Merge remote-tracking branch 'origin/main' into event-definition

Reviewed-on: #49

CHANGELOG.md

@@ -26,6 +26,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Added
 
+- FreeRTOS monotonic clock which is not subjected to time jumps of the system clock
 - add CFDP subsystem ID
   https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/742
 - `PusTmZcWriter` now exposes API to set message counter field.

src/fsfw/datapool/PoolVariable.h

@@ -210,6 +210,7 @@ inline ReturnValue_t PoolVariable<T>::readWithoutLock() {
   }
 
   this->value = *(poolEntry->getDataPtr());
+  this->valid = poolEntry->getValid();
   return returnvalue::OK;
 }
 
@@ -241,6 +242,7 @@ ReturnValue_t PoolVariable<T>::commitWithoutLock() {
   }
 
   *(poolEntry->getDataPtr()) = this->value;
+  poolEntry->setValid(this->valid);
   return returnvalue::OK;
 }
 

src/fsfw/osal/freertos/Clock.cpp

@@ -5,6 +5,7 @@
 
 #include "FreeRTOS.h"
 #include "fsfw/globalfunctions/timevalOperations.h"
+#include "fsfw/serviceinterface/ServiceInterfacePrinter.h"
 #include "fsfw/osal/freertos/Timekeeper.h"
 #include "task.h"
 
@@ -47,8 +48,8 @@ ReturnValue_t Clock::getClock(timeval* time) {
 }
 
 ReturnValue_t Clock::getClockMonotonic(timeval* time) {
-  // TODO: I don't actually know if the timekeeper is monotonic..
-  return getClock_timeval(time);
+	*time = Timekeeper::instance()->getMonotonicClockOffset() + getUptime();
+  return returnvalue::OK;
 }
 
 ReturnValue_t Clock::getUptime(timeval* uptime) {
@@ -58,7 +59,7 @@ ReturnValue_t Clock::getUptime(timeval* uptime) {
 }
 
 timeval Clock::getUptime() {
-  TickType_t ticksSinceStart = xTaskGetTickCount();
+  TickType_t ticksSinceStart = Timekeeper::instance()->getTicks();
   return Timekeeper::ticksToTimeval(ticksSinceStart);
 }
 

src/fsfw/osal/freertos/Timekeeper.cpp

@@ -17,7 +17,13 @@ Timekeeper* Timekeeper::instance() {
   return myinstance;
 }
 
-void Timekeeper::setOffset(const timeval& offset) { this->offset = offset; }
+void Timekeeper::setOffset(const timeval& offset) {
+	if (not monotonicClockInitialized) {
+		this->monotonicClockOffset = offset;
+		monotonicClockInitialized = true;
+	}
+	this->offset = offset;
+}
 
 timeval Timekeeper::ticksToTimeval(TickType_t ticks) {
   timeval uptime;
@@ -33,3 +39,7 @@ timeval Timekeeper::ticksToTimeval(TickType_t ticks) {
 }
 
 TickType_t Timekeeper::getTicks() { return xTaskGetTickCount(); }
+
+const timeval Timekeeper::getMonotonicClockOffset() const {
+	return monotonicClockOffset;
+}

src/fsfw/osal/freertos/Timekeeper.h

@@ -18,9 +18,14 @@ class Timekeeper {
   Timekeeper();
 
   timeval offset;
+  // Set when offset is initialized the first time
+  timeval monotonicClockOffset;
+  bool monotonicClockInitialized = false;
 
   static Timekeeper* myinstance;
 
+  void setMonotonicClockOffset(const timeval& monotonicClockOffset);
+
  public:
   static Timekeeper* instance();
   virtual ~Timekeeper();
@@ -34,6 +39,7 @@ class Timekeeper {
 
   const timeval& getOffset() const;
   void setOffset(const timeval& offset);
+  const timeval getMonotonicClockOffset() const;
 };
 
 #endif /* FRAMEWORK_OSAL_FREERTOS_TIMEKEEPER_H_ */

src/fsfw/pus/Service11TelecommandScheduling.h

@@ -49,7 +49,7 @@ class Service11TelecommandScheduling final : public PusServiceBase {
 
   //! [EXPORT] : [COMMENT] Deletion of a TC from the map failed.
   //! P1: First 32 bit of request ID, P2. Last 32 bit of Request ID
-  static constexpr Event TC_DELETION_FAILED = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
+  static constexpr Event TC_DELETION_FAILED = MAKE_EVENT(0, severity::MEDIUM);
 
   // The types of PUS-11 subservices
   enum Subservice : uint8_t {

src/fsfw/serviceinterface/ServiceInterfacePrinter.cpp

@@ -53,17 +53,17 @@ void fsfwPrint(sif::PrintLevel printType, const char *fmt, va_list arg) {
 #endif
 
   if (printType == sif::PrintLevel::INFO_LEVEL) {
-    len += sprintf(bufferPosition + len, "INFO");
+    len += sprintf(bufferPosition + len, "INFO   ");
   }
   if (printType == sif::PrintLevel::DEBUG_LEVEL) {
-    len += sprintf(bufferPosition + len, "DEBUG");
+    len += sprintf(bufferPosition + len, "DEBUG  ");
   }
   if (printType == sif::PrintLevel::WARNING_LEVEL) {
     len += sprintf(bufferPosition + len, "WARNING");
   }
 
   if (printType == sif::PrintLevel::ERROR_LEVEL) {
-    len += sprintf(bufferPosition + len, "ERROR");
+    len += sprintf(bufferPosition + len, "ERROR  ");
   }
 
 #if FSFW_COLORED_OUTPUT == 1
@@ -75,7 +75,7 @@ void fsfwPrint(sif::PrintLevel printType, const char *fmt, va_list arg) {
   /*
    * Log current time to terminal if desired.
    */
-  len += sprintf(bufferPosition + len, " | %lu:%02lu:%02lu.%03lu | ", (unsigned long)now.hour,
+  len += sprintf(bufferPosition + len, " | %02lu:%02lu:%02lu.%03lu | ", (unsigned long)now.hour,
                  (unsigned long)now.minute, (unsigned long)now.second,
                  (unsigned long)now.usecond / 1000);
 

src/fsfw/subsystem/SubsystemBase.cpp

@@ -79,22 +79,36 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
     }
 
     if (healthHelper.healthTable->hasHealth(object)) {
-      if (healthHelper.healthTable->isFaulty(object)) {
-        ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND, HasModesIF::MODE_OFF,
-                                    SUBMODE_NONE);
-      } else {
-        if (modeHelper.isForced()) {
-          ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND_FORCED,
-                                      tableIter.value->getMode(), submodeToCommand);
-        } else {
-          if (healthHelper.healthTable->isCommandable(object)) {
+
+      switch (healthHelper.healthTable->getHealth(object)) {
+        case NEEDS_RECOVERY:
+        case FAULTY:
+        case PERMANENT_FAULTY:
+          ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND, HasModesIF::MODE_OFF,
+                                      SUBMODE_NONE);
+          break;
+        case HEALTHY:
+          if (modeHelper.isForced()) {
+            ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND_FORCED,
+                                        tableIter.value->getMode(), submodeToCommand);
+          } else {
             ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND,
                                         tableIter.value->getMode(), submodeToCommand);
+          }
+          break;
+        case EXTERNAL_CONTROL:
+          if (modeHelper.isForced()) {
+            ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND_FORCED,
+                                        tableIter.value->getMode(), submodeToCommand);
           } else {
             continue;
           }
-        }
+          break;
+        default:
+          // This never happens
+          break;
       }
+
     } else {
       ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND,
                                   tableIter.value->getMode(), submodeToCommand);

src/fsfw/tcdistribution/definitions.h

@@ -25,7 +25,7 @@ static constexpr ReturnValue_t INCORRECT_SECONDARY_HEADER = MAKE_RETURN_CODE(11)
 
 static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::TMTC_DISTRIBUTION;
 //! P1: Returnvalue, P2: 0 for TM issues, 1 for TC issues
-static constexpr Event HANDLE_PACKET_FAILED = event::makeEvent(SUBSYSTEM_ID, 0, severity::LOW);
+static constexpr Event HANDLE_PACKET_FAILED = MAKE_EVENT(0, severity::LOW);
 
 };  // namespace tmtcdistrib
 #endif  // FSFW_TMTCPACKET_DEFINITIONS_H

src/fsfw/thermal/TemperatureSensor.h

@@ -142,7 +142,7 @@ class TemperatureSensor : public AbstractTemperatureSensor {
 
       deltaTime = (uptime.tv_sec + uptime.tv_usec / 1000000.) -
                   (uptimeOfOldTemperature.tv_sec + uptimeOfOldTemperature.tv_usec / 1000000.);
-      deltaTemp = oldTemperature - outputTemperature;
+      deltaTemp = oldTemperature - outputTemperature.value;
       if (deltaTemp < 0) {
         deltaTemp = -deltaTemp;
       }
@@ -160,13 +160,13 @@ class TemperatureSensor : public AbstractTemperatureSensor {
       outputTemperature.setValid(PoolVariableIF::INVALID);
       outputTemperature = thermal::INVALID_TEMPERATURE;
     } else {
-      oldTemperature = outputTemperature;
+      oldTemperature = outputTemperature.value;
       uptimeOfOldTemperature = uptime;
     }
   }
 
  public:
-  float getTemperature() { return outputTemperature; }
+  float getTemperature() { return outputTemperature.value; }
 
   bool isValid() { return outputTemperature.isValid(); }
 

src/fsfw/timemanager/Clock.h

@@ -192,6 +192,8 @@ class Clock {
   static MutexIF *timeMutex;
   static uint16_t leapSeconds;
   static bool leapSecondsSet;
+  static bool monotonicClockInitialized;
+  static timeval monotonicClockOffset;
 };
 
 #endif /* FSFW_TIMEMANAGER_CLOCK_H_ */