Merge remote-tracking branch 'upstream/master' into mueller_FixedSequenceImprovements

container/FIFO.h

@@ -21,7 +21,7 @@ public:
 			readIndex(0), writeIndex(0), currentSize(0) {
 	}
 
-	bool emtpy() {
+	bool empty() {
 		return (currentSize == 0);
 	}
 
@@ -45,7 +45,7 @@ public:
 	}
 
 	ReturnValue_t retrieve(T *value) {
-		if (emtpy()) {
+		if (empty()) {
 			return EMPTY;
 		} else {
 			*value = data[readIndex];

container/IndexedRingMemoryArray.h

@@ -2,10 +2,10 @@
 #define FRAMEWORK_CONTAINER_INDEXEDRINGMEMORY_H_
 
 #include <framework/container/ArrayList.h>
+#include <framework/globalfunctions/CRC.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 #include <framework/serialize/SerialArrayListAdapter.h>
-#include <framework/globalfunctions/crc_ccitt.h>
 #include <cmath>
 
 template<typename T>

datalinklayer/DataLinkLayer.cpp

@@ -1,5 +1,5 @@
 #include <framework/datalinklayer/DataLinkLayer.h>
-#include <framework/globalfunctions/crc_ccitt.h>
+#include <framework/globalfunctions/CRC.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
 DataLinkLayer::DataLinkLayer(uint8_t* set_frame_buffer, ClcwIF* setClcw,
@@ -60,7 +60,7 @@ ReturnValue_t DataLinkLayer::frameValidationCheck() {
 }
 
 ReturnValue_t DataLinkLayer::frameCheckCRC() {
-	uint16_t checkValue = ::Calculate_CRC(this->currentFrame.getFullFrame(),
+	uint16_t checkValue = CRC::crc16ccitt(this->currentFrame.getFullFrame(),
 			this->currentFrame.getFullSize());
 	if (checkValue == 0) {
 		return RETURN_OK;

datalinklayer/TcTransferFrameLocal.cpp

@@ -6,7 +6,7 @@
  */
 
 #include <framework/datalinklayer/TcTransferFrameLocal.h>
-#include <framework/globalfunctions/crc_ccitt.h>
+#include <framework/globalfunctions/CRC.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <string.h>
 
@@ -25,7 +25,7 @@ TcTransferFrameLocal::TcTransferFrameLocal(bool bypass, bool controlCommand, uin
 			uint16_t totalSize = sizeof(TcTransferFramePrimaryHeader) + dataSize + FRAME_CRC_SIZE -1;
 			frame->header.vcidAndLength_h |= (totalSize & 0x0300) >> 8;
 			frame->header.length_l = (totalSize & 0x00FF);
-			uint16_t crc = ::Calculate_CRC(getFullFrame(), getFullSize() -2);
+			uint16_t crc = CRC::crc16ccitt(getFullFrame(), getFullSize() -2);
 			this->getFullFrame()[getFullSize()-2] = (crc & 0xFF00) >> 8;
 			this->getFullFrame()[getFullSize()-1] = (crc & 0x00FF);
 		} else if (dataSize <= 1016) {
@@ -33,7 +33,7 @@ TcTransferFrameLocal::TcTransferFrameLocal(bool bypass, bool controlCommand, uin
 			uint16_t dataCrcSize = sizeof(TcTransferFramePrimaryHeader) + 1 + dataSize + FRAME_CRC_SIZE -1;
 			frame->header.vcidAndLength_h |= (dataCrcSize & 0x0300) >> 8;
 			frame->header.length_l = (dataCrcSize & 0x00FF);
-			uint16_t crc = ::Calculate_CRC(getFullFrame(), getFullSize() -2);
+			uint16_t crc = CRC::crc16ccitt(getFullFrame(), getFullSize() -2);
 			this->getFullFrame()[getFullSize()-2] = (crc & 0xFF00) >> 8;
 			this->getFullFrame()[getFullSize()-1] = (crc & 0x00FF);
 		} else {

devicehandlers/DeviceHandlerBase.cpp

@@ -4,7 +4,7 @@
 #include <framework/devicehandlers/AcceptsDeviceResponsesIF.h>
 #include <framework/devicehandlers/DeviceHandlerBase.h>
 #include <framework/devicehandlers/DeviceTmReportingWrapper.h>
-#include <framework/globalfunctions/crc_ccitt.h>
+#include <framework/globalfunctions/CRC.h>
 #include <framework/objectmanager/ObjectManager.h>
 #include <framework/storagemanager/StorageManagerIF.h>
 #include <framework/subsystem/SubsystemBase.h>

globalfunctions/CRC.cpp

@@ -1,7 +1,7 @@
-#include <framework/globalfunctions/crc_ccitt.h>
+#include <framework/globalfunctions/CRC.h>
 #include <math.h>
 
-static const uint16_t crc_table[256] = {
+const uint16_t CRC::crc16ccitt_table[256] = {
     0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7,
     0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef,
     0x1231, 0x0210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6,
@@ -38,19 +38,18 @@ static const uint16_t crc_table[256] = {
 
 
 // CRC implementation
-uint16_t Calculate_CRC(uint8_t const input[], uint32_t length)
+uint16_t CRC::crc16ccitt(uint8_t const input[], uint32_t length, uint16_t startingCrc)
 {
-	uint16_t crc = 0xFFFF;
 	uint8_t *data = (uint8_t *)input;
 	unsigned int tbl_idx;
 
     while (length--) {
-        tbl_idx = ((crc >> 8) ^ *data) & 0xff;
+        tbl_idx = ((startingCrc >> 8) ^ *data) & 0xff;
-        crc = (crc_table[tbl_idx] ^ (crc << 8)) & 0xffff;
+        startingCrc = (crc16ccitt_table[tbl_idx] ^ (startingCrc << 8)) & 0xffff;
 
         data++;
     }
-    return crc & 0xffff;
+    return startingCrc & 0xffff;
 
     //The part below is not used!
 //	bool temr[16];

globalfunctions/CRC.h

@@ -0,0 +1,16 @@
+#ifndef CRC_CCITT_H_
+#define CRC_CCITT_H_
+
+#include <stdint.h>
+
+class CRC {
+public:
+	static uint16_t crc16ccitt(uint8_t const input[], uint32_t length,
+			uint16_t startingCrc = 0xffff);
+private:
+	CRC();
+
+	static const uint16_t crc16ccitt_table[256];
+};
+
+#endif /* CRC_H_ */

globalfunctions/crc_ccitt.h

@@ -1,9 +0,0 @@
-#ifndef CRC_CCITT_H_
-#define CRC_CCITT_H_
-
-#include <stdint.h>
-
-uint16_t Calculate_CRC(uint8_t const input[], uint32_t length);
-
-
-#endif /* CRC_H_ */

memory/MemoryHelper.cpp

@@ -1,4 +1,4 @@
-#include <framework/globalfunctions/crc_ccitt.h>
+#include <framework/globalfunctions/CRC.h>
 #include <framework/memory/MemoryHelper.h>
 #include <framework/memory/MemoryMessage.h>
 #include <framework/objectmanager/ObjectManagerIF.h>
@@ -98,7 +98,7 @@ void MemoryHelper::completeDump(ReturnValue_t errorCode,
 			break;
 		}
 		case MemoryMessage::CMD_MEMORY_CHECK: {
-			uint16_t crc = ::Calculate_CRC(reservedSpaceInIPC, size);
+			uint16_t crc = CRC::crc16ccitt(reservedSpaceInIPC, size);
 			//Delete data immediately, was temporary.
 			ipcStore->deleteData(ipcAddress);
 			MemoryMessage::setMemoryCheckReply(&reply, crc);

osal/FreeRTOS/MessageQueue.cpp

@@ -38,7 +38,9 @@ ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
 ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
 		MessageQueueId_t* receivedFrom) {
 	ReturnValue_t status = this->receiveMessage(message);
-	*receivedFrom = this->lastPartner;
+	if(status == HasReturnvaluesIF::RETURN_OK) {
+		*receivedFrom = this->lastPartner;
+	}
 	return status;
 }
 
@@ -89,23 +91,24 @@ MessageQueueId_t MessageQueue::getDefaultDestination() const {
 bool MessageQueue::isDefaultDestinationSet() const {
 	return 0;
 }
+
 ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 		MessageQueueMessage *message, MessageQueueId_t sentFrom,
 		bool ignoreFault) {
 	message->setSender(sentFrom);
 
-		BaseType_t result = xQueueSendToBack(reinterpret_cast<void*>(sendTo),reinterpret_cast<const void*>(message->getBuffer()), 0);
+	BaseType_t result = xQueueSendToBack(reinterpret_cast<void*>(sendTo),reinterpret_cast<const void*>(message->getBuffer()), 0);
-		if (result != pdPASS) {
+	if (result != pdPASS) {
-			if (!ignoreFault) {
+		if (!ignoreFault) {
-				InternalErrorReporterIF* internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
+			InternalErrorReporterIF* internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
-							objects::INTERNAL_ERROR_REPORTER);
+					objects::INTERNAL_ERROR_REPORTER);
-				if (internalErrorReporter != NULL) {
+			if (internalErrorReporter != NULL) {
-					internalErrorReporter->queueMessageNotSent();
+				internalErrorReporter->queueMessageNotSent();
-				}
 			}
-			return MessageQueueIF::FULL;
 		}
-		return HasReturnvaluesIF::RETURN_OK;
+		return MessageQueueIF::FULL;
+	}
+	return HasReturnvaluesIF::RETURN_OK;
 
 }
 

osal/FreeRTOS/QueueFactory.cpp

@@ -1,6 +1,6 @@
 #include <framework/ipc/QueueFactory.h>
 
-#include "../FreeRTOS/MessageQueue.h"
+#include <framework/osal/FreeRTOS/MessageQueue.h>
 
 
 QueueFactory* QueueFactory::factoryInstance = NULL;

osal/FreeRTOS/TaskFactory.cpp

@@ -15,6 +15,7 @@ TaskFactory* TaskFactory::instance() {
 }
 /***
  * Keep in Mind that you need to call before this vTaskStartScheduler()!
+ * High taskPriority_ number means high priority.
  */
 PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,
 		TaskPriority taskPriority_, TaskStackSize stackSize_,

tcdistribution/TcPacketCheck.cpp

@@ -1,4 +1,4 @@
-#include <framework/globalfunctions/crc_ccitt.h>
+#include <framework/globalfunctions/CRC.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <framework/storagemanager/StorageManagerIF.h>
 #include <framework/tcdistribution/TcPacketCheck.h>
@@ -8,7 +8,7 @@ TcPacketCheck::TcPacketCheck( uint16_t set_apid ) : apid(set_apid) {
 }
 
 ReturnValue_t TcPacketCheck::checkPacket( TcPacketStored* current_packet ) {
-	uint16_t calculated_crc = ::Calculate_CRC ( current_packet->getWholeData(), current_packet->getFullSize() );
+	uint16_t calculated_crc = CRC::crc16ccitt( current_packet->getWholeData(), current_packet->getFullSize() );
 	if ( calculated_crc != 0 ) {
 		return INCORRECT_CHECKSUM;
 	}

tmtcpacket/pus/TcPacketBase.cpp

@@ -1,4 +1,4 @@
-#include <framework/globalfunctions/crc_ccitt.h>
+#include <framework/globalfunctions/CRC.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <framework/tmtcpacket/pus/TcPacketBase.h>
 #include <string.h>
@@ -40,7 +40,7 @@ uint16_t TcPacketBase::getErrorControl() {
 
 void TcPacketBase::setErrorControl() {
 	uint32_t full_size = getFullSize();
-	uint16_t crc = ::Calculate_CRC(getWholeData(), full_size - CRC_SIZE);
+	uint16_t crc = CRC::crc16ccitt(getWholeData(), full_size - CRC_SIZE);
 	uint32_t size = getApplicationDataSize();
 	(&tcData->data)[size] = (crc & 0XFF00) >> 8;	// CRCH
 	(&tcData->data)[size + 1] = (crc) & 0X00FF; 		// CRCL

tmtcpacket/pus/TmPacketBase.cpp

@@ -1,4 +1,4 @@
-#include <framework/globalfunctions/crc_ccitt.h>
+#include <framework/globalfunctions/CRC.h>
 #include <framework/objectmanager/ObjectManagerIF.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <framework/tmtcpacket/pus/TmPacketBase.h>
@@ -39,7 +39,7 @@ uint16_t TmPacketBase::getErrorControl() {
 
 void TmPacketBase::setErrorControl() {
 	uint32_t full_size = getFullSize();
-	uint16_t crc = ::Calculate_CRC(getWholeData(), full_size - CRC_SIZE);
+	uint16_t crc = CRC::crc16ccitt(getWholeData(), full_size - CRC_SIZE);
 	uint32_t size = getSourceDataSize();
 	getSourceData()[size] = (crc & 0XFF00) >> 8;	// CRCH
 	getSourceData()[size + 1] = (crc) & 0X00FF; 		// CRCL

tmtcservices/CommandingServiceBase.h

@@ -64,7 +64,7 @@ public:
 	virtual ~CommandingServiceBase();
 
 	/***
-	 * This is the periodic called function
+	 * This is the periodically called function.
 	 * Handle request queue for external commands.
 	 * Handle command Queue for internal commands.
 	 * @param opCode is unused here at the moment
@@ -104,6 +104,69 @@ public:
 	};
 
 protected:
+	/**
+	 * Check the target subservice
+	 * @param subservice[in]
+	 * @return -@c RETURN_OK on success
+     *         -@c INVALID_SUBSERVICE if service is not known
+	 */
+	virtual ReturnValue_t isValidSubservice(uint8_t subservice) = 0;
+
+	/**
+	 * Once a TC Request is valid, the existence of the destination and its target interface is checked and retrieved.
+	 * The target message queue ID can then be acquired by using the target interface.
+	 * @param subservice
+	 * @param tcData Application Data of TC Packet
+	 * @param tcDataLen
+	 * @param id MessageQueue ID is stored here
+	 * @param objectId Object ID is extracted and stored here
+	 * @return - @c RETURN_OK on success
+	 *         - @c RETURN_FAILED
+	 *         - @c CSB or implementation specific return codes
+	 */
+	virtual ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
+			const uint8_t *tcData, uint32_t tcDataLen, MessageQueueId_t *id,
+			object_id_t *objectId) = 0;
+
+	/**
+	 * After the Message Queue and Object ID are determined,
+	 * the command is prepared by using an implementation specific CommandMessage type
+	 * which is sent to the target object.
+	 * It contains all necessary information for the device to execute telecommands.
+	 * @param message[out] message to be sent to the object
+	 * @param subservice[in] Subservice of the current communication
+	 * @param tcData Additional data of the command
+	 * @param tcDataLen Length of the additional data
+	 * @param state[out] Setable state of the communication
+	 * @param objectId Target object ID
+	 * @return - @c RETURN_OK on success
+     *         - @c EXECUTION_COMPLETE if exectuin is finished 
+     *         - any other return code will be part of (1,4) start failure
+	 */
+	virtual ReturnValue_t prepareCommand(CommandMessage *message,
+			uint8_t subservice, const uint8_t *tcData, uint32_t tcDataLen,
+			uint32_t *state, object_id_t objectId) = 0;
+
+	/**
+	 * This function is responsible for the communication between the Command Service Base
+	 * and the respective PUS Commanding Service once the execution has started.
+	 * The PUS Commanding Service receives replies from the target device and forwards them by calling this function.
+	 * There are different translations of these replies to specify how the Command Service proceeds.
+	 * @param reply Command Message which contains information about the command
+	 * @param previousCommand Command_t of last command
+	 * @param state state of the communication
+	 * @param optionalNextCommand[out] An optional next command which can be set in this function
+	 * @param objectId Source object ID
+	 * @param isStep Flag value to mark steps of command execution
+	 * @return - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to generate TC verification success
+	 *         - @c INVALID_REPLY can handle unrequested replies
+	 *         - Anything else triggers a TC verification failure
+	 */
+	virtual ReturnValue_t handleReply(const CommandMessage *reply,
+			Command_t previousCommand, uint32_t *state,
+			CommandMessage *optionalNextCommand, object_id_t objectId,
+			bool *isStep) = 0;
+
 	struct CommandInfo {
 		struct tcInfo {
 			uint8_t ackFlags;
@@ -180,20 +243,6 @@ protected:
 	 */
 	void sendTmPacket(uint8_t subservice, SerializeIF* content,
 			SerializeIF* header = NULL);
-	virtual ReturnValue_t isValidSubservice(uint8_t subservice) = 0;
-
-	virtual ReturnValue_t prepareCommand(CommandMessage *message,
-			uint8_t subservice, const uint8_t *tcData, uint32_t tcDataLen,
-			uint32_t *state, object_id_t objectId) = 0;
-
-	virtual ReturnValue_t handleReply(const CommandMessage *reply,
-			Command_t previousCommand, uint32_t *state,
-			CommandMessage *optionalNextCommand, object_id_t objectId,
-			bool *isStep) = 0;
-
-	virtual ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
-			const uint8_t *tcData, uint32_t tcDataLen, MessageQueueId_t *id,
-			object_id_t *objectId) = 0;
 
 	virtual void handleUnrequestedReply(CommandMessage *reply);
 
@@ -209,7 +258,8 @@ private:
 	 * It handles replies generated by the devices and relayed by the specific service implementation.
 	 * This means that it determines further course of action depending on the return values specified
 	 * in the service implementation.
-	 * This includes the generation of TC verification messages:
+	 * This includes the generation of TC verification messages. Note that
+	 * the static framework object ID @c VerificationReporter::messageReceiver needs to be set.
 	 *   - TM[1,5] Step Successs
 	 *   - TM[1,6] Step Failure
 	 *   - TM[1,7] Completion Success

tmtcservices/PusServiceBase.cpp

@@ -23,14 +23,14 @@ ReturnValue_t PusServiceBase::performOperation(uint8_t opCode) {
 	TmTcMessage message;
 	for (uint8_t count = 0; count < PUS_SERVICE_MAX_RECEPTION; count++) {
 		ReturnValue_t status = this->requestQueue->receiveMessage(&message);
-		//	debug << "PusServiceBase::performOperation: Receiving from MQ ID: " << std::hex << this->requestQueue.getId() << std::dec << " returned: " << status << std::endl;
+		//	debug << "PusServiceBase::performOperation: Receiving from MQ ID: " << std::hex << this->requestQueue.getId()
+		// << std::dec << " returned: " << status << std::endl;
 		if (status == RETURN_OK) {
 			this->currentPacket.setStoreAddress(message.getStorageId());
-//			info << "Service " << (uint16_t) this->serviceId << ": new packet!"
+			//	info << "Service " << (uint16_t) this->serviceId << ": new packet!" << std::endl;
-//					<< std::endl;
 
 			ReturnValue_t return_code = this->handleRequest();
-			//		debug << "Service " << (uint16_t)this->serviceId << ": handleRequest returned: " << (int)return_code << std::endl;
+			// debug << "Service " << (uint16_t)this->serviceId << ": handleRequest returned: " << (int)return_code << std::endl;
 			if (return_code == RETURN_OK) {
 				this->verifyReporter.sendSuccessReport(
 						TC_VERIFY::COMPLETION_SUCCESS, &this->currentPacket);
@@ -44,7 +44,7 @@ ReturnValue_t PusServiceBase::performOperation(uint8_t opCode) {
 			errorParameter2 = 0;
 		} else if (status == MessageQueueIF::EMPTY) {
 			status = RETURN_OK;
-			//		debug << "PusService " << (uint16_t)this->serviceId << ": no new packet." << std::endl;
+			// debug << "PusService " << (uint16_t)this->serviceId << ": no new packet." << std::endl;
 			break;
 		} else {
 

tmtcservices/PusServiceBase.h

@@ -46,13 +46,20 @@ public:
 	 */
 	virtual ~PusServiceBase();
 	/**
-	 * The handleRequest method shall handle any kind of Telecommand Request immediately.
+	 * @brief The handleRequest method shall handle any kind of Telecommand Request immediately.
+	 * @details
 	 * Implemetations can take the Telecommand in currentPacket and perform any kind of operation.
 	 * They may send additional "Start Success (1,3)" messages with the verifyReporter, but Completion
 	 * Success or Failure Reports are generated automatically after execution of this method.
-	 * If a Telecommand can not be executed within one call cycle, this Base class is not the right parent.
+	 *
-	 * The child class may add additional error information in #errorParameters which are attached to the generated
+	 * If a Telecommand can not be executed within one call cycle,
-	 * verification message.
+	 * this Base class is not the right parent.
+	 *
+	 * The child class may add additional error information by setting #errorParameters which are
+	 * attached to the generated verification message.
+	 *
+	 * Subservice checking should be implemented in this method.
+	 *
 	 * @return	The returned status_code is directly taken as main error code in the Verification Report.
 	 * 			On success, RETURN_OK shall be returned.
 	 */
@@ -68,8 +75,8 @@ public:
 	 * It checks for new requests, and, if found, calls handleRequest, sends completion verification messages and deletes
 	 * the TC requests afterwards.
 	 * performService is always executed afterwards.
-	 * @return	- \c RETURN_OK if the periodic performService was successful.
+	 * @return	\c RETURN_OK if the periodic performService was successful.
-	 * 			- \c RETURN_FAILED else.
+	 * 			\c RETURN_FAILED else.
 	 */
 	ReturnValue_t performOperation(uint8_t opCode);
 	virtual uint16_t getIdentifier();
@@ -91,7 +98,7 @@ protected:
 	/**
 	 * One of two error parameters for additional error information.
 	 */
-	uint8_t errorParameter2;
+	uint32_t errorParameter2;
 	/**
 	 * This is a complete instance of the Telecommand reception queue of the class.
 	 * It is initialized on construction of the class.