Merge remote-tracking branch 'origin/develop' into mueller/master

mission/CMakeLists.txt

@@ -1,3 +1,4 @@
+add_subdirectory(controller)
 add_subdirectory(core)
 add_subdirectory(devices)
 add_subdirectory(utility)

mission/controller/CMakeLists.txt

@@ -0,0 +1,3 @@
+target_sources(${LIB_EIVE_MISSION} PRIVATE
+	ThermalController.cpp
+)

mission/controller/ThermalController.cpp

@@ -1,42 +1,48 @@
 #include "ThermalController.h"
 
-#include <mission/devices/devicedefinitions/ThermalSensorPacket.h>
+ThermalController::ThermalController(object_id_t objectId, object_id_t parentId)
+    : ExtendedControllerBase(objectId, parentId),
+      sensorTemperatures(this),
+      componentTemperatures(this) {}
 
-ThermalController::ThermalController(object_id_t objectId)
-    : ExtendedControllerBase(objectId, objects::NO_OBJECT), thermalControllerSet(objectId) {}
+ReturnValue_t ThermalController::initialize() { return ControllerBase::initialize(); }
 
-ReturnValue_t ThermalController::handleCommandMessage(CommandMessage *message) {
-  return HasReturnvaluesIF::RETURN_OK;
+ReturnValue_t ThermalController::handleCommandMessage(CommandMessage* message) {
+  return RETURN_FAILED;
+}
+void ThermalController::performControlOperation() {
+  ReturnValue_t result = sensorTemperatures.read();
+  if (result != RETURN_OK) {
+    return;
+  }
+  result = componentTemperatures.read();
+  if (result != RETURN_OK) {
+    return;
+  }
+
+  componentTemperatures.rw = (sensorTemperatures.rw.value + sensorTemperatures.gps.value) / 2;
+
+  sensorTemperatures.commit();
+  componentTemperatures.commit();
 }
 
-void ThermalController::performControlOperation() {}
+ReturnValue_t ThermalController::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+                                                         LocalDataPoolManager& poolManager) {
+  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_RW, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_GPS, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(thermalControllerDefinitions::COMPONENT_RW, new PoolEntry<float>({0.0}));
 
-void ThermalController::handleChangedDataset(sid_t sid, store_address_t storeId) {
-  if (sid == sid_t(TSensorDefinitions::ObjIds::TEST_HKB_HANDLER,
-                   TSensorDefinitions::THERMAL_SENSOR_SET_ID)) {
-    sif::info << "Update registered!" << std::endl;
-  }
-}
-
-ReturnValue_t ThermalController::initializeAfterTaskCreation() {
-  ReturnValue_t result = ExtendedControllerBase::initializeAfterTaskCreation();
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "ThermalController::initializeAfterTaskCreation: Base"
-               << " class initialization failed!" << std::endl;
-  }
-  HasLocalDataPoolIF *testHkbHandler = ObjectManager::instance()->get<HasLocalDataPoolIF>(
-      TSensorDefinitions::ObjIds::TEST_HKB_HANDLER);
-  if (testHkbHandler == nullptr) {
-    sif::warning << "ThermalController::initializeAfterTaskCreation: Test"
-                 << " HKB Handler invalid!" << std::endl;
-  }
-  // Test normal notifications without data packet first.
-  testHkbHandler->getHkManagerHandle()->subscribeForSetUpdateMessages(
-      TSensorDefinitions::THERMAL_SENSOR_SET_ID, this->getObjectId(), commandQueue->getId(), false);
-  return result;
+  return RETURN_OK;
 }
+LocalPoolDataSetBase* ThermalController::getDataSetHandle(sid_t sid) { return nullptr; }
 
 ReturnValue_t ThermalController::checkModeCommand(Mode_t mode, Submode_t submode,
-                                                  uint32_t *msToReachTheMode) {
-  return HasReturnvaluesIF::RETURN_OK;
-}
+                                                  uint32_t* msToReachTheMode) {
+  if (submode != SUBMODE_NONE) {
+    return INVALID_SUBMODE;
+  }
+  if ((mode != MODE_OFF) && (mode != MODE_ON) && (mode != MODE_NORMAL)) {
+    return INVALID_MODE;
+  }
+  return RETURN_OK;
+}

mission/controller/ThermalController.h

@@ -2,30 +2,28 @@
 #define MISSION_CONTROLLER_THERMALCONTROLLER_H_
 
 #include <fsfw/controller/ExtendedControllerBase.h>
-
-#include "ctrldefinitions/ThermalCtrlPackets.h"
+#include <mission/controller/controllerdefinitions/ThermalControllerDefinitions.h>
 
 class ThermalController : public ExtendedControllerBase {
  public:
-  ThermalController(object_id_t objectId);
+  ThermalController(object_id_t objectId, object_id_t parentId);
+
+  ReturnValue_t initialize() override;
+
+ protected:
+  virtual ReturnValue_t handleCommandMessage(CommandMessage* message) override;
+  virtual void performControlOperation() override;
+  virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+                                                LocalDataPoolManager& poolManager) override;
+  virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
+
+  // Mode abstract functions
+  virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+                                         uint32_t* msToReachTheMode) override;
 
  private:
-  // TODO: Add stubs for thermal components. Each device / assembly with one
-  // or multiple redundant sensors will have a thermal component.
-
-  /** ExtendedControllerBase overrides */
-  virtual ReturnValue_t handleCommandMessage(CommandMessage *message) override;
-
-  virtual void performControlOperation() override;
-
-  virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-                                         uint32_t *msToReachTheMode) override;
-
-  ReturnValue_t initializeAfterTaskCreation() override;
-
-  void handleChangedDataset(sid_t sid, store_address_t storeId) override;
-
-  ThermalCtrl::ThermalControllerTemperatureSet thermalControllerSet;
+  thermalControllerDefinitions::SensorTemperatures sensorTemperatures;
+  thermalControllerDefinitions::ComponentTemperatures componentTemperatures;
 };
 
 #endif /* MISSION_CONTROLLER_THERMALCONTROLLER_H_ */

mission/controller/controllerdefinitions/ThermalControllerDefinitions.h

@@ -0,0 +1,43 @@
+#ifndef MISSION_CONTROLLER_CONTROLLERDEFINITIONS_THERMALCONTROLLERDEFINITIONS_H_
+#define MISSION_CONTROLLER_CONTROLLERDEFINITIONS_THERMALCONTROLLERDEFINITIONS_H_
+
+#include <fsfw/datapoollocal/LocalPoolVariable.h>
+#include <fsfw/datapoollocal/StaticLocalDataSet.h>
+
+namespace thermalControllerDefinitions {
+
+enum SetIds : uint32_t { SENSOR_TEMPERATURES, COMPONENT_TEMPERATURES };
+
+enum PoolIds : lp_id_t { SENSOR_RW, SENSOR_GPS, COMPONENT_RW };
+
+/**
+ * @brief   This dataset can be used to store the collected temperatures of all temperature sensors
+ */
+class SensorTemperatures : public StaticLocalDataSet<2> {
+ public:
+  SensorTemperatures(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, SENSOR_TEMPERATURES) {}
+
+  SensorTemperatures(object_id_t objectId)
+      : StaticLocalDataSet(sid_t(objectId, SENSOR_TEMPERATURES)) {}
+
+  lp_var_t<float> rw = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_RW, this);
+  lp_var_t<float> gps = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_GPS, this);
+};
+
+/**
+ * @brief   This dataset can be used to store the collected temperatures of all components
+ */
+class ComponentTemperatures : public StaticLocalDataSet<2> {
+ public:
+  ComponentTemperatures(HasLocalDataPoolIF* owner)
+      : StaticLocalDataSet(owner, SENSOR_TEMPERATURES) {}
+
+  ComponentTemperatures(object_id_t objectId)
+      : StaticLocalDataSet(sid_t(objectId, SENSOR_TEMPERATURES)) {}
+
+  lp_var_t<float> rw = lp_var_t<float>(sid.objectId, PoolIds::COMPONENT_RW, this);
+};
+
+}  // namespace thermalControllerDefinitions
+
+#endif /* MISSION_CONTROLLER_CONTROLLERDEFINITIONS_THERMALCONTROLLERDEFINITIONS_H_ */

mission/devices/RadiationSensorHandler.h

@@ -3,8 +3,8 @@
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <mission/devices/devicedefinitions/RadSensorDefinitions.h>
+#include <fsfw_hal/common/gpio/GpioIF.h>
 
-class GpioIF;
 
 /**
  * @brief	This is the device handler class for radiation sensor on the OBC IF Board. The