basic implementation for passive cooling

dummies/AcuDummy.cpp

@@ -37,6 +37,7 @@ uint32_t AcuDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return
 
 ReturnValue_t AcuDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                 LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(ACU::pool::ACU_TEMPERATURES, new PoolEntry<float>(3));
+  localDataPoolMap.emplace(ACU::pool::ACU_TEMPERATURES,
+                           new PoolEntry<float>({10.0, 10.0, 10.0}, true));
   return returnvalue::OK;
 }

dummies/SyrlinksDummy.cpp

@@ -40,7 +40,7 @@ uint32_t SyrlinksDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { r
 
 ReturnValue_t SyrlinksDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                      LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(syrlinks::TEMP_BASEBAND_BOARD, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(syrlinks::TEMP_BASEBAND_BOARD, new PoolEntry<float>({10}, true));
-  localDataPoolMap.emplace(syrlinks::TEMP_POWER_AMPLIFIER, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(syrlinks::TEMP_POWER_AMPLIFIER, new PoolEntry<float>({10}, true));
   return returnvalue::OK;
 }

mission/controller/ThermalController.cpp

@@ -972,7 +972,7 @@ void ThermalController::ctrlAcsBoard() {
   numSensors = 4;
   if (selectAndReadSensorTemp()) {
     if (chooseHeater(switchNr, redSwitchNr)) {
-      ctrlHeater(switchNr, redSwitchNr, acsBoardLimits);
+      checkLimitsAndCtrlHeater(switchNr, redSwitchNr, acsBoardLimits);
     }
     resetSensorsArray();
     return;
@@ -990,14 +990,14 @@ void ThermalController::ctrlAcsBoard() {
   numSensors = 4;
   if (selectAndReadSensorTemp()) {
     if (chooseHeater(switchNr, redSwitchNr)) {
-      ctrlHeater(switchNr, redSwitchNr, acsBoardLimits);
+      checkLimitsAndCtrlHeater(switchNr, redSwitchNr, acsBoardLimits);
     }
   } else {
     if (chooseHeater(switchNr, redSwitchNr)) {
       if (heaterHandler.checkSwitchState(switchNr)) {
         heaterHandler.switchHeater(switchNr, HeaterHandler::SwitchState::OFF);
-        sif::info << "ThermalController::ctrlHeater: Heater" << static_cast<int>(thermalComponent)
+        sif::info << "ThermalController::checkLimitsAndCtrlHeater: Heater"
-                  << " OFF" << std::endl;
+                  << static_cast<int>(thermalComponent) << " OFF" << std::endl;
       }
     }
   }
@@ -1023,7 +1023,11 @@ void ThermalController::ctrlMgt() {
 }
 
 void ThermalController::ctrlRw() {
-  // TODO: better solution?
+  Event eventToTrigger = 0;
+  bool oneIsAboveLimit = false;
+
+  std::array<uint32_t, 4> sensorTemps{};
+
   // RW1
   thermalComponent = RW;
   sensors[0].first = sensorTemperatures.sensor_rw1.isValid();
@@ -1036,6 +1040,11 @@ void ThermalController::ctrlRw() {
   sensors[3].second = sensorTemperatures.sensor_dro.value;
   numSensors = 4;
   ctrlComponentTemperature(heater::HEATER_6_DRO, heater::HEATER_6_DRO, rwLimits);
+  sensorTemps[0] = tempFloatToU32();
+  if (componentAboveUpperLimit) {
+    oneIsAboveLimit = true;
+    eventToTrigger = overHeatEventToTrigger;
+  }
 
   // RW2
   thermalComponent = RW;
@@ -1049,6 +1058,13 @@ void ThermalController::ctrlRw() {
   sensors[3].second = sensorTemperatures.sensor_dro.value;
   numSensors = 4;
   ctrlComponentTemperature(heater::HEATER_6_DRO, heater::HEATER_6_DRO, rwLimits);
+  sensorTemps[1] = tempFloatToU32();
+  if (componentAboveUpperLimit) {
+    oneIsAboveLimit = true;
+    if (eventToTrigger != ThermalComponentIF::COMPONENT_TEMP_OOL_HIGH) {
+      eventToTrigger = overHeatEventToTrigger;
+    }
+  }
 
   // RW3
   thermalComponent = RW;
@@ -1062,6 +1078,13 @@ void ThermalController::ctrlRw() {
   sensors[3].second = sensorTemperatures.sensor_dro.value;
   numSensors = 4;
   ctrlComponentTemperature(heater::HEATER_6_DRO, heater::HEATER_6_DRO, rwLimits);
+  sensorTemps[2] = tempFloatToU32();
+  if (componentAboveUpperLimit) {
+    oneIsAboveLimit = true;
+    if (eventToTrigger != ThermalComponentIF::COMPONENT_TEMP_OOL_HIGH) {
+      eventToTrigger = overHeatEventToTrigger;
+    }
+  }
 
   // RW4
   thermalComponent = RW;
@@ -1075,6 +1098,23 @@ void ThermalController::ctrlRw() {
   sensors[3].second = sensorTemperatures.sensor_dro.value;
   numSensors = 4;
   ctrlComponentTemperature(heater::HEATER_6_DRO, heater::HEATER_6_DRO, rwLimits);
+  sensorTemps[3] = tempFloatToU32();
+  if (componentAboveUpperLimit) {
+    oneIsAboveLimit = true;
+    if (eventToTrigger != ThermalComponentIF::COMPONENT_TEMP_OOL_HIGH) {
+      eventToTrigger = overHeatEventToTrigger;
+    }
+  }
+
+  if (oneIsAboveLimit and not rwTooHotFlag) {
+    EventManagerIF::triggerEvent(objects::RW1, eventToTrigger, sensorTemps[0]);
+    EventManagerIF::triggerEvent(objects::RW2, eventToTrigger, sensorTemps[1]);
+    EventManagerIF::triggerEvent(objects::RW3, eventToTrigger, sensorTemps[2]);
+    EventManagerIF::triggerEvent(objects::RW4, eventToTrigger, sensorTemps[3]);
+    rwTooHotFlag = true;
+  } else if (not oneIsAboveLimit) {
+    rwTooHotFlag = false;
+  }
 }
 
 void ThermalController::ctrlStr() {
@@ -1100,6 +1140,7 @@ void ThermalController::ctrlIfBoard() {
   sensors[2].second = deviceTemperatures.mgm2SideB.value;
   numSensors = 3;
   ctrlComponentTemperature(heater::HEATER_2_ACS_BRD, heater::HEATER_3_PCDU_PDU, ifBoardLimits);
+  // TODO: special event overheating + could go back to safe mode
 }
 
 void ThermalController::ctrlTcsBoard() {
@@ -1112,6 +1153,7 @@ void ThermalController::ctrlTcsBoard() {
   sensors[2].second = sensorTemperatures.tmp1075Tcs1.value;
   numSensors = 3;
   ctrlComponentTemperature(heater::HEATER_0_OBC_BRD, heater::HEATER_2_ACS_BRD, tcsBoardLimits);
+  // TODO: special event overheating + could go back to safe mode
 }
 
 void ThermalController::ctrlObc() {
@@ -1205,7 +1247,7 @@ void ThermalController::ctrlPcduAcu() {
       sensorTempAvailable = false;
     }
     if (sensorTempAvailable) {
-      ctrlHeater(switchNr, redSwitchNr, pcduAcuLimits);
+      checkLimitsAndCtrlHeater(switchNr, redSwitchNr, pcduAcuLimits);
     }
   }
   if (componentAboveUpperLimit and not pcduSystemTooHotFlag) {
@@ -1402,9 +1444,9 @@ void ThermalController::performThermalModuleCtrl() {
   ctrlTcsBoard();
   ctrlObc();
   ctrlObcIfBoard();
-  // ctrlSBandTransceiver();
+  ctrlSBandTransceiver();
   ctrlPcduP60Board();
-  // ctrlPcduAcu();
+  ctrlPcduAcu();
   ctrlPcduPdu();
   ctrlPlPcduBoard();
   ctrlPlocMissionBoard();
@@ -1424,15 +1466,16 @@ void ThermalController::ctrlComponentTemperature(heater::Switchers switchNr,
                                                  TempLimits& tempLimit) {
   if (selectAndReadSensorTemp()) {
     if (chooseHeater(switchNr, redSwitchNr)) {
-      ctrlHeater(switchNr, redSwitchNr, tempLimit);
+      checkLimitsAndCtrlHeater(switchNr, redSwitchNr, tempLimit);
     }
   } else {
     if (chooseHeater(switchNr,
                      redSwitchNr)) {  // TODO: muss der Heater dann wirklich abgeschalten werden?
       if (heaterHandler.checkSwitchState(switchNr)) {
         heaterHandler.switchHeater(switchNr, HeaterHandler::SwitchState::OFF);
-        sif::info << "ThermalController::ctrlHeater: Heater" << static_cast<u_int8_t>(switchNr)
+        sif::info << "ThermalController::checkLimitsAndCtrlHeater: Heater"
-                  << " OFF" << std::endl;  // TODO: printouts löschen
+                  << static_cast<int>(thermalComponent) << " OFF"
+                  << std::endl;  // TODO: printouts löschen
       }
     }
   }
@@ -1476,17 +1519,19 @@ bool ThermalController::chooseHeater(heater::Switchers& switchNr, heater::Switch
   }
   return heaterAvailable;
 }
-void ThermalController::ctrlHeater(heater::Switchers switchNr, heater::Switchers redSwitchNr,
+void ThermalController::checkLimitsAndCtrlHeater(heater::Switchers switchNr,
-                                   struct TempLimits& tempLimit) {
+                                                 heater::Switchers redSwitchNr,
+                                                 struct TempLimits& tempLimit) {
   componentAboveCutOffLimit = false;
   componentAboveUpperLimit = false;
   // if Heater off
   if (not heaterStates[switchNr].switchTransition) {
     if (not heaterHandler.checkSwitchState(switchNr)) {
+      // TODO: check NOP limit and maybe trigger fdir
       if (sensorTemp < tempLimit.opLowerLimit) {
         heaterHandler.switchHeater(switchNr, HeaterHandler::SwitchState::ON);
-        sif::info << "ThermalController::ctrlHeater: Heater " << static_cast<int>(thermalComponent)
+        sif::info << "ThermalController::checkLimitsAndCtrlHeater: Heater "
-                  << " ON" << std::endl;
+                  << static_cast<int>(thermalComponent) << " ON" << std::endl;
         heaterStates[switchNr].switchTransition = true;
         thermalStates[thermalComponent].heating = true;
       } else {
@@ -1498,7 +1543,7 @@ void ThermalController::ctrlHeater(heater::Switchers switchNr, heater::Switchers
       if (thermalStates[thermalComponent].heating) {
         if (sensorTemp >= tempLimit.opLowerLimit + TEMP_OFFSET) {
           heaterHandler.switchHeater(switchNr, HeaterHandler::SwitchState::OFF);
-          sif::info << "ThermalController::ctrlHeater: Heater "
+          sif::info << "ThermalController::checkLimitsAndCtrlHeater: Heater "
                     << static_cast<int>(thermalComponent) << " OFF" << std::endl;
           heaterStates[switchNr].switchTransition = true;
           thermalStates[thermalComponent].heating = false;
@@ -1506,8 +1551,8 @@ void ThermalController::ctrlHeater(heater::Switchers switchNr, heater::Switchers
       } else {
         auto tempTooHighHandler = [&](const char* whatLimit) {
           heaterHandler.switchHeater(switchNr, HeaterHandler::SwitchState::OFF);
-          sif::info << "ThermalController::ctrlHeater: Reached " << whatLimit << ": Heater "
+          sif::info << "ThermalController::checkLimitsAndCtrlHeater: Reached " << whatLimit
-                    << static_cast<int>(thermalComponent) << " OFF" << std::endl;
+                    << ": Heater " << static_cast<int>(thermalComponent) << " OFF" << std::endl;
           heaterStates[switchNr].switchTransition = true;
           if (heaterHandler.checkSwitchState(redSwitchNr)) {
             heaterHandler.switchHeater(redSwitchNr, HeaterHandler::SwitchState::OFF);
@@ -1550,7 +1595,7 @@ void ThermalController::heaterTransitionControl() {
     }
   }
 }
-uint32_t ThermalController::tempFloatToU32() {
+uint32_t ThermalController::tempFloatToU32() const {
   auto sensorTempAsFloat = static_cast<float>(sensorTemp);
   uint32_t tempRaw = 0;
   size_t dummyLen = 0;

mission/controller/ThermalController.h

@@ -164,6 +164,8 @@ class ThermalController : public ExtendedControllerBase {
   TempLimits tcsBoardLimits = TempLimits(-60.0, -40.0, 80.0, 85.0, 130.0);
   TempLimits obcLimits = TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
   TempLimits obcIfBoardLimits = TempLimits(-65.0, -40.0, 80.0, 85.0, 125.0);
+  // Limits to test commading to RX Only
+  // TempLimits sBandTransceiverLimits = TempLimits(-40.0, -25.0, 0.0, 0.0, 5.0);
   TempLimits sBandTransceiverLimits = TempLimits(-40.0, -25.0, 35.0, 40.0, 65.0);
   TempLimits pcduP60BoardLimits = TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
   TempLimits pcduAcuLimits = TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
@@ -195,6 +197,7 @@ class ThermalController : public ExtendedControllerBase {
   bool syrlinksTooHotFlag = false;
   bool obcTooHotFlag = false;
   bool strTooHotFlag = false;
+  bool rwTooHotFlag = false;
   std::array<ThermalState, 30> thermalStates{};
   std::array<HeaterState, 7> heaterStates{};
 
@@ -225,7 +228,8 @@ class ThermalController : public ExtendedControllerBase {
 
   void ctrlComponentTemperature(heater::Switchers switchNr, heater::Switchers redSwitchNr,
                                 TempLimits& tempLimit);
-  void ctrlHeater(heater::Switchers switchNr, heater::Switchers redSwitchNr, TempLimits& tempLimit);
+  void checkLimitsAndCtrlHeater(heater::Switchers switchNr, heater::Switchers redSwitchNr,
+                                TempLimits& tempLimit);
   bool chooseHeater(heater::Switchers& switchNr, heater::Switchers redSwitchNr);
   bool selectAndReadSensorTemp();
 
@@ -253,7 +257,7 @@ class ThermalController : public ExtendedControllerBase {
   void ctrlMpa();
   void ctrlScexBoard();
   void heaterTransitionControl();
-  uint32_t tempFloatToU32();
+  uint32_t tempFloatToU32() const;
   void tooHotHandler(object_id_t object, bool& oneShotFlag);
 };
 

mission/controller/controllerdefinitions/tcsCtrlDefs.h

@@ -13,7 +13,6 @@ static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::TCS_CONTROLLER;
 static constexpr Event NO_VALID_SENSOR_TEMPERATURE = MAKE_EVENT(0, severity::MEDIUM);
 static constexpr Event NO_HEALTHY_HEATER_AVAILABLE = MAKE_EVENT(1, severity::MEDIUM);
 static constexpr Event SYRLINKS_OVERHEATING = MAKE_EVENT(2, severity::HIGH);
-static constexpr Event PLOC_OVERHEATING = MAKE_EVENT(3, severity::HIGH);
 static constexpr Event OBC_OVERHEATING = MAKE_EVENT(4, severity::HIGH);
 static constexpr Event CAMERA_OVERHEATING = MAKE_EVENT(5, severity::HIGH);
 static constexpr Event PCDU_SYSTEM_OVERHEATING = MAKE_EVENT(6, severity::HIGH);

mission/system/objects/EiveSystem.cpp

@@ -4,11 +4,13 @@
 #include <fsfw/events/EventManager.h>
 #include <fsfw/ipc/QueueFactory.h>
 #include <mission/acsDefs.h>
+#include <mission/comDefs.h>
+#include <mission/controller/controllerdefinitions/tcsCtrlDefs.h>
 
 EiveSystem::EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
                        uint32_t maxNumberOfTables)
     : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {
-  auto mqArgs = MqArgs(getObjectId(), static_cast<void*>(this));
+  auto mqArgs = MqArgs(SubsystemBase::getObjectId(), static_cast<void*>(this));
   eventQueue =
       QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
 }
@@ -67,16 +69,37 @@ ReturnValue_t EiveSystem::initialize() {
 #endif
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
-  // TODO: manager->subscribeToEvent(eventQueue->getId(), )
+  manager->subscribeToEvent(eventQueue->getId(), event::getEventId(tcsCtrl::SYRLINKS_OVERHEATING));
+  manager->subscribeToEvent(eventQueue->getId(),
+                            event::getEventId(tcsCtrl::PCDU_SYSTEM_OVERHEATING));
+  manager->subscribeToEvent(eventQueue->getId(), event::getEventId(tcsCtrl::OBC_OVERHEATING));
+
   return Subsystem::initialize();
 }
 
 void EiveSystem::handleEventMessages() {
   EventMessage event;
-  for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == returnvalue::OK;
+  for (ReturnValue_t status = eventQueue->receiveMessage(&event); status == returnvalue::OK;
-       result = eventQueue->receiveMessage(&event)) {
+       status = eventQueue->receiveMessage(&event)) {
     switch (event.getMessageId()) {
       case EventMessage::EVENT_MESSAGE:
+        switch (event.getEvent()) {
+          case tcsCtrl::SYRLINKS_OVERHEATING: {
+            CommandMessage msg;
+            ModeMessage::setCmdModeMessage(msg, com::RX_ONLY, 0);
+            ReturnValue_t result =
+                commandQueue->sendMessage(childrenMap[objects::COM_SUBSYSTEM].commandQueue, &msg);
+            if (result != returnvalue::OK) {
+              sif::error << "EiveSystem: Commanding COM to RX_ONLY failed" << std::endl;
+            }
+            break;
+          }
+          case tcsCtrl::OBC_OVERHEATING:
+          case tcsCtrl::PCDU_SYSTEM_OVERHEATING: {
+            commandSelfToSafe();
+            break;
+          }
+        }
         break;
       default:
         sif::debug << "AcsSubsystem::performChildOperation: Did not subscribe "
@@ -86,3 +109,14 @@ void EiveSystem::handleEventMessages() {
     }
   }
 }
+void EiveSystem::commandSelfToSafe() {
+  if (fallbackCommandCd.hasTimedOut()) {
+    CommandMessage msg;
+    ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, 0);
+    ReturnValue_t result = commandQueue->sendMessage(commandQueue->getId(), &msg);
+    if (result != returnvalue::OK) {
+      sif::error << "EiveSystem: Commanding EIVE-System to SAFE failed" << std::endl;
+    }
+    fallbackCommandCd.resetTimer();
+  }
+}

mission/system/objects/EiveSystem.h

@@ -8,12 +8,14 @@ class EiveSystem : public Subsystem {
   EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
 
  private:
+  MessageQueueIF* eventQueue = nullptr;
+  Countdown fallbackCommandCd = Countdown(30000);
+
   ReturnValue_t initialize() override;
   void performChildOperation() override;
   void announceMode(bool recursive) override;
   void handleEventMessages();
-
+  void commandSelfToSafe();
-  MessageQueueIF* eventQueue = nullptr;
 };
 
 #endif /* MISSION_SYSTEM_EIVESYSTEM_H_ */