From 4a287344f48da1102f9b71c5c3507fe1a72f9055 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Tue, 4 Apr 2023 15:02:56 +0200
Subject: [PATCH] add sanity range check

---
 mission/controller/ThermalController.cpp |  6 ++++--
 mission/controller/ThermalController.h   | 10 ++++++----
 2 files changed, 10 insertions(+), 6 deletions(-)

diff --git a/mission/controller/ThermalController.cpp b/mission/controller/ThermalController.cpp
index 5e34d191..562a665b 100644
--- a/mission/controller/ThermalController.cpp
+++ b/mission/controller/ThermalController.cpp
@@ -1560,9 +1560,11 @@ void ThermalController::ctrlComponentTemperature(HeaterContext& htrCtx) {
   }
   resetSensorsArray();
 }
-bool ThermalController::selectAndReadSensorTemp() {
+bool ThermalController::selectAndReadSensorTemp(HeaterContext& htrCtx) {
   for (unsigned i = 0; i < numSensors; i++) {
-    if (sensors[i].first and sensors[i].second != INVALID_TEMPERATURE) {
+    if (sensors[i].first and sensors[i].second != INVALID_TEMPERATURE and
+        sensors[i].second > SANITY_LIMIT_LOWER_TEMP and
+        sensors[i].second < SANITY_LIMIT_UPPER_TEMP) {
       sensorTemp = sensors[i].second;
       thermalStates[thermalComponent].errorCounter = 0;
       return true;
diff --git a/mission/controller/ThermalController.h b/mission/controller/ThermalController.h
index 0ceb9cae..9ad72ed0 100644
--- a/mission/controller/ThermalController.h
+++ b/mission/controller/ThermalController.h
@@ -31,8 +31,8 @@
  * limit is exceeded to avoid reaching NOP limit
  */
 struct TempLimits {
-  TempLimits(float nopLowerLimit, float opLowerLimit, float cutOffLimit, float opUpperLimit,
-             float nopUpperLimit)
+  TempLimits(float opLowerLimit, float cutOffLimit, float opUpperLimit,
+             float nopUpperLimit, float sanityUpperLimit)
       : opLowerLimit(opLowerLimit),
         opUpperLimit(opUpperLimit),
         cutOffLimit(cutOffLimit),
@@ -91,6 +91,8 @@ class ThermalController : public ExtendedControllerBase {
  public:
   static const uint16_t INVALID_TEMPERATURE = 999;
   static const uint8_t NUMBER_OF_SENSORS = 16;
+  static constexpr uint16_t SANITY_LIMIT_LOWER_TEMP = -80;
+  static constexpr uint16_t SANITY_LIMIT_UPPER_TEMP = 160;
 
   ThermalController(object_id_t objectId, HeaterHandler& heater);
 
@@ -218,7 +220,7 @@ class ThermalController : public ExtendedControllerBase {
   lp_var_t<float> tempAdcPayloadPcdu = lp_var_t<float>(objects::PLPCDU_HANDLER, plpcdu::TEMP);
 
   // TempLimits
-  TempLimits acsBoardLimits = TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
+  TempLimits acsBoardLimits = TempLimits(5-40.0, -40.0, 80.0, 85.0, 85.0);
   TempLimits mgtLimits = TempLimits(-40.0, -40.0, 65.0, 70.0, 70.0);
   TempLimits rwLimits = TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
   TempLimits strLimits = TempLimits(-30.0, -20.0, 65.0, 70.0, 80.0);
@@ -299,7 +301,7 @@ class ThermalController : public ExtendedControllerBase {
   void heaterCtrlTempTooHighHandler(HeaterContext& heaterContext, const char* whatLimit);
 
   bool chooseHeater(heater::Switchers& switchNr, heater::Switchers redSwitchNr);
-  bool selectAndReadSensorTemp();
+  bool selectAndReadSensorTemp(HeaterContext& htrCtx);
 
   void ctrlAcsBoard();
   void ctrlMgt();