eive-obsw/mission/system/acs/AcsBoardAssembly.cpp
Robin Mueller 1d82977ca2
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clean up
2023-04-04 14:29:05 +02:00

362 lines
15 KiB
C++

#include "AcsBoardAssembly.h"
#include <devices/gpioIds.h>
#include <fsfw/power/PowerSwitchIF.h>
#include <fsfw/serviceinterface.h>
#include "OBSWConfig.h"
AcsBoardAssembly::AcsBoardAssembly(object_id_t objectId, PowerSwitchIF* switcher,
AcsBoardHelper helper, GpioIF* gpioIF)
: DualLaneAssemblyBase(objectId, switcher, SWITCH_A, SWITCH_B, POWER_STATE_MACHINE_TIMEOUT,
SIDE_SWITCH_TRANSITION_NOT_ALLOWED, TRANSITION_OTHER_SIDE_FAILED),
helper(helper),
gpioIF(gpioIF) {
if (switcher == nullptr) {
sif::error << "AcsBoardAssembly::AcsBoardAssembly: Invalid Power Switcher "
"IF passed"
<< std::endl;
}
if (gpioIF == nullptr) {
sif::error << "AcsBoardAssembly::AcsBoardAssembly: Invalid GPIO IF passed" << std::endl;
}
ModeListEntry entry;
initModeTableEntry(helper.mgm0Lis3IdSideA, entry, modeTable);
initModeTableEntry(helper.mgm1Rm3100IdSideA, entry, modeTable);
initModeTableEntry(helper.mgm2Lis3IdSideB, entry, modeTable);
initModeTableEntry(helper.mgm3Rm3100IdSideB, entry, modeTable);
initModeTableEntry(helper.gyro0AdisIdSideA, entry, modeTable);
initModeTableEntry(helper.gyro1L3gIdSideA, entry, modeTable);
initModeTableEntry(helper.gyro2AdisIdSideB, entry, modeTable);
initModeTableEntry(helper.gyro3L3gIdSideB, entry, modeTable);
initModeTableEntry(helper.gpsId, entry, modeTable);
}
ReturnValue_t AcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode) {
using namespace duallane;
ReturnValue_t result = returnvalue::OK;
refreshHelperModes();
// Initialize the mode table to ensure all devices are in a defined state
modeTable[ModeTableIdx::GYRO_0_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_0_A].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::GYRO_1_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_1_A].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::GYRO_2_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_2_B].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::GYRO_3_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_3_B].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::MGM_0_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::MGM_0_A].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::MGM_1_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::MGM_1_A].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::MGM_2_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::MGM_2_B].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::MGM_3_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::MGM_3_B].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::GPS].setMode(MODE_OFF);
modeTable[ModeTableIdx::GPS].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);
}
}
HybridIterator<ModeListEntry> tableIter(modeTable.begin(), modeTable.end());
executeTable(tableIter);
return result;
}
ReturnValue_t AcsBoardAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) {
using namespace duallane;
refreshHelperModes();
if (wantedSubmode == A_SIDE) {
if ((helper.gyro0SideAMode != wantedMode and helper.gyro1SideAMode != wantedMode) or
(helper.mgm0SideAMode != wantedMode and helper.mgm1SideAMode != wantedMode) or
(helper.gpsMode != MODE_ON) or gps0HealthDevFaulty()) {
return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
}
return returnvalue::OK;
} else if (wantedSubmode == B_SIDE) {
if ((helper.gyro2SideBMode != wantedMode and helper.gyro3SideBMode != wantedMode) or
(helper.mgm2SideBMode != wantedMode and helper.mgm3SideBMode != wantedMode) or
(helper.gpsMode != MODE_ON) or gps1HealthDevFaulty()) {
return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
}
return returnvalue::OK;
} else if (wantedSubmode == DUAL_MODE) {
if ((helper.gyro0SideAMode != wantedMode and helper.gyro1SideAMode != wantedMode and
helper.gyro2AdisIdSideB != wantedMode and helper.gyro3SideBMode != wantedMode) or
(helper.mgm0SideAMode != wantedMode and helper.mgm1SideAMode != wantedMode and
helper.mgm2SideBMode != wantedMode and helper.mgm3SideBMode != wantedMode) or
helper.gpsMode != MODE_ON) {
// Trigger event, but don't start any other transitions. This is the last fallback mode.
if (dualModeErrorSwitch) {
triggerEvent(NOT_ENOUGH_DEVICES_DUAL_MODE, 0, 0);
dualModeErrorSwitch = false;
}
return returnvalue::OK;
}
return returnvalue::OK;
}
return returnvalue::OK;
}
ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode) {
using namespace duallane;
ReturnValue_t result = returnvalue::OK;
bool needsSecondStep = false;
handleSideSwitchStates(submode, needsSecondStep);
auto cmdSeq = [&](object_id_t objectId, Mode_t devMode, ModeTableIdx tableIdx) {
if (mode == devMode) {
modeTable[tableIdx].setMode(mode);
} else if (isModeCommandable(objectId, devMode)) {
modeTable[tableIdx].setMode(mode);
modeTable[tableIdx].setSubmode(SUBMODE_NONE);
}
};
bool gpsUsable = isGpsUsable(submode);
auto gpsCmd = [&](bool gnss0NReset, bool gnss1NReset, uint8_t gnssSelect) {
if (gpsUsable) {
if (mode == MODE_ON or mode == DeviceHandlerIF::MODE_NORMAL) {
modeTable[ModeTableIdx::GPS].setMode(MODE_ON);
} else if (mode == MODE_OFF) {
gnss0NReset = true;
gnss1NReset = true;
modeTable[ModeTableIdx::GPS].setMode(MODE_OFF);
}
modeTable[ModeTableIdx::GPS].setSubmode(SUBMODE_NONE);
gpioHandler(gpioIds::GNSS_0_NRESET, gnss0NReset,
"AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull nReset pin"
"of GNSS 0");
gpioHandler(gpioIds::GNSS_1_NRESET, gnss1NReset,
"AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull nReset pin"
"of GNSS 1");
gpioHandler(gpioIds::GNSS_SELECT, gnssSelect,
"AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull GNSS select");
}
};
switch (submode) {
case (A_SIDE): {
modeTable[ModeTableIdx::GYRO_2_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_2_B].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::GYRO_3_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_3_B].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::MGM_2_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::MGM_2_B].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::MGM_3_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::MGM_3_B].setSubmode(SUBMODE_NONE);
cmdSeq(helper.gyro0AdisIdSideA, helper.gyro0SideAMode, ModeTableIdx::GYRO_0_A);
cmdSeq(helper.gyro1L3gIdSideA, helper.gyro1SideAMode, ModeTableIdx::GYRO_1_A);
cmdSeq(helper.mgm0Lis3IdSideA, helper.mgm0SideAMode, ModeTableIdx::MGM_0_A);
cmdSeq(helper.mgm1Rm3100IdSideA, helper.mgm1SideAMode, ModeTableIdx::MGM_1_A);
gpsCmd(true, false, 0);
break;
}
case (B_SIDE): {
modeTable[ModeTableIdx::GYRO_0_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_0_A].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::GYRO_1_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_1_A].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::MGM_0_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::MGM_0_A].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::MGM_1_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::MGM_1_A].setSubmode(SUBMODE_NONE);
cmdSeq(helper.gyro2AdisIdSideB, helper.gyro2SideBMode, ModeTableIdx::GYRO_2_B);
cmdSeq(helper.gyro3L3gIdSideB, helper.gyro3SideBMode, ModeTableIdx::GYRO_3_B);
cmdSeq(helper.mgm2Lis3IdSideB, helper.mgm2SideBMode, ModeTableIdx::MGM_2_B);
cmdSeq(helper.mgm3Rm3100IdSideB, helper.mgm3SideBMode, ModeTableIdx::MGM_3_B);
gpsCmd(false, true, 1);
break;
}
case (DUAL_MODE): {
cmdSeq(helper.gyro0AdisIdSideA, helper.gyro0SideAMode, ModeTableIdx::GYRO_0_A);
cmdSeq(helper.gyro1L3gIdSideA, helper.gyro1SideAMode, ModeTableIdx::GYRO_1_A);
cmdSeq(helper.mgm0Lis3IdSideA, helper.mgm0SideAMode, ModeTableIdx::MGM_0_A);
cmdSeq(helper.mgm1Rm3100IdSideA, helper.mgm1SideAMode, ModeTableIdx::MGM_1_A);
cmdSeq(helper.gyro2AdisIdSideB, helper.gyro2SideBMode, ModeTableIdx::GYRO_2_B);
cmdSeq(helper.gyro3L3gIdSideB, helper.gyro3SideBMode, ModeTableIdx::GYRO_3_B);
cmdSeq(helper.mgm2Lis3IdSideB, helper.mgm2SideBMode, ModeTableIdx::MGM_2_B);
cmdSeq(helper.mgm3Rm3100IdSideB, helper.mgm3SideBMode, ModeTableIdx::MGM_3_B);
if (defaultSubmode == Submodes::A_SIDE) {
gpsCmd(true, true, 0);
} else {
gpsCmd(true, true, 1);
}
break;
}
default: {
sif::error << "AcsBoardAssembly::handleNormalModeCmd: Unknown submode" << std::endl;
}
}
if (needsSecondStep) {
result = NEED_SECOND_STEP;
}
return result;
}
void AcsBoardAssembly::selectGpsInDualMode(duallane::Submodes side) {
using namespace duallane;
if (submode != Submodes::DUAL_MODE) {
return;
}
ReturnValue_t result = returnvalue::OK;
if (side == Submodes::A_SIDE) {
result = gpioIF->pullLow(gpioIds::GNSS_SELECT);
} else {
result = gpioIF->pullHigh(gpioIds::GNSS_SELECT);
}
if (result != returnvalue::OK) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::error << "AcsBoardAssembly::switchGpsInDualMode: Switching GPS failed" << std::endl;
#endif
}
}
void AcsBoardAssembly::gpioHandler(gpioId_t gpio, bool high, std::string error) {
ReturnValue_t result = returnvalue::OK;
if (high) {
result = gpioIF->pullHigh(gpio);
} else {
result = gpioIF->pullLow(gpio);
}
if (result != returnvalue::OK) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::error << error << std::endl;
#endif
}
}
void AcsBoardAssembly::refreshHelperModes() {
try {
helper.gyro0SideAMode = childrenMap.at(helper.gyro0AdisIdSideA).mode;
helper.gyro1SideAMode = childrenMap.at(helper.gyro1L3gIdSideA).mode;
helper.gyro2SideBMode = childrenMap.at(helper.gyro2AdisIdSideB).mode;
helper.gyro3SideBMode = childrenMap.at(helper.gyro2AdisIdSideB).mode;
helper.mgm0SideAMode = childrenMap.at(helper.mgm0Lis3IdSideA).mode;
helper.mgm1SideAMode = childrenMap.at(helper.mgm1Rm3100IdSideA).mode;
helper.mgm2SideBMode = childrenMap.at(helper.mgm2Lis3IdSideB).mode;
helper.mgm3SideBMode = childrenMap.at(helper.mgm3Rm3100IdSideB).mode;
helper.gpsMode = childrenMap.at(helper.gpsId).mode;
} catch (const std::out_of_range& e) {
sif::error << "AcsBoardAssembly::refreshHelperModes: Invalid map: " << e.what() << std::endl;
}
}
ReturnValue_t AcsBoardAssembly::initialize() {
for (const auto& child : childrenMap) {
updateChildModeByObjId(child.first, MODE_OFF, 0);
}
return AssemblyBase::initialize();
}
ReturnValue_t AcsBoardAssembly::checkAndHandleHealthStates(Mode_t deviceMode,
Submode_t deviceSubmode) {
using namespace returnvalue;
ReturnValue_t status = returnvalue::OK;
auto checkAcsBoardSensorGroup = [&](object_id_t o0, object_id_t o1, object_id_t o2,
object_id_t o3) {
HealthState h0 = healthHelper.healthTable->getHealth(o0);
HealthState h1 = healthHelper.healthTable->getHealth(o1);
HealthState h2 = healthHelper.healthTable->getHealth(o2);
HealthState h3 = healthHelper.healthTable->getHealth(o3);
if ((h0 == FAULTY or h0 == PERMANENT_FAULTY) and (h1 == FAULTY or h1 == PERMANENT_FAULTY) and
(h2 == FAULTY or h2 == PERMANENT_FAULTY) and (h3 == FAULTY or h3 == PERMANENT_FAULTY)) {
overwriteDeviceHealth(o0, h0);
overwriteDeviceHealth(o1, h1);
overwriteDeviceHealth(o2, h2);
overwriteDeviceHealth(o3, h3);
}
if (h0 == EXTERNAL_CONTROL or h1 == EXTERNAL_CONTROL or h2 == EXTERNAL_CONTROL or
h3 == EXTERNAL_CONTROL) {
modeHelper.setForced(true);
}
};
if (healthHelper.healthTable->getHealth(helper.healthDevGps0) == EXTERNAL_CONTROL or
healthHelper.healthTable->getHealth(helper.healthDevGps1) == EXTERNAL_CONTROL) {
modeHelper.setForced(true);
}
if (healthHelper.healthTable->getHealth(helper.healthDevGps0) == PERMANENT_FAULTY and
healthHelper.healthTable->getHealth(helper.healthDevGps1) == FAULTY) {
overwriteDeviceHealth(helper.healthDevGps1, FAULTY);
} else if (healthHelper.healthTable->getHealth(helper.healthDevGps1) == PERMANENT_FAULTY and
healthHelper.healthTable->getHealth(helper.healthDevGps0) == FAULTY) {
overwriteDeviceHealth(helper.healthDevGps0, FAULTY);
} else if (healthHelper.healthTable->isFaulty(helper.healthDevGps0) or
healthHelper.healthTable->isFaulty(helper.healthDevGps1)) {
overwriteDeviceHealth(helper.healthDevGps0,
healthHelper.healthTable->getHealth(helper.healthDevGps0));
overwriteDeviceHealth(helper.healthDevGps1,
healthHelper.healthTable->getHealth(helper.healthDevGps1));
}
if (deviceSubmode == duallane::DUAL_MODE) {
checkAcsBoardSensorGroup(helper.mgm0Lis3IdSideA, helper.mgm1Rm3100IdSideA,
helper.mgm2Lis3IdSideB, helper.mgm3Rm3100IdSideB);
checkAcsBoardSensorGroup(helper.gyro0AdisIdSideA, helper.gyro1L3gIdSideA,
helper.gyro2AdisIdSideB, helper.gyro3L3gIdSideB);
}
return status;
}
void AcsBoardAssembly::handleChildrenLostMode(ReturnValue_t result) {
using namespace duallane;
// Special handling to account for GPS devices being faulty. If the GPS device on the other
// side is marked faulty, directly to to dual side.
if (submode == Submodes::A_SIDE) {
if (gps0HealthDevFaulty()) {
triggerEvent(DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY, submode, 0);
startTransition(mode, Submodes::DUAL_MODE);
return;
}
} else if (submode == Submodes::B_SIDE) {
if (gps1HealthDevFaulty()) {
triggerEvent(DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY, submode, 0);
startTransition(mode, Submodes::DUAL_MODE);
return;
}
}
DualLaneAssemblyBase::handleChildrenLostMode(result);
}
bool AcsBoardAssembly::gps0HealthDevFaulty() const {
auto health = healthHelper.healthTable->getHealth(helper.healthDevGps0);
if (health == FAULTY or health == PERMANENT_FAULTY) {
return true;
}
return false;
}
bool AcsBoardAssembly::gps1HealthDevFaulty() const {
auto health = healthHelper.healthTable->getHealth(helper.healthDevGps1);
if (health == FAULTY or health == PERMANENT_FAULTY) {
return true;
}
return false;
}
bool AcsBoardAssembly::isGpsUsable(uint8_t targetSubmode) const {
if (targetSubmode == duallane::A_SIDE and
healthHelper.healthTable->isFaulty(helper.healthDevGps0)) {
// Causes a OFF command to be sent, which triggers a side switch or a switch to dual side.
return false;
}
if (targetSubmode == duallane::B_SIDE and
healthHelper.healthTable->isFaulty(helper.healthDevGps1)) {
// Causes a OFF command to be sent, which triggers a side switch or a switch to dual side.
return false;
}
auto gpsIter = childrenMap.find(helper.gpsId);
// Check if device is already in target mode
if (gpsIter != childrenMap.end() and gpsIter->second.mode == mode) {
return true;
}
return true;
}