eive/eive-obsw
eive/eive-obsw
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Merge remote-tracking branch 'origin/develop' into refactoring_bugfixes_power_switching

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Robin Müller 2023-03-16 17:44:46 +01:00
commit 2f0aed97dc
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7 changed files with 107 additions and 16 deletions
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12
CHANGELOG.md
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@ -25,6 +25,8 @@ will consitute of a breaking change warranting a new major release:
## Changed
- Telemetry relevant datasets for the RWs are now set invalid and partially reset on shotdown.
- I2C PST now has a polling frequency of 0.4 seconds instead of 0.2 seconds.
- GS PST now has a polling frequency of 0.5 seconds instead of 1 second.
- Bump FSFW: merged upstream.
# [v1.37.2] 2023-03-14
@ -41,9 +43,12 @@ eive-tmtc: v2.19.1
## Added
- Added `EXECUTE_SHELL_CMD` action command for `CoreController` to execute arbitrary Linux commands.
- Added some missing PLOC commands.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/462
- Add `PcduHandlerDummy` component.
- Added parameter for timeout until `MEKF_INVALID_MODE_VIOLATION` event is triggered.
- EIVE system: Add boot mode which is also the initial mode. The fallback mode of the boot mode
will be the SAFE mode. The boot mode can also be used to switch as many devices as possible OFF.
## Fixed
- Pointing control of the `AcsController` was still expecting submodes instead of modes.
@ -64,6 +69,11 @@ eive-tmtc: v2.19.1
- Set `OBSW_ADD_TCS_CTRL` to 1. Always add TCS controller now for both EM and FM.
- generators module: Bump `fsfwgen` dependency to v0.3.1. The returnvalue CSV files are now sorted.
- generators module: Always generate subsystem ID CSV files now.
- The COM subsystem is now not commanded by the EIVE system anymore. Instead,
a separate RX_ONLY mode command will be sent at OBSW boot. After that,
commanding is done autonomously by the COM subsystem internally or by the operator. This prevents
the transmitter from going off during fallbacks to the SAFE mode, which might not always be
desired.
## Changed

4
bsp_q7s/core/scheduling.cpp
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@ -486,7 +486,7 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
#if OBSW_ADD_I2C_TEST_CODE == 0
FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
"I2C_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
"I2C_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.4, missedDeadlineFunc);
result = pst::pstI2c(i2cPst);
if (result != returnvalue::OK) {
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@ -500,7 +500,7 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
#endif
FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
"GS_PST_TASK", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
"GS_PST_TASK", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
result = pst::pstGompaceCan(gomSpacePstTask);
if (result != returnvalue::OK) {
if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {

21
bsp_q7s/obsw.cpp
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@ -15,6 +15,7 @@
#include "fsfw/tasks/TaskFactory.h"
#include "fsfw/version.h"
#include "mission/acsDefs.h"
#include "mission/comDefs.h"
#include "mission/system/tree/system.h"
#include "q7sConfig.h"
#include "watchdog/definitions.h"
@ -68,6 +69,7 @@ int obsw::obsw(int argc, char* argv[]) {
#if OBSW_COMMAND_SAFE_MODE_AT_STARTUP == 1
// This ensures that the PCDU switches were updated.
TaskFactory::delayTask(1000);
commandComSubsystemRxOnly();
commandEiveSystemToSafe();
#else
announceAllModes();
@ -118,7 +120,22 @@ void obsw::commandEiveSystemToSafe() {
ReturnValue_t result =
MessageQueueSenderIF::sendMessage(sysQueueId, &msg, MessageQueueIF::NO_QUEUE, false);
if (result != returnvalue::OK) {
sif::error << "Sending safe mode command to EIVE system failed" << std::endl;
sif::error << "obsw: Sending safe mode command to EIVE system failed" << std::endl;
}
}
void obsw::commandComSubsystemRxOnly() {
auto* comSs = ObjectManager::instance()->get<HasModesIF>(objects::COM_SUBSYSTEM);
if (comSs == nullptr) {
sif::error << "obsw: Could not retrieve COM subsystem object" << std::endl;
return;
}
CommandMessage msg;
ModeMessage::setCmdModeMessage(msg, com::RX_ONLY, 0);
ReturnValue_t result = MessageQueueSenderIF::sendMessage(comSs->getCommandQueue(), &msg,
MessageQueueIF::NO_QUEUE, false);
if (result != returnvalue::OK) {
sif::error << "obsw: Sending RX_ONLY mode command to COM subsystem failed" << std::endl;
}
}
@ -129,6 +146,6 @@ void obsw::announceAllModes() {
ReturnValue_t result =
MessageQueueSenderIF::sendMessage(sysQueueId, &msg, MessageQueueIF::NO_QUEUE, false);
if (result != returnvalue::OK) {
sif::error << "Sending safe mode command to EIVE system failed" << std::endl;
sif::error << "obsw: Sending safe mode command to EIVE system failed" << std::endl;
}
}

1
bsp_q7s/obsw.h
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@ -7,6 +7,7 @@ int obsw(int argc, char* argv[]);
void bootDelayHandling();
void commandEiveSystemToSafe();
void commandComSubsystemRxOnly();
void announceAllModes();
}; // namespace obsw

11
mission/sysDefs.h Normal file
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@ -0,0 +1,11 @@
#ifndef MISSION_SYSDEFS_H_
#define MISSION_SYSDEFS_H_
#include "acsDefs.h"
namespace satsystem {
enum Mode : Mode_t { BOOT = 5, SAFE = acs::AcsMode::SAFE, PTG_IDLE = acs::AcsMode::PTG_IDLE };
}
#endif /* MISSION_SYSDEFS_H_ */

72
mission/system/tree/system.cpp
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@ -3,6 +3,7 @@
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/subsystem/Subsystem.h>
#include <mission/acsDefs.h>
#include <mission/sysDefs.h>
#include "acsModeTree.h"
#include "comModeTree.h"
@ -16,6 +17,7 @@ namespace {
// Alias for checker function
const auto check = subsystem::checkInsert;
void buildBootSequence(Subsystem& ss, ModeListEntry& eh);
void buildSafeSequence(Subsystem& ss, ModeListEntry& eh);
void buildIdleSequence(Subsystem& ss, ModeListEntry& eh);
} // namespace
@ -33,29 +35,36 @@ void satsystem::init() {
auto& comSubsystem = com::init();
comSubsystem.connectModeTreeParent(EIVE_SYSTEM);
ModeListEntry entry;
buildBootSequence(EIVE_SYSTEM, entry);
buildSafeSequence(EIVE_SYSTEM, entry);
buildIdleSequence(EIVE_SYSTEM, entry);
EIVE_SYSTEM.setInitialMode(HasModesIF::MODE_OFF, 0);
EIVE_SYSTEM.setInitialMode(satsystem::Mode::BOOT, 0);
}
EiveSystem satsystem::EIVE_SYSTEM = EiveSystem(objects::EIVE_SYSTEM, 12, 24);
auto EIVE_SEQUENCE_SAFE = std::make_pair(acs::AcsMode::SAFE, FixedArrayList<ModeListEntry, 5>());
auto EIVE_SEQUENCE_BOOT = std::make_pair(satsystem::Mode::BOOT, FixedArrayList<ModeListEntry, 5>());
auto EIVE_TABLE_BOOT_TGT =
std::make_pair((satsystem::Mode::BOOT << 24) | 1, FixedArrayList<ModeListEntry, 5>());
auto EIVE_TABLE_BOOT_TRANS_0 =
std::make_pair((satsystem::Mode::BOOT << 24) | 2, FixedArrayList<ModeListEntry, 5>());
auto EIVE_SEQUENCE_SAFE = std::make_pair(satsystem::Mode::SAFE, FixedArrayList<ModeListEntry, 5>());
auto EIVE_TABLE_SAFE_TGT =
std::make_pair((acs::AcsMode::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 5>());
std::make_pair((satsystem::Mode::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 5>());
auto EIVE_TABLE_SAFE_TRANS_0 =
std::make_pair((acs::AcsMode::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
std::make_pair((satsystem::Mode::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
auto EIVE_TABLE_SAFE_TRANS_1 =
std::make_pair((acs::AcsMode::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 5>());
std::make_pair((satsystem::Mode::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 5>());
auto EIVE_SEQUENCE_IDLE =
std::make_pair(acs::AcsMode::PTG_IDLE, FixedArrayList<ModeListEntry, 5>());
std::make_pair(satsystem::Mode::PTG_IDLE, FixedArrayList<ModeListEntry, 5>());
auto EIVE_TABLE_IDLE_TGT =
std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 1, FixedArrayList<ModeListEntry, 5>());
std::make_pair((satsystem::Mode::PTG_IDLE << 24) | 1, FixedArrayList<ModeListEntry, 5>());
auto EIVE_TABLE_IDLE_TRANS_0 =
std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
std::make_pair((satsystem::Mode::PTG_IDLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
auto EIVE_TABLE_IDLE_TRANS_1 =
std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 3, FixedArrayList<ModeListEntry, 5>());
std::make_pair((satsystem::Mode::PTG_IDLE << 24) | 3, FixedArrayList<ModeListEntry, 5>());
namespace {
@ -89,7 +98,6 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
// Build SAFE transition 0.
iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_SAFE_TRANS_0.second);
iht(objects::COM_SUBSYSTEM, com::RX_ONLY, 0, EIVE_TABLE_SAFE_TRANS_0.second);
iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_SAFE_TRANS_0.second);
iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TRANS_0.second, true);
check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TRANS_0.first, &EIVE_TABLE_SAFE_TRANS_0.second)),
@ -140,4 +148,48 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
ctxc);
}
void buildBootSequence(Subsystem& ss, ModeListEntry& eh) {
std::string context = "satsystem::buildBootSequence";
auto ctxc = context.c_str();
// Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table,
bool allowAllSubmodes = false) {
eh.setObject(obj);
eh.setMode(mode);
eh.setSubmode(submode);
if (allowAllSubmodes) {
eh.allowAllSubmodes();
}
check(table.insert(eh), ctxc);
};
// Insert Helper Sequence
auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
bool checkSuccess) {
eh.setTableId(tableId);
eh.setWaitSeconds(waitSeconds);
eh.setCheckSuccess(checkSuccess);
check(sequence.insert(eh), ctxc);
};
iht(objects::ACS_SUBSYSTEM, acs::AcsMode::OFF, 0, EIVE_TABLE_BOOT_TGT.second, true);
iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TGT.second);
iht(objects::COM_SUBSYSTEM, com::RX_ONLY, 0, EIVE_TABLE_BOOT_TGT.second);
iht(objects::TCS_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TGT.second);
check(ss.addTable(TableEntry(EIVE_TABLE_BOOT_TGT.first, &EIVE_TABLE_BOOT_TGT.second)), ctxc);
// Build SAFE transition 0.
iht(objects::TCS_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TRANS_0.second);
iht(objects::COM_SUBSYSTEM, com::RX_ONLY, 0, EIVE_TABLE_BOOT_TRANS_0.second);
iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TRANS_0.second);
iht(objects::ACS_SUBSYSTEM, acs::AcsMode::OFF, 0, EIVE_TABLE_BOOT_TRANS_0.second, true);
check(ss.addTable(TableEntry(EIVE_TABLE_BOOT_TRANS_0.first, &EIVE_TABLE_BOOT_TRANS_0.second)),
ctxc);
// Build Safe sequence
ihs(EIVE_SEQUENCE_BOOT.second, EIVE_TABLE_BOOT_TGT.first, 0, false);
ihs(EIVE_SEQUENCE_BOOT.second, EIVE_TABLE_BOOT_TRANS_0.first, 0, false);
check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_BOOT.first, &EIVE_SEQUENCE_BOOT.second,
EIVE_SEQUENCE_SAFE.first)),
ctxc);
}
} // namespace

2
tmtc

@ -1 +1 @@
Subproject commit 4f48c25bf757b6c056072049fe5965da890b4f5b
Subproject commit a93381494ac8f908a327f4c9bf4622399d5754a3