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Merge pull request 'fdir update' (#158) from KSat/fsfw:mueller/devices/FDIR into master

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Reviewed-on: fsfw/fsfw#158
This commit is contained in:
Steffen Gaisser 2020-09-01 12:21:48 +02:00
commit e77c294360
4 changed files with 81 additions and 45 deletions
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47
devicehandlers/DeviceHandlerFailureIsolation.cpp
View File

@ -1,19 +1,27 @@
#include "DeviceHandlerBase.h"
#include "DeviceHandlerFailureIsolation.h" #include "DeviceHandlerFailureIsolation.h"
#include "../devicehandlers/DeviceHandlerIF.h"
#include "../modes/HasModesIF.h"
#include "../health/HealthTableIF.h" #include "../health/HealthTableIF.h"
#include "../power/Fuse.h" #include "../power/Fuse.h"
#include "../serviceinterface/ServiceInterfaceStream.h" #include "../serviceinterface/ServiceInterfaceStream.h"
#include "../thermal/ThermalComponentIF.h" #include "../thermal/ThermalComponentIF.h"
object_id_t DeviceHandlerFailureIsolation::powerConfirmationId = 0; object_id_t DeviceHandlerFailureIsolation::powerConfirmationId =
objects::NO_OBJECT;
DeviceHandlerFailureIsolation::DeviceHandlerFailureIsolation(object_id_t owner, object_id_t parent) : DeviceHandlerFailureIsolation::DeviceHandlerFailureIsolation(object_id_t owner,
FailureIsolationBase(owner, parent), strangeReplyCount(MAX_STRANGE_REPLIES, object_id_t parent) :
STRANGE_REPLIES_TIME_MS, parameterDomainBase++), missedReplyCount( FailureIsolationBase(owner, parent),
MAX_MISSED_REPLY_COUNT, MISSED_REPLY_TIME_MS, strangeReplyCount(DEFAULT_MAX_STRANGE_REPLIES,
parameterDomainBase++), recoveryCounter(MAX_REBOOT, DEFAULT_STRANGE_REPLIES_TIME_MS,
REBOOT_TIME_MS, parameterDomainBase++), fdirState(NONE), powerConfirmation( parameterDomainBase++),
0) { missedReplyCount( DEFAULT_MAX_MISSED_REPLY_COUNT,
DEFAULT_MISSED_REPLY_TIME_MS,
parameterDomainBase++),
recoveryCounter(DEFAULT_MAX_REBOOT, DEFAULT_REBOOT_TIME_MS,
parameterDomainBase++),
fdirState(NONE) {
} }
DeviceHandlerFailureIsolation::~DeviceHandlerFailureIsolation() { DeviceHandlerFailureIsolation::~DeviceHandlerFailureIsolation() {
@ -68,9 +76,11 @@ ReturnValue_t DeviceHandlerFailureIsolation::eventReceived(EventMessage* event)
break; break;
//****Power***** //****Power*****
case PowerSwitchIF::SWITCH_WENT_OFF: case PowerSwitchIF::SWITCH_WENT_OFF:
result = sendConfirmationRequest(event, powerConfirmation); if(powerConfirmation != MessageQueueIF::NO_QUEUE) {
if (result == RETURN_OK) { result = sendConfirmationRequest(event, powerConfirmation);
setFdirState(DEVICE_MIGHT_BE_OFF); if (result == RETURN_OK) {
setFdirState(DEVICE_MIGHT_BE_OFF);
}
} }
break; break;
case Fuse::FUSE_WENT_OFF: case Fuse::FUSE_WENT_OFF:
@ -133,7 +143,7 @@ void DeviceHandlerFailureIsolation::decrementFaultCounters() {
void DeviceHandlerFailureIsolation::handleRecovery(Event reason) { void DeviceHandlerFailureIsolation::handleRecovery(Event reason) {
clearFaultCounters(); clearFaultCounters();
if (!recoveryCounter.incrementAndCheck()) { if (not recoveryCounter.incrementAndCheck()) {
startRecovery(reason); startRecovery(reason);
} else { } else {
setFaulty(reason); setFaulty(reason);
@ -142,7 +152,8 @@ void DeviceHandlerFailureIsolation::handleRecovery(Event reason) {
void DeviceHandlerFailureIsolation::wasParentsFault(EventMessage* event) { void DeviceHandlerFailureIsolation::wasParentsFault(EventMessage* event) {
//We'll better ignore the SWITCH_WENT_OFF event and await a system-wide reset. //We'll better ignore the SWITCH_WENT_OFF event and await a system-wide reset.
//This means, no fault message will come through until a MODE_ or HEALTH_INFO message comes through -> Is that ok? //This means, no fault message will come through until a MODE_ or
//HEALTH_INFO message comes through -> Is that ok?
//Same issue in TxFailureIsolation! //Same issue in TxFailureIsolation!
// if ((event->getEvent() == PowerSwitchIF::SWITCH_WENT_OFF) // if ((event->getEvent() == PowerSwitchIF::SWITCH_WENT_OFF)
// && (fdirState != RECOVERY_ONGOING)) { // && (fdirState != RECOVERY_ONGOING)) {
@ -158,14 +169,16 @@ void DeviceHandlerFailureIsolation::clearFaultCounters() {
ReturnValue_t DeviceHandlerFailureIsolation::initialize() { ReturnValue_t DeviceHandlerFailureIsolation::initialize() {
ReturnValue_t result = FailureIsolationBase::initialize(); ReturnValue_t result = FailureIsolationBase::initialize();
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "DeviceHandlerFailureIsolation::initialize: Could not"
" initialize FailureIsolationBase." << std::endl;
return result; return result;
} }
ConfirmsFailuresIF* power = objectManager->get<ConfirmsFailuresIF>( ConfirmsFailuresIF* power = objectManager->get<ConfirmsFailuresIF>(
powerConfirmationId); powerConfirmationId);
if (power == NULL) { if (power != nullptr) {
return RETURN_FAILED; powerConfirmation = power->getEventReceptionQueue();
} }
powerConfirmation = power->getEventReceptionQueue();
return RETURN_OK; return RETURN_OK;
} }

27
devicehandlers/DeviceHandlerFailureIsolation.h
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@ -1,13 +1,13 @@
#ifndef FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERFAILUREISOLATION_H_ #ifndef FSFW_DEVICEHANDLERS_DEVICEHANDLERFAILUREISOLATION_H_
#define FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERFAILUREISOLATION_H_ #define FSFW_DEVICEHANDLERS_DEVICEHANDLERFAILUREISOLATION_H_
#include "../fdir/FaultCounter.h" #include "../fdir/FaultCounter.h"
#include "../fdir/FailureIsolationBase.h" #include "../fdir/FailureIsolationBase.h"
namespace Factory{ namespace Factory{
void setStaticFrameworkObjectIds(); void setStaticFrameworkObjectIds();
} }
class DeviceHandlerFailureIsolation: public FailureIsolationBase { class DeviceHandlerFailureIsolation: public FailureIsolationBase {
friend void (Factory::setStaticFrameworkObjectIds)(); friend void (Factory::setStaticFrameworkObjectIds)();
friend class Heater; friend class Heater;
@ -20,22 +20,27 @@ public:
virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId, virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
ParameterWrapper *parameterWrapper, ParameterWrapper *parameterWrapper,
const ParameterWrapper *newValues, uint16_t startAtIndex); const ParameterWrapper *newValues, uint16_t startAtIndex);
protected: protected:
FaultCounter strangeReplyCount; FaultCounter strangeReplyCount;
FaultCounter missedReplyCount; FaultCounter missedReplyCount;
FaultCounter recoveryCounter; FaultCounter recoveryCounter;
enum FDIRState { enum FDIRState {
NONE, RECOVERY_ONGOING, DEVICE_MIGHT_BE_OFF, AWAIT_SHUTDOWN NONE, RECOVERY_ONGOING, DEVICE_MIGHT_BE_OFF, AWAIT_SHUTDOWN
}; };
FDIRState fdirState; FDIRState fdirState;
MessageQueueId_t powerConfirmation;
MessageQueueId_t powerConfirmation = MessageQueueIF::NO_QUEUE;
static object_id_t powerConfirmationId; static object_id_t powerConfirmationId;
static const uint32_t MAX_REBOOT = 1;
static const uint32_t REBOOT_TIME_MS = 180000; static const uint32_t DEFAULT_MAX_REBOOT = 1;
static const uint32_t MAX_STRANGE_REPLIES = 10; static const uint32_t DEFAULT_REBOOT_TIME_MS = 180000;
static const uint32_t STRANGE_REPLIES_TIME_MS = 10000; static const uint32_t DEFAULT_MAX_STRANGE_REPLIES = 10;
static const uint32_t MAX_MISSED_REPLY_COUNT = 5; static const uint32_t DEFAULT_STRANGE_REPLIES_TIME_MS = 10000;
static const uint32_t MISSED_REPLY_TIME_MS = 10000; static const uint32_t DEFAULT_MAX_MISSED_REPLY_COUNT = 5;
static const uint32_t DEFAULT_MISSED_REPLY_TIME_MS = 10000;
virtual ReturnValue_t eventReceived(EventMessage* event); virtual ReturnValue_t eventReceived(EventMessage* event);
virtual void eventConfirmed(EventMessage* event); virtual void eventConfirmed(EventMessage* event);
void wasParentsFault(EventMessage* event); void wasParentsFault(EventMessage* event);
@ -49,4 +54,4 @@ protected:
bool isFdirInActionOrAreWeFaulty(EventMessage* event); bool isFdirInActionOrAreWeFaulty(EventMessage* event);
}; };
#endif /* FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERFAILUREISOLATION_H_ */ #endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERFAILUREISOLATION_H_ */

35
fdir/FailureIsolationBase.cpp
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@ -5,10 +5,12 @@
#include "../ipc/QueueFactory.h" #include "../ipc/QueueFactory.h"
#include "../objectmanager/ObjectManagerIF.h" #include "../objectmanager/ObjectManagerIF.h"
FailureIsolationBase::FailureIsolationBase(object_id_t owner, object_id_t parent, uint8_t messageDepth, uint8_t parameterDomainBase) : FailureIsolationBase::FailureIsolationBase(object_id_t owner,
eventQueue(NULL), ownerId( object_id_t parent, uint8_t messageDepth, uint8_t parameterDomainBase) :
owner), owner(NULL), faultTreeParent(parent), parameterDomainBase(parameterDomainBase) { ownerId(owner), faultTreeParent(parent),
eventQueue = QueueFactory::instance()->createMessageQueue(messageDepth, EventMessage::EVENT_MESSAGE_SIZE); parameterDomainBase(parameterDomainBase) {
eventQueue = QueueFactory::instance()->createMessageQueue(messageDepth,
EventMessage::EVENT_MESSAGE_SIZE);
} }
FailureIsolationBase::~FailureIsolationBase() { FailureIsolationBase::~FailureIsolationBase() {
@ -18,27 +20,36 @@ FailureIsolationBase::~FailureIsolationBase() {
ReturnValue_t FailureIsolationBase::initialize() { ReturnValue_t FailureIsolationBase::initialize() {
EventManagerIF* manager = objectManager->get<EventManagerIF>( EventManagerIF* manager = objectManager->get<EventManagerIF>(
objects::EVENT_MANAGER); objects::EVENT_MANAGER);
if (manager == NULL) { if (manager == nullptr) {
sif::error << "FailureIsolationBase::initialize: Event Manager has not"
" been initialized!" << std::endl;
return RETURN_FAILED; return RETURN_FAILED;
} }
ReturnValue_t result = manager->registerListener(eventQueue->getId()); ReturnValue_t result = manager->registerListener(eventQueue->getId());
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }
if (ownerId != 0) { if (ownerId != objects::NO_OBJECT) {
result = manager->subscribeToAllEventsFrom(eventQueue->getId(), ownerId); result = manager->subscribeToAllEventsFrom(eventQueue->getId(), ownerId);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }
owner = objectManager->get<HasHealthIF>(ownerId); owner = objectManager->get<HasHealthIF>(ownerId);
if (owner == NULL) { if (owner == nullptr) {
return RETURN_FAILED; sif::error << "FailureIsolationBase::intialize: Owner object "
"invalid. Make sure it implements HasHealthIF" << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
} }
} }
if (faultTreeParent != 0) { if (faultTreeParent != objects::NO_OBJECT) {
ConfirmsFailuresIF* parentIF = objectManager->get<ConfirmsFailuresIF>( ConfirmsFailuresIF* parentIF = objectManager->get<ConfirmsFailuresIF>(
faultTreeParent); faultTreeParent);
if (parentIF == NULL) { if (parentIF == nullptr) {
sif::error << "FailureIsolationBase::intialize: Parent object"
<< "invalid." << std::endl;
sif::error << "Make sure it implements ConfirmsFailuresIF."
<< std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
return RETURN_FAILED; return RETURN_FAILED;
} }
eventQueue->setDefaultDestination(parentIF->getEventReceptionQueue()); eventQueue->setDefaultDestination(parentIF->getEventReceptionQueue());
@ -93,9 +104,9 @@ MessageQueueId_t FailureIsolationBase::getEventReceptionQueue() {
ReturnValue_t FailureIsolationBase::sendConfirmationRequest(EventMessage* event, ReturnValue_t FailureIsolationBase::sendConfirmationRequest(EventMessage* event,
MessageQueueId_t destination) { MessageQueueId_t destination) {
event->setMessageId(EventMessage::CONFIRMATION_REQUEST); event->setMessageId(EventMessage::CONFIRMATION_REQUEST);
if (destination != 0) { if (destination != MessageQueueIF::NO_QUEUE) {
return eventQueue->sendMessage(destination, event); return eventQueue->sendMessage(destination, event);
} else if (faultTreeParent != 0) { } else if (faultTreeParent != objects::NO_OBJECT) {
return eventQueue->sendToDefault(event); return eventQueue->sendToDefault(event);
} }
return RETURN_FAILED; return RETURN_FAILED;

17
fdir/FailureIsolationBase.h
View File

@ -17,18 +17,25 @@ public:
static const Event FDIR_CHANGED_STATE = MAKE_EVENT(1, SEVERITY::INFO); //!< FDIR has an internal state, which changed from par2 (oldState) to par1 (newState). static const Event FDIR_CHANGED_STATE = MAKE_EVENT(1, SEVERITY::INFO); //!< FDIR has an internal state, which changed from par2 (oldState) to par1 (newState).
static const Event FDIR_STARTS_RECOVERY = MAKE_EVENT(2, SEVERITY::MEDIUM); //!< FDIR tries to restart device. Par1: event that caused recovery. static const Event FDIR_STARTS_RECOVERY = MAKE_EVENT(2, SEVERITY::MEDIUM); //!< FDIR tries to restart device. Par1: event that caused recovery.
static const Event FDIR_TURNS_OFF_DEVICE = MAKE_EVENT(3, SEVERITY::MEDIUM); //!< FDIR turns off device. Par1: event that caused recovery. static const Event FDIR_TURNS_OFF_DEVICE = MAKE_EVENT(3, SEVERITY::MEDIUM); //!< FDIR turns off device. Par1: event that caused recovery.
FailureIsolationBase(object_id_t owner, object_id_t parent = 0,
FailureIsolationBase(object_id_t owner,
object_id_t parent = objects::NO_OBJECT,
uint8_t messageDepth = 10, uint8_t parameterDomainBase = 0xF0); uint8_t messageDepth = 10, uint8_t parameterDomainBase = 0xF0);
virtual ~FailureIsolationBase(); virtual ~FailureIsolationBase();
virtual ReturnValue_t initialize(); virtual ReturnValue_t initialize();
/**
* This is called by the DHB in performOperation()
*/
void checkForFailures(); void checkForFailures();
MessageQueueId_t getEventReceptionQueue(); MessageQueueId_t getEventReceptionQueue() override;
virtual void triggerEvent(Event event, uint32_t parameter1 = 0, virtual void triggerEvent(Event event, uint32_t parameter1 = 0,
uint32_t parameter2 = 0); uint32_t parameter2 = 0);
protected: protected:
MessageQueueIF* eventQueue; MessageQueueIF* eventQueue = nullptr;
object_id_t ownerId; object_id_t ownerId;
HasHealthIF* owner; HasHealthIF* owner = nullptr;
object_id_t faultTreeParent; object_id_t faultTreeParent;
uint8_t parameterDomainBase; uint8_t parameterDomainBase;
void setOwnerHealth(HasHealthIF::HealthState health); void setOwnerHealth(HasHealthIF::HealthState health);
@ -38,7 +45,7 @@ protected:
virtual ReturnValue_t confirmFault(EventMessage* event); virtual ReturnValue_t confirmFault(EventMessage* event);
virtual void decrementFaultCounters() = 0; virtual void decrementFaultCounters() = 0;
ReturnValue_t sendConfirmationRequest(EventMessage* event, ReturnValue_t sendConfirmationRequest(EventMessage* event,
MessageQueueId_t destination = 0); MessageQueueId_t destination = MessageQueueIF::NO_QUEUE);
void throwFdirEvent(Event event, uint32_t parameter1 = 0, void throwFdirEvent(Event event, uint32_t parameter1 = 0,
uint32_t parameter2 = 0); uint32_t parameter2 = 0);
private: private: