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Merge remote-tracking branch 'origin/develop' into mueller/pus-15-tm-storage

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This commit is contained in:
Robin Müller 2023-02-14 17:33:59 +01:00
commit 70b785984c
14 changed files with 87 additions and 71 deletions
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9
CHANGELOG.md
View File

@ -12,15 +12,22 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
## Fixes
- Bugfix in `Service11TelecommandScheduling` which allowed commands
time tagged in the past to be inserted.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/738
- `CService200ModeManagement`: Various bugfixes which lead to now execution complete being generated
on mode announcements, duplicate mode reply generated on announce commands, and the mode read
subservice not working properly.
- Memory leak fixes for the TCP/IP TMTC bridge.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/737
- `Service9TimeManagement`: Fix the time dump at the `SET_TIME` subservice: Include clock timeval
seconds instead of uptime.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/726
- HAL MGM3100 Handler: Use axis specific gain/scaling factors. Previously,
only the X scaling factor was used.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/724
- Bugfix for RM3100 MGM sensors. Z value was previously calculated
with bytes of the X value.
- DHB `setNormalDatapoolEntriesInvalid`: The default implementation did not set the validity
to false correctly because the `read` and `write` calls were missing.
- PUS TMTC creator module: Sequence flags were set to continuation segment (0b00) instead
@ -43,6 +50,8 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
- `CServiceHealthCommanding`: Add announce all health info implementation
PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/122
- Empty constructor for `CdsShortTimeStamper` which does not do an object manager registration.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/730
- `Service9TimeManagement`: Add `DUMP_TIME` (129) subservice.
- `TcpTmTcServer`: Allow setting the `SO_REUSEADDR` and `SO_REUSEPORT`
option on the TCP server. CTOR prototype has changed and expects an explicit

10
CMakeLists.txt
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@ -153,12 +153,12 @@ if(FSFW_BUILD_TESTS)
"${MSG_PREFIX} Building the FSFW unittests in addition to the static library"
)
# Check whether the user has already installed Catch2 first
find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION})
find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION} QUIET)
# Not installed, so use FetchContent to download and provide Catch2
if(NOT Catch2_FOUND)
message(
STATUS
"${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent"
"${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent."
)
include(FetchContent)
@ -196,13 +196,13 @@ message(
)
# Check whether the user has already installed ETL first
find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} CONFIG QUIET)
find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
# Not installed, so use FetchContent to download and provide etl
if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
message(
STATUS
"${MSG_PREFIX} No ETL installation was found with find_package. Installing and providing "
"etl with FindPackage")
"${MSG_PREFIX} ETL installation not found. Downloading ETL with FetchContent."
)
include(FetchContent)
FetchContent_Declare(

41
src/fsfw/devicehandlers/DeviceHandlerBase.cpp
View File

@ -58,12 +58,7 @@ void DeviceHandlerBase::setHkDestination(object_id_t hkDestination) {
this->hkDestination = hkDestination;
}
void DeviceHandlerBase::setThermalStateRequestPoolIds(lp_id_t thermalStatePoolId,
lp_id_t heaterRequestPoolId,
uint32_t thermalSetId) {
thermalSet =
new DeviceHandlerThermalSet(this, thermalSetId, thermalStatePoolId, heaterRequestPoolId);
}
void DeviceHandlerBase::enableThermalModule(ThermalStateCfg cfg) { this->thermalStateCfg = cfg; }
DeviceHandlerBase::~DeviceHandlerBase() {
if (comCookie != nullptr) {
@ -227,12 +222,11 @@ ReturnValue_t DeviceHandlerBase::initialize() {
fillCommandAndReplyMap();
if (thermalSet != nullptr) {
PoolReadGuard pg(thermalSet);
// Set temperature target state to NON_OP.
result = thermalSet->read();
if (result == returnvalue::OK) {
if (pg.getReadResult() == returnvalue::OK) {
thermalSet->heaterRequest.value = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
thermalSet->heaterRequest.setValid(true);
thermalSet->commit();
}
}
@ -594,12 +588,12 @@ void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
Clock::getUptime(&timeoutStart);
if (mode == MODE_OFF and thermalSet != nullptr) {
ReturnValue_t result = thermalSet->read();
if (result == returnvalue::OK) {
PoolReadGuard pg(thermalSet);
if (pg.getReadResult() == returnvalue::OK) {
if (thermalSet->heaterRequest.value != ThermalComponentIF::STATE_REQUEST_IGNORE) {
thermalSet->heaterRequest.value = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
}
thermalSet->heaterRequest.commit(PoolVariableIF::VALID);
thermalSet->heaterRequest.setValid(true);
}
}
/* TODO: This will probably be done by the LocalDataPoolManager now */
@ -1088,8 +1082,8 @@ ReturnValue_t DeviceHandlerBase::checkModeCommand(Mode_t commandedMode, Submode_
// Do not check thermal state for MODE_RAW
if ((mode == MODE_OFF) and ((commandedMode == MODE_ON) or (commandedMode == MODE_NORMAL)) and
(thermalSet != nullptr)) {
ReturnValue_t result = thermalSet->read();
if (result == returnvalue::OK) {
PoolReadGuard pg(thermalSet);
if (pg.getReadResult() == returnvalue::OK) {
if ((thermalSet->heaterRequest.value != ThermalComponentIF::STATE_REQUEST_IGNORE) and
(not ThermalComponentIF::isOperational(thermalSet->thermalState.value))) {
triggerEvent(ThermalComponentIF::TEMP_NOT_IN_OP_RANGE, thermalSet->thermalState.value);
@ -1150,11 +1144,10 @@ void DeviceHandlerBase::handleTransitionToOnMode(Mode_t commandedMode, Submode_t
childTransitionDelay = getTransitionDelayMs(_MODE_START_UP, MODE_ON);
triggerEvent(CHANGING_MODE, commandedMode, commandedSubmode);
if (thermalSet != nullptr) {
ReturnValue_t result = thermalSet->read();
if (result == returnvalue::OK) {
PoolReadGuard pg(thermalSet);
if (pg.getReadResult() == returnvalue::OK) {
if (thermalSet->heaterRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
thermalSet->heaterRequest = ThermalComponentIF::STATE_REQUEST_OPERATIONAL;
thermalSet->commit();
}
}
}
@ -1477,11 +1470,11 @@ void DeviceHandlerBase::performOperationHook() {}
ReturnValue_t DeviceHandlerBase::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
if (thermalSet != nullptr) {
localDataPoolMap.emplace(thermalSet->thermalStatePoolId,
new PoolEntry<DeviceHandlerIF::dh_thermal_state_t>);
localDataPoolMap.emplace(thermalSet->heaterRequestPoolId,
new PoolEntry<DeviceHandlerIF::dh_heater_request_t>);
if (thermalStateCfg.has_value()) {
localDataPoolMap.emplace(thermalStateCfg.value().thermalStatePoolId,
new PoolEntry<DeviceHandlerIF::dh_thermal_state_t>());
localDataPoolMap.emplace(thermalStateCfg.value().thermalRequestPoolId,
new PoolEntry<DeviceHandlerIF::dh_heater_request_t>());
}
return returnvalue::OK;
}
@ -1494,6 +1487,10 @@ ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() {
}
this->poolManager.initializeAfterTaskCreation();
if (thermalStateCfg.has_value()) {
ThermalStateCfg& cfg = thermalStateCfg.value();
thermalSet = new DeviceHandlerThermalSet(this, cfg);
}
if (setStartupImmediately) {
startTransition(MODE_ON, getInitialSubmode());
}

10
src/fsfw/devicehandlers/DeviceHandlerBase.h
View File

@ -2,6 +2,7 @@
#define FSFW_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
#include <map>
#include <optional>
#include "DeviceCommunicationIF.h"
#include "DeviceHandlerFailureIsolation.h"
@ -163,13 +164,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
* The device handler will then take care of creating local pool entries
* for the device thermal state and device heating request.
* Custom local pool IDs can be assigned as well.
* @param thermalStatePoolId
* @param thermalRequestPoolId
*/
void setThermalStateRequestPoolIds(
lp_id_t thermalStatePoolId = DeviceHandlerIF::DEFAULT_THERMAL_STATE_POOL_ID,
lp_id_t thermalRequestPoolId = DeviceHandlerIF::DEFAULT_THERMAL_HEATING_REQUEST_POOL_ID,
uint32_t thermalSetId = DeviceHandlerIF::DEFAULT_THERMAL_SET_ID);
void enableThermalModule(ThermalStateCfg cfg);
ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF &parent) override;
ModeTreeChildIF &getModeTreeChildIF() override;
@ -931,6 +927,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
//! Object which may be the root cause of an identified fault.
static object_id_t defaultFdirParentId;
std::optional<ThermalStateCfg> thermalStateCfg;
/**
* @brief Send a reply to a received device handler command.
*

6
src/fsfw/devicehandlers/DeviceHandlerIF.h
View File

@ -136,4 +136,10 @@ class DeviceHandlerIF {
virtual MessageQueueId_t getCommandQueue() const = 0;
};
struct ThermalStateCfg {
lp_id_t thermalStatePoolId = DeviceHandlerIF::DEFAULT_THERMAL_STATE_POOL_ID;
lp_id_t thermalRequestPoolId = DeviceHandlerIF::DEFAULT_THERMAL_HEATING_REQUEST_POOL_ID;
uint32_t thermalSetId = DeviceHandlerIF::DEFAULT_THERMAL_SET_ID;
};
#endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERIF_H_ */

22
src/fsfw/devicehandlers/DeviceHandlerThermalSet.h
View File

@ -7,27 +7,21 @@
class DeviceHandlerThermalSet : public StaticLocalDataSet<2> {
public:
DeviceHandlerThermalSet(
HasLocalDataPoolIF* hkOwner, uint32_t setId = DeviceHandlerIF::DEFAULT_THERMAL_SET_ID,
lp_id_t thermalStateId = DeviceHandlerIF::DEFAULT_THERMAL_STATE_POOL_ID,
lp_id_t heaterRequestId = DeviceHandlerIF::DEFAULT_THERMAL_HEATING_REQUEST_POOL_ID)
: DeviceHandlerThermalSet(hkOwner->getObjectId(), setId, thermalStateId, heaterRequestId) {}
DeviceHandlerThermalSet(HasLocalDataPoolIF* hkOwner, ThermalStateCfg cfg)
: DeviceHandlerThermalSet(hkOwner->getObjectId(), cfg) {}
DeviceHandlerThermalSet(
object_id_t deviceHandler, uint32_t setId = DeviceHandlerIF::DEFAULT_THERMAL_SET_ID,
lp_id_t thermalStateId = DeviceHandlerIF::DEFAULT_THERMAL_STATE_POOL_ID,
lp_id_t thermalStateRequestId = DeviceHandlerIF::DEFAULT_THERMAL_HEATING_REQUEST_POOL_ID)
: StaticLocalDataSet(sid_t(deviceHandler, setId)),
thermalStatePoolId(thermalStateId),
heaterRequestPoolId(thermalStateRequestId) {}
DeviceHandlerThermalSet(object_id_t deviceHandler, ThermalStateCfg cfg)
: StaticLocalDataSet(sid_t(deviceHandler, cfg.thermalSetId)),
thermalStatePoolId(cfg.thermalStatePoolId),
heaterRequestPoolId(cfg.thermalRequestPoolId) {}
const lp_id_t thermalStatePoolId;
const lp_id_t heaterRequestPoolId;
lp_var_t<DeviceHandlerIF::dh_thermal_state_t> thermalState =
lp_var_t<DeviceHandlerIF::dh_thermal_state_t>(thermalStatePoolId, sid.objectId, this);
lp_var_t<DeviceHandlerIF::dh_thermal_state_t>(sid.objectId, thermalStatePoolId, this);
lp_var_t<DeviceHandlerIF::dh_heater_request_t> heaterRequest =
lp_var_t<DeviceHandlerIF::dh_heater_request_t>(heaterRequestPoolId, sid.objectId, this);
lp_var_t<DeviceHandlerIF::dh_heater_request_t>(sid.objectId, heaterRequestPoolId, this);
};
#endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERTHERMALSET_H_ */

2
src/fsfw/osal/common/TcpIpBase.cpp
View File

@ -41,6 +41,7 @@ int TcpIpBase::closeSocket(socket_t socket) {
#elif defined(PLATFORM_UNIX)
return close(socket);
#endif
return -1;
}
int TcpIpBase::getLastSocketError() {
@ -49,4 +50,5 @@ int TcpIpBase::getLastSocketError() {
#elif defined(PLATFORM_UNIX)
return errno;
#endif
return 0;
}

20
src/fsfw/pus/CService200ModeCommanding.cpp
View File

@ -19,7 +19,7 @@ ReturnValue_t CService200ModeCommanding::isValidSubservice(uint8_t subservice) {
switch (subservice) {
case (Subservice::COMMAND_MODE_COMMAND):
case (Subservice::COMMAND_MODE_READ):
case (Subservice::COMMAND_MODE_ANNCOUNCE):
case (Subservice::COMMAND_MODE_ANNOUNCE):
case (Subservice::COMMAND_MODE_ANNOUNCE_RECURSIVELY):
return returnvalue::OK;
default:
@ -54,6 +54,7 @@ ReturnValue_t CService200ModeCommanding::checkInterfaceAndAcquireMessageQueue(
ReturnValue_t CService200ModeCommanding::prepareCommand(CommandMessage *message, uint8_t subservice,
const uint8_t *tcData, size_t tcDataLen,
uint32_t *state, object_id_t objectId) {
bool recursive = false;
switch (subservice) {
case (Subservice::COMMAND_MODE_COMMAND): {
ModePacket modeCommandPacket;
@ -67,23 +68,18 @@ ReturnValue_t CService200ModeCommanding::prepareCommand(CommandMessage *message,
modeCommandPacket.getMode(), modeCommandPacket.getSubmode());
return returnvalue::OK;
}
case (Subservice::COMMAND_MODE_ANNCOUNCE):
case (Subservice::COMMAND_MODE_ANNOUNCE_RECURSIVELY): {
bool recursive = true;
if (subservice == Subservice::COMMAND_MODE_ANNCOUNCE) {
recursive = false;
}
case (Subservice::COMMAND_MODE_ANNOUNCE_RECURSIVELY):
recursive = true;
[[fallthrough]];
case (Subservice::COMMAND_MODE_ANNOUNCE):
ModeMessage::setModeAnnounceMessage(*message, recursive);
return EXECUTION_COMPLETE;
}
case (Subservice::COMMAND_MODE_READ): {
case (Subservice::COMMAND_MODE_READ):
ModeMessage::setModeReadMessage(*message);
return returnvalue::OK;
}
default: {
default:
return CommandingServiceBase::INVALID_SUBSERVICE;
}
}
}
ReturnValue_t CService200ModeCommanding::handleReply(const CommandMessage *reply,

2
src/fsfw/pus/CService200ModeCommanding.h
View File

@ -52,7 +52,7 @@ class CService200ModeCommanding : public CommandingServiceBase {
COMMAND_MODE_READ = 3,
//!< [EXPORT] : [COMMAND] Trigger an ModeInfo Event.
//! This command does NOT have a reply
COMMAND_MODE_ANNCOUNCE = 4,
COMMAND_MODE_ANNOUNCE = 4,
//!< [EXPORT] : [COMMAND] Trigger a ModeInfo Event and to send this
//! command to every child. This command does NOT have a reply.
COMMAND_MODE_ANNOUNCE_RECURSIVELY = 5,

2
src/fsfw/pus/Service11TelecommandScheduling.tpp
View File

@ -160,7 +160,7 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doInsertActivi
// (See requirement for Time margin)
timeval tNow = {};
Clock::getClock_timeval(&tNow);
if (timestamp - tNow.tv_sec <= RELEASE_TIME_MARGIN_SECONDS) {
if (timestamp < tNow.tv_sec + RELEASE_TIME_MARGIN_SECONDS) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "Service11TelecommandScheduling::doInsertActivity: Release time too close to "
"current time"

8
src/fsfw/tmtcservices/TmTcBridge.cpp
View File

@ -145,13 +145,17 @@ ReturnValue_t TmTcBridge::handleTmQueue() {
#endif /* FSFW_VERBOSE_LEVEL >= 3 */
if (communicationLinkUp == false or packetSentCounter >= sentPacketsPerCycle) {
storeDownlinkData(&message);
ReturnValue_t result = storeDownlinkData(&message);
if (result != returnvalue::OK) {
tmStore->deleteData(message.getStorageId());
}
continue;
}
result = tmStore->getData(message.getStorageId(), &data, &size);
if (result != returnvalue::OK) {
status = result;
tmStore->deleteData(message.getStorageId());
continue;
}
@ -159,9 +163,9 @@ ReturnValue_t TmTcBridge::handleTmQueue() {
if (result != returnvalue::OK) {
status = result;
} else {
tmStore->deleteData(message.getStorageId());
packetSentCounter++;
}
tmStore->deleteData(message.getStorageId());
}
return status;
}

2
src/fsfw/tmtcservices/TmTcBridge.h
View File

@ -17,7 +17,7 @@ class TmTcBridge : public AcceptsTelemetryIF,
public:
static constexpr uint8_t TMTC_RECEPTION_QUEUE_DEPTH = 20;
static constexpr uint8_t LIMIT_STORED_DATA_SENT_PER_CYCLE = 15;
static constexpr unsigned int LIMIT_DOWNLINK_PACKETS_STORED = 1000;
static constexpr unsigned int LIMIT_DOWNLINK_PACKETS_STORED = 500;
static constexpr uint8_t DEFAULT_STORED_DATA_SENT_PER_CYCLE = 5;
static constexpr uint8_t DEFAULT_DOWNLINK_PACKETS_STORED = 10;

5
src/fsfw/version.cpp
View File

@ -1,6 +1,7 @@
#include "version.h"
#include <cstdio>
#include <cstring>
#include "fsfw/FSFWVersion.h"
@ -20,7 +21,7 @@ fsfw::Version::Version(int major, int minor, int revision, const char* addInfo)
void fsfw::Version::getVersion(char* str, size_t maxLen) const {
size_t len = snprintf(str, maxLen, "%d.%d.%d", major, minor, revision);
if (addInfo != nullptr) {
if (addInfo != nullptr and std::strcmp(addInfo, "") != 0) {
snprintf(str + len, maxLen - len, "-%s", addInfo);
}
}
@ -30,7 +31,7 @@ namespace fsfw {
#if FSFW_CPP_OSTREAM_ENABLED == 1
std::ostream& operator<<(std::ostream& os, const Version& v) {
os << v.major << "." << v.minor << "." << v.revision;
if (v.addInfo != nullptr) {
if (v.addInfo != nullptr and std::strcmp(v.addInfo, "") != 0) {
os << "-" << v.addInfo;
}
return os;

13
src/fsfw_hal/linux/spi/SpiComIF.cpp
View File

@ -179,12 +179,11 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
uint32_t spiSpeed = 0;
spiCookie->getSpiParameters(spiMode, spiSpeed, nullptr);
setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
spiCookie->assignWriteBuffer(sendData);
spiCookie->setTransferSize(sendLen);
bool fullDuplex = spiCookie->isFullDuplex();
gpioId_t gpioId = spiCookie->getChipSelectPin();
bool csLockManual = spiCookie->getCsLockManual();
spiCookie->setTransferSize(0);
MutexIF::TimeoutType csType;
dur_millis_t csTimeout = 0;
@ -195,9 +194,13 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
if (result != returnvalue::OK) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
if (result == MutexIF::MUTEX_TIMEOUT) {
sif::error << "SpiComIF::sendMessage: Lock timeout" << std::endl;
} else {
sif::error << "SpiComIF::sendMessage: Failed to lock mutex with code "
<< "0x" << std::hex << std::setfill('0') << std::setw(4) << result << std::dec
<< std::endl;
}
#else
sif::printError("SpiComIF::sendMessage: Failed to lock mutex with code %d\n", result);
#endif
@ -214,17 +217,22 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
sif::printWarning("SpiComIF::sendMessage: Pulling low CS pin failed");
#endif
#endif
csMutex->unlockMutex();
return result;
}
} else {
updateLinePolarity(fileDescriptor);
}
spiCookie->assignWriteBuffer(sendData);
spiCookie->setTransferSize(sendLen);
/* Execute transfer */
if (fullDuplex) {
/* Initiate a full duplex SPI transfer. */
retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), spiCookie->getTransferStructHandle());
if (retval < 0) {
spiCookie->setTransferSize(0);
utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
result = FULL_DUPLEX_TRANSFER_FAILED;
}
@ -234,6 +242,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
} else {
/* We write with a blocking half-duplex transfer here */
if (write(fileDescriptor, sendData, sendLen) != static_cast<ssize_t>(sendLen)) {
spiCookie->setTransferSize(0);
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SpiComIF::sendMessage: Half-Duplex write operation failed!" << std::endl;