v1.9.0 #175
@ -43,7 +43,7 @@
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#include "linux/boardtest/SpiTestClass.h"
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#include "linux/boardtest/SpiTestClass.h"
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#include "linux/csp/CspComIF.h"
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#include "linux/csp/CspComIF.h"
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#include "linux/csp/CspCookie.h"
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#include "linux/csp/CspCookie.h"
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#include "linux/devices/SolarArrayDeploymentHandler.h"
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#include "mission/devices/SolarArrayDeploymentHandler.h"
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#include "mission/devices/SusHandler.h"
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#include "mission/devices/SusHandler.h"
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#include "mission/devices/devicedefinitions/SusDefinitions.h"
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#include "mission/devices/devicedefinitions/SusDefinitions.h"
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#include "mission/core/GenericFactory.h"
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#include "mission/core/GenericFactory.h"
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@ -1,209 +0,0 @@
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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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commandQueue = QueueFactory::instance()->createMessageQueue(
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cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE);
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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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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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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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ReturnValue_t SolarArrayDeploymentHandler::executeAction(ActionId_t actionId,
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MessageQueueId_t commandedBy,
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const uint8_t* data, size_t size) {
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ReturnValue_t result;
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if (stateMachine != WAIT_ON_DELOYMENT_COMMAND) {
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sif::error << "SolarArrayDeploymentHandler::executeAction: Received command while not in"
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<< "waiting-on-command-state" << std::endl;
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return DEPLOYMENT_ALREADY_EXECUTING;
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}
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if (actionId != DEPLOY_SOLAR_ARRAYS) {
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sif::error << "SolarArrayDeploymentHandler::executeAction: Received invalid command"
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<< std::endl;
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result = COMMAND_NOT_SUPPORTED;
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} else {
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stateMachine = SWITCH_8V_ON;
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rememberCommanderId = commandedBy;
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result = RETURN_OK;
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}
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return result;
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}
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MessageQueueId_t SolarArrayDeploymentHandler::getCommandQueue() const {
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return commandQueue->getId();
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}
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@ -1,156 +0,0 @@
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#ifndef MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_
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#define MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_
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#include <fsfw/action/HasActionsIF.h>
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#include <fsfw/devicehandlers/CookieIF.h>
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#include <fsfw/devicehandlers/DeviceHandlerIF.h>
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#include <fsfw/objectmanager/SystemObject.h>
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#include <fsfw/power/PowerSwitchIF.h>
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#include <fsfw/returnvalues/HasReturnvaluesIF.h>
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#include <fsfw/tasks/ExecutableObjectIF.h>
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#include <fsfw/timemanager/Countdown.h>
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#include <fsfw_hal/common/gpio/GpioIF.h>
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#include <unordered_map>
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/**
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* @brief This class is used to control the solar array deployment.
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*
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* @author J. Meier
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*/
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class SolarArrayDeploymentHandler : public ExecutableObjectIF,
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public SystemObject,
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public HasReturnvaluesIF,
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public HasActionsIF {
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public:
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static const DeviceCommandId_t DEPLOY_SOLAR_ARRAYS = 0x5;
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/**
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* @brief constructor
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*
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* @param setObjectId The object id of the SolarArrayDeploymentHandler.
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* @param gpioDriverId The id of the gpio com if.
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* @param gpioCookie GpioCookie holding information about the gpios used to switch the
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* transistors.
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* @param mainLineSwitcherObjectId The object id of the object responsible for switching
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* the 8V power source. This is normally the PCDU.
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* @param mainLineSwitch The id of the main line switch. This is defined in
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* powerSwitcherList.h.
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* @param deplSA1 gpioId of the GPIO controlling the deployment 1 transistor.
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* @param deplSA2 gpioId of the GPIO controlling the deployment 2 transistor.
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* @param burnTimeMs Time duration the power will be applied to the burn wires.
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*/
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SolarArrayDeploymentHandler(object_id_t setObjectId, object_id_t gpioDriverId,
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CookieIF* gpioCookie, object_id_t mainLineSwitcherObjectId,
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uint8_t mainLineSwitch, gpioId_t deplSA1, gpioId_t deplSA2,
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uint32_t burnTimeMs);
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virtual ~SolarArrayDeploymentHandler();
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virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
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virtual MessageQueueId_t getCommandQueue() const override;
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virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
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const uint8_t* data, size_t size) override;
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virtual ReturnValue_t initialize() override;
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private:
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static const uint8_t INTERFACE_ID = CLASS_ID::SA_DEPL_HANDLER;
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static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA0);
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static const ReturnValue_t DEPLOYMENT_ALREADY_EXECUTING = MAKE_RETURN_CODE(0xA1);
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static const ReturnValue_t MAIN_SWITCH_TIMEOUT_FAILURE = MAKE_RETURN_CODE(0xA2);
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static const ReturnValue_t SWITCHING_DEPL_SA1_FAILED = MAKE_RETURN_CODE(0xA3);
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static const ReturnValue_t SWITCHING_DEPL_SA2_FAILED = MAKE_RETURN_CODE(0xA4);
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static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SA_DEPL_HANDLER;
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static const Event MAIN_SWITCH_ON_TIMEOUT = MAKE_EVENT(0, severity::LOW);
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static const Event MAIN_SWITCH_OFF_TIMEOUT = MAKE_EVENT(1, severity::LOW);
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static const Event DEPLOYMENT_FAILED = MAKE_EVENT(2, severity::HIGH);
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static const Event DEPL_SA1_GPIO_SWTICH_ON_FAILED = MAKE_EVENT(3, severity::HIGH);
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static const Event DEPL_SA2_GPIO_SWTICH_ON_FAILED = MAKE_EVENT(4, severity::HIGH);
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||||||
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||||||
enum StateMachine {
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WAIT_ON_DELOYMENT_COMMAND,
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||||||
SWITCH_8V_ON,
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WAIT_ON_8V_SWITCH,
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||||||
SWITCH_DEPL_GPIOS,
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WAIT_ON_DEPLOYMENT_FINISH,
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WAIT_FOR_MAIN_SWITCH_OFF
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||||||
};
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||||||
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|
||||||
StateMachine stateMachine = WAIT_ON_DELOYMENT_COMMAND;
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||||||
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||||||
/**
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||||||
* This countdown is used to check if the PCDU sets the 8V line on in the intended time.
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||||||
*/
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|
||||||
Countdown mainSwitchCountdown;
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||||||
/**
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||||||
* This countdown is used to wait for the burn wire being successful cut.
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||||||
*/
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|
||||||
Countdown deploymentCountdown;
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||||||
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|
||||||
/**
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||||||
* The message queue id of the component commanding an action will be stored in this variable.
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||||||
* This is necessary to send later the action finish replies.
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||||||
*/
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|
||||||
MessageQueueId_t rememberCommanderId = 0;
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||||||
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|
||||||
/** Size of command queue */
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||||||
size_t cmdQueueSize = 20;
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|
||||||
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|
||||||
/** The object ID of the GPIO driver which switches the deployment transistors */
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|
||||||
object_id_t gpioDriverId;
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||||||
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|
||||||
CookieIF* gpioCookie;
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|
||||||
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|
||||||
/** Object id of the object responsible to switch the 8V power input. Typically the PCDU. */
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|
||||||
object_id_t mainLineSwitcherObjectId;
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|
||||||
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|
||||||
/** Switch number of the 8V power switch */
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|
||||||
uint8_t mainLineSwitch;
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||||||
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|
||||||
gpioId_t deplSA1;
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|
||||||
gpioId_t deplSA2;
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||||||
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|
||||||
GpioIF* gpioInterface = nullptr;
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|
||||||
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|
||||||
/** Time duration switches are active to cut the burn wire */
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|
||||||
uint32_t burnTimeMs;
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|
||||||
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|
||||||
/** Queue to receive messages from other objects. */
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|
||||||
MessageQueueIF* commandQueue = nullptr;
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|
||||||
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|
||||||
/**
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|
||||||
* After initialization this pointer will hold the reference to the main line switcher object.
|
|
||||||
*/
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|
||||||
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