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Author SHA1 Message Date
49eaeae42b Merge pull request 'Adaptions to make shared power lines possible' (#57) from spahr/shared into main
Reviewed-on: #57
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>
2025-04-28 13:50:31 +02:00
7bfc536cf6 Merge branch 'main' into spahr/shared 2025-04-28 13:50:23 +02:00
1da7f7f122 Merge pull request 'Added STOP_DOWNLINK_STORE_CONTENT for Service [15,17]' (#58) from hoffmann/TmStoreMessage into main
Reviewed-on: #58
2025-04-21 19:21:40 +02:00
aa443e6aa6 Added STOP_DOWNLINK_STORE_CONTENT for Service [15,17] 2025-04-21 17:05:58 +02:00
b13b5b456d Give AssemblyBase more functionality: Support one-by-one commanding for childrend instead of sending all mode messages on one shot 2025-04-14 00:06:34 +02:00
297ec261ce make the recovery timeout accessable to the user 2025-04-04 10:11:11 +02:00
95520d7d0c Check if objectId exists in childrednmap first; this will prevent a hardfault 2025-04-02 22:18:31 +02:00
b665b2effe add an adaption point which a user can use to convert a objectId of a shared power switch into a objectId of a device handler 2025-04-02 22:13:50 +02:00
7ae58f8125 Merge pull request 'Send HK One Parameter Report back to Sender' (#56) from meier/hk-report-reply-queue into main
Reviewed-on: #56
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>
2025-04-02 14:04:46 +02:00
7784a26a10 Merge branch 'main' into meier/hk-report-reply-queue 2025-04-02 14:04:37 +02:00
3afd0c8d3c updated changelog 2025-04-01 17:25:02 +02:00
71623d5314 Merge commit 'f01e58a7' into meier/hk-report-reply-queue 2025-04-01 14:18:07 +02:00
daac5ea727 Merge pull request 'spahr/handleRecoveryEvents' (#54) from spahr/handleRecoveryEvents into main
Reviewed-on: #54
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>
2025-04-01 14:07:10 +02:00
2c01b83b75 Merge branch 'main' into spahr/handleRecoveryEvents 2025-04-01 14:06:36 +02:00
f01e58a757 Merge pull request 'seems like this should set the serializables to .get().setValid(valid) instead of true' (#55) from mdemke/hotfix_hk__setChildrenValidity into main
Reviewed-on: #55
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>
2025-03-31 12:25:06 +02:00
40be8ebef5 seems like this should set the serializables to .get().setValid(valid) instead of true 2025-03-28 00:41:40 +01:00
2af6e85f87 send hk report back to sender instead of default destination 2025-03-23 12:35:40 +01:00
d8ac312e85 remove event because it's no longer needed. 2025-03-22 10:01:01 +01:00
1e12753533 add device object id to event 2025-03-22 09:49:44 +01:00
b7699b327b add two new events for the recovery process, to make debug and output more clear. This also makes a recovery process more clear for OPS. 2025-03-22 09:48:30 +01:00
9945f72eaf improve documentation for event 2025-03-22 09:40:31 +01:00
55b8d01b93 Merge pull request 'Compile time const event definitions and compile error for unique IDs above limit' (#53) from baumgartl/events into main
Reviewed-on: #53
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>
2025-03-18 14:39:34 +01:00
8cb1d84c58 fixed event definition for archive/mgm and pus 11 2025-03-12 22:18:55 +01:00
8801dfa31d implemented event limit. TODO: adjust generator parsing and usage in src-obsw 2025-03-12 21:46:48 +01:00
b8979d8f90 Merge pull request 'Improve readability of SubsystemBase::executeTable' (#49) from spahr/SubsystemBase into main
Reviewed-on: #49
2025-02-19 11:26:36 +01:00
9557db7036 Merge branch 'main' into spahr/SubsystemBase 2025-02-19 11:26:26 +01:00
c9fcabccd6 Merge pull request 'Missing valid flag update in readWithoutLock and commitWithoutLock' (#48) from bugfix-poolvariable into main
Reviewed-on: #48
2025-02-19 11:26:04 +01:00
ecd36f5e52 Merge branch 'main' into bugfix-poolvariable 2025-02-19 11:25:52 +01:00
fc19c0838e Merge pull request 'Formatting of debug printout' (#50) from spahr/formattingForDebugPrintout into main
Reviewed-on: #50
2025-02-19 11:24:39 +01:00
8c3f366d1a formatting for time prinout 2025-02-16 17:36:22 +01:00
6efb2641a7 Re-write the logic in executeTable() to improve the readabilty of the code. This gets rid of the usage of isFaulty() (which is misleading), and removes nexted if-statements 2025-02-16 17:07:40 +01:00
260bbad9a0 Modify the hard-coded strings which are printed to into the debug session to enforce alignment of all printouts, regardless of their printlevel (info, debug, warning, error). 2025-02-14 19:02:57 +01:00
9edd6221f8 Missing valid flag update in readWithoutLock and commitWithoutLock 2025-02-11 15:16:27 +01:00
735e341aab Merge pull request 'temperaturesensor-bugfix' (#47) from temperaturesensor-bugfix into main
Reviewed-on: #47
2025-01-21 14:33:29 +01:00
921bfb1e99 Merge branch 'main' into temperaturesensor-bugfix 2025-01-21 14:31:59 +01:00
5b1651e1a6 Merge pull request 'Update HK and datapool handling' (#45) from update-hk-handling-datapools into main
Reviewed-on: #45
2025-01-08 10:38:34 +01:00
e916b9b096 fix for CMakeLists.txt 2025-01-07 10:50:37 +01:00
b14e761bad small typo 2025-01-07 10:50:37 +01:00
33f3ae2434 Update and clean up HK and Local Pool Modules 2025-01-07 10:50:37 +01:00
f0087d5b0d Merge pull request 'FreeRTOS Monotonic Clock' (#46) from meier/freertos-monotonic-clock into main
Reviewed-on: #46
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>
2025-01-07 10:33:29 +01:00
69c33587e8 Merge remote-tracking branch 'origin/main' into temperaturesensor-bugfix 2024-12-31 10:51:11 +01:00
d1bf04cc29 Merge branch 'main' into meier/freertos-monotonic-clock 2024-12-25 10:20:22 +01:00
8e3bc1b8aa updated changelog 2024-12-23 12:07:54 +01:00
64f97fc3ba implemented freertos monotonic clock 2024-12-23 12:02:29 +01:00
1427fbd2fe added monotonic clock which is independend of clock jumps in the system clock 2024-12-22 18:37:44 +01:00
81cd8bd290 did not build before 2024-12-15 23:52:32 +01:00
22 changed files with 131 additions and 51 deletions

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@ -26,6 +26,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
## Added ## Added
- FreeRTOS monotonic clock which is not subjected to time jumps of the system clock
- add CFDP subsystem ID - add CFDP subsystem ID
https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/742 https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/742
- `PusTmZcWriter` now exposes API to set message counter field. - `PusTmZcWriter` now exposes API to set message counter field.
@ -34,6 +35,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
## Changed ## Changed
- send HK one-parameter-report back to sender instead of default hk queue
- Complete overhaul of HK subsystem. Replaced local data pool manager by periodic HK - Complete overhaul of HK subsystem. Replaced local data pool manager by periodic HK
helper. The shared pool and the periodic HK generation are now distinct concepts. helper. The shared pool and the periodic HK generation are now distinct concepts.
- The local HK manager was replaced by a periodic HK helper which has reduced responsibilities. - The local HK manager was replaced by a periodic HK helper which has reduced responsibilities.

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@ -18,13 +18,13 @@ class MgmRM3100Handler : public DeviceHandlerBase {
static const uint8_t INTERFACE_ID = CLASS_ID::MGM_RM3100; static const uint8_t INTERFACE_ID = CLASS_ID::MGM_RM3100;
//! [EXPORT] : [COMMENT] P1: TMRC value which was set, P2: 0 //! [EXPORT] : [COMMENT] P1: TMRC value which was set, P2: 0
static constexpr Event tmrcSet = event::makeEvent(SUBSYSTEM_ID::MGM_RM3100, 0x00, severity::INFO); static constexpr Event tmrcSet = event::makeEvent<SUBSYSTEM_ID::MGM_RM3100, 0x00, severity::INFO>();
//! [EXPORT] : [COMMENT] Cycle counter set. P1: First two bytes new Cycle Count X //! [EXPORT] : [COMMENT] Cycle counter set. P1: First two bytes new Cycle Count X
//! P1: Second two bytes new Cycle Count Y //! P1: Second two bytes new Cycle Count Y
//! P2: New cycle count Z //! P2: New cycle count Z
static constexpr Event cycleCountersSet = static constexpr Event cycleCountersSet =
event::makeEvent(SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO); event::makeEvent<SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO>();
MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie, MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
uint32_t transitionDelay); uint32_t transitionDelay);

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@ -19,13 +19,13 @@ struct FsfwParams {
}; };
namespace events { namespace events {
static constexpr Event PDU_SEND_ERROR = event::makeEvent(SSID, 1, severity::LOW); static constexpr Event PDU_SEND_ERROR = event::makeEvent<SSID, 1, severity::LOW>();
static constexpr Event SERIALIZATION_ERROR = event::makeEvent(SSID, 2, severity::LOW); static constexpr Event SERIALIZATION_ERROR = event::makeEvent<SSID, 2, severity::LOW>();
static constexpr Event FILESTORE_ERROR = event::makeEvent(SSID, 3, severity::LOW); static constexpr Event FILESTORE_ERROR = event::makeEvent<SSID, 3, severity::LOW>();
//! [EXPORT] : [COMMENT] P1: Transaction step ID, P2: 0 for source file name, 1 for dest file name //! [EXPORT] : [COMMENT] P1: Transaction step ID, P2: 0 for source file name, 1 for dest file name
static constexpr Event FILENAME_TOO_LARGE_ERROR = event::makeEvent(SSID, 4, severity::LOW); static constexpr Event FILENAME_TOO_LARGE_ERROR = event::makeEvent<SSID, 4, severity::LOW>();
//! [EXPORT] : [COMMENT] CFDP request handling failed. P2: Returncode. //! [EXPORT] : [COMMENT] CFDP request handling failed. P2: Returncode.
static constexpr Event HANDLING_CFDP_REQUEST_FAILED = event::makeEvent(SSID, 5, severity::LOW); static constexpr Event HANDLING_CFDP_REQUEST_FAILED = event::makeEvent<SSID, 5, severity::LOW>();
} // namespace events } // namespace events
static constexpr ReturnValue_t SOURCE_TRANSACTION_PENDING = returnvalue::makeCode(CID, 0); static constexpr ReturnValue_t SOURCE_TRANSACTION_PENDING = returnvalue::makeCode(CID, 0);

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

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@ -71,7 +71,7 @@ bool AssemblyBase::handleChildrenChangedHealth() {
if (iter == childrenMap.end()) { if (iter == childrenMap.end()) {
return false; return false;
} }
HealthState healthState = healthHelper.healthTable->getHealth(iter->first); HealthState healthState = healthHelper.healthTable->getHealth(convertToDeviceObjectId(iter->first));
if (healthState == HasHealthIF::NEEDS_RECOVERY) { if (healthState == HasHealthIF::NEEDS_RECOVERY) {
triggerEvent(TRYING_RECOVERY, iter->first, 0); triggerEvent(TRYING_RECOVERY, iter->first, 0);
recoveryState = RECOVERY_STARTED; recoveryState = RECOVERY_STARTED;
@ -92,10 +92,15 @@ void AssemblyBase::handleChildrenTransition() {
if (commandsOutstanding <= 0) { if (commandsOutstanding <= 0) {
switch (internalState) { switch (internalState) {
case STATE_NEED_SECOND_STEP: case STATE_NEED_SECOND_STEP:
{
internalState = STATE_SECOND_STEP; internalState = STATE_SECOND_STEP;
commandChildren(targetMode, targetSubmode); ReturnValue_t result = commandChildren(targetMode, targetSubmode);
if(result == NEED_SECOND_STEP) {
internalState = STATE_NEED_SECOND_STEP;
}
return; return;
case STATE_OVERWRITE_HEALTH: { }
case STATE_OVERWRITE_HEALTH: {
internalState = STATE_SINGLE_STEP; internalState = STATE_SINGLE_STEP;
ReturnValue_t result = commandChildren(mode, submode); ReturnValue_t result = commandChildren(mode, submode);
if (result == NEED_SECOND_STEP) { if (result == NEED_SECOND_STEP) {
@ -170,7 +175,7 @@ ReturnValue_t AssemblyBase::checkChildrenStateOff() {
ReturnValue_t AssemblyBase::checkChildOff(uint32_t objectId) { ReturnValue_t AssemblyBase::checkChildOff(uint32_t objectId) {
ChildInfo childInfo = childrenMap.find(objectId)->second; ChildInfo childInfo = childrenMap.find(objectId)->second;
if (healthHelper.healthTable->isCommandable(objectId)) { if (healthHelper.healthTable->isCommandable(convertToDeviceObjectId(objectId))) {
if (childInfo.submode != SUBMODE_NONE) { if (childInfo.submode != SUBMODE_NONE) {
return returnvalue::FAILED; return returnvalue::FAILED;
} else { } else {
@ -227,7 +232,7 @@ bool AssemblyBase::checkAndHandleRecovery() {
case RECOVERY_STARTED: case RECOVERY_STARTED:
// The recovery was already start in #handleChildrenChangedHealth and we just need // The recovery was already start in #handleChildrenChangedHealth and we just need
// to wait for an off time period. // to wait for an off time period.
// TODO: make time period configurable // The timeout can be defined by #setRecoveryWaitTimer
recoveryState = RECOVERY_WAIT; recoveryState = RECOVERY_WAIT;
recoveryOffTimer.resetTimer(); recoveryOffTimer.resetTimer();
return true; return true;
@ -235,14 +240,14 @@ bool AssemblyBase::checkAndHandleRecovery() {
if (recoveryOffTimer.isBusy()) { if (recoveryOffTimer.isBusy()) {
return true; return true;
} }
triggerEvent(RECOVERY_STEP, 0); triggerEvent(RECOVERY_WAITING, recoveringDevice->first);
sendHealthCommand(recoveringDevice->second.commandQueue, HEALTHY); sendHealthCommand(recoveringDevice->second.commandQueue, HEALTHY);
internalState = STATE_NONE; internalState = STATE_NONE;
recoveryState = RECOVERY_ONGOING; recoveryState = RECOVERY_ONGOING;
// Don't check state! // Don't check state!
return true; return true;
case RECOVERY_ONGOING: case RECOVERY_ONGOING:
triggerEvent(RECOVERY_STEP, 1); triggerEvent(RECOVERY_RESTARTING, recoveringDevice->first);
recoveryState = RECOVERY_ONGOING_2; recoveryState = RECOVERY_ONGOING_2;
recoveringDevice->second.healthChanged = false; recoveringDevice->second.healthChanged = false;
// Device should be healthy again, so restart a transition. // Device should be healthy again, so restart a transition.
@ -250,7 +255,7 @@ bool AssemblyBase::checkAndHandleRecovery() {
doStartTransition(targetMode, targetSubmode); doStartTransition(targetMode, targetSubmode);
return true; return true;
case RECOVERY_ONGOING_2: case RECOVERY_ONGOING_2:
triggerEvent(RECOVERY_DONE); triggerEvent(RECOVERY_DONE, recoveringDevice->first);
// Now we're through, but not sure if it was successful. // Now we're through, but not sure if it was successful.
recoveryState = RECOVERY_IDLE; recoveryState = RECOVERY_IDLE;
return false; return false;
@ -264,7 +269,15 @@ void AssemblyBase::overwriteDeviceHealth(object_id_t objectId, HasHealthIF::Heal
triggerEvent(OVERWRITING_HEALTH, objectId, oldHealth); triggerEvent(OVERWRITING_HEALTH, objectId, oldHealth);
internalState = STATE_OVERWRITE_HEALTH; internalState = STATE_OVERWRITE_HEALTH;
modeHelper.setForced(true); modeHelper.setForced(true);
sendHealthCommand(childrenMap[objectId].commandQueue, EXTERNAL_CONTROL); if(childrenMap.find(objectId) != childrenMap.end()) {
sendHealthCommand(childrenMap.at(objectId).commandQueue, EXTERNAL_CONTROL);
} else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << std::hex << SystemObject::getObjectId() << ": invalid mode table entry"
<< std::endl;
#endif
}
} }
void AssemblyBase::triggerModeHelperEvents(Mode_t mode, Submode_t submode) { void AssemblyBase::triggerModeHelperEvents(Mode_t mode, Submode_t submode) {
@ -274,3 +287,7 @@ void AssemblyBase::triggerModeHelperEvents(Mode_t mode, Submode_t submode) {
triggerEvent(CHANGING_MODE, mode, submode); triggerEvent(CHANGING_MODE, mode, submode);
} }
} }
void AssemblyBase::setRecoveryWaitTimer(uint32_t timeoutMS) {
recoveryOffTimer.setTimeout(timeoutMS);
}

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@ -206,6 +206,8 @@ class AssemblyBase : public SubsystemBase {
void overwriteDeviceHealth(object_id_t objectId, HasHealthIF::HealthState oldHealth); void overwriteDeviceHealth(object_id_t objectId, HasHealthIF::HealthState oldHealth);
void triggerModeHelperEvents(Mode_t mode, Submode_t submode); void triggerModeHelperEvents(Mode_t mode, Submode_t submode);
void setRecoveryWaitTimer(uint32_t timeoutMS);
}; };
#endif /* FSFW_DEVICEHANDLERS_ASSEMBLYBASE_H_ */ #endif /* FSFW_DEVICEHANDLERS_ASSEMBLYBASE_H_ */

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@ -14,8 +14,6 @@ enum Severity : EventSeverity_t { INFO = 1, LOW = 2, MEDIUM = 3, HIGH = 4 };
} // namespace severity } // namespace severity
#define MAKE_EVENT(id, severity) (((severity) << 16) + (SUBSYSTEM_ID * 100) + (id))
typedef uint32_t Event; typedef uint32_t Event;
namespace event { namespace event {
@ -24,11 +22,14 @@ constexpr EventId_t getEventId(Event event) { return (event & 0xFFFF); }
constexpr EventSeverity_t getSeverity(Event event) { return ((event >> 16) & 0xFF); } constexpr EventSeverity_t getSeverity(Event event) { return ((event >> 16) & 0xFF); }
constexpr Event makeEvent(uint8_t subsystemId, UniqueEventId_t uniqueEventId, template<uint8_t subsystemId, UniqueEventId_t uniqueEventId, EventSeverity_t eventSeverity>
EventSeverity_t eventSeverity) { constexpr Event makeEvent() {
static_assert(uniqueEventId < 100, "The unique event ID must be smaller than 100!");
return (eventSeverity << 16) + (subsystemId * 100) + uniqueEventId; return (eventSeverity << 16) + (subsystemId * 100) + uniqueEventId;
} }
} // namespace event } // namespace event
#define MAKE_EVENT(id, severity) event::makeEvent<SUBSYSTEM_ID, id, severity>();
#endif /* EVENTOBJECT_EVENT_H_ */ #endif /* EVENTOBJECT_EVENT_H_ */

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@ -27,13 +27,19 @@ class HasHealthIF {
static const Event CHILD_PROBLEMS = MAKE_EVENT(8, severity::LOW); static const Event CHILD_PROBLEMS = MAKE_EVENT(8, severity::LOW);
//! Assembly overwrites health information of children to keep satellite alive. //! Assembly overwrites health information of children to keep satellite alive.
static const Event OVERWRITING_HEALTH = MAKE_EVENT(9, severity::LOW); static const Event OVERWRITING_HEALTH = MAKE_EVENT(9, severity::LOW);
//! Someone starts a recovery of a component (typically power-cycle). No parameters. //! Someone starts a recovery of a component (typically power-cycle).
//! P1: Object Id of the recovering device.
static const Event TRYING_RECOVERY = MAKE_EVENT(10, severity::MEDIUM); static const Event TRYING_RECOVERY = MAKE_EVENT(10, severity::MEDIUM);
//! Recovery is ongoing. Comes twice during recovery.
//! P1: 0 for the first, 1 for the second event. P2: 0
static const Event RECOVERY_STEP = MAKE_EVENT(11, severity::MEDIUM);
//! Recovery was completed. Not necessarily successful. No parameters. //! Recovery was completed. Not necessarily successful. No parameters.
//! P1: Object Id of the recovering device.
static const Event RECOVERY_DONE = MAKE_EVENT(12, severity::MEDIUM); static const Event RECOVERY_DONE = MAKE_EVENT(12, severity::MEDIUM);
//! Recovery is ongoing. The recovering device is currently OFF, waiting for restart.
//! P1: Object Id of the recovering device.
static const Event RECOVERY_WAITING = MAKE_EVENT(13, severity::MEDIUM);
//! Recovery is ongoing. Restarting the recovering device.
//! P1: Object Id of the recovering device.
static const Event RECOVERY_RESTARTING = MAKE_EVENT(14, severity::MEDIUM);
virtual ~HasHealthIF() {} virtual ~HasHealthIF() {}
virtual MessageQueueId_t getCommandQueue() const = 0; virtual MessageQueueId_t getCommandQueue() const = 0;

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@ -91,7 +91,7 @@ class Dataset : public SerializeIF {
void setChildrenValidity(bool valid) { void setChildrenValidity(bool valid) {
for (auto &serializable : serializables) { for (auto &serializable : serializables) {
serializable.get().setValid(true); serializable.get().setValid(valid);
} }
} }

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@ -9,7 +9,6 @@
#include "fsfw/housekeeping/HousekeepingSnapshot.h" #include "fsfw/housekeeping/HousekeepingSnapshot.h"
#include "fsfw/ipc/QueueFactory.h" #include "fsfw/ipc/QueueFactory.h"
#include "fsfw/objectmanager/ObjectManager.h" #include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/timemanager/CCSDSTime.h"
using namespace hk; using namespace hk;
@ -84,6 +83,7 @@ ReturnValue_t PeriodicHelper::performHkOperation() {
ReturnValue_t PeriodicHelper::handleHousekeepingMessage(CommandMessage* message) { ReturnValue_t PeriodicHelper::handleHousekeepingMessage(CommandMessage* message) {
Command_t command = message->getCommand(); Command_t command = message->getCommand();
MessageQueueId_t sender = message->getSender();
dp::sid_t sid = HousekeepingMessage::getStructureId(message); dp::sid_t sid = HousekeepingMessage::getStructureId(message);
ReturnValue_t result = returnvalue::OK; ReturnValue_t result = returnvalue::OK;
switch (command) { switch (command) {
@ -113,7 +113,7 @@ ReturnValue_t PeriodicHelper::handleHousekeepingMessage(CommandMessage* message)
} }
case (HousekeepingMessage::GENERATE_ONE_PARAMETER_REPORT): { case (HousekeepingMessage::GENERATE_ONE_PARAMETER_REPORT): {
return generateHousekeepingPacket(HousekeepingMessage::getStructureId(message)); return generateHousekeepingPacket(HousekeepingMessage::getStructureId(message), sender);
} }
default: default:

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

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@ -17,7 +17,13 @@ Timekeeper* Timekeeper::instance() {
return myinstance; 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 Timekeeper::ticksToTimeval(TickType_t ticks) {
timeval uptime; timeval uptime;
@ -33,3 +39,7 @@ timeval Timekeeper::ticksToTimeval(TickType_t ticks) {
} }
TickType_t Timekeeper::getTicks() { return xTaskGetTickCount(); } TickType_t Timekeeper::getTicks() { return xTaskGetTickCount(); }
const timeval Timekeeper::getMonotonicClockOffset() const {
return monotonicClockOffset;
}

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

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

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@ -53,17 +53,17 @@ void fsfwPrint(sif::PrintLevel printType, const char *fmt, va_list arg) {
#endif #endif
if (printType == sif::PrintLevel::INFO_LEVEL) { if (printType == sif::PrintLevel::INFO_LEVEL) {
len += sprintf(bufferPosition + len, "INFO"); len += sprintf(bufferPosition + len, "INFO ");
} }
if (printType == sif::PrintLevel::DEBUG_LEVEL) { if (printType == sif::PrintLevel::DEBUG_LEVEL) {
len += sprintf(bufferPosition + len, "DEBUG"); len += sprintf(bufferPosition + len, "DEBUG ");
} }
if (printType == sif::PrintLevel::WARNING_LEVEL) { if (printType == sif::PrintLevel::WARNING_LEVEL) {
len += sprintf(bufferPosition + len, "WARNING"); len += sprintf(bufferPosition + len, "WARNING");
} }
if (printType == sif::PrintLevel::ERROR_LEVEL) { if (printType == sif::PrintLevel::ERROR_LEVEL) {
len += sprintf(bufferPosition + len, "ERROR"); len += sprintf(bufferPosition + len, "ERROR ");
} }
#if FSFW_COLORED_OUTPUT == 1 #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. * 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.minute, (unsigned long)now.second,
(unsigned long)now.usecond / 1000); (unsigned long)now.usecond / 1000);

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@ -78,23 +78,37 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
submodeToCommand = targetSubmode; submodeToCommand = targetSubmode;
} }
if (healthHelper.healthTable->hasHealth(object)) { if (healthHelper.healthTable->hasHealth(convertToDeviceObjectId(object))) {
if (healthHelper.healthTable->isFaulty(object)) {
ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND, HasModesIF::MODE_OFF, switch (healthHelper.healthTable->getHealth(convertToDeviceObjectId(object))) {
SUBMODE_NONE); case NEEDS_RECOVERY:
} else { case FAULTY:
if (modeHelper.isForced()) { case PERMANENT_FAULTY:
ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND_FORCED, ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND, HasModesIF::MODE_OFF,
tableIter.value->getMode(), submodeToCommand); SUBMODE_NONE);
} else { break;
if (healthHelper.healthTable->isCommandable(object)) { 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, ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND,
tableIter.value->getMode(), submodeToCommand); tableIter.value->getMode(), submodeToCommand);
}
break;
case EXTERNAL_CONTROL:
if (modeHelper.isForced()) {
ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND_FORCED,
tableIter.value->getMode(), submodeToCommand);
} else { } else {
continue; continue;
} }
} break;
default:
// This never happens
break;
} }
} else { } else {
ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND, ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND,
tableIter.value->getMode(), submodeToCommand); tableIter.value->getMode(), submodeToCommand);
@ -339,3 +353,7 @@ ReturnValue_t SubsystemBase::registerChild(object_id_t childObjectId, MessageQue
} }
return returnvalue::OK; return returnvalue::OK;
} }
object_id_t SubsystemBase::convertToDeviceObjectId(object_id_t id) {
return id;
}

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@ -153,6 +153,12 @@ class SubsystemBase : public SystemObject,
virtual void announceMode(bool recursive) override; virtual void announceMode(bool recursive) override;
virtual void modeChanged(); virtual void modeChanged();
/**
* @brief Provides an adaptation point for the user to change an objectId into
* a different objectId.
*/
virtual object_id_t convertToDeviceObjectId(object_id_t id);
}; };
#endif /* FSFW_SUBSYSTEM_SUBSYSTEMBASE_H_ */ #endif /* FSFW_SUBSYSTEM_SUBSYSTEMBASE_H_ */

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@ -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; static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::TMTC_DISTRIBUTION;
//! P1: Returnvalue, P2: 0 for TM issues, 1 for TC issues //! 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 = event::makeEvent<SUBSYSTEM_ID, 0, severity::LOW>();
}; // namespace tmtcdistrib }; // namespace tmtcdistrib
#endif // FSFW_TMTCPACKET_DEFINITIONS_H #endif // FSFW_TMTCPACKET_DEFINITIONS_H

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

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

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@ -114,6 +114,11 @@ void TmStoreMessage::setDownlinkContentTimeMessage(CommandMessage* cmd, store_ad
cmd->setParameter2(storeId.raw); cmd->setParameter2(storeId.raw);
} }
void TmStoreMessage::setStopDownlinkContentMessage(CommandMessage* cmd, store_address_t storeId) {
cmd->setCommand(STOP_DOWNLINK_STORE_CONTENT);
cmd->setParameter2(storeId.raw);
}
uint32_t TmStoreMessage::getAddressLow(CommandMessage* cmd) { return cmd->getParameter(); } uint32_t TmStoreMessage::getAddressLow(CommandMessage* cmd) { return cmd->getParameter(); }
uint32_t TmStoreMessage::getAddressHigh(CommandMessage* cmd) { return cmd->getParameter2(); } uint32_t TmStoreMessage::getAddressHigh(CommandMessage* cmd) { return cmd->getParameter2(); }

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@ -21,6 +21,7 @@ class TmStoreMessage {
static void setStoreCatalogueReportMessage(CommandMessage* cmd, object_id_t objectId, static void setStoreCatalogueReportMessage(CommandMessage* cmd, object_id_t objectId,
store_address_t storeId); store_address_t storeId);
static void setDownlinkContentTimeMessage(CommandMessage* cmd, store_address_t storeId); static void setDownlinkContentTimeMessage(CommandMessage* cmd, store_address_t storeId);
static void setStopDownlinkContentMessage(CommandMessage* cmd, store_address_t storeId);
static void setIndexReportMessage(CommandMessage* cmd, store_address_t storeId); static void setIndexReportMessage(CommandMessage* cmd, store_address_t storeId);
static ReturnValue_t setDeleteBlocksMessage(CommandMessage* cmd, uint32_t addressLow, static ReturnValue_t setDeleteBlocksMessage(CommandMessage* cmd, uint32_t addressLow,
uint32_t addressHigh); uint32_t addressHigh);
@ -54,6 +55,7 @@ class TmStoreMessage {
static const Command_t DOWNLINK_STORE_CONTENT_BLOCKS = MAKE_COMMAND_ID(12); static const Command_t DOWNLINK_STORE_CONTENT_BLOCKS = MAKE_COMMAND_ID(12);
static const Command_t REPORT_INDEX_REQUEST = MAKE_COMMAND_ID(13); static const Command_t REPORT_INDEX_REQUEST = MAKE_COMMAND_ID(13);
static const Command_t INDEX_REPORT = MAKE_COMMAND_ID(14); static const Command_t INDEX_REPORT = MAKE_COMMAND_ID(14);
static const Command_t STOP_DOWNLINK_STORE_CONTENT = MAKE_COMMAND_ID(15);
private: private:
TmStoreMessage(); TmStoreMessage();