bsp_q7s/core/ObjectFactory.cpp

@@ -526,7 +526,8 @@ void ObjectFactory::createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwi
   gpioIF->addGpios(heaterGpiosCookie);
 
   HeaterHelper helper({{
-      {new HealthDevice(objects::HEATER_0_PLOC_PROC_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_0},
+      {new HealthDevice(objects::HEATER_0_PLOC_PROC_BRD, MessageQueueIF::NO_QUEUE),
+       gpioIds::HEATER_0},
       {new HealthDevice(objects::HEATER_1_PCDU_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_1},
       {new HealthDevice(objects::HEATER_2_ACS_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_2},
       {new HealthDevice(objects::HEATER_3_OBC_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_3},

mission/devices/HeaterHandler.cpp

@@ -43,10 +43,10 @@ HeaterHandler::~HeaterHandler() {}
 ReturnValue_t HeaterHandler::performOperation(uint8_t operationCode) {
   try {
     readCommandQueue();
-    handleActiveCommands();
     for (const auto& heater : helper.heaters) {
       heater.first->performOperation(0);
     }
+    handleSwitchHandling();
   } catch (const std::out_of_range& e) {
     sif::warning << "HeaterHandler::performOperation: "
                     "Out of range error | "
@@ -117,29 +117,35 @@ ReturnValue_t HeaterHandler::executeAction(ActionId_t actionId, MessageQueueId_t
     return HasActionsIF::INVALID_PARAMETERS;
   }
   auto& heater = heaterVec.at(switchNr);
-  HasHealthIF::HealthState health = heater.healthDevice->getHealth();
-  if (health == HasHealthIF::FAULTY or health == HasHealthIF::PERMANENT_FAULTY or
-      health == HasHealthIF::NEEDS_RECOVERY) {
-    return HasHealthIF::OBJECT_NOT_HEALTHY;
-  }
-  CmdSourceParam cmdSource = CmdSourceParam::EXTERNAL;
-  uint8_t cmdSourceRaw = data[2];
-  if(cmdSourceRaw > 1) {
+
+  auto actionRaw = data[1];
+  if (actionRaw != 0 and actionRaw != 1) {
     return HasActionsIF::INVALID_PARAMETERS;
   }
-  cmdSource = static_cast<CmdSourceParam>(data[2]);
-  if(health == HasHealthIF::EXTERNAL_CONTROL and cmdSource == CmdSourceParam::INTERNAL) {
-    return HasHealthIF::IS_EXTERNALLY_CONTROLLED;
+  auto action = static_cast<SwitchAction>(data[1]);
+  // Always accepts OFF commands
+  if (action == SwitchAction::SET_SWITCH_ON) {
+    HasHealthIF::HealthState health = heater.healthDevice->getHealth();
+    if (health == HasHealthIF::FAULTY or health == HasHealthIF::PERMANENT_FAULTY or
+        health == HasHealthIF::NEEDS_RECOVERY) {
+      return HasHealthIF::OBJECT_NOT_HEALTHY;
+    }
+    CmdSourceParam cmdSource = CmdSourceParam::EXTERNAL;
+    uint8_t cmdSourceRaw = data[2];
+    if (cmdSourceRaw > 1) {
+      return HasActionsIF::INVALID_PARAMETERS;
+    }
+    cmdSource = static_cast<CmdSourceParam>(data[2]);
+    if (health == HasHealthIF::EXTERNAL_CONTROL and cmdSource == CmdSourceParam::INTERNAL) {
+      return HasHealthIF::IS_EXTERNALLY_CONTROLLED;
+    }
   }
-  if (heater.active) {
+
+  if (heater.cmdActive) {
     return COMMAND_ALREADY_WAITING;
   }
-  auto action = data[1];
-  if (action != 0 and action != 1) {
-    return HasActionsIF::INVALID_PARAMETERS;
-  }
-  heater.action = static_cast<SwitchAction>(data[1]);
-  heater.active = true;
+  heater.action = action;
+  heater.cmdActive = true;
   heater.replyQueue = commandedBy;
   return RETURN_OK;
 }
@@ -179,9 +185,21 @@ ReturnValue_t HeaterHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t o
   return result;
 }
 
-void HeaterHandler::handleActiveCommands() {
+void HeaterHandler::handleSwitchHandling() {
   for (uint8_t idx = 0; idx < heater::NUMBER_OF_SWITCHES; idx++) {
-    if (heaterVec[idx].active) {
+    auto health = heaterVec[idx].healthDevice->getHealth();
+    if (heaterVec[idx].switchState == SwitchState::ON) {
+      // If a heater is still on but the device was marked faulty by the operator, the SW
+      // will shut down the heater
+      if (health == HasHealthIF::FAULTY or health == HasHealthIF::PERMANENT_FAULTY) {
+        heaterVec[idx].cmdActive = true;
+        heaterVec[idx].action = SET_SWITCH_OFF;
+        triggerEvent(FAULTY_HEATER_WAS_ON, idx, 0);
+        handleSwitchOffCommand(static_cast<heater::Switchers>(idx));
+        continue;
+      }
+    }
+    if (heaterVec[idx].cmdActive) {
       switch (heaterVec[idx].action) {
         case SET_SWITCH_ON:
           handleSwitchOnCommand(static_cast<heater::Switchers>(idx));
@@ -207,7 +225,7 @@ void HeaterHandler::handleSwitchOnCommand(heater::Switchers heaterIdx) {
     triggerEvent(MAIN_SWITCH_TIMEOUT);
     sif::error << "HeaterHandler::handleSwitchOnCommand: Main switch setting on timeout"
                << std::endl;
-    heater.active = false;
+    heater.cmdActive = false;
     heater.waitMainSwitchOn = false;
     if (heater.replyQueue != commandQueue->getId()) {
       actionHelper.finish(false, heater.replyQueue, heater.action, MAIN_SWITCH_SET_TIMEOUT);
@@ -241,7 +259,7 @@ void HeaterHandler::handleSwitchOnCommand(heater::Switchers heaterIdx) {
         actionHelper.finish(false, heater.replyQueue, heater.action, result);
       }
     }
-    heater.active = false;
+    heater.cmdActive = false;
     heater.waitMainSwitchOn = false;
   } else if (mainSwitchState == PowerSwitchIF::SWITCH_OFF && heater.waitMainSwitchOn) {
     // Just waiting for the main switch being set on
@@ -251,12 +269,12 @@ void HeaterHandler::handleSwitchOnCommand(heater::Switchers heaterIdx) {
     heater.mainSwitchCountdown.setTimeout(mainLineSwitcher->getSwitchDelayMs());
     heater.waitMainSwitchOn = true;
   } else {
-    sif::debug << "HeaterHandler::handleActiveCommands: Failed to get state of"
+    sif::debug << "HeaterHandler::handleSwitchHandling: Failed to get state of"
                << " main line switch" << std::endl;
     if (heater.replyQueue != commandQueue->getId()) {
       actionHelper.finish(false, heater.replyQueue, heater.action, mainSwitchState);
     }
-    heater.active = false;
+    heater.cmdActive = false;
   }
 }
 
@@ -295,7 +313,7 @@ void HeaterHandler::handleSwitchOffCommand(heater::Switchers heaterIdx) {
       actionHelper.finish(false, heater.replyQueue, heater.action, result);
     }
   }
-  heater.active = false;
+  heater.cmdActive = false;
 }
 
 HeaterHandler::SwitchState HeaterHandler::checkSwitchState(heater::Switchers switchNr) const {

mission/devices/HeaterHandler.h

@@ -46,10 +46,7 @@ class HeaterHandler : public ExecutableObjectIF,
   static const ReturnValue_t MAIN_SWITCH_SET_TIMEOUT = MAKE_RETURN_CODE(0xA4);
   static const ReturnValue_t COMMAND_ALREADY_WAITING = MAKE_RETURN_CODE(0xA5);
 
-  enum CmdSourceParam: uint8_t {
-    INTERNAL = 0,
-    EXTERNAL = 1
-  };
+  enum CmdSourceParam : uint8_t { INTERNAL = 0, EXTERNAL = 1 };
 
   /** Device command IDs */
   static const DeviceCommandId_t SWITCH_HEATER = 0x0;
@@ -85,6 +82,8 @@ class HeaterHandler : public ExecutableObjectIF,
   static constexpr Event SWITCH_ALREADY_ON = MAKE_EVENT(4, severity::LOW);
   static constexpr Event SWITCH_ALREADY_OFF = MAKE_EVENT(5, severity::LOW);
   static constexpr Event MAIN_SWITCH_TIMEOUT = MAKE_EVENT(6, severity::MEDIUM);
+  //! A faulty heater was one. The SW will autonomously attempt to shut it down. P1: Heater Index
+  static constexpr Event FAULTY_HEATER_WAS_ON = event::makeEvent(SUBSYSTEM_ID, 7, severity::LOW);
 
   static const MessageQueueId_t NO_COMMANDER = 0;
 
@@ -108,7 +107,7 @@ class HeaterHandler : public ExecutableObjectIF,
     gpioId_t gpioId = gpio::NO_GPIO;
     SwitchAction action = SwitchAction::NONE;
     MessageQueueId_t replyQueue = MessageQueueIF::NO_QUEUE;
-    bool active = false;
+    bool cmdActive = false;
     SwitchState switchState = SwitchState::OFF;
     bool waitMainSwitchOn = false;
     Countdown mainSwitchCountdown;
@@ -153,7 +152,7 @@ class HeaterHandler : public ExecutableObjectIF,
   /**
    * @brief	This function runs commands waiting for execution.
    */
-  void handleActiveCommands();
+  void handleSwitchHandling();
 
   ReturnValue_t initializeHeaterMap();