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remove gpio pst
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Robin Müller 2022-10-12 13:21:58 +02:00
parent 214428295b
commit b6b258d82c
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GPG Key ID: 11D4952C8CCEF814
8 changed files with 152 additions and 186 deletions
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37
bsp_q7s/core/InitMission.cpp
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@ -211,13 +211,27 @@ void initmission::initTasks() {
tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_READ); tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_READ);
tcsTask->addComponent(rtd, DeviceHandlerIF::GET_READ); tcsTask->addComponent(rtd, DeviceHandlerIF::GET_READ);
} }
tcsTask->addComponent(objects::TCS_BOARD_ASS);
#endif /* OBSW_ADD_RTD_DEVICES */
#if OBSW_ADD_TCS_CTRL == 1
tcsTask->addComponent(objects::THERMAL_CONTROLLER);
#endif #endif
PeriodicTaskIF* tcsSystemTask = factory->createPeriodicTask(
"TCS_TASK", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc);
#if OBSW_ADD_RTD_DEVICES == 1
result = tcsSystemTask->addComponent(objects::TCS_BOARD_ASS);
if (result != returnvalue::OK) {
initmission::printAddObjectError("TCS_BOARD_ASS", objects::TCS_BOARD_ASS);
}
#endif /* OBSW_ADD_RTD_DEVICES */
#if OBSW_ADD_TCS_CTRL == 1
result = tcsSystemTask->addComponent(objects::THERMAL_CONTROLLER);
if (result != returnvalue::OK) {
initmission::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);
}
#endif
result = tcsSystemTask->addComponent(objects::HEATER_HANDLER);
if (result != returnvalue::OK) {
initmission::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
}
#if OBSW_ADD_STAR_TRACKER == 1 #if OBSW_ADD_STAR_TRACKER == 1
PeriodicTaskIF* strHelperTask = factory->createPeriodicTask( PeriodicTaskIF* strHelperTask = factory->createPeriodicTask(
"STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); "STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
@ -319,6 +333,7 @@ void initmission::initTasks() {
tcsPollingTask->startTask(); tcsPollingTask->startTask();
tcsTask->startTask(); tcsTask->startTask();
#endif /* OBSW_ADD_RTD_DEVICES == 1 */ #endif /* OBSW_ADD_RTD_DEVICES == 1 */
tcsSystemTask->startTask();
#if OBSW_ADD_PLOC_SUPERVISOR == 1 #if OBSW_ADD_PLOC_SUPERVISOR == 1
supvHelperTask->startTask(); supvHelperTask->startTask();
#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */ #endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
@ -378,18 +393,6 @@ void initmission::createPstTasks(TaskFactory& factory,
taskVec.push_back(uartPst); taskVec.push_back(uartPst);
} }
FixedTimeslotTaskIF* gpioPst = factory.createFixedTimeslotTask(
"GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.2, missedDeadlineFunc);
result = pst::pstGpio(gpioPst);
if (result != returnvalue::OK) {
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
sif::warning << "InitMission::initTasks: GPIO PST is empty" << std::endl;
} else {
sif::error << "InitMission::initTasks: Creating GPIO PST failed!" << std::endl;
}
} else {
taskVec.push_back(gpioPst);
}
#if OBSW_ADD_I2C_TEST_CODE == 0 #if OBSW_ADD_I2C_TEST_CODE == 0
FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask( FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
"I2C_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc); "I2C_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);

6
bsp_q7s/core/ObjectFactory.cpp
View File

@ -539,7 +539,7 @@ void ObjectFactory::createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwi
pcdu::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V); pcdu::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
} }
void ObjectFactory::createSolarArrayDeploymentComponents() { void ObjectFactory::createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitcher) {
using namespace gpio; using namespace gpio;
GpioCookie* solarArrayDeplCookie = new GpioCookie; GpioCookie* solarArrayDeplCookie = new GpioCookie;
GpiodRegularByLineName* gpio = nullptr; GpiodRegularByLineName* gpio = nullptr;
@ -555,9 +555,9 @@ void ObjectFactory::createSolarArrayDeploymentComponents() {
// TODO: Find out burn time. For now set to 1000 ms. // TODO: Find out burn time. For now set to 1000 ms.
new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, objects::GPIO_IF, new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, objects::GPIO_IF,
solarArrayDeplCookie, objects::PCDU_HANDLER, solarArrayDeplCookie, pwrSwitcher,
pcdu::Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V, pcdu::Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
gpioIds::DEPLSA1, gpioIds::DEPLSA2, 1000); gpioIds::DEPLSA1, gpioIds::DEPLSA2);
} }
void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) { void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {

2
bsp_q7s/core/ObjectFactory.h
View File

@ -33,7 +33,7 @@ void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTa
void createImtqComponents(PowerSwitchIF* pwrSwitcher); void createImtqComponents(PowerSwitchIF* pwrSwitcher);
void createBpxBatteryComponent(); void createBpxBatteryComponent();
void createStrComponents(PowerSwitchIF* pwrSwitcher); void createStrComponents(PowerSwitchIF* pwrSwitcher);
void createSolarArrayDeploymentComponents(); void createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitcher);
void createSyrlinksComponents(PowerSwitchIF* pwrSwitcher); void createSyrlinksComponents(PowerSwitchIF* pwrSwitcher);
void createPayloadComponents(LinuxLibgpioIF* gpioComIF); void createPayloadComponents(LinuxLibgpioIF* gpioComIF);
void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher); void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher);

2
bsp_q7s/fmObjectFactory.cpp
View File

@ -35,7 +35,7 @@ void ObjectFactory::produce(void* args) {
createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher); createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
#endif #endif
createHeaterComponents(gpioComIF, pwrSwitcher, healthTable); createHeaterComponents(gpioComIF, pwrSwitcher, healthTable);
createSolarArrayDeploymentComponents(); createSolarArrayDeploymentComponents(*pwrSwitcher);
createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher); createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
#if OBSW_ADD_SYRLINKS == 1 #if OBSW_ADD_SYRLINKS == 1
createSyrlinksComponents(pwrSwitcher); createSyrlinksComponents(pwrSwitcher);

16
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
View File

@ -15,22 +15,6 @@
#define RPI_TEST_GPS_HANDLER 0 #define RPI_TEST_GPS_HANDLER 0
#endif #endif
ReturnValue_t pst::pstGpio(FixedTimeslotTaskIF *thisSequence) {
// Length of a communication cycle
uint32_t length = thisSequence->getPeriodMs();
thisSequence->addSlot(objects::HEATER_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SOLAR_ARRAY_DEPL_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
if (thisSequence->checkSequence() == returnvalue::OK) {
return returnvalue::OK;
}
sif::error << "PollingSequence::initialize has errors!" << std::endl;
return returnvalue::FAILED;
}
ReturnValue_t pst::pstSpiRw(FixedTimeslotTaskIF *thisSequence) { ReturnValue_t pst::pstSpiRw(FixedTimeslotTaskIF *thisSequence) {
uint32_t length = thisSequence->getPeriodMs(); uint32_t length = thisSequence->getPeriodMs();
static_cast<void>(length); static_cast<void>(length);

3
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h
View File

@ -31,9 +31,6 @@ class FixedTimeslotTaskIF;
*/ */
namespace pst { namespace pst {
/* 0.4 second period init*/
ReturnValue_t pstGpio(FixedTimeslotTaskIF* thisSequence);
/** /**
* @brief This function creates the PST for all gomspace devices. * @brief This function creates the PST for all gomspace devices.
* @details * @details

225
mission/devices/SolarArrayDeploymentHandler.cpp
View File

@ -7,16 +7,15 @@
SolarArrayDeploymentHandler::SolarArrayDeploymentHandler( SolarArrayDeploymentHandler::SolarArrayDeploymentHandler(
object_id_t setObjectId_, object_id_t gpioDriverId_, CookieIF* gpioCookie_, object_id_t setObjectId_, object_id_t gpioDriverId_, CookieIF* gpioCookie_,
object_id_t mainLineSwitcherObjectId_, pcdu::Switches mainLineSwitch_, gpioId_t deplSA1, PowerSwitchIF& mainLineSwitcher_, pcdu::Switches mainLineSwitch_, gpioId_t deplSA1,
gpioId_t deplSA2, uint32_t burnTimeMs) gpioId_t deplSA2)
: SystemObject(setObjectId_), : SystemObject(setObjectId_),
gpioDriverId(gpioDriverId_), gpioDriverId(gpioDriverId_),
gpioCookie(gpioCookie_), gpioCookie(gpioCookie_),
mainLineSwitcherObjectId(mainLineSwitcherObjectId_),
mainLineSwitch(mainLineSwitch_),
deplSA1(deplSA1), deplSA1(deplSA1),
deplSA2(deplSA2), deplSA2(deplSA2),
burnTimeMs(burnTimeMs), mainLineSwitcher(mainLineSwitcher_),
mainLineSwitch(mainLineSwitch_),
actionHelper(this, nullptr) { actionHelper(this, nullptr) {
auto mqArgs = MqArgs(setObjectId_, static_cast<void*>(this)); auto mqArgs = MqArgs(setObjectId_, static_cast<void*>(this));
commandQueue = QueueFactory::instance()->createMessageQueue( commandQueue = QueueFactory::instance()->createMessageQueue(
@ -52,16 +51,6 @@ ReturnValue_t SolarArrayDeploymentHandler::initialize() {
return ObjectManagerIF::CHILD_INIT_FAILED; return ObjectManagerIF::CHILD_INIT_FAILED;
} }
if (mainLineSwitcherObjectId != objects::NO_OBJECT) {
mainLineSwitcher = ObjectManager::instance()->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); result = actionHelper.initialize(commandQueue);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
return ObjectManagerIF::CHILD_INIT_FAILED; return ObjectManagerIF::CHILD_INIT_FAILED;
@ -71,102 +60,102 @@ ReturnValue_t SolarArrayDeploymentHandler::initialize() {
} }
void SolarArrayDeploymentHandler::handleStateMachine() { void SolarArrayDeploymentHandler::handleStateMachine() {
switch (stateMachine) { // switch (stateMachine) {
case WAIT_ON_DELOYMENT_COMMAND: // case WAIT_ON_DELOYMENT_COMMAND:
readCommandQueue(); // readCommandQueue();
break; // break;
case SWITCH_8V_ON: // case SWITCH_8V_ON:
mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_ON); // mainLineSwitcher.sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_ON);
mainSwitchCountdown.setTimeout(mainLineSwitcher->getSwitchDelayMs()); // mainSwitchCountdown.setTimeout(mainLineSwitcher.getSwitchDelayMs());
stateMachine = WAIT_ON_8V_SWITCH; // stateMachine = WAIT_ON_8V_SWITCH;
break; // break;
case WAIT_ON_8V_SWITCH: // case WAIT_ON_8V_SWITCH:
performWaitOn8VActions(); // performWaitOn8VActions();
break; // break;
case SWITCH_DEPL_GPIOS: // case SWITCH_DEPL_GPIOS:
switchDeploymentTransistors(); // deploymentTransistorsOn();
break; // break;
case WAIT_ON_DEPLOYMENT_FINISH: //// case WAIT_ON_DEPLOYMENT_FINISH:
handleDeploymentFinish(); //// handleDeploymentFinish();
break; //// break;
case WAIT_FOR_MAIN_SWITCH_OFF: // case WAIT_FOR_MAIN_SWITCH_OFF:
if (mainLineSwitcher->getSwitchState(mainLineSwitch) == PowerSwitchIF::SWITCH_OFF) { // if (mainLineSwitcher.getSwitchState(mainLineSwitch) == PowerSwitchIF::SWITCH_OFF) {
stateMachine = WAIT_ON_DELOYMENT_COMMAND; // stateMachine = WAIT_ON_DELOYMENT_COMMAND;
} else if (mainSwitchCountdown.hasTimedOut()) { // } else if (mainSwitchCountdown.hasTimedOut()) {
triggerEvent(MAIN_SWITCH_OFF_TIMEOUT); // triggerEvent(MAIN_SWITCH_OFF_TIMEOUT);
sif::error << "SolarArrayDeploymentHandler::handleStateMachine: Failed to switch main" // sif::error << "SolarArrayDeploymentHandler::handleStateMachine: Failed to switch main"
<< " switch off" << std::endl; // << " switch off" << std::endl;
stateMachine = WAIT_ON_DELOYMENT_COMMAND; // stateMachine = WAIT_ON_DELOYMENT_COMMAND;
} // }
break; // break;
default: // default:
sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Invalid state" << std::endl; // sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Invalid state" << std::endl;
break; // break;
} // }
} }
void SolarArrayDeploymentHandler::performWaitOn8VActions() { void SolarArrayDeploymentHandler::performWaitOn8VActions() {
if (mainLineSwitcher->getSwitchState(mainLineSwitch) == PowerSwitchIF::SWITCH_ON) { // if (mainLineSwitcher.getSwitchState(mainLineSwitch) == PowerSwitchIF::SWITCH_ON) {
stateMachine = SWITCH_DEPL_GPIOS; // stateMachine = SWITCH_DEPL_GPIOS;
} else { // } else {
if (mainSwitchCountdown.hasTimedOut()) { // if (mainSwitchCountdown.hasTimedOut()) {
triggerEvent(MAIN_SWITCH_ON_TIMEOUT); // triggerEvent(MAIN_SWITCH_ON_TIMEOUT);
actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS, // actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS,
MAIN_SWITCH_TIMEOUT_FAILURE); // MAIN_SWITCH_TIMEOUT_FAILURE);
stateMachine = WAIT_ON_DELOYMENT_COMMAND; // stateMachine = WAIT_ON_DELOYMENT_COMMAND;
} // }
} // }
} }
void SolarArrayDeploymentHandler::switchDeploymentTransistors() { void SolarArrayDeploymentHandler::deploymentTransistorsOn() {
ReturnValue_t result = returnvalue::OK; // ReturnValue_t result = returnvalue::OK;
result = gpioInterface->pullHigh(deplSA1); // result = gpioInterface->pullHigh(deplSA1);
if (result != returnvalue::OK) { // if (result != returnvalue::OK) {
sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar" // sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
" array deployment switch 1 high " // " array deployment switch 1 high "
<< std::endl; // << std::endl;
/* If gpio switch high failed, state machine is reset to wait for a command reinitiating // /* If gpio switch high failed, state machine is reset to wait for a command reinitiating
* the deployment sequence. */ // * the deployment sequence. */
stateMachine = WAIT_ON_DELOYMENT_COMMAND; // stateMachine = WAIT_ON_DELOYMENT_COMMAND;
triggerEvent(DEPL_SA1_GPIO_SWTICH_ON_FAILED); // triggerEvent(DEPL_SA1_GPIO_SWTICH_ON_FAILED);
actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS, SWITCHING_DEPL_SA2_FAILED); // actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS, SWITCHING_DEPL_SA2_FAILED);
mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF); // mainLineSwitcher.sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
} // }
result = gpioInterface->pullHigh(deplSA2); // result = gpioInterface->pullHigh(deplSA2);
if (result != returnvalue::OK) { // if (result != returnvalue::OK) {
sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar" // sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
" array deployment switch 2 high " // " array deployment switch 2 high "
<< std::endl; // << std::endl;
stateMachine = WAIT_ON_DELOYMENT_COMMAND; // stateMachine = WAIT_ON_DELOYMENT_COMMAND;
triggerEvent(DEPL_SA2_GPIO_SWTICH_ON_FAILED); // triggerEvent(DEPL_SA2_GPIO_SWTICH_ON_FAILED);
actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS, SWITCHING_DEPL_SA2_FAILED); // actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS, SWITCHING_DEPL_SA2_FAILED);
mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF); // mainLineSwitcher.sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
} // }
deploymentCountdown.setTimeout(burnTimeMs); //deploymentCountdown.setTimeout(burnTimeMs);
stateMachine = WAIT_ON_DEPLOYMENT_FINISH; //stateMachine = WAIT_ON_DEPLOYMENT_FINISH;
} }
void SolarArrayDeploymentHandler::handleDeploymentFinish() { //void SolarArrayDeploymentHandler::handleDeploymentFinish() {
ReturnValue_t result = returnvalue::OK; // ReturnValue_t result = returnvalue::OK;
if (deploymentCountdown.hasTimedOut()) { //// if (deploymentCountdown.hasTimedOut()) {
actionHelper.finish(true, rememberCommanderId, DEPLOY_SOLAR_ARRAYS, returnvalue::OK); //// actionHelper.finish(true, rememberCommanderId, DEPLOY_SOLAR_ARRAYS, returnvalue::OK);
result = gpioInterface->pullLow(deplSA1); //// result = gpioInterface->pullLow(deplSA1);
if (result != returnvalue::OK) { //// if (result != returnvalue::OK) {
sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar" //// sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
" array deployment switch 1 low " //// " array deployment switch 1 low "
<< std::endl; //// << std::endl;
} //// }
result = gpioInterface->pullLow(deplSA2); //// result = gpioInterface->pullLow(deplSA2);
if (result != returnvalue::OK) { //// if (result != returnvalue::OK) {
sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar" //// sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
" array deployment switch 2 low " //// " array deployment switch 2 low "
<< std::endl; //// << std::endl;
} //// }
mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF); // mainLineSwitcher.sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
mainSwitchCountdown.setTimeout(mainLineSwitcher->getSwitchDelayMs()); // mainSwitchCountdown.setTimeout(mainLineSwitcher.getSwitchDelayMs());
stateMachine = WAIT_FOR_MAIN_SWITCH_OFF; // stateMachine = WAIT_FOR_MAIN_SWITCH_OFF;
} // }
} //}
void SolarArrayDeploymentHandler::readCommandQueue() { void SolarArrayDeploymentHandler::readCommandQueue() {
CommandMessage command; CommandMessage command;
@ -185,20 +174,20 @@ ReturnValue_t SolarArrayDeploymentHandler::executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) { const uint8_t* data, size_t size) {
ReturnValue_t result; ReturnValue_t result;
if (stateMachine != WAIT_ON_DELOYMENT_COMMAND) { // if (stateMachine != WAIT_ON_DELOYMENT_COMMAND) {
sif::error << "SolarArrayDeploymentHandler::executeAction: Received command while not in" // sif::error << "SolarArrayDeploymentHandler::executeAction: Received command while not in"
<< "waiting-on-command-state" << std::endl; // << "waiting-on-command-state" << std::endl;
return DEPLOYMENT_ALREADY_EXECUTING; // return DEPLOYMENT_ALREADY_EXECUTING;
} // }
if (actionId != DEPLOY_SOLAR_ARRAYS) { // if (actionId != DEPLOY_SOLAR_ARRAYS) {
sif::error << "SolarArrayDeploymentHandler::executeAction: Received invalid command" // sif::error << "SolarArrayDeploymentHandler::executeAction: Received invalid command"
<< std::endl; // << std::endl;
result = COMMAND_NOT_SUPPORTED; // result = COMMAND_NOT_SUPPORTED;
} else { // } else {
stateMachine = SWITCH_8V_ON; // stateMachine = SWITCH_8V_ON;
rememberCommanderId = commandedBy; // rememberCommanderId = commandedBy;
result = returnvalue::OK; // result = returnvalue::OK;
} // }
return result; return result;
} }

47
mission/devices/SolarArrayDeploymentHandler.h
View File

@ -26,7 +26,7 @@ class SolarArrayDeploymentHandler : public ExecutableObjectIF,
public SystemObject, public SystemObject,
public HasActionsIF { public HasActionsIF {
public: public:
static const DeviceCommandId_t DEPLOY_SOLAR_ARRAYS = 0x5; static constexpr DeviceCommandId_t DEPLOY_SOLAR_ARRAYS_MANUALLY = 0x5;
/** /**
* @brief constructor * @brief constructor
@ -44,9 +44,8 @@ class SolarArrayDeploymentHandler : public ExecutableObjectIF,
* @param burnTimeMs Time duration the power will be applied to the burn wires. * @param burnTimeMs Time duration the power will be applied to the burn wires.
*/ */
SolarArrayDeploymentHandler(object_id_t setObjectId, object_id_t gpioDriverId, SolarArrayDeploymentHandler(object_id_t setObjectId, object_id_t gpioDriverId,
CookieIF* gpioCookie, object_id_t mainLineSwitcherObjectId, CookieIF* gpioCookie, PowerSwitchIF& mainLineSwitcher,
pcdu::Switches mainLineSwitch, gpioId_t deplSA1, gpioId_t deplSA2, pcdu::Switches mainLineSwitch, gpioId_t deplSA1, gpioId_t deplSA2);
uint32_t burnTimeMs);
virtual ~SolarArrayDeploymentHandler(); virtual ~SolarArrayDeploymentHandler();
@ -72,16 +71,16 @@ class SolarArrayDeploymentHandler : public ExecutableObjectIF,
static const Event DEPL_SA1_GPIO_SWTICH_ON_FAILED = MAKE_EVENT(3, 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); static const Event DEPL_SA2_GPIO_SWTICH_ON_FAILED = MAKE_EVENT(4, severity::HIGH);
enum StateMachine { // enum StateMachine {
WAIT_ON_DELOYMENT_COMMAND, // WAIT_ON_DELOYMENT_COMMAND,
SWITCH_8V_ON, // SWITCH_8V_ON,
WAIT_ON_8V_SWITCH, // WAIT_ON_8V_SWITCH,
SWITCH_DEPL_GPIOS, // SWITCH_DEPL_GPIOS,
WAIT_ON_DEPLOYMENT_FINISH, // WAIT_ON_DEPLOYMENT_FINISH,
WAIT_FOR_MAIN_SWITCH_OFF // WAIT_FOR_MAIN_SWITCH_OFF
}; // };
//
StateMachine stateMachine = WAIT_ON_DELOYMENT_COMMAND; // StateMachine stateMachine = WAIT_ON_DELOYMENT_COMMAND;
/** /**
* This countdown is used to check if the PCDU sets the 8V line on in the intended time. * This countdown is used to check if the PCDU sets the 8V line on in the intended time.
@ -91,7 +90,7 @@ class SolarArrayDeploymentHandler : public ExecutableObjectIF,
/** /**
* This countdown is used to wait for the burn wire being successful cut. * This countdown is used to wait for the burn wire being successful cut.
*/ */
Countdown deploymentCountdown; //Countdown deploymentCountdown;
/** /**
* The message queue id of the component commanding an action will be stored in this variable. * The message queue id of the component commanding an action will be stored in this variable.
@ -107,27 +106,21 @@ class SolarArrayDeploymentHandler : public ExecutableObjectIF,
CookieIF* gpioCookie; 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 deplSA1;
gpioId_t deplSA2; gpioId_t deplSA2;
GpioIF* gpioInterface = nullptr; GpioIF* gpioInterface = nullptr;
/** Time duration switches are active to cut the burn wire */
uint32_t burnTimeMs;
/** Queue to receive messages from other objects. */ /** Queue to receive messages from other objects. */
MessageQueueIF* commandQueue = nullptr; MessageQueueIF* commandQueue = nullptr;
/** /**
* After initialization this pointer will hold the reference to the main line switcher object. * After initialization this pointer will hold the reference to the main line switcher object.
*/ */
PowerSwitchIF* mainLineSwitcher = nullptr; PowerSwitchIF& mainLineSwitcher;
/** Switch number of the 8V power switch */
uint8_t mainLineSwitch;
ActionHelper actionHelper; ActionHelper actionHelper;
@ -147,13 +140,13 @@ class SolarArrayDeploymentHandler : public ExecutableObjectIF,
/** /**
* @brief This functions handles the switching of the solar array deployment transistors. * @brief This functions handles the switching of the solar array deployment transistors.
*/ */
void switchDeploymentTransistors(); void deploymentTransistorsOn();
/** /**
* @brief This function performs actions to finish the deployment. Essentially switches * @brief This function performs actions to finish the deployment. Essentially switches
* are turned of after the burn time has expired. * are turned of after the burn time has expired.
*/ */
void handleDeploymentFinish(); //void handleDeploymentFinish();
}; };
#endif /* MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_ */ #endif /* MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_ */