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Merge branch 'mueller/master' of https://egit.irs.uni-stuttgart.de/KSat/fsfw into mueller/master

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This commit is contained in:
Robin Müller
2020-12-02 23:22:40 +01:00
parent 586e8b0347 4d76bf24b5
commit 21c3db4ffc
66 changed files with 1511 additions and 603 deletions
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135
devicehandlers/DeviceHandlerBase.cpp
View File

@ -3,8 +3,6 @@
#include "DeviceTmReportingWrapper.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../datapoolglob/GlobalDataSet.h"
#include "../datapoolglob/GlobalPoolVariable.h"
#include "../objectmanager/ObjectManager.h"
#include "../storagemanager/StorageManagerIF.h"
#include "../thermal/ThermalComponentIF.h"
@ -13,9 +11,11 @@
#include "../ipc/MessageQueueMessage.h"
#include "../ipc/QueueFactory.h"
#include "../subsystem/SubsystemBase.h"
#include "../datapoollocal/LocalPoolVariable.h"
#include <iomanip>
object_id_t DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
object_id_t DeviceHandlerBase::rawDataReceiverId = objects::NO_OBJECT;
object_id_t DeviceHandlerBase::defaultFdirParentId = objects::NO_OBJECT;
@ -56,9 +56,10 @@ void DeviceHandlerBase::setHkDestination(object_id_t hkDestination) {
}
void DeviceHandlerBase::setThermalStateRequestPoolIds(
uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId) {
this->deviceThermalRequestPoolId = thermalStatePoolId;
this->deviceThermalRequestPoolId = thermalRequestPoolId;
lp_id_t thermalStatePoolId, lp_id_t heaterRequestPoolId,
uint32_t thermalSetId) {
thermalSet = new DeviceHandlerThermalSet(this, thermalSetId,
thermalStatePoolId, heaterRequestPoolId);
}
@ -210,16 +211,18 @@ ReturnValue_t DeviceHandlerBase::initialize() {
fillCommandAndReplyMap();
//Set temperature target state to NON_OP.
GlobDataSet mySet;
gp_uint8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
PoolVariableIF::VAR_WRITE);
mySet.read();
thermalRequest = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
mySet.commit(PoolVariableIF::VALID);
if(thermalSet != nullptr) {
//Set temperature target state to NON_OP.
result = thermalSet->read();
if(result == HasReturnvaluesIF::RETURN_OK) {
thermalSet->heaterRequest.value =
ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
thermalSet->commit(PoolVariableIF::VALID);
}
}
return RETURN_OK;
}
void DeviceHandlerBase::decrementDeviceReplyMap() {
@ -507,15 +510,17 @@ void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
}
Clock::getUptime(&timeoutStart);
if (mode == MODE_OFF) {
GlobDataSet mySet;
gp_uint8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
PoolVariableIF::VAR_READ_WRITE);
mySet.read();
if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
thermalRequest = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
if (mode == MODE_OFF and thermalSet != nullptr) {
ReturnValue_t result = thermalSet->read();
if(result == HasReturnvaluesIF::RETURN_OK) {
if (thermalSet->heaterRequest.value !=
ThermalComponentIF::STATE_REQUEST_IGNORE) {
thermalSet->heaterRequest.value = ThermalComponentIF::
STATE_REQUEST_NON_OPERATIONAL;
}
thermalSet->heaterRequest.commit(PoolVariableIF::VALID);
}
mySet.commit(PoolVariableIF::VALID);
}
changeHK(mode, submode, true);
}
@ -978,17 +983,15 @@ ReturnValue_t DeviceHandlerBase::checkModeCommand(Mode_t commandedMode,
}
if ((commandedMode == MODE_ON) && (mode == MODE_OFF)
&& (deviceThermalStatePoolId != PoolVariableIF::NO_PARAMETER)) {
GlobDataSet mySet;
gp_uint8_t thermalState(deviceThermalStatePoolId, &mySet,
PoolVariableIF::VAR_READ);
gp_uint8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
PoolVariableIF::VAR_READ);
mySet.read();
if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
if (!ThermalComponentIF::isOperational(thermalState)) {
and (thermalSet != nullptr)) {
ReturnValue_t result = thermalSet->read();
if(result == HasReturnvaluesIF::RETURN_OK) {
if((thermalSet->heaterRequest.value !=
ThermalComponentIF::STATE_REQUEST_IGNORE) and (not
ThermalComponentIF::isOperational(
thermalSet->thermalState.value))) {
triggerEvent(ThermalComponentIF::TEMP_NOT_IN_OP_RANGE,
thermalState);
thermalSet->thermalState.value);
return NON_OP_TEMPERATURE;
}
}
@ -1001,32 +1004,15 @@ void DeviceHandlerBase::startTransition(Mode_t commandedMode,
Submode_t commandedSubmode) {
switch (commandedMode) {
case MODE_ON:
if (mode == MODE_OFF) {
transitionSourceMode = _MODE_POWER_DOWN;
transitionSourceSubMode = SUBMODE_NONE;
setMode(_MODE_POWER_ON, commandedSubmode);
//already set the delay for the child transition so we don't need to call it twice
childTransitionDelay = getTransitionDelayMs(_MODE_START_UP,
MODE_ON);
triggerEvent(CHANGING_MODE, commandedMode, commandedSubmode);
GlobDataSet mySet;
gp_int8_t thermalRequest(deviceThermalRequestPoolId,
&mySet, PoolVariableIF::VAR_READ_WRITE);
mySet.read();
if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
thermalRequest = ThermalComponentIF::STATE_REQUEST_OPERATIONAL;
mySet.commit(PoolVariableIF::VALID);
}
} else {
setTransition(MODE_ON, commandedSubmode);
}
handleTransitionToOnMode(commandedMode, commandedSubmode);
break;
case MODE_OFF:
if (mode == MODE_OFF) {
triggerEvent(CHANGING_MODE, commandedMode, commandedSubmode);
setMode(_MODE_POWER_DOWN, commandedSubmode);
} else {
//already set the delay for the child transition so we don't need to call it twice
// already set the delay for the child transition
// so we don't need to call it twice
childTransitionDelay = getTransitionDelayMs(mode, _MODE_POWER_DOWN);
transitionSourceMode = _MODE_POWER_DOWN;
transitionSourceSubMode = commandedSubmode;
@ -1052,6 +1038,33 @@ void DeviceHandlerBase::startTransition(Mode_t commandedMode,
}
}
void DeviceHandlerBase::handleTransitionToOnMode(Mode_t commandedMode,
Submode_t commandedSubmode) {
if (mode == MODE_OFF) {
transitionSourceMode = _MODE_POWER_DOWN;
transitionSourceSubMode = SUBMODE_NONE;
setMode(_MODE_POWER_ON, commandedSubmode);
// already set the delay for the child transition so we don't
// need to call it twice
childTransitionDelay = getTransitionDelayMs(_MODE_START_UP,
MODE_ON);
triggerEvent(CHANGING_MODE, commandedMode, commandedSubmode);
if(thermalSet != nullptr) {
ReturnValue_t result = thermalSet->read();
if(result == HasReturnvaluesIF::RETURN_OK) {
if(thermalSet->heaterRequest !=
ThermalComponentIF::STATE_REQUEST_IGNORE) {
thermalSet->heaterRequest =
ThermalComponentIF::STATE_REQUEST_OPERATIONAL;
thermalSet->commit();
}
}
}
} else {
setTransition(MODE_ON, commandedSubmode);
}
}
void DeviceHandlerBase::getMode(Mode_t* mode, Submode_t* submode) {
*mode = this->mode;
*submode = this->submode;
@ -1224,10 +1237,12 @@ void DeviceHandlerBase::handleDeviceTM(SerializeIF* data,
}
}
//Try to cast to GlobDataSet and commit data.
if (!neverInDataPool) {
GlobDataSet* dataSet = dynamic_cast<GlobDataSet*>(data);
if (dataSet != NULL) {
dataSet->commit(PoolVariableIF::VALID);
if (not neverInDataPool) {
LocalPoolDataSetBase* dataSet =
dynamic_cast<LocalPoolDataSetBase*>(data);
if (dataSet != nullptr) {
dataSet->setValidity(true, true);
dataSet->commit();
}
}
}
@ -1374,8 +1389,8 @@ bool DeviceHandlerBase::commandIsExecuting(DeviceCommandId_t commandId) {
void DeviceHandlerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {
}
void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task_){
executingTask = task_;
void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task){
executingTask = task;
}
// Default implementations empty.
@ -1388,6 +1403,12 @@ void DeviceHandlerBase::performOperationHook() {
ReturnValue_t DeviceHandlerBase::initializeLocalDataPool(
LocalDataPool &localDataPoolMap,
LocalDataPoolManager& poolManager) {
if(thermalSet != nullptr) {
localDataPoolMap.emplace(thermalSet->thermalStatePoolId,
new PoolEntry<DeviceHandlerIF::dh_thermal_state_t>);
localDataPoolMap.emplace(thermalSet->heaterRequestPoolId,
new PoolEntry<DeviceHandlerIF::dh_heater_request_t>);
}
return RETURN_OK;
}

37
devicehandlers/DeviceHandlerBase.h
View File

@ -4,6 +4,7 @@
#include "DeviceHandlerIF.h"
#include "DeviceCommunicationIF.h"
#include "DeviceHandlerFailureIsolation.h"
#include "DeviceHandlerThermalSet.h"
#include "../objectmanager/SystemObject.h"
#include "../tasks/ExecutableObjectIF.h"
@ -103,8 +104,21 @@ public:
size_t cmdQueueSize = 20);
void setHkDestination(object_id_t hkDestination);
void setThermalStateRequestPoolIds(uint32_t thermalStatePoolId,
uint32_t thermalRequestPoolId);
/**
* If the device handler is controlled by the FSFW thermal building blocks,
* this function should be called to initialize all required components.
* The device handler will then take care of creating local pool entries
* for the device thermal state and device heating request.
* Custom local pool IDs can be assigned as well.
* @param thermalStatePoolId
* @param thermalRequestPoolId
*/
void setThermalStateRequestPoolIds(lp_id_t thermalStatePoolId =
DeviceHandlerIF::DEFAULT_THERMAL_STATE_POOL_ID,
lp_id_t thermalRequestPoolId =
DeviceHandlerIF::DEFAULT_THERMAL_HEATING_REQUEST_POOL_ID,
uint32_t thermalSetId = DeviceHandlerIF::DEFAULT_THERMAL_SET_ID);
/**
* @brief Helper function to ease device handler development.
* This will instruct the transition to MODE_ON immediately
@ -220,7 +234,7 @@ protected:
* - If the device does not change the mode, the mode will be changed to
* _MODE_POWER_DOWN, when the timeout (from getTransitionDelay())
* has passed.
*
* 0xffffffff
* #transitionFailure can be set to a failure code indicating the reason
* for a failed transition
*/
@ -694,19 +708,7 @@ protected:
//! and to send replies.
MessageQueueIF* commandQueue = nullptr;
/**
* this is the datapool variable with the thermal state of the device
*
* can be set to PoolVariableIF::NO_PARAMETER to deactivate thermal checking
*/
uint32_t deviceThermalStatePoolId = PoolVariableIF::NO_PARAMETER;
/**
* this is the datapool variable with the thermal request of the device
*
* can be set to PoolVariableIF::NO_PARAMETER to deactivate thermal checking
*/
uint32_t deviceThermalRequestPoolId = PoolVariableIF::NO_PARAMETER;
DeviceHandlerThermalSet* thermalSet = nullptr;
/**
* Optional Error code. Can be set in doStartUp(), doShutDown() and
@ -1229,6 +1231,9 @@ private:
void parseReply(const uint8_t* receivedData,
size_t receivedDataLen);
void handleTransitionToOnMode(Mode_t commandedMode,
Submode_t commandedSubmode);
};
#endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERBASE_H_ */

14
devicehandlers/DeviceHandlerIF.h
View File

@ -4,6 +4,7 @@
#include "DeviceHandlerMessage.h"
#include "../action/HasActionsIF.h"
#include "../datapoollocal/locPoolDefinitions.h"
#include "../events/Event.h"
#include "../modes/HasModesIF.h"
#include "../ipc/MessageQueueSenderIF.h"
@ -21,11 +22,14 @@ using DeviceCommandId_t = uint32_t;
*/
class DeviceHandlerIF {
public:
static const DeviceCommandId_t NO_COMMAND = 0xffffffff;
static const DeviceCommandId_t NO_COMMAND = -1;
static const uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20;
static const uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10;
using dh_heater_request_t = uint8_t;
using dh_thermal_state_t = int8_t;
/**
* @brief This is the mode the <strong>device handler</strong> is in.
*
@ -148,6 +152,14 @@ public:
NOTHING //!< Do nothing.
};
static constexpr uint32_t DEFAULT_THERMAL_SET_ID = sid_t::INVALID_SET_ID - 1;
static constexpr lp_id_t DEFAULT_THERMAL_STATE_POOL_ID =
localpool::INVALID_LPID - 2;
static constexpr lp_id_t DEFAULT_THERMAL_HEATING_REQUEST_POOL_ID =
localpool::INVALID_LPID - 1;
/**
* Default Destructor
*/

44
devicehandlers/DeviceHandlerThermalSet.h Normal file
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@ -0,0 +1,44 @@
#ifndef FSFW_DEVICEHANDLERS_DEVICEHANDLERTHERMALSET_H_
#define FSFW_DEVICEHANDLERS_DEVICEHANDLERTHERMALSET_H_
#include "DeviceHandlerIF.h"
#include "../datapoollocal/StaticLocalDataSet.h"
#include "../datapoollocal/LocalPoolVariable.h"
class DeviceHandlerThermalSet: public StaticLocalDataSet<2> {
public:
DeviceHandlerThermalSet(HasLocalDataPoolIF* hkOwner, uint32_t setId =
DeviceHandlerIF::DEFAULT_THERMAL_SET_ID,
lp_id_t thermalStateId =
DeviceHandlerIF::DEFAULT_THERMAL_STATE_POOL_ID,
lp_id_t heaterRequestId =
DeviceHandlerIF::DEFAULT_THERMAL_HEATING_REQUEST_POOL_ID):
DeviceHandlerThermalSet(hkOwner->getObjectId(), setId,
thermalStateId, heaterRequestId) {}
DeviceHandlerThermalSet(object_id_t deviceHandler, uint32_t setId =
DeviceHandlerIF::DEFAULT_THERMAL_SET_ID,
lp_id_t thermalStateId =
DeviceHandlerIF::DEFAULT_THERMAL_STATE_POOL_ID,
lp_id_t thermalStateRequestId =
DeviceHandlerIF::DEFAULT_THERMAL_HEATING_REQUEST_POOL_ID):
StaticLocalDataSet(sid_t(deviceHandler, setId)),
thermalStatePoolId(thermalStateId),
heaterRequestPoolId(thermalStateRequestId) {}
const lp_id_t thermalStatePoolId;
const lp_id_t heaterRequestPoolId;
lp_var_t<DeviceHandlerIF::dh_thermal_state_t> thermalState =
lp_var_t<DeviceHandlerIF::dh_thermal_state_t>(
thermalStatePoolId, sid.objectId, this);
lp_var_t<DeviceHandlerIF::dh_heater_request_t> heaterRequest =
lp_var_t<DeviceHandlerIF::dh_heater_request_t>(
heaterRequestPoolId, sid.objectId, this);
};
#endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERTHERMALSET_H_ */