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add debug mode
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This commit is contained in:
Robin Müller 2022-10-13 17:48:32 +02:00
parent f9ee01b02d
commit 0e8a085f97
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GPG Key ID: 11D4952C8CCEF814
1 changed files with 47 additions and 26 deletions
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73
mission/devices/SolarArrayDeploymentHandler.cpp
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@ -9,6 +9,8 @@
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw_hal/common/gpio/GpioCookie.h"
static constexpr bool DEBUG_MODE = true;
SolarArrayDeploymentHandler::SolarArrayDeploymentHandler(object_id_t setObjectId_,
GpioIF& gpioInterface,
PowerSwitchIF& mainLineSwitcher_,
@ -177,51 +179,59 @@ bool SolarArrayDeploymentHandler::autonomousDeplForFile(const char* filename, bo
return true;
}
ReturnValue_t SolarArrayDeploymentHandler::initialize() {
ReturnValue_t result = actionHelper.initialize(commandQueue);
if (result != returnvalue::OK) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
return SystemObject::initialize();
}
void SolarArrayDeploymentHandler::handleStateMachine() {
if (stateMachine == MAIN_POWER_ON) {
mainLineSwitcher.sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_ON);
mainSwitchCountdown.setTimeout(mainLineSwitcher.getSwitchDelayMs());
stateMachine = WAIT_MAIN_POWER_ON;
if (DEBUG_MODE) {
sif::debug << "SA DEPL FSM: MAIN_POWER_ON done -> WAIT_MAIN_POWER_ON" << std::endl;
}
}
if (stateMachine == MAIN_POWER_OFF) {
// These should never fail
allOff();
stateMachine = WAIT_MAIN_POWER_OFF;
if (DEBUG_MODE) {
sif::debug << "SA DEPL FSM: MAIN_POWER_OFF done -> WAIT_MAIN_POWER_OFF" << std::endl;
}
}
if (stateMachine == WAIT_MAIN_POWER_ON) {
if (checkMainPowerOn()) {
if (DEBUG_MODE) {
sif::debug << "SA DEPL FSM: WAIT_MAIN_POWER_ON done -> SWITCH_DEPL_GPIOS" << std::endl;
}
stateMachine = SWITCH_DEPL_GPIOS;
}
}
if (stateMachine == WAIT_MAIN_POWER_OFF) {
if (checkMainPowerOff()) {
if (DEBUG_MODE) {
sif::debug << "SA DEPL FSM: WAIT_MAIN_POWER_OFF done -> FSM DONE" << std::endl;
}
finishFsm(returnvalue::OK);
}
}
if (stateMachine == SWITCH_DEPL_GPIOS) {
burnCountdown.setTimeout(fsmInfo.burnCountdown);
// This should never fail
channelAlternationCd.resetTimer();
if (not fsmInfo.dryRun) {
channelAlternationCd.resetTimer();
sa2Off();
sa1On();
fsmInfo.alternationDummy = true;
}
if (DEBUG_MODE) {
sif::debug << "SA DEPL FSM: SWITCH_DEPL_GPIOS done -> BURNING" << std::endl;
}
stateMachine = BURNING;
}
if (stateMachine == BURNING) {
if (not fsmInfo.dryRun) {
saGpioAlternation();
}
saGpioAlternation();
if (burnCountdown.hasTimedOut()) {
if (DEBUG_MODE) {
sif::debug << "SA DEPL FSM: BURNING done -> WAIT_MAIN_POWER_OFF" << std::endl;
}
allOff();
stateMachine = WAIT_MAIN_POWER_OFF;
}
@ -285,6 +295,9 @@ void SolarArrayDeploymentHandler::startFsmOff() {
void SolarArrayDeploymentHandler::finishFsm(ReturnValue_t resultForActionHelper) {
retryCounter = 0;
stateMachine = StateMachine::IDLE;
fsmInfo.dryRun = false;
fsmInfo.onOff = false;
fsmInfo.alternationDummy = false;
if (actionActive) {
bool success = false;
if (resultForActionHelper == returnvalue::OK or
@ -315,19 +328,6 @@ bool SolarArrayDeploymentHandler::dryRunStringInFile(const char* filename) {
return false;
}
void SolarArrayDeploymentHandler::readCommandQueue() {
CommandMessage command;
ReturnValue_t result = commandQueue->receiveMessage(&command);
if (result != returnvalue::OK) {
return;
}
result = actionHelper.handleActionMessage(&command);
if (result == returnvalue::OK) {
return;
}
}
ReturnValue_t SolarArrayDeploymentHandler::executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) {
@ -363,7 +363,7 @@ ReturnValue_t SolarArrayDeploymentHandler::executeAction(ActionId_t actionId,
ReturnValue_t SolarArrayDeploymentHandler::saGpioAlternation() {
ReturnValue_t status = returnvalue::OK;
ReturnValue_t result;
if (channelAlternationCd.hasTimedOut()) {
if (channelAlternationCd.hasTimedOut() and not fsmInfo.dryRun) {
if (fsmInfo.alternationDummy) {
result = sa1Off();
if (result != returnvalue::OK) {
@ -454,6 +454,27 @@ ReturnValue_t SolarArrayDeploymentHandler::sa2Off() {
return result;
}
void SolarArrayDeploymentHandler::readCommandQueue() {
CommandMessage command;
ReturnValue_t result = commandQueue->receiveMessage(&command);
if (result != returnvalue::OK) {
return;
}
result = actionHelper.handleActionMessage(&command);
if (result == returnvalue::OK) {
return;
}
}
MessageQueueId_t SolarArrayDeploymentHandler::getCommandQueue() const {
return commandQueue->getId();
}
ReturnValue_t SolarArrayDeploymentHandler::initialize() {
ReturnValue_t result = actionHelper.initialize(commandQueue);
if (result != returnvalue::OK) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
return SystemObject::initialize();
}