eive-obsw/mission/devices/PCDUHandler.h

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#ifndef MISSION_DEVICES_PCDUHANDLER_H_
#define MISSION_DEVICES_PCDUHANDLER_H_
#include <devices/powerSwitcherList.h>
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#include <fsfw/datapool/PoolEntry.h>
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#include <fsfw/datapoollocal/HasLocalDataPoolIF.h>
#include <fsfw/objectmanager/SystemObject.h>
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#include <fsfw/power/PowerSwitchIF.h>
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#include <fsfw/tasks/ExecutableObjectIF.h>
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#include <fsfw/timemanager/CCSDSTime.h>
#include <mission/devices/GomspaceDeviceHandler.h>
#include "devicedefinitions/GomspaceDefinitions.h"
#include "devicedefinitions/powerDefinitions.h"
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/**
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* @brief The PCDUHandler provides a compact interface to handle all devices related to the
* control of power.
* @details
* This is necessary because the FSFW manages all power related functionalities via one
* power object. This includes for example switching on and off of devices.
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*/
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class PCDUHandler : public PowerSwitchIF,
public HasLocalDataPoolIF,
public SystemObject,
public ExecutableObjectIF {
public:
PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize = 20);
virtual ~PCDUHandler();
virtual ReturnValue_t initialize() override;
virtual ReturnValue_t performOperation(uint8_t counter) override;
virtual void handleChangedDataset(sid_t sid,
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store_address_t storeId = storeId::INVALID_STORE_ADDRESS,
bool* clearMessage = nullptr) override;
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virtual ReturnValue_t sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) override;
virtual ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) override;
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virtual ReturnValue_t getSwitchState(uint8_t switchNr) const override;
virtual ReturnValue_t getFuseState(uint8_t fuseNr) const override;
virtual uint32_t getSwitchDelayMs(void) const override;
virtual object_id_t getObjectId() const override;
virtual LocalDataPoolManager* getHkManagerHandle() override;
virtual MessageQueueId_t getCommandQueue() const override;
virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
virtual uint32_t getPeriodicOperationFrequency() const override;
virtual ReturnValue_t initializeAfterTaskCreation() override;
virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
virtual void setTaskIF(PeriodicTaskIF* task_);
private:
uint32_t pstIntervalMs = 0;
MutexIF* pwrMutex = nullptr;
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/** Housekeeping manager. Handles updates of local pool variables. */
LocalDataPoolManager poolManager;
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/** Hk table dataset of PDU1 */
PDU1::Pdu1CoreHk pdu1CoreHk;
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/**
* The dataset holding the hk table of PDU2. This dataset is a copy of the PDU2 HK dataset
* of the PDU2Handler. Each time the PDU2Handler updates his HK dataset, a copy is sent
* to this object via a HousekeepingMessage.
*/
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PDU2::Pdu2CoreHk pdu2CoreHk;
pcdu::SwitcherStates switcherSet;
PoolEntry<uint8_t> pdu1Switches =
PoolEntry<uint8_t>(pcdu::INIT_SWITCHES_PDU1.data(), pcdu::INIT_SWITCHES_PDU1.size());
PoolEntry<uint8_t> pdu2Switches =
PoolEntry<uint8_t>(pcdu::INIT_SWITCHES_PDU2.data(), pcdu::INIT_SWITCHES_PDU2.size());
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/** The timeStamp of the current pdu2HkTableDataset */
CCSDSTime::CDS_short timeStampPdu2HkDataset;
/** The timeStamp of the current pdu1HkTableDataset */
CCSDSTime::CDS_short timeStampPdu1HkDataset;
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uint8_t switchStates[pcdu::NUMBER_OF_SWITCHES];
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/**
* Pointer to the IPCStore.
* This caches the pointer received from the objectManager in the constructor.
*/
StorageManagerIF* IPCStore = nullptr;
/**
* Message queue to communicate with other objetcs. Used for example to receive
* local pool messages from ACU, PDU1 and PDU2.
*/
MessageQueueIF* commandQueue = nullptr;
size_t cmdQueueSize;
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bool firstSwitchInfoPdu1 = true;
bool firstSwitchInfoPdu2 = true;
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PeriodicTaskIF* executingTask = nullptr;
void readCommandQueue();
/**
* @brief This function sets all switchStates to the initial switch configuration of the
* two PDUs after reboot.
*/
void initializeSwitchStates();
/**
* @brief Updates all switchStates related to the PDU2.
* Function is called each time a new hk dataset has been received from the PDU2Handler.
*/
void updatePdu2SwitchStates();
/**
* @brief Updates all switchStates related to the PDU1. Called each time the PDU1Handler
* sends a new hk dataset.
*/
void updatePdu1SwitchStates();
/**
* @brief In case of an update snapshot message this function handles the update of the
* local dataset.
* @param storeId Storage id of updated dataset.
* @param dataset Pointer to the local dataset.
* @param datasetTimeStamp Pointer to a variable which will hold the timestamp of the updated
* dataset.
*/
void updateHkTableDataset(store_address_t storeId, LocalPoolDataSetBase* dataset,
CCSDSTime::CDS_short* datasetTimeStamp);
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void checkAndUpdateSwitch(GOMSPACE::Pdu pdu, pcdu::Switches switchIdx, uint8_t setValue);
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};
#endif /* MISSION_DEVICES_PCDUHANDLER_H_ */