Merge branch 'v3.0.0-dev' into v4.0.0-dev

CHANGELOG.md

@@ -16,7 +16,7 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
-# [v2.2.0] to be released
+# [v4.0.0] to be released
 
 - eive-tmtc: v4.0.0 (to be released)
 
@@ -24,7 +24,7 @@ will consitute of a breaking change warranting a new major release:
 
 - CFDP low level protocol bugfix. Requires fsfw update and tmtc update.
 
-# [v2.1.0] to be released
+# [v3.0.0] to be released
 
 ## Changed
 
@@ -55,6 +55,8 @@ will consitute of a breaking change warranting a new major release:
 - Transmitter state is not taken into account anymore for writing into the PTME. The PTME should
   be perfectly capable of generating a valid CADU, even when the transmitter is not ON for any
   reason.
+- OFF mode is ignores in TM store for determining whether a store will be written. The modes will
+  only be used to cancel a transfer.
 
 ## Added
 
@@ -63,6 +65,7 @@ will consitute of a breaking change warranting a new major release:
 - BPX battery handler is added for EM by default.
 - ACU dummy HK sets
 - IMTQ HK sets
+- IMTQ dummy now handles power switch
 
 ## Fixed
 
@@ -86,6 +89,14 @@ will consitute of a breaking change warranting a new major release:
 - HK TM store: The HK store dump success event was triggered for cancelled HK dumps.
 - When a PUS parsing error occured while parsing a TM store file, the dump completion procedure
   was always executed.
+- Some smaller logic fixes in the TM store base class
+- Fixed usage of C `abs` instead of C++ `std::abs`, which results in MTQ commands not being
+  scaled correctly between 1Am² and 0.2Am².
+- TCS Heater Handler: Always trigger mode event if a heater goes `OFF` or `ON`. This event might
+  soon replace the `HEATER_WENT_ON` and `HEATER_WENT_OFF` events.
+- Prevent spam of TCS controller heater unavailability event if all heaters are in external control.
+- TCS heater switch info set contained invalid values because of a faulty `memcpy` in the TCS
+  controller. There is not crash risk but the heater states were invalid.
 
 # [v2.0.5] 2023-05-11
 

CMakeLists.txt

@@ -9,9 +9,9 @@
 # ##############################################################################
 cmake_minimum_required(VERSION 3.13)
 
-set(OBSW_VERSION_MAJOR 2)
+set(OBSW_VERSION_MAJOR 3)
 set(OBSW_VERSION_MINOR 0)
-set(OBSW_VERSION_REVISION 5)
+set(OBSW_VERSION_REVISION 0)
 
 # set(CMAKE_VERBOSE TRUE)
 
@@ -98,7 +98,7 @@ set(OBSW_ADD_THERMAL_TEMP_INSERTER
     ${OBSW_Q7S_EM}
     CACHE STRING "Add thermal sensor temperature inserter")
 set(OBSW_ADD_ACS_BOARD
-    1
+    ${INIT_VAL}
     CACHE STRING "Add ACS board module")
 set(OBSW_ADD_GPS_CTRL
     ${INIT_VAL}

bsp_q7s/em/emObjectFactory.cpp

@@ -97,10 +97,10 @@ void ObjectFactory::produce(void* args) {
   // TODO: Careful! Switching this on somehow messes with the communication with the ProASIC
   //       and will cause xsc_boot_copy commands to always boot to 0 0
   // createRadSensorComponent(gpioComIF);
-  // Still initialize chip select to avoid SPI bus issues.
-  createRadSensorChipSelect(gpioComIF);
 
 #if OBSW_ADD_ACS_BOARD == 1
+  // Still initialize chip select to avoid SPI bus issues.
+  createRadSensorChipSelect(gpioComIF);
   createAcsBoardComponents(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher, true,
                            adis1650x::Type::ADIS16507);
 #else

dummies/ImtqDummy.cpp

@@ -3,11 +3,12 @@
 #include <mission/acs/imtqHelpers.h>
 
 ImtqDummy::ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie,
-                     bool enableHkSets)
+                     power::Switch_t pwrSwitcher, bool enableHkSets)
     : DeviceHandlerBase(objectId, comif, comCookie),
       setNoTorque(this),
       setWithTorque(this),
-      enableHkSets(enableHkSets) {}
+      enableHkSets(enableHkSets),
+      switcher(pwrSwitcher) {}
 
 ImtqDummy::~ImtqDummy() = default;
 
@@ -15,6 +16,15 @@ void ImtqDummy::doStartUp() { setMode(MODE_NORMAL); }
 
 void ImtqDummy::doShutDown() { setMode(_MODE_POWER_DOWN); }
 
+ReturnValue_t ImtqDummy::getSwitches(const uint8_t **switches, uint8_t *numberOfSwitches) {
+  if (switcher != power::NO_SWITCH) {
+    *numberOfSwitches = 1;
+    *switches = &switcher;
+    return returnvalue::OK;
+  }
+  return DeviceHandlerBase::NO_SWITCH;
+}
+
 ReturnValue_t ImtqDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }
 
 ReturnValue_t ImtqDummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {

dummies/ImtqDummy.h

@@ -13,10 +13,12 @@ class ImtqDummy : public DeviceHandlerBase {
   static const uint8_t SIMPLE_COMMAND_DATA = 1;
   static const uint8_t PERIODIC_REPLY_DATA = 2;
 
-  ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie, bool enableHkSets);
+  ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie,
+            power::Switch_t pwrSwitcher, bool enableHkSets);
   ~ImtqDummy() override;
 
  protected:
+  ReturnValue_t getSwitches(const uint8_t **switches, uint8_t *numberOfSwitches) override;
   imtq::HkDatasetNoTorque setNoTorque;
   imtq::HkDatasetWithTorque setWithTorque;
   bool enableHkSets;
@@ -38,6 +40,8 @@ class ImtqDummy : public DeviceHandlerBase {
   PoolEntry<float> mtmRawWithTorque = PoolEntry<float>(3);
   PoolEntry<uint8_t> actStatusWithTorque = PoolEntry<uint8_t>(1);
 
+  power::Switch_t switcher = power::NO_SWITCH;
+
   void doStartUp() override;
   void doShutDown() override;
   ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;

dummies/helperFactory.cpp

@@ -75,9 +75,10 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
   }
   auto* imtqAssy = new ImtqAssembly(objects::IMTQ_ASSY);
   imtqAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
-  auto* imtqDummy =
-      new ImtqDummy(objects::IMTQ_HANDLER, objects::DUMMY_COM_IF, comCookieDummy, enableHkSets);
+  auto* imtqDummy = new ImtqDummy(objects::IMTQ_HANDLER, objects::DUMMY_COM_IF, comCookieDummy,
+                                  power::Switches::PDU1_CH3_MGT_5V, enableHkSets);
   imtqDummy->enableThermalModule(ThermalStateCfg());
+  imtqDummy->setPowerSwitcher(&pwrSwitcher);
   imtqDummy->connectModeTreeParent(*imtqAssy);
   if (cfg.addOnlyAcuDummy) {
     new AcuDummy(objects::ACU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy, enableHkSets);

mission/com/TmStoreTaskBase.cpp

@@ -131,25 +131,22 @@ ReturnValue_t TmStoreTaskBase::performDump(PersistentTmStoreWithTmQueue& store,
   dumpContext.ptmeBusyCounter = 0;
   tmSinkBusyCd.resetTimer();
   ReturnValue_t result = store.getNextDumpPacket(tmReader, fileHasSwapped);
-  if (result != returnvalue::OK) {
-    sif::error << "PersistentTmStore: Getting next dump packet failed" << std::endl;
-  } else if (fileHasSwapped and result == PersistentTmStore::DUMP_DONE) {
+  if (fileHasSwapped and result == PersistentTmStore::DUMP_DONE) {
     // This can happen if a file is corrupted and the next file swap completes the dump.
     dumpDoneHandler();
     return returnvalue::OK;
+  } else if (result != returnvalue::OK) {
+    sif::error << "PersistentTmStore: Getting next dump packet failed" << std::endl;
+    return result;
   }
   dumpedLen = tmReader.getFullPacketLen();
-  // Only write to VC if mode is on, but always confirm the dump.
-  // If the mode is OFF, it is assumed the PTME is not usable and is not allowed to be written
-  // (e.g. to confirm a reset or the transmitter is off anyway).
-  if (mode == MODE_ON) {
-    result = channel.write(tmReader.getFullData(), dumpedLen);
-    if (result == DirectTmSinkIF::IS_BUSY) {
-      sif::warning << "PersistentTmStore: Unexpected VC channel busy" << std::endl;
-    } else if (result != returnvalue::OK) {
-      sif::warning << "PersistentTmStore: Unexpected VC channel write failure" << std::endl;
-    }
+  result = channel.write(tmReader.getFullData(), dumpedLen);
+  if (result == DirectTmSinkIF::IS_BUSY) {
+    sif::warning << "PersistentTmStore: Unexpected VC channel busy" << std::endl;
+  } else if (result != returnvalue::OK) {
+    sif::warning << "PersistentTmStore: Unexpected VC channel write failure" << std::endl;
   }
+
   result = store.confirmDump(tmReader, fileHasSwapped);
   if ((result == PersistentTmStore::DUMP_DONE or result == returnvalue::OK)) {
     dumpPerformed = true;

mission/com/VirtualChannel.cpp

@@ -18,9 +18,7 @@ uint8_t VirtualChannel::getVcid() const { return vcId; }
 
 const char* VirtualChannel::getName() const { return vcName.c_str(); }
 
-bool VirtualChannel::isBusy() const {
-  return ptme.isBusy(vcId);
-}
+bool VirtualChannel::isBusy() const { return ptme.isBusy(vcId); }
 
 void VirtualChannel::cancelTransfer() { ptme.cancelTransfer(vcId); }
 

mission/controller/ThermalController.cpp

@@ -175,7 +175,7 @@ void ThermalController::performControlOperation() {
   heaterHandler.getAllSwitchStates(heaterSwitchStateArray);
   {
     PoolReadGuard pg(&heaterInfo);
-    std::memcpy(heaterInfo.heaterSwitchState.value, heaterStates.data(), 8);
+    std::memcpy(heaterInfo.heaterSwitchState.value, heaterSwitchStateArray.data(), 8);
     {
       PoolReadGuard pg2(&currentVecPdu2);
       if (pg.getReadResult() == returnvalue::OK and pg2.getReadResult() == returnvalue::OK) {
@@ -1631,13 +1631,18 @@ bool ThermalController::selectAndReadSensorTemp(HeaterContext& htrCtx) {
 bool ThermalController::chooseHeater(heater::Switch& switchNr, heater::Switch redSwitchNr) {
   bool heaterAvailable = true;
 
-  if (heaterHandler.getHealth(switchNr) != HasHealthIF::HEALTHY) {
-    if (heaterHandler.getHealth(redSwitchNr) == HasHealthIF::HEALTHY) {
+  HasHealthIF::HealthState mainHealth = heaterHandler.getHealth(switchNr);
+  HasHealthIF::HealthState redHealth = heaterHandler.getHealth(redSwitchNr);
+  if (mainHealth != HasHealthIF::HEALTHY) {
+    if (redHealth == HasHealthIF::HEALTHY) {
       switchNr = redSwitchNr;
       redSwitchNrInUse = true;
     } else {
       heaterAvailable = false;
-      triggerEvent(tcsCtrl::NO_HEALTHY_HEATER_AVAILABLE, switchNr, redSwitchNr);
+      // Special case: Ground might command/do something with the heaters, so prevent spam.
+      if (not(mainHealth == EXTERNAL_CONTROL and redHealth == EXTERNAL_CONTROL)) {
+        triggerEvent(tcsCtrl::NO_HEALTHY_HEATER_AVAILABLE, switchNr, redSwitchNr);
+      }
     }
   } else {
     redSwitchNrInUse = false;

mission/controller/acs/ActuatorCmd.cpp

@@ -61,7 +61,7 @@ void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, int16_t *dipolMomentAct
   // Scaling along largest element if dipol exceeds maximum
   uint8_t maxIdx = 0;
   VectorOperations<double>::maxAbsValue(dipolMomentActuatorDouble, 3, &maxIdx);
-  double maxAbsValue = abs(dipolMomentActuatorDouble[maxIdx]);
+  double maxAbsValue = std::abs(dipolMomentActuatorDouble[maxIdx]);
   if (maxAbsValue > maxDipol) {
     double scalingFactor = maxDipol / maxAbsValue;
     VectorOperations<double>::mulScalar(dipolMomentActuatorDouble, scalingFactor,

mission/tcs/HeaterHandler.cpp

@@ -268,6 +268,8 @@ void HeaterHandler::handleSwitchOnCommand(heater::Switch heaterIdx) {
         triggerEvent(GPIO_PULL_HIGH_FAILED, result);
       } else {
         triggerEvent(HEATER_WENT_ON, heaterIdx, 0);
+        EventManagerIF::triggerEvent(helper.heaters[heaterIdx].first->getObjectId(), MODE_INFO,
+                                     MODE_ON, 0);
         {
           MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
           heater.switchState = ON;
@@ -324,6 +326,8 @@ void HeaterHandler::handleSwitchOffCommand(heater::Switch heaterIdx) {
         heater.switchState = OFF;
       }
       triggerEvent(HEATER_WENT_OFF, heaterIdx, 0);
+      EventManagerIF::triggerEvent(helper.heaters[heaterIdx].first->getObjectId(), MODE_INFO,
+                                   MODE_OFF, 0);
       // When all switches are off, also main line switch will be turned off
       if (allSwitchesOff()) {
         mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);

mission/tmtc/PersistentTmStore.cpp

@@ -256,6 +256,7 @@ ReturnValue_t PersistentTmStore::getNextDumpPacket(PusTmReader& reader, bool& fi
   if (state == State::IDLE or dumpParams.pendingPacketDump) {
     return returnvalue::FAILED;
   }
+  fileHasSwapped = false;
   reader.setReadOnlyData(fileBuf.data() + dumpParams.currentSize,
                          fileBuf.size() - dumpParams.currentSize);
   // CRC check to fully ensure this is a valid TM
@@ -270,7 +271,6 @@ ReturnValue_t PersistentTmStore::getNextDumpPacket(PusTmReader& reader, bool& fi
     fileHasSwapped = true;
     return loadNextDumpFile();
   }
-  fileHasSwapped = false;
   dumpParams.pendingPacketDump = true;
   return returnvalue::OK;
 }