Robin Mueller
c1b95e8bbd
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470 lines
18 KiB
C++
470 lines
18 KiB
C++
#include "PCDUHandler.h"
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#include <OBSWConfig.h>
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#include <devices/powerSwitcherList.h>
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#include <fsfw/datapool/PoolReadGuard.h>
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#include <fsfw/housekeeping/HousekeepingSnapshot.h>
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#include <fsfw/ipc/MutexFactory.h>
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#include <fsfw/ipc/QueueFactory.h>
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#include <mission/devices/devicedefinitions/GomSpacePackets.h>
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PCDUHandler::PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize)
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: SystemObject(setObjectId),
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poolManager(this, nullptr),
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p60CoreHk(objects::P60DOCK_HANDLER),
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pdu1CoreHk(this),
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pdu2CoreHk(this),
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switcherSet(this),
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cmdQueueSize(cmdQueueSize) {
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auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
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commandQueue = QueueFactory::instance()->createMessageQueue(
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cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
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pwrMutex = MutexFactory::instance()->createMutex();
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}
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PCDUHandler::~PCDUHandler() {}
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ReturnValue_t PCDUHandler::performOperation(uint8_t counter) {
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if (counter == DeviceHandlerIF::PERFORM_OPERATION) {
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readCommandQueue();
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}
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uint8_t switchState = 0;
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{
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PoolReadGuard pg(&p60CoreHk.outputEnables);
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if (pg.getReadResult() == returnvalue::OK) {
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switchState = p60CoreHk.outputEnables.value[10];
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}
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}
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{
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PoolReadGuard pg(&switcherSet.p60Dock5VStack);
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if (pg.getReadResult() == returnvalue::OK) {
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if (switcherSet.p60Dock5VStack.value != switchState) {
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triggerEvent(power::SWITCH_HAS_CHANGED, switchState, pcdu::Switches::P60_DOCK_5V_STACK);
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}
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switcherSet.p60Dock5VStack.value = switchState;
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}
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}
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return returnvalue::OK;
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}
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ReturnValue_t PCDUHandler::initialize() {
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ReturnValue_t result;
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IPCStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
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if (IPCStore == nullptr) {
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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result = poolManager.initialize(commandQueue);
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if (result != returnvalue::OK) {
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return result;
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}
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/* Subscribing for housekeeping table update messages of the PDU2 */
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HasLocalDataPoolIF* pdu2Handler =
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ObjectManager::instance()->get<HasLocalDataPoolIF>(objects::PDU2_HANDLER);
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if (pdu2Handler == nullptr) {
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sif::error << "PCDUHandler::initialize: Invalid pdu2Handler" << std::endl;
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return returnvalue::FAILED;
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}
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result = pdu2Handler->getSubscriptionInterface()->subscribeForSetUpdateMessage(
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static_cast<uint32_t>(P60System::SetIds::CORE), this->getObjectId(), commandQueue->getId(),
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true);
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if (result != returnvalue::OK) {
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sif::error << "PCDUHandler::initialize: Failed to subscribe for set update messages from "
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<< "PDU2Handler" << std::endl;
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return result;
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}
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/* Subscribing for housekeeping table update messages of the PDU1 */
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HasLocalDataPoolIF* pdu1Handler =
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ObjectManager::instance()->get<HasLocalDataPoolIF>(objects::PDU1_HANDLER);
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if (pdu1Handler == nullptr) {
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sif::error << "PCDUHandler::initialize: Invalid pdu1Handler" << std::endl;
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return returnvalue::FAILED;
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}
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result = pdu1Handler->getSubscriptionInterface()->subscribeForSetUpdateMessage(
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static_cast<uint32_t>(P60System::SetIds::CORE), this->getObjectId(), commandQueue->getId(),
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true);
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if (result != returnvalue::OK) {
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sif::error << "PCDUHandler::initialize: Failed to subscribe for set update messages from "
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<< "PDU1Handler" << std::endl;
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return result;
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}
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return returnvalue::OK;
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}
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void PCDUHandler::initializeSwitchStates() {
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using namespace pcdu;
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try {
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for (uint8_t idx = 0; idx < NUMBER_OF_SWITCHES; idx++) {
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if (idx < PDU::CHANNELS_LEN) {
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switchStates[idx] = INIT_SWITCHES_PDU1.at(idx);
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} else {
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switchStates[idx] = INIT_SWITCHES_PDU2.at(idx - PDU::CHANNELS_LEN);
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}
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}
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} catch (const std::out_of_range& err) {
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sif::error << "PCDUHandler::initializeSwitchStates: " << err.what() << std::endl;
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}
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}
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void PCDUHandler::readCommandQueue() {
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ReturnValue_t result = returnvalue::OK;
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CommandMessage command;
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for (result = commandQueue->receiveMessage(&command); result == returnvalue::OK;
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result = commandQueue->receiveMessage(&command)) {
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result = poolManager.handleHousekeepingMessage(&command);
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if (result == returnvalue::OK) {
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continue;
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}
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}
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}
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MessageQueueId_t PCDUHandler::getCommandQueue() const { return commandQueue->getId(); }
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void PCDUHandler::handleChangedDataset(sid_t sid, store_address_t storeId, bool* clearMessage) {
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if (sid == sid_t(objects::PDU2_HANDLER, static_cast<uint32_t>(P60System::SetIds::CORE))) {
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updateHkTableDataset(storeId, &pdu2CoreHk, &timeStampPdu2HkDataset);
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updatePdu2SwitchStates();
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} else if (sid == sid_t(objects::PDU1_HANDLER, static_cast<uint32_t>(P60System::SetIds::CORE))) {
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updateHkTableDataset(storeId, &pdu1CoreHk, &timeStampPdu1HkDataset);
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updatePdu1SwitchStates();
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} else {
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sif::error << "PCDUHandler::handleChangedDataset: Invalid sid" << std::endl;
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}
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}
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void PCDUHandler::updateHkTableDataset(store_address_t storeId, LocalPoolDataSetBase* dataset,
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CCSDSTime::CDS_short* datasetTimeStamp) {
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ReturnValue_t result;
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HousekeepingSnapshot packetUpdate(reinterpret_cast<uint8_t*>(datasetTimeStamp),
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sizeof(CCSDSTime::CDS_short), dataset);
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const uint8_t* packet_ptr = nullptr;
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size_t size = 0;
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result = IPCStore->getData(storeId, &packet_ptr, &size);
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if (result != returnvalue::OK) {
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sif::error << "PCDUHandler::updateHkTableDataset: Failed to get data from IPCStore."
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<< std::endl;
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}
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result = packetUpdate.deSerialize(&packet_ptr, &size, SerializeIF::Endianness::MACHINE);
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if (result != returnvalue::OK) {
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sif::error << "PCDUHandler::updateHkTableDataset: Failed to deserialize received packet "
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"in hk table dataset"
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<< std::endl;
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}
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result = IPCStore->deleteData(storeId);
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if (result != returnvalue::OK) {
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sif::error << "PCDUHandler::updateHkTableDataset: Failed to delete data in IPCStore"
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<< std::endl;
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}
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}
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void PCDUHandler::updatePdu2SwitchStates() {
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using namespace pcdu;
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using namespace PDU2;
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GOMSPACE::Pdu pdu = GOMSPACE::Pdu::PDU2;
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PoolReadGuard rg0(&switcherSet);
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if (rg0.getReadResult() == returnvalue::OK) {
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for (uint8_t idx = 0; idx < PDU::CHANNELS_LEN; idx++) {
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switcherSet.pdu2Switches[idx] = pdu2CoreHk.outputEnables[idx];
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}
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MutexGuard mg(pwrMutex);
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checkAndUpdateSwitch(pdu, Switches::PDU2_CH0_Q7S, pdu2CoreHk.outputEnables[Channels::Q7S]);
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checkAndUpdateSwitch(pdu, Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8,
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pdu2CoreHk.outputEnables[Channels::PAYLOAD_PCDU_CH1]);
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checkAndUpdateSwitch(pdu, Switches::PDU2_CH2_RW_5V, pdu2CoreHk.outputEnables[Channels::RW]);
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checkAndUpdateSwitch(pdu, Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V,
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pdu2CoreHk.outputEnables[Channels::TCS_HEATER_IN]);
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checkAndUpdateSwitch(pdu, Switches::PDU2_CH4_SUS_REDUNDANT_3V3,
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pdu2CoreHk.outputEnables[Channels::SUS_REDUNDANT]);
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checkAndUpdateSwitch(pdu, Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
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pdu2CoreHk.outputEnables[Channels::DEPY_MECHANISM]);
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checkAndUpdateSwitch(pdu, Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8,
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pdu2CoreHk.outputEnables[Channels::PAYLOAD_PCDU_CH6]);
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checkAndUpdateSwitch(pdu, Switches::PDU2_CH7_ACS_BOARD_SIDE_B_3V3,
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pdu2CoreHk.outputEnables[Channels::ACS_B_SIDE]);
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checkAndUpdateSwitch(pdu, Switches::PDU2_CH8_PAYLOAD_CAMERA,
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pdu2CoreHk.outputEnables[Channels::PAYLOAD_CAMERA]);
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if (firstSwitchInfoPdu2) {
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firstSwitchInfoPdu2 = false;
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}
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} else {
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sif::debug << "PCDUHandler::updatePdu2SwitchStates: Failed to read PDU2 Hk Dataset"
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<< std::endl;
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}
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}
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void PCDUHandler::updatePdu1SwitchStates() {
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using namespace pcdu;
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using namespace PDU1;
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PoolReadGuard rg0(&switcherSet);
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GOMSPACE::Pdu pdu = GOMSPACE::Pdu::PDU1;
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if (rg0.getReadResult() == returnvalue::OK) {
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for (uint8_t idx = 0; idx < PDU::CHANNELS_LEN; idx++) {
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switcherSet.pdu1Switches[idx] = pdu1CoreHk.outputEnables[idx];
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}
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MutexGuard mg(pwrMutex);
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checkAndUpdateSwitch(pdu, Switches::PDU1_CH0_TCS_BOARD_3V3,
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pdu1CoreHk.outputEnables[Channels::TCS_BOARD_3V3]);
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checkAndUpdateSwitch(pdu, Switches::PDU1_CH1_SYRLINKS_12V,
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pdu1CoreHk.outputEnables[Channels::SYRLINKS]);
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checkAndUpdateSwitch(pdu, Switches::PDU1_CH2_STAR_TRACKER_5V,
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pdu1CoreHk.outputEnables[Channels::STR]);
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checkAndUpdateSwitch(pdu, Switches::PDU1_CH3_MGT_5V, pdu1CoreHk.outputEnables[Channels::MGT]);
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checkAndUpdateSwitch(pdu, Switches::PDU1_CH4_SUS_NOMINAL_3V3,
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pdu1CoreHk.outputEnables[Channels::SUS_NOMINAL]);
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checkAndUpdateSwitch(pdu, Switches::PDU1_CH5_SOLAR_CELL_EXP_5V,
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pdu1CoreHk.outputEnables[Channels::SOL_CELL_EXPERIMENT]);
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checkAndUpdateSwitch(pdu, Switches::PDU1_CH6_PLOC_12V,
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pdu1CoreHk.outputEnables[Channels::PLOC]);
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checkAndUpdateSwitch(pdu, Switches::PDU1_CH7_ACS_A_SIDE_3V3,
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pdu1CoreHk.outputEnables[Channels::ACS_A_SIDE]);
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checkAndUpdateSwitch(pdu, Switches::PDU1_CH8_UNOCCUPIED,
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pdu1CoreHk.outputEnables[Channels::UNUSED]);
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if (firstSwitchInfoPdu1) {
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firstSwitchInfoPdu1 = false;
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}
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} else {
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sif::debug << "PCDUHandler::updatePdu1SwitchStates: Failed to read dataset" << std::endl;
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}
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}
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LocalDataPoolManager* PCDUHandler::getHkManagerHandle() { return &poolManager; }
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ReturnValue_t PCDUHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) {
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using namespace pcdu;
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ReturnValue_t result;
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uint16_t memoryAddress = 0;
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size_t parameterValueSize = sizeof(uint8_t);
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uint8_t parameterValue = 0;
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GomspaceDeviceHandler* pdu = nullptr;
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switch (switchNr) {
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case pcdu::PDU1_CH0_TCS_BOARD_3V3: {
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memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_TCS_BOARD_3V3;
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pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
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break;
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}
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case pcdu::PDU1_CH1_SYRLINKS_12V: {
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memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_SYRLINKS;
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pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
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break;
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}
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case pcdu::PDU1_CH2_STAR_TRACKER_5V: {
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memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_STAR_TRACKER;
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pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
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break;
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}
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case pcdu::PDU1_CH3_MGT_5V: {
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memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_MGT;
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pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
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break;
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}
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case pcdu::PDU1_CH4_SUS_NOMINAL_3V3: {
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memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_SUS_NOMINAL;
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pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
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break;
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}
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case pcdu::PDU1_CH5_SOLAR_CELL_EXP_5V: {
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memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_SOLAR_CELL_EXP;
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pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
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break;
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}
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case pcdu::PDU1_CH6_PLOC_12V: {
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memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_PLOC;
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pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
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break;
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}
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case pcdu::PDU1_CH7_ACS_A_SIDE_3V3: {
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memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_A;
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pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
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break;
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}
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case pcdu::PDU1_CH8_UNOCCUPIED: {
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memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_CHANNEL8;
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pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
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break;
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}
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// This is a dangerous command. Reject/Igore it for now
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case pcdu::PDU2_CH0_Q7S: {
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return returnvalue::FAILED;
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// memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_Q7S;
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// pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
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// break;
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}
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case pcdu::PDU2_CH1_PL_PCDU_BATT_0_14V8: {
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memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_PAYLOAD_PCDU_CH1;
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pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
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break;
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}
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case pcdu::PDU2_CH2_RW_5V: {
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memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_RW;
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pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
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break;
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}
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case pcdu::PDU2_CH3_TCS_BOARD_HEATER_IN_8V: {
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memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_TCS_BOARD_HEATER_IN;
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pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
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break;
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}
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case pcdu::PDU2_CH4_SUS_REDUNDANT_3V3: {
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memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_SUS_REDUNDANT;
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pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
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break;
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}
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case pcdu::PDU2_CH5_DEPLOYMENT_MECHANISM_8V: {
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memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_DEPLOYMENT_MECHANISM;
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pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
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break;
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}
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case pcdu::PDU2_CH6_PL_PCDU_BATT_1_14V8: {
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memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_PAYLOAD_PCDU_CH6;
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pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
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break;
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}
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case pcdu::PDU2_CH7_ACS_BOARD_SIDE_B_3V3: {
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memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_B;
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pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
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break;
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}
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case pcdu::PDU2_CH8_PAYLOAD_CAMERA: {
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memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_PAYLOAD_CAMERA;
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pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
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break;
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}
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case pcdu::P60_DOCK_5V_STACK: {
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memoryAddress = P60Dock::CONFIG_ADDRESS_OUT_EN_5V_STACK;
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pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::P60DOCK_HANDLER);
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break;
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}
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default: {
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sif::error << "PCDUHandler::sendSwitchCommand: Invalid switch number " << std::endl;
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return returnvalue::FAILED;
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}
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}
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switch (onOff) {
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case PowerSwitchIF::SWITCH_ON:
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parameterValue = 1;
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break;
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case PowerSwitchIF::SWITCH_OFF:
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parameterValue = 0;
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break;
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default:
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sif::error << "PCDUHandler::sendSwitchCommand: Invalid state commanded" << std::endl;
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return returnvalue::FAILED;
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}
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GomspaceSetParamMessage setParamMessage(memoryAddress, ¶meterValue, parameterValueSize);
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size_t serializedLength = 0;
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uint8_t command[4];
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uint8_t* commandPtr = command;
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size_t maxSize = sizeof(command);
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setParamMessage.serialize(&commandPtr, &serializedLength, maxSize, SerializeIF::Endianness::BIG);
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store_address_t storeAddress;
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result = IPCStore->addData(&storeAddress, command, sizeof(command));
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CommandMessage message;
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ActionMessage::setCommand(&message, GOMSPACE::PARAM_SET, storeAddress);
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result = commandQueue->sendMessage(pdu->getCommandQueue(), &message, 0);
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if (result != returnvalue::OK) {
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sif::debug << "PCDUHandler::sendSwitchCommand: Failed to send message to PDU Handler"
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<< std::endl;
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} else {
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// Can't use trigger event because of const function constraint, but this hack seems to work
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this->forwardEvent(power::SWITCH_CMD_SENT, parameterValue, switchNr);
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}
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return result;
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}
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ReturnValue_t PCDUHandler::sendFuseOnCommand(uint8_t fuseNr) { return returnvalue::OK; }
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ReturnValue_t PCDUHandler::getSwitchState(uint8_t switchNr) const {
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if (switchNr >= pcdu::NUMBER_OF_SWITCHES) {
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sif::debug << "PCDUHandler::getSwitchState: Invalid switch number" << std::endl;
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return returnvalue::FAILED;
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}
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pwrMutex->lockMutex();
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uint8_t currentState = switchStates[switchNr];
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pwrMutex->unlockMutex();
|
|
if (currentState == 1) {
|
|
return PowerSwitchIF::SWITCH_ON;
|
|
} else {
|
|
return PowerSwitchIF::SWITCH_OFF;
|
|
}
|
|
}
|
|
|
|
ReturnValue_t PCDUHandler::getFuseState(uint8_t fuseNr) const { return returnvalue::OK; }
|
|
|
|
uint32_t PCDUHandler::getSwitchDelayMs(void) const { return 20000; }
|
|
|
|
object_id_t PCDUHandler::getObjectId() const { return SystemObject::getObjectId(); }
|
|
|
|
ReturnValue_t PCDUHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
|
|
LocalDataPoolManager& poolManager) {
|
|
using namespace pcdu;
|
|
localDataPoolMap.emplace(PoolIds::PDU1_SWITCHES, &pdu1Switches);
|
|
localDataPoolMap.emplace(PoolIds::PDU2_SWITCHES, &pdu2Switches);
|
|
localDataPoolMap.emplace(PoolIds::P60DOCK_SWITCHES, &p60Dock5VSwitch);
|
|
poolManager.subscribeForRegularPeriodicPacket(
|
|
subdp::RegularHkPeriodicParams(switcherSet.getSid(), false, 5.0));
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t PCDUHandler::initializeAfterTaskCreation() {
|
|
if (executingTask != nullptr) {
|
|
pstIntervalMs = executingTask->getPeriodMs();
|
|
}
|
|
this->poolManager.initializeAfterTaskCreation();
|
|
|
|
initializeSwitchStates();
|
|
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
uint32_t PCDUHandler::getPeriodicOperationFrequency() const { return pstIntervalMs; }
|
|
|
|
void PCDUHandler::setTaskIF(PeriodicTaskIF* task) { executingTask = task; }
|
|
|
|
LocalPoolDataSetBase* PCDUHandler::getDataSetHandle(sid_t sid) {
|
|
if (sid == switcherSet.getSid()) {
|
|
return &switcherSet;
|
|
} else {
|
|
sif::error << "PCDUHandler::getDataSetHandle: Invalid sid" << std::endl;
|
|
return nullptr;
|
|
}
|
|
}
|
|
|
|
void PCDUHandler::checkAndUpdateSwitch(GOMSPACE::Pdu pdu, pcdu::Switches switchIdx,
|
|
uint8_t setValue) {
|
|
using namespace pcdu;
|
|
if (switchStates[switchIdx] != setValue) {
|
|
#if OBSW_INITIALIZE_SWITCHES == 1
|
|
// This code initializes the switches to the default init switch states on every reboot.
|
|
// This is not done by the PCDU unless it is power-cycled.
|
|
if (((pdu == GOMSPACE::Pdu::PDU1) and firstSwitchInfoPdu1) or
|
|
((pdu == GOMSPACE::Pdu::PDU2) and firstSwitchInfoPdu2)) {
|
|
ReturnValue_t state = PowerSwitchIF::SWITCH_OFF;
|
|
if (INIT_SWITCH_STATES[switchIdx] == ON) {
|
|
state = PowerSwitchIF::SWITCH_ON;
|
|
}
|
|
sendSwitchCommand(switchIdx, state);
|
|
} else {
|
|
triggerEvent(power::SWITCH_HAS_CHANGED, setValue, switchIdx);
|
|
}
|
|
#else
|
|
triggerEvent(power::SWITCH_HAS_CHANGED, setValue, switchIdx);
|
|
#endif
|
|
}
|
|
switchStates[switchIdx] = setValue;
|
|
}
|