solar array depl moved to bsp folder
hosted build working again
This commit is contained in:
@ -7,6 +7,7 @@
|
||||
#include <devices/powerSwitcherList.h>
|
||||
|
||||
#include <bsp_q7s/devices/HeaterHandler.h>
|
||||
#include <bsp_q7s/devices/SolarArrayDeploymentHandler.h>
|
||||
|
||||
#include <mission/core/GenericFactory.h>
|
||||
#include <mission/devices/PDU1Handler.h>
|
||||
@ -15,7 +16,6 @@
|
||||
#include <mission/devices/PCDUHandler.h>
|
||||
#include <mission/devices/P60DockHandler.h>
|
||||
#include <mission/devices/Tmp1075Handler.h>
|
||||
#include <mission/devices/SolarArrayDeploymentHandler.h>
|
||||
#include <mission/devices/devicedefinitions/GomSpacePackets.h>
|
||||
#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
|
||||
#include <mission/utility/TmFunnel.h>
|
||||
|
||||
@ -1,3 +1,4 @@
|
||||
target_sources(${TARGET_NAME} PRIVATE
|
||||
HeaterHandler.cpp
|
||||
SolarArrayDeploymentHandler.cpp
|
||||
)
|
||||
|
||||
201
bsp_q7s/devices/SolarArrayDeploymentHandler.cpp
Normal file
201
bsp_q7s/devices/SolarArrayDeploymentHandler.cpp
Normal file
@ -0,0 +1,201 @@
|
||||
#include "SolarArrayDeploymentHandler.h"
|
||||
|
||||
#include <devices/powerSwitcherList.h>
|
||||
#include <devices/gpioIds.h>
|
||||
|
||||
#include <linux/gpio/GpioCookie.h>
|
||||
#include <fsfw/ipc/QueueFactory.h>
|
||||
|
||||
|
||||
SolarArrayDeploymentHandler::SolarArrayDeploymentHandler(object_id_t setObjectId_,
|
||||
object_id_t gpioDriverId_, CookieIF * gpioCookie_, object_id_t mainLineSwitcherObjectId_,
|
||||
uint8_t mainLineSwitch_, gpioId_t deplSA1, gpioId_t deplSA2, uint32_t burnTimeMs) :
|
||||
SystemObject(setObjectId_), gpioDriverId(gpioDriverId_), gpioCookie(gpioCookie_),
|
||||
mainLineSwitcherObjectId(mainLineSwitcherObjectId_), mainLineSwitch(mainLineSwitch_),
|
||||
deplSA1(deplSA1), deplSA2(deplSA2), burnTimeMs(burnTimeMs), actionHelper(this, nullptr) {
|
||||
commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize,
|
||||
MessageQueueMessage::MAX_MESSAGE_SIZE);
|
||||
}
|
||||
|
||||
SolarArrayDeploymentHandler::~SolarArrayDeploymentHandler() {
|
||||
}
|
||||
|
||||
ReturnValue_t SolarArrayDeploymentHandler::performOperation(uint8_t operationCode) {
|
||||
|
||||
if (operationCode == DeviceHandlerIF::PERFORM_OPERATION) {
|
||||
handleStateMachine();
|
||||
return RETURN_OK;
|
||||
}
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t SolarArrayDeploymentHandler::initialize() {
|
||||
ReturnValue_t result = SystemObject::initialize();
|
||||
if (result != RETURN_OK) {
|
||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||
}
|
||||
|
||||
gpioInterface = objectManager->get<GpioIF>(gpioDriverId);
|
||||
if (gpioInterface == nullptr) {
|
||||
sif::error << "SolarArrayDeploymentHandler::initialize: Invalid Gpio interface."
|
||||
<< std::endl;
|
||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||
}
|
||||
|
||||
result = gpioInterface->addGpios(dynamic_cast<GpioCookie*>(gpioCookie));
|
||||
if (result != RETURN_OK) {
|
||||
sif::error << "SolarArrayDeploymentHandler::initialize: Failed to initialize Gpio interface"
|
||||
<< std::endl;
|
||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||
}
|
||||
|
||||
if (mainLineSwitcherObjectId != objects::NO_OBJECT) {
|
||||
mainLineSwitcher = objectManager->get<PowerSwitchIF>(mainLineSwitcherObjectId);
|
||||
if (mainLineSwitcher == nullptr) {
|
||||
sif::error
|
||||
<< "SolarArrayDeploymentHandler::initialize: Main line switcher failed to fetch object"
|
||||
<< "from object ID." << std::endl;
|
||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||
}
|
||||
}
|
||||
|
||||
result = actionHelper.initialize(commandQueue);
|
||||
if (result != RETURN_OK) {
|
||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||
}
|
||||
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
void SolarArrayDeploymentHandler::handleStateMachine() {
|
||||
switch (stateMachine) {
|
||||
case WAIT_ON_DELOYMENT_COMMAND:
|
||||
readCommandQueue();
|
||||
break;
|
||||
case SWITCH_8V_ON:
|
||||
mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_ON);
|
||||
mainSwitchCountdown.setTimeout(mainLineSwitcher->getSwitchDelayMs());
|
||||
stateMachine = WAIT_ON_8V_SWITCH;
|
||||
break;
|
||||
case WAIT_ON_8V_SWITCH:
|
||||
performWaitOn8VActions();
|
||||
break;
|
||||
case SWITCH_DEPL_GPIOS:
|
||||
switchDeploymentTransistors();
|
||||
break;
|
||||
case WAIT_ON_DEPLOYMENT_FINISH:
|
||||
handleDeploymentFinish();
|
||||
break;
|
||||
case WAIT_FOR_MAIN_SWITCH_OFF:
|
||||
if (mainLineSwitcher->getSwitchState(mainLineSwitch) == PowerSwitchIF::SWITCH_OFF) {
|
||||
stateMachine = WAIT_ON_DELOYMENT_COMMAND;
|
||||
} else if (mainSwitchCountdown.hasTimedOut()) {
|
||||
triggerEvent(MAIN_SWITCH_OFF_TIMEOUT);
|
||||
sif::error << "SolarArrayDeploymentHandler::handleStateMachine: Failed to switch main"
|
||||
<< " switch off" << std::endl;
|
||||
stateMachine = WAIT_ON_DELOYMENT_COMMAND;
|
||||
}
|
||||
break;
|
||||
default:
|
||||
sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Invalid state" << std::endl;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void SolarArrayDeploymentHandler::performWaitOn8VActions() {
|
||||
if (mainLineSwitcher->getSwitchState(mainLineSwitch) == PowerSwitchIF::SWITCH_ON) {
|
||||
stateMachine = SWITCH_DEPL_GPIOS;
|
||||
} else {
|
||||
if (mainSwitchCountdown.hasTimedOut()) {
|
||||
triggerEvent(MAIN_SWITCH_ON_TIMEOUT);
|
||||
actionHelper.finish(rememberCommanderId, DEPLOY_SOLAR_ARRAYS,
|
||||
MAIN_SWITCH_TIMEOUT_FAILURE);
|
||||
stateMachine = WAIT_ON_DELOYMENT_COMMAND;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void SolarArrayDeploymentHandler::switchDeploymentTransistors() {
|
||||
ReturnValue_t result = RETURN_OK;
|
||||
result = gpioInterface->pullHigh(deplSA1);
|
||||
if (result != RETURN_OK) {
|
||||
sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
|
||||
" array deployment switch 1 high " << std::endl;
|
||||
/* If gpio switch high failed, state machine is reset to wait for a command reinitiating
|
||||
* the deployment sequence. */
|
||||
stateMachine = WAIT_ON_DELOYMENT_COMMAND;
|
||||
triggerEvent(DEPL_SA1_GPIO_SWTICH_ON_FAILED);
|
||||
actionHelper.finish(rememberCommanderId, DEPLOY_SOLAR_ARRAYS,
|
||||
SWITCHING_DEPL_SA2_FAILED);
|
||||
mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
|
||||
}
|
||||
result = gpioInterface->pullHigh(deplSA2);
|
||||
if (result != RETURN_OK) {
|
||||
sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
|
||||
" array deployment switch 2 high " << std::endl;
|
||||
stateMachine = WAIT_ON_DELOYMENT_COMMAND;
|
||||
triggerEvent(DEPL_SA2_GPIO_SWTICH_ON_FAILED);
|
||||
actionHelper.finish(rememberCommanderId, DEPLOY_SOLAR_ARRAYS,
|
||||
SWITCHING_DEPL_SA2_FAILED);
|
||||
mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
|
||||
}
|
||||
deploymentCountdown.setTimeout(burnTimeMs);
|
||||
stateMachine = WAIT_ON_DEPLOYMENT_FINISH;
|
||||
}
|
||||
|
||||
void SolarArrayDeploymentHandler::handleDeploymentFinish() {
|
||||
ReturnValue_t result = RETURN_OK;
|
||||
if (deploymentCountdown.hasTimedOut()) {
|
||||
actionHelper.finish(rememberCommanderId, DEPLOY_SOLAR_ARRAYS, RETURN_OK);
|
||||
result = gpioInterface->pullLow(deplSA1);
|
||||
if (result != RETURN_OK) {
|
||||
sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
|
||||
" array deployment switch 1 low " << std::endl;
|
||||
}
|
||||
result = gpioInterface->pullLow(deplSA2);
|
||||
if (result != RETURN_OK) {
|
||||
sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
|
||||
" array deployment switch 2 low " << std::endl;
|
||||
}
|
||||
mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
|
||||
mainSwitchCountdown.setTimeout(mainLineSwitcher->getSwitchDelayMs());
|
||||
stateMachine = WAIT_FOR_MAIN_SWITCH_OFF;
|
||||
}
|
||||
}
|
||||
|
||||
void SolarArrayDeploymentHandler::readCommandQueue() {
|
||||
CommandMessage command;
|
||||
ReturnValue_t result = commandQueue->receiveMessage(&command);
|
||||
if (result != RETURN_OK) {
|
||||
return;
|
||||
}
|
||||
|
||||
result = actionHelper.handleActionMessage(&command);
|
||||
if (result == RETURN_OK) {
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t SolarArrayDeploymentHandler::executeAction(ActionId_t actionId,
|
||||
MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
|
||||
ReturnValue_t result;
|
||||
if (stateMachine != WAIT_ON_DELOYMENT_COMMAND) {
|
||||
sif::error << "SolarArrayDeploymentHandler::executeAction: Received command while not in"
|
||||
<< "waiting-on-command-state" << std::endl;
|
||||
return DEPLOYMENT_ALREADY_EXECUTING;
|
||||
}
|
||||
if (actionId != DEPLOY_SOLAR_ARRAYS) {
|
||||
sif::error << "SolarArrayDeploymentHandler::executeAction: Received invalid command"
|
||||
<< std::endl;
|
||||
result = COMMAND_NOT_SUPPORTED;
|
||||
} else {
|
||||
stateMachine = SWITCH_8V_ON;
|
||||
rememberCommanderId = commandedBy;
|
||||
result = RETURN_OK;
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
MessageQueueId_t SolarArrayDeploymentHandler::getCommandQueue() const {
|
||||
return commandQueue->getId();
|
||||
}
|
||||
160
bsp_q7s/devices/SolarArrayDeploymentHandler.h
Normal file
160
bsp_q7s/devices/SolarArrayDeploymentHandler.h
Normal file
@ -0,0 +1,160 @@
|
||||
#ifndef MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_
|
||||
#define MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_
|
||||
|
||||
#include <linux/gpio/GpioIF.h>
|
||||
|
||||
#include <fsfw/objectmanager/SystemObject.h>
|
||||
#include <fsfw/tasks/ExecutableObjectIF.h>
|
||||
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
|
||||
#include <fsfw/action/HasActionsIF.h>
|
||||
#include <fsfw/power/PowerSwitchIF.h>
|
||||
#include <fsfw/devicehandlers/CookieIF.h>
|
||||
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
||||
#include <fsfw/timemanager/Countdown.h>
|
||||
|
||||
#include <unordered_map>
|
||||
|
||||
/**
|
||||
* @brief This class is used to control the solar array deployment.
|
||||
*
|
||||
* @author J. Meier
|
||||
*/
|
||||
class SolarArrayDeploymentHandler: public ExecutableObjectIF,
|
||||
public SystemObject,
|
||||
public HasReturnvaluesIF,
|
||||
public HasActionsIF {
|
||||
public:
|
||||
|
||||
static const DeviceCommandId_t DEPLOY_SOLAR_ARRAYS = 0x5;
|
||||
|
||||
/**
|
||||
* @brief constructor
|
||||
*
|
||||
* @param setObjectId The object id of the SolarArrayDeploymentHandler.
|
||||
* @param gpioDriverId The id of the gpio com if.
|
||||
* @param gpioCookie GpioCookie holding information about the gpios used to switch the
|
||||
* transistors.
|
||||
* @param mainLineSwitcherObjectId The object id of the object responsible for switching
|
||||
* the 8V power source. This is normally the PCDU.
|
||||
* @param mainLineSwitch The id of the main line switch. This is defined in
|
||||
* powerSwitcherList.h.
|
||||
* @param deplSA1 gpioId of the GPIO controlling the deployment 1 transistor.
|
||||
* @param deplSA2 gpioId of the GPIO controlling the deployment 2 transistor.
|
||||
* @param burnTimeMs Time duration the power will be applied to the burn wires.
|
||||
*/
|
||||
SolarArrayDeploymentHandler(object_id_t setObjectId, object_id_t gpioDriverId,
|
||||
CookieIF * gpioCookie, object_id_t mainLineSwitcherObjectId, uint8_t mainLineSwitch,
|
||||
gpioId_t deplSA1, gpioId_t deplSA2, uint32_t burnTimeMs);
|
||||
|
||||
virtual ~SolarArrayDeploymentHandler();
|
||||
|
||||
virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
|
||||
|
||||
virtual MessageQueueId_t getCommandQueue() const override;
|
||||
virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
|
||||
const uint8_t* data, size_t size) override;
|
||||
virtual ReturnValue_t initialize() override;
|
||||
|
||||
private:
|
||||
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::SA_DEPL_HANDLER;
|
||||
static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA0);
|
||||
static const ReturnValue_t DEPLOYMENT_ALREADY_EXECUTING = MAKE_RETURN_CODE(0xA1);
|
||||
static const ReturnValue_t MAIN_SWITCH_TIMEOUT_FAILURE = MAKE_RETURN_CODE(0xA2);
|
||||
static const ReturnValue_t SWITCHING_DEPL_SA1_FAILED = MAKE_RETURN_CODE(0xA3);
|
||||
static const ReturnValue_t SWITCHING_DEPL_SA2_FAILED = MAKE_RETURN_CODE(0xA4);
|
||||
|
||||
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SA_DEPL_HANDLER;
|
||||
static const Event MAIN_SWITCH_ON_TIMEOUT = MAKE_EVENT(0, severity::LOW);
|
||||
static const Event MAIN_SWITCH_OFF_TIMEOUT = MAKE_EVENT(1, severity::LOW);
|
||||
static const Event DEPLOYMENT_FAILED = MAKE_EVENT(2, severity::HIGH);
|
||||
static const Event DEPL_SA1_GPIO_SWTICH_ON_FAILED = MAKE_EVENT(3, severity::HIGH);
|
||||
static const Event DEPL_SA2_GPIO_SWTICH_ON_FAILED = MAKE_EVENT(4, severity::HIGH);
|
||||
|
||||
|
||||
enum StateMachine {
|
||||
WAIT_ON_DELOYMENT_COMMAND,
|
||||
SWITCH_8V_ON,
|
||||
WAIT_ON_8V_SWITCH,
|
||||
SWITCH_DEPL_GPIOS,
|
||||
WAIT_ON_DEPLOYMENT_FINISH,
|
||||
WAIT_FOR_MAIN_SWITCH_OFF
|
||||
};
|
||||
|
||||
StateMachine stateMachine = WAIT_ON_DELOYMENT_COMMAND;
|
||||
|
||||
/**
|
||||
* This countdown is used to check if the PCDU sets the 8V line on in the intended time.
|
||||
*/
|
||||
Countdown mainSwitchCountdown;
|
||||
|
||||
/**
|
||||
* This countdown is used to wait for the burn wire being successful cut.
|
||||
*/
|
||||
Countdown deploymentCountdown;
|
||||
|
||||
|
||||
/**
|
||||
* The message queue id of the component commanding an action will be stored in this variable.
|
||||
* This is necessary to send later the action finish replies.
|
||||
*/
|
||||
MessageQueueId_t rememberCommanderId = 0;
|
||||
|
||||
/** Size of command queue */
|
||||
size_t cmdQueueSize = 20;
|
||||
|
||||
/** The object ID of the GPIO driver which switches the deployment transistors */
|
||||
object_id_t gpioDriverId;
|
||||
|
||||
CookieIF * gpioCookie;
|
||||
|
||||
/** Object id of the object responsible to switch the 8V power input. Typically the PCDU. */
|
||||
object_id_t mainLineSwitcherObjectId;
|
||||
|
||||
/** Switch number of the 8V power switch */
|
||||
uint8_t mainLineSwitch;
|
||||
|
||||
gpioId_t deplSA1;
|
||||
gpioId_t deplSA2;
|
||||
|
||||
GpioIF* gpioInterface = nullptr;
|
||||
|
||||
/** Time duration switches are active to cut the burn wire */
|
||||
uint32_t burnTimeMs;
|
||||
|
||||
/** Queue to receive messages from other objects. */
|
||||
MessageQueueIF* commandQueue = nullptr;
|
||||
|
||||
/**
|
||||
* After initialization this pointer will hold the reference to the main line switcher object.
|
||||
*/
|
||||
PowerSwitchIF *mainLineSwitcher = nullptr;
|
||||
|
||||
ActionHelper actionHelper;
|
||||
|
||||
void readCommandQueue();
|
||||
|
||||
/**
|
||||
* @brief This function performs actions dependent on the current state.
|
||||
*/
|
||||
void handleStateMachine();
|
||||
|
||||
/**
|
||||
* @brief This function polls the 8V switch state and changes the state machine when the
|
||||
* switch has been enabled.
|
||||
*/
|
||||
void performWaitOn8VActions();
|
||||
|
||||
/**
|
||||
* @brief This functions handles the switching of the solar array deployment transistors.
|
||||
*/
|
||||
void switchDeploymentTransistors();
|
||||
|
||||
/**
|
||||
* @brief This function performs actions to finish the deployment. Essentially switches
|
||||
* are turned of after the burn time has expired.
|
||||
*/
|
||||
void handleDeploymentFinish();
|
||||
};
|
||||
|
||||
#endif /* MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_ */
|
||||
Reference in New Issue
Block a user