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Author SHA1 Message Date
f805667779 afmt 2022-10-28 10:16:59 +02:00
bddc7a7ca6 minimal first version 2022-10-26 13:22:16 +02:00
11a22577be defaultconfig did not build anymore 2022-10-25 11:28:13 +02:00
94f1f1f908 Merge pull request 'Refactor TM and TC acceptor interfaces' (#684) from mueller/refactor-accepts-tc-tm-if into development
Reviewed-on: fsfw/fsfw#684
2022-10-24 17:10:03 +02:00
955579c856 Merge branch 'development' into mueller/refactor-accepts-tc-tm-if 2022-10-24 14:57:38 +02:00
c6585c8645 Merge pull request 'important bugfix for linux i2c device com IF' (#700) from eive/fsfw:mueller/i2c-com-if-bugfix into development
Reviewed-on: fsfw/fsfw#700
2022-10-24 14:35:01 +02:00
d8a4675842 bump changelog 2022-10-24 14:30:14 +02:00
1164c21ddd iter not a member anymore, more bugfixes 2022-10-24 14:23:43 +02:00
77b1a85b47 important bugfix for i2c device com IF 2022-10-20 14:24:40 +02:00
f3e9277e59 Merge branch 'development' into mueller/refactor-accepts-tc-tm-if 2022-10-10 15:45:05 +02:00
d592f1ecbc Merge pull request 'Minor API tweak' (#689) from eive/fsfw:mueller/smaller-tweaks into development
Reviewed-on: fsfw/fsfw#689
2022-10-10 15:10:57 +02:00
6ec18171a8 Merge pull request 'now that doc server is up, remove markdown files' (#688) from mueller/remove-markdown-docs into development
Reviewed-on: fsfw/fsfw#688
2022-10-10 15:04:11 +02:00
518dcdef4b Merge branch 'development' into mueller/smaller-tweaks 2022-10-10 15:03:04 +02:00
d9730032fd Merge pull request 'DHB Countdown Bug' (#693) from eive/fsfw:mueller/dhb-countdown-bug into development
Reviewed-on: fsfw/fsfw#693
2022-10-10 14:55:43 +02:00
b3ac72b7db Merge pull request 'missing retval conv' (#697) from mueller/missing-retval-conversion into development
Reviewed-on: fsfw/fsfw#697
2022-10-10 14:54:26 +02:00
cd0cb43412 Merge branch 'development' into mueller/missing-retval-conversion 2022-10-10 14:46:10 +02:00
32c12b3dbf Merge pull request 'small fix for helper' (#698) from mueller/small-helper-script-fix into development
Reviewed-on: fsfw/fsfw#698
2022-10-10 14:43:59 +02:00
3e9acf476e Merge branch 'development' into mueller/small-helper-script-fix 2022-10-10 14:25:49 +02:00
99101ce2bf Merge pull request 'hotfix' (#699) from eive/fsfw:mueller/dhb-some-more-fixes into development
Reviewed-on: fsfw/fsfw#699
2022-10-10 14:22:30 +02:00
6b991045f7 Merge branch 'development' into mueller/smaller-tweaks 2022-10-10 13:41:47 +02:00
337cb0d6c9 hotfix 2022-10-10 10:21:17 +02:00
c283e0c988 okay this is correct 2022-10-04 11:02:08 +02:00
448d20f3bd small fix for helper 2022-10-04 10:55:46 +02:00
2316728d74 Merge branch 'development' into mueller/dhb-countdown-bug 2022-10-04 10:53:26 +02:00
6f562e5f3e missing retval conv 2022-10-04 10:25:58 +02:00
176f243194 Merge pull request 'Switch to new documentation server' (#694) from mohr/documentation_ci into development
Reviewed-on: fsfw/fsfw#694
2022-09-30 15:05:16 +02:00
d964fa2107 Merge branch 'development' into mohr/documentation_ci 2022-09-30 14:50:20 +02:00
7b5ae6a445 done? 2022-09-30 14:40:59 +02:00
8e362a000c Revert "one last check"
This reverts commit 7877776e24.
2022-09-30 14:36:25 +02:00
7877776e24 one last check 2022-09-30 14:34:25 +02:00
3de0ae5a48 DHB bug 2022-09-29 17:22:44 +02:00
95ac53c417 Merge branch 'development' into mueller/smaller-tweaks 2022-09-26 14:40:29 +02:00
62f638a3d2 Merge pull request 'doc corrections' (#687) from mueller/doc-corrections into development
Reviewed-on: fsfw/fsfw#687
2022-09-26 14:38:39 +02:00
bd64591f30 Merge branch 'development' into mueller/smaller-tweaks 2022-09-26 14:34:38 +02:00
e6a877f048 Merge branch 'development' into mueller/doc-corrections 2022-09-26 14:26:48 +02:00
ea8c557ee8 Merge pull request 'better error printout' (#686) from eive/fsfw:mueller/local-pool-obj-base-better-warning into development
Reviewed-on: fsfw/fsfw#686
2022-09-26 14:26:20 +02:00
0bdd780f82 Merge branch 'development' into mueller/doc-corrections 2022-09-26 14:17:24 +02:00
9ec397c8b7 Merge branch 'development' into mueller/local-pool-obj-base-better-warning 2022-09-26 14:17:19 +02:00
c54d9d7ba6 add some tests 2022-09-26 14:15:11 +02:00
30c03c110c Merge pull request 'include correction' (#683) from mueller/service-interface-include-correction into development
Reviewed-on: fsfw/fsfw#683
2022-09-26 14:14:57 +02:00
69f1be263a Merge branch 'development' into mueller/local-pool-obj-base-better-warning 2022-09-26 14:10:21 +02:00
c7b5309dcb Merge branch 'development' into mueller/service-interface-include-correction 2022-09-26 14:08:38 +02:00
775d5632de update to ssh connection to doc server 2022-09-23 20:26:45 +02:00
4f3361eb2b another ci check 2022-09-23 18:33:47 +02:00
9e6c1d60e5 another ci check 2022-09-23 17:54:41 +02:00
12d0c23c13 Revert "testing deployment of documentation"
This reverts commit 5488ee715f.
2022-09-23 17:31:17 +02:00
5c3bb13834 Revert "testing deployment of both development and master doc"
This reverts commit c0000a8635.
2022-09-23 17:31:07 +02:00
292fe3e5e4 forgot epilog file 2022-09-23 17:11:57 +02:00
33530f2819 adding Impressum and Datenschutz to lcov output 2022-09-23 17:04:35 +02:00
c0000a8635 testing deployment of both development and master doc 2022-09-23 14:14:10 +02:00
5488ee715f testing deployment of documentation 2022-09-23 14:07:12 +02:00
0fea22d031 switching to rsync and deploying to web documentation 2022-09-23 14:06:28 +02:00
3b8ca09299 prepared docker for documentation rsync 2022-09-23 13:46:03 +02:00
9a2146fa2d added impressum and datenschutz in sphinx documentation 2022-09-23 11:36:29 +02:00
558550ecb9 Merge branch 'development' into mueller/smaller-tweaks 2022-09-16 18:37:39 +02:00
72172a972b update changelog 2022-09-16 18:24:23 +02:00
b4b11ebd3b fixes and tweaks 2022-09-16 18:20:42 +02:00
bcbbc9763a markdown update not required, will be removed 2022-09-15 14:00:01 +02:00
0042372cb6 now that doc server is up, remove markdown files 2022-09-15 13:58:13 +02:00
8dea13742f update rst file 2022-09-15 13:57:39 +02:00
0f027d29d2 doc corrections 2022-09-15 13:53:42 +02:00
131e3ff1e3 Revert "doc corrections"
This reverts commit 423a9540ed.
2022-09-15 13:52:28 +02:00
423a9540ed doc corrections 2022-09-15 13:51:59 +02:00
ce7146e468 printout tweak 2022-09-15 13:40:12 +02:00
a681a4a797 better error printout 2022-09-15 13:38:38 +02:00
83b7b8707c Merge remote-tracking branch 'origin/development' into mueller/refactor-accepts-tc-tm-if 2022-09-15 11:01:19 +02:00
4002b74ea2 Merge branch 'development' into mueller/service-interface-include-correction 2022-09-15 11:01:06 +02:00
1a833e2d45 another missing changelog entry 2022-09-15 10:59:10 +02:00
8df6d934d7 another missing changelog entry 2022-09-15 10:56:52 +02:00
5363868120 added another missing changelog entry 2022-09-15 10:54:45 +02:00
8501477a78 Merge remote-tracking branch 'origin/development' into mueller/refactor-accepts-tc-tm-if 2022-09-15 10:48:42 +02:00
6eea711d9f Merge branch 'development' into mueller/service-interface-include-correction 2022-09-15 10:48:28 +02:00
9a181aa6a8 another missing changelog entry 2022-09-15 10:47:50 +02:00
655c944c0e another missing changelog entry 2022-09-15 10:45:35 +02:00
2e310fca8d add another missing changelog entry 2022-09-15 10:43:45 +02:00
37390dfc74 add missing changelog entry 2022-09-15 10:42:35 +02:00
1efc0d2855 update changelog 2022-09-15 10:38:40 +02:00
237e29cc59 all necessary modifications 2022-09-14 20:21:03 +02:00
0849c8a08d adding files manually 2022-09-14 20:10:41 +02:00
9d626e0a5d include correction 2022-09-14 19:59:02 +02:00
0ce568ad26 Merge pull request 'publish documentation for development and master branch' (#681) from mohr/documentation_ci into development
Reviewed-on: fsfw/fsfw#681
2022-09-14 11:22:35 +02:00
6970068d56 small fix in README 2022-09-13 18:19:35 +02:00
af282c7d3e reverting to only publish development 2022-09-13 18:17:56 +02:00
21a9d89fb3 pushing code coverage report to documentation server 2022-09-13 18:14:26 +02:00
3257935150 fixing scp yet again again 2022-09-13 18:06:16 +02:00
f34cf9095d fixing scp yet again 2022-09-13 18:02:38 +02:00
24ecf125a3 fixing scp command again 2022-09-13 17:55:12 +02:00
6451a16888 fixing scp command 2022-09-13 17:51:01 +02:00
fa5605c959 testing Jenkinsfile 2022-09-13 14:50:37 +02:00
8e835be55f testing Jenkinsfile 2022-09-13 14:46:12 +02:00
9bd600c488 testing Jenkinsfile 2022-09-13 14:32:10 +02:00
9c7248e78e typo in Dockerfile 2022-09-13 14:20:30 +02:00
ecf51b2913 testing Jenkinsfile 2022-09-13 14:09:08 +02:00
8bbde05413 add jenkins user in docker so that ssh will work 2022-09-13 14:08:04 +02:00
d79b5348d8 testing Jenkinsfile 2022-09-13 14:00:36 +02:00
92e3ab04f3 testing Jenkinsfile 2022-09-13 13:54:23 +02:00
003a6d00fa Documentation build tools in docker 2022-09-13 13:13:18 +02:00
9ee1896553 Merge pull request 'Refactor Local Pool API' (#667) from mueller/refactor-local-pool-api into development
Reviewed-on: fsfw/fsfw#667
2022-09-12 14:32:08 +02:00
a5b5523111 Merge pull request 'Refactor TMTC Stack, improve test framework' (#655) from mueller/refactor-tmtc-stack into development
Reviewed-on: fsfw/fsfw#655
2022-09-12 14:31:22 +02:00
62cd39e573 Merge pull request 'SerialBufferAdapter refactoring' (#677) from mueller/refactor-serial-buffer-adapter into development
Reviewed-on: fsfw/fsfw#677
2022-09-12 14:30:51 +02:00
278ed36db8 Merge pull request 'bump catch2 version' (#678) from mueller/bump-catch2 into development
Reviewed-on: fsfw/fsfw#678
2022-09-12 14:24:28 +02:00
aed30d54ef Merge pull request 'remove bsp specific code' (#679) from mueller/remove-bsp-specific-code into development
Reviewed-on: fsfw/fsfw#679
2022-09-12 14:23:48 +02:00
1126db2c8a Merge pull request 'remove user includes' (#675) from mueller/remove-user-includes into development
Reviewed-on: fsfw/fsfw#675
2022-09-12 14:15:18 +02:00
a64a04d7fe Merge branch 'development' into mueller/refactor-tmtc-stack 2022-09-12 14:14:49 +02:00
80467bf097 Merge pull request 'sif::buffer: if disabeld do not print' (#680) from mohr/enableDisable into development
Reviewed-on: fsfw/fsfw#680
2022-09-12 14:12:13 +02:00
6a6aa7fdd6 Merge branch 'development' into mohr/enableDisable 2022-09-12 14:11:38 +02:00
7e379d2159 Merge pull request 'provide a weak print char impl' (#674) from mueller/provide-weak-print-char into development
Reviewed-on: fsfw/fsfw#674
2022-09-12 14:10:31 +02:00
6ae709acc3 Merge branch 'development' into mueller/remove-user-includes 2022-09-12 14:07:09 +02:00
d52f335455 sif::buffer: if disabeld do not print 2022-09-08 11:47:40 +02:00
04b619a15c update header as well 2022-09-07 17:58:49 +02:00
282704e0fd remove bsp specific code 2022-09-07 17:54:04 +02:00
07ef9a0ec3 bump catch2 version 2022-09-06 15:47:04 +02:00
80464f2a81 Merge branch 'mueller/refactor-serial-buffer-adapter' into mueller/refactor-tmtc-stack 2022-09-05 16:38:58 +02:00
16688316a8 rename setBuffer to setConstBuffer 2022-09-05 16:31:56 +02:00
3583e30ee6 rename const buf setter 2022-09-05 16:27:20 +02:00
1e395dc402 set buffer expects const pointer now 2022-09-05 16:25:02 +02:00
f5421e9abd refactor tm helper 2022-09-05 16:10:06 +02:00
4c3f9feb93 explicit include 2022-09-05 16:06:24 +02:00
b7ed8ff390 Merge branch 'mueller/refactor-tmtc-stack' of https://egit.irs.uni-stuttgart.de/fsfw/fsfw into mueller/refactor-tmtc-stack 2022-09-05 16:02:41 +02:00
75dc7a405d del data wrapper 2022-09-05 16:02:32 +02:00
b7a1f79d5b update FSFWCnfig.h 2022-09-05 15:36:12 +02:00
f0b7a103d4 refactor ctors 2022-09-05 15:30:53 +02:00
ee93f4a4ca Merge branch 'development' into mueller/refactor-tmtc-stack 2022-09-05 14:46:51 +02:00
d64ad71529 Some improvements for time stamper API 2022-09-05 14:44:35 +02:00
26bc80964e Merge branch 'development' into mueller/provide-weak-print-char 2022-09-05 14:14:06 +02:00
eb03bf52a6 Merge pull request 'better warning for missing include paths' (#676) from mueller/better-missing-inc-path-warning into development
Reviewed-on: fsfw/fsfw#676
2022-09-05 14:13:19 +02:00
80355910ee better warning 2022-09-02 09:05:10 +02:00
04800df31e another user-level-include 2022-09-02 09:04:37 +02:00
1e85cdadfd remove user includes 2022-09-02 08:55:33 +02:00
ebc02673dd provide a weak print char impl 2022-09-02 08:50:39 +02:00
9202c6c17f Merge branch 'mueller/refactor-tmtc-stack' into mueller/refactor-local-pool-api 2022-09-01 17:51:50 +02:00
5f8c549993 Merge remote-tracking branch 'origin/development' into mueller/refactor-local-pool-api 2022-09-01 17:51:44 +02:00
04bff7a522 test fix 2022-09-01 17:51:09 +02:00
5c20cc804e Merge remote-tracking branch 'origin/development' into mueller/refactor-tmtc-stack 2022-09-01 17:48:40 +02:00
eb8e236cd4 Merge pull request 'Bugfix for Space Packet Parser' (#673) from eive/fsfw:mueller/fixes-tmtc-server-sp-parser into development
Reviewed-on: fsfw/fsfw#673
2022-09-01 14:12:16 +02:00
7dec45ccf2 Merge pull request 'Service 11 regression' (#670) from eive/fsfw:mueller/service-11-issues into development
Reviewed-on: fsfw/fsfw#670
2022-09-01 11:59:18 +02:00
2b01e86f9c one small additional precaution 2022-09-01 11:56:07 +02:00
60fd3d43c0 Merge pull request 'DHB TM handler alternative API raw buffer' (#671) from mueller/dhb-handle-device-tm-2 into development
Reviewed-on: fsfw/fsfw#671
2022-09-01 11:22:17 +02:00
67980cb592 Merge branch 'development' into mueller/fixes-tmtc-server-sp-parser 2022-09-01 11:21:02 +02:00
3010f2f925 Merge pull request 'DHB set action commander before buildCommandFromCommand' (#672) from eive/fsfw:mueller/dhb-set-action-commander-before-building-cmd into development
Reviewed-on: fsfw/fsfw#672
2022-09-01 11:18:32 +02:00
01651f0521 more simplfications 2022-09-01 10:52:48 +02:00
c7f300671f update header 2022-09-01 10:45:10 +02:00
7d3223d766 add comment blocks 2022-09-01 10:44:57 +02:00
7ae82a5cb4 do not cache previous recipient 2022-09-01 08:58:18 +02:00
28ecd0e5c6 bugfix for SP parser 2022-09-01 08:51:12 +02:00
7345c18b04 small fix which allows sending action reply immediately 2022-08-31 16:50:48 +02:00
158007fa7f const correct API 2022-08-31 00:02:25 +02:00
ab719a3e59 alternative solution 2022-08-30 23:38:55 +02:00
64a7fde301 this is annoying 2022-08-30 15:19:01 +02:00
9131ca688b make two helper functions protected 2022-08-30 15:01:10 +02:00
8e6cee7761 Merge branch 'mueller/data-wrapper' into mueller/refactor-tmtc-stack 2022-08-30 13:46:03 +02:00
c756297e5c data wrapper update 2022-08-30 13:39:44 +02:00
0f27c7e7e7 extend data wrapper 2022-08-30 13:24:29 +02:00
20d42add03 add new data wrapper helper type 2022-08-30 12:07:09 +02:00
a9277622ce move data wrapper 2022-08-30 12:04:15 +02:00
aea9db75cb better name 2022-08-30 11:12:06 +02:00
9fedd03ed8 use cfg struct for local pool API 2022-08-30 11:02:21 +02:00
10fc4dd89d Merge branch 'mueller/refactor-tmtc-stack' of https://egit.irs.uni-stuttgart.de/fsfw/fsfw into mueller/refactor-tmtc-stack 2022-08-30 10:58:06 +02:00
0cc8af5eb0 afmt 2022-08-30 10:57:17 +02:00
92d65aa3a5 use old lpm api 2022-08-30 10:57:02 +02:00
342a56410c delete commented function 2022-08-30 10:28:55 +02:00
2cab73d972 avoid duplicate code 2022-08-29 20:09:28 +02:00
cb23911ccd default initialization of CDS short struct 2022-08-29 15:30:45 +02:00
b499dedd76 remove TODO 2022-08-29 15:27:53 +02:00
1bb487373d Merge branch 'mueller/refactor-tmtc-stack' of https://egit.irs.uni-stuttgart.de/fsfw/fsfw into mueller/refactor-tmtc-stack 2022-08-29 15:20:51 +02:00
3bffb4f968 fix for static fw obj setter 2022-08-29 15:20:33 +02:00
6bcb208968 Merge branch 'development' into mueller/refactor-tmtc-stack 2022-08-29 15:11:50 +02:00
6c2b5ab39e Merge pull request 'improvements for auto-formatter script' (#665) from eive/fsfw:mueller/update-afmt-script into development
Reviewed-on: fsfw/fsfw#665
2022-08-29 15:06:56 +02:00
a7039bad41 Merge pull request 'PUS Service 11: Additional Safety Check' (#666) from eive/fsfw:mueller/service-11-tweak into development
Reviewed-on: fsfw/fsfw#666
2022-08-29 14:59:24 +02:00
6605ffb6b1 Fixing check in Srv 11 Filer 2022-08-29 14:55:50 +02:00
e2e0190cae Revert "additional safety check"
This reverts commit fd278e410b.
2022-08-29 14:51:14 +02:00
fd278e410b additional safety check 2022-08-29 13:18:54 +02:00
ff4cbea571 improvements for auto-formatter script 2022-08-24 17:44:55 +02:00
a46d8c34d9 small changelog update 2022-08-22 16:37:53 +02:00
ba5c6410d6 tests running again 2022-08-22 16:23:36 +02:00
119 changed files with 744 additions and 1215 deletions

View File

@ -10,7 +10,17 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
# [v6.0.0]
## Changes
## Fixes
- I2C Bugfixes: Do not keep iterator as member and fix some incorrect handling with the iterator.
Also properly reset the reply size for successfull transfers and erroneous transfers.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/700
- Bugfix for Serial Buffer Stream: Setting `doActive` to false now
actually fully disables printing.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/680
- `TcpTmTcServer.cpp`: The server was actually not able to handle
CCSDS packets which were clumped together. This has been fixed now.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/673
## Added
@ -19,6 +29,10 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
## Changes
- Remove default secondary header argument for
`uint16_t getTcSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag)` and
`uint16_t getTmSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag)`
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/689
- Removed `HasReturnvaluesIF` class in favor of `returnvalue` namespace with `OK` and `FAILED`
constants.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/659
@ -26,6 +40,27 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
for other modules
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/655
which also includes a migration guide
- Bump Catch2 dependency to regular version `v3.1.0`
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/678
- `SerialBufferAdapter`: Rename `setBuffer` to `setConstBuffer` and update
API to expect `const uint8_t*` accordingly.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/677
- Remove the following user includes from `fsfw/events/Event.h` and
`fsfw/returnvalues/returnvalue.h`:
- `#include "events/subsystemIdRanges.h"`
- `#include "returnvalues/classIds.h"`
The user has to include those themselves now
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/675
- `DeviceHandlerBase`: Set command sender before calling `buildCommandFromCommand`.
This allows finishing action commands immediately inside the function.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/672
- `DeviceHandlerBase`: New signature of `handleDeviceTm` which expects
a `const SerializeIF&` and additional helper variant which expects `const uint8_t*`
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/671
- Improvements for `AcceptsTelemetryIF` and `AcceptsTelecommandsIF`:
- Make functions `const` where it makes sense
- Add `const char* getName const` abstract function
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/684
# [v5.0.0] 25.07.2022

View File

@ -80,7 +80,7 @@ set(FSFW_CATCH2_LIB_MAJOR_VERSION
3
CACHE STRING "Catch2 library major version requirement")
set(FSFW_CATCH2_LIB_VERSION
v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5
v${FSFW_CATCH2_LIB_MAJOR_VERSION}.1.0
CACHE STRING "Catch2 library exact version requirement")
# Keep this off by default for now. See PR:
@ -326,7 +326,8 @@ if(FSFW_BUILD_TESTS)
"/usr/local/include/*"
"*/fsfw_tests/*"
"*/catch2-src/*"
"*/fsfw_hal/*")
"*/fsfw_hal/*"
"unittests/*")
endif()
target_link_options(${FSFW_TEST_TGT} PRIVATE -fprofile-arcs
@ -344,8 +345,15 @@ if(FSFW_BUILD_TESTS)
DEPENDENCIES ${FSFW_TEST_TGT})
else()
setup_target_for_coverage_lcov(
NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT}
DEPENDENCIES ${FSFW_TEST_TGT})
NAME
${FSFW_TEST_TGT}_coverage
EXECUTABLE
${FSFW_TEST_TGT}
DEPENDENCIES
${FSFW_TEST_TGT}
GENHTML_ARGS
--html-epilog
${CMAKE_SOURCE_DIR}/unittests/lcov_epilog.html)
endif()
endif()
endif()
@ -360,7 +368,8 @@ if(NOT FSFW_CONFIG_PATH)
if(NOT FSFW_BUILD_DOCS)
message(
WARNING
"${MSG_PREFIX} Flight Software Framework configuration path not set")
"${MSG_PREFIX} Flight Software Framework configuration path FSFW_CONFIG_PATH not set"
)
message(
WARNING
"${MSG_PREFIX} Setting default configuration from ${DEF_CONF_PATH} ..")

View File

@ -175,7 +175,7 @@ cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..
Then you can generate the documentation using
```sh
cmake --build . -j
cmake --build . -- Sphinx -j
```
You can find the generated documentation inside the `docs/sphinx` folder inside the build

View File

@ -5,16 +5,25 @@ RUN apt-get --yes upgrade
#tzdata is a dependency, won't install otherwise
ARG DEBIAN_FRONTEND=noninteractive
RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping
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
RUN git clone https://github.com/catchorg/Catch2.git && \
cd Catch2 && \
git checkout v3.0.0-preview5 && \
cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
cmake --build build/ --target install
cd Catch2 && \
git checkout v3.1.0 && \
cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
cmake --build build/ --target install
RUN git clone https://github.com/ETLCPP/etl.git && \
cd etl && \
git checkout 20.28.0 && \
cmake -B build . && \
cmake --install build/
cd etl && \
git checkout 20.28.0 && \
cmake -B build . && \
cmake --install build/
#ssh needs a valid user to work
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

View File

@ -1,9 +1,13 @@
pipeline {
environment {
BUILDDIR = 'cmake-build-tests'
DOCDDIR = 'cmake-build-documentation'
}
agent {
docker { image 'fsfw-ci:d3'}
docker {
image 'fsfw-ci:d6'
args '--network host'
}
}
stages {
stage('Clean') {
@ -39,5 +43,43 @@ pipeline {
}
}
}
stage('Documentation') {
when {
branch 'development'
}
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'
}
}
dir(BUILDDIR) {
sshagent(credentials: ['documentation-buildfix']) {
sh 'rsync -r --delete fsfw-tests_coverage/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/coverage/development'
}
}
}
}
stage('Master Documentation') {
when {
branch 'master'
}
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'
}
}
dir(BUILDDIR) {
sshagent(credentials: ['documentation-buildfix']) {
sh 'rsync -r --delete fsfw-tests_coverage/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/coverage/master'
}
}
}
}
}
}

View File

@ -1,40 +0,0 @@
Configuring the FSFW
======
The FSFW can be configured via the `fsfwconfig` folder. A template folder has
been provided to have a starting point for this. The folder should be added
to the include path. The primary configuration file is the `FSFWConfig.h` folder. Some
of the available options will be explained in more detail here.
# Auto-Translation of Events
The FSFW allows the automatic translation of events, which allows developers to track triggered
events directly via console output. Using this feature requires:
1. `FSFW_OBJ_EVENT_TRANSLATION` set to 1 in the configuration file.
2. Special auto-generated translation files which translate event IDs and object IDs into
human readable strings. These files can be generated using the
[modgen Python scripts](https://git.ksat-stuttgart.de/source/modgen.git).
3. The generated translation files for the object IDs should be named `translatesObjects.cpp`
and `translateObjects.h` and should be copied to the `fsfwconfig/objects` folder
4. The generated translation files for the event IDs should be named `translateEvents.cpp` and
`translateEvents.h` and should be copied to the `fsfwconfig/events` folder
An example implementations of these translation file generators can be found as part
of the [SOURCE project here](https://git.ksat-stuttgart.de/source/sourceobsw/-/tree/development/generators)
or the [FSFW example](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example_public/src/branch/master/generators)
## Configuring the Event Manager
The number of allowed subscriptions can be modified with the following
parameters:
``` c++
namespace fsfwconfig {
//! Configure the allocated pool sizes for the event manager.
static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120;
}
```

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@ -1 +0,0 @@
## Controllers

View File

@ -1,55 +0,0 @@
## FSFW Core Modules
These core modules provide the most important functionalities of the
Flight Software Framework
### Clock
* This is a class of static functions that can be used at anytime
* Leap Seconds must be set if any time conversions from UTC to other times is used
### ObjectManager
* Must be created during program startup
* The component which handles all references. All SystemObjects register at this component.
* Any SystemObject needs to have a unique ObjectId. Those can be managed like objects::framework_objects.
* A reference to an object can be get by calling the following function. T must be the specific Interface you want to call.
A nullptr check of the returning Pointer must be done. This function is based on Run-time type information.
```cpp
template <typename T> T* ObjectManagerIF::get( object_id_t id )
```
* A typical way to create all objects on startup is a handing a static produce function to the
ObjectManager on creation. By calling objectManager->initialize() the produce function will be
called and all SystemObjects will be initialized afterwards.
### Event Manager
* Component which allows routing of events
* Other objects can subscribe to specific events, ranges of events or all events of an object.
* Subscriptions can be done during runtime but should be done during initialization
* Amounts of allowed subscriptions can be configured in `FSFWConfig.h`
### Health Table
* A component which holds every health state
* Provides a thread safe way to access all health states without the need of message exchanges
### Stores
* The message based communication can only exchange a few bytes of information inside the message
itself. Therefore, additional information can be exchanged with Stores. With this, only the
store address must be exchanged in the message.
* Internally, the FSFW uses an IPC Store to exchange data between processes. For incoming TCs a TC
Store is used. For outgoing TM a TM store is used.
* All of them should use the Thread Safe Class storagemanager/PoolManager
### Tasks
There are two different types of tasks:
* The PeriodicTask just executes objects that are of type ExecutableObjectIF in the order of the
insertion to the Tasks.
* FixedTimeslotTask executes a list of calls in the order of the given list. This is intended for
DeviceHandlers, where polling should be in a defined order. An example can be found in
`defaultcfg/fsfwconfig/pollingSequence` folder

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@ -1 +0,0 @@
## Device Handlers

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@ -1,135 +0,0 @@
High-level overview
======
# Structure
The general structure is driven by the usage of interfaces provided by objects.
The FSFW uses C++11 as baseline. The intention behind this is that this C++ Standard should be
widely available, even with older compilers.
The FSFW uses dynamic allocation during the initialization but provides static containers during runtime.
This simplifies the instantiation of objects and allows the usage of some standard containers.
Dynamic Allocation after initialization is discouraged and different solutions are provided in the
FSFW to achieve that. The fsfw uses run-time type information but exceptions are not allowed.
# Failure Handling
Functions should return a defined `ReturnValue_t` to signal to the caller that something has
gone wrong. Returnvalues must be unique. For this the function `returnvalue::makeCode`
or the macro `MAKE_RETURN` can be used. The `CLASS_ID` is a unique id for that type of object.
See `returnvalues/FwClassIds` folder. The user can add custom `CLASS_ID`s via the
`fsfwconfig` folder.
# OSAL
The FSFW provides operation system abstraction layers for Linux, FreeRTOS and RTEMS.
The OSAL provides periodic tasks, message queues, clocks and semaphores as well as mutexes.
The [OSAL README](doc/README-osal.md#top) provides more detailed information on provided components
and how to use them.
# Core Components
The FSFW has following core components. More detailed informations can be found in the
[core component section](doc/README-core.md#top):
1. Tasks: Abstraction for different (periodic) task types like periodic tasks or tasks
with fixed timeslots
2. ObjectManager: This module stores all `SystemObjects` by mapping a provided unique object ID
to the object handles.
3. Static Stores: Different stores are provided to store data of variable size (like telecommands
or small telemetry) in a pool structure without using dynamic memory allocation.
These pools are allocated up front.
3. Clock: This module provided common time related functions
4. EventManager: This module allows routing of events generated by `SystemObjects`
5. HealthTable: A component which stores the health states of objects
# Static IDs in the framework
Some parts of the framework use a static routing address for communication.
An example setup of ids can be found in the example config in `defaultcft/fsfwconfig/objects`
inside the function `Factory::setStaticFrameworkObjectIds()`.
# Events
Events are tied to objects. EventIds can be generated by calling the Macro MAKE_EVENT.
This works analog to the returnvalues. Every object that needs own EventIds has to get a
unique SUBSYSTEM_ID. Every SystemObject can call triggerEvent from the parent class.
Therefore, event messages contain the specific EventId and the objectId of the object that
has triggered.
# Internal Communication
Components communicate mostly via Messages through Queues.
Those queues are created by calling the singleton `QueueFactory::instance()->create()` which
will create `MessageQueue` instances for the used OSAL.
# External Communication
The external communication with the mission control system is mostly up to the user implementation.
The FSFW provides PUS Services which can be used to but don't need to be used.
The services can be seen as a conversion from a TC to a message based communication and back.
## TMTC Communication
The FSFW provides some components to facilitate TMTC handling via the PUS commands.
For example, a UDP or TCP PUS server socket can be opened on a specific port using the
files located in `osal/common`. The FSFW example uses this functionality to allow sending telecommands
and receiving telemetry using the [TMTC commander application](https://github.com/spacefisch/tmtccmd).
Simple commands like the PUS Service 17 ping service can be tested by simply running the
`tmtc_client_cli.py` or `tmtc_client_gui.py` utility in
the [example tmtc folder](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example_public/src/branch/master/tmtc)
while the `fsfw_example` application is running.
More generally, any class responsible for handling incoming telecommands and sending telemetry
can implement the generic `TmTcBridge` class located in `tmtcservices`. Many applications
also use a dedicated polling task for reading telecommands which passes telecommands
to the `TmTcBridge` implementation.
## CCSDS Frames, CCSDS Space Packets and PUS
If the communication is based on CCSDS Frames and Space Packets, several classes can be used to
distributed the packets to the corresponding services. Those can be found in `tcdistribution`.
If Space Packets are used, a timestamper has to be provided by the user.
An example can be found in the `timemanager` folder, which uses `CCSDSTime::CDS_short`.
# Device Handlers
DeviceHandlers are another important component of the FSFW.
The idea is, to have a software counterpart of every physical device to provide a simple mode,
health and commanding interface. By separating the underlying Communication Interface with
`DeviceCommunicationIF`, a device handler (DH) can be tested on different hardware.
The DH has mechanisms to monitor the communication with the physical device which allow
for FDIR reaction. Device Handlers can be created by implementing `DeviceHandlerBase`.
A standard FDIR component for the DH will be created automatically but can
be overwritten by the user. More information on DeviceHandlers can be found in the
related [documentation section](doc/README-devicehandlers.md#top).
# Modes and Health
The two interfaces `HasModesIF` and `HasHealthIF` provide access for commanding and monitoring
of components. On-board Mode Management is implement in hierarchy system.
DeviceHandlers and Controllers are the lowest part of the hierarchy.
The next layer are Assemblies. Those assemblies act as a component which handle
redundancies of handlers. Assemblies share a common core with the next level which
are the Subsystems.
Those Assemblies are intended to act as auto-generated components from a database which describes
the subsystem modes. The definitions contain transition and target tables which contain the DH,
Assembly and Controller Modes to be commanded.
Transition tables contain as many steps as needed to reach the mode from any other mode, e.g. a
switch into any higher AOCS mode might first turn on the sensors, than the actuators and the
controller as last component.
The target table is used to describe the state that is checked continuously by the subsystem.
All of this allows System Modes to be generated as Subsystem object as well from the same database.
This System contains list of subsystem modes in the transition and target tables.
Therefore, it allows a modular system to create system modes and easy commanding of those, because
only the highest components must be commanded.
The health state represents if the component is able to perform its tasks.
This can be used to signal the system to avoid using this component instead of a redundant one.
The on-board FDIR uses the health state for isolation and recovery.
# Unit Tests
Unit Tests are provided in the unittest folder. Those use the catch2 framework but do not include
catch2 itself. More information on how to run these tests can be found in the separate
[`fsfw_tests` reposoitory](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_tests)

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@ -1,174 +0,0 @@
## Local Data Pools Developer Information
The following text is targeted towards mission software developers which would like
to use the local data pools provided by the FSFW to store data like sensor values so they can be
used by other software objects like controllers as well. If a custom class should have a local
pool which can be used by other software objects as well, following steps have to be performed:
1. Create a `LocalDataPoolManager` member object in the custom class
2. Implement the `HasLocalDataPoolIF` with specifies the interface between the local pool manager
and the class owning the local pool.
The local data pool manager is also able to process housekeeping service requests in form
of messages, generate periodic housekeeping packet, generate notification and snapshots of changed
variables and datasets and process notifications and snapshots coming from other objects.
The two former tasks are related to the external interface using telemetry and telecommands (TMTC)
while the later two are related to data consumers like controllers only acting on data change
detected by the data creator instead of checking the data manually each cycle. Two important
framework classes `DeviceHandlerBase` and `ExtendedControllerBase` already perform the two steps
shown above so the steps required are altered slightly.
### Storing and Accessing pool data
The pool manager is responsible for thread-safe access of the pool data, but the actual
access to the pool data from the point of view of a mission software developer happens via proxy
classes like pool variable classes. These classes store a copy
of the pool variable with the matching datatype and copy the actual data from the local pool
on a `read` call. Changed variables can then be written to the local pool with a `commit` call.
The `read` and `commit` calls are thread-safe and can be called concurrently from data creators
and data consumers. Generally, a user will create a dataset class which in turn groups all
cohesive pool variables. These sets simply iterator over the list of variables and call the
`read` and `commit` functions of each variable. The following diagram shows the
high-level architecture of the local data pools.
.. image:: ../misc/logo/FSFW_Logo_V3_bw.png
:alt: FSFW Logo
An example is shown for using the local data pools with a Gyroscope.
For example, the following code shows an implementation to access data from a Gyroscope taken
from the SOURCE CubeSat project:
```cpp
class GyroPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
public:
/**
* Constructor for data users
* @param gyroId
*/
GyroPrimaryDataset(object_id_t gyroId):
StaticLocalDataSet(sid_t(gyroId, gyrodefs::GYRO_DATA_SET_ID)) {
setAllVariablesReadOnly();
}
lp_var_t<float> angVelocityX = lp_var_t<float>(sid.objectId,
gyrodefs::ANGULAR_VELOCITY_X, this);
lp_var_t<float> angVelocityY = lp_var_t<float>(sid.objectId,
gyrodefs::ANGULAR_VELOCITY_Y, this);
lp_var_t<float> angVelocityZ = lp_var_t<float>(sid.objectId,
gyrodefs::ANGULAR_VELOCITY_Z, this);
private:
friend class GyroHandler;
/**
* Constructor for data creator
* @param hkOwner
*/
GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
StaticLocalDataSet(hkOwner, gyrodefs::GYRO_DATA_SET_ID) {}
};
```
There is a public constructor for users which sets all variables to read-only and there is a
constructor for the GyroHandler data creator by marking it private and declaring the `GyroHandler`
as a friend class. Both the atittude controller and the `GyroHandler` can now
use the same class definition to access the pool variables with `read` and `commit` semantics
in a thread-safe way. Generally, each class requiring access will have the set class as a member
class. The data creator will also be generally a `DeviceHandlerBase` subclass and some additional
steps are necessary to expose the set for housekeeping purposes.
### Using the local data pools in a `DeviceHandlerBase` subclass
It is very common to store data generated by devices like a sensor into a pool which can
then be used by other objects. Therefore, the `DeviceHandlerBase` already has a
local pool. Using the aforementioned example, our `GyroHandler` will now have the set class
as a member:
```cpp
class GyroHandler: ... {
public:
...
private:
...
GyroPrimaryDataset gyroData;
...
};
```
The constructor used for the creators expects the owner class as a parameter, so we initialize
the object in the `GyroHandler` constructor like this:
```cpp
GyroHandler::GyroHandler(object_id_t objectId, object_id_t comIF,
CookieIF *comCookie, uint8_t switchId):
DeviceHandlerBase(objectId, comIF, comCookie), switchId(switchId),
gyroData(this) {}
```
We need to assign the set to a reply ID used in the `DeviceHandlerBase`.
The combination of the `GyroHandler` object ID and the reply ID will be the 64-bit structure ID
`sid_t` and is used to globally identify the set, for example when requesting housekeeping data or
generating update messages. We need to assign our custom set class in some way so that the local
pool manager can access the custom data sets as well.
By default, the `getDataSetHandle` will take care of this tasks. The default implementation for a
`DeviceHandlerBase` subclass will use the internal command map to retrieve
a handle to a dataset from a given reply ID. Therefore,
we assign the set in the `fillCommandAndReplyMap` function:
```cpp
void GyroHandler::fillCommandAndReplyMap() {
...
this->insertInCommandAndReplyMap(gyrodefs::GYRO_DATA, 3, &gyroData);
...
}
```
Now, we need to create the actual pool entries as well, using the `initializeLocalDataPool`
function. Here, we also immediately subscribe for periodic housekeeping packets
with an interval of 4 seconds. They are still disabled in this example and can be enabled
with a housekeeping service command.
```cpp
ReturnValue_t GyroHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_X,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Y,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Z,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(gyrodefs::GENERAL_CONFIG_REG42,
new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(gyrodefs::RANGE_CONFIG_REG43,
new PoolEntry<uint8_t>({0}));
poolManager.subscribeForPeriodicPacket(gyroData.getSid(), false, 4.0, false);
return returnvalue::OK;
}
```
Now, if we receive some sensor data and converted them into the right format,
we can write it into the pool like this, using a guard class to ensure the set is commited back
in any case:
```cpp
PoolReadGuard readHelper(&gyroData);
if(readHelper.getReadResult() == returnvalue::OK) {
if(not gyroData.isValid()) {
gyroData.setValidity(true, true);
}
gyroData.angVelocityX = angularVelocityX;
gyroData.angVelocityY = angularVelocityY;
gyroData.angVelocityZ = angularVelocityZ;
}
```
The guard class will commit the changed data on destruction automatically.
### Using the local data pools in a `ExtendedControllerBase` subclass
Coming soon

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@ -1,32 +0,0 @@
# Operating System Abstraction Layer (OSAL)
Some specific information on the provided OSALs are provided.
## Linux OSAL
This OSAL can be used to compile for Linux host systems like Ubuntu 20.04 or for
embedded Linux targets like the Raspberry Pi. This OSAL generally requires threading support
and real-time functionalities. For most UNIX systems, this is done by adding `-lrt` and `-lpthread` to the linked libraries in the compilation process. The CMake build support provided will do this automatically for the `fsfw` target. It should be noted that most UNIX systems need to be configured specifically to allow the real-time functionalities required by the FSFW.
More information on how to set up a Linux system accordingly can be found in the
[Linux README of the FSFW example application](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example/src/branch/master/doc/README-linux.md#top)
## Hosted OSAL
This is the newest OSAL. Support for Semaphores has not been implemented yet and will propably be implemented as soon as C++20 with Semaphore support has matured. This OSAL can be used to run the FSFW on any host system, but currently has only been tested on Windows 10 and Ubuntu 20.04. Unlike the other OSALs, it uses dynamic memory allocation (e.g. for the message queue implementation). Cross-platform serial port (USB) support might be added soon.
## FreeRTOS OSAL
FreeRTOS is not included and the developer needs to take care of compiling the FreeRTOS sources and adding the `FreeRTOSConfig.h` file location to the include path. This OSAL has only been tested extensively with the pre-emptive scheduler configuration so far but it should in principle also be possible to use a cooperative scheduler. It is recommended to use the `heap_4` allocation scheme. When using newlib (nano), it is also recommended to add `#define configUSE_NEWLIB_REENTRANT` to the FreeRTOS configuration file to ensure thread-safety.
When using this OSAL, developers also need to provide an implementation for the `vRequestContextSwitchFromISR` function. This has been done because the call to request a context switch from an ISR is generally located in the `portmacro.h` header and is different depending on the target architecture or device.
## RTEMS OSAL
The RTEMS OSAL was the first implemented OSAL which is also used on the active satellite Flying Laptop.
## TCP/IP socket abstraction
The Linux and Host OSAL provide abstraction layers for the socket API. Currently, only UDP sockets have been imlemented. This is very useful to test TMTC handling either on the host computer directly (targeting localhost with a TMTC application) or on embedded Linux devices, sending TMTC packets via Ethernet.

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@ -1 +0,0 @@
## PUS Services

View File

@ -50,6 +50,11 @@ exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
#
html_theme = 'alabaster'
html_theme_options = {
"extra_nav_links": {"Impressum" : "https://www.uni-stuttgart.de/impressum", "Datenschutz": "https://info.irs.uni-stuttgart.de/datenschutz/datenschutzWebmit.html"}
}
# Add any paths that contain custom static files (such as style sheets) here,
# relative to this directory. They are copied after the builtin static files,
# so a file named "default.css" will overwrite the builtin "default.css".

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@ -6,13 +6,14 @@ High-level overview
Structure
----------
The general structure is driven by the usage of interfaces provided by objects.
The FSFW uses C++11 as baseline. The intention behind this is that this C++ Standard should be
widely available, even with older compilers.
The FSFW uses dynamic allocation during the initialization but provides static containers during runtime.
This simplifies the instantiation of objects and allows the usage of some standard containers.
Dynamic Allocation after initialization is discouraged and different solutions are provided in the
FSFW to achieve that. The fsfw uses run-time type information but exceptions are not allowed.
The general structure is driven by the usage of interfaces provided by objects.
The FSFW uses C++17 as baseline. Most modern compilers like GCC should have support for this
standard, even for micocontrollers.
The FSFW might use dynamic allocation during program initialization but not during runtime.
It offers pool objects, static containers and it also exposes the
`Embedded Template Library <https://www.etlcpp.com/>`_ to allow writing code which does not perform
allocation during runtime. The fsfw uses run-time type information but will not throw exceptions.
Failure Handling
-----------------

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@ -4,6 +4,10 @@
#include <cstddef>
#include <cstdint>
// It is assumed the user has a subsystem and class ID list in some user header files.
// #include "events/subsystemIdRanges.h"
// #include "returnvalues/classIds.h"
//! Used to determine whether C++ ostreams are used which can increase
//! the binary size significantly. If this is disabled,
//! the C stdio functions can be used alternatively

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@ -4,7 +4,6 @@
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/events/EventManager.h>
#include <fsfw/health/HealthTable.h>
#include <fsfw/tmtcpacket/pus/tm/TmPacketStored.h>
#include <fsfw/tmtcservices/CommandingServiceBase.h>
#include <fsfw/tmtcservices/PusServiceBase.h>
#include <fsfw/internalerror/InternalErrorReporter.h>
@ -35,19 +34,15 @@ void Factory::produceFsfwObjects(void) {
}
void Factory::setStaticFrameworkObjectIds() {
PusServiceBase::packetSource = objects::NO_OBJECT;
PusServiceBase::PUS_DISTRIBUTOR = objects::NO_OBJECT;
PusServiceBase::PACKET_DESTINATION = objects::NO_OBJECT;
CommandingServiceBase::defaultPacketSource = objects::NO_OBJECT;
CommandingServiceBase::defaultPacketDestination = objects::NO_OBJECT;
VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
DeviceHandlerBase::rawDataReceiverId = objects::PUS_SERVICE_2_DEVICE_ACCESS;
DeviceHandlerFailureIsolation::powerConfirmationId = objects::NO_OBJECT;
TmPacketBase::timeStamperId = objects::NO_OBJECT;
}

View File

@ -3,6 +3,11 @@ if [[ ! -f README.md ]]; then
cd ..
fi
folder_list=(
"./src"
"./unittests"
)
cmake_fmt="cmake-format"
file_selectors="-iname CMakeLists.txt"
if command -v ${cmake_fmt} &> /dev/null; then
@ -15,8 +20,10 @@ fi
cpp_format="clang-format"
file_selectors="-iname *.h -o -iname *.cpp -o -iname *.c -o -iname *.tpp"
if command -v ${cpp_format} &> /dev/null; then
find ./src ${file_selectors} | xargs ${cpp_format} --style=file -i
find ./unittests ${file_selectors} | xargs ${cpp_format} --style=file -i
for dir in ${folder_list[@]}; do
echo "Auto-formatting ${dir} recursively"
find ${dir} ${file_selectors} | xargs clang-format --style=file -i
done
else
echo "No ${cpp_format} tool found, not formatting C++/C files"
fi

View File

@ -199,7 +199,7 @@ def check_for_cmake_build_dir(build_dir_list: list) -> list:
def perform_lcov_operation(directory: str, chdir: bool):
if chdir:
os.chdir(directory)
cmd_runner("cmake --build . -- fsfw-tests_coverage -j")
cmd_runner("cmake --build . -j -- fsfw-tests_coverage")
def determine_build_dir(build_dir_list: List[str]):

View File

@ -3,7 +3,6 @@
#include "fsfw/cfdp/CfdpMessage.h"
#include "fsfw/ipc/CommandMessage.h"
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/storagemanager/storeAddress.h"
#include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
@ -52,6 +51,6 @@ ReturnValue_t CfdpHandler::performOperation(uint8_t opCode) {
return returnvalue::OK;
}
uint16_t CfdpHandler::getIdentifier() { return 0; }
uint32_t CfdpHandler::getIdentifier() const { return 0; }
MessageQueueId_t CfdpHandler::getRequestQueue() { return this->requestQueue->getId(); }
MessageQueueId_t CfdpHandler::getRequestQueue() const { return this->requestQueue->getId(); }

View File

@ -25,8 +25,8 @@ class CfdpHandler : public ExecutableObjectIF, public AcceptsTelecommandsIF, pub
virtual ReturnValue_t handleRequest(store_address_t storeId);
virtual ReturnValue_t initialize() override;
virtual uint16_t getIdentifier() override;
MessageQueueId_t getRequestQueue() override;
uint32_t getIdentifier() const override;
MessageQueueId_t getRequestQueue() const override;
ReturnValue_t performOperation(uint8_t opCode) override;
protected:

View File

@ -21,7 +21,7 @@ cfdp::Lv& cfdp::Lv::operator=(const Lv& other) {
if (value == nullptr or otherSize == 0) {
this->zeroLen = true;
}
this->value.setBuffer(value, otherSize);
this->value.setConstBuffer(value, otherSize);
return *this;
}
@ -70,7 +70,7 @@ ReturnValue_t cfdp::Lv::deSerialize(const uint8_t** buffer, size_t* size,
}
zeroLen = false;
// Zero-copy implementation
value.setBuffer(const_cast<uint8_t*>(*buffer + 1), lengthField);
value.setConstBuffer(*buffer + 1, lengthField);
*buffer += 1 + lengthField;
*size -= 1 + lengthField;
return returnvalue::OK;

View File

@ -75,7 +75,7 @@ ReturnValue_t cfdp::Tlv::deSerialize(const uint8_t **buffer, size_t *size,
}
zeroLen = false;
// Zero-copy implementation
value.setBuffer(const_cast<uint8_t *>(*buffer + 1), lengthField);
value.setConstBuffer(*buffer + 1, lengthField);
*buffer += 1 + lengthField;
*size -= 1 + lengthField;
return returnvalue::OK;
@ -96,7 +96,7 @@ void cfdp::Tlv::setValue(uint8_t *value, size_t len) {
if (len > 0) {
zeroLen = false;
}
this->value.setBuffer(value, len);
this->value.setConstBuffer(value, len);
}
uint8_t cfdp::Tlv::getLengthField() const { return this->value.getSerializedSize() - 1; }

View File

@ -243,13 +243,14 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
LocalDataPoolManager* getPoolManagerHandle() override;
ReturnValue_t subscribeForRegularPeriodicPacket(subdp::RegularHkPeriodicParams params) override;
ReturnValue_t subscribeForDiagPeriodicPacket(subdp::DiagnosticsHkPeriodicParams params) override;
ReturnValue_t subscribeForPeriodicPacket(subdp::ParamsBase& params);
ReturnValue_t subscribeForRegularUpdatePacket(subdp::RegularHkUpdateParams params) override;
ReturnValue_t subscribeForDiagUpdatePacket(subdp::DiagnosticsHkUpdateParams params) override;
ReturnValue_t subscribeForUpdatePacket(subdp::ParamsBase& params);
protected:
ReturnValue_t subscribeForPeriodicPacket(subdp::ParamsBase& params);
ReturnValue_t subscribeForUpdatePacket(subdp::ParamsBase& params);
/** Core data structure for the actual pool data */
localpool::DataPool localPoolMap;
/** Every housekeeping data manager has a mutex to protect access

View File

@ -48,12 +48,12 @@ LocalPoolObjectBase::LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId,
if (hkOwner == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "LocalPoolVariable: The supplied pool owner 0x" << std::hex << poolOwner
<< std::dec << " did not implement the correct interface "
<< std::dec << " does not exist or does not implement the correct interface "
<< "HasLocalDataPoolIF" << std::endl;
#else
sif::printError(
"LocalPoolVariable: The supplied pool owner 0x%08x did not implement the correct "
"interface HasLocalDataPoolIF\n",
"LocalPoolVariable: The supplied pool owner 0x%08x does not exist or does not implement "
"the correct interface HasLocalDataPoolIF\n",
poolOwner);
#endif
return;

View File

@ -8,6 +8,7 @@
#include "fsfw/ipc/MessageQueueMessage.h"
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/serialize/SerialBufferAdapter.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/storagemanager/StorageManagerIF.h"
#include "fsfw/subsystem/SubsystemBase.h"
@ -21,8 +22,6 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
CookieIF* comCookie, FailureIsolationBase* fdirInstance,
size_t cmdQueueSize)
: SystemObject(setObjectId),
mode(MODE_OFF),
submode(SUBMODE_NONE),
wiretappingMode(OFF),
storedRawData(StorageManagerIF::INVALID_ADDRESS),
deviceCommunicationId(deviceCommunication),
@ -37,6 +36,8 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
defaultFDIRUsed(fdirInstance == nullptr),
switchOffWasReported(false),
childTransitionDelay(5000),
mode(MODE_OFF),
submode(SUBMODE_NONE),
transitionSourceMode(_MODE_POWER_DOWN),
transitionSourceSubMode(SUBMODE_NONE) {
commandQueue = QueueFactory::instance()->createMessageQueue(
@ -351,7 +352,6 @@ void DeviceHandlerBase::doStateMachine() {
currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, 0);
setMode(_MODE_POWER_DOWN);
callChildStatemachine();
break;
}
ReturnValue_t switchState = getStateOfSwitches();
@ -457,7 +457,7 @@ ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceComm
info.expectedReplies = 0;
info.isExecuting = false;
info.sendReplyTo = NO_COMMANDER;
info.useAlternativeReplyId = alternativeReplyId;
info.useAlternativeReplyId = useAlternativeReply;
info.alternativeReplyId = alternativeReplyId;
auto resultPair = deviceCommandMap.emplace(deviceCommand, info);
if (resultPair.second) {
@ -516,16 +516,16 @@ ReturnValue_t DeviceHandlerBase::updatePeriodicReply(bool enable, DeviceCommandI
if (enable) {
info->active = true;
if (info->countdown != nullptr) {
info->delayCycles = info->maxDelayCycles;
} else {
info->countdown->resetTimer();
} else {
info->delayCycles = info->maxDelayCycles;
}
} else {
info->active = false;
if (info->countdown != nullptr) {
info->delayCycles = 0;
} else {
info->countdown->timeOut();
} else {
info->delayCycles = 0;
}
}
}
@ -566,11 +566,23 @@ void DeviceHandlerBase::setTransition(Mode_t modeTo, Submode_t submodeTo) {
void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
/* TODO: This will probably be done by the LocalDataPoolManager now */
// changeHK(mode, submode, false);
/**
* handle transition from OFF to NORMAL by continuing towards normal when ON is reached
*/
if (newMode == MODE_ON and continueToNormal) {
continueToNormal = false;
mode = _MODE_TO_NORMAL;
return;
}
submode = newSubmode;
mode = newMode;
modeChanged();
setNormalDatapoolEntriesInvalid();
if (!isTransitionalMode()) {
// clear this flag when a non-transitional Mode is reached to be safe
continueToNormal = false;
modeHelper.modeChanged(newMode, newSubmode);
announceMode(false);
}
@ -1055,8 +1067,7 @@ Mode_t DeviceHandlerBase::getBaseMode(Mode_t transitionMode) {
return transitionMode & ~(TRANSITION_MODE_BASE_ACTION_MASK | TRANSITION_MODE_CHILD_ACTION_MASK);
}
// SHOULDDO: Allow transition from OFF to NORMAL to reduce complexity in assemblies. And, by the
// way, throw away DHB and write a new one:
// SHOULDDO: throw away DHB and write a new one:
// - Include power and thermal completely, but more modular :-)
// - Don't use modes for state transitions, reduce FSM (Finte State Machine) complexity.
// - Modularization?
@ -1068,11 +1079,10 @@ ReturnValue_t DeviceHandlerBase::checkModeCommand(Mode_t commandedMode, Submode_
if ((mode == MODE_ERROR_ON) && (commandedMode != MODE_OFF)) {
return TRANS_NOT_ALLOWED;
}
if ((commandedMode == MODE_NORMAL) && (mode == MODE_OFF)) {
return TRANS_NOT_ALLOWED;
}
if ((commandedMode == MODE_ON) && (mode == MODE_OFF) and (thermalSet != nullptr)) {
// Do not check thermal state for MODE_RAW
if ((mode == MODE_OFF) and ((commandedMode == MODE_ON) or (commandedMode == MODE_NORMAL)) and
(thermalSet != nullptr)) {
ReturnValue_t result = thermalSet->read();
if (result == returnvalue::OK) {
if ((thermalSet->heaterRequest.value != ThermalComponentIF::STATE_REQUEST_IGNORE) and
@ -1087,6 +1097,7 @@ ReturnValue_t DeviceHandlerBase::checkModeCommand(Mode_t commandedMode, Submode_
}
void DeviceHandlerBase::startTransition(Mode_t commandedMode, Submode_t commandedSubmode) {
continueToNormal = false;
switch (commandedMode) {
case MODE_ON:
handleTransitionToOnMode(commandedMode, commandedSubmode);
@ -1116,8 +1127,9 @@ void DeviceHandlerBase::startTransition(Mode_t commandedMode, Submode_t commande
case MODE_NORMAL:
if (mode != MODE_OFF) {
setTransition(MODE_NORMAL, commandedSubmode);
} else {
replyReturnvalueToCommand(HasModesIF::TRANS_NOT_ALLOWED);
} else { // mode is off
continueToNormal = true;
handleTransitionToOnMode(MODE_NORMAL, commandedSubmode);
}
break;
}
@ -1257,28 +1269,30 @@ ReturnValue_t DeviceHandlerBase::letChildHandleMessage(CommandMessage* message)
return returnvalue::FAILED;
}
void DeviceHandlerBase::handleDeviceTM(SerializeIF* dataSet, DeviceCommandId_t replyId,
bool forceDirectTm) {
if (dataSet == nullptr) {
return;
}
void DeviceHandlerBase::handleDeviceTm(const uint8_t* rawData, size_t rawDataLen,
DeviceCommandId_t replyId, bool forceDirectTm) {
SerialBufferAdapter bufferWrapper(rawData, rawDataLen);
handleDeviceTm(bufferWrapper, replyId, forceDirectTm);
}
DeviceReplyMap::iterator iter = deviceReplyMap.find(replyId);
void DeviceHandlerBase::handleDeviceTm(const SerializeIF& dataSet, DeviceCommandId_t replyId,
bool forceDirectTm) {
auto iter = deviceReplyMap.find(replyId);
if (iter == deviceReplyMap.end()) {
triggerEvent(DEVICE_UNKNOWN_REPLY, replyId);
return;
}
/* Regular replies to a command */
// Regular replies to a command
if (iter->second.command != deviceCommandMap.end()) {
MessageQueueId_t queueId = iter->second.command->second.sendReplyTo;
if (queueId != NO_COMMANDER) {
/* This may fail, but we'll ignore the fault. */
actionHelper.reportData(queueId, replyId, dataSet);
// This may fail, but we'll ignore the fault.
actionHelper.reportData(queueId, replyId, const_cast<SerializeIF*>(&dataSet));
}
/* This check should make sure we get any TM but don't get anything doubled. */
// This check should make sure we get any TM but don't get anything doubled.
if (wiretappingMode == TM && (requestedRawTraffic != queueId)) {
DeviceTmReportingWrapper wrapper(getObjectId(), replyId, dataSet);
actionHelper.reportData(requestedRawTraffic, replyId, &wrapper);
@ -1289,22 +1303,17 @@ void DeviceHandlerBase::handleDeviceTM(SerializeIF* dataSet, DeviceCommandId_t r
// hiding of sender needed so the service will handle it as
// unexpected Data, no matter what state (progress or completed)
// it is in
actionHelper.reportData(defaultRawReceiver, replyId, dataSet, true);
actionHelper.reportData(defaultRawReceiver, replyId, const_cast<SerializeIF*>(&dataSet),
true);
}
}
/* Unrequested or aperiodic replies */
// Unrequested or aperiodic replies
else {
DeviceTmReportingWrapper wrapper(getObjectId(), replyId, dataSet);
if (wiretappingMode == TM) {
actionHelper.reportData(requestedRawTraffic, replyId, &wrapper);
}
if (forceDirectTm and defaultRawReceiver != MessageQueueIF::NO_QUEUE) {
// sid_t setSid = sid_t(this->getObjectId(), replyId);
// LocalPoolDataSetBase* dataset = getDataSetHandle(setSid);
// if(dataset != nullptr) {
// poolManager.generateHousekeepingPacket(setSid, dataset, true);
// }
// hiding of sender needed so the service will handle it as
// unexpected Data, no matter what state (progress or completed)
// it is in
@ -1325,10 +1334,10 @@ ReturnValue_t DeviceHandlerBase::executeAction(ActionId_t actionId, MessageQueue
} else if (iter->second.isExecuting) {
result = COMMAND_ALREADY_SENT;
} else {
iter->second.sendReplyTo = commandedBy;
result = buildCommandFromCommand(actionId, data, size);
}
if (result == returnvalue::OK) {
iter->second.sendReplyTo = commandedBy;
iter->second.isExecuting = true;
cookieInfo.pendingCommand = iter;
cookieInfo.state = COOKIE_WRITE_READY;

View File

@ -102,6 +102,53 @@ class DeviceHandlerBase : public DeviceHandlerIF,
DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication, CookieIF *comCookie,
FailureIsolationBase *fdirInstance = nullptr, size_t cmdQueueSize = 20);
/**
* extending the modes of DeviceHandler IF for internal state machine
*/
static constexpr uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20;
static constexpr uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10;
//! This is a transitional state which can not be commanded. The device
//! handler performs all commands to get the device in a state ready to
//! perform commands. When this is completed, the mode changes to @c MODE_ON.
static const Mode_t _MODE_START_UP = TRANSITION_MODE_CHILD_ACTION_MASK | 5;
//! This is a transitional state which can not be commanded.
//! The device handler performs all actions and commands to get the device
//! shut down. When the device is off, the mode changes to @c MODE_OFF.
//! It is possible to set the mode to _MODE_SHUT_DOWN to use the to off
//! transition if available.
static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6;
//! It is possible to set the mode to _MODE_TO_ON to use the to on
//! transition if available.
static const Mode_t _MODE_TO_ON = TRANSITION_MODE_CHILD_ACTION_MASK | HasModesIF::MODE_ON;
//! It is possible to set the mode to _MODE_TO_RAW to use the to raw
//! transition if available.
static const Mode_t _MODE_TO_RAW = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_RAW;
//! It is possible to set the mode to _MODE_TO_NORMAL to use the to normal
//! transition if available.
static const Mode_t _MODE_TO_NORMAL = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_NORMAL;
//! This is a transitional state which can not be commanded.
//! The device is shut down and ready to be switched off.
//! After the command to set the switch off has been sent,
//! the mode changes to @c _MODE_WAIT_OFF
static const Mode_t _MODE_POWER_DOWN = TRANSITION_MODE_BASE_ACTION_MASK | 1;
//! This is a transitional state which can not be commanded. The device
//! will be switched on in this state. After the command to set the switch
//! on has been sent, the mode changes to @c _MODE_WAIT_ON.
static const Mode_t _MODE_POWER_ON = TRANSITION_MODE_BASE_ACTION_MASK | 2;
//! This is a transitional state which can not be commanded. The switch has
//! been commanded off and the handler waits for it to be off.
//! When the switch is off, the mode changes to @c MODE_OFF.
static const Mode_t _MODE_WAIT_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 3;
//! This is a transitional state which can not be commanded. The switch
//! has been commanded on and the handler waits for it to be on.
//! When the switch is on, the mode changes to @c _MODE_TO_ON.
static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4;
//! This is a transitional state which can not be commanded. The switch has
//! been commanded off and is off now. This state is only to do an RMAP
//! cycle once more where the doSendRead() function will set the mode to
//! MODE_OFF. The reason to do this is to get rid of stuck packets in the IO Board.
static const Mode_t _MODE_SWITCH_IS_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 5;
void setHkDestination(object_id_t hkDestination);
/**
@ -684,15 +731,18 @@ class DeviceHandlerBase : public DeviceHandlerIF,
size_t rawPacketLen = 0;
/**
* The mode the device handler is currently in.
* This should never be changed directly but only with setMode()
* Get the current mode
*
* set via setMode()
*/
Mode_t mode;
Mode_t getMode();
/**
* The submode the device handler is currently in.
* This should never be changed directly but only with setMode()
* Get the current Submode
*
* set via setMode()
*/
Submode_t submode;
Submode_t getSubmode;
/** This is the counter value from performOperation(). */
uint8_t pstStep = 0;
@ -873,8 +923,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
* Do the transition to the main modes (MODE_ON, MODE_NORMAL and MODE_RAW).
*
* If the transition is complete, the mode should be set to the target mode,
* which can be deduced from the current mode which is
* [_MODE_TO_ON, _MODE_TO_NORMAL, _MODE_TO_RAW]
* which can be deduced from the current mode (which is
* [_MODE_TO_ON, _MODE_TO_NORMAL, _MODE_TO_RAW]) using getBaseMode()
*
* The intended target submode is already set.
* The origin submode can be read in subModeFrom.
@ -1052,9 +1102,25 @@ class DeviceHandlerBase : public DeviceHandlerIF,
bool isAwaitingReply();
void handleDeviceTM(SerializeIF *dataSet, DeviceCommandId_t replyId, bool forceDirectTm = false);
// void handleDeviceTM(uint8_t* data, size_t dataSize, DeviceCommandId_t replyId,
// bool forceDirectTm);
/**
* Wrapper function for @handleDeviceTm which wraps the raw buffer with @SerialBufferAdapter.
* For interpreted data, prefer the other function.
* @param rawData
* @param rawDataLen
* @param replyId
* @param forceDirectTm
*/
void handleDeviceTm(const uint8_t *rawData, size_t rawDataLen, DeviceCommandId_t replyId,
bool forceDirectTm = false);
/**
* Can be used to handle Service 8 data replies. This will also generate the TM wiretapping
* packets accordingly.
* @param dataSet
* @param replyId
* @param forceDirectTm
*/
void handleDeviceTm(const SerializeIF &dataSet, DeviceCommandId_t replyId,
bool forceDirectTm = false);
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode);
@ -1154,6 +1220,18 @@ class DeviceHandlerBase : public DeviceHandlerIF,
*/
uint32_t childTransitionDelay;
/**
* The mode the device handler is currently in.
* This should not be changed directly but only with setMode()
*/
Mode_t mode;
/**
* The submode the device handler is currently in.
* This should not be changed directly but only with setMode()
*/
Submode_t submode;
/**
* @brief The mode the current transition originated from
*
@ -1171,6 +1249,15 @@ class DeviceHandlerBase : public DeviceHandlerIF,
*/
Submode_t transitionSourceSubMode;
/**
* used to make the state machine continue from ON to NOMAL when
* a Device is commanded to NORMAL in OFF mode
*
* set in startTransition()
* evaluated in setMode() to continue to NORMAL when ON is reached
*/
bool continueToNormal;
/**
* read the command queue
*/

View File

@ -24,9 +24,6 @@ class DeviceHandlerIF {
static const DeviceCommandId_t RAW_COMMAND_ID = -1;
static const DeviceCommandId_t NO_COMMAND_ID = -2;
static constexpr uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20;
static constexpr uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10;
using dh_heater_request_t = uint8_t;
using dh_thermal_state_t = int8_t;
@ -54,47 +51,6 @@ class DeviceHandlerIF {
//! device still is powered. In this mode, only a mode change to @c MODE_OFF
//! can be commanded, which tries to switch off the device again.
static const Mode_t MODE_ERROR_ON = 4;
//! This is a transitional state which can not be commanded. The device
//! handler performs all commands to get the device in a state ready to
//! perform commands. When this is completed, the mode changes to @c MODE_ON.
static const Mode_t _MODE_START_UP = TRANSITION_MODE_CHILD_ACTION_MASK | 5;
//! This is a transitional state which can not be commanded.
//! The device handler performs all actions and commands to get the device
//! shut down. When the device is off, the mode changes to @c MODE_OFF.
//! It is possible to set the mode to _MODE_SHUT_DOWN to use the to off
//! transition if available.
static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6;
//! It is possible to set the mode to _MODE_TO_ON to use the to on
//! transition if available.
static const Mode_t _MODE_TO_ON = TRANSITION_MODE_CHILD_ACTION_MASK | HasModesIF::MODE_ON;
//! It is possible to set the mode to _MODE_TO_RAW to use the to raw
//! transition if available.
static const Mode_t _MODE_TO_RAW = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_RAW;
//! It is possible to set the mode to _MODE_TO_NORMAL to use the to normal
//! transition if available.
static const Mode_t _MODE_TO_NORMAL = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_NORMAL;
//! This is a transitional state which can not be commanded.
//! The device is shut down and ready to be switched off.
//! After the command to set the switch off has been sent,
//! the mode changes to @c MODE_WAIT_OFF
static const Mode_t _MODE_POWER_DOWN = TRANSITION_MODE_BASE_ACTION_MASK | 1;
//! This is a transitional state which can not be commanded. The device
//! will be switched on in this state. After the command to set the switch
//! on has been sent, the mode changes to @c MODE_WAIT_ON.
static const Mode_t _MODE_POWER_ON = TRANSITION_MODE_BASE_ACTION_MASK | 2;
//! This is a transitional state which can not be commanded. The switch has
//! been commanded off and the handler waits for it to be off.
//! When the switch is off, the mode changes to @c MODE_OFF.
static const Mode_t _MODE_WAIT_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 3;
//! This is a transitional state which can not be commanded. The switch
//! has been commanded on and the handler waits for it to be on.
//! When the switch is on, the mode changes to @c MODE_TO_ON.
static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4;
//! This is a transitional state which can not be commanded. The switch has
//! been commanded off and is off now. This state is only to do an RMAP
//! cycle once more where the doSendRead() function will set the mode to
//! MODE_OFF. The reason to do this is to get rid of stuck packets in the IO Board.
static const Mode_t _MODE_SWITCH_IS_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 5;
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CDH;
static const Event DEVICE_BUILDING_COMMAND_FAILED = MAKE_EVENT(0, severity::LOW);

View File

@ -3,10 +3,10 @@
#include "fsfw/serialize/SerializeAdapter.h"
DeviceTmReportingWrapper::DeviceTmReportingWrapper(object_id_t objectId, ActionId_t actionId,
SerializeIF* data)
const SerializeIF& data)
: objectId(objectId), actionId(actionId), data(data) {}
DeviceTmReportingWrapper::~DeviceTmReportingWrapper() {}
DeviceTmReportingWrapper::~DeviceTmReportingWrapper() = default;
ReturnValue_t DeviceTmReportingWrapper::serialize(uint8_t** buffer, size_t* size, size_t maxSize,
Endianness streamEndianness) const {
@ -19,22 +19,14 @@ ReturnValue_t DeviceTmReportingWrapper::serialize(uint8_t** buffer, size_t* size
if (result != returnvalue::OK) {
return result;
}
return data->serialize(buffer, size, maxSize, streamEndianness);
return data.serialize(buffer, size, maxSize, streamEndianness);
}
size_t DeviceTmReportingWrapper::getSerializedSize() const {
return sizeof(objectId) + sizeof(ActionId_t) + data->getSerializedSize();
return sizeof(objectId) + sizeof(ActionId_t) + data.getSerializedSize();
}
ReturnValue_t DeviceTmReportingWrapper::deSerialize(const uint8_t** buffer, size_t* size,
Endianness streamEndianness) {
ReturnValue_t result = SerializeAdapter::deSerialize(&objectId, buffer, size, streamEndianness);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&actionId, buffer, size, streamEndianness);
if (result != returnvalue::OK) {
return result;
}
return data->deSerialize(buffer, size, streamEndianness);
return returnvalue::FAILED;
}

View File

@ -7,21 +7,22 @@
class DeviceTmReportingWrapper : public SerializeIF {
public:
DeviceTmReportingWrapper(object_id_t objectId, ActionId_t actionId, SerializeIF* data);
virtual ~DeviceTmReportingWrapper();
DeviceTmReportingWrapper(object_id_t objectId, ActionId_t actionId, const SerializeIF& data);
~DeviceTmReportingWrapper() override;
virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
Endianness streamEndianness) const override;
ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
Endianness streamEndianness) const override;
virtual size_t getSerializedSize() const override;
virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
Endianness streamEndianness) override;
[[nodiscard]] size_t getSerializedSize() const override;
private:
object_id_t objectId;
ActionId_t actionId;
SerializeIF* data;
const SerializeIF& data;
// Deserialization forbidden
ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
Endianness streamEndianness) override;
};
#endif /* FSFW_DEVICEHANDLERS_DEVICETMREPORTINGWRAPPER_H_ */

View File

@ -4,8 +4,6 @@
#include <stdint.h>
#include "fwSubsystemIdRanges.h"
// could be moved to more suitable location
#include <events/subsystemIdRanges.h>
using EventId_t = uint16_t;
using EventSeverity_t = uint8_t;

View File

@ -12,7 +12,7 @@ MessageQueueMessage::MessageQueueMessage() : messageSize(getMinimumMessageSize()
MessageQueueMessage::MessageQueueMessage(uint8_t* data, size_t size)
: messageSize(MessageQueueMessage::HEADER_SIZE + size) {
if (size <= MessageQueueMessage::MAX_DATA_SIZE) {
std::memcpy(internalBuffer + MessageQueueMessage::HEADER_SIZE, data, size);
std::memcpy(MessageQueueMessage::getData(), data, size);
this->messageSize = MessageQueueMessage::HEADER_SIZE + size;
} else {
#if FSFW_CPP_OSTREAM_ENABLED == 1

View File

@ -8,7 +8,7 @@
#include "../serialize/SerialLinkedListAdapter.h"
#include "../serialize/SerializeElement.h"
#include "../serviceinterface/ServiceInterface.h"
#include "../timemanager/TimeStamperIF.h"
#include "../timemanager/TimeWriterIF.h"
#include "HasMonitorsIF.h"
#include "MonitoringIF.h"
#include "monitoringConf.h"
@ -34,9 +34,9 @@ class MonitoringReportContent : public SerialLinkedListAdapter<SerializeIF> {
SerializeElement<T> limitValue;
SerializeElement<ReturnValue_t> oldState;
SerializeElement<ReturnValue_t> newState;
uint8_t rawTimestamp[TimeStamperIF::MAXIMUM_TIMESTAMP_LEN] = {};
uint8_t rawTimestamp[TimeWriterIF::MAXIMUM_TIMESTAMP_LEN] = {};
SerializeElement<SerialBufferAdapter<uint8_t>> timestampSerializer;
TimeStamperIF* timeStamper;
TimeWriterIF* timeStamper;
MonitoringReportContent()
: SerialLinkedListAdapter<SerializeIF>(&parameterObjectId),
monitorId(0),
@ -79,7 +79,7 @@ class MonitoringReportContent : public SerialLinkedListAdapter<SerializeIF> {
}
bool checkAndSetStamper() {
if (timeStamper == nullptr) {
timeStamper = ObjectManager::instance()->get<TimeStamperIF>(timeStamperId);
timeStamper = ObjectManager::instance()->get<TimeWriterIF>(timeStamperId);
if (timeStamper == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MonitoringReportContent::checkAndSetStamper: "

View File

@ -18,7 +18,7 @@
TcpTmTcBridge::TcpTmTcBridge(object_id_t objectId, object_id_t tcDestination, object_id_t tmStoreId,
object_id_t tcStoreId)
: TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
: TmTcBridge("TCP TMTC Bridge", objectId, tcDestination, tmStoreId, tcStoreId) {
mutex = MutexFactory::instance()->createMutex();
// Connection is always up, TM is requested by connecting to server and receiving packets
registerCommConnect();

View File

@ -161,7 +161,7 @@ void TcpTmTcServer::handleServerOperation(socket_t& connSocket) {
while (true) {
ssize_t retval = recv(connSocket, reinterpret_cast<char*>(receptionBuffer.data()),
receptionBuffer.capacity(), tcpConfig.tcpFlags);
receptionBuffer.size(), tcpConfig.tcpFlags);
if (retval == 0) {
size_t availableReadData = ringBuffer.getAvailableReadData();
if (availableReadData > lastRingBufferSize) {
@ -335,31 +335,27 @@ ReturnValue_t TcpTmTcServer::handleTcRingBufferData(size_t availableReadData) {
}
ringBuffer.readData(receptionBuffer.data(), readAmount, true);
const uint8_t* bufPtr = receptionBuffer.data();
const uint8_t** bufPtrPtr = &bufPtr;
size_t startIdx = 0;
size_t foundSize = 0;
size_t readLen = 0;
while (readLen < readAmount) {
if (spacePacketParser == nullptr) {
return returnvalue::FAILED;
}
result =
spacePacketParser->parseSpacePackets(bufPtrPtr, readAmount, startIdx, foundSize, readLen);
SpacePacketParser::FoundPacketInfo info;
if (spacePacketParser == nullptr) {
return returnvalue::FAILED;
}
spacePacketParser->reset();
while (spacePacketParser->getAmountRead() < readAmount) {
result = spacePacketParser->parseSpacePackets(&bufPtr, readAmount, info);
switch (result) {
case (SpacePacketParser::NO_PACKET_FOUND):
case (SpacePacketParser::SPLIT_PACKET): {
break;
}
case (returnvalue::OK): {
result = handleTcReception(receptionBuffer.data() + startIdx, foundSize);
result = handleTcReception(receptionBuffer.data() + info.startIdx, info.sizeFound);
if (result != returnvalue::OK) {
status = result;
}
}
}
ringBuffer.deleteData(foundSize);
ringBuffer.deleteData(info.sizeFound);
lastRingBufferSize = ringBuffer.getAvailableReadData();
std::memset(receptionBuffer.data() + startIdx, 0, foundSize);
}
return status;
}

View File

@ -22,7 +22,7 @@ const std::string UdpTmTcBridge::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_POR
UdpTmTcBridge::UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
const std::string &udpServerPort_, object_id_t tmStoreId,
object_id_t tcStoreId)
: TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
: TmTcBridge("UDP TMTC Bridge", objectId, tcDestination, tmStoreId, tcStoreId) {
if (udpServerPort_.empty()) {
udpServerPort = DEFAULT_SERVER_PORT;
} else {

View File

@ -10,8 +10,8 @@
CService200ModeCommanding::CService200ModeCommanding(object_id_t objectId, uint16_t apid,
uint8_t serviceId, uint8_t numParallelCommands,
uint16_t commandTimeoutSeconds)
: CommandingServiceBase(objectId, apid, serviceId, numParallelCommands, commandTimeoutSeconds) {
}
: CommandingServiceBase(objectId, apid, "PUS 200 Mode MGMT", serviceId, numParallelCommands,
commandTimeoutSeconds) {}
CService200ModeCommanding::~CService200ModeCommanding() {}

View File

@ -10,8 +10,8 @@ CService201HealthCommanding::CService201HealthCommanding(object_id_t objectId, u
uint8_t serviceId,
uint8_t numParallelCommands,
uint16_t commandTimeoutSeconds)
: CommandingServiceBase(objectId, apid, serviceId, numParallelCommands, commandTimeoutSeconds) {
}
: CommandingServiceBase(objectId, apid, "PUS 201 Health MGMT", serviceId, numParallelCommands,
commandTimeoutSeconds) {}
ReturnValue_t CService201HealthCommanding::isValidSubservice(uint8_t subservice) {
switch (subservice) {

View File

@ -38,8 +38,9 @@ class Service11TelecommandScheduling final : public PusServiceBase {
static constexpr uint8_t CLASS_ID = CLASS_ID::PUS_SERVICE_11;
static constexpr ReturnValue_t INVALID_TYPE_TIME_WINDOW = returnvalue::makeCode(CLASS_ID, 1);
static constexpr ReturnValue_t TIMESHIFTING_NOT_POSSIBLE = returnvalue::makeCode(CLASS_ID, 2);
static constexpr ReturnValue_t INVALID_RELATIVE_TIME = returnvalue::makeCode(CLASS_ID, 3);
static constexpr ReturnValue_t INVALID_TIME_WINDOW = returnvalue::makeCode(CLASS_ID, 2);
static constexpr ReturnValue_t TIMESHIFTING_NOT_POSSIBLE = returnvalue::makeCode(CLASS_ID, 3);
static constexpr ReturnValue_t INVALID_RELATIVE_TIME = returnvalue::makeCode(CLASS_ID, 4);
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_11;

View File

@ -16,7 +16,9 @@ inline Service11TelecommandScheduling<MAX_NUM_TCS>::Service11TelecommandScheduli
: PusServiceBase(params),
RELEASE_TIME_MARGIN_SECONDS(releaseTimeMarginSeconds),
debugMode(debugMode),
tcRecipient(tcRecipient) {}
tcRecipient(tcRecipient) {
params.name = "PUS 11 TC Scheduling";
}
template <size_t MAX_NUM_TCS>
inline Service11TelecommandScheduling<MAX_NUM_TCS>::~Service11TelecommandScheduling() = default;
@ -564,12 +566,17 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::getMapFilterFr
if (result != returnvalue::OK) {
return result;
}
if (fromTimestamp > toTimestamp) {
return INVALID_TIME_WINDOW;
}
itBegin = telecommandMap.begin();
itEnd = telecommandMap.begin();
while (itBegin->first < fromTimestamp && itBegin != telecommandMap.end()) {
itBegin++;
}
// start looking for end beginning at begin
itEnd = itBegin;
while (itEnd->first <= toTimestamp && itEnd != telecommandMap.end()) {
itEnd++;
}
@ -579,16 +586,6 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::getMapFilterFr
default:
return returnvalue::FAILED;
}
// additional security check, this should never be true
if (itBegin->first > itEnd->first) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
#else
sif::printError("11::GetMapFilterFromData: itBegin > itEnd\n");
#endif
return returnvalue::FAILED;
}
// the map range should now be set according to the sent filter.
return returnvalue::OK;
}

View File

@ -8,7 +8,9 @@
Service17Test::Service17Test(PsbParams params)
: PusServiceBase(params),
storeHelper(params.apid),
tmHelper(params.serviceId, storeHelper, sendHelper) {}
tmHelper(params.serviceId, storeHelper, sendHelper) {
params.name = "PUS 17 Test";
}
Service17Test::~Service17Test() = default;

View File

@ -11,7 +11,7 @@ Service1TelecommandVerification::Service1TelecommandVerification(object_id_t obj
uint16_t apid, uint8_t serviceId,
object_id_t targetDestination,
uint16_t messageQueueDepth,
TimeStamperIF* timeStamper)
TimeWriterIF* timeStamper)
: SystemObject(objectId),
apid(apid),
serviceId(serviceId),
@ -134,7 +134,7 @@ ReturnValue_t Service1TelecommandVerification::initialize() {
storeHelper.setTmStore(*tmStore);
}
if (timeStamper == nullptr) {
timeStamper = ObjectManager::instance()->get<TimeStamperIF>(objects::TIME_STAMPER);
timeStamper = ObjectManager::instance()->get<TimeWriterIF>(objects::TIME_STAMPER);
if (timeStamper == nullptr) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}

View File

@ -47,7 +47,7 @@ class Service1TelecommandVerification : public AcceptsVerifyMessageIF,
Service1TelecommandVerification(object_id_t objectId, uint16_t apid, uint8_t serviceId,
object_id_t targetDestination, uint16_t messageQueueDepth,
TimeStamperIF* timeStamper = nullptr);
TimeWriterIF* timeStamper = nullptr);
~Service1TelecommandVerification() override;
/**
@ -87,7 +87,7 @@ class Service1TelecommandVerification : public AcceptsVerifyMessageIF,
TmStoreHelper storeHelper;
TmStoreAndSendWrapper tmHelper;
InternalErrorReporterIF* errReporter = nullptr;
TimeStamperIF* timeStamper = nullptr;
TimeWriterIF* timeStamper = nullptr;
StorageManagerIF* tmStore = nullptr;
MessageQueueIF* tmQueue = nullptr;

View File

@ -11,8 +11,8 @@ Service20ParameterManagement::Service20ParameterManagement(object_id_t objectId,
uint8_t serviceId,
uint8_t numberOfParallelCommands,
uint16_t commandTimeoutSeconds)
: CommandingServiceBase(objectId, apid, serviceId, numberOfParallelCommands,
commandTimeoutSeconds) {}
: CommandingServiceBase(objectId, apid, "PUS 20 Parameter MGMT", serviceId,
numberOfParallelCommands, commandTimeoutSeconds) {}
Service20ParameterManagement::~Service20ParameterManagement() = default;

View File

@ -14,8 +14,8 @@
Service2DeviceAccess::Service2DeviceAccess(object_id_t objectId, uint16_t apid, uint8_t serviceId,
uint8_t numberOfParallelCommands,
uint16_t commandTimeoutSeconds)
: CommandingServiceBase(objectId, apid, serviceId, numberOfParallelCommands,
commandTimeoutSeconds) {}
: CommandingServiceBase(objectId, apid, "PUS 2 Raw Commanding", serviceId,
numberOfParallelCommands, commandTimeoutSeconds) {}
Service2DeviceAccess::~Service2DeviceAccess() {}

View File

@ -5,7 +5,7 @@
#include "fsfw/pus/servicepackets/Service3Packets.h"
Service3Housekeeping::Service3Housekeeping(object_id_t objectId, uint16_t apid, uint8_t serviceId)
: CommandingServiceBase(objectId, apid, serviceId, NUM_OF_PARALLEL_COMMANDS,
: CommandingServiceBase(objectId, apid, "PUS 3 HK", serviceId, NUM_OF_PARALLEL_COMMANDS,
COMMAND_TIMEOUT_SECONDS) {}
Service3Housekeeping::~Service3Housekeeping() {}

View File

@ -13,6 +13,7 @@ Service5EventReporting::Service5EventReporting(PsbParams params, size_t maxNumbe
storeHelper(params.apid),
tmHelper(params.serviceId, storeHelper, sendHelper),
maxNumberReportsPerCycle(maxNumberReportsPerCycle) {
psbParams.name = "PUS 5 Event Reporting";
eventQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
}

View File

@ -12,8 +12,8 @@ Service8FunctionManagement::Service8FunctionManagement(object_id_t objectId, uin
uint8_t serviceId,
uint8_t numParallelCommands,
uint16_t commandTimeoutSeconds)
: CommandingServiceBase(objectId, apid, serviceId, numParallelCommands, commandTimeoutSeconds) {
}
: CommandingServiceBase(objectId, apid, "PUS 8 Functional Commanding", serviceId,
numParallelCommands, commandTimeoutSeconds) {}
Service8FunctionManagement::~Service8FunctionManagement() {}

View File

@ -5,7 +5,9 @@
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/timemanager/CCSDSTime.h"
Service9TimeManagement::Service9TimeManagement(PsbParams params) : PusServiceBase(params) {}
Service9TimeManagement::Service9TimeManagement(PsbParams params) : PusServiceBase(params) {
params.name = "PUS 9 Time MGMT";
}
Service9TimeManagement::~Service9TimeManagement() = default;

View File

@ -1,8 +1,6 @@
#ifndef FSFW_RETURNVALUES_RETURNVALUE_H_
#define FSFW_RETURNVALUES_RETURNVALUE_H_
#include <returnvalues/classIds.h>
#include <cstdint>
#include "FwClassIds.h"

View File

@ -21,7 +21,7 @@ SerialBufferAdapter<count_t>::SerialBufferAdapter(uint8_t* buffer, count_t buffe
bufferLength(bufferLength) {}
template <typename count_t>
SerialBufferAdapter<count_t>::~SerialBufferAdapter() {}
SerialBufferAdapter<count_t>::~SerialBufferAdapter() = default;
template <typename count_t>
ReturnValue_t SerialBufferAdapter<count_t>::serialize(uint8_t** buffer, size_t* size,
@ -119,10 +119,10 @@ const uint8_t* SerialBufferAdapter<count_t>::getConstBuffer() const {
}
template <typename count_t>
void SerialBufferAdapter<count_t>::setBuffer(uint8_t* buffer, count_t bufferLength) {
this->buffer = buffer;
this->constBuffer = buffer;
this->bufferLength = bufferLength;
void SerialBufferAdapter<count_t>::setConstBuffer(const uint8_t* buf, count_t bufLen) {
this->buffer = nullptr;
this->bufferLength = bufLen;
this->constBuffer = buf;
}
// forward Template declaration for linker

View File

@ -21,6 +21,7 @@
template <typename count_t>
class SerialBufferAdapter : public SerializeIF {
public:
SerialBufferAdapter() = default;
/**
* Constructor for constant uint8_t buffer. Length field can be serialized optionally.
* Type of length can be supplied as template type.
@ -40,12 +41,12 @@ class SerialBufferAdapter : public SerializeIF {
*/
SerialBufferAdapter(uint8_t* buffer, count_t bufferLength, bool serializeLength = false);
virtual ~SerialBufferAdapter();
~SerialBufferAdapter() override;
virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
Endianness streamEndianness) const override;
ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
Endianness streamEndianness) const override;
virtual size_t getSerializedSize() const override;
[[nodiscard]] size_t getSerializedSize() const override;
/**
* @brief This function deserializes a buffer into the member buffer.
@ -59,12 +60,12 @@ class SerialBufferAdapter : public SerializeIF {
* @param bigEndian
* @return
*/
virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
Endianness streamEndianness) override;
ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
Endianness streamEndianness) override;
uint8_t* getBuffer();
const uint8_t* getConstBuffer() const;
void setBuffer(uint8_t* buffer, count_t bufferLength);
[[nodiscard]] const uint8_t* getConstBuffer() const;
void setConstBuffer(const uint8_t* buf, count_t bufLen);
private:
bool serializeLength = false;

View File

@ -1,9 +1,8 @@
#include "fsfw/serviceinterface/ServiceInterfaceBuffer.h"
#include "ServiceInterfaceBuffer.h"
#if FSFW_CPP_OSTREAM_ENABLED == 1
#include <inttypes.h>
#include <cinttypes>
#include <cstring>
#include "fsfw/serviceinterface/serviceInterfaceDefintions.h"
@ -16,8 +15,6 @@
// to be implemented by bsp
extern "C" void printChar(const char*, bool errStream);
#ifndef UT699
ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string setMessage, bool addCrToPreamble,
bool buffered, bool errStream, uint16_t port)
: isActive(true),
@ -58,6 +55,9 @@ ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string setMessage, bool addC
}
void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
if (not isActive) {
return;
}
char array[BUF_SIZE];
uint32_t length = end - begin;
if (length > sizeof(array)) {
@ -74,8 +74,6 @@ void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
}
}
#endif
int ServiceInterfaceBuffer::overflow(int c) {
if (not buffered and this->isActive) {
if (c != Traits::eof()) {
@ -169,89 +167,4 @@ void ServiceInterfaceBuffer::setAsciiColorPrefix(std::string colorPrefix) {
}
#endif
#ifdef UT699
#include "../osal/rtems/Interrupt.h"
ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string set_message, uint16_t port) {
this->log_message = set_message;
this->isActive = true;
setp(buf, buf + BUF_SIZE);
}
void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
char array[BUF_SIZE];
uint32_t length = end - begin;
if (length > sizeof(array)) {
length = sizeof(array);
}
memcpy(array, begin, length);
if (!Interrupt::isInterruptInProgress()) {
std::cout << array;
} else {
// Uncomment the following line if you need ISR debug output.
// printk(array);
}
}
#endif // UT699
#ifdef ML505
#include <bsp_flp/network/networkconfig.h>
ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string set_message, uint16_t port)
: isActive(true),
log_message(set_message),
udpSocket(0),
remoteAddressLength(sizeof(remoteAddress)) {
setp(buf, buf + BUF_SIZE);
memset((uint8_t*)&remoteAddress, 0, sizeof(remoteAddress));
remoteAddress.sin_family = AF_INET;
remoteAddress.sin_port = htons(port);
remoteAddress.sin_addr.s_addr = htonl(inet_addr("192.168.250.100"));
}
void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
char array[BUF_SIZE];
uint32_t length = end - begin;
if (length > sizeof(array)) {
length = sizeof(array);
}
memcpy(array, begin, length);
if (udpSocket <= 0) {
initSocket();
}
if (udpSocket > 0) {
sendto(udpSocket, array, length, 0, (sockaddr*)&remoteAddress, sizeof(remoteAddress));
}
}
void ServiceInterfaceBuffer::initSocket() {
sockaddr_in address;
memset((uint8_t*)&address, 0, sizeof(address));
address.sin_family = AF_INET;
address.sin_port = htons(0);
address.sin_addr.s_addr = htonl(INADDR_ANY);
udpSocket = socket(PF_INET, SOCK_DGRAM, 0);
if (socket < 0) {
printf("Error opening socket!\n");
return;
}
timeval timeout = {0, 20};
if (setsockopt(udpSocket, SOL_SOCKET, SO_RCVTIMEO, &timeout, sizeof(timeout)) < 0) {
printf("Error setting SO_RCVTIMEO socket options!\n");
return;
}
if (setsockopt(udpSocket, SOL_SOCKET, SO_SNDTIMEO, &timeout, sizeof(timeout)) < 0) {
printf("Error setting SO_SNDTIMEO socket options!\n");
return;
}
if (bind(udpSocket, (sockaddr*)&address, sizeof(address)) < 0) {
printf("Error binding socket!\n");
}
}
#endif // ML505
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif

View File

@ -1,9 +1,8 @@
#ifndef FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_
#define FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_
#include <FSFWConfig.h>
#include "../returnvalues/returnvalue.h"
#include "fsfw/FSFW.h"
#include "fsfw/returnvalues/returnvalue.h"
#if FSFW_CPP_OSTREAM_ENABLED == 1
@ -11,8 +10,6 @@
#include <iostream>
#include <sstream>
#ifndef UT699
/**
* @brief This is the underlying stream buffer which implements the
* streambuf class and overloads the overflow() and sync() methods
@ -77,85 +74,6 @@ class ServiceInterfaceBuffer : public std::streambuf {
bool crAdditionEnabled() const;
};
#endif
#ifdef UT699
class ServiceInterfaceBuffer : public std::basic_streambuf<char, std::char_traits<char> > {
friend class ServiceInterfaceStream;
public:
ServiceInterfaceBuffer(std::string set_message, uint16_t port);
protected:
bool isActive;
// This is called when buffer becomes full. If
// buffer is not used, then this is called every
// time when characters are put to stream.
virtual int overflow(int c = Traits::eof());
// This function is called when stream is flushed,
// for example when std::endl is put to stream.
virtual int sync(void);
private:
// For additional message information
std::string log_message;
// For EOF detection
typedef std::char_traits<char> Traits;
// Work in buffer mode. It is also possible to work without buffer.
static size_t const BUF_SIZE = 128;
char buf[BUF_SIZE];
// In this function, the characters are parsed.
void putChars(char const* begin, char const* end);
};
#endif // UT699
#ifdef ML505
#include <arpa/inet.h>
#include <netinet/in.h>
#include <netinet/udp.h>
#include <sys/socket.h>
#include <sys/types.h>
class ServiceInterfaceBuffer : public std::basic_streambuf<char, std::char_traits<char> > {
friend class ServiceInterfaceStream;
public:
ServiceInterfaceBuffer(std::string set_message, uint16_t port);
protected:
bool isActive;
// This is called when buffer becomes full. If
// buffer is not used, then this is called every
// time when characters are put to stream.
virtual int overflow(int c = Traits::eof());
// This function is called when stream is flushed,
// for example when std::endl is put to stream.
virtual int sync(void);
private:
// For additional message information
std::string log_message;
// For EOF detection
typedef std::char_traits<char> Traits;
// Work in buffer mode. It is also possible to work without buffer.
static size_t const BUF_SIZE = 128;
char buf[BUF_SIZE];
// In this function, the characters are parsed.
void putChars(char const* begin, char const* end);
int udpSocket;
sockaddr_in remoteAddress;
socklen_t remoteAddressLength;
void initSocket();
};
#endif // ML505
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_ */

View File

@ -1,9 +1,8 @@
#ifndef FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACESTREAM_H_
#define FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACESTREAM_H_
#include <FSFWConfig.h>
#include "ServiceInterfaceBuffer.h"
#include "fsfw/FSFW.h"
#if FSFW_CPP_OSTREAM_ENABLED == 1

View File

@ -59,7 +59,7 @@ TcDistributor::TcMqMapIter CCSDSDistributor::selectDestination() {
}
}
MessageQueueId_t CCSDSDistributor::getRequestQueue() { return tcQueue->getId(); }
MessageQueueId_t CCSDSDistributor::getRequestQueue() const { return tcQueue->getId(); }
ReturnValue_t CCSDSDistributor::registerApplication(AcceptsTelecommandsIF* application) {
ReturnValue_t returnValue = returnvalue::OK;
@ -80,7 +80,7 @@ ReturnValue_t CCSDSDistributor::registerApplication(uint16_t apid, MessageQueueI
return returnValue;
}
uint16_t CCSDSDistributor::getIdentifier() { return 0; }
uint32_t CCSDSDistributor::getIdentifier() const { return 0; }
ReturnValue_t CCSDSDistributor::initialize() {
if (packetChecker == nullptr) {

View File

@ -35,10 +35,10 @@ class CCSDSDistributor : public TcDistributor,
*/
~CCSDSDistributor() override;
MessageQueueId_t getRequestQueue() override;
MessageQueueId_t getRequestQueue() const override;
ReturnValue_t registerApplication(uint16_t apid, MessageQueueId_t id) override;
ReturnValue_t registerApplication(AcceptsTelecommandsIF* application) override;
uint16_t getIdentifier() override;
uint32_t getIdentifier() const override;
ReturnValue_t initialize() override;
protected:

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@ -5,7 +5,6 @@
#include "../returnvalues/returnvalue.h"
#include "../tmtcpacket/cfdp/CfdpPacketStored.h"
#include "../tmtcservices/AcceptsTelecommandsIF.h"
#include "../tmtcservices/VerificationReporter.h"
#include "CFDPDistributorIF.h"
@ -34,9 +33,9 @@ class CFDPDistributor : public TcDistributor,
*/
~CFDPDistributor() override;
ReturnValue_t registerHandler(AcceptsTelecommandsIF* handler) override;
MessageQueueId_t getRequestQueue() override;
MessageQueueId_t getRequestQueue() const override;
ReturnValue_t initialize() override;
uint16_t getIdentifier() override;
uint32_t getIdentifier() const override;
protected:
uint16_t apid;

View File

@ -1,9 +1,4 @@
target_sources(
${LIB_FSFW_NAME}
PRIVATE CCSDSDistributor.cpp
PusDistributor.cpp
TcDistributor.cpp
PusPacketChecker.cpp
TcPacketCheckCFDP.cpp
CFDPDistributor.cpp
CcsdsPacketChecker.cpp)
PRIVATE CCSDSDistributor.cpp PusDistributor.cpp TcDistributor.cpp
TcPacketCheckCFDP.cpp CcsdsPacketChecker.cpp)

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@ -1,13 +1,9 @@
#ifndef FSFW_TCDISTRIBUTION_TCPACKETCHECKIF_H_
#define FSFW_TCDISTRIBUTION_TCPACKETCHECKIF_H_
<<<<<<< HEAD:src/fsfw/tcdistribution/CcsdsPacketCheckIF.h
#include <cstddef>
=======
#include "../returnvalues/returnvalue.h"
>>>>>>> origin/development:src/fsfw/tcdistribution/TcPacketCheckIF.h
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/returnvalues/returnvalue.h"
class SpacePacketReader;

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@ -97,13 +97,13 @@ ReturnValue_t PusDistributor::registerService(AcceptsTelecommandsIF* service) {
return returnvalue::OK;
}
MessageQueueId_t PusDistributor::getRequestQueue() { return tcQueue->getId(); }
MessageQueueId_t PusDistributor::getRequestQueue() const { return tcQueue->getId(); }
ReturnValue_t PusDistributor::callbackAfterSending(ReturnValue_t queueStatus) {
if (queueStatus != returnvalue::OK) {
tcStatus = queueStatus;
}
if (tcStatus != RETURN_OK) {
if (tcStatus != returnvalue::OK) {
verifyChannel->sendFailureReport({tcverif::ACCEPTANCE_FAILURE, reader, tcStatus});
// A failed packet is deleted immediately after reporting,
// otherwise it will block memory.
@ -111,11 +111,11 @@ ReturnValue_t PusDistributor::callbackAfterSending(ReturnValue_t queueStatus) {
return returnvalue::FAILED;
} else {
verifyChannel->sendSuccessReport({tcverif::ACCEPTANCE_SUCCESS, reader});
return RETURN_OK;
return returnvalue::OK;
}
}
uint16_t PusDistributor::getIdentifier() { return checker.getApid(); }
uint32_t PusDistributor::getIdentifier() const { return checker.getApid(); }
ReturnValue_t PusDistributor::initialize() {
if (store == nullptr) {

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@ -34,9 +34,9 @@ class PusDistributor : public TcDistributor, public PUSDistributorIF, public Acc
*/
~PusDistributor() override;
ReturnValue_t registerService(AcceptsTelecommandsIF* service) override;
MessageQueueId_t getRequestQueue() override;
MessageQueueId_t getRequestQueue() const override;
ReturnValue_t initialize() override;
uint16_t getIdentifier() override;
uint32_t getIdentifier() const override;
protected:
StorageManagerIF* store;

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@ -2,7 +2,7 @@
#define FSFW_TCDISTRIBUTION_TCPACKETCHECKPUS_H_
#include "fsfw/FSFW.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "fsfw/tmtcpacket/pus/defs.h"
#include "fsfw/tmtcservices/PusVerificationReport.h"

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@ -9,4 +9,3 @@ ReturnValue_t CfdpPacketChecker::checkPacket(const SpacePacketReader& currentPac
}
uint16_t CfdpPacketChecker::getApid() const { return apid; }

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@ -4,7 +4,7 @@
#include <cstdint>
#include "fsfw/returnvalues/FwClassIds.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/returnvalues/returnvalue.h"
namespace tcdistrib {
static const uint8_t INTERFACE_ID = CLASS_ID::PACKET_CHECK;
@ -14,11 +14,11 @@ static constexpr ReturnValue_t INVALID_PACKET_TYPE = MAKE_RETURN_CODE(2);
static constexpr ReturnValue_t INVALID_SEC_HEADER_FIELD = MAKE_RETURN_CODE(3);
static constexpr ReturnValue_t INCORRECT_PRIMARY_HEADER = MAKE_RETURN_CODE(4);
static constexpr ReturnValue_t INCOMPLETE_PACKET = MAKE_RETURN_CODE(5);
static constexpr ReturnValue_t INVALID_PUS_VERSION = MAKE_RETURN_CODE(6);
static constexpr ReturnValue_t INCORRECT_CHECKSUM = MAKE_RETURN_CODE(7);
static constexpr ReturnValue_t ILLEGAL_PACKET_SUBTYPE = MAKE_RETURN_CODE(8);
static constexpr ReturnValue_t INCORRECT_SECONDARY_HEADER = MAKE_RETURN_CODE(9);
static constexpr ReturnValue_t INCOMPLETE_PACKET = MAKE_RETURN_CODE(7);
static constexpr ReturnValue_t INVALID_PUS_VERSION = MAKE_RETURN_CODE(8);
static constexpr ReturnValue_t INCORRECT_CHECKSUM = MAKE_RETURN_CODE(9);
static constexpr ReturnValue_t ILLEGAL_PACKET_SUBTYPE = MAKE_RETURN_CODE(10);
static constexpr ReturnValue_t INCORRECT_SECONDARY_HEADER = MAKE_RETURN_CODE(11);
}; // namespace tcdistrib
#endif // FSFW_TMTCPACKET_DEFINITIONS_H

View File

@ -39,13 +39,13 @@ class CCSDSTime {
* Struct for CDS day-segmented format.
*/
struct CDS_short {
uint8_t pField;
uint8_t dayMSB;
uint8_t dayLSB;
uint8_t msDay_hh;
uint8_t msDay_h;
uint8_t msDay_l;
uint8_t msDay_ll;
uint8_t pField = P_FIELD_CDS_SHORT;
uint8_t dayMSB = 0;
uint8_t dayLSB = 0;
uint8_t msDay_hh = 0;
uint8_t msDay_h = 0;
uint8_t msDay_l = 0;
uint8_t msDay_ll = 0;
};
/**
* Struct for the CCS fromat in day of month variation with max resolution

View File

@ -6,11 +6,6 @@
CdsShortTimeStamper::CdsShortTimeStamper(object_id_t objectId) : SystemObject(objectId) {}
ReturnValue_t CdsShortTimeStamper::addTimeStamp(uint8_t *buffer, const uint8_t maxSize) {
size_t serLen = 0;
return serialize(&buffer, &serLen, maxSize, SerializeIF::Endianness::NETWORK);
}
ReturnValue_t CdsShortTimeStamper::serialize(uint8_t **buffer, size_t *size, size_t maxSize,
SerializeIF::Endianness streamEndianness) const {
if (*size + getSerializedSize() > maxSize) {
@ -33,15 +28,22 @@ size_t CdsShortTimeStamper::getSerializedSize() const { return getTimestampSize(
ReturnValue_t CdsShortTimeStamper::deSerialize(const uint8_t **buffer, size_t *size,
SerializeIF::Endianness streamEndianness) {
return returnvalue::FAILED;
}
ReturnValue_t CdsShortTimeStamper::readTimeStamp(const uint8_t *buffer, size_t maxSize) {
if (maxSize < getTimestampSize()) {
if (size == nullptr or buffer == nullptr) {
return returnvalue::FAILED;
}
if (*size < getTimestampSize()) {
return SerializeIF::STREAM_TOO_SHORT;
}
size_t foundLen = 0;
return CCSDSTime::convertFromCcsds(&readTime, buffer, &foundLen, maxSize);
if (((**buffer >> 4) & 0b111) != CCSDSTime::TimeCodeIdentification::CDS) {
return BAD_TIMESTAMP;
}
auto res = CCSDSTime::convertFromCcsds(&readTime, *buffer, &foundLen, *size);
if (res == returnvalue::OK) {
*size -= getSerializedSize();
*buffer += getSerializedSize();
}
return res;
}
timeval &CdsShortTimeStamper::getTime() { return readTime; }

View File

@ -3,7 +3,7 @@
#include "CCSDSTime.h"
#include "TimeReaderIF.h"
#include "TimeStamperIF.h"
#include "TimeWriterIF.h"
#include "fsfw/objectmanager/SystemObject.h"
/**
@ -15,7 +15,7 @@
* overriding the #addTimeStamp function.
* @ingroup utility
*/
class CdsShortTimeStamper : public TimeStamperIF, public TimeReaderIF, public SystemObject {
class CdsShortTimeStamper : public TimeWriterIF, public TimeReaderIF, public SystemObject {
public:
static constexpr size_t TIMESTAMP_LEN = 7;
/**
@ -25,20 +25,11 @@ class CdsShortTimeStamper : public TimeStamperIF, public TimeReaderIF, public Sy
*/
explicit CdsShortTimeStamper(object_id_t objectId);
/**
* Adds a CCSDS CDC short 8 byte timestamp to the given buffer.
* This function can be overriden to use a custom timestamp.
* @param buffer
* @param maxSize
* @return
*/
ReturnValue_t addTimeStamp(uint8_t *buffer, uint8_t maxSize) override;
ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
Endianness streamEndianness) const override;
[[nodiscard]] size_t getSerializedSize() const override;
ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
Endianness streamEndianness) override;
ReturnValue_t readTimeStamp(const uint8_t *buffer, size_t maxSize) override;
timeval &getTime() override;
[[nodiscard]] size_t getTimestampSize() const override;

View File

@ -4,13 +4,29 @@
#include <cstdlib>
#include "TimeStampIF.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "fsfw/serialize/SerializeIF.h"
class TimeReaderIF : public TimeStampIF {
class TimeReaderIF : public SerializeIF, public TimeStampIF {
public:
~TimeReaderIF() override = default;
virtual ReturnValue_t readTimeStamp(const uint8_t* buffer, size_t maxSize) = 0;
virtual timeval& getTime() = 0;
[[nodiscard]] size_t getSerializedSize() const override { return getTimestampSize(); }
ReturnValue_t readTimeStamp(const uint8_t* buf, size_t maxSize) {
size_t dummy = 0;
return deSerialize(buf, dummy, maxSize, SerializeIF::Endianness::NETWORK);
}
private:
/**
* Forbidden, use dedicated IF @TimeWriterIF
*/
[[nodiscard]] ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
Endianness streamEndianness) const override {
return returnvalue::FAILED;
}
};
#endif // FSFW_TIMEMANAGER_TIMEREADERIF_H

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@ -1,23 +0,0 @@
#ifndef FSFW_TIMEMANAGER_TIMESTAMPERIF_H_
#define FSFW_TIMEMANAGER_TIMESTAMPERIF_H_
#include "TimeStampIF.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "fsfw/serialize/SerializeIF.h"
/**
* A class implementing this IF provides facilities to add a time stamp to the
* buffer provided.
* Implementors need to ensure that calling the method is thread-safe, i.e.
* addTimeStamp may be called in parallel from a different context.
*/
class TimeStamperIF : public SerializeIF, public TimeStampIF {
public:
virtual ReturnValue_t addTimeStamp(uint8_t* buffer, uint8_t maxSize) = 0;
~TimeStamperIF() override = default;
size_t getTimestampSize() const override { return getSerializedSize(); }
protected:
};
#endif /* FSFW_TIMEMANAGER_TIMESTAMPERIF_H_ */

View File

@ -0,0 +1,34 @@
#ifndef FSFW_TIMEMANAGER_TIMESTAMPERIF_H_
#define FSFW_TIMEMANAGER_TIMESTAMPERIF_H_
#include "TimeStampIF.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "fsfw/serialize/SerializeIF.h"
/**
* A class implementing this IF provides facilities to add a time stamp to the
* buffer provided.
* Implementors need to ensure that calling the method is thread-safe, i.e.
* addTimeStamp may be called in parallel from a different context.
*/
class TimeWriterIF : public SerializeIF, public TimeStampIF {
public:
~TimeWriterIF() override = default;
[[nodiscard]] size_t getTimestampSize() const override { return getSerializedSize(); }
ReturnValue_t addTimeStamp(uint8_t *buf, size_t maxSize) {
size_t dummy = 0;
return serialize(buf, dummy, maxSize, SerializeIF::Endianness::NETWORK);
}
private:
/**
* Forbidden, use dedicated IF @TimeReaderIF
*/
ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
Endianness streamEndianness) override {
return returnvalue::FAILED;
}
};
#endif /* FSFW_TIMEMANAGER_TIMESTAMPERIF_H_ */

View File

@ -7,7 +7,7 @@
#include "fsfw/serialize/SerialLinkedListAdapter.h"
#include "fsfw/serialize/SerializeElement.h"
#include "fsfw/timemanager/CCSDSTime.h"
#include "fsfw/timemanager/TimeStamperIF.h"
#include "fsfw/timemanager/TimeWriterIF.h"
#include "fsfw/tmtcpacket/pus/tm/PusTmMinimal.h"
#include "tmStorageConf.h"

View File

@ -3,7 +3,7 @@
#include <cstddef>
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "fsfw/tmtcpacket/ReadablePacketIF.h"
#include "fsfw/tmtcpacket/RedirectableDataPointerIF.h"
#include "fsfw/tmtcpacket/ccsds/defs.h"

View File

@ -23,11 +23,11 @@ constexpr uint16_t getSpacePacketIdFromApid(bool isTc, uint16_t apid,
return ((isTc << 4) | (secondaryHeaderFlag << 3) | ((apid >> 8) & 0x07)) << 8 | (apid & 0x00ff);
}
constexpr uint16_t getTcSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag = true) {
constexpr uint16_t getTcSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag) {
return getSpacePacketIdFromApid(true, apid, secondaryHeaderFlag);
}
constexpr uint16_t getTmSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag = true) {
constexpr uint16_t getTmSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag) {
return getSpacePacketIdFromApid(false, apid, secondaryHeaderFlag);
}

View File

@ -7,11 +7,7 @@
#include "fsfw/tmtcpacket/pus/tm/PusTmIF.h"
#include "fsfw/tmtcpacket/pus/tm/PusTmMinimal.h"
<<<<<<< HEAD
class PacketMatchTree : public MatchTree<PusTmIF*> {
=======
class PacketMatchTree : public MatchTree<TmPacketMinimal*> {
>>>>>>> origin/development
public:
explicit PacketMatchTree(Node* root);
explicit PacketMatchTree(iterator root);

View File

@ -7,6 +7,6 @@ class CustomUserDataIF {
public:
virtual ~CustomUserDataIF() = default;
virtual ReturnValue_t setRawUserData(const uint8_t* data, size_t len) = 0;
virtual ReturnValue_t setSerializableUserData(SerializeIF& serializable) = 0;
virtual ReturnValue_t setSerializableUserData(const SerializeIF& serializable) = 0;
};
#endif // FSFW_TMTCPACKET_CREATORDATAIF_H

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@ -13,44 +13,6 @@ using PusChecksumT = uint16_t;
//! Version numbers according to ECSS-E-ST-70-41C p.439
enum PusVersion : uint8_t { PUS_A = 1, PUS_C = 2 };
struct RawData {
const uint8_t* data;
size_t len;
};
enum DataTypes { RAW, SERIALIZABLE };
union DataUnion {
RawData raw;
SerializeIF* serializable;
};
struct DataWrapper {
DataTypes type;
DataUnion dataUnion;
using BufPairT = std::pair<const uint8_t*, size_t>;
[[nodiscard]] size_t getLength() const {
if (type == DataTypes::RAW) {
return dataUnion.raw.len;
} else if (type == DataTypes::SERIALIZABLE and dataUnion.serializable != nullptr) {
return dataUnion.serializable->getSerializedSize();
}
return 0;
}
void setRawData(BufPairT bufPair) {
type = DataTypes::RAW;
dataUnion.raw.data = bufPair.first;
dataUnion.raw.len = bufPair.second;
}
void setSerializable(SerializeIF& serializable) {
type = DataTypes::SERIALIZABLE;
dataUnion.serializable = &serializable;
}
};
/**
* This struct defines the data structure of a Space Packet when accessed
* via a pointer.

View File

@ -14,7 +14,6 @@ PusTcCreator::PusTcCreator(SpacePacketParams spParams, PusTcParams pusParams)
ReturnValue_t PusTcCreator::serialize(uint8_t **buffer, size_t *size, size_t maxSize,
SerializeIF::Endianness streamEndianness) const {
const uint8_t *start = *buffer;
size_t userDataLen = pusParams.dataWrapper.getLength();
if (*size + getSerializedSize() > maxSize) {
return SerializeIF::BUFFER_TOO_SHORT;
}
@ -37,17 +36,8 @@ ReturnValue_t PusTcCreator::serialize(uint8_t **buffer, size_t *size, size_t max
if (result != returnvalue::OK) {
return result;
}
if (pusParams.dataWrapper.type == ecss::DataTypes::RAW) {
const uint8_t *data = pusParams.dataWrapper.dataUnion.raw.data;
if (data != nullptr and userDataLen > 0) {
std::memcpy(*buffer, data, userDataLen);
*buffer += userDataLen;
*size += userDataLen;
}
} else if (pusParams.dataWrapper.type == ecss::DataTypes::SERIALIZABLE and
pusParams.dataWrapper.dataUnion.serializable != nullptr) {
result = pusParams.dataWrapper.dataUnion.serializable->serialize(buffer, size, maxSize,
streamEndianness);
if (pusParams.appData != nullptr) {
result = pusParams.appData->serialize(buffer, size, maxSize, streamEndianness);
if (result != returnvalue::OK) {
return result;
}
@ -58,8 +48,11 @@ ReturnValue_t PusTcCreator::serialize(uint8_t **buffer, size_t *size, size_t max
}
void PusTcCreator::updateSpLengthField() {
spCreator.setDataLen(ecss::PusTcDataFieldHeader::MIN_SIZE + pusParams.dataWrapper.getLength() +
1);
size_t len = ecss::PusTcDataFieldHeader::MIN_SIZE + 1;
if (pusParams.appData != nullptr) {
len += pusParams.appData->getSerializedSize();
}
spCreator.setDataLen(len);
}
size_t PusTcCreator::getSerializedSize() const { return spCreator.getFullPacketLen(); }
@ -91,14 +84,15 @@ SpacePacketParams &PusTcCreator::getSpParams() { return spCreator.getParams(); }
ReturnValue_t PusTcCreator::setRawUserData(const uint8_t *data, size_t len) {
// TODO: Check length field?
pusParams.dataWrapper.setRawData({data, len});
pusParams.bufAdapter.setConstBuffer(data, len);
pusParams.appData = &pusParams.bufAdapter;
updateSpLengthField();
return returnvalue::OK;
}
ReturnValue_t PusTcCreator::setSerializableUserData(SerializeIF &serializable) {
ReturnValue_t PusTcCreator::setSerializableUserData(const SerializeIF &serializable) {
// TODO: Check length field?
pusParams.dataWrapper.setSerializable(serializable);
pusParams.appData = &serializable;
updateSpLengthField();
return returnvalue::OK;
}

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@ -1,6 +1,7 @@
#ifndef FSFW_TMTCPACKET_TCPACKETDESERIALIZER_H
#define FSFW_TMTCPACKET_TCPACKETDESERIALIZER_H
#include "fsfw/serialize/SerialBufferAdapter.h"
#include "fsfw/tmtcpacket/RedirectableDataPointerIF.h"
#include "fsfw/tmtcpacket/ccsds/SpacePacketCreator.h"
#include "fsfw/tmtcpacket/ccsds/SpacePacketIF.h"
@ -11,11 +12,19 @@
struct PusTcParams {
PusTcParams(uint8_t service_, uint8_t subservice_) : service(service_), subservice(subservice_) {}
void setRawAppData(const uint8_t *data, size_t len) {
bufAdapter.setConstBuffer(data, len);
appData = &bufAdapter;
}
void setSerializableAppData(const SerializeIF &serializable) { appData = &serializable; }
uint8_t service;
uint8_t subservice;
uint8_t ackFlags = ecss::ACK_ALL;
uint16_t sourceId = 0;
ecss::DataWrapper dataWrapper{};
SerialBufferAdapter<uint8_t> bufAdapter;
const SerializeIF *appData = nullptr;
uint8_t pusVersion = ecss::PusVersion::PUS_C;
};
@ -51,7 +60,7 @@ class PusTcCreator : public PusTcIF, public SerializeIF, public CustomUserDataIF
[[nodiscard]] uint8_t getSubService() const override;
[[nodiscard]] uint16_t getSourceId() const override;
ReturnValue_t setRawUserData(const uint8_t *data, size_t len) override;
ReturnValue_t setSerializableUserData(SerializeIF &serializable) override;
ReturnValue_t setSerializableUserData(const SerializeIF &serializable) override;
// Load all big endian helpers into the class namespace
using SerializeIF::serializeBe;

View File

@ -3,7 +3,7 @@
#include <utility>
#include "fsfw/globalfunctions/CRC.h"
#include "fsfw/timemanager/TimeStamperIF.h"
#include "fsfw/timemanager/TimeWriterIF.h"
PusTmCreator::PusTmCreator(SpacePacketParams initSpParams, PusTmParams initPusParams)
: pusParams(initPusParams), spCreator(std::move(initSpParams)) {
@ -30,7 +30,7 @@ uint8_t PusTmCreator::getSubService() const { return pusParams.secHeader.subserv
PusTmParams& PusTmCreator::getParams() { return pusParams; }
void PusTmCreator::setTimeStamper(TimeStamperIF& timeStamper_) {
void PusTmCreator::setTimeStamper(TimeWriterIF& timeStamper_) {
pusParams.secHeader.timeStamper = &timeStamper_;
updateSpLengthField();
}
@ -51,7 +51,6 @@ ReturnValue_t PusTmCreator::serialize(uint8_t** buffer, size_t* size, size_t max
if (result != returnvalue::OK) {
return result;
}
size_t userDataLen = pusParams.dataWrapper.getLength();
**buffer =
((pusParams.secHeader.pusVersion << 4) & 0xF0) | (pusParams.secHeader.scTimeRefStatus & 0x0F);
*buffer += 1;
@ -77,15 +76,8 @@ ReturnValue_t PusTmCreator::serialize(uint8_t** buffer, size_t* size, size_t max
}
}
if (pusParams.dataWrapper.type == ecss::DataTypes::RAW and
pusParams.dataWrapper.dataUnion.raw.data != nullptr) {
std::memcpy(*buffer, pusParams.dataWrapper.dataUnion.raw.data, userDataLen);
*buffer += userDataLen;
*size += userDataLen;
} else if (pusParams.dataWrapper.type == ecss::DataTypes::SERIALIZABLE and
pusParams.dataWrapper.dataUnion.serializable != nullptr) {
result = pusParams.dataWrapper.dataUnion.serializable->serialize(buffer, size, maxSize,
streamEndianness);
if (pusParams.sourceData != nullptr) {
result = pusParams.sourceData->serialize(buffer, size, maxSize, streamEndianness);
if (result != returnvalue::OK) {
return result;
}
@ -106,13 +98,15 @@ ReturnValue_t PusTmCreator::deSerialize(const uint8_t** buffer, size_t* size,
return returnvalue::FAILED;
}
TimeStamperIF* PusTmCreator::getTimestamper() const { return pusParams.secHeader.timeStamper; }
TimeWriterIF* PusTmCreator::getTimestamper() const { return pusParams.secHeader.timeStamper; }
SpacePacketParams& PusTmCreator::getSpParams() { return spCreator.getParams(); }
void PusTmCreator::updateSpLengthField() {
size_t headerLen = PusTmIF::MIN_SEC_HEADER_LEN + pusParams.dataWrapper.getLength() +
sizeof(ecss::PusChecksumT) - 1;
size_t headerLen = PusTmIF::MIN_SEC_HEADER_LEN + sizeof(ecss::PusChecksumT) - 1;
if (pusParams.sourceData != nullptr) {
headerLen += pusParams.sourceData->getSerializedSize();
}
if (pusParams.secHeader.timeStamper != nullptr) {
headerLen += pusParams.secHeader.timeStamper->getSerializedSize();
}
@ -134,12 +128,17 @@ void PusTmCreator::setMessageTypeCounter(uint16_t messageTypeCounter) {
void PusTmCreator::setDestId(uint16_t destId) { pusParams.secHeader.destId = destId; }
ReturnValue_t PusTmCreator::setRawUserData(const uint8_t* data, size_t len) {
pusParams.dataWrapper.setRawData({data, len});
if (data == nullptr or len == 0) {
pusParams.sourceData = nullptr;
} else {
pusParams.adapter.setConstBuffer(data, len);
pusParams.sourceData = &pusParams.adapter;
}
updateSpLengthField();
return returnvalue::OK;
}
ReturnValue_t PusTmCreator::setSerializableUserData(SerializeIF& serializable) {
pusParams.dataWrapper.setSerializable(serializable);
ReturnValue_t PusTmCreator::setSerializableUserData(const SerializeIF& serializable) {
pusParams.sourceData = &serializable;
updateSpLengthField();
return returnvalue::OK;
}

View File

@ -2,17 +2,18 @@
#define FSFW_TMTCPACKET_TMPACKETCREATOR_H
#include "PusTmIF.h"
#include "fsfw/serialize/SerialBufferAdapter.h"
#include "fsfw/tmtcpacket/ccsds/SpacePacketCreator.h"
#include "fsfw/tmtcpacket/pus/CustomUserDataIF.h"
struct PusTmSecHeader {
PusTmSecHeader() = default;
PusTmSecHeader(uint8_t service, uint8_t subservice, TimeStamperIF* timeStamper)
PusTmSecHeader(uint8_t service, uint8_t subservice, TimeWriterIF* timeStamper)
: service(service), subservice(subservice), timeStamper(timeStamper) {}
uint8_t service = 0;
uint8_t subservice = 0;
TimeStamperIF* timeStamper = nullptr;
TimeWriterIF* timeStamper = nullptr;
uint8_t pusVersion = ecss::PusVersion::PUS_C;
uint8_t scTimeRefStatus = 0;
uint16_t messageTypeCounter = 0;
@ -22,22 +23,28 @@ struct PusTmSecHeader {
struct PusTmParams {
PusTmParams() = default;
explicit PusTmParams(PusTmSecHeader secHeader) : secHeader(secHeader){};
PusTmParams(PusTmSecHeader secHeader, ecss::DataWrapper dataWrapper)
: secHeader(secHeader), dataWrapper(dataWrapper) {}
PusTmParams(uint8_t service, uint8_t subservice, TimeStamperIF* timeStamper)
PusTmParams(PusTmSecHeader secHeader, const SerializeIF& data)
: secHeader(secHeader), sourceData(&data) {}
PusTmParams(PusTmSecHeader secHeader, const uint8_t* data, size_t dataLen)
: secHeader(secHeader), adapter(data, dataLen), sourceData(&adapter) {}
PusTmParams(uint8_t service, uint8_t subservice, TimeWriterIF* timeStamper)
: secHeader(service, subservice, timeStamper) {}
PusTmParams(uint8_t service, uint8_t subservice, TimeStamperIF* timeStamper,
ecss::DataWrapper dataWrapper_)
PusTmParams(uint8_t service, uint8_t subservice, TimeWriterIF* timeStamper,
const SerializeIF& data_)
: PusTmParams(service, subservice, timeStamper) {
dataWrapper = dataWrapper_;
sourceData = &data_;
}
PusTmParams(uint8_t service, uint8_t subservice, TimeWriterIF* timeStamper, const uint8_t* data,
size_t dataLen)
: secHeader(service, subservice, timeStamper), adapter(data, dataLen), sourceData(&adapter) {}
PusTmSecHeader secHeader;
ecss::DataWrapper dataWrapper{};
SerialBufferAdapter<uint8_t> adapter;
const SerializeIF* sourceData = nullptr;
};
class TimeStamperIF;
class TimeWriterIF;
/**
* This class provides a high-level interface to create PUS TM packets and then @serialize
@ -55,7 +62,7 @@ class PusTmCreator : public SerializeIF, public PusTmIF, public CustomUserDataIF
PusTmCreator(SpacePacketParams initSpParams, PusTmParams initPusParams);
~PusTmCreator() override = default;
void setTimeStamper(TimeStamperIF& timeStamper);
void setTimeStamper(TimeWriterIF& timeStamper);
/**
* This function disables the CRC16 calculation on serialization. This is useful to avoid
* duplicate calculation if some lower level component needs to update fields like the sequence
@ -85,9 +92,9 @@ class PusTmCreator : public SerializeIF, public PusTmIF, public CustomUserDataIF
ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
Endianness streamEndianness) const override;
[[nodiscard]] size_t getSerializedSize() const override;
[[nodiscard]] TimeStamperIF* getTimestamper() const;
[[nodiscard]] TimeWriterIF* getTimestamper() const;
ReturnValue_t setRawUserData(const uint8_t* data, size_t len) override;
ReturnValue_t setSerializableUserData(SerializeIF& serializable) override;
ReturnValue_t setSerializableUserData(const SerializeIF& serializable) override;
// Load all big endian (network endian) helpers into scope
using SerializeIF::serializeBe;

View File

@ -4,7 +4,7 @@
#include <cstddef>
#include <cstdint>
#include "fsfw/timemanager/TimeStamperIF.h"
#include "fsfw/timemanager/TimeWriterIF.h"
#include "fsfw/tmtcpacket/pus/PusIF.h"
#include "fsfw/tmtcpacket/pus/defs.h"

View File

@ -2,7 +2,7 @@
#define FRAMEWORK_TMTCPACKET_PUS_TMPACKETMINIMAL_H_
#include "PusTmIF.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
#include "fsfw/tmtcpacket/pus/RawUserDataReaderIF.h"

View File

@ -21,20 +21,22 @@ class AcceptsTelecommandsIF {
* @brief The virtual destructor as it is mandatory for C++ interfaces.
*/
virtual ~AcceptsTelecommandsIF() = default;
[[nodiscard]] virtual const char* getName() const = 0;
/**
* @brief Getter for the service id.
* @details Any receiving service (at least any PUS service) shall have a
* service ID. If the receiver can handle Telecommands, but for
* some reason has no service id, it shall return 0.
* @return The service ID or 0.
* @brief Getter for a generic identifier ID.
* @details Any receiving service (at least any PUS service) shall have an identifier. For
* example, this could be the APID for a receiver expecting generic PUS packets, or a PUS
* service for a component expecting specific PUS service packets.
* @return The identifier.
*/
virtual uint16_t getIdentifier() = 0;
[[nodiscard]] virtual uint32_t getIdentifier() const = 0;
/**
* @brief This method returns the message queue id of the telecommand
* receiving message queue.
* @return The telecommand reception message queue id.
*/
virtual MessageQueueId_t getRequestQueue() = 0;
[[nodiscard]] virtual MessageQueueId_t getRequestQueue() const = 0;
};
#endif /* FRAMEWORK_TMTCSERVICES_ACCEPTSTELECOMMANDSIF_H_ */

View File

@ -14,6 +14,8 @@ class AcceptsTelemetryIF {
* @brief The virtual destructor as it is mandatory for C++ interfaces.
*/
virtual ~AcceptsTelemetryIF() = default;
[[nodiscard]] virtual const char* getName() const = 0;
/**
* @brief This method returns the message queue id of the telemetry
* receiving message queue.

View File

@ -14,7 +14,8 @@ object_id_t CommandingServiceBase::defaultPacketSource = objects::NO_OBJECT;
object_id_t CommandingServiceBase::defaultPacketDestination = objects::NO_OBJECT;
CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId, uint16_t apid,
uint8_t service, uint8_t numberOfParallelCommands,
const char* name, uint8_t service,
uint8_t numberOfParallelCommands,
uint16_t commandTimeoutSeconds, size_t queueDepth,
VerificationReporterIF* verificationReporter)
: SystemObject(setObjectId),
@ -24,7 +25,8 @@ CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId, uint16_t a
tmStoreHelper(apid),
tmHelper(service, tmStoreHelper, tmSendHelper),
verificationReporter(verificationReporter),
commandMap(numberOfParallelCommands) {
commandMap(numberOfParallelCommands),
name(name) {
commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
}
@ -50,9 +52,9 @@ ReturnValue_t CommandingServiceBase::performOperation(uint8_t opCode) {
return returnvalue::OK;
}
uint16_t CommandingServiceBase::getIdentifier() { return service; }
uint32_t CommandingServiceBase::getIdentifier() const { return service; }
MessageQueueId_t CommandingServiceBase::getRequestQueue() { return requestQueue->getId(); }
MessageQueueId_t CommandingServiceBase::getRequestQueue() const { return requestQueue->getId(); }
ReturnValue_t CommandingServiceBase::initialize() {
ReturnValue_t result = SystemObject::initialize();
@ -104,7 +106,7 @@ ReturnValue_t CommandingServiceBase::initialize() {
// This avoids duplicate calculation of the CRC16
tmStoreHelper.disableCrcCalculation();
if (tmTimeStamper == nullptr) {
tmTimeStamper = ObjectManager::instance()->get<TimeStamperIF>(objects::TIME_STAMPER);
tmTimeStamper = ObjectManager::instance()->get<TimeWriterIF>(objects::TIME_STAMPER);
if (tmTimeStamper == nullptr) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
@ -489,3 +491,5 @@ void CommandingServiceBase::prepareVerificationSuccessWithFullInfo(
successParams.tcPsc = tcInfo.tcSequenceControl;
successParams.ackFlags = tcInfo.ackFlags;
}
const char* CommandingServiceBase::getName() const { return name; }

View File

@ -75,7 +75,7 @@ class CommandingServiceBase : public SystemObject,
* @param setPacketDestination
* @param queueDepth
*/
CommandingServiceBase(object_id_t setObjectId, uint16_t apid, uint8_t service,
CommandingServiceBase(object_id_t setObjectId, uint16_t apid, const char* name, uint8_t service,
uint8_t numberOfParallelCommands, uint16_t commandTimeoutSeconds,
size_t queueDepth = 20, VerificationReporterIF* reporter = nullptr);
~CommandingServiceBase() override;
@ -105,7 +105,7 @@ class CommandingServiceBase : public SystemObject,
*/
ReturnValue_t performOperation(uint8_t opCode) override;
uint16_t getIdentifier() override;
uint32_t getIdentifier() const override;
/**
* Returns the requestQueue MessageQueueId_t
@ -114,7 +114,7 @@ class CommandingServiceBase : public SystemObject,
*
* @return requestQueue messageQueueId_t
*/
MessageQueueId_t getRequestQueue() override;
MessageQueueId_t getRequestQueue() const override;
/**
* Returns the commandQueue MessageQueueId_t
@ -133,6 +133,7 @@ class CommandingServiceBase : public SystemObject,
* @param task Pointer to the taskIF of this task
*/
void setTaskIF(PeriodicTaskIF* task) override;
const char* getName() const override;
protected:
/**
@ -272,7 +273,7 @@ class CommandingServiceBase : public SystemObject,
MessageQueueIF* commandQueue = nullptr;
MessageQueueIF* requestQueue = nullptr;
TimeStamperIF* tmTimeStamper = nullptr;
TimeWriterIF* tmTimeStamper = nullptr;
VerificationReporterIF* verificationReporter;
InternalErrorReporterIF* errReporter = nullptr;
@ -283,6 +284,8 @@ class CommandingServiceBase : public SystemObject,
uint32_t failureParameter1 = 0;
uint32_t failureParameter2 = 0;
const char* name = "";
static object_id_t defaultPacketSource;
object_id_t packetSource = objects::NO_OBJECT;
static object_id_t defaultPacketDestination;

View File

@ -82,9 +82,9 @@ void PusServiceBase::handleRequestQueue() {
}
}
uint16_t PusServiceBase::getIdentifier() { return psbParams.serviceId; }
uint32_t PusServiceBase::getIdentifier() const { return psbParams.serviceId; }
MessageQueueId_t PusServiceBase::getRequestQueue() {
MessageQueueId_t PusServiceBase::getRequestQueue() const {
if (psbParams.reqQueue == nullptr) {
return MessageQueueIF::NO_QUEUE;
}
@ -178,7 +178,7 @@ ReturnValue_t PusServiceBase::initializeTmStoreHelper(TmStoreHelper& tmStoreHelp
}
if (psbParams.timeStamper == nullptr) {
auto timerStamper = ObjectManager::instance()->get<TimeStamperIF>(objects::TIME_STAMPER);
auto timerStamper = ObjectManager::instance()->get<TimeWriterIF>(objects::TIME_STAMPER);
if (timerStamper != nullptr) {
tmStoreHelper.setTimeStamper(*timerStamper);
}
@ -202,3 +202,5 @@ void PusServiceBase::setTmReceiver(AcceptsTelemetryIF& tmReceiver_) {
}
void PusServiceBase::setRequestQueue(MessageQueueIF& reqQueue) { psbParams.reqQueue = &reqQueue; }
const char* PusServiceBase::getName() const { return psbParams.name; }

View File

@ -22,9 +22,13 @@ class StorageManagerIF;
struct PsbParams {
PsbParams() = default;
PsbParams(uint16_t apid, AcceptsTelemetryIF* tmReceiver) : apid(apid), tmReceiver(tmReceiver) {}
PsbParams(const char* name, uint16_t apid, AcceptsTelemetryIF* tmReceiver)
: name(name), apid(apid), tmReceiver(tmReceiver) {}
PsbParams(object_id_t objectId, uint16_t apid, uint8_t serviceId)
: objectId(objectId), apid(apid), serviceId(serviceId) {}
PsbParams(const char* name, object_id_t objectId, uint16_t apid, uint8_t serviceId)
: name(name), objectId(objectId), apid(apid), serviceId(serviceId) {}
const char* name = "";
object_id_t objectId = objects::NO_OBJECT;
uint16_t apid = 0;
uint8_t serviceId = 0;
@ -65,7 +69,7 @@ struct PsbParams {
* register itself at that object.
*/
PUSDistributorIF* pusDistributor = nullptr;
TimeStamperIF* timeStamper = nullptr;
TimeWriterIF* timeStamper = nullptr;
};
namespace Factory {
@ -187,11 +191,12 @@ class PusServiceBase : public ExecutableObjectIF,
* @c returnvalue::FAILED else.
*/
ReturnValue_t performOperation(uint8_t opCode) override;
uint16_t getIdentifier() override;
MessageQueueId_t getRequestQueue() override;
uint32_t getIdentifier() const override;
MessageQueueId_t getRequestQueue() const override;
ReturnValue_t initialize() override;
void setTaskIF(PeriodicTaskIF* taskHandle) override;
[[nodiscard]] const char* getName() const override;
protected:
/**
@ -200,6 +205,7 @@ class PusServiceBase : public ExecutableObjectIF,
* Will be set by setTaskIF(), which is called on task creation.
*/
PeriodicTaskIF* taskHandle = nullptr;
/**
* One of two error parameters for additional error information.
*/

View File

@ -6,17 +6,9 @@
SpacePacketParser::SpacePacketParser(std::vector<uint16_t> validPacketIds)
: validPacketIds(validPacketIds) {}
ReturnValue_t SpacePacketParser::parseSpacePackets(const uint8_t* buffer, const size_t maxSize,
size_t& startIndex, size_t& foundSize) {
const uint8_t** tempPtr = &buffer;
size_t readLen = 0;
return parseSpacePackets(tempPtr, maxSize, startIndex, foundSize, readLen);
}
ReturnValue_t SpacePacketParser::parseSpacePackets(const uint8_t** buffer, const size_t maxSize,
size_t& startIndex, size_t& foundSize,
size_t& readLen) {
if (buffer == nullptr or maxSize < 5) {
FoundPacketInfo& packetInfo) {
if (buffer == nullptr or nextStartIdx > maxSize) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SpacePacketParser::parseSpacePackets: Frame invalid" << std::endl;
#else
@ -26,35 +18,32 @@ ReturnValue_t SpacePacketParser::parseSpacePackets(const uint8_t** buffer, const
}
const uint8_t* bufPtr = *buffer;
auto verifyLengthField = [&](size_t idx) {
uint16_t lengthField = bufPtr[idx + 4] << 8 | bufPtr[idx + 5];
auto verifyLengthField = [&](size_t localIdx) {
uint16_t lengthField = (bufPtr[localIdx + 4] << 8) | bufPtr[localIdx + 5];
size_t packetSize = lengthField + 7;
startIndex = idx;
ReturnValue_t result = returnvalue::OK;
if (lengthField == 0) {
// Skip whole header for now
foundSize = 6;
result = NO_PACKET_FOUND;
} else if (packetSize + idx > maxSize) {
if (packetSize + localIdx + amountRead > maxSize) {
// Don't increment buffer and read length here, user has to decide what to do
foundSize = packetSize;
packetInfo.sizeFound = packetSize;
return SPLIT_PACKET;
} else {
foundSize = packetSize;
packetInfo.sizeFound = packetSize;
}
*buffer += foundSize;
readLen += idx + foundSize;
*buffer += packetInfo.sizeFound;
packetInfo.startIdx = localIdx + amountRead;
nextStartIdx = localIdx + amountRead + packetInfo.sizeFound;
amountRead = nextStartIdx;
return result;
};
size_t idx = 0;
// Space packet ID as start marker
if (validPacketIds.size() > 0) {
while (idx < maxSize - 5) {
uint16_t currentPacketId = bufPtr[idx] << 8 | bufPtr[idx + 1];
while (idx + amountRead < maxSize - 5) {
uint16_t currentPacketId = (bufPtr[idx] << 8) | bufPtr[idx + 1];
if (std::find(validPacketIds.begin(), validPacketIds.end(), currentPacketId) !=
validPacketIds.end()) {
if (idx + 5 >= maxSize) {
if (idx + amountRead >= maxSize - 5) {
return SPLIT_PACKET;
}
return verifyLengthField(idx);
@ -62,10 +51,10 @@ ReturnValue_t SpacePacketParser::parseSpacePackets(const uint8_t** buffer, const
idx++;
}
}
startIndex = 0;
foundSize = maxSize;
*buffer += foundSize;
readLen += foundSize;
nextStartIdx = maxSize;
packetInfo.sizeFound = maxSize;
amountRead = maxSize;
*buffer += maxSize;
return NO_PACKET_FOUND;
}
// Assume that the user verified a valid start of a space packet

View File

@ -17,9 +17,10 @@
*/
class SpacePacketParser {
public:
//! The first entry is the index inside the buffer while the second index
//! is the size of the PUS packet starting at that index.
using IndexSizePair = std::pair<size_t, size_t>;
struct FoundPacketInfo {
size_t startIdx = 0;
size_t sizeFound = 0;
};
static constexpr uint8_t INTERFACE_ID = CLASS_ID::SPACE_PACKET_PARSER;
static constexpr ReturnValue_t NO_PACKET_FOUND = MAKE_RETURN_CODE(0x00);
@ -36,44 +37,30 @@ class SpacePacketParser {
SpacePacketParser(std::vector<uint16_t> validPacketIds);
/**
* Parse a given frame for space packets but also increment the given buffer and assign the
* total number of bytes read so far
* Parse a given frame for space packets but also increments the given buffer.
* @param buffer Parser will look for space packets in this buffer
* @param maxSize Maximum size of the buffer
* @param startIndex Start index of a found space packet
* @param foundSize Found size of the space packet
* @param readLen Length read so far. This value is incremented by the number of parsed
* bytes which also includes the size of a found packet
* -@c NO_PACKET_FOUND if no packet was found in the given buffer or the length field is
* invalid. foundSize will be set to the size of the space packet header. buffer and
* readLen will be incremented accordingly.
* -@c SPLIT_PACKET if a packet was found but the detected size exceeds maxSize. foundSize
* will be set to the detected packet size and startIndex will be set to the start of the
* detected packet. buffer and read length will not be incremented but the found length
* will be assigned.
* -@c returnvalue::OK if a packet was found
* @param packetInfo Information about packets found.
* -@c NO_PACKET_FOUND if no packet was found in the given buffer
* -@c SPLIT_PACKET if a packet was found but the detected size exceeds maxSize. packetInfo
* will contain the detected packet size and start index.
* -@c returnvalue::OK if a packet was found. Packet size and start index will be set in
* packetInfo
*/
ReturnValue_t parseSpacePackets(const uint8_t** buffer, const size_t maxSize, size_t& startIndex,
size_t& foundSize, size_t& readLen);
ReturnValue_t parseSpacePackets(const uint8_t** buffer, const size_t maxSize,
FoundPacketInfo& packetInfo);
/**
* Parse a given frame for space packets
* @param buffer Parser will look for space packets in this buffer
* @param maxSize Maximum size of the buffer
* @param startIndex Start index of a found space packet
* @param foundSize Found size of the space packet
* -@c NO_PACKET_FOUND if no packet was found in the given buffer or the length field is
* invalid. foundSize will be set to the size of the space packet header
* -@c SPLIT_PACKET if a packet was found but the detected size exceeds maxSize. foundSize
* will be set to the detected packet size and startIndex will be set to the start of the
* detected packet
* -@c returnvalue::OK if a packet was found
*/
ReturnValue_t parseSpacePackets(const uint8_t* buffer, const size_t maxSize, size_t& startIndex,
size_t& foundSize);
size_t getAmountRead() { return amountRead; }
void reset() {
nextStartIdx = 0;
amountRead = 0;
}
private:
std::vector<uint16_t> validPacketIds;
size_t nextStartIdx = 0;
size_t amountRead = 0;
};
#endif /* FRAMEWORK_TMTCSERVICES_PUSPARSER_H_ */

View File

@ -5,7 +5,7 @@
#include "fsfw/internalerror/InternalErrorReporterIF.h"
#include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/ipc/messageQueueDefinitions.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/returnvalues/returnvalue.h"
class TmSendHelper {
public:

View File

@ -11,7 +11,7 @@ TmStoreHelper::TmStoreHelper(uint16_t defaultApid, StorageManagerIF& tmStore) :
}
TmStoreHelper::TmStoreHelper(uint16_t defaultApid, StorageManagerIF& tmStore,
TimeStamperIF& timeStamper)
TimeWriterIF& timeStamper)
: tmStore(&tmStore) {
creator.setApid(defaultApid);
creator.setTimeStamper(timeStamper);
@ -59,7 +59,7 @@ ReturnValue_t TmStoreHelper::addPacketToStore() {
SerializeIF::Endianness::NETWORK);
}
void TmStoreHelper::setTimeStamper(TimeStamperIF& timeStamper_) {
void TmStoreHelper::setTimeStamper(TimeWriterIF& timeStamper_) {
creator.setTimeStamper(timeStamper_);
}
@ -67,7 +67,7 @@ void TmStoreHelper::setApid(uint16_t apid) { creator.setApid(apid); }
PusTmCreator& TmStoreHelper::getCreatorRef() { return creator; }
TimeStamperIF* TmStoreHelper::getTimeStamper() const { return creator.getTimestamper(); }
TimeWriterIF* TmStoreHelper::getTimeStamper() const { return creator.getTimestamper(); }
uint16_t TmStoreHelper::getApid() const { return creator.getApid(); }

View File

@ -4,14 +4,14 @@
#include "fsfw/internalerror/InternalErrorReporterIF.h"
#include "fsfw/ipc/MessageQueueMessageIF.h"
#include "fsfw/storagemanager/StorageManagerIF.h"
#include "fsfw/timemanager/TimeStamperIF.h"
#include "fsfw/timemanager/TimeWriterIF.h"
#include "fsfw/tmtcpacket/pus/tm/PusTmCreator.h"
class TmStoreHelper {
public:
explicit TmStoreHelper(uint16_t defaultApid);
TmStoreHelper(uint16_t defaultApid, StorageManagerIF& tmStore);
TmStoreHelper(uint16_t defaultApid, StorageManagerIF& tmStore, TimeStamperIF& timeStamper);
TmStoreHelper(uint16_t defaultApid, StorageManagerIF& tmStore, TimeWriterIF& timeStamper);
void disableCrcCalculation();
[[nodiscard]] bool crcCalculationEnabled() const;
@ -20,8 +20,8 @@ class TmStoreHelper {
PusTmCreator& getCreatorRef();
void setTimeStamper(TimeStamperIF& timeStamper);
[[nodiscard]] TimeStamperIF* getTimeStamper() const;
void setTimeStamper(TimeWriterIF& timeStamper);
[[nodiscard]] TimeWriterIF* getTimeStamper() const;
[[nodiscard]] StorageManagerIF* getTmStore() const;
void setTmStore(StorageManagerIF& store);

View File

@ -7,9 +7,10 @@
#define TMTCBRIDGE_WIRETAPPING 0
TmTcBridge::TmTcBridge(object_id_t objectId, object_id_t tcDestination, object_id_t tmStoreId,
object_id_t tcStoreId)
TmTcBridge::TmTcBridge(const char* name, object_id_t objectId, object_id_t tcDestination,
object_id_t tmStoreId, object_id_t tcStoreId)
: SystemObject(objectId),
name(name),
tmStoreId(tmStoreId),
tcStoreId(tcStoreId),
tcDestination(tcDestination)
@ -67,8 +68,7 @@ ReturnValue_t TmTcBridge::initialize() {
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
AcceptsTelecommandsIF* tcDistributor =
ObjectManager::instance()->get<AcceptsTelecommandsIF>(tcDestination);
auto* tcDistributor = ObjectManager::instance()->get<AcceptsTelecommandsIF>(tcDestination);
if (tcDistributor == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TmTcBridge::initialize: TC Distributor invalid" << std::endl;
@ -246,14 +246,16 @@ MessageQueueId_t TmTcBridge::getReportReceptionQueue(uint8_t virtualChannel) {
void TmTcBridge::printData(uint8_t* data, size_t dataLen) { arrayprinter::print(data, dataLen); }
uint16_t TmTcBridge::getIdentifier() {
uint32_t TmTcBridge::getIdentifier() const {
// This is no PUS service, so we just return 0
return 0;
}
MessageQueueId_t TmTcBridge::getRequestQueue() {
MessageQueueId_t TmTcBridge::getRequestQueue() const {
// Default implementation: Relay TC messages to TC distributor directly.
return tmTcReceptionQueue->getDefaultDestination();
}
void TmTcBridge::setFifoToOverwriteOldData(bool overwriteOld) { this->overwriteOld = overwriteOld; }
const char* TmTcBridge::getName() const { return name; }

View File

@ -22,9 +22,9 @@ class TmTcBridge : public AcceptsTelemetryIF,
static constexpr uint8_t DEFAULT_STORED_DATA_SENT_PER_CYCLE = 5;
static constexpr uint8_t DEFAULT_DOWNLINK_PACKETS_STORED = 10;
TmTcBridge(object_id_t objectId, object_id_t tcDestination, object_id_t tmStoreId,
object_id_t tcStoreId);
virtual ~TmTcBridge();
TmTcBridge(const char* name, object_id_t objectId, object_id_t tcDestination,
object_id_t tmStoreId, object_id_t tcStoreId);
~TmTcBridge() override;
/**
* Set number of packets sent per performOperation().Please note that this
@ -57,21 +57,24 @@ class TmTcBridge : public AcceptsTelemetryIF,
* Initializes necessary FSFW components for the TMTC Bridge
* @return
*/
virtual ReturnValue_t initialize() override;
ReturnValue_t initialize() override;
/**
* @brief Handles TMTC reception
*/
virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
ReturnValue_t performOperation(uint8_t operationCode = 0) override;
/** AcceptsTelemetryIF override */
virtual MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) override;
MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) override;
/** AcceptsTelecommandsIF override */
virtual uint16_t getIdentifier() override;
virtual MessageQueueId_t getRequestQueue() override;
uint32_t getIdentifier() const override;
MessageQueueId_t getRequestQueue() const override;
const char* getName() const override;
protected:
const char* name = "";
//! Cached for initialize function.
object_id_t tmStoreId = objects::NO_OBJECT;
object_id_t tcStoreId = objects::NO_OBJECT;

View File

@ -5,7 +5,7 @@
namespace tcverif {
enum VerifFlags : uint8_t {
enum VerificationFlags : uint8_t {
NONE = 0b0000,
ACCEPTANCE = 0b0001,
START = 0b0010,

View File

@ -1,7 +1,7 @@
#ifndef FSFW_TMTCSERVICES_TCHELPERS_H
#define FSFW_TMTCSERVICES_TCHELPERS_H
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "fsfw/storagemanager/StorageManagerIF.h"
#include "fsfw/tmtcpacket/pus/tc.h"

View File

@ -10,48 +10,33 @@ namespace telemetry {
class DataWithObjectIdPrefix : public SerializeIF {
public:
DataWithObjectIdPrefix(object_id_t objectId, const uint8_t* srcData, size_t srcDataLen)
: objectId(objectId) {
dataWrapper.type = ecss::DataTypes::RAW;
dataWrapper.dataUnion.raw.data = srcData;
dataWrapper.dataUnion.raw.len = srcDataLen;
}
: objectId(objectId), bufAdapter(srcData, srcDataLen), userData(&bufAdapter) {}
DataWithObjectIdPrefix(object_id_t objectId, SerializeIF& serializable) : objectId(objectId) {
dataWrapper.type = ecss::DataTypes::SERIALIZABLE;
dataWrapper.dataUnion.serializable = &serializable;
}
DataWithObjectIdPrefix(object_id_t objectId, const SerializeIF& serializable)
: objectId(objectId), userData(&serializable) {}
ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
Endianness streamEndianness) const override {
if (*size + getSerializedSize() > maxSize) {
return SerializeIF::BUFFER_TOO_SHORT;
}
if (dataWrapper.type != ecss::DataTypes::RAW) {
if ((dataWrapper.dataUnion.raw.data == nullptr) and (dataWrapper.dataUnion.raw.len > 0)) {
return returnvalue::FAILED;
}
} else if (dataWrapper.type == ecss::DataTypes::SERIALIZABLE) {
if (dataWrapper.dataUnion.serializable == nullptr) {
return returnvalue::FAILED;
}
}
ReturnValue_t result =
SerializeAdapter::serialize(&objectId, buffer, size, maxSize, streamEndianness);
if (result != returnvalue::OK) {
return result;
}
if (dataWrapper.type != ecss::DataTypes::RAW) {
std::memcpy(*buffer, dataWrapper.dataUnion.raw.data, dataWrapper.dataUnion.raw.len);
*buffer += dataWrapper.dataUnion.raw.len;
*size += dataWrapper.dataUnion.raw.len;
} else {
return dataWrapper.dataUnion.serializable->serialize(buffer, size, maxSize, streamEndianness);
if (userData != nullptr) {
return userData->serialize(buffer, size, maxSize, streamEndianness);
}
return returnvalue::OK;
}
[[nodiscard]] size_t getSerializedSize() const override {
return sizeof(objectId) + dataWrapper.getLength();
size_t len = 0;
if (userData != nullptr) {
len += userData->getSerializedSize();
}
return len;
}
ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
@ -63,7 +48,8 @@ class DataWithObjectIdPrefix : public SerializeIF {
private:
object_id_t objectId;
ecss::DataWrapper dataWrapper{};
SerialBufferAdapter<uint8_t> bufAdapter;
const SerializeIF* userData = nullptr;
};
} // namespace telemetry

View File

@ -1 +1,3 @@
add_subdirectory(gpio)
target_sources(${LIB_FSFW_NAME} PRIVATE printChar.c)

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