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47 Commits

Author SHA1 Message Date
d99f6fd356 typo 2025-06-25 15:22:18 +02:00
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
25 changed files with 135 additions and 55 deletions

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@ -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.
@ -34,6 +35,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
## 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
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.

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@ -18,13 +18,13 @@ class MgmRM3100Handler : public DeviceHandlerBase {
static const uint8_t INTERFACE_ID = CLASS_ID::MGM_RM3100;
//! [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
//! P1: Second two bytes new Cycle Count Y
//! P2: New cycle count Z
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,
uint32_t transitionDelay);

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@ -19,13 +19,13 @@ struct FsfwParams {
};
namespace events {
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 FILESTORE_ERROR = event::makeEvent(SSID, 3, 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 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
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.
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
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->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;
}

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@ -71,7 +71,7 @@ bool AssemblyBase::handleChildrenChangedHealth() {
if (iter == childrenMap.end()) {
return false;
}
HealthState healthState = healthHelper.healthTable->getHealth(iter->first);
HealthState healthState = healthHelper.healthTable->getHealth(convertToDeviceObjectId(iter->first));
if (healthState == HasHealthIF::NEEDS_RECOVERY) {
triggerEvent(TRYING_RECOVERY, iter->first, 0);
recoveryState = RECOVERY_STARTED;
@ -92,9 +92,14 @@ void AssemblyBase::handleChildrenTransition() {
if (commandsOutstanding <= 0) {
switch (internalState) {
case STATE_NEED_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;
}
case STATE_OVERWRITE_HEALTH: {
internalState = STATE_SINGLE_STEP;
ReturnValue_t result = commandChildren(mode, submode);
@ -170,7 +175,7 @@ ReturnValue_t AssemblyBase::checkChildrenStateOff() {
ReturnValue_t AssemblyBase::checkChildOff(uint32_t objectId) {
ChildInfo childInfo = childrenMap.find(objectId)->second;
if (healthHelper.healthTable->isCommandable(objectId)) {
if (healthHelper.healthTable->isCommandable(convertToDeviceObjectId(objectId))) {
if (childInfo.submode != SUBMODE_NONE) {
return returnvalue::FAILED;
} else {
@ -227,7 +232,7 @@ bool AssemblyBase::checkAndHandleRecovery() {
case RECOVERY_STARTED:
// The recovery was already start in #handleChildrenChangedHealth and we just need
// to wait for an off time period.
// TODO: make time period configurable
// The timeout can be defined by #setRecoveryWaitTimer
recoveryState = RECOVERY_WAIT;
recoveryOffTimer.resetTimer();
return true;
@ -235,14 +240,14 @@ bool AssemblyBase::checkAndHandleRecovery() {
if (recoveryOffTimer.isBusy()) {
return true;
}
triggerEvent(RECOVERY_STEP, 0);
triggerEvent(RECOVERY_WAITING, recoveringDevice->first);
sendHealthCommand(recoveringDevice->second.commandQueue, HEALTHY);
internalState = STATE_NONE;
recoveryState = RECOVERY_ONGOING;
// Don't check state!
return true;
case RECOVERY_ONGOING:
triggerEvent(RECOVERY_STEP, 1);
triggerEvent(RECOVERY_RESTARTING, recoveringDevice->first);
recoveryState = RECOVERY_ONGOING_2;
recoveringDevice->second.healthChanged = false;
// Device should be healthy again, so restart a transition.
@ -250,7 +255,7 @@ bool AssemblyBase::checkAndHandleRecovery() {
doStartTransition(targetMode, targetSubmode);
return true;
case RECOVERY_ONGOING_2:
triggerEvent(RECOVERY_DONE);
triggerEvent(RECOVERY_DONE, recoveringDevice->first);
// Now we're through, but not sure if it was successful.
recoveryState = RECOVERY_IDLE;
return false;
@ -264,7 +269,15 @@ void AssemblyBase::overwriteDeviceHealth(object_id_t objectId, HasHealthIF::Heal
triggerEvent(OVERWRITING_HEALTH, objectId, oldHealth);
internalState = STATE_OVERWRITE_HEALTH;
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) {
@ -274,3 +287,7 @@ void AssemblyBase::triggerModeHelperEvents(Mode_t mode, Submode_t 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 triggerModeHelperEvents(Mode_t mode, Submode_t submode);
void setRecoveryWaitTimer(uint32_t timeoutMS);
};
#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
#define MAKE_EVENT(id, severity) (((severity) << 16) + (SUBSYSTEM_ID * 100) + (id))
typedef uint32_t 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 Event makeEvent(uint8_t subsystemId, UniqueEventId_t uniqueEventId,
EventSeverity_t eventSeverity) {
template<uint8_t subsystemId, UniqueEventId_t uniqueEventId, 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;
}
} // namespace event
#define MAKE_EVENT(id, severity) event::makeEvent<SUBSYSTEM_ID, id, severity>();
#endif /* EVENTOBJECT_EVENT_H_ */

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@ -27,13 +27,19 @@ class HasHealthIF {
static const Event CHILD_PROBLEMS = MAKE_EVENT(8, severity::LOW);
//! Assembly overwrites health information of children to keep satellite alive.
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);
//! 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.
//! P1: Object Id of the recovering device.
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 MessageQueueId_t getCommandQueue() const = 0;

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@ -17,11 +17,11 @@ void HealthTable::setMutexTimeout(MutexIF::TimeoutType timeoutType, uint32_t tim
HealthTable::~HealthTable() { MutexFactory::instance()->deleteMutex(mutex); }
ReturnValue_t HealthTable::registerObject(object_id_t object,
HasHealthIF::HealthState initilialState) {
HasHealthIF::HealthState initialState) {
if (healthMap.count(object) != 0) {
return returnvalue::FAILED;
}
healthMap.emplace(object, initilialState);
healthMap.emplace(object, initialState);
return returnvalue::OK;
}

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@ -18,7 +18,7 @@ class HealthTable : public HealthTableIF, public SystemObject {
/** HealthTableIF overrides */
virtual ReturnValue_t registerObject(
object_id_t object, HasHealthIF::HealthState initilialState = HasHealthIF::HEALTHY) override;
object_id_t object, HasHealthIF::HealthState initialState = HasHealthIF::HEALTHY) override;
ReturnValue_t removeObject(object_id_t object) override;
virtual size_t getPrintSize() override;
virtual void printAll(uint8_t* pointer, size_t maxSize) override;

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@ -12,7 +12,7 @@ class HealthTableIF : public ManagesHealthIF {
virtual ~HealthTableIF() {}
virtual ReturnValue_t registerObject(
object_id_t object, HasHealthIF::HealthState initilialState = HasHealthIF::HEALTHY) = 0;
object_id_t object, HasHealthIF::HealthState initialState = HasHealthIF::HEALTHY) = 0;
virtual ReturnValue_t removeObject(object_id_t objectId) = 0;

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@ -91,7 +91,7 @@ class Dataset : public SerializeIF {
void setChildrenValidity(bool valid) {
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/ipc/QueueFactory.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/timemanager/CCSDSTime.h"
using namespace hk;
@ -84,6 +83,7 @@ ReturnValue_t PeriodicHelper::performHkOperation() {
ReturnValue_t PeriodicHelper::handleHousekeepingMessage(CommandMessage* message) {
Command_t command = message->getCommand();
MessageQueueId_t sender = message->getSender();
dp::sid_t sid = HousekeepingMessage::getStructureId(message);
ReturnValue_t result = returnvalue::OK;
switch (command) {
@ -113,7 +113,7 @@ ReturnValue_t PeriodicHelper::handleHousekeepingMessage(CommandMessage* message)
}
case (HousekeepingMessage::GENERATE_ONE_PARAMETER_REPORT): {
return generateHousekeepingPacket(HousekeepingMessage::getStructureId(message));
return generateHousekeepingPacket(HousekeepingMessage::getStructureId(message), sender);
}
default:

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@ -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);
}

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@ -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;
}

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@ -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_ */

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@ -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 = event::makeEvent<SUBSYSTEM_ID, 0, severity::MEDIUM>();
// The types of PUS-11 subservices
enum Subservice : uint8_t {

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@ -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);

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@ -78,23 +78,37 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
submodeToCommand = targetSubmode;
}
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)) {
if (healthHelper.healthTable->hasHealth(convertToDeviceObjectId(object))) {
switch (healthHelper.healthTable->getHealth(convertToDeviceObjectId(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);
@ -339,3 +353,7 @@ ReturnValue_t SubsystemBase::registerChild(object_id_t childObjectId, MessageQue
}
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 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_ */

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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;
//! 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
#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.) -
(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(); }

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@ -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_ */

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@ -114,6 +114,11 @@ void TmStoreMessage::setDownlinkContentTimeMessage(CommandMessage* cmd, store_ad
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::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,
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 ReturnValue_t setDeleteBlocksMessage(CommandMessage* cmd, uint32_t addressLow,
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 REPORT_INDEX_REQUEST = MAKE_COMMAND_ID(13);
static const Command_t INDEX_REPORT = MAKE_COMMAND_ID(14);
static const Command_t STOP_DOWNLINK_STORE_CONTENT = MAKE_COMMAND_ID(15);
private:
TmStoreMessage();