Controls mirror safety. More...

#include <SafetyController.h>

Public Member Functions
	SafetyController (SafetyControllerSettings *safetyControllerSettings)

void	clearErrorCode ()

void	airControllerNotifyCommandOutputMismatch (bool conditionFlag, bool commanded, bool sensed)

void	airControllerNotifyCommandSensorMismatch (bool conditionFlag)

void	displacementNotifySensorReportsInvalidCommand (bool conditionFlag)

void	displacementNotifySensorReportsCommunicationTimeoutError (bool conditionFlag)

void	displacementNotifySensorReportsDataLengthError (bool conditionFlag)

void	displacementNotifySensorReportsNumberOfParametersError (bool conditionFlag)

void	displacementNotifySensorReportsParameterError (bool conditionFlag)

void	displacementNotifySensorReportsCommunicationError (bool conditionFlag)

void	displacementNotifySensorReportsIDNumberError (bool conditionFlag)

void	displacementNotifySensorReportsExpansionLineError (bool conditionFlag)

void	displacementNotifySensorReportsWriteControlError (bool conditionFlag)

void	displacementNotifyResponseTimeoutError (bool conditionFlag)

void	displacementNotifyInvalidLength (bool conditionFlag)

void	displacementNotifyInvalidResponse (bool conditionFlag)

void	displacementNotifyUnknownCommand (bool conditionFlag)

void	displacementNotifyUnknownProblem (bool conditionFlag)

void	inclinometerNotifyResponseTimeout (bool conditionFlag)

void	inclinometerNotifyInvalidCRC (bool conditionFlag)

void	inclinometerNotifyUnknownAddress (bool conditionFlag)

void	inclinometerNotifyUnknownFunction (bool conditionFlag)

void	inclinometerNotifyInvalidLength (bool conditionFlag)

void	inclinometerNotifySensorReportsIllegalDataAddress (bool conditionFlag)

void	inclinometerNotifySensorReportsIllegalFunction (bool conditionFlag)

void	inclinometerNotifyUnknownProblem (bool conditionFlag)

void	interlockNotifyHeartbeatStateOutputMismatch (bool conditionFlag)

void	interlockNotifyAuxPowerNetworksOff (bool conditionFlag)

void	interlockNotifyThermalEquipmentOff (bool conditionFlag)

void	interlockNotifyAirSupplyOff (bool conditionFlag)

void	interlockNotifyCabinetDoorOpen (bool conditionFlag)

void	interlockNotifyTMAMotionStop (bool conditionFlag)

void	interlockNotifyGISHeartbeatLost (bool conditionFlag)

void	forceControllerNotifySafetyLimit (bool conditionFlag)

void	forceControllerNotifyXMomentLimit (bool conditionFlag, std::string failed)

void	forceControllerNotifyYMomentLimit (bool conditionFlag, std::string failed)

void	forceControllerNotifyZMomentLimit (bool conditionFlag, std::string failed)

void	forceControllerNotifyNearNeighborCheck (bool conditionFlag, std::string failed, float nominalZ, float nominalZWarning)

void	forceControllerNotifyMagnitudeLimit (bool conditionFlag, float globalForce)

void	forceControllerNotifyFarNeighborCheck (bool conditionFlag, std::string failed)

void	forceControllerNotifyElevationForceClipping (bool conditionFlag)

void	forceControllerNotifyAzimuthForceClipping (bool conditionFlag)

void	forceControllerNotifyThermalForceClipping (bool conditionFlag)

void	forceControllerNotifyBalanceForceClipping (bool conditionFlag)

void	forceControllerNotifyAccelerationForceClipping (bool conditionFlag)

void	forceControllerNotifyActiveOpticNetForceCheck (bool conditionFlag)

void	forceControllerNotifyActiveOpticForceClipping (bool conditionFlag)

void	forceControllerNotifyStaticForceClipping (bool conditionFlag)

void	forceControllerNotifyOffsetForceClipping (bool conditionFlag)

void	forceControllerNotifyVelocityForceClipping (bool conditionFlag)

void	forceControllerNotifyForceClipping (bool conditionFlag)

void	forceControllerNotifyMeasuredXForceLimit (int actuatorId, float xForce, bool conditionFlag)

void	forceControllerNotifyMeasuredYForceLimit (int actuatorId, float yForce, bool conditionFlag)

void	forceControllerNotifyMeasuredZForceLimit (int actuatorId, float zForce, bool conditionFlag)

void	positionControllerNotifyLimitLow (int hp, bool conditionFlag)

void	positionControllerNotifyLimitHigh (int hp, bool conditionFlag)

void	positionControllerNotifyUnstable (int hp, int32_t unstableCount, int32_t deltaEncoder)

void	positionControllerHighTension (int hp, float weightSupportedPercent)

void	cellLightNotifyOutputMismatch (bool conditionFlag, bool commanded, bool sensed)

void	cellLightNotifySensorMismatch (bool conditionFlag, bool commanded, bool sensed)

void	powerControllerNotifyPowerNetworkAOutputMismatch (bool conditionFlag)

void	powerControllerNotifyPowerNetworkBOutputMismatch (bool conditionFlag)

void	powerControllerNotifyPowerNetworkCOutputMismatch (bool conditionFlag)

void	powerControllerNotifyPowerNetworkDOutputMismatch (bool conditionFlag)

void	powerControllerNotifyAuxPowerNetworkAOutputMismatch (bool conditionFlag)

void	powerControllerNotifyAuxPowerNetworkBOutputMismatch (bool conditionFlag)

void	powerControllerNotifyAuxPowerNetworkCOutputMismatch (bool conditionFlag)

void	powerControllerNotifyAuxPowerNetworkDOutputMismatch (bool conditionFlag)

void	raiseOperationTimeout (bool conditionFlag)

void	lowerOperationTimeout (bool conditionFlag)

void	ilcCommunicationTimeout (bool conditionFlag)

void	modbusIRQTimeout (uint32_t timeout, uint32_t irqs)

void	forceActuatorFollowingError (int actuatorId, int actuatorDataIndex, bool countingWarning, bool immediateFault)

void	hardpointActuatorBreakawayFault (int actuatorDataIndex, bool conditionFlag)

void	hardpointActuatorMeasuredForce (int actuatorDataIndex, bool warningFlag, bool faultFlag)
	Triggers hardpoint measured force warning and faults.

void	hardpointActuatorAirPressure (int actuatorDataIndex, int conditionFlag, float airPressure)
	Checks hardpoint breakway air pressure.

void	hardpointActuatorFollowingError (int hp, double fePercent)

void	tmaAzimuthTimeout (double currentTimeout)

void	tmaElevationTimeout (double currentTimeout)

void	tmaInclinometerDeviation (double currentDeviation)

void	userPanic ()

States::Type	checkSafety (States::Type preferredNextState)
	Check if mirror safety rules are fulfilled.

Detailed Description

Controls mirror safety.

Sets _errorCodeData->errorCode to the first detected fault. checkSafety() method then sends mirror to fault state if any fault is detected.

This is a layer above computational layer. Its either check some safety rules, or is signaled safety rules violation. If mirror safety rules are violated, checkSafety() method sends the mirror to a fault state.

Member Function Documentation

◆ checkSafety()

States::Type SafetyController::checkSafety ( States::Type preferredNextState )

Check if mirror safety rules are fulfilled.

When safety rules are not fulfilled, returns States::LoweringFaultState.

Parameters

preferredNextState returns this state if mirror safety is not violated

Returns: preferredNextState if mirror safety is not violated, States::LoweringFaultState otherwise.

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◆ hardpointActuatorAirPressure()

void SafetyController::hardpointActuatorAirPressure	(	int	actuatorDataIndex,
		int	conditionFlag,
		float	airPressure )

Checks hardpoint breakway air pressure.

Triggers fault if pressure is outside of bounds for more than SafetyControllerSettings/ILC.AirPressureCountThreshold.

Parameters

actuatorDataIndex	HP actuator index (0-5)
conditionFlag	-1 if bellow low, 1 if above high, 0 for in bounds
airPressure	current air pressure

◆ hardpointActuatorMeasuredForce()

void SafetyController::hardpointActuatorMeasuredForce	(	int	actuatorDataIndex,
		bool	warningFlag,
		bool	faultFlag )

Triggers hardpoint measured force warning and faults.

Parameters

actuatorDataIndex	hardpoint actuator index (0 based)
warningFlag	if true, warning was detected
faultFlag	if true, fault was detected

The documentation for this class was generated from the following files:

Controllers/SafetyController.h
Controllers/SafetyController.cpp

Public Member Functions

Detailed Description

Member Function Documentation

◆ checkSafety()

◆ hardpointActuatorAirPressure()

◆ hardpointActuatorMeasuredForce()