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refactor power code #470

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muellerr merged 10 commits from refactoring_bugfixes_power_switching into develop 2023-03-17 16:53:51 +01:00
Conversation 0 Commits 10 Files Changed 11 +39 -33
7 changed files with 39 additions and 33 deletions
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2
CHANGELOG.md
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@ -32,6 +32,8 @@ will consitute of a breaking change warranting a new major release:
`returnvalue::FAILED` in switch state getter.
- Wait 1 second before commanding SAFE mode. This ensures or at least increases the chance that
the switch states were initialized.
- Dual Lane Assemblies: The returnvalues of the dual lane power state machine FSM are not ignored
anymore.
# [v1.37.0] 2023-03-11

2
bsp_q7s/core/ObjectFactory.cpp
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@ -203,7 +203,7 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
auto acuFdir = new GomspacePowerFdir(objects::ACU_HANDLER);
ACUHandler* acuhandler =
new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie, acuFdir);
auto pcduHandler = new PCDUHandler(objects::PCDU_HANDLER, 50);
auto pcduHandler = new PcduHandler(objects::PCDU_HANDLER, 50);
/**
* Setting PCDU devices to mode normal immediately after start up because PCDU is always

2
fsfw

@ -1 +1 @@
Subproject commit 9a8d775eb1a8788ad844215bf2a42d9f707767c0
Subproject commit 0b0a0299bc044e67413d8912ceb76a779d76ee4e

4
mission/devices/CMakeLists.txt
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@ -5,8 +5,8 @@ target_sources(
Tmp1075Handler.cpp
PcduHandler.cpp
P60DockHandler.cpp
PDU1Handler.cpp
PDU2Handler.cpp
Pdu1Handler.cpp
Pdu2Handler.cpp
ACUHandler.cpp
SyrlinksHandler.cpp
Max31865PT1000Handler.cpp

50
mission/devices/PcduHandler.cpp
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@ -7,7 +7,7 @@
#include <mission/devices/PcduHandler.h>
#include <mission/devices/devicedefinitions/GomSpacePackets.h>
PCDUHandler::PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize)
PcduHandler::PcduHandler(object_id_t setObjectId, size_t cmdQueueSize)
: SystemObject(setObjectId),
poolManager(this, nullptr),
p60CoreHk(objects::P60DOCK_HANDLER),
@ -22,9 +22,9 @@ PCDUHandler::PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize)
std::memset(switchStates, SWITCH_STATE_UNKNOWN, sizeof(switchStates));
}
PCDUHandler::~PCDUHandler() {}
PcduHandler::~PcduHandler() {}
ReturnValue_t PCDUHandler::performOperation(uint8_t counter) {
ReturnValue_t PcduHandler::performOperation(uint8_t counter) {
if (counter == DeviceHandlerIF::PERFORM_OPERATION) {
readCommandQueue();
}
@ -52,7 +52,7 @@ ReturnValue_t PCDUHandler::performOperation(uint8_t counter) {
return returnvalue::OK;
}
ReturnValue_t PCDUHandler::initialize() {
ReturnValue_t PcduHandler::initialize() {
ReturnValue_t result;
IPCStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
@ -100,7 +100,7 @@ ReturnValue_t PCDUHandler::initialize() {
return returnvalue::OK;
}
void PCDUHandler::initializeSwitchStates() {
void PcduHandler::initializeSwitchStates() {
using namespace pcdu;
try {
for (uint8_t idx = 0; idx < NUMBER_OF_SWITCHES; idx++) {
@ -117,7 +117,7 @@ void PCDUHandler::initializeSwitchStates() {
}
}
void PCDUHandler::readCommandQueue() {
void PcduHandler::readCommandQueue() {
ReturnValue_t result = returnvalue::OK;
CommandMessage command;
@ -130,9 +130,9 @@ void PCDUHandler::readCommandQueue() {
}
}
MessageQueueId_t PCDUHandler::getCommandQueue() const { return commandQueue->getId(); }
MessageQueueId_t PcduHandler::getCommandQueue() const { return commandQueue->getId(); }
void PCDUHandler::handleChangedDataset(sid_t sid, store_address_t storeId, bool* clearMessage) {
void PcduHandler::handleChangedDataset(sid_t sid, store_address_t storeId, bool* clearMessage) {
if (sid == sid_t(objects::PDU2_HANDLER, static_cast<uint32_t>(P60System::SetIds::CORE))) {
updateHkTableDataset(storeId, &pdu2CoreHk, &timeStampPdu2HkDataset);
updatePdu2SwitchStates();
@ -144,7 +144,7 @@ void PCDUHandler::handleChangedDataset(sid_t sid, store_address_t storeId, bool*
}
}
void PCDUHandler::updateHkTableDataset(store_address_t storeId, LocalPoolDataSetBase* dataset,
void PcduHandler::updateHkTableDataset(store_address_t storeId, LocalPoolDataSetBase* dataset,
CCSDSTime::CDS_short* datasetTimeStamp) {
ReturnValue_t result;
@ -170,7 +170,7 @@ void PCDUHandler::updateHkTableDataset(store_address_t storeId, LocalPoolDataSet
}
}
void PCDUHandler::updatePdu2SwitchStates() {
void PcduHandler::updatePdu2SwitchStates() {
using namespace pcdu;
using namespace PDU2;
GOMSPACE::Pdu pdu = GOMSPACE::Pdu::PDU2;
@ -207,7 +207,7 @@ void PCDUHandler::updatePdu2SwitchStates() {
}
}
void PCDUHandler::updatePdu1SwitchStates() {
void PcduHandler::updatePdu1SwitchStates() {
using namespace pcdu;
using namespace PDU1;
PoolReadGuard rg0(&switcherSet);
@ -244,9 +244,9 @@ void PCDUHandler::updatePdu1SwitchStates() {
}
}
LocalDataPoolManager* PCDUHandler::getHkManagerHandle() { return &poolManager; }
LocalDataPoolManager* PcduHandler::getHkManagerHandle() { return &poolManager; }
ReturnValue_t PCDUHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) {
ReturnValue_t PcduHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) {
using namespace pcdu;
ReturnValue_t result;
uint16_t memoryAddress = 0;
@ -396,9 +396,9 @@ ReturnValue_t PCDUHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onO
return result;
}
ReturnValue_t PCDUHandler::sendFuseOnCommand(uint8_t fuseNr) { return returnvalue::OK; }
ReturnValue_t PcduHandler::sendFuseOnCommand(uint8_t fuseNr) { return returnvalue::OK; }
ReturnValue_t PCDUHandler::getSwitchState(uint8_t switchNr) const {
ReturnValue_t PcduHandler::getSwitchState(uint8_t switchNr) const {
if (switchNr >= pcdu::NUMBER_OF_SWITCHES) {
sif::debug << "PCDUHandler::getSwitchState: Invalid switch number" << std::endl;
return returnvalue::FAILED;
@ -409,7 +409,7 @@ ReturnValue_t PCDUHandler::getSwitchState(uint8_t switchNr) const {
currentState = switchStates[switchNr];
}
if (currentState == SWITCH_STATE_UNKNOWN) {
return returnvalue::FAILED;
return PowerSwitchIF::SWITCH_UNKNOWN;
}
if (currentState == 1) {
return PowerSwitchIF::SWITCH_ON;
@ -418,13 +418,13 @@ ReturnValue_t PCDUHandler::getSwitchState(uint8_t switchNr) const {
}
}
ReturnValue_t PCDUHandler::getFuseState(uint8_t fuseNr) const { return returnvalue::OK; }
ReturnValue_t PcduHandler::getFuseState(uint8_t fuseNr) const { return returnvalue::OK; }
uint32_t PCDUHandler::getSwitchDelayMs(void) const { return 20000; }
uint32_t PcduHandler::getSwitchDelayMs(void) const { return 20000; }
object_id_t PCDUHandler::getObjectId() const { return SystemObject::getObjectId(); }
object_id_t PcduHandler::getObjectId() const { return SystemObject::getObjectId(); }
ReturnValue_t PCDUHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
ReturnValue_t PcduHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
using namespace pcdu;
localDataPoolMap.emplace(PoolIds::PDU1_SWITCHES, &pdu1Switches);
@ -435,7 +435,7 @@ ReturnValue_t PCDUHandler::initializeLocalDataPool(localpool::DataPool& localDat
return returnvalue::OK;
}
ReturnValue_t PCDUHandler::initializeAfterTaskCreation() {
ReturnValue_t PcduHandler::initializeAfterTaskCreation() {
if (executingTask != nullptr) {
pstIntervalMs = executingTask->getPeriodMs();
}
@ -446,11 +446,11 @@ ReturnValue_t PCDUHandler::initializeAfterTaskCreation() {
return returnvalue::OK;
}
uint32_t PCDUHandler::getPeriodicOperationFrequency() const { return pstIntervalMs; }
uint32_t PcduHandler::getPeriodicOperationFrequency() const { return pstIntervalMs; }
void PCDUHandler::setTaskIF(PeriodicTaskIF* task) { executingTask = task; }
void PcduHandler::setTaskIF(PeriodicTaskIF* task) { executingTask = task; }
LocalPoolDataSetBase* PCDUHandler::getDataSetHandle(sid_t sid) {
LocalPoolDataSetBase* PcduHandler::getDataSetHandle(sid_t sid) {
if (sid == switcherSet.getSid()) {
return &switcherSet;
} else {
@ -459,7 +459,7 @@ LocalPoolDataSetBase* PCDUHandler::getDataSetHandle(sid_t sid) {
}
}
void PCDUHandler::checkAndUpdatePduSwitch(GOMSPACE::Pdu pdu, pcdu::Switches switchIdx,
void PcduHandler::checkAndUpdatePduSwitch(GOMSPACE::Pdu pdu, pcdu::Switches switchIdx,
uint8_t setValue) {
using namespace pcdu;
if (switchStates[switchIdx] != setValue) {

6
mission/devices/PcduHandler.h
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@ -20,13 +20,13 @@
* This is necessary because the FSFW manages all power related functionalities via one
* power object. This includes for example switching on and off of devices.
*/
class PCDUHandler : public PowerSwitchIF,
class PcduHandler : public PowerSwitchIF,
public HasLocalDataPoolIF,
public SystemObject,
public ExecutableObjectIF {
public:
PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize = 20);
virtual ~PCDUHandler();
PcduHandler(object_id_t setObjectId, size_t cmdQueueSize = 20);
virtual ~PcduHandler();
virtual ReturnValue_t initialize() override;
virtual ReturnValue_t performOperation(uint8_t counter) override;

6
mission/system/objects/DualLaneAssemblyBase.cpp
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@ -19,7 +19,10 @@ DualLaneAssemblyBase::DualLaneAssemblyBase(object_id_t objectId, PowerSwitchIF*
void DualLaneAssemblyBase::performChildOperation() {
using namespace duallane;
if (pwrStateMachine.active()) {
pwrStateMachineWrapper();
ReturnValue_t result = pwrStateMachineWrapper();
if (result != returnvalue::OK) {
handleModeTransitionFailed(result);
}
}
// Only perform the regular child operation if the power state machine is not active.
// It does not make any sense to command device modes while the power switcher is busy
@ -112,6 +115,7 @@ void DualLaneAssemblyBase::handleModeReached() {
pwrStateMachine.start(targetMode, targetSubmode);
// Now we can switch off the power. After that, the AssemblyBase::handleModeReached function
// will be called
// Ignore failures for now.
pwrStateMachineWrapper();
} else {
finishModeOp();