add health IF to heater handler

bsp_q7s/core/InitMission.cpp

@@ -33,8 +33,16 @@ ObjectManagerIF* objectManager = nullptr;
 
 void initmission::initMission() {
   sif::info << "Building global objects.." << std::endl;
-  /* Instantiate global object manager and also create all objects */
-  ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
+  try {
+    /* Instantiate global object manager and also create all objects */
+    ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
+  } catch (const std::invalid_argument& e) {
+    sif::error << "initmission::initMission: Object Construction failed with an "
+                  "invalid argument: "
+               << e.what();
+    std::exit(1);
+  }
+
   sif::info << "Initializing all objects.." << std::endl;
   ObjectManager::instance()->initialize();
 

bsp_q7s/core/ObjectFactory.cpp

@@ -131,7 +131,8 @@ void Factory::setStaticFrameworkObjectIds() {
 
 void ObjectFactory::produce(void* args) {
   ObjectFactory::setStatics();
-  ObjectFactory::produceGenericObjects();
+  HealthTableIF* healthTable = nullptr;
+  ObjectFactory::produceGenericObjects(&healthTable);
 
   LinuxLibgpioIF* gpioComIF = nullptr;
   UartComIF* uartComIF = nullptr;
@@ -151,7 +152,7 @@ void ObjectFactory::produce(void* args) {
   createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
 #endif
 
-  createHeaterComponents();
+  createHeaterComponents(pwrSwitcher, healthTable);
   createSolarArrayDeploymentComponents();
   createPlPcduComponents(gpioComIF, spiComIF, pwrSwitcher);
 #if OBSW_ADD_SYRLINKS == 1
@@ -580,7 +581,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
 #endif /* OBSW_ADD_ACS_HANDLERS == 1 */
 }
 
-void ObjectFactory::createHeaterComponents() {
+void ObjectFactory::createHeaterComponents(PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable) {
   using namespace gpio;
   GpioCookie* heaterGpiosCookie = new GpioCookie;
   GpiodRegularByLineName* gpio = nullptr;
@@ -621,8 +622,8 @@ void ObjectFactory::createHeaterComponents() {
                                     Levels::LOW);
   heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpio);
 
-  new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
-                    objects::PCDU_HANDLER, pcdu::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
+  new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie, pwrSwitcher,
+                    pcdu::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V, healthTable);
 }
 
 void ObjectFactory::createSolarArrayDeploymentComponents() {

bsp_q7s/core/ObjectFactory.h

@@ -6,6 +6,7 @@ class UartComIF;
 class SpiComIF;
 class I2cComIF;
 class PowerSwitchIF;
+class HealthTableIF;
 class AcsBoardAssembly;
 
 namespace ObjectFactory {
@@ -22,7 +23,7 @@ void createTmpComponents();
 void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
 void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
                               PowerSwitchIF* pwrSwitcher);
-void createHeaterComponents();
+void createHeaterComponents(PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable);
 void createSolarArrayDeploymentComponents();
 void createSyrlinksComponents(PowerSwitchIF* pwrSwitcher);
 void createPayloadComponents(LinuxLibgpioIF* gpioComIF);

mission/core/GenericFactory.cpp

@@ -44,10 +44,13 @@
 #define OBSW_TM_TO_PTME 0
 #endif
 
-void ObjectFactory::produceGenericObjects() {
+void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_) {
   // Framework objects
   new EventManager(objects::EVENT_MANAGER);
-  new HealthTable(objects::HEALTH_TABLE);
+  auto healthTable = new HealthTable(objects::HEALTH_TABLE);
+  if (healthTable != nullptr) {
+    *healthTable_ = healthTable;
+  }
   new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
   new TimeStamper(objects::TIME_STAMPER);
 

mission/core/GenericFactory.h

@@ -1,9 +1,11 @@
 #ifndef MISSION_CORE_GENERICFACTORY_H_
 #define MISSION_CORE_GENERICFACTORY_H_
 
+class HealthTableIF;
+
 namespace ObjectFactory {
 
-void produceGenericObjects();
+void produceGenericObjects(HealthTableIF** healthTable);
 
 }
 

mission/devices/HeaterHandler.cpp

@@ -1,21 +1,31 @@
 #include "HeaterHandler.h"
 
+#include <fsfw/health/HealthTableIF.h>
 #include <fsfw/ipc/QueueFactory.h>
 #include <fsfw/objectmanager/ObjectManager.h>
 #include <fsfw_hal/common/gpio/GpioCookie.h>
 
+#include <stdexcept>
+
 #include "devices/gpioIds.h"
 #include "devices/powerSwitcherList.h"
 
 HeaterHandler::HeaterHandler(object_id_t setObjectId_, object_id_t gpioDriverId_,
-                             CookieIF* gpioCookie_, object_id_t mainLineSwitcherObjectId_,
-                             uint8_t mainLineSwitch_)
+                             CookieIF* gpioCookie_, PowerSwitchIF* mainLineSwitcher_,
+                             power::Switch_t mainLineSwitch_, HealthTableIF* healthTable_)
     : SystemObject(setObjectId_),
       gpioDriverId(gpioDriverId_),
       gpioCookie(gpioCookie_),
-      mainLineSwitcherObjectId(mainLineSwitcherObjectId_),
+      mainLineSwitcher(mainLineSwitcher_),
       mainLineSwitch(mainLineSwitch_),
+      healthTable(healthTable_),
       actionHelper(this, nullptr) {
+  if (mainLineSwitcher == nullptr) {
+    throw std::invalid_argument("HeaterHandler::HeaterHandler: Invalid PowerSwitchIF");
+  }
+  if (healthTable == nullptr) {
+    throw std::invalid_argument("HeaterHandler::HeaterHandler: Invalid HealthTableIF");
+  }
   auto mqArgs = MqArgs(setObjectId_, static_cast<void*>(this));
   commandQueue = QueueFactory::instance()->createMessageQueue(
       cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
@@ -55,21 +65,16 @@ ReturnValue_t HeaterHandler::initialize() {
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
 
+  if (healthTable != nullptr) {
+    healthTable->registerObject(getObjectId());
+  }
+
   IPCStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
   if (IPCStore == nullptr) {
     sif::error << "HeaterHandler::initialize: IPC store not set up in factory." << std::endl;
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
 
-  if (mainLineSwitcherObjectId != objects::NO_OBJECT) {
-    mainLineSwitcher = ObjectManager::instance()->get<PowerSwitchIF>(mainLineSwitcherObjectId);
-    if (mainLineSwitcher == nullptr) {
-      sif::error << "HeaterHandler::initialize: Failed to get main line switcher. Make sure "
-                 << "main line switcher object is initialized." << std::endl;
-      return ObjectManagerIF::CHILD_INIT_FAILED;
-    }
-  }
-
   result = actionHelper.initialize(commandQueue);
   if (result != RETURN_OK) {
     return ObjectManagerIF::CHILD_INIT_FAILED;
@@ -345,4 +350,19 @@ ReturnValue_t HeaterHandler::getSwitchState(uint8_t switchNr) const { return 0;
 
 ReturnValue_t HeaterHandler::getFuseState(uint8_t fuseNr) const { return 0; }
 
-uint32_t HeaterHandler::getSwitchDelayMs(void) const { return 0; }
+uint32_t HeaterHandler::getSwitchDelayMs(void) const { return 2000; }
+
+ReturnValue_t HeaterHandler::setHealth(HealthState health) {
+  if (healthTable != nullptr) {
+    healthTable->setHealth(getObjectId(), health);
+    return RETURN_OK;
+  }
+  return RETURN_FAILED;
+}
+
+HasHealthIF::HealthState HeaterHandler::getHealth() {
+  if (healthTable != nullptr) {
+    return healthTable->getHealth(getObjectId());
+  }
+  return HasHealthIF::HealthState::HEALTHY;
+}

mission/devices/HeaterHandler.h

@@ -4,6 +4,7 @@
 #include <fsfw/action/HasActionsIF.h>
 #include <fsfw/devicehandlers/CookieIF.h>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
+#include <fsfw/health/HasHealthIF.h>
 #include <fsfw/objectmanager/SystemObject.h>
 #include <fsfw/power/PowerSwitchIF.h>
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
@@ -15,6 +16,9 @@
 
 #include "devices/heaterSwitcherList.h"
 
+class PowerSwitchIF;
+class HealthTableIF;
+
 /**
  * @brief	This class intends the control of heaters.
  *
@@ -22,6 +26,7 @@
  */
 class HeaterHandler : public ExecutableObjectIF,
                       public PowerSwitchIF,
+                      public HasHealthIF,
                       public SystemObject,
                       public HasActionsIF {
  public:
@@ -37,10 +42,24 @@ class HeaterHandler : public ExecutableObjectIF,
   static const DeviceCommandId_t SWITCH_HEATER = 0x0;
 
   HeaterHandler(object_id_t setObjectId, object_id_t gpioDriverId, CookieIF* gpioCookie,
-                object_id_t mainLineSwitcherObjectId, uint8_t mainLineSwitch);
+                PowerSwitchIF* mainLineSwitcherObjectId, power::Switch_t mainLineSwitch,
+                HealthTableIF* healthTable);
 
   virtual ~HeaterHandler();
 
+  /**
+   * @brief   Set the Health State
+   * The parent will be informed, if the Health changes
+   * @param health
+   */
+  ReturnValue_t setHealth(HealthState health) override;
+
+  /**
+   * @brief   Get Health State
+   * @return  Health State of the object
+   */
+  HasHealthIF::HealthState getHealth() override;
+
   virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
 
   virtual ReturnValue_t sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) override;
@@ -114,16 +133,15 @@ class HeaterHandler : public ExecutableObjectIF,
   /** Queue to receive messages from other objects. */
   MessageQueueIF* commandQueue = nullptr;
 
-  object_id_t mainLineSwitcherObjectId;
-
-  /** Switch number of the heater power supply switch */
-  uint8_t mainLineSwitch;
-
   /**
    * Power switcher object which controls the 8V main line of the heater
    * logic on the TCS board.
    */
   PowerSwitchIF* mainLineSwitcher = nullptr;
+  /** Switch number of the heater power supply switch */
+  power::Switch_t mainLineSwitch;
+
+  HealthTableIF* healthTable = nullptr;
 
   ActionHelper actionHelper;