfw/pus/Service3Housekeeping.h @@ -43,7 +43,7 @@ class Service3Housekeeping : public CommandingServiceBase, public AcceptsHkPacke CommandMessage* optionalNextCommand, object_id_t objectId, bool* isStep) override; - virtual MessageQueueId_t getHkQueue() const; + virtual MessageQueueId_t getHkQueue() const override; private: enum class Subservice { diff --git a/src/fsfw/subsystem/Subsystem.h b/src/fsfw/subsystem/Subsystem.h index d3e197b0..f1e7228d 100644 --- a/src/fsfw/subsystem/Subsystem.h +++ b/src/fsfw/subsystem/Subsystem.h @@ -126,18 +126,18 @@ class Subsystem : public SubsystemBase, public HasModeSequenceIF { ReturnValue_t deleteTable(Mode_t id); - virtual void performChildOperation(); + virtual void performChildOperation() override; - virtual ReturnValue_t handleCommandMessage(CommandMessage *message); + virtual ReturnValue_t handleCommandMessage(CommandMessage *message) override; bool isFallbackSequence(Mode_t SequenceId); bool isTableUsed(Mode_t tableId); virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, - uint32_t *msToReachTheMode); + uint32_t *msToReachTheMode) override; - virtual void startTransition(Mode_t mode, Submode_t submode); + virtual void startTransition(Mode_t mode, Submode_t submode) override; void sendSerializablesAsCommandMessage(Command_t command, SerializeIF **elements, uint8_t count); diff --git a/src/fsfw/subsystem/SubsystemBase.h b/src/fsfw/subsystem/SubsystemBase.h index 8cfd5be0..52f9891e 100644 --- a/src/fsfw/subsystem/SubsystemBase.h +++ b/src/fsfw/subsystem/SubsystemBase.h @@ -123,15 +123,15 @@ class SubsystemBase : public SystemObject, virtual void performChildOperation() = 0; virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, - uint32_t *msToReachTheMode) = 0; + uint32_t *msToReachTheMode) override = 0; - virtual void startTransition(Mode_t mode, Submode_t submode) = 0; + virtual void startTransition(Mode_t mode, Submode_t submode) override = 0; - virtual void getMode(Mode_t *mode, Submode_t *submode); + virtual void getMode(Mode_t *mode, Submode_t *submode) override; - virtual void setToExternalControl(); + virtual void setToExternalControl() override; - virtual void announceMode(bool recursive); + virtual void announceMode(bool recursive) override; virtual void modeChanged(); }; diff --git a/src/fsfw/timemanager/CCSDSTime.cpp b/src/fsfw/timemanager/CCSDSTime.cpp index 9ebd1d79..1f84dd03 100644 --- a/src/fsfw/timemanager/CCSDSTime.cpp +++ b/src/fsfw/timemanager/CCSDSTime.cpp @@ -6,10 +6,6 @@ #include "fsfw/FSFW.h" -CCSDSTime::CCSDSTime() {} - -CCSDSTime::~CCSDSTime() {} - ReturnValue_t CCSDSTime::convertToCcsds(Ccs_seconds* to, const Clock::TimeOfDay_t* from) { ReturnValue_t result = checkTimeOfDay(from); if (result != RETURN_OK) { @@ -428,7 +424,7 @@ ReturnValue_t CCSDSTime::convertFromCUC(timeval* to, const uint8_t* from, size_t from++; ReturnValue_t result = convertFromCUC(to, pField, from, foundLength, maxLength - 1); if (result == HasReturnvaluesIF::RETURN_OK) { - if (foundLength != NULL) { + if (foundLength != nullptr) { *foundLength += 1; } } @@ -588,18 +584,18 @@ ReturnValue_t CCSDSTime::convertFromCUC(timeval* to, uint8_t pField, const uint8 uint8_t nCoarse = ((pField & 0b1100) >> 2) + 1; uint8_t nFine = (pField & 0b11); size_t totalLength = nCoarse + nFine; - if (foundLength != NULL) { + if (foundLength != nullptr) { *foundLength = totalLength; } if (totalLength > maxLength) { return LENGTH_MISMATCH; } - for (int count = 0; count < nCoarse; count++) { - secs += *from << ((nCoarse * 8 - 8) * (1 + count)); + for (int count = nCoarse; count > 0; count--) { + secs += *from << (count * 8 - 8); from++; } - for (int count = 0; count < nFine; count++) { - subSeconds += *from << ((nFine * 8 - 8) * (1 + count)); + for (int count = nFine; count > 0; count--) { + subSeconds += *from << (count * 8 - 8); from++; } // Move to POSIX epoch. diff --git a/src/fsfw/timemanager/CCSDSTime.h b/src/fsfw/timemanager/CCSDSTime.h index 19c980d0..2a2316af 100644 --- a/src/fsfw/timemanager/CCSDSTime.h +++ b/src/fsfw/timemanager/CCSDSTime.h @@ -161,18 +161,37 @@ class CCSDSTime : public HasReturnvaluesIF { */ static ReturnValue_t convertFromCcsds(timeval *to, uint8_t const *from, size_t *foundLength, size_t maxLength); - + /** + * @brief Currently unsupported conversion due to leapseconds + * + * @param to Time Of Day (UTC) + * @param from Buffer to take the CUC from + * @param length Length of buffer + * @return ReturnValue_t UNSUPPORTED_TIME_FORMAT in any case ATM + */ static ReturnValue_t convertFromCUC(Clock::TimeOfDay_t *to, uint8_t const *from, uint8_t length); - + /** + * @brief Converts from CCSDS CUC to timeval + * + * If input is CCSDS Epoch this is TAI! -> No leapsecond support. + * + * Currently, it only supports seconds + 2 Byte Subseconds (1/65536 seconds) + * + * + * @param to Timeval to write the result to + * @param from Buffer to read from + * @param foundLength Length found by this function (can be nullptr if unused) + * @param maxLength Max length of the buffer to be read + * @return ReturnValue_t - RETURN_OK if successful + * - LENGTH_MISMATCH if expected length is larger than maxLength + */ static ReturnValue_t convertFromCUC(timeval *to, uint8_t const *from, size_t *foundLength, size_t maxLength); - static ReturnValue_t convertFromCUC(timeval *to, uint8_t pField, uint8_t const *from, size_t *foundLength, size_t maxLength); static ReturnValue_t convertFromCCS(timeval *to, uint8_t const *from, size_t *foundLength, size_t maxLength); - static ReturnValue_t convertFromCCS(timeval *to, uint8_t pField, uint8_t const *from, size_t *foundLength, size_t maxLength); @@ -192,8 +211,8 @@ class CCSDSTime : public HasReturnvaluesIF { static uint32_t subsecondsToMicroseconds(uint16_t subseconds); private: - CCSDSTime(); - virtual ~CCSDSTime(); + CCSDSTime(){}; + virtual ~CCSDSTime(){}; /** * checks a ccs time stream for validity * diff --git a/src/fsfw/tmtcpacket/SpacePacket.cpp b/src/fsfw/tmtcpacket/SpacePacket.cpp index c8ebbd97..16d968fb 100644 --- a/src/fsfw/tmtcpacket/SpacePacket.cpp +++ b/src/fsfw/tmtcpacket/SpacePacket.cpp @@ -19,8 +19,8 @@ SpacePacket::SpacePacket(uint16_t packetDataLength, bool isTelecommand, uint16_t SpacePacket::~SpacePacket(void) {} bool SpacePacket::addWholeData(const uint8_t* p_Data, uint32_t packet_size) { - if (packet_size <= sizeof(this->data)) { - memcpy(&this->localData.byteStream, p_Data, packet_size); + if (packet_size <= sizeof(this->localData)) { + memcpy(this->localData.byteStream, p_Data, packet_size); return true; } else { return false; diff --git a/src/fsfw/tmtcservices/CommandingServiceBase.h b/src/fsfw/tmtcservices/CommandingServiceBase.h index 0ae19505..867fc287 100644 --- a/src/fsfw/tmtcservices/CommandingServiceBase.h +++ b/src/fsfw/tmtcservices/CommandingServiceBase.h @@ -95,7 +95,7 @@ class CommandingServiceBase : public SystemObject, */ virtual ReturnValue_t performOperation(uint8_t opCode) override; - virtual uint16_t getIdentifier(); + virtual uint16_t getIdentifier() override; /** * Returns the requestQueue MessageQueueId_t @@ -104,7 +104,7 @@ class CommandingServiceBase : public SystemObject, * * @return requestQueue messageQueueId_t */ - virtual MessageQueueId_t getRequestQueue(); + virtual MessageQueueId_t getRequestQueue() override; /** * Returns the commandQueue MessageQueueId_t diff --git a/tests/src/fsfw_tests/unit/timemanager/TestCCSDSTime.cpp b/tests/src/fsfw_tests/unit/timemanager/TestCCSDSTime.cpp index a43ff8ab..e96ddfc9 100644 --- a/tests/src/fsfw_tests/unit/timemanager/TestCCSDSTime.cpp +++ b/tests/src/fsfw_tests/unit/timemanager/TestCCSDSTime.cpp @@ -179,6 +179,27 @@ TEST_CASE("CCSDSTime Tests", "[TestCCSDSTime]") { CHECK(todFromCCSDS.second == time.second); CHECK(todFromCCSDS.usecond == 123000); } + SECTION("CUC") { + timeval to; + // seconds = 0x771E960F, microseconds = 0x237 + // microseconds = 567000 + // This gives 37158.912 1/65536 seconds -> rounded to 37159 -> 0x9127 + // This results in -> 567001 us + std::array cucBuffer = { + CCSDSTime::P_FIELD_CUC_6B_CCSDS, 0x77, 0x1E, 0x96, 0x0F, 0x91, 0x27}; + size_t foundLength = 0; + auto result = CCSDSTime::convertFromCUC(&to, cucBuffer.data(), &foundLength, cucBuffer.size()); + REQUIRE(result == HasReturnvaluesIF::RETURN_OK); + REQUIRE(foundLength == 7); + REQUIRE(to.tv_sec == 1619801999); // TAI (no leap seconds) + REQUIRE(to.tv_usec == 567001); + + Clock::TimeOfDay_t tod; + result = CCSDSTime::convertFromCUC(&tod, cucBuffer.data(), cucBuffer.size()); + // This test must be changed if this is ever going to be implemented + REQUIRE(result == CCSDSTime::UNSUPPORTED_TIME_FORMAT); + } + SECTION("CCSDS Failures") { Clock::TimeOfDay_t time; time.year = 2020;