moved gps handler and deployment handler #152
@ -49,7 +49,7 @@
|
||||
#include "mission/core/GenericFactory.h"
|
||||
#include "mission/devices/ACUHandler.h"
|
||||
#include "mission/devices/BpxBatteryHandler.h"
|
||||
#include "mission/devices/GPSHyperionLinuxController.h"
|
||||
#include "linux/devices/GPSHyperionLinuxController.h"
|
||||
#include "mission/devices/GyroADIS1650XHandler.h"
|
||||
#include "mission/devices/HeaterHandler.h"
|
||||
#include "mission/devices/IMTQHandler.h"
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||||
|
||||
@ -1,3 +1,3 @@
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||||
target_sources(${OBSW_NAME} PRIVATE
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||||
SolarArrayDeploymentHandler.cpp
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||||
GPSHyperionLinuxController.cpp
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||||
)
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||||
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||||
@ -1,8 +1,5 @@
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||||
#include "GPSHyperionLinuxController.h"
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||||
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||||
#include <cmath>
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||||
|
||||
#include "devicedefinitions/GPSDefinitions.h"
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||||
#include "fsfw/datapool/PoolReadGuard.h"
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||||
#include "fsfw/timemanager/Clock.h"
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||||
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||||
@ -10,6 +7,7 @@
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||||
#include <filesystem>
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||||
#include <fstream>
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||||
#endif
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||||
#include <cmath>
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||||
GPSHyperionLinuxController::GPSHyperionLinuxController(object_id_t objectId, object_id_t parentId,
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bool debugHyperionGps)
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@ -1,8 +1,8 @@
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||||
#ifndef MISSION_DEVICES_GPSHYPERIONHANDLER_H_
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#define MISSION_DEVICES_GPSHYPERIONHANDLER_H_
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#include "devicedefinitions/GPSDefinitions.h"
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#include "fsfw/FSFW.h"
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||||
#include "mission/devices/devicedefinitions/GPSDefinitions.h"
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#include "fsfw/controller/ExtendedControllerBase.h"
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||||
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
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||||
@ -1,5 +1,4 @@
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target_sources(${LIB_EIVE_MISSION} PRIVATE
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GPSHyperionLinuxController.cpp
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GomspaceDeviceHandler.cpp
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BpxBatteryHandler.cpp
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||||
Tmp1075Handler.cpp
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||||
@ -18,4 +17,5 @@ target_sources(${LIB_EIVE_MISSION} PRIVATE
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RwHandler.cpp
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max1227.cpp
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SusHandler.cpp
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SolarArrayDeploymentHandler.cpp
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)
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210
mission/devices/SolarArrayDeploymentHandler.cpp
Normal file
210
mission/devices/SolarArrayDeploymentHandler.cpp
Normal file
@ -0,0 +1,210 @@
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#include "SolarArrayDeploymentHandler.h"
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#include <devices/gpioIds.h>
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#include <devices/powerSwitcherList.h>
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#include <fsfw/ipc/QueueFactory.h>
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#include <fsfw/objectmanager/ObjectManager.h>
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#include <fsfw_hal/common/gpio/GpioCookie.h>
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SolarArrayDeploymentHandler::SolarArrayDeploymentHandler(object_id_t setObjectId_,
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object_id_t gpioDriverId_,
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CookieIF* gpioCookie_,
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object_id_t mainLineSwitcherObjectId_,
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uint8_t mainLineSwitch_, gpioId_t deplSA1,
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gpioId_t deplSA2, uint32_t burnTimeMs)
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: SystemObject(setObjectId_),
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gpioDriverId(gpioDriverId_),
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gpioCookie(gpioCookie_),
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mainLineSwitcherObjectId(mainLineSwitcherObjectId_),
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mainLineSwitch(mainLineSwitch_),
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deplSA1(deplSA1),
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deplSA2(deplSA2),
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burnTimeMs(burnTimeMs),
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actionHelper(this, nullptr) {
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auto mqArgs = MqArgs(setObjectId_, static_cast<void*>(this));
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commandQueue = QueueFactory::instance()->createMessageQueue(
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cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
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}
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SolarArrayDeploymentHandler::~SolarArrayDeploymentHandler() {}
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ReturnValue_t SolarArrayDeploymentHandler::performOperation(uint8_t operationCode) {
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if (operationCode == DeviceHandlerIF::PERFORM_OPERATION) {
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handleStateMachine();
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return RETURN_OK;
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}
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return RETURN_OK;
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}
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ReturnValue_t SolarArrayDeploymentHandler::initialize() {
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ReturnValue_t result = SystemObject::initialize();
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if (result != RETURN_OK) {
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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gpioInterface = ObjectManager::instance()->get<GpioIF>(gpioDriverId);
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if (gpioInterface == nullptr) {
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sif::error << "SolarArrayDeploymentHandler::initialize: Invalid Gpio interface." << std::endl;
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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result = gpioInterface->addGpios(dynamic_cast<GpioCookie*>(gpioCookie));
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if (result != RETURN_OK) {
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sif::error << "SolarArrayDeploymentHandler::initialize: Failed to initialize Gpio interface"
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<< std::endl;
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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if (mainLineSwitcherObjectId != objects::NO_OBJECT) {
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mainLineSwitcher = ObjectManager::instance()->get<PowerSwitchIF>(mainLineSwitcherObjectId);
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if (mainLineSwitcher == nullptr) {
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sif::error
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<< "SolarArrayDeploymentHandler::initialize: Main line switcher failed to fetch object"
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<< "from object ID." << std::endl;
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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}
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result = actionHelper.initialize(commandQueue);
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if (result != RETURN_OK) {
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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return RETURN_OK;
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}
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void SolarArrayDeploymentHandler::handleStateMachine() {
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switch (stateMachine) {
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case WAIT_ON_DELOYMENT_COMMAND:
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readCommandQueue();
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break;
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case SWITCH_8V_ON:
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mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_ON);
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mainSwitchCountdown.setTimeout(mainLineSwitcher->getSwitchDelayMs());
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stateMachine = WAIT_ON_8V_SWITCH;
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break;
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case WAIT_ON_8V_SWITCH:
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performWaitOn8VActions();
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break;
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case SWITCH_DEPL_GPIOS:
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switchDeploymentTransistors();
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break;
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case WAIT_ON_DEPLOYMENT_FINISH:
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handleDeploymentFinish();
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break;
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case WAIT_FOR_MAIN_SWITCH_OFF:
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if (mainLineSwitcher->getSwitchState(mainLineSwitch) == PowerSwitchIF::SWITCH_OFF) {
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stateMachine = WAIT_ON_DELOYMENT_COMMAND;
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} else if (mainSwitchCountdown.hasTimedOut()) {
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triggerEvent(MAIN_SWITCH_OFF_TIMEOUT);
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sif::error << "SolarArrayDeploymentHandler::handleStateMachine: Failed to switch main"
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<< " switch off" << std::endl;
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stateMachine = WAIT_ON_DELOYMENT_COMMAND;
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}
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break;
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default:
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sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Invalid state" << std::endl;
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break;
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}
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}
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void SolarArrayDeploymentHandler::performWaitOn8VActions() {
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if (mainLineSwitcher->getSwitchState(mainLineSwitch) == PowerSwitchIF::SWITCH_ON) {
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stateMachine = SWITCH_DEPL_GPIOS;
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} else {
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if (mainSwitchCountdown.hasTimedOut()) {
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triggerEvent(MAIN_SWITCH_ON_TIMEOUT);
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actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS,
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MAIN_SWITCH_TIMEOUT_FAILURE);
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stateMachine = WAIT_ON_DELOYMENT_COMMAND;
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}
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}
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}
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void SolarArrayDeploymentHandler::switchDeploymentTransistors() {
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ReturnValue_t result = RETURN_OK;
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result = gpioInterface->pullHigh(deplSA1);
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if (result != RETURN_OK) {
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sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
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" array deployment switch 1 high "
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<< std::endl;
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/* If gpio switch high failed, state machine is reset to wait for a command reinitiating
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* the deployment sequence. */
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stateMachine = WAIT_ON_DELOYMENT_COMMAND;
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triggerEvent(DEPL_SA1_GPIO_SWTICH_ON_FAILED);
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actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS, SWITCHING_DEPL_SA2_FAILED);
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mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
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}
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result = gpioInterface->pullHigh(deplSA2);
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if (result != RETURN_OK) {
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sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
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" array deployment switch 2 high "
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<< std::endl;
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stateMachine = WAIT_ON_DELOYMENT_COMMAND;
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triggerEvent(DEPL_SA2_GPIO_SWTICH_ON_FAILED);
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actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS, SWITCHING_DEPL_SA2_FAILED);
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mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
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}
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deploymentCountdown.setTimeout(burnTimeMs);
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stateMachine = WAIT_ON_DEPLOYMENT_FINISH;
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}
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void SolarArrayDeploymentHandler::handleDeploymentFinish() {
|
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ReturnValue_t result = RETURN_OK;
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if (deploymentCountdown.hasTimedOut()) {
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actionHelper.finish(true, rememberCommanderId, DEPLOY_SOLAR_ARRAYS, RETURN_OK);
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result = gpioInterface->pullLow(deplSA1);
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if (result != RETURN_OK) {
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sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
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" array deployment switch 1 low "
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<< std::endl;
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}
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result = gpioInterface->pullLow(deplSA2);
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if (result != RETURN_OK) {
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sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
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" array deployment switch 2 low "
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<< std::endl;
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}
|
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mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
|
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mainSwitchCountdown.setTimeout(mainLineSwitcher->getSwitchDelayMs());
|
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stateMachine = WAIT_FOR_MAIN_SWITCH_OFF;
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}
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}
|
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|
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void SolarArrayDeploymentHandler::readCommandQueue() {
|
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CommandMessage command;
|
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ReturnValue_t result = commandQueue->receiveMessage(&command);
|
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if (result != RETURN_OK) {
|
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return;
|
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}
|
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|
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result = actionHelper.handleActionMessage(&command);
|
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if (result == RETURN_OK) {
|
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return;
|
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}
|
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}
|
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|
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ReturnValue_t SolarArrayDeploymentHandler::executeAction(ActionId_t actionId,
|
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MessageQueueId_t commandedBy,
|
||||
const uint8_t* data, size_t size) {
|
||||
ReturnValue_t result;
|
||||
if (stateMachine != WAIT_ON_DELOYMENT_COMMAND) {
|
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sif::error << "SolarArrayDeploymentHandler::executeAction: Received command while not in"
|
||||
<< "waiting-on-command-state" << std::endl;
|
||||
return DEPLOYMENT_ALREADY_EXECUTING;
|
||||
}
|
||||
if (actionId != DEPLOY_SOLAR_ARRAYS) {
|
||||
sif::error << "SolarArrayDeploymentHandler::executeAction: Received invalid command"
|
||||
<< std::endl;
|
||||
result = COMMAND_NOT_SUPPORTED;
|
||||
} else {
|
||||
stateMachine = SWITCH_8V_ON;
|
||||
rememberCommanderId = commandedBy;
|
||||
result = RETURN_OK;
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
MessageQueueId_t SolarArrayDeploymentHandler::getCommandQueue() const {
|
||||
return commandQueue->getId();
|
||||
}
|
||||
156
mission/devices/SolarArrayDeploymentHandler.h
Normal file
156
mission/devices/SolarArrayDeploymentHandler.h
Normal file
@ -0,0 +1,156 @@
|
||||
#ifndef MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_
|
||||
#define MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_
|
||||
|
||||
#include <fsfw/action/HasActionsIF.h>
|
||||
#include <fsfw/devicehandlers/CookieIF.h>
|
||||
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
||||
#include <fsfw/objectmanager/SystemObject.h>
|
||||
#include <fsfw/power/PowerSwitchIF.h>
|
||||
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
|
||||
#include <fsfw/tasks/ExecutableObjectIF.h>
|
||||
#include <fsfw/timemanager/Countdown.h>
|
||||
#include <fsfw_hal/common/gpio/GpioIF.h>
|
||||
|
||||
#include <unordered_map>
|
||||
|
||||
/**
|
||||
* @brief This class is used to control the solar array deployment.
|
||||
*
|
||||
* @author J. Meier
|
||||
*/
|
||||
class SolarArrayDeploymentHandler : public ExecutableObjectIF,
|
||||
public SystemObject,
|
||||
public HasReturnvaluesIF,
|
||||
public HasActionsIF {
|
||||
public:
|
||||
static const DeviceCommandId_t DEPLOY_SOLAR_ARRAYS = 0x5;
|
||||
|
||||
/**
|
||||
* @brief constructor
|
||||
*
|
||||
* @param setObjectId The object id of the SolarArrayDeploymentHandler.
|
||||
* @param gpioDriverId The id of the gpio com if.
|
||||
* @param gpioCookie GpioCookie holding information about the gpios used to switch the
|
||||
* transistors.
|
||||
* @param mainLineSwitcherObjectId The object id of the object responsible for switching
|
||||
* the 8V power source. This is normally the PCDU.
|
||||
* @param mainLineSwitch The id of the main line switch. This is defined in
|
||||
* powerSwitcherList.h.
|
||||
* @param deplSA1 gpioId of the GPIO controlling the deployment 1 transistor.
|
||||
* @param deplSA2 gpioId of the GPIO controlling the deployment 2 transistor.
|
||||
* @param burnTimeMs Time duration the power will be applied to the burn wires.
|
||||
*/
|
||||
SolarArrayDeploymentHandler(object_id_t setObjectId, object_id_t gpioDriverId,
|
||||
CookieIF* gpioCookie, object_id_t mainLineSwitcherObjectId,
|
||||
uint8_t mainLineSwitch, gpioId_t deplSA1, gpioId_t deplSA2,
|
||||
uint32_t burnTimeMs);
|
||||
|
||||
virtual ~SolarArrayDeploymentHandler();
|
||||
|
||||
virtual ReturnValue_t performOperation(uint8_t operationCode = 0) 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:
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::SA_DEPL_HANDLER;
|
||||
static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA0);
|
||||
static const ReturnValue_t DEPLOYMENT_ALREADY_EXECUTING = MAKE_RETURN_CODE(0xA1);
|
||||
static const ReturnValue_t MAIN_SWITCH_TIMEOUT_FAILURE = MAKE_RETURN_CODE(0xA2);
|
||||
static const ReturnValue_t SWITCHING_DEPL_SA1_FAILED = MAKE_RETURN_CODE(0xA3);
|
||||
static const ReturnValue_t SWITCHING_DEPL_SA2_FAILED = MAKE_RETURN_CODE(0xA4);
|
||||
|
||||
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SA_DEPL_HANDLER;
|
||||
static const Event MAIN_SWITCH_ON_TIMEOUT = MAKE_EVENT(0, severity::LOW);
|
||||
static const Event MAIN_SWITCH_OFF_TIMEOUT = MAKE_EVENT(1, severity::LOW);
|
||||
static const Event DEPLOYMENT_FAILED = MAKE_EVENT(2, severity::HIGH);
|
||||
static const Event DEPL_SA1_GPIO_SWTICH_ON_FAILED = MAKE_EVENT(3, severity::HIGH);
|
||||
static const Event DEPL_SA2_GPIO_SWTICH_ON_FAILED = MAKE_EVENT(4, severity::HIGH);
|
||||
|
||||
enum StateMachine {
|
||||
WAIT_ON_DELOYMENT_COMMAND,
|
||||
SWITCH_8V_ON,
|
||||
WAIT_ON_8V_SWITCH,
|
||||
SWITCH_DEPL_GPIOS,
|
||||
WAIT_ON_DEPLOYMENT_FINISH,
|
||||
WAIT_FOR_MAIN_SWITCH_OFF
|
||||
};
|
||||
|
||||
StateMachine stateMachine = WAIT_ON_DELOYMENT_COMMAND;
|
||||
|
||||
/**
|
||||
* This countdown is used to check if the PCDU sets the 8V line on in the intended time.
|
||||
*/
|
||||
Countdown mainSwitchCountdown;
|
||||
|
||||
/**
|
||||
* This countdown is used to wait for the burn wire being successful cut.
|
||||
*/
|
||||
Countdown deploymentCountdown;
|
||||
|
||||
/**
|
||||
* The message queue id of the component commanding an action will be stored in this variable.
|
||||
* This is necessary to send later the action finish replies.
|
||||
*/
|
||||
MessageQueueId_t rememberCommanderId = 0;
|
||||
|
||||
/** Size of command queue */
|
||||
size_t cmdQueueSize = 20;
|
||||
|
||||
/** The object ID of the GPIO driver which switches the deployment transistors */
|
||||
object_id_t gpioDriverId;
|
||||
|
||||
CookieIF* gpioCookie;
|
||||
|
||||
/** Object id of the object responsible to switch the 8V power input. Typically the PCDU. */
|
||||
object_id_t mainLineSwitcherObjectId;
|
||||
|
||||
/** Switch number of the 8V power switch */
|
||||
uint8_t mainLineSwitch;
|
||||
|
||||
gpioId_t deplSA1;
|
||||
gpioId_t deplSA2;
|
||||
|
||||
GpioIF* gpioInterface = nullptr;
|
||||
|
||||
/** Time duration switches are active to cut the burn wire */
|
||||
uint32_t burnTimeMs;
|
||||
|
||||
/** Queue to receive messages from other objects. */
|
||||
MessageQueueIF* commandQueue = nullptr;
|
||||
|
||||
/**
|
||||
* After initialization this pointer will hold the reference to the main line switcher object.
|
||||
*/
|
||||
PowerSwitchIF* mainLineSwitcher = nullptr;
|
||||
|
||||
ActionHelper actionHelper;
|
||||
|
||||
void readCommandQueue();
|
||||
|
||||
/**
|
||||
* @brief This function performs actions dependent on the current state.
|
||||
*/
|
||||
void handleStateMachine();
|
||||
|
||||
/**
|
||||
* @brief This function polls the 8V switch state and changes the state machine when the
|
||||
* switch has been enabled.
|
||||
*/
|
||||
void performWaitOn8VActions();
|
||||
|
||||
/**
|
||||
* @brief This functions handles the switching of the solar array deployment transistors.
|
||||
*/
|
||||
void switchDeploymentTransistors();
|
||||
|
||||
/**
|
||||
* @brief This function performs actions to finish the deployment. Essentially switches
|
||||
* are turned of after the burn time has expired.
|
||||
*/
|
||||
void handleDeploymentFinish();
|
||||
};
|
||||
|
||||
#endif /* MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_ */
|
||||
Loading…
Reference in New Issue
Block a user