modules/time_persistor: new time persistor module to save time to per…

…sistent storage (#23760)

src/modules/time_persistor/CMakeLists.txt

@@ -0,0 +1,43 @@
+############################################################################
+#
+# Copyright (c) 2024 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+# notice, this list of conditions and the following disclaimer in
+# the documentation and/or other materials provided with the
+# distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+# used to endorse or promote products derived from this software
+# without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_module(
+ MODULE modules__time_persistor
+ MAIN time_persistor
+ COMPILE_FLAGS
+ SRCS
+ TimePersistor.cpp
+ TimePersistor.hpp
+ DEPENDS
+ px4_work_queue
+ )

src/modules/time_persistor/Kconfig

@@ -0,0 +1,5 @@
+menuconfig MODULES_TIME_PERSISTOR
+ bool "time_persistor"
+ default n
+ ---help---
+ Enable support for time_persistor

src/modules/time_persistor/TimePersistor.cpp

@@ -0,0 +1,174 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in
+ * the documentation and/or other materials provided with the
+ * distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ * used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "TimePersistor.hpp"
+
+#include <errno.h>
+#include <px4_platform_common/log.h>
+
+TimePersistor::TimePersistor() :
+ ModuleParams(nullptr),
+ ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default)
+{
+}
+
+TimePersistor::~TimePersistor()
+{
+ fclose(_file);
+}
+
+void TimePersistor::start()
+{
+ ScheduleOnInterval(1_s);
+}
+
+void TimePersistor::Run()
+{
+ if (should_exit()) {
+ ScheduleClear();
+ exit_and_cleanup();
+ return;
+ }
+
+ if (!_file) {
+ if (init() != PX4_OK) {
+ ScheduleClear();
+ exit_and_cleanup();
+ return;
+ }
+ }
+
+ struct timespec ts;
+
+ px4_clock_gettime(CLOCK_REALTIME, &ts);
+
+ if (write_time(ts.tv_sec) != PX4_OK) {
+ PX4_ERR("error writing RTC to time file");
+ exit_and_cleanup();
+ return;
+ }
+}
+
+int TimePersistor::task_spawn(int argc, char *argv[])
+{
+ TimePersistor *instance = new TimePersistor();
+
+ if (!instance) {
+ PX4_ERR("alloc failed");
+ return PX4_ERROR;
+ }
+
+ _object.store(instance);
+ _task_id = task_id_is_work_queue;
+
+ instance->start();
+ return PX4_OK;
+}
+
+int TimePersistor::custom_command(int argc, char *argv[])
+{
+ return print_usage("unknown command");
+}
+
+int TimePersistor::print_usage(const char *reason)
+{
+ if (reason) {
+ PX4_WARN("%s\n", reason);
+ }
+
+ PRINT_MODULE_DESCRIPTION(
+ R"DESCR_STR(
+### Description
+Writes the RTC time cyclically to a file and reloads this value on startup.
+This allows monotonic time on systems that only have a software RTC (that is not battery powered).
+Explicitly setting the time backwards (e.g. via system_time) is still possible.
+
+)DESCR_STR");
+
+ PRINT_MODULE_USAGE_NAME("time_persistor", "system");
+ PRINT_MODULE_USAGE_COMMAND("start");
+ PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+ return 0;
+}
+
+extern "C" __EXPORT int time_persistor_main(int argc, char *argv[])
+{
+ return TimePersistor::main(argc, argv);
+}
+
+int TimePersistor::init()
+{
+ if ((_file = fopen(TIME_FILE_PATH, "r+")) == nullptr) {
+ _file = fopen(TIME_FILE_PATH, "w+");
+ }
+
+ if (!_file) {
+ PX4_ERR("error opening the time file");
+ return PX4_ERROR;
+ }
+
+ time_t t;
+
+ if (read_time(&t) == PX4_OK) {
+ struct timespec ts;
+ ts.tv_sec = t;
+ ts.tv_nsec = 0;
+
+ px4_clock_settime(CLOCK_REALTIME, &ts);
+ }
+
+ return PX4_OK;
+}
+
+int TimePersistor::read_time(time_t *time)
+{
+ int status = PX4_OK;
+
+ status |= fseek(_file, 0, SEEK_SET);
+ status |= fread(time, sizeof(time_t), 1, _file) != 1;
+
+ return status;
+}
+
+int TimePersistor::write_time(const time_t time)
+{
+ int status = PX4_OK;
+
+ status |= fseek(_file, 0, SEEK_SET);
+ status |= fwrite(&time, sizeof(time_t), 1, _file) != 1;
+ status |= fflush(_file);
+ status |= fsync(fileno(_file));
+
+ return status;
+}

src/modules/time_persistor/TimePersistor.hpp

@@ -0,0 +1,71 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in
+ * the documentation and/or other materials provided with the
+ * distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ * used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/time.h>
+
+static constexpr const auto TIME_FILE_PATH = PX4_STORAGEDIR "/time_save.bin";
+
+using namespace time_literals;
+
+class TimePersistor : public ModuleBase<TimePersistor>, public ModuleParams, public px4::ScheduledWorkItem
+{
+public:
+ TimePersistor();
+ ~TimePersistor() override;
+
+ /** @see ModuleBase */
+ static int task_spawn(int argc, char *argv[]);
+
+ /** @see ModuleBase */
+ static int custom_command(int argc, char *argv[]);
+
+ /** @see ModuleBase */
+ static int print_usage(const char *reason = nullptr);
+
+ /** @see ModuleBase::run() */
+ void Run() override;
+
+ void start();
+
+private:
+ int init();
+ int read_time(time_t *time);
+ int write_time(const time_t time);
+
+ FILE *_file = 0;
+};