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Merge pull request 'Merge v2.0.1 into development' (#503) from master into development

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Reviewed-on: fsfw/fsfw#503
This commit is contained in:
Ulrich Mohr 2021-10-11 18:19:46 +02:00
commit f8e9042943
16 changed files with 392 additions and 306 deletions
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3
src/fsfw/tmtcpacket/SpacePacket.h
View File

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

36
src/fsfw/tmtcpacket/SpacePacketBase.cpp
View File

@ -3,8 +3,8 @@
#include <cstring>
SpacePacketBase::SpacePacketBase( const uint8_t* set_address ) {
this->data = (SpacePacketPointer*) set_address;
SpacePacketBase::SpacePacketBase(const uint8_t* setAddress) {
this->data = reinterpret_cast<SpacePacketPointer*>(const_cast<uint8_t*>(setAddress));
}
SpacePacketBase::~SpacePacketBase() {
@ -15,10 +15,21 @@ uint8_t SpacePacketBase::getPacketVersionNumber( void ) {
return (this->data->header.packet_id_h & 0b11100000) >> 5;
}
void SpacePacketBase::initSpacePacketHeader(bool isTelecommand,
ReturnValue_t SpacePacketBase::initSpacePacketHeader(bool isTelecommand,
bool hasSecondaryHeader, uint16_t apid, uint16_t sequenceCount) {
if(data == nullptr) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SpacePacketBase::initSpacePacketHeader: Data pointer is invalid"
<< std::endl;
#else
sif::printWarning("SpacePacketBase::initSpacePacketHeader: Data pointer is invalid!\n");
#endif
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
//reset header to zero:
memset(data,0, sizeof(this->data->header) );
memset(data, 0, sizeof(this->data->header) );
//Set TC/TM bit.
data->header.packet_id_h = ((isTelecommand? 1 : 0)) << 4;
//Set secondaryHeader bit
@ -27,7 +38,7 @@ void SpacePacketBase::initSpacePacketHeader(bool isTelecommand,
//Always initialize as standalone packets.
data->header.sequence_control_h = 0b11000000;
setPacketSequenceCount(sequenceCount);
return HasReturnvaluesIF::RETURN_OK;
}
bool SpacePacketBase::isTelecommand( void ) {
@ -49,11 +60,17 @@ uint16_t SpacePacketBase::getAPID( void ) const {
}
void SpacePacketBase::setAPID( uint16_t new_apid ) {
//Use first three bits of new APID, but keep rest of packet id as it was (see specification).
this->data->header.packet_id_h = (this->data->header.packet_id_h & 0b11111000) | ( ( new_apid & 0x0700 ) >> 8 );
// Use first three bits of new APID, but keep rest of packet id as it was (see specification).
this->data->header.packet_id_h = (this->data->header.packet_id_h & 0b11111000) |
( ( new_apid & 0x0700 ) >> 8 );
this->data->header.packet_id_l = ( new_apid & 0x00FF );
}
void SpacePacketBase::setSequenceFlags( uint8_t sequenceflags ) {
this->data->header.sequence_control_h &= 0x3F;
this->data->header.sequence_control_h |= sequenceflags << 6;
}
uint16_t SpacePacketBase::getPacketSequenceControl( void ) {
return ( (this->data->header.sequence_control_h) << 8 )
+ this->data->header.sequence_control_l;
@ -69,7 +86,8 @@ uint16_t SpacePacketBase::getPacketSequenceCount( void ) const {
}
void SpacePacketBase::setPacketSequenceCount( uint16_t new_count) {
this->data->header.sequence_control_h = ( this->data->header.sequence_control_h & 0b11000000 ) | ( ( (new_count%LIMIT_SEQUENCE_COUNT) & 0x3F00 ) >> 8 );
this->data->header.sequence_control_h = ( this->data->header.sequence_control_h & 0b11000000 ) |
( ( (new_count%LIMIT_SEQUENCE_COUNT) & 0x3F00 ) >> 8 );
this->data->header.sequence_control_l = ( (new_count%LIMIT_SEQUENCE_COUNT) & 0x00FF );
}
@ -84,7 +102,7 @@ void SpacePacketBase::setPacketDataLength( uint16_t new_length) {
}
size_t SpacePacketBase::getFullSize() {
//+1 is done because size in packet data length field is: size of data field -1
// +1 is done because size in packet data length field is: size of data field -1
return this->getPacketDataLength() + sizeof(this->data->header) + 1;
}

16
src/fsfw/tmtcpacket/SpacePacketBase.h
View File

@ -2,6 +2,8 @@
#define FSFW_TMTCPACKET_SPACEPACKETBASE_H_
#include "ccsds_header.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include <cstddef>
/**
@ -68,7 +70,8 @@ public:
*/
virtual ~SpacePacketBase();
//CCSDS Methods:
//CCSDS Methods
/**
* Getter for the packet version number field.
* @return Returns the highest three bit of the packet in one byte.
@ -82,7 +85,7 @@ public:
*/
bool isTelecommand( void );
void initSpacePacketHeader(bool isTelecommand, bool hasSecondaryHeader,
ReturnValue_t initSpacePacketHeader(bool isTelecommand, bool hasSecondaryHeader,
uint16_t apid, uint16_t sequenceCount = 0);
/**
* The CCSDS header provides a secondary header flag (the fifth-highest bit),
@ -109,6 +112,13 @@ public:
* ignored.
*/
void setAPID( uint16_t setAPID );
/**
* Sets the sequence flags of a packet, which are bit 17 and 18 in the space packet header.
* @param The sequence flags to set
*/
void setSequenceFlags( uint8_t sequenceflags );
/**
* Returns the CCSDS packet sequence control field, which are the third and
* the fourth byte of the CCSDS primary header.
@ -153,7 +163,7 @@ public:
*/
void setPacketDataLength( uint16_t setLength );
//Helper methods:
// Helper methods
/**
* This method returns a raw uint8_t pointer to the packet.
* @return A \c uint8_t pointer to the first byte of the CCSDS primary header.

16
src/fsfw/tmtcpacket/pus/definitions.h Normal file
View File

@ -0,0 +1,16 @@
#ifndef FSFW_SRC_FSFW_TMTCPACKET_PUS_TM_DEFINITIONS_H_
#define FSFW_SRC_FSFW_TMTCPACKET_PUS_TM_DEFINITIONS_H_
#include <cstdint>
namespace pus {
//! Version numbers according to ECSS-E-ST-70-41C p.439
enum PusVersion: uint8_t {
PUS_A_VERSION = 1,
PUS_C_VERSION = 2
};
}
#endif /* FSFW_SRC_FSFW_TMTCPACKET_PUS_TM_DEFINITIONS_H_ */

11
src/fsfw/tmtcpacket/pus/tc/TcPacketPus.cpp
View File

@ -1,4 +1,4 @@
#include "fsfw/tmtcpacket/pus/tc/TcPacketPus.h"
#include "TcPacketPus.h"
#include "fsfw/globalfunctions/CRC.h"
#include <cstring>
@ -8,14 +8,13 @@ TcPacketPus::TcPacketPus(const uint8_t *setData): TcPacketBase(setData) {
}
void TcPacketPus::initializeTcPacket(uint16_t apid, uint16_t sequenceCount,
uint8_t ack, uint8_t service, uint8_t subservice, uint16_t sourceId) {
uint8_t ack, uint8_t service, uint8_t subservice, pus::PusVersion pusVersion,
uint16_t sourceId) {
initSpacePacketHeader(true, true, apid, sequenceCount);
std::memset(&tcData->dataField, 0, sizeof(tcData->dataField));
setPacketDataLength(sizeof(PUSTcDataFieldHeader) + CRC_SIZE - 1);
// Data Field Header:
// Set CCSDS_secondary_header_flag to 0 and version number to 001
tcData->dataField.versionTypeAck = 0b00010000;
tcData->dataField.versionTypeAck |= (ack & 0x0F);
// Data Field Header. For PUS A, the first bit (CCSDS Secondary Header Flag) is zero
tcData->dataField.versionTypeAck = pusVersion << 4 | (ack & 0x0F);
tcData->dataField.serviceType = service;
tcData->dataField.serviceSubtype = subservice;
#if FSFW_USE_PUS_C_TELECOMMANDS == 1

4
src/fsfw/tmtcpacket/pus/tc/TcPacketPus.h
View File

@ -2,6 +2,7 @@
#define FSFW_TMTCPACKET_PUS_TCPACKETPUSA_H_
#include "fsfw/FSFW.h"
#include "../definitions.h"
#include "fsfw/tmtcpacket/ccsds_header.h"
#include "TcPacketBase.h"
@ -75,7 +76,8 @@ protected:
* @param subservice PUS Subservice
*/
void initializeTcPacket(uint16_t apid, uint16_t sequenceCount, uint8_t ack,
uint8_t service, uint8_t subservice, uint16_t sourceId = 0);
uint8_t service, uint8_t subservice, pus::PusVersion pusVersion,
uint16_t sourceId = 0);
/**
* A pointer to a structure which defines the data structure of

7
src/fsfw/tmtcpacket/pus/tc/TcPacketStoredPus.cpp
View File

@ -23,7 +23,12 @@ TcPacketStoredPus::TcPacketStoredPus(uint16_t apid, uint8_t service,
return;
}
this->setData(pData);
initializeTcPacket(apid, sequenceCount, ack, service, subservice);
#if FSFW_USE_PUS_C_TELECOMMANDS == 1
pus::PusVersion pusVersion = pus::PusVersion::PUS_C_VERSION;
#else
pus::PusVersion pusVersion = pus::PusVersion::PUS_A_VERSION;
#endif
initializeTcPacket(apid, sequenceCount, ack, service, subservice, pusVersion);
std::memcpy(&tcData->appData, data, size);
this->setPacketDataLength(
size + sizeof(PUSTcDataFieldHeader) + CRC_SIZE - 1);

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

@ -31,8 +31,6 @@ public:
//! Maximum size of a TM Packet in this mission.
//! TODO: Make this dependant on a config variable.
static const uint32_t MISSION_TM_PACKET_MAX_SIZE = 2048;
//! First four bits of first byte of secondary header
static const uint8_t VERSION_NUMBER_BYTE = 0b00010000;
/**
* This is the default constructor.

12
src/fsfw/tmtcpacket/pus/tm/TmPacketPusA.cpp
View File

@ -1,5 +1,6 @@
#include "fsfw/tmtcpacket/pus/tm/TmPacketPusA.h"
#include "fsfw/tmtcpacket/pus/tm/TmPacketBase.h"
#include "../definitions.h"
#include "TmPacketPusA.h"
#include "TmPacketBase.h"
#include "fsfw/globalfunctions/CRC.h"
#include "fsfw/globalfunctions/arrayprinter.h"
@ -62,12 +63,7 @@ void TmPacketPusA::initializeTmPacket(uint16_t apid, uint8_t service,
//First, set to zero.
memset(&tmData->data_field, 0, sizeof(tmData->data_field));
// NOTE: In PUS-C, the PUS Version is 2 and specified for the first 4 bits.
// The other 4 bits of the first byte are the spacecraft time reference
// status. To change to PUS-C, set 0b00100000.
// Set CCSDS_secondary header flag to 0, version number to 001 and ack
// to 0000
tmData->data_field.version_type_ack = 0b00010000;
tmData->data_field.version_type_ack = pus::PusVersion::PUS_A_VERSION << 4;
tmData->data_field.service_type = service;
tmData->data_field.service_subtype = subservice;
tmData->data_field.subcounter = packetSubcounter;

16
src/fsfw/tmtcpacket/pus/tm/TmPacketPusC.cpp
View File

@ -1,5 +1,6 @@
#include "fsfw/tmtcpacket/pus/tm/TmPacketPusC.h"
#include "fsfw/tmtcpacket/pus/tm/TmPacketBase.h"
#include "../definitions.h"
#include "TmPacketPusC.h"
#include "TmPacketBase.h"
#include "fsfw/globalfunctions/CRC.h"
#include "fsfw/globalfunctions/arrayprinter.h"
@ -53,18 +54,22 @@ uint8_t* TmPacketPusC::getPacketTimeRaw() const{
}
void TmPacketPusC::initializeTmPacket(uint16_t apid, uint8_t service,
ReturnValue_t TmPacketPusC::initializeTmPacket(uint16_t apid, uint8_t service,
uint8_t subservice, uint16_t packetSubcounter, uint16_t destinationId,
uint8_t timeRefField) {
//Set primary header:
initSpacePacketHeader(false, true, apid);
ReturnValue_t result = initSpacePacketHeader(false, true, apid);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
//Set data Field Header:
//First, set to zero.
memset(&tmData->dataField, 0, sizeof(tmData->dataField));
/* Only account for last 4 bytes for time reference field */
timeRefField &= 0b1111;
tmData->dataField.versionTimeReferenceField = VERSION_NUMBER_BYTE | timeRefField;
tmData->dataField.versionTimeReferenceField =
(pus::PusVersion::PUS_C_VERSION << 4) | timeRefField;
tmData->dataField.serviceType = service;
tmData->dataField.serviceSubtype = subservice;
tmData->dataField.subcounterMsb = packetSubcounter << 8 & 0xff;
@ -76,6 +81,7 @@ void TmPacketPusC::initializeTmPacket(uint16_t apid, uint8_t service,
timeStamper->addTimeStamp(tmData->dataField.time,
sizeof(tmData->dataField.time));
}
return HasReturnvaluesIF::RETURN_OK;
}
void TmPacketPusC::setSourceDataSize(uint16_t size) {

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

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

32
src/fsfw/tmtcpacket/pus/tm/TmPacketStoredBase.cpp
View File

@ -91,4 +91,34 @@ void TmPacketStoredBase::checkAndReportLostTm() {
}
}
void TmPacketStoredBase::handleStoreFailure(const char *const packetType, ReturnValue_t result,
size_t sizeToReserve) {
checkAndReportLostTm();
#if FSFW_VERBOSE_LEVEL >= 1
switch(result) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
case(StorageManagerIF::DATA_STORAGE_FULL): {
sif::warning << "TmPacketStoredPus" << packetType << ": " <<
"Store full for packet with size" << sizeToReserve << std::endl;
break;
}
case(StorageManagerIF::DATA_TOO_LARGE): {
sif::warning << "TmPacketStoredPus" << packetType << ": Data with size " <<
sizeToReserve << " too large" << std::endl;
break;
}
#else
case(StorageManagerIF::DATA_STORAGE_FULL): {
sif::printWarning("TmPacketStoredPus%s: Store full for packet with "
"size %d\n", packetType, sizeToReserve);
break;
}
case(StorageManagerIF::DATA_TOO_LARGE): {
sif::printWarning("TmPacketStoredPus%s: Data with size "
"%d too large\n", packetType, sizeToReserve);
break;
}
#endif
#endif
}
}

3
src/fsfw/tmtcpacket/pus/tm/TmPacketStoredBase.h
View File

@ -82,6 +82,9 @@ protected:
bool checkAndSetStore();
void checkAndReportLostTm();
void handleStoreFailure(const char* const packetType, ReturnValue_t result,
size_t sizeToReserve);
};

33
src/fsfw/tmtcpacket/pus/tm/TmPacketStoredPusA.cpp
View File

@ -5,32 +5,32 @@
#include <cstring>
TmPacketStoredPusA::TmPacketStoredPusA(store_address_t setAddress) :
TmPacketStoredPusA::TmPacketStoredPusA(store_address_t setAddress):
TmPacketStoredBase(setAddress), TmPacketPusA(nullptr){
}
TmPacketStoredPusA::TmPacketStoredPusA(uint16_t apid, uint8_t service,
uint8_t subservice, uint8_t packetSubcounter, const uint8_t *data,
uint32_t size, const uint8_t *headerData, uint32_t headerSize) :
uint32_t size, const uint8_t *headerData, uint32_t headerSize):
TmPacketPusA(nullptr) {
storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
if (not TmPacketStoredBase::checkAndSetStore()) {
return;
}
uint8_t *pData = nullptr;
size_t sizeToReserve = getPacketMinimumSize() + size + headerSize;
ReturnValue_t returnValue = store->getFreeElement(&storeAddress,
(getPacketMinimumSize() + size + headerSize), &pData);
sizeToReserve, &pData);
if (returnValue != store->RETURN_OK) {
TmPacketStoredBase::checkAndReportLostTm();
handleStoreFailure("A", returnValue, sizeToReserve);
return;
}
setData(pData);
initializeTmPacket(apid, service, subservice, packetSubcounter);
memcpy(getSourceData(), headerData, headerSize);
memcpy(getSourceData() + headerSize, data, size);
setPacketDataLength(
size + headerSize + sizeof(PUSTmDataFieldHeaderPusA) + CRC_SIZE - 1);
setPacketDataLength(size + headerSize + sizeof(PUSTmDataFieldHeaderPusA) + CRC_SIZE - 1);
}
TmPacketStoredPusA::TmPacketStoredPusA(uint16_t apid, uint8_t service,
@ -42,32 +42,33 @@ TmPacketStoredPusA::TmPacketStoredPusA(uint16_t apid, uint8_t service,
return;
}
size_t sourceDataSize = 0;
if (content != NULL) {
if (content != nullptr) {
sourceDataSize += content->getSerializedSize();
}
if (header != NULL) {
if (header != nullptr) {
sourceDataSize += header->getSerializedSize();
}
uint8_t *p_data = NULL;
uint8_t *pData = nullptr;
size_t sizeToReserve = getPacketMinimumSize() + sourceDataSize;
ReturnValue_t returnValue = store->getFreeElement(&storeAddress,
(getPacketMinimumSize() + sourceDataSize), &p_data);
sizeToReserve, &pData);
if (returnValue != store->RETURN_OK) {
TmPacketStoredBase::checkAndReportLostTm();
handleStoreFailure("A", returnValue, sizeToReserve);
return;
}
setData(p_data);
setData(pData);
initializeTmPacket(apid, service, subservice, packetSubcounter);
uint8_t *putDataHere = getSourceData();
size_t size = 0;
if (header != NULL) {
if (header != nullptr) {
header->serialize(&putDataHere, &size, sourceDataSize,
SerializeIF::Endianness::BIG);
}
if (content != NULL) {
if (content != nullptr) {
content->serialize(&putDataHere, &size, sourceDataSize,
SerializeIF::Endianness::BIG);
}
setPacketDataLength(
sourceDataSize + sizeof(PUSTmDataFieldHeaderPusA) + CRC_SIZE - 1);
setPacketDataLength(sourceDataSize + sizeof(PUSTmDataFieldHeaderPusA) + CRC_SIZE - 1);
}
uint8_t* TmPacketStoredPusA::getAllTmData() {

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

@ -15,7 +15,7 @@
* packets in a store with the help of a storeAddress.
* @ingroup tmtcpackets
*/
class TmPacketStoredPusA :
class TmPacketStoredPusA:
public TmPacketStoredBase,
public TmPacketPusA {
public:

27
src/fsfw/tmtcpacket/pus/tm/TmPacketStoredPusC.cpp
View File

@ -19,19 +19,19 @@ TmPacketStoredPusC::TmPacketStoredPusC(uint16_t apid, uint8_t service,
return;
}
uint8_t *pData = nullptr;
size_t sizeToReserve = getPacketMinimumSize() + size + headerSize;
ReturnValue_t returnValue = store->getFreeElement(&storeAddress,
(getPacketMinimumSize() + size + headerSize), &pData);
sizeToReserve, &pData);
if (returnValue != store->RETURN_OK) {
TmPacketStoredBase::checkAndReportLostTm();
handleStoreFailure("C", returnValue, sizeToReserve);
return;
}
setData(pData);
initializeTmPacket(apid, service, subservice, packetSubcounter, destinationId, timeRefField);
memcpy(getSourceData(), headerData, headerSize);
memcpy(getSourceData() + headerSize, data, size);
setPacketDataLength(
size + headerSize + sizeof(PUSTmDataFieldHeaderPusC) + CRC_SIZE - 1);
setPacketDataLength(size + headerSize + sizeof(PUSTmDataFieldHeaderPusC) + CRC_SIZE - 1);
}
TmPacketStoredPusC::TmPacketStoredPusC(uint16_t apid, uint8_t service,
@ -43,27 +43,28 @@ TmPacketStoredPusC::TmPacketStoredPusC(uint16_t apid, uint8_t service,
return;
}
size_t sourceDataSize = 0;
if (content != NULL) {
if (content != nullptr) {
sourceDataSize += content->getSerializedSize();
}
if (header != NULL) {
if (header != nullptr) {
sourceDataSize += header->getSerializedSize();
}
uint8_t *p_data = NULL;
ReturnValue_t returnValue = store->getFreeElement(&storeAddress,
(getPacketMinimumSize() + sourceDataSize), &p_data);
uint8_t *pData = nullptr;
size_t sizeToReserve = getPacketMinimumSize() + sourceDataSize;
ReturnValue_t returnValue = store->getFreeElement(&storeAddress, sizeToReserve, &pData);
if (returnValue != store->RETURN_OK) {
TmPacketStoredBase::checkAndReportLostTm();
handleStoreFailure("C", returnValue, sizeToReserve);
return;
}
setData(p_data);
setData(pData);
initializeTmPacket(apid, service, subservice, packetSubcounter, destinationId, timeRefField);
uint8_t *putDataHere = getSourceData();
size_t size = 0;
if (header != NULL) {
if (header != nullptr) {
header->serialize(&putDataHere, &size, sourceDataSize,
SerializeIF::Endianness::BIG);
}
if (content != NULL) {
if (content != nullptr) {
content->serialize(&putDataHere, &size, sourceDataSize,
SerializeIF::Endianness::BIG);
}