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>
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commit
9e8a417115
@ -26,6 +26,12 @@ will consitute of a breaking change warranting a new major release:
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- Internal error reporter set is now enabled by default and generated every 120 seconds.
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- Persistent TM store dumps are now performed in chronological order.
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- Various robustness improvements for the heater handler. The heater handler will now only
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process the command queue if it is not busy with switch commanding which reduces the amount
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of possible bugs.
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- The heater handler is only able to process messages stricly sequentially now but is scheduled
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twice in a 0.5 second slot so something like a consecutive heater ON or OFF command can still
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be handled relatively quickly.
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# [v5.0.0] 2023-06-26
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@ -324,6 +324,10 @@ void scheduling::initTasks() {
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
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}
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result = tcsSystemTask->addComponent(objects::HEATER_HANDLER);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
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}
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#if OBSW_ADD_SYRLINKS == 1
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PeriodicTaskIF* syrlinksCom = factory->createPeriodicTask(
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@ -33,8 +33,8 @@ void ObjectFactory::produce(void* args) {
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PersistentTmStores stores;
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ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
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*SdCardManager::instance(), &ipcStore, &tmStore, stores,
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200, true);
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*SdCardManager::instance(), &ipcStore, &tmStore, stores, 200,
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true);
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LinuxLibgpioIF* gpioComIF = nullptr;
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SerialComIF* uartComIF = nullptr;
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@ -96,6 +96,25 @@ ReturnValue_t TemperatureSensorInserter::performOperation(uint8_t opCode) {
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}
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break;
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}
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case (TestCase::COLD_PLOC_CONSECUTIVE): {
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if (cycles == 15) {
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sif::debug << "Setting cold PLOC temperature" << std::endl;
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max31865DummyMap[objects::RTD_0_IC3_PLOC_HEATSPREADER]->setTemperature(-15, true);
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}
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if (cycles == 30) {
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sif::debug << "Setting warmer PLOC temperature" << std::endl;
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max31865DummyMap[objects::RTD_0_IC3_PLOC_HEATSPREADER]->setTemperature(0, true);
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}
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if (cycles == 45) {
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sif::debug << "Setting cold PLOC temperature again" << std::endl;
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max31865DummyMap[objects::RTD_0_IC3_PLOC_HEATSPREADER]->setTemperature(-15, true);
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}
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if (cycles == 60) {
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sif::debug << "Setting warmer PLOC temperature again" << std::endl;
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max31865DummyMap[objects::RTD_0_IC3_PLOC_HEATSPREADER]->setTemperature(0, true);
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}
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break;
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}
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case (TestCase::COLD_CAMERA): {
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if (cycles == 15) {
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sif::debug << "Setting cold CAM temperature" << std::endl;
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@ -32,6 +32,7 @@ class TemperatureSensorInserter : public ExecutableObjectIF, public SystemObject
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COLD_STR = 4,
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COLD_STR_CONSECUTIVE = 5,
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COLD_CAMERA = 6,
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COLD_PLOC_CONSECUTIVE = 7,
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};
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int iteration = 0;
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uint32_t cycles = 0;
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@ -51,9 +51,13 @@ ReturnValue_t HeaterHandler::performOperation(uint8_t operationCode) {
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if (mainLineSwitcher->getSwitchState(mainLineSwitch) == SWITCH_OFF) {
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waitForSwitchOff = false;
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mode = MODE_OFF;
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busyWithSwitchCommanding = false;
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modeHelper.modeChanged(mode, submode);
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}
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}
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if (busyWithSwitchCommanding and heaterCmdBusyCd.hasTimedOut()) {
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busyWithSwitchCommanding = false;
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}
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} catch (const std::out_of_range& e) {
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sif::warning << "HeaterHandler::performOperation: "
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"Out of range error | "
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@ -101,23 +105,23 @@ ReturnValue_t HeaterHandler::initializeHeaterMap() {
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void HeaterHandler::readCommandQueue() {
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ReturnValue_t result = returnvalue::OK;
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CommandMessage command;
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do {
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if (not busyWithSwitchCommanding) {
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result = commandQueue->receiveMessage(&command);
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if (result == MessageQueueIF::EMPTY) {
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break;
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return;
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} else if (result != returnvalue::OK) {
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sif::warning << "HeaterHandler::readCommandQueue: Message reception error" << std::endl;
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break;
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}
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result = actionHelper.handleActionMessage(&command);
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if (result == returnvalue::OK) {
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continue;
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return;
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}
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result = modeHelper.handleModeCommand(&command);
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if (result == returnvalue::OK) {
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continue;
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return;
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}
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} while (result == returnvalue::OK);
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result = actionHelper.handleActionMessage(&command);
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if (result == returnvalue::OK) {
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return;
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}
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}
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}
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ReturnValue_t HeaterHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
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@ -167,6 +171,8 @@ ReturnValue_t HeaterHandler::executeAction(ActionId_t actionId, MessageQueueId_t
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heater.action = action;
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heater.cmdActive = true;
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heater.replyQueue = commandedBy;
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busyWithSwitchCommanding = true;
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heaterCmdBusyCd.resetTimer();
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return returnvalue::OK;
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}
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@ -249,6 +255,7 @@ void HeaterHandler::handleSwitchOnCommand(heater::Switch heaterIdx) {
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sif::error << "HeaterHandler::handleSwitchOnCommand: Main switch setting on timeout"
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<< std::endl;
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heater.cmdActive = false;
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busyWithSwitchCommanding = false;
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heater.waitMainSwitchOn = false;
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if (heater.replyQueue != commandQueue->getId()) {
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actionHelper.finish(false, heater.replyQueue, heater.action, MAIN_SWITCH_SET_TIMEOUT);
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@ -259,27 +266,25 @@ void HeaterHandler::handleSwitchOnCommand(heater::Switch heaterIdx) {
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// Check state of main line switch
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ReturnValue_t mainSwitchState = mainLineSwitcher->getSwitchState(mainLineSwitch);
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if (mainSwitchState == PowerSwitchIF::SWITCH_ON) {
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if (getSwitchState(heaterIdx) == SwitchState::OFF) {
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gpioId_t gpioId = heater.gpioId;
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result = gpioInterface->pullHigh(gpioId);
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if (result != returnvalue::OK) {
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sif::error << "HeaterHandler::handleSwitchOnCommand: Failed to pull gpio with id " << gpioId
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<< " high" << std::endl;
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triggerEvent(GPIO_PULL_HIGH_FAILED, result);
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} else {
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triggerEvent(HEATER_WENT_ON, heaterIdx, 0);
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EventManagerIF::triggerEvent(helper.heaters[heaterIdx].first->getObjectId(), MODE_INFO,
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MODE_ON, 0);
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{
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MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
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heater.switchState = ON;
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}
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}
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} else {
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triggerEvent(SWITCH_ALREADY_ON, heaterIdx);
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gpioId_t gpioId = heater.gpioId;
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result = gpioInterface->pullHigh(gpioId);
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if (result != returnvalue::OK) {
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sif::error << "HeaterHandler::handleSwitchOnCommand: Failed to pull GPIO with ID " << gpioId
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<< " high" << std::endl;
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triggerEvent(GPIO_PULL_HIGH_FAILED, result);
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}
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if (result == returnvalue::OK) {
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triggerEvent(HEATER_WENT_ON, heaterIdx, 0);
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{
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MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
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heater.switchState = ON;
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}
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EventManagerIF::triggerEvent(helper.heaters[heaterIdx].first->getObjectId(), MODE_INFO,
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MODE_ON, 0);
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busyWithSwitchCommanding = false;
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mode = HasModesIF::MODE_ON;
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modeHelper.modeChanged(mode, submode);
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}
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mode = HasModesIF::MODE_ON;
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modeHelper.modeChanged(mode, submode);
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// There is no need to send action finish replies if the sender was the
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// HeaterHandler itself
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if (heater.replyQueue != commandQueue->getId()) {
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@ -312,30 +317,33 @@ void HeaterHandler::handleSwitchOnCommand(heater::Switch heaterIdx) {
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void HeaterHandler::handleSwitchOffCommand(heater::Switch heaterIdx) {
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ReturnValue_t result = returnvalue::OK;
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auto& heater = heaterVec.at(heaterIdx);
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// Check whether switch is already off
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if (getSwitchState(heaterIdx)) {
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gpioId_t gpioId = heater.gpioId;
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result = gpioInterface->pullLow(gpioId);
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if (result != returnvalue::OK) {
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sif::error << "HeaterHandler::handleSwitchOffCommand: Failed to pull gpio with id" << gpioId
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<< " low" << std::endl;
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triggerEvent(GPIO_PULL_LOW_FAILED, result);
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} else {
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gpioId_t gpioId = heater.gpioId;
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result = gpioInterface->pullLow(gpioId);
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if (result != returnvalue::OK) {
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sif::error << "HeaterHandler::handleSwitchOffCommand: Failed to pull gpio with id" << gpioId
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<< " low" << std::endl;
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triggerEvent(GPIO_PULL_LOW_FAILED, result);
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}
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if (result == returnvalue::OK) {
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// Check whether switch is already off
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if (getSwitchState(heaterIdx) == SwitchState::ON) {
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{
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MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
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heater.switchState = OFF;
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}
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triggerEvent(HEATER_WENT_OFF, heaterIdx, 0);
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EventManagerIF::triggerEvent(helper.heaters[heaterIdx].first->getObjectId(), MODE_INFO,
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MODE_OFF, 0);
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// When all switches are off, also main line switch will be turned off
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if (allSwitchesOff()) {
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mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
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waitForSwitchOff = true;
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}
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} else {
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triggerEvent(SWITCH_ALREADY_OFF, heaterIdx);
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}
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EventManagerIF::triggerEvent(helper.heaters[heaterIdx].first->getObjectId(), MODE_INFO,
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MODE_OFF, 0);
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// When all switches are off, also main line switch will be turned off
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if (allSwitchesOff()) {
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mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
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waitForSwitchOff = true;
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} else {
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busyWithSwitchCommanding = false;
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}
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} else {
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triggerEvent(SWITCH_ALREADY_OFF, heaterIdx);
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}
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if (heater.replyQueue != NO_COMMANDER) {
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// Report back switch command reply if necessary
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@ -148,6 +148,7 @@ class HeaterHandler : public ExecutableObjectIF,
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/** Size of command queue */
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size_t cmdQueueSize = 20;
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bool waitForSwitchOff = true;
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bool busyWithSwitchCommanding = false;
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GpioIF* gpioInterface = nullptr;
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@ -163,6 +164,7 @@ class HeaterHandler : public ExecutableObjectIF,
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power::Switch_t mainLineSwitch;
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ActionHelper actionHelper;
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Countdown heaterCmdBusyCd = Countdown(2000);
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StorageManagerIF* ipcStore = nullptr;
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