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various bugs and improvements

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This commit is contained in:
Robin Müller 2022-07-27 17:00:43 +02:00
parent 740644f2c8
commit 083d08ae2a
No known key found for this signature in database
GPG Key ID: 11D4952C8CCEF814
36 changed files with 276 additions and 202 deletions
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8
src/fsfw/datapoollocal/ProvidesDataPoolSubscriptionIF.h
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@ -98,10 +98,10 @@ class ProvidesDataPoolSubscriptionIF {
virtual ReturnValue_t subscribeForRegularUpdatePacket(subdp::RegularHkUpdateParams params) = 0;
virtual ReturnValue_t subscribeForDiagUpdatePacket(subdp::DiagnosticsHkUpdateParams params) = 0;
// virtual ReturnValue_t
// subscribeForUpdatePacket(sid_t sid, bool reportingEnabled, bool isDiagnostics) {
// return subscribeForUpdatePacket(sid, reportingEnabled, isDiagnostics, objects::NO_OBJECT);
// }
// virtual ReturnValue_t
// subscribeForUpdatePacket(sid_t sid, bool reportingEnabled, bool isDiagnostics) {
// return subscribeForUpdatePacket(sid, reportingEnabled, isDiagnostics, objects::NO_OBJECT);
// }
[[deprecated(
"Please use the new API which takes all arguments as one wrapper "

4
src/fsfw/osal/host/MessageQueue.h
View File

@ -68,7 +68,7 @@ class MessageQueue : public MessageQueueBase {
* @details This is accomplished by using the delete call provided
* by the operating system.
*/
virtual ~MessageQueue();
~MessageQueue() override;
// Implement non-generic MessageQueueIF functions not handled by MessageQueueBase
virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
@ -111,8 +111,6 @@ class MessageQueue : public MessageQueueBase {
size_t messageDepth = 0;
MutexIF* queueLock;
MessageQueueId_t defaultDestination = MessageQueueIF::NO_QUEUE;
};
#endif /* FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_ */

2
src/fsfw/osal/host/QueueMapManager.cpp
View File

@ -54,7 +54,7 @@ MessageQueueIF* QueueMapManager::getMessageQueue(MessageQueueId_t messageQueueId
} else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "QueueMapManager::getQueueHandle: The ID " << messageQueueId
<< " does not exists in the map!" << std::endl;
<< " does not exist in the map" << std::endl;
#else
sif::printWarning("QueueMapManager::getQueueHandle: The ID %d does not exist in the map!\n",
messageQueueId);

30
src/fsfw/pus/Service1TelecommandVerification.cpp
View File

@ -68,8 +68,15 @@ ReturnValue_t Service1TelecommandVerification::generateFailureReport(
FailureReport report(message->getReportId(), message->getTcPacketId(),
message->getTcSequenceControl(), message->getStep(), message->getErrorCode(),
message->getParameter1(), message->getParameter2());
ReturnValue_t result =
storeHelper.preparePacket(serviceId, message->getReportId(), packetSubCounter++);
storeHelper.setSourceDataSerializable(report);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = storeHelper.setSourceDataSerializable(report);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return tmHelper.storeAndSendTmPacket();
}
@ -77,8 +84,15 @@ ReturnValue_t Service1TelecommandVerification::generateSuccessReport(
PusVerificationMessage* message) {
SuccessReport report(message->getReportId(), message->getTcPacketId(),
message->getTcSequenceControl(), message->getStep());
ReturnValue_t result =
storeHelper.preparePacket(serviceId, message->getReportId(), packetSubCounter++);
storeHelper.setSourceDataSerializable(report);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = storeHelper.setSourceDataSerializable(report);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return tmHelper.storeAndSendTmPacket();
}
@ -94,6 +108,9 @@ ReturnValue_t Service1TelecommandVerification::initialize() {
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
if (tmQueue == nullptr) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
tmQueue->setDefaultDestination(funnel->getReportReceptionQueue());
if (tmStore == nullptr) {
tmStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TM_STORE);
@ -102,5 +119,14 @@ ReturnValue_t Service1TelecommandVerification::initialize() {
}
storeHelper.setTmStore(*tmStore);
}
sendHelper.setMsgQueue(*tmQueue);
if (errReporter == nullptr) {
errReporter =
ObjectManager::instance()->get<InternalErrorReporterIF>(objects::INTERNAL_ERROR_REPORTER);
if (errReporter != nullptr) {
sendHelper.setInternalErrorReporter(*errReporter);
}
}
return SystemObject::initialize();
}

1
src/fsfw/pus/Service1TelecommandVerification.h
View File

@ -86,6 +86,7 @@ class Service1TelecommandVerification : public AcceptsVerifyMessageIF,
TmSendHelper sendHelper;
TmStoreHelper storeHelper;
TmStoreAndSendWrapper tmHelper;
InternalErrorReporterIF* errReporter = nullptr;
StorageManagerIF* tmStore = nullptr;
MessageQueueIF* tmQueue = nullptr;

22
src/fsfw/tcdistribution/CCSDSDistributor.cpp
View File

@ -4,10 +4,11 @@
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
#define CCSDS_DISTRIBUTOR_DEBUGGING 0
#define CCSDS_DISTRIBUTOR_DEBUGGING 1
CCSDSDistributor::CCSDSDistributor(uint16_t setDefaultApid, object_id_t setObjectId)
: TcDistributor(setObjectId), defaultApid(setDefaultApid) {}
CCSDSDistributor::CCSDSDistributor(uint16_t setDefaultApid, object_id_t setObjectId,
CcsdsPacketCheckIF* packetChecker)
: TcDistributor(setObjectId), defaultApid(setDefaultApid), packetChecker(packetChecker) {}
CCSDSDistributor::~CCSDSDistributor() = default;
@ -25,7 +26,7 @@ TcDistributor::TcMqMapIter CCSDSDistributor::selectDestination() {
#endif
const uint8_t* packet = nullptr;
size_t size = 0;
ReturnValue_t result = this->tcStore->getData(currentMessage.getStorageId(), &packet, &size);
ReturnValue_t result = tcStore->getData(currentMessage.getStorageId(), &packet, &size);
if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
@ -41,10 +42,12 @@ TcDistributor::TcMqMapIter CCSDSDistributor::selectDestination() {
return queueMap.end();
}
SpacePacketReader currentPacket(packet, size);
result = packetChecker->checkPacket(currentPacket, size);
if (result != HasReturnvaluesIF::RETURN_OK) {
}
#if FSFW_CPP_OSTREAM_ENABLED == 1 && CCSDS_DISTRIBUTOR_DEBUGGING == 1
sif::info << "CCSDSDistributor::selectDestination has packet with APID " << std::hex
<< currentPacket.getAPID() << std::dec << std::endl;
sif::info << "CCSDSDistributor::selectDestination has packet with APID 0x" << std::hex
<< currentPacket.getApid() << std::dec << std::endl;
#endif
auto position = this->queueMap.find(currentPacket.getApid());
if (position != this->queueMap.end()) {
@ -52,7 +55,7 @@ TcDistributor::TcMqMapIter CCSDSDistributor::selectDestination() {
} else {
// The APID was not found. Forward packet to main SW-APID anyway to
// create acceptance failure report.
return this->queueMap.find(this->defaultApid);
return queueMap.find(this->defaultApid);
}
}
@ -80,6 +83,9 @@ ReturnValue_t CCSDSDistributor::registerApplication(uint16_t apid, MessageQueueI
uint16_t CCSDSDistributor::getIdentifier() { return 0; }
ReturnValue_t CCSDSDistributor::initialize() {
if (packetChecker == nullptr) {
packetChecker = new CcsdsPacketChecker(ccsds::PacketType::TC);
}
ReturnValue_t status = this->TcDistributor::initialize();
this->tcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
if (this->tcStore == nullptr) {

18
src/fsfw/tcdistribution/CCSDSDistributor.h
View File

@ -1,11 +1,12 @@
#ifndef FRAMEWORK_TCDISTRIBUTION_CCSDSDISTRIBUTOR_H_
#define FRAMEWORK_TCDISTRIBUTION_CCSDSDISTRIBUTOR_H_
#include "../objectmanager/ObjectManagerIF.h"
#include "../storagemanager/StorageManagerIF.h"
#include "../tcdistribution/CCSDSDistributorIF.h"
#include "../tcdistribution/TcDistributor.h"
#include "../tmtcservices/AcceptsTelecommandsIF.h"
#include "fsfw/objectmanager/ObjectManagerIF.h"
#include "fsfw/storagemanager/StorageManagerIF.h"
#include "fsfw/tcdistribution/CCSDSDistributorIF.h"
#include "fsfw/tcdistribution/CcsdsPacketChecker.h"
#include "fsfw/tcdistribution/TcDistributor.h"
#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
/**
* @brief An instantiation of the CCSDSDistributorIF.
@ -24,10 +25,11 @@ class CCSDSDistributor : public TcDistributor,
* TcDistributor ctor with a certain object id.
* @details
* @c tcStore is set in the @c initialize method.
* @param setDefaultApid The default APID, where packets with unknown
* @param unknownApid The default APID, where packets with unknown
* destination are sent to.
*/
CCSDSDistributor(uint16_t setDefaultApid, object_id_t setObjectId);
CCSDSDistributor(uint16_t unknownApid, object_id_t setObjectId,
CcsdsPacketCheckIF* packetChecker = nullptr);
/**
* The destructor is empty.
*/
@ -63,6 +65,8 @@ class CCSDSDistributor : public TcDistributor,
* pure Space Packets and there exists no SpacePacketStored class.
*/
StorageManagerIF* tcStore = nullptr;
CcsdsPacketCheckIF* packetChecker = nullptr;
};
#endif /* FRAMEWORK_TCDISTRIBUTION_CCSDSDISTRIBUTOR_H_ */

2
src/fsfw/tcdistribution/CFDPDistributor.cpp
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@ -35,7 +35,7 @@ CFDPDistributor::TcMqMapIter CFDPDistributor::selectDestination() {
}
this->currentPacket->setStoreAddress(this->currentMessage.getStorageId());
if (currentPacket->getFullData() != nullptr) {
tcStatus = checker.checkPacket(currentPacket, currentPacket->getFullPacketLen());
tcStatus = checker.checkPacket(*currentPacket, currentPacket->getFullPacketLen());
if (tcStatus != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1

2
src/fsfw/tcdistribution/CMakeLists.txt
View File

@ -6,4 +6,4 @@ target_sources(
PusPacketChecker.cpp
TcPacketCheckCFDP.cpp
CFDPDistributor.cpp
CcsdsPacketCheckerBase.cpp)
CcsdsPacketChecker.cpp)

2
src/fsfw/tcdistribution/CcsdsPacketCheckIF.h
View File

@ -26,7 +26,7 @@ class CcsdsPacketCheckIF {
* - @c INCORRECT_CHECKSUM if checksum is invalid.
* - @c ILLEGAL_APID if APID does not match.
*/
virtual ReturnValue_t checkPacket(SpacePacketReader* currentPacket, size_t packetLen) = 0;
virtual ReturnValue_t checkPacket(const SpacePacketReader& currentPacket, size_t packetLen) = 0;
};
#endif /* FSFW_TCDISTRIBUTION_TCPACKETCHECKIF_H_ */

33
src/fsfw/tcdistribution/CcsdsPacketChecker.cpp Normal file
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@ -0,0 +1,33 @@
#include "CcsdsPacketChecker.h"
#include "fsfw/tcdistribution/definitions.h"
#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
CcsdsPacketChecker::CcsdsPacketChecker(ccsds::PacketType packetType_, uint8_t ccsdsVersion_)
: packetType(packetType_), ccsdsVersion(ccsdsVersion_) {}
ReturnValue_t CcsdsPacketChecker::checkPacket(const SpacePacketReader& currentPacket,
size_t packetLen) {
if (checkApid) {
if (currentPacket.getApid() != apid) {
return tcdistrib::INVALID_APID;
}
}
if (currentPacket.getVersion() != ccsdsVersion) {
return tcdistrib::INVALID_CCSDS_VERSION;
}
if (currentPacket.getPacketType() != packetType) {
return tcdistrib::INVALID_PACKET_TYPE;
}
// This assumes that the getFullPacketLen version uses the space packet data length field
if (currentPacket.getFullPacketLen() != packetLen) {
return tcdistrib::INCOMPLETE_PACKET;
}
return HasReturnvaluesIF::RETURN_OK;
}
void CcsdsPacketChecker::setApidToCheck(uint16_t apid_) {
apid = apid_;
checkApid = true;
}

20
src/fsfw/tcdistribution/CcsdsPacketChecker.h Normal file
View File

@ -0,0 +1,20 @@
#ifndef FSFW_TESTS_CCSDSPACKETCHECKERBASE_H
#define FSFW_TESTS_CCSDSPACKETCHECKERBASE_H
#include "CcsdsPacketCheckIF.h"
#include "fsfw/tmtcpacket/ccsds/SpacePacketIF.h"
class CcsdsPacketChecker : public CcsdsPacketCheckIF, public HasReturnvaluesIF {
public:
CcsdsPacketChecker(ccsds::PacketType packetType, uint8_t ccsdsVersion = 0b000);
void setApidToCheck(uint16_t apid);
ReturnValue_t checkPacket(const SpacePacketReader& currentPacket, size_t packetLen) override;
protected:
bool checkApid = false;
uint16_t apid = 0;
ccsds::PacketType packetType;
uint8_t ccsdsVersion;
};
#endif // FSFW_TESTS_CCSDSPACKETCHECKERBASE_H

22
src/fsfw/tcdistribution/CcsdsPacketCheckerBase.cpp
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@ -1,22 +0,0 @@
#include "CcsdsPacketCheckerBase.h"
#include "fsfw/tcdistribution/definitions.h"
#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
CcsdsPacketCheckerBase::CcsdsPacketCheckerBase(uint16_t apid, ccsds::PacketType packetType_,
uint8_t ccsdsVersion_)
: apid(apid), packetType(packetType_), ccsdsVersion(ccsdsVersion_) {}
ReturnValue_t CcsdsPacketCheckerBase::checkPacket(SpacePacketReader* currentPacket,
size_t packetLen) {
if (currentPacket->getApid() != apid) {
return tcdistrib::INVALID_APID;
}
if (currentPacket->getVersion() != ccsdsVersion) {
return tcdistrib::INVALID_CCSDS_VERSION;
}
if (currentPacket->getPacketType() != packetType) {
return tcdistrib::INVALID_PACKET_TYPE;
}
return HasReturnvaluesIF::RETURN_OK;
}

17
src/fsfw/tcdistribution/CcsdsPacketCheckerBase.h
View File

@ -1,17 +0,0 @@
#ifndef FSFW_TESTS_CCSDSPACKETCHECKERBASE_H
#define FSFW_TESTS_CCSDSPACKETCHECKERBASE_H
#include "CcsdsPacketCheckIF.h"
#include "fsfw/tmtcpacket/ccsds/SpacePacketIF.h"
class CcsdsPacketCheckerBase : public CcsdsPacketCheckIF, public HasReturnvaluesIF {
public:
CcsdsPacketCheckerBase(uint16_t apid, ccsds::PacketType packetType, uint8_t ccsdsVersion = 0b000);
ReturnValue_t checkPacket(SpacePacketReader* currentPacket, size_t packetLen) override;
protected:
uint16_t apid;
ccsds::PacketType packetType;
uint8_t ccsdsVersion;
};
#endif // FSFW_TESTS_CCSDSPACKETCHECKERBASE_H

2
src/fsfw/tcdistribution/CfdpPacketChecker.h
View File

@ -25,7 +25,7 @@ class CfdpPacketChecker : public CcsdsPacketCheckIF, public HasReturnvaluesIF {
*/
explicit CfdpPacketChecker(uint16_t setApid);
ReturnValue_t checkPacket(SpacePacketReader* currentPacket, size_t packetLen) override;
ReturnValue_t checkPacket(const SpacePacketReader& currentPacket, size_t packetLen) override;
[[nodiscard]] uint16_t getApid() const;
};

82
src/fsfw/tcdistribution/PusDistributor.cpp
View File

@ -6,7 +6,7 @@
#include "fsfw/tcdistribution/CCSDSDistributorIF.h"
#include "fsfw/tmtcservices/PusVerificationReport.h"
#define PUS_DISTRIBUTOR_DEBUGGING 0
#define PUS_DISTRIBUTOR_DEBUGGING 1
PusDistributor::PusDistributor(uint16_t setApid, object_id_t setObjectId,
CCSDSDistributorIF* distributor, StorageManagerIF* store_)
@ -20,14 +20,11 @@ PusDistributor::~PusDistributor() = default;
PusDistributor::TcMqMapIter PusDistributor::selectDestination() {
#if FSFW_CPP_OSTREAM_ENABLED == 1 && PUS_DISTRIBUTOR_DEBUGGING == 1
store_address_t storeId = this->currentMessage.getStorageId());
store_address_t storeId = currentMessage.getStorageId();
sif::debug << "PUSDistributor::handlePacket received: " << storeId.poolIndex << ", "
<< storeId.packetIndex << std::endl;
#endif
auto queueMapIt = this->queueMap.end();
if (reader.isNull()) {
return queueMapIt;
}
auto queueMapIt = queueMap.end();
// TODO: Need to set the data
const uint8_t* packetPtr = nullptr;
size_t packetLen = 0;
@ -35,36 +32,24 @@ PusDistributor::TcMqMapIter PusDistributor::selectDestination() {
HasReturnvaluesIF::RETURN_OK) {
return queueMapIt;
}
reader.setReadOnlyData(packetPtr, packetLen);
// this->currentPacket->setStoreAddress(this->currentMessage.getStorageId(), currentPacket);
if (reader.getFullData() != nullptr) {
tcStatus =
checker.checkPacket(dynamic_cast<PacketCheckIF*>(&reader), reader.getFullPacketLen());
if (tcStatus != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
const char* keyword = "unnamed error";
if (tcStatus == tcdistrib::INCORRECT_CHECKSUM) {
keyword = "checksum";
} else if (tcStatus == tcdistrib::INCORRECT_PRIMARY_HEADER) {
keyword = "incorrect primary header";
} else if (tcStatus == tcdistrib::INVALID_APID) {
keyword = "illegal APID";
} else if (tcStatus == tcdistrib::INCORRECT_SECONDARY_HEADER) {
keyword = "incorrect secondary header";
} else if (tcStatus == tcdistrib::INCOMPLETE_PACKET) {
keyword = "incomplete packet";
ReturnValue_t result = reader.setReadOnlyData(packetPtr, packetLen);
if (result != HasReturnvaluesIF::RETURN_OK) {
tcStatus = PACKET_LOST;
return queueMapIt;
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "PUSDistributor::handlePacket: Packet format invalid, " << keyword
<< " error" << std::endl;
#else
sif::printWarning("PUSDistributor::handlePacket: Packet format invalid, %s error\n",
keyword);
#endif
#endif
// CRC check done by checker
result = reader.parseDataWithoutCrcCheck();
if (result != HasReturnvaluesIF::RETURN_OK) {
tcStatus = PACKET_LOST;
return queueMapIt;
}
if (reader.getFullData() != nullptr) {
tcStatus = checker.checkPacket(reader, reader.getFullPacketLen());
if (tcStatus != HasReturnvaluesIF::RETURN_OK) {
checkerFailurePrinter();
}
uint32_t queue_id = reader.getService();
queueMapIt = this->queueMap.find(queue_id);
queueMapIt = queueMap.find(queue_id);
} else {
tcStatus = PACKET_LOST;
}
@ -141,7 +126,7 @@ ReturnValue_t PusDistributor::initialize() {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
}
if(ccsdsDistributor == nullptr) {
if (ccsdsDistributor == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PUSDistributor::initialize: Packet source invalid" << std::endl;
sif::error << " Make sure it exists and implements CCSDSDistributorIF!" << std::endl;
@ -151,5 +136,34 @@ ReturnValue_t PusDistributor::initialize() {
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
if (verifyChannel == nullptr) {
verifyChannel = ObjectManager::instance()->get<VerificationReporterIF>(objects::TC_VERIFICATOR);
if (verifyChannel == nullptr) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
}
return ccsdsDistributor->registerApplication(this);
}
void PusDistributor::checkerFailurePrinter() const {
#if FSFW_VERBOSE_LEVEL >= 1
const char* keyword = "unnamed error";
if (tcStatus == tcdistrib::INCORRECT_CHECKSUM) {
keyword = "checksum";
} else if (tcStatus == tcdistrib::INCORRECT_PRIMARY_HEADER) {
keyword = "incorrect primary header";
} else if (tcStatus == tcdistrib::INVALID_APID) {
keyword = "illegal APID";
} else if (tcStatus == tcdistrib::INCORRECT_SECONDARY_HEADER) {
keyword = "incorrect secondary header";
} else if (tcStatus == tcdistrib::INCOMPLETE_PACKET) {
keyword = "incomplete packet";
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "PUSDistributor::handlePacket: Packet format invalid, " << keyword << " error"
<< std::endl;
#else
sif::printWarning("PUSDistributor::handlePacket: Packet format invalid, %s error\n", keyword);
#endif
#endif
}

2
src/fsfw/tcdistribution/PusDistributor.h
View File

@ -73,6 +73,8 @@ class PusDistributor : public TcDistributor, public PUSDistributorIF, public Acc
* success/failure messages.
*/
ReturnValue_t callbackAfterSending(ReturnValue_t queueStatus) override;
void checkerFailurePrinter() const;
};
#endif /* FSFW_TCDISTRIBUTION_PUSDISTRIBUTOR_H_ */

32
src/fsfw/tcdistribution/PusPacketChecker.cpp
View File

@ -5,40 +5,26 @@
#include "fsfw/tcdistribution/definitions.h"
#include "fsfw/tmtcpacket/pus/tc/PusTcReader.h"
PusPacketChecker::PusPacketChecker(uint16_t setApid, ccsds::PacketType packetType_,
PusPacketChecker::PusPacketChecker(uint16_t apid, ccsds::PacketType packetType_,
ecss::PusVersion pusVersion_)
: CcsdsPacketCheckerBase(setApid, packetType_), pusVersion(pusVersion_) {}
: pusVersion(pusVersion_), apid(apid) {}
ReturnValue_t PusPacketChecker::checkPacket(PacketCheckIF* pusPacket, size_t packetLen) {
if (pusPacket == nullptr) {
return RETURN_FAILED;
}
ReturnValue_t PusPacketChecker::checkPacket(const PusTcReader& pusPacket, size_t packetLen) {
// Other primary header fields are checked by base class
if (not pusPacket->hasSecHeader()) {
if (not pusPacket.hasSecHeader()) {
return tcdistrib::INVALID_SEC_HEADER_FIELD;
}
uint16_t calculated_crc =
CRC::crc16ccitt(pusPacket->getFullData(), pusPacket->getFullPacketLen());
uint16_t calculated_crc = CRC::crc16ccitt(pusPacket.getFullData(), pusPacket.getFullPacketLen());
if (calculated_crc != 0) {
return tcdistrib::INCORRECT_CHECKSUM;
}
// This assumes that the getFullPacketLen version uses the space packet data length field
if (pusPacket->getFullPacketLen() != packetLen) {
return tcdistrib::INCOMPLETE_PACKET;
if (pusPacket.getApid() != apid) {
return tcdistrib::INVALID_APID;
}
if (pusPacket->getPusVersion() != pusVersion) {
if (pusPacket.getPusVersion() != pusVersion) {
return tcdistrib::INVALID_PUS_VERSION;
}
return RETURN_OK;
return HasReturnvaluesIF::RETURN_OK;
}
uint16_t PusPacketChecker::getApid() const { return apid; }
ReturnValue_t PusPacketChecker::checkPacket(SpacePacketReader* currentPacket, size_t packetLen) {
ReturnValue_t result = CcsdsPacketCheckerBase::checkPacket(currentPacket, packetLen);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return checkPacket(dynamic_cast<PacketCheckIF*>(currentPacket), packetLen);
}

12
src/fsfw/tcdistribution/PusPacketChecker.h
View File

@ -1,38 +1,34 @@
#ifndef FSFW_TCDISTRIBUTION_TCPACKETCHECKPUS_H_
#define FSFW_TCDISTRIBUTION_TCPACKETCHECKPUS_H_
#include "CcsdsPacketCheckIF.h"
#include "CcsdsPacketCheckerBase.h"
#include "fsfw/FSFW.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/tmtcpacket/pus/defs.h"
#include "fsfw/tmtcservices/PusVerificationReport.h"
class PacketCheckIF : public ReadablePacketIF, public PusIF {};
/**
* This class performs a formal packet check for incoming PUS Telecommand Packets.
* Currently, it only checks if the APID and CRC are correct.
* @ingroup tc_distribution
*/
class PusPacketChecker : public CcsdsPacketCheckerBase {
class PusPacketChecker {
public:
/**
* The constructor only sets the APID attribute.
* @param set_apid The APID to set.
*/
PusPacketChecker(uint16_t setApid, ccsds::PacketType packetType,
explicit PusPacketChecker(uint16_t apid, ccsds::PacketType packetType,
ecss::PusVersion = ecss::PusVersion::PUS_C);
ReturnValue_t checkPacket(PacketCheckIF* currentPacket, size_t packetLen);
ReturnValue_t checkPacket(const PusTcReader& currentPacket, size_t packetLen);
[[nodiscard]] uint16_t getApid() const;
protected:
ecss::PusVersion pusVersion;
uint16_t apid;
private:
ReturnValue_t checkPacket(SpacePacketReader* currentPacket, size_t packetLen) override;
};
#endif /* FSFW_TCDISTRIBUTION_TCPACKETCHECKPUS_H_ */

15
src/fsfw/tcdistribution/TcDistributor.cpp
View File

@ -11,25 +11,24 @@ TcDistributor::TcDistributor(object_id_t objectId) : SystemObject(objectId) {
TcDistributor::~TcDistributor() { QueueFactory::instance()->deleteMessageQueue(tcQueue); }
ReturnValue_t TcDistributor::performOperation(uint8_t opCode) {
ReturnValue_t status = RETURN_OK;
ReturnValue_t status;
for (status = tcQueue->receiveMessage(&currentMessage); status == RETURN_OK;
status = tcQueue->receiveMessage(&currentMessage)) {
status = handlePacket();
}
if (status == MessageQueueIF::EMPTY) {
return RETURN_OK;
} else {
return status;
}
return status;
}
ReturnValue_t TcDistributor::handlePacket() {
auto queueMapIt = this->selectDestination();
ReturnValue_t returnValue = RETURN_FAILED;
if (queueMapIt != this->queueMap.end()) {
returnValue = this->tcQueue->sendMessage(queueMapIt->second, &this->currentMessage);
auto queueMapIt = selectDestination();
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
if (queueMapIt != queueMap.end()) {
result = tcQueue->sendMessage(queueMapIt->second, &currentMessage);
}
return this->callbackAfterSending(returnValue);
return callbackAfterSending(result);
}
void TcDistributor::print() {

3
src/fsfw/tcdistribution/TcPacketCheckCFDP.cpp
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@ -3,7 +3,8 @@
CfdpPacketChecker::CfdpPacketChecker(uint16_t setApid) : apid(setApid) {}
ReturnValue_t CfdpPacketChecker::checkPacket(SpacePacketReader* currentPacket, size_t packetLen) {
ReturnValue_t CfdpPacketChecker::checkPacket(const SpacePacketReader& currentPacket,
size_t packetLen) {
return RETURN_OK;
}

2
src/fsfw/timemanager/TimeStamperIF.h
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@ -26,6 +26,8 @@ class TimeStamperIF : public SerializeIF {
virtual ReturnValue_t addTimeStamp(uint8_t* buffer, uint8_t maxSize) = 0;
~TimeStamperIF() override = default;
protected:
};
#endif /* FSFW_TIMEMANAGER_TIMESTAMPERIF_H_ */

2
src/fsfw/tmtcpacket/ReadablePacketIF.h
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@ -10,6 +10,6 @@ class ReadablePacketIF {
/**
* This method returns a raw uint8_t pointer to the readable data
*/
virtual const uint8_t* getFullData() = 0;
[[nodiscard]] virtual const uint8_t* getFullData() const = 0;
};
#endif // FSFW_TMTCPACKET_SPACEPACKETREADERIF_H

2
src/fsfw/tmtcpacket/ccsds/SpacePacketReader.cpp
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@ -42,7 +42,7 @@ ReturnValue_t SpacePacketReader::setInternalFields(const uint8_t* data, size_t m
return checkSize();
}
const uint8_t* SpacePacketReader::getFullData() {
const uint8_t* SpacePacketReader::getFullData() const {
return reinterpret_cast<const uint8_t*>(spHeader);
}
size_t SpacePacketReader::getBufSize() const { return bufSize; }

2
src/fsfw/tmtcpacket/ccsds/SpacePacketReader.h
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@ -66,7 +66,7 @@ class SpacePacketReader : public SpacePacketIF,
[[nodiscard]] uint16_t getPacketSeqCtrlRaw() const override;
[[nodiscard]] uint16_t getPacketDataLen() const override;
const uint8_t* getFullData() override;
[[nodiscard]] const uint8_t* getFullData() const override;
// Helper methods:
[[nodiscard]] ReturnValue_t checkSize() const;

2
src/fsfw/tmtcpacket/pus/tc/PusTcReader.cpp
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@ -67,7 +67,7 @@ uint16_t PusTcReader::getPacketSeqCtrlRaw() const { return spReader.getPacketSeq
uint16_t PusTcReader::getPacketDataLen() const { return spReader.getPacketDataLen(); }
const uint8_t* PusTcReader::getFullData() { return pointers.spHeaderStart; }
const uint8_t* PusTcReader::getFullData() const { return pointers.spHeaderStart; }
ReturnValue_t PusTcReader::setData(uint8_t* pData, size_t size_, void* args) {
pointers.spHeaderStart = pData;

2
src/fsfw/tmtcpacket/pus/tc/PusTcReader.h
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@ -54,7 +54,7 @@ class PusTcReader : public PusTcIF,
[[nodiscard]] uint8_t getSubService() const override;
[[nodiscard]] uint16_t getSourceId() const override;
[[nodiscard]] uint16_t getErrorControl() const;
const uint8_t* getFullData() override;
const uint8_t* getFullData() const override;
ReturnValue_t setReadOnlyData(const uint8_t* data, size_t size);
[[nodiscard]] const uint8_t* getUserData() const override;

11
src/fsfw/tmtcpacket/pus/tm/PusTmCreator.cpp
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@ -12,13 +12,9 @@ PusTmCreator::PusTmCreator(SpacePacketParams initSpParams, PusTmParams initPusPa
PusTmCreator::PusTmCreator() { setup(); }
void PusTmCreator::disableCrcCalculation() {
calculateCrcOnSerialization = false;
}
void PusTmCreator::disableCrcCalculation() { calculateCrcOnSerialization = false; }
void PusTmCreator::enableCrcCalculation() {
calculateCrcOnSerialization = true;
}
void PusTmCreator::enableCrcCalculation() { calculateCrcOnSerialization = true; }
uint16_t PusTmCreator::getPacketIdRaw() const { return spCreator.getPacketIdRaw(); }
@ -74,10 +70,13 @@ ReturnValue_t PusTmCreator::serialize(uint8_t** buffer, size_t* size, size_t max
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
if (getTimestamper() != nullptr) {
result = pusParams.secHeader.timeStamper->serialize(buffer, size, maxSize, streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
}
if (pusParams.dataWrapper.type == ecss::DataTypes::RAW and
pusParams.dataWrapper.dataUnion.raw.data != nullptr) {
std::memcpy(*buffer, pusParams.dataWrapper.dataUnion.raw.data, userDataLen);

2
src/fsfw/tmtcpacket/pus/tm/PusTmReader.cpp
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@ -15,7 +15,7 @@ ReturnValue_t PusTmReader::parseDataWithCrcCheck() { return parseData(true); }
ReturnValue_t PusTmReader::parseDataWithoutCrcCheck() { return parseData(false); }
const uint8_t *PusTmReader::getFullData() { return spReader.getFullData(); }
const uint8_t *PusTmReader::getFullData() const { return spReader.getFullData(); }
ReturnValue_t PusTmReader::setReadOnlyData(const uint8_t *data, size_t size) {
return setData(const_cast<uint8_t *>(data), size, nullptr);

2
src/fsfw/tmtcpacket/pus/tm/PusTmReader.h
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@ -19,7 +19,7 @@ class PusTmReader : public PusTmIF,
ReturnValue_t parseDataWithoutCrcCheck();
ReturnValue_t parseDataWithCrcCheck();
const uint8_t* getFullData() override;
const uint8_t* getFullData() const override;
explicit operator bool() const;
[[nodiscard]] bool isNull() const;

6
src/fsfw/tmtcservices/CommandingServiceBase.cpp
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@ -103,6 +103,12 @@ ReturnValue_t CommandingServiceBase::initialize() {
// Generally, all TM packets will pass through a layer where the sequence count is set.
// This avoids duplicate calculation of the CRC16
tmStoreHelper.disableCrcCalculation();
if (tmTimeStamper == nullptr) {
auto timerStamper = ObjectManager::instance()->get<TimeStamperIF>(objects::TIME_STAMPER);
if (timerStamper != nullptr) {
tmStoreHelper.setTimeStamper(*timerStamper);
}
}
if (errReporter == nullptr) {
errReporter =

1
src/fsfw/tmtcservices/CommandingServiceBase.h
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@ -267,6 +267,7 @@ class CommandingServiceBase : public SystemObject,
MessageQueueIF* commandQueue = nullptr;
MessageQueueIF* requestQueue = nullptr;
TimeStamperIF* tmTimeStamper = nullptr;
VerificationReporterIF* verificationReporter;
InternalErrorReporterIF* errReporter = nullptr;

7
src/fsfw/tmtcservices/PusServiceBase.cpp
View File

@ -4,6 +4,7 @@
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/tcdistribution/PUSDistributorIF.h"
#include "fsfw/timemanager/CdsShortTimeStamper.h"
#include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
#include "fsfw/tmtcservices/PusVerificationReport.h"
#include "fsfw/tmtcservices/TmTcMessage.h"
@ -163,6 +164,12 @@ void PusServiceBase::initializeTmSendHelper(TmSendHelper& tmSendHelper) {
void PusServiceBase::initializeTmStoreHelper(TmStoreHelper& tmStoreHelper) const {
tmStoreHelper.setApid(psbParams.apid);
if (psbParams.timeStamper == nullptr) {
auto timerStamper = ObjectManager::instance()->get<TimeStamperIF>(objects::TIME_STAMPER);
if (timerStamper != nullptr) {
tmStoreHelper.setTimeStamper(*timerStamper);
}
}
}
void PusServiceBase::setVerificationReporter(VerificationReporterIF& reporter) {

5
src/fsfw/tmtcservices/PusServiceBase.h
View File

@ -65,6 +65,7 @@ struct PsbParams {
* register itself at that object.
*/
PUSDistributorIF* pusDistributor = nullptr;
TimeStamperIF* timeStamper = nullptr;
};
namespace Factory {
@ -133,7 +134,9 @@ class PusServiceBase : public ExecutableObjectIF,
*/
void initializeTmSendHelper(TmSendHelper& tmSendHelper);
/**
* Helper methods if the implementing class wants to store telemetry
* Helper methods if the implementing class wants to store telemetry. It will set the correct APID
* and it will also attempt to set a valid time stamper. If the manually specified time stamper is
* null, it will attempt to find a suitable one using @objects::TIME_STAMPER
* @param tmSendHelper
*/
void initializeTmStoreHelper(TmStoreHelper& tmStoreHelper) const;

40
src/fsfw/tmtcservices/TmSendHelper.cpp
View File

@ -5,8 +5,10 @@
TmSendHelper::TmSendHelper() = default;
TmSendHelper::TmSendHelper(MessageQueueIF &queue, InternalErrorReporterIF &reporter,
MessageQueueId_t tmtcMsgDest)
: defaultDest(tmtcMsgDest), queue(&queue), errReporter(&reporter) {}
MessageQueueId_t defaultDest)
: queue(&queue), errReporter(&reporter) {
queue.setDefaultDestination(defaultDest);
}
TmSendHelper::TmSendHelper(MessageQueueIF &queue, InternalErrorReporterIF &reporter)
: queue(&queue), errReporter(&reporter) {}
@ -14,11 +16,26 @@ TmSendHelper::TmSendHelper(MessageQueueIF &queue, InternalErrorReporterIF &repor
TmSendHelper::TmSendHelper(InternalErrorReporterIF &reporter) : errReporter(&reporter) {}
ReturnValue_t TmSendHelper::sendPacket(const store_address_t &storeId) {
return sendPacket(getDefaultDestination(), storeId);
}
void TmSendHelper::setDefaultDestination(MessageQueueId_t msgDest) {
if (queue != nullptr) {
queue->setDefaultDestination(msgDest);
};
}
void TmSendHelper::setInternalErrorReporter(InternalErrorReporterIF &reporter) {
errReporter = &reporter;
}
void TmSendHelper::setMsgQueue(MessageQueueIF &queue_) { queue = &queue_; }
ReturnValue_t TmSendHelper::sendPacket(MessageQueueId_t dest, const store_address_t &storeId) {
if (queue == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
TmTcMessage message(storeId);
ReturnValue_t result = queue->sendMessage(defaultDest, &message, ignoreFault);
ReturnValue_t result = queue->sendMessage(dest, &message, ignoreFault);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (errReporter != nullptr and not ignoreFault) {
errReporter->lostTm();
@ -28,19 +45,12 @@ ReturnValue_t TmSendHelper::sendPacket(const store_address_t &storeId) {
return result;
}
void TmSendHelper::setDefaultDestination(MessageQueueId_t msgDest) { defaultDest = msgDest; }
void TmSendHelper::setInternalErrorReporter(InternalErrorReporterIF &reporter) {
errReporter = &reporter;
MessageQueueId_t TmSendHelper::getDefaultDestination() const {
if (queue != nullptr) {
return queue->getDefaultDestination();
};
return MessageQueueIF::NO_QUEUE;
}
void TmSendHelper::setMsgQueue(MessageQueueIF &queue_) { queue = &queue_; }
ReturnValue_t TmSendHelper::sendPacket(MessageQueueId_t dest, const store_address_t &storeId) {
setDefaultDestination(dest);
return sendPacket(storeId);
}
MessageQueueId_t TmSendHelper::getDefaultDestination() const { return defaultDest; }
bool TmSendHelper::areFaultsIgnored() const { return ignoreFault; }
void TmSendHelper::ignoreFaults() { ignoreFault = true; }

1
src/fsfw/tmtcservices/TmSendHelper.h
View File

@ -29,7 +29,6 @@ class TmSendHelper {
ReturnValue_t sendPacket(const store_address_t& storeId);
private:
MessageQueueId_t defaultDest = MessageQueueIF::NO_QUEUE;
bool ignoreFault = false;
MessageQueueIF* queue = nullptr;
InternalErrorReporterIF* errReporter = nullptr;