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Dependencies:   NaturalTinyShell_ice libmDot-12Sept mbed-rtos mbed

Fork of ICE by Erick

src/ConfigurationHandler/Controls/FailsafeControl.cpp@271:19948511cd3f, 2016-10-26 (annotated)

Committer:
jmarkel44
Date:
Wed Oct 26 19:04:23 2016 +0000
Revision:
271:19948511cd3f
Parent:
269:97243a7f56ba
Child:
273:0373b2a15f8a
comment out sensor error while simulating

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jmarkel44 250:1cd8ec63e9e9 1 /******************************************************************************
jmarkel44 250:1cd8ec63e9e9 2 *
jmarkel44 250:1cd8ec63e9e9 3 * File: CompositeControl.cpp
jmarkel44 250:1cd8ec63e9e9 4 * Desciption: ICE Composite Control Class implementation
jmarkel44 250:1cd8ec63e9e9 5 *
jmarkel44 250:1cd8ec63e9e9 6 *****************************************************************************/
jmarkel44 250:1cd8ec63e9e9 7 #include "FailsafeControl.h"
jmarkel44 250:1cd8ec63e9e9 8 #include "cJSON.h"
jmarkel44 250:1cd8ec63e9e9 9 #include "mDot.h"
jmarkel44 250:1cd8ec63e9e9 10 #include "global.h"
jmarkel44 252:3c9863f951b7 11 #include "ModbusMasterApi.h"
jmarkel44 250:1cd8ec63e9e9 12 #include <string>
jmarkel44 250:1cd8ec63e9e9 13 #include <iostream>
jmarkel44 250:1cd8ec63e9e9 14 #include <iomanip>
jmarkel44 250:1cd8ec63e9e9 15
jmarkel44 250:1cd8ec63e9e9 16 extern mDot *GLOBAL_mdot;
jmarkel44 250:1cd8ec63e9e9 17
jmarkel44 250:1cd8ec63e9e9 18 //
jmarkel44 250:1cd8ec63e9e9 19 // method: load
jmarkel44 250:1cd8ec63e9e9 20 // description: load a composite control
jmarkel44 250:1cd8ec63e9e9 21 //
jmarkel44 250:1cd8ec63e9e9 22 // @param none
jmarkel44 250:1cd8ec63e9e9 23 // @return none
jmarkel44 250:1cd8ec63e9e9 24 //
jmarkel44 250:1cd8ec63e9e9 25 bool FailsafeControl::load(std::string _controlFile)
jmarkel44 250:1cd8ec63e9e9 26 {
jmarkel44 250:1cd8ec63e9e9 27 controlFile = _controlFile;
jmarkel44 250:1cd8ec63e9e9 28
jmarkel44 250:1cd8ec63e9e9 29 // open and read from the control file
jmarkel44 250:1cd8ec63e9e9 30 mDot::mdot_file file = GLOBAL_mdot->openUserFile(controlFile.c_str(), mDot::FM_RDONLY);
jmarkel44 250:1cd8ec63e9e9 31 if ( file.fd < 0 ) {
jmarkel44 250:1cd8ec63e9e9 32 logError("%s: failed to open %s\n", __func__, controlFile.c_str());
jmarkel44 250:1cd8ec63e9e9 33 return false;
jmarkel44 250:1cd8ec63e9e9 34 }
jmarkel44 250:1cd8ec63e9e9 35
jmarkel44 250:1cd8ec63e9e9 36 // read the data into a buffer
jmarkel44 250:1cd8ec63e9e9 37 char dataBuf[MAX_FILE_SIZE];
jmarkel44 250:1cd8ec63e9e9 38
jmarkel44 250:1cd8ec63e9e9 39 int bytes_read = GLOBAL_mdot->readUserFile(file, (void *)dataBuf, sizeof(dataBuf));
jmarkel44 250:1cd8ec63e9e9 40 if ( bytes_read != sizeof(dataBuf) ) {
jmarkel44 250:1cd8ec63e9e9 41 logError("%s: failed to read %d bytes from %s", __func__, sizeof(dataBuf), controlFile.c_str());
jmarkel44 250:1cd8ec63e9e9 42 // caller should destroy the object
jmarkel44 250:1cd8ec63e9e9 43 return false;
jmarkel44 250:1cd8ec63e9e9 44 }
jmarkel44 250:1cd8ec63e9e9 45
jmarkel44 250:1cd8ec63e9e9 46 // close the file
jmarkel44 250:1cd8ec63e9e9 47 GLOBAL_mdot->closeUserFile(file);
jmarkel44 250:1cd8ec63e9e9 48
jmarkel44 250:1cd8ec63e9e9 49 // parse the data
jmarkel44 250:1cd8ec63e9e9 50 cJSON * root = cJSON_Parse(dataBuf);
jmarkel44 250:1cd8ec63e9e9 51
jmarkel44 250:1cd8ec63e9e9 52 id = cJSON_GetObjectItem(root, "id")->valuestring;
jmarkel44 250:1cd8ec63e9e9 53 priority = atoi(cJSON_GetObjectItem(root, "priority")->valuestring);
jmarkel44 250:1cd8ec63e9e9 54 input = cJSON_GetObjectItem(root, "input")->valuestring;
jmarkel44 250:1cd8ec63e9e9 55 output = cJSON_GetObjectItem(root, "output")->valuestring;
jmarkel44 250:1cd8ec63e9e9 56
jmarkel44 250:1cd8ec63e9e9 57 hfs_data.value = atof(cJSON_GetObjectItem(root, "hfsValue")->valuestring);
jmarkel44 250:1cd8ec63e9e9 58 hfs_data.dutyCycle = atoi(cJSON_GetObjectItem(root, "hfsDutyCycle")->valuestring);
jmarkel44 250:1cd8ec63e9e9 59 hfs_data.interval = atoi(cJSON_GetObjectItem(root, "hfsInterval")->valuestring);
jmarkel44 250:1cd8ec63e9e9 60
jmarkel44 250:1cd8ec63e9e9 61 lfs_data.value = atof(cJSON_GetObjectItem(root, "lfsValue")->valuestring);
jmarkel44 250:1cd8ec63e9e9 62 lfs_data.dutyCycle = atoi(cJSON_GetObjectItem(root, "lfsDutyCycle")->valuestring);
jmarkel44 250:1cd8ec63e9e9 63 lfs_data.interval = atoi(cJSON_GetObjectItem(root, "lfsInterval")->valuestring);
jmarkel44 250:1cd8ec63e9e9 64
jmarkel44 250:1cd8ec63e9e9 65 return true;
jmarkel44 250:1cd8ec63e9e9 66 }
jmarkel44 250:1cd8ec63e9e9 67
jmarkel44 250:1cd8ec63e9e9 68 //
jmarkel44 250:1cd8ec63e9e9 69 // method: start
jmarkel44 250:1cd8ec63e9e9 70 // description: start the failsafe control
jmarkel44 250:1cd8ec63e9e9 71 //
jmarkel44 250:1cd8ec63e9e9 72 // @param none
jmarkel44 250:1cd8ec63e9e9 73 // @return none
jmarkel44 250:1cd8ec63e9e9 74 //
jmarkel44 250:1cd8ec63e9e9 75 void FailsafeControl::start(void)
jmarkel44 250:1cd8ec63e9e9 76 {
jmarkel44 250:1cd8ec63e9e9 77 currentState = STATE_START;
jmarkel44 250:1cd8ec63e9e9 78 }
jmarkel44 250:1cd8ec63e9e9 79
jmarkel44 250:1cd8ec63e9e9 80 //
jmarkel44 250:1cd8ec63e9e9 81 // method: update
jmarkel44 252:3c9863f951b7 82 // description: update the faisafe control using the FSM
jmarkel44 250:1cd8ec63e9e9 83 //
jmarkel44 250:1cd8ec63e9e9 84 // @param none
jmarkel44 250:1cd8ec63e9e9 85 // @return none
jmarkel44 250:1cd8ec63e9e9 86 //
jmarkel44 250:1cd8ec63e9e9 87 void FailsafeControl::update(void)
jmarkel44 250:1cd8ec63e9e9 88 {
jmarkel44 260:fe726583ba1d 89 switch (this->currentState) {
jmarkel44 250:1cd8ec63e9e9 90 case STATE_INIT:
jmarkel44 261:4e9a588c938e 91 // do nothing - control must be started
jmarkel44 250:1cd8ec63e9e9 92 break;
jmarkel44 250:1cd8ec63e9e9 93 case STATE_START:
jmarkel44 260:fe726583ba1d 94 // control has been started, do some checking
jmarkel44 269:97243a7f56ba 95 if ( this->sensorError() ) {
jmarkel44 269:97243a7f56ba 96 this->currentState = STATE_CONTROL_SENSOR_ERROR;
jmarkel44 269:97243a7f56ba 97 sendMailToOutput(ACTION_CONTROL_OFF);
jmarkel44 269:97243a7f56ba 98 } else if ( this->aboveHighFailsafe() ) {
jmarkel44 262:696cd48bb04a 99 // start high failsafe duty cycle
jmarkel44 269:97243a7f56ba 100 this->currentState = STATE_CONTROL_ON_HFS;
jmarkel44 262:696cd48bb04a 101 sendMailToOutput(ACTION_CONTROL_ON);
jmarkel44 261:4e9a588c938e 102 this->startHfsDutyTimer();
jmarkel44 262:696cd48bb04a 103 } else if ( this->belowLowFailsafe() ) {
jmarkel44 262:696cd48bb04a 104 // start low failsafe duty cycle
jmarkel44 269:97243a7f56ba 105 this->currentState = STATE_CONTROL_ON_LFS;
jmarkel44 262:696cd48bb04a 106 sendMailToOutput(ACTION_CONTROL_ON);
jmarkel44 262:696cd48bb04a 107 this->startLfsDutyTimer();
jmarkel44 262:696cd48bb04a 108 } else {
jmarkel44 260:fe726583ba1d 109 this->currentState = STATE_CONTROL_OFF;
jmarkel44 252:3c9863f951b7 110 }
jmarkel44 252:3c9863f951b7 111 break;
jmarkel44 250:1cd8ec63e9e9 112 case STATE_CONTROL_OFF:
jmarkel44 260:fe726583ba1d 113 // control is acting normal, within bounds
jmarkel44 269:97243a7f56ba 114 if ( this->sensorError() ) {
jmarkel44 269:97243a7f56ba 115 this->currentState = STATE_CONTROL_SENSOR_ERROR;
jmarkel44 269:97243a7f56ba 116 sendMailToOutput(ACTION_CONTROL_OFF);
jmarkel44 269:97243a7f56ba 117 } else if ( this->aboveHighFailsafe() ) {
jmarkel44 262:696cd48bb04a 118 // restart the high failsafe duty cycle
jmarkel44 269:97243a7f56ba 119 this->currentState = STATE_CONTROL_ON_HFS;
jmarkel44 262:696cd48bb04a 120 sendMailToOutput(ACTION_CONTROL_ON);
jmarkel44 262:696cd48bb04a 121 this->startHfsDutyTimer();
jmarkel44 252:3c9863f951b7 122 } else if ( this->belowLowFailsafe() ) {
jmarkel44 262:696cd48bb04a 123 // restart the low failsafe duty cycle
jmarkel44 269:97243a7f56ba 124 this->currentState = STATE_CONTROL_ON_LFS;
jmarkel44 262:696cd48bb04a 125 sendMailToOutput(ACTION_CONTROL_ON);
jmarkel44 262:696cd48bb04a 126 this->startLfsDutyTimer();
jmarkel44 252:3c9863f951b7 127 } else {
jmarkel44 252:3c9863f951b7 128 // do nothing
jmarkel44 252:3c9863f951b7 129 }
jmarkel44 252:3c9863f951b7 130 break;
jmarkel44 269:97243a7f56ba 131 case STATE_CONTROL_ON_LFS:
jmarkel44 260:fe726583ba1d 132 // control is in low-failsafe with duty cycle ON
jmarkel44 269:97243a7f56ba 133 if ( this->sensorError() ) {
jmarkel44 269:97243a7f56ba 134 this->currentState = STATE_CONTROL_SENSOR_ERROR;
jmarkel44 269:97243a7f56ba 135 sendMailToOutput(ACTION_CONTROL_OFF);
jmarkel44 269:97243a7f56ba 136 } else if ( !this->belowLowFailsafe() ) {
jmarkel44 260:fe726583ba1d 137 this->currentState = STATE_CONTROL_OFF;
jmarkel44 262:696cd48bb04a 138 this->unregisterControl();
jmarkel44 260:fe726583ba1d 139 } else if ( this->dutyOnExpired() ) {
jmarkel44 269:97243a7f56ba 140 this->currentState = STATE_CONTROL_OFF_LFS;
jmarkel44 262:696cd48bb04a 141 sendMailToOutput(ACTION_CONTROL_OFF);
jmarkel44 252:3c9863f951b7 142 } else {
jmarkel44 260:fe726583ba1d 143 // do nothing
jmarkel44 252:3c9863f951b7 144 }
jmarkel44 252:3c9863f951b7 145 break;
jmarkel44 269:97243a7f56ba 146 case STATE_CONTROL_OFF_LFS:
jmarkel44 260:fe726583ba1d 147 // control is in low-failsafe with duty cycle OFF
jmarkel44 269:97243a7f56ba 148 if ( this->sensorError() ) {
jmarkel44 269:97243a7f56ba 149 this->currentState = STATE_CONTROL_SENSOR_ERROR;
jmarkel44 269:97243a7f56ba 150 sendMailToOutput(ACTION_CONTROL_OFF);
jmarkel44 269:97243a7f56ba 151 } else if ( !this->belowLowFailsafe() ) {
jmarkel44 260:fe726583ba1d 152 this->currentState = STATE_CONTROL_OFF;
jmarkel44 262:696cd48bb04a 153 this->unregisterControl();
jmarkel44 260:fe726583ba1d 154 } else if ( this->dutyOffExpired() ) {
jmarkel44 269:97243a7f56ba 155 this->currentState = STATE_CONTROL_ON_LFS;
jmarkel44 262:696cd48bb04a 156 this->startLfsDutyTimer();
jmarkel44 252:3c9863f951b7 157 } else {
jmarkel44 260:fe726583ba1d 158 // do nothing
jmarkel44 252:3c9863f951b7 159 }
jmarkel44 252:3c9863f951b7 160 break;
jmarkel44 269:97243a7f56ba 161 case STATE_CONTROL_ON_HFS:
jmarkel44 260:fe726583ba1d 162 // control is in high-failsafe with duty cycle ON
jmarkel44 269:97243a7f56ba 163 if ( this->sensorError() ) {
jmarkel44 269:97243a7f56ba 164 this->currentState = STATE_CONTROL_SENSOR_ERROR;
jmarkel44 269:97243a7f56ba 165 sendMailToOutput(ACTION_CONTROL_OFF);
jmarkel44 269:97243a7f56ba 166 } else if ( !this->aboveHighFailsafe() ) {
jmarkel44 260:fe726583ba1d 167 this->currentState = STATE_CONTROL_OFF;
jmarkel44 262:696cd48bb04a 168 this->unregisterControl();
jmarkel44 260:fe726583ba1d 169 } else if ( this->dutyOnExpired() ) {
jmarkel44 269:97243a7f56ba 170 this->currentState = STATE_CONTROL_OFF_HFS;
jmarkel44 262:696cd48bb04a 171 sendMailToOutput(ACTION_CONTROL_OFF);
jmarkel44 260:fe726583ba1d 172 } else {
jmarkel44 260:fe726583ba1d 173 // do nothing
jmarkel44 252:3c9863f951b7 174 }
jmarkel44 252:3c9863f951b7 175 break;
jmarkel44 269:97243a7f56ba 176 case STATE_CONTROL_OFF_HFS:
jmarkel44 260:fe726583ba1d 177 // control is in high-failsafe with cuty cycle OFF
jmarkel44 269:97243a7f56ba 178 if ( this->sensorError() ) {
jmarkel44 269:97243a7f56ba 179 this->currentState = STATE_CONTROL_SENSOR_ERROR;
jmarkel44 269:97243a7f56ba 180 sendMailToOutput(ACTION_CONTROL_OFF);
jmarkel44 269:97243a7f56ba 181 } else if ( !this->aboveHighFailsafe() ) {
jmarkel44 260:fe726583ba1d 182 this->currentState = STATE_CONTROL_OFF;
jmarkel44 262:696cd48bb04a 183 this->unregisterControl();
jmarkel44 260:fe726583ba1d 184 } else if ( this->dutyOffExpired() ) {
jmarkel44 269:97243a7f56ba 185 this->currentState = STATE_CONTROL_ON_LFS;
jmarkel44 262:696cd48bb04a 186 sendMailToOutput(ACTION_CONTROL_ON);
jmarkel44 262:696cd48bb04a 187 this->startLfsDutyTimer();
jmarkel44 261:4e9a588c938e 188 } else {
jmarkel44 260:fe726583ba1d 189 // do nothing
jmarkel44 252:3c9863f951b7 190 }
jmarkel44 252:3c9863f951b7 191 break;
jmarkel44 269:97243a7f56ba 192 case STATE_CONTROL_SENSOR_ERROR:
jmarkel44 269:97243a7f56ba 193 if ( !this->sensorError() ) {
jmarkel44 269:97243a7f56ba 194 this->currentState = STATE_CONTROL_OFF;
jmarkel44 269:97243a7f56ba 195 } else {
jmarkel44 269:97243a7f56ba 196 // do nothing
jmarkel44 269:97243a7f56ba 197 }
jmarkel44 269:97243a7f56ba 198 break;
jmarkel44 250:1cd8ec63e9e9 199 default:
jmarkel44 250:1cd8ec63e9e9 200 break;
jmarkel44 250:1cd8ec63e9e9 201 }
jmarkel44 250:1cd8ec63e9e9 202 }
jmarkel44 250:1cd8ec63e9e9 203
jmarkel44 252:3c9863f951b7 204 bool FailsafeControl::belowLowFailsafe(void)
jmarkel44 252:3c9863f951b7 205 {
jmarkel44 252:3c9863f951b7 206 // read the modbus input
jmarkel44 252:3c9863f951b7 207 ModbusValue value;
jmarkel44 252:3c9863f951b7 208 ModbusMasterReadRegister(input, &value);
jmarkel44 252:3c9863f951b7 209 #if 0
jmarkel44 252:3c9863f951b7 210 if ( value.errflag ) {
jmarkel44 252:3c9863f951b7 211 logError("%s: error reading %s:", __func__, input);
jmarkel44 252:3c9863f951b7 212 return false;
jmarkel44 252:3c9863f951b7 213 }
jmarkel44 252:3c9863f951b7 214 #endif
jmarkel44 252:3c9863f951b7 215 return ( value.value <= lfs_data.value );
jmarkel44 252:3c9863f951b7 216 }
jmarkel44 252:3c9863f951b7 217
jmarkel44 252:3c9863f951b7 218 bool FailsafeControl::aboveHighFailsafe(void)
jmarkel44 252:3c9863f951b7 219 {
jmarkel44 252:3c9863f951b7 220 // read the modbus input
jmarkel44 252:3c9863f951b7 221 ModbusValue value;
jmarkel44 252:3c9863f951b7 222 ModbusMasterReadRegister(input, &value);
jmarkel44 252:3c9863f951b7 223 // TODO: check the error flag
jmarkel44 252:3c9863f951b7 224 #if 0
jmarkel44 252:3c9863f951b7 225 if ( value.errflag ) {
jmarkel44 252:3c9863f951b7 226 logError("%s: error reading %s:", __func__, input);
jmarkel44 252:3c9863f951b7 227 return false;
jmarkel44 252:3c9863f951b7 228 }
jmarkel44 252:3c9863f951b7 229 #endif
jmarkel44 252:3c9863f951b7 230 return ( value.value >= hfs_data.value );
jmarkel44 252:3c9863f951b7 231 }
jmarkel44 252:3c9863f951b7 232
jmarkel44 261:4e9a588c938e 233 //
jmarkel44 261:4e9a588c938e 234 // method: startHfsDutyTimer
jmarkel44 261:4e9a588c938e 235 // description: start the high failsafe duty timer
jmarkel44 261:4e9a588c938e 236 //
jmarkel44 261:4e9a588c938e 237 // @param none
jmarkel44 261:4e9a588c938e 238 // @return none
jmarkel44 261:4e9a588c938e 239 //
jmarkel44 261:4e9a588c938e 240 void FailsafeControl::startHfsDutyTimer(void)
jmarkel44 252:3c9863f951b7 241 {
jmarkel44 261:4e9a588c938e 242 unsigned long currentTime = time(NULL);
jmarkel44 261:4e9a588c938e 243 unsigned long period = hfs_data.interval * 60;
jmarkel44 261:4e9a588c938e 244
jmarkel44 261:4e9a588c938e 245 duty_timer.offTime = currentTime + ((double)period * ((double)hfs_data.dutyCycle/100.0));
jmarkel44 261:4e9a588c938e 246 duty_timer.expirationTime = currentTime + period;
jmarkel44 262:696cd48bb04a 247
jmarkel44 261:4e9a588c938e 248 printf("\r%s: currentTime = %lu\n", __func__, currentTime);
jmarkel44 261:4e9a588c938e 249 printf("\r%s: off Time = %lu\n", __func__, duty_timer.offTime);
jmarkel44 261:4e9a588c938e 250 printf("\r%s: expiration = %lu\n", __func__, duty_timer.expirationTime);
jmarkel44 261:4e9a588c938e 251 }
jmarkel44 261:4e9a588c938e 252
jmarkel44 261:4e9a588c938e 253 //
jmarkel44 261:4e9a588c938e 254 // method: stopHfsDutyTimer
jmarkel44 261:4e9a588c938e 255 // description: stop the high failsafe duty timer
jmarkel44 261:4e9a588c938e 256 //
jmarkel44 261:4e9a588c938e 257 // @param none
jmarkel44 261:4e9a588c938e 258 // @return none
jmarkel44 261:4e9a588c938e 259 //
jmarkel44 261:4e9a588c938e 260 void FailsafeControl::stopHfsDutyTimer(void)
jmarkel44 261:4e9a588c938e 261 {
jmarkel44 261:4e9a588c938e 262 printf("\r%s invoked\n", __func__);
jmarkel44 261:4e9a588c938e 263 memset(&duty_timer, 0, sizeof(duty_timer));
jmarkel44 252:3c9863f951b7 264 }
jmarkel44 252:3c9863f951b7 265
jmarkel44 261:4e9a588c938e 266 //
jmarkel44 261:4e9a588c938e 267 // method: startLfsDutyTimer
jmarkel44 261:4e9a588c938e 268 // descrption: start the low failsafe duty-timer
jmarkel44 261:4e9a588c938e 269 //
jmarkel44 261:4e9a588c938e 270 // @param none
jmarkel44 261:4e9a588c938e 271 // @return none
jmarkel44 261:4e9a588c938e 272 //
jmarkel44 261:4e9a588c938e 273 void FailsafeControl::startLfsDutyTimer(void)
jmarkel44 261:4e9a588c938e 274 {
jmarkel44 261:4e9a588c938e 275 unsigned long currentTime = time(NULL);
jmarkel44 261:4e9a588c938e 276 unsigned long period = lfs_data.interval * 60;
jmarkel44 261:4e9a588c938e 277
jmarkel44 261:4e9a588c938e 278 duty_timer.offTime = (double)period * ((double)lfs_data.dutyCycle/100.0);
jmarkel44 261:4e9a588c938e 279 duty_timer.expirationTime = currentTime + period;
jmarkel44 261:4e9a588c938e 280 }
jmarkel44 261:4e9a588c938e 281
jmarkel44 261:4e9a588c938e 282 //
jmarkel44 261:4e9a588c938e 283 // method: stopLfsDutyTimer
jmarkel44 261:4e9a588c938e 284 // description: stop the low failsafe duty-timer
jmarkel44 261:4e9a588c938e 285 //
jmarkel44 261:4e9a588c938e 286 // @param none
jmarkel44 261:4e9a588c938e 287 // @return none
jmarkel44 261:4e9a588c938e 288 //
jmarkel44 261:4e9a588c938e 289 void FailsafeControl::stopLfsDutyTimer(void)
jmarkel44 252:3c9863f951b7 290 {
jmarkel44 262:696cd48bb04a 291 printf("\r%s invoked\n", __func__);
jmarkel44 262:696cd48bb04a 292 memset(&duty_timer, 0, sizeof(duty_timer));
jmarkel44 261:4e9a588c938e 293 }
jmarkel44 261:4e9a588c938e 294
jmarkel44 261:4e9a588c938e 295 //
jmarkel44 261:4e9a588c938e 296 // method: dutyOnExpired
jmarkel44 261:4e9a588c938e 297 // description: returns true if ON cycle has expired; false otherwise
jmarkel44 261:4e9a588c938e 298 //
jmarkel44 261:4e9a588c938e 299 // @param none
jmarkel44 261:4e9a588c938e 300 // @return none
jmarkel44 261:4e9a588c938e 301 //
jmarkel44 261:4e9a588c938e 302 bool FailsafeControl::dutyOnExpired(void)
jmarkel44 261:4e9a588c938e 303 {
jmarkel44 261:4e9a588c938e 304 return (duty_timer.offTime < time(NULL));
jmarkel44 261:4e9a588c938e 305 }
jmarkel44 261:4e9a588c938e 306
jmarkel44 261:4e9a588c938e 307 //
jmarkel44 261:4e9a588c938e 308 // method: dutyOffExpired
jmarkel44 261:4e9a588c938e 309 // description: returns true if OFF cycle has expired; false otherwise
jmarkel44 261:4e9a588c938e 310 //
jmarkel44 261:4e9a588c938e 311 // @param none
jmarkel44 261:4e9a588c938e 312 // @return none
jmarkel44 261:4e9a588c938e 313 //
jmarkel44 261:4e9a588c938e 314 bool FailsafeControl::dutyOffExpired(void)
jmarkel44 261:4e9a588c938e 315 {
jmarkel44 262:696cd48bb04a 316 return (duty_timer.expirationTime < time(NULL));
jmarkel44 252:3c9863f951b7 317 }
jmarkel44 252:3c9863f951b7 318
jmarkel44 252:3c9863f951b7 319 //
jmarkel44 260:fe726583ba1d 320 // method: sendMailToOutput
jmarkel44 252:3c9863f951b7 321 // description: send mail to the output task
jmarkel44 252:3c9863f951b7 322 //
jmarkel44 252:3c9863f951b7 323 // @param io_tag -> input/output tag
jmarkel44 252:3c9863f951b7 324 // @param action -> ON, OFF, UNREGISTER
jmarkel44 252:3c9863f951b7 325 // @return none
jmarkel44 252:3c9863f951b7 326 //
jmarkel44 260:fe726583ba1d 327 void FailsafeControl::sendMailToOutput(OutputAction action)
jmarkel44 252:3c9863f951b7 328 {
jmarkel44 252:3c9863f951b7 329 logInfo("%s: failsafe control attempting to send action %d\n",
jmarkel44 252:3c9863f951b7 330 __func__, action);
jmarkel44 252:3c9863f951b7 331
jmarkel44 252:3c9863f951b7 332 OutputControlMsg_t *output_mail = OutputMasterMailBox.alloc();
jmarkel44 252:3c9863f951b7 333 memset(output_mail, 0, sizeof(OutputControlMsg_t));
jmarkel44 252:3c9863f951b7 334
jmarkel44 252:3c9863f951b7 335 output_mail->action = action;
jmarkel44 252:3c9863f951b7 336 output_mail->controlType = CONTROL_FAILSAFE;
jmarkel44 252:3c9863f951b7 337 output_mail->priority = this->priority;
jmarkel44 252:3c9863f951b7 338
jmarkel44 252:3c9863f951b7 339 strncpy(output_mail->input_tag, this->input.c_str(), sizeof(output_mail->input_tag)-1);
jmarkel44 252:3c9863f951b7 340 strncpy(output_mail->output_tag, this->output.c_str(), sizeof(output_mail->output_tag)-1);
jmarkel44 252:3c9863f951b7 341 strncpy(output_mail->id, this->id.c_str(), sizeof(output_mail->id)-1);
jmarkel44 252:3c9863f951b7 342
jmarkel44 252:3c9863f951b7 343 OutputMasterMailBox.put(output_mail);
jmarkel44 252:3c9863f951b7 344 }
jmarkel44 252:3c9863f951b7 345
jmarkel44 269:97243a7f56ba 346 //
jmarkel44 269:97243a7f56ba 347 // method: sensorError
jmarkel44 269:97243a7f56ba 348 // description: return true if a sensor's error flag it set
jmarkel44 269:97243a7f56ba 349 //
jmarkel44 269:97243a7f56ba 350 // @param[in] none
jmarkel44 269:97243a7f56ba 351 // @param[out] none
jmarkel44 269:97243a7f56ba 352 // @return true if sensor error
jmarkel44 269:97243a7f56ba 353 //
jmarkel44 269:97243a7f56ba 354 bool FailsafeControl::sensorError(void)
jmarkel44 269:97243a7f56ba 355 {
jmarkel44 269:97243a7f56ba 356 ModbusValue value;
jmarkel44 269:97243a7f56ba 357 ModbusMasterReadRegister(input, &value);
jmarkel44 271:19948511cd3f 358 // TODO: uncomment when real sensors are available
jmarkel44 271:19948511cd3f 359 #if 0
jmarkel44 269:97243a7f56ba 360 if ( value.errflag ) {
jmarkel44 269:97243a7f56ba 361 logInfo("%s: %s is in error\n", __func__, input.c_str());
jmarkel44 269:97243a7f56ba 362 return true;
jmarkel44 269:97243a7f56ba 363 }
jmarkel44 271:19948511cd3f 364 #endif
jmarkel44 269:97243a7f56ba 365 return false;
jmarkel44 269:97243a7f56ba 366 }
jmarkel44 269:97243a7f56ba 367
jmarkel44 252:3c9863f951b7 368
jmarkel44 250:1cd8ec63e9e9 369 //
jmarkel44 260:fe726583ba1d 370 // method: unregisterControl
jmarkel44 260:fe726583ba1d 371 // description: unregister this control with the output task
jmarkel44 260:fe726583ba1d 372 //
jmarkel44 260:fe726583ba1d 373 // @param none
jmarkel44 260:fe726583ba1d 374 // @return none
jmarkel44 260:fe726583ba1d 375 //
jmarkel44 260:fe726583ba1d 376 void FailsafeControl::unregisterControl(void)
jmarkel44 260:fe726583ba1d 377 {
jmarkel44 260:fe726583ba1d 378 logInfo("%s: %s attempting to unregister %s\n",
jmarkel44 260:fe726583ba1d 379 __func__, controlFile.c_str());
jmarkel44 260:fe726583ba1d 380
jmarkel44 260:fe726583ba1d 381 OutputControlMsg_t *output_mail = OutputMasterMailBox.alloc();
jmarkel44 260:fe726583ba1d 382 memset(output_mail, 0, sizeof(OutputControlMsg_t));
jmarkel44 260:fe726583ba1d 383
jmarkel44 260:fe726583ba1d 384 output_mail->action = ACTION_CONTROL_UNREGISTER;
jmarkel44 260:fe726583ba1d 385 output_mail->controlType = CONTROL_FAILSAFE;
jmarkel44 260:fe726583ba1d 386 output_mail->priority = this->priority;
jmarkel44 260:fe726583ba1d 387 strncpy(output_mail->output_tag, this->output.c_str(), sizeof(output_mail->output_tag)-1);
jmarkel44 260:fe726583ba1d 388 strncpy(output_mail->id, this->id.c_str(), sizeof(output_mail->id)-1);
jmarkel44 260:fe726583ba1d 389
jmarkel44 260:fe726583ba1d 390 OutputMasterMailBox.put(output_mail);
jmarkel44 260:fe726583ba1d 391 }
jmarkel44 260:fe726583ba1d 392
jmarkel44 260:fe726583ba1d 393 //
jmarkel44 250:1cd8ec63e9e9 394 // method: display
jmarkel44 250:1cd8ec63e9e9 395 // description: display the pertinents
jmarkel44 250:1cd8ec63e9e9 396 //
jmarkel44 250:1cd8ec63e9e9 397 // @param none
jmarkel44 250:1cd8ec63e9e9 398 // @return none
jmarkel44 250:1cd8ec63e9e9 399 //
jmarkel44 250:1cd8ec63e9e9 400 void FailsafeControl::display(void)
jmarkel44 250:1cd8ec63e9e9 401 {
jmarkel44 250:1cd8ec63e9e9 402 const char *mapper[] = { "INIT",
jmarkel44 250:1cd8ec63e9e9 403 "START",
jmarkel44 269:97243a7f56ba 404 "OFF",
jmarkel44 269:97243a7f56ba 405 "ON_LFS",
jmarkel44 269:97243a7f56ba 406 "OFF_LFS",
jmarkel44 269:97243a7f56ba 407 "ON_HFS",
jmarkel44 269:97243a7f56ba 408 "OFF_HFS",
jmarkel44 269:97243a7f56ba 409 "SENSOR_ERR",
jmarkel44 250:1cd8ec63e9e9 410 "invalid"
jmarkel44 250:1cd8ec63e9e9 411 };
jmarkel44 250:1cd8ec63e9e9 412
jmarkel44 250:1cd8ec63e9e9 413 printf("\r\n");
jmarkel44 250:1cd8ec63e9e9 414 std::cout << left << setw(10) << setfill(' ') << "failsafe: ";
jmarkel44 253:ae850c19cf81 415 std::cout << left << setw(40) << setfill(' ') << controlFile;
jmarkel44 250:1cd8ec63e9e9 416 std::cout << left << setw(20) << setfill(' ') << id;
jmarkel44 250:1cd8ec63e9e9 417 std::cout << left << setw(6) << setfill(' ') << priority;
jmarkel44 250:1cd8ec63e9e9 418 std::cout << left << setw(20) << setfill(' ') << input;
jmarkel44 250:1cd8ec63e9e9 419 std::cout << left << setw(20) << setfill(' ') << output;
jmarkel44 250:1cd8ec63e9e9 420 std::cout << left << setw(16) << setfill(' ') << mapper[currentState];
jmarkel44 252:3c9863f951b7 421 std::cout << left << setw(12) << setfill(' ') << "lfs-> "
jmarkel44 252:3c9863f951b7 422 << lfs_data.value << ":" << lfs_data.dutyCycle << ":" << lfs_data.interval;
jmarkel44 252:3c9863f951b7 423 std::cout << right << setw(12) << setfill(' ') << "hfs-> "
jmarkel44 252:3c9863f951b7 424 << hfs_data.value << ":" << hfs_data.dutyCycle << ":" << hfs_data.interval;
jmarkel44 250:1cd8ec63e9e9 425
jmarkel44 250:1cd8ec63e9e9 426 std::cout.flush();
jmarkel44 252:3c9863f951b7 427 }