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commanding of HeaterHandler and GpioIF working

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This commit is contained in:
Jakob Meier
2021-02-01 11:17:20 +01:00
parent 560e538f62
commit fd1e4f3473
20 changed files with 474 additions and 264 deletions
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172
mission/devices/HeaterHandler.h
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@ -8,6 +8,11 @@
#include <fsfw/modes/HasModesIF.h>
#include <fsfw/power/PowerSwitchIF.h>
#include <fsfwconfig/devices/heaterSwitcherList.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/devicehandlers/CookieIF.h>
#include <fsfw/timemanager/Countdown.h>
#include <unordered_map>
#include <bsp_q7s/gpio/GpioIF.h>
/**
* @brief This class intends the control of heaters.
@ -15,35 +20,35 @@
* @author J. Meier
*/
class HeaterHandler: public ExecutableObjectIF,
public PowerSwitchIF,
public SystemObject,
public HasActionsIF,
public HasModesIF,
public HasReturnvaluesIF {
public PowerSwitchIF,
public SystemObject,
public HasActionsIF {
public:
/** Device command IDs */
static const DeviceCommandId_t SWITCH_HEATER;
static const DeviceCommandId_t SWITCH_HEATER = 0x0;
HeaterHandler(object_id_t setObjectId, object_id_t gpioDriverId, CookieIF * gpioCookie,
object_id_t mainLineSwitcherObjectId, uint8_t mainLineSwitch);
virtual ~HeaterHandler();
virtual ReturnValue_t performOperation(uint8_t operationCode = 0);
virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
void sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) override;
virtual void sendFuseOnCommand(uint8_t fuseNr) override;
virtual void sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) const override;
virtual void sendFuseOnCommand(uint8_t fuseNr) const override;
/**
* @brief This function will be called from the Heater object to check
* the current switch state.
*/
virtual ReturnValue_t getSwitchState( uint8_t switchNr ) override;
virtual ReturnValue_t getFuseState( uint8_t fuseNr ) override;
virtual uint32_t getSwitchDelayMs(void) override;
ReturnValue_t executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t* data, size_t size)
override;
virtual ReturnValue_t getSwitchState( uint8_t switchNr ) const override;
virtual ReturnValue_t getFuseState( uint8_t fuseNr ) const override;
virtual uint32_t getSwitchDelayMs(void) const override;
virtual MessageQueueId_t getCommandQueue() const override;
virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) override;
virtual ReturnValue_t initialize() override;
private:
@ -58,6 +63,79 @@ private:
static const Event GPIO_PULL_LOW_FAILED = MAKE_EVENT(1, severity::LOW);
static const Event SWITCH_ALREADY_ON = MAKE_EVENT(2, severity::LOW);
static const Event SWITCH_ALREADY_OFF = MAKE_EVENT(3, severity::LOW);
static const Event MAIN_SWITCH_TIMEOUT = MAKE_EVENT(4, severity::LOW);
static const MessageQueueId_t NO_COMMANDER = 0;
enum SwitchState : bool {
ON = true,
OFF = false
};
/**
* @brief Struct holding information about a heater command to execute.
*
* @param action The action to perform.
* @param replyQueue The queue of the commander to which status replies
* will be sent.
* @param active True if command is waiting for execution, otherwise false.
* @param waitSwitchOn True if the command is waiting for the main switch being set on.
* @param mainSwitchCountdown Sets timeout to wait for main switch being set on.
*/
typedef struct HeaterCommandInfo {
uint8_t action;
MessageQueueId_t replyQueue;
bool active = false;
bool waitMainSwitchOn = false;
Countdown mainSwitchCountdown;
} HeaterCommandInfo_t;
enum SwitchAction {
SET_SWITCH_OFF,
SET_SWITCH_ON
};
using switchNr_t = uint8_t;
using HeaterMap = std::unordered_map<switchNr_t, HeaterCommandInfo_t>;
using HeaterMapIter = HeaterMap::iterator;
HeaterMap heaterMap;
bool switchStates[heaterSwitches::NUMBER_OF_SWITCHES];
/** Size of command queue */
size_t cmdQueueSize = 20;
/**
* The object ID of the GPIO driver which enables and disables the
* heaters.
*/
object_id_t gpioDriverId;
CookieIF * gpioCookie;
GpioIF* gpioInterface;
/** Queue to receive messages from other objects. */
MessageQueueIF* commandQueue = nullptr;
object_id_t mainLineSwitcherObjectId;
/** Switch number of the heater power supply switch */
uint8_t mainLineSwitch;
/**
* Power switcher object which controls the 8V main line of the heater
* logic on the TCS board.
*/
PowerSwitchIF *mainLineSwitcher = nullptr;
ActionHelper actionHelper;
StorageManagerIF *IPCStore = nullptr;
void readCommandQueue();
ReturnValue_t buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
@ -72,7 +150,7 @@ private:
* @brief Returns the ID of the GPIO related to a heater identified by the switch number
* which is defined in the heaterSwitches list.
*/
gpioId_t getGpioIdFromSwitchNr(switchNr);
gpioId_t getGpioIdFromSwitchNr(int switchNr);
/**
* @brief This function runs commands waiting for execution.
@ -86,68 +164,10 @@ private:
*/
void setInitialSwitchStates();
enum SwitchState : bool {
ON = true,
OFF = false
};
void handleSwitchOnCommand(HeaterMapIter heaterMapIter);
void handleSwitchOffCommand(HeaterMapIter heaterMapIter);
/**
* @brief Struct holding information about a heater command to execute.
*
* @param action The action to perform.
* @param replyQueue The queue of the commander to which status replies
* will be sent.
* @param active True if command is waiting for execution, otherwise false.
*/
typedef struct HeaterCommandInfo {
uint8_t action;
MessageQueueId_t replyQueue;
bool active = false;
} HeaterCommandInfo_t;
enum SwitchAction {
SET_SWITCH_ON,
SET_SWITCH_OFF
};
using switchNr_t = int;
using HeaterMap = std::unordered_map<switchNr_t, HeaterCommandInfo_t>;
using HeaterMapIter = HeaterMap::iterator;
HeateerMap heaterMap;
HeaterMapIter heaterMapIter;
bool switchStates[heaterSwitches::NUMBER_OF_SWITCHES];
/** Size of command queue */
size_t cmdQueueSize = 20;
/**
* The object ID of the GPIO driver which enables and disables the
* heaters.
*/
object_id_t gpioDriverId;
GpioIF* gpioInterface;
/** Queue to receive messages from other objects. */
MessageQueueIF* commandQueue = nullptr;
object_id_t mainLineSwitcherObjectId;
/** Switch number of the heater power supply switch */
uint8_t mainLineSwitch;
/**
* Power switcher object which controls the 8V main line of the heater
* logic on the TCS board.
*/
PowerSwitchIF *mainLineSwitcher = nullptr;
ActionHelper actionHelper;
StorageManagerIF *IPCStore = nullptr;
};
#endif /* MISSION_DEVICES_HEATERHANDLER_H_ */