Update mission planing/operation implementation

firmware/.cproject

@@ -54,6 +54,7 @@
 									<listOptionValue builtIn="false" value="${PROJECT_ROOT}/config"/>
 									<listOptionValue builtIn="false" value="${PROJECT_ROOT}/freertos/portable/CCS/MSP430X"/>
 									<listOptionValue builtIn="false" value="${PROJECT_ROOT}/app/libs/libpredict/include"/>
+									<listOptionValue builtIn="false" value="${PROJECT_ROOT}/app/libs/libconops/include"/>
 								</option>
 								<option id="com.ti.ccstudio.buildDefinitions.MSP430_21.6.compilerID.ADVICE__POWER.314342449" superClass="com.ti.ccstudio.buildDefinitions.MSP430_21.6.compilerID.ADVICE__POWER" value="all" valueType="string"/>
 								<option id="com.ti.ccstudio.buildDefinitions.MSP430_21.6.compilerID.DEBUGGING_MODEL.1696363353" superClass="com.ti.ccstudio.buildDefinitions.MSP430_21.6.compilerID.DEBUGGING_MODEL" value="com.ti.ccstudio.buildDefinitions.MSP430_21.6.compilerID.DEBUGGING_MODEL.SYMDEBUG__DWARF" valueType="enumerated"/>
@@ -201,4 +202,4 @@
 	</storageModule>
 	<storageModule moduleId="scannerConfiguration"/>
 	<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/>
-</cproject>
+</cproject>

firmware/app/libs/libconops/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2024 Carlos Augusto Porto Freitas 
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

firmware/app/libs/libconops/README.rst

@@ -0,0 +1,43 @@
+libconops
+=========
+
+A simple library to facilitate the mission control and planning.
+
+.. _building-sec:
+
+Building
+--------
+
+    Currently, the library supports both CMake and Meson. How to compile the library using them can be seen below.
+
+Meson
+~~~~~
+    To build the library with Meson, run the following command in the repo's root::
+
+        meson setup build
+        meson compile -C build
+
+CMake
+~~~~~
+    To build the library with CMake, run the following command in the repo's root::
+
+        mkdir build && cd build
+        cmake ..
+        make
+
+Tests
+-----
+
+    To run the library unit tests, assuming that the commands from `Building <#building>`_ were used, run the following commands.
+
+CMake builds
+~~~~~~~~~~~~
+     Run in the build directory::
+
+        ctest --output-on-failure
+
+Meson builds
+~~~~~~~~~~~~
+    Run in the repo's root::
+
+        meson test -C build --print-errorlogs

firmware/app/libs/libconops/include/conops/conops.h

@@ -0,0 +1,77 @@
+#ifndef CONOPS_H_
+#define CONOPS_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+
+/* Library ERRNO meanings */
+#define ERRNO_CONOPS_INVALID_ARG 1
+#define ERRNO_CONOPS_NO_TRANSITION_TABLE 2
+#define ERRNO_CONOPS_INSUFFICIENT_BUFFER_SIZE 3
+#define ERRNO_CONOPS_INVALID_STATE 4
+#define ERRNO_CONOPS_INVALID_EV_ID 5
+#define ERRNO_CONOPS_NO_MAPPER_FUNCTION 6
+#define ERRNO_CONOPS_MAPPING_ERROR 7
+#define ERRNO_CONOPS_INVALID_TRANSITION 8
+
+/* Library FSM default config */
+#define CONOPS_DEFAULT_N_STATES 256U
+#define CONOPS_DEFAULT_MAX_EV_ID UINT16_MAX
+#define CONOPS_DEFAULT_INIT_STATE 0U
+#define CONOPS_DEFAULT_EV_NAME_SIZE 12U
+#define CONOPS_DEFAULT_CALLBACK_IGNORE_SRC 0x5443
+
+/* Foward declarations */
+struct conops_fsm;
+struct conops_event;
+
+typedef int (*conops_transition_handler_t)(struct conops_fsm *ctx, const struct conops_event *ev,
+					   const uint16_t transition_to);
+
+typedef int32_t (*conops_event_mapper_t)(const struct conops_fsm *ctx,
+					 const struct conops_event *ev);
+
+typedef void (*conops_event_callback_t)(struct conops_fsm *ctx, const struct conops_event *ev);
+
+typedef int (*conops_init_callback_t)(struct conops_fsm *ctx);
+
+struct conops_fsm_config {
+	uint16_t n_states;
+	uint16_t max_ev_id;
+	uint16_t init_state;
+};
+
+struct conops_fsm {
+	struct conops_fsm_config conf;
+	uint16_t state;
+	uint16_t last_valid_ev_id;
+	const void *transition_table;
+	void *user_data;
+	conops_event_mapper_t ev_mapper_fn;
+};
+
+struct conops_event {
+	uint16_t src;
+	uint16_t ev_id;
+	char ev_name[CONOPS_DEFAULT_EV_NAME_SIZE];
+	conops_event_callback_t callback;
+};
+
+int conops_fsm_init(struct conops_fsm *fsm, const void *transition_table, const uint16_t n_states,
+		    const uint16_t max_ev_id, const uint16_t init_state,
+		    conops_init_callback_t callback);
+
+int conops_fsm_process_event(struct conops_fsm *fsm, const struct conops_event *ev);
+
+int conops_register_mapper(struct conops_fsm *fsm, conops_event_mapper_t mapper);
+
+int conops_register_fsm_user_data(struct conops_fsm *fsm, void *user_data);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

firmware/app/libs/libconops/include/conops/util/cmd_queue.h

@@ -0,0 +1,48 @@
+#ifndef CONOPS_CMD_QUEUE_H
+#define CONOPS_CMD_QUEUE_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stdbool.h>
+
+#define PAYLOAD_SIZE 20U
+#define CMD_QUEUE_CAPACITY 10U
+
+typedef void (*cmd_queue_lock_t)(void *lock);
+typedef void (*cmd_queue_unlock_t)(void *lock);
+
+struct conops_cmd {
+	uint32_t timestamp;
+	uint8_t payload[PAYLOAD_SIZE];
+};
+
+struct conops_cmd_queue {
+	struct conops_cmd buffer[CMD_QUEUE_CAPACITY];
+	uint16_t size;
+	void *lock;
+	cmd_queue_lock_t queue_lock;
+	cmd_queue_unlock_t queue_unlock;
+};
+
+void cmd_queue_init(struct conops_cmd_queue *queue, void *lock, cmd_queue_lock_t queue_lock,
+		    cmd_queue_unlock_t queue_unlock);
+
+int cmd_queue_dequeue(struct conops_cmd_queue *queue, uint32_t current_time,
+		      struct conops_cmd *out);
+
+int cmd_queue_enqueue(struct conops_cmd_queue *queue, const struct conops_cmd *cmd);
+
+void cmd_queue_reset(struct conops_cmd_queue *queue);
+
+bool cmd_queue_is_empty(const struct conops_cmd_queue *queue);
+
+void heapify_cmd_buffer(struct conops_cmd *buffer, uint16_t size);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

firmware/app/libs/libconops/src/conops.c

@@ -0,0 +1,94 @@
+#include <conops/conops.h>
+#include <string.h>
+
+int conops_fsm_init(struct conops_fsm *fsm, const void *transition_table, const uint16_t n_states,
+		    const uint16_t max_ev_id, const uint16_t init_state,
+		    conops_init_callback_t callback)
+{
+	if (!fsm || !transition_table)
+		return -ERRNO_CONOPS_INVALID_ARG;
+
+	if (init_state >= n_states)
+		return -ERRNO_CONOPS_INVALID_STATE;
+
+	fsm->ev_mapper_fn = NULL;
+	fsm->user_data = NULL;
+	fsm->transition_table = transition_table;
+	fsm->conf.n_states = n_states;
+	fsm->conf.max_ev_id = (max_ev_id != 0) ? max_ev_id : CONOPS_DEFAULT_MAX_EV_ID;
+	fsm->conf.init_state = init_state;
+	fsm->state = init_state;
+
+	if (callback) {
+		return callback(fsm);
+	}
+
+	return 0;
+}
+
+int conops_fsm_process_event(struct conops_fsm *fsm, const struct conops_event *ev)
+{
+	int err = 0;
+
+	if (!fsm || !ev)
+		return -ERRNO_CONOPS_INVALID_ARG;
+
+	if (!fsm->transition_table)
+		return -ERRNO_CONOPS_NO_TRANSITION_TABLE;
+
+	if (ev->ev_id > fsm->conf.max_ev_id)
+		return -ERRNO_CONOPS_INVALID_EV_ID;
+
+	if (!fsm->ev_mapper_fn)
+		return -ERRNO_CONOPS_NO_MAPPER_FUNCTION;
+
+	int32_t transition_to = fsm->ev_mapper_fn(fsm, ev);
+
+	if (transition_to < 0)
+		return -ERRNO_CONOPS_MAPPING_ERROR;
+
+	const conops_transition_handler_t(*table)[fsm->conf.n_states] =
+		(const conops_transition_handler_t(*)[fsm->conf.n_states])fsm->transition_table;
+
+	conops_transition_handler_t handler = table[fsm->state][transition_to];
+
+	if (transition_to == fsm->state)
+		goto ev_callback_run;
+
+	if (handler) {
+		err = handler(fsm, ev, transition_to);
+
+		if (err < 0)
+			return err;
+	} else {
+		return -ERRNO_CONOPS_INVALID_TRANSITION;
+	}
+
+ev_callback_run:
+	if (ev->callback)
+		ev->callback(fsm, ev);
+
+	fsm->last_valid_ev_id = ev->ev_id;
+
+	return 0;
+}
+
+int conops_register_mapper(struct conops_fsm *fsm, conops_event_mapper_t mapper)
+{
+	if (!fsm || !mapper)
+		return -ERRNO_CONOPS_INVALID_ARG;
+
+	fsm->ev_mapper_fn = mapper;
+
+	return 0;
+}
+
+int conops_register_fsm_user_data(struct conops_fsm *fsm, void *user_data)
+{
+	if (!fsm || !user_data)
+		return -ERRNO_CONOPS_INVALID_ARG;
+
+	fsm->user_data = user_data;
+
+	return 0;
+}