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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: 6.8.0-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: 6.8.0-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: 6.8.0-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: 6.8.0-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: 6.8.0-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: 6.8.0-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: 6.8.0-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: 6.8.0-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: 6.8.0-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: 6.8.0-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: 6.7.0+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: 6.7.0+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: 6.7.0 - Aquila

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

OFFICIAL RELEASE: 6.6.0a

• 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