374 lines
12 KiB
C++
374 lines
12 KiB
C++
#include "HeaterHandler.h"
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#include "devices/gpioIds.h"
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#include "devices/powerSwitcherList.h"
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#include <fsfw/objectmanager/ObjectManager.h>
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#include <fsfw/ipc/QueueFactory.h>
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#include <fsfw/hal/common/gpio/GpioCookie.h>
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HeaterHandler::HeaterHandler(object_id_t setObjectId_, object_id_t gpioDriverId_,
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CookieIF * gpioCookie_, object_id_t mainLineSwitcherObjectId_, uint8_t mainLineSwitch_) :
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SystemObject(setObjectId_), gpioDriverId(gpioDriverId_), gpioCookie(gpioCookie_),
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mainLineSwitcherObjectId(mainLineSwitcherObjectId_), mainLineSwitch(mainLineSwitch_),
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actionHelper(this, nullptr) {
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commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize,
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MessageQueueMessage::MAX_MESSAGE_SIZE);
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}
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HeaterHandler::~HeaterHandler() {
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}
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ReturnValue_t HeaterHandler::performOperation(uint8_t operationCode) {
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if (operationCode == DeviceHandlerIF::PERFORM_OPERATION) {
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readCommandQueue();
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handleActiveCommands();
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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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ReturnValue_t HeaterHandler::initialize() {
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ReturnValue_t result = SystemObject::initialize();
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if (result != RETURN_OK) {
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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result = initializeHeaterMap();
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if (result != RETURN_OK) {
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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gpioInterface = ObjectManager::instance()->get<GpioIF>(gpioDriverId);
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if (gpioInterface == nullptr) {
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sif::error << "HeaterHandler::initialize: Invalid Gpio interface." << std::endl;
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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result = gpioInterface->addGpios(dynamic_cast<GpioCookie*>(gpioCookie));
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if (result != RETURN_OK) {
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sif::error << "HeaterHandler::initialize: Failed to initialize Gpio interface" << std::endl;
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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IPCStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
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if (IPCStore == nullptr) {
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sif::error << "HeaterHandler::initialize: IPC store not set up in factory." << std::endl;
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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if(mainLineSwitcherObjectId != objects::NO_OBJECT) {
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mainLineSwitcher = ObjectManager::instance()->get<PowerSwitchIF>(mainLineSwitcherObjectId);
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if (mainLineSwitcher == nullptr) {
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sif::error
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<< "HeaterHandler::initialize: Failed to get main line switcher. Make sure "
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<< "main line switcher object is initialized." << std::endl;
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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}
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result = actionHelper.initialize(commandQueue);
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if (result != RETURN_OK) {
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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return RETURN_OK;
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}
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ReturnValue_t HeaterHandler::initializeHeaterMap(){
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HeaterCommandInfo_t heaterCommandInfo;
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for(switchNr_t switchNr = 0; switchNr < heaterSwitches::NUMBER_OF_SWITCHES; switchNr++) {
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std::pair status = heaterMap.emplace(switchNr, heaterCommandInfo);
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if (status.second == false) {
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sif::error << "HeaterHandler::initializeHeaterMap: Failed to initialize heater map"
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<< std::endl;
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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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void HeaterHandler::setInitialSwitchStates() {
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for (switchNr_t switchNr = 0; switchNr < heaterSwitches::NUMBER_OF_SWITCHES; switchNr++) {
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switchStates[switchNr] = OFF;
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}
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}
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void HeaterHandler::readCommandQueue() {
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CommandMessage command;
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ReturnValue_t result = commandQueue->receiveMessage(&command);
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if (result != RETURN_OK) {
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return;
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}
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result = actionHelper.handleActionMessage(&command);
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if (result == RETURN_OK) {
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return;
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}
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}
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ReturnValue_t HeaterHandler::executeAction(ActionId_t actionId,
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MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
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ReturnValue_t result;
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if (actionId != SWITCH_HEATER) {
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result = COMMAND_NOT_SUPPORTED;
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} else {
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switchNr_t switchNr = *data;
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HeaterMapIter heaterMapIter = heaterMap.find(switchNr);
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if (heaterMapIter != heaterMap.end()) {
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if (heaterMapIter->second.active) {
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return COMMAND_ALREADY_WAITING;
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}
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heaterMapIter->second.action = *(data + 1);
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heaterMapIter->second.active = true;
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heaterMapIter->second.replyQueue = commandedBy;
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}
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else {
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sif::error << "HeaterHandler::executeAction: Invalid switchNr" << std::endl;
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return INVALID_SWITCH_NR;
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}
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result = RETURN_OK;
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}
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return result;
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}
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void HeaterHandler::sendSwitchCommand(uint8_t switchNr,
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ReturnValue_t onOff) const {
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ReturnValue_t result;
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store_address_t storeAddress;
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uint8_t commandData[2];
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switch(onOff) {
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case PowerSwitchIF::SWITCH_ON:
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commandData[0] = switchNr;
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commandData[1] = SET_SWITCH_ON;
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break;
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case PowerSwitchIF::SWITCH_OFF:
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commandData[0] = switchNr;
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commandData[1] = SET_SWITCH_OFF;
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break;
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default:
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sif::error << "HeaterHandler::sendSwitchCommand: Invalid switch request"
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<< std::endl;
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break;
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}
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result = IPCStore->addData(&storeAddress, commandData, sizeof(commandData));
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if (result == RETURN_OK) {
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CommandMessage message;
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ActionMessage::setCommand(&message, SWITCH_HEATER, storeAddress);
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/* Send heater command to own command queue */
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result = commandQueue->sendMessage(commandQueue->getId(), &message, 0);
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if (result != RETURN_OK) {
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sif::debug << "HeaterHandler::sendSwitchCommand: Failed to send switch"
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<< "message" << std::endl;
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}
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}
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}
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void HeaterHandler::handleActiveCommands(){
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HeaterMapIter heaterMapIter = heaterMap.begin();
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for (; heaterMapIter != heaterMap.end(); heaterMapIter++) {
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if (heaterMapIter->second.active) {
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switch(heaterMapIter->second.action) {
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case SET_SWITCH_ON:
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handleSwitchOnCommand(heaterMapIter);
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break;
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case SET_SWITCH_OFF:
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handleSwitchOffCommand(heaterMapIter);
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break;
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default:
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sif::error << "HeaterHandler::handleActiveCommands: Invalid action commanded"
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<< std::endl;
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break;
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}
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}
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}
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}
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void HeaterHandler::handleSwitchOnCommand(HeaterMapIter heaterMapIter) {
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ReturnValue_t result = RETURN_OK;
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switchNr_t switchNr;
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/* Check if command waits for main switch being set on and whether the timeout has expired */
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if (heaterMapIter->second.waitMainSwitchOn
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&& heaterMapIter->second.mainSwitchCountdown.hasTimedOut()) {
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//TODO - This requires the initiation of an FDIR procedure
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triggerEvent(MAIN_SWITCH_TIMEOUT);
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sif::error << "HeaterHandler::handleSwitchOnCommand: Main switch setting on timeout"
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<< std::endl;
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heaterMapIter->second.active = false;
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heaterMapIter->second.waitMainSwitchOn = false;
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if (heaterMapIter->second.replyQueue != commandQueue->getId()) {
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actionHelper.finish(false, heaterMapIter->second.replyQueue,
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heaterMapIter->second.action, MAIN_SWITCH_SET_TIMEOUT );
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}
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return;
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}
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switchNr = heaterMapIter->first;
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/* Check state of main line switch */
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ReturnValue_t mainSwitchState = mainLineSwitcher->getSwitchState(mainLineSwitch);
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if (mainSwitchState == PowerSwitchIF::SWITCH_ON) {
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if (!checkSwitchState(switchNr)) {
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gpioId_t gpioId = getGpioIdFromSwitchNr(switchNr);
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result = gpioInterface->pullHigh(gpioId);
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if (result != RETURN_OK) {
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sif::error << "HeaterHandler::handleSwitchOnCommand: Failed to pull gpio with id "
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<< gpioId << " high" << std::endl;
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triggerEvent(GPIO_PULL_HIGH_FAILED, result);
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}
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else {
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switchStates[switchNr] = ON;
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}
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}
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else {
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triggerEvent(SWITCH_ALREADY_ON, switchNr);
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}
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/* There is no need to send action finish replies if the sender was the
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* HeaterHandler itself. */
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if (heaterMapIter->second.replyQueue != commandQueue->getId()) {
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if(result == RETURN_OK) {
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actionHelper.finish(true, heaterMapIter->second.replyQueue,
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heaterMapIter->second.action, result);
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}
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else {
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actionHelper.finish(false, heaterMapIter->second.replyQueue,
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heaterMapIter->second.action, result);
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}
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}
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heaterMapIter->second.active = false;
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heaterMapIter->second.waitMainSwitchOn = false;
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}
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else if (mainSwitchState == PowerSwitchIF::SWITCH_OFF
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&& heaterMapIter->second.waitMainSwitchOn) {
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/* Just waiting for the main switch being set on */
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return;
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}
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else if (mainSwitchState == PowerSwitchIF::SWITCH_OFF) {
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mainLineSwitcher->sendSwitchCommand(mainLineSwitch,
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PowerSwitchIF::SWITCH_ON);
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heaterMapIter->second.mainSwitchCountdown.setTimeout(mainLineSwitcher->getSwitchDelayMs());
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heaterMapIter->second.waitMainSwitchOn = true;
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}
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else {
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sif::debug << "HeaterHandler::handleActiveCommands: Failed to get state of"
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<< " main line switch" << std::endl;
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if (heaterMapIter->second.replyQueue != commandQueue->getId()) {
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actionHelper.finish(false, heaterMapIter->second.replyQueue,
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heaterMapIter->second.action, mainSwitchState);
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}
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heaterMapIter->second.active = false;
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}
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}
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void HeaterHandler::handleSwitchOffCommand(HeaterMapIter heaterMapIter) {
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ReturnValue_t result = RETURN_OK;
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switchNr_t switchNr = heaterMapIter->first;
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/* Check whether switch is already off */
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if (checkSwitchState(switchNr)) {
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gpioId_t gpioId = getGpioIdFromSwitchNr(switchNr);
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result = gpioInterface->pullLow(gpioId);
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if (result != RETURN_OK) {
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sif::error << "HeaterHandler::handleSwitchOffCommand: Failed to pull gpio with id"
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<< gpioId << " low" << std::endl;
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triggerEvent(GPIO_PULL_LOW_FAILED, result);
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}
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else {
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switchStates[switchNr] = OFF;
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/* When all switches are off, also main line switch will be turned off */
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if (allSwitchesOff()) {
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mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
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}
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}
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}
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else {
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sif::info << "HeaterHandler::handleSwitchOffCommand: Switch already off" << std::endl;
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triggerEvent(SWITCH_ALREADY_OFF, switchNr);
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}
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if (heaterMapIter->second.replyQueue != NO_COMMANDER) {
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/* Report back switch command reply if necessary */
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if(result == HasReturnvaluesIF::RETURN_OK) {
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actionHelper.finish(true, heaterMapIter->second.replyQueue,
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heaterMapIter->second.action, result);
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}
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else {
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actionHelper.finish(false, heaterMapIter->second.replyQueue,
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heaterMapIter->second.action, result);
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}
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}
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heaterMapIter->second.active = false;
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}
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bool HeaterHandler::checkSwitchState(int switchNr) {
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return switchStates[switchNr];
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}
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bool HeaterHandler::allSwitchesOff() {
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bool allSwitchesOrd = false;
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/* Or all switches. As soon one switch is on, allSwitchesOrd will be true */
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for (switchNr_t switchNr = 0; switchNr < heaterSwitches::NUMBER_OF_SWITCHES; switchNr++) {
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allSwitchesOrd = allSwitchesOrd || switchStates[switchNr];
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}
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return !allSwitchesOrd;
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}
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gpioId_t HeaterHandler::getGpioIdFromSwitchNr(int switchNr) {
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gpioId_t gpioId = 0xFFFF;
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switch(switchNr) {
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case heaterSwitches::HEATER_0:
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gpioId = gpioIds::HEATER_0;
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break;
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case heaterSwitches::HEATER_1:
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gpioId = gpioIds::HEATER_1;
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break;
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case heaterSwitches::HEATER_2:
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gpioId = gpioIds::HEATER_2;
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break;
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case heaterSwitches::HEATER_3:
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gpioId = gpioIds::HEATER_3;
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break;
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case heaterSwitches::HEATER_4:
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gpioId = gpioIds::HEATER_4;
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break;
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case heaterSwitches::HEATER_5:
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gpioId = gpioIds::HEATER_5;
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break;
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case heaterSwitches::HEATER_6:
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gpioId = gpioIds::HEATER_6;
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break;
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case heaterSwitches::HEATER_7:
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gpioId = gpioIds::HEATER_7;
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break;
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default:
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sif::error << "HeaterHandler::getGpioIdFromSwitchNr: Unknown heater switch number"
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<< std::endl;
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break;
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}
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return gpioId;
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}
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MessageQueueId_t HeaterHandler::getCommandQueue() const {
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return commandQueue->getId();
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}
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void HeaterHandler::sendFuseOnCommand(uint8_t fuseNr) const {
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}
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ReturnValue_t HeaterHandler::getSwitchState( uint8_t switchNr ) const {
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return 0;
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}
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ReturnValue_t HeaterHandler::getFuseState( uint8_t fuseNr ) const {
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return 0;
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}
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uint32_t HeaterHandler::getSwitchDelayMs(void) const {
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return 0;
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}
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