Compare commits
1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 muellerr
|
04122ffec5 |
+19
-121
@@ -10,76 +10,21 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
|
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# [v6.0.0]
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## Fixes
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- Add monotonic watchdog Clock API and use it in `Countdown` and `Stopwatch` class.
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- Bugfix in `Service11TelecommandScheduling` which allowed commands
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time tagged in the past to be inserted.
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/738
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- `CService200ModeManagement`: Various bugfixes which lead to now execution complete being generated
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on mode announcements, duplicate mode reply generated on announce commands, and the mode read
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subservice not working properly.
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- Memory leak fixes for the TCP/IP TMTC bridge.
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/737
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- `Service9TimeManagement`: Fix the time dump at the `SET_TIME` subservice: Include clock timeval
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seconds instead of uptime.
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/726
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- HAL MGM3100 Handler: Use axis specific gain/scaling factors. Previously,
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only the X scaling factor was used.
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/724
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- Bugfix for RM3100 MGM sensors. Z value was previously calculated
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with bytes of the X value.
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- DHB `setNormalDatapoolEntriesInvalid`: The default implementation did not set the validity
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to false correctly because the `read` and `write` calls were missing.
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- PUS TMTC creator module: Sequence flags were set to continuation segment (0b00) instead
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of the correct unsegmented flags (0b11) as specified in the standard.
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- TC Scheduler Service 11: Add size and CRC check for contained TC.
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- Only delete health table entry in `HealthHelper` destructor if
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health table was set.
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/710/files
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- I2C Bugfixes: Do not keep iterator as member and fix some incorrect handling with the iterator.
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Also properly reset the reply size for successfull transfers and erroneous transfers.
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/700
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- Bugfix for Serial Buffer Stream: Setting `doActive` to false now
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actually fully disables printing.
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/680
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- `TcpTmTcServer.cpp`: The server was actually not able to handle
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CCSDS packets which were clumped together. This has been fixed now.
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/673
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## Added
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- `CServiceHealthCommanding`: Add announce all health info implementation
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PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/122
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- Empty constructor for `CdsShortTimeStamper` which does not do an object manager registration.
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/730
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- `Service9TimeManagement`: Add `DUMP_TIME` (129) subservice.
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- `TcpTmTcServer`: Allow setting the `SO_REUSEADDR` and `SO_REUSEPORT`
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option on the TCP server. CTOR prototype has changed and expects an explicit
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TCP configuration struct to be passed.
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/722
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- `DleParser` helper class to parse DLE encoded packets from a byte stream.
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/711
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- `UioMapper` is able to resolve symlinks now.
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/709
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- DHB TM handler `handleDeviceTM` renamed to `handleDeviceTm` and now takes
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`util::DataWrapper` as the data input argument. This allows more flexibility in the possible
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types of telemetry.
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/669
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- Add `util::DataWrapper` class inside the `util` module. This is a tagged union which allows
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to specify raw data either as a classic C-style raw pointer and size or as a `SerializeIF`
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pointer.
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/668
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- Add new `UnsignedByteField` class
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/660
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## Changes
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- `CService201HealthCommanding` renamed to `CServiceHealthCommanding`,
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service ID customizable now. `CServiceHealthCommanding` expects configuration struct
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`HealthServiceCfg` now
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PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/122
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- `AcceptsTelemetryIF`: `getReportReceptionQueue` is const now
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/712
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- Moved some container returnvalues to dedicated header and namespace
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to they can be used without template specification.
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/707
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- Remove default secondary header argument for
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`uint16_t getTcSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag)` and
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`uint16_t getTmSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag)`
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/689
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- Removed `HasReturnvaluesIF` class in favor of `returnvalue` namespace with `OK` and `FAILED`
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constants.
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/659
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@@ -87,63 +32,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
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for other modules
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/655
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which also includes a migration guide
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- Bump Catch2 dependency to regular version `v3.1.0`
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/678
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- `SerialBufferAdapter`: Rename `setBuffer` to `setConstBuffer` and update
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API to expect `const uint8_t*` accordingly.
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/677
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- Remove the following user includes from `fsfw/events/Event.h` and
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`fsfw/returnvalues/returnvalue.h`:
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- `#include "events/subsystemIdRanges.h"`
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- `#include "returnvalues/classIds.h"`
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The user has to include those themselves now
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/675
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- `DeviceHandlerBase`: Set command sender before calling `buildCommandFromCommand`.
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This allows finishing action commands immediately inside the function.
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/672
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- `DeviceHandlerBase`: New signature of `handleDeviceTm` which expects
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a `const SerializeIF&` and additional helper variant which expects `const uint8_t*`
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/671
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- Move some generic `StorageManagerIF` implementations from `LocalPool` to
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interface itself so it can be re-used more easily. Also add new
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abstract function `bool hasDataAtId(store_address_t storeId) const`.
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/685
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- Improvements for `AcceptsTelemetryIF` and `AcceptsTelecommandsIF`:
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- Make functions `const` where it makes sense
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- Add `const char* getName const` abstract function
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/684
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- Move some generic `StorageManagerIF` implementations from `LocalPool` to
|
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interface itself so it can be re-used more easily. Also add new
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abstract function `bool hasDataAtId(store_address_t storeId) const`.
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/685
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## CFDP
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- Refactoring of CFDP stack which was done during implementation of the CFDP source and destination
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handlers.
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- New filesystem module, changes for filesystem abstraction `HasFileSystemIF` to better
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fit requirements of CFDP
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- New `HostFilesystem` implementation of the `HasFileSystemIF`
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- New `cfdp::UserBase` class which is the abstraction for the CFDP user in an OBSW context.
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- mib module for the CFDP stack
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- PDU classes renamed from `...Serializer`/`...Deserializer` to `...Creator`/`...Reader`
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respetively
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- Renamed `TcDistributor` to `TcDistributorBase` to prevent confusion
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- Refactored `TcDisitributorBase` to be more flexible and usable for CFDP distribution
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- Renamed `CCSDSDistributor` to `CcsdsDistributor` and add feature which allows it
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to remove the CCSDS header when routing a packet. This allows CCSDS agnostic receiver
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implementation without an extra component
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/682
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## HAL
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||||
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- SPI: Cache the SPI device in the communication interface. Architecturally, this makes a
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lot more sense because each ComIF should be responsible for one SPI bus.
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- SPI: Move the empty transfer to update the line polarity to separate function. This means
|
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it is not automatically called when calling the setter function for SPI speed and mode.
|
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The user should call this function after locking the CS mutex if multiple SPI devices with
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differing speeds and modes are attached to one bus.
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- SPI: Getter functions for SPI speed and mode.
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# [v5.0.0] 25.07.2022
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@@ -278,7 +166,6 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
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- https://gitlab.kitware.com/cmake/cmake/-/issues/21696
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Easiest solution for now: Keep this option OFF by default.
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616
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- Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1
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- Dedicated Version class and constant `fsfw::FSFW_VERSION` containing version information
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inside `fsfw/version.h`
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/559
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@@ -293,6 +180,17 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
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- `Subsystem`: New API to add table and sequence entries
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|
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## HAL
|
||||
|
||||
- SPI: Cache the SPI device in the communication interface. Architecturally, this makes a
|
||||
lot more sense because each ComIF should be responsible for one SPI bus.
|
||||
- SPI: Move the empty transfer to update the line polarity to separate function. This means
|
||||
it is not automatically called when calling the setter function for SPI speed and mode.
|
||||
The user should call this function after locking the CS mutex if multiple SPI devices with
|
||||
differing speeds and modes are attached to one bus.
|
||||
- SPI: Getter functions for SPI speed and mode.
|
||||
- I2C: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1.
|
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## Fixed
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- TCP TMTC Server: `MutexGuard` was not created properly in
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|
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+12
-22
@@ -80,7 +80,7 @@ set(FSFW_CATCH2_LIB_MAJOR_VERSION
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3
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CACHE STRING "Catch2 library major version requirement")
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set(FSFW_CATCH2_LIB_VERSION
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v${FSFW_CATCH2_LIB_MAJOR_VERSION}.1.0
|
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v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5
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CACHE STRING "Catch2 library exact version requirement")
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# Keep this off by default for now. See PR:
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@@ -104,8 +104,7 @@ if(FSFW_GENERATE_SECTIONS)
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option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
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endif()
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|
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option(FSFW_BUILD_TESTS
|
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"Build unittest binary in addition to static library. Requires Catch2"
|
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option(FSFW_BUILD_TESTS "Build unittest binary in addition to static library"
|
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OFF)
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option(FSFW_CICD_BUILD "Build for CI/CD. This can disable problematic test" OFF)
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option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF)
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@@ -116,13 +115,13 @@ endif()
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option(FSFW_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)
|
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# Options to exclude parts of the FSFW from compilation.
|
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option(FSFW_ADD_INTERNAL_TESTS "Add internal unit tests" ON)
|
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option(FSFW_ADD_UNITTESTS "Add regular unittests. Requires Catch2" OFF)
|
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option(FSFW_ADD_HAL "Add Hardware Abstraction Layer" ON)
|
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|
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if(UNIX)
|
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option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add Linux peripheral drivers"
|
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OFF)
|
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option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Attempt to add Linux GPIOD drivers" OFF)
|
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option(FSFW_HAL_LINUX_ADD_SERIAL_DRIVERS "Add serial drivers" ON)
|
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endif()
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|
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# Optional sources
|
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@@ -153,12 +152,12 @@ if(FSFW_BUILD_TESTS)
|
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"${MSG_PREFIX} Building the FSFW unittests in addition to the static library"
|
||||
)
|
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# Check whether the user has already installed Catch2 first
|
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find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION} QUIET)
|
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find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION})
|
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# Not installed, so use FetchContent to download and provide Catch2
|
||||
if(NOT Catch2_FOUND)
|
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message(
|
||||
STATUS
|
||||
"${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent."
|
||||
"${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent"
|
||||
)
|
||||
include(FetchContent)
|
||||
|
||||
@@ -196,13 +195,13 @@ message(
|
||||
)
|
||||
|
||||
# Check whether the user has already installed ETL first
|
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find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
|
||||
find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} CONFIG QUIET)
|
||||
# Not installed, so use FetchContent to download and provide etl
|
||||
if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
|
||||
message(
|
||||
STATUS
|
||||
"${MSG_PREFIX} ETL installation not found. Downloading ETL with FetchContent."
|
||||
)
|
||||
"${MSG_PREFIX} No ETL installation was found with find_package. Installing and providing "
|
||||
"etl with FindPackage")
|
||||
include(FetchContent)
|
||||
|
||||
FetchContent_Declare(
|
||||
@@ -327,8 +326,7 @@ if(FSFW_BUILD_TESTS)
|
||||
"/usr/local/include/*"
|
||||
"*/fsfw_tests/*"
|
||||
"*/catch2-src/*"
|
||||
"*/fsfw_hal/*"
|
||||
"unittests/*")
|
||||
"*/fsfw_hal/*")
|
||||
endif()
|
||||
|
||||
target_link_options(${FSFW_TEST_TGT} PRIVATE -fprofile-arcs
|
||||
@@ -346,15 +344,8 @@ if(FSFW_BUILD_TESTS)
|
||||
DEPENDENCIES ${FSFW_TEST_TGT})
|
||||
else()
|
||||
setup_target_for_coverage_lcov(
|
||||
NAME
|
||||
${FSFW_TEST_TGT}_coverage
|
||||
EXECUTABLE
|
||||
${FSFW_TEST_TGT}
|
||||
DEPENDENCIES
|
||||
${FSFW_TEST_TGT}
|
||||
GENHTML_ARGS
|
||||
--html-epilog
|
||||
${CMAKE_SOURCE_DIR}/unittests/lcov_epilog.html)
|
||||
NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT}
|
||||
DEPENDENCIES ${FSFW_TEST_TGT})
|
||||
endif()
|
||||
endif()
|
||||
endif()
|
||||
@@ -369,8 +360,7 @@ if(NOT FSFW_CONFIG_PATH)
|
||||
if(NOT FSFW_BUILD_DOCS)
|
||||
message(
|
||||
WARNING
|
||||
"${MSG_PREFIX} Flight Software Framework configuration path FSFW_CONFIG_PATH not set"
|
||||
)
|
||||
"${MSG_PREFIX} Flight Software Framework configuration path not set")
|
||||
message(
|
||||
WARNING
|
||||
"${MSG_PREFIX} Setting default configuration from ${DEF_CONF_PATH} ..")
|
||||
|
||||
@@ -175,7 +175,7 @@ cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..
|
||||
Then you can generate the documentation using
|
||||
|
||||
```sh
|
||||
cmake --build . -- Sphinx -j
|
||||
cmake --build . -j
|
||||
```
|
||||
|
||||
You can find the generated documentation inside the `docs/sphinx` folder inside the build
|
||||
|
||||
+9
-18
@@ -5,25 +5,16 @@ RUN apt-get --yes upgrade
|
||||
|
||||
#tzdata is a dependency, won't install otherwise
|
||||
ARG DEBIAN_FRONTEND=noninteractive
|
||||
RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping python3 pip doxygen graphviz rsync
|
||||
|
||||
RUN python3 -m pip install sphinx breathe
|
||||
RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping
|
||||
|
||||
RUN git clone https://github.com/catchorg/Catch2.git && \
|
||||
cd Catch2 && \
|
||||
git checkout v3.1.0 && \
|
||||
cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
|
||||
cmake --build build/ --target install
|
||||
cd Catch2 && \
|
||||
git checkout v3.0.0-preview5 && \
|
||||
cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
|
||||
cmake --build build/ --target install
|
||||
|
||||
RUN git clone https://github.com/ETLCPP/etl.git && \
|
||||
cd etl && \
|
||||
git checkout 20.28.0 && \
|
||||
cmake -B build . && \
|
||||
cmake --install build/
|
||||
|
||||
#ssh needs a valid user to work
|
||||
RUN adduser --uid 114 jenkins
|
||||
|
||||
#add documentation server to known hosts
|
||||
RUN echo "|1|/LzCV4BuTmTb2wKnD146l9fTKgQ=|NJJtVjvWbtRt8OYqFgcYRnMQyVw= ecdsa-sha2-nistp256 AAAAE2VjZHNhLXNoYTItbmlzdHAyNTYAAAAIbmlzdHAyNTYAAABBBNL8ssTonYtgiR/6RRlSIK9WU1ywOcJmxFTLcEblAwH7oifZzmYq3XRfwXrgfMpylEfMFYfCU8JRqtmi19xc21A=" >> /etc/ssh/ssh_known_hosts
|
||||
RUN echo "|1|CcBvBc3EG03G+XM5rqRHs6gK/Gg=|oGeJQ+1I8NGI2THIkJsW92DpTzs= ecdsa-sha2-nistp256 AAAAE2VjZHNhLXNoYTItbmlzdHAyNTYAAAAIbmlzdHAyNTYAAABBBNL8ssTonYtgiR/6RRlSIK9WU1ywOcJmxFTLcEblAwH7oifZzmYq3XRfwXrgfMpylEfMFYfCU8JRqtmi19xc21A=" >> /etc/ssh/ssh_known_hosts
|
||||
cd etl && \
|
||||
git checkout 20.28.0 && \
|
||||
cmake -B build . && \
|
||||
cmake --install build/
|
||||
|
||||
Vendored
+25
-109
@@ -1,125 +1,41 @@
|
||||
pipeline {
|
||||
environment {
|
||||
BUILDDIR_HOST = 'cmake-build-tests-host'
|
||||
BUILDDIR_LINUX = 'cmake-build-tests-linux'
|
||||
DOCDDIR = 'cmake-build-documentation'
|
||||
BUILDDIR = 'cmake-build-tests'
|
||||
}
|
||||
agent {
|
||||
docker {
|
||||
image 'fsfw-ci:d6'
|
||||
args '--network host --sysctl fs.mqueue.msg_max=100'
|
||||
}
|
||||
docker { image 'fsfw-ci:d3'}
|
||||
}
|
||||
stages {
|
||||
stage('Host') {
|
||||
stages{
|
||||
stage('Clean') {
|
||||
steps {
|
||||
sh 'rm -rf $BUILDDIR_HOST'
|
||||
}
|
||||
}
|
||||
stage('Configure') {
|
||||
steps {
|
||||
dir(BUILDDIR_HOST) {
|
||||
sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
|
||||
}
|
||||
}
|
||||
}
|
||||
stage('Build') {
|
||||
steps {
|
||||
dir(BUILDDIR_HOST) {
|
||||
sh 'cmake --build . -j4'
|
||||
}
|
||||
}
|
||||
}
|
||||
stage('Unittests') {
|
||||
steps {
|
||||
dir(BUILDDIR_HOST) {
|
||||
sh 'cmake --build . -- fsfw-tests_coverage -j4'
|
||||
}
|
||||
}
|
||||
}
|
||||
stage('Valgrind') {
|
||||
steps {
|
||||
dir(BUILDDIR_HOST) {
|
||||
sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
stage('Linux') {
|
||||
stages{
|
||||
stage('Clean') {
|
||||
steps {
|
||||
sh 'rm -rf $BUILDDIR_LINUX'
|
||||
}
|
||||
}
|
||||
stage('Configure') {
|
||||
steps {
|
||||
dir(BUILDDIR_LINUX) {
|
||||
sh 'cmake -DFSFW_OSAL=linux -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
|
||||
}
|
||||
}
|
||||
}
|
||||
stage('Build') {
|
||||
steps {
|
||||
dir(BUILDDIR_LINUX) {
|
||||
sh 'cmake --build . -j4'
|
||||
}
|
||||
}
|
||||
}
|
||||
stage('Unittests') {
|
||||
steps {
|
||||
dir(BUILDDIR_LINUX) {
|
||||
sh 'cmake --build . -- fsfw-tests_coverage -j4'
|
||||
}
|
||||
}
|
||||
}
|
||||
stage('Valgrind') {
|
||||
steps {
|
||||
dir(BUILDDIR_LINUX) {
|
||||
sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
stage('Documentation') {
|
||||
when {
|
||||
branch 'development'
|
||||
}
|
||||
stage('Clean') {
|
||||
steps {
|
||||
sh 'rm -rf $BUILDDIR'
|
||||
}
|
||||
}
|
||||
stage('Configure') {
|
||||
steps {
|
||||
dir(DOCDDIR) {
|
||||
sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..'
|
||||
sh 'make Sphinx'
|
||||
sshagent(credentials: ['documentation-buildfix']) {
|
||||
sh 'rsync -r --delete docs/sphinx/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/development'
|
||||
}
|
||||
}
|
||||
dir(BUILDDIR) {
|
||||
sshagent(credentials: ['documentation-buildfix']) {
|
||||
sh 'rsync -r --delete fsfw-tests_coverage/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/coverage/development'
|
||||
}
|
||||
sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
|
||||
}
|
||||
}
|
||||
}
|
||||
stage('Master Documentation') {
|
||||
when {
|
||||
branch 'master'
|
||||
}
|
||||
stage('Build') {
|
||||
steps {
|
||||
dir(DOCDDIR) {
|
||||
sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..'
|
||||
sh 'make Sphinx'
|
||||
sshagent(credentials: ['documentation-buildfix']) {
|
||||
sh 'rsync -r --delete docs/sphinx/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/master'
|
||||
}
|
||||
}
|
||||
dir(BUILDDIR) {
|
||||
sshagent(credentials: ['documentation-buildfix']) {
|
||||
sh 'rsync -r --delete fsfw-tests_coverage/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/coverage/master'
|
||||
}
|
||||
sh 'cmake --build . -j4'
|
||||
}
|
||||
}
|
||||
}
|
||||
stage('Unittests') {
|
||||
steps {
|
||||
dir(BUILDDIR) {
|
||||
sh 'cmake --build . -- fsfw-tests_coverage -j4'
|
||||
}
|
||||
}
|
||||
}
|
||||
stage('Valgrind') {
|
||||
steps {
|
||||
dir(BUILDDIR) {
|
||||
sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -140,7 +140,7 @@ find_program( GCOV_PATH gcov )
|
||||
find_program( LCOV_PATH NAMES lcov lcov.bat lcov.exe lcov.perl)
|
||||
find_program( FASTCOV_PATH NAMES fastcov fastcov.py )
|
||||
find_program( GENHTML_PATH NAMES genhtml genhtml.perl genhtml.bat )
|
||||
find_program( GCOVR_PATH gcovr )
|
||||
find_program( GCOVR_PATH gcovr PATHS ${CMAKE_SOURCE_DIR}/scripts/test)
|
||||
find_program( CPPFILT_PATH NAMES c++filt )
|
||||
|
||||
if(NOT GCOV_PATH)
|
||||
|
||||
@@ -0,0 +1,40 @@
|
||||
Configuring the FSFW
|
||||
======
|
||||
|
||||
The FSFW can be configured via the `fsfwconfig` folder. A template folder has
|
||||
been provided to have a starting point for this. The folder should be added
|
||||
to the include path. The primary configuration file is the `FSFWConfig.h` folder. Some
|
||||
of the available options will be explained in more detail here.
|
||||
|
||||
# Auto-Translation of Events
|
||||
|
||||
The FSFW allows the automatic translation of events, which allows developers to track triggered
|
||||
events directly via console output. Using this feature requires:
|
||||
|
||||
1. `FSFW_OBJ_EVENT_TRANSLATION` set to 1 in the configuration file.
|
||||
2. Special auto-generated translation files which translate event IDs and object IDs into
|
||||
human readable strings. These files can be generated using the
|
||||
[modgen Python scripts](https://git.ksat-stuttgart.de/source/modgen.git).
|
||||
3. The generated translation files for the object IDs should be named `translatesObjects.cpp`
|
||||
and `translateObjects.h` and should be copied to the `fsfwconfig/objects` folder
|
||||
4. The generated translation files for the event IDs should be named `translateEvents.cpp` and
|
||||
`translateEvents.h` and should be copied to the `fsfwconfig/events` folder
|
||||
|
||||
An example implementations of these translation file generators can be found as part
|
||||
of the [SOURCE project here](https://git.ksat-stuttgart.de/source/sourceobsw/-/tree/development/generators)
|
||||
or the [FSFW example](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example_public/src/branch/master/generators)
|
||||
|
||||
## Configuring the Event Manager
|
||||
|
||||
The number of allowed subscriptions can be modified with the following
|
||||
parameters:
|
||||
|
||||
``` c++
|
||||
namespace fsfwconfig {
|
||||
//! Configure the allocated pool sizes for the event manager.
|
||||
static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
|
||||
static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
|
||||
static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120;
|
||||
}
|
||||
```
|
||||
|
||||
@@ -0,0 +1 @@
|
||||
## Controllers
|
||||
@@ -0,0 +1,55 @@
|
||||
## FSFW Core Modules
|
||||
|
||||
These core modules provide the most important functionalities of the
|
||||
Flight Software Framework
|
||||
|
||||
### Clock
|
||||
|
||||
* This is a class of static functions that can be used at anytime
|
||||
* Leap Seconds must be set if any time conversions from UTC to other times is used
|
||||
|
||||
### ObjectManager
|
||||
|
||||
* Must be created during program startup
|
||||
* The component which handles all references. All SystemObjects register at this component.
|
||||
* Any SystemObject needs to have a unique ObjectId. Those can be managed like objects::framework_objects.
|
||||
* A reference to an object can be get by calling the following function. T must be the specific Interface you want to call.
|
||||
A nullptr check of the returning Pointer must be done. This function is based on Run-time type information.
|
||||
|
||||
```cpp
|
||||
template <typename T> T* ObjectManagerIF::get( object_id_t id )
|
||||
```
|
||||
* A typical way to create all objects on startup is a handing a static produce function to the
|
||||
ObjectManager on creation. By calling objectManager->initialize() the produce function will be
|
||||
called and all SystemObjects will be initialized afterwards.
|
||||
|
||||
### Event Manager
|
||||
|
||||
* Component which allows routing of events
|
||||
* Other objects can subscribe to specific events, ranges of events or all events of an object.
|
||||
* Subscriptions can be done during runtime but should be done during initialization
|
||||
* Amounts of allowed subscriptions can be configured in `FSFWConfig.h`
|
||||
|
||||
### Health Table
|
||||
|
||||
* A component which holds every health state
|
||||
* Provides a thread safe way to access all health states without the need of message exchanges
|
||||
|
||||
### Stores
|
||||
|
||||
* The message based communication can only exchange a few bytes of information inside the message
|
||||
itself. Therefore, additional information can be exchanged with Stores. With this, only the
|
||||
store address must be exchanged in the message.
|
||||
* Internally, the FSFW uses an IPC Store to exchange data between processes. For incoming TCs a TC
|
||||
Store is used. For outgoing TM a TM store is used.
|
||||
* All of them should use the Thread Safe Class storagemanager/PoolManager
|
||||
|
||||
### Tasks
|
||||
|
||||
There are two different types of tasks:
|
||||
* The PeriodicTask just executes objects that are of type ExecutableObjectIF in the order of the
|
||||
insertion to the Tasks.
|
||||
* FixedTimeslotTask executes a list of calls in the order of the given list. This is intended for
|
||||
DeviceHandlers, where polling should be in a defined order. An example can be found in
|
||||
`defaultcfg/fsfwconfig/pollingSequence` folder
|
||||
|
||||
@@ -0,0 +1 @@
|
||||
## Device Handlers
|
||||
@@ -0,0 +1,135 @@
|
||||
High-level overview
|
||||
======
|
||||
|
||||
# Structure
|
||||
|
||||
The general structure is driven by the usage of interfaces provided by objects.
|
||||
The FSFW uses C++11 as baseline. The intention behind this is that this C++ Standard should be
|
||||
widely available, even with older compilers.
|
||||
The FSFW uses dynamic allocation during the initialization but provides static containers during runtime.
|
||||
This simplifies the instantiation of objects and allows the usage of some standard containers.
|
||||
Dynamic Allocation after initialization is discouraged and different solutions are provided in the
|
||||
FSFW to achieve that. The fsfw uses run-time type information but exceptions are not allowed.
|
||||
|
||||
# Failure Handling
|
||||
|
||||
Functions should return a defined `ReturnValue_t` to signal to the caller that something has
|
||||
gone wrong. Returnvalues must be unique. For this the function `returnvalue::makeCode`
|
||||
or the macro `MAKE_RETURN` can be used. The `CLASS_ID` is a unique id for that type of object.
|
||||
See `returnvalues/FwClassIds` folder. The user can add custom `CLASS_ID`s via the
|
||||
`fsfwconfig` folder.
|
||||
|
||||
# OSAL
|
||||
|
||||
The FSFW provides operation system abstraction layers for Linux, FreeRTOS and RTEMS.
|
||||
The OSAL provides periodic tasks, message queues, clocks and semaphores as well as mutexes.
|
||||
The [OSAL README](doc/README-osal.md#top) provides more detailed information on provided components
|
||||
and how to use them.
|
||||
|
||||
# Core Components
|
||||
|
||||
The FSFW has following core components. More detailed informations can be found in the
|
||||
[core component section](doc/README-core.md#top):
|
||||
|
||||
1. Tasks: Abstraction for different (periodic) task types like periodic tasks or tasks
|
||||
with fixed timeslots
|
||||
2. ObjectManager: This module stores all `SystemObjects` by mapping a provided unique object ID
|
||||
to the object handles.
|
||||
3. Static Stores: Different stores are provided to store data of variable size (like telecommands
|
||||
or small telemetry) in a pool structure without using dynamic memory allocation.
|
||||
These pools are allocated up front.
|
||||
3. Clock: This module provided common time related functions
|
||||
4. EventManager: This module allows routing of events generated by `SystemObjects`
|
||||
5. HealthTable: A component which stores the health states of objects
|
||||
|
||||
# Static IDs in the framework
|
||||
|
||||
Some parts of the framework use a static routing address for communication.
|
||||
An example setup of ids can be found in the example config in `defaultcft/fsfwconfig/objects`
|
||||
inside the function `Factory::setStaticFrameworkObjectIds()`.
|
||||
|
||||
# Events
|
||||
|
||||
Events are tied to objects. EventIds can be generated by calling the Macro MAKE_EVENT.
|
||||
This works analog to the returnvalues. Every object that needs own EventIds has to get a
|
||||
unique SUBSYSTEM_ID. Every SystemObject can call triggerEvent from the parent class.
|
||||
Therefore, event messages contain the specific EventId and the objectId of the object that
|
||||
has triggered.
|
||||
|
||||
# Internal Communication
|
||||
|
||||
Components communicate mostly via Messages through Queues.
|
||||
Those queues are created by calling the singleton `QueueFactory::instance()->create()` which
|
||||
will create `MessageQueue` instances for the used OSAL.
|
||||
|
||||
# External Communication
|
||||
|
||||
The external communication with the mission control system is mostly up to the user implementation.
|
||||
The FSFW provides PUS Services which can be used to but don't need to be used.
|
||||
The services can be seen as a conversion from a TC to a message based communication and back.
|
||||
|
||||
## TMTC Communication
|
||||
|
||||
The FSFW provides some components to facilitate TMTC handling via the PUS commands.
|
||||
For example, a UDP or TCP PUS server socket can be opened on a specific port using the
|
||||
files located in `osal/common`. The FSFW example uses this functionality to allow sending telecommands
|
||||
and receiving telemetry using the [TMTC commander application](https://github.com/spacefisch/tmtccmd).
|
||||
Simple commands like the PUS Service 17 ping service can be tested by simply running the
|
||||
`tmtc_client_cli.py` or `tmtc_client_gui.py` utility in
|
||||
the [example tmtc folder](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example_public/src/branch/master/tmtc)
|
||||
while the `fsfw_example` application is running.
|
||||
|
||||
More generally, any class responsible for handling incoming telecommands and sending telemetry
|
||||
can implement the generic `TmTcBridge` class located in `tmtcservices`. Many applications
|
||||
also use a dedicated polling task for reading telecommands which passes telecommands
|
||||
to the `TmTcBridge` implementation.
|
||||
|
||||
## CCSDS Frames, CCSDS Space Packets and PUS
|
||||
|
||||
If the communication is based on CCSDS Frames and Space Packets, several classes can be used to
|
||||
distributed the packets to the corresponding services. Those can be found in `tcdistribution`.
|
||||
If Space Packets are used, a timestamper has to be provided by the user.
|
||||
An example can be found in the `timemanager` folder, which uses `CCSDSTime::CDS_short`.
|
||||
|
||||
# Device Handlers
|
||||
|
||||
DeviceHandlers are another important component of the FSFW.
|
||||
The idea is, to have a software counterpart of every physical device to provide a simple mode,
|
||||
health and commanding interface. By separating the underlying Communication Interface with
|
||||
`DeviceCommunicationIF`, a device handler (DH) can be tested on different hardware.
|
||||
The DH has mechanisms to monitor the communication with the physical device which allow
|
||||
for FDIR reaction. Device Handlers can be created by implementing `DeviceHandlerBase`.
|
||||
A standard FDIR component for the DH will be created automatically but can
|
||||
be overwritten by the user. More information on DeviceHandlers can be found in the
|
||||
related [documentation section](doc/README-devicehandlers.md#top).
|
||||
|
||||
# Modes and Health
|
||||
|
||||
The two interfaces `HasModesIF` and `HasHealthIF` provide access for commanding and monitoring
|
||||
of components. On-board Mode Management is implement in hierarchy system.
|
||||
DeviceHandlers and Controllers are the lowest part of the hierarchy.
|
||||
The next layer are Assemblies. Those assemblies act as a component which handle
|
||||
redundancies of handlers. Assemblies share a common core with the next level which
|
||||
are the Subsystems.
|
||||
|
||||
Those Assemblies are intended to act as auto-generated components from a database which describes
|
||||
the subsystem modes. The definitions contain transition and target tables which contain the DH,
|
||||
Assembly and Controller Modes to be commanded.
|
||||
Transition tables contain as many steps as needed to reach the mode from any other mode, e.g. a
|
||||
switch into any higher AOCS mode might first turn on the sensors, than the actuators and the
|
||||
controller as last component.
|
||||
The target table is used to describe the state that is checked continuously by the subsystem.
|
||||
All of this allows System Modes to be generated as Subsystem object as well from the same database.
|
||||
This System contains list of subsystem modes in the transition and target tables.
|
||||
Therefore, it allows a modular system to create system modes and easy commanding of those, because
|
||||
only the highest components must be commanded.
|
||||
|
||||
The health state represents if the component is able to perform its tasks.
|
||||
This can be used to signal the system to avoid using this component instead of a redundant one.
|
||||
The on-board FDIR uses the health state for isolation and recovery.
|
||||
|
||||
# Unit Tests
|
||||
|
||||
Unit Tests are provided in the unittest folder. Those use the catch2 framework but do not include
|
||||
catch2 itself. More information on how to run these tests can be found in the separate
|
||||
[`fsfw_tests` reposoitory](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_tests)
|
||||
@@ -0,0 +1,174 @@
|
||||
## Local Data Pools Developer Information
|
||||
|
||||
The following text is targeted towards mission software developers which would like
|
||||
to use the local data pools provided by the FSFW to store data like sensor values so they can be
|
||||
used by other software objects like controllers as well. If a custom class should have a local
|
||||
pool which can be used by other software objects as well, following steps have to be performed:
|
||||
|
||||
1. Create a `LocalDataPoolManager` member object in the custom class
|
||||
2. Implement the `HasLocalDataPoolIF` with specifies the interface between the local pool manager
|
||||
and the class owning the local pool.
|
||||
|
||||
The local data pool manager is also able to process housekeeping service requests in form
|
||||
of messages, generate periodic housekeeping packet, generate notification and snapshots of changed
|
||||
variables and datasets and process notifications and snapshots coming from other objects.
|
||||
The two former tasks are related to the external interface using telemetry and telecommands (TMTC)
|
||||
while the later two are related to data consumers like controllers only acting on data change
|
||||
detected by the data creator instead of checking the data manually each cycle. Two important
|
||||
framework classes `DeviceHandlerBase` and `ExtendedControllerBase` already perform the two steps
|
||||
shown above so the steps required are altered slightly.
|
||||
|
||||
### Storing and Accessing pool data
|
||||
|
||||
The pool manager is responsible for thread-safe access of the pool data, but the actual
|
||||
access to the pool data from the point of view of a mission software developer happens via proxy
|
||||
classes like pool variable classes. These classes store a copy
|
||||
of the pool variable with the matching datatype and copy the actual data from the local pool
|
||||
on a `read` call. Changed variables can then be written to the local pool with a `commit` call.
|
||||
The `read` and `commit` calls are thread-safe and can be called concurrently from data creators
|
||||
and data consumers. Generally, a user will create a dataset class which in turn groups all
|
||||
cohesive pool variables. These sets simply iterator over the list of variables and call the
|
||||
`read` and `commit` functions of each variable. The following diagram shows the
|
||||
high-level architecture of the local data pools.
|
||||
|
||||
.. image:: ../misc/logo/FSFW_Logo_V3_bw.png
|
||||
:alt: FSFW Logo
|
||||
|
||||
|
||||
An example is shown for using the local data pools with a Gyroscope.
|
||||
For example, the following code shows an implementation to access data from a Gyroscope taken
|
||||
from the SOURCE CubeSat project:
|
||||
|
||||
```cpp
|
||||
class GyroPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
|
||||
public:
|
||||
/**
|
||||
* Constructor for data users
|
||||
* @param gyroId
|
||||
*/
|
||||
GyroPrimaryDataset(object_id_t gyroId):
|
||||
StaticLocalDataSet(sid_t(gyroId, gyrodefs::GYRO_DATA_SET_ID)) {
|
||||
setAllVariablesReadOnly();
|
||||
}
|
||||
|
||||
lp_var_t<float> angVelocityX = lp_var_t<float>(sid.objectId,
|
||||
gyrodefs::ANGULAR_VELOCITY_X, this);
|
||||
lp_var_t<float> angVelocityY = lp_var_t<float>(sid.objectId,
|
||||
gyrodefs::ANGULAR_VELOCITY_Y, this);
|
||||
lp_var_t<float> angVelocityZ = lp_var_t<float>(sid.objectId,
|
||||
gyrodefs::ANGULAR_VELOCITY_Z, this);
|
||||
private:
|
||||
|
||||
friend class GyroHandler;
|
||||
/**
|
||||
* Constructor for data creator
|
||||
* @param hkOwner
|
||||
*/
|
||||
GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
|
||||
StaticLocalDataSet(hkOwner, gyrodefs::GYRO_DATA_SET_ID) {}
|
||||
};
|
||||
```
|
||||
|
||||
There is a public constructor for users which sets all variables to read-only and there is a
|
||||
constructor for the GyroHandler data creator by marking it private and declaring the `GyroHandler`
|
||||
as a friend class. Both the atittude controller and the `GyroHandler` can now
|
||||
use the same class definition to access the pool variables with `read` and `commit` semantics
|
||||
in a thread-safe way. Generally, each class requiring access will have the set class as a member
|
||||
class. The data creator will also be generally a `DeviceHandlerBase` subclass and some additional
|
||||
steps are necessary to expose the set for housekeeping purposes.
|
||||
|
||||
### Using the local data pools in a `DeviceHandlerBase` subclass
|
||||
|
||||
It is very common to store data generated by devices like a sensor into a pool which can
|
||||
then be used by other objects. Therefore, the `DeviceHandlerBase` already has a
|
||||
local pool. Using the aforementioned example, our `GyroHandler` will now have the set class
|
||||
as a member:
|
||||
|
||||
```cpp
|
||||
class GyroHandler: ... {
|
||||
|
||||
public:
|
||||
...
|
||||
private:
|
||||
...
|
||||
GyroPrimaryDataset gyroData;
|
||||
...
|
||||
};
|
||||
```
|
||||
|
||||
The constructor used for the creators expects the owner class as a parameter, so we initialize
|
||||
the object in the `GyroHandler` constructor like this:
|
||||
|
||||
```cpp
|
||||
GyroHandler::GyroHandler(object_id_t objectId, object_id_t comIF,
|
||||
CookieIF *comCookie, uint8_t switchId):
|
||||
DeviceHandlerBase(objectId, comIF, comCookie), switchId(switchId),
|
||||
gyroData(this) {}
|
||||
```
|
||||
|
||||
We need to assign the set to a reply ID used in the `DeviceHandlerBase`.
|
||||
The combination of the `GyroHandler` object ID and the reply ID will be the 64-bit structure ID
|
||||
`sid_t` and is used to globally identify the set, for example when requesting housekeeping data or
|
||||
generating update messages. We need to assign our custom set class in some way so that the local
|
||||
pool manager can access the custom data sets as well.
|
||||
By default, the `getDataSetHandle` will take care of this tasks. The default implementation for a
|
||||
`DeviceHandlerBase` subclass will use the internal command map to retrieve
|
||||
a handle to a dataset from a given reply ID. Therefore,
|
||||
we assign the set in the `fillCommandAndReplyMap` function:
|
||||
|
||||
```cpp
|
||||
void GyroHandler::fillCommandAndReplyMap() {
|
||||
...
|
||||
this->insertInCommandAndReplyMap(gyrodefs::GYRO_DATA, 3, &gyroData);
|
||||
...
|
||||
}
|
||||
```
|
||||
|
||||
Now, we need to create the actual pool entries as well, using the `initializeLocalDataPool`
|
||||
function. Here, we also immediately subscribe for periodic housekeeping packets
|
||||
with an interval of 4 seconds. They are still disabled in this example and can be enabled
|
||||
with a housekeeping service command.
|
||||
|
||||
```cpp
|
||||
ReturnValue_t GyroHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
|
||||
LocalDataPoolManager &poolManager) {
|
||||
localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_X,
|
||||
new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Y,
|
||||
new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Z,
|
||||
new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(gyrodefs::GENERAL_CONFIG_REG42,
|
||||
new PoolEntry<uint8_t>({0}));
|
||||
localDataPoolMap.emplace(gyrodefs::RANGE_CONFIG_REG43,
|
||||
new PoolEntry<uint8_t>({0}));
|
||||
|
||||
poolManager.subscribeForPeriodicPacket(gyroData.getSid(), false, 4.0, false);
|
||||
return returnvalue::OK;
|
||||
}
|
||||
```
|
||||
|
||||
Now, if we receive some sensor data and converted them into the right format,
|
||||
we can write it into the pool like this, using a guard class to ensure the set is commited back
|
||||
in any case:
|
||||
|
||||
```cpp
|
||||
PoolReadGuard readHelper(&gyroData);
|
||||
if(readHelper.getReadResult() == returnvalue::OK) {
|
||||
if(not gyroData.isValid()) {
|
||||
gyroData.setValidity(true, true);
|
||||
}
|
||||
|
||||
gyroData.angVelocityX = angularVelocityX;
|
||||
gyroData.angVelocityY = angularVelocityY;
|
||||
gyroData.angVelocityZ = angularVelocityZ;
|
||||
}
|
||||
```
|
||||
|
||||
The guard class will commit the changed data on destruction automatically.
|
||||
|
||||
### Using the local data pools in a `ExtendedControllerBase` subclass
|
||||
|
||||
Coming soon
|
||||
|
||||
|
||||
@@ -0,0 +1,32 @@
|
||||
# Operating System Abstraction Layer (OSAL)
|
||||
|
||||
Some specific information on the provided OSALs are provided.
|
||||
|
||||
## Linux OSAL
|
||||
|
||||
This OSAL can be used to compile for Linux host systems like Ubuntu 20.04 or for
|
||||
embedded Linux targets like the Raspberry Pi. This OSAL generally requires threading support
|
||||
and real-time functionalities. For most UNIX systems, this is done by adding `-lrt` and `-lpthread` to the linked libraries in the compilation process. The CMake build support provided will do this automatically for the `fsfw` target. It should be noted that most UNIX systems need to be configured specifically to allow the real-time functionalities required by the FSFW.
|
||||
|
||||
More information on how to set up a Linux system accordingly can be found in the
|
||||
[Linux README of the FSFW example application](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example/src/branch/master/doc/README-linux.md#top)
|
||||
|
||||
## Hosted OSAL
|
||||
|
||||
This is the newest OSAL. Support for Semaphores has not been implemented yet and will propably be implemented as soon as C++20 with Semaphore support has matured. This OSAL can be used to run the FSFW on any host system, but currently has only been tested on Windows 10 and Ubuntu 20.04. Unlike the other OSALs, it uses dynamic memory allocation (e.g. for the message queue implementation). Cross-platform serial port (USB) support might be added soon.
|
||||
|
||||
## FreeRTOS OSAL
|
||||
|
||||
FreeRTOS is not included and the developer needs to take care of compiling the FreeRTOS sources and adding the `FreeRTOSConfig.h` file location to the include path. This OSAL has only been tested extensively with the pre-emptive scheduler configuration so far but it should in principle also be possible to use a cooperative scheduler. It is recommended to use the `heap_4` allocation scheme. When using newlib (nano), it is also recommended to add `#define configUSE_NEWLIB_REENTRANT` to the FreeRTOS configuration file to ensure thread-safety.
|
||||
|
||||
When using this OSAL, developers also need to provide an implementation for the `vRequestContextSwitchFromISR` function. This has been done because the call to request a context switch from an ISR is generally located in the `portmacro.h` header and is different depending on the target architecture or device.
|
||||
|
||||
## RTEMS OSAL
|
||||
|
||||
The RTEMS OSAL was the first implemented OSAL which is also used on the active satellite Flying Laptop.
|
||||
|
||||
## TCP/IP socket abstraction
|
||||
|
||||
The Linux and Host OSAL provide abstraction layers for the socket API. Currently, only UDP sockets have been imlemented. This is very useful to test TMTC handling either on the host computer directly (targeting localhost with a TMTC application) or on embedded Linux devices, sending TMTC packets via Ethernet.
|
||||
|
||||
|
||||
@@ -0,0 +1 @@
|
||||
## PUS Services
|
||||
@@ -4,7 +4,6 @@ API
|
||||
.. toctree::
|
||||
:maxdepth: 4
|
||||
|
||||
api/cfdp
|
||||
api/objectmanager
|
||||
api/task
|
||||
api/ipc
|
||||
|
||||
@@ -1,8 +0,0 @@
|
||||
CFDP API
|
||||
=================
|
||||
|
||||
``UserBase``
|
||||
-----------------
|
||||
|
||||
.. doxygenclass:: cfdp::UserBase
|
||||
:members:
|
||||
+9
-17
@@ -17,12 +17,12 @@
|
||||
|
||||
# -- Project information -----------------------------------------------------
|
||||
|
||||
project = "Flight Software Framework"
|
||||
copyright = "2021, Institute of Space Systems (IRS)"
|
||||
author = "Institute of Space Systems (IRS)"
|
||||
project = 'Flight Software Framework'
|
||||
copyright = '2021, Institute of Space Systems (IRS)'
|
||||
author = 'Institute of Space Systems (IRS)'
|
||||
|
||||
# The full version, including alpha/beta/rc tags
|
||||
release = "5.0.0"
|
||||
release = '2.0.1'
|
||||
|
||||
|
||||
# -- General configuration ---------------------------------------------------
|
||||
@@ -30,17 +30,17 @@ release = "5.0.0"
|
||||
# Add any Sphinx extension module names here, as strings. They can be
|
||||
# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
|
||||
# ones.
|
||||
extensions = ["breathe"]
|
||||
extensions = [ "breathe" ]
|
||||
|
||||
breathe_default_project = "fsfw"
|
||||
|
||||
# Add any paths that contain templates here, relative to this directory.
|
||||
templates_path = ["_templates"]
|
||||
templates_path = ['_templates']
|
||||
|
||||
# List of patterns, relative to source directory, that match files and
|
||||
# directories to ignore when looking for source files.
|
||||
# This pattern also affects html_static_path and html_extra_path.
|
||||
exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
|
||||
exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
|
||||
|
||||
|
||||
# -- Options for HTML output -------------------------------------------------
|
||||
@@ -48,17 +48,9 @@ exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
|
||||
# The theme to use for HTML and HTML Help pages. See the documentation for
|
||||
# a list of builtin themes.
|
||||
#
|
||||
html_theme = "alabaster"
|
||||
|
||||
html_theme_options = {
|
||||
"extra_nav_links": {
|
||||
"Impressum": "https://www.uni-stuttgart.de/impressum",
|
||||
"Datenschutz": "https://info.irs.uni-stuttgart.de/datenschutz/datenschutzWebmit.html",
|
||||
}
|
||||
}
|
||||
|
||||
html_theme = 'alabaster'
|
||||
|
||||
# Add any paths that contain custom static files (such as style sheets) here,
|
||||
# relative to this directory. They are copied after the builtin static files,
|
||||
# so a file named "default.css" will overwrite the builtin "default.css".
|
||||
html_static_path = []
|
||||
html_static_path = []
|
||||
+7
-8
@@ -6,14 +6,13 @@ High-level overview
|
||||
Structure
|
||||
----------
|
||||
|
||||
The general structure is driven by the usage of interfaces provided by objects.
|
||||
The FSFW uses C++17 as baseline. Most modern compilers like GCC should have support for this
|
||||
standard, even for micocontrollers.
|
||||
|
||||
The FSFW might use dynamic allocation during program initialization but not during runtime.
|
||||
It offers pool objects, static containers and it also exposes the
|
||||
`Embedded Template Library <https://www.etlcpp.com/>`_ to allow writing code which does not perform
|
||||
allocation during runtime. The fsfw uses run-time type information but will not throw exceptions.
|
||||
The general structure is driven by the usage of interfaces provided by objects.
|
||||
The FSFW uses C++11 as baseline. The intention behind this is that this C++ Standard should be
|
||||
widely available, even with older compilers.
|
||||
The FSFW uses dynamic allocation during the initialization but provides static containers during runtime.
|
||||
This simplifies the instantiation of objects and allows the usage of some standard containers.
|
||||
Dynamic Allocation after initialization is discouraged and different solutions are provided in the
|
||||
FSFW to achieve that. The fsfw uses run-time type information but exceptions are not allowed.
|
||||
|
||||
Failure Handling
|
||||
-----------------
|
||||
|
||||
@@ -4,10 +4,6 @@
|
||||
#include <cstddef>
|
||||
#include <cstdint>
|
||||
|
||||
// It is assumed the user has a subsystem and class ID list in some user header files.
|
||||
// #include "events/subsystemIdRanges.h"
|
||||
// #include "returnvalues/classIds.h"
|
||||
|
||||
//! Used to determine whether C++ ostreams are used which can increase
|
||||
//! the binary size significantly. If this is disabled,
|
||||
//! the C stdio functions can be used alternatively
|
||||
|
||||
@@ -4,6 +4,7 @@
|
||||
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
|
||||
#include <fsfw/events/EventManager.h>
|
||||
#include <fsfw/health/HealthTable.h>
|
||||
#include <fsfw/tmtcpacket/pus/tm/TmPacketStored.h>
|
||||
#include <fsfw/tmtcservices/CommandingServiceBase.h>
|
||||
#include <fsfw/tmtcservices/PusServiceBase.h>
|
||||
#include <fsfw/internalerror/InternalErrorReporter.h>
|
||||
@@ -40,9 +41,13 @@ void Factory::setStaticFrameworkObjectIds() {
|
||||
CommandingServiceBase::defaultPacketSource = objects::NO_OBJECT;
|
||||
CommandingServiceBase::defaultPacketDestination = objects::NO_OBJECT;
|
||||
|
||||
VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
|
||||
|
||||
DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
|
||||
DeviceHandlerBase::rawDataReceiverId = objects::PUS_SERVICE_2_DEVICE_ACCESS;
|
||||
|
||||
DeviceHandlerFailureIsolation::powerConfirmationId = objects::NO_OBJECT;
|
||||
|
||||
TmPacketBase::timeStamperId = objects::NO_OBJECT;
|
||||
}
|
||||
|
||||
|
||||
@@ -12,8 +12,7 @@ cmake_fmt="cmake-format"
|
||||
file_selectors="-iname CMakeLists.txt"
|
||||
if command -v ${cmake_fmt} &> /dev/null; then
|
||||
${cmake_fmt} -i CMakeLists.txt
|
||||
find ./src ${file_selectors} | xargs ${cmake_fmt} -i
|
||||
find ./unittests ${file_selectors} | xargs ${cmake_fmt} -i
|
||||
find ./src ${file_selectors} | xargs ${cmake_fmt} -i
|
||||
else
|
||||
echo "No ${cmake_fmt} tool found, not formatting CMake files"
|
||||
fi
|
||||
|
||||
+4
-12
@@ -51,7 +51,7 @@ def main():
|
||||
parser.add_argument(
|
||||
"-g",
|
||||
"--generators",
|
||||
default="Ninja",
|
||||
default = "Ninja",
|
||||
action="store",
|
||||
help="CMake generators",
|
||||
)
|
||||
@@ -165,18 +165,10 @@ def create_tests_build_cfg(args):
|
||||
os.mkdir(UNITTEST_FOLDER_NAME)
|
||||
os.chdir(UNITTEST_FOLDER_NAME)
|
||||
if args.windows:
|
||||
cmake_cmd = (
|
||||
'cmake -G "'
|
||||
+ args.generators
|
||||
+ '" -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON \
|
||||
cmake_cmd = 'cmake -G "' + args.generators + '" -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON \
|
||||
-DGCOVR_PATH="py -m gcovr" ..'
|
||||
)
|
||||
else:
|
||||
cmake_cmd = (
|
||||
'cmake -G "'
|
||||
+ args.generators
|
||||
+ '" -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON ..'
|
||||
)
|
||||
cmake_cmd = 'cmake -G "' + args.generators + '" -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON ..'
|
||||
cmd_runner(cmake_cmd)
|
||||
os.chdir("..")
|
||||
|
||||
@@ -207,7 +199,7 @@ def check_for_cmake_build_dir(build_dir_list: list) -> list:
|
||||
def perform_lcov_operation(directory: str, chdir: bool):
|
||||
if chdir:
|
||||
os.chdir(directory)
|
||||
cmd_runner("cmake --build . -j -- fsfw-tests_coverage")
|
||||
cmd_runner("cmake --build . -- fsfw-tests_coverage -j")
|
||||
|
||||
|
||||
def determine_build_dir(build_dir_list: List[str]):
|
||||
|
||||
@@ -31,7 +31,6 @@ add_subdirectory(thermal)
|
||||
add_subdirectory(timemanager)
|
||||
add_subdirectory(tmtcpacket)
|
||||
add_subdirectory(tmtcservices)
|
||||
add_subdirectory(filesystem)
|
||||
|
||||
# Optional
|
||||
|
||||
|
||||
@@ -1,13 +0,0 @@
|
||||
#ifndef FSFW_CFDP_H
|
||||
#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"
|
||||
#include "cfdp/tlv/Lv.h"
|
||||
#include "cfdp/tlv/StringLv.h"
|
||||
#include "cfdp/tlv/Tlv.h"
|
||||
|
||||
#endif // FSFW_CFDP_H
|
||||
@@ -1,6 +1,4 @@
|
||||
target_sources(${LIB_FSFW_NAME} PRIVATE CfdpMessage.cpp CfdpDistributor.cpp
|
||||
VarLenFields.cpp helpers.cpp)
|
||||
target_sources(${LIB_FSFW_NAME} PRIVATE CfdpHandler.cpp CfdpMessage.cpp)
|
||||
|
||||
add_subdirectory(pdu)
|
||||
add_subdirectory(tlv)
|
||||
add_subdirectory(handler)
|
||||
|
||||
@@ -1,55 +0,0 @@
|
||||
#include "CfdpDistributor.h"
|
||||
|
||||
#include "fsfw/tcdistribution/definitions.h"
|
||||
|
||||
CfdpDistributor::CfdpDistributor(CfdpDistribCfg cfg)
|
||||
: TcDistributorBase(cfg.objectId, cfg.tcQueue), cfg(cfg) {}
|
||||
|
||||
ReturnValue_t CfdpDistributor::registerTcDestination(const cfdp::EntityId& address,
|
||||
AcceptsTelecommandsIF& tcDest) {
|
||||
for (const auto& dest : tcDestinations) {
|
||||
if (dest.id == address) {
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
}
|
||||
tcDestinations.emplace_back(address, tcDest.getName(), tcDest.getRequestQueue());
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
ReturnValue_t CfdpDistributor::selectDestination(MessageQueueId_t& destId) {
|
||||
auto accessorPair = cfg.tcStore.getData(currentMessage.getStorageId());
|
||||
if (accessorPair.first != returnvalue::OK) {
|
||||
return accessorPair.first;
|
||||
}
|
||||
ReturnValue_t result =
|
||||
pduReader.setReadOnlyData(accessorPair.second.data(), accessorPair.second.size());
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
result = pduReader.parseData();
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
cfdp::EntityId foundId;
|
||||
pduReader.getDestId(foundId);
|
||||
bool destFound = false;
|
||||
for (const auto& dest : tcDestinations) {
|
||||
if (dest.id == foundId) {
|
||||
destId = dest.queueId;
|
||||
destFound = true;
|
||||
}
|
||||
}
|
||||
if (not destFound) {
|
||||
// TODO: Warning and event?
|
||||
return tmtcdistrib::NO_DESTINATION_FOUND;
|
||||
}
|
||||
// Packet was forwarded successfully, so do not delete it.
|
||||
accessorPair.second.release();
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
const char* CfdpDistributor::getName() const { return "CFDP Distributor"; }
|
||||
|
||||
uint32_t CfdpDistributor::getIdentifier() const { return 0; }
|
||||
|
||||
MessageQueueId_t CfdpDistributor::getRequestQueue() const { return tcQueue->getId(); }
|
||||
@@ -1,76 +0,0 @@
|
||||
#ifndef FSFW_TCDISTRIBUTION_CFDPDISTRIBUTOR_H_
|
||||
#define FSFW_TCDISTRIBUTION_CFDPDISTRIBUTOR_H_
|
||||
|
||||
#include <utility>
|
||||
#include <vector>
|
||||
|
||||
#include "fsfw/cfdp/pdu/PduHeaderReader.h"
|
||||
#include "fsfw/returnvalues/returnvalue.h"
|
||||
#include "fsfw/tcdistribution/CfdpPacketChecker.h"
|
||||
#include "fsfw/tcdistribution/TcDistributorBase.h"
|
||||
#include "fsfw/tmtcpacket/cfdp/CfdpPacketStored.h"
|
||||
#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
|
||||
#include "fsfw/tmtcservices/VerificationReporter.h"
|
||||
|
||||
struct CfdpDistribCfg {
|
||||
CfdpDistribCfg(object_id_t objectId, StorageManagerIF& tcStore, MessageQueueIF* tcQueue)
|
||||
: objectId(objectId), tcStore(tcStore), tcQueue(tcQueue) {}
|
||||
|
||||
object_id_t objectId;
|
||||
StorageManagerIF& tcStore;
|
||||
MessageQueueIF* tcQueue;
|
||||
};
|
||||
|
||||
/**
|
||||
* This will be the primary component to perform PDU forwading procedures. This includes forwarding
|
||||
* CFDP TC packets to registered source or destination handlers, and forwarding all telemetry
|
||||
* generated by them to registered TM sinks.
|
||||
* @ingroup tc_distribution
|
||||
*/
|
||||
class CfdpDistributor : public TcDistributorBase, public AcceptsTelecommandsIF {
|
||||
public:
|
||||
/**
|
||||
* The ctor passes @c set_apid to the checker class and calls the
|
||||
* TcDistribution ctor with a certain object id.
|
||||
* @param setApid The APID of this receiving Application.
|
||||
* @param setObjectId Object ID of the distributor itself
|
||||
* @param setPacketSource Object ID of the source of TC packets.
|
||||
* Must implement CcsdsDistributorIF.
|
||||
*/
|
||||
explicit CfdpDistributor(CfdpDistribCfg cfg);
|
||||
|
||||
[[nodiscard]] const char* getName() const override;
|
||||
[[nodiscard]] uint32_t getIdentifier() const override;
|
||||
[[nodiscard]] MessageQueueId_t getRequestQueue() const override;
|
||||
|
||||
/**
|
||||
* Register a new CFDP entity which can receive PDUs.
|
||||
* @param address
|
||||
* @param tcDest
|
||||
* @return
|
||||
* - @c RETURN_FAILED: Entry already exists for the given address
|
||||
*/
|
||||
ReturnValue_t registerTcDestination(const cfdp::EntityId& address, AcceptsTelecommandsIF& tcDest);
|
||||
|
||||
protected:
|
||||
struct EntityInfo {
|
||||
EntityInfo(cfdp::EntityId id, const char* name, MessageQueueId_t queueId)
|
||||
: id(std::move(id)), name(name), queueId(queueId) {}
|
||||
cfdp::EntityId id;
|
||||
const char* name;
|
||||
MessageQueueId_t queueId;
|
||||
};
|
||||
PduHeaderReader pduReader;
|
||||
ReturnValue_t lastTcError = returnvalue::OK;
|
||||
ReturnValue_t lastTmError = returnvalue::OK;
|
||||
// I don't think a regular OBSW will have more than 1 or 2 of these destinations, so I think
|
||||
// it is okay to accept the overhead here
|
||||
std::vector<EntityInfo> tcDestinations;
|
||||
CfdpDistribCfg cfg;
|
||||
|
||||
ReturnValue_t selectDestination(MessageQueueId_t& destId) override;
|
||||
|
||||
private:
|
||||
};
|
||||
|
||||
#endif /* FSFW_TCDISTRIBUTION_CFDPDISTRIBUTOR_H_ */
|
||||
@@ -0,0 +1,58 @@
|
||||
#include "fsfw/cfdp/CfdpHandler.h"
|
||||
|
||||
#include "fsfw/cfdp/CfdpMessage.h"
|
||||
#include "fsfw/ipc/CommandMessage.h"
|
||||
#include "fsfw/ipc/QueueFactory.h"
|
||||
#include "fsfw/storagemanager/storeAddress.h"
|
||||
#include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
|
||||
|
||||
object_id_t CfdpHandler::packetSource = 0;
|
||||
object_id_t CfdpHandler::packetDestination = 0;
|
||||
|
||||
CfdpHandler::CfdpHandler(object_id_t setObjectId, CFDPDistributor* dist)
|
||||
: SystemObject(setObjectId) {
|
||||
auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
|
||||
requestQueue = QueueFactory::instance()->createMessageQueue(
|
||||
CFDP_HANDLER_MAX_RECEPTION, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
|
||||
distributor = dist;
|
||||
}
|
||||
|
||||
CfdpHandler::~CfdpHandler() = default;
|
||||
|
||||
ReturnValue_t CfdpHandler::initialize() {
|
||||
ReturnValue_t result = SystemObject::initialize();
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
this->distributor->registerHandler(this);
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
ReturnValue_t CfdpHandler::handleRequest(store_address_t storeId) {
|
||||
#if FSFW_VERBOSE_LEVEL >= 1
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::debug << "CFDPHandler::handleRequest" << std::endl;
|
||||
#else
|
||||
sif::printDebug("CFDPHandler::handleRequest\n");
|
||||
#endif /* !FSFW_CPP_OSTREAM_ENABLED == 1 */
|
||||
#endif
|
||||
|
||||
// TODO read out packet from store using storeId
|
||||
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
ReturnValue_t CfdpHandler::performOperation(uint8_t opCode) {
|
||||
ReturnValue_t status = returnvalue::OK;
|
||||
CommandMessage currentMessage;
|
||||
for (status = this->requestQueue->receiveMessage(¤tMessage); status == returnvalue::OK;
|
||||
status = this->requestQueue->receiveMessage(¤tMessage)) {
|
||||
store_address_t storeId = CfdpMessage::getStoreId(¤tMessage);
|
||||
this->handleRequest(storeId);
|
||||
}
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
uint16_t CfdpHandler::getIdentifier() { return 0; }
|
||||
|
||||
MessageQueueId_t CfdpHandler::getRequestQueue() { return this->requestQueue->getId(); }
|
||||
@@ -0,0 +1,60 @@
|
||||
#ifndef FSFW_CFDP_CFDPHANDLER_H_
|
||||
#define FSFW_CFDP_CFDPHANDLER_H_
|
||||
|
||||
#include "fsfw/ipc/MessageQueueIF.h"
|
||||
#include "fsfw/objectmanager/SystemObject.h"
|
||||
#include "fsfw/returnvalues/returnvalue.h"
|
||||
#include "fsfw/tasks/ExecutableObjectIF.h"
|
||||
#include "fsfw/tcdistribution/CFDPDistributor.h"
|
||||
#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
|
||||
|
||||
namespace Factory {
|
||||
void setStaticFrameworkObjectIds();
|
||||
}
|
||||
|
||||
class CfdpHandler : public ExecutableObjectIF, public AcceptsTelecommandsIF, public SystemObject {
|
||||
friend void(Factory::setStaticFrameworkObjectIds)();
|
||||
|
||||
public:
|
||||
CfdpHandler(object_id_t setObjectId, CFDPDistributor* distributor);
|
||||
/**
|
||||
* The destructor is empty.
|
||||
*/
|
||||
virtual ~CfdpHandler();
|
||||
|
||||
virtual ReturnValue_t handleRequest(store_address_t storeId);
|
||||
|
||||
virtual ReturnValue_t initialize() override;
|
||||
virtual uint16_t getIdentifier() override;
|
||||
MessageQueueId_t getRequestQueue() override;
|
||||
ReturnValue_t performOperation(uint8_t opCode) override;
|
||||
|
||||
protected:
|
||||
/**
|
||||
* This is a complete instance of the telecommand reception queue
|
||||
* of the class. It is initialized on construction of the class.
|
||||
*/
|
||||
MessageQueueIF* requestQueue = nullptr;
|
||||
|
||||
CFDPDistributor* distributor = nullptr;
|
||||
|
||||
/**
|
||||
* The current CFDP packet to be processed.
|
||||
* It is deleted after handleRequest was executed.
|
||||
*/
|
||||
CfdpPacketStored currentPacket;
|
||||
|
||||
static object_id_t packetSource;
|
||||
|
||||
static object_id_t packetDestination;
|
||||
|
||||
private:
|
||||
/**
|
||||
* This constant sets the maximum number of packets accepted per call.
|
||||
* Remember that one packet must be completely handled in one
|
||||
* #handleRequest call.
|
||||
*/
|
||||
static const uint8_t CFDP_HANDLER_MAX_RECEPTION = 100;
|
||||
};
|
||||
|
||||
#endif /* FSFW_CFDP_CFDPHANDLER_H_ */
|
||||
+13
-19
@@ -1,7 +1,5 @@
|
||||
#ifndef FSFW_CFDP_FILESIZE_H_
|
||||
#define FSFW_CFDP_FILESIZE_H_
|
||||
|
||||
#include <optional>
|
||||
#ifndef FSFW_SRC_FSFW_CFDP_FILESIZE_H_
|
||||
#define FSFW_SRC_FSFW_CFDP_FILESIZE_H_
|
||||
|
||||
#include "fsfw/serialize/SerializeAdapter.h"
|
||||
#include "fsfw/serialize/SerializeIF.h"
|
||||
@@ -10,11 +8,9 @@ namespace cfdp {
|
||||
|
||||
struct FileSize : public SerializeIF {
|
||||
public:
|
||||
FileSize() = default;
|
||||
FileSize() : largeFile(false){};
|
||||
|
||||
explicit FileSize(uint64_t fileSize, bool isLarge = false) { setFileSize(fileSize, isLarge); };
|
||||
|
||||
[[nodiscard]] uint64_t value() const { return fileSize; }
|
||||
FileSize(uint64_t fileSize, bool isLarge = false) { setFileSize(fileSize, isLarge); };
|
||||
|
||||
ReturnValue_t serialize(bool isLarge, uint8_t **buffer, size_t *size, size_t maxSize,
|
||||
Endianness streamEndianness) {
|
||||
@@ -31,7 +27,7 @@ struct FileSize : public SerializeIF {
|
||||
return SerializeAdapter::serialize(&fileSize, buffer, size, maxSize, streamEndianness);
|
||||
}
|
||||
|
||||
[[nodiscard]] size_t getSerializedSize() const override {
|
||||
size_t getSerializedSize() const override {
|
||||
if (largeFile) {
|
||||
return 8;
|
||||
} else {
|
||||
@@ -54,22 +50,20 @@ struct FileSize : public SerializeIF {
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t setFileSize(uint64_t fileSize_, std::optional<bool> largeFile_) {
|
||||
if (largeFile_) {
|
||||
largeFile = largeFile_.value();
|
||||
}
|
||||
ReturnValue_t setFileSize(uint64_t fileSize, bool largeFile) {
|
||||
if (not largeFile and fileSize > UINT32_MAX) {
|
||||
// TODO: emit warning here
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
this->fileSize = fileSize_;
|
||||
this->fileSize = fileSize;
|
||||
this->largeFile = largeFile;
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
[[nodiscard]] bool isLargeFile() const { return largeFile; }
|
||||
uint64_t getSize(bool *largeFile_ = nullptr) const {
|
||||
if (largeFile_ != nullptr) {
|
||||
*largeFile_ = this->largeFile;
|
||||
bool isLargeFile() const { return largeFile; }
|
||||
uint64_t getSize(bool *largeFile = nullptr) const {
|
||||
if (largeFile != nullptr) {
|
||||
*largeFile = this->largeFile;
|
||||
}
|
||||
return fileSize;
|
||||
}
|
||||
@@ -81,4 +75,4 @@ struct FileSize : public SerializeIF {
|
||||
|
||||
} // namespace cfdp
|
||||
|
||||
#endif /* FSFW_CFDP_FILESIZE_H_ */
|
||||
#endif /* FSFW_SRC_FSFW_CFDP_FILESIZE_H_ */
|
||||
|
||||
@@ -1,107 +0,0 @@
|
||||
#ifndef FSFW_CFDP_PDU_VARLENFIELD_H_
|
||||
#define FSFW_CFDP_PDU_VARLENFIELD_H_
|
||||
|
||||
#include <cstddef>
|
||||
#include <cstdint>
|
||||
#include <utility>
|
||||
|
||||
#include "fsfw/cfdp/definitions.h"
|
||||
#include "fsfw/serialize/SerializeIF.h"
|
||||
#include "fsfw/serviceinterface.h"
|
||||
#include "fsfw/util/UnsignedByteField.h"
|
||||
|
||||
namespace cfdp {
|
||||
|
||||
class VarLenField : public SerializeIF {
|
||||
public:
|
||||
union LengthFieldLen {
|
||||
uint8_t oneByte;
|
||||
uint16_t twoBytes;
|
||||
uint32_t fourBytes;
|
||||
uint64_t eightBytes;
|
||||
};
|
||||
|
||||
VarLenField();
|
||||
template <typename T>
|
||||
explicit VarLenField(UnsignedByteField<T> byteField);
|
||||
|
||||
VarLenField(cfdp::WidthInBytes width, size_t value);
|
||||
|
||||
bool operator==(const VarLenField &other) const;
|
||||
bool operator!=(const VarLenField &other) const;
|
||||
bool operator<(const VarLenField &other) const;
|
||||
|
||||
ReturnValue_t setValue(cfdp::WidthInBytes, size_t value);
|
||||
|
||||
ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
|
||||
Endianness streamEndianness) const override;
|
||||
|
||||
[[nodiscard]] size_t getSerializedSize() const override;
|
||||
|
||||
ReturnValue_t deSerialize(cfdp::WidthInBytes width, const uint8_t **buffer, size_t *size,
|
||||
Endianness streamEndianness);
|
||||
|
||||
[[nodiscard]] cfdp::WidthInBytes getWidth() const;
|
||||
[[nodiscard]] size_t getValue() const;
|
||||
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
friend std::ostream &operator<<(std::ostream &os, const VarLenField &id) {
|
||||
os << "dec: " << id.getValue() << ", hex: " << std::hex << std::setw(id.getWidth())
|
||||
<< std::setfill('0') << id.getValue() << std::dec << std::setfill('0');
|
||||
return os;
|
||||
}
|
||||
#endif
|
||||
|
||||
private:
|
||||
ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
|
||||
Endianness streamEndianness) override;
|
||||
|
||||
cfdp::WidthInBytes width;
|
||||
LengthFieldLen value{};
|
||||
};
|
||||
|
||||
template <typename T>
|
||||
cfdp::VarLenField::VarLenField(UnsignedByteField<T> byteField)
|
||||
: width(static_cast<cfdp::WidthInBytes>(sizeof(T))) {
|
||||
static_assert((sizeof(T) % 2) == 0);
|
||||
setValue(width, byteField.getValue());
|
||||
}
|
||||
|
||||
struct EntityId : public VarLenField {
|
||||
public:
|
||||
EntityId() : VarLenField() {}
|
||||
template <typename T>
|
||||
explicit EntityId(UnsignedByteField<T> byteField) : VarLenField(byteField) {}
|
||||
EntityId(cfdp::WidthInBytes width, size_t entityId) : VarLenField(width, entityId) {}
|
||||
};
|
||||
|
||||
struct TransactionSeqNum : public VarLenField {
|
||||
public:
|
||||
TransactionSeqNum() : VarLenField() {}
|
||||
template <typename T>
|
||||
explicit TransactionSeqNum(UnsignedByteField<T> byteField) : VarLenField(byteField) {}
|
||||
TransactionSeqNum(cfdp::WidthInBytes width, size_t seqNum) : VarLenField(width, seqNum) {}
|
||||
};
|
||||
|
||||
struct TransactionId {
|
||||
TransactionId() = default;
|
||||
TransactionId(EntityId entityId, TransactionSeqNum seqNum)
|
||||
: entityId(std::move(entityId)), seqNum(std::move(seqNum)) {}
|
||||
|
||||
bool operator==(const TransactionId &other) const {
|
||||
return entityId == other.entityId and seqNum == other.seqNum;
|
||||
}
|
||||
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
friend std::ostream &operator<<(std::ostream &os, const TransactionId &id) {
|
||||
os << "Source ID { " << id.entityId << " }, Sequence Number " << id.seqNum.getValue();
|
||||
return os;
|
||||
}
|
||||
#endif
|
||||
EntityId entityId;
|
||||
TransactionSeqNum seqNum;
|
||||
};
|
||||
|
||||
} // namespace cfdp
|
||||
|
||||
#endif /* FSFW_CFDP_PDU_VARLENFIELD_H_ */
|
||||
+14
-28
@@ -11,16 +11,12 @@
|
||||
|
||||
namespace cfdp {
|
||||
|
||||
static constexpr char CFDP_VERSION_2_NAME[] = "CCSDS 727.0-B-5";
|
||||
|
||||
// Second version of the protocol, only this one is supported here
|
||||
static constexpr uint8_t CFDP_VERSION_2 = 0b001;
|
||||
static constexpr uint8_t VERSION_BITS = CFDP_VERSION_2 << 5;
|
||||
static constexpr uint8_t VERSION_BITS = 0b00100000;
|
||||
|
||||
static constexpr uint8_t CFDP_CLASS_ID = CLASS_ID::CFDP;
|
||||
|
||||
static constexpr ReturnValue_t INVALID_TLV_TYPE = returnvalue::makeCode(CFDP_CLASS_ID, 1);
|
||||
static constexpr ReturnValue_t INVALID_DIRECTIVE_FIELD = returnvalue::makeCode(CFDP_CLASS_ID, 2);
|
||||
static constexpr ReturnValue_t INVALID_DIRECTIVE_FIELDS = returnvalue::makeCode(CFDP_CLASS_ID, 2);
|
||||
static constexpr ReturnValue_t INVALID_PDU_DATAFIELD_LEN = returnvalue::makeCode(CFDP_CLASS_ID, 3);
|
||||
static constexpr ReturnValue_t INVALID_ACK_DIRECTIVE_FIELDS =
|
||||
returnvalue::makeCode(CFDP_CLASS_ID, 4);
|
||||
@@ -30,14 +26,13 @@ static constexpr ReturnValue_t METADATA_CANT_PARSE_OPTIONS =
|
||||
returnvalue::makeCode(CFDP_CLASS_ID, 5);
|
||||
static constexpr ReturnValue_t NAK_CANT_PARSE_OPTIONS = returnvalue::makeCode(CFDP_CLASS_ID, 6);
|
||||
static constexpr ReturnValue_t FINISHED_CANT_PARSE_FS_RESPONSES =
|
||||
returnvalue::makeCode(CFDP_CLASS_ID, 7);
|
||||
returnvalue::makeCode(CFDP_CLASS_ID, 6);
|
||||
static constexpr ReturnValue_t FILESTORE_REQUIRES_SECOND_FILE =
|
||||
returnvalue::makeCode(CFDP_CLASS_ID, 8);
|
||||
//! Can not parse filestore response because user did not pass a valid instance
|
||||
//! or remaining size is invalid
|
||||
static constexpr ReturnValue_t FILESTORE_RESPONSE_CANT_PARSE_FS_MESSAGE =
|
||||
returnvalue::makeCode(CFDP_CLASS_ID, 9);
|
||||
static constexpr ReturnValue_t INVALID_PDU_FORMAT = returnvalue::makeCode(CFDP_CLASS_ID, 10);
|
||||
|
||||
//! Checksum types according to the SANA Checksum Types registry
|
||||
//! https://sanaregistry.org/r/checksum_identifiers/
|
||||
@@ -50,17 +45,17 @@ enum ChecksumType {
|
||||
NULL_CHECKSUM = 15
|
||||
};
|
||||
|
||||
enum PduType : uint8_t { FILE_DIRECTIVE = 0, FILE_DATA = 1 };
|
||||
enum PduType : bool { FILE_DIRECTIVE = 0, FILE_DATA = 1 };
|
||||
|
||||
enum TransmissionMode : uint8_t { ACKNOWLEDGED = 0, UNACKNOWLEDGED = 1 };
|
||||
enum TransmissionModes : bool { ACKNOWLEDGED = 0, UNACKNOWLEDGED = 1 };
|
||||
|
||||
enum SegmentMetadataFlag : bool { NOT_PRESENT = false, PRESENT = true };
|
||||
enum SegmentMetadataFlag : bool { NOT_PRESENT = 0, PRESENT = 1 };
|
||||
|
||||
enum Direction : uint8_t { TOWARDS_RECEIVER = 0, TOWARDS_SENDER = 1 };
|
||||
enum Direction : bool { TOWARDS_RECEIVER = 0, TOWARDS_SENDER = 1 };
|
||||
|
||||
enum SegmentationControl : bool {
|
||||
NO_RECORD_BOUNDARIES_PRESERVATION = false,
|
||||
RECORD_BOUNDARIES_PRESERVATION = true
|
||||
NO_RECORD_BOUNDARIES_PRESERVATION = 0,
|
||||
RECORD_BOUNDARIES_PRESERVATION = 1
|
||||
};
|
||||
|
||||
enum WidthInBytes : uint8_t {
|
||||
@@ -70,9 +65,8 @@ enum WidthInBytes : uint8_t {
|
||||
FOUR_BYTES = 4,
|
||||
};
|
||||
|
||||
enum FileDirective : uint8_t {
|
||||
enum FileDirectives : uint8_t {
|
||||
INVALID_DIRECTIVE = 0x0f,
|
||||
// The _DIRECTIVE suffix is mandatory here because of some nameclash!
|
||||
EOF_DIRECTIVE = 0x04,
|
||||
FINISH = 0x05,
|
||||
ACK = 0x06,
|
||||
@@ -99,14 +93,6 @@ enum ConditionCode : uint8_t {
|
||||
CANCEL_REQUEST_RECEIVED = 0b1111
|
||||
};
|
||||
|
||||
enum FaultHandlerCode {
|
||||
RESERVED = 0b0000,
|
||||
NOTICE_OF_CANCELLATION = 0b0001,
|
||||
NOTICE_OF_SUSPENSION = 0b0010,
|
||||
IGNORE_ERROR = 0b0011,
|
||||
ABANDON_TRANSACTION = 0b0100
|
||||
};
|
||||
|
||||
enum AckTransactionStatus {
|
||||
UNDEFINED = 0b00,
|
||||
ACTIVE = 0b01,
|
||||
@@ -114,18 +100,18 @@ enum AckTransactionStatus {
|
||||
UNRECOGNIZED = 0b11
|
||||
};
|
||||
|
||||
enum FileDeliveryCode { DATA_COMPLETE = 0, DATA_INCOMPLETE = 1 };
|
||||
enum FinishedDeliveryCode { DATA_COMPLETE = 0, DATA_INCOMPLETE = 1 };
|
||||
|
||||
enum FileDeliveryStatus {
|
||||
enum FinishedFileStatus {
|
||||
DISCARDED_DELIBERATELY = 0,
|
||||
DISCARDED_FILESTORE_REJECTION = 1,
|
||||
RETAINED_IN_FILESTORE = 2,
|
||||
FILE_STATUS_UNREPORTED = 3
|
||||
};
|
||||
|
||||
enum PromptResponseRequired : uint8_t { PROMPT_NAK = 0, PROMPT_KEEP_ALIVE = 1 };
|
||||
enum PromptResponseRequired : bool { PROMPT_NAK = 0, PROMPT_KEEP_ALIVE = 1 };
|
||||
|
||||
enum TlvType : uint8_t {
|
||||
enum TlvTypes : uint8_t {
|
||||
FILESTORE_REQUEST = 0x00,
|
||||
FILESTORE_RESPONSE = 0x01,
|
||||
MSG_TO_USER = 0x02,
|
||||
|
||||
@@ -1,3 +0,0 @@
|
||||
target_sources(
|
||||
${LIB_FSFW_NAME} PRIVATE SourceHandler.cpp DestHandler.cpp
|
||||
FaultHandlerBase.cpp UserBase.cpp CfdpHandler.cpp)
|
||||
@@ -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;
|
||||
}
|
||||
@@ -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
|
||||
@@ -1,546 +0,0 @@
|
||||
#include "DestHandler.h"
|
||||
|
||||
#include <etl/crc32.h>
|
||||
|
||||
#include <utility>
|
||||
|
||||
#include "fsfw/FSFW.h"
|
||||
#include "fsfw/cfdp/pdu/EofPduReader.h"
|
||||
#include "fsfw/cfdp/pdu/FileDataReader.h"
|
||||
#include "fsfw/cfdp/pdu/FinishedPduCreator.h"
|
||||
#include "fsfw/cfdp/pdu/PduHeaderReader.h"
|
||||
#include "fsfw/objectmanager.h"
|
||||
#include "fsfw/tmtcservices/TmTcMessage.h"
|
||||
|
||||
using namespace returnvalue;
|
||||
|
||||
cfdp::DestHandler::DestHandler(DestHandlerParams params, FsfwParams fsfwParams)
|
||||
: tlvVec(params.maxTlvsInOnePdu),
|
||||
userTlvVec(params.maxTlvsInOnePdu),
|
||||
dp(std::move(params)),
|
||||
fp(fsfwParams),
|
||||
tp(params.maxFilenameLen) {
|
||||
tp.pduConf.direction = cfdp::Direction::TOWARDS_SENDER;
|
||||
}
|
||||
|
||||
const cfdp::DestHandler::FsmResult& cfdp::DestHandler::performStateMachine() {
|
||||
ReturnValue_t result;
|
||||
uint8_t errorIdx = 0;
|
||||
fsmRes.resetOfIteration();
|
||||
if (fsmRes.step == TransactionStep::IDLE) {
|
||||
for (auto infoIter = dp.packetListRef.begin(); infoIter != dp.packetListRef.end();) {
|
||||
if (infoIter->pduType == PduType::FILE_DIRECTIVE and
|
||||
infoIter->directiveType == FileDirective::METADATA) {
|
||||
result = handleMetadataPdu(*infoIter);
|
||||
checkAndHandleError(result, errorIdx);
|
||||
// Store data was deleted in PDU handler because a store guard is used
|
||||
dp.packetListRef.erase(infoIter++);
|
||||
} else {
|
||||
infoIter++;
|
||||
}
|
||||
}
|
||||
if (fsmRes.step == TransactionStep::IDLE) {
|
||||
// To decrease the already high complexity of the software, all packets arriving before
|
||||
// a metadata PDU are deleted.
|
||||
for (auto infoIter = dp.packetListRef.begin(); infoIter != dp.packetListRef.end();) {
|
||||
fp.tcStore->deleteData(infoIter->storeId);
|
||||
infoIter++;
|
||||
}
|
||||
dp.packetListRef.clear();
|
||||
}
|
||||
|
||||
if (fsmRes.step != TransactionStep::IDLE) {
|
||||
fsmRes.callStatus = CallStatus::CALL_AGAIN;
|
||||
}
|
||||
return updateFsmRes(errorIdx);
|
||||
}
|
||||
if (fsmRes.state == CfdpStates::BUSY_CLASS_1_NACKED) {
|
||||
if (fsmRes.step == TransactionStep::RECEIVING_FILE_DATA_PDUS) {
|
||||
for (auto infoIter = dp.packetListRef.begin(); infoIter != dp.packetListRef.end();) {
|
||||
if (infoIter->pduType == PduType::FILE_DATA) {
|
||||
result = handleFileDataPdu(*infoIter);
|
||||
checkAndHandleError(result, errorIdx);
|
||||
// Store data was deleted in PDU handler because a store guard is used
|
||||
dp.packetListRef.erase(infoIter++);
|
||||
} else if (infoIter->pduType == PduType::FILE_DIRECTIVE and
|
||||
infoIter->directiveType == FileDirective::EOF_DIRECTIVE) {
|
||||
// TODO: Support for check timer missing
|
||||
result = handleEofPdu(*infoIter);
|
||||
checkAndHandleError(result, errorIdx);
|
||||
// Store data was deleted in PDU handler because a store guard is used
|
||||
dp.packetListRef.erase(infoIter++);
|
||||
} else {
|
||||
infoIter++;
|
||||
}
|
||||
}
|
||||
}
|
||||
if (fsmRes.step == TransactionStep::TRANSFER_COMPLETION) {
|
||||
result = handleTransferCompletion();
|
||||
checkAndHandleError(result, errorIdx);
|
||||
}
|
||||
if (fsmRes.step == TransactionStep::SENDING_FINISHED_PDU) {
|
||||
result = sendFinishedPdu();
|
||||
checkAndHandleError(result, errorIdx);
|
||||
finish();
|
||||
}
|
||||
return updateFsmRes(errorIdx);
|
||||
}
|
||||
if (fsmRes.state == CfdpStates::BUSY_CLASS_2_ACKED) {
|
||||
// TODO: Will be implemented at a later stage
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "CFDP state machine for acknowledged mode not implemented yet" << std::endl;
|
||||
#endif
|
||||
}
|
||||
return updateFsmRes(errorIdx);
|
||||
}
|
||||
|
||||
ReturnValue_t cfdp::DestHandler::passPacket(PacketInfo packet) {
|
||||
if (dp.packetListRef.full()) {
|
||||
return FAILED;
|
||||
}
|
||||
dp.packetListRef.push_back(packet);
|
||||
return OK;
|
||||
}
|
||||
|
||||
ReturnValue_t cfdp::DestHandler::initialize() {
|
||||
if (fp.tmStore == nullptr) {
|
||||
fp.tmStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TM_STORE);
|
||||
if (fp.tmStore == nullptr) {
|
||||
return FAILED;
|
||||
}
|
||||
}
|
||||
|
||||
if (fp.tcStore == nullptr) {
|
||||
fp.tcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
|
||||
if (fp.tcStore == nullptr) {
|
||||
return FAILED;
|
||||
}
|
||||
}
|
||||
|
||||
if (fp.msgQueue == nullptr) {
|
||||
return FAILED;
|
||||
}
|
||||
return OK;
|
||||
}
|
||||
|
||||
ReturnValue_t cfdp::DestHandler::handleMetadataPdu(const PacketInfo& info) {
|
||||
// Process metadata PDU
|
||||
auto constAccessorPair = fp.tcStore->getData(info.storeId);
|
||||
if (constAccessorPair.first != OK) {
|
||||
// TODO: This is not a CFDP error. Event and/or warning?
|
||||
return constAccessorPair.first;
|
||||
}
|
||||
cfdp::StringLv sourceFileName;
|
||||
cfdp::StringLv destFileName;
|
||||
MetadataInfo metadataInfo(tp.fileSize, sourceFileName, destFileName);
|
||||
cfdp::Tlv* tlvArrayAsPtr = tlvVec.data();
|
||||
metadataInfo.setOptionsArray(&tlvArrayAsPtr, std::nullopt, tlvVec.size());
|
||||
MetadataPduReader reader(constAccessorPair.second.data(), constAccessorPair.second.size(),
|
||||
metadataInfo);
|
||||
ReturnValue_t result = reader.parseData();
|
||||
// TODO: The standard does not really specify what happens if this kind of error happens
|
||||
// I think it might be a good idea to cache some sort of error code, which
|
||||
// is translated into a warning and/or event by an upper layer
|
||||
if (result != OK) {
|
||||
return handleMetadataParseError(result, constAccessorPair.second.data(),
|
||||
constAccessorPair.second.size());
|
||||
}
|
||||
return startTransaction(reader, metadataInfo);
|
||||
}
|
||||
|
||||
ReturnValue_t cfdp::DestHandler::handleFileDataPdu(const cfdp::PacketInfo& info) {
|
||||
// Process file data PDU
|
||||
auto constAccessorPair = fp.tcStore->getData(info.storeId);
|
||||
if (constAccessorPair.first != OK) {
|
||||
// TODO: This is not a CFDP error. Event and/or warning?
|
||||
return constAccessorPair.first;
|
||||
}
|
||||
cfdp::FileSize offset;
|
||||
FileDataInfo fdInfo(offset);
|
||||
FileDataReader reader(constAccessorPair.second.data(), constAccessorPair.second.size(), fdInfo);
|
||||
ReturnValue_t result = reader.parseData();
|
||||
if (result != OK) {
|
||||
return result;
|
||||
}
|
||||
size_t fileSegmentLen = 0;
|
||||
const uint8_t* fileData = fdInfo.getFileData(&fileSegmentLen);
|
||||
FileOpParams fileOpParams(tp.destName.data(), fileSegmentLen);
|
||||
fileOpParams.offset = offset.value();
|
||||
if (dp.cfg.indicCfg.fileSegmentRecvIndicRequired) {
|
||||
FileSegmentRecvdParams segParams;
|
||||
segParams.offset = offset.value();
|
||||
segParams.id = tp.transactionId;
|
||||
segParams.length = fileSegmentLen;
|
||||
segParams.recContState = fdInfo.getRecordContinuationState();
|
||||
size_t segmentMetadatLen = 0;
|
||||
auto* segMetadata = fdInfo.getSegmentMetadata(&segmentMetadatLen);
|
||||
segParams.segmentMetadata = {segMetadata, segmentMetadatLen};
|
||||
dp.user.fileSegmentRecvdIndication(segParams);
|
||||
}
|
||||
result = dp.user.vfs.writeToFile(fileOpParams, fileData);
|
||||
if (result != returnvalue::OK) {
|
||||
// TODO: Proper Error handling
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "cfdp::DestHandler: VFS file write error with code 0x" << std::hex << std::setw(2)
|
||||
<< result << std::endl;
|
||||
#endif
|
||||
tp.vfsErrorCount++;
|
||||
if (tp.vfsErrorCount < 3) {
|
||||
// TODO: Provide execution step as parameter
|
||||
fp.eventReporter->forwardEvent(events::FILESTORE_ERROR, static_cast<uint8_t>(fsmRes.step),
|
||||
result);
|
||||
}
|
||||
return result;
|
||||
} else {
|
||||
tp.deliveryStatus = FileDeliveryStatus::RETAINED_IN_FILESTORE;
|
||||
tp.vfsErrorCount = 0;
|
||||
}
|
||||
if (offset.value() + fileSegmentLen > tp.progress) {
|
||||
tp.progress = offset.value() + fileSegmentLen;
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
ReturnValue_t cfdp::DestHandler::handleEofPdu(const cfdp::PacketInfo& info) {
|
||||
// Process EOF PDU
|
||||
auto constAccessorPair = fp.tcStore->getData(info.storeId);
|
||||
if (constAccessorPair.first != OK) {
|
||||
// TODO: This is not a CFDP error. Event and/or warning?
|
||||
return constAccessorPair.first;
|
||||
}
|
||||
EofInfo eofInfo(nullptr);
|
||||
EofPduReader reader(constAccessorPair.second.data(), constAccessorPair.second.size(), eofInfo);
|
||||
ReturnValue_t result = reader.parseData();
|
||||
if (result != OK) {
|
||||
return result;
|
||||
}
|
||||
// TODO: Error handling
|
||||
if (eofInfo.getConditionCode() == ConditionCode::NO_ERROR) {
|
||||
tp.crc = eofInfo.getChecksum();
|
||||
uint64_t fileSizeFromEof = eofInfo.getFileSize().value();
|
||||
// CFDP 4.6.1.2.9: Declare file size error if progress exceeds file size
|
||||
if (fileSizeFromEof > tp.progress) {
|
||||
// TODO: File size error
|
||||
}
|
||||
tp.fileSize.setFileSize(fileSizeFromEof, std::nullopt);
|
||||
}
|
||||
if (dp.cfg.indicCfg.eofRecvIndicRequired) {
|
||||
dp.user.eofRecvIndication(getTransactionId());
|
||||
}
|
||||
if (fsmRes.step == TransactionStep::RECEIVING_FILE_DATA_PDUS) {
|
||||
if (fsmRes.state == CfdpStates::BUSY_CLASS_1_NACKED) {
|
||||
fsmRes.step = TransactionStep::TRANSFER_COMPLETION;
|
||||
} else if (fsmRes.state == CfdpStates::BUSY_CLASS_2_ACKED) {
|
||||
fsmRes.step = TransactionStep::SENDING_ACK_PDU;
|
||||
}
|
||||
}
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
ReturnValue_t cfdp::DestHandler::handleMetadataParseError(ReturnValue_t result,
|
||||
const uint8_t* rawData, size_t maxSize) {
|
||||
// TODO: try to extract destination ID for error
|
||||
// TODO: Invalid metadata PDU.
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "Parsing Metadata PDU failed with code " << result << std::endl;
|
||||
#else
|
||||
#endif
|
||||
PduHeaderReader headerReader(rawData, maxSize);
|
||||
result = headerReader.parseData();
|
||||
if (result != OK) {
|
||||
// TODO: Now this really should not happen. Warning or error,
|
||||
// yield or cache appropriate returnvalue
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "Parsing Header failed" << std::endl;
|
||||
#else
|
||||
#endif
|
||||
// TODO: Trigger appropriate event
|
||||
return result;
|
||||
}
|
||||
cfdp::EntityId destId;
|
||||
headerReader.getDestId(destId);
|
||||
RemoteEntityCfg* remoteCfg;
|
||||
if (not dp.remoteCfgTable.getRemoteCfg(destId, &remoteCfg)) {
|
||||
// TODO: No remote config for dest ID. I consider this a configuration error, which is not
|
||||
// covered by the standard.
|
||||
// Warning or error, yield or cache appropriate returnvalue
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "No remote config exists for destination ID" << std::endl;
|
||||
#else
|
||||
#endif
|
||||
// TODO: Trigger appropriate event
|
||||
}
|
||||
// TODO: Appropriate returnvalue?
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
|
||||
ReturnValue_t cfdp::DestHandler::startTransaction(MetadataPduReader& reader, MetadataInfo& info) {
|
||||
if (fsmRes.state != CfdpStates::IDLE) {
|
||||
// According to standard, discard metadata PDU if we are busy
|
||||
return OK;
|
||||
}
|
||||
ReturnValue_t result = OK;
|
||||
size_t sourceNameSize = 0;
|
||||
|
||||
const uint8_t* sourceNamePtr = info.getSourceFileName().getValue(&sourceNameSize);
|
||||
if (sourceNameSize + 1 > tp.sourceName.size()) {
|
||||
fileErrorHandler(events::FILENAME_TOO_LARGE_ERROR, 0, "source filename too large");
|
||||
return FAILED;
|
||||
}
|
||||
std::memcpy(tp.sourceName.data(), sourceNamePtr, sourceNameSize);
|
||||
tp.sourceName[sourceNameSize] = '\0';
|
||||
size_t destNameSize = 0;
|
||||
const uint8_t* destNamePtr = info.getDestFileName().getValue(&destNameSize);
|
||||
if (destNameSize + 1 > tp.destName.size()) {
|
||||
fileErrorHandler(events::FILENAME_TOO_LARGE_ERROR, 0, "dest filename too large");
|
||||
return FAILED;
|
||||
}
|
||||
std::memcpy(tp.destName.data(), destNamePtr, destNameSize);
|
||||
tp.destName[destNameSize] = '\0';
|
||||
|
||||
// If both dest name size and source name size are 0, we are dealing with a metadata only PDU,
|
||||
// so there is no need to create a file or truncate an existing file
|
||||
if (destNameSize > 0 and sourceNameSize > 0) {
|
||||
FilesystemParams fparams(tp.destName.data());
|
||||
// handling to allow only specifying target directory. Example:
|
||||
// Source path /test/hello.txt, dest path /tmp -> dest path /tmp/hello.txt
|
||||
if (dp.user.vfs.isDirectory(tp.destName.data())) {
|
||||
result = tryBuildingAbsoluteDestName(destNameSize);
|
||||
if (result != OK) {
|
||||
return result;
|
||||
}
|
||||
}
|
||||
if (dp.user.vfs.fileExists(fparams)) {
|
||||
result = dp.user.vfs.truncateFile(fparams);
|
||||
if (result != returnvalue::OK) {
|
||||
fileErrorHandler(events::FILESTORE_ERROR, result, "file truncation error");
|
||||
return FAILED;
|
||||
// TODO: Relevant for filestore rejection error?
|
||||
}
|
||||
} else {
|
||||
result = dp.user.vfs.createFile(fparams);
|
||||
if (result != OK) {
|
||||
fileErrorHandler(events::FILESTORE_ERROR, result, "file creation error");
|
||||
return FAILED;
|
||||
// TODO: Relevant for filestore rejection error?
|
||||
}
|
||||
}
|
||||
}
|
||||
EntityId sourceId;
|
||||
reader.getSourceId(sourceId);
|
||||
if (not dp.remoteCfgTable.getRemoteCfg(sourceId, &tp.remoteCfg)) {
|
||||
// TODO: Warning, event etc.
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "cfdp::DestHandler" << __func__
|
||||
<< ": No remote configuration found for destination ID "
|
||||
<< tp.pduConf.sourceId.getValue() << std::endl;
|
||||
#endif
|
||||
return FAILED;
|
||||
}
|
||||
fsmRes.step = TransactionStep::TRANSACTION_START;
|
||||
if (reader.getTransmissionMode() == TransmissionMode::UNACKNOWLEDGED) {
|
||||
fsmRes.state = CfdpStates::BUSY_CLASS_1_NACKED;
|
||||
} else if (reader.getTransmissionMode() == TransmissionMode::ACKNOWLEDGED) {
|
||||
fsmRes.state = CfdpStates::BUSY_CLASS_2_ACKED;
|
||||
}
|
||||
tp.checksumType = info.getChecksumType();
|
||||
tp.closureRequested = info.isClosureRequested();
|
||||
reader.fillConfig(tp.pduConf);
|
||||
tp.pduConf.direction = Direction::TOWARDS_SENDER;
|
||||
tp.transactionId.entityId = tp.pduConf.sourceId;
|
||||
tp.transactionId.seqNum = tp.pduConf.seqNum;
|
||||
fsmRes.step = TransactionStep::RECEIVING_FILE_DATA_PDUS;
|
||||
MetadataRecvdParams params(tp.transactionId, tp.pduConf.sourceId);
|
||||
params.fileSize = tp.fileSize.getSize();
|
||||
params.destFileName = tp.destName.data();
|
||||
params.sourceFileName = tp.sourceName.data();
|
||||
params.msgsToUserArray = dynamic_cast<MessageToUserTlv*>(userTlvVec.data());
|
||||
params.msgsToUserLen = info.getOptionsLen();
|
||||
dp.user.metadataRecvdIndication(params);
|
||||
return result;
|
||||
}
|
||||
|
||||
cfdp::CfdpStates cfdp::DestHandler::getCfdpState() const { return fsmRes.state; }
|
||||
|
||||
ReturnValue_t cfdp::DestHandler::handleTransferCompletion() {
|
||||
ReturnValue_t result;
|
||||
if (tp.checksumType != ChecksumType::NULL_CHECKSUM) {
|
||||
result = checksumVerification();
|
||||
if (result != OK) {
|
||||
// TODO: Warning / error handling?
|
||||
}
|
||||
} else {
|
||||
tp.conditionCode = ConditionCode::NO_ERROR;
|
||||
}
|
||||
result = noticeOfCompletion();
|
||||
if (result != OK) {
|
||||
}
|
||||
if (fsmRes.state == CfdpStates::BUSY_CLASS_1_NACKED) {
|
||||
if (tp.closureRequested) {
|
||||
fsmRes.step = TransactionStep::SENDING_FINISHED_PDU;
|
||||
} else {
|
||||
finish();
|
||||
}
|
||||
} else if (fsmRes.state == CfdpStates::BUSY_CLASS_2_ACKED) {
|
||||
fsmRes.step = TransactionStep::SENDING_FINISHED_PDU;
|
||||
}
|
||||
return OK;
|
||||
}
|
||||
|
||||
ReturnValue_t cfdp::DestHandler::tryBuildingAbsoluteDestName(size_t destNameSize) {
|
||||
char baseNameBuf[tp.destName.size()]{};
|
||||
FilesystemParams fparamsSrc(tp.sourceName.data());
|
||||
size_t baseNameLen = 0;
|
||||
ReturnValue_t result =
|
||||
dp.user.vfs.getBaseFilename(fparamsSrc, baseNameBuf, sizeof(baseNameBuf), baseNameLen);
|
||||
if (result != returnvalue::OK or baseNameLen == 0) {
|
||||
fileErrorHandler(events::FILENAME_TOO_LARGE_ERROR, 0, "error retrieving source base name");
|
||||
return FAILED;
|
||||
}
|
||||
// Destination name + slash + base name + null termination
|
||||
if (destNameSize + 1 + baseNameLen + 1 > tp.destName.size()) {
|
||||
fileErrorHandler(events::FILENAME_TOO_LARGE_ERROR, 0,
|
||||
"dest filename too large after adding source base name");
|
||||
return FAILED;
|
||||
}
|
||||
tp.destName[destNameSize++] = '/';
|
||||
std::memcpy(tp.destName.data() + destNameSize, baseNameBuf, baseNameLen);
|
||||
destNameSize += baseNameLen;
|
||||
tp.destName[destNameSize++] = '\0';
|
||||
return OK;
|
||||
}
|
||||
|
||||
void cfdp::DestHandler::fileErrorHandler(Event event, ReturnValue_t result, const char* info) {
|
||||
fp.eventReporter->forwardEvent(events::FILENAME_TOO_LARGE_ERROR,
|
||||
static_cast<uint8_t>(fsmRes.step), result);
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "cfdp::DestHandler: " << info << std::endl;
|
||||
#endif
|
||||
}
|
||||
|
||||
void cfdp::DestHandler::finish() {
|
||||
tp.reset();
|
||||
dp.packetListRef.clear();
|
||||
fsmRes.state = CfdpStates::IDLE;
|
||||
fsmRes.step = TransactionStep::IDLE;
|
||||
}
|
||||
|
||||
ReturnValue_t cfdp::DestHandler::checksumVerification() {
|
||||
std::array<uint8_t, 1024> buf{};
|
||||
// TODO: Checksum verification and notice of completion
|
||||
etl::crc32 crcCalc;
|
||||
uint64_t currentOffset = 0;
|
||||
FileOpParams params(tp.destName.data(), tp.fileSize.value());
|
||||
while (currentOffset < tp.fileSize.value()) {
|
||||
uint64_t readLen;
|
||||
if (currentOffset + buf.size() > tp.fileSize.value()) {
|
||||
readLen = tp.fileSize.value() - currentOffset;
|
||||
} else {
|
||||
readLen = buf.size();
|
||||
}
|
||||
if (readLen > 0) {
|
||||
params.offset = currentOffset;
|
||||
params.size = readLen;
|
||||
auto result = dp.user.vfs.readFromFile(params, buf.data(), buf.size());
|
||||
if (result != OK) {
|
||||
// TODO: I think this is a case for a filestore rejection, but it might sense to print
|
||||
// a warning or trigger an event because this should generally not happen
|
||||
return FAILED;
|
||||
}
|
||||
crcCalc.add(buf.begin(), buf.begin() + readLen);
|
||||
}
|
||||
currentOffset += readLen;
|
||||
}
|
||||
|
||||
uint32_t value = crcCalc.value();
|
||||
if (value == tp.crc) {
|
||||
tp.conditionCode = ConditionCode::NO_ERROR;
|
||||
tp.deliveryCode = FileDeliveryCode::DATA_COMPLETE;
|
||||
} else {
|
||||
// TODO: Proper error handling
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "CRC check for file " << tp.destName.data() << " failed" << std::endl;
|
||||
#endif
|
||||
tp.conditionCode = ConditionCode::FILE_CHECKSUM_FAILURE;
|
||||
}
|
||||
return OK;
|
||||
}
|
||||
|
||||
ReturnValue_t cfdp::DestHandler::noticeOfCompletion() {
|
||||
if (dp.cfg.indicCfg.transactionFinishedIndicRequired) {
|
||||
TransactionFinishedParams params(tp.transactionId, tp.conditionCode, tp.deliveryCode,
|
||||
tp.deliveryStatus);
|
||||
dp.user.transactionFinishedIndication(params);
|
||||
}
|
||||
return OK;
|
||||
}
|
||||
|
||||
ReturnValue_t cfdp::DestHandler::sendFinishedPdu() {
|
||||
FinishedInfo info(tp.conditionCode, tp.deliveryCode, tp.deliveryStatus);
|
||||
FinishPduCreator finishedPdu(tp.pduConf, info);
|
||||
store_address_t storeId;
|
||||
uint8_t* dataPtr = nullptr;
|
||||
ReturnValue_t result =
|
||||
fp.tmStore->getFreeElement(&storeId, finishedPdu.getSerializedSize(), &dataPtr);
|
||||
if (result != OK) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "cfdp::DestHandler:sendFinishedPdu: Getting store slot failed" << std::endl;
|
||||
#endif
|
||||
fp.eventReporter->forwardEvent(events::STORE_ERROR, result, 0);
|
||||
return result;
|
||||
}
|
||||
size_t serLen = 0;
|
||||
result = finishedPdu.serialize(dataPtr, serLen, finishedPdu.getSerializedSize());
|
||||
if (result != OK) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "cfdp::DestHandler::sendFinishedPdu: Serializing Finished PDU failed"
|
||||
<< std::endl;
|
||||
#endif
|
||||
fp.eventReporter->forwardEvent(events::SERIALIZATION_ERROR, result, 0);
|
||||
return result;
|
||||
}
|
||||
TmTcMessage msg(storeId);
|
||||
result = fp.msgQueue->sendMessage(fp.packetDest.getReportReceptionQueue(), &msg);
|
||||
if (result != OK) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "cfdp::DestHandler::sendFinishedPdu: Sending PDU failed" << std::endl;
|
||||
#endif
|
||||
fp.eventReporter->forwardEvent(events::MSG_QUEUE_ERROR, result, 0);
|
||||
return result;
|
||||
}
|
||||
fsmRes.packetsSent++;
|
||||
return OK;
|
||||
}
|
||||
|
||||
cfdp::DestHandler::TransactionStep cfdp::DestHandler::getTransactionStep() const {
|
||||
return fsmRes.step;
|
||||
}
|
||||
|
||||
const cfdp::DestHandler::FsmResult& cfdp::DestHandler::updateFsmRes(uint8_t errors) {
|
||||
fsmRes.errors = errors;
|
||||
fsmRes.result = OK;
|
||||
if (fsmRes.errors > 0) {
|
||||
fsmRes.result = FAILED;
|
||||
}
|
||||
return fsmRes;
|
||||
}
|
||||
|
||||
const cfdp::TransactionId& cfdp::DestHandler::getTransactionId() const { return tp.transactionId; }
|
||||
|
||||
void cfdp::DestHandler::checkAndHandleError(ReturnValue_t result, uint8_t& errorIdx) {
|
||||
if (result != OK and errorIdx < 3) {
|
||||
fsmRes.errorCodes[errorIdx] = result;
|
||||
errorIdx++;
|
||||
}
|
||||
}
|
||||
|
||||
void cfdp::DestHandler::setMsgQueue(MessageQueueIF& queue) { fp.msgQueue = &queue; }
|
||||
|
||||
void cfdp::DestHandler::setEventReporter(EventReportingProxyIF& reporter) {
|
||||
fp.eventReporter = &reporter;
|
||||
}
|
||||
|
||||
const cfdp::DestHandlerParams& cfdp::DestHandler::getDestHandlerParams() const { return dp; }
|
||||
|
||||
StorageManagerIF* cfdp::DestHandler::getTmStore() const { return fp.tmStore; }
|
||||