Merge pull request 'Shared Power Switch Assembly' (#590) from assy_proper_recovery_handling into develop
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Reviewed-on: #590
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commit
d71031f2e4
@ -26,6 +26,8 @@ will consitute of a breaking change warranting a new major release:
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temperature for the all-ones value (0x0fff).
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- Better reply result handling for the ACS board devices.
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- ADIS1650X initial timeout handling now performed in device handler.
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- The RW assembly and TCS board assembly now perform proper power switch handling for their
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recovery handling.
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## Changed
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@ -33,6 +35,8 @@ will consitute of a breaking change warranting a new major release:
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the active SD card is switched or there is a transition from hot redundant to cold redundant mode.
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This gives other tasks some time to register the SD cards being unusable, and therefore provides
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a way for them to perform any re-initialization tasks necessary after SD card switches.
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- The TCS controller pauses operations related to the TCS board assembly (reading sensors and
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the primary control loop) while a TCS board recovery is on-going.
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## Changed
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@ -40,6 +40,7 @@
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#include "mission/system/com/comModeTree.h"
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#include "mission/system/tree/payloadModeTree.h"
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#include "mission/system/tree/tcsModeTree.h"
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#include "mission/tcs/defs.h"
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void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpioIF) {
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new ComIFDummy(objects::DUMMY_COM_IF);
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@ -202,7 +203,8 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
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new TemperatureSensorInserter(objects::THERMAL_TEMP_INSERTER, rtdSensorDummies,
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tmpSensorDummies);
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TcsBoardAssembly* tcsBoardAssy = ObjectFactory::createTcsBoardAssy(pwrSwitcher);
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TcsBoardAssembly* tcsBoardAssy =
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ObjectFactory::createTcsBoardAssy(pwrSwitcher, tcs::TCS_BOARD_SHORTLY_UNAVAILABLE);
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for (auto& rtd : rtdSensorDummies) {
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rtd.second->connectModeTreeParent(*tcsBoardAssy);
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}
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@ -29,6 +29,7 @@
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#include "mission/system/acs/acsModeTree.h"
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#include "mission/system/tree/payloadModeTree.h"
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#include "mission/system/tree/tcsModeTree.h"
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#include "mission/tcs/defs.h"
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void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF,
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PowerSwitchIF& pwrSwitcher, std::string spiDev,
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@ -278,7 +279,8 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
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std::array<Max31865EiveHandler*, NUM_RTDS> rtds = {};
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RtdFdir* rtdFdir = nullptr;
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TcsBoardAssembly* tcsBoardAss = ObjectFactory::createTcsBoardAssy(*pwrSwitcher);
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TcsBoardAssembly* tcsBoardAss =
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ObjectFactory::createTcsBoardAssy(*pwrSwitcher, tcs::TCS_BOARD_SHORTLY_UNAVAILABLE);
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// Create special low level reader communication interface
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new Max31865RtdPolling(objects::SPI_RTD_COM_IF, comIF, gpioComIF);
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@ -21,7 +21,8 @@
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#define LOWER_EBAND_UPPER_LIMITS 0
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#define LOWER_PLOC_UPPER_LIMITS 0
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ThermalController::ThermalController(object_id_t objectId, HeaterHandler& heater)
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ThermalController::ThermalController(object_id_t objectId, HeaterHandler& heater,
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const std::atomic_bool& tcsBoardShortUnavailable)
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: ExtendedControllerBase(objectId),
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heaterHandler(heater),
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sensorTemperatures(this),
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@ -66,7 +67,8 @@ ThermalController::ThermalController(object_id_t objectId, HeaterHandler& heater
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susSet8(objects::SUS_8_R_LOC_XBYBZB_PT_YB),
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susSet9(objects::SUS_9_R_LOC_XBYBZB_PT_YF),
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susSet10(objects::SUS_10_N_LOC_XMYBZF_PT_ZF),
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susSet11(objects::SUS_11_R_LOC_XBYMZB_PT_ZB) {
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susSet11(objects::SUS_11_R_LOC_XBYMZB_PT_ZB),
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tcsBrdShortlyUnavailable(tcsBoardShortUnavailable) {
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resetSensorsArray();
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}
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@ -134,10 +136,12 @@ void ThermalController::performControlOperation() {
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}
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}
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{
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PoolReadGuard pg(&sensorTemperatures);
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if (pg.getReadResult() == returnvalue::OK) {
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copySensors();
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if (not tcsBrdShortlyUnavailable) {
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{
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PoolReadGuard pg(&sensorTemperatures);
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if (pg.getReadResult() == returnvalue::OK) {
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copySensors();
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}
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}
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}
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{
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@ -182,7 +186,7 @@ void ThermalController::performControlOperation() {
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}
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setMode(MODE_OFF);
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}
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} else if (mode != MODE_OFF) {
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} else if (mode != MODE_OFF and not tcsBrdShortlyUnavailable) {
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performThermalModuleCtrl(heaterSwitchStateArray);
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}
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cycles++;
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@ -22,6 +22,7 @@
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#include <mission/tcs/Tmp1075Definitions.h>
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#include <mission/utility/trace.h>
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#include <atomic>
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#include <list>
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/**
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@ -94,7 +95,8 @@ class ThermalController : public ExtendedControllerBase {
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static constexpr int16_t SANITY_LIMIT_LOWER_TEMP = -80;
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static constexpr int16_t SANITY_LIMIT_UPPER_TEMP = 160;
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ThermalController(object_id_t objectId, HeaterHandler& heater);
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ThermalController(object_id_t objectId, HeaterHandler& heater,
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const std::atomic_bool& tcsBoardShortUnavailable);
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ReturnValue_t initialize() override;
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@ -181,6 +183,10 @@ class ThermalController : public ExtendedControllerBase {
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susMax1227::SusDataset susSet10;
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susMax1227::SusDataset susSet11;
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// If the TCS board in unavailable, for example due to a recovery, skip
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// some TCS controller tasks to avoid unnecessary events.
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const std::atomic_bool& tcsBrdShortlyUnavailable = false;
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lp_var_t<float> tempQ7s = lp_var_t<float>(objects::CORE_CONTROLLER, core::PoolIds::TEMPERATURE);
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lp_var_t<int16_t> battTemp1 = lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, bpxBat::BATT_TEMP_1);
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lp_var_t<int16_t> battTemp2 = lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, bpxBat::BATT_TEMP_2);
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@ -48,6 +48,7 @@
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#include "mission/system/acs/RwAssembly.h"
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#include "mission/system/acs/acsModeTree.h"
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#include "mission/system/tree/tcsModeTree.h"
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#include "mission/tcs/defs.h"
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#include "mission/tmtc/tmFilters.h"
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#include "objects/systemObjectList.h"
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#include "tmtc/pusIds.h"
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@ -90,6 +91,8 @@ EiveFaultHandler EIVE_FAULT_HANDLER;
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} // namespace cfdp
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std::atomic_bool tcs::TCS_BOARD_SHORTLY_UNAVAILABLE = false;
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void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFunnel** pusFunnel,
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CfdpTmFunnel** cfdpFunnel, SdCardMountedIF& sdcMan,
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StorageManagerIF** ipcStore, StorageManagerIF** tmStore,
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@ -300,7 +303,8 @@ void ObjectFactory::createGenericHeaterComponents(GpioIF& gpioIF, PowerSwitchIF&
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}
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void ObjectFactory::createThermalController(HeaterHandler& heaterHandler) {
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auto* tcsCtrl = new ThermalController(objects::THERMAL_CONTROLLER, heaterHandler);
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auto* tcsCtrl = new ThermalController(objects::THERMAL_CONTROLLER, heaterHandler,
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tcs::TCS_BOARD_SHORTLY_UNAVAILABLE);
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tcsCtrl->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
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}
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void ObjectFactory::createRwAssy(PowerSwitchIF& pwrSwitcher, power::Switch_t theSwitch,
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@ -366,10 +370,12 @@ void ObjectFactory::createAcsBoardAssy(PowerSwitchIF& pwrSwitcher,
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acsAss->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
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}
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TcsBoardAssembly* ObjectFactory::createTcsBoardAssy(PowerSwitchIF& pwrSwitcher) {
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TcsBoardAssembly* ObjectFactory::createTcsBoardAssy(PowerSwitchIF& pwrSwitcher,
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std::atomic_bool& tcsShortlyUnavailable) {
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TcsBoardHelper helper(RTD_INFOS);
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auto* tcsBoardAss = new TcsBoardAssembly(objects::TCS_BOARD_ASS, &pwrSwitcher,
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power::Switches::PDU1_CH0_TCS_BOARD_3V3, helper);
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auto* tcsBoardAss =
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new TcsBoardAssembly(objects::TCS_BOARD_ASS, &pwrSwitcher,
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power::Switches::PDU1_CH0_TCS_BOARD_3V3, helper, tcsShortlyUnavailable);
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tcsBoardAss->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
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return tcsBoardAss;
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}
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@ -55,7 +55,8 @@ void createRwAssy(PowerSwitchIF& pwrSwitcher, power::Switch_t theSwitch,
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void createSusAssy(PowerSwitchIF& pwrSwitcher, std::array<DeviceHandlerBase*, 12> suses);
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void createAcsBoardAssy(PowerSwitchIF& pwrSwitcher, std::array<DeviceHandlerBase*, 8> assemblyDhbs,
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ExtendedControllerBase* gpsCtrl, GpioIF* gpioComIF);
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TcsBoardAssembly* createTcsBoardAssy(PowerSwitchIF& pwrSwitcher);
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TcsBoardAssembly* createTcsBoardAssy(PowerSwitchIF& pwrSwitcher,
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std::atomic_bool& tcsShortlyUnavailable);
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} // namespace ObjectFactory
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@ -50,6 +50,7 @@ static constexpr Event FDIR_REACTION_IGNORED = event::makeEvent(SUBSYSTEM_ID, 3,
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enum class States { IDLE, SWITCHING_POWER, CHECKING_POWER, MODE_COMMANDING };
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enum class OpCodes { NONE, TO_OFF_DONE, TO_NOT_OFF_DONE, TIMEOUT_OCCURED };
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enum RecoveryCustomStates { IDLE, POWER_SWITCHING_OFF, POWER_SWITCHING_ON, DONE };
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} // namespace power
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namespace duallane {
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@ -6,5 +6,6 @@ add_subdirectory(fdir)
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add_subdirectory(power)
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target_sources(
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${LIB_EIVE_MISSION} PRIVATE systemTree.cpp DualLanePowerStateMachine.cpp
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EiveSystem.cpp treeUtil.cpp)
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${LIB_EIVE_MISSION}
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PRIVATE systemTree.cpp DualLanePowerStateMachine.cpp EiveSystem.cpp
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treeUtil.cpp SharedPowerAssemblyBase.cpp)
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91
mission/system/SharedPowerAssemblyBase.cpp
Normal file
91
mission/system/SharedPowerAssemblyBase.cpp
Normal file
@ -0,0 +1,91 @@
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#include "SharedPowerAssemblyBase.h"
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SharedPowerAssemblyBase::SharedPowerAssemblyBase(object_id_t objectId, PowerSwitchIF* pwrSwitcher,
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power::Switch_t switchId, uint16_t cmdQueueDepth)
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: AssemblyBase(objectId, cmdQueueDepth), switcher(pwrSwitcher, switchId) {}
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void SharedPowerAssemblyBase::performChildOperation() {
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auto state = switcher.getState();
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if (state != PowerSwitcher::WAIT_OFF and state != PowerSwitcher::WAIT_ON) {
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AssemblyBase::performChildOperation();
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return;
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}
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switcher.doStateMachine();
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if (state == PowerSwitcher::WAIT_OFF and switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
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// Indicator that a transition to off is finished
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AssemblyBase::handleModeReached();
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} else if (state == PowerSwitcher::WAIT_ON and
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switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
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// Indicator that mode commanding can be performed now
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AssemblyBase::startTransition(targetMode, targetSubmode);
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}
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}
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void SharedPowerAssemblyBase::startTransition(Mode_t mode, Submode_t submode) {
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if (mode != MODE_OFF) {
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switcher.turnOn(true);
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switcher.doStateMachine();
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if (switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
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AssemblyBase::startTransition(mode, submode);
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} else {
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// Need to wait with mode commanding until power switcher is done
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targetMode = mode;
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targetSubmode = submode;
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}
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} else {
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// Perform regular mode commanding first
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AssemblyBase::startTransition(mode, submode);
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}
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}
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void SharedPowerAssemblyBase::handleModeReached() {
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if (targetMode == MODE_OFF) {
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switcher.turnOff(true);
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switcher.doStateMachine();
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// Need to wait with call to AssemblyBase::handleModeReached until power switcher is done
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if (switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
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AssemblyBase::handleModeReached();
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}
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} else {
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AssemblyBase::handleModeReached();
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}
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}
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bool SharedPowerAssemblyBase::checkAndHandleRecovery() {
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using namespace power;
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if (recoveryState == RECOVERY_IDLE) {
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return AssemblyBase::checkAndHandleRecovery();
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}
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if (customRecoveryStates == IDLE) {
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switcher.turnOff();
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customRecoveryStates = RecoveryCustomStates::POWER_SWITCHING_OFF;
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}
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if (customRecoveryStates == POWER_SWITCHING_OFF) {
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switcher.doStateMachine();
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if (switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
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customRecoveryStates = RecoveryCustomStates::POWER_SWITCHING_ON;
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switcher.turnOn();
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}
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}
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if (customRecoveryStates == POWER_SWITCHING_ON) {
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switcher.doStateMachine();
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if (switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
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customRecoveryStates = RecoveryCustomStates::DONE;
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}
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}
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if (customRecoveryStates == DONE) {
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bool pendingRecovery = AssemblyBase::checkAndHandleRecovery();
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if (not pendingRecovery) {
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customRecoveryStates = RecoveryCustomStates::IDLE;
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}
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// For a recovery on one side, only do the recovery once
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for (auto& child : childrenMap) {
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if (healthHelper.healthTable->getHealth(child.first) == HasHealthIF::NEEDS_RECOVERY) {
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sendHealthCommand(child.second.commandQueue, HEALTHY);
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child.second.healthChanged = false;
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}
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}
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return pendingRecovery;
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}
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return true;
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}
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27
mission/system/SharedPowerAssemblyBase.h
Normal file
27
mission/system/SharedPowerAssemblyBase.h
Normal file
@ -0,0 +1,27 @@
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#ifndef MISSION_SYSTEM_SHAREDPOWERASSEMBLYBASE_H_
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#define MISSION_SYSTEM_SHAREDPOWERASSEMBLYBASE_H_
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#include <fsfw/devicehandlers/AssemblyBase.h>
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#include <fsfw/power/PowerSwitcher.h>
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#include <mission/power/defs.h>
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/**
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* Base class which contains common functions for assemblies where the power line is shared
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* among the devices in the assembly.
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*/
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class SharedPowerAssemblyBase : public AssemblyBase {
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public:
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SharedPowerAssemblyBase(object_id_t objectId, PowerSwitchIF* pwrSwitcher,
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power::Switch_t switchId, uint16_t cmdQueueDepth = 8);
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protected:
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PowerSwitcher switcher;
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power::RecoveryCustomStates customRecoveryStates = power::RecoveryCustomStates::IDLE;
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void performChildOperation() override;
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void startTransition(Mode_t mode, Submode_t submode) override;
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void handleModeReached() override;
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virtual bool checkAndHandleRecovery() override;
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};
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#endif /* MISSION_SYSTEM_SHAREDPOWERASSEMBLYBASE_H_ */
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@ -39,12 +39,7 @@ class DualLaneAssemblyBase : public AssemblyBase, public ConfirmsFailuresIF {
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SideSwitchState sideSwitchState = SideSwitchState::NONE;
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duallane::Submodes targetSubmodeForSideSwitch = duallane::Submodes::B_SIDE;
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enum RecoveryCustomStates {
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IDLE,
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POWER_SWITCHING_OFF,
|
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POWER_SWITCHING_ON,
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DONE
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} customRecoveryStates = RecoveryCustomStates::IDLE;
|
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power::RecoveryCustomStates customRecoveryStates = power::RecoveryCustomStates::IDLE;
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|
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MessageQueueIF* eventQueue = nullptr;
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|
@ -1,8 +1,8 @@
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#include "RwAssembly.h"
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RwAssembly::RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t switcher,
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RwAssembly::RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t switchId,
|
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RwHelper helper)
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: AssemblyBase(objectId), helper(helper), switcher(pwrSwitcher, switcher) {
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: SharedPowerAssemblyBase(objectId, pwrSwitcher, switchId), helper(helper) {
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ModeListEntry entry;
|
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for (uint8_t idx = 0; idx < NUMBER_RWS; idx++) {
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entry.setObject(helper.rwIds[idx]);
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@ -12,26 +12,8 @@ RwAssembly::RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::
|
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}
|
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}
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||||
|
||||
void RwAssembly::performChildOperation() {
|
||||
auto state = switcher.getState();
|
||||
if (state != PowerSwitcher::WAIT_OFF and state != PowerSwitcher::WAIT_ON) {
|
||||
AssemblyBase::performChildOperation();
|
||||
return;
|
||||
}
|
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switcher.doStateMachine();
|
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if (state == PowerSwitcher::WAIT_OFF and switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
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// Indicator that a transition to off is finished
|
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AssemblyBase::handleModeReached();
|
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} else if (state == PowerSwitcher::WAIT_ON and
|
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switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
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// Indicator that mode commanding can be performed now
|
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AssemblyBase::startTransition(targetMode, targetSubmode);
|
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}
|
||||
}
|
||||
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||||
ReturnValue_t RwAssembly::commandChildren(Mode_t mode, Submode_t submode) {
|
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ReturnValue_t result = returnvalue::OK;
|
||||
modeTransitionFailedSwitch = true;
|
||||
// Initialize the mode table to ensure all devices are in a defined state
|
||||
for (uint8_t idx = 0; idx < NUMBER_RWS; idx++) {
|
||||
modeTable[idx].setMode(MODE_OFF);
|
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@ -76,36 +58,6 @@ ReturnValue_t RwAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode)
|
||||
return HasModesIF::INVALID_MODE;
|
||||
}
|
||||
|
||||
void RwAssembly::startTransition(Mode_t mode, Submode_t submode) {
|
||||
if (mode != MODE_OFF) {
|
||||
switcher.turnOn(true);
|
||||
switcher.doStateMachine();
|
||||
if (switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
|
||||
AssemblyBase::startTransition(mode, submode);
|
||||
} else {
|
||||
// Need to wait with mode commanding until power switcher is done
|
||||
targetMode = mode;
|
||||
targetSubmode = submode;
|
||||
}
|
||||
} else {
|
||||
// Perform regular mode commanding first
|
||||
AssemblyBase::startTransition(mode, submode);
|
||||
}
|
||||
}
|
||||
|
||||
void RwAssembly::handleModeReached() {
|
||||
if (targetMode == MODE_OFF) {
|
||||
switcher.turnOff(true);
|
||||
switcher.doStateMachine();
|
||||
// Need to wait with call to AssemblyBase::handleModeReached until power switcher is done
|
||||
if (switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
|
||||
AssemblyBase::handleModeReached();
|
||||
}
|
||||
} else {
|
||||
AssemblyBase::handleModeReached();
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t RwAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode) {
|
||||
ReturnValue_t result = returnvalue::OK;
|
||||
object_id_t objId = 0;
|
||||
|
@ -1,8 +1,8 @@
|
||||
#ifndef MISSION_SYSTEM_RWASS_H_
|
||||
#define MISSION_SYSTEM_RWASS_H_
|
||||
|
||||
#include <fsfw/devicehandlers/AssemblyBase.h>
|
||||
#include <fsfw/power/PowerSwitcher.h>
|
||||
#include <mission/system/SharedPowerAssemblyBase.h>
|
||||
|
||||
struct RwHelper {
|
||||
RwHelper(std::array<object_id_t, 4> rwIds) : rwIds(rwIds) {}
|
||||
@ -10,17 +10,15 @@ struct RwHelper {
|
||||
std::array<object_id_t, 4> rwIds = {};
|
||||
};
|
||||
|
||||
class RwAssembly : public AssemblyBase {
|
||||
class RwAssembly : public SharedPowerAssemblyBase {
|
||||
public:
|
||||
RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t switcher,
|
||||
RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t switchId,
|
||||
RwHelper helper);
|
||||
|
||||
private:
|
||||
static constexpr uint8_t NUMBER_RWS = 4;
|
||||
RwHelper helper;
|
||||
PowerSwitcher switcher;
|
||||
bool warningSwitch = true;
|
||||
bool modeTransitionFailedSwitch = true;
|
||||
FixedArrayList<ModeListEntry, NUMBER_RWS> modeTable;
|
||||
|
||||
ReturnValue_t initialize() override;
|
||||
@ -35,12 +33,9 @@ class RwAssembly : public AssemblyBase {
|
||||
bool isUseable(object_id_t object, Mode_t mode);
|
||||
|
||||
// AssemblyBase implementation
|
||||
void performChildOperation() override;
|
||||
ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
|
||||
ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
|
||||
ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
|
||||
void startTransition(Mode_t mode, Submode_t submode) override;
|
||||
void handleModeReached() override;
|
||||
};
|
||||
|
||||
#endif /* MISSION_SYSTEM_RWASS_H_ */
|
||||
|
@ -3,4 +3,4 @@
|
||||
#include "eive/objects.h"
|
||||
|
||||
RtdFdir::RtdFdir(object_id_t sensorId)
|
||||
: DeviceHandlerFailureIsolation(sensorId, objects::TCS_BOARD_ASS) {}
|
||||
: DeviceHandlerFailureIsolation(sensorId, objects::NO_OBJECT) {}
|
||||
|
@ -4,9 +4,11 @@
|
||||
#include <fsfw/ipc/QueueFactory.h>
|
||||
|
||||
TcsBoardAssembly::TcsBoardAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher,
|
||||
power::Switch_t theSwitch, TcsBoardHelper helper)
|
||||
: AssemblyBase(objectId, 24), switcher(pwrSwitcher, theSwitch), helper(helper) {
|
||||
eventQueue = QueueFactory::instance()->createMessageQueue(24);
|
||||
power::Switch_t theSwitch, TcsBoardHelper helper,
|
||||
std::atomic_bool& tcsShortlyUnavailable)
|
||||
: SharedPowerAssemblyBase(objectId, pwrSwitcher, theSwitch, 16),
|
||||
helper(helper),
|
||||
tcsShortlyUnavailable(tcsShortlyUnavailable) {
|
||||
ModeListEntry entry;
|
||||
for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) {
|
||||
entry.setObject(helper.rtdInfos[idx].first);
|
||||
@ -16,23 +18,6 @@ TcsBoardAssembly::TcsBoardAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitc
|
||||
}
|
||||
}
|
||||
|
||||
void TcsBoardAssembly::performChildOperation() {
|
||||
auto state = switcher.getState();
|
||||
if (state != PowerSwitcher::WAIT_OFF and state != PowerSwitcher::WAIT_ON) {
|
||||
AssemblyBase::performChildOperation();
|
||||
return;
|
||||
}
|
||||
switcher.doStateMachine();
|
||||
if (state == PowerSwitcher::WAIT_OFF and switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
|
||||
// Indicator that a transition to off is finished
|
||||
AssemblyBase::handleModeReached();
|
||||
} else if (state == PowerSwitcher::WAIT_ON and
|
||||
switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
|
||||
// Indicator that mode commanding can be performed now
|
||||
AssemblyBase::startTransition(targetMode, targetSubmode);
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t TcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode) {
|
||||
ReturnValue_t result = returnvalue::OK;
|
||||
// Initialize the mode table to ensure all devices are in a defined state
|
||||
@ -50,6 +35,8 @@ ReturnValue_t TcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode)
|
||||
if (mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_ON) {
|
||||
result = handleNormalOrOnModeCmd(mode, submode);
|
||||
}
|
||||
} else {
|
||||
tcsShortlyUnavailable = true;
|
||||
}
|
||||
HybridIterator<ModeListEntry> tableIter(modeTable.begin(), modeTable.end());
|
||||
executeTable(tableIter);
|
||||
@ -94,25 +81,6 @@ ReturnValue_t TcsBoardAssembly::isModeCombinationValid(Mode_t mode, Submode_t su
|
||||
return HasModesIF::INVALID_MODE;
|
||||
}
|
||||
|
||||
ReturnValue_t TcsBoardAssembly::initialize() { return AssemblyBase::initialize(); }
|
||||
|
||||
void TcsBoardAssembly::startTransition(Mode_t mode, Submode_t submode) {
|
||||
if (mode != MODE_OFF) {
|
||||
switcher.turnOn(true);
|
||||
switcher.doStateMachine();
|
||||
if (switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
|
||||
AssemblyBase::startTransition(mode, submode);
|
||||
} else {
|
||||
// Need to wait with mode commanding until power switcher is done
|
||||
targetMode = mode;
|
||||
targetSubmode = submode;
|
||||
}
|
||||
} else {
|
||||
// Perform regular mode commanding first
|
||||
AssemblyBase::startTransition(mode, submode);
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t TcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode) {
|
||||
ReturnValue_t result = returnvalue::OK;
|
||||
bool needsSecondStep = false;
|
||||
@ -169,21 +137,6 @@ bool TcsBoardAssembly::isUseable(object_id_t object, Mode_t mode) {
|
||||
return false;
|
||||
}
|
||||
|
||||
MessageQueueId_t TcsBoardAssembly::getEventReceptionQueue() { return eventQueue->getId(); }
|
||||
|
||||
void TcsBoardAssembly::handleModeReached() {
|
||||
if (targetMode == MODE_OFF) {
|
||||
switcher.turnOff(true);
|
||||
switcher.doStateMachine();
|
||||
// Need to wait with call to AssemblyBase::handleModeReached until power switcher is done
|
||||
if (switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
|
||||
AssemblyBase::handleModeReached();
|
||||
}
|
||||
} else {
|
||||
AssemblyBase::handleModeReached();
|
||||
}
|
||||
}
|
||||
|
||||
void TcsBoardAssembly::handleChildrenLostMode(ReturnValue_t result) {
|
||||
triggerEvent(CHILDREN_LOST_MODE, result);
|
||||
startTransition(mode, submode);
|
||||
@ -210,6 +163,12 @@ ReturnValue_t TcsBoardAssembly::checkAndHandleHealthStates(Mode_t deviceMode,
|
||||
return status;
|
||||
}
|
||||
|
||||
bool TcsBoardAssembly::checkAndHandleRecovery() {
|
||||
bool recoveryPending = SharedPowerAssemblyBase::checkAndHandleRecovery();
|
||||
tcsShortlyUnavailable = recoveryPending;
|
||||
return recoveryPending;
|
||||
}
|
||||
|
||||
void TcsBoardAssembly::handleModeTransitionFailed(ReturnValue_t result) {
|
||||
if (targetMode == MODE_OFF) {
|
||||
AssemblyBase::handleModeTransitionFailed(result);
|
||||
|
@ -4,6 +4,10 @@
|
||||
#include <fsfw/container/FixedArrayList.h>
|
||||
#include <fsfw/devicehandlers/AssemblyBase.h>
|
||||
#include <fsfw/power/PowerSwitcher.h>
|
||||
#include <mission/power/defs.h>
|
||||
#include <mission/system/SharedPowerAssemblyBase.h>
|
||||
|
||||
#include <atomic>
|
||||
|
||||
#include "events/subsystemIdRanges.h"
|
||||
#include "returnvalues/classIds.h"
|
||||
@ -15,23 +19,20 @@ struct TcsBoardHelper {
|
||||
std::array<std::pair<object_id_t, std::string>, 16> rtdInfos = {};
|
||||
};
|
||||
|
||||
class TcsBoardAssembly : public AssemblyBase, public ConfirmsFailuresIF {
|
||||
class TcsBoardAssembly : public SharedPowerAssemblyBase {
|
||||
public:
|
||||
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::TCS_BOARD_ASS;
|
||||
static constexpr Event CHILDREN_LOST_MODE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
|
||||
|
||||
TcsBoardAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t switcher,
|
||||
TcsBoardHelper helper);
|
||||
|
||||
ReturnValue_t initialize() override;
|
||||
TcsBoardHelper helper, std::atomic_bool& tcsShortlyUnavailable);
|
||||
|
||||
private:
|
||||
static constexpr uint8_t NUMBER_RTDS = 16;
|
||||
PowerSwitcher switcher;
|
||||
bool warningSwitch = true;
|
||||
TcsBoardHelper helper;
|
||||
FixedArrayList<ModeListEntry, NUMBER_RTDS> modeTable;
|
||||
MessageQueueIF* eventQueue = nullptr;
|
||||
std::atomic_bool& tcsShortlyUnavailable;
|
||||
|
||||
ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode);
|
||||
/**
|
||||
@ -42,17 +43,12 @@ class TcsBoardAssembly : public AssemblyBase, public ConfirmsFailuresIF {
|
||||
*/
|
||||
bool isUseable(object_id_t object, Mode_t mode);
|
||||
|
||||
// ConfirmFailureIF implementation
|
||||
MessageQueueId_t getEventReceptionQueue() override;
|
||||
|
||||
// AssemblyBase implementation
|
||||
void performChildOperation() override;
|
||||
ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
|
||||
ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
|
||||
ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
|
||||
void startTransition(Mode_t mode, Submode_t submode) override;
|
||||
void handleModeReached() override;
|
||||
ReturnValue_t checkAndHandleHealthStates(Mode_t deviceMode, Submode_t deviceSubmode);
|
||||
bool checkAndHandleRecovery() override;
|
||||
|
||||
// These two overrides prevent a transition of the whole assembly back to off just because
|
||||
// some devices are not working
|
||||
|
9
mission/tcs/defs.h
Normal file
9
mission/tcs/defs.h
Normal file
@ -0,0 +1,9 @@
|
||||
#pragma once
|
||||
|
||||
#include <atomic>
|
||||
|
||||
namespace tcs {
|
||||
|
||||
extern std::atomic_bool TCS_BOARD_SHORTLY_UNAVAILABLE;
|
||||
|
||||
}
|
2
tmtc
2
tmtc
@ -1 +1 @@
|
||||
Subproject commit 43b530cdb7dfe6774962bf4b8a880e1c9a6e6580
|
||||
Subproject commit f075d28905b42a018b275d8c640cb0fd9d64dc26
|
@ -15,6 +15,7 @@
|
||||
|
||||
TEST_CASE("Thermal Controller", "[ThermalController]") {
|
||||
const object_id_t THERMAL_CONTROLLER_ID = 0x123;
|
||||
std::atomic_bool tcsBrdShortlyUnavailable = false;
|
||||
|
||||
TemperatureSensorInserter::Max31865DummyMap map0;
|
||||
TemperatureSensorInserter::Tmp1075DummyMap map1;
|
||||
@ -29,7 +30,7 @@ TEST_CASE("Thermal Controller", "[ThermalController]") {
|
||||
|
||||
// testEnvironment::initialize();
|
||||
|
||||
ThermalController controller(THERMAL_CONTROLLER_ID, *heaterHandler);
|
||||
ThermalController controller(THERMAL_CONTROLLER_ID, *heaterHandler, tcsBrdShortlyUnavailable);
|
||||
ReturnValue_t result = controller.initialize();
|
||||
REQUIRE(result == returnvalue::OK);
|
||||
|
||||
|
Loading…
Reference in New Issue
Block a user