Merge branch 'develop' into eive/develop

hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h

@@ -2,7 +2,6 @@
 #define MISSION_DEVICES_MGMRM3100HANDLER_H_
 
 #include "fsfw/FSFW.h"
-#include "devices/powerSwitcherList.h"
 #include "devicedefinitions/MgmRM3100HandlerDefs.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 

hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h

@@ -49,7 +49,7 @@ static constexpr uint8_t TMRC_DEFAULT_VALUE = TMRC_DEFAULT_37HZ_VALUE;
 
 static constexpr uint8_t MEASUREMENT_REG_START = 0x24;
 static constexpr uint8_t BIST_REGISTER = 0x33;
-static constexpr uint8_t DATA_READY_VAL = 0b1000'0000;
+static constexpr uint8_t DATA_READY_VAL = 0b10000000;
 static constexpr uint8_t STATUS_REGISTER = 0x34;
 static constexpr uint8_t REVID_REGISTER = 0x36;
 

hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp

@@ -357,7 +357,6 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
     return status;
 }
 
-
 ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck,
         gpio::GpioTypes expectedType, GpioMap& mapToAdd) {
     // Cross check with private map

src/fsfw/FSFW.h.in

@@ -16,18 +16,38 @@
 #cmakedefine FSFW_ADD_MONITORING
 #cmakedefine FSFW_ADD_SGP4_PROPAGATOR
 
+// FSFW core defines
+
 #ifndef FSFW_TCP_RECV_WIRETAPPING_ENABLED
 #define FSFW_TCP_RECV_WIRETAPPING_ENABLED   0
 #endif
 
+#ifndef FSFW_CPP_OSTREAM_ENABLED
+#define FSFW_CPP_OSTREAM_ENABLED            1
+#endif /* FSFW_CPP_OSTREAM_ENABLED */
+
+#ifndef FSFW_VERBOSE_LEVEL
+#define FSFW_VERBOSE_LEVEL                  1
+#endif /* FSFW_VERBOSE_LEVEL */
+
+#ifndef FSFW_USE_REALTIME_FOR_LINUX
+#define FSFW_USE_REALTIME_FOR_LINUX         0
+#endif /* FSFW_USE_REALTIME_FOR_LINUX */
+
+#ifndef FSFW_NO_C99_IO
+#define FSFW_NO_C99_IO                      0
+#endif /* FSFW_NO_C99_IO */
+
 #ifndef FSFW_USE_PUS_C_TELEMETRY
 #define FSFW_USE_PUS_C_TELEMETRY            1
-#endif
+#endif /* FSFW_USE_PUS_C_TELEMETRY */
 
 #ifndef FSFW_USE_PUS_C_TELECOMMANDS
 #define FSFW_USE_PUS_C_TELECOMMANDS         1
 #endif
 
+// FSFW HAL defines
+
 // Can be used for low-level debugging of the SPI bus
 #ifndef FSFW_HAL_SPI_WIRETAPPING
 #define FSFW_HAL_SPI_WIRETAPPING            0

src/fsfw/FSFWVersion.h

@@ -3,8 +3,8 @@
 
 const char* const FSFW_VERSION_NAME = "ASTP";
 
-#define FSFW_VERSION        1
-#define FSFW_SUBVERSION     2
+#define FSFW_VERSION        2
+#define FSFW_SUBVERSION     0
 #define FSFW_REVISION       0
 
 #endif /* FSFW_VERSION_H_ */

src/fsfw/globalfunctions/DleEncoder.cpp

@@ -165,11 +165,9 @@ ReturnValue_t DleEncoder::decodeStreamEscaped(const uint8_t *sourceStream, size_
     if (sourceStream[encodedIndex++] != STX_CHAR) {
         return DECODING_ERROR;
     }
-    while ((encodedIndex < sourceStreamLen)
-            and (decodedIndex < maxDestStreamlen)
-            and (sourceStream[encodedIndex] != ETX_CHAR)
-            and (sourceStream[encodedIndex] != STX_CHAR)) {
-        if (sourceStream[encodedIndex] == DLE_CHAR) {
+    while ((encodedIndex < sourceStreamLen) and (decodedIndex < maxDestStreamlen)) {
+        switch(sourceStream[encodedIndex]) {
+        case(DLE_CHAR): {
             if(encodedIndex + 1 >= sourceStreamLen) {
                 //reached the end of the sourceStream
                 *readLen = sourceStreamLen;
@@ -197,30 +195,34 @@ ReturnValue_t DleEncoder::decodeStreamEscaped(const uint8_t *sourceStream, size_
                 }
             }
             ++encodedIndex;
+            break;
         }
-        else {
+        case(STX_CHAR): {
+            *readLen = encodedIndex;
+            return DECODING_ERROR;
+        }
+        case(ETX_CHAR): {
+            *readLen = ++encodedIndex;
+            *decodedLen = decodedIndex;
+            return RETURN_OK;
+        }
+        default: {
             destStream[decodedIndex] = sourceStream[encodedIndex];
+            break;
+        }
         }
-
         ++encodedIndex;
         ++decodedIndex;
     }
-    if (sourceStream[encodedIndex] != ETX_CHAR) {
+
     if(decodedIndex == maxDestStreamlen) {
         //so far we did not find anything wrong here, so let user try again
         *readLen = 0;
         return STREAM_TOO_SHORT;
-        }
-        else {
-            *readLen = ++encodedIndex;
+    } else {
+        *readLen = encodedIndex;
         return DECODING_ERROR;
     }
-    }
-    else {
-        *readLen = ++encodedIndex;
-        *decodedLen = decodedIndex;
-        return RETURN_OK;
-    }
 }
 
 ReturnValue_t DleEncoder::decodeStreamNonEscaped(const uint8_t *sourceStream,

src/fsfw/osal/linux/CMakeLists.txt

@@ -13,7 +13,6 @@ target_sources(${LIB_FSFW_NAME}
 		QueueFactory.cpp
 		SemaphoreFactory.cpp
 		TaskFactory.cpp
-		Timer.cpp
 		tcpipHelpers.cpp
 		unixUtility.cpp
 		CommandExecutor.cpp

src/fsfw/timemanager/Countdown.cpp

@@ -6,16 +6,14 @@ Countdown::Countdown(uint32_t initialTimeout): timeout(initialTimeout) {
 Countdown::~Countdown() {
 }
 
-ReturnValue_t Countdown::setTimeout(uint32_t miliseconds) {
-	ReturnValue_t return_value = Clock::getUptime( &startTime );
-	timeout = miliseconds;
-	return return_value;
+ReturnValue_t Countdown::setTimeout(uint32_t milliseconds) {
+	ReturnValue_t returnValue = Clock::getUptime( &startTime );
+	timeout = milliseconds;
+	return returnValue;
 }
 
 bool Countdown::hasTimedOut() const {
-	uint32_t current_time;
-	Clock::getUptime( &current_time );
-	if ( uint32_t(current_time - startTime) >= timeout) {
+	if ( uint32_t( this->getCurrentTime() - startTime) >= timeout) {
 		return true;
 	} else {
 		return false;
@@ -31,7 +29,23 @@ ReturnValue_t Countdown::resetTimer() {
 }
 
 void Countdown::timeOut() {
-	uint32_t current_time;
-		Clock::getUptime( &current_time );
-	startTime= current_time - timeout;
+	startTime = this->getCurrentTime() - timeout;
+}
+
+uint32_t Countdown::getRemainingMillis() const {
+	// We fetch the time before the if-statement
+	// to be sure that the return is in
+	// range 0 <= number <= timeout
+	uint32_t currentTime = this->getCurrentTime();
+	if (this->hasTimedOut()){
+		return 0;
+	}else{
+		return (startTime + timeout) - currentTime;
+	}
+}
+
+uint32_t Countdown::getCurrentTime() const {
+	uint32_t currentTime;
+	Clock::getUptime( &currentTime );
+	return currentTime;
 }

src/fsfw/timemanager/Countdown.h

@@ -4,28 +4,77 @@
 #include "Clock.h"
 
 /**
- * @brief	This file defines the Countdown class.
- * @author	baetz
+ *
+ * Countdown keeps track of a timespan.
+ *
+ * Countdown::resetTimer restarts the timer.
+ * Countdown::setTimeout sets a new countdown duration and resets.
+ *
+ * Can be checked with Countdown::hasTimedOut or
+ * Countdown::isBusy.
+ *
+ * Countdown::timeOut will force the timer to time out.
+ *
  */
 class Countdown {
 public:
-	uint32_t timeout;
+	/**
+	 * Constructor which sets the countdown duration in milliseconds
+	 *
+	 * It does not start the countdown!
+	 * Call resetTimer or setTimeout before usage!
+	 * Otherwise a call to hasTimedOut might return True.
+	 *
+	 * @param initialTimeout Countdown duration in milliseconds
+	 */
 	Countdown(uint32_t initialTimeout = 0);
 	~Countdown();
-	ReturnValue_t setTimeout(uint32_t miliseconds);
-
+	/**
+	 * Call to set a new countdown duration.
+	 *
+	 * Resets the countdown!
+	 *
+	 * @param milliseconds new countdown duration in milliseconds
+	 * @return Returnvalue from Clock::getUptime
+	 */
+	ReturnValue_t setTimeout(uint32_t milliseconds);
+	/**
+	 * Returns true if the countdown duration has passed.
+	 *
+	 * @return True if the countdown has passed
+	 * 		   False if it is still running
+	 */
 	bool hasTimedOut() const;
-
+	/**
+	 * Complementary to hasTimedOut.
+	 *
+	 * @return True if the countdown is till running
+	 * 		   False if it is still running
+	 */
 	bool isBusy() const;
-
-	//!< Use last set timeout value and restart timer.
+	/**
+	 *  Uses last set timeout value and restarts timer.
+	 */
 	ReturnValue_t resetTimer();
-
-	//!< Make hasTimedOut() return true
+	/**
+	 * Returns the remaining milliseconds (0 if timeout)
+	 */
+	uint32_t getRemainingMillis() const;
+	/**
+	 * Makes hasTimedOut() return true
+	 */
 	void timeOut();
-
+	/**
+	 * Internal countdown duration in milliseconds
+	 */
+	uint32_t timeout;
 private:
+	/**
+	 * Last time the timer was started (uptime)
+	 */
 	uint32_t startTime = 0;
+
+	uint32_t getCurrentTime() const;
 };
 
 #endif /* FSFW_TIMEMANAGER_COUNTDOWN_H_ */

src/fsfw/tmtcpacket/SpacePacket.h

@@ -31,7 +31,6 @@ public:
      * The class's default destructor.
      */
     virtual ~SpacePacket();
-
     /**
      * With this call, the complete data content (including the CCSDS Primary
      * Header) is overwritten with the byte stream given.
@@ -41,6 +40,7 @@ public:
      * 			@li \c false else.
      */
     bool addWholeData(const uint8_t* p_data, uint32_t packet_size);
+
 protected:
     /**
      * This structure defines the data structure of a Space Packet as local data.

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

@@ -30,8 +30,7 @@ TmPacketStoredPusA::TmPacketStoredPusA(uint16_t apid, uint8_t service,
     initializeTmPacket(apid, service, subservice, packetSubcounter);
     memcpy(getSourceData(), headerData, headerSize);
     memcpy(getSourceData() + headerSize, data, size);
-    setPacketDataLength(
-            size + headerSize + sizeof(PUSTmDataFieldHeaderPusA) + CRC_SIZE - 1);
+    setPacketDataLength(size + headerSize + sizeof(PUSTmDataFieldHeaderPusA) + CRC_SIZE - 1);
 }
 
 TmPacketStoredPusA::TmPacketStoredPusA(uint16_t apid, uint8_t service,

tests/src/fsfw_tests/unit/CMakeLists.txt

@@ -18,4 +18,5 @@ add_subdirectory(serialize)
 add_subdirectory(datapoollocal)
 add_subdirectory(storagemanager)
 add_subdirectory(globalfunctions)
+add_subdirectory(timemanager)
 add_subdirectory(tmtcpacket)

tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp

@@ -103,7 +103,7 @@ TEST_CASE("DleEncoder" , "[DleEncoder]") {
             for(size_t faultyDestSize = 0; faultyDestSize < expectedVec.size(); faultyDestSize ++) {
                 result = dleEncoder.encode(vecToEncode.data(), vecToEncode.size(),
                         buffer.data(), faultyDestSize, &encodedLen);
-                REQUIRE(result == DleEncoder::STREAM_TOO_SHORT);
+                REQUIRE(result == static_cast<int>(DleEncoder::STREAM_TOO_SHORT));
             }
         };
 
@@ -218,5 +218,10 @@ TEST_CASE("DleEncoder" , "[DleEncoder]") {
         REQUIRE(result == static_cast<int>(DleEncoder::DECODING_ERROR));
 
         dleEncoder.setEscapeMode(true);
+        testArray1EncodedFaulty = TEST_ARRAY_1_ENCODED_ESCAPED;
+        testArray1EncodedFaulty[5] = 0;
+        result = dleEncoder.decode(testArray1EncodedFaulty.data(), testArray1EncodedFaulty.size(),
+                &readLen, buffer.data(), buffer.size(), &encodedLen);
+        REQUIRE(result == static_cast<int>(DleEncoder::DECODING_ERROR));
     }
 }

tests/src/fsfw_tests/unit/timemanager/CMakeLists.txt

@@ -0,0 +1,3 @@
+target_sources(${TARGET_NAME} PRIVATE
+	TestCountdown.cpp
+)

tests/src/fsfw_tests/unit/timemanager/TestCountdown.cpp

@@ -0,0 +1,27 @@
+#include "fsfw_tests/unit/CatchDefinitions.h"
+#include <fsfw/timemanager/Countdown.h>
+#include <catch2/catch_test_macros.hpp>
+
+
+TEST_CASE( "Countdown Tests", "[TestCountdown]") {
+	INFO("Countdown Tests");
+	Countdown count(20);
+	REQUIRE(count.timeout == 20);
+	REQUIRE(count.setTimeout(100) == static_cast<uint16_t>(HasReturnvaluesIF::RETURN_OK));
+	REQUIRE(count.timeout == 100);
+	REQUIRE(count.setTimeout(150) == static_cast<uint16_t>(HasReturnvaluesIF::RETURN_OK));
+	REQUIRE(count.isBusy());
+	REQUIRE(not count.hasTimedOut());
+	uint32_t number = count.getRemainingMillis();
+	REQUIRE(number > 0);
+	bool blocked = false;
+	while(not count.hasTimedOut()){
+		blocked = true;
+	};
+	REQUIRE(blocked);
+	number = count.getRemainingMillis();
+	REQUIRE(number==0);
+	count.resetTimer();
+	REQUIRE(not count.hasTimedOut());
+	REQUIRE(count.isBusy());
+}