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13 changed files with 42 additions and 237 deletions

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@@ -59,17 +59,24 @@ void ActionHelper::setQueueToUse(MessageQueueIF* queue) { queueToUse = queue; }
void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
store_address_t dataAddress) {
bool hasAdditionalData = false;
const uint8_t* dataPtr = nullptr;
size_t size = 0;
ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
if (result != returnvalue::OK) {
CommandMessage reply;
ActionMessage::setStepReply(&reply, actionId, 0, result);
queueToUse->sendMessage(commandedBy, &reply);
return;
ReturnValue_t result;
if (dataAddress != store_address_t::invalid()) {
hasAdditionalData = true;
ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
if (result != returnvalue::OK) {
CommandMessage reply;
ActionMessage::setStepReply(&reply, actionId, 0, result);
queueToUse->sendMessage(commandedBy, &reply);
return;
}
}
result = owner->executeAction(actionId, commandedBy, dataPtr, size);
ipcStore->deleteData(dataAddress);
if (hasAdditionalData) {
ipcStore->deleteData(dataAddress);
}
if (result == HasActionsIF::EXECUTION_FINISHED) {
CommandMessage reply;
ActionMessage::setCompletionReply(&reply, actionId, true, result);

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@@ -2,7 +2,6 @@
#define FSFW_CFDP_H
#include "cfdp/definitions.h"
#include "cfdp/handler/CfdpHandler.h"
#include "cfdp/handler/DestHandler.h"
#include "cfdp/handler/FaultHandlerBase.h"
#include "cfdp/helpers.h"

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@@ -1,3 +1,2 @@
target_sources(
${LIB_FSFW_NAME} PRIVATE SourceHandler.cpp DestHandler.cpp
FaultHandlerBase.cpp UserBase.cpp CfdpHandler.cpp)
target_sources(${LIB_FSFW_NAME} PRIVATE SourceHandler.cpp DestHandler.cpp
FaultHandlerBase.cpp UserBase.cpp)

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@@ -1,134 +0,0 @@
#include "CfdpHandler.h"
#include "fsfw/cfdp/pdu/AckPduReader.h"
#include "fsfw/cfdp/pdu/PduHeaderReader.h"
#include "fsfw/globalfunctions/arrayprinter.h"
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/tmtcservices/TmTcMessage.h"
using namespace returnvalue;
using namespace cfdp;
CfdpHandler::CfdpHandler(const FsfwHandlerParams& fsfwParams, const CfdpHandlerCfg& cfdpCfg)
: SystemObject(fsfwParams.objectId),
msgQueue(fsfwParams.msgQueue),
destHandler(
DestHandlerParams(LocalEntityCfg(cfdpCfg.id, cfdpCfg.indicCfg, cfdpCfg.faultHandler),
cfdpCfg.userHandler, cfdpCfg.remoteCfgProvider, cfdpCfg.packetInfoList,
cfdpCfg.lostSegmentsList),
FsfwParams(fsfwParams.packetDest, nullptr, this, fsfwParams.tcStore,
fsfwParams.tmStore)) {
destHandler.setMsgQueue(msgQueue);
}
[[nodiscard]] const char* CfdpHandler::getName() const { return "CFDP Handler"; }
[[nodiscard]] uint32_t CfdpHandler::getIdentifier() const {
return destHandler.getDestHandlerParams().cfg.localId.getValue();
}
[[nodiscard]] MessageQueueId_t CfdpHandler::getRequestQueue() const { return msgQueue.getId(); }
ReturnValue_t CfdpHandler::initialize() {
ReturnValue_t result = destHandler.initialize();
if (result != OK) {
return result;
}
tcStore = destHandler.getTcStore();
tmStore = destHandler.getTmStore();
return SystemObject::initialize();
}
ReturnValue_t CfdpHandler::performOperation(uint8_t operationCode) {
// TODO: Receive TC packets and route them to source and dest handler, depending on which is
// correct or more appropriate
ReturnValue_t status;
ReturnValue_t result = OK;
TmTcMessage tmtcMsg;
for (status = msgQueue.receiveMessage(&tmtcMsg); status == returnvalue::OK;
status = msgQueue.receiveMessage(&tmtcMsg)) {
result = handleCfdpPacket(tmtcMsg);
if (result != OK) {
status = result;
}
}
auto& fsmRes = destHandler.performStateMachine();
// TODO: Error handling?
while (fsmRes.callStatus == CallStatus::CALL_AGAIN) {
destHandler.performStateMachine();
// TODO: Error handling?
}
return status;
}
ReturnValue_t CfdpHandler::handleCfdpPacket(TmTcMessage& msg) {
auto accessorPair = tcStore->getData(msg.getStorageId());
if (accessorPair.first != OK) {
return accessorPair.first;
}
PduHeaderReader reader(accessorPair.second.data(), accessorPair.second.size());
ReturnValue_t result = reader.parseData();
if (result != returnvalue::OK) {
return INVALID_PDU_FORMAT;
}
// The CFDP distributor should have taken care of ensuring the destination ID is correct
PduType type = reader.getPduType();
// Only the destination handler can process these PDUs
if (type == PduType::FILE_DATA) {
// Disable auto-deletion of packet
accessorPair.second.release();
PacketInfo info(type, msg.getStorageId());
result = destHandler.passPacket(info);
} else {
// Route depending on PDU type and directive type if applicable. It retrieves directive type
// from the raw stream for better performance (with sanity and directive code check).
// The routing is based on section 4.5 of the CFDP standard which specifies the PDU forwarding
// procedure.
// PDU header only. Invalid supplied data. A directive packet should have a valid data field
// with at least one byte being the directive code
const uint8_t* pduDataField = reader.getPduDataField();
if (pduDataField == nullptr) {
return INVALID_PDU_FORMAT;
}
if (not FileDirectiveReader::checkFileDirective(pduDataField[0])) {
return INVALID_DIRECTIVE_FIELD;
}
auto directive = static_cast<FileDirective>(pduDataField[0]);
auto passToDestHandler = [&]() {
accessorPair.second.release();
PacketInfo info(type, msg.getStorageId(), directive);
result = destHandler.passPacket(info);
};
auto passToSourceHandler = [&]() {
};
if (directive == FileDirective::METADATA or directive == FileDirective::EOF_DIRECTIVE or
directive == FileDirective::PROMPT) {
// Section b) of 4.5.3: These PDUs should always be targeted towards the file receiver a.k.a.
// the destination handler
passToDestHandler();
} else if (directive == FileDirective::FINISH or directive == FileDirective::NAK or
directive == FileDirective::KEEP_ALIVE) {
// Section c) of 4.5.3: These PDUs should always be targeted towards the file sender a.k.a.
// the source handler
passToSourceHandler();
} else if (directive == FileDirective::ACK) {
// Section a): Recipient depends of the type of PDU that is being acknowledged. We can simply
// extract the PDU type from the raw stream. If it is an EOF PDU, this packet is passed to
// the source handler, for a Finished PDU, it is passed to the destination handler.
FileDirective ackedDirective;
if (not AckPduReader::checkAckedDirectiveField(pduDataField[1], ackedDirective)) {
return INVALID_ACK_DIRECTIVE_FIELDS;
}
if (ackedDirective == FileDirective::EOF_DIRECTIVE) {
passToSourceHandler();
} else if (ackedDirective == FileDirective::FINISH) {
passToDestHandler();
}
}
}
return result;
}

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@@ -1,71 +0,0 @@
#ifndef FSFW_EXAMPLE_HOSTED_CFDPHANDLER_H
#define FSFW_EXAMPLE_HOSTED_CFDPHANDLER_H
#include <utility>
#include "fsfw/cfdp/handler/DestHandler.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
#include "fsfw/tmtcservices/TmTcMessage.h"
struct FsfwHandlerParams {
FsfwHandlerParams(object_id_t objectId, HasFileSystemIF& vfs, AcceptsTelemetryIF& packetDest,
StorageManagerIF& tcStore, StorageManagerIF& tmStore, MessageQueueIF& msgQueue)
: objectId(objectId),
vfs(vfs),
packetDest(packetDest),
tcStore(tcStore),
tmStore(tmStore),
msgQueue(msgQueue) {}
object_id_t objectId{};
HasFileSystemIF& vfs;
AcceptsTelemetryIF& packetDest;
StorageManagerIF& tcStore;
StorageManagerIF& tmStore;
MessageQueueIF& msgQueue;
};
struct CfdpHandlerCfg {
CfdpHandlerCfg(cfdp::EntityId localId, cfdp::IndicationCfg indicationCfg,
cfdp::UserBase& userHandler, cfdp::FaultHandlerBase& userFaultHandler,
cfdp::PacketInfoListBase& packetInfo, cfdp::LostSegmentsListBase& lostSegmentsList,
cfdp::RemoteConfigTableIF& remoteCfgProvider)
: id(std::move(localId)),
indicCfg(indicationCfg),
packetInfoList(packetInfo),
lostSegmentsList(lostSegmentsList),
remoteCfgProvider(remoteCfgProvider),
userHandler(userHandler),
faultHandler(userFaultHandler) {}
cfdp::EntityId id;
cfdp::IndicationCfg indicCfg;
cfdp::PacketInfoListBase& packetInfoList;
cfdp::LostSegmentsListBase& lostSegmentsList;
cfdp::RemoteConfigTableIF& remoteCfgProvider;
cfdp::UserBase& userHandler;
cfdp::FaultHandlerBase& faultHandler;
};
class CfdpHandler : public SystemObject, public ExecutableObjectIF, public AcceptsTelecommandsIF {
public:
explicit CfdpHandler(const FsfwHandlerParams& fsfwParams, const CfdpHandlerCfg& cfdpCfg);
[[nodiscard]] const char* getName() const override;
[[nodiscard]] uint32_t getIdentifier() const override;
[[nodiscard]] MessageQueueId_t getRequestQueue() const override;
ReturnValue_t initialize() override;
ReturnValue_t performOperation(uint8_t operationCode) override;
private:
MessageQueueIF& msgQueue;
cfdp::DestHandler destHandler;
StorageManagerIF* tcStore = nullptr;
StorageManagerIF* tmStore = nullptr;
ReturnValue_t handleCfdpPacket(TmTcMessage& msg);
};
#endif // FSFW_EXAMPLE_HOSTED_CFDPHANDLER_H

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@@ -720,7 +720,8 @@ ReturnValue_t LocalDataPoolManager::togglePeriodicGeneration(sid_t sid, bool ena
return returnvalue::OK;
}
ReturnValue_t LocalDataPoolManager::changeCollectionInterval(sid_t sid, float newCollectionInterval) {
ReturnValue_t LocalDataPoolManager::changeCollectionInterval(sid_t sid,
float newCollectionInterval) {
LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
if (dataSet == nullptr) {
printWarningOrError(sif::OutputTypes::OUT_WARNING, "changeCollectionInterval",

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@@ -18,8 +18,11 @@
*/
class DleParser {
public:
//! [EXPORT] : [SKIP]
static constexpr ReturnValue_t NO_PACKET_FOUND = returnvalue::makeCode(1, 1);
//! [EXPORT] : [SKIP]
static constexpr ReturnValue_t POSSIBLE_PACKET_LOSS = returnvalue::makeCode(1, 2);
using BufPair = std::pair<uint8_t*, size_t>;
enum class ContextType { NONE, PACKET_FOUND, ERROR };

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@@ -7,7 +7,7 @@ DummyPowerSwitcher::DummyPowerSwitcher(object_id_t objectId, size_t numberOfSwit
switcherList(numberOfSwitches),
fuseList(numberOfFuses),
switchDelayMs(switchDelayMs) {
for(auto &switchState: switcherList) {
for (auto &switchState : switcherList) {
switchState = PowerSwitchIF::SWITCH_UNKNOWN;
}
}

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@@ -325,7 +325,7 @@ const HasModesIF& SubsystemBase::getModeIF() const { return *this; }
ModeTreeChildIF& SubsystemBase::getModeTreeChildIF() { return *this; }
ReturnValue_t SubsystemBase::registerChild(object_id_t childObjectId, MessageQueueId_t childQueue) {
ChildInfo info;
ChildInfo info;
// intentional to force an initial command during system startup
info.commandQueue = childQueue;

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@@ -5,8 +5,18 @@
namespace spi {
static constexpr uint8_t CLASS_ID = CLASS_ID::HAL_SPI;
static constexpr ReturnValue_t OPENING_FILE_FAILED = returnvalue::makeCode(CLASS_ID, 0);
/* Full duplex (ioctl) transfer failure */
static constexpr ReturnValue_t FULL_DUPLEX_TRANSFER_FAILED = returnvalue::makeCode(CLASS_ID, 1);
/* Half duplex (read/write) transfer failure */
static constexpr ReturnValue_t HALF_DUPLEX_TRANSFER_FAILED = returnvalue::makeCode(CLASS_ID, 2);
static constexpr ReturnValue_t TIMEOUT = returnvalue::makeCode(CLASS_ID, 3);
static constexpr ReturnValue_t BUSY = returnvalue::makeCode(CLASS_ID, 4);
static constexpr ReturnValue_t GENERIC_ERROR = returnvalue::makeCode(CLASS_ID, 5);
enum SpiModes : uint8_t { MODE_0, MODE_1, MODE_2, MODE_3 };
}
} // namespace spi
#endif /* FSFW_HAL_COMMON_SPI_SPICOMMON_H_ */

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@@ -173,7 +173,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
int fileDescriptor = 0;
UnixFileGuard fileHelper(dev, fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
if (fileHelper.getOpenResult() != returnvalue::OK) {
return OPENING_FILE_FAILED;
return spi::OPENING_FILE_FAILED;
}
spi::SpiModes spiMode = spi::SpiModes::MODE_0;
uint32_t spiSpeed = 0;
@@ -234,7 +234,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
if (retval < 0) {
spiCookie->setTransferSize(0);
utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
result = FULL_DUPLEX_TRANSFER_FAILED;
result = spi::FULL_DUPLEX_TRANSFER_FAILED;
}
#if FSFW_HAL_SPI_WIRETAPPING == 1
performSpiWiretapping(spiCookie);
@@ -250,7 +250,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
sif::printWarning("SpiComIF::sendMessage: Half-Duplex write operation failed!\n");
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
result = HALF_DUPLEX_TRANSFER_FAILED;
result = spi::HALF_DUPLEX_TRANSFER_FAILED;
}
}
@@ -287,7 +287,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
int fileDescriptor = 0;
UnixFileGuard fileHelper(dev, fileDescriptor, O_RDWR, "SpiComIF::requestReceiveMessage");
if (fileHelper.getOpenResult() != returnvalue::OK) {
return OPENING_FILE_FAILED;
return spi::OPENING_FILE_FAILED;
}
uint8_t* rxBuf = nullptr;
@@ -327,7 +327,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
sif::printWarning("SpiComIF::sendMessage: Half-Duplex read operation failed!\n");
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
result = HALF_DUPLEX_TRANSFER_FAILED;
result = spi::HALF_DUPLEX_TRANSFER_FAILED;
}
if (gpioId != gpio::NO_GPIO and not csLockManual) {

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@@ -22,15 +22,6 @@ class SpiCookie;
*/
class SpiComIF : public DeviceCommunicationIF, public SystemObject {
public:
static constexpr uint8_t spiRetvalId = CLASS_ID::HAL_SPI;
static constexpr ReturnValue_t OPENING_FILE_FAILED = returnvalue::makeCode(spiRetvalId, 0);
/* Full duplex (ioctl) transfer failure */
static constexpr ReturnValue_t FULL_DUPLEX_TRANSFER_FAILED =
returnvalue::makeCode(spiRetvalId, 1);
/* Half duplex (read/write) transfer failure */
static constexpr ReturnValue_t HALF_DUPLEX_TRANSFER_FAILED =
returnvalue::makeCode(spiRetvalId, 2);
SpiComIF(object_id_t objectId, std::string devname, GpioIF& gpioComIF);
ReturnValue_t initializeInterface(CookieIF* cookie) override;

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@@ -357,13 +357,13 @@ ReturnValue_t SpiComIF::halErrorHandler(HAL_StatusTypeDef status, spi::TransferM
sif::printWarning("SpiComIF::handle%sSendOperation: HAL error %d occured\n", modeString, status);
switch (status) {
case (HAL_BUSY): {
return spi::HAL_BUSY_RETVAL;
return spi::BUSY;
}
case (HAL_ERROR): {
return spi::HAL_ERROR_RETVAL;
return spi::GENERIC_ERROR;
}
case (HAL_TIMEOUT): {
return spi::HAL_TIMEOUT_RETVAL;
return spi::TIMEOUT;
}
default: {
return returnvalue::FAILED;