remove unuseed include

Reviewed-on: #174
Reviewed-by: Marius Eggert <eggertm@irs.uni-stuttgart.de>

src/fsfw/devicehandlers/DeviceHandlerFailureIsolation.cpp

@@ -26,6 +26,11 @@ ReturnValue_t DeviceHandlerFailureIsolation::eventReceived(EventMessage* event)
   if (isFdirInActionOrAreWeFaulty(event)) {
     return returnvalue::OK;
   }
+  // As mentioned in the function documentation, no FDIR reaction are performed when the device
+  // is in external control.
+  if (owner->getHealth() == HasHealthIF::EXTERNAL_CONTROL) {
+    return returnvalue::OK;
+  }
   ReturnValue_t result = returnvalue::FAILED;
   switch (event->getEvent()) {
     case HasModesIF::MODE_TRANSITION_FAILED:
@@ -186,15 +191,6 @@ void DeviceHandlerFailureIsolation::setFdirState(FDIRState state) {
   fdirState = state;
 }
 
-void DeviceHandlerFailureIsolation::triggerEvent(Event event, uint32_t parameter1,
-                                                 uint32_t parameter2) {
-  // Do not throw error events if fdirState != none.
-  // This will still forward MODE and HEALTH INFO events in any case.
-  if (fdirState == NONE || event::getSeverity(event) == severity::INFO) {
-    FailureIsolationBase::triggerEvent(event, parameter1, parameter2);
-  }
-}
-
 bool DeviceHandlerFailureIsolation::isFdirActionInProgress() { return (fdirState != NONE); }
 
 void DeviceHandlerFailureIsolation::startRecovery(Event reason) {

src/fsfw/devicehandlers/DeviceHandlerFailureIsolation.h

@@ -17,7 +17,6 @@ class DeviceHandlerFailureIsolation : public FailureIsolationBase {
                                 uint8_t eventQueueDepth = 10);
   ~DeviceHandlerFailureIsolation();
   ReturnValue_t initialize();
-  void triggerEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0);
   bool isFdirActionInProgress();
   virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
                                      ParameterWrapper* parameterWrapper,
@@ -41,6 +40,19 @@ class DeviceHandlerFailureIsolation : public FailureIsolationBase {
   static const uint32_t DEFAULT_MAX_MISSED_REPLY_COUNT = 5;
   static const uint32_t DEFAULT_MISSED_REPLY_TIME_MS = 10000;
 
+  /**
+   * This is the default implementation of the eventReceived function.
+   *
+   * It will perform recoveries or failures on a pre-defined set of events. If the user wants
+   * to add handling for custom events, this function should be overriden.
+   *
+   * It should be noted that the default implementation will not perform FDIR reactions if the
+   * handler is faulty or in external control by default. If the user commands the device
+   * manually, this might be related to debugging to testing the device in a low-level way. FDIR
+   * reactions might get in the way of this process by restarting the device or putting it in
+   * the faulty state. If the user still requires FDIR handling in the EXTERNAL_CONTROL case,
+   * this function should be overriden.
+   */
   virtual ReturnValue_t eventReceived(EventMessage* event);
   virtual void eventConfirmed(EventMessage* event);
   void wasParentsFault(EventMessage* event);

src/fsfw/devicehandlers/FreshDeviceHandlerBase.cpp

@@ -11,6 +11,7 @@ FreshDeviceHandlerBase::FreshDeviceHandlerBase(DhbConfig config)
       healthHelper(this, getObjectId()),
       paramHelper(this),
       poolManager(this, nullptr),
+      fdirInstance(config.fdirInstance),
       defaultFdirParent(config.defaultFdirParent) {
   auto mqArgs = MqArgs(config.objectId, static_cast<void*>(this));
   messageQueue = QueueFactory::instance()->createMessageQueue(
@@ -30,6 +31,7 @@ FreshDeviceHandlerBase::~FreshDeviceHandlerBase() {
 ReturnValue_t FreshDeviceHandlerBase::performOperation(uint8_t opCode) {
   performDeviceOperationPreQueueHandling(opCode);
   handleQueue();
+  fdirInstance->checkForFailures();
   performDeviceOperation(opCode);
   poolManager.performHkOperation();
   return returnvalue::OK;

src/fsfw/devicehandlers/FreshDeviceHandlerBase.h

@@ -129,7 +129,7 @@ class FreshDeviceHandlerBase : public SystemObject,
   ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
                               const uint8_t* data, size_t size) override = 0;
   // Executable overrides.
-  ReturnValue_t performOperation(uint8_t opCode) override;
+  virtual ReturnValue_t performOperation(uint8_t opCode) override;
   ReturnValue_t initializeAfterTaskCreation() override;
 
   /**

src/fsfw/fdir/FailureIsolationBase.cpp

@@ -148,25 +148,16 @@ void FailureIsolationBase::doConfirmFault(EventMessage* event) {
 ReturnValue_t FailureIsolationBase::confirmFault(EventMessage* event) { return YOUR_FAULT; }
 
 void FailureIsolationBase::triggerEvent(Event event, uint32_t parameter1, uint32_t parameter2) {
-  // With this mechanism, all events are disabled for a certain device.
-  // That's not so good for visibility.
-  if (isFdirDisabledForSeverity(event::getSeverity(event))) {
-    return;
-  }
+  // By default, we trigger all events and also call the handler function to handle FDIR reactions
+  // which might occur due to these events. This makes all events visible. If the handling of
+  // FDIR reaction should be disabled, this should be done through dedicated logic inside the
+  // eventReceived function.
   EventMessage message(event, ownerId, parameter1, parameter2);
   EventManagerIF::triggerEvent(&message, eventQueue->getId());
   eventReceived(&message);
 }
 
-bool FailureIsolationBase::isFdirDisabledForSeverity(EventSeverity_t severity) {
-  if ((owner != NULL) && (severity != severity::INFO)) {
-    if (owner->getHealth() == HasHealthIF::EXTERNAL_CONTROL) {
-      // External control disables handling of fault messages.
-      return true;
-    }
-  }
-  return false;
-}
+bool FailureIsolationBase::isFdirDisabledForSeverity(EventSeverity_t severity) { return false; }
 
 void FailureIsolationBase::throwFdirEvent(Event event, uint32_t parameter1, uint32_t parameter2) {
   EventMessage message(event, ownerId, parameter1, parameter2);

src/fsfw/fdir/FailureIsolationBase.h

@@ -44,13 +44,13 @@ class FailureIsolationBase : public ConfirmsFailuresIF, public HasParametersIF {
   virtual void wasParentsFault(EventMessage* event);
   virtual ReturnValue_t confirmFault(EventMessage* event);
   virtual void decrementFaultCounters() = 0;
+  virtual bool isFdirDisabledForSeverity(EventSeverity_t severity);
   ReturnValue_t sendConfirmationRequest(EventMessage* event,
                                         MessageQueueId_t destination = MessageQueueIF::NO_QUEUE);
   void throwFdirEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0);
 
  private:
   void doConfirmFault(EventMessage* event);
-  bool isFdirDisabledForSeverity(EventSeverity_t severity);
 };
 
-#endif /* FRAMEWORK_FDIR_FAILUREISOLATIONBASE_H_ */
+#endif /* FRAMEWORK_FDIR */

src/fsfw/pus/Service9TimeManagement.cpp

@@ -18,18 +18,13 @@ ReturnValue_t Service9TimeManagement::performService() { return returnvalue::OK;
 ReturnValue_t Service9TimeManagement::handleRequest(uint8_t subservice) {
   switch (subservice) {
     case Subservice::SET_TIME: {
-      reportCurrentTime();
+      reportCurrentTime(CLOCK_DUMP_BEFORE_SETTING_TIME);
       ReturnValue_t result = setTime();
-      reportCurrentTime();
+      reportCurrentTime(CLOCK_DUMP_AFTER_SETTING_TIME);
       return result;
     }
     case Subservice::DUMP_TIME: {
-      timeval newTime;
-      ReturnValue_t result = Clock::getClock_timeval(&newTime);
-      if (result != returnvalue::OK) {
-        return result;
-      }
-      triggerEvent(CLOCK_DUMP, newTime.tv_sec, newTime.tv_usec);
+      reportCurrentTime();
       return returnvalue::OK;
     }
     case Subservice::RELATIVE_TIMESHIFT: {
@@ -38,7 +33,7 @@ ReturnValue_t Service9TimeManagement::handleRequest(uint8_t subservice) {
       if (result != returnvalue::OK) {
         return result;
       }
-      reportTime(currentTime);
+      reportTime(CLOCK_DUMP_BEFORE_SETTING_TIME, currentTime);
 
       if (currentPacket.getUserDataLen() != 8) {
         return AcceptsTelecommandsIF::ILLEGAL_APPLICATION_DATA;
@@ -66,7 +61,7 @@ ReturnValue_t Service9TimeManagement::handleRequest(uint8_t subservice) {
       }
       result = Clock::setClock(&newTime);
       if (result == returnvalue::OK) {
-        reportTime(newTime);
+        reportTime(CLOCK_DUMP_AFTER_SETTING_TIME, newTime);
       }
       return result;
     }
@@ -93,12 +88,12 @@ ReturnValue_t Service9TimeManagement::setTime() {
   return result;
 }
 
-void Service9TimeManagement::reportCurrentTime() {
+void Service9TimeManagement::reportCurrentTime(Event event) {
   timeval currentTime{};
   Clock::getClock(&currentTime);
-  triggerEvent(CLOCK_DUMP, currentTime.tv_sec, currentTime.tv_usec);
+  triggerEvent(event, currentTime.tv_sec, currentTime.tv_usec);
 }
 
-void Service9TimeManagement::reportTime(timeval time) {
-  triggerEvent(CLOCK_DUMP, time.tv_sec, time.tv_usec);
+void Service9TimeManagement::reportTime(Event event, timeval time) {
+  triggerEvent(event, time.tv_sec, time.tv_usec);
 }

src/fsfw/pus/Service9TimeManagement.h

@@ -18,6 +18,8 @@ class Service9TimeManagement : public PusServiceBase {
   static constexpr Event CLOCK_SET_FAILURE = MAKE_EVENT(2, severity::LOW);
   //!< [EXPORT] : [COMMENT] Clock dump event. P1: timeval seconds P2: timeval microseconds.
   static constexpr Event CLOCK_DUMP = MAKE_EVENT(3, severity::INFO);
+  static constexpr Event CLOCK_DUMP_BEFORE_SETTING_TIME = MAKE_EVENT(4, severity::INFO);
+  static constexpr Event CLOCK_DUMP_AFTER_SETTING_TIME = MAKE_EVENT(5, severity::INFO);
 
   static constexpr uint8_t CLASS_ID = CLASS_ID::PUS_SERVICE_9;
 
@@ -35,8 +37,8 @@ class Service9TimeManagement : public PusServiceBase {
    */
   ReturnValue_t handleRequest(uint8_t subservice) override;
 
-  void reportCurrentTime();
-  void reportTime(timeval time);
+  void reportCurrentTime(Event eventType = CLOCK_DUMP);
+  void reportTime(Event event, timeval time);
 
   virtual ReturnValue_t setTime();
 

src/fsfw/tmtcpacket/ccsds/SpacePacketReader.cpp

@@ -1,7 +1,6 @@
 #include "SpacePacketReader.h"
 
 #include "fsfw/serialize/SerializeIF.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
 
 SpacePacketReader::SpacePacketReader(const uint8_t* setAddress, size_t maxSize_) {
   setInternalFields(setAddress, maxSize_);

src/fsfw/tmtcservices/SourceSequenceCounter.h

@@ -1,7 +1,7 @@
 #ifndef FSFW_TMTCSERVICES_SOURCESEQUENCECOUNTER_H_
 #define FSFW_TMTCSERVICES_SOURCESEQUENCECOUNTER_H_
 
-#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
+#include "fsfw/tmtcpacket/ccsds/defs.h"
 
 class SourceSequenceCounter {
  private:
@@ -9,6 +9,7 @@ class SourceSequenceCounter {
 
  public:
   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() const { return this->sequenceCount; }
@@ -25,6 +26,7 @@ class SourceSequenceCounter {
     sequenceCount = newCount;
     return *this;
   }
+  void set(uint16_t sequenceCount) { this->sequenceCount = sequenceCount; }
 
   operator uint16_t() { return this->get(); }
 };

src/fsfw_hal/linux/serial/helper.cpp

@@ -1,6 +1,8 @@
 #include <fsfw_hal/linux/serial/helper.h>
 #include <sys/ioctl.h>
+#include <termios.h>
 
+#include "FSFWConfig.h"
 #include "fsfw/serviceinterface.h"
 
 void serial::setMode(struct termios& options, UartModes mode) {
@@ -108,7 +110,7 @@ void serial::setBaudrate(struct termios& options, UartBaudRate baud) {
 #endif  // ! __APPLE__
     default:
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
+      sif::warning << "serial::configureBaudrate: Baudrate not supported" << std::endl;
 #endif
       break;
   }
@@ -153,15 +155,17 @@ int serial::readCountersAndErrors(int serialPort, serial_icounter_struct& icount
 }
 
 void serial::setStopbits(struct termios& options, StopBits bits) {
+  // Regular case: One stop bit.
+  options.c_cflag &= ~CSTOPB;
   if (bits == StopBits::TWO_STOP_BITS) {
     // Use two stop bits
     options.c_cflag |= CSTOPB;
-  } else {
-    // Clear stop field, only one stop bit used in communication
-    options.c_cflag &= ~CSTOPB;
   }
 }
 
 void serial::flushRxBuf(int fd) { tcflush(fd, TCIFLUSH); }
 
+void serial::flushTxBuf(int fd) { tcflush(fd, TCOFLUSH); }
+
 void serial::flushTxRxBuf(int fd) { tcflush(fd, TCIOFLUSH); }
+

src/fsfw_hal/linux/serial/helper.h

@@ -65,6 +65,7 @@ void setParity(struct termios& options, Parity parity);
 void ignoreCtrlLines(struct termios& options);
 
 void flushRxBuf(int fd);
+void flushTxBuf(int fd);
 void flushTxRxBuf(int fd);
 
 int readCountersAndErrors(int serialPort, serial_icounter_struct& icounter);