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event-defi
Author | SHA1 | Date | |
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faeca1b419 | |||
7b6981e162 | |||
b8979d8f90 | |||
9557db7036 | |||
c9fcabccd6 | |||
ecd36f5e52 | |||
fc19c0838e | |||
8c3f366d1a | |||
6efb2641a7 | |||
260bbad9a0 | |||
9edd6221f8 | |||
735e341aab | |||
921bfb1e99 | |||
5b1651e1a6 | |||
e916b9b096 | |||
b14e761bad | |||
33f3ae2434 | |||
f0087d5b0d | |||
69c33587e8 | |||
d1bf04cc29 | |||
8e3bc1b8aa | |||
64f97fc3ba | |||
1427fbd2fe | |||
81cd8bd290 |
@ -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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@ -5,28 +5,28 @@
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#include "fwSubsystemIdRanges.h"
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using EventId_t = uint16_t;
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using EventSeverity_t = uint8_t;
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using UniqueEventId_t = uint8_t;
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using GroupId_t = uint16_t;
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using UniqueEventId_t = uint16_t;
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namespace severity {
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enum Severity : EventSeverity_t { INFO = 1, LOW = 2, MEDIUM = 3, HIGH = 4 };
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enum Severity : EventSeverity_t { INFO = 0, LOW = 1, MEDIUM = 2, HIGH = 3 };
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} // namespace severity
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#define MAKE_EVENT(id, severity) (((severity) << 16) + (SUBSYSTEM_ID * 100) + (id))
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#define MAKE_EVENT(id, severity) (((severity) << 30) | (SUBSYSTEM_ID << 16) | id)
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typedef uint32_t Event;
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namespace event {
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constexpr EventId_t getEventId(Event event) { return (event & 0xFFFF); }
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constexpr UniqueEventId_t getEventId(Event event) { return (event & 0xFFFF); }
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constexpr EventSeverity_t getSeverity(Event event) { return ((event >> 16) & 0xFF); }
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constexpr EventSeverity_t getSeverity(Event event) { return ((event >> 30) & 0b11); }
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constexpr Event makeEvent(uint8_t subsystemId, UniqueEventId_t uniqueEventId,
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constexpr Event makeEvent(GroupId_t groupId, UniqueEventId_t uniqueEventId,
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EventSeverity_t eventSeverity) {
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return (eventSeverity << 16) + (subsystemId * 100) + uniqueEventId;
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return (eventSeverity << 30) | (groupId << 16) | uniqueEventId;
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}
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} // namespace event
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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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@ -44,7 +44,7 @@ ReturnValue_t Service5EventReporting::performService() {
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}
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ReturnValue_t Service5EventReporting::generateEventReport(EventMessage message) {
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EventReport report(message.getEventId(), message.getReporter(), message.getParameter1(),
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EventReport report(message.getEvent(), message.getReporter(), message.getParameter1(),
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message.getParameter2());
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storeHelper.preparePacket(psbParams.serviceId, message.getSeverity(), tmHelper.sendCounter);
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storeHelper.setSourceDataSerializable(report);
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@ -17,17 +17,13 @@
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*/
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class EventReport : public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 1, 2, 3, 4
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public:
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EventReport(EventId_t reportId_, object_id_t objectId_, uint32_t parameter1_,
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uint32_t parameter2_)
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: reportId(reportId_),
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objectId(objectId_),
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parameter1(parameter1_),
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parameter2(parameter2_) {}
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EventReport(Event event_, object_id_t objectId_, uint32_t parameter1_, uint32_t parameter2_)
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: event(event_), objectId(objectId_), parameter1(parameter1_), parameter2(parameter2_) {}
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ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
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SerializeIF::Endianness streamEndianness) const override {
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ReturnValue_t result =
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SerializeAdapter::serialize(&reportId, buffer, size, maxSize, streamEndianness);
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SerializeAdapter::serialize(&event, buffer, size, maxSize, streamEndianness);
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if (result != returnvalue::OK) {
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return result;
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}
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@ -48,7 +44,7 @@ class EventReport : public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 1, 2, 3,
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size_t getSerializedSize() const override {
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uint32_t size = 0;
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size += SerializeAdapter::getSerializedSize(&reportId);
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size += SerializeAdapter::getSerializedSize(&event);
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size += SerializeAdapter::getSerializedSize(&objectId);
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size += SerializeAdapter::getSerializedSize(¶meter1);
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size += SerializeAdapter::getSerializedSize(¶meter2);
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@ -61,7 +57,7 @@ class EventReport : public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 1, 2, 3,
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}
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private:
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EventId_t reportId;
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Event event;
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object_id_t objectId;
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uint32_t parameter1;
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uint32_t parameter2;
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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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@ -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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