solar array depl moved to bsp folder
hosted build working again
This commit is contained in:
@ -1,200 +0,0 @@
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#include <devices/powerSwitcherList.h>
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#include <devices/gpioIds.h>
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#include <mission/devices/SolarArrayDeploymentHandler.h>
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#include <linux/gpio/GpioCookie.h>
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#include <fsfw/ipc/QueueFactory.h>
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SolarArrayDeploymentHandler::SolarArrayDeploymentHandler(object_id_t setObjectId_,
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object_id_t gpioDriverId_, CookieIF * gpioCookie_, object_id_t mainLineSwitcherObjectId_,
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uint8_t mainLineSwitch_, gpioId_t deplSA1, gpioId_t deplSA2, uint32_t burnTimeMs) :
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SystemObject(setObjectId_), gpioDriverId(gpioDriverId_), gpioCookie(gpioCookie_),
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mainLineSwitcherObjectId(mainLineSwitcherObjectId_), mainLineSwitch(mainLineSwitch_),
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deplSA1(deplSA1), deplSA2(deplSA2), burnTimeMs(burnTimeMs), actionHelper(this, nullptr) {
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commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize,
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MessageQueueMessage::MAX_MESSAGE_SIZE);
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}
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SolarArrayDeploymentHandler::~SolarArrayDeploymentHandler() {
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}
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ReturnValue_t SolarArrayDeploymentHandler::performOperation(uint8_t operationCode) {
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if (operationCode == DeviceHandlerIF::PERFORM_OPERATION) {
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handleStateMachine();
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return RETURN_OK;
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}
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return RETURN_OK;
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}
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ReturnValue_t SolarArrayDeploymentHandler::initialize() {
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ReturnValue_t result = SystemObject::initialize();
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if (result != RETURN_OK) {
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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gpioInterface = objectManager->get<GpioIF>(gpioDriverId);
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if (gpioInterface == nullptr) {
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sif::error << "SolarArrayDeploymentHandler::initialize: Invalid Gpio interface."
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<< std::endl;
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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result = gpioInterface->addGpios(dynamic_cast<GpioCookie*>(gpioCookie));
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if (result != RETURN_OK) {
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sif::error << "SolarArrayDeploymentHandler::initialize: Failed to initialize Gpio interface"
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<< std::endl;
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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if (mainLineSwitcherObjectId != objects::NO_OBJECT) {
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mainLineSwitcher = objectManager->get<PowerSwitchIF>(mainLineSwitcherObjectId);
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if (mainLineSwitcher == nullptr) {
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sif::error
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<< "SolarArrayDeploymentHandler::initialize: Main line switcher failed to fetch object"
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<< "from object ID." << std::endl;
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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}
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result = actionHelper.initialize(commandQueue);
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if (result != RETURN_OK) {
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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return RETURN_OK;
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}
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void SolarArrayDeploymentHandler::handleStateMachine() {
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switch (stateMachine) {
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case WAIT_ON_DELOYMENT_COMMAND:
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readCommandQueue();
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break;
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case SWITCH_8V_ON:
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mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_ON);
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mainSwitchCountdown.setTimeout(mainLineSwitcher->getSwitchDelayMs());
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stateMachine = WAIT_ON_8V_SWITCH;
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break;
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case WAIT_ON_8V_SWITCH:
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performWaitOn8VActions();
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break;
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case SWITCH_DEPL_GPIOS:
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switchDeploymentTransistors();
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break;
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case WAIT_ON_DEPLOYMENT_FINISH:
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handleDeploymentFinish();
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break;
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case WAIT_FOR_MAIN_SWITCH_OFF:
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if (mainLineSwitcher->getSwitchState(mainLineSwitch) == PowerSwitchIF::SWITCH_OFF) {
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stateMachine = WAIT_ON_DELOYMENT_COMMAND;
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} else if (mainSwitchCountdown.hasTimedOut()) {
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triggerEvent(MAIN_SWITCH_OFF_TIMEOUT);
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sif::error << "SolarArrayDeploymentHandler::handleStateMachine: Failed to switch main"
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<< " switch off" << std::endl;
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stateMachine = WAIT_ON_DELOYMENT_COMMAND;
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}
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break;
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default:
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sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Invalid state" << std::endl;
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break;
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}
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}
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void SolarArrayDeploymentHandler::performWaitOn8VActions() {
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if (mainLineSwitcher->getSwitchState(mainLineSwitch) == PowerSwitchIF::SWITCH_ON) {
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stateMachine = SWITCH_DEPL_GPIOS;
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} else {
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if (mainSwitchCountdown.hasTimedOut()) {
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triggerEvent(MAIN_SWITCH_ON_TIMEOUT);
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actionHelper.finish(rememberCommanderId, DEPLOY_SOLAR_ARRAYS,
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MAIN_SWITCH_TIMEOUT_FAILURE);
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stateMachine = WAIT_ON_DELOYMENT_COMMAND;
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}
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}
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}
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void SolarArrayDeploymentHandler::switchDeploymentTransistors() {
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ReturnValue_t result = RETURN_OK;
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result = gpioInterface->pullHigh(deplSA1);
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if (result != RETURN_OK) {
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sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
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" array deployment switch 1 high " << std::endl;
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/* If gpio switch high failed, state machine is reset to wait for a command reinitiating
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* the deployment sequence. */
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stateMachine = WAIT_ON_DELOYMENT_COMMAND;
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triggerEvent(DEPL_SA1_GPIO_SWTICH_ON_FAILED);
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actionHelper.finish(rememberCommanderId, DEPLOY_SOLAR_ARRAYS,
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SWITCHING_DEPL_SA2_FAILED);
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mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
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}
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result = gpioInterface->pullHigh(deplSA2);
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if (result != RETURN_OK) {
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sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
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" array deployment switch 2 high " << std::endl;
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stateMachine = WAIT_ON_DELOYMENT_COMMAND;
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triggerEvent(DEPL_SA2_GPIO_SWTICH_ON_FAILED);
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actionHelper.finish(rememberCommanderId, DEPLOY_SOLAR_ARRAYS,
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SWITCHING_DEPL_SA2_FAILED);
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mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
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}
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deploymentCountdown.setTimeout(burnTimeMs);
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stateMachine = WAIT_ON_DEPLOYMENT_FINISH;
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}
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void SolarArrayDeploymentHandler::handleDeploymentFinish() {
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ReturnValue_t result = RETURN_OK;
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if (deploymentCountdown.hasTimedOut()) {
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actionHelper.finish(rememberCommanderId, DEPLOY_SOLAR_ARRAYS, RETURN_OK);
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result = gpioInterface->pullLow(deplSA1);
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if (result != RETURN_OK) {
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sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
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" array deployment switch 1 low " << std::endl;
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}
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result = gpioInterface->pullLow(deplSA2);
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if (result != RETURN_OK) {
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sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
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" array deployment switch 2 low " << std::endl;
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}
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mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
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mainSwitchCountdown.setTimeout(mainLineSwitcher->getSwitchDelayMs());
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stateMachine = WAIT_FOR_MAIN_SWITCH_OFF;
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}
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}
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void SolarArrayDeploymentHandler::readCommandQueue() {
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CommandMessage command;
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ReturnValue_t result = commandQueue->receiveMessage(&command);
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if (result != RETURN_OK) {
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return;
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}
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result = actionHelper.handleActionMessage(&command);
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if (result == RETURN_OK) {
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return;
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}
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}
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ReturnValue_t SolarArrayDeploymentHandler::executeAction(ActionId_t actionId,
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MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
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ReturnValue_t result;
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if (stateMachine != WAIT_ON_DELOYMENT_COMMAND) {
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sif::error << "SolarArrayDeploymentHandler::executeAction: Received command while not in"
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<< "waiting-on-command-state" << std::endl;
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return DEPLOYMENT_ALREADY_EXECUTING;
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}
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if (actionId != DEPLOY_SOLAR_ARRAYS) {
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sif::error << "SolarArrayDeploymentHandler::executeAction: Received invalid command"
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<< std::endl;
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result = COMMAND_NOT_SUPPORTED;
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} else {
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stateMachine = SWITCH_8V_ON;
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rememberCommanderId = commandedBy;
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result = RETURN_OK;
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}
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return result;
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}
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MessageQueueId_t SolarArrayDeploymentHandler::getCommandQueue() const {
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return commandQueue->getId();
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}
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