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Fixed some errors in the controller related to the temperature sensor component.

This commit is contained in:
mmode 2021-09-24 21:18:38 +02:00
parent 58a3cd34ed
commit ad8797f57a
17 changed files with 65 additions and 62 deletions
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_bin/linux/debug/fsfw-example-linux.elf
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_obj/linux/debug/bsp_linux/core/InitMission.o
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_obj/linux/debug/bsp_linux/fsfwconfig/datapool/dataPoolInit.o
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_obj/linux/debug/bsp_linux/fsfwconfig/pollingsequence/pollingSequenceControllerFunction.o
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_obj/linux/debug/bsp_linux/main.o
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_obj/linux/debug/fsfw/devicehandlers/DeviceHandlerBase.o
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_obj/linux/debug/mission/Controller/ArduinoTCSTemperatureSensor.o
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_obj/linux/debug/mission/Controller/ThermalController.o
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_obj/linux/debug/mission/DeviceHandler/ArduinoDeviceHandler.o
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7
bsp_linux/core/InitMission.cpp
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@ -115,7 +115,7 @@ void InitMission::createTasks(){
*/
FixedTimeslotTaskIF* arduinoTask = TaskFactory::instance()->
createFixedTimeslotTask("ARDUINO_TASK",40,
PeriodicTaskIF::MINIMUM_STACK_SIZE, 2, nullptr);
PeriodicTaskIF::MINIMUM_STACK_SIZE, 3.2, nullptr);
result = pollingSequenceArduinoFunction(arduinoTask);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::createTasks:ArduinoPST initialization failed!"
@ -124,7 +124,7 @@ void InitMission::createTasks(){
PeriodicTaskIF* controllerTask = TaskFactory::instance()->
createPeriodicTask("CONTROLLER_TASK",40,
PeriodicTaskIF::MINIMUM_STACK_SIZE, 2, nullptr);
PeriodicTaskIF::MINIMUM_STACK_SIZE, 3.2, nullptr);
//result = pollingSequenceControllerFunction(controllerTask);
result = controllerTask->addComponent(objects::THERMAL_CONTROLLER);
if(result != HasReturnvaluesIF::RETURN_OK) {
@ -161,7 +161,8 @@ void InitMission::createTasks(){
udpPollingTask->startTask();
//serializeTask->startTask();
arduinoTask->startTask();
//controllerTask->startTask();
TaskFactory::delayTask(6400);
controllerTask->startTask();
//payloadTask->startTask();
eventTask->startTask();

22
bsp_linux/fsfwconfig/datapool/dataPoolInit.cpp
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@ -16,14 +16,20 @@ void dataPoolInit(std::map<uint32_t, PoolEntryIF*>* pool_map) {
pool_map->insert(
std::pair<uint32_t, PoolEntryIF*>(datapool::Temperature_Timestamp,
new PoolEntry<unsigned int>(Temperature_Timestamp, 36)));
float TEMP_SENSOR_CH1[1] = {0};
uint8_t TempValidity_SENSOR_CH1[1] = {0};
pool_map->insert(
std::pair<uint32_t, PoolEntryIF*>(datapool::TEMP_SENSOR_CH1,
new PoolEntry<float>(TEMP_SENSOR_CH1, 1)));
float TEMP_SENSOR_CH2[1] = {0};
std::pair<uint32_t, PoolEntryIF*>(datapool::TempValidity_SENSOR_CH1,
new PoolEntry<uint8_t>(TempValidity_SENSOR_CH1, 1)));
uint8_t TempValidity_SENSOR_CH2[1] = {0};
pool_map->insert(
std::pair<uint32_t, PoolEntryIF*>(datapool::TEMP_SENSOR_CH2,
new PoolEntry<float>(TEMP_SENSOR_CH2, 1)));
std::pair<uint32_t, PoolEntryIF*>(datapool::TempValidity_SENSOR_CH2,
new PoolEntry<uint8_t>(TempValidity_SENSOR_CH2, 1)));
float Temperature_COMPONENT_1[1] = {0};
pool_map->insert(
std::pair<uint32_t, PoolEntryIF*>(datapool::Temperature_COMPONENT_1,
new PoolEntry<float>(Temperature_COMPONENT_1, 1)));
int8_t TargetState_COMPONENT_1[1] = {0};
pool_map->insert(
std::pair<uint32_t, PoolEntryIF*>(datapool::TargetState_COMPONENT_1,
@ -36,6 +42,10 @@ void dataPoolInit(std::map<uint32_t, PoolEntryIF*>* pool_map) {
pool_map->insert(
std::pair<uint32_t, PoolEntryIF*>(datapool::HeaterRequest_COMPONENT_1,
new PoolEntry<uint8_t>(HeaterRequest_COMPONENT_1, 1)));
float Temperature_COMPONENT_2[1] = {0};
pool_map->insert(
std::pair<uint32_t, PoolEntryIF*>(datapool::Temperature_COMPONENT_2,
new PoolEntry<float>(Temperature_COMPONENT_2, 1)));
int8_t TargetState_COMPONENT_2[1] = {0};
pool_map->insert(
std::pair<uint32_t, PoolEntryIF*>(datapool::TargetState_COMPONENT_2,

20
bsp_linux/fsfwconfig/datapool/dataPoolInit.h
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@ -14,15 +14,19 @@ namespace datapool {
// The IDs of the variables of the DH and CONTROLLER are here defined.
Temperature_value = 0x100001,
Temperature_Timestamp = 0x100002,
TEMP_SENSOR_CH1 = 0x10003,
TEMP_SENSOR_CH2 = 0x10004,
TargetState_COMPONENT_1 = 0x10005,
CurrentState_COMPONENT_1 = 0x100006,
HeaterRequest_COMPONENT_1 = 0x100007,
TargetState_COMPONENT_2 = 0x100008,
CurrentState_COMPONENT_2 = 0x100009,
HeaterRequest_COMPONENT_2 = 0x100010
TempValidity_SENSOR_CH1 = 0x10003,
TempValidity_SENSOR_CH2 = 0x10004,
Temperature_COMPONENT_1 = 0x10005,
TargetState_COMPONENT_1 = 0x10006,
CurrentState_COMPONENT_1 = 0x100007,
HeaterRequest_COMPONENT_1 = 0x100008,
Temperature_COMPONENT_2 = 0x10009,
TargetState_COMPONENT_2 = 0x100010,
CurrentState_COMPONENT_2 = 0x100011,
HeaterRequest_COMPONENT_2 = 0x100012
};
}

13
fsfw/devicehandlers/DeviceHandlerBase.cpp
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@ -67,7 +67,6 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
this->pstStep = counter;
if (getComAction() == SEND_WRITE) {
sif::debug<<"DH_base: performOp1"<<std::endl;
cookieInfo.state = COOKIE_UNUSED;
readCommandQueue();
doStateMachine();
@ -84,22 +83,17 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
switch (getComAction()) {
case SEND_WRITE:
if ((cookieInfo.state == COOKIE_UNUSED)) {
sif::debug<<"DH_base: performOp2"<<std::endl;
buildInternalCommand();
}
sif::debug<<"DH_base: performOp3"<<std::endl;
doSendWrite();
break;
case GET_WRITE:
sif::debug<<"DH_base: performOp4"<<std::endl;
doGetWrite();
break;
case SEND_READ:
sif::debug<<"DH_base: performOp5"<<std::endl;
doSendRead();
break;
case GET_READ:
sif::debug<<"DH_base: performOp6"<<std::endl;
doGetRead();
cookieInfo.state = COOKIE_UNUSED;
break;
@ -665,19 +659,15 @@ void DeviceHandlerBase::parseReply(const uint8_t* receivedData,
// scanForReply routines.
uint32_t remainingLength = receivedDataLen;
for (uint32_t count = 0; count < receivedDataLen; count++) {
sif::debug<<"DH_base: debug0"<<std::endl;
result = scanForReply(receivedData, remainingLength, &foundId,
&foundLen);
sif::debug<<"DH_base: debug01"<<std::endl;
switch (result) {
case RETURN_OK:
handleReply(receivedData, foundId, foundLen);
break;
case APERIODIC_REPLY: {
sif::debug<<"DH_base: debug1"<<std::endl;
result = interpretDeviceReply(foundId, receivedData);
if (result != RETURN_OK) {
sif::debug<<" DH_base: debug2"<<std::endl;
replyRawReplyIfnotWiretapped(receivedData, foundLen);
triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result,
foundId);
@ -689,7 +679,6 @@ void DeviceHandlerBase::parseReply(const uint8_t* receivedData,
case IGNORE_FULL_PACKET:
return;
default:
sif::debug<<"DH_base: debug02"<<std::endl;
//We need to wait for timeout.. don't know what command failed and who sent it.
replyRawReplyIfnotWiretapped(receivedData, foundLen);
triggerEvent(DEVICE_READING_REPLY_FAILED, result, foundLen);
@ -698,9 +687,7 @@ void DeviceHandlerBase::parseReply(const uint8_t* receivedData,
receivedData += foundLen;
if (remainingLength > foundLen) {
remainingLength -= foundLen;
sif::debug<<"DH_base: debug3"<<std::endl;
} else {
sif::debug<<"DH_base: debug4"<<std::endl;
return;
}
}

37
mission/Controller/ArduinoTCSTemperatureSensor.cpp
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@ -9,43 +9,42 @@ ArduinoTCSTemperatureSensor::ArduinoTCSTemperatureSensor(object_id_t setObjectid
float *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) {
AbstractTemperatureSensor(setObjectid, thermalModule), parameters(parameters),
inputTemperature(*inputTemperature), poolVariable(poolVariable),
outputValidity(datapoolId, outputSet, PoolVariableIF::VAR_READ_WRITE)
/*DataPool::poolIdAndPositionToPid(poolVariable->getDataPoolId(), vectorIndex)*/
/*outputTemperature(datapoolId, outputSet, PoolVariableIF::VAR_WRITE)*/ {
}
ArduinoTCSTemperatureSensor::~ArduinoTCSTemperatureSensor() {}
void ArduinoTCSTemperatureSensor::setInvalid() {
outputTemperature = INVALID_TEMPERATURE;
outputTemperature.setValid(false);
}
float ArduinoTCSTemperatureSensor::calculateOutputTemperature(float inputTemperature) {
return inputTemperature; // [°C]
inputTemperature = INVALID_TEMPERATURE;
outputValidity.setValid(false);
}
void ArduinoTCSTemperatureSensor::doChildOperation() {
if (!poolVariable->isValid() || !healthHelper.healthTable->isHealthy(getObjectId())) {
getTemperature();
// Loop with isValid doesn't work
/*if (!poolVariable->isValid() || !healthHelper.healthTable->isHealthy(getObjectId())) {
setInvalid();
return;
}
outputTemperature = calculateOutputTemperature(*inputTemperature);
if (outputTemperature<parameters.lowerLimit || outputTemperature>parameters.upperLimit){
outputTemperature.setValid(PoolVariableIF::INVALID);
outputTemperature = INVALID_TEMPERATURE;
}*/
if (inputTemperature<parameters.lowerLimit || inputTemperature>parameters.upperLimit){
outputValidity.setValid(PoolVariableIF::INVALID);
inputTemperature = INVALID_TEMPERATURE;
} else {
outputTemperature.setValid(PoolVariableIF::VALID);
outputValidity.setValid(PoolVariableIF::VALID);
}
}
float ArduinoTCSTemperatureSensor::getTemperature() {
return outputTemperature;
return inputTemperature;
}
bool ArduinoTCSTemperatureSensor::isValid() {
return outputTemperature.isValid();
// To modify?
return outputValidity.isValid();
}
void ArduinoTCSTemperatureSensor::resetOldState() {}

9
mission/Controller/ArduinoTCSTemperatureSensor.h
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@ -19,12 +19,13 @@ private:
protected:
Parameters parameters;
float *inputTemperature;
float inputTemperature;
//PoolVariable<float> *inputTemperature;
PoolVariableIF *poolVariable;
PoolVariable<float> outputTemperature;
//float outputTemperature;
PoolVariable<uint8_t> outputValidity;
virtual float calculateOutputTemperature(float inputTemperature);
void doChildOperation() override;
void doChildOperation();
public:
ArduinoTCSTemperatureSensor(object_id_t setObjectid,

12
mission/Controller/ThermalController.cpp
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@ -11,15 +11,15 @@
ThermalController::ThermalController(object_id_t objectId, object_id_t powerSwitcher, size_t commandQueueDepth):
ControllerBase(objectId, 0, commandQueueDepth),
powerSwitcherId(powerSwitcher), TempValueVec(datapool::Temperature_value, &SensorData, PoolVariableIF::VAR_READ),
TEMPERATURE_SENSOR_CH1(objects::TCS_SENSOR_CH1, &TempValueVec[0], &TempValueVec, 0, TEMPERATURE_SENSOR_CONFIG, datapool::TEMP_SENSOR_CH1, &SensorData, NULL),
TEMPERATURE_SENSOR_CH2(objects::TCS_SENSOR_CH2, &TempValueVec[1], &TempValueVec, 1, TEMPERATURE_SENSOR_CONFIG, datapool::TEMP_SENSOR_CH2, &SensorData, NULL),
TEMPERATURE_SENSOR_CH1(objects::TCS_SENSOR_CH1, &TempValueVec[0], &TempValueVec, 0, TEMPERATURE_SENSOR_CONFIG, datapool::TempValidity_SENSOR_CH1, &SensorData, NULL),
TEMPERATURE_SENSOR_CH2(objects::TCS_SENSOR_CH2, &TempValueVec[1], &TempValueVec, 1, TEMPERATURE_SENSOR_CONFIG, datapool::TempValidity_SENSOR_CH2, &SensorData, NULL),
HEATER_1(objects::TCS_HEATER_1, objects::TCS_SWITCH_1),
REDUNDANT_HEATER_1(objects::TCS_REDUNDANT_HEATER_1, objects::TCS_SWITCH_1R),
HEATER_2(objects::TCS_HEATER_2, objects::TCS_SWITCH_2),
REDUNDANT_HEATER_2(objects::TCS_REDUNDANT_HEATER_2, objects::TCS_SWITCH_2R),
TEMPERATURE_COMPONENT_1(objects::TCS_COMPONENT_1, COMPONENT_DOMAIN_ID, datapool::TEMP_SENSOR_CH1, datapool::TargetState_COMPONENT_1, datapool::CurrentState_COMPONENT_1,
TEMPERATURE_COMPONENT_1(objects::TCS_COMPONENT_1, COMPONENT_DOMAIN_ID, datapool::Temperature_COMPONENT_1, datapool::TargetState_COMPONENT_1, datapool::CurrentState_COMPONENT_1,
datapool::HeaterRequest_COMPONENT_1, &ComponentData, &TEMPERATURE_SENSOR_CH1, NULL, NULL, &HEATER_1, &REDUNDANT_HEATER_1, NULL, COMPONENT1_CONFIG, ThermalComponentIF::SAFE),
TEMPERATURE_COMPONENT_2(objects::TCS_COMPONENT_2, COMPONENT_DOMAIN_ID + 1, datapool::TEMP_SENSOR_CH2, datapool::TargetState_COMPONENT_2, datapool::CurrentState_COMPONENT_2,
TEMPERATURE_COMPONENT_2(objects::TCS_COMPONENT_2, COMPONENT_DOMAIN_ID + 1, datapool::Temperature_COMPONENT_2, datapool::TargetState_COMPONENT_2, datapool::CurrentState_COMPONENT_2,
datapool::HeaterRequest_COMPONENT_2, &ComponentData, &TEMPERATURE_SENSOR_CH2, NULL, NULL, &HEATER_2, &REDUNDANT_HEATER_2, NULL, COMPONENT2_CONFIG, ThermalComponentIF::SAFE)
{
sensors.push_back(TEMPERATURE_SENSOR_CH1);
@ -103,6 +103,8 @@ ReturnValue_t ThermalController::performOperation(uint8_t opCode) {
}
SensorData.read();
printf("\nTemperature: %f", TempValueVec[0]);
printf("\nTemperature: %f\n", TempValueVec[1]);
for (std::list<ArduinoTCSTemperatureSensor>::iterator iter = sensors.begin(); iter != sensors.end(); iter++) {
iter->performOperation(0);
}
@ -117,7 +119,7 @@ ReturnValue_t ThermalController::performOperation(uint8_t opCode) {
//request = iter->performOperation(0, ThermalComponentIF::SAFE, true, false);
}
ComponentData.commit();
sif::debug<<"DEBUG_TCS: Component ops"<<std::endl;
sif::debug<<"DEBUG_TCS: Component ops"<<std::endl;//*/
return HasReturnvaluesIF::RETURN_OK;
}

7
mission/DeviceHandler/ArduinoDeviceHandler.cpp
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@ -103,22 +103,21 @@ ReturnValue_t ArduinoDH::interpretDeviceReply(DeviceCommandId_t id,
memcpy(&TempValueVec[i], &Temp_ch.temperature, 4);
memcpy(&TempTimeVec[i], &Temp_ch.Timestamp, 4);
// The data are here printed (useful for tests).
printf("\n\nStart: %7s", Temp_ch.start_string);
/*printf("\n\nStart: %7s", Temp_ch.start_string);
printf("\nTyp: %u", Temp_ch.Typ);
printf("\nSPCChNumber: %u", Temp_ch.SPCChNumber);
printf("\nValue_Cnt: %u", Temp_ch.Value_Cnt);
printf("\nTemperature: %f", Temp_ch.temperature);
printf("\nTimestamp: %u", Temp_ch.Timestamp);
printf("\nEnd: %7s", Temp_ch.end_string);
vecTemp.emplace_back(Temp_ch);
vecTemp.emplace_back(Temp_ch);*/
}
ArduinoDataSet.commit(PoolVariableIF::VALID);
/* The environment and orientation data reading and printing
* are currently commented out because they are not needed.
* Anyway they are available and they can be used if necessary.
*/
printf(
/*printf(
"\n\n***********************************************************************************************\n");
printf("ENVIRONMENTAL parameters are: ");
for (int j = 0; j < 9; j++) {