Merge branch 'main' into spahr/SharedPowerLines

Reviewed-on: #55
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>

CHANGELOG.md

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

misc/archive/MgmRM3100Handler.h

@@ -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);

src/fsfw/cfdp/handler/defs.h

@@ -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);

src/fsfw/datapool/PoolVariable.h

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

src/fsfw/devicehandlers/FreshDeviceHandlerBase.cpp

@@ -190,4 +190,6 @@ ReturnValue_t FreshDeviceHandlerBase::getParameter(uint8_t domainId, uint8_t uni
   return INVALID_DOMAIN_ID;
 }
 
-datapool::SharedPool* FreshDeviceHandlerBase::getOptionalSharedPool() { return nullptr; }
+datapool::SharedPool* FreshDeviceHandlerBase::getOptionalSharedPool() { return nullptr; }
+
+ModeHelper& FreshDeviceHandlerBase::getModeHelper() { return this->modeHelper; }

src/fsfw/devicehandlers/FreshDeviceHandlerBase.h

@@ -97,6 +97,11 @@ class FreshDeviceHandlerBase : public SystemObject,
   ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF& parent) override;
   ModeTreeChildIF& getModeTreeChildIF() override;
 
+  /**
+   * @brief Return an interface to the ModeHelper.
+   */
+  ModeHelper& getModeHelper();
+
  protected:
   ActionHelper actionHelper;
   ModeHelper modeHelper;

src/fsfw/events/Event.h

@@ -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_ */

src/fsfw/housekeeping/Dataset.h

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

src/fsfw/modes/ModeHelper.cpp

@@ -35,8 +35,12 @@ ReturnValue_t ModeHelper::handleModeCommand(CommandMessage* command) {
       commandedMode = mode;
       commandedSubmode = submode;
 
-      if ((parentQueueId != MessageQueueIF::NO_QUEUE) &&
-          (theOneWhoCommandedAMode != parentQueueId)) {
+      // if (((parentQueueId != MessageQueueIF::NO_QUEUE) &&
+      //     (theOneWhoCommandedAMode != parentQueueId))) {
+      //   owner->setToExternalControl();
+      // }
+
+      if(theOneWhoCommandedAMode != parentQueueId and theOneWhoCommandedAMode != powerswitchQueueId) {
         owner->setToExternalControl();
       }
 
@@ -106,3 +110,7 @@ bool ModeHelper::isTimedOut() { return countdown.hasTimedOut(); }
 bool ModeHelper::isForced() { return forced; }
 
 void ModeHelper::setForced(bool forced) { this->forced = forced; }
+
+void ModeHelper::setPowerSwitchQueueId(MessageQueueId_t queueId) {
+  powerswitchQueueId = queueId;
+}

src/fsfw/modes/ModeHelper.h

@@ -21,10 +21,15 @@ class ModeHelper {
 
   /**
    * @param parentQueue the Queue id of the parent object.
-   * Set to 0 if no parent present
+   * Set to MessageQueueIF::NO_QUEUE if no parent present
    */
   void setParentQueue(MessageQueueId_t parentQueueId);
 
+  /**
+   * Set to MessageQueue::NO_QUEUE if no powerswitch is commanding the obejct.
+   */
+  void setPowerSwitchQueueId(MessageQueueId_t queueId);
+
   ReturnValue_t initialize(MessageQueueId_t parentQueueId);
 
   ReturnValue_t initialize(void);
@@ -42,6 +47,7 @@ class ModeHelper {
  protected:
   HasModesIF *owner;
   MessageQueueId_t parentQueueId = MessageQueueIF::NO_QUEUE;
+  MessageQueueId_t powerswitchQueueId = MessageQueueIF::NO_QUEUE;
 
   Countdown countdown;
 

src/fsfw/osal/freertos/Clock.cpp

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

src/fsfw/osal/freertos/Timekeeper.cpp

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

src/fsfw/osal/freertos/Timekeeper.h

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

src/fsfw/pus/Service11TelecommandScheduling.h

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

src/fsfw/serviceinterface/ServiceInterfacePrinter.cpp

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

src/fsfw/subsystem/SubsystemBase.cpp

@@ -64,6 +64,11 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
 
   for (; tableIter.value != nullptr; ++tableIter) {
     object_id_t object = tableIter.value->getObject();
+
+    // As default, the objectId in the commandTable is the same as the one in the childrenMap.
+    // The user has to specify otherwise if required.
+    object = commandObjectIdToChildrenMapObjectId(object);
+
     if ((iter = childrenMap.find(object)) == childrenMap.end()) {
       // illegal table entry, should only happen due to misconfigured mode table
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -79,22 +84,36 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
     }
 
     if (healthHelper.healthTable->hasHealth(object)) {
-      if (healthHelper.healthTable->isFaulty(object)) {
-        ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND, HasModesIF::MODE_OFF,
-                                    SUBMODE_NONE);
-      } else {
-        if (modeHelper.isForced()) {
-          ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND_FORCED,
-                                      tableIter.value->getMode(), submodeToCommand);
-        } else {
-          if (healthHelper.healthTable->isCommandable(object)) {
+
+      switch (healthHelper.healthTable->getHealth(object)) {
+        case NEEDS_RECOVERY:
+        case FAULTY:
+        case PERMANENT_FAULTY:
+          ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND, HasModesIF::MODE_OFF,
+                                      SUBMODE_NONE);
+          break;
+        case HEALTHY:
+          if (modeHelper.isForced()) {
+            ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND_FORCED,
+                                        tableIter.value->getMode(), submodeToCommand);
+          } else {
             ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND,
                                         tableIter.value->getMode(), submodeToCommand);
+          }
+          break;
+        case EXTERNAL_CONTROL:
+          if (modeHelper.isForced()) {
+            ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND_FORCED,
+                                        tableIter.value->getMode(), submodeToCommand);
           } else {
             continue;
           }
-        }
+          break;
+        default:
+          // This never happens
+          break;
       }
+
     } else {
       ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND,
                                   tableIter.value->getMode(), submodeToCommand);
@@ -105,7 +124,11 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
       continue;  // don't send redundant mode commands (produces event spam), but still command if
                  // mode is forced to reach lower levels
     }
-    ReturnValue_t result = commandQueue->sendMessage(iter->second.commandQueue, &command);
+    
+    // Get the messageQueueId if the receiver specified by the commandTable.
+    // This the same MessageQueueId as stored in the childrenMap if the commanded object is part of the childrenMap.
+    MessageQueueId_t commandedReceiver = ObjectManager::instance()->get<HasHealthIF>(tableIter->getObject())->getCommandQueue();
+    ReturnValue_t result = commandQueue->sendMessage(commandedReceiver, &command);
     if (result == returnvalue::OK) {
       ++commandsOutstanding;
     }
@@ -339,3 +362,7 @@ ReturnValue_t SubsystemBase::registerChild(object_id_t childObjectId, MessageQue
   }
   return returnvalue::OK;
 }
+
+object_id_t SubsystemBase::commandObjectIdToChildrenMapObjectId(object_id_t commandId) {
+  return commandId;
+}

src/fsfw/subsystem/SubsystemBase.h

@@ -153,6 +153,15 @@ class SubsystemBase : public SystemObject,
   virtual void announceMode(bool recursive) override;
 
   virtual void modeChanged();
+
+  /**
+ * @brief This converts the objectId of the object we want to send a mode command to into the 
+ * 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
+ * 
+ * It is up to the user to specify otherwise.
+ */
+  virtual object_id_t commandObjectIdToChildrenMapObjectId(object_id_t commandId);
 };
 
 #endif /* FSFW_SUBSYSTEM_SUBSYSTEMBASE_H_ */

src/fsfw/tcdistribution/definitions.h

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

src/fsfw/thermal/TemperatureSensor.h

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

src/fsfw/timemanager/Clock.h

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