eive-obsw/mission/power/PcduHandler.h
Robin Mueller 0ae8b4e85e
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stupid PCDU
2024-01-01 17:19:07 +01:00

145 lines
5.5 KiB
C++

#ifndef MISSION_POWER_PCDUHANDLER_H_
#define MISSION_POWER_PCDUHANDLER_H_
#include <devices/powerSwitcherList.h>
#include <fsfw/datapool/PoolEntry.h>
#include <fsfw/datapoollocal/HasLocalDataPoolIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/power/PowerSwitchIF.h>
#include <fsfw/tasks/ExecutableObjectIF.h>
#include <fsfw/timemanager/CCSDSTime.h>
#include <mission/power/GomspaceDeviceHandler.h>
#include <mission/power/defs.h>
#include <mission/power/gsDefs.h>
/**
* @brief The PCDUHandler provides a compact interface to handle all devices related to the
* control of power.
* @details
* 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,
public HasLocalDataPoolIF,
public SystemObject,
public ExecutableObjectIF {
public:
PcduHandler(object_id_t setObjectId, size_t cmdQueueSize = 20);
virtual ~PcduHandler();
virtual ReturnValue_t initialize() override;
virtual ReturnValue_t performOperation(uint8_t counter) override;
virtual void handleChangedDataset(sid_t sid, store_address_t storeId = store_address_t::invalid(),
bool* clearMessage = nullptr) override;
virtual ReturnValue_t sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) override;
virtual ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) override;
/**
* @param switchNr
* @return returnvalue::FAILED if the switch state has not been updated yet.
*/
ReturnValue_t getSwitchState(uint8_t switchNr) const override;
virtual ReturnValue_t getFuseState(uint8_t fuseNr) const override;
virtual uint32_t getSwitchDelayMs(void) const override;
virtual object_id_t getObjectId() const override;
virtual LocalDataPoolManager* getHkManagerHandle() override;
virtual MessageQueueId_t getCommandQueue() const override;
virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
virtual uint32_t getPeriodicOperationFrequency() const override;
virtual ReturnValue_t initializeAfterTaskCreation() override;
virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
virtual void setTaskIF(PeriodicTaskIF* task_);
private:
uint32_t pstIntervalMs = 0;
MutexIF* pwrLock = nullptr;
static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING;
static constexpr uint32_t LOCK_TIMEOUT = 20;
static constexpr char LOCK_CTX[] = "PcduHandler";
/** Housekeeping manager. Handles updates of local pool variables. */
LocalDataPoolManager poolManager;
P60Dock::CoreHkSet p60CoreHk;
/** Hk table dataset of PDU1 */
PDU1::Pdu1CoreHk pdu1CoreHk;
/**
* The dataset holding the hk table of PDU2. This dataset is a copy of the PDU2 HK dataset
* of the PDU2Handler. Each time the PDU2Handler updates his HK dataset, a copy is sent
* to this object via a HousekeepingMessage.
*/
PDU2::Pdu2CoreHk pdu2CoreHk;
pcdu::SwitcherStates switcherSet;
PoolEntry<uint8_t> pdu1Switches =
PoolEntry<uint8_t>(pcdu::INIT_SWITCHES_PDU1.data(), pcdu::INIT_SWITCHES_PDU1.size());
PoolEntry<uint8_t> pdu2Switches =
PoolEntry<uint8_t>(pcdu::INIT_SWITCHES_PDU2.data(), pcdu::INIT_SWITCHES_PDU2.size());
PoolEntry<uint8_t> p60Dock5VSwitch = PoolEntry<uint8_t>();
PoolEntry<uint8_t> p60Dock3V3Switch = PoolEntry<uint8_t>();
/** The timeStamp of the current pdu2HkTableDataset */
CCSDSTime::CDS_short timeStampPdu2HkDataset;
/** The timeStamp of the current pdu1HkTableDataset */
CCSDSTime::CDS_short timeStampPdu1HkDataset;
uint8_t SWITCH_STATE_UNKNOWN = 2;
uint8_t switchStates[power::NUMBER_OF_SWITCHES];
/**
* Pointer to the IPCStore.
* This caches the pointer received from the objectManager in the constructor.
*/
StorageManagerIF* ipcStore = nullptr;
/**
* Message queue to communicate with other objetcs. Used for example to receive
* local pool messages from ACU, PDU1 and PDU2.
*/
MessageQueueIF* commandQueue = nullptr;
size_t cmdQueueSize;
bool firstSwitchInfoPdu1 = true;
bool firstSwitchInfoPdu2 = true;
PeriodicTaskIF* executingTask = nullptr;
void readCommandQueue();
/**
* @brief This function sets all switchStates to the initial switch configuration of the
* two PDUs after reboot.
*/
void initializeSwitchStates();
/**
* @brief Updates all switchStates related to the PDU2.
* Function is called each time a new hk dataset has been received from the PDU2Handler.
*/
void updatePdu2SwitchStates();
/**
* @brief Updates all switchStates related to the PDU1. Called each time the PDU1Handler
* sends a new hk dataset.
*/
void updatePdu1SwitchStates();
/**
* @brief In case of an update snapshot message this function handles the update of the
* local dataset.
* @param storeId Storage id of updated dataset.
* @param dataset Pointer to the local dataset.
* @param datasetTimeStamp Pointer to a variable which will hold the timestamp of the updated
* dataset.
*/
void updateHkTableDataset(store_address_t storeId, LocalPoolDataSetBase* dataset,
CCSDSTime::CDS_short* datasetTimeStamp);
void checkAndUpdatePduSwitch(GOMSPACE::Pdu pdu, power::Switches switchIdx, uint8_t setValue);
};
#endif /* MISSION_POWER_PCDUHANDLER_H_ */