continue thermal controller overheating

mission/controller/ThermalController.cpp

@@ -1,6 +1,7 @@
 #include "ThermalController.h"
 
 #include <bsp_q7s/core/CoreDefinitions.h>
+#include <eive/objects.h>
 #include <fsfw/datapool/PoolReadGuard.h>
 #include <fsfw/thermal/ThermalComponentIF.h>
 #include <fsfw_hal/devicehandlers/devicedefinitions/mgmLis3Helpers.h>
@@ -14,7 +15,6 @@
 #include <mission/devices/devicedefinitions/payloadPcduDefinitions.h>
 #include <mission/devices/devicedefinitions/rwHelpers.h>
 #include <objects/systemObjectList.h>
-#include <eive/objects.h>
 
 ThermalController::ThermalController(object_id_t objectId, HeaterHandler& heater)
     : ExtendedControllerBase(objectId),
@@ -65,8 +65,12 @@ ThermalController::ThermalController(object_id_t objectId, HeaterHandler& heater
 }
 
 ReturnValue_t ThermalController::initialize() {
-  auto result = ExtendedControllerBase::initialize();
-  return result;
+  auto* camSwitcher = ObjectManager::instance()->get<HasHealthIF>(objects::CAM_SWITCHER);
+  if (camSwitcher == nullptr) {
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
+  camId = camSwitcher->getCommandQueue();
+  return ExtendedControllerBase::initialize();
 }
 
 ReturnValue_t ThermalController::handleCommandMessage(CommandMessage* message) {
@@ -992,7 +996,8 @@ void ThermalController::ctrlAcsBoard() {
     if (chooseHeater(switchNr, redSwitchNr)) {
       if (heaterHandler.checkSwitchState(switchNr)) {
         heaterHandler.switchHeater(switchNr, HeaterHandler::SwitchState::OFF);
-        sif::info << "ThermalController::ctrlHeater: Heater" << switchNr << " OFF" << std::endl;
+        sif::info << "ThermalController::ctrlHeater: Heater" << static_cast<int>(thermalComponent)
+                  << " OFF" << std::endl;
       }
     }
   }
@@ -1082,9 +1087,7 @@ void ThermalController::ctrlStr() {
   sensors[2].second = sensorTemperatures.sensor_dro.value;
   numSensors = 3;
   ctrlComponentTemperature(heater::HEATER_5_STR, heater::HEATER_6_DRO, strLimits);
-  if (componentAboveOpUpperLimit){
-    EventManagerIF::triggerEvent(objects::STAR_TRACKER, ThermalComponentIF::COMPONENT_TEMP_OOL_HIGH);
-  }
+  tooHotHandler(objects::STAR_TRACKER, strTooHotFlag);
 }
 
 void ThermalController::ctrlIfBoard() {
@@ -1121,8 +1124,11 @@ void ThermalController::ctrlObc() {
   sensors[2].second = sensorTemperatures.tmp1075Tcs0.value;
   numSensors = 3;
   ctrlComponentTemperature(heater::HEATER_0_OBC_BRD, heater::HEATER_2_ACS_BRD, obcLimits);
-  if (componentAboveCutOffLimit) {
-    triggerEvent(OBC_OVERHEATING);
+  if (componentAboveUpperLimit and not obcTooHotFlag) {
+    triggerEvent(tcsCtrl::OBC_OVERHEATING);
+    obcTooHotFlag = true;
+  } else if (not componentAboveUpperLimit) {
+    obcTooHotFlag = false;
   }
 }
 
@@ -1136,6 +1142,12 @@ void ThermalController::ctrlObcIfBoard() {
   sensors[2].second = sensorTemperatures.tmp1075Tcs1.value;
   numSensors = 3;
   ctrlComponentTemperature(heater::HEATER_0_OBC_BRD, heater::HEATER_2_ACS_BRD, obcIfBoardLimits);
+  if (componentAboveUpperLimit and not obcTooHotFlag) {
+    triggerEvent(tcsCtrl::OBC_OVERHEATING);
+    obcTooHotFlag = true;
+  } else if (not componentAboveUpperLimit) {
+    obcTooHotFlag = false;
+  }
 }
 
 void ThermalController::ctrlSBandTransceiver() {
@@ -1149,13 +1161,12 @@ void ThermalController::ctrlSBandTransceiver() {
   numSensors = 3;
   ctrlComponentTemperature(heater::HEATER_7_S_BAND, heater::HEATER_4_CAMERA,
                            sBandTransceiverLimits);
-  if (componentAboveCutOffLimit) {
-    float sensorTempAsFloat = sensorTemp;
-
-    SerializeIF::serialize()
-    triggerEvent(SYRLINKS_OVERHEATING, static_cast<u_int8_t>(sensorTemp)); //TODO: TEMP mitgeben
+  if (componentAboveUpperLimit and not syrlinksTooHotFlag) {
+    triggerEvent(tcsCtrl::SYRLINKS_OVERHEATING, tempFloatToU32());
+    syrlinksTooHotFlag = true;
+  } else if (not componentAboveUpperLimit) {
+    pcduSystemTooHotFlag = false;
   }
-
 }
 void ThermalController::ctrlPcduP60Board() {
   thermalComponent = PCDUP60_BOARD;
@@ -1165,6 +1176,12 @@ void ThermalController::ctrlPcduP60Board() {
   sensors[1].second = deviceTemperatures.temp2P60dock.value;
   numSensors = 2;
   ctrlComponentTemperature(heater::HEATER_3_PCDU_PDU, heater::HEATER_2_ACS_BRD, pcduP60BoardLimits);
+  if (componentAboveUpperLimit and not pcduSystemTooHotFlag) {
+    triggerEvent(tcsCtrl::PCDU_SYSTEM_OVERHEATING, tempFloatToU32());
+    pcduSystemTooHotFlag = true;
+  } else if (not componentAboveUpperLimit) {
+    pcduSystemTooHotFlag = false;
+  }
 }
 
 void ThermalController::ctrlPcduAcu() {
@@ -1175,8 +1192,7 @@ void ThermalController::ctrlPcduAcu() {
   if (chooseHeater(switchNr, redSwitchNr)) {
     bool sensorTempAvailable = true;
 
-    if (deviceTemperatures.acu.value[0] !=
-        INVALID_TEMPERATURE) {
+    if (deviceTemperatures.acu.value[0] != INVALID_TEMPERATURE) {
       sensorTemp = deviceTemperatures.acu.value[0];
     } else if (deviceTemperatures.acu.value[1] != INVALID_TEMPERATURE) {
       sensorTemp = deviceTemperatures.acu.value[1];
@@ -1185,15 +1201,18 @@ void ThermalController::ctrlPcduAcu() {
     } else if (sensorTemperatures.sensor_acu.isValid()) {
       sensorTemp = sensorTemperatures.sensor_acu.value;
     } else {
-      triggerEvent(NO_VALID_SENSOR_TEMPERATURE, thermalComponent);
+      triggerEvent(tcsCtrl::NO_VALID_SENSOR_TEMPERATURE, thermalComponent);
       sensorTempAvailable = false;
     }
     if (sensorTempAvailable) {
       ctrlHeater(switchNr, redSwitchNr, pcduAcuLimits);
     }
   }
-  if (componentAboveOpUpperLimit){
-    EventManagerIF::triggerEvent(objects::PCDU_HANDLER, ThermalComponentIF::COMPONENT_TEMP_HIGH);
+  if (componentAboveUpperLimit and not pcduSystemTooHotFlag) {
+    triggerEvent(tcsCtrl::PCDU_SYSTEM_OVERHEATING, tempFloatToU32());
+    pcduSystemTooHotFlag = true;
+  } else if (not componentAboveUpperLimit) {
+    pcduSystemTooHotFlag = false;
   }
 }
 
@@ -1207,10 +1226,11 @@ void ThermalController::ctrlPcduPdu() {
   sensors[2].second = sensorTemperatures.tmp1075Tcs0.value;
   numSensors = 3;
   ctrlComponentTemperature(heater::HEATER_3_PCDU_PDU, heater::HEATER_2_ACS_BRD, pcduPduLimits);
-  if (componentAboveOpUpperLimit){
-    EventManagerIF::triggerEvent(objects::PCDU_HANDLER, ThermalComponentIF::COMPONENT_TEMP_HIGH);
-  }else if(componentAboveOpUpperLimit){ //TODO: NOp bool
-    EventManagerIF::triggerEvent(objects::PCDU_HANDLER, ThermalComponentIF::COMPONENT_TEMP_HIGH);
+  if (componentAboveUpperLimit and not pcduSystemTooHotFlag) {
+    triggerEvent(tcsCtrl::PCDU_SYSTEM_OVERHEATING, tempFloatToU32());
+    pcduSystemTooHotFlag = true;
+  } else if (not componentAboveUpperLimit) {
+    pcduSystemTooHotFlag = false;
   }
 }
 
@@ -1226,9 +1246,7 @@ void ThermalController::ctrlPlPcduBoard() {
   sensors[3].second = sensorTemperatures.sensor_plpcdu_heatspreader.value;
   numSensors = 4;
   ctrlComponentTemperature(heater::HEATER_3_PCDU_PDU, heater::HEATER_2_ACS_BRD, plPcduBoardLimits);
-  if (componentAboveCutOffLimit) {
-    triggerEvent(PLPCDU_OVERHEATING);
-  }
+  tooHotHandler(objects::PLPCDU_HANDLER, eBandTooHotFlag);
 }
 
 void ThermalController::ctrlPlocMissionBoard() {
@@ -1242,12 +1260,7 @@ void ThermalController::ctrlPlocMissionBoard() {
   numSensors = 3;
   ctrlComponentTemperature(heater::HEATER_1_PLOC_PROC_BRD, heater::HEATER_0_OBC_BRD,
                            plocMissionBoardLimits);
-  if (componentAboveCutOffLimit) {
-    triggerEvent(PLOC_OVERHEATING);
-  }
-  if (componentAboveOpUpperLimit){
-    EventManagerIF::triggerEvent(objects::PLOC_MPSOC_HANDLER, ThermalComponentIF::COMPONENT_TEMP_OOL_HIGH);
-  }
+  tooHotHandler(objects::PLOC_MPSOC_HANDLER, plocTooHotFlag);
 }
 
 void ThermalController::ctrlPlocProcessingBoard() {
@@ -1261,9 +1274,7 @@ void ThermalController::ctrlPlocProcessingBoard() {
   numSensors = 3;
   ctrlComponentTemperature(heater::HEATER_1_PLOC_PROC_BRD, heater::HEATER_0_OBC_BRD,
                            plocProcessingBoardLimits);
-  if (componentAboveOpUpperLimit){
-    EventManagerIF::triggerEvent(objects::PLOC_MPSOC_HANDLER, ThermalComponentIF::COMPONENT_TEMP_OOL_HIGH);
-  }
+  tooHotHandler(objects::PLOC_MPSOC_HANDLER, plocTooHotFlag);
 }
 
 void ThermalController::ctrlDac() {
@@ -1276,9 +1287,7 @@ void ThermalController::ctrlDac() {
   sensors[2].second = sensorTemperatures.sensor_ploc_heatspreader.value;
   numSensors = 3;
   ctrlComponentTemperature(heater::HEATER_1_PLOC_PROC_BRD, heater::HEATER_0_OBC_BRD, dacLimits);
-  if (componentAboveOpUpperLimit){
-    //EventManagerIF::triggerEvent(objects::, ThermalComponentIF::COMPONENT_TEMP_OOL_HIGH);
-  }
+  tooHotHandler(objects::PLPCDU_HANDLER, eBandTooHotFlag);
 }
 
 void ThermalController::ctrlCameraBody() {
@@ -1291,9 +1300,19 @@ void ThermalController::ctrlCameraBody() {
   sensors[2].second = sensorTemperatures.sensor_mpa.value;
   numSensors = 3;
   ctrlComponentTemperature(heater::HEATER_4_CAMERA, heater::HEATER_6_DRO, cameraLimits);
-//  if (componentAboveOpUpperLimit){
-//    EventManagerIF::triggerEvent(objects::, ThermalComponentIF::COMPONENT_TEMP_OOL_HIGH);
-//  }
+  if (componentAboveUpperLimit and not camTooHotOneShotFlag) {
+    triggerEvent(tcsCtrl::CAMERA_OVERHEATING, tempFloatToU32());
+    CommandMessage msg;
+    HealthMessage::setHealthMessage(&msg, HealthMessage::HEALTH_SET, HealthState::FAULTY);
+    ReturnValue_t result = commandQueue->sendMessage(camId, &msg);
+    if (result != returnvalue::OK) {
+      sif::error << "ThermalController::ctrlCameraBody(): Sending health message failed"
+                 << std::endl;
+    }
+    camTooHotOneShotFlag = true;
+  } else if (not componentAboveUpperLimit) {
+    camTooHotOneShotFlag = false;
+  }
 }
 
 void ThermalController::ctrlDro() {
@@ -1306,9 +1325,7 @@ void ThermalController::ctrlDro() {
   sensors[2].second = sensorTemperatures.sensor_mpa.value;
   numSensors = 3;
   ctrlComponentTemperature(heater::HEATER_6_DRO, heater::HEATER_4_CAMERA, droLimits);
-  if (componentAboveOpUpperLimit){
-    EventManagerIF::triggerEvent(objects::PLPCDU_HANDLER, ThermalComponentIF::COMPONENT_TEMP_OOL_HIGH);
-  }
+  tooHotHandler(objects::PLPCDU_HANDLER, eBandTooHotFlag);
 }
 
 void ThermalController::ctrlX8() {
@@ -1321,9 +1338,7 @@ void ThermalController::ctrlX8() {
   sensors[2].second = sensorTemperatures.sensor_tx_modul.value;
   numSensors = 3;
   ctrlComponentTemperature(heater::HEATER_6_DRO, heater::HEATER_4_CAMERA, x8Limits);
-  if (componentAboveOpUpperLimit){
-    EventManagerIF::triggerEvent(objects::PLPCDU_HANDLER, ThermalComponentIF::COMPONENT_TEMP_OOL_HIGH);
-  }
+  tooHotHandler(objects::PLPCDU_HANDLER, eBandTooHotFlag);
 }
 
 void ThermalController::ctrlTx() {
@@ -1336,9 +1351,7 @@ void ThermalController::ctrlTx() {
   sensors[2].second = sensorTemperatures.sensor_mpa.value;
   numSensors = 3;
   ctrlComponentTemperature(heater::HEATER_6_DRO, heater::HEATER_4_CAMERA, txLimits);
-  if (componentAboveOpUpperLimit){
-    EventManagerIF::triggerEvent(objects::PLPCDU_HANDLER, ThermalComponentIF::COMPONENT_TEMP_OOL_HIGH);
-  }
+  tooHotHandler(objects::PLPCDU_HANDLER, eBandTooHotFlag);
 }
 
 void ThermalController::ctrlMpa() {
@@ -1351,9 +1364,7 @@ void ThermalController::ctrlMpa() {
   sensors[2].second = sensorTemperatures.sensor_tx_modul.value;
   numSensors = 3;
   ctrlComponentTemperature(heater::HEATER_6_DRO, heater::HEATER_4_CAMERA, mpaLimits);
-  if (componentAboveOpUpperLimit){
-    EventManagerIF::triggerEvent(objects::PLPCDU_HANDLER, ThermalComponentIF::COMPONENT_TEMP_OOL_HIGH);
-  }
+  tooHotHandler(objects::PLPCDU_HANDLER, eBandTooHotFlag);
 }
 
 void ThermalController::ctrlHpa() {
@@ -1366,12 +1377,7 @@ void ThermalController::ctrlHpa() {
   sensors[2].second = sensorTemperatures.sensor_mpa.value;
   numSensors = 3;
   ctrlComponentTemperature(heater::HEATER_6_DRO, heater::HEATER_4_CAMERA, hpaLimits);
-  if (componentAboveCutOffLimit) {
-    triggerEvent(HPA_OVERHEATING);
-  }
-  if (componentAboveOpUpperLimit){
-    EventManagerIF::triggerEvent(objects::PLPCDU_HANDLER, ThermalComponentIF::COMPONENT_TEMP_OOL_HIGH);
-  }
+  tooHotHandler(objects::PLPCDU_HANDLER, eBandTooHotFlag);
 }
 
 void ThermalController::ctrlScexBoard() {
@@ -1384,9 +1390,7 @@ void ThermalController::ctrlScexBoard() {
   sensors[2].second = sensorTemperatures.sensor_hpa.value;
   numSensors = 3;
   ctrlComponentTemperature(heater::HEATER_6_DRO, heater::HEATER_5_STR, scexBoardLimits);
-  if (componentAboveOpUpperLimit){
-    EventManagerIF::triggerEvent(objects::SCEX, ThermalComponentIF::COMPONENT_TEMP_OOL_HIGH);
-  }
+  tooHotHandler(objects::SCEX, scexTooHotFlag);
 }
 
 void ThermalController::performThermalModuleCtrl() {
@@ -1427,7 +1431,8 @@ void ThermalController::ctrlComponentTemperature(heater::Switchers switchNr,
                      redSwitchNr)) {  // TODO: muss der Heater dann wirklich abgeschalten werden?
       if (heaterHandler.checkSwitchState(switchNr)) {
         heaterHandler.switchHeater(switchNr, HeaterHandler::SwitchState::OFF);
-        sif::info << "ThermalController::ctrlHeater: Heater" << static_cast<u_int8_t>(switchNr) << " OFF" << std::endl; // TODO: printouts löschen
+        sif::info << "ThermalController::ctrlHeater: Heater" << static_cast<u_int8_t>(switchNr)
+                  << " OFF" << std::endl;  // TODO: printouts löschen
       }
     }
   }
@@ -1445,11 +1450,11 @@ bool ThermalController::selectAndReadSensorTemp() {
   thermalStates[thermalComponent].errorCounter++;
   if (thermalComponent != RW and thermalComponent != ACS_BOARD) {
     if (thermalStates[thermalComponent].errorCounter <= 3) {
-      triggerEvent(NO_VALID_SENSOR_TEMPERATURE, thermalComponent);
+      triggerEvent(tcsCtrl::NO_VALID_SENSOR_TEMPERATURE, thermalComponent);
     }
   } else {
     if (thermalStates[thermalComponent].errorCounter <= 8) {
-      triggerEvent(NO_VALID_SENSOR_TEMPERATURE, thermalComponent);
+      triggerEvent(tcsCtrl::NO_VALID_SENSOR_TEMPERATURE, thermalComponent);
     }
   }
 
@@ -1464,7 +1469,7 @@ bool ThermalController::chooseHeater(heater::Switchers& switchNr, heater::Switch
       redSwitchNrInUse = true;
     } else {
       heaterAvailable = false;
-      triggerEvent(NO_HEALTHY_HEATER_AVAILABLE, switchNr, redSwitchNr);
+      triggerEvent(tcsCtrl::NO_HEALTHY_HEATER_AVAILABLE, switchNr, redSwitchNr);
     }
   } else {
     redSwitchNrInUse = false;
@@ -1474,17 +1479,16 @@ bool ThermalController::chooseHeater(heater::Switchers& switchNr, heater::Switch
 void ThermalController::ctrlHeater(heater::Switchers switchNr, heater::Switchers redSwitchNr,
                                    struct TempLimits& tempLimit) {
   componentAboveCutOffLimit = false;
-  componentAboveOpUpperLimit = false;
+  componentAboveUpperLimit = false;
   // if Heater off
   if (not heaterStates[switchNr].switchTransition) {
     if (not heaterHandler.checkSwitchState(switchNr)) {
       if (sensorTemp < tempLimit.opLowerLimit) {
         heaterHandler.switchHeater(switchNr, HeaterHandler::SwitchState::ON);
-        sif::info << "ThermalController::ctrlHeater: Heater " << static_cast<u_int8_t>(thermalComponent) << " ON"
-                  << std::endl;
+        sif::info << "ThermalController::ctrlHeater: Heater " << static_cast<int>(thermalComponent)
+                  << " ON" << std::endl;
         heaterStates[switchNr].switchTransition = true;
         thermalStates[thermalComponent].heating = true;
-        // TODO: EVENT; aber heaterHandler erstellt schon event
       } else {
         thermalStates[thermalComponent].heating = false;
       }
@@ -1494,36 +1498,34 @@ void ThermalController::ctrlHeater(heater::Switchers switchNr, heater::Switchers
       if (thermalStates[thermalComponent].heating) {
         if (sensorTemp >= tempLimit.opLowerLimit + TEMP_OFFSET) {
           heaterHandler.switchHeater(switchNr, HeaterHandler::SwitchState::OFF);
-          sif::info << "ThermalController::ctrlHeater: Heater " << static_cast<u_int8_t>(thermalComponent)  << " OFF"
-                    << std::endl;
+          sif::info << "ThermalController::ctrlHeater: Heater "
+                    << static_cast<int>(thermalComponent) << " OFF" << std::endl;
           heaterStates[switchNr].switchTransition = true;
           thermalStates[thermalComponent].heating = false;
         }
       } else {
-        // TODO: if >= opLimit -> Event; nicht für syrlinks
-        if (sensorTemp >= tempLimit.opUpperLimit) {
-          componentAboveOpUpperLimit = true;
+        auto tempTooHighHandler = [&](const char* whatLimit) {
           heaterHandler.switchHeater(switchNr, HeaterHandler::SwitchState::OFF);
-          sif::info << "ThermalController::ctrlHeater: Reached CutOffLimit: Heater "
-                    << static_cast<u_int8_t>(thermalComponent) << " OFF" << std::endl;
+          sif::info << "ThermalController::ctrlHeater: Reached " << whatLimit << ": Heater "
+                    << static_cast<int>(thermalComponent) << " OFF" << std::endl;
           heaterStates[switchNr].switchTransition = true;
           if (heaterHandler.checkSwitchState(redSwitchNr)) {
             heaterHandler.switchHeater(redSwitchNr, HeaterHandler::SwitchState::OFF);
             heaterStates[redSwitchNr].switchTransition = true;
           }
+        };
+        if (sensorTemp >= tempLimit.nopUpperLimit) {
+          componentAboveUpperLimit = true;
+          tempTooHighHandler("NOP-Limit");
+          overHeatEventToTrigger = ThermalComponentIF::COMPONENT_TEMP_OOL_HIGH;
+        } else if (sensorTemp >= tempLimit.opUpperLimit) {
+          componentAboveUpperLimit = true;
+          tempTooHighHandler("OP-Limit");
+          overHeatEventToTrigger = ThermalComponentIF::COMPONENT_TEMP_HIGH;
         }
         if (sensorTemp >= tempLimit.cutOffLimit) {
           componentAboveCutOffLimit = true;
-          heaterHandler.switchHeater(switchNr, HeaterHandler::SwitchState::OFF);
-          sif::info << "ThermalController::ctrlHeater: Reached CutOffLimit: Heater "
-                    << thermalComponent << " OFF" << std::endl;
-          heaterStates[switchNr].switchTransition = true;
-          if (heaterHandler.checkSwitchState(redSwitchNr)) {
-            heaterHandler.switchHeater(redSwitchNr, HeaterHandler::SwitchState::OFF);
-            sif::info << "ThermalController::ctrlHeater: Reached CutOffLimit: RedundantHeater "
-                      << thermalComponent << " OFF" << std::endl;
-            heaterStates[redSwitchNr].switchTransition = true;
-          }
+          tempTooHighHandler("CutOff-Limit");
         }
       }
     }
@@ -1548,3 +1550,19 @@ void ThermalController::heaterTransitionControl() {
     }
   }
 }
+uint32_t ThermalController::tempFloatToU32() {
+  auto sensorTempAsFloat = static_cast<float>(sensorTemp);
+  uint32_t tempRaw = 0;
+  size_t dummyLen = 0;
+  SerializeAdapter::serialize(&sensorTempAsFloat, reinterpret_cast<uint8_t*>(&tempRaw), &dummyLen,
+                              sizeof(tempRaw), SerializeIF::Endianness::NETWORK);
+  return tempRaw;
+}
+void ThermalController::tooHotHandler(object_id_t object, bool& oneShotFlag) {
+  if (componentAboveUpperLimit and not oneShotFlag) {
+    EventManagerIF::triggerEvent(object, overHeatEventToTrigger, tempFloatToU32());
+    oneShotFlag = true;
+  } else if (not componentAboveUpperLimit) {
+    oneShotFlag = false;
+  }
+}