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Author SHA1 Message Date
7795fecfcb fix for CMakeLists.txt 2025-01-07 10:46:53 +01:00
9361af02c4 small typo 2024-12-18 11:55:31 +01:00
842a3b1b03 Update and clean up HK and Local Pool Modules 2024-12-17 15:42:00 +01:00
20 changed files with 40 additions and 120 deletions

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@ -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.

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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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@ -210,7 +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;
}

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

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@ -97,11 +97,6 @@ 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;

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@ -14,6 +14,8 @@ 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 {
@ -22,14 +24,11 @@ constexpr EventId_t getEventId(Event event) { return (event & 0xFFFF); }
constexpr EventSeverity_t getSeverity(Event event) { return ((event >> 16) & 0xFF); }
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!");
constexpr Event makeEvent(uint8_t subsystemId, UniqueEventId_t uniqueEventId,
EventSeverity_t eventSeverity) {
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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@ -91,7 +91,7 @@ class Dataset : public SerializeIF {
void setChildrenValidity(bool valid) {
for (auto &serializable : serializables) {
serializable.get().setValid(valid);
serializable.get().setValid(true);
}
}

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@ -35,12 +35,8 @@ ReturnValue_t ModeHelper::handleModeCommand(CommandMessage* command) {
commandedMode = mode;
commandedSubmode = submode;
// if (((parentQueueId != MessageQueueIF::NO_QUEUE) &&
// (theOneWhoCommandedAMode != parentQueueId))) {
// owner->setToExternalControl();
// }
if(theOneWhoCommandedAMode != parentQueueId and theOneWhoCommandedAMode != powerswitchQueueId) {
if ((parentQueueId != MessageQueueIF::NO_QUEUE) &&
(theOneWhoCommandedAMode != parentQueueId)) {
owner->setToExternalControl();
}
@ -110,7 +106,3 @@ 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;
}

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@ -21,15 +21,10 @@ class ModeHelper {
/**
* @param parentQueue the Queue id of the parent object.
* Set to MessageQueueIF::NO_QUEUE if no parent present
* Set to 0 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);
@ -47,7 +42,6 @@ class ModeHelper {
protected:
HasModesIF *owner;
MessageQueueId_t parentQueueId = MessageQueueIF::NO_QUEUE;
MessageQueueId_t powerswitchQueueId = MessageQueueIF::NO_QUEUE;
Countdown countdown;

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@ -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);
}

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@ -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;
}

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@ -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_ */

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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, " | %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);

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@ -64,11 +64,6 @@ 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
@ -84,36 +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);
@ -124,11 +105,7 @@ 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
}
// 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);
ReturnValue_t result = commandQueue->sendMessage(iter->second.commandQueue, &command);
if (result == returnvalue::OK) {
++commandsOutstanding;
}
@ -362,7 +339,3 @@ ReturnValue_t SubsystemBase::registerChild(object_id_t childObjectId, MessageQue
}
return returnvalue::OK;
}
object_id_t SubsystemBase::commandObjectIdToChildrenMapObjectId(object_id_t commandId) {
return commandId;
}

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@ -153,15 +153,6 @@ 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_ */

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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.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(); }

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@ -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_ */