add health IF to heater handler
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This commit is contained in:
Robin Müller 2022-05-02 17:37:00 +02:00
parent 0abb726b30
commit 238afbaa8b
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GPG Key ID: 71B58F8A3CDFA9AC
7 changed files with 83 additions and 30 deletions

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@ -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();

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@ -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() {

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@ -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);

View File

@ -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);

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

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@ -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;
}

View File

@ -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;