continued ACS board assembly

bsp_q7s/core/ObjectFactory.cpp

@@ -1,5 +1,6 @@
 #include "ObjectFactory.h"
 
+#include <fsfw/ipc/QueueFactory.h>
 #include <linux/obc/AxiPtmeConfig.h>
 #include <linux/obc/PapbVcInterface.h>
 #include <linux/obc/PdecHandler.h>
@@ -590,11 +591,10 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
 #if OBSW_TEST_ACS == 1
   mgmLis3Handler->setStartUpImmediately();
   mgmLis3Handler->setToGoToNormalMode(true);
+#endif
 #if OBSW_DEBUG_ACS == 1
   mgmLis3Handler->enablePeriodicPrintouts(true, 10);
 #endif
-#endif
-
   spiCookie =
       new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
                     RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
@@ -604,11 +604,10 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
 #if OBSW_TEST_ACS == 1
   mgmRm3100Handler->setStartUpImmediately();
   mgmRm3100Handler->setToGoToNormalMode(true);
+#endif
 #if OBSW_DEBUG_ACS == 1
   mgmRm3100Handler->enablePeriodicPrintouts(true, 10);
 #endif
-#endif
-
   spiCookie =
       new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
                     MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
@@ -618,11 +617,10 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
 #if OBSW_TEST_ACS == 1
   mgmLis3Handler->setStartUpImmediately();
   mgmLis3Handler->setToGoToNormalMode(true);
+#endif
 #if OBSW_DEBUG_ACS == 1
   mgmLis3Handler->enablePeriodicPrintouts(true, 10);
 #endif
-#endif
-
   spiCookie =
       new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
                     RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
@@ -631,11 +629,10 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
 #if OBSW_TEST_ACS == 1
   mgmRm3100Handler->setStartUpImmediately();
   mgmRm3100Handler->setToGoToNormalMode(true);
+#endif
 #if OBSW_DEBUG_ACS == 1
   mgmRm3100Handler->enablePeriodicPrintouts(true, 10);
 #endif
-#endif
-
   // Commented until ACS board V2 in in clean room again
   // Gyro 0 Side A
   spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
@@ -647,9 +644,9 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
 #if OBSW_TEST_ACS == 1
   adisHandler->setStartUpImmediately();
   adisHandler->setToGoToNormalModeImmediately();
+#endif
 #if OBSW_DEBUG_ACS == 1
   adisHandler->enablePeriodicPrintouts(true, 10);
-#endif
 #endif
 
   // Gyro 1 Side A
@@ -662,9 +659,9 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
 #if OBSW_TEST_ACS == 1
   gyroL3gHandler->setStartUpImmediately();
   gyroL3gHandler->setToGoToNormalMode(true);
+#endif
 #if OBSW_DEBUG_ACS == 1
   gyroL3gHandler->enablePeriodicPrintouts(true, 10);
-#endif
 #endif
   // Gyro 2 Side B
   spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
@@ -685,9 +682,9 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
 #if OBSW_TEST_ACS == 1
   gyroL3gHandler->setStartUpImmediately();
   gyroL3gHandler->setToGoToNormalMode(true);
+#endif
 #if OBSW_DEBUG_ACS == 1
   gyroL3gHandler->enablePeriodicPrintouts(true, 10);
-#endif
 #endif
 
   bool debugGps = false;
@@ -711,6 +708,16 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   auto acsAss = new AcsBoardAssembly(objects::ACS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher,
                                      acsBoardHelper, gpioComIF);
   static_cast<void>(acsAss);
+
+#if OBSW_TEST_ACS_BAORD_ASS == 1
+  CommandMessage msg;
+  ModeMessage::setModeMessage(&msg, ModeMessage::CMD_MODE_COMMAND, DeviceHandlerIF::MODE_NORMAL,
+                              AcsBoardAssembly::A_SIDE);
+  ReturnValue_t result = MessageQueueSenderIF::sendMessage(acsAss->getCommandQueue(), &msg);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::warning << "Sending mode command failed" << std::endl;
+  }
+#endif
 #endif /* OBSW_ADD_ACS_HANDLERS == 1 */
 }
 

fsfw

@@ -1 +1 @@
-Subproject commit 4e6c1cb72ad623208ea8e08349f6ab39bfa45ed0
+Subproject commit 45f0d7fd453eafddbc8a364e6c61a90b5f577c85

generators/bsp_q7s_objects.csv

@@ -107,6 +107,7 @@
 0x5400CAFE;DUMMY_INTERFACE
 0x54123456;LIBGPIOD_TEST
 0x54694269;TEST_TASK
+0x73000001;ACS_BOARD_ASS
 0x73000100;TM_FUNNEL
 0x73500000;CCSDS_IP_CORE_BRIDGE
 0xFFFFFFFF;NO_OBJECT

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
  * @brief    Auto-generated event translation file. Contains 141 translations.
  * @details
- * Generated on: 2022-03-01 18:04:34
+ * Generated on: 2022-03-04 16:42:09
  */
 #include "translateEvents.h"
 

generators/objects/translateObjects.cpp

@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 112 translations.
+ * Contains 113 translations.
- * Generated on: 2022-03-01 18:04:38
+ * Generated on: 2022-03-04 16:42:21
  */
 #include "translateObjects.h"
 
@@ -115,6 +115,7 @@ const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER";
 const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE";
 const char *LIBGPIOD_TEST_STRING = "LIBGPIOD_TEST";
 const char *TEST_TASK_STRING = "TEST_TASK";
+const char *ACS_BOARD_ASS_STRING = "ACS_BOARD_ASS";
 const char *TM_FUNNEL_STRING = "TM_FUNNEL";
 const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
 const char *NO_OBJECT_STRING = "NO_OBJECT";
@@ -339,6 +340,8 @@ const char *translateObject(object_id_t object) {
       return LIBGPIOD_TEST_STRING;
     case 0x54694269:
       return TEST_TASK_STRING;
+    case 0x73000001:
+      return ACS_BOARD_ASS_STRING;
     case 0x73000100:
       return TM_FUNNEL_STRING;
     case 0x73500000:

linux/fsfwconfig/OBSWConfig.h.in

@@ -84,6 +84,7 @@ debugging. */
 #define OBSW_ADD_UART_TEST_CODE                     0
 
 #define OBSW_TEST_ACS                               0
+#define OBSW_TEST_ACS_BAORD_ASS                     0
 #define OBSW_DEBUG_ACS                              0
 #define OBSW_TEST_SUS                               0
 #define OBSW_DEBUG_SUS                              0

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
  * @brief    Auto-generated event translation file. Contains 141 translations.
  * @details
- * Generated on: 2022-03-01 18:04:34
+ * Generated on: 2022-03-04 16:42:09
  */
 #include "translateEvents.h"
 

linux/fsfwconfig/objects/translateObjects.cpp

@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 112 translations.
+ * Contains 113 translations.
- * Generated on: 2022-03-01 18:04:38
+ * Generated on: 2022-03-04 16:42:21
  */
 #include "translateObjects.h"
 
@@ -115,6 +115,7 @@ const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER";
 const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE";
 const char *LIBGPIOD_TEST_STRING = "LIBGPIOD_TEST";
 const char *TEST_TASK_STRING = "TEST_TASK";
+const char *ACS_BOARD_ASS_STRING = "ACS_BOARD_ASS";
 const char *TM_FUNNEL_STRING = "TM_FUNNEL";
 const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
 const char *NO_OBJECT_STRING = "NO_OBJECT";
@@ -339,6 +340,8 @@ const char *translateObject(object_id_t object) {
       return LIBGPIOD_TEST_STRING;
     case 0x54694269:
       return TEST_TASK_STRING;
+    case 0x73000001:
+      return ACS_BOARD_ASS_STRING;
     case 0x73000100:
       return TM_FUNNEL_STRING;
     case 0x73500000:

mission/devices/PCDUHandler.cpp

@@ -26,7 +26,6 @@ ReturnValue_t PCDUHandler::performOperation(uint8_t counter) {
     readCommandQueue();
     return RETURN_OK;
   }
-
   return RETURN_OK;
 }
 
@@ -116,7 +115,7 @@ void PCDUHandler::readCommandQueue() {
 
 MessageQueueId_t PCDUHandler::getCommandQueue() const { return commandQueue->getId(); }
 
-void PCDUHandler::handleChangedDataset(sid_t sid, store_address_t storeId) {
+void PCDUHandler::handleChangedDataset(sid_t sid, store_address_t storeId, bool* clearMessage) {
   if (sid == sid_t(objects::PDU2_HANDLER, PDU2::HK_TABLE_DATA_SET_ID)) {
     updateHkTableDataset(storeId, &pdu2HkTableDataset, &timeStampPdu2HkDataset);
     updatePdu2SwitchStates();
@@ -204,7 +203,6 @@ void PCDUHandler::updatePdu1SwitchStates() {
   } else {
     sif::debug << "PCDUHandler::updatePdu1SwitchStates: Failed to read dataset" << std::endl;
   }
-  pdu1HkTableDataset.commit();
 }
 
 LocalDataPoolManager* PCDUHandler::getHkManagerHandle() { return &poolManager; }

mission/devices/PCDUHandler.h

@@ -27,7 +27,8 @@ class PCDUHandler : public PowerSwitchIF,
   virtual ReturnValue_t initialize() override;
   virtual ReturnValue_t performOperation(uint8_t counter) override;
   virtual void handleChangedDataset(sid_t sid,
-                                    store_address_t storeId = storeId::INVALID_STORE_ADDRESS);
+                                    store_address_t storeId = storeId::INVALID_STORE_ADDRESS,
+                                    bool* clearMessage = nullptr) override;
 
   virtual void sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) const override;
   virtual void sendFuseOnCommand(uint8_t fuseNr) const override;

mission/system/AcsBoardAssembly.cpp

@@ -27,42 +27,54 @@ AcsBoardAssembly::AcsBoardAssembly(object_id_t objectId, object_id_t parentId,
   initModeTableEntry(helper.gpsId, entry);
 }
 
+void AcsBoardAssembly::handleChildrenTransition() {
+  if (state == States::SWITCHING_POWER) {
+    powerStateMachine(targetMode, targetSubmode);
+  } else {
+    AssemblyBase::handleChildrenTransition();
+  }
+}
+
 ReturnValue_t AcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode) {
   ReturnValue_t result = RETURN_OK;
   refreshHelperModes();
   powerStateMachine(mode, submode);
-  if (mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_ON) {
+  if (state == States::MODE_COMMANDING) {
-    if (state == States::MODE_COMMANDING) {
+    if (mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_ON) {
       handleNormalOrOnModeCmd(mode, submode);
+    } else {
+      modeTable[ModeTableIdx::GYRO_0_A].setMode(MODE_OFF);
+      modeTable[ModeTableIdx::GYRO_0_A].setSubmode(SUBMODE_NONE);
+      modeTable[ModeTableIdx::GYRO_1_A].setMode(MODE_OFF);
+      modeTable[ModeTableIdx::GYRO_1_A].setSubmode(SUBMODE_NONE);
+      modeTable[ModeTableIdx::GYRO_2_B].setMode(MODE_OFF);
+      modeTable[ModeTableIdx::GYRO_2_B].setSubmode(SUBMODE_NONE);
+      modeTable[ModeTableIdx::GYRO_3_B].setMode(MODE_OFF);
+      modeTable[ModeTableIdx::GYRO_3_B].setSubmode(SUBMODE_NONE);
+      modeTable[ModeTableIdx::MGM_0_A].setMode(MODE_OFF);
+      modeTable[ModeTableIdx::MGM_0_A].setSubmode(SUBMODE_NONE);
+      modeTable[ModeTableIdx::MGM_1_A].setMode(MODE_OFF);
+      modeTable[ModeTableIdx::MGM_1_A].setSubmode(SUBMODE_NONE);
+      modeTable[ModeTableIdx::MGM_2_B].setMode(MODE_OFF);
+      modeTable[ModeTableIdx::MGM_2_B].setSubmode(SUBMODE_NONE);
+      modeTable[ModeTableIdx::MGM_3_B].setMode(MODE_OFF);
+      modeTable[ModeTableIdx::MGM_3_B].setSubmode(SUBMODE_NONE);
+      modeTable[ModeTableIdx::GPS].setMode(MODE_OFF);
+      modeTable[ModeTableIdx::GPS].setSubmode(SUBMODE_NONE);
     }
-  } else {
+    HybridIterator<ModeListEntry> tableIter(modeTable.begin(), modeTable.end());
-    modeTable[ModeTableIdx::GYRO_0_A].setMode(MODE_OFF);
+    executeTable(tableIter);
-    modeTable[ModeTableIdx::GYRO_0_A].setSubmode(SUBMODE_NONE);
-    modeTable[ModeTableIdx::GYRO_1_A].setMode(MODE_OFF);
-    modeTable[ModeTableIdx::GYRO_1_A].setSubmode(SUBMODE_NONE);
-    modeTable[ModeTableIdx::GYRO_2_B].setMode(MODE_OFF);
-    modeTable[ModeTableIdx::GYRO_2_B].setSubmode(SUBMODE_NONE);
-    modeTable[ModeTableIdx::GYRO_3_B].setMode(MODE_OFF);
-    modeTable[ModeTableIdx::GYRO_3_B].setSubmode(SUBMODE_NONE);
-    modeTable[ModeTableIdx::MGM_0_A].setMode(MODE_OFF);
-    modeTable[ModeTableIdx::MGM_0_A].setSubmode(SUBMODE_NONE);
-    modeTable[ModeTableIdx::MGM_1_A].setMode(MODE_OFF);
-    modeTable[ModeTableIdx::MGM_1_A].setSubmode(SUBMODE_NONE);
-    modeTable[ModeTableIdx::MGM_2_B].setMode(MODE_OFF);
-    modeTable[ModeTableIdx::MGM_2_B].setSubmode(SUBMODE_NONE);
-    modeTable[ModeTableIdx::MGM_3_B].setMode(MODE_OFF);
-    modeTable[ModeTableIdx::MGM_3_B].setSubmode(SUBMODE_NONE);
-    modeTable[ModeTableIdx::GPS].setMode(MODE_OFF);
-    modeTable[ModeTableIdx::GPS].setSubmode(SUBMODE_NONE);
   }
-
-  HybridIterator<ModeListEntry> tableIter(modeTable.begin(), modeTable.end());
-  executeTable(tableIter);
   return result;
 }
 
 ReturnValue_t AcsBoardAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) {
   refreshHelperModes();
+  if (state == States::SWITCHING_POWER) {
+    // Wrong mode
+    sif::error << "Wrong mode, currently swichting power" << std::endl;
+    return RETURN_OK;
+  }
   if (submode == A_SIDE) {
     if ((helper.gyro0SideAMode != wantedMode and helper.gyro1SideAMode != wantedMode) or
         (helper.mgm0SideAMode != wantedMode and helper.mgm1SideAMode != wantedMode) or
@@ -211,7 +223,7 @@ void AcsBoardAssembly::powerStateMachine(Mode_t mode, Submode_t submode) {
       return;
     }
   } else {
-    switch (this->submode) {
+    switch (submode) {
       case (A_SIDE): {
         if (switchStateA == PowerSwitchIF::SWITCH_ON and
             switchStateB == PowerSwitchIF::SWITCH_OFF) {
@@ -239,37 +251,37 @@ void AcsBoardAssembly::powerStateMachine(Mode_t mode, Submode_t submode) {
   if (state == States::IDLE) {
     if (mode == MODE_OFF) {
       if (switchStateA != PowerSwitchIF::SWITCH_OFF) {
-        pwrSwitcher->sendSwitchCommand(SWITCH_A, false);
+        pwrSwitcher->sendSwitchCommand(SWITCH_A, PowerSwitchIF::SWITCH_ON);
       }
       if (switchStateB != PowerSwitchIF::SWITCH_OFF) {
-        pwrSwitcher->sendSwitchCommand(SWITCH_B, false);
+        pwrSwitcher->sendSwitchCommand(SWITCH_B, PowerSwitchIF::SWITCH_OFF);
       }
     } else {
       switch (submode) {
         case (A_SIDE): {
           if (switchStateA != PowerSwitchIF::SWITCH_ON) {
-            pwrSwitcher->sendSwitchCommand(SWITCH_A, true);
+            pwrSwitcher->sendSwitchCommand(SWITCH_A, PowerSwitchIF::SWITCH_ON);
           }
           if (switchStateB != PowerSwitchIF::SWITCH_OFF) {
-            pwrSwitcher->sendSwitchCommand(SWITCH_B, false);
+            pwrSwitcher->sendSwitchCommand(SWITCH_B, PowerSwitchIF::SWITCH_OFF);
           }
           break;
         }
         case (B_SIDE): {
           if (switchStateA != PowerSwitchIF::SWITCH_OFF) {
-            pwrSwitcher->sendSwitchCommand(SWITCH_A, false);
+            pwrSwitcher->sendSwitchCommand(SWITCH_A, PowerSwitchIF::SWITCH_OFF);
           }
           if (switchStateB != PowerSwitchIF::SWITCH_ON) {
-            pwrSwitcher->sendSwitchCommand(SWITCH_B, true);
+            pwrSwitcher->sendSwitchCommand(SWITCH_B, PowerSwitchIF::SWITCH_OFF);
           }
           break;
         }
         case (DUAL_MODE): {
           if (switchStateA != PowerSwitchIF::SWITCH_ON) {
-            pwrSwitcher->sendSwitchCommand(SWITCH_A, true);
+            pwrSwitcher->sendSwitchCommand(SWITCH_A, PowerSwitchIF::SWITCH_ON);
           }
           if (switchStateB != PowerSwitchIF::SWITCH_ON) {
-            pwrSwitcher->sendSwitchCommand(SWITCH_B, true);
+            pwrSwitcher->sendSwitchCommand(SWITCH_B, PowerSwitchIF::SWITCH_ON);
           }
           break;
         }
@@ -315,7 +327,11 @@ ReturnValue_t AcsBoardAssembly::initialize() {
   if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
-  return result;
+  result = registerChild(helper.gpsId);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  return AssemblyBase::initialize();
 }
 
 ReturnValue_t AcsBoardAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {

mission/system/AcsBoardAssembly.h

@@ -17,7 +17,8 @@ struct AcsBoardHelper {
         gyro0AdisIdSideA(gyro0Id),
         gyro1L3gIdSideA(gyro1Id),
         gyro2AdisIdSideB(gyro2Id),
-        gyro3L3gIdSideB(gyro3Id) {}
+        gyro3L3gIdSideB(gyro3Id),
+        gpsId(gpsId) {}
 
   object_id_t mgm0Lis3IdSideA = objects::NO_OBJECT;
   object_id_t mgm1Rm3100IdSideA = objects::NO_OBJECT;
@@ -102,6 +103,7 @@ class AcsBoardAssembly : public AssemblyBase {
   ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
   ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
   ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
+  void handleChildrenTransition() override;
   void handleModeReached() override;
   void handleModeTransitionFailed(ReturnValue_t result) override;
   void handleChildrenLostMode(ReturnValue_t result) override;