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Merge pull request 'thermal sensor update' (#402) from mueller/thermal-handler into development

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Reviewed-on: fsfw/fsfw#402
This commit is contained in:
Steffen Gaisser 2021-04-20 16:10:20 +02:00
commit e4efc01e34
1 changed files with 45 additions and 39 deletions
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84
thermal/TemperatureSensor.h
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@ -1,11 +1,14 @@
#ifndef TEMPERATURESENSOR_H_ #ifndef FSFW_THERMAL_TEMPERATURESENSOR_H_
#define TEMPERATURESENSOR_H_ #define FSFW_THERMAL_TEMPERATURESENSOR_H_
#include "../thermal/AbstractTemperatureSensor.h" #include "tcsDefinitions.h"
#include "../datapoolglob/GlobalDataSet.h" #include "AbstractTemperatureSensor.h"
#include "../datapoolglob/GlobalPoolVariable.h"
#include "../datapoollocal/LocalPoolDataSetBase.h"
#include "../datapoollocal/LocalPoolVariable.h"
#include "../monitoring/LimitMonitor.h" #include "../monitoring/LimitMonitor.h"
/** /**
* @brief This building block handles non-linear value conversion and * @brief This building block handles non-linear value conversion and
* range checks for analog temperature sensors. * range checks for analog temperature sensors.
@ -57,27 +60,25 @@ public:
/** /**
* Instantiate Temperature Sensor Object. * Instantiate Temperature Sensor Object.
* @param setObjectid objectId of the sensor object * @param setObjectid objectId of the sensor object
* @param inputValue Input value which is converted to a temperature * @param inputTemperature Pointer to a raw input value which is converted to an floating
* @param poolVariable Pool Variable to store the temperature value * point C output temperature
* @param vectorIndex Vector Index for the sensor monitor * @param outputGpid Global Pool ID of the output value
* @param parameters Calculation parameters, temperature limits, gradient limit * @param vectorIndex Vector Index for the sensor monitor
* @param datapoolId Datapool ID of the output temperature * @param parameters Calculation parameters, temperature limits, gradient limit
* @param outputSet Output dataset for the output temperature to fetch it with read() * @param outputSet Output dataset for the output temperature to fetch it with read()
* @param thermalModule respective thermal module, if it has one * @param thermalModule Respective thermal module, if it has one
*/ */
TemperatureSensor(object_id_t setObjectid, TemperatureSensor(object_id_t setObjectid,lp_var_t<limitType>* inputTemperature,
inputType *inputValue, PoolVariableIF *poolVariable, gp_id_t outputGpid, uint8_t vectorIndex, Parameters parameters = {0, 0, 0, 0, 0, 0},
uint8_t vectorIndex, uint32_t datapoolId, Parameters parameters = {0, 0, 0, 0, 0, 0}, LocalPoolDataSetBase *outputSet = nullptr, ThermalModuleIF *thermalModule = nullptr) :
GlobDataSet *outputSet = NULL, ThermalModuleIF *thermalModule = NULL) :
AbstractTemperatureSensor(setObjectid, thermalModule), parameters(parameters), AbstractTemperatureSensor(setObjectid, thermalModule), parameters(parameters),
inputValue(inputValue), poolVariable(poolVariable), inputTemperature(inputTemperature),
outputTemperature(datapoolId, outputSet, PoolVariableIF::VAR_WRITE), outputTemperature(outputGpid, outputSet, PoolVariableIF::VAR_WRITE),
sensorMonitor(setObjectid, DOMAIN_ID_SENSOR, sensorMonitor(setObjectid, DOMAIN_ID_SENSOR, outputGpid,
GlobalDataPool::poolIdAndPositionToPid(poolVariable->getDataPoolId(), vectorIndex),
DEFAULT_CONFIRMATION_COUNT, parameters.lowerLimit, parameters.upperLimit, DEFAULT_CONFIRMATION_COUNT, parameters.lowerLimit, parameters.upperLimit,
TEMP_SENSOR_LOW, TEMP_SENSOR_HIGH), TEMP_SENSOR_LOW, TEMP_SENSOR_HIGH),
oldTemperature(20), uptimeOfOldTemperature( { INVALID_TEMPERATURE, 0 }) { oldTemperature(20), uptimeOfOldTemperature({ thermal::INVALID_TEMPERATURE, 0 }) {
} }
@ -98,7 +99,7 @@ protected:
private: private:
void setInvalid() { void setInvalid() {
outputTemperature = INVALID_TEMPERATURE; outputTemperature = thermal::INVALID_TEMPERATURE;
outputTemperature.setValid(false); outputTemperature.setValid(false);
uptimeOfOldTemperature.tv_sec = INVALID_UPTIME; uptimeOfOldTemperature.tv_sec = INVALID_UPTIME;
sensorMonitor.setToInvalid(); sensorMonitor.setToInvalid();
@ -108,11 +109,8 @@ protected:
UsedParameters parameters; UsedParameters parameters;
inputType * inputValue; lp_var_t<limitType>* inputTemperature;
lp_var_t<float> outputTemperature;
PoolVariableIF *poolVariable;
gp_float_t outputTemperature;
LimitMonitor<limitType> sensorMonitor; LimitMonitor<limitType> sensorMonitor;
@ -120,22 +118,27 @@ protected:
timeval uptimeOfOldTemperature; timeval uptimeOfOldTemperature;
void doChildOperation() { void doChildOperation() {
if (!poolVariable->isValid() ReturnValue_t result = inputTemperature->read(MutexIF::TimeoutType::WAITING, 20);
|| !healthHelper.healthTable->isHealthy(getObjectId())) { if(result != HasReturnvaluesIF::RETURN_OK) {
return;
}
if ((not inputTemperature->isValid()) or
(not healthHelper.healthTable->isHealthy(getObjectId()))) {
setInvalid(); setInvalid();
return; return;
} }
outputTemperature = calculateOutputTemperature(*inputValue); outputTemperature = calculateOutputTemperature(inputTemperature->value);
outputTemperature.setValid(PoolVariableIF::VALID); outputTemperature.setValid(PoolVariableIF::VALID);
timeval uptime; timeval uptime;
Clock::getUptime(&uptime); Clock::getUptime(&uptime);
if (uptimeOfOldTemperature.tv_sec != INVALID_UPTIME) { if (uptimeOfOldTemperature.tv_sec != INVALID_UPTIME) {
//In theory, we could use an AbsValueMonitor to monitor the gradient. // In theory, we could use an AbsValueMonitor to monitor the gradient.
//But this would require storing the maxGradient in DP and quite some overhead. // But this would require storing the maxGradient in DP and quite some overhead.
//The concept of delta limits is a bit strange anyway. // The concept of delta limits is a bit strange anyway.
float deltaTime; float deltaTime;
float deltaTemp; float deltaTemp;
@ -148,17 +151,17 @@ protected:
} }
if (parameters.gradient < deltaTemp / deltaTime) { if (parameters.gradient < deltaTemp / deltaTime) {
triggerEvent(TEMP_SENSOR_GRADIENT); triggerEvent(TEMP_SENSOR_GRADIENT);
//Don't set invalid, as we did not recognize it as invalid with full authority, let FDIR handle it // Don't set invalid, as we did not recognize it as invalid with full authority,
// let FDIR handle it
} }
} }
//Check is done against raw limits. SHOULDDO: Why? Using <20>C would be more easy to handle.
sensorMonitor.doCheck(outputTemperature.value); sensorMonitor.doCheck(outputTemperature.value);
if (sensorMonitor.isOutOfLimits()) { if (sensorMonitor.isOutOfLimits()) {
uptimeOfOldTemperature.tv_sec = INVALID_UPTIME; uptimeOfOldTemperature.tv_sec = INVALID_UPTIME;
outputTemperature.setValid(PoolVariableIF::INVALID); outputTemperature.setValid(PoolVariableIF::INVALID);
outputTemperature = INVALID_TEMPERATURE; outputTemperature = thermal::INVALID_TEMPERATURE;
} else { } else {
oldTemperature = outputTemperature; oldTemperature = outputTemperature;
uptimeOfOldTemperature = uptime; uptimeOfOldTemperature = uptime;
@ -179,7 +182,10 @@ public:
static const uint16_t ADDRESS_C = 2; static const uint16_t ADDRESS_C = 2;
static const uint16_t ADDRESS_GRADIENT = 3; static const uint16_t ADDRESS_GRADIENT = 3;
static const uint16_t DEFAULT_CONFIRMATION_COUNT = 1; //!< Changed due to issue with later temperature checking even tough the sensor monitor was confirming already (Was 10 before with comment = Correlates to a 10s confirmation time. Chosen rather large, should not be so bad for components and helps survive glitches.) //! Changed due to issue with later temperature checking even tough the sensor monitor was
//! confirming already (Was 10 before with comment = Correlates to a 10s confirmation time.
//! Chosen rather large, should not be so bad for components and helps survive glitches.)
static const uint16_t DEFAULT_CONFIRMATION_COUNT = 1;
static const uint8_t DOMAIN_ID_SENSOR = 1; static const uint8_t DOMAIN_ID_SENSOR = 1;
@ -219,4 +225,4 @@ public:
}; };
#endif /* TEMPERATURESENSOR_H_ */ #endif /* FSFW_THERMAL_TEMPERATURESENSOR_H_ */