Merge branch 'development' into mueller/timemessage-override-fix

devicehandlers/HealthDevice.cpp

@@ -16,9 +16,9 @@ ReturnValue_t HealthDevice::performOperation(uint8_t opCode) {
 	CommandMessage command;
 	ReturnValue_t result = commandQueue->receiveMessage(&command);
 	if (result == HasReturnvaluesIF::RETURN_OK) {
-		healthHelper.handleHealthCommand(&command);
+		result = healthHelper.handleHealthCommand(&command);
 	}
-	return HasReturnvaluesIF::RETURN_OK;
+	return result;
 }
 
 ReturnValue_t HealthDevice::initialize() {

thermal/Heater.cpp

@@ -1,15 +1,13 @@
-#include "../devicehandlers/DeviceHandlerFailureIsolation.h"
 #include "Heater.h"
 
+#include "../devicehandlers/DeviceHandlerFailureIsolation.h"
 #include "../power/Fuse.h"
 #include "../ipc/QueueFactory.h"
 
 Heater::Heater(uint32_t objectId, uint8_t switch0, uint8_t switch1) :
-		HealthDevice(objectId, 0), internalState(STATE_OFF), powerSwitcher(
+HealthDevice(objectId, 0), internalState(STATE_OFF), switch0(switch0), switch1(switch1),
-				NULL), pcduQueueId(0), switch0(switch0), switch1(switch1), wasOn(
+        heaterOnCountdown(10800000)/*about two orbits*/,
-				false), timedOut(false), reactedToBeingFaulty(false), passive(
+		parameterHelper(this) {
-				false), eventQueue(NULL), heaterOnCountdown(10800000)/*about two orbits*/, parameterHelper(
-				this), lastAction(CLEAR) {
     eventQueue = QueueFactory::instance()->createMessageQueue();
 }
 
@@ -226,7 +224,6 @@ void Heater::setSwitch(uint8_t number, ReturnValue_t state,
                         triggerEvent(HEATER_STAYED_ON);
                     }
                 }
-				//SHOULDDO MiniOps during switch timeout leads to a faulty switch
             }
         }
     }
@@ -286,7 +283,10 @@ void Heater::handleQueue() {
         if (result == HasReturnvaluesIF::RETURN_OK) {
             return;
         }
-		parameterHelper.handleParameterMessage(&command);
+        result = parameterHelper.handleParameterMessage(&command);
+        if (result == HasReturnvaluesIF::RETURN_OK) {
+            return;
+        }
     }
 }
 
@@ -316,7 +316,9 @@ void Heater::handleEventQueue() {
             switch (event.getEvent()) {
             case Fuse::FUSE_WENT_OFF:
             case HEATER_STAYED_OFF:
-			case HEATER_STAYED_ON://Setting it faulty does not help, but we need to reach a stable state and can check for being faulty before throwing this event again.
+            // HEATER_STAYED_ON is a setting if faulty does not help, but we need to reach a stable state and can check
+            // for being faulty before throwing this event again.
+            case HEATER_STAYED_ON:
                 if (healthHelper.healthTable->isCommandable(getObjectId())) {
                     healthHelper.setHealth(HasHealthIF::FAULTY);
                     internalState = STATE_FAULTY;

thermal/Heater.h

@@ -1,13 +1,13 @@
-#ifndef FRAMEWORK_THERMAL_HEATER_H_
+#ifndef FSFW_THERMAL_HEATER_H_
-#define FRAMEWORK_THERMAL_HEATER_H_
+#define FSFW_THERMAL_HEATER_H_
 
 #include "../devicehandlers/HealthDevice.h"
 #include "../parameters/ParameterHelper.h"
 #include "../power/PowerSwitchIF.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../timemanager/Countdown.h"
-#include <stdint.h>
+#include <cstdint>
-//class RedundantHeater;
+
 
 class Heater: public HealthDevice, public ReceivesParameterMessagesIF {
     friend class RedundantHeater;
@@ -47,35 +47,38 @@ protected:
         STATE_PASSIVE,
         STATE_WAIT_FOR_SWITCHES_ON,
         STATE_WAIT_FOR_SWITCHES_OFF,
-		STATE_WAIT_FOR_FDIR, //used to avoid doing anything until fdir decided what to do
+        STATE_WAIT_FOR_FDIR, // Used to avoid doing anything until fdir decided what to do
         STATE_FAULTY,
-		STATE_WAIT, //used when waiting for system to recover from miniops
+        STATE_WAIT, // Used when waiting for system to recover from miniops
-		STATE_EXTERNAL_CONTROL //entered when under external control and a fdir reaction would be triggered. This is useful when leaving external control into an unknown state
+        // Entered when under external control and a fdir reaction would be triggered.
-							   //if no fdir reaction is triggered under external control the state is still ok and no need for any special treatment is needed
+        // This is useful when leaving external control into an unknown state
+        STATE_EXTERNAL_CONTROL
+        // If no fdir reaction is triggered under external control the state is still ok and
+        // no need for any special treatment is needed
     } internalState;
 
-	PowerSwitchIF *powerSwitcher;
+    PowerSwitchIF *powerSwitcher = nullptr;
-	MessageQueueId_t pcduQueueId;
+    MessageQueueId_t pcduQueueId = MessageQueueIF::NO_QUEUE;
 
     uint8_t switch0;
     uint8_t switch1;
 
-	bool wasOn;
+    bool wasOn = false;
 
-	bool timedOut;
+    bool timedOut = false;
 
-	bool reactedToBeingFaulty;
+    bool reactedToBeingFaulty = false;
 
-	bool passive;
+    bool passive = false;
 
-	MessageQueueIF* eventQueue;
+    MessageQueueIF* eventQueue = nullptr;
     Countdown heaterOnCountdown;
     Countdown switchCountdown;
     ParameterHelper parameterHelper;
 
     enum Action {
         SET, CLEAR
-	} lastAction;
+    } lastAction = CLEAR;
 
     void doAction(Action action);
 
@@ -87,4 +90,4 @@ protected:
     void handleEventQueue();
 };
 
-#endif /* FRAMEWORK_THERMAL_HEATER_H_ */
+#endif /* FSFW_THERMAL_HEATER_H_ */

thermal/TemperatureSensor.h

@@ -1,11 +1,14 @@
-#ifndef TEMPERATURESENSOR_H_
+#ifndef FSFW_THERMAL_TEMPERATURESENSOR_H_
-#define TEMPERATURESENSOR_H_
+#define FSFW_THERMAL_TEMPERATURESENSOR_H_
 
-#include "../thermal/AbstractTemperatureSensor.h"
+#include "tcsDefinitions.h"
-#include "../datapoolglob/GlobalDataSet.h"
+#include "AbstractTemperatureSensor.h"
-#include "../datapoolglob/GlobalPoolVariable.h"
+
+#include "../datapoollocal/LocalPoolDataSetBase.h"
+#include "../datapoollocal/LocalPoolVariable.h"
 #include "../monitoring/LimitMonitor.h"
 
+
 /**
  * @brief 	This building block handles non-linear value conversion and
  * 			range checks for analog temperature sensors.
@@ -58,26 +61,24 @@ public:
 	/**
 	 * Instantiate Temperature Sensor Object.
 	 * @param setObjectid       objectId of the sensor object
-	 * @param inputValue Input value which is converted to a temperature
+	 * @param inputTemperature  Pointer to a raw input value which is converted to an floating
-	 * @param poolVariable Pool Variable to store the temperature value
+	 *                          point C output temperature
+	 * @param outputGpid        Global Pool ID of the output value
 	 * @param vectorIndex       Vector Index for the sensor monitor
 	 * @param parameters        Calculation parameters, temperature limits, gradient limit
-	 * @param datapoolId Datapool ID of the output temperature
 	 * @param outputSet         Output dataset for the output temperature to fetch it with read()
-	 * @param thermalModule respective thermal module, if it has one
+	 * @param thermalModule     Respective thermal module, if it has one
 	 */
-	TemperatureSensor(object_id_t setObjectid,
+	TemperatureSensor(object_id_t setObjectid,lp_var_t<limitType>* inputTemperature,
-			inputType *inputValue, PoolVariableIF *poolVariable,
+			gp_id_t outputGpid, uint8_t vectorIndex, Parameters parameters = {0, 0, 0, 0, 0, 0},
-			uint8_t vectorIndex, uint32_t datapoolId, Parameters parameters = {0, 0, 0, 0, 0, 0},
+			LocalPoolDataSetBase *outputSet = nullptr, ThermalModuleIF *thermalModule = nullptr) :
-			GlobDataSet *outputSet = NULL, ThermalModuleIF *thermalModule = NULL) :
 			AbstractTemperatureSensor(setObjectid, thermalModule), parameters(parameters),
-			inputValue(inputValue), poolVariable(poolVariable),
+			inputTemperature(inputTemperature),
-			outputTemperature(datapoolId, outputSet, PoolVariableIF::VAR_WRITE),
+			outputTemperature(outputGpid, outputSet, PoolVariableIF::VAR_WRITE),
-			sensorMonitor(setObjectid, DOMAIN_ID_SENSOR,
+			sensorMonitor(setObjectid, DOMAIN_ID_SENSOR, outputGpid,
-				GlobalDataPool::poolIdAndPositionToPid(poolVariable->getDataPoolId(), vectorIndex),
 				DEFAULT_CONFIRMATION_COUNT, parameters.lowerLimit, parameters.upperLimit,
 				TEMP_SENSOR_LOW, TEMP_SENSOR_HIGH),
-			oldTemperature(20), uptimeOfOldTemperature( { INVALID_TEMPERATURE, 0 }) {
+			oldTemperature(20), uptimeOfOldTemperature({ thermal::INVALID_TEMPERATURE, 0 }) {
 	}
 
 
@@ -98,7 +99,7 @@ protected:
 
 private:
 	void setInvalid() {
-		outputTemperature = INVALID_TEMPERATURE;
+		outputTemperature = thermal::INVALID_TEMPERATURE;
 		outputTemperature.setValid(false);
 		uptimeOfOldTemperature.tv_sec = INVALID_UPTIME;
 		sensorMonitor.setToInvalid();
@@ -108,11 +109,8 @@ protected:
 
 	UsedParameters parameters;
 
-	inputType * inputValue;
+	lp_var_t<limitType>* inputTemperature;
-
+	lp_var_t<float> outputTemperature;
-	PoolVariableIF *poolVariable;
-
-	gp_float_t outputTemperature;
 
 	LimitMonitor<limitType> sensorMonitor;
 
@@ -120,22 +118,27 @@ protected:
 	timeval uptimeOfOldTemperature;
 
 	void doChildOperation() {
-		if (!poolVariable->isValid()
+		ReturnValue_t result = inputTemperature->read(MutexIF::TimeoutType::WAITING, 20);
-				|| !healthHelper.healthTable->isHealthy(getObjectId())) {
+		if(result != HasReturnvaluesIF::RETURN_OK) {
+			return;
+		}
+
+		if ((not inputTemperature->isValid()) or
+		        (not healthHelper.healthTable->isHealthy(getObjectId()))) {
 			setInvalid();
 			return;
 		}
 
-		outputTemperature = calculateOutputTemperature(*inputValue);
+		outputTemperature = calculateOutputTemperature(inputTemperature->value);
 		outputTemperature.setValid(PoolVariableIF::VALID);
 
 		timeval uptime;
 		Clock::getUptime(&uptime);
 
 		if (uptimeOfOldTemperature.tv_sec != INVALID_UPTIME) {
-			//In theory, we could use an AbsValueMonitor to monitor the gradient.
+			// In theory, we could use an AbsValueMonitor to monitor the gradient.
-			//But this would require storing the maxGradient in DP and quite some overhead.
+			// But this would require storing the maxGradient in DP and quite some overhead.
-			//The concept of delta limits is a bit strange anyway.
+			// The concept of delta limits is a bit strange anyway.
 			float deltaTime;
 			float deltaTemp;
 
@@ -148,17 +151,17 @@ protected:
 			}
 			if (parameters.gradient < deltaTemp / deltaTime) {
 				triggerEvent(TEMP_SENSOR_GRADIENT);
-				//Don't set invalid, as we did not recognize it as invalid with full authority, let FDIR handle it
+				// Don't set invalid, as we did not recognize it as invalid with full authority,
+				// let FDIR handle it
 			}
 		}
 
-		//Check is done against raw limits. SHOULDDO: Why? Using <20>C would be more easy to handle.
 		sensorMonitor.doCheck(outputTemperature.value);
 
 		if (sensorMonitor.isOutOfLimits()) {
 			uptimeOfOldTemperature.tv_sec = INVALID_UPTIME;
 			outputTemperature.setValid(PoolVariableIF::INVALID);
-			outputTemperature = INVALID_TEMPERATURE;
+			outputTemperature = thermal::INVALID_TEMPERATURE;
 		} else {
 			oldTemperature = outputTemperature;
 			uptimeOfOldTemperature = uptime;
@@ -179,7 +182,10 @@ public:
 	static const uint16_t ADDRESS_C = 2;
 	static const uint16_t ADDRESS_GRADIENT = 3;
 
-	static const uint16_t DEFAULT_CONFIRMATION_COUNT = 1; //!< Changed due to issue with later temperature checking even tough the sensor monitor was confirming already (Was 10 before with comment = Correlates to a 10s confirmation time. Chosen rather large, should not be so bad for components and helps survive glitches.)
+	//! Changed due to issue with later temperature checking even tough the sensor monitor was
+	//! confirming already (Was 10 before with comment = Correlates to a 10s confirmation time.
+	//! Chosen rather large, should not be so bad for components and helps survive glitches.)
+	static const uint16_t DEFAULT_CONFIRMATION_COUNT = 1;
 
 	static const uint8_t DOMAIN_ID_SENSOR = 1;
 
@@ -219,4 +225,4 @@ public:
 
 };
 
-#endif /* TEMPERATURESENSOR_H_ */
+#endif /* FSFW_THERMAL_TEMPERATURESENSOR_H_ */