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com subsystem complete
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This commit is contained in:
Jakob Meier
2023-02-22 13:02:40 +01:00
parent fd1c090141
commit 3137ebb86e
5 changed files with 89 additions and 57 deletions
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123
mission/system/objects/ComSubsystem.cpp
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@ -1,5 +1,3 @@
#include <utility>
#include "ComSubsystem.h"
#include <fsfw/events/EventManagerIF.h>
@ -7,14 +5,11 @@
#include <fsfw/ipc/QueueFactory.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <linux/ipcore/PdecHandler.h>
#include <mission/comDefs.h>
#include <mission/config/comCfg.h>
extern std::pair<uint8_t, FixedArrayList<ModeListEntry, 3>> COM_SEQUENCE_RX_ONLY;
//extern std::pair<uint32_t, FixedArrayList<ModeListEntry, 3>> COM_TABLE_RX_ONLY_TGT;
extern std::pair<uint8_t, FixedArrayList<ModeListEntry, 3>> COM_SEQUENCE_RX_AND_TX_DEFAULT_RATE;
extern std::pair<uint32_t, FixedArrayList<ModeListEntry, 3>> COM_TABLE_RX_AND_TX_DEFAULT_RATE_TGT;
extern std::pair<uint8_t, FixedArrayList<ModeListEntry, 3>> COM_SEQUENCE_RX_AND_TX_LOW_RATE;
extern std::pair<uint8_t, FixedArrayList<ModeListEntry, 3>> COM_SEQUENCE_RX_AND_TX_HIGH_RATE;
#include <utility>
ComSubsystem::ComSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
uint32_t maxNumberOfTables, uint32_t transmitterTimeout)
@ -28,8 +23,13 @@ ComSubsystem::ComSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequence
void ComSubsystem::performChildOperation() {
readEventQueue();
// Execute default rate sequence after transition has been completed
if (rememberBitLock and not isInTransition) {
startRxAndTxLowRateSeq();
rememberBitLock = false;
}
if (countdownActive) {
checkTransmitterCountdown();
checkTransmitterCountdown();
}
Subsystem::performChildOperation();
}
@ -51,17 +51,17 @@ ReturnValue_t ComSubsystem::getParameter(uint8_t domainId, uint8_t uniqueIdentif
parameterWrapper->set(datarateCfg);
com::setCurrentDatarate(static_cast<com::Datarate>(newVal));
return returnvalue::OK;
}
else if ((domainId == 0) and (uniqueIdentifier == static_cast<uint8_t>(com::ParameterId::TRANSMITTER_TIMEOUT))) {
uint8_t newVal = 0;
ReturnValue_t result = newValues->getElement(&newVal);
if (result != returnvalue::OK) {
return result;
}
parameterWrapper->set(transmitterTimeout);
transmitterTimeout = newVal;
transmitterCountdown.setTimeout(transmitterTimeout);
return returnvalue::OK;
} else if ((domainId == 0) and
(uniqueIdentifier == static_cast<uint8_t>(com::ParameterId::TRANSMITTER_TIMEOUT))) {
uint32_t newVal = 0;
ReturnValue_t result = newValues->getElement(&newVal);
if (result != returnvalue::OK) {
return result;
}
parameterWrapper->set(transmitterTimeout);
transmitterTimeout = newVal;
transmitterCountdown.setTimeout(transmitterTimeout);
return returnvalue::OK;
}
return returnvalue::OK;
}
@ -79,46 +79,48 @@ ReturnValue_t ComSubsystem::initialize() {
if (result != returnvalue::OK) {
return result;
}
EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
if (manager == nullptr) {
EventManagerIF *manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
if (manager == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "ComSubsystem::initialize: Invalid event manager" << std::endl;
sif::error << "ComSubsystem::initialize: Invalid event manager" << std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
result = manager->registerListener(eventQueue->getId());
if (result != returnvalue::OK) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
result = manager->registerListener(eventQueue->getId());
if (result != returnvalue::OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "ComSubsystem::initialize: Failed to register Com Subsystem as event "
"listener" << std::endl;
sif::warning << "ComSubsystem::initialize: Failed to register Com Subsystem as event "
"listener"
<< std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
result = manager->subscribeToEventRange(eventQueue->getId(),
event::getEventId(PdecHandler::CARRIER_LOCK),
event::getEventId(PdecHandler::BIT_LOCK_PDEC));
if (result != returnvalue::OK) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
result = manager->subscribeToEventRange(eventQueue->getId(),
event::getEventId(PdecHandler::CARRIER_LOCK),
event::getEventId(PdecHandler::BIT_LOCK_PDEC));
if (result != returnvalue::OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "ComSubsystem::initialize: Failed to subscribe to events from PDEC "
"handler"
<< std::endl;
sif::error << "ComSubsystem::initialize: Failed to subscribe to events from PDEC "
"handler"
<< std::endl;
#endif
return result;
}
return result;
}
return Subsystem::initialize();
}
void ComSubsystem::startTransition(Mode_t mode, Submode_t submode) {
// Depending on the submode the transmitter timeout is enabled or
// disabled here
if (mode == COM_SEQUENCE_RX_ONLY.first) {
if (mode == com::Submode::RX_ONLY) {
transmitterCountdown.timeOut();
countdownActive = false;
} else if ((mode == COM_SEQUENCE_RX_AND_TX_DEFAULT_RATE.first) ||
(mode == COM_SEQUENCE_RX_AND_TX_LOW_RATE.first) ||
(mode == COM_SEQUENCE_RX_AND_TX_HIGH_RATE.first)) {
transmitterCountdown.resetTimer();
countdownActive = true;
} else if (isTxMode(mode)) {
// Only start transmitter countdown if transmitter is not already on
if (not isTxMode(this->mode)) {
transmitterCountdown.resetTimer();
countdownActive = true;
}
}
Subsystem::startTransition(mode, submode);
}
@ -156,23 +158,42 @@ void ComSubsystem::handleEventMessage(EventMessage *eventMessage) {
}
}
void ComSubsystem::handleBitLockEvent() { startRxAndTxDefaultSeq(); }
void ComSubsystem::handleBitLockEvent() {
if (isTxMode(mode)) {
// Tx already on
return;
}
if (isInTransition) {
rememberBitLock = true;
return;
}
startRxAndTxLowRateSeq();
}
void ComSubsystem::handleCarrierLockEvent() {
if (!enableTxWhenCarrierLock) {
return;
}
startRxAndTxDefaultSeq();
startRxAndTxLowRateSeq();
}
void ComSubsystem::startRxAndTxDefaultSeq() {
void ComSubsystem::startRxAndTxLowRateSeq() {
// Turns transmitter on
startTransition(COM_SEQUENCE_RX_AND_TX_DEFAULT_RATE.first, SUBMODE_NONE);
startTransition(com::Submode::RX_AND_TX_LOW_DATARATE, SUBMODE_NONE);
}
void ComSubsystem::checkTransmitterCountdown() {
if (transmitterCountdown.hasTimedOut()) {
startTransition(COM_SEQUENCE_RX_ONLY.first, SUBMODE_NONE);
startTransition(com::Submode::RX_ONLY, SUBMODE_NONE);
countdownActive = false;
}
}
bool ComSubsystem::isTxMode(Mode_t mode) {
if ((mode == com::Submode::RX_AND_TX_DEFAULT_DATARATE) ||
(mode == com::Submode::RX_AND_TX_LOW_DATARATE) ||
(mode == com::Submode::RX_AND_TX_HIGH_DATARATE)) {
return true;
}
return false;
}