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Merge remote-tracking branch 'upstream/development' into mueller/add-tc-scheduler-pus-11

This commit is contained in:
Robin Müller 2022-05-12 15:52:47 +02:00
parent 496bc665d6 4499c9bf04
commit 9a4c7589cc
39 changed files with 330 additions and 192 deletions
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12
CHANGELOG.md
View File

@ -12,6 +12,9 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
## Changes
- Bump C++ required version to C++17. Every project which uses the FSFW and every modern
compiler supports it
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/622
- HAL Linux SPI: Set the Clock Default State when setting new SPI speed
and mode
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
@ -52,9 +55,18 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/594
- Added ETL dependency and improved library dependency management
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/592
- `Subsystem`: New API to add table and sequence entries
## Fixed
- TCP TMTC Server: `MutexGuard` was not created properly in
`TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent)` call.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/618
- Fix infinite recursion in `prepareHealthSetReply` of PUS Health Service 201.
Is not currently used right now but might be used in the future
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/617
- Move some CMake directives further up top so they are not ignored
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/621
- Small bugfix in STM32 HAL for SPI
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/599
- HAL GPIO: Improved error checking in `LinuxLibgpioIF::configureGpios(...)`. If a GPIO

47
CMakeLists.txt
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@ -1,5 +1,15 @@
cmake_minimum_required(VERSION 3.13)
set(LIB_FSFW_NAME fsfw)
project(${LIB_FSFW_NAME})
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED True)
elseif(${CMAKE_CXX_STANDARD} LESS 17)
message(FATAL_ERROR "Compiling the FSFW requires a minimum of C++17 support")
endif()
set(FSFW_VERSION 4)
set(FSFW_SUBVERSION 0)
set(FSFW_REVISION 0)
@ -10,14 +20,15 @@ set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
set(FSFW_ETL_LIB_MAJOR_VERSION 20 CACHE STRING
"ETL library major version requirement"
)
set(FSFW_ETL_LIB_VERSION ${FSFW_ETL_LIB_MAJOR_VERSION}.27.2 CACHE STRING
set(FSFW_ETL_LIB_VERSION ${FSFW_ETL_LIB_MAJOR_VERSION}.27.3 CACHE STRING
"ETL library exact version requirement"
)
set(FSFW_ETL_LINK_TARGET etl::etl)
set(FSFW_CATCH2_LIB_MAJOR_VERSION 3 CACHE STRING
"Catch2 library major version requirement"
)
set(FSFW_CATCH2_LIB_VERSION v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview4 CACHE STRING
set(FSFW_CATCH2_LIB_VERSION v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5 CACHE STRING
"Catch2 library exact version requirement"
)
@ -54,11 +65,10 @@ option(FSFW_ADD_TMSTORAGE "Compile with tm storage components" OFF)
# Contrib sources
option(FSFW_ADD_SGP4_PROPAGATOR "Add SGP4 propagator code" OFF)
set(LIB_FSFW_NAME fsfw)
set(FSFW_TEST_TGT fsfw-tests)
set(FSFW_DUMMY_TGT fsfw-dummy)
project(${LIB_FSFW_NAME})
add_library(${LIB_FSFW_NAME})
if(FSFW_BUILD_UNITTESTS)
@ -76,9 +86,7 @@ if(FSFW_BUILD_UNITTESTS)
GIT_TAG ${FSFW_CATCH2_LIB_VERSION}
)
FetchContent_MakeAvailable(Catch2)
#fixes regression -preview4, to be confirmed in later releases
set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
endif()
set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
@ -123,7 +131,22 @@ if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
GIT_TAG ${FSFW_ETL_LIB_VERSION}
)
FetchContent_MakeAvailable(etl)
list(APPEND FSFW_FETCH_CONTENT_TARGETS ${FSFW_ETL_LIB_NAME})
endif()
# The documentation for FetchContent recommends declaring all the dependencies
# before making them available. We make all declared dependency available here
# after their declaration
if(FSFW_FETCH_CONTENT_TARGETS)
FetchContent_MakeAvailable(${FSFW_FETCH_CONTENT_TARGETS})
if(TARGET ${FSFW_ETL_LIB_NAME})
add_library(${FSFW_ETL_LINK_TARGET} ALIAS ${FSFW_ETL_LIB_NAME})
endif()
if(TARGET Catch2)
# Fixes regression -preview4, to be confirmed in later releases
# Related GitHub issue: https://github.com/catchorg/Catch2/issues/2417
set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
endif()
endif()
set(FSFW_CORE_INC_PATH "inc")
@ -138,12 +161,6 @@ target_include_directories(${LIB_FSFW_NAME} INTERFACE
${CMAKE_CURRENT_BINARY_DIR}
)
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD_REQUIRED True)
elseif(${CMAKE_CXX_STANDARD} LESS 11)
message(FATAL_ERROR "Compiling the FSFW requires a minimum of C++11 support")
endif()
# Backwards comptability
if(OS_FSFW AND NOT FSFW_OSAL)
@ -387,7 +404,7 @@ target_compile_options(${LIB_FSFW_NAME} PRIVATE
)
target_link_libraries(${LIB_FSFW_NAME} PRIVATE
${FSFW_ETL_LIB_NAME}
${FSFW_ETL_LINK_TARGET}
${FSFW_ADDITIONAL_LINK_LIBS}
)

6
automation/Dockerfile
View File

@ -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

2
automation/Jenkinsfile vendored
View File

@ -3,7 +3,7 @@ pipeline {
BUILDDIR = 'build-tests'
}
agent {
docker { image 'fsfw-ci:d1'}
docker { image 'fsfw-ci:d2'}
}
stages {
stage('Clean') {

9
hal/src/fsfw_hal/linux/CMakeLists.txt
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@ -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)

2
hal/src/fsfw_hal/linux/spi/SpiCookie.cpp
View File

@ -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)

2
hal/src/fsfw_hal/linux/uart/UartComIF.cpp
View File

@ -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;

2
src/fsfw/cfdp/pdu/HeaderSerializer.h
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@ -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;

5
src/fsfw/container/FixedArrayList.h
View File

@ -2,6 +2,7 @@
#define FIXEDARRAYLIST_H_
#include <cmath>
#include <limits>
#include "ArrayList.h"
/**
@ -9,10 +10,8 @@
*/
template <typename T, size_t MAX_SIZE, typename count_t = uint8_t>
class FixedArrayList : public ArrayList<T, count_t> {
#if !defined(_MSC_VER)
static_assert(MAX_SIZE <= (std::pow(2, sizeof(count_t) * 8) - 1),
static_assert(MAX_SIZE <= std::numeric_limits<count_t>::max(),
"count_t is not large enough to hold MAX_SIZE");
#endif
private:
T data[MAX_SIZE];

15
src/fsfw/container/HybridIterator.h
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@ -10,16 +10,23 @@ class HybridIterator : public LinkedElement<T>::Iterator, public ArrayList<T, co
HybridIterator() {}
HybridIterator(typename LinkedElement<T>::Iterator *iter)
: LinkedElement<T>::Iterator(*iter), value(iter->value), linked(true) {}
: LinkedElement<T>::Iterator(*iter), linked(true) {
if (iter != nullptr) {
value = iter->value;
}
}
HybridIterator(LinkedElement<T> *start)
: LinkedElement<T>::Iterator(start), value(start->value), linked(true) {}
HybridIterator(LinkedElement<T> *start) : LinkedElement<T>::Iterator(start), linked(true) {
if (start != nullptr) {
value = start->value;
}
}
HybridIterator(typename ArrayList<T, count_t>::Iterator start,
typename ArrayList<T, count_t>::Iterator end)
: ArrayList<T, count_t>::Iterator(start), value(start.value), linked(false), end(end.value) {
if (value == this->end) {
value = NULL;
value = nullptr;
}
}

8
src/fsfw/controller/ControllerBase.h
View File

@ -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);

2
src/fsfw/datapool/PoolDataSetBase.h
View File

@ -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,

11
src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp
View File

@ -94,13 +94,14 @@ ReturnValue_t LocalPoolDataSetBase::serializeWithValidityBuffer(
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
const uint8_t validityMaskSize = std::ceil(static_cast<float>(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<uint8_t> 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<uint8_t> validityMask(validityMaskSize, 0);
validityPtr = validityMask.data();
#else
uint8_t validityMask[validityMaskSize] = {0};
uint8_t validityMask[validityMaskSize] = {};
validityPtr = validityMask;
#endif
uint8_t validBufferIndex = 0;

4
src/fsfw/datapoollocal/LocalPoolObjectBase.h
View File

@ -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;

8
src/fsfw/devicehandlers/DeviceHandlerBase.h
View File

@ -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.

5
src/fsfw/globalfunctions/matching/MatchTree.h
View File

@ -25,7 +25,7 @@ class MatchTree : public SerializeableMatcherIF<T>, public BinaryTree<Serializea
: BinaryTree<SerializeableMatcherIF<T>>(root.element), maxDepth(maxDepth) {}
MatchTree() : BinaryTree<SerializeableMatcherIF<T>>(), 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()) {
@ -179,6 +179,9 @@ class MatchTree : public SerializeableMatcherIF<T>, public BinaryTree<Serializea
virtual ReturnValue_t cleanUpElement(iterator position) { return HasReturnvaluesIF::RETURN_OK; }
bool matchSubtree(iterator iter, T number) {
if (iter == nullptr) {
return false;
}
bool isMatch = iter->match(number);
if (isMatch) {
if (iter.left() == this->end()) {

2
src/fsfw/globalfunctions/matching/RangeMatcher.h
View File

@ -15,7 +15,7 @@ class RangeMatcher : public SerializeableMatcherIF<T> {
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 {

3
src/fsfw/monitoring/MonitoringMessageContent.h
View File

@ -34,7 +34,7 @@ class MonitoringReportContent : public SerialLinkedListAdapter<SerializeIF> {
SerializeElement<T> limitValue;
SerializeElement<ReturnValue_t> oldState;
SerializeElement<ReturnValue_t> newState;
uint8_t rawTimestamp[TimeStamperIF::MISSION_TIMESTAMP_SIZE];
uint8_t rawTimestamp[TimeStamperIF::MISSION_TIMESTAMP_SIZE] = {};
SerializeElement<SerialBufferAdapter<uint8_t>> timestampSerializer;
TimeStamperIF* timeStamper;
MonitoringReportContent()
@ -46,7 +46,6 @@ class MonitoringReportContent : public SerialLinkedListAdapter<SerializeIF> {
limitValue(0),
oldState(0),
newState(0),
rawTimestamp({0}),
timestampSerializer(rawTimestamp, sizeof(rawTimestamp)),
timeStamper(NULL) {
setAllNext();

4
src/fsfw/objectmanager/SystemObject.h
View File

@ -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_ */

22
src/fsfw/osal/common/TcpTmTcServer.cpp
View File

@ -19,6 +19,8 @@
#include <ws2tcpip.h>
#elif defined(PLATFORM_UNIX)
#include <netdb.h>
#include <utility>
#endif
const std::string TcpTmTcServer::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT;
@ -29,7 +31,7 @@ TcpTmTcServer::TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge,
: SystemObject(objectId),
tmtcBridgeId(tmtcTcpBridge),
receptionMode(receptionMode),
tcpConfig(customTcpServerPort),
tcpConfig(std::move(customTcpServerPort)),
receptionBuffer(receptionBufferSize),
ringBuffer(ringBufferSize, true) {}
@ -103,7 +105,7 @@ ReturnValue_t TcpTmTcServer::initialize() {
TcpTmTcServer::~TcpTmTcServer() { closeSocket(listenerTcpSocket); }
ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) {
[[noreturn]] ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) {
using namespace tcpip;
// If a connection is accepted, the corresponding socket will be assigned to the new socket
socket_t connSocket = 0;
@ -138,7 +140,6 @@ ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) {
closeSocket(connSocket);
connSocket = 0;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TcpTmTcServer::initializeAfterTaskCreation() {
@ -159,7 +160,7 @@ void TcpTmTcServer::handleServerOperation(socket_t& connSocket) {
#endif
while (true) {
int retval = recv(connSocket, reinterpret_cast<char*>(receptionBuffer.data()),
ssize_t retval = recv(connSocket, reinterpret_cast<char*>(receptionBuffer.data()),
receptionBuffer.capacity(), tcpConfig.tcpFlags);
if (retval == 0) {
size_t availableReadData = ringBuffer.getAvailableReadData();
@ -252,17 +253,17 @@ ReturnValue_t TcpTmTcServer::handleTcReception(uint8_t* spacePacket, size_t pack
return result;
}
std::string TcpTmTcServer::getTcpPort() const { return tcpConfig.tcpPort; }
const std::string& TcpTmTcServer::getTcpPort() const { return tcpConfig.tcpPort; }
void TcpTmTcServer::setSpacePacketParsingOptions(std::vector<uint16_t> validPacketIds) {
this->validPacketIds = validPacketIds;
void TcpTmTcServer::setSpacePacketParsingOptions(std::vector<uint16_t> validPacketIds_) {
this->validPacketIds = std::move(validPacketIds_);
}
TcpTmTcServer::TcpConfig& TcpTmTcServer::getTcpConfigStruct() { return tcpConfig; }
ReturnValue_t TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent) {
// Access to the FIFO is mutex protected because it is filled by the bridge
MutexGuard(tmtcBridge->mutex, tmtcBridge->timeoutType, tmtcBridge->mutexTimeoutMs);
MutexGuard mg(tmtcBridge->mutex, tmtcBridge->timeoutType, tmtcBridge->mutexTimeoutMs);
store_address_t storeId;
while ((not tmtcBridge->tmFifo->empty()) and
(tmtcBridge->packetSentCounter < tmtcBridge->sentPacketsPerCycle)) {
@ -283,7 +284,7 @@ ReturnValue_t TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent)
#endif
arrayprinter::print(storeAccessor.data(), storeAccessor.size());
}
int retval = send(connSocket, reinterpret_cast<const char*>(storeAccessor.data()),
ssize_t retval = send(connSocket, reinterpret_cast<const char*>(storeAccessor.data()),
storeAccessor.size(), tcpConfig.tcpTmFlags);
if (retval == static_cast<int>(storeAccessor.size())) {
// Packet sent, clear FIFO entry
@ -339,6 +340,9 @@ ReturnValue_t TcpTmTcServer::handleTcRingBufferData(size_t availableReadData) {
size_t foundSize = 0;
size_t readLen = 0;
while (readLen < readAmount) {
if(spacePacketParser == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
result =
spacePacketParser->parseSpacePackets(bufPtrPtr, readAmount, startIdx, foundSize, readLen);
switch (result) {

11
src/fsfw/osal/common/TcpTmTcServer.h
View File

@ -17,6 +17,7 @@
#endif
#include <string>
#include <utility>
#include <vector>
class TcpTmTcBridge;
@ -44,7 +45,7 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
struct TcpConfig {
public:
TcpConfig(std::string tcpPort) : tcpPort(tcpPort) {}
explicit TcpConfig(std::string tcpPort) : tcpPort(std::move(tcpPort)) {}
/**
* Passed to the recv call
@ -84,7 +85,7 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
size_t ringBufferSize = RING_BUFFER_SIZE,
std::string customTcpServerPort = DEFAULT_SERVER_PORT,
ReceptionModes receptionMode = ReceptionModes::SPACE_PACKETS);
virtual ~TcpTmTcServer();
~TcpTmTcServer() override;
void enableWiretapping(bool enable);
@ -97,10 +98,10 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
void setSpacePacketParsingOptions(std::vector<uint16_t> validPacketIds);
ReturnValue_t initialize() override;
ReturnValue_t performOperation(uint8_t opCode) override;
[[noreturn]] ReturnValue_t performOperation(uint8_t opCode) override;
ReturnValue_t initializeAfterTaskCreation() override;
std::string getTcpPort() const;
[[nodiscard]] const std::string& getTcpPort() const;
protected:
StorageManagerIF* tcStore = nullptr;
@ -115,7 +116,7 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
ReceptionModes receptionMode;
TcpConfig tcpConfig;
struct sockaddr tcpAddress;
struct sockaddr tcpAddress = {};
socket_t listenerTcpSocket = 0;
MessageQueueId_t targetTcDestination = MessageQueueIF::NO_QUEUE;

19
src/fsfw/osal/common/UdpTcPollingTask.cpp
View File

@ -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<char*>(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) {

12
src/fsfw/osal/common/UdpTcPollingTask.h
View File

@ -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<uint8_t> receptionBuffer;
size_t frameSize = 0;
timeval receptionTimeout;
timeval receptionTimeout{};
ReturnValue_t handleSuccessfullTcRead(size_t bytesRead);
};

16
src/fsfw/osal/common/UdpTmTcBridge.cpp
View File

@ -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<const char *>(data), dataLen, flags,
ssize_t bytesSent = sendto(serverSocket, reinterpret_cast<const char *>(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;
}

8
src/fsfw/osal/common/UdpTmTcBridge.h
View File

@ -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.

43
src/fsfw/osal/host/CMakeLists.txt
View File

@ -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()

48
src/fsfw/osal/linux/CMakeLists.txt
View File

@ -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()

2
src/fsfw/power/Fuse.h
View File

@ -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;

17
src/fsfw/pus/CService201HealthCommanding.cpp
View File

@ -13,8 +13,6 @@ CService201HealthCommanding::CService201HealthCommanding(object_id_t objectId, u
: CommandingServiceBase(objectId, apid, serviceId, numParallelCommands, commandTimeoutSeconds) {
}
CService201HealthCommanding::~CService201HealthCommanding() {}
ReturnValue_t CService201HealthCommanding::isValidSubservice(uint8_t subservice) {
switch (subservice) {
case (Subservice::COMMAND_SET_HEALTH):
@ -43,8 +41,8 @@ ReturnValue_t CService201HealthCommanding::getMessageQueueAndObject(uint8_t subs
}
ReturnValue_t CService201HealthCommanding::checkInterfaceAndAcquireMessageQueue(
MessageQueueId_t *messageQueueToSet, object_id_t *objectId) {
HasHealthIF *destination = ObjectManager::instance()->get<HasHealthIF>(*objectId);
MessageQueueId_t *messageQueueToSet, const object_id_t *objectId) {
auto *destination = ObjectManager::instance()->get<HasHealthIF>(*objectId);
if (destination == nullptr) {
return CommandingServiceBase::INVALID_OBJECT;
}
@ -77,6 +75,10 @@ ReturnValue_t CService201HealthCommanding::prepareCommand(CommandMessage *messag
HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_ANNOUNCE_ALL);
break;
}
default: {
// Should never happen, subservice was already checked
result = RETURN_FAILED;
}
}
return result;
}
@ -95,10 +97,9 @@ ReturnValue_t CService201HealthCommanding::handleReply(const CommandMessage *rep
}
// Not used for now, health state already reported by event
ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(const CommandMessage *reply) {
prepareHealthSetReply(reply);
uint8_t health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
uint8_t oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(reply));
[[maybe_unused]] ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(const CommandMessage *reply) {
auto health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
auto oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(reply));
HealthSetReply healthSetReply(health, oldHealth);
return sendTmPacket(Subservice::REPLY_HEALTH_SET, &healthSetReply);
}

12
src/fsfw/pus/CService201HealthCommanding.h
View File

@ -1,7 +1,7 @@
#ifndef FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
#define FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
#include "../tmtcservices/CommandingServiceBase.h"
#include "fsfw/tmtcservices/CommandingServiceBase.h"
/**
* @brief Custom PUS service to set health of all objects
@ -21,7 +21,7 @@ class CService201HealthCommanding : public CommandingServiceBase {
public:
CService201HealthCommanding(object_id_t objectId, uint16_t apid, uint8_t serviceId,
uint8_t numParallelCommands = 4, uint16_t commandTimeoutSeconds = 60);
virtual ~CService201HealthCommanding();
~CService201HealthCommanding() override = default;
protected:
/* CSB abstract function implementations */
@ -38,12 +38,10 @@ class CService201HealthCommanding : public CommandingServiceBase {
bool *isStep) override;
private:
ReturnValue_t checkAndAcquireTargetID(object_id_t *objectIdToSet, const uint8_t *tcData,
size_t tcDataLen);
ReturnValue_t checkInterfaceAndAcquireMessageQueue(MessageQueueId_t *MessageQueueToSet,
object_id_t *objectId);
static ReturnValue_t checkInterfaceAndAcquireMessageQueue(MessageQueueId_t *MessageQueueToSet,
const object_id_t *objectId);
ReturnValue_t prepareHealthSetReply(const CommandMessage *reply);
[[maybe_unused]] ReturnValue_t prepareHealthSetReply(const CommandMessage *reply);
enum Subservice {
//! [EXPORT] : [TC] Set health of target object

2
src/fsfw/pus/Service3Housekeeping.h
View File

@ -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 {

35
src/fsfw/subsystem/Subsystem.cpp
View File

@ -30,11 +30,11 @@ ReturnValue_t Subsystem::checkSequence(HybridIterator<ModeListEntry> iter,
return FALLBACK_SEQUENCE_DOES_NOT_EXIST;
}
if (iter.value == NULL) {
if (iter.value == nullptr) {
return NO_TARGET_TABLE;
}
for (; iter.value != NULL; ++iter) {
for (; iter.value != nullptr; ++iter) {
if (!existsModeTable(iter->getTableId())) {
return TABLE_DOES_NOT_EXIST;
} else {
@ -66,13 +66,18 @@ HybridIterator<ModeListEntry> Subsystem::getCurrentTable() {
void Subsystem::performChildOperation() {
if (isInTransition) {
if (commandsOutstanding <= 0) { // all children of the current table were commanded and replied
if (currentSequenceIterator.value == NULL) { // we're through with this sequence
if (currentSequenceIterator.value == nullptr) { // we're through with this sequence
if (checkStateAgainstTable(currentTargetTable, targetSubmode) == RETURN_OK) {
setMode(targetMode, targetSubmode);
isInTransition = false;
return;
} else {
transitionFailed(TARGET_TABLE_NOT_REACHED, getSequence(targetMode)->getTableId());
Mode_t tableId = 0;
auto seq = getSequence(targetMode);
if (seq.value != nullptr) {
tableId = seq->getTableId();
}
transitionFailed(TARGET_TABLE_NOT_REACHED, tableId);
return;
}
}
@ -248,10 +253,13 @@ ReturnValue_t Subsystem::handleCommandMessage(CommandMessage *message) {
case ModeSequenceMessage::READ_TABLE: {
ReturnValue_t result;
Mode_t table = ModeSequenceMessage::getSequenceId(message);
EntryPointer *entry = NULL;
EntryPointer *entry = nullptr;
result = modeTables.find(table, &entry);
if (result != RETURN_OK) {
if (result != RETURN_OK or entry == nullptr) {
replyToCommand(result, 0);
if (entry == nullptr) {
return result;
}
}
SerializeIF *elements[2];
@ -299,6 +307,11 @@ void Subsystem::replyToCommand(ReturnValue_t status, uint32_t parameter) {
}
}
ReturnValue_t Subsystem::addSequence(SequenceEntry sequence) {
return addSequence(sequence.table, sequence.mode, sequence.fallbackMode, sequence.inStore,
sequence.preInit);
}
ReturnValue_t Subsystem::addSequence(ArrayList<ModeListEntry> *sequence, Mode_t id,
Mode_t fallbackSequence, bool inStore, bool preInit) {
ReturnValue_t result;
@ -342,6 +355,10 @@ ReturnValue_t Subsystem::addSequence(ArrayList<ModeListEntry> *sequence, Mode_t
return result;
}
ReturnValue_t Subsystem::addTable(TableEntry table) {
return addTable(table.table, table.mode, table.inStore, table.preInit);
}
ReturnValue_t Subsystem::addTable(ArrayList<ModeListEntry> *table, Mode_t id, bool inStore,
bool preInit) {
ReturnValue_t result;
@ -450,6 +467,7 @@ ReturnValue_t Subsystem::initialize() {
}
mode = initialMode;
submode = initSubmode;
return RETURN_OK;
}
@ -587,7 +605,10 @@ ReturnValue_t Subsystem::checkObjectConnections() {
return RETURN_OK;
}
void Subsystem::setInitialMode(Mode_t mode) { initialMode = mode; }
void Subsystem::setInitialMode(Mode_t mode, Submode_t submode) {
this->initialMode = mode;
this->initSubmode = submode;
}
void Subsystem::cantKeepMode() {
ReturnValue_t result;

38
src/fsfw/subsystem/Subsystem.h
View File

@ -1,16 +1,37 @@
#ifndef FSFW_SUBSYSTEM_SUBSYSTEM_H_
#define FSFW_SUBSYSTEM_SUBSYSTEM_H_
#include <FSFWConfig.h>
#include "../container/FixedArrayList.h"
#include "../container/FixedMap.h"
#include "../container/HybridIterator.h"
#include "../container/SinglyLinkedList.h"
#include "../serialize/SerialArrayListAdapter.h"
#include "SubsystemBase.h"
#include "fsfw/FSFW.h"
#include "modes/ModeDefinitions.h"
struct TableSequenceBase {
public:
TableSequenceBase(Mode_t mode, ArrayList<ModeListEntry> *table) : mode(mode), table(table){};
Mode_t mode;
ArrayList<ModeListEntry> *table;
bool inStore = false;
bool preInit = true;
};
struct TableEntry : public TableSequenceBase {
public:
TableEntry(Mode_t mode, ArrayList<ModeListEntry> *table) : TableSequenceBase(mode, table){};
};
struct SequenceEntry : public TableSequenceBase {
public:
SequenceEntry(Mode_t mode, ArrayList<ModeListEntry> *table, Mode_t fallbackMode)
: TableSequenceBase(mode, table), fallbackMode(fallbackMode) {}
Mode_t fallbackMode;
};
/**
* @brief TODO: documentation missing
* @details
@ -45,13 +66,15 @@ class Subsystem : public SubsystemBase, public HasModeSequenceIF {
uint32_t maxNumberOfTables);
virtual ~Subsystem();
ReturnValue_t addSequence(SequenceEntry sequence);
ReturnValue_t addSequence(ArrayList<ModeListEntry> *sequence, Mode_t id, Mode_t fallbackSequence,
bool inStore = true, bool preInit = true);
ReturnValue_t addTable(TableEntry table);
ReturnValue_t addTable(ArrayList<ModeListEntry> *table, Mode_t id, bool inStore = true,
bool preInit = true);
void setInitialMode(Mode_t mode);
void setInitialMode(Mode_t mode, Submode_t submode = SUBMODE_NONE);
virtual ReturnValue_t initialize() override;
@ -90,6 +113,7 @@ class Subsystem : public SubsystemBase, public HasModeSequenceIF {
Submode_t targetSubmode;
Mode_t initialMode = 0;
Submode_t initSubmode = SUBMODE_NONE;
HybridIterator<ModeListEntry> currentSequenceIterator;
@ -127,18 +151,18 @@ 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);

10
src/fsfw/subsystem/SubsystemBase.h
View File

@ -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();
};

16
src/fsfw/timemanager/CCSDSTime.cpp
View File

@ -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.

31
src/fsfw/timemanager/CCSDSTime.h
View File

@ -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
*

4
src/fsfw/tmtcpacket/SpacePacket.cpp
View File

@ -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;

6
src/fsfw/tmtcservices/CommandingServiceBase.h
View File

@ -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
@ -166,7 +166,7 @@ class CommandingServiceBase : public SystemObject,
* @param objectId Target object ID
* @return
* - @c RETURN_OK to generate a verification start message
* - @c EXECUTION_COMPELTE Fire-and-forget command. Generate a completion
* - @c EXECUTION_COMPLETE Fire-and-forget command. Generate a completion
* verification message.
* - @c Anything else rejects the packets and generates a start failure
* verification.

21
tests/src/fsfw_tests/unit/timemanager/TestCCSDSTime.cpp
View File

@ -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<uint8_t, 7> 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;