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Merge remote-tracking branch 'origin/develop' into thermal_controller
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This commit is contained in:
Robin Müller
2023-03-28 16:37:09 +02:00
parent 36d7852c1d 6a37503154
commit 28d7dcf177
45 changed files with 159 additions and 128 deletions
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8
mission/acs/GyrAdis1650XHandler.cpp
View File

@ -28,11 +28,7 @@ void GyrAdis1650XHandler::doStartUp() {
}
if (breakCountdown.hasTimedOut()) {
updatePeriodicReply(true, adis1650x::REPLY);
if (goToNormalMode) {
setMode(MODE_NORMAL);
} else {
setMode(MODE_ON);
}
setMode(MODE_ON);
internalState = InternalState::NONE;
}
}
@ -208,8 +204,6 @@ adis1650x::BurstModes GyrAdis1650XHandler::getBurstMode() {
return adis1650x::burstModeFromMscCtrl(currentCtrlReg);
}
void GyrAdis1650XHandler::setToGoToNormalModeImmediately() { goToNormalMode = true; }
void GyrAdis1650XHandler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
periodicPrintout = enable;
debugDivider.setDivider(divider);

2
mission/acs/GyrAdis1650XHandler.h
View File

@ -21,7 +21,6 @@ class GyrAdis1650XHandler : public DeviceHandlerBase {
adis1650x::Type type);
void enablePeriodicPrintouts(bool enable, uint8_t divider);
void setToGoToNormalModeImmediately();
// DeviceHandlerBase abstract function implementation
void doStartUp() override;
@ -47,7 +46,6 @@ class GyrAdis1650XHandler : public DeviceHandlerBase {
AdisGyroConfigDataset configDataset;
double sensitivity = adis1650x::SENSITIVITY_UNSET;
bool goToNormalMode = false;
bool warningSwitch = true;
enum class InternalState { NONE, STARTUP, SHUTDOWN };

8
mission/acs/GyrL3gCustomHandler.cpp
View File

@ -23,11 +23,7 @@ void GyrL3gCustomHandler::doStartUp() {
if (internalState == InternalState::STARTUP) {
if (commandExecuted) {
if (goNormalModeImmediately) {
setMode(MODE_NORMAL);
} else {
setMode(_MODE_TO_ON);
}
setMode(MODE_ON);
internalState = InternalState::NONE;
commandExecuted = false;
}
@ -145,8 +141,6 @@ uint32_t GyrL3gCustomHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
return this->transitionDelayMs;
}
void GyrL3gCustomHandler::setToGoToNormalMode(bool enable) { this->goNormalModeImmediately = true; }
ReturnValue_t GyrL3gCustomHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(l3gd20h::ANG_VELOC_X, new PoolEntry<float>({0.0}));

6
mission/acs/GyrL3gCustomHandler.h
View File

@ -32,11 +32,6 @@ class GyrL3gCustomHandler : public DeviceHandlerBase {
*/
void setAbsoluteLimits(float limitX, float limitY, float limitZ);
/**
* @brief Configure device handler to go to normal mode immediately
*/
void setToGoToNormalMode(bool enable);
protected:
/* DeviceHandlerBase overrides */
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
@ -69,7 +64,6 @@ class GyrL3gCustomHandler : public DeviceHandlerBase {
bool commandExecuted = false;
uint8_t statusReg = 0;
bool goNormalModeImmediately = false;
uint8_t ctrlReg1Value = l3gd20h::CTRL_REG_1_VAL;
uint8_t ctrlReg2Value = l3gd20h::CTRL_REG_2_VAL;

7
mission/acs/ImtqHandler.cpp
View File

@ -30,8 +30,9 @@
static constexpr bool ACTUATION_WIRETAPPING = false;
ImtqHandler::ImtqHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
power::Switch_t pwrSwitcher)
power::Switch_t pwrSwitcher, bool enableHkSets)
: DeviceHandlerBase(objectId, comIF, comCookie),
enableHkSets(enableHkSets),
statusSet(this),
dipoleSet(*this),
rawMtmNoTorque(this),
@ -778,9 +779,9 @@ ReturnValue_t ImtqHandler::initializeLocalDataPool(localpool::DataPool& localDat
localDataPoolMap.emplace(imtq::FINA_NEG_Z_COIL_Z_TEMPERATURE, new PoolEntry<int16_t>({0}));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(hkDatasetNoTorque.getSid(), false, 10.0));
subdp::DiagnosticsHkPeriodicParams(hkDatasetNoTorque.getSid(), enableHkSets, 12.0));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(hkDatasetWithTorque.getSid(), false, 10.0));
subdp::DiagnosticsHkPeriodicParams(hkDatasetWithTorque.getSid(), enableHkSets, 12.0));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(rawMtmNoTorque.getSid(), false, 10.0));
poolManager.subscribeForDiagPeriodicPacket(

3
mission/acs/ImtqHandler.h
View File

@ -18,7 +18,7 @@ class ImtqHandler : public DeviceHandlerBase {
enum NormalPollingMode { UNCALIBRATED = 0, CALIBRATED = 1, BOTH = 2 };
ImtqHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
power::Switch_t pwrSwitcher);
power::Switch_t pwrSwitcher, bool enableHkSets);
virtual ~ImtqHandler();
void setPollingMode(NormalPollingMode pollMode);
@ -85,6 +85,7 @@ class ImtqHandler : public DeviceHandlerBase {
enum class InternalState { NONE, STARTUP, SHUTDOWN } internalState = InternalState::NONE;
bool commandExecuted = false;
bool enableHkSets = false;
imtq::Request request{};

2
mission/acs/MgmLis3CustomHandler.cpp
View File

@ -20,7 +20,7 @@ void MgmLis3CustomHandler::doStartUp() {
}
if (internalState == InternalState::STARTUP) {
if (commandExecuted) {
setMode(MODE_NORMAL);
setMode(MODE_ON);
internalState = InternalState::NONE;
commandExecuted = false;
}

2
mission/acs/MgmRm3100CustomHandler.cpp
View File

@ -25,7 +25,7 @@ void MgmRm3100CustomHandler::doStartUp() {
if (commandExecuted) {
commandExecuted = false;
internalState = InternalState::NONE;
setMode(MODE_NORMAL);
setMode(MODE_ON);
}
}
}

4
mission/acs/RwHandler.cpp
View File

@ -33,6 +33,7 @@ void RwHandler::doStartUp() {
sif::debug << "RwHandler::doStartUp: Failed to pull enable gpio to high";
}
updatePeriodicReply(true, rws::REPLY_ID);
statusSet.setReportingEnabled(true);
setMode(_MODE_TO_ON);
}
@ -48,6 +49,7 @@ void RwHandler::doShutDown() {
statusSet.referenceSpeed = 0.0;
statusSet.state = 0;
statusSet.setValidity(false, true);
statusSet.setReportingEnabled(false);
}
{
PoolReadGuard pg(&tmDataset);
@ -304,7 +306,7 @@ ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataP
localDataPoolMap.emplace(rws::SPI_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(rws::SPI_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(statusSet.getSid(), false, 5.0));
subdp::DiagnosticsHkPeriodicParams(statusSet.getSid(), false, 12.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(tmDataset.getSid(), false, 30.0));
poolManager.subscribeForRegularPeriodicPacket(

2
mission/acs/SusHandler.cpp
View File

@ -20,7 +20,7 @@ void SusHandler::doStartUp() {
}
if (internalState == InternalState::STARTUP) {
if (commandExecuted) {
setMode(MODE_NORMAL);
setMode(MODE_ON);
internalState = InternalState::NONE;
commandExecuted = false;
}

4
mission/acs/str/StarTrackerHandler.cpp
View File

@ -260,6 +260,7 @@ void StarTrackerHandler::doStartUp() {
default:
return;
}
solutionSet.setReportingEnabled(true);
startupState = StartupState::DONE;
internalState = InternalState::IDLE;
setMode(_MODE_TO_ON);
@ -271,6 +272,7 @@ void StarTrackerHandler::doShutDown() {
internalState = InternalState::IDLE;
startupState = StartupState::IDLE;
bootState = FwBootState::NONE;
solutionSet.setReportingEnabled(false);
setMode(_MODE_POWER_DOWN);
}
@ -1270,7 +1272,7 @@ ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& l
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(interfaceSet.getSid(), false, 10.0));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(solutionSet.getSid(), false, 5.0));
subdp::DiagnosticsHkPeriodicParams(solutionSet.getSid(), false, 12.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(cameraSet.getSid(), false, 10.0));
poolManager.subscribeForRegularPeriodicPacket(

4
mission/com/CcsdsIpCoreHandler.h
View File

@ -36,6 +36,10 @@ struct PtmeGpios {
* programmable logic of the Q7S.
*
* @details
* From a system view, OFF means that the transmitter is off, on means that the transmitter is on.
* The handler will only take care of the IP configuration, the actual swithing and configuration
* of the COM hardware (Syrlinks for the EIVE project) will be done in a separate device handler.
*
* After reboot default CADU bitrate is always set to 100 kbps (results in downlink rate
* of 200 kbps due to convolutional code added by syrlinks transceiver). The IP core handler exposes
* a parameter to enable the priority selection mode for the PTME core.

10
mission/com/SyrlinksHandler.cpp
View File

@ -641,12 +641,16 @@ ReturnValue_t SyrlinksHandler::initializeLocalDataPool(localpool::DataPool& loca
localDataPoolMap.emplace(syrlinks::TEMP_BASEBAND_BOARD, new PoolEntry<float>({0}));
localDataPoolMap.emplace(syrlinks::TEMP_POWER_AMPLIFIER, new PoolEntry<float>({0}));
bool enableHkSets = false;
#if OBSW_ENABLE_PERIODIC_HK == 1
enableHkSets = true;
#endif
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(txDataset.getSid(), false, 5.0));
subdp::DiagnosticsHkPeriodicParams(txDataset.getSid(), enableHkSets, 60.0));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(rxDataset.getSid(), false, 5.0));
subdp::DiagnosticsHkPeriodicParams(rxDataset.getSid(), enableHkSets, 60.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(temperatureSet.getSid(), false, 10.0));
subdp::RegularHkPeriodicParams(temperatureSet.getSid(), enableHkSets, 20.0));
return returnvalue::OK;
}

17
mission/controller/AcsController.cpp
View File

@ -4,8 +4,9 @@
#include <mission/acs/defs.h>
#include <mission/config/torquer.h>
AcsController::AcsController(object_id_t objectId)
AcsController::AcsController(object_id_t objectId, bool enableHkSets)
: ExtendedControllerBase(objectId),
enableHkSets(enableHkSets),
guidance(&acsParameters),
safeCtrl(&acsParameters),
ptgCtrl(&acsParameters),
@ -574,7 +575,7 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_VEC_TOT, &mgmVecTot);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_VEC_TOT_DERIVATIVE, &mgmVecTotDer);
localDataPoolMap.emplace(acsctrl::PoolIds::MAG_IGRF_MODEL, &magIgrf);
poolManager.subscribeForRegularPeriodicPacket({mgmDataProcessed.getSid(), false, 5.0});
poolManager.subscribeForRegularPeriodicPacket({mgmDataProcessed.getSid(), enableHkSets, 12.0});
// SUS Raw
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_0_N_LOC_XFYFZM_PT_XF, &sus0ValRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_1_N_LOC_XBYFZM_PT_XB, &sus1ValRaw);
@ -605,7 +606,7 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_VEC_TOT, &susVecTot);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_VEC_TOT_DERIVATIVE, &susVecTotDer);
localDataPoolMap.emplace(acsctrl::PoolIds::SUN_IJK_MODEL, &sunIjk);
poolManager.subscribeForRegularPeriodicPacket({susDataProcessed.getSid(), false, 5.0});
poolManager.subscribeForRegularPeriodicPacket({susDataProcessed.getSid(), enableHkSets, 12.0});
// GYR Raw
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_0_ADIS, &gyr0VecRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_1_L3, &gyr1VecRaw);
@ -618,30 +619,30 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_2_VEC, &gyr2VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_3_VEC, &gyr3VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_VEC_TOT, &gyrVecTot);
poolManager.subscribeForDiagPeriodicPacket({gyrDataProcessed.getSid(), false, 5.0});
poolManager.subscribeForDiagPeriodicPacket({gyrDataProcessed.getSid(), enableHkSets, 12.0});
// GPS Processed
localDataPoolMap.emplace(acsctrl::PoolIds::GC_LATITUDE, &gcLatitude);
localDataPoolMap.emplace(acsctrl::PoolIds::GD_LONGITUDE, &gdLongitude);
localDataPoolMap.emplace(acsctrl::PoolIds::ALTITUDE, &altitude);
localDataPoolMap.emplace(acsctrl::PoolIds::GPS_POSITION, &gpsPosition);
localDataPoolMap.emplace(acsctrl::PoolIds::GPS_VELOCITY, &gpsVelocity);
poolManager.subscribeForRegularPeriodicPacket({gpsDataProcessed.getSid(), false, 5.0});
poolManager.subscribeForRegularPeriodicPacket({gpsDataProcessed.getSid(), enableHkSets, 12.0});
// MEKF
localDataPoolMap.emplace(acsctrl::PoolIds::QUAT_MEKF, &quatMekf);
localDataPoolMap.emplace(acsctrl::PoolIds::SAT_ROT_RATE_MEKF, &satRotRateMekf);
localDataPoolMap.emplace(acsctrl::PoolIds::MEKF_STATUS, &mekfStatus);
poolManager.subscribeForDiagPeriodicPacket({mekfData.getSid(), false, 5.0});
poolManager.subscribeForDiagPeriodicPacket({mekfData.getSid(), enableHkSets, 12.0});
// Ctrl Values
localDataPoolMap.emplace(acsctrl::PoolIds::TGT_QUAT, &tgtQuat);
localDataPoolMap.emplace(acsctrl::PoolIds::ERROR_QUAT, &errQuat);
localDataPoolMap.emplace(acsctrl::PoolIds::ERROR_ANG, &errAng);
localDataPoolMap.emplace(acsctrl::PoolIds::TGT_ROT_RATE, &tgtRotRate);
poolManager.subscribeForRegularPeriodicPacket({ctrlValData.getSid(), false, 5.0});
poolManager.subscribeForRegularPeriodicPacket({ctrlValData.getSid(), enableHkSets, 12.0});
// Actuator CMD
localDataPoolMap.emplace(acsctrl::PoolIds::RW_TARGET_TORQUE, &rwTargetTorque);
localDataPoolMap.emplace(acsctrl::PoolIds::RW_TARGET_SPEED, &rwTargetSpeed);
localDataPoolMap.emplace(acsctrl::PoolIds::MTQ_TARGET_DIPOLE, &mtqTargetDipole);
poolManager.subscribeForRegularPeriodicPacket({actuatorCmdData.getSid(), false, 5.0});
poolManager.subscribeForRegularPeriodicPacket({actuatorCmdData.getSid(), enableHkSets, 12.0});
return returnvalue::OK;
}

4
mission/controller/AcsController.h
View File

@ -28,7 +28,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
public:
static constexpr dur_millis_t INIT_DELAY = 500;
AcsController(object_id_t objectId);
AcsController(object_id_t objectId, bool enableHkSets);
MessageQueueId_t getCommandQueue() const;
ReturnValue_t getParameter(uint8_t domainId, uint8_t parameterId,
@ -46,6 +46,8 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
static constexpr double RW_OFF_TORQUE[4] = {0.0, 0.0, 0.0, 0.0};
static constexpr int32_t RW_OFF_SPEED[4] = {0, 0, 0, 0};
bool enableHkSets = false;
AcsParameters acsParameters;
SensorProcessing sensorProcessing;
Navigation navigation;

13
mission/controller/ThermalController.cpp
View File

@ -223,14 +223,19 @@ ReturnValue_t ThermalController::initializeLocalDataPool(localpool::DataPool& lo
localDataPoolMap.emplace(tcsCtrl::HEATER_SWITCH_LIST, &heaterSwitchStates);
localDataPoolMap.emplace(tcsCtrl::HEATER_CURRENT, &heaterCurrent);
bool enableHkSets = false;
#if OBSW_ENABLE_PERIODIC_HK == 1
enableHkSets = true;
#endif
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(sensorTemperatures.getSid(), false, 10.0));
subdp::RegularHkPeriodicParams(sensorTemperatures.getSid(), enableHkSets, 60.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(susTemperatures.getSid(), false, 10.0));
subdp::RegularHkPeriodicParams(susTemperatures.getSid(), enableHkSets, 60.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(deviceTemperatures.getSid(), false, 10.0));
subdp::RegularHkPeriodicParams(deviceTemperatures.getSid(), enableHkSets, 60.0));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(heaterInfo.getSid(), false, 10.0));
subdp::DiagnosticsHkPeriodicParams(heaterInfo.getSid(), enableHkSets, 30.0));
return returnvalue::OK;
}

2
mission/genericFactory.cpp
View File

@ -234,7 +234,7 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
new Service2DeviceAccess(objects::PUS_SERVICE_2_DEVICE_ACCESS, config::EIVE_PUS_APID,
pus::PUS_SERVICE_2, 3, 10);
new Service3Housekeeping(objects::PUS_SERVICE_3_HOUSEKEEPING, config::EIVE_PUS_APID,
pus::PUS_SERVICE_3);
pus::PUS_SERVICE_3, config::HK_SERVICE_QUEUE_DEPTH);
new Service5EventReporting(
PsbParams(objects::PUS_SERVICE_5_EVENT_REPORTING, config::EIVE_PUS_APID, pus::PUS_SERVICE_5),
40, 120);

8
mission/power/AcuHandler.cpp
View File

@ -3,8 +3,8 @@
#include "OBSWConfig.h"
ACUHandler::ACUHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
FailureIsolationBase *customFdir)
: GomspaceDeviceHandler(objectId, comIF, comCookie, cfg, customFdir),
FailureIsolationBase *customFdir, bool enableHkSets)
: GomspaceDeviceHandler(objectId, comIF, comCookie, cfg, customFdir, enableHkSets),
coreHk(this),
auxHk(this) {
cfg.maxConfigTableAddress = ACU::MAX_CONFIGTABLE_ADDRESS;
@ -149,9 +149,9 @@ ReturnValue_t ACUHandler::initializeLocalDataPool(localpool::DataPool &localData
localDataPoolMap.emplace(pool::ACU_WDT_GND_LEFT, new PoolEntry<uint32_t>({0}));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), false, 10.0));
subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), enableHkSets, 20.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(auxHk.getSid(), false, 30.0));
subdp::RegularHkPeriodicParams(auxHk.getSid(), enableHkSets, 3000.0));
return returnvalue::OK;
}

2
mission/power/AcuHandler.h
View File

@ -13,7 +13,7 @@
class ACUHandler : public GomspaceDeviceHandler {
public:
ACUHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
FailureIsolationBase* customFdir);
FailureIsolationBase* customFdir, bool enableHkSets);
virtual ~ACUHandler();
void setDebugMode(bool enable);

11
mission/power/BpxBatteryHandler.cpp
View File

@ -1,8 +1,12 @@
#include <fsfw/datapool/PoolReadGuard.h>
#include <mission/power/BpxBatteryHandler.h>
BpxBatteryHandler::BpxBatteryHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie)
: DeviceHandlerBase(objectId, comIF, comCookie), hkSet(this), cfgSet(this) {}
BpxBatteryHandler::BpxBatteryHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
bool enableHkSets)
: DeviceHandlerBase(objectId, comIF, comCookie),
enableHkSets(enableHkSets),
hkSet(this),
cfgSet(this) {}
BpxBatteryHandler::~BpxBatteryHandler() {}
@ -267,8 +271,9 @@ ReturnValue_t BpxBatteryHandler::initializeLocalDataPool(localpool::DataPool& lo
localDataPoolMap.emplace(BpxBattery::BATTERY_HEATER_MODE, &battheatMode);
localDataPoolMap.emplace(BpxBattery::BATTHEAT_LOW_LIMIT, &battheatLow);
localDataPoolMap.emplace(BpxBattery::BATTHEAT_HIGH_LIMIT, &battheatHigh);
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(hkSet.getSid(), false, 30.0));
subdp::RegularHkPeriodicParams(hkSet.getSid(), enableHkSets, 20.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(cfgSet.getSid(), false, 30.0));
return returnvalue::OK;

4
mission/power/BpxBatteryHandler.h
View File

@ -7,7 +7,8 @@
class BpxBatteryHandler : public DeviceHandlerBase {
public:
BpxBatteryHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie);
BpxBatteryHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
bool enableHkSets);
virtual ~BpxBatteryHandler();
void setToGoToNormalMode(bool enable);
@ -19,6 +20,7 @@ class BpxBatteryHandler : public DeviceHandlerBase {
IDLE = 1,
};
bool enableHkSets = false;
States state = States::CHECK_COM;
bool commandExecuted = false;
bool debugMode = false;

6
mission/power/GomspaceDeviceHandler.cpp
View File

@ -12,8 +12,10 @@ using namespace GOMSPACE;
GomspaceDeviceHandler::GomspaceDeviceHandler(object_id_t objectId, object_id_t comIF,
CookieIF* comCookie, TableConfig& tableConfig,
FailureIsolationBase* customFdir)
: DeviceHandlerBase(objectId, comIF, comCookie, customFdir), tableCfg(tableConfig) {
FailureIsolationBase* customFdir, bool enableHkSets)
: DeviceHandlerBase(objectId, comIF, comCookie, customFdir),
enableHkSets(enableHkSets),
tableCfg(tableConfig) {
if (comCookie == nullptr) {
sif::error << "GomspaceDeviceHandler::GomspaceDeviceHandler: Invalid com cookie" << std::endl;
}

4
mission/power/GomspaceDeviceHandler.h
View File

@ -45,7 +45,8 @@ class GomspaceDeviceHandler : public DeviceHandlerBase {
* device.
*/
GomspaceDeviceHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
TableConfig &tableConfig, FailureIsolationBase *customFdir);
TableConfig &tableConfig, FailureIsolationBase *customFdir,
bool enableHkSets);
virtual ~GomspaceDeviceHandler();
/**
@ -59,6 +60,7 @@ class GomspaceDeviceHandler : public DeviceHandlerBase {
static const uint8_t PARAM_SET_OK = 1;
static const uint8_t PING_REPLY_SIZE = 2;
bool enableHkSets = false;
uint8_t rememberRequestedSize = 0;
uint8_t rememberCommandId = GOMSPACE::NONE;
uint8_t cspPacket[MAX_PACKET_LEN];

8
mission/power/P60DockHandler.cpp
View File

@ -4,8 +4,8 @@
#include "OBSWConfig.h"
P60DockHandler::P60DockHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
FailureIsolationBase *customFdir)
: GomspaceDeviceHandler(objectId, comIF, comCookie, cfg, customFdir),
FailureIsolationBase *customFdir, bool enableHkSets)
: GomspaceDeviceHandler(objectId, comIF, comCookie, cfg, customFdir, enableHkSets),
coreHk(this),
auxHk(this) {
cfg.maxConfigTableAddress = P60Dock::MAX_CONFIGTABLE_ADDRESS;
@ -166,9 +166,9 @@ ReturnValue_t P60DockHandler::initializeLocalDataPool(localpool::DataPool &local
localDataPoolMap.emplace(pool::P60DOCK_ANT6_DEPL, new PoolEntry<int8_t>({0}));
localDataPoolMap.emplace(pool::P60DOCK_AR6_DEPL, new PoolEntry<int8_t>({0}));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), false, 10.0));
subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), enableHkSets, 20.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(auxHk.getSid(), false, 30.0));
subdp::RegularHkPeriodicParams(auxHk.getSid(), enableHkSets, 3000.0));
return returnvalue::OK;
}

2
mission/power/P60DockHandler.h
View File

@ -22,7 +22,7 @@ class P60DockHandler : public GomspaceDeviceHandler {
static constexpr Event BATT_MODE_CHANGED = event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);
P60DockHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
FailureIsolationBase* customFdir);
FailureIsolationBase* customFdir, bool enableHkSets);
virtual ~P60DockHandler();
void setDebugMode(bool enable);

8
mission/power/Pdu1Handler.cpp
View File

@ -5,8 +5,8 @@
#include "devices/powerSwitcherList.h"
Pdu1Handler::Pdu1Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
FailureIsolationBase *customFdir)
: GomspaceDeviceHandler(objectId, comIF, comCookie, cfg, customFdir),
FailureIsolationBase *customFdir, bool enableHkSets)
: GomspaceDeviceHandler(objectId, comIF, comCookie, cfg, customFdir, enableHkSets),
coreHk(this),
auxHk(this) {
initPduConfigTable();
@ -90,9 +90,9 @@ ReturnValue_t Pdu1Handler::initializeLocalDataPool(localpool::DataPool &localDat
LocalDataPoolManager &poolManager) {
initializePduPool(localDataPoolMap, poolManager, pcdu::INIT_SWITCHES_PDU1);
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), false, 10.0));
subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), enableHkSets, 20.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(auxHk.getSid(), false, 30.0));
subdp::RegularHkPeriodicParams(auxHk.getSid(), enableHkSets, 3000.0));
return returnvalue::OK;
}

2
mission/power/Pdu1Handler.h
View File

@ -22,7 +22,7 @@
class Pdu1Handler : public GomspaceDeviceHandler {
public:
Pdu1Handler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
FailureIsolationBase* customFdir);
FailureIsolationBase* customFdir, bool enableHkSets);
virtual ~Pdu1Handler();
virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,

8
mission/power/Pdu2Handler.cpp
View File

@ -5,8 +5,8 @@
#include "devices/powerSwitcherList.h"
Pdu2Handler::Pdu2Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
FailureIsolationBase *customFdir)
: GomspaceDeviceHandler(objectId, comIF, comCookie, cfg, customFdir),
FailureIsolationBase *customFdir, bool enableHkSets)
: GomspaceDeviceHandler(objectId, comIF, comCookie, cfg, customFdir, enableHkSets),
coreHk(this),
auxHk(this) {
initPduConfigTable();
@ -49,9 +49,9 @@ ReturnValue_t Pdu2Handler::initializeLocalDataPool(localpool::DataPool &localDat
LocalDataPoolManager &poolManager) {
initializePduPool(localDataPoolMap, poolManager, pcdu::INIT_SWITCHES_PDU2);
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), false, 10.0));
subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), enableHkSets, 10.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(auxHk.getSid(), false, 30.0));
subdp::RegularHkPeriodicParams(auxHk.getSid(), enableHkSets, 30.0));
return returnvalue::OK;
}

2
mission/power/Pdu2Handler.h
View File

@ -21,7 +21,7 @@
class Pdu2Handler : public GomspaceDeviceHandler {
public:
Pdu2Handler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
FailureIsolationBase* customFdir);
FailureIsolationBase* customFdir, bool enableHkSets);
virtual ~Pdu2Handler();
virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,

8
mission/tmtc/PersistentLogTmStoreTask.cpp
View File

@ -33,12 +33,8 @@ ReturnValue_t PersistentLogTmStoreTask::performOperation(uint8_t opCode) {
stateHandlingForStore(handleOneStore(stores.miscStore, miscStoreContext));
if (not someonesBusy) {
TaskFactory::delayTask(100);
} else /* and graceDelayDuringDumping.hasTimedOut()*/ {
if (someFileWasSwapped) {
TaskFactory::delayTask(20);
}
// TaskFactory::delayTask(2);
// graceDelayDuringDumping.resetTimer();
} else if (someFileWasSwapped) {
TaskFactory::delayTask(10);
}
}
}

10
mission/tmtc/PersistentSingleTmStoreTask.cpp
View File

@ -18,14 +18,8 @@ ReturnValue_t PersistentSingleTmStoreTask::performOperation(uint8_t opCode) {
bool busy = handleOneStore(storeWithQueue, dumpContext);
if (not busy) {
TaskFactory::delayTask(100);
} else {
if (fileHasSwapped) {
TaskFactory::delayTask(20);
}
// if (fileHasSwapped and graceDelayDuringDumping.hasTimedOut()) {
// TaskFactory::delayTask(2);
// graceDelayDuringDumping.resetTimer();
// }
} else if (fileHasSwapped) {
TaskFactory::delayTask(10);
}
}
}