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Merge pull request 'dhb2normal' (#115) from eive/dhb2normal into develop

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Reviewed-on: #115
This commit is contained in:
Robin Müller 2022-11-03 15:32:26 +01:00
commit 84b9d1ce21
9 changed files with 123 additions and 78 deletions
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43
src/fsfw/devicehandlers/DeviceHandlerBase.cpp
View File

@ -23,8 +23,6 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
CookieIF* comCookie, FailureIsolationBase* fdirInstance,
size_t cmdQueueSize)
: SystemObject(setObjectId),
mode(MODE_OFF),
submode(SUBMODE_NONE),
wiretappingMode(OFF),
storedRawData(StorageManagerIF::INVALID_ADDRESS),
deviceCommunicationId(deviceCommunication),
@ -39,6 +37,8 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
defaultFDIRUsed(fdirInstance == nullptr),
switchOffWasReported(false),
childTransitionDelay(5000),
mode(MODE_OFF),
submode(SUBMODE_NONE),
transitionSourceMode(_MODE_POWER_DOWN),
transitionSourceSubMode(SUBMODE_NONE) {
auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
@ -355,7 +355,6 @@ void DeviceHandlerBase::doStateMachine() {
currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, 0);
setMode(_MODE_POWER_DOWN);
callChildStatemachine();
break;
}
ReturnValue_t switchState = getStateOfSwitches();
@ -567,8 +566,16 @@ void DeviceHandlerBase::setTransition(Mode_t modeTo, Submode_t submodeTo) {
}
void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
/* TODO: This will probably be done by the LocalDataPoolManager now */
// changeHK(mode, submode, false);
/**
* handle transition from OFF to NORMAL by continuing towards normal when ON is reached
*/
if (newMode == MODE_ON and continueToNormal) {
continueToNormal = false;
mode = _MODE_TO_NORMAL;
return;
}
submode = newSubmode;
mode = newMode;
modeChanged();
@ -577,6 +584,8 @@ void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
disableCommandsAndReplies();
}
if (!isTransitionalMode()) {
// clear this flag when a non-transitional Mode is reached to be safe
continueToNormal = false;
modeHelper.modeChanged(newMode, newSubmode);
announceMode(false);
}
@ -1061,8 +1070,7 @@ Mode_t DeviceHandlerBase::getBaseMode(Mode_t transitionMode) {
return transitionMode & ~(TRANSITION_MODE_BASE_ACTION_MASK | TRANSITION_MODE_CHILD_ACTION_MASK);
}
// SHOULDDO: Allow transition from OFF to NORMAL to reduce complexity in assemblies. And, by the
// way, throw away DHB and write a new one:
// SHOULDDO: throw away DHB and write a new one:
// - Include power and thermal completely, but more modular :-)
// - Don't use modes for state transitions, reduce FSM (Finte State Machine) complexity.
// - Modularization?
@ -1074,11 +1082,10 @@ ReturnValue_t DeviceHandlerBase::checkModeCommand(Mode_t commandedMode, Submode_
if ((mode == MODE_ERROR_ON) && (commandedMode != MODE_OFF)) {
return TRANS_NOT_ALLOWED;
}
if ((commandedMode == MODE_NORMAL) && (mode == MODE_OFF)) {
return TRANS_NOT_ALLOWED;
}
if ((commandedMode == MODE_ON) && (mode == MODE_OFF) and (thermalSet != nullptr)) {
// Do not check thermal state for MODE_RAW
if ((mode == MODE_OFF) and ((commandedMode == MODE_ON) or (commandedMode == MODE_NORMAL)) and
(thermalSet != nullptr)) {
ReturnValue_t result = thermalSet->read();
if (result == returnvalue::OK) {
if ((thermalSet->heaterRequest.value != ThermalComponentIF::STATE_REQUEST_IGNORE) and
@ -1093,6 +1100,7 @@ ReturnValue_t DeviceHandlerBase::checkModeCommand(Mode_t commandedMode, Submode_
}
void DeviceHandlerBase::startTransition(Mode_t commandedMode, Submode_t commandedSubmode) {
continueToNormal = false;
switch (commandedMode) {
case MODE_ON:
handleTransitionToOnMode(commandedMode, commandedSubmode);
@ -1122,8 +1130,9 @@ void DeviceHandlerBase::startTransition(Mode_t commandedMode, Submode_t commande
case MODE_NORMAL:
if (mode != MODE_OFF) {
setTransition(MODE_NORMAL, commandedSubmode);
} else {
replyReturnvalueToCommand(HasModesIF::TRANS_NOT_ALLOWED);
} else { // mode is off
continueToNormal = true;
handleTransitionToOnMode(MODE_NORMAL, commandedSubmode);
}
break;
}
@ -1575,6 +1584,14 @@ void DeviceHandlerBase::setPowerSwitcher(PowerSwitchIF* switcher) {
this->powerSwitcher = switcher;
}
Mode_t DeviceHandlerBase::getMode() {
return mode;
}
Submode_t DeviceHandlerBase::getSubmode() {
return submode;
}
void DeviceHandlerBase::disableCommandsAndReplies() {
for (auto& command : deviceCommandMap) {
if (command.second.isExecuting) {

88
src/fsfw/devicehandlers/DeviceHandlerBase.h
View File

@ -108,6 +108,54 @@ class DeviceHandlerBase : public DeviceHandlerIF,
void setCustomFdir(FailureIsolationBase *fdir);
void setPowerSwitcher(PowerSwitchIF *switcher);
/**
* extending the modes of DeviceHandler IF for internal state machine
*/
static constexpr uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20;
static constexpr uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10;
//! This is a transitional state which can not be commanded. The device
//! handler performs all commands to get the device in a state ready to
//! perform commands. When this is completed, the mode changes to @c MODE_ON.
static const Mode_t _MODE_START_UP = TRANSITION_MODE_CHILD_ACTION_MASK | 5;
//! This is a transitional state which can not be commanded.
//! The device handler performs all actions and commands to get the device
//! shut down. When the device is off, the mode changes to @c MODE_OFF.
//! It is possible to set the mode to _MODE_SHUT_DOWN to use the to off
//! transition if available.
static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6;
//! It is possible to set the mode to _MODE_TO_ON to use the to on
//! transition if available.
static const Mode_t _MODE_TO_ON = TRANSITION_MODE_CHILD_ACTION_MASK | HasModesIF::MODE_ON;
//! It is possible to set the mode to _MODE_TO_RAW to use the to raw
//! transition if available.
static const Mode_t _MODE_TO_RAW = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_RAW;
//! It is possible to set the mode to _MODE_TO_NORMAL to use the to normal
//! transition if available.
static const Mode_t _MODE_TO_NORMAL = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_NORMAL;
//! This is a transitional state which can not be commanded.
//! The device is shut down and ready to be switched off.
//! After the command to set the switch off has been sent,
//! the mode changes to @c _MODE_WAIT_OFF
static const Mode_t _MODE_POWER_DOWN = TRANSITION_MODE_BASE_ACTION_MASK | 1;
//! This is a transitional state which can not be commanded. The device
//! will be switched on in this state. After the command to set the switch
//! on has been sent, the mode changes to @c _MODE_WAIT_ON.
static const Mode_t _MODE_POWER_ON = TRANSITION_MODE_BASE_ACTION_MASK | 2;
//! This is a transitional state which can not be commanded. The switch has
//! been commanded off and the handler waits for it to be off.
//! When the switch is off, the mode changes to @c MODE_OFF.
static const Mode_t _MODE_WAIT_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 3;
//! This is a transitional state which can not be commanded. The switch
//! has been commanded on and the handler waits for it to be on.
//! When the switch is on, the mode changes to @c _MODE_TO_ON.
static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4;
//! This is a transitional state which can not be commanded. The switch has
//! been commanded off and is off now. This state is only to do an RMAP
//! cycle once more where the doSendRead() function will set the mode to
//! MODE_OFF. The reason to do this is to get rid of stuck packets in the IO Board.
static const Mode_t _MODE_SWITCH_IS_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 5;
void setHkDestination(object_id_t hkDestination);
/**
@ -704,15 +752,18 @@ class DeviceHandlerBase : public DeviceHandlerIF,
size_t rawPacketLen = 0;
/**
* The mode the device handler is currently in.
* This should never be changed directly but only with setMode()
* Get the current mode
*
* set via setMode()
*/
Mode_t mode;
Mode_t getMode();
/**
* The submode the device handler is currently in.
* This should never be changed directly but only with setMode()
* Get the current Submode
*
* set via setMode()
*/
Submode_t submode;
Submode_t getSubmode();
/** This is the counter value from performOperation(). */
uint8_t pstStep = 0;
@ -901,8 +952,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
* Do the transition to the main modes (MODE_ON, MODE_NORMAL and MODE_RAW).
*
* If the transition is complete, the mode should be set to the target mode,
* which can be deduced from the current mode which is
* [_MODE_TO_ON, _MODE_TO_NORMAL, _MODE_TO_RAW]
* which can be deduced from the current mode (which is
* [_MODE_TO_ON, _MODE_TO_NORMAL, _MODE_TO_RAW]) using getBaseMode()
*
* The intended target submode is already set.
* The origin submode can be read in subModeFrom.
@ -1217,6 +1268,18 @@ class DeviceHandlerBase : public DeviceHandlerIF,
*/
uint32_t childTransitionDelay;
/**
* The mode the device handler is currently in.
* This should not be changed directly but only with setMode()
*/
Mode_t mode;
/**
* The submode the device handler is currently in.
* This should not be changed directly but only with setMode()
*/
Submode_t submode;
/**
* @brief The mode the current transition originated from
*
@ -1234,6 +1297,15 @@ class DeviceHandlerBase : public DeviceHandlerIF,
*/
Submode_t transitionSourceSubMode;
/**
* used to make the state machine continue from ON to NOMAL when
* a Device is commanded to NORMAL in OFF mode
*
* set in startTransition()
* evaluated in setMode() to continue to NORMAL when ON is reached
*/
bool continueToNormal;
/**
* read the command queue
*/

44
src/fsfw/devicehandlers/DeviceHandlerIF.h
View File

@ -24,9 +24,6 @@ class DeviceHandlerIF {
static const DeviceCommandId_t RAW_COMMAND_ID = -1;
static const DeviceCommandId_t NO_COMMAND_ID = -2;
static constexpr uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20;
static constexpr uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10;
using dh_heater_request_t = uint8_t;
using dh_thermal_state_t = int8_t;
@ -54,47 +51,6 @@ class DeviceHandlerIF {
//! device still is powered. In this mode, only a mode change to @c MODE_OFF
//! can be commanded, which tries to switch off the device again.
static const Mode_t MODE_ERROR_ON = 4;
//! This is a transitional state which can not be commanded. The device
//! handler performs all commands to get the device in a state ready to
//! perform commands. When this is completed, the mode changes to @c MODE_ON.
static const Mode_t _MODE_START_UP = TRANSITION_MODE_CHILD_ACTION_MASK | 5;
//! This is a transitional state which can not be commanded.
//! The device handler performs all actions and commands to get the device
//! shut down. When the device is off, the mode changes to @c MODE_OFF.
//! It is possible to set the mode to _MODE_SHUT_DOWN to use the to off
//! transition if available.
static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6;
//! It is possible to set the mode to _MODE_TO_ON to use the to on
//! transition if available.
static const Mode_t _MODE_TO_ON = TRANSITION_MODE_CHILD_ACTION_MASK | HasModesIF::MODE_ON;
//! It is possible to set the mode to _MODE_TO_RAW to use the to raw
//! transition if available.
static const Mode_t _MODE_TO_RAW = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_RAW;
//! It is possible to set the mode to _MODE_TO_NORMAL to use the to normal
//! transition if available.
static const Mode_t _MODE_TO_NORMAL = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_NORMAL;
//! This is a transitional state which can not be commanded.
//! The device is shut down and ready to be switched off.
//! After the command to set the switch off has been sent,
//! the mode changes to @c MODE_WAIT_OFF
static const Mode_t _MODE_POWER_DOWN = TRANSITION_MODE_BASE_ACTION_MASK | 1;
//! This is a transitional state which can not be commanded. The device
//! will be switched on in this state. After the command to set the switch
//! on has been sent, the mode changes to @c MODE_WAIT_ON.
static const Mode_t _MODE_POWER_ON = TRANSITION_MODE_BASE_ACTION_MASK | 2;
//! This is a transitional state which can not be commanded. The switch has
//! been commanded off and the handler waits for it to be off.
//! When the switch is off, the mode changes to @c MODE_OFF.
static const Mode_t _MODE_WAIT_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 3;
//! This is a transitional state which can not be commanded. The switch
//! has been commanded on and the handler waits for it to be on.
//! When the switch is on, the mode changes to @c MODE_TO_ON.
static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4;
//! This is a transitional state which can not be commanded. The switch has
//! been commanded off and is off now. This state is only to do an RMAP
//! cycle once more where the doSendRead() function will set the mode to
//! MODE_OFF. The reason to do this is to get rid of stuck packets in the IO Board.
static const Mode_t _MODE_SWITCH_IS_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 5;
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CDH;
static const Event DEVICE_BUILDING_COMMAND_FAILED = MAKE_EVENT(0, severity::LOW);

2
src/fsfw/pus/Service5EventReporting.h
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@ -42,7 +42,7 @@
class Service5EventReporting : public PusServiceBase {
public:
Service5EventReporting(PsbParams params, size_t maxNumberReportsPerCycle = 10,
uint32_t messageQueueDepth = 10);
uint32_t messageQueueDepth = 20);
~Service5EventReporting() override;
/***

4
src/fsfw/tmtcservices/PusServiceBase.cpp
View File

@ -27,8 +27,8 @@ ReturnValue_t PusServiceBase::performOperation(uint8_t opCode) {
ReturnValue_t result = performService();
if (result != returnvalue::OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PusService " << psbParams.serviceId << ": performService returned with "
<< static_cast<uint16_t>(result) << std::endl;
sif::error << "PusService " << static_cast<int>(psbParams.serviceId) <<
": performService returned with " << static_cast<uint16_t>(result) << std::endl;
#endif
return returnvalue::FAILED;
}

4
src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
View File

@ -195,7 +195,7 @@ ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, size_t len,
#endif
return DeviceHandlerIF::INVALID_DATA;
}
if (mode == _MODE_START_UP) {
if (getMode() == _MODE_START_UP) {
commandExecuted = true;
}
@ -224,7 +224,7 @@ ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, size_t len,
return DeviceHandlerIF::INVALID_DATA;
}
if (mode == _MODE_START_UP) {
if (getMode() == _MODE_START_UP) {
commandExecuted = true;
}
}

6
src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
View File

@ -169,7 +169,7 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const
case (RM3100::CONFIGURE_CYCLE_COUNT):
case (RM3100::CONFIGURE_TMRC): {
// We can only check whether write was successful with read operation
if (mode == _MODE_START_UP) {
if (getMode() == _MODE_START_UP) {
commandExecuted = true;
}
break;
@ -192,7 +192,7 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const
if (packet[1] == tmrcRegValue) {
commandExecuted = true;
// Reading TMRC was commanded. Trigger event to inform ground
if (mode != _MODE_START_UP) {
if (getMode() != _MODE_START_UP) {
triggerEvent(tmrcSet, tmrcRegValue, 0);
}
} else {
@ -211,7 +211,7 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
// Reading TMRC was commanded. Trigger event to inform ground
if (mode != _MODE_START_UP) {
if (getMode() != _MODE_START_UP) {
uint32_t eventParam1 = (cycleCountX << 16) | cycleCountY;
triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
}

8
src/fsfw_tests/integration/devices/TestDeviceHandler.cpp
View File

@ -65,7 +65,7 @@ ReturnValue_t TestDevice::buildNormalDeviceCommand(DeviceCommandId_t* id) {
}
ReturnValue_t TestDevice::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
if (mode == _MODE_TO_ON) {
if (getMode() == _MODE_TO_ON) {
if (fullInfoPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx
@ -80,7 +80,7 @@ ReturnValue_t TestDevice::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
#endif
}
}
if (mode == _MODE_TO_NORMAL) {
if (getMode() == _MODE_TO_NORMAL) {
if (fullInfoPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx
@ -97,7 +97,7 @@ ReturnValue_t TestDevice::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
setMode(MODE_NORMAL);
}
if (mode == _MODE_SHUT_DOWN) {
if (getMode() == _MODE_SHUT_DOWN) {
if (fullInfoPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx
@ -118,7 +118,7 @@ ReturnValue_t TestDevice::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
}
void TestDevice::doTransition(Mode_t modeFrom, Submode_t submodeFrom) {
if (mode == _MODE_TO_NORMAL) {
if (getMode() == _MODE_TO_NORMAL) {
if (fullInfoPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx

2
unittests/mocks/DeviceHandlerMock.cpp
View File

@ -5,7 +5,7 @@
DeviceHandlerMock::DeviceHandlerMock(object_id_t objectId, object_id_t deviceCommunication,
CookieIF *comCookie, FailureIsolationBase *fdirInstance)
: DeviceHandlerBase(objectId, deviceCommunication, comCookie, fdirInstance) {
mode = MODE_ON;
setMode(MODE_ON);
}
DeviceHandlerMock::~DeviceHandlerMock() = default;