eive-obsw/mission/devices/PDU2Handler.cpp

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#include "PDU2Handler.h"
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#include <fsfw/datapool/PoolReadGuard.h>
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#include <mission/devices/devicedefinitions/GomSpacePackets.h>
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#include "devices/powerSwitcherList.h"
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PDU2Handler::PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie)
: GomspaceDeviceHandler(objectId, comIF, comCookie, PDU::MAX_CONFIGTABLE_ADDRESS,
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PDU::MAX_HKTABLE_ADDRESS, PDU::HK_TABLE_REPLY_SIZE),
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coreHk(this),
auxHk(this) {}
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PDU2Handler::~PDU2Handler() {}
ReturnValue_t PDU2Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
*id = GOMSPACE::REQUEST_HK_TABLE;
return buildCommandFromCommand(*id, NULL, 0);
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}
void PDU2Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) {
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parseHkTableReply(packet);
/**
* Hk table will be sent to the commander if hk table request was not triggered by the
* PDU2Handler itself.
*/
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handleDeviceTM(&coreHk, id, true);
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}
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void PDU2Handler::assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook, void *args) {
this->channelSwitchHook = hook;
this->hookArgs = args;
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}
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LocalPoolDataSetBase *PDU2Handler::getDataSetHandle(sid_t sid) {
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if (sid == coreHk.getSid()) {
return &coreHk;
} else if (sid == auxHk.getSid()) {
return &auxHk;
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}
return nullptr;
}
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void PDU2Handler::parseHkTableReply(const uint8_t *packet) {
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GomspaceDeviceHandler::parsePduHkTable(coreHk, auxHk, packet);
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}
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ReturnValue_t PDU2Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
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initializePduPool(localDataPoolMap, poolManager, pcdu::INIT_SWITCHES_PDU2);
poolManager.subscribeForPeriodicPacket(coreHk.getSid(), false, 10.0, true);
poolManager.subscribeForPeriodicPacket(auxHk.getSid(), false, 30.0, false);
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t PDU2Handler::printStatus(DeviceCommandId_t cmd) {
ReturnValue_t result = RETURN_OK;
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switch (cmd) {
case (GOMSPACE::PRINT_SWITCH_V_I): {
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PoolReadGuard pg(&coreHk);
result = pg.getReadResult();
if (result != HasReturnvaluesIF::RETURN_OK) {
break;
}
printHkTableSwitchVI();
break;
}
case (GOMSPACE::PRINT_LATCHUPS): {
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PoolReadGuard pg(&auxHk);
result = pg.getReadResult();
if (result != HasReturnvaluesIF::RETURN_OK) {
break;
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}
printHkTableLatchups();
break;
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}
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default: {
return HasReturnvaluesIF::RETURN_FAILED;
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}
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}
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Reading PDU1 HK table failed!" << std::endl;
}
return result;
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}
void PDU2Handler::printHkTableSwitchVI() {
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using namespace PDU2;
sif::info << "PDU2 Info:" << std::endl;
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sif::info << "Boot Cause: " << auxHk.bootcause << " | Boot Count: " << std::setw(4) << std::right
<< coreHk.bootcount << std::endl;
sif::info << "Reset Cause: " << auxHk.resetcause
<< " | Battery Mode: " << static_cast<int>(coreHk.battMode.value) << std::endl;
sif::info << "SwitchState, Currents [mA], Voltages [mV]: " << std::endl;
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auto printerHelper = [&](std::string channelStr, Channels idx) {
sif::info << std::setw(30) << std::left << channelStr << std::dec << "| "
<< unsigned(coreHk.outputEnables[idx]) << ", " << std::setw(4) << std::right
<< coreHk.currents[idx] << ", " << std::setw(4) << coreHk.voltages[idx] << std::endl;
};
printerHelper("Q7S", Channels::Q7S);
printerHelper("PL PCDU CH1", Channels::PAYLOAD_PCDU_CH1);
printerHelper("Reaction Wheels", Channels::RW);
printerHelper("TCS Board Heater Input", Channels::TCS_HEATER_IN);
printerHelper("SUS Redundant", Channels::SUS_REDUNDANT);
printerHelper("Deployment Mechanism", Channels::DEPY_MECHANISM);
printerHelper("PL PCDU CH6", Channels::PAYLOAD_PCDU_CH6);
printerHelper("ACS Board B Side", Channels::ACS_B_SIDE);
printerHelper("Payload Camera", Channels::PAYLOAD_CAMERA);
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}
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void PDU2Handler::printHkTableLatchups() {
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using namespace PDU2;
sif::info << "PDU2 Latchup Information" << std::endl;
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auto printerHelper = [&](std::string channelStr, Channels idx) {
sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << "TCS Board" << std::dec << "| "
<< std::setw(4) << std::right << auxHk.latchups[idx] << std::endl;
};
printerHelper("Q7S", Channels::Q7S);
printerHelper("PL PCDU CH1", Channels::PAYLOAD_PCDU_CH1);
printerHelper("Reaction Wheels", Channels::RW);
printerHelper("TCS Board Heater Input", Channels::TCS_HEATER_IN);
printerHelper("SUS Redundant", Channels::SUS_REDUNDANT);
printerHelper("Deployment Mechanism", Channels::DEPY_MECHANISM);
printerHelper("PL PCDU CH6", Channels::PAYLOAD_PCDU_CH6);
printerHelper("ACS Board B Side", Channels::ACS_B_SIDE);
printerHelper("Payload Camera", Channels::PAYLOAD_CAMERA);
}
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ReturnValue_t PDU2Handler::setParamCallback(SetParamMessageUnpacker &unpacker,
bool afterExecution) {
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using namespace PDU2;
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GOMSPACE::Pdu pdu = GOMSPACE::Pdu::PDU2;
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if (not afterExecution) {
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return HasReturnvaluesIF::RETURN_OK;
}
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if (channelSwitchHook != nullptr and unpacker.getParameterSize() == 1) {
switch (unpacker.getAddress()) {
case (CONFIG_ADDRESS_OUT_EN_Q7S): {
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channelSwitchHook(pdu, 0, unpacker.getParameter()[0], hookArgs);
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break;
}
case (CONFIG_ADDRESS_OUT_EN_PAYLOAD_PCDU_CH1): {
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channelSwitchHook(pdu, 1, unpacker.getParameter()[0], hookArgs);
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break;
}
case (CONFIG_ADDRESS_OUT_EN_RW): {
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channelSwitchHook(pdu, 2, unpacker.getParameter()[0], hookArgs);
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break;
}
case (CONFIG_ADDRESS_OUT_EN_TCS_BOARD_HEATER_IN): {
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channelSwitchHook(pdu, 3, unpacker.getParameter()[0], hookArgs);
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break;
}
case (CONFIG_ADDRESS_OUT_EN_SUS_REDUNDANT): {
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channelSwitchHook(pdu, 4, unpacker.getParameter()[0], hookArgs);
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break;
}
case (CONFIG_ADDRESS_OUT_EN_DEPLOYMENT_MECHANISM): {
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channelSwitchHook(pdu, 5, unpacker.getParameter()[0], hookArgs);
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break;
}
case (CONFIG_ADDRESS_OUT_EN_PAYLOAD_PCDU_CH6): {
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channelSwitchHook(pdu, 6, unpacker.getParameter()[0], hookArgs);
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break;
}
case (CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_B): {
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channelSwitchHook(pdu, 7, unpacker.getParameter()[0], hookArgs);
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break;
}
case (CONFIG_ADDRESS_OUT_EN_PAYLOAD_CAMERA): {
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channelSwitchHook(pdu, 8, unpacker.getParameter()[0], hookArgs);
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break;
}
}
}
return HasReturnvaluesIF::RETURN_OK;
}