eive/eive-obsw
eive/eive-obsw
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add health handling for TCS ASSY #436

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muellerr merged 12 commits from bugfix_tcs_brd_assy into develop 2023-03-08 19:12:35 +01:00
Conversation 0 Commits 12 Files Changed 5 +50 -20
5 changed files with 50 additions and 20 deletions
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2
CHANGELOG.md
View File

@ -32,6 +32,8 @@ will consitute of a breaking change warranting a new major release:
## Fixed
- Command TCS controller off first for TCS subsystem transition to off.
- Health handling for TCS board assembly
- Mode fallback from IDLE mode to SAFE mode due to ACS errors/events now works properly for
the ACS subsystem
- Bugfix in IDLE transition for system.

36
mission/system/objects/TcsBoardAssembly.cpp
View File

@ -40,6 +40,12 @@ ReturnValue_t TcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode)
modeTable[idx].setMode(MODE_OFF);
modeTable[idx].setSubmode(SUBMODE_NONE);
}
if (recoveryState == RecoveryState::RECOVERY_IDLE) {
result = checkAndHandleHealthStates(mode, submode);
if (result == NEED_TO_CHANGE_HEALTH) {
return returnvalue::OK;
}
}
if (recoveryState != RecoveryState::RECOVERY_STARTED) {
if (mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_ON) {
result = handleNormalOrOnModeCmd(mode, submode);
@ -61,10 +67,10 @@ ReturnValue_t TcsBoardAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_
} catch (const std::out_of_range& e) {
sif::error << "TcsBoardAssembly: Invalid children map: " << e.what() << std::endl;
}
if (devsInWrongMode >= 3) {
if (devsInWrongMode == NUMBER_RTDS) {
if (warningSwitch) {
sif::warning << "TcsBoardAssembly::checkChildrenStateOn: " << devsInWrongMode << " devices in"
<< " wrong mode" << std::endl;
sif::warning << "TcsBoardAssembly::checkChildrenStateOn: All devices in wrong mode"
<< std::endl;
warningSwitch = false;
}
return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
@ -179,9 +185,29 @@ void TcsBoardAssembly::handleModeReached() {
}
void TcsBoardAssembly::handleChildrenLostMode(ReturnValue_t result) {
// TODO: Maybe try a reboot once here?
triggerEvent(CHILDREN_LOST_MODE, result);
return;
startTransition(mode, submode);
}
ReturnValue_t TcsBoardAssembly::checkAndHandleHealthStates(Mode_t deviceMode,
Submode_t deviceSubmode) {
ReturnValue_t status = returnvalue::OK;
for (const auto& dev : helper.rtdInfos) {
HealthState health = healthHelper.healthTable->getHealth(dev.first);
if (health == HealthState::HEALTHY) {
return returnvalue::OK;
}
}
for (const auto& dev : helper.rtdInfos) {
HealthState health = healthHelper.healthTable->getHealth(dev.first);
if (health == FAULTY or health == PERMANENT_FAULTY) {
status = NEED_TO_CHANGE_HEALTH;
} else if (health == EXTERNAL_CONTROL) {
modeHelper.setForced(true);
}
}
return status;
}
void TcsBoardAssembly::handleModeTransitionFailed(ReturnValue_t result) {

1
mission/system/objects/TcsBoardAssembly.h
View File

@ -52,6 +52,7 @@ class TcsBoardAssembly : public AssemblyBase, public ConfirmsFailuresIF {
ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
void startTransition(Mode_t mode, Submode_t submode) override;
void handleModeReached() override;
ReturnValue_t checkAndHandleHealthStates(Mode_t deviceMode, Submode_t deviceSubmode);
// These two overrides prevent a transition of the whole assembly back to off just because
// some devices are not working

29
mission/system/tree/tcsModeTree.cpp
View File

@ -19,8 +19,8 @@ static const auto NML = DeviceHandlerIF::MODE_NORMAL;
auto TCS_SEQUENCE_OFF = std::make_pair(OFF, FixedArrayList<ModeListEntry, 3>());
auto TCS_TABLE_OFF_TGT = std::make_pair((OFF << 24) | 1, FixedArrayList<ModeListEntry, 2>());
auto TCS_TABLE_OFF_TRANS_0 = std::make_pair((OFF << 24) | 2, FixedArrayList<ModeListEntry, 7>());
auto TCS_TABLE_OFF_TRANS_1 = std::make_pair((OFF << 24) | 3, FixedArrayList<ModeListEntry, 2>());
auto TCS_TABLE_OFF_TRANS_0 = std::make_pair((OFF << 24) | 2, FixedArrayList<ModeListEntry, 2>());
auto TCS_TABLE_OFF_TRANS_1 = std::make_pair((OFF << 24) | 3, FixedArrayList<ModeListEntry, 7>());
auto TCS_SEQUENCE_NORMAL = std::make_pair(NML, FixedArrayList<ModeListEntry, 3>());
auto TCS_TABLE_NORMAL_TGT = std::make_pair((NML << 24) | 1, FixedArrayList<ModeListEntry, 2>());
@ -59,18 +59,19 @@ void buildOffSequence(Subsystem& ss, ModeListEntry& eh) {
// OFF target table is empty
check(ss.addTable(TableEntry(TCS_TABLE_OFF_TGT.first, &TCS_TABLE_OFF_TGT.second)), ctxc);
iht(objects::TCS_BOARD_ASS, OFF, 0, TCS_TABLE_OFF_TRANS_0.second);
iht(objects::TMP1075_HANDLER_TCS_0, OFF, 0, TCS_TABLE_OFF_TRANS_0.second);
iht(objects::TMP1075_HANDLER_TCS_1, OFF, 0, TCS_TABLE_OFF_TRANS_0.second);
iht(objects::TMP1075_HANDLER_PLPCDU_0, OFF, 0, TCS_TABLE_OFF_TRANS_0.second);
// damaged
// iht(objects::TMP1075_HANDLER_PLPCDU_1, OFF, 0, TCS_TABLE_OFF_TRANS_0.second);
iht(objects::TMP1075_HANDLER_IF_BOARD, OFF, 0, TCS_TABLE_OFF_TRANS_0.second);
// Transition 1
iht(objects::THERMAL_CONTROLLER, OFF, 0, TCS_TABLE_OFF_TRANS_0.second);
check(ss.addTable(TableEntry(TCS_TABLE_OFF_TRANS_0.first, &TCS_TABLE_OFF_TRANS_0.second)), ctxc);
iht(objects::THERMAL_CONTROLLER, OFF, 0, TCS_TABLE_OFF_TRANS_0.second);
iht(objects::TCS_BOARD_ASS, OFF, 0, TCS_TABLE_OFF_TRANS_1.second);
iht(objects::TMP1075_HANDLER_TCS_0, OFF, 0, TCS_TABLE_OFF_TRANS_1.second);
iht(objects::TMP1075_HANDLER_TCS_1, OFF, 0, TCS_TABLE_OFF_TRANS_1.second);
iht(objects::TMP1075_HANDLER_PLPCDU_0, OFF, 0, TCS_TABLE_OFF_TRANS_1.second);
// TMP PL PCDU 1 is damaged
iht(objects::TMP1075_HANDLER_IF_BOARD, OFF, 0, TCS_TABLE_OFF_TRANS_1.second);
check(ss.addTable(TableEntry(TCS_TABLE_OFF_TRANS_1.first, &TCS_TABLE_OFF_TRANS_1.second)), ctxc);
ihs(TCS_SEQUENCE_OFF.second, TCS_TABLE_OFF_TGT.first, 0, false);
ihs(TCS_SEQUENCE_OFF.second, TCS_TABLE_OFF_TRANS_0.first, 0, false);
ihs(TCS_SEQUENCE_OFF.second, TCS_TABLE_OFF_TRANS_1.first, 0, false);
@ -98,20 +99,20 @@ void buildNormalSequence(Subsystem& ss, ModeListEntry& eh) {
check(sequence.insert(eh), ctxc);
};
// OFF target table is empty
// Normal target table is empty
check(ss.addTable(TableEntry(TCS_TABLE_NORMAL_TGT.first, &TCS_TABLE_NORMAL_TGT.second)), ctxc);
iht(objects::TCS_BOARD_ASS, NML, 0, TCS_TABLE_NORMAL_TRANS_0.second);
iht(objects::TMP1075_HANDLER_TCS_0, NML, 0, TCS_TABLE_NORMAL_TRANS_0.second);
iht(objects::TMP1075_HANDLER_TCS_1, NML, 0, TCS_TABLE_NORMAL_TRANS_0.second);
iht(objects::TMP1075_HANDLER_PLPCDU_0, NML, 0, TCS_TABLE_NORMAL_TRANS_0.second);
// damaged
// iht(objects::TMP1075_HANDLER_PLPCDU_1, NML, 0, TCS_TABLE_NORMAL_TRANS_0.second);
// TMP PL PCDU 1 is damaged
iht(objects::TMP1075_HANDLER_IF_BOARD, NML, 0, TCS_TABLE_NORMAL_TRANS_0.second);
check(ss.addTable(TableEntry(TCS_TABLE_NORMAL_TRANS_0.first, &TCS_TABLE_NORMAL_TRANS_0.second)),
ctxc);
iht(objects::THERMAL_CONTROLLER, NML, 0, TCS_TABLE_NORMAL_TRANS_0.second);
// Transition 1
iht(objects::THERMAL_CONTROLLER, NML, 0, TCS_TABLE_NORMAL_TRANS_1.second);
check(ss.addTable(TableEntry(TCS_TABLE_NORMAL_TRANS_1.first, &TCS_TABLE_NORMAL_TRANS_1.second)),
ctxc);

2
tmtc

@ -1 +1 @@
Subproject commit af17e30676b3c4e364b6969873519951453181e2
Subproject commit d758a1f11ac4d39eda08918c124d8736da104687