set def destination and remove info printoutt

CMakeLists.txt

@@ -1,10 +1,8 @@
 add_subdirectory(config)
 add_subdirectory(example)
 
-target_include_directories(${TARGET_NAME} PRIVATE
+target_include_directories(${TARGET_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})
-    ${CMAKE_CURRENT_SOURCE_DIR}
-)
 
 if(TGT_BSP MATCHES "arm/stm32h743zi-nucleo")
-    add_subdirectory(stm32h7)
+  add_subdirectory(stm32h7)
 endif()

cmake/BuildType.cmake

@@ -0,0 +1,45 @@
+function(set_build_type)
+
+message(STATUS "Used build generator: ${CMAKE_GENERATOR}")
+
+# Set a default build type if none was specified
+set(DEFAULT_BUILD_TYPE "RelWithDebInfo")
+if(EXISTS "${CMAKE_SOURCE_DIR}/.git")
+	set(DEFAULT_BUILD_TYPE "Debug")
+endif()
+
+if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
+	message(STATUS 
+		"Setting build type to '${DEFAULT_BUILD_TYPE}' as none was specified."
+	)
+	set(CMAKE_BUILD_TYPE "${DEFAULT_BUILD_TYPE}" CACHE
+		STRING "Choose the type of build." FORCE
+	)
+	# Set the possible values of build type for cmake-gui
+	set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS
+		"Debug" "Release" "MinSizeRel" "RelWithDebInfo"
+	)
+endif()
+
+if(${CMAKE_BUILD_TYPE} MATCHES "Debug")
+	message(STATUS 
+		"Building Debug application with flags: ${CMAKE_C_FLAGS_DEBUG}"
+	)
+elseif(${CMAKE_BUILD_TYPE} MATCHES "RelWithDebInfo")
+	message(STATUS 
+		"Building Release (Debug) application with "
+		"flags: ${CMAKE_C_FLAGS_RELWITHDEBINFO}"
+	)
+elseif(${CMAKE_BUILD_TYPE} MATCHES "MinSizeRel")
+	message(STATUS 
+		"Building Release (Size) application with "
+		"flags: ${CMAKE_C_FLAGS_MINSIZEREL}"
+	)
+else()
+	message(STATUS 
+		"Building Release (Speed) application with "
+		"flags: ${CMAKE_C_FLAGS_RELEASE}"
+	)
+endif()
+
+endfunction()

cmake/common.cmake

@@ -0,0 +1,42 @@
+function(get_common_build_flags TGT_NAME)
+  if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+      set(COMMON_COMPILE_OPTS
+        -ffunction-sections
+        -fdata-sections
+        PARENT_SCOPE)
+      set(COMMON_LINK_OPTS
+        -Wl,--gc-sections
+        -Wl,-Map=${TARGET_NAME}.map
+        PARENT_SCOPE)
+      set(COMMON_WARNING_FLAGS
+        -Wall
+        -Wextra
+        -Wimplicit-fallthrough=1
+        -Wno-unused-parameter
+        -Wno-psabi
+        -Wduplicated-cond # check for duplicate conditions
+        -Wduplicated-branches # check for duplicate branches
+        -Wlogical-op # Search for bitwise operations instead of logical
+        -Wnull-dereference # Search for NULL dereference
+        -Wundef # Warn if undefind marcos are used
+        -Wformat=2 # Format string problem detection
+        -Wformat-overflow=2 # Formatting issues in printf
+        -Wformat-truncation=2 # Formatting issues in printf
+        -Wformat-security # Search for dangerous printf operations
+        -Wstrict-overflow=3 # Warn if integer overflows might happen
+        -Warray-bounds=2 # Some array bounds violations will be found
+        -Wshift-overflow=2 # Search for bit left shift overflows (<c++14)
+        -Wcast-qual # Warn if the constness is cast away
+        -Wstringop-overflow=4
+        # -Wstack-protector # Emits a few false positives for low level access
+        # -Wconversion # Creates many false positives -Warith-conversion # Use
+        # with Wconversion to find more implicit conversions -fanalyzer # Should
+        # be used to look through problems
+        PARENT_SCOPE)
+  elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
+    add_compile_options(/permissive- /d2SSAOptimizer-)
+    # To avoid nameclashes with min and max macro
+    add_compile_definitions(NOMINMAX)
+  endif()
+
+endfunction()

config/CMakeLists.txt

@@ -1,7 +1,3 @@
-target_sources(${TARGET_NAME} PRIVATE
+target_sources(${TARGET_NAME} PRIVATE commonPollingSequenceFactory.cpp)
-    commonPollingSequenceFactory.cpp
-)
 
-target_include_directories(${TARGET_NAME} PRIVATE
+target_include_directories(${TARGET_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})
-    ${CMAKE_CURRENT_SOURCE_DIR}
-)

config/OBSWVersion.h

@@ -2,7 +2,7 @@
 #define COMMON_OBSWVERSION_H_
 
 #define FSFW_EXAMPLE_VERSION 1
-#define FSFW_EXAMPLE_SUBVERSION 4
+#define FSFW_EXAMPLE_SUBVERSION 5
 #define FSFW_EXAMPLE_REVISION 0
 
 #endif /* COMMON_OBSWVERSION_H_ */

config/common/definitions.h

@@ -0,0 +1,34 @@
+#pragma once
+
+#include <cstdint>
+
+/**
+ * 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_11 = 11,
+  PUS_SERVICE_17 = 17,
+  PUS_SERVICE_20 = 20,
+  PUS_SERVICE_200 = 200
+};
+}
+
+namespace common {
+
+/**
+ *  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 constexpr uint16_t COMMON_PUS_APID = 0xEF;
+static constexpr uint16_t COMMON_CFDP_APID = 0xF0;
+static constexpr uint16_t COMMON_CFDP_CLIENT_ENTITY_ID = 0x01;
+
+}  // namespace common

config/commonConfig.h.in

@@ -4,11 +4,13 @@
 #ifndef COMMON_COMMONCONFIG_H_
 #define COMMON_COMMONCONFIG_H_
 
-#include <stdint.h>
+#include <cstdint>
+
+#cmakedefine01 FSFW_ADD_FMT_TESTS
 
 //! Specify the debug output verbose level
 #define OBSW_VERBOSE_LEVEL              1
-
+#define OBSW_TCPIP_UDP_WIRETAPPING      0
 #define OBSW_PRINT_MISSED_DEADLINES     0
 
 //! Perform internal unit testd at application startup
@@ -16,6 +18,7 @@
 
 //! Add core components for the FSFW and for TMTC communication
 #define OBSW_ADD_CORE_COMPONENTS        1
+#define OBSW_ADD_CFDP_COMPONENTS        1
 
 //! Add the PUS service stack
 #define OBSW_ADD_PUS_STACK              1
@@ -33,35 +36,8 @@
 #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/commonObjects.h

@@ -25,6 +25,10 @@ enum commonObjects : object_id_t {
   CCSDS_DISTRIBUTOR = 0x63000000,
   PUS_DISTRIBUTOR = 0x63000001,
   TM_FUNNEL = 0x63000002,
+  CFDP_DISTRIBUTOR = 0x63000003,
+  CFDP_HANDLER = 0x63000004,
+  PUS_TM_FUNNEL = 0x63000005,
+  CFDP_TM_FUNNEL = 0x64000006,
 
   /* 0x74 ('t') for test and example objects  */
   TEST_TASK = 0x7400CAFE,

config/commonPollingSequenceFactory.cpp

@@ -1,12 +1,11 @@
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
 #include <fsfw/tasks/FixedTimeslotTaskIF.h>
 
 #include "example/test/FsfwExampleTask.h"
 #include "objects/systemObjectList.h"
 #include "pollingsequence/pollingSequenceFactory.h"
 
-ReturnValue_t pst::pollingSequenceExamples(FixedTimeslotTaskIF* thisSequence) {
+ReturnValue_t pst::pollingSequenceExamples(FixedTimeslotTaskIF *thisSequence) {
   uint32_t length = thisSequence->getPeriodMs();
 
   thisSequence->addSlot(objects::TEST_DUMMY_1, length * 0, FsfwExampleTask::OpCodes::SEND_RAND_NUM);
@@ -24,19 +23,19 @@ ReturnValue_t pst::pollingSequenceExamples(FixedTimeslotTaskIF* thisSequence) {
   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) {
+  if (thisSequence->checkSequence() == returnvalue::OK) {
-    return HasReturnvaluesIF::RETURN_OK;
+    return returnvalue::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;
+    return returnvalue::OK;
   }
 }
 
-ReturnValue_t pst::pollingSequenceDevices(FixedTimeslotTaskIF* thisSequence) {
+ReturnValue_t pst::pollingSequenceDevices(FixedTimeslotTaskIF *thisSequence) {
   uint32_t length = thisSequence->getPeriodMs();
 
   thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_0, 0, DeviceHandlerIF::PERFORM_OPERATION);
@@ -54,14 +53,14 @@ ReturnValue_t pst::pollingSequenceDevices(FixedTimeslotTaskIF* thisSequence) {
   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) {
+  if (thisSequence->checkSequence() == returnvalue::OK) {
-    return HasReturnvaluesIF::RETURN_OK;
+    return returnvalue::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;
+    return returnvalue::OK;
   }
 }

example/CMakeLists.txt

@@ -3,3 +3,4 @@ add_subdirectory(core)
 add_subdirectory(devices)
 add_subdirectory(test)
 add_subdirectory(utility)
+add_subdirectory(cfdp)

example/cfdp/CMakeLists.txt

@@ -0,0 +1 @@
+

example/cfdp/Config.h

@@ -0,0 +1,59 @@
+#ifndef FSFW_EXAMPLE_HOSTED_CONFIG_H
+#define FSFW_EXAMPLE_HOSTED_CONFIG_H
+
+#include "fsfw/cfdp.h"
+
+namespace cfdp {
+
+extern PacketInfoListBase* PACKET_LIST_PTR;
+extern LostSegmentsListBase* LOST_SEGMENTS_PTR;
+
+class ExampleUserHandler : public UserBase {
+ public:
+  explicit ExampleUserHandler(HasFileSystemIF& vfs) : cfdp::UserBase(vfs) {}
+
+  void transactionIndication(const cfdp::TransactionId& id) override {}
+  void eofSentIndication(const cfdp::TransactionId& id) override {}
+  void transactionFinishedIndication(const cfdp::TransactionFinishedParams& params) override {
+    sif::info << "File transaction finished for transaction with " << params.id << std::endl;
+  }
+  void metadataRecvdIndication(const cfdp::MetadataRecvdParams& params) override {
+    sif::info << "Metadata received for transaction with " << params.id << std::endl;
+  }
+  void fileSegmentRecvdIndication(const cfdp::FileSegmentRecvdParams& params) override {}
+  void reportIndication(const cfdp::TransactionId& id, cfdp::StatusReportIF& report) override {}
+  void suspendedIndication(const cfdp::TransactionId& id, cfdp::ConditionCode code) override {}
+  void resumedIndication(const cfdp::TransactionId& id, size_t progress) override {}
+  void faultIndication(const cfdp::TransactionId& id, cfdp::ConditionCode code,
+                       size_t progress) override {}
+  void abandonedIndication(const cfdp::TransactionId& id, cfdp::ConditionCode code,
+                           size_t progress) override {}
+  void eofRecvIndication(const cfdp::TransactionId& id) override {
+    sif::info << "EOF PDU received for transaction with " << id << std::endl;
+  }
+};
+
+class ExampleFaultHandler : public cfdp::FaultHandlerBase {
+ public:
+  void noticeOfSuspensionCb(cfdp::TransactionId& id, cfdp::ConditionCode code) override {
+    sif::warning << "Notice of suspension detected for transaction " << id
+                 << " with condition code: " << cfdp::getConditionCodeString(code) << std::endl;
+  }
+  void noticeOfCancellationCb(cfdp::TransactionId& id, cfdp::ConditionCode code) override {
+    sif::warning << "Notice of suspension detected for transaction " << id
+                 << " with condition code: " << cfdp::getConditionCodeString(code) << std::endl;
+  }
+  void abandonCb(cfdp::TransactionId& id, cfdp::ConditionCode code) override {
+    sif::warning << "Transaction " << id
+                 << " was abandoned, condition code : " << cfdp::getConditionCodeString(code)
+                 << std::endl;
+  }
+  void ignoreCb(cfdp::TransactionId& id, cfdp::ConditionCode code) override {
+    sif::warning << "Fault ignored for transaction " << id
+                 << ", condition code: " << cfdp::getConditionCodeString(code) << std::endl;
+  }
+};
+
+}  // namespace cfdp
+
+#endif  // FSFW_EXAMPLE_HOSTED_CONFIG_H

example/controller/CMakeLists.txt

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

example/controller/FsfwTestController.cpp

@@ -10,15 +10,15 @@ FsfwTestController::FsfwTestController(object_id_t objectId, object_id_t device0
       deviceDataset0(device0),
       deviceDataset1(device1) {}
 
-FsfwTestController::~FsfwTestController() {}
+FsfwTestController::~FsfwTestController() = default;
 
-ReturnValue_t FsfwTestController::handleCommandMessage(CommandMessage* message) {
+ReturnValue_t FsfwTestController::handleCommandMessage(CommandMessage *message) {
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }
 
-ReturnValue_t FsfwTestController::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+ReturnValue_t FsfwTestController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
-                                                          LocalDataPoolManager& poolManager) {
+                                                          LocalDataPoolManager &poolManager) {
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }
 
 void FsfwTestController::performControlOperation() {
@@ -64,10 +64,10 @@ void FsfwTestController::performControlOperation() {
 ReturnValue_t FsfwTestController::initializeAfterTaskCreation() {
   namespace td = testdevice;
   ReturnValue_t result = TestController::initializeAfterTaskCreation();
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     return result;
   }
-  HasLocalDataPoolIF* device0 =
+  auto *device0 =
       ObjectManager::instance()->get<HasLocalDataPoolIF>(deviceDataset0.getCreatorObjectId());
   if (device0 == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -81,7 +81,7 @@ ReturnValue_t FsfwTestController::initializeAfterTaskCreation() {
 #endif
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
-  ProvidesDataPoolSubscriptionIF* subscriptionIF = device0->getSubscriptionInterface();
+  ProvidesDataPoolSubscriptionIF *subscriptionIF = device0->getSubscriptionInterface();
   if (subscriptionIF != nullptr) {
     /* For DEVICE_0, we only subscribe for notifications */
     subscriptionIF->subscribeForSetUpdateMessage(td::TEST_SET_ID, getObjectId(), getCommandQueue(),
@@ -90,7 +90,7 @@ ReturnValue_t FsfwTestController::initializeAfterTaskCreation() {
                                                       getCommandQueue(), false);
   }
 
-  HasLocalDataPoolIF* device1 =
+  auto *device1 =
       ObjectManager::instance()->get<HasLocalDataPoolIF>(deviceDataset0.getCreatorObjectId());
   if (device1 == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -115,20 +115,20 @@ ReturnValue_t FsfwTestController::initializeAfterTaskCreation() {
   return result;
 }
 
-LocalPoolDataSetBase* FsfwTestController::getDataSetHandle(sid_t sid) { return nullptr; }
+LocalPoolDataSetBase *FsfwTestController::getDataSetHandle(sid_t sid) { return nullptr; }
 
 ReturnValue_t FsfwTestController::checkModeCommand(Mode_t mode, Submode_t submode,
-                                                   uint32_t* msToReachTheMode) {
+                                                   uint32_t *msToReachTheMode) {
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }
 
 void FsfwTestController::handleChangedDataset(sid_t sid, store_address_t storeId,
-                                              bool* clearMessage) {
+                                              bool *clearMessage) {
   using namespace std;
 
   if (verboseLevel >= 1) {
-    char const* printout = nullptr;
+    char const *printout = nullptr;
-    if (storeId == storeId::INVALID_STORE_ADDRESS) {
+    if (storeId == store_address_t::invalid()) {
       printout = "Notification";
     } else {
       printout = "Snapshot";
@@ -146,7 +146,7 @@ void FsfwTestController::handleChangedDataset(sid_t sid, store_address_t storeId
         printout, sid.objectId, sid.ownerSetId);
 #endif
 
-    if (storeId == storeId::INVALID_STORE_ADDRESS) {
+    if (storeId == store_address_t::invalid()) {
       if (sid.objectId == device0Id) {
         PoolReadGuard readHelper(&deviceDataset0.testFloat3Vec);
         float floatVec[3];
@@ -173,12 +173,12 @@ void FsfwTestController::handleChangedDataset(sid_t sid, store_address_t storeId
 }
 
 void FsfwTestController::handleChangedPoolVariable(gp_id_t globPoolId, store_address_t storeId,
-                                                   bool* clearMessage) {
+                                                   bool *clearMessage) {
   using namespace std;
 
   if (verboseLevel >= 1) {
-    char const* printout = nullptr;
+    char const *printout = nullptr;
-    if (storeId == storeId::INVALID_STORE_ADDRESS) {
+    if (storeId == store_address_t::invalid()) {
       printout = "Notification";
     } else {
       printout = "Snapshot";
@@ -192,12 +192,13 @@ void FsfwTestController::handleChangedPoolVariable(gp_id_t globPoolId, store_add
               << globPoolId.localPoolId << dec << setfill(' ') << endl;
 #else
     sif::printInfo(
-        "TestController::handleChangedPoolVariable: %s update from object ID 0x%08x and "
+        "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 (storeId == store_address_t::invalid()) {
       if (globPoolId.objectId == device0Id) {
         PoolReadGuard readHelper(&deviceDataset0.testUint8Var);
 #if FSFW_CPP_OSTREAM_ENABLED == 1

example/controller/FsfwTestController.h

@@ -9,7 +9,7 @@ class FsfwTestController : public TestController {
   FsfwTestController(object_id_t objectId, object_id_t device0, object_id_t device1,
                      uint8_t verboseLevel = 0);
   virtual ~FsfwTestController();
-  ReturnValue_t handleCommandMessage(CommandMessage* message) override;
+  ReturnValue_t handleCommandMessage(CommandMessage *message) override;
 
   /**
    * Periodic helper from ControllerBase, implemented by child class.
@@ -31,14 +31,14 @@ class FsfwTestController : public TestController {
   TraceTypes currentTraceType = TraceTypes::NONE;
 
   ReturnValue_t initializeAfterTaskCreation() override;
-  void handleChangedDataset(sid_t sid, store_address_t storeId, bool* clearMessage) override;
+  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;
+                                 bool *clearMessage) override;
-  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
-                                        LocalDataPoolManager& poolManager) override;
+                                        LocalDataPoolManager &poolManager) override;
-  LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
+  LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
   ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-                                 uint32_t* msToReachTheMode) override;
+                                 uint32_t *msToReachTheMode) override;
 };
 
 #endif /* EXAMPLE_COMMON_EXAMPLE_CONTROLLER_FSFWTESTCONTROLLER_H_ */

example/core/CMakeLists.txt

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

example/core/GenericFactory.cpp

@@ -1,15 +1,22 @@
 #include "GenericFactory.h"
 
-#include "OBSWConfig.h"
+#include "common/definitions.h"
+#include "definitions.h"
+#include "example/cfdp/Config.h"
 #include "example/test/FsfwExampleTask.h"
 #include "example/test/FsfwReaderTask.h"
+#include "example/utility/CfdpTmFunnel.h"
 #include "example/utility/TmFunnel.h"
 #include "fsfw/FSFW.h"
+#include "fsfw/cfdp.h"
+#include "fsfw/cfdp/CfdpDistributor.h"
 #include "fsfw/devicehandlers/CookieIF.h"
 #include "fsfw/events/EventManager.h"
 #include "fsfw/health/HealthTable.h"
 #include "fsfw/internalerror/InternalErrorReporter.h"
+#include "fsfw/ipc/QueueFactory.h"
 #include "fsfw/pus/CService200ModeCommanding.h"
+#include "fsfw/pus/Service11TelecommandScheduling.h"
 #include "fsfw/pus/Service17Test.h"
 #include "fsfw/pus/Service1TelecommandVerification.h"
 #include "fsfw/pus/Service20ParameterManagement.h"
@@ -18,10 +25,11 @@
 #include "fsfw/pus/Service5EventReporting.h"
 #include "fsfw/pus/Service8FunctionManagement.h"
 #include "fsfw/pus/Service9TimeManagement.h"
-#include "fsfw/tcdistribution/CCSDSDistributor.h"
+#include "fsfw/tcdistribution/CcsdsDistributor.h"
-#include "fsfw/tcdistribution/PUSDistributor.h"
+#include "fsfw/tcdistribution/PusDistributor.h"
-#include "fsfw/timemanager/TimeStamper.h"
+#include "fsfw/timemanager/CdsShortTimeStamper.h"
-#include "fsfw/tmtcpacket/pus/tm.h"
+#include "fsfw/tmtcservices/VerificationReporter.h"
+#include "fsfw_hal/host/HostFilesystem.h"
 #include "fsfw_tests/integration/assemblies/TestAssembly.h"
 #include "fsfw_tests/integration/controller/TestController.h"
 #include "fsfw_tests/integration/devices/TestCookie.h"
@@ -29,37 +37,63 @@
 #include "fsfw_tests/integration/devices/TestEchoComIF.h"
 #include "fsfw_tests/internal/InternalUnitTester.h"
 #include "objects/systemObjectList.h"
-#include "tmtc/apid.h"
-#include "tmtc/pusIds.h"
 
-void ObjectFactory::produceGenericObjects() {
+#if OBSW_ADD_CFDP_COMPONENTS == 1
+namespace cfdp {
+EntityId REMOTE_CFDP_ID(cfdp::WidthInBytes::TWO_BYTES, common::COMMON_CFDP_CLIENT_ENTITY_ID);
+RemoteEntityCfg GROUND_REMOTE_CFG(REMOTE_CFDP_ID);
+OneRemoteConfigProvider REMOTE_CFG_PROVIDER(GROUND_REMOTE_CFG);
+HostFilesystem HOST_FS;
+ExampleUserHandler USER_HANDLER(HOST_FS);
+ExampleFaultHandler EXAMPLE_FAULT_HANDLER;
+}  // namespace cfdp
+#endif
+
+void ObjectFactory::produceGenericObjects(PusTmFunnel **pusFunnel,
+                                          const AcceptsTelemetryIF &tmtcBridge,
+                                          CcsdsDistributor **ccsdsDistrib,
+                                          StorageManagerIF &tcStore, StorageManagerIF &tmStore) {
 #if OBSW_ADD_CORE_COMPONENTS == 1
   /* Framework objects */
   new EventManager(objects::EVENT_MANAGER);
   new HealthTable(objects::HEALTH_TABLE);
   new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
-  new TimeStamper(objects::TIME_STAMPER);
+  auto *stamperAndReader = new CdsShortTimeStamper(objects::TIME_STAMPER);
-  new CCSDSDistributor(apid::APID, objects::CCSDS_DISTRIBUTOR);
+  new VerificationReporter();
-  new PUSDistributor(apid::APID, objects::PUS_DISTRIBUTOR, objects::CCSDS_DISTRIBUTOR);
+  *ccsdsDistrib =
-  new TmFunnel(objects::TM_FUNNEL);
+      new CcsdsDistributor(common::COMMON_PUS_APID, objects::CCSDS_DISTRIBUTOR, &tcStore);
+  new PusDistributor(common::COMMON_PUS_APID, objects::PUS_DISTRIBUTOR, *ccsdsDistrib);
+  *pusFunnel = new PusTmFunnel(objects::PUS_TM_FUNNEL, tmtcBridge, *stamperAndReader, tmStore);
+  auto *cfdpFunnel =
+      new CfdpTmFunnel(objects::CFDP_TM_FUNNEL, common::COMMON_CFDP_APID, tmtcBridge, tmStore);
+  new TmFunnel(objects::TM_FUNNEL, **pusFunnel, *cfdpFunnel);
 #endif /* OBSW_ADD_CORE_COMPONENTS == 1 */
 
   /* PUS stack */
 #if OBSW_ADD_PUS_STACK == 1
-  new Service1TelecommandVerification(objects::PUS_SERVICE_1_VERIFICATION, apid::APID,
+  new Service1TelecommandVerification(objects::PUS_SERVICE_1_VERIFICATION, common::COMMON_PUS_APID,
-                                      pus::PUS_SERVICE_1, objects::TM_FUNNEL, 5);
+                                      pus::PUS_SERVICE_1, objects::PUS_TM_FUNNEL, 5);
-  new Service2DeviceAccess(objects::PUS_SERVICE_2_DEVICE_ACCESS, apid::APID, pus::PUS_SERVICE_2, 3,
+  new Service2DeviceAccess(objects::PUS_SERVICE_2_DEVICE_ACCESS, common::COMMON_PUS_APID,
-                           10);
+                           pus::PUS_SERVICE_2, 3, 10);
-  new Service3Housekeeping(objects::PUS_SERVICE_3_HOUSEKEEPING, apid::APID, pus::PUS_SERVICE_3);
+  new Service3Housekeeping(objects::PUS_SERVICE_3_HOUSEKEEPING, common::COMMON_PUS_APID,
-  new Service5EventReporting(objects::PUS_SERVICE_5_EVENT_REPORTING, apid::APID, pus::PUS_SERVICE_5,
+                           pus::PUS_SERVICE_3);
-                             50);
+  new Service5EventReporting(PsbParams(objects::PUS_SERVICE_5_EVENT_REPORTING,
-  new Service8FunctionManagement(objects::PUS_SERVICE_8_FUNCTION_MGMT, apid::APID,
+                                       common::COMMON_PUS_APID, pus::PUS_SERVICE_5),
+                             20, 40);
+  new Service8FunctionManagement(objects::PUS_SERVICE_8_FUNCTION_MGMT, common::COMMON_PUS_APID,
                                  pus::PUS_SERVICE_8, 3, 10);
-  new Service9TimeManagement(objects::PUS_SERVICE_9_TIME_MGMT, apid::APID, pus::PUS_SERVICE_9);
+  new Service9TimeManagement(
-  new Service17Test(objects::PUS_SERVICE_17_TEST, apid::APID, pus::PUS_SERVICE_17);
+      PsbParams(objects::PUS_SERVICE_9_TIME_MGMT, common::COMMON_PUS_APID, pus::PUS_SERVICE_9));
-  new Service20ParameterManagement(objects::PUS_SERVICE_20_PARAMETERS, apid::APID,
+  new Service17Test(
+      PsbParams(objects::PUS_SERVICE_17_TEST, common::COMMON_PUS_APID, pus::PUS_SERVICE_17));
+  new Service20ParameterManagement(objects::PUS_SERVICE_20_PARAMETERS, common::COMMON_PUS_APID,
                                    pus::PUS_SERVICE_20);
-  new CService200ModeCommanding(objects::PUS_SERVICE_200_MODE_MGMT, apid::APID,
+#if OBSW_ADD_CORE_COMPONENTS == 1
+  new Service11TelecommandScheduling<cfg::OBSW_MAX_SCHEDULED_TCS>(
+      PsbParams(objects::PUS_SERVICE_11_TC_SCHEDULER, common::COMMON_PUS_APID, pus::PUS_SERVICE_11),
+      *ccsdsDistrib);
+#endif
+  new CService200ModeCommanding(objects::PUS_SERVICE_200_MODE_MGMT, common::COMMON_PUS_APID,
                                 pus::PUS_SERVICE_200);
 #endif /* OBSW_ADD_PUS_STACK == 1 */
 
@@ -86,7 +120,7 @@ void ObjectFactory::produceGenericObjects() {
 
   /* Demo device handler object */
   size_t expectedMaxReplyLen = 64;
-  CookieIF* testCookie = new TestCookie(static_cast<address_t>(testdevice::DeviceIndex::DEVICE_0),
+  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,
@@ -120,6 +154,34 @@ void ObjectFactory::produceGenericObjects() {
   InternalUnitTester unittester;
   unittester.performTests(testCfg);
 #endif /* OBSW_PERFORM_INTERNAL_UNITTEST == 1 */
+
+#if OBSW_ADD_CFDP_COMPONENTS == 1
+  using namespace cfdp;
+  MessageQueueIF *cfdpMsgQueue = QueueFactory::instance()->createMessageQueue(32);
+  CfdpDistribCfg cfg(objects::CFDP_DISTRIBUTOR, tcStore, cfdpMsgQueue);
+  new CfdpDistributor(cfg);
+
+  auto *msgQueue = QueueFactory::instance()->createMessageQueue(32);
+  UnsignedByteField<uint16_t> remoteEntityId(common::COMMON_CFDP_CLIENT_ENTITY_ID);
+  cfdp::EntityId remoteId(remoteEntityId);
+  cfdp::RemoteEntityCfg remoteCfg(remoteId);
+  remoteCfg.defaultChecksum = cfdp::ChecksumType::CRC_32;
+  FsfwHandlerParams params(objects::CFDP_HANDLER, HOST_FS, *cfdpFunnel, tcStore, tmStore,
+                           *msgQueue);
+  cfdp::IndicationCfg indicationCfg;
+  UnsignedByteField<uint16_t> apid(common::COMMON_CFDP_APID);
+  cfdp::EntityId localId(apid);
+  GROUND_REMOTE_CFG.defaultChecksum = cfdp::ChecksumType::CRC_32;
+  if (PACKET_LIST_PTR == nullptr or LOST_SEGMENTS_PTR == nullptr) {
+    sif::error << "CFDP: No packet list or lost segments container set" << std::endl;
+  }
+  CfdpHandlerCfg cfdpCfg(localId, indicationCfg, USER_HANDLER, EXAMPLE_FAULT_HANDLER,
+                         *PACKET_LIST_PTR, *LOST_SEGMENTS_PTR, REMOTE_CFG_PROVIDER);
+  auto *cfdpHandler = new CfdpHandler(params, cfdpCfg);
+  CcsdsDistributorIF::DestInfo info("CFDP Destination", common::COMMON_CFDP_APID,
+                                    cfdpHandler->getRequestQueue(), true);
+  (*ccsdsDistrib)->registerApplication(info);
+#endif
 }
 
 void Factory::setStaticFrameworkObjectIds() {
@@ -130,17 +192,11 @@ void Factory::setStaticFrameworkObjectIds() {
   MonitoringReportContent<int16_t>::timeStamperId = objects::TIME_STAMPER;
   MonitoringReportContent<uint16_t>::timeStamperId = objects::TIME_STAMPER;
 
-  TmFunnel::downlinkDestination = objects::DOWNLINK_DESTINATION;
+  PusServiceBase::PUS_DISTRIBUTOR = objects::PUS_DISTRIBUTOR;
-  // No storage object for now.
+  PusServiceBase::PACKET_DESTINATION = objects::PUS_TM_FUNNEL;
-  TmFunnel::storageDestination = objects::NO_OBJECT;
-
-  PusServiceBase::packetSource = objects::PUS_DISTRIBUTOR;
-  PusServiceBase::packetDestination = objects::TM_FUNNEL;
 
   CommandingServiceBase::defaultPacketSource = objects::PUS_DISTRIBUTOR;
-  CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
+  CommandingServiceBase::defaultPacketDestination = objects::PUS_TM_FUNNEL;
 
-  VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
+  VerificationReporter::DEFAULT_RECEIVER = objects::PUS_SERVICE_1_VERIFICATION;
-
-  TmPacketBase::timeStamperId = objects::TIME_STAMPER;
 }

example/core/GenericFactory.h

@@ -3,13 +3,23 @@
 
 #include <fsfw/objectmanager/SystemObjectIF.h>
 
+#include "OBSWConfig.h"
+#include "example/utility/PusTmFunnel.h"
+#include "fsfw/cfdp/handler/DestHandler.h"
+#include "fsfw/storagemanager/StorageManagerIF.h"
+
+class TmFunnel;
+class CcsdsDistributor;
+
 namespace ObjectFactory {
 
 /**
  * @brief   Produce hardware independant objects. Called by bsp specific
  *          object factory.
  */
-void produceGenericObjects();
+void produceGenericObjects(PusTmFunnel** pusFunnel, const AcceptsTelemetryIF& tmtcBridge,
+                           CcsdsDistributor** ccsdsDistributor, StorageManagerIF& tcStore,
+                           StorageManagerIF& tmStore);
 
 }  // namespace ObjectFactory
 

example/devices/CMakeLists.txt

@@ -0,0 +1 @@
+

example/test/CMakeLists.txt

@@ -1,6 +1,6 @@
-target_sources(${TARGET_NAME} PRIVATE
+target_sources(${TARGET_NAME} PRIVATE FsfwReaderTask.cpp FsfwExampleTask.cpp
-    FsfwReaderTask.cpp
+                                      MutexExample.cpp FsfwTestTask.cpp)
-    FsfwExampleTask.cpp
+
-    MutexExample.cpp
+if(FSFW_ADD_FMT_TESTS)
-    FsfwTestTask.cpp
+  target_sources(${TARGET_NAME} PRIVATE testFmt.cpp)
-)
+endif()

example/test/FsfwExampleTask.cpp

@@ -7,7 +7,7 @@
 #include <fsfw/tasks/TaskFactory.h>
 
 #include "OBSWConfig.h"
-#include "commonSystemObjects.h"
+#include "commonObjects.h"
 #include "objects/systemObjectList.h"
 
 FsfwExampleTask::FsfwExampleTask(object_id_t objectId)
@@ -27,13 +27,13 @@ ReturnValue_t FsfwExampleTask::performOperation(uint8_t operationCode) {
 
   // TODO: Move this to new test controller?
   ReturnValue_t result = performMonitoringDemo();
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     return result;
   }
 
   if (operationCode == OpCodes::SEND_RAND_NUM) {
     result = performSendOperation();
-    if (result != HasReturnvaluesIF::RETURN_OK) {
+    if (result != returnvalue::OK) {
       return result;
     }
   }
@@ -80,17 +80,18 @@ object_id_t FsfwExampleTask::getSender() {
 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);
+  auto *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;
+    return returnvalue::FAILED;
   }
 
-  // we need a private copy of the previous dataset.. or we use the shared dataset.
+  // 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
@@ -98,7 +99,7 @@ ReturnValue_t FsfwExampleTask::initialize() {
 #else
     sif::printError("FsfwDemoTask::initialize: Sender dataset invalid!\n");
 #endif
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
   }
   return poolManager.initialize(commandQueue);
 }
@@ -111,22 +112,22 @@ object_id_t FsfwExampleTask::getObjectId() const { return SystemObject::getObjec
 
 MessageQueueId_t FsfwExampleTask::getMessageQueueId() { return commandQueue->getId(); }
 
-void FsfwExampleTask::setTaskIF(PeriodicTaskIF* task) { this->task = task; }
+void FsfwExampleTask::setTaskIF(PeriodicTaskIF *task) { this->task = task; }
 
-LocalPoolDataSetBase* FsfwExampleTask::getDataSetHandle(sid_t sid) { return &demoSet; }
+LocalPoolDataSetBase *FsfwExampleTask::getDataSetHandle(sid_t sid) { return &demoSet; }
 
 uint32_t FsfwExampleTask::getPeriodicOperationFrequency() const { return task->getPeriodMs(); }
 
-ReturnValue_t FsfwExampleTask::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+ReturnValue_t FsfwExampleTask::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
-                                                       LocalDataPoolManager& poolManager) {
+                                                       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;
+  return returnvalue::OK;
 }
 
 ReturnValue_t FsfwExampleTask::performMonitoringDemo() {
   ReturnValue_t result = demoSet.variableLimit.read(MutexIF::TimeoutType::WAITING, 20);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     /* Configuration error */
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "DummyObject::performOperation: Could not read variableLimit!" << std::endl;
@@ -143,12 +144,12 @@ ReturnValue_t FsfwExampleTask::performMonitoringDemo() {
     demoSet.variableLimit.commit(20);
     monitor.check();
   }
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }
 
 ReturnValue_t FsfwExampleTask::performSendOperation() {
   object_id_t nextRecipient = getNextRecipient();
-  FsfwExampleTask* target = ObjectManager::instance()->get<FsfwExampleTask>(nextRecipient);
+  auto *target = ObjectManager::instance()->get<FsfwExampleTask>(nextRecipient);
   if (target == nullptr) {
     /* Configuration error */
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -156,7 +157,7 @@ ReturnValue_t FsfwExampleTask::performSendOperation() {
 #else
     sif::printError("DummyObject::performOperation: Next recipient does not exist!\n");
 #endif
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
   }
 
   uint32_t randomNumber = rand() % 100;
@@ -166,7 +167,7 @@ ReturnValue_t FsfwExampleTask::performSendOperation() {
 
   /* Send message using own message queue */
   ReturnValue_t result = commandQueue->sendMessage(target->getMessageQueueId(), &message);
-  if (result != HasReturnvaluesIF::RETURN_OK && result != MessageQueueIF::FULL) {
+  if (result != returnvalue::OK && result != MessageQueueIF::FULL) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "FsfwDemoTask::performSendOperation: Send failed with " << result << std::endl;
 #else
@@ -177,7 +178,7 @@ ReturnValue_t FsfwExampleTask::performSendOperation() {
   /* Send message without via MessageQueueSenderIF */
   result = MessageQueueSenderIF::sendMessage(target->getMessageQueueId(), &message,
                                              commandQueue->getId());
-  if (result != HasReturnvaluesIF::RETURN_OK && result != MessageQueueIF::FULL) {
+  if (result != returnvalue::OK && result != MessageQueueIF::FULL) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "FsfwDemoTask::performSendOperation: Send failed with " << result << std::endl;
 #else
@@ -192,11 +193,11 @@ ReturnValue_t FsfwExampleTask::performSendOperation() {
 }
 
 ReturnValue_t FsfwExampleTask::performReceiveOperation() {
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = returnvalue::OK;
   while (result != MessageQueueIF::EMPTY) {
     CommandMessage receivedMessage;
     result = commandQueue->receiveMessage(&receivedMessage);
-    if (result != HasReturnvaluesIF::RETURN_OK && result != MessageQueueIF::EMPTY) {
+    if (result != returnvalue::OK && result != MessageQueueIF::EMPTY) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::debug << "Receive failed with " << result << std::endl;
 #endif
@@ -212,11 +213,11 @@ ReturnValue_t FsfwExampleTask::performReceiveOperation() {
 #endif
 
       if (senderSet == nullptr) {
-        return HasReturnvaluesIF::RETURN_FAILED;
+        return returnvalue::FAILED;
       }
 
       result = senderSet->variableRead.read(MutexIF::TimeoutType::WAITING, 20);
-      if (result != HasReturnvaluesIF::RETURN_OK) {
+      if (result != returnvalue::OK) {
         return result;
       }
       if (senderSet->variableRead.value != receivedMessage.getParameter()) {
@@ -235,4 +236,4 @@ ReturnValue_t FsfwExampleTask::performReceiveOperation() {
 
 MessageQueueId_t FsfwExampleTask::getCommandQueue() const { return commandQueue->getId(); }
 
-LocalDataPoolManager* FsfwExampleTask::getHkManagerHandle() { return &poolManager; }
+LocalDataPoolManager *FsfwExampleTask::getHkManagerHandle() { return &poolManager; }

example/test/FsfwExampleTask.h

@@ -72,7 +72,7 @@ class FsfwExampleTask : public ExecutableObjectIF, public SystemObject, public H
    * task interface handle can be cached to access task specific properties.
    * @param task
    */
-  void setTaskIF(PeriodicTaskIF* task) override;
+  void setTaskIF(PeriodicTaskIF *task) override;
 
   object_id_t getObjectId() const override;
 
@@ -80,19 +80,19 @@ class FsfwExampleTask : public ExecutableObjectIF, public SystemObject, public H
 
  private:
   LocalDataPoolManager poolManager;
-  FsfwDemoSet* senderSet = nullptr;
+  FsfwDemoSet *senderSet = nullptr;
   FsfwDemoSet demoSet;
   AbsLimitMonitor<int32_t> monitor;
-  PeriodicTaskIF* task = nullptr;
+  PeriodicTaskIF *task = nullptr;
-  MessageQueueIF* commandQueue = nullptr;
+  MessageQueueIF *commandQueue = nullptr;
 
   /* HasLocalDatapoolIF overrides */
   MessageQueueId_t getCommandQueue() const override;
-  LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
+  LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
   uint32_t getPeriodicOperationFrequency() const override;
-  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
-                                        LocalDataPoolManager& poolManager) override;
+                                        LocalDataPoolManager &poolManager) override;
-  LocalDataPoolManager* getHkManagerHandle() override;
+  LocalDataPoolManager *getHkManagerHandle() override;
 
   object_id_t getNextRecipient();
   object_id_t getSender();

example/test/FsfwReaderTask.cpp

@@ -13,16 +13,17 @@ FsfwReaderTask::FsfwReaderTask(object_id_t objectId, bool enablePrintout)
       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 */
+  /* Special protection for set reading because each variable is read from a
+   * different pool */
   readSet.setReadCommitProtectionBehaviour(true);
 }
 
-FsfwReaderTask::~FsfwReaderTask() {}
+FsfwReaderTask::~FsfwReaderTask() = default;
 
 ReturnValue_t FsfwReaderTask::initializeAfterTaskCreation() {
   /* Give other task some time to set up local data pools. */
   TaskFactory::delayTask(20);
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }
 
 ReturnValue_t FsfwReaderTask::performOperation(uint8_t operationCode) {
@@ -50,5 +51,5 @@ ReturnValue_t FsfwReaderTask::performOperation(uint8_t operationCode) {
   if (variable1 and variable2 and variable3) {
   };
 #endif
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }

example/test/FsfwTestTask.cpp

@@ -1,11 +1,21 @@
 #include "FsfwTestTask.h"
 
+#include <commonConfig.h>
+
+#if FSFW_ADD_FMT_TESTS == 1
+#include "testFmt.h"
+#endif
+
 FsfwTestTask::FsfwTestTask(object_id_t objectId, bool periodicEvent)
-    : TestTask(objectId), periodicEvent(periodicEvent) {}
+    : TestTask(objectId), periodicEvent(periodicEvent) {
+#if FSFW_ADD_FMT_TESTS == 1
+  fmtTests();
+#endif
+}
 
 ReturnValue_t FsfwTestTask::performPeriodicAction() {
   if (periodicEvent) {
     triggerEvent(TEST_EVENT, 0x1234, 0x4321);
   }
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }

example/test/MutexExample.cpp

@@ -4,11 +4,11 @@
 #include <fsfw/serviceinterface/ServiceInterface.h>
 
 void MutexExample::example() {
-  MutexIF* mutex = MutexFactory::instance()->createMutex();
+  MutexIF *mutex = MutexFactory::instance()->createMutex();
-  MutexIF* mutex2 = 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 (result != returnvalue::OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "MutexExample::example: Lock Failed with " << result << std::endl;
 #else
@@ -17,7 +17,7 @@ void MutexExample::example() {
   }
 
   result = mutex2->lockMutex(MutexIF::TimeoutType::BLOCKING);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "MutexExample::example: Lock Failed with " << result << std::endl;
 #else
@@ -26,7 +26,7 @@ void MutexExample::example() {
   }
 
   result = mutex->unlockMutex();
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "MutexExample::example: Unlock Failed with " << result << std::endl;
 #else
@@ -35,7 +35,7 @@ void MutexExample::example() {
   }
 
   result = mutex2->unlockMutex();
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "MutexExample::example: Unlock Failed with " << result << std::endl;
 #else

example/test/testFmt.cpp

@@ -0,0 +1,14 @@
+#include "testFmt.h"
+
+void fmtTests() {
+  sif::fdebug(__FILENAME__, __LINE__, "Hello {} {}", "World\n");
+  sif::fdebug_t(__FILENAME__, __LINE__, "Hallo\n");
+  FSFW_LOGD("{}", "Hallo\n");
+  // MY_LOG("{}", "test\n");
+  // sif::finfo_t("Hallo\n");
+  // sif::finfo("Hallo\n");
+  // sif::fwarning("Hello\n");
+  // sif::fwarning_t("Hello\n");
+  // sif::ferror("Hello\n");
+  // sif::ferror_t("Hello\n");
+}

example/test/testFmt.h

@@ -0,0 +1,162 @@
+#ifndef FSFW_EXAMPLE_HOSTED_TESTFMT_H
+#define FSFW_EXAMPLE_HOSTED_TESTFMT_H
+
+#include <fmt/chrono.h>
+#include <fmt/color.h>
+#include <fmt/compile.h>
+#include <fmt/core.h>
+
+#include <array>
+#include <cstdint>
+
+#include "fsfw/ipc/MutexFactory.h"
+#include "fsfw/ipc/MutexGuard.h"
+#include "fsfw/ipc/MutexIF.h"
+#include "fsfw/timemanager/Clock.h"
+
+#define __FILENAME_REL__ (((const char *)__FILE__ + SOURCE_PATH_SIZE))
+#define __FILENAME__ (strrchr(__FILE__, '/') ? strrchr(__FILE__, '/') + 1 : __FILE__)
+
+void fmtTests();
+
+namespace sif {
+
+static std::array<char, 524> PRINT_BUF = {};
+
+static const char INFO_PREFIX[] = "INFO";
+static const char DEBUG_PREFIX[] = "DEBUG";
+static const char WARNING_PREFIX[] = "WARNING";
+static const char ERROR_PREFIX[] = "ERROR";
+
+enum class LogLevel : unsigned int { DEBUG = 0, INFO = 1, WARNING = 2, ERROR = 3 };
+
+static const char *PREFIX_ARR[4] = {DEBUG_PREFIX, INFO_PREFIX, WARNING_PREFIX, ERROR_PREFIX};
+
+static const std::array<fmt::color, 4> LOG_COLOR_ARR = {
+    fmt::color::deep_sky_blue, fmt::color::forest_green, fmt::color::orange_red, fmt::color::red};
+
+static MutexIF *PRINT_MUTEX = MutexFactory::instance()->createMutex();
+
+static size_t writeTypePrefix(LogLevel level) {
+  auto idx = static_cast<unsigned int>(level);
+  const auto result =
+      fmt::format_to_n(PRINT_BUF.begin(), PRINT_BUF.size() - 1,
+                       fmt::runtime(fmt::format(fg(LOG_COLOR_ARR[idx]), PREFIX_ARR[idx])));
+  return result.size;
+}
+
+template <typename... T>
+size_t logTraced(LogLevel level, const char *file, unsigned int line, bool timed,
+                 fmt::format_string<T...> fmt, T &&...args) noexcept {
+  try {
+    MutexGuard mg(PRINT_MUTEX);
+    size_t bufPos = writeTypePrefix(level);
+    auto currentIter = PRINT_BUF.begin() + bufPos;
+    if (timed) {
+      Clock::TimeOfDay_t logTime;
+      Clock::getDateAndTime(&logTime);
+      const auto result = fmt::format_to_n(currentIter, PRINT_BUF.size() - 1 - bufPos,
+                                           " | {}[l.{}] | {:02}:{:02}:{:02}.{:03} | {}", file, line,
+                                           logTime.hour, logTime.minute, logTime.second,
+                                           logTime.usecond / 1000, fmt::format(fmt, args...));
+      *result.out = '\0';
+      bufPos += result.size;
+    } else {
+      const auto result =
+          fmt::format_to_n(currentIter, PRINT_BUF.size() - 1 - bufPos, " | {}[l.{}] | {}", file,
+                           line, fmt::format(fmt, args...));
+      *result.out = '\0';
+      bufPos += result.size;
+    }
+
+    fmt::print(fmt::runtime(PRINT_BUF.data()));
+    return bufPos;
+  } catch (const fmt::v8::format_error &e) {
+    fmt::print("Printing failed with error: {}\n", e.what());
+    return 0;
+  }
+}
+
+template <typename... T>
+size_t log(LogLevel level, bool timed, fmt::format_string<T...> fmt, T &&...args) noexcept {
+  try {
+    MutexGuard mg(PRINT_MUTEX);
+    size_t bufPos = writeTypePrefix(level);
+    auto currentIter = PRINT_BUF.begin() + bufPos;
+    if (timed) {
+      Clock::TimeOfDay_t logTime;
+      Clock::getDateAndTime(&logTime);
+      const auto result = fmt::format_to_n(
+          currentIter, PRINT_BUF.size() - bufPos, " | {:02}:{:02}:{:02}.{:03} | {}", logTime.hour,
+          logTime.minute, logTime.second, logTime.usecond / 1000, fmt::format(fmt, args...));
+      bufPos += result.size;
+    }
+    fmt::print(fmt::runtime(PRINT_BUF.data()));
+    return bufPos;
+  } catch (const fmt::v8::format_error &e) {
+    fmt::print("Printing failed with error: {}\n", e.what());
+    return 0;
+  }
+}
+
+template <typename... T>
+void fdebug(const char *file, unsigned int line, fmt::format_string<T...> fmt,
+            T &&...args) noexcept {
+  logTraced(LogLevel::DEBUG, file, line, false, fmt, args...);
+}
+
+template <typename... T>
+void fdebug_t(const char *file, unsigned int line, fmt::format_string<T...> fmt,
+              T &&...args) noexcept {
+  logTraced(LogLevel::DEBUG, file, line, true, fmt, args...);
+}
+
+template <typename... T>
+void finfo_t(fmt::format_string<T...> fmt, T &&...args) {
+  log(LogLevel::INFO, true, fmt, args...);
+}
+
+template <typename... T>
+void finfo(fmt::format_string<T...> fmt, T &&...args) {
+  log(LogLevel::INFO, false, fmt, args...);
+}
+
+template <typename... T>
+void fwarning(const char *file, unsigned int line, fmt::format_string<T...> fmt, T &&...args) {
+  logTraced(LogLevel::WARNING, file, line, false, fmt, args...);
+}
+
+template <typename... T>
+void fwarning_t(const char *file, unsigned int line, fmt::format_string<T...> fmt, T &&...args) {
+  logTraced(LogLevel::WARNING, file, line, true, fmt, args...);
+}
+
+template <typename... T>
+void ferror(const char *file, unsigned int line, fmt::format_string<T...> fmt, T &&...args) {
+  logTraced(LogLevel::ERROR, file, line, false, fmt, args...);
+}
+
+template <typename... T>
+void ferror_t(const char *file, unsigned int line, fmt::format_string<T...> fmt, T &&...args) {
+  logTraced(LogLevel::ERROR, file, line, true, fmt, args...);
+}
+
+}  // namespace sif
+
+#define FSFW_LOGI(format, ...) finfo(FMT_STRING(format), __VA_ARGS__)
+
+#define FSFW_LOGIT(format, ...) finfo_t(FMT_STRING(format), __VA_ARGS__)
+
+#define FSFW_LOGD(format, ...) sif::fdebug(__FILENAME__, __LINE__, FMT_STRING(format), __VA_ARGS__)
+
+#define FSFW_LOGDT(format, ...) fdebug_t(__FILENAME__, __LINE__, FMT_STRING(format), __VA_ARGS__)
+
+#define FSFW_LOGW(format, ...) fdebug(__FILENAME__, __LINE__, FMT_STRING(format), __VA_ARGS__)
+
+#define FSFW_LOGWT(format, ...) fdebug_t(__FILENAME__, __LINE__, FMT_STRING(format), __VA_ARGS__)
+
+#define FSFW_LOGE(format, ...) fdebug(__FILENAME__, __LINE__, FMT_STRING(format), __VA_ARGS__)
+
+#define FSFW_LOGET(format, ...) fdebug_t(__FILENAME__, __LINE__, FMT_STRING(format), __VA_ARGS__)
+
+#endif  // FSFW_EXAMPLE_HOSTED_TESTFMT_H

example/test/testdefinitions/demoDefinitions.h

@@ -17,7 +17,7 @@ class FsfwDemoSet : public StaticLocalDataSet<3> {
 
   enum PoolIds { VARIABLE, VARIABLE_LIMIT };
 
-  FsfwDemoSet(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, DEMO_SET_ID) {}
+  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);

example/utility/CMakeLists.txt

@@ -1,4 +1,2 @@
-target_sources(${TARGET_NAME} PRIVATE
+target_sources(${TARGET_NAME} PRIVATE utility.cpp TmFunnel.cpp PusTmFunnel.cpp
-	utility.cpp
+                                      CfdpTmFunnel.cpp)
-    TmFunnel.cpp
-)

example/utility/CfdpTmFunnel.cpp

@@ -0,0 +1,84 @@
+#include "CfdpTmFunnel.h"
+
+#include "fsfw/ipc/QueueFactory.h"
+#include "fsfw/tmtcpacket/ccsds/SpacePacketCreator.h"
+#include "fsfw/tmtcservices/TmTcMessage.h"
+
+CfdpTmFunnel::CfdpTmFunnel(object_id_t objectId, uint16_t cfdpInCcsdsApid,
+                           const AcceptsTelemetryIF& downlinkDestination, StorageManagerIF& tmStore)
+    : SystemObject(objectId), cfdpInCcsdsApid(cfdpInCcsdsApid), tmStore(tmStore) {
+  msgQueue = QueueFactory::instance()->createMessageQueue(5);
+  msgQueue->setDefaultDestination(downlinkDestination.getReportReceptionQueue());
+}
+
+const char* CfdpTmFunnel::getName() const { return "CFDP TM Funnel"; }
+
+MessageQueueId_t CfdpTmFunnel::getReportReceptionQueue(uint8_t virtualChannel) const {
+  return msgQueue->getId();
+}
+
+ReturnValue_t CfdpTmFunnel::performOperation(uint8_t) {
+  TmTcMessage currentMessage;
+  ReturnValue_t status = msgQueue->receiveMessage(&currentMessage);
+  while (status == returnvalue::OK) {
+    status = handlePacket(currentMessage);
+    if (status != returnvalue::OK) {
+      sif::warning << "CfdpTmFunnel packet handling failed" << std::endl;
+      break;
+    }
+    status = msgQueue->receiveMessage(&currentMessage);
+  }
+
+  if (status == MessageQueueIF::EMPTY) {
+    return returnvalue::OK;
+  }
+  return status;
+}
+
+ReturnValue_t CfdpTmFunnel::initialize() { return returnvalue::OK; }
+
+ReturnValue_t CfdpTmFunnel::handlePacket(TmTcMessage& msg) {
+  const uint8_t* cfdpPacket = nullptr;
+  size_t cfdpPacketLen = 0;
+  ReturnValue_t result = tmStore.getData(msg.getStorageId(), &cfdpPacket, &cfdpPacketLen);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  auto spacePacketHeader =
+      SpacePacketCreator(ccsds::PacketType::TM, false, cfdpInCcsdsApid,
+                         ccsds::SequenceFlags::UNSEGMENTED, sourceSequenceCount++, 0);
+  sourceSequenceCount = sourceSequenceCount & ccsds::LIMIT_SEQUENCE_COUNT;
+  spacePacketHeader.setCcsdsLenFromTotalDataFieldLen(cfdpPacketLen);
+  uint8_t* newPacketData = nullptr;
+  store_address_t newStoreId{};
+  result =
+      tmStore.getFreeElement(&newStoreId, spacePacketHeader.getFullPacketLen(), &newPacketData);
+  if (result != returnvalue::OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "CfdpTmFunnel::handlePacket: Error getting TM store element of size "
+                 << spacePacketHeader.getFullPacketLen() << std::endl;
+#endif
+    return result;
+  }
+  size_t serSize = 0;
+  result =
+      spacePacketHeader.serializeBe(&newPacketData, &serSize, spacePacketHeader.getFullPacketLen());
+  if (result != returnvalue::OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "CfdpTmFunnel::handlePacket: Error serializing packet" << std::endl;
+#endif
+    return result;
+  }
+  std::memcpy(newPacketData, cfdpPacket, cfdpPacketLen);
+  // Delete old packet
+  tmStore.deleteData(msg.getStorageId());
+  msg.setStorageId(newStoreId);
+  result = msgQueue->sendToDefault(&msg);
+  if (result != returnvalue::OK) {
+    tmStore.deleteData(msg.getStorageId());
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "CfdpTmFunnel::handlePacket: Error sending TM to downlink handler" << std::endl;
+#endif
+  }
+  return result;
+}

example/utility/CfdpTmFunnel.h

@@ -0,0 +1,27 @@
+#ifndef FSFW_EXAMPLE_COMMON_CFDPTMFUNNEL_H
+#define FSFW_EXAMPLE_COMMON_CFDPTMFUNNEL_H
+
+#include "fsfw/objectmanager/SystemObject.h"
+#include "fsfw/storagemanager/StorageManagerIF.h"
+#include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
+#include "fsfw/tmtcservices/TmTcMessage.h"
+
+class CfdpTmFunnel : public AcceptsTelemetryIF, public SystemObject {
+ public:
+  CfdpTmFunnel(object_id_t objectId, uint16_t cfdpInCcsdsApid,
+               const AcceptsTelemetryIF& downlinkDestination, StorageManagerIF& tmStore);
+  [[nodiscard]] const char* getName() const override;
+  [[nodiscard]] MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel) const override;
+
+  ReturnValue_t performOperation(uint8_t opCode);
+  ReturnValue_t initialize() override;
+
+ private:
+  ReturnValue_t handlePacket(TmTcMessage& msg);
+
+  uint16_t sourceSequenceCount = 0;
+  uint16_t cfdpInCcsdsApid;
+  MessageQueueIF* msgQueue;
+  StorageManagerIF& tmStore;
+};
+#endif  // FSFW_EXAMPLE_COMMON_CFDPTMFUNNEL_H

example/utility/PusTmFunnel.cpp

@@ -0,0 +1,68 @@
+#include "PusTmFunnel.h"
+
+#include "fsfw/ipc/QueueFactory.h"
+#include "fsfw/objectmanager.h"
+#include "fsfw/tmtcpacket/pus/tm/PusTmZcWriter.h"
+
+PusTmFunnel::PusTmFunnel(object_id_t objectId, const AcceptsTelemetryIF &downlinkDestination,
+                         TimeReaderIF &timeReader, StorageManagerIF &tmStore, uint32_t messageDepth)
+    : SystemObject(objectId), timeReader(timeReader), tmStore(tmStore) {
+  tmQueue = QueueFactory::instance()->createMessageQueue(messageDepth,
+                                                         MessageQueueMessage::MAX_MESSAGE_SIZE);
+  tmQueue->setDefaultDestination(downlinkDestination.getReportReceptionQueue());
+}
+
+PusTmFunnel::~PusTmFunnel() = default;
+
+MessageQueueId_t PusTmFunnel::getReportReceptionQueue(uint8_t virtualChannel) const {
+  return tmQueue->getId();
+}
+
+ReturnValue_t PusTmFunnel::performOperation(uint8_t) {
+  TmTcMessage currentMessage;
+  ReturnValue_t status = tmQueue->receiveMessage(&currentMessage);
+  while (status == returnvalue::OK) {
+    status = handlePacket(currentMessage);
+    if (status != returnvalue::OK) {
+      sif::warning << "TmFunnel packet handling failed" << std::endl;
+      break;
+    }
+    status = tmQueue->receiveMessage(&currentMessage);
+  }
+
+  if (status == MessageQueueIF::EMPTY) {
+    return returnvalue::OK;
+  }
+  return status;
+}
+
+ReturnValue_t PusTmFunnel::handlePacket(TmTcMessage &message) {
+  uint8_t *packetData = nullptr;
+  size_t size = 0;
+  ReturnValue_t result = tmStore.modifyData(message.getStorageId(), &packetData, &size);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  PusTmZeroCopyWriter packet(timeReader, packetData, size);
+  result = packet.parseDataWithoutCrcCheck();
+  if (result != returnvalue::OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "PusTmFunnel::handlePacket: Error parsing received PUS packet" << std::endl;
+#endif
+    return result;
+  }
+  packet.setSequenceCount(sourceSequenceCount++);
+  sourceSequenceCount = sourceSequenceCount % ccsds::LIMIT_SEQUENCE_COUNT;
+  packet.updateErrorControl();
+
+  result = tmQueue->sendToDefault(&message);
+  if (result != returnvalue::OK) {
+    tmStore.deleteData(message.getStorageId());
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "PusTmFunnel::handlePacket: Error sending TM to downlink handler" << std::endl;
+#endif
+  }
+  return result;
+}
+
+const char *PusTmFunnel::getName() const { return "PUS TM Funnel"; }

example/utility/PusTmFunnel.h

@@ -0,0 +1,39 @@
+#ifndef FSFW_EXAMPLE_COMMON_PUSTMFUNNEL_H
+#define FSFW_EXAMPLE_COMMON_PUSTMFUNNEL_H
+
+#include <fsfw/ipc/MessageQueueIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/tasks/ExecutableObjectIF.h>
+#include <fsfw/tmtcservices/AcceptsTelemetryIF.h>
+#include <fsfw/tmtcservices/TmTcMessage.h>
+
+#include "fsfw/timemanager/TimeReaderIF.h"
+
+/**
+ * @brief       TM Recipient.
+ * @details
+ * Main telemetry receiver. All generated telemetry is funneled into
+ * this object.
+ * @ingroup     utility
+ * @author      J. Meier
+ */
+class PusTmFunnel : public AcceptsTelemetryIF, public SystemObject {
+ public:
+  explicit PusTmFunnel(object_id_t objectId, const AcceptsTelemetryIF &downlinkDestination,
+                       TimeReaderIF &timeReader, StorageManagerIF &tmStore,
+                       uint32_t messageDepth = 20);
+  [[nodiscard]] const char *getName() const override;
+  ~PusTmFunnel() override;
+
+  [[nodiscard]] MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel) const override;
+  ReturnValue_t performOperation(uint8_t operationCode);
+
+ private:
+  uint16_t sourceSequenceCount = 0;
+  TimeReaderIF &timeReader;
+  StorageManagerIF &tmStore;
+  MessageQueueIF *tmQueue = nullptr;
+  ReturnValue_t handlePacket(TmTcMessage &message);
+};
+
+#endif  // FSFW_EXAMPLE_COMMON_PUSTMFUNNEL_H

example/utility/TaskCreation.h

@@ -6,7 +6,7 @@
 
 namespace task {
 
-void printInitError(const char* objName, object_id_t objectId) {
+void printInitError(const char *objName, object_id_t objectId) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
   sif::error << "InitMission: Adding object " << objName << "(" << std::setw(8) << std::setfill('0')
              << std::hex << objectId << std::dec << ") failed." << std::endl;

example/utility/TmFunnel.cpp

@@ -1,114 +1,16 @@
 #include "TmFunnel.h"
 
 #include <fsfw/ipc/QueueFactory.h>
-#include <fsfw/objectmanager/ObjectManager.h>
-#include <fsfw/serviceinterface/ServiceInterface.h>
-#include <fsfw/tmtcpacket/pus/tm.h>
 
-object_id_t TmFunnel::downlinkDestination = objects::NO_OBJECT;
+TmFunnel::TmFunnel(object_id_t objectId, PusTmFunnel& pusFunnel, CfdpTmFunnel& cfdpFunnel)
-object_id_t TmFunnel::storageDestination = objects::NO_OBJECT;
+    : SystemObject(objectId), pusFunnel(pusFunnel), cfdpFunnel(cfdpFunnel) {}
 
-TmFunnel::TmFunnel(object_id_t objectId, uint32_t messageDepth)
+TmFunnel::~TmFunnel() = default;
-    : SystemObject(objectId), messageDepth(messageDepth) {
-  tmQueue = QueueFactory::instance()->createMessageQueue(messageDepth,
-                                                         MessageQueueMessage::MAX_MESSAGE_SIZE);
-  storageQueue = QueueFactory::instance()->createMessageQueue(
-      messageDepth, MessageQueueMessage::MAX_MESSAGE_SIZE);
-}
-
-TmFunnel::~TmFunnel() {}
-
-MessageQueueId_t TmFunnel::getReportReceptionQueue(uint8_t virtualChannel) {
-  return tmQueue->getId();
-}
 
 ReturnValue_t TmFunnel::performOperation(uint8_t operationCode) {
-  TmTcMessage currentMessage;
+  pusFunnel.performOperation(operationCode);
-  ReturnValue_t status = tmQueue->receiveMessage(&currentMessage);
+  cfdpFunnel.performOperation(operationCode);
-  while (status == HasReturnvaluesIF::RETURN_OK) {
+  return returnvalue::OK;
-    status = handlePacket(&currentMessage);
-    if (status != HasReturnvaluesIF::RETURN_OK) {
-      break;
-    }
-    status = tmQueue->receiveMessage(&currentMessage);
-  }
-
-  if (status == MessageQueueIF::EMPTY) {
-    return HasReturnvaluesIF::RETURN_OK;
-  } else {
-    return status;
-  }
 }
 
-ReturnValue_t TmFunnel::handlePacket(TmTcMessage* message) {
+ReturnValue_t TmFunnel::initialize() { return returnvalue::OK; }
-  uint8_t* packetData = nullptr;
-  size_t size = 0;
-  ReturnValue_t result = tmPool->modifyData(message->getStorageId(), &packetData, &size);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    return result;
-  }
-  TmPacketPusC packet(packetData);
-  packet.setPacketSequenceCount(this->sourceSequenceCount);
-  sourceSequenceCount++;
-  sourceSequenceCount = sourceSequenceCount % SpacePacketBase::LIMIT_SEQUENCE_COUNT;
-  packet.setErrorControl();
-
-  result = tmQueue->sendToDefault(message);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    tmPool->deleteData(message->getStorageId());
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "TmFunnel::handlePacket: Error sending to downlink handler" << std::endl;
-#endif
-    return result;
-  }
-
-  if (storageDestination != objects::NO_OBJECT) {
-    result = storageQueue->sendToDefault(message);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
-      tmPool->deleteData(message->getStorageId());
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "TmFunnel::handlePacket: Error sending to storage handler" << std::endl;
-#endif
-      return result;
-    }
-  }
-  return result;
-}
-
-ReturnValue_t TmFunnel::initialize() {
-  tmPool = ObjectManager::instance()->get<StorageManagerIF>(objects::TM_STORE);
-  if (tmPool == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "TmFunnel::initialize: TM store not set." << std::endl;
-    sif::error << "Make sure the tm store is set up properly and implements StorageManagerIF"
-               << std::endl;
-#endif
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-
-  AcceptsTelemetryIF* tmTarget =
-      ObjectManager::instance()->get<AcceptsTelemetryIF>(downlinkDestination);
-  if (tmTarget == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "TmFunnel::initialize: Downlink Destination not set." << std::endl;
-    sif::error << "Make sure the downlink destination object is set up properly and implements "
-                  "AcceptsTelemetryIF"
-               << std::endl;
-#endif
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-  tmQueue->setDefaultDestination(tmTarget->getReportReceptionQueue());
-
-  // Storage destination is optional.
-  if (storageDestination == objects::NO_OBJECT) {
-    return SystemObject::initialize();
-  }
-
-  AcceptsTelemetryIF* storageTarget =
-      ObjectManager::instance()->get<AcceptsTelemetryIF>(storageDestination);
-  if (storageTarget != nullptr) {
-    storageQueue->setDefaultDestination(storageTarget->getReportReceptionQueue());
-  }
-
-  return SystemObject::initialize();
-}

example/utility/TmFunnel.h

@@ -7,9 +7,9 @@
 #include <fsfw/tmtcservices/AcceptsTelemetryIF.h>
 #include <fsfw/tmtcservices/TmTcMessage.h>
 
-namespace Factory {
+#include "CfdpTmFunnel.h"
-void setStaticFrameworkObjectIds();
+#include "PusTmFunnel.h"
-}
+#include "fsfw/timemanager/TimeReaderIF.h"
 
 /**
  * @brief       TM Recipient.
@@ -19,30 +19,17 @@ void setStaticFrameworkObjectIds();
  * @ingroup     utility
  * @author      J. Meier
  */
-class TmFunnel : public AcceptsTelemetryIF, public ExecutableObjectIF, public SystemObject {
+class TmFunnel : public ExecutableObjectIF, public SystemObject {
-  friend void(Factory::setStaticFrameworkObjectIds)();
-
  public:
-  TmFunnel(object_id_t objectId, uint32_t messageDepth = 20);
+  TmFunnel(object_id_t objectId, PusTmFunnel& pusFunnel, CfdpTmFunnel& cfdpFunnel);
-  virtual ~TmFunnel();
+  ~TmFunnel() override;
 
-  virtual MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) override;
+  ReturnValue_t performOperation(uint8_t operationCode) override;
-  virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
+  ReturnValue_t initialize() override;
-  virtual ReturnValue_t initialize() override;
-
- protected:
-  static object_id_t downlinkDestination;
-  static object_id_t storageDestination;
 
  private:
-  uint16_t sourceSequenceCount = 0;
+  PusTmFunnel& pusFunnel;
-  MessageQueueIF* tmQueue = nullptr;
+  CfdpTmFunnel& cfdpFunnel;
-  MessageQueueIF* storageQueue = nullptr;
-
-  StorageManagerIF* tmPool = nullptr;
-  uint32_t messageDepth = 0;
-
-  ReturnValue_t handlePacket(TmTcMessage* message);
 };
 
 #endif /* MISSION_UTILITY_TMFUNNEL_H_ */

example/utility/compile_time.h

@@ -13,11 +13,13 @@
  *
  * Assembled by Jean Rabault
  *
- * UNIX_TIMESTAMP gives the UNIX timestamp (unsigned long integer of seconds since 1st Jan 1970) of
+ * UNIX_TIMESTAMP gives the UNIX timestamp (unsigned long integer of seconds
- * compilation from macros using the compiler defined __TIME__ macro. This should include Gregorian
+ * since 1st Jan 1970) of compilation from macros using the compiler defined
- * calendar leap days, in particular the 29ths of February, 100 and 400 years modulo leaps.
+ * __TIME__ macro. This should include Gregorian calendar leap days, in
+ * particular the 29ths of February, 100 and 400 years modulo leaps.
  *
- * Careful: __TIME__ is the local time of the computer, NOT the UTC time in general!
+ * Careful: __TIME__ is the local time of the computer, NOT the UTC time in
+ * general!
  *
  */
 

example/utility/utility.cpp

@@ -4,7 +4,7 @@
 #include <OBSWVersion.h>
 #include <fsfw/serviceinterface/ServiceInterface.h>
 
-void utility::commonInitPrint(const char* const os, const char* const board) {
+void utility::commonInitPrint(const char *const os, const char *const board) {
   if (os == nullptr or board == nullptr) {
     return;
   }

example/utility/utility.h

@@ -3,7 +3,7 @@
 
 namespace utility {
 
-void commonInitPrint(const char* const os, const char* const board);
+void commonInitPrint(const char *const os, const char *const board);
 
 }
 

scripts/auto-formatter.sh

@@ -0,0 +1,44 @@
+#!/bin/bash
+counter=0
+common_example_dir="example_common"
+while [ ${counter} -lt 5 ]
+do
+    if [ ! -d ${common_example_dir} ];then
+        break
+    fi
+    counter=$((counter=counter + 1))
+    cd ..
+done
+
+if [ "${counter}" -ge 5 ];then
+    echo "${common_example_dir} not found in upper directories!"
+    exit 1
+fi
+
+folder_list=(
+  "./bsp_hosted"
+  "./example_common"
+)
+
+cmake_fmt="cmake-format"
+file_selectors="-iname CMakeLists.txt"
+if command -v ${cmake_fmt} &> /dev/null; then
+  echo "Auto-formatting all CMakeLists.txt files"
+  ${cmake_fmt} -i CMakeLists.txt
+  for dir in ${folder_list[@]}; do
+    find ${dir} ${file_selectors} | xargs ${cmake_fmt} -i
+  done
+else
+  echo "No ${cmake_fmt} tool found, not formatting CMake files"
+fi
+
+cpp_format="clang-format"
+file_selectors="-iname *.h -o -iname *.cpp -o -iname *.c -o -iname *.tpp"
+if command -v ${cpp_format} &> /dev/null; then
+  for dir in ${folder_list[@]}; do
+    echo "Auto-formatting C/C++ files in ${dir} recursively"
+    find ${dir} ${file_selectors} | xargs ${cpp_format} --style=file -i
+  done
+else
+  echo "No ${cpp_format} tool found, not formatting C++/C files"
+fi

stm32h7/CMakeLists.txt

@@ -1,9 +1,7 @@
-target_sources(${TARGET_NAME} PRIVATE
+target_sources(${TARGET_NAME} PRIVATE STM32TestTask.cpp)
-	STM32TestTask.cpp
-)
 
 option(STM32_ADD_NETWORKING_CODE "Add networking code requiring lwIP" ON)
 
 if(STM32_ADD_NETWORKING_CODE)
-    add_subdirectory(networking)
+  add_subdirectory(networking)
-endif()
+endif()

stm32h7/STM32TestTask.cpp

@@ -10,9 +10,17 @@ STM32TestTask::STM32TestTask(object_id_t objectId, bool enablePrintout, bool bli
   BSP_LED_Init(LED3);
 }
 
+ReturnValue_t STM32TestTask::initialize() {
+  if (testSpi) {
+    spiComIF = new SpiComIF(objects::SPI_COM_IF);
+    spiTest = new SpiTest(*spiComIF);
+  }
+  return TestTask::initialize();
+}
+
 ReturnValue_t STM32TestTask::performPeriodicAction() {
   if (blinkyLed) {
-#if OBSW_ETHERNET_USE_LEDS == 0
+#if OBSW_ETHERNET_USE_LED1_LED2 == 0
     BSP_LED_Toggle(LED1);
     BSP_LED_Toggle(LED2);
 #endif
@@ -23,11 +31,3 @@ ReturnValue_t STM32TestTask::performPeriodicAction() {
   }
   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

@@ -12,11 +12,11 @@ class STM32TestTask : public TestTask {
   ReturnValue_t performPeriodicAction() override;
 
  private:
-  SpiComIF* spiComIF = nullptr;
+  SpiComIF *spiComIF = nullptr;
-  SpiTest* spiTest = nullptr;
+  SpiTest *spiTest = nullptr;
 
   bool blinkyLed = false;
-  bool testSpi = true;
+  bool testSpi = false;
 };
 
 #endif /* BSP_STM32_BOARDTEST_STM32TESTTASK_H_ */

stm32h7/networking/CMakeLists.txt

@@ -1,14 +1,8 @@
 # These are part of the RTEMS BSP for RTEMS
 if(FSFW_OSAL MATCHES freertos)
-    target_sources(${TARGET_NAME} PRIVATE
+  target_sources(${TARGET_NAME} PRIVATE ethernetif.c)
-        ethernetif.c
-    )
 endif()
 
-target_sources(${TARGET_NAME} PRIVATE
+target_sources(
-	UdpTcLwIpPollingTask.cpp
+  ${TARGET_NAME} PRIVATE UdpTcLwIpPollingTask.cpp TmTcLwIpUdpBridge.cpp
-	TmTcLwIpUdpBridge.cpp
+                         networking.cpp app_dhcp.cpp app_ethernet.cpp)
-	networking.cpp
-    app_dhcp.cpp
-    app_ethernet.cpp
-)

stm32h7/networking/TmTcLwIpUdpBridge.cpp

@@ -1,12 +1,10 @@
 #include "TmTcLwIpUdpBridge.h"
 
-#include <OBSWConfig.h>
 #include <fsfw/ipc/MutexGuard.h>
 #include <fsfw/serialize/EndianConverter.h>
 #include <fsfw/serviceinterface/ServiceInterface.h>
 
 #include "app_ethernet.h"
-#include "ethernetif.h"
 #include "udp_config.h"
 
 TmTcLwIpUdpBridge::TmTcLwIpUdpBridge(object_id_t objectId, object_id_t ccsdsPacketDistributor,
@@ -15,7 +13,7 @@ TmTcLwIpUdpBridge::TmTcLwIpUdpBridge(object_id_t objectId, object_id_t ccsdsPack
   TmTcLwIpUdpBridge::lastAdd.addr = IPADDR_TYPE_ANY;
 }
 
-TmTcLwIpUdpBridge::~TmTcLwIpUdpBridge() {}
+TmTcLwIpUdpBridge::~TmTcLwIpUdpBridge() = default;
 
 ReturnValue_t TmTcLwIpUdpBridge::initialize() {
   TmTcBridge::initialize();
@@ -27,18 +25,19 @@ ReturnValue_t TmTcLwIpUdpBridge::initialize() {
   return result;
 }
 
-ReturnValue_t TmTcLwIpUdpBridge::udp_server_init(void) {
+ReturnValue_t TmTcLwIpUdpBridge::udp_server_init() {
   err_t err;
   /* Create a new UDP control block  */
   TmTcLwIpUdpBridge::upcb = udp_new();
   if (TmTcLwIpUdpBridge::upcb) {
+    sif::printInfo("Opening UDP server on port %d\n", UDP_SERVER_PORT);
     /* 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);
+      udp_recv(TmTcLwIpUdpBridge::upcb, &udp_server_receive_callback, (void *)this);
       return RETURN_OK;
     } else {
       udp_remove(TmTcLwIpUdpBridge::upcb);
@@ -52,9 +51,9 @@ ReturnValue_t TmTcLwIpUdpBridge::udp_server_init(void) {
 ReturnValue_t TmTcLwIpUdpBridge::performOperation(uint8_t operationCode) {
   TmTcBridge::performOperation();
 
-#if TCPIP_RECV_WIRETAPPING == 1
+#if OBSW_TCPIP_UDP_WIRETAPPING == 1
   if (connectFlag) {
-    uint32_t ipAddress = ((ip4_addr*)&lastAdd)->addr;
+    uint32_t ipAddress = ((ip4_addr *)&lastAdd)->addr;
     int ipAddress1 = (ipAddress & 0xFF000000) >> 24;
     int ipAddress2 = (ipAddress & 0xFF0000) >> 16;
     int ipAddress3 = (ipAddress & 0xFF00) >> 8;
@@ -79,11 +78,11 @@ ReturnValue_t TmTcLwIpUdpBridge::performOperation(uint8_t operationCode) {
   return RETURN_OK;
 }
 
-ReturnValue_t TmTcLwIpUdpBridge::sendTm(const uint8_t* data, size_t dataLen) {
+ReturnValue_t TmTcLwIpUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
-  struct pbuf* p_tx = pbuf_alloc(PBUF_TRANSPORT, dataLen, PBUF_RAM);
+  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);
+    err_t err = pbuf_take(p_tx, (const char *)data, dataLen);
     if (err != ERR_OK) {
       pbuf_free(p_tx);
       return err;
@@ -109,23 +108,24 @@ ReturnValue_t TmTcLwIpUdpBridge::sendTm(const uint8_t* data, size_t dataLen) {
   return RETURN_OK;
 }
 
-void TmTcLwIpUdpBridge::udp_server_receive_callback(void* arg, struct udp_pcb* upcb_,
+void TmTcLwIpUdpBridge::udp_server_receive_callback(void *arg, struct udp_pcb *upcb_,
-                                                    struct pbuf* p, const ip_addr_t* addr,
+                                                    struct pbuf *p, const ip_addr_t *addr,
                                                     u16_t port) {
-  struct pbuf* p_tx = nullptr;
+  auto udpBridge = reinterpret_cast<TmTcLwIpUdpBridge *>(arg);
-  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");
+    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);
+  struct pbuf *p_tx = pbuf_alloc(PBUF_TRANSPORT, p->len, PBUF_RAM);
 
-  if (p_tx != NULL) {
+  if (p_tx != nullptr) {
     if (udpBridge != nullptr) {
       MutexGuard lg(udpBridge->bridgeLock);
       udpBridge->upcb = upcb_;
@@ -133,25 +133,25 @@ void TmTcLwIpUdpBridge::udp_server_receive_callback(void* arg, struct udp_pcb* u
       udpBridge->lastPort = port;
       if (not udpBridge->comLinkUp()) {
         udpBridge->registerCommConnect();
-#if TCPIP_RECV_WIRETAPPING == 1
+#if OBSW_TCPIP_UDP_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);
+    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);
+    char *data = reinterpret_cast<char *>(p_tx->payload);
     *(data + p_tx->len) = '\0';
 
-#if TCPIP_RECV_WIRETAPPING == 1
+#if OBSW_TCPIP_UDP_WIRETAPPING == 1
-    udpBridge->printData(p, data);
+    udpBridge->printData(reinterpret_cast<uint8_t *>(p->payload), p->len);
 #endif
 
     store_address_t storeId;
     ReturnValue_t returnValue =
-        udpBridge->tcStore->addData(&storeId, reinterpret_cast<uint8_t*>(p->payload), p->len);
+        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;
@@ -178,8 +178,8 @@ 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.
+    /* Physical connection does not mean there is a recipient to send packets
-    This will be done by the receive callback! */
+    too. This will be done by the receive callback! */
     physicalConnection = true;
   } else {
     physicalConnection = false;

stm32h7/networking/TmTcLwIpUdpBridge.h

@@ -1,14 +1,15 @@
 #ifndef BSP_STM32_RTEMS_NETWORKING_TMTCUDPBRIDGE_H_
 #define BSP_STM32_RTEMS_NETWORKING_TMTCUDPBRIDGE_H_
 
-#include <fsfw/tmtcservices/TmTcBridge.h>
 #include <lwip/ip_addr.h>
 #include <lwip/udp.h>
 
-#define TCPIP_RECV_WIRETAPPING 0
+#include "commonConfig.h"
+#include "fsfw/tmtcservices/TmTcBridge.h"
 
 /**
- * This bridge is used to forward TMTC packets received via LwIP UDP to the internal software bus.
+ * This bridge is used to forward TMTC packets received via LwIP UDP to the
+ * internal software bus.
  */
 class TmTcLwIpUdpBridge : public TmTcBridge {
   friend class UdpTcLwIpPollingTask;
@@ -16,9 +17,9 @@ class TmTcLwIpUdpBridge : public TmTcBridge {
  public:
   TmTcLwIpUdpBridge(object_id_t objectId, object_id_t ccsdsPacketDistributor, object_id_t tmStoreId,
                     object_id_t tcStoreId);
-  virtual ~TmTcLwIpUdpBridge();
+  ~TmTcLwIpUdpBridge() override;
 
-  virtual ReturnValue_t initialize() override;
+  ReturnValue_t initialize() override;
   ReturnValue_t udp_server_init();
 
   /**
@@ -26,14 +27,14 @@ class TmTcLwIpUdpBridge : public TmTcBridge {
    * @param operationCode
    * @return
    */
-  virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
+  ReturnValue_t performOperation(uint8_t operationCode) 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;
+  ReturnValue_t sendTm(const uint8_t *data, size_t dataLen) override;
 
   /**
    * @brief This function is called when an UDP datagram has been
@@ -52,24 +53,24 @@ class TmTcLwIpUdpBridge : public TmTcBridge {
    * Caller must ensure thread-safety by using the bridge lock.
    * @return
    */
-  bool comLinkUp() const;
+  [[nodiscard]] bool comLinkUp() const;
 
  private:
   struct udp_pcb *upcb = nullptr;
-  ip_addr_t lastAdd;
+  ip_addr_t lastAdd{};
   u16_t lastPort = 0;
   bool physicalConnection = false;
   MutexIF *bridgeLock = nullptr;
 
-#if TCPIP_RECV_WIRETAPPING == 1
+#if OBSW_TCPIP_UDP_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
+   * Connection does not mean that replies are possible (recipient not set yet),
-   * disconnect means that we can't send anything. Caller must ensure thread-safety
+   * but disconnect means that we can't send anything. Caller must ensure
-   * by using the bridge lock.
+   * thread-safety by using the bridge lock.
    */
   void physicalConnectStatusChange(bool connect);
 };

stm32h7/networking/UdpTcLwIpPollingTask.cpp

@@ -1,7 +1,5 @@
 #include "UdpTcLwIpPollingTask.h"
 
-#include <hardware_init.h>
-
 #include "TmTcLwIpUdpBridge.h"
 #include "app_dhcp.h"
 #include "app_ethernet.h"
@@ -13,10 +11,10 @@
 #include "networking.h"
 
 UdpTcLwIpPollingTask::UdpTcLwIpPollingTask(object_id_t objectId, object_id_t bridgeId,
-                                           struct netif* gnetif)
+                                           struct netif *gnetif)
     : SystemObject(objectId), periodicHandleCounter(0), bridgeId(bridgeId), gnetif(gnetif) {}
 
-UdpTcLwIpPollingTask::~UdpTcLwIpPollingTask() {}
+UdpTcLwIpPollingTask::~UdpTcLwIpPollingTask() = default;
 
 ReturnValue_t UdpTcLwIpPollingTask::initialize() {
   udpBridge = ObjectManager::instance()->get<TmTcLwIpUdpBridge>(bridgeId);

stm32h7/networking/UdpTcLwIpPollingTask.h

@@ -1,5 +1,4 @@
-#ifndef BSP_STM32_RTEMS_EMACPOLLINGTASK_H_
+#pragma once
-#define BSP_STM32_RTEMS_EMACPOLLINGTASK_H_
 
 #include <fsfw/objectmanager/SystemObject.h>
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
@@ -16,24 +15,22 @@ class UdpTcLwIpPollingTask : public SystemObject,
                              public ExecutableObjectIF,
                              public HasReturnvaluesIF {
  public:
-  UdpTcLwIpPollingTask(object_id_t objectId, object_id_t bridgeId, struct netif* gnetif);
+  UdpTcLwIpPollingTask(object_id_t objectId, object_id_t bridgeId, struct netif *gnetif);
-  virtual ~UdpTcLwIpPollingTask();
+  ~UdpTcLwIpPollingTask() override;
 
-  virtual ReturnValue_t initialize() override;
+  ReturnValue_t initialize() override;
 
   /**
    * Executed periodically.
    * @param operationCode
    * @return
    */
-  virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
+  ReturnValue_t performOperation(uint8_t operationCode) override;
 
  private:
   static const uint8_t PERIODIC_HANDLE_TRIGGER = 5;
   uint8_t periodicHandleCounter;
   object_id_t bridgeId = 0;
-  TmTcLwIpUdpBridge* udpBridge = nullptr;
+  TmTcLwIpUdpBridge *udpBridge = nullptr;
-  struct netif* gnetif = nullptr;
+  struct netif *gnetif = nullptr;
 };
-
-#endif /* BSP_STM32_RTEMS_EMACPOLLINGTASK_H_ */

stm32h7/networking/app_dhcp.cpp

@@ -1,8 +1,6 @@
 #include "app_dhcp.h"
 
 #include "OBSWConfig.h"
-#include "app_ethernet.h"
-#include "ethernetif.h"
 #include "lwip/dhcp.h"
 #include "networking.h"
 #include "stm32h7xx_nucleo.h"
@@ -13,18 +11,18 @@
 uint8_t DHCP_state = DHCP_OFF;
 uint32_t DHCPfineTimer = 0;
 
-void handle_dhcp_timeout(struct netif* netif);
+void handle_dhcp_timeout(struct netif *netif);
-void handle_dhcp_start(struct netif* netif);
+void handle_dhcp_start(struct netif *netif);
-void handle_dhcp_wait(struct netif* netif, struct dhcp** dhcp);
+void handle_dhcp_wait(struct netif *netif, struct dhcp **dhcp);
-void handle_dhcp_down(struct netif* netif);
+void handle_dhcp_down(struct netif *netif);
 
 /**
  * @brief  DHCP_Process_Handle
  * @param  None
  * @retval None
  */
-void DHCP_Process(struct netif* netif) {
+void DHCP_Process(struct netif *netif) {
-  struct dhcp* dhcp = NULL;
+  struct dhcp *dhcp = nullptr;
   switch (DHCP_state) {
     case DHCP_START: {
       handle_dhcp_start(netif);
@@ -45,7 +43,7 @@ void DHCP_Process(struct netif* netif) {
   }
 }
 
-void handle_dhcp_timeout(struct netif* netif) {
+void handle_dhcp_timeout(struct netif *netif) {
   ip_addr_t ipaddr;
   ip_addr_t netmask;
   ip_addr_t gw;
@@ -61,11 +59,11 @@ void handle_dhcp_timeout(struct netif* netif) {
 
   printf("DHCP Timeout\n\r");
   uint8_t iptxt[20];
-  sprintf((char*)iptxt, "%s", ip4addr_ntoa(netif_ip4_addr(netif)));
+  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();
+  ETH_HandleTypeDef *handle = getEthernetHandle();
   handle->gState = HAL_ETH_STATE_READY;
 #endif
 
@@ -82,7 +80,7 @@ void handle_dhcp_timeout(struct netif* netif) {
  * @param  netif
  * @retval None
  */
-void DHCP_Periodic_Handle(struct netif* netif) {
+void DHCP_Periodic_Handle(struct netif *netif) {
   /* Fine DHCP periodic process every 500ms */
   if (HAL_GetTick() - DHCPfineTimer >= DHCP_FINE_TIMER_MSECS) {
     DHCPfineTimer = HAL_GetTick();
@@ -91,7 +89,7 @@ void DHCP_Periodic_Handle(struct netif* netif) {
   }
 }
 
-void handle_dhcp_start(struct netif* 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
@@ -106,7 +104,7 @@ void handle_dhcp_start(struct netif* netif) {
   DHCP_state = DHCP_WAIT_ADDRESS;
 }
 
-void handle_dhcp_wait(struct netif* netif, struct dhcp** dhcp) {
+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)));
@@ -118,7 +116,8 @@ void handle_dhcp_wait(struct netif* netif, struct dhcp** dhcp) {
 #endif
 #endif
   } else {
-    *dhcp = (struct dhcp*)netif_get_client_data(netif, LWIP_NETIF_CLIENT_DATA_INDEX_DHCP);
+    *dhcp =
+        static_cast<struct dhcp *>(netif_get_client_data(netif, LWIP_NETIF_CLIENT_DATA_INDEX_DHCP));
 
     /* DHCP timeout */
     if ((*dhcp)->tries > MAX_DHCP_TRIES) {
@@ -127,7 +126,8 @@ void handle_dhcp_wait(struct netif* netif, struct dhcp** dhcp) {
   }
 }
 
-void handle_dhcp_down(struct netif* netif) {
+void handle_dhcp_down(struct netif *netif) {
+  static_cast<void>(netif);
   DHCP_state = DHCP_OFF;
 #if OBSW_ETHERNET_TMTC_COMMANDING == 1
   printf("DHCP_Process: The network cable is not connected.\n\r");

stm32h7/networking/app_ethernet.cpp

@@ -21,7 +21,7 @@
 uint32_t ethernetLinkTimer = 0;
 
 /* Private function prototypes -----------------------------------------------*/
-void handle_status_change(struct netif* netif, bool link_up);
+void handle_status_change(struct netif *netif, bool link_up);
 
 /* Private functions ---------------------------------------------------------*/
 /**
@@ -29,7 +29,7 @@ void handle_status_change(struct netif* netif, bool link_up);
  * @param  netif: the network interface
  * @retval None
  */
-void networking::ethernetLinkStatusUpdated(struct netif* netif) {
+void networking::ethernetLinkStatusUpdated(struct netif *netif) {
   if (netif_is_link_up(netif)) {
     networking::setEthCableConnected(true);
     handle_status_change(netif, true);
@@ -39,14 +39,14 @@ void networking::ethernetLinkStatusUpdated(struct netif* netif) {
   }
 }
 
-void handle_status_change(struct netif* netif, bool link_up) {
+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)));
+    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
@@ -75,7 +75,7 @@ void handle_status_change(struct netif* netif, bool link_up) {
  * @param  netif
  * @retval None
  */
-void networking::ethernetLinkPeriodicHandle(struct netif* netif) {
+void networking::ethernetLinkPeriodicHandle(struct netif *netif) {
   /* Ethernet Link every 100ms */
   if (HAL_GetTick() - ethernetLinkTimer >= 100) {
     ethernetLinkTimer = HAL_GetTick();

stm32h7/networking/ethernetif.c

@@ -46,15 +46,16 @@
 /* Includes ------------------------------------------------------------------*/
 #include "ethernetif.h"
 
-#include <lan8742.h>
+#include <stdbool.h>
-#include <lwip/netif.h>
-#include <lwip/opt.h>
-#include <lwip/timeouts.h>
-#include <netif/etharp.h>
-#include <stm32h7xx_hal.h>
 #include <string.h>
 
 #include "fsfw/FSFW.h"
+#include "lan8742.h"
+#include "lwip/netif.h"
+#include "lwip/opt.h"
+#include "lwip/timeouts.h"
+#include "netif/etharp.h"
+#include "stm32h7xx_hal.h"
 
 #ifdef FSFW_OSAL_RTEMS
 #include <rtems.h>
@@ -66,14 +67,20 @@
 #define IFNAME0 's'
 #define IFNAME1 't'
 
+#define ETH_DMA_TRANSMIT_TIMEOUT (20U)
+
+#define ETH_RX_BUFFER_SIZE 1536U
+#define ETH_RX_BUFFER_CNT 12U
+#define ETH_TX_BUFFER_MAX ((ETH_TX_DESC_CNT)*2U)
+
 #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
+        - Rx buffers are allocated statically and passed directly to the LwIP
-          they will return back to DMA after been processed by the stack.
+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.
 
@@ -87,15 +94,19 @@
   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)
 */
+typedef enum { RX_ALLOC_OK = 0x00, RX_ALLOC_ERROR = 0x01 } RxAllocStatusTypeDef;
+
+typedef struct {
+  struct pbuf_custom pbuf_custom;
+  uint8_t buff[(ETH_RX_BUFFER_SIZE + 31) & ~31] __ALIGNED(32);
+} RxBuff_t;
 
 #if defined(__ICCARM__) /*!< IAR Compiler */
 
-#pragma location = 0x30040000
+#pragma location = 0x30000000
 ETH_DMADescTypeDef DMARxDscrTab[ETH_RX_DESC_CNT]; /* Ethernet Rx DMA Descriptors */
-#pragma location = 0x30040060
+#pragma location = 0x30000200
 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 */
 
@@ -103,8 +114,6 @@ __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 */
 
@@ -117,44 +126,60 @@ ETH_DMADescTypeDef DMARxDscrTab[ETH_RX_DESC_CNT]
 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 */
+/* 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_OSAL_RTEMS */
-#endif /* FSFW_FREERTOS */
 
 #endif /* defined ( __GNUC__ ) */
 
+/* Memory Pool Declaration */
+LWIP_MEMPOOL_DECLARE(RX_POOL, ETH_RX_BUFFER_CNT, sizeof(RxBuff_t), "Zero-copy RX PBUF pool");
+
+#if defined(__ICCARM__) /*!< IAR Compiler */
+#pragma location = 0x30000400
+extern u8_t memp_memory_RX_POOL_base[];
+
+#elif defined(__CC_ARM) /* MDK ARM Compiler */
+__attribute__((section(".Rx_PoolSection"))) extern u8_t memp_memory_RX_POOL_base[];
+
+#elif defined(__GNUC__) /* GNU Compiler */
+__attribute__((section(".Rx_PoolSection"))) extern u8_t memp_memory_RX_POOL_base[];
+
+#endif
+
 /* Global boolean to track ethernet connection */
 bool ethernet_cable_connected;
 
-struct pbuf_custom rx_pbuf[ETH_RX_DESC_CNT];
+/* Variable Definitions */
-uint32_t current_pbuf_idx = 0;
+static uint8_t RxAllocStatus;
 
+/* Global Ethernet handle*/
 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);
+extern void Error_Handler(void);
-
 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_Object_t LAN8742;
 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 ---------------------------------------------------------*/
+void pbuf_free_custom(struct pbuf *p);
 /*******************************************************************************
                        LL Driver Interface ( LwIP stack --> ETH)
 *******************************************************************************/
@@ -166,7 +191,6 @@ lan8742_IOCtx_t LAN8742_IOCtx = {ETH_PHY_IO_Init, ETH_PHY_IO_DeInit, ETH_PHY_IO_
  *        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};
 
@@ -181,15 +205,15 @@ static void low_level_init(struct netif *netif) {
   HAL_ETH_Init(&EthHandle);
 
   /* set MAC hardware address length */
-  netif->hwaddr_len = ETHARP_HWADDR_LEN;
+  netif->hwaddr_len = ETH_HWADDR_LEN;
 
   /* set MAC hardware address */
-  netif->hwaddr[0] = 0x02;
+  netif->hwaddr[0] = ETH_MAC_ADDR0;
-  netif->hwaddr[1] = 0x00;
+  netif->hwaddr[1] = ETH_MAC_ADDR1;
-  netif->hwaddr[2] = 0x00;
+  netif->hwaddr[2] = ETH_MAC_ADDR2;
-  netif->hwaddr[3] = 0x00;
+  netif->hwaddr[3] = ETH_MAC_ADDR3;
-  netif->hwaddr[4] = 0x00;
+  netif->hwaddr[4] = ETH_MAC_ADDR4;
-  netif->hwaddr[5] = 0x00;
+  netif->hwaddr[5] = ETH_MAC_ADDR5;
 
   /* maximum transfer unit */
   netif->mtu = ETH_MAX_PAYLOAD;
@@ -198,12 +222,8 @@ static void low_level_init(struct netif *netif) {
   /* 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++) {
+  /* Initialize the RX POOL */
-    HAL_ETH_DescAssignMemory(&EthHandle, idx, Rx_Buff[idx], NULL);
+  LWIP_MEMPOOL_INIT(RX_POOL);
-
-    /* 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));
@@ -221,12 +241,13 @@ static void low_level_init(struct netif *netif) {
 }
 
 /**
- * @brief This function should do the actual transmission of the packet. The packet is
+ * @brief This function should do the actual transmission of the packet. The
- * contained in the pbuf that is passed to the function. This pbuf
+ * 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)
+ * @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
  *
@@ -236,17 +257,18 @@ static void low_level_init(struct netif *netif) {
  *       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;
+  uint32_t i = 0U;
-  struct pbuf *q;
+  struct pbuf *q = NULL;
   err_t errval = ERR_OK;
-  ETH_BufferTypeDef Txbuffer[ETH_TX_DESC_CNT];
+  ETH_BufferTypeDef Txbuffer[ETH_TX_DESC_CNT] = {0};
+
+  memset(Txbuffer, 0, ETH_TX_DESC_CNT * sizeof(ETH_BufferTypeDef));
 
   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];
@@ -259,15 +281,14 @@ static err_t low_level_output(struct netif *netif, struct pbuf *p) {
     i++;
   }
 
-  TxConfig.Length = framelen;
+  TxConfig.Length = p->tot_len;
   TxConfig.TxBuffer = Txbuffer;
+  TxConfig.pData = p;
 
-  HAL_StatusTypeDef ret = HAL_ETH_Transmit(&EthHandle, &TxConfig, 20);
+  HAL_StatusTypeDef ret = HAL_ETH_Transmit(&EthHandle, &TxConfig, ETH_DMA_TRANSMIT_TIMEOUT);
-
   if (ret != HAL_OK) {
     printf("low_level_output: Could not transmit ethernet packet, code %d!\n\r", ret);
   }
-
   return errval;
 }
 
@@ -281,59 +302,35 @@ static err_t low_level_output(struct netif *netif, struct pbuf *p) {
  */
 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)) {
+  if (RxAllocStatus == RX_ALLOC_OK) {
-    HAL_ETH_GetRxDataBuffer(&EthHandle, &RxBuff);
+    HAL_ETH_ReadData(&EthHandle, (void **)&p);
-    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;
   }
+
+  return p;
 }
 
 /**
- * @brief This function is the ethernetif_input task, it is processed when a packet
+ * @brief This function is the ethernetif_input task, it is processed when a
- * is ready to be read from the interface. It uses the function low_level_input()
+ * packet is ready to be read from the interface. It uses the function
- * that should handle the actual reception of bytes from the network
+ * low_level_input() that should handle the actual reception of bytes from the
- * interface. Then the type of the received packet is determined and
+ * network interface. Then the type of the received packet is determined and the
- * the appropriate input function is called.
+ * 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 = NULL;
-  struct pbuf *p;
 
-  /* move received packet into a new pbuf */
+  do {
-  p = low_level_input(netif);
+    p = low_level_input(netif);
+    if (p != NULL) {
+      if (netif->input(p, netif) != ERR_OK) {
+        pbuf_free(p);
+      }
+    }
 
-  /* no packet could be read, silently ignore this */
+  } while (p != NULL);
-  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);
 }
 
 /**
@@ -358,6 +355,7 @@ err_t ethernetif_init(struct netif *netif) {
 
   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
@@ -377,12 +375,12 @@ err_t ethernetif_init(struct netif *netif) {
  * @retval None
  */
 void pbuf_free_custom(struct pbuf *p) {
-  if (p != NULL) {
+  struct pbuf_custom *custom_pbuf = (struct pbuf_custom *)p;
-    p->flags = 0;
+  LWIP_MEMPOOL_FREE(RX_POOL, custom_pbuf);
-    p->next = NULL;
+  /* If the Rx Buffer Pool was exhausted, signal the ethernetif_input task to
-    p->len = p->tot_len = 0;
+   * call HAL_ETH_GetRxDataBuffer to rebuild the Rx descriptors. */
-    p->ref = 0;
+  if (RxAllocStatus == RX_ALLOC_ERROR) {
-    p->payload = NULL;
+    RxAllocStatus = RX_ALLOC_OK;
   }
 }
 
@@ -413,7 +411,8 @@ void HAL_ETH_MspInit(ETH_HandleTypeDef *heth) {
   __HAL_RCC_GPIOC_CLK_ENABLE();
   __HAL_RCC_GPIOG_CLK_ENABLE();
 
-  /* Ethernet pins configuration ************************************************/
+  /* Ethernet pins configuration
+   * ************************************************/
   /*
         RMII_REF_CLK ----------------------> PA1
         RMII_MDIO -------------------------> PA2
@@ -526,14 +525,14 @@ int32_t ETH_PHY_IO_GetTick(void) { return HAL_GetTick(); }
  * @retval None
  */
 void ethernet_link_check_state(struct netif *netif) {
-  ETH_MACConfigTypeDef MACConf;
+  ETH_MACConfigTypeDef MACConf = {0};
-  uint32_t PHYLinkState;
+  int32_t PHYLinkState = 0U;
-  uint32_t linkchanged = 0, speed = 0, duplex = 0;
+  uint32_t linkchanged = 0U, speed = 0U, duplex = 0U;
 
   PHYLinkState = LAN8742_GetLinkState(&LAN8742);
 
   if (netif_is_link_up(netif) && (PHYLinkState <= LAN8742_STATUS_LINK_DOWN)) {
-    HAL_ETH_Stop(&EthHandle);
+    HAL_ETH_Stop_IT(&EthHandle);
     netif_set_down(netif);
     netif_set_link_down(netif);
   } else if (!netif_is_link_up(netif) && (PHYLinkState > LAN8742_STATUS_LINK_DOWN)) {
@@ -568,13 +567,62 @@ void ethernet_link_check_state(struct netif *netif) {
       MACConf.DuplexMode = duplex;
       MACConf.Speed = speed;
       HAL_ETH_SetMACConfig(&EthHandle, &MACConf);
-      HAL_ETH_Start(&EthHandle);
+      HAL_ETH_Start_IT(&EthHandle);
       netif_set_up(netif);
       netif_set_link_up(netif);
     }
   }
 }
 
+void HAL_ETH_RxAllocateCallback(uint8_t **buff) {
+  struct pbuf_custom *p = LWIP_MEMPOOL_ALLOC(RX_POOL);
+  if (p) {
+    /* Get the buff from the struct pbuf address. */
+    *buff = (uint8_t *)p + offsetof(RxBuff_t, buff);
+    p->custom_free_function = pbuf_free_custom;
+    /* Initialize the struct pbuf.
+     * This must be performed whenever a buffer's allocated because it may be
+     * changed by lwIP or the app, e.g., pbuf_free decrements ref. */
+    pbuf_alloced_custom(PBUF_RAW, 0, PBUF_REF, p, *buff, ETH_RX_BUFFER_SIZE);
+  } else {
+    RxAllocStatus = RX_ALLOC_ERROR;
+    *buff = NULL;
+  }
+}
+
+void HAL_ETH_RxLinkCallback(void **pStart, void **pEnd, uint8_t *buff, uint16_t Length) {
+  struct pbuf **ppStart = (struct pbuf **)pStart;
+  struct pbuf **ppEnd = (struct pbuf **)pEnd;
+  struct pbuf *p = NULL;
+
+  /* Get the struct pbuf from the buff address. */
+  p = (struct pbuf *)(buff - offsetof(RxBuff_t, buff));
+  p->next = NULL;
+  p->tot_len = 0;
+  p->len = Length;
+
+  /* Chain the buffer. */
+  if (!*ppStart) {
+    /* The first buffer of the packet. */
+    *ppStart = p;
+  } else {
+    /* Chain the buffer to the end of the packet. */
+    (*ppEnd)->next = p;
+  }
+  *ppEnd = p;
+
+  /* Update the total length of all the buffers of the chain. Each pbuf in the chain should have its
+   * tot_len set to its own length, plus the length of all the following pbufs in the chain. */
+  for (p = *ppStart; p != NULL; p = p->next) {
+    p->tot_len += Length;
+  }
+
+  /* Invalidate data cache because Rx DMA's writing to physical memory makes it stale. */
+  SCB_InvalidateDCache_by_Addr((uint32_t *)buff, Length);
+}
+
+void HAL_ETH_TxFreeCallback(uint32_t *buff) { pbuf_free((struct pbuf *)buff); }
+
 ETH_HandleTypeDef *getEthernetHandle() { return &EthHandle; }
 
 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

stm32h7/networking/ethernetif.h

@@ -46,7 +46,6 @@
 #ifndef __ETHERNETIF_H__
 #define __ETHERNETIF_H__
 
-#include <stdbool.h>
 #include <stm32h7xx_hal.h>
 
 #include "lwip/err.h"
@@ -56,8 +55,6 @@
 extern "C" {
 #endif
 
-#define ETH_RX_BUFFER_SIZE (1536UL)
-
 /* Exported types ------------------------------------------------------------*/
 
 ETH_HandleTypeDef *getEthernetHandle();
@@ -67,7 +64,6 @@ 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
 }

stm32h7/networking/networking.cpp

@@ -8,7 +8,7 @@ void networking::setEthCableConnected(bool status) { ethernetCableConnected = st
 
 bool networking::getEthCableConnected() { return ethernetCableConnected; }
 
-void networking::setLwipAddresses(ip_addr_t* ipaddr, ip_addr_t* netmask, ip_addr_t* gw) {
+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

@@ -7,7 +7,7 @@ namespace networking {
 
 void setEthCableConnected(bool status);
 bool getEthCableConnected();
-void setLwipAddresses(ip_addr_t* ipaddr, ip_addr_t* netmask, ip_addr_t* gw);
+void setLwipAddresses(ip_addr_t *ipaddr, ip_addr_t *netmask, ip_addr_t *gw);
 
 }  // namespace networking
 

stm32h7/networking/udp_config.h

@@ -8,7 +8,8 @@ extern "C" {
 /* 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 */
+/*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)