testArduino/fsfw/devicehandlers/DeviceHandlerFailureIsolation.cpp

257 lines
8.3 KiB
C++

#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;
}