Add time file handling

bsp_q7s/core/CoreController.cpp

@@ -8,6 +8,7 @@
 #include "fsfw/timemanager/Stopwatch.h"
 #include "fsfw/version.h"
 #include "watchdogConf.h"
+#include <algorithm>
 #if OBSW_USE_TMTC_TCP_BRIDGE == 0
 #include "fsfw/osal/common/UdpTmTcBridge.h"
 #else
@@ -57,6 +58,16 @@ ReturnValue_t CoreController::handleCommandMessage(CommandMessage *message) {
 }
 
 void CoreController::performControlOperation() {
+  EventMessage event;
+  for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == RETURN_OK;
+       result = eventQueue->receiveMessage(&event)) {
+    switch (event.getEvent()) {
+    case(GpsHyperion::GPS_FIX_CHANGE): {
+      gpsFix = static_cast<GpsHyperion::FixMode>(event.getParameter2());
+      break;
+    }
+    }
+  }
   performWatchdogControlOperation();
   sdStateMachine();
   performMountedSdCardOperations();
@@ -91,6 +102,17 @@ ReturnValue_t CoreController::initialize() {
   sdStateMachine();
 
   triggerEvent(REBOOT_SW, CURRENT_CHIP, CURRENT_COPY);
+  EventManagerIF* eventManager = ObjectManager::instance()->get<EventManagerIF>(
+      objects::EVENT_MANAGER);
+  result = eventManager->registerListener(eventQueue->getId());
+  if(result != HasReturnvaluesIF::RETURN_OK) {
+    sif::warning << "CoreController::initialize: Registering as event listener failed" << std::endl;
+  }
+  result = eventManager->subscribeToEvent(this->getCommandQueue(),
+      event::getEventId(GpsHyperion::GPS_FIX_CHANGE));
+  if(result != HasReturnvaluesIF::RETURN_OK) {
+    sif::warning << "Subscribing for GPS GPS_FIX_CHANGE event failed" << std::endl;
+  }
   return ExtendedControllerBase::initialize();
 }
 
@@ -1211,6 +1233,7 @@ void CoreController::performMountedSdCardOperations() {
       doPerformMountedSdCardOps = false;
     }
   }
+  timeFileHandler();
 }
 
 void CoreController::performRebootFileHandling(bool recreateFile) {
@@ -1657,6 +1680,51 @@ void CoreController::setRebootMechanismLock(bool lock, xsc::Chip tgtChip, xsc::C
   rewriteRebootFile(rebootFile);
 }
 
+ReturnValue_t CoreController::timeFileHandler() {
+  if(gpsFix == GpsHyperion::FixMode::FIX_2D or gpsFix == GpsHyperion::FixMode::FIX_3D) {
+    // It is assumed that the system time is set from the GPS time
+    timeval currentTime = {};
+    ReturnValue_t result = Clock::getClock_timeval(&currentTime);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    std::ofstream timeFile(TIME_FILE);
+    timeFile << "UNIX SECONDS: " << currentTime.tv_sec;
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t CoreController::initClockFromTimeFile() {
+  using namespace GpsHyperion;
+  using namespace std;
+  if ((gpsFix == FixMode::UNKNOWN or gpsFix == FixMode::NOT_SEEN) and
+      std::filesystem::exists(TIME_FILE)) {
+
+    ifstream timeFile(TIME_FILE);
+    string nextWord;
+    getline(timeFile, nextWord);
+    istringstream iss(nextWord);
+    iss >> nextWord;
+    if(iss.bad() or nextWord != "UNIX") {
+      return RETURN_FAILED;
+    }
+    iss >> nextWord;
+    if(iss.bad() or nextWord != "SECONDS:") {
+      return RETURN_FAILED;
+    }
+    iss >> nextWord;
+    timeval currentTime = {};
+    char* checkPtr;
+    currentTime.tv_sec = strtol(nextWord.c_str(), &checkPtr, 10);
+    if(iss.bad() or *checkPtr) {
+      return RETURN_FAILED;
+    }
+    Clock::setClock(&currentTime);
+    return RETURN_OK;
+  }
+  return RETURN_OK;
+}
+
 void CoreController::readHkData() {
   ReturnValue_t result = RETURN_OK;
   result = hkSet.read(TIMEOUT_TYPE, MUTEX_TIMEOUT);
@@ -1690,3 +1758,9 @@ void CoreController::readHkData() {
     return;
   }
 }
+
+bool CoreController::isNumber(const std::string& s)
+{
+    return !s.empty() && std::find_if(s.begin(),
+        s.end(), [](unsigned char c) { return !std::isdigit(c); }) == s.end();
+}

bsp_q7s/core/CoreController.h

@@ -7,6 +7,7 @@
 #include <cstddef>
 
 #include "CoreDefinitions.h"
+#include "mission/devices/devicedefinitions/GPSDefinitions.h"
 #include "bsp_q7s/memory/SdCardManager.h"
 #include "events/subsystemIdRanges.h"
 #include "fsfw/controller/ExtendedControllerBase.h"
@@ -53,10 +54,13 @@ class CoreController : public ExtendedControllerBase {
   static constexpr char CONF_FOLDER[] = "conf";
   static constexpr char VERSION_FILE_NAME[] = "version.txt";
   static constexpr char REBOOT_FILE_NAME[] = "reboot.txt";
+  static constexpr char TIME_FILE_NAME[] = "time.txt";
   const std::string VERSION_FILE =
       "/" + std::string(CONF_FOLDER) + "/" + std::string(VERSION_FILE_NAME);
   const std::string REBOOT_FILE =
       "/" + std::string(CONF_FOLDER) + "/" + std::string(REBOOT_FILE_NAME);
+  const std::string TIME_FILE =
+      "/" + std::string(CONF_FOLDER) + "/" + std::string(TIME_FILE_NAME);
 
   static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
   static constexpr ActionId_t SWITCH_REBOOT_FILE_HANDLING = 5;
@@ -126,6 +130,7 @@ class CoreController : public ExtendedControllerBase {
   // Designated value for rechecking FIFO open
   static constexpr int RETRY_FIFO_OPEN = -2;
   int watchdogFifoFd = 0;
+  GpsHyperion::FixMode gpsFix = GpsHyperion::FixMode::UNKNOWN;
 
   // States for SD state machine, which is used in non-blocking mode
   enum class SdStates {
@@ -151,6 +156,7 @@ class CoreController : public ExtendedControllerBase {
   static constexpr bool BLOCKING_SD_INIT = false;
 
   SdCardManager* sdcMan = nullptr;
+  MessageQueueIF* eventQueue = nullptr;
 
   struct SdInfo {
     sd::SdCard pref = sd::SdCard::NONE;
@@ -192,6 +198,9 @@ class CoreController : public ExtendedControllerBase {
   ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t* msToReachTheMode);
   void performMountedSdCardOperations();
   ReturnValue_t initVersionFile();
+
+  ReturnValue_t initClockFromTimeFile();
+  ReturnValue_t timeFileHandler();
   ReturnValue_t initBootCopy();
   ReturnValue_t initWatchdogFifo();
   ReturnValue_t initSdCardBlocking();
@@ -226,6 +235,7 @@ class CoreController : public ExtendedControllerBase {
   bool parseRebootFile(std::string path, RebootFile& file);
   void rewriteRebootFile(RebootFile file);
   void readHkData();
+  bool isNumber(const std::string& s);
 };
 
 #endif /* BSP_Q7S_CORE_CORECONTROLLER_H_ */

common/config/commonSubsystemIds.h

@@ -6,24 +6,26 @@
 namespace SUBSYSTEM_ID {
 enum: uint8_t {
 	COMMON_SUBSYSTEM_ID_START = FW_SUBSYSTEM_ID_RANGE,
-	PCDU_HANDLER = 108,
+	ACS_SUBSYSTEM = 112,
-	HEATER_HANDLER = 109,
+	PCDU_HANDLER = 113,
-	SA_DEPL_HANDLER = 110,
+	HEATER_HANDLER = 114,
-	PLOC_MPSOC_HANDLER = 111,
+	SA_DEPL_HANDLER = 115,
-	IMTQ_HANDLER = 112,
+	PLOC_MPSOC_HANDLER = 116,
-	RW_HANDLER = 113,
+	IMTQ_HANDLER = 117,
-	STR_HANDLER = 114,
+	RW_HANDLER = 118,
-	PLOC_SUPERVISOR_HANDLER = 115,
+	STR_HANDLER = 119,
-	FILE_SYSTEM = 116,
+	PLOC_SUPERVISOR_HANDLER = 120,
-	PLOC_UPDATER = 117,
+	FILE_SYSTEM = 121,
-	PLOC_MEMORY_DUMPER = 118,
+	PLOC_UPDATER = 122,
-	PDEC_HANDLER = 119,
+	PLOC_MEMORY_DUMPER = 123,
-	STR_HELPER = 120,
+	PDEC_HANDLER = 124,
-	PLOC_MPSOC_HELPER = 121,
+	STR_HELPER = 125,
-	PL_PCDU_HANDLER = 122,
+	PLOC_MPSOC_HELPER = 126,
-	ACS_BOARD_ASS = 123,
+	PL_PCDU_HANDLER = 127,
-	SUS_BOARD_ASS = 124,
+	ACS_BOARD_ASS = 128,
-	TCS_BOARD_ASS = 125,
+	SUS_BOARD_ASS = 129,
+	TCS_BOARD_ASS = 130,
+	GPS_HANDLER = 131,
 	COMMON_SUBSYSTEM_ID_END
 };
 }

fsfw

@@ -1 +1 @@
-Subproject commit a11d7455dfaf2e736f73f6c4dda1f8c06b9f1234
+Subproject commit 5bda877d97b41e82bf36d939c9f367cef611446a

linux/devices/GPSHyperionLinuxController.cpp

@@ -132,7 +132,11 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
   }
 
   // 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix
-  gpsSet.fixMode.value = gps->fix.mode;
+  int newFixMode = gps->fix.mode;
+  if(gpsSet.fixMode.value != newFixMode) {
+    triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, newFixMode);
+  }
+  gpsSet.fixMode.value = newFixMode;
   if (gps->fix.mode == 0 or gps->fix.mode == 1) {
     if (modeCommanded and maxTimeToReachFix.hasTimedOut()) {
       // We are supposed to be on and functioning, but not fix was found

linux/devices/GPSHyperionLinuxController.h

@@ -2,6 +2,7 @@
 #define MISSION_DEVICES_GPSHYPERIONHANDLER_H_
 
 #include "fsfw/FSFW.h"
+#include "commonSubsystemIds.h"
 #include "fsfw/controller/ExtendedControllerBase.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 #include "mission/devices/devicedefinitions/GPSDefinitions.h"
@@ -22,6 +23,8 @@
 class GPSHyperionLinuxController : public ExtendedControllerBase {
  public:
   static constexpr uint32_t MAX_SECONDS_TO_REACH_FIX = 60 * 60 * 5;
+
+
   GPSHyperionLinuxController(object_id_t objectId, object_id_t parentId,
                              bool debugHyperionGps = false);
   virtual ~GPSHyperionLinuxController();

mission/devices/devicedefinitions/GPSDefinitions.h

@@ -6,6 +6,19 @@
 
 namespace GpsHyperion {
 
+enum class FixMode: uint8_t {
+  NOT_SEEN = 0,
+  NO_FIX = 1,
+  FIX_2D = 2,
+  FIX_3D = 3,
+  UNKNOWN = 4
+};
+
+static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::GPS_HANDLER;
+//! [EXPORT] : [COMMENT] Fix has changed. P1: Old fix. P2: New fix
+//! 0: Not seen, 1: No Fix, 2: 2D-Fix, 3: 3D-Fix
+static constexpr Event GPS_FIX_CHANGE = event::makeEvent(SUBSYSTEM_ID, 0, severity::INFO);
+
 static constexpr DeviceCommandId_t GPS_REPLY = 0;
 static constexpr DeviceCommandId_t TRIGGER_RESET_PIN = 5;
 

tmtc

@@ -1 +1 @@
-Subproject commit 8f2ff3034fff627b807f32c02fd9e676126bae5f
+Subproject commit 25bab108df76045e10af2efc26a0397f78574f9c