merge upstream development #110

Merged
muellerr merged 70 commits from mohr/merge-upstream into develop 2022-09-15 18:34:50 +02:00
48 changed files with 315 additions and 381 deletions

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@ -80,7 +80,7 @@ set(FSFW_CATCH2_LIB_MAJOR_VERSION
3
CACHE STRING "Catch2 library major version requirement")
set(FSFW_CATCH2_LIB_VERSION
v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5
v${FSFW_CATCH2_LIB_MAJOR_VERSION}.1.0
CACHE STRING "Catch2 library exact version requirement")
# Keep this off by default for now. See PR:
@ -360,7 +360,8 @@ if(NOT FSFW_CONFIG_PATH)
if(NOT FSFW_BUILD_DOCS)
message(
WARNING
"${MSG_PREFIX} Flight Software Framework configuration path not set")
"${MSG_PREFIX} Flight Software Framework configuration path FSFW_CONFIG_PATH not set"
)
message(
WARNING
"${MSG_PREFIX} Setting default configuration from ${DEF_CONF_PATH} ..")

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@ -175,7 +175,7 @@ cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..
Then you can generate the documentation using
```sh
cmake --build . -j
cmake --build . -- Sphinx -j
```
You can find the generated documentation inside the `docs/sphinx` folder inside the build

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@ -5,16 +5,21 @@ 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
RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping python3 pip doxygen graphviz
RUN python3 -m pip install sphinx breathe
RUN git clone https://github.com/catchorg/Catch2.git && \
cd Catch2 && \
git checkout v3.0.0-preview5 && \
cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
cmake --build build/ --target install
cd Catch2 && \
git checkout v3.1.0 && \
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/
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

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@ -1,9 +1,13 @@
pipeline {
environment {
BUILDDIR = 'cmake-build-tests'
DOCDDIR = 'cmake-build-documentation'
}
agent {
docker { image 'fsfw-ci:d3'}
docker {
image 'fsfw-ci:d5'
args '--network host'
}
}
stages {
stage('Clean') {
@ -39,5 +43,47 @@ pipeline {
}
}
}
stage('Documentation') {
when {
branch 'development'
}
steps {
dir(DOCDDIR) {
sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..'
sh 'make Sphinx'
sshagent(credentials: ['documentation-buildfix']) {
sh 'ssh -o StrictHostKeyChecking=no buildfix@documentation.intra.irs.uni-stuttgart.de rm -rf /mnt/data/www/html/fsfw/development/*'
sh 'scp -o StrictHostKeyChecking=no -r docs/sphinx/* buildfix@documentation.intra.irs.uni-stuttgart.de:/mnt/data/www/html/fsfw/development'
}
}
dir(BUILDDIR) {
sshagent(credentials: ['documentation-buildfix']) {
sh 'ssh -o StrictHostKeyChecking=no buildfix@documentation.intra.irs.uni-stuttgart.de rm -rf /mnt/data/www/html/fsfw/coverage/development/*'
sh 'scp -o StrictHostKeyChecking=no -r fsfw-tests_coverage/* buildfix@documentation.intra.irs.uni-stuttgart.de:/mnt/data/www/html/fsfw/coverage/development'
}
}
}
}
stage('Master Documentation') {
when {
branch 'master'
}
steps {
dir(DOCDDIR) {
sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..'
sh 'make Sphinx'
sshagent(credentials: ['documentation-buildfix']) {
sh 'ssh -o StrictHostKeyChecking=no buildfix@documentation.intra.irs.uni-stuttgart.de rm -rf /mnt/data/www/html/fsfw/master/*'
sh 'scp -o StrictHostKeyChecking=no -r docs/sphinx/* buildfix@documentation.intra.irs.uni-stuttgart.de:/mnt/data/www/html/fsfw/master'
}
}
dir(BUILDDIR) {
sshagent(credentials: ['documentation-buildfix']) {
sh 'ssh -o StrictHostKeyChecking=no buildfix@documentation.intra.irs.uni-stuttgart.de rm -rf /mnt/data/www/html/fsfw/coverage/master/*'
sh 'scp -o StrictHostKeyChecking=no -r fsfw-tests_coverage/* buildfix@documentation.intra.irs.uni-stuttgart.de:/mnt/data/www/html/fsfw/coverage/master'
}
}
}
}
}
}

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@ -4,6 +4,10 @@
#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

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@ -21,7 +21,7 @@ cfdp::Lv& cfdp::Lv::operator=(const Lv& other) {
if (value == nullptr or otherSize == 0) {
this->zeroLen = true;
}
this->value.setBuffer(value, otherSize);
this->value.setConstBuffer(value, otherSize);
return *this;
}
@ -70,7 +70,7 @@ ReturnValue_t cfdp::Lv::deSerialize(const uint8_t** buffer, size_t* size,
}
zeroLen = false;
// Zero-copy implementation
value.setBuffer(const_cast<uint8_t*>(*buffer + 1), lengthField);
value.setConstBuffer(*buffer + 1, lengthField);
*buffer += 1 + lengthField;
*size -= 1 + lengthField;
return returnvalue::OK;

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@ -75,7 +75,7 @@ ReturnValue_t cfdp::Tlv::deSerialize(const uint8_t **buffer, size_t *size,
}
zeroLen = false;
// Zero-copy implementation
value.setBuffer(const_cast<uint8_t *>(*buffer + 1), lengthField);
value.setConstBuffer(*buffer + 1, lengthField);
*buffer += 1 + lengthField;
*size -= 1 + lengthField;
return returnvalue::OK;
@ -96,7 +96,7 @@ void cfdp::Tlv::setValue(uint8_t *value, size_t len) {
if (len > 0) {
zeroLen = false;
}
this->value.setBuffer(value, len);
this->value.setConstBuffer(value, len);
}
uint8_t cfdp::Tlv::getLengthField() const { return this->value.getSerializedSize() - 1; }

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@ -1337,7 +1337,6 @@ ReturnValue_t DeviceHandlerBase::executeAction(ActionId_t actionId, MessageQueue
} else if (iter->second.isExecuting) {
result = COMMAND_ALREADY_SENT;
} else {
prevRecipient = iter->second.sendReplyTo;
iter->second.sendReplyTo = commandedBy;
result = buildCommandFromCommand(actionId, data, size);
}
@ -1345,8 +1344,6 @@ ReturnValue_t DeviceHandlerBase::executeAction(ActionId_t actionId, MessageQueue
iter->second.isExecuting = true;
cookieInfo.pendingCommand = iter;
cookieInfo.state = COOKIE_WRITE_READY;
} else {
iter->second.sendReplyTo = prevRecipient;
}
return result;
}

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@ -1070,8 +1070,23 @@ class DeviceHandlerBase : public DeviceHandlerIF,
bool isAwaitingReply();
/**
* Wrapper function for @handleDeviceTm which wraps the raw buffer with @SerialBufferAdapter.
* For interpreted data, prefer the other function.
* @param rawData
* @param rawDataLen
* @param replyId
* @param forceDirectTm
*/
void handleDeviceTm(const uint8_t *rawData, size_t rawDataLen, DeviceCommandId_t replyId,
bool forceDirectTm = false);
/**
* Can be used to handle Service 8 data replies. This will also generate the TM wiretapping
* packets accordingly.
* @param dataSet
* @param replyId
* @param forceDirectTm
*/
void handleDeviceTm(const SerializeIF &dataSet, DeviceCommandId_t replyId,
bool forceDirectTm = false);

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@ -4,8 +4,6 @@
#include <stdint.h>
#include "fwSubsystemIdRanges.h"
// could be moved to more suitable location
#include <events/subsystemIdRanges.h>
using EventId_t = uint16_t;
using EventSeverity_t = uint8_t;

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@ -8,7 +8,7 @@
#include "../serialize/SerialLinkedListAdapter.h"
#include "../serialize/SerializeElement.h"
#include "../serviceinterface/ServiceInterface.h"
#include "../timemanager/TimeStamperIF.h"
#include "../timemanager/TimeWriterIF.h"
#include "HasMonitorsIF.h"
#include "MonitoringIF.h"
#include "monitoringConf.h"
@ -34,9 +34,9 @@ class MonitoringReportContent : public SerialLinkedListAdapter<SerializeIF> {
SerializeElement<T> limitValue;
SerializeElement<ReturnValue_t> oldState;
SerializeElement<ReturnValue_t> newState;
uint8_t rawTimestamp[TimeStamperIF::MAXIMUM_TIMESTAMP_LEN] = {};
uint8_t rawTimestamp[TimeWriterIF::MAXIMUM_TIMESTAMP_LEN] = {};
SerializeElement<SerialBufferAdapter<uint8_t>> timestampSerializer;
TimeStamperIF* timeStamper;
TimeWriterIF* timeStamper;
MonitoringReportContent()
: SerialLinkedListAdapter<SerializeIF>(&parameterObjectId),
monitorId(0),
@ -79,7 +79,7 @@ class MonitoringReportContent : public SerialLinkedListAdapter<SerializeIF> {
}
bool checkAndSetStamper() {
if (timeStamper == nullptr) {
timeStamper = ObjectManager::instance()->get<TimeStamperIF>(timeStamperId);
timeStamper = ObjectManager::instance()->get<TimeWriterIF>(timeStamperId);
if (timeStamper == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MonitoringReportContent::checkAndSetStamper: "

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@ -568,11 +568,13 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::getMapFilterFr
return INVALID_TIME_WINDOW;
}
itBegin = telecommandMap.begin();
itEnd = telecommandMap.begin();
while (itBegin->first < fromTimestamp && itBegin != telecommandMap.end()) {
itBegin++;
}
// start looking for end beginning at begin
itEnd = itBegin;
while (itEnd->first <= toTimestamp && itEnd != telecommandMap.end()) {
itEnd++;
}

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@ -11,7 +11,7 @@ Service1TelecommandVerification::Service1TelecommandVerification(object_id_t obj
uint16_t apid, uint8_t serviceId,
object_id_t targetDestination,
uint16_t messageQueueDepth,
TimeStamperIF* timeStamper)
TimeWriterIF* timeStamper)
: SystemObject(objectId),
apid(apid),
serviceId(serviceId),
@ -134,7 +134,7 @@ ReturnValue_t Service1TelecommandVerification::initialize() {
storeHelper.setTmStore(*tmStore);
}
if (timeStamper == nullptr) {
timeStamper = ObjectManager::instance()->get<TimeStamperIF>(objects::TIME_STAMPER);
timeStamper = ObjectManager::instance()->get<TimeWriterIF>(objects::TIME_STAMPER);
if (timeStamper == nullptr) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}

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@ -47,7 +47,7 @@ class Service1TelecommandVerification : public AcceptsVerifyMessageIF,
Service1TelecommandVerification(object_id_t objectId, uint16_t apid, uint8_t serviceId,
object_id_t targetDestination, uint16_t messageQueueDepth,
TimeStamperIF* timeStamper = nullptr);
TimeWriterIF* timeStamper = nullptr);
~Service1TelecommandVerification() override;
/**
@ -87,7 +87,7 @@ class Service1TelecommandVerification : public AcceptsVerifyMessageIF,
TmStoreHelper storeHelper;
TmStoreAndSendWrapper tmHelper;
InternalErrorReporterIF* errReporter = nullptr;
TimeStamperIF* timeStamper = nullptr;
TimeWriterIF* timeStamper = nullptr;
StorageManagerIF* tmStore = nullptr;
MessageQueueIF* tmQueue = nullptr;

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@ -1,8 +1,6 @@
#ifndef FSFW_RETURNVALUES_RETURNVALUE_H_
#define FSFW_RETURNVALUES_RETURNVALUE_H_
#include <returnvalues/classIds.h>
#include <cstdint>
#include "FwClassIds.h"

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@ -21,7 +21,7 @@ SerialBufferAdapter<count_t>::SerialBufferAdapter(uint8_t* buffer, count_t buffe
bufferLength(bufferLength) {}
template <typename count_t>
SerialBufferAdapter<count_t>::~SerialBufferAdapter() {}
SerialBufferAdapter<count_t>::~SerialBufferAdapter() = default;
template <typename count_t>
ReturnValue_t SerialBufferAdapter<count_t>::serialize(uint8_t** buffer, size_t* size,
@ -119,10 +119,10 @@ const uint8_t* SerialBufferAdapter<count_t>::getConstBuffer() const {
}
template <typename count_t>
void SerialBufferAdapter<count_t>::setBuffer(uint8_t* buffer, count_t bufferLength) {
this->buffer = buffer;
this->constBuffer = buffer;
this->bufferLength = bufferLength;
void SerialBufferAdapter<count_t>::setConstBuffer(const uint8_t* buf, count_t bufLen) {
this->buffer = nullptr;
this->bufferLength = bufLen;
this->constBuffer = buf;
}
// forward Template declaration for linker

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@ -21,6 +21,7 @@
template <typename count_t>
class SerialBufferAdapter : public SerializeIF {
public:
SerialBufferAdapter() = default;
/**
* Constructor for constant uint8_t buffer. Length field can be serialized optionally.
* Type of length can be supplied as template type.
@ -40,12 +41,12 @@ class SerialBufferAdapter : public SerializeIF {
*/
SerialBufferAdapter(uint8_t* buffer, count_t bufferLength, bool serializeLength = false);
virtual ~SerialBufferAdapter();
~SerialBufferAdapter() override;
virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
Endianness streamEndianness) const override;
ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
Endianness streamEndianness) const override;
virtual size_t getSerializedSize() const override;
[[nodiscard]] size_t getSerializedSize() const override;
/**
* @brief This function deserializes a buffer into the member buffer.
@ -59,12 +60,12 @@ class SerialBufferAdapter : public SerializeIF {
* @param bigEndian
* @return
*/
virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
Endianness streamEndianness) override;
ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
Endianness streamEndianness) override;
uint8_t* getBuffer();
const uint8_t* getConstBuffer() const;
void setBuffer(uint8_t* buffer, count_t bufferLength);
[[nodiscard]] const uint8_t* getConstBuffer() const;
void setConstBuffer(const uint8_t* buf, count_t bufLen);
private:
bool serializeLength = false;

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@ -1,8 +1,8 @@
#include "fsfw/serviceinterface/ServiceInterfaceBuffer.h"
#include "ServiceInterfaceBuffer.h"
#if FSFW_CPP_OSTREAM_ENABLED == 1
#include <inttypes.h>
#include <cinttypes>
#include <cstring>
@ -16,8 +16,6 @@
// to be implemented by bsp
extern "C" void printChar(const char*, bool errStream);
#ifndef UT699
ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string setMessage, bool addCrToPreamble,
bool buffered, bool errStream, uint16_t port)
: isActive(true),
@ -58,6 +56,9 @@ ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string setMessage, bool addC
}
void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
if (not isActive) {
return;
}
char array[BUF_SIZE];
uint32_t length = end - begin;
if (length > sizeof(array)) {
@ -74,8 +75,6 @@ void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
}
}
#endif
int ServiceInterfaceBuffer::overflow(int c) {
if (not buffered and this->isActive) {
if (c != Traits::eof()) {
@ -169,89 +168,4 @@ void ServiceInterfaceBuffer::setAsciiColorPrefix(std::string colorPrefix) {
}
#endif
#ifdef UT699
#include "../osal/rtems/Interrupt.h"
ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string set_message, uint16_t port) {
this->log_message = set_message;
this->isActive = true;
setp(buf, buf + BUF_SIZE);
}
void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
char array[BUF_SIZE];
uint32_t length = end - begin;
if (length > sizeof(array)) {
length = sizeof(array);
}
memcpy(array, begin, length);
if (!Interrupt::isInterruptInProgress()) {
std::cout << array;
} else {
// Uncomment the following line if you need ISR debug output.
// printk(array);
}
}
#endif // UT699
#ifdef ML505
#include <bsp_flp/network/networkconfig.h>
ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string set_message, uint16_t port)
: isActive(true),
log_message(set_message),
udpSocket(0),
remoteAddressLength(sizeof(remoteAddress)) {
setp(buf, buf + BUF_SIZE);
memset((uint8_t*)&remoteAddress, 0, sizeof(remoteAddress));
remoteAddress.sin_family = AF_INET;
remoteAddress.sin_port = htons(port);
remoteAddress.sin_addr.s_addr = htonl(inet_addr("192.168.250.100"));
}
void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
char array[BUF_SIZE];
uint32_t length = end - begin;
if (length > sizeof(array)) {
length = sizeof(array);
}
memcpy(array, begin, length);
if (udpSocket <= 0) {
initSocket();
}
if (udpSocket > 0) {
sendto(udpSocket, array, length, 0, (sockaddr*)&remoteAddress, sizeof(remoteAddress));
}
}
void ServiceInterfaceBuffer::initSocket() {
sockaddr_in address;
memset((uint8_t*)&address, 0, sizeof(address));
address.sin_family = AF_INET;
address.sin_port = htons(0);
address.sin_addr.s_addr = htonl(INADDR_ANY);
udpSocket = socket(PF_INET, SOCK_DGRAM, 0);
if (socket < 0) {
printf("Error opening socket!\n");
return;
}
timeval timeout = {0, 20};
if (setsockopt(udpSocket, SOL_SOCKET, SO_RCVTIMEO, &timeout, sizeof(timeout)) < 0) {
printf("Error setting SO_RCVTIMEO socket options!\n");
return;
}
if (setsockopt(udpSocket, SOL_SOCKET, SO_SNDTIMEO, &timeout, sizeof(timeout)) < 0) {
printf("Error setting SO_SNDTIMEO socket options!\n");
return;
}
if (bind(udpSocket, (sockaddr*)&address, sizeof(address)) < 0) {
printf("Error binding socket!\n");
}
}
#endif // ML505
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif

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@ -1,9 +1,8 @@
#ifndef FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_
#define FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_
#include <FSFWConfig.h>
#include "../returnvalues/returnvalue.h"
#include "fsfw/FSFW.h"
#include "fsfw/returnvalues/returnvalue.h"
#if FSFW_CPP_OSTREAM_ENABLED == 1
@ -11,8 +10,6 @@
#include <iostream>
#include <sstream>
#ifndef UT699
/**
* @brief This is the underlying stream buffer which implements the
* streambuf class and overloads the overflow() and sync() methods
@ -77,85 +74,6 @@ class ServiceInterfaceBuffer : public std::streambuf {
bool crAdditionEnabled() const;
};
#endif
#ifdef UT699
class ServiceInterfaceBuffer : public std::basic_streambuf<char, std::char_traits<char> > {
friend class ServiceInterfaceStream;
public:
ServiceInterfaceBuffer(std::string set_message, uint16_t port);
protected:
bool isActive;
// This is called when buffer becomes full. If
// buffer is not used, then this is called every
// time when characters are put to stream.
virtual int overflow(int c = Traits::eof());
// This function is called when stream is flushed,
// for example when std::endl is put to stream.
virtual int sync(void);
private:
// For additional message information
std::string log_message;
// For EOF detection
typedef std::char_traits<char> Traits;
// Work in buffer mode. It is also possible to work without buffer.
static size_t const BUF_SIZE = 128;
char buf[BUF_SIZE];
// In this function, the characters are parsed.
void putChars(char const* begin, char const* end);
};
#endif // UT699
#ifdef ML505
#include <arpa/inet.h>
#include <netinet/in.h>
#include <netinet/udp.h>
#include <sys/socket.h>
#include <sys/types.h>
class ServiceInterfaceBuffer : public std::basic_streambuf<char, std::char_traits<char> > {
friend class ServiceInterfaceStream;
public:
ServiceInterfaceBuffer(std::string set_message, uint16_t port);
protected:
bool isActive;
// This is called when buffer becomes full. If
// buffer is not used, then this is called every
// time when characters are put to stream.
virtual int overflow(int c = Traits::eof());
// This function is called when stream is flushed,
// for example when std::endl is put to stream.
virtual int sync(void);
private:
// For additional message information
std::string log_message;
// For EOF detection
typedef std::char_traits<char> Traits;
// Work in buffer mode. It is also possible to work without buffer.
static size_t const BUF_SIZE = 128;
char buf[BUF_SIZE];
// In this function, the characters are parsed.
void putChars(char const* begin, char const* end);
int udpSocket;
sockaddr_in remoteAddress;
socklen_t remoteAddressLength;
void initSocket();
};
#endif // ML505
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_ */

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@ -6,11 +6,6 @@
CdsShortTimeStamper::CdsShortTimeStamper(object_id_t objectId) : SystemObject(objectId) {}
ReturnValue_t CdsShortTimeStamper::addTimeStamp(uint8_t *buffer, const uint8_t maxSize) {
size_t serLen = 0;
return serialize(&buffer, &serLen, maxSize, SerializeIF::Endianness::NETWORK);
}
ReturnValue_t CdsShortTimeStamper::serialize(uint8_t **buffer, size_t *size, size_t maxSize,
SerializeIF::Endianness streamEndianness) const {
if (*size + getSerializedSize() > maxSize) {
@ -33,15 +28,22 @@ size_t CdsShortTimeStamper::getSerializedSize() const { return getTimestampSize(
ReturnValue_t CdsShortTimeStamper::deSerialize(const uint8_t **buffer, size_t *size,
SerializeIF::Endianness streamEndianness) {
return returnvalue::FAILED;
}
ReturnValue_t CdsShortTimeStamper::readTimeStamp(const uint8_t *buffer, size_t maxSize) {
if (maxSize < getTimestampSize()) {
if (size == nullptr or buffer == nullptr) {
return returnvalue::FAILED;
}
if (*size < getTimestampSize()) {
return SerializeIF::STREAM_TOO_SHORT;
}
size_t foundLen = 0;
return CCSDSTime::convertFromCcsds(&readTime, buffer, &foundLen, maxSize);
if (((**buffer >> 4) & 0b111) != CCSDSTime::TimeCodeIdentification::CDS) {
return BAD_TIMESTAMP;
}
auto res = CCSDSTime::convertFromCcsds(&readTime, *buffer, &foundLen, *size);
if (res == returnvalue::OK) {
*size -= getSerializedSize();
*buffer += getSerializedSize();
}
return res;
}
timeval &CdsShortTimeStamper::getTime() { return readTime; }

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@ -3,7 +3,7 @@
#include "CCSDSTime.h"
#include "TimeReaderIF.h"
#include "TimeStamperIF.h"
#include "TimeWriterIF.h"
#include "fsfw/objectmanager/SystemObject.h"
/**
@ -15,7 +15,7 @@
* overriding the #addTimeStamp function.
* @ingroup utility
*/
class CdsShortTimeStamper : public TimeStamperIF, public TimeReaderIF, public SystemObject {
class CdsShortTimeStamper : public TimeWriterIF, public TimeReaderIF, public SystemObject {
public:
static constexpr size_t TIMESTAMP_LEN = 7;
/**
@ -25,20 +25,11 @@ class CdsShortTimeStamper : public TimeStamperIF, public TimeReaderIF, public Sy
*/
explicit CdsShortTimeStamper(object_id_t objectId);
/**
* Adds a CCSDS CDC short 8 byte timestamp to the given buffer.
* This function can be overriden to use a custom timestamp.
* @param buffer
* @param maxSize
* @return
*/
ReturnValue_t addTimeStamp(uint8_t *buffer, uint8_t maxSize) override;
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(const uint8_t **buffer, size_t *size,
Endianness streamEndianness) override;
ReturnValue_t readTimeStamp(const uint8_t *buffer, size_t maxSize) override;
timeval &getTime() override;
[[nodiscard]] size_t getTimestampSize() const override;

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@ -5,12 +5,28 @@
#include "TimeStampIF.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "fsfw/serialize/SerializeIF.h"
class TimeReaderIF : public TimeStampIF {
class TimeReaderIF : public SerializeIF, public TimeStampIF {
public:
~TimeReaderIF() override = default;
virtual ReturnValue_t readTimeStamp(const uint8_t* buffer, size_t maxSize) = 0;
virtual timeval& getTime() = 0;
[[nodiscard]] size_t getSerializedSize() const override { return getTimestampSize(); }
ReturnValue_t readTimeStamp(const uint8_t* buf, size_t maxSize) {
size_t dummy = 0;
return deSerialize(buf, dummy, maxSize, SerializeIF::Endianness::NETWORK);
}
private:
/**
* Forbidden, use dedicated IF @TimeWriterIF
*/
[[nodiscard]] ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
Endianness streamEndianness) const override {
return returnvalue::FAILED;
}
};
#endif // FSFW_TIMEMANAGER_TIMEREADERIF_H

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@ -1,23 +0,0 @@
#ifndef FSFW_TIMEMANAGER_TIMESTAMPERIF_H_
#define FSFW_TIMEMANAGER_TIMESTAMPERIF_H_
#include "TimeStampIF.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "fsfw/serialize/SerializeIF.h"
/**
* A class implementing this IF provides facilities to add a time stamp to the
* buffer provided.
* Implementors need to ensure that calling the method is thread-safe, i.e.
* addTimeStamp may be called in parallel from a different context.
*/
class TimeStamperIF : public SerializeIF, public TimeStampIF {
public:
virtual ReturnValue_t addTimeStamp(uint8_t* buffer, uint8_t maxSize) = 0;
~TimeStamperIF() override = default;
size_t getTimestampSize() const override { return getSerializedSize(); }
protected:
};
#endif /* FSFW_TIMEMANAGER_TIMESTAMPERIF_H_ */

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@ -0,0 +1,34 @@
#ifndef FSFW_TIMEMANAGER_TIMESTAMPERIF_H_
#define FSFW_TIMEMANAGER_TIMESTAMPERIF_H_
#include "TimeStampIF.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "fsfw/serialize/SerializeIF.h"
/**
* A class implementing this IF provides facilities to add a time stamp to the
* buffer provided.
* Implementors need to ensure that calling the method is thread-safe, i.e.
* addTimeStamp may be called in parallel from a different context.
*/
class TimeWriterIF : public SerializeIF, public TimeStampIF {
public:
~TimeWriterIF() override = default;
[[nodiscard]] size_t getTimestampSize() const override { return getSerializedSize(); }
ReturnValue_t addTimeStamp(uint8_t *buf, size_t maxSize) {
size_t dummy = 0;
return serialize(buf, dummy, maxSize, SerializeIF::Endianness::NETWORK);
}
private:
/**
* Forbidden, use dedicated IF @TimeReaderIF
*/
ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
Endianness streamEndianness) override {
return returnvalue::FAILED;
}
};
#endif /* FSFW_TIMEMANAGER_TIMESTAMPERIF_H_ */

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@ -7,7 +7,7 @@
#include "fsfw/serialize/SerialLinkedListAdapter.h"
#include "fsfw/serialize/SerializeElement.h"
#include "fsfw/timemanager/CCSDSTime.h"
#include "fsfw/timemanager/TimeStamperIF.h"
#include "fsfw/timemanager/TimeWriterIF.h"
#include "fsfw/tmtcpacket/pus/tm/PusTmMinimal.h"
#include "tmStorageConf.h"

View File

@ -7,6 +7,6 @@ class CustomUserDataIF {
public:
virtual ~CustomUserDataIF() = default;
virtual ReturnValue_t setRawUserData(const uint8_t* data, size_t len) = 0;
virtual ReturnValue_t setSerializableUserData(SerializeIF& serializable) = 0;
virtual ReturnValue_t setSerializableUserData(const SerializeIF& serializable) = 0;
};
#endif // FSFW_TMTCPACKET_CREATORDATAIF_H

View File

@ -14,7 +14,6 @@ PusTcCreator::PusTcCreator(SpacePacketParams spParams, PusTcParams pusParams)
ReturnValue_t PusTcCreator::serialize(uint8_t **buffer, size_t *size, size_t maxSize,
SerializeIF::Endianness streamEndianness) const {
const uint8_t *start = *buffer;
size_t userDataLen = pusParams.dataWrapper.getLength();
if (*size + getSerializedSize() > maxSize) {
return SerializeIF::BUFFER_TOO_SHORT;
}
@ -37,17 +36,8 @@ ReturnValue_t PusTcCreator::serialize(uint8_t **buffer, size_t *size, size_t max
if (result != returnvalue::OK) {
return result;
}
if (pusParams.dataWrapper.type == util::DataTypes::RAW) {
const uint8_t *data = pusParams.dataWrapper.dataUnion.raw.data;
if (data != nullptr and userDataLen > 0) {
std::memcpy(*buffer, data, userDataLen);
*buffer += userDataLen;
*size += userDataLen;
}
} else if (pusParams.dataWrapper.type == util::DataTypes::SERIALIZABLE and
pusParams.dataWrapper.dataUnion.serializable != nullptr) {
result = pusParams.dataWrapper.dataUnion.serializable->serialize(buffer, size, maxSize,
streamEndianness);
if (pusParams.appData != nullptr) {
result = pusParams.appData->serialize(buffer, size, maxSize, streamEndianness);
if (result != returnvalue::OK) {
return result;
}
@ -58,8 +48,11 @@ ReturnValue_t PusTcCreator::serialize(uint8_t **buffer, size_t *size, size_t max
}
void PusTcCreator::updateSpLengthField() {
spCreator.setDataLen(ecss::PusTcDataFieldHeader::MIN_SIZE + pusParams.dataWrapper.getLength() +
1);
size_t len = ecss::PusTcDataFieldHeader::MIN_SIZE + 1;
if (pusParams.appData != nullptr) {
len += pusParams.appData->getSerializedSize();
}
spCreator.setDataLen(len);
}
size_t PusTcCreator::getSerializedSize() const { return spCreator.getFullPacketLen(); }
@ -91,14 +84,15 @@ SpacePacketParams &PusTcCreator::getSpParams() { return spCreator.getParams(); }
ReturnValue_t PusTcCreator::setRawUserData(const uint8_t *data, size_t len) {
// TODO: Check length field?
pusParams.dataWrapper.setRawData({data, len});
pusParams.bufAdapter.setConstBuffer(data, len);
pusParams.appData = &pusParams.bufAdapter;
updateSpLengthField();
return returnvalue::OK;
}
ReturnValue_t PusTcCreator::setSerializableUserData(SerializeIF &serializable) {
ReturnValue_t PusTcCreator::setSerializableUserData(const SerializeIF &serializable) {
// TODO: Check length field?
pusParams.dataWrapper.setSerializable(serializable);
pusParams.appData = &serializable;
updateSpLengthField();
return returnvalue::OK;
}

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@ -1,22 +1,30 @@
#ifndef FSFW_TMTCPACKET_TCPACKETDESERIALIZER_H
#define FSFW_TMTCPACKET_TCPACKETDESERIALIZER_H
#include "fsfw/serialize/SerialBufferAdapter.h"
#include "fsfw/tmtcpacket/RedirectableDataPointerIF.h"
#include "fsfw/tmtcpacket/ccsds/SpacePacketCreator.h"
#include "fsfw/tmtcpacket/ccsds/SpacePacketIF.h"
#include "fsfw/tmtcpacket/pus/CustomUserDataIF.h"
#include "fsfw/tmtcpacket/pus/defs.h"
#include "fsfw/tmtcpacket/pus/tc/PusTcIF.h"
#include "fsfw/util/dataWrapper.h"
struct PusTcParams {
PusTcParams(uint8_t service_, uint8_t subservice_) : service(service_), subservice(subservice_) {}
void setRawAppData(const uint8_t *data, size_t len) {
bufAdapter.setConstBuffer(data, len);
appData = &bufAdapter;
}
void setSerializableAppData(const SerializeIF &serializable) { appData = &serializable; }
uint8_t service;
uint8_t subservice;
uint8_t ackFlags = ecss::ACK_ALL;
uint16_t sourceId = 0;
util::DataWrapper dataWrapper{};
SerialBufferAdapter<uint8_t> bufAdapter;
const SerializeIF *appData = nullptr;
uint8_t pusVersion = ecss::PusVersion::PUS_C;
};
@ -52,7 +60,7 @@ class PusTcCreator : public PusTcIF, public SerializeIF, public CustomUserDataIF
[[nodiscard]] uint8_t getSubService() const override;
[[nodiscard]] uint16_t getSourceId() const override;
ReturnValue_t setRawUserData(const uint8_t *data, size_t len) override;
ReturnValue_t setSerializableUserData(SerializeIF &serializable) override;
ReturnValue_t setSerializableUserData(const SerializeIF &serializable) override;
// Load all big endian helpers into the class namespace
using SerializeIF::serializeBe;

View File

@ -3,7 +3,7 @@
#include <utility>
#include "fsfw/globalfunctions/CRC.h"
#include "fsfw/timemanager/TimeStamperIF.h"
#include "fsfw/timemanager/TimeWriterIF.h"
PusTmCreator::PusTmCreator(SpacePacketParams initSpParams, PusTmParams initPusParams)
: pusParams(initPusParams), spCreator(std::move(initSpParams)) {
@ -30,7 +30,7 @@ uint8_t PusTmCreator::getSubService() const { return pusParams.secHeader.subserv
PusTmParams& PusTmCreator::getParams() { return pusParams; }
void PusTmCreator::setTimeStamper(TimeStamperIF& timeStamper_) {
void PusTmCreator::setTimeStamper(TimeWriterIF& timeStamper_) {
pusParams.secHeader.timeStamper = &timeStamper_;
updateSpLengthField();
}
@ -51,7 +51,6 @@ ReturnValue_t PusTmCreator::serialize(uint8_t** buffer, size_t* size, size_t max
if (result != returnvalue::OK) {
return result;
}
size_t userDataLen = pusParams.dataWrapper.getLength();
**buffer =
((pusParams.secHeader.pusVersion << 4) & 0xF0) | (pusParams.secHeader.scTimeRefStatus & 0x0F);
*buffer += 1;
@ -77,15 +76,8 @@ ReturnValue_t PusTmCreator::serialize(uint8_t** buffer, size_t* size, size_t max
}
}
if (pusParams.dataWrapper.type == util::DataTypes::RAW and
pusParams.dataWrapper.dataUnion.raw.data != nullptr) {
std::memcpy(*buffer, pusParams.dataWrapper.dataUnion.raw.data, userDataLen);
*buffer += userDataLen;
*size += userDataLen;
} else if (pusParams.dataWrapper.type == util::DataTypes::SERIALIZABLE and
pusParams.dataWrapper.dataUnion.serializable != nullptr) {
result = pusParams.dataWrapper.dataUnion.serializable->serialize(buffer, size, maxSize,
streamEndianness);
if (pusParams.sourceData != nullptr) {
result = pusParams.sourceData->serialize(buffer, size, maxSize, streamEndianness);
if (result != returnvalue::OK) {
return result;
}
@ -106,13 +98,15 @@ ReturnValue_t PusTmCreator::deSerialize(const uint8_t** buffer, size_t* size,
return returnvalue::FAILED;
}
TimeStamperIF* PusTmCreator::getTimestamper() const { return pusParams.secHeader.timeStamper; }
TimeWriterIF* PusTmCreator::getTimestamper() const { return pusParams.secHeader.timeStamper; }
SpacePacketParams& PusTmCreator::getSpParams() { return spCreator.getParams(); }
void PusTmCreator::updateSpLengthField() {
size_t headerLen = PusTmIF::MIN_SEC_HEADER_LEN + pusParams.dataWrapper.getLength() +
sizeof(ecss::PusChecksumT) - 1;
size_t headerLen = PusTmIF::MIN_SEC_HEADER_LEN + sizeof(ecss::PusChecksumT) - 1;
if (pusParams.sourceData != nullptr) {
headerLen += pusParams.sourceData->getSerializedSize();
}
if (pusParams.secHeader.timeStamper != nullptr) {
headerLen += pusParams.secHeader.timeStamper->getSerializedSize();
}
@ -134,12 +128,17 @@ void PusTmCreator::setMessageTypeCounter(uint16_t messageTypeCounter) {
void PusTmCreator::setDestId(uint16_t destId) { pusParams.secHeader.destId = destId; }
ReturnValue_t PusTmCreator::setRawUserData(const uint8_t* data, size_t len) {
pusParams.dataWrapper.setRawData({data, len});
if (data == nullptr or len == 0) {
pusParams.sourceData = nullptr;
} else {
pusParams.adapter.setConstBuffer(data, len);
pusParams.sourceData = &pusParams.adapter;
}
updateSpLengthField();
return returnvalue::OK;
}
ReturnValue_t PusTmCreator::setSerializableUserData(SerializeIF& serializable) {
pusParams.dataWrapper.setSerializable(serializable);
ReturnValue_t PusTmCreator::setSerializableUserData(const SerializeIF& serializable) {
pusParams.sourceData = &serializable;
updateSpLengthField();
return returnvalue::OK;
}

View File

@ -2,18 +2,18 @@
#define FSFW_TMTCPACKET_TMPACKETCREATOR_H
#include "PusTmIF.h"
#include "fsfw/serialize/SerialBufferAdapter.h"
#include "fsfw/tmtcpacket/ccsds/SpacePacketCreator.h"
#include "fsfw/tmtcpacket/pus/CustomUserDataIF.h"
#include "fsfw/util/dataWrapper.h"
struct PusTmSecHeader {
PusTmSecHeader() = default;
PusTmSecHeader(uint8_t service, uint8_t subservice, TimeStamperIF* timeStamper)
PusTmSecHeader(uint8_t service, uint8_t subservice, TimeWriterIF* timeStamper)
: service(service), subservice(subservice), timeStamper(timeStamper) {}
uint8_t service = 0;
uint8_t subservice = 0;
TimeStamperIF* timeStamper = nullptr;
TimeWriterIF* timeStamper = nullptr;
uint8_t pusVersion = ecss::PusVersion::PUS_C;
uint8_t scTimeRefStatus = 0;
uint16_t messageTypeCounter = 0;
@ -23,22 +23,28 @@ struct PusTmSecHeader {
struct PusTmParams {
PusTmParams() = default;
explicit PusTmParams(PusTmSecHeader secHeader) : secHeader(secHeader){};
PusTmParams(PusTmSecHeader secHeader, util::DataWrapper dataWrapper)
: secHeader(secHeader), dataWrapper(dataWrapper) {}
PusTmParams(uint8_t service, uint8_t subservice, TimeStamperIF* timeStamper)
PusTmParams(PusTmSecHeader secHeader, const SerializeIF& data)
: secHeader(secHeader), sourceData(&data) {}
PusTmParams(PusTmSecHeader secHeader, const uint8_t* data, size_t dataLen)
: secHeader(secHeader), adapter(data, dataLen), sourceData(&adapter) {}
PusTmParams(uint8_t service, uint8_t subservice, TimeWriterIF* timeStamper)
: secHeader(service, subservice, timeStamper) {}
PusTmParams(uint8_t service, uint8_t subservice, TimeStamperIF* timeStamper,
util::DataWrapper dataWrapper_)
PusTmParams(uint8_t service, uint8_t subservice, TimeWriterIF* timeStamper,
const SerializeIF& data_)
: PusTmParams(service, subservice, timeStamper) {
dataWrapper = dataWrapper_;
sourceData = &data_;
}
PusTmParams(uint8_t service, uint8_t subservice, TimeWriterIF* timeStamper, const uint8_t* data,
size_t dataLen)
: secHeader(service, subservice, timeStamper), adapter(data, dataLen), sourceData(&adapter) {}
PusTmSecHeader secHeader;
util::DataWrapper dataWrapper{};
SerialBufferAdapter<uint8_t> adapter;
const SerializeIF* sourceData = nullptr;
};
class TimeStamperIF;
class TimeWriterIF;
/**
* This class provides a high-level interface to create PUS TM packets and then @serialize
@ -56,7 +62,7 @@ class PusTmCreator : public SerializeIF, public PusTmIF, public CustomUserDataIF
PusTmCreator(SpacePacketParams initSpParams, PusTmParams initPusParams);
~PusTmCreator() override = default;
void setTimeStamper(TimeStamperIF& timeStamper);
void setTimeStamper(TimeWriterIF& timeStamper);
/**
* This function disables the CRC16 calculation on serialization. This is useful to avoid
* duplicate calculation if some lower level component needs to update fields like the sequence
@ -86,9 +92,9 @@ class PusTmCreator : public SerializeIF, public PusTmIF, public CustomUserDataIF
ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
Endianness streamEndianness) const override;
[[nodiscard]] size_t getSerializedSize() const override;
[[nodiscard]] TimeStamperIF* getTimestamper() const;
[[nodiscard]] TimeWriterIF* getTimestamper() const;
ReturnValue_t setRawUserData(const uint8_t* data, size_t len) override;
ReturnValue_t setSerializableUserData(SerializeIF& serializable) override;
ReturnValue_t setSerializableUserData(const SerializeIF& serializable) override;
// Load all big endian (network endian) helpers into scope
using SerializeIF::serializeBe;

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@ -4,7 +4,7 @@
#include <cstddef>
#include <cstdint>
#include "fsfw/timemanager/TimeStamperIF.h"
#include "fsfw/timemanager/TimeWriterIF.h"
#include "fsfw/tmtcpacket/pus/PusIF.h"
#include "fsfw/tmtcpacket/pus/defs.h"

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@ -106,7 +106,7 @@ ReturnValue_t CommandingServiceBase::initialize() {
// This avoids duplicate calculation of the CRC16
tmStoreHelper.disableCrcCalculation();
if (tmTimeStamper == nullptr) {
tmTimeStamper = ObjectManager::instance()->get<TimeStamperIF>(objects::TIME_STAMPER);
tmTimeStamper = ObjectManager::instance()->get<TimeWriterIF>(objects::TIME_STAMPER);
if (tmTimeStamper == nullptr) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}

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@ -272,7 +272,7 @@ class CommandingServiceBase : public SystemObject,
MessageQueueIF* commandQueue = nullptr;
MessageQueueIF* requestQueue = nullptr;
TimeStamperIF* tmTimeStamper = nullptr;
TimeWriterIF* tmTimeStamper = nullptr;
VerificationReporterIF* verificationReporter;
InternalErrorReporterIF* errReporter = nullptr;

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@ -178,7 +178,7 @@ ReturnValue_t PusServiceBase::initializeTmStoreHelper(TmStoreHelper& tmStoreHelp
}
if (psbParams.timeStamper == nullptr) {
auto timerStamper = ObjectManager::instance()->get<TimeStamperIF>(objects::TIME_STAMPER);
auto timerStamper = ObjectManager::instance()->get<TimeWriterIF>(objects::TIME_STAMPER);
if (timerStamper != nullptr) {
tmStoreHelper.setTimeStamper(*timerStamper);
}

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@ -65,7 +65,7 @@ struct PsbParams {
* register itself at that object.
*/
PUSDistributorIF* pusDistributor = nullptr;
TimeStamperIF* timeStamper = nullptr;
TimeWriterIF* timeStamper = nullptr;
};
namespace Factory {

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@ -11,7 +11,7 @@ TmStoreHelper::TmStoreHelper(uint16_t defaultApid, StorageManagerIF& tmStore) :
}
TmStoreHelper::TmStoreHelper(uint16_t defaultApid, StorageManagerIF& tmStore,
TimeStamperIF& timeStamper)
TimeWriterIF& timeStamper)
: tmStore(&tmStore) {
creator.setApid(defaultApid);
creator.setTimeStamper(timeStamper);
@ -59,7 +59,7 @@ ReturnValue_t TmStoreHelper::addPacketToStore() {
SerializeIF::Endianness::NETWORK);
}
void TmStoreHelper::setTimeStamper(TimeStamperIF& timeStamper_) {
void TmStoreHelper::setTimeStamper(TimeWriterIF& timeStamper_) {
creator.setTimeStamper(timeStamper_);
}
@ -67,7 +67,7 @@ void TmStoreHelper::setApid(uint16_t apid) { creator.setApid(apid); }
PusTmCreator& TmStoreHelper::getCreatorRef() { return creator; }