testArduino/fsfw/thermal/TemperatureSensor.h

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2021-06-21 15:04:15 +02:00
#ifndef TEMPERATURESENSOR_H_
#define TEMPERATURESENSOR_H_
#include "../datapool/DataSet.h"
#include "AbstractTemperatureSensor.h"
#include "../monitoring/LimitMonitor.h"
template<typename T>
class TemperatureSensor: public AbstractTemperatureSensor {
public:
struct Parameters {
float a;
float b;
float c;
T lowerLimit;
T upperLimit;
float gradient;
};
struct UsedParameters {
UsedParameters(Parameters parameters) :
a(parameters.a), b(parameters.b), c(parameters.c), gradient(
parameters.gradient) {
}
float a;
float b;
float c;
float gradient;
};
static const uint16_t ADDRESS_A = 0;
static const uint16_t ADDRESS_B = 1;
static const uint16_t ADDRESS_C = 2;
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.)
static const uint8_t DOMAIN_ID_SENSOR = 1;
private:
void setInvalid() {
outputTemperature = INVALID_TEMPERATURE;
outputTemperature.setValid(false);
uptimeOfOldTemperature.tv_sec = INVALID_UPTIME;
sensorMonitor.setToInvalid();
}
protected:
static const int32_t INVALID_UPTIME = 0;
UsedParameters parameters;
T *inputTemperature;
PoolVariableIF *poolVariable;
PoolVariable<float> outputTemperature;
LimitMonitor<T> sensorMonitor;
float oldTemperature;
timeval uptimeOfOldTemperature;
virtual float calculateOutputTemperature(T inputTemperature) {
return parameters.a * inputTemperature * inputTemperature
+ parameters.b * inputTemperature + parameters.c;
}
void doChildOperation() {
if (!poolVariable->isValid()
|| !healthHelper.healthTable->isHealthy(getObjectId())) {
setInvalid();
return;
}
outputTemperature = calculateOutputTemperature(*inputTemperature);
outputTemperature.setValid(PoolVariableIF::VALID);
timeval uptime;
Clock::getUptime(&uptime);
if (uptimeOfOldTemperature.tv_sec != INVALID_UPTIME) {
//In theory, we could use an AbsValueMonitor to monitor the gradient.
//But this would require storing the gradient in DP and quite some overhead.
//The concept of delta limits is a bit strange anyway.
float deltaTime;
float deltaTemp;
deltaTime = (uptime.tv_sec + uptime.tv_usec / 1000000.)
- (uptimeOfOldTemperature.tv_sec
+ uptimeOfOldTemperature.tv_usec / 1000000.);
deltaTemp = oldTemperature - outputTemperature;
if (deltaTemp < 0) {
deltaTemp = -deltaTemp;
}
if (parameters.gradient < deltaTemp / deltaTime) {
triggerEvent(TEMP_SENSOR_GRADIENT);
//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 °C would be more easy to handle.
sensorMonitor.doCheck(*inputTemperature);
if (sensorMonitor.isOutOfLimits()) {
uptimeOfOldTemperature.tv_sec = INVALID_UPTIME;
outputTemperature.setValid(PoolVariableIF::INVALID);
outputTemperature = INVALID_TEMPERATURE;
} else {
oldTemperature = outputTemperature;
uptimeOfOldTemperature = uptime;
}
}
public:
TemperatureSensor(object_id_t setObjectid,
T *inputTemperature, PoolVariableIF *poolVariable,
uint8_t vectorIndex, Parameters parameters, uint32_t datapoolId,
DataSet *outputSet, ThermalModuleIF *thermalModule) :
AbstractTemperatureSensor(setObjectid, thermalModule), parameters(
parameters), inputTemperature(inputTemperature), poolVariable(
poolVariable), outputTemperature(datapoolId, outputSet,
PoolVariableIF::VAR_WRITE), sensorMonitor(setObjectid,
DOMAIN_ID_SENSOR,
DataPool::poolIdAndPositionToPid(
poolVariable->getDataPoolId(), vectorIndex),
DEFAULT_CONFIRMATION_COUNT, parameters.lowerLimit,
parameters.upperLimit, TEMP_SENSOR_LOW, TEMP_SENSOR_HIGH), oldTemperature(
20), uptimeOfOldTemperature( { INVALID_TEMPERATURE, 0 }) {
}
float getTemperature() {
return outputTemperature;
}
bool isValid() {
return outputTemperature.isValid();
}
virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
ParameterWrapper *parameterWrapper,
const ParameterWrapper *newValues, uint16_t startAtIndex) {
ReturnValue_t result = sensorMonitor.getParameter(domainId, parameterId,
parameterWrapper, newValues, startAtIndex);
if (result != INVALID_DOMAIN_ID) {
return result;
}
if (domainId != this->DOMAIN_ID_BASE) {
return INVALID_DOMAIN_ID;
}
switch (parameterId) {
case ADDRESS_A:
parameterWrapper->set(parameters.a);
break;
case ADDRESS_B:
parameterWrapper->set(parameters.b);
break;
case ADDRESS_C:
parameterWrapper->set(parameters.c);
break;
case ADDRESS_GRADIENT:
parameterWrapper->set(parameters.gradient);
break;
default:
return INVALID_MATRIX_ID;
}
return HasReturnvaluesIF::RETURN_OK;
}
virtual void resetOldState() {
sensorMonitor.setToUnchecked();
}
};
#endif /* TEMPERATURESENSOR_H_ */