Merge branch 'development' into development-doc-test0

Reviewed-on: #756

CHANGELOG.md

@@ -10,6 +10,11 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Fixes
 
+- The `PusTmCreator` API only accepted 255 bytes of source data. It can now accept source
+  data with a size limited only by the size of `size_t`.
+- Important bugfix in CFDP PDU header format: The entity length field and the transaction sequence
+  number fields stored the actual length of the field instead of the length minus 1 like specified
+  in the CFDP standard.
 - 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
@@ -17,13 +22,17 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
   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
+- Important bugfix for `LocalPool::delete` function, where an overflow could possibly lead to UB.
 
 ## Added
 
 - add CFDP subsystem ID
   https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/742
+- New object ID for persistent TM store PUS 15
+- `EventManager`: Add function to print all listeners.
 
 ## 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`.
@@ -32,14 +41,8 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
   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
-
-## Added
-
-- `EventManager`: Add function to print all listeners.
-
-## Changed
-
 - `EventManager`: Queue depth is configurable now
+- `ActionHelper`: Allow execution of actions without additional data
 
 # [v6.0.0] 2023-02-10
 

automation/Dockerfile

@@ -7,7 +7,9 @@ RUN apt-get --yes upgrade
 ARG DEBIAN_FRONTEND=noninteractive
 RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping python3 pip doxygen graphviz rsync
 
-RUN python3 -m pip install sphinx breathe
+# This should also install Sphinx
+RUN python3 -m pip install -r docs/requirements.txt
+RUN python3 -m pip install breathe
 
 RUN git clone https://github.com/catchorg/Catch2.git && \
         cd Catch2 && \
@@ -26,4 +28,4 @@ RUN adduser --uid 114 jenkins
 
 #add documentation server to known hosts
 RUN echo "|1|/LzCV4BuTmTb2wKnD146l9fTKgQ=|NJJtVjvWbtRt8OYqFgcYRnMQyVw= ecdsa-sha2-nistp256 AAAAE2VjZHNhLXNoYTItbmlzdHAyNTYAAAAIbmlzdHAyNTYAAABBBNL8ssTonYtgiR/6RRlSIK9WU1ywOcJmxFTLcEblAwH7oifZzmYq3XRfwXrgfMpylEfMFYfCU8JRqtmi19xc21A=" >> /etc/ssh/ssh_known_hosts
-RUN echo "|1|CcBvBc3EG03G+XM5rqRHs6gK/Gg=|oGeJQ+1I8NGI2THIkJsW92DpTzs= ecdsa-sha2-nistp256 AAAAE2VjZHNhLXNoYTItbmlzdHAyNTYAAAAIbmlzdHAyNTYAAABBBNL8ssTonYtgiR/6RRlSIK9WU1ywOcJmxFTLcEblAwH7oifZzmYq3XRfwXrgfMpylEfMFYfCU8JRqtmi19xc21A=" >> /etc/ssh/ssh_known_hosts
+RUN echo "|1|CcBvBc3EG03G+XM5rqRHs6gK/Gg=|oGeJQ+1I8NGI2THIkJsW92DpTzs= ecdsa-sha2-nistp256 AAAAE2VjZHNhLXNoYTItbmlzdHAyNTYAAAAIbmlzdHAyNTYAAABBBNL8ssTonYtgiR/6RRlSIK9WU1ywOcJmxFTLcEblAwH7oifZzmYq3XRfwXrgfMpylEfMFYfCU8JRqtmi19xc21A=" >> /etc/ssh/ssh_known_hosts

automation/Jenkinsfile

@@ -87,38 +87,44 @@ pipeline {
         }
         stage('Documentation') {
             when {
-                branch 'development'
+              anyOf {
+                branch 'development';
+                branch pattern: 'development-doc*'
+              }
             }
             steps {
                 dir(DOCDDIR) {
                     sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..'
                     sh 'make Sphinx'
                     sshagent(credentials: ['documentation-buildfix']) {
-                        sh 'rsync -r --delete docs/sphinx/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/development'
+                        sh 'rsync -r --delete docs/sphinx/* buildfix@documentation.irs.uni-stuttgart.de:/projects/fsfw/development'
                     }
                 }
-                dir(BUILDDIR) {
+                dir(BUILDDIR_LINUX) {
                     sshagent(credentials: ['documentation-buildfix']) {
-                        sh 'rsync -r --delete fsfw-tests_coverage/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/coverage/development'
+                        sh 'rsync -r --delete fsfw-tests_coverage/* buildfix@documentation.irs.uni-stuttgart.de:/projects/fsfw/coverage/development'
                     }
                 }
             }
         }
         stage('Master Documentation') {
             when {
-                branch 'master'
+              anyOf {
+                branch 'master';
+                branch pattern: 'master-doc*'
+              }
             }
             steps {
                 dir(DOCDDIR) {
                     sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..'
                     sh 'make Sphinx'
                     sshagent(credentials: ['documentation-buildfix']) {
-                        sh 'rsync -r --delete docs/sphinx/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/master'
+                        sh 'rsync -r --delete docs/sphinx/* buildfix@documentation.irs.uni-stuttgart.de:/projects/fsfw/master'
                     }
                 }
-                dir(BUILDDIR) {
+                dir(BUILDDIR_LINUX) {
                     sshagent(credentials: ['documentation-buildfix']) {
-                        sh 'rsync -r --delete fsfw-tests_coverage/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/coverage/master'
+                        sh 'rsync -r --delete fsfw-tests_coverage/* buildfix@documentation.irs.uni-stuttgart.de:/projects/fsfw/coverage/master'
                     }
                 }
             }

docs/conf.py

@@ -21,6 +21,7 @@ project = "Flight Software Framework"
 copyright = "2021, Institute of Space Systems (IRS)"
 author = "Institute of Space Systems (IRS)"
 
+# TODO: Should try to read this from CMakeLists.txt automatically..
 # The full version, including alpha/beta/rc tags
 release = "5.0.0"
 
@@ -48,7 +49,7 @@ exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
 # The theme to use for HTML and HTML Help pages.  See the documentation for
 # a list of builtin themes.
 #
-html_theme = "alabaster"
+html_theme = "sphinx_rtd_theme"
 
 html_theme_options = {
     "extra_nav_links": {"Impressum" : "https://www.uni-stuttgart.de/impressum", "Datenschutz": "https://info.irs.uni-stuttgart.de/datenschutz/datenschutzWebmit.html"}

docs/requirements.txt

@@ -0,0 +1 @@
+sphinx-rtd-theme==1.3.0

src/fsfw/action/ActionHelper.cpp

@@ -59,17 +59,24 @@ void ActionHelper::setQueueToUse(MessageQueueIF* queue) { queueToUse = queue; }
 
 void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
                                     store_address_t dataAddress) {
+  bool hasAdditionalData = false;
   const uint8_t* dataPtr = nullptr;
   size_t size = 0;
-  ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
-  if (result != returnvalue::OK) {
-    CommandMessage reply;
-    ActionMessage::setStepReply(&reply, actionId, 0, result);
-    queueToUse->sendMessage(commandedBy, &reply);
-    return;
+  ReturnValue_t result;
+  if (dataAddress != store_address_t::invalid()) {
+    hasAdditionalData = true;
+    ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
+    if (result != returnvalue::OK) {
+      CommandMessage reply;
+      ActionMessage::setStepReply(&reply, actionId, 0, result);
+      queueToUse->sendMessage(commandedBy, &reply);
+      return;
+    }
   }
   result = owner->executeAction(actionId, commandedBy, dataPtr, size);
-  ipcStore->deleteData(dataAddress);
+  if (hasAdditionalData) {
+    ipcStore->deleteData(dataAddress);
+  }
   if (result == HasActionsIF::EXECUTION_FINISHED) {
     CommandMessage reply;
     ActionMessage::setCompletionReply(&reply, actionId, true, result);

src/fsfw/action/CommandActionHelper.h

@@ -16,8 +16,8 @@ class CommandActionHelper {
  public:
   explicit CommandActionHelper(CommandsActionsIF* owner);
   virtual ~CommandActionHelper();
-  ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, const uint8_t* data,
-                              uint32_t size);
+  ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId,
+                              const uint8_t* data = nullptr, uint32_t size = 0);
   ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, SerializeIF* data);
   ReturnValue_t initialize();
   ReturnValue_t handleReply(CommandMessage* reply);

src/fsfw/cfdp/pdu/HeaderCreator.cpp

@@ -24,8 +24,8 @@ ReturnValue_t HeaderCreator::serialize(uint8_t **buffer, size_t *size, size_t ma
   *buffer += 1;
   **buffer = pduDataFieldLen & 0x00ff;
   *buffer += 1;
-  **buffer = segmentationCtrl << 7 | pduConf.sourceId.getWidth() << 4 | segmentMetadataFlag << 3 |
-             pduConf.seqNum.getWidth();
+  **buffer = segmentationCtrl << 7 | ((pduConf.sourceId.getWidth() - 1) << 4) |
+             segmentMetadataFlag << 3 | (pduConf.seqNum.getWidth() - 1);
   *buffer += 1;
   *size += 4;
   ReturnValue_t result = pduConf.sourceId.serialize(buffer, size, maxSize, streamEndianness);

src/fsfw/cfdp/pdu/HeaderReader.cpp

@@ -78,11 +78,11 @@ cfdp::SegmentationControl PduHeaderReader::getSegmentationControl() const {
 }
 
 cfdp::WidthInBytes PduHeaderReader::getLenEntityIds() const {
-  return static_cast<cfdp::WidthInBytes>((pointers.fixedHeader->fourthByte >> 4) & 0x07);
+  return static_cast<cfdp::WidthInBytes>(((pointers.fixedHeader->fourthByte >> 4) & 0b111) + 1);
 }
 
 cfdp::WidthInBytes PduHeaderReader::getLenSeqNum() const {
-  return static_cast<cfdp::WidthInBytes>(pointers.fixedHeader->fourthByte & 0x07);
+  return static_cast<cfdp::WidthInBytes>((pointers.fixedHeader->fourthByte & 0b111) + 1);
 }
 
 cfdp::SegmentMetadataFlag PduHeaderReader::getSegmentMetadataFlag() const {

src/fsfw/objectmanager/frameworkObjects.h

@@ -15,6 +15,7 @@ enum framework_objects : object_id_t {
   PUS_SERVICE_8_FUNCTION_MGMT = 0x53000008,
   PUS_SERVICE_9_TIME_MGMT = 0x53000009,
   PUS_SERVICE_11_TC_SCHEDULER = 0x53000011,
+  PUS_SERVICE_15_TM_STORAGE = 0x53000015,
   PUS_SERVICE_17_TEST = 0x53000017,
   PUS_SERVICE_20_PARAMETERS = 0x53000020,
   PUS_SERVICE_200_MODE_MGMT = 0x53000200,

src/fsfw/storagemanager/LocalPool.cpp

@@ -89,7 +89,7 @@ ReturnValue_t LocalPool::deleteData(store_address_t storeId) {
   ReturnValue_t status = returnvalue::OK;
   size_type pageSize = getSubpoolElementSize(storeId.poolIndex);
   if ((pageSize != 0) and (storeId.packetIndex < numberOfElements[storeId.poolIndex])) {
-    uint16_t packetPosition = getRawPosition(storeId);
+    size_type packetPosition = getRawPosition(storeId);
     uint8_t* ptr = &store[storeId.poolIndex][packetPosition];
     std::memset(ptr, 0, pageSize);
     // Set free list

src/fsfw/tmtcpacket/pus/tm/PusTmCreator.h

@@ -40,7 +40,7 @@ struct PusTmParams {
               size_t dataLen)
       : secHeader(service, subservice, timeStamper), adapter(data, dataLen), sourceData(&adapter) {}
   PusTmSecHeader secHeader;
-  SerialBufferAdapter<uint8_t> adapter;
+  SerialBufferAdapter<size_t> adapter;
   const SerializeIF* sourceData = nullptr;
 };
 

unittests/action/TestActionHelper.cpp

@@ -27,12 +27,7 @@ TEST_CASE("Action Helper", "[action]") {
     CHECK(not testDhMock.executeActionCalled);
     REQUIRE(actionHelper.handleActionMessage(&actionMessage) == returnvalue::OK);
     CHECK(testDhMock.executeActionCalled);
-    // No message is sent if everything is alright.
     CHECK(not testMqMock.wasMessageSent());
-    store_address_t invalidAddress;
-    ActionMessage::setCommand(&actionMessage, testActionId, invalidAddress);
-    actionHelper.handleActionMessage(&actionMessage);
-    CHECK(testMqMock.wasMessageSent());
     const uint8_t* ptr = nullptr;
     size_t size = 0;
     REQUIRE(ipcStore->getData(paramAddress, &ptr, &size) ==
@@ -44,6 +39,10 @@ TEST_CASE("Action Helper", "[action]") {
     for (uint8_t i = 0; i < 3; i++) {
       REQUIRE(ptr[i] == (i + 1));
     }
+    // Action message without application data is also valid
+    store_address_t invalidAddress;
+    ActionMessage::setCommand(&actionMessage, testActionId, invalidAddress);
+    actionHelper.handleActionMessage(&actionMessage);
     testDhMock.clearBuffer();
   }
 
@@ -95,17 +94,5 @@ TEST_CASE("Action Helper", "[action]") {
     REQUIRE(ActionMessage::getActionId(&testMessage) == testActionId);
   }
 
-  SECTION("Missing IPC Data") {
-    ActionMessage::setCommand(&actionMessage, testActionId, store_address_t::invalid());
-    CHECK(not testDhMock.executeActionCalled);
-    REQUIRE(actionHelper.handleActionMessage(&actionMessage) == returnvalue::OK);
-    CommandMessage testMessage;
-    REQUIRE(testMqMock.getNextSentMessage(testMessage) == returnvalue::OK);
-    REQUIRE(testMessage.getCommand() == static_cast<uint32_t>(ActionMessage::STEP_FAILED));
-    REQUIRE(ActionMessage::getReturnCode(&testMessage) ==
-            static_cast<uint32_t>(StorageManagerIF::ILLEGAL_STORAGE_ID));
-    REQUIRE(ActionMessage::getStep(&testMessage) == 0);
-  }
-
   SECTION("Data Reply") {}
 }

unittests/cfdp/pdu/testCfdpHeader.cpp

@@ -97,7 +97,7 @@ TEST_CASE("CFDP Header", "[cfdp]") {
       REQUIRE(creator.serialize(&serTarget, &serSize, serBuf.size(),
                                 SerializeIF::Endianness::BIG) == returnvalue::OK);
       CHECK(serBuf[0] == 0x3f);
-      CHECK(serBuf[3] == 0x99);
+      CHECK(serBuf[3] == 0x88);
       REQUIRE(creator.getCrcFlag() == true);
       REQUIRE(creator.getDirection() == cfdp::Direction::TOWARDS_SENDER);
       REQUIRE(creator.getLargeFileFlag() == true);
@@ -127,7 +127,7 @@ TEST_CASE("CFDP Header", "[cfdp]") {
       REQUIRE(creator.getTransmissionMode() == cfdp::TransmissionMode::UNACKNOWLEDGED);
       REQUIRE(creator.getSegmentationControl() == true);
       // Last three bits are 2 now (length of seq number) and bit 1 to bit 3 is 4 (len entity IDs)
-      REQUIRE(serBuf[3] == 0b11001010);
+      REQUIRE(serBuf[3] == 0b10111001);
       uint32_t entityId = 0;
       size_t deSerSize = 0;
       SerializeAdapter::deSerialize(&entityId, serBuf.data() + 4, &deSerSize,
@@ -175,7 +175,7 @@ TEST_CASE("CFDP Header", "[cfdp]") {
     REQUIRE(serBuf[1] == 0);
     REQUIRE(serBuf[2] == 0);
     // Entity and Transaction Sequence number are 1 byte large
-    REQUIRE(serBuf[3] == 0b00010001);
+    REQUIRE(serBuf[3] == 0b00000000);
     // Source ID
     REQUIRE(serBuf[4] == 0);
     // Transaction Seq Number
@@ -220,7 +220,7 @@ TEST_CASE("CFDP Header", "[cfdp]") {
     REQUIRE(serBuf[1] == 0);
     REQUIRE(serBuf[2] == 0);
     // Entity and Transaction Sequence number are 1 byte large
-    REQUIRE(serBuf[3] == 0b00010001);
+    REQUIRE(serBuf[3] == 0b00000000);
     REQUIRE(serSize == 7);
     // Deser call not strictly necessary
     auto reader = PduHeaderReader(serBuf.data(), serBuf.size());
@@ -270,7 +270,7 @@ TEST_CASE("CFDP Header", "[cfdp]") {
     REQUIRE(reader.parseData() == returnvalue::OK);
     // Everything except version bit flipped to one now
     REQUIRE(serBuf[0] == 0x3f);
-    REQUIRE(serBuf[3] == 0b11001010);
+    REQUIRE(serBuf[3] == 0b10111001);
     REQUIRE(reader.getWholePduSize() == 14);
 
     REQUIRE(reader.getCrcFlag() == true);

unittests/cfdp/pdu/testFileData.cpp

@@ -68,7 +68,7 @@ TEST_CASE("File Data PDU", "[cfdp][pdu]") {
     // Bits 1 to 3 length of enitity IDs is 2
     // Bit 4: Segment metadata flag is set
     // Bit 5 to seven: length of transaction seq num is 2
-    REQUIRE(fileDataBuffer[3] == 0b10101010);
+    REQUIRE(fileDataBuffer[3] == 0b10011001);
     REQUIRE((fileDataBuffer[10] >> 6) &
             0b11 == cfdp::RecordContinuationState::CONTAINS_START_AND_END);
     // Segment metadata length

unittests/cfdp/pdu/testFileDirective.cpp

@@ -30,7 +30,7 @@ TEST_CASE("CFDP File Directive", "[cfdp][pdu]") {
     REQUIRE(serBuf[1] == 0);
     REQUIRE(serBuf[2] == 5);
     // Entity and Transaction Sequence number are 1 byte large
-    REQUIRE(serBuf[3] == 0b00010001);
+    REQUIRE(serBuf[3] == 0b00000000);
     // Source ID
     REQUIRE(serBuf[4] == 0);
     // Transaction Seq Number
@@ -82,4 +82,4 @@ TEST_CASE("CFDP File Directive", "[cfdp][pdu]") {
     // Invalid file directive
     REQUIRE(fdDeser.parseData() == cfdp::INVALID_DIRECTIVE_FIELD);
   }
-}
+}

unittests/cfdp/testCfdp.cpp

@@ -33,8 +33,8 @@ TEST_CASE("CFDP Base", "[cfdp]") {
     // PDU data field length is 5 (4 + Directive code octet)
     REQUIRE(serBuf[1] == 0);
     REQUIRE(serBuf[2] == 5);
-    // Entity and Transaction Sequence number are 1 byte large
-    REQUIRE(serBuf[3] == 0b00010001);
+    // Entity and Transaction Sequence number are 1 byte large, value minus one is stored
+    REQUIRE(serBuf[3] == 0b00000000);
     // Source ID
     REQUIRE(serBuf[4] == 0);
     // Transaction Seq Number