working on TM

src/fsfw/CMakeLists.txt

@@ -13,7 +13,7 @@ add_subdirectory(events)
 add_subdirectory(fdir)
 add_subdirectory(globalfunctions)
 add_subdirectory(health)
-#add_subdirectory(housekeeping)
+add_subdirectory(housekeeping)
 add_subdirectory(internalerror)
 add_subdirectory(introspection)
 add_subdirectory(ipc)

src/fsfw/action/Action.h

@@ -1,13 +1,12 @@
 #pragma once
 
+#include <fsfw/introspection/HasTmTcParametersIF.h>
+#include <fsfw/serialize/SerializeIF.h>
 #include <stdint.h>
 
 #include <vector>
 
-#include <fsfw/serialize/SerializeIF.h>
 #include "ActionMessage.h"
-#include <fsfw/introspection/HasTmTcParametersIF.h>
-
 
 #ifdef FSFW_INTROSPECTION
 #include "../introspection/Enum.h"
@@ -24,6 +23,16 @@ class Action: public SerializeIF, public HasTmTcParametersIF {
 #else
   Action(ActionId_t id);
 #endif
+
+  store_address_t getTc();
+  size_t getTcOffset();
+
+  // if an action is triggered by a TC, this should be set to be able to handle replies
+  // TODO make deleting it safe
+  // TODO integrate with internal commands
+  store_address_t tc;
+  size_t tcOffset;
+
   ActionId_t getId();
 
   MessageQueueId_t commandedBy;
@@ -32,7 +41,7 @@ class Action: public SerializeIF, public HasTmTcParametersIF {
 
   void registerParameter(ParameterIF *parameter) override;
 
-  std::vector<ParameterIF *> const *getParameters() const;
+  std::vector<ParameterIF *> const *getParameters() const override;
 
   ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
                           Endianness streamEndianness) const override;

src/fsfw/action/ActionHelper.cpp

@@ -81,9 +81,22 @@ void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, size_t offset,
     return;
   }
 
+  FsfwProtocolHeader header;
+
   const uint8_t* dataPtr = tcData + offset;
   size_t size = tcDataSize - offset;
 
+  result = header.deSerialize(&dataPtr, &size, SerializeIF::Endianness::NETWORK);
+
+  if (header.getInterface() != HasActionsIF::INTERFACE_ID or
+      header.getFunction() != HasActionsIF::Functions::EXECUTE_ACTION) {
+    CommandMessage reply;
+    ActionMessage::setStepReply(&reply, 0 /*TODO*/, 0, result);
+    // queueToUse->sendMessage(commandedBy, &reply);
+    ipcStore->deleteData(dataAddress);
+    return;
+  }
+
   ActionId_t actionId;
 
   result =
@@ -118,8 +131,10 @@ void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, size_t offset,
   action->commandedBy = commandedBy;
   result = owner->executeAction(action);
 
-  result =
+  // TODO safetify dynamic cast
-      tmManager->sendTmPacket(0xff, HasActionsIF::INTERFACE_ID, 0x13, action, dataAddress, offset);
+  result = tmManager->sendTmPacket(dynamic_cast<SystemObjectIF*>(owner)->getObjectId(), HasActionsIF::INTERFACE_ID,
+                                   HasActionsIF::Functions::EXECUTION_IN_PROGRESS, action,
+                                   dataAddress, offset);
   if (result != returnvalue::OK) {
     sif::error << "replying action failed " << std::hex << result << std::dec << std::endl;
   }

src/fsfw/action/HasActionsIF.h

@@ -7,6 +7,7 @@
 #include "SimpleActionHelper.h"
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/returnvalues/returnvalue.h"
+#include <fsfw/tmtc/FsfwProtocolHeader.h>
 
 /**
  * @brief
@@ -42,7 +43,7 @@ class HasActionsIF {
   static const ReturnValue_t EXECUTION_FINISHED = MAKE_RETURN_CODE(3);
   static const ReturnValue_t INVALID_ACTION_ID = MAKE_RETURN_CODE(4);
 
-  enum class FUNCTIONS : uint8_t { EXECUTE_ACTION };
+  enum Functions : FsfwProtocolHeader::FunctionType_t { EXECUTE_ACTION, EXECUTION_IN_PROGRESS };
 
   virtual ~HasActionsIF() = default;
   /**

src/fsfw/datapool/DatapoolHelper.cpp

@@ -1,10 +1,12 @@
 #include "DatapoolHelper.h"
 
-DatapoolHelper::DatapoolHelper() {}
+DatapoolHelper::DatapoolHelper(HasDatapoolIF* owner) : HousekeepingHelper(owner) {}
 
-DatapoolHelper::~DatapoolHelper() {}
+ReturnValue_t DatapoolHelper::initialize() {
+  return HousekeepingHelper::initialize();
+}
 
-const Dataset* DatapoolHelper::getDataSet(DataSetId_t id) {
+const Dataset* DatapoolHelper::getDataSet(HousekeepingSetId_t id) {
   auto iter = dataSets.find(id);
   if (iter == dataSets.end()) {
     return nullptr;

src/fsfw/datapool/DatapoolHelper.h

@@ -1,23 +1,28 @@
 #pragma once
 
 #include "Dataset.h"
+#include "HasDatapoolIF.h"
+
+#include <fsfw/housekeeping/HousekeepingHelper.h>
 
 #include <stdint.h>
 #include <map>
 
-class DatapoolHelper {
+class DatapoolHelper : public HousekeepingHelper {
  public:
-  DatapoolHelper();
+  DatapoolHelper(HasDatapoolIF *owner);
-  ~DatapoolHelper();
+  ~DatapoolHelper() = default;
 
-  const Dataset* getDataSet(DataSetId_t id);
+  const Dataset* getDataSet(HousekeepingSetId_t id);
 
-  const std::map<DataSetId_t, Dataset*>* getDatasets() const {
+  const std::map<HousekeepingSetId_t, Dataset*>* getDatasets() const {
     return &dataSets;
   }
 
   void registerSet(Dataset* set);
 
+  ReturnValue_t initialize();
+
  private:
-  std::map<DataSetId_t, Dataset*> dataSets;
+  std::map<HousekeepingSetId_t, Dataset*> dataSets;
 };

src/fsfw/datapool/Dataset.cpp

@@ -1,35 +1,33 @@
 #include "Dataset.h"
 
-#include <fsfw/returnvalues/returnvalue.h>
 #include <fsfw/ipc/MutexFactory.h>
 #include <fsfw/objectmanager/ObjectManager.h>
+#include <fsfw/returnvalues/returnvalue.h>
+
 
 #include "HasDatapoolIF.h"
 
 #ifdef FSFW_INTROSPECTION
 Dataset::Dataset(HasDatapoolIF* owner, bool allowUserCommit)
-    : allocated(true), allowUserCommit(allowUserCommit) {
+    : HousekeepingSet(owner), allocated(true), allowUserCommit(allowUserCommit) {
   this->owner.pointer = owner;
   mutex = MutexFactory::instance()->createMutex();
 }
 
 Dataset::Dataset(uint32_t owner_id)
-    : allocated(false), allowUserCommit(false) {
+    : HousekeepingSet(nullptr), allocated(false), allowUserCommit(false) {
   this->owner.id = owner_id;
 }
-
-void Dataset::setEnum(EnumIF *theEnum) {
-  id = theEnum->getValue();
-  description = theEnum->getDescription();
-}
 #else
-Dataset::Dataset(HasDatapoolIF* owner, DataSetId_t id, bool allowUserCommit)
+Dataset::Dataset(HasDatapoolIF* owner, HousekeepingSetId_t id, bool allowUserCommit)
-    : allocated(true), allowUserCommit(allowUserCommit), id(id) {
+    : HousekeepingSet(owner, id), allocated(true), allowUserCommit(allowUserCommit) {
   this->owner.pointer = owner;
   mutex = MutexFactory::instance()->createMutex();
 }
 
-Dataset::Dataset(uint32_t owner_id, DataSetId_t id): id(id) { this->owner.id = owner_id; }
+Dataset::Dataset(uint32_t owner_id, HousekeepingSetId_t id) : HousekeepingSet(nullptr, id) {
+  this->owner.id = owner_id;
+}
 #endif
 
 Dataset::~Dataset() { MutexFactory::instance()->deleteMutex(mutex); }
@@ -84,10 +82,6 @@ bool Dataset::hasChangedOrOlderThan(uint32_t seconds) {
   return changed;
 }
 
-uint8_t Dataset::getId() const {
-  return id;
-}
-
 const std::vector<DatasetEntryIF*>* Dataset::getVariables() const { return &variables; }
 
 ReturnValue_t Dataset::initialize() {
@@ -120,9 +114,6 @@ ReturnValue_t Dataset::initialize() {
 
 // operator[]
 
-#ifdef FSFW_INTROSPECTION
-const char* Dataset::getDescription() const { return description; }
-#endif
 
 bool Dataset::registerEntry(DatasetEntryIF* entry) {
   variables.push_back(entry);

src/fsfw/datapool/Dataset.h

@@ -4,8 +4,9 @@
 #include <fsfw/ipc/MutexIF.h>
 #include <fsfw/returnvalues/returnvalue.h>
 #include <fsfw/storagemanager/storeAddress.h>
-#include <stdint.h>
+#include <fsfw/housekeeping/HousekeepingSet.h>
 
+#include <stdint.h>
 #include <vector>
 
 #include "DatasetEntryIF.h"
@@ -14,7 +15,7 @@
 // #include "HasDatapoolIF.h"
 class HasDatapoolIF;
 
-using DataSetId_t = uint32_t;
+// TODO allow user commit and reporting TM
 
 /**
  * This class has a dual use
@@ -42,18 +43,17 @@ using DataSetId_t = uint32_t;
  * interpretDeviceReply)
  */
 
-class Dataset {
+class Dataset: public HousekeepingSet {
  protected:
 #ifdef FSFW_INTROSPECTION
   Dataset(HasDatapoolIF* owner, bool allowUserCommit);
   Dataset(uint32_t owner_id);
-  void setEnum(EnumIF* theEnum);
 #else
-  Dataset(HasDatapoolIF* owner, DataSetId_t id, bool allowUserCommit);
+  Dataset(HasDatapoolIF* owner, HousekeepingSetId_t id, bool allowUserCommit);
-  Dataset(uint32_t owner_id, DataSetId_t id);
+  Dataset(uint32_t owner_id, HousekeepingSetId_t id);
 #endif
  public:
-  ~Dataset();
+  ~Dataset() override;
   /**
    * Copy content of local copies into actual variable
    *
@@ -155,26 +155,17 @@ class Dataset {
 
   // operator[]
 
-  uint8_t getId() const;
-
-#ifdef FSFW_INTROSPECTION
-  const char* getDescription() const;
-#endif
-
   bool registerEntry(DatasetEntryIF*);
 
  protected:
   bool allocated;
   bool allowUserCommit;
   union {
-    uint32_t id;
+    object_id_t id;
     HasDatapoolIF* pointer;
   } owner;
-  DataSetId_t id;
   MutexIF* mutex;
-#ifdef FSFW_INTROSPECTION
+
-  const char* description;
-#endif
   std::vector<DatasetEntryIF*> variables;
 
   /**

src/fsfw/datapool/HasDatapoolIF.h

@@ -1,8 +1,12 @@
 #pragma once
 
+//TODO ring
+class DatapoolHelper;
 #include "DatapoolHelper.h"
 
-class HasDatapoolIF {
+#include <fsfw/housekeeping/GeneratesHousekeepingIF.h>
+
+class HasDatapoolIF: public GeneratesHousekeepingIF {
  public:
   virtual ~HasDatapoolIF() = default;
   virtual DatapoolHelper* getDatapoolHelper() = 0;

src/fsfw/datapool/TemplateSet.h

@@ -16,10 +16,10 @@ class TemplateSet : public Dataset {
   TemplateSet(uint32_t owner_id, HkIDs id) : Dataset(owner_id) { setEnum(&id); }
 #else
   TemplateSet(HasDatapoolIF* owner, HkIDs id, bool allowUserCommit)
-      : Dataset(owner, static_cast<DataSetId_t>(id), allowUserCommit) {
+      : Dataset(owner, static_cast<HousekeepingSetId_t>(id), allowUserCommit) {
     owner->getDatapoolHelper()->registerSet(this);
   }
-  TemplateSet(uint32_t owner_id, HkIDs id) : Dataset(owner_id, static_cast<DataSetId_t>(id)) {}
+  TemplateSet(uint32_t owner_id, HkIDs id) : Dataset(owner_id, static_cast<HousekeepingSetId_t>(id)) {}
 #endif
   virtual ~TemplateSet() = default;
 };

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -31,6 +31,7 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
       modeHelper(this),
       parameterHelper(this),
       actionHelper(this, nullptr),
+      datapoolHelper(this),
       childTransitionFailure(returnvalue::OK),
       fdirInstance(fdirInstance),
       defaultFDIRUsed(fdirInstance == nullptr),
@@ -1485,6 +1486,7 @@ void DeviceHandlerBase::setNormalDatapoolEntriesInvalid() {
 }
 
 DatapoolHelper* DeviceHandlerBase::getDatapoolHelper() { return &datapoolHelper; }
+HousekeepingHelper* DeviceHandlerBase::getHousekeepingHelper() { return &datapoolHelper; }
 
 void DeviceHandlerBase::printWarningOrError(sif::OutputTypes errorType, const char* functionName,
                                             ReturnValue_t errorCode, const char* errorPrint) {

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -528,6 +528,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   virtual void setNormalDatapoolEntriesInvalid(); //TODO
 
   DatapoolHelper* getDatapoolHelper() override;
+  HousekeepingHelper* getHousekeepingHelper() override;
   
 
   /* HasModesIF overrides */

src/fsfw/housekeeping/CMakeLists.txt

@@ -1,4 +1,2 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE HousekeepingMessage.cpp
+target_sources(${LIB_FSFW_NAME} PRIVATE HousekeepingHelper.cpp
-                                        PeriodicHousekeepingHelper.cpp
-                                        HousekeepingHelper.cpp
                                         HousekeepingSet.cpp )

src/fsfw/housekeeping/GeneratesHousekeepingIF.h

@@ -1,10 +1,16 @@
 #pragma once
 
+#include <fsfw/tmtc/FsfwProtocolHeader.h>
+
 #include "HousekeepingHelper.h"
 
 class GeneratesHousekeepingIF {
  public:
+  static const uint8_t INTERFACE_ID = CLASS_ID::GENERATES_HOUSEKEEPING;
+
+  enum Functions : FsfwProtocolHeader::FunctionType_t { REPORT };
+
   virtual ~GeneratesHousekeepingIF() = default;
 
-    virtual HousekeepingHelper* getHelper();
+  virtual HousekeepingHelper* getHousekeepingHelper() = 0;
 };

src/fsfw/housekeeping/HousekeepingHelper.cpp

@@ -1,6 +1,17 @@
 #include "HousekeepingHelper.h"
+#include "GeneratesHousekeepingIF.h"
 
-HousekeepingHelper::HousekeepingHelper() {}
+#include <fsfw/objectmanager/ObjectManager.h>
+
+HousekeepingHelper::HousekeepingHelper(GeneratesHousekeepingIF* owner): owner(owner) {}
+
+ReturnValue_t HousekeepingHelper::initialize() {
+  tmManager = ObjectManager::instance()->get<TmManager>(objects::TM_MANAGER);
+  if (tmManager == nullptr) {
+    return returnvalue::FAILED;
+  }
+  return returnvalue::OK;
+}
 
 const HousekeepingSet* HousekeepingHelper::getHousekeepingSet(HousekeepingSetId_t id) {
   auto iter = housekeepingSets.find(id);
@@ -14,3 +25,15 @@ void HousekeepingHelper::registerSet(HousekeepingSet* set) {
   auto id = set->getId();
   housekeepingSets.emplace(id, set);
 }
+
+
+ReturnValue_t HousekeepingHelper::reportHousekeeping(HousekeepingSet* set, const Action* action) {
+  SystemObjectIF* ownerAsObject = dynamic_cast<SystemObjectIF*>(owner);
+  if (ownerAsObject == nullptr) {
+    sif::error << "Duuuuuuuude, what the hell?" << std::endl;
+    return returnvalue::FAILED;
+  }
+  return tmManager->sendTmPacket(ownerAsObject->getObjectId(), GeneratesHousekeepingIF::INTERFACE_ID,
+                                   GeneratesHousekeepingIF::Functions::REPORT, set,
+                                   action->tc, action->tcOffset);
+}

src/fsfw/housekeeping/HousekeepingHelper.h

@@ -2,6 +2,7 @@
 
 #include <fsfw/returnvalues/returnvalue.h>
 #include <fsfw/serialize/SerializeIF.h>
+#include <fsfw/tmtc/TmManager.h>
 
 #include <map>
 
@@ -11,7 +12,7 @@ class HousekeepingHelper {
   friend class HousekeepingSet;
 
  public:
-  HousekeepingHelper();
+  HousekeepingHelper(GeneratesHousekeepingIF* owner);
   ~HousekeepingHelper() = default;
 
   const HousekeepingSet* getHousekeepingSet(HousekeepingSetId_t id);
@@ -20,7 +21,12 @@ class HousekeepingHelper {
     return &housekeepingSets;
   }
 
+  ReturnValue_t initialize();
+
  protected:
+  GeneratesHousekeepingIF* owner;
+  TmManager* tmManager = nullptr;
+
   void registerSet(HousekeepingSet* set);
 
   ReturnValue_t reportHousekeeping(HousekeepingSet* set, const Action* action = nullptr);

src/fsfw/housekeeping/HousekeepingSet.cpp

@@ -3,10 +3,12 @@
 #include "GeneratesHousekeepingIF.h"
 
 #ifdef FSFW_INTROSPECTION
-HousekeepingSet::HousekeepingSet(GeneratesHousekeepingIF* owner, HousekeepingSetId_t id) {
+HousekeepingSet::HousekeepingSet(GeneratesHousekeepingIF* owner) {
-  helper = owner->getHelper();
+  if (owner != nullptr) {
+    helper = owner->getHousekeepingHelper();
     helper->registerSet(this);
   }
+}
 
 void HousekeepingSet::setEnum(EnumIF* theEnum) {
   id = theEnum->getValue();
@@ -14,17 +16,65 @@ void HousekeepingSet::setEnum(EnumIF* theEnum) {
 }
 #else
 HousekeepingSet::HousekeepingSet(GeneratesHousekeepingIF* owner, HousekeepingSetId_t id) : id(id) {
-  helper = owner->getHelper();
+  if (owner != nullptr) {
+    helper = owner->getHousekeepingHelper();
     helper->registerSet(this);
   }
+}
 #endif
 
+HousekeepingSet::~HousekeepingSet() {}
+
 void HousekeepingSet::report(const Action* action) {
+  if (helper == nullptr) {
     helper->reportHousekeeping(this, action);
   }
+}
+
+ReturnValue_t HousekeepingSet::serialize(uint8_t** buffer, size_t* size, size_t maxSize,
+                                         Endianness streamEndianness) const {
+  ReturnValue_t result = SerializeAdapter::serialize(&id, buffer, size, maxSize, streamEndianness);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  for (auto parameter : *getParameters()) {
+    result = parameter->serialize(buffer, size, maxSize, streamEndianness);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+  }
+  return result;
+}
+
+size_t HousekeepingSet::getSerializedSize() const {
+  size_t size = SerializeAdapter::getSerializedSize(&id);
+  for (auto parameter : *getParameters()) {
+    size += parameter->getSerializedSize();
+  }
+  return size;
+}
+
+ReturnValue_t HousekeepingSet::deSerialize(const uint8_t** buffer, size_t* size,
+                                           Endianness streamEndianness) {
+  ReturnValue_t result = returnvalue::OK;
+
+  /**
+   * When deserializing, the id needs to be deserialized first, to find the correct class to
+   * deserialize with. Consequentely, it is assumed, that the pointer was already advanced
+   *
+   * SerializeAdapter::deSerialize(&id, buffer, size, streamEndianness); if (result !=
+   */
+  for (auto parameter : *getParameters()) {
+    result = parameter->deSerialize(buffer, size, streamEndianness);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+  }
+  return result;
+}
 
 void HousekeepingSet::registerParameter(ParameterIF* parameter) {
   parameterList.push_back(parameter);
 }
 
-std::vector<ParameterIF*> const* HousekeepingSet::getParameters() { return &parameterList; }
+std::vector<ParameterIF*> const* HousekeepingSet::getParameters() const { return &parameterList; }

src/fsfw/housekeeping/HousekeepingSet.h

@@ -3,7 +3,6 @@
 #include <fsfw/action/Action.h>
 #include <fsfw/introspection/Enum.h>
 #include <fsfw/introspection/HasTmTcParametersIF.h>
-#include <fsfw/introspection/ParameterIF.h>
 #include <fsfw/serialize/SerializeIF.h>
 
 #include <cstdint>
@@ -24,14 +23,28 @@ class HousekeepingSet : public HasTmTcParametersIF, public SerializeIF {
   HousekeepingSet(GeneratesHousekeepingIF* owner, HousekeepingSetId_t id);
 #endif
 
+  virtual ~HousekeepingSet();
+
   HousekeepingSetId_t getId() const { return id; }
 
   void report(const Action* action = nullptr);
 
-  std::vector<ParameterIF*> const* getParameters() override;
+  std::vector<ParameterIF*> const* getParameters() const override;
+
+#ifdef FSFW_INTROSPECTION
+  const char* getDescription() const;
+#endif
+
+  ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
+                          Endianness streamEndianness) const override;
+
+  size_t getSerializedSize() const override;
+
+  ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+                            Endianness streamEndianness) override;
 
  protected:
-  HousekeepingHelper* helper;
+  HousekeepingHelper* helper = nullptr;
   HousekeepingSetId_t id;
 #ifdef FSFW_INTROSPECTION
   const char* description;

src/fsfw/introspection/HasTmTcParametersIF.h

@@ -1,11 +1,12 @@
 #pragma once
 
-#include "ParameterIF.h"
 #include <vector>
 
+#include "ParameterIF.h"
+
 class HasTmTcParametersIF {
  public:
-    ~HasTmTcParametersIF() = default;
+  virtual ~HasTmTcParametersIF() = default;
 
   virtual void registerParameter(ParameterIF *parameter) = 0;
   virtual std::vector<ParameterIF *> const *getParameters() const = 0;

src/fsfw/returnvalues/FwClassIds.h

@@ -84,6 +84,7 @@ enum : uint8_t {
   MGM_LIS3MDL,                    // MGMLIS3
   MGM_RM3100,                     // MGMRM3100
   SPACE_PACKET_PARSER,            // SPPA
+  GENERATES_HOUSEKEEPING,          //GHK
   FW_CLASS_ID_COUNT               // [EXPORT] : [END]
 
 };

src/fsfw/tmtc/UdpTmTcBridge.cpp

@@ -167,7 +167,7 @@ void UdpTmTcBridgeNew::handleTC() {
         return;
       }
 
-      ActionMessage::setCommand(&message, header.HEADER_SIZE + 1 + sizeof(sockaddr_in6), storageId);
+      ActionMessage::setCommand(&message, 1 + sizeof(sockaddr_in6), storageId);
       result = messageQueue->sendMessage(object->getCommandQueue(), &message);
       // sif::debug << "UdpTmTcBridge::performOperation: sent " << (int)storageId.raw << std::endl;
     } break;