371 lines
13 KiB
C++
371 lines
13 KiB
C++
#include "EiveSystem.h"
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#include <eive/objects.h>
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#include <fsfw/events/EventManager.h>
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#include <fsfw/ipc/QueueFactory.h>
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#include <fsfw/power/PowerSwitchIF.h>
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#include <fsfw/tasks/TaskFactory.h>
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#include <mission/acs/defs.h>
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#include <mission/com/defs.h>
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#include <mission/controller/tcsDefs.h>
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#include "linux/ipcore/pdec.h"
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#include "mission/power/bpxBattDefs.h"
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#include "mission/power/defs.h"
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#include "mission/sysDefs.h"
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EiveSystem::EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
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uint32_t maxNumberOfTables, std::atomic_uint16_t& i2cErrors)
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: Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables),
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actionHelper(this, commandQueue),
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i2cErrors(i2cErrors) {
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auto mqArgs = MqArgs(SubsystemBase::getObjectId(), static_cast<void*>(this));
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eventQueue =
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QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
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}
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void EiveSystem::announceMode(bool recursive) {
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const char* modeStr = "UNKNOWN";
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switch (mode) {
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case (satsystem::Mode::BOOT): {
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modeStr = "OFF/BOOT";
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break;
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}
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case (satsystem::Mode::SAFE): {
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modeStr = "SAFE";
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break;
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}
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case (satsystem::Mode::PTG_IDLE): {
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modeStr = "POINTING IDLE";
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break;
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}
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case (satsystem::Mode::PTG_NADIR): {
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modeStr = "POINTING NADIR";
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break;
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}
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case (satsystem::Mode::PTG_TARGET): {
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modeStr = "POINTING TARGET";
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break;
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}
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case (satsystem::Mode::PTG_TARGET_GS): {
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modeStr = "POINTING TARGET GS";
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break;
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}
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case (satsystem::Mode::PTG_INERTIAL): {
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modeStr = "POINTING INERTIAL";
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break;
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}
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}
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sif::info << "EIVE system is now in " << modeStr << " mode" << std::endl;
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return Subsystem::announceMode(recursive);
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}
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void EiveSystem::performChildOperation() {
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Subsystem::performChildOperation();
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handleEventMessages();
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if (not isInTransition and performSafeRecovery) {
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commandSelfToSafe();
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performSafeRecovery = false;
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return;
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}
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pdecRecoveryLogic();
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i2cRecoveryLogic();
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}
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ReturnValue_t EiveSystem::initialize() {
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if (powerSwitcher == nullptr) {
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return ObjectManager::CHILD_INIT_FAILED;
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}
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ReturnValue_t result = actionHelper.initialize();
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if (result != returnvalue::OK) {
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return result;
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}
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auto* bpxDest = ObjectManager::instance()->get<HasActionsIF>(objects::BPX_BATT_HANDLER);
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if (bpxDest == nullptr) {
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return ObjectManager::CHILD_INIT_FAILED;
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}
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bpxBattQueueId = bpxDest->getCommandQueue();
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auto* coreCtrl = ObjectManager::instance()->get<HasActionsIF>(objects::CORE_CONTROLLER);
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if (coreCtrl == nullptr) {
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return ObjectManager::CHILD_INIT_FAILED;
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}
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coreCtrlQueueId = coreCtrl->getCommandQueue();
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auto* pdecHandler = ObjectManager::instance()->get<HasActionsIF>(objects::PDEC_HANDLER);
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if (pdecHandler == nullptr) {
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return ObjectManager::CHILD_INIT_FAILED;
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}
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pdecHandlerQueueId = pdecHandler->getCommandQueue();
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auto* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
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if (manager == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "AcsSubsystem::initialize: Invalid event manager" << std::endl;
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#endif
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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result = manager->registerListener(eventQueue->getId());
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if (result != returnvalue::OK) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "AcsSubsystem::registerListener: Failed to register as "
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"listener"
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<< std::endl;
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#endif
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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manager->subscribeToEvent(eventQueue->getId(),
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event::getEventId(tcsCtrl::PCDU_SYSTEM_OVERHEATING));
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manager->subscribeToEvent(eventQueue->getId(), event::getEventId(tcsCtrl::OBC_OVERHEATING));
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manager->subscribeToEvent(eventQueue->getId(), event::getEventId(tcsCtrl::MGT_OVERHEATING));
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manager->subscribeToEvent(eventQueue->getId(), event::getEventId(pdec::INVALID_TC_FRAME));
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return Subsystem::initialize();
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}
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void EiveSystem::handleEventMessages() {
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EventMessage event;
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for (ReturnValue_t status = eventQueue->receiveMessage(&event); status == returnvalue::OK;
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status = eventQueue->receiveMessage(&event)) {
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switch (event.getMessageId()) {
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case EventMessage::EVENT_MESSAGE:
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switch (event.getEvent()) {
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case pdec::INVALID_TC_FRAME: {
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if (event.getParameter1() == pdec::FRAME_DIRTY_RETVAL) {
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frameDirtyErrorCounter++;
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// Check whether threshold was reached after 10 seconds.
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if (frameDirtyErrorCounter == 1) {
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frameDirtyCheckCd.resetTimer();
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}
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}
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break;
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}
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case tcsCtrl::OBC_OVERHEATING:
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case tcsCtrl::MGT_OVERHEATING:
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case tcsCtrl::PCDU_SYSTEM_OVERHEATING: {
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if (isInTransition) {
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performSafeRecovery = true;
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return;
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}
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commandSelfToSafe();
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break;
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}
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}
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break;
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default:
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sif::debug << "EiveSystem: Did not subscribe to event " << event.getEvent() << std::endl;
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break;
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}
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}
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}
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MessageQueueId_t EiveSystem::getCommandQueue() const { return Subsystem::getCommandQueue(); }
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ReturnValue_t EiveSystem::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
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const uint8_t* data, size_t size) {
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switch (actionId) {
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case (EXECUTE_I2C_REBOOT): {
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triggerEvent(core::TRYING_I2C_RECOVERY);
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performI2cReboot = true;
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i2cRebootState = I2cRebootState::SYSTEM_MODE_BOOT;
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this->actionCommandedBy = commandedBy;
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return returnvalue::OK;
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}
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default: {
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return HasActionsIF::INVALID_ACTION_ID;
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}
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}
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return returnvalue::OK;
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}
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void EiveSystem::setI2cRecoveryParams(PowerSwitchIF* pwrSwitcher) {
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this->powerSwitcher = pwrSwitcher;
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}
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void EiveSystem::i2cRecoveryLogic() {
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ReturnValue_t result;
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if (not performI2cReboot) {
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// If a recovery worked, need to reset these flags and the error count after some time.
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if (i2cRecoveryClearCountdown.hasTimedOut()) {
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i2cErrors = 0;
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alreadyTriedI2cRecovery = false;
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i2cRebootHandlingCountdown.resetTimer();
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}
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// If an I2C recovery is not ongoing and the I2C error counter is above a threshold, try
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// recovery or reboot if recovery was already attempted.
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if (i2cErrors >= 5) {
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if (not alreadyTriedI2cRecovery) {
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// Try recovery.
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executeAction(EXECUTE_I2C_REBOOT, MessageQueueIF::NO_QUEUE, nullptr, 0);
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} else {
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if (waitingForI2cReboot) {
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return;
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}
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triggerEvent(core::I2C_REBOOT);
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// Some delay to ensure that the event is stored in the persistent TM store as well.
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TaskFactory::delayTask(500);
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// We already tried an I2C recovery but the bus is still broken.
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// Send reboot request to core controller.
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result = sendSelfRebootCommand();
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if (result != returnvalue::OK) {
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sif::error << "Sending a reboot command has failed" << std::endl;
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// If the previous operation failed, it should be re-attempted the next task cycle.
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return;
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}
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waitingForI2cReboot = true;
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return;
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}
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}
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}
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if (not isInTransition and performI2cReboot) {
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switch (i2cRebootState) {
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case (I2cRebootState::NONE): {
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break;
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}
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case (I2cRebootState::SYSTEM_MODE_BOOT): {
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startTransition(satsystem::Mode::BOOT, 0);
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i2cRebootState = I2cRebootState::SWITCH_3V3_STACK_OFF_AND_BATT_REBOOT;
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i2cRebootHandlingCountdown.resetTimer();
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break;
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}
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case (I2cRebootState::SWITCH_3V3_STACK_OFF_AND_BATT_REBOOT): {
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if (mode == satsystem::Mode::BOOT) {
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result = powerSwitcher->sendSwitchCommand(power::Switches::P60_DOCK_3V3_STACK,
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PowerSwitchIF::SWITCH_OFF);
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if (result != returnvalue::OK) {
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actionHelper.finish(false, actionCommandedBy, EXECUTE_I2C_REBOOT, result);
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commonI2cRecoverySequenceFinish();
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return;
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}
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CommandMessage msg;
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store_address_t dummy{};
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ActionMessage::setCommand(&msg, bpxBat::REBOOT, dummy);
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result = commandQueue->sendMessage(bpxBattQueueId, &msg);
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if (result != returnvalue::OK) {
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actionHelper.finish(false, actionCommandedBy, EXECUTE_I2C_REBOOT, result);
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commonI2cRecoverySequenceFinish();
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return;
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}
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i2cRebootState = I2cRebootState::WAIT_CYCLE;
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}
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break;
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}
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case (I2cRebootState::WAIT_CYCLE): {
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i2cRebootState = I2cRebootState::SWITCH_3V3_STACK_ON;
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break;
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}
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case (I2cRebootState::SWITCH_3V3_STACK_ON): {
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result = powerSwitcher->sendSwitchCommand(power::Switches::P60_DOCK_3V3_STACK,
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PowerSwitchIF::SWITCH_ON);
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if (result != returnvalue::OK) {
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actionHelper.finish(false, actionCommandedBy, EXECUTE_I2C_REBOOT, result);
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commonI2cRecoverySequenceFinish();
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return;
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}
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i2cRebootState = I2cRebootState::SYSTEM_MODE_SAFE;
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break;
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}
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case (I2cRebootState::SYSTEM_MODE_SAFE): {
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if (powerSwitcher->getSwitchState(power::Switches::P60_DOCK_3V3_STACK) ==
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PowerSwitchIF::SWITCH_ON) {
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// This should always be accepted
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commonI2cRecoverySequenceFinish();
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actionHelper.finish(true, actionCommandedBy, EXECUTE_I2C_REBOOT);
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}
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break;
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}
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default: {
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sif::error << "EiveSystem: Unexpected I2C reboot state" << std::endl;
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break;
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}
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}
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// Timeout handling for the internal procedure.
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if (i2cRebootState != I2cRebootState::NONE and i2cRebootHandlingCountdown.hasTimedOut()) {
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actionHelper.finish(false, actionCommandedBy, EXECUTE_I2C_REBOOT, returnvalue::FAILED);
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// Command stack back on in any case.
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powerSwitcher->sendSwitchCommand(power::Switches::P60_DOCK_3V3_STACK,
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PowerSwitchIF::SWITCH_ON);
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commonI2cRecoverySequenceFinish();
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}
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}
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}
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void EiveSystem::commandSelfToSafe() { startTransition(satsystem::Mode::SAFE, 0); }
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ReturnValue_t EiveSystem::sendFullRebootCommand() {
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CommandMessage msg;
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ActionMessage::setCommand(&msg, core::REBOOT_OBC, store_address_t());
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return commandQueue->sendMessage(coreCtrlQueueId, &msg);
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}
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void EiveSystem::pdecRecoveryLogic() {
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// PDEC reset has happened too often in the last time. Perform reboot to same image.
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if (pdecResetCounter >= PDEC_RESET_MAX_COUNT_BEFORE_REBOOT) {
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if (waitingForPdecReboot) {
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return;
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}
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triggerEvent(core::PDEC_REBOOT);
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// Some delay to ensure that the event is stored in the persistent TM store as well.
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TaskFactory::delayTask(500);
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// Send reboot command.
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ReturnValue_t result = sendSelfRebootCommand();
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if (result != returnvalue::OK) {
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sif::error << "Sending a reboot command has failed" << std::endl;
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// If the previous operation failed, it should be re-attempted the next task cycle.
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pdecResetCounterResetCd.resetTimer();
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return;
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}
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waitingForPdecReboot = true;
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return;
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}
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if (pdecResetCounterResetCd.hasTimedOut()) {
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pdecResetCounter = 0;
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}
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if (frameDirtyCheckCd.hasTimedOut() and frameDirtyErrorCounter > 0) {
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if (frameDirtyErrorCounter >= FRAME_DIRTY_COM_REBOOT_LIMIT) {
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// Try one full PDEC reset.
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CommandMessage msg;
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store_address_t dummy{};
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ActionMessage::setCommand(&msg, pdec::RESET_PDEC_WITH_REINIITALIZATION, dummy);
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commandQueue->sendMessage(pdecHandlerQueueId, &msg);
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pdecResetCounterResetCd.resetTimer();
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pdecResetCounter++;
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}
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frameDirtyErrorCounter = 0;
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}
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}
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void EiveSystem::commonI2cRecoverySequenceFinish() {
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alreadyTriedI2cRecovery = true;
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performI2cReboot = false;
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i2cRebootState = I2cRebootState::NONE;
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// Reset this counter and the recovery clear countdown. If I2C devices are still problematic,
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// we will get a full reboot next time this count goes above 5.
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i2cErrors = 0;
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i2cRecoveryClearCountdown.resetTimer();
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// This should always be accepted
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commandSelfToSafe();
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}
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ReturnValue_t EiveSystem::handleCommandMessage(CommandMessage* message) {
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if (message->getMessageType() == messagetypes::ACTION) {
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return actionHelper.handleActionMessage(message);
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}
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return Subsystem::handleCommandMessage(message);
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}
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ReturnValue_t EiveSystem::sendSelfRebootCommand() {
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CommandMessage msg;
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uint8_t data[1];
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// This option is used to target the same image.
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data[0] = true;
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store_address_t storeId;
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ReturnValue_t result = IPCStore->addData(&storeId, data, sizeof(data));
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if (result != returnvalue::OK) {
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return result;
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}
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ActionMessage::setCommand(&msg, core::XSC_REBOOT_OBC, storeId);
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return commandQueue->sendMessage(coreCtrlQueueId, &msg);
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}
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