Merge branch 'mueller/refactor-tmtc-stack' into mueller/cfdp-routers

CMakeLists.txt

@@ -360,7 +360,8 @@ if(NOT FSFW_CONFIG_PATH)
   if(NOT FSFW_BUILD_DOCS)
     message(
       WARNING
-        "${MSG_PREFIX} Flight Software Framework configuration path not set")
+        "${MSG_PREFIX} Flight Software Framework configuration path FSFW_CONFIG_PATH not set"
+    )
     message(
       WARNING
         "${MSG_PREFIX} Setting default configuration from ${DEF_CONF_PATH} ..")

src/fsfw/serialize/SerialBufferAdapter.cpp

@@ -124,6 +124,13 @@ void SerialBufferAdapter<count_t>::setBuffer(const uint8_t* data, count_t len) {
   this->bufferLength = len;
 }
 
+template <typename count_t>
+void SerialBufferAdapter<count_t>::setConstBuffer(const uint8_t* buf, count_t bufLen) {
+  this->buffer = nullptr;
+  this->bufferLength = bufLen;
+  this->constBuffer = buf;
+}
+
 // forward Template declaration for linker
 template class SerialBufferAdapter<uint8_t>;
 template class SerialBufferAdapter<uint16_t>;

src/fsfw/serialize/SerialBufferAdapter.h

@@ -21,6 +21,7 @@
 template <typename count_t>
 class SerialBufferAdapter : public SerializeIF {
  public:
+  SerialBufferAdapter() = default;
   /**
    * Constructor for constant uint8_t buffer. Length field can be serialized optionally.
    * Type of length can be supplied as template type.
@@ -42,7 +43,7 @@ class SerialBufferAdapter : public SerializeIF {
 
   ~SerialBufferAdapter() override;
 
-  ReturnValue_t serialize(uint8_t** buffer_, size_t* size, size_t maxSize,
+  ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
                           Endianness streamEndianness) const override;
 
   [[nodiscard]] size_t getSerializedSize() const override;
@@ -59,12 +60,13 @@ class SerialBufferAdapter : public SerializeIF {
    * @param bigEndian
    * @return
    */
-  ReturnValue_t deSerialize(const uint8_t** buffer_, size_t* size,
+  ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
                             Endianness streamEndianness) override;
 
   uint8_t* getBuffer();
   [[nodiscard]] const uint8_t* getConstBuffer() const;
-  void setBuffer(const uint8_t* buffer, count_t bufferLength);
+  void setBuffer(uint8_t* buffer, count_t bufferLength);
+  void setConstBuffer(const uint8_t* buf, count_t bufLen);
 
  private:
   bool serializeLength = false;

src/fsfw/tmtcpacket/pus/CustomUserDataIF.h

@@ -7,6 +7,6 @@ class CustomUserDataIF {
  public:
   virtual ~CustomUserDataIF() = default;
   virtual ReturnValue_t setRawUserData(const uint8_t* data, size_t len) = 0;
-  virtual ReturnValue_t setSerializableUserData(SerializeIF& serializable) = 0;
+  virtual ReturnValue_t setSerializableUserData(const SerializeIF& serializable) = 0;
 };
 #endif  // FSFW_TMTCPACKET_CREATORDATAIF_H

src/fsfw/tmtcpacket/pus/tc/PusTcCreator.cpp

@@ -14,7 +14,6 @@ PusTcCreator::PusTcCreator(SpacePacketParams spParams, PusTcParams pusParams)
 ReturnValue_t PusTcCreator::serialize(uint8_t **buffer, size_t *size, size_t maxSize,
                                       SerializeIF::Endianness streamEndianness) const {
   const uint8_t *start = *buffer;
-  size_t userDataLen = pusParams.dataWrapper.getLength();
   if (*size + getSerializedSize() > maxSize) {
     return SerializeIF::BUFFER_TOO_SHORT;
   }
@@ -37,17 +36,8 @@ ReturnValue_t PusTcCreator::serialize(uint8_t **buffer, size_t *size, size_t max
   if (result != returnvalue::OK) {
     return result;
   }
-  if (pusParams.dataWrapper.type == util::DataTypes::RAW) {
+  if (pusParams.appData != nullptr) {
-    const uint8_t *data = pusParams.dataWrapper.dataUnion.raw.data;
+    result = pusParams.appData->serialize(buffer, size, maxSize, streamEndianness);
-    if (data != nullptr and userDataLen > 0) {
-      std::memcpy(*buffer, data, userDataLen);
-      *buffer += userDataLen;
-      *size += userDataLen;
-    }
-  } else if (pusParams.dataWrapper.type == util::DataTypes::SERIALIZABLE and
-             pusParams.dataWrapper.dataUnion.serializable != nullptr) {
-    result = pusParams.dataWrapper.dataUnion.serializable->serialize(buffer, size, maxSize,
-                                                                     streamEndianness);
     if (result != returnvalue::OK) {
       return result;
     }
@@ -58,9 +48,11 @@ ReturnValue_t PusTcCreator::serialize(uint8_t **buffer, size_t *size, size_t max
 }
 
 void PusTcCreator::updateSpLengthField() {
-  spCreator.setCcsdsLenFromTotalDataFieldLen(ecss::PusTcDataFieldHeader::MIN_SIZE +
+  size_t len = ecss::PusTcDataFieldHeader::MIN_SIZE + sizeof(ecss::PusChecksumT);
-                                             pusParams.dataWrapper.getLength() +
+  if (pusParams.appData != nullptr) {
-                                             sizeof(ecss::PusChecksumT));
+    len += pusParams.appData->getSerializedSize();
+  }
+  spCreator.setCcsdsLenFromTotalDataFieldLen(len);
 }
 
 size_t PusTcCreator::getSerializedSize() const { return spCreator.getFullPacketLen(); }
@@ -92,14 +84,15 @@ SpacePacketParams &PusTcCreator::getSpParams() { return spCreator.getParams(); }
 
 ReturnValue_t PusTcCreator::setRawUserData(const uint8_t *data, size_t len) {
   // TODO: Check length field?
-  pusParams.dataWrapper.setRawData({data, len});
+  pusParams.bufAdapter.setConstBuffer(data, len);
+  pusParams.appData = &pusParams.bufAdapter;
   updateSpLengthField();
   return returnvalue::OK;
 }
 
-ReturnValue_t PusTcCreator::setSerializableUserData(SerializeIF &serializable) {
+ReturnValue_t PusTcCreator::setSerializableUserData(const SerializeIF &serializable) {
   // TODO: Check length field?
-  pusParams.dataWrapper.setSerializable(serializable);
+  pusParams.appData = &serializable;
   updateSpLengthField();
   return returnvalue::OK;
 }

src/fsfw/tmtcpacket/pus/tc/PusTcCreator.h

@@ -1,22 +1,30 @@
 #ifndef FSFW_TMTCPACKET_TCPACKETDESERIALIZER_H
 #define FSFW_TMTCPACKET_TCPACKETDESERIALIZER_H
 
+#include "fsfw/serialize/SerialBufferAdapter.h"
 #include "fsfw/tmtcpacket/RedirectableDataPointerIF.h"
 #include "fsfw/tmtcpacket/ccsds/SpacePacketCreator.h"
 #include "fsfw/tmtcpacket/ccsds/SpacePacketIF.h"
 #include "fsfw/tmtcpacket/pus/CustomUserDataIF.h"
 #include "fsfw/tmtcpacket/pus/defs.h"
 #include "fsfw/tmtcpacket/pus/tc/PusTcIF.h"
-#include "fsfw/util/dataWrapper.h"
 
 struct PusTcParams {
   PusTcParams(uint8_t service_, uint8_t subservice_) : service(service_), subservice(subservice_) {}
 
+  void setRawAppData(const uint8_t *data, size_t len) {
+    bufAdapter.setConstBuffer(data, len);
+    appData = &bufAdapter;
+  }
+
+  void setSerializableAppData(const SerializeIF &serializable) { appData = &serializable; }
+
   uint8_t service;
   uint8_t subservice;
   uint8_t ackFlags = ecss::ACK_ALL;
   uint16_t sourceId = 0;
-  util::DataWrapper dataWrapper{};
+  SerialBufferAdapter<uint8_t> bufAdapter;
+  const SerializeIF *appData = nullptr;
   uint8_t pusVersion = ecss::PusVersion::PUS_C;
 };
 
@@ -52,7 +60,7 @@ class PusTcCreator : public PusTcIF, public SerializeIF, public CustomUserDataIF
   [[nodiscard]] uint8_t getSubService() const override;
   [[nodiscard]] uint16_t getSourceId() const override;
   ReturnValue_t setRawUserData(const uint8_t *data, size_t len) override;
-  ReturnValue_t setSerializableUserData(SerializeIF &serializable) override;
+  ReturnValue_t setSerializableUserData(const SerializeIF &serializable) override;
 
   // Load all big endian helpers into the class namespace
   using SerializeIF::serializeBe;

src/fsfw/tmtcpacket/pus/tm/PusTmCreator.cpp

@@ -51,7 +51,6 @@ ReturnValue_t PusTmCreator::serialize(uint8_t** buffer, size_t* size, size_t max
   if (result != returnvalue::OK) {
     return result;
   }
-  size_t userDataLen = pusParams.dataWrapper.getLength();
   **buffer =
       ((pusParams.secHeader.pusVersion << 4) & 0xF0) | (pusParams.secHeader.scTimeRefStatus & 0x0F);
   *buffer += 1;
@@ -77,15 +76,8 @@ ReturnValue_t PusTmCreator::serialize(uint8_t** buffer, size_t* size, size_t max
     }
   }
 
-  if (pusParams.dataWrapper.type == util::DataTypes::RAW and
+  if (pusParams.sourceData != nullptr) {
-      pusParams.dataWrapper.dataUnion.raw.data != nullptr) {
+    result = pusParams.sourceData->serialize(buffer, size, maxSize, streamEndianness);
-    std::memcpy(*buffer, pusParams.dataWrapper.dataUnion.raw.data, userDataLen);
-    *buffer += userDataLen;
-    *size += userDataLen;
-  } else if (pusParams.dataWrapper.type == util::DataTypes::SERIALIZABLE and
-             pusParams.dataWrapper.dataUnion.serializable != nullptr) {
-    result = pusParams.dataWrapper.dataUnion.serializable->serialize(buffer, size, maxSize,
-                                                                     streamEndianness);
     if (result != returnvalue::OK) {
       return result;
     }
@@ -111,8 +103,10 @@ TimeWriterIF* PusTmCreator::getTimestamper() const { return pusParams.secHeader.
 SpacePacketParams& PusTmCreator::getSpParams() { return spCreator.getParams(); }
 
 void PusTmCreator::updateSpLengthField() {
-  size_t headerLen =
+  size_t headerLen = PusTmIF::MIN_SEC_HEADER_LEN + sizeof(ecss::PusChecksumT);
-      PusTmIF::MIN_SEC_HEADER_LEN + pusParams.dataWrapper.getLength() + sizeof(ecss::PusChecksumT);
+  if (pusParams.sourceData != nullptr) {
+    headerLen += pusParams.sourceData->getSerializedSize();
+  }
   if (pusParams.secHeader.timeStamper != nullptr) {
     headerLen += pusParams.secHeader.timeStamper->getSerializedSize();
   }
@@ -134,12 +128,17 @@ void PusTmCreator::setMessageTypeCounter(uint16_t messageTypeCounter) {
 void PusTmCreator::setDestId(uint16_t destId) { pusParams.secHeader.destId = destId; }
 
 ReturnValue_t PusTmCreator::setRawUserData(const uint8_t* data, size_t len) {
-  pusParams.dataWrapper.setRawData({data, len});
+  if (data == nullptr or len == 0) {
+    pusParams.sourceData = nullptr;
+  } else {
+    pusParams.adapter.setConstBuffer(data, len);
+    pusParams.sourceData = &pusParams.adapter;
+  }
   updateSpLengthField();
   return returnvalue::OK;
 }
-ReturnValue_t PusTmCreator::setSerializableUserData(SerializeIF& serializable) {
+ReturnValue_t PusTmCreator::setSerializableUserData(const SerializeIF& serializable) {
-  pusParams.dataWrapper.setSerializable(serializable);
+  pusParams.sourceData = &serializable;
   updateSpLengthField();
   return returnvalue::OK;
 }

src/fsfw/tmtcpacket/pus/tm/PusTmCreator.h

@@ -2,9 +2,9 @@
 #define FSFW_TMTCPACKET_TMPACKETCREATOR_H
 
 #include "PusTmIF.h"
+#include "fsfw/serialize/SerialBufferAdapter.h"
 #include "fsfw/tmtcpacket/ccsds/SpacePacketCreator.h"
 #include "fsfw/tmtcpacket/pus/CustomUserDataIF.h"
-#include "fsfw/util/dataWrapper.h"
 
 struct PusTmSecHeader {
   PusTmSecHeader() = default;
@@ -23,19 +23,25 @@ struct PusTmSecHeader {
 struct PusTmParams {
   PusTmParams() = default;
   explicit PusTmParams(PusTmSecHeader secHeader) : secHeader(secHeader){};
-  PusTmParams(PusTmSecHeader secHeader, util::DataWrapper dataWrapper)
+  PusTmParams(PusTmSecHeader secHeader, const SerializeIF& data)
-      : secHeader(secHeader), dataWrapper(dataWrapper) {}
+      : secHeader(secHeader), sourceData(&data) {}
-
+  PusTmParams(PusTmSecHeader secHeader, const uint8_t* data, size_t dataLen)
+      : secHeader(secHeader), adapter(data, dataLen), sourceData(&adapter) {}
   PusTmParams(uint8_t service, uint8_t subservice, TimeWriterIF* timeStamper)
       : secHeader(service, subservice, timeStamper) {}
 
   PusTmParams(uint8_t service, uint8_t subservice, TimeWriterIF* timeStamper,
-              util::DataWrapper dataWrapper_)
+              const SerializeIF& data_)
       : PusTmParams(service, subservice, timeStamper) {
-    dataWrapper = dataWrapper_;
+    sourceData = &data_;
   }
+
+  PusTmParams(uint8_t service, uint8_t subservice, TimeWriterIF* timeStamper, const uint8_t* data,
+              size_t dataLen)
+      : secHeader(service, subservice, timeStamper), adapter(data, dataLen), sourceData(&adapter) {}
   PusTmSecHeader secHeader;
-  util::DataWrapper dataWrapper{};
+  SerialBufferAdapter<uint8_t> adapter;
+  const SerializeIF* sourceData = nullptr;
 };
 
 class TimeWriterIF;
@@ -88,7 +94,7 @@ class PusTmCreator : public SerializeIF, public PusTmIF, public CustomUserDataIF
   [[nodiscard]] size_t getSerializedSize() const override;
   [[nodiscard]] TimeWriterIF* getTimestamper() const;
   ReturnValue_t setRawUserData(const uint8_t* data, size_t len) override;
-  ReturnValue_t setSerializableUserData(SerializeIF& serializable) override;
+  ReturnValue_t setSerializableUserData(const SerializeIF& serializable) override;
 
   // Load all big endian (network endian) helpers into scope
   using SerializeIF::serializeBe;

src/fsfw/tmtcservices/tmHelpers.h

@@ -10,48 +10,33 @@ namespace telemetry {
 class DataWithObjectIdPrefix : public SerializeIF {
  public:
   DataWithObjectIdPrefix(object_id_t objectId, const uint8_t* srcData, size_t srcDataLen)
-      : objectId(objectId) {
+      : objectId(objectId), bufAdapter(srcData, srcDataLen), userData(&bufAdapter) {}
-    dataWrapper.type = util::DataTypes::RAW;
-    dataWrapper.dataUnion.raw.data = srcData;
-    dataWrapper.dataUnion.raw.len = srcDataLen;
-  }
 
-  DataWithObjectIdPrefix(object_id_t objectId, SerializeIF& serializable) : objectId(objectId) {
+  DataWithObjectIdPrefix(object_id_t objectId, const SerializeIF& serializable)
-    dataWrapper.type = util::DataTypes::SERIALIZABLE;
+      : objectId(objectId), userData(&serializable) {}
-    dataWrapper.dataUnion.serializable = &serializable;
-  }
 
   ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
                           Endianness streamEndianness) const override {
     if (*size + getSerializedSize() > maxSize) {
       return SerializeIF::BUFFER_TOO_SHORT;
     }
-    if (dataWrapper.type != util::DataTypes::RAW) {
-      if ((dataWrapper.dataUnion.raw.data == nullptr) and (dataWrapper.dataUnion.raw.len > 0)) {
-        return returnvalue::FAILED;
-      }
-    } else if (dataWrapper.type == util::DataTypes::SERIALIZABLE) {
-      if (dataWrapper.dataUnion.serializable == nullptr) {
-        return returnvalue::FAILED;
-      }
-    }
     ReturnValue_t result =
         SerializeAdapter::serialize(&objectId, buffer, size, maxSize, streamEndianness);
     if (result != returnvalue::OK) {
       return result;
     }
-    if (dataWrapper.type != util::DataTypes::RAW) {
+    if (userData != nullptr) {
-      std::memcpy(*buffer, dataWrapper.dataUnion.raw.data, dataWrapper.dataUnion.raw.len);
+      return userData->serialize(buffer, size, maxSize, streamEndianness);
-      *buffer += dataWrapper.dataUnion.raw.len;
-      *size += dataWrapper.dataUnion.raw.len;
-    } else {
-      return dataWrapper.dataUnion.serializable->serialize(buffer, size, maxSize, streamEndianness);
     }
     return returnvalue::OK;
   }
 
   [[nodiscard]] size_t getSerializedSize() const override {
-    return sizeof(objectId) + dataWrapper.getLength();
+    size_t len = 0;
+    if (userData != nullptr) {
+      len += userData->getSerializedSize();
+    }
+    return len;
   }
 
   ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
@@ -63,7 +48,8 @@ class DataWithObjectIdPrefix : public SerializeIF {
 
  private:
   object_id_t objectId;
-  util::DataWrapper dataWrapper{};
+  SerialBufferAdapter<uint8_t> bufAdapter;
+  const SerializeIF* userData = nullptr;
 };
 
 }  // namespace telemetry

src/fsfw/util/dataWrapper.h

@@ -1,60 +0,0 @@
-#ifndef FSFW_UTIL_DATAWRAPPER_H
-#define FSFW_UTIL_DATAWRAPPER_H
-
-#include <cstddef>
-#include <cstdint>
-#include <utility>
-
-#include "fsfw/serialize.h"
-
-namespace util {
-
-struct RawData {
-  const uint8_t* data = nullptr;
-  size_t len = 0;
-};
-
-enum DataTypes { NONE, RAW, SERIALIZABLE };
-
-union DataUnion {
-  RawData raw;
-  SerializeIF* serializable = nullptr;
-};
-
-struct DataWrapper {
-  DataTypes type = DataTypes::NONE;
-  DataUnion dataUnion;
-  using BufPairT = std::pair<const uint8_t*, size_t>;
-
-  [[nodiscard]] size_t getLength() const {
-    if (type == DataTypes::RAW) {
-      return dataUnion.raw.len;
-    } else if (type == DataTypes::SERIALIZABLE and dataUnion.serializable != nullptr) {
-      return dataUnion.serializable->getSerializedSize();
-    }
-    return 0;
-  }
-
-  [[nodiscard]] bool isNull() const {
-    if ((type == DataTypes::NONE) or (type == DataTypes::RAW and dataUnion.raw.data == nullptr) or
-        (type == DataTypes::SERIALIZABLE and dataUnion.serializable == nullptr)) {
-      return true;
-    }
-    return false;
-  }
-
-  void setRawData(BufPairT bufPair) {
-    type = DataTypes::RAW;
-    dataUnion.raw.data = bufPair.first;
-    dataUnion.raw.len = bufPair.second;
-  }
-
-  void setSerializable(SerializeIF& serializable) {
-    type = DataTypes::SERIALIZABLE;
-    dataUnion.serializable = &serializable;
-  }
-};
-
-}  // namespace util
-
-#endif  // FSFW_UTIL_DATAWRAPPER_H

unittests/tmtcpacket/testPusTcCreator.cpp

@@ -71,7 +71,7 @@ TEST_CASE("PUS TC Creator", "[pus-tc-creator]") {
   SECTION("Test with Application Data Raw") {
     auto& params = creator.getPusParams();
     std::array<uint8_t, 3> data{1, 2, 3};
-    params.dataWrapper.setRawData({data.data(), data.size()});
+    params.setRawAppData(data.data(), data.size());
     // To get correct size information, the SP length field needs to be updated automatically
     REQUIRE(creator.getSerializedSize() == 13);
     creator.updateSpLengthField();

unittests/tmtcservices/testStoreAndSendHelper.cpp

@@ -44,9 +44,7 @@ TEST_CASE("TM Store And Send Helper", "[tm-store-send-helper]") {
     REQUIRE(creator.getSubService() == 2);
     REQUIRE(creator.getService() == 17);
     auto& params = creator.getParams();
-    REQUIRE(params.dataWrapper.type == util::DataTypes::RAW);
+    REQUIRE(params.sourceData == nullptr);
-    REQUIRE(params.dataWrapper.dataUnion.raw.data == nullptr);
-    REQUIRE(params.dataWrapper.dataUnion.raw.len == 0);
     REQUIRE(tmHelper.sendCounter == 0);
     REQUIRE(tmHelper.storeAndSendTmPacket() == returnvalue::OK);
     REQUIRE(tmHelper.sendCounter == 1);
@@ -65,9 +63,9 @@ TEST_CASE("TM Store And Send Helper", "[tm-store-send-helper]") {
     REQUIRE(tmHelper.prepareTmPacket(2, data.data(), data.size()) == returnvalue::OK);
     auto& creator = storeHelper.getCreatorRef();
     auto& params = creator.getParams();
-    REQUIRE(params.dataWrapper.type == util::DataTypes::RAW);
+    REQUIRE(params.sourceData != nullptr);
-    REQUIRE(params.dataWrapper.dataUnion.raw.data == data.data());
+    REQUIRE(params.sourceData->getSerializedSize() == data.size());
-    REQUIRE(params.dataWrapper.dataUnion.raw.len == data.size());
+    REQUIRE(params.adapter.getConstBuffer() == data.data());
   }
 
   SECTION("Serializable Helper") {
@@ -75,8 +73,7 @@ TEST_CASE("TM Store And Send Helper", "[tm-store-send-helper]") {
     REQUIRE(tmHelper.prepareTmPacket(2, simpleSer) == returnvalue::OK);
     auto& creator = storeHelper.getCreatorRef();
     auto& params = creator.getParams();
-    REQUIRE(params.dataWrapper.type == util::DataTypes::SERIALIZABLE);
+    REQUIRE(params.sourceData == &simpleSer);
-    REQUIRE(params.dataWrapper.dataUnion.serializable == &simpleSer);
   }
 
   SECTION("Object ID prefix Helper") {
@@ -86,8 +83,7 @@ TEST_CASE("TM Store And Send Helper", "[tm-store-send-helper]") {
     REQUIRE(tmHelper.prepareTmPacket(2, dataWithObjId) == returnvalue::OK);
     auto& creator = storeHelper.getCreatorRef();
     auto& params = creator.getParams();
-    REQUIRE(params.dataWrapper.type == util::DataTypes::SERIALIZABLE);
+    REQUIRE(params.sourceData == &dataWithObjId);
-    REQUIRE(params.dataWrapper.dataUnion.serializable == &dataWithObjId);
   }
 
   // TODO: Error handling