moved gps handler and deployment handler #152
@ -43,7 +43,7 @@
|
|||||||
#include "linux/boardtest/SpiTestClass.h"
|
#include "linux/boardtest/SpiTestClass.h"
|
||||||
#include "linux/csp/CspComIF.h"
|
#include "linux/csp/CspComIF.h"
|
||||||
#include "linux/csp/CspCookie.h"
|
#include "linux/csp/CspCookie.h"
|
||||||
#include "linux/devices/SolarArrayDeploymentHandler.h"
|
#include "mission/devices/SolarArrayDeploymentHandler.h"
|
||||||
#include "mission/devices/SusHandler.h"
|
#include "mission/devices/SusHandler.h"
|
||||||
#include "mission/devices/devicedefinitions/SusDefinitions.h"
|
#include "mission/devices/devicedefinitions/SusDefinitions.h"
|
||||||
#include "mission/core/GenericFactory.h"
|
#include "mission/core/GenericFactory.h"
|
||||||
|
|||||||
@ -1,209 +0,0 @@
|
|||||||
#include "SolarArrayDeploymentHandler.h"
|
|
||||||
|
|
||||||
#include <devices/gpioIds.h>
|
|
||||||
#include <devices/powerSwitcherList.h>
|
|
||||||
#include <fsfw/ipc/QueueFactory.h>
|
|
||||||
#include <fsfw/objectmanager/ObjectManager.h>
|
|
||||||
#include <fsfw_hal/common/gpio/GpioCookie.h>
|
|
||||||
|
|
||||||
SolarArrayDeploymentHandler::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)
|
|
||||||
: SystemObject(setObjectId_),
|
|
||||||
gpioDriverId(gpioDriverId_),
|
|
||||||
gpioCookie(gpioCookie_),
|
|
||||||
mainLineSwitcherObjectId(mainLineSwitcherObjectId_),
|
|
||||||
mainLineSwitch(mainLineSwitch_),
|
|
||||||
deplSA1(deplSA1),
|
|
||||||
deplSA2(deplSA2),
|
|
||||||
burnTimeMs(burnTimeMs),
|
|
||||||
actionHelper(this, nullptr) {
|
|
||||||
commandQueue = QueueFactory::instance()->createMessageQueue(
|
|
||||||
cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE);
|
|
||||||
}
|
|
||||||
|
|
||||||
SolarArrayDeploymentHandler::~SolarArrayDeploymentHandler() {}
|
|
||||||
|
|
||||||
ReturnValue_t SolarArrayDeploymentHandler::performOperation(uint8_t operationCode) {
|
|
||||||
if (operationCode == DeviceHandlerIF::PERFORM_OPERATION) {
|
|
||||||
handleStateMachine();
|
|
||||||
return RETURN_OK;
|
|
||||||
}
|
|
||||||
return RETURN_OK;
|
|
||||||
}
|
|
||||||
|
|
||||||
ReturnValue_t SolarArrayDeploymentHandler::initialize() {
|
|
||||||
ReturnValue_t result = SystemObject::initialize();
|
|
||||||
if (result != RETURN_OK) {
|
|
||||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
|
||||||
}
|
|
||||||
|
|
||||||
gpioInterface = ObjectManager::instance()->get<GpioIF>(gpioDriverId);
|
|
||||||
if (gpioInterface == nullptr) {
|
|
||||||
sif::error << "SolarArrayDeploymentHandler::initialize: Invalid Gpio interface." << std::endl;
|
|
||||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
|
||||||
}
|
|
||||||
|
|
||||||
result = gpioInterface->addGpios(dynamic_cast<GpioCookie*>(gpioCookie));
|
|
||||||
if (result != RETURN_OK) {
|
|
||||||
sif::error << "SolarArrayDeploymentHandler::initialize: Failed to initialize Gpio interface"
|
|
||||||
<< std::endl;
|
|
||||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (mainLineSwitcherObjectId != objects::NO_OBJECT) {
|
|
||||||
mainLineSwitcher = ObjectManager::instance()->get<PowerSwitchIF>(mainLineSwitcherObjectId);
|
|
||||||
if (mainLineSwitcher == nullptr) {
|
|
||||||
sif::error
|
|
||||||
<< "SolarArrayDeploymentHandler::initialize: Main line switcher failed to fetch object"
|
|
||||||
<< "from object ID." << std::endl;
|
|
||||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
result = actionHelper.initialize(commandQueue);
|
|
||||||
if (result != RETURN_OK) {
|
|
||||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
|
||||||
}
|
|
||||||
|
|
||||||
return RETURN_OK;
|
|
||||||
}
|
|
||||||
|
|
||||||
void SolarArrayDeploymentHandler::handleStateMachine() {
|
|
||||||
switch (stateMachine) {
|
|
||||||
case WAIT_ON_DELOYMENT_COMMAND:
|
|
||||||
readCommandQueue();
|
|
||||||
break;
|
|
||||||
case SWITCH_8V_ON:
|
|
||||||
mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_ON);
|
|
||||||
mainSwitchCountdown.setTimeout(mainLineSwitcher->getSwitchDelayMs());
|
|
||||||
stateMachine = WAIT_ON_8V_SWITCH;
|
|
||||||
break;
|
|
||||||
case WAIT_ON_8V_SWITCH:
|
|
||||||
performWaitOn8VActions();
|
|
||||||
break;
|
|
||||||
case SWITCH_DEPL_GPIOS:
|
|
||||||
switchDeploymentTransistors();
|
|
||||||
break;
|
|
||||||
case WAIT_ON_DEPLOYMENT_FINISH:
|
|
||||||
handleDeploymentFinish();
|
|
||||||
break;
|
|
||||||
case WAIT_FOR_MAIN_SWITCH_OFF:
|
|
||||||
if (mainLineSwitcher->getSwitchState(mainLineSwitch) == PowerSwitchIF::SWITCH_OFF) {
|
|
||||||
stateMachine = WAIT_ON_DELOYMENT_COMMAND;
|
|
||||||
} else if (mainSwitchCountdown.hasTimedOut()) {
|
|
||||||
triggerEvent(MAIN_SWITCH_OFF_TIMEOUT);
|
|
||||||
sif::error << "SolarArrayDeploymentHandler::handleStateMachine: Failed to switch main"
|
|
||||||
<< " switch off" << std::endl;
|
|
||||||
stateMachine = WAIT_ON_DELOYMENT_COMMAND;
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
default:
|
|
||||||
sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Invalid state" << std::endl;
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void SolarArrayDeploymentHandler::performWaitOn8VActions() {
|
|
||||||
if (mainLineSwitcher->getSwitchState(mainLineSwitch) == PowerSwitchIF::SWITCH_ON) {
|
|
||||||
stateMachine = SWITCH_DEPL_GPIOS;
|
|
||||||
} else {
|
|
||||||
if (mainSwitchCountdown.hasTimedOut()) {
|
|
||||||
triggerEvent(MAIN_SWITCH_ON_TIMEOUT);
|
|
||||||
actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS,
|
|
||||||
MAIN_SWITCH_TIMEOUT_FAILURE);
|
|
||||||
stateMachine = WAIT_ON_DELOYMENT_COMMAND;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void SolarArrayDeploymentHandler::switchDeploymentTransistors() {
|
|
||||||
ReturnValue_t result = RETURN_OK;
|
|
||||||
result = gpioInterface->pullHigh(deplSA1);
|
|
||||||
if (result != RETURN_OK) {
|
|
||||||
sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
|
|
||||||
" array deployment switch 1 high "
|
|
||||||
<< std::endl;
|
|
||||||
/* If gpio switch high failed, state machine is reset to wait for a command reinitiating
|
|
||||||
* the deployment sequence. */
|
|
||||||
stateMachine = WAIT_ON_DELOYMENT_COMMAND;
|
|
||||||
triggerEvent(DEPL_SA1_GPIO_SWTICH_ON_FAILED);
|
|
||||||
actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS, SWITCHING_DEPL_SA2_FAILED);
|
|
||||||
mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
|
|
||||||
}
|
|
||||||
result = gpioInterface->pullHigh(deplSA2);
|
|
||||||
if (result != RETURN_OK) {
|
|
||||||
sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
|
|
||||||
" array deployment switch 2 high "
|
|
||||||
<< std::endl;
|
|
||||||
stateMachine = WAIT_ON_DELOYMENT_COMMAND;
|
|
||||||
triggerEvent(DEPL_SA2_GPIO_SWTICH_ON_FAILED);
|
|
||||||
actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS, SWITCHING_DEPL_SA2_FAILED);
|
|
||||||
mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
|
|
||||||
}
|
|
||||||
deploymentCountdown.setTimeout(burnTimeMs);
|
|
||||||
stateMachine = WAIT_ON_DEPLOYMENT_FINISH;
|
|
||||||
}
|
|
||||||
|
|
||||||
void SolarArrayDeploymentHandler::handleDeploymentFinish() {
|
|
||||||
ReturnValue_t result = RETURN_OK;
|
|
||||||
if (deploymentCountdown.hasTimedOut()) {
|
|
||||||
actionHelper.finish(true, rememberCommanderId, DEPLOY_SOLAR_ARRAYS, RETURN_OK);
|
|
||||||
result = gpioInterface->pullLow(deplSA1);
|
|
||||||
if (result != RETURN_OK) {
|
|
||||||
sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
|
|
||||||
" array deployment switch 1 low "
|
|
||||||
<< std::endl;
|
|
||||||
}
|
|
||||||
result = gpioInterface->pullLow(deplSA2);
|
|
||||||
if (result != RETURN_OK) {
|
|
||||||
sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
|
|
||||||
" array deployment switch 2 low "
|
|
||||||
<< std::endl;
|
|
||||||
}
|
|
||||||
mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
|
|
||||||
mainSwitchCountdown.setTimeout(mainLineSwitcher->getSwitchDelayMs());
|
|
||||||
stateMachine = WAIT_FOR_MAIN_SWITCH_OFF;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void SolarArrayDeploymentHandler::readCommandQueue() {
|
|
||||||
CommandMessage command;
|
|
||||||
ReturnValue_t result = commandQueue->receiveMessage(&command);
|
|
||||||
if (result != RETURN_OK) {
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
result = actionHelper.handleActionMessage(&command);
|
|
||||||
if (result == RETURN_OK) {
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
ReturnValue_t SolarArrayDeploymentHandler::executeAction(ActionId_t actionId,
|
|
||||||
MessageQueueId_t commandedBy,
|
|
||||||
const uint8_t* data, size_t size) {
|
|
||||||
ReturnValue_t result;
|
|
||||||
if (stateMachine != WAIT_ON_DELOYMENT_COMMAND) {
|
|
||||||
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();
|
|
||||||
}
|
|
||||||
@ -1,156 +0,0 @@
|
|||||||
#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