From 6688499128aab008332dc5a302a9e35321331ea3 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 14 Mar 2023 13:56:19 +0100 Subject: [PATCH] power updates --- CHANGELOG.md | 2 + bsp_q7s/core/ObjectFactory.cpp | 2 +- fsfw | 2 +- mission/devices/CMakeLists.txt | 4 +- mission/devices/PcduHandler.cpp | 50 +++++++++---------- mission/devices/PcduHandler.h | 6 +-- .../system/objects/DualLaneAssemblyBase.cpp | 6 ++- 7 files changed, 39 insertions(+), 33 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 92c4cc77..8084922a 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -32,6 +32,8 @@ will consitute of a breaking change warranting a new major release: `returnvalue::FAILED` in switch state getter. - Wait 1 second before commanding SAFE mode. This ensures or at least increases the chance that the switch states were initialized. +- Dual Lane Assemblies: The returnvalues of the dual lane power state machine FSM are not ignored + anymore. # [v1.37.0] 2023-03-11 diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp index 057c7e47..09431ea2 100644 --- a/bsp_q7s/core/ObjectFactory.cpp +++ b/bsp_q7s/core/ObjectFactory.cpp @@ -203,7 +203,7 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI auto acuFdir = new GomspacePowerFdir(objects::ACU_HANDLER); ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie, acuFdir); - auto pcduHandler = new PCDUHandler(objects::PCDU_HANDLER, 50); + auto pcduHandler = new PcduHandler(objects::PCDU_HANDLER, 50); /** * Setting PCDU devices to mode normal immediately after start up because PCDU is always diff --git a/fsfw b/fsfw index 9a8d775e..0b0a0299 160000 --- a/fsfw +++ b/fsfw @@ -1 +1 @@ -Subproject commit 9a8d775eb1a8788ad844215bf2a42d9f707767c0 +Subproject commit 0b0a0299bc044e67413d8912ceb76a779d76ee4e diff --git a/mission/devices/CMakeLists.txt b/mission/devices/CMakeLists.txt index cb6c066a..68e369a0 100644 --- a/mission/devices/CMakeLists.txt +++ b/mission/devices/CMakeLists.txt @@ -5,8 +5,8 @@ target_sources( Tmp1075Handler.cpp PcduHandler.cpp P60DockHandler.cpp - PDU1Handler.cpp - PDU2Handler.cpp + Pdu1Handler.cpp + Pdu2Handler.cpp ACUHandler.cpp SyrlinksHandler.cpp Max31865PT1000Handler.cpp diff --git a/mission/devices/PcduHandler.cpp b/mission/devices/PcduHandler.cpp index 17e2f88f..4c2f742c 100644 --- a/mission/devices/PcduHandler.cpp +++ b/mission/devices/PcduHandler.cpp @@ -7,7 +7,7 @@ #include #include -PCDUHandler::PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize) +PcduHandler::PcduHandler(object_id_t setObjectId, size_t cmdQueueSize) : SystemObject(setObjectId), poolManager(this, nullptr), p60CoreHk(objects::P60DOCK_HANDLER), @@ -22,9 +22,9 @@ PCDUHandler::PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize) std::memset(switchStates, SWITCH_STATE_UNKNOWN, sizeof(switchStates)); } -PCDUHandler::~PCDUHandler() {} +PcduHandler::~PcduHandler() {} -ReturnValue_t PCDUHandler::performOperation(uint8_t counter) { +ReturnValue_t PcduHandler::performOperation(uint8_t counter) { if (counter == DeviceHandlerIF::PERFORM_OPERATION) { readCommandQueue(); } @@ -52,7 +52,7 @@ ReturnValue_t PCDUHandler::performOperation(uint8_t counter) { return returnvalue::OK; } -ReturnValue_t PCDUHandler::initialize() { +ReturnValue_t PcduHandler::initialize() { ReturnValue_t result; IPCStore = ObjectManager::instance()->get(objects::IPC_STORE); @@ -100,7 +100,7 @@ ReturnValue_t PCDUHandler::initialize() { return returnvalue::OK; } -void PCDUHandler::initializeSwitchStates() { +void PcduHandler::initializeSwitchStates() { using namespace pcdu; try { for (uint8_t idx = 0; idx < NUMBER_OF_SWITCHES; idx++) { @@ -117,7 +117,7 @@ void PCDUHandler::initializeSwitchStates() { } } -void PCDUHandler::readCommandQueue() { +void PcduHandler::readCommandQueue() { ReturnValue_t result = returnvalue::OK; CommandMessage command; @@ -130,9 +130,9 @@ void PCDUHandler::readCommandQueue() { } } -MessageQueueId_t PCDUHandler::getCommandQueue() const { return commandQueue->getId(); } +MessageQueueId_t PcduHandler::getCommandQueue() const { return commandQueue->getId(); } -void PCDUHandler::handleChangedDataset(sid_t sid, store_address_t storeId, bool* clearMessage) { +void PcduHandler::handleChangedDataset(sid_t sid, store_address_t storeId, bool* clearMessage) { if (sid == sid_t(objects::PDU2_HANDLER, static_cast(P60System::SetIds::CORE))) { updateHkTableDataset(storeId, &pdu2CoreHk, &timeStampPdu2HkDataset); updatePdu2SwitchStates(); @@ -144,7 +144,7 @@ void PCDUHandler::handleChangedDataset(sid_t sid, store_address_t storeId, bool* } } -void PCDUHandler::updateHkTableDataset(store_address_t storeId, LocalPoolDataSetBase* dataset, +void PcduHandler::updateHkTableDataset(store_address_t storeId, LocalPoolDataSetBase* dataset, CCSDSTime::CDS_short* datasetTimeStamp) { ReturnValue_t result; @@ -170,7 +170,7 @@ void PCDUHandler::updateHkTableDataset(store_address_t storeId, LocalPoolDataSet } } -void PCDUHandler::updatePdu2SwitchStates() { +void PcduHandler::updatePdu2SwitchStates() { using namespace pcdu; using namespace PDU2; GOMSPACE::Pdu pdu = GOMSPACE::Pdu::PDU2; @@ -207,7 +207,7 @@ void PCDUHandler::updatePdu2SwitchStates() { } } -void PCDUHandler::updatePdu1SwitchStates() { +void PcduHandler::updatePdu1SwitchStates() { using namespace pcdu; using namespace PDU1; PoolReadGuard rg0(&switcherSet); @@ -244,9 +244,9 @@ void PCDUHandler::updatePdu1SwitchStates() { } } -LocalDataPoolManager* PCDUHandler::getHkManagerHandle() { return &poolManager; } +LocalDataPoolManager* PcduHandler::getHkManagerHandle() { return &poolManager; } -ReturnValue_t PCDUHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) { +ReturnValue_t PcduHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) { using namespace pcdu; ReturnValue_t result; uint16_t memoryAddress = 0; @@ -396,9 +396,9 @@ ReturnValue_t PCDUHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onO return result; } -ReturnValue_t PCDUHandler::sendFuseOnCommand(uint8_t fuseNr) { return returnvalue::OK; } +ReturnValue_t PcduHandler::sendFuseOnCommand(uint8_t fuseNr) { return returnvalue::OK; } -ReturnValue_t PCDUHandler::getSwitchState(uint8_t switchNr) const { +ReturnValue_t PcduHandler::getSwitchState(uint8_t switchNr) const { if (switchNr >= pcdu::NUMBER_OF_SWITCHES) { sif::debug << "PCDUHandler::getSwitchState: Invalid switch number" << std::endl; return returnvalue::FAILED; @@ -409,7 +409,7 @@ ReturnValue_t PCDUHandler::getSwitchState(uint8_t switchNr) const { currentState = switchStates[switchNr]; } if (currentState == SWITCH_STATE_UNKNOWN) { - return returnvalue::FAILED; + return PowerSwitchIF::SWITCH_UNKNOWN; } if (currentState == 1) { return PowerSwitchIF::SWITCH_ON; @@ -418,13 +418,13 @@ ReturnValue_t PCDUHandler::getSwitchState(uint8_t switchNr) const { } } -ReturnValue_t PCDUHandler::getFuseState(uint8_t fuseNr) const { return returnvalue::OK; } +ReturnValue_t PcduHandler::getFuseState(uint8_t fuseNr) const { return returnvalue::OK; } -uint32_t PCDUHandler::getSwitchDelayMs(void) const { return 20000; } +uint32_t PcduHandler::getSwitchDelayMs(void) const { return 20000; } -object_id_t PCDUHandler::getObjectId() const { return SystemObject::getObjectId(); } +object_id_t PcduHandler::getObjectId() const { return SystemObject::getObjectId(); } -ReturnValue_t PCDUHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap, +ReturnValue_t PcduHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap, LocalDataPoolManager& poolManager) { using namespace pcdu; localDataPoolMap.emplace(PoolIds::PDU1_SWITCHES, &pdu1Switches); @@ -435,7 +435,7 @@ ReturnValue_t PCDUHandler::initializeLocalDataPool(localpool::DataPool& localDat return returnvalue::OK; } -ReturnValue_t PCDUHandler::initializeAfterTaskCreation() { +ReturnValue_t PcduHandler::initializeAfterTaskCreation() { if (executingTask != nullptr) { pstIntervalMs = executingTask->getPeriodMs(); } @@ -446,11 +446,11 @@ ReturnValue_t PCDUHandler::initializeAfterTaskCreation() { return returnvalue::OK; } -uint32_t PCDUHandler::getPeriodicOperationFrequency() const { return pstIntervalMs; } +uint32_t PcduHandler::getPeriodicOperationFrequency() const { return pstIntervalMs; } -void PCDUHandler::setTaskIF(PeriodicTaskIF* task) { executingTask = task; } +void PcduHandler::setTaskIF(PeriodicTaskIF* task) { executingTask = task; } -LocalPoolDataSetBase* PCDUHandler::getDataSetHandle(sid_t sid) { +LocalPoolDataSetBase* PcduHandler::getDataSetHandle(sid_t sid) { if (sid == switcherSet.getSid()) { return &switcherSet; } else { @@ -459,7 +459,7 @@ LocalPoolDataSetBase* PCDUHandler::getDataSetHandle(sid_t sid) { } } -void PCDUHandler::checkAndUpdatePduSwitch(GOMSPACE::Pdu pdu, pcdu::Switches switchIdx, +void PcduHandler::checkAndUpdatePduSwitch(GOMSPACE::Pdu pdu, pcdu::Switches switchIdx, uint8_t setValue) { using namespace pcdu; if (switchStates[switchIdx] != setValue) { diff --git a/mission/devices/PcduHandler.h b/mission/devices/PcduHandler.h index dbd9b5e3..170c27f2 100644 --- a/mission/devices/PcduHandler.h +++ b/mission/devices/PcduHandler.h @@ -20,13 +20,13 @@ * This is necessary because the FSFW manages all power related functionalities via one * power object. This includes for example switching on and off of devices. */ -class PCDUHandler : public PowerSwitchIF, +class PcduHandler : public PowerSwitchIF, public HasLocalDataPoolIF, public SystemObject, public ExecutableObjectIF { public: - PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize = 20); - virtual ~PCDUHandler(); + PcduHandler(object_id_t setObjectId, size_t cmdQueueSize = 20); + virtual ~PcduHandler(); virtual ReturnValue_t initialize() override; virtual ReturnValue_t performOperation(uint8_t counter) override; diff --git a/mission/system/objects/DualLaneAssemblyBase.cpp b/mission/system/objects/DualLaneAssemblyBase.cpp index a55553a0..ca969dbb 100644 --- a/mission/system/objects/DualLaneAssemblyBase.cpp +++ b/mission/system/objects/DualLaneAssemblyBase.cpp @@ -19,7 +19,10 @@ DualLaneAssemblyBase::DualLaneAssemblyBase(object_id_t objectId, PowerSwitchIF* void DualLaneAssemblyBase::performChildOperation() { using namespace duallane; if (pwrStateMachine.active()) { - pwrStateMachineWrapper(); + ReturnValue_t result = pwrStateMachineWrapper(); + if (result != returnvalue::OK) { + handleModeTransitionFailed(result); + } } // Only perform the regular child operation if the power state machine is not active. // It does not make any sense to command device modes while the power switcher is busy @@ -112,6 +115,7 @@ void DualLaneAssemblyBase::handleModeReached() { pwrStateMachine.start(targetMode, targetSubmode); // Now we can switch off the power. After that, the AssemblyBase::handleModeReached function // will be called + // Ignore failures for now. pwrStateMachineWrapper(); } else { finishModeOp();