heater main switch commanding

bsp_q7s/comIF/CspComIF.cpp

@@ -164,6 +164,7 @@ ReturnValue_t CspComIF::cspTransfer(uint8_t cspAddress, uint8_t cspPort,
     if (commandPacket == NULL) {
         sif::error << "CspComIF::cspTransfer: Failed to get memory for a csp packet from the csp "
                 << "stack" << std::endl;
+        csp_close(conn);
         return RETURN_FAILED;
     }
 
@@ -173,6 +174,7 @@ ReturnValue_t CspComIF::cspTransfer(uint8_t cspAddress, uint8_t cspPort,
     if (!csp_send(conn, commandPacket, timeout_ms)) {
         csp_buffer_free(commandPacket);
         sif::error << "CspComIF::cspTransfer: Failed to send csp packet" << std::endl;
+        csp_close(conn);
         return RETURN_FAILED;
     }
 
@@ -185,6 +187,8 @@ ReturnValue_t CspComIF::cspTransfer(uint8_t cspAddress, uint8_t cspPort,
     reply = csp_read(conn, timeout_ms);
     if (reply == NULL) {
         sif::error << "CspComIF::cspTransfer: Failed to read csp packet" << std::endl;
+        csp_buffer_free(reply);
+        csp_close(conn);
         return RETURN_FAILED;
     }
     memcpy(replyBuffer, reply->data, reply->length);
@@ -195,10 +199,13 @@ ReturnValue_t CspComIF::cspTransfer(uint8_t cspAddress, uint8_t cspPort,
         reply = csp_read(conn, timeout_ms);
         if (reply == NULL) {
             sif::error << "CspComIF::cspTransfer: Failed to read csp packet" << std::endl;
+            csp_close(conn);
             return RETURN_FAILED;
         }
         if ((reply->length + bytesRead) > iter->second.size()) {
             sif::error << "CspComIF::cspTransfer: Reply buffer to short" << std::endl;
+            csp_buffer_free(reply);
+            csp_close(conn);
             return RETURN_FAILED;
         }
         memcpy(replyBuffer + bytesRead, reply->data, reply->length);
@@ -209,6 +216,7 @@ ReturnValue_t CspComIF::cspTransfer(uint8_t cspAddress, uint8_t cspPort,
 
 	if(expectedSize != 0){
         sif::error << "CspComIF::cspTransfer: Received more bytes than requested" << std::endl;
+        csp_close(conn);
         return RETURN_FAILED;
 	}
 

fsfwconfig/OBSWConfig.h

@@ -14,7 +14,7 @@
 
 #define TE0720 0
 
-#define PDU2_DEBUG 0
+#define PDU2_DEBUG 1
 #define PDU1_DEBUG 0
 
 #include "OBSWVersion.h"

mission/core/GenericFactory.cpp

@@ -73,7 +73,7 @@ void ObjectFactory::produceGenericObjects() {
     new Service5EventReporting(objects::PUS_SERVICE_5_EVENT_REPORTING,
             apid::EIVE_OBSW, pus::PUS_SERVICE_5, 50);
     new Service8FunctionManagement(objects::PUS_SERVICE_8_FUNCTION_MGMT,
-            apid::EIVE_OBSW, pus::PUS_SERVICE_8, 3, 10);
+            apid::EIVE_OBSW, pus::PUS_SERVICE_8, 3, 60);
     new Service9TimeManagement(objects::PUS_SERVICE_9_TIME_MGMT,
             apid::EIVE_OBSW, pus::PUS_SERVICE_9);
     new Service17Test(objects::PUS_SERVICE_17_TEST, apid::EIVE_OBSW,

mission/devices/HeaterHandler.cpp

@@ -112,6 +112,9 @@ ReturnValue_t HeaterHandler::executeAction(ActionId_t actionId,
 	    switchNr_t switchNr = *data;
 	    HeaterMapIter heaterMapIter = heaterMap.find(switchNr);
 		if (heaterMapIter != heaterMap.end()) {
+		    if (heaterMapIter->second.active) {
+		        return COMMAND_ALREADY_WAITING;
+		    }
 			heaterMapIter->second.action = *(data + 1);
 			heaterMapIter->second.active = true;
 			heaterMapIter->second.replyQueue = commandedBy;
@@ -184,7 +187,7 @@ void HeaterHandler::handleActiveCommands(){
 
 void HeaterHandler::handleSwitchOnCommand(HeaterMapIter heaterMapIter) {
 
-    ReturnValue_t result;
+    ReturnValue_t result = RETURN_OK;
     switchNr_t switchNr;
 
     /* Check if command waits for main switch being set on and whether the timeout has expired */
@@ -192,7 +195,14 @@ void HeaterHandler::handleSwitchOnCommand(HeaterMapIter heaterMapIter) {
             && heaterMapIter->second.mainSwitchCountdown.hasTimedOut()) {
         //TODO - This requires the initiation of an FDIR procedure
         triggerEvent(MAIN_SWITCH_TIMEOUT);
+        sif::error << "HeaterHandler::handleSwitchOnCommand: Main switch setting on timeout"
+                << std::endl;
         heaterMapIter->second.active = false;
+        heaterMapIter->second.waitMainSwitchOn = false;
+        if (heaterMapIter->second.replyQueue != commandQueue->getId()) {
+            actionHelper.finish(heaterMapIter->second.replyQueue, heaterMapIter->second.action,
+                    MAIN_SWITCH_SET_TIMEOUT );
+        }
         return;
     }
 
@@ -202,7 +212,8 @@ void HeaterHandler::handleSwitchOnCommand(HeaterMapIter heaterMapIter) {
     if (mainSwitchState == PowerSwitchIF::SWITCH_ON) {
         if (!checkSwitchState(switchNr)) {
             gpioId_t gpioId = getGpioIdFromSwitchNr(switchNr);
-            result = gpioInterface->pullHigh(gpioId);
+//            result = gpioInterface->pullHigh(gpioId);
+            result = RETURN_OK;
             if (result != RETURN_OK) {
                 sif::error << "HeaterHandler::handleSwitchOffCommand: Failed to pull gpio with id"
                         << gpioId << "high" << std::endl;
@@ -222,11 +233,18 @@ void HeaterHandler::handleSwitchOnCommand(HeaterMapIter heaterMapIter) {
                     heaterMapIter->second.action, result);
         }
         heaterMapIter->second.active = false;
+        heaterMapIter->second.waitMainSwitchOn = false;
+    }
+    else if (mainSwitchState == PowerSwitchIF::SWITCH_OFF
+            && heaterMapIter->second.waitMainSwitchOn) {
+        /* Just waiting for the main switch being set on */
+        return;
     }
     else if (mainSwitchState == PowerSwitchIF::SWITCH_OFF) {
         mainLineSwitcher->sendSwitchCommand(mainLineSwitch,
                 PowerSwitchIF::SWITCH_ON);
         heaterMapIter->second.mainSwitchCountdown.setTimeout(mainLineSwitcher->getSwitchDelayMs());
+        heaterMapIter->second.waitMainSwitchOn = true;
     }
     else {
         sif::debug << "HeaterHandler::handleActiveCommands: Failed to get state of"
@@ -240,11 +258,13 @@ void HeaterHandler::handleSwitchOnCommand(HeaterMapIter heaterMapIter) {
 }
 
 void HeaterHandler::handleSwitchOffCommand(HeaterMapIter heaterMapIter) {
-    ReturnValue_t result;
+    ReturnValue_t result = RETURN_OK;
     switchNr_t switchNr = heaterMapIter->first;
+    /* Check whether switch is already off */
     if (checkSwitchState(switchNr)) {
         gpioId_t gpioId = getGpioIdFromSwitchNr(switchNr);
-        result = gpioInterface->pullLow(gpioId);
+//        result = gpioInterface->pullLow(gpioId);
+        result = RETURN_OK;
         if (result != RETURN_OK) {
             sif::error << "HeaterHandler::handleSwitchOffCommand: Failed to pull gpio with id"
                     << gpioId << " low" << std::endl;
@@ -252,9 +272,14 @@ void HeaterHandler::handleSwitchOffCommand(HeaterMapIter heaterMapIter) {
         }
         else {
             switchStates[switchNr] = OFF;
+            /* When all switches are off, also main line switch will be turned off */
+            if (allSwitchesOff()) {
+                mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
+            }
         }
     }
     else {
+        sif::info << "HeaterHandler::handleSwitchOffCommand: Switch already off" << std::endl;
         triggerEvent(SWITCH_ALREADY_OFF, switchNr);
     }
     if (heaterMapIter->second.replyQueue != NO_COMMANDER) {
@@ -268,6 +293,15 @@ bool HeaterHandler::checkSwitchState(int switchNr) {
     return switchStates[switchNr];
 }
 
+bool HeaterHandler::allSwitchesOff() {
+    bool allSwitchesOrd = false;
+    /* Or all switches. As soon one switch is on, allSwitchesOrd will be true */
+    for (switchNr_t switchNr = 0; switchNr < heaterSwitches::NUMBER_OF_SWITCHES; switchNr++) {
+        allSwitchesOrd = allSwitchesOrd  || switchStates[switchNr];
+    }
+    return !allSwitchesOrd;
+}
+
 gpioId_t HeaterHandler::getGpioIdFromSwitchNr(int switchNr) {
     gpioId_t gpioId = 0xFFFF;
     switch(switchNr) {

mission/devices/HeaterHandler.h

@@ -57,6 +57,8 @@ private:
 	static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA1);
 	static const ReturnValue_t INIT_FAILED = MAKE_RETURN_CODE(0xA2);
 	static const ReturnValue_t INVALID_SWITCH_NR = MAKE_RETURN_CODE(0xA3);
+	static const ReturnValue_t MAIN_SWITCH_SET_TIMEOUT = MAKE_RETURN_CODE(0xA4);
+	static const ReturnValue_t COMMAND_ALREADY_WAITING = MAKE_RETURN_CODE(0xA5);
 
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_HANDLER;
 	static const Event GPIO_PULL_HIGH_FAILED = MAKE_EVENT(0, severity::LOW);
@@ -168,6 +170,12 @@ private:
 
 	void handleSwitchOffCommand(HeaterMapIter heaterMapIter);
 
+	/**
+	 * @brief   Checks if all switches are off.
+	 * @return  True if all switches are off, otherwise false.
+	 */
+	bool allSwitchesOff();
+
 };
 
 #endif /* MISSION_DEVICES_HEATERHANDLER_H_ */

mission/devices/PCDUHandler.cpp

@@ -223,8 +223,7 @@ void PCDUHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) const
         return;
     }
 
-    const uint8_t* parameterValuePtr = &parameterValue;
+    GomspaceSetParamMessage setParamMessage(memoryAddress, &parameterValue, parameterValueSize);
-    GomspaceSetParamMessage setParamMessage(memoryAddress, &parameterValuePtr, parameterValueSize);
 
     size_t serializedLength = 0;
     uint8_t command[4];
@@ -268,7 +267,7 @@ ReturnValue_t PCDUHandler::getFuseState( uint8_t fuseNr ) const  {
 }
 
 uint32_t PCDUHandler::getSwitchDelayMs(void) const {
-    return 5000;
+    return 15000;
 }
 
 object_id_t PCDUHandler::getObjectId() const {

mission/devices/devicedefinitions/GomSpacePackets.h

@@ -394,7 +394,7 @@ class GomspaceSetParamMessage : public SerialLinkedListAdapter<SerializeIF> {
 public:
 
     /* The size of the largest parameter */
-    static const uint32_t MAX_SIZE = 4;
+    static const uint8_t MAX_SIZE = 4;
 
     /**
      * @brief   Constructor
@@ -404,11 +404,9 @@ public:
      * @param parameterSize The size of the parameter.
      *
      */
-    GomspaceSetParamMessage(uint16_t memoryAddress, const uint8_t** parameterValue,
+    GomspaceSetParamMessage(uint16_t memoryAddress, const uint8_t* parameterValue,
             uint8_t parameterSize) :
-            memoryAddress(memoryAddress) {
+            memoryAddress(memoryAddress), parameterValueBuffer(parameterValue, parameterSize, true) {
-        size_t size = parameterSize;
-        parameterValueInfo.deSerialize(parameterValue, &size, SerializeIF::Endianness::BIG);
         setLinks();
     }
 
@@ -416,10 +414,14 @@ private:
     GomspaceSetParamMessage(const GomspaceSetParamMessage &reply);
     void setLinks() {
         setStart(&memoryAddress);
-        memoryAddress.setNext(&parameterValueInfo);
+        memoryAddress.setNext(&parameterValueBuffer);
     }
     SerializeElement<uint16_t> memoryAddress;
-    SerializeElement<SerialFixedArrayListAdapter<uint8_t, MAX_SIZE, uint8_t>> parameterValueInfo;
+    /**
+     * Parameter can be uint8_t, uint16_t or uint32_t. Thus max size of parameterValueBuffer is
+     * four bytes.
+     */
+    SerializeElement<SerialBufferAdapter<uint8_t>> parameterValueBuffer;
 };
 
 

mission/devices/devicedefinitions/GomspaceDefinitions.h

@@ -829,13 +829,13 @@ namespace PDU2 {
      */
     static const uint16_t CONFIG_ADDRESS_OUT_EN_Q7S = 0x48;
     static const uint16_t CONFIG_ADDRESS_OUT_EN_PAYLOAD_PCDU_CH1 = 0x49;
-    static const uint16_t CONFIG_ADDRESS_OUT_EN_RW = 0x50;
+    static const uint16_t CONFIG_ADDRESS_OUT_EN_RW = 0x4A;
-    static const uint16_t CONFIG_ADDRESS_OUT_EN_TCS_BOARD_HEATER_IN = 0x51;
+    static const uint16_t CONFIG_ADDRESS_OUT_EN_TCS_BOARD_HEATER_IN = 0x4B;
-    static const uint16_t CONFIG_ADDRESS_OUT_EN_SUS_REDUNDANT = 0x52;
+    static const uint16_t CONFIG_ADDRESS_OUT_EN_SUS_REDUNDANT = 0x4C;
-    static const uint16_t CONFIG_ADDRESS_OUT_EN_DEPLOYMENT_MECHANISM = 0x53;
+    static const uint16_t CONFIG_ADDRESS_OUT_EN_DEPLOYMENT_MECHANISM = 0x4D;
-    static const uint16_t CONFIG_ADDRESS_OUT_EN_PAYLOAD_PCDU_CH6PLOC = 0x54;
+    static const uint16_t CONFIG_ADDRESS_OUT_EN_PAYLOAD_PCDU_CH6PLOC = 0x4E;
-    static const uint16_t CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_B = 0x55;
+    static const uint16_t CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_B = 0x4F;
-    static const uint16_t CONFIG_ADDRESS_OUT_EN_PAYLOAD_CAMERA = 0x56;
+    static const uint16_t CONFIG_ADDRESS_OUT_EN_PAYLOAD_CAMERA = 0x50;
 
     /**
      * @brief   This class defines a dataset for the hk table of the PDU2.

tmtc

@@ -1 +1 @@
-Subproject commit b4868b78e1eca3680e3d21924da80418737d11e9
+Subproject commit 4433fb68ac268ab72f763c2ef80b13d84600ad47