Robin Mueller
62229cb999
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440 lines
17 KiB
C++
440 lines
17 KiB
C++
#include "AcsBoardAssembly.h"
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#include <devices/gpioIds.h>
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#include <fsfw/power/PowerSwitchIF.h>
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#include <fsfw/serviceinterface.h>
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AcsBoardAssembly::AcsBoardAssembly(object_id_t objectId, object_id_t parentId,
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PowerSwitchIF* switcher, AcsBoardHelper helper, GpioIF* gpioIF)
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: AssemblyBase(objectId, parentId),
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pwrStateMachine(SWITCH_A, SWITCH_B, switcher),
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helper(helper),
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gpioIF(gpioIF) {
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if (switcher == nullptr) {
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sif::error << "AcsBoardAssembly::AcsBoardAssembly: Invalid Power Switcher "
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"IF passed"
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<< std::endl;
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}
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if (gpioIF == nullptr) {
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sif::error << "AcsBoardAssembly::AcsBoardAssembly: Invalid GPIO IF passed" << std::endl;
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}
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ModeListEntry entry;
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initModeTableEntry(helper.mgm0Lis3IdSideA, entry);
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initModeTableEntry(helper.mgm1Rm3100IdSideA, entry);
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initModeTableEntry(helper.mgm2Lis3IdSideB, entry);
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initModeTableEntry(helper.mgm3Rm3100IdSideB, entry);
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initModeTableEntry(helper.gyro0AdisIdSideA, entry);
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initModeTableEntry(helper.gyro1L3gIdSideA, entry);
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initModeTableEntry(helper.gyro2AdisIdSideB, entry);
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initModeTableEntry(helper.gyro3L3gIdSideB, entry);
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initModeTableEntry(helper.gpsId, entry);
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}
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void AcsBoardAssembly::performChildOperation() {
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using namespace duallane;
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if (pwrStateMachine.active()) {
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pwrStateMachineWrapper();
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// This state is the indicator that the power state machine is done
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}
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if (not pwrStateMachine.active()) {
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AssemblyBase::performChildOperation();
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}
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}
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void AcsBoardAssembly::startTransition(Mode_t mode, Submode_t submode) {
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using namespace duallane;
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pwrStateMachine.reset();
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// If anything other than MODE_OFF is commanded, perform power state machine first
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if (mode != MODE_OFF) {
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// Cache the target modes, required by power state machine
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pwrStateMachine.start(mode, submode);
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// Cache these for later after the power state machine has finished
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targetMode = mode;
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targetSubmode = submode;
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// Perform power state machine first, then start mode transition. The power state machine will
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// start the transition after it has finished
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pwrStateMachineWrapper();
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} else {
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// Command the devices to off first before switching off the power. The handleModeReached
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// custom implementation will take care of starting the power state machine.
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AssemblyBase::startTransition(mode, submode);
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}
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}
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ReturnValue_t AcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode) {
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using namespace duallane;
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ReturnValue_t result = RETURN_OK;
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refreshHelperModes();
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if (mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_ON) {
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result = handleNormalOrOnModeCmd(mode, submode);
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} else {
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modeTable[ModeTableIdx::GYRO_0_A].setMode(MODE_OFF);
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modeTable[ModeTableIdx::GYRO_0_A].setSubmode(SUBMODE_NONE);
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modeTable[ModeTableIdx::GYRO_1_A].setMode(MODE_OFF);
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modeTable[ModeTableIdx::GYRO_1_A].setSubmode(SUBMODE_NONE);
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modeTable[ModeTableIdx::GYRO_2_B].setMode(MODE_OFF);
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modeTable[ModeTableIdx::GYRO_2_B].setSubmode(SUBMODE_NONE);
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modeTable[ModeTableIdx::GYRO_3_B].setMode(MODE_OFF);
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modeTable[ModeTableIdx::GYRO_3_B].setSubmode(SUBMODE_NONE);
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modeTable[ModeTableIdx::MGM_0_A].setMode(MODE_OFF);
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modeTable[ModeTableIdx::MGM_0_A].setSubmode(SUBMODE_NONE);
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modeTable[ModeTableIdx::MGM_1_A].setMode(MODE_OFF);
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modeTable[ModeTableIdx::MGM_1_A].setSubmode(SUBMODE_NONE);
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modeTable[ModeTableIdx::MGM_2_B].setMode(MODE_OFF);
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modeTable[ModeTableIdx::MGM_2_B].setSubmode(SUBMODE_NONE);
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modeTable[ModeTableIdx::MGM_3_B].setMode(MODE_OFF);
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modeTable[ModeTableIdx::MGM_3_B].setSubmode(SUBMODE_NONE);
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modeTable[ModeTableIdx::GPS].setMode(MODE_OFF);
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modeTable[ModeTableIdx::GPS].setSubmode(SUBMODE_NONE);
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}
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HybridIterator<ModeListEntry> tableIter(modeTable.begin(), modeTable.end());
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executeTable(tableIter);
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return result;
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}
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ReturnValue_t AcsBoardAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) {
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using namespace duallane;
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refreshHelperModes();
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// if (state == PwrStates::SWITCHING_POWER) {
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// // Wrong mode
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// sif::error << "Wrong mode, currently switching power" << std::endl;
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// return RETURN_OK;
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// }
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if (wantedSubmode == A_SIDE) {
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if ((helper.gyro0SideAMode != wantedMode and helper.gyro1SideAMode != wantedMode) or
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(helper.mgm0SideAMode != wantedMode and helper.mgm1SideAMode != wantedMode) or
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helper.gpsMode != MODE_ON) {
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return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
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}
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return RETURN_OK;
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} else if (wantedSubmode == B_SIDE) {
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if ((helper.gyro2SideBMode != wantedMode and helper.gyro3SideBMode != wantedMode) or
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(helper.mgm2SideBMode != wantedMode and helper.mgm3SideBMode != wantedMode) or
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helper.gpsMode != MODE_ON) {
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return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
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}
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return RETURN_OK;
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} else if (wantedSubmode == DUAL_MODE) {
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if ((helper.gyro0SideAMode != wantedMode and helper.gyro1SideAMode != wantedMode and
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helper.gyro2AdisIdSideB != wantedMode and helper.gyro3SideBMode != wantedMode) or
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(helper.mgm0SideAMode != wantedMode and helper.mgm1SideAMode != wantedMode and
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helper.mgm2SideBMode != wantedMode and helper.mgm3SideBMode != wantedMode) or
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helper.gpsMode != MODE_ON) {
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// Trigger event, but don't start any other transitions. This is the last fallback mode.
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if (dualModeErrorSwitch) {
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triggerEvent(NOT_ENOUGH_DEVICES_DUAL_MODE, 0, 0);
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dualModeErrorSwitch = false;
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}
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return RETURN_OK;
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}
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return RETURN_OK;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode) {
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using namespace duallane;
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ReturnValue_t result = RETURN_OK;
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auto cmdSeq = [&](object_id_t objectId, Mode_t devMode, ModeTableIdx tableIdx) {
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if (mode == DeviceHandlerIF::MODE_NORMAL) {
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if (isUseable(objectId, devMode)) {
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if (devMode == MODE_ON) {
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modeTable[tableIdx].setMode(mode);
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modeTable[tableIdx].setSubmode(SUBMODE_NONE);
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} else {
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modeTable[tableIdx].setMode(MODE_ON);
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modeTable[tableIdx].setSubmode(SUBMODE_NONE);
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}
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}
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} else if (mode == MODE_ON) {
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if (isUseable(objectId, devMode)) {
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modeTable[tableIdx].setMode(MODE_ON);
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modeTable[tableIdx].setSubmode(SUBMODE_NONE);
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}
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}
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};
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if (this->mode == MODE_OFF and mode == DeviceHandlerIF::MODE_NORMAL) {
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if (internalState != STATE_SECOND_STEP) {
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result = NEED_SECOND_STEP;
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}
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}
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switch (submode) {
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case (A_SIDE): {
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cmdSeq(helper.gyro0AdisIdSideA, helper.gyro0SideAMode, ModeTableIdx::GYRO_0_A);
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cmdSeq(helper.gyro1L3gIdSideA, helper.gyro1SideAMode, ModeTableIdx::GYRO_1_A);
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cmdSeq(helper.mgm0Lis3IdSideA, helper.mgm0SideAMode, ModeTableIdx::MGM_0_A);
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cmdSeq(helper.mgm1Rm3100IdSideA, helper.mgm1SideAMode, ModeTableIdx::MGM_1_A);
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modeTable[ModeTableIdx::GPS].setMode(MODE_ON);
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modeTable[ModeTableIdx::GPS].setSubmode(SUBMODE_NONE);
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if (gpioIF->pullLow(gpioIds::GNSS_SELECT) != HasReturnvaluesIF::RETURN_OK) {
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#if OBSW_VERBOSE_LEVEL >= 1
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sif::error << "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull GNSS select low"
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<< std::endl;
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#endif
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}
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modeTable[ModeTableIdx::GYRO_2_B].setMode(MODE_OFF);
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modeTable[ModeTableIdx::GYRO_2_B].setSubmode(SUBMODE_NONE);
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modeTable[ModeTableIdx::GYRO_3_B].setMode(MODE_OFF);
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modeTable[ModeTableIdx::GYRO_3_B].setSubmode(SUBMODE_NONE);
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modeTable[ModeTableIdx::MGM_2_B].setMode(MODE_OFF);
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modeTable[ModeTableIdx::MGM_2_B].setSubmode(SUBMODE_NONE);
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modeTable[ModeTableIdx::MGM_3_B].setMode(MODE_OFF);
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modeTable[ModeTableIdx::MGM_3_B].setSubmode(SUBMODE_NONE);
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return result;
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}
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case (B_SIDE): {
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cmdSeq(helper.gyro2AdisIdSideB, helper.gyro2SideBMode, ModeTableIdx::GYRO_2_B);
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cmdSeq(helper.gyro3L3gIdSideB, helper.gyro3SideBMode, ModeTableIdx::GYRO_3_B);
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cmdSeq(helper.mgm2Lis3IdSideB, helper.mgm2SideBMode, ModeTableIdx::MGM_2_B);
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cmdSeq(helper.mgm3Rm3100IdSideB, helper.mgm3SideBMode, ModeTableIdx::MGM_3_B);
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cmdSeq(helper.gpsId, helper.gpsMode, ModeTableIdx::GPS);
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if (gpioIF->pullHigh(gpioIds::GNSS_SELECT) != HasReturnvaluesIF::RETURN_OK) {
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#if OBSW_VERBOSE_LEVEL >= 1
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sif::error << "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull GNSS select high"
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<< std::endl;
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#endif
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}
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modeTable[ModeTableIdx::GYRO_0_A].setMode(MODE_OFF);
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modeTable[ModeTableIdx::GYRO_0_A].setSubmode(SUBMODE_NONE);
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modeTable[ModeTableIdx::GYRO_1_A].setMode(MODE_OFF);
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modeTable[ModeTableIdx::GYRO_1_A].setSubmode(SUBMODE_NONE);
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modeTable[ModeTableIdx::MGM_0_A].setMode(MODE_OFF);
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modeTable[ModeTableIdx::MGM_0_A].setSubmode(SUBMODE_NONE);
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modeTable[ModeTableIdx::MGM_1_A].setMode(MODE_OFF);
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modeTable[ModeTableIdx::MGM_1_A].setSubmode(SUBMODE_NONE);
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return result;
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}
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case (DUAL_MODE): {
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cmdSeq(helper.gpsId, helper.gpsMode, ModeTableIdx::GPS);
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cmdSeq(helper.gyro0AdisIdSideA, helper.gyro0SideAMode, ModeTableIdx::GYRO_0_A);
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cmdSeq(helper.gyro1L3gIdSideA, helper.gyro1SideAMode, ModeTableIdx::GYRO_1_A);
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cmdSeq(helper.mgm0Lis3IdSideA, helper.mgm0SideAMode, ModeTableIdx::MGM_0_A);
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cmdSeq(helper.mgm1Rm3100IdSideA, helper.mgm1SideAMode, ModeTableIdx::MGM_1_A);
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cmdSeq(helper.gyro2AdisIdSideB, helper.gyro2SideBMode, ModeTableIdx::GYRO_2_B);
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cmdSeq(helper.gyro3L3gIdSideB, helper.gyro3SideBMode, ModeTableIdx::GYRO_3_B);
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cmdSeq(helper.mgm2Lis3IdSideB, helper.mgm2SideBMode, ModeTableIdx::MGM_2_B);
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cmdSeq(helper.mgm3Rm3100IdSideB, helper.mgm3SideBMode, ModeTableIdx::MGM_3_B);
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ReturnValue_t status = RETURN_OK;
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if (defaultSubmode == Submodes::A_SIDE) {
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status = gpioIF->pullLow(gpioIds::GNSS_SELECT);
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} else {
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status = gpioIF->pullHigh(gpioIds::GNSS_SELECT);
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}
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if (status != HasReturnvaluesIF::RETURN_OK) {
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#if OBSW_VERBOSE_LEVEL >= 1
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sif::error << "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull GNSS select to"
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"default side for dual mode"
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<< std::endl;
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#endif
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}
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return result;
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}
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default: {
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sif::error << "AcsBoardAssembly::handleNormalModeCmd: Unknown submode" << std::endl;
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}
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}
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return result;
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}
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ReturnValue_t AcsBoardAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {
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using namespace duallane;
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if (submode != A_SIDE and submode != B_SIDE and submode != DUAL_MODE) {
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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bool AcsBoardAssembly::isUseable(object_id_t object, Mode_t mode) {
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if (healthHelper.healthTable->isFaulty(object)) {
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return false;
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}
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// Check if device is already in target mode
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if (childrenMap[object].mode == mode) {
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return true;
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}
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if (healthHelper.healthTable->isCommandable(object)) {
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return true;
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}
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return false;
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}
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void AcsBoardAssembly::handleModeReached() {
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using namespace duallane;
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if (targetMode == MODE_OFF) {
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pwrStateMachine.start(targetMode, targetSubmode);
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// Now we can switch off the power. After that, the AssemblyBase::handleModeReached function
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// will be called
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pwrStateMachineWrapper();
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} else {
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finishModeOp();
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}
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}
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void AcsBoardAssembly::handleChildrenLostMode(ReturnValue_t result) {
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using namespace duallane;
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// Some ACS board components are required for Safe-Mode. It would be good if the software
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// transitions from A side to B side and from B side to dual mode autonomously
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// to ensure that that enough sensors are available without an operators intervention.
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// Therefore, the lost mode handler was overwritten to start these transitions
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Submode_t nextSubmode = Submodes::A_SIDE;
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if (submode == Submodes::A_SIDE) {
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nextSubmode = Submodes::B_SIDE;
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}
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if (not tryingOtherSide) {
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triggerEvent(CANT_KEEP_MODE, mode, submode);
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startTransition(mode, nextSubmode);
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tryingOtherSide = true;
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} else {
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// Not sure when this would happen. This flag is reset if the mode was reached. If it
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// was not reached, the transition failure handler should be called.
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sif::error << "AcsBoardAssembly::handleChildrenLostMode: Wrong handler called" << std::endl;
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triggerEvent(TRANSITION_OTHER_SIDE_FAILED, mode, targetSubmode);
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startTransition(mode, Submodes::DUAL_MODE);
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}
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}
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void AcsBoardAssembly::handleModeTransitionFailed(ReturnValue_t result) {
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using namespace duallane;
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Submode_t nextSubmode = Submodes::A_SIDE;
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if (submode == Submodes::A_SIDE) {
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nextSubmode = Submodes::B_SIDE;
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}
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// Check whether the transition was started because the mode could not be kept (not commanded).
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// If this is not the case, start transition to other side. If it is the case, start
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// transition to dual mode.
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if (not tryingOtherSide) {
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triggerEvent(CANT_KEEP_MODE, mode, submode);
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startTransition(mode, nextSubmode);
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tryingOtherSide = true;
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} else {
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triggerEvent(TRANSITION_OTHER_SIDE_FAILED, mode, targetSubmode);
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startTransition(mode, Submodes::DUAL_MODE);
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}
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}
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void AcsBoardAssembly::setPreferredSide(duallane::Submodes submode) {
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using namespace duallane;
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if (submode != Submodes::A_SIDE and submode != Submodes::B_SIDE) {
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return;
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}
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this->defaultSubmode = submode;
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}
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void AcsBoardAssembly::selectGpsInDualMode(duallane::Submodes side) {
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using namespace duallane;
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if (submode != Submodes::DUAL_MODE) {
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return;
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}
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ReturnValue_t result = RETURN_OK;
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if (side == Submodes::A_SIDE) {
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result = gpioIF->pullLow(gpioIds::GNSS_SELECT);
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} else {
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result = gpioIF->pullHigh(gpioIds::GNSS_SELECT);
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}
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if (result != HasReturnvaluesIF::RETURN_OK) {
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#if OBSW_VERBOSE_LEVEL >= 1
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sif::error << "AcsBoardAssembly::switchGpsInDualMode: Switching GPS failed" << std::endl;
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#endif
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}
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}
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void AcsBoardAssembly::refreshHelperModes() {
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try {
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helper.gyro0SideAMode = childrenMap.at(helper.gyro0AdisIdSideA).mode;
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helper.gyro1SideAMode = childrenMap.at(helper.gyro1L3gIdSideA).mode;
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helper.gyro2SideBMode = childrenMap.at(helper.gyro2AdisIdSideB).mode;
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helper.gyro3SideBMode = childrenMap.at(helper.gyro2AdisIdSideB).mode;
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helper.mgm0SideAMode = childrenMap.at(helper.mgm0Lis3IdSideA).mode;
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helper.mgm1SideAMode = childrenMap.at(helper.mgm1Rm3100IdSideA).mode;
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helper.mgm2SideBMode = childrenMap.at(helper.mgm2Lis3IdSideB).mode;
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helper.mgm3SideBMode = childrenMap.at(helper.mgm3Rm3100IdSideB).mode;
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helper.gpsMode = childrenMap.at(helper.gpsId).mode;
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} catch (const std::out_of_range& e) {
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sif::error << "AcsBoardAssembly::refreshHelperModes: Invalid map: " << e.what() << std::endl;
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}
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}
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void AcsBoardAssembly::initModeTableEntry(object_id_t id, ModeListEntry& entry) {
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entry.setObject(id);
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entry.setMode(MODE_OFF);
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entry.setSubmode(SUBMODE_NONE);
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entry.setInheritSubmode(false);
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modeTable.insert(entry);
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}
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void AcsBoardAssembly::finishModeOp() {
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using namespace duallane;
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AssemblyBase::handleModeReached();
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pwrStateMachine.reset();
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powerRetryCounter = 0;
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tryingOtherSide = false;
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dualModeErrorSwitch = true;
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}
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ReturnValue_t AcsBoardAssembly::pwrStateMachineWrapper() {
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using namespace duallane;
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OpCodes opCode = pwrStateMachine.powerStateMachine();
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if (opCode == OpCodes::NONE) {
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return RETURN_OK;
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} else if (opCode == OpCodes::FINISH_OP) {
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finishModeOp();
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} else if (opCode == OpCodes::START_TRANSITION) {
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AssemblyBase::startTransition(targetMode, targetSubmode);
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} else if (opCode == OpCodes::TIMEOUT_OCCURED) {
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if (powerRetryCounter == 0) {
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powerRetryCounter++;
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pwrStateMachine.reset();
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} else {
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#if OBSW_VERBOSE_LEVEL >= 1
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sif::warning << "Timeout occured in power state machine" << std::endl;
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#endif
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triggerEvent(POWER_STATE_MACHINE_TIMEOUT, 0, 0);
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return RETURN_FAILED;
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}
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}
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return RETURN_OK;
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}
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ReturnValue_t AcsBoardAssembly::initialize() {
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ReturnValue_t result = registerChild(helper.gyro0AdisIdSideA);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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return result;
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}
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result = registerChild(helper.gyro1L3gIdSideA);
|
|
if (result != HasReturnvaluesIF::RETURN_OK) {
|
|
return result;
|
|
}
|
|
result = registerChild(helper.gyro2AdisIdSideB);
|
|
if (result != HasReturnvaluesIF::RETURN_OK) {
|
|
return result;
|
|
}
|
|
result = registerChild(helper.gyro3L3gIdSideB);
|
|
if (result != HasReturnvaluesIF::RETURN_OK) {
|
|
return result;
|
|
}
|
|
result = registerChild(helper.mgm0Lis3IdSideA);
|
|
if (result != HasReturnvaluesIF::RETURN_OK) {
|
|
return result;
|
|
}
|
|
result = registerChild(helper.mgm1Rm3100IdSideA);
|
|
if (result != HasReturnvaluesIF::RETURN_OK) {
|
|
return result;
|
|
}
|
|
result = registerChild(helper.mgm2Lis3IdSideB);
|
|
if (result != HasReturnvaluesIF::RETURN_OK) {
|
|
return result;
|
|
}
|
|
result = registerChild(helper.mgm3Rm3100IdSideB);
|
|
if (result != HasReturnvaluesIF::RETURN_OK) {
|
|
return result;
|
|
}
|
|
result = registerChild(helper.gpsId);
|
|
if (result != HasReturnvaluesIF::RETURN_OK) {
|
|
return result;
|
|
}
|
|
return AssemblyBase::initialize();
|
|
}
|