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
commit 9a4c7589cc
39 changed files with 330 additions and 192 deletions

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@ -12,6 +12,9 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
## Changes ## 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 - HAL Linux SPI: Set the Clock Default State when setting new SPI speed
and mode and mode
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573 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 PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/594
- Added ETL dependency and improved library dependency management - Added ETL dependency and improved library dependency management
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/592 PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/592
- `Subsystem`: New API to add table and sequence entries
## Fixed ## 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 - Small bugfix in STM32 HAL for SPI
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/599 PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/599
- HAL GPIO: Improved error checking in `LinuxLibgpioIF::configureGpios(...)`. If a GPIO - HAL GPIO: Improved error checking in `LinuxLibgpioIF::configureGpios(...)`. If a GPIO

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@ -1,5 +1,15 @@
cmake_minimum_required(VERSION 3.13) 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_VERSION 4)
set(FSFW_SUBVERSION 0) set(FSFW_SUBVERSION 0)
set(FSFW_REVISION 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 set(FSFW_ETL_LIB_MAJOR_VERSION 20 CACHE STRING
"ETL library major version requirement" "ETL library major version requirement"
) )
set(FSFW_ETL_LIB_VERSION ${FSFW_ETL_LIB_MAJOR_VERSION}.27.2 CACHE STRING set(FSFW_ETL_LIB_VERSION ${FSFW_ETL_LIB_MAJOR_VERSION}.27.3 CACHE STRING
"ETL library exact version requirement" "ETL library exact version requirement"
) )
set(FSFW_ETL_LINK_TARGET etl::etl)
set(FSFW_CATCH2_LIB_MAJOR_VERSION 3 CACHE STRING set(FSFW_CATCH2_LIB_MAJOR_VERSION 3 CACHE STRING
"Catch2 library major version requirement" "Catch2 library major version requirement"
) )
set(FSFW_CATCH2_LIB_VERSION v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview4 CACHE STRING set(FSFW_CATCH2_LIB_VERSION v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5 CACHE STRING
"Catch2 library exact version requirement" "Catch2 library exact version requirement"
) )
@ -54,11 +65,10 @@ option(FSFW_ADD_TMSTORAGE "Compile with tm storage components" OFF)
# Contrib sources # Contrib sources
option(FSFW_ADD_SGP4_PROPAGATOR "Add SGP4 propagator code" OFF) option(FSFW_ADD_SGP4_PROPAGATOR "Add SGP4 propagator code" OFF)
set(LIB_FSFW_NAME fsfw)
set(FSFW_TEST_TGT fsfw-tests) set(FSFW_TEST_TGT fsfw-tests)
set(FSFW_DUMMY_TGT fsfw-dummy) set(FSFW_DUMMY_TGT fsfw-dummy)
project(${LIB_FSFW_NAME})
add_library(${LIB_FSFW_NAME}) add_library(${LIB_FSFW_NAME})
if(FSFW_BUILD_UNITTESTS) if(FSFW_BUILD_UNITTESTS)
@ -76,9 +86,7 @@ if(FSFW_BUILD_UNITTESTS)
GIT_TAG ${FSFW_CATCH2_LIB_VERSION} GIT_TAG ${FSFW_CATCH2_LIB_VERSION}
) )
FetchContent_MakeAvailable(Catch2) list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
#fixes regression -preview4, to be confirmed in later releases
set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
endif() endif()
set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg) 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} 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 ${FSFW_ETL_LIB_NAME})
endif()
if(TARGET Catch2)
# Fixes regression -preview4, to be confirmed in later releases
# Related GitHub issue: https://github.com/catchorg/Catch2/issues/2417
set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
endif()
endif() endif()
set(FSFW_CORE_INC_PATH "inc") set(FSFW_CORE_INC_PATH "inc")
@ -138,12 +161,6 @@ target_include_directories(${LIB_FSFW_NAME} INTERFACE
${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_CURRENT_BINARY_DIR}
) )
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD_REQUIRED True)
elseif(${CMAKE_CXX_STANDARD} LESS 11)
message(FATAL_ERROR "Compiling the FSFW requires a minimum of C++11 support")
endif()
# Backwards comptability # Backwards comptability
if(OS_FSFW AND NOT FSFW_OSAL) 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 target_link_libraries(${LIB_FSFW_NAME} PRIVATE
${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LINK_TARGET}
${FSFW_ADDITIONAL_LINK_LIBS} ${FSFW_ADDITIONAL_LINK_LIBS}
) )

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@ -6,3 +6,9 @@ RUN apt-get --yes upgrade
#tzdata is a dependency, won't install otherwise #tzdata is a dependency, won't install otherwise
ARG DEBIAN_FRONTEND=noninteractive ARG DEBIAN_FRONTEND=noninteractive
RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping 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

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

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@ -12,9 +12,14 @@ if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
if(FSFW_HAL_LINUX_ADD_LIBGPIOD) if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
add_subdirectory(gpio) add_subdirectory(gpio)
endif() endif()
add_subdirectory(spi)
add_subdirectory(i2c)
add_subdirectory(uart) 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() endif()
add_subdirectory(uio) add_subdirectory(uio)

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@ -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, SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed) const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed)

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@ -265,6 +265,7 @@ void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCooki
cfsetispeed(options, B230400); cfsetispeed(options, B230400);
cfsetospeed(options, B230400); cfsetospeed(options, B230400);
break; break;
#ifndef __APPLE__
case UartBaudRate::RATE_460800: case UartBaudRate::RATE_460800:
cfsetispeed(options, B460800); cfsetispeed(options, B460800);
cfsetospeed(options, B460800); cfsetospeed(options, B460800);
@ -313,6 +314,7 @@ void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCooki
cfsetispeed(options, B4000000); cfsetispeed(options, B4000000);
cfsetospeed(options, B4000000); cfsetospeed(options, B4000000);
break; break;
#endif // ! __APPLE__
default: default:
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl; sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;

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@ -44,7 +44,7 @@ class HeaderSerializer : public SerializeIF, public PduHeaderIF {
cfdp::WidthInBytes getLenEntityIds() const override; cfdp::WidthInBytes getLenEntityIds() const override;
cfdp::WidthInBytes getLenSeqNum() const override; cfdp::WidthInBytes getLenSeqNum() const override;
cfdp::SegmentMetadataFlag getSegmentMetadataFlag() const override; cfdp::SegmentMetadataFlag getSegmentMetadataFlag() const override;
bool hasSegmentMetadataFlag() const; bool hasSegmentMetadataFlag() const override;
void setSegmentationControl(cfdp::SegmentationControl); void setSegmentationControl(cfdp::SegmentationControl);
void getSourceId(cfdp::EntityId& sourceId) const override; void getSourceId(cfdp::EntityId& sourceId) const override;

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

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

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@ -55,7 +55,7 @@ class ControllerBase : public HasModesIF,
virtual void performControlOperation() = 0; virtual void performControlOperation() = 0;
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) = 0; uint32_t *msToReachTheMode) override = 0;
const object_id_t parentId; const object_id_t parentId;
@ -80,9 +80,9 @@ class ControllerBase : public HasModesIF,
/** Mode helpers */ /** Mode helpers */
virtual void modeChanged(Mode_t mode, Submode_t submode); virtual void modeChanged(Mode_t mode, Submode_t submode);
virtual void startTransition(Mode_t mode, Submode_t submode); virtual void startTransition(Mode_t mode, Submode_t submode) override;
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);
/** HK helpers */ /** HK helpers */
virtual void changeHK(Mode_t mode, Submode_t submode, bool enable); virtual void changeHK(Mode_t mode, Submode_t submode, bool enable);

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@ -109,7 +109,7 @@ class PoolDataSetBase : public PoolDataSetIF, public SerializeIF, public HasRetu
*/ */
virtual ReturnValue_t unlockDataPool() override; virtual ReturnValue_t unlockDataPool() override;
virtual uint16_t getFillCount() const; virtual uint16_t getFillCount() const override;
/* SerializeIF implementations */ /* SerializeIF implementations */
virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, const size_t maxSize, virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, const size_t maxSize,

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@ -94,13 +94,14 @@ ReturnValue_t LocalPoolDataSetBase::serializeWithValidityBuffer(
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
const uint8_t validityMaskSize = std::ceil(static_cast<float>(fillCount) / 8.0); const uint8_t validityMaskSize = std::ceil(static_cast<float>(fillCount) / 8.0);
uint8_t *validityPtr = nullptr; uint8_t *validityPtr = nullptr;
#ifdef _MSC_VER #if defined(_MSC_VER) || defined(__clang__)
/* Use a std::vector here because MSVC will (rightly) not create a fixed size array // Use a std::vector here because MSVC will (rightly) not create a fixed size array
with a non constant size specifier */ // with a non constant size specifier. The Apple compiler (LLVM) will not accept
std::vector<uint8_t> validityMask(validityMaskSize); // the initialization of a variable sized array
std::vector<uint8_t> validityMask(validityMaskSize, 0);
validityPtr = validityMask.data(); validityPtr = validityMask.data();
#else #else
uint8_t validityMask[validityMaskSize] = {0}; uint8_t validityMask[validityMaskSize] = {};
validityPtr = validityMask; validityPtr = validityMask;
#endif #endif
uint8_t validBufferIndex = 0; uint8_t validBufferIndex = 0;

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@ -23,8 +23,8 @@ class LocalPoolObjectBase : public PoolVariableIF, public HasReturnvaluesIF, pub
LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId, DataSetIF* dataSet = nullptr, LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId, DataSetIF* dataSet = nullptr,
pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE); pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
void setReadWriteMode(pool_rwm_t newReadWriteMode); void setReadWriteMode(pool_rwm_t newReadWriteMode) override;
pool_rwm_t getReadWriteMode() const; pool_rwm_t getReadWriteMode() const override;
bool isValid() const override; bool isValid() const override;
void setValid(bool valid) override; void setValid(bool valid) override;

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@ -163,7 +163,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
* @param counter Specifies which Action to perform * @param counter Specifies which Action to perform
* @return RETURN_OK for successful execution * @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 * @brief Initializes the device handler
@ -173,7 +173,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
* Calls fillCommandAndReplyMap(). * Calls fillCommandAndReplyMap().
* @return * @return
*/ */
virtual ReturnValue_t initialize(); virtual ReturnValue_t initialize() override;
/** /**
* @brief Intialization steps performed after all tasks have been created. * @brief Intialization steps performed after all tasks have been created.
@ -1058,11 +1058,11 @@ class DeviceHandlerBase : public DeviceHandlerIF,
* @param parameter1 Optional parameter 1 * @param parameter1 Optional parameter 1
* @param parameter2 Optional parameter 2 * @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. * 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. * Checks if current mode is transitional mode.

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@ -25,7 +25,7 @@ class MatchTree : public SerializeableMatcherIF<T>, public BinaryTree<Serializea
: BinaryTree<SerializeableMatcherIF<T>>(root.element), maxDepth(maxDepth) {} : BinaryTree<SerializeableMatcherIF<T>>(root.element), maxDepth(maxDepth) {}
MatchTree() : BinaryTree<SerializeableMatcherIF<T>>(), maxDepth(-1) {} MatchTree() : BinaryTree<SerializeableMatcherIF<T>>(), maxDepth(-1) {}
virtual ~MatchTree() {} virtual ~MatchTree() {}
virtual bool match(T number) { return matchesTree(number); } virtual bool match(T number) override { return matchesTree(number); }
bool matchesTree(T number) { bool matchesTree(T number) {
iterator iter = this->begin(); iterator iter = this->begin();
if (iter == this->end()) { 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; } virtual ReturnValue_t cleanUpElement(iterator position) { return HasReturnvaluesIF::RETURN_OK; }
bool matchSubtree(iterator iter, T number) { bool matchSubtree(iterator iter, T number) {
if (iter == nullptr) {
return false;
}
bool isMatch = iter->match(number); bool isMatch = iter->match(number);
if (isMatch) { if (isMatch) {
if (iter.left() == this->end()) { if (iter.left() == this->end()) {

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@ -15,7 +15,7 @@ class RangeMatcher : public SerializeableMatcherIF<T> {
RangeMatcher(T lowerBound, T upperBound, bool inverted = false) RangeMatcher(T lowerBound, T upperBound, bool inverted = false)
: inverted(inverted), lowerBound(lowerBound), upperBound(upperBound) {} : inverted(inverted), lowerBound(lowerBound), upperBound(upperBound) {}
bool match(T input) { bool match(T input) override {
if (inverted) { if (inverted) {
return !doMatch(input); return !doMatch(input);
} else { } else {

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

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@ -48,9 +48,9 @@ class SystemObject : public SystemObjectIF {
virtual ~SystemObject(); virtual ~SystemObject();
object_id_t getObjectId() const override; object_id_t getObjectId() const override;
virtual ReturnValue_t initialize() 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_ */ #endif /* FSFW_OBJECTMANAGER_SYSTEMOBJECT_H_ */

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

View File

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

View File

@ -16,11 +16,13 @@
//! Debugging preprocessor define. //! Debugging preprocessor define.
#define FSFW_UDP_RECV_WIRETAPPING_ENABLED 0 #define FSFW_UDP_RECV_WIRETAPPING_ENABLED 0
const timeval UdpTcPollingTask::DEFAULT_TIMEOUT = {0, 500000};
UdpTcPollingTask::UdpTcPollingTask(object_id_t objectId, object_id_t tmtcUdpBridge, UdpTcPollingTask::UdpTcPollingTask(object_id_t objectId, object_id_t tmtcUdpBridge,
size_t maxRecvSize, double timeoutSeconds) size_t maxRecvSize, double timeoutSeconds)
: SystemObject(objectId), tmtcBridgeId(tmtcUdpBridge) { : SystemObject(objectId), tmtcBridgeId(tmtcUdpBridge) {
if (frameSize > 0) { if (maxRecvSize > 0) {
this->frameSize = frameSize; this->frameSize = maxRecvSize;
} else { } else {
this->frameSize = DEFAULT_MAX_RECV_SIZE; this->frameSize = DEFAULT_MAX_RECV_SIZE;
} }
@ -31,22 +33,20 @@ UdpTcPollingTask::UdpTcPollingTask(object_id_t objectId, object_id_t tmtcUdpBrid
receptionBuffer.resize(this->frameSize); receptionBuffer.resize(this->frameSize);
if (timeoutSeconds == -1) { if (timeoutSeconds == -1) {
receptionTimeout = DEFAULT_TIMEOUT; receptionTimeout = UdpTcPollingTask::DEFAULT_TIMEOUT;
} else { } else {
receptionTimeout = timevalOperations::toTimeval(timeoutSeconds); receptionTimeout = timevalOperations::toTimeval(timeoutSeconds);
} }
} }
UdpTcPollingTask::~UdpTcPollingTask() {} [[noreturn]] ReturnValue_t UdpTcPollingTask::performOperation(uint8_t opCode) {
ReturnValue_t UdpTcPollingTask::performOperation(uint8_t opCode) {
/* Sender Address is cached here. */ /* Sender Address is cached here. */
struct sockaddr senderAddress; struct sockaddr senderAddress {};
socklen_t senderAddressSize = sizeof(senderAddress); socklen_t senderAddressSize = sizeof(senderAddress);
/* Poll for new UDP datagrams in permanent loop. */ /* Poll for new UDP datagrams in permanent loop. */
while (true) { while (true) {
int bytesReceived = ssize_t bytesReceived =
recvfrom(this->serverSocket, reinterpret_cast<char*>(receptionBuffer.data()), frameSize, recvfrom(this->serverSocket, reinterpret_cast<char*>(receptionBuffer.data()), frameSize,
receptionFlags, &senderAddress, &senderAddressSize); receptionFlags, &senderAddress, &senderAddressSize);
if (bytesReceived == SOCKET_ERROR) { if (bytesReceived == SOCKET_ERROR) {
@ -70,7 +70,6 @@ ReturnValue_t UdpTcPollingTask::performOperation(uint8_t opCode) {
} }
tmtcBridge->checkAndSetClientAddress(senderAddress); tmtcBridge->checkAndSetClientAddress(senderAddress);
} }
return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t UdpTcPollingTask::handleSuccessfullTcRead(size_t bytesRead) { ReturnValue_t UdpTcPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
@ -155,7 +154,7 @@ void UdpTcPollingTask::setTimeout(double timeoutSeconds) {
#endif #endif
} }
#elif defined(PLATFORM_UNIX) #elif defined(PLATFORM_UNIX)
timeval tval; timeval tval {};
tval = timevalOperations::toTimeval(timeoutSeconds); tval = timevalOperations::toTimeval(timeoutSeconds);
int result = setsockopt(serverSocket, SOL_SOCKET, SO_RCVTIMEO, &tval, sizeof(receptionTimeout)); int result = setsockopt(serverSocket, SOL_SOCKET, SO_RCVTIMEO, &tval, sizeof(receptionTimeout));
if (result == -1) { if (result == -1) {

View File

@ -21,11 +21,11 @@ class UdpTcPollingTask : public TcpIpBase, public SystemObject, public Executabl
public: public:
static constexpr size_t DEFAULT_MAX_RECV_SIZE = 1500; static constexpr size_t DEFAULT_MAX_RECV_SIZE = 1500;
//! 0.5 default milliseconds timeout for now. //! 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, UdpTcPollingTask(object_id_t objectId, object_id_t tmtcUdpBridge, size_t maxRecvSize = 0,
double timeoutSeconds = -1); double timeoutSeconds = -1);
virtual ~UdpTcPollingTask(); ~UdpTcPollingTask() override = default;
/** /**
* Turn on optional timeout for UDP polling. In the default mode, * 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); void setTimeout(double timeoutSeconds);
virtual ReturnValue_t performOperation(uint8_t opCode) override; [[noreturn]] ReturnValue_t performOperation(uint8_t opCode) override;
virtual ReturnValue_t initialize() override; ReturnValue_t initialize() override;
virtual ReturnValue_t initializeAfterTaskCreation() override; ReturnValue_t initializeAfterTaskCreation() override;
protected: protected:
StorageManagerIF* tcStore = nullptr; StorageManagerIF* tcStore = nullptr;
@ -51,7 +51,7 @@ class UdpTcPollingTask : public TcpIpBase, public SystemObject, public Executabl
std::vector<uint8_t> receptionBuffer; std::vector<uint8_t> receptionBuffer;
size_t frameSize = 0; size_t frameSize = 0;
timeval receptionTimeout; timeval receptionTimeout{};
ReturnValue_t handleSuccessfullTcRead(size_t bytesRead); ReturnValue_t handleSuccessfullTcRead(size_t bytesRead);
}; };

View File

@ -20,13 +20,13 @@
const std::string UdpTmTcBridge::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT; const std::string UdpTmTcBridge::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT;
UdpTmTcBridge::UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination, 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) object_id_t tcStoreId)
: TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) { : TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
if (udpServerPort == "") { if (udpServerPort_.empty()) {
this->udpServerPort = DEFAULT_SERVER_PORT; udpServerPort = DEFAULT_SERVER_PORT;
} else { } else {
this->udpServerPort = udpServerPort; udpServerPort = udpServerPort_;
} }
mutex = MutexFactory::instance()->createMutex(); mutex = MutexFactory::instance()->createMutex();
@ -117,7 +117,7 @@ ReturnValue_t UdpTmTcBridge::sendTm(const uint8_t *data, size_t dataLen) {
tcpip::printAddress(&clientAddress); tcpip::printAddress(&clientAddress);
#endif #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); &clientAddress, clientAddressLen);
if (bytesSent == SOCKET_ERROR) { if (bytesSent == SOCKET_ERROR) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
@ -150,7 +150,7 @@ void UdpTmTcBridge::checkAndSetClientAddress(sockaddr &newAddress) {
clientAddressLen = sizeof(clientAddress); clientAddressLen = sizeof(clientAddress);
} }
void UdpTmTcBridge::setMutexProperties(MutexIF::TimeoutType timeoutType, dur_millis_t timeoutMs) { void UdpTmTcBridge::setMutexProperties(MutexIF::TimeoutType timeoutType_, dur_millis_t timeoutMs) {
this->timeoutType = timeoutType; timeoutType = timeoutType_;
this->mutexTimeoutMs = timeoutMs; mutexTimeoutMs = timeoutMs;
} }

View File

@ -29,10 +29,10 @@ class UdpTmTcBridge : public TmTcBridge, public TcpIpBase {
/* The ports chosen here should not be used by any other process. */ /* The ports chosen here should not be used by any other process. */
static const std::string DEFAULT_SERVER_PORT; 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 tmStoreId = objects::TM_STORE,
object_id_t tcStoreId = objects::TC_STORE); object_id_t tcStoreId = objects::TC_STORE);
virtual ~UdpTmTcBridge(); ~UdpTmTcBridge() override;
/** /**
* Set properties of internal mutex. * Set properties of internal mutex.
@ -46,12 +46,12 @@ class UdpTmTcBridge : public TmTcBridge, public TcpIpBase {
std::string getUdpPort() const; std::string getUdpPort() const;
protected: 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: private:
std::string udpServerPort; std::string udpServerPort;
struct sockaddr clientAddress; struct sockaddr clientAddress = {};
socklen_t clientAddressLen = 0; socklen_t clientAddressLen = 0;
//! Access to the client address is mutex protected as it is set by another task. //! Access to the client address is mutex protected as it is set by another task.

View File

@ -1,24 +1,27 @@
target_sources(${LIB_FSFW_NAME} target_sources(${LIB_FSFW_NAME} PRIVATE
PRIVATE Clock.cpp
Clock.cpp FixedTimeslotTask.cpp
FixedTimeslotTask.cpp MessageQueue.cpp
MessageQueue.cpp Mutex.cpp
Mutex.cpp MutexFactory.cpp
MutexFactory.cpp PeriodicTask.cpp
PeriodicTask.cpp QueueFactory.cpp
QueueFactory.cpp QueueMapManager.cpp
QueueMapManager.cpp SemaphoreFactory.cpp
SemaphoreFactory.cpp TaskFactory.cpp
TaskFactory.cpp taskHelpers.cpp
taskHelpers.cpp
) )
if(UNIX) if(UNIX)
find_package(Threads REQUIRED) find_package(Threads REQUIRED)
target_link_libraries(${LIB_FSFW_NAME} target_link_libraries(${LIB_FSFW_NAME} PRIVATE
PRIVATE ${CMAKE_THREAD_LIBS_INIT}
rt )
${CMAKE_THREAD_LIBS_INIT} if(NOT APPLE)
) target_link_libraries(${LIB_FSFW_NAME} PRIVATE
rt
)
endif()
endif() endif()

View File

@ -1,29 +1,29 @@
target_sources(${LIB_FSFW_NAME} PRIVATE target_sources(${LIB_FSFW_NAME} PRIVATE
Clock.cpp Clock.cpp
BinarySemaphore.cpp BinarySemaphore.cpp
CountingSemaphore.cpp CountingSemaphore.cpp
FixedTimeslotTask.cpp FixedTimeslotTask.cpp
InternalErrorCodes.cpp InternalErrorCodes.cpp
MessageQueue.cpp MessageQueue.cpp
Mutex.cpp Mutex.cpp
MutexFactory.cpp MutexFactory.cpp
PeriodicPosixTask.cpp PeriodicPosixTask.cpp
PosixThread.cpp PosixThread.cpp
QueueFactory.cpp QueueFactory.cpp
SemaphoreFactory.cpp SemaphoreFactory.cpp
TaskFactory.cpp TaskFactory.cpp
tcpipHelpers.cpp tcpipHelpers.cpp
unixUtility.cpp unixUtility.cpp
) )
find_package(Threads REQUIRED) find_package(Threads REQUIRED)
target_link_libraries(${LIB_FSFW_NAME} PRIVATE target_link_libraries(${LIB_FSFW_NAME} PUBLIC
${CMAKE_THREAD_LIBS_INIT} ${CMAKE_THREAD_LIBS_INIT}
)
if(NOT APPLE)
target_link_libraries(${LIB_FSFW_NAME} PUBLIC
rt rt
) )
endif()
target_link_libraries(${LIB_FSFW_NAME} INTERFACE
${CMAKE_THREAD_LIBS_INIT}
)

View File

@ -54,7 +54,7 @@ class Fuse : public SystemObject,
ReturnValue_t check(); ReturnValue_t check();
uint8_t getFuseId() const; uint8_t getFuseId() const;
ReturnValue_t initialize(); ReturnValue_t initialize() override;
DeviceList devices; DeviceList devices;
ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize, ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
SerializeIF::Endianness streamEndianness) const override; SerializeIF::Endianness streamEndianness) const override;

View File

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

View File

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

View File

@ -43,7 +43,7 @@ class Service3Housekeeping : public CommandingServiceBase, public AcceptsHkPacke
CommandMessage* optionalNextCommand, object_id_t objectId, CommandMessage* optionalNextCommand, object_id_t objectId,
bool* isStep) override; bool* isStep) override;
virtual MessageQueueId_t getHkQueue() const; virtual MessageQueueId_t getHkQueue() const override;
private: private:
enum class Subservice { enum class Subservice {

View File

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

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@ -1,16 +1,37 @@
#ifndef FSFW_SUBSYSTEM_SUBSYSTEM_H_ #ifndef FSFW_SUBSYSTEM_SUBSYSTEM_H_
#define FSFW_SUBSYSTEM_SUBSYSTEM_H_ #define FSFW_SUBSYSTEM_SUBSYSTEM_H_
#include <FSFWConfig.h>
#include "../container/FixedArrayList.h" #include "../container/FixedArrayList.h"
#include "../container/FixedMap.h" #include "../container/FixedMap.h"
#include "../container/HybridIterator.h" #include "../container/HybridIterator.h"
#include "../container/SinglyLinkedList.h" #include "../container/SinglyLinkedList.h"
#include "../serialize/SerialArrayListAdapter.h" #include "../serialize/SerialArrayListAdapter.h"
#include "SubsystemBase.h" #include "SubsystemBase.h"
#include "fsfw/FSFW.h"
#include "modes/ModeDefinitions.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 * @brief TODO: documentation missing
* @details * @details
@ -45,13 +66,15 @@ class Subsystem : public SubsystemBase, public HasModeSequenceIF {
uint32_t maxNumberOfTables); uint32_t maxNumberOfTables);
virtual ~Subsystem(); virtual ~Subsystem();
ReturnValue_t addSequence(SequenceEntry sequence);
ReturnValue_t addSequence(ArrayList<ModeListEntry> *sequence, Mode_t id, Mode_t fallbackSequence, ReturnValue_t addSequence(ArrayList<ModeListEntry> *sequence, Mode_t id, Mode_t fallbackSequence,
bool inStore = true, bool preInit = true); bool inStore = true, bool preInit = true);
ReturnValue_t addTable(TableEntry table);
ReturnValue_t addTable(ArrayList<ModeListEntry> *table, Mode_t id, bool inStore = true, ReturnValue_t addTable(ArrayList<ModeListEntry> *table, Mode_t id, bool inStore = true,
bool preInit = true); bool preInit = true);
void setInitialMode(Mode_t mode); void setInitialMode(Mode_t mode, Submode_t submode = SUBMODE_NONE);
virtual ReturnValue_t initialize() override; virtual ReturnValue_t initialize() override;
@ -90,6 +113,7 @@ class Subsystem : public SubsystemBase, public HasModeSequenceIF {
Submode_t targetSubmode; Submode_t targetSubmode;
Mode_t initialMode = 0; Mode_t initialMode = 0;
Submode_t initSubmode = SUBMODE_NONE;
HybridIterator<ModeListEntry> currentSequenceIterator; HybridIterator<ModeListEntry> currentSequenceIterator;
@ -127,18 +151,18 @@ class Subsystem : public SubsystemBase, public HasModeSequenceIF {
ReturnValue_t deleteTable(Mode_t id); 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 isFallbackSequence(Mode_t SequenceId);
bool isTableUsed(Mode_t tableId); bool isTableUsed(Mode_t tableId);
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, 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); void sendSerializablesAsCommandMessage(Command_t command, SerializeIF **elements, uint8_t count);

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@ -123,15 +123,15 @@ class SubsystemBase : public SystemObject,
virtual void performChildOperation() = 0; virtual void performChildOperation() = 0;
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, 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(); virtual void modeChanged();
}; };

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@ -6,10 +6,6 @@
#include "fsfw/FSFW.h" #include "fsfw/FSFW.h"
CCSDSTime::CCSDSTime() {}
CCSDSTime::~CCSDSTime() {}
ReturnValue_t CCSDSTime::convertToCcsds(Ccs_seconds* to, const Clock::TimeOfDay_t* from) { ReturnValue_t CCSDSTime::convertToCcsds(Ccs_seconds* to, const Clock::TimeOfDay_t* from) {
ReturnValue_t result = checkTimeOfDay(from); ReturnValue_t result = checkTimeOfDay(from);
if (result != RETURN_OK) { if (result != RETURN_OK) {
@ -428,7 +424,7 @@ ReturnValue_t CCSDSTime::convertFromCUC(timeval* to, const uint8_t* from, size_t
from++; from++;
ReturnValue_t result = convertFromCUC(to, pField, from, foundLength, maxLength - 1); ReturnValue_t result = convertFromCUC(to, pField, from, foundLength, maxLength - 1);
if (result == HasReturnvaluesIF::RETURN_OK) { if (result == HasReturnvaluesIF::RETURN_OK) {
if (foundLength != NULL) { if (foundLength != nullptr) {
*foundLength += 1; *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 nCoarse = ((pField & 0b1100) >> 2) + 1;
uint8_t nFine = (pField & 0b11); uint8_t nFine = (pField & 0b11);
size_t totalLength = nCoarse + nFine; size_t totalLength = nCoarse + nFine;
if (foundLength != NULL) { if (foundLength != nullptr) {
*foundLength = totalLength; *foundLength = totalLength;
} }
if (totalLength > maxLength) { if (totalLength > maxLength) {
return LENGTH_MISMATCH; return LENGTH_MISMATCH;
} }
for (int count = 0; count < nCoarse; count++) { for (int count = nCoarse; count > 0; count--) {
secs += *from << ((nCoarse * 8 - 8) * (1 + count)); secs += *from << (count * 8 - 8);
from++; from++;
} }
for (int count = 0; count < nFine; count++) { for (int count = nFine; count > 0; count--) {
subSeconds += *from << ((nFine * 8 - 8) * (1 + count)); subSeconds += *from << (count * 8 - 8);
from++; from++;
} }
// Move to POSIX epoch. // Move to POSIX epoch.

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@ -161,18 +161,37 @@ class CCSDSTime : public HasReturnvaluesIF {
*/ */
static ReturnValue_t convertFromCcsds(timeval *to, uint8_t const *from, size_t *foundLength, static ReturnValue_t convertFromCcsds(timeval *to, uint8_t const *from, size_t *foundLength,
size_t maxLength); 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); 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, static ReturnValue_t convertFromCUC(timeval *to, uint8_t const *from, size_t *foundLength,
size_t maxLength); size_t maxLength);
static ReturnValue_t convertFromCUC(timeval *to, uint8_t pField, uint8_t const *from, static ReturnValue_t convertFromCUC(timeval *to, uint8_t pField, uint8_t const *from,
size_t *foundLength, size_t maxLength); size_t *foundLength, size_t maxLength);
static ReturnValue_t convertFromCCS(timeval *to, uint8_t const *from, size_t *foundLength, static ReturnValue_t convertFromCCS(timeval *to, uint8_t const *from, size_t *foundLength,
size_t maxLength); size_t maxLength);
static ReturnValue_t convertFromCCS(timeval *to, uint8_t pField, uint8_t const *from, static ReturnValue_t convertFromCCS(timeval *to, uint8_t pField, uint8_t const *from,
size_t *foundLength, size_t maxLength); size_t *foundLength, size_t maxLength);
@ -192,8 +211,8 @@ class CCSDSTime : public HasReturnvaluesIF {
static uint32_t subsecondsToMicroseconds(uint16_t subseconds); static uint32_t subsecondsToMicroseconds(uint16_t subseconds);
private: private:
CCSDSTime(); CCSDSTime(){};
virtual ~CCSDSTime(); virtual ~CCSDSTime(){};
/** /**
* checks a ccs time stream for validity * checks a ccs time stream for validity
* *

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@ -19,8 +19,8 @@ SpacePacket::SpacePacket(uint16_t packetDataLength, bool isTelecommand, uint16_t
SpacePacket::~SpacePacket(void) {} SpacePacket::~SpacePacket(void) {}
bool SpacePacket::addWholeData(const uint8_t* p_Data, uint32_t packet_size) { bool SpacePacket::addWholeData(const uint8_t* p_Data, uint32_t packet_size) {
if (packet_size <= sizeof(this->data)) { if (packet_size <= sizeof(this->localData)) {
memcpy(&this->localData.byteStream, p_Data, packet_size); memcpy(this->localData.byteStream, p_Data, packet_size);
return true; return true;
} else { } else {
return false; return false;

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@ -95,7 +95,7 @@ class CommandingServiceBase : public SystemObject,
*/ */
virtual ReturnValue_t performOperation(uint8_t opCode) override; virtual ReturnValue_t performOperation(uint8_t opCode) override;
virtual uint16_t getIdentifier(); virtual uint16_t getIdentifier() override;
/** /**
* Returns the requestQueue MessageQueueId_t * Returns the requestQueue MessageQueueId_t
@ -104,7 +104,7 @@ class CommandingServiceBase : public SystemObject,
* *
* @return requestQueue messageQueueId_t * @return requestQueue messageQueueId_t
*/ */
virtual MessageQueueId_t getRequestQueue(); virtual MessageQueueId_t getRequestQueue() override;
/** /**
* Returns the commandQueue MessageQueueId_t * Returns the commandQueue MessageQueueId_t
@ -166,7 +166,7 @@ class CommandingServiceBase : public SystemObject,
* @param objectId Target object ID * @param objectId Target object ID
* @return * @return
* - @c RETURN_OK to generate a verification start message * - @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. * verification message.
* - @c Anything else rejects the packets and generates a start failure * - @c Anything else rejects the packets and generates a start failure
* verification. * verification.

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@ -179,6 +179,27 @@ TEST_CASE("CCSDSTime Tests", "[TestCCSDSTime]") {
CHECK(todFromCCSDS.second == time.second); CHECK(todFromCCSDS.second == time.second);
CHECK(todFromCCSDS.usecond == 123000); 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") { SECTION("CCSDS Failures") {
Clock::TimeOfDay_t time; Clock::TimeOfDay_t time;
time.year = 2020; time.year = 2020;