testArduino/fsfw/thermal/ThermalModule.cpp

#include "../monitoring/LimitViolationReporter.h"
#include "../monitoring/MonitoringMessageContent.h"
#include "ThermalModule.h"

#include "AbstractTemperatureSensor.h"

ThermalModule::ThermalModule(uint32_t moduleTemperaturePoolId,
		uint32_t currentStatePoolId, uint32_t targetStatePoolId,
		DataSet *dataSet, Parameters parameters,
		RedundantHeater::Parameters heaterParameters) :
		oldStrategy(ACTIVE_SINGLE), survivalTargetTemp(0), targetTemp(0), heating(
				false), parameters(parameters), moduleTemperature(
				moduleTemperaturePoolId, dataSet, PoolVariableIF::VAR_WRITE), currentState(
				currentStatePoolId, dataSet, PoolVariableIF::VAR_WRITE), targetState(
				targetStatePoolId, dataSet, PoolVariableIF::VAR_READ) {
	heater = new RedundantHeater(heaterParameters);
}

ThermalModule::ThermalModule(uint32_t moduleTemperaturePoolId, DataSet* dataSet) :
		oldStrategy(ACTIVE_SINGLE), survivalTargetTemp(0), targetTemp(0), heating(
				false), parameters( { 0, 0 }), moduleTemperature(
				moduleTemperaturePoolId, dataSet, PoolVariableIF::VAR_WRITE), heater(
				NULL), currentState(PoolVariableIF::INVALID, dataSet,
				PoolVariableIF::VAR_WRITE), targetState(PoolVariableIF::INVALID,
				dataSet, PoolVariableIF::VAR_READ) {
}

ThermalModule::~ThermalModule() {
	delete heater;
}

void ThermalModule::performOperation(uint8_t opCode) {
	if (heater != NULL) {
		heater->performOperation(0);
	}
}

void ThermalModule::performMode(Strategy strategy) {
	calculateTemperature();

	bool safeOnly = (strategy == ACTIVE_SURVIVAL);
	ThermalComponentIF::HeaterRequest componentHeaterRequest =
			letComponentsPerformAndDeciceIfWeNeedToHeat(safeOnly);

	if (heater == NULL) {
		informComponentsAboutHeaterState(false, NONE);
		return;
	}

	bool heating = calculateModuleHeaterRequestAndSetModuleStatus(strategy);

	if (componentHeaterRequest != ThermalComponentIF::HEATER_DONT_CARE) {
		//Components overwrite the module request.
		heating = ((componentHeaterRequest
				== ThermalComponentIF::HEATER_REQUEST_ON)
				|| (componentHeaterRequest
						== ThermalComponentIF::HEATER_REQUEST_EMERGENCY_ON));
	}

	bool dual = (strategy == ACTIVE_DUAL);

	if (strategy == PASSIVE) {
		informComponentsAboutHeaterState(false, NONE);
		if (oldStrategy != PASSIVE) {
			heater->set(false, false, true);
		}
	} else {
		if (safeOnly) {
			informComponentsAboutHeaterState(heating, SAFE);
		} else {
			informComponentsAboutHeaterState(heating, ALL);
		}
		heater->set(heating, dual);
	}
	oldStrategy = strategy;
}

float ThermalModule::getTemperature() {
	return moduleTemperature;
}

void ThermalModule::registerSensor(AbstractTemperatureSensor * sensor) {
	sensors.push_back(sensor);
}

void ThermalModule::registerComponent(ThermalComponentIF* component,
		ThermalComponentIF::Priority priority) {
	components.push_back(ComponentData( { component, priority, ThermalComponentIF::HEATER_DONT_CARE }));
}

void ThermalModule::calculateTemperature() {
	uint32_t numberOfValidSensors = 0;
	moduleTemperature = 0;
	std::list<AbstractTemperatureSensor *>::iterator iter = sensors.begin();
	for (; iter != sensors.end(); iter++) {
		if ((*iter)->isValid()) {
			moduleTemperature = moduleTemperature + (*iter)->getTemperature();
			numberOfValidSensors++;
		}
	}
	if (numberOfValidSensors != 0) {
		moduleTemperature = moduleTemperature / numberOfValidSensors;
		moduleTemperature.setValid(PoolVariableIF::VALID);
	} else {
		moduleTemperature = INVALID_TEMPERATURE;
		moduleTemperature.setValid(PoolVariableIF::INVALID);
	}
}

ThermalComponentIF* ThermalModule::findComponent(object_id_t objectId) {
	std::list<ComponentData>::iterator iter = components.begin();
	for (; iter != components.end(); iter++) {
		if (iter->component->getObjectId() == objectId) {
			return iter->component;
		}
	}
	return NULL;
}

ThermalComponentIF::HeaterRequest ThermalModule::letComponentsPerformAndDeciceIfWeNeedToHeat(
		bool safeOnly) {
	ThermalComponentIF::HeaterRequest heaterRequests[ThermalComponentIF::NUMBER_OF_PRIORITIES];

	survivalTargetTemp = -999;
	targetTemp = -999;

	for (uint8_t i = 0; i < ThermalComponentIF::NUMBER_OF_PRIORITIES; i++) {
		heaterRequests[i] = ThermalComponentIF::HEATER_DONT_CARE;
	}

	std::list<ComponentData>::iterator iter = components.begin();
	for (; iter != components.end(); iter++) {
		updateTargetTemperatures(iter->component,
				iter->priority == ThermalComponentIF::SAFE);
		ThermalComponentIF::HeaterRequest request =
				iter->component->performOperation(0);
		iter->request = request;
		if (request != ThermalComponentIF::HEATER_DONT_CARE) {
			if (request < heaterRequests[iter->priority]) {
				heaterRequests[iter->priority] = request;
			}
		}
	}

	if (!safeOnly) {
		for (uint8_t i = ThermalComponentIF::NUMBER_OF_PRIORITIES - 1; i > 0;
				i--) {
			if (heaterRequests[i - 1] == ThermalComponentIF::HEATER_DONT_CARE) {
				heaterRequests[i - 1] = heaterRequests[i];
			}
		}
	}
	return heaterRequests[0];
}

void ThermalModule::informComponentsAboutHeaterState(bool heaterIsOn,
		Informee whomToInform) {
	std::list<ComponentData>::iterator iter = components.begin();
	for (; iter != components.end(); iter++) {
		switch (whomToInform) {
		case ALL:
			break;
		case SAFE:
			if (!(iter->priority == ThermalComponentIF::SAFE)) {
				iter->component->markStateIgnored();
				continue;
			}
			break;
		case NONE:
			iter->component->markStateIgnored();
			continue;
		}

		if (heaterIsOn) {
			if ((iter->request
					== ThermalComponentIF::HEATER_REQUEST_EMERGENCY_OFF)
					|| (iter->request == ThermalComponentIF::HEATER_REQUEST_OFF)) {
				iter->component->markStateIgnored();
			}
		} else {
			if ((iter->request
					== ThermalComponentIF::HEATER_REQUEST_EMERGENCY_ON)
					|| (iter->request == ThermalComponentIF::HEATER_REQUEST_ON)) {
				iter->component->markStateIgnored();
			}
		}
	}
}

void ThermalModule::initialize(PowerSwitchIF* powerSwitch) {
	if (heater != NULL) {
		heater->setPowerSwitcher(powerSwitch);
	}

	std::list<ComponentData>::iterator iter = components.begin();
	for (; iter != components.end(); iter++) {
		float componentLowerOpLimit = iter->component->getLowerOpLimit();
		if (iter->priority == ThermalComponentIF::SAFE) {
			if (componentLowerOpLimit > survivalTargetTemp) {
				survivalTargetTemp = componentLowerOpLimit;
			}
		} else {
			if (componentLowerOpLimit > targetTemp) {
				targetTemp = componentLowerOpLimit;
			}
		}
	}
	if (survivalTargetTemp > targetTemp) {
		targetTemp = survivalTargetTemp;
	}
}

bool ThermalModule::calculateModuleHeaterRequestAndSetModuleStatus(
		Strategy strategy) {
	currentState.setValid(PoolVariableIF::VALID);
	if (moduleTemperature == INVALID_TEMPERATURE) {
		currentState = UNKNOWN;
		return false;
	}

	float limit = targetTemp;
	bool heaterRequest = false;
	if (strategy == ACTIVE_SURVIVAL) {
		limit = survivalTargetTemp;
	}

	if (moduleTemperature >= limit) {
		currentState = OPERATIONAL;
	} else {
		currentState = NON_OPERATIONAL;
	}

	limit += parameters.heaterOn;

	if (heating) {
		limit += parameters.hysteresis;
	}

	if (targetState == STATE_REQUEST_HEATING) {
		if (moduleTemperature < limit) {
			heaterRequest = true;
		} else {
			heaterRequest = false;
		}
	}

	heating = heaterRequest;

	return heaterRequest;
}

void ThermalModule::setHeating(bool on) {
	DataSet mySet;
	PoolVariable<int8_t> writableTargetState(targetState.getDataPoolId(),
			&mySet, PoolVariableIF::VAR_WRITE);
	if (on) {
		writableTargetState = STATE_REQUEST_HEATING;
	} else {
		writableTargetState = STATE_REQUEST_PASSIVE;
	}
	mySet.commit(PoolVariableIF::VALID);
}

void ThermalModule::updateTargetTemperatures(ThermalComponentIF* component,
		bool isSafe) {
	if (isSafe) {
		if (component->getLowerOpLimit() > survivalTargetTemp) {
			survivalTargetTemp = component->getLowerOpLimit();
		}
	} else {
		if (component->getLowerOpLimit() > targetTemp) {
			targetTemp = component->getLowerOpLimit();
		}
	}
}

void ThermalModule::setOutputInvalid() {
	moduleTemperature = INVALID_TEMPERATURE;
	moduleTemperature.setValid(PoolVariableIF::INVALID);
	currentState.setValid(PoolVariableIF::INVALID);
	std::list<ComponentData>::iterator iter = components.begin();
	for (; iter != components.end(); iter++) {
		iter->component->setOutputInvalid();
	}
	if (heater != NULL) {
		heater->set(false,true);
	}
}