Merge remote-tracking branch 'upstream/devel' into fpp-component-inte…

…gration

.github/actions/spelling/expect.txt

@@ -1,4 +1,5 @@
 Aadil
+aarch
 abcd
 ABCDE
 ABCDEF
@@ -102,6 +103,7 @@ bfree
 bibtex
 Bies
 bindir
+binrel
 Bitfields
 bitmaps
 bitset
@@ -392,6 +394,8 @@ dumpobj
 DVI
 DWN
 dylib
+eabi
+eabihf
 EACCES
 EAGAIN
 eay
@@ -522,7 +526,7 @@ FPCONFIG
 fpconfighpp
 FPGA
 fpi
-fpl
+FPL
 fpp
 fppi
 FPport
@@ -602,6 +606,7 @@ Gnc
 Gnd
 gnd
 GNUC
+gnueabi
 gnueabihf
 google
 googletest
@@ -766,6 +771,7 @@ kislyuk
 kitware
 Kooi
 kthxbye
+Kubernetes
 Lammert
 lammertbies
 LASTLOG
@@ -914,6 +920,7 @@ namespaced
 nano
 nanosleep
 nargs
+nasafprime
 nathan
 nbits
 ncsl
@@ -1150,6 +1157,7 @@ RAbrack
 radd
 RAII
 Ramanan
+rancherdesktop
 randtbl
 rapidscat
 raspberrypi
@@ -1653,6 +1661,7 @@ WRONLY
 wrs
 Wshadow
 Wsign
+wsl
 WSL
 Wundef
 www

.github/actions/spelling/patterns.txt

@@ -2,7 +2,10 @@
 
 # hit-count: 106 file-count: 28
 # Compiler flags
-(?:^|[\t ,"'`=(])-[DPWXYLlf](?=[A-Z]{2,}|[A-Z][a-z]|[a-z]{2,})
+(?:^|[\t ,"'`=(])-(?:[DLP](?=[A-Z]{2,})|[WXYlf](?=[A-Z]{2,}|[A-Z][a-z]|[a-z]{2,}))
+
+# http|ftp|file URLs
+#(?:\b(?:https?|ftp|file)://)[-A-Za-z0-9+&@#/%?=~_|!:,.;]+[-A-Za-z0-9+&@#/%=~_|]
 
 # hit-count: 48 file-count: 18
 # GitHub SHAs (markdown)
@@ -123,3 +126,6 @@ GithubProjectProperty
 
 # ignore long runs of a single character:
 \b([A-Za-z])\g{-1}{3,}\b
+
+# ignore docker platform paths
+--platform=(linux|darwin)/(amd64|arm|arm32v5|arm32v6|arm32v7|arm64v8|i386|ppc64le|s390x|x86_64)

Drv/LinuxSpiDriver/LinuxSpiDriverComponentImpl.cpp

@@ -70,7 +70,8 @@ namespace Drv {
 
     bool LinuxSpiDriverComponentImpl::open(NATIVE_INT_TYPE device,
                                            NATIVE_INT_TYPE select,
-                                           SpiFrequency clock) {
+                                           SpiFrequency clock,
+                                           SpiMode spiMode) {
 
         this->m_device = device;
         this->m_select = select;
@@ -97,9 +98,29 @@ namespace Drv {
 
         // Configure:
         /*
-         * SPI Mode 0
+         * SPI Mode 0, 1, 2, 3
          */
-        U8 mode = SPI_MODE_0; // Mode 0 (CPOL = 0, CPHA = 0)
+
+        U8 mode; // Mode Select (CPOL = 0/1, CPHA = 0/1)
+        switch(spiMode) {
+            case SpiMode::SPI_MODE_CPOL_LOW_CPHA_LOW:
+                mode = SPI_MODE_0;
+                break;
+            case SpiMode::SPI_MODE_CPOL_LOW_CPHA_HIGH:
+                mode = SPI_MODE_1;
+                break;
+            case SpiMode::SPI_MODE_CPOL_HIGH_CPHA_LOW:
+                mode = SPI_MODE_2;
+                break;
+            case SpiMode::SPI_MODE_CPOL_HIGH_CPHA_HIGH:
+                mode = SPI_MODE_3;
+                break;
+            default:
+                //Assert if the device SPI Mode is not in the correct range
+                FW_ASSERT(0, spiMode);                
+                break;
+        }
+
         ret = ioctl(fd, SPI_IOC_WR_MODE, &mode);
         if (ret == -1) {
             DEBUG_PRINT("ioctl SPI_IOC_WR_MODE fd %d failed. %d\n",fd,errno);

Drv/LinuxSpiDriver/LinuxSpiDriverComponentImpl.hpp

@@ -33,6 +33,25 @@ namespace Drv {
        SPI_FREQUENCY_20MHZ = 20000000UL,
     };
 
+    /**
+     * SPI Mode Select
+     *
+     * Defines the SPI Clock Polarity and Phase for each SPI Transaction.
+     * 
+     * SPI Clock Polarity(CPOL): Defines clock polarity as idle low (CPOL = 0) or idle high(CPOL = 1)
+     * SPI Clock Phase(CPHA): Defines if data is shifted out on the rising clock edge and sampled 
+     *                        on the falling clock edge(CPHA = 0) or if data is shifted out on the 
+     *                        falling clock edge and sampled on the rising clock edge(CPHA=1)
+     * 
+     */
+    enum SpiMode
+    {
+        SPI_MODE_CPOL_LOW_CPHA_LOW, ///< (CPOL = 0, CPHA = 0) 
+        SPI_MODE_CPOL_LOW_CPHA_HIGH,///< (CPOL = 0, CPHA = 1)
+        SPI_MODE_CPOL_HIGH_CPHA_LOW,///< (CPOL = 1, CPHA = 0)
+        SPI_MODE_CPOL_HIGH_CPHA_HIGH,///< (CPOL = 1, CPHA = 1)
+    };
+
     class LinuxSpiDriverComponentImpl: public LinuxSpiDriverComponentBase {
 
         public:
@@ -59,7 +78,8 @@ namespace Drv {
             //! Open device
             bool open(NATIVE_INT_TYPE device,
                       NATIVE_INT_TYPE select,
-                      SpiFrequency clock);
+                      SpiFrequency clock,
+                      SpiMode spiMode = SpiMode::SPI_MODE_CPOL_LOW_CPHA_LOW);
 
         PRIVATE:
 

Drv/LinuxSpiDriver/LinuxSpiDriverComponentImplStub.cpp

@@ -17,7 +17,8 @@ namespace Drv {
 
     bool LinuxSpiDriverComponentImpl::open(NATIVE_INT_TYPE device,
                                            NATIVE_INT_TYPE select,
-                                           SpiFrequency clock) {
+                                           SpiFrequency clock,
+                                           SpiMode spiMode) {
         //TODO: fill this function out
         return false;
     }

Fw/Buffer/Buffer.cpp

@@ -28,11 +28,15 @@ Buffer::Buffer(): Serializable(),
 {}
 
 Buffer::Buffer(const Buffer& src) : Serializable(),
-    m_serialize_repr(src.m_bufferData, src.m_size),
+    m_serialize_repr(),
     m_bufferData(src.m_bufferData),
     m_size(src.m_size),
     m_context(src.m_context)
-{}
+{
+    if(src.m_bufferData != nullptr){
+        this->m_serialize_repr.setExtBuffer(src.m_bufferData, src.m_size);
+    }
+}
 
 Buffer::Buffer(U8* data, U32 size, U32 context) : Serializable(),
     m_serialize_repr(),
@@ -57,6 +61,10 @@ bool Buffer::operator==(const Buffer& src) const {
     return (this->m_bufferData == src.m_bufferData) && (this->m_size == src.m_size) && (this->m_context == src.m_context);
 }
 
+bool Buffer::isValid() const {
+    return (this->m_bufferData != nullptr) && (this->m_size > 0);
+}
+
 U8* Buffer::getData() const {
     return this->m_bufferData;
 }

Fw/Buffer/Buffer.hpp

@@ -118,6 +118,10 @@ class Buffer : public Fw::Serializable {
     // Accessor functions
     // ----------------------------------------------------------------------
 
+    //! Returns true if the buffer is valid (data pointer != nullptr and size > 0)
+    //!
+    bool isValid() const;
+
     //! Returns wrapped data pointer
     //!
     U8* getData() const;

Fw/Buffer/docs/sdd.md

@@ -6,7 +6,7 @@
 This module provides the following elements:
 
 * A type `Fw::Buffer` representing a wrapper around a variable-size buffer. This allows for passing a reference to the
-allocated memory around without a copy. Typically the memory is allocated in a buffer manager or similar component but 
+allocated memory around without a copy. Typically the memory is allocated in a buffer manager or similar component but
 this is not required.
 * A port `Fw::BufferGet` for requesting a buffer of type `Fw::Buffer` from
 a [`BufferManager`](../../../Svc/BufferManager/docs/sdd.md) and similar components.
@@ -30,8 +30,14 @@ Name | Type | Accessors | Purpose
 `m_context`    | `U32` | `getContext()`/`setContext()` | Context of buffer's origin. Used to track buffers created by [`BufferManager`](../../../Svc/BufferManager/docs/sdd.md)
 `m_serialize_repr` | `Fw::ExternalSerializeBuffer` | `getSerializeRepr()` | Interface for serialization to internal buffer
 
-If the size of the data is set to 0, the pointer returned by `getData()` and the serialization interface returned by
-`getSerializeRepr()` are considered invalid and should not be used.
+A value _B_ of type `Fw::Buffer` is **valid** if `m_bufferData != nullptr` and
+`m_size > 0`; otherwise it is **invalid**.
+The interface function `isValid` reports whether a buffer is valid.
+Calling this function on a buffer _B_ returns `true` if _B_ is valid, otherwise `false`.
+
+If a buffer _B_ is invalid, then the pointer returned by _B_ `.getData()` and the
+serialization interface returned by
+_B_ `.getSerializeRepr()` are considered invalid and should not be used.
 
 The `getSerializeRepr()` function may be used to interact with the wrapped data buffer by serializing types to and from
 the data region.
@@ -40,7 +46,7 @@ the data region.
 ### 2.2 The Port Fw::BufferGet
 
 As shown in the following diagram, `Fw::BufferGet` has one argument `size` of type `U32`. It returns a value of type
-`Fw::Buffer`. The returned `Fw::Buffer`'s size must be checked for validity before using.
+`Fw::Buffer`. The returned `Fw::Buffer` must be checked for validity before using.
 
 ![`Fw::BufferGet` Diagram](img/BufferGetBDD.jpg "Fw::BufferGet Port")
 
@@ -53,16 +59,20 @@ As shown in the following diagram, `Fw::BufferSend` has one argument `fwBuffer`
 ## 3 Usage Notes
 
 Components allocating `Fw::Buffer` objects may use the `m_context` field at their discretion. This field is typically
-used to track the origin of the buffer for eventual allocation. When a component fails to allocate memory, it must set
-the `m_size` field to zero to indicate that the buffer is invalid.
+used to track the origin of the buffer for eventual allocation.
+
+When a component fails to allocate memory, it must set
+the `m_bufferData` field to `nullptr` and/or set the `m_size` field to zero to indicate that the buffer is invalid.
 
-Receivers of `Fw::Buffer` objects are expected to check the `m_size` field before using the buffer.
+A receiver of an `Fw::Buffer` object _B_ must check that _B_ is valid before accessing the
+data stored in _B_.
+To check validity, you can call the interface function `isValid()`.
 
 ### Serializing and Deserializing with `Fw::Buffer`
 
 Users can obtain a SerializeBuffer, `sb`, by calling `getSerializeRepr()`. This serialize buffer is backed by the memory
 of the `Fw::Buffer` and is initially empty.  Users can serialize and deserialize through `sb` to copy to/from the backed
-memory. 
+memory.
 
 The state of `sb` persists as long as the current `Fw::Buffer` object exists as it is stored as a member. However, all
 `Fw::Buffer` constructors initialize `sb` to an empty state including the `Fw::Buffer` copy constructor. Thus, if an

Fw/Types/Serializable.cpp

@@ -707,7 +707,7 @@ namespace Fw {
     }
 
     void ExternalSerializeBuffer::setExtBuffer(U8* buffPtr, NATIVE_UINT_TYPE size) {
-        FW_ASSERT(buffPtr);
+        FW_ASSERT(buffPtr != nullptr);
         this->m_buff = buffPtr;
         this->m_buffSize = size;
     }

README.md

@@ -41,7 +41,7 @@ Then, create a new project with:
 fprime-util new --project
 ```
 
-See the [HelloWorld Tutorial](https://nasa.github.io/fprime/Tutorials/HelloWorld/Tutorial.html) to guide you through all the steps of developing an F´ project.
+See the [HelloWorld Tutorial](https://fprime-community.github.io/fprime-tutorial-hello-world/) to guide you through all the steps of developing an F´ project.
 
 New users are encouraged to read through the [User Guide](https://nasa.github.io/fprime/UsersGuide/guide.html) and explore the [other tutorials](https://nasa.github.io/fprime/Tutorials/README.html).
 

Ref/Top/RefPackets.xml

@@ -153,6 +153,10 @@
         <channel name="typeDemo.ExtraChoicesCh"/>
         <channel name="typeDemo.ChoicePairCh"/>
         <channel name="typeDemo.ChoiceSlurryCh"/>
+        <channel name="typeDemo.Float1Ch"/>
+        <channel name="typeDemo.Float2Ch"/>
+        <channel name="typeDemo.Float3Ch"/>
+        <channel name="typeDemo.FloatSet"/>
     </packet>
 
     <!-- Ignored packets -->

Ref/TypeDemo/TypeDemo.cpp

@@ -123,4 +123,16 @@ void TypeDemo ::DUMP_TYPED_PARAMETERS_cmdHandler(const FwOpcodeType opCode, cons
     this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::OK);
 }
 
+void TypeDemo ::DUMP_FLOATS_cmdHandler(const FwOpcodeType opCode, const U32 cmdSeq) {
+    Ref::FloatSet invalid;
+    invalid[0] = std::numeric_limits<float>::infinity();
+    invalid[1] = -1 * std::numeric_limits<float>::infinity();
+    invalid[2] = (std::numeric_limits<float>::has_quiet_NaN) ? std::numeric_limits<float>::quiet_NaN() : 0.0f;
+    this->log_ACTIVITY_HI_FloatEv(invalid[0], invalid[1], invalid[2], invalid);
+    this->tlmWrite_Float1Ch(invalid[0]);
+    this->tlmWrite_Float2Ch(invalid[1]);
+    this->tlmWrite_Float3Ch(invalid[2]);
+    this->tlmWrite_FloatSet(invalid);
+    this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::OK);
+}
 }  // end namespace Ref

Ref/TypeDemo/TypeDemo.fpp

@@ -33,6 +33,9 @@ module Ref {
         choicePair: ChoicePair
     }
 
+    @ Set of floating points to emit
+    array FloatSet = [3] F32;
+
     @ Component to demonstrate multiple type configurations
     passive component TypeDemo {
         #####
@@ -192,6 +195,28 @@ module Ref {
         @ Dump the typed parameters
         sync command DUMP_TYPED_PARAMETERS()
 
+        #####
+        # FloatSet outputs
+        #####
+        @ A set of floats in an event
+        event FloatEv(float1: F32, float2: F32, float3: F32, floats: FloatSet) severity activity high \
+            format "Floats: {} {} {} as a set: {}"
+
+        @ Float output channel 1
+        telemetry Float1Ch: F32
+
+        @ Float output channel 2
+        telemetry Float2Ch: F32
+
+        @ Float output channel 3
+        telemetry Float3Ch: F32
+
+        @ Float set output channel
+        telemetry FloatSet: FloatSet
+
+        @ Dump the float values
+        sync command DUMP_FLOATS()
+
         # ----------------------------------------------------------------------
         # Special ports
         # ----------------------------------------------------------------------