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53c839e389
eive-obsw/mission/system/acs/AcsBoardAssembly.cpp
Robin Mueller 53c839e389
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proper fault/ext ctrl handling for dual side
2023-03-27 14:53:18 +02:00

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#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) {
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) {
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;
if (sideSwitchState == SideSwitchState::REQUESTED) {
sideSwitchState = SideSwitchState::TO_DUAL;
}
// Switch to dual side first, and later switch back to the otherside
if (sideSwitchState == SideSwitchState::TO_DUAL) {
targetSubmodeForSideSwitch = static_cast<duallane::Submodes>(submode);
submode = Submodes::DUAL_MODE;
sideSwitchState = SideSwitchState::DISABLE_OTHER_SIDE;
// TODO: Ugly hack. The base class should support arbitrary number of steps..
needsSecondStep = true;
} else if (sideSwitchState == SideSwitchState::DISABLE_OTHER_SIDE) {
submode = targetSubmodeForSideSwitch;
}
auto cmdSeq = [&](object_id_t objectId, Mode_t devMode, ModeTableIdx tableIdx) {
if (mode == devMode) {
modeTable[tableIdx].setMode(mode);
} else if (isUseable(objectId, devMode)) {
modeTable[tableIdx].setMode(mode);
modeTable[tableIdx].setSubmode(SUBMODE_NONE);
}
};
bool gpsUsable = isUseable(helper.gpsId, helper.gpsMode);
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);
if (gpsUsable) {
gpioHandler(gpioIds::GNSS_0_NRESET, true,
"AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull nReset pin"
"of GNSS 0 high (used GNSS)");
gpioHandler(gpioIds::GNSS_1_NRESET, false,
"AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull nReset pin"
"of GNSS 1 low (unused GNSS)");
gpioHandler(gpioIds::GNSS_SELECT, false,
"AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull GNSS select low");
}
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);
if (gpsUsable) {
gpioHandler(gpioIds::GNSS_0_NRESET, false,
"AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull nReset pin"
"of GNSS 0 low (unused GNSS)");
gpioHandler(gpioIds::GNSS_1_NRESET, true,
"AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull nReset pin"
"of GNSS 1 high (used GNSS)");
gpioHandler(gpioIds::GNSS_SELECT, true,
"AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull GNSS select high");
}
break;
}
case (DUAL_MODE): {
cmdSeq(helper.gpsId, helper.gpsMode, ModeTableIdx::GPS);
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);
ReturnValue_t status = returnvalue::OK;
if (gpsUsable) {
gpioHandler(gpioIds::GNSS_0_NRESET, true,
"AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull nReset pin"
"of GNSS 0 high (used GNSS)");
gpioHandler(gpioIds::GNSS_1_NRESET, true,
"AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull nReset pin"
"of GNSS 1 high (used GNSS)");
if (defaultSubmode == Submodes::A_SIDE) {
status = gpioIF->pullLow(gpioIds::GNSS_SELECT);
} else {
status = gpioIF->pullHigh(gpioIds::GNSS_SELECT);
}
if (status != returnvalue::OK) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::error << "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull GNSS select to"
"default side for dual mode"
<< std::endl;
#endif
}
}
break;
}
default: {
sif::error << "AcsBoardAssembly::handleNormalModeCmd: Unknown submode" << std::endl;
}
}
if (gpsUsable) {
modeTable[ModeTableIdx::GPS].setMode(MODE_ON);
modeTable[ModeTableIdx::GPS].setSubmode(SUBMODE_NONE);
}
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 (deviceSubmode == duallane::DUAL_MODE) {
checkAcsBoardSensorGroup(helper.mgm0Lis3IdSideA, helper.mgm1Rm3100IdSideA,
helper.mgm2Lis3IdSideB, helper.mgm3Rm3100IdSideB);
checkAcsBoardSensorGroup(helper.gyro0AdisIdSideA, helper.gyro1L3gIdSideA,
helper.gyro2AdisIdSideB, helper.gyro3L3gIdSideB);
}
return status;
}
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