Merge pull request 'Custom FDIR for tmp devices' (#598) from tmp_dev_custom_fdir into develop

Reviewed-on: #598
Reviewed-by: Marius Eggert <eggertm@irs.uni-stuttgart.de>

CHANGELOG.md

@@ -37,9 +37,8 @@ will consitute of a breaking change warranting a new major release:
 ## Changed
 
 - STR `wire` library updated to v10.3. Submodule renamed to `sagittactl`.
-
-## Changed
-
+- Custom FDIR for TMP1075 sensors. The device handlers reject `NEEDS_RECOVERY` health commands
+  anyway, so it does not really make sense to use the default FDIR.
 - Reject `NEEDS_RECOVERY` health commands for the heater health devices.
 
 ## Added

bsp_q7s/core/ObjectFactory.cpp

@@ -27,8 +27,9 @@
 #include <mission/system/acs/ImtqAssembly.h>
 #include <mission/system/acs/StrAssembly.h>
 #include <mission/system/acs/StrFdir.h>
+#include <mission/system/com/SyrlinksAssembly.h>
 #include <mission/system/objects/CamSwitcher.h>
-#include <mission/system/objects/SyrlinksAssembly.h>
+#include <mission/system/tcs/TmpDevFdir.h>
 
 #include "OBSWConfig.h"
 #include "bsp_q7s/boardtest/Q7STestTask.h"
@@ -62,17 +63,15 @@
 #include "mission/system/acs/acsModeTree.h"
 #include "mission/system/com/SyrlinksFdir.h"
 #include "mission/system/com/comModeTree.h"
-#include "mission/system/fdir/RtdFdir.h"
-#include "mission/system/objects/TcsBoardAssembly.h"
 #include "mission/system/power/GomspacePowerFdir.h"
+#include "mission/system/tcs/RtdFdir.h"
+#include "mission/system/tcs/TcsBoardAssembly.h"
+#include "mission/system/tcs/tcsModeTree.h"
 #include "mission/system/tree/payloadModeTree.h"
-#include "mission/system/tree/tcsModeTree.h"
 #include "mission/tmtc/tmFilters.h"
 #include "mission/utility/GlobalConfigHandler.h"
 #include "tmtc/pusIds.h"
 
-using gpio::Direction;
-using gpio::Levels;
 #if OBSW_TEST_LIBGPIOD == 1
 #include "linux/boardtest/LibgpiodTest.h"
 #endif
@@ -123,6 +122,9 @@ using gpio::Levels;
 #include "mission/system/acs/AcsBoardAssembly.h"
 #include "mission/tmtc/TmFunnelHandler.h"
 
+using gpio::Direction;
+using gpio::Levels;
+
 ResetArgs RESET_ARGS_GNSS;
 std::atomic_bool LINK_STATE = CcsdsIpCoreHandler::LINK_DOWN;
 std::atomic_bool PTME_LOCKED = false;
@@ -164,6 +166,7 @@ void ObjectFactory::createTmpComponents() {
         new I2cCookie(tmpDevIds[idx].second, TMP1075::MAX_REPLY_LENGTH, q7s::I2C_PS_EIVE));
     auto* tmpDevHandler =
         new Tmp1075Handler(tmpDevIds[idx].first, objects::I2C_COM_IF, tmpDevCookies[idx]);
+    tmpDevHandler->setCustomFdir(new TmpDevFdir(tmpDevIds[idx].first));
     tmpDevHandler->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
     // TODO: Remove this after TCS subsystem was added
     // These devices are connected to the 3V3 stack and should be powered permanently. Therefore,

dummies/helperFactory.cpp

@@ -30,7 +30,7 @@
 #include <mission/system/acs/ImtqAssembly.h>
 #include <mission/system/acs/StrAssembly.h>
 #include <mission/system/objects/CamSwitcher.h>
-#include <mission/system/objects/TcsBoardAssembly.h>
+#include <mission/system/tcs/TcsBoardAssembly.h>
 
 #include "TemperatureSensorInserter.h"
 #include "dummies/Max31865Dummy.h"
@@ -38,8 +38,8 @@
 #include "mission/genericFactory.h"
 #include "mission/system/acs/acsModeTree.h"
 #include "mission/system/com/comModeTree.h"
+#include "mission/system/tcs/tcsModeTree.h"
 #include "mission/system/tree/payloadModeTree.h"
-#include "mission/system/tree/tcsModeTree.h"
 #include "mission/tcs/defs.h"
 
 void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpioIF) {

linux/ObjectFactory.cpp

@@ -17,8 +17,8 @@
 #include <mission/payload/ScexDeviceHandler.h>
 #include <mission/system/acs/SusAssembly.h>
 #include <mission/system/acs/SusFdir.h>
-#include <mission/system/fdir/RtdFdir.h>
-#include <mission/system/objects/TcsBoardAssembly.h>
+#include <mission/system/tcs/RtdFdir.h>
+#include <mission/system/tcs/TcsBoardAssembly.h>
 #include <mission/tcs/Max31865EiveHandler.h>
 
 #include "OBSWConfig.h"
@@ -27,8 +27,8 @@
 #include "devices/gpioIds.h"
 #include "eive/definitions.h"
 #include "mission/system/acs/acsModeTree.h"
+#include "mission/system/tcs/tcsModeTree.h"
 #include "mission/system/tree/payloadModeTree.h"
-#include "mission/system/tree/tcsModeTree.h"
 #include "mission/tcs/defs.h"
 
 void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF,

mission/genericFactory.cpp

@@ -30,7 +30,7 @@
 #include <mission/system/acs/AcsBoardAssembly.h>
 #include <mission/system/acs/RwAssembly.h>
 #include <mission/system/acs/SusAssembly.h>
-#include <mission/system/objects/TcsBoardAssembly.h>
+#include <mission/system/tcs/TcsBoardAssembly.h>
 #include <mission/tcs/HeaterHandler.h>
 #include <mission/tmtc/CfdpTmFunnel.h>
 #include <mission/tmtc/PersistentTmStore.h>
@@ -47,7 +47,7 @@
 #include "mission/cfdp/Config.h"
 #include "mission/system/acs/RwAssembly.h"
 #include "mission/system/acs/acsModeTree.h"
-#include "mission/system/tree/tcsModeTree.h"
+#include "mission/system/tcs/tcsModeTree.h"
 #include "mission/tcs/defs.h"
 #include "mission/tmtc/tmFilters.h"
 #include "objects/systemObjectList.h"

mission/system/CMakeLists.txt

@@ -1,8 +1,8 @@
 add_subdirectory(objects)
 add_subdirectory(tree)
 add_subdirectory(acs)
+add_subdirectory(tcs)
 add_subdirectory(com)
-add_subdirectory(fdir)
 add_subdirectory(power)
 
 target_sources(

mission/system/fdir/CMakeLists.txt

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

mission/system/objects/CMakeLists.txt

@@ -1,4 +1,3 @@
 target_sources(
-  ${LIB_EIVE_MISSION}
-  PRIVATE CamSwitcher.cpp TcsSubsystem.cpp PayloadSubsystem.cpp
-          Stack5VHandler.cpp PowerStateMachineBase.cpp TcsBoardAssembly.cpp)
+  ${LIB_EIVE_MISSION} PRIVATE CamSwitcher.cpp PayloadSubsystem.cpp
+                              Stack5VHandler.cpp PowerStateMachineBase.cpp)

mission/system/objects/SyrlinksAssembly.cpp

@@ -1,57 +0,0 @@
-#include "SyrlinksAssembly.h"
-
-#include <eive/objects.h>
-
-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<ModeListEntry> 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);
-}

mission/system/objects/SyrlinksAssembly.h

@@ -1,20 +0,0 @@
-#ifndef MISSION_SYSTEM_OBJECTS_SYRLINKSASSEMBLY_H_
-#define MISSION_SYSTEM_OBJECTS_SYRLINKSASSEMBLY_H_
-#include <fsfw/devicehandlers/AssemblyBase.h>
-
-class SyrlinksAssembly : public AssemblyBase {
- public:
-  SyrlinksAssembly(object_id_t objectId);
-
- private:
-  FixedArrayList<ModeListEntry, 1> 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_ */

mission/system/systemTree.cpp

@@ -11,8 +11,8 @@
 #include "eive/objects.h"
 #include "mission/com/defs.h"
 #include "mission/system/acs/acsModeTree.h"
+#include "mission/system/tcs/tcsModeTree.h"
 #include "mission/system/tree/payloadModeTree.h"
-#include "mission/system/tree/tcsModeTree.h"
 #include "treeUtil.h"
 
 namespace {

mission/system/tcs/CMakeLists.txt

@@ -0,0 +1,3 @@
+target_sources(
+  ${LIB_EIVE_MISSION} PRIVATE tcsModeTree.cpp TcsSubsystem.cpp
+                              TcsBoardAssembly.cpp RtdFdir.cpp TmpDevFdir.cpp)

mission/system/tcs/TmpDevFdir.cpp

@@ -0,0 +1,91 @@
+#include "TmpDevFdir.h"
+
+#include <fsfw/devicehandlers/DeviceHandlerIF.h>
+#include <fsfw/modes/HasModesIF.h>
+#include <fsfw/power/Fuse.h>
+#include <fsfw/thermal/ThermalComponentIF.h>
+
+TmpDevFdir::TmpDevFdir(object_id_t sensorId)
+    : DeviceHandlerFailureIsolation(sensorId, objects::NO_OBJECT) {}
+
+ReturnValue_t TmpDevFdir::eventReceived(EventMessage* event) {
+  if (isFdirInActionOrAreWeFaulty(event)) {
+    return returnvalue::OK;
+  }
+  ReturnValue_t result = returnvalue::FAILED;
+  switch (event->getEvent()) {
+    case HasModesIF::MODE_TRANSITION_FAILED:
+    case HasModesIF::OBJECT_IN_INVALID_MODE:
+    case DeviceHandlerIF::DEVICE_WANTS_HARD_REBOOT:
+      // We'll try a recovery as long as defined in MAX_REBOOT.
+      // Might cause some AssemblyBase cycles, so keep number low.
+      // Ignored for TMP device, no way to power cycle it without going to OFF/BOOT mode.
+      // handleRecovery(event->getEvent());
+      break;
+    case DeviceHandlerIF::DEVICE_INTERPRETING_REPLY_FAILED:
+    case DeviceHandlerIF::DEVICE_READING_REPLY_FAILED:
+    case DeviceHandlerIF::DEVICE_UNREQUESTED_REPLY:
+    case DeviceHandlerIF::DEVICE_UNKNOWN_REPLY:  // Some DH's generate generic reply-ids.
+    case DeviceHandlerIF::DEVICE_BUILDING_COMMAND_FAILED:
+      // These faults all mean that there were stupid replies from a device.
+      // With now way to do a recovery, set the device to faulty immediately.
+      setFaulty(event->getEvent());
+      break;
+    case DeviceHandlerIF::DEVICE_SENDING_COMMAND_FAILED:
+    case DeviceHandlerIF::DEVICE_REQUESTING_REPLY_FAILED:
+      // The two above should never be confirmed.
+    case DeviceHandlerIF::DEVICE_MISSED_REPLY:
+      result = sendConfirmationRequest(event);
+      if (result == returnvalue::OK) {
+        break;
+      }
+      // else
+      setFaulty(event->getEvent());
+      break;
+    case StorageManagerIF::GET_DATA_FAILED:
+    case StorageManagerIF::STORE_DATA_FAILED:
+      // Rather strange bugs, occur in RAW mode only. Ignore.
+      break;
+    case DeviceHandlerIF::INVALID_DEVICE_COMMAND:
+      // Ignore, is bad configuration. We can't do anything in flight.
+      break;
+    case HasHealthIF::HEALTH_INFO:
+    case HasModesIF::MODE_INFO:
+    case HasModesIF::CHANGING_MODE:
+      // Do nothing, but mark as handled.
+      break;
+      //****Thermal*****
+    case ThermalComponentIF::COMPONENT_TEMP_LOW:
+    case ThermalComponentIF::COMPONENT_TEMP_HIGH:
+    case ThermalComponentIF::COMPONENT_TEMP_OOL_LOW:
+    case ThermalComponentIF::COMPONENT_TEMP_OOL_HIGH:
+      // Well, the device is not really faulty, but it is required to stay off as long as possible.
+      setFaulty(event->getEvent());
+      break;
+    case ThermalComponentIF::TEMP_NOT_IN_OP_RANGE:
+      // Ignore, is information only.
+      break;
+      //*******Default monitoring variables. Are currently not used.*****
+      //	case DeviceHandlerIF::MONITORING_LIMIT_EXCEEDED:
+      //		setFaulty(event->getEvent());
+      //		break;
+      //	case DeviceHandlerIF::MONITORING_AMBIGUOUS:
+      //		break;
+    default:
+      // We don't know the event, someone else should handle it.
+      return returnvalue::FAILED;
+  }
+  return returnvalue::OK;
+}
+
+void TmpDevFdir::eventConfirmed(EventMessage* event) {
+  switch (event->getEvent()) {
+    case DeviceHandlerIF::DEVICE_SENDING_COMMAND_FAILED:
+    case DeviceHandlerIF::DEVICE_REQUESTING_REPLY_FAILED:
+    case DeviceHandlerIF::DEVICE_MISSED_REPLY:
+      setFaulty(event->getEvent());
+      break;
+    default:
+      break;
+  }
+}

mission/system/tcs/TmpDevFdir.h

@@ -0,0 +1,20 @@
+#ifndef MISSION_SYSTEM_TCS_TMPDEVFDIR_H_
+#define MISSION_SYSTEM_TCS_TMPDEVFDIR_H_
+#include <fsfw/devicehandlers/DeviceHandlerFailureIsolation.h>
+
+/**
+ * Special FDIR because we can not simply power cycle the TMP devices which are powered by the
+ * 3.3 V stack and there is also no way to logically reset or re-configure the TMP devices in
+ * any way. In general, instead of doing a recovery, the TMP devices should be set faulty
+ * immediately for the EIVE project.
+ */
+class TmpDevFdir : public DeviceHandlerFailureIsolation {
+ public:
+  TmpDevFdir(object_id_t sensorId);
+
+ private:
+  ReturnValue_t eventReceived(EventMessage* event) override;
+  void eventConfirmed(EventMessage* event) override;
+};
+
+#endif /* MISSION_SYSTEM_TCS_TMPDEVFDIR_H_ */

mission/system/tcs/tcsModeTree.h

@@ -1,7 +1,7 @@
 #ifndef MISSION_SYSTEM_TREE_TCSMODETREE_H_
 #define MISSION_SYSTEM_TREE_TCSMODETREE_H_
 
-#include <mission/system/objects/TcsSubsystem.h>
+#include <mission/system/tcs/TcsSubsystem.h>
 
 namespace satsystem {
 namespace tcs {

mission/system/tree/CMakeLists.txt

@@ -1 +1 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE payloadModeTree.cpp tcsModeTree.cpp)
+target_sources(${LIB_EIVE_MISSION} PRIVATE payloadModeTree.cpp)