Merge branch 'development' into mohr/timetag_fix

Reviewed-on: #743

CHANGELOG.md

@@ -8,6 +8,33 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 # [unreleased]
 
+## Fixes
+
+- PUS Health Service: Size check for set health command.
+                      Perform operation completion for announce health command.
+  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/746
+- Linux OSAL `getUptime` fix: Check validity of `/proc/uptime` file before reading uptime.
+  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/745
+- Small tweak for version getter
+  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/744
+- PUS Scheduling Service: Use timeval internally
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/735
+
+## Added
+
+- add CFDP subsystem ID
+  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/742
+
+## Changed
+- Bump ETL version to 20.35.14
+  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/748
+- Renamed `PCDU_2` subsystem ID to `POWER_SWITCH_IF`.
+  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/743
+- Add new `PowerSwitchIF::SWITCH_UNKNOWN` returnvalue.
+  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/743
+- Assert that `FixedArrayList` is larger than 0 at compile time.
+  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/740
+
 # [v6.0.0] 2023-02-10
 
 ## Fixes

CMakeLists.txt

@@ -72,7 +72,7 @@ set(FSFW_ETL_LIB_MAJOR_VERSION
     20
     CACHE STRING "ETL library major version requirement")
 set(FSFW_ETL_LIB_VERSION
-    ${FSFW_ETL_LIB_MAJOR_VERSION}.28.0
+    ${FSFW_ETL_LIB_MAJOR_VERSION}.35.14
     CACHE STRING "ETL library exact version requirement")
 set(FSFW_ETL_LINK_TARGET etl::etl)
 

src/fsfw/container/FixedArrayList.h

@@ -12,6 +12,7 @@ template <typename T, size_t MAX_SIZE, typename count_t = uint8_t>
 class FixedArrayList : public ArrayList<T, count_t> {
   static_assert(MAX_SIZE <= std::numeric_limits<count_t>::max(),
                 "count_t is not large enough to hold MAX_SIZE");
+  static_assert(MAX_SIZE > 0, "MAX_SIZE is 0");
 
  private:
   T data[MAX_SIZE];

src/fsfw/events/fwSubsystemIdRanges.h

@@ -10,7 +10,7 @@ enum : uint8_t {
   CDH = 28,
   TCS_1 = 59,
   PCDU_1 = 42,
-  PCDU_2 = 43,
+  POWER_SWITCH_IF = 43,
   HEATER = 50,
   T_SENSORS = 52,
   FDIR = 70,
@@ -33,6 +33,7 @@ enum : uint8_t {
   PUS_SERVICE_23 = 103,
   MGM_LIS3MDL = 106,
   MGM_RM3100 = 107,
+  CFDP = 108,
 
   FW_SUBSYSTEM_ID_RANGE
 };

src/fsfw/osal/linux/Clock.cpp

@@ -76,14 +76,17 @@ timeval Clock::getUptime() {
 }
 
 ReturnValue_t Clock::getUptime(timeval* uptime) {
-  // TODO This is not posix compatible and delivers only seconds precision
-  //  Linux specific file read but more precise.
   double uptimeSeconds;
-  if (std::ifstream("/proc/uptime", std::ios::in) >> uptimeSeconds) {
+  std::ifstream ifile("/proc/uptime");
+  if (ifile.bad()) {
+    return returnvalue::FAILED;
+  }
+  if (ifile >> uptimeSeconds) {
     uptime->tv_sec = uptimeSeconds;
     uptime->tv_usec = uptimeSeconds * (double)1e6 - (uptime->tv_sec * 1e6);
+    return returnvalue::OK;
   }
-  return returnvalue::OK;
+  return returnvalue::FAILED;
 }
 
 // Wait for new FSFW Clock function delivering seconds uptime.

src/fsfw/power/Fuse.h

@@ -32,7 +32,7 @@ class Fuse : public SystemObject,
     gp_id_t poolIdPower;
   };
 
-  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_1;
+  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::POWER_SWITCH_IF;
   //! PSS detected that current on a fuse is totally out of bounds.
   static const Event FUSE_CURRENT_HIGH = MAKE_EVENT(1, severity::LOW);
   //! PSS detected a fuse that went off.

src/fsfw/power/PowerSwitchIF.h

@@ -28,10 +28,12 @@ class PowerSwitchIF {
   static const ReturnValue_t SWITCH_TIMEOUT = MAKE_RETURN_CODE(2);
   static const ReturnValue_t FUSE_ON = MAKE_RETURN_CODE(3);
   static const ReturnValue_t FUSE_OFF = MAKE_RETURN_CODE(4);
-  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_2;
-  static const Event SWITCH_WENT_OFF = MAKE_EVENT(
-      0, severity::LOW);  //!< Someone detected that a switch went off which shouldn't. Severity:
-                          //!< Low, Parameter1: switchId1, Parameter2: switchId2
+  static const ReturnValue_t SWITCH_UNKNOWN = MAKE_RETURN_CODE(5);
+
+  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::POWER_SWITCH_IF;
+  //!< Someone detected that a switch went off which shouldn't. Severity:
+  //!< Low, Parameter1: switchId1, Parameter2: switchId2
+  static const Event SWITCH_WENT_OFF = MAKE_EVENT(0, severity::LOW);
   /**
    * send a direct command to the Power Unit to enable/disable the specified switch.
    *
@@ -50,6 +52,7 @@ class PowerSwitchIF {
    * @return
    *     - @c SWITCH_ON if the specified switch is on.
    *     - @c SWITCH_OFF if the specified switch is off.
+   *     - @c SWITCH_UNKNOWN if the state of the specified switch is unknown.
    *     - @c returnvalue::FAILED if an error occured
    */
   virtual ReturnValue_t getSwitchState(power::Switch_t switchNr) const = 0;

src/fsfw/pus/CServiceHealthCommanding.cpp

@@ -82,6 +82,9 @@ ReturnValue_t CServiceHealthCommanding::prepareCommand(CommandMessage *message,
   ReturnValue_t result = returnvalue::OK;
   switch (subservice) {
     case (Subservice::COMMAND_SET_HEALTH): {
+      if (tcDataLen != sizeof(object_id_t) + sizeof(HasHealthIF::HealthState)) {
+        return CommandingServiceBase::INVALID_TC;
+      }
       HealthSetCommand healthCommand;
       result = healthCommand.deSerialize(&tcData, &tcDataLen, SerializeIF::Endianness::BIG);
       if (result != returnvalue::OK) {
@@ -93,7 +96,7 @@ ReturnValue_t CServiceHealthCommanding::prepareCommand(CommandMessage *message,
     }
     case (Subservice::COMMAND_ANNOUNCE_HEALTH): {
       HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_ANNOUNCE);
-      break;
+      return CommandingServiceBase::EXECUTION_COMPLETE;
     }
     case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): {
       ReturnValue_t result = iterateHealthTable(true);

src/fsfw/pus/Service11TelecommandScheduling.h

@@ -91,7 +91,6 @@ class Service11TelecommandScheduling final : public PusServiceBase {
  private:
   struct TelecommandStruct {
     uint64_t requestId{};
-    uint32_t seconds{};
     store_address_t storeAddr;  // uint16
   };
 
@@ -114,7 +113,7 @@ class Service11TelecommandScheduling final : public PusServiceBase {
    * The telecommand map uses the exectution time as a Unix time stamp as
    * the key. This is mapped to a generic telecommand struct.
    */
-  using TelecommandMap = etl::multimap<uint32_t, TelecommandStruct, MAX_NUM_TCS>;
+  using TelecommandMap = etl::multimap<timeval, TelecommandStruct, MAX_NUM_TCS>;
   using TcMapIter = typename TelecommandMap::iterator;
 
   TelecommandMap telecommandMap;

src/fsfw/pus/Service11TelecommandScheduling.tpp

@@ -3,6 +3,7 @@
 #include <cstddef>
 
 #include "fsfw/globalfunctions/CRC.h"
+#include "fsfw/globalfunctions/timevalOperations.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/serialize/SerializeAdapter.h"
 #include "fsfw/serviceinterface.h"
@@ -79,7 +80,7 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::performService
   // NOTE: The iterator is increased in the loop here. Increasing the iterator as for-loop arg
   // does not work in this case as we are deleting the current element here.
   for (auto it = telecommandMap.begin(); it != telecommandMap.end();) {
-    if (it->first <= tNow.tv_sec) {
+    if (it->first <= tNow) {
       if (schedulingEnabled) {
         // release tc
         TmTcMessage releaseMsg(it->second.storeAddr);
@@ -150,17 +151,25 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::handleResetCom
 template <size_t MAX_NUM_TCS>
 inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doInsertActivity(
     const uint8_t *data, size_t size) {
-  uint32_t timestamp = 0;
-  ReturnValue_t result = SerializeAdapter::deSerialize(&timestamp, &data, &size, DEF_END);
+  uint32_t seconds = 0;
+  ReturnValue_t result = SerializeAdapter::deSerialize(&seconds, &data, &size, DEF_END);
   if (result != returnvalue::OK) {
     return result;
   }
+  timeval scheduledTime;
+  scheduledTime.tv_sec = seconds;
+  scheduledTime.tv_usec = 0;
 
   // Insert possible if sched. time is above margin
   // (See requirement for Time margin)
   timeval tNow = {};
   Clock::getClock_timeval(&tNow);
-  if (timestamp - tNow.tv_sec <= RELEASE_TIME_MARGIN_SECONDS) {
+  timeval timeDifference = scheduledTime - tNow;
+  // round subseconds up
+  if (timeDifference.tv_usec != 0) {
+    timeDifference.tv_sec++;
+  }
+  if (timeDifference.tv_sec <= RELEASE_TIME_MARGIN_SECONDS) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "Service11TelecommandScheduling::doInsertActivity: Release time too close to "
                     "current time"
@@ -197,11 +206,10 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doInsertActivi
 
   // insert into multimap with new store address
   TelecommandStruct tc;
-  tc.seconds = timestamp;
   tc.storeAddr = addr;
   tc.requestId = getRequestIdFromTc();  // TODO: Missing sanity check of the returned request id
 
-  auto it = telecommandMap.insert(std::pair<uint32_t, TelecommandStruct>(timestamp, tc));
+  auto it = telecommandMap.insert(std::pair<timeval, TelecommandStruct>(scheduledTime, tc));
   if (it == telecommandMap.end()) {
     return returnvalue::FAILED;
   }
@@ -391,7 +399,8 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doTimeshiftAct
 
   // temporarily hold the item
   TelecommandStruct tempTc(tcToTimeshiftIt->second);
-  uint32_t tempKey = tcToTimeshiftIt->first + relativeTime;
+  timeval tempKey = tcToTimeshiftIt->first;
+  tempKey.tv_sec += relativeTime;
 
   // delete old entry from the mm
   telecommandMap.erase(tcToTimeshiftIt);
@@ -436,7 +445,8 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doFilterTimesh
   for (auto it = itBegin; it != itEnd;) {
     // temporarily hold the item
     TelecommandStruct tempTc(it->second);
-    uint32_t tempKey = it->first + relativeTime;
+    timeval tempKey = it->first;
+    tempKey.tv_sec += relativeTime;
 
     // delete the old entry from the mm
     telecommandMap.erase(it++);
@@ -533,12 +543,16 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::getMapFilterFr
     }
 
     case TypeOfTimeWindow::FROM_TIMETAG: {
-      uint32_t fromTimestamp = 0;
-      result = SerializeAdapter::deSerialize(&fromTimestamp, &data, &dataSize, DEF_END);
+      uint32_t fromSeconds = 0;
+      result = SerializeAdapter::deSerialize(&fromSeconds, &data, &dataSize, DEF_END);
       if (result != returnvalue::OK) {
         return result;
       }
 
+      timeval fromTimestamp;
+      fromTimestamp.tv_sec = fromSeconds;
+      fromTimestamp.tv_usec = 0;
+
       itBegin = telecommandMap.begin();
       while (itBegin->first < fromTimestamp && itBegin != telecommandMap.end()) {
         itBegin++;
@@ -549,11 +563,15 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::getMapFilterFr
     }
 
     case TypeOfTimeWindow::TO_TIMETAG: {
-      uint32_t toTimestamp;
-      result = SerializeAdapter::deSerialize(&toTimestamp, &data, &dataSize, DEF_END);
+      uint32_t toSeconds = 0;
+      result = SerializeAdapter::deSerialize(&toSeconds, &data, &dataSize, DEF_END);
       if (result != returnvalue::OK) {
         return result;
       }
+      timeval toTimestamp;
+      toTimestamp.tv_sec = toSeconds;
+      toTimestamp.tv_usec = 0;
+
       itBegin = telecommandMap.begin();
       itEnd = telecommandMap.begin();
       while (itEnd->first <= toTimestamp && itEnd != telecommandMap.end()) {
@@ -563,19 +581,27 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::getMapFilterFr
     }
 
     case TypeOfTimeWindow::FROM_TIMETAG_TO_TIMETAG: {
-      uint32_t fromTimestamp;
-      uint32_t toTimestamp;
+      uint32_t fromSeconds = 0;
+      uint32_t toSeconds = 0;
 
-      result = SerializeAdapter::deSerialize(&fromTimestamp, &data, &dataSize,
+      result = SerializeAdapter::deSerialize(&fromSeconds, &data, &dataSize,
                                              SerializeIF::Endianness::BIG);
       if (result != returnvalue::OK) {
         return result;
       }
-      result = SerializeAdapter::deSerialize(&toTimestamp, &data, &dataSize,
+      result = SerializeAdapter::deSerialize(&toSeconds, &data, &dataSize,
                                              SerializeIF::Endianness::BIG);
       if (result != returnvalue::OK) {
         return result;
       }
+      timeval fromTimestamp;
+      fromTimestamp.tv_sec = fromSeconds;
+      fromTimestamp.tv_usec = 0;
+      timeval toTimestamp;
+      toTimestamp.tv_sec = toSeconds;
+      toTimestamp.tv_usec = 0;
+
+
       if (fromTimestamp > toTimestamp) {
         return INVALID_TIME_WINDOW;
       }

src/fsfw/version.cpp

@@ -1,6 +1,7 @@
 #include "version.h"
 
 #include <cstdio>
+#include <cstring>
 
 #include "fsfw/FSFWVersion.h"
 
@@ -20,7 +21,7 @@ fsfw::Version::Version(int major, int minor, int revision, const char* addInfo)
 
 void fsfw::Version::getVersion(char* str, size_t maxLen) const {
   size_t len = snprintf(str, maxLen, "%d.%d.%d", major, minor, revision);
-  if (addInfo != nullptr) {
+  if (addInfo != nullptr and std::strcmp(addInfo, "") != 0) {
     snprintf(str + len, maxLen - len, "-%s", addInfo);
   }
 }
@@ -30,7 +31,7 @@ namespace fsfw {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 std::ostream& operator<<(std::ostream& os, const Version& v) {
   os << v.major << "." << v.minor << "." << v.revision;
-  if (v.addInfo != nullptr) {
+  if (v.addInfo != nullptr and std::strcmp(v.addInfo, "") != 0) {
     os << "-" << v.addInfo;
   }
   return os;