fsfw/thermal/Heater.cpp

#include "../devicehandlers/DeviceHandlerFailureIsolation.h"
#include "Heater.h"

#include "../power/Fuse.h"
#include "../ipc/QueueFactory.h"

Heater::Heater(uint32_t objectId, uint8_t switch0, uint8_t switch1) :
		HealthDevice(objectId, 0), internalState(STATE_OFF), powerSwitcher(
				NULL), pcduQueueId(0), switch0(switch0), switch1(switch1), wasOn(
				false), timedOut(false), reactedToBeingFaulty(false), passive(
				false), eventQueue(NULL), heaterOnCountdown(10800000)/*about two orbits*/, parameterHelper(
				this), lastAction(CLEAR) {
	eventQueue = QueueFactory::instance()->createMessageQueue();
}

Heater::~Heater() {
	QueueFactory::instance()->deleteMessageQueue(eventQueue);
}

ReturnValue_t Heater::set() {
	passive = false;
	//wait for clear before doing anything
	if (internalState == STATE_WAIT) {
		return HasReturnvaluesIF::RETURN_OK;
	}
	if (healthHelper.healthTable->isHealthy(getObjectId())) {
		doAction(SET);
		if ((internalState == STATE_OFF) || (internalState == STATE_PASSIVE)){
			return HasReturnvaluesIF::RETURN_FAILED;
		} else {
			return HasReturnvaluesIF::RETURN_OK;
		}
	} else {
		if (healthHelper.healthTable->isFaulty(getObjectId())) {
			if (!reactedToBeingFaulty) {
				reactedToBeingFaulty = true;
				doAction(CLEAR);
			}
		}
		return HasReturnvaluesIF::RETURN_FAILED;
	}
}

void Heater::clear(bool passive) {
	this->passive = passive;
	//Force switching off
	if (internalState == STATE_WAIT) {
		internalState = STATE_ON;
	}
	if (healthHelper.healthTable->isHealthy(getObjectId())) {
		doAction(CLEAR);
	} else if (healthHelper.healthTable->isFaulty(getObjectId())) {
		if (!reactedToBeingFaulty) {
			reactedToBeingFaulty = true;
			doAction(CLEAR);
		}
	}
}

void Heater::doAction(Action action) {
	//only act if we are not in the right state or in a transition
	if (action == SET) {
		if ((internalState == STATE_OFF) || (internalState == STATE_PASSIVE)
				|| (internalState == STATE_EXTERNAL_CONTROL)) {
			switchCountdown.setTimeout(powerSwitcher->getSwitchDelayMs());
			internalState = STATE_WAIT_FOR_SWITCHES_ON;
			powerSwitcher->sendSwitchCommand(switch0, PowerSwitchIF::SWITCH_ON);
			powerSwitcher->sendSwitchCommand(switch1, PowerSwitchIF::SWITCH_ON);
		}
	} else { //clear
		if ((internalState == STATE_ON) || (internalState == STATE_FAULTY)
				|| (internalState == STATE_EXTERNAL_CONTROL)) {
			internalState = STATE_WAIT_FOR_SWITCHES_OFF;
			switchCountdown.setTimeout(powerSwitcher->getSwitchDelayMs());
			powerSwitcher->sendSwitchCommand(switch0,
					PowerSwitchIF::SWITCH_OFF);
			powerSwitcher->sendSwitchCommand(switch1,
					PowerSwitchIF::SWITCH_OFF);
		}
	}
}

void Heater::setPowerSwitcher(PowerSwitchIF* powerSwitch) {
	this->powerSwitcher = powerSwitch;
}

ReturnValue_t Heater::performOperation(uint8_t opCode) {
	handleQueue();
	handleEventQueue();

	if (!healthHelper.healthTable->isFaulty(getObjectId())) {
		reactedToBeingFaulty = false;
	}

	switch (internalState) {
	case STATE_ON:
		if ((powerSwitcher->getSwitchState(switch0) == PowerSwitchIF::SWITCH_OFF)
				|| (powerSwitcher->getSwitchState(switch1)
						== PowerSwitchIF::SWITCH_OFF)) {
			//switch went off on its own
			//trigger event. FDIR can confirm if it is caused by MniOps and decide on the action
			//do not trigger FD events when under external control
			if (healthHelper.getHealth() != EXTERNAL_CONTROL) {
				triggerEvent(PowerSwitchIF::SWITCH_WENT_OFF);
			} else {
				internalState = STATE_EXTERNAL_CONTROL;
			}
		}
		break;
	case STATE_OFF:
		//check if heater is on, ie both switches are on
		//if so, just command it to off, to resolve the situation or force a switch stayed on event
		//But, only do anything if not already faulty (state off is the stable point for being faulty)
		if ((!healthHelper.healthTable->isFaulty(getObjectId()))
				&& (powerSwitcher->getSwitchState(switch0)
						== PowerSwitchIF::SWITCH_ON)
				&& (powerSwitcher->getSwitchState(switch1)
						== PowerSwitchIF::SWITCH_ON)) {
			//do not trigger FD events when under external control
			if (healthHelper.getHealth() != EXTERNAL_CONTROL) {
				internalState = STATE_WAIT_FOR_SWITCHES_OFF;
				switchCountdown.setTimeout(powerSwitcher->getSwitchDelayMs());
				powerSwitcher->sendSwitchCommand(switch0,
						PowerSwitchIF::SWITCH_OFF);
				powerSwitcher->sendSwitchCommand(switch1,
						PowerSwitchIF::SWITCH_OFF);
			} else {
				internalState = STATE_EXTERNAL_CONTROL;
			}
		}
		break;
	case STATE_PASSIVE:
		break;
	case STATE_WAIT_FOR_SWITCHES_ON:
		if (switchCountdown.hasTimedOut()) {
			if ((powerSwitcher->getSwitchState(switch0)
					== PowerSwitchIF::SWITCH_OFF)
					|| (powerSwitcher->getSwitchState(switch1)
							== PowerSwitchIF::SWITCH_OFF)) {
				triggerEvent(HEATER_STAYED_OFF);
				internalState = STATE_WAIT_FOR_FDIR; //wait before retrying or anything
			} else {
				triggerEvent(HEATER_ON);
				internalState = STATE_ON;
			}
		}
		break;
	case STATE_WAIT_FOR_SWITCHES_OFF:
		if (switchCountdown.hasTimedOut()) {
			//only check for both being on (ie heater still on)
			if ((powerSwitcher->getSwitchState(switch0)
					== PowerSwitchIF::SWITCH_ON)
					&& (powerSwitcher->getSwitchState(switch1)
							== PowerSwitchIF::SWITCH_ON)) {
				if (healthHelper.healthTable->isFaulty(getObjectId())) {
					if (passive) {
						internalState = STATE_PASSIVE;
					} else {
						internalState = STATE_OFF; //just accept it
					}
					triggerEvent(HEATER_ON); //but throw an event to make it more visible
					break;
				}
				triggerEvent(HEATER_STAYED_ON);
				internalState = STATE_WAIT_FOR_FDIR; //wait before retrying or anything
			} else {
				triggerEvent(HEATER_OFF);
				if (passive) {
					internalState = STATE_PASSIVE;
				} else {
					internalState = STATE_OFF;
				}
			}
		}
		break;
	default:
		break;
	}

	if ((powerSwitcher->getSwitchState(switch0) == PowerSwitchIF::SWITCH_ON)
			&& (powerSwitcher->getSwitchState(switch1)
					== PowerSwitchIF::SWITCH_ON)) {
		if (wasOn) {
			if (heaterOnCountdown.hasTimedOut()) {
				//SHOULDDO this means if a heater fails in single mode, the timeout will start again
				//I am not sure if this is a bug, but atm I have no idea how to fix this and think
				//it will be ok. whatcouldpossiblygowrong™
				if (!timedOut) {
					triggerEvent(HEATER_TIMEOUT);
					timedOut = true;
				}
			}
		} else {
			wasOn = true;
			heaterOnCountdown.resetTimer();
			timedOut = false;
		}
	} else {
		wasOn = false;
	}

	return HasReturnvaluesIF::RETURN_OK;
}

void Heater::setSwitch(uint8_t number, ReturnValue_t state,
		uint32_t* uptimeOfSwitching) {
	if (powerSwitcher == NULL) {
		return;
	}
	if (powerSwitcher->getSwitchState(number) == state) {
		*uptimeOfSwitching = INVALID_UPTIME;
	} else {
		if ((*uptimeOfSwitching == INVALID_UPTIME)) {
			powerSwitcher->sendSwitchCommand(number, state);
			Clock::getUptime(uptimeOfSwitching);
		} else {
			uint32_t currentUptime;
			Clock::getUptime(&currentUptime);
			if (currentUptime - *uptimeOfSwitching
					> powerSwitcher->getSwitchDelayMs()) {
				*uptimeOfSwitching = INVALID_UPTIME;
				if (healthHelper.healthTable->isHealthy(getObjectId())) {
					if (state == PowerSwitchIF::SWITCH_ON) {
						triggerEvent(HEATER_STAYED_OFF);
					} else {
						triggerEvent(HEATER_STAYED_ON);
					}
				}
				//SHOULDDO MiniOps during switch timeout leads to a faulty switch
			}
		}
	}
}

MessageQueueId_t Heater::getCommandQueue() const {
	return commandQueue->getId();
}

ReturnValue_t Heater::initialize() {
	ReturnValue_t result = SystemObject::initialize();
	if (result != HasReturnvaluesIF::RETURN_OK) {
		return result;
	}

	EventManagerIF* manager = objectManager->get<EventManagerIF>(
			objects::EVENT_MANAGER);
	if (manager == NULL) {
		return HasReturnvaluesIF::RETURN_FAILED;
	}
	result = manager->registerListener(eventQueue->getId());
	if (result != HasReturnvaluesIF::RETURN_OK) {
		return result;
	}

	ConfirmsFailuresIF* pcdu = objectManager->get<ConfirmsFailuresIF>(
			DeviceHandlerFailureIsolation::powerConfirmationId);
	if (pcdu == NULL) {
		return HasReturnvaluesIF::RETURN_FAILED;
	}
	pcduQueueId = pcdu->getEventReceptionQueue();

	result = manager->subscribeToAllEventsFrom(eventQueue->getId(),
			getObjectId());
	if (result != HasReturnvaluesIF::RETURN_OK) {
		return result;
	}

	result = parameterHelper.initialize();
	if (result != HasReturnvaluesIF::RETURN_OK) {
		return result;
	}

	result = healthHelper.initialize();
	if (result != HasReturnvaluesIF::RETURN_OK) {
		return result;
	}

	return HasReturnvaluesIF::RETURN_OK;
}

void Heater::handleQueue() {
	CommandMessage command;
	ReturnValue_t result = commandQueue->receiveMessage(&command);
	if (result == HasReturnvaluesIF::RETURN_OK) {
		result = healthHelper.handleHealthCommand(&command);
		if (result == HasReturnvaluesIF::RETURN_OK) {
			return;
		}
		parameterHelper.handleParameterMessage(&command);
	}
}

ReturnValue_t Heater::getParameter(uint8_t domainId, uint8_t uniqueId,
        ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
		uint16_t startAtIndex) {
	if (domainId != DOMAIN_ID_BASE) {
		return INVALID_DOMAIN_ID;
	}
	switch (uniqueId) {
	case 0:
		parameterWrapper->set(heaterOnCountdown.timeout);
		break;
	default:
		return INVALID_IDENTIFIER_ID;
	}
	return HasReturnvaluesIF::RETURN_OK;
}

void Heater::handleEventQueue() {
	EventMessage event;
	for (ReturnValue_t result = eventQueue->receiveMessage(&event);
			result == HasReturnvaluesIF::RETURN_OK;
			result = eventQueue->receiveMessage(&event)) {
		switch (event.getMessageId()) {
		case EventMessage::EVENT_MESSAGE:
			switch (event.getEvent()) {
			case Fuse::FUSE_WENT_OFF:
			case HEATER_STAYED_OFF:
			case HEATER_STAYED_ON://Setting it faulty does not help, but we need to reach a stable state and can check for being faulty before throwing this event again.
				if (healthHelper.healthTable->isCommandable(getObjectId())) {
					healthHelper.setHealth(HasHealthIF::FAULTY);
					internalState = STATE_FAULTY;
				}
				break;
			case PowerSwitchIF::SWITCH_WENT_OFF:
				internalState = STATE_WAIT;
				event.setMessageId(EventMessage::CONFIRMATION_REQUEST);
				if (pcduQueueId != 0) {
					eventQueue->sendMessage(pcduQueueId, &event);
				} else {
					healthHelper.setHealth(HasHealthIF::FAULTY);
					internalState = STATE_FAULTY;
				}
				break;
			default:
				return;
			}
			break;
		case EventMessage::YOUR_FAULT:
			healthHelper.setHealth(HasHealthIF::FAULTY);
			internalState = STATE_FAULTY;
			break;
		case EventMessage::MY_FAULT:
			//do nothing, we are already in STATE_WAIT and wait for a clear()
			break;
		default:
			return;
		}
	}
}