eive-obsw/mission/devices/ACUHandler.cpp
Robin Mueller 822e8eea4a
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2022-08-30 23:54:05 +02:00

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#include "ACUHandler.h"
#include "OBSWConfig.h"
ACUHandler::ACUHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
FailureIsolationBase *customFdir)
: GomspaceDeviceHandler(objectId, comIF, comCookie, cfg, customFdir),
coreHk(this),
auxHk(this) {
cfg.maxConfigTableAddress = ACU::MAX_CONFIGTABLE_ADDRESS;
cfg.maxHkTableAddress = ACU::MAX_HKTABLE_ADDRESS;
cfg.hkTableSize = ACU::HK_TABLE_SIZE;
cfg.cfgTableSize = ACU::CONFIG_TABLE_SIZE;
}
ACUHandler::~ACUHandler() {}
ReturnValue_t ACUHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
*id = GOMSPACE::REQUEST_HK_TABLE;
return buildCommandFromCommand(*id, nullptr, 0);
}
void ACUHandler::fillCommandAndReplyMap() { GomspaceDeviceHandler::fillCommandAndReplyMap(); }
void ACUHandler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) {
parseHkTableReply(packet);
if (debugMode) {
#if OBSW_VERBOSE_LEVEL >= 1
PoolReadGuard pg0(&auxHk);
PoolReadGuard pg1(&coreHk);
if (pg0.getReadResult() != returnvalue::OK or pg1.getReadResult() != returnvalue::OK) {
return;
}
for (size_t idx = 0; idx < 3; idx++) {
float tempC = coreHk.temperatures[idx] * 0.1;
sif::info << "ACU: Temperature " << idx << ": " << tempC << " °C" << std::endl;
}
sif::info << "ACU: Ground Watchdog Timer Count: " << auxHk.wdtCntGnd.value << std::endl;
sif::info << "ACU: Ground watchdog timer, seconds left before reboot: "
<< auxHk.wdtGndLeft.value << std::endl;
#endif
}
}
void ACUHandler::letChildHandleConfigReply(DeviceCommandId_t id, const uint8_t *packet) {
handleDeviceTm(packet, ACU::CONFIG_TABLE_SIZE, id);
}
LocalPoolDataSetBase *ACUHandler::getDataSetHandle(sid_t sid) {
if (sid == coreHk.getSid()) {
return &coreHk;
} else if (sid == auxHk.getSid()) {
return &auxHk;
}
return nullptr;
}
ReturnValue_t ACUHandler::parseHkTableReply(const uint8_t *packet) {
PoolReadGuard pg0(&coreHk);
PoolReadGuard pg1(&auxHk);
auto res0 = pg0.getReadResult();
auto res1 = pg1.getReadResult();
if (res0 != returnvalue::OK) {
return res0;
}
if (res1 != returnvalue::OK) {
return res1;
}
for (size_t idx = 0; idx < 6; idx++) {
coreHk.currentInChannels[idx] = as<int16_t>(packet + (idx * 2));
}
for (size_t idx = 0; idx < 6; idx++) {
coreHk.voltageInChannels[idx] = as<uint16_t>(packet + 0xc + (idx * 2));
}
coreHk.vcc = as<uint16_t>(packet + 0x1a);
coreHk.vbat = as<uint16_t>(packet + 0x18);
for (size_t idx = 0; idx < 3; idx++) {
coreHk.temperatures[idx] = as<int16_t>(packet + 0x1c + (idx * 2)) * 0.1;
}
coreHk.mpptMode = packet[0x22];
for (size_t idx = 0; idx < 6; idx++) {
coreHk.vboostInChannels[idx] = as<uint16_t>(packet + 0x24 + (idx * 2));
}
for (size_t idx = 0; idx < 6; idx++) {
coreHk.powerInChannels[idx] = as<uint16_t>(packet + 0x30 + (idx * 2));
}
for (size_t idx = 0; idx < 3; idx++) {
auxHk.dacEnables[idx] = *(packet + 0x3c + idx);
}
for (size_t idx = 0; idx < 6; idx++) {
auxHk.dacRawChannelVals[idx] = as<uint16_t>(packet + 0x40 + (idx * 2));
}
auxHk.bootCause = as<uint32_t>(packet + 0x50);
coreHk.bootcnt = as<uint32_t>(packet + 0x54);
coreHk.uptime = as<uint32_t>(packet + 0x58);
auxHk.resetCause = as<uint16_t>(packet + 0x5c);
coreHk.mpptTime = as<uint16_t>(packet + 0x5e);
coreHk.mpptPeriod = as<uint16_t>(packet + 0x60);
for (size_t idx = 0; idx < 8; idx++) {
auxHk.deviceTypes[idx] = *(packet + 0x64 + idx);
}
for (size_t idx = 0; idx < 8; idx++) {
auxHk.devicesStatus[idx] = *(packet + 0x6c + idx);
}
auxHk.wdtCntGnd = as<uint32_t>(packet + 0x74);
auxHk.wdtGndLeft = as<uint32_t>(packet + 0x78);
coreHk.setValidity(true, true);
auxHk.setValidity(true, true);
return returnvalue::OK;
}
ReturnValue_t ACUHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
using namespace ACU;
localDataPoolMap.emplace(pool::ACU_CURRENT_IN_CHANNELS, new PoolEntry<int16_t>(6));
localDataPoolMap.emplace(pool::ACU_VOLTAGE_IN_CHANNELS, new PoolEntry<uint16_t>(6));
localDataPoolMap.emplace(pool::ACU_VCC, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(pool::ACU_VBAT, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(pool::ACU_TEMPERATURES, new PoolEntry<float>(3));
localDataPoolMap.emplace(pool::ACU_MPPT_MODE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(pool::ACU_VBOOST_IN_CHANNELS, new PoolEntry<uint16_t>(6));
localDataPoolMap.emplace(pool::ACU_POWER_IN_CHANNELS, new PoolEntry<uint16_t>(6));
localDataPoolMap.emplace(pool::ACU_DAC_ENABLES, new PoolEntry<uint8_t>(3));
localDataPoolMap.emplace(pool::ACU_DAC_RAW_CHANNELS, new PoolEntry<uint16_t>(6));
localDataPoolMap.emplace(pool::ACU_BOOTCAUSE, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(pool::ACU_BOOTCNT, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(pool::ACU_UPTIME, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(pool::ACU_RESET_CAUSE, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(pool::ACU_MPPT_TIME, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(pool::ACU_MPPT_PERIOD, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(pool::ACU_DEVICES, new PoolEntry<uint8_t>(8));
localDataPoolMap.emplace(pool::ACU_DEVICES_STATUS, new PoolEntry<uint8_t>(8));
localDataPoolMap.emplace(pool::ACU_WDT_CNT_GND, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(pool::ACU_WDT_GND_LEFT, new PoolEntry<uint32_t>({0}));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), false, 10.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(auxHk.getSid(), false, 30.0));
return returnvalue::OK;
}
void ACUHandler::printChannelStats() {
PoolReadGuard pg(&coreHk);
sif::info << "ACU Info: Current [mA], Voltage [mV]" << std::endl;
for (size_t idx = 0; idx < 6; idx++) {
sif::info << std::setw(8) << std::left << "Channel " << idx << std::dec << "| "
<< static_cast<unsigned int>(coreHk.currentInChannels[idx]) << std::setw(15)
<< std::right << coreHk.voltageInChannels[idx] << std::endl;
}
}
void ACUHandler::setDebugMode(bool enable) { this->debugMode = enable; }
ReturnValue_t ACUHandler::printStatus(DeviceCommandId_t cmd) {
ReturnValue_t result = returnvalue::OK;
switch (cmd) {
case (GOMSPACE::PRINT_SWITCH_V_I): {
PoolReadGuard pg(&coreHk);
result = pg.getReadResult();
if (result != returnvalue::OK) {
break;
}
printChannelStats();
break;
}
default: {
return DeviceHandlerIF::COMMAND_NOT_SUPPORTED;
}
}
if (result != returnvalue::OK) {
sif::warning << "Reading PDU1 HK table failed!" << std::endl;
}
return result;
}