updated docs, added new doc folder
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README.md
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README.md
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# Flight Software Framework (FSFW)
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The Flight Software Framework is a C++ Object Oriented Framework for unmanned,
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@ -14,83 +15,54 @@ The framework is designed for systems, which communicate with external devices,
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Therefore, a mode and health system provides control over the states of the software and the controlled devices.
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In addition, a simple mechanism of event based fault detection, isolation and recovery is implemented as well.
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The recommended hardware is a microprocessor with more than 2 MB of RAM and 1 MB of non-volatile Memory.
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The recommended hardware is a microprocessor with more than 1 MB of RAM and 1 MB of non-volatile Memory.
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For reference, current Applications use a Cobham Gaisler UT699 (LEON3FT), a ISISPACE IOBC or a Zynq-7020 SoC.
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The `fsfw` was also tested on the STM32H743ZI-Nucleo board.
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## How to Use
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The [FSFW example](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example) provides a good starting point and a demo
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to see the FSFW capabilities and build it with the Make or the CMake build system.
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Generally, the FSFW is included in a project by compiling the FSFW sources and providing
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a configuration folder and adding it to the include path.
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A template configuration folder was provided and can be copied into the project root to have
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a starting point. The [configuration section](doc/README-config.md#top) provides more specific information about
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the possible options.
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## Structure
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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.
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The general structure is driven by the usage of interfaces provided by objects.
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The FSFW uses C++11 as baseline. The intention behind this is that this C++ Standard should be widely available, even with older compilers.
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The FSFW uses dynamic allocation during the initialization but provides static containers during runtime.
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This simplifies the instantiation of objects and allows the usage of some standard containers.
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Dynamic Allocation after initialization is discouraged and different solutions are provided in the FSFW to achieve that.
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The fsfw uses Run-time type information.
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Exceptions are not allowed.
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The fsfw uses run-time type information but exceptions are not allowed.
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### Failure Handling
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Functions should return a defined ReturnValue_t to signal to the caller that something is gone wrong.
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Functions should return a defined ReturnValue_t to signal to the caller that something has gone wrong.
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Returnvalues must be unique. For this the function HasReturnvaluesIF::makeReturnCode or the Macro MAKE_RETURN can be used.
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The CLASS_ID is a unique id for that type of object. See returnvalues/FwClassIds.
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### OSAL
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The FSFW provides operation system abstraction layers for Linux, FreeRTOS and RTEMS. A independent OSAL called "host" is currently not finished. This aims to be running on windows as well.
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The OSAL provides periodic tasks, message queues, clocks and Semaphores as well as Mutexes.
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The FSFW provides operation system abstraction layers for Linux, FreeRTOS and RTEMS.
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A independent Host OSAL is in development which will provide abstraction for common type of
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host OSes (tested for Linux and Windows, not for MacOS yet).
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The OSAL provides periodic tasks, message queues, clocks and semaphores as well as mutexes.
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### Core Components
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Clock:
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* This is a class of static functions that can be used at anytime
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* Leap Seconds must be set if any time conversions from UTC to other times is used
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ObjectManager (must be created):
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* The component which handles all references. All SystemObjects register at this component.
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* Any SystemObject needs to have a unique ObjectId. Those can be managed like objects::framework_objects.
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* A reference to an object can be get by calling the following function. T must be the specific Interface you want to call.
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A nullptr check of the returning Pointer must be done. This function is based on Run-time type information.
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``` c++
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template <typename T> T* ObjectManagerIF::get( object_id_t id )
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```
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* A typical way to create all objects on startup is a handing a static produce function to the ObjectManager on creation.
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By calling objectManager->initialize() the produce function will be called and all SystemObjects will be initialized afterwards.
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Event Manager:
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* Component which allows routing of events
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* Other objects can subscribe to specific events, ranges of events or all events of an object.
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* Subscriptions can be done during runtime but should be done during initialization
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* Amounts of allowed subscriptions must be configured by setting this parameters:
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``` c++
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namespace fsfwconfig {
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//! Configure the allocated pool sizes for the event manager.
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static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
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static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
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static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120;
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}
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```
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Health Table:
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* A component which holds every health state
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* Provides a thread safe way to access all health states without the need of message exchanges
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Stores
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* 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.
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* 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.
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* All of them should use the Thread Safe Class storagemanager/PoolManager
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Tasks
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There are two different types of tasks:
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* The PeriodicTask just executes objects that are of type ExecutableObjectIF in the order of the insertion to the Tasks.
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* 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
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The FSFW has following core components. More detailed informations can be found in the
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[core component section](doc/README-core.md#top):
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1. Tasks: Abstraction for different (periodic) task types like periodic tasks or tasks with fixed timeslots
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2. ObjectManager: This module stores all `SystemObjects` by mapping a provided unique object ID to the object handles.
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3. Static Stores: Different stores are provided to store data of variable size (like telecommands or small telemetry) in a pool structure without
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using dynamic memory allocation. These pools are allocated up front.
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3. Clock: This module provided common time related functions
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4. EventManager: This module allows routing of events generated by `SystemObjects`
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5. HealthTable: A component which stores the health states of objects
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### Static Ids in the framework
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@ -121,13 +93,15 @@ If the communication is based on CCSDS Frames and Space Packets, several classes
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If Space Packets are used, a timestamper must be created.
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An example can be found in the timemanager folder, this uses CCSDSTime::CDS_short.
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#### DeviceHandling
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#### Device Handlers
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DeviceHandlers are a core component of the FSFW.
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DeviceHandlers are another important component of the FSFW.
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The idea is, to have a software counterpart of every physical device to provide a simple mode, health and commanding interface.
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By separating the underlying Communication Interface with DeviceCommunicationIF, a DH can be tested on different hardware.
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By separating the underlying Communication Interface with DeviceCommunicationIF, a device handler (DH) can be tested on different hardware.
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The DH has mechanisms to monitor the communication with the physical device which allow for FDIR reaction.
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Device Handlers can be created by overriding `DeviceHandlerBase`.
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A standard FDIR component for the DH will be created automatically but can be overwritten by the user.
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More information on DeviceHandlers can be found in the related [documentation section](doc/README-devicehandlers.md#top).
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#### Modes, Health
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@ -149,10 +123,6 @@ The health state represents if the component is able to perform its tasks.
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This can be used to signal the system to avoid using this component instead of a redundant one.
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The on-board FDIR uses the health state for isolation and recovery.
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## Example config
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A example config can be found in defaultcfg/fsfwconfig.
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## Unit Tests
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Unit Tests are provided in the unittest folder. Those use the catch2 framework but do not include catch2 itself.
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## Configuring the FSFW
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The FSFW can be configured via the `fsfwconfig` folder. A template folder has
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been provided to have a starting point for this. The folder should be added
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to the include path.
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### Configuring the Event Manager
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The number of allowed subscriptions can be modified with the following
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parameters:
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``` c++
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namespace fsfwconfig {
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//! Configure the allocated pool sizes for the event manager.
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static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
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static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
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static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120;
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}
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```
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## FSFW Core Modules
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These core modules provide the most important functionalities of the
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Flight Software Framework
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### Clock
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* This is a class of static functions that can be used at anytime
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* Leap Seconds must be set if any time conversions from UTC to other times is used
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### ObjectManager
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* Must be created during program startup
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* The component which handles all references. All SystemObjects register at this component.
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* Any SystemObject needs to have a unique ObjectId. Those can be managed like objects::framework_objects.
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* A reference to an object can be get by calling the following function. T must be the specific Interface you want to call.
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A nullptr check of the returning Pointer must be done. This function is based on Run-time type information.
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``` c++
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template <typename T> T* ObjectManagerIF::get( object_id_t id )
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```
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* A typical way to create all objects on startup is a handing a static produce function to the ObjectManager on creation.
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By calling objectManager->initialize() the produce function will be called and all SystemObjects will be initialized afterwards.
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### Event Manager
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* Component which allows routing of events
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* Other objects can subscribe to specific events, ranges of events or all events of an object.
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* Subscriptions can be done during runtime but should be done during initialization
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* Amounts of allowed subscriptions can be configured in `FSFWConfig.h`
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### Health Table
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* A component which holds every health state
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* Provides a thread safe way to access all health states without the need of message exchanges
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### Stores
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* The message based communication can only exchange a few bytes of information inside the message itself. Therefore, additional information can
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be exchanged with Stores. With this, only the store address must be exchanged in the message.
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* 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.
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* All of them should use the Thread Safe Class storagemanager/PoolManager
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### Tasks
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There are two different types of tasks:
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* The PeriodicTask just executes objects that are of type ExecutableObjectIF in the order of the insertion to the Tasks.
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* 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
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