eive-obsw/mission/devices/PDU2Handler.cpp

#include "PDU2Handler.h"

#include <fsfw/datapool/PoolReadGuard.h>
#include <mission/devices/devicedefinitions/GomSpacePackets.h>

#include "devices/powerSwitcherList.h"

PDU2Handler::PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
                         FailureIsolationBase *customFdir)
    : GomspaceDeviceHandler(objectId, comIF, comCookie, customFdir, PDU::MAX_CONFIGTABLE_ADDRESS,
                            PDU::MAX_HKTABLE_ADDRESS, PDU::HK_TABLE_REPLY_SIZE),
      coreHk(this),
      auxHk(this) {}

PDU2Handler::~PDU2Handler() {}

ReturnValue_t PDU2Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
  *id = GomspaceCommands::REQUEST_HK_TABLE;
  return requestHkTableAction.handle();
}

void PDU2Handler::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
   * PDU2Handler itself.
   */
  handleDeviceTM(&coreHk, id, true);
}

void PDU2Handler::assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook, void *args) {
  this->channelSwitchHook = hook;
  this->hookArgs = args;
}

LocalPoolDataSetBase *PDU2Handler::getDataSetHandle(sid_t sid) {
  if (sid == coreHk.getSid()) {
    return &coreHk;
  } else if (sid == auxHk.getSid()) {
    return &auxHk;
  }
  return nullptr;
}

void PDU2Handler::parseHkTableReply(const uint8_t *packet) {
  GomspaceDeviceHandler::parsePduHkTable(coreHk, auxHk, packet);
}

ReturnValue_t PDU2Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                   LocalDataPoolManager &poolManager) {
  initializePduPool(localDataPoolMap, poolManager, pcdu::INIT_SWITCHES_PDU2);
  poolManager.subscribeForPeriodicPacket(coreHk.getSid(), false, 10.0, true);
  poolManager.subscribeForPeriodicPacket(auxHk.getSid(), false, 30.0, false);
  return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t PDU2Handler::printStatus(DeviceCommandId_t cmd) {
  ReturnValue_t result = RETURN_OK;
  switch (cmd) {
    case (GomspaceCommands::PRINT_SWITCH_V_I): {
      PoolReadGuard pg(&coreHk);
      result = pg.getReadResult();
      if (result != HasReturnvaluesIF::RETURN_OK) {
        break;
      }
      printHkTableSwitchVI();
      break;
    }
    case (GomspaceCommands::PRINT_LATCHUPS): {
      PoolReadGuard pg(&auxHk);
      result = pg.getReadResult();
      if (result != HasReturnvaluesIF::RETURN_OK) {
        break;
      }
      printHkTableLatchups();
      break;
    }
    default: {
      return DeviceHandlerIF::COMMAND_NOT_SUPPORTED;
    }
  }
  if (result != HasReturnvaluesIF::RETURN_OK) {
    sif::warning << "Reading PDU1 HK table failed!" << std::endl;
  }
  return result;
}

void PDU2Handler::printHkTableSwitchVI() {
  using namespace PDU2;
  sif::info << "PDU2 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;
  auto printerHelper = [&](std::string channelStr, Channels idx) {
    sif::info << std::setw(30) << std::left << channelStr << std::dec << "| "
              << unsigned(coreHk.outputEnables[idx]) << ", " << std::setw(4) << std::right
              << coreHk.currents[idx] << ", " << std::setw(4) << coreHk.voltages[idx] << std::endl;
  };
  printerHelper("Q7S", Channels::Q7S);
  printerHelper("PL PCDU CH1", Channels::PAYLOAD_PCDU_CH1);
  printerHelper("Reaction Wheels", Channels::RW);
  printerHelper("TCS Board Heater Input", Channels::TCS_HEATER_IN);
  printerHelper("SUS Redundant", Channels::SUS_REDUNDANT);
  printerHelper("Deployment Mechanism", Channels::DEPY_MECHANISM);
  printerHelper("PL PCDU CH6", Channels::PAYLOAD_PCDU_CH6);
  printerHelper("ACS Board B Side", Channels::ACS_B_SIDE);
  printerHelper("Payload Camera", Channels::PAYLOAD_CAMERA);
}

void PDU2Handler::printHkTableLatchups() {
  using namespace PDU2;
  sif::info << "PDU2 Latchup Information" << std::endl;
  auto printerHelper = [&](std::string channelStr, Channels idx) {
    sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << "TCS Board" << std::dec << "| "
              << std::setw(4) << std::right << auxHk.latchups[idx] << std::endl;
  };
  printerHelper("Q7S", Channels::Q7S);
  printerHelper("PL PCDU CH1", Channels::PAYLOAD_PCDU_CH1);
  printerHelper("Reaction Wheels", Channels::RW);
  printerHelper("TCS Board Heater Input", Channels::TCS_HEATER_IN);
  printerHelper("SUS Redundant", Channels::SUS_REDUNDANT);
  printerHelper("Deployment Mechanism", Channels::DEPY_MECHANISM);
  printerHelper("PL PCDU CH6", Channels::PAYLOAD_PCDU_CH6);
  printerHelper("ACS Board B Side", Channels::ACS_B_SIDE);
  printerHelper("Payload Camera", Channels::PAYLOAD_CAMERA);
}

ReturnValue_t PDU2Handler::setParamCallback(uint16_t address, uint32_t value, uint8_t valueBytes, bool afterExecution) {
  using namespace PDU2;
  GOMSPACE::Pdu pdu = GOMSPACE::Pdu::PDU2;
  if (not afterExecution) {
    return HasReturnvaluesIF::RETURN_OK;
  }
  if (channelSwitchHook != nullptr and valueBytes == 1) {
    switch (address) {
      case (CONFIG_ADDRESS_OUT_EN_Q7S): {
        channelSwitchHook(pdu, 0, value, hookArgs);
        break;
      }
      case (CONFIG_ADDRESS_OUT_EN_PAYLOAD_PCDU_CH1): {
        channelSwitchHook(pdu, 1, value, hookArgs);
        break;
      }
      case (CONFIG_ADDRESS_OUT_EN_RW): {
        channelSwitchHook(pdu, 2, value, hookArgs);
        break;
      }
      case (CONFIG_ADDRESS_OUT_EN_TCS_BOARD_HEATER_IN): {
        channelSwitchHook(pdu, 3, value, hookArgs);
        break;
      }
      case (CONFIG_ADDRESS_OUT_EN_SUS_REDUNDANT): {
        channelSwitchHook(pdu, 4, value, hookArgs);
        break;
      }
      case (CONFIG_ADDRESS_OUT_EN_DEPLOYMENT_MECHANISM): {
        channelSwitchHook(pdu, 5, value, hookArgs);
        break;
      }
      case (CONFIG_ADDRESS_OUT_EN_PAYLOAD_PCDU_CH6): {
        channelSwitchHook(pdu, 6, value, hookArgs);
        break;
      }
      case (CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_B): {
        channelSwitchHook(pdu, 7, value, hookArgs);
        break;
      }
      case (CONFIG_ADDRESS_OUT_EN_PAYLOAD_CAMERA): {
        channelSwitchHook(pdu, 8, value, hookArgs);
        break;
      }
    }
  }
  return HasReturnvaluesIF::RETURN_OK;
}