eive-obsw/mission/tcs/HeaterHandler.cpp

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#include <fsfw/health/HealthTableIF.h>
#include <fsfw/ipc/QueueFactory.h>
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#include <fsfw/objectmanager/ObjectManager.h>
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#include <fsfw_hal/common/gpio/GpioCookie.h>
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#include <mission/tcs/HeaterHandler.h>
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#include <stdexcept>
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#include "devices/powerSwitcherList.h"
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#include "fsfw/subsystem/helper.h"
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HeaterHandler::HeaterHandler(object_id_t setObjectId_, GpioIF* gpioInterface_, HeaterHelper helper,
PowerSwitchIF* mainLineSwitcher_, power::Switch_t mainLineSwitch_)
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: SystemObject(setObjectId_),
helper(helper),
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modeHelper(this),
gpioInterface(gpioInterface_),
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mainLineSwitcher(mainLineSwitcher_),
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mainLineSwitch(mainLineSwitch_),
actionHelper(this, nullptr) {
for (const auto& heater : helper.heaters) {
if (heater.first == nullptr) {
throw std::invalid_argument("HeaterHandler::HeaterHandler: Invalid Heater Object");
}
}
if (gpioInterface_ == nullptr) {
throw std::invalid_argument("HeaterHandler::HeaterHandler: Invalid Gpio IF");
}
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if (mainLineSwitcher == nullptr) {
throw std::invalid_argument("HeaterHandler::HeaterHandler: Invalid PowerSwitchIF");
}
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handlerLock = MutexFactory::instance()->createMutex();
if (handlerLock == nullptr) {
throw std::runtime_error("HeaterHandler::HeaterHandler: Creating Mutex failed");
}
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auto mqArgs = MqArgs(setObjectId_, static_cast<void*>(this));
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commandQueue = QueueFactory::instance()->createMessageQueue(
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cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
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}
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HeaterHandler::~HeaterHandler() = default;
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ReturnValue_t HeaterHandler::performOperation(uint8_t operationCode) {
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try {
readCommandQueue();
for (const auto& heater : helper.heaters) {
heater.first->performOperation(0);
}
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handleSwitchHandling();
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if (waitForSwitchOff) {
if (mainLineSwitcher->getSwitchState(mainLineSwitch) == SWITCH_OFF) {
waitForSwitchOff = false;
mode = MODE_OFF;
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modeHelper.modeChanged(mode, submode);
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}
}
} catch (const std::out_of_range& e) {
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sif::warning << "HeaterHandler::performOperation: "
"Out of range error | "
<< e.what() << std::endl;
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}
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return returnvalue::OK;
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}
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ReturnValue_t HeaterHandler::initialize() {
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ReturnValue_t result = SystemObject::initialize();
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if (result != returnvalue::OK) {
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return ObjectManagerIF::CHILD_INIT_FAILED;
}
result = initializeHeaterMap();
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if (result != returnvalue::OK) {
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return ObjectManagerIF::CHILD_INIT_FAILED;
}
ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
if (ipcStore == nullptr) {
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sif::error << "HeaterHandler::initialize: IPC store not set up in factory." << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
result = actionHelper.initialize(commandQueue);
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if (result != returnvalue::OK) {
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return ObjectManagerIF::CHILD_INIT_FAILED;
}
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result = modeHelper.initialize();
if (result != returnvalue::OK) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
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return returnvalue::OK;
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}
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ReturnValue_t HeaterHandler::initializeHeaterMap() {
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for (power::Switch_t switchNr = 0; switchNr < heater::NUMBER_OF_SWITCHES; switchNr++) {
heaterVec.push_back(HeaterWrapper(helper.heaters[switchNr], SwitchState::OFF));
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}
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return returnvalue::OK;
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}
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void HeaterHandler::readCommandQueue() {
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ReturnValue_t result = returnvalue::OK;
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CommandMessage command;
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do {
result = commandQueue->receiveMessage(&command);
if (result == MessageQueueIF::EMPTY) {
break;
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} else if (result != returnvalue::OK) {
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sif::warning << "HeaterHandler::readCommandQueue: Message reception error" << std::endl;
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break;
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}
result = actionHelper.handleActionMessage(&command);
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if (result == returnvalue::OK) {
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continue;
}
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result = modeHelper.handleModeCommand(&command);
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if (result == returnvalue::OK) {
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continue;
}
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} while (result == returnvalue::OK);
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}
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ReturnValue_t HeaterHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) {
if (data == nullptr or size < 3) {
return HasActionsIF::INVALID_PARAMETERS;
}
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if (actionId != SWITCH_HEATER) {
return COMMAND_NOT_SUPPORTED;
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}
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auto switchNr = data[0];
if (switchNr > 7) {
return HasActionsIF::INVALID_PARAMETERS;
}
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auto& heater = heaterVec.at(switchNr);
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auto actionRaw = data[1];
if (actionRaw != 0 and actionRaw != 1) {
return HasActionsIF::INVALID_PARAMETERS;
}
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auto action = static_cast<SwitchAction>(data[1]);
// Always accepts OFF commands
if (action == SwitchAction::SET_SWITCH_ON) {
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HasHealthIF::HealthState health;
{
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MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
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health = heater.healthDevice->getHealth();
}
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if (health == HasHealthIF::FAULTY or health == HasHealthIF::PERMANENT_FAULTY or
health == HasHealthIF::NEEDS_RECOVERY) {
return HasHealthIF::OBJECT_NOT_HEALTHY;
}
CmdSourceParam cmdSource = CmdSourceParam::EXTERNAL;
uint8_t cmdSourceRaw = data[2];
if (cmdSourceRaw > 1) {
return HasActionsIF::INVALID_PARAMETERS;
}
cmdSource = static_cast<CmdSourceParam>(data[2]);
if (health == HasHealthIF::EXTERNAL_CONTROL and cmdSource == CmdSourceParam::INTERNAL) {
return HasHealthIF::IS_EXTERNALLY_CONTROLLED;
}
}
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if (heater.cmdActive) {
return COMMAND_ALREADY_WAITING;
}
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heater.action = action;
heater.cmdActive = true;
heater.replyQueue = commandedBy;
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return returnvalue::OK;
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}
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ReturnValue_t HeaterHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) {
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ReturnValue_t result;
store_address_t storeAddress;
uint8_t commandData[3] = {};
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switch (onOff) {
case PowerSwitchIF::SWITCH_ON:
commandData[0] = switchNr;
commandData[1] = SET_SWITCH_ON;
commandData[2] = CmdSourceParam::INTERNAL;
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break;
case PowerSwitchIF::SWITCH_OFF:
commandData[0] = switchNr;
commandData[1] = SET_SWITCH_OFF;
commandData[2] = CmdSourceParam::INTERNAL;
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break;
default:
sif::error << "HeaterHandler::sendSwitchCommand: Invalid switch request" << std::endl;
break;
}
result = ipcStore->addData(&storeAddress, commandData, sizeof(commandData));
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if (result == returnvalue::OK) {
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CommandMessage message;
ActionMessage::setCommand(&message, SWITCH_HEATER, storeAddress);
/* Send heater command to own command queue */
result = commandQueue->sendMessage(commandQueue->getId(), &message, 0);
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if (result != returnvalue::OK) {
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sif::debug << "HeaterHandler::sendSwitchCommand: Failed to send switch"
<< "message" << std::endl;
}
}
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return result;
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}
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void HeaterHandler::handleSwitchHandling() {
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for (uint8_t idx = 0; idx < heater::NUMBER_OF_SWITCHES; idx++) {
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auto health = heaterVec[idx].healthDevice->getHealth();
if (heaterVec[idx].switchState == SwitchState::ON) {
// If a heater is still on but the device was marked faulty by the operator, the SW
// will shut down the heater
if (health == HasHealthIF::FAULTY or health == HasHealthIF::PERMANENT_FAULTY) {
heaterVec[idx].cmdActive = true;
heaterVec[idx].action = SET_SWITCH_OFF;
triggerEvent(FAULTY_HEATER_WAS_ON, idx, 0);
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handleSwitchOffCommand(static_cast<heater::Switch>(idx));
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continue;
}
}
if (heaterVec[idx].cmdActive) {
switch (heaterVec[idx].action) {
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case SET_SWITCH_ON:
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handleSwitchOnCommand(static_cast<heater::Switch>(idx));
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break;
case SET_SWITCH_OFF:
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handleSwitchOffCommand(static_cast<heater::Switch>(idx));
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break;
default:
sif::error << "HeaterHandler::handleActiveCommands: Invalid action commanded"
<< std::endl;
break;
}
}
}
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}
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void HeaterHandler::handleSwitchOnCommand(heater::Switch heaterIdx) {
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ReturnValue_t result = returnvalue::OK;
auto& heater = heaterVec.at(heaterIdx);
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if (waitForSwitchOff) {
waitForSwitchOff = false;
}
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/* Check if command waits for main switch being set on and whether the timeout has expired */
if (heater.waitMainSwitchOn && heater.mainSwitchCountdown.hasTimedOut()) {
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// TODO - This requires the initiation of an FDIR procedure
triggerEvent(MAIN_SWITCH_TIMEOUT);
sif::error << "HeaterHandler::handleSwitchOnCommand: Main switch setting on timeout"
<< std::endl;
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heater.cmdActive = false;
heater.waitMainSwitchOn = false;
if (heater.replyQueue != commandQueue->getId()) {
actionHelper.finish(false, heater.replyQueue, heater.action, MAIN_SWITCH_SET_TIMEOUT);
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}
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return;
}
// Check state of main line switch
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ReturnValue_t mainSwitchState = mainLineSwitcher->getSwitchState(mainLineSwitch);
if (mainSwitchState == PowerSwitchIF::SWITCH_ON) {
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if (getSwitchState(heaterIdx) == SwitchState::OFF) {
gpioId_t gpioId = heater.gpioId;
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result = gpioInterface->pullHigh(gpioId);
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if (result != returnvalue::OK) {
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sif::error << "HeaterHandler::handleSwitchOnCommand: Failed to pull gpio with id " << gpioId
<< " high" << std::endl;
triggerEvent(GPIO_PULL_HIGH_FAILED, result);
} else {
triggerEvent(HEATER_WENT_ON, heaterIdx, 0);
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EventManagerIF::triggerEvent(helper.heaters[heaterIdx].first->getObjectId(), MODE_INFO,
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MODE_ON, 0);
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{
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MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
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heater.switchState = ON;
}
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}
} else {
triggerEvent(SWITCH_ALREADY_ON, heaterIdx);
}
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mode = HasModesIF::MODE_ON;
modeHelper.modeChanged(mode, submode);
// There is no need to send action finish replies if the sender was the
// HeaterHandler itself
if (heater.replyQueue != commandQueue->getId()) {
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if (result == returnvalue::OK) {
actionHelper.finish(true, heater.replyQueue, heater.action, result);
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} else {
actionHelper.finish(false, heater.replyQueue, heater.action, result);
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}
}
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heater.cmdActive = false;
heater.waitMainSwitchOn = false;
} else if (mainSwitchState == PowerSwitchIF::SWITCH_OFF && heater.waitMainSwitchOn) {
// Just waiting for the main switch being set on
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return;
} else if (mainSwitchState == PowerSwitchIF::SWITCH_OFF or
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mainSwitchState == PowerSwitchIF::SWITCH_UNKNOWN) {
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mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_ON);
heater.mainSwitchCountdown.setTimeout(mainLineSwitcher->getSwitchDelayMs());
heater.waitMainSwitchOn = true;
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} else {
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sif::debug << "HeaterHandler::handleSwitchOnCommand: Failed to get state of"
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<< " main line switch" << std::endl;
if (heater.replyQueue != commandQueue->getId()) {
actionHelper.finish(false, heater.replyQueue, heater.action, mainSwitchState);
}
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heater.cmdActive = false;
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}
}
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void HeaterHandler::handleSwitchOffCommand(heater::Switch heaterIdx) {
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ReturnValue_t result = returnvalue::OK;
auto& heater = heaterVec.at(heaterIdx);
// Check whether switch is already off
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if (getSwitchState(heaterIdx)) {
gpioId_t gpioId = heater.gpioId;
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result = gpioInterface->pullLow(gpioId);
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if (result != returnvalue::OK) {
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sif::error << "HeaterHandler::handleSwitchOffCommand: Failed to pull gpio with id" << gpioId
<< " low" << std::endl;
triggerEvent(GPIO_PULL_LOW_FAILED, result);
} else {
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{
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MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
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heater.switchState = OFF;
}
triggerEvent(HEATER_WENT_OFF, heaterIdx, 0);
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EventManagerIF::triggerEvent(helper.heaters[heaterIdx].first->getObjectId(), MODE_INFO,
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MODE_OFF, 0);
// When all switches are off, also main line switch will be turned off
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if (allSwitchesOff()) {
mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
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waitForSwitchOff = true;
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}
}
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} else {
triggerEvent(SWITCH_ALREADY_OFF, heaterIdx);
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}
if (heater.replyQueue != NO_COMMANDER) {
// Report back switch command reply if necessary
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if (result == returnvalue::OK) {
actionHelper.finish(true, heater.replyQueue, heater.action, result);
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} else {
actionHelper.finish(false, heater.replyQueue, heater.action, result);
}
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}
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heater.cmdActive = false;
}
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HeaterHandler::SwitchState HeaterHandler::getSwitchState(heater::Switch switchNr) const {
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MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
return heaterVec.at(switchNr).switchState;
}
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ReturnValue_t HeaterHandler::switchHeater(heater::Switch heater, SwitchState switchState) {
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if (switchState == SwitchState::ON) {
return sendSwitchCommand(heater, PowerSwitchIF::SWITCH_ON);
} else if (switchState == SwitchState::OFF) {
return sendSwitchCommand(heater, PowerSwitchIF::SWITCH_OFF);
}
return returnvalue::FAILED;
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}
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void HeaterHandler::announceMode(bool recursive) {
triggerEvent(MODE_INFO, mode, submode);
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std::array<SwitchState, 8> states;
getAllSwitchStates(states);
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for (unsigned idx = 0; idx < helper.heaters.size(); idx++) {
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if (states[idx] == ON) {
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EventManagerIF::triggerEvent(helper.heaters[idx].first->getObjectId(), MODE_INFO, MODE_ON, 0);
} else {
EventManagerIF::triggerEvent(helper.heaters[idx].first->getObjectId(), MODE_INFO, MODE_OFF,
0);
}
}
}
void HeaterHandler::getMode(Mode_t* mode, Submode_t* submode) {
if (!mode || !submode) {
return;
}
*mode = this->mode;
*submode = this->submode;
}
const HasHealthIF* HeaterHandler::getOptHealthIF() const { return nullptr; }
const HasModesIF& HeaterHandler::getModeIF() const { return *this; }
ReturnValue_t HeaterHandler::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
return modetree::connectModeTreeParent(parent, *this, nullptr, modeHelper);
}
ModeTreeChildIF& HeaterHandler::getModeTreeChildIF() { return *this; }
object_id_t HeaterHandler::getObjectId() const { return SystemObject::getObjectId(); }
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ReturnValue_t HeaterHandler::getAllSwitchStates(std::array<SwitchState, 8>& statesBuf) {
{
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MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
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if (mg.getLockResult() != returnvalue::OK) {
return returnvalue::FAILED;
}
for (unsigned idx = 0; idx < helper.heaters.size(); idx++) {
statesBuf[idx] = heaterVec[idx].switchState;
}
}
return returnvalue::OK;
}
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bool HeaterHandler::allSwitchesOff() {
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bool allSwitchesOrd = false;
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MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
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/* Or all switches. As soon one switch is on, allSwitchesOrd will be true */
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for (power::Switch_t switchNr = 0; switchNr < heater::NUMBER_OF_SWITCHES; switchNr++) {
allSwitchesOrd = allSwitchesOrd || heaterVec.at(switchNr).switchState;
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}
return !allSwitchesOrd;
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}
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MessageQueueId_t HeaterHandler::getCommandQueue() const { return commandQueue->getId(); }
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ReturnValue_t HeaterHandler::sendFuseOnCommand(uint8_t fuseNr) { return returnvalue::OK; }
ReturnValue_t HeaterHandler::getSwitchState(uint8_t switchNr) const {
ReturnValue_t mainSwitchState = mainLineSwitcher->getSwitchState(mainLineSwitch);
if (mainSwitchState == PowerSwitchIF::SWITCH_OFF) {
return PowerSwitchIF::SWITCH_OFF;
}
if (switchNr > 7) {
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return returnvalue::FAILED;
}
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if (getSwitchState(static_cast<heater::Switch>(switchNr)) == SwitchState::ON) {
return PowerSwitchIF::SWITCH_ON;
}
return PowerSwitchIF::SWITCH_OFF;
}
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ReturnValue_t HeaterHandler::getFuseState(uint8_t fuseNr) const { return 0; }
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uint32_t HeaterHandler::getSwitchDelayMs(void) const { return 2000; }
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HasHealthIF::HealthState HeaterHandler::getHealth(heater::Switch heater) {
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auto* healthDev = heaterVec.at(heater).healthDevice;
if (healthDev != nullptr) {
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MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
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return healthDev->getHealth();
}
return HasHealthIF::HealthState::FAULTY;
}