fsfw/CHANGELOG.md

Change Log

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog and this project adheres to Semantic Versioning.

[unreleased]

[v5.0.0]

Changes

• Renamed auto-formatting script to auto-formatter.sh and made it more robust. If cmake-format is installed, it will also auto-format the CMakeLists.txt files now. PR: fsfw/fsfw#625 PR: fsfw/fsfw#626
• Bump C++ required version to C++17. Every project which uses the FSFW and every modern compiler supports it PR: fsfw/fsfw#622
• New CMake option FSFW_HAL_LINUX_ADD_LIBGPIOD to specifically exclude gpiod code. PR: fsfw/fsfw#572
• HAL Devicehandlers: Periodic printout is run-time configurable now
• oneShotAction flag in the TestTask class is not static anymore
• Major update for version handling, using git describe to fetch version information with git. PR: fsfw/fsfw#601
  • Add helper functions provided by cmake-modules manually now. Those should not change too often and only a small subset is needed
  • Separate folder for easier update and for distinction
  • LICENSE file included
  • use int for version numbers to allow unset or uninitialized version
  • Initialize Version object with numbers set to -1
  • Instead of hardcoding the git hash, it is now retrieved from git
  • Version now allows specifying additional version information like the git SHA1 hash and the versions since the last tag
  • Additional information is set to the last part of the git describe output for FSFW_VERSION now.
  • Version still need to be hand-updated if the FSFW is not included as a submodule for now.
• IPC Message Queue Handling: Allow passing an optional MqArgs argument into the MessageQueue creation call. It allows passing context information and an arbitrary user argument into the message queue. Also streamlined and simplified MessageQueue implementation for all OSALs PR: fsfw/fsfw#583

Task Module Refactoring

PR: fsfw/fsfw#636

Refactoring general task code

• There was a lot of duplicate/boilerplate code inside the individual task IF OSAL implementations. Remove it by introducing base classes PeriodicTaskBase and FixedTimeslotTaskBase.

Refactor PeriodicTaskIF

• Convert virtual ReturnValue_t addComponent(object_id_t object) to virtual ReturnValue_t addComponent(object_id_t object, uint8_t opCode = 0), allowing to pass the operation code passed to performOperation. Updated API taking an ExecutableObjectIF accordingly

Refactor FixedTimeslotTaskIF

• Add additional addSlot function which takes an ExecutableObjectIF pointer and its Object ID

Refactor FixedSequenceSlot

• Introduce typedef CustomCheckFunc for ReturnValue_t (*customCheckFunction)(const SlotList&).
• Convert ReturnValue_t (*customCheckFunction)(const SlotList&) to ReturnValue_t (*customCheckFunction)(const SlotList&, void*), allowing arbitrary user arguments for the custom checker

Linux Task Module

• Use composition instead of inheritance for the PeriodicPosixTask and make the PosixTask a member of the class

HAL

• HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations PR: fsfw/fsfw#585
• HAL Linux SPI: Set the Clock Default State when setting new SPI speed and mode PR: fsfw/fsfw#573
• GPIO HAL: Direction, GpioOperation and Levels are enum classes now, which prevents name clashes with Windows defines. PR: fsfw/fsfw#572
• HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations PR: fsfw/fsfw#585
• Linux HAL: Add wiretapping option for I2C. Enabled with FSFW_HAL_I2C_WIRETAPPING defined to 1

Time

PR: fsfw/fsfw#584 and fsfw/fsfw#593

• timeval to TimeOfDay_t
• Added Mutex for gmtime calls: (compare http://www.opengate.at/blog/2020/01/timeless/)
• Moved the statics used by Clock in ClockCommon.cpp to this file
• Better check for leap seconds
• Added Unittests for Clock (only getter)

Power

• PowerSwitchIF: Remove const specifier from sendSwitchCommand and sendFuseOnCommand and also specify a ReturnValue_t return type PR: fsfw/fsfw#590
• Extend PowerSwitcher module to optionally check current state when calling turnOn or turnOff. Tis can be helpful to avoid commanding switches which do not need commanding PR: fsfw/fsfw#590

Removed

• Removed the HkSwitchHelper. This module should not be needed anymore, now that the local datapools have been implemented. PR: fsfw/fsfw#557

Additions

• Added options for CI/CD builds: FSFW_CICD_BUILD. This allows the source code to know whether it is running in CI/CD PR: fsfw/fsfw#623
• Basic clion support: Update .gitignore and add some basic run configurations PR: fsfw/fsfw#625
• LTO support: Allow using LTO/IPO by setting FSFW_ENABLE_LTO=1. CMake is able to detect whether the user compiler supports IPO/LPO. LTO is on by default now. Most modern compilers support it, can make good use of it and it usually makes the code faster and/or smaller. After some more research: Enabling LTO will actually cause the compiler to only produce thin LTO by adding -flto -fno-fat-lto-objects to the compiler options. I am not sure this is an ideal choice because if an application linking against the FSFW does not use LTO, there can be compile issues (e.g. observed when compiling the FSFW tests without LTO). This is a known issue as can be seen in the multiple CMake issues for it:
  • https://gitlab.kitware.com/cmake/cmake/-/issues/22913,
  • https://gitlab.kitware.com/cmake/cmake/-/issues/16808,
  • https://gitlab.kitware.com/cmake/cmake/-/issues/21696 Easiest solution for now: Keep this option OFF by default. PR: fsfw/fsfw#616
• Dedicated Version class and constant fsfw::FSFW_VERSION containing version information inside fsfw/version.h PR: fsfw/fsfw#559
• Added generic PUS TC Scheduler Service 11. It depends on the new added Emebeded Template Library (ETL) dependency. PR: fsfw/fsfw#594
• Added ETL dependency and improved library dependency management PR: fsfw/fsfw#592
• Add a DummyPowerSwitcher module which can be useful for test setups when no PCDU is available PR: fsfw/fsfw#590
• New typedef for switcher type PR: fsfw/fsfw#590
• Subsystem: New API to add table and sequence entries

Fixed

• TCP TMTC Server: MutexGuard was not created properly in TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent) call. PR: fsfw/fsfw#618
• Fix infinite recursion in prepareHealthSetReply of PUS Health Service 201. Is not currently used right now but might be used in the future PR: fsfw/fsfw#617
• Move some CMake directives further up top so they are not ignored PR: fsfw/fsfw#621
• Small bugfix in STM32 HAL for SPI PR: fsfw/fsfw#599
• HAL GPIO: Improved error checking in LinuxLibgpioIF::configureGpios(...). If a GPIO configuration fails, the function will exit prematurely with a dedicated error code PR: fsfw/fsfw#602

[v4.0.0]

Additions

• CFDP Packet Stack and related tests added. It also refactors the existing TMTC infastructure to allow sending of CFDP packets to the CCSDS handlers. PR: fsfw/fsfw#528
• added virtual function to print datasets PR: fsfw/fsfw#544
• doSendRead Hook PR: fsfw/fsfw#545
• Dockumentation for DHB PR: fsfw/fsfw#551

HAL additions

• Linux Command Executor, which can execute shell commands in blocking and non-blocking mode PR: fsfw/fsfw#536
• uio Mapper PR: fsfw/fsfw#543

Changes

• Applied the clang-format auto-formatter to all source code PR: fsfw/fsfw#534
• Updated Catch2 to v3.0.0-preview4 PR: fsfw/fsfw#538
• Changed CI to use prebuilt docker image PR: fsfw/fsfw#549

Bugfix

• CMake fixes in PR fsfw/fsfw#533 , was problematic if the uppermost user CMakeLists.txt did not have the include paths set up properly, which could lead to compile errors that #include "fsfw/FSFW.h" was not found.
• Fix for build regression in Catch2 v3.0.0-preview4 PR: fsfw/fsfw#548
• Fix in unittest which failed on CI PR: fsfw/fsfw#552
• Fix in helper script PR: fsfw/fsfw#553

API Changes

• Aforementioned changes to existing TMTC stack

Known bugs

[v3.0.1]

API Changes

Bugfixes

• Version number was not updated for v3.0.0 #542

Enhancement

Known bugs

[v3.0.0]

API Changes

TCP Socket Changes

• Keep Open TCP Implementation #496
  • The socket will now kept open after disconnect. This allows reconnecting.
  • Only one connection is allowed
  • No internal influence but clients need to change their Code.

GPIO IF

• Add feature to open GPIO by line name #506

Bitutil

• Unittests for Op Divider and Bitutility #510

Filesystem IF changed

• Filesystem Base Interface: Use IF instead of void pointer #511

STM32

• STM32 SPI Updates #518

Bugfixes

• Small bugfix for LIS3 handler #504
• Spelling fixed for function names #509
• CMakeLists fixes #517
• Out of bound reads and writes in unittests #519
• Bug in TmPacketStoredPusC (#478)
• Windows ifdef fixed #529

Enhancement

• FSFW.h.in more default values #491
• Minor updates for PUS services #498
• HasReturnvaluesIF naming for parameter #499
• Tests can now be built as part of FSFW and versioning moved to CMake #500
• Added integration test code #508
• More printouts for rejected TC packets #505
• Arrayprinter format improvements #514
• Adding code for CI with docker and jenkins #520
• Added new function in SerializeAdapter #513
  • Enables simple deSerialize if you keep track of the buffer position yourself
  • static ReturnValue_t deSerialize(T *object, const uint8_t* buffer, size_t* deserSize, SerializeIF::Endianness streamEndianness)
• Unittest helper scripts has a new Parameter to open the coverage html in the webrowser #525
  • '-o', '--open', Open coverage data in webbrowser
• Documentation updated. Sphinx Documentation can now be build with python script #526

Known bugs

• Version number was not updated for v3.0.0 #542

All Pull Requests:

Milestone: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/milestone/19

[v2.0.0]

API Changes

File Structure changed to fit more common structure

• See pull request (#445)
  • HAL is now part of the main project
    • See Instructions below:

Instruction how to update existing / user code

• Changes in #include:

  • Rename internalError in includes to internalerror
  • Rename fsfw/hal to fsfw_hal
  • Rename fsfw/tests to fsfw_tests
  • Rename osal/FreeRTOS to osal/freertos

• Changes in CMakeLists.txt:

  • Rename OS_FSFW to FSFW_OSAL

• Changes in DleEncoder.cpp

  • Create an instance of the DleEncoder first before calling the encode and decode functions

Removed osal/linux/Timer (#486)

• Was redundant to timemanager/Countdown

Instruction how to update existing / user code

• Use timemanager/Countdown instead

Bugfixes

TM Stack

• Increased TM stack robustness by introducing nullptr checks and more printouts (#483)

Host OSAL / FreeRTOS

• QueueMapManager Bugfix (NO_QUEUE was used as MessageQueueId) (#444)

Events

• Event output is now consistent (#447)

DLE Encoder

• Fixed possible out of bounds access in DLE Encoder (#492)

Enhancment

• HAL as major new feature, also includes three MEMS devicehandlers as part of #481
• Linux HAL updates (#456)
• FreeRTOS Header cleaning update and Cmake tweaks (#442)
• Printer updates (#453)
• New returnvalue for for empty PST (#485)
• TMTC Bridge: Increase limit of packets stored (#484)

Known bugs

• Bug in TmPacketStoredPusC (#478)

All Pull Requests:

Milestone: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/milestone/5

[v1.2.0]

API Changes

FSFW Architecture

• New src folder which contains all source files except the HAL, contributed code and test code
• External and internal API mostly stayed the same
• Folder names are now all smaller case: internalError was renamed to internalerror and FreeRTOS was renamed to freertos
• Warning if optional headers are used but the modules was not added to the source files to compile

HAL

• HAL added back into FSFW. It is tightly bound to the FSFW, and compiling it as a static library made using it more complicated than necessary

Bugfixes

FreeRTOS QueueMapManager

• Fixed a bug which causes the first generated Queue ID to be invalid

Enhancements

FSFW Architecture

• See API changes chapter. This change will keep the internal API consistent in the future

[v1.1.0]

API Changes

PUS

• Added PUS C support
• SUBSYSTEM_IDs added for PUS Services
• Added new Parameter which must be defined in config: fsfwconfig::FSFW_MAX_TM_PACKET_SIZE

ObjectManager

• ObjectManager is now a singelton

Configuration

• Additional configuration option fsfwconfig::FSFW_MAX_TM_PACKET_SIZE which need to be specified in FSFWConfig.h

CMake

• Changed Cmake FSFW_ADDITIONAL_INC_PATH to FSFW_ADDITIONAL_INC_PATHS

Bugfixes

• timemanager/TimeStamperIF.h: Timestamp config was not used correctly, leading to different timestamp sizes than configured in fsfwconfig::FSFW_MISSION_TIMESTAMP_SIZE
• TCP server fixes

Enhancements

FreeRTOS Queue Handles

• Fixed an internal issue how FreeRTOS MessageQueues were handled

Linux OSAL

• Better printf error messages

CMake

• Check for C++11 as mininimum required Version

Debug Output

• Changed Warning color to magenta, which is well readable on both dark and light mode IDEs

Changes from ASTP 0.0.1 to 1.0.0

Host OSAL

• Bugfix in MessageQueue, which caused the sender not to be set properly

FreeRTOS OSAL

• vRequestContextSwitchFromISR is declared extern "C" so it can be defined in a C file without issues

PUS Services

• It is now possible to change the message queue depth for the telecommand verification service (PUS1)
• The same is possible for the event reporting service (PUS5)
• PUS Health Service added, which allows to command and retrieve health via PUS packets

EnhancedControllerBase

• New base class for a controller which also implements HasActionsIF and HasLocalDataPoolIF

Local Pool

• Interface of LocalPools has changed. LocalPool is not a template anymore. Instead the size and bucket number of the pools per page and the number of pages are passed to the ctor instead of two ctor arguments and a template parameter

Parameter Service

• The API of the parameter service has been changed to prevent inconsistencies between documentation and actual code and to clarify usage.
• The parameter ID now consists of:
  1. Domain ID (1 byte)
  2. Unique Identifier (1 byte)
  3. Linear Index (2 bytes) The linear index can be used for arrays as well as matrices. The parameter load command now explicitely expects the ECSS PTC and PFC information as well as the rows and column number. Rows and column will default to one, which is equivalent to one scalar parameter (the most important use-case)

File System Interface

• A new interfaces specifies the functions for a software object which exposes the file system of a given hardware to use message based file handling (e.g. PUS commanding)

Internal Error Reporter

• The new internal error reporter uses the local data pools. The pool IDs for the exisiting three error values and the new error set will be hardcoded for now, the the constructor for the internal error reporter just takes an object ID for now.

Device Handler Base

• There is an additional PERFORM_OPERATION step for the device handler base. It is important that DHB users adapt their polling sequence tables to perform this step. This steps allows for a clear distinction between operation and communication steps
• setNormalDatapoolEntriesInvalid is not an abstract method and a default implementation was provided
• getTransitionDelayMs is now an abstract method

DeviceHandlerIF

• Typo for UNKNOWN_DEVICE_REPLY

Events

• makeEvent function: Now takes three input parameters instead of two and allows setting a unique ID. Event.cpp source file removed, functions now defined in header directly. Namespaces renamed. Functions declared constexpr now

Commanding Service Base

• CSB uses the new fsfwconfig::FSFW_CSB_FIFO_DEPTH variable to determine the FIFO depth for each CSB instance. This variable has to be set in the FSFWConfig.h file

Service Interface

• Proper printf support contained in ServiceInterfacePrinter.h
• CPP ostream support now optional (can reduce executable size by 150 - 250 kB)
• Amalagated header which determines automatically which service interface to use depending on FSFWConfig.h configuration. Users can just use #include <fsfw/serviceinterface/ServiceInterface.h>
• If CPP streams are excluded, sif:: calls won't work anymore and need to be replaced by their printf counterparts. For the fsfw, this can be done by checking the processor define FSFW_CPP_OSTREAM_ENABLED from FSFWConfig.h. For mission code, developers need to replace sif:: calls by the printf counterparts, but only if the CPP stream are excluded. If this is not the case, everything should work as usual.

ActionHelper and ActionMessage

• ActionHelper finish function and ActionMessage::setCompletionReply now expects explicit information whether to report a success or failure message instead of deriving it implicitely from returnvalue

PUS Parameter Service 20

Added PUS parameter service 20 (only custom subservices available).