Merge branch 'develop' into refactoring_bugfixes_power_switching

CHANGELOG.md

@@ -16,6 +16,22 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+## Added
+
+- Failure of Safe Mode Ctrl will now trigger an event. As this can only be caused by sensors not
+  being in the correct mode, the assemblies should take care that this will never happen and no
+  additional FDIR is needed.
+
+## Changed
+
+- Telemetry relevant datasets for the RWs are now set invalid and partially reset on shotdown.
+- Bump FSFW: merged upstream.
+
+# [v1.37.2] 2023-03-14
+
+- Changed `PoolManager` bugfix implementation in the FSFW.
+- Some tweaks for IPC and TM store configuration
+
 # [v1.37.1] 2023-03-14
 
 This version works on the EM as well.

CMakeLists.txt

@@ -11,7 +11,7 @@ cmake_minimum_required(VERSION 3.13)
 
 set(OBSW_VERSION_MAJOR 1)
 set(OBSW_VERSION_MINOR 37)
-set(OBSW_VERSION_REVISION 1)
+set(OBSW_VERSION_REVISION 2)
 
 # set(CMAKE_VERBOSE TRUE)
 

bsp_hosted/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 277 translations.
+ * @brief    Auto-generated event translation file. Contains 278 translations.
  * @details
- * Generated on: 2023-03-14 17:08:41
+ * Generated on: 2023-03-15 10:10:04
  */
 #include "translateEvents.h"
 
@@ -97,6 +97,7 @@ const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
 const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
 const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO";
 const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION";
+const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
 const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
 const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
 const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@@ -464,6 +465,8 @@ const char *translateEvents(Event event) {
       return MEKF_INVALID_INFO_STRING;
     case (11204):
       return MEKF_INVALID_MODE_VIOLATION_STRING;
+    case (11205):
+      return SAFE_MODE_CONTROLLER_FAILURE_STRING;
     case (11300):
       return SWITCH_CMD_SENT_STRING;
     case (11301):

fsfw

@@ -1 +1 @@
-Subproject commit 5250423d1d61c318110d4e111e141d5863546149
+Subproject commit 43fd0b2f59c3aeb2d3f4db10cfad56ee3709d68d

generators/bsp_hosted_events.csv

@@ -91,6 +91,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11202;0x2bc2;MULTIPLE_RW_INVALID;HIGH;No description;mission/acsDefs.h
 11203;0x2bc3;MEKF_INVALID_INFO;INFO;No description;mission/acsDefs.h
 11204;0x2bc4;MEKF_INVALID_MODE_VIOLATION;HIGH;No description;mission/acsDefs.h
+11205;0x2bc5;SAFE_MODE_CONTROLLER_FAILURE;HIGH;No description;mission/acsDefs.h
 11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
 11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
 11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;No description;mission/devices/devicedefinitions/powerDefinitions.h

generators/bsp_q7s_events.csv

@@ -91,6 +91,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11202;0x2bc2;MULTIPLE_RW_INVALID;HIGH;No description;mission/acsDefs.h
 11203;0x2bc3;MEKF_INVALID_INFO;INFO;No description;mission/acsDefs.h
 11204;0x2bc4;MEKF_INVALID_MODE_VIOLATION;HIGH;No description;mission/acsDefs.h
+11205;0x2bc5;SAFE_MODE_CONTROLLER_FAILURE;HIGH;No description;mission/acsDefs.h
 11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
 11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
 11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;No description;mission/devices/devicedefinitions/powerDefinitions.h

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 277 translations.
+ * @brief    Auto-generated event translation file. Contains 278 translations.
  * @details
- * Generated on: 2023-03-14 17:08:41
+ * Generated on: 2023-03-15 10:10:04
  */
 #include "translateEvents.h"
 
@@ -97,6 +97,7 @@ const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
 const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
 const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO";
 const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION";
+const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
 const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
 const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
 const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@@ -464,6 +465,8 @@ const char *translateEvents(Event event) {
       return MEKF_INVALID_INFO_STRING;
     case (11204):
       return MEKF_INVALID_MODE_VIOLATION_STRING;
+    case (11205):
+      return SAFE_MODE_CONTROLLER_FAILURE_STRING;
     case (11300):
       return SWITCH_CMD_SENT_STRING;
     case (11301):

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 277 translations.
+ * @brief    Auto-generated event translation file. Contains 278 translations.
  * @details
- * Generated on: 2023-03-14 17:08:41
+ * Generated on: 2023-03-15 10:10:04
  */
 #include "translateEvents.h"
 
@@ -97,6 +97,7 @@ const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
 const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
 const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO";
 const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION";
+const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
 const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
 const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
 const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@@ -464,6 +465,8 @@ const char *translateEvents(Event event) {
       return MEKF_INVALID_INFO_STRING;
     case (11204):
       return MEKF_INVALID_MODE_VIOLATION_STRING;
+    case (11205):
+      return SAFE_MODE_CONTROLLER_FAILURE_STRING;
     case (11300):
       return SWITCH_CMD_SENT_STRING;
     case (11301):

mission/acsDefs.h

@@ -32,6 +32,8 @@ static constexpr Event MULTIPLE_RW_INVALID = MAKE_EVENT(2, severity::HIGH);
 static constexpr Event MEKF_INVALID_INFO = MAKE_EVENT(3, severity::INFO);
 //!< MEKF was not able to compute a solution during any pointing ACS mode for a prolonged time.
 static constexpr Event MEKF_INVALID_MODE_VIOLATION = MAKE_EVENT(4, severity::HIGH);
+//!< The ACS safe mode controller was not able to compute a solution and has failed.
+static constexpr Event SAFE_MODE_CONTROLLER_FAILURE = MAKE_EVENT(5, severity::HIGH);
 
 extern const char* getModeStr(AcsMode mode);
 

mission/controller/AcsController.cpp

@@ -173,7 +173,16 @@ void AcsController::performSafe() {
         sunTargetDir, satRateSafe, &errAng, magMomMtq);
   }
   if (result == returnvalue::FAILED) {
-    // ToDo: this should never ever happen or we are dead. prob add an event at least
+    if (not safeCtrlFailureFlag) {
+      triggerEvent(acs::SAFE_MODE_CONTROLLER_FAILURE);
+      safeCtrlFailureFlag = true;
+    }
+    safeCtrlFailureCounter++;
+    if (safeCtrlFailureCounter > 50) {
+      safeCtrlFailureFlag = false;
+    }
+  } else {
+    safeCtrlFailureFlag = false;
   }
 
   actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs,

mission/controller/AcsController.h

@@ -62,6 +62,9 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   uint8_t multipleRwUnavailableCounter = 0;
   bool mekfInvalidFlag = false;
   uint16_t mekfInvalidCounter = 0;
+  bool safeCtrlFailureFlag = false;
+  uint8_t safeCtrlFailureCounter = 0;
+
   int32_t cmdSpeedRws[4] = {0, 0, 0, 0};
   int16_t cmdDipolMtqs[3] = {0, 0, 0};
 

mission/core/GenericFactory.cpp

@@ -108,23 +108,23 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
   {
     PoolManager::LocalPoolConfig poolCfg = {{250, 16},  {250, 32},   {250, 64},
                                             {150, 128}, {120, 1024}, {120, 2048}};
-    tcStore = new PoolManager(objects::TC_STORE, poolCfg, true);
+    tcStore = new PoolManager(objects::TC_STORE, poolCfg);
   }
 
   {
-    PoolManager::LocalPoolConfig poolCfg = {{600, 32},   {400, 64},   {400, 128}, {300, 512},
-                                            {150, 1024}, {150, 1024}, {150, 2048}};
-    *tmStore = new PoolManager(objects::TM_STORE, poolCfg, true);
+    PoolManager::LocalPoolConfig poolCfg = {{600, 32},  {400, 64},   {400, 128},
+                                            {300, 512}, {250, 1024}, {150, 2048}};
+    *tmStore = new PoolManager(objects::TM_STORE, poolCfg);
   }
 
   {
-    PoolManager::LocalPoolConfig poolCfg = {{300, 16},  {200, 32}, {150, 64},  {150, 128},
+    PoolManager::LocalPoolConfig poolCfg = {{300, 16},  {250, 32}, {150, 64},  {150, 128},
                                             {100, 256}, {50, 512}, {50, 1024}, {10, 2048}};
-    *ipcStore = new PoolManager(objects::IPC_STORE, poolCfg, true);
+    *ipcStore = new PoolManager(objects::IPC_STORE, poolCfg);
   }
   PoolManager::LocalPoolConfig poolCfg = {{300, 32},  {400, 64},   {250, 128},
                                           {150, 512}, {150, 1024}, {150, 2048}};
-  auto* ramToFileStore = new PoolManager(objects::DOWNLINK_RAM_STORE, poolCfg, true);
+  auto* ramToFileStore = new PoolManager(objects::DOWNLINK_RAM_STORE, poolCfg);
 
 #if OBSW_ADD_TCPIP_SERVERS == 1
 #if OBSW_ADD_TMTC_UDP_SERVER == 1
@@ -254,8 +254,8 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
                                    pus::PUS_SERVICE_20);
   new CService200ModeCommanding(objects::PUS_SERVICE_200_MODE_MGMT, config::EIVE_PUS_APID,
                                 pus::PUS_SERVICE_200, 8);
-  HealthServiceCfg healthCfg(objects::PUS_SERVICE_201_HEALTH, config::EIVE_PUS_APID, *healthTable,
-                             20);
+  HealthServiceCfg healthCfg(objects::PUS_SERVICE_201_HEALTH, config::EIVE_PUS_APID,
+                             objects::HEALTH_TABLE, 20);
   new CServiceHealthCommanding(healthCfg);
 
 #if OBSW_ADD_CFDP_COMPONENTS == 1

mission/devices/RwHandler.cpp

@@ -24,7 +24,6 @@ RwHandler::RwHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCooki
     sif::error << "RwHandler: Invalid gpio communication interface" << std::endl;
   }
 }
-
 RwHandler::~RwHandler() {}
 
 void RwHandler::doStartUp() {
@@ -43,6 +42,17 @@ void RwHandler::doShutDown() {
   }
   internalState = InternalState::DEFAULT;
   updatePeriodicReply(false, rws::REPLY_ID);
+  {
+    PoolReadGuard pg(&statusSet);
+    statusSet.currSpeed = 0.0;
+    statusSet.referenceSpeed = 0.0;
+    statusSet.state = 0;
+    statusSet.setValidity(false, true);
+  }
+  {
+    PoolReadGuard pg(&tmDataset);
+    tmDataset.setValidity(false, true);
+  }
   // The power switch is handled by the assembly, so we can go off here directly.
   setMode(MODE_OFF);
 }

unittest/testEnvironment.cpp

@@ -33,7 +33,7 @@ void factory(void* args) {
   {
     PoolManager::LocalPoolConfig poolCfg = {{300, 16},  {200, 32}, {150, 64},  {150, 128},
                                             {100, 256}, {50, 512}, {50, 1024}, {10, 2048}};
-    new PoolManager(objects::IPC_STORE, poolCfg, true);
+    new PoolManager(objects::IPC_STORE, poolCfg);
   }
 }