we need a dummy heater handler

bsp_hosted/ObjectFactory.cpp

@@ -45,8 +45,8 @@
 #include <dummies/StarTrackerDummy.h>
 #include <dummies/SusDummy.h>
 #include <dummies/SyrlinksDummy.h>
-#include <dummies/TemperatureSensorsDummy.h>
 
+#include "../dummies/TemperatureSensorInserter.h"
 #include "dummies/helpers.h"
 #include "mission/utility/GlobalConfigHandler.h"
 

bsp_hosted/fsfwconfig/objects/systemObjectList.h

@@ -24,7 +24,8 @@ enum sourceObjects : uint32_t {
   /* 0x49 ('I') for Communication Interfaces **/
   ARDUINO_COM_IF = 0x49000001,
 
-  DUMMY_COM_IF = 0x49000002
+  DUMMY_COM_IF = 0x49000002,
+  THERMAL_TEMP_INSERTER = 0x49000003,
 };
 }
 

dummies/CMakeLists.txt

@@ -1,6 +1,6 @@
 target_sources(
   ${LIB_DUMMIES}
-  PUBLIC TemperatureSensorsDummy.cpp
+  PUBLIC TemperatureSensorInserter.cpp
          SusDummy.cpp
          BpxDummy.cpp
          ComIFDummy.cpp

dummies/TemperatureSensorInserter.cpp

@@ -0,0 +1,37 @@
+#include "TemperatureSensorInserter.h"
+
+#include <objects/systemObjectList.h>
+
+#include <cmath>
+#include <cstdlib>
+
+TemperatureSensorInserter::TemperatureSensorInserter(object_id_t objectId)
+    : SystemObject(objects::THERMAL_CONTROLLER),
+      max31865PlocHeatspreaderSet(objects::RTD_0_IC3_PLOC_HEATSPREADER, MAX31865::MAX31865_SET_ID),
+      max31865PlocMissionboardSet(objects::RTD_1_IC4_PLOC_MISSIONBOARD, MAX31865::MAX31865_SET_ID) {
+}
+
+ReturnValue_t TemperatureSensorInserter::initialize() {
+  max31865PlocHeatspreaderSet.temperatureCelcius = 20.0;
+  max31865PlocMissionboardSet.temperatureCelcius = 20.0;
+  return returnvalue::OK;
+}
+
+ReturnValue_t TemperatureSensorInserter::performOperation(uint8_t opCode) {
+  iteration++;
+  value = sin(iteration / 80. * M_PI) * 10;
+
+  ReturnValue_t result = max31865PlocHeatspreaderSet.read();
+  if (result != returnvalue::OK) {
+    sif::warning << "Failed to read temperature from MAX31865 dataset" << std::endl;
+  }
+  max31865PlocHeatspreaderSet.rtdValue = value - 5;
+  max31865PlocHeatspreaderSet.temperatureCelcius = value;
+  if ((iteration % 100) < 20) {
+    max31865PlocHeatspreaderSet.setValidity(false, true);
+  } else {
+    max31865PlocHeatspreaderSet.setValidity(true, true);
+  }
+  max31865PlocHeatspreaderSet.commit();
+  return returnvalue::OK;
+}

dummies/TemperatureSensorInserter.h

@@ -0,0 +1,22 @@
+#pragma once
+
+#include <fsfw/controller/ExtendedControllerBase.h>
+#include <mission/devices/devicedefinitions/Max31865Definitions.h>
+
+class TemperatureSensorInserter : public ExecutableObjectIF, public SystemObject {
+ public:
+  TemperatureSensorInserter(object_id_t objectId);
+
+  ReturnValue_t initialize() override;
+
+ protected:
+  ReturnValue_t performOperation(uint8_t opCode) override;
+
+ private:
+  int iteration = 0;
+  float value = 0;
+  MAX31865::Max31865Set max31865PlocHeatspreaderSet;
+  MAX31865::Max31865Set max31865PlocMissionboardSet;
+
+  void noise();
+};

dummies/TemperatureSensorsDummy.cpp

@@ -1,106 +0,0 @@
-#include "TemperatureSensorsDummy.h"
-
-#include <objects/systemObjectList.h>
-
-#include <cmath>
-#include <cstdlib>
-
-TemperatureSensorsDummy::TemperatureSensorsDummy()
-    : ExtendedControllerBase(objects::RTD_0_IC3_PLOC_HEATSPREADER),
-      max31865PlocHeatspreaderSet(objects::RTD_0_IC3_PLOC_HEATSPREADER, MAX31865::MAX31865_SET_ID),
-      max31865PlocMissionboardSet(objects::RTD_1_IC4_PLOC_MISSIONBOARD, MAX31865::MAX31865_SET_ID) {
-  ObjectManager::instance()->insert(objects::RTD_1_IC4_PLOC_MISSIONBOARD, this);
-  ObjectManager::instance()->insert(objects::RTD_2_IC5_4K_CAMERA, this);
-  ObjectManager::instance()->insert(objects::RTD_3_IC6_DAC_HEATSPREADER, this);
-  ObjectManager::instance()->insert(objects::RTD_4_IC7_STARTRACKER, this);
-  ObjectManager::instance()->insert(objects::RTD_5_IC8_RW1_MX_MY, this);
-  ObjectManager::instance()->insert(objects::RTD_6_IC9_DRO, this);
-  ObjectManager::instance()->insert(objects::RTD_7_IC10_SCEX, this);
-  ObjectManager::instance()->insert(objects::RTD_8_IC11_X8, this);
-  ObjectManager::instance()->insert(objects::RTD_9_IC12_HPA, this);
-  ObjectManager::instance()->insert(objects::RTD_10_IC13_PL_TX, this);
-  ObjectManager::instance()->insert(objects::RTD_11_IC14_MPA, this);
-  ObjectManager::instance()->insert(objects::RTD_12_IC15_ACU, this);
-  ObjectManager::instance()->insert(objects::RTD_13_IC16_PLPCDU_HEATSPREADER, this);
-  ObjectManager::instance()->insert(objects::RTD_14_IC17_TCS_BOARD, this);
-  ObjectManager::instance()->insert(objects::RTD_15_IC18_IMTQ, this);
-  ObjectManager::instance()->insert(objects::TMP1075_HANDLER_TCS_0, this);
-  ObjectManager::instance()->insert(objects::TMP1075_HANDLER_TCS_1, this);
-
-  ObjectManager::instance()->insert(objects::TMP1075_HANDLER_PLPCDU_0, this);
-  ObjectManager::instance()->insert(objects::TMP1075_HANDLER_PLPCDU_1, this);
-  ObjectManager::instance()->insert(objects::TMP1075_HANDLER_IF_BOARD, this);
-}
-
-ReturnValue_t TemperatureSensorsDummy::initialize() {
-  static bool done = false;
-  if (not done) {
-    done = true;
-    ReturnValue_t result = ExtendedControllerBase::initialize();
-    if (result != returnvalue::OK) {
-      return result;
-    }
-  }
-
-  max31865PlocHeatspreaderSet.temperatureCelcius = 20.0;
-  max31865PlocMissionboardSet.temperatureCelcius = 20.0;
-  return returnvalue::OK;
-}
-
-ReturnValue_t TemperatureSensorsDummy::handleCommandMessage(CommandMessage* message) {
-  return returnvalue::FAILED;
-}
-
-void TemperatureSensorsDummy::performControlOperation() {
-  iteration++;
-  value = sin(iteration / 80. * M_PI) * 10;
-
-  ReturnValue_t result = max31865PlocHeatspreaderSet.read();
-  if (result != returnvalue::OK) {
-    sif::warning << "Failed to read temperature from MAX31865 dataset" << std::endl;
-  }
-  max31865PlocHeatspreaderSet.rtdValue = value - 5;
-  max31865PlocHeatspreaderSet.temperatureCelcius = value;
-  if ((iteration % 100) < 20) {
-    max31865PlocHeatspreaderSet.setValidity(false, true);
-  } else {
-    max31865PlocHeatspreaderSet.setValidity(true, true);
-  }
-  max31865PlocHeatspreaderSet.commit();
-}
-
-ReturnValue_t TemperatureSensorsDummy::initializeLocalDataPool(
-    localpool::DataPool& localDataPoolMap, LocalDataPoolManager& poolManager) {
-  localDataPoolMap.emplace(static_cast<lp_id_t>(MAX31865::PoolIds::RTD_VALUE),
-                           new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(static_cast<lp_id_t>(MAX31865::PoolIds::TEMPERATURE_C),
-                           new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(static_cast<lp_id_t>(MAX31865::PoolIds::LAST_FAULT_BYTE),
-                           new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(static_cast<lp_id_t>(MAX31865::PoolIds::FAULT_BYTE),
-                           new PoolEntry<uint8_t>({0}));
-
-  return returnvalue::OK;
-}
-
-LocalPoolDataSetBase* TemperatureSensorsDummy::getDataSetHandle(sid_t sid) {
-  sif::debug << "getHandle" << std::endl;
-  if (sid.objectId == objects::RTD_0_IC3_PLOC_HEATSPREADER) {
-    return &max31865PlocHeatspreaderSet;
-  } else if (sid.objectId == objects::RTD_1_IC4_PLOC_MISSIONBOARD) {
-    return &max31865PlocMissionboardSet;
-  } else {
-    return nullptr;
-  }
-}
-
-ReturnValue_t TemperatureSensorsDummy::checkModeCommand(Mode_t mode, Submode_t submode,
-                                                        uint32_t* msToReachTheMode) {
-  if (submode != SUBMODE_NONE) {
-    return INVALID_SUBMODE;
-  }
-  if ((mode != MODE_OFF) && (mode != MODE_ON) && (mode != MODE_NORMAL)) {
-    return INVALID_MODE;
-  }
-  return returnvalue::OK;
-}

dummies/TemperatureSensorsDummy.h

@@ -1,30 +0,0 @@
-#pragma once
-
-#include <fsfw/controller/ExtendedControllerBase.h>
-#include <mission/devices/devicedefinitions/Max31865Definitions.h>
-
-class TemperatureSensorsDummy : public ExtendedControllerBase {
- public:
-  TemperatureSensorsDummy();
-
-  ReturnValue_t initialize() override;
-
- protected:
-  virtual ReturnValue_t handleCommandMessage(CommandMessage* message) override;
-  virtual void performControlOperation() override;
-  virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
-                                                LocalDataPoolManager& poolManager) override;
-  virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
-
-  // Mode abstract functions
-  virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-                                         uint32_t* msToReachTheMode) override;
-
- private:
-  int iteration = 0;
-  float value = 0;
-  MAX31865::Max31865Set max31865PlocHeatspreaderSet;
-  MAX31865::Max31865Set max31865PlocMissionboardSet;
-
-  void noise();
-};

dummies/helpers.cpp

@@ -18,9 +18,10 @@
 #include <dummies/StarTrackerDummy.h>
 #include <dummies/SusDummy.h>
 #include <dummies/SyrlinksDummy.h>
-#include <dummies/TemperatureSensorsDummy.h>
 #include <mission/system/objects/CamSwitcher.h>
 
+#include "TemperatureSensorInserter.h"
+
 using namespace dummy;
 
 void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch) {
@@ -66,7 +67,7 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch) {
   }
 
   if (cfg.addTempSensorDummies) {
-    new TemperatureSensorsDummy();
+    new TemperatureSensorInserter(objects::THERMAL_TEMP_INSERTER);
   }
   new CamSwitcher(objects::CAM_SWITCHER, pwrSwitch, power::NO_SWITCH);
   new PlPcduDummy(objects::PLPCDU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);

mission/controller/ThermalController.cpp

@@ -16,7 +16,7 @@
 
 ThermalController::ThermalController(object_id_t objectId, HeaterHandler& heater)
     : ExtendedControllerBase(objectId),
-      heater(heater),
+      heaterHandler(heater),
       sensorTemperatures(this),
       susTemperatures(this),
       deviceTemperatures(this),

mission/controller/ThermalController.h

@@ -8,20 +8,25 @@
 #include <mission/devices/devicedefinitions/SusDefinitions.h>
 #include <mission/devices/devicedefinitions/Tmp1075Definitions.h>
 
+#include "../devices/HeaterHandler.h"
+
 /**
  * NOP Limit: Hard limit for device, usually from datasheet. Device damage is possible lif NOP limit
  * is exceeded.
- * OP Limit: Soft limit. Device should be switched off or TCS controller should take action if the limit
+ * OP Limit: Soft limit. Device should be switched off or TCS controller should take action if the
- * is exceeded to avoid reaching NOP limit
+ * limit is exceeded to avoid reaching NOP limit
  */
 struct TempLimits {
-  TempLimits(float nopLowerLimit, float opLowerLimit, float opUpperLimit, float nopUpperLimit) : opLowerLimit(opLowerLimit), opUpperLimit(opUpperLimit), nopLowerLimit(nopLowerLimit), nopUpperLimit(nopUpperLimit) {}
+  TempLimits(float nopLowerLimit, float opLowerLimit, float opUpperLimit, float nopUpperLimit)
+      : opLowerLimit(opLowerLimit),
+        opUpperLimit(opUpperLimit),
+        nopLowerLimit(nopLowerLimit),
+        nopUpperLimit(nopUpperLimit) {}
   float opLowerLimit;
   float opUpperLimit;
   float nopLowerLimit;
   float nopUpperLimit;
-  //TODO define limits
+  // TODO define limits
-
 };
 
 class ThermalController : public ExtendedControllerBase {
@@ -50,6 +55,8 @@ class ThermalController : public ExtendedControllerBase {
 
   InternalState internalState = InternalState::STARTUP;
 
+  HeaterHandler& heaterHandler;
+
   thermalControllerDefinitions::SensorTemperatures sensorTemperatures;
   thermalControllerDefinitions::SusTemperatures susTemperatures;
   thermalControllerDefinitions::DeviceTemperatures deviceTemperatures;
@@ -91,24 +98,23 @@ class ThermalController : public ExtendedControllerBase {
   SUS::SusDataset susSet10;
   SUS::SusDataset susSet11;
 
-  //TempLimits
+  // TempLimits
-  //TempLimits plocHeatspreaderLimits = TempLimits(-20.0, 70.0, -30.0, 80.0);
+  // TempLimits plocHeatspreaderLimits = TempLimits(-20.0, 70.0, -30.0, 80.0);
-  //TempLimits plocMissionBoardLimits = TempLimits(-20.0, 70.0, -30.0, 80.0);
+  // TempLimits plocMissionBoardLimits = TempLimits(-20.0, 70.0, -30.0, 80.0);
   TempLimits cameraLimits = TempLimits(-40.0, -30.0, 65.0, 85.0);
   TempLimits dacHeatspreaderLimits = TempLimits(-65.0, -40.0, 118.0, 150.0);
   TempLimits strLimits = TempLimits(-30.0, -20.0, 70.0, 80.0);
   TempLimits rw1Limits = TempLimits(-40.0, -40.0, 85.0, 85.0);
-  //TempLimits droLimits = TempLimits(-20.0, 70.0, -30.0, 80.0);
+  // TempLimits droLimits = TempLimits(-20.0, 70.0, -30.0, 80.0);
   TempLimits scexLimits = TempLimits(-60.0, -40.0, 85.0, 150.0);
-  //TempLimits x8Limits = TempLimits(-20.0, 70.0, -30.0, 80.0);
+  // TempLimits x8Limits = TempLimits(-20.0, 70.0, -30.0, 80.0);
-  //TempLimits hpaLimits = TempLimits(-20.0, 70.0, -30.0, 80.0);
+  // TempLimits hpaLimits = TempLimits(-20.0, 70.0, -30.0, 80.0);
-  //TempLimits txModuleLimits = TempLimits(-20.0, 70.0, -30.0, 80.0);
+  // TempLimits txModuleLimits = TempLimits(-20.0, 70.0, -30.0, 80.0);
-  //TempLimits mpaLimits = TempLimits(-20.0, 70.0, -30.0, 80.0);
+  // TempLimits mpaLimits = TempLimits(-20.0, 70.0, -30.0, 80.0);
-  TempLimits acuLimits = TempLimits(-55.0, -35.0, 85.0, 150.0); //TODO nopLimits
+  TempLimits acuLimits = TempLimits(-55.0, -35.0, 85.0, 150.0);                 // TODO nopLimits
-  TempLimits plpcduHeatspreaderLimits = TempLimits(-65.0, -40.0, 85.0, 125.0); //TODO check
+  TempLimits plpcduHeatspreaderLimits = TempLimits(-65.0, -40.0, 85.0, 125.0);  // TODO check
   TempLimits tcsBoardLimits = TempLimits(-60.0, -40.0, 85.0, 130.0);
-  TempLimits magnettorquerLimits = TempLimits(-40.0, -30.0, 70.0, 80.0); //TODO nopLimits
+  TempLimits magnettorquerLimits = TempLimits(-40.0, -30.0, 70.0, 80.0);  // TODO nopLimits
-
 
   // Initial delay to make sure all pool variables have been initialized their owners
   Countdown initialCountdown = Countdown(DELAY);

unittest/controller/testThermalController.cpp

@@ -1,5 +1,4 @@
 #include <dummies/SusDummy.h>
-#include <dummies/TemperatureSensorsDummy.h>
 #include <fsfw/ipc/QueueFactory.h>
 #include <fsfw/tasks/PeriodicTaskIF.h>
 #include <fsfw/tasks/TaskFactory.h>
@@ -7,12 +6,15 @@
 
 #include <catch2/catch_test_macros.hpp>
 
+#include "../../dummies/TemperatureSensorInserter.h"
 #include "../testEnvironment.h"
 
 TEST_CASE("Thermal Controller", "[ThermalController]") {
   const object_id_t THERMAL_CONTROLLER_ID = 0x123;
 
-  new TemperatureSensorsDummy();
+  new TemperatureSensorInserter(objects::THERMAL_TEMP_INSERTER);
+  // TODO: Create dummy heater handler
+  // new HeaterHandler()
   new SusDummy();
 
   // testEnvironment::initialize();