diff --git a/CHANGELOG.md b/CHANGELOG.md index 4d974360d..acd56f3ad 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -8,21 +8,36 @@ and this project adheres to [Semantic Versioning](http://semver.org/). # [unreleased] -# [v6.0.0] +# [v6.0.0] 2023-02-10 ## Fixes +- `CService200ModeManagement`: Various bugfixes which lead to now execution complete being generated + on mode announcements, duplicate mode reply generated on announce commands, and the mode read + subservice not working properly. + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/736 +- Memory leak fixes for the TCP/IP TMTC bridge. + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/737 +- `Service9TimeManagement`: Fix the time dump at the `SET_TIME` subservice: Include clock timeval + seconds instead of uptime. + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/726 - HAL MGM3100 Handler: Use axis specific gain/scaling factors. Previously, only the X scaling factor was used. PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/724 +- HAL MGM3100 Handler: Z value was previously calculated with bytes of the X value. + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/733 - DHB `setNormalDatapoolEntriesInvalid`: The default implementation did not set the validity to false correctly because the `read` and `write` calls were missing. + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/728 - PUS TMTC creator module: Sequence flags were set to continuation segment (0b00) instead of the correct unsegmented flags (0b11) as specified in the standard. + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/727 - TC Scheduler Service 11: Add size and CRC check for contained TC. + Bug: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/issues/719 + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/720 - Only delete health table entry in `HealthHelper` destructor if health table was set. - PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/710/files + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/710 - I2C Bugfixes: Do not keep iterator as member and fix some incorrect handling with the iterator. Also properly reset the reply size for successfull transfers and erroneous transfers. PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/700 @@ -34,9 +49,40 @@ and this project adheres to [Semantic Versioning](http://semver.org/). PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/673 - `CServiceHealthCommanding`: Add announce all health info implementation PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/122 +- various fixes related to linux Unittests and memory leaks + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/715 +- small fix to allow teardown handling + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/713 +- fix compiler warning for fixed array list copy ctor + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/704 +- missing include + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/703 +- defaultconfig did not build anymore + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/702 +- hotfix + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/699 +- small fix for helper + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/698 +- missing retval conv + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/697 +- DHB Countdown Bug + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/693 +- doc corrections + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/687 +- better error printout + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/686 +- include correction + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/683 +- better warning for missing include paths + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/676 +- Service 11 regression + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/670 ## Added +- Empty constructor for `CdsShortTimeStamper` which does not do an object manager registration. + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/730 +- `Service9TimeManagement`: Add `DUMP_TIME` (129) subservice. - `TcpTmTcServer`: Allow setting the `SO_REUSEADDR` and `SO_REUSEPORT` option on the TCP server. CTOR prototype has changed and expects an explicit TCP configuration struct to be passed. @@ -47,6 +93,25 @@ and this project adheres to [Semantic Versioning](http://semver.org/). PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/709 - Add new `UnsignedByteField` class PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/660 +- publish documentation for development and master branch + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/681 +- Add Linux HAL options + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/663 +- Expand SerializeIF + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/656 +- PUS Service 11: Additional Safety Check + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/666 +- improvements for auto-formatter script + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/665 +- provide a weak print char impl + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/674 + +## Removed + +- now that doc server is up, remove markdown files + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/688 +- remove bsp specific code + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/679 ## Changes @@ -57,7 +122,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/). - `AcceptsTelemetryIF`: `getReportReceptionQueue` is const now PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/712 - Moved some container returnvalues to dedicated header and namespace - to they can be used without template specification. + so they can be used without template specification. PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/707 - Remove default secondary header argument for `uint16_t getTcSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag)` and @@ -87,18 +152,41 @@ and this project adheres to [Semantic Versioning](http://semver.org/). - `DeviceHandlerBase`: New signature of `handleDeviceTm` which expects a `const SerializeIF&` and additional helper variant which expects `const uint8_t*` PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/671 -- Move some generic `StorageManagerIF` implementations from `LocalPool` to - interface itself so it can be re-used more easily. Also add new - abstract function `bool hasDataAtId(store_address_t storeId) const`. - PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/685 - Improvements for `AcceptsTelemetryIF` and `AcceptsTelecommandsIF`: - Make functions `const` where it makes sense - Add `const char* getName const` abstract function PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/684 -- Move some generic `StorageManagerIF` implementations from `LocalPool` to - interface itself so it can be re-used more easily. Also add new - abstract function `bool hasDataAtId(store_address_t storeId) const`. - PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/685 +- Generic TMTC Bridge Update + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/734 +- comment tweak to event parser can read everything + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/732 +- CMakeLists file updates + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/731 +- improve srv20 error messages + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/723 +- I2C Linux: remove duplicate printout + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/718 +- printout handling improvements + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/717 +- vec getter, reset for content + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/716 +- updates for source sequence counter + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/714 +- SP reader getPacketData is const now + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/708 +- refactoring of serial drivers for linux + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/705 +- Local Pool Update Remove Add Data Ignore Fault Argument + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/701 +- Switch to new documentation server + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/694 +- Windows Tweaks + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/691 +- Refactor Local Pool API + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/667 +- group MGM data in local pool vectors + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/664 + ## CFDP @@ -118,7 +206,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/). implementation without an extra component PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/682 -# [v5.0.0] 25.07.2022 +# [v5.0.0] 2022-07-25 ## Changes diff --git a/CMakeLists.txt b/CMakeLists.txt index 8308f5234..56601aaac 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -153,12 +153,12 @@ if(FSFW_BUILD_TESTS) "${MSG_PREFIX} Building the FSFW unittests in addition to the static library" ) # Check whether the user has already installed Catch2 first - find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION}) + find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION} QUIET) # Not installed, so use FetchContent to download and provide Catch2 if(NOT Catch2_FOUND) message( STATUS - "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent" + "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent." ) include(FetchContent) @@ -201,8 +201,8 @@ find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET) if(NOT ${FSFW_ETL_LIB_NAME}_FOUND) message( STATUS - "${MSG_PREFIX} No ETL installation was found with find_package. Installing and providing " - "etl with FindPackage") + "${MSG_PREFIX} ETL installation not found. Downloading ETL with FetchContent." + ) include(FetchContent) FetchContent_Declare( diff --git a/scripts/check_release.py b/scripts/check_release.py new file mode 100755 index 000000000..eb5c89f90 --- /dev/null +++ b/scripts/check_release.py @@ -0,0 +1,110 @@ +#! /bin/python + + +import argparse +import json +import urllib.request +import re +from pathlib import Path + +def main() -> None: + parser = argparse.ArgumentParser( + description="List undocumented PRs" + ) + parser.add_argument("-v", "--version", type=str, required=True) + args = parser.parse_args() + + match = re.search("([0-9]+\.[0-9]+\.[0-9]+)", args.version) + + if not match: + print("invalid version") + exit(1) + + version = "v" + match.group(1) + + print("looking for milestone for " + version + " ...") + + + with urllib.request.urlopen("https://egit.irs.uni-stuttgart.de/api/v1/repos/fsfw/fsfw/milestones?name=" + version) as milestone_json: + milestones = json.load(milestone_json) + if (len(milestones) == 0): + print("did not find any milestone") + exit(1) + if (len(milestones) > 1): + print("found multiple milestons") + milestone_title = milestones[0]['title'] + milestone = str(milestones[0]['id']) + print("Using Milestone \""+ milestone_title + "\" with id " + milestone) + + milestone_prs = [] + + page = 1 + last_count = 1; + while last_count != 0: + with urllib.request.urlopen("https://egit.irs.uni-stuttgart.de/api/v1/repos/fsfw/fsfw/pulls?state=closed&milestone=" + str(milestone) + "&limit=100&page=" + str(page)) as pull_requests_json: + pull_requests = json.load(pull_requests_json) + for pr in pull_requests: + milestone_prs.append({'number': str(pr['number']), 'title' : pr['title']}) + page += 1 + last_count = len(pull_requests) + + print("Found " + str(len(milestone_prs)) + " closed PRs in Milestone") + + print("looking for CHANGELOG.md ...") + + path = Path(".") + + files = list(path.glob("CHANGELOG.md")) + + if (len(files) != 1): + files = list(path.glob("../CHANGELOG.md")) + + if (len(files) != 1): + print("did not find CHANGELOG.md. Run script in either root directory or scripts subfolder.") + exit(1) + + print("Scanning CHANGELOG.md ...") + + changelog_prs = [] + + with open(files[0]) as changelog: + line = changelog.readline() + while (line): + #print("line: " + line) + match = re.search("\#.+(v[0-9]+\.[0-9]+\.[0-9]+)", line) + if (match): + if match.group(1) == version: + #print("found version") + line = changelog.readline() + continue + else: + #print("done with " + match.group(1)) + break + + match = re.search("PR: https://egit\.irs\.uni-stuttgart\.de/fsfw/fsfw/pulls/([0-9]+)", line) + if match: + changelog_prs.append(match.group(1)) + + line = changelog.readline() + + print("Found " + str(len(changelog_prs)) + " PRs in CHANGELOG.md") + + print("") + + copy_array = changelog_prs.copy() + print("PRs in CHANGELOG.md that are not in Milestone:") + for pr in milestone_prs: + if pr['number'] in copy_array: + copy_array.remove(pr['number']) + for pr in copy_array: + print("https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/" + pr) + + print("") + + print("PRs in milestone that are not in CHANGELOG.md:") + + for pr in milestone_prs: + if pr['number'] not in changelog_prs: + print("- " + pr['title'] + "\n PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/" + pr['number']) + +main() diff --git a/src/fsfw/health/HasHealthIF.h b/src/fsfw/health/HasHealthIF.h index 77a1c12f6..16666bbc0 100644 --- a/src/fsfw/health/HasHealthIF.h +++ b/src/fsfw/health/HasHealthIF.h @@ -16,26 +16,24 @@ class HasHealthIF { }; static const uint8_t INTERFACE_ID = CLASS_ID::HAS_HEALTH_IF; - static const ReturnValue_t OBJECT_NOT_HEALTHY = MAKE_RETURN_CODE(1); - static const ReturnValue_t INVALID_HEALTH_STATE = MAKE_RETURN_CODE(2); + static constexpr ReturnValue_t OBJECT_NOT_HEALTHY = returnvalue::makeCode(INTERFACE_ID, 1); + static constexpr ReturnValue_t INVALID_HEALTH_STATE = returnvalue::makeCode(INTERFACE_ID, 2); + static constexpr ReturnValue_t IS_EXTERNALLY_CONTROLLED = returnvalue::makeCode(INTERFACE_ID, 3); static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYSTEM_MANAGER_1; + //! P1: New Health, P2: Old Health static const Event HEALTH_INFO = MAKE_EVENT(6, severity::INFO); static const Event CHILD_CHANGED_HEALTH = MAKE_EVENT(7, severity::INFO); static const Event CHILD_PROBLEMS = MAKE_EVENT(8, severity::LOW); - static const Event OVERWRITING_HEALTH = - MAKE_EVENT(9, severity::LOW); //!< Assembly overwrites health information of children to keep - //!< satellite alive. - static const Event TRYING_RECOVERY = - MAKE_EVENT(10, severity::MEDIUM); //!< Someone starts a recovery of a component (typically - //!< power-cycle). No parameters. - static const Event RECOVERY_STEP = - MAKE_EVENT(11, severity::MEDIUM); //!< Recovery is ongoing. Comes twice during recovery. P1: - //!< 0 for the first, 1 for the second event. P2: 0 - static const Event RECOVERY_DONE = MAKE_EVENT( - 12, - severity::MEDIUM); //!< Recovery was completed. Not necessarily successful. No parameters. - + //! Assembly overwrites health information of children to keep satellite alive. + static const Event OVERWRITING_HEALTH = MAKE_EVENT(9, severity::LOW); + //! Someone starts a recovery of a component (typically power-cycle). No parameters. + static const Event TRYING_RECOVERY = MAKE_EVENT(10, severity::MEDIUM); + //! Recovery is ongoing. Comes twice during recovery. + //! P1: 0 for the first, 1 for the second event. P2: 0 + static const Event RECOVERY_STEP = MAKE_EVENT(11, severity::MEDIUM); + //! Recovery was completed. Not necessarily successful. No parameters. + static const Event RECOVERY_DONE = MAKE_EVENT(12, severity::MEDIUM); virtual ~HasHealthIF() {} virtual MessageQueueId_t getCommandQueue() const = 0; diff --git a/src/fsfw/modes/ModeMessage.cpp b/src/fsfw/modes/ModeMessage.cpp index ecc52c941..fbfb71aae 100644 --- a/src/fsfw/modes/ModeMessage.cpp +++ b/src/fsfw/modes/ModeMessage.cpp @@ -24,3 +24,19 @@ void ModeMessage::setCantReachMode(CommandMessage* message, ReturnValue_t reason message->setParameter(reason); message->setParameter2(0); } + +void ModeMessage::setModeAnnounceMessage(CommandMessage& message, bool recursive) { + Command_t cmd; + if (recursive) { + cmd = CMD_MODE_ANNOUNCE_RECURSIVELY; + } else { + cmd = CMD_MODE_ANNOUNCE; + } + message.setCommand(cmd); +} + +void ModeMessage::setCmdModeMessage(CommandMessage& message, Mode_t mode, Submode_t submode) { + setModeMessage(&message, CMD_MODE_COMMAND, mode, submode); +} + +void ModeMessage::setModeReadMessage(CommandMessage& message) { message.setCommand(CMD_MODE_READ); } diff --git a/src/fsfw/modes/ModeMessage.h b/src/fsfw/modes/ModeMessage.h index 84429e840..c00e6c9ef 100644 --- a/src/fsfw/modes/ModeMessage.h +++ b/src/fsfw/modes/ModeMessage.h @@ -45,6 +45,9 @@ class ModeMessage { static void setModeMessage(CommandMessage* message, Command_t command, Mode_t mode, Submode_t submode); + static void setCmdModeMessage(CommandMessage& message, Mode_t mode, Submode_t submode); + static void setModeAnnounceMessage(CommandMessage& message, bool recursive); + static void setModeReadMessage(CommandMessage& message); static void setCantReachMode(CommandMessage* message, ReturnValue_t reason); static void clear(CommandMessage* message); }; diff --git a/src/fsfw/osal/CMakeLists.txt b/src/fsfw/osal/CMakeLists.txt index a40976496..6ccea9746 100644 --- a/src/fsfw/osal/CMakeLists.txt +++ b/src/fsfw/osal/CMakeLists.txt @@ -18,7 +18,10 @@ elseif(FSFW_OSAL MATCHES "host") endif() set(FSFW_OSAL_HOST 1) else() - message(WARNING "The OS_FSFW variable was not set. Assuming host OS..") + message( + WARNING + "${MSG_PREFIX} The FSFW_OSAL variable was not set. Assuming host OS..") + # Not set. Assumuing this is a host build, try to determine host OS if(WIN32) add_subdirectory(host) diff --git a/src/fsfw/osal/common/TcpTmTcServer.h b/src/fsfw/osal/common/TcpTmTcServer.h index 3d182827f..009a1680e 100644 --- a/src/fsfw/osal/common/TcpTmTcServer.h +++ b/src/fsfw/osal/common/TcpTmTcServer.h @@ -78,7 +78,6 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb * https://man7.org/linux/man-pages/man7/socket.7.html for more details. */ bool reusePort = false; - }; enum class ReceptionModes { SPACE_PACKETS }; diff --git a/src/fsfw/osal/rtems/SemaphoreFactory.cpp b/src/fsfw/osal/rtems/SemaphoreFactory.cpp index 35099ddce..1e470f40c 100644 --- a/src/fsfw/osal/rtems/SemaphoreFactory.cpp +++ b/src/fsfw/osal/rtems/SemaphoreFactory.cpp @@ -1,5 +1,5 @@ #include "fsfw/osal/rtems/BinarySemaphore.h" -//#include "fsfw/osal/rtems/CountingSemaphore.h" +// #include "fsfw/osal/rtems/CountingSemaphore.h" #include "fsfw/serviceinterface/ServiceInterface.h" #include "fsfw/tasks/SemaphoreFactory.h" diff --git a/src/fsfw/pus/CService200ModeCommanding.cpp b/src/fsfw/pus/CService200ModeCommanding.cpp index d28df59b8..0dbdedfe0 100644 --- a/src/fsfw/pus/CService200ModeCommanding.cpp +++ b/src/fsfw/pus/CService200ModeCommanding.cpp @@ -19,7 +19,8 @@ ReturnValue_t CService200ModeCommanding::isValidSubservice(uint8_t subservice) { switch (subservice) { case (Subservice::COMMAND_MODE_COMMAND): case (Subservice::COMMAND_MODE_READ): - case (Subservice::COMMAND_MODE_ANNCOUNCE): + case (Subservice::COMMAND_MODE_ANNOUNCE): + case (Subservice::COMMAND_MODE_ANNOUNCE_RECURSIVELY): return returnvalue::OK; default: return AcceptsTelecommandsIF::INVALID_SUBSERVICE; @@ -53,16 +54,32 @@ ReturnValue_t CService200ModeCommanding::checkInterfaceAndAcquireMessageQueue( ReturnValue_t CService200ModeCommanding::prepareCommand(CommandMessage *message, uint8_t subservice, const uint8_t *tcData, size_t tcDataLen, uint32_t *state, object_id_t objectId) { - ModePacket modeCommandPacket; - ReturnValue_t result = - modeCommandPacket.deSerialize(&tcData, &tcDataLen, SerializeIF::Endianness::BIG); - if (result != returnvalue::OK) { - return result; - } + bool recursive = false; + switch (subservice) { + case (Subservice::COMMAND_MODE_COMMAND): { + ModePacket modeCommandPacket; + ReturnValue_t result = + modeCommandPacket.deSerialize(&tcData, &tcDataLen, SerializeIF::Endianness::BIG); + if (result != returnvalue::OK) { + return result; + } - ModeMessage::setModeMessage(message, ModeMessage::CMD_MODE_COMMAND, modeCommandPacket.getMode(), - modeCommandPacket.getSubmode()); - return result; + ModeMessage::setModeMessage(message, ModeMessage::CMD_MODE_COMMAND, + modeCommandPacket.getMode(), modeCommandPacket.getSubmode()); + return returnvalue::OK; + } + case (Subservice::COMMAND_MODE_ANNOUNCE_RECURSIVELY): + recursive = true; + [[fallthrough]]; + case (Subservice::COMMAND_MODE_ANNOUNCE): + ModeMessage::setModeAnnounceMessage(*message, recursive); + return EXECUTION_COMPLETE; + case (Subservice::COMMAND_MODE_READ): + ModeMessage::setModeReadMessage(*message); + return returnvalue::OK; + default: + return CommandingServiceBase::INVALID_SUBSERVICE; + } } ReturnValue_t CService200ModeCommanding::handleReply(const CommandMessage *reply, @@ -73,8 +90,10 @@ ReturnValue_t CService200ModeCommanding::handleReply(const CommandMessage *reply ReturnValue_t result = returnvalue::FAILED; switch (replyId) { case (ModeMessage::REPLY_MODE_REPLY): { - result = prepareModeReply(reply, objectId); - break; + if (previousCommand != ModeMessage::CMD_MODE_COMMAND) { + return prepareModeReply(reply, objectId); + } + return returnvalue::OK; } case (ModeMessage::REPLY_WRONG_MODE_REPLY): { result = prepareWrongModeReply(reply, objectId); diff --git a/src/fsfw/pus/CService200ModeCommanding.h b/src/fsfw/pus/CService200ModeCommanding.h index 830e5950e..cf2baf7ea 100644 --- a/src/fsfw/pus/CService200ModeCommanding.h +++ b/src/fsfw/pus/CService200ModeCommanding.h @@ -52,7 +52,7 @@ class CService200ModeCommanding : public CommandingServiceBase { COMMAND_MODE_READ = 3, //!< [EXPORT] : [COMMAND] Trigger an ModeInfo Event. //! This command does NOT have a reply - COMMAND_MODE_ANNCOUNCE = 4, + COMMAND_MODE_ANNOUNCE = 4, //!< [EXPORT] : [COMMAND] Trigger a ModeInfo Event and to send this //! command to every child. This command does NOT have a reply. COMMAND_MODE_ANNOUNCE_RECURSIVELY = 5, diff --git a/src/fsfw/pus/Service11TelecommandScheduling.tpp b/src/fsfw/pus/Service11TelecommandScheduling.tpp index 540f6c689..ac08f02ca 100644 --- a/src/fsfw/pus/Service11TelecommandScheduling.tpp +++ b/src/fsfw/pus/Service11TelecommandScheduling.tpp @@ -2,12 +2,12 @@ #include +#include "fsfw/globalfunctions/CRC.h" #include "fsfw/objectmanager/ObjectManager.h" #include "fsfw/serialize/SerializeAdapter.h" #include "fsfw/serviceinterface.h" -#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h" #include "fsfw/tmtcpacket/pus/tc/PusTcIF.h" -#include "fsfw/globalfunctions/CRC.h" +#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h" static constexpr auto DEF_END = SerializeIF::Endianness::BIG; @@ -180,7 +180,7 @@ inline ReturnValue_t Service11TelecommandScheduling::doInsertActivi if (CRC::crc16ccitt(data, size) != 0) { return CONTAINED_TC_CRC_MISSMATCH; } - + // store currentPacket and receive the store address store_address_t addr{}; if (tcStore->addData(&addr, data, size) != returnvalue::OK || diff --git a/src/fsfw/pus/Service9TimeManagement.cpp b/src/fsfw/pus/Service9TimeManagement.cpp index d19cb5182..fb32f60e5 100644 --- a/src/fsfw/pus/Service9TimeManagement.cpp +++ b/src/fsfw/pus/Service9TimeManagement.cpp @@ -1,5 +1,7 @@ #include "fsfw/pus/Service9TimeManagement.h" +#include + #include "fsfw/events/EventManagerIF.h" #include "fsfw/pus/servicepackets/Service9Packets.h" #include "fsfw/serviceinterface/ServiceInterface.h" @@ -15,9 +17,17 @@ ReturnValue_t Service9TimeManagement::performService() { return returnvalue::OK; ReturnValue_t Service9TimeManagement::handleRequest(uint8_t subservice) { switch (subservice) { - case SUBSERVICE::SET_TIME: { + case Subservice::SET_TIME: { return setTime(); } + case Subservice::DUMP_TIME: { + timeval newTime; + Clock::getClock_timeval(&newTime); + uint32_t subsecondMs = + static_cast(std::floor(static_cast(newTime.tv_usec) / 1000.0)); + triggerEvent(CLOCK_DUMP, newTime.tv_sec, subsecondMs); + return returnvalue::OK; + } default: return AcceptsTelecommandsIF::INVALID_SUBSERVICE; } @@ -33,14 +43,14 @@ ReturnValue_t Service9TimeManagement::setTime() { return result; } - uint32_t formerUptime; - Clock::getUptime(&formerUptime); + timeval time; + Clock::getClock_timeval(&time); result = Clock::setClock(&timeToSet); if (result == returnvalue::OK) { - uint32_t newUptime; - Clock::getUptime(&newUptime); - triggerEvent(CLOCK_SET, newUptime, formerUptime); + timeval newTime; + Clock::getClock_timeval(&newTime); + triggerEvent(CLOCK_SET, time.tv_sec, newTime.tv_sec); return returnvalue::OK; } else { triggerEvent(CLOCK_SET_FAILURE, result, 0); diff --git a/src/fsfw/pus/Service9TimeManagement.h b/src/fsfw/pus/Service9TimeManagement.h index b4886bb0d..556f3df34 100644 --- a/src/fsfw/pus/Service9TimeManagement.h +++ b/src/fsfw/pus/Service9TimeManagement.h @@ -6,10 +6,13 @@ class Service9TimeManagement : public PusServiceBase { public: static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_9; - static constexpr Event CLOCK_SET = - MAKE_EVENT(0, severity::INFO); //!< Clock has been set. P1: New Uptime. P2: Old Uptime - static constexpr Event CLOCK_SET_FAILURE = - MAKE_EVENT(1, severity::LOW); //!< Clock could not be set. P1: Returncode. + + //!< Clock has been set. P1: old timeval seconds. P2: new timeval seconds. + static constexpr Event CLOCK_SET = MAKE_EVENT(0, severity::INFO); + //!< Clock dump event. P1: timeval seconds P2: timeval milliseconds. + static constexpr Event CLOCK_DUMP = MAKE_EVENT(1, severity::INFO); + //!< Clock could not be set. P1: Returncode. + static constexpr Event CLOCK_SET_FAILURE = MAKE_EVENT(2, severity::LOW); static constexpr uint8_t CLASS_ID = CLASS_ID::PUS_SERVICE_9; @@ -30,8 +33,9 @@ class Service9TimeManagement : public PusServiceBase { virtual ReturnValue_t setTime(); private: - enum SUBSERVICE { - SET_TIME = 128 //!< [EXPORT] : [COMMAND] Time command in ASCII, CUC or CDS format + enum Subservice { + SET_TIME = 128, //!< [EXPORT] : [COMMAND] Time command in ASCII, CUC or CDS format + DUMP_TIME = 129, }; }; diff --git a/src/fsfw/rmap/rmapStructs.h b/src/fsfw/rmap/rmapStructs.h index 55e32606f..1e86734b1 100644 --- a/src/fsfw/rmap/rmapStructs.h +++ b/src/fsfw/rmap/rmapStructs.h @@ -10,11 +10,11 @@ ////////////////////////////////////////////////////////////////////////////////// // RMAP command bits -//#define RMAP_COMMAND_BIT_INCREMENT 2 -//#define RMAP_COMMAND_BIT_REPLY 3 -//#define RMAP_COMMAND_BIT_WRITE 5 -//#define RMAP_COMMAND_BIT_VERIFY 4 -//#define RMAP_COMMAND_BIT 6 +// #define RMAP_COMMAND_BIT_INCREMENT 2 +// #define RMAP_COMMAND_BIT_REPLY 3 +// #define RMAP_COMMAND_BIT_WRITE 5 +// #define RMAP_COMMAND_BIT_VERIFY 4 +// #define RMAP_COMMAND_BIT 6 namespace RMAPIds { @@ -32,14 +32,14 @@ static const uint8_t RMAP_COMMAND_READ = ((1 << RMAP_COMMAND_BIT) | (1 << RMAP_C static const uint8_t RMAP_REPLY_WRITE = ((1 << RMAP_COMMAND_BIT_WRITE) | (1 << RMAP_COMMAND_BIT_REPLY)); static const uint8_t RMAP_REPLY_READ = ((1 << RMAP_COMMAND_BIT_REPLY)); -//#define RMAP_COMMAND_WRITE ((1<createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH); + auto mqArgs = MqArgs(objectId, static_cast(this)); + tmTcReceptionQueue = QueueFactory::instance()->createMessageQueue( + TMTC_RECEPTION_QUEUE_DEPTH, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); } TmTcBridge::~TmTcBridge() { QueueFactory::instance()->deleteMessageQueue(tmTcReceptionQueue); } @@ -35,7 +37,7 @@ ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle(uint8_t sentPacketsPerC } } -ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored(uint8_t maxNumberOfPacketsStored) { +ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored(unsigned int maxNumberOfPacketsStored) { if (maxNumberOfPacketsStored <= LIMIT_DOWNLINK_PACKETS_STORED) { this->maxNumberOfPacketsStored = maxNumberOfPacketsStored; return returnvalue::OK; @@ -143,13 +145,17 @@ ReturnValue_t TmTcBridge::handleTmQueue() { #endif /* FSFW_VERBOSE_LEVEL >= 3 */ if (communicationLinkUp == false or packetSentCounter >= sentPacketsPerCycle) { - storeDownlinkData(&message); + ReturnValue_t result = storeDownlinkData(&message); + if (result != returnvalue::OK) { + tmStore->deleteData(message.getStorageId()); + } continue; } result = tmStore->getData(message.getStorageId(), &data, &size); if (result != returnvalue::OK) { status = result; + tmStore->deleteData(message.getStorageId()); continue; } @@ -157,9 +163,9 @@ ReturnValue_t TmTcBridge::handleTmQueue() { if (result != returnvalue::OK) { status = result; } else { - tmStore->deleteData(message.getStorageId()); packetSentCounter++; } + tmStore->deleteData(message.getStorageId()); } return status; } @@ -171,15 +177,18 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage* message) { } if (tmFifo->full()) { + if (warningSwitch) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::warning << "TmTcBridge::storeDownlinkData: TM downlink max. number " - "of stored packet IDs reached!" - << std::endl; + sif::warning << "TmTcBridge::storeDownlinkData: TM downlink max. number " + "of stored packet IDs reached!" + << std::endl; #else - sif::printWarning( - "TmTcBridge::storeDownlinkData: TM downlink max. number " - "of stored packet IDs reached!\n"); + sif::printWarning( + "TmTcBridge::storeDownlinkData: TM downlink max. number " + "of stored packet IDs reached!\n"); #endif + warningSwitch = false; + } if (overwriteOld) { tmFifo->retrieve(&storeId); tmStore->deleteData(storeId); @@ -221,6 +230,7 @@ ReturnValue_t TmTcBridge::handleStoredTm() { packetSentCounter++; if (tmFifo->empty()) { + warningSwitch = true; tmStored = false; } tmStore->deleteData(storeId); diff --git a/src/fsfw/tmtcservices/TmTcBridge.h b/src/fsfw/tmtcservices/TmTcBridge.h index ed4d254e7..3df3419cb 100644 --- a/src/fsfw/tmtcservices/TmTcBridge.h +++ b/src/fsfw/tmtcservices/TmTcBridge.h @@ -17,7 +17,7 @@ class TmTcBridge : public AcceptsTelemetryIF, public: static constexpr uint8_t TMTC_RECEPTION_QUEUE_DEPTH = 20; static constexpr uint8_t LIMIT_STORED_DATA_SENT_PER_CYCLE = 15; - static constexpr uint8_t LIMIT_DOWNLINK_PACKETS_STORED = 200; + static constexpr unsigned int LIMIT_DOWNLINK_PACKETS_STORED = 500; static constexpr uint8_t DEFAULT_STORED_DATA_SENT_PER_CYCLE = 5; static constexpr uint8_t DEFAULT_DOWNLINK_PACKETS_STORED = 10; @@ -42,7 +42,7 @@ class TmTcBridge : public AcceptsTelemetryIF, * @return -@c returnvalue::OK if value was set successfully * -@c returnvalue::FAILED otherwise, stored value stays the same */ - ReturnValue_t setMaxNumberOfPacketsStored(uint8_t maxNumberOfPacketsStored); + ReturnValue_t setMaxNumberOfPacketsStored(unsigned int maxNumberOfPacketsStored); /** * This will set up the bridge to overwrite old data in the FIFO. @@ -91,6 +91,7 @@ class TmTcBridge : public AcceptsTelemetryIF, //! by default, so telemetry will be handled immediately. bool communicationLinkUp = true; bool tmStored = false; + bool warningSwitch = true; bool overwriteOld = true; uint8_t packetSentCounter = 0; @@ -152,7 +153,7 @@ class TmTcBridge : public AcceptsTelemetryIF, */ DynamicFIFO* tmFifo = nullptr; uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE; - uint8_t maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED; + unsigned int maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED; }; #endif /* FSFW_TMTCSERVICES_TMTCBRIDGE_H_ */ diff --git a/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp b/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp index ce215a644..307d0a558 100644 --- a/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp +++ b/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp @@ -325,7 +325,7 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) { // trickery here to calculate the raw values first int32_t fieldStrengthRawX = ((packet[1] << 24) | (packet[2] << 16) | (packet[3] << 8)) >> 8; int32_t fieldStrengthRawY = ((packet[4] << 24) | (packet[5] << 16) | (packet[6] << 8)) >> 8; - int32_t fieldStrengthRawZ = ((packet[7] << 24) | (packet[8] << 16) | (packet[3] << 8)) >> 8; + int32_t fieldStrengthRawZ = ((packet[7] << 24) | (packet[8] << 16) | (packet[9] << 8)) >> 8; // Now scale to physical value in microtesla float fieldStrengthX = fieldStrengthRawX * scaleFactorX;