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eive-obsw/mission/devices/P60DockHandler.cpp

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#include "P60DockHandler.h"
#include <fsfw/datapool/PoolReadGuard.h>
#include "OBSWConfig.h"
P60DockHandler::P60DockHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie)
: GomspaceDeviceHandler(objectId, comIF, comCookie, P60Dock::MAX_CONFIGTABLE_ADDRESS,
P60Dock::MAX_HKTABLE_ADDRESS, P60Dock::HK_TABLE_REPLY_SIZE),
coreHk(this),
auxHk(this) {}
P60DockHandler::~P60DockHandler() {}
ReturnValue_t P60DockHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
*id = GOMSPACE::REQUEST_HK_TABLE;
return buildCommandFromCommand(*id, NULL, 0);
}
void P60DockHandler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) {
parseHkTableReply(packet);
/**
* Hk table will be sent to the commander if hk table request was not triggered by the
* P60DockHandler itself.
*/
handleDeviceTM(&coreHk, id, true);
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_P60DOCK == 1
p60dockHkTableDataset.read();
sif::info << "P60 Dock: ACU VCC switch: "
<< static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateAcuVcc.value)
<< std::endl;
sif::info << "P60 Dock: PDU1 VCC switch: "
<< static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStatePdu1Vcc.value)
<< std::endl;
sif::info << "P60 Dock: PDU2 VCC switch: "
<< static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStatePdu2Vcc.value)
<< std::endl;
sif::info << "P60 Dock: ACU VBAT switch: "
<< static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateAcuVbat.value)
<< std::endl;
sif::info << "P60 Dock: PDU1 VBAT switch: "
<< static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStatePdu1Vbat.value)
<< std::endl;
sif::info << "P60 Dock: PDU2 VBAT switch: "
<< static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStatePdu2Vbat.value)
<< std::endl;
sif::info << "P60 Dock: Stack VBAT switch: "
<< static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateStackVbat.value)
<< std::endl;
sif::info << "P60 Dock: Stack 3V3 switch: "
<< static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateStack3V3.value)
<< std::endl;
sif::info << "P60 Dock: Stack 5V switch: "
<< static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateStack5V.value)
<< std::endl;
float temperatureC = p60dockHkTableDataset.temperature1.value * 0.1;
sif::info << "P60 Dock: Temperature 1: " << temperatureC << " °C" << std::endl;
temperatureC = p60dockHkTableDataset.temperature2.value * 0.1;
sif::info << "P60 Dock: Temperature 2: " << temperatureC << " °C" << std::endl;
sif::info << "P60 Dock: Watchdog Timer seconds left before reboot: "
<< p60dockHkTableDataset.wdtGndLeft << " seconds" << std::endl;
sif::info << "P60 Dock: CSP 1, pings left before reboot: "
<< (int)p60dockHkTableDataset.wdtCspLeft1.value << std::endl;
sif::info << "P60 Dock: CSP 2, pings left before reboot: "
<< (int)p60dockHkTableDataset.wdtCspLeft1.value << std::endl;
p60dockHkTableDataset.commit();
#endif
}
void P60DockHandler::parseHkTableReply(const uint8_t *packet) {
using namespace P60Dock;
uint16_t dataOffset = 0;
PoolReadGuard pg0(&coreHk);
PoolReadGuard pg1(&auxHk);
if (pg0.getReadResult() != HasReturnvaluesIF::RETURN_OK or
pg1.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
coreHk.setValidity(false, true);
auxHk.setValidity(false, true);
return;
}
/**
* Fist 10 bytes contain the gomspace header. Each variable is preceded by the 16-bit table
* address.
*/
dataOffset += 12;
for (uint8_t idx = 0; idx < hk::CHNLS_LEN; idx++) {
coreHk.currents[idx] = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
dataOffset += 4;
}
for (uint8_t idx = 0; idx < hk::CHNLS_LEN; idx++) {
coreHk.voltages[idx] = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
dataOffset += 4;
}
for (uint8_t idx = 0; idx < hk::CHNLS_LEN; idx++) {
coreHk.outputEnables[idx] = *(packet + dataOffset);
dataOffset += 3;
}
coreHk.temperature1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
dataOffset += 4;
coreHk.temperature2 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
dataOffset += 4;
auxHk.bootcause = *(packet + dataOffset) << 24 |
*(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 |
*(packet + dataOffset + 3);
dataOffset += 6;
coreHk.bootCount = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
*(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
if (firstHk) {
triggerEvent(P60_BOOT_COUNT, coreHk.bootCount.value);
}
dataOffset += 6;
auxHk.uptime = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
*(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
dataOffset += 6;
auxHk.resetcause = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
dataOffset += 4;
uint8_t newBattMode = packet[dataOffset];
if (firstHk) {
triggerEvent(BATT_MODE, newBattMode);
} else if (newBattMode != coreHk.battMode.value) {
triggerEvent(BATT_MODE_CHANGED, coreHk.battMode.value, newBattMode);
}
coreHk.battMode = newBattMode;
dataOffset += 3;
auxHk.heaterOn = *(packet + dataOffset);
/* + 13 because here begins a new gomspace csp data field */
dataOffset += 13;
auxHk.converter5VStatus = *(packet + dataOffset);
dataOffset += 3;
for (uint8_t idx = 0; idx < hk::CHNLS_LEN; idx++) {
auxHk.latchups[idx] = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
dataOffset += 4;
}
auxHk.dockVbatVoltageValue = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
dataOffset += 4;
auxHk.dockVccCurrent = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
dataOffset += 4;
coreHk.batteryCurrent = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
dataOffset += 4;
coreHk.batteryVoltage = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
dataOffset += 4;
auxHk.batteryTemperature1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
dataOffset += 4;
auxHk.batteryTemperature2 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
dataOffset += 4;
for (uint8_t idx = 0; idx < NUM_DEVS; idx++) {
auxHk.devicesType[idx] = *(packet + dataOffset);
dataOffset += 3;
}
for (uint8_t idx = 0; idx < NUM_DEVS; idx++) {
auxHk.devicesStatus[idx] = *(packet + dataOffset);
dataOffset += 3;
}
auxHk.dearmStatus = *(packet + dataOffset);
dataOffset += 3;
auxHk.wdtCntGnd = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
*(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
dataOffset += 6;
auxHk.wdtCntI2c = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
*(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
dataOffset += 6;
auxHk.wdtCntCan = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
*(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
dataOffset += 6;
auxHk.wdtCntCsp1 = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
*(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
dataOffset += 6;
auxHk.wdtCntCsp2 = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
*(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
dataOffset += 6;
auxHk.wdtGndLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
*(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
dataOffset += 6;
auxHk.wdtI2cLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
*(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
dataOffset += 6;
auxHk.wdtCanLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
*(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
/* +16 because here begins a new gomspace csp packet */
dataOffset += 16;
auxHk.wdtCspLeft1 = *(packet + dataOffset);
dataOffset += 3;
auxHk.wdtCspLeft2 = *(packet + dataOffset);
dataOffset += 3;
auxHk.batteryChargeCurrent = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
dataOffset += 4;
auxHk.batteryDischargeCurrent = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
dataOffset += 4;
auxHk.ant6Depl = *(packet + dataOffset);
dataOffset += 3;
auxHk.ar6Depl = *(packet + dataOffset);
if (firstHk) {
firstHk = false;
}
coreHk.setValidity(true, true);
auxHk.setValidity(true, true);
}
ReturnValue_t P60DockHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
using namespace P60System;
localDataPoolMap.emplace(pool::P60_CURRENTS, &hkCurrents);
localDataPoolMap.emplace(pool::P60_VOLTAGES, &hkVoltages);
localDataPoolMap.emplace(pool::P60_OUTPUT_ENABLE, &outputEnables);
localDataPoolMap.emplace(pool::P60DOCK_TEMPERATURE_1, new PoolEntry<int16_t>({0}));
localDataPoolMap.emplace(pool::P60DOCK_TEMPERATURE_2, new PoolEntry<int16_t>({0}));
localDataPoolMap.emplace(pool::P60DOCK_BOOT_CAUSE, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(pool::P60DOCK_BOOT_CNT, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(pool::P60DOCK_UPTIME, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(pool::P60DOCK_RESETCAUSE, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(pool::P60DOCK_BATT_MODE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(pool::P60DOCK_HEATER_ON, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(pool::P60DOCK_CONV_5V_ENABLE_STATUS, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(pool::LATCHUPS, &latchups);
localDataPoolMap.emplace(pool::P60DOCK_DOCK_VBAT, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(pool::P60DOCK_DOCK_VCC_CURRENT, new PoolEntry<int16_t>({0}));
localDataPoolMap.emplace(pool::P60DOCK_BATTERY_CURRENT, new PoolEntry<int16_t>({0}));
localDataPoolMap.emplace(pool::P60DOCK_BATTERY_VOLTAGE, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(pool::P60DOCK_BATTERY_TEMPERATURE_1, new PoolEntry<int16_t>({0}));
localDataPoolMap.emplace(pool::P60DOCK_BATTERY_TEMPERATURE_2, new PoolEntry<int16_t>({0}));
localDataPoolMap.emplace(pool::DEVICES_TYPE, &devicesType);
localDataPoolMap.emplace(pool::DEVICES_STATUS, &devicesStatus);
localDataPoolMap.emplace(pool::P60DOCK_DEARM_STATUS, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(pool::P60DOCK_WDT_CNT_GND, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(pool::P60DOCK_WDT_CNT_I2C, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(pool::P60DOCK_WDT_CNT_CAN, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(pool::P60DOCK_WDT_CNT_CSP_1, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(pool::P60DOCK_WDT_CNT_CSP_2, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(pool::P60DOCK_WDT_GND_LEFT, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(pool::P60DOCK_WDT_I2C_LEFT, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(pool::P60DOCK_WDT_CAN_LEFT, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(pool::P60DOCK_WDT_CSP_LEFT_1, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(pool::P60DOCK_WDT_CSP_LEFT_2, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(pool::P60DOCK_BATT_CHARGE_CURRENT, new PoolEntry<int16_t>({0}));
localDataPoolMap.emplace(pool::P60DOCK_BATT_DISCHARGE_CURRENT, new PoolEntry<int16_t>({0}));
localDataPoolMap.emplace(pool::P60DOCK_ANT6_DEPL, new PoolEntry<int8_t>({0}));
localDataPoolMap.emplace(pool::P60DOCK_AR6_DEPL, new PoolEntry<int8_t>({0}));
poolManager.subscribeForPeriodicPacket(coreHk.getSid(), false, 10.0, false);
poolManager.subscribeForPeriodicPacket(auxHk.getSid(), false, 30.0, false);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t P60DockHandler::printStatus(DeviceCommandId_t cmd) {
ReturnValue_t result = RETURN_OK;
switch (cmd) {
case (GOMSPACE::PRINT_SWITCH_V_I): {
PoolReadGuard pg0(&coreHk);
PoolReadGuard pg1(&auxHk);
if (pg0.getReadResult() != HasReturnvaluesIF::RETURN_OK or
pg1.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
break;
}
printHkTableSwitchIV();
return HasReturnvaluesIF::RETURN_OK;
}
case (GOMSPACE::PRINT_LATCHUPS): {
PoolReadGuard pg(&auxHk);
result = pg.getReadResult();
printHkTableLatchups();
if (result != HasReturnvaluesIF::RETURN_OK) {
break;
}
return HasReturnvaluesIF::RETURN_OK;
}
default: {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
sif::warning << "Reading P60 Dock HK table failed" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
void P60DockHandler::printHkTableSwitchIV() {
using namespace P60Dock;
sif::info << "P60 Dock Info:" << std::endl;
sif::info << "Boot Cause: " << auxHk.bootcause << " | Boot Count: " << std::setw(4) << std::right
<< coreHk.bootCount << std::endl;
sif::info << "Reset Cause: " << auxHk.resetcause
<< " | Battery Mode: " << static_cast<int>(coreHk.battMode.value) << std::endl;
sif::info << "SwitchState, Currents [mA], Voltages [mV]:" << std::endl;
sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << "Dock VBAT VCC" << std::dec
<< "| -, " << std::setw(4) << std::right << auxHk.dockVccCurrent << ", " << std::setw(5)
<< auxHk.dockVbatVoltageValue << std::endl;
sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << "BATT" << std::dec << "| -, "
<< std::setw(4) << std::right << coreHk.batteryCurrent.value << ", " << std::setw(5)
<< coreHk.batteryVoltage.value << std::endl;
auto genericPrintoutHandler = [&](std::string name, uint8_t idx) {
sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << name << std::dec << "| "
<< unsigned(coreHk.outputEnables[idx]) << ", " << std::setw(4) << std::right
<< coreHk.currents[idx] << ", " << std::setw(5) << coreHk.voltages[idx] << std::endl;
};
genericPrintoutHandler("ACU VCC", hk::ACU_VCC);
genericPrintoutHandler("ACU VBAT", hk::ACU_VBAT);
genericPrintoutHandler("PDU1 VCC", hk::PDU1_VCC);
genericPrintoutHandler("PDU1 VBAT", hk::PDU1_VBAT);
genericPrintoutHandler("PDU2 VCC", hk::PDU2_VCC);
genericPrintoutHandler("PDU2 VBAT", hk::PDU2_VBAT);
genericPrintoutHandler("Stack VBAT", hk::STACK_VBAT);
genericPrintoutHandler("Stack 3V3", hk::STACK_3V3);
genericPrintoutHandler("Stack 5V", hk::STACK_5V);
}
LocalPoolDataSetBase *P60DockHandler::getDataSetHandle(sid_t sid) {
if (sid == coreHk.getSid()) {
return &coreHk;
} else if (sid == auxHk.getSid()) {
return &auxHk;
}
return nullptr;
}
void P60DockHandler::printHkTableLatchups() {
using namespace P60Dock;
sif::info << "P60 Latchup Information" << std::endl;
auto genericPrintoutHandler = [&](std::string name, uint8_t idx) {
sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << name << std::dec << "| "
<< std::setw(4) << std::right << auxHk.latchups[idx] << std::endl;
};
genericPrintoutHandler("ACU VCC", hk::ACU_VCC);
genericPrintoutHandler("ACU VBAT", hk::ACU_VBAT);
genericPrintoutHandler("PDU1 VCC", hk::PDU1_VCC);
genericPrintoutHandler("PDU1 VBAT", hk::PDU1_VBAT);
genericPrintoutHandler("PDU2 VCC", hk::PDU2_VCC);
genericPrintoutHandler("PDU2 VBAT", hk::PDU2_VBAT);
genericPrintoutHandler("STACK VBAT", hk::STACK_VBAT);
genericPrintoutHandler("STACK 3V3", hk::STACK_3V3);
genericPrintoutHandler("STACK 5V", hk::STACK_5V);
genericPrintoutHandler("GS 3V3", hk::GS3V3);
genericPrintoutHandler("GS 5V", hk::GS5V);
genericPrintoutHandler("X3 VBAT", hk::X3_IDLE_VBAT);
genericPrintoutHandler("X3 VCC", hk::X3_IDLE_VCC);
}
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