Merge remote-tracking branch 'upstream/mueller/master' into mueller/master

CHANGELOG

@@ -1,17 +1,81 @@
-## Changes from ASTP 1.0.0 to 1.1.0
+# Changed from ASTP 1.1.0 to 1.2.0
+
+## API Changes
+
+### FSFW Architecture
+
+- New src folder which contains all source files except the HAL, contributed code and test code
+- External and internal API mostly stayed the same
+- Folder names are now all smaller case: internalError was renamed to internalerror and
+  FreeRTOS was renamed to freertos
+- Warning if optional headers are used but the modules was not added to the source files to compile
+
+### HAL
+
+- HAL added back into FSFW. It is tightly bound to the FSFW, and compiling it as a static library
+  made using it more complicated than necessary
+
+## Bugfixes
+
+### FreeRTOS QueueMapManager
+
+- Fixed a bug which causes the first generated Queue ID to be invalid
+
+## Enhancements
+
+### FSFW Architecture
+
+- See API changes chapter. This change will keep the internal API consistent in the future
+
+# Changes from ASTP 1.0.0 to 1.1.0
+
+## API Changes
 
 ### PUS
 
 - Added PUS C support
+- SUBSYSTEM_IDs added for PUS Services
+- Added new Parameter which must be defined in config: fsfwconfig::FSFW_MAX_TM_PACKET_SIZE
+
+### ObjectManager
+
+ - ObjectManager is now a singelton
+
 
 ### Configuration
 
 - Additional configuration option fsfwconfig::FSFW_MAX_TM_PACKET_SIZE which 
   need to be specified in FSFWConfig.h
 
+### CMake
+
+- Changed Cmake FSFW_ADDITIONAL_INC_PATH to FSFW_ADDITIONAL_INC_PATHS
+
+## Bugfixes 
+
+- timemanager/TimeStamperIF.h: Timestamp config was not used correctly, leading to different timestamp sizes than configured in fsfwconfig::FSFW_MISSION_TIMESTAMP_SIZE
+- TCP server fixes
+
+## Enhancements
+
+### FreeRTOS Queue Handles
+
+- Fixed an internal issue how FreeRTOS MessageQueues were handled
+
+### Linux OSAL
+
+- Better printf error messages
+
+### CMake
+
+- Check for C++11 as mininimum required Version
+
+### Debug Output
+
+- Changed Warning color to magenta, which is well readable on both dark and light mode IDEs
 
 
-## Changes from ASTP 0.0.1 to 1.0.0
+# Changes from ASTP 0.0.1 to 1.0.0
 
 ### Host OSAL
 

CMakeLists.txt

@@ -3,7 +3,6 @@ cmake_minimum_required(VERSION 3.13)
 option(FSFW_GENERATE_SECTIONS
     "Generate function and data sections. Required to remove unused code" ON
 )
-
 if(FSFW_GENERATE_SECTIONS)
     option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
 endif()
@@ -11,9 +10,18 @@ endif()
 option(FSFW_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)
 # Options to exclude parts of the FSFW from compilation.
 option(FSFW_ADD_INTERNAL_TESTS "Add internal unit tests" ON)
-option(FSFW_USE_RMAP "Compile with RMAP" ON)
-option(FSFW_USE_DATALINKLAYER "Compile with Data Link Layer" ON)
-option(FSFW_ADD_SPG4_PROPAGATOR "Add SPG4 propagator code" ON)
+
+# Optional sources
+option(FSFW_ADD_PUS "Compile with PUS sources" ON)
+option(FSFW_ADD_MONITORING "Compile with monitoring components" ON)
+
+option(FSFW_ADD_RMAP "Compile with RMAP" OFF)
+option(FSFW_ADD_DATALINKLAYER "Compile with Data Link Layer" OFF)
+option(FSFW_ADD_COORDINATES "Compile with coordinate components" OFF)
+option(FSFW_ADD_TMSTORAGE "Compile with tm storage components" OFF)
+
+# Contrib sources
+option(FSFW_ADD_SPG4_PROPAGATOR "Add SPG4 propagator code" OFF)
 
 set(LIB_FSFW_NAME fsfw)
 add_library(${LIB_FSFW_NAME})

hal/CMakeLists.txt

@@ -12,7 +12,6 @@ set(LINUX_HAL_PATH_NAME linux)
 set(STM32H7_PATH_NAME stm32h7)
 
 add_subdirectory(src)
-add_subdirectory(inc)
 
 foreach(INCLUDE_PATH ${FSFW_HAL_ADDITIONAL_INC_PATHS})
     if(IS_ABSOLUTE ${INCLUDE_PATH})

hal/inc/CMakeLists.txt

@@ -1,7 +0,0 @@
-target_include_directories(${LIB_FSFW_NAME} PRIVATE
-    ${CMAKE_CURRENT_SOURCE_DIR}
-)
-
-target_include_directories(${LIB_FSFW_NAME} INTERFACE
-    ${CMAKE_CURRENT_SOURCE_DIR}
-)

hal/src/CMakeLists.txt

@@ -1,10 +1,9 @@
-add_subdirectory(devicehandlers)
-add_subdirectory(common)
+target_include_directories(${LIB_FSFW_NAME} PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}
+)
 
-if(FSFW_HAL_ADD_LINUX)
-    add_subdirectory(${LINUX_HAL_PATH_NAME})
-endif()
+target_include_directories(${LIB_FSFW_NAME} INTERFACE
+    ${CMAKE_CURRENT_SOURCE_DIR}
+)
 
-if(FSFW_HAL_ADD_STM32H7)
-    add_subdirectory(${STM32H7_PATH_NAME})
-endif()
+add_subdirectory(fsfw)

hal/src/fsfw/CMakeLists.txt

@@ -0,0 +1 @@
+add_subdirectory(hal)

hal/src/fsfw/hal/CMakeLists.txt

@@ -0,0 +1,10 @@
+add_subdirectory(devicehandlers)
+add_subdirectory(common)
+
+if(FSFW_HAL_ADD_LINUX)
+    add_subdirectory(linux)
+endif()
+
+if(FSFW_HAL_ADD_STM32H7)
+    add_subdirectory(stm32h7)
+endif()

hal/src/fsfw/hal/linux/spi/SpiComIF.h

@@ -3,10 +3,10 @@
 
 #include "spiDefinitions.h"
 #include "returnvalues/classIds.h"
-#include "../../common/gpio/GpioIF.h"
+#include "fsfw/hal/common/gpio/GpioIF.h"
 
-#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
-#include <fsfw/objectmanager/SystemObject.h>
+#include "fsfw/devicehandlers/DeviceCommunicationIF.h"
+#include "fsfw/objectmanager/SystemObject.h"
 
 #include <vector>
 #include <unordered_map>

hal/src/fsfw/hal/stm32h7/devicetest/GyroL3GD20H.cpp

@@ -1,15 +1,14 @@
-#include "GyroL3GD20H.h"
+#include "fsfw/hal/stm32h7/devicetest/GyroL3GD20H.h"
 
-#include "../spi/mspInit.h"
-#include "../spi/spiDefinitions.h"
-#include "../spi/spiCore.h"
-#include "../spi/spiInterrupts.h"
-#include "../spi/stm32h743ziSpi.h"
+#include "fsfw/hal/stm32h7/spi/mspInit.h"
+#include "fsfw/hal/stm32h7/spi/spiDefinitions.h"
+#include "fsfw/hal/stm32h7/spi/spiCore.h"
+#include "fsfw/hal/stm32h7/spi/spiInterrupts.h"
+#include "fsfw/hal/stm32h7/spi/stm32h743ziSpi.h"
 
 #include "fsfw/tasks/TaskFactory.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-#include "stm32h7xx_nucleo.h"
 #include "stm32h7xx_hal_spi.h"
 #include "stm32h7xx_hal_rcc.h"
 

hal/src/fsfw/hal/stm32h7/dma.cpp

@@ -1,6 +1,7 @@
-#include <fsfw_hal/stm32h7/dma.h>
-#include <stdint.h>
-#include <stddef.h>
+#include <fsfw/hal/stm32h7/dma.h>
+
+#include <cstdint>
+#include <cstddef>
 
 user_handler_t DMA_1_USER_HANDLERS[8];
 user_args_t DMA_1_USER_ARGS[8];

hal/src/fsfw/hal/stm32h7/gpio/gpio.cpp

@@ -1,4 +1,4 @@
-#include "gpio.h"
+#include "fsfw/hal/stm32h7/gpio/gpio.h"
 
 #include "stm32h7xx_hal_rcc.h"
 

hal/src/fsfw/hal/stm32h7/gpio/gpio.h

@@ -9,6 +9,4 @@ void initializeGpioClock(GPIO_TypeDef* gpioPort);
 
 }
 
-
-
 #endif /* FSFW_HAL_STM32H7_GPIO_GPIO_H_ */

hal/src/fsfw/hal/stm32h7/spi/SpiComIF.cpp

@@ -1,12 +1,21 @@
-#include "SpiComIF.h"
-#include "SpiCookie.h"
+#include "fsfw/hal/stm32h7/spi/SpiComIF.h"
+#include "fsfw/hal/stm32h7/spi/SpiCookie.h"
 
 #include "fsfw/tasks/SemaphoreFactory.h"
-#include "fsfw/osal/FreeRTOS/TaskManagement.h"
-#include "fsfw_hal/stm32h7/spi/spiCore.h"
-#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
-#include "fsfw_hal/stm32h7/spi/mspInit.h"
-#include "fsfw_hal/stm32h7/gpio/gpio.h"
+#include "fsfw/hal/stm32h7/spi/spiCore.h"
+#include "fsfw/hal/stm32h7/spi/spiInterrupts.h"
+#include "fsfw/hal/stm32h7/spi/mspInit.h"
+#include "fsfw/hal/stm32h7/gpio/gpio.h"
+
+// FreeRTOS required special Semaphore handling from an ISR. Therefore, we use the concrete
+// instance here, because RTEMS and FreeRTOS are the only relevant OSALs currently
+// and it is not trivial to add a releaseFromISR to the SemaphoreIF
+#if defined FSFW_OSAL_RTEMS
+#include "fsfw/osal/rtems/BinarySemaphore.h"
+#elif defined FSFW_OSAL_FREERTOS
+#include "fsfw/osal/freertos/TaskManagement.h"
+#include "fsfw/osal/freertos/BinarySemaphore.h"
+#endif
 
 #include "stm32h7xx_hal_gpio.h"
 
@@ -421,10 +430,14 @@ void SpiComIF::genericIrqHandler(void *irqArgsVoid, spi::TransferStates targetSt
     HAL_GPIO_WritePin(spiCookie->getChipSelectGpioPort(), spiCookie->getChipSelectGpioPin(),
             GPIO_PIN_SET);
 
+#if defined FSFW_OSAL_FREERTOS
     // Release the task semaphore
     BaseType_t taskWoken = pdFALSE;
     ReturnValue_t result = BinarySemaphore::releaseFromISR(comIF->spiSemaphore->getSemaphore(),
             &taskWoken);
+#elif defined FSFW_OSAL_RTEMS
+    ReturnValue_t result = comIF->spiSemaphore->release();
+#endif
     if(result != HasReturnvaluesIF::RETURN_OK) {
         // Configuration error
         printf("SpiComIF::genericIrqHandler: Failure releasing Semaphore!\n");
@@ -436,11 +449,13 @@ void SpiComIF::genericIrqHandler(void *irqArgsVoid, spi::TransferStates targetSt
         SCB_InvalidateDCache_by_Addr ((uint32_t *) comIF->currentRecvPtr,
                 comIF->currentRecvBuffSize);
     }
+#if defined FSFW_OSAL_FREERTOS
     /* Request a context switch if the SPI ComIF task was woken up and has a higher priority
     than the currently running task */
     if(taskWoken == pdTRUE) {
         TaskManagement::requestContextSwitch(CallContext::ISR);
     }
+#endif
 }
 
 void SpiComIF::printCfgError(const char *const type) {

hal/src/fsfw/hal/stm32h7/spi/SpiComIF.h

@@ -5,8 +5,7 @@
 #include "fsfw/devicehandlers/DeviceCommunicationIF.h"
 #include "fsfw/objectmanager/SystemObject.h"
 
-#include "fsfw/osal/FreeRTOS/BinarySemaphore.h"
-#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
+#include "fsfw/hal/stm32h7/spi/spiDefinitions.h"
 #include "stm32h7xx_hal_spi.h"
 #include "stm32h743xx.h"
 
@@ -14,6 +13,7 @@
 #include <map>
 
 class SpiCookie;
+class BinarySemaphore;
 
 /**
  * @brief   This communication interface allows using generic device handlers with using

hal/src/fsfw/hal/stm32h7/spi/SpiCookie.cpp

@@ -1,4 +1,4 @@
-#include "SpiCookie.h"
+#include "fsfw/hal/stm32h7/spi/SpiCookie.h"
 
 
 SpiCookie::SpiCookie(address_t deviceAddress, spi::SpiBus spiIdx, spi::TransferModes transferMode,

hal/src/fsfw/hal/stm32h7/spi/mspInit.cpp

@@ -1,13 +1,14 @@
-#include <fsfw_hal/stm32h7/dma.h>
-#include "mspInit.h"
-#include "spiCore.h"
-#include "spiInterrupts.h"
+#include "fsfw/hal/stm32h7/dma.h"
+#include "fsfw/hal/stm32h7/spi/mspInit.h"
+#include "fsfw/hal/stm32h7/spi/spiCore.h"
+#include "fsfw/hal/stm32h7/spi/spiInterrupts.h"
+
 #include "stm32h743xx.h"
 #include "stm32h7xx_hal_spi.h"
 #include "stm32h7xx_hal_dma.h"
 #include "stm32h7xx_hal_def.h"
 
-#include <stdio.h>
+#include <cstdio>
 
 spi::msp_func_t mspInitFunc = nullptr;
 spi::MspCfgBase* mspInitArgs = nullptr;

hal/src/fsfw/hal/stm32h7/spi/spiCore.cpp

@@ -1,5 +1,6 @@
-#include "spiDefinitions.h"
-#include "spiCore.h"
+#include "fsfw/hal/stm32h7/spi/spiCore.h"
+#include "fsfw/hal/stm32h7/spi/spiDefinitions.h"
+
 #include <cstdio>
 
 SPI_HandleTypeDef* spiHandle = nullptr;

hal/src/fsfw/hal/stm32h7/spi/spiCore.h

@@ -1,11 +1,12 @@
 #ifndef FSFW_HAL_STM32H7_SPI_SPICORE_H_
 #define FSFW_HAL_STM32H7_SPI_SPICORE_H_
 
-#include <fsfw_hal/stm32h7/dma.h>
+#include "fsfw/hal/stm32h7/dma.h"
+#include "fsfw/hal/stm32h7/spi/spiDefinitions.h"
+
 #include "stm32h7xx_hal.h"
 #include "stm32h7xx_hal_dma.h"
 
-
 #ifdef __cplusplus
 extern "C" {
 #endif

hal/src/fsfw/hal/stm32h7/spi/spiDefinitions.cpp

@@ -1,4 +1,4 @@
-#include "spiDefinitions.h"
+#include "fsfw/hal/stm32h7/spi/spiDefinitions.h"
 
 void spi::assignSpiMode(SpiModes spiMode, SPI_HandleTypeDef& spiHandle) {
     switch(spiMode) {

hal/src/fsfw/hal/stm32h7/spi/spiInterrupts.cpp

@@ -1,5 +1,5 @@
-#include "spiInterrupts.h"
-#include "spiCore.h"
+#include "fsfw/hal/stm32h7/spi/spiInterrupts.h"
+#include "fsfw/hal/stm32h7/spi/spiCore.h"
 
 #include "stm32h7xx_hal.h"
 #include "stm32h7xx_hal_dma.h"

hal/src/fsfw/hal/stm32h7/spi/stm32h743ziSpi.cpp

@@ -1,6 +1,7 @@
-#include "stm32h743ziSpi.h"
-#include "spiCore.h"
-#include "spiInterrupts.h"
+#include "fsfw/hal/stm32h7/spi/stm32h743ziSpi.h"
+#include "fsfw/hal/stm32h7/spi/spiCore.h"
+#include "fsfw/hal/stm32h7/spi/spiInterrupts.h"
+
 #include "stm32h7xx_hal.h"
 #include "stm32h7xx_hal_rcc.h"
 

inc/fsfw/FSFW.h

@@ -1,7 +0,0 @@
-#ifndef FSFW_FSFW_H_
-#define FSFW_FSFW_H_
-
-#include "FSFWConfig.h"
-
-
-#endif /* FSFW_FSFW_H_ */

inc/fsfw/action.h

@@ -1,11 +0,0 @@
-#ifndef FSFW_INC_FSFW_ACTION_H_
-#define FSFW_INC_FSFW_ACTION_H_
-
-#include "action/ActionHelper.h"
-#include "action/ActionMessage.h"
-#include "action/CommandActionHelper.h"
-#include "action/HasActionsIF.h"
-#include "action/CommandsActionsIF.h"
-#include "action/SimpleActionHelper.h"
-
-#endif /* FSFW_INC_FSFW_ACTION_H_ */

inc/fsfw/datapoollocal.h

@@ -1,12 +0,0 @@
-#ifndef FSFW_DATAPOOLLOCAL_DATAPOOLLOCAL_H_
-#define FSFW_DATAPOOLLOCAL_DATAPOOLLOCAL_H_
-
-/* Collected related headers */
-#include "datapoollocal/LocalPoolVariable.h"
-#include "datapoollocal/LocalPoolVector.h"
-#include "datapoollocal/StaticLocalDataSet.h"
-#include "datapoollocal/LocalDataSet.h"
-#include "datapoollocal/SharedLocalDataSet.h"
-
-
-#endif /* FSFW_DATAPOOLLOCAL_DATAPOOLLOCAL_H_ */

src/CMakeLists.txt

@@ -1,3 +1,20 @@
-add_subdirectory(core)
-add_subdirectory(opt)
-add_subdirectory(osal)
+target_include_directories(${LIB_FSFW_NAME} PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}
+)
+
+target_include_directories(${LIB_FSFW_NAME} INTERFACE
+    ${CMAKE_CURRENT_SOURCE_DIR}
+)
+
+add_subdirectory(fsfw)
+
+# Configure File
+
+target_include_directories(${LIB_FSFW_NAME} PRIVATE
+    ${CMAKE_CURRENT_BINARY_DIR}
+)
+target_include_directories(${LIB_FSFW_NAME} INTERFACE
+    ${CMAKE_CURRENT_BINARY_DIR}
+)
+
+configure_file(fsfw/FSFW.h.in fsfw/FSFW.h)

src/core/devicehandlers/CMakeLists.txt

@@ -1,10 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE 
-    AssemblyBase.cpp
-    ChildHandlerBase.cpp
-    ChildHandlerFDIR.cpp
-    DeviceHandlerBase.cpp
-    DeviceHandlerFailureIsolation.cpp
-    DeviceHandlerMessage.cpp
-    DeviceTmReportingWrapper.cpp
-    HealthDevice.cpp
-)

src/core/housekeeping/CMakeLists.txt

@@ -1,4 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE 
-    HousekeepingMessage.cpp
-    PeriodicHousekeepingHelper.cpp
-)

src/fsfw/CMakeLists.txt

@@ -1,3 +1,5 @@
+# Core
+
 add_subdirectory(action)
 add_subdirectory(container)
 add_subdirectory(controller)
@@ -26,3 +28,28 @@ add_subdirectory(thermal)
 add_subdirectory(timemanager)
 add_subdirectory(tmtcpacket)
 add_subdirectory(tmtcservices)
+
+# Optional
+
+if(FSFW_ADD_MONITORING)
+add_subdirectory(monitoring)
+endif()
+if(FSFW_ADD_PUS)
+    add_subdirectory(pus)
+endif()
+if(FSFW_ADD_TMSTORAGE)
+    add_subdirectory(tmstorage)
+endif()
+if(FSFW_ADD_COORDINATES)
+    add_subdirectory(coordinates)
+endif()
+if(FSFW_ADD_RMAP)
+    add_subdirectory(rmap)
+endif()
+if(FSFW_ADD_DATALINKLAYER)
+    add_subdirectory(datalinklayer)
+endif()
+
+# OSAL
+
+add_subdirectory(osal)

src/fsfw/FSFW.h.in

@@ -0,0 +1,13 @@
+#ifndef FSFW_FSFW_H_
+#define FSFW_FSFW_H_
+
+#include "FSFWConfig.h"
+
+#cmakedefine FSFW_ADD_RMAP
+#cmakedefine FSFW_ADD_DATALINKLAYER
+#cmakedefine FSFW_ADD_TMSTORAGE
+#cmakedefine FSFW_ADD_COORDINATES
+#cmakedefine FSFW_ADD_PUS
+#cmakedefine FSFW_ADD_MONITORING
+
+#endif /* FSFW_FSFW_H_ */

src/fsfw/action.h

@@ -0,0 +1,11 @@
+#ifndef FSFW_INC_FSFW_ACTION_H_
+#define FSFW_INC_FSFW_ACTION_H_
+
+#include "fsfw/action/ActionHelper.h"
+#include "fsfw/action/ActionMessage.h"
+#include "fsfw/action/CommandActionHelper.h"
+#include "fsfw/action/HasActionsIF.h"
+#include "fsfw/action/CommandsActionsIF.h"
+#include "fsfw/action/SimpleActionHelper.h"
+
+#endif /* FSFW_INC_FSFW_ACTION_H_ */