re-order fields in TcpConfig

Reviewed-on: fsfw/fsfw#714

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
@@ -27,6 +28,8 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Added
 
+- `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.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/709
 - Add new `UnsignedByteField` class

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);
 }

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; }

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<int>(addrResult->ai_addrlen));
   if (retval == SOCKET_ERROR) {

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 +63,24 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
      */
     int tcpTmFlags = 0;
 
-    const std::string tcpPort;
+    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
+     * 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;
+
   };
+  enum class ReceptionModes { SPACE_PACKETS };
 
   static const std::string DEFAULT_SERVER_PORT;
 
@@ -80,10 +96,9 @@ 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;
 

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;
 

src/fsfw/pus/Service11TelecommandScheduling.tpp

@@ -2,9 +2,11 @@
 
 #include <cstddef>
 
+#include "fsfw/globalfunctions/CRC.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/serialize/SerializeAdapter.h"
 #include "fsfw/serviceinterface.h"
+#include "fsfw/tmtcpacket/pus/tc/PusTcIF.h"
 #include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
 
 static constexpr auto DEF_END = SerializeIF::Endianness::BIG;
@@ -171,6 +173,14 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::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 ||

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;

src/fsfw/subsystem/SubsystemBase.cpp

@@ -195,7 +195,7 @@ ReturnValue_t SubsystemBase::checkTable(HybridIterator<ModeListEntry> 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
@@ -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(); }

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;
 }

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);
 
 }
 

src/fsfw/tmtcservices/SourceSequenceCounter.h

@@ -11,7 +11,7 @@ class SourceSequenceCounter {
   SourceSequenceCounter(uint16_t initialSequenceCount = 0) : sequenceCount(initialSequenceCount) {}
   void increment() { sequenceCount = (sequenceCount + 1) % (ccsds::LIMIT_SEQUENCE_COUNT); }
   void decrement() { sequenceCount = (sequenceCount - 1) % (ccsds::LIMIT_SEQUENCE_COUNT); }
-  uint16_t get() { return this->sequenceCount; }
+  uint16_t get() const { return this->sequenceCount; }
   void reset(uint16_t toValue = 0) { sequenceCount = toValue % (ccsds::LIMIT_SEQUENCE_COUNT); }
   SourceSequenceCounter& operator++(int) {
     this->increment();

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()) {

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<int>(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);
@@ -180,10 +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;
   }

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;