diff --git a/events/fwSubsystemIdRanges.h b/events/fwSubsystemIdRanges.h index a05652c2..5e086f0e 100644 --- a/events/fwSubsystemIdRanges.h +++ b/events/fwSubsystemIdRanges.h @@ -1,5 +1,5 @@ -#ifndef FRAMEWORK_EVENTS_FWSUBSYSTEMIDRANGES_H_ -#define FRAMEWORK_EVENTS_FWSUBSYSTEMIDRANGES_H_ +#ifndef FSFW_EVENTS_FWSUBSYSTEMIDRANGES_H_ +#define FSFW_EVENTS_FWSUBSYSTEMIDRANGES_H_ namespace SUBSYSTEM_ID { enum { @@ -19,10 +19,11 @@ enum { SYSTEM_MANAGER_1 = 75, SYSTEM_1 = 79, PUS_SERVICE_1 = 80, + PUS_SERVICE_17 = 97, FW_SUBSYSTEM_ID_RANGE }; } -#endif /* FRAMEWORK_EVENTS_FWSUBSYSTEMIDRANGES_H_ */ +#endif /* FSFW_EVENTS_FWSUBSYSTEMIDRANGES_H_ */ diff --git a/osal/linux/Clock.cpp b/osal/linux/Clock.cpp index 5f764a6f..b14f2a97 100644 --- a/osal/linux/Clock.cpp +++ b/osal/linux/Clock.cpp @@ -75,24 +75,25 @@ timeval Clock::getUptime() { } ReturnValue_t Clock::getUptime(timeval* uptime) { + //TODO This is not posix compatible and delivers only seconds precision + // is the OS not called Linux? + //Linux specific file read but more precise + double uptimeSeconds; + if(std::ifstream("/proc/uptime",std::ios::in) >> uptimeSeconds){ + uptime->tv_sec = uptimeSeconds; + uptime->tv_usec = uptimeSeconds *(double) 1e6 - (uptime->tv_sec *1e6); + } + //TODO This is not posix compatible and delivers only seconds precision - struct sysinfo sysInfo; - int result = sysinfo(&sysInfo); - if(result != 0){ - return HasReturnvaluesIF::RETURN_FAILED; - } - uptime->tv_sec = sysInfo.uptime; - uptime->tv_usec = 0; - - - //Linux specific file read but more precise -// double uptimeSeconds; -// if(std::ifstream("/proc/uptime",std::ios::in) >> uptimeSeconds){ -// uptime->tv_sec = uptimeSeconds; -// uptime->tv_usec = uptimeSeconds *(double) 1e6 - (uptime->tv_sec *1e6); + // I suggest this is moved into another clock function which will + // deliver second precision later. +// struct sysinfo sysInfo; +// int result = sysinfo(&sysInfo); +// if(result != 0){ +// return HasReturnvaluesIF::RETURN_FAILED; // } - - return HasReturnvaluesIF::RETURN_OK; +// return sysInfo.uptime; + return HasReturnvaluesIF::RETURN_OK; } ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) { diff --git a/pus/Service17Test.cpp b/pus/Service17Test.cpp new file mode 100644 index 00000000..2ef44490 --- /dev/null +++ b/pus/Service17Test.cpp @@ -0,0 +1,41 @@ +#include "Service17Test.h" + +#include "../serviceinterface/ServiceInterfaceStream.h" +#include "../objectmanager/SystemObject.h" +#include "../tmtcpacket/pus/TmPacketStored.h" + + +Service17Test::Service17Test(object_id_t objectId, + uint16_t apid, uint8_t serviceId): + PusServiceBase(objectId, apid, serviceId), + packetSubCounter(0) { +} + +Service17Test::~Service17Test() { +} + +ReturnValue_t Service17Test::handleRequest(uint8_t subservice) { + switch(subservice){ + case Subservice::CONNECTION_TEST: { + TmPacketStored connectionPacket(apid, serviceId, + Subservice::CONNECTION_TEST_REPORT, packetSubCounter++); + connectionPacket.sendPacket(requestQueue->getDefaultDestination(), + requestQueue->getId()); + return HasReturnvaluesIF::RETURN_OK; + } + case Subservice::EVENT_TRIGGER_TEST: { + TmPacketStored connectionPacket(apid, serviceId, + Subservice::CONNECTION_TEST_REPORT, packetSubCounter++); + connectionPacket.sendPacket(requestQueue->getDefaultDestination(), + requestQueue->getId()); + triggerEvent(TEST, 1234, 5678); + return RETURN_OK; + } + default: + return AcceptsTelecommandsIF::INVALID_SUBSERVICE; + } +} + +ReturnValue_t Service17Test::performService() { + return HasReturnvaluesIF::RETURN_OK; +} diff --git a/pus/Service17Test.h b/pus/Service17Test.h new file mode 100644 index 00000000..e2681865 --- /dev/null +++ b/pus/Service17Test.h @@ -0,0 +1,44 @@ +#ifndef FSFW_PUS_SERVICE17TEST_H_ +#define FSFW_PUS_SERVICE17TEST_H_ + +#include "../tmtcservices/PusServiceBase.h" +#include "../objectmanager/SystemObject.h" + +/** + * @brief Test Service + * Full Documentation: ECSS-E70-41A p.167 + * + * The test service provides the capability to activate test functions + * implemented on-board and to report the results of such tests. + * Service capability: + * - TC[17,1]: Perform connection test + * - TM[17,2]: Send Connection Test Report + * - TC[17,128]: Perform connection test and trigger event + * + * @ingroup pus_services + */ +class Service17Test: public PusServiceBase { +public: + // Custom events which can be triggered + static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_17; + static constexpr Event TEST = MAKE_EVENT(0, SEVERITY::INFO); + + enum Subservice: uint8_t { + //! [EXPORT] : [COMMAND] Perform connection test + CONNECTION_TEST = 1, + //! [EXPORT] : [REPLY] Connection test reply + CONNECTION_TEST_REPORT = 2, + //! [EXPORT] : [COMMAND] Trigger test reply and test event + EVENT_TRIGGER_TEST = 128, + }; + + Service17Test(object_id_t objectId, uint16_t apid, uint8_t serviceId); + virtual ~Service17Test(); + virtual ReturnValue_t handleRequest(uint8_t subservice) override; + virtual ReturnValue_t performService() override; + +protected: + uint16_t packetSubCounter = 0; +}; + +#endif /* FSFW_PUS_SERVICE17TEST_H_ */ diff --git a/pus/Service9TimeManagement.cpp b/pus/Service9TimeManagement.cpp new file mode 100644 index 00000000..5625bdd8 --- /dev/null +++ b/pus/Service9TimeManagement.cpp @@ -0,0 +1,58 @@ +#include "Service9TimeManagement.h" +#include "servicepackets/Service9Packets.h" + +#include "../timemanager/CCSDSTime.h" +#include "../events/EventManagerIF.h" +#include "../serviceinterface/ServiceInterfaceStream.h" + + +Service9TimeManagement::Service9TimeManagement(object_id_t objectId, + uint16_t apid, uint8_t serviceId) : + PusServiceBase(objectId, apid , serviceId) { +} + +Service9TimeManagement::~Service9TimeManagement() {} + +ReturnValue_t Service9TimeManagement::performService() { + return RETURN_OK; +} + +ReturnValue_t Service9TimeManagement::handleRequest(uint8_t subservice) { + switch(subservice){ + case SUBSERVICE::SET_TIME:{ + return setTime(); + } + default: + return AcceptsTelecommandsIF::INVALID_SUBSERVICE; + } +} + +ReturnValue_t Service9TimeManagement::setTime() { + Clock::TimeOfDay_t timeToSet; + TimePacket timePacket(currentPacket.getApplicationData(), + currentPacket.getApplicationDataSize()); + ReturnValue_t result = CCSDSTime::convertFromCcsds(&timeToSet, + timePacket.getTime(), timePacket.getTimeSize()); + if(result != RETURN_OK) { + triggerEvent(CLOCK_SET_FAILURE, result, 0); + return result; + } + + uint32_t formerUptime; + Clock::getUptime(&formerUptime); + result = Clock::setClock(&timeToSet); + + if(result == RETURN_OK) { + uint32_t newUptime; + Clock::getUptime(&newUptime); + triggerEvent(CLOCK_SET,newUptime,formerUptime); + return RETURN_OK; + } + else { + triggerEvent(CLOCK_SET_FAILURE, result, 0); + return RETURN_FAILED; + } +} + + + diff --git a/pus/Service9TimeManagement.h b/pus/Service9TimeManagement.h new file mode 100644 index 00000000..4802cdec --- /dev/null +++ b/pus/Service9TimeManagement.h @@ -0,0 +1,41 @@ +#ifndef FSFW_PUS_SERVICE9TIMEMANAGEMENT_H_ +#define FSFW_PUS_SERVICE9TIMEMANAGEMENT_H_ + +#include "../tmtcservices/PusServiceBase.h" + +class Service9TimeManagement: public PusServiceBase { +public: + + static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_9; + static constexpr Event CLOCK_SET = MAKE_EVENT(0, SEVERITY::INFO); //!< Clock has been set. P1: New Uptime. P2: Old Uptime + static constexpr Event CLOCK_SET_FAILURE = MAKE_EVENT(1, SEVERITY::LOW); //!< Clock could not be set. P1: Returncode. + + static constexpr uint8_t CLASS_ID = CLASS_ID::PUS_SERVICE_9; + + /** + * @brief This service provides the capability to set the on-board time. + */ + Service9TimeManagement(object_id_t objectId, uint16_t apid, + uint8_t serviceId); + + virtual ~Service9TimeManagement(); + + virtual ReturnValue_t performService() override; + + /** + * @brief Sets the onboard-time by retrieving the time to set from TC[9,128]. + */ + virtual ReturnValue_t handleRequest(uint8_t subservice) override; + + virtual ReturnValue_t setTime(); +private: + + enum SUBSERVICE { + SET_TIME = 128 //!< [EXPORT] : [COMMAND] Time command in ASCII, CUC or CDS format + }; + +}; + + + +#endif /* FSFW_PUS_SERVICE9TIMEMANAGEMENT_H_ */ diff --git a/pus/servicepackets/Service9Packets.h b/pus/servicepackets/Service9Packets.h new file mode 100644 index 00000000..11bd2600 --- /dev/null +++ b/pus/servicepackets/Service9Packets.h @@ -0,0 +1,32 @@ +#ifndef FSFW_PUS_SERVICEPACKETS_SERVICE9PACKETS_H_ +#define FSFW_PUS_SERVICEPACKETS_SERVICE9PACKETS_H_ + +#include "../../serialize/SerialLinkedListAdapter.h" + +/** + * @brief Subservice 128 + * @details + * It only contains the time encoded as ASCII, CRC, CUC or CDS + * @ingroup spacepackets + */ +class TimePacket : SerialLinkedListAdapter { //!< [EXPORT] : [SUBSERVICE] 128 +public: + TimePacket(const uint8_t * timeBuffer_, uint32_t timeSize_) { + timeBuffer = timeBuffer_; + timeSize = timeSize_; + } + const uint8_t* getTime() { + return timeBuffer; + } + + uint32_t getTimeSize() const { + return timeSize; + } + +private: + TimePacket(const TimePacket &command); + const uint8_t * timeBuffer; + uint32_t timeSize; //!< [EXPORT] : [IGNORE] +}; + +#endif /* FSFW_PUS_SERVICEPACKETS_SERVICE9PACKETS_H_ */ diff --git a/returnvalues/FwClassIds.h b/returnvalues/FwClassIds.h index 80df5741..e547025b 100644 --- a/returnvalues/FwClassIds.h +++ b/returnvalues/FwClassIds.h @@ -1,5 +1,5 @@ -#ifndef FRAMEWORK_RETURNVALUES_FWCLASSIDS_H_ -#define FRAMEWORK_RETURNVALUES_FWCLASSIDS_H_ +#ifndef FSFW_RETURNVALUES_FWCLASSIDS_H_ +#define FSFW_RETURNVALUES_FWCLASSIDS_H_ namespace CLASS_ID { enum { @@ -65,9 +65,10 @@ enum { POOL_VARIABLE_IF, //PVA 59 HOUSEKEEPING_MANAGER, //HKM 60 DLE_ENCODER, //DLEE 61 + PUS_SERVICE_9, //PUS9 62 FW_CLASS_ID_COUNT //is actually count + 1 ! }; } -#endif /* FRAMEWORK_RETURNVALUES_FWCLASSIDS_H_ */ +#endif /* FSFW_RETURNVALUES_FWCLASSIDS_H_ */ diff --git a/timemanager/Clock.h b/timemanager/Clock.h index 6f6a97da..acb68e2e 100644 --- a/timemanager/Clock.h +++ b/timemanager/Clock.h @@ -9,8 +9,7 @@ #include //! Don't use these for time points, type is not large enough for UNIX epoch. -typedef uint32_t dur_millis_t; -typedef double dur_seconds_t; +using dur_millis_t = uint32_t; class Clock { public: diff --git a/timemanager/Stopwatch.cpp b/timemanager/Stopwatch.cpp index 00373bd7..302e2ac0 100644 --- a/timemanager/Stopwatch.cpp +++ b/timemanager/Stopwatch.cpp @@ -6,19 +6,22 @@ Stopwatch::Stopwatch(bool displayOnDestruction, StopwatchDisplayMode displayMode): displayOnDestruction( displayOnDestruction), displayMode(displayMode) { // Measures start time on initialization. - Clock::getClock_timeval(&startTime); + Clock::getUptime(&startTime); } void Stopwatch::start() { - Clock::getClock_timeval(&startTime); + Clock::getUptime(&startTime); } -dur_millis_t Stopwatch::stop() { +dur_millis_t Stopwatch::stop(bool display) { stopInternal(); + if(display) { + this->display(); + } return elapsedTime.tv_sec * 1000 + elapsedTime.tv_usec / 1000; } -dur_seconds_t Stopwatch::stopSeconds() { +double Stopwatch::stopSeconds() { stopInternal(); return timevalOperations::toDouble(elapsedTime); } @@ -52,6 +55,6 @@ StopwatchDisplayMode Stopwatch::getDisplayMode() const { void Stopwatch::stopInternal() { timeval endTime; - Clock::getClock_timeval(&endTime); + Clock::getUptime(&endTime); elapsedTime = endTime - startTime; } diff --git a/timemanager/Stopwatch.h b/timemanager/Stopwatch.h index f216b7e1..ea72c66e 100644 --- a/timemanager/Stopwatch.h +++ b/timemanager/Stopwatch.h @@ -1,5 +1,6 @@ -#ifndef FRAMEWORK_TIMEMANAGER_STOPWATCH_H_ -#define FRAMEWORK_TIMEMANAGER_STOPWATCH_H_ +#ifndef FSFW_TIMEMANAGER_STOPWATCH_H_ +#define FSFW_TIMEMANAGER_STOPWATCH_H_ + #include "Clock.h" enum class StopwatchDisplayMode { @@ -40,12 +41,12 @@ public: * Calculates the elapsed time since start and returns it * @return elapsed time in milliseconds (rounded) */ - dur_millis_t stop(); + dur_millis_t stop(bool display = false); /** * Calculates the elapsed time since start and returns it * @return elapsed time in seconds (double precision) */ - dur_seconds_t stopSeconds(); + double stopSeconds(); /** * Displays the elapsed times on the osstream, depending on internal display @@ -66,6 +67,4 @@ private: }; - - -#endif /* FRAMEWORK_TIMEMANAGER_STOPWATCH_H_ */ +#endif /* FSFW_TIMEMANAGER_STOPWATCH_H_ */ diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp index 4cead0e9..0ebc3944 100644 --- a/tmtcservices/CommandingServiceBase.cpp +++ b/tmtcservices/CommandingServiceBase.cpp @@ -384,7 +384,7 @@ void CommandingServiceBase::acceptPacket(uint8_t reportId, } -void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter iter) { +void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter& iter) { store_address_t address; if (iter->second.fifo.retrieve(&address) != RETURN_OK) { commandMap.erase(&iter); diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h index 23b08acf..252b6943 100644 --- a/tmtcservices/CommandingServiceBase.h +++ b/tmtcservices/CommandingServiceBase.h @@ -39,7 +39,11 @@ class CommandingServiceBase: public SystemObject, public HasReturnvaluesIF { friend void (Factory::setStaticFrameworkObjectIds)(); public: + // We could make this configurable via preprocessor and the FSFWConfig file. + static constexpr uint8_t COMMAND_INFO_FIFO_DEPTH = 3; + static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_SERVICE_BASE; + static const ReturnValue_t EXECUTION_COMPLETE = MAKE_RETURN_CODE(1); static const ReturnValue_t NO_STEP_MESSAGE = MAKE_RETURN_CODE(2); static const ReturnValue_t OBJECT_BUSY = MAKE_RETURN_CODE(3); @@ -223,7 +227,7 @@ protected: uint32_t state; Command_t command; object_id_t objectId; - FIFO fifo; + FIFO fifo; virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize, Endianness streamEndianness) const override{ @@ -235,7 +239,7 @@ protected: }; virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size, - Endianness streamEndianness) override{ + Endianness streamEndianness) override { return HasReturnvaluesIF::RETURN_FAILED; }; }; @@ -312,7 +316,7 @@ protected: ReturnValue_t sendTmPacket(uint8_t subservice, SerializeIF* content, SerializeIF* header = nullptr); - void checkAndExecuteFifo(CommandMapIter iter); + void checkAndExecuteFifo(CommandMapIter& iter); private: /**