eive-obsw/mission/tcs/HeaterHandler.h

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#ifndef MISSION_TCS_HEATERHANDLER_H_
#define MISSION_TCS_HEATERHANDLER_H_
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#include <fsfw/action/HasActionsIF.h>
#include <fsfw/devicehandlers/CookieIF.h>
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#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/devicehandlers/HealthDevice.h>
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#include <fsfw/health/HasHealthIF.h>
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#include <fsfw/health/HealthHelper.h>
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#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/power/PowerSwitchIF.h>
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#include <fsfw/returnvalues/returnvalue.h>
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#include <fsfw/subsystem/ModeTreeChildIF.h>
#include <fsfw/subsystem/ModeTreeConnectionIF.h>
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#include <fsfw/tasks/ExecutableObjectIF.h>
#include <fsfw/timemanager/Countdown.h>
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#include <fsfw_hal/common/gpio/GpioIF.h>
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#include <mission/tcs/HeaterHealthDev.h>
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#include <array>
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#include <utility>
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#include <vector>
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#include "events/subsystemIdRanges.h"
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#include "mission/tcs/defs.h"
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#include "returnvalues/classIds.h"
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class PowerSwitchIF;
class HealthTableIF;
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using HeaterPair = std::pair<HeaterHealthDev*, gpioId_t>;
struct HeaterHelper {
public:
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HeaterHelper(std::array<HeaterPair, heater::NUMBER_OF_SWITCHES> heaters)
: heaters(std::move(heaters)) {}
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std::array<HeaterPair, heater::NUMBER_OF_SWITCHES> heaters = {};
};
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/**
* @brief This class intends the control of heaters.
*
* @author J. Meier
*/
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class HeaterHandler : public ExecutableObjectIF,
public PowerSwitchIF,
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public HasModesIF,
public ModeTreeChildIF,
public ModeTreeConnectionIF,
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public SystemObject,
public HasActionsIF {
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friend class ThermalController;
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public:
static const uint8_t INTERFACE_ID = CLASS_ID::HEATER_HANDLER;
static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA1);
static const ReturnValue_t INIT_FAILED = MAKE_RETURN_CODE(0xA2);
static const ReturnValue_t INVALID_SWITCH_NR = MAKE_RETURN_CODE(0xA3);
static const ReturnValue_t MAIN_SWITCH_SET_TIMEOUT = MAKE_RETURN_CODE(0xA4);
static const ReturnValue_t COMMAND_ALREADY_WAITING = MAKE_RETURN_CODE(0xA5);
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enum CmdSourceParam : uint8_t { INTERNAL = 0, EXTERNAL = 1 };
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/** Device command IDs */
static const DeviceCommandId_t SWITCH_HEATER = 0x0;
HeaterHandler(object_id_t setObjectId, GpioIF* gpioInterface_, HeaterHelper helper,
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PowerSwitchIF* mainLineSwitcherObjectId, power::Switch_t mainLineSwitch);
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ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF& parent) override;
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ReturnValue_t getAllSwitchStates(std::array<heater::SwitchState, 8>& statesBuf);
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virtual ~HeaterHandler();
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protected:
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enum SwitchAction : uint8_t { SET_SWITCH_OFF, SET_SWITCH_ON, NONE };
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ReturnValue_t switchHeater(heater::Switch heater, heater::SwitchState switchState);
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HasHealthIF::HealthState getHealth(heater::Switch heater);
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ReturnValue_t performOperation(uint8_t operationCode = 0) override;
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ReturnValue_t sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) override;
ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) override;
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/**
* @brief This function will be called from the Heater object to check
* the current switch state.
*/
ReturnValue_t getSwitchState(uint8_t switchNr) const override;
ReturnValue_t getFuseState(uint8_t fuseNr) const override;
uint32_t getSwitchDelayMs(void) const override;
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MessageQueueId_t getCommandQueue() const override;
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) override;
ReturnValue_t initialize() override;
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private:
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::HEATER_HANDLER;
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static constexpr Event GPIO_PULL_HIGH_FAILED = MAKE_EVENT(0, severity::LOW);
static constexpr Event GPIO_PULL_LOW_FAILED = MAKE_EVENT(1, severity::LOW);
static constexpr Event HEATER_WENT_ON = event::makeEvent(SUBSYSTEM_ID, 2, severity::INFO);
static constexpr Event HEATER_WENT_OFF = event::makeEvent(SUBSYSTEM_ID, 3, severity::INFO);
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static constexpr Event SWITCH_ALREADY_ON = MAKE_EVENT(4, severity::INFO);
static constexpr Event SWITCH_ALREADY_OFF = MAKE_EVENT(5, severity::INFO);
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static constexpr Event MAIN_SWITCH_TIMEOUT = MAKE_EVENT(6, severity::MEDIUM);
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//! A faulty heater was one. The SW will autonomously attempt to shut it down. P1: Heater Index
static constexpr Event FAULTY_HEATER_WAS_ON = event::makeEvent(SUBSYSTEM_ID, 7, severity::LOW);
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static const MessageQueueId_t NO_COMMANDER = 0;
/**
* @brief Struct holding information about a heater command to execute.
*
* @param action The action to perform.
* @param replyQueue The queue of the commander to which status replies
* will be sent.
* @param active True if command is waiting for execution, otherwise false.
* @param waitSwitchOn True if the command is waiting for the main switch being set on.
* @param mainSwitchCountdown Sets timeout to wait for main switch being set on.
*/
struct HeaterWrapper {
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HeaterWrapper(HeaterPair pair, heater::SwitchState initState)
: healthDevice(pair.first), gpioId(pair.second), switchState(initState) {}
HealthDevice* healthDevice = nullptr;
gpioId_t gpioId = gpio::NO_GPIO;
SwitchAction action = SwitchAction::NONE;
MessageQueueId_t replyQueue = MessageQueueIF::NO_QUEUE;
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bool cmdActive = false;
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heater::SwitchState switchState = heater::SwitchState::OFF;
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bool waitMainSwitchOn = false;
Countdown mainSwitchCountdown;
};
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using HeaterMap = std::vector<HeaterWrapper>;
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HeaterMap heaterVec = {};
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MutexIF* handlerLock = nullptr;
static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING;
static constexpr uint32_t LOCK_TIMEOUT = 20;
static constexpr char LOCK_CTX[] = "HeaterHandler";
HeaterHelper helper;
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ModeHelper modeHelper;
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/** Size of command queue */
size_t cmdQueueSize = 20;
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bool waitForSwitchOff = true;
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bool busyWithSwitchCommanding = false;
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GpioIF* gpioInterface = nullptr;
/** Queue to receive messages from other objects. */
MessageQueueIF* commandQueue = nullptr;
/**
* Power switcher object which controls the 8V main line of the heater
* logic on the TCS board.
*/
PowerSwitchIF* mainLineSwitcher = nullptr;
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/** Switch number of the heater power supply switch */
power::Switch_t mainLineSwitch;
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ActionHelper actionHelper;
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Countdown heaterCmdBusyCd = Countdown(2000);
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StorageManagerIF* ipcStore = nullptr;
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Mode_t mode = HasModesIF::MODE_OFF;
Submode_t submode = 0;
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void readCommandQueue();
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/**
* @brief Returns the state of a switch (ON - true, or OFF - false).
* @param switchNr The number of the switch to check.
*/
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heater::SwitchState getSwitchState(heater::Switch switchNr) const;
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/**
* @brief This function runs commands waiting for execution.
*/
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void handleSwitchHandling();
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ReturnValue_t initializeHeaterMap();
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/**
* @brief Sets all switches to OFF.
*/
void setInitialSwitchStates();
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// HasModesIF implementation
void announceMode(bool recursive) override;
void getMode(Mode_t* mode, Submode_t* submode) override;
// Mode Tree helper overrides
object_id_t getObjectId() const override;
const HasHealthIF* getOptHealthIF() const override;
const HasModesIF& getModeIF() const override;
ModeTreeChildIF& getModeTreeChildIF() override;
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void handleSwitchOnCommand(heater::Switch heaterIdx);
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void handleSwitchOffCommand(heater::Switch heaterIdx);
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/**
* @brief Checks if all switches are off.
* @return True if all switches are off, otherwise false.
*/
bool allSwitchesOff();
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};
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#endif /* MISSION_TCS_HEATERHANDLER_H_ */