Merge pull request 'Add RAD sensor dummy' (#745) from add-rad-sensor-dummy into main

Reviewed-on: #745
Reviewed-by: Marius Eggert <eggertm@irs.uni-stuttgart.de>

CHANGELOG.md

@@ -29,6 +29,7 @@ will consitute of a breaking change warranting a new major release:
   startup.
 - The STR handler can now handle the COM error reply and triggers an low severity event accordingly.
 - Add SCEX handler for EM.
+- Radiation sensor handler dummy for the EM.
 
 ## Fixed
 

bsp_q7s/objectFactory.cpp

@@ -249,7 +249,7 @@ ReturnValue_t ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF,
   createRadSensorChipSelect(gpioComIF);
 
   SpiCookie* spiCookieRadSensor =
-      new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, RAD_SENSOR::READ_SIZE,
+      new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, radSens::READ_SIZE,
                     spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
   spiCookieRadSensor->setMutexParams(MutexIF::TimeoutType::WAITING, spi::RAD_SENSOR_CS_TIMEOUT);
   auto radSensor = new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_MAIN_COM_IF,

dummies/CMakeLists.txt

@@ -19,6 +19,7 @@ target_sources(
          GpsCtrlDummy.cpp
          GyroAdisDummy.cpp
          GyroL3GD20Dummy.cpp
+         RadSensorDummy.cpp
          MgmLIS3MDLDummy.cpp
          PlPcduDummy.cpp
          ExecutableComIfDummy.cpp

dummies/RadSensorDummy.cpp

@@ -0,0 +1,55 @@
+#include "RadSensorDummy.h"
+
+RadSensorDummy::RadSensorDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
+    : DeviceHandlerBase(objectId, comif, comCookie), sensorSet(this) {}
+
+RadSensorDummy::~RadSensorDummy() {}
+
+void RadSensorDummy::doStartUp() { setMode(MODE_ON); }
+
+void RadSensorDummy::doShutDown() { setMode(MODE_OFF); }
+
+ReturnValue_t RadSensorDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
+
+ReturnValue_t RadSensorDummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
+
+ReturnValue_t RadSensorDummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+                                                      const uint8_t *commandData,
+                                                      size_t commandDataLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t RadSensorDummy::scanForReply(const uint8_t *start, size_t len,
+                                           DeviceCommandId_t *foundId, size_t *foundLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t RadSensorDummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
+  return returnvalue::OK;
+}
+
+void RadSensorDummy::fillCommandAndReplyMap() {}
+
+uint32_t RadSensorDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
+
+ReturnValue_t RadSensorDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                                      LocalDataPoolManager &poolManager) {
+  localDataPoolMap.emplace(radSens::TEMPERATURE_C, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(radSens::AIN0, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(radSens::AIN1, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(radSens::AIN4, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(radSens::AIN5, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(radSens::AIN6, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(radSens::AIN7, new PoolEntry<uint16_t>({0}));
+  poolManager.subscribeForRegularPeriodicPacket(
+      subdp::RegularHkPeriodicParams(sensorSet.getSid(), false, 20.0));
+  return returnvalue::OK;
+
+  return returnvalue::OK;
+}
+
+LocalPoolDataSetBase *RadSensorDummy::getDataSetHandle(sid_t sid) { return &sensorSet; }

dummies/RadSensorDummy.h

@@ -0,0 +1,35 @@
+#pragma once
+
+#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+
+#include "mission/payload/radSensorDefinitions.h"
+
+class RadSensorDummy : public DeviceHandlerBase {
+ public:
+  static const DeviceCommandId_t SIMPLE_COMMAND = 1;
+  static const DeviceCommandId_t PERIODIC_REPLY = 2;
+
+  static const uint8_t SIMPLE_COMMAND_DATA = 1;
+  static const uint8_t PERIODIC_REPLY_DATA = 2;
+
+  RadSensorDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
+  virtual ~RadSensorDummy();
+
+ protected:
+  radSens::RadSensorDataset sensorSet;
+
+  void doStartUp() override;
+  void doShutDown() override;
+  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
+                                        size_t commandDataLen) override;
+  ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
+                             size_t *foundLen) override;
+  ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
+  void fillCommandAndReplyMap() override;
+  uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                        LocalDataPoolManager &poolManager) override;
+  LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
+};

dummies/helperFactory.cpp

@@ -18,6 +18,7 @@
 #include <dummies/PlPcduDummy.h>
 #include <dummies/PlocMpsocDummy.h>
 #include <dummies/PlocSupervisorDummy.h>
+#include <dummies/RadSensorDummy.h>
 #include <dummies/RwDummy.h>
 #include <dummies/SaDeploymentDummy.h>
 #include <dummies/ScexDummy.h>
@@ -34,6 +35,7 @@
 
 #include "TemperatureSensorInserter.h"
 #include "dummies/Max31865Dummy.h"
+#include "dummies/SusDummy.h"
 #include "dummies/Tmp1075Dummy.h"
 #include "mission/genericFactory.h"
 #include "mission/system/acs/acsModeTree.h"
@@ -257,4 +259,9 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
         objects::PLOC_SUPERVISOR_HANDLER, objects::DUMMY_COM_IF, comCookieDummy, pwrSwitcher);
     plocSupervisorDummy->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
   }
+  if (cfg.addRadSensorDummy) {
+    auto* radSensorDummy =
+        new RadSensorDummy(objects::RAD_SENSOR, objects::DUMMY_COM_IF, comCookieDummy);
+    radSensorDummy->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
+  }
 }

dummies/helperFactory.h

@@ -29,6 +29,7 @@ struct DummyCfg {
   bool addPlocDummies = true;
   bool addStrDummy = true;
   bool addTmpDummies = true;
+  bool addRadSensorDummy = true;
   Tmp1075Cfg tmp1075Cfg;
   bool addCamSwitcherDummy = false;
   bool addScexDummy = false;

mission/payload/RadiationSensorHandler.cpp

@@ -53,12 +53,12 @@ void RadiationSensorHandler::doShutDown() {
 ReturnValue_t RadiationSensorHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
   switch (communicationStep) {
     case CommunicationStep::START_CONVERSION: {
-      *id = RAD_SENSOR::START_CONVERSION;
+      *id = radSens::START_CONVERSION;
       communicationStep = CommunicationStep::READ_CONVERSIONS;
       break;
     }
     case CommunicationStep::READ_CONVERSIONS: {
-      *id = RAD_SENSOR::READ_CONVERSIONS;
+      *id = radSens::READ_CONVERSIONS;
       communicationStep = CommunicationStep::START_CONVERSION;
       break;
     }
@@ -73,7 +73,7 @@ ReturnValue_t RadiationSensorHandler::buildNormalDeviceCommand(DeviceCommandId_t
 
 ReturnValue_t RadiationSensorHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
   if (internalState == InternalState::SETUP) {
-    *id = RAD_SENSOR::WRITE_SETUP;
+    *id = radSens::WRITE_SETUP;
   } else {
     return NOTHING_TO_SEND;
   }
@@ -84,14 +84,14 @@ ReturnValue_t RadiationSensorHandler::buildCommandFromCommand(DeviceCommandId_t
                                                               const uint8_t *commandData,
                                                               size_t commandDataLen) {
   switch (deviceCommand) {
-    case (RAD_SENSOR::WRITE_SETUP): {
-      cmdBuffer[0] = RAD_SENSOR::SETUP_DEFINITION;
+    case (radSens::WRITE_SETUP): {
+      cmdBuffer[0] = radSens::SETUP_DEFINITION;
       rawPacket = cmdBuffer;
       rawPacketLen = 1;
       internalState = InternalState::CONFIGURED;
       return returnvalue::OK;
     }
-    case (RAD_SENSOR::START_CONVERSION): {
+    case (radSens::START_CONVERSION): {
       ReturnValue_t result = gpioIF->pullHigh(gpioIds::ENABLE_RADFET);
       if (result != returnvalue::OK) {
 #if OBSW_VERBOSE_LEVEL >= 1
@@ -102,25 +102,25 @@ ReturnValue_t RadiationSensorHandler::buildCommandFromCommand(DeviceCommandId_t
 #endif
       }
       /* First the fifo will be reset here */
-      cmdBuffer[0] = RAD_SENSOR::RESET_DEFINITION;
-      cmdBuffer[1] = RAD_SENSOR::CONVERSION_DEFINITION;
+      cmdBuffer[0] = radSens::RESET_DEFINITION;
+      cmdBuffer[1] = radSens::CONVERSION_DEFINITION;
       rawPacket = cmdBuffer;
       rawPacketLen = 2;
       return returnvalue::OK;
     }
-    case (RAD_SENSOR::READ_CONVERSIONS): {
-      cmdBuffer[0] = RAD_SENSOR::DUMMY_BYTE;
-      std::memset(cmdBuffer, RAD_SENSOR::DUMMY_BYTE, RAD_SENSOR::READ_SIZE);
+    case (radSens::READ_CONVERSIONS): {
+      cmdBuffer[0] = radSens::DUMMY_BYTE;
+      std::memset(cmdBuffer, radSens::DUMMY_BYTE, radSens::READ_SIZE);
       rawPacket = cmdBuffer;
-      rawPacketLen = RAD_SENSOR::READ_SIZE;
+      rawPacketLen = radSens::READ_SIZE;
       return returnvalue::OK;
     }
-    case RAD_SENSOR::ENABLE_DEBUG_OUTPUT: {
+    case radSens::ENABLE_DEBUG_OUTPUT: {
       printPeriodicData = true;
       rawPacketLen = 0;
       return returnvalue::OK;
     }
-    case RAD_SENSOR::DISABLE_DEBUG_OUTPUT: {
+    case radSens::DISABLE_DEBUG_OUTPUT: {
       rawPacketLen = 0;
       printPeriodicData = false;
       return returnvalue::OK;
@@ -132,12 +132,11 @@ ReturnValue_t RadiationSensorHandler::buildCommandFromCommand(DeviceCommandId_t
 }
 
 void RadiationSensorHandler::fillCommandAndReplyMap() {
-  this->insertInCommandMap(RAD_SENSOR::WRITE_SETUP);
-  this->insertInCommandMap(RAD_SENSOR::START_CONVERSION);
-  this->insertInCommandMap(RAD_SENSOR::ENABLE_DEBUG_OUTPUT);
-  this->insertInCommandMap(RAD_SENSOR::DISABLE_DEBUG_OUTPUT);
-  this->insertInCommandAndReplyMap(RAD_SENSOR::READ_CONVERSIONS, 1, &dataset,
-                                   RAD_SENSOR::READ_SIZE);
+  this->insertInCommandMap(radSens::WRITE_SETUP);
+  this->insertInCommandMap(radSens::START_CONVERSION);
+  this->insertInCommandMap(radSens::ENABLE_DEBUG_OUTPUT);
+  this->insertInCommandMap(radSens::DISABLE_DEBUG_OUTPUT);
+  this->insertInCommandAndReplyMap(radSens::READ_CONVERSIONS, 1, &dataset, radSens::READ_SIZE);
 }
 
 ReturnValue_t RadiationSensorHandler::scanForReply(const uint8_t *start, size_t remainingSize,
@@ -145,11 +144,11 @@ ReturnValue_t RadiationSensorHandler::scanForReply(const uint8_t *start, size_t
   *foundId = this->getPendingCommand();
 
   switch (*foundId) {
-    case RAD_SENSOR::START_CONVERSION:
-    case RAD_SENSOR::WRITE_SETUP:
+    case radSens::START_CONVERSION:
+    case radSens::WRITE_SETUP:
       *foundLen = remainingSize;
       return IGNORE_REPLY_DATA;
-    case RAD_SENSOR::READ_CONVERSIONS: {
+    case radSens::READ_CONVERSIONS: {
       ReturnValue_t result = gpioIF->pullLow(gpioIds::ENABLE_RADFET);
       if (result != returnvalue::OK) {
 #if OBSW_VERBOSE_LEVEL >= 1
@@ -160,8 +159,8 @@ ReturnValue_t RadiationSensorHandler::scanForReply(const uint8_t *start, size_t
       }
       break;
     }
-    case RAD_SENSOR::ENABLE_DEBUG_OUTPUT:
-    case RAD_SENSOR::DISABLE_DEBUG_OUTPUT:
+    case radSens::ENABLE_DEBUG_OUTPUT:
+    case radSens::DISABLE_DEBUG_OUTPUT:
       sif::info << "RadiationSensorHandler::scanForReply: " << remainingSize << std::endl;
       break;
     default:
@@ -176,7 +175,7 @@ ReturnValue_t RadiationSensorHandler::scanForReply(const uint8_t *start, size_t
 ReturnValue_t RadiationSensorHandler::interpretDeviceReply(DeviceCommandId_t id,
                                                            const uint8_t *packet) {
   switch (id) {
-    case RAD_SENSOR::READ_CONVERSIONS: {
+    case radSens::READ_CONVERSIONS: {
       uint8_t offset = 0;
       PoolReadGuard readSet(&dataset);
       uint16_t tempRaw = ((packet[offset] & 0x0f) << 8) | packet[offset + 1];
@@ -220,13 +219,13 @@ uint32_t RadiationSensorHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t mo
 
 ReturnValue_t RadiationSensorHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                               LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(RAD_SENSOR::TEMPERATURE_C, new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(RAD_SENSOR::AIN0, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(RAD_SENSOR::AIN1, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(RAD_SENSOR::AIN4, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(RAD_SENSOR::AIN5, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(RAD_SENSOR::AIN6, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(RAD_SENSOR::AIN7, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(radSens::TEMPERATURE_C, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(radSens::AIN0, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(radSens::AIN1, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(radSens::AIN4, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(radSens::AIN5, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(radSens::AIN6, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(radSens::AIN7, new PoolEntry<uint16_t>({0}));
   poolManager.subscribeForRegularPeriodicPacket(
       subdp::RegularHkPeriodicParams(dataset.getSid(), false, 20.0));
   return returnvalue::OK;

mission/payload/RadiationSensorHandler.h

@@ -43,8 +43,8 @@ class RadiationSensorHandler : public DeviceHandlerBase {
   enum class InternalState { OFF, POWER_SWITCHING, SETUP, CONFIGURED };
 
   bool printPeriodicData = false;
-  RAD_SENSOR::RadSensorDataset dataset;
-  static const uint8_t MAX_CMD_LEN = RAD_SENSOR::READ_SIZE;
+  radSens::RadSensorDataset dataset;
+  static const uint8_t MAX_CMD_LEN = radSens::READ_SIZE;
   GpioIF *gpioIF = nullptr;
   Stack5VHandler &stackHandler;
 

mission/payload/radSensorDefinitions.h

@@ -1,7 +1,7 @@
 #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_RADSENSOR_H_
 #define MISSION_DEVICES_DEVICEDEFINITIONS_RADSENSOR_H_
 
-namespace RAD_SENSOR {
+namespace radSens {
 
 static const DeviceCommandId_t NONE = 0x0;  // Set when no command is pending
 
@@ -78,6 +78,6 @@ class RadSensorDataset : public StaticLocalDataSet<DATASET_ENTRIES> {
   lp_var_t<uint16_t> ain6 = lp_var_t<uint16_t>(sid.objectId, AIN6, this);
   lp_var_t<uint16_t> ain7 = lp_var_t<uint16_t>(sid.objectId, AIN7, this);
 };
-}  // namespace RAD_SENSOR
+}  // namespace radSens
 
 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_RADSENSOR_H_ */

mission/pollingSeqTables.cpp

@@ -591,7 +591,6 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
   thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * config::spiSched::SCHED_BLOCK_9_PERIOD,
                         DeviceHandlerIF::GET_READ);
 
-#if OBSW_ADD_RAD_SENSORS == 1
   /* Radiation sensor */
   thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD,
                         DeviceHandlerIF::PERFORM_OPERATION);
@@ -603,6 +602,5 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
                         DeviceHandlerIF::SEND_READ);
   thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD,
                         DeviceHandlerIF::GET_READ);
-#endif
   return returnvalue::OK;
 }