add more checks
This commit is contained in:
Bartosz Wieczorek
parent
778e28aafa
commit
4acafea1b0
@ -1,6 +1,6 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<!DOCTYPE QtCreatorProject>
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<!-- Written by QtCreator 17.0.0, 2025-06-20T07:57:23. -->
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<!-- Written by QtCreator 17.0.0, 2025-07-25T08:23:37. -->
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@ -109,15 +109,15 @@
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@ -221,14 +221,36 @@
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</data>
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<data>
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@ -26,7 +26,7 @@ struct CommunicationCallback {
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/*
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* Sends bytes back. Bytes represents top level Egress message from each
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*/
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virtual std::expected<uint32_t, Error> send(std::span<std::byte> submessage) const = 0;
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NDIS virtual std::expected<uint32_t, Error> send(std::span<std::byte> submessage) const = 0;
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};
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struct UartCallback : public CommunicationCallback {
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@ -36,7 +36,7 @@ struct UartCallback : public CommunicationCallback {
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const pb_msgdesc_t *_fields; // fields of egress message
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WireFormatID _sender;
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std::expected<uint32_t, Error> send(std::span<std::byte> subsystemMessage) const override;
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NDIS std::expected<uint32_t, Error> send(std::span<std::byte> subsystemMessage) const override;
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};
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struct IPCCallback : public CommunicationCallback {
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@ -45,14 +45,14 @@ struct IPCCallback : public CommunicationCallback {
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function<void(std::span<std::byte> subsystemMessage)> _copy;
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std::reference_wrapper<zephyr::semaphore::sem> _sem;
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std::expected<uint32_t, Error> send(std::span<std::byte> subsystemMessage) const override;
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NDIS std::expected<uint32_t, Error> send(std::span<std::byte> subsystemMessage) const override;
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};
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struct NoCallback : public CommunicationCallback {
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// CommunicationCallback interface
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public:
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std::expected<uint32_t, Error> send(std::span<std::byte> submessage) const override {
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NDIS std::expected<uint32_t, Error> send(std::span<std::byte> submessage) const override {
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return {};
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}
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};
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@ -147,7 +147,7 @@ class MessageDispatcher {
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}
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};
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std::array<RequestData, 8> _activeRequests;
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std::array<RequestData, 8> _activeRequests;
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zephyr::mutex::ZepryrSpinlock _lock;
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};
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@ -195,6 +195,5 @@ class MessengerThread : public ZephyrThread {
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std::array<k_poll_event, 8> _events;
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public:
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};
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} // namespace rims
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@ -1,12 +1,12 @@
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#include "operation.hpp"
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#include "common.hpp"
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#include "ctrl.hpp"
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#include "error.hpp"
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#include "inplace_vector.hpp"
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#include "log.hpp"
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#include "messenger.hpp"
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#include "pid.hpp"
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#include "zephyr.hpp"
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#include "ctrl.hpp"
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#include <algorithm>
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#include <chrono>
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@ -73,26 +73,28 @@ void OperationOrchestrator::event_tick() {
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zephyr::semaphore::k_sem_take_now(_tickSem);
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ULOG_INFO("PID update thread");
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for (auto &channel : _channels) {
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channel.update();
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if (auto r = channel.update(); not r){
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ULOG_WARNING("Operation Orchestrator failed to 'make a tick' for channel %d with err %d/%d", channel.id(), r.error().endpoint, r.error().code);
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}
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}
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}
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void OperationOrchestrator::event_operationMessageArrived() {
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static op_IngressMessage req;
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static op_EgressMessage resp;
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constexpr auto service = "operation";
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constexpr auto service = "operation";
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ULOG_INFO("%s consume ingress", service);
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operationIngressQueue.try_consume([&](const auto &_req) {
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req = _req;
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return true;
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});
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ULOG_INFO("%s execute handler", service);
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for (const auto &handler : op_handlers) {
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if (handler.execute(this, req, resp)) break;
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}
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ULOG_INFO("%s produce egress", service);
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operationEgressQueue.try_produce(resp);
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}
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@ -116,6 +118,7 @@ std::expected<void, op::error> OperationOrchestrator::handle_initializeChannelRe
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const auto ch = req.ctrl_channels[i];
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for (const auto &opchannel : _channels) {
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if (opchannel.usesControlChannel(ch)) {
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ULOG_WARNING("opchannel %d alreadu uses channel %d", opchannel.id(), ch);
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return std::unexpected{op::channel_used_multiple_times{}};
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}
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}
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@ -131,13 +134,16 @@ std::expected<void, op::error> OperationOrchestrator::handle_initializeChannelRe
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bool used = std::any_of(_channels.begin(), _channels.end(), [id](const OperationChannel &ch) { return ch.id() == id; });
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if (!used) return id;
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}
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ULOG_WARNING("There are no more valid channel IDs");
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return std::unexpected{op::max_number_of_channels{}};
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};
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// create OperationChannel for channels and id
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auto activatedChannels = TRY(OperationChannel::check_channels(std::span{channels}));
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auto id = TRY(find_id());
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const auto &newChannel = _channels.emplace_back(activatedChannels, id);
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auto activatedChannels = TRY(OperationChannel::check_channels(std::span{channels}));
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ULOG_DEBUG("all ctrl channels seams to be active");
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auto id = TRY(find_id());
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const auto &newChannel = _channels.emplace_back(activatedChannels, id);
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ULOG_INFO("created channel %d", newChannel.id());
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resp.has_data = true;
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resp.data.channel = newChannel.id();
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@ -169,10 +175,11 @@ std::expected<void, op::error> OperationOrchestrator::handle_modeRequest(const M
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return {};
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}
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TemperatureSlopeMode::TemperatureSlopeMode(PowerControl &pc, PIDController &pid, const op_TemperatureSlopeConfig &config) : _powerControl{pc}, _pid{pid}, _tempChannel{static_cast<uint8_t>(config.temperature_channel_id)}, _slope{config.slope} {
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TemperatureSlopeMode::TemperatureSlopeMode(PowerControl &pc, PIDController &pid, const op_TemperatureSlopeConfig &config) //
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: _powerControl{pc}, _pid{pid}, _tempChannel{static_cast<uint8_t>(config.temperature_channel_id)}, _slope{config.slope} {
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}
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void TemperatureSlopeMode::update() {
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std::expected<void, op::error> TemperatureSlopeMode::update() {
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float currentTemperature = temp(_tempChannel).temperature_c;
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// Use simple hysteresis to reduce mode-switch jitter
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@ -185,7 +192,7 @@ void TemperatureSlopeMode::update() {
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_heating = false;
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}
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const float outputPower = _pid.get().update(targetTemperature().temperature_c, currentTemperature);
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_powerControl.get().setPower(outputPower);
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return _powerControl.get().setPower(outputPower);
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};
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auto useConstantSlope = [&]() {
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@ -199,13 +206,13 @@ void TemperatureSlopeMode::update() {
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const float measuredSlope = (dT / dt) * 60.0f; // °C/min
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const float outputPower = _pid.get().update(_slope, measuredSlope);
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_powerControl.get().setPower(outputPower);
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return _powerControl.get().setPower(outputPower);
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};
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if (closeToSetpoint) {
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useConstantTemperatureAlg();
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return useConstantTemperatureAlg();
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} else {
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useConstantSlope();
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return useConstantSlope();
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}
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_lastTemperature = currentTemperature;
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@ -227,10 +234,11 @@ ConstantTemperatureMode::ConstantTemperatureMode(PowerControl &pc, PIDController
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}
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}
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void ConstantTemperatureMode::update() {
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std::expected<void, op::error> ConstantTemperatureMode::update() {
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auto currentTemperature = temp(_tempChannel).temperature_c;
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float outputPower = _pid.get().update(targetTemperature().temperature_c, currentTemperature);
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_powerControl.get().setPower(outputPower);
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CHECK(_powerControl.get().setPower(outputPower));
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return {};
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}
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std::expected<void, op::error> OperationOrchestrator::handle_targetTemperatureRequest(const TargetTemperatureRequest &req, TargetTemperatureResponse &resp) {
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@ -349,7 +357,7 @@ PowerControl::PowerControl(std::span<uint8_t> channels) : _control_channels{chan
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ULOG_DEBUG("PowerControl start");
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}
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void PowerControl::setPower(float percent) {
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std::expected<void, op::error> PowerControl::setPower(float percent) {
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ULOG_INFO("Set power %f", (double)percent);
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for (const auto ch : _control_channels) {
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@ -360,6 +368,8 @@ void PowerControl::setPower(float percent) {
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MessengerThread::ipc_request(plr);
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}
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return {};
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}
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} // namespace rims
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@ -87,7 +87,7 @@ class PowerControl {
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static std::expected<void, op::error> check_channels(std::span<uint8_t> channels);
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PowerControl(std::span<uint8_t> channels);
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void setPower(float percent);
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NDIS std::expected<void, op::error> setPower(float percent);
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bool usesChannel(uint8_t ch) const {
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return std::find(_control_channels.begin(), _control_channels.end(), ch) != _control_channels.end();
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@ -108,7 +108,8 @@ class DisabledMode : public ModeStrategy {
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public:
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DisabledMode() {
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}
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void update() {
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NDIS std::expected<void, op::error> update() {
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return {};
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}
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float targetTemperature() const = delete;
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void setTargetTemperature(float temp) = delete;
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@ -125,7 +126,7 @@ class ConstantTemperatureMode : public ModeStrategy {
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ConstantTemperatureMode(ConstantTemperatureMode &&) = default;
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ConstantTemperatureMode &operator=(ConstantTemperatureMode &&) = default;
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void update();
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NDIS std::expected<void, op::error> update();
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private:
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/// reference wrapper allows this class to be movable
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@ -145,7 +146,7 @@ class TemperatureSlopeMode : public ModeStrategy {
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TemperatureSlopeMode(TemperatureSlopeMode &&) = default;
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TemperatureSlopeMode &operator=(TemperatureSlopeMode &&) = default;
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void update();
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NDIS std::expected<void, op::error> update();
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private:
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/// reference wrapper allows this class to be movable
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@ -209,8 +210,8 @@ class OperationChannel {
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return _ownId;
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}
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void update() {
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std::visit([](auto &mode) { mode.update(); }, _mode);
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NDIS std::expected<void, op::error> update() {
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return std::visit([](auto &mode) { return mode.update(); }, _mode);
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}
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NDIS std::expected<void, op::error> handle_targetTemperatureRequest(const TargetTemperatureRequest &request, TargetTemperatureResponse &resp);
|
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@ -247,7 +248,10 @@ class OperationOrchestrator {
|
||||
|
||||
NDIS std::expected<void, op::error> channelValid(uint8_t ch) const {
|
||||
auto found = std::find_if(_channels.begin(), _channels.end(), [&](const OperationChannel &opch) { return opch.id() == ch; });
|
||||
if (found != _channels.end()) return std::unexpected{op::channel_not_found{}};
|
||||
if (found == _channels.end()) {
|
||||
ULOG_WARNING("channel %d not found", ch);
|
||||
return std::unexpected{op::channel_not_found{}};
|
||||
}
|
||||
return {};
|
||||
}
|
||||
|
||||
@ -260,6 +264,7 @@ class OperationOrchestrator {
|
||||
auto found = std::find_if(_channels.begin(), _channels.end(), [&](const OperationChannel &opch) { return opch.id() == ch; });
|
||||
|
||||
if (found == _channels.end()) {
|
||||
ULOG_WARNING("channel %d not found", ch);
|
||||
return std::unexpected{op::channel_not_found{}};
|
||||
}
|
||||
|
||||
@ -270,6 +275,7 @@ class OperationOrchestrator {
|
||||
auto found = std::find_if(_channels.begin(), _channels.end(), [&](const OperationChannel &opch) { return opch.id() == ch; });
|
||||
|
||||
if (found == _channels.end()) {
|
||||
ULOG_WARNING("channel %d not found", ch);
|
||||
return std::unexpected{op::channel_not_found{}};
|
||||
}
|
||||
|
||||
|
||||
@ -2,6 +2,7 @@
|
||||
|
||||
#include <algorithm>
|
||||
#include <array>
|
||||
#include <cassert>
|
||||
#include <chrono>
|
||||
#include <cmath>
|
||||
#include <cstddef>
|
||||
@ -92,7 +93,9 @@ TemperatureSampler::TemperatureSampler(uint8_t channel) : _temperature{0.05}, _c
|
||||
k_work_init(&_sampleWork, TemperatureSampler::sample_work_handler);
|
||||
|
||||
select_channel(_channel);
|
||||
calibration();
|
||||
if (not calibration()) {
|
||||
ULOG_WARNING("Temperature sampler channel %d calibration failed", _channel);
|
||||
}
|
||||
|
||||
_broadcastTimer.start();
|
||||
_samplerTimer.start();
|
||||
@ -227,6 +230,8 @@ float TemperatureSampler::adc2CelciusWeight() const {
|
||||
const auto adcMax = this->_referenceAdcMax.filtered();
|
||||
const auto adcMin = this->_referenceAdcMin.filtered();
|
||||
|
||||
assert(adcMin != adcMax);
|
||||
|
||||
return (tempMax - tempMin) / static_cast<float>(adcMin - adcMax);
|
||||
}
|
||||
|
||||
@ -303,15 +308,25 @@ std::expected<adc_sample, temperature::error> TemperatureSampler::adc() {
|
||||
constexpr auto ADC_RESOLUTION = 12;
|
||||
const adc_dt_spec adc_spec = ADC_DT_SPEC_GET_BY_IDX(DT_PATH(zephyr_user), 0);
|
||||
const auto nsamples = oversampling();
|
||||
const adc_sequence_options options = {
|
||||
.interval_us = 100,
|
||||
.callback = nullptr,
|
||||
.user_data = nullptr,
|
||||
.extra_samplings = static_cast<uint16_t>(nsamples - 1),
|
||||
|
||||
const adc_sequence_options options = {
|
||||
.interval_us = 100,
|
||||
.callback = nullptr,
|
||||
.user_data = nullptr,
|
||||
.extra_samplings = static_cast<uint16_t>(nsamples - 1),
|
||||
};
|
||||
samples.resize(nsamples, 0);
|
||||
|
||||
adc_sequence sequence = {.options = &options, .channels = BIT(15), .buffer = samples.data(), .buffer_size = samples.size() * sizeof(adc_sample), .resolution = ADC_RESOLUTION, .oversampling = 0, .calibrate = false};
|
||||
const adc_sequence sequence = {//
|
||||
.options = &options,
|
||||
.channels = BIT(15),
|
||||
.buffer = samples.data(),
|
||||
.buffer_size = samples.size() * sizeof(adc_sample),
|
||||
.resolution = ADC_RESOLUTION,
|
||||
.oversampling = 0,
|
||||
.calibrate = false
|
||||
};
|
||||
|
||||
/*
|
||||
* @retval -EINVAL If a parameter with an invalid value has been provided.
|
||||
* @retval -ENOMEM If the provided buffer is to small to hold the results
|
||||
@ -324,7 +339,6 @@ std::expected<adc_sample, temperature::error> TemperatureSampler::adc() {
|
||||
* in the buffer, but at least some of them were taken with
|
||||
* an extra delay compared to what was scheduled.
|
||||
*/
|
||||
|
||||
auto ret = adc_read_dt(&adc_spec, &sequence);
|
||||
if (ret != 0) {
|
||||
if (not _faultTP) {
|
||||
|
||||
@ -111,7 +111,7 @@ class TemperatureSampler {
|
||||
TemperatureSampler &operator=(TemperatureSampler &&) = delete;
|
||||
|
||||
void tick() ;
|
||||
std::expected<void, temperature::error> calibration() ;
|
||||
NDIS std::expected<void, temperature::error> calibration() ;
|
||||
|
||||
bool pending() const {
|
||||
return _samplePending;
|
||||
@ -134,8 +134,8 @@ class TemperatureSampler {
|
||||
float adc2CelciusWeight() const;
|
||||
Temperature_c adcToTemperature(uint32_t adc_value) const;
|
||||
|
||||
std::expected<adc_sample, temperature::error> adcWithCalibration();
|
||||
std::expected<adc_sample, temperature::error> adc();
|
||||
NDIS std::expected<adc_sample, temperature::error> adcWithCalibration();
|
||||
NDIS std::expected<adc_sample, temperature::error> adc();
|
||||
|
||||
void do_sample() ;
|
||||
struct k_work _sampleWork{};
|
||||
@ -191,14 +191,13 @@ class TemperatureSamplerOrchestrator {
|
||||
TemperatureSamplerOrchestrator();
|
||||
void loop();
|
||||
|
||||
[[nodiscard]] std::expected<void, temperature::error> handle_getTemperatureRequest(const GetTemperatureRequest &req, GetTemperatureResponse &resp) const;
|
||||
[[nodiscard]] std::expected<void, temperature::error> handle_activeChannelsRequest(const GetActiveChannelsRequest &req, GetActiveChannelsResponse &resp) const;
|
||||
[[nodiscard]] std::expected<void, temperature::error> handle_samplerConfigRequest(const SamplerConfigRequest &req, SamplerConfigResponse &resp);
|
||||
NDIS std::expected<void, temperature::error> handle_getTemperatureRequest(const GetTemperatureRequest &req, GetTemperatureResponse &resp) const;
|
||||
NDIS std::expected<void, temperature::error> handle_activeChannelsRequest(const GetActiveChannelsRequest &req, GetActiveChannelsResponse &resp) const;
|
||||
NDIS std::expected<void, temperature::error> handle_samplerConfigRequest(const SamplerConfigRequest &req, SamplerConfigResponse &resp);
|
||||
|
||||
private:
|
||||
// events handled in main loop
|
||||
void event_messageArrived();
|
||||
|
||||
void action_samplersTick();
|
||||
|
||||
std::array<TemperatureSampler, temperatureChannelsNr> _temperatureSamplerChannels;
|
||||
|
||||
Loading…
Reference in New Issue
Block a user