Merge pull request 'thermal update' (#296) from KSat/fsfw:mueller/thermal-update into development
Reviewed-on: #296
This commit is contained in:
commit
7d3641d42e
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@ -44,19 +44,19 @@ ReturnValue_t AbstractTemperatureSensor::performHealthOp() {
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}
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void AbstractTemperatureSensor::handleCommandQueue() {
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CommandMessage message;
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ReturnValue_t result = commandQueue->receiveMessage(&message);
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CommandMessage command;
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ReturnValue_t result = commandQueue->receiveMessage(&command);
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if (result == HasReturnvaluesIF::RETURN_OK) {
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result = healthHelper.handleHealthCommand(&message);
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result = healthHelper.handleHealthCommand(&command);
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if (result == HasReturnvaluesIF::RETURN_OK) {
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return;
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}
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result = parameterHelper.handleParameterMessage(&message);
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result = parameterHelper.handleParameterMessage(&command);
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if (result == HasReturnvaluesIF::RETURN_OK) {
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return;
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}
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message.setToUnknownCommand();
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commandQueue->reply(&message);
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command.setToUnknownCommand();
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commandQueue->reply(&command);
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}
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}
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@ -10,6 +10,16 @@
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#include "ThermalModuleIF.h"
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#include "tcsDefinitions.h"
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/**
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* @defgroup thermal Thermal Components
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* @brief Contains all components related to thermal tasks (sensors, heaters)
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*/
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/**
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* @brief Base class for Temperature Sensor, implements all important interfaces.
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* Please use the TemperatureSensor class to implement the actual sensors.
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* @ingroup thermal
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*/
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class AbstractTemperatureSensor: public HasHealthIF,
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public SystemObject,
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public ExecutableObjectIF,
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22
thermal/AcceptsThermalMessagesIF.h
Normal file
22
thermal/AcceptsThermalMessagesIF.h
Normal file
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@ -0,0 +1,22 @@
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/**
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* \file AcceptsThermalMessagesIF.h
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*
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* \date 16.02.2020
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*/
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#ifndef FRAMEWORK_THERMAL_ACCEPTSTHERMALMESSAGESIF_H_
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#define FRAMEWORK_THERMAL_ACCEPTSTHERMALMESSAGESIF_H_
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#include "../ipc/MessageQueueSenderIF.h"
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class AcceptsThermalMessagesIF {
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public:
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/**
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* @brief This is the empty virtual destructor as required for C++ interfaces.
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*/
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virtual ~AcceptsThermalMessagesIF() { }
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virtual MessageQueueId_t getReceptionQueue() const = 0;
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};
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#endif /* FRAMEWORK_THERMAL_ACCEPTSTHERMALMESSAGESIF_H_ */
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@ -1,96 +0,0 @@
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#ifndef MISSION_CONTROLLERS_TCS_CORECOMPONENT_H_
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#define MISSION_CONTROLLERS_TCS_CORECOMPONENT_H_
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#include "../datapoolglob/GlobalDataSet.h"
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#include "../datapoolglob/GlobalPoolVariable.h"
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#include "../thermal/ThermalComponentIF.h"
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#include "../thermal/AbstractTemperatureSensor.h"
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#include "../thermal/ThermalModule.h"
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#include "../thermal/ThermalMonitor.h"
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// TODO: Documentaiton, how to use this? only use Thermal Component, which inherits core component?
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class CoreComponent: public ThermalComponentIF {
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public:
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struct Parameters {
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float lowerOpLimit;
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float upperOpLimit;
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float heaterOn;
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float hysteresis;
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float heaterSwitchoff;
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};
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static const uint16_t COMPONENT_TEMP_CONFIRMATION = 5;
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CoreComponent(object_id_t reportingObjectId, uint8_t domainId, uint32_t temperaturePoolId,
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uint32_t targetStatePoolId, uint32_t currentStatePoolId,
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uint32_t requestPoolId, GlobDataSet *dataSet,
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AbstractTemperatureSensor *sensor,
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AbstractTemperatureSensor *firstRedundantSensor,
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AbstractTemperatureSensor *secondRedundantSensor,
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ThermalModuleIF *thermalModule, Parameters parameters,
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Priority priority, StateRequest initialTargetState =
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ThermalComponentIF::STATE_REQUEST_OPERATIONAL);
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virtual ~CoreComponent();
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virtual HeaterRequest performOperation(uint8_t opCode);
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void markStateIgnored();
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object_id_t getObjectId();
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uint8_t getDomainId() const;
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virtual float getLowerOpLimit();
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ReturnValue_t setTargetState(int8_t newState);
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virtual void setOutputInvalid();
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virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
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ParameterWrapper *parameterWrapper,
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const ParameterWrapper *newValues, uint16_t startAtIndex);
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protected:
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AbstractTemperatureSensor *sensor;
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AbstractTemperatureSensor *firstRedundantSensor;
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AbstractTemperatureSensor *secondRedundantSensor;
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ThermalModuleIF *thermalModule;
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gp_float_t temperature;
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gp_int8_t targetState;
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gp_int8_t currentState;
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gp_uint8_t heaterRequest;
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bool isHeating;
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bool isSafeComponent;
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float minTemp;
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float maxTemp;
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Parameters parameters;
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ThermalMonitor temperatureMonitor;
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const uint8_t domainId;
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virtual float getTemperature();
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virtual State getState(float temperature, Parameters parameters,
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int8_t targetState);
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virtual void checkLimits(State state);
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virtual HeaterRequest getHeaterRequest(int8_t targetState,
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float temperature, Parameters parameters);
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virtual State getIgnoredState(int8_t state);
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void updateMinMaxTemp();
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virtual Parameters getParameters();
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};
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#endif /* MISSION_CONTROLLERS_TCS_CORECOMPONENT_H_ */
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@ -279,14 +279,14 @@ ReturnValue_t Heater::initialize() {
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}
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void Heater::handleQueue() {
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CommandMessage message;
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ReturnValue_t result = commandQueue->receiveMessage(&message);
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CommandMessage command;
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ReturnValue_t result = commandQueue->receiveMessage(&command);
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if (result == HasReturnvaluesIF::RETURN_OK) {
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result = healthHelper.handleHealthCommand(&message);
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result = healthHelper.handleHealthCommand(&command);
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if (result == HasReturnvaluesIF::RETURN_OK) {
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return;
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}
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parameterHelper.handleParameterMessage(&message);
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parameterHelper.handleParameterMessage(&command);
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}
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}
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@ -301,7 +301,7 @@ ReturnValue_t Heater::getParameter(uint8_t domainId, uint16_t parameterId,
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parameterWrapper->set(heaterOnCountdown.timeout);
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break;
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default:
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return INVALID_MATRIX_ID;
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return INVALID_IDENTIFIER_ID;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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@ -1,7 +1,7 @@
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#ifndef REDUNDANTHEATER_H_
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#define REDUNDANTHEATER_H_
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#include "Heater.h"
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#include "../thermal/Heater.h"
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class RedundantHeater {
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public:
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@ -10,15 +10,14 @@ public:
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Parameters(uint32_t objectIdHeater0, uint32_t objectIdHeater1,
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uint8_t switch0Heater0, uint8_t switch1Heater0,
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uint8_t switch0Heater1, uint8_t switch1Heater1) :
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objectIdHeater0(objectIdHeater0), objectIdHeater1(
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objectIdHeater1), switch0Heater0(switch0Heater0), switch1Heater0(
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switch1Heater0), switch0Heater1(switch0Heater1), switch1Heater1(
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switch1Heater1) {
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objectIdHeater0(objectIdHeater0), objectIdHeater1(objectIdHeater1),
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switch0Heater0(switch0Heater0),switch1Heater0(switch1Heater0),
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switch0Heater1(switch0Heater1), switch1Heater1(switch1Heater1) {
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}
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Parameters() :
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objectIdHeater0(0), objectIdHeater1(0), switch0Heater0(0), switch1Heater0(
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0), switch0Heater1(0), switch1Heater1(0) {
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objectIdHeater0(0), objectIdHeater1(0), switch0Heater0(0),
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switch1Heater0(0), switch0Heater1(0), switch1Heater1(0) {
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}
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uint32_t objectIdHeater0;
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@ -1,40 +1,101 @@
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#ifndef TEMPERATURESENSOR_H_
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#define TEMPERATURESENSOR_H_
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#include "../datapool/DataSet.h"
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#include "AbstractTemperatureSensor.h"
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#include "../thermal/AbstractTemperatureSensor.h"
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#include "../datapoolglob/GlobalDataSet.h"
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#include "../datapoolglob/GlobalPoolVariable.h"
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#include "../monitoring/LimitMonitor.h"
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template<typename T>
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/**
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* @brief This building block handles non-linear value conversion and
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* range checks for analog temperature sensors.
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* @details This class can be used to perform all necessary tasks for temperature sensors.
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* A sensor can be instantiated by calling the constructor.
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* The temperature is calculated from an input value with
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* the calculateOutputTemperature() function. Range checking and
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* limit monitoring is performed automatically.
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* The inputType specifies the type of the raw input while the
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* limitType specifies the type of the upper and lower limit to check against.
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* @ingroup thermal
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*/
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template<typename inputType, typename limitType = inputType>
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class TemperatureSensor: public AbstractTemperatureSensor {
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public:
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/**
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* This structure contains parameters required for range checking
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* and the conversion from the input value to the output temperature.
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* a, b and c can be any parameters required to calculate the output
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* temperature from the input value, depending on the formula used.
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*
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* The parameters a,b and c are used in the calculateOutputTemperature() call.
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*
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* The lower and upper limits can be specified in any type, for example float for C values
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* or any other type for raw values.
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*/
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struct Parameters {
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float a;
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float b;
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float c;
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T lowerLimit;
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T upperLimit;
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float gradient;
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limitType lowerLimit;
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limitType upperLimit;
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float maxGradient;
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};
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/**
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* Forward declaration for explicit instantiation of used parameters.
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*/
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struct UsedParameters {
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UsedParameters(Parameters parameters) :
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a(parameters.a), b(parameters.b), c(parameters.c), gradient(
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parameters.gradient) {
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}
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a(parameters.a), b(parameters.b), c(parameters.c),
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gradient(parameters.maxGradient) {}
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float a;
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float b;
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float c;
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float gradient;
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};
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static const uint16_t ADDRESS_A = 0;
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static const uint16_t ADDRESS_B = 1;
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static const uint16_t ADDRESS_C = 2;
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static const uint16_t ADDRESS_GRADIENT = 3;
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/**
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* Instantiate Temperature Sensor Object.
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* @param setObjectid objectId of the sensor object
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* @param inputValue Input value which is converted to a temperature
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* @param poolVariable Pool Variable to store the temperature value
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* @param vectorIndex Vector Index for the sensor monitor
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* @param parameters Calculation parameters, temperature limits, gradient limit
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* @param datapoolId Datapool ID of the output temperature
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* @param outputSet Output dataset for the output temperature to fetch it with read()
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* @param thermalModule respective thermal module, if it has one
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*/
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TemperatureSensor(object_id_t setObjectid,
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inputType *inputValue, PoolVariableIF *poolVariable,
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uint8_t vectorIndex, uint32_t datapoolId, Parameters parameters = {0, 0, 0, 0, 0, 0},
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GlobDataSet *outputSet = NULL, ThermalModuleIF *thermalModule = NULL) :
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AbstractTemperatureSensor(setObjectid, thermalModule), parameters(parameters),
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inputValue(inputValue), poolVariable(poolVariable),
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outputTemperature(datapoolId, outputSet, PoolVariableIF::VAR_WRITE),
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sensorMonitor(setObjectid, DOMAIN_ID_SENSOR,
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GlobalDataPool::poolIdAndPositionToPid(poolVariable->getDataPoolId(), vectorIndex),
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DEFAULT_CONFIRMATION_COUNT, parameters.lowerLimit, parameters.upperLimit,
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TEMP_SENSOR_LOW, TEMP_SENSOR_HIGH),
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oldTemperature(20), uptimeOfOldTemperature( { INVALID_TEMPERATURE, 0 }) {
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}
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protected:
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/**
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* This formula is used to calculate the temperature from an input value
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* with an arbitrary type.
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* A default implementation is provided but can be replaced depending
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* on the required calculation.
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* @param inputTemperature
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* @return
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*/
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virtual float calculateOutputTemperature(inputType inputValue) {
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return parameters.a * inputValue * inputValue
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+ parameters.b * inputValue + parameters.c;
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}
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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.)
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static const uint8_t DOMAIN_ID_SENSOR = 1;
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private:
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void setInvalid() {
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outputTemperature = INVALID_TEMPERATURE;
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@ -47,22 +108,17 @@ protected:
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UsedParameters parameters;
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T *inputTemperature;
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inputType * inputValue;
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PoolVariableIF *poolVariable;
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PoolVariable<float> outputTemperature;
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gp_float_t outputTemperature;
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LimitMonitor<T> sensorMonitor;
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LimitMonitor<limitType> sensorMonitor;
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float oldTemperature;
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timeval uptimeOfOldTemperature;
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virtual float calculateOutputTemperature(T inputTemperature) {
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return parameters.a * inputTemperature * inputTemperature
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+ parameters.b * inputTemperature + parameters.c;
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}
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void doChildOperation() {
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if (!poolVariable->isValid()
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|| !healthHelper.healthTable->isHealthy(getObjectId())) {
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@ -70,7 +126,7 @@ protected:
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return;
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}
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outputTemperature = calculateOutputTemperature(*inputTemperature);
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outputTemperature = calculateOutputTemperature(*inputValue);
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outputTemperature.setValid(PoolVariableIF::VALID);
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timeval uptime;
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@ -78,7 +134,7 @@ protected:
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if (uptimeOfOldTemperature.tv_sec != INVALID_UPTIME) {
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//In theory, we could use an AbsValueMonitor to monitor the gradient.
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//But this would require storing the gradient in DP and quite some overhead.
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//But this would require storing the maxGradient in DP and quite some overhead.
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//The concept of delta limits is a bit strange anyway.
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float deltaTime;
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float deltaTemp;
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@ -96,8 +152,8 @@ protected:
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}
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}
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//Check is done against raw limits. SHOULDDO: Why? Using °C would be more easy to handle.
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sensorMonitor.doCheck(*inputTemperature);
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//Check is done against raw limits. SHOULDDO: Why? Using <EFBFBD>C would be more easy to handle.
|
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sensorMonitor.doCheck(outputTemperature.value);
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|
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if (sensorMonitor.isOutOfLimits()) {
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uptimeOfOldTemperature.tv_sec = INVALID_UPTIME;
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|
|
@ -110,23 +166,6 @@ protected:
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|||
}
|
||||
|
||||
public:
|
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TemperatureSensor(object_id_t setObjectid,
|
||||
T *inputTemperature, PoolVariableIF *poolVariable,
|
||||
uint8_t vectorIndex, Parameters parameters, uint32_t datapoolId,
|
||||
DataSet *outputSet, ThermalModuleIF *thermalModule) :
|
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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;
|
||||
}
|
||||
|
|
@ -135,6 +174,15 @@ public:
|
|||
return outputTemperature.isValid();
|
||||
}
|
||||
|
||||
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;
|
||||
|
||||
virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
|
||||
ParameterWrapper *parameterWrapper,
|
||||
const ParameterWrapper *newValues, uint16_t startAtIndex) {
|
||||
|
|
@ -160,7 +208,7 @@ public:
|
|||
parameterWrapper->set(parameters.gradient);
|
||||
break;
|
||||
default:
|
||||
return INVALID_MATRIX_ID;
|
||||
return INVALID_IDENTIFIER_ID;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,20 +1,20 @@
|
|||
#include "ThermalComponent.h"
|
||||
|
||||
ThermalComponent::ThermalComponent(object_id_t reportingObjectId,
|
||||
uint8_t domainId, uint32_t temperaturePoolId,
|
||||
uint32_t targetStatePoolId, uint32_t currentStatePoolId,
|
||||
uint32_t requestPoolId, GlobDataSet* dataSet,
|
||||
uint8_t domainId, gp_id_t temperaturePoolId,
|
||||
gp_id_t targetStatePoolId, gp_id_t currentStatePoolId,
|
||||
gp_id_t requestPoolId, LocalPoolDataSetBase* dataSet,
|
||||
AbstractTemperatureSensor* sensor,
|
||||
AbstractTemperatureSensor* firstRedundantSensor,
|
||||
AbstractTemperatureSensor* secondRedundantSensor,
|
||||
ThermalModuleIF* thermalModule, Parameters parameters,
|
||||
Priority priority) :
|
||||
CoreComponent(reportingObjectId, domainId, temperaturePoolId,
|
||||
ThermalComponentCore(reportingObjectId, domainId, temperaturePoolId,
|
||||
targetStatePoolId, currentStatePoolId, requestPoolId, dataSet,
|
||||
sensor, firstRedundantSensor, secondRedundantSensor,
|
||||
thermalModule,{ parameters.lowerOpLimit, parameters.upperOpLimit,
|
||||
parameters.heaterOn, parameters.hysteresis, parameters.heaterSwitchoff },
|
||||
priority, ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL),
|
||||
{ parameters.lowerOpLimit, parameters.upperOpLimit,
|
||||
parameters.heaterOn, parameters.hysteresis,
|
||||
parameters.heaterSwitchoff },
|
||||
ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL),
|
||||
nopParameters({ parameters.lowerNopLimit, parameters.upperNopLimit }) {
|
||||
}
|
||||
|
||||
|
|
@ -22,22 +22,22 @@ ThermalComponent::~ThermalComponent() {
|
|||
}
|
||||
|
||||
ReturnValue_t ThermalComponent::setTargetState(int8_t newState) {
|
||||
GlobDataSet mySet;
|
||||
gp_int8_t writableTargetState(targetState.getDataPoolId(),
|
||||
&mySet, PoolVariableIF::VAR_READ_WRITE);
|
||||
mySet.read();
|
||||
if ((writableTargetState == STATE_REQUEST_OPERATIONAL)
|
||||
&& (newState != STATE_REQUEST_IGNORE)) {
|
||||
targetState.setReadWriteMode(pool_rwm_t::VAR_READ_WRITE);
|
||||
targetState.read();
|
||||
if ((targetState == STATE_REQUEST_OPERATIONAL)
|
||||
and (newState != STATE_REQUEST_IGNORE)) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
switch (newState) {
|
||||
case STATE_REQUEST_NON_OPERATIONAL:
|
||||
writableTargetState = newState;
|
||||
mySet.commit(PoolVariableIF::VALID);
|
||||
targetState = newState;
|
||||
targetState.setValid(true);
|
||||
targetState.commit(PoolVariableIF::VALID);
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
default:
|
||||
return CoreComponent::setTargetState(newState);
|
||||
return ThermalComponentCore::setTargetState(newState);
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t ThermalComponent::setLimits(const uint8_t* data, size_t size) {
|
||||
|
|
@ -57,11 +57,11 @@ ReturnValue_t ThermalComponent::setLimits(const uint8_t* data, size_t size) {
|
|||
}
|
||||
|
||||
ThermalComponentIF::State ThermalComponent::getState(float temperature,
|
||||
CoreComponent::Parameters parameters, int8_t targetState) {
|
||||
ThermalComponentCore::Parameters parameters, int8_t targetState) {
|
||||
if (temperature < nopParameters.lowerNopLimit) {
|
||||
return OUT_OF_RANGE_LOW;
|
||||
} else {
|
||||
State state = CoreComponent::getState(temperature, parameters,
|
||||
State state = ThermalComponentCore::getState(temperature, parameters,
|
||||
targetState);
|
||||
if (state != NON_OPERATIONAL_HIGH
|
||||
&& state != NON_OPERATIONAL_HIGH_IGNORED) {
|
||||
|
|
@ -78,18 +78,19 @@ ThermalComponentIF::State ThermalComponent::getState(float temperature,
|
|||
}
|
||||
|
||||
void ThermalComponent::checkLimits(ThermalComponentIF::State state) {
|
||||
if (targetState == STATE_REQUEST_OPERATIONAL || targetState == STATE_REQUEST_IGNORE) {
|
||||
CoreComponent::checkLimits(state);
|
||||
if ((targetState == STATE_REQUEST_OPERATIONAL) or
|
||||
(targetState == STATE_REQUEST_IGNORE)) {
|
||||
ThermalComponentCore::checkLimits(state);
|
||||
return;
|
||||
}
|
||||
//If component is not operational, it checks the NOP limits.
|
||||
// If component is not operational, it checks the NOP limits.
|
||||
temperatureMonitor.translateState(state, temperature.value,
|
||||
nopParameters.lowerNopLimit, nopParameters.upperNopLimit, false);
|
||||
}
|
||||
|
||||
ThermalComponentIF::HeaterRequest ThermalComponent::getHeaterRequest(
|
||||
int8_t targetState, float temperature,
|
||||
CoreComponent::Parameters parameters) {
|
||||
ThermalComponentCore::Parameters parameters) {
|
||||
if (targetState == STATE_REQUEST_IGNORE) {
|
||||
isHeating = false;
|
||||
return HEATER_DONT_CARE;
|
||||
|
|
@ -142,16 +143,16 @@ ThermalComponentIF::State ThermalComponent::getIgnoredState(int8_t state) {
|
|||
case OUT_OF_RANGE_HIGH_IGNORED:
|
||||
return OUT_OF_RANGE_HIGH_IGNORED;
|
||||
default:
|
||||
return CoreComponent::getIgnoredState(state);
|
||||
return ThermalComponentCore::getIgnoredState(state);
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t ThermalComponent::getParameter(uint8_t domainId,
|
||||
uint16_t parameterId, ParameterWrapper* parameterWrapper,
|
||||
const ParameterWrapper* newValues, uint16_t startAtIndex) {
|
||||
ReturnValue_t result = CoreComponent::getParameter(domainId, parameterId,
|
||||
ReturnValue_t result = ThermalComponentCore::getParameter(domainId, parameterId,
|
||||
parameterWrapper, newValues, startAtIndex);
|
||||
if (result != INVALID_MATRIX_ID) {
|
||||
if (result != INVALID_IDENTIFIER_ID) {
|
||||
return result;
|
||||
}
|
||||
switch (parameterId) {
|
||||
|
|
@ -162,7 +163,7 @@ ReturnValue_t ThermalComponent::getParameter(uint8_t domainId,
|
|||
parameterWrapper->set(nopParameters.upperNopLimit);
|
||||
break;
|
||||
default:
|
||||
return INVALID_MATRIX_ID;
|
||||
return INVALID_IDENTIFIER_ID;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,12 +1,14 @@
|
|||
#ifndef THERMALCOMPONENT_H_
|
||||
#define THERMALCOMPONENT_H_
|
||||
#ifndef FSFW_THERMAL_THERMALCOMPONENT_H_
|
||||
#define FSFW_THERMAL_THERMALCOMPONENT_H_
|
||||
|
||||
#include "CoreComponent.h"
|
||||
#include "ThermalComponentCore.h"
|
||||
|
||||
/**
|
||||
* What is it. How to use
|
||||
* @brief
|
||||
* @details
|
||||
* Some more documentation.
|
||||
*/
|
||||
class ThermalComponent: public CoreComponent {
|
||||
class ThermalComponent: public ThermalComponentCore {
|
||||
public:
|
||||
struct Parameters {
|
||||
float lowerNopLimit;
|
||||
|
|
@ -42,9 +44,10 @@ public:
|
|||
* @param parameters
|
||||
* @param priority
|
||||
*/
|
||||
ThermalComponent(object_id_t reportingObjectId, uint8_t domainId, uint32_t temperaturePoolId,
|
||||
uint32_t targetStatePoolId, uint32_t currentStatePoolId, uint32_t requestPoolId,
|
||||
GlobDataSet *dataSet, AbstractTemperatureSensor *sensor,
|
||||
ThermalComponent(object_id_t reportingObjectId, uint8_t domainId,
|
||||
gp_id_t temperaturePoolId, gp_id_t targetStatePoolId,
|
||||
gp_id_t currentStatePoolId, gp_id_t requestPoolId,
|
||||
LocalPoolDataSetBase *dataSet, AbstractTemperatureSensor *sensor,
|
||||
AbstractTemperatureSensor *firstRedundantSensor,
|
||||
AbstractTemperatureSensor *secondRedundantSensor,
|
||||
ThermalModuleIF *thermalModule, Parameters parameters,
|
||||
|
|
@ -63,15 +66,15 @@ protected:
|
|||
|
||||
NopParameters nopParameters;
|
||||
|
||||
State getState(float temperature, CoreComponent::Parameters parameters,
|
||||
State getState(float temperature, ThermalComponentCore::Parameters parameters,
|
||||
int8_t targetState);
|
||||
|
||||
virtual void checkLimits(State state);
|
||||
|
||||
virtual HeaterRequest getHeaterRequest(int8_t targetState, float temperature,
|
||||
CoreComponent::Parameters parameters);
|
||||
ThermalComponentCore::Parameters parameters);
|
||||
|
||||
State getIgnoredState(int8_t state);
|
||||
};
|
||||
|
||||
#endif /* THERMALCOMPONENT_H_ */
|
||||
#endif /* FSFW_THERMAL_THERMALCOMPONENT_H_ */
|
||||
|
|
|
|||
|
|
@ -1,50 +1,73 @@
|
|||
#include "CoreComponent.h"
|
||||
#include "ThermalComponentCore.h"
|
||||
|
||||
CoreComponent::CoreComponent(object_id_t reportingObjectId, uint8_t domainId,
|
||||
uint32_t temperaturePoolId, uint32_t targetStatePoolId,
|
||||
uint32_t currentStatePoolId, uint32_t requestPoolId, GlobDataSet* dataSet,
|
||||
AbstractTemperatureSensor* sensor,
|
||||
AbstractTemperatureSensor* firstRedundantSensor,
|
||||
AbstractTemperatureSensor* secondRedundantSensor,
|
||||
ThermalModuleIF* thermalModule, Parameters parameters,
|
||||
Priority priority, StateRequest initialTargetState) :
|
||||
sensor(sensor), firstRedundantSensor(firstRedundantSensor), secondRedundantSensor(
|
||||
secondRedundantSensor), thermalModule(thermalModule), temperature(
|
||||
temperaturePoolId, dataSet, PoolVariableIF::VAR_WRITE), targetState(
|
||||
targetStatePoolId, dataSet, PoolVariableIF::VAR_READ), currentState(
|
||||
currentStatePoolId, dataSet, PoolVariableIF::VAR_WRITE), heaterRequest(
|
||||
requestPoolId, dataSet, PoolVariableIF::VAR_WRITE), isHeating(
|
||||
false), isSafeComponent(priority == SAFE), minTemp(999), maxTemp(
|
||||
AbstractTemperatureSensor::ZERO_KELVIN_C), parameters(
|
||||
parameters), temperatureMonitor(reportingObjectId,
|
||||
domainId + 1,
|
||||
GlobalDataPool::poolIdAndPositionToPid(temperaturePoolId, 0),
|
||||
COMPONENT_TEMP_CONFIRMATION), domainId(domainId) {
|
||||
if (thermalModule != NULL) {
|
||||
thermalModule->registerComponent(this, priority);
|
||||
}
|
||||
ThermalComponentCore::ThermalComponentCore(object_id_t reportingObjectId,
|
||||
uint8_t domainId, gp_id_t temperaturePoolId,
|
||||
gp_id_t targetStatePoolId, gp_id_t currentStatePoolId,
|
||||
gp_id_t requestPoolId, LocalPoolDataSetBase* dataSet,
|
||||
Parameters parameters, StateRequest initialTargetState) :
|
||||
temperature(temperaturePoolId, dataSet, PoolVariableIF::VAR_WRITE),
|
||||
targetState(targetStatePoolId, dataSet, PoolVariableIF::VAR_READ),
|
||||
currentState(currentStatePoolId, dataSet, PoolVariableIF::VAR_WRITE),
|
||||
heaterRequest(requestPoolId, dataSet, PoolVariableIF::VAR_WRITE),
|
||||
parameters(parameters), domainId(domainId),
|
||||
temperatureMonitor(reportingObjectId, domainId + 1,temperaturePoolId,
|
||||
COMPONENT_TEMP_CONFIRMATION) {
|
||||
//Set thermal state once, then leave to operator.
|
||||
GlobDataSet mySet;
|
||||
gp_uint8_t writableTargetState(targetStatePoolId, &mySet,
|
||||
PoolVariableIF::VAR_WRITE);
|
||||
writableTargetState = initialTargetState;
|
||||
mySet.commit(PoolVariableIF::VALID);
|
||||
targetState.setReadWriteMode(PoolVariableIF::VAR_WRITE);
|
||||
ReturnValue_t result = targetState.read();
|
||||
if(result == HasReturnvaluesIF::RETURN_OK) {
|
||||
targetState = initialTargetState;
|
||||
targetState.setValid(true);
|
||||
targetState.commit();
|
||||
}
|
||||
targetState.setReadWriteMode(PoolVariableIF::VAR_READ);
|
||||
}
|
||||
|
||||
CoreComponent::~CoreComponent() {
|
||||
void ThermalComponentCore::addSensor(AbstractTemperatureSensor* sensor) {
|
||||
this->sensor = sensor;
|
||||
}
|
||||
|
||||
ThermalComponentIF::HeaterRequest CoreComponent::performOperation(uint8_t opCode) {
|
||||
void ThermalComponentCore::addFirstRedundantSensor(
|
||||
AbstractTemperatureSensor *firstRedundantSensor) {
|
||||
this->firstRedundantSensor = firstRedundantSensor;
|
||||
}
|
||||
|
||||
void ThermalComponentCore::addSecondRedundantSensor(
|
||||
AbstractTemperatureSensor *secondRedundantSensor) {
|
||||
this->secondRedundantSensor = secondRedundantSensor;
|
||||
}
|
||||
|
||||
void ThermalComponentCore::addThermalModule(ThermalModule *thermalModule,
|
||||
Priority priority) {
|
||||
this->thermalModule = thermalModule;
|
||||
if(thermalModule != nullptr) {
|
||||
thermalModule->registerComponent(this, priority);
|
||||
}
|
||||
}
|
||||
|
||||
void ThermalComponentCore::setPriority(Priority priority) {
|
||||
if(priority == SAFE) {
|
||||
this->isSafeComponent = true;
|
||||
}
|
||||
}
|
||||
|
||||
ThermalComponentCore::~ThermalComponentCore() {
|
||||
}
|
||||
|
||||
ThermalComponentIF::HeaterRequest ThermalComponentCore::performOperation(
|
||||
uint8_t opCode) {
|
||||
HeaterRequest request = HEATER_DONT_CARE;
|
||||
//SHOULDDO: Better pass db_float_t* to getTemperature and set it invalid if invalid.
|
||||
temperature = getTemperature();
|
||||
updateMinMaxTemp();
|
||||
if ((temperature != INVALID_TEMPERATURE)) {
|
||||
if (temperature != INVALID_TEMPERATURE) {
|
||||
temperature.setValid(PoolVariableIF::VALID);
|
||||
State state = getState(temperature, getParameters(), targetState);
|
||||
State state = getState(temperature.value, getParameters(),
|
||||
targetState.value);
|
||||
currentState = state;
|
||||
checkLimits(state);
|
||||
request = getHeaterRequest(targetState, temperature, getParameters());
|
||||
request = getHeaterRequest(targetState.value, temperature.value,
|
||||
getParameters());
|
||||
} else {
|
||||
temperatureMonitor.setToInvalid();
|
||||
temperature.setValid(PoolVariableIF::INVALID);
|
||||
|
|
@ -57,42 +80,45 @@ ThermalComponentIF::HeaterRequest CoreComponent::performOperation(uint8_t opCode
|
|||
return request;
|
||||
}
|
||||
|
||||
void CoreComponent::markStateIgnored() {
|
||||
currentState = getIgnoredState(currentState);
|
||||
void ThermalComponentCore::markStateIgnored() {
|
||||
currentState = getIgnoredState(currentState.value);
|
||||
}
|
||||
|
||||
object_id_t CoreComponent::getObjectId() {
|
||||
object_id_t ThermalComponentCore::getObjectId() {
|
||||
return temperatureMonitor.getReporterId();
|
||||
return 0;
|
||||
}
|
||||
|
||||
float CoreComponent::getLowerOpLimit() {
|
||||
float ThermalComponentCore::getLowerOpLimit() {
|
||||
return parameters.lowerOpLimit;
|
||||
}
|
||||
|
||||
ReturnValue_t CoreComponent::setTargetState(int8_t newState) {
|
||||
GlobDataSet mySet;
|
||||
gp_uint8_t writableTargetState(targetState.getDataPoolId(),
|
||||
&mySet, PoolVariableIF::VAR_READ_WRITE);
|
||||
mySet.read();
|
||||
if ((writableTargetState == STATE_REQUEST_OPERATIONAL)
|
||||
&& (newState != STATE_REQUEST_IGNORE)) {
|
||||
|
||||
|
||||
ReturnValue_t ThermalComponentCore::setTargetState(int8_t newState) {
|
||||
targetState.setReadWriteMode(pool_rwm_t::VAR_READ_WRITE);
|
||||
targetState.read();
|
||||
if((targetState == STATE_REQUEST_OPERATIONAL) and
|
||||
(newState != STATE_REQUEST_IGNORE)) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
switch (newState) {
|
||||
case STATE_REQUEST_HEATING:
|
||||
case STATE_REQUEST_IGNORE:
|
||||
case STATE_REQUEST_OPERATIONAL:
|
||||
writableTargetState = newState;
|
||||
targetState = newState;
|
||||
break;
|
||||
case STATE_REQUEST_NON_OPERATIONAL:
|
||||
default:
|
||||
return INVALID_TARGET_STATE;
|
||||
}
|
||||
mySet.commit(PoolVariableIF::VALID);
|
||||
targetState.setValid(true);
|
||||
targetState.commit();
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
void CoreComponent::setOutputInvalid() {
|
||||
void ThermalComponentCore::setOutputInvalid() {
|
||||
temperature = INVALID_TEMPERATURE;
|
||||
temperature.setValid(PoolVariableIF::INVALID);
|
||||
currentState.setValid(PoolVariableIF::INVALID);
|
||||
|
|
@ -101,20 +127,22 @@ void CoreComponent::setOutputInvalid() {
|
|||
temperatureMonitor.setToUnchecked();
|
||||
}
|
||||
|
||||
float CoreComponent::getTemperature() {
|
||||
if ((sensor != NULL) && (sensor->isValid())) {
|
||||
float ThermalComponentCore::getTemperature() {
|
||||
if ((sensor != nullptr) && (sensor->isValid())) {
|
||||
return sensor->getTemperature();
|
||||
}
|
||||
|
||||
if ((firstRedundantSensor != NULL) && (firstRedundantSensor->isValid())) {
|
||||
if ((firstRedundantSensor != nullptr) &&
|
||||
(firstRedundantSensor->isValid())) {
|
||||
return firstRedundantSensor->getTemperature();
|
||||
}
|
||||
|
||||
if ((secondRedundantSensor != NULL) && (secondRedundantSensor->isValid())) {
|
||||
if ((secondRedundantSensor != nullptr) &&
|
||||
(secondRedundantSensor->isValid())) {
|
||||
return secondRedundantSensor->getTemperature();
|
||||
}
|
||||
|
||||
if (thermalModule != NULL) {
|
||||
if (thermalModule != nullptr) {
|
||||
float temperature = thermalModule->getTemperature();
|
||||
if (temperature != ThermalModuleIF::INVALID_TEMPERATURE) {
|
||||
return temperature;
|
||||
|
|
@ -126,7 +154,7 @@ float CoreComponent::getTemperature() {
|
|||
}
|
||||
}
|
||||
|
||||
ThermalComponentIF::State CoreComponent::getState(float temperature,
|
||||
ThermalComponentIF::State ThermalComponentCore::getState(float temperature,
|
||||
Parameters parameters, int8_t targetState) {
|
||||
ThermalComponentIF::State state;
|
||||
|
||||
|
|
@ -144,14 +172,14 @@ ThermalComponentIF::State CoreComponent::getState(float temperature,
|
|||
return state;
|
||||
}
|
||||
|
||||
void CoreComponent::checkLimits(ThermalComponentIF::State state) {
|
||||
void ThermalComponentCore::checkLimits(ThermalComponentIF::State state) {
|
||||
//Checks operational limits only.
|
||||
temperatureMonitor.translateState(state, temperature.value,
|
||||
getParameters().lowerOpLimit, getParameters().upperOpLimit);
|
||||
|
||||
}
|
||||
|
||||
ThermalComponentIF::HeaterRequest CoreComponent::getHeaterRequest(
|
||||
ThermalComponentIF::HeaterRequest ThermalComponentCore::getHeaterRequest(
|
||||
int8_t targetState, float temperature, Parameters parameters) {
|
||||
if (targetState == STATE_REQUEST_IGNORE) {
|
||||
isHeating = false;
|
||||
|
|
@ -177,7 +205,7 @@ ThermalComponentIF::HeaterRequest CoreComponent::getHeaterRequest(
|
|||
return HEATER_DONT_CARE;
|
||||
}
|
||||
|
||||
ThermalComponentIF::State CoreComponent::getIgnoredState(int8_t state) {
|
||||
ThermalComponentIF::State ThermalComponentCore::getIgnoredState(int8_t state) {
|
||||
switch (state) {
|
||||
case NON_OPERATIONAL_LOW:
|
||||
return NON_OPERATIONAL_LOW_IGNORED;
|
||||
|
|
@ -197,27 +225,27 @@ ThermalComponentIF::State CoreComponent::getIgnoredState(int8_t state) {
|
|||
}
|
||||
}
|
||||
|
||||
void CoreComponent::updateMinMaxTemp() {
|
||||
void ThermalComponentCore::updateMinMaxTemp() {
|
||||
if (temperature == INVALID_TEMPERATURE) {
|
||||
return;
|
||||
}
|
||||
if (temperature < minTemp) {
|
||||
minTemp = temperature;
|
||||
minTemp = static_cast<float>(temperature);
|
||||
}
|
||||
if (temperature > maxTemp) {
|
||||
maxTemp = temperature;
|
||||
maxTemp = static_cast<float>(temperature);
|
||||
}
|
||||
}
|
||||
|
||||
uint8_t CoreComponent::getDomainId() const {
|
||||
uint8_t ThermalComponentCore::getDomainId() const {
|
||||
return domainId;
|
||||
}
|
||||
|
||||
CoreComponent::Parameters CoreComponent::getParameters() {
|
||||
ThermalComponentCore::Parameters ThermalComponentCore::getParameters() {
|
||||
return parameters;
|
||||
}
|
||||
|
||||
ReturnValue_t CoreComponent::getParameter(uint8_t domainId,
|
||||
ReturnValue_t ThermalComponentCore::getParameter(uint8_t domainId,
|
||||
uint16_t parameterId, ParameterWrapper* parameterWrapper,
|
||||
const ParameterWrapper* newValues, uint16_t startAtIndex) {
|
||||
ReturnValue_t result = temperatureMonitor.getParameter(domainId,
|
||||
|
|
@ -251,7 +279,7 @@ ReturnValue_t CoreComponent::getParameter(uint8_t domainId,
|
|||
parameterWrapper->set(parameters.upperOpLimit);
|
||||
break;
|
||||
default:
|
||||
return INVALID_MATRIX_ID;
|
||||
return INVALID_IDENTIFIER_ID;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
117
thermal/ThermalComponentCore.h
Normal file
117
thermal/ThermalComponentCore.h
Normal file
|
|
@ -0,0 +1,117 @@
|
|||
#ifndef FSFW_THERMAL_THERMALCOMPONENTCORE_H_
|
||||
#define FSFW_THERMAL_THERMALCOMPONENTCORE_H_
|
||||
|
||||
#include "ThermalMonitorReporter.h"
|
||||
#include "ThermalComponentIF.h"
|
||||
#include "AbstractTemperatureSensor.h"
|
||||
#include "ThermalModule.h"
|
||||
|
||||
#include "../datapoollocal/LocalPoolVariable.h"
|
||||
|
||||
/**
|
||||
* @brief
|
||||
* @details
|
||||
*/
|
||||
class ThermalComponentCore: public ThermalComponentIF {
|
||||
public:
|
||||
struct Parameters {
|
||||
float lowerOpLimit;
|
||||
float upperOpLimit;
|
||||
float heaterOn;
|
||||
float hysteresis;
|
||||
float heaterSwitchoff;
|
||||
};
|
||||
|
||||
static const uint16_t COMPONENT_TEMP_CONFIRMATION = 5;
|
||||
|
||||
/**
|
||||
* Some documentation
|
||||
* @param reportingObjectId
|
||||
* @param domainId
|
||||
* @param temperaturePoolId
|
||||
* @param targetStatePoolId
|
||||
* @param currentStatePoolId
|
||||
* @param requestPoolId
|
||||
* @param dataSet
|
||||
* @param parameters
|
||||
* @param initialTargetState
|
||||
*/
|
||||
ThermalComponentCore(object_id_t reportingObjectId, uint8_t domainId,
|
||||
gp_id_t temperaturePoolId, gp_id_t targetStatePoolId,
|
||||
gp_id_t currentStatePoolId, gp_id_t requestPoolId,
|
||||
LocalPoolDataSetBase* dataSet, Parameters parameters,
|
||||
StateRequest initialTargetState =
|
||||
ThermalComponentIF::STATE_REQUEST_OPERATIONAL);
|
||||
|
||||
void addSensor(AbstractTemperatureSensor* firstRedundantSensor);
|
||||
void addFirstRedundantSensor(
|
||||
AbstractTemperatureSensor* firstRedundantSensor);
|
||||
void addSecondRedundantSensor(
|
||||
AbstractTemperatureSensor* secondRedundantSensor);
|
||||
void addThermalModule(ThermalModule* thermalModule, Priority priority);
|
||||
|
||||
void setPriority(Priority priority);
|
||||
|
||||
virtual ~ThermalComponentCore();
|
||||
|
||||
virtual HeaterRequest performOperation(uint8_t opCode);
|
||||
|
||||
void markStateIgnored();
|
||||
|
||||
object_id_t getObjectId();
|
||||
|
||||
uint8_t getDomainId() const;
|
||||
|
||||
virtual float getLowerOpLimit();
|
||||
|
||||
ReturnValue_t setTargetState(int8_t newState);
|
||||
|
||||
virtual void setOutputInvalid();
|
||||
|
||||
virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
|
||||
ParameterWrapper *parameterWrapper,
|
||||
const ParameterWrapper *newValues, uint16_t startAtIndex);
|
||||
|
||||
protected:
|
||||
|
||||
AbstractTemperatureSensor *sensor = nullptr;
|
||||
AbstractTemperatureSensor *firstRedundantSensor = nullptr;
|
||||
AbstractTemperatureSensor *secondRedundantSensor = nullptr;
|
||||
ThermalModuleIF *thermalModule = nullptr;
|
||||
|
||||
lp_var_t<float> temperature;
|
||||
lp_var_t<int8_t> targetState;
|
||||
lp_var_t<int8_t> currentState;
|
||||
lp_var_t<uint8_t> heaterRequest;
|
||||
|
||||
bool isHeating = false;
|
||||
|
||||
bool isSafeComponent = false;
|
||||
|
||||
float minTemp = 999;
|
||||
|
||||
float maxTemp = AbstractTemperatureSensor::ZERO_KELVIN_C;
|
||||
|
||||
Parameters parameters;
|
||||
|
||||
const uint8_t domainId;
|
||||
|
||||
ThermalMonitorReporter temperatureMonitor;
|
||||
|
||||
virtual float getTemperature();
|
||||
virtual State getState(float temperature, Parameters parameters,
|
||||
int8_t targetState);
|
||||
|
||||
virtual void checkLimits(State state);
|
||||
|
||||
virtual HeaterRequest getHeaterRequest(int8_t targetState,
|
||||
float temperature, Parameters parameters);
|
||||
|
||||
virtual State getIgnoredState(int8_t state);
|
||||
|
||||
void updateMinMaxTemp();
|
||||
|
||||
virtual Parameters getParameters();
|
||||
};
|
||||
|
||||
#endif /* FSFW_THERMAL_THERMALCOMPONENT_CORE_H_ */
|
||||
|
|
@ -49,18 +49,18 @@ public:
|
|||
SAFE = 0, //!< SAFE
|
||||
IDLE, //!< IDLE
|
||||
PAYLOAD, //!< PAYLOAD
|
||||
NUMBER_OF_PRIORITIES //!< MAX_PRIORITY
|
||||
NUMBER_OF_PRIORITIES //!< MAX_PRIORITY
|
||||
};
|
||||
|
||||
/**
|
||||
* The elements are ordered by priority, lowest have highest priority
|
||||
*/
|
||||
enum HeaterRequest {
|
||||
HEATER_REQUEST_EMERGENCY_OFF = 0, //!< REQUEST_EMERGENCY_OFF
|
||||
HEATER_REQUEST_EMERGENCY_ON, //!< REQUEST_EMERGENCY_ON
|
||||
HEATER_REQUEST_OFF, //!< REQUEST_OFF
|
||||
HEATER_REQUEST_ON, //!< REQUEST_ON
|
||||
HEATER_DONT_CARE //!< DONT_CARE
|
||||
HEATER_REQUEST_EMERGENCY_OFF = 0, //!< REQUEST_EMERGENCY_OFF
|
||||
HEATER_REQUEST_EMERGENCY_ON, //!< REQUEST_EMERGENCY_ON
|
||||
HEATER_REQUEST_OFF, //!< REQUEST_OFF
|
||||
HEATER_REQUEST_ON, //!< REQUEST_ON
|
||||
HEATER_DONT_CARE //!< DONT_CARE
|
||||
};
|
||||
|
||||
virtual ~ThermalComponentIF() {
|
||||
|
|
|
|||
|
|
@ -1,28 +1,31 @@
|
|||
#include "../monitoring/LimitViolationReporter.h"
|
||||
#include "../monitoring/MonitoringMessageContent.h"
|
||||
#include "ThermalModule.h"
|
||||
|
||||
#include "AbstractTemperatureSensor.h"
|
||||
|
||||
ThermalModule::ThermalModule(uint32_t moduleTemperaturePoolId,
|
||||
uint32_t currentStatePoolId, uint32_t targetStatePoolId,
|
||||
GlobDataSet *dataSet, Parameters parameters,
|
||||
#include "../monitoring/LimitViolationReporter.h"
|
||||
#include "../monitoring/MonitoringMessageContent.h"
|
||||
|
||||
|
||||
ThermalModule::ThermalModule(gp_id_t moduleTemperaturePoolId,
|
||||
gp_id_t currentStatePoolId, gp_id_t targetStatePoolId,
|
||||
LocalPoolDataSetBase *dataSet, Parameters parameters,
|
||||
RedundantHeater::Parameters heaterParameters) :
|
||||
oldStrategy(ACTIVE_SINGLE), survivalTargetTemp(0), targetTemp(0), heating(
|
||||
false), parameters(parameters), moduleTemperature(
|
||||
moduleTemperaturePoolId, dataSet, PoolVariableIF::VAR_WRITE), currentState(
|
||||
currentStatePoolId, dataSet, PoolVariableIF::VAR_WRITE), targetState(
|
||||
targetStatePoolId, dataSet, PoolVariableIF::VAR_READ) {
|
||||
oldStrategy(ACTIVE_SINGLE), parameters(parameters),
|
||||
moduleTemperature(moduleTemperaturePoolId, dataSet,
|
||||
PoolVariableIF::VAR_WRITE),
|
||||
currentState(currentStatePoolId, dataSet, PoolVariableIF::VAR_WRITE),
|
||||
targetState(targetStatePoolId, dataSet, PoolVariableIF::VAR_READ) {
|
||||
heater = new RedundantHeater(heaterParameters);
|
||||
}
|
||||
|
||||
ThermalModule::ThermalModule(uint32_t moduleTemperaturePoolId, GlobDataSet* dataSet) :
|
||||
oldStrategy(ACTIVE_SINGLE), survivalTargetTemp(0), targetTemp(0), heating(
|
||||
false), parameters( { 0, 0 }), moduleTemperature(
|
||||
moduleTemperaturePoolId, dataSet, PoolVariableIF::VAR_WRITE), heater(
|
||||
NULL), currentState(PoolVariableIF::INVALID, dataSet,
|
||||
PoolVariableIF::VAR_WRITE), targetState(PoolVariableIF::INVALID,
|
||||
dataSet, PoolVariableIF::VAR_READ) {
|
||||
ThermalModule::ThermalModule(gp_id_t moduleTemperaturePoolId,
|
||||
LocalPoolDataSetBase* dataSet) :
|
||||
oldStrategy(ACTIVE_SINGLE), parameters( { 0, 0 }),
|
||||
moduleTemperature(moduleTemperaturePoolId, dataSet,
|
||||
PoolVariableIF::VAR_WRITE),
|
||||
currentState(gp_id_t(), dataSet,
|
||||
PoolVariableIF::VAR_WRITE),
|
||||
targetState(gp_id_t(), dataSet,
|
||||
PoolVariableIF::VAR_READ) {
|
||||
}
|
||||
|
||||
ThermalModule::~ThermalModule() {
|
||||
|
|
@ -30,7 +33,7 @@ ThermalModule::~ThermalModule() {
|
|||
}
|
||||
|
||||
void ThermalModule::performOperation(uint8_t opCode) {
|
||||
if (heater != NULL) {
|
||||
if (heater != nullptr) {
|
||||
heater->performOperation(0);
|
||||
}
|
||||
}
|
||||
|
|
@ -42,7 +45,7 @@ void ThermalModule::performMode(Strategy strategy) {
|
|||
ThermalComponentIF::HeaterRequest componentHeaterRequest =
|
||||
letComponentsPerformAndDeciceIfWeNeedToHeat(safeOnly);
|
||||
|
||||
if (heater == NULL) {
|
||||
if (heater == nullptr) {
|
||||
informComponentsAboutHeaterState(false, NONE);
|
||||
return;
|
||||
}
|
||||
|
|
@ -53,8 +56,8 @@ void ThermalModule::performMode(Strategy strategy) {
|
|||
//Components overwrite the module request.
|
||||
heating = ((componentHeaterRequest
|
||||
== ThermalComponentIF::HEATER_REQUEST_ON)
|
||||
|| (componentHeaterRequest
|
||||
== ThermalComponentIF::HEATER_REQUEST_EMERGENCY_ON));
|
||||
or (componentHeaterRequest
|
||||
== ThermalComponentIF::HEATER_REQUEST_EMERGENCY_ON));
|
||||
}
|
||||
|
||||
bool dual = (strategy == ACTIVE_DUAL);
|
||||
|
|
@ -76,7 +79,7 @@ void ThermalModule::performMode(Strategy strategy) {
|
|||
}
|
||||
|
||||
float ThermalModule::getTemperature() {
|
||||
return moduleTemperature;
|
||||
return moduleTemperature.value;
|
||||
}
|
||||
|
||||
void ThermalModule::registerSensor(AbstractTemperatureSensor * sensor) {
|
||||
|
|
@ -85,7 +88,8 @@ void ThermalModule::registerSensor(AbstractTemperatureSensor * sensor) {
|
|||
|
||||
void ThermalModule::registerComponent(ThermalComponentIF* component,
|
||||
ThermalComponentIF::Priority priority) {
|
||||
components.push_back(ComponentData( { component, priority, ThermalComponentIF::HEATER_DONT_CARE }));
|
||||
components.push_back(ComponentData( { component, priority,
|
||||
ThermalComponentIF::HEATER_DONT_CARE }));
|
||||
}
|
||||
|
||||
void ThermalModule::calculateTemperature() {
|
||||
|
|
@ -94,12 +98,13 @@ void ThermalModule::calculateTemperature() {
|
|||
std::list<AbstractTemperatureSensor *>::iterator iter = sensors.begin();
|
||||
for (; iter != sensors.end(); iter++) {
|
||||
if ((*iter)->isValid()) {
|
||||
moduleTemperature = moduleTemperature + (*iter)->getTemperature();
|
||||
moduleTemperature = moduleTemperature.value +
|
||||
(*iter)->getTemperature();
|
||||
numberOfValidSensors++;
|
||||
}
|
||||
}
|
||||
if (numberOfValidSensors != 0) {
|
||||
moduleTemperature = moduleTemperature / numberOfValidSensors;
|
||||
moduleTemperature = moduleTemperature.value / numberOfValidSensors;
|
||||
moduleTemperature.setValid(PoolVariableIF::VALID);
|
||||
} else {
|
||||
moduleTemperature = INVALID_TEMPERATURE;
|
||||
|
|
@ -117,9 +122,10 @@ ThermalComponentIF* ThermalModule::findComponent(object_id_t objectId) {
|
|||
return NULL;
|
||||
}
|
||||
|
||||
ThermalComponentIF::HeaterRequest ThermalModule::letComponentsPerformAndDeciceIfWeNeedToHeat(
|
||||
bool safeOnly) {
|
||||
ThermalComponentIF::HeaterRequest heaterRequests[ThermalComponentIF::NUMBER_OF_PRIORITIES];
|
||||
ThermalComponentIF::HeaterRequest
|
||||
ThermalModule::letComponentsPerformAndDeciceIfWeNeedToHeat(bool safeOnly) {
|
||||
ThermalComponentIF::HeaterRequest
|
||||
heaterRequests[ThermalComponentIF::NUMBER_OF_PRIORITIES];
|
||||
|
||||
survivalTargetTemp = -999;
|
||||
targetTemp = -999;
|
||||
|
|
@ -224,7 +230,7 @@ bool ThermalModule::calculateModuleHeaterRequestAndSetModuleStatus(
|
|||
limit = survivalTargetTemp;
|
||||
}
|
||||
|
||||
if (moduleTemperature >= limit) {
|
||||
if (moduleTemperature.value >= limit) {
|
||||
currentState = OPERATIONAL;
|
||||
} else {
|
||||
currentState = NON_OPERATIONAL;
|
||||
|
|
@ -250,15 +256,16 @@ bool ThermalModule::calculateModuleHeaterRequestAndSetModuleStatus(
|
|||
}
|
||||
|
||||
void ThermalModule::setHeating(bool on) {
|
||||
GlobDataSet mySet;
|
||||
gp_int8_t writableTargetState(targetState.getDataPoolId(),
|
||||
&mySet, PoolVariableIF::VAR_WRITE);
|
||||
if (on) {
|
||||
writableTargetState = STATE_REQUEST_HEATING;
|
||||
} else {
|
||||
writableTargetState = STATE_REQUEST_PASSIVE;
|
||||
ReturnValue_t result = targetState.read();
|
||||
if(result == HasReturnvaluesIF::RETURN_OK) {
|
||||
if(on) {
|
||||
targetState.value = STATE_REQUEST_HEATING;
|
||||
}
|
||||
else {
|
||||
targetState.value = STATE_REQUEST_PASSIVE;
|
||||
}
|
||||
}
|
||||
mySet.commit(PoolVariableIF::VALID);
|
||||
targetState.setValid(true);
|
||||
}
|
||||
|
||||
void ThermalModule::updateTargetTemperatures(ThermalComponentIF* component,
|
||||
|
|
|
|||
|
|
@ -1,14 +1,18 @@
|
|||
#ifndef THERMALMODULE_H_
|
||||
#define THERMALMODULE_H_
|
||||
#ifndef FSFW_THERMAL_THERMALMODULE_H_
|
||||
#define FSFW_THERMAL_THERMALMODULE_H_
|
||||
|
||||
#include "../datapoolglob/GlobalDataSet.h"
|
||||
#include "../datapoolglob/GlobalPoolVariable.h"
|
||||
#include "../devicehandlers/HealthDevice.h"
|
||||
#include "../events/EventReportingProxyIF.h"
|
||||
#include "ThermalModuleIF.h"
|
||||
#include <list>
|
||||
#include "tcsDefinitions.h"
|
||||
#include "RedundantHeater.h"
|
||||
|
||||
#include "../datapoollocal/LocalPoolDataSetBase.h"
|
||||
#include "../datapoollocal/LocalPoolVariable.h"
|
||||
#include "../devicehandlers/HealthDevice.h"
|
||||
#include "../events/EventReportingProxyIF.h"
|
||||
|
||||
#include <list>
|
||||
|
||||
|
||||
class PowerSwitchIF;
|
||||
|
||||
/**
|
||||
|
|
@ -22,11 +26,12 @@ public:
|
|||
float hysteresis;
|
||||
};
|
||||
|
||||
ThermalModule(uint32_t moduleTemperaturePoolId, uint32_t currentStatePoolId,
|
||||
uint32_t targetStatePoolId, GlobDataSet *dataSet, Parameters parameters,
|
||||
RedundantHeater::Parameters heaterParameters);
|
||||
ThermalModule(gp_id_t moduleTemperaturePoolId, gp_id_t currentStatePoolId,
|
||||
gp_id_t targetStatePoolId, LocalPoolDataSetBase *dataSet,
|
||||
Parameters parameters, RedundantHeater::Parameters heaterParameters);
|
||||
|
||||
ThermalModule(uint32_t moduleTemperaturePoolId, GlobDataSet *dataSet);
|
||||
ThermalModule(gp_id_t moduleTemperaturePoolId,
|
||||
LocalPoolDataSetBase *dataSet);
|
||||
|
||||
virtual ~ThermalModule();
|
||||
|
||||
|
|
@ -62,20 +67,20 @@ protected:
|
|||
|
||||
Strategy oldStrategy;
|
||||
|
||||
float survivalTargetTemp;
|
||||
float survivalTargetTemp = 0.0;
|
||||
|
||||
float targetTemp;
|
||||
float targetTemp = 0.0;
|
||||
|
||||
bool heating;
|
||||
bool heating = false;
|
||||
|
||||
Parameters parameters;
|
||||
|
||||
gp_float_t moduleTemperature;
|
||||
lp_var_t<float> moduleTemperature;
|
||||
|
||||
RedundantHeater *heater;
|
||||
RedundantHeater *heater = nullptr;
|
||||
|
||||
gp_int8_t currentState;
|
||||
gp_int8_t targetState;
|
||||
lp_var_t<int8_t> currentState;
|
||||
lp_var_t<int8_t> targetState;
|
||||
|
||||
std::list<AbstractTemperatureSensor *> sensors;
|
||||
std::list<ComponentData> components;
|
||||
|
|
@ -92,4 +97,4 @@ protected:
|
|||
void updateTargetTemperatures(ThermalComponentIF *component, bool isSafe);
|
||||
};
|
||||
|
||||
#endif /* THERMALMODULE_H_ */
|
||||
#endif /* FSFW_THERMAL_THERMALMODULE_H_ */
|
||||
|
|
|
|||
|
|
@ -1,23 +0,0 @@
|
|||
#ifndef FRAMEWORK_THERMAL_THERMALMONITOR_H_
|
||||
#define FRAMEWORK_THERMAL_THERMALMONITOR_H_
|
||||
|
||||
#include "../monitoring/MonitorReporter.h"
|
||||
#include "ThermalComponentIF.h"
|
||||
|
||||
class ThermalMonitor: public MonitorReporter<float> {
|
||||
public:
|
||||
template<typename ... Args>
|
||||
ThermalMonitor(Args ... args) :
|
||||
MonitorReporter<float>(std::forward<Args>(args)...) {
|
||||
}
|
||||
~ThermalMonitor();
|
||||
ReturnValue_t translateState(ThermalComponentIF::State state, float sample,
|
||||
float lowerLimit, float upperLimit, bool componentIsOperational = true);
|
||||
|
||||
bool isAboveHighLimit();
|
||||
protected:
|
||||
virtual void sendTransitionEvent(float currentValue, ReturnValue_t state);
|
||||
|
||||
};
|
||||
|
||||
#endif /* FRAMEWORK_THERMAL_THERMALMONITOR_H_ */
|
||||
|
|
@ -1,10 +1,12 @@
|
|||
#include "ThermalMonitor.h"
|
||||
#include "ThermalMonitorReporter.h"
|
||||
#include "ThermalComponentIF.h"
|
||||
|
||||
#include "../monitoring/MonitoringIF.h"
|
||||
ThermalMonitor::~ThermalMonitor() {
|
||||
|
||||
ThermalMonitorReporter::~ThermalMonitorReporter() {
|
||||
}
|
||||
|
||||
void ThermalMonitor::sendTransitionEvent(float currentValue,
|
||||
void ThermalMonitorReporter::sendTransitionEvent(float currentValue,
|
||||
ReturnValue_t state) {
|
||||
switch (state) {
|
||||
case MonitoringIF::BELOW_LOW_LIMIT:
|
||||
|
|
@ -28,7 +30,7 @@ void ThermalMonitor::sendTransitionEvent(float currentValue,
|
|||
}
|
||||
}
|
||||
|
||||
bool ThermalMonitor::isAboveHighLimit() {
|
||||
bool ThermalMonitorReporter::isAboveHighLimit() {
|
||||
if (oldState == ThermalComponentIF::ABOVE_OPERATIONAL_LIMIT) {
|
||||
return true;
|
||||
} else {
|
||||
|
|
@ -36,7 +38,8 @@ bool ThermalMonitor::isAboveHighLimit() {
|
|||
}
|
||||
}
|
||||
|
||||
ReturnValue_t ThermalMonitor::translateState(ThermalComponentIF::State state, float sample, float lowerLimit,
|
||||
ReturnValue_t ThermalMonitorReporter::translateState(
|
||||
ThermalComponentIF::State state, float sample, float lowerLimit,
|
||||
float upperLimit, bool componentIsOperational) {
|
||||
if (ThermalComponentIF::isIgnoredState(state)) {
|
||||
setToUnchecked();
|
||||
|
|
@ -44,10 +47,12 @@ ReturnValue_t ThermalMonitor::translateState(ThermalComponentIF::State state, fl
|
|||
}
|
||||
switch (state) {
|
||||
case ThermalComponentIF::OUT_OF_RANGE_LOW:
|
||||
return monitorStateIs(MonitoringIF::BELOW_LOW_LIMIT, sample, lowerLimit);
|
||||
return monitorStateIs(MonitoringIF::BELOW_LOW_LIMIT, sample,
|
||||
lowerLimit);
|
||||
case ThermalComponentIF::NON_OPERATIONAL_LOW:
|
||||
if (componentIsOperational) {
|
||||
return monitorStateIs(ThermalComponentIF::BELOW_OPERATIONAL_LIMIT, sample, lowerLimit);
|
||||
return monitorStateIs(ThermalComponentIF::BELOW_OPERATIONAL_LIMIT,
|
||||
sample, lowerLimit);
|
||||
} else {
|
||||
return monitorStateIs(HasReturnvaluesIF::RETURN_OK, sample, 0.0);
|
||||
}
|
||||
|
|
@ -55,12 +60,14 @@ ReturnValue_t ThermalMonitor::translateState(ThermalComponentIF::State state, fl
|
|||
return monitorStateIs(HasReturnvaluesIF::RETURN_OK, sample, 0.0);
|
||||
case ThermalComponentIF::NON_OPERATIONAL_HIGH:
|
||||
if (componentIsOperational) {
|
||||
return monitorStateIs(ThermalComponentIF::ABOVE_OPERATIONAL_LIMIT, sample, upperLimit);
|
||||
return monitorStateIs(ThermalComponentIF::ABOVE_OPERATIONAL_LIMIT,
|
||||
sample, upperLimit);
|
||||
} else {
|
||||
return monitorStateIs(HasReturnvaluesIF::RETURN_OK, sample, 0.0);
|
||||
}
|
||||
case ThermalComponentIF::OUT_OF_RANGE_HIGH:
|
||||
return monitorStateIs(MonitoringIF::ABOVE_HIGH_LIMIT, sample, upperLimit);
|
||||
return monitorStateIs(MonitoringIF::ABOVE_HIGH_LIMIT, sample,
|
||||
upperLimit);
|
||||
default:
|
||||
//Never reached, all states covered.
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
28
thermal/ThermalMonitorReporter.h
Normal file
28
thermal/ThermalMonitorReporter.h
Normal file
|
|
@ -0,0 +1,28 @@
|
|||
#ifndef FSFW_THERMAL_THERMALMONITORREPORTER_H_
|
||||
#define FSFW_THERMAL_THERMALMONITORREPORTER_H_
|
||||
|
||||
#include "ThermalComponentIF.h"
|
||||
#include "../monitoring/MonitorReporter.h"
|
||||
|
||||
|
||||
/**
|
||||
* @brief Monitor Reporter implementation for thermal components.
|
||||
*/
|
||||
class ThermalMonitorReporter: public MonitorReporter<float> {
|
||||
public:
|
||||
template<typename ... Args>
|
||||
ThermalMonitorReporter(Args ... args) :
|
||||
MonitorReporter<float>(std::forward<Args>(args)...) {
|
||||
}
|
||||
~ThermalMonitorReporter();
|
||||
ReturnValue_t translateState(ThermalComponentIF::State state, float sample,
|
||||
float lowerLimit, float upperLimit,
|
||||
bool componentIsOperational = true);
|
||||
|
||||
bool isAboveHighLimit();
|
||||
protected:
|
||||
virtual void sendTransitionEvent(float currentValue, ReturnValue_t state);
|
||||
|
||||
};
|
||||
|
||||
#endif /* FSFW_THERMAL_THERMALMONITORREPORTERREPORTER_H_ */
|
||||
|
|
@ -2,7 +2,7 @@
|
|||
#define TCSDEFINITIONS_H_
|
||||
|
||||
|
||||
static const uint32_t INVALID_TEMPERATURE = 999;
|
||||
static const float INVALID_TEMPERATURE = 999;
|
||||
|
||||
|
||||
#endif /* TCSDEFINITIONS_H_ */
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user