fsfw/monitoring/TriplexMonitor.h

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#ifndef FRAMEWORK_MONITORING_TRIPLEXMONITOR_H_
#define FRAMEWORK_MONITORING_TRIPLEXMONITOR_H_
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#include "../datapool/DataSet.h"
#include "../datapool/PIDReaderList.h"
#include "../health/HealthTableIF.h"
#include "../parameters/HasParametersIF.h"
#include "../objectmanager/ObjectManagerIF.h"
//SHOULDDO: This is by far not perfect. Could be merged with new Monitor classes. But still, it's over-engineering.
template<typename T>
class TriplexMonitor : public HasParametersIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::TRIPLE_REDUNDACY_CHECK;
static const ReturnValue_t NOT_ENOUGH_SENSORS = MAKE_RETURN_CODE(1);
static const ReturnValue_t LOWEST_VALUE_OOL = MAKE_RETURN_CODE(2);
static const ReturnValue_t HIGHEST_VALUE_OOL = MAKE_RETURN_CODE(3);
static const ReturnValue_t BOTH_VALUES_OOL = MAKE_RETURN_CODE(4);
static const ReturnValue_t DUPLEX_OOL = MAKE_RETURN_CODE(5);
static const uint8_t THREE = 3;
TriplexMonitor(const uint32_t parameterIds[3], uint8_t domainId, const T initialLimit,
Event eventTripleCheck, Event eventDualCheck) :
values(parameterIds, &dataSet), limit(initialLimit), eventTripleCheck(
eventTripleCheck), eventDualCheck(eventDualCheck), healthTable(
NULL), domainId(domainId) {
}
virtual ~TriplexMonitor() {
}
ReturnValue_t check() {
dataSet.read();
//check health and validity
uint8_t availableIndex[2] = { 0, 0 };
bool first = true;
uint8_t nAvailable = 0;
for (uint8_t count = 0; count < THREE; count++) {
if (values[count].isValid() && checkObjectHealthState(count)) {
if (first) {
availableIndex[0] = count;
first = false;
} else {
//Might be filled twice, but then it's not needed anyway.
availableIndex[1] = count;
}
nAvailable++;
}
}
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
switch (nAvailable) {
case 3:
result = doTriplexMonitoring();
break;
case 2:
result = doDuplexMonitoring(availableIndex);
break;
default:
result = NOT_ENOUGH_SENSORS;
break;
}
dataSet.commit();
return result;
}
ReturnValue_t initialize() {
healthTable = objectManager->get<HealthTableIF>(objects::HEALTH_TABLE);
if (healthTable == NULL) {
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
ParameterWrapper *parameterWrapper,
const ParameterWrapper *newValues, uint16_t startAtIndex) {
if (domainId != this->domainId) {
return INVALID_DOMAIN_ID;
}
switch (parameterId) {
case 0:
parameterWrapper->set(limit);
break;
default:
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return INVALID_IDENTIFIER_ID;
}
return HasReturnvaluesIF::RETURN_OK;
}
protected:
DataSet dataSet;
PIDReaderList<T, THREE> values;
T limit;
Event eventTripleCheck;
Event eventDualCheck;
HealthTableIF* healthTable;
uint8_t domainId;
ReturnValue_t doTriplexMonitoring() {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
//Find middle value, by ordering indices
uint8_t index[3] = { 0, 1, 2 };
if (values[index[0]].value > values[index[1]].value) {
std::swap(index[0], index[1]);
}
if (values[index[0]].value > values[index[2]].value) {
std::swap(index[0], index[2]);
}
if (values[index[1]].value > values[index[2]].value) {
std::swap(index[1], index[2]);
}
//Test if smallest value is out-of-limit.
if (values[index[0]] < (values[index[1]] - limit)) {
EventManagerIF::triggerEvent(getRefereneceObject(index[0]),
eventTripleCheck, LOWEST_VALUE_OOL, 0);
result = LOWEST_VALUE_OOL;
}
//Test if largest value is out-of-limit.
if (values[index[2]] > (values[index[1]] + limit)) {
EventManagerIF::triggerEvent(getRefereneceObject(index[2]),
eventTripleCheck, HIGHEST_VALUE_OOL, 0);
if (result == HasReturnvaluesIF::RETURN_OK) {
result = HIGHEST_VALUE_OOL;
} else {
result = BOTH_VALUES_OOL;
}
}
return result;
}
ReturnValue_t doDuplexMonitoring(uint8_t index[2]) {
T mean = (values[index[0]] + values[index[1]]) / 2;
if (values[index[0]] > values[index[1]]) {
if (values[index[0]] > (mean + limit)) {
EventManagerIF::triggerEvent(getRefereneceObject(index[0]),
eventDualCheck, 0, 0);
EventManagerIF::triggerEvent(getRefereneceObject(index[1]),
eventDualCheck, 0, 0);
return DUPLEX_OOL;
}
} else {
if (values[index[1]] > (mean + limit)) {
EventManagerIF::triggerEvent(getRefereneceObject(index[0]),
eventDualCheck, 0, 0);
EventManagerIF::triggerEvent(getRefereneceObject(index[1]),
eventDualCheck, 0, 0);
return DUPLEX_OOL;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
virtual bool checkObjectHealthState(uint8_t valueIndex) = 0;
virtual object_id_t getRefereneceObject(uint8_t valueIndex) = 0;
};
#endif /* FRAMEWORK_MONITORING_TRIPLEXMONITOR_H_ */