extended STM32 test task

CMakeLists.txt

@@ -0,0 +1,10 @@
+add_subdirectory(config)
+add_subdirectory(example)
+
+target_include_directories(${TARGET_NAME} PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}
+)
+
+if(TGT_BSP MATCHES "arm/stm32h743zi-nucleo")
+    add_subdirectory(stm32h7)
+endif()

config/CMakeLists.txt

@@ -0,0 +1,7 @@
+target_sources(${TARGET_NAME} PRIVATE
+    commonPollingSequenceFactory.cpp
+)
+
+target_include_directories(${TARGET_NAME} PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}
+)

config/OBSWVersion.h

@@ -0,0 +1,8 @@
+#ifndef COMMON_OBSWVERSION_H_
+#define COMMON_OBSWVERSION_H_
+
+#define FSFW_EXAMPLE_VERSION        1
+#define FSFW_EXAMPLE_SUBVERSION     4
+#define FSFW_EXAMPLE_REVISION       0
+
+#endif /* COMMON_OBSWVERSION_H_ */

config/commonClassIds.h

@@ -0,0 +1,14 @@
+#ifndef COMMON_CONFIG_COMMONCLASSIDS_H_
+#define COMMON_CONFIG_COMMONCLASSIDS_H_
+
+#include "fsfw/returnvalues/FwClassIds.h"
+
+namespace CLASS_ID {
+enum commonClassIds: uint8_t {
+    COMMON_CLASS_ID_START = FW_CLASS_ID_COUNT,
+    DUMMY_HANDLER, //DDH
+    COMMON_CLASS_ID_END // [EXPORT] : [END]
+};
+}
+
+#endif /* COMMON_CONFIG_COMMONCLASSIDS_H_ */

config/commonConfig.h.in

@@ -0,0 +1,67 @@
+/**
+ * @brief   This file will contain configuration constants which are used across all BSPs
+ */
+#ifndef COMMON_COMMONCONFIG_H_
+#define COMMON_COMMONCONFIG_H_
+
+#include <stdint.h>
+
+//! Specify the debug output verbose level
+#define OBSW_VERBOSE_LEVEL              1
+
+#define OBSW_PRINT_MISSED_DEADLINES     0
+
+//! Perform internal unit testd at application startup
+#define OBSW_PERFORM_INTERNAL_UNITTEST  1
+
+//! Add core components for the FSFW and for TMTC communication
+#define OBSW_ADD_CORE_COMPONENTS        1
+
+//! Add the PUS service stack
+#define OBSW_ADD_PUS_STACK              1
+#define OBSW_PUS_PRINTOUT               0
+
+//! Add the task examples
+#define OBSW_ADD_TASK_EXAMPLE           1
+#define OBSW_TASK_EXAMPLE_PRINTOUT      0
+
+//! Add the demo device handler object
+#define OBSW_ADD_DEVICE_HANDLER_DEMO    1
+#define OBSW_DEVICE_HANDLER_PRINTOUT    1
+
+//! Add the demo controller object
+#define OBSW_ADD_CONTROLLER_DEMO        1
+#define OBSW_CONTROLLER_PRINTOUT        1
+
+/**
+ *  The APID is a 14 bit identifier which can be used to distinguish processes and applications
+ * on a spacecraft. For more details, see the related ECSS/CCSDS standards.
+ * For this example, we are going to use a constant APID
+*/
+static const uint16_t COMMON_APID = 0xEF;
+
+#ifdef __cplusplus
+
+#include <fsfw/events/fwSubsystemIdRanges.h>
+#include <fsfw/returnvalues/FwClassIds.h>
+
+/**
+ * Enumerations for used PUS service IDs.
+ */
+namespace pus {
+enum ServiceIds: uint8_t {
+    PUS_SERVICE_1 = 1,
+    PUS_SERVICE_2 = 2,
+    PUS_SERVICE_3 = 3,
+    PUS_SERVICE_5 = 5,
+    PUS_SERVICE_8 = 8,
+    PUS_SERVICE_9 = 9,
+    PUS_SERVICE_17 = 17,
+    PUS_SERVICE_20 = 20,
+    PUS_SERVICE_200 = 200
+};
+}
+
+#endif /* __cplusplus */
+
+#endif /* COMMON_COMMONCONFIG_H_ */

config/commonPollingSequenceFactory.cpp

@@ -0,0 +1,83 @@
+#include "pollingsequence/pollingSequenceFactory.h"
+#include "objects/systemObjectList.h"
+
+#include "example/test/FsfwExampleTask.h"
+
+#include <fsfw/devicehandlers/DeviceHandlerIF.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include <fsfw/tasks/FixedTimeslotTaskIF.h>
+
+
+ReturnValue_t pst::pollingSequenceExamples(FixedTimeslotTaskIF* thisSequence) {
+    uint32_t length = thisSequence->getPeriodMs();
+
+    thisSequence->addSlot(objects::TEST_DUMMY_1, length * 0,
+            FsfwExampleTask::OpCodes::SEND_RAND_NUM);
+    thisSequence->addSlot(objects::TEST_DUMMY_2, length * 0,
+            FsfwExampleTask::OpCodes::SEND_RAND_NUM);
+    thisSequence->addSlot(objects::TEST_DUMMY_3, length * 0,
+            FsfwExampleTask::OpCodes::SEND_RAND_NUM);
+
+    thisSequence->addSlot(objects::TEST_DUMMY_1, length * 0.2,
+            FsfwExampleTask::OpCodes::RECEIVE_RAND_NUM);
+    thisSequence->addSlot(objects::TEST_DUMMY_2, length * 0.2,
+            FsfwExampleTask::OpCodes::RECEIVE_RAND_NUM);
+    thisSequence->addSlot(objects::TEST_DUMMY_3, length * 0.2,
+            FsfwExampleTask::OpCodes::RECEIVE_RAND_NUM);
+
+    thisSequence->addSlot(objects::TEST_DUMMY_1, length * 0.5,
+            FsfwExampleTask::OpCodes::DELAY_SHORT);
+    thisSequence->addSlot(objects::TEST_DUMMY_2, length * 0.5,
+            FsfwExampleTask::OpCodes::DELAY_SHORT);
+    thisSequence->addSlot(objects::TEST_DUMMY_3, length * 0.5,
+            FsfwExampleTask::OpCodes::DELAY_SHORT);
+
+    if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+    else {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "pst::pollingSequenceInitFunction: Initialization errors!" << std::endl;
+#else
+        sif::printError("pst::pollingSequenceInitFunction: Initialization errors!\n");
+#endif
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+}
+
+ReturnValue_t pst::pollingSequenceDevices(FixedTimeslotTaskIF *thisSequence) {
+    uint32_t length = thisSequence->getPeriodMs();
+
+    thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_0, 0, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_1, 0, DeviceHandlerIF::PERFORM_OPERATION);
+
+    thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_0, 0.3, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_1, 0.3, DeviceHandlerIF::SEND_WRITE);
+
+    thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_0, 0.45 * length,
+            DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_1, 0.45 * length,
+            DeviceHandlerIF::GET_WRITE);
+
+    thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_0, 0.6 * length, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_1, 0.6 * length, DeviceHandlerIF::SEND_READ);
+
+    thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_0, 0.8 * length, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_1, 0.8 * length, DeviceHandlerIF::GET_READ);
+
+    if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+    else {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "pst::pollingSequenceTestFunction: Initialization errors!" << std::endl;
+#else
+        sif::printError("pst::pollingSequenceTestFunction: Initialization errors!\n");
+#endif
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+}
+
+
+
+

config/commonSubsystemIds.h

@@ -0,0 +1,18 @@
+#ifndef COMMON_CONFIG_COMMONSUBSYSTEMIDS_H_
+#define COMMON_CONFIG_COMMONSUBSYSTEMIDS_H_
+
+#include "fsfw/events/fwSubsystemIdRanges.h"
+
+/**
+ * The subsystem IDs will be part of the event IDs used throughout the FSFW.
+ */
+namespace SUBSYSTEM_ID {
+enum commonSubsystemId: uint8_t {
+    COMMON_SUBSYSTEM_ID_START = FW_SUBSYSTEM_ID_RANGE,
+    TEST_TASK_ID = 105,
+    COMMON_SUBSYSTEM_ID_END
+};
+}
+
+
+#endif /* COMMON_CONFIG_COMMONSUBSYSTEMIDS_H_ */

config/commonSystemObjects.h

@@ -0,0 +1,40 @@
+#ifndef COMMON_COMMONSYSTEMOBJECTS_H_
+#define COMMON_COMMONSYSTEMOBJECTS_H_
+
+#include <cstdint>
+#include <fsfw/objectmanager/frameworkObjects.h>
+
+namespace objects {
+enum commonObjects: object_id_t {
+
+	/* 0x41 ('A') for Assemblies */
+	TEST_ASSEMBLY = 0x4100CAFE,
+
+    /* 0x43 ('C') for Controllers */
+    TEST_CONTROLLER = 0x4301CAFE,
+
+    /* 0x44 ('D') for Device Handlers */
+    TEST_DEVICE_HANDLER_0 = 0x4401AFFE,
+    TEST_DEVICE_HANDLER_1 = 0x4402AFFE,
+
+    /* 0x49 ('I') for Communication Interfaces */
+    TEST_ECHO_COM_IF = 0x4900AFFE,
+
+    /* 0x63 ('C') for core objects */
+    CCSDS_DISTRIBUTOR = 0x63000000,
+    PUS_DISTRIBUTOR = 0x63000001,
+    TM_FUNNEL = 0x63000002,
+
+    /* 0x74 ('t') for test and example objects  */
+    TEST_TASK = 0x7400CAFE,
+    TEST_DUMMY_1 = 0x74000001,
+    TEST_DUMMY_2 = 0x74000002,
+    TEST_DUMMY_3= 0x74000003,
+    TEST_DUMMY_4 = 0x74000004,
+    TEST_DUMMY_5 = 0x74000005,
+};
+}
+
+
+
+#endif /* COMMON_COMMONSYSTEMOBJECTS_H_ */

doc/README-cmake.md

@@ -0,0 +1,76 @@
+<img align="center" src="./images/cmake.png" width="25%">
+
+<sub><sup>Image taken from [Wikipedia](https://commons.wikimedia.org/wiki/File:Cmake.svg) 
+and licensed under [Creative Commons 2.0](https://creativecommons.org/licenses/by/2.0/deed.en), 
+no changes made</sup></sub>
+
+CMake is a modern cross-platform build system which is able to generate
+various build systems. It also features a dependency management system which
+allows developers to operate on targets (e.g. compile target as a library, link
+against a target) which allows better control of build properties compared
+to tools like Make.
+
+## Building with CMake
+
+Generally, building software with CMake is a two-step process.
+First, the build configuration is set up using the CMake build system or IDE project 
+generators and then the software is built using the select build system or IDE.
+CMake projects are generally built out-of-source which means that the files generated
+during the build process are kept separately from the source tree. This generally involves
+creating a build folder like `build-Debug` or `build-Release` and then performing all
+steps inside that folder.
+
+It is also possible to generate IDE project files with CMake. This is 
+not recommended for Eclipse because the CDT generation is not very good. 
+Instead, it is recommended to configure the build system once in the command line and then 
+invoke the CMake build command from Eclipse.
+Script files were supplied in the `buildsystem` folder to have a starting point.
+
+It is also possible to generate Visual Studio files but this has not been tested extensively yet.
+
+It is possible to perform the build configuration steps with the
+`cmake-gui` or with the curses `ccmake` command line utility. This also provides a graphical displayed
+of available options and variables.
+
+## Build Configuration options in CMake
+
+Call `cmake --help` to get a first overview of how the CMake build configuration
+works. Generally, build options can be displayed by running following command:
+
+```sh
+cmake -LA <path-to-source>
+```
+
+The general form to configure a build system is to call this command
+in the folder where the build system should be set up (this is generally not
+in a separate folder to avoid pollution of the source tree).
+
+The generators for the host system can be displayed with `cmake --help` as well
+and are supplied with `-G` to the build configuration. 
+Please note that the OSAL and architecture specific READMEs contain the 
+explicit commands to configure the build systems correctly.
+
+```sh
+cmake -G <Build Generator> <Options and Defines> <path-to-source>
+```
+
+Following build configurations are possible by setting the `CMAKE_BUILD_TYPE`
+string when configuring the build system. Supply `-DCMAKE_BUILD_TYPE=<option>` 
+to do this:
+
+1. `None`: No flags added
+1. `Debug`: Default type if no build type is specified 
+2. `RelWithDebInfo`: Release build, but debug symbols included 
+3. `MinSizeRel`: Build for minimum size 
+4. `Release`: Build for maximum speed
+
+For more information, see the [CMake website](https://gitlab.kitware.com/cmake/community/-/wikis/doc/cmake/Useful-Variables#compilers-and-tools)
+
+The FSFW OSAL can be specified with the `OS_FSFW` define during build configuration
+Supply `-DOS_FSFW=<option>` to the configuration to do this.
+Possible options are:
+
+1. `host`: Host OSAL, tested for Windows 10 and Linux (Ubuntu 20.04)
+2. `linux`: Linux OSAL, tested for regular Linux (Ubuntu 20.04) and embedded Linux
+3. `freertos`: FreeRTOS OSAL, example for the STM32H743ZI-Nucleo development board provided.
+4. `rtems`: Currently, no example provided, but will be provided for STM32H743ZI-Nucleo board.

doc/README-eclipse.md

@@ -0,0 +1,190 @@
+<img align="center" src="./images/eclipse_logo_colour.png" width="30%">
+
+<sub><sup>Image taken from [Eclipse website](https://www.eclipse.org/artwork/)</sup></sub>
+
+Eclipse is a general purpose IDE, which was initially developed for Java
+but has evolved to be used for C/C++ as well. It is the recommended IDE
+to develop Software with the FSFW because it is cross-platform, provides
+useful features like an indexer and can be configured with moderate effort
+to use the Make and CMake build systems.
+
+## Setting up Eclipse - General
+
+Eclipse project files and launch configurations were provided to have a starting 
+point for application development with Eclipse. It is recommended to use those 
+files and delete unneeded run configurations manually.
+There are separate project files to either use the Makefiles or CMake.
+
+1. Install [Eclipse for C/C++](https://www.eclipse.org/downloads/packages/) 
+   using the installer. Install the Eclipse MCU plugin
+   for the STM32 and Raspberry Pi example by going to Help &rarr; Eclipse 
+   Marketplace and searching and installing the plugin
+
+2. For the STM32, the ARM toolchain (and Windows Build Tools on Windows) should have been 
+   installed previously. Go to Window &rarr; Preferences &rarr; MCU &rarr; Global ARM Toolchain 
+   and Windows Build Tools. Packages installed with xpm should be recognized automatically.
+   
+3. Setting up the indexer: It is recommended to use the separate indexers for 
+each run configurations. Right click on the project folder in the tree view, 
+go to Properties &rarr; C/C++ General &rarr; Indexer and set the indexer as shown below.
+
+   <img align="center" src="./images/eclipse/eclipse-indexer.png" width="50%">
+
+4. Cross-Compiling: In general, the provided project configurations should set up 
+   the cross compiler properly. However, if there are issues, the user should 
+   check whether the compilers are set up properly.
+   
+   Right click on the project folder in the tree view, go to 
+   Properties &rarr; C/C++ Build &rarr; Tool Chain Editor and set the correct 
+   editor. Then go to Properties &rarr; C/C++ Build &rarr; Settings and check 
+   whether the cross-compiler paths are correct.
+
+
+## Setting up Eclipse for a hosted CMake projects
+
+1. Copy the  files `.project` and `.cproject` inside the misc/eclipse/make folder 
+   into the root of the cloned folder. This will add all build configurations.
+   
+   ```sh
+   cd fsfw_example
+   cp misc/eclipse/cmake/.project .
+   cp misc/eclipse/cmake/.cproject .
+   ```
+   
+2. Import the project now by going to File &rarr; Import &rarr; Existing Projects and selecting the cloned folder. 
+   Only check the root folder, Eclipse will try to import every folder which contains
+   `.project` or `.cproject` files!
+   
+   <img src="./images/eclipse_cfg.PNG" width="50%">
+
+3. Set up the build folders. Helper scripts have been provided to perform this 
+   task and have a starting point, but a valid Python 3 installation is required for them to work. 
+   For example, to create the build folder `Debug` and build the software 
+   with the FSFW Host OSAL on Windows or Linux, perform the following steps in the MinGW64 
+   command line or Linux terminal after navigating into the cloned example folder:
+   
+   ```sh
+   cd buildsystem/cmake/scripts/Host
+   ./create_cmake_debug_cfg.sh
+   ```
+   
+   The shell script can also be run by double clicking it in Windows as long as it is executed
+   by the MinGW terminal. This shell script will first create a new Debug folder (and delete the old one)
+   and then execute the following command in the build folder on Windows
+   
+   ```sh
+   cmake -G "MinGW Makefiles" -DCMAKE_BUILD_TYPE=Debug -DOS_FSFW=host
+   ```
+   
+   or the following command on Linux:
+   
+   ```sh
+   cmake -G "Unix Makefiles" -DCMAKE_BUILD_TYPE=Debug -DOS_FSFW=host
+   ```
+   
+   For example, the execution of the script in MinGW64 on Windows should show the
+   following output:
+   
+   <img src="./images/build_cfg_mingw.PNG" width="50%">
+   
+4. The build system is now ready to be used in Eclipse. Select the `fsfw-mingw-debug-cmake` (Windows)
+   or `fsfw-linux-debug-cmake` (Linux) launch configuration
+   in Eclipse and press the hammer button to build the software or the bug button to debug the 
+   software for a host machine. This will invoke `cmake --build . -j` in the respective build 
+   folders to build the software.
+   
+## Seting up Eclipse for Raspberry Pi projects - Remote Application
+
+Eclipse is configured to assume that the toolchain is located in `/opt/cross-pi-gcc/bin` and 
+will deduce settings and compiler specs automatically (e.g. for the indexer) if the provides build 
+and launch configurations are used. Adapt the toolchain  path accordingly if is installed 
+somewhere else.
+
+
+Follow steps one and two of the previous section. 
+
+3. Set up the run configuration properly by setting up a SSH connection with 
+   your Raspberry Pi. Go to Run &rarr; Debug Configurations.., look for the 
+   `C/C++ Remote Application` section and click on one of the configurations 
+   provided for the Raspberry Pi. A new SSH connection should be set up here. 
+   The following image shows an example
+
+    <img src="./images/eclipse/eclipse-rpi.png" width="50%">   
+
+4. Set up the build folders if this was not done already. 
+   We are going to do this with the script
+   
+   ```sh
+   cd buildsystem/cmake/scripts/RPi
+   ./create_cmake_debug_cfg.sh
+   ``` 
+
+5. The build system is now ready to be used in Eclipse. 
+   Select the `fsfw-rpi-debug-cmake` launch configuration and press the run or 
+   debug button in the top panel on the right side to run or debug the application. 
+   If there are issues, ensure that the Launch Configuration uses the correct 
+   SSH settings to connect to the Raspberry Pi. 
+
+On Windows, MinGW Makefiles are used for the cross-compilation process, but Eclipse will only 
+have the Windows environmental variables cached. This can lead to issues with the CMake build if it
+is configured in MinGW64. It is recommended to add the `RASPBIAN_ROOTFS` and the `RASPBERRY_VERSION`
+variable to the Windows environmental variables.
+
+The following picture shows an example:
+
+<img src="./images/eclipse/rpi-win-environment.PNG" width="50%">
+
+Alternatively, you can also add them to the Eclipse environmental variables in Properties &rarr;
+C/C++ Build &rarr; Environment
+
+## Setting up Eclipse for Raspberry Pi projects - TCF agent
+
+Alternatively, the [TCF agent](https://wiki.eclipse.org/TCF) can be used 
+as a more generic and powerful tool to perform remote debugging.
+
+1. Install the TCF agent plugin in Eclipse from the 
+   [releases](https://www.eclipse.org/tcf/downloads.php). Go to 
+   Help &rarr; Install New Software and use the download page, for 
+   example https://download.eclipse.org/tools/tcf/releases/1.6/1.6.2/ to search 
+   for the plugin and install it.
+
+2. Go to Window &rarr; Perspective &rarr; Open Perspective and open the 
+   **Target Explorer Perspective**. Here, the Raspberry Pi should show up if 
+   the TCF agent has been set up on the Raspberry Pi as specified 
+   [here](https://wiki.eclipse.org/TCF/Raspberry_Pi) or in the 
+   respective [README](README-rpi.md#top). Connect to it.
+
+3. Create a new **TCF Remote Application**. No launch configuration has 
+   been provided because the IP address can change regularly.
+
+ - Create a new the configuration by pressing the cogs button at the top or 
+   going to Run &rarr; Debug Configurations &rarr; Remote Application and
+   creating a new one there. 
+
+ - Select the TCF connection, the correct image in the main tab (it might be 
+   necessary to send it the the Raspberry Pi manually once) and file transfer properties
+
+ - It is also recommended to link the correct Eclipse project. 
+
+After that, comfortable remote debugging should be possible with the Debug button.
+
+## Setting up Eclipse for the Makefile projects
+
+The Makefiles are not maintained anymore and it is recommended to use the 
+CMake build configurations instead.
+
+1. Copy the  files `.project` and `.cproject` inside the misc/eclipse/make folder 
+   into the root of the cloned folder. This will add all build configurations.
+   Configurations which are not required can be deleted manually.
+   
+   ```sh
+   cd fsfw_example
+   cp misc/eclipse/make/.project .
+   cp misc/eclipse/make/.cproject .
+   ```
+   
+2. Import the project now by going to File &rarr; Import &rarr; Existing Projects and selecting
+   the cloned folder.
+   
+3. It should now be possible to build and debug the program by selecting the 
+   correct launch configuration in the top panel and hitting the hammer or debug button.

example/CMakeLists.txt

@@ -1,5 +1,5 @@
+add_subdirectory(controller)
 add_subdirectory(core)
 add_subdirectory(devices)
+add_subdirectory(test)
 add_subdirectory(utility)
-add_subdirectory(controller)
-add_subdirectory(assemblies)

example/core/GenericFactory.cpp

@@ -1,24 +1,26 @@
 #include "GenericFactory.h"
 
 #include "OBSWConfig.h"
+#include "fsfw/FSFW.h"
 #include "tmtc/apid.h"
 #include "tmtc/pusIds.h"
 #include "objects/systemObjectList.h"
 
-#include "test/FsfwExampleTask.h"
-#include "test/FsfwReaderTask.h"
+#include "example/utility/TmFunnel.h"
+#include "example/test/FsfwExampleTask.h"
+#include "example/test/FsfwReaderTask.h"
 
-#include "mission/assemblies/TestAssembly.h"
-#include "mission/devices/TestCookie.h"
-#include "mission/devices/TestDeviceHandler.h"
-#include "mission/devices/TestEchoComIF.h"
-#include "mission/utility/TmFunnel.h"
-#include "mission/controller/TestController.h"
+#include "fsfw_tests/internal/InternalUnitTester.h"
+#include "fsfw_tests/integration/assemblies/TestAssembly.h"
+#include "fsfw_tests/integration/devices/TestCookie.h"
+#include "fsfw_tests/integration/devices/TestDeviceHandler.h"
+#include "fsfw_tests/integration/devices/TestEchoComIF.h"
+#include "fsfw_tests/integration/controller/TestController.h"
 
 #include "fsfw/devicehandlers/CookieIF.h"
 #include "fsfw/events/EventManager.h"
 #include "fsfw/health/HealthTable.h"
-#include "fsfw/internalError/InternalErrorReporter.h"
+#include "fsfw/internalerror/InternalErrorReporter.h"
 #include "fsfw/pus/CService200ModeCommanding.h"
 #include "fsfw/pus/Service17Test.h"
 #include "fsfw/pus/Service1TelecommandVerification.h"
@@ -31,7 +33,7 @@
 #include "fsfw/tcdistribution/CCSDSDistributor.h"
 #include "fsfw/tcdistribution/PUSDistributor.h"
 #include "fsfw/timemanager/TimeStamper.h"
-#include "fsfw/tmtcpacket/pus/TmPacketStored.h"
+#include "fsfw/tmtcpacket/pus/tm.h"
 
 
 
@@ -76,10 +78,9 @@ void ObjectFactory::produceGenericObjects() {
     new FsfwExampleTask(objects::TEST_DUMMY_3);
 
 
-#if OBSW_TASK_EXAMPLE_PRINTOUT == 1
-    bool enablePrintout = true;
-#else
     bool enablePrintout = false;
+#if OBSW_TASK_EXAMPLE_PRINTOUT == 1
+    enablePrintout = true;
 #endif
     new FsfwReaderTask(objects::TEST_DUMMY_4, enablePrintout);
 #endif /* OBSW_ADD_TASK_EXAMPLE == 1 */
@@ -94,17 +95,18 @@ void ObjectFactory::produceGenericObjects() {
 
     /* Demo device handler object */
     size_t expectedMaxReplyLen = 64;
-    CookieIF* testCookie = new DummyCookie(
+    CookieIF* testCookie = new TestCookie(
             static_cast<address_t>(testdevice::DeviceIndex::DEVICE_0), expectedMaxReplyLen);
     new TestEchoComIF(objects::TEST_ECHO_COM_IF);
     new TestDevice(objects::TEST_DEVICE_HANDLER_0, objects::TEST_ECHO_COM_IF, testCookie,
             testdevice::DeviceIndex::DEVICE_0, enableInfoPrintout);
-    testCookie = new DummyCookie(static_cast<address_t>(testdevice::DeviceIndex::DEVICE_1),
+    testCookie = new TestCookie(static_cast<address_t>(testdevice::DeviceIndex::DEVICE_1),
             expectedMaxReplyLen);
     new TestDevice(objects::TEST_DEVICE_HANDLER_1, objects::TEST_ECHO_COM_IF, testCookie,
             testdevice::DeviceIndex::DEVICE_1, enableInfoPrintout);
 
-    new TestAssembly(objects::TEST_ASSEMBLY, objects::NO_OBJECT);
+    new TestAssembly(objects::TEST_ASSEMBLY, objects::NO_OBJECT, objects::TEST_DEVICE_HANDLER_0,
+            objects::TEST_DEVICE_HANDLER_1);
 
 #endif /* OBSW_ADD_DEVICE_HANDLER_DEMO == 1 */
 
@@ -114,9 +116,21 @@ void ObjectFactory::produceGenericObjects() {
 
 #if OBSW_CONTROLLER_PRINTOUT == 1
 #endif
-    new TestController(objects::TEST_CONTROLLER);
+    new TestController(objects::TEST_CONTROLLER, objects::TEST_DEVICE_HANDLER_0,
+            objects::TEST_DEVICE_HANDLER_1);
 
 #endif /* OBSW_ADD_CONTROLLER_DEMO == 1 */
+
+#if OBSW_PERFORM_INTERNAL_UNITTEST == 1
+    InternalUnitTester::TestConfig testCfg;
+    testCfg.testArrayPrinter = false;
+#if defined FSFW_OSAL_HOST
+    // Not implemented yet for hosted OSAL (requires C++20)
+    testCfg.testSemaphores = false;
+#endif
+    InternalUnitTester unittester;
+    unittester.performTests(testCfg);
+#endif /* OBSW_PERFORM_INTERNAL_UNITTEST == 1 */
 }
 
 void Factory::setStaticFrameworkObjectIds() {

example/devices/TestDeviceHandler.h

@@ -0,0 +1,12 @@
+#ifndef EXAMPLE_COMMON_DEVICES_TESTDEVICEHANDLER_H_
+#define EXAMPLE_COMMON_DEVICES_TESTDEVICEHANDLER_H_
+
+//#include "fsfw_tests/integration/TestDeviceHandler.h"
+//
+//class FsfwTestDeviceHandler: public TestDeviceHandler {
+//
+//};
+
+
+
+#endif /* EXAMPLE_COMMON_DEVICES_TESTDEVICEHANDLER_H_ */

example/test/CMakeLists.txt

@@ -0,0 +1,5 @@
+target_sources(${TARGET_NAME} PRIVATE
+    FsfwReaderTask.cpp
+    FsfwExampleTask.cpp
+    MutexExample.cpp
+)

example/test/FsfwExampleTask.cpp

@@ -0,0 +1,264 @@
+#include "FsfwExampleTask.h"
+#include "OBSWConfig.h"
+#include "commonSystemObjects.h"
+#include "objects/systemObjectList.h"
+
+#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fsfw/objectmanager/ObjectManager.h>
+#include <fsfw/tasks/TaskFactory.h>
+#include <fsfw/ipc/QueueFactory.h>
+#include <fsfw/ipc/CommandMessage.h>
+
+
+FsfwExampleTask::FsfwExampleTask(object_id_t objectId): SystemObject(objectId),
+        poolManager(this, nullptr), demoSet(this),
+        monitor(objectId, MONITOR_ID, gp_id_t(objectId, FsfwDemoSet::VARIABLE_LIMIT), 30, 10)
+{
+    commandQueue = QueueFactory::instance()->createMessageQueue(10,
+            CommandMessage::MAX_MESSAGE_SIZE);
+}
+
+FsfwExampleTask::~FsfwExampleTask() {
+}
+
+ReturnValue_t FsfwExampleTask::performOperation(uint8_t operationCode) {
+    if(operationCode == OpCodes::DELAY_SHORT){
+        TaskFactory::delayTask(5);
+    }
+
+    // TODO: Move this to new test controller?
+    ReturnValue_t result = performMonitoringDemo();
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+
+    if (operationCode == OpCodes::SEND_RAND_NUM) {
+        result = performSendOperation();
+        if(result != HasReturnvaluesIF::RETURN_OK) {
+            return result;
+        }
+    }
+
+
+    if (operationCode == OpCodes::RECEIVE_RAND_NUM) {
+        result = performReceiveOperation();
+
+    }
+
+    return 0;
+}
+
+object_id_t FsfwExampleTask::getNextRecipient() {
+    switch(this->getObjectId()) {
+    case(objects::TEST_DUMMY_1): {
+        return objects::TEST_DUMMY_2;
+    }
+    case(objects::TEST_DUMMY_2): {
+        return objects::TEST_DUMMY_3;
+    }
+    case(objects::TEST_DUMMY_3): {
+        return objects::TEST_DUMMY_1;
+    }
+    default:
+        return objects::TEST_DUMMY_1;
+    }
+}
+
+object_id_t FsfwExampleTask::getSender() {
+    switch(this->getObjectId()) {
+    case(objects::TEST_DUMMY_1): {
+        return objects::TEST_DUMMY_3;
+    }
+    case(objects::TEST_DUMMY_2): {
+        return objects::TEST_DUMMY_1;
+    }
+    case(objects::TEST_DUMMY_3): {
+        return objects::TEST_DUMMY_2;
+    }
+    default:
+        return objects::TEST_DUMMY_1;
+    }
+}
+
+
+ReturnValue_t FsfwExampleTask::initialize() {
+    // Get the dataset of the sender. Will be cached for later checks.
+    object_id_t sender = getSender();
+    HasLocalDataPoolIF* senderIF = ObjectManager::instance()->get<HasLocalDataPoolIF>(sender);
+    if(senderIF == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "FsfwDemoTask::initialize: Sender object invalid!" << std::endl;
+#else
+        sif::printError("FsfwDemoTask::initialize: Sender object invalid!\n");
+#endif
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
+    // we need a private copy of the previous dataset.. or we use the shared dataset.
+    senderSet = new FsfwDemoSet(senderIF);
+    if(senderSet == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "FsfwDemoTask::initialize: Sender dataset invalid!" << std::endl;
+#else
+        sif::printError("FsfwDemoTask::initialize: Sender dataset invalid!\n");
+#endif
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    return poolManager.initialize(commandQueue);
+}
+
+ReturnValue_t FsfwExampleTask::initializeAfterTaskCreation() {
+    return poolManager.initializeAfterTaskCreation();
+}
+
+object_id_t FsfwExampleTask::getObjectId() const {
+    return SystemObject::getObjectId();
+}
+
+MessageQueueId_t FsfwExampleTask::getMessageQueueId(){
+    return commandQueue->getId();
+}
+
+void  FsfwExampleTask::setTaskIF(PeriodicTaskIF* task){
+    this->task = task;
+}
+
+LocalPoolDataSetBase* FsfwExampleTask::getDataSetHandle(sid_t sid) {
+    return &demoSet;
+}
+
+uint32_t FsfwExampleTask::getPeriodicOperationFrequency() const {
+    return task->getPeriodMs();
+}
+
+ReturnValue_t FsfwExampleTask::initializeLocalDataPool(
+        localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
+    localDataPoolMap.emplace(FsfwDemoSet::PoolIds::VARIABLE, new PoolEntry<uint32_t>({0}));
+    localDataPoolMap.emplace(FsfwDemoSet::PoolIds::VARIABLE_LIMIT, new PoolEntry<uint16_t>({0}));
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t FsfwExampleTask::performMonitoringDemo() {
+    ReturnValue_t result = demoSet.variableLimit.read(
+            MutexIF::TimeoutType::WAITING, 20);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        /* Configuration error */
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "DummyObject::performOperation: Could not read variableLimit!" << std::endl;
+#else
+        sif::printError("DummyObject::performOperation: Could not read variableLimit!\n");
+#endif
+        return result;
+    }
+    if(this->getObjectId() == objects::TEST_DUMMY_5){
+        if(demoSet.variableLimit.value > 20){
+            demoSet.variableLimit.value = 0;
+        }
+        demoSet.variableLimit.value++;
+        demoSet.variableLimit.commit(20);
+        monitor.check();
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t FsfwExampleTask::performSendOperation() {
+    object_id_t nextRecipient = getNextRecipient();
+    FsfwExampleTask* target = ObjectManager::instance()->get<FsfwExampleTask>(nextRecipient);
+    if (target == nullptr) {
+        /* Configuration error */
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "DummyObject::performOperation: Next recipient does not exist!" << std::endl;
+#else
+        sif::printError("DummyObject::performOperation: Next recipient does not exist!\n");
+#endif
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
+
+    uint32_t randomNumber = rand() % 100;
+    CommandMessage message;
+    message.setParameter(randomNumber);
+    message.setParameter2(this->getMessageQueueId());
+
+    /* Send message using own message queue */
+    ReturnValue_t result = commandQueue->sendMessage(target->getMessageQueueId(), &message);
+    if (result != HasReturnvaluesIF::RETURN_OK
+            && result != MessageQueueIF::FULL) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "FsfwDemoTask::performSendOperation: Send failed with " << result <<
+                std::endl;
+#else
+        sif::printError("FsfwDemoTask::performSendOperation: Send failed with %hu\n", result);
+#endif
+    }
+
+    /* Send message without via MessageQueueSenderIF */
+    result = MessageQueueSenderIF::sendMessage(target->getMessageQueueId(), &message,
+            commandQueue->getId());
+    if (result != HasReturnvaluesIF::RETURN_OK
+            && result != MessageQueueIF::FULL) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "FsfwDemoTask::performSendOperation: Send failed with " << result << std::endl;
+#else
+        sif::printError("FsfwDemoTask::performSendOperation: Send failed with %hu\n", result);
+#endif
+    }
+
+    demoSet.variableWrite.value = randomNumber;
+    result = demoSet.variableWrite.commit(20);
+
+    return result;
+}
+
+ReturnValue_t FsfwExampleTask::performReceiveOperation() {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    while (result != MessageQueueIF::EMPTY) {
+        CommandMessage receivedMessage;
+        result = commandQueue->receiveMessage(&receivedMessage);
+        if (result != HasReturnvaluesIF::RETURN_OK
+                && result != MessageQueueIF::EMPTY) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::debug << "Receive failed with " << result << std::endl;
+#endif
+            break;
+        }
+        if (result != MessageQueueIF::EMPTY) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+#if OBSW_VERBOSE_LEVEL >= 2
+            sif::debug << "Message Received by " << getObjectId() << " from Queue " <<
+                    receivedMessage.getSender() << " ObjectId " << receivedMessage.getParameter() <<
+                    " Queue " << receivedMessage.getParameter2() << std::endl;
+#endif
+#endif
+
+            if(senderSet == nullptr) {
+                return HasReturnvaluesIF::RETURN_FAILED;
+            }
+
+            result = senderSet->variableRead.read(MutexIF::TimeoutType::WAITING,
+                    20);
+            if(result != HasReturnvaluesIF::RETURN_OK) {
+                return result;
+            }
+            if(senderSet->variableRead.value != receivedMessage.getParameter()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+                sif::error << "FsfwDemoTask::performReceiveOperation: Variable " << std::hex <<
+                        "0x" << senderSet->variableRead.getDataPoolId() << std::dec <<
+                        " has wrong value." << std::endl;
+                sif::error << "Value: "  << demoSet.variableRead.value << ", expected: " <<
+                        receivedMessage.getParameter() << std::endl;
+#endif
+            }
+
+        }
+    }
+    return result;
+}
+
+MessageQueueId_t FsfwExampleTask::getCommandQueue() const {
+    return commandQueue->getId();
+}
+
+LocalDataPoolManager* FsfwExampleTask::getHkManagerHandle() {
+    return &poolManager;
+}

example/test/FsfwExampleTask.h

@@ -0,0 +1,116 @@
+#ifndef MISSION_DEMO_FSFWDEMOTASK_H_
+#define MISSION_DEMO_FSFWDEMOTASK_H_
+
+#include "testdefinitions/demoDefinitions.h"
+
+#include <fsfw/datapoollocal/StaticLocalDataSet.h>
+#include <fsfw/datapoollocal/LocalPoolVariable.h>
+#include <fsfw/tasks/ExecutableObjectIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/ipc/MessageQueueIF.h>
+#include <fsfw/monitoring/AbsLimitMonitor.h>
+
+class PeriodicTaskIF;
+
+
+/**
+ * @brief 	This demo set shows the local data pool functionality and fixed
+ * 			timeslot capabilities of the FSFW.
+ *
+ * @details
+ * There will be multiple demo objects. Each demo object will generate a random
+ * number and send that number via message queues to the next demo object
+ * (e.g. DUMMY_1 sends the number to DUMMY_2 etc.). The receiving object
+ * will check the received value against the sent value by extracting the sent
+ * value directly from the sender via the local data pool interface.
+ * If the timing is set up correctly, the values will always be the same.
+ */
+class FsfwExampleTask:
+        public ExecutableObjectIF,
+        public SystemObject,
+        public HasLocalDataPoolIF {
+public:
+    enum OpCodes {
+        SEND_RAND_NUM,
+        RECEIVE_RAND_NUM,
+        DELAY_SHORT
+    };
+
+    static constexpr uint8_t MONITOR_ID = 2;
+
+    /**
+     * @brief 	Simple constructor, only expects object ID.
+     * @param objectId
+     */
+    FsfwExampleTask(object_id_t objectId);
+
+    virtual ~FsfwExampleTask();
+
+    /**
+     * @brief	The performOperation method is executed in a task.
+     * @details	There are no restrictions for calls within this method, so any
+     * 			other member of the class can be used.
+     * @return	Currently, the return value is ignored.
+     */
+    virtual ReturnValue_t performOperation(uint8_t operationCode = 0);
+
+    /**
+     * @brief 	This function will be called by the global object manager
+     * @details
+     * This function will always be called before any tasks are started.
+     * It can also be used to return error codes in the software initialization
+     * process cleanly.
+     * @return
+     */
+    virtual ReturnValue_t initialize() override;
+
+    /**
+     * @brief 	This function will be called by the OSAL task handlers
+     * @details
+     * This function will be called before the first #performOperation
+     * call after the tasks have been started. It can be used if some
+     * initialization process requires task specific properties like
+     * periodic intervals (by using the PeriodicTaskIF* handle).
+     * @return
+     */
+    virtual ReturnValue_t initializeAfterTaskCreation() override;
+
+    /**
+     * This function will be called by the OSAL task handler. The
+     * task interface handle can be cached to access task specific properties.
+     * @param task
+     */
+    void setTaskIF(PeriodicTaskIF* task) override;
+
+    object_id_t getObjectId() const override;
+
+    MessageQueueId_t getMessageQueueId();
+
+
+private:
+    LocalDataPoolManager poolManager;
+    FsfwDemoSet* senderSet = nullptr;
+    FsfwDemoSet demoSet;
+    AbsLimitMonitor<int32_t> monitor;
+    PeriodicTaskIF* task = nullptr;
+    MessageQueueIF* commandQueue = nullptr;
+
+    /* HasLocalDatapoolIF overrides */
+    MessageQueueId_t getCommandQueue() const override;
+    LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
+    uint32_t getPeriodicOperationFrequency() const override;
+    virtual ReturnValue_t initializeLocalDataPool(
+            localpool::DataPool& localDataPoolMap,
+            LocalDataPoolManager& poolManager) override;
+    virtual LocalDataPoolManager* getHkManagerHandle() override;
+
+    object_id_t getNextRecipient();
+    object_id_t getSender();
+
+    ReturnValue_t performMonitoringDemo();
+    ReturnValue_t performSendOperation();
+    ReturnValue_t performReceiveOperation();
+    uint8_t execCounter = 0;
+};
+
+#endif /* MISSION_DEMO_FSFWDEMOTASK_H_ */

example/test/FsfwReaderTask.cpp

@@ -0,0 +1,55 @@
+#include "FsfwReaderTask.h"
+
+#include <fsfw/datapool/PoolReadGuard.h>
+#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fsfw/tasks/TaskFactory.h>
+#include <fsfw/timemanager/Stopwatch.h>
+
+#include <OBSWConfig.h>
+
+
+FsfwReaderTask::FsfwReaderTask(object_id_t objectId, bool enablePrintout):
+		SystemObject(objectId), printoutEnabled(enablePrintout), opDivider(10),
+		readSet(this->getObjectId(),
+				gp_id_t(objects::TEST_DUMMY_1, FsfwDemoSet::PoolIds::VARIABLE),
+				gp_id_t(objects::TEST_DUMMY_2, FsfwDemoSet::PoolIds::VARIABLE),
+				gp_id_t(objects::TEST_DUMMY_3, FsfwDemoSet::PoolIds::VARIABLE)) {
+    /* Special protection for set reading because each variable is read from a different pool */
+	readSet.setReadCommitProtectionBehaviour(true);
+}
+
+FsfwReaderTask::~FsfwReaderTask() {
+}
+
+ReturnValue_t FsfwReaderTask::initializeAfterTaskCreation() {
+	/* Give other task some time to set up local data pools. */
+	TaskFactory::delayTask(20);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t FsfwReaderTask::performOperation(uint8_t operationCode) {
+	PoolReadGuard readHelper(&readSet);
+
+	uint32_t variable1 = readSet.variable1.value;
+	uint32_t variable2 = readSet.variable2.value;
+	uint32_t variable3 = readSet.variable3.value;
+
+#if OBSW_VERBOSE_LEVEL >= 1
+	if(opDivider.checkAndIncrement() and printoutEnabled) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+		sif::info << "FsfwPeriodicTask::performOperation: Reading variables." << std::endl;
+		sif::info << "Variable read from demo object 1: " << variable1 << std::endl;
+		sif::info << "Variable read from demo object 2: " << variable2 << std::endl;
+		sif::info << "Variable read from demo object 3: " << variable3 << std::endl;
+#else
+		sif::printInfo("FsfwPeriodicTask::performOperation: Reading variables.\n\r");
+		sif::printInfo("Variable read from demo object 1: %d\n\r", variable1);
+		sif::printInfo("Variable read from demo object 2: %d\n\r", variable2);
+		sif::printInfo("Variable read from demo object 3: %d\n\r", variable3);
+#endif
+	}
+#else
+	if(variable1 and variable2 and variable3) {};
+#endif
+	return HasReturnvaluesIF::RETURN_OK;
+}

example/test/FsfwReaderTask.h

@@ -0,0 +1,24 @@
+#ifndef MISSION_DEMO_FSFWPERIODICTASK_H_
+#define MISSION_DEMO_FSFWPERIODICTASK_H_
+
+#include "testdefinitions/demoDefinitions.h"
+
+#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
+#include <fsfw/tasks/ExecutableObjectIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
+
+class FsfwReaderTask: public ExecutableObjectIF, public SystemObject {
+public:
+    FsfwReaderTask(object_id_t objectId, bool enablePrintout);
+    virtual ~FsfwReaderTask();
+
+    ReturnValue_t initializeAfterTaskCreation() override;
+    virtual ReturnValue_t performOperation(uint8_t operationCode = 0);
+
+private:
+    bool printoutEnabled = false;
+    PeriodicOperationDivider opDivider;
+    CompleteDemoReadSet readSet;
+};
+
+#endif /* MISSION_DEMO_FSFWPERIODICTASK_H_ */

example/test/MutexExample.cpp

@@ -0,0 +1,47 @@
+#include "MutexExample.h"
+
+#include <fsfw/ipc/MutexFactory.h>
+#include <fsfw/serviceinterface/ServiceInterface.h>
+
+
+void MutexExample::example(){
+	MutexIF* mutex = MutexFactory::instance()->createMutex();
+	MutexIF* mutex2 = MutexFactory::instance()->createMutex();
+
+	ReturnValue_t result = mutex->lockMutex(MutexIF::TimeoutType::WAITING,
+			2 * 60 * 1000);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+		sif::error << "MutexExample::example: Lock Failed with " << result << std::endl;
+#else
+		sif::printError("MutexExample::example: Lock Failed with %hu\n", result);
+#endif
+	}
+
+	result = mutex2->lockMutex(MutexIF::TimeoutType::BLOCKING);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "MutexExample::example: Lock Failed with " << result << std::endl;
+#else
+        sif::printError("MutexExample::example: Lock Failed with %hu\n", result);
+#endif
+	}
+
+	result = mutex->unlockMutex();
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "MutexExample::example: Unlock Failed with " << result << std::endl;
+#else
+        sif::printError("MutexExample::example: Unlock Failed with %hu\n", result);
+#endif
+	}
+
+	result = mutex2->unlockMutex();
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "MutexExample::example: Unlock Failed with " << result << std::endl;
+#else
+        sif::printError("MutexExample::example: Unlock Failed with %hu\n", result);
+#endif
+	}
+}

example/test/MutexExample.h

@@ -0,0 +1,8 @@
+#ifndef MISSION_DEMO_MUTEXEXAMPLE_H_
+#define MISSION_DEMO_MUTEXEXAMPLE_H_
+
+namespace MutexExample {
+	void example();
+};
+
+#endif /* MISSION_DEMO_MUTEXEXAMPLE_H_ */

example/test/testdefinitions/demoDefinitions.h

@@ -0,0 +1,63 @@
+#ifndef MISSION_DEMO_DEMODEFINITIONS_H_
+#define MISSION_DEMO_DEMODEFINITIONS_H_
+
+#include <fsfw/datapoollocal/StaticLocalDataSet.h>
+#include <fsfw/datapoollocal/LocalPoolVariable.h>
+
+/**
+ * @brief 	This demo set showcases the local data pool functionality of the
+ * 			FSFW
+ * @details
+ * Each demo object will have an own instance of this set class, which contains
+ * pool variables (for read and write access respectively).
+ */
+class FsfwDemoSet: public StaticLocalDataSet<3> {
+public:
+
+	static constexpr uint32_t DEMO_SET_ID = 0;
+
+	enum PoolIds {
+		VARIABLE,
+		VARIABLE_LIMIT
+	};
+
+	FsfwDemoSet(HasLocalDataPoolIF* hkOwner):
+			StaticLocalDataSet(hkOwner, DEMO_SET_ID) {}
+
+	lp_var_t<uint32_t> variableRead = lp_var_t<uint32_t>(sid.objectId,
+			PoolIds::VARIABLE, this, pool_rwm_t::VAR_READ);
+	lp_var_t<uint32_t> variableWrite = lp_var_t<uint32_t>(sid.objectId,
+			PoolIds::VARIABLE, this, pool_rwm_t::VAR_WRITE);
+	lp_var_t<uint16_t> variableLimit = lp_var_t<uint16_t>(sid.objectId,
+			PoolIds::VARIABLE_LIMIT, this);
+private:
+
+};
+
+/**
+ * This set will enable object to read the dummy variables from the dataset
+ * above. An example application would be a consumer object like a controller
+ * which reads multiple sensor values at once.
+ */
+class CompleteDemoReadSet: public StaticLocalDataSet<3> {
+public:
+	static constexpr uint32_t DEMO_SET_ID = 0;
+
+	CompleteDemoReadSet(object_id_t owner, gp_id_t variable1,
+			gp_id_t variable2, gp_id_t variable3):
+			StaticLocalDataSet(sid_t(owner, DEMO_SET_ID)),
+			variable1(variable1, this, pool_rwm_t::VAR_READ),
+			variable2(variable2, this, pool_rwm_t::VAR_READ),
+			variable3(variable3, this, pool_rwm_t::VAR_READ) {}
+
+
+	lp_var_t<uint32_t> variable1;
+	lp_var_t<uint32_t> variable2;
+	lp_var_t<uint32_t> variable3;
+private:
+};
+
+
+
+
+#endif /* MISSION_DEMO_DEMODEFINITIONS_H_ */

example/utility/CMakeLists.txt

@@ -1,3 +1,4 @@
 target_sources(${TARGET_NAME} PRIVATE
-    TestAssembly.cpp
-)
+	utility.cpp
+    TmFunnel.cpp
+)

example/utility/PusPacketCreator.cpp

@@ -0,0 +1,10 @@
+#include <fsfw/tmtcpacket/pus/tc.h>
+#include <fsfw/tmtcpacket/pus/tm.h>
+#include <fsfw/globalfunctions/arrayprinter.h>
+#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <mission/utility/PusPacketCreator.h>
+
+void PusPacketCreator::createPusPacketAndPrint() {
+	// TODO: use TC packet stored here instead..
+
+}

example/utility/TmFunnel.cpp

@@ -1,9 +1,9 @@
+#include "TmFunnel.h"
+
 #include <fsfw/ipc/QueueFactory.h>
 #include <fsfw/objectmanager/ObjectManager.h>
-#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
+#include <fsfw/tmtcpacket/pus/tm.h>
 #include <fsfw/serviceinterface/ServiceInterface.h>
-#include <fsfw/tmtcpacket/pus/TmPacketPusC.h>
-#include <mission/utility/TmFunnel.h>
 
 object_id_t TmFunnel::downlinkDestination = objects::NO_OBJECT;
 object_id_t TmFunnel::storageDestination = objects::NO_OBJECT;

example/utility/utility.cpp

@@ -0,0 +1,22 @@
+#include "utility.h"
+#include <FSFWConfig.h>
+#include <OBSWVersion.h>
+
+#include <fsfw/serviceinterface/ServiceInterface.h>
+
+void utility::commonInitPrint(const char *const os, const char* const board) {
+    if(os == nullptr or board == nullptr) {
+        return;
+    }
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    std::cout << "-- FSFW Example (" << os<< ") v" << FSFW_EXAMPLE_VERSION << "." <<
+            FSFW_EXAMPLE_SUBVERSION << "." << FSFW_EXAMPLE_REVISION  << " --" << std::endl;
+    std::cout << "-- Compiled for " << board << " --" << std::endl;
+    std::cout << "-- Compiled on " << __DATE__ << " " << __TIME__ << " --" << std::endl;
+#else
+    printf("\n\r-- FSFW Example (%s) v%d.%d.%d --\n", os, FSFW_EXAMPLE_VERSION,
+            FSFW_EXAMPLE_SUBVERSION, FSFW_EXAMPLE_REVISION);
+    printf("-- Compiled for %s --\n", board);
+    printf("-- Compiled on %s %s --\n", __DATE__, __TIME__);
+#endif
+}

example/utility/utility.h

@@ -0,0 +1,11 @@
+#ifndef COMMON_UTILITY_UTILITY_H_
+#define COMMON_UTILITY_UTILITY_H_
+
+namespace utility {
+
+void commonInitPrint(const char *const os, const char* const board);
+
+}
+
+
+#endif /* COMMON_UTILITY_UTILITY_H_ */

mission/assemblies/TestAssembly.cpp

@@ -1,200 +0,0 @@
-#include <mission/assemblies/TestAssembly.h>
-#include <common/config/commonSystemObjects.h>
-
-#include <fsfw/objectmanager/ObjectManager.h>
-
-
-TestAssembly::TestAssembly(object_id_t objectId, object_id_t parentId):
-        AssemblyBase(objectId, parentId) {
-	ModeListEntry newModeListEntry;
-	newModeListEntry.setObject(objects::TEST_DEVICE_HANDLER_0);
-	newModeListEntry.setMode(MODE_OFF);
-	newModeListEntry.setSubmode(SUBMODE_NONE);
-
-	commandTable.insert(newModeListEntry);
-
-	newModeListEntry.setObject(objects::TEST_DEVICE_HANDLER_1);
-	newModeListEntry.setMode(MODE_OFF);
-	newModeListEntry.setSubmode(SUBMODE_NONE);
-
-	commandTable.insert(newModeListEntry);
-
-}
-
-TestAssembly::~TestAssembly() {
-}
-
-ReturnValue_t TestAssembly::commandChildren(Mode_t mode,
-		Submode_t submode) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::info << "TestAssembly: Received command to go to mode " << mode <<
-            " submode " << (int) submode << std::endl;
-#else
-    sif::printInfo("TestAssembly: Received command to go to mode %d submode %d\n", mode, submode);
-#endif
-	ReturnValue_t result = RETURN_OK;
-	if(mode == MODE_OFF){
-		commandTable[0].setMode(MODE_OFF);
-		commandTable[0].setSubmode(SUBMODE_NONE);
-		commandTable[1].setMode(MODE_OFF);
-		commandTable[1].setSubmode(SUBMODE_NONE);
-	}
-	else if(mode == DeviceHandlerIF::MODE_NORMAL) {
-		if(submode == submodes::SINGLE){
-			commandTable[0].setMode(MODE_OFF);
-			commandTable[0].setSubmode(SUBMODE_NONE);
-			commandTable[1].setMode(MODE_OFF);
-			commandTable[1].setSubmode(SUBMODE_NONE);
-			// We try to prefer 0 here but we try to switch to 1 even if it might fail
-			if(isDeviceAvailable(objects::TEST_DEVICE_HANDLER_0)) {
-				if (childrenMap[objects::TEST_DEVICE_HANDLER_0].mode == MODE_ON) {
-					commandTable[0].setMode(mode);
-					commandTable[0].setSubmode(SUBMODE_NONE);
-				}
-				else {
-					commandTable[0].setMode(MODE_ON);
-					commandTable[0].setSubmode(SUBMODE_NONE);
-				    result = NEED_SECOND_STEP;
-				}
-			}
-			else {
-				if (childrenMap[objects::TEST_DEVICE_HANDLER_1].mode == MODE_ON) {
-					commandTable[1].setMode(mode);
-					commandTable[1].setSubmode(SUBMODE_NONE);
-				}
-				else{
-					commandTable[1].setMode(MODE_ON);
-					commandTable[1].setSubmode(SUBMODE_NONE);
-				    result = NEED_SECOND_STEP;
-				}
-			}
-		}
-		else{
-			// Dual Mode Normal
-			if (childrenMap[objects::TEST_DEVICE_HANDLER_0].mode == MODE_ON) {
-				commandTable[0].setMode(mode);
-				commandTable[0].setSubmode(SUBMODE_NONE);
-			}
-			else{
-				commandTable[0].setMode(MODE_ON);
-				commandTable[0].setSubmode(SUBMODE_NONE);
-			    result = NEED_SECOND_STEP;
-			}
-			if (childrenMap[objects::TEST_DEVICE_HANDLER_1].mode == MODE_ON) {
-				commandTable[1].setMode(mode);
-				commandTable[1].setSubmode(SUBMODE_NONE);
-			}
-			else{
-				commandTable[1].setMode(MODE_ON);
-				commandTable[1].setSubmode(SUBMODE_NONE);
-			    result = NEED_SECOND_STEP;
-			}
-		}
-	}
-	else{
-		//Mode ON
-		if(submode == submodes::SINGLE){
-			commandTable[0].setMode(MODE_OFF);
-			commandTable[0].setSubmode(SUBMODE_NONE);
-			commandTable[1].setMode(MODE_OFF);
-			commandTable[1].setSubmode(SUBMODE_NONE);
-			// We try to prefer 0 here but we try to switch to 1 even if it might fail
-			if(isDeviceAvailable(objects::TEST_DEVICE_HANDLER_0)){
-				commandTable[0].setMode(MODE_ON);
-				commandTable[0].setSubmode(SUBMODE_NONE);
-			}
-			else{
-				commandTable[1].setMode(MODE_ON);
-				commandTable[1].setSubmode(SUBMODE_NONE);
-			}
-		}
-		else{
-			commandTable[0].setMode(MODE_ON);
-			commandTable[0].setSubmode(SUBMODE_NONE);
-			commandTable[1].setMode(MODE_ON);
-			commandTable[1].setSubmode(SUBMODE_NONE);
-		}
-	}
-
-
-
-	HybridIterator<ModeListEntry> iter(commandTable.begin(),
-			commandTable.end());
-	executeTable(iter);
-	return result;
-}
-
-ReturnValue_t TestAssembly::isModeCombinationValid(Mode_t mode,
-		Submode_t submode) {
-	switch (mode) {
-	case MODE_OFF:
-		if (submode == SUBMODE_NONE) {
-			return RETURN_OK;
-		} else {
-			return INVALID_SUBMODE;
-		}
-	case DeviceHandlerIF::MODE_NORMAL:
-	case MODE_ON:
-		if (submode < 3) {
-			return RETURN_OK;
-		} else {
-			return INVALID_SUBMODE;
-		}
-	}
-	return INVALID_MODE;
-}
-
-ReturnValue_t TestAssembly::initialize() {
-	ReturnValue_t result = AssemblyBase::initialize();
-	if(result != RETURN_OK){
-		return result;
-	}
-	handler0 = ObjectManager::instance()->get<TestDevice>(objects::TEST_DEVICE_HANDLER_0);
-	handler1 = ObjectManager::instance()->get<TestDevice>(objects::TEST_DEVICE_HANDLER_1);
-	if((handler0 == nullptr) or (handler1 == nullptr)){
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-
-	handler0->setParentQueue(this->getCommandQueue());
-	handler1->setParentQueue(this->getCommandQueue());
-
-
-	result = registerChild(objects::TEST_DEVICE_HANDLER_0);
-		if (result != HasReturnvaluesIF::RETURN_OK) {
-			return result;
-		}
-	result = registerChild(objects::TEST_DEVICE_HANDLER_1);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-	return result;
-}
-
-ReturnValue_t TestAssembly::checkChildrenStateOn(
-		Mode_t wantedMode, Submode_t wantedSubmode) {
-	if(submode == submodes::DUAL){
-		for(const auto& info:childrenMap) {
-			if(info.second.mode != wantedMode or info.second.mode != wantedSubmode){
-				return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
-			}
-		}
-		return RETURN_OK;
-	}
-	else if(submode == submodes::SINGLE) {
-		for(const auto& info:childrenMap) {
-			if(info.second.mode == wantedMode and info.second.mode != wantedSubmode){
-				return RETURN_OK;
-			}
-		}
-	}
-	return INVALID_SUBMODE;
-}
-
-bool TestAssembly::isDeviceAvailable(object_id_t object) {
-	if(healthHelper.healthTable->getHealth(object) == HasHealthIF::HEALTHY){
-		return true;
-	}
-	else{
-		return false;
-	}
-}

mission/assemblies/TestAssembly.h

@@ -1,53 +0,0 @@
-#ifndef MISSION_ASSEMBLIES_TESTASSEMBLY_H_
-#define MISSION_ASSEMBLIES_TESTASSEMBLY_H_
-
-#include <fsfw/devicehandlers/AssemblyBase.h>
-#include "../devices/TestDeviceHandler.h"
-
-class TestAssembly: public AssemblyBase {
-public:
-	TestAssembly(object_id_t objectId, object_id_t parentId);
-	virtual ~TestAssembly();
-	ReturnValue_t initialize() override;
-
-	enum submodes: Submode_t{
-		SINGLE = 0,
-		DUAL = 1
-	};
-
-protected:
-	/**
-	 * Command children to reach [mode,submode] combination
-	 * Can be done by setting #commandsOutstanding correctly,
-	 * or using executeTable()
-	 * @param mode
-	 * @param submode
-	 * @return
-	 *    - @c RETURN_OK if ok
-	 *    - @c NEED_SECOND_STEP if children need to be commanded again
-	 */
-	ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
-    /**
-     * Check whether desired assembly mode was achieved by checking the modes
-     * or/and health states of child device handlers.
-     * The assembly template class will also call this function if a health
-     * or mode change of a child device handler was detected.
-     * @param wantedMode
-     * @param wantedSubmode
-     * @return
-     */
-	ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode)
-			override;
-
-	ReturnValue_t checkChildrenStateOn(Mode_t wantedMode,
-			Submode_t wantedSubmode) override;
-private:
-	FixedArrayList<ModeListEntry, 2> commandTable;
-	TestDevice* handler0 = nullptr;
-	TestDevice* handler1 = nullptr;
-
-
-	bool isDeviceAvailable(object_id_t object);
-};
-
-#endif /* MISSION_ASSEMBLIES_TESTASSEMBLY_H_ */

mission/controller/CMakeLists.txt

@@ -1,3 +0,0 @@
-target_sources(${TARGET_NAME} PRIVATE
-    TestController.cpp
-)

mission/controller/TestController.cpp

@@ -1,214 +0,0 @@
-#include "TestController.h"
-#include "OBSWConfig.h"
-
-#include <fsfw/datapool/PoolReadGuard.h>
-#include <fsfw/objectmanager/ObjectManager.h>
-#include <fsfw/serviceinterface/ServiceInterface.h>
-
-TestController::TestController(object_id_t objectId, size_t commandQueueDepth):
-        ExtendedControllerBase(objectId, objects::NO_OBJECT, commandQueueDepth),
-        deviceDataset0(objects::TEST_DEVICE_HANDLER_0),
-        deviceDataset1(objects::TEST_DEVICE_HANDLER_1) {
-}
-
-TestController::~TestController() {
-}
-
-ReturnValue_t TestController::handleCommandMessage(CommandMessage *message) {
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-void TestController::performControlOperation() {
-    /* We will trace vaiables if we received an update notification or snapshots */
-#if OBSW_CONTROLLER_PRINTOUT == 1
-    if(not traceVariable) {
-        return;
-    }
-
-    switch(currentTraceType) {
-    case(NONE): {
-        break;
-    }
-    case(TRACE_DEV_0_UINT8): {
-        if(traceCounter == 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::info << "Tracing finished" << std::endl;
-#else
-            sif::printInfo("Tracing finished\n");
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-            traceVariable = false;
-            traceCounter = traceCycles;
-            currentTraceType = TraceTypes::NONE;
-            break;
-        }
-
-        PoolReadGuard readHelper(&deviceDataset0.testUint8Var);
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::info << "Tracing device 0 variable 0 (UINT8), current value: " <<
-                static_cast<int>(deviceDataset0.testUint8Var.value) << std::endl;
-#else
-        sif::printInfo("Tracing device 0 variable 0 (UINT8), current value: %d\n",
-                deviceDataset0.testUint8Var.value);
-#endif
-        traceCounter--;
-        break;
-    }
-    case(TRACE_DEV_0_VECTOR): {
-        break;
-    }
-
-    }
-#endif /* OBSW_CONTROLLER_PRINTOUT == 1 */
-}
-
-void TestController::handleChangedDataset(sid_t sid, store_address_t storeId, bool* clearMessage) {
-    using namespace std;
-
-#if OBSW_CONTROLLER_PRINTOUT == 1
-    char const* printout = nullptr;
-    if(storeId == storeId::INVALID_STORE_ADDRESS) {
-        printout = "Notification";
-    }
-    else {
-        printout = "Snapshot";
-    }
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::info << "TestController::handleChangedDataset: " << printout << " update from object "
-            "ID " << setw(8) << setfill('0') << hex << sid.objectId <<
-            " and set ID " << sid.ownerSetId << dec << setfill(' ') << endl;
-#else
-    sif::printInfo("TestController::handleChangedPoolVariable: %s update from object ID 0x%08x and "
-            "set ID %lu\n", printout, sid.objectId, sid.ownerSetId);
-#endif
-
-    if (storeId == storeId::INVALID_STORE_ADDRESS) {
-        if(sid.objectId == objects::TEST_DEVICE_HANDLER_0) {
-            PoolReadGuard readHelper(&deviceDataset0.testFloat3Vec);
-            float floatVec[3];
-            floatVec[0] = deviceDataset0.testFloat3Vec.value[0];
-            floatVec[1] = deviceDataset0.testFloat3Vec.value[1];
-            floatVec[2] = deviceDataset0.testFloat3Vec.value[2];
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::info << "Current float vector (3) values: ["  << floatVec[0] << ", " <<
-                    floatVec[1] << ", " << floatVec[2] << "]" << std::endl;
-#else
-            sif::printInfo("Current float vector (3) values: [%f, %f, %f]\n",
-                    floatVec[0], floatVec[1], floatVec[2]);
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-        }
-    }
-#endif /* OBSW_CONTROLLER_PRINTOUT == 1 */
-
-    /* We will trace the variables for snapshots and update notifications */
-    if(not traceVariable) {
-        traceVariable = true;
-        traceCounter = traceCycles;
-        currentTraceType = TraceTypes::TRACE_DEV_0_VECTOR;
-    }
-}
-
-void TestController::handleChangedPoolVariable(gp_id_t globPoolId, store_address_t storeId,
-        bool* clearMessage) {
-    using namespace std;
-
-#if OBSW_CONTROLLER_PRINTOUT == 1
-    char const* printout = nullptr;
-    if (storeId == storeId::INVALID_STORE_ADDRESS) {
-        printout = "Notification";
-    }
-    else {
-        printout = "Snapshot";
-    }
-
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::info << "TestController::handleChangedPoolVariable: " << printout << " update from object "
-            "ID 0x" << setw(8) << setfill('0') << hex << globPoolId.objectId <<
-            " and local pool ID " << globPoolId.localPoolId << dec << setfill(' ') << endl;
-#else
-    sif::printInfo("TestController::handleChangedPoolVariable: %s update from object ID 0x%08x and "
-            "local pool ID %lu\n", printout, globPoolId.objectId, globPoolId.localPoolId);
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-
-    if (storeId == storeId::INVALID_STORE_ADDRESS) {
-        if(globPoolId.objectId == objects::TEST_DEVICE_HANDLER_0) {
-            PoolReadGuard readHelper(&deviceDataset0.testUint8Var);
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::info << "Current test variable 0 (UINT8) value: " << static_cast<int>(
-                    deviceDataset0.testUint8Var.value) << std::endl;
-#else
-            sif::printInfo("Current test variable 0 (UINT8) value %d\n",
-                    deviceDataset0.testUint8Var.value);
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-        }
-    }
-#endif /* OBSW_CONTROLLER_PRINTOUT == 1 */
-
-    /* We will trace the variables for snapshots and update notifications */
-    if(not traceVariable) {
-        traceVariable = true;
-        traceCounter = traceCycles;
-        currentTraceType = TraceTypes::TRACE_DEV_0_UINT8;
-    }
-}
-
-LocalPoolDataSetBase* TestController::getDataSetHandle(sid_t sid) {
-    return nullptr;
-}
-
-ReturnValue_t TestController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
-        LocalDataPoolManager &poolManager) {
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t TestController::initializeAfterTaskCreation() {
-    namespace td = testdevice;
-    HasLocalDataPoolIF* device0 = ObjectManager::instance()->get<HasLocalDataPoolIF>(
-            objects::TEST_DEVICE_HANDLER_0);
-    if(device0 == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "TestController::initializeAfterTaskCreation: Test device handler 0 "
-                "handle invalid!" << std::endl;
-#else
-        sif::printWarning("TestController::initializeAfterTaskCreation: Test device handler 0 "
-                "handle invalid!");
-#endif
-        return ObjectManagerIF::CHILD_INIT_FAILED;
-    }
-    ProvidesDataPoolSubscriptionIF* subscriptionIF = device0->getSubscriptionInterface();
-    if(subscriptionIF != nullptr) {
-        /* For DEVICE_0, we only subscribe for notifications */
-        subscriptionIF->subscribeForSetUpdateMessage(td::TEST_SET_ID, getObjectId(),
-                getCommandQueue(), false);
-        subscriptionIF->subscribeForVariableUpdateMessage(td::PoolIds::TEST_UINT8_ID,
-                getObjectId(), getCommandQueue(), false);
-    }
-
-
-    HasLocalDataPoolIF* device1 = ObjectManager::instance()->get<HasLocalDataPoolIF>(
-            objects::TEST_DEVICE_HANDLER_1);
-    if(device1 == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "TestController::initializeAfterTaskCreation: Test device handler 1 "
-                "handle invalid!" << std::endl;
-#else
-        sif::printWarning("TestController::initializeAfterTaskCreation: Test device handler 1 "
-                "handle invalid!");
-#endif
-    }
-
-    subscriptionIF = device1->getSubscriptionInterface();
-    if(subscriptionIF != nullptr) {
-        /* For DEVICE_1, we will subscribe for snapshots */
-        subscriptionIF->subscribeForSetUpdateMessage(td::TEST_SET_ID, getObjectId(),
-                getCommandQueue(), true);
-        subscriptionIF->subscribeForVariableUpdateMessage(td::PoolIds::TEST_UINT8_ID,
-                getObjectId(), getCommandQueue(), true);
-    }
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t TestController::checkModeCommand(Mode_t mode, Submode_t submode,
-        uint32_t *msToReachTheMode) {
-    return HasReturnvaluesIF::RETURN_OK;
-}
-

mission/controller/TestController.h

@@ -1,50 +0,0 @@
-#ifndef MISSION_CONTROLLER_TESTCONTROLLER_H_
-#define MISSION_CONTROLLER_TESTCONTROLLER_H_
-
-#include "../devices/devicedefinitions/testDeviceDefinitions.h"
-#include <fsfw/controller/ExtendedControllerBase.h>
-
-
-class TestController:
-        public ExtendedControllerBase {
-public:
-    TestController(object_id_t objectId, size_t commandQueueDepth = 10);
-    virtual~ TestController();
-protected:
-    testdevice::TestDataSet deviceDataset0;
-    testdevice::TestDataSet deviceDataset1;
-
-    /* Extended Controller Base overrides */
-    ReturnValue_t handleCommandMessage(CommandMessage *message) override;
-    void performControlOperation() override;
-
-    /* HasLocalDatapoolIF callbacks */
-    void handleChangedDataset(sid_t sid, store_address_t storeId, bool* clearMessage) override;
-    void handleChangedPoolVariable(gp_id_t globPoolId, store_address_t storeId,
-            bool* clearMessage) override;
-
-    LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
-    ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
-                LocalDataPoolManager& poolManager) override;
-
-    ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-            uint32_t *msToReachTheMode) override;
-
-    ReturnValue_t initializeAfterTaskCreation() override;
-
-private:
-
-    bool traceVariable = false;
-    uint8_t traceCycles = 5;
-    uint8_t traceCounter = traceCycles;
-
-    enum TraceTypes {
-        NONE,
-        TRACE_DEV_0_UINT8,
-        TRACE_DEV_0_VECTOR
-    };
-    TraceTypes currentTraceType = TraceTypes::NONE;
-};
-
-
-#endif /* MISSION_CONTROLLER_TESTCONTROLLER_H_ */

mission/controller/ctrldefinitions/testCtrlDefinitions.h

@@ -1,18 +0,0 @@
-#ifndef MISSION_CONTROLLER_CTRLDEFINITIONS_TESTCTRLDEFINITIONS_H_
-#define MISSION_CONTROLLER_CTRLDEFINITIONS_TESTCTRLDEFINITIONS_H_
-
-#include <fsfw/objectmanager/SystemObjectIF.h>
-#include <OBSWConfig.h>
-
-namespace testcontroller {
-
-enum sourceObjectIds: object_id_t {
-    DEVICE_0_ID = objects::TEST_DEVICE_HANDLER_0,
-    DEVICE_1_ID = objects::TEST_DEVICE_HANDLER_1,
-};
-
-}
-
-
-
-#endif /* MISSION_CONTROLLER_CTRLDEFINITIONS_TESTCTRLDEFINITIONS_H_ */

mission/devices/CMakeLists.txt

@@ -1,6 +0,0 @@
-target_sources(${TARGET_NAME} 
-	PRIVATE
-		TestCookie.cpp
-		TestDeviceHandler.cpp
-		TestEchoComIF.cpp
-)

mission/devices/TestCookie.cpp

@@ -1,14 +0,0 @@
-#include "TestCookie.h"
-
-DummyCookie::DummyCookie(address_t address, size_t replyMaxLen):
-		address(address), replyMaxLen(replyMaxLen) {}
-
-DummyCookie::~DummyCookie() {}
-
-address_t DummyCookie::getAddress() const {
-	return address;
-}
-
-size_t DummyCookie::getReplyMaxLen() const {
-	return replyMaxLen;
-}

mission/devices/TestCookie.h

@@ -1,22 +0,0 @@
-#ifndef MISSION_DEVICES_TESTCOOKIE_H_
-#define MISSION_DEVICES_TESTCOOKIE_H_
-
-#include <fsfw/devicehandlers/CookieIF.h>
-#include <cstddef>
-
-/**
- * @brief	Really simple cookie which does not do a lot.
- */
-class DummyCookie: public CookieIF {
-public:
-	DummyCookie(address_t address, size_t maxReplyLen);
-	virtual ~DummyCookie();
-
-	address_t getAddress() const;
-	size_t getReplyMaxLen() const;
-private:
-	address_t address = 0;
-	size_t replyMaxLen = 0;
-};
-
-#endif /* MISSION_DEVICES_TESTCOOKIE_H_ */

mission/devices/TestDeviceHandler.cpp

@@ -1,804 +0,0 @@
-#include "TestDeviceHandler.h"
-#include <OBSWConfig.h>
-
-#include <fsfw/datapool/PoolReadGuard.h>
-
-#include <cstdlib>
-
-TestDevice::TestDevice(object_id_t objectId, object_id_t comIF,
-        CookieIF * cookie, testdevice::DeviceIndex deviceIdx, bool fullInfoPrintout,
-        bool changingDataset):
-        DeviceHandlerBase(objectId, comIF, cookie), deviceIdx(deviceIdx),
-        dataset(this), fullInfoPrintout(fullInfoPrintout) {
-}
-
-TestDevice::~TestDevice() {}
-
-void TestDevice::performOperationHook() {
-    if(periodicPrintout) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::info << "TestDevice" << deviceIdx << "::performOperationHook: Alive!" << std::endl;
-#else
-        sif::printInfo("TestDevice%d::performOperationHook: Alive!", deviceIdx);
-#endif
-    }
-
-    if(oneShot) {
-        oneShot = false;
-    }
-}
-
-
-void TestDevice::doStartUp() {
-    if(fullInfoPrintout) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::info << "TestDevice" << deviceIdx << "::doStartUp: Switching On" << std::endl;
-#else
-        sif::printInfo("TestDevice%d::doStartUp: Switching On\n", static_cast<int>(deviceIdx));
-#endif
-    }
-
-    setMode(_MODE_TO_ON);
-    return;
-}
-
-
-void TestDevice::doShutDown() {
-    if(fullInfoPrintout) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::info << "TestDevice" << deviceIdx << "::doShutDown: Switching Off" << std::endl;
-#else
-        sif::printInfo("TestDevice%d::doShutDown: Switching Off\n", static_cast<int>(deviceIdx));
-#endif
-    }
-
-    setMode(_MODE_SHUT_DOWN);
-    return;
-}
-
-
-ReturnValue_t TestDevice::buildNormalDeviceCommand(DeviceCommandId_t* id) {
-    using namespace testdevice;
-    *id = TEST_NORMAL_MODE_CMD;
-    if(DeviceHandlerBase::isAwaitingReply()) {
-        return NOTHING_TO_SEND;
-    }
-    return buildCommandFromCommand(*id, nullptr, 0);
-}
-
-ReturnValue_t TestDevice::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
-    if(mode == _MODE_TO_ON) {
-        if(fullInfoPrintout) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::info << "TestDevice" << deviceIdx << "::buildTransitionDeviceCommand: Was called"
-                    " from _MODE_TO_ON mode" << std::endl;
-#else
-            sif::printInfo("TestDevice%d::buildTransitionDeviceCommand: "
-                    "Was called from _MODE_TO_ON mode\n", deviceIdx);
-#endif
-        }
-
-    }
-    if(mode == _MODE_TO_NORMAL) {
-        if(fullInfoPrintout) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::info << "TestDevice" << deviceIdx << "::buildTransitionDeviceCommand: Was called "
-                    "from _MODE_TO_NORMAL mode" << std::endl;
-#else
-            sif::printInfo("TestDevice%d::buildTransitionDeviceCommand: Was called from "
-                    " _MODE_TO_NORMAL mode\n", deviceIdx);
-#endif
-        }
-
-        setMode(MODE_NORMAL);
-    }
-    if(mode == _MODE_SHUT_DOWN) {
-        if(fullInfoPrintout) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::info << "TestDevice" << deviceIdx << "::buildTransitionDeviceCommand: Was called "
-                    "from _MODE_SHUT_DOWN mode" << std::endl;
-#else
-            sif::printInfo("TestDevice%d::buildTransitionDeviceCommand: Was called from "
-                    "_MODE_SHUT_DOWN mode\n", deviceIdx);
-#endif
-        }
-
-        setMode(MODE_OFF);
-    }
-    return NOTHING_TO_SEND;
-}
-
-void TestDevice::doTransition(Mode_t modeFrom, Submode_t submodeFrom) {
-    if(mode == _MODE_TO_NORMAL) {
-        if(fullInfoPrintout) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::info << "TestDevice" << deviceIdx << "::doTransition: Custom transition to "
-                    "normal mode" << std::endl;
-#else
-            sif::printInfo("TestDevice%d::doTransition: Custom transition to normal mode\n",
-                    deviceIdx);
-#endif
-        }
-
-    }
-    else {
-        DeviceHandlerBase::doTransition(modeFrom, submodeFrom);
-    }
-}
-
-ReturnValue_t TestDevice::buildCommandFromCommand(
-        DeviceCommandId_t deviceCommand, const uint8_t* commandData,
-        size_t commandDataLen) {
-    using namespace testdevice;
-    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-    switch(deviceCommand) {
-    case(TEST_NORMAL_MODE_CMD): {
-        commandSent =  true;
-        result = buildNormalModeCommand(deviceCommand, commandData, commandDataLen);
-        break;
-    }
-
-    case(TEST_COMMAND_0): {
-        commandSent =  true;
-        result = buildTestCommand0(deviceCommand, commandData, commandDataLen);
-        break;
-    }
-
-    case(TEST_COMMAND_1): {
-        commandSent =  true;
-        result = buildTestCommand1(deviceCommand, commandData, commandDataLen);
-        break;
-    }
-    case(TEST_NOTIF_SNAPSHOT_VAR): {
-        if(changingDatasets) {
-            changingDatasets = false;
-        }
-
-        PoolReadGuard readHelper(&dataset.testUint8Var);
-        if(deviceIdx == testdevice::DeviceIndex::DEVICE_0) {
-            /* This will trigger a variable notification to the demo controller */
-            dataset.testUint8Var = 220;
-            dataset.testUint8Var.setValid(true);
-        }
-        else if(deviceIdx == testdevice::DeviceIndex::DEVICE_1) {
-            /* This will trigger a variable snapshot to the demo controller */
-            dataset.testUint8Var = 30;
-            dataset.testUint8Var.setValid(true);
-        }
-
-        break;
-    }
-    case(TEST_NOTIF_SNAPSHOT_SET): {
-        if(changingDatasets) {
-            changingDatasets = false;
-        }
-
-        PoolReadGuard readHelper(&dataset.testFloat3Vec);
-
-        if(deviceIdx == testdevice::DeviceIndex::DEVICE_0) {
-            /* This will trigger a variable notification to the demo controller */
-            dataset.testFloat3Vec.value[0] = 60;
-            dataset.testFloat3Vec.value[1] = 70;
-            dataset.testFloat3Vec.value[2] = 55;
-            dataset.testFloat3Vec.setValid(true);
-        }
-        else if(deviceIdx == testdevice::DeviceIndex::DEVICE_1) {
-            /* This will trigger a variable notification to the demo controller */
-            dataset.testFloat3Vec.value[0] = -60;
-            dataset.testFloat3Vec.value[1] = -70;
-            dataset.testFloat3Vec.value[2] = -55;
-            dataset.testFloat3Vec.setValid(true);
-        }
-        break;
-    }
-    default:
-        result = DeviceHandlerIF::COMMAND_NOT_SUPPORTED;
-    }
-    return result;
-}
-
-
-ReturnValue_t TestDevice::buildNormalModeCommand(DeviceCommandId_t deviceCommand,
-        const uint8_t* commandData, size_t commandDataLen) {
-    if(fullInfoPrintout) {
-#if OBSW_VERBOSE_LEVEL >= 3
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::info << "TestDevice::buildTestCommand1: Building normal command" << std::endl;
-#else
-        sif::printInfo("TestDevice::buildTestCommand1: Building command from TEST_COMMAND_1\n");
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif /* OBSW_VERBOSE_LEVEL >= 3 */
-    }
-
-    if(commandDataLen > MAX_BUFFER_SIZE - sizeof(DeviceCommandId_t)) {
-        return DeviceHandlerIF::INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
-    }
-    /* The command is passed on in the command buffer as it is */
-    passOnCommand(deviceCommand, commandData, commandDataLen);
-    return RETURN_OK;
-}
-
-ReturnValue_t TestDevice::buildTestCommand0(DeviceCommandId_t deviceCommand,
-        const uint8_t* commandData, size_t commandDataLen) {
-    using namespace testdevice;
-    if(fullInfoPrintout) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::info << "TestDevice" << deviceIdx << "::buildTestCommand0: Executing simple command "
-                " with completion reply" << std::endl;
-#else
-        sif::printInfo("TestDevice%d::buildTestCommand0: Executing simple command with "
-                "completion reply\n", deviceIdx);
-#endif
-    }
-
-    if(commandDataLen > MAX_BUFFER_SIZE - sizeof(DeviceCommandId_t)) {
-        return DeviceHandlerIF::INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
-    }
-
-    /* The command is passed on in the command buffer as it is */
-    passOnCommand(deviceCommand, commandData, commandDataLen);
-    return RETURN_OK;
-}
-
-ReturnValue_t TestDevice::buildTestCommand1(DeviceCommandId_t deviceCommand,
-        const uint8_t* commandData,
-        size_t commandDataLen) {
-    using namespace testdevice;
-    if(commandDataLen < 7) {
-        return DeviceHandlerIF::INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
-    }
-    if(fullInfoPrintout) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::info << "TestDevice" << deviceIdx << "::buildTestCommand1: Executing command with "
-                "data reply"  << std::endl;
-#else
-        sif::printInfo("TestDevice%d:buildTestCommand1: Executing command with data reply\n",
-                deviceIdx);
-#endif
-    }
-
-    deviceCommand = EndianConverter::convertBigEndian(deviceCommand);
-    memcpy(commandBuffer, &deviceCommand, sizeof(deviceCommand));
-
-    /* Assign and check parameters */
-    uint16_t parameter1 = 0;
-    size_t size = commandDataLen;
-    ReturnValue_t result = SerializeAdapter::deSerialize(&parameter1,
-            &commandData, &size, SerializeIF::Endianness::BIG);
-    if(result == HasReturnvaluesIF::RETURN_FAILED) {
-        return result;
-    }
-
-    /* Parameter 1 needs to be correct */
-    if(parameter1 != testdevice::COMMAND_1_PARAM1) {
-        return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
-    }
-    uint64_t parameter2 = 0;
-    result = SerializeAdapter::deSerialize(&parameter2,
-            &commandData, &size, SerializeIF::Endianness::BIG);
-    if(parameter2!= testdevice::COMMAND_1_PARAM2){
-        return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
-    }
-
-    /* Pass on the parameters to the Echo IF */
-    commandBuffer[4] = (parameter1 & 0xFF00) >> 8;
-    commandBuffer[5] = (parameter1 & 0xFF);
-    parameter2 = EndianConverter::convertBigEndian(parameter2);
-    memcpy(commandBuffer + 6, &parameter2, sizeof(parameter2));
-    rawPacket = commandBuffer;
-    rawPacketLen = sizeof(deviceCommand) + sizeof(parameter1) +
-            sizeof(parameter2);
-    return RETURN_OK;
-}
-
-void TestDevice::passOnCommand(DeviceCommandId_t command, const uint8_t *commandData,
-        size_t commandDataLen) {
-    DeviceCommandId_t deviceCommandBe = EndianConverter::convertBigEndian(command);
-    memcpy(commandBuffer, &deviceCommandBe, sizeof(deviceCommandBe));
-    memcpy(commandBuffer + 4, commandData, commandDataLen);
-    rawPacket = commandBuffer;
-    rawPacketLen = sizeof(deviceCommandBe) + commandDataLen;
-}
-
-void TestDevice::fillCommandAndReplyMap() {
-    namespace td = testdevice;
-    insertInCommandAndReplyMap(testdevice::TEST_NORMAL_MODE_CMD, 5, &dataset);
-    insertInCommandAndReplyMap(testdevice::TEST_COMMAND_0, 5);
-    insertInCommandAndReplyMap(testdevice::TEST_COMMAND_1, 5);
-
-    /* No reply expected for these commands */
-    insertInCommandMap(td::TEST_NOTIF_SNAPSHOT_SET);
-    insertInCommandMap(td::TEST_NOTIF_SNAPSHOT_VAR);
-}
-
-
-ReturnValue_t TestDevice::scanForReply(const uint8_t *start, size_t len,
-        DeviceCommandId_t *foundId, size_t *foundLen) {
-    using namespace testdevice;
-
-    /* Unless a command was sent explicitely, we don't expect any replies and ignore this
-    the packet. On a real device, there might be replies which are sent without a previous
-    command. */
-    if(not commandSent) {
-        return DeviceHandlerBase::IGNORE_FULL_PACKET;
-    }
-    else {
-        commandSent = false;
-    }
-
-    if(len < sizeof(object_id_t)) {
-        return DeviceHandlerIF::LENGTH_MISSMATCH;
-    }
-
-    size_t size = len;
-    ReturnValue_t result = SerializeAdapter::deSerialize(foundId, &start, &size,
-            SerializeIF::Endianness::BIG);
-    if (result != RETURN_OK) {
-        return result;
-    }
-
-    DeviceCommandId_t pendingCmd = this->getPendingCommand();
-
-    switch(pendingCmd) {
-
-    case(TEST_NORMAL_MODE_CMD): {
-        if(fullInfoPrintout) {
-#if OBSW_VERBOSE_LEVEL >= 3
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::info << "TestDevice::scanForReply: Reply for normal commnand (ID " <<
-                    TEST_NORMAL_MODE_CMD << ") received!" << std::endl;
-#else
-            sif::printInfo("TestDevice%d::scanForReply: Reply for normal command (ID %d) "
-                    "received!\n", deviceIdx, TEST_NORMAL_MODE_CMD);
-#endif
-#endif
-        }
-
-        *foundLen = len;
-        *foundId = pendingCmd;
-        return RETURN_OK;
-    }
-
-    case(TEST_COMMAND_0): {
-        if(len < TEST_COMMAND_0_SIZE) {
-            return DeviceHandlerIF::LENGTH_MISSMATCH;
-        }
-        if(fullInfoPrintout) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::info << "TestDevice" << deviceIdx << "::scanForReply: Reply for simple command "
-                    "(ID " << TEST_COMMAND_0 << ") received!" << std::endl;
-#else
-            sif::printInfo("TestDevice%d::scanForReply: Reply for simple command (ID %d) "
-                    "received!\n", deviceIdx, TEST_COMMAND_0);
-#endif
-        }
-
-        *foundLen = TEST_COMMAND_0_SIZE;
-        *foundId = pendingCmd;
-        return RETURN_OK;
-    }
-
-    case(TEST_COMMAND_1): {
-        if(fullInfoPrintout) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::info << "TestDevice" << deviceIdx << "::scanForReply: Reply for data command "
-                    "(ID " << TEST_COMMAND_1 << ") received!" << std::endl;
-#else
-            sif::printInfo("TestDevice%d::scanForReply: Reply for data command (ID %d) "
-                    "received\n", deviceIdx, TEST_COMMAND_1);
-#endif
-        }
-
-        *foundLen = len;
-        *foundId = pendingCmd;
-        return RETURN_OK;
-    }
-
-    default:
-        return DeviceHandlerIF::DEVICE_REPLY_INVALID;
-    }
-}
-
-
-ReturnValue_t TestDevice::interpretDeviceReply(DeviceCommandId_t id,
-        const uint8_t* packet) {
-    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-    switch(id) {
-    /* Periodic replies */
-    case testdevice::TEST_NORMAL_MODE_CMD: {
-        result = interpretingNormalModeReply();
-        break;
-    }
-    /* Simple reply */
-    case testdevice::TEST_COMMAND_0: {
-        result = interpretingTestReply0(id, packet);
-        break;
-    }
-    /* Data reply */
-    case testdevice::TEST_COMMAND_1: {
-        result = interpretingTestReply1(id, packet);
-        break;
-    }
-    default:
-        return DeviceHandlerIF::DEVICE_REPLY_INVALID;
-    }
-    return result;
-}
-
-ReturnValue_t TestDevice::interpretingNormalModeReply() {
-    CommandMessage directReplyMessage;
-    if(changingDatasets) {
-        PoolReadGuard readHelper(&dataset);
-        if(dataset.testUint8Var.value == 0) {
-            dataset.testUint8Var.value = 10;
-            dataset.testUint32Var.value = 777;
-            dataset.testFloat3Vec.value[0] = 2.5;
-            dataset.testFloat3Vec.value[1] = -2.5;
-            dataset.testFloat3Vec.value[2] = 2.5;
-            dataset.setValidity(true, true);
-        }
-        else {
-            dataset.testUint8Var.value = 0;
-            dataset.testUint32Var.value = 0;
-            dataset.testFloat3Vec.value[0] = 0.0;
-            dataset.testFloat3Vec.value[1] = 0.0;
-            dataset.testFloat3Vec.value[2] = 0.0;
-            dataset.setValidity(false, true);
-        }
-        return RETURN_OK;
-    }
-
-    PoolReadGuard readHelper(&dataset);
-    if(dataset.testUint8Var.value == 0) {
-        /* Reset state */
-        dataset.testUint8Var.value = 128;
-    }
-    else if(dataset.testUint8Var.value > 200) {
-        if(not resetAfterChange) {
-            /* This will trigger an update notification to the controller */
-            dataset.testUint8Var.setChanged(true);
-            resetAfterChange = true;
-            /* Decrement by 30 automatically. This will prevent any additional notifications. */
-            dataset.testUint8Var.value -= 30;
-        }
-    }
-    /* If the value is greater than 0, it will be decremented in a linear way */
-    else if(dataset.testUint8Var.value > 128) {
-        size_t sizeToDecrement = 0;
-        if(dataset.testUint8Var.value > 128 + 30) {
-            sizeToDecrement = 30;
-        }
-        else {
-            sizeToDecrement = dataset.testUint8Var.value - 128;
-            resetAfterChange = false;
-        }
-        dataset.testUint8Var.value -= sizeToDecrement;
-    }
-    else if(dataset.testUint8Var.value < 50) {
-        if(not resetAfterChange) {
-            /* This will trigger an update snapshot to the controller */
-            dataset.testUint8Var.setChanged(true);
-            resetAfterChange = true;
-        }
-        else {
-            /* Increment by 30 automatically. */
-            dataset.testUint8Var.value += 30;
-        }
-    }
-    /* Increment in linear way */
-    else if(dataset.testUint8Var.value < 128) {
-        size_t sizeToIncrement = 0;
-        if(dataset.testUint8Var.value < 128 - 20) {
-            sizeToIncrement = 20;
-        }
-        else {
-            sizeToIncrement = 128 - dataset.testUint8Var.value;
-            resetAfterChange = false;
-        }
-        dataset.testUint8Var.value += sizeToIncrement;
-    }
-
-    /* TODO: Same for vector */
-    float vectorMean = (dataset.testFloat3Vec.value[0] + dataset.testFloat3Vec.value[1] +
-            dataset.testFloat3Vec.value[2]) / 3.0;
-
-    /* Lambda (private local function) */
-    auto sizeToAdd = [](bool tooHigh, float currentVal) {
-        if(tooHigh) {
-            if(currentVal - 20.0 > 10.0) {
-                return -10.0;
-            }
-            else {
-                return 20.0 - currentVal;
-            }
-        }
-        else {
-            if(std::abs(currentVal + 20.0) > 10.0) {
-                return 10.0;
-            }
-            else {
-                return -20.0 - currentVal;
-            }
-        }
-    };
-
-    if(vectorMean > 20.0 and std::abs(vectorMean - 20.0) > 1.0) {
-        if(not resetAfterChange) {
-            dataset.testFloat3Vec.setChanged(true);
-            resetAfterChange = true;
-        }
-        else {
-            float sizeToDecrementVal0 = 0;
-            float sizeToDecrementVal1 = 0;
-            float sizeToDecrementVal2 = 0;
-
-            sizeToDecrementVal0 = sizeToAdd(true, dataset.testFloat3Vec.value[0]);
-            sizeToDecrementVal1 = sizeToAdd(true, dataset.testFloat3Vec.value[1]);
-            sizeToDecrementVal2 = sizeToAdd(true, dataset.testFloat3Vec.value[2]);
-
-            dataset.testFloat3Vec.value[0] += sizeToDecrementVal0;
-            dataset.testFloat3Vec.value[1] += sizeToDecrementVal1;
-            dataset.testFloat3Vec.value[2] += sizeToDecrementVal2;
-        }
-    }
-    else if (vectorMean < -20.0 and std::abs(vectorMean + 20.0) < 1.0) {
-        if(not resetAfterChange) {
-            dataset.testFloat3Vec.setChanged(true);
-            resetAfterChange = true;
-        }
-        else {
-            float sizeToDecrementVal0 = 0;
-            float sizeToDecrementVal1 = 0;
-            float sizeToDecrementVal2 = 0;
-
-            sizeToDecrementVal0 = sizeToAdd(false, dataset.testFloat3Vec.value[0]);
-            sizeToDecrementVal1 = sizeToAdd(false, dataset.testFloat3Vec.value[1]);
-            sizeToDecrementVal2 = sizeToAdd(false, dataset.testFloat3Vec.value[2]);
-
-            dataset.testFloat3Vec.value[0] += sizeToDecrementVal0;
-            dataset.testFloat3Vec.value[1] += sizeToDecrementVal1;
-            dataset.testFloat3Vec.value[2] += sizeToDecrementVal2;
-        }
-    }
-    else {
-        if(resetAfterChange) {
-            resetAfterChange = false;
-        }
-    }
-
-    return RETURN_OK;
-}
-
-ReturnValue_t TestDevice::interpretingTestReply0(DeviceCommandId_t id, const uint8_t* packet) {
-    CommandMessage commandMessage;
-    if(fullInfoPrintout) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::info << "TestDevice::interpretingTestReply0: Generating step and finish reply" <<
-                std::endl;
-#else
-        sif::printInfo("TestDevice::interpretingTestReply0: Generating step and finish reply\n");
-#endif
-    }
-
-    MessageQueueId_t commander = getCommanderId(id);
-    /* Generate one step reply and the finish reply */
-    actionHelper.step(1, commander, id);
-    actionHelper.finish(true, commander, id);
-
-    return RETURN_OK;
-}
-
-ReturnValue_t TestDevice::interpretingTestReply1(DeviceCommandId_t id,
-        const uint8_t* packet) {
-    CommandMessage directReplyMessage;
-    if(fullInfoPrintout) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::info << "TestDevice" << deviceIdx << "::interpretingReply1: Setting data reply" <<
-                std::endl;
-#else
-        sif::printInfo("TestDevice%d::interpretingReply1: Setting data reply\n", deviceIdx);
-#endif
-    }
-
-    MessageQueueId_t commander = getCommanderId(id);
-    /* Send reply with data */
-    ReturnValue_t result = actionHelper.reportData(commander, id, packet,
-            testdevice::TEST_COMMAND_1_SIZE, false);
-
-    if (result != RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "TestDevice" << deviceIdx << "::interpretingReply1: Sending data "
-                "reply failed!" << std::endl;
-#else
-        sif::printError("TestDevice%d::interpretingReply1: Sending data reply failed!\n",
-                deviceIdx);
-#endif
-        return result;
-    }
-
-    if(result == HasReturnvaluesIF::RETURN_OK) {
-        /* Finish reply */
-        actionHelper.finish(true, commander, id);
-    }
-    else {
-        /* Finish reply */
-        actionHelper.finish(false, commander, id, result);
-    }
-
-    return RETURN_OK;
-}
-
-uint32_t TestDevice::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
-    return 5000;
-}
-
-void TestDevice::enableFullDebugOutput(bool enable) {
-    this->fullInfoPrintout = enable;
-}
-
-ReturnValue_t TestDevice::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
-        LocalDataPoolManager &poolManager) {
-    namespace td = testdevice;
-    localDataPoolMap.emplace(td::PoolIds::TEST_UINT8_ID, new PoolEntry<uint8_t>({0}));
-    localDataPoolMap.emplace(td::PoolIds::TEST_UINT32_ID, new PoolEntry<uint32_t>({0}));
-    localDataPoolMap.emplace(td::PoolIds::TEST_FLOAT_VEC_3_ID,
-            new PoolEntry<float>({0.0, 0.0, 0.0}));
-
-    sid_t sid;
-    if(deviceIdx == td::DeviceIndex::DEVICE_0) {
-        sid = td::TEST_SET_DEV_0_SID;
-    }
-    else {
-        sid = td::TEST_SET_DEV_1_SID;
-    }
-    /* Subscribe for periodic HK packets but do not enable reporting for now.
-    Non-diangostic with a period of one second */
-    poolManager.subscribeForPeriodicPacket(sid, false, 1.0, false);
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-
-ReturnValue_t TestDevice::getParameter(uint8_t domainId, uint8_t uniqueId,
-        ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
-        uint16_t startAtIndex) {
-    using namespace testdevice;
-    switch (uniqueId) {
-    case ParameterUniqueIds::TEST_UINT32_0: {
-        if(fullInfoPrintout) {
-            uint32_t newValue = 0;
-            ReturnValue_t result = newValues->getElement<uint32_t>(&newValue, 0, 0);
-            if(result == HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-                sif::info << "TestDevice" << deviceIdx << "::getParameter: Setting parameter 0 to "
-                        "new value " << newValue << std::endl;
-#else
-                sif::printInfo("TestDevice%d::getParameter: Setting parameter 0 to new value %lu\n",
-                        deviceIdx, static_cast<unsigned long>(newValue));
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-            }
-        }
-        parameterWrapper->set(testParameter0);
-        break;
-    }
-    case ParameterUniqueIds::TEST_INT32_1: {
-        if(fullInfoPrintout) {
-            int32_t newValue = 0;
-            ReturnValue_t result = newValues->getElement<int32_t>(&newValue, 0, 0);
-            if(result == HasReturnvaluesIF::RETURN_OK) {
-#if OBSW_DEVICE_HANDLER_PRINTOUT == 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-                sif::info << "TestDevice" << deviceIdx << "::getParameter: Setting parameter 1 to "
-                        "new value " << newValue << std::endl;
-#else
-                sif::printInfo("TestDevice%d::getParameter: Setting parameter 1 to new value %lu\n",
-                        deviceIdx, static_cast<unsigned long>(newValue));
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif /* OBSW_DEVICE_HANDLER_PRINTOUT == 1 */
-            }
-        }
-        parameterWrapper->set(testParameter1);
-        break;
-    }
-    case ParameterUniqueIds::TEST_FLOAT_VEC3_2: {
-        if(fullInfoPrintout) {
-            float newVector[3];
-            if(newValues->getElement<float>(newVector, 0, 0) != RETURN_OK or
-                    newValues->getElement<float>(newVector + 1, 0, 1) != RETURN_OK or
-                    newValues->getElement<float>(newVector + 2, 0, 2) != RETURN_OK) {
-                return HasReturnvaluesIF::RETURN_FAILED;
-            }
-#if OBSW_DEVICE_HANDLER_PRINTOUT == 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::info << "TestDevice" << deviceIdx << "::getParameter: Setting parameter 3 to "
-                    "(float vector with 3 entries) to new values [" << newVector[0] << ", " <<
-                    newVector[1] << ", " << newVector[2] << "]" << std::endl;
-#else
-            sif::printInfo("TestDevice%d::getParameter: Setting parameter 3 to new values "
-                    "[%f, %f, %f]\n", deviceIdx, newVector[0], newVector[1], newVector[2]);
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif /* OBSW_DEVICE_HANDLER_PRINTOUT == 1 */
-        }
-        parameterWrapper->setVector(vectorFloatParams2);
-        break;
-    }
-    case(ParameterUniqueIds::PERIODIC_PRINT_ENABLED): {
-        if(fullInfoPrintout) {
-            uint8_t enabled = 0;
-            ReturnValue_t result = newValues->getElement<uint8_t>(&enabled, 0, 0);
-            if(result != HasReturnvaluesIF::RETURN_OK) {
-                return result;
-            }
-            char const* printout = nullptr;
-            if (enabled) {
-                printout = "enabled";
-            }
-            else {
-                printout = "disabled";
-            }
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::info << "TestDevice" << deviceIdx << "::getParameter: Periodic printout " <<
-                    printout << std::endl;
-#else
-            sif::printInfo("TestDevice%d::getParameter: Periodic printout %s", printout);
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-        }
-
-        parameterWrapper->set(periodicPrintout);
-        break;
-    }
-    case(ParameterUniqueIds::CHANGING_DATASETS): {
-
-        uint8_t enabled = 0;
-        ReturnValue_t result = newValues->getElement<uint8_t>(&enabled, 0, 0);
-        if(result != HasReturnvaluesIF::RETURN_OK) {
-            return result;
-        }
-        if(not enabled) {
-            PoolReadGuard readHelper(&dataset);
-            dataset.testUint8Var.value = 0;
-            dataset.testUint32Var.value = 0;
-            dataset.testFloat3Vec.value[0] = 0.0;
-            dataset.testFloat3Vec.value[0] = 0.0;
-            dataset.testFloat3Vec.value[1] = 0.0;
-        }
-
-        if(fullInfoPrintout) {
-            char const* printout = nullptr;
-            if (enabled) {
-                printout = "enabled";
-            }
-            else {
-                printout = "disabled";
-            }
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::info << "TestDevice" << deviceIdx << "::getParameter: Changing datasets " <<
-                    printout << std::endl;
-#else
-            sif::printInfo("TestDevice%d::getParameter: Changing datasets %s", printout);
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-        }
-
-        parameterWrapper->set(changingDatasets);
-        break;
-    }
-    default:
-        return INVALID_IDENTIFIER_ID;
-    }
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-LocalPoolObjectBase* TestDevice::getPoolObjectHandle(lp_id_t localPoolId) {
-    namespace td = testdevice;
-    if (localPoolId == td::PoolIds::TEST_UINT8_ID) {
-        return &dataset.testUint8Var;
-    }
-    else if (localPoolId == td::PoolIds::TEST_UINT32_ID) {
-        return &dataset.testUint32Var;
-    }
-    else if(localPoolId == td::PoolIds::TEST_FLOAT_VEC_3_ID) {
-        return &dataset.testFloat3Vec;
-    }
-    else {
-        return nullptr;
-    }
-}

mission/devices/TestDeviceHandler.h

@@ -1,142 +0,0 @@
-#ifndef TEST_TESTDEVICES_TESTDEVICEHANDLER_H_
-#define TEST_TESTDEVICES_TESTDEVICEHANDLER_H_
-
-#include "devicedefinitions/testDeviceDefinitions.h"
-
-#include <fsfw/devicehandlers/DeviceHandlerBase.h>
-#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
-#include <fsfw/timemanager/Countdown.h>
-
-/**
- * @brief 	Basic dummy device handler to test device commanding without a physical device.
- * @details
- * This test device handler provided a basic demo for the device handler object.
- * It can also be commanded with the following PUS services, using
- * the specified object ID of the test device handler.
- *
- * 	1. PUS Service 8 - Functional commanding
- * 	2. PUS Service 2 - Device access, raw commanding
- * 	3. PUS Service 20 - Parameter Management
- * 	4. PUS Service 3 - Housekeeping
-
- * @author	R. Mueller
- * @ingroup devices
- */
-class TestDevice: public DeviceHandlerBase {
-public:
-	/**
-	 * Build the test device in the factory.
-	 * @param objectId This ID will be assigned to the test device handler.
-	 * @param comIF The ID of the Communication IF used by test device handler.
-	 * @param cookie Cookie object used by the test device handler. This is
-	 * also used and passed to the comIF object.
-	 * @param onImmediately This will start a transition to MODE_ON immediately
-	 * so the device handler jumps into #doStartUp. Should only be used
-	 * in development to reduce need of commanding while debugging.
-	 * @param changingDataset
-	 * Will be used later to change the local datasets containeds in the device.
-	 */
-	TestDevice(object_id_t objectId, object_id_t comIF, CookieIF * cookie,
-	        testdevice::DeviceIndex deviceIdx = testdevice::DeviceIndex::DEVICE_0,
-	        bool fullInfoPrintout = false, bool changingDataset = true);
-
-	/**
-	 * This can be used to enable and disable a lot of demo print output.
-	 * @param enable
-	 */
-	void enableFullDebugOutput(bool enable);
-
-	virtual ~ TestDevice();
-
-	//! Size of internal buffer used for communication.
-    static constexpr uint8_t MAX_BUFFER_SIZE = 255;
-
-    //! Unique index if the device handler is created multiple times.
-    testdevice::DeviceIndex deviceIdx = testdevice::DeviceIndex::DEVICE_0;
-
-protected:
-    testdevice::TestDataSet dataset;
-    //! This is used to reset the dataset after a commanded change has been made.
-    bool resetAfterChange = false;
-    bool commandSent = false;
-
-	/** DeviceHandlerBase overrides (see DHB documentation) */
-
-	/**
-	 * Hook into the DHB #performOperation call which is executed
-	 * periodically.
-	 */
-	void performOperationHook() override;
-
-	virtual void doStartUp() override;
-	virtual void doShutDown() override;
-
-	virtual ReturnValue_t buildNormalDeviceCommand(
-			DeviceCommandId_t * id) override;
-	virtual ReturnValue_t buildTransitionDeviceCommand(
-			DeviceCommandId_t * id) override;
-	virtual ReturnValue_t buildCommandFromCommand(DeviceCommandId_t
-			deviceCommand, const uint8_t * commandData,
-			size_t commandDataLen) override;
-
-	virtual void fillCommandAndReplyMap() override;
-
-	virtual ReturnValue_t scanForReply(const uint8_t *start, size_t len,
-			DeviceCommandId_t *foundId, size_t *foundLen) override;
-	virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
-			const uint8_t *packet) override;
-	virtual uint32_t getTransitionDelayMs(Mode_t modeFrom,
-			Mode_t modeTo) override;
-
-	virtual void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
-
-    virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
-                LocalDataPoolManager& poolManager) override;
-    virtual LocalPoolObjectBase* getPoolObjectHandle(lp_id_t localPoolId) override;
-
-	/* HasParametersIF  overrides */
-	virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
-			ParameterWrapper *parameterWrapper,
-			const ParameterWrapper *newValues, uint16_t startAtIndex) override;
-
-	uint8_t commandBuffer[MAX_BUFFER_SIZE];
-
-	bool fullInfoPrintout = false;
-	bool oneShot = true;
-
-	/* Variables for parameter service */
-	uint32_t testParameter0 = 0;
-	int32_t testParameter1 = -2;
-	float vectorFloatParams2[3] = {};
-
-	/* Change device handler functionality, changeable via parameter service */
-	uint8_t periodicPrintout = false;
-	uint8_t changingDatasets = false;
-
-	ReturnValue_t buildNormalModeCommand(DeviceCommandId_t deviceCommand,
-	        const uint8_t* commandData, size_t commandDataLen);
-	ReturnValue_t buildTestCommand0(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
-	        size_t commandDataLen);
-	ReturnValue_t buildTestCommand1(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
-	        size_t commandDataLen);
-	void passOnCommand(DeviceCommandId_t command, const uint8_t* commandData,
-	        size_t commandDataLen);
-
-	ReturnValue_t interpretingNormalModeReply();
-	ReturnValue_t interpretingTestReply0(DeviceCommandId_t id,
-			const uint8_t* packet);
-	ReturnValue_t interpretingTestReply1(DeviceCommandId_t id,
-			const uint8_t* packet);
-	ReturnValue_t interpretingTestReply2(DeviceCommandId_t id, const uint8_t* packet);
-
-	/* Some timer utilities */
-	static constexpr uint8_t divider1 = 2;
-	PeriodicOperationDivider opDivider1 = PeriodicOperationDivider(divider1);
-	static constexpr uint8_t divider2 = 10;
-	PeriodicOperationDivider opDivider2 = PeriodicOperationDivider(divider2);
-	static constexpr uint32_t initTimeout = 2000;
-	Countdown countdown1 = Countdown(initTimeout);
-};
-
-
-#endif /* TEST_TESTDEVICES_TESTDEVICEHANDLER_H_ */

mission/devices/TestEchoComIF.cpp

@@ -1,86 +0,0 @@
-#include "TestEchoComIF.h"
-#include "TestCookie.h"
-
-#include <fsfw/serialize/SerializeAdapter.h>
-#include <fsfw/serviceinterface/ServiceInterface.h>
-#include <fsfw/tmtcservices/CommandingServiceBase.h>
-#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
-
-
-TestEchoComIF::TestEchoComIF(object_id_t objectId):
-	SystemObject(objectId) {
-}
-
-TestEchoComIF::~TestEchoComIF() {}
-
-ReturnValue_t TestEchoComIF::initializeInterface(CookieIF * cookie) {
-	DummyCookie* dummyCookie = dynamic_cast<DummyCookie*>(cookie);
-	if(dummyCookie == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::warning << "TestEchoComIF::initializeInterface: Invalid cookie!" << std::endl;
-#else
-		sif::printWarning("TestEchoComIF::initializeInterface: Invalid cookie!\n");
-#endif
-		return NULLPOINTER;
-	}
-
-	auto resultPair = replyMap.emplace(
-	        dummyCookie->getAddress(), ReplyBuffer(dummyCookie->getReplyMaxLen()));
-	if(not resultPair.second) {
-	    return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	return RETURN_OK;
-}
-
-ReturnValue_t TestEchoComIF::sendMessage(CookieIF *cookie,
-		const uint8_t * sendData, size_t sendLen) {
-    DummyCookie* dummyCookie = dynamic_cast<DummyCookie*>(cookie);
-    if(dummyCookie == nullptr) {
-        return NULLPOINTER;
-    }
-
-    ReplyBuffer& replyBuffer = replyMap.find(dummyCookie->getAddress())->second;
-	if(sendLen > replyBuffer.capacity()) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::warning << "TestEchoComIF::sendMessage: Send length " << sendLen << " larger than "
-		        "current reply buffer length!" << std::endl;
-#else
-		sif::printWarning("TestEchoComIF::sendMessage: Send length %d larger than current "
-		        "reply buffer length!\n", sendLen);
-#endif
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	replyBuffer.resize(sendLen);
-	memcpy(replyBuffer.data(), sendData, sendLen);
-	return RETURN_OK;
-}
-
-ReturnValue_t TestEchoComIF::getSendSuccess(CookieIF *cookie) {
-	return RETURN_OK;
-}
-
-ReturnValue_t TestEchoComIF::requestReceiveMessage(CookieIF *cookie,
-		size_t requestLen) {
-	return RETURN_OK;
-}
-
-ReturnValue_t TestEchoComIF::readReceivedMessage(CookieIF *cookie,
-		uint8_t **buffer, size_t *size) {
-    DummyCookie* dummyCookie = dynamic_cast<DummyCookie*>(cookie);
-    if(dummyCookie == nullptr) {
-        return NULLPOINTER;
-    }
-
-    ReplyBuffer& replyBuffer = replyMap.find(dummyCookie->getAddress())->second;
-	*buffer = replyBuffer.data();
-	*size = replyBuffer.size();
-
-	dummyReplyCounter ++;
-	if(dummyReplyCounter == 10) {
-		// add anything that needs to be read periodically by dummy handler
-		dummyReplyCounter = 0;
-	}
-	return RETURN_OK;
-
-}
-

mission/devices/TestEchoComIF.h

@@ -1,56 +0,0 @@
-#ifndef TEST_TESTDEVICES_TESTECHOCOMIF_H_
-#define TEST_TESTDEVICES_TESTECHOCOMIF_H_
-
-#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
-#include <fsfw/objectmanager/SystemObject.h>
-#include <fsfw/ipc/MessageQueueIF.h>
-#include <fsfw/tmtcservices/AcceptsTelemetryIF.h>
-
-#include <vector>
-
-/**
- * @brief Used to simply returned sent data from device handler
- * @details Assign this com IF in the factory when creating the device handler
- * @ingroup test
- */
-class TestEchoComIF: public DeviceCommunicationIF, public SystemObject {
-public:
-	TestEchoComIF(object_id_t objectId);
-	virtual ~TestEchoComIF();
-
-	/**
-	 * DeviceCommunicationIF overrides
-	 * (see DeviceCommunicationIF documentation
-	 */
-	ReturnValue_t initializeInterface(CookieIF * cookie) override;
-	ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t * sendData,
-	        size_t sendLen) override;
-	ReturnValue_t getSendSuccess(CookieIF *cookie) override;
-	ReturnValue_t requestReceiveMessage(CookieIF *cookie,
-	        size_t requestLen) override;
-	ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
-	        size_t *size) override;
-
-private:
-
-	/**
-	 * Send TM packet which contains received data as TM[17,130].
-	 * Wiretapping will do the same.
-	 * @param data
-	 * @param len
-	 */
-	void sendTmPacket(const uint8_t *data,uint32_t len);
-
-	AcceptsTelemetryIF* funnel = nullptr;
-	MessageQueueIF* tmQueue = nullptr;
-	size_t replyMaxLen = 0;
-
-	using ReplyBuffer = std::vector<uint8_t>;
-	std::map<address_t, ReplyBuffer> replyMap;
-
-	uint8_t dummyReplyCounter = 0;
-
-	uint16_t packetSubCounter = 0;
-};
-
-#endif /* TEST_TESTDEVICES_TESTECHOCOMIF_H_ */

mission/devices/devicedefinitions/testDeviceDefinitions.h

@@ -1,100 +0,0 @@
-#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_TESTDEVICEDEFINITIONS_H_
-#define MISSION_DEVICES_DEVICEDEFINITIONS_TESTDEVICEDEFINITIONS_H_
-
-#include <fsfw/datapoollocal/StaticLocalDataSet.h>
-#include <fsfw/devicehandlers/DeviceHandlerIF.h>
-#include <commonSystemObjects.h>
-
-namespace testdevice {
-
-enum ParameterUniqueIds: uint8_t {
-    TEST_UINT32_0,
-    TEST_INT32_1,
-    TEST_FLOAT_VEC3_2,
-    PERIODIC_PRINT_ENABLED,
-    CHANGING_DATASETS
-};
-
-enum DeviceIndex: uint32_t {
-    DEVICE_0,
-    DEVICE_1
-};
-
-/** Normal mode command. This ID is also used to access the set variable via the housekeeping
-service */
-static constexpr DeviceCommandId_t TEST_NORMAL_MODE_CMD = 0;
-
-//! Test completion reply
-static constexpr DeviceCommandId_t TEST_COMMAND_0 = 1;
-//! Test data reply
-static constexpr DeviceCommandId_t TEST_COMMAND_1 = 2;
-
-/**
- * Can be used to trigger a notification to the demo controller. For DEVICE_0, only notifications
- * messages will be generated while for DEVICE_1, snapshot messages will be generated.
- *
- * DEVICE_0 VAR:    Sets the set variable 0 above a treshold (200) to trigger a variable
- *                  notification.
- * DEVICE_0 SET:    Sets the vector mean values above a treshold (mean larger than 20) to trigger a
- *                  set notification.
- *
- * DEVICE_1 VAR:    Sets the set variable 0 below a treshold (less than 50 but not 0) to trigger a
- *                  variable snapshot.
- * DEVICE_1 SET:    Sets the set vector mean values below a treshold (mean smaller than -20) to
- *                  trigger a set snapshot message.
- */
-static constexpr DeviceCommandId_t TEST_NOTIF_SNAPSHOT_VAR = 3;
-static constexpr DeviceCommandId_t TEST_NOTIF_SNAPSHOT_SET = 4;
-
-/**
- * Can be used to trigger a snapshot message to the demo controller.
- * Depending on the device index, a notification will be triggered for different set variables.
- *
- * DEVICE_0:    Sets the set variable 0 below a treshold (below 50 but not 0) to trigger
- *              a variable snapshot
- * DEVICE_1:    Sets the vector mean values below a treshold (mean less than -20) to trigger a
- *              set snapshot
- */
-static constexpr DeviceCommandId_t TEST_SNAPSHOT = 5;
-
-//! Generates a random value for variable 1 of the dataset.
-static constexpr DeviceCommandId_t GENERATE_SET_VAR_1_RNG_VALUE = 6;
-
-
-/**
- * These parameters are sent back with the command ID as a data reply
- */
-static constexpr uint16_t COMMAND_1_PARAM1 = 0xBAB0; //!< param1, 2 bytes
-//! param2, 8 bytes
-static constexpr uint64_t COMMAND_1_PARAM2 = 0x000000524F42494E;
-
-static constexpr size_t TEST_COMMAND_0_SIZE = sizeof(TEST_COMMAND_0);
-static constexpr size_t TEST_COMMAND_1_SIZE = sizeof(TEST_COMMAND_1) + sizeof(COMMAND_1_PARAM1) +
-        sizeof(COMMAND_1_PARAM2);
-
-enum PoolIds: lp_id_t {
-    TEST_UINT8_ID = 0,
-    TEST_UINT32_ID = 1,
-    TEST_FLOAT_VEC_3_ID = 2
-};
-
-static constexpr uint8_t TEST_SET_ID = TEST_NORMAL_MODE_CMD;
-static const sid_t TEST_SET_DEV_0_SID = sid_t(objects::TEST_DEVICE_HANDLER_0, TEST_SET_ID);
-static const sid_t TEST_SET_DEV_1_SID = sid_t(objects::TEST_DEVICE_HANDLER_1, TEST_SET_ID);
-
-class TestDataSet: public StaticLocalDataSet<3> {
-public:
-    TestDataSet(HasLocalDataPoolIF* owner): StaticLocalDataSet(owner, TEST_SET_ID) {}
-    TestDataSet(object_id_t owner): StaticLocalDataSet(sid_t(owner, TEST_SET_ID)) {}
-
-    lp_var_t<uint8_t> testUint8Var = lp_var_t<uint8_t>(
-            gp_id_t(this->getCreatorObjectId(), PoolIds::TEST_UINT8_ID), this);
-    lp_var_t<uint32_t> testUint32Var = lp_var_t<uint32_t>(
-            gp_id_t(this->getCreatorObjectId(), PoolIds::TEST_UINT32_ID), this);
-    lp_vec_t<float ,3> testFloat3Vec = lp_vec_t<float, 3>(
-            gp_id_t(this->getCreatorObjectId(), PoolIds::TEST_FLOAT_VEC_3_ID), this);
-};
-
-}
-
-#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_TESTDEVICEDEFINITIONS_H_ */

mission/mission.mk

@@ -1,17 +0,0 @@
-# add main and others
-CXXSRC += $(wildcard $(CURRENTPATH)/*.cpp)
-CSRC += $(wildcard $(CURRENTPATH)/*.c)
-
-CSRC += $(wildcard $(CURRENTPATH)/core/*.c)
-CXXSRC += $(wildcard $(CURRENTPATH)/core/*.cpp)
-
-CXXSRC += $(wildcard $(CURRENTPATH)/devices/*.cpp)
-CSRC += $(wildcard $(CURRENTPATH)/devices/*.c)
-
-CXXSRC += $(wildcard $(CURRENTPATH)/utility/*.cpp)
-CSRC += $(wildcard $(CURRENTPATH)/utility/*.c)
-
-CXXSRC += $(wildcard $(CURRENTPATH)/test/*.cpp)
-CSRC += $(wildcard $(CURRENTPATH)/test/*.c)
-
-

mission/utility/CMakeLists.txt

@@ -1,5 +0,0 @@
-target_sources(${TARGET_NAME} 
-	PRIVATE
-		PusPacketCreator.cpp
-		TmFunnel.cpp
-)

mission/utility/PusPacketCreator.cpp

@@ -1,19 +0,0 @@
-#include <fsfw/tmtcpacket/pus/TcPacketBase.h>
-#include <fsfw/tmtcpacket/pus/TmPacketBase.h>
-#include <fsfw/globalfunctions/arrayprinter.h>
-#include <fsfw/serviceinterface/ServiceInterface.h>
-#include <mission/utility/PusPacketCreator.h>
-
-void PusPacketCreator::createPusPacketAndPrint() {
-	// TODO: use TC packet stored here instead..
-
-//	uint8_t packetStore[TcPacketBase::TC_PACKET_MIN_SIZE];
-//	TcPacketBase packet(packetStore);
-//	packet.initSpacePacketHeader(true, true, 0x73, 25);
-//	packet.initializeTcPacket(0x73, 25, 0, 17, 1);
-//	packet.setPacketDataLength(sizeof(PUSTcDataFieldHeader)
-//			+ TcPacketBase::CRC_SIZE-1);
-//	packet.setErrorControl();
-//	sif::info << "PUS packet created: " << std::endl;
-//	arrayprinter::print(packet.getWholeData(), packet.getFullSize());
-}

stm32h7/CMakeLists.txt

@@ -0,0 +1,9 @@
+target_sources(${TARGET_NAME} PRIVATE
+	STM32TestTask.cpp
+)
+
+option(STM32_ADD_NETWORKING_CODE "Add networking code requiring lwIP" ON)
+
+if(STM32_ADD_NETWORKING_CODE)
+    add_subdirectory(networking)
+endif()

stm32h7/STM32TestTask.cpp

@@ -0,0 +1,33 @@
+#include "STM32TestTask.h"
+#include "stm32h7xx_nucleo.h"
+#include "OBSWConfig.h"
+
+STM32TestTask::STM32TestTask(object_id_t objectId, bool enablePrintout,
+		bool blinkyLed): TestTask(objectId), blinkyLed(blinkyLed) {
+    BSP_LED_Init(LED1);
+    BSP_LED_Init(LED2);
+    BSP_LED_Init(LED3);
+}
+
+ReturnValue_t STM32TestTask::performPeriodicAction() {
+    if(blinkyLed) {
+#if OBSW_ETHERNET_USE_LEDS == 0
+        BSP_LED_Toggle(LED1);
+        BSP_LED_Toggle(LED2);
+#endif
+        BSP_LED_Toggle(LED3);
+    }
+    if(testSpi) {
+        spiTest->performOperation();
+    }
+    return TestTask::performPeriodicAction();
+}
+
+ReturnValue_t STM32TestTask::initialize() {
+    if(testSpi) {
+        spiComIF = new SpiComIF(objects::SPI_COM_IF);
+        spiTest = new SpiTest(*spiComIF);
+
+    }
+    return TestTask::initialize();
+}

stm32h7/STM32TestTask.h

@@ -0,0 +1,25 @@
+#ifndef BSP_STM32_BOARDTEST_STM32TESTTASK_H_
+#define BSP_STM32_BOARDTEST_STM32TESTTASK_H_
+
+#include "bsp_stm32h7_freertos/boardtest/SpiTest.h"
+#include "fsfw_tests/integration/task/TestTask.h"
+
+class STM32TestTask: public TestTask {
+public:
+	STM32TestTask(object_id_t objectId, bool enablePrintout, bool blinkyLed = true);
+
+	ReturnValue_t initialize() override;
+	ReturnValue_t performPeriodicAction() override;
+private:
+
+	SpiComIF* spiComIF = nullptr;
+	SpiTest* spiTest = nullptr;
+
+	bool blinkyLed = false;
+	bool testSpi = true;
+
+};
+
+
+
+#endif /* BSP_STM32_BOARDTEST_STM32TESTTASK_H_ */

stm32h7/networking/CMakeLists.txt

@@ -0,0 +1,14 @@
+# These are part of the RTEMS BSP for RTEMS
+if(FSFW_OSAL MATCHES freertos)
+    target_sources(${TARGET_NAME} PRIVATE
+        ethernetif.c
+    )
+endif()
+
+target_sources(${TARGET_NAME} PRIVATE
+	UdpTcLwIpPollingTask.cpp
+	TmTcLwIpUdpBridge.cpp
+	networking.cpp
+    app_dhcp.cpp
+    app_ethernet.cpp
+)

stm32h7/networking/TmTcLwIpUdpBridge.cpp

@@ -0,0 +1,204 @@
+#include "TmTcLwIpUdpBridge.h"
+#include "udp_config.h"
+#include "app_ethernet.h"
+#include "ethernetif.h"
+#include <OBSWConfig.h>
+
+#include <fsfw/ipc/MutexGuard.h>
+#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fsfw/serialize/EndianConverter.h>
+
+
+TmTcLwIpUdpBridge::TmTcLwIpUdpBridge(object_id_t objectId,
+        object_id_t ccsdsPacketDistributor, object_id_t tmStoreId,
+        object_id_t tcStoreId):
+        TmTcBridge(objectId, ccsdsPacketDistributor, tmStoreId, tcStoreId) {
+    TmTcLwIpUdpBridge::lastAdd.addr = IPADDR_TYPE_ANY;
+}
+
+TmTcLwIpUdpBridge::~TmTcLwIpUdpBridge() {}
+
+ReturnValue_t TmTcLwIpUdpBridge::initialize() {
+    TmTcBridge::initialize();
+    bridgeLock = MutexFactory::instance()->createMutex();
+    if(bridgeLock == nullptr) {
+        return ObjectManagerIF::CHILD_INIT_FAILED;
+    }
+    ReturnValue_t result = udp_server_init();
+    return result;
+}
+
+ReturnValue_t TmTcLwIpUdpBridge::udp_server_init(void) {
+    err_t err;
+    /* Create a new UDP control block  */
+    TmTcLwIpUdpBridge::upcb = udp_new();
+    if (TmTcLwIpUdpBridge::upcb)
+    {
+        /* Bind the upcb to the UDP_PORT port */
+        /* Using IP_ADDR_ANY allow the upcb to be used by any local interface */
+        err = udp_bind(TmTcLwIpUdpBridge::upcb, IP_ADDR_ANY, UDP_SERVER_PORT);
+
+        if(err == ERR_OK)
+        {
+            /* Set a receive callback for the upcb */
+            udp_recv(TmTcLwIpUdpBridge::upcb, &udp_server_receive_callback,
+                    (void*) this);
+            return RETURN_OK;
+        }
+        else
+        {
+            udp_remove(TmTcLwIpUdpBridge::upcb);
+            return RETURN_FAILED;
+        }
+    } else {
+        return RETURN_FAILED;
+    }
+}
+
+ReturnValue_t TmTcLwIpUdpBridge::performOperation(uint8_t operationCode) {
+    TmTcBridge::performOperation();
+
+#if TCPIP_RECV_WIRETAPPING == 1
+    if(connectFlag) {
+        uint32_t ipAddress = ((ip4_addr*) &lastAdd)->addr;
+        int ipAddress1 = (ipAddress & 0xFF000000) >> 24;
+        int ipAddress2 = (ipAddress & 0xFF0000) >> 16;
+        int ipAddress3 = (ipAddress & 0xFF00) >> 8;
+        int ipAddress4 = ipAddress & 0xFF;
+#if OBSW_VERBOSE_LEVEL == 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::info << "TmTcLwIpUdpBridge: Client IP Address " << std::dec
+                << ipAddress4 << "." << ipAddress3 << "." << ipAddress2 << "."
+                << ipAddress1 << std::endl;
+        uint16_t portSwapped = EndianConverter::convertBigEndian(lastPort);
+        sif::info << "TmTcLwIpUdpBridge: Client IP Port "
+                << (int)portSwapped << std::endl;
+#else
+        sif::printInfo("TmTcLwIpUdpBridge: Client IP Address %d.%d.%d.%d\n",
+                ipAddress4, ipAddress3, ipAddress2, ipAddress1);
+        uint16_t portSwapped = EndianConverter::convertBigEndian(lastPort);
+        sif::printInfo("TmTcLwIpUdpBridge: Client IP Port: %d\n", portSwapped);
+#endif
+#endif
+        connectFlag = false;
+    }
+#endif
+
+    return RETURN_OK;
+}
+
+ReturnValue_t TmTcLwIpUdpBridge::sendTm(const uint8_t * data, size_t dataLen) {
+    struct pbuf *p_tx = pbuf_alloc(PBUF_TRANSPORT, dataLen, PBUF_RAM);
+    if ((p_tx != nullptr) && (lastAdd.addr != IPADDR_TYPE_ANY) && (upcb != nullptr)) {
+        /* copy data to pbuf */
+        err_t err  = pbuf_take(p_tx, (char*) data, dataLen);
+        if(err!=ERR_OK){
+            pbuf_free(p_tx);
+            return err;
+        }
+        /* Connect to the remote client */
+        err = udp_connect(TmTcLwIpUdpBridge::upcb, &lastAdd , lastPort);
+        if(err != ERR_OK){
+            pbuf_free(p_tx);
+            return err;
+        }
+        /* Tell the client that we have accepted it */
+        err = udp_send(TmTcLwIpUdpBridge::upcb, p_tx);
+        pbuf_free(p_tx);
+        if(err!=ERR_OK){
+            return err;
+        }
+
+        /* free the UDP connection, so we can accept new clients */
+        udp_disconnect (TmTcLwIpUdpBridge::upcb);
+    }
+    else{
+        return RETURN_FAILED;
+    }
+    return RETURN_OK;
+}
+
+
+void TmTcLwIpUdpBridge::udp_server_receive_callback(void* arg,
+        struct udp_pcb* upcb_, struct pbuf* p, const ip_addr_t* addr,
+        u16_t port) {
+    struct pbuf *p_tx = nullptr;
+    auto udpBridge = reinterpret_cast<TmTcLwIpUdpBridge*>(arg);
+    if(udpBridge == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "TmTcLwIpUdpBridge::udp_server_receive_callback: Invalid UDP bridge!" <<
+                std::endl;
+#else
+        sif::printWarning("TmTcLwIpUdpBridge::udp_server_receive_callback: Invalid UDP bridge!\n");
+#endif
+    }
+    /* allocate pbuf from RAM*/
+    p_tx = pbuf_alloc(PBUF_TRANSPORT,p->len, PBUF_RAM);
+
+    if(p_tx != NULL)
+    {
+        if(udpBridge != nullptr) {
+            MutexGuard lg(udpBridge->bridgeLock);
+            udpBridge->upcb = upcb_;
+            udpBridge->lastAdd = *addr;
+            udpBridge->lastPort = port;
+            if(not udpBridge->comLinkUp()) {
+                udpBridge->registerCommConnect();
+#if TCPIP_RECV_WIRETAPPING == 1
+                udpBridge->connectFlag = true;
+#endif
+                /* This should have already been done, but we will still do it */
+                udpBridge->physicalConnectStatusChange(true);
+            }
+        }
+        pbuf_take(p_tx, (char*)p->payload, p->len);
+        /* send the received data to the uart port */
+        char* data = reinterpret_cast<char*>(p_tx->payload);
+        *(data+p_tx->len) = '\0';
+
+#if TCPIP_RECV_WIRETAPPING == 1
+        udpBridge->printData(p,data);
+#endif
+
+        store_address_t storeId;
+        ReturnValue_t returnValue = udpBridge->tcStore->addData(&storeId,
+                reinterpret_cast<uint8_t*>(p->payload), p->len);
+        if (returnValue != RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::warning << "UDP Server: Data storage failed" << std::endl;
+#endif
+            pbuf_free(p_tx);
+            return;
+        }
+        TmTcMessage message(storeId);
+        if (udpBridge->tmTcReceptionQueue->sendToDefault(&message)
+                != RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::warning << "TmTcLwIpUdpBridgw::udp_server_receive_callback:"
+                    << " Sending message to queue failed" << std::endl;
+#endif
+            udpBridge->tcStore->deleteData(storeId);
+        }
+    }
+    /* Free the p_tx buffer */
+    pbuf_free(p_tx);
+}
+
+/* Caller must ensure thread-safety */
+bool TmTcLwIpUdpBridge::comLinkUp() const {
+    return communicationLinkUp;
+}
+
+/* Caller must ensure thread-safety */
+void TmTcLwIpUdpBridge::physicalConnectStatusChange(bool connect) {
+    if(connect) {
+        /* Physical connection does not mean there is a recipient to send packets too.
+        This will be done by the receive callback! */
+        physicalConnection = true;
+    }
+    else {
+        physicalConnection = false;
+        /* If there is no physical connection, we can't send anything back */
+        registerCommDisconnect();
+    }
+}

stm32h7/networking/TmTcLwIpUdpBridge.h

@@ -0,0 +1,79 @@
+#ifndef BSP_STM32_RTEMS_NETWORKING_TMTCUDPBRIDGE_H_
+#define BSP_STM32_RTEMS_NETWORKING_TMTCUDPBRIDGE_H_
+
+#include <fsfw/tmtcservices/TmTcBridge.h>
+
+#include <lwip/udp.h>
+#include <lwip/ip_addr.h>
+
+#define TCPIP_RECV_WIRETAPPING 0
+
+/**
+ * This bridge is used to forward TMTC packets received via LwIP UDP to the internal software bus.
+ */
+class TmTcLwIpUdpBridge : public TmTcBridge {
+    friend class UdpTcLwIpPollingTask;
+public:
+    TmTcLwIpUdpBridge(object_id_t objectId,
+            object_id_t ccsdsPacketDistributor, object_id_t tmStoreId,
+            object_id_t tcStoreId);
+    virtual ~TmTcLwIpUdpBridge();
+
+    virtual ReturnValue_t initialize() override;
+    ReturnValue_t udp_server_init();
+
+    /**
+     * In addition to default implementation, ethernet link status is checked.
+     * @param operationCode
+     * @return
+     */
+    virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
+
+    /** TM Send implementation uses udp_send function from lwIP stack
+     * @param data
+     * @param dataLen
+     * @return
+     */
+    virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override;
+
+    /**
+     * @brief This function is called when an UDP datagram has been
+     * received on the port UDP_PORT.
+     * @param arg
+     * @param upcb_
+     * @param p
+     * @param addr Source address which will be bound to TmTcUdpBridge::lastAdd
+     * @param port
+     */
+    static void udp_server_receive_callback(void *arg,
+            struct udp_pcb *upcb_, struct pbuf *p, const ip_addr_t *addr,
+            u16_t port);
+
+    /**
+     * Check whether the communication link is up.
+     * Caller must ensure thread-safety by using the bridge lock.
+     * @return
+     */
+    bool comLinkUp() const;
+
+private:
+    struct udp_pcb *upcb = nullptr;
+    ip_addr_t lastAdd;
+    u16_t lastPort = 0;
+    bool physicalConnection = false;
+    MutexIF* bridgeLock = nullptr;
+
+#if TCPIP_RECV_WIRETAPPING == 1
+    bool connectFlag = false;
+#endif
+
+    /**
+     * Used to notify bridge about change in the physical ethernet connection.
+     * Connection does not mean that replies are possible (recipient not set yet), but
+     * disconnect means that we can't send anything. Caller must ensure thread-safety
+     * by using the bridge lock.
+     */
+    void physicalConnectStatusChange(bool connect);
+};
+
+#endif /* BSP_STM32_RTEMS_NETWORKING_TMTCUDPBRIDGE_H_ */

stm32h7/networking/UdpTcLwIpPollingTask.cpp

@@ -0,0 +1,66 @@
+#include "UdpTcLwIpPollingTask.h"
+#include "TmTcLwIpUdpBridge.h"
+#include "app_ethernet.h"
+#include "ethernetif.h"
+#include "app_dhcp.h"
+#include "networking.h"
+#include <hardware_init.h>
+
+#include "fsfw/ipc/MutexGuard.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/objectmanager/ObjectManager.h"
+
+
+
+#include "lwip/timeouts.h"
+
+UdpTcLwIpPollingTask::UdpTcLwIpPollingTask(object_id_t objectId, object_id_t bridgeId,
+            struct netif* gnetif):
+        SystemObject(objectId), periodicHandleCounter(0), bridgeId(bridgeId), gnetif(gnetif) {
+}
+
+UdpTcLwIpPollingTask::~UdpTcLwIpPollingTask() {
+}
+
+ReturnValue_t UdpTcLwIpPollingTask::initialize() {
+    udpBridge = ObjectManager::instance()->get<TmTcLwIpUdpBridge>(bridgeId);
+    if(udpBridge == nullptr) {
+        return ObjectManagerIF::CHILD_INIT_FAILED;
+    }
+    if (netif_is_link_up(gnetif)) {
+        networking::setEthCableConnected(true);
+    }
+    return RETURN_OK;
+}
+
+
+/* Poll the EMAC Interface and pass content to the network interface (lwIP) */
+ReturnValue_t UdpTcLwIpPollingTask::performOperation(uint8_t operationCode) {
+    /* Read a received packet from the Ethernet buffers and send it
+	to the lwIP for handling */
+    ethernetif_input(gnetif);
+
+    /* Handle timeouts */
+    sys_check_timeouts();
+
+#if LWIP_NETIF_LINK_CALLBACK == 1
+    networking::ethernetLinkPeriodicHandle(gnetif);
+#endif
+
+    if(udpBridge != nullptr) {
+        MutexGuard lg(udpBridge->bridgeLock);
+        /* In case ethernet cable is disconnected */
+        if(not networking::getEthCableConnected() and udpBridge->comLinkUp()) {
+            udpBridge->physicalConnectStatusChange(false);
+        }
+        else if(networking::getEthCableConnected() and not udpBridge->comLinkUp()) {
+            udpBridge->physicalConnectStatusChange(true);
+        }
+    }
+
+#if LWIP_DHCP == 1
+    DHCP_Periodic_Handle(gnetif);
+#endif
+
+    return RETURN_OK;
+}

stm32h7/networking/UdpTcLwIpPollingTask.h

@@ -0,0 +1,41 @@
+#ifndef BSP_STM32_RTEMS_EMACPOLLINGTASK_H_
+#define BSP_STM32_RTEMS_EMACPOLLINGTASK_H_
+
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/tasks/ExecutableObjectIF.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+
+#include <lwip/netif.h>
+
+class TmTcLwIpUdpBridge;
+
+/**
+ * @brief Separate task to poll EMAC interface.
+ * 		  Polled data is passed to the netif (lwIP)
+ */
+class UdpTcLwIpPollingTask:
+        public SystemObject,
+        public ExecutableObjectIF,
+        public HasReturnvaluesIF {
+public:
+    UdpTcLwIpPollingTask(object_id_t objectId, object_id_t bridgeId, struct netif* gnetif);
+    virtual ~UdpTcLwIpPollingTask();
+
+    virtual ReturnValue_t initialize() override;
+
+    /**
+     * Executed periodically.
+     * @param operationCode
+     * @return
+     */
+    virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
+private:
+    static const uint8_t PERIODIC_HANDLE_TRIGGER = 5;
+    uint8_t periodicHandleCounter;
+    object_id_t bridgeId = 0;
+    TmTcLwIpUdpBridge* udpBridge = nullptr;
+    struct netif* gnetif = nullptr;
+};
+
+
+#endif /* BSP_STM32_RTEMS_EMACPOLLINGTASK_H_ */

stm32h7/networking/app_dhcp.cpp

@@ -0,0 +1,157 @@
+#include "OBSWConfig.h"
+
+#include "app_dhcp.h"
+#include "app_ethernet.h"
+#include "networking.h"
+#include "udp_config.h"
+#include "ethernetif.h"
+
+#include "lwip/dhcp.h"
+#include "stm32h7xx_nucleo.h"
+
+#if LWIP_DHCP == 1
+
+uint8_t DHCP_state = DHCP_OFF;
+uint32_t DHCPfineTimer = 0;
+
+void handle_dhcp_timeout(struct netif* netif);
+void handle_dhcp_start(struct netif* netif);
+void handle_dhcp_wait(struct netif* netif, struct dhcp** dhcp);
+void handle_dhcp_down(struct netif* netif);
+
+/**
+ * @brief  DHCP_Process_Handle
+ * @param  None
+ * @retval None
+ */
+void DHCP_Process(struct netif *netif)
+{
+    struct dhcp* dhcp = NULL;
+    switch (DHCP_state) {
+    case DHCP_START: {
+        handle_dhcp_start(netif);
+        break;
+    }
+    case DHCP_WAIT_ADDRESS: {
+        handle_dhcp_wait(netif, &dhcp);
+        break;
+    }
+
+    case DHCP_LINK_DOWN: {
+        handle_dhcp_down(netif);
+        break;
+    }
+    default: {
+        break;
+    }
+    }
+}
+
+void handle_dhcp_timeout(struct netif* netif) {
+    ip_addr_t ipaddr;
+    ip_addr_t netmask;
+    ip_addr_t gw;
+
+    DHCP_state = DHCP_TIMEOUT;
+
+    /* Stop DHCP */
+    dhcp_stop(netif);
+
+    /* Static address used */
+    networking::setLwipAddresses(&ipaddr, &netmask, &gw);
+    netif_set_addr(netif, &ipaddr, &netmask, &gw);
+
+    printf("DHCP Timeout\n\r");
+    uint8_t iptxt[20];
+    sprintf((char *)iptxt, "%s", ip4addr_ntoa(netif_ip4_addr(netif)));
+    printf("Assigning static IP address: %s\n", iptxt);
+
+#if defined FSFW_OSAL_FREERTOS
+    ETH_HandleTypeDef* handle = getEthernetHandle();
+    handle->gState = HAL_ETH_STATE_READY;
+#endif
+
+#if OBSW_ETHERNET_TMTC_COMMANDING == 1
+#if OBSW_ETHERNET_USE_LED1_LED2 == 1
+    BSP_LED_On(LED1);
+    BSP_LED_Off(LED2);
+#endif
+#endif
+}
+
+/**
+ * @brief  DHCP periodic check
+ * @param  netif
+ * @retval None
+ */
+void DHCP_Periodic_Handle(struct netif *netif)
+{
+    /* Fine DHCP periodic process every 500ms */
+    if (HAL_GetTick() - DHCPfineTimer >= DHCP_FINE_TIMER_MSECS) {
+        DHCPfineTimer =  HAL_GetTick();
+        /* process DHCP state machine */
+        DHCP_Process(netif);
+    }
+}
+
+void handle_dhcp_start(struct netif* netif) {
+    printf("handle_dhcp_start: Looking for DHCP server ...\n\r");
+#if OBSW_ETHERNET_TMTC_COMMANDING == 1
+#if OBSW_ETHERNET_USE_LED1_LED2 == 1
+    BSP_LED_Off(LED1);
+    BSP_LED_Off(LED2);
+#endif
+#endif
+    ip_addr_set_zero_ip4(&netif->ip_addr);
+    ip_addr_set_zero_ip4(&netif->netmask);
+    ip_addr_set_zero_ip4(&netif->gw);
+    dhcp_start(netif);
+    DHCP_state = DHCP_WAIT_ADDRESS;
+}
+
+void handle_dhcp_wait(struct netif* netif, struct dhcp** dhcp) {
+    if (dhcp_supplied_address(netif)) {
+        DHCP_state = DHCP_ADDRESS_ASSIGNED;
+        printf("IP address assigned by a DHCP server: %s\n\r", ip4addr_ntoa(netif_ip4_addr(netif)));
+        printf("Listener port: %d\n\r", UDP_SERVER_PORT);
+#if OBSW_ETHERNET_TMTC_COMMANDING == 1
+#if OBSW_ETHERNET_USE_LED1_LED2 == 1
+        BSP_LED_On(LED1);
+        BSP_LED_Off(LED2);
+#endif
+#endif
+    }
+    else {
+        *dhcp = (struct dhcp*) netif_get_client_data(netif, LWIP_NETIF_CLIENT_DATA_INDEX_DHCP);
+
+        /* DHCP timeout */
+        if ((*dhcp)->tries > MAX_DHCP_TRIES)
+        {
+            handle_dhcp_timeout(netif);
+        }
+    }
+}
+
+void handle_dhcp_down(struct netif* netif) {
+    DHCP_state = DHCP_OFF;
+#if OBSW_ETHERNET_TMTC_COMMANDING == 1
+    printf("DHCP_Process: The network cable is not connected.\n\r");
+#if OBSW_ETHERNET_USE_LED1_LED2 == 1
+    BSP_LED_Off(LED1);
+    BSP_LED_On(LED2);
+#endif
+#endif
+
+    /* Global boolean to track ethernet connection */
+    networking::setEthCableConnected(false);
+}
+
+uint8_t get_dhcp_state() {
+    return DHCP_state;
+}
+
+void set_dhcp_state(uint8_t new_state) {
+    DHCP_state = new_state;
+}
+
+#endif /* LWIP_DHCP == 1 */

stm32h7/networking/app_dhcp.h

@@ -0,0 +1,34 @@
+#ifndef BSP_STM32_STM32CUBEH7_BOARDS_NUCLEO_H743ZI_INC_APP_DHCP_H_
+#define BSP_STM32_STM32CUBEH7_BOARDS_NUCLEO_H743ZI_INC_APP_DHCP_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "lwipopts.h"
+
+#if LWIP_DHCP == 1
+
+#include "lwip/netif.h"
+
+/* DHCP process states */
+#define DHCP_OFF                   (uint8_t) 0
+#define DHCP_START                 (uint8_t) 1
+#define DHCP_WAIT_ADDRESS          (uint8_t) 2
+#define DHCP_ADDRESS_ASSIGNED      (uint8_t) 3
+#define DHCP_TIMEOUT               (uint8_t) 4
+#define DHCP_LINK_DOWN             (uint8_t) 5
+
+uint8_t get_dhcp_state();
+void set_dhcp_state(uint8_t new_state);
+
+void DHCP_Process(struct netif *netif);
+void DHCP_Periodic_Handle(struct netif *netif);
+
+#endif /* LWIP_DHCP == 1 */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* BSP_STM32_STM32CUBEH7_BOARDS_NUCLEO_H743ZI_INC_APP_DHCP_H_ */

stm32h7/networking/app_ethernet.cpp

@@ -0,0 +1,93 @@
+/* Includes ------------------------------------------------------------------*/
+#include "app_ethernet.h"
+#include "ethernetif.h"
+#include "udp_config.h"
+#include "networking.h"
+
+#if LWIP_DHCP
+#include "app_dhcp.h"
+#endif
+
+#include <lwipopts.h>
+#include <lwip/netif.h>
+#include <stm32h7xx_nucleo.h>
+#include <OBSWConfig.h>
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+uint32_t ethernetLinkTimer = 0;
+
+/* Private function prototypes -----------------------------------------------*/
+void handle_status_change(struct netif* netif, bool link_up);
+
+
+/* Private functions ---------------------------------------------------------*/
+/**
+ * @brief  Notify the User about the network interface config status
+ * @param  netif: the network interface
+ * @retval None
+ */
+void networking::ethernetLinkStatusUpdated(struct netif *netif)
+{
+	if (netif_is_link_up(netif))
+	{
+		networking::setEthCableConnected(true);
+		handle_status_change(netif, true);
+	}
+	else
+	{
+	    networking::setEthCableConnected(false);
+		handle_status_change(netif, false);
+	}
+}
+
+void handle_status_change(struct netif* netif, bool link_up) {
+	if(link_up) {
+#if LWIP_DHCP
+		/* Update DHCP state machine */
+		set_dhcp_state(DHCP_START);
+#else
+		uint8_t iptxt[20];
+		sprintf((char *)iptxt, "%s", ip4addr_ntoa(netif_ip4_addr(netif)));
+		printf("\rNetwork cable connected. Static IP address: %s | Port: %d\n\r", iptxt,
+		        UDP_SERVER_PORT);
+#if OBSW_ETHERNET_USE_LED1_LED2 == 1
+		BSP_LED_On(LED1);
+		BSP_LED_Off(LED2);
+#endif
+#endif /* LWIP_DHCP */
+	}
+	else {
+		printf("Network cable disconnected\n\r");
+#if LWIP_DHCP
+		/* Update DHCP state machine */
+		set_dhcp_state(DHCP_LINK_DOWN);
+#else
+#if OBSW_ETHERNET_USE_LED1_LED2 == 1
+		BSP_LED_Off(LED1);
+		BSP_LED_On(LED2);
+#endif
+#endif /* LWIP_DHCP */
+	}
+}
+
+#if LWIP_NETIF_LINK_CALLBACK
+
+/**
+ * @brief  Ethernet Link periodic check
+ * @param  netif
+ * @retval None
+ */
+void networking::ethernetLinkPeriodicHandle(struct netif *netif)
+{
+	/* Ethernet Link every 100ms */
+	if (HAL_GetTick() - ethernetLinkTimer >= 100)
+	{
+		ethernetLinkTimer = HAL_GetTick();
+		ethernet_link_check_state(netif);
+	}
+}
+
+#endif /* LWIP_NETIF_LINK_CALLBACK */

stm32h7/networking/app_ethernet.h

@@ -0,0 +1,78 @@
+/**
+  ******************************************************************************
+  * @file    LwIP/LwIP_UDP_Echo_Client/Inc/app_ethernet.h 
+  * @author  MCD Application Team
+  * @brief   Header for app_ethernet.c module
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; Copyright (c) 2017 STMicroelectronics International N.V.
+  * All rights reserved.</center></h2>
+  *
+  * Redistribution and use in source and binary forms, with or without
+  * modification, are permitted, provided that the following conditions are met:
+  *
+  * 1. Redistribution of source code must retain the above copyright notice,
+  *    this list of conditions and the following disclaimer.
+  * 2. Redistributions in binary form must reproduce the above copyright notice,
+  *    this list of conditions and the following disclaimer in the documentation
+  *    and/or other materials provided with the distribution.
+  * 3. Neither the name of STMicroelectronics nor the names of other
+  *    contributors to this software may be used to endorse or promote products
+  *    derived from this software without specific written permission.
+  * 4. This software, including modifications and/or derivative works of this
+  *    software, must execute solely and exclusively on microcontroller or
+  *    microprocessor devices manufactured by or for STMicroelectronics.
+  * 5. Redistribution and use of this software other than as permitted under
+  *    this license is void and will automatically terminate your rights under
+  *    this license.
+  *
+  * THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
+  * AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
+  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+  * PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
+  * RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
+  * SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+  * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
+  * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+  * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+  * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
+  * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef EXAMPLE_COMMON_APP_ETHERNET_H
+#define EXAMPLE_COMMON_APP_ETHERNET_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include <lwip/netif.h>
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported macro ------------------------------------------------------------*/
+/* Exported functions ------------------------------------------------------- */
+namespace networking {
+
+void ethernetLinkStatusUpdated(struct netif *netif);
+void ethernetLinkPeriodicHandle(struct netif *netif);
+
+}
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* EXAMPLE_COMMON_APP_ETHERNET_H */
+
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+

stm32h7/networking/ethernetif.c

@@ -0,0 +1,614 @@
+/**
+  ******************************************************************************
+  * @file    LwIP/LwIP_UDP_Echo_Client/Src/ethernetif.c
+  * @author  MCD Application Team
+  * @brief   This file implements Ethernet network interface drivers for lwIP
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; Copyright (c) 2017 STMicroelectronics International N.V.
+  * All rights reserved.</center></h2>
+  *
+  * Redistribution and use in source and binary forms, with or without
+  * modification, are permitted, provided that the following conditions are met:
+  *
+  * 1. Redistribution of source code must retain the above copyright notice,
+  *    this list of conditions and the following disclaimer.
+  * 2. Redistributions in binary form must reproduce the above copyright notice,
+  *    this list of conditions and the following disclaimer in the documentation
+  *    and/or other materials provided with the distribution.
+  * 3. Neither the name of STMicroelectronics nor the names of other
+  *    contributors to this software may be used to endorse or promote products
+  *    derived from this software without specific written permission.
+  * 4. This software, including modifications and/or derivative works of this
+  *    software, must execute solely and exclusively on microcontroller or
+  *    microprocessor devices manufactured by or for STMicroelectronics.
+  * 5. Redistribution and use of this software other than as permitted under
+  *    this license is void and will automatically terminate your rights under
+  *    this license.
+  *
+  * THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
+  * AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
+  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+  * PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
+  * RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
+  * SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+  * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
+  * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+  * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+  * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
+  * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+  *
+  ******************************************************************************
+  */
+
+/* Includes ------------------------------------------------------------------*/
+#include "fsfw/FSFW.h"
+#include "ethernetif.h"
+
+#include <string.h>
+#include <lan8742.h>
+#include <stm32h7xx_hal.h>
+#include <lwip/netif.h>
+#include <lwip/opt.h>
+#include <lwip/timeouts.h>
+#include <netif/etharp.h>
+
+#ifdef FSFW_OSAL_RTEMS
+#include <rtems.h>
+#endif
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+/* Network interface name */
+#define IFNAME0 's'
+#define IFNAME1 't'
+
+#define DMA_DESCRIPTOR_ALIGNMENT 0x20
+
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+/* 
+@Note: This interface is implemented to operate in zero-copy mode only:
+        - Rx buffers are allocated statically and passed directly to the LwIP stack
+          they will return back to DMA after been processed by the stack.
+        - Tx Buffers will be allocated from LwIP stack memory heap, 
+          then passed to ETH HAL driver.
+
+@Notes: 
+  1.a. ETH DMA Rx descriptors must be contiguous, the default count is 4, 
+       to customize it please redefine ETH_RX_DESC_CNT in stm32xxxx_hal_conf.h
+  1.b. ETH DMA Tx descriptors must be contiguous, the default count is 4, 
+       to customize it please redefine ETH_TX_DESC_CNT in stm32xxxx_hal_conf.h
+
+  2.a. Rx Buffers number must be between ETH_RX_DESC_CNT and 2*ETH_RX_DESC_CNT
+  2.b. Rx Buffers must have the same size: ETH_RX_BUFFER_SIZE, this value must
+       passed to ETH DMA in the init field (EthHandle.Init.RxBuffLen)
+*/
+
+#if defined ( __ICCARM__ ) /*!< IAR Compiler */
+
+#pragma location=0x30040000
+ETH_DMADescTypeDef  DMARxDscrTab[ETH_RX_DESC_CNT]; /* Ethernet Rx DMA Descriptors */
+#pragma location=0x30040060
+ETH_DMADescTypeDef  DMATxDscrTab[ETH_TX_DESC_CNT]; /* Ethernet Tx DMA Descriptors */
+#pragma location=0x30040200
+uint8_t Rx_Buff[ETH_RX_DESC_CNT][ETH_RX_BUFFER_SIZE]; /* Ethernet Receive Buffers */
+
+#elif defined ( __CC_ARM )  /* MDK ARM Compiler */
+
+__attribute__((section(".RxDecripSection"))) ETH_DMADescTypeDef  DMARxDscrTab[ETH_RX_DESC_CNT]; /* Ethernet Rx DMA Descriptors */
+__attribute__((section(".TxDecripSection"))) ETH_DMADescTypeDef  DMATxDscrTab[ETH_TX_DESC_CNT]; /* Ethernet Tx DMA Descriptors */
+__attribute__((section(".RxArraySection"))) uint8_t Rx_Buff[ETH_RX_DESC_CNT][ETH_RX_BUFFER_SIZE]; /* Ethernet Receive Buffer */
+
+#elif defined ( __GNUC__ ) /* GNU Compiler */ 
+
+#ifdef FSFW_OSAL_RTEMS
+/* Put into special RTEMS section and align correctly */
+ETH_DMADescTypeDef DMARxDscrTab[ETH_RX_DESC_CNT] __attribute__((section(".bsp_nocache"), __aligned__(DMA_DESCRIPTOR_ALIGNMENT))); /* Ethernet Rx DMA Descriptors */
+/* Put into special RTEMS section and align correctly */
+ETH_DMADescTypeDef DMATxDscrTab[ETH_TX_DESC_CNT]  __attribute__((section(".bsp_nocache"), __aligned__(DMA_DESCRIPTOR_ALIGNMENT)));  /* Ethernet Tx DMA Descriptors */
+/* Ethernet Receive Buffers. Just place somewhere is BSS instead of explicitely placing it */
+uint8_t Rx_Buff[ETH_RX_DESC_CNT][ETH_RX_BUFFER_SIZE];
+#elif defined FSFW_OSAL_FREERTOS
+/* Placement and alignment specified in linker script here */
+ETH_DMADescTypeDef DMARxDscrTab[ETH_RX_DESC_CNT] __attribute__((section(".RxDecripSection"))); /* Ethernet Rx DMA Descriptors */
+ETH_DMADescTypeDef DMATxDscrTab[ETH_TX_DESC_CNT] __attribute__((section(".TxDecripSection")));   /* Ethernet Tx DMA Descriptors */
+uint8_t Rx_Buff[ETH_RX_DESC_CNT][ETH_RX_BUFFER_SIZE] __attribute__((section(".RxArraySection"))); /* Ethernet Receive Buffers */
+#endif /* FSFW_FREERTOS */
+
+#endif /* defined ( __GNUC__ ) */
+
+/* Global boolean to track ethernet connection */
+bool ethernet_cable_connected;
+
+struct pbuf_custom rx_pbuf[ETH_RX_DESC_CNT];
+uint32_t current_pbuf_idx =0;
+
+ETH_HandleTypeDef EthHandle;
+ETH_TxPacketConfig TxConfig; 
+
+lan8742_Object_t LAN8742;
+
+/* Private function prototypes -----------------------------------------------*/
+u32_t sys_now(void);
+void pbuf_free_custom(struct pbuf *p);
+
+int32_t ETH_PHY_IO_Init(void);
+int32_t ETH_PHY_IO_DeInit (void);
+int32_t ETH_PHY_IO_ReadReg(uint32_t DevAddr, uint32_t RegAddr, uint32_t *pRegVal);
+int32_t ETH_PHY_IO_WriteReg(uint32_t DevAddr, uint32_t RegAddr, uint32_t RegVal);
+int32_t ETH_PHY_IO_GetTick(void);
+
+
+lan8742_IOCtx_t  LAN8742_IOCtx = {ETH_PHY_IO_Init,
+                               ETH_PHY_IO_DeInit,
+                               ETH_PHY_IO_WriteReg,
+                               ETH_PHY_IO_ReadReg,
+                               ETH_PHY_IO_GetTick};
+/* Private functions ---------------------------------------------------------*/
+/*******************************************************************************
+                       LL Driver Interface ( LwIP stack --> ETH) 
+*******************************************************************************/
+/**
+  * @brief In this function, the hardware should be initialized.
+  * Called from ethernetif_init().
+  *
+  * @param netif the already initialized lwip network interface structure
+  *        for this ethernetif
+  */
+static void low_level_init(struct netif *netif)
+{
+  uint32_t idx = 0;
+  uint8_t macaddress[6]= {ETH_MAC_ADDR0, ETH_MAC_ADDR1, ETH_MAC_ADDR2, ETH_MAC_ADDR3, ETH_MAC_ADDR4, ETH_MAC_ADDR5};
+  
+  EthHandle.Instance = ETH;  
+  EthHandle.Init.MACAddr = macaddress;
+  EthHandle.Init.MediaInterface = HAL_ETH_RMII_MODE;
+  EthHandle.Init.RxDesc = DMARxDscrTab;
+  EthHandle.Init.TxDesc = DMATxDscrTab;
+  EthHandle.Init.RxBuffLen = ETH_RX_BUFFER_SIZE;
+  
+  /* configure ethernet peripheral (GPIOs, clocks, MAC, DMA) */
+  HAL_ETH_Init(&EthHandle);
+
+  /* set MAC hardware address length */
+  netif->hwaddr_len = ETHARP_HWADDR_LEN;
+  
+  /* set MAC hardware address */
+  netif->hwaddr[0] =  0x02;
+  netif->hwaddr[1] =  0x00;
+  netif->hwaddr[2] =  0x00;
+  netif->hwaddr[3] =  0x00;
+  netif->hwaddr[4] =  0x00;
+  netif->hwaddr[5] =  0x00;
+  
+  /* maximum transfer unit */
+  netif->mtu = ETH_MAX_PAYLOAD;
+  
+  /* device capabilities */
+  /* don't set NETIF_FLAG_ETHARP if this device is not an ethernet one */
+  netif->flags |= NETIF_FLAG_BROADCAST | NETIF_FLAG_ETHARP;
+  
+  for(idx = 0; idx < ETH_RX_DESC_CNT; idx ++)
+  {
+    HAL_ETH_DescAssignMemory(&EthHandle, idx, Rx_Buff[idx], NULL);
+    
+    /* Set Custom pbuf free function */
+    rx_pbuf[idx].custom_free_function = pbuf_free_custom;
+  }
+  
+  /* Set Tx packet config common parameters */
+  memset(&TxConfig, 0 , sizeof(ETH_TxPacketConfig));
+  TxConfig.Attributes = ETH_TX_PACKETS_FEATURES_CSUM | ETH_TX_PACKETS_FEATURES_CRCPAD;
+  TxConfig.ChecksumCtrl = ETH_CHECKSUM_IPHDR_PAYLOAD_INSERT_PHDR_CALC;
+  TxConfig.CRCPadCtrl = ETH_CRC_PAD_INSERT;
+
+  /* Set PHY IO functions */
+  LAN8742_RegisterBusIO(&LAN8742, &LAN8742_IOCtx);
+
+  /* Initialize the LAN8742 ETH PHY */
+  LAN8742_Init(&LAN8742);
+
+  ethernet_link_check_state(netif);
+
+}
+
+/**
+  * @brief This function should do the actual transmission of the packet. The packet is
+  * contained in the pbuf that is passed to the function. This pbuf
+  * might be chained.
+  *
+  * @param netif the lwip network interface structure for this ethernetif
+  * @param p the MAC packet to send (e.g. IP packet including MAC addresses and type)
+  * @return ERR_OK if the packet could be sent
+  *         an err_t value if the packet couldn't be sent
+  *
+  * @note Returning ERR_MEM here if a DMA queue of your MAC is full can lead to
+  *       strange results. You might consider waiting for space in the DMA queue
+  *       to become availale since the stack doesn't retry to send a packet
+  *       dropped because of memory failure (except for the TCP timers).
+  */
+static err_t low_level_output(struct netif *netif, struct pbuf *p)
+{
+  uint32_t i=0, framelen = 0;
+  struct pbuf *q;
+  err_t errval = ERR_OK;
+  ETH_BufferTypeDef Txbuffer[ETH_TX_DESC_CNT];
+  
+  for(q = p; q != NULL; q = q->next)
+  {
+    if(i >= ETH_TX_DESC_CNT)	
+      return ERR_IF;
+    
+    Txbuffer[i].buffer = q->payload;
+    Txbuffer[i].len = q->len;
+    framelen += q->len;
+    
+    if(i>0)
+    {
+      Txbuffer[i-1].next = &Txbuffer[i];
+    }
+    
+    if(q->next == NULL)
+    {
+      Txbuffer[i].next = NULL;
+    }
+
+    i++;
+  }
+
+  TxConfig.Length = framelen;
+  TxConfig.TxBuffer = Txbuffer;
+
+  HAL_StatusTypeDef ret = HAL_ETH_Transmit(&EthHandle, &TxConfig, 20);
+
+  if(ret != HAL_OK) {
+	  printf("low_level_output: Could not transmit ethernet packet, code %d!\n\r", ret);
+  }
+  
+  return errval;
+}
+
+/**
+  * @brief Should allocate a pbuf and transfer the bytes of the incoming
+  * packet from the interface into the pbuf.
+  *
+  * @param netif the lwip network interface structure for this ethernetif
+  * @return a pbuf filled with the received packet (including MAC header)
+  *         NULL on memory error
+  */
+static struct pbuf * low_level_input(struct netif *netif)
+{
+  struct pbuf *p = NULL;
+  ETH_BufferTypeDef RxBuff;
+  uint32_t framelength = 0;
+
+  if (HAL_ETH_IsRxDataAvailable(&EthHandle))
+  {
+    HAL_ETH_GetRxDataBuffer(&EthHandle, &RxBuff);
+    HAL_ETH_GetRxDataLength(&EthHandle, &framelength);
+    
+    /* Invalidate data cache for ETH Rx Buffers */
+    SCB_InvalidateDCache_by_Addr((uint32_t *)Rx_Buff, (ETH_RX_DESC_CNT*ETH_RX_BUFFER_SIZE));
+    
+    p = pbuf_alloced_custom(PBUF_RAW, framelength, PBUF_POOL, &rx_pbuf[current_pbuf_idx], RxBuff.buffer, ETH_RX_BUFFER_SIZE);
+    if(current_pbuf_idx < (ETH_RX_DESC_CNT -1))
+    {
+      current_pbuf_idx++;
+    }
+    else
+    {
+      current_pbuf_idx = 0;
+    }
+
+    return p;
+  }
+  else
+  {
+    return NULL;
+  }
+}
+
+/**
+  * @brief This function is the ethernetif_input task, it is processed when a packet 
+  * is ready to be read from the interface. It uses the function low_level_input() 
+  * that should handle the actual reception of bytes from the network
+  * interface. Then the type of the received packet is determined and
+  * the appropriate input function is called.
+  *
+  * @param netif the lwip network interface structure for this ethernetif
+  */
+void ethernetif_input(struct netif *netif)
+{
+  err_t err;
+  struct pbuf *p;
+  
+  /* move received packet into a new pbuf */
+  p = low_level_input(netif);
+
+  /* no packet could be read, silently ignore this */
+  if (p == NULL) return;
+
+  /* entry point to the LwIP stack */
+  err = netif->input(p, netif);
+
+  if (err != ERR_OK)
+  {
+    LWIP_DEBUGF(NETIF_DEBUG, ("ethernetif_input: IP input error\n"));
+    pbuf_free(p);
+    p = NULL;
+  }
+
+  HAL_ETH_BuildRxDescriptors(&EthHandle);
+}
+
+/**
+  * @brief Should be called at the beginning of the program to set up the
+  * network interface. It calls the function low_level_init() to do the
+  * actual setup of the hardware.
+  *
+  * This function should be passed as a parameter to netif_add().
+  *
+  * @param netif the lwip network interface structure for this ethernetif
+  * @return ERR_OK if the loopif is initialized
+  *         ERR_MEM if private data couldn't be allocated
+  *         any other err_t on error
+  */
+err_t ethernetif_init(struct netif *netif)
+{
+  LWIP_ASSERT("netif != NULL", (netif != NULL));
+
+#if LWIP_NETIF_HOSTNAME
+  /* Initialize interface hostname */
+  netif->hostname = "lwip";
+#endif /* LWIP_NETIF_HOSTNAME */
+
+  netif->name[0] = IFNAME0;
+  netif->name[1] = IFNAME1;
+  /* We directly use etharp_output() here to save a function call.
+   * You can instead declare your own function an call etharp_output()
+   * from it if you have to do some checks before sending (e.g. if link
+   * is available...) */
+  netif->output = etharp_output;
+  netif->linkoutput = low_level_output;
+
+  /* initialize the hardware */
+  low_level_init(netif);
+
+  return ERR_OK;
+}
+
+/**
+  * @brief  Custom Rx pbuf free callback
+  * @param  pbuf: pbuf to be freed
+  * @retval None
+  */
+void pbuf_free_custom(struct pbuf *p)
+{
+  if(p != NULL)
+  {
+    p->flags = 0;
+    p->next = NULL;
+    p->len = p->tot_len = 0;
+    p->ref = 0;
+    p->payload = NULL;
+  }
+}
+
+/**
+  * @brief  Returns the current time in milliseconds
+  *         when LWIP_TIMERS == 1 and NO_SYS == 1
+  * @param  None
+  * @retval Current Time value
+  */
+u32_t sys_now(void)
+{
+  return HAL_GetTick();
+}
+
+/*******************************************************************************
+                       Ethernet MSP Routines
+*******************************************************************************/
+/**
+  * @brief  Initializes the ETH MSP.
+  * @param  heth: ETH handle
+  * @retval None
+*/
+void HAL_ETH_MspInit(ETH_HandleTypeDef *heth)
+{
+  GPIO_InitTypeDef GPIO_InitStructure;
+  
+  /* Ethernett MSP init: RMII Mode */
+  
+  /* Enable GPIOs clocks */
+  __HAL_RCC_GPIOA_CLK_ENABLE();
+  __HAL_RCC_GPIOB_CLK_ENABLE();
+  __HAL_RCC_GPIOC_CLK_ENABLE();
+  __HAL_RCC_GPIOG_CLK_ENABLE();
+
+/* Ethernet pins configuration ************************************************/
+  /*
+        RMII_REF_CLK ----------------------> PA1
+        RMII_MDIO -------------------------> PA2
+        RMII_MDC --------------------------> PC1
+        RMII_MII_CRS_DV -------------------> PA7
+        RMII_MII_RXD0 ---------------------> PC4
+        RMII_MII_RXD1 ---------------------> PC5
+        RMII_MII_RXER ---------------------> PG2
+        RMII_MII_TX_EN --------------------> PG11
+        RMII_MII_TXD0 ---------------------> PG13
+        RMII_MII_TXD1 ---------------------> PB13
+  */
+
+  /* Configure PA1, PA2 and PA7 */
+  GPIO_InitStructure.Speed = GPIO_SPEED_FREQ_HIGH;
+  GPIO_InitStructure.Mode = GPIO_MODE_AF_PP;
+  GPIO_InitStructure.Pull = GPIO_NOPULL; 
+  GPIO_InitStructure.Alternate = GPIO_AF11_ETH;
+  GPIO_InitStructure.Pin = GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_7;
+  HAL_GPIO_Init(GPIOA, &GPIO_InitStructure);
+  
+  /* Configure PB13 */
+  GPIO_InitStructure.Pin = GPIO_PIN_13;
+  HAL_GPIO_Init(GPIOB, &GPIO_InitStructure);
+  
+  /* Configure PC1, PC4 and PC5 */
+  GPIO_InitStructure.Pin = GPIO_PIN_1 | GPIO_PIN_4 | GPIO_PIN_5;
+  HAL_GPIO_Init(GPIOC, &GPIO_InitStructure);
+
+  /* Configure PG2, PG11, PG13 and PG14 */
+  GPIO_InitStructure.Pin =  GPIO_PIN_2 | GPIO_PIN_11 | GPIO_PIN_13;
+  HAL_GPIO_Init(GPIOG, &GPIO_InitStructure);	
+  
+#if NO_SYS == 0
+  /* Enable the Ethernet global Interrupt */
+  HAL_NVIC_SetPriority(ETH_IRQn, 0x7, 0);
+  HAL_NVIC_EnableIRQ(ETH_IRQn);
+#endif
+  
+  /* Enable Ethernet clocks */
+  __HAL_RCC_ETH1MAC_CLK_ENABLE();
+  __HAL_RCC_ETH1TX_CLK_ENABLE();
+  __HAL_RCC_ETH1RX_CLK_ENABLE();
+}
+
+/*******************************************************************************
+                       PHI IO Functions
+*******************************************************************************/
+/**
+  * @brief  Initializes the MDIO interface GPIO and clocks.
+  * @param  None
+  * @retval 0 if OK, -1 if ERROR
+  */
+int32_t ETH_PHY_IO_Init(void)
+{  
+  /* We assume that MDIO GPIO configuration is already done
+     in the ETH_MspInit() else it should be done here 
+  */
+  
+  /* Configure the MDIO Clock */
+  HAL_ETH_SetMDIOClockRange(&EthHandle);
+  
+  return 0;
+}
+
+/**
+  * @brief  De-Initializes the MDIO interface .
+  * @param  None
+  * @retval 0 if OK, -1 if ERROR
+  */
+int32_t ETH_PHY_IO_DeInit (void)
+{
+  return 0;
+}
+
+/**
+  * @brief  Read a PHY register through the MDIO interface.
+  * @param  DevAddr: PHY port address
+  * @param  RegAddr: PHY register address
+  * @param  pRegVal: pointer to hold the register value 
+  * @retval 0 if OK -1 if Error
+  */
+int32_t ETH_PHY_IO_ReadReg(uint32_t DevAddr, uint32_t RegAddr, uint32_t *pRegVal)
+{
+  if(HAL_ETH_ReadPHYRegister(&EthHandle, DevAddr, RegAddr, pRegVal) != HAL_OK)
+  {
+    return -1;
+  }
+  
+  return 0;
+}
+
+/**
+  * @brief  Write a value to a PHY register through the MDIO interface.
+  * @param  DevAddr: PHY port address
+  * @param  RegAddr: PHY register address
+  * @param  RegVal: Value to be written 
+  * @retval 0 if OK -1 if Error
+  */
+int32_t ETH_PHY_IO_WriteReg(uint32_t DevAddr, uint32_t RegAddr, uint32_t RegVal)
+{
+  if(HAL_ETH_WritePHYRegister(&EthHandle, DevAddr, RegAddr, RegVal) != HAL_OK)
+  {
+    return -1;
+  }
+  
+  return 0;
+}
+
+/**
+  * @brief  Get the time in millisecons used for internal PHY driver process.
+  * @retval Time value
+  */
+int32_t ETH_PHY_IO_GetTick(void)
+{
+  return HAL_GetTick();
+}
+
+/**
+  * @brief
+  * @retval None
+  */
+void ethernet_link_check_state(struct netif *netif)
+{
+  ETH_MACConfigTypeDef MACConf;
+  uint32_t PHYLinkState;
+  uint32_t linkchanged = 0, speed = 0, duplex =0;
+  
+  PHYLinkState = LAN8742_GetLinkState(&LAN8742);
+
+  if(netif_is_link_up(netif) && (PHYLinkState <= LAN8742_STATUS_LINK_DOWN))
+  {
+    HAL_ETH_Stop(&EthHandle);
+    netif_set_down(netif);
+    netif_set_link_down(netif);
+  }
+  else if(!netif_is_link_up(netif) && (PHYLinkState > LAN8742_STATUS_LINK_DOWN))
+  {
+    switch (PHYLinkState)
+    {
+    case LAN8742_STATUS_100MBITS_FULLDUPLEX:
+      duplex = ETH_FULLDUPLEX_MODE;
+      speed = ETH_SPEED_100M;
+      linkchanged = 1;
+      break;
+    case LAN8742_STATUS_100MBITS_HALFDUPLEX:
+      duplex = ETH_HALFDUPLEX_MODE;
+      speed = ETH_SPEED_100M;
+      linkchanged = 1;
+      break;
+    case LAN8742_STATUS_10MBITS_FULLDUPLEX:
+      duplex = ETH_FULLDUPLEX_MODE;
+      speed = ETH_SPEED_10M;
+      linkchanged = 1;
+      break;
+    case LAN8742_STATUS_10MBITS_HALFDUPLEX:
+      duplex = ETH_HALFDUPLEX_MODE;
+      speed = ETH_SPEED_10M;
+      linkchanged = 1;
+      break;
+    default:
+      break;
+    }
+
+    if(linkchanged)
+    {
+      /* Get MAC Config MAC */
+      HAL_ETH_GetMACConfig(&EthHandle, &MACConf);
+      MACConf.DuplexMode = duplex;
+      MACConf.Speed = speed;
+      HAL_ETH_SetMACConfig(&EthHandle, &MACConf);
+      HAL_ETH_Start(&EthHandle);
+      netif_set_up(netif);
+      netif_set_link_up(netif);
+    }
+  }
+}
+
+ETH_HandleTypeDef* getEthernetHandle() {
+	return &EthHandle;
+}
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

stm32h7/networking/ethernetif.h

@@ -0,0 +1,75 @@
+/**
+  ******************************************************************************
+  * @file    LwIP/LwIP_HTTP_Server_Netconn_RTOS/Inc/ethernetif.h 
+  * @author  MCD Application Team
+  * @brief   Header for ethernetif.c module
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; Copyright (c) 2017 STMicroelectronics International N.V.
+  * All rights reserved.</center></h2>
+  *
+  * Redistribution and use in source and binary forms, with or without
+  * modification, are permitted, provided that the following conditions are met:
+  *
+  * 1. Redistribution of source code must retain the above copyright notice,
+  *    this list of conditions and the following disclaimer.
+  * 2. Redistributions in binary form must reproduce the above copyright notice,
+  *    this list of conditions and the following disclaimer in the documentation
+  *    and/or other materials provided with the distribution.
+  * 3. Neither the name of STMicroelectronics nor the names of other
+  *    contributors to this software may be used to endorse or promote products
+  *    derived from this software without specific written permission.
+  * 4. This software, including modifications and/or derivative works of this
+  *    software, must execute solely and exclusively on microcontroller or
+  *    microprocessor devices manufactured by or for STMicroelectronics.
+  * 5. Redistribution and use of this software other than as permitted under
+  *    this license is void and will automatically terminate your rights under
+  *    this license.
+  *
+  * THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
+  * AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
+  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+  * PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
+  * RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
+  * SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+  * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
+  * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+  * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+  * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
+  * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+  *
+  ******************************************************************************
+  */
+
+#ifndef __ETHERNETIF_H__
+#define __ETHERNETIF_H__
+
+#include "lwip/err.h"
+#include "lwip/netif.h"
+#include <stm32h7xx_hal.h>
+#include <stdbool.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define ETH_RX_BUFFER_SIZE                     (1536UL)
+
+/* Exported types ------------------------------------------------------------*/
+
+ETH_HandleTypeDef* getEthernetHandle();
+err_t ethernetif_init(struct netif *netif);
+void ethernetif_input(struct netif *netif);
+void ethernet_link_check_state(struct netif *netif);
+
+extern ETH_DMADescTypeDef DMARxDscrTab[ETH_RX_DESC_CNT];
+extern ETH_DMADescTypeDef DMATxDscrTab[ETH_TX_DESC_CNT];
+extern uint8_t Rx_Buff[ETH_RX_DESC_CNT][ETH_RX_BUFFER_SIZE];
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __ETHERNETIF_H__ */

stm32h7/networking/networking.cpp

@@ -0,0 +1,19 @@
+#include "udp_config.h"
+#include "networking.h"
+
+bool ethernetCableConnected = false;
+
+void networking::setEthCableConnected(bool status) {
+    ethernetCableConnected = status;
+}
+
+bool networking::getEthCableConnected() {
+    return ethernetCableConnected;
+}
+
+void networking::setLwipAddresses(ip_addr_t* ipaddr, ip_addr_t* netmask, ip_addr_t* gw) {
+    IP4_ADDR(ipaddr, IP_ADDR0, IP_ADDR1, IP_ADDR2, IP_ADDR3);
+    IP4_ADDR(netmask, NETMASK_ADDR0, NETMASK_ADDR1 ,
+            NETMASK_ADDR2, NETMASK_ADDR3);
+    IP4_ADDR(gw, GW_ADDR0, GW_ADDR1, GW_ADDR2, GW_ADDR3);
+}

stm32h7/networking/networking.h

@@ -0,0 +1,14 @@
+#ifndef BSP_STM32H7_RTEMS_NETWORKING_NETWORKING_H_
+#define BSP_STM32H7_RTEMS_NETWORKING_NETWORKING_H_
+
+#include <lwip/netif.h>
+
+namespace networking {
+
+void setEthCableConnected(bool status);
+bool getEthCableConnected();
+void setLwipAddresses(ip_addr_t* ipaddr, ip_addr_t* netmask, ip_addr_t* gw);
+
+}
+
+#endif /* BSP_STM32H7_RTEMS_NETWORKING_NETWORKING_H_ */

stm32h7/networking/udp_config.h

@@ -0,0 +1,39 @@
+#ifndef COMMON_STM32_NUCLEO_NETWORKING_UDP_CONFIG_H_
+#define COMMON_STM32_NUCLEO_NETWORKING_UDP_CONFIG_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* UDP local connection port. Client needs to bind to this port */
+#define UDP_SERVER_PORT    7
+
+/*Static DEST IP ADDRESS: DEST_IP_ADDR0.DEST_IP_ADDR1.DEST_IP_ADDR2.DEST_IP_ADDR3 */
+#define DEST_IP_ADDR0   ((uint8_t)169U)
+#define DEST_IP_ADDR1   ((uint8_t)254U)
+#define DEST_IP_ADDR2   ((uint8_t)39U)
+#define DEST_IP_ADDR3   ((uint8_t)2U)
+
+/*Static IP ADDRESS*/
+#define IP_ADDR0   169
+#define IP_ADDR1   254
+#define IP_ADDR2   1
+#define IP_ADDR3   38
+
+/*NETMASK*/
+#define NETMASK_ADDR0   255
+#define NETMASK_ADDR1   255
+#define NETMASK_ADDR2   0
+#define NETMASK_ADDR3   0
+
+/*Gateway Address*/
+#define GW_ADDR0   192
+#define GW_ADDR1   168
+#define GW_ADDR2   178
+#define GW_ADDR3   1
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* COMMON_STM32_NUCLEO_NETWORKING_UDP_CONFIG_H_ */