Merge remote-tracking branch 'upstream/development' into mueller/cfdp-pdus

This commit is contained in:
Robin Müller 2021-12-06 16:12:06 +01:00
commit 602fa3a956
46 changed files with 1297 additions and 120 deletions

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@ -4,6 +4,9 @@ set(FSFW_VERSION 2)
# Add the cmake folder so the FindSphinx module is found
"Generate function and data sections. Required to remove unused code" ON
@ -12,6 +15,7 @@ if(FSFW_GENERATE_SECTIONS)
option(FSFW_BUILD_UNITTESTS "Build unittest binary in addition to static library" OFF)
option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF)
option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
@ -36,7 +40,9 @@ option(FSFW_ADD_SGP4_PROPAGATOR "Add SGP4 propagator code" OFF)
set(LIB_FSFW_NAME fsfw)
set(FSFW_TEST_TGT fsfw-tests)
set(FSFW_DUMMY_TGT fsfw-dummy)
@ -59,7 +65,6 @@ if(FSFW_BUILD_UNITTESTS)
set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
configure_file(tests/src/fsfw_tests/unit/testcfg/ FSFWConfig.h)
configure_file(tests/src/fsfw_tests/unit/testcfg/ tests/TestsConfig.h)
configure_file(tests/src/fsfw_tests/unit/testcfg/ OBSWConfig.h)
project(${FSFW_TEST_TGT} CXX C)
@ -147,7 +152,7 @@ else()
set(OS_FSFW "host")
configure_file(src/fsfw/ fsfw/FSFW.h)
configure_file(src/fsfw/ fsfw/FSFWVersion.h)
@ -163,6 +168,9 @@ if(FSFW_ADD_HAL)
@ -234,9 +242,11 @@ endif()
# The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it.
# If this is not given, we include the default configuration and emit a warning.
message(WARNING "Flight Software Framework configuration path not set!")
set(DEF_CONF_PATH misc/defaultcfg/fsfwconfig)
message(WARNING "Setting default configuration from ${DEF_CONF_PATH} ..")
message(WARNING "Flight Software Framework configuration path not set!")
message(WARNING "Setting default configuration from ${DEF_CONF_PATH} ..")

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@ -42,7 +42,7 @@ There are some functions like `printChar` which are different depending on the t
and need to be implemented by the mission developer.
A template configuration folder was provided and can be copied into the project root to have
a starting point. The [configuration section](doc/ provides more specific
a starting point. The [configuration section](docs/ provides more specific
information about the possible options.
## Adding the library
@ -109,14 +109,14 @@ The `` script located in the `script` folder can also be used to do t
## Index
[1. High-level overview](doc/ <br>
[2. Core components](doc/ <br>
[3. Configuration](doc/ <br>
[4. OSAL overview](doc/ <br>
[5. PUS services](doc/ <br>
[6. Device Handler overview](doc/ <br>
[7. Controller overview](doc/ <br>
[8. Local Data Pools](doc/ <br>
[1. High-level overview](docs/ <br>
[2. Core components](docs/ <br>
[3. Configuration](docs/ <br>
[4. OSAL overview](docs/ <br>
[5. PUS services](docs/ <br>
[6. Device Handler overview](docs/ <br>
[7. Controller overview](docs/ <br>
[8. Local Data Pools](docs/ <br>

cmake/FindSphinx.cmake Normal file
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@ -0,0 +1,13 @@
# Look for an executable called sphinx-build
NAMES sphinx-build
DOC "Path to sphinx-build executable")
# Handle standard arguments to find_package like REQUIRED and QUIET
"Failed to find sphinx-build executable"

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@ -0,0 +1,66 @@
# This is based on this excellent posting provided by Sy:
find_package(Doxygen REQUIRED)
find_package(Sphinx REQUIRED)
# TODO: Add HAL as well
# Replace variables inside @@ with the current values
configure_file(${DOXYFILE_IN} ${DOXYFILE_OUT} @ONLY)
# Doxygen won't create this for us
# Only regenerate Doxygen when the Doxyfile or public headers change
COMMENT "Generating docs"
# Nice named target so we can run the job easily
add_custom_target(Doxygen ALL DEPENDS ${DOXYGEN_INDEX_FILE})
# Only regenerate Sphinx when:
# - Doxygen has rerun
# - Our doc files have been updated
# - The Sphinx config has been updated
# Tell Breathe where to find the Doxygen output
# Other docs files you want to track should go here (or in some variable)
COMMENT "Generating documentation with Sphinx"
# Nice named target so we can run the job easily
add_custom_target(Sphinx ALL DEPENDS ${SPHINX_INDEX_FILE})
# Add an install target to install the docs

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@ -0,0 +1,7 @@

docs/Makefile Normal file
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@ -0,0 +1,20 @@
# Minimal makefile for Sphinx documentation
# You can set these variables from the command line, and also
# from the environment for the first two.
SPHINXBUILD ?= sphinx-build
BUILDDIR = _build
# Put it first so that "make" without argument is like "make help".
.PHONY: help Makefile
# Catch-all target: route all unknown targets to Sphinx using the new
# "make mode" option. $(O) is meant as a shortcut for $(SPHINXOPTS).
%: Makefile

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@ -31,7 +31,9 @@ cohesive pool variables. These sets simply iterator over the list of variables a
`read` and `commit` functions of each variable. The following diagram shows the
high-level architecture of the local data pools.
<img align="center" src="./images/PoolArchitecture.png" width="50%"> <br>
.. image:: ../misc/logo/FSFW_Logo_V3_bw.png
:alt: FSFW Logo
An example is shown for using the local data pools with a Gyroscope.
For example, the following code shows an implementation to access data from a Gyroscope taken

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@ -0,0 +1,16 @@
.. toctree::
:maxdepth: 4

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@ -0,0 +1,15 @@
Action Module API
.. doxygenclass:: ActionHelper
.. doxygenclass:: HasActionsIF

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@ -0,0 +1,16 @@
Controller API
.. doxygenclass:: ControllerBase
.. doxygenclass:: ExtendedControllerBase

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Device Handler Base API
.. doxygenclass:: DeviceHandlerBase
.. doxygenclass:: DeviceHandlerIF

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.. _eventapi:
Event API
.. doxygenfile:: Event.h

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@ -0,0 +1,9 @@
Health API
.. doxygenclass:: HasHealthIF

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IPC Module API
.. doxygenclass:: MessageQueueIF

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Modes API
.. doxygenclass:: HasModesIF

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Object Manager API
.. doxygenclass:: SystemObject
.. doxygenclass:: ObjectManager
.. doxygenclass:: SystemObjectIF
.. doxygenclass:: ObjectManagerIF

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.. _retvalapi:
Returnvalue API
.. doxygenfile:: HasReturnvaluesIF.h
.. _fwclassids:
.. doxygenfile:: FwClassIds.h

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@ -0,0 +1,8 @@
Task API
.. doxygenclass:: ExecutableObjectIF

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@ -0,0 +1,56 @@
# Configuration file for the Sphinx documentation builder.
# This file only contains a selection of the most common options. For a full
# list see the documentation:
# -- Path setup --------------------------------------------------------------
# If extensions (or modules to document with autodoc) are in another directory,
# add these directories to sys.path here. If the directory is relative to the
# documentation root, use os.path.abspath to make it absolute, like shown here.
# import os
# import sys
# sys.path.insert(0, os.path.abspath('.'))
# -- Project information -----------------------------------------------------
project = 'Flight Software Framework'
copyright = '2021, Institute of Space Systems (IRS)'
author = 'Institute of Space Systems (IRS)'
# The full version, including alpha/beta/rc tags
release = '2.0.1'
# -- General configuration ---------------------------------------------------
# Add any Sphinx extension module names here, as strings. They can be
# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
# ones.
extensions = [ "breathe" ]
breathe_default_project = "fsfw"
# Add any paths that contain templates here, relative to this directory.
templates_path = ['_templates']
# List of patterns, relative to source directory, that match files and
# directories to ignore when looking for source files.
# This pattern also affects html_static_path and html_extra_path.
exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
# -- Options for HTML output -------------------------------------------------
# The theme to use for HTML and HTML Help pages. See the documentation for
# a list of builtin themes.
html_theme = 'alabaster'
# Add any paths that contain custom static files (such as style sheets) here,
# relative to this directory. They are copied after the builtin static files,
# so a file named "default.css" will overwrite the builtin "default.css".
html_static_path = []

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@ -0,0 +1,41 @@
Configuring the FSFW
The FSFW can be configured via the ``fsfwconfig`` folder. A template folder has been provided in
``misc/defaultcfg`` to have a starting point for this. The folder should be added
to the include path. The primary configuration file is the ``FSFWConfig.h`` folder. Some
of the available options will be explained in more detail here.
Auto-Translation of Events
The FSFW allows the automatic translation of events, which allows developers to track triggered
events directly via console output. Using this feature requires:
1. ``FSFW_OBJ_EVENT_TRANSLATION`` set to 1 in the configuration file.
2. Special auto-generated translation files which translate event IDs and object IDs into
human readable strings. These files can be generated using the
`fsfwgen Python scripts <>`_.
3. The generated translation files for the object IDs should be named ``translatesObjects.cpp``
and ``translateObjects.h`` and should be copied to the ``fsfwconfig/objects`` folder
4. The generated translation files for the event IDs should be named ``translateEvents.cpp`` and
``translateEvents.h`` and should be copied to the ``fsfwconfig/events`` folder
An example implementations of these translation file generators can be found as part
of the `SOURCE project here <>`_
or the `FSFW example <>`_
Configuring the Event Manager
The number of allowed subscriptions can be modified with the following
.. code-block:: cpp
namespace fsfwconfig {
//! Configure the allocated pool sizes for the event manager.
static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120;

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@ -0,0 +1,2 @@

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@ -0,0 +1,70 @@
.. _core:
Core Modules
The core modules provide the most important functionalities of the Flight Software Framework.
- This is a class of static functions that can be used at anytime
- Leap Seconds must be set if any time conversions from UTC to other times is used
Object Manager
- Must be created during program startup
- The component which handles all references. All :cpp:class:`SystemObject`\s register at this
- All :cpp:class:`SystemObject`\s needs to have a unique Object ID. Those can be managed like
framework objects.
- A reference to an object can be retrieved by calling the ``get`` function of
:cpp:class:`ObjectManagerIF`. The target type must be specified as a template argument.
A ``nullptr`` check of the returning pointer must be done. This function is based on
run-time type information.
.. code-block:: cpp
template <typename T> T* ObjectManagerIF::get(object_id_t id);
- A typical way to create all objects on startup is a handing a static produce function to the
ObjectManager on creation. By calling ``ObjectManager::instance()->initialize(produceFunc)`` the
produce function will be called and all :cpp:class:`SystemObject`\s will be initialized
Event Manager
- Component which allows routing of events
- Other objects can subscribe to specific events, ranges of events or all events of an object.
- Subscriptions can be done during runtime but should be done during initialization
- Amounts of allowed subscriptions can be configured in ``FSFWConfig.h``
Health Table
- A component which holds every health state
- Provides a thread safe way to access all health states without the need of message exchanges
- The message based communication can only exchange a few bytes of information inside the message
itself. Therefore, additional information can be exchanged with Stores. With this, only the
store address must be exchanged in the message.
- Internally, the FSFW uses an IPC Store to exchange data between processes. For incoming TCs a TC
Store is used. For outgoing TM a TM store is used.
- All of them should use the Thread Safe Class storagemanager/PoolManager
There are two different types of tasks:
- The PeriodicTask just executes objects that are of type ExecutableObjectIF in the order of the
insertion to the Tasks.
- FixedTimeslotTask executes a list of calls in the order of the given list. This is intended for
DeviceHandlers, where polling should be in a defined order. An example can be found in
``defaultcfg/fsfwconfig/pollingSequence`` folder

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Device Handlers

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Getting Started
Getting started
The `Hosted FSFW example`_ provides a good starting point and a demo to see the FSFW capabilities.
It is recommended to get started by building and playing around with the demo application.
There are also other examples provided for all OSALs using the popular embedded platforms
Raspberry Pi, Beagle Bone Black and STM32H7.
Generally, the FSFW is included in a project by providing
a configuration folder, building the static library and linking against it.
There are some functions like ``printChar`` which are different depending on the target architecture
and need to be implemented by the mission developer.
A template configuration folder was provided and can be copied into the project root to have
a starting point. The [configuration section](docs/ provides more specific
information about the possible options.
Adding the library
The following steps show how to add and use FSFW components. It is still recommended to
try out the example mentioned above to get started, but the following steps show how to
add and link against the FSFW library in general.
1. Add this repository as a submodule
.. code-block:: console
git submodule add fsfw
2. Add the following directive inside the uppermost ``CMakeLists.txt`` file of your project
.. code-block:: cmake
3. Make sure to provide a configuration folder and supply the path to that folder with
the `FSFW_CONFIG_PATH` CMake variable from the uppermost `CMakeLists.txt` file.
It is also necessary to provide the `printChar` function. You can find an example
implementation for a hosted build
`here <>`_.
4. Link against the FSFW library
.. code-block:: cmake
target_link_libraries(<YourProjectName> PRIVATE fsfw)
5. It should now be possible use the FSFW as a static library from the user code.
Building the unittests
The FSFW also has unittests which use the `Catch2 library`_.
These are built by setting the CMake option ``FSFW_BUILD_UNITTESTS`` to ``ON`` or `TRUE`
from your project `CMakeLists.txt` file or from the command line.
The fsfw-tests binary will be built as part of the static library and dropped alongside it.
If the unittests are built, the library and the tests will be built with coverage information by
default. This can be disabled by setting the `FSFW_TESTS_COV_GEN` option to `OFF` or `FALSE`.
You can use the following commands inside the ``fsfw`` folder to set up the build system
.. code-block:: console
mkdir build-tests && cd build-tests
You can also use ``-DFSFW_OSAL=linux`` on Linux systems.
Coverage data in HTML format can be generated using the `Code coverage`_ CMake module.
To build the unittests, run them and then generare the coverage data in this format,
the following command can be used inside the build directory after the build system was set up
.. code-block:: console
cmake --build . -- fsfw-tests_coverage -j
The ```` script located in the ``script`` folder can also be used to create, build
and open the unittests conveniently. Try `` -h`` for more information.
Building the documentation
The FSFW documentation is built using the tools Sphinx, doxygen and breathe based on the
instructions provided in `this blogpost <>`_. You can set up a
documentation build system using the following commands
.. code-block:: bash
mkdir build-docs && cd build-docs
Then you can generate the documentation using
.. code-block:: bash
cmake --build . -j
You can find the generated documentation inside the ``docs/sphinx`` folder inside the build
folder. Simply open the ``index.html`` in the webbrowser of your choice.
The ```` script located in the ``script`` folder can also be used to create, build
and open the documentation conveniently. Try `` -h`` for more information.
.. _`Hosted FSFW example`:
.. _`Catch2 library`:
.. _`Code coverage`:

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.. _highlevel:
High-level overview
The general structure is driven by the usage of interfaces provided by objects.
The FSFW uses C++11 as baseline. The intention behind this is that this C++ Standard should be
widely available, even with older compilers.
The FSFW uses dynamic allocation during the initialization but provides static containers during runtime.
This simplifies the instantiation of objects and allows the usage of some standard containers.
Dynamic Allocation after initialization is discouraged and different solutions are provided in the
FSFW to achieve that. The fsfw uses run-time type information but exceptions are not allowed.
Failure Handling
Functions should return a defined :cpp:type:`ReturnValue_t` to signal to the caller that something has
gone wrong. Returnvalues must be unique. For this the function :cpp:func:`HasReturnvaluesIF::makeReturnCode`
or the :ref:`macro MAKE_RETURN_CODE <retvalapi>` can be used. The ``CLASS_ID`` is a unique ID for that type of object.
See the :ref:`FSFW Class IDs file <fwclassids>`. The user can add custom ``CLASS_ID``\s via the
``fsfwconfig`` folder.
The FSFW provides operation system abstraction layers for Linux, FreeRTOS and RTEMS.
The OSAL provides periodic tasks, message queues, clocks and semaphores as well as mutexes.
The :ref:`OSAL README <osal>` provides more detailed information on provided components
and how to use them.
Core Components
The FSFW has following core components. More detailed informations can be found in the
:ref:`core component section <core>`:
1. Tasks: Abstraction for different (periodic) task types like periodic tasks or tasks
with fixed timeslots
2. ObjectManager: This module stores all `SystemObjects` by mapping a provided unique object ID
to the object handles.
3. Static Stores: Different stores are provided to store data of variable size (like telecommands
or small telemetry) in a pool structure without using dynamic memory allocation.
These pools are allocated up front.
4. Clock: This module provided common time related functions
5. EventManager: This module allows routing of events generated by `SystemObjects`
6. HealthTable: A component which stores the health states of objects
Static IDs in the framework
Some parts of the framework use a static routing address for communication.
An example setup of IDs can be found in the example config in ``misc/defaultcfg/fsfwconfig/objects``
inside the function ``Factory::setStaticFrameworkObjectIds``.
Events are tied to objects. EventIds can be generated by calling the
:ref:`macro MAKE_EVENT <eventapi>` or the function :cpp:func:`event::makeEvent`.
This works analog to the returnvalues. Every object that needs own Event IDs has to get a
unique ``SUBSYSTEM_ID``. Every :cpp:class:`SystemObject` can call
:cpp:func:`SystemObject::triggerEvent` from the parent class.
Therefore, event messages contain the specific EventId and the objectId of the object that
has triggered.
Internal Communication
Components communicate mostly via Messages through Queues.
Those queues are created by calling the singleton ``QueueFactory::instance()->create`` which
will create `MessageQueue` instances for the used OSAL.
External Communication
The external communication with the mission control system is mostly up to the user implementation.
The FSFW provides PUS Services which can be used to but don't need to be used.
The services can be seen as a conversion from a TC to a message based communication and back.
TMTC Communication
The FSFW provides some components to facilitate TMTC handling via the PUS commands.
For example, a UDP or TCP PUS server socket can be opened on a specific port using the
files located in ``osal/common``. The FSFW example uses this functionality to allow sending
telecommands and receiving telemetry using the
`TMTC commander application <>`_.
Simple commands like the PUS Service 17 ping service can be tested by simply running the
```` or ```` utility in
the `example tmtc folder <>`_
while the `fsfw_example` application is running.
More generally, any class responsible for handling incoming telecommands and sending telemetry
can implement the generic ``TmTcBridge`` class located in ``tmtcservices``. Many applications
also use a dedicated polling task for reading telecommands which passes telecommands
to the ``TmTcBridge`` implementation.
CCSDS Frames, CCSDS Space Packets and PUS
If the communication is based on CCSDS Frames and Space Packets, several classes can be used to
distributed the packets to the corresponding services. Those can be found in ``tcdistribution``.
If Space Packets are used, a timestamper has to be provided by the user.
An example can be found in the ``timemanager`` folder, which uses ``CCSDSTime::CDS_short``.
Device Handlers
DeviceHandlers are another important component of the FSFW. The idea is, to have a software
counterpart of every physical device to provide a simple mode, health and commanding interface.
By separating the underlying Communication Interface with
``DeviceCommunicationIF``, a device handler (DH) can be tested on different hardware.
The DH has mechanisms to monitor the communication with the physical device which allow
for FDIR reaction. Device Handlers can be created by implementing ``DeviceHandlerBase``.
A standard FDIR component for the DH will be created automatically but can
be overwritten by the user. More information on DeviceHandlers can be found in the
related [documentation section](doc/
Modes and Health
The two interfaces ``HasModesIF`` and ``HasHealthIF`` provide access for commanding and monitoring
of components. On-board mode management is implement in hierarchy system.
- Device handlers and controllers are the lowest part of the hierarchy.
- The next layer are assemblies. Those assemblies act as a component which handle
redundancies of handlers. Assemblies share a common core with the top level subsystem components
- The top level subsystem components are used to group assemblies, controllers and device handlers.
For example, a spacecraft can have a atttitude control subsystem and a power subsystem.
Those assemblies are intended to act as auto-generated components from a database which describes
the subsystem modes. The definitions contain transition and target tables which contain the DH,
Assembly and Controller Modes to be commanded.
Transition tables contain as many steps as needed to reach the mode from any other mode, e.g. a
switch into any higher AOCS mode might first turn on the sensors, than the actuators and the
controller as last component.
The target table is used to describe the state that is checked continuously by the subsystem.
All of this allows System Modes to be generated as Subsystem object as well from the same database.
This System contains list of subsystem modes in the transition and target tables.
Therefore, it allows a modular system to create system modes and easy commanding of those, because
only the highest components must be commanded.
The health state represents if the component is able to perform its tasks.
This can be used to signal the system to avoid using this component instead of a redundant one.
The on-board FDIR uses the health state for isolation and recovery.

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.. Flight Software Framework documentation master file, created by
sphinx-quickstart on Tue Nov 30 10:56:03 2021.
You can adapt this file completely to your liking, but it should at least
contain the root `toctree` directive.
Flight Software Framework (FSFW) documentation
.. image:: ../misc/logo/FSFW_Logo_V3_bw.png
:alt: FSFW Logo
The Flight Software Framework is a C++ Object Oriented Framework for unmanned,
automated systems like Satellites.
The initial version of the Flight Software Framework was developed during
the Flying Laptop Project by the University of Stuttgart in cooperation
with Airbus Defence and Space GmbH.
Quick facts
The framework is designed for systems, which communicate with external devices, perform control
loops, receive telecommands and send telemetry, and need to maintain a high level of availability.
Therefore, a mode and health system provides control over the states of the software and the
controlled devices. In addition, a simple mechanism of event based fault detection, isolation and
recovery is implemented as well.
The FSFW provides abstraction layers for operating systems to provide a uniform operating system
abstraction layer (OSAL). Some components of this OSAL are required internally by the FSFW but is
also very useful for developers to implement the same application logic on different operating
systems with a uniform interface.
Currently, the FSFW provides the following OSALs:
- Linux
- Host
- FreeRTOS
The recommended hardware is a microprocessor with more than 1 MB of RAM and 1 MB of non-volatile
memory. For reference, current applications use a Cobham Gaisler UT699 (LEON3FT), a
ISISPACE IOBC or a Zynq-7020 SoC. The ``fsfw`` was also successfully run on the
STM32H743ZI-Nucleo board and on a Raspberry Pi and is currently running on the active
satellite mission Flying Laptop.
.. toctree::
:maxdepth: 2
:caption: Contents:
Indices and tables
* :ref:`genindex`
* :ref:`modindex`
* :ref:`search`

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Local Data Pools
The following text is targeted towards mission software developers which would like
to use the local data pools provided by the FSFW to store data like sensor values so they can be
used by other software objects like controllers as well. If a custom class should have a local
pool which can be used by other software objects as well, following steps have to be performed:
1. Create a ``LocalDataPoolManager`` member object in the custom class
2. Implement the ``HasLocalDataPoolIF`` with specifies the interface between the local pool
manager and the class owning the local pool.
The local data pool manager is also able to process housekeeping service requests in form
of messages, generate periodic housekeeping packet, generate notification and snapshots of changed
variables and datasets and process notifications and snapshots coming from other objects.
The two former tasks are related to the external interface using telemetry and telecommands (TMTC)
while the later two are related to data consumers like controllers only acting on data change
detected by the data creator instead of checking the data manually each cycle. Two important
framework classes ``DeviceHandlerBase`` and ``ExtendedControllerBase`` already perform the two steps
shown above so the steps required are altered slightly.
Storing and Accessing pool data
The pool manager is responsible for thread-safe access of the pool data, but the actual
access to the pool data from the point of view of a mission software developer happens via proxy
classes like pool variable classes. These classes store a copy
of the pool variable with the matching datatype and copy the actual data from the local pool
on a ``read`` call. Changed variables can then be written to the local pool with a ``commit`` call.
The ``read`` and ``commit`` calls are thread-safe and can be called concurrently from data creators
and data consumers. Generally, a user will create a dataset class which in turn groups all
cohesive pool variables. These sets simply iterator over the list of variables and call the
``read`` and ``commit`` functions of each variable. The following diagram shows the
high-level architecture of the local data pools.
.. image:: ../docs/images/PoolArchitecture.png
:alt: Pool Architecture
An example is shown for using the local data pools with a Gyroscope.
For example, the following code shows an implementation to access data from a Gyroscope taken
from the SOURCE CubeSat project:
.. code-block:: cpp
class GyroPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
* Constructor for data users
* @param gyroId
GyroPrimaryDataset(object_id_t gyroId):
StaticLocalDataSet(sid_t(gyroId, gyrodefs::GYRO_DATA_SET_ID)) {
lp_var_t<float> angVelocityX = lp_var_t<float>(sid.objectId,
gyrodefs::ANGULAR_VELOCITY_X, this);
lp_var_t<float> angVelocityY = lp_var_t<float>(sid.objectId,
gyrodefs::ANGULAR_VELOCITY_Y, this);
lp_var_t<float> angVelocityZ = lp_var_t<float>(sid.objectId,
gyrodefs::ANGULAR_VELOCITY_Z, this);
friend class GyroHandler;
* Constructor for data creator
* @param hkOwner
GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
StaticLocalDataSet(hkOwner, gyrodefs::GYRO_DATA_SET_ID) {}
There is a public constructor for users which sets all variables to read-only and there is a
constructor for the GyroHandler data creator by marking it private and declaring the ``GyroHandler``
as a friend class. Both the atittude controller and the ``GyroHandler`` can now
use the same class definition to access the pool variables with ``read`` and ``commit`` semantics
in a thread-safe way. Generally, each class requiring access will have the set class as a member
class. The data creator will also be generally a ``DeviceHandlerBase`` subclass and some additional
steps are necessary to expose the set for housekeeping purposes.
Using the local data pools in a ``DeviceHandlerBase`` subclass
It is very common to store data generated by devices like a sensor into a pool which can
then be used by other objects. Therefore, the ``DeviceHandlerBase`` already has a
local pool. Using the aforementioned example, the ``GyroHandler`` will now have the set class
as a member:
.. code-block:: cpp
class GyroHandler: ... {
GyroPrimaryDataset gyroData;
The constructor used for the creators expects the owner class as a parameter, so we initialize
the object in the `GyroHandler` constructor like this:
.. code-block:: cpp
GyroHandler::GyroHandler(object_id_t objectId, object_id_t comIF,
CookieIF *comCookie, uint8_t switchId):
DeviceHandlerBase(objectId, comIF, comCookie), switchId(switchId),
gyroData(this) {}
We need to assign the set to a reply ID used in the ``DeviceHandlerBase``.
The combination of the ``GyroHandler`` object ID and the reply ID will be the 64-bit structure ID
``sid_t`` and is used to globally identify the set, for example when requesting housekeeping data or
generating update messages. We need to assign our custom set class in some way so that the local
pool manager can access the custom data sets as well.
By default, the ``getDataSetHandle`` will take care of this tasks. The default implementation for a
``DeviceHandlerBase`` subclass will use the internal command map to retrieve
a handle to a dataset from a given reply ID. Therefore,
we assign the set in the ``fillCommandAndReplyMap`` function:
.. code-block:: cpp
void GyroHandler::fillCommandAndReplyMap() {
this->insertInCommandAndReplyMap(gyrodefs::GYRO_DATA, 3, &gyroData);
Now, we need to create the actual pool entries as well, using the ``initializeLocalDataPool``
function. Here, we also immediately subscribe for periodic housekeeping packets
with an interval of 4 seconds. They are still disabled in this example and can be enabled
with a housekeeping service command.
.. code-block:: cpp
ReturnValue_t GyroHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
new PoolEntry<float>({0.0}));
new PoolEntry<float>({0.0}));
new PoolEntry<float>({0.0}));
new PoolEntry<uint8_t>({0}));
new PoolEntry<uint8_t>({0}));
poolManager.subscribeForPeriodicPacket(gyroData.getSid(), false, 4.0, false);
return HasReturnvaluesIF::RETURN_OK;
Now, if we receive some sensor data and converted them into the right format,
we can write it into the pool like this, using a guard class to ensure the set is commited back
in any case:
.. code-block:: cpp
PoolReadGuard readHelper(&gyroData);
if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
if(not gyroData.isValid()) {
gyroData.setValidity(true, true);
gyroData.angVelocityX = angularVelocityX;
gyroData.angVelocityY = angularVelocityY;
gyroData.angVelocityZ = angularVelocityZ;
The guard class will commit the changed data on destruction automatically.
Using the local data pools in a ``ExtendedControllerBase`` subclass
Coming soon

docs/make.bat Normal file
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@ -0,0 +1,35 @@
pushd %~dp0
REM Command file for Sphinx documentation
if "%SPHINXBUILD%" == "" (
set SPHINXBUILD=sphinx-build
set BUILDDIR=_build
if "%1" == "" goto help
if errorlevel 9009 (
echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
echo.installed, then set the SPHINXBUILD environment variable to point the full path of the 'sphinx-build' executable. Alternatively you
echo.may add the Sphinx directory to PATH.
echo.If you don't have Sphinx installed, grab it from
exit /b 1
goto end

docs/osal.rst Normal file
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@ -0,0 +1,63 @@
.. _osal:
Operating System Abstraction Layer (OSAL)
Some specific information on the provided OSALs are provided.
This OSAL can be used to compile for Linux host systems like Ubuntu 20.04 or for
embedded Linux targets like the Raspberry Pi. This OSAL generally requires threading support
and real-time functionalities. For most UNIX systems, this is done by adding ``-lrt`` and
``-lpthread`` to the linked libraries in the compilation process. The CMake build support provided
will do this automatically for the ``fsfw`` target. It should be noted that most UNIX systems need
to be configured specifically to allow the real-time functionalities required by the FSFW.
Hosted OSAL
This is the newest OSAL. Support for Semaphores has not been implemented yet and will propably be
implemented as soon as C++20 with Semaphore support has matured. This OSAL can be used to run the
FSFW on any host system, but currently has only been tested on Windows 10 and Ubuntu 20.04. Unlike
the other OSALs, it uses dynamic memory allocation (e.g. for the message queue implementation).
Cross-platform serial port (USB) support might be added soon.
FreeRTOS is not included and the developer needs to take care of compiling the FreeRTOS sources and
adding the ``FreeRTOSConfig.h`` file location to the include path. This OSAL has only been tested
extensively with the pre-emptive scheduler configuration so far but it should in principle also be
possible to use a cooperative scheduler. It is recommended to use the `heap_4` allocation scheme.
When using newlib (nano), it is also recommended to add ``#define configUSE_NEWLIB_REENTRANT`` to
the FreeRTOS configuration file to ensure thread-safety.
When using this OSAL, developers also need to provide an implementation for the
``vRequestContextSwitchFromISR`` function. This has been done because the call to request a context
switch from an ISR is generally located in the ``portmacro.h`` header and is different depending on
the target architecture or device.
The RTEMS OSAL was the first implemented OSAL which is also used on the active satellite Flying Laptop.
TCP/IP socket abstraction
The Linux and Host OSAL provide abstraction layers for the socket API. Currently, only UDP sockets
have been imlemented. This is very useful to test TMTC handling either on the host computer
directly (targeting localhost with a TMTC application) or on embedded Linux devices, sending
TMTC packets via Ethernet.
Example Applications
There are example applications available for each OSAL
- `Hosted OSAL <>`_
- `Linux OSAL for MCUs <>`_
- `FreeRTOS OSAL on the STM32H743ZIT <>`_
- `RTEMS OSAL on the STM32H743ZIT <>`_

docs/pus.rst Normal file
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@ -0,0 +1,2 @@
PUS Services

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@ -1,23 +1,49 @@
target_include_directories(${TARGET_NAME} PRIVATE
target_include_directories(${TARGET_NAME} PRIVATE
target_sources(${TARGET_NAME} PRIVATE
# If a special translation file for object IDs exists, compile it.
if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
target_sources(${TARGET_NAME} PRIVATE
# If a special translation file for events exists, compile it.
if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
target_sources(${TARGET_NAME} PRIVATE
# If a special translation file for object IDs exists, compile it.
if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
target_sources(${TARGET_NAME} PRIVATE
# If a special translation file for events exists, compile it.
if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
target_sources(${TARGET_NAME} PRIVATE
target_include_directories(${LIB_FSFW_NAME} PRIVATE
target_sources(${LIB_FSFW_NAME} PRIVATE
# If a special translation file for object IDs exists, compile it.
if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
target_sources(${LIB_FSFW_NAME} PRIVATE
# If a special translation file for events exists, compile it.
if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
target_sources(${LIB_FSFW_NAME} PRIVATE

View File

@ -7,7 +7,7 @@
#include <fsfw/tmtcpacket/pus/tm/TmPacketStored.h>
#include <fsfw/tmtcservices/CommandingServiceBase.h>
#include <fsfw/tmtcservices/PusServiceBase.h>
#include <fsfw/internalError/InternalErrorReporter.h>
#include <fsfw/internalerror/InternalErrorReporter.h>
#include <cstdint>
@ -48,6 +48,6 @@ void Factory::setStaticFrameworkObjectIds() {
DeviceHandlerFailureIsolation::powerConfirmationId = objects::NO_OBJECT;
TmPacketStored::timeStamperId = objects::NO_OBJECT;
TmPacketBase::timeStamperId = objects::NO_OBJECT;

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@ -1,83 +0,0 @@
#!/usr/bin/env python3
# -*- coding: utf-8 -*
"""Small portable helper script to generate LCOV HTML coverage data"""
import os
import platform
import sys
import time
import argparse
import webbrowser
from typing import List
"""Copy this helper script into your project folder. It will try to determine a CMake build folder
and then attempt to build your project with coverage information.
See Unittest documentation at for more
information how to set up the build folder.
def main():
parser = argparse.ArgumentParser(description="Processing arguments for LCOV helper script.")
'-o', '--open', action='store_true', help='Open coverage data in webbrowser'
args = parser.parse_args()
build_dir_list = []
if not os.path.isfile(''):
for directory in os.listdir("."):
if os.path.isdir(directory):
if len(build_dir_list) == 0:
print("No valid CMake build directory found. Trying to set up hosted build")
build_directory = 'build-Debug-Host'
os.system('cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..')
elif len(build_dir_list) == 1:
build_directory = build_dir_list[0]
print("Multiple build directories found!")
build_directory = determine_build_dir(build_dir_list)
if os.path.isdir('fsfw-tests_coverage') and'fsfw-tests_coverage/index.html')
def check_for_cmake_build_dir(build_dir_dict: list):
if os.path.isfile("CMakeCache.txt"):
def perform_lcov_operation(directory):
os.system("cmake --build . -- fsfw-tests_coverage -j")
def determine_build_dir(build_dir_list: List[str]):
build_directory = ""
for idx, directory in enumerate(build_dir_list):
print(f"{idx + 1}: {directory}")
while True:
idx = input("Pick the directory to perform LCOV HTML generation by index: ")
if not idx.isdigit():
print("Invalid input!")
idx = int(idx)
if idx > len(build_dir_list) or idx < 1:
print("Invalid input!")
build_directory = build_dir_list[idx - 1]
return build_directory
if __name__ == "__main__":

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@ -1,3 +0,0 @@
mkdir build-Unittest && cd build-Unittest

scripts/ Executable file
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@ -0,0 +1,188 @@
#!/usr/bin/env python3
# -*- coding: utf-8 -*
"""Small portable helper script to generate test or doc configuration for the
flight software framework
import os
import argparse
import webbrowser
import shutil
import sys
import time
from typing import List