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event-defi
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@ -26,6 +26,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
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## Added
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- FreeRTOS monotonic clock which is not subjected to time jumps of the system clock
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- add CFDP subsystem ID
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https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/742
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- `PusTmZcWriter` now exposes API to set message counter field.
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@ -210,6 +210,7 @@ inline ReturnValue_t PoolVariable<T>::readWithoutLock() {
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}
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this->value = *(poolEntry->getDataPtr());
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this->valid = poolEntry->getValid();
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return returnvalue::OK;
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}
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@ -241,6 +242,7 @@ ReturnValue_t PoolVariable<T>::commitWithoutLock() {
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}
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*(poolEntry->getDataPtr()) = this->value;
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poolEntry->setValid(this->valid);
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return returnvalue::OK;
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}
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@ -5,6 +5,7 @@
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#include "FreeRTOS.h"
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#include "fsfw/globalfunctions/timevalOperations.h"
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#include "fsfw/serviceinterface/ServiceInterfacePrinter.h"
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#include "fsfw/osal/freertos/Timekeeper.h"
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#include "task.h"
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@ -47,8 +48,8 @@ ReturnValue_t Clock::getClock(timeval* time) {
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}
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ReturnValue_t Clock::getClockMonotonic(timeval* time) {
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// TODO: I don't actually know if the timekeeper is monotonic..
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return getClock_timeval(time);
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*time = Timekeeper::instance()->getMonotonicClockOffset() + getUptime();
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return returnvalue::OK;
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}
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ReturnValue_t Clock::getUptime(timeval* uptime) {
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@ -58,7 +59,7 @@ ReturnValue_t Clock::getUptime(timeval* uptime) {
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}
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timeval Clock::getUptime() {
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TickType_t ticksSinceStart = xTaskGetTickCount();
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TickType_t ticksSinceStart = Timekeeper::instance()->getTicks();
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return Timekeeper::ticksToTimeval(ticksSinceStart);
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}
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@ -17,7 +17,13 @@ Timekeeper* Timekeeper::instance() {
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return myinstance;
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}
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void Timekeeper::setOffset(const timeval& offset) { this->offset = offset; }
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void Timekeeper::setOffset(const timeval& offset) {
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if (not monotonicClockInitialized) {
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this->monotonicClockOffset = offset;
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monotonicClockInitialized = true;
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}
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this->offset = offset;
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}
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timeval Timekeeper::ticksToTimeval(TickType_t ticks) {
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timeval uptime;
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@ -33,3 +39,7 @@ timeval Timekeeper::ticksToTimeval(TickType_t ticks) {
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}
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TickType_t Timekeeper::getTicks() { return xTaskGetTickCount(); }
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const timeval Timekeeper::getMonotonicClockOffset() const {
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return monotonicClockOffset;
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}
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@ -18,9 +18,14 @@ class Timekeeper {
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Timekeeper();
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timeval offset;
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// Set when offset is initialized the first time
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timeval monotonicClockOffset;
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bool monotonicClockInitialized = false;
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static Timekeeper* myinstance;
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void setMonotonicClockOffset(const timeval& monotonicClockOffset);
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public:
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static Timekeeper* instance();
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virtual ~Timekeeper();
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@ -34,6 +39,7 @@ class Timekeeper {
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const timeval& getOffset() const;
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void setOffset(const timeval& offset);
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const timeval getMonotonicClockOffset() const;
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};
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#endif /* FRAMEWORK_OSAL_FREERTOS_TIMEKEEPER_H_ */
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@ -49,7 +49,7 @@ class Service11TelecommandScheduling final : public PusServiceBase {
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//! [EXPORT] : [COMMENT] Deletion of a TC from the map failed.
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//! P1: First 32 bit of request ID, P2. Last 32 bit of Request ID
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static constexpr Event TC_DELETION_FAILED = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
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static constexpr Event TC_DELETION_FAILED = MAKE_EVENT(0, severity::MEDIUM);
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// The types of PUS-11 subservices
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enum Subservice : uint8_t {
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@ -53,17 +53,17 @@ void fsfwPrint(sif::PrintLevel printType, const char *fmt, va_list arg) {
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#endif
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if (printType == sif::PrintLevel::INFO_LEVEL) {
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len += sprintf(bufferPosition + len, "INFO");
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len += sprintf(bufferPosition + len, "INFO ");
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}
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if (printType == sif::PrintLevel::DEBUG_LEVEL) {
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len += sprintf(bufferPosition + len, "DEBUG");
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len += sprintf(bufferPosition + len, "DEBUG ");
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}
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if (printType == sif::PrintLevel::WARNING_LEVEL) {
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len += sprintf(bufferPosition + len, "WARNING");
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}
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if (printType == sif::PrintLevel::ERROR_LEVEL) {
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len += sprintf(bufferPosition + len, "ERROR");
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len += sprintf(bufferPosition + len, "ERROR ");
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}
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#if FSFW_COLORED_OUTPUT == 1
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@ -75,7 +75,7 @@ void fsfwPrint(sif::PrintLevel printType, const char *fmt, va_list arg) {
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/*
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* Log current time to terminal if desired.
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*/
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len += sprintf(bufferPosition + len, " | %lu:%02lu:%02lu.%03lu | ", (unsigned long)now.hour,
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len += sprintf(bufferPosition + len, " | %02lu:%02lu:%02lu.%03lu | ", (unsigned long)now.hour,
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(unsigned long)now.minute, (unsigned long)now.second,
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(unsigned long)now.usecond / 1000);
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@ -79,22 +79,36 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
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}
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if (healthHelper.healthTable->hasHealth(object)) {
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if (healthHelper.healthTable->isFaulty(object)) {
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ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND, HasModesIF::MODE_OFF,
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SUBMODE_NONE);
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} else {
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if (modeHelper.isForced()) {
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ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND_FORCED,
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tableIter.value->getMode(), submodeToCommand);
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} else {
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if (healthHelper.healthTable->isCommandable(object)) {
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switch (healthHelper.healthTable->getHealth(object)) {
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case NEEDS_RECOVERY:
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case FAULTY:
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case PERMANENT_FAULTY:
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ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND, HasModesIF::MODE_OFF,
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SUBMODE_NONE);
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break;
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case HEALTHY:
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if (modeHelper.isForced()) {
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ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND_FORCED,
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tableIter.value->getMode(), submodeToCommand);
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} else {
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ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND,
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tableIter.value->getMode(), submodeToCommand);
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}
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break;
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case EXTERNAL_CONTROL:
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if (modeHelper.isForced()) {
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ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND_FORCED,
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tableIter.value->getMode(), submodeToCommand);
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} else {
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continue;
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}
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}
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break;
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default:
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// This never happens
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break;
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}
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} else {
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ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND,
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tableIter.value->getMode(), submodeToCommand);
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@ -25,7 +25,7 @@ static constexpr ReturnValue_t INCORRECT_SECONDARY_HEADER = MAKE_RETURN_CODE(11)
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static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::TMTC_DISTRIBUTION;
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//! P1: Returnvalue, P2: 0 for TM issues, 1 for TC issues
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static constexpr Event HANDLE_PACKET_FAILED = event::makeEvent(SUBSYSTEM_ID, 0, severity::LOW);
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static constexpr Event HANDLE_PACKET_FAILED = MAKE_EVENT(0, severity::LOW);
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}; // namespace tmtcdistrib
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#endif // FSFW_TMTCPACKET_DEFINITIONS_H
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@ -142,7 +142,7 @@ class TemperatureSensor : public AbstractTemperatureSensor {
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deltaTime = (uptime.tv_sec + uptime.tv_usec / 1000000.) -
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(uptimeOfOldTemperature.tv_sec + uptimeOfOldTemperature.tv_usec / 1000000.);
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deltaTemp = oldTemperature - outputTemperature;
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deltaTemp = oldTemperature - outputTemperature.value;
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if (deltaTemp < 0) {
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deltaTemp = -deltaTemp;
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}
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@ -160,13 +160,13 @@ class TemperatureSensor : public AbstractTemperatureSensor {
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outputTemperature.setValid(PoolVariableIF::INVALID);
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outputTemperature = thermal::INVALID_TEMPERATURE;
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} else {
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oldTemperature = outputTemperature;
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oldTemperature = outputTemperature.value;
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uptimeOfOldTemperature = uptime;
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}
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}
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public:
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float getTemperature() { return outputTemperature; }
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float getTemperature() { return outputTemperature.value; }
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bool isValid() { return outputTemperature.isValid(); }
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@ -192,6 +192,8 @@ class Clock {
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static MutexIF *timeMutex;
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static uint16_t leapSeconds;
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static bool leapSecondsSet;
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static bool monotonicClockInitialized;
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static timeval monotonicClockOffset;
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};
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#endif /* FSFW_TIMEMANAGER_CLOCK_H_ */
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