diff --git a/CHANGELOG.md b/CHANGELOG.md index baad285b..0e279f6e 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -16,18 +16,41 @@ will consitute of a breaking change warranting a new major release: # [unreleased] +# [v1.34.0] 2023-03-03 + +eive-tmtc: v2.16.3 + +This might include the fix for the race condition where CPU usage jumped to 200 %. The race +condition was traced to the `Countdown` class, more specifically to the `getUptime` function where +the `/proc/uptime` file is read. + ## Changed - Moved polling of all SPI parts to the same PST. - Allow quicker transition for the EIVE system component by allowing consecutive TCS and ACS component commanding again. +- Changed a lot of lock guards to use timeouts +- Queue sizes of TCP/UDP servers increased from 20 to 50 +- Significantly simplified and improved lock guard handling in TCS and ACS board polling + tasks. ## Fixed - IMTQ: Sets were filled with wrong data, e.g. Raw MTM was filled with calibrated MTM measurements. - Set RM3100 dataset to valid. +- Fixed units in calculation of ACS control laws safe and detumble. +- Bump FSFW for change in Countdown: Use system clock instead of reading uptime from file + to prevent possible race condition. +- GPS: No fix considered a fault now after 30 minutes instead of 5 hours. +- SUS Assembly FDIR: Prevent permanent SAFE mode fallbacks by introducing special health + handling. + PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/418/files -# [v1.33.0] +## Added + +- Added Syrlinks Assembly object to allow recovery handling and to fix faulty FDIR behaviour. + +# [v1.33.0] 2023-03-01 eive-tmtc: v2.16.2 @@ -41,7 +64,7 @@ eive-tmtc: v2.16.2 - Linux GPS handler now checks the individual `*_SET` flags when analysing the `gpsd` struct. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/400 -# [v1.32.0] +# [v1.32.0] 2023-02-24 eive-tmtc: v2.16.1 @@ -82,7 +105,7 @@ eive-tmtc: v2.16.1 - `RwDummy` now initializes with a non faulty state -# [v1.31.1] +# [v1.31.1] 2023-02-23 ## Fixed @@ -92,7 +115,7 @@ eive-tmtc: v2.16.1 for actuator control which lead to a crash. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/403 -# [v1.31.0] +# [v1.31.0] 2023-02-23 eive-tmtc: v2.16.0 @@ -133,7 +156,7 @@ COM PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/364 - `MekfData` now includes `mekfStatus` - `CtrlValData` now includes `tgtRotRate` -# [v1.30.0] +# [v1.30.0] 2023-02-22 eive-tmtc: v2.14.0 @@ -150,7 +173,7 @@ Event IDs for PDEC handler have changed in a breaking manner. an event is triggered and the task is delayed for 400 ms. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/393 -# [v1.29.1] +# [v1.29.1] 2023-02-21 ## Fixed @@ -162,7 +185,7 @@ Event IDs for PDEC handler have changed in a breaking manner. Issue: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/388 - Disable stopwatch in MAX31865 polling task -# [v1.29.0] +# [v1.29.0] 2023-02-21 eive-tmtc: v2.13.0 @@ -183,7 +206,7 @@ eive-tmtc: v2.13.0 will be part of the TCS tree. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/351 -# [v1.28.1] +# [v1.28.1] 2023-02-21 ## Fixed diff --git a/CMakeLists.txt b/CMakeLists.txt index f477d205..588bf233 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -10,7 +10,7 @@ cmake_minimum_required(VERSION 3.13) set(OBSW_VERSION_MAJOR 1) -set(OBSW_VERSION_MINOR 33) +set(OBSW_VERSION_MINOR 34) set(OBSW_VERSION_REVISION 0) # set(CMAKE_VERBOSE TRUE) diff --git a/bsp_hosted/fsfwconfig/events/translateEvents.cpp b/bsp_hosted/fsfwconfig/events/translateEvents.cpp index 23a43738..8acf72a4 100644 --- a/bsp_hosted/fsfwconfig/events/translateEvents.cpp +++ b/bsp_hosted/fsfwconfig/events/translateEvents.cpp @@ -1,7 +1,7 @@ /** * @brief Auto-generated event translation file. Contains 267 translations. * @details - * Generated on: 2023-03-01 18:34:32 + * Generated on: 2023-03-02 17:08:11 */ #include "translateEvents.h" diff --git a/bsp_hosted/fsfwconfig/objects/translateObjects.cpp b/bsp_hosted/fsfwconfig/objects/translateObjects.cpp index 5cfde56e..da4101a4 100644 --- a/bsp_hosted/fsfwconfig/objects/translateObjects.cpp +++ b/bsp_hosted/fsfwconfig/objects/translateObjects.cpp @@ -1,8 +1,8 @@ /** * @brief Auto-generated object translation file. * @details - * Contains 157 translations. - * Generated on: 2023-03-01 18:34:32 + * Contains 158 translations. + * Generated on: 2023-03-02 17:08:11 */ #include "translateObjects.h" @@ -142,8 +142,9 @@ const char *HEATER_7_HPA_STRING = "HEATER_7_HPA"; const char *ACS_BOARD_ASS_STRING = "ACS_BOARD_ASS"; const char *SUS_BOARD_ASS_STRING = "SUS_BOARD_ASS"; const char *TCS_BOARD_ASS_STRING = "TCS_BOARD_ASS"; -const char *RW_ASS_STRING = "RW_ASS"; +const char *RW_ASSY_STRING = "RW_ASSY"; const char *CAM_SWITCHER_STRING = "CAM_SWITCHER"; +const char *SYRLINKS_ASSY_STRING = "SYRLINKS_ASSY"; const char *TM_FUNNEL_STRING = "TM_FUNNEL"; const char *PUS_TM_FUNNEL_STRING = "PUS_TM_FUNNEL"; const char *CFDP_TM_FUNNEL_STRING = "CFDP_TM_FUNNEL"; @@ -439,9 +440,11 @@ const char *translateObject(object_id_t object) { case 0x73000003: return TCS_BOARD_ASS_STRING; case 0x73000004: - return RW_ASS_STRING; + return RW_ASSY_STRING; case 0x73000006: return CAM_SWITCHER_STRING; + case 0x73000007: + return SYRLINKS_ASSY_STRING; case 0x73000100: return TM_FUNNEL_STRING; case 0x73000101: diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp index c8eb4cc9..e4d16781 100644 --- a/bsp_q7s/core/ObjectFactory.cpp +++ b/bsp_q7s/core/ObjectFactory.cpp @@ -8,6 +8,7 @@ #include #include #include +#include #include "OBSWConfig.h" #include "bsp_q7s/boardtest/Q7STestTask.h" @@ -579,12 +580,14 @@ void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) { syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL); syrlinksUartCookie->setParityEven(); + auto* syrlinksAssy = new SyrlinksAssembly(objects::SYRLINKS_ASSY); + syrlinksAssy->connectModeTreeParent(satsystem::com::SUBSYSTEM); auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HANDLER); auto syrlinksHandler = new SyrlinksHandler(objects::SYRLINKS_HANDLER, objects::UART_COM_IF, syrlinksUartCookie, pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir); syrlinksHandler->setPowerSwitcher(pwrSwitcher); - syrlinksHandler->connectModeTreeParent(satsystem::com::SUBSYSTEM); + syrlinksHandler->connectModeTreeParent(*syrlinksAssy); #if OBSW_DEBUG_SYRLINKS == 1 syrlinksHandler->setDebugMode(true); #endif diff --git a/bsp_q7s/core/scheduling.cpp b/bsp_q7s/core/scheduling.cpp index e88a39c5..93f5228f 100644 --- a/bsp_q7s/core/scheduling.cpp +++ b/bsp_q7s/core/scheduling.cpp @@ -150,6 +150,10 @@ void scheduling::initTasks() { if (result != returnvalue::OK) { scheduling::printAddObjectError("COM_SUBSYSTEM", objects::COM_SUBSYSTEM); } + result = genericSysTask->addComponent(objects::SYRLINKS_ASSY); + if (result != returnvalue::OK) { + scheduling::printAddObjectError("SYRLINKS_ASSY", objects::SYRLINKS_ASSY); + } result = genericSysTask->addComponent(objects::PL_SUBSYSTEM); if (result != returnvalue::OK) { scheduling::printAddObjectError("PL_SUBSYSTEM", objects::PL_SUBSYSTEM); @@ -243,9 +247,9 @@ void scheduling::initTasks() { } #endif /* OBSW_ADD_ACS_HANDLERS */ #if OBSW_ADD_RW == 1 - result = acsSysTask->addComponent(objects::RW_ASS); + result = acsSysTask->addComponent(objects::RW_ASSY); if (result != returnvalue::OK) { - scheduling::printAddObjectError("RW_ASS", objects::RW_ASS); + scheduling::printAddObjectError("RW_ASS", objects::RW_ASSY); } #endif #if OBSW_ADD_SUS_BOARD_ASS == 1 diff --git a/bsp_q7s/fs/SdCardManager.cpp b/bsp_q7s/fs/SdCardManager.cpp index f8da9bee..1663f7cc 100644 --- a/bsp_q7s/fs/SdCardManager.cpp +++ b/bsp_q7s/fs/SdCardManager.cpp @@ -20,14 +20,14 @@ SdCardManager* SdCardManager::INSTANCE = nullptr; SdCardManager::SdCardManager() : SystemObject(objects::SDC_MANAGER), cmdExecutor(256) { - mutex = MutexFactory::instance()->createMutex(); - ReturnValue_t result = mutex->lockMutex(); + sdLock = MutexFactory::instance()->createMutex(); + ReturnValue_t result = sdLock->lockMutex(); if (result != returnvalue::OK) { sif::error << "SdCardManager::SdCardManager: Mutex lock failed" << std::endl; } uint8_t prefSdRaw = 0; result = scratch::readNumber(scratch::PREFERED_SDC_KEY, prefSdRaw); - if (mutex->unlockMutex() != returnvalue::OK) { + if (sdLock->unlockMutex() != returnvalue::OK) { sif::error << "SdCardManager::SdCardManager: Mutex unlock failed" << std::endl; } @@ -195,7 +195,7 @@ ReturnValue_t SdCardManager::setSdCardState(sd::SdCard sdCard, bool on) { ReturnValue_t SdCardManager::getSdCardsStatus(SdStatePair& active) { using namespace std; - MutexGuard mg(mutex); + MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); if (not filesystem::exists(SD_STATE_FILE)) { return STATUS_FILE_NEXISTS; } @@ -378,7 +378,7 @@ void SdCardManager::processSdStatusLine(std::pair& act } std::optional SdCardManager::getPreferredSdCard() const { - MutexGuard mg(mutex); + MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); auto res = mg.getLockResult(); if (res != returnvalue::OK) { sif::error << "SdCardManager::getPreferredSdCard: Lock error" << std::endl; @@ -387,7 +387,7 @@ std::optional SdCardManager::getPreferredSdCard() const { } ReturnValue_t SdCardManager::setPreferredSdCard(sd::SdCard sdCard) { - MutexGuard mg(mutex); + MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); if (sdCard == sd::SdCard::BOTH) { return returnvalue::FAILED; } @@ -399,7 +399,7 @@ ReturnValue_t SdCardManager::updateSdCardStateFile() { if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) { return CommandExecutor::COMMAND_PENDING; } - MutexGuard mg(mutex); + MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); // Use q7hw utility and pipe the command output into the state file std::string updateCmd = "q7hw sd info all > " + std::string(SD_STATE_FILE); cmdExecutor.load(updateCmd, blocking, printCmdOutput); @@ -411,7 +411,7 @@ ReturnValue_t SdCardManager::updateSdCardStateFile() { } const char* SdCardManager::getCurrentMountPrefix() const { - MutexGuard mg(mutex); + MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); if (currentPrefix.has_value()) { return currentPrefix.value().c_str(); } @@ -464,7 +464,7 @@ void SdCardManager::setPrintCommandOutput(bool print) { this->printCmdOutput = p bool SdCardManager::isSdCardUsable(std::optional sdCard) { { - MutexGuard mg(mutex); + MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); if (markedUnusable) { return false; } @@ -560,7 +560,7 @@ ReturnValue_t SdCardManager::performFsck(sd::SdCard sdcard, bool printOutput, in } void SdCardManager::setActiveSdCard(sd::SdCard sdCard) { - MutexGuard mg(mutex); + MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); sdInfo.active = sdCard; if (sdInfo.active == sd::SdCard::SLOT_0) { currentPrefix = config::SD_0_MOUNT_POINT; @@ -570,7 +570,7 @@ void SdCardManager::setActiveSdCard(sd::SdCard sdCard) { } std::optional SdCardManager::getActiveSdCard() const { - MutexGuard mg(mutex); + MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); if (markedUnusable) { return std::nullopt; } @@ -578,6 +578,6 @@ std::optional SdCardManager::getActiveSdCard() const { } void SdCardManager::markUnusable() { - MutexGuard mg(mutex); + MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); markedUnusable = true; } diff --git a/bsp_q7s/fs/SdCardManager.h b/bsp_q7s/fs/SdCardManager.h index 77055589..0a7b92c9 100644 --- a/bsp_q7s/fs/SdCardManager.h +++ b/bsp_q7s/fs/SdCardManager.h @@ -223,7 +223,10 @@ class SdCardManager : public SystemObject, public SdCardMountedIF { bool sdCardActive = true; bool printCmdOutput = true; bool markedUnusable = false; - MutexIF* mutex = nullptr; + MutexIF* sdLock = nullptr; + static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING; + static constexpr uint32_t LOCK_TIMEOUT = 40; + static constexpr char LOCK_CTX[] = "SdCardManager"; SdCardManager(); diff --git a/common/config/eive/objects.h b/common/config/eive/objects.h index e355d52a..d294a40e 100644 --- a/common/config/eive/objects.h +++ b/common/config/eive/objects.h @@ -142,8 +142,9 @@ enum commonObjects : uint32_t { ACS_BOARD_ASS = 0x73000001, SUS_BOARD_ASS = 0x73000002, TCS_BOARD_ASS = 0x73000003, - RW_ASS = 0x73000004, + RW_ASSY = 0x73000004, CAM_SWITCHER = 0x73000006, + SYRLINKS_ASSY = 0x73000007, EIVE_SYSTEM = 0x73010000, ACS_SUBSYSTEM = 0x73010001, PL_SUBSYSTEM = 0x73010002, diff --git a/fsfw b/fsfw index 511d07c0..33de1520 160000 --- a/fsfw +++ b/fsfw @@ -1 +1 @@ -Subproject commit 511d07c0c78de7b1850e341dfcf8be7589f3c523 +Subproject commit 33de15205b4560c54a108e35609536374b026c22 diff --git a/generators/bsp_hosted_objects.csv b/generators/bsp_hosted_objects.csv index f20c8d40..f85bfd73 100644 --- a/generators/bsp_hosted_objects.csv +++ b/generators/bsp_hosted_objects.csv @@ -134,8 +134,9 @@ 0x73000001;ACS_BOARD_ASS 0x73000002;SUS_BOARD_ASS 0x73000003;TCS_BOARD_ASS -0x73000004;RW_ASS +0x73000004;RW_ASSY 0x73000006;CAM_SWITCHER +0x73000007;SYRLINKS_ASSY 0x73000100;TM_FUNNEL 0x73000101;PUS_TM_FUNNEL 0x73000102;CFDP_TM_FUNNEL diff --git a/generators/bsp_q7s_objects.csv b/generators/bsp_q7s_objects.csv index 7dd8b859..7002b3ac 100644 --- a/generators/bsp_q7s_objects.csv +++ b/generators/bsp_q7s_objects.csv @@ -139,8 +139,9 @@ 0x73000001;ACS_BOARD_ASS 0x73000002;SUS_BOARD_ASS 0x73000003;TCS_BOARD_ASS -0x73000004;RW_ASS +0x73000004;RW_ASSY 0x73000006;CAM_SWITCHER +0x73000007;SYRLINKS_ASSY 0x73000100;TM_FUNNEL 0x73000101;PUS_TM_FUNNEL 0x73000102;CFDP_TM_FUNNEL diff --git a/generators/events/translateEvents.cpp b/generators/events/translateEvents.cpp index 23a43738..8acf72a4 100644 --- a/generators/events/translateEvents.cpp +++ b/generators/events/translateEvents.cpp @@ -1,7 +1,7 @@ /** * @brief Auto-generated event translation file. Contains 267 translations. * @details - * Generated on: 2023-03-01 18:34:32 + * Generated on: 2023-03-02 17:08:11 */ #include "translateEvents.h" diff --git a/generators/objects/translateObjects.cpp b/generators/objects/translateObjects.cpp index 2eca7d22..1fe48b77 100644 --- a/generators/objects/translateObjects.cpp +++ b/generators/objects/translateObjects.cpp @@ -1,8 +1,8 @@ /** * @brief Auto-generated object translation file. * @details - * Contains 161 translations. - * Generated on: 2023-03-01 18:34:32 + * Contains 162 translations. + * Generated on: 2023-03-02 17:08:11 */ #include "translateObjects.h" @@ -147,8 +147,9 @@ const char *HEATER_7_HPA_STRING = "HEATER_7_HPA"; const char *ACS_BOARD_ASS_STRING = "ACS_BOARD_ASS"; const char *SUS_BOARD_ASS_STRING = "SUS_BOARD_ASS"; const char *TCS_BOARD_ASS_STRING = "TCS_BOARD_ASS"; -const char *RW_ASS_STRING = "RW_ASS"; +const char *RW_ASSY_STRING = "RW_ASSY"; const char *CAM_SWITCHER_STRING = "CAM_SWITCHER"; +const char *SYRLINKS_ASSY_STRING = "SYRLINKS_ASSY"; const char *TM_FUNNEL_STRING = "TM_FUNNEL"; const char *PUS_TM_FUNNEL_STRING = "PUS_TM_FUNNEL"; const char *CFDP_TM_FUNNEL_STRING = "CFDP_TM_FUNNEL"; @@ -453,9 +454,11 @@ const char *translateObject(object_id_t object) { case 0x73000003: return TCS_BOARD_ASS_STRING; case 0x73000004: - return RW_ASS_STRING; + return RW_ASSY_STRING; case 0x73000006: return CAM_SWITCHER_STRING; + case 0x73000007: + return SYRLINKS_ASSY_STRING; case 0x73000100: return TM_FUNNEL_STRING; case 0x73000101: diff --git a/linux/devices/AcsBoardPolling.cpp b/linux/devices/AcsBoardPolling.cpp index 871cfdd0..307ddebb 100644 --- a/linux/devices/AcsBoardPolling.cpp +++ b/linux/devices/AcsBoardPolling.cpp @@ -4,6 +4,7 @@ #include #include #include +#include #include #include #include @@ -25,20 +26,24 @@ AcsBoardPolling::AcsBoardPolling(object_id_t objectId, SpiComIF& lowLevelComIF, ReturnValue_t AcsBoardPolling::performOperation(uint8_t operationCode) { while (true) { - ipcLock->lockMutex(); + ipcLock->lockMutex(LOCK_TYPE, LOCK_TIMEOUT); state = InternalState::IDLE; ipcLock->unlockMutex(); semaphore->acquire(); // Give all tasks or the PST some time to submit all consecutive requests. TaskFactory::delayTask(2); - gyroAdisHandler(gyro0Adis); - gyroAdisHandler(gyro2Adis); - gyroL3gHandler(gyro1L3g); - gyroL3gHandler(gyro3L3g); - mgmRm3100Handler(mgm1Rm3100); - mgmRm3100Handler(mgm3Rm3100); - mgmLis3Handler(mgm0Lis3); - mgmLis3Handler(mgm2Lis3); + { + // Measured to take 0-1 ms in debug build. + // Stopwatch watch; + gyroAdisHandler(gyro0Adis); + gyroAdisHandler(gyro2Adis); + gyroL3gHandler(gyro1L3g); + gyroL3gHandler(gyro3L3g); + mgmRm3100Handler(mgm1Rm3100); + mgmRm3100Handler(mgm3Rm3100); + mgmLis3Handler(mgm0Lis3); + mgmLis3Handler(mgm2Lis3); + } // To prevent task being not reactivated by tardy tasks TaskFactory::delayTask(20); } @@ -105,12 +110,10 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send return returnvalue::FAILED; } auto* req = reinterpret_cast(sendData); - MutexGuard mg(ipcLock); if (req->mode != adis.mode) { if (req->mode == acs::SimpleSensorMode::NORMAL) { adis.type = req->type; adis.countdown.setTimeout(adis1650x::START_UP_TIME); - adis.countdown.resetTimer(); if (adis.type == adis1650x::Type::ADIS16507) { adis.ownReply.data.accelScaling = adis1650x::ACCELEROMETER_RANGE_16507; } else if (adis.type == adis1650x::Type::ADIS16505) { @@ -135,7 +138,6 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send return returnvalue::FAILED; } auto* req = reinterpret_cast(sendData); - MutexGuard mg(ipcLock); if (req->mode != gyro.mode) { if (req->mode == acs::SimpleSensorMode::NORMAL) { std::memcpy(gyro.sensorCfg, req->ctrlRegs, 5); @@ -154,7 +156,6 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send return returnvalue::FAILED; } auto* req = reinterpret_cast(sendData); - MutexGuard mg(ipcLock); if (req->mode != mgm.mode) { if (req->mode == acs::SimpleSensorMode::NORMAL) { mgm.performStartup = true; @@ -173,7 +174,6 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send return returnvalue::FAILED; } auto* req = reinterpret_cast(sendData); - MutexGuard mg(ipcLock); if (req->mode != mgm.mode) { if (req->mode == acs::SimpleSensorMode::NORMAL) { mgm.performStartup = true; @@ -184,45 +184,47 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send } return returnvalue::OK; }; - switch (spiCookie->getChipSelectPin()) { - case (gpioIds::MGM_0_LIS3_CS): { - handleLis3Request(mgm0Lis3); - break; + { + MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); + switch (spiCookie->getChipSelectPin()) { + case (gpioIds::MGM_0_LIS3_CS): { + handleLis3Request(mgm0Lis3); + break; + } + case (gpioIds::MGM_1_RM3100_CS): { + handleRm3100Request(mgm1Rm3100); + break; + } + case (gpioIds::MGM_2_LIS3_CS): { + handleLis3Request(mgm2Lis3); + break; + } + case (gpioIds::MGM_3_RM3100_CS): { + handleRm3100Request(mgm3Rm3100); + break; + } + case (gpioIds::GYRO_0_ADIS_CS): { + handleAdisRequest(gyro0Adis); + break; + } + case (gpioIds::GYRO_2_ADIS_CS): { + handleAdisRequest(gyro2Adis); + break; + } + case (gpioIds::GYRO_1_L3G_CS): { + handleL3gRequest(gyro1L3g); + break; + } + case (gpioIds::GYRO_3_L3G_CS): { + handleL3gRequest(gyro3L3g); + break; + } } - case (gpioIds::MGM_1_RM3100_CS): { - handleRm3100Request(mgm1Rm3100); - break; - } - case (gpioIds::MGM_2_LIS3_CS): { - handleLis3Request(mgm2Lis3); - break; - } - case (gpioIds::MGM_3_RM3100_CS): { - handleRm3100Request(mgm3Rm3100); - break; - } - case (gpioIds::GYRO_0_ADIS_CS): { - handleAdisRequest(gyro0Adis); - break; - } - case (gpioIds::GYRO_2_ADIS_CS): { - handleAdisRequest(gyro2Adis); - break; - } - case (gpioIds::GYRO_1_L3G_CS): { - handleL3gRequest(gyro1L3g); - break; - } - case (gpioIds::GYRO_3_L3G_CS): { - handleL3gRequest(gyro3L3g); - break; + if (state == InternalState::IDLE) { + state = InternalState::BUSY; } } - MutexGuard mg(ipcLock); - if (state == InternalState::IDLE) { - state = InternalState::BUSY; - semaphore->release(); - } + semaphore->release(); return returnvalue::OK; } @@ -238,7 +240,7 @@ ReturnValue_t AcsBoardPolling::readReceivedMessage(CookieIF* cookie, uint8_t** b if (spiCookie == nullptr) { return returnvalue::FAILED; } - MutexGuard mg(ipcLock); + MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); auto handleAdisReply = [&](GyroAdis& gyro) { std::memcpy(&gyro.readerReply, &gyro.ownReply, sizeof(acs::Adis1650XReply)); *buffer = reinterpret_cast(&gyro.readerReply); @@ -294,10 +296,10 @@ ReturnValue_t AcsBoardPolling::readReceivedMessage(CookieIF* cookie, uint8_t** b void AcsBoardPolling::gyroL3gHandler(GyroL3g& l3g) { ReturnValue_t result; - acs::SimpleSensorMode mode; - bool gyroPerformStartup; + acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF; + bool gyroPerformStartup = false; { - MutexGuard mg(ipcLock); + MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); mode = l3g.mode; gyroPerformStartup = l3g.performStartup; } @@ -320,7 +322,7 @@ void AcsBoardPolling::gyroL3gHandler(GyroL3g& l3g) { if (result != returnvalue::OK) { l3g.replyResult = returnvalue::OK; } - MutexGuard mg(ipcLock); + MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); // Cross check configuration as verification that communication is working for (uint8_t idx = 0; idx < 5; idx++) { if (rawReply[idx + 1] != l3g.sensorCfg[idx]) { @@ -345,7 +347,7 @@ void AcsBoardPolling::gyroL3gHandler(GyroL3g& l3g) { l3g.replyResult = returnvalue::FAILED; return; } - MutexGuard mg(ipcLock); + MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); // The regular read function always returns the full sensor config as well. Use that // to verify communications. for (uint8_t idx = 0; idx < 5; idx++) { @@ -440,11 +442,11 @@ ReturnValue_t AcsBoardPolling::readAdisCfg(SpiCookie& cookie, size_t transferLen void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) { ReturnValue_t result; - acs::SimpleSensorMode mode; + acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF; bool cdHasTimedOut = false; bool mustPerformStartup = false; { - MutexGuard mg(ipcLock); + MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); mode = gyro.mode; cdHasTimedOut = gyro.countdown.hasTimedOut(); mustPerformStartup = gyro.performStartup; @@ -478,7 +480,7 @@ void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) { gyro.replyResult = returnvalue::FAILED; return; } - MutexGuard mg(ipcLock); + MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); gyro.ownReply.cfgWasSet = true; gyro.ownReply.cfg.diagStat = (rawReply[2] << 8) | rawReply[3]; gyro.ownReply.cfg.filterSetting = (rawReply[4] << 8) | rawReply[5]; @@ -525,7 +527,7 @@ void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) { return; } - MutexGuard mg(ipcLock); + MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); gyro.ownReply.dataWasSet = true; gyro.ownReply.cfg.diagStat = rawReply[2] << 8 | rawReply[3]; gyro.ownReply.data.angVelocities[0] = (rawReply[4] << 8) | rawReply[5]; @@ -542,10 +544,10 @@ void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) { void AcsBoardPolling::mgmLis3Handler(MgmLis3& mgm) { ReturnValue_t result; - acs::SimpleSensorMode mode; + acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF; bool mustPerformStartup = false; { - MutexGuard mg(ipcLock); + MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); mode = mgm.mode; mustPerformStartup = mgm.performStartup; } @@ -605,7 +607,7 @@ void AcsBoardPolling::mgmLis3Handler(MgmLis3& mgm) { return; } { - MutexGuard mg(ipcLock); + MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); mgm.ownReply.dataWasSet = true; mgm.ownReply.sensitivity = mgmLis3::getSensitivityFactor(mgmLis3::getSensitivity(mgm.cfg[1])); mgm.ownReply.mgmValuesRaw[0] = @@ -627,7 +629,7 @@ void AcsBoardPolling::mgmLis3Handler(MgmLis3& mgm) { mgm.replyResult = result; return; } - MutexGuard mg(ipcLock); + MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); mgm.ownReply.temperatureWasSet = true; mgm.ownReply.temperatureRaw = (rawReply[2] << 8) | rawReply[1]; } @@ -635,10 +637,10 @@ void AcsBoardPolling::mgmLis3Handler(MgmLis3& mgm) { void AcsBoardPolling::mgmRm3100Handler(MgmRm3100& mgm) { ReturnValue_t result; - acs::SimpleSensorMode mode; + acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF; bool mustPerformStartup = false; { - MutexGuard mg(ipcLock); + MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); mode = mgm.mode; mustPerformStartup = mgm.performStartup; } @@ -712,7 +714,7 @@ void AcsBoardPolling::mgmRm3100Handler(MgmRm3100& mgm) { mgm.replyResult = result; return; } - MutexGuard mg(ipcLock); + MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); for (uint8_t idx = 0; idx < 3; idx++) { // Hardcoded, but note that the gain depends on the cycle count // value which is configurable! diff --git a/linux/devices/AcsBoardPolling.h b/linux/devices/AcsBoardPolling.h index 9d642dc8..e3c3bd24 100644 --- a/linux/devices/AcsBoardPolling.h +++ b/linux/devices/AcsBoardPolling.h @@ -22,6 +22,9 @@ class AcsBoardPolling : public SystemObject, private: enum class InternalState { IDLE, BUSY } state = InternalState::IDLE; MutexIF* ipcLock; + static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING; + static constexpr uint32_t LOCK_TIMEOUT = 20; + static constexpr char LOCK_CTX[] = "AcsBoardPolling"; SemaphoreIF* semaphore; std::array cmdBuf; diff --git a/linux/devices/GpsHyperionLinuxController.cpp b/linux/devices/GpsHyperionLinuxController.cpp index 3b396504..3beb0d87 100644 --- a/linux/devices/GpsHyperionLinuxController.cpp +++ b/linux/devices/GpsHyperionLinuxController.cpp @@ -19,9 +19,7 @@ GpsHyperionLinuxController::GpsHyperionLinuxController(object_id_t objectId, object_id_t parentId, bool debugHyperionGps) - : ExtendedControllerBase(objectId), gpsSet(this), debugHyperionGps(debugHyperionGps) { - timeUpdateCd.resetTimer(); -} + : ExtendedControllerBase(objectId), gpsSet(this), debugHyperionGps(debugHyperionGps) {} GpsHyperionLinuxController::~GpsHyperionLinuxController() { gps_stream(&gps, WATCH_DISABLE, nullptr); @@ -196,8 +194,8 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() { if (mode != MODE_OFF) { if (maxTimeToReachFix.hasTimedOut() and oneShotSwitches.cantGetFixSwitch) { sif::warning << "GpsHyperionLinuxController: No mode could be set in allowed " - << maxTimeToReachFix.timeout / 1000 << " seconds" << std::endl; - triggerEvent(GpsHyperion::CANT_GET_FIX, maxTimeToReachFix.timeout); + << maxTimeToReachFix.getTimeoutMs() / 1000 << " seconds" << std::endl; + triggerEvent(GpsHyperion::CANT_GET_FIX, maxTimeToReachFix.getTimeoutMs()); oneShotSwitches.cantGetFixSwitch = false; } modeIsSet = false; diff --git a/linux/devices/GpsHyperionLinuxController.h b/linux/devices/GpsHyperionLinuxController.h index df08d8a4..f00724bd 100644 --- a/linux/devices/GpsHyperionLinuxController.h +++ b/linux/devices/GpsHyperionLinuxController.h @@ -23,7 +23,8 @@ */ class GpsHyperionLinuxController : public ExtendedControllerBase { public: - static constexpr uint32_t MAX_SECONDS_TO_REACH_FIX = 60 * 60 * 5; + // 30 minutes + static constexpr uint32_t MAX_SECONDS_TO_REACH_FIX = 60 * 30; enum ReadModes { SHM = 0, SOCKET = 1 }; @@ -79,7 +80,6 @@ class GpsHyperionLinuxController : public ExtendedControllerBase { bool debugHyperionGps = false; int32_t noModeSetCntr = 0; - Countdown timeUpdateCd = Countdown(60); // Returns true if the function should be called again or false if other // controller handling can be done. diff --git a/linux/devices/Max31865RtdPolling.cpp b/linux/devices/Max31865RtdPolling.cpp index e59c2ef2..db13a76c 100644 --- a/linux/devices/Max31865RtdPolling.cpp +++ b/linux/devices/Max31865RtdPolling.cpp @@ -19,25 +19,19 @@ static constexpr uint8_t BASE_CFG = Max31865RtdPolling::Max31865RtdPolling(object_id_t objectId, SpiComIF* lowLevelComIF, GpioIF* gpioIF) : SystemObject(objectId), rtds(EiveMax31855::NUM_RTDS), comIF(lowLevelComIF), gpioIF(gpioIF) { - readerMutex = MutexFactory::instance()->createMutex(); + readerLock = MutexFactory::instance()->createMutex(); } ReturnValue_t Max31865RtdPolling::performOperation(uint8_t operationCode) { using namespace MAX31865; ReturnValue_t result = returnvalue::OK; static_cast(result); + // Measured to take 0-1 ms in debug build // Stopwatch watch; - if (periodicInitHandling()) { -#if OBSW_RTD_AUTO_MODE == 0 - // 10 ms delay for VBIAS startup - TaskFactory::delayTask(10); -#endif - } else { - // No devices usable (e.g. TCS board off) - return returnvalue::OK; - } - + periodicInitHandling(); #if OBSW_RTD_AUTO_MODE == 0 + // 10 ms delay for VBIAS startup + TaskFactory::delayTask(10); result = periodicReadReqHandling(); if (result != returnvalue::OK) { return result; @@ -56,19 +50,28 @@ bool Max31865RtdPolling::rtdIsActive(uint8_t idx) { return false; } -bool Max31865RtdPolling::periodicInitHandling() { +ReturnValue_t Max31865RtdPolling::periodicInitHandling() { using namespace MAX31865; ReturnValue_t result = returnvalue::OK; for (auto& rtd : rtds) { if (rtd == nullptr) { continue; } - MutexGuard mg(readerMutex); - if (mg.getLockResult() != returnvalue::OK) { - sif::warning << "Max31865RtdReader::periodicInitHandling: Mutex lock failed" << std::endl; - return false; + bool mustPerformInitHandling = false; + bool doWriteLowThreshold = false; + bool doWriteHighThreshold = false; + { + MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); + if (mg.getLockResult() != returnvalue::OK) { + sif::warning << "Max31865RtdReader::periodicInitHandling: Mutex lock failed" << std::endl; + continue; + } + mustPerformInitHandling = + (rtd->on or rtd->db.active) and not rtd->db.configured and rtd->cd.hasTimedOut(); + doWriteHighThreshold = rtd->writeHighThreshold; + doWriteLowThreshold = rtd->writeLowThreshold; } - if ((rtd->on or rtd->db.active) and not rtd->db.configured and rtd->cd.hasTimedOut()) { + if (mustPerformInitHandling) { // Please note that using the manual CS lock wrapper here is problematic. Might be a SPI // or hardware specific issue where the CS needs to be pulled high and then low again // between transfers @@ -77,13 +80,13 @@ bool Max31865RtdPolling::periodicInitHandling() { handleSpiError(rtd, result, "writeCfgReg"); continue; } - if (rtd->writeLowThreshold) { + if (doWriteLowThreshold) { result = writeLowThreshold(rtd->spiCookie, rtd->lowThreshold); if (result != returnvalue::OK) { handleSpiError(rtd, result, "writeLowThreshold"); } } - if (rtd->writeHighThreshold) { + if (doWriteHighThreshold) { result = writeHighThreshold(rtd->spiCookie, rtd->highThreshold); if (result != returnvalue::OK) { handleSpiError(rtd, result, "writeHighThreshold"); @@ -93,38 +96,23 @@ bool Max31865RtdPolling::periodicInitHandling() { if (result != returnvalue::OK) { handleSpiError(rtd, result, "clearFaultStatus"); } + MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); rtd->db.configured = true; rtd->db.active = true; } } - bool someRtdUsable = false; - for (auto& rtd : rtds) { - if (rtd == nullptr) { - continue; - } - if (rtdIsActive(rtd->idx)) { -#if OBSW_RTD_AUTO_MODE == 0 - result = writeBiasSel(Bias::ON, rtd->spiCookie, BASE_CFG); -#endif - someRtdUsable = true; - } - } - return someRtdUsable; + return returnvalue::OK; } ReturnValue_t Max31865RtdPolling::periodicReadReqHandling() { using namespace MAX31865; + updateActiveRtdsArray(); // Now request one shot config for all active RTDs for (auto& rtd : rtds) { if (rtd == nullptr) { continue; } - MutexGuard mg(readerMutex); - if (mg.getLockResult() != returnvalue::OK) { - sif::warning << "Max31865RtdReader::periodicReadReqHandling: Mutex lock failed" << std::endl; - return returnvalue::FAILED; - } - if (rtdIsActive(rtd->idx)) { + if (activeRtdsArray[rtd->idx]) { ReturnValue_t result = writeCfgReg(rtd->spiCookie, BASE_CFG | (1 << CfgBitPos::ONE_SHOT)); if (result != returnvalue::OK) { handleSpiError(rtd, result, "writeCfgReg"); @@ -139,17 +127,13 @@ ReturnValue_t Max31865RtdPolling::periodicReadReqHandling() { ReturnValue_t Max31865RtdPolling::periodicReadHandling() { using namespace MAX31865; auto result = returnvalue::OK; + updateActiveRtdsArray(); // Now read the RTD values for (auto& rtd : rtds) { if (rtd == nullptr) { continue; } - MutexGuard mg(readerMutex); - if (mg.getLockResult() != returnvalue::OK) { - sif::warning << "Max31865RtdReader::periodicReadHandling: Mutex lock failed" << std::endl; - return returnvalue::FAILED; - } - if (rtdIsActive(rtd->idx)) { + if (activeRtdsArray[rtd->idx]) { // Please note that using the manual CS lock wrapper here is problematic. Might be a SPI // or hardware specific issue where the CS needs to be pulled high and then low again // between transfers @@ -166,6 +150,7 @@ ReturnValue_t Max31865RtdPolling::periodicReadHandling() { handleSpiError(rtd, result, "readRtdVal"); continue; } + MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); if (faultBitSet) { rtd->db.faultBitSet = faultBitSet; } @@ -200,7 +185,7 @@ ReturnValue_t Max31865RtdPolling::initializeInterface(CookieIF* cookie) { throw std::invalid_argument("Invalid RTD index"); } rtds[rtdCookie->idx] = rtdCookie; - MutexGuard mg(readerMutex); + MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); if (dbLen == 0) { dbLen = rtdCookie->db.getSerializedSize(); } @@ -212,16 +197,19 @@ ReturnValue_t Max31865RtdPolling::sendMessage(CookieIF* cookie, const uint8_t* s if (cookie == nullptr) { return returnvalue::FAILED; } + auto* rtdCookie = dynamic_cast(cookie); + if (rtdCookie == nullptr) { + return returnvalue::FAILED; + } // Empty command.. don't fail for now if (sendLen < 1) { return returnvalue::OK; } - MutexGuard mg(readerMutex); + MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); if (mg.getLockResult() != returnvalue::OK) { sif::warning << "Max31865RtdReader::sendMessage: Mutex lock failed" << std::endl; return returnvalue::FAILED; } - auto* rtdCookie = dynamic_cast(cookie); uint8_t cmdRaw = sendData[0]; if (cmdRaw > EiveMax31855::RtdCommands::NUM_CMDS) { sif::warning << "Max31865RtdReader::sendMessage: Invalid command" << std::endl; @@ -240,7 +228,6 @@ ReturnValue_t Max31865RtdPolling::sendMessage(CookieIF* cookie, const uint8_t* s case (EiveMax31855::RtdCommands::ON): { if (not rtdCookie->on) { rtdCookie->cd.setTimeout(MAX31865::WARMUP_MS); - rtdCookie->cd.resetTimer(); rtdCookie->on = true; rtdCookie->db.active = false; rtdCookie->db.configured = false; @@ -253,7 +240,6 @@ ReturnValue_t Max31865RtdPolling::sendMessage(CookieIF* cookie, const uint8_t* s case (EiveMax31855::RtdCommands::ACTIVE): { if (not rtdCookie->on) { rtdCookie->cd.setTimeout(MAX31865::WARMUP_MS); - rtdCookie->cd.resetTimer(); rtdCookie->on = true; rtdCookie->db.active = true; rtdCookie->db.configured = false; @@ -312,15 +298,15 @@ ReturnValue_t Max31865RtdPolling::requestReceiveMessage(CookieIF* cookie, size_t ReturnValue_t Max31865RtdPolling::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) { - MutexGuard mg(readerMutex); - if (mg.getLockResult() != returnvalue::OK) { - // TODO: Emit warning - return returnvalue::FAILED; - } auto* rtdCookie = dynamic_cast(cookie); if (rtdCookie == nullptr) { return returnvalue::FAILED; } + MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); + if (mg.getLockResult() != returnvalue::OK) { + // TODO: Emit warning + return returnvalue::FAILED; + } uint8_t* exchangePtr = rtdCookie->exchangeBuf.data(); size_t serLen = 0; auto result = rtdCookie->db.serialize(&exchangePtr, &serLen, rtdCookie->exchangeBuf.size(), @@ -461,6 +447,18 @@ ReturnValue_t Max31865RtdPolling::readNFromReg(SpiCookie* cookie, uint8_t reg, s return returnvalue::OK; } +ReturnValue_t Max31865RtdPolling::updateActiveRtdsArray() { + MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); + if (mg.getLockResult() != returnvalue::OK) { + sif::warning << "Max31865RtdReader::periodicReadHandling: Mutex lock failed" << std::endl; + return returnvalue::FAILED; + } + for (const auto& rtd : rtds) { + activeRtdsArray[rtd->idx] = rtdIsActive(rtd->idx); + } + return returnvalue::OK; +} + ReturnValue_t Max31865RtdPolling::handleSpiError(Max31865ReaderCookie* cookie, ReturnValue_t result, const char* ctx) { cookie->db.spiErrorCount.value += 1; diff --git a/linux/devices/Max31865RtdPolling.h b/linux/devices/Max31865RtdPolling.h index a34c8e53..ef73fb8b 100644 --- a/linux/devices/Max31865RtdPolling.h +++ b/linux/devices/Max31865RtdPolling.h @@ -47,8 +47,12 @@ class Max31865RtdPolling : public SystemObject, private: std::vector rtds; std::array cmdBuf = {}; + std::array activeRtdsArray{}; size_t dbLen = 0; - MutexIF* readerMutex; + MutexIF* readerLock; + static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING; + static constexpr uint32_t LOCK_TIMEOUT = 20; + static constexpr char LOCK_CTX[] = "Max31865RtdPolling"; SpiComIF* comIF; GpioIF* gpioIF; @@ -56,7 +60,7 @@ class Max31865RtdPolling : public SystemObject, uint32_t csTimeoutMs = spi::RTD_CS_TIMEOUT; MutexIF* csLock = nullptr; - bool periodicInitHandling(); + ReturnValue_t periodicInitHandling(); ReturnValue_t periodicReadReqHandling(); ReturnValue_t periodicReadHandling(); @@ -81,6 +85,8 @@ class Max31865RtdPolling : public SystemObject, ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override; ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override; + ReturnValue_t updateActiveRtdsArray(); + ReturnValue_t handleSpiError(Max31865ReaderCookie* cookie, ReturnValue_t result, const char* ctx); }; diff --git a/linux/devices/RwPollingTask.cpp b/linux/devices/RwPollingTask.cpp index 2d05ac8b..7dff31bb 100644 --- a/linux/devices/RwPollingTask.cpp +++ b/linux/devices/RwPollingTask.cpp @@ -220,7 +220,7 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf } pullCsLow(gpioId, gpioIF); bool lastByteWasFrameMarker = false; - Countdown cd(3000); + Countdown cd(2000); size_t readIdx = 0; while (true) { diff --git a/linux/fsfwconfig/events/translateEvents.cpp b/linux/fsfwconfig/events/translateEvents.cpp index 23a43738..8acf72a4 100644 --- a/linux/fsfwconfig/events/translateEvents.cpp +++ b/linux/fsfwconfig/events/translateEvents.cpp @@ -1,7 +1,7 @@ /** * @brief Auto-generated event translation file. Contains 267 translations. * @details - * Generated on: 2023-03-01 18:34:32 + * Generated on: 2023-03-02 17:08:11 */ #include "translateEvents.h" diff --git a/linux/fsfwconfig/objects/translateObjects.cpp b/linux/fsfwconfig/objects/translateObjects.cpp index 2eca7d22..1fe48b77 100644 --- a/linux/fsfwconfig/objects/translateObjects.cpp +++ b/linux/fsfwconfig/objects/translateObjects.cpp @@ -1,8 +1,8 @@ /** * @brief Auto-generated object translation file. * @details - * Contains 161 translations. - * Generated on: 2023-03-01 18:34:32 + * Contains 162 translations. + * Generated on: 2023-03-02 17:08:11 */ #include "translateObjects.h" @@ -147,8 +147,9 @@ const char *HEATER_7_HPA_STRING = "HEATER_7_HPA"; const char *ACS_BOARD_ASS_STRING = "ACS_BOARD_ASS"; const char *SUS_BOARD_ASS_STRING = "SUS_BOARD_ASS"; const char *TCS_BOARD_ASS_STRING = "TCS_BOARD_ASS"; -const char *RW_ASS_STRING = "RW_ASS"; +const char *RW_ASSY_STRING = "RW_ASSY"; const char *CAM_SWITCHER_STRING = "CAM_SWITCHER"; +const char *SYRLINKS_ASSY_STRING = "SYRLINKS_ASSY"; const char *TM_FUNNEL_STRING = "TM_FUNNEL"; const char *PUS_TM_FUNNEL_STRING = "PUS_TM_FUNNEL"; const char *CFDP_TM_FUNNEL_STRING = "CFDP_TM_FUNNEL"; @@ -453,9 +454,11 @@ const char *translateObject(object_id_t object) { case 0x73000003: return TCS_BOARD_ASS_STRING; case 0x73000004: - return RW_ASS_STRING; + return RW_ASSY_STRING; case 0x73000006: return CAM_SWITCHER_STRING; + case 0x73000007: + return SYRLINKS_ASSY_STRING; case 0x73000100: return TM_FUNNEL_STRING; case 0x73000101: diff --git a/mission/config/comCfg.cpp b/mission/config/comCfg.cpp index 9e350a9d..8387214d 100644 --- a/mission/config/comCfg.cpp +++ b/mission/config/comCfg.cpp @@ -9,12 +9,12 @@ MutexIF* DATARATE_LOCK = nullptr; MutexIF* lazyLock(); com::Datarate com::getCurrentDatarate() { - MutexGuard mg(lazyLock()); + MutexGuard mg(lazyLock(), MutexIF::TimeoutType::WAITING, 20, "com"); return DATARATE_CFG_RAW; } void com::setCurrentDatarate(com::Datarate newRate) { - MutexGuard mg(lazyLock()); + MutexGuard mg(lazyLock(), MutexIF::TimeoutType::WAITING, 20, "com"); DATARATE_CFG_RAW = newRate; } diff --git a/mission/config/torquer.h b/mission/config/torquer.h index 10a27991..bb5a101f 100644 --- a/mission/config/torquer.h +++ b/mission/config/torquer.h @@ -9,6 +9,9 @@ namespace torquer { // Additional buffer time to accont for time until I2C command arrives and ramp up / ramp down // time of the MGT static constexpr dur_millis_t TORQUE_BUFFER_TIME_MS = 20; +static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING; +static constexpr uint32_t LOCK_TIMEOUT = 20; +static constexpr char LOCK_CTX[] = "torquer"; MutexIF* lazyLock(); extern bool TORQUEING; diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp index c0853695..eb07459f 100644 --- a/mission/controller/AcsController.cpp +++ b/mission/controller/AcsController.cpp @@ -157,20 +157,23 @@ void AcsController::performSafe() { guidance.getTargetParamsSafe(sunTargetDir, satRateSafe); // if MEKF is working double magMomMtq[3] = {0, 0, 0}, errAng = 0.0; - bool magMomMtqValid = false; if (result == MultiplicativeKalmanFilter::MEKF_RUNNING) { - safeCtrl.safeMekf(now, mekfData.quatMekf.value, mekfData.quatMekf.isValid(), - mgmDataProcessed.magIgrfModel.value, mgmDataProcessed.magIgrfModel.isValid(), - susDataProcessed.sunIjkModel.value, susDataProcessed.isValid(), - mekfData.satRotRateMekf.value, mekfData.satRotRateMekf.isValid(), - sunTargetDir, satRateSafe, &errAng, magMomMtq, &magMomMtqValid); + result = safeCtrl.safeMekf(now, mekfData.quatMekf.value, mekfData.quatMekf.isValid(), + mgmDataProcessed.magIgrfModel.value, + mgmDataProcessed.magIgrfModel.isValid(), + susDataProcessed.sunIjkModel.value, susDataProcessed.isValid(), + mekfData.satRotRateMekf.value, mekfData.satRotRateMekf.isValid(), + sunTargetDir, satRateSafe, &errAng, magMomMtq); } else { - safeCtrl.safeNoMekf( + result = safeCtrl.safeNoMekf( now, susDataProcessed.susVecTot.value, susDataProcessed.susVecTot.isValid(), susDataProcessed.susVecTotDerivative.value, susDataProcessed.susVecTotDerivative.isValid(), mgmDataProcessed.mgmVecTot.value, mgmDataProcessed.mgmVecTot.isValid(), mgmDataProcessed.mgmVecTotDerivative.value, mgmDataProcessed.mgmVecTotDerivative.isValid(), - sunTargetDir, satRateSafe, &errAng, magMomMtq, &magMomMtqValid); + sunTargetDir, satRateSafe, &errAng, magMomMtq); + } + if (result == returnvalue::FAILED) { + // ToDo: this should never ever happen or we are dead. prob add an event at least } actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs); @@ -429,7 +432,8 @@ ReturnValue_t AcsController::commandActuators(int16_t xDipole, int16_t yDipole, uint16_t rampTime) { { PoolReadGuard pg(&dipoleSet); - MutexGuard mg(torquer::lazyLock()); + MutexGuard mg(torquer::lazyLock(), torquer::LOCK_TYPE, torquer::LOCK_TIMEOUT, + torquer::LOCK_CTX); torquer::NEW_ACTUATION_FLAG = true; dipoleSet.setDipoles(xDipole, yDipole, zDipole, dipoleTorqueDuration); } diff --git a/mission/controller/acs/control/Detumble.cpp b/mission/controller/acs/control/Detumble.cpp index 705bf599..0e131942 100644 --- a/mission/controller/acs/control/Detumble.cpp +++ b/mission/controller/acs/control/Detumble.cpp @@ -1,11 +1,3 @@ - -/* - * Detumble.cpp - * - * Created on: 17 Aug 2022 - * Author: Robin Marquardt - */ - #include "Detumble.h" #include @@ -31,6 +23,12 @@ ReturnValue_t Detumble::bDotLaw(const double *magRate, const bool magRateValid, if (!magRateValid || !magFieldValid) { return DETUMBLE_NO_SENSORDATA; } + + // change unit from uT to T + double magFieldT[3] = {0, 0, 0}, magRateT[3] = {0, 0, 0}; + VectorOperations::mulScalar(magField, 1e-6, magFieldT, 3); + VectorOperations::mulScalar(magRate, 1e-6, magRateT, 3); + double gain = detumbleParameter->gainD; double factor = -gain / pow(VectorOperations::norm(magField, 3), 2); VectorOperations::mulScalar(magRate, factor, magMom, 3); diff --git a/mission/controller/acs/control/SafeCtrl.cpp b/mission/controller/acs/control/SafeCtrl.cpp index aa04cbb6..5c665156 100644 --- a/mission/controller/acs/control/SafeCtrl.cpp +++ b/mission/controller/acs/control/SafeCtrl.cpp @@ -32,15 +32,13 @@ ReturnValue_t SafeCtrl::safeMekf(timeval now, double *quatBJ, bool quatBJValid, double *magFieldModel, bool magFieldModelValid, double *sunDirModel, bool sunDirModelValid, double *satRateMekf, bool rateMekfValid, double *sunDirRef, double *satRatRef, - double *outputAngle, double *outputMagMomB, bool *outputValid) { + double *outputAngle, double *outputMagMomB) { if (!quatBJValid || !magFieldModelValid || !sunDirModelValid || !rateMekfValid) { - *outputValid = false; return SAFECTRL_MEKF_INPUT_INVALID; } - double kRate = 0, kAlign = 0; - kRate = safeModeControllerParameters->k_rate_mekf; - kAlign = safeModeControllerParameters->k_align_mekf; + double kRate = safeModeControllerParameters->k_rate_mekf; + double kAlign = safeModeControllerParameters->k_align_mekf; // Calc sunDirB ,magFieldB with mekf output and model double dcmBJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; @@ -49,22 +47,22 @@ ReturnValue_t SafeCtrl::safeMekf(timeval now, double *quatBJ, bool quatBJValid, MatrixOperations::multiply(*dcmBJ, sunDirModel, sunDirB, 3, 3, 1); MatrixOperations::multiply(*dcmBJ, magFieldModel, magFieldB, 3, 3, 1); - double crossSun[3] = {0, 0, 0}; + // change unit from uT to T + VectorOperations::mulScalar(magFieldB, 1e-6, magFieldB, 3); + double crossSun[3] = {0, 0, 0}; VectorOperations::cross(sunDirRef, sunDirB, crossSun); double normCrossSun = VectorOperations::norm(crossSun, 3); // calc angle alpha between sunDirRef and sunDIr - double alpha = 0, dotSun = 0; - dotSun = VectorOperations::dot(sunDirRef, sunDirB); - alpha = acos(dotSun); + double dotSun = VectorOperations::dot(sunDirRef, sunDirB); + double alpha = acos(dotSun); // Law Torque calculations double torqueCmd[3] = {0, 0, 0}, torqueAlign[3] = {0, 0, 0}, torqueRate[3] = {0, 0, 0}, torqueAll[3] = {0, 0, 0}; - double scalarFac = 0; - scalarFac = kAlign * alpha / normCrossSun; + double scalarFac = kAlign * alpha / normCrossSun; VectorOperations::mulScalar(crossSun, scalarFac, torqueAlign, 3); double rateSafeMode[3] = {0, 0, 0}; @@ -82,39 +80,38 @@ ReturnValue_t SafeCtrl::safeMekf(timeval now, double *quatBJ, bool quatBJValid, VectorOperations::mulScalar(torqueMgt, 1 / pow(normMag, 2), outputMagMomB, 3); *outputAngle = alpha; - *outputValid = true; - return returnvalue::OK; } // Will be the version in worst case scenario in event of no working MEKF (nor GYRs) -void SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, double *sunRateB, - bool sunRateBValid, double *magFieldB, bool magFieldBValid, - double *magRateB, bool magRateBValid, double *sunDirRef, - double *satRateRef, double *outputAngle, double *outputMagMomB, - bool *outputValid) { +ReturnValue_t SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, + double *sunRateB, bool sunRateBValid, double *magFieldB, + bool magFieldBValid, double *magRateB, bool magRateBValid, + double *sunDirRef, double *satRateRef, double *outputAngle, + double *outputMagMomB) { // Check for invalid Inputs if (!susDirBValid || !magFieldBValid || !magRateBValid) { - *outputValid = false; - return; + return returnvalue::FAILED; } + // change unit from uT to T + double magFieldBT[3] = {0, 0, 0}; + VectorOperations::mulScalar(magFieldB, 1e-6, magFieldBT, 3); + // normalize sunDir and magDir double magDirB[3] = {0, 0, 0}; - VectorOperations::normalize(magFieldB, magDirB, 3); + VectorOperations::normalize(magFieldBT, magDirB, 3); VectorOperations::normalize(susDirB, susDirB, 3); // Cosinus angle between sunDir and magDir double cosAngleSunMag = VectorOperations::dot(magDirB, susDirB); // Rate parallel to sun direction and magnetic field direction - double rateParaSun = 0, rateParaMag = 0; - double dotSunRateMag = 0, dotmagRateSun = 0, rateFactor = 0; - dotSunRateMag = VectorOperations::dot(sunRateB, magDirB); - dotmagRateSun = VectorOperations::dot(magRateB, susDirB); - rateFactor = 1 - pow(cosAngleSunMag, 2); - rateParaSun = (dotmagRateSun + cosAngleSunMag * dotSunRateMag) / rateFactor; - rateParaMag = (dotSunRateMag + cosAngleSunMag * dotmagRateSun) / rateFactor; + double dotSunRateMag = VectorOperations::dot(sunRateB, magDirB); + double dotmagRateSun = VectorOperations::dot(magRateB, susDirB); + double rateFactor = 1 - pow(cosAngleSunMag, 2); + double rateParaSun = (dotmagRateSun + cosAngleSunMag * dotSunRateMag) / rateFactor; + double rateParaMag = (dotSunRateMag + cosAngleSunMag * dotmagRateSun) / rateFactor; // Full rate or estimate double estSatRate[3] = {0, 0, 0}; @@ -130,7 +127,7 @@ void SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, doubl * is sufficiently large */ double angleSunMag = acos(cosAngleSunMag); if (angleSunMag < safeModeControllerParameters->sunMagAngleMin) { - return; + return returnvalue::FAILED; } // Rate for Torque Calculation @@ -138,9 +135,8 @@ void SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, doubl VectorOperations::subtract(estSatRate, satRateRef, diffRate, 3); // Torque Align calculation - double kRateNoMekf = 0, kAlignNoMekf = 0; - kRateNoMekf = safeModeControllerParameters->k_rate_no_mekf; - kAlignNoMekf = safeModeControllerParameters->k_align_no_mekf; + double kRateNoMekf = safeModeControllerParameters->k_rate_no_mekf; + double kAlignNoMekf = safeModeControllerParameters->k_align_no_mekf; double cosAngleAlignErr = VectorOperations::dot(sunDirRef, susDirB); double crossSusSunRef[3] = {0, 0, 0}; @@ -165,11 +161,11 @@ void SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, doubl // Magnetic moment double magMomB[3] = {0, 0, 0}; double crossMagFieldTorque[3] = {0, 0, 0}; - VectorOperations::cross(magFieldB, torqueB, crossMagFieldTorque); - double magMomFactor = pow(VectorOperations::norm(magFieldB, 3), 2); + VectorOperations::cross(magFieldBT, torqueB, crossMagFieldTorque); + double magMomFactor = pow(VectorOperations::norm(magFieldBT, 3), 2); VectorOperations::mulScalar(crossMagFieldTorque, 1 / magMomFactor, magMomB, 3); std::memcpy(outputMagMomB, magMomB, 3 * sizeof(double)); *outputAngle = angleAlignErr; - *outputValid = true; + return returnvalue::OK; } diff --git a/mission/controller/acs/control/SafeCtrl.h b/mission/controller/acs/control/SafeCtrl.h index 1784f9ca..92d20313 100644 --- a/mission/controller/acs/control/SafeCtrl.h +++ b/mission/controller/acs/control/SafeCtrl.h @@ -23,14 +23,12 @@ class SafeCtrl { bool magFieldModelValid, double *sunDirModel, bool sunDirModelValid, double *satRateMekf, bool rateMekfValid, double *sunDirRef, double *satRatRef, // From Guidance (!) - double *outputAngle, double *outputMagMomB, bool *outputValid); + double *outputAngle, double *outputMagMomB); - void safeNoMekf(timeval now, double *susDirB, bool susDirBValid, double *sunRateB, - bool sunRateBValid, double *magFieldB, bool magFieldBValid, double *magRateB, - bool magRateBValid, double *sunDirRef, double *satRateRef, double *outputAngle, - double *outputMagMomB, bool *outputValid); - - void idleSunPointing(); // with reaction wheels + ReturnValue_t safeNoMekf(timeval now, double *susDirB, bool susDirBValid, double *sunRateB, + bool sunRateBValid, double *magFieldB, bool magFieldBValid, + double *magRateB, bool magRateBValid, double *sunDirRef, + double *satRateRef, double *outputAngle, double *outputMagMomB); protected: private: diff --git a/mission/core/GenericFactory.cpp b/mission/core/GenericFactory.cpp index 9e929e83..b6119eda 100644 --- a/mission/core/GenericFactory.cpp +++ b/mission/core/GenericFactory.cpp @@ -117,14 +117,16 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun #if OBSW_ADD_TCPIP_SERVERS == 1 #if OBSW_ADD_TMTC_UDP_SERVER == 1 - auto udpBridge = new UdpTmTcBridge(objects::UDP_TMTC_SERVER, objects::CCSDS_PACKET_DISTRIBUTOR); + auto udpBridge = + new UdpTmTcBridge(objects::UDP_TMTC_SERVER, objects::CCSDS_PACKET_DISTRIBUTOR, 50); new UdpTcPollingTask(objects::UDP_TMTC_POLLING_TASK, objects::UDP_TMTC_SERVER); sif::info << "Created UDP server for TMTC commanding with listener port " << udpBridge->getUdpPort() << std::endl; udpBridge->setMaxNumberOfPacketsStored(config::MAX_STORED_CMDS_UDP); #endif #if OBSW_ADD_TMTC_TCP_SERVER == 1 - auto tcpBridge = new TcpTmTcBridge(objects::TCP_TMTC_SERVER, objects::CCSDS_PACKET_DISTRIBUTOR); + auto tcpBridge = + new TcpTmTcBridge(objects::TCP_TMTC_SERVER, objects::CCSDS_PACKET_DISTRIBUTOR, 50); TcpTmTcServer::TcpConfig cfg(true, true); auto tcpServer = new TcpTmTcServer(objects::TCP_TMTC_POLLING_TASK, objects::TCP_TMTC_SERVER, cfg); // TCP is stream based. Use packet ID as start marker when parsing for space packets @@ -139,9 +141,10 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun new CcsdsDistributor(config::EIVE_PUS_APID, objects::CCSDS_PACKET_DISTRIBUTOR); new PusDistributor(config::EIVE_PUS_APID, objects::PUS_PACKET_DISTRIBUTOR, ccsdsDistrib); - PusTmFunnel::FunnelCfg cfdpFunnelCfg(objects::CFDP_TM_FUNNEL, *tmStore, *ipcStore, 50); + PusTmFunnel::FunnelCfg cfdpFunnelCfg(objects::CFDP_TM_FUNNEL, "CfdpTmFunnel", *tmStore, *ipcStore, + 50); *cfdpFunnel = new CfdpTmFunnel(cfdpFunnelCfg, config::EIVE_CFDP_APID); - PusTmFunnel::FunnelCfg pusFunnelCfg(objects::PUS_TM_FUNNEL, *tmStore, *ipcStore, + PusTmFunnel::FunnelCfg pusFunnelCfg(objects::PUS_TM_FUNNEL, "PusTmFunnel", *tmStore, *ipcStore, config::MAX_PUS_FUNNEL_QUEUE_DEPTH); *pusFunnel = new PusTmFunnel(pusFunnelCfg, *timeStamper, sdcMan); #if OBSW_ADD_TCPIP_SERVERS == 1 @@ -236,7 +239,7 @@ void ObjectFactory::createRwAssy(PowerSwitchIF& pwrSwitcher, power::Switch_t the std::array rws, std::array rwIds) { RwHelper rwHelper(rwIds); - auto* rwAss = new RwAssembly(objects::RW_ASS, &pwrSwitcher, theSwitch, rwHelper); + auto* rwAss = new RwAssembly(objects::RW_ASSY, &pwrSwitcher, theSwitch, rwHelper); for (size_t idx = 0; idx < rwIds.size(); idx++) { ReturnValue_t result = rws[idx]->connectModeTreeParent(*rwAss); if (result != returnvalue::OK) { diff --git a/mission/devices/HeaterHandler.cpp b/mission/devices/HeaterHandler.cpp index 2cde7f1e..150c4778 100644 --- a/mission/devices/HeaterHandler.cpp +++ b/mission/devices/HeaterHandler.cpp @@ -30,8 +30,8 @@ HeaterHandler::HeaterHandler(object_id_t setObjectId_, GpioIF* gpioInterface_, H if (mainLineSwitcher == nullptr) { throw std::invalid_argument("HeaterHandler::HeaterHandler: Invalid PowerSwitchIF"); } - heaterHealthAndStateMutex = MutexFactory::instance()->createMutex(); - if (heaterHealthAndStateMutex == nullptr) { + handlerLock = MutexFactory::instance()->createMutex(); + if (handlerLock == nullptr) { throw std::runtime_error("HeaterHandler::HeaterHandler: Creating Mutex failed"); } auto mqArgs = MqArgs(setObjectId_, static_cast(this)); @@ -144,7 +144,7 @@ ReturnValue_t HeaterHandler::executeAction(ActionId_t actionId, MessageQueueId_t if (action == SwitchAction::SET_SWITCH_ON) { HasHealthIF::HealthState health; { - MutexGuard mg(heaterHealthAndStateMutex); + MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); health = heater.healthDevice->getHealth(); } if (health == HasHealthIF::FAULTY or health == HasHealthIF::PERMANENT_FAULTY or @@ -270,7 +270,7 @@ void HeaterHandler::handleSwitchOnCommand(heater::Switchers heaterIdx) { } else { triggerEvent(HEATER_WENT_ON, heaterIdx, 0); { - MutexGuard mg(heaterHealthAndStateMutex); + MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); heater.switchState = ON; } } @@ -320,7 +320,7 @@ void HeaterHandler::handleSwitchOffCommand(heater::Switchers heaterIdx) { triggerEvent(GPIO_PULL_LOW_FAILED, result); } else { { - MutexGuard mg(heaterHealthAndStateMutex); + MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); heater.switchState = OFF; } triggerEvent(HEATER_WENT_OFF, heaterIdx, 0); @@ -346,7 +346,7 @@ void HeaterHandler::handleSwitchOffCommand(heater::Switchers heaterIdx) { } HeaterHandler::SwitchState HeaterHandler::checkSwitchState(heater::Switchers switchNr) const { - MutexGuard mg(heaterHealthAndStateMutex); + MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); return heaterVec.at(switchNr).switchState; } @@ -396,7 +396,7 @@ object_id_t HeaterHandler::getObjectId() const { return SystemObject::getObjectI ReturnValue_t HeaterHandler::getAllSwitchStates(std::array& statesBuf) { { - MutexGuard mg(heaterHealthAndStateMutex); + MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); if (mg.getLockResult() != returnvalue::OK) { return returnvalue::FAILED; } @@ -409,7 +409,7 @@ ReturnValue_t HeaterHandler::getAllSwitchStates(std::array& stat bool HeaterHandler::allSwitchesOff() { bool allSwitchesOrd = false; - MutexGuard mg(heaterHealthAndStateMutex); + MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); /* Or all switches. As soon one switch is on, allSwitchesOrd will be true */ for (power::Switch_t switchNr = 0; switchNr < heater::NUMBER_OF_SWITCHES; switchNr++) { allSwitchesOrd = allSwitchesOrd || heaterVec.at(switchNr).switchState; @@ -442,7 +442,7 @@ uint32_t HeaterHandler::getSwitchDelayMs(void) const { return 2000; } HasHealthIF::HealthState HeaterHandler::getHealth(heater::Switchers heater) { auto* healthDev = heaterVec.at(heater).healthDevice; if (healthDev != nullptr) { - MutexGuard mg(heaterHealthAndStateMutex); + MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); return healthDev->getHealth(); } return HasHealthIF::HealthState::FAULTY; diff --git a/mission/devices/HeaterHandler.h b/mission/devices/HeaterHandler.h index ffc38440..42f42abf 100644 --- a/mission/devices/HeaterHandler.h +++ b/mission/devices/HeaterHandler.h @@ -136,7 +136,10 @@ class HeaterHandler : public ExecutableObjectIF, HeaterMap heaterVec = {}; - MutexIF* heaterHealthAndStateMutex = nullptr; + MutexIF* handlerLock = nullptr; + static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING; + static constexpr uint32_t LOCK_TIMEOUT = 20; + static constexpr char LOCK_CTX[] = "HeaterHandler"; HeaterHelper helper; ModeHelper modeHelper; diff --git a/mission/devices/ImtqHandler.cpp b/mission/devices/ImtqHandler.cpp index 0072dd08..c9ceec04 100644 --- a/mission/devices/ImtqHandler.cpp +++ b/mission/devices/ImtqHandler.cpp @@ -214,7 +214,8 @@ ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma << ", y = " << dipoleSet.yDipole.value << ", z = " << dipoleSet.zDipole.value << ", duration = " << dipoleSet.currentTorqueDurationMs.value << std::endl; } - MutexGuard mg(torquer::lazyLock()); + MutexGuard mg(torquer::lazyLock(), torquer::LOCK_TYPE, torquer::LOCK_TIMEOUT, + torquer::LOCK_CTX); torquer::TORQUEING = true; torquer::TORQUE_COUNTDOWN.setTimeout(dipoleSet.currentTorqueDurationMs.value); rawPacket = commandBuffer; @@ -395,7 +396,7 @@ LocalPoolDataSetBase* ImtqHandler::getDataSetHandle(sid_t sid) { } else if (sid == negZselfTestDataset.getSid()) { return &negZselfTestDataset; } else { - sif::error << "IMTQHandler::getDataSetHandle: Invalid sid" << std::endl; + sif::error << "ImtqHandler::getDataSetHandle: Invalid SID" << std::endl; return nullptr; } } diff --git a/mission/devices/PcduHandler.cpp b/mission/devices/PcduHandler.cpp index 46106796..f5873fcf 100644 --- a/mission/devices/PcduHandler.cpp +++ b/mission/devices/PcduHandler.cpp @@ -18,7 +18,7 @@ PCDUHandler::PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize) auto mqArgs = MqArgs(setObjectId, static_cast(this)); commandQueue = QueueFactory::instance()->createMessageQueue( cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); - pwrMutex = MutexFactory::instance()->createMutex(); + pwrLock = MutexFactory::instance()->createMutex(); } PCDUHandler::~PCDUHandler() {} @@ -41,7 +41,7 @@ ReturnValue_t PCDUHandler::performOperation(uint8_t counter) { if (pg.getReadResult() == returnvalue::OK) { if (switcherSet.p60Dock5VStack.value != switchState) { triggerEvent(power::SWITCH_HAS_CHANGED, switchState, pcdu::Switches::P60_DOCK_5V_STACK); - MutexGuard mg(pwrMutex); + MutexGuard mg(pwrLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); switchStates[pcdu::P60_DOCK_5V_STACK] = switchState; } switcherSet.p60Dock5VStack.setValid(true); @@ -179,7 +179,7 @@ void PCDUHandler::updatePdu2SwitchStates() { switcherSet.pdu2Switches[idx] = pdu2CoreHk.outputEnables[idx]; } switcherSet.pdu2Switches.setValid(true); - MutexGuard mg(pwrMutex); + MutexGuard mg(pwrLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); checkAndUpdatePduSwitch(pdu, Switches::PDU2_CH0_Q7S, pdu2CoreHk.outputEnables[Channels::Q7S]); checkAndUpdatePduSwitch(pdu, Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8, @@ -216,7 +216,7 @@ void PCDUHandler::updatePdu1SwitchStates() { switcherSet.pdu1Switches[idx] = pdu1CoreHk.outputEnables[idx]; } switcherSet.pdu1Switches.setValid(true); - MutexGuard mg(pwrMutex); + MutexGuard mg(pwrLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); checkAndUpdatePduSwitch(pdu, Switches::PDU1_CH0_TCS_BOARD_3V3, pdu1CoreHk.outputEnables[Channels::TCS_BOARD_3V3]); checkAndUpdatePduSwitch(pdu, Switches::PDU1_CH1_SYRLINKS_12V, @@ -402,9 +402,11 @@ ReturnValue_t PCDUHandler::getSwitchState(uint8_t switchNr) const { sif::debug << "PCDUHandler::getSwitchState: Invalid switch number" << std::endl; return returnvalue::FAILED; } - pwrMutex->lockMutex(); - uint8_t currentState = switchStates[switchNr]; - pwrMutex->unlockMutex(); + uint8_t currentState = 0; + { + MutexGuard mg(pwrLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); + currentState = switchStates[switchNr]; + } if (currentState == 1) { return PowerSwitchIF::SWITCH_ON; } else { diff --git a/mission/devices/PcduHandler.h b/mission/devices/PcduHandler.h index d1f3996b..45bbd392 100644 --- a/mission/devices/PcduHandler.h +++ b/mission/devices/PcduHandler.h @@ -51,7 +51,10 @@ class PCDUHandler : public PowerSwitchIF, private: uint32_t pstIntervalMs = 0; - MutexIF* pwrMutex = nullptr; + MutexIF* pwrLock = nullptr; + static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING; + static constexpr uint32_t LOCK_TIMEOUT = 20; + static constexpr char LOCK_CTX[] = "PcduHandler"; /** Housekeeping manager. Handles updates of local pool variables. */ LocalDataPoolManager poolManager; diff --git a/mission/devices/SusHandler.cpp b/mission/devices/SusHandler.cpp index 228ea082..886c7cec 100644 --- a/mission/devices/SusHandler.cpp +++ b/mission/devices/SusHandler.cpp @@ -37,7 +37,7 @@ void SusHandler::doShutDown() { updatePeriodicReply(false, REPLY); commandExecuted = false; internalState = InternalState::NONE; - setMode(_MODE_POWER_DOWN); + setMode(MODE_OFF); } } diff --git a/mission/system/fdir/SyrlinksFdir.cpp b/mission/system/fdir/SyrlinksFdir.cpp index 524a94f6..2bdbd21d 100644 --- a/mission/system/fdir/SyrlinksFdir.cpp +++ b/mission/system/fdir/SyrlinksFdir.cpp @@ -47,8 +47,8 @@ ReturnValue_t SyrlinksFdir::eventReceived(EventMessage* event) { } // else if (missedReplyCount.incrementAndCheck()) { - // handleRecovery(event->getEvent()); - triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0); + handleRecovery(event->getEvent()); + // triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0); } break; case StorageManagerIF::GET_DATA_FAILED: @@ -80,7 +80,7 @@ ReturnValue_t SyrlinksFdir::eventReceived(EventMessage* event) { break; case Fuse::POWER_BELOW_LOW_LIMIT: // Device might got stuck during boot, retry. - // handleRecovery(event->getEvent()); + handleRecovery(event->getEvent()); triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0); break; //****Thermal***** diff --git a/mission/system/objects/CMakeLists.txt b/mission/system/objects/CMakeLists.txt index 0290a311..1b669047 100644 --- a/mission/system/objects/CMakeLists.txt +++ b/mission/system/objects/CMakeLists.txt @@ -7,6 +7,7 @@ target_sources( TcsSubsystem.cpp PayloadSubsystem.cpp AcsBoardAssembly.cpp + SyrlinksAssembly.cpp Stack5VHandler.cpp SusAssembly.cpp RwAssembly.cpp diff --git a/mission/system/objects/ComSubsystem.cpp b/mission/system/objects/ComSubsystem.cpp index c495729c..b9ed0a05 100644 --- a/mission/system/objects/ComSubsystem.cpp +++ b/mission/system/objects/ComSubsystem.cpp @@ -30,6 +30,7 @@ void ComSubsystem::performChildOperation() { if (countdownActive) { checkTransmitterCountdown(); } + Subsystem::performChildOperation(); } diff --git a/mission/system/objects/DualLaneAssemblyBase.cpp b/mission/system/objects/DualLaneAssemblyBase.cpp index a55553a0..94f35cf0 100644 --- a/mission/system/objects/DualLaneAssemblyBase.cpp +++ b/mission/system/objects/DualLaneAssemblyBase.cpp @@ -235,3 +235,8 @@ void DualLaneAssemblyBase::setPreferredSide(duallane::Submodes submode) { } this->defaultSubmode = submode; } + +ReturnValue_t DualLaneAssemblyBase::checkAndHandleHealthState(Mode_t deviceMode, + Submode_t deviceSubmode) { + return returnvalue::OK; +} diff --git a/mission/system/objects/DualLaneAssemblyBase.h b/mission/system/objects/DualLaneAssemblyBase.h index ca73d53c..b894cb46 100644 --- a/mission/system/objects/DualLaneAssemblyBase.h +++ b/mission/system/objects/DualLaneAssemblyBase.h @@ -75,6 +75,7 @@ class DualLaneAssemblyBase : public AssemblyBase, public ConfirmsFailuresIF { MessageQueueId_t getEventReceptionQueue() override; bool sideSwitchTransition(Mode_t mode, Submode_t submode); + ReturnValue_t checkAndHandleHealthState(Mode_t deviceMode, Submode_t deviceSubmode); /** * Implemented by user. Will be called if a full mode operation has finished. diff --git a/mission/system/objects/Stack5VHandler.cpp b/mission/system/objects/Stack5VHandler.cpp index 1a3141c4..6c3c94d9 100644 --- a/mission/system/objects/Stack5VHandler.cpp +++ b/mission/system/objects/Stack5VHandler.cpp @@ -5,7 +5,7 @@ Stack5VHandler::Stack5VHandler(PowerSwitchIF& switcher) : switcher(switcher) { } ReturnValue_t Stack5VHandler::deviceToOn(StackCommander commander, bool updateStates) { - MutexGuard mg(stackLock); + MutexGuard mg(stackLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); if (updateStates) { updateInternalStates(); } @@ -27,7 +27,7 @@ ReturnValue_t Stack5VHandler::deviceToOn(StackCommander commander, bool updateSt } ReturnValue_t Stack5VHandler::deviceToOff(StackCommander commander, bool updateStates) { - MutexGuard mg(stackLock); + MutexGuard mg(stackLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); if (updateStates) { updateInternalStates(); } @@ -55,12 +55,12 @@ ReturnValue_t Stack5VHandler::deviceToOff(StackCommander commander, bool updateS } bool Stack5VHandler::isSwitchOn() { - MutexGuard mg(stackLock); + MutexGuard mg(stackLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); return updateInternalStates(); } void Stack5VHandler::update() { - MutexGuard mg(stackLock); + MutexGuard mg(stackLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); updateInternalStates(); } diff --git a/mission/system/objects/Stack5VHandler.h b/mission/system/objects/Stack5VHandler.h index 46fc963a..364d744b 100644 --- a/mission/system/objects/Stack5VHandler.h +++ b/mission/system/objects/Stack5VHandler.h @@ -21,7 +21,11 @@ class Stack5VHandler { void update(); private: + static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING; + static constexpr uint32_t LOCK_TIMEOUT = 20; + MutexIF* stackLock; + static constexpr char LOCK_CTX[] = "Stack5VHandler"; PowerSwitchIF& switcher; bool switchIsOn = false; bool targetState = false; diff --git a/mission/system/objects/SusAssembly.cpp b/mission/system/objects/SusAssembly.cpp index 62a47616..9008e7e0 100644 --- a/mission/system/objects/SusAssembly.cpp +++ b/mission/system/objects/SusAssembly.cpp @@ -24,6 +24,12 @@ ReturnValue_t SusAssembly::commandChildren(Mode_t mode, Submode_t submode) { modeTable[idx].setMode(MODE_OFF); modeTable[idx].setSubmode(SUBMODE_NONE); } + if (recoveryState == RecoveryState::RECOVERY_IDLE) { + result = checkAndHandleHealthStates(mode, submode); + if (result == NEED_TO_CHANGE_HEALTH) { + return returnvalue::OK; + } + } if (recoveryState != RecoveryState::RECOVERY_STARTED) { if (mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_ON) { result = handleNormalOrOnModeCmd(mode, submode); @@ -148,3 +154,23 @@ void SusAssembly::refreshHelperModes() { helper.susModes[idx] = childrenMap[helper.susIds[idx]].mode; } } + +ReturnValue_t SusAssembly::checkAndHandleHealthStates(Mode_t deviceMode, Submode_t deviceSubmode) { + using namespace returnvalue; + ReturnValue_t status = returnvalue::OK; + auto overwriteHealthForOneDev = [&](object_id_t dev) { + HealthState health = healthHelper.healthTable->getHealth(dev); + if (health == FAULTY or health == PERMANENT_FAULTY) { + overwriteDeviceHealth(dev, health); + status = NEED_TO_CHANGE_HEALTH; + } else if (health == EXTERNAL_CONTROL) { + modeHelper.setForced(true); + } + }; + if (deviceSubmode == duallane::DUAL_MODE) { + for (uint8_t idx = 0; idx < 12; idx++) { + overwriteHealthForOneDev(helper.susIds[idx]); + } + } + return status; +} diff --git a/mission/system/objects/SusAssembly.h b/mission/system/objects/SusAssembly.h index e95803df..e993bee4 100644 --- a/mission/system/objects/SusAssembly.h +++ b/mission/system/objects/SusAssembly.h @@ -66,6 +66,7 @@ class SusAssembly : public DualLaneAssemblyBase { void powerStateMachine(Mode_t mode, Submode_t submode); ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode); void refreshHelperModes(); + ReturnValue_t checkAndHandleHealthStates(Mode_t deviceMode, Submode_t deviceSubmode); }; #endif /* MISSION_SYSTEM_SUSASSEMBLY_H_ */ diff --git a/mission/system/objects/SyrlinksAssembly.cpp b/mission/system/objects/SyrlinksAssembly.cpp new file mode 100644 index 00000000..b5e50924 --- /dev/null +++ b/mission/system/objects/SyrlinksAssembly.cpp @@ -0,0 +1,57 @@ +#include "SyrlinksAssembly.h" + +#include + +using namespace returnvalue; + +SyrlinksAssembly::SyrlinksAssembly(object_id_t objectId) : AssemblyBase(objectId) { + ModeListEntry entry; + entry.setObject(objects::SYRLINKS_HANDLER); + entry.setMode(MODE_OFF); + entry.setSubmode(SUBMODE_NONE); + commandTable.insert(entry); +} + +ReturnValue_t SyrlinksAssembly::commandChildren(Mode_t mode, Submode_t submode) { + commandTable[0].setMode(mode); + commandTable[0].setSubmode(submode); + HybridIterator iter(commandTable.begin(), commandTable.end()); + if (recoveryState == RECOVERY_IDLE) { + ReturnValue_t result = checkAndHandleHealthState(mode, submode); + if (result == NEED_TO_CHANGE_HEALTH) { + return OK; + } + } + executeTable(iter); + return returnvalue::OK; +} + +ReturnValue_t SyrlinksAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) { + if (childrenMap[objects::SYRLINKS_HANDLER].mode != wantedMode) { + return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE; + } + return returnvalue::OK; +} + +ReturnValue_t SyrlinksAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) { + if (mode == MODE_ON or mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_OFF) { + return returnvalue::OK; + } + return returnvalue::FAILED; +} + +ReturnValue_t SyrlinksAssembly::checkAndHandleHealthState(Mode_t deviceMode, + Submode_t deviceSubmode) { + HealthState health = healthHelper.healthTable->getHealth(objects::SYRLINKS_HANDLER); + if (health == FAULTY or health == PERMANENT_FAULTY) { + overwriteDeviceHealth(objects::SYRLINKS_HANDLER, health); + return NEED_TO_CHANGE_HEALTH; + } else if (health == EXTERNAL_CONTROL) { + modeHelper.setForced(true); + } + return OK; +} + +void SyrlinksAssembly::handleChildrenLostMode(ReturnValue_t result) { + startTransition(mode, submode); +} diff --git a/mission/system/objects/SyrlinksAssembly.h b/mission/system/objects/SyrlinksAssembly.h new file mode 100644 index 00000000..314474d3 --- /dev/null +++ b/mission/system/objects/SyrlinksAssembly.h @@ -0,0 +1,20 @@ +#ifndef MISSION_SYSTEM_OBJECTS_SYRLINKSASSEMBLY_H_ +#define MISSION_SYSTEM_OBJECTS_SYRLINKSASSEMBLY_H_ +#include + +class SyrlinksAssembly : public AssemblyBase { + public: + SyrlinksAssembly(object_id_t objectId); + + private: + FixedArrayList commandTable; + + 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 handleChildrenLostMode(ReturnValue_t result) override; + + ReturnValue_t checkAndHandleHealthState(Mode_t deviceMode, Submode_t deviceSubmode); +}; + +#endif /* MISSION_SYSTEM_OBJECTS_SYRLINKSASSEMBLY_H_ */ diff --git a/mission/system/tree/acsModeTree.cpp b/mission/system/tree/acsModeTree.cpp index 62fb76ed..b191c1e1 100644 --- a/mission/system/tree/acsModeTree.cpp +++ b/mission/system/tree/acsModeTree.cpp @@ -110,7 +110,7 @@ Subsystem& satsystem::acs::init() { iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TRANS_0.second); iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second); - iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second); + iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second); iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TRANS_0.second); check(ACS_SUBSYSTEM.addTable( TableEntry(ACS_TABLE_PTG_TRANS_0.first, &ACS_TABLE_PTG_TRANS_0.second)), @@ -165,7 +165,7 @@ void buildOffSequence(Subsystem& ss, ModeListEntry& eh) { iht(objects::IMTQ_HANDLER, OFF, 0, ACS_TABLE_OFF_TRANS_1.second); iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_OFF_TRANS_1.second); iht(objects::ACS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second); - iht(objects::RW_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second); + iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_OFF_TRANS_1.second); check(ss.addTable(TableEntry(ACS_TABLE_OFF_TRANS_1.first, &ACS_TABLE_OFF_TRANS_1.second)), ctxc); // Build OFF sequence @@ -207,7 +207,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) { iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_SAFE_TRANS_0.second); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TRANS_0.second); iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second); - iht(objects::RW_ASS, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second); + iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second); check(ss.addTable(&ACS_TABLE_SAFE_TRANS_0.second, ACS_TABLE_SAFE_TRANS_0.first, false, true), ctxc); @@ -262,7 +262,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) { iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second); iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second); iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second); - iht(objects::RW_ASS, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second); + iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second); check(ss.addTable(&ACS_TABLE_DETUMBLE_TRANS_0.second, ACS_TABLE_DETUMBLE_TRANS_0.first, false, true), ctxc); @@ -305,7 +305,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) { // Build IDLE target iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_IDLE, ACS_TABLE_IDLE_TGT.second); iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_TGT.second); - iht(objects::RW_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second); + iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second); iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second); ss.addTable(&ACS_TABLE_IDLE_TGT.second, ACS_TABLE_IDLE_TGT.first, false, true); @@ -316,7 +316,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) { iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_TRANS_0.second); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second); iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second); - iht(objects::RW_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second); + iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second); iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_IDLE_TRANS_0.second); ss.addTable(&ACS_TABLE_IDLE_TRANS_0.second, ACS_TABLE_IDLE_TRANS_0.first, false, true); @@ -358,7 +358,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) { iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second); iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second); - iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second); + iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second); iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second); check(ss.addTable(&ACS_TABLE_PTG_TARGET_TGT.second, ACS_TABLE_PTG_TARGET_TGT.first, false, true), ctxc); @@ -407,7 +407,7 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) { iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second); iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second); - iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second); + iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second); iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second); check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_NADIR_TGT.first, &ACS_TABLE_PTG_TARGET_NADIR_TGT.second)), @@ -458,7 +458,7 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) { iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second); iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second); - iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second); + iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second); iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second); check(ss.addTable( TableEntry(ACS_TABLE_PTG_TARGET_GS_TGT.first, &ACS_TABLE_PTG_TARGET_GS_TGT.second)), @@ -508,7 +508,7 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) { iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second); iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second); - iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second); + iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second); iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second); check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_INERTIAL_TGT.first, &ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second)), diff --git a/mission/system/tree/comModeTree.cpp b/mission/system/tree/comModeTree.cpp index 9dc85a78..dd3aa7a1 100644 --- a/mission/system/tree/comModeTree.cpp +++ b/mission/system/tree/comModeTree.cpp @@ -105,11 +105,11 @@ void buildRxOnlySequence(Subsystem& ss, ModeListEntry& eh) { // Build RX Only table. We could track the state of the CCSDS IP core handler // as well but I do not think this is necessary because enabling that should // not interfere with the Syrlinks Handler. - iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_ONLY, COM_TABLE_RX_ONLY_TGT.second); + iht(objects::SYRLINKS_ASSY, NML, ::com::Submode::RX_ONLY, COM_TABLE_RX_ONLY_TGT.second); check(ss.addTable(TableEntry(COM_TABLE_RX_ONLY_TGT.first, &COM_TABLE_RX_ONLY_TGT.second)), ctxc); // Build RX Only transition 0 - iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_ONLY, COM_TABLE_RX_ONLY_TRANS_0.second); + iht(objects::SYRLINKS_ASSY, NML, ::com::Submode::RX_ONLY, COM_TABLE_RX_ONLY_TRANS_0.second); check(ss.addTable(TableEntry(COM_TABLE_RX_ONLY_TRANS_0.first, &COM_TABLE_RX_ONLY_TRANS_0.second)), ctxc); @@ -147,7 +147,7 @@ void buildTxAndRxLowRateSequence(Subsystem& ss, ModeListEntry& eh) { }; // Build RX and TX low datarate table. - iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_LOW_DATARATE, + iht(objects::SYRLINKS_ASSY, NML, ::com::Submode::RX_AND_TX_LOW_DATARATE, COM_TABLE_RX_AND_TX_LOW_RATE_TGT.second); iht(objects::CCSDS_HANDLER, ON, static_cast(::com::CcsdsSubmode::DATARATE_LOW), COM_TABLE_RX_AND_TX_LOW_RATE_TGT.second); @@ -163,7 +163,7 @@ void buildTxAndRxLowRateSequence(Subsystem& ss, ModeListEntry& eh) { ctxc); // Build TX and RX low transition 1 - iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_LOW_DATARATE, + iht(objects::SYRLINKS_ASSY, NML, ::com::Submode::RX_AND_TX_LOW_DATARATE, COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1.second); check(ss.addTable(TableEntry(COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1.first, &COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1.second)), @@ -199,7 +199,7 @@ void buildTxAndRxHighRateSequence(Subsystem& ss, ModeListEntry& eh) { }; // Build RX and TX high datarate table. - iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_HIGH_DATARATE, + iht(objects::SYRLINKS_ASSY, NML, ::com::Submode::RX_AND_TX_HIGH_DATARATE, COM_TABLE_RX_AND_TX_HIGH_RATE_TGT.second); iht(objects::CCSDS_HANDLER, ON, static_cast(::com::CcsdsSubmode::DATARATE_HIGH), COM_TABLE_RX_AND_TX_HIGH_RATE_TGT.second); @@ -215,7 +215,7 @@ void buildTxAndRxHighRateSequence(Subsystem& ss, ModeListEntry& eh) { ctxc); // Build TX and RX high transition 1 - iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_HIGH_DATARATE, + iht(objects::SYRLINKS_ASSY, NML, ::com::Submode::RX_AND_TX_HIGH_DATARATE, COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_1.second); check(ss.addTable(TableEntry(COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_1.first, &COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_1.second)), @@ -253,7 +253,7 @@ void buildTxAndRxDefaultRateSequence(Subsystem& ss, ModeListEntry& eh) { }; // Build RX and TX default datarate table. - iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_DEFAULT_DATARATE, + iht(objects::SYRLINKS_ASSY, NML, ::com::Submode::RX_AND_TX_DEFAULT_DATARATE, COM_TABLE_RX_AND_TX_DEFAULT_RATE_TGT.second); iht(objects::CCSDS_HANDLER, ON, static_cast(::com::CcsdsSubmode::DATARATE_DEFAULT), COM_TABLE_RX_AND_TX_DEFAULT_RATE_TGT.second); @@ -269,7 +269,7 @@ void buildTxAndRxDefaultRateSequence(Subsystem& ss, ModeListEntry& eh) { ctxc); // Build TX and RX default transition 1 - iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_DEFAULT_DATARATE, + iht(objects::SYRLINKS_ASSY, NML, ::com::Submode::RX_AND_TX_DEFAULT_DATARATE, COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_1.second); check(ss.addTable(TableEntry(COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_1.first, &COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_1.second)), diff --git a/mission/tmtc/TmFunnelBase.cpp b/mission/tmtc/TmFunnelBase.cpp index 6f788fc7..78a13fab 100644 --- a/mission/tmtc/TmFunnelBase.cpp +++ b/mission/tmtc/TmFunnelBase.cpp @@ -5,7 +5,7 @@ #include "fsfw/ipc/QueueFactory.h" TmFunnelBase::TmFunnelBase(FunnelCfg cfg) - : SystemObject(cfg.objectId), tmStore(cfg.tmStore), ipcStore(cfg.ipcStore) { + : SystemObject(cfg.objectId), name(cfg.name), tmStore(cfg.tmStore), ipcStore(cfg.ipcStore) { tmQueue = QueueFactory::instance()->createMessageQueue(cfg.tmMsgDepth); } @@ -37,8 +37,7 @@ ReturnValue_t TmFunnelBase::sendPacketToDestinations(store_address_t origStoreId message.setStorageId(storeId); } else { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "PusTmFunnel::handlePacket: Store too full to create data copy" - << std::endl; + sif::error << name << "::handlePacket: Store too full to create data copy" << std::endl; #endif } } else { @@ -48,7 +47,8 @@ ReturnValue_t TmFunnelBase::sendPacketToDestinations(store_address_t origStoreId result = tmQueue->sendMessage(dest.queueId, &message); if (result != returnvalue::OK) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "PusTmFunnel::handlePacket: Error sending TM to downlink handler" << std::endl; + sif::error << name << "::handlePacket: Error sending TM to downlink handler " << dest.name + << std::endl; #endif tmStore.deleteData(message.getStorageId()); } diff --git a/mission/tmtc/TmFunnelBase.h b/mission/tmtc/TmFunnelBase.h index af65771f..ef3c6c6a 100644 --- a/mission/tmtc/TmFunnelBase.h +++ b/mission/tmtc/TmFunnelBase.h @@ -12,10 +12,15 @@ class TmFunnelBase : public AcceptsTelemetryIF, public SystemObject { public: struct FunnelCfg { - FunnelCfg(object_id_t objId, StorageManagerIF& tmStore, StorageManagerIF& ipcStore, - uint32_t tmMsgDepth) - : objectId(objId), tmStore(tmStore), ipcStore(ipcStore), tmMsgDepth(tmMsgDepth) {} + FunnelCfg(object_id_t objId, const char* name, StorageManagerIF& tmStore, + StorageManagerIF& ipcStore, uint32_t tmMsgDepth) + : objectId(objId), + name(name), + tmStore(tmStore), + ipcStore(ipcStore), + tmMsgDepth(tmMsgDepth) {} object_id_t objectId; + const char* name; StorageManagerIF& tmStore; StorageManagerIF& ipcStore; uint32_t tmMsgDepth; @@ -30,6 +35,7 @@ class TmFunnelBase : public AcceptsTelemetryIF, public SystemObject { ~TmFunnelBase() override; protected: + const char* name; StorageManagerIF& tmStore; StorageManagerIF& ipcStore; @@ -43,7 +49,6 @@ class TmFunnelBase : public AcceptsTelemetryIF, public SystemObject { }; std::vector destinations; - MessageQueueIF* tmQueue = nullptr; }; diff --git a/tmtc b/tmtc index 2dd850f0..94ae2d16 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit 2dd850f0725d37256c17576bf7d3ae4423184044 +Subproject commit 94ae2d16e21ade8f89723b2e62356967a67b171d