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Increased TM stack robustness

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1. More nullptr check
2. returnvalue for inititalize function which can fail
This commit is contained in:
Robin Müller 2021-09-27 11:05:26 +02:00 committed by Robin Mueller
parent ab906fa534
commit 9efe9e78d8
6 changed files with 248 additions and 187 deletions
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3
src/fsfw/tmtcpacket/SpacePacket.h
View File

@ -19,7 +19,8 @@ public:
/**
* The constructor initializes the packet and sets all header information
* according to the passed parameters.
* @param packetDataLength Sets the packet data length field and therefore specifies the size of the packet.
* @param packetDataLength Sets the packet data length field and therefore specifies
* the size of the packet.
* @param isTelecommand Sets the packet type field to either TC (true) or TM (false).
* @param apid Sets the packet's APID field. The default value describes an idle packet.
* @param sequenceCount ets the packet's Source Sequence Count field.

102
src/fsfw/tmtcpacket/SpacePacketBase.cpp
View File

@ -3,8 +3,8 @@
#include <cstring>
SpacePacketBase::SpacePacketBase( const uint8_t* set_address ) {
this->data = (SpacePacketPointer*) set_address;
SpacePacketBase::SpacePacketBase(const uint8_t* setAddress) {
this->data = reinterpret_cast<SpacePacketPointer*>(const_cast<uint8_t*>(setAddress));
}
SpacePacketBase::~SpacePacketBase() {
@ -12,94 +12,112 @@ SpacePacketBase::~SpacePacketBase() {
//CCSDS Methods:
uint8_t SpacePacketBase::getPacketVersionNumber( void ) {
return (this->data->header.packet_id_h & 0b11100000) >> 5;
return (this->data->header.packet_id_h & 0b11100000) >> 5;
}
void SpacePacketBase::initSpacePacketHeader(bool isTelecommand,
bool hasSecondaryHeader, uint16_t apid, uint16_t sequenceCount) {
//reset header to zero:
memset(data,0, sizeof(this->data->header) );
//Set TC/TM bit.
data->header.packet_id_h = ((isTelecommand? 1 : 0)) << 4;
//Set secondaryHeader bit
data->header.packet_id_h |= ((hasSecondaryHeader? 1 : 0)) << 3;
this->setAPID( apid );
//Always initialize as standalone packets.
data->header.sequence_control_h = 0b11000000;
setPacketSequenceCount(sequenceCount);
ReturnValue_t SpacePacketBase::initSpacePacketHeader(bool isTelecommand,
bool hasSecondaryHeader, uint16_t apid, uint16_t sequenceCount) {
if(data == nullptr) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SpacePacketBase::initSpacePacketHeader: Data pointer is invalid"
<< std::endl;
#else
sif::printWarning("SpacePacketBase::initSpacePacketHeader: Data pointer is invalid!\n");
#endif
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
//reset header to zero:
memset(data, 0, sizeof(this->data->header) );
//Set TC/TM bit.
data->header.packet_id_h = ((isTelecommand? 1 : 0)) << 4;
//Set secondaryHeader bit
data->header.packet_id_h |= ((hasSecondaryHeader? 1 : 0)) << 3;
this->setAPID( apid );
//Always initialize as standalone packets.
data->header.sequence_control_h = 0b11000000;
setPacketSequenceCount(sequenceCount);
return HasReturnvaluesIF::RETURN_OK;
}
bool SpacePacketBase::isTelecommand( void ) {
return (this->data->header.packet_id_h & 0b00010000) >> 4;
return (this->data->header.packet_id_h & 0b00010000) >> 4;
}
bool SpacePacketBase::hasSecondaryHeader( void ) {
return (this->data->header.packet_id_h & 0b00001000) >> 3;
return (this->data->header.packet_id_h & 0b00001000) >> 3;
}
uint16_t SpacePacketBase::getPacketId() {
return ( (this->data->header.packet_id_h) << 8 ) +
this->data->header.packet_id_l;
return ( (this->data->header.packet_id_h) << 8 ) +
this->data->header.packet_id_l;
}
uint16_t SpacePacketBase::getAPID( void ) const {
return ( (this->data->header.packet_id_h & 0b00000111) << 8 ) +
this->data->header.packet_id_l;
return ( (this->data->header.packet_id_h & 0b00000111) << 8 ) +
this->data->header.packet_id_l;
}
void SpacePacketBase::setAPID( uint16_t new_apid ) {
//Use first three bits of new APID, but keep rest of packet id as it was (see specification).
this->data->header.packet_id_h = (this->data->header.packet_id_h & 0b11111000) | ( ( new_apid & 0x0700 ) >> 8 );
this->data->header.packet_id_l = ( new_apid & 0x00FF );
// Use first three bits of new APID, but keep rest of packet id as it was (see specification).
this->data->header.packet_id_h = (this->data->header.packet_id_h & 0b11111000) |
( ( new_apid & 0x0700 ) >> 8 );
this->data->header.packet_id_l = ( new_apid & 0x00FF );
}
void SpacePacketBase::setSequenceFlags( uint8_t sequenceflags ) {
this->data->header.sequence_control_h &= 0x3F;
this->data->header.sequence_control_h |= sequenceflags << 6;
}
uint16_t SpacePacketBase::getPacketSequenceControl( void ) {
return ( (this->data->header.sequence_control_h) << 8 )
+ this->data->header.sequence_control_l;
return ( (this->data->header.sequence_control_h) << 8 )
+ this->data->header.sequence_control_l;
}
uint8_t SpacePacketBase::getSequenceFlags( void ) {
return (this->data->header.sequence_control_h & 0b11000000) >> 6 ;
return (this->data->header.sequence_control_h & 0b11000000) >> 6 ;
}
uint16_t SpacePacketBase::getPacketSequenceCount( void ) const {
return ( (this->data->header.sequence_control_h & 0b00111111) << 8 )
+ this->data->header.sequence_control_l;
return ( (this->data->header.sequence_control_h & 0b00111111) << 8 )
+ this->data->header.sequence_control_l;
}
void SpacePacketBase::setPacketSequenceCount( uint16_t new_count) {
this->data->header.sequence_control_h = ( this->data->header.sequence_control_h & 0b11000000 ) | ( ( (new_count%LIMIT_SEQUENCE_COUNT) & 0x3F00 ) >> 8 );
this->data->header.sequence_control_l = ( (new_count%LIMIT_SEQUENCE_COUNT) & 0x00FF );
this->data->header.sequence_control_h = ( this->data->header.sequence_control_h & 0b11000000 ) |
( ( (new_count%LIMIT_SEQUENCE_COUNT) & 0x3F00 ) >> 8 );
this->data->header.sequence_control_l = ( (new_count%LIMIT_SEQUENCE_COUNT) & 0x00FF );
}
uint16_t SpacePacketBase::getPacketDataLength() const {
return ( (this->data->header.packet_length_h) << 8 )
+ this->data->header.packet_length_l;
return ( (this->data->header.packet_length_h) << 8 )
+ this->data->header.packet_length_l;
}
void SpacePacketBase::setPacketDataLength( uint16_t new_length) {
this->data->header.packet_length_h = ( ( new_length & 0xFF00 ) >> 8 );
this->data->header.packet_length_l = ( new_length & 0x00FF );
this->data->header.packet_length_h = ( ( new_length & 0xFF00 ) >> 8 );
this->data->header.packet_length_l = ( new_length & 0x00FF );
}
size_t SpacePacketBase::getFullSize() {
//+1 is done because size in packet data length field is: size of data field -1
return this->getPacketDataLength() + sizeof(this->data->header) + 1;
// +1 is done because size in packet data length field is: size of data field -1
return this->getPacketDataLength() + sizeof(this->data->header) + 1;
}
uint8_t* SpacePacketBase::getWholeData() {
return (uint8_t*)this->data;
return (uint8_t*)this->data;
}
void SpacePacketBase::setData( const uint8_t* p_Data ) {
this->data = (SpacePacketPointer*)p_Data;
this->data = (SpacePacketPointer*)p_Data;
}
uint32_t SpacePacketBase::getApidAndSequenceCount() const {
return (getAPID() << 16) + getPacketSequenceCount();
return (getAPID() << 16) + getPacketSequenceCount();
}
uint8_t* SpacePacketBase::getPacketData() {
return &(data->packet_data);
return &(data->packet_data);
}

276
src/fsfw/tmtcpacket/SpacePacketBase.h
View File

@ -2,6 +2,8 @@
#define FSFW_TMTCPACKET_SPACEPACKETBASE_H_
#include "ccsds_header.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include <cstddef>
/**
@ -20,8 +22,8 @@
* @ingroup tmtcpackets
*/
struct SpacePacketPointer {
CCSDSPrimaryHeader header;
uint8_t packet_data;
CCSDSPrimaryHeader header;
uint8_t packet_data;
};
/**
@ -37,143 +39,151 @@ struct SpacePacketPointer {
*/
class SpacePacketBase {
protected:
/**
* A pointer to a structure which defines the data structure of
* the packet header.
* To be hardware-safe, all elements are of byte size.
*/
SpacePacketPointer* data;
/**
* A pointer to a structure which defines the data structure of
* the packet header.
* To be hardware-safe, all elements are of byte size.
*/
SpacePacketPointer* data;
public:
static const uint16_t LIMIT_APID = 2048; //2^1
static const uint16_t LIMIT_SEQUENCE_COUNT = 16384; // 2^14
static const uint16_t APID_IDLE_PACKET = 0x7FF;
static const uint8_t TELECOMMAND_PACKET = 1;
static const uint8_t TELEMETRY_PACKET = 0;
/**
* This definition defines the CRC size in byte.
*/
static const uint8_t CRC_SIZE = 2;
/**
* This is the minimum size of a SpacePacket.
*/
static const uint16_t MINIMUM_SIZE = sizeof(CCSDSPrimaryHeader) + CRC_SIZE;
/**
* This is the default constructor.
* It sets its internal data pointer to the address passed.
* @param set_address The position where the packet data lies.
*/
SpacePacketBase( const uint8_t* set_address );
/**
* No data is allocated, so the destructor is empty.
*/
virtual ~SpacePacketBase();
static const uint16_t LIMIT_APID = 2048; //2^1
static const uint16_t LIMIT_SEQUENCE_COUNT = 16384; // 2^14
static const uint16_t APID_IDLE_PACKET = 0x7FF;
static const uint8_t TELECOMMAND_PACKET = 1;
static const uint8_t TELEMETRY_PACKET = 0;
/**
* This definition defines the CRC size in byte.
*/
static const uint8_t CRC_SIZE = 2;
/**
* This is the minimum size of a SpacePacket.
*/
static const uint16_t MINIMUM_SIZE = sizeof(CCSDSPrimaryHeader) + CRC_SIZE;
/**
* This is the default constructor.
* It sets its internal data pointer to the address passed.
* @param set_address The position where the packet data lies.
*/
SpacePacketBase( const uint8_t* set_address );
/**
* No data is allocated, so the destructor is empty.
*/
virtual ~SpacePacketBase();
//CCSDS Methods:
/**
* Getter for the packet version number field.
* @return Returns the highest three bit of the packet in one byte.
*/
uint8_t getPacketVersionNumber( void );
/**
* This method checks the type field in the header.
* This bit specifies, if the command is interpreted as Telecommand of
* as Telemetry. For a Telecommand, the bit is set.
* @return Returns true if the bit is set and false if not.
*/
bool isTelecommand( void );
//CCSDS Methods
void initSpacePacketHeader(bool isTelecommand, bool hasSecondaryHeader,
uint16_t apid, uint16_t sequenceCount = 0);
/**
* The CCSDS header provides a secondary header flag (the fifth-highest bit),
* which is checked with this method.
* @return Returns true if the bit is set and false if not.
*/
bool hasSecondaryHeader( void );
/**
* Returns the complete first two bytes of the packet, which together form
* the CCSDS packet id.
* @return The CCSDS packet id.
*/
uint16_t getPacketId( void );
/**
* Returns the APID of a packet, which are the lowest 11 bit of the packet
* id.
* @return The CCSDS APID.
*/
uint16_t getAPID( void ) const;
/**
* Sets the APID of a packet, which are the lowest 11 bit of the packet
* id.
* @param The APID to set. The highest five bits of the parameter are
* ignored.
*/
void setAPID( uint16_t setAPID );
/**
* Returns the CCSDS packet sequence control field, which are the third and
* the fourth byte of the CCSDS primary header.
* @return The CCSDS packet sequence control field.
*/
uint16_t getPacketSequenceControl( void );
/**
* Returns the SequenceFlags, which are the highest two bit of the packet
* sequence control field.
* @return The CCSDS sequence flags.
*/
uint8_t getSequenceFlags( void );
/**
* Returns the packet sequence count, which are the lowest 14 bit of the
* packet sequence control field.
* @return The CCSDS sequence count.
*/
uint16_t getPacketSequenceCount( void ) const;
/**
* Sets the packet sequence count, which are the lowest 14 bit of the
* packet sequence control field.
* setCount is modulo-divided by \c LIMIT_SEQUENCE_COUNT to avoid overflows.
* @param setCount The value to set the count to.
*/
void setPacketSequenceCount( uint16_t setCount );
/**
* Returns the packet data length, which is the fifth and sixth byte of the
* CCSDS Primary Header. The packet data length is the size of every kind
* of data \b after the CCSDS Primary Header \b -1.
* @return
* The CCSDS packet data length. uint16_t is sufficient,
* because this is limit in CCSDS standard
*/
uint16_t getPacketDataLength(void) const;
/**
* Sets the packet data length, which is the fifth and sixth byte of the
* CCSDS Primary Header.
* @param setLength The value of the length to set. It must fit the true
* CCSDS packet data length . The packet data length is
* the size of every kind of data \b after the CCSDS
* Primary Header \b -1.
*/
void setPacketDataLength( uint16_t setLength );
/**
* Getter for the packet version number field.
* @return Returns the highest three bit of the packet in one byte.
*/
uint8_t getPacketVersionNumber( void );
/**
* This method checks the type field in the header.
* This bit specifies, if the command is interpreted as Telecommand of
* as Telemetry. For a Telecommand, the bit is set.
* @return Returns true if the bit is set and false if not.
*/
bool isTelecommand( void );
//Helper methods:
/**
* This method returns a raw uint8_t pointer to the packet.
* @return A \c uint8_t pointer to the first byte of the CCSDS primary header.
*/
virtual uint8_t* getWholeData( void );
ReturnValue_t initSpacePacketHeader(bool isTelecommand, bool hasSecondaryHeader,
uint16_t apid, uint16_t sequenceCount = 0);
/**
* The CCSDS header provides a secondary header flag (the fifth-highest bit),
* which is checked with this method.
* @return Returns true if the bit is set and false if not.
*/
bool hasSecondaryHeader( void );
/**
* Returns the complete first two bytes of the packet, which together form
* the CCSDS packet id.
* @return The CCSDS packet id.
*/
uint16_t getPacketId( void );
/**
* Returns the APID of a packet, which are the lowest 11 bit of the packet
* id.
* @return The CCSDS APID.
*/
uint16_t getAPID( void ) const;
/**
* Sets the APID of a packet, which are the lowest 11 bit of the packet
* id.
* @param The APID to set. The highest five bits of the parameter are
* ignored.
*/
void setAPID( uint16_t setAPID );
uint8_t* getPacketData();
/**
* With this method, the packet data pointer can be redirected to another
* location.
* @param p_Data A pointer to another raw Space Packet.
*/
virtual void setData( const uint8_t* p_Data );
/**
* This method returns the full raw packet size.
* @return The full size of the packet in bytes.
*/
size_t getFullSize();
/**
* Sets the sequence flags of a packet, which are bit 17 and 18 in the space packet header.
* @param The sequence flags to set
*/
void setSequenceFlags( uint8_t sequenceflags );
uint32_t getApidAndSequenceCount() const;
/**
* Returns the CCSDS packet sequence control field, which are the third and
* the fourth byte of the CCSDS primary header.
* @return The CCSDS packet sequence control field.
*/
uint16_t getPacketSequenceControl( void );
/**
* Returns the SequenceFlags, which are the highest two bit of the packet
* sequence control field.
* @return The CCSDS sequence flags.
*/
uint8_t getSequenceFlags( void );
/**
* Returns the packet sequence count, which are the lowest 14 bit of the
* packet sequence control field.
* @return The CCSDS sequence count.
*/
uint16_t getPacketSequenceCount( void ) const;
/**
* Sets the packet sequence count, which are the lowest 14 bit of the
* packet sequence control field.
* setCount is modulo-divided by \c LIMIT_SEQUENCE_COUNT to avoid overflows.
* @param setCount The value to set the count to.
*/
void setPacketSequenceCount( uint16_t setCount );
/**
* Returns the packet data length, which is the fifth and sixth byte of the
* CCSDS Primary Header. The packet data length is the size of every kind
* of data \b after the CCSDS Primary Header \b -1.
* @return
* The CCSDS packet data length. uint16_t is sufficient,
* because this is limit in CCSDS standard
*/
uint16_t getPacketDataLength(void) const;
/**
* Sets the packet data length, which is the fifth and sixth byte of the
* CCSDS Primary Header.
* @param setLength The value of the length to set. It must fit the true
* CCSDS packet data length . The packet data length is
* the size of every kind of data \b after the CCSDS
* Primary Header \b -1.
*/
void setPacketDataLength( uint16_t setLength );
// Helper methods
/**
* This method returns a raw uint8_t pointer to the packet.
* @return A \c uint8_t pointer to the first byte of the CCSDS primary header.
*/
virtual uint8_t* getWholeData( void );
uint8_t* getPacketData();
/**
* With this method, the packet data pointer can be redirected to another
* location.
* @param p_Data A pointer to another raw Space Packet.
*/
virtual void setData( const uint8_t* p_Data );
/**
* This method returns the full raw packet size.
* @return The full size of the packet in bytes.
*/
size_t getFullSize();
uint32_t getApidAndSequenceCount() const;
};

8
src/fsfw/tmtcpacket/pus/tm/TmPacketPusC.cpp
View File

@ -53,11 +53,14 @@ uint8_t* TmPacketPusC::getPacketTimeRaw() const{
}
void TmPacketPusC::initializeTmPacket(uint16_t apid, uint8_t service,
ReturnValue_t TmPacketPusC::initializeTmPacket(uint16_t apid, uint8_t service,
uint8_t subservice, uint16_t packetSubcounter, uint16_t destinationId,
uint8_t timeRefField) {
//Set primary header:
initSpacePacketHeader(false, true, apid);
ReturnValue_t result = initSpacePacketHeader(false, true, apid);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
//Set data Field Header:
//First, set to zero.
memset(&tmData->dataField, 0, sizeof(tmData->dataField));
@ -76,6 +79,7 @@ void TmPacketPusC::initializeTmPacket(uint16_t apid, uint8_t service,
timeStamper->addTimeStamp(tmData->dataField.time,
sizeof(tmData->dataField.time));
}
return HasReturnvaluesIF::RETURN_OK;
}
void TmPacketPusC::setSourceDataSize(uint16_t size) {

2
src/fsfw/tmtcpacket/pus/tm/TmPacketPusC.h
View File

@ -100,7 +100,7 @@ protected:
* @param subservice PUS Subservice
* @param packetSubcounter Additional subcounter used.
*/
void initializeTmPacket(uint16_t apid, uint8_t service, uint8_t subservice,
ReturnValue_t initializeTmPacket(uint16_t apid, uint8_t service, uint8_t subservice,
uint16_t packetSubcounter, uint16_t destinationId = 0, uint8_t timeRefField = 0);
/**

44
src/fsfw/tmtcpacket/pus/tm/TmPacketStoredPusC.cpp
View File

@ -43,27 +43,55 @@ TmPacketStoredPusC::TmPacketStoredPusC(uint16_t apid, uint8_t service,
return;
}
size_t sourceDataSize = 0;
if (content != NULL) {
if (content != nullptr) {
sourceDataSize += content->getSerializedSize();
}
if (header != NULL) {
if (header != nullptr) {
sourceDataSize += header->getSerializedSize();
}
uint8_t *p_data = NULL;
ReturnValue_t returnValue = store->getFreeElement(&storeAddress,
(getPacketMinimumSize() + sourceDataSize), &p_data);
uint8_t *pData = nullptr;
size_t sizeToReserve = getPacketMinimumSize() + sourceDataSize;
ReturnValue_t returnValue = store->getFreeElement(&storeAddress, sizeToReserve, &pData);
if (returnValue != store->RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
switch(returnValue) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
case(StorageManagerIF::DATA_STORAGE_FULL): {
sif::warning << "TmPacketStoredPusC::TmPacketStoredPusC: Store full for packet with "
"size " << sizeToReserve << std::endl;
break;
}
case(StorageManagerIF::DATA_TOO_LARGE): {
sif::warning << "TmPacketStoredPusC::TmPacketStoredPusC: Data with size " <<
sizeToReserve << " too large" << std::endl;
break;
}
#else
case(StorageManagerIF::DATA_STORAGE_FULL): {
sif::printWarning("TmPacketStoredPusC::TmPacketStoredPusC: Store full for packet with "
"size %d\n", sizeToReserve);
break;
}
case(StorageManagerIF::DATA_TOO_LARGE): {
sif::printWarning("TmPacketStoredPusC::TmPacketStoredPusC: Data with size "
"%d too large\n", sizeToReserve);
break;
}
#endif
#endif
}
TmPacketStoredBase::checkAndReportLostTm();
return;
}
setData(p_data);
setData(pData);
initializeTmPacket(apid, service, subservice, packetSubcounter, destinationId, timeRefField);
uint8_t *putDataHere = getSourceData();
size_t size = 0;
if (header != NULL) {
if (header != nullptr) {
header->serialize(&putDataHere, &size, sourceDataSize,
SerializeIF::Endianness::BIG);
}
if (content != NULL) {
if (content != nullptr) {
content->serialize(&putDataHere, &size, sourceDataSize,
SerializeIF::Endianness::BIG);
}