SubsystemBase: Add function to update child modes

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -376,7 +376,7 @@ void DeviceHandlerBase::doStateMachine() {
       }
       ReturnValue_t switchState = getStateOfSwitches();
       if ((switchState == PowerSwitchIF::SWITCH_OFF) || (switchState == NO_SWITCH)) {
-        setMode(_MODE_SWITCH_IS_OFF);
+        setMode(MODE_OFF, SUBMODE_NONE);
       }
     } break;
     case MODE_OFF:
@@ -389,9 +389,6 @@ void DeviceHandlerBase::doStateMachine() {
     case MODE_NORMAL:
     case MODE_ERROR_ON:
       break;
-    case _MODE_SWITCH_IS_OFF:
-      setMode(MODE_OFF, SUBMODE_NONE);
-      break;
     default:
       triggerEvent(OBJECT_IN_INVALID_MODE, mode, submode);
       setMode(_MODE_POWER_DOWN, 0);

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -150,11 +150,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   //! has been commanded on and the handler waits for it to be on.
   //! When the switch is on, the mode changes to @c _MODE_TO_ON.
   static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4;
-  //! This is a transitional state which can not be commanded. The switch has
-  //! been commanded off and is off now. This state is only to do an RMAP
-  //! cycle once more where the doSendRead() function will set the mode to
-  //! MODE_OFF. The reason to do this is to get rid of stuck packets in the IO Board.
-  static const Mode_t _MODE_SWITCH_IS_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 5;
 
   void setHkDestination(object_id_t hkDestination);
 

src/fsfw/subsystem/SubsystemBase.cpp

@@ -117,6 +117,20 @@ ReturnValue_t SubsystemBase::updateChildMode(MessageQueueId_t queue, Mode_t mode
   return CHILD_NOT_FOUND;
 }
 
+ReturnValue_t SubsystemBase::updateChildModeByObjId(object_id_t objectId, Mode_t mode,
+                                                    Submode_t submode) {
+  std::map<object_id_t, ChildInfo>::iterator iter;
+
+  for (iter = childrenMap.begin(); iter != childrenMap.end(); iter++) {
+    if (iter->first == objectId) {
+      iter->second.mode = mode;
+      iter->second.submode = submode;
+      return returnvalue::OK;
+    }
+  }
+  return CHILD_NOT_FOUND;
+}
+
 ReturnValue_t SubsystemBase::updateChildChangedHealth(MessageQueueId_t queue, bool changedHealth) {
   for (auto iter = childrenMap.begin(); iter != childrenMap.end(); iter++) {
     if (iter->second.commandQueue == queue) {

src/fsfw/subsystem/SubsystemBase.h

@@ -115,6 +115,7 @@ class SubsystemBase : public SystemObject,
                     Submode_t targetSubmode = SUBMODE_NONE);
 
   ReturnValue_t updateChildMode(MessageQueueId_t queue, Mode_t mode, Submode_t submode);
+  ReturnValue_t updateChildModeByObjId(object_id_t objectId, Mode_t mode, Submode_t submode);
 
   ReturnValue_t updateChildChangedHealth(MessageQueueId_t queue, bool changedHealth = true);
 

src/fsfw/timemanager/CCSDSTime.cpp

@@ -246,20 +246,6 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
   return UNSUPPORTED_TIME_FORMAT;
 }
 
-ReturnValue_t CCSDSTime::convertToAsciiWithSecs(int8_t* to, const Clock::TimeOfDay_t* from,
-                                                uint8_t length) {
-  if (from == nullptr or to == nullptr) {
-    return returnvalue::FAILED;
-  }
-  int count = snprintf(reinterpret_cast<char*>(to), length,
-                       "%4" SCNu32 "-%2" SCNu32 "-%2" SCNu32 "T%2" SCNu32 ":%2" SCNu32 ":%2" SCNu32,
-                       from->year, from->month, from->day, from->hour, from->minute, from->second);
-  if (count >= length) {
-    return returnvalue::FAILED;
-  }
-  return returnvalue::OK;
-}
-
 ReturnValue_t CCSDSTime::checkCcs(const uint8_t* time, uint8_t length) {
   const Ccs_mseconds* time_struct = reinterpret_cast<const Ccs_mseconds*>(time);
 

src/fsfw/timemanager/CCSDSTime.h

@@ -207,8 +207,7 @@ class CCSDSTime {
 
   static ReturnValue_t convertFromASCII(Clock::TimeOfDay_t *to, uint8_t const *from,
                                         uint8_t length);
-  static ReturnValue_t convertToAsciiWithSecs(int8_t *to, const Clock::TimeOfDay_t *from,
-                                              uint8_t length);
+
   static uint32_t subsecondsToMicroseconds(uint16_t subseconds);
 
  private:

src/fsfw/tmstorage/TmStoreFrontendIF.h

@@ -6,12 +6,47 @@
 #include "fsfw/returnvalues/returnvalue.h"
 #include "tmStorageConf.h"
 
-class PusTmReader;
-class SpacePacketReader;
+class TmPacketMinimal;
+class SpacePacketBase;
 class TmStoreBackendIF;
 
 class TmStoreFrontendIF {
  public:
+  virtual TmStoreBackendIF* getBackend() const = 0;
+
+  /**
+   * What do I need to implement here?
+   * This is propably used by PUS Service 15 so we should propably check for messages..
+   * Provide base implementation?
+   * @param opCode
+   * @return
+   */
+  virtual ReturnValue_t performOperation(uint8_t opCode) = 0;
+  /**
+   * Callback from the back-end to indicate a certain packet was received.
+   * front-end takes care of discarding/downloading the packet.
+   * @param packet	Pointer to the newly received Space Packet.
+   * @param address	Start address of the packet found
+   * @param isLastPacket	Indicates if no more packets can be fetched.
+   * @return	If more packets shall be fetched, returnvalue::OK must be returned.
+   * 			Any other code stops fetching packets.
+   */
+  virtual ReturnValue_t packetRetrieved(TmPacketMinimal* packet, uint32_t address) = 0;
+  virtual void noMorePacketsInStore() = 0;
+  virtual void handleRetrievalFailed(ReturnValue_t errorCode, uint32_t parameter1 = 0,
+                                     uint32_t parameter2 = 0) = 0;
+  /**
+   * To get the queue where commands shall be sent.
+   * @return	Id of command queue.
+   */
+  virtual MessageQueueId_t getCommandQueue() const = 0;
+  virtual ReturnValue_t fetchPackets(ApidSsc start, ApidSsc end) = 0;
+  virtual ReturnValue_t deletePackets(ApidSsc upTo) = 0;
+  virtual ReturnValue_t checkPacket(SpacePacketBase* tmPacket) = 0;
+  virtual bool isEnabled() const = 0;
+  virtual void setEnabled(bool enabled) = 0;
+  virtual void resetDownlinkedPacketCount() = 0;
+  virtual ReturnValue_t setDumpTarget(object_id_t dumpTarget) = 0;
   static const uint8_t INTERFACE_ID = CLASS_ID::TM_STORE_FRONTEND_IF;
   static const ReturnValue_t BUSY = MAKE_RETURN_CODE(1);
   static const ReturnValue_t LAST_PACKET_FOUND = MAKE_RETURN_CODE(2);
@@ -22,38 +57,7 @@ class TmStoreFrontendIF {
   static const ReturnValue_t ALL_DELETED = MAKE_RETURN_CODE(7);
   static const ReturnValue_t INVALID_DATA = MAKE_RETURN_CODE(8);
   static const ReturnValue_t NOT_READY = MAKE_RETURN_CODE(9);
-
-  virtual ~TmStoreFrontendIF() = default;
-
-  /**
-   * To get the queue where commands shall be sent.
-   * @return  Id of command queue.
-   */
-  virtual MessageQueueId_t getCommandQueue() const = 0;
-
-  virtual TmStoreBackendIF* getBackend() const = 0;
-
-  /**
-   * Callback from the back-end to indicate a certain packet was received.
-   * front-end takes care of discarding/downloading the packet.
-   * @param packet	Pointer to the newly received Space Packet.
-   * @param address	Start address of the packet found
-   * @param isLastPacket	Indicates if no more packets can be fetched.
-   * @return	If more packets shall be fetched, returnvalue::OK must be returned.
-   * 			Any other code stops fetching packets.
-   */
-  virtual ReturnValue_t packetRetrieved(PusTmReader* packet, uint32_t address) = 0;
-  virtual void noMorePacketsInStore() = 0;
-  virtual void handleRetrievalFailed(ReturnValue_t errorCode, uint32_t parameter1 = 0,
-                                     uint32_t parameter2 = 0) = 0;
-
-  virtual ReturnValue_t fetchPackets(ApidSsc start, ApidSsc end) = 0;
-  virtual ReturnValue_t deletePackets(ApidSsc upTo) = 0;
-  virtual ReturnValue_t checkPacket(SpacePacketReader* tmPacket) = 0;
-  virtual bool isEnabled() const = 0;
-  virtual void setEnabled(bool enabled) = 0;
-  virtual void resetDownlinkedPacketCount() = 0;
-  virtual ReturnValue_t setDumpTarget(object_id_t dumpTarget) = 0;
+  virtual ~TmStoreFrontendIF() {}
 };
 
 #endif /* FSFW_TMTCSERVICES_TMSTOREFRONTENDIF_H_ */

src/fsfw/tmstorage/TmStoreFrontendSimpleIF.h

@@ -1,15 +0,0 @@
-#ifndef FSFW_SRC_FSFW_TMSTORAGE_TMSTOREBACKENDSIMPLEIF_H_
-#define FSFW_SRC_FSFW_TMSTORAGE_TMSTOREBACKENDSIMPLEIF_H_
-
-#include <fsfw/ipc/messageQueueDefinitions.h>
-
-class TmStoreFrontendSimpleIF {
- public:
-  virtual ~TmStoreFrontendSimpleIF() = default;
-
-  virtual MessageQueueId_t getCommandQueue() const = 0;
-
- private:
-};
-
-#endif /* FSFW_SRC_FSFW_TMSTORAGE_TMSTOREBACKENDSIMPLEIF_H_ */

src/fsfw/tmstorage/TmStorePackets.h

@@ -1,10 +1,6 @@
 #ifndef FSFW_TMSTORAGE_TMSTOREPACKETS_H_
 #define FSFW_TMSTORAGE_TMSTOREPACKETS_H_
 
-#include <fsfw/tmtcpacket/pus/tm/PusTmReader.h>
-
-#include <vector>
-
 #include "fsfw/globalfunctions/timevalOperations.h"
 #include "fsfw/serialize/SerialBufferAdapter.h"
 #include "fsfw/serialize/SerialFixedArrayListAdapter.h"
@@ -28,7 +24,7 @@ class ServiceSubservice : public SerialLinkedListAdapter<SerializeIF> {
 
 class ApidSsc : public SerializeIF {
  public:
-  ApidSsc() : apid(ccsds::LIMIT_APID), ssc(0) {}
+  ApidSsc() : apid(SpacePacketBase::LIMIT_APID), ssc(0) {}
   ApidSsc(uint16_t apid, uint16_t ssc) : apid(apid), ssc(ssc) {}
   uint16_t apid;
   uint16_t ssc;
@@ -66,59 +62,51 @@ class ChangeSelectionDefinition : public SerialLinkedListAdapter<SerializeIF> {
 
 class TmPacketInformation : public SerializeIF {
  public:
-  TmPacketInformation(PusTmReader* packet, size_t timestampLen) : rawTimestamp(timestampLen) {
-    setContent(packet);
-  }
-  TmPacketInformation(size_t timestampLen)
-      : apid(ccsds::LIMIT_APID),
+  TmPacketInformation(TmPacketMinimal* packet) { setContent(packet); }
+  TmPacketInformation()
+      : apid(SpacePacketBase::LIMIT_APID),
         sourceSequenceCount(0),
         serviceType(0),
         serviceSubtype(0),
-        subCounter(0),
-        rawTimestamp(timestampLen) {}
+        subCounter(0) {}
   void reset() {
-    apid = ccsds::LIMIT_APID;
+    apid = SpacePacketBase::LIMIT_APID;
     sourceSequenceCount = 0;
     serviceType = 0;
     serviceSubtype = 0;
     subCounter = 0;
-    memset(rawTimestamp.data(), 0, rawTimestamp.size());
+    memset(rawTimestamp, 0, sizeof(rawTimestamp));
   }
-  void setContent(PusTmReader* packet) {
-    apid = packet->getApid();
-    sourceSequenceCount = packet->getSequenceCount();
+  void setContent(TmPacketMinimal* packet) {
+    apid = packet->getAPID();
+    sourceSequenceCount = packet->getPacketSequenceCount();
     serviceType = packet->getService();
     serviceSubtype = packet->getSubService();
-    subCounter = packet->getMessageTypeCounter();
-    memset(rawTimestamp.data(), 0, rawTimestamp.size());
-    // TODO: Fix all of this
-    // const uint8_t* pField = NULL;
-    // uint32_t size = 0;
-    // auto* timeReader = packet->getTimeReader();
-    // ReturnValue_t result = packet->getPacketTimeRaw(&pField, &size);
-    // if (result != returnvalue::OK) {
-    // return;
-    //}
-    // if (*pField == CCSDSTime::P_FIELD_CDS_SHORT && size <= TimeStamperIF::MISSION_TIMESTAMP_SIZE)
-    // {
-    // Shortcut to avoid converting CDS back and forth.
-    // TODO: Fix
-    // memcpy(rawTimestamp, pField, size);
-    //      return;
-    //    }
-    //    timeval time = {0, 0};
-    //    result = packet->getPacketTime(&time);
-    //    if (result != returnvalue::OK) {
-    //      return;
-    //    }
-    //
-    //    CCSDSTime::CDS_short cdsFormat;
-    //    result = CCSDSTime::convertToCcsds(&cdsFormat, &time);
-    //    if (result != returnvalue::OK) {
-    //      return;
-    //    }
-    // TODO: Fix
-    // memcpy(rawTimestamp, &cdsFormat, sizeof(cdsFormat));
+    subCounter = packet->getPacketSubcounter();
+    memset(rawTimestamp, 0, sizeof(rawTimestamp));
+    const uint8_t* pField = NULL;
+    uint32_t size = 0;
+    ReturnValue_t result = packet->getPacketTimeRaw(&pField, &size);
+    if (result != returnvalue::OK) {
+      return;
+    }
+    if (*pField == CCSDSTime::P_FIELD_CDS_SHORT && size <= TimeStamperIF::MISSION_TIMESTAMP_SIZE) {
+      // Shortcut to avoid converting CDS back and forth.
+      memcpy(rawTimestamp, pField, size);
+      return;
+    }
+    timeval time = {0, 0};
+    result = packet->getPacketTime(&time);
+    if (result != returnvalue::OK) {
+      return;
+    }
+
+    CCSDSTime::CDS_short cdsFormat;
+    result = CCSDSTime::convertToCcsds(&cdsFormat, &time);
+    if (result != returnvalue::OK) {
+      return;
+    }
+    memcpy(rawTimestamp, &cdsFormat, sizeof(cdsFormat));
   }
   void setContent(TmPacketInformation* content) {
     apid = content->apid;
@@ -126,10 +114,9 @@ class TmPacketInformation : public SerializeIF {
     serviceType = content->serviceType;
     serviceSubtype = content->serviceSubtype;
     subCounter = content->subCounter;
-    // TODO: Fix
-    // memcpy(rawTimestamp, content->rawTimestamp, sizeof(rawTimestamp));
+    memcpy(rawTimestamp, content->rawTimestamp, sizeof(rawTimestamp));
   }
-  bool isValid() const { return (apid < ccsds::LIMIT_APID) ? true : false; }
+  bool isValid() const { return (apid < SpacePacketBase::LIMIT_APID) ? true : false; }
   static void reset(TmPacketInformation* packet) { packet->reset(); }
 
   static bool isOlderThan(const TmPacketInformation* packet, const timeval* cmpTime) {
@@ -229,7 +216,7 @@ class TmPacketInformation : public SerializeIF {
     if (result != returnvalue::OK) {
       return result;
     }
-    SerialBufferAdapter<uint8_t> adapter(rawTimestamp.data(), rawTimestamp.size());
+    SerialBufferAdapter<uint8_t> adapter(rawTimestamp, sizeof(rawTimestamp));
     return adapter.serialize(buffer, size, maxSize, streamEndianness);
   }
 
@@ -240,7 +227,7 @@ class TmPacketInformation : public SerializeIF {
     size += SerializeAdapter::getSerializedSize(&serviceType);
     size += SerializeAdapter::getSerializedSize(&serviceSubtype);
     size += SerializeAdapter::getSerializedSize(&subCounter);
-    SerialBufferAdapter<uint8_t> adapter(rawTimestamp.data(), rawTimestamp.size());
+    SerialBufferAdapter<uint8_t> adapter(rawTimestamp, sizeof(rawTimestamp));
     size += adapter.getSerializedSize();
     return size;
   };
@@ -266,7 +253,7 @@ class TmPacketInformation : public SerializeIF {
     if (result != returnvalue::OK) {
       return result;
     }
-    SerialBufferAdapter<uint8_t> adapter(rawTimestamp.data(), rawTimestamp.size());
+    SerialBufferAdapter<uint8_t> adapter(rawTimestamp, sizeof(rawTimestamp));
     return adapter.deSerialize(buffer, size, streamEndianness);
   }
 
@@ -276,6 +263,6 @@ class TmPacketInformation : public SerializeIF {
   uint8_t serviceType;
   uint8_t serviceSubtype;
   uint8_t subCounter;
-  std::vector<uint8_t> rawTimestamp;
+  uint8_t rawTimestamp[TimeStamperIF::MISSION_TIMESTAMP_SIZE];
 };
 #endif /* FSFW_TMSTORAGE_TMSTOREPACKETS_H_ */

src/fsfw_hal/linux/serial/SerialComIF.cpp

@@ -2,6 +2,7 @@
 
 #include <errno.h>
 #include <fcntl.h>
+#include <fsfw_hal/linux/serial/SerialComIF.h>
 #include <termios.h>
 #include <unistd.h>