Upgrade to F Prime 4.3.0

PROVESFlightControllerReference/Components/DetumbleManager/DetumbleManager.cpp

@@ -104,7 +104,7 @@ void DetumbleManager ::systemModeChanged_handler(FwIndexType portNum, const Comp
 // Handler implementations for commands
 // ----------------------------------------------------------------------
 
-void DetumbleManager ::SET_MODE_cmdHandler(FwOpcodeType opCode, U32 cmdSeq, Components::DetumbleMode mode) {
+void DetumbleManager ::SET_MODE_cmdHandler(FwOpcodeType opCode, U32 cmdSeq, const Components::DetumbleMode& mode) {
     this->setMode_handler(0, mode);
     this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::OK);
 }

PROVESFlightControllerReference/Components/DetumbleManager/DetumbleManager.hpp

@@ -60,7 +60,7 @@ class DetumbleManager final : public DetumbleManagerComponentBase {
     //! Command to set the operating mode
     void SET_MODE_cmdHandler(FwOpcodeType opCode,  //!< The opcode
                              U32 cmdSeq,           //!< The command sequence number
-                             Components::DetumbleMode mode) override;
+                             const Components::DetumbleMode& mode) override;
 
   public:
     // ----------------------------------------------------------------------

PROVESFlightControllerReference/Components/Drv/RtcManager/RtcManager.cpp

@@ -102,7 +102,7 @@ void RtcManager ::timeGetPort_handler(FwIndexType portNum, Fw::Time& time) {
 // Handler implementations for commands
 // ----------------------------------------------------------------------
 
-void RtcManager ::TIME_SET_cmdHandler(FwOpcodeType opCode, U32 cmdSeq, Drv::TimeData t) {
+void RtcManager ::TIME_SET_cmdHandler(FwOpcodeType opCode, U32 cmdSeq, const Drv::TimeData& t) {
     // Check device readiness
     if (!device_is_ready(this->m_dev)) {
         // Emit device not ready event
@@ -188,7 +188,7 @@ void RtcManager ::parameterUpdated(FwPrmIdType id) {
     this->log_ACTIVITY_HI_TimeBaseChanged(timeBase);
 }
 
-void RtcManager ::ALARM_SET_cmdHandler(FwOpcodeType opCode, U32 cmdSeq, Drv::TimeData t) {
+void RtcManager ::ALARM_SET_cmdHandler(FwOpcodeType opCode, U32 cmdSeq, const Drv::TimeData& t) {
     // retrieve info about current alarm
 
     uint16_t mask = this->m_curr_mask;

PROVESFlightControllerReference/Components/Drv/RtcManager/RtcManager.hpp

@@ -65,17 +65,17 @@ class RtcManager final : public RtcManagerComponentBase {
     //! Handler implementation for command TIME_SET
     //!
     //! TIME_SET command to set the time on the RTC
-    void TIME_SET_cmdHandler(FwOpcodeType opCode,  //!< The opcode
-                             U32 cmdSeq,           //!< The command sequence number
-                             Drv::TimeData t       //!< Set the time
+    void TIME_SET_cmdHandler(FwOpcodeType opCode,    //!< The opcode
+                             U32 cmdSeq,             //!< The command sequence number
+                             const Drv::TimeData& t  //!< Set the time
                              ) override;
 
     //! Handler implementation for command ALARM_SET
     //!
     //! ALARM_SET command to set an alarm on the RTC
-    void ALARM_SET_cmdHandler(FwOpcodeType opCode,  //!< The opcode
-                              U32 cmdSeq,           //!< The command sequence number
-                              Drv::TimeData t       //!< Time to set the alarm for
+    void ALARM_SET_cmdHandler(FwOpcodeType opCode,    //!< The opcode
+                              U32 cmdSeq,             //!< The command sequence number
+                              const Drv::TimeData& t  //!< Time to set the alarm for
                               ) override;
 
     //! Handler implementation for command ALARM_CANCEL

PROVESFlightControllerReference/Components/ModeManager/ModeManager.cpp

@@ -38,8 +38,7 @@ ModeManager ::ModeManager(const char* const compName)
 
 ModeManager ::~ModeManager() {}
 
-void ModeManager ::init(FwSizeType queueDepth, FwEnumStoreType instance) {
-    ModeManagerComponentBase::init(queueDepth, instance);
+void ModeManager ::restorePersistentState() {
     this->loadState();
 }
 
@@ -150,7 +149,8 @@ void ModeManager ::runSafeModeSequence() {
     Fw::ParamValid is_valid;
     Fw::ParamString safe_mode_sequence = this->paramGet_SAFEMODE_SEQUENCE_FILE(is_valid);
     FW_ASSERT(is_valid == Fw::ParamValid::VALID || is_valid == Fw::ParamValid::DEFAULT);
-    this->runSequence_out(0, safe_mode_sequence);
+    const Svc::SeqArgs no_args;
+    this->runSequence_out(0, safe_mode_sequence, no_args);
 }
 
 void ModeManager ::completeSequence_handler(FwIndexType portNum,

PROVESFlightControllerReference/Components/ModeManager/ModeManager.hpp

@@ -29,10 +29,13 @@ class ModeManager : public ModeManagerComponentBase {
     //! Destroy ModeManager object
     ~ModeManager();
 
-    //! Initialize the component
-    void init(FwSizeType queueDepth,        //!< Queue depth for async ports
-              FwEnumStoreType instance = 0  //!< Instance ID
-    );
+    //! Restore persisted mode and bring the hardware in line with it
+    //!
+    //! Must be called from the topology after ports are connected and the GPIO
+    //! drivers are open. This does real I/O -- it drives the load switches --
+    //! so it cannot run from init(), which the topology calls before
+    //! connectComponents() and configureTopology().
+    void restorePersistentState();
 
   private:
     // ----------------------------------------------------------------------

PROVESFlightControllerReference/Components/SBand/SBand.cpp

@@ -308,7 +308,7 @@ SBand::Status SBand ::configureRadio() {
 // Handler implementations for commands
 // ----------------------------------------------------------------------
 
-void SBand ::TRANSMIT_cmdHandler(FwOpcodeType opCode, U32 cmdSeq, SBandTransmitState enabled) {
+void SBand ::TRANSMIT_cmdHandler(FwOpcodeType opCode, U32 cmdSeq, const SBandTransmitState& enabled) {
     // Invoke internal port to handle state change asynchronously
     // This prevents concurrent access issues with m_transmit_enabled
     this->deferredTransmitCmd_internalInterfaceInvoke(enabled);

PROVESFlightControllerReference/Components/SBand/SBand.hpp

@@ -81,7 +81,7 @@ class SBand final : public SBandComponentBase {
     //! Handler implementation for command TRANSMIT
     //!
     //! Start/stop transmission on the S-Band module
-    void TRANSMIT_cmdHandler(FwOpcodeType opCode, U32 cmdSeq, SBandTransmitState enabled) override;
+    void TRANSMIT_cmdHandler(FwOpcodeType opCode, U32 cmdSeq, const SBandTransmitState& enabled) override;
 
   private:
     //! Enable receive mode

PROVESFlightControllerReference/Components/StartupManager/StartupManager.cpp

@@ -189,17 +189,23 @@ Fw::Time StartupManager ::get_uptime() {
     return time;
 }
 
-void StartupManager ::startupsequenceStarted_handler(FwIndexType portNum, const Fw::StringBase& fileName) {
+void StartupManager ::startupsequenceStarted_handler(FwIndexType portNum,
+                                                     const Fw::StringBase& fileName,
+                                                     const Svc::SeqArgs& args) {
     (void)portNum;
     this->onSequenceStarted(fileName);
 }
 
-void StartupManager ::safeModeSequenceStarted_handler(FwIndexType portNum, const Fw::StringBase& fileName) {
+void StartupManager ::safeModeSequenceStarted_handler(FwIndexType portNum,
+                                                      const Fw::StringBase& fileName,
+                                                      const Svc::SeqArgs& args) {
     (void)portNum;
     this->onSequenceStarted(fileName);
 }
 
-void StartupManager ::payloadSequenceStarted_handler(FwIndexType portNum, const Fw::StringBase& fileName) {
+void StartupManager ::payloadSequenceStarted_handler(FwIndexType portNum,
+                                                     const Fw::StringBase& fileName,
+                                                     const Svc::SeqArgs& args) {
     (void)portNum;
     this->onSequenceStarted(fileName);
 }
@@ -291,7 +297,8 @@ void StartupManager ::run_handler(FwIndexType portNum, U32 context) {
 
         Fw::ParamString first_sequence = this->paramGet_STARTUP_SEQUENCE_FILE(is_valid);
         FW_ASSERT(is_valid == Fw::ParamValid::VALID || is_valid == Fw::ParamValid::DEFAULT);
-        this->runSequence_out(0, first_sequence);
+        const Svc::SeqArgs no_args;
+        this->runSequence_out(0, first_sequence, no_args);
         this->m_transmit_enable_ticks = this->paramGet_TRANSMIT_ENABLE_TICKS(is_valid);
         FW_ASSERT(is_valid == Fw::ParamValid::VALID || is_valid == Fw::ParamValid::DEFAULT);
     } else if (!this->m_boot_count_persisted) {

PROVESFlightControllerReference/Components/StartupManager/StartupManager.hpp

@@ -78,8 +78,9 @@ class StartupManager final : public StartupManagerComponentBase {
                                          ) override;
 
     //! Handler implementation for startupsequenceStarted
-    void startupsequenceStarted_handler(FwIndexType portNum,            //!< The port number
-                                        const Fw::StringBase& fileName  //!< The file path for start-up sequence
+    void startupsequenceStarted_handler(FwIndexType portNum,             //!< The port number
+                                        const Fw::StringBase& fileName,  //!< The file path for start-up sequence
+                                        const Svc::SeqArgs& args         //!< Sequence arguments
                                         ) override;
 
     //! Handler implementation for safeModeCompleteSequence
@@ -90,8 +91,9 @@ class StartupManager final : public StartupManagerComponentBase {
                                           ) override;
 
     //! Handler implementation for safeModeSequenceStarted
-    void safeModeSequenceStarted_handler(FwIndexType portNum,            //!< The port number
-                                         const Fw::StringBase& fileName  //!< The sequence file
+    void safeModeSequenceStarted_handler(FwIndexType portNum,             //!< The port number
+                                         const Fw::StringBase& fileName,  //!< The sequence file
+                                         const Svc::SeqArgs& args         //!< Sequence arguments
                                          ) override;
 
     //! Handler implementation for payloadCompleteSequence
@@ -102,8 +104,9 @@ class StartupManager final : public StartupManagerComponentBase {
                                          ) override;
 
     //! Handler implementation for payloadSequenceStarted
-    void payloadSequenceStarted_handler(FwIndexType portNum,            //!< The port number
-                                        const Fw::StringBase& fileName  //!< The sequence file
+    void payloadSequenceStarted_handler(FwIndexType portNum,             //!< The port number
+                                        const Fw::StringBase& fileName,  //!< The sequence file
+                                        const Svc::SeqArgs& args         //!< Sequence arguments
                                         ) override;
 
     //! Handler implementation for loraFirstStart

PROVESFlightControllerReference/Components/TcSecurityDeframer/TcSecurityDeframer.cpp

@@ -95,8 +95,10 @@ void TcSecurityDeframer ::dataIn_handler(FwIndexType portNum, Fw::Buffer& data,
     //   end   = last octet of the Transfer Frame Data Field (excluding Security Trailer)
     // Unverified frames are forwarded with authenticated=false; the router enforces
     // the reject-or-bypass policy.
-    data.setData(data.getData() + Ccsds355_0_B_2::kTCSecurityHeaderSize);
-    data.setSize(data.getSize() - Ccsds355_0_B_2::kTCSecurityHeaderSize - Ccsds355_0_B_2::kTCSecurityTrailer);
+    // advance() consumes the leading Security Header: it moves the offset forward and
+    // shrinks the size by the same amount, so only the trailer is left to trim.
+    data.advance(Ccsds355_0_B_2::kTCSecurityHeaderSize);
+    data.setSize(data.getSize() - Ccsds355_0_B_2::kTCSecurityTrailer);
 
     this->dataOut_out(0, data, contextOut);
 }
@@ -106,8 +108,10 @@ void TcSecurityDeframer ::dataReturnIn_handler(FwIndexType portNum,
                                                const ComCfg::FrameContext& context) {
     // Restore the original buffer pointer and size stripped in dataIn_handler so the
     // upstream BufferManager deallocates the exact allocation it originally handed out.
-    data.setData(data.getData() - Ccsds355_0_B_2::kTCSecurityHeaderSize);
-    data.setSize(data.getSize() + Ccsds355_0_B_2::kTCSecurityHeaderSize + Ccsds355_0_B_2::kTCSecurityTrailer);
+    // Rewinding restores the header bytes to the represented data, so only the trailer
+    // needs adding back to recover the original allocation extents.
+    data.advance(-static_cast<FwSignedSizeType>(Ccsds355_0_B_2::kTCSecurityHeaderSize));
+    data.setSize(data.getSize() + Ccsds355_0_B_2::kTCSecurityTrailer);
 
     this->dataReturnOut_out(0, data, context);
 }

PROVESFlightControllerReference/ReferenceDeployment/Top/CMakeLists.txt

@@ -13,6 +13,7 @@
 register_fprime_module(
     AUTOCODER_INPUTS
         "${CMAKE_CURRENT_LIST_DIR}/instances.fpp"
+        "${CMAKE_CURRENT_LIST_DIR}/system.fpp"
         "${CMAKE_CURRENT_LIST_DIR}/topology.fpp"
         "${CMAKE_CURRENT_LIST_DIR}/ReferenceDeploymentPackets.fppi"
     SOURCES

PROVESFlightControllerReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi

@@ -267,17 +267,21 @@ telemetry packets ReferenceDeploymentPackets {
   cmdSeq.CS_CommandsExecuted
   cmdSeq.CS_SequencesCompleted
   cmdSeq.CS_Errors
+  cmdSeq.CS_CurrentSequence
   payloadSeq.CS_LoadCommands
   payloadSeq.CS_CancelCommands
   payloadSeq.CS_CommandsExecuted
   payloadSeq.CS_SequencesCompleted
   payloadSeq.CS_Errors
+  payloadSeq.CS_CurrentSequence
   safeModeSeq.CS_LoadCommands
   safeModeSeq.CS_CancelCommands
   safeModeSeq.CS_CommandsExecuted
   safeModeSeq.CS_SequencesCompleted
   safeModeSeq.CS_Errors
+  safeModeSeq.CS_CurrentSequence
   FileHandling.fileUplink.FilesReceived
+  FileHandling.fileUplink.FilesReceivedFailed
   FileHandling.fileUplink.PacketsReceived
   FileHandling.fileDownlink.FilesSent
   FileHandling.fileDownlink.PacketsSent
@@ -313,4 +317,6 @@ telemetry packets ReferenceDeploymentPackets {
 
   watchdog.WatchdogTransitions
 
+  CdhCore.events.EventsDropped
+
 }

PROVESFlightControllerReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp

@@ -114,6 +114,9 @@ void setupTopology(const TopologyState& state) {
     configComponents(state);
     // Project-specific component configuration. Function provided above. May be inlined, if desired.
     configureTopology();
+    // Restore the persisted mode now that the ports are wired and the GPIO drivers are open.
+    // This drives the load switches, so it must not run any earlier.
+    modeManager.restorePersistentState();
     // Read parameters from persistent storage
     readParameters();
     // Autocoded parameter loading. Function provided by autocoder.

PROVESFlightControllerReference/ReferenceDeployment/Top/system.fpp

@@ -0,0 +1,3 @@
+module ReferenceDeployment {
+  system ReferenceDeployment: ReferenceDeployment
+}

PROVESFlightControllerReference/ReferenceDeployment/Top/topology.fpp

@@ -10,7 +10,7 @@ module ReferenceDeployment {
     rateGroup1Hz
   }
 
-  topology ReferenceDeployment {
+  deployment topology ReferenceDeployment {
 
   # ----------------------------------------------------------------------
   # Subtopology imports

PROVESFlightControllerReference/project/config/AcConstants.fpp

@@ -60,6 +60,11 @@ constant FwAssertTextSize = 256
 @ in FpConfig.h.
 constant AssertFatalAdapterEventFileSize = FileNameStringSize
 
+@ The maximum size in bytes for passing sequence arguments through CmdSeqIn ports
+@ Note: This must fit within FW_CMD_ARG_BUFFER_MAX_SIZE along with cmd arguments using Svc::SeqArgs
+@ Total serialized size: string length prefix + fileName + BlockState + SeqArgs(size + buffer)
+constant SequenceArgumentsMaxSize = FW_CMD_ARG_BUFFER_MAX_SIZE - sizeof(FwSizeStoreType) - FileNameStringSize - sizeof(U8) - sizeof(FwSizeType)
+
 # ----------------------------------------------------------------------
 # Hub connections. Connections on all deployments should mirror these settings.
 # ----------------------------------------------------------------------

PROVESFlightControllerReference/project/config/CdhCoreConfig.fpp

@@ -23,4 +23,10 @@ module CdhCoreConfig {
         constant tlmSend     = 6
 
     }
+
+    module CpuAffinities {
+        constant cmdDisp     = Os.TASK_DEFAULT
+        constant events      = Os.TASK_DEFAULT
+        constant tlmSend     = Os.TASK_DEFAULT
+    }
 }

PROVESFlightControllerReference/project/config/ComCcsdsConfig.fpp

@@ -20,6 +20,11 @@ module ComCcsdsConfig {
         constant comQueue   = 8 # ComQueue has higher priority than data producers (e.g. events, telemetry)
     }
 
+    module CpuAffinities {
+        constant aggregator = Os.TASK_DEFAULT
+        constant comQueue   = Os.TASK_DEFAULT
+    }
+
     # Queue configuration constants
     module QueueDepths {
         constant events      = 50

PROVESFlightControllerReference/project/config/ComCfg.fpp

@@ -22,6 +22,13 @@ module ComCfg {
     @ Aggregation buffer for ComAggregator component
     constant AggregationSize = TmFrameFixedSize - 6 - 6 - 1 - 2  # 2 header (6) + 1 idle byte + 2 trailer bytes
 
+    @ Packet Version Numbers are 3 bits with only 2 currently valid values
+    dictionary enum Pvn : U8 {
+        SPACE_PACKET_PROTOCOL         = 0x0   @< Fully Featured CCSDS Space Packet Protocol
+        ENCAPSULATION_PACKET_PROTOCOL = 0x7   @< Bare-bones CCSDS Encapsulation Packet Protocol
+        INVALID_UNINITIALIZED         = 0x8   @< Anything equal or higher value is invalid and should not be used
+    } default INVALID_UNINITIALIZED
+
     @ APIDs are 11 bits in the Space Packet protocol, so we use U16. Max value 7FF
     dictionary enum Apid : FwPacketDescriptorType {
         # APIDs prefixed with FW are reserved for F Prime and need to be present
@@ -39,20 +46,31 @@ module ComCfg {
         INVALID_UNINITIALIZED    = 0x0800  @< Anything equal or higher value is invalid and should not be used
     } default INVALID_UNINITIALIZED
 
+    @ Reserved SA index sentinel meaning "unset"; SA index 0xFFFF cannot be selected via context
+    constant SaIndexUnset = 0xFFFF
+
     @ Type used to pass context info between components during framing/deframing
     struct FrameContext {
         comQueueIndex: FwIndexType  @< Queue Index used by the ComQueue, other components shall not modify
         apid: Apid                  @< 11 bits APID in CCSDS
+        hasSecHdr: bool             @< Secondary header flag for SpacePacketFramer
+        sequenceFlags: U8           @< 2 bit Sequence flags (0b00=continuation, 0b01=first, 0b10=last, 0b11=unsegmented)
         sequenceCount: U16          @< 14 bit Sequence count - sequence count is incremented per APID
-        vcId: U8                    @< 6 bit Virtual Channel ID - used for TC and TM
+        vcId: U8                    @< 6 bit Virtual Channel ID - used for AOS, TC, and TM Protocols
+        pvn: Pvn                    @< Packet Version Number - used for AOS deframing to identify packet type
         sendNow: bool               @< Flag to AOS Framer that the Frame this packet goes into should be sent ASAP
+        saIndex: U16                @< Security Association Index - set by SDLS deframers, read by SDLS framers
         authenticated: bool         @< Whether the packet has been authenticated
     } default {
         comQueueIndex = 0
         apid = Apid.FW_PACKET_UNKNOWN
+        hasSecHdr = false
+        sequenceFlags = 0x3
         sequenceCount = 0
         vcId = 1
+        pvn = Pvn.INVALID_UNINITIALIZED
         sendNow = false
+        saIndex = SaIndexUnset
     }
 
 }

PROVESFlightControllerReference/project/config/CommandDispatcherImplCfg.hpp

@@ -8,11 +8,27 @@
 #ifndef CMDDISPATCHER_COMMANDDISPATCHERIMPLCFG_HPP_
 #define CMDDISPATCHER_COMMANDDISPATCHERIMPLCFG_HPP_
 
+#include <Fw/FPrimeBasicTypes.hpp>
+
 // Define configuration values for dispatcher
 
 enum {
     CMD_DISPATCHER_DISPATCH_TABLE_SIZE = 350,  // !< The size of the table holding opcodes to dispatch
     CMD_DISPATCHER_SEQUENCER_TABLE_SIZE = 10,  // !< The size of the table holding commands in progress
 };
 
+namespace Svc {
+namespace CmdDispatcherCfg {
+
+//! Include command opcodes in events when true.
+//! When false, opcode fields are set to the maximum FwOpcodeType value.
+constexpr bool IncludeCommandOpcodesInEvents = true;
+
+constexpr FwOpcodeType getEventOpcode(const FwOpcodeType opcode) {
+    return IncludeCommandOpcodesInEvents ? opcode : std::numeric_limits<FwOpcodeType>::max();
+}
+
+}  // namespace CmdDispatcherCfg
+}  // namespace Svc
+
 #endif /* CMDDISPATCHER_COMMANDDISPATCHERIMPLCFG_HPP_ */

PROVESFlightControllerReference/project/config/FileHandlingConfig.fpp

@@ -23,6 +23,13 @@ module FileHandlingConfig {
         constant fileManager   = 15
     }
 
+    module CpuAffinities {
+        constant fileUplink    = Os.TASK_DEFAULT
+        constant fileDownlink  = Os.TASK_DEFAULT
+        constant fileManager   = Os.TASK_DEFAULT
+        constant prmDb         = Os.TASK_DEFAULT
+    }
+
     # File downlink configuration constants
     module DownlinkConfig {
         constant timeout        = 5000         # File downlink timeout in ms