testArduino/fsfw/devicehandlers/DeviceHandlerFailureIsolation.cpp

#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 =
        objects::NO_OBJECT;

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() {
}

ReturnValue_t DeviceHandlerFailureIsolation::eventReceived(EventMessage* event) {
	if(isFdirInActionOrAreWeFaulty(event)) {
		return RETURN_OK;
	}
	ReturnValue_t result = RETURN_FAILED;
	switch (event->getEvent()) {
	case HasModesIF::MODE_TRANSITION_FAILED:
	case HasModesIF::OBJECT_IN_INVALID_MODE:
		//We'll try a recovery as long as defined in MAX_REBOOT.
		//Might cause some AssemblyBase cycles, so keep number low.
		handleRecovery(event->getEvent());
		break;
	case DeviceHandlerIF::DEVICE_INTERPRETING_REPLY_FAILED:
	case DeviceHandlerIF::DEVICE_READING_REPLY_FAILED:
	case DeviceHandlerIF::DEVICE_UNREQUESTED_REPLY:
	case DeviceHandlerIF::DEVICE_UNKNOWN_REPLY: //Some DH's generate generic reply-ids.
	case DeviceHandlerIF::DEVICE_BUILDING_COMMAND_FAILED:
		//These faults all mean that there were stupid replies from a device.
		if (strangeReplyCount.incrementAndCheck()) {
			handleRecovery(event->getEvent());
		}
		break;
	case DeviceHandlerIF::DEVICE_SENDING_COMMAND_FAILED:
	case DeviceHandlerIF::DEVICE_REQUESTING_REPLY_FAILED:
		//The two above should never be confirmed.
	case DeviceHandlerIF::DEVICE_MISSED_REPLY:
		result = sendConfirmationRequest(event);
		if (result == HasReturnvaluesIF::RETURN_OK) {
			break;
		}
		//else
		if (missedReplyCount.incrementAndCheck()) {
			handleRecovery(event->getEvent());
		}
		break;
	case StorageManagerIF::GET_DATA_FAILED:
	case StorageManagerIF::STORE_DATA_FAILED:
		//Rather strange bugs, occur in RAW mode only. Ignore.
		break;
	case DeviceHandlerIF::INVALID_DEVICE_COMMAND:
		//Ignore, is bad configuration. We can't do anything in flight.
		break;
	case HasHealthIF::HEALTH_INFO:
	case HasModesIF::MODE_INFO:
	case HasModesIF::CHANGING_MODE:
		//Do nothing, but mark as handled.
		break;
		//****Power*****
	case PowerSwitchIF::SWITCH_WENT_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:
		//Not so good, because PCDU reacted.
	case Fuse::POWER_ABOVE_HIGH_LIMIT:
		//Better, because software detected over-current.
		setFaulty(event->getEvent());
		break;
	case Fuse::POWER_BELOW_LOW_LIMIT:
		//Device might got stuck during boot, retry.
		handleRecovery(event->getEvent());
		break;
		//****Thermal*****
	case ThermalComponentIF::COMPONENT_TEMP_LOW:
	case ThermalComponentIF::COMPONENT_TEMP_HIGH:
	case ThermalComponentIF::COMPONENT_TEMP_OOL_LOW:
	case ThermalComponentIF::COMPONENT_TEMP_OOL_HIGH:
		//Well, the device is not really faulty, but it is required to stay off as long as possible.
		setFaulty(event->getEvent());
		break;
	case ThermalComponentIF::TEMP_NOT_IN_OP_RANGE:
		//Ignore, is information only.
		break;
		//*******Default monitoring variables. Are currently not used.*****
//	case DeviceHandlerIF::MONITORING_LIMIT_EXCEEDED:
//		setFaulty(event->getEvent());
//		break;
//	case DeviceHandlerIF::MONITORING_AMBIGUOUS:
//		break;
	default:
		//We don't know the event, someone else should handle it.
		return RETURN_FAILED;
	}
	return RETURN_OK;
}

void DeviceHandlerFailureIsolation::eventConfirmed(EventMessage* event) {
	switch (event->getEvent()) {
	case DeviceHandlerIF::DEVICE_SENDING_COMMAND_FAILED:
	case DeviceHandlerIF::DEVICE_REQUESTING_REPLY_FAILED:
	case DeviceHandlerIF::DEVICE_MISSED_REPLY:
		if (missedReplyCount.incrementAndCheck()) {
			handleRecovery(event->getEvent());
		}
		break;
	case PowerSwitchIF::SWITCH_WENT_OFF:
		//This means the switch went off only for one device.
		handleRecovery(event->getEvent());
		break;
	default:
		break;
	}
}

void DeviceHandlerFailureIsolation::decrementFaultCounters() {
	strangeReplyCount.checkForDecrement();
	missedReplyCount.checkForDecrement();
	recoveryCounter.checkForDecrement();
}

void DeviceHandlerFailureIsolation::handleRecovery(Event reason) {
	clearFaultCounters();
	if (not recoveryCounter.incrementAndCheck()) {
		startRecovery(reason);
	} else {
		setFaulty(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?
	//Same issue in TxFailureIsolation!
//	if ((event->getEvent() == PowerSwitchIF::SWITCH_WENT_OFF)
//			&& (fdirState != RECOVERY_ONGOING)) {
//		setFdirState(NONE);
//	}
}

void DeviceHandlerFailureIsolation::clearFaultCounters() {
	strangeReplyCount.clear();
	missedReplyCount.clear();
}

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 != nullptr) {
		powerConfirmation = power->getEventReceptionQueue();
	}

	return RETURN_OK;
}

void DeviceHandlerFailureIsolation::setFdirState(FDIRState state) {
	FailureIsolationBase::throwFdirEvent(FDIR_CHANGED_STATE, state, fdirState);
	fdirState = state;
}

void DeviceHandlerFailureIsolation::triggerEvent(Event event, uint32_t parameter1,
		uint32_t parameter2) {
	//Do not throw error events if fdirState != none.
	//This will still forward MODE and HEALTH INFO events in any case.
	if (fdirState == NONE || EVENT::getSeverity(event) == SEVERITY::INFO) {
		FailureIsolationBase::triggerEvent(event, parameter1, parameter2);
	}
}

bool DeviceHandlerFailureIsolation::isFdirActionInProgress() {
	return (fdirState != NONE);
}

void DeviceHandlerFailureIsolation::startRecovery(Event reason) {
	throwFdirEvent(FDIR_STARTS_RECOVERY, EVENT::getEventId(reason));
	setOwnerHealth(HasHealthIF::NEEDS_RECOVERY);
	setFdirState(RECOVERY_ONGOING);
}

ReturnValue_t DeviceHandlerFailureIsolation::getParameter(uint8_t domainId,
		uint16_t parameterId, ParameterWrapper* parameterWrapper,
		const ParameterWrapper* newValues, uint16_t startAtIndex) {
	ReturnValue_t result = strangeReplyCount.getParameter(domainId, parameterId,
			parameterWrapper, newValues, startAtIndex);
	if (result != INVALID_DOMAIN_ID) {
		return result;
	}
	result = missedReplyCount.getParameter(domainId, parameterId,
			parameterWrapper, newValues, startAtIndex);
	if (result != INVALID_DOMAIN_ID) {
		return result;
	}
	result = recoveryCounter.getParameter(domainId, parameterId,
			parameterWrapper, newValues, startAtIndex);
	if (result != INVALID_DOMAIN_ID) {
		return result;
	}
	return INVALID_DOMAIN_ID;
}

void DeviceHandlerFailureIsolation::setFaulty(Event reason) {
	throwFdirEvent(FDIR_TURNS_OFF_DEVICE, EVENT::getEventId(reason));
	setOwnerHealth(HasHealthIF::FAULTY);
	setFdirState(AWAIT_SHUTDOWN);
}

bool DeviceHandlerFailureIsolation::isFdirInActionOrAreWeFaulty(
		EventMessage* event) {
	if (fdirState != NONE) {
		//Only wait for those events, ignore all others.
		if (event->getParameter1() == HasHealthIF::HEALTHY
				&& event->getEvent() == HasHealthIF::HEALTH_INFO) {
			setFdirState(NONE);
		}
		if (event->getEvent() == HasModesIF::MODE_INFO
				&& fdirState != RECOVERY_ONGOING) {
			setFdirState(NONE);
		}
		return true;
	}
	if (owner->getHealth() == HasHealthIF::FAULTY
			|| owner->getHealth() == HasHealthIF::PERMANENT_FAULTY) {
		//Ignore all events in case device is already faulty.
		return true;
	}
	return false;
}