fix for CMakeLists.txt

CHANGELOG.md

@@ -26,7 +26,6 @@ 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.

src/fsfw/datapool/PoolVariable.h

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

src/fsfw/osal/freertos/Clock.cpp

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

src/fsfw/osal/freertos/Timekeeper.cpp

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

@@ -18,14 +18,9 @@ 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();
@@ -39,7 +34,6 @@ 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 = MAKE_EVENT(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, " | %02lu:%02lu:%02lu.%03lu | ", (unsigned long)now.hour,
+  len += sprintf(bufferPosition + len, " | %lu:%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

@@ -79,36 +79,22 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
     }
 
     if (healthHelper.healthTable->hasHealth(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 {
+      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)) {
             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);

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

src/fsfw/timemanager/Clock.h

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