diff --git a/CHANGELOG.md b/CHANGELOG.md index 4c4736b3..eff9bc6c 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -27,6 +27,20 @@ will consitute of a breaking change warranting a new major release: current mode is a higher pointing mode, the STR will be set to faulty, to trigger a transition to safe first. Then, in a second step, a transition to detumble is triggered. +## Fixed + +- If the PCDU handler fails reading data from the IPC store, it will + not try to do a deserialization anymore. +- All action commands sent by the PLOC SUPV to itself will have no sender now. +- RW speed commands get reset to 0 RPM, if the `AcsController` has changed its mode + to Safe +- Antistiction for RWs will set commanded speed to 0 RPM, if a wheel is detected as not + working +- Removed parameter to disable antistiction, as deactivating it would result in the + `AcsController` being allowed sending invalid speed commands to the RW Handler, which + would then trigger FDIR and turning off the functioning device +- `RwHandler` returnvalues would use the `INTERFACE_ID` of the `DeviceHandlerBase` + # [v7.5.5] 2024-01-22 ## Fixed diff --git a/linux/payload/FreshSupvHandler.cpp b/linux/payload/FreshSupvHandler.cpp index 0d34b63f..88a68635 100644 --- a/linux/payload/FreshSupvHandler.cpp +++ b/linux/payload/FreshSupvHandler.cpp @@ -1115,7 +1115,7 @@ void FreshSupvHandler::handleEvent(EventMessage* eventMessage) { if (not isCommandAlreadyActive(supv::SHUTDOWN_MPSOC)) { CommandMessage actionMsg; ActionMessage::setCommand(&actionMsg, supv::SHUTDOWN_MPSOC, store_address_t::invalid()); - result = messageQueue->sendMessage(getCommandQueue(), &actionMsg); + result = messageQueue->sendMessageFrom(getCommandQueue(), &actionMsg, MessageQueueIF::NO_QUEUE); if (result != returnvalue::OK) { triggerEvent(supv::SUPV_MPSOC_SHUTDOWN_BUILD_FAILED); sif::warning << "PlocSupervisorHandler::handleEvent: Failed to build MPSoC shutdown " diff --git a/linux/payload/PlocSupvUartMan.cpp b/linux/payload/PlocSupvUartMan.cpp index f73ca560..56bb3dd5 100644 --- a/linux/payload/PlocSupvUartMan.cpp +++ b/linux/payload/PlocSupvUartMan.cpp @@ -945,15 +945,7 @@ ReturnValue_t PlocSupvUartManager::handleRunningLongerRequest() { break; } case Request::REQUEST_EVENT_BUFFER: { - // result = performEventBufferRequest(); - // if (result == returnvalue::OK) { - // triggerEvent(SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL, result); - // } else if (result == PROCESS_TERMINATED) { - // // Event already triggered - // break; - // } else { - // triggerEvent(SUPV_EVENT_BUFFER_REQUEST_FAILED, result); - // } + sif::error << "Requesting event buffer is not implemented" << std::endl; break; } case Request::DEFAULT: { diff --git a/mission/acs/RwHandler.h b/mission/acs/RwHandler.h index a8903b81..87689fe6 100644 --- a/mission/acs/RwHandler.h +++ b/mission/acs/RwHandler.h @@ -59,6 +59,7 @@ class RwHandler : public DeviceHandlerBase { LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override; private: + static const uint8_t INTERFACE_ID = CLASS_ID::RW_HANDLER; //! [EXPORT] : [COMMENT] Action Message with invalid speed was received. Valid speeds must be in //! the range of [-65000; 1000] or [1000; 65000] static const ReturnValue_t INVALID_SPEED = MAKE_RETURN_CODE(0xA0); diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp index 504a8587..b97ad6b8 100644 --- a/mission/controller/AcsController.cpp +++ b/mission/controller/AcsController.cpp @@ -393,7 +393,6 @@ void AcsController::performPointingCtrl() { break; } - uint8_t enableAntiStiction = true; double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; ReturnValue_t result = guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv); if (result == returnvalue::FAILED) { @@ -434,7 +433,6 @@ void AcsController::performPointingCtrl() { mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes); - enableAntiStiction = acsParameters.idleModeControllerParameters.enableAntiStiction; break; case acs::PTG_TARGET: @@ -458,7 +456,6 @@ void AcsController::performPointingCtrl() { mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes); - enableAntiStiction = acsParameters.targetModeControllerParameters.enableAntiStiction; break; case acs::PTG_TARGET_GS: @@ -479,7 +476,6 @@ void AcsController::performPointingCtrl() { mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes); - enableAntiStiction = acsParameters.gsTargetModeControllerParameters.enableAntiStiction; break; case acs::PTG_NADIR: @@ -503,7 +499,6 @@ void AcsController::performPointingCtrl() { mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes); - enableAntiStiction = acsParameters.nadirModeControllerParameters.enableAntiStiction; break; case acs::PTG_INERTIAL: @@ -526,7 +521,6 @@ void AcsController::performPointingCtrl() { mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes); - enableAntiStiction = acsParameters.inertialModeControllerParameters.enableAntiStiction; break; default: sif::error << "AcsController: Invalid mode for performPointingCtrl" << std::endl; @@ -538,9 +532,7 @@ void AcsController::performPointingCtrl() { sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, acsParameters.onBoardParams.sampleTime, acsParameters.rwHandlingParameters.inertiaWheel, acsParameters.rwHandlingParameters.maxRwSpeed, torqueRws, cmdSpeedRws); - if (enableAntiStiction) { - ptgCtrl.rwAntistiction(&sensorValues, cmdSpeedRws); - } + ptgCtrl.rwAntistiction(&sensorValues, cmdSpeedRws); actuatorCmd.cmdDipoleMtq(*acsParameters.magnetorquerParameter.inverseAlignment, acsParameters.magnetorquerParameter.dipoleMax, mgtDpDes, cmdDipoleMtqs); @@ -889,6 +881,24 @@ ReturnValue_t AcsController::checkModeCommand(Mode_t mode, Submode_t submode, } void AcsController::modeChanged(Mode_t mode, Submode_t submode) { + if (mode == acs::AcsMode::SAFE) { + { + PoolReadGuard pg(&rw1SpeedSet); + rw1SpeedSet.setRwSpeed(0, 10); + } + { + PoolReadGuard pg(&rw2SpeedSet); + rw2SpeedSet.setRwSpeed(0, 10); + } + { + PoolReadGuard pg(&rw3SpeedSet); + rw3SpeedSet.setRwSpeed(0, 10); + } + { + PoolReadGuard pg(&rw4SpeedSet); + rw4SpeedSet.setRwSpeed(0, 10); + } + } return ExtendedControllerBase::modeChanged(mode, submode); } diff --git a/mission/controller/acs/AcsParameters.cpp b/mission/controller/acs/AcsParameters.cpp index a6ce6c5d..4eb11246 100644 --- a/mission/controller/acs/AcsParameters.cpp +++ b/mission/controller/acs/AcsParameters.cpp @@ -432,9 +432,6 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId, parameterWrapper->set(idleModeControllerParameters.desatOn); break; case 0x9: - parameterWrapper->set(idleModeControllerParameters.enableAntiStiction); - break; - case 0xA: parameterWrapper->set(idleModeControllerParameters.useMekf); break; default: @@ -471,42 +468,39 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId, parameterWrapper->set(targetModeControllerParameters.desatOn); break; case 0x9: - parameterWrapper->set(targetModeControllerParameters.enableAntiStiction); - break; - case 0xA: parameterWrapper->set(targetModeControllerParameters.useMekf); break; - case 0xB: + case 0xA: parameterWrapper->setVector(targetModeControllerParameters.refDirection); break; - case 0xC: + case 0xB: parameterWrapper->setVector(targetModeControllerParameters.refRotRate); break; - case 0xD: + case 0xC: parameterWrapper->setVector(targetModeControllerParameters.quatRef); break; - case 0xE: + case 0xD: parameterWrapper->set(targetModeControllerParameters.timeElapsedMax); break; - case 0xF: + case 0xE: parameterWrapper->set(targetModeControllerParameters.latitudeTgt); break; - case 0x10: + case 0xF: parameterWrapper->set(targetModeControllerParameters.longitudeTgt); break; - case 0x11: + case 0x10: parameterWrapper->set(targetModeControllerParameters.altitudeTgt); break; - case 0x12: + case 0x11: parameterWrapper->set(targetModeControllerParameters.avoidBlindStr); break; - case 0x13: + case 0x12: parameterWrapper->set(targetModeControllerParameters.blindAvoidStart); break; - case 0x14: + case 0x13: parameterWrapper->set(targetModeControllerParameters.blindAvoidStop); break; - case 0x15: + case 0x14: parameterWrapper->set(targetModeControllerParameters.blindRotRate); break; default: @@ -543,24 +537,21 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId, parameterWrapper->set(gsTargetModeControllerParameters.desatOn); break; case 0x9: - parameterWrapper->set(gsTargetModeControllerParameters.enableAntiStiction); - break; - case 0xA: parameterWrapper->set(gsTargetModeControllerParameters.useMekf); break; - case 0xB: + case 0xA: parameterWrapper->setVector(gsTargetModeControllerParameters.refDirection); break; - case 0xC: + case 0xB: parameterWrapper->set(gsTargetModeControllerParameters.timeElapsedMax); break; - case 0xD: + case 0xC: parameterWrapper->set(gsTargetModeControllerParameters.latitudeTgt); break; - case 0xE: + case 0xD: parameterWrapper->set(gsTargetModeControllerParameters.longitudeTgt); break; - case 0xF: + case 0xE: parameterWrapper->set(gsTargetModeControllerParameters.altitudeTgt); break; default: @@ -597,21 +588,18 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId, parameterWrapper->set(nadirModeControllerParameters.desatOn); break; case 0x9: - parameterWrapper->set(nadirModeControllerParameters.enableAntiStiction); - break; - case 0xA: parameterWrapper->set(nadirModeControllerParameters.useMekf); break; - case 0xB: + case 0xA: parameterWrapper->setVector(nadirModeControllerParameters.refDirection); break; - case 0xC: + case 0xB: parameterWrapper->setVector(nadirModeControllerParameters.quatRef); break; - case 0xD: + case 0xC: parameterWrapper->setVector(nadirModeControllerParameters.refRotRate); break; - case 0xE: + case 0xD: parameterWrapper->set(nadirModeControllerParameters.timeElapsedMax); break; default: @@ -648,18 +636,15 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId, parameterWrapper->set(inertialModeControllerParameters.desatOn); break; case 0x9: - parameterWrapper->set(inertialModeControllerParameters.enableAntiStiction); - break; - case 0xA: parameterWrapper->set(inertialModeControllerParameters.useMekf); break; - case 0xB: + case 0xA: parameterWrapper->setVector(inertialModeControllerParameters.tgtQuat); break; - case 0xC: + case 0xB: parameterWrapper->setVector(inertialModeControllerParameters.refRotRate); break; - case 0xD: + case 0xC: parameterWrapper->setVector(inertialModeControllerParameters.quatRef); break; default: diff --git a/mission/controller/acs/AcsParameters.h b/mission/controller/acs/AcsParameters.h index f11a673b..d58a2d44 100644 --- a/mission/controller/acs/AcsParameters.h +++ b/mission/controller/acs/AcsParameters.h @@ -863,7 +863,6 @@ class AcsParameters : public HasParametersIF { double desatMomentumRef[3] = {0, 0, 0}; double deSatGainFactor = 1000; uint8_t desatOn = true; - uint8_t enableAntiStiction = true; uint8_t useMekf = false; } pointingLawParameters; diff --git a/mission/controller/acs/control/PtgCtrl.cpp b/mission/controller/acs/control/PtgCtrl.cpp index fd5b9f29..a7ed422a 100644 --- a/mission/controller/acs/control/PtgCtrl.cpp +++ b/mission/controller/acs/control/PtgCtrl.cpp @@ -220,6 +220,8 @@ void PtgCtrl::rwAntistiction(ACS::SensorValues *sensorValues, int32_t *rwCmdSpee } } } + } else { + rwCmdSpeeds[i] = 0; } } } diff --git a/mission/power/PcduHandler.cpp b/mission/power/PcduHandler.cpp index 0561288c..1596d522 100644 --- a/mission/power/PcduHandler.cpp +++ b/mission/power/PcduHandler.cpp @@ -65,8 +65,8 @@ ReturnValue_t PcduHandler::performOperation(uint8_t counter) { ReturnValue_t PcduHandler::initialize() { ReturnValue_t result; - IPCStore = ObjectManager::instance()->get(objects::IPC_STORE); - if (IPCStore == nullptr) { + ipcStore = ObjectManager::instance()->get(objects::IPC_STORE); + if (ipcStore == nullptr) { return ObjectManagerIF::CHILD_INIT_FAILED; } @@ -162,10 +162,13 @@ void PcduHandler::updateHkTableDataset(store_address_t storeId, LocalPoolDataSet sizeof(CCSDSTime::CDS_short), dataset); const uint8_t* packet_ptr = nullptr; size_t size = 0; - result = IPCStore->getData(storeId, &packet_ptr, &size); + result = ipcStore->getData(storeId, &packet_ptr, &size); if (result != returnvalue::OK) { - sif::error << "PCDUHandler::updateHkTableDataset: Failed to get data from IPCStore." - << std::endl; + sif::error << "PCDUHandler::updateHkTableDataset: Failed to get data from IPC store, result 0x" + << std::hex << std::setw(4) << std::setfill('0') << result << std::dec + << std::setfill(' ') << std::endl; + result = ipcStore->deleteData(storeId); + return; } result = packetUpdate.deSerialize(&packet_ptr, &size, SerializeIF::Endianness::MACHINE); if (result != returnvalue::OK) { @@ -173,7 +176,7 @@ void PcduHandler::updateHkTableDataset(store_address_t storeId, LocalPoolDataSet "in hk table dataset" << std::endl; } - result = IPCStore->deleteData(storeId); + result = ipcStore->deleteData(storeId); if (result != returnvalue::OK) { sif::error << "PCDUHandler::updateHkTableDataset: Failed to delete data in IPCStore" << std::endl; @@ -396,7 +399,7 @@ ReturnValue_t PcduHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onO setParamMessage.serialize(&commandPtr, &serializedLength, maxSize, SerializeIF::Endianness::BIG); store_address_t storeAddress; - result = IPCStore->addData(&storeAddress, command, sizeof(command)); + result = ipcStore->addData(&storeAddress, command, sizeof(command)); CommandMessage message; ActionMessage::setCommand(&message, GOMSPACE::PARAM_SET, storeAddress); diff --git a/mission/power/PcduHandler.h b/mission/power/PcduHandler.h index 86d3747f..73df73ef 100644 --- a/mission/power/PcduHandler.h +++ b/mission/power/PcduHandler.h @@ -94,7 +94,7 @@ class PcduHandler : public PowerSwitchIF, * Pointer to the IPCStore. * This caches the pointer received from the objectManager in the constructor. */ - StorageManagerIF* IPCStore = nullptr; + StorageManagerIF* ipcStore = nullptr; /** * Message queue to communicate with other objetcs. Used for example to receive