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working on TM

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This commit is contained in:
Ulrich Mohr 2023-07-14 14:11:22 +02:00
parent ae2823ba2d
commit a30146a799
21 changed files with 213 additions and 94 deletions
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2
src/fsfw/CMakeLists.txt
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@ -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)

27
src/fsfw/action/Action.h
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@ -1,29 +1,38 @@
#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"
#endif
//TODO ActionId_t
// TODO ActionId_t
class Action: public SerializeIF, public HasTmTcParametersIF {
class Action : public SerializeIF, public HasTmTcParametersIF {
public:
#ifdef FSFW_INTROSPECTION
Action();
void setEnum(EnumIF* id);
void setEnum(EnumIF *id);
const char *getName();
#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;
@ -32,15 +41,15 @@ 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;
Endianness streamEndianness) const override;
size_t getSerializedSize() const override;
ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
Endianness streamEndianness) override;
Endianness streamEndianness) override;
private:
ActionId_t id;

19
src/fsfw/action/ActionHelper.cpp
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@ -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 =
tmManager->sendTmPacket(0xff, HasActionsIF::INTERFACE_ID, 0x13, action, dataAddress, offset);
// TODO safetify dynamic cast
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;
}

3
src/fsfw/action/HasActionsIF.h
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@ -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;
/**

8
src/fsfw/datapool/DatapoolHelper.cpp
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@ -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;

17
src/fsfw/datapool/DatapoolHelper.h
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@ -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();
DatapoolHelper(HasDatapoolIF *owner);
~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;
};

39
src/fsfw/datapool/Dataset.cpp
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@ -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) {
Dataset::Dataset(uint32_t owner_id)
: 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)
: allocated(true), allowUserCommit(allowUserCommit), id(id) {
Dataset::Dataset(HasDatapoolIF* owner, HousekeepingSetId_t id, bool allowUserCommit)
: 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); }
@ -79,20 +77,16 @@ bool Dataset::hasChanged() {
bool Dataset::hasChangedOrOlderThan(uint32_t seconds) {
bool changed = hasChanged();
//TODO time
// TODO time
read();
return changed;
}
uint8_t Dataset::getId() const {
return id;
}
const std::vector<DatasetEntryIF*>* Dataset::getVariables() const { return &variables; }
ReturnValue_t Dataset::initialize() {
if (allocated) {
//nothing to do
// nothing to do
return returnvalue::OK;
}
HasDatapoolIF* actualOwner = ObjectManager::instance()->get<HasDatapoolIF>(owner.id);
@ -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);
@ -133,10 +124,10 @@ void Dataset::lock() { mutex->lockMutex(MutexIF::TimeoutType::BLOCKING); }
void Dataset::unlock() { mutex->unlockMutex(); }
bool Dataset::hasChangedNoRead(){
bool Dataset::hasChangedNoRead() {
bool changed = false;
for (auto variable: variables){
if (variable->changed()){
for (auto variable : variables) {
if (variable->changed()) {
changed = true;
break;
}

27
src/fsfw/datapool/Dataset.h
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@ -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(uint32_t owner_id, DataSetId_t id);
Dataset(HasDatapoolIF* owner, HousekeepingSetId_t id, bool allowUserCommit);
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;
/**

6
src/fsfw/datapool/HasDatapoolIF.h
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@ -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;

4
src/fsfw/datapool/TemplateSet.h
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@ -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;
};

2
src/fsfw/devicehandlers/DeviceHandlerBase.cpp
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@ -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) {

1
src/fsfw/devicehandlers/DeviceHandlerBase.h
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@ -528,6 +528,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
virtual void setNormalDatapoolEntriesInvalid(); //TODO
DatapoolHelper* getDatapoolHelper() override;
HousekeepingHelper* getHousekeepingHelper() override;
/* HasModesIF overrides */

6
src/fsfw/housekeeping/CMakeLists.txt
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@ -1,4 +1,2 @@
target_sources(${LIB_FSFW_NAME} PRIVATE HousekeepingMessage.cpp
PeriodicHousekeepingHelper.cpp
HousekeepingHelper.cpp
HousekeepingSet.cpp)
target_sources(${LIB_FSFW_NAME} PRIVATE HousekeepingHelper.cpp
HousekeepingSet.cpp )

12
src/fsfw/housekeeping/GeneratesHousekeepingIF.h
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@ -1,10 +1,16 @@
#pragma once
#include <fsfw/tmtc/FsfwProtocolHeader.h>
#include "HousekeepingHelper.h"
class GeneratesHousekeepingIF {
public:
virtual ~GeneratesHousekeepingIF() = default;
public:
static const uint8_t INTERFACE_ID = CLASS_ID::GENERATES_HOUSEKEEPING;
virtual HousekeepingHelper* getHelper();
enum Functions : FsfwProtocolHeader::FunctionType_t { REPORT };
virtual ~GeneratesHousekeepingIF() = default;
virtual HousekeepingHelper* getHousekeepingHelper() = 0;
};

25
src/fsfw/housekeeping/HousekeepingHelper.cpp
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@ -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);
}

8
src/fsfw/housekeeping/HousekeepingHelper.h
View File

@ -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);

64
src/fsfw/housekeeping/HousekeepingSet.cpp
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@ -3,9 +3,11 @@
#include "GeneratesHousekeepingIF.h"
#ifdef FSFW_INTROSPECTION
HousekeepingSet::HousekeepingSet(GeneratesHousekeepingIF* owner, HousekeepingSetId_t id) {
helper = owner->getHelper();
helper->registerSet(this);
HousekeepingSet::HousekeepingSet(GeneratesHousekeepingIF* owner) {
if (owner != nullptr) {
helper = owner->getHousekeepingHelper();
helper->registerSet(this);
}
}
void HousekeepingSet::setEnum(EnumIF* theEnum) {
@ -14,17 +16,65 @@ void HousekeepingSet::setEnum(EnumIF* theEnum) {
}
#else
HousekeepingSet::HousekeepingSet(GeneratesHousekeepingIF* owner, HousekeepingSetId_t id) : id(id) {
helper = owner->getHelper();
helper->registerSet(this);
if (owner != nullptr) {
helper = owner->getHousekeepingHelper();
helper->registerSet(this);
}
}
#endif
HousekeepingSet::~HousekeepingSet() {}
void HousekeepingSet::report(const Action* action) {
helper->reportHousekeeping(this, 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; }

19
src/fsfw/housekeeping/HousekeepingSet.h
View File

@ -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;

13
src/fsfw/introspection/HasTmTcParametersIF.h
View File

@ -1,12 +1,13 @@
#pragma once
#include "ParameterIF.h"
#include <vector>
class HasTmTcParametersIF {
public:
~HasTmTcParametersIF() = default;
#include "ParameterIF.h"
virtual void registerParameter(ParameterIF *parameter) = 0;
virtual std::vector<ParameterIF *> const *getParameters() const = 0;
class HasTmTcParametersIF {
public:
virtual ~HasTmTcParametersIF() = default;
virtual void registerParameter(ParameterIF *parameter) = 0;
virtual std::vector<ParameterIF *> const *getParameters() const = 0;
};

1
src/fsfw/returnvalues/FwClassIds.h
View File

@ -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]
};

2
src/fsfw/tmtc/UdpTmTcBridge.cpp
View File

@ -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;