reintroducing tmtc bridge

src/fsfw/osal/freertos/TaskManagement.cpp

@@ -5,7 +5,9 @@ void TaskManagement::vRequestContextSwitchFromTask() { vTaskDelay(0); }
 void TaskManagement::requestContextSwitch(CallContext callContext = CallContext::TASK) {
   if (callContext == CallContext::ISR) {
     // This function depends on the partmacro.h definition for the specific device
-    vRequestContextSwitchFromISR();
+    //vRequestContextSwitchFromISR();
+    //TODO is this all still needed in current freeRTOS?
+    vRequestContextSwitchFromTask();
   } else {
     vRequestContextSwitchFromTask();
   }

src/fsfw/timemanager/TimeReaderIF.h

@@ -9,6 +9,8 @@
 #ifdef PLATFORM_WIN
 // wtf? Required for timeval!
 #include <winsock.h>
+#else
+#include <sys/time.h>
 #endif
 
 #include "TimeStampIF.h"

src/fsfw/tmtc/CMakeLists.txt

@@ -3,4 +3,5 @@ target_sources(
   FsfwProtocolHeader.cpp
   TmManager.cpp
   TmMessage.cpp
-  UdpTmTcBridge.cpp)
+  UdpTmTcBridge.cpp
+  )

src/fsfw/tmtc/UdpTmTcBridge.cpp

@@ -1,6 +1,8 @@
 #include "UdpTmTcBridge.h"
 
+extern "C" {
 #include <arpa/inet.h>
+}
 #include <errno.h>
 #include <fsfw/action.h>
 #include <fsfw/ipc/QueueFactory.h>
@@ -48,7 +50,7 @@ ReturnValue_t UdpTmTcBridgeNew::initialize() {
 
   int retval;
 
-  serverSocket = socket(AF_INET6, SOCK_DGRAM | SOCK_NONBLOCK, 0);
+  serverSocket = socket(AF_INET6, SOCK_DGRAM, 0);
   if (serverSocket == -1) {
 // TODO resolve errno
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -57,6 +59,11 @@ ReturnValue_t UdpTmTcBridgeNew::initialize() {
     return returnvalue::FAILED;
   }
 
+  //TODO verify that lwip interprets this correctly
+  int flags = fcntl(serverSocket, F_GETFL, 0);
+  flags |= O_NONBLOCK;
+  fcntl(serverSocket, F_SETFL, flags);
+
   sockaddr_in6 serverAddr;
 
   memset(&serverAddr, 0, sizeof(serverAddr));
@@ -144,6 +151,7 @@ void UdpTmTcBridgeNew::handleTC() {
     return;
   }
 
+
   size_t bufferLen = receivedLen;
   const uint8_t *constApplicationData = applicationData;
 

src/fsfw/tmtc/UdpTmTcBridge.h

@@ -5,7 +5,9 @@
 #include <fsfw/storagemanager/StorageManagerIF.h>
 #include <fsfw/tasks/ExecutableObjectIF.h>
 #include <fsfw/tmtc/AcceptsTelemetryIF.h>
-#include <netinet/in.h>
+#include <sys/socket.h>
+
+
 
 class UdpTmTcBridgeNew : public SystemObject,
                          public ExecutableObjectIF,