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