Merge pull request 'Update FSFW' (#45) from mueller/master into eive/develop
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Reviewed-on: eive/fsfw#45
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e6130263ef
@ -26,11 +26,7 @@ void AssemblyBase::performChildOperation() {
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void AssemblyBase::startTransition(Mode_t mode, Submode_t submode) {
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doStartTransition(mode, submode);
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if (modeHelper.isForced()) {
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triggerEvent(FORCING_MODE, mode, submode);
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} else {
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triggerEvent(CHANGING_MODE, mode, submode);
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}
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triggerModeHelperEvents(mode, submode);
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}
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void AssemblyBase::doStartTransition(Mode_t mode, Submode_t submode) {
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@ -77,9 +73,10 @@ bool AssemblyBase::handleChildrenChangedHealth() {
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}
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HealthState healthState = healthHelper.healthTable->getHealth(iter->first);
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if (healthState == HasHealthIF::NEEDS_RECOVERY) {
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triggerEvent(TRYING_RECOVERY);
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triggerEvent(TRYING_RECOVERY, iter->first, 0);
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recoveryState = RECOVERY_STARTED;
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recoveringDevice = iter;
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// The user needs to take care of commanding the children off in commandChildren
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doStartTransition(targetMode, targetSubmode);
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} else {
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triggerEvent(CHILD_CHANGED_HEALTH);
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@ -228,6 +225,9 @@ ReturnValue_t AssemblyBase::handleHealthReply(CommandMessage* message) {
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bool AssemblyBase::checkAndHandleRecovery() {
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switch (recoveryState) {
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case RECOVERY_STARTED:
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// The recovery was already start in #handleChildrenChangedHealth and we just need
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// to wait for an off time period.
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// TODO: make time period configurable
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recoveryState = RECOVERY_WAIT;
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recoveryOffTimer.resetTimer();
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return true;
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@ -266,3 +266,11 @@ void AssemblyBase::overwriteDeviceHealth(object_id_t objectId, HasHealthIF::Heal
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modeHelper.setForced(true);
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sendHealthCommand(childrenMap[objectId].commandQueue, EXTERNAL_CONTROL);
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}
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void AssemblyBase::triggerModeHelperEvents(Mode_t mode, Submode_t submode) {
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if (modeHelper.isForced()) {
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triggerEvent(FORCING_MODE, mode, submode);
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} else {
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triggerEvent(CHANGING_MODE, mode, submode);
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}
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}
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@ -12,7 +12,8 @@
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* Documentation: Dissertation Baetz p.156, 157.
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*
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* This class reduces the complexity of controller components which would
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* otherwise be needed for the handling of redundant devices.
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* otherwise be needed for the handling of redundant devices. However, it can also be used to
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* manage the mode keeping and recovery of non-redundant devices
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*
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* The template class monitors mode and health state of its children
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* and checks availability of devices on every detected change.
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@ -26,11 +27,9 @@
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*
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* Important:
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*
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* The implementation must call registerChild(object_id_t child)
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* for all commanded children during initialization.
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* The implementation must call #registerChild for all commanded children during initialization.
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* The implementation must call the initialization function of the base class.
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* (This will call the function in SubsystemBase)
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*
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*/
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class AssemblyBase : public SubsystemBase {
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public:
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@ -47,9 +46,10 @@ class AssemblyBase : public SubsystemBase {
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protected:
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/**
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* Command children to reach [mode,submode] combination
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* Can be done by setting #commandsOutstanding correctly,
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* or using executeTable()
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* Command children to reach [mode,submode] combination. Can be done by setting
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* #commandsOutstanding correctly, or using #executeTable. In case of an FDIR recovery,
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* the user needs to ensure that the target devices are healthy. If a device is not healthy,
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* a recovery might be on-going and the device needs to be commanded to off first.
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* @param mode
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* @param submode
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* @return
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@ -162,6 +162,12 @@ class AssemblyBase : public SubsystemBase {
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ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t *msToReachTheMode);
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/**
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* Calls #doStartTransition and triggers an informative event as well that the mode will
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* change
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* @param mode
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* @param submode
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*/
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virtual void startTransition(Mode_t mode, Submode_t submode);
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/**
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@ -190,7 +196,7 @@ class AssemblyBase : public SubsystemBase {
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* Manages recovery of a device
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* @return true if recovery is still ongoing, false else.
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*/
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bool checkAndHandleRecovery();
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virtual bool checkAndHandleRecovery();
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/**
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* Helper method to overwrite health state of one of the children.
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@ -198,6 +204,8 @@ class AssemblyBase : public SubsystemBase {
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* @param objectId Must be a registered child.
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*/
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void overwriteDeviceHealth(object_id_t objectId, HasHealthIF::HealthState oldHealth);
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void triggerModeHelperEvents(Mode_t mode, Submode_t submode);
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};
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#endif /* FSFW_DEVICEHANDLERS_ASSEMBLYBASE_H_ */
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@ -49,9 +49,6 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
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printWarningOrError(sif::OutputTypes::OUT_ERROR, "DeviceHandlerBase",
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HasReturnvaluesIF::RETURN_FAILED, "Invalid cookie");
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}
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if (this->fdirInstance == nullptr) {
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this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId, defaultFdirParentId);
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}
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}
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void DeviceHandlerBase::setHkDestination(object_id_t hkDestination) {
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@ -127,6 +124,17 @@ ReturnValue_t DeviceHandlerBase::initialize() {
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if (result != RETURN_OK) {
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return result;
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}
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if (this->fdirInstance == nullptr) {
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this->fdirInstance = new DeviceHandlerFailureIsolation(this->getObjectId(), defaultFdirParentId);
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}
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if(this->parent != objects::NO_OBJECT) {
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HasModesIF* modeIF = ObjectManager::instance()->get<HasModesIF>(this->parent);
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HasHealthIF* healthIF = ObjectManager::instance()->get<HasHealthIF>(this->parent);
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if(modeIF != nullptr and healthIF != nullptr) {
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setParentQueue(modeIF->getCommandQueue());
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}
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}
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communicationInterface =
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ObjectManager::instance()->get<DeviceCommunicationIF>(deviceCommunicationId);
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@ -1494,3 +1502,9 @@ MessageQueueId_t DeviceHandlerBase::getCommanderQueueId(DeviceCommandId_t replyI
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}
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return commandIter->second.sendReplyTo;
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}
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void DeviceHandlerBase::setCustomFdir(FailureIsolationBase* fdir) { this->fdirInstance = fdir; }
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void DeviceHandlerBase::setParent(object_id_t parent) { this->parent = parent; }
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void DeviceHandlerBase::setPowerSwitcher(PowerSwitchIF* switcher) { this->powerSwitcher = switcher; }
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@ -103,6 +103,9 @@ class DeviceHandlerBase : public DeviceHandlerIF,
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DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication, CookieIF *comCookie,
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FailureIsolationBase *fdirInstance = nullptr, size_t cmdQueueSize = 20);
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void setCustomFdir(FailureIsolationBase* fdir);
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void setParent(object_id_t parent);
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void setPowerSwitcher(PowerSwitchIF* switcher);
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void setHkDestination(object_id_t hkDestination);
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/**
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@ -824,6 +827,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
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/** Pointer to the used FDIR instance. If not provided by child,
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* default class is instantiated. */
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FailureIsolationBase *fdirInstance;
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object_id_t parent = objects::NO_OBJECT;
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//! To correctly delete the default instance.
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bool defaultFDIRUsed;
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@ -52,11 +52,12 @@ ReturnValue_t FailureIsolationBase::initialize() {
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ObjectManager::instance()->get<ConfirmsFailuresIF>(faultTreeParent);
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if (parentIF == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "FailureIsolationBase::intialize: Parent object"
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<< "invalid." << std::endl;
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#endif
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "Make sure it implements ConfirmsFailuresIF." << std::endl;
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sif::error << "FailureIsolationBase::intialize: Parent object "
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<< "invalid" << std::endl;
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sif::error << "Make sure it implements ConfirmsFailuresIF" << std::endl;
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#else
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sif::printError("FailureIsolationBase::intialize: Parent object invalid\n");
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sif::printError("Make sure it implements ConfirmsFailuresIF\n");
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#endif
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return ObjectManagerIF::CHILD_INIT_FAILED;
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return RETURN_FAILED;
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@ -1,6 +1,7 @@
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#ifndef FSFW_POWER_POWERSWITCHIF_H_
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#define FSFW_POWER_POWERSWITCHIF_H_
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#include "definitions.h"
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#include "../events/Event.h"
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#include "../returnvalues/HasReturnvaluesIF.h"
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/**
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@ -37,7 +38,7 @@ class PowerSwitchIF : public HasReturnvaluesIF {
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* @param switchNr
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* @param onOff on == @c SWITCH_ON; off != @c SWITCH_ON
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*/
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virtual void sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) const = 0;
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virtual void sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) const = 0;
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/**
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* Sends a command to the Power Unit to enable a certain fuse.
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*/
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@ -51,7 +52,7 @@ class PowerSwitchIF : public HasReturnvaluesIF {
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* - @c SWITCH_OFF if the specified switch is off.
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* - @c RETURN_FAILED if an error occured
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*/
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virtual ReturnValue_t getSwitchState(uint8_t switchNr) const = 0;
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virtual ReturnValue_t getSwitchState(power::Switch_t switchNr) const = 0;
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/**
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* get state of a fuse.
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* @param fuseNr
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@ -1,19 +1,12 @@
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#include "definitions.h"
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#include "fsfw/power/PowerSwitcher.h"
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#include "fsfw/objectmanager/ObjectManager.h"
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#include "fsfw/serviceinterface/ServiceInterface.h"
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PowerSwitcher::PowerSwitcher(uint8_t setSwitch1, uint8_t setSwitch2,
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PowerSwitcher::State_t setStartState)
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: state(setStartState), firstSwitch(setSwitch1), secondSwitch(setSwitch2) {}
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ReturnValue_t PowerSwitcher::initialize(object_id_t powerSwitchId) {
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power = ObjectManager::instance()->get<PowerSwitchIF>(powerSwitchId);
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if (power == nullptr) {
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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PowerSwitcher::PowerSwitcher(PowerSwitchIF* switcher, power::Switch_t setSwitch1,
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power::Switch_t setSwitch2, PowerSwitcher::State_t setStartState)
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: power(switcher), state(setStartState), firstSwitch(setSwitch1), secondSwitch(setSwitch2) {}
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ReturnValue_t PowerSwitcher::getStateOfSwitches() {
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SwitchReturn_t result = howManySwitches();
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@ -52,18 +45,37 @@ void PowerSwitcher::commandSwitches(ReturnValue_t onOff) {
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return;
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}
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void PowerSwitcher::turnOn() {
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void PowerSwitcher::turnOn(bool checkCurrentState) {
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if(checkCurrentState) {
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if(getStateOfSwitches() == PowerSwitchIF::SWITCH_ON) {
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state = SWITCH_IS_ON;
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return;
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}
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}
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commandSwitches(PowerSwitchIF::SWITCH_ON);
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state = WAIT_ON;
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}
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void PowerSwitcher::turnOff() {
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void PowerSwitcher::turnOff(bool checkCurrentState) {
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if(checkCurrentState) {
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if(getStateOfSwitches() == PowerSwitchIF::SWITCH_OFF) {
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state = SWITCH_IS_OFF;
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return;
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}
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}
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commandSwitches(PowerSwitchIF::SWITCH_OFF);
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state = WAIT_OFF;
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}
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bool PowerSwitcher::active() {
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if(state == WAIT_OFF or state == WAIT_ON) {
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return true;
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}
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return false;
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}
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PowerSwitcher::SwitchReturn_t PowerSwitcher::howManySwitches() {
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if (secondSwitch == NO_SWITCH) {
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if (secondSwitch == power::NO_SWITCH) {
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return ONE_SWITCH;
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} else {
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return TWO_SWITCHES;
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@ -14,28 +14,28 @@ class PowerSwitcher : public HasReturnvaluesIF {
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SWITCH_IS_OFF,
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SWITCH_IS_ON,
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};
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State_t state;
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static const uint8_t INTERFACE_ID = CLASS_ID::POWER_SWITCHER;
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static const ReturnValue_t IN_POWER_TRANSITION = MAKE_RETURN_CODE(1);
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static const ReturnValue_t SWITCH_STATE_MISMATCH = MAKE_RETURN_CODE(2);
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PowerSwitcher(uint8_t setSwitch1, uint8_t setSwitch2 = NO_SWITCH,
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PowerSwitcher(PowerSwitchIF* switcher, uint8_t setSwitch1, uint8_t setSwitch2 = power::NO_SWITCH,
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State_t setStartState = SWITCH_IS_OFF);
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ReturnValue_t initialize(object_id_t powerSwitchId);
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void turnOn();
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void turnOff();
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void turnOn(bool checkCurrentState = true);
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void turnOff(bool checkCurrentState = true);
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bool active();
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void doStateMachine();
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State_t getState();
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ReturnValue_t checkSwitchState();
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uint32_t getSwitchDelay();
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uint8_t getFirstSwitch() const;
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uint8_t getSecondSwitch() const;
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power::Switch_t getFirstSwitch() const;
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power::Switch_t getSecondSwitch() const;
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private:
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uint8_t firstSwitch;
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uint8_t secondSwitch;
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PowerSwitchIF* power = nullptr;
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State_t state;
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power::Switch_t firstSwitch = power::NO_SWITCH;
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power::Switch_t secondSwitch = power::NO_SWITCH;
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static const uint8_t NO_SWITCH = 0xFF;
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enum SwitchReturn_t { ONE_SWITCH = 1, TWO_SWITCHES = 2 };
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ReturnValue_t getStateOfSwitches();
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void commandSwitches(ReturnValue_t onOff);
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13
src/fsfw/power/definitions.h
Normal file
13
src/fsfw/power/definitions.h
Normal file
@ -0,0 +1,13 @@
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#ifndef FSFW_SRC_FSFW_POWER_DEFINITIONS_H_
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#define FSFW_SRC_FSFW_POWER_DEFINITIONS_H_
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#include <cstdint>
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namespace power {
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using Switch_t = uint8_t;
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static constexpr Switch_t NO_SWITCH = 0xFF;
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}
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#endif /* FSFW_SRC_FSFW_POWER_DEFINITIONS_H_ */
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@ -12,8 +12,12 @@
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#include "modes/ModeDefinitions.h"
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/**
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* @brief TODO: documentation missing
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* @brief This class extends the SubsystemBase to perform the management of mode tables
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* and mode sequences
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* @details
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* This class is able to use mode tables and sequences to command all its children into the
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* right mode. Fallback sequences can be used to handle failed transitions or have a fallback
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* in case a component can't keep its current mode.
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*/
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class Subsystem : public SubsystemBase, public HasModeSequenceIF {
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public:
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@ -15,7 +15,14 @@
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/**
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* @defgroup subsystems Subsystem Objects
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* Contains all Subsystem and Assemblies
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* All Subsystem and Assemblies can derive from this class. It contains helper classes to
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* perform mode and health handling, which allows OBSW developers to build a mode tree for
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* the whole satellite.
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*
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* Aside from setting up a mode tree and being able to executing mode tables, this class does not
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* provide an implementation on what to do with the features. To build a mode tree, helper classes
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* like the #AssemblyBase or the #Subsystem class extend and use the functionality of the base
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* class.
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*/
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class SubsystemBase : public SystemObject,
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public HasModesIF,
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@ -96,6 +103,7 @@ class SubsystemBase : public SystemObject,
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Submode_t targetSubmode);
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/**
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* This function takes care of sending all according mode commands specified inside a mode table.
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* We need to know the target Submode, as children are able to inherit the submode
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* Still, we have a default for all child implementations which do not use submode inheritance
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*/
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@ -123,11 +131,11 @@ class SubsystemBase : public SystemObject,
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virtual void performChildOperation() = 0;
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virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
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uint32_t *msToReachTheMode) = 0;
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uint32_t *msToReachTheMode) override = 0;
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virtual void startTransition(Mode_t mode, Submode_t submode) = 0;
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virtual void startTransition(Mode_t mode, Submode_t submode) override = 0;
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virtual void getMode(Mode_t *mode, Submode_t *submode);
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virtual void getMode(Mode_t *mode, Submode_t *submode) override;
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virtual void setToExternalControl();
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