Robin Müller
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Change Log
All notable changes to this project will be documented in this file.
The format is based on Keep a Changelog and this project adheres to Semantic Versioning.
[unreleased]
[v5.0.0] 25.07.2022
Changes
- Renamed auto-formatting script to
auto-formatter.sh
and made it more robust. Ifcmake-format
is installed, it will also auto-format theCMakeLists.txt
files now. PR: #625 PR: #626 - Bump C++ required version to C++17. Every project which uses the FSFW and every modern compiler supports it PR: #622
- New CMake option
FSFW_HAL_LINUX_ADD_LIBGPIOD
to specifically excludegpiod
code. PR: #572 - HAL Devicehandlers: Periodic printout is run-time configurable now
oneShotAction
flag in theTestTask
class is not static anymoreSimpleRingBuffer::writeData
now checks if the amount is larger than the total size of the Buffer and rejects such writeData calls withHasReturnvaluesIF::RETURN_FAILED
PR: #586- Major update for version handling, using
git describe
to fetch version information with git. PR: #601- Add helper functions provided by
cmake-modules
manually now. Those should not change too often and only a small subset is needed - Separate folder for easier update and for distinction
- LICENSE file included
- use
int
for version numbers to allow unset or uninitialized version - Initialize Version object with numbers set to -1
- Instead of hardcoding the git hash, it is now retrieved from git
Version
now allows specifying additional version information like the git SHA1 hash and the versions since the last tag- Additional information is set to the last part of the git describe output for
FSFW_VERSION
now. - Version still need to be hand-updated if the FSFW is not included as a submodule for now.
- Add helper functions provided by
- IPC Message Queue Handling: Allow passing an optional
MqArgs
argument into the MessageQueue creation call. It allows passing context information and an arbitrary user argument into the message queue. Also streamlined and simplifiedMessageQueue
implementation for all OSALs PR: #583 - Internal API change: Moved the
fsfw_hal
to thesrc
folder and integration and internal tests part offsfw_tests
tosrc
. Unittests are now in a dedicated folder calledunittests
PR: #653
Task Module Refactoring
PR: #636
Refactoring general task code
- There was a lot of duplicate/boilerplate code inside the individual task IF OSAL implementations.
Remove it by introducing base classes
PeriodicTaskBase
andFixedTimeslotTaskBase
.
Refactor PeriodicTaskIF
- Convert
virtual ReturnValue_t addComponent(object_id_t object)
tovirtual ReturnValue_t addComponent(object_id_t object, uint8_t opCode = 0)
, allowing to pass the operation code passed toperformOperation
. Updated API taking anExecutableObjectIF
accordingly
Refactor FixedTimeslotTaskIF
- Add additional
addSlot
function which takes anExecutableObjectIF
pointer and its Object ID
Refactor FixedSequenceSlot
- Introduce typedef
CustomCheckFunc
forReturnValue_t (*customCheckFunction)(const SlotList&)
. - Convert
ReturnValue_t (*customCheckFunction)(const SlotList&)
toReturnValue_t (*customCheckFunction)(const SlotList&, void*)
, allowing arbitrary user arguments for the custom checker
Linux Task Module
- Use composition instead of inheritance for the
PeriodicPosixTask
and make thePosixTask
a member of the class
HAL
- HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations PR: #585
- HAL Linux SPI: Set the Clock Default State when setting new SPI speed and mode PR: #573
- GPIO HAL:
Direction
,GpioOperation
andLevels
are enum classes now, which prevents name clashes with Windows defines. PR: #572 - HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations PR: #585
Time
timeval
toTimeOfDay_t
- Added Mutex for gmtime calls: (compare http://www.opengate.at/blog/2020/01/timeless/)
- Moved the statics used by Clock in ClockCommon.cpp to this file
- Better check for leap seconds
- Added Unittests for Clock (only getter)
Power
PowerSwitchIF
: Removeconst
specifier fromsendSwitchCommand
andsendFuseOnCommand
and also specify aReturnValue_t
return type PR: #590- Extend
PowerSwitcher
module to optionally check current state when callingturnOn
orturnOff
. Tis can be helpful to avoid commanding switches which do not need commanding PR: #590
Removed
- Removed the
HkSwitchHelper
. This module should not be needed anymore, now that the local datapools have been implemented. PR: #557
Additions
- New constructor for PoolEntry which allows to simply specify the length of the pool entry. This is also the new default constructor for scalar value with 0 as an initial value
- Added options for CI/CD builds:
FSFW_CICD_BUILD
. This allows the source code to know whether it is running in CI/CD PR: #623 - Basic
clion
support: Update.gitignore
and add some basic run configurations PR: #625 - LTO support: Allow using LTO/IPO by setting
FSFW_ENABLE_LTO=1
. CMake is able to detect whether the user compiler supports IPO/LPO. LTO is on by default now. Most modern compilers support it, can make good use of it and it usually makes the code faster and/or smaller. After some more research: Enabling LTO will actually cause the compiler to only produce thin LTO by adding-flto -fno-fat-lto-objects
to the compiler options. I am not sure this is an ideal choice because if an application linking against the FSFW does not use LTO, there can be compile issues (e.g. observed when compiling the FSFW tests without LTO). This is a known issue as can be seen in the multiple CMake issues for it:- https://gitlab.kitware.com/cmake/cmake/-/issues/22913,
- https://gitlab.kitware.com/cmake/cmake/-/issues/16808,
- https://gitlab.kitware.com/cmake/cmake/-/issues/21696 Easiest solution for now: Keep this option OFF by default. PR: #616
- Linux HAL: Add wiretapping option for I2C. Enabled with
FSFW_HAL_I2C_WIRETAPPING
defined to 1 - Dedicated Version class and constant
fsfw::FSFW_VERSION
containing version information insidefsfw/version.h
PR: #559 - Added generic PUS TC Scheduler Service 11. It depends on the new added Emebeded Template Library (ETL) dependency. PR: #594
- Added ETL dependency and improved library dependency management PR: #592
- Add a
DummyPowerSwitcher
module which can be useful for test setups when no PCDU is available PR: #590 - New typedef for switcher type PR: #590
Subsystem
: New API to add table and sequence entries
Fixed
- TCP TMTC Server:
MutexGuard
was not created properly inTcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent)
call. PR: #618 - Fix infinite recursion in
prepareHealthSetReply
of PUS Health Service 201. Is not currently used right now but might be used in the future PR: #617 - Move some CMake directives further up top so they are not ignored PR: #621
- Small bugfix in STM32 HAL for SPI PR: #599
- HAL GPIO: Improved error checking in
LinuxLibgpioIF::configureGpios(...)
. If a GPIO configuration fails, the function will exit prematurely with a dedicated error code PR: #602
[v4.0.0]
Additions
- CFDP Packet Stack and related tests added. It also refactors the existing TMTC infastructure to allow sending of CFDP packets to the CCSDS handlers. PR: #528
- added virtual function to print datasets PR: #544
- doSendRead Hook PR: #545
- Dockumentation for DHB PR: #551
HAL additions
- Linux Command Executor, which can execute shell commands in blocking and non-blocking mode PR: #536
- uio Mapper PR: #543
Changes
- Applied the
clang-format
auto-formatter to all source code PR: #534 - Updated Catch2 to v3.0.0-preview4 PR: #538
- Changed CI to use prebuilt docker image PR: #549
Bugfix
- CMake fixes in PR #533 , was problematic
if the uppermost user
CMakeLists.txt
did not have the include paths set up properly, which could lead to compile errors that#include "fsfw/FSFW.h"
was not found. - Fix for build regression in Catch2 v3.0.0-preview4 PR: #548
- Fix in unittest which failed on CI PR: #552
- Fix in helper script PR: #553
API Changes
- Aforementioned changes to existing TMTC stack
Known bugs
[v3.0.1]
API Changes
Bugfixes
- Version number was not updated for v3.0.0 #542
Enhancement
Known bugs
[v3.0.0]
API Changes
TCP Socket Changes
- Keep Open TCP Implementation #496
- The socket will now kept open after disconnect. This allows reconnecting.
- Only one connection is allowed
- No internal influence but clients need to change their Code.
GPIO IF
- Add feature to open GPIO by line name #506
Bitutil
- Unittests for Op Divider and Bitutility #510
Filesystem IF changed
- Filesystem Base Interface: Use IF instead of void pointer #511
STM32
- STM32 SPI Updates #518
Bugfixes
- Small bugfix for LIS3 handler #504
- Spelling fixed for function names #509
- CMakeLists fixes #517
- Out of bound reads and writes in unittests #519
- Bug in TmPacketStoredPusC (#478)
- Windows ifdef fixed #529
Enhancement
- FSFW.h.in more default values #491
- Minor updates for PUS services #498
- HasReturnvaluesIF naming for parameter #499
- Tests can now be built as part of FSFW and versioning moved to CMake #500
- Added integration test code #508
- More printouts for rejected TC packets #505
- Arrayprinter format improvements #514
- Adding code for CI with docker and jenkins #520
- Added new function in SerializeAdapter #513
- Enables simple deSerialize if you keep track of the buffer position yourself
static ReturnValue_t deSerialize(T *object, const uint8_t* buffer, size_t* deserSize, SerializeIF::Endianness streamEndianness)
- Unittest helper scripts has a new Parameter to open the coverage html in the webrowser #525
'-o', '--open', Open coverage data in webbrowser
- Documentation updated. Sphinx Documentation can now be build with python script #526
Known bugs
- Version number was not updated for v3.0.0 #542
All Pull Requests:
Milestone: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/milestone/19
[v2.0.0]
API Changes
File Structure changed to fit more common structure
- See pull request (#445)
- HAL is now part of the main project
- See Instructions below:
- HAL is now part of the main project
Instruction how to update existing / user code
-
Changes in
#include
:- Rename
internalError
in includes tointernalerror
- Rename
fsfw/hal
tofsfw_hal
- Rename
fsfw/tests
tofsfw_tests
- Rename
osal/FreeRTOS
toosal/freertos
- Rename
-
Changes in
CMakeLists.txt
:- Rename
OS_FSFW
toFSFW_OSAL
- Rename
-
Changes in
DleEncoder.cpp
- Create an instance of the
DleEncoder
first before calling theencode
anddecode
functions
- Create an instance of the
Removed osal/linux/Timer (#486)
- Was redundant to timemanager/Countdown
Instruction how to update existing / user code
- Use timemanager/Countdown instead
Bugfixes
TM Stack
- Increased TM stack robustness by introducing
nullptr
checks and more printouts (#483)
Host OSAL / FreeRTOS
- QueueMapManager Bugfix (NO_QUEUE was used as MessageQueueId) (#444)
Events
- Event output is now consistent (#447)
DLE Encoder
- Fixed possible out of bounds access in DLE Encoder (#492)
Enhancment
- HAL as major new feature, also includes three MEMS devicehandlers as part of #481
- Linux HAL updates (#456)
- FreeRTOS Header cleaning update and Cmake tweaks (#442)
- Printer updates (#453)
- New returnvalue for for empty PST (#485)
- TMTC Bridge: Increase limit of packets stored (#484)
Known bugs
- Bug in TmPacketStoredPusC (#478)
All Pull Requests:
Milestone: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/milestone/5
[v1.2.0]
API Changes
FSFW Architecture
- New src folder which contains all source files except the HAL, contributed code and test code
- External and internal API mostly stayed the same
- Folder names are now all smaller case: internalError was renamed to internalerror and FreeRTOS was renamed to freertos
- Warning if optional headers are used but the modules was not added to the source files to compile
HAL
- HAL added back into FSFW. It is tightly bound to the FSFW, and compiling it as a static library made using it more complicated than necessary
Bugfixes
FreeRTOS QueueMapManager
- Fixed a bug which causes the first generated Queue ID to be invalid
Enhancements
FSFW Architecture
- See API changes chapter. This change will keep the internal API consistent in the future
[v1.1.0]
API Changes
PUS
- Added PUS C support
- SUBSYSTEM_IDs added for PUS Services
- Added new Parameter which must be defined in config: fsfwconfig::FSFW_MAX_TM_PACKET_SIZE
ObjectManager
- ObjectManager is now a singelton
Configuration
- Additional configuration option fsfwconfig::FSFW_MAX_TM_PACKET_SIZE which need to be specified in FSFWConfig.h
CMake
- Changed Cmake FSFW_ADDITIONAL_INC_PATH to FSFW_ADDITIONAL_INC_PATHS
Bugfixes
- timemanager/TimeStamperIF.h: Timestamp config was not used correctly, leading to different timestamp sizes than configured in fsfwconfig::FSFW_MISSION_TIMESTAMP_SIZE
- TCP server fixes
Enhancements
FreeRTOS Queue Handles
- Fixed an internal issue how FreeRTOS MessageQueues were handled
Linux OSAL
- Better printf error messages
CMake
- Check for C++11 as mininimum required Version
Debug Output
- Changed Warning color to magenta, which is well readable on both dark and light mode IDEs
Changes from ASTP 0.0.1 to 1.0.0
Host OSAL
- Bugfix in MessageQueue, which caused the sender not to be set properly
FreeRTOS OSAL
- vRequestContextSwitchFromISR is declared extern "C" so it can be defined in a C file without issues
PUS Services
- It is now possible to change the message queue depth for the telecommand verification service (PUS1)
- The same is possible for the event reporting service (PUS5)
- PUS Health Service added, which allows to command and retrieve health via PUS packets
EnhancedControllerBase
- New base class for a controller which also implements HasActionsIF and HasLocalDataPoolIF
Local Pool
- Interface of LocalPools has changed. LocalPool is not a template anymore. Instead the size and bucket number of the pools per page and the number of pages are passed to the ctor instead of two ctor arguments and a template parameter
Parameter Service
- The API of the parameter service has been changed to prevent inconsistencies between documentation and actual code and to clarify usage.
- The parameter ID now consists of:
- Domain ID (1 byte)
- Unique Identifier (1 byte)
- Linear Index (2 bytes) The linear index can be used for arrays as well as matrices. The parameter load command now explicitely expects the ECSS PTC and PFC information as well as the rows and column number. Rows and column will default to one, which is equivalent to one scalar parameter (the most important use-case)
File System Interface
- A new interfaces specifies the functions for a software object which exposes the file system of a given hardware to use message based file handling (e.g. PUS commanding)
Internal Error Reporter
- The new internal error reporter uses the local data pools. The pool IDs for the exisiting three error values and the new error set will be hardcoded for now, the the constructor for the internal error reporter just takes an object ID for now.
Device Handler Base
- There is an additional
PERFORM_OPERATION
step for the device handler base. It is important that DHB users adapt their polling sequence tables to perform this step. This steps allows for a clear distinction between operation and communication steps - setNormalDatapoolEntriesInvalid is not an abstract method and a default implementation was provided
- getTransitionDelayMs is now an abstract method
DeviceHandlerIF
- Typo for UNKNOWN_DEVICE_REPLY
Events
- makeEvent function: Now takes three input parameters instead of two and
allows setting a unique ID. Event.cpp source file removed, functions now
defined in header directly. Namespaces renamed. Functions declared
constexpr
now
Commanding Service Base
- CSB uses the new fsfwconfig::FSFW_CSB_FIFO_DEPTH variable to determine the FIFO depth for each CSB instance. This variable has to be set in the FSFWConfig.h file
Service Interface
- Proper printf support contained in ServiceInterfacePrinter.h
- CPP ostream support now optional (can reduce executable size by 150 - 250 kB)
- Amalagated header which determines automatically which service interface to use depending on FSFWConfig.h configuration. Users can just use #include <fsfw/serviceinterface/ServiceInterface.h>
- If CPP streams are excluded, sif:: calls won't work anymore and need to be replaced by their printf counterparts. For the fsfw, this can be done by checking the processor define FSFW_CPP_OSTREAM_ENABLED from FSFWConfig.h. For mission code, developers need to replace sif:: calls by the printf counterparts, but only if the CPP stream are excluded. If this is not the case, everything should work as usual.
ActionHelper and ActionMessage
- ActionHelper finish function and ActionMessage::setCompletionReply now expects explicit information whether to report a success or failure message instead of deriving it implicitely from returnvalue
PUS Parameter Service 20
Added PUS parameter service 20 (only custom subservices available).