Core Flight System : Framework : Core Flight Executive

This repository contains NASA's Core Flight Executive (cFE), which is a framework component of the Core Flight System.

This is a collection of services and associated framework to be located in the cfe subdirectory of a cFS Mission Tree. The Core Flight System is bundled at https://github.com/nasa/cFS, which includes build and execution instructions.

The detailed cFE user's guide can be viewed at https://github.com/nasa/cFS/blob/gh-pages/cFE_Users_Guide.pdf.

Version History

Development Build: v6.8.0-rc1+dev642

Update ES verify errors to match
Ensures error messages in cfe_es_verify.h match test logic.
Resolve mismatched endforeach of CMakeList.txt
Improve event filter documentation
Adds documentation for the behavior of CFE_EVS_ResetFilter and explains how Event Filter Mask Values work.
EVS/FS documentation cleanup
Remove shell file subtype and clarify scope
Removes CFE_FS_SubType_ES_SHELL and clarifies the scope of CFE_FS_SubType_Enum_t so that it only includes the cFE-defined file types
Simplify CFE_ES_QueryAllCmd file open logic
Removes the obsolete OS_OpenCreate and file-remove-on-success logic from CFE_ES_QueryAllCmd
Remove deprecated elements
Replace Header Content Type magic number
Remove unused EVS LogMode defines
Clean up SB, MSG, and SBR documentation and remove unused CFE_SB_NO_SUBSCRIBERS
Add CFE_SB_DestinationD tag and use for pointers
Use CFE_MSG_SequenceCount_t for seqcnt type
Document CFE_ES_PoolCreateEx NumBlockSizes error handling
Documentation cleanup in TBL/TIME
Document TblName as app specific
Use OSAL script to generate API guide
Include verify headers to validate config
Add doxygen aliases for OSAL parameter/retvals
See nasa#1584 and nasa/cFS#263

Development Build: v6.8.0-rc1+dev593

Uses int with %d conversions inUtAssert_True and UtPrintf for platform portability.
Specifying the special string NULL as the entry point in a startup script results in no entry point being called for the library. Equivalent to leaving the field empty.
[build system] Adds a hook for an install_custom.cmake script that can added to a CPU-specific subdirectory under the "defs" directory. This hook can perform extra installation steps for custom implementations. Tweaks the add_cfe_tables function so it can be called from the install_custom.cmake script to generate additional table binaries for that CPU.
[build system] add_cfe_tables now uses the "APP_NAME" parameter to associate the table files with the app library, so the same set of include files can be used. Still allows any unique string to be used as "APP_NAME" for backward compatibility. The script will now generate a "Note" message to the user if it does not match an application name.
If the multiple table feature is used, it actually needs to match the application name, or else the include paths may be incomplete.
Removes discrepancies (return type, parameter names, etc) between function prototypes and implementation. Also fixes some but not all use of CFE_Status_t in the implementations. Updates ut-stubs accordingly.
See <>https://github.com/nasa/cFE/pull/1568> and nasa/cFS#260

Development Build: v6.8.0-rc1+dev580

Adds CFE_MSG_GetNextSequenceCount so the auto-increment of the local sequence counter works when sending tlm (and increment is enabled). Updates unit tests and adds the old-style stub. The unit tests check for the correct rollover behavior.Sequence count will roll over based on the mask. Before the fix the sequence counter would "stick" in telemetry until the passed in value rolled over.
[docs] Correctly format code block section terminator so Markdown renders correctly
[docs] Fix typos in developer guide
See nasa#1508 and nasa/cFS#259

Development Build: v6.8.0-rc1+dev575

Removes broken travis-ci script
Updates CFE core stub libraries to use stubs generated from new UT Assert script. Converts existing stub logic to a default handler routine.
Moves all of the internal API prototypes from "core_api" to the "core_private" interface lib.
Moves CFE_FS_RunBackgroundFileDump to internal API
Renames hook files to handler
[docs] Adds documentation and comments about how the configuration facility works and where to find information on the complete set of options available
Updates the configuration files in "sample_defs" to reflect only those parameters that are set to a non-default value along with information about why the configurable item is changed.
Removes --quiet option so files checked go to stdout
See nasa#1492 and nasa/cFS#256

Development Build: v6.8.0-rc1+dev559

Adds tests for nominal use cases of the ES Critical Data Store API.
Adds functional tests for nominal uses of FS Header API.
Adds functional tests for Time Current API.
[docs] Makes comment blocks in source and header files more consistent for all internal, CFE core APIs. Moves information about the function behavior to its prototype in the header in doxygen format. Comment blocks on the function implementation refer back to the prototype, it does not duplicate the info. Local helper functions that are not separately prototyped, are exceptions to this pattern. Adds intended scope to all functions: global, application-internal, or file/local.
See nasa#1481 and nasa/cFS#252

Development Build: v6.8.0-rc1+dev540

Changes the type of pointer for MemPtr in CFE_ES_PoolCreateNoSem API from uint8* to void* to be more consistent and easier to use. Should be backward compatible. Updates the doxygen documentation for this parameter, as it was incorrectly specifying a 32-bit alignment requirement.
Adds new functional tests for ES Child Task API. Does not check edge cases. Fixed spelling mistake in UtAssert_ResourceID_Undifeined name
Removes BUILDDIR reference and an old comment. No behavior changes
Moves and renames cfe_resourceid_basevalue.h to cfe_resourceid_basevalue.h. Since it is is assumed/required that resource IDs follow the "osal compatible" pattern. Perhaps in a future version this could change, but
Ensures that the CFE_SUCCESS constant is of the CFE_Status_t type. Since an explicit cast is required on all error codes that are expected to be negative values.
Removes unused error codes: CFE_ES_ERR_SHELL_CMD and CFE_SB_NO_MSG_RECV. No impact to behavior.
When a startup file has a line with too many tokens the build script will generate a concise warning including an indicator of which line is causing the problem.
Confirm that the call to CFE_ES_CDS_CachePreload returns CFE_SUCCESS before continuing. No behavior changes. Now shows up as untested lines in the coverage report since error condition cannot be exercised through coverage.
[docs] Clarify that CFE_ES_DeleteCDS does not wipe or erase the block, it only returns resources to the pool for re-use.
[docs] Adds comments in CFE_ES_RunExceptionScan describing the logic when an exception cannot be traced back to a specific app, in that it should fall back to the PSP reset.
CFE_ES_GenPoolInitialize now returns CFE_ES_BAD_ARGUMENT error if the AlignSize passed-in value is not actually a power of two instead of "fixing" the alignment mask,
Replace internal CFE_ES_SYSLOG_APPEND macro with the CFE_ES_WriteToSysLog() API since coding standards discourage use of multi-line macros.
[docs] Improve Resource IDs documentation. Specifically on use of the various helper functions and common patterns Documents that the "IsMatch()" functions accept NULL pointers so they can be used with initial validation (gatekeeper). All other helper functions assume a non-NULL pointer.
Compiler will catch if the CFE_RESOURCEID_MAX value changes in such a way that makes it not usable as a bit mask as intended. Add a compile time assert to ensure that CFE_RESOURCEID_MAX value is one less than a power of two (i.e. an LSB-justified bit mask). Notes in the comments that it serves as both a numeric limit and a mask.
See nasa#1431 and nasa/cFS#250

Development Build: v6.8.0-rc1+dev509

Separates the list of CFE core interface modules (e.g. core_api) from the list of CFE core implementation modules (e.g. msg). This allows the content of core_api to be expanded to locally include any additional modules the user has added to cFE core via the MISSION_CORE_MODULES list.
Adds documentation for CFE_ES_RegisterCDS() regarding clearing.
Removes the separate CFE "testrunner" module and moves the logic associated with running a test into cfe_assert library. Converts the "testcase" module from a library into an app, by calling into the runner logic that is now inside cfe_assert. Each functional test is a separate app, not a library, so it can be started and stopped via ES command like any other app.
Removes check on ENABLE_UNIT_TESTS=true when building "cfe_assert", it should be built all the time.
See nasa#1406 and nasa/cFS#248

Development Build: v6.8.0-rc1+dev498

Reports test failures as CFE events. Test status messages are now sent as Events rather than Syslog. This allows for more processing capability, and allows failures to be received externally (e.g. ground system).
See nasa#1295 and nasa/cFS#242

Development Build: v6.8.0-rc1+dev494

Adds new tests for the ES Info APIs
See nasa#1284 and nasa/cFS#238

Development Build: v6.8.0-rc1+dev490

Removes PspConfig member from the GLOBAL_CONFIGDATA object. Updates the only remaining reference to this object inside the CFE_PSP_VERSION and uses the new Version API instead. Updates the OSAL version print to use the version API call and CFE uses the macro directly.
Replaces duplicate mention of the removed CFE_SB_ZeroCopyGetPtr with the correct removal target of CFE_SB_ZeroCopyReleasePtr
See nasa#1279 and nasa/cFS#233

Development Build: v6.8.0-rc1+dev484

Removes cases in cfe_es_apps.c and cfe_tbl_internal.c that could never hit the alternate condition since the condition was already checked
Removes all APIs deprecated in #777 and #998
Resolves CodeQL warnings on uninitialized variables.
Refactors a small portion of CFE_TIME_UnregisterSynchCallback and initializes variables to resolve "uninitialized variable" false alarms.
Fixes a typo in initialization in CFE_TBL_Validate( CFE_TBL_Handle_t TblHandle )
Initializes TotalMsgSize as 0 to avoid static analysis warning of "use before initialized"
Increments the CreatePipeErrorCounter for all create pipe errors to eliminate a trivial static analysis warning
Removes redundant or unreachable assignments and checks
Updates header guards to standard format. Converts some file-scope block comments to a doxygen format to include a summary of the file.
Enables the internal helper functions that determine table slot availability to handle NULL pointers.
Resolves static analysis warnings by removing redundant check for CFE_SUCCESS in CFE_EVS_EarlyInit
Moves the invocation of CFE_PSP_AttachExceptions() from the registration function to the pre-entry function and removes all references to task registration in code, docs, and tests. This API change affects cFS apps.
Renames CFE_TestRunner_AppMain as CFE_TR_AppMain so it is less than 20 characters long. Updates App file names in documentation for cfe_es_startup.scr.
Replace the call to CFE_SB_MessageStringGet() with the new filename-aware function CFE_FS_ParseInputFileName() for commands that contain file names like CFE_ES_StopPerfDataCmd. The default pathname/extension logic is now applied here too and only a "basename" is strictly necessary, although if a full/absolute path is given, it will be used as is.
Removes the now-unnecessary CFE_SB_ZeroCopyHandle_t type and all APIs that refer or require it .Replaces CFE_SB_ZeroCopyGetPtr() and CFE_SB_ZeroCopyReleasePtr() with two new simplified functions CFE_SB_AllocateMessageBuffer() and CFE_SB_ReleaseMessageBuffer() , respectively. These new functions do not use a separate handle. Updates the CFE_SB_TransmitBuffer() API to also remove the handle. This breaks public APIs.
Internal cleanup localized to ES implementation. Consolidate all ES global variables under the CFE_ES_Global struct. Removes the separate CFE_ES_TaskData and some random pointers that were stored at global scope. Adjusts all references to the deprecated items accordingly (search and replace).
Adds PSP version info to ES Housekeeping TLM messages. Changes both PSP and OSAL version info assignments on HK TLM to use the new version info API.
Fixes check for "NumBuckets" member to use <= instead of <. CFE_ES_GenPoolValidateState() now returns true if using the max number of buckets (17 by default) and the pool structure using max value will correctly validate
Replaces remaining CFE_ES_ERR_BUFFER with CFE_ES_BAD_ARGUMENT for when functions receive an invalid null-pointer argument. Adds null pointer checks in cfe_es_api.c.
Adds branch coverage to html report when running make lcov
See nasa#1258

Development Build: v6.8.0-rc1+dev436

Adds a local definition of SOFTWARE_BIG/LITTLE_BIT_ORDER directly inside cfe_endian.h to provide a compatible symbol for apps that still require this. This allows CFE to build and run successfully when OSAL stops providing this in common_types.h.
Removes incorrect statements from Application Developers Guide
Fixes truncation handling on vsnprintf error by adding a cast to avoid implicit conversion
Clarify the documentation on SB MsgId regarding requirements for command and telemetry messages
Avoids undefined behavior and resolves static analysis warnings by casting isspace input to unsigned char.
Updates message module and msgid v1, CFE_MSG_SetMsgId, to use mask instead of cast to alter value. Resolves static analysis warning.
Updates CFE_ES_FileWriteByteCntErr to report status, not a size_t actual since OS_write returns int32. Use int16 for local type from CFE_TBL_FindTableInRegistry since it's an index, not a status.
Replaces <> with " in local #includes
Adds CONTRIBUING.md that links to the main cFS contributing guide.
See nasa#1243

Development Build: v6.8.0-rc1+dev412

Apply standard code style and format
Add new continuous integration workflow to enforce this format
See nasa#1219

Development Build: v6.8.0-rc1+dev402

HOTFIX 20210312, updates to work with older CMake
Fix #972, reorganize directory structure
HOTFIX IC 2021-03-05: Correct static app build issue
See nasa#1222

Development Build: v6.8.0-rc1+dev392

Fix #665, update pipe name documentation.
Fix #1165, remove configs about shells
Fix #1094, Update CRC documentation
Fix #979, add stack size and priority to task info …
Fix #1170, refactor target config objects …
Fix #1207, Add wrapper targets to simplify app builds …
Fix #1211, Add Testing Tools to the Security Policy
See nasa#1213

Development Build: v6.8.0-rc1+dev382

Refactors the SB buffer descriptor object CFE_SB_BufferD_t and simplify the zero-copy buffer paradigm. Combines the zero-copy and the normal CFE buffer descriptor into a single unified CFE_SB_BufferD_t object. Results in a simpler zero-copy design that is similarto the the standard, non-zero-copy message path. All message descriptor objects are now tracked in a list by SB. All changes are internal to SB. This does not affect API or behavior of any existing APIs (but see note). Corrects a minor issue where the MsgSendErrorCounter would get incremented if there were no subscribers, but only in the zero copy API.
Replaces int_32 with CFE_Status_t for all error message codes
Removes references to cfeesugshellsrv from user guide
Adds null pointer checks and size checks to validate method parameters. Returning the input instead of an error code
Removes use of LogEnabled element in HK telemetry for EVS logic since log is always enabled now. On failures, reset area or semaphore will panic.
Fixes various build warnings when BUILDTYPE=release.
See nasa#1196

Development Build: v6.8.0-rc1+dev365

Implements a generic FS facility to perform file writes as a background job. Applications wanting to use this need to instantiate a state object (metadata) in global memory and two callback APIs, one to get a data record, another to send events. The following file requests are changed to use this facility:
- ES ER Log dump
- SB Pipe Info
- SB Message Map
- SB Route Info
- TBL Registry Dump
Changes the internal SB member names for consistency and thus fixes propagation of Depth and CurrentDepth into files:
- MaxQueueDepth for maximum depth at queue creation time (previously was QueueDepth or Depth depending on context)
- CurrentQueueDepth for the running count (previously was InUse or CurrentDepth depending on context)
- PeakQueueDepth for the highest "watermark" (previously was PeakInUse or PeakDepth depending on context)
Encapsulates all parameters for apps and tasks into a structure object. Cleans up internal APIs to pass this new object rather than individual parameters. Adds details to the relevant record (i.e. a task record has all relevant task details) which eliminates the need to traverse the app record to find some data.
Enables items in FILELIST to be in a target name directory as well as symlinks. arch_build.cmake now checks a name-based subdirectory under ${MISSION_DEFS} for files listed in the FILELIST for that target. If file is a symlink, the link should be followed so the correct content is installed, not a symlink.
Adds documentation on inclusion presence of null terminators for length parameters.
Shortened CFE_PLATFORM_ES_DEFAULT_TASK_LOG_FILE name so it is within the OSAL_MAX_FILE_NAME size limit. Will now output task info to default filename if no filename is provided in command.
Replaces UT_Stub_SetForceFail with UT_Stub_SetDefaultReturnValue. No behavior change.
See nasa#1171

Development Build: v6.8.0-rc1+dev348

Corrects reference to PSP header file location. Build now succesfully completes the build succeeds again when using add_psp_module() in custom CMakeLists file.
Replace "send" with "write" in names for commands that write files. For example, CFE_SB_**SEND**_ROUTING_INFO_CC is now CFE_SB_**WRITE**_ROUTING_INFO_CC. Updates function names, command code names and comments.
Removes incorrectly implemented deferred return code of -1 for CFE_SB_ReceiveBuffer from software bus setup in UT_InitData.
Implements more informative assert messages by making SETUP, TEARDOWN, ASSERT print 0x%lx while ASSERT_EQ now prints both %lf and 0x%lx format for the inputs
Updates continuous-integration badges in ReadMe.md. The badges now reflect the success status of different runs.
Remove Test_SB_Cmds_SubRptUnexpCmdCode which was a duplicate of Test_SB_Cmds_CmdUnexpCmdCode and did not implement any new tests.
Initializes status in CFE_ES_WaitForSystemState and adds missing success test case so the function doesn't return an uninitialized Status.
Removes the HkPacket and TblRegPacket message initializations from CFE_TBL_EarlyInit since they are initialized in CFE_TBL_InitData. Moves the NotifyMsg message initialization to CFE_TBL_InitData and sets the message ID each time it's sent from CFE_TBL_SendNotificationMsg. Possibly results in small performance improvement since the message isn't initialized every call.
Removes unimplemented CFE_ES_AppGetList and CFE_ES_AppDumpAllInfo prototypes.
Adds a 15-minute timeout to continuous integration workflows to prevent excess resource utilization.
Makes debug subscription events only print the Pipe ID, not a name, in the debug events.
Updates the documentation and verification for CFE_PLATFORM_SB_HIGHEST_VALID_MSGID to allows the full range of values.
Clarifies the difference between "restart" and "reload" in API/cmd and user's guide documentation for CFE_ES_RESTART_APP_CC.
Switches throttle indexes to use CFE_SB_RouteId_Atom_t and combines helper function given that msgid was removed due to being a resource hog. Resolves static analysis warning.
CFE_ES_RestartApp now checks for file existence as part of command processing and does not remove the app if the file doesn't exist (just avoids one error case). it also rejects the command and increments command error counter if file is missing.
Removes CFE_PLATFORM_SB_MAX_PIPE_DEPTH in favor of OS_QUEUE_MAX_DEPTH. This depth parameter in command is now checked prior to attempting OSAL call.
Filters pointer now const in API and reports truncation when registering filters with CFE_EVS_Register.
Removes the ability to disable the log by not defining CFE_PLATFORM_EVS_LOG_ON so users are no longer able to disable log completely. For minimum memory use define CFE_PLATFORM_EVS_LOG_MAX = 1. Note: This could remove control based on LogEnabled, panic on reset area fail and limp along if "sem create" fails.
Removes the remnants of the table service exclusion logic and documentation: EXCLUDE_CFE_TBL no longer available, even if defined, table services will still start.
Set ES and EVS pipe message limit to defaults as opposed to the custom, unjustified, CFE_SB_SubscribeEx. This change might queue additional HK messages, but SCH loads after ES anyways.
Replaces CFE_SB_Default_Qos with CFE_SB_DEFAULT_QOS macro that avoids global variable exposure. Removes SB-internal defines that are not implemented nor used.
Explicity memset the task data to zero at the start of EarlyInit. Standardize the global typdef/variable names.
Moves all functions, macros, types, and other definitions related to resource IDs and generic resource management into a separate module, like CFE MSG, SBR, etc. This allows a mission to elect "strict" implementations of these objects, where every ID type is unique, and assigning between them or uint32 results in a compiler error. API now has separate types for each resource type (Apps, Tasks, Libs, Counters, etc). The user can elect at the mission level whether this is a simple typedef (all uint32, all interchangeable) or a wrapper type (separate/strict type, cannot be interchanged). The former is backward compatible but the latter is not - must use proper types.
Adds Code QL analysis to continuous integration workflow.
See nasa#1150

Development Build: v6.8.0-rc1+dev290

Documentation: Add Security.md with instructions to report vulnerability
Documentation: Update cpuname/MISSION_CPUNAMES documentation
Fixes UT_CheckEventHistoryFromFunc() helper routine to read the correct number of IDs so it checks the correct number of events. Also correct bad event checks in TBL UT.
Adds OS_printf to CFE_ES_SYSLOG_APPEND so it matches CFE_ES_WriteToSysLog
Removes unused SenderReporting and CFE_PLATFORM_SB_DEFAULT_REPORT_SENDER
Tests pass when debug events are enabled via CFE_PLATFORM_EVS_DEFAULT_TYPE_FLAG in platform config.
Removes references to UT_CheckForOpenSockets which is no longer applicable since the UT framework resets the state for each unit test.
Rename UT_ClearForceFail as UT_ClearDefaultValue given change in nasa/osal#724
Adds checks that ensure CFE_SB_GetUserData works with all payload data types.
Adds header padding to 64-bit so that CFE_SB_GetUserData will work for message structures with elements up to 64 bit
For primary-only header config: telemetry header required to 64 bit boundary (affects all receivers)
For primary and extended header config: command header required padding to 64 bit boundary (affects all senders)
Refactor CFE_TIME_RegisterSynchCallback to only have one return point and eliminates "possible uninitialized variable" static analysis warning
None of these changes are expected to cause problematic.
Addresses message delivery issues due to inconsistent locking by reworking cFE-SB API implementation. Ensures all events are generated and counters are incremented consistently by avoiding early returns in functions and using the PendingEventID register to record what event ID should be sent per the current operation.
Employs the CFE_ES_ResourceID_t type and related patterns for managing the SB Pipe IDs.
Will break code which directly accessed these items without going through the lookup function.
CFE_SB_PipeId_t type is no longer usable as a direct array index, increased in size from 8 to 32 bits, and is now consistent with all other ID types in both behavior and size.
The "pipe stats" structure in the Pipe TLM is also changed. This structure contained a CFE_SB_PipeId_t value, hence why it had to be updated because the type is now bigger. The spare bytes are also moved to the end of the struct.
Removes OS_printf checks of stub calls in unit tests and checks for specific format string in history instead to confirm the right path was taken.
Removes CFE_MISSION_REV from platform config.
Removes the rest of the references and uses of CFE_PLATFORM_ES_PERF_MAX_IDS in favor of CFE_MISSION_ES_PERF_MAX_IDS
Remove uses of strncpy and other minor hardcoded references
Cleanup unit tests to reflect size changes in CFE_MISSION_MAX_API_LEN and CFE_MISSION_MAX_PATH_LEN.
Moved ES pipe name and lengths to defines
Removed PipeName and PipeDepth variables from app global
Removed unnecessary (char *) casts
Simplified &stingname[0] to stringname where observed
Enables projects that have OSs with different limits to maintain a standard cmd/tlm and have unit tests pass.
Make CFE_ES_WriteToSysLog stub unit test more informative by adding UtDebug output
See nasa#1109

Development Build: v6.8.0-rc1+dev248

Replace OS_FileSysStatVolume() withOS_fsBlocksFree() which will be deprecated. This call reports the number of total blocks, not just the free blocks, making the check more accurate and removing the need for a workaround for desktop machines.
Instead of accessing OS_time_t values directly, use the OSAL-provided conversion and access methods. This provides independence and abstraction from the specific OS_time_t definition and allows OSAL to transition to a 64 bit value.
Removes the spurious CFE_SB_TimeOut_t typedef from cfe_sb.h. May affect any apps that inappropriately rely on the private typedef.
Removes unused network_includes.h. Not used by the framework anywhere, apps should use OSAL Socket APIs instead.
Fixes deprecation directive typos
See nasa#1088

Development Build: v6.8.0-rc1+dev236

Resolved doxygen warnings for osalguide and updated header file references
Corrects the documentation for the CFE_SB_GetPipeName() unit test stub function.
Adds a new github actions workflow file to run cppcheck
See nasa#1066

Development Build: v6.8.0-rc1+dev228

Remove use of osapi-os-loader.h from ES UT.
Use volatile sig_atomic_t for system state to avoid race issue if uint32 isn't atomic on a system
Set the flags parameter on the OS_ModuleLoad() properly to allow an app to be properly unloaded, which in turn allows the reload command to work as expected. Fixes problem where unload comand resulted in continuous restarting of the same app code.
Replaced Test_MSG_PrintMsg with UT_DisplayPkt. Also removed unused Test_MSG_Sum.
See nasa#1047

Development Build: v6.8.0-rc1+dev218

Adds CFE_SB_TransmitMsg, CFE_SB_TransmitBuffer, CFE_SB_ReceiveBuffer
- Main change is to utilize CFE_SB_Buffer_t and CFE_MSG_Message_t in a consistent manner to facilitate alignment
- Deprecates multiple CFE_SB_* items
- Redefines CFE_MSG_Size_t as size_t to minimize duplicated work and facilitate transition to size_t
Use a generic void* as the interface type for the pool buffer pointers. This reduces the need for local type casting in the apps and makes it generally easier to use.
Remove reference to CEXP in RTEMS 4.11 i686 toolchain. Add an RTEMS 5.1 i686 toolchain file.
See nasa#1045

Development Build: v6.8.0-rc1+dev204

Backward compatible API change. Replace many uses of generic uint16 and uint32 with a more purpose-specific type. Replace all sizes with size_t across the API.
Rename UT_SetForceFail to UT_SetDefaultReturnValue since some functions that retain more than 1 value are not necessarily failing
Deprecates many SB Elements and replaces them with the new MSG module. See nasa#777 for list.
App and Lib info telemetry structures no longer contain the ModuleId value from OSAL.
Add an extra write of a null char after strncpy which squelches a warning and appease compiler warning logic.
Uses CFE_PLATFORM_ES_DEFAULT_STACK_SIZE as a default instead of a minimum. Affects the Start App command; if stack size is specified as zero, then the default stack size value from platform config is used. Otherwise the value in the command will be passed through and used as-is.
Changes the type of the AppID parameter on "Cleanup" routines from uint32 to CFE_ES_ResourceID_t.
See nasa#1027

Development Build: v6.8.0-rc1+dev179

Adds macros for more compact calls to CFE_EVS_SendEvent, making the type be part of the function name.
The sample configs leap seconds default value is now up to date. (As of Oct 2020)
Removed the clear=false logic (and clear parameter) CFE_MSG_Init() now always zeroes entire message and sets defaults.
Adds flags parameter to calls to OS_ModuleLoad(). Initially just pass 0 (GLOBAL) to maintain old behavior.
Updates CFE_ES_RegisterCDSEx stub to match current signature
Includes cfe_private.h for stubs that implement related elements.
See nasa#1008

Development Build: v6.8.0-rc1+dev164

Keeps task names under 16 chars to make more debugger friendly, regardless of the OSAL limit. Task name shows up as ES_BG_TASK
Move ES typedefs shared across API and telemetry messages into the cfe_es_extern_typedefs.h.
Move all ES typedefs that define the telemetry interface and structures that define the output of commands that write data files into this group (query all apps, query all tasks, query all CDS).
Remove some localized definitions and replace with MISSION scope definitions where appropriate/necessary.
Adjust strncpy() call to avoid compiler warning
Cast fixed width types to the type used in the printf call. Removes printf type warnings on the 32-bit RTEMS build.
See nasa#991

Development Build: v6.8.0-rc1+dev150

Provide new Library API similar to App API
Allows the existing CFE_ES_AppInfo_t structure to be extended to libraries as well as applications by introducing a new value (3) for the Type field.
Allows Libraries to be queried via API calls similar to App API.
Extends the Query All/Query One commands to operate on Libraries or Applications.
Breaks up the monolithic AppCreate and LoadLibrary functions and have these call subroutines that operate on the common components.
Fix race conditions in app request processing state machine.
Adds SBR module which includes message map and routing table. The access APIs are on the SB side which still owns the destination logic
Removes passing of route index or pointers being. Everything is now based on route and message id
Oversized the hash message map (4x) to minimize collisions
Hash designed for 32 bit, a change in CFE_SB_MsgId_Atom_t size may require implementation updates
Adds debug event for collisions during add
Dropped routing push/pop, dropped "key" in direct implementation
Deletes unused code CFE_SB_FindGlobalMsgIdCnt
Fixes variable declaration violations of coding standard
Individual events for deleting destinations when deleting a pipe removed to avoid a race condition around a 10-20% performance hit to hash via rough comparison on a linux box, no memory impact
See nasa#975

Development Build: v6.8.0-rc1+dev139

For all resource types which have names, IDs are not re-issued after deletion, helping ensure safety as previously deleted IDs will not validate. Provides a consistent Name-ID translation API for all resource types. Enforces consistent argument/name validation on all resource types, and also enforces name uniqueness where relevant.
Enhancement to use the full 16 bits of resource ID space, which avoids repeating ID values that have already been used. This significantly decreases the likelihood that a previously deleted ID will alias a newly allocated/valid ID.
See nasa#959

Development Build: v6.8.0-rc1+dev129

Rather than having a second pool implementation only for CDS, use the generic pool implementation. This also uses the abstract resource identifiers to identify CDS blocks, rather than a direct reference.
Add the system-specific module suffix (.o, .so, .obj, etc) and the default CFE core executable name to the configdata structure.
See nasa#944

Development Build: v6.8.0-rc1+dev122

Adds the field UnregAppID to track whether an "unregistered" event was generated, un-overloading the EventCount field to serve its primary purpose of counting actual events generated from a valid/registered AppID.
Move the AppID lookup execution to be early in the CFE_SB_SendMsgFull implementation. This avoids double locking between SB+ES and avoids a block-scope local variable.
Instead of identifying a memory pool by its memory address, use a resource ID. IDs are a constant size, regardless of whether the host machine is 32 or 64 bits.
- IDs can be put into commands/telemetry and maintain a more consistent format with consistent alignment requirements.
- IDs can be independently verified without dereferencing memory. Previously the only way to validate a memory pool was to read the address pointed to, which results in a segfault if the address was bad.
Change from OS_MAX* defines to appropriately-scoped CFE defines for array sizing
This creates the new CFE_Status_t typedef for function's return status codes. Also adds a note to CFE_TBL_GetStatus since its behavior will likely change in the future in the hopes of not having a non-zero "info" status.
See nasa#936

Development Build: v6.8.0-rc1+dev109

Add a new typedef CFE_ES_ResourceID_t that can replace uint32 for all ID storage and manipulation. Initially this is just an alias to uint32 for backward compatibility.
See nasa#916

Development Build: v6.8.0-rc1+dev105

Removes dependency on CCSDS version define.
Removes old name and id defines.
CFE_ES_CalculateCRC default stub behavior.
Replaces calls to OS_open and OS_creat
Replaces UT_Text with UtPrintf
Updates variable checks in read_targetconfig
See nasa#912

Development Build: v6.8.0-rc1+dev91

Sets Revision to 99 for development build.
Installs unit test to target directory.
Returns processor ID to default to unbreak toolchain
Applies the appid/taskid/counterid pattern to Library resources.
See nasa#891

Development Build: v6.8.0-rc1+dev81

Deconflict CFE_ES_LIB_ALREADY_LOADED and CFE_ES_ERR_SYS_LOG_TRUNCATED EIDs
Scrub all CFE references/uses of OSAL IDs to use the proper osal_id_t type. Any place that an OSAL ID is stored in memory or passed in an API call are changed to the osal_id_t type, rather than uint32. Conversions between this and other types (e.g. bare integer) is done using the OSAL-supplied conversion helpers.
After the changes implemented in #101, there may be routing table entries with no subscribers (RoutePtr->ListHeadPtr would be NULL.) This could cause a seg-fault. Also, even if there are entries in the routing table, there will be no event generated if the unsubscribe does not find a matching route entry.
Adds debug message.
Applies the appid/taskid pattern to Generic Counter resources.
Adds test for SB subscribe/unusubscribe/unsubscribe.
See nasa#876

Development Build: v6.8.0-rc1+dev65

In the next major CFE release, this code will be no longer supported at all. It should be removed early in the cycle to avoid needing to maintain this compatibility code.
The CFE_ES_FindCDSInRegistry function had an unusual loop control structure with mixed types of signed and unsigned. This has the possibility of being infinite if the MaxNumRegEntries is zero due to the way the end condition is structured. Simplify to be like other loops and use unsigned int control variable.
Fixes the cast-align error (use the aligned Msg since it's available already).
HOTFIX-20200902 - Fix sb unit test setup issue.
HOTFIX 20200902 - Update documentation links for deprecated symbols.
HOTFIX 20200902 - Fix SB Test_CleanupApp_API AppID.
See nasa#861

Development Build: v6.8.0-rc1+dev42

Removes reference from documentation.
CFE_SB_SendMsg stub now behaves the same as CFE_SB_TimeStampMsg (copies message pointer from local). No longer need to emulate CFE_SB_InitMsg from test code, set the API/stub data buffers directly.
Removed iterator modification from within the loop... replaced with break.
Resolves loop iterator size too small for comparison.
Replaced CFE_MISSION_SPACECRAFT_ID use with CFE_PSP_GetSpacecraftId() and updated unit test
See nasa#849

Development Build: v6.8.0-rc1+dev28

Add msg stubs, update SB_UT to use them, and remove msg module include from unit tests
Collapses time options down to just 32 bit second, 16 bit subsecond, always big endian. Removes old defines, and triggers an error if the configuration is set to a format that was removed.
Enables source selection and out-of-tree mission-defined overrides in the msg directory
Unit tests added from within unit tests will not execute, replaced this pattern with direct calls to the main subtest setup routine.
See nasa#833

Development Build: v6.8.0-rc1+dev13

Deprecates CFE_SB_GetLastSenderId() API by introducing new CFE_OMIT_DEPRECATED_6_8 tag
Documentation update remove deleted requiremements
Add a new cfe_assert module for functional testing by making it possible to load the UT assert object code as a CFE library. These are compiled as separate, independent modules and only loaded on demand. Also includes a draft example for cFE testing, which calls some basic ES AppId functions.
See nasa#816

Development Build: v6.7.0+dev292

Add missing include path to the target/h and wrn/coreip directory. Set and clarify difference between WIND_HOME and WIND_BASE variables. Remove unrelated comment about CEXP (remnant from RTEMS). No more errors about missing headers.
Version reporting is does not span multiple lines.
See nasa#792

Development Build: v6.7.0+dev289

Update CFE_SB_TimeStampMsg to save the message pointer argument UT_Stub_CopyFromLocal so that unit tests can check it
Only affects build system. Fully backward compatible. The defaults are applied if a user has nothing specifically configured in their targets.cmake. The defaults will select osal, cfe-core, and psp as before. The user now has the option to explicitly configure and control the inclusion of these modules and also provide mission-specific search paths to override them as desired.
Note this only affects UT stubs. Change the internal names of some stub arguments to match prototype. Ensure that:
- All functions in the CFE public API have a stub function implemented
- All parameters to the stub function are registered in the context object, so the values will be available to hook functions.
- The names of all parameters match the prototype/documentation, so hook functions that use name-based argument value retrieval will work.
Adds to table search path in arch_build.cmake
Calls to OS_open() now use the OSAL-defined symbol, not the POSIX symbol.
Defines new macros to report the build number and build baseline and new strings containing the version number of cFE and a combined string with the version number for OSAL, PSP, and CFE.
Allow explicitly setting of the processor ID in targets.cmake. The TGTx_PROCESSOR_ID setting will be passed to the final build/link of CFE core as the CPU ID. If unspecified, then the CMake index value is used instead (backward compatible).
cmake now detects conditions where no files were present to fulfill an config include file requirement and reports an error during make prep lists the files it checked for rather than generating an empty file.
See nasa#765

Development Build: 6.7.21

If a string is exactly the size of the field when using the CFE_TBL_FILEDEF() macro it will produce a compiler error
Added cFE User's Guide Reference to README.md
Removes old license
See nasa#743

Development Build: 6.7.20

SB Unit use of the UT assert framework is closer to original design intent
See nasa#743

Development Build: 6.7.19

API Change: cFE ut_sb_stubs now has CFE_SB_DeletePipe available. Behavior Change: App unit tests requiring this will not fail to build due to undefined reference to CFE_SB_DeletePipe
Hook functions may now use the va_list form and obtain the full set of variable arguments passed to CFE_EVS_SendEvent and variants.
Replace all direct references to data types defined in ccsds.h with the abstract type defined in cfe_sb.h.
See nasa#729 for details.

Development Build: 6.7.18

Using ut stubs CFE_EVS_SendEvent and CFE_ES_WriteToSysLog, the register buffer will have the correct size. access to register buffer element will exist
Both the main task and the child task(s) are successfully deleted and restarted after the exception occurs.
Fixes doxygen warnings for the tbl subsystem.
No compiler warnings or errors on cross build.
Changes Message Key from uint16 to uint32 to avoid rollover and system hang
See nasa#712 for more details

Development Build: 6.7.17

No longer automatically decompresses apps/libraries as part of load
Deletes now unused CFE_ES_CountObjectCallback and CFE_ES_ListResourcesDebug. Flags were unused
Removes all conditional preprocessing blocks related to CFE_ARINC653.
Ensure clean build, no warnings on string operations using GCC 9.3.0.
When OMIT_DEPRECATED = true attempt to send output to shell command will result in command error counter increment (unrecognized function code)
SBN will need to init command with new MID
Documentation links and references will now work properly
API CFE_ES_ProcessCoreException is removed, replaced with async event.
Removed duplicate prototype in cfe_time_utils.h
Removes unused defines and adds documentation to TBL event defines.
Deprecates CFE_TIME_CFE2FSSeconds and CFE_TIME_FS2CFESeconds.
Unit tests now build and run when MESSAGE_FORMAT_IS_CCSDS_VER_2 is configured.
Build now works with both extended headers and OMIT_DEPRECATED options set.
No more alignment warnings
Adds new unit test macros
See nasa#692 for more details

Development Build: 6.7.16

Users must now select OSAL options via the CMake file in their defs directory, rather than the osconfig.h file.
See nasa#672 for more details

Development Build: 6.7.15

Upon power on reset, default system log mode set to overwrite. Upon processor reset, default system log mode set to discard.
No longer locks while locked (no issue observed on linux/posix, but user reported issue on FreeRTOS 10)
Internal CFE_TBL_LoadFromFile() API changed slightly to add AppName as a parameter. Return value from LoadFromFile() no longer relevant for event generation.
Updates CFE_TBL_CleanUpApp such that it now checks the 'used flag' prior to calling CFE_TBL_RemoveAccessLink for a given TblHandle. Also sets the AppId to CFE_TBL_NOT_OWNED after removing the access descriptor link from linked list.
Removed OS_FS_SUCCESS, OS_FS_ERROR , OS_FS_ERR_INVALID_POINTER, OS_FS_ERR_NO_FREE_FDS , OS_FS_ERR_INVALID_FD, and OS_FS_UNIMPLEMENTED from osapi-os-filesys.h
See nasa#649 for more details

Development Build: 6.7.14

Exposes the CFE_SB_IsValidMsgId() for application usage.
CFE_SB_GetLastSenderID will now detect if it is being called prior to a message being sent on a given pipe.
Mismatches between PSP/BSP/OS are now detected and warned about during make prep. Only the CFE_SYSTEM_PSPNAME is actually required to be specified for a CFE build now. Others can be omitted.
See nasa#635 for more details

Development Build: 6.7.13

RTEMS builds without error.
Use the INTERFACE_COMPILE_DEFINITIONS and INTERFACE_INCLUDE_DIRECTORIES properties from the osal target and apply them to the entire CFE build as a directory-scope property. No impact until these are set in OSAL.
Minor other updates (see nasa#615)

Development Build: 6.7.12

Cmd code (and checksum) are always in the same place (matches GSFC spec for command secondary header)
No impact to behavior. Previously the perf log dump file frequently contained errors due to out of order or otherwise corrupted entries, which is now fixed.
Minor other updates (see nasa#586)

Development Build: 6.7.11

Improve documentation
Update makefile to report branch coverage
Minor other updates (see nasa#566)

Development Build: 6.7.10

Fix potential unit test problems with name collisions
Improve documentation
Minor other updates (see nasa#563)

Development Build: 6.7.9

No longer requires sed "hack" to change the setting in default_config.h
Minor other updates (see nasa#544)

Development Build: 6.7.8

Updates and cleaned up documentation and requirements
Fixes incorrect debug messages
Decrease child task count when one is deleted
Minor other updates (see nasa#530)

Development Build: 6.7.7

Adds a new function, CFE_SB_GetPipeIdByName, which retrieves the pipe ID given a name of a pipe.
Improvement in error reporting when using a pipe name that is already in use, or when the queue limit has been reached.
Added userguide and osalguide to the local target list to avoid makefile warning
Minor other updates (see nasa#511)

Development Build: 6.7.6

Adds OMIT_DEPRECATED prep flag
Adds and enforces strict warnings
Software Bus now increments sequence counter even if there are no subscribers
Warning, comment, and code coverage cleanup (see nasa#490)

Development Build: 6.7.5

Added CI static analysis check
Resolved static analysis warnings
Minor other updates (see nasa#479)

Development Build: 6.7.4

Minor updates (see nasa#448)

Development Build: 6.7.3

Minor updates (see nasa#413)

Development Build: 6.7.2

Minor bugs and enhancements (see nasa#388)

Development Build: 6.7.1

Fix strlen in CFE_ES_TaskInit nasa#23
Minor bug fixes (see nasa#378)

OFFICIAL RELEASE: v6.7.0 - Aquila

This is a point release from an internal repository
Changes are detailed in cFS repo release documentation
Apache 2.0

OFFICIAL RELEASE: v6.6.0a

This is a point release from an internal repository
Apache 2.0
Additional release notes are found in release notes
See the version description document for the full document
Test results can be found in test results

Known issues

See all open issues and closed to milestones later than this version.

Getting Help

For best results, submit issues:questions or issues:help wanted requests at https://github.com/nasa/cFS.

Official cFS page: http://cfs.gsfc.nasa.gov

Files

README.md

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