Merge pull request 'various improvements for heater handler' (#717) from only-one-heater-cmd-at-a-time into main
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Reviewed-on: #717
Reviewed-by: Marius Eggert <eggertm@irs.uni-stuttgart.de>
This commit is contained in:
Robin Müller 2023-06-28 10:01:20 +02:00
commit 9e8a417115
7 changed files with 89 additions and 49 deletions

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@ -26,6 +26,12 @@ will consitute of a breaking change warranting a new major release:
- Internal error reporter set is now enabled by default and generated every 120 seconds.
- Persistent TM store dumps are now performed in chronological order.
- Various robustness improvements for the heater handler. The heater handler will now only
process the command queue if it is not busy with switch commanding which reduces the amount
of possible bugs.
- The heater handler is only able to process messages stricly sequentially now but is scheduled
twice in a 0.5 second slot so something like a consecutive heater ON or OFF command can still
be handled relatively quickly.
# [v5.0.0] 2023-06-26

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@ -324,6 +324,10 @@ void scheduling::initTasks() {
if (result != returnvalue::OK) {
scheduling::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
}
result = tcsSystemTask->addComponent(objects::HEATER_HANDLER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
}
#if OBSW_ADD_SYRLINKS == 1
PeriodicTaskIF* syrlinksCom = factory->createPeriodicTask(

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@ -33,8 +33,8 @@ void ObjectFactory::produce(void* args) {
PersistentTmStores stores;
ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
*SdCardManager::instance(), &ipcStore, &tmStore, stores,
200, true);
*SdCardManager::instance(), &ipcStore, &tmStore, stores, 200,
true);
LinuxLibgpioIF* gpioComIF = nullptr;
SerialComIF* uartComIF = nullptr;

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@ -96,6 +96,25 @@ ReturnValue_t TemperatureSensorInserter::performOperation(uint8_t opCode) {
}
break;
}
case (TestCase::COLD_PLOC_CONSECUTIVE): {
if (cycles == 15) {
sif::debug << "Setting cold PLOC temperature" << std::endl;
max31865DummyMap[objects::RTD_0_IC3_PLOC_HEATSPREADER]->setTemperature(-15, true);
}
if (cycles == 30) {
sif::debug << "Setting warmer PLOC temperature" << std::endl;
max31865DummyMap[objects::RTD_0_IC3_PLOC_HEATSPREADER]->setTemperature(0, true);
}
if (cycles == 45) {
sif::debug << "Setting cold PLOC temperature again" << std::endl;
max31865DummyMap[objects::RTD_0_IC3_PLOC_HEATSPREADER]->setTemperature(-15, true);
}
if (cycles == 60) {
sif::debug << "Setting warmer PLOC temperature again" << std::endl;
max31865DummyMap[objects::RTD_0_IC3_PLOC_HEATSPREADER]->setTemperature(0, true);
}
break;
}
case (TestCase::COLD_CAMERA): {
if (cycles == 15) {
sif::debug << "Setting cold CAM temperature" << std::endl;

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@ -32,6 +32,7 @@ class TemperatureSensorInserter : public ExecutableObjectIF, public SystemObject
COLD_STR = 4,
COLD_STR_CONSECUTIVE = 5,
COLD_CAMERA = 6,
COLD_PLOC_CONSECUTIVE = 7,
};
int iteration = 0;
uint32_t cycles = 0;

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@ -51,9 +51,13 @@ ReturnValue_t HeaterHandler::performOperation(uint8_t operationCode) {
if (mainLineSwitcher->getSwitchState(mainLineSwitch) == SWITCH_OFF) {
waitForSwitchOff = false;
mode = MODE_OFF;
busyWithSwitchCommanding = false;
modeHelper.modeChanged(mode, submode);
}
}
if (busyWithSwitchCommanding and heaterCmdBusyCd.hasTimedOut()) {
busyWithSwitchCommanding = false;
}
} catch (const std::out_of_range& e) {
sif::warning << "HeaterHandler::performOperation: "
"Out of range error | "
@ -101,23 +105,23 @@ ReturnValue_t HeaterHandler::initializeHeaterMap() {
void HeaterHandler::readCommandQueue() {
ReturnValue_t result = returnvalue::OK;
CommandMessage command;
do {
if (not busyWithSwitchCommanding) {
result = commandQueue->receiveMessage(&command);
if (result == MessageQueueIF::EMPTY) {
break;
return;
} else if (result != returnvalue::OK) {
sif::warning << "HeaterHandler::readCommandQueue: Message reception error" << std::endl;
break;
}
result = actionHelper.handleActionMessage(&command);
if (result == returnvalue::OK) {
continue;
return;
}
result = modeHelper.handleModeCommand(&command);
if (result == returnvalue::OK) {
continue;
return;
}
} while (result == returnvalue::OK);
result = actionHelper.handleActionMessage(&command);
if (result == returnvalue::OK) {
return;
}
}
}
ReturnValue_t HeaterHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
@ -167,6 +171,8 @@ ReturnValue_t HeaterHandler::executeAction(ActionId_t actionId, MessageQueueId_t
heater.action = action;
heater.cmdActive = true;
heater.replyQueue = commandedBy;
busyWithSwitchCommanding = true;
heaterCmdBusyCd.resetTimer();
return returnvalue::OK;
}
@ -249,6 +255,7 @@ void HeaterHandler::handleSwitchOnCommand(heater::Switch heaterIdx) {
sif::error << "HeaterHandler::handleSwitchOnCommand: Main switch setting on timeout"
<< std::endl;
heater.cmdActive = false;
busyWithSwitchCommanding = false;
heater.waitMainSwitchOn = false;
if (heater.replyQueue != commandQueue->getId()) {
actionHelper.finish(false, heater.replyQueue, heater.action, MAIN_SWITCH_SET_TIMEOUT);
@ -259,27 +266,25 @@ void HeaterHandler::handleSwitchOnCommand(heater::Switch heaterIdx) {
// Check state of main line switch
ReturnValue_t mainSwitchState = mainLineSwitcher->getSwitchState(mainLineSwitch);
if (mainSwitchState == PowerSwitchIF::SWITCH_ON) {
if (getSwitchState(heaterIdx) == SwitchState::OFF) {
gpioId_t gpioId = heater.gpioId;
result = gpioInterface->pullHigh(gpioId);
if (result != returnvalue::OK) {
sif::error << "HeaterHandler::handleSwitchOnCommand: Failed to pull gpio with id " << gpioId
<< " high" << std::endl;
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;
}
}
} else {
triggerEvent(SWITCH_ALREADY_ON, heaterIdx);
gpioId_t gpioId = heater.gpioId;
result = gpioInterface->pullHigh(gpioId);
if (result != returnvalue::OK) {
sif::error << "HeaterHandler::handleSwitchOnCommand: Failed to pull GPIO with ID " << gpioId
<< " high" << std::endl;
triggerEvent(GPIO_PULL_HIGH_FAILED, result);
}
if (result == returnvalue::OK) {
triggerEvent(HEATER_WENT_ON, heaterIdx, 0);
{
MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
heater.switchState = ON;
}
EventManagerIF::triggerEvent(helper.heaters[heaterIdx].first->getObjectId(), MODE_INFO,
MODE_ON, 0);
busyWithSwitchCommanding = false;
mode = HasModesIF::MODE_ON;
modeHelper.modeChanged(mode, submode);
}
mode = HasModesIF::MODE_ON;
modeHelper.modeChanged(mode, submode);
// There is no need to send action finish replies if the sender was the
// HeaterHandler itself
if (heater.replyQueue != commandQueue->getId()) {
@ -312,30 +317,33 @@ void HeaterHandler::handleSwitchOnCommand(heater::Switch heaterIdx) {
void HeaterHandler::handleSwitchOffCommand(heater::Switch heaterIdx) {
ReturnValue_t result = returnvalue::OK;
auto& heater = heaterVec.at(heaterIdx);
// Check whether switch is already off
if (getSwitchState(heaterIdx)) {
gpioId_t gpioId = heater.gpioId;
result = gpioInterface->pullLow(gpioId);
if (result != returnvalue::OK) {
sif::error << "HeaterHandler::handleSwitchOffCommand: Failed to pull gpio with id" << gpioId
<< " low" << std::endl;
triggerEvent(GPIO_PULL_LOW_FAILED, result);
} else {
gpioId_t gpioId = heater.gpioId;
result = gpioInterface->pullLow(gpioId);
if (result != returnvalue::OK) {
sif::error << "HeaterHandler::handleSwitchOffCommand: Failed to pull gpio with id" << gpioId
<< " low" << std::endl;
triggerEvent(GPIO_PULL_LOW_FAILED, result);
}
if (result == returnvalue::OK) {
// Check whether switch is already off
if (getSwitchState(heaterIdx) == SwitchState::ON) {
{
MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
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);
waitForSwitchOff = true;
}
} else {
triggerEvent(SWITCH_ALREADY_OFF, heaterIdx);
}
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);
waitForSwitchOff = true;
} else {
busyWithSwitchCommanding = false;
}
} else {
triggerEvent(SWITCH_ALREADY_OFF, heaterIdx);
}
if (heater.replyQueue != NO_COMMANDER) {
// Report back switch command reply if necessary

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@ -148,6 +148,7 @@ class HeaterHandler : public ExecutableObjectIF,
/** Size of command queue */
size_t cmdQueueSize = 20;
bool waitForSwitchOff = true;
bool busyWithSwitchCommanding = false;
GpioIF* gpioInterface = nullptr;
@ -163,6 +164,7 @@ class HeaterHandler : public ExecutableObjectIF,
power::Switch_t mainLineSwitch;
ActionHelper actionHelper;
Countdown heaterCmdBusyCd = Countdown(2000);
StorageManagerIF* ipcStore = nullptr;