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Update FSFW from upstream #71

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muellerr wants to merge 1112 commits from development into eive/develop
pull from: development
merge into: eive:eive/develop
Conversation 0 Commits 1112 Files Changed 1041 +121 -112
25 changed files with 121 additions and 112 deletions
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Showing only changes of commit c295539c79 - Show all commits

9
hal/src/fsfw_hal/linux/CMakeLists.txt
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@ -12,9 +12,14 @@ if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
add_subdirectory(gpio)
endif()
add_subdirectory(spi)
add_subdirectory(i2c)
add_subdirectory(uart)
# Adding those does not really make sense on Apple systems which
# are generally host systems. It won't even compile as the headers
# are missing
if(NOT APPLE)
add_subdirectory(i2c)
add_subdirectory(spi)
endif()
endif()
add_subdirectory(uio)

2
hal/src/fsfw_hal/linux/spi/SpiCookie.cpp
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@ -1,4 +1,4 @@
#include "fsfw_hal/linux/spi/SpiCookie.h"
#include "SpiCookie.h"
SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed)

2
hal/src/fsfw_hal/linux/uart/UartComIF.cpp
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@ -265,6 +265,7 @@ void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCooki
cfsetispeed(options, B230400);
cfsetospeed(options, B230400);
break;
#ifndef __APPLE__
case UartBaudRate::RATE_460800:
cfsetispeed(options, B460800);
cfsetospeed(options, B460800);
@ -313,6 +314,7 @@ void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCooki
cfsetispeed(options, B4000000);
cfsetospeed(options, B4000000);
break;
#endif // ! __APPLE__
default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;

2
src/fsfw/cfdp/pdu/HeaderSerializer.h
View File

@ -44,7 +44,7 @@ class HeaderSerializer : public SerializeIF, public PduHeaderIF {
cfdp::WidthInBytes getLenEntityIds() const override;
cfdp::WidthInBytes getLenSeqNum() const override;
cfdp::SegmentMetadataFlag getSegmentMetadataFlag() const override;
bool hasSegmentMetadataFlag() const;
bool hasSegmentMetadataFlag() const override;
void setSegmentationControl(cfdp::SegmentationControl);
void getSourceId(cfdp::EntityId& sourceId) const override;

2
src/fsfw/container/FixedArrayList.h
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@ -9,7 +9,7 @@
*/
template <typename T, size_t MAX_SIZE, typename count_t = uint8_t>
class FixedArrayList : public ArrayList<T, count_t> {
#if !defined(_MSC_VER)
#if !defined(_MSC_VER) && !defined(__clang__)
static_assert(MAX_SIZE <= (std::pow(2, sizeof(count_t) * 8) - 1),
"count_t is not large enough to hold MAX_SIZE");
#endif

8
src/fsfw/controller/ControllerBase.h
View File

@ -55,7 +55,7 @@ class ControllerBase : public HasModesIF,
virtual void performControlOperation() = 0;
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) = 0;
uint32_t *msToReachTheMode) override = 0;
const object_id_t parentId;
@ -80,9 +80,9 @@ class ControllerBase : public HasModesIF,
/** Mode helpers */
virtual void modeChanged(Mode_t mode, Submode_t submode);
virtual void startTransition(Mode_t mode, Submode_t submode);
virtual void getMode(Mode_t *mode, Submode_t *submode);
virtual void setToExternalControl();
virtual void startTransition(Mode_t mode, Submode_t submode) override;
virtual void getMode(Mode_t *mode, Submode_t *submode) override;
virtual void setToExternalControl() override;
virtual void announceMode(bool recursive);
/** HK helpers */
virtual void changeHK(Mode_t mode, Submode_t submode, bool enable);

2
src/fsfw/datapool/PoolDataSetBase.h
View File

@ -109,7 +109,7 @@ class PoolDataSetBase : public PoolDataSetIF, public SerializeIF, public HasRetu
*/
virtual ReturnValue_t unlockDataPool() override;
virtual uint16_t getFillCount() const;
virtual uint16_t getFillCount() const override;
/* SerializeIF implementations */
virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, const size_t maxSize,

11
src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp
View File

@ -94,13 +94,14 @@ ReturnValue_t LocalPoolDataSetBase::serializeWithValidityBuffer(
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
const uint8_t validityMaskSize = std::ceil(static_cast<float>(fillCount) / 8.0);
uint8_t *validityPtr = nullptr;
#ifdef _MSC_VER
/* Use a std::vector here because MSVC will (rightly) not create a fixed size array
with a non constant size specifier */
std::vector<uint8_t> validityMask(validityMaskSize);
#if defined(_MSC_VER) || defined(__clang__)
// Use a std::vector here because MSVC will (rightly) not create a fixed size array
// with a non constant size specifier. The Apple compiler (LLVM) will not accept
// the initialization of a variable sized array
std::vector<uint8_t> validityMask(validityMaskSize, 0);
validityPtr = validityMask.data();
#else
uint8_t validityMask[validityMaskSize] = {0};
uint8_t validityMask[validityMaskSize] = {};
validityPtr = validityMask;
#endif
uint8_t validBufferIndex = 0;

4
src/fsfw/datapoollocal/LocalPoolObjectBase.h
View File

@ -23,8 +23,8 @@ class LocalPoolObjectBase : public PoolVariableIF, public HasReturnvaluesIF, pub
LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId, DataSetIF* dataSet = nullptr,
pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
void setReadWriteMode(pool_rwm_t newReadWriteMode);
pool_rwm_t getReadWriteMode() const;
void setReadWriteMode(pool_rwm_t newReadWriteMode) override;
pool_rwm_t getReadWriteMode() const override;
bool isValid() const override;
void setValid(bool valid) override;

8
src/fsfw/devicehandlers/DeviceHandlerBase.h
View File

@ -163,7 +163,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
* @param counter Specifies which Action to perform
* @return RETURN_OK for successful execution
*/
virtual ReturnValue_t performOperation(uint8_t counter);
virtual ReturnValue_t performOperation(uint8_t counter) override;
/**
* @brief Initializes the device handler
@ -173,7 +173,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
* Calls fillCommandAndReplyMap().
* @return
*/
virtual ReturnValue_t initialize();
virtual ReturnValue_t initialize() override;
/**
* @brief Intialization steps performed after all tasks have been created.
@ -1058,11 +1058,11 @@ class DeviceHandlerBase : public DeviceHandlerIF,
* @param parameter1 Optional parameter 1
* @param parameter2 Optional parameter 2
*/
void triggerEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0);
void triggerEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) override;
/**
* Same as triggerEvent, but for forwarding if object is used as proxy.
*/
virtual void forwardEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) const;
virtual void forwardEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) const override;
/**
* Checks if current mode is transitional mode.

2
src/fsfw/globalfunctions/matching/MatchTree.h
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@ -25,7 +25,7 @@ class MatchTree : public SerializeableMatcherIF<T>, public BinaryTree<Serializea
: BinaryTree<SerializeableMatcherIF<T>>(root.element), maxDepth(maxDepth) {}
MatchTree() : BinaryTree<SerializeableMatcherIF<T>>(), maxDepth(-1) {}
virtual ~MatchTree() {}
virtual bool match(T number) { return matchesTree(number); }
virtual bool match(T number) override { return matchesTree(number); }
bool matchesTree(T number) {
iterator iter = this->begin();
if (iter == this->end()) {

2
src/fsfw/globalfunctions/matching/RangeMatcher.h
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@ -15,7 +15,7 @@ class RangeMatcher : public SerializeableMatcherIF<T> {
RangeMatcher(T lowerBound, T upperBound, bool inverted = false)
: inverted(inverted), lowerBound(lowerBound), upperBound(upperBound) {}
bool match(T input) {
bool match(T input) override {
if (inverted) {
return !doMatch(input);
} else {

3
src/fsfw/monitoring/MonitoringMessageContent.h
View File

@ -34,7 +34,7 @@ class MonitoringReportContent : public SerialLinkedListAdapter<SerializeIF> {
SerializeElement<T> limitValue;
SerializeElement<ReturnValue_t> oldState;
SerializeElement<ReturnValue_t> newState;
uint8_t rawTimestamp[TimeStamperIF::MISSION_TIMESTAMP_SIZE];
uint8_t rawTimestamp[TimeStamperIF::MISSION_TIMESTAMP_SIZE] = {};
SerializeElement<SerialBufferAdapter<uint8_t>> timestampSerializer;
TimeStamperIF* timeStamper;
MonitoringReportContent()
@ -46,7 +46,6 @@ class MonitoringReportContent : public SerialLinkedListAdapter<SerializeIF> {
limitValue(0),
oldState(0),
newState(0),
rawTimestamp({0}),
timestampSerializer(rawTimestamp, sizeof(rawTimestamp)),
timeStamper(NULL) {
setAllNext();

4
src/fsfw/objectmanager/SystemObject.h
View File

@ -48,9 +48,9 @@ class SystemObject : public SystemObjectIF {
virtual ~SystemObject();
object_id_t getObjectId() const override;
virtual ReturnValue_t initialize() override;
virtual ReturnValue_t checkObjectConnections();
virtual ReturnValue_t checkObjectConnections() override;
virtual void forwardEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) const;
virtual void forwardEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) const override;
};
#endif /* FSFW_OBJECTMANAGER_SYSTEMOBJECT_H_ */

19
src/fsfw/osal/common/UdpTcPollingTask.cpp
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@ -16,11 +16,13 @@
//! Debugging preprocessor define.
#define FSFW_UDP_RECV_WIRETAPPING_ENABLED 0
const timeval UdpTcPollingTask::DEFAULT_TIMEOUT = {0, 500000};
UdpTcPollingTask::UdpTcPollingTask(object_id_t objectId, object_id_t tmtcUdpBridge,
size_t maxRecvSize, double timeoutSeconds)
: SystemObject(objectId), tmtcBridgeId(tmtcUdpBridge) {
if (frameSize > 0) {
this->frameSize = frameSize;
if (maxRecvSize > 0) {
this->frameSize = maxRecvSize;
} else {
this->frameSize = DEFAULT_MAX_RECV_SIZE;
}
@ -31,22 +33,20 @@ UdpTcPollingTask::UdpTcPollingTask(object_id_t objectId, object_id_t tmtcUdpBrid
receptionBuffer.resize(this->frameSize);
if (timeoutSeconds == -1) {
receptionTimeout = DEFAULT_TIMEOUT;
receptionTimeout = UdpTcPollingTask::DEFAULT_TIMEOUT;
} else {
receptionTimeout = timevalOperations::toTimeval(timeoutSeconds);
}
}
UdpTcPollingTask::~UdpTcPollingTask() {}
ReturnValue_t UdpTcPollingTask::performOperation(uint8_t opCode) {
[[noreturn]] ReturnValue_t UdpTcPollingTask::performOperation(uint8_t opCode) {
/* Sender Address is cached here. */
struct sockaddr senderAddress;
struct sockaddr senderAddress {};
socklen_t senderAddressSize = sizeof(senderAddress);
/* Poll for new UDP datagrams in permanent loop. */
while (true) {
int bytesReceived =
ssize_t bytesReceived =
recvfrom(this->serverSocket, reinterpret_cast<char*>(receptionBuffer.data()), frameSize,
receptionFlags, &senderAddress, &senderAddressSize);
if (bytesReceived == SOCKET_ERROR) {
@ -70,7 +70,6 @@ ReturnValue_t UdpTcPollingTask::performOperation(uint8_t opCode) {
}
tmtcBridge->checkAndSetClientAddress(senderAddress);
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t UdpTcPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
@ -155,7 +154,7 @@ void UdpTcPollingTask::setTimeout(double timeoutSeconds) {
#endif
}
#elif defined(PLATFORM_UNIX)
timeval tval;
timeval tval {};
tval = timevalOperations::toTimeval(timeoutSeconds);
int result = setsockopt(serverSocket, SOL_SOCKET, SO_RCVTIMEO, &tval, sizeof(receptionTimeout));
if (result == -1) {

12
src/fsfw/osal/common/UdpTcPollingTask.h
View File

@ -21,11 +21,11 @@ class UdpTcPollingTask : public TcpIpBase, public SystemObject, public Executabl
public:
static constexpr size_t DEFAULT_MAX_RECV_SIZE = 1500;
//! 0.5 default milliseconds timeout for now.
static constexpr timeval DEFAULT_TIMEOUT = {0, 500};
static const timeval DEFAULT_TIMEOUT;
UdpTcPollingTask(object_id_t objectId, object_id_t tmtcUdpBridge, size_t maxRecvSize = 0,
double timeoutSeconds = -1);
virtual ~UdpTcPollingTask();
~UdpTcPollingTask() override = default;
/**
* Turn on optional timeout for UDP polling. In the default mode,
@ -34,9 +34,9 @@ class UdpTcPollingTask : public TcpIpBase, public SystemObject, public Executabl
*/
void setTimeout(double timeoutSeconds);
virtual ReturnValue_t performOperation(uint8_t opCode) override;
virtual ReturnValue_t initialize() override;
virtual ReturnValue_t initializeAfterTaskCreation() override;
[[noreturn]] ReturnValue_t performOperation(uint8_t opCode) override;
ReturnValue_t initialize() override;
ReturnValue_t initializeAfterTaskCreation() override;
protected:
StorageManagerIF* tcStore = nullptr;
@ -51,7 +51,7 @@ class UdpTcPollingTask : public TcpIpBase, public SystemObject, public Executabl
std::vector<uint8_t> receptionBuffer;
size_t frameSize = 0;
timeval receptionTimeout;
timeval receptionTimeout{};
ReturnValue_t handleSuccessfullTcRead(size_t bytesRead);
};

16
src/fsfw/osal/common/UdpTmTcBridge.cpp
View File

@ -20,13 +20,13 @@
const std::string UdpTmTcBridge::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT;
UdpTmTcBridge::UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
std::string udpServerPort, object_id_t tmStoreId,
const std::string& udpServerPort_, object_id_t tmStoreId,
object_id_t tcStoreId)
: TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
if (udpServerPort == "") {
this->udpServerPort = DEFAULT_SERVER_PORT;
if (udpServerPort_.empty()) {
udpServerPort = DEFAULT_SERVER_PORT;
} else {
this->udpServerPort = udpServerPort;
udpServerPort = udpServerPort_;
}
mutex = MutexFactory::instance()->createMutex();
@ -117,7 +117,7 @@ ReturnValue_t UdpTmTcBridge::sendTm(const uint8_t *data, size_t dataLen) {
tcpip::printAddress(&clientAddress);
#endif
int bytesSent = sendto(serverSocket, reinterpret_cast<const char *>(data), dataLen, flags,
ssize_t bytesSent = sendto(serverSocket, reinterpret_cast<const char *>(data), dataLen, flags,
&clientAddress, clientAddressLen);
if (bytesSent == SOCKET_ERROR) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
@ -150,7 +150,7 @@ void UdpTmTcBridge::checkAndSetClientAddress(sockaddr &newAddress) {
clientAddressLen = sizeof(clientAddress);
}
void UdpTmTcBridge::setMutexProperties(MutexIF::TimeoutType timeoutType, dur_millis_t timeoutMs) {
this->timeoutType = timeoutType;
this->mutexTimeoutMs = timeoutMs;
void UdpTmTcBridge::setMutexProperties(MutexIF::TimeoutType timeoutType_, dur_millis_t timeoutMs) {
timeoutType = timeoutType_;
mutexTimeoutMs = timeoutMs;
}

8
src/fsfw/osal/common/UdpTmTcBridge.h
View File

@ -29,10 +29,10 @@ class UdpTmTcBridge : public TmTcBridge, public TcpIpBase {
/* The ports chosen here should not be used by any other process. */
static const std::string DEFAULT_SERVER_PORT;
UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination, std::string udpServerPort = "",
UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination, const std::string& udpServerPort = "",
object_id_t tmStoreId = objects::TM_STORE,
object_id_t tcStoreId = objects::TC_STORE);
virtual ~UdpTmTcBridge();
~UdpTmTcBridge() override;
/**
* Set properties of internal mutex.
@ -46,12 +46,12 @@ class UdpTmTcBridge : public TmTcBridge, public TcpIpBase {
std::string getUdpPort() const;
protected:
virtual ReturnValue_t sendTm(const uint8_t* data, size_t dataLen) override;
ReturnValue_t sendTm(const uint8_t* data, size_t dataLen) override;
private:
std::string udpServerPort;
struct sockaddr clientAddress;
struct sockaddr clientAddress = {};
socklen_t clientAddressLen = 0;
//! Access to the client address is mutex protected as it is set by another task.

13
src/fsfw/osal/host/CMakeLists.txt
View File

@ -1,5 +1,4 @@
target_sources(${LIB_FSFW_NAME}
PRIVATE
target_sources(${LIB_FSFW_NAME} PRIVATE
Clock.cpp
FixedTimeslotTask.cpp
MessageQueue.cpp
@ -16,9 +15,13 @@ target_sources(${LIB_FSFW_NAME}
if(UNIX)
find_package(Threads REQUIRED)
target_link_libraries(${LIB_FSFW_NAME}
PRIVATE
rt
target_link_libraries(${LIB_FSFW_NAME} PRIVATE
${CMAKE_THREAD_LIBS_INIT}
)
if(NOT APPLE)
target_link_libraries(${LIB_FSFW_NAME} PRIVATE
rt
)
endif()
endif()

16
src/fsfw/osal/linux/CMakeLists.txt
View File

@ -14,16 +14,16 @@ target_sources(${LIB_FSFW_NAME} PRIVATE
TaskFactory.cpp
tcpipHelpers.cpp
unixUtility.cpp
)
)
find_package(Threads REQUIRED)
target_link_libraries(${LIB_FSFW_NAME} PRIVATE
target_link_libraries(${LIB_FSFW_NAME} PUBLIC
${CMAKE_THREAD_LIBS_INIT}
)
if(NOT APPLE)
target_link_libraries(${LIB_FSFW_NAME} PUBLIC
rt
)
target_link_libraries(${LIB_FSFW_NAME} INTERFACE
${CMAKE_THREAD_LIBS_INIT}
)
)
endif()

2
src/fsfw/power/Fuse.h
View File

@ -54,7 +54,7 @@ class Fuse : public SystemObject,
ReturnValue_t check();
uint8_t getFuseId() const;
ReturnValue_t initialize();
ReturnValue_t initialize() override;
DeviceList devices;
ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
SerializeIF::Endianness streamEndianness) const override;

2
src/fsfw/pus/Service3Housekeeping.h
View File

@ -43,7 +43,7 @@ class Service3Housekeeping : public CommandingServiceBase, public AcceptsHkPacke
CommandMessage* optionalNextCommand, object_id_t objectId,
bool* isStep) override;
virtual MessageQueueId_t getHkQueue() const;
virtual MessageQueueId_t getHkQueue() const override;
private:
enum class Subservice {

8
src/fsfw/subsystem/Subsystem.h
View File

@ -126,18 +126,18 @@ class Subsystem : public SubsystemBase, public HasModeSequenceIF {
ReturnValue_t deleteTable(Mode_t id);
virtual void performChildOperation();
virtual void performChildOperation() override;
virtual ReturnValue_t handleCommandMessage(CommandMessage *message);
virtual ReturnValue_t handleCommandMessage(CommandMessage *message) override;
bool isFallbackSequence(Mode_t SequenceId);
bool isTableUsed(Mode_t tableId);
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode);
uint32_t *msToReachTheMode) override;
virtual void startTransition(Mode_t mode, Submode_t submode);
virtual void startTransition(Mode_t mode, Submode_t submode) override;
void sendSerializablesAsCommandMessage(Command_t command, SerializeIF **elements, uint8_t count);

10
src/fsfw/subsystem/SubsystemBase.h
View File

@ -123,15 +123,15 @@ class SubsystemBase : public SystemObject,
virtual void performChildOperation() = 0;
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) = 0;
uint32_t *msToReachTheMode) override = 0;
virtual void startTransition(Mode_t mode, Submode_t submode) = 0;
virtual void startTransition(Mode_t mode, Submode_t submode) override = 0;
virtual void getMode(Mode_t *mode, Submode_t *submode);
virtual void getMode(Mode_t *mode, Submode_t *submode) override;
virtual void setToExternalControl();
virtual void setToExternalControl() override;
virtual void announceMode(bool recursive);
virtual void announceMode(bool recursive) override;
virtual void modeChanged();
};

4
src/fsfw/tmtcservices/CommandingServiceBase.h
View File

@ -95,7 +95,7 @@ class CommandingServiceBase : public SystemObject,
*/
virtual ReturnValue_t performOperation(uint8_t opCode) override;
virtual uint16_t getIdentifier();
virtual uint16_t getIdentifier() override;
/**
* Returns the requestQueue MessageQueueId_t
@ -104,7 +104,7 @@ class CommandingServiceBase : public SystemObject,
*
* @return requestQueue messageQueueId_t
*/
virtual MessageQueueId_t getRequestQueue();
virtual MessageQueueId_t getRequestQueue() override;
/**
* Returns the commandQueue MessageQueueId_t