Merge remote-tracking branch 'origin/main' into tcs-observability

mission/controller/ThermalController.cpp

@@ -1269,25 +1269,6 @@ void ThermalController::ctrlObc() {
   }
 }
 
-void ThermalController::ctrlObcIfBoard() {
-  ctrlCtx.thermalComponent = tcsCtrl::OBCIF_BOARD;
-  sensors[0].first = deviceTemperatures.q7s.isValid();
-  sensors[0].second = deviceTemperatures.q7s.value;
-  sensors[1].first = sensorTemperatures.tmp1075Tcs0.isValid();
-  sensors[1].second = sensorTemperatures.tmp1075Tcs0.value;
-  sensors[2].first = sensorTemperatures.tmp1075Tcs1.isValid();
-  sensors[2].second = sensorTemperatures.tmp1075Tcs1.value;
-  numSensors = 3;
-  HeaterContext htrCtx(heater::HEATER_3_OBC_BRD, heater::HEATER_2_ACS_BRD, obcIfBoardLimits);
-  ctrlComponentTemperature(htrCtx);
-  if (ctrlCtx.componentAboveUpperLimit and not tooHotFlags.obcTooHotFlag) {
-    triggerEvent(tcsCtrl::OBC_OVERHEATING, tempFloatToU32());
-    tooHotFlags.obcTooHotFlag = true;
-  } else if (not ctrlCtx.componentAboveUpperLimit) {
-    tooHotFlags.obcTooHotFlag = false;
-  }
-}
-
 void ThermalController::ctrlSBandTransceiver() {
   ctrlCtx.thermalComponent = tcsCtrl::SBAND_TRANSCEIVER;
   sensors[0].first = deviceTemperatures.syrlinksPowerAmplifier.isValid();
@@ -1554,7 +1535,6 @@ void ThermalController::performThermalModuleCtrl(
   ctrlIfBoard();
   ctrlTcsBoard();
   ctrlObc();
-  ctrlObcIfBoard();
   ctrlSBandTransceiver();
   ctrlPcduP60Board();
   ctrlPcduAcu();
@@ -1621,9 +1601,11 @@ void ThermalController::ctrlComponentTemperature(HeaterContext& htrCtx) {
     // No sensors available, so switch the heater off. We can not perform control tasks if we
     // are blind..
     if (chooseHeater(htrCtx.switchNr, htrCtx.redSwitchNr)) {
-      if (heaterCtrlAllowed()) {
-        heaterSwitchHelper(htrCtx.switchNr, heater::SwitchState::OFF, ctrlCtx.thermalComponent);
-      }
+      // Also track the counter to prevent heater handler message spam. The heater handle can only
+      // process 2 messages per cycle.
+      if (heaterCtrlAllowed() and (thermalStates[currThermalComponent].noSensorAvailableCounter < 3)) {
+          heaterSwitchHelper(htrCtx.switchNr, heater::SwitchState::OFF, currThermalComponent);
+        }
     }
   }
   resetSensorsArray();
@@ -1635,18 +1617,18 @@ bool ThermalController::selectAndReadSensorTemp(HeaterContext& htrCtx) {
         sensors[i].second < SANITY_LIMIT_UPPER_TEMP) {
       ctrlCtx.sensorTemp = sensors[i].second;
       ctrlCtx.currentSensorIndex = i;
-      thermalStates[ctrlCtx.thermalComponent].errorCounter = 0;
+      thermalStates[ctrlCtx.thermalComponent].noSensorAvailableCounter = 0;
       return true;
     }
   }
 
-  thermalStates[ctrlCtx.thermalComponent].errorCounter++;
-  if (ctrlCtx.thermalComponent != tcsCtrl::RW and ctrlCtx.thermalComponent != tcsCtrl::ACS_BOARD) {
-    if (thermalStates[ctrlCtx.thermalComponent].errorCounter <= 3) {
+  thermalStates[currThermalComponent].noSensorAvailableCounter++;
+  if (currThermalComponent != RW and currThermalComponent != ACS_BOARD) {
+    if (thermalStates[ctrlCtx.thermalComponent].noSensorAvailableCounter <= 3) {
       triggerEvent(tcsCtrl::NO_VALID_SENSOR_TEMPERATURE, ctrlCtx.thermalComponent);
     }
   } else {
-    if (thermalStates[ctrlCtx.thermalComponent].errorCounter <= 8) {
+    if (thermalStates[ctrlCtx.thermalComponent].noSensorAvailableCounter <= 8) {
       triggerEvent(tcsCtrl::NO_VALID_SENSOR_TEMPERATURE, ctrlCtx.thermalComponent);
     }
   }
@@ -1858,7 +1840,7 @@ bool ThermalController::heaterCtrlAllowed() const { return submode != SUBMODE_NO
 void ThermalController::resetThermalStates() {
   for (auto& thermalState : thermalStates) {
     thermalState.heating = false;
-    thermalState.errorCounter = 0;
+    thermalState.noSensorAvailableCounter = 0;
     thermalState.heaterStartTime = 0;
     thermalState.heaterEndTime = 0;
     thermalState.sensorIndex = 0;

mission/controller/ThermalController.h

@@ -26,6 +26,80 @@
 #include <list>
 #include <optional>
 
+/**
+ * NOP Limit: Hard limit for device, usually from datasheet. Device damage is possible lif NOP limit
+ * is exceeded.
+ * OP Limit: Soft limit. Device should be switched off or TCS controller should take action if the
+ * limit is exceeded to avoid reaching NOP limit
+ */
+struct TempLimits {
+  TempLimits(float nopLowerLimit, float opLowerLimit, float cutOffLimit, float opUpperLimit,
+             float nopUpperLimit)
+      : opLowerLimit(opLowerLimit),
+        opUpperLimit(opUpperLimit),
+        cutOffLimit(cutOffLimit),
+        nopLowerLimit(nopLowerLimit),
+        nopUpperLimit(nopUpperLimit) {}
+  float opLowerLimit;
+  float opUpperLimit;
+  float cutOffLimit;
+  float nopLowerLimit;
+  float nopUpperLimit;
+};
+
+struct ThermalState {
+  uint8_t noSensorAvailableCounter;
+  // Which sensor is used for this component?
+  uint8_t sensorIndex = 0;
+  // Is heating on for that thermal module?
+  bool heating = false;
+  // Which switch is being used for heating the component
+  heater::Switch heaterSwitch = heater::Switch::NUMBER_OF_SWITCHES;
+  // Heater start time and end times as UNIX seconds. Please note that these times will be updated
+  // when a switch command is sent, with no guarantess that the heater actually went on.
+  uint32_t heaterStartTime = 0;
+  uint32_t heaterEndTime = 0;
+};
+
+struct HeaterState {
+  bool switchTransition = false;
+  HeaterHandler::SwitchState target = HeaterHandler::SwitchState::OFF;
+  uint8_t heaterSwitchControlCycles = 0;
+  bool trackHeaterMaxPeriod = false;
+  Countdown heaterOnPeriod;
+};
+
+using HeaterSwitchStates = std::array<HeaterHandler::SwitchState, heater::NUMBER_OF_SWITCHES>;
+
+enum ThermalComponents : uint8_t {
+  NONE = 0,
+  ACS_BOARD = 1,
+  MGT = 2,
+  RW = 3,
+  STR = 4,
+  IF_BOARD = 5,
+  TCS_BOARD = 6,
+  OBC = 7,
+  // Not used anymore, was identical to OBC module.
+  LEGACY_OBCIF_BOARD = 8,
+  SBAND_TRANSCEIVER = 9,
+  PCDUP60_BOARD = 10,
+  PCDUACU = 11,
+  PCDUPDU = 12,
+  PLPCDU_BOARD = 13,
+  PLOCMISSION_BOARD = 14,
+  PLOCPROCESSING_BOARD = 15,
+  DAC = 16,
+  CAMERA = 17,
+  DRO = 18,
+  X8 = 19,
+  HPA = 20,
+  TX = 21,
+  MPA = 22,
+  SCEX_BOARD = 23,
+  NUM_ENTRIES
+};
+
 class ThermalController : public ExtendedControllerBase {
  public:
   static constexpr uint8_t SUBMODE_NO_HEATER_CTRL = 1;
@@ -298,7 +372,6 @@ class ThermalController : public ExtendedControllerBase {
   void ctrlIfBoard();
   void ctrlTcsBoard();
   void ctrlObc();
-  void ctrlObcIfBoard();
   void ctrlSBandTransceiver();
   void ctrlPcduP60Board();
   void ctrlPcduAcu();