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spahr/Shar
Author | SHA1 | Date | |
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b30e88640b | |||
5818265a7d | |||
f01e58a757 | |||
cd94fad8e5 | |||
0681b1895b | |||
131456e19e | |||
40be8ebef5 | |||
55b8d01b93 | |||
8cb1d84c58 | |||
8801dfa31d | |||
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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@ -18,13 +18,13 @@ class MgmRM3100Handler : public DeviceHandlerBase {
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static const uint8_t INTERFACE_ID = CLASS_ID::MGM_RM3100;
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//! [EXPORT] : [COMMENT] P1: TMRC value which was set, P2: 0
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static constexpr Event tmrcSet = event::makeEvent(SUBSYSTEM_ID::MGM_RM3100, 0x00, severity::INFO);
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static constexpr Event tmrcSet = event::makeEvent<SUBSYSTEM_ID::MGM_RM3100, 0x00, severity::INFO>();
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//! [EXPORT] : [COMMENT] Cycle counter set. P1: First two bytes new Cycle Count X
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//! P1: Second two bytes new Cycle Count Y
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//! P2: New cycle count Z
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static constexpr Event cycleCountersSet =
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event::makeEvent(SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO);
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event::makeEvent<SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO>();
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MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
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uint32_t transitionDelay);
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@ -19,13 +19,13 @@ struct FsfwParams {
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};
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namespace events {
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static constexpr Event PDU_SEND_ERROR = event::makeEvent(SSID, 1, severity::LOW);
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static constexpr Event SERIALIZATION_ERROR = event::makeEvent(SSID, 2, severity::LOW);
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static constexpr Event FILESTORE_ERROR = event::makeEvent(SSID, 3, severity::LOW);
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static constexpr Event PDU_SEND_ERROR = event::makeEvent<SSID, 1, severity::LOW>();
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static constexpr Event SERIALIZATION_ERROR = event::makeEvent<SSID, 2, severity::LOW>();
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static constexpr Event FILESTORE_ERROR = event::makeEvent<SSID, 3, severity::LOW>();
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//! [EXPORT] : [COMMENT] P1: Transaction step ID, P2: 0 for source file name, 1 for dest file name
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static constexpr Event FILENAME_TOO_LARGE_ERROR = event::makeEvent(SSID, 4, severity::LOW);
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static constexpr Event FILENAME_TOO_LARGE_ERROR = event::makeEvent<SSID, 4, severity::LOW>();
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//! [EXPORT] : [COMMENT] CFDP request handling failed. P2: Returncode.
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static constexpr Event HANDLING_CFDP_REQUEST_FAILED = event::makeEvent(SSID, 5, severity::LOW);
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static constexpr Event HANDLING_CFDP_REQUEST_FAILED = event::makeEvent<SSID, 5, severity::LOW>();
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} // namespace events
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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() {
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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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@ -190,4 +190,6 @@ ReturnValue_t FreshDeviceHandlerBase::getParameter(uint8_t domainId, uint8_t uni
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return INVALID_DOMAIN_ID;
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}
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datapool::SharedPool* FreshDeviceHandlerBase::getOptionalSharedPool() { return nullptr; }
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datapool::SharedPool* FreshDeviceHandlerBase::getOptionalSharedPool() { return nullptr; }
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ModeHelper& FreshDeviceHandlerBase::getModeHelper() { return this->modeHelper; }
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@ -97,6 +97,11 @@ class FreshDeviceHandlerBase : public SystemObject,
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ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF& parent) override;
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ModeTreeChildIF& getModeTreeChildIF() override;
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/**
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* @brief Return an interface to the ModeHelper.
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*/
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ModeHelper& getModeHelper();
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protected:
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ActionHelper actionHelper;
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ModeHelper modeHelper;
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@ -14,8 +14,6 @@ enum Severity : EventSeverity_t { INFO = 1, LOW = 2, MEDIUM = 3, HIGH = 4 };
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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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typedef uint32_t Event;
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namespace event {
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@ -24,11 +22,14 @@ constexpr EventId_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 Event makeEvent(uint8_t subsystemId, UniqueEventId_t uniqueEventId,
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EventSeverity_t eventSeverity) {
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template<uint8_t subsystemId, UniqueEventId_t uniqueEventId, EventSeverity_t eventSeverity>
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constexpr Event makeEvent() {
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static_assert(uniqueEventId < 100, "The unique event ID must be smaller than 100!");
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return (eventSeverity << 16) + (subsystemId * 100) + uniqueEventId;
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}
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} // namespace event
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#define MAKE_EVENT(id, severity) event::makeEvent<SUBSYSTEM_ID, id, severity>();
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#endif /* EVENTOBJECT_EVENT_H_ */
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@ -91,7 +91,7 @@ class Dataset : public SerializeIF {
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void setChildrenValidity(bool valid) {
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for (auto &serializable : serializables) {
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serializable.get().setValid(true);
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serializable.get().setValid(valid);
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}
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}
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@ -35,8 +35,12 @@ ReturnValue_t ModeHelper::handleModeCommand(CommandMessage* command) {
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commandedMode = mode;
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commandedSubmode = submode;
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if ((parentQueueId != MessageQueueIF::NO_QUEUE) &&
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(theOneWhoCommandedAMode != parentQueueId)) {
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// if (((parentQueueId != MessageQueueIF::NO_QUEUE) &&
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// (theOneWhoCommandedAMode != parentQueueId))) {
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// owner->setToExternalControl();
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// }
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if(theOneWhoCommandedAMode != parentQueueId and theOneWhoCommandedAMode != powerswitchQueueId) {
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owner->setToExternalControl();
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}
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@ -106,3 +110,7 @@ bool ModeHelper::isTimedOut() { return countdown.hasTimedOut(); }
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bool ModeHelper::isForced() { return forced; }
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void ModeHelper::setForced(bool forced) { this->forced = forced; }
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void ModeHelper::setPowerSwitchQueueId(MessageQueueId_t queueId) {
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powerswitchQueueId = queueId;
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}
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@ -21,10 +21,15 @@ class ModeHelper {
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/**
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* @param parentQueue the Queue id of the parent object.
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* Set to 0 if no parent present
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* Set to MessageQueueIF::NO_QUEUE if no parent present
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*/
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void setParentQueue(MessageQueueId_t parentQueueId);
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/**
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* Set to MessageQueue::NO_QUEUE if no powerswitch is commanding the obejct.
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*/
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void setPowerSwitchQueueId(MessageQueueId_t queueId);
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ReturnValue_t initialize(MessageQueueId_t parentQueueId);
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ReturnValue_t initialize(void);
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@ -42,6 +47,7 @@ class ModeHelper {
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protected:
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HasModesIF *owner;
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MessageQueueId_t parentQueueId = MessageQueueIF::NO_QUEUE;
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MessageQueueId_t powerswitchQueueId = MessageQueueIF::NO_QUEUE;
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Countdown countdown;
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@ -5,6 +5,7 @@
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#include "FreeRTOS.h"
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#include "fsfw/globalfunctions/timevalOperations.h"
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#include "fsfw/serviceinterface/ServiceInterfacePrinter.h"
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#include "fsfw/osal/freertos/Timekeeper.h"
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#include "task.h"
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@ -47,8 +48,8 @@ ReturnValue_t Clock::getClock(timeval* time) {
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}
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ReturnValue_t Clock::getClockMonotonic(timeval* time) {
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// TODO: I don't actually know if the timekeeper is monotonic..
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return getClock_timeval(time);
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*time = Timekeeper::instance()->getMonotonicClockOffset() + getUptime();
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return returnvalue::OK;
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}
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ReturnValue_t Clock::getUptime(timeval* uptime) {
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@ -58,7 +59,7 @@ ReturnValue_t Clock::getUptime(timeval* uptime) {
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}
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timeval Clock::getUptime() {
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TickType_t ticksSinceStart = xTaskGetTickCount();
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TickType_t ticksSinceStart = Timekeeper::instance()->getTicks();
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return Timekeeper::ticksToTimeval(ticksSinceStart);
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}
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@ -17,7 +17,13 @@ Timekeeper* Timekeeper::instance() {
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return myinstance;
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}
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void Timekeeper::setOffset(const timeval& offset) { this->offset = offset; }
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void Timekeeper::setOffset(const timeval& offset) {
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if (not monotonicClockInitialized) {
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this->monotonicClockOffset = offset;
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monotonicClockInitialized = true;
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}
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this->offset = offset;
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}
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timeval Timekeeper::ticksToTimeval(TickType_t ticks) {
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timeval uptime;
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@ -33,3 +39,7 @@ timeval Timekeeper::ticksToTimeval(TickType_t ticks) {
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}
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TickType_t Timekeeper::getTicks() { return xTaskGetTickCount(); }
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const timeval Timekeeper::getMonotonicClockOffset() const {
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return monotonicClockOffset;
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}
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@ -18,9 +18,14 @@ class Timekeeper {
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Timekeeper();
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timeval offset;
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// Set when offset is initialized the first time
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timeval monotonicClockOffset;
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bool monotonicClockInitialized = false;
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static Timekeeper* myinstance;
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void setMonotonicClockOffset(const timeval& monotonicClockOffset);
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public:
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static Timekeeper* instance();
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virtual ~Timekeeper();
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@ -34,6 +39,7 @@ class Timekeeper {
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const timeval& getOffset() const;
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void setOffset(const timeval& offset);
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const timeval getMonotonicClockOffset() const;
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};
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#endif /* FRAMEWORK_OSAL_FREERTOS_TIMEKEEPER_H_ */
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@ -49,7 +49,7 @@ class Service11TelecommandScheduling final : public PusServiceBase {
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//! [EXPORT] : [COMMENT] Deletion of a TC from the map failed.
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//! P1: First 32 bit of request ID, P2. Last 32 bit of Request ID
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static constexpr Event TC_DELETION_FAILED = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
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static constexpr Event TC_DELETION_FAILED = event::makeEvent<SUBSYSTEM_ID, 0, severity::MEDIUM>();
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// The types of PUS-11 subservices
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enum Subservice : uint8_t {
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@ -53,17 +53,17 @@ void fsfwPrint(sif::PrintLevel printType, const char *fmt, va_list arg) {
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#endif
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if (printType == sif::PrintLevel::INFO_LEVEL) {
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len += sprintf(bufferPosition + len, "INFO");
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len += sprintf(bufferPosition + len, "INFO ");
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}
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if (printType == sif::PrintLevel::DEBUG_LEVEL) {
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len += sprintf(bufferPosition + len, "DEBUG");
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len += sprintf(bufferPosition + len, "DEBUG ");
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}
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if (printType == sif::PrintLevel::WARNING_LEVEL) {
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len += sprintf(bufferPosition + len, "WARNING");
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}
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if (printType == sif::PrintLevel::ERROR_LEVEL) {
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len += sprintf(bufferPosition + len, "ERROR");
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len += sprintf(bufferPosition + len, "ERROR ");
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}
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#if FSFW_COLORED_OUTPUT == 1
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@ -75,7 +75,7 @@ void fsfwPrint(sif::PrintLevel printType, const char *fmt, va_list arg) {
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/*
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* Log current time to terminal if desired.
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*/
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len += sprintf(bufferPosition + len, " | %lu:%02lu:%02lu.%03lu | ", (unsigned long)now.hour,
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len += sprintf(bufferPosition + len, " | %02lu:%02lu:%02lu.%03lu | ", (unsigned long)now.hour,
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(unsigned long)now.minute, (unsigned long)now.second,
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(unsigned long)now.usecond / 1000);
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@ -64,6 +64,11 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
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for (; tableIter.value != nullptr; ++tableIter) {
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object_id_t object = tableIter.value->getObject();
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// As default, the objectId in the commandTable is the same as the one in the childrenMap.
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// The user has to specify otherwise if required.
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object = commandObjectIdToChildrenMapObjectId(object);
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if ((iter = childrenMap.find(object)) == childrenMap.end()) {
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// illegal table entry, should only happen due to misconfigured mode table
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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@ -79,22 +84,36 @@ 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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|
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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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@ -105,7 +124,11 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
|
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continue; // don't send redundant mode commands (produces event spam), but still command if
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// mode is forced to reach lower levels
|
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}
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ReturnValue_t result = commandQueue->sendMessage(iter->second.commandQueue, &command);
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// Get the messageQueueId if the receiver specified by the commandTable.
|
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// This the same MessageQueueId as stored in the childrenMap if the commanded object is part of the childrenMap.
|
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MessageQueueId_t commandedReceiver = ObjectManager::instance()->get<HasHealthIF>(tableIter->getObject())->getCommandQueue();
|
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ReturnValue_t result = commandQueue->sendMessage(commandedReceiver, &command);
|
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if (result == returnvalue::OK) {
|
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++commandsOutstanding;
|
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}
|
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@ -339,3 +362,7 @@ ReturnValue_t SubsystemBase::registerChild(object_id_t childObjectId, MessageQue
|
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}
|
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return returnvalue::OK;
|
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}
|
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|
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object_id_t SubsystemBase::commandObjectIdToChildrenMapObjectId(object_id_t commandId) {
|
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return commandId;
|
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}
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|
@ -153,6 +153,15 @@ class SubsystemBase : public SystemObject,
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virtual void announceMode(bool recursive) override;
|
||||
|
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virtual void modeChanged();
|
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|
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/**
|
||||
* @brief This converts the objectId of the object we want to send a mode command to into the
|
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* objectId of the corresponding object in the childrenMap for the current mode command.
|
||||
* As default implementation, this is the same objectId, and this functions returns it's input value
|
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*
|
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* It is up to the user to specify otherwise.
|
||||
*/
|
||||
virtual object_id_t commandObjectIdToChildrenMapObjectId(object_id_t commandId);
|
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};
|
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|
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#endif /* FSFW_SUBSYSTEM_SUBSYSTEMBASE_H_ */
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|
@ -25,7 +25,7 @@ static constexpr ReturnValue_t INCORRECT_SECONDARY_HEADER = MAKE_RETURN_CODE(11)
|
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|
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static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::TMTC_DISTRIBUTION;
|
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//! P1: Returnvalue, P2: 0 for TM issues, 1 for TC issues
|
||||
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
|
||||
|
@ -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(); }
|
||||
|
||||
|
@ -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_ */
|
||||
|
Reference in New Issue
Block a user