DHB bugfix and addition

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -467,7 +467,7 @@ ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceComm
   info.expectedReplies = 0;
   info.isExecuting = false;
   info.sendReplyTo = NO_COMMANDER;
-  info.useAlternativeReplyId = alternativeReplyId;
+  info.useAlternativeReplyId = useAlternativeReply;
   info.alternativeReplyId = alternativeReplyId;
   auto resultPair = deviceCommandMap.emplace(deviceCommand, info);
   if (resultPair.second) {
@@ -1601,3 +1601,14 @@ void DeviceHandlerBase::disableCommandsAndReplies() {
     }
   }
 }
+
+ReturnValue_t DeviceHandlerBase::finishAction(bool success, DeviceCommandId_t action,
+		ReturnValue_t result) {
+	  auto commandIter = deviceCommandMap.find(action);
+	  if (commandIter == deviceCommandMap.end()) {
+	    return MessageQueueIF::NO_QUEUE;
+	  }
+	  commandIter->second.isExecuting = false;
+	  actionHelper.finish(success, commandIter->second.sendReplyTo, action, result);
+	  return returnvalue::OK;
+}

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -399,6 +399,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    */
   virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) = 0;
   MessageQueueId_t getCommanderQueueId(DeviceCommandId_t replyId) const;
+  ReturnValue_t finishAction(bool success, DeviceCommandId_t action, ReturnValue_t result);
+
   /**
    * Helper function to get pending command. This is useful for devices
    * like SPI sensors to identify the last sent command.

src/fsfw/globalfunctions/DleParser.cpp

@@ -3,159 +3,95 @@
 #include <fsfw/serviceinterface/ServiceInterface.h>
 
 #include <cstdio>
+#include <fstream>
+#include <iostream>
 
 DleParser::DleParser(SimpleRingBuffer& decodeRingBuf, DleEncoder& decoder, BufPair encodedBuf,
-                     BufPair decodedBuf, UserHandler handler, void* args)
+                     BufPair decodedBuf)
     : decodeRingBuf(decodeRingBuf),
       decoder(decoder),
       encodedBuf(encodedBuf),
-      decodedBuf(decodedBuf),
+      decodedBuf(decodedBuf) {
-      handler(handler),
-      ctx(args) {
-  if (handler == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "DleParser::DleParser: Invalid user handler" << std::endl;
-#else
-    sif::printError("DleParser::DleParser: Invalid user handler\n");
-#endif
-  }
 }
 
-ReturnValue_t DleParser::passData(uint8_t* data, size_t len) {
+ReturnValue_t DleParser::passData(const uint8_t* data, size_t len) {
-  if (data == nullptr or len == 0 or handler == nullptr) {
+  if (data == nullptr or len == 0) {
     return returnvalue::FAILED;
   }
-  size_t copyIntoRingBufFromHere = 0;
+  return decodeRingBuf.writeData(data, len);
-  size_t copyAmount = len;
+}
-  size_t startIdx = 0;
+
-  ReturnValue_t result = returnvalue::OK;
+ReturnValue_t DleParser::parseRingBuf(size_t& readSize) {
-  bool startFoundInThisPacket = false;
+  ctx.setType(DleParser::ContextType::NONE);
-  for (size_t idx = 0; idx < len; idx++) {
+  size_t availableData = decodeRingBuf.getAvailableReadData();
-    if (data[idx] == DleEncoder::STX_CHAR) {
+  if(availableData == 0) {
-      if (not startFound and not startFoundInThisPacket) {
+    return NO_PACKET_FOUND;
-        startIdx = idx;
+  }
-        copyIntoRingBufFromHere = idx;
+  if (availableData > encodedBuf.second) {
-        copyAmount = len - idx;
+    ErrorInfo info;
+    info.len = decodeRingBuf.getAvailableReadData();
+    setErrorContext(ErrorTypes::DECODING_BUF_TOO_SMALL, info);
+    return returnvalue::FAILED;
+  }
+  ReturnValue_t result = decodeRingBuf.readData(encodedBuf.first, availableData);
+  if (result != returnvalue::OK) {
+    ErrorInfo info;
+    info.res = result;
+    setErrorContext(ErrorTypes::RING_BUF_ERROR, info);
+    return result;
+  }
+  bool stxFound = false;
+  size_t stxIdx = 0;
+  for (size_t vectorIdx = 0; vectorIdx < availableData; vectorIdx++) {
+    // handle STX char
+    if (encodedBuf.first[vectorIdx] == DleEncoder::STX_CHAR) {
+      if (not stxFound) {
+        stxFound = true;
+        stxIdx = vectorIdx;
       } else {
-        // Maybe print warning, should not happen
+        // might be lost packet, so we should advance the read pointer
-        decodeRingBuf.clear();
+        // without skipping the STX
+        readSize = vectorIdx;
         ErrorInfo info;
-        info.len = idx;
+        setErrorContext(ErrorTypes::CONSECUTIVE_STX_CHARS, info);
-        prepareErrorContext(ErrorTypes::CONSECUTIVE_STX_CHARS, info);
+        return POSSIBLE_PACKET_LOSS;
-        handler(ctx);
-        copyIntoRingBufFromHere = idx;
-        copyAmount = len - idx;
       }
-      startFound = true;
+    }
-      startFoundInThisPacket = true;
+    // handle ETX char
-    } else if (data[idx] == DleEncoder::ETX_CHAR) {
+    if (encodedBuf.first[vectorIdx] == DleEncoder::ETX_CHAR) {
-      if (startFoundInThisPacket) {
+      if (stxFound) {
-        size_t readLen = 0;
+        // This is propably a packet, so we decode it.
         size_t decodedLen = 0;
-        result = decoder.decode(data + startIdx, idx + 1 - startIdx, &readLen, decodedBuf.first,
+        size_t dummy = 0;
-                                decodedBuf.second, &decodedLen);
+
+        ReturnValue_t result =
+            decoder.decode(&encodedBuf.first[stxIdx], availableData - stxIdx, &dummy,
+                           decodedBuf.first, decodedBuf.second, &decodedLen);
         if (result == returnvalue::OK) {
           ctx.setType(ContextType::PACKET_FOUND);
           ctx.decodedPacket.first = decodedBuf.first;
           ctx.decodedPacket.second = decodedLen;
-          this->handler(ctx);
+          readSize = ++vectorIdx;
-        } else if (result == DleEncoder::STREAM_TOO_SHORT) {
+          return returnvalue::OK;
+        } else {
+          // invalid packet, skip.
+          readSize = ++vectorIdx;
           ErrorInfo info;
           info.res = result;
-          prepareErrorContext(ErrorTypes::DECODING_BUF_TOO_SMALL, info);
+          setErrorContext(ErrorTypes::DECODE_ERROR, info);
-          handler(ctx);
+          return POSSIBLE_PACKET_LOSS;
-        } else {
-          ErrorInfo info;
-          info.res = result;
-          prepareErrorContext(ErrorTypes::DECODING_BUF_TOO_SMALL, info);
-          handler(ctx);
-        }
-        decodeRingBuf.clear();
-        if ((idx + 1) < len) {
-          copyIntoRingBufFromHere = idx + 1;
-          copyAmount = len - idx - 1;
-        } else {
-          copyAmount = 0;
-        }
-      } else if (startFound) {
-        // ETX found but STX was found in another mini packet. Reconstruct the full packet
-        // to decode it
-        result = decodeRingBuf.writeData(data, idx + 1);
-        if (result != returnvalue::OK) {
-          ErrorInfo info;
-          info.res = result;
-          prepareErrorContext(ErrorTypes::RING_BUF_ERROR, info);
-          handler(ctx);
-        }
-        size_t fullEncodedLen = decodeRingBuf.getAvailableReadData();
-        if (fullEncodedLen > encodedBuf.second) {
-          ErrorInfo info;
-          info.len = fullEncodedLen;
-          prepareErrorContext(ErrorTypes::ENCODED_BUF_TOO_SMALL, info);
-          handler(ctx);
-          decodeRingBuf.clear();
-        } else {
-          size_t decodedLen = 0;
-          size_t readLen = 0;
-          decodeRingBuf.readData(encodedBuf.first, fullEncodedLen, true);
-          result = decoder.decode(encodedBuf.first, fullEncodedLen, &readLen, decodedBuf.first,
-                                  decodedBuf.second, &decodedLen);
-          if (result == returnvalue::OK) {
-            if (this->handler != nullptr) {
-              ctx.setType(ContextType::PACKET_FOUND);
-              ctx.decodedPacket.first = decodedBuf.first;
-              ctx.decodedPacket.second = decodedLen;
-              this->handler(ctx);
-            }
-          } else if (result == DleEncoder::STREAM_TOO_SHORT) {
-            ErrorInfo info;
-            info.res = result;
-            prepareErrorContext(ErrorTypes::DECODING_BUF_TOO_SMALL, info);
-            handler(ctx);
-          } else {
-            ErrorInfo info;
-            info.res = result;
-            prepareErrorContext(ErrorTypes::DECODE_ERROR, info);
-            handler(ctx);
-          }
-          decodeRingBuf.clear();
-          startFound = false;
-          startFoundInThisPacket = false;
-          if ((idx + 1) < len) {
-            copyIntoRingBufFromHere = idx + 1;
-            copyAmount = len - idx - 1;
-          } else {
-            copyAmount = 0;
-          }
         }
       } else {
-        // End data without preceeding STX
+        // might be lost packet, so we should advance the read pointer
+        readSize = ++vectorIdx;
         ErrorInfo info;
-        info.len = idx + 1;
+        info.len = 0;
-        prepareErrorContext(ErrorTypes::CONSECUTIVE_ETX_CHARS, info);
+        setErrorContext(ErrorTypes::CONSECUTIVE_ETX_CHARS, info);
-        handler(ctx);
+        return POSSIBLE_PACKET_LOSS;
-        decodeRingBuf.clear();
-        if ((idx + 1) < len) {
-          copyIntoRingBufFromHere = idx + 1;
-          copyAmount = len - idx - 1;
-        } else {
-          copyAmount = 0;
-        }
       }
-      startFoundInThisPacket = false;
-      startFound = false;
     }
   }
-  if (copyAmount > 0) {
+  return NO_PACKET_FOUND;
-    result = decodeRingBuf.writeData(data + copyIntoRingBufFromHere, copyAmount);
-    if (result != returnvalue::OK) {
-      ErrorInfo info;
-      info.res = result;
-      prepareErrorContext(ErrorTypes::RING_BUF_ERROR, info);
-      handler(ctx);
-    }
-  }
-  return returnvalue::OK;
 }
 
 void DleParser::defaultFoundPacketHandler(uint8_t* packet, size_t len, void* args) {
@@ -169,8 +105,12 @@ void DleParser::defaultFoundPacketHandler(uint8_t* packet, size_t len, void* arg
 #endif
 }
 
-void DleParser::defaultErrorHandler(ErrorTypes err, ErrorInfo ctx) {
+void DleParser::defaultErrorHandler() {
-  switch (err) {
+  if(ctx.getType() != DleParser::ContextType::ERROR) {
+    errorPrinter("No error");
+    return;
+  }
+  switch (ctx.error.first) {
     case (ErrorTypes::NONE): {
       errorPrinter("No error");
       break;
@@ -186,8 +126,8 @@ void DleParser::defaultErrorHandler(ErrorTypes err, ErrorInfo ctx) {
     case (ErrorTypes::ENCODED_BUF_TOO_SMALL):
     case (ErrorTypes::DECODING_BUF_TOO_SMALL): {
       char opt[64];
-      snprintf(opt, sizeof(opt), ": Too small for packet with length %zu", ctx.len);
+      snprintf(opt, sizeof(opt), ": Too small for packet with length %zu", ctx.decodedPacket.second);
-      if (err == ErrorTypes::ENCODED_BUF_TOO_SMALL) {
+      if (ctx.error.first == ErrorTypes::ENCODED_BUF_TOO_SMALL) {
         errorPrinter("Encoded buf too small", opt);
       } else {
         errorPrinter("Decoding buf too small", opt);
@@ -218,13 +158,20 @@ void DleParser::errorPrinter(const char* str, const char* opt) {
 #endif
 }
 
-void DleParser::prepareErrorContext(ErrorTypes err, ErrorInfo info) {
+void DleParser::setErrorContext(ErrorTypes err, ErrorInfo info) {
   ctx.setType(ContextType::ERROR);
   ctx.error.first = err;
   ctx.error.second = info;
 }
 
+ReturnValue_t DleParser::confirmBytesRead(size_t bytesRead) {
+  return decodeRingBuf.deleteData(bytesRead);
+}
+
+const DleParser::Context& DleParser::getContext() {
+  return ctx;
+}
+
 void DleParser::reset() {
-  startFound = false;
   decodeRingBuf.clear();
 }

src/fsfw/globalfunctions/DleParser.h

@@ -18,9 +18,11 @@
  */
 class DleParser {
  public:
+  static constexpr ReturnValue_t NO_PACKET_FOUND = returnvalue::makeCode(1, 1);
+  static constexpr ReturnValue_t POSSIBLE_PACKET_LOSS = returnvalue::makeCode(1, 2);
   using BufPair = std::pair<uint8_t*, size_t>;
 
-  enum class ContextType { PACKET_FOUND, ERROR };
+  enum class ContextType { NONE, PACKET_FOUND, ERROR };
 
   enum class ErrorTypes {
     NONE,
@@ -41,7 +43,7 @@ class DleParser {
 
   struct Context {
    public:
-    Context(void* args) : userArgs(args) { setType(ContextType::PACKET_FOUND); }
+    Context() { setType(ContextType::PACKET_FOUND); }
 
     void setType(ContextType type) {
       this->type = type;
@@ -58,14 +60,11 @@ class DleParser {
 
     BufPair decodedPacket = {};
     ErrorPair error;
-    void* userArgs;
 
    private:
     ContextType type;
   };
 
-  using UserHandler = void (*)(const Context& ctx);
-
   /**
    * Base class constructor
    * @param decodeRingBuf Ring buffer used to store multiple packets to allow detecting DLE packets
@@ -79,7 +78,7 @@ class DleParser {
    * @param args Arbitrary user argument
    */
   DleParser(SimpleRingBuffer& decodeRingBuf, DleEncoder& decoder, BufPair encodedBuf,
-            BufPair decodedBuf, UserHandler handler, void* args);
+            BufPair decodedBuf);
 
   /**
    * This function allows to pass new data into the parser. It then scans for DLE packets
@@ -88,8 +87,13 @@ class DleParser {
    * @param len
    * @return
    */
-  ReturnValue_t passData(uint8_t* data, size_t len);
+  ReturnValue_t passData(const uint8_t* data, size_t len);
 
+  ReturnValue_t parseRingBuf(size_t& bytesRead);
+
+  ReturnValue_t confirmBytesRead(size_t bytesRead);
+
+  const Context& getContext();
   /**
    * Example found packet handler
    * function call
@@ -104,11 +108,11 @@ class DleParser {
    *  - For buffer length errors, will be set to the detected packet length which is too large
    *  - For decode or ring buffer errors, will be set to the result returned from the failed call
    */
-  static void defaultErrorHandler(ErrorTypes err, ErrorInfo ctx);
+  void defaultErrorHandler();
 
   static void errorPrinter(const char* str, const char* opt = nullptr);
 
-  void prepareErrorContext(ErrorTypes err, ErrorInfo ctx);
+  void setErrorContext(ErrorTypes err, ErrorInfo ctx);
   /**
    * Resets the parser by resetting the internal states and clearing the decoding ring buffer
    */
@@ -119,7 +123,5 @@ class DleParser {
   DleEncoder& decoder;
   BufPair encodedBuf;
   BufPair decodedBuf;
-  UserHandler handler = nullptr;
   Context ctx;
-  bool startFound = false;
 };

src/fsfw/pus/Service5EventReporting.cpp

@@ -15,8 +15,8 @@ Service5EventReporting::Service5EventReporting(PsbParams params, size_t maxNumbe
       maxNumberReportsPerCycle(maxNumberReportsPerCycle) {
   auto mqArgs = MqArgs(getObjectId(), static_cast<void*>(this));
   psbParams.name = "PUS 5 Event Reporting";
-  eventQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth,
+  eventQueue = QueueFactory::instance()->createMessageQueue(
-    MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+      messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 Service5EventReporting::~Service5EventReporting() {