Robin Mueller
2aac3c67ee
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258 lines
9.8 KiB
C++
258 lines
9.8 KiB
C++
#ifndef MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_
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#define MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_
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#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
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#include <unordered_map>
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#include "devices/powerSwitcherList.h"
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#include "eive/definitions.h"
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#include "events/subsystemIdRanges.h"
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#include "fsfw/action/HasActionsIF.h"
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#include "fsfw/devicehandlers/CookieIF.h"
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#include "fsfw/devicehandlers/DeviceHandlerIF.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/returnvalues/returnvalue.h"
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#include "fsfw/serialize/SerialLinkedListAdapter.h"
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#include "fsfw/tasks/ExecutableObjectIF.h"
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#include "fsfw/timemanager/Countdown.h"
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#include "fsfw_hal/common/gpio/GpioIF.h"
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#include "mission/memory/SdCardMountedIF.h"
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#include "mission/trace.h"
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#include "returnvalues/classIds.h"
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enum DeploymentChannels : uint8_t { SA_1 = 1, SA_2 = 2 };
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class ManualDeploymentCommand : public SerialLinkedListAdapter<SerializeIF> {
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public:
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ManualDeploymentCommand() { setLinks(); }
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void setLinks() {
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setStart(&burnTimeSecs);
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burnTimeSecs.setNext(&switchIntervalMs);
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switchIntervalMs.setNext(&initChannel);
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initChannel.setNext(&dryRun);
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}
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uint32_t getBurnTimeSecs() const { return burnTimeSecs.entry; }
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uint32_t getSwitchIntervalMs() const { return switchIntervalMs.entry; };
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uint8_t getInitChannel() const { return initChannel.entry; };
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bool isDryRun() const { return dryRun.entry; }
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private:
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SerializeElement<uint32_t> burnTimeSecs;
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SerializeElement<uint32_t> switchIntervalMs;
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SerializeElement<uint8_t> initChannel;
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SerializeElement<uint8_t> dryRun;
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};
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/**
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* @brief This class is used to control the solar array deployment.
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*
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* @author J. Meier
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*/
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class SolarArrayDeploymentHandler : public ExecutableObjectIF,
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public SystemObject,
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public HasActionsIF {
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public:
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//! Manual deployment of the solar arrays. Burn time, channel switch interval, initial
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//! burn channel and dry run flag are supplied as parameters. There are following cases to
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//! consider.
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//!
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//! - Channel switch interval greater or equal to burn time: Only burn one channel. The init
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//! burn channel parameter can be used to select which channel is burned.
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//! - Channel switch interval half of burn time: Burn each channel for half of the burn time.
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//!
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//! The dry run flag can be used to avoid actually toggling IO pins and only test the
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//! application logic.
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static constexpr DeviceCommandId_t DEPLOY_SOLAR_ARRAYS_MANUALLY = 0x05;
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static constexpr DeviceCommandId_t SWITCH_OFF_DEPLOYMENT = 0x06;
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static constexpr uint32_t FIRST_BURN_START_TIME = config::SA_DEPL_INIT_BUFFER_SECS;
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static constexpr uint32_t FIRST_BURN_END_TIME =
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FIRST_BURN_START_TIME + config::SA_DEPL_BURN_TIME_SECS;
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static constexpr uint32_t WAIT_START_TIME = FIRST_BURN_END_TIME;
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static constexpr uint32_t WAIT_END_TIME = WAIT_START_TIME + config::SA_DEPL_WAIT_TIME_SECS;
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static constexpr uint32_t SECOND_BURN_START_TIME = WAIT_END_TIME;
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static constexpr uint32_t SECOND_BURN_END_TIME =
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SECOND_BURN_START_TIME + config::SA_DEPL_WAIT_TIME_SECS;
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static constexpr char SD_0_DEPL_FILE[] = "/mnt/sd0/conf/deployment";
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static constexpr char SD_1_DEPL_FILE[] = "/mnt/sd1/conf/deployment";
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static constexpr char SD_0_DEPLY_INFO[] = "/mnt/sd0/conf/deployment_info.txt";
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static constexpr char SD_1_DEPLY_INFO[] = "/mnt/sd1/conf/deployment_info.txt";
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static constexpr char PHASE_INIT_STR[] = "init";
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static constexpr char PHASE_FIRST_BURN_STR[] = "first_burn";
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static constexpr char PHASE_WAIT_STR[] = "wait";
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static constexpr char PHASE_SECOND_BURN_STR[] = "second_burn";
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static constexpr char PHASE_DONE[] = "done";
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/**
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* @brief constructor
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*
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* @param setObjectId The object id of the SolarArrayDeploymentHandler.
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* @param gpioDriverId The id of the gpio com if.
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* @param gpioCookie GpioCookie holding information about the gpios used to switch the
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* transistors.
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* @param mainLineSwitcherObjectId The object id of the object responsible for switching
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* the 8V power source. This is normally the PCDU.
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* @param mainLineSwitch The id of the main line switch. This is defined in
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* powerSwitcherList.h.
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* @param deplSA1 gpioId of the GPIO controlling the deployment 1 transistor.
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* @param deplSA2 gpioId of the GPIO controlling the deployment 2 transistor.
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* @param burnTimeMs Time duration the power will be applied to the burn wires.
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*/
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SolarArrayDeploymentHandler(object_id_t setObjectId, GpioIF& gpio,
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PowerSwitchIF& mainLineSwitcher, pcdu::Switches mainLineSwitch,
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gpioId_t deplSA1, gpioId_t deplSA2, SdCardMountedIF& sdcMountedIF);
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virtual ~SolarArrayDeploymentHandler();
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virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
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virtual MessageQueueId_t getCommandQueue() const override;
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virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
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const uint8_t* data, size_t size) override;
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virtual ReturnValue_t initialize() override;
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private:
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enum AutonomousDeplState { INIT, FIRST_BURN, WAIT, SECOND_BURN, DONE };
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enum StateMachine {
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IDLE,
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MAIN_POWER_ON,
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MAIN_POWER_OFF,
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WAIT_MAIN_POWER_ON,
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WAIT_MAIN_POWER_OFF,
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SWITCH_DEPL_GPIOS,
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BURNING
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};
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struct FsmInfo {
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// Not required anymore
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// DeploymentChannels channel;
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bool dryRun;
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bool alternationDummy = false;
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uint8_t initChannel = 0;
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uint32_t burnCountdownMs = config::SA_DEPL_MAX_BURN_TIME;
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};
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static const uint8_t INTERFACE_ID = CLASS_ID::SA_DEPL_HANDLER;
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static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA0);
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static const ReturnValue_t DEPLOYMENT_ALREADY_EXECUTING = MAKE_RETURN_CODE(0xA1);
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static const ReturnValue_t MAIN_SWITCH_TIMEOUT_FAILURE = MAKE_RETURN_CODE(0xA2);
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static const ReturnValue_t SWITCHING_DEPL_SA1_FAILED = MAKE_RETURN_CODE(0xA3);
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static const ReturnValue_t SWITCHING_DEPL_SA2_FAILED = MAKE_RETURN_CODE(0xA4);
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static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SA_DEPL_HANDLER;
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//! [EXPORT] : [COMMENT] P1: Burn duration in milliseconds, P2: Dry run flag
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static constexpr Event BURN_PHASE_START = event::makeEvent(SUBSYSTEM_ID, 0, severity::INFO);
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//! [EXPORT] : [COMMENT] P1: Burn duration in milliseconds, P2: Dry run flag
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static constexpr Event BURN_PHASE_DONE = event::makeEvent(SUBSYSTEM_ID, 1, severity::INFO);
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static constexpr Event MAIN_SWITCH_ON_TIMEOUT = event::makeEvent(SUBSYSTEM_ID, 2, severity::LOW);
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static constexpr Event MAIN_SWITCH_OFF_TIMEOUT = event::makeEvent(SUBSYSTEM_ID, 3, severity::LOW);
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static constexpr Event DEPL_SA1_GPIO_SWTICH_ON_FAILED =
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event::makeEvent(SUBSYSTEM_ID, 4, severity::HIGH);
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static constexpr Event DEPL_SA2_GPIO_SWTICH_ON_FAILED =
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event::makeEvent(SUBSYSTEM_ID, 5, severity::HIGH);
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static constexpr Event DEPL_SA1_GPIO_SWTICH_OFF_FAILED =
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event::makeEvent(SUBSYSTEM_ID, 6, severity::HIGH);
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static constexpr Event DEPL_SA2_GPIO_SWTICH_OFF_FAILED =
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event::makeEvent(SUBSYSTEM_ID, 7, severity::HIGH);
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static constexpr Event AUTONOMOUS_DEPLOYMENT_COMPLETED =
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event::makeEvent(SUBSYSTEM_ID, 8, severity::INFO);
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FsmInfo fsmInfo;
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StateMachine stateMachine = IDLE;
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bool actionActive = false;
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bool firstAutonomousCycle = true;
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ActionId_t activeCmd = HasActionsIF::INVALID_ACTION_ID;
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std::optional<uint64_t> initUptime;
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#if OBSW_THREAD_TRACING == 1
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uint32_t opCounter = 0;
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#endif
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PeriodicOperationDivider opDivider = PeriodicOperationDivider(5);
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uint8_t retryCounter = 3;
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bool startFsmOn(uint32_t burnCountdownSecs, uint32_t channelAlternationIntervalMs,
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uint8_t initChannel, bool dryRun);
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void startFsmOff();
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void finishFsm(ReturnValue_t resultForActionHelper);
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ReturnValue_t performAutonomousDepl(sd::SdCard sdCard, bool dryRun);
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bool dryRunStringInFile(const char* filename);
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bool autonomousDeplForFile(sd::SdCard sdCard, const char* filename, bool dryRun);
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/**
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* This countdown is used to check if the PCDU sets the 8V line on in the intended time.
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*/
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Countdown mainSwitchCountdown;
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/**
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* This countdown is used to wait for the burn wire being successful cut.
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*/
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Countdown burnCountdown;
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// Only initial value, new approach is to burn each channel half of the total burn time.
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Countdown channelAlternationCd =
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Countdown(config::LEGACY_SA_DEPL_CHANNEL_ALTERNATION_INTERVAL_SECS * 1000);
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/**
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* The message queue id of the component commanding an action will be stored in this variable.
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* This is necessary to send later the action finish replies.
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*/
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MessageQueueId_t rememberCommanderId = 0;
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/** Size of command queue */
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size_t cmdQueueSize = 20;
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GpioIF& gpioInterface;
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gpioId_t deplSA1;
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gpioId_t deplSA2;
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/**
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* After initialization this pointer will hold the reference to the main line switcher object.
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*/
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PowerSwitchIF& mainLineSwitcher;
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/** Switch number of the 8V power switch */
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uint8_t mainLineSwitch;
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SdCardMountedIF& sdcMan;
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ActionHelper actionHelper;
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/** Queue to receive messages from other objects. */
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MessageQueueIF* commandQueue = nullptr;
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void readCommandQueue();
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/**
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* @brief This function performs actions dependent on the current state.
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*/
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void handleStateMachine();
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/**
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* @brief This function polls the 8V switch state and changes the state machine when the
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* switch has been enabled.
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*/
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bool checkMainPowerOn();
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bool checkMainPowerOff();
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bool checkMainPower(bool onOff);
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void allOff();
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ReturnValue_t deploymentTransistorsOff();
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ReturnValue_t saGpioAlternation();
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ReturnValue_t sa1On();
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ReturnValue_t sa1Off();
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ReturnValue_t sa2On();
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ReturnValue_t sa2Off();
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};
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#endif /* MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_ */
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