src/fsfw/tmtcpacket/pus/definitions.h

@@ -0,0 +1,16 @@
+#ifndef FSFW_SRC_FSFW_TMTCPACKET_PUS_TM_DEFINITIONS_H_
+#define FSFW_SRC_FSFW_TMTCPACKET_PUS_TM_DEFINITIONS_H_
+
+#include <cstdint>
+
+namespace pus {
+
+//! Version numbers according to ECSS-E-ST-70-41C p.439
+enum PusVersion: uint8_t {
+    PUS_A_VERSION = 1,
+    PUS_C_VERSION = 2
+};
+
+}
+
+#endif /* FSFW_SRC_FSFW_TMTCPACKET_PUS_TM_DEFINITIONS_H_ */

src/fsfw/tmtcpacket/pus/tc/TcPacketPus.cpp

@@ -1,4 +1,4 @@
-#include "fsfw/tmtcpacket/pus/tc/TcPacketPus.h"
+#include "TcPacketPus.h"
 #include "fsfw/globalfunctions/CRC.h"
 
 #include <cstring>
@@ -8,14 +8,13 @@ TcPacketPus::TcPacketPus(const uint8_t *setData): TcPacketBase(setData) {
 }
 
 void TcPacketPus::initializeTcPacket(uint16_t apid, uint16_t sequenceCount,
-        uint8_t ack, uint8_t service, uint8_t subservice, uint16_t sourceId) {
+        uint8_t ack, uint8_t service, uint8_t subservice, pus::PusVersion pusVersion,
+        uint16_t sourceId) {
     initSpacePacketHeader(true, true, apid, sequenceCount);
     std::memset(&tcData->dataField, 0, sizeof(tcData->dataField));
     setPacketDataLength(sizeof(PUSTcDataFieldHeader) + CRC_SIZE - 1);
-    // Data Field Header:
+    // Data Field Header. For PUS A, the first bit (CCSDS Secondary Header Flag) is zero
-    // Set CCSDS_secondary_header_flag to 0 and version number to 001
+    tcData->dataField.versionTypeAck = pusVersion << 4 | (ack & 0x0F);
-    tcData->dataField.versionTypeAck = 0b00010000;
-    tcData->dataField.versionTypeAck |= (ack & 0x0F);
     tcData->dataField.serviceType = service;
     tcData->dataField.serviceSubtype = subservice;
 #if FSFW_USE_PUS_C_TELECOMMANDS == 1

src/fsfw/tmtcpacket/pus/tc/TcPacketPus.h

@@ -2,6 +2,7 @@
 #define FSFW_TMTCPACKET_PUS_TCPACKETPUSA_H_
 
 #include "fsfw/FSFW.h"
+#include "../definitions.h"
 #include "fsfw/tmtcpacket/ccsds_header.h"
 #include "TcPacketBase.h"
 
@@ -75,7 +76,8 @@ protected:
      * @param subservice PUS Subservice
      */
     void initializeTcPacket(uint16_t apid, uint16_t sequenceCount, uint8_t ack,
-            uint8_t service, uint8_t subservice, uint16_t sourceId = 0);
+            uint8_t service, uint8_t subservice, pus::PusVersion pusVersion,
+            uint16_t sourceId = 0);
 
     /**
      * A pointer to a structure which defines the data structure of

src/fsfw/tmtcpacket/pus/tc/TcPacketStoredPus.cpp

@@ -23,7 +23,12 @@ TcPacketStoredPus::TcPacketStoredPus(uint16_t apid,  uint8_t service,
         return;
     }
     this->setData(pData);
-    initializeTcPacket(apid, sequenceCount, ack, service, subservice);
+#if FSFW_USE_PUS_C_TELECOMMANDS == 1
+    pus::PusVersion pusVersion = pus::PusVersion::PUS_C_VERSION;
+#else
+    pus::PusVersion pusVersion = pus::PusVersion::PUS_A_VERSION;
+#endif
+    initializeTcPacket(apid, sequenceCount, ack, service, subservice, pusVersion);
     std::memcpy(&tcData->appData, data, size);
     this->setPacketDataLength(
             size + sizeof(PUSTcDataFieldHeader) + CRC_SIZE - 1);

src/fsfw/tmtcpacket/pus/tm/TmPacketBase.h

@@ -31,8 +31,6 @@ public:
     //! Maximum size of a TM Packet in this mission.
     //! TODO: Make this dependant on a config variable.
     static const uint32_t MISSION_TM_PACKET_MAX_SIZE = 2048;
-    //! First four bits of first byte of secondary header
-    static const uint8_t VERSION_NUMBER_BYTE = 0b00010000;
 
     /**
      * This is the default constructor.

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

@@ -1,5 +1,6 @@
-#include "fsfw/tmtcpacket/pus/tm/TmPacketPusA.h"
+#include "../definitions.h"
-#include "fsfw/tmtcpacket/pus/tm/TmPacketBase.h"
+#include "TmPacketPusA.h"
+#include "TmPacketBase.h"
 
 #include "fsfw/globalfunctions/CRC.h"
 #include "fsfw/globalfunctions/arrayprinter.h"
@@ -62,12 +63,7 @@ void TmPacketPusA::initializeTmPacket(uint16_t apid, uint8_t service,
     //First, set to zero.
     memset(&tmData->data_field, 0, sizeof(tmData->data_field));
 
-    // NOTE: In PUS-C, the PUS Version is 2 and specified for the first 4 bits.
+    tmData->data_field.version_type_ack = pus::PusVersion::PUS_A_VERSION << 4;
-    // The other 4 bits of the first byte are the spacecraft time reference
-    // status. To change to PUS-C, set 0b00100000.
-    // Set CCSDS_secondary header flag to 0, version number to 001 and ack
-    // to 0000
-    tmData->data_field.version_type_ack = 0b00010000;
     tmData->data_field.service_type = service;
     tmData->data_field.service_subtype = subservice;
     tmData->data_field.subcounter = packetSubcounter;

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

@@ -1,5 +1,6 @@
-#include "fsfw/tmtcpacket/pus/tm/TmPacketPusC.h"
+#include "../definitions.h"
-#include "fsfw/tmtcpacket/pus/tm/TmPacketBase.h"
+#include "TmPacketPusC.h"
+#include "TmPacketBase.h"
 
 #include "fsfw/globalfunctions/CRC.h"
 #include "fsfw/globalfunctions/arrayprinter.h"
@@ -67,7 +68,8 @@ ReturnValue_t TmPacketPusC::initializeTmPacket(uint16_t apid, uint8_t service,
 
     /* Only account for last 4 bytes for time reference field */
     timeRefField &= 0b1111;
-    tmData->dataField.versionTimeReferenceField = VERSION_NUMBER_BYTE | timeRefField;
+    tmData->dataField.versionTimeReferenceField =
+            (pus::PusVersion::PUS_C_VERSION << 4) | timeRefField;
     tmData->dataField.serviceType = service;
     tmData->dataField.serviceSubtype = subservice;
     tmData->dataField.subcounterMsb = packetSubcounter << 8 & 0xff;

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

@@ -91,4 +91,34 @@ void TmPacketStoredBase::checkAndReportLostTm() {
     }
 }
 
-
+void TmPacketStoredBase::handleStoreFailure(const char *const packetType, ReturnValue_t result,
+        size_t sizeToReserve) {
+    checkAndReportLostTm();
+#if FSFW_VERBOSE_LEVEL >= 1
+    switch(result) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    case(StorageManagerIF::DATA_STORAGE_FULL): {
+        sif::warning << "TmPacketStoredPus" << packetType << ": " <<
+                "Store full for packet with size" << sizeToReserve << std::endl;
+        break;
+    }
+    case(StorageManagerIF::DATA_TOO_LARGE): {
+        sif::warning << "TmPacketStoredPus" << packetType << ": Data with size " <<
+                sizeToReserve << " too large" <<  std::endl;
+        break;
+    }
+#else
+    case(StorageManagerIF::DATA_STORAGE_FULL): {
+        sif::printWarning("TmPacketStoredPus%s: Store full for packet with "
+                "size %d\n", packetType, sizeToReserve);
+        break;
+    }
+    case(StorageManagerIF::DATA_TOO_LARGE): {
+        sif::printWarning("TmPacketStoredPus%s: Data with size "
+                "%d too large\n", packetType, sizeToReserve);
+        break;
+    }
+#endif
+#endif
+    }
+}

src/fsfw/tmtcpacket/pus/tm/TmPacketStoredBase.h

@@ -82,6 +82,9 @@ protected:
     bool checkAndSetStore();
 
     void checkAndReportLostTm();
+
+    void handleStoreFailure(const char* const packetType, ReturnValue_t result,
+            size_t sizeToReserve);
 };
 
 

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

@@ -5,69 +5,71 @@
 
 #include <cstring>
 
-TmPacketStoredPusA::TmPacketStoredPusA(store_address_t setAddress) :
+TmPacketStoredPusA::TmPacketStoredPusA(store_address_t setAddress):
-		TmPacketStoredBase(setAddress), TmPacketPusA(nullptr){
+        TmPacketStoredBase(setAddress), TmPacketPusA(nullptr){
 }
 
 TmPacketStoredPusA::TmPacketStoredPusA(uint16_t apid, uint8_t service,
-		uint8_t subservice, uint8_t packetSubcounter, const uint8_t *data,
+        uint8_t subservice, uint8_t packetSubcounter, const uint8_t *data,
-		uint32_t size, const uint8_t *headerData, uint32_t headerSize) :
+        uint32_t size, const uint8_t *headerData, uint32_t headerSize):
 		TmPacketPusA(nullptr) {
-	storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
+    storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
-	if (not TmPacketStoredBase::checkAndSetStore()) {
+    if (not TmPacketStoredBase::checkAndSetStore()) {
-		return;
+        return;
-	}
+    }
-	uint8_t *pData = nullptr;
+    uint8_t *pData = nullptr;
-	ReturnValue_t returnValue = store->getFreeElement(&storeAddress,
+    size_t sizeToReserve = getPacketMinimumSize() + size + headerSize;
-			(getPacketMinimumSize() + size + headerSize), &pData);
+    ReturnValue_t returnValue = store->getFreeElement(&storeAddress,
+            sizeToReserve, &pData);
 
-	if (returnValue != store->RETURN_OK) {
+    if (returnValue != store->RETURN_OK) {
-	    TmPacketStoredBase::checkAndReportLostTm();
+        handleStoreFailure("A", returnValue, sizeToReserve);
-		return;
+        return;
-	}
+    }
-	setData(pData);
+    setData(pData);
-	initializeTmPacket(apid, service, subservice, packetSubcounter);
+    initializeTmPacket(apid, service, subservice, packetSubcounter);
-	memcpy(getSourceData(), headerData, headerSize);
+    memcpy(getSourceData(), headerData, headerSize);
-	memcpy(getSourceData() + headerSize, data, size);
+    memcpy(getSourceData() + headerSize, data, size);
-	setPacketDataLength(
+    setPacketDataLength(
-			size + headerSize + sizeof(PUSTmDataFieldHeaderPusA) + CRC_SIZE - 1);
+            size + headerSize + sizeof(PUSTmDataFieldHeaderPusA) + CRC_SIZE - 1);
 }
 
 TmPacketStoredPusA::TmPacketStoredPusA(uint16_t apid, uint8_t service,
-		uint8_t subservice, uint8_t packetSubcounter, SerializeIF *content,
+        uint8_t subservice, uint8_t packetSubcounter, SerializeIF *content,
-		SerializeIF *header) :
+        SerializeIF *header) :
-		TmPacketPusA(nullptr) {
+		        TmPacketPusA(nullptr) {
-	storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
+    storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
-	if (not TmPacketStoredBase::checkAndSetStore()) {
+    if (not TmPacketStoredBase::checkAndSetStore()) {
-		return;
+        return;
-	}
+    }
-	size_t sourceDataSize = 0;
+    size_t sourceDataSize = 0;
-	if (content != NULL) {
+    if (content != nullptr) {
-		sourceDataSize += content->getSerializedSize();
+        sourceDataSize += content->getSerializedSize();
-	}
+    }
-	if (header != NULL) {
+    if (header != nullptr) {
-		sourceDataSize += header->getSerializedSize();
+        sourceDataSize += header->getSerializedSize();
-	}
+    }
-	uint8_t *p_data = NULL;
+    uint8_t *pData = nullptr;
-	ReturnValue_t returnValue = store->getFreeElement(&storeAddress,
+    size_t sizeToReserve = getPacketMinimumSize() + sourceDataSize;
-			(getPacketMinimumSize() + sourceDataSize), &p_data);
+    ReturnValue_t returnValue = store->getFreeElement(&storeAddress,
-	if (returnValue != store->RETURN_OK) {
+            sizeToReserve, &pData);
-	    TmPacketStoredBase::checkAndReportLostTm();
+    if (returnValue != store->RETURN_OK) {
-	}
+        handleStoreFailure("A", returnValue, sizeToReserve);
-	setData(p_data);
+        return;
-	initializeTmPacket(apid, service, subservice, packetSubcounter);
+    }
-	uint8_t *putDataHere = getSourceData();
+    setData(pData);
-	size_t size = 0;
+    initializeTmPacket(apid, service, subservice, packetSubcounter);
-	if (header != NULL) {
+    uint8_t *putDataHere = getSourceData();
-		header->serialize(&putDataHere, &size, sourceDataSize,
+    size_t size = 0;
-				SerializeIF::Endianness::BIG);
+    if (header != nullptr) {
-	}
+        header->serialize(&putDataHere, &size, sourceDataSize,
-	if (content != NULL) {
+                SerializeIF::Endianness::BIG);
-		content->serialize(&putDataHere, &size, sourceDataSize,
+    }
-				SerializeIF::Endianness::BIG);
+    if (content != nullptr) {
-	}
+        content->serialize(&putDataHere, &size, sourceDataSize,
-	setPacketDataLength(
+                SerializeIF::Endianness::BIG);
-			sourceDataSize + sizeof(PUSTmDataFieldHeaderPusA) + CRC_SIZE - 1);
+    }
+    setPacketDataLength(sourceDataSize + sizeof(PUSTmDataFieldHeaderPusA) + CRC_SIZE - 1);
 }
 
 uint8_t* TmPacketStoredPusA::getAllTmData() {

src/fsfw/tmtcpacket/pus/tm/TmPacketStoredPusA.h

@@ -15,46 +15,46 @@
  *	packets in a store with the help of a storeAddress.
  *	@ingroup tmtcpackets
  */
-class TmPacketStoredPusA :
+class TmPacketStoredPusA:
         public TmPacketStoredBase,
         public TmPacketPusA {
 public:
-	/**
+    /**
-	 * This is a default constructor which does not set the data pointer.
+     * This is a default constructor which does not set the data pointer.
-	 * However, it does try to set the packet store.
+     * However, it does try to set the packet store.
-	 */
+     */
-	TmPacketStoredPusA( store_address_t setAddress );
+    TmPacketStoredPusA( store_address_t setAddress );
-	/**
+    /**
-	 * With this constructor, new space is allocated in the packet store and
+     * With this constructor, new space is allocated in the packet store and
-	 * a new PUS Telemetry Packet is created there.
+     * a new PUS Telemetry Packet is created there.
-	 * Packet Application Data passed in data is copied into the packet.
+     * Packet Application Data passed in data is copied into the packet.
-	 * The Application data is passed in two parts, first a header, then a
+     * The Application data is passed in two parts, first a header, then a
-	 * data field. This allows building a Telemetry Packet from two separate
+     * data field. This allows building a Telemetry Packet from two separate
-	 * data sources.
+     * data sources.
-	 * @param apid			Sets the packet's APID field.
+     * @param apid			Sets the packet's APID field.
-	 * @param service		Sets the packet's Service ID field.
+     * @param service		Sets the packet's Service ID field.
-	 * 		This specifies the source service.
+     * 		This specifies the source service.
-	 * @param subservice	Sets the packet's Service Subtype field.
+     * @param subservice	Sets the packet's Service Subtype field.
-	 * 		This specifies the source sub-service.
+     * 		This specifies the source sub-service.
-	 * @param packet_counter	Sets the Packet counter field of this packet
+     * @param packet_counter	Sets the Packet counter field of this packet
-	 * @param data			The payload data to be copied to the
+     * @param data			The payload data to be copied to the
-	 * 						Application Data Field
+     * 						Application Data Field
-	 * @param size			The amount of data to be copied.
+     * @param size			The amount of data to be copied.
-	 * @param headerData 	The header Data of the Application field,
+     * @param headerData 	The header Data of the Application field,
-	 * 						 will be copied in front of data
+     * 						 will be copied in front of data
-	 * @param headerSize	The size of the headerDataF
+     * @param headerSize	The size of the headerDataF
-	 */
+     */
-	TmPacketStoredPusA( uint16_t apid, uint8_t service,	uint8_t subservice,
+    TmPacketStoredPusA( uint16_t apid, uint8_t service,	uint8_t subservice,
-			uint8_t packet_counter = 0, const uint8_t* data = nullptr,
+            uint8_t packet_counter = 0, const uint8_t* data = nullptr,
-			uint32_t size = 0, const uint8_t* headerData = nullptr,
+            uint32_t size = 0, const uint8_t* headerData = nullptr,
-			uint32_t headerSize = 0);
+            uint32_t headerSize = 0);
-	/**
+    /**
-	 * Another ctor to directly pass structured content and header data to the
+     * Another ctor to directly pass structured content and header data to the
-	 * packet to avoid additional buffers.
+     * packet to avoid additional buffers.
-	 */
+     */
-	TmPacketStoredPusA( uint16_t apid, uint8_t service,	uint8_t subservice,
+    TmPacketStoredPusA( uint16_t apid, uint8_t service,	uint8_t subservice,
-			uint8_t packet_counter, SerializeIF* content,
+            uint8_t packet_counter, SerializeIF* content,
-			SerializeIF* header = nullptr);
+            SerializeIF* header = nullptr);
 
     uint8_t* getAllTmData() override;
     void setDataPointer(const uint8_t* newPointer) override;

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

@@ -19,19 +19,19 @@ TmPacketStoredPusC::TmPacketStoredPusC(uint16_t apid, uint8_t service,
         return;
     }
     uint8_t *pData = nullptr;
+    size_t sizeToReserve = getPacketMinimumSize() + size + headerSize;
     ReturnValue_t returnValue = store->getFreeElement(&storeAddress,
-            (getPacketMinimumSize() + size + headerSize), &pData);
+            sizeToReserve, &pData);
 
     if (returnValue != store->RETURN_OK) {
-        TmPacketStoredBase::checkAndReportLostTm();
+        handleStoreFailure("C", returnValue, sizeToReserve);
         return;
     }
     setData(pData);
     initializeTmPacket(apid, service, subservice, packetSubcounter, destinationId, timeRefField);
     memcpy(getSourceData(), headerData, headerSize);
     memcpy(getSourceData() + headerSize, data, size);
-    setPacketDataLength(
+    setPacketDataLength(size + headerSize + sizeof(PUSTmDataFieldHeaderPusC) + CRC_SIZE - 1);
-            size + headerSize + sizeof(PUSTmDataFieldHeaderPusC) + CRC_SIZE - 1);
 }
 
 TmPacketStoredPusC::TmPacketStoredPusC(uint16_t apid, uint8_t service,
@@ -53,34 +53,7 @@ TmPacketStoredPusC::TmPacketStoredPusC(uint16_t apid, uint8_t service,
     size_t sizeToReserve = getPacketMinimumSize() + sourceDataSize;
     ReturnValue_t returnValue = store->getFreeElement(&storeAddress, sizeToReserve, &pData);
     if (returnValue != store->RETURN_OK) {
-#if FSFW_VERBOSE_LEVEL >= 1
+        handleStoreFailure("C", returnValue, sizeToReserve);
-        switch(returnValue) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        case(StorageManagerIF::DATA_STORAGE_FULL): {
-            sif::warning << "TmPacketStoredPusC::TmPacketStoredPusC: Store full for packet with "
-                    "size " << sizeToReserve << std::endl;
-            break;
-        }
-        case(StorageManagerIF::DATA_TOO_LARGE): {
-            sif::warning << "TmPacketStoredPusC::TmPacketStoredPusC: Data with size " <<
-                    sizeToReserve << " too large" <<  std::endl;
-            break;
-        }
-#else
-        case(StorageManagerIF::DATA_STORAGE_FULL): {
-            sif::printWarning("TmPacketStoredPusC::TmPacketStoredPusC: Store full for packet with "
-                    "size %d\n", sizeToReserve);
-            break;
-        }
-        case(StorageManagerIF::DATA_TOO_LARGE): {
-            sif::printWarning("TmPacketStoredPusC::TmPacketStoredPusC: Data with size "
-                    "%d too large\n", sizeToReserve);
-            break;
-        }
-#endif
-        }
-#endif
-        TmPacketStoredBase::checkAndReportLostTm();
         return;
     }
     setData(pData);