struct heaterStates and more

bsp_hosted/ObjectFactory.cpp

@@ -1,7 +1,6 @@
 #include "ObjectFactory.h"
 
 #include <fsfw/power/DummyPowerSwitcher.h>
-#include "fsfw/power/PowerSwitchIF.h"
 #include <fsfw/tmtcservices/CommandingServiceBase.h>
 #include <fsfw/tmtcservices/PusServiceBase.h>
 #include <mission/controller/ThermalController.h>
@@ -11,6 +10,7 @@
 
 #include "OBSWConfig.h"
 #include "fsfw/platform.h"
+#include "fsfw/power/PowerSwitchIF.h"
 #include "fsfw_tests/integration/task/TestTask.h"
 
 #if OBSW_ADD_TMTC_UDP_SERVER == 1

dummies/P60DockDummy.h

@@ -2,6 +2,7 @@
 #define DUMMIES_P60DOCKDUMMY_H_
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
+
 #include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
 
 class P60DockDummy : public DeviceHandlerBase {

dummies/TemperatureSensorInserter.cpp

@@ -14,9 +14,7 @@ TemperatureSensorInserter::TemperatureSensorInserter(object_id_t objectId,
       tmp1075DummyMap(std::move(tempTmpSensorDummies_)) {}
 
 ReturnValue_t TemperatureSensorInserter::initialize() {
-
   if (performTest) {
-
     if (testCase == TestCase::COOL_SYRLINKS) {
     }
   }
@@ -35,7 +33,7 @@ ReturnValue_t TemperatureSensorInserter::performOperation(uint8_t opCode) {
   }
 
   if (cycles == 10) {
-    max31865DummyMap[objects::RTD_14_IC17_TCS_BOARD]->setTemperature(-100, true);
+    max31865DummyMap[objects::RTD_2_IC5_4K_CAMERA]->setTemperature(-100, true);
   }
   /*
   ReturnValue_t result = max31865PlocHeatspreaderSet.read();
@@ -54,7 +52,4 @@ ReturnValue_t TemperatureSensorInserter::performOperation(uint8_t opCode) {
   cycles++;
   return returnvalue::OK;
 }
-ReturnValue_t TemperatureSensorInserter::initializeAfterTaskCreation() {
+ReturnValue_t TemperatureSensorInserter::initializeAfterTaskCreation() { return returnvalue::OK; }
-
-  return returnvalue::OK;
-}

linux/devices/CMakeLists.txt

@@ -3,7 +3,8 @@ if(EIVE_BUILD_GPSD_GPS_HANDLER)
 endif()
 
 target_sources(
-  ${OBSW_NAME} PRIVATE Max31865RtdPolling.cpp ScexUartReader.cpp ImtqPollingTask.cpp
+  ${OBSW_NAME}
+  PRIVATE Max31865RtdPolling.cpp ScexUartReader.cpp ImtqPollingTask.cpp
           ScexDleParser.cpp ScexHelper.cpp RwPollingTask.cpp)
 
 add_subdirectory(ploc)

mission/controller/ThermalController.cpp

@@ -1344,79 +1344,49 @@ void ThermalController::ctrlScexBoard() {
 }
 
 void ThermalController::performThermalModuleCtrl() {
-  ctrlAcsBoard();
+  //  ctrlAcsBoard();
-  ctrlMgt();
+  //  ctrlMgt();
-  ctrlRw();
+  //  ctrlRw();
-  ctrlStr();
+  //  ctrlStr();
-  ctrlIfBoard();
+  //  ctrlIfBoard();
-  ctrlTcsBoard();
+  //  ctrlTcsBoard();
-  ctrlObc();
+  //  ctrlObc();
-  ctrlObcIfBoard();
+  //  ctrlObcIfBoard();
-  ctrlSBandTransceiver();
+  //  ctrlSBandTransceiver();
-  ctrlPcduP60Board();
+  //  ctrlPcduP60Board();
-  ctrlPcduAcu();
+  //  ctrlPcduAcu();
-  ctrlPcduPdu();
+  //  ctrlPcduPdu();
-  ctrlPlPcduBoard();
+  //  ctrlPlPcduBoard();
-  ctrlPlocMissionBoard();
+  //  ctrlPlocMissionBoard();
-  ctrlPlocProcessingBoard();
+  //  ctrlPlocProcessingBoard();
-  ctrlDac();
+  //  ctrlDac();
   ctrlCameraBody();
-  ctrlDro();
+  //  ctrlDro();
-  ctrlX8();
+  //  ctrlX8();
-  ctrlHpa();
+  //  ctrlHpa();
-  ctrlTx();
+  //  ctrlTx();
-  ctrlMpa();
+  //  ctrlMpa();
-  ctrlScexBoard();
+  //  ctrlScexBoard();
+  //  heaterTransitionControl();
 }
-
+void ThermalController::ctrlComponentTemperature(heater::Switchers switchNr,
-void ThermalController::ctrlHeater(heater::Switchers switchNr, heater::Switchers redSwitchNr,
+                                                 heater::Switchers redSwitchNr,
-                                   struct TempLimits& tempLimit) {
+                                                 TempLimits& tempLimit) {
-  componentAboveCutOffLimit = false;
+  if (selectAndReadSensorTemp()) {
-  // Heater off
+    if (chooseHeater(switchNr, redSwitchNr)) {
-  if (not heaterHandler.checkSwitchState(switchNr) and not thermalStates[thermalComponent].heating) {
+      ctrlHeater(switchNr, redSwitchNr, tempLimit);
-    if (sensorTemp < tempLimit.opLowerLimit) {
-      heaterHandler.switchHeater(switchNr, HeaterHandler::SwitchState::ON);
-      sif::info << "ThermalController::ctrlHeater: Heater" << switchNr << " ON" << std::endl;
-      thermalStates[thermalComponent].heating = true;
-      //TODO: EVENT
-      //TODO: merken wenn an oder ausgeschaltet und erst nach drei zyklen wieder checken? wenn in transition dann paar mal skippen mit transitionboolean; bool switchOnTransition und bool switchOffTasnition, counter 3 zyklen dabei checken ob tansition erfolgreich, bool clearen, falls drei erreicht heaterControlErrorCounter global zählen
     }
-    // Heater on
+  } else {
-  } else if (heaterHandler.checkSwitchState(switchNr) and thermalStates[thermalComponent].heating) {
+    if (chooseHeater(switchNr,
-    if (sensorTemp >= tempLimit.opLowerLimit + TEMP_OFFSET) {
+                     redSwitchNr)) {  // TODO: muss der Heater dann wirklich abgeschalten werden?
+      if (heaterHandler.checkSwitchState(switchNr)) {
         heaterHandler.switchHeater(switchNr, HeaterHandler::SwitchState::OFF);
-      sif::info << "ThermalController::ctrlHeater: Heater" << switchNr << " OFF" << std::endl; //TODO: array mit struct enthält infos
+        sif::info << "ThermalController::ctrlHeater: Heater" << switchNr << " OFF" << std::endl;
-      thermalStates[thermalComponent].heating = false;
-
-    }
-  } else if (redSwitchNrInUse) {
-    if (heaterHandler.checkSwitchState(redSwitchNr)) {
-      if (sensorTemp >= tempLimit.cutOffLimit) {
-        componentAboveCutOffLimit = true;
-        heaterHandler.switchHeater(redSwitchNr, HeaterHandler::SwitchState::OFF);
-        sif::info << "ThermalController::ctrlHeater: Heater" << redSwitchNr << " OFF" << std::endl;
       }
     }
   }
+  resetSensorsArray();
 }
-
-bool ThermalController::chooseHeater(heater::Switchers& switchNr, heater::Switchers redSwitchNr) {
-  bool heaterAvailable = true;
-
-  if (heaterHandler.getHealth(switchNr) != HasHealthIF::HEALTHY) {
-    if (heaterHandler.getHealth(redSwitchNr) == HasHealthIF::HEALTHY) {
-      switchNr = redSwitchNr;
-      redSwitchNrInUse = true;
-    } else {
-      heaterAvailable = false;
-      triggerEvent(NO_HEALTHY_HEATER_AVAILABLE, switchNr, redSwitchNr);
-    }
-  } else {
-    redSwitchNrInUse = false;
-  }
-  return heaterAvailable;
-}
-
 bool ThermalController::selectAndReadSensorTemp() {
   for (unsigned i = 0; i < numSensors; i++) {
     if (sensors[i].first and sensors[i].second != INVALID_TEMPERATURE) {
@@ -1439,31 +1409,94 @@ bool ThermalController::selectAndReadSensorTemp() {
 
   return false;
 }
+bool ThermalController::chooseHeater(heater::Switchers& switchNr, heater::Switchers redSwitchNr) {
+  bool heaterAvailable = true;
 
-void ThermalController::ctrlComponentTemperature(heater::Switchers switchNr,
+  if (heaterHandler.getHealth(switchNr) != HasHealthIF::HEALTHY) {
-                                                 heater::Switchers redSwitchNr,
+    if (heaterHandler.getHealth(redSwitchNr) == HasHealthIF::HEALTHY) {
-                                                 TempLimits& tempLimit) {
+      switchNr = redSwitchNr;
-  if (selectAndReadSensorTemp()) {
+      redSwitchNrInUse = true;
-    if (chooseHeater(switchNr, redSwitchNr)) {
+    } else {
-      ctrlHeater(switchNr, redSwitchNr, tempLimit);
+      heaterAvailable = false;
+      triggerEvent(NO_HEALTHY_HEATER_AVAILABLE, switchNr, redSwitchNr);
     }
   } else {
-    if (chooseHeater(switchNr,
+    redSwitchNrInUse = false;
-                     redSwitchNr)) {  // TODO: muss der Heater dann wirklich abgeschalten werden?
-      if (heaterHandler.checkSwitchState(switchNr)) {
-        heaterHandler.switchHeater(switchNr, HeaterHandler::SwitchState::OFF);
-        sif::info << "ThermalController::ctrlHeater: Heater" << switchNr << " OFF" << std::endl;
   }
+  return heaterAvailable;
 }
-  }
+void ThermalController::ctrlHeater(heater::Switchers switchNr, heater::Switchers redSwitchNr,
-  resetSensorsArray();
+                                   struct TempLimits& tempLimit) {
+  componentAboveCutOffLimit = false;
+  // if Heater off
+  if (not heaterStates[switchNr].switchOnTransition and
+      not heaterStates[switchNr].switchOffTransition) {
+    if (not heaterHandler.checkSwitchState(switchNr) and
+        not thermalStates[thermalComponent].heating) {
+      if (sensorTemp < tempLimit.opLowerLimit) {
+        heaterHandler.switchHeater(switchNr, HeaterHandler::SwitchState::ON);
+        heaterStates[switchNr].switchOnTransition = true;
+        sif::info << "ThermalController::ctrlHeater: Heater " << thermalComponent << " ON"
+                  << std::endl;
+        thermalStates[thermalComponent].heating = true;
+        // TODO: EVENT; aber heaterHandler erstellt schon event
+        // TODO: merken wenn an oder ausgeschaltet und erst nach drei zyklen wieder checken? wenn in
+        // transition dann paar mal skippen; bool switchOnTransition und bool
+        // switchOffTasnition, counter 3 zyklen dabei checken ob tansition erfolgreich, bool
+        // clearen, falls drei erreicht heaterControlErrorCounter global zählen
       }
 
+      // if Heater on
+    } else if (heaterHandler.checkSwitchState(switchNr)) {
+      if (thermalStates[thermalComponent].heating) {
+        if (sensorTemp >= tempLimit.opLowerLimit + TEMP_OFFSET) {
+          heaterHandler.switchHeater(switchNr, HeaterHandler::SwitchState::OFF);
+          sif::info << "ThermalController::ctrlHeater: Heater " << thermalComponent << " OFF"
+                    << std::endl;
+          heaterStates[switchNr].switchOffTransition = true;
+          thermalStates[thermalComponent].heating = false;
+        }
+      } else {
+        if (sensorTemp >= tempLimit.cutOffLimit) {
+          componentAboveCutOffLimit = true;
+          heaterHandler.switchHeater(switchNr, HeaterHandler::SwitchState::OFF);
+          sif::info << "ThermalController::ctrlHeater: Reached CutOffLimit: Heater "
+                    << thermalComponent << " OFF" << std::endl;
+          heaterStates[switchNr].switchOffTransition = true;
+          if (heaterHandler.checkSwitchState(redSwitchNr)) {
+            heaterHandler.switchHeater(redSwitchNr, HeaterHandler::SwitchState::OFF);
+            sif::info << "ThermalController::ctrlHeater: Reached CutOffLimit: RedundantHeater "
+                      << thermalComponent << " OFF" << std::endl;
+            heaterStates[redSwitchNr].switchOffTransition = true;
+          }
+        }
+      }
+    }
+  }
+}
 void ThermalController::resetSensorsArray() {
-  // TODO: müssen auch andere Variablen resettet werden? senstemp?
   for (auto& validValuePair : sensors) {
     validValuePair.first = false;
     validValuePair.second = INVALID_TEMPERATURE;
   }
   thermalComponent = NONE;
 }
+void ThermalController::heaterTransitionControl() {
+  for (unsigned i = 0; i < 7; i++) {
+    if (heaterStates[i].switchOffTransition) {
+      if (heaterStates[i].heaterSwitchOffControlErrorCounter > 3) {
+        heaterStates[i].switchOffTransition = false;
+        heaterStates[i].heaterSwitchOffControlErrorCounter = 0;
+      }
+      heaterStates[i].heaterSwitchOffControlErrorCounter++;
+    }
+
+    if (heaterStates[i].switchOnTransition) {
+      if (heaterStates[i].heaterSwitchOnControlErrorCounter > 3) {
+        heaterStates[i].switchOnTransition = false;
+        heaterStates[i].heaterSwitchOnControlErrorCounter = 0;
+      }
+      heaterStates[i].heaterSwitchOnControlErrorCounter++;
+    }
+  }
+}

mission/controller/ThermalController.h

@@ -42,6 +42,13 @@ struct  ThermalState {
   uint32_t heaterStartTime;
 };
 
+struct HeaterState {
+  bool switchOnTransition;
+  bool switchOffTransition;
+  uint8_t heaterSwitchOnControlErrorCounter;
+  uint8_t heaterSwitchOffControlErrorCounter;
+};
+
 enum ThermalComponents : uint8_t {
   // TODO: Großbuchstaben
   NONE = 0,
@@ -190,7 +197,7 @@ class ThermalController : public ExtendedControllerBase {
   bool redSwitchNrInUse = false;
   bool componentAboveCutOffLimit = false;
   std::array<ThermalState, 30> thermalStates{};
-
+  std::array<HeaterState, 7> heaterStates{};
 
   // Initial delay to make sure all pool variables have been initialized their owners
   Countdown initialCountdown = Countdown(DELAY);
@@ -246,6 +253,7 @@ class ThermalController : public ExtendedControllerBase {
   void ctrlTx();
   void ctrlMpa();
   void ctrlScexBoard();
+  void heaterTransitionControl();
 };
 
 #endif /* MISSION_CONTROLLER_THERMALCONTROLLER_H_ */

mission/devices/GyroADIS1650XHandler.cpp

@@ -434,8 +434,7 @@ ReturnValue_t GyroADIS1650XHandler::spiSendCallback(SpiComIF *comIf, SpiCookie *
       // Prepare transfer
       int fileDescriptor = 0;
       std::string device = comIf->getSpiDev();
-      UnixFileGuard fileHelper(device,
+      UnixFileGuard fileHelper(device, fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
-                               fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
       if (fileHelper.getOpenResult() != returnvalue::OK) {
         return SpiComIF::OPENING_FILE_FAILED;
       }