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Merge pull request 'fdir update' (#158) from KSat/fsfw:mueller/devices/FDIR into master

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Reviewed-on: fsfw/fsfw#158
This commit is contained in:
Steffen Gaisser 2020-09-01 12:21:48 +02:00
commit e77c294360
4 changed files with 81 additions and 45 deletions
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47
devicehandlers/DeviceHandlerFailureIsolation.cpp
View File

@ -1,19 +1,27 @@
#include "DeviceHandlerBase.h"
#include "DeviceHandlerFailureIsolation.h"
#include "../devicehandlers/DeviceHandlerIF.h"
#include "../modes/HasModesIF.h"
#include "../health/HealthTableIF.h"
#include "../power/Fuse.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../thermal/ThermalComponentIF.h"
object_id_t DeviceHandlerFailureIsolation::powerConfirmationId = 0;
object_id_t DeviceHandlerFailureIsolation::powerConfirmationId =
objects::NO_OBJECT;
DeviceHandlerFailureIsolation::DeviceHandlerFailureIsolation(object_id_t owner, object_id_t parent) :
FailureIsolationBase(owner, parent), strangeReplyCount(MAX_STRANGE_REPLIES,
STRANGE_REPLIES_TIME_MS, parameterDomainBase++), missedReplyCount(
MAX_MISSED_REPLY_COUNT, MISSED_REPLY_TIME_MS,
parameterDomainBase++), recoveryCounter(MAX_REBOOT,
REBOOT_TIME_MS, parameterDomainBase++), fdirState(NONE), powerConfirmation(
0) {
DeviceHandlerFailureIsolation::DeviceHandlerFailureIsolation(object_id_t owner,
object_id_t parent) :
FailureIsolationBase(owner, parent),
strangeReplyCount(DEFAULT_MAX_STRANGE_REPLIES,
DEFAULT_STRANGE_REPLIES_TIME_MS,
parameterDomainBase++),
missedReplyCount( DEFAULT_MAX_MISSED_REPLY_COUNT,
DEFAULT_MISSED_REPLY_TIME_MS,
parameterDomainBase++),
recoveryCounter(DEFAULT_MAX_REBOOT, DEFAULT_REBOOT_TIME_MS,
parameterDomainBase++),
fdirState(NONE) {
}
DeviceHandlerFailureIsolation::~DeviceHandlerFailureIsolation() {
@ -68,9 +76,11 @@ ReturnValue_t DeviceHandlerFailureIsolation::eventReceived(EventMessage* event)
break;
//****Power*****
case PowerSwitchIF::SWITCH_WENT_OFF:
result = sendConfirmationRequest(event, powerConfirmation);
if (result == RETURN_OK) {
setFdirState(DEVICE_MIGHT_BE_OFF);
if(powerConfirmation != MessageQueueIF::NO_QUEUE) {
result = sendConfirmationRequest(event, powerConfirmation);
if (result == RETURN_OK) {
setFdirState(DEVICE_MIGHT_BE_OFF);
}
}
break;
case Fuse::FUSE_WENT_OFF:
@ -133,7 +143,7 @@ void DeviceHandlerFailureIsolation::decrementFaultCounters() {
void DeviceHandlerFailureIsolation::handleRecovery(Event reason) {
clearFaultCounters();
if (!recoveryCounter.incrementAndCheck()) {
if (not recoveryCounter.incrementAndCheck()) {
startRecovery(reason);
} else {
setFaulty(reason);
@ -142,7 +152,8 @@ void DeviceHandlerFailureIsolation::handleRecovery(Event reason) {
void DeviceHandlerFailureIsolation::wasParentsFault(EventMessage* event) {
//We'll better ignore the SWITCH_WENT_OFF event and await a system-wide reset.
//This means, no fault message will come through until a MODE_ or HEALTH_INFO message comes through -> Is that ok?
//This means, no fault message will come through until a MODE_ or
//HEALTH_INFO message comes through -> Is that ok?
//Same issue in TxFailureIsolation!
// if ((event->getEvent() == PowerSwitchIF::SWITCH_WENT_OFF)
// && (fdirState != RECOVERY_ONGOING)) {
@ -158,14 +169,16 @@ void DeviceHandlerFailureIsolation::clearFaultCounters() {
ReturnValue_t DeviceHandlerFailureIsolation::initialize() {
ReturnValue_t result = FailureIsolationBase::initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "DeviceHandlerFailureIsolation::initialize: Could not"
" initialize FailureIsolationBase." << std::endl;
return result;
}
ConfirmsFailuresIF* power = objectManager->get<ConfirmsFailuresIF>(
powerConfirmationId);
if (power == NULL) {
return RETURN_FAILED;
if (power != nullptr) {
powerConfirmation = power->getEventReceptionQueue();
}
powerConfirmation = power->getEventReceptionQueue();
return RETURN_OK;
}

27
devicehandlers/DeviceHandlerFailureIsolation.h
View File

@ -1,13 +1,13 @@
#ifndef FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERFAILUREISOLATION_H_
#define FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERFAILUREISOLATION_H_
#ifndef FSFW_DEVICEHANDLERS_DEVICEHANDLERFAILUREISOLATION_H_
#define FSFW_DEVICEHANDLERS_DEVICEHANDLERFAILUREISOLATION_H_
#include "../fdir/FaultCounter.h"
#include "../fdir/FailureIsolationBase.h"
namespace Factory{
void setStaticFrameworkObjectIds();
}
class DeviceHandlerFailureIsolation: public FailureIsolationBase {
friend void (Factory::setStaticFrameworkObjectIds)();
friend class Heater;
@ -20,22 +20,27 @@ public:
virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
ParameterWrapper *parameterWrapper,
const ParameterWrapper *newValues, uint16_t startAtIndex);
protected:
FaultCounter strangeReplyCount;
FaultCounter missedReplyCount;
FaultCounter recoveryCounter;
enum FDIRState {
NONE, RECOVERY_ONGOING, DEVICE_MIGHT_BE_OFF, AWAIT_SHUTDOWN
};
FDIRState fdirState;
MessageQueueId_t powerConfirmation;
MessageQueueId_t powerConfirmation = MessageQueueIF::NO_QUEUE;
static object_id_t powerConfirmationId;
static const uint32_t MAX_REBOOT = 1;
static const uint32_t REBOOT_TIME_MS = 180000;
static const uint32_t MAX_STRANGE_REPLIES = 10;
static const uint32_t STRANGE_REPLIES_TIME_MS = 10000;
static const uint32_t MAX_MISSED_REPLY_COUNT = 5;
static const uint32_t MISSED_REPLY_TIME_MS = 10000;
static const uint32_t DEFAULT_MAX_REBOOT = 1;
static const uint32_t DEFAULT_REBOOT_TIME_MS = 180000;
static const uint32_t DEFAULT_MAX_STRANGE_REPLIES = 10;
static const uint32_t DEFAULT_STRANGE_REPLIES_TIME_MS = 10000;
static const uint32_t DEFAULT_MAX_MISSED_REPLY_COUNT = 5;
static const uint32_t DEFAULT_MISSED_REPLY_TIME_MS = 10000;
virtual ReturnValue_t eventReceived(EventMessage* event);
virtual void eventConfirmed(EventMessage* event);
void wasParentsFault(EventMessage* event);
@ -49,4 +54,4 @@ protected:
bool isFdirInActionOrAreWeFaulty(EventMessage* event);
};
#endif /* FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERFAILUREISOLATION_H_ */
#endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERFAILUREISOLATION_H_ */

35
fdir/FailureIsolationBase.cpp
View File

@ -5,10 +5,12 @@
#include "../ipc/QueueFactory.h"
#include "../objectmanager/ObjectManagerIF.h"
FailureIsolationBase::FailureIsolationBase(object_id_t owner, object_id_t parent, uint8_t messageDepth, uint8_t parameterDomainBase) :
eventQueue(NULL), ownerId(
owner), owner(NULL), faultTreeParent(parent), parameterDomainBase(parameterDomainBase) {
eventQueue = QueueFactory::instance()->createMessageQueue(messageDepth, EventMessage::EVENT_MESSAGE_SIZE);
FailureIsolationBase::FailureIsolationBase(object_id_t owner,
object_id_t parent, uint8_t messageDepth, uint8_t parameterDomainBase) :
ownerId(owner), faultTreeParent(parent),
parameterDomainBase(parameterDomainBase) {
eventQueue = QueueFactory::instance()->createMessageQueue(messageDepth,
EventMessage::EVENT_MESSAGE_SIZE);
}
FailureIsolationBase::~FailureIsolationBase() {
@ -18,27 +20,36 @@ FailureIsolationBase::~FailureIsolationBase() {
ReturnValue_t FailureIsolationBase::initialize() {
EventManagerIF* manager = objectManager->get<EventManagerIF>(
objects::EVENT_MANAGER);
if (manager == NULL) {
if (manager == nullptr) {
sif::error << "FailureIsolationBase::initialize: Event Manager has not"
" been initialized!" << std::endl;
return RETURN_FAILED;
}
ReturnValue_t result = manager->registerListener(eventQueue->getId());
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
if (ownerId != 0) {
if (ownerId != objects::NO_OBJECT) {
result = manager->subscribeToAllEventsFrom(eventQueue->getId(), ownerId);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
owner = objectManager->get<HasHealthIF>(ownerId);
if (owner == NULL) {
return RETURN_FAILED;
if (owner == nullptr) {
sif::error << "FailureIsolationBase::intialize: Owner object "
"invalid. Make sure it implements HasHealthIF" << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
}
if (faultTreeParent != 0) {
if (faultTreeParent != objects::NO_OBJECT) {
ConfirmsFailuresIF* parentIF = objectManager->get<ConfirmsFailuresIF>(
faultTreeParent);
if (parentIF == NULL) {
if (parentIF == nullptr) {
sif::error << "FailureIsolationBase::intialize: Parent object"
<< "invalid." << std::endl;
sif::error << "Make sure it implements ConfirmsFailuresIF."
<< std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
return RETURN_FAILED;
}
eventQueue->setDefaultDestination(parentIF->getEventReceptionQueue());
@ -93,9 +104,9 @@ MessageQueueId_t FailureIsolationBase::getEventReceptionQueue() {
ReturnValue_t FailureIsolationBase::sendConfirmationRequest(EventMessage* event,
MessageQueueId_t destination) {
event->setMessageId(EventMessage::CONFIRMATION_REQUEST);
if (destination != 0) {
if (destination != MessageQueueIF::NO_QUEUE) {
return eventQueue->sendMessage(destination, event);
} else if (faultTreeParent != 0) {
} else if (faultTreeParent != objects::NO_OBJECT) {
return eventQueue->sendToDefault(event);
}
return RETURN_FAILED;

17
fdir/FailureIsolationBase.h
View File

@ -17,18 +17,25 @@ public:
static const Event FDIR_CHANGED_STATE = MAKE_EVENT(1, SEVERITY::INFO); //!< FDIR has an internal state, which changed from par2 (oldState) to par1 (newState).
static const Event FDIR_STARTS_RECOVERY = MAKE_EVENT(2, SEVERITY::MEDIUM); //!< FDIR tries to restart device. Par1: event that caused recovery.
static const Event FDIR_TURNS_OFF_DEVICE = MAKE_EVENT(3, SEVERITY::MEDIUM); //!< FDIR turns off device. Par1: event that caused recovery.
FailureIsolationBase(object_id_t owner, object_id_t parent = 0,
FailureIsolationBase(object_id_t owner,
object_id_t parent = objects::NO_OBJECT,
uint8_t messageDepth = 10, uint8_t parameterDomainBase = 0xF0);
virtual ~FailureIsolationBase();
virtual ReturnValue_t initialize();
/**
* This is called by the DHB in performOperation()
*/
void checkForFailures();
MessageQueueId_t getEventReceptionQueue();
MessageQueueId_t getEventReceptionQueue() override;
virtual void triggerEvent(Event event, uint32_t parameter1 = 0,
uint32_t parameter2 = 0);
protected:
MessageQueueIF* eventQueue;
MessageQueueIF* eventQueue = nullptr;
object_id_t ownerId;
HasHealthIF* owner;
HasHealthIF* owner = nullptr;
object_id_t faultTreeParent;
uint8_t parameterDomainBase;
void setOwnerHealth(HasHealthIF::HealthState health);
@ -38,7 +45,7 @@ protected:
virtual ReturnValue_t confirmFault(EventMessage* event);
virtual void decrementFaultCounters() = 0;
ReturnValue_t sendConfirmationRequest(EventMessage* event,
MessageQueueId_t destination = 0);
MessageQueueId_t destination = MessageQueueIF::NO_QUEUE);
void throwFdirEvent(Event event, uint32_t parameter1 = 0,
uint32_t parameter2 = 0);
private: