Merge branch 'develop' into develop_update

Reviewed-on: #159
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>

.idea/cmake.xml

@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="CMakeSharedSettings">
+    <configurations>
+      <configuration PROFILE_NAME="Debug Test" ENABLED="true" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DFSFW_BUILD_TESTS=ON -DFSFW_OSAL=host" />
+    </configurations>
+  </component>
+</project>

CHANGELOG.md

@@ -8,14 +8,38 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 # [unreleased]
 
-## Fixed
+## Fixes
 
+- The `PusTmCreator` API only accepted 255 bytes of source data. It can now accept source
+  data with a size limited only by the size of `size_t`.
 - Important bugfix in CFDP PDU header format: The entity length field and the transaction sequence
   number fields stored the actual length of the field instead of the length minus 1 like specified
   in the CFDP standard.
+- PUS Health Service: Size check for set health command.
+  Perform operation completion for announce health command.
+  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/746
+- Linux OSAL `getUptime` fix: Check validity of `/proc/uptime` file before reading uptime.
+  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/745
+- Small tweak for version getter
+  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/744
+
+## Added
+
+- add CFDP subsystem ID
+  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/742
+- `PusTmZcWriter` now exposes API to set message counter field.
 
 ## Changed
 
+- HK generation is now countdown based.
+- Bump ETL version to 20.35.14
+  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/748
+- Renamed `PCDU_2` subsystem ID to `POWER_SWITCH_IF`.
+  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/743
+- Add new `PowerSwitchIF::SWITCH_UNKNOWN` returnvalue.
+  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/743
+- Assert that `FixedArrayList` is larger than 0 at compile time.
+  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/740
 - Health functions are virtual now.
 
 # [v6.0.0] 2023-02-10

CMakeLists.txt

@@ -72,7 +72,7 @@ set(FSFW_ETL_LIB_MAJOR_VERSION
     20
     CACHE STRING "ETL library major version requirement")
 set(FSFW_ETL_LIB_VERSION
-    ${FSFW_ETL_LIB_MAJOR_VERSION}.28.0
+    ${FSFW_ETL_LIB_MAJOR_VERSION}.35.14
     CACHE STRING "ETL library exact version requirement")
 set(FSFW_ETL_LINK_TARGET etl::etl)
 

src/fsfw/coordinates/Sgp4Propagator.cpp

@@ -166,9 +166,9 @@ ReturnValue_t Sgp4Propagator::propagate(double* position, double* velocity, time
   timeval timeSinceEpoch = time - epoch;
   double minutesSinceEpoch = timeSinceEpoch.tv_sec / 60. + timeSinceEpoch.tv_usec / 60000000.;
 
-  double yearsSinceEpoch = minutesSinceEpoch / 60 / 24 / 365;
+  double monthsSinceEpoch = minutesSinceEpoch / 60 / 24 / 30;
 
-  if ((yearsSinceEpoch > 1) || (yearsSinceEpoch < -1)) {
+  if ((monthsSinceEpoch > 1) || (monthsSinceEpoch < -1)) {
     return TLE_TOO_OLD;
   }
 

src/fsfw/globalfunctions/math/VectorOperations.h

@@ -53,8 +53,9 @@ class VectorOperations {
     mulScalar(vector, 1 / norm(vector, size), normalizedVector, size);
   }
 
-  static T maxAbsValue(const T *vector, uint8_t size, uint8_t *index = 0) {
+  static T maxAbsValue(const T *vector, uint8_t size, uint8_t *index = nullptr) {
-    T max = -1;
+    T max = vector[size - 1];
+    uint8_t foundIndex = size - 1;
 
     for (; size > 0; size--) {
       T abs = vector[size - 1];
@@ -64,24 +65,35 @@ class VectorOperations {
       if (abs > max) {
         max = abs;
         if (index != 0) {
-          *index = size - 1;
+          foundIndex = size - 1;
         }
       }
     }
+
+    if (index != nullptr) {
+      *index = foundIndex;
+    }
+
     return max;
   }
 
-  static T maxValue(const T *vector, uint8_t size, uint8_t *index = 0) {
+  static T maxValue(const T *vector, uint8_t size, uint8_t *index = nullptr) {
-    T max = -1;
+    T max = vector[size - 1];
+    uint8_t foundIndex = size - 1;
 
     for (; size > 0; size--) {
       if (vector[size - 1] > max) {
         max = vector[size - 1];
         if (index != 0) {
-          *index = size - 1;
+          foundIndex = size - 1;
         }
       }
     }
+
+    if (index != nullptr) {
+      *index = foundIndex;
+    }
+
     return max;
   }
 

src/fsfw/housekeeping/PeriodicHousekeepingHelper.cpp

@@ -3,6 +3,7 @@
 #include <cmath>
 
 #include "fsfw/datapoollocal/LocalPoolDataSetBase.h"
+#include "fsfw/serviceinterface.h"
 
 PeriodicHousekeepingHelper::PeriodicHousekeepingHelper(LocalPoolDataSetBase* owner)
     : owner(owner) {}
@@ -10,51 +11,29 @@ PeriodicHousekeepingHelper::PeriodicHousekeepingHelper(LocalPoolDataSetBase* own
 void PeriodicHousekeepingHelper::initialize(float collectionInterval,
                                             dur_millis_t minimumPeriodicInterval) {
   this->minimumPeriodicInterval = minimumPeriodicInterval;
-  collectionIntervalTicks = intervalSecondsToIntervalTicks(collectionInterval);
+  changeCollectionInterval(collectionInterval);
-  /* This will cause a checkOpNecessary call to be true immediately. I think it's okay
-      if a HK packet is generated immediately instead of waiting one generation cycle. */
-  internalTickCounter = collectionIntervalTicks;
 }
 
 float PeriodicHousekeepingHelper::getCollectionIntervalInSeconds() const {
-  return intervalTicksToSeconds(collectionIntervalTicks);
+  return collectionInterval;
 }
 
 bool PeriodicHousekeepingHelper::checkOpNecessary() {
-  if (internalTickCounter >= collectionIntervalTicks) {
+  if (hkGenerationCd.hasTimedOut()) {
-    internalTickCounter = 1;
+    hkGenerationCd.resetTimer();
     return true;
   }
-  internalTickCounter++;
   return false;
 }
 
-uint32_t PeriodicHousekeepingHelper::intervalSecondsToIntervalTicks(
-    float collectionIntervalSeconds) {
-  if (owner == nullptr) {
-    return 0;
-  }
-
-  /* Avoid division by zero */
-  if (minimumPeriodicInterval == 0) {
-    /* Perform operation each cycle */
-    return 1;
-
-  } else {
-    dur_millis_t intervalInMs = collectionIntervalSeconds * 1000;
-    uint32_t divisor = minimumPeriodicInterval;
-    uint32_t ticks = std::ceil(static_cast<float>(intervalInMs) / divisor);
-
-    return ticks;
-  }
-}
-
-float PeriodicHousekeepingHelper::intervalTicksToSeconds(uint32_t collectionInterval) const {
-  /* Number of ticks times the minimum interval is in milliseconds, so we divide by 1000 to get
-  the value in seconds */
-  return static_cast<float>(collectionInterval * minimumPeriodicInterval / 1000.0);
-}
-
 void PeriodicHousekeepingHelper::changeCollectionInterval(float newIntervalSeconds) {
-  collectionIntervalTicks = intervalSecondsToIntervalTicks(newIntervalSeconds);
+  uint32_t intervalMs = newIntervalSeconds * 1000;
+  if (newIntervalSeconds <= 0) {
+    intervalMs = minimumPeriodicInterval;
+    newIntervalSeconds = static_cast<float>(minimumPeriodicInterval) / 1000.0;
+  }
+  collectionInterval = newIntervalSeconds;
+  hkGenerationCd.setTimeout(intervalMs);
+  // We want an immediate HK packet at the start, so time out the generation CD immediately.
+  hkGenerationCd.timeOut();
 }

src/fsfw/housekeeping/PeriodicHousekeepingHelper.h

@@ -4,6 +4,7 @@
 #include <cstdint>
 
 #include "fsfw/timemanager/Clock.h"
+#include "fsfw/timemanager/Countdown.h"
 
 class LocalPoolDataSetBase;
 
@@ -19,13 +20,10 @@ class PeriodicHousekeepingHelper {
 
  private:
   LocalPoolDataSetBase* owner = nullptr;
-
+  Countdown hkGenerationCd;
-  uint32_t intervalSecondsToIntervalTicks(float collectionIntervalSeconds);
+  float collectionInterval = 0.0;
-  float intervalTicksToSeconds(uint32_t collectionInterval) const;
 
   dur_millis_t minimumPeriodicInterval = 0;
-  uint32_t internalTickCounter = 1;
-  uint32_t collectionIntervalTicks = 0;
 };
 
 #endif /* FSFW_HOUSEKEEPING_PERIODICHOUSEKEEPINGHELPER_H_ */

src/fsfw/internalerror/InternalErrorReporter.cpp

@@ -5,9 +5,12 @@
 #include "fsfw/ipc/QueueFactory.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth)
+InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth,
+                                             bool enableSetByDefault, float generationFrequency)
     : SystemObject(setObjectId),
       poolManager(this, commandQueue),
+      enableSetByDefault(enableSetByDefault),
+      generationFrequency(generationFrequency),
       internalErrorSid(setObjectId, InternalErrorDataset::ERROR_SET_ID),
       internalErrorDataset(this) {
   commandQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
@@ -134,9 +137,8 @@ ReturnValue_t InternalErrorReporter::initializeLocalDataPool(localpool::DataPool
   localDataPoolMap.emplace(errorPoolIds::TM_HITS, &tmHitsEntry);
   localDataPoolMap.emplace(errorPoolIds::QUEUE_HITS, &queueHitsEntry);
   localDataPoolMap.emplace(errorPoolIds::STORE_HITS, &storeHitsEntry);
-  poolManager.subscribeForDiagPeriodicPacket(subdp::DiagnosticsHkPeriodicParams(
+  poolManager.subscribeForRegularPeriodicPacket(
-      internalErrorSid, false,
+      subdp::RegularHkPeriodicParams(internalErrorSid, enableSetByDefault, generationFrequency));
-      static_cast<float>(getPeriodicOperationFrequency()) / static_cast<float>(1000.0)));
   internalErrorDataset.setValidity(true, true);
   return returnvalue::OK;
 }

src/fsfw/internalerror/InternalErrorReporter.h

@@ -21,7 +21,8 @@ class InternalErrorReporter : public SystemObject,
                               public InternalErrorReporterIF,
                               public HasLocalDataPoolIF {
  public:
-  InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth = 5);
+  InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth,
+                        bool enableSetByDefault, float generationFrequency);
 
   /**
    * Enable diagnostic printout. Please note that this feature will
@@ -63,6 +64,8 @@ class InternalErrorReporter : public SystemObject,
   MutexIF* mutex = nullptr;
   MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
   uint32_t timeoutMs = 20;
+  bool enableSetByDefault;
+  float generationFrequency;
 
   sid_t internalErrorSid;
   InternalErrorDataset internalErrorDataset;

src/fsfw/osal/linux/Clock.cpp

@@ -89,8 +89,6 @@ timeval Clock::getUptime() {
 }
 
 ReturnValue_t Clock::getUptime(timeval* uptime) {
-  // TODO This is not posix compatible and delivers only seconds precision
-  //  Linux specific file read but more precise.
   double uptimeSeconds;
   std::ifstream ifile("/proc/uptime");
   if (ifile.bad()) {

src/fsfw/pus/Service3Housekeeping.cpp

@@ -5,8 +5,8 @@
 #include "fsfw/pus/servicepackets/Service3Packets.h"
 
 Service3Housekeeping::Service3Housekeeping(object_id_t objectId, uint16_t apid, uint8_t serviceId,
-                                           uint32_t queueDepth)
+                                           uint32_t queueDepth, uint8_t numParallelCommands)
-    : CommandingServiceBase(objectId, apid, "PUS 3 HK", serviceId, NUM_OF_PARALLEL_COMMANDS,
+    : CommandingServiceBase(objectId, apid, "PUS 3 HK", serviceId, numParallelCommands,
                             COMMAND_TIMEOUT_SECONDS, queueDepth) {}
 
 Service3Housekeeping::~Service3Housekeeping() {}

src/fsfw/pus/Service3Housekeeping.h

@@ -28,7 +28,8 @@ class Service3Housekeeping : public CommandingServiceBase, public AcceptsHkPacke
   static constexpr uint8_t NUM_OF_PARALLEL_COMMANDS = 4;
   static constexpr uint16_t COMMAND_TIMEOUT_SECONDS = 60;
 
-  Service3Housekeeping(object_id_t objectId, uint16_t apid, uint8_t serviceId, uint32_t queueDepth);
+  Service3Housekeeping(object_id_t objectId, uint16_t apid, uint8_t serviceId, uint32_t queueDepth,
+                       uint8_t numParallelCommands);
   virtual ~Service3Housekeeping();
 
  protected:

src/fsfw/pus/Service8FunctionManagement.cpp

@@ -9,11 +9,11 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
 Service8FunctionManagement::Service8FunctionManagement(object_id_t objectId, uint16_t apid,
-                                                       uint8_t serviceId,
+                                                       uint8_t serviceId, size_t queueDepth,
                                                        uint8_t numParallelCommands,
                                                        uint16_t commandTimeoutSeconds)
     : CommandingServiceBase(objectId, apid, "PUS 8 Functional Commanding", serviceId,
-                            numParallelCommands, commandTimeoutSeconds) {}
+                            numParallelCommands, commandTimeoutSeconds, queueDepth) {}
 
 Service8FunctionManagement::~Service8FunctionManagement() {}
 

src/fsfw/pus/Service8FunctionManagement.h

@@ -31,7 +31,8 @@
 class Service8FunctionManagement : public CommandingServiceBase {
  public:
   Service8FunctionManagement(object_id_t objectId, uint16_t apid, uint8_t serviceId,
-                             uint8_t numParallelCommands = 4, uint16_t commandTimeoutSeconds = 60);
+                             size_t queueDepth, uint8_t numParallelCommands = 4,
+                             uint16_t commandTimeoutSeconds = 60);
   ~Service8FunctionManagement() override;
 
  protected:

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

@@ -40,7 +40,7 @@ struct PusTmParams {
               size_t dataLen)
       : secHeader(service, subservice, timeStamper), adapter(data, dataLen), sourceData(&adapter) {}
   PusTmSecHeader secHeader;
-  SerialBufferAdapter<uint8_t> adapter;
+  SerialBufferAdapter<size_t> adapter;
   const SerializeIF* sourceData = nullptr;
 };
 

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

@@ -24,3 +24,9 @@ void PusTmZeroCopyWriter::updateErrorControl() {
   crcStart[0] = (crc16 >> 8) & 0xff;
   crcStart[1] = crc16 & 0xff;
 }
+
+void PusTmZeroCopyWriter::setMessageCount(uint16_t msgCount) {
+  size_t serSize = 0;
+  SerializeAdapter::serialize(&msgCount, const_cast<uint8_t*>(pointers.secHeaderStart + 3),
+                              &serSize, 2, SerializeIF::Endianness::NETWORK);
+}

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

@@ -14,6 +14,7 @@ class PusTmZeroCopyWriter : public PusTmReader {
   PusTmZeroCopyWriter(TimeReaderIF& timeReader, uint8_t* data, size_t size);
 
   void setSequenceCount(uint16_t seqCount);
+  void setMessageCount(uint16_t msgCount);
   void updateErrorControl();
 
  private:

src/fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h

@@ -73,8 +73,10 @@ static constexpr uint8_t CTRL_REG_4_VAL = SET_BLE;
 /* Register 5 */
 static constexpr uint8_t SET_REBOOT_MEM = 1 << 7;
 static constexpr uint8_t SET_FIFO_ENB = 1 << 6;
+static constexpr uint8_t SET_OUT_SEL_1 = 1 << 1;
+static constexpr uint8_t SET_OUT_SEL_0 = 1 << 0;
 
-static constexpr uint8_t CTRL_REG_5_VAL = 0b00000000;
+static constexpr uint8_t CTRL_REG_5_VAL = SET_OUT_SEL_1 | SET_OUT_SEL_0;
 
 /* Possible range values in degrees per second (DPS). */
 static constexpr uint16_t RANGE_DPS_00 = 245;

src/fsfw_hal/host/HostFilesystem.cpp

@@ -165,7 +165,8 @@ ReturnValue_t HostFilesystem::truncateFile(FilesystemParams params) {
   if (not filesystem::exists(path, e)) {
     return FILE_DOES_NOT_EXIST;
   }
-  ofstream of(path);
+  // Specify truncation flug explicitely.
+  ofstream of(path, std::ios::out | std::ios::trunc);
   return returnvalue::OK;
 }
 

unittests/CatchFactory.cpp

@@ -32,7 +32,7 @@ void Factory::produceFrameworkObjects(void* args) {
   setStaticFrameworkObjectIds();
   new EventManager(objects::EVENT_MANAGER, 120);
   new HealthTable(objects::HEALTH_TABLE);
-  new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
+  new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER, 20, false, 1.0);
 
   {
     PoolManager::LocalPoolConfig poolCfg = {{100, 16}, {50, 32}, {25, 64}, {15, 128}, {5, 1024}};

unittests/action/TestActionHelper.cpp

@@ -28,7 +28,6 @@ TEST_CASE("Action Helper", "[action]") {
     REQUIRE(actionHelper.handleActionMessage(&actionMessage) == returnvalue::OK);
     CHECK(testDhMock.executeActionCalled);
     CHECK(not testMqMock.wasMessageSent());
-    CHECK(not testMqMock.wasMessageSent());
     const uint8_t* ptr = nullptr;
     size_t size = 0;
     REQUIRE(ipcStore->getData(paramAddress, &ptr, &size) ==