From 8eb869e073d99e257c6cc62dbf26b4d99422e9b8 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 28 Nov 2022 11:21:36 +0100 Subject: [PATCH 01/42] run black --- docs/conf.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/docs/conf.py b/docs/conf.py index a4232026..dad85e61 100644 --- a/docs/conf.py +++ b/docs/conf.py @@ -51,7 +51,10 @@ exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"] html_theme = "alabaster" html_theme_options = { - "extra_nav_links": {"Impressum" : "https://www.uni-stuttgart.de/impressum", "Datenschutz": "https://info.irs.uni-stuttgart.de/datenschutz/datenschutzWebmit.html"} + "extra_nav_links": { + "Impressum": "https://www.uni-stuttgart.de/impressum", + "Datenschutz": "https://info.irs.uni-stuttgart.de/datenschutz/datenschutzWebmit.html", + } } From 5b0ea91222a6b8efb2f4562cfecbcb735dfeedd5 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 29 Nov 2022 23:24:29 +0100 Subject: [PATCH 02/42] statically assert MAX_SIZE > 0 --- src/fsfw/container/FixedArrayList.h | 1 + 1 file changed, 1 insertion(+) diff --git a/src/fsfw/container/FixedArrayList.h b/src/fsfw/container/FixedArrayList.h index 97ade7e8..dde8eb16 100644 --- a/src/fsfw/container/FixedArrayList.h +++ b/src/fsfw/container/FixedArrayList.h @@ -12,6 +12,7 @@ template class FixedArrayList : public ArrayList { static_assert(MAX_SIZE <= std::numeric_limits::max(), "count_t is not large enough to hold MAX_SIZE"); + static_assert(MAX_SIZE > 0, "MAX_SIZE is 0"); private: T data[MAX_SIZE]; From 05cad893a2b713827cf4cdc9afe49675f18afcc7 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 6 Dec 2022 10:05:23 +0100 Subject: [PATCH 03/42] introduce error counter to avoid spam --- src/fsfw_hal/linux/i2c/I2cComIF.cpp | 11 +++++++---- src/fsfw_hal/linux/i2c/I2cCookie.h | 2 ++ 2 files changed, 9 insertions(+), 4 deletions(-) diff --git a/src/fsfw_hal/linux/i2c/I2cComIF.cpp b/src/fsfw_hal/linux/i2c/I2cComIF.cpp index 1ad19e82..08151c03 100644 --- a/src/fsfw_hal/linux/i2c/I2cComIF.cpp +++ b/src/fsfw_hal/linux/i2c/I2cComIF.cpp @@ -109,14 +109,17 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s } if (write(fd, sendData, sendLen) != static_cast(sendLen)) { + i2cCookie->errorCounter++; + if (i2cCookie->errorCounter < 3) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "I2cComIF::sendMessage: Failed to send data to I2C " - "device with error code " - << errno << ". Error description: " << strerror(errno) << std::endl; + sif::error << "I2cComIF::sendMessage: Failed to send data to I2C " + "device with error code " + << errno << ". Error description: " << strerror(errno) << std::endl; #endif + } return returnvalue::FAILED; } - + i2cCookie->errorCounter = 0; #if FSFW_HAL_I2C_WIRETAPPING == 1 sif::info << "Sent I2C data to bus " << deviceFile << ":" << std::endl; arrayprinter::print(sendData, sendLen); diff --git a/src/fsfw_hal/linux/i2c/I2cCookie.h b/src/fsfw_hal/linux/i2c/I2cCookie.h index 84a1873c..8be71205 100644 --- a/src/fsfw_hal/linux/i2c/I2cCookie.h +++ b/src/fsfw_hal/linux/i2c/I2cCookie.h @@ -27,6 +27,8 @@ class I2cCookie : public CookieIF { size_t getMaxReplyLen() const; std::string getDeviceFile() const; + uint8_t errorCounter = 0; + private: address_t i2cAddress = 0; size_t maxReplyLen = 0; From 5bb66c9723892409ac6cbdc6de9d9250f7969213 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 10 Jan 2023 11:55:54 +0100 Subject: [PATCH 04/42] remove duplicate printout --- src/fsfw_hal/linux/i2c/I2cComIF.cpp | 4 ---- 1 file changed, 4 deletions(-) diff --git a/src/fsfw_hal/linux/i2c/I2cComIF.cpp b/src/fsfw_hal/linux/i2c/I2cComIF.cpp index 08151c03..66c2bb51 100644 --- a/src/fsfw_hal/linux/i2c/I2cComIF.cpp +++ b/src/fsfw_hal/linux/i2c/I2cComIF.cpp @@ -183,10 +183,6 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe } #else #endif -#endif -#if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::debug << "I2cComIF::requestReceiveMessage: Read " << readLen << " of " << requestLen - << " bytes" << std::endl; #endif return returnvalue::FAILED; } From 7adb47aecb5f5e0b6e20a46128f44b4f44e4e49a Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 10 Jan 2023 11:55:54 +0100 Subject: [PATCH 05/42] remove duplicate printout --- src/fsfw_hal/linux/i2c/I2cComIF.cpp | 4 ---- 1 file changed, 4 deletions(-) diff --git a/src/fsfw_hal/linux/i2c/I2cComIF.cpp b/src/fsfw_hal/linux/i2c/I2cComIF.cpp index 1ad19e82..e3e50040 100644 --- a/src/fsfw_hal/linux/i2c/I2cComIF.cpp +++ b/src/fsfw_hal/linux/i2c/I2cComIF.cpp @@ -180,10 +180,6 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe } #else #endif -#endif -#if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::debug << "I2cComIF::requestReceiveMessage: Read " << readLen << " of " << requestLen - << " bytes" << std::endl; #endif return returnvalue::FAILED; } From ba62c28b64f9ff38fd9e09026e3d0daa62e36dad Mon Sep 17 00:00:00 2001 From: Ulrich Mohr Date: Thu, 12 Jan 2023 15:40:52 +0100 Subject: [PATCH 06/42] adding linux ci and fixing problems --- automation/Jenkinsfile | 96 +++++++++++++------ src/fsfw/events/EventManager.cpp | 6 ++ src/fsfw/events/EventManager.h | 1 + src/fsfw/events/EventManagerIF.h | 1 + src/fsfw/fdir/FailureIsolationBase.cpp | 2 +- src/fsfw/globalfunctions/matching/MatchTree.h | 41 +++++++- src/fsfw/health/HealthTable.cpp | 2 - .../internalerror/InternalErrorReporter.cpp | 7 +- src/fsfw/objectmanager/ObjectManager.cpp | 18 +++- src/fsfw/objectmanager/ObjectManager.h | 10 +- src/fsfw/osal/CMakeLists.txt | 10 +- src/fsfw/osal/linux/MessageQueue.cpp | 2 +- src/fsfw/osal/osal.h.in | 36 +++++++ unittests/CatchSetup.cpp | 5 +- .../devicehandler/DeviceHandlerCommander.cpp | 4 +- unittests/osal/TestSemaphore.cpp | 68 ++++++------- 16 files changed, 230 insertions(+), 79 deletions(-) create mode 100644 src/fsfw/osal/osal.h.in diff --git a/automation/Jenkinsfile b/automation/Jenkinsfile index 27136606..64c32237 100644 --- a/automation/Jenkinsfile +++ b/automation/Jenkinsfile @@ -1,45 +1,87 @@ pipeline { environment { - BUILDDIR = 'cmake-build-tests' + BUILDDIR_HOST = 'cmake-build-tests-host' + BUILDDIR_LINUX = 'cmake-build-tests-linux' DOCDDIR = 'cmake-build-documentation' } agent { docker { image 'fsfw-ci:d6' - args '--network host' + args '--network host --sysctl fs.mqueue.msg_max=100' } } stages { - stage('Clean') { - steps { - sh 'rm -rf $BUILDDIR' - } - } - stage('Configure') { - steps { - dir(BUILDDIR) { - sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..' + stage('Host') { + stages{ + stage('Clean') { + steps { + sh 'rm -rf $BUILDDIR_HOST' + } + } + stage('Configure') { + steps { + dir(BUILDDIR_HOST) { + sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..' + } + } + } + stage('Build') { + steps { + dir(BUILDDIR_HOST) { + sh 'cmake --build . -j4' + } + } + } + stage('Unittests') { + steps { + dir(BUILDDIR_HOST) { + sh 'cmake --build . -- fsfw-tests_coverage -j4' + } + } + } + stage('Valgrind') { + steps { + dir(BUILDDIR_HOST) { + sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests' + } + } } } } - stage('Build') { - steps { - dir(BUILDDIR) { - sh 'cmake --build . -j4' + stage('Linux') { + stages{ + stage('Clean') { + steps { + sh 'rm -rf $BUILDDIR_LINUX' + } } - } - } - stage('Unittests') { - steps { - dir(BUILDDIR) { - sh 'cmake --build . -- fsfw-tests_coverage -j4' + stage('Configure') { + steps { + dir(BUILDDIR_LINUX) { + sh 'cmake -DFSFW_OSAL=linux -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..' + } + } } - } - } - stage('Valgrind') { - steps { - dir(BUILDDIR) { - sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests' + stage('Build') { + steps { + dir(BUILDDIR_LINUX) { + sh 'cmake --build . -j4' + } + } + } + stage('Unittests') { + steps { + dir(BUILDDIR_LINUX) { + sh 'cmake --build . -- fsfw-tests_coverage -j4' + } + } + } + stage('Valgrind') { + steps { + dir(BUILDDIR_LINUX) { + sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests' + } + } } } } diff --git a/src/fsfw/events/EventManager.cpp b/src/fsfw/events/EventManager.cpp index f4466817..8bd26282 100644 --- a/src/fsfw/events/EventManager.cpp +++ b/src/fsfw/events/EventManager.cpp @@ -23,6 +23,7 @@ EventManager::EventManager(object_id_t setObjectId) } EventManager::~EventManager() { + listenerList.clear(); QueueFactory::instance()->deleteMessageQueue(eventReportQueue); MutexFactory::instance()->deleteMutex(mutex); } @@ -61,9 +62,14 @@ ReturnValue_t EventManager::registerListener(MessageQueueId_t listener, if (!result.second) { return returnvalue::FAILED; } + return returnvalue::OK; } +ReturnValue_t EventManager::unregisterListener(MessageQueueId_t listener) { + return listenerList.erase(listener) == 1 ? returnvalue::OK : returnvalue::FAILED; +} + ReturnValue_t EventManager::subscribeToEvent(MessageQueueId_t listener, EventId_t event) { return subscribeToEventRange(listener, event); } diff --git a/src/fsfw/events/EventManager.h b/src/fsfw/events/EventManager.h index 70245f5d..0e6dace0 100644 --- a/src/fsfw/events/EventManager.h +++ b/src/fsfw/events/EventManager.h @@ -31,6 +31,7 @@ class EventManager : public EventManagerIF, public ExecutableObjectIF, public Sy MessageQueueId_t getEventReportQueue(); ReturnValue_t registerListener(MessageQueueId_t listener, bool forwardAllButSelected = false); + ReturnValue_t unregisterListener(MessageQueueId_t listener) override; ReturnValue_t subscribeToEvent(MessageQueueId_t listener, EventId_t event); ReturnValue_t subscribeToAllEventsFrom(MessageQueueId_t listener, object_id_t object); ReturnValue_t subscribeToEventRange(MessageQueueId_t listener, EventId_t idFrom = 0, diff --git a/src/fsfw/events/EventManagerIF.h b/src/fsfw/events/EventManagerIF.h index adb61f2b..12014090 100644 --- a/src/fsfw/events/EventManagerIF.h +++ b/src/fsfw/events/EventManagerIF.h @@ -18,6 +18,7 @@ class EventManagerIF { virtual ReturnValue_t registerListener(MessageQueueId_t listener, bool forwardAllButSelected = false) = 0; + virtual ReturnValue_t unregisterListener(MessageQueueId_t listener) = 0; virtual ReturnValue_t subscribeToEvent(MessageQueueId_t listener, EventId_t event) = 0; virtual ReturnValue_t subscribeToAllEventsFrom(MessageQueueId_t listener, object_id_t object) = 0; virtual ReturnValue_t unsubscribeFromAllEvents(MessageQueueId_t listener, object_id_t object) = 0; diff --git a/src/fsfw/fdir/FailureIsolationBase.cpp b/src/fsfw/fdir/FailureIsolationBase.cpp index 28df16d8..0d3b0214 100644 --- a/src/fsfw/fdir/FailureIsolationBase.cpp +++ b/src/fsfw/fdir/FailureIsolationBase.cpp @@ -23,7 +23,7 @@ FailureIsolationBase::~FailureIsolationBase() { #endif return; } - manager->unsubscribeFromAllEvents(eventQueue->getId(), ownerId); + manager->unregisterListener(eventQueue->getId()); QueueFactory::instance()->deleteMessageQueue(eventQueue); } diff --git a/src/fsfw/globalfunctions/matching/MatchTree.h b/src/fsfw/globalfunctions/matching/MatchTree.h index 0c31cf2a..69f660d3 100644 --- a/src/fsfw/globalfunctions/matching/MatchTree.h +++ b/src/fsfw/globalfunctions/matching/MatchTree.h @@ -24,7 +24,7 @@ class MatchTree : public SerializeableMatcherIF, public BinaryTree>(root.element), maxDepth(maxDepth) {} MatchTree() : BinaryTree>(), maxDepth(-1) {} - virtual ~MatchTree() {} + virtual ~MatchTree() { clear(); } virtual bool match(T number) override { return matchesTree(number); } bool matchesTree(T number) { iterator iter = this->begin(); @@ -176,6 +176,45 @@ class MatchTree : public SerializeableMatcherIF, public BinaryTree>::rootNode; + + if (localRoot == nullptr) { + return; + } + + Node* node = localRoot->left; + + while (true) { + if (node->left != nullptr) { + node = node->left; + continue; + } + if (node->right != nullptr) { + node = node->right; + continue; + } + if (node->parent == nullptr) { + // this is the root node with no children + if (node->value != nullptr) { + cleanUpElement(iterator(node)); + } + return; + } + // leaf + { + Node* parent = node->parent; + if (parent->left == node) { + parent->left = nullptr; + } else { + parent->right = nullptr; + } + cleanUpElement(iterator(node)); + node = parent; + } + } + } + virtual ReturnValue_t cleanUpElement(iterator position) { return returnvalue::OK; } bool matchSubtree(iterator iter, T number) { diff --git a/src/fsfw/health/HealthTable.cpp b/src/fsfw/health/HealthTable.cpp index 5fb45fb9..3fcf7f77 100644 --- a/src/fsfw/health/HealthTable.cpp +++ b/src/fsfw/health/HealthTable.cpp @@ -6,8 +6,6 @@ HealthTable::HealthTable(object_id_t objectid) : SystemObject(objectid) { mutex = MutexFactory::instance()->createMutex(); - ; - mapIterator = healthMap.begin(); } diff --git a/src/fsfw/internalerror/InternalErrorReporter.cpp b/src/fsfw/internalerror/InternalErrorReporter.cpp index b3b77366..fb2dc8a6 100644 --- a/src/fsfw/internalerror/InternalErrorReporter.cpp +++ b/src/fsfw/internalerror/InternalErrorReporter.cpp @@ -7,14 +7,17 @@ InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth) : SystemObject(setObjectId), - commandQueue(QueueFactory::instance()->createMessageQueue(messageQueueDepth)), poolManager(this, commandQueue), internalErrorSid(setObjectId, InternalErrorDataset::ERROR_SET_ID), internalErrorDataset(this) { + commandQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth); mutex = MutexFactory::instance()->createMutex(); } -InternalErrorReporter::~InternalErrorReporter() { MutexFactory::instance()->deleteMutex(mutex); } +InternalErrorReporter::~InternalErrorReporter() { + MutexFactory::instance()->deleteMutex(mutex); + QueueFactory::instance()->deleteMessageQueue(commandQueue); +} void InternalErrorReporter::setDiagnosticPrintout(bool enable) { this->diagnosticPrintout = enable; diff --git a/src/fsfw/objectmanager/ObjectManager.cpp b/src/fsfw/objectmanager/ObjectManager.cpp index ddf5ab80..29c1b2fc 100644 --- a/src/fsfw/objectmanager/ObjectManager.cpp +++ b/src/fsfw/objectmanager/ObjectManager.cpp @@ -23,9 +23,17 @@ void ObjectManager::setObjectFactoryFunction(produce_function_t objFactoryFunc, ObjectManager::ObjectManager() = default; +void ObjectManager::clear() { + if (objManagerInstance != nullptr) { + delete objManagerInstance; + objManagerInstance = nullptr; + } +} + ObjectManager::~ObjectManager() { - for (auto const& iter : objectList) { - delete iter.second; + teardown = true; + for (auto iter = objectList.begin(); iter != objectList.end(); iter = objectList.erase(iter)) { + delete iter->second; } } @@ -53,6 +61,12 @@ ReturnValue_t ObjectManager::insert(object_id_t id, SystemObjectIF* object) { } ReturnValue_t ObjectManager::remove(object_id_t id) { + // this function is called during destruction of System Objects + // disabeld for teardown to avoid iterator invalidation and + // double free + if (teardown) { + return returnvalue::OK; + } if (this->getSystemObject(id) != nullptr) { this->objectList.erase(id); #if FSFW_CPP_OSTREAM_ENABLED == 1 diff --git a/src/fsfw/objectmanager/ObjectManager.h b/src/fsfw/objectmanager/ObjectManager.h index e0e74792..355f5d0a 100644 --- a/src/fsfw/objectmanager/ObjectManager.h +++ b/src/fsfw/objectmanager/ObjectManager.h @@ -24,12 +24,17 @@ class ObjectManager : public ObjectManagerIF { using produce_function_t = void (*)(void* args); /** - * Returns the single instance of TaskFactory. + * Returns the single instance of ObjectManager. * The implementation of #instance is found in its subclasses. * Thus, we choose link-time variability of the instance. */ static ObjectManager* instance(); + /** + * Deletes the single instance of ObjectManager + */ + static void clear(); + void setObjectFactoryFunction(produce_function_t prodFunc, void* args); template @@ -66,6 +71,9 @@ class ObjectManager : public ObjectManagerIF { */ std::map objectList; static ObjectManager* objManagerInstance; + // used when the OM itself is deleted to modify behaviour of remove() + // to avoid iterator invalidation and double free + bool teardown = false; }; // Documentation can be found in the class method declaration above diff --git a/src/fsfw/osal/CMakeLists.txt b/src/fsfw/osal/CMakeLists.txt index 50fd6102..a4097649 100644 --- a/src/fsfw/osal/CMakeLists.txt +++ b/src/fsfw/osal/CMakeLists.txt @@ -1,10 +1,13 @@ # Check the OS_FSFW variable if(FSFW_OSAL MATCHES "freertos") add_subdirectory(freertos) + set(FSFW_OSAL_FREERTOS 1) elseif(FSFW_OSAL MATCHES "rtems") add_subdirectory(rtems) + set(FSFW_OSAL_RTEMS 1) elseif(FSFW_OSAL MATCHES "linux") add_subdirectory(linux) + set(FSFW_OSAL_LINUX 1) elseif(FSFW_OSAL MATCHES "host") add_subdirectory(host) if(WIN32) @@ -13,16 +16,17 @@ elseif(FSFW_OSAL MATCHES "host") # We still need to pull in some Linux specific sources target_sources(${LIB_FSFW_NAME} PUBLIC linux/tcpipHelpers.cpp) endif() - + set(FSFW_OSAL_HOST 1) else() - message(WARNING "The OS_FSFW variable was not set. Assuming host OS..") # Not set. Assumuing this is a host build, try to determine host OS if(WIN32) add_subdirectory(host) add_subdirectory(windows) + set(FSFW_OSAL_HOST 1) elseif(UNIX) add_subdirectory(linux) + set(FSFW_OSAL_LINUX 1) else() # MacOS or other OSes have not been tested yet / are not supported. message(FATAL_ERROR "The host OS could not be determined! Aborting.") @@ -31,3 +35,5 @@ else() endif() add_subdirectory(common) + +configure_file(osal.h.in ${CMAKE_BINARY_DIR}/fsfw/osal/osal.h) diff --git a/src/fsfw/osal/linux/MessageQueue.cpp b/src/fsfw/osal/linux/MessageQueue.cpp index b2cca3f1..c08e3775 100644 --- a/src/fsfw/osal/linux/MessageQueue.cpp +++ b/src/fsfw/osal/linux/MessageQueue.cpp @@ -21,7 +21,7 @@ MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs* attributes.mq_msgsize = maxMessageSize; attributes.mq_flags = 0; // Flags are ignored on Linux during mq_open // Set the name of the queue. The slash is mandatory! - sprintf(name, "/FSFW_MQ%u\n", queueCounter++); + sprintf(name, "/FSFW_MQ%u", queueCounter++); // Create a nonblocking queue if the name is available (the queue is read // and writable for the owner as well as the group) diff --git a/src/fsfw/osal/osal.h.in b/src/fsfw/osal/osal.h.in new file mode 100644 index 00000000..8e48c31a --- /dev/null +++ b/src/fsfw/osal/osal.h.in @@ -0,0 +1,36 @@ +#pragma once + +namespace osal { + enum osalTarget{ + HOST, + LINUX, + WINDOWS, + FREERTOS, + RTEMS, + }; + +#cmakedefine FSFW_OSAL_HOST +#cmakedefine FSFW_OSAL_LINUX +#cmakedefine FSFW_OSAL_WINDOWS +#cmakedefine FSFW_OSAL_FREERTOS +#cmakedefine FSFW_OSAL_RTEMS + + + constexpr osalTarget getTarget() { +#ifdef FSFW_OSAL_HOST + return HOST; +#endif +#ifdef FSFW_OSAL_LINUX + return LINUX; +#endif +#ifdef FSFW_OSAL_WINDOWS + return WINDOWS; +#endif +#ifdef FSFW_OSAL_FREERTOS + return FREERTOS; +#endif +#ifdef FSFW_OSAL_RTEMS + return RTEMS; +#endif + } +}; \ No newline at end of file diff --git a/unittests/CatchSetup.cpp b/unittests/CatchSetup.cpp index 4f2a4a54..fc5bb3f5 100644 --- a/unittests/CatchSetup.cpp +++ b/unittests/CatchSetup.cpp @@ -31,4 +31,7 @@ int customSetup() { return 0; } -int customTeardown() { return 0; } +int customTeardown() { + ObjectManager::clear(); + return 0; +} diff --git a/unittests/devicehandler/DeviceHandlerCommander.cpp b/unittests/devicehandler/DeviceHandlerCommander.cpp index 03ff992c..835faf2b 100644 --- a/unittests/devicehandler/DeviceHandlerCommander.cpp +++ b/unittests/devicehandler/DeviceHandlerCommander.cpp @@ -9,7 +9,9 @@ DeviceHandlerCommander::DeviceHandlerCommander(object_id_t objectId) QUEUE_SIZE, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); } -DeviceHandlerCommander::~DeviceHandlerCommander() {} +DeviceHandlerCommander::~DeviceHandlerCommander() { + QueueFactory::instance()->deleteMessageQueue(commandQueue); +} ReturnValue_t DeviceHandlerCommander::performOperation(uint8_t operationCode) { readCommandQueue(); diff --git a/unittests/osal/TestSemaphore.cpp b/unittests/osal/TestSemaphore.cpp index 376b08db..1d8758b1 100644 --- a/unittests/osal/TestSemaphore.cpp +++ b/unittests/osal/TestSemaphore.cpp @@ -1,46 +1,38 @@ - -#ifdef LINUX - -/* +#include #include #include -#include "catch.hpp" -#include "core/CatchDefinitions.h" +#include -TEST_CASE("Binary Semaphore Test" , "[BinSemaphore]") { - //perform set-up here - SemaphoreIF* binSemaph = SemaphoreFactory::instance()-> - createBinarySemaphore(); - REQUIRE(binSemaph != nullptr); - SECTION("Simple Test") { - // set-up is run for each section - REQUIRE(binSemaph->getSemaphoreCounter() == 1); - REQUIRE(binSemaph->release() == - static_cast(SemaphoreIF::SEMAPHORE_NOT_OWNED)); - REQUIRE(binSemaph->acquire(SemaphoreIF::POLLING) == - result::OK); - { - // not precise enough on linux.. should use clock instead.. - //Stopwatch stopwatch(false); - //REQUIRE(binSemaph->acquire(SemaphoreIF::TimeoutType::WAITING, 5) == - // SemaphoreIF::SEMAPHORE_TIMEOUT); - //dur_millis_t time = stopwatch.stop(); - //CHECK(time == 5); - } - REQUIRE(binSemaph->getSemaphoreCounter() == 0); - REQUIRE(binSemaph->release() == result::OK); - } - SemaphoreFactory::instance()->deleteSemaphore(binSemaph); - // perform tear-down here +// binary semaphores currently only supported on linux +#ifdef FSFW_OSAL_LINUX + +TEST_CASE("Binary Semaphore Test", "[BinSemaphore]") { + // perform set-up here + SemaphoreIF* binSemaph = SemaphoreFactory::instance()->createBinarySemaphore(); + REQUIRE(binSemaph != nullptr); + SECTION("Simple Test") { + // set-up is run for each section + REQUIRE(binSemaph->getSemaphoreCounter() == 1); + REQUIRE(binSemaph->release() == static_cast(SemaphoreIF::SEMAPHORE_NOT_OWNED)); + REQUIRE(binSemaph->acquire(SemaphoreIF::POLLING) == returnvalue::OK); + { + // not precise enough on linux.. should use clock instead.. + // Stopwatch stopwatch(false); + // REQUIRE(binSemaph->acquire(SemaphoreIF::TimeoutType::WAITING, 5) == + // SemaphoreIF::SEMAPHORE_TIMEOUT); + // dur_millis_t time = stopwatch.stop(); + // CHECK(time == 5); + } + REQUIRE(binSemaph->getSemaphoreCounter() == 0); + REQUIRE(binSemaph->release() == returnvalue::OK); + } + SemaphoreFactory::instance()->deleteSemaphore(binSemaph); + // perform tear-down here } - -TEST_CASE("Counting Semaphore Test" , "[CountingSemaph]") { - SECTION("Simple Test") { - - } +TEST_CASE("Counting Semaphore Test", "[CountingSemaph]") { + SECTION("Simple Test") {} } -*/ -#endif +#endif \ No newline at end of file From bf12f284faa2938254794f00d18883be38d3645b Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 13 Jan 2023 10:53:04 +0100 Subject: [PATCH 07/42] add size and crc check for contained TC --- src/fsfw/pus/Service11TelecommandScheduling.h | 2 ++ src/fsfw/pus/Service11TelecommandScheduling.tpp | 10 ++++++++++ 2 files changed, 12 insertions(+) diff --git a/src/fsfw/pus/Service11TelecommandScheduling.h b/src/fsfw/pus/Service11TelecommandScheduling.h index aa958193..83b2b4c0 100644 --- a/src/fsfw/pus/Service11TelecommandScheduling.h +++ b/src/fsfw/pus/Service11TelecommandScheduling.h @@ -41,6 +41,8 @@ class Service11TelecommandScheduling final : public PusServiceBase { static constexpr ReturnValue_t INVALID_TIME_WINDOW = returnvalue::makeCode(CLASS_ID, 2); static constexpr ReturnValue_t TIMESHIFTING_NOT_POSSIBLE = returnvalue::makeCode(CLASS_ID, 3); static constexpr ReturnValue_t INVALID_RELATIVE_TIME = returnvalue::makeCode(CLASS_ID, 4); + static constexpr ReturnValue_t CONTAINED_TC_TOO_SMALL = returnvalue::makeCode(CLASS_ID, 5); + static constexpr ReturnValue_t CONTAINED_TC_CRC_MISSMATCH = returnvalue::makeCode(CLASS_ID, 6); static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_11; diff --git a/src/fsfw/pus/Service11TelecommandScheduling.tpp b/src/fsfw/pus/Service11TelecommandScheduling.tpp index 9016af80..8bf92460 100644 --- a/src/fsfw/pus/Service11TelecommandScheduling.tpp +++ b/src/fsfw/pus/Service11TelecommandScheduling.tpp @@ -6,6 +6,8 @@ #include "fsfw/serialize/SerializeAdapter.h" #include "fsfw/serviceinterface.h" #include "fsfw/tmtcservices/AcceptsTelecommandsIF.h" +#include "fsfw/tmtcpacket/pus/tc/PusTcReader.h" +#include "fsfw/globalfunctions/CRC.h": static constexpr auto DEF_END = SerializeIF::Endianness::BIG; @@ -171,6 +173,14 @@ inline ReturnValue_t Service11TelecommandScheduling::doInsertActivi return returnvalue::FAILED; } + if (size < PusTcIF::MIN_SIZE) { + return CONTAINED_TC_TOO_SMALL; + } + + if (CRC::crc16ccitt(data, size) != 0) { + return CONTAINED_TC_CRC_MISSMATCH; + } + // store currentPacket and receive the store address store_address_t addr{}; if (tcStore->addData(&addr, data, size) != returnvalue::OK || From 97c629ad8446ff9525dd29f3211e0041cb469532 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 13 Jan 2023 10:53:36 +0100 Subject: [PATCH 08/42] update changelog --- CHANGELOG.md | 1 + 1 file changed, 1 insertion(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index 80338446..f738032f 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -12,6 +12,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/). ## Fixes +- TC Scheduler Service 11: Add size and CRC check for contained TC. - Only delete health table entry in `HealthHelper` destructor if health table was set. PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/710/files From a4531e4ced145832e271f846da533d75fc4ae5c2 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 13 Jan 2023 10:59:39 +0100 Subject: [PATCH 09/42] typo --- src/fsfw/pus/Service11TelecommandScheduling.tpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/fsfw/pus/Service11TelecommandScheduling.tpp b/src/fsfw/pus/Service11TelecommandScheduling.tpp index 8bf92460..cbfa3103 100644 --- a/src/fsfw/pus/Service11TelecommandScheduling.tpp +++ b/src/fsfw/pus/Service11TelecommandScheduling.tpp @@ -7,7 +7,7 @@ #include "fsfw/serviceinterface.h" #include "fsfw/tmtcservices/AcceptsTelecommandsIF.h" #include "fsfw/tmtcpacket/pus/tc/PusTcReader.h" -#include "fsfw/globalfunctions/CRC.h": +#include "fsfw/globalfunctions/CRC.h" static constexpr auto DEF_END = SerializeIF::Endianness::BIG; From d16c5024dc7ece711afe88b156fe16aae6f4bd80 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 13 Jan 2023 11:15:36 +0100 Subject: [PATCH 10/42] small include improvement --- src/fsfw/pus/Service11TelecommandScheduling.tpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/fsfw/pus/Service11TelecommandScheduling.tpp b/src/fsfw/pus/Service11TelecommandScheduling.tpp index cbfa3103..540f6c68 100644 --- a/src/fsfw/pus/Service11TelecommandScheduling.tpp +++ b/src/fsfw/pus/Service11TelecommandScheduling.tpp @@ -6,7 +6,7 @@ #include "fsfw/serialize/SerializeAdapter.h" #include "fsfw/serviceinterface.h" #include "fsfw/tmtcservices/AcceptsTelecommandsIF.h" -#include "fsfw/tmtcpacket/pus/tc/PusTcReader.h" +#include "fsfw/tmtcpacket/pus/tc/PusTcIF.h" #include "fsfw/globalfunctions/CRC.h" static constexpr auto DEF_END = SerializeIF::Endianness::BIG; From bd189518b6f91f25db1845e2657101e6bf46eec0 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 20 Jan 2023 11:10:05 +0100 Subject: [PATCH 11/42] small tweak, gain factory was always them same --- src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp b/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp index 707ca338..aa7c22d4 100644 --- a/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp +++ b/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp @@ -329,8 +329,8 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) { // Now scale to physical value in microtesla float fieldStrengthX = fieldStrengthRawX * scaleFactorX; - float fieldStrengthY = fieldStrengthRawY * scaleFactorX; - float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX; + float fieldStrengthY = fieldStrengthRawY * scaleFactorY; + float fieldStrengthZ = fieldStrengthRawZ * scaleFactorZ; if (periodicPrintout) { if (debugDivider.checkAndIncrement()) { From 049e3b431da51ac2069c2d48c5715bb12f3234bc Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 23 Jan 2023 11:31:00 +0100 Subject: [PATCH 12/42] small tweak for printout --- src/fsfw/subsystem/SubsystemBase.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/fsfw/subsystem/SubsystemBase.cpp b/src/fsfw/subsystem/SubsystemBase.cpp index d14e3539..7f215f60 100644 --- a/src/fsfw/subsystem/SubsystemBase.cpp +++ b/src/fsfw/subsystem/SubsystemBase.cpp @@ -195,7 +195,7 @@ ReturnValue_t SubsystemBase::checkTable(HybridIterator tableIter) if (childrenMap.find(tableIter.value->getObject()) == childrenMap.end()) { #if FSFW_CPP_OSTREAM_ENABLED == 1 using namespace std; - sif::warning << "SubsystemBase::checkTable: Could not find Object " << setfill('0') << hex + sif::warning << "SubsystemBase::checkTable: Could not find object " << setfill('0') << hex << "0x" << setw(8) << tableIter.value->getObject() << " in object " << setw(8) << setw(0) << "0x" << setw(8) << SystemObject::getObjectId() << dec << std::endl; #endif From da124953351d6fc0910f2f14e92dac607c09b827 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 27 Jan 2023 15:08:24 +0100 Subject: [PATCH 13/42] connect mode tree parent: make health helper optional --- src/fsfw/controller/ControllerBase.cpp | 2 +- src/fsfw/devicehandlers/DeviceHandlerBase.cpp | 2 +- src/fsfw/pus/Service11TelecommandScheduling.tpp | 6 +++--- src/fsfw/subsystem/SubsystemBase.cpp | 2 +- src/fsfw/subsystem/helper.cpp | 6 ++++-- src/fsfw/subsystem/helper.h | 2 +- 6 files changed, 11 insertions(+), 9 deletions(-) diff --git a/src/fsfw/controller/ControllerBase.cpp b/src/fsfw/controller/ControllerBase.cpp index 98907210..c41c4121 100644 --- a/src/fsfw/controller/ControllerBase.cpp +++ b/src/fsfw/controller/ControllerBase.cpp @@ -109,5 +109,5 @@ const HasModesIF& ControllerBase::getModeIF() const { return *this; } ModeTreeChildIF& ControllerBase::getModeTreeChildIF() { return *this; } ReturnValue_t ControllerBase::connectModeTreeParent(HasModeTreeChildrenIF& parent) { - return modetree::connectModeTreeParent(parent, *this, healthHelper, modeHelper); + return modetree::connectModeTreeParent(parent, *this, &healthHelper, modeHelper); } diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp index 67cd6a8b..d6e39edc 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp @@ -1608,7 +1608,7 @@ void DeviceHandlerBase::disableCommandsAndReplies() { } ReturnValue_t DeviceHandlerBase::connectModeTreeParent(HasModeTreeChildrenIF& parent) { - return modetree::connectModeTreeParent(parent, *this, healthHelper, modeHelper); + return modetree::connectModeTreeParent(parent, *this, &healthHelper, modeHelper); } const HasHealthIF* DeviceHandlerBase::getOptHealthIF() const { return this; } diff --git a/src/fsfw/pus/Service11TelecommandScheduling.tpp b/src/fsfw/pus/Service11TelecommandScheduling.tpp index 962d84ac..2ad11277 100644 --- a/src/fsfw/pus/Service11TelecommandScheduling.tpp +++ b/src/fsfw/pus/Service11TelecommandScheduling.tpp @@ -2,12 +2,12 @@ #include +#include "fsfw/globalfunctions/CRC.h" #include "fsfw/objectmanager/ObjectManager.h" #include "fsfw/serialize/SerializeAdapter.h" #include "fsfw/serviceinterface.h" -#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h" #include "fsfw/tmtcpacket/pus/tc/PusTcIF.h" -#include "fsfw/globalfunctions/CRC.h" +#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h" static constexpr auto DEF_END = SerializeIF::Endianness::BIG; @@ -180,7 +180,7 @@ inline ReturnValue_t Service11TelecommandScheduling::doInsertActivi if (CRC::crc16ccitt(data, size) != 0) { return CONTAINED_TC_CRC_MISSMATCH; } - + // store currentPacket and receive the store address store_address_t addr{}; if (tcStore->addData(&addr, data, size) != returnvalue::OK || diff --git a/src/fsfw/subsystem/SubsystemBase.cpp b/src/fsfw/subsystem/SubsystemBase.cpp index 7f215f60..5cfe59a3 100644 --- a/src/fsfw/subsystem/SubsystemBase.cpp +++ b/src/fsfw/subsystem/SubsystemBase.cpp @@ -284,7 +284,7 @@ ReturnValue_t SubsystemBase::setHealth(HealthState health) { HasHealthIF::HealthState SubsystemBase::getHealth() { return healthHelper.getHealth(); } ReturnValue_t SubsystemBase::connectModeTreeParent(HasModeTreeChildrenIF& parent) { - return modetree::connectModeTreeParent(parent, *this, healthHelper, modeHelper); + return modetree::connectModeTreeParent(parent, *this, &healthHelper, modeHelper); } object_id_t SubsystemBase::getObjectId() const { return SystemObject::getObjectId(); } diff --git a/src/fsfw/subsystem/helper.cpp b/src/fsfw/subsystem/helper.cpp index e65ef5a9..7b29825a 100644 --- a/src/fsfw/subsystem/helper.cpp +++ b/src/fsfw/subsystem/helper.cpp @@ -2,12 +2,14 @@ ReturnValue_t modetree::connectModeTreeParent(HasModeTreeChildrenIF& parent, const ModeTreeChildIF& child, - HealthHelper& healthHelper, ModeHelper& modeHelper) { + HealthHelper* healthHelper, ModeHelper& modeHelper) { ReturnValue_t result = parent.registerChild(child); if (result != returnvalue::OK) { return result; } - healthHelper.setParentQueue(parent.getCommandQueue()); + if (healthHelper != nullptr) { + healthHelper->setParentQueue(parent.getCommandQueue()); + } modeHelper.setParentQueue(parent.getCommandQueue()); return returnvalue::OK; } diff --git a/src/fsfw/subsystem/helper.h b/src/fsfw/subsystem/helper.h index 71a5563f..7a394e49 100644 --- a/src/fsfw/subsystem/helper.h +++ b/src/fsfw/subsystem/helper.h @@ -7,7 +7,7 @@ namespace modetree { ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF& parent, const ModeTreeChildIF& child, - HealthHelper& healthHelper, ModeHelper& modeHelper); + HealthHelper* healthHelper, ModeHelper& modeHelper); } From 226818886fe7094ff6f17a02fe5728b75ce48969 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Sat, 28 Jan 2023 14:31:32 +0100 Subject: [PATCH 14/42] improve srv20 error messages --- src/fsfw/pus/Service20ParameterManagement.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/fsfw/pus/Service20ParameterManagement.cpp b/src/fsfw/pus/Service20ParameterManagement.cpp index e12d47bc..87bd5a13 100644 --- a/src/fsfw/pus/Service20ParameterManagement.cpp +++ b/src/fsfw/pus/Service20ParameterManagement.cpp @@ -69,14 +69,14 @@ ReturnValue_t Service20ParameterManagement::checkInterfaceAndAcquireMessageQueue #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Service20ParameterManagement::checkInterfaceAndAcquire" << "MessageQueue: Can't access object" << std::endl; - sif::error << "Object ID: " << std::hex << objectId << std::dec << std::endl; - sif::error << "Make sure it implements ReceivesParameterMessagesIF!" << std::endl; + sif::error << "Object ID: 0x" << std::hex << *objectId << std::dec << std::endl; + sif::error << "Make sure it implements ReceivesParameterMessagesIF" << std::endl; #else sif::printError( "Service20ParameterManagement::checkInterfaceAndAcquire" "MessageQueue: Can't access object\n"); sif::printError("Object ID: 0x%08x\n", *objectId); - sif::printError("Make sure it implements ReceivesParameterMessagesIF!\n"); + sif::printError("Make sure it implements ReceivesParameterMessagesIF\n"); #endif return CommandingServiceBase::INVALID_OBJECT; From c64b9b3e71766d3f3d0a54613935b2de9baf5ef0 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 30 Jan 2023 14:05:39 +0100 Subject: [PATCH 15/42] allow using SO_REUSEADDR and SO_REUSEPORT on TCP server --- src/fsfw/osal/common/TcpTmTcServer.cpp | 15 ++++++++++++--- src/fsfw/osal/common/TcpTmTcServer.h | 26 ++++++++++++++++++++------ 2 files changed, 32 insertions(+), 9 deletions(-) diff --git a/src/fsfw/osal/common/TcpTmTcServer.cpp b/src/fsfw/osal/common/TcpTmTcServer.cpp index bc2cd152..42417f84 100644 --- a/src/fsfw/osal/common/TcpTmTcServer.cpp +++ b/src/fsfw/osal/common/TcpTmTcServer.cpp @@ -26,12 +26,12 @@ const std::string TcpTmTcServer::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT; TcpTmTcServer::TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge, - size_t receptionBufferSize, size_t ringBufferSize, - std::string customTcpServerPort, ReceptionModes receptionMode) + TcpTmTcServer::TcpConfig cfg, size_t receptionBufferSize, + size_t ringBufferSize, ReceptionModes receptionMode) : SystemObject(objectId), tmtcBridgeId(tmtcTcpBridge), receptionMode(receptionMode), - tcpConfig(std::move(customTcpServerPort)), + tcpConfig(cfg), receptionBuffer(receptionBufferSize), ringBuffer(ringBufferSize, true) {} @@ -91,6 +91,15 @@ ReturnValue_t TcpTmTcServer::initialize() { return returnvalue::FAILED; } + if (tcpConfig.reuseAddr) { + unsigned int enable = 1; + setsockopt(listenerTcpSocket, SOL_SOCKET, SO_REUSEADDR, &enable, sizeof(enable)); + } + if (tcpConfig.reusePort) { + unsigned int enable = 1; + setsockopt(listenerTcpSocket, SOL_SOCKET, SO_REUSEPORT, &enable, sizeof(enable)); + } + // Bind to the address found by getaddrinfo retval = bind(listenerTcpSocket, addrResult->ai_addr, static_cast(addrResult->ai_addrlen)); if (retval == SOCKET_ERROR) { diff --git a/src/fsfw/osal/common/TcpTmTcServer.h b/src/fsfw/osal/common/TcpTmTcServer.h index 0e2182a5..8668d845 100644 --- a/src/fsfw/osal/common/TcpTmTcServer.h +++ b/src/fsfw/osal/common/TcpTmTcServer.h @@ -41,11 +41,11 @@ class SpacePacketParser; */ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableObjectIF { public: - enum class ReceptionModes { SPACE_PACKETS }; - struct TcpConfig { public: - explicit TcpConfig(std::string tcpPort) : tcpPort(std::move(tcpPort)) {} + TcpConfig(bool reuseAddr, bool reusePort) : reuseAddr(reuseAddr), reusePort(reusePort) {} + TcpConfig(std::string tcpPort, bool reuseAddr, bool reusePort) + : tcpPort(std::move(tcpPort)), reuseAddr(reuseAddr), reusePort(reusePort) {} /** * Passed to the recv call @@ -63,8 +63,23 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb */ int tcpTmFlags = 0; - const std::string tcpPort; + /** + * Sets the SO_REUSEADDR option on the socket. See + * https://man7.org/linux/man-pages/man7/socket.7.html for more details. This option is + * especially useful in a debugging and development environment where an OBSW image might be + * re-flashed oftentimes and where all incoming telecommands are received on a dedicated TCP + * port. + */ + bool reuseAddr = false; + /** + * Sets the SO_REUSEPORT option on the socket. See + * https://man7.org/linux/man-pages/man7/socket.7.html for more details. + */ + bool reusePort = false; + + std::string tcpPort = DEFAULT_SERVER_PORT; }; + enum class ReceptionModes { SPACE_PACKETS }; static const std::string DEFAULT_SERVER_PORT; @@ -80,10 +95,9 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb * size will be the Ethernet MTU size * @param customTcpServerPort The user can specify another port than the default (7301) here. */ - TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge, + TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge, TcpTmTcServer::TcpConfig cfg, size_t receptionBufferSize = RING_BUFFER_SIZE, size_t ringBufferSize = RING_BUFFER_SIZE, - std::string customTcpServerPort = DEFAULT_SERVER_PORT, ReceptionModes receptionMode = ReceptionModes::SPACE_PACKETS); ~TcpTmTcServer() override; From 99d8c845f2690a55a6436e31fb0f50a21a285ff0 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 30 Jan 2023 14:05:39 +0100 Subject: [PATCH 16/42] allow using SO_REUSEADDR and SO_REUSEPORT on TCP server --- src/fsfw/osal/common/TcpTmTcServer.cpp | 15 ++++++++++++--- src/fsfw/osal/common/TcpTmTcServer.h | 26 ++++++++++++++++++++------ 2 files changed, 32 insertions(+), 9 deletions(-) diff --git a/src/fsfw/osal/common/TcpTmTcServer.cpp b/src/fsfw/osal/common/TcpTmTcServer.cpp index dff959ba..903d8752 100644 --- a/src/fsfw/osal/common/TcpTmTcServer.cpp +++ b/src/fsfw/osal/common/TcpTmTcServer.cpp @@ -26,12 +26,12 @@ const std::string TcpTmTcServer::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT; TcpTmTcServer::TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge, - size_t receptionBufferSize, size_t ringBufferSize, - std::string customTcpServerPort, ReceptionModes receptionMode) + TcpTmTcServer::TcpConfig cfg, size_t receptionBufferSize, + size_t ringBufferSize, ReceptionModes receptionMode) : SystemObject(objectId), tmtcBridgeId(tmtcTcpBridge), receptionMode(receptionMode), - tcpConfig(std::move(customTcpServerPort)), + tcpConfig(cfg), receptionBuffer(receptionBufferSize), ringBuffer(ringBufferSize, true) {} @@ -91,6 +91,15 @@ ReturnValue_t TcpTmTcServer::initialize() { return returnvalue::FAILED; } + if (tcpConfig.reuseAddr) { + unsigned int enable = 1; + setsockopt(listenerTcpSocket, SOL_SOCKET, SO_REUSEADDR, &enable, sizeof(enable)); + } + if (tcpConfig.reusePort) { + unsigned int enable = 1; + setsockopt(listenerTcpSocket, SOL_SOCKET, SO_REUSEPORT, &enable, sizeof(enable)); + } + // Bind to the address found by getaddrinfo retval = bind(listenerTcpSocket, addrResult->ai_addr, static_cast(addrResult->ai_addrlen)); if (retval == SOCKET_ERROR) { diff --git a/src/fsfw/osal/common/TcpTmTcServer.h b/src/fsfw/osal/common/TcpTmTcServer.h index 0e2182a5..8668d845 100644 --- a/src/fsfw/osal/common/TcpTmTcServer.h +++ b/src/fsfw/osal/common/TcpTmTcServer.h @@ -41,11 +41,11 @@ class SpacePacketParser; */ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableObjectIF { public: - enum class ReceptionModes { SPACE_PACKETS }; - struct TcpConfig { public: - explicit TcpConfig(std::string tcpPort) : tcpPort(std::move(tcpPort)) {} + TcpConfig(bool reuseAddr, bool reusePort) : reuseAddr(reuseAddr), reusePort(reusePort) {} + TcpConfig(std::string tcpPort, bool reuseAddr, bool reusePort) + : tcpPort(std::move(tcpPort)), reuseAddr(reuseAddr), reusePort(reusePort) {} /** * Passed to the recv call @@ -63,8 +63,23 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb */ int tcpTmFlags = 0; - const std::string tcpPort; + /** + * Sets the SO_REUSEADDR option on the socket. See + * https://man7.org/linux/man-pages/man7/socket.7.html for more details. This option is + * especially useful in a debugging and development environment where an OBSW image might be + * re-flashed oftentimes and where all incoming telecommands are received on a dedicated TCP + * port. + */ + bool reuseAddr = false; + /** + * Sets the SO_REUSEPORT option on the socket. See + * https://man7.org/linux/man-pages/man7/socket.7.html for more details. + */ + bool reusePort = false; + + std::string tcpPort = DEFAULT_SERVER_PORT; }; + enum class ReceptionModes { SPACE_PACKETS }; static const std::string DEFAULT_SERVER_PORT; @@ -80,10 +95,9 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb * size will be the Ethernet MTU size * @param customTcpServerPort The user can specify another port than the default (7301) here. */ - TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge, + TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge, TcpTmTcServer::TcpConfig cfg, size_t receptionBufferSize = RING_BUFFER_SIZE, size_t ringBufferSize = RING_BUFFER_SIZE, - std::string customTcpServerPort = DEFAULT_SERVER_PORT, ReceptionModes receptionMode = ReceptionModes::SPACE_PACKETS); ~TcpTmTcServer() override; From b646717a7610d430f999e4582a439a17eafaadc9 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 30 Jan 2023 14:11:00 +0100 Subject: [PATCH 17/42] bump changelog --- CHANGELOG.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index f738032f..bc0fa937 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -28,6 +28,10 @@ and this project adheres to [Semantic Versioning](http://semver.org/). ## Added +- `TcpTmTcServer`: Allow setting the `SO_REUSEADDR` and `SO_REUSEPORT` + option on the TCP server. CTOR prototype has changed and expects an explicit + TCP configuration struct to be passed. + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/722 - `DleParser` helper class to parse DLE encoded packets from a byte stream. PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/711 - `UioMapper` is able to resolve symlinks now. From fe7197846748040bbe4ab4c3cdd15d6cbf58cc43 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Sat, 28 Jan 2023 14:31:32 +0100 Subject: [PATCH 18/42] improve srv20 error messages --- src/fsfw/pus/Service20ParameterManagement.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/fsfw/pus/Service20ParameterManagement.cpp b/src/fsfw/pus/Service20ParameterManagement.cpp index e12d47bc..87bd5a13 100644 --- a/src/fsfw/pus/Service20ParameterManagement.cpp +++ b/src/fsfw/pus/Service20ParameterManagement.cpp @@ -69,14 +69,14 @@ ReturnValue_t Service20ParameterManagement::checkInterfaceAndAcquireMessageQueue #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Service20ParameterManagement::checkInterfaceAndAcquire" << "MessageQueue: Can't access object" << std::endl; - sif::error << "Object ID: " << std::hex << objectId << std::dec << std::endl; - sif::error << "Make sure it implements ReceivesParameterMessagesIF!" << std::endl; + sif::error << "Object ID: 0x" << std::hex << *objectId << std::dec << std::endl; + sif::error << "Make sure it implements ReceivesParameterMessagesIF" << std::endl; #else sif::printError( "Service20ParameterManagement::checkInterfaceAndAcquire" "MessageQueue: Can't access object\n"); sif::printError("Object ID: 0x%08x\n", *objectId); - sif::printError("Make sure it implements ReceivesParameterMessagesIF!\n"); + sif::printError("Make sure it implements ReceivesParameterMessagesIF\n"); #endif return CommandingServiceBase::INVALID_OBJECT; From 3656662d8881bb8b8e200a412dad4a1867ce759c Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 20 Jan 2023 11:10:05 +0100 Subject: [PATCH 19/42] small tweak, gain factory was always them same --- src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp b/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp index a32153eb..ce215a64 100644 --- a/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp +++ b/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp @@ -329,8 +329,8 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) { // Now scale to physical value in microtesla float fieldStrengthX = fieldStrengthRawX * scaleFactorX; - float fieldStrengthY = fieldStrengthRawY * scaleFactorX; - float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX; + float fieldStrengthY = fieldStrengthRawY * scaleFactorY; + float fieldStrengthZ = fieldStrengthRawZ * scaleFactorZ; if (periodicPrintout) { if (debugDivider.checkAndIncrement()) { From eb223dae880266fdbff7f26e700e14c819ad8f8b Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 30 Jan 2023 14:20:28 +0100 Subject: [PATCH 20/42] bump changelog --- CHANGELOG.md | 3 +++ 1 file changed, 3 insertions(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index f738032f..e379a6f3 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -12,6 +12,9 @@ and this project adheres to [Semantic Versioning](http://semver.org/). ## Fixes +- HAL MGM3100 Handler: Use axis specific gain/scaling factors. Previously, + only the X scaling factor was used. + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/724 - TC Scheduler Service 11: Add size and CRC check for contained TC. - Only delete health table entry in `HealthHelper` destructor if health table was set. From 7766b24a1d55df2a3f0d702e627b38c1118c5e8d Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 30 Jan 2023 14:24:28 +0100 Subject: [PATCH 21/42] re-order fields in TcpConfig --- src/fsfw/osal/common/TcpTmTcServer.h | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/fsfw/osal/common/TcpTmTcServer.h b/src/fsfw/osal/common/TcpTmTcServer.h index 8668d845..3d182827 100644 --- a/src/fsfw/osal/common/TcpTmTcServer.h +++ b/src/fsfw/osal/common/TcpTmTcServer.h @@ -63,6 +63,8 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb */ int tcpTmFlags = 0; + std::string tcpPort = DEFAULT_SERVER_PORT; + /** * Sets the SO_REUSEADDR option on the socket. See * https://man7.org/linux/man-pages/man7/socket.7.html for more details. This option is @@ -77,7 +79,6 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb */ bool reusePort = false; - std::string tcpPort = DEFAULT_SERVER_PORT; }; enum class ReceptionModes { SPACE_PACKETS }; From 9b05e8f27406e0bc1df4db6dde6ff85fbc9ea8e8 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 30 Jan 2023 14:24:28 +0100 Subject: [PATCH 22/42] re-order fields in TcpConfig --- src/fsfw/osal/common/TcpTmTcServer.h | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/fsfw/osal/common/TcpTmTcServer.h b/src/fsfw/osal/common/TcpTmTcServer.h index 8668d845..3d182827 100644 --- a/src/fsfw/osal/common/TcpTmTcServer.h +++ b/src/fsfw/osal/common/TcpTmTcServer.h @@ -63,6 +63,8 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb */ int tcpTmFlags = 0; + std::string tcpPort = DEFAULT_SERVER_PORT; + /** * Sets the SO_REUSEADDR option on the socket. See * https://man7.org/linux/man-pages/man7/socket.7.html for more details. This option is @@ -77,7 +79,6 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb */ bool reusePort = false; - std::string tcpPort = DEFAULT_SERVER_PORT; }; enum class ReceptionModes { SPACE_PACKETS }; From 5c35b8e3cd3b2cb0c6e3eaed53fa24a454ac6365 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 1 Feb 2023 17:07:38 +0100 Subject: [PATCH 23/42] proper announce all impl --- src/fsfw/health/HealthTable.h | 2 + src/fsfw/osal/common/TcpTmTcServer.h | 1 - src/fsfw/pus/CService201HealthCommanding.cpp | 44 ++++++++++++++++---- src/fsfw/pus/CService201HealthCommanding.h | 7 +++- 4 files changed, 43 insertions(+), 11 deletions(-) diff --git a/src/fsfw/health/HealthTable.h b/src/fsfw/health/HealthTable.h index 076228c1..9b0722df 100644 --- a/src/fsfw/health/HealthTable.h +++ b/src/fsfw/health/HealthTable.h @@ -8,6 +8,8 @@ #include "HealthTableIF.h" class HealthTable : public HealthTableIF, public SystemObject { + friend class CService201HealthCommanding; + public: explicit HealthTable(object_id_t objectid); ~HealthTable() override; diff --git a/src/fsfw/osal/common/TcpTmTcServer.h b/src/fsfw/osal/common/TcpTmTcServer.h index 3d182827..009a1680 100644 --- a/src/fsfw/osal/common/TcpTmTcServer.h +++ b/src/fsfw/osal/common/TcpTmTcServer.h @@ -78,7 +78,6 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb * https://man7.org/linux/man-pages/man7/socket.7.html for more details. */ bool reusePort = false; - }; enum class ReceptionModes { SPACE_PACKETS }; diff --git a/src/fsfw/pus/CService201HealthCommanding.cpp b/src/fsfw/pus/CService201HealthCommanding.cpp index bf21c5bd..af261caf 100644 --- a/src/fsfw/pus/CService201HealthCommanding.cpp +++ b/src/fsfw/pus/CService201HealthCommanding.cpp @@ -1,5 +1,7 @@ #include "fsfw/pus/CService201HealthCommanding.h" +#include + #include "fsfw/health/HasHealthIF.h" #include "fsfw/health/HealthMessage.h" #include "fsfw/objectmanager/ObjectManager.h" @@ -7,11 +9,12 @@ #include "fsfw/serviceinterface/ServiceInterface.h" CService201HealthCommanding::CService201HealthCommanding(object_id_t objectId, uint16_t apid, - uint8_t serviceId, + uint8_t serviceId, HealthTable &table, uint8_t numParallelCommands, uint16_t commandTimeoutSeconds) : CommandingServiceBase(objectId, apid, "PUS 201 Health MGMT", serviceId, numParallelCommands, - commandTimeoutSeconds) {} + commandTimeoutSeconds), + healthTable(table) {} ReturnValue_t CService201HealthCommanding::isValidSubservice(uint8_t subservice) { switch (subservice) { @@ -32,12 +35,16 @@ ReturnValue_t CService201HealthCommanding::getMessageQueueAndObject(uint8_t subs size_t tcDataLen, MessageQueueId_t *id, object_id_t *objectId) { - if (tcDataLen < sizeof(object_id_t)) { - return CommandingServiceBase::INVALID_TC; - } - SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen, SerializeIF::Endianness::BIG); + if (subservice == Subservice::COMMAND_SET_HEALTH and + subservice == Subservice::COMMAND_ANNOUNCE_HEALTH) { + if (tcDataLen < sizeof(object_id_t)) { + return CommandingServiceBase::INVALID_TC; + } + SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen, SerializeIF::Endianness::BIG); - return checkInterfaceAndAcquireMessageQueue(id, objectId); + return checkInterfaceAndAcquireMessageQueue(id, objectId); + } + return returnvalue::OK; } ReturnValue_t CService201HealthCommanding::checkInterfaceAndAcquireMessageQueue( @@ -72,8 +79,15 @@ ReturnValue_t CService201HealthCommanding::prepareCommand(CommandMessage *messag break; } case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): { - HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_ANNOUNCE_ALL); - break; + ReturnValue_t result = iterateHealthTable(true); + while (true) { + ReturnValue_t result = iterateHealthTable(false); + if (result != returnvalue::OK) { + break; + } + } + + return returnvalue::OK; } default: { // Should never happen, subservice was already checked @@ -104,3 +118,15 @@ ReturnValue_t CService201HealthCommanding::handleReply(const CommandMessage *rep HealthSetReply healthSetReply(health, oldHealth); return sendTmPacket(Subservice::REPLY_HEALTH_SET, healthSetReply); } + +ReturnValue_t CService201HealthCommanding::iterateHealthTable(bool reset) { + std::pair pair; + + ReturnValue_t result = healthTable.iterate(&pair, reset); + if (result != returnvalue::OK) { + return result; + } else { + EventManagerIF::triggerEvent(pair.first, HasHealthIF::HEALTH_INFO, pair.second, pair.second); + return returnvalue::OK; + } +} diff --git a/src/fsfw/pus/CService201HealthCommanding.h b/src/fsfw/pus/CService201HealthCommanding.h index 71b7caa0..8cef5599 100644 --- a/src/fsfw/pus/CService201HealthCommanding.h +++ b/src/fsfw/pus/CService201HealthCommanding.h @@ -1,6 +1,8 @@ #ifndef FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_ #define FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_ +#include + #include "fsfw/tmtcservices/CommandingServiceBase.h" /** @@ -20,7 +22,8 @@ class CService201HealthCommanding : public CommandingServiceBase { public: CService201HealthCommanding(object_id_t objectId, uint16_t apid, uint8_t serviceId, - uint8_t numParallelCommands = 4, uint16_t commandTimeoutSeconds = 60); + HealthTable &table, uint8_t numParallelCommands = 4, + uint16_t commandTimeoutSeconds = 60); ~CService201HealthCommanding() override = default; protected: @@ -38,6 +41,8 @@ class CService201HealthCommanding : public CommandingServiceBase { bool *isStep) override; private: + HealthTable &healthTable; + ReturnValue_t iterateHealthTable(bool reset); static ReturnValue_t checkInterfaceAndAcquireMessageQueue(MessageQueueId_t *MessageQueueToSet, const object_id_t *objectId); From 1cacceddad5a918b078dbd6f493d4c3f7f59646e Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 1 Feb 2023 17:33:24 +0100 Subject: [PATCH 24/42] beatufil --- src/fsfw/health/HealthTable.h | 2 +- src/fsfw/pus/CMakeLists.txt | 2 +- ...nding.cpp => CServiceHealthCommanding.cpp} | 88 ++++++++++++------- ...ommanding.h => CServiceHealthCommanding.h} | 28 ++++-- 4 files changed, 79 insertions(+), 41 deletions(-) rename src/fsfw/pus/{CService201HealthCommanding.cpp => CServiceHealthCommanding.cpp} (56%) rename src/fsfw/pus/{CService201HealthCommanding.h => CServiceHealthCommanding.h} (75%) diff --git a/src/fsfw/health/HealthTable.h b/src/fsfw/health/HealthTable.h index 9b0722df..7b42dfba 100644 --- a/src/fsfw/health/HealthTable.h +++ b/src/fsfw/health/HealthTable.h @@ -8,7 +8,7 @@ #include "HealthTableIF.h" class HealthTable : public HealthTableIF, public SystemObject { - friend class CService201HealthCommanding; + friend class CServiceHealthCommanding; public: explicit HealthTable(object_id_t objectid); diff --git a/src/fsfw/pus/CMakeLists.txt b/src/fsfw/pus/CMakeLists.txt index 35b35bea..7c5b340c 100644 --- a/src/fsfw/pus/CMakeLists.txt +++ b/src/fsfw/pus/CMakeLists.txt @@ -9,4 +9,4 @@ target_sources( Service17Test.cpp Service20ParameterManagement.cpp CService200ModeCommanding.cpp - CService201HealthCommanding.cpp) + CServiceHealthCommanding.cpp) diff --git a/src/fsfw/pus/CService201HealthCommanding.cpp b/src/fsfw/pus/CServiceHealthCommanding.cpp similarity index 56% rename from src/fsfw/pus/CService201HealthCommanding.cpp rename to src/fsfw/pus/CServiceHealthCommanding.cpp index af261caf..9a2af7bc 100644 --- a/src/fsfw/pus/CService201HealthCommanding.cpp +++ b/src/fsfw/pus/CServiceHealthCommanding.cpp @@ -1,6 +1,5 @@ -#include "fsfw/pus/CService201HealthCommanding.h" - #include +#include #include "fsfw/health/HasHealthIF.h" #include "fsfw/health/HealthMessage.h" @@ -8,15 +7,13 @@ #include "fsfw/pus/servicepackets/Service201Packets.h" #include "fsfw/serviceinterface/ServiceInterface.h" -CService201HealthCommanding::CService201HealthCommanding(object_id_t objectId, uint16_t apid, - uint8_t serviceId, HealthTable &table, - uint8_t numParallelCommands, - uint16_t commandTimeoutSeconds) - : CommandingServiceBase(objectId, apid, "PUS 201 Health MGMT", serviceId, numParallelCommands, - commandTimeoutSeconds), - healthTable(table) {} +CServiceHealthCommanding::CServiceHealthCommanding(HealthServiceCfg args) + : CommandingServiceBase(args.objectId, args.apid, "PUS 201 Health MGMT", args.service, + args.numParallelCommands, args.commandTimeoutSeconds), + healthTable(args.table), + maxNumHealthInfoPerCycle(args.maxNumHealthInfoPerCycle) {} -ReturnValue_t CService201HealthCommanding::isValidSubservice(uint8_t subservice) { +ReturnValue_t CServiceHealthCommanding::isValidSubservice(uint8_t subservice) { switch (subservice) { case (Subservice::COMMAND_SET_HEALTH): case (Subservice::COMMAND_ANNOUNCE_HEALTH): @@ -30,24 +27,31 @@ ReturnValue_t CService201HealthCommanding::isValidSubservice(uint8_t subservice) } } -ReturnValue_t CService201HealthCommanding::getMessageQueueAndObject(uint8_t subservice, - const uint8_t *tcData, - size_t tcDataLen, - MessageQueueId_t *id, - object_id_t *objectId) { - if (subservice == Subservice::COMMAND_SET_HEALTH and - subservice == Subservice::COMMAND_ANNOUNCE_HEALTH) { - if (tcDataLen < sizeof(object_id_t)) { - return CommandingServiceBase::INVALID_TC; - } - SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen, SerializeIF::Endianness::BIG); +ReturnValue_t CServiceHealthCommanding::getMessageQueueAndObject(uint8_t subservice, + const uint8_t *tcData, + size_t tcDataLen, + MessageQueueId_t *id, + object_id_t *objectId) { + switch (subservice) { + case (Subservice::COMMAND_SET_HEALTH): + case (Subservice::COMMAND_ANNOUNCE_HEALTH): { + if (tcDataLen < sizeof(object_id_t)) { + return CommandingServiceBase::INVALID_TC; + } + SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen, SerializeIF::Endianness::BIG); - return checkInterfaceAndAcquireMessageQueue(id, objectId); + return checkInterfaceAndAcquireMessageQueue(id, objectId); + } + case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): { + return returnvalue::OK; + } + default: { + return returnvalue::FAILED; + } } - return returnvalue::OK; } -ReturnValue_t CService201HealthCommanding::checkInterfaceAndAcquireMessageQueue( +ReturnValue_t CServiceHealthCommanding::checkInterfaceAndAcquireMessageQueue( MessageQueueId_t *messageQueueToSet, const object_id_t *objectId) { auto *destination = ObjectManager::instance()->get(*objectId); if (destination == nullptr) { @@ -58,10 +62,9 @@ ReturnValue_t CService201HealthCommanding::checkInterfaceAndAcquireMessageQueue( return returnvalue::OK; } -ReturnValue_t CService201HealthCommanding::prepareCommand(CommandMessage *message, - uint8_t subservice, const uint8_t *tcData, - size_t tcDataLen, uint32_t *state, - object_id_t objectId) { +ReturnValue_t CServiceHealthCommanding::prepareCommand(CommandMessage *message, uint8_t subservice, + const uint8_t *tcData, size_t tcDataLen, + uint32_t *state, object_id_t objectId) { ReturnValue_t result = returnvalue::OK; switch (subservice) { case (Subservice::COMMAND_SET_HEALTH): { @@ -80,6 +83,11 @@ ReturnValue_t CService201HealthCommanding::prepareCommand(CommandMessage *messag } case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): { ReturnValue_t result = iterateHealthTable(true); + if (result == returnvalue::OK) { + reportAllHealth = true; + return EXECUTION_COMPLETE; + } + return result; while (true) { ReturnValue_t result = iterateHealthTable(false); if (result != returnvalue::OK) { @@ -97,10 +105,10 @@ ReturnValue_t CService201HealthCommanding::prepareCommand(CommandMessage *messag return result; } -ReturnValue_t CService201HealthCommanding::handleReply(const CommandMessage *reply, - Command_t previousCommand, uint32_t *state, - CommandMessage *optionalNextCommand, - object_id_t objectId, bool *isStep) { +ReturnValue_t CServiceHealthCommanding::handleReply(const CommandMessage *reply, + Command_t previousCommand, uint32_t *state, + CommandMessage *optionalNextCommand, + object_id_t objectId, bool *isStep) { Command_t replyId = reply->getCommand(); if (replyId == HealthMessage::REPLY_HEALTH_SET) { return EXECUTION_COMPLETE; @@ -110,8 +118,20 @@ ReturnValue_t CService201HealthCommanding::handleReply(const CommandMessage *rep return CommandingServiceBase::INVALID_REPLY; } +void CServiceHealthCommanding::doPeriodicOperation() { + if (reportAllHealth) { + for (uint8_t i = 0; i < maxNumHealthInfoPerCycle; i++) { + ReturnValue_t result = iterateHealthTable(true); + if (result != returnvalue::OK) { + reportAllHealth = false; + break; + } + } + } +} + // Not used for now, health state already reported by event -[[maybe_unused]] ReturnValue_t CService201HealthCommanding::prepareHealthSetReply( +[[maybe_unused]] ReturnValue_t CServiceHealthCommanding::prepareHealthSetReply( const CommandMessage *reply) { auto health = static_cast(HealthMessage::getHealth(reply)); auto oldHealth = static_cast(HealthMessage::getOldHealth(reply)); @@ -119,7 +139,7 @@ ReturnValue_t CService201HealthCommanding::handleReply(const CommandMessage *rep return sendTmPacket(Subservice::REPLY_HEALTH_SET, healthSetReply); } -ReturnValue_t CService201HealthCommanding::iterateHealthTable(bool reset) { +ReturnValue_t CServiceHealthCommanding::iterateHealthTable(bool reset) { std::pair pair; ReturnValue_t result = healthTable.iterate(&pair, reset); diff --git a/src/fsfw/pus/CService201HealthCommanding.h b/src/fsfw/pus/CServiceHealthCommanding.h similarity index 75% rename from src/fsfw/pus/CService201HealthCommanding.h rename to src/fsfw/pus/CServiceHealthCommanding.h index 8cef5599..18f6c140 100644 --- a/src/fsfw/pus/CService201HealthCommanding.h +++ b/src/fsfw/pus/CServiceHealthCommanding.h @@ -5,6 +5,22 @@ #include "fsfw/tmtcservices/CommandingServiceBase.h" +struct HealthServiceCfg { + HealthServiceCfg(object_id_t objectId, uint16_t apid, HealthTable &healthTable, + uint16_t maxNumHealthInfoPerCycle) + : objectId(objectId), + apid(apid), + table(healthTable), + maxNumHealthInfoPerCycle(maxNumHealthInfoPerCycle) {} + object_id_t objectId; + uint16_t apid; + HealthTable &table; + uint16_t maxNumHealthInfoPerCycle; + uint8_t service = 201; + uint8_t numParallelCommands = 4; + uint16_t commandTimeoutSeconds = 60; +}; + /** * @brief Custom PUS service to set health of all objects * implementing hasHealthIF. @@ -19,12 +35,10 @@ * child class like this service * */ -class CService201HealthCommanding : public CommandingServiceBase { +class CServiceHealthCommanding : public CommandingServiceBase { public: - CService201HealthCommanding(object_id_t objectId, uint16_t apid, uint8_t serviceId, - HealthTable &table, uint8_t numParallelCommands = 4, - uint16_t commandTimeoutSeconds = 60); - ~CService201HealthCommanding() override = default; + CServiceHealthCommanding(HealthServiceCfg args); + ~CServiceHealthCommanding() override = default; protected: /* CSB abstract function implementations */ @@ -40,8 +54,12 @@ class CService201HealthCommanding : public CommandingServiceBase { CommandMessage *optionalNextCommand, object_id_t objectId, bool *isStep) override; + void doPeriodicOperation() override; + private: HealthTable &healthTable; + uint16_t maxNumHealthInfoPerCycle = 0; + bool reportAllHealth = false; ReturnValue_t iterateHealthTable(bool reset); static ReturnValue_t checkInterfaceAndAcquireMessageQueue(MessageQueueId_t *MessageQueueToSet, const object_id_t *objectId); From 64787f85ca4ce796003240dfbebeb07f6e2b0816 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 1 Feb 2023 17:41:47 +0100 Subject: [PATCH 25/42] update changelog --- CHANGELOG.md | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index bff68d84..0e28c5bc 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -25,6 +25,8 @@ and this project adheres to [Semantic Versioning](http://semver.org/). - `TcpTmTcServer.cpp`: The server was actually not able to handle CCSDS packets which were clumped together. This has been fixed now. PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/673 +- `CServiceHealthCommanding`: Add announce all health info implementation + PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/122 ## Added @@ -37,6 +39,10 @@ and this project adheres to [Semantic Versioning](http://semver.org/). ## Changes +- `CService201HealthCommanding` renamed to `CServiceHealthCommanding`, + service ID customizable now. `CServiceHealthCommanding` expects configuration struct + `HealthServiceCfg` now + PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/122 - `AcceptsTelemetryIF`: `getReportReceptionQueue` is const now PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/712 - Moved some container returnvalues to dedicated header and namespace From 7ee83e4e5d49e9ef99974d9e8286dadf75205c2c Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 1 Feb 2023 18:10:07 +0100 Subject: [PATCH 26/42] service 9 update - fix time info event - add time dump subservice --- CHANGELOG.md | 2 ++ src/fsfw/pus/Service9TimeManagement.cpp | 22 ++++++++++++++++------ src/fsfw/pus/Service9TimeManagement.h | 11 +++++++---- 3 files changed, 25 insertions(+), 10 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 0e28c5bc..93e2cd21 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -12,6 +12,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/). ## Fixes + - TC Scheduler Service 11: Add size and CRC check for contained TC. - Only delete health table entry in `HealthHelper` destructor if health table was set. @@ -30,6 +31,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/). ## Added +- `Service9TimeManagement`: Add `DUMP_TIME` (129) subservice. - `DleParser` helper class to parse DLE encoded packets from a byte stream. PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/711 - `UioMapper` is able to resolve symlinks now. diff --git a/src/fsfw/pus/Service9TimeManagement.cpp b/src/fsfw/pus/Service9TimeManagement.cpp index d19cb518..fb32f60e 100644 --- a/src/fsfw/pus/Service9TimeManagement.cpp +++ b/src/fsfw/pus/Service9TimeManagement.cpp @@ -1,5 +1,7 @@ #include "fsfw/pus/Service9TimeManagement.h" +#include + #include "fsfw/events/EventManagerIF.h" #include "fsfw/pus/servicepackets/Service9Packets.h" #include "fsfw/serviceinterface/ServiceInterface.h" @@ -15,9 +17,17 @@ ReturnValue_t Service9TimeManagement::performService() { return returnvalue::OK; ReturnValue_t Service9TimeManagement::handleRequest(uint8_t subservice) { switch (subservice) { - case SUBSERVICE::SET_TIME: { + case Subservice::SET_TIME: { return setTime(); } + case Subservice::DUMP_TIME: { + timeval newTime; + Clock::getClock_timeval(&newTime); + uint32_t subsecondMs = + static_cast(std::floor(static_cast(newTime.tv_usec) / 1000.0)); + triggerEvent(CLOCK_DUMP, newTime.tv_sec, subsecondMs); + return returnvalue::OK; + } default: return AcceptsTelecommandsIF::INVALID_SUBSERVICE; } @@ -33,14 +43,14 @@ ReturnValue_t Service9TimeManagement::setTime() { return result; } - uint32_t formerUptime; - Clock::getUptime(&formerUptime); + timeval time; + Clock::getClock_timeval(&time); result = Clock::setClock(&timeToSet); if (result == returnvalue::OK) { - uint32_t newUptime; - Clock::getUptime(&newUptime); - triggerEvent(CLOCK_SET, newUptime, formerUptime); + timeval newTime; + Clock::getClock_timeval(&newTime); + triggerEvent(CLOCK_SET, time.tv_sec, newTime.tv_sec); return returnvalue::OK; } else { triggerEvent(CLOCK_SET_FAILURE, result, 0); diff --git a/src/fsfw/pus/Service9TimeManagement.h b/src/fsfw/pus/Service9TimeManagement.h index 97284d32..ba789da0 100644 --- a/src/fsfw/pus/Service9TimeManagement.h +++ b/src/fsfw/pus/Service9TimeManagement.h @@ -6,10 +6,12 @@ class Service9TimeManagement : public PusServiceBase { public: static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_9; - //!< Clock has been set. P1: New Uptime. P2: Old Uptime + //!< Clock has been set. P1: old timeval seconds. P2: new timeval seconds. static constexpr Event CLOCK_SET = MAKE_EVENT(0, severity::INFO); + //!< Clock dump event. P1: timeval seconds P2: timeval milliseconds. + static constexpr Event CLOCK_DUMP = MAKE_EVENT(1, severity::INFO); //!< Clock could not be set. P1: Returncode. - static constexpr Event CLOCK_SET_FAILURE = MAKE_EVENT(1, severity::LOW); + static constexpr Event CLOCK_SET_FAILURE = MAKE_EVENT(2, severity::LOW); static constexpr uint8_t CLASS_ID = CLASS_ID::PUS_SERVICE_9; @@ -30,8 +32,9 @@ class Service9TimeManagement : public PusServiceBase { virtual ReturnValue_t setTime(); private: - enum SUBSERVICE { - SET_TIME = 128 //!< [EXPORT] : [COMMAND] Time command in ASCII, CUC or CDS format + enum Subservice { + SET_TIME = 128, //!< [EXPORT] : [COMMAND] Time command in ASCII, CUC or CDS format + DUMP_TIME = 129, }; }; From 7e94baceef7ae88e82fed6b1c6fb788672a77af3 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 1 Feb 2023 18:10:07 +0100 Subject: [PATCH 27/42] service 9 update - fix time info event - add time dump subservice --- CHANGELOG.md | 2 ++ src/fsfw/pus/Service9TimeManagement.cpp | 22 ++++++++++++++++------ src/fsfw/pus/Service9TimeManagement.h | 16 ++++++++++------ 3 files changed, 28 insertions(+), 12 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index f738032f..0646cf5e 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -12,6 +12,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/). ## Fixes + - TC Scheduler Service 11: Add size and CRC check for contained TC. - Only delete health table entry in `HealthHelper` destructor if health table was set. @@ -28,6 +29,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/). ## Added +- `Service9TimeManagement`: Add `DUMP_TIME` (129) subservice. - `DleParser` helper class to parse DLE encoded packets from a byte stream. PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/711 - `UioMapper` is able to resolve symlinks now. diff --git a/src/fsfw/pus/Service9TimeManagement.cpp b/src/fsfw/pus/Service9TimeManagement.cpp index d19cb518..fb32f60e 100644 --- a/src/fsfw/pus/Service9TimeManagement.cpp +++ b/src/fsfw/pus/Service9TimeManagement.cpp @@ -1,5 +1,7 @@ #include "fsfw/pus/Service9TimeManagement.h" +#include + #include "fsfw/events/EventManagerIF.h" #include "fsfw/pus/servicepackets/Service9Packets.h" #include "fsfw/serviceinterface/ServiceInterface.h" @@ -15,9 +17,17 @@ ReturnValue_t Service9TimeManagement::performService() { return returnvalue::OK; ReturnValue_t Service9TimeManagement::handleRequest(uint8_t subservice) { switch (subservice) { - case SUBSERVICE::SET_TIME: { + case Subservice::SET_TIME: { return setTime(); } + case Subservice::DUMP_TIME: { + timeval newTime; + Clock::getClock_timeval(&newTime); + uint32_t subsecondMs = + static_cast(std::floor(static_cast(newTime.tv_usec) / 1000.0)); + triggerEvent(CLOCK_DUMP, newTime.tv_sec, subsecondMs); + return returnvalue::OK; + } default: return AcceptsTelecommandsIF::INVALID_SUBSERVICE; } @@ -33,14 +43,14 @@ ReturnValue_t Service9TimeManagement::setTime() { return result; } - uint32_t formerUptime; - Clock::getUptime(&formerUptime); + timeval time; + Clock::getClock_timeval(&time); result = Clock::setClock(&timeToSet); if (result == returnvalue::OK) { - uint32_t newUptime; - Clock::getUptime(&newUptime); - triggerEvent(CLOCK_SET, newUptime, formerUptime); + timeval newTime; + Clock::getClock_timeval(&newTime); + triggerEvent(CLOCK_SET, time.tv_sec, newTime.tv_sec); return returnvalue::OK; } else { triggerEvent(CLOCK_SET_FAILURE, result, 0); diff --git a/src/fsfw/pus/Service9TimeManagement.h b/src/fsfw/pus/Service9TimeManagement.h index b4886bb0..556f3df3 100644 --- a/src/fsfw/pus/Service9TimeManagement.h +++ b/src/fsfw/pus/Service9TimeManagement.h @@ -6,10 +6,13 @@ class Service9TimeManagement : public PusServiceBase { public: static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_9; - static constexpr Event CLOCK_SET = - MAKE_EVENT(0, severity::INFO); //!< Clock has been set. P1: New Uptime. P2: Old Uptime - static constexpr Event CLOCK_SET_FAILURE = - MAKE_EVENT(1, severity::LOW); //!< Clock could not be set. P1: Returncode. + + //!< Clock has been set. P1: old timeval seconds. P2: new timeval seconds. + static constexpr Event CLOCK_SET = MAKE_EVENT(0, severity::INFO); + //!< Clock dump event. P1: timeval seconds P2: timeval milliseconds. + static constexpr Event CLOCK_DUMP = MAKE_EVENT(1, severity::INFO); + //!< Clock could not be set. P1: Returncode. + static constexpr Event CLOCK_SET_FAILURE = MAKE_EVENT(2, severity::LOW); static constexpr uint8_t CLASS_ID = CLASS_ID::PUS_SERVICE_9; @@ -30,8 +33,9 @@ class Service9TimeManagement : public PusServiceBase { virtual ReturnValue_t setTime(); private: - enum SUBSERVICE { - SET_TIME = 128 //!< [EXPORT] : [COMMAND] Time command in ASCII, CUC or CDS format + enum Subservice { + SET_TIME = 128, //!< [EXPORT] : [COMMAND] Time command in ASCII, CUC or CDS format + DUMP_TIME = 129, }; }; From 1f88c006d99738a5ab124e0db078e08de967fc4d Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 1 Feb 2023 18:42:09 +0100 Subject: [PATCH 28/42] update changelog --- CHANGELOG.md | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 0646cf5e..04969f87 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -12,7 +12,9 @@ and this project adheres to [Semantic Versioning](http://semver.org/). ## Fixes - +- `Service9TimeManagement`: Fix the time dump at the `SET_TIME` subservice: Include clock timeval + seconds instead of uptime. + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/726 - TC Scheduler Service 11: Add size and CRC check for contained TC. - Only delete health table entry in `HealthHelper` destructor if health table was set. From d9d253d3bbca2707dc271783b9b76a1379522c1f Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 1 Feb 2023 19:58:27 +0100 Subject: [PATCH 29/42] small but important bugfix for health service --- src/fsfw/pus/CServiceHealthCommanding.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/fsfw/pus/CServiceHealthCommanding.cpp b/src/fsfw/pus/CServiceHealthCommanding.cpp index 9a2af7bc..57b704fd 100644 --- a/src/fsfw/pus/CServiceHealthCommanding.cpp +++ b/src/fsfw/pus/CServiceHealthCommanding.cpp @@ -121,7 +121,7 @@ ReturnValue_t CServiceHealthCommanding::handleReply(const CommandMessage *reply, void CServiceHealthCommanding::doPeriodicOperation() { if (reportAllHealth) { for (uint8_t i = 0; i < maxNumHealthInfoPerCycle; i++) { - ReturnValue_t result = iterateHealthTable(true); + ReturnValue_t result = iterateHealthTable(false); if (result != returnvalue::OK) { reportAllHealth = false; break; From 2339712373870880e75b57012a7497b714759ee3 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 1 Feb 2023 20:46:48 +0100 Subject: [PATCH 30/42] set sequence flags for PUS TMTC to unsegmented --- src/fsfw/tmtcpacket/pus/tc/PusTcCreator.cpp | 1 + src/fsfw/tmtcpacket/pus/tm/PusTmCreator.cpp | 1 + 2 files changed, 2 insertions(+) diff --git a/src/fsfw/tmtcpacket/pus/tc/PusTcCreator.cpp b/src/fsfw/tmtcpacket/pus/tc/PusTcCreator.cpp index 2c818c7b..82dd1c41 100644 --- a/src/fsfw/tmtcpacket/pus/tc/PusTcCreator.cpp +++ b/src/fsfw/tmtcpacket/pus/tc/PusTcCreator.cpp @@ -100,5 +100,6 @@ ReturnValue_t PusTcCreator::setSerializableUserData(const SerializeIF &serializa void PusTcCreator::setup() { spCreator.setPacketType(ccsds::PacketType::TC); spCreator.setSecHeaderFlag(); + spCreator.setSeqFlags(ccsds::SequenceFlags::UNSEGMENTED); updateSpLengthField(); } diff --git a/src/fsfw/tmtcpacket/pus/tm/PusTmCreator.cpp b/src/fsfw/tmtcpacket/pus/tm/PusTmCreator.cpp index d95a18ea..c9b3290a 100644 --- a/src/fsfw/tmtcpacket/pus/tm/PusTmCreator.cpp +++ b/src/fsfw/tmtcpacket/pus/tm/PusTmCreator.cpp @@ -119,6 +119,7 @@ void PusTmCreator::setup() { updateSpLengthField(); spCreator.setPacketType(ccsds::PacketType::TM); spCreator.setSecHeaderFlag(); + spCreator.setSeqFlags(ccsds::SequenceFlags::UNSEGMENTED); } void PusTmCreator::setMessageTypeCounter(uint16_t messageTypeCounter) { From e93137939eb42c5cdc72b50b22191e38fd99425b Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 1 Feb 2023 20:46:48 +0100 Subject: [PATCH 31/42] set sequence flags for PUS TMTC to unsegmented --- src/fsfw/tmtcpacket/pus/tc/PusTcCreator.cpp | 1 + src/fsfw/tmtcpacket/pus/tm/PusTmCreator.cpp | 1 + 2 files changed, 2 insertions(+) diff --git a/src/fsfw/tmtcpacket/pus/tc/PusTcCreator.cpp b/src/fsfw/tmtcpacket/pus/tc/PusTcCreator.cpp index 2c818c7b..82dd1c41 100644 --- a/src/fsfw/tmtcpacket/pus/tc/PusTcCreator.cpp +++ b/src/fsfw/tmtcpacket/pus/tc/PusTcCreator.cpp @@ -100,5 +100,6 @@ ReturnValue_t PusTcCreator::setSerializableUserData(const SerializeIF &serializa void PusTcCreator::setup() { spCreator.setPacketType(ccsds::PacketType::TC); spCreator.setSecHeaderFlag(); + spCreator.setSeqFlags(ccsds::SequenceFlags::UNSEGMENTED); updateSpLengthField(); } diff --git a/src/fsfw/tmtcpacket/pus/tm/PusTmCreator.cpp b/src/fsfw/tmtcpacket/pus/tm/PusTmCreator.cpp index d95a18ea..c9b3290a 100644 --- a/src/fsfw/tmtcpacket/pus/tm/PusTmCreator.cpp +++ b/src/fsfw/tmtcpacket/pus/tm/PusTmCreator.cpp @@ -119,6 +119,7 @@ void PusTmCreator::setup() { updateSpLengthField(); spCreator.setPacketType(ccsds::PacketType::TM); spCreator.setSecHeaderFlag(); + spCreator.setSeqFlags(ccsds::SequenceFlags::UNSEGMENTED); } void PusTmCreator::setMessageTypeCounter(uint16_t messageTypeCounter) { From 0f811777a7447254da65ceb6077ff73a06cdf545 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 1 Feb 2023 20:49:53 +0100 Subject: [PATCH 32/42] changelog update --- CHANGELOG.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index f738032f..316ebbf5 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -12,6 +12,8 @@ and this project adheres to [Semantic Versioning](http://semver.org/). ## Fixes +- PUS TMTC creator module: Sequence flags were set to continuation segment (0b00) instead + of the correct unsegmented flags (0b11) as specified in the standard. - TC Scheduler Service 11: Add size and CRC check for contained TC. - Only delete health table entry in `HealthHelper` destructor if health table was set. From f2461cd7e9df449e9ea4a842ca820d5002ef6494 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 2 Feb 2023 16:22:29 +0100 Subject: [PATCH 33/42] helper method for commanding mode --- src/fsfw/modes/ModeMessage.cpp | 4 ++++ src/fsfw/modes/ModeMessage.h | 5 +++-- 2 files changed, 7 insertions(+), 2 deletions(-) diff --git a/src/fsfw/modes/ModeMessage.cpp b/src/fsfw/modes/ModeMessage.cpp index efe6d534..0d7eaeea 100644 --- a/src/fsfw/modes/ModeMessage.cpp +++ b/src/fsfw/modes/ModeMessage.cpp @@ -34,3 +34,7 @@ void ModeMessage::setModeAnnounceMessage(CommandMessage& message, bool recursive } message.setCommand(cmd); } + +void ModeMessage::setCmdModeModeMessage(CommandMessage& message, Mode_t mode, Submode_t submode) { + setModeMessage(&message, CMD_MODE_COMMAND, mode, submode); +} diff --git a/src/fsfw/modes/ModeMessage.h b/src/fsfw/modes/ModeMessage.h index 1582ccd4..89203f6e 100644 --- a/src/fsfw/modes/ModeMessage.h +++ b/src/fsfw/modes/ModeMessage.h @@ -38,12 +38,13 @@ class ModeMessage { ModeMessage() = delete; + static void setModeMessage(CommandMessage* message, Command_t command, Mode_t mode, + Submode_t submode); static Mode_t getMode(const CommandMessage* message); static Submode_t getSubmode(const CommandMessage* message); static ReturnValue_t getCantReachModeReason(const CommandMessage* message); - static void setModeMessage(CommandMessage* message, Command_t command, Mode_t mode, - Submode_t submode); + static void setCmdModeModeMessage(CommandMessage& message, Mode_t mode, Submode_t submode); static void setModeAnnounceMessage(CommandMessage& message, bool recursive); static void setCantReachMode(CommandMessage* message, ReturnValue_t reason); static void clear(CommandMessage* message); From d17ec02cf04e8d33359a612abdfdcbfbbc7d5bfb Mon Sep 17 00:00:00 2001 From: meggert Date: Thu, 2 Feb 2023 18:26:08 +0100 Subject: [PATCH 34/42] fixed Z value calculation --- src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp b/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp index aa7c22d4..4becd420 100644 --- a/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp +++ b/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp @@ -325,7 +325,7 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) { // trickery here to calculate the raw values first int32_t fieldStrengthRawX = ((packet[1] << 24) | (packet[2] << 16) | (packet[3] << 8)) >> 8; int32_t fieldStrengthRawY = ((packet[4] << 24) | (packet[5] << 16) | (packet[6] << 8)) >> 8; - int32_t fieldStrengthRawZ = ((packet[7] << 24) | (packet[8] << 16) | (packet[3] << 8)) >> 8; + int32_t fieldStrengthRawZ = ((packet[7] << 24) | (packet[8] << 16) | (packet[9] << 8)) >> 8; // Now scale to physical value in microtesla float fieldStrengthX = fieldStrengthRawX * scaleFactorX; From acfc1cbf219702d646499aa1e9c366f2285f73fe Mon Sep 17 00:00:00 2001 From: meggert Date: Thu, 2 Feb 2023 18:31:40 +0100 Subject: [PATCH 35/42] bump changelog --- CHANGELOG.md | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index b0a0055d..753a267a 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -8,6 +8,11 @@ and this project adheres to [Semantic Versioning](http://semver.org/). # [unreleased] +## Fixes + +- Bugfix for RM3100 MGM sensors. Z value was previously calculated + with bytes of the X value. + # [v6.0.0] ## Fixes From 3250bbf269b3326683222bb87ce7faecae63ad97 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 2 Feb 2023 18:34:24 +0100 Subject: [PATCH 36/42] changelog update --- CHANGELOG.md | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 753a267a..a64d7863 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -8,15 +8,12 @@ and this project adheres to [Semantic Versioning](http://semver.org/). # [unreleased] -## Fixes - -- Bugfix for RM3100 MGM sensors. Z value was previously calculated - with bytes of the X value. - # [v6.0.0] ## Fixes +- Bugfix for RM3100 MGM sensors. Z value was previously calculated + with bytes of the X value. - PUS TMTC creator module: Sequence flags were set to continuation segment (0b00) instead of the correct unsegmented flags (0b11) as specified in the standard. - `Service9TimeManagement`: Fix the time dump at the `SET_TIME` subservice: Include clock timeval From e11eabdbcf42bf1822bb05f2a2392b05a4f6889c Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 3 Feb 2023 15:58:26 +0100 Subject: [PATCH 37/42] bugfix in setNormalDataPoolEntriesInvalid Do not forget to call read and write to actually update the validity state --- src/fsfw/devicehandlers/DeviceHandlerBase.cpp | 7 ++++++- unittests/testcfg/devices/logicalAddresses.h | 2 +- 2 files changed, 7 insertions(+), 2 deletions(-) diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp index d6e39edc..555683c4 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp @@ -1,5 +1,7 @@ #include "DeviceHandlerBase.h" +#include + #include "fsfw/datapoollocal/LocalPoolVariable.h" #include "fsfw/devicehandlers/AcceptsDeviceResponsesIF.h" #include "fsfw/devicehandlers/DeviceTmReportingWrapper.h" @@ -1524,7 +1526,10 @@ DeviceCommandId_t DeviceHandlerBase::getPendingCommand() const { void DeviceHandlerBase::setNormalDatapoolEntriesInvalid() { for (const auto& reply : deviceReplyMap) { if (reply.second.dataSet != nullptr) { - reply.second.dataSet->setValidity(false, true); + PoolReadGuard pg(reply.second.dataSet); + if (pg.getReadResult() == returnvalue::OK) { + reply.second.dataSet->setValidity(false, true); + } } } } diff --git a/unittests/testcfg/devices/logicalAddresses.h b/unittests/testcfg/devices/logicalAddresses.h index 788c124f..a7e34cce 100644 --- a/unittests/testcfg/devices/logicalAddresses.h +++ b/unittests/testcfg/devices/logicalAddresses.h @@ -7,7 +7,7 @@ namespace addresses { /* Logical addresses have uint32_t datatype */ -enum logicalAddresses : address_t {}; +enum LogicAddress : address_t {}; } // namespace addresses #endif /* CONFIG_DEVICES_LOGICALADDRESSES_H_ */ From 5343844be54329763d7d76caf552eaf6adb8a32d Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 3 Feb 2023 15:58:26 +0100 Subject: [PATCH 38/42] bugfix in setNormalDataPoolEntriesInvalid Do not forget to call read and write to actually update the validity state --- src/fsfw/devicehandlers/DeviceHandlerBase.cpp | 7 ++++++- unittests/testcfg/devices/logicalAddresses.h | 2 +- 2 files changed, 7 insertions(+), 2 deletions(-) diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp index 60966501..26c9a1bb 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp @@ -1,5 +1,7 @@ #include "fsfw/devicehandlers/DeviceHandlerBase.h" +#include + #include "fsfw/datapoollocal/LocalPoolVariable.h" #include "fsfw/devicehandlers/AcceptsDeviceResponsesIF.h" #include "fsfw/devicehandlers/DeviceTmReportingWrapper.h" @@ -1508,7 +1510,10 @@ DeviceCommandId_t DeviceHandlerBase::getPendingCommand() const { void DeviceHandlerBase::setNormalDatapoolEntriesInvalid() { for (const auto& reply : deviceReplyMap) { if (reply.second.dataSet != nullptr) { - reply.second.dataSet->setValidity(false, true); + PoolReadGuard pg(reply.second.dataSet); + if (pg.getReadResult() == returnvalue::OK) { + reply.second.dataSet->setValidity(false, true); + } } } } diff --git a/unittests/testcfg/devices/logicalAddresses.h b/unittests/testcfg/devices/logicalAddresses.h index 788c124f..a7e34cce 100644 --- a/unittests/testcfg/devices/logicalAddresses.h +++ b/unittests/testcfg/devices/logicalAddresses.h @@ -7,7 +7,7 @@ namespace addresses { /* Logical addresses have uint32_t datatype */ -enum logicalAddresses : address_t {}; +enum LogicAddress : address_t {}; } // namespace addresses #endif /* CONFIG_DEVICES_LOGICALADDRESSES_H_ */ From 4374c7c4f4fc075e7ec1d4b18b819d36622c64b3 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 3 Feb 2023 16:01:56 +0100 Subject: [PATCH 39/42] changelog --- CHANGELOG.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index 316ebbf5..969af78e 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -12,6 +12,8 @@ and this project adheres to [Semantic Versioning](http://semver.org/). ## Fixes +- DHB `setNormalDatapoolEntriesInvalid`: The default implementation did not set the validity + to false correctly because the `read` and `write` calls were missing. - PUS TMTC creator module: Sequence flags were set to continuation segment (0b00) instead of the correct unsegmented flags (0b11) as specified in the standard. - TC Scheduler Service 11: Add size and CRC check for contained TC. From 034eb34c2e86cb47cedb1d8e773ada9aae3ee8a0 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 3 Feb 2023 16:05:50 +0100 Subject: [PATCH 40/42] small tweak --- src/fsfw/devicehandlers/DeviceHandlerBase.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp index 26c9a1bb..bc528128 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp @@ -1,7 +1,6 @@ #include "fsfw/devicehandlers/DeviceHandlerBase.h" -#include - +#include "fsfw/datapool/PoolReadGuard.h" #include "fsfw/datapoollocal/LocalPoolVariable.h" #include "fsfw/devicehandlers/AcceptsDeviceResponsesIF.h" #include "fsfw/devicehandlers/DeviceTmReportingWrapper.h" From 0a23f2c85a712c01e884b0d5e00cc17db26f21a4 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 7 Feb 2023 12:15:44 +0100 Subject: [PATCH 41/42] correction for printout, add prefix --- src/fsfw/osal/CMakeLists.txt | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/src/fsfw/osal/CMakeLists.txt b/src/fsfw/osal/CMakeLists.txt index a4097649..6ccea974 100644 --- a/src/fsfw/osal/CMakeLists.txt +++ b/src/fsfw/osal/CMakeLists.txt @@ -18,7 +18,10 @@ elseif(FSFW_OSAL MATCHES "host") endif() set(FSFW_OSAL_HOST 1) else() - message(WARNING "The OS_FSFW variable was not set. Assuming host OS..") + message( + WARNING + "${MSG_PREFIX} The FSFW_OSAL variable was not set. Assuming host OS..") + # Not set. Assumuing this is a host build, try to determine host OS if(WIN32) add_subdirectory(host) From 539d7aac9ebbe0ed68db7a338e4e18360de7299f Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 7 Feb 2023 12:17:03 +0100 Subject: [PATCH 42/42] suppress error if ETL is not found --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 8308f523..9025537a 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -196,7 +196,7 @@ message( ) # Check whether the user has already installed ETL first -find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET) +find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} CONFIG QUIET) # Not installed, so use FetchContent to download and provide etl if(NOT ${FSFW_ETL_LIB_NAME}_FOUND) message(