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Merge remote-tracking branch 'upstream/development' into mueller/master

This commit is contained in:
Robin Müller 2021-06-20 17:16:35 +02:00
parent 0f484abcaa cae69d5400
commit 1015cdbe88
11 changed files with 106 additions and 300 deletions
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40
devicehandlers/DeviceHandlerBase.cpp
View File

@ -226,16 +226,15 @@ ReturnValue_t DeviceHandlerBase::initialize() {
}
void DeviceHandlerBase::decrementDeviceReplyMap() {
for (std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator iter =
deviceReplyMap.begin(); iter != deviceReplyMap.end(); iter++) {
if (iter->second.delayCycles != 0) {
iter->second.delayCycles--;
if (iter->second.delayCycles == 0) {
if (iter->second.periodic) {
iter->second.delayCycles = iter->second.maxDelayCycles;
for (std::pair<const DeviceCommandId_t, DeviceReplyInfo>& replyPair: deviceReplyMap) {
if (replyPair.second.delayCycles != 0) {
replyPair.second.delayCycles--;
if (replyPair.second.delayCycles == 0) {
if (replyPair.second.periodic) {
replyPair.second.delayCycles = replyPair.second.maxDelayCycles;
}
replyToReply(iter, TIMEOUT);
missedReply(iter->first);
replyToReply(replyPair.first, replyPair.second, TIMEOUT);
missedReply(replyPair.first);
}
}
}
@ -584,17 +583,28 @@ void DeviceHandlerBase::replyToCommand(ReturnValue_t status,
}
}
void DeviceHandlerBase::replyToReply(DeviceReplyMap::iterator iter,
void DeviceHandlerBase::replyToReply(const DeviceCommandId_t command, DeviceReplyInfo& replyInfo,
ReturnValue_t status) {
// No need to check if iter exists, as this is checked by callers.
// If someone else uses the method, add check.
if (iter->second.command == deviceCommandMap.end()) {
if (replyInfo.command == deviceCommandMap.end()) {
//Is most likely periodic reply. Silent return.
return;
}
DeviceCommandInfo* info = &replyInfo.command->second;
if (info == nullptr){
printWarningOrError(sif::OutputTypes::OUT_ERROR,
"replyToReply", HasReturnvaluesIF::RETURN_FAILED,
"Command pointer not found");
return;
}
if (info->expectedReplies > 0){
// Check before to avoid underflow
info->expectedReplies--;
}
// Check if more replies are expected. If so, do nothing.
DeviceCommandInfo* info = &(iter->second.command->second);
if (--info->expectedReplies == 0) {
if (info->expectedReplies == 0) {
// Check if it was transition or internal command.
// Don't send any replies in that case.
if (info->sendReplyTo != NO_COMMANDER) {
@ -602,7 +612,7 @@ void DeviceHandlerBase::replyToReply(DeviceReplyMap::iterator iter,
if(status == HasReturnvaluesIF::RETURN_OK) {
success = true;
}
actionHelper.finish(success, info->sendReplyTo, iter->first, status);
actionHelper.finish(success, info->sendReplyTo, command, status);
}
info->isExecuting = false;
}
@ -801,7 +811,7 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData,
replyRawReplyIfnotWiretapped(receivedData, foundLen);
triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result, foundId);
}
replyToReply(iter, result);
replyToReply(iter->first, iter->second, result);
}
else {
/* Other completion failure messages are created by timeout.

5
devicehandlers/DeviceHandlerBase.h
View File

@ -667,7 +667,7 @@ protected:
static const ReturnValue_t CHILD_TIMEOUT = MAKE_RETURN_CODE(0xE0);
static const ReturnValue_t SWITCH_FAILED = MAKE_RETURN_CODE(0xE1);
static const MessageQueueId_t NO_COMMANDER = 0;
static const MessageQueueId_t NO_COMMANDER = MessageQueueIF::NO_QUEUE;
//! Pointer to the raw packet that will be sent.
uint8_t *rawPacket = nullptr;
@ -1195,7 +1195,8 @@ private:
* @foundLen the length of the packet
*/
void handleReply(const uint8_t *data, DeviceCommandId_t id, uint32_t foundLen);
void replyToReply(DeviceReplyMap::iterator iter, ReturnValue_t status);
void replyToReply(const DeviceCommandId_t command, DeviceReplyInfo& replyInfo,
ReturnValue_t status);
/**
* Build and send a command to the device.

68
osal/FreeRTOS/Clock.cpp
View File

@ -134,71 +134,3 @@ ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
/ 3600.;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) {
//SHOULDDO: works not for dates in the past (might have less leap seconds)
if (timeMutex == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
uint16_t leapSeconds;
ReturnValue_t result = getLeapSeconds(&leapSeconds);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
timeval leapSeconds_timeval = { 0, 0 };
leapSeconds_timeval.tv_sec = leapSeconds;
//initial offset between UTC and TAI
timeval UTCtoTAI1972 = { 10, 0 };
timeval TAItoTT = { 32, 184000 };
*tt = utc + leapSeconds_timeval + UTCtoTAI1972 + TAItoTT;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
if (checkOrCreateClockMutex() != HasReturnvaluesIF::RETURN_OK) {
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t result = timeMutex->lockMutex(MutexIF::TimeoutType::BLOCKING);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
leapSeconds = leapSeconds_;
result = timeMutex->unlockMutex();
return result;
}
ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
if (timeMutex == NULL) {
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t result = timeMutex->lockMutex(MutexIF::TimeoutType::BLOCKING);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
*leapSeconds_ = leapSeconds;
result = timeMutex->unlockMutex();
return result;
}
ReturnValue_t Clock::checkOrCreateClockMutex() {
if (timeMutex == NULL) {
MutexFactory* mutexFactory = MutexFactory::instance();
if (mutexFactory == NULL) {
return HasReturnvaluesIF::RETURN_FAILED;
}
timeMutex = mutexFactory->createMutex();
if (timeMutex == NULL) {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
return HasReturnvaluesIF::RETURN_OK;
}

68
osal/host/Clock.cpp
View File

@ -171,71 +171,3 @@ ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
/ 3600.;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) {
//SHOULDDO: works not for dates in the past (might have less leap seconds)
if (timeMutex == NULL) {
return HasReturnvaluesIF::RETURN_FAILED;
}
uint16_t leapSeconds;
ReturnValue_t result = getLeapSeconds(&leapSeconds);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
timeval leapSeconds_timeval = { 0, 0 };
leapSeconds_timeval.tv_sec = leapSeconds;
//initial offset between UTC and TAI
timeval UTCtoTAI1972 = { 10, 0 };
timeval TAItoTT = { 32, 184000 };
*tt = utc + leapSeconds_timeval + UTCtoTAI1972 + TAItoTT;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
if(checkOrCreateClockMutex()!=HasReturnvaluesIF::RETURN_OK){
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t result = timeMutex->lockMutex();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
leapSeconds = leapSeconds_;
result = timeMutex->unlockMutex();
return result;
}
ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
if(timeMutex == nullptr){
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t result = timeMutex->lockMutex();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
*leapSeconds_ = leapSeconds;
result = timeMutex->unlockMutex();
return result;
}
ReturnValue_t Clock::checkOrCreateClockMutex(){
if(timeMutex == nullptr){
MutexFactory* mutexFactory = MutexFactory::instance();
if (mutexFactory == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
timeMutex = mutexFactory->createMutex();
if (timeMutex == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
return HasReturnvaluesIF::RETURN_OK;
}

68
osal/linux/Clock.cpp
View File

@ -153,71 +153,3 @@ ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
/ 3600.;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) {
//SHOULDDO: works not for dates in the past (might have less leap seconds)
if (timeMutex == NULL) {
return HasReturnvaluesIF::RETURN_FAILED;
}
uint16_t leapSeconds;
ReturnValue_t result = getLeapSeconds(&leapSeconds);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
timeval leapSeconds_timeval = { 0, 0 };
leapSeconds_timeval.tv_sec = leapSeconds;
//initial offset between UTC and TAI
timeval UTCtoTAI1972 = { 10, 0 };
timeval TAItoTT = { 32, 184000 };
*tt = utc + leapSeconds_timeval + UTCtoTAI1972 + TAItoTT;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
if(checkOrCreateClockMutex()!=HasReturnvaluesIF::RETURN_OK){
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t result = timeMutex->lockMutex(MutexIF::TimeoutType::BLOCKING);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
leapSeconds = leapSeconds_;
result = timeMutex->unlockMutex();
return result;
}
ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
if(timeMutex==NULL){
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t result = timeMutex->lockMutex(MutexIF::TimeoutType::BLOCKING);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
*leapSeconds_ = leapSeconds;
result = timeMutex->unlockMutex();
return result;
}
ReturnValue_t Clock::checkOrCreateClockMutex(){
if(timeMutex == nullptr){
MutexFactory* mutexFactory = MutexFactory::instance();
if (mutexFactory == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
timeMutex = mutexFactory->createMutex();
if (timeMutex == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
return HasReturnvaluesIF::RETURN_OK;
}

62
osal/rtems/Clock.cpp
View File

@ -154,65 +154,3 @@ ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
/ 3600.;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) {
//SHOULDDO: works not for dates in the past (might have less leap seconds)
if (timeMutex == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
uint16_t leapSeconds;
ReturnValue_t result = getLeapSeconds(&leapSeconds);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
timeval leapSeconds_timeval = { 0, 0 };
leapSeconds_timeval.tv_sec = leapSeconds;
//initial offset between UTC and TAI
timeval UTCtoTAI1972 = { 10, 0 };
timeval TAItoTT = { 32, 184000 };
*tt = utc + leapSeconds_timeval + UTCtoTAI1972 + TAItoTT;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
if(checkOrCreateClockMutex()!=HasReturnvaluesIF::RETURN_OK){
return HasReturnvaluesIF::RETURN_FAILED;
}
MutexGuard helper(timeMutex);
leapSeconds = leapSeconds_;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
if(timeMutex==nullptr){
return HasReturnvaluesIF::RETURN_FAILED;
}
MutexGuard helper(timeMutex);
*leapSeconds_ = leapSeconds;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::checkOrCreateClockMutex(){
if(timeMutex==nullptr){
MutexFactory* mutexFactory = MutexFactory::instance();
if (mutexFactory == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
timeMutex = mutexFactory->createMutex();
if (timeMutex == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
return HasReturnvaluesIF::RETURN_OK;
}

1
returnvalues/FwClassIds.h
View File

@ -75,6 +75,7 @@ enum: uint8_t {
HAL_SPI, //HSPI
HAL_UART, //HURT
HAL_I2C, //HI2C
HAL_GPIO, //HGIO
FW_CLASS_ID_COUNT // [EXPORT] : [END]
};

1
timemanager/CMakeLists.txt
View File

@ -5,4 +5,5 @@ target_sources(${LIB_FSFW_NAME}
Stopwatch.cpp
TimeMessage.cpp
TimeStamper.cpp
ClockCommon.cpp
)

34
timemanager/Clock.h
View File

@ -41,14 +41,14 @@ public:
* @return -@c RETURN_OK on success. Otherwise, the OS failure code
* is returned.
*/
static ReturnValue_t setClock(const TimeOfDay_t* time);
static ReturnValue_t setClock(const TimeOfDay_t *time);
/**
* This system call sets the system time.
* To set the time, it uses a timeval struct.
* @param time The struct with the time settings to set.
* @return -@c RETURN_OK on success. Otherwise, the OS failure code is returned.
*/
static ReturnValue_t setClock(const timeval* time);
static ReturnValue_t setClock(const timeval *time);
/**
* This system call returns the current system clock in timeval format.
* The timval format has the fields @c tv_sec with seconds and @c tv_usec with
@ -56,7 +56,7 @@ public:
* @param time A pointer to a timeval struct where the current time is stored.
* @return @c RETURN_OK on success. Otherwise, the OS failure code is returned.
*/
static ReturnValue_t getClock_timeval(timeval* time);
static ReturnValue_t getClock_timeval(timeval *time);
/**
* Get the time since boot in a timeval struct
@ -66,7 +66,7 @@ public:
*
* @deprecated, I do not think this should be able to fail, use timeval getUptime()
*/
static ReturnValue_t getUptime(timeval* uptime);
static ReturnValue_t getUptime(timeval *uptime);
static timeval getUptime();
@ -79,7 +79,7 @@ public:
* @param ms uptime in ms
* @return RETURN_OK on success. Otherwise, the OS failure code is returned.
*/
static ReturnValue_t getUptime(uint32_t* uptimeMs);
static ReturnValue_t getUptime(uint32_t *uptimeMs);
/**
* Returns the time in microseconds since an OS-defined epoch.
@ -89,7 +89,7 @@ public:
* - @c RETURN_OK on success.
* - Otherwise, the OS failure code is returned.
*/
static ReturnValue_t getClock_usecs(uint64_t* time);
static ReturnValue_t getClock_usecs(uint64_t *time);
/**
* Returns the time in a TimeOfDay_t struct.
* @param time A pointer to a TimeOfDay_t struct.
@ -97,7 +97,7 @@ public:
* - @c RETURN_OK on success.
* - Otherwise, the OS failure code is returned.
*/
static ReturnValue_t getDateAndTime(TimeOfDay_t* time);
static ReturnValue_t getDateAndTime(TimeOfDay_t *time);
/**
* Converts a time of day struct to POSIX seconds.
@ -107,8 +107,8 @@ public:
* - @c RETURN_OK on success.
* - Otherwise, the OS failure code is returned.
*/
static ReturnValue_t convertTimeOfDayToTimeval(const TimeOfDay_t* from,
timeval* to);
static ReturnValue_t convertTimeOfDayToTimeval(const TimeOfDay_t *from,
timeval *to);
/**
* Converts a time represented as seconds and subseconds since unix
@ -118,12 +118,14 @@ public:
* @param[out] JD2000 days since J2000
* @return @c RETURN_OK
*/
static ReturnValue_t convertTimevalToJD2000(timeval time, double* JD2000);
static ReturnValue_t convertTimevalToJD2000(timeval time, double *JD2000);
/**
* Calculates and adds the offset between UTC and TT
*
* Depends on the leap seconds to be set correctly.
* Therefore, it does not work for historic
* dates as only the current leap seconds are known.
*
* @param utc timeval, corresponding to UTC time
* @param[out] tt timeval, corresponding to Terrestial Time
@ -131,7 +133,7 @@ public:
* - @c RETURN_OK on success
* - @c RETURN_FAILED if leapSeconds are not set
*/
static ReturnValue_t convertUTCToTT(timeval utc, timeval* tt);
static ReturnValue_t convertUTCToTT(timeval utc, timeval *tt);
/**
* Set the Leap Seconds since 1972
@ -139,22 +141,22 @@ public:
* @param leapSeconds_
* @return
* - @c RETURN_OK on success.
* - Otherwise, the OS failure code is returned.
*/
static ReturnValue_t setLeapSeconds(const uint16_t leapSeconds_);
/**
* Get the Leap Seconds since 1972
*
* Must be set before!
* Setter must be called before
*
* @param[out] leapSeconds_
* @return
* - @c RETURN_OK on success.
* - Otherwise, the OS failure code is returned.
* - @c RETURN_FAILED on error
*/
static ReturnValue_t getLeapSeconds(uint16_t *leapSeconds_);
private:
/**
* Function to check and create the Mutex for the clock
* @return
@ -163,10 +165,8 @@ public:
*/
static ReturnValue_t checkOrCreateClockMutex();
private:
static MutexIF* timeMutex;
static MutexIF *timeMutex;
static uint16_t leapSeconds;
};
#endif /* FSFW_TIMEMANAGER_CLOCK_H_ */

57
timemanager/ClockCommon.cpp Normal file
View File

@ -0,0 +1,57 @@
#include "Clock.h"
#include "../ipc/MutexGuard.h"
ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval *tt) {
uint16_t leapSeconds;
ReturnValue_t result = getLeapSeconds(&leapSeconds);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
timeval leapSeconds_timeval = { 0, 0 };
leapSeconds_timeval.tv_sec = leapSeconds;
//initial offset between UTC and TAI
timeval UTCtoTAI1972 = { 10, 0 };
timeval TAItoTT = { 32, 184000 };
*tt = utc + leapSeconds_timeval + UTCtoTAI1972 + TAItoTT;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
if (checkOrCreateClockMutex() != HasReturnvaluesIF::RETURN_OK) {
return HasReturnvaluesIF::RETURN_FAILED;
}
MutexGuard helper(timeMutex);
leapSeconds = leapSeconds_;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::getLeapSeconds(uint16_t *leapSeconds_) {
if (timeMutex == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
MutexGuard helper(timeMutex);
*leapSeconds_ = leapSeconds;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::checkOrCreateClockMutex() {
if (timeMutex == nullptr) {
MutexFactory *mutexFactory = MutexFactory::instance();
if (mutexFactory == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
timeMutex = mutexFactory->createMutex();
if (timeMutex == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
return HasReturnvaluesIF::RETURN_OK;
}

2
tmtcpacket/pus/tc/TcPacketStoredPus.cpp
View File

@ -1,5 +1,7 @@
#include "TcPacketStoredPus.h"
#include "../../../serviceinterface/ServiceInterface.h"
#include <cstring>
TcPacketStoredPus::TcPacketStoredPus(uint16_t apid, uint8_t service,