make number of parallel cmds configurable

.idea/cmake.xml

@@ -1,8 +0,0 @@
-<?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

@@ -10,8 +10,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## 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.
@@ -27,11 +26,8 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 - 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`.

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 monthsSinceEpoch = minutesSinceEpoch / 60 / 24 / 30;
+  double yearsSinceEpoch = minutesSinceEpoch / 60 / 24 / 365;
 
-  if ((monthsSinceEpoch > 1) || (monthsSinceEpoch < -1)) {
+  if ((yearsSinceEpoch > 1) || (yearsSinceEpoch < -1)) {
     return TLE_TOO_OLD;
   }
 

src/fsfw/globalfunctions/math/VectorOperations.h

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

src/fsfw/housekeeping/PeriodicHousekeepingHelper.cpp

@@ -3,7 +3,6 @@
 #include <cmath>
 
 #include "fsfw/datapoollocal/LocalPoolDataSetBase.h"
-#include "fsfw/serviceinterface.h"
 
 PeriodicHousekeepingHelper::PeriodicHousekeepingHelper(LocalPoolDataSetBase* owner)
     : owner(owner) {}
@@ -11,29 +10,51 @@ PeriodicHousekeepingHelper::PeriodicHousekeepingHelper(LocalPoolDataSetBase* own
 void PeriodicHousekeepingHelper::initialize(float collectionInterval,
                                             dur_millis_t minimumPeriodicInterval) {
   this->minimumPeriodicInterval = minimumPeriodicInterval;
-  changeCollectionInterval(collectionInterval);
+  collectionIntervalTicks = intervalSecondsToIntervalTicks(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 collectionInterval;
+  return intervalTicksToSeconds(collectionIntervalTicks);
 }
 
 bool PeriodicHousekeepingHelper::checkOpNecessary() {
-  if (hkGenerationCd.hasTimedOut()) {
-    hkGenerationCd.resetTimer();
+  if (internalTickCounter >= collectionIntervalTicks) {
+    internalTickCounter = 1;
     return true;
   }
+  internalTickCounter++;
   return false;
 }
 
-void PeriodicHousekeepingHelper::changeCollectionInterval(float newIntervalSeconds) {
-  uint32_t intervalMs = newIntervalSeconds * 1000;
-  if (newIntervalSeconds <= 0) {
-    intervalMs = minimumPeriodicInterval;
-    newIntervalSeconds = static_cast<float>(minimumPeriodicInterval) / 1000.0;
+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;
   }
-  collectionInterval = newIntervalSeconds;
-  hkGenerationCd.setTimeout(intervalMs);
-  // We want an immediate HK packet at the start, so time out the generation CD immediately.
-  hkGenerationCd.timeOut();
+}
+
+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);
 }

src/fsfw/housekeeping/PeriodicHousekeepingHelper.h

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

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

src/fsfw/internalerror/InternalErrorReporter.h

@@ -21,8 +21,7 @@ class InternalErrorReporter : public SystemObject,
                               public InternalErrorReporterIF,
                               public HasLocalDataPoolIF {
  public:
-  InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth,
-                        bool enableSetByDefault, float generationFrequency);
+  InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth = 5);
 
   /**
    * Enable diagnostic printout. Please note that this feature will
@@ -64,8 +63,6 @@ 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/pus/Service8FunctionManagement.cpp

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

src/fsfw/pus/Service8FunctionManagement.h

@@ -31,8 +31,7 @@
 class Service8FunctionManagement : public CommandingServiceBase {
  public:
   Service8FunctionManagement(object_id_t objectId, uint16_t apid, uint8_t serviceId,
-                             size_t queueDepth, uint8_t numParallelCommands = 4,
-                             uint16_t commandTimeoutSeconds = 60);
+                             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<size_t> adapter;
+  SerialBufferAdapter<uint8_t> adapter;
   const SerializeIF* sourceData = nullptr;
 };
 

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

@@ -24,9 +24,3 @@ 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

@@ -14,7 +14,6 @@ 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

@@ -73,10 +73,8 @@ 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 = SET_OUT_SEL_1 | SET_OUT_SEL_0;
+static constexpr uint8_t CTRL_REG_5_VAL = 0b00000000;
 
 /* Possible range values in degrees per second (DPS). */
 static constexpr uint16_t RANGE_DPS_00 = 245;

src/fsfw_hal/host/HostFilesystem.cpp

@@ -165,8 +165,7 @@ ReturnValue_t HostFilesystem::truncateFile(FilesystemParams params) {
   if (not filesystem::exists(path, e)) {
     return FILE_DOES_NOT_EXIST;
   }
-  // Specify truncation flug explicitely.
-  ofstream of(path, std::ios::out | std::ios::trunc);
+  ofstream of(path);
   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, 20, false, 1.0);
+  new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
 
   {
     PoolManager::LocalPoolConfig poolCfg = {{100, 16}, {50, 32}, {25, 64}, {15, 128}, {5, 1024}};