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bugfixes in pdec handler parameter commands

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This commit is contained in:
Jakob Meier
2023-02-23 15:19:48 +01:00
parent 3b17af9d07 d32ce3c563
commit 513dcf9be1
29 changed files with 307 additions and 149 deletions
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126
mission/system/objects/ComSubsystem.cpp
View File

@ -1,5 +1,3 @@
#include <utility>
#include "ComSubsystem.h"
#include <fsfw/events/EventManagerIF.h>
@ -7,12 +5,10 @@
#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<uint8_t, FixedArrayList<ModeListEntry, 3>> COM_SEQUENCE_RX_AND_TX_DEFAULT_RATE;
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)
@ -26,7 +22,15 @@ ComSubsystem::ComSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequence
void ComSubsystem::performChildOperation() {
readEventQueue();
checkTransmitterCountdown();
// Execute default rate sequence after transition has been completed
if (rememberBitLock and not isInTransition) {
startRxAndTxLowRateSeq();
rememberBitLock = false;
}
if (countdownActive) {
checkTransmitterCountdown();
}
Subsystem::performChildOperation();
}
MessageQueueId_t ComSubsystem::getCommandQueue() const { return Subsystem::getCommandQueue(); }
@ -46,17 +50,17 @@ 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;
}
@ -74,44 +78,48 @@ 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 mode the transmitter timeout is enabled or
// 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();
} 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 = false;
} 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);
}
@ -149,22 +157,42 @@ 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;
}

51
mission/system/objects/ComSubsystem.h
View File

@ -1,24 +1,25 @@
#ifndef MISSION_SYSTEM_COMSUBSYSTEM_H_
#define MISSION_SYSTEM_COMSUBSYSTEM_H_
#include <fsfw/events/EventMessage.h>
#include <fsfw/parameters/HasParametersIF.h>
#include <fsfw/parameters/ParameterHelper.h>
#include <fsfw/subsystem/Subsystem.h>
#include <fsfw/events/EventMessage.h>
#include "mission/comDefs.h"
class ComSubsystem : public Subsystem, public ReceivesParameterMessagesIF {
public:
/**
* @brief Constructor
*
* @param setObjectId
* @param maxNumberOfSequences
* @param maxNumberOfTables
* @param transmitterTimeout Maximum time the transmitter of the syrlinks
* will be enabled
*/
/**
* @brief Constructor
*
* @param setObjectId
* @param maxNumberOfSequences
* @param maxNumberOfTables
* @param transmitterTimeout Maximum time the transmitter of the syrlinks
* will be
* enabled
*/
ComSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables,
uint32_t transmitterTimeout);
virtual ~ComSubsystem() = default;
@ -30,6 +31,8 @@ class ComSubsystem : public Subsystem, public ReceivesParameterMessagesIF {
virtual void performChildOperation() override;
private:
static const Mode_t INITIAL_MODE = 0;
ReturnValue_t handleCommandMessage(CommandMessage *message) override;
ReturnValue_t initialize() override;
@ -37,28 +40,42 @@ class ComSubsystem : public Subsystem, public ReceivesParameterMessagesIF {
void startTransition(Mode_t mode, Submode_t submode) override;
void readEventQueue();
void handleEventMessage(EventMessage* eventMessage);
void handleEventMessage(EventMessage *eventMessage);
void handleBitLockEvent();
void handleCarrierLockEvent();
void checkTransmitterCountdown();
/**
* @brief Enables transmitter in default (low) rate mode
* @brief Enables transmitter in low rate mode
*/
void startRxAndTxDefaultSeq();
void startRxAndTxLowRateSeq();
/**
* @brief Returns true if mode is a mode where the transmitter is on
*/
bool isTxMode(Mode_t mode);
uint8_t datarateCfg = static_cast<uint8_t>(com::Datarate::LOW_RATE_MODULATION_BPSK);
// Maximum time after which the transmitter will be turned of. This is a
// protection mechanism due prevent the syrlinks from overheating
uint32_t transmitterTimeout = 0;
// Maximum time after which the transmitter will be turned of. This is a
// protection mechanism due prevent the syrlinks from overheating
uint32_t transmitterTimeout = 0;
ParameterHelper paramHelper;
MessageQueueIF* eventQueue = nullptr;
MessageQueueIF *eventQueue = nullptr;
bool enableTxWhenCarrierLock = false;
// Countdown will be started as soon as the transmitter was enabled
Countdown transmitterCountdown;
// Transmitter countdown only active when sysrlinks transmitter is on (modes:
// rx and tx low rate, rx and tx high rate, rx and tx default rate)
bool countdownActive = false;
// True when bit lock occurred while COM subsystem is in a transition. This
// variable is used to remember the bit lock and execute the default rate
// sequence after the active transition has been completed
bool rememberBitLock = false;
};
#endif /* MISSION_SYSTEM_COMSUBSYSTEM_H_ */