Robin Mueller
557162fe8c
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137 lines
5.2 KiB
C++
137 lines
5.2 KiB
C++
#ifndef MISSION_DEVICES_PCDUHANDLER_H_
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#define MISSION_DEVICES_PCDUHANDLER_H_
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#include <devices/powerSwitcherList.h>
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#include <fsfw/datapool/PoolEntry.h>
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#include <fsfw/datapoollocal/HasLocalDataPoolIF.h>
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#include <fsfw/objectmanager/SystemObject.h>
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#include <fsfw/power/PowerSwitchIF.h>
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#include <fsfw/tasks/ExecutableObjectIF.h>
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#include <fsfw/timemanager/CCSDSTime.h>
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#include <mission/devices/GomspaceDeviceHandler.h>
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#include "devicedefinitions/GomspaceDefinitions.h"
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#include "devicedefinitions/powerDefinitions.h"
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/**
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* @brief The PCDUHandler provides a compact interface to handle all devices related to the
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* control of power.
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* @details
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* This is necessary because the FSFW manages all power related functionalities via one
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* power object. This includes for example switching on and off of devices.
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*/
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class PCDUHandler : public PowerSwitchIF,
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public HasLocalDataPoolIF,
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public SystemObject,
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public ExecutableObjectIF {
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public:
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PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize = 20);
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virtual ~PCDUHandler();
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virtual ReturnValue_t initialize() override;
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virtual ReturnValue_t performOperation(uint8_t counter) override;
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virtual void handleChangedDataset(sid_t sid, store_address_t storeId = store_address_t::invalid(),
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bool* clearMessage = nullptr) override;
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virtual ReturnValue_t sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) override;
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virtual ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) override;
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virtual ReturnValue_t getSwitchState(uint8_t switchNr) const override;
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virtual ReturnValue_t getFuseState(uint8_t fuseNr) const override;
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virtual uint32_t getSwitchDelayMs(void) const override;
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virtual object_id_t getObjectId() const override;
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virtual LocalDataPoolManager* getHkManagerHandle() override;
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virtual MessageQueueId_t getCommandQueue() const override;
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virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
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LocalDataPoolManager& poolManager) override;
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virtual uint32_t getPeriodicOperationFrequency() const override;
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virtual ReturnValue_t initializeAfterTaskCreation() override;
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virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
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virtual void setTaskIF(PeriodicTaskIF* task_);
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private:
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uint32_t pstIntervalMs = 0;
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MutexIF* pwrMutex = nullptr;
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/** Housekeeping manager. Handles updates of local pool variables. */
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LocalDataPoolManager poolManager;
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P60Dock::CoreHkSet p60CoreHk;
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/** Hk table dataset of PDU1 */
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PDU1::Pdu1CoreHk pdu1CoreHk;
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/**
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* The dataset holding the hk table of PDU2. This dataset is a copy of the PDU2 HK dataset
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* of the PDU2Handler. Each time the PDU2Handler updates his HK dataset, a copy is sent
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* to this object via a HousekeepingMessage.
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*/
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PDU2::Pdu2CoreHk pdu2CoreHk;
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pcdu::SwitcherStates switcherSet;
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PoolEntry<uint8_t> pdu1Switches =
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PoolEntry<uint8_t>(pcdu::INIT_SWITCHES_PDU1.data(), pcdu::INIT_SWITCHES_PDU1.size());
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PoolEntry<uint8_t> pdu2Switches =
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PoolEntry<uint8_t>(pcdu::INIT_SWITCHES_PDU2.data(), pcdu::INIT_SWITCHES_PDU2.size());
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PoolEntry<uint8_t> p60Dock5VSwitch = PoolEntry<uint8_t>();
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/** The timeStamp of the current pdu2HkTableDataset */
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CCSDSTime::CDS_short timeStampPdu2HkDataset;
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/** The timeStamp of the current pdu1HkTableDataset */
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CCSDSTime::CDS_short timeStampPdu1HkDataset;
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uint8_t switchStates[pcdu::NUMBER_OF_SWITCHES];
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/**
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* Pointer to the IPCStore.
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* This caches the pointer received from the objectManager in the constructor.
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*/
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StorageManagerIF* IPCStore = nullptr;
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/**
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* Message queue to communicate with other objetcs. Used for example to receive
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* local pool messages from ACU, PDU1 and PDU2.
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*/
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MessageQueueIF* commandQueue = nullptr;
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size_t cmdQueueSize;
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bool firstSwitchInfoPdu1 = true;
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bool firstSwitchInfoPdu2 = true;
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PeriodicTaskIF* executingTask = nullptr;
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void readCommandQueue();
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/**
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* @brief This function sets all switchStates to the initial switch configuration of the
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* two PDUs after reboot.
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*/
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void initializeSwitchStates();
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/**
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* @brief Updates all switchStates related to the PDU2.
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* Function is called each time a new hk dataset has been received from the PDU2Handler.
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*/
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void updatePdu2SwitchStates();
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/**
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* @brief Updates all switchStates related to the PDU1. Called each time the PDU1Handler
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* sends a new hk dataset.
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*/
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void updatePdu1SwitchStates();
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/**
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* @brief In case of an update snapshot message this function handles the update of the
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* local dataset.
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* @param storeId Storage id of updated dataset.
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* @param dataset Pointer to the local dataset.
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* @param datasetTimeStamp Pointer to a variable which will hold the timestamp of the updated
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* dataset.
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*/
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void updateHkTableDataset(store_address_t storeId, LocalPoolDataSetBase* dataset,
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CCSDSTime::CDS_short* datasetTimeStamp);
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void checkAndUpdatePduSwitch(GOMSPACE::Pdu pdu, pcdu::Switches switchIdx, uint8_t setValue);
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};
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#endif /* MISSION_DEVICES_PCDUHANDLER_H_ */
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