heater events for TCS ctrl

mission/controller/ThermalController.cpp

@@ -1008,7 +1008,7 @@ void ThermalController::ctrlAcsBoard() {
   heater::Switch redSwitchNr = heater::HEATER_3_OBC_BRD;
 
   // A side
-  thermalComponent = ACS_BOARD;
+  currThermalComponent = ACS_BOARD;
   sensors[0].first = deviceTemperatures.gyro0SideA.isValid();
   sensors[0].second = deviceTemperatures.gyro0SideA.value;
   sensors[1].first = deviceTemperatures.gyro2SideB.isValid();
@@ -1052,7 +1052,7 @@ void ThermalController::ctrlAcsBoard() {
       if (chooseHeater(switchNr, redSwitchNr)) {
         if (heaterHandler.getSwitchState(switchNr)) {
           if (submode != SUBMODE_NO_HEATER_CTRL) {
-            heaterSwitchHelper(switchNr, HeaterHandler::SwitchState::OFF, thermalComponent);
+            heaterSwitchHelper(switchNr, HeaterHandler::SwitchState::OFF, currThermalComponent);
           }
         }
       }
@@ -1062,7 +1062,7 @@ void ThermalController::ctrlAcsBoard() {
 }
 
 void ThermalController::ctrlMgt() {
-  thermalComponent = MGT;
+  currThermalComponent = MGT;
   sensors[0].first = sensorTemperatures.mgt.isValid();
   sensors[0].second = sensorTemperatures.mgt.value;
   sensors[1].first = deviceTemperatures.mgt.isValid();
@@ -1087,7 +1087,7 @@ void ThermalController::ctrlRw() {
   std::array<uint32_t, 4> sensorTemps{};
 
   // RW1
-  thermalComponent = RW;
+  currThermalComponent = RW;
   sensors[0].first = sensorTemperatures.rw1.isValid();
   sensors[0].second = sensorTemperatures.rw1.value;
   sensors[1].first = deviceTemperatures.rw1.isValid();
@@ -1108,7 +1108,7 @@ void ThermalController::ctrlRw() {
   }
 
   // RW2
-  thermalComponent = RW;
+  currThermalComponent = RW;
   sensors[0].first = deviceTemperatures.rw2.isValid();
   sensors[0].second = deviceTemperatures.rw2.value;
   sensors[1].first = deviceTemperatures.rw3.isValid();
@@ -1130,7 +1130,7 @@ void ThermalController::ctrlRw() {
     }
   }
   // RW3
-  thermalComponent = RW;
+  currThermalComponent = RW;
   sensors[0].first = deviceTemperatures.rw3.isValid();
   sensors[0].second = deviceTemperatures.rw3.value;
   sensors[1].first = deviceTemperatures.rw4.isValid();
@@ -1153,7 +1153,7 @@ void ThermalController::ctrlRw() {
   }
 
   // RW4
-  thermalComponent = RW;
+  currThermalComponent = RW;
   sensors[0].first = deviceTemperatures.rw4.isValid();
   sensors[0].second = deviceTemperatures.rw4.value;
   sensors[1].first = deviceTemperatures.rw1.isValid();
@@ -1187,7 +1187,7 @@ void ThermalController::ctrlRw() {
 }
 
 void ThermalController::ctrlStr() {
-  thermalComponent = STR;
+  currThermalComponent = STR;
   sensors[0].first = sensorTemperatures.startracker.isValid();
   sensors[0].second = sensorTemperatures.startracker.value;
   sensors[1].first = deviceTemperatures.startracker.isValid();
@@ -1201,7 +1201,7 @@ void ThermalController::ctrlStr() {
 }
 
 void ThermalController::ctrlIfBoard() {
-  thermalComponent = IF_BOARD;
+  currThermalComponent = IF_BOARD;
   sensors[0].first = sensorTemperatures.tmp1075IfBrd.isValid();
   sensors[0].second = sensorTemperatures.tmp1075IfBrd.value;
   sensors[1].first = sensorTemperatures.mgt.isValid();
@@ -1215,7 +1215,7 @@ void ThermalController::ctrlIfBoard() {
 }
 
 void ThermalController::ctrlTcsBoard() {
-  thermalComponent = TCS_BOARD;
+  currThermalComponent = TCS_BOARD;
   sensors[0].first = sensorTemperatures.tcsBoard.isValid();
   sensors[0].second = sensorTemperatures.tcsBoard.value;
   sensors[1].first = sensorTemperatures.tmp1075Tcs0.isValid();
@@ -1229,7 +1229,7 @@ void ThermalController::ctrlTcsBoard() {
 }
 
 void ThermalController::ctrlObc() {
-  thermalComponent = OBC;
+  currThermalComponent = OBC;
   sensors[0].first = deviceTemperatures.q7s.isValid();
   sensors[0].second = deviceTemperatures.q7s.value;
   sensors[1].first = sensorTemperatures.tmp1075Tcs1.isValid();
@@ -1248,7 +1248,7 @@ void ThermalController::ctrlObc() {
 }
 
 void ThermalController::ctrlObcIfBoard() {
-  thermalComponent = OBCIF_BOARD;
+  currThermalComponent = OBCIF_BOARD;
   sensors[0].first = deviceTemperatures.q7s.isValid();
   sensors[0].second = deviceTemperatures.q7s.value;
   sensors[1].first = sensorTemperatures.tmp1075Tcs0.isValid();
@@ -1267,7 +1267,7 @@ void ThermalController::ctrlObcIfBoard() {
 }
 
 void ThermalController::ctrlSBandTransceiver() {
-  thermalComponent = SBAND_TRANSCEIVER;
+  currThermalComponent = SBAND_TRANSCEIVER;
   sensors[0].first = deviceTemperatures.syrlinksPowerAmplifier.isValid();
   sensors[0].second = deviceTemperatures.syrlinksPowerAmplifier.value;
   sensors[1].first = deviceTemperatures.syrlinksBasebandBoard.isValid();
@@ -1285,7 +1285,7 @@ void ThermalController::ctrlSBandTransceiver() {
   }
 }
 void ThermalController::ctrlPcduP60Board() {
-  thermalComponent = PCDUP60_BOARD;
+  currThermalComponent = PCDUP60_BOARD;
   sensors[0].first = deviceTemperatures.temp1P60dock.isValid();
   sensors[0].second = deviceTemperatures.temp1P60dock.value;
   sensors[1].first = deviceTemperatures.temp2P60dock.isValid();
@@ -1302,7 +1302,7 @@ void ThermalController::ctrlPcduP60Board() {
 }
 
 void ThermalController::ctrlPcduAcu() {
-  thermalComponent = PCDUACU;
+  currThermalComponent = PCDUACU;
   heater::Switch switchNr = heater::HEATER_1_PCDU_PDU;
   heater::Switch redSwitchNr = heater::HEATER_2_ACS_BRD;
 
@@ -1318,7 +1318,7 @@ void ThermalController::ctrlPcduAcu() {
     } else if (sensorTemperatures.acu.isValid()) {
       sensorTemp = sensorTemperatures.acu.value;
     } else {
-      triggerEvent(tcsCtrl::NO_VALID_SENSOR_TEMPERATURE, thermalComponent);
+      triggerEvent(tcsCtrl::NO_VALID_SENSOR_TEMPERATURE, currThermalComponent);
       sensorTempAvailable = false;
     }
     if (sensorTempAvailable) {
@@ -1335,7 +1335,7 @@ void ThermalController::ctrlPcduAcu() {
 }
 
 void ThermalController::ctrlPcduPdu() {
-  thermalComponent = PCDUPDU;
+  currThermalComponent = PCDUPDU;
   sensors[0].first = deviceTemperatures.pdu1.isValid();
   sensors[0].second = deviceTemperatures.pdu1.value;
   sensors[1].first = deviceTemperatures.pdu2.isValid();
@@ -1354,7 +1354,7 @@ void ThermalController::ctrlPcduPdu() {
 }
 
 void ThermalController::ctrlPlPcduBoard() {
-  thermalComponent = PLPCDU_BOARD;
+  currThermalComponent = PLPCDU_BOARD;
   sensors[0].first = sensorTemperatures.tmp1075PlPcdu0.isValid();
   sensors[0].second = sensorTemperatures.tmp1075PlPcdu0.value;
   sensors[1].first = sensorTemperatures.tmp1075PlPcdu1.isValid();
@@ -1370,7 +1370,7 @@ void ThermalController::ctrlPlPcduBoard() {
 }
 
 void ThermalController::ctrlPlocMissionBoard() {
-  thermalComponent = PLOCMISSION_BOARD;
+  currThermalComponent = PLOCMISSION_BOARD;
   sensors[0].first = sensorTemperatures.plocHeatspreader.isValid();
   sensors[0].second = sensorTemperatures.plocHeatspreader.value;
   sensors[1].first = sensorTemperatures.plocMissionboard.isValid();
@@ -1385,7 +1385,7 @@ void ThermalController::ctrlPlocMissionBoard() {
 }
 
 void ThermalController::ctrlPlocProcessingBoard() {
-  thermalComponent = PLOCPROCESSING_BOARD;
+  currThermalComponent = PLOCPROCESSING_BOARD;
   sensors[0].first = sensorTemperatures.plocMissionboard.isValid();
   sensors[0].second = sensorTemperatures.plocMissionboard.value;
   sensors[1].first = sensorTemperatures.plocHeatspreader.isValid();
@@ -1400,7 +1400,7 @@ void ThermalController::ctrlPlocProcessingBoard() {
 }
 
 void ThermalController::ctrlDac() {
-  thermalComponent = DAC;
+  currThermalComponent = DAC;
   sensors[0].first = sensorTemperatures.dacHeatspreader.isValid();
   sensors[0].second = sensorTemperatures.dacHeatspreader.value;
   sensors[1].first = sensorTemperatures.plocMissionboard.isValid();
@@ -1414,7 +1414,7 @@ void ThermalController::ctrlDac() {
 }
 
 void ThermalController::ctrlCameraBody() {
-  thermalComponent = CAMERA;
+  currThermalComponent = CAMERA;
   sensors[0].first = sensorTemperatures.payload4kCamera.isValid();
   sensors[0].second = sensorTemperatures.payload4kCamera.value;
   sensors[1].first = sensorTemperatures.dro.isValid();
@@ -1440,7 +1440,7 @@ void ThermalController::ctrlCameraBody() {
 }
 
 void ThermalController::ctrlDro() {
-  thermalComponent = DRO;
+  currThermalComponent = DRO;
   sensors[0].first = sensorTemperatures.dro.isValid();
   sensors[0].second = sensorTemperatures.dro.value;
   sensors[1].first = sensorTemperatures.payload4kCamera.isValid();
@@ -1454,7 +1454,7 @@ void ThermalController::ctrlDro() {
 }
 
 void ThermalController::ctrlX8() {
-  thermalComponent = X8;
+  currThermalComponent = X8;
   sensors[0].first = sensorTemperatures.x8.isValid();
   sensors[0].second = sensorTemperatures.x8.value;
   sensors[1].first = sensorTemperatures.hpa.isValid();
@@ -1468,7 +1468,7 @@ void ThermalController::ctrlX8() {
 }
 
 void ThermalController::ctrlTx() {
-  thermalComponent = TX;
+  currThermalComponent = TX;
   sensors[0].first = sensorTemperatures.eBandTx.isValid();
   sensors[0].second = sensorTemperatures.eBandTx.value;
   sensors[1].first = sensorTemperatures.x8.isValid();
@@ -1482,7 +1482,7 @@ void ThermalController::ctrlTx() {
 }
 
 void ThermalController::ctrlMpa() {
-  thermalComponent = MPA;
+  currThermalComponent = MPA;
   sensors[0].first = sensorTemperatures.mpa.isValid();
   sensors[0].second = sensorTemperatures.mpa.value;
   sensors[1].first = sensorTemperatures.hpa.isValid();
@@ -1496,7 +1496,7 @@ void ThermalController::ctrlMpa() {
 }
 
 void ThermalController::ctrlHpa() {
-  thermalComponent = HPA;
+  currThermalComponent = HPA;
   sensors[0].first = sensorTemperatures.hpa.isValid();
   sensors[0].second = sensorTemperatures.hpa.value;
   sensors[1].first = sensorTemperatures.x8.isValid();
@@ -1510,7 +1510,7 @@ void ThermalController::ctrlHpa() {
 }
 
 void ThermalController::ctrlScexBoard() {
-  thermalComponent = SCEX_BOARD;
+  currThermalComponent = SCEX_BOARD;
   sensors[0].first = sensorTemperatures.scex.isValid();
   sensors[0].second = sensorTemperatures.scex.value;
   sensors[1].first = sensorTemperatures.x8.isValid();
@@ -1601,7 +1601,7 @@ void ThermalController::ctrlComponentTemperature(HeaterContext& htrCtx) {
     if (chooseHeater(htrCtx.switchNr, htrCtx.redSwitchNr)) {
       if (heaterCtrlAllowed() and
           (heaterHandler.getSwitchState(htrCtx.switchNr) == HeaterHandler::SwitchState::ON)) {
-        heaterSwitchHelper(htrCtx.switchNr, HeaterHandler::SwitchState::OFF, thermalComponent);
+        heaterSwitchHelper(htrCtx.switchNr, HeaterHandler::SwitchState::OFF, currThermalComponent);
       }
     }
   }
@@ -1613,19 +1613,19 @@ bool ThermalController::selectAndReadSensorTemp(HeaterContext& htrCtx) {
         sensors[i].second > SANITY_LIMIT_LOWER_TEMP and
         sensors[i].second < SANITY_LIMIT_UPPER_TEMP) {
       sensorTemp = sensors[i].second;
-      thermalStates[thermalComponent].errorCounter = 0;
+      thermalStates[currThermalComponent].errorCounter = 0;
       return true;
     }
   }
 
-  thermalStates[thermalComponent].errorCounter++;
-  if (thermalComponent != RW and thermalComponent != ACS_BOARD) {
-    if (thermalStates[thermalComponent].errorCounter <= 3) {
-      triggerEvent(tcsCtrl::NO_VALID_SENSOR_TEMPERATURE, thermalComponent);
+  thermalStates[currThermalComponent].errorCounter++;
+  if (currThermalComponent != RW and currThermalComponent != ACS_BOARD) {
+    if (thermalStates[currThermalComponent].errorCounter <= 3) {
+      triggerEvent(tcsCtrl::NO_VALID_SENSOR_TEMPERATURE, currThermalComponent);
     }
   } else {
-    if (thermalStates[thermalComponent].errorCounter <= 8) {
-      triggerEvent(tcsCtrl::NO_VALID_SENSOR_TEMPERATURE, thermalComponent);
+    if (thermalStates[currThermalComponent].errorCounter <= 8) {
+      triggerEvent(tcsCtrl::NO_VALID_SENSOR_TEMPERATURE, currThermalComponent);
     }
   }
 
@@ -1658,14 +1658,14 @@ void ThermalController::heaterCtrlTempTooHighHandler(HeaterContext& htrCtx, cons
     return;
   }
   if (htrCtx.switchState == HeaterHandler::SwitchState::ON) {
-    sif::info << "TCS: Component " << static_cast<int>(thermalComponent) << " too warm, above "
+    sif::info << "TCS: Component " << static_cast<int>(currThermalComponent) << " too warm, above "
               << whatLimit << ", switching off heater" << std::endl;
-    heaterSwitchHelper(htrCtx.switchNr, HeaterHandler::SwitchState::OFF, thermalComponent);
+    heaterSwitchHelper(htrCtx.switchNr, HeaterHandler::SwitchState::OFF, currThermalComponent);
     heaterStates[htrCtx.switchNr].switchTransition = true;
     heaterStates[htrCtx.switchNr].target = HeaterHandler::SwitchState::OFF;
   }
   if (heaterHandler.getSwitchState(htrCtx.redSwitchNr) == HeaterHandler::SwitchState::ON) {
-    heaterSwitchHelper(htrCtx.redSwitchNr, HeaterHandler::SwitchState::OFF, thermalComponent);
+    heaterSwitchHelper(htrCtx.redSwitchNr, HeaterHandler::SwitchState::OFF, currThermalComponent);
     heaterStates[htrCtx.redSwitchNr].switchTransition = true;
     heaterStates[htrCtx.redSwitchNr].target = HeaterHandler::SwitchState::OFF;
   }
@@ -1687,13 +1687,13 @@ void ThermalController::checkLimitsAndCtrlHeater(HeaterContext& htrCtx) {
   // Heater off
   if (htrCtx.switchState == HeaterHandler::SwitchState::OFF) {
     if (sensorTemp < htrCtx.tempLimit.opLowerLimit and heaterCtrlAllowed()) {
-      sif::info << "TCS: Heater " << static_cast<int>(thermalComponent) << " ON" << std::endl;
-      heaterSwitchHelper(htrCtx.switchNr, HeaterHandler::SwitchState::ON, thermalComponent);
+      sif::info << "TCS: Heater " << static_cast<int>(currThermalComponent) << " ON" << std::endl;
+      heaterSwitchHelper(htrCtx.switchNr, HeaterHandler::SwitchState::ON, currThermalComponent);
       heaterStates[htrCtx.switchNr].switchTransition = true;
       heaterStates[htrCtx.switchNr].target = HeaterHandler::SwitchState::ON;
     } else {
       // Even if heater control is now allowed, we can update the state.
-      thermalStates[thermalComponent].heating = false;
+      thermalStates[currThermalComponent].heating = false;
     }
     heaterCtrlCheckUpperLimits(htrCtx);
     return;
@@ -1701,11 +1701,12 @@ void ThermalController::checkLimitsAndCtrlHeater(HeaterContext& htrCtx) {
 
   // Heater on
   if (htrCtx.switchState == HeaterHandler::SwitchState::ON) {
-    if (thermalStates[thermalComponent].heating) {
+    if (thermalStates[currThermalComponent].heating) {
       // We are already in a heating cycle, so need to check whether heating task is complete.
       if (sensorTemp >= htrCtx.tempLimit.opLowerLimit + TEMP_OFFSET and heaterCtrlAllowed()) {
-        sif::info << "TCS: Heater " << static_cast<int>(thermalComponent) << " OFF" << std::endl;
-        heaterSwitchHelper(htrCtx.switchNr, HeaterHandler::SwitchState::OFF, thermalComponent);
+        sif::info << "TCS: Heater " << static_cast<int>(currThermalComponent) << " OFF"
+                  << std::endl;
+        heaterSwitchHelper(htrCtx.switchNr, HeaterHandler::SwitchState::OFF, currThermalComponent);
         heaterStates[htrCtx.switchNr].switchTransition = true;
         heaterStates[htrCtx.switchNr].target = HeaterHandler::SwitchState::OFF;
       }
@@ -1747,7 +1748,7 @@ void ThermalController::resetSensorsArray() {
     validValuePair.first = false;
     validValuePair.second = INVALID_TEMPERATURE;
   }
-  thermalComponent = NONE;
+  currThermalComponent = NONE;
 }
 
 void ThermalController::heaterTransitionControl(const HeaterSwitchStates& currentHeaterStates) {
@@ -1809,10 +1810,14 @@ void ThermalController::heaterSwitchHelper(heater::Switch switchNr,
   Clock::getClockMonotonic(&currentTime);
   if (state == HeaterHandler::SwitchState::ON) {
     heaterHandler.switchHeater(switchNr, state);
+    triggerEvent(tcsCtrl::TCS_SWITCHING_HEATER_ON, static_cast<uint32_t>(currThermalComponent),
+                 static_cast<uint32_t>(switchNr));
     thermalStates[componentIdx].heating = true;
     thermalStates[componentIdx].heaterStartTime = currentTime.tv_sec;
   } else {
     heaterHandler.switchHeater(switchNr, state);
+    triggerEvent(tcsCtrl::TCS_SWITCHING_HEATER_OFF, static_cast<uint32_t>(currThermalComponent),
+                 static_cast<uint32_t>(switchNr));
     thermalStates[componentIdx].heating = false;
     thermalStates[componentIdx].heaterEndTime = currentTime.tv_sec;
   }

mission/controller/ThermalController.h

@@ -256,7 +256,7 @@ class ThermalController : public ExtendedControllerBase {
   TempLimits scexBoardLimits = TempLimits(-60.0, -40.0, 80.0, 85.0, 150.0);
 
   double sensorTemp = INVALID_TEMPERATURE;
-  ThermalComponents thermalComponent = NONE;
+  ThermalComponents currThermalComponent = NONE;
   bool redSwitchNrInUse = false;
   MessageQueueId_t camId = MessageQueueIF::NO_QUEUE;
   bool componentAboveCutOffLimit = false;

mission/controller/tcsDefs.h

@@ -18,6 +18,10 @@ static constexpr Event CAMERA_OVERHEATING = MAKE_EVENT(5, severity::HIGH);
 static constexpr Event PCDU_SYSTEM_OVERHEATING = MAKE_EVENT(6, severity::HIGH);
 static constexpr Event HEATER_NOT_OFF_FOR_OFF_MODE = MAKE_EVENT(7, severity::MEDIUM);
 static constexpr Event MGT_OVERHEATING = MAKE_EVENT(8, severity::HIGH);
+//! [EXPORT] : [COMMENT] P1: Module index. P2: Heater index
+static constexpr Event TCS_SWITCHING_HEATER_ON = MAKE_EVENT(9, severity::INFO);
+//! [EXPORT] : [COMMENT] P1: Module index. P2: Heater index
+static constexpr Event TCS_SWITCHING_HEATER_OFF = MAKE_EVENT(10, severity::INFO);
 
 enum SetId : uint32_t {
   SENSOR_TEMPERATURES = 0,

tmtc

@@ -1 +1 @@
-Subproject commit c48f04eed5152f319b217870292968fb67b763d4
+Subproject commit 6d5bde40db69534a8cea923f96145bdeb62b79af