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

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Robin Müller 2021-04-22 19:55:02 +02:00
commit 763347f203
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8 changed files with 440 additions and 399 deletions
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13
defaultcfg/fsfwconfig/FSFWConfig.h
View File

@ -42,6 +42,13 @@
//! Specify whether a special mode store is used for Subsystem components.
#define FSFW_USE_MODESTORE 0
//! Defines if the real time scheduler for linux should be used.
//! If set to 0, this will also disable priority settings for linux
//! as most systems will not allow to set nice values without privileges
//! For embedded linux system set this to 1.
//! If set to 1 the binary needs "cap_sys_nice=eip" privileges to run
#define FSFW_USE_REALTIME_FOR_LINUX 1
namespace fsfwconfig {
//! Default timestamp size. The default timestamp will be an eight byte CDC
//! short timestamp.
@ -60,12 +67,6 @@ static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6;
static constexpr size_t FSFW_PRINT_BUFFER_SIZE = 124;
//! Defines if the real time scheduler for linux should be used.
//! If set to 0, this will also disable priority settings for linux
//! as most systems will not allow to set nice values without privileges
//! For embedded linux system set this to 1.
//! If set to 1 the binary needs "cap_sys_nice=eip" privileges to run
#define FSFW_USE_REALTIME_FOR_LINUX 1
}
#endif /* CONFIG_FSFWCONFIG_H_ */

22
devicehandlers/AssemblyBase.h
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@ -24,6 +24,13 @@
* 1. check logic when active-> checkChildrenStateOn
* 2. transition logic to change the mode -> commandChildren
*
* Important:
*
* The implementation must call registerChild(object_id_t child)
* for all commanded children during initialization.
* The implementation must call the initialization function of the base class.
* (This will call the function in SubsystemBase)
*
*/
class AssemblyBase: public SubsystemBase {
public:
@ -41,9 +48,6 @@ public:
virtual ~AssemblyBase();
protected:
// SHOULDDO: Change that OVERWRITE_HEALTH may be returned
// (or return internalState directly?)
/**
* Command children to reach [mode,submode] combination
* Can be done by setting #commandsOutstanding correctly,
@ -68,6 +72,18 @@ protected:
virtual ReturnValue_t checkChildrenStateOn(Mode_t wantedMode,
Submode_t wantedSubmode) = 0;
/**
* Check whether a combination of mode and submode is valid.
*
* Ground Controller like precise return values from HasModesIF.
* So, please return any of them.
*
* @param mode The targeted mode
* @param submode The targeted submmode
* @return Any information why this combination is invalid from HasModesIF
* like HasModesIF::INVALID_SUBMODE.
* On success return HasReturnvaluesIF::RETURN_OK
*/
virtual ReturnValue_t isModeCombinationValid(Mode_t mode,
Submode_t submode) = 0;

10
osal/linux/PosixThread.cpp
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@ -223,8 +223,16 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
status = pthread_create(&thread,&attributes,fnc_,arg_);
if(status != 0){
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Posix Thread create failed with: " <<
sif::error << "PosixThread::createTask: Failed with: " <<
strerror(status) << std::endl;
sif::error << "For FSFW_USE_REALTIME_FOR_LINUX == 1 make sure to call " <<
"\"all sudo setcap 'cap_sys_nice=eip'\" on the application or set "
"/etc/security/limit.conf" << std::endl;
#else
sif::printError("PosixThread::createTask: Create failed with: %s\n", strerror(status));
sif::printError("For FSFW_USE_REALTIME_FOR_LINUX == 1 make sure to call "
"\"all sudo setcap 'cap_sys_nice=eip'\" on the application or set "
"/etc/security/limit.conf\n");
#endif
}

9
subsystem/SubsystemBase.cpp
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@ -5,8 +5,7 @@
SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent,
Mode_t initialMode, uint16_t commandQueueDepth) :
SystemObject(setObjectId), mode(initialMode), submode(SUBMODE_NONE),
childrenChangedMode(false),
SystemObject(setObjectId), mode(initialMode),
commandQueue(QueueFactory::instance()->createMessageQueue(
commandQueueDepth, CommandMessage::MAX_MESSAGE_SIZE)),
healthHelper(this, setObjectId), modeHelper(this), parentId(parent) {
@ -167,16 +166,16 @@ MessageQueueId_t SubsystemBase::getCommandQueue() const {
}
ReturnValue_t SubsystemBase::initialize() {
MessageQueueId_t parentQueue = 0;
MessageQueueId_t parentQueue = MessageQueueIF::NO_QUEUE;
ReturnValue_t result = SystemObject::initialize();
if (result != RETURN_OK) {
return result;
}
if (parentId != 0) {
if (parentId != objects::NO_OBJECT) {
SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId);
if (parent == NULL) {
if (parent == nullptr) {
return RETURN_FAILED;
}
parentQueue = parent->getCommandQueue();

15
subsystem/SubsystemBase.h
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@ -37,6 +37,17 @@ public:
virtual MessageQueueId_t getCommandQueue() const override;
/**
* Function to register the child objects.
* Performs a checks if the child does implement HasHealthIF and/or HasModesIF
*
* Also adds them to the internal childrenMap.
*
* @param objectId
* @return RETURN_OK if successful
* CHILD_DOESNT_HAVE_MODES if Child is no HasHealthIF and no HasModesIF
* COULD_NOT_INSERT_CHILD If the Child could not be added to the ChildrenMap
*/
ReturnValue_t registerChild(object_id_t objectId);
virtual ReturnValue_t initialize() override;
@ -56,9 +67,9 @@ protected:
Mode_t mode;
Submode_t submode;
Submode_t submode = SUBMODE_NONE;
bool childrenChangedMode;
bool childrenChangedMode = false;
/**
* Always check this against <=0, so you are robust against too many replies

15
thermal/Heater.cpp
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@ -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(
NULL), pcduQueueId(0), switch0(switch0), switch1(switch1), wasOn(
false), timedOut(false), reactedToBeingFaulty(false), passive(
false), eventQueue(NULL), heaterOnCountdown(10800000)/*about two orbits*/, parameterHelper(
this), lastAction(CLEAR) {
HealthDevice(objectId, 0), internalState(STATE_OFF), switch0(switch0), switch1(switch1),
heaterOnCountdown(10800000)/*about two orbits*/,
parameterHelper(this) {
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
}
}
}
@ -319,7 +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;

37
thermal/Heater.h
View File

@ -1,13 +1,13 @@
#ifndef FRAMEWORK_THERMAL_HEATER_H_
#define FRAMEWORK_THERMAL_HEATER_H_
#ifndef FSFW_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>
//class RedundantHeater;
#include <cstdint>
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_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
//if no fdir reaction is triggered under external control the state is still ok and no need for any special treatment is needed
STATE_WAIT, // Used when waiting for system to recover from miniops
// Entered when under external control and a fdir reaction would be triggered.
// 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;
MessageQueueId_t pcduQueueId;
PowerSwitchIF *powerSwitcher = nullptr;
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_ */

56
thermal/TemperatureSensor.h
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@ -1,5 +1,5 @@
#ifndef TEMPERATURESENSOR_H_
#define TEMPERATURESENSOR_H_
#ifndef FSFW_THERMAL_TEMPERATURESENSOR_H_
#define FSFW_THERMAL_TEMPERATURESENSOR_H_
#include "tcsDefinitions.h"
#include "AbstractTemperatureSensor.h"
@ -61,22 +61,21 @@ public:
/**
* Instantiate Temperature Sensor Object.
* @param setObjectid objectId of the sensor object
* @param inputValue Pointer to input value which is converted to a temperature
* @param variableGpid Global Pool ID of the output value
* @param inputVariable Input variable handle
* @param inputTemperature Pointer to a raw input value which is converted to an floating
* 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 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,
inputType *inputValue, gp_id_t variableGpid, PoolVariableIF* inputVariable,
uint8_t vectorIndex, Parameters parameters = {0, 0, 0, 0, 0, 0},
LocalPoolDataSetBase *outputSet = NULL, ThermalModuleIF *thermalModule = NULL) :
TemperatureSensor(object_id_t setObjectid,lp_var_t<limitType>* inputTemperature,
gp_id_t outputGpid, uint8_t vectorIndex, Parameters parameters = {0, 0, 0, 0, 0, 0},
LocalPoolDataSetBase *outputSet = nullptr, ThermalModuleIF *thermalModule = nullptr) :
AbstractTemperatureSensor(setObjectid, thermalModule), parameters(parameters),
inputValue(inputValue), poolVariable(inputVariable),
outputTemperature(variableGpid, outputSet, PoolVariableIF::VAR_WRITE),
sensorMonitor(setObjectid, DOMAIN_ID_SENSOR, poolVariable,
inputTemperature(inputTemperature),
outputTemperature(outputGpid, outputSet, PoolVariableIF::VAR_WRITE),
sensorMonitor(setObjectid, DOMAIN_ID_SENSOR, outputGpid,
DEFAULT_CONFIRMATION_COUNT, parameters.lowerLimit, parameters.upperLimit,
TEMP_SENSOR_LOW, TEMP_SENSOR_HIGH),
oldTemperature(20), uptimeOfOldTemperature({ thermal::INVALID_TEMPERATURE, 0 }) {
@ -110,10 +109,7 @@ protected:
UsedParameters parameters;
inputType* inputValue;
PoolVariableIF* poolVariable;
lp_var_t<limitType>* inputTemperature;
lp_var_t<float> outputTemperature;
LimitMonitor<limitType> sensorMonitor;
@ -122,22 +118,27 @@ protected:
timeval uptimeOfOldTemperature;
void doChildOperation() {
if ((not poolVariable->isValid()) or
ReturnValue_t result = inputTemperature->read(MutexIF::TimeoutType::WAITING, 20);
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.
//But this would require storing the maxGradient in DP and quite some overhead.
//The concept of delta limits is a bit strange anyway.
// In theory, we could use an AbsValueMonitor to monitor the gradient.
// But this would require storing the maxGradient in DP and quite some overhead.
// The concept of delta limits is a bit strange anyway.
float deltaTime;
float deltaTemp;
@ -150,11 +151,11 @@ 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 C would be more easy to handle.
sensorMonitor.doCheck(outputTemperature.value);
if (sensorMonitor.isOutOfLimits()) {
@ -181,7 +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;
@ -221,4 +225,4 @@ public:
};
#endif /* TEMPERATURESENSOR_H_ */
#endif /* FSFW_THERMAL_TEMPERATURESENSOR_H_ */