more bugfixes

linux/payload/FreshSupvHandler.cpp

@@ -8,7 +8,9 @@
 
 #include "eive/definitions.h"
 #include "eive/objects.h"
+#include "fsfw/action.h"
 #include "fsfw/globalfunctions/arrayprinter.h"
+#include "fsfw/ipc/CommandMessage.h"
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/ipc/QueueFactory.h"
 #include "fsfw/objectmanager/ObjectManagerIF.h"
@@ -78,6 +80,7 @@ void FreshSupvHandler::performDeviceOperation(uint8_t opCode) {
             buildActiveCmdKey(Apid::HK, static_cast<uint8_t>(tc::HkId::GET_REPORT)));
         if (cmdIter == activeActionCmds.end() or not cmdIter->second.isPending) {
           spParams.buf = commandBuffer.data();
+          commandedByCached = MessageQueueIF::NO_QUEUE;
           sendEmptyCmd(supv::GET_HK_REPORT, Apid::HK, static_cast<uint8_t>(tc::HkId::GET_REPORT),
                        true);
         }
@@ -200,7 +203,7 @@ ReturnValue_t FreshSupvHandler::executeAction(ActionId_t actionId, MessageQueueI
   using namespace supv;
   // The SUPV does not have any action commands where there is no communication with the device
   // involved.
-  if(mode != MODE_ON and mode != MODE_NORMAL) {
+  if (mode != MODE_ON and mode != MODE_NORMAL) {
     return HasModesIF::INVALID_MODE;
   }
   ReturnValue_t result;
@@ -392,6 +395,9 @@ ReturnValue_t FreshSupvHandler::executeAction(ActionId_t actionId, MessageQueueI
       result = DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
       break;
   }
+  if (result == returnvalue::OK) {
+    this->commandedByCached = commandedBy;
+  }
   return result;
 }
 
@@ -538,9 +544,6 @@ void FreshSupvHandler::handleTransitionToOff() {
 
 ReturnValue_t FreshSupvHandler::sendCommand(DeviceCommandId_t commandId, TcBase& tc,
                                             bool replyExpected, uint32_t cmdCountdownMs) {
-  if (interCmdCd.isBusy()) {
-    TaskFactory::delayTask(interCmdCd.getRemainingMillis());
-  }
   if (supv::DEBUG_PLOC_SUPV) {
     if (not(supv::REDUCE_NORMAL_MODE_PRINTOUT and mode == MODE_NORMAL and
             commandId == supv::GET_HK_REPORT)) {
@@ -555,6 +558,7 @@ ReturnValue_t FreshSupvHandler::sendCommand(DeviceCommandId_t commandId, TcBase&
   if (activeCmdIter == activeActionCmds.end()) {
     info.isPending = true;
     info.replyPacketExpected = replyExpected;
+    info.commandedBy = commandedByCached;
     activeActionCmds.emplace(buildActiveCmdKey(tc.getModuleApid(), tc.getServiceId()), info);
   } else {
     if (activeCmdIter->second.isPending) {
@@ -562,6 +566,7 @@ ReturnValue_t FreshSupvHandler::sendCommand(DeviceCommandId_t commandId, TcBase&
     }
     activeCmdIter->second.isPending = true;
     activeCmdIter->second.commandId = commandId;
+    activeCmdIter->second.commandedBy = commandedByCached;
     activeCmdIter->second.ackRecv = false;
     activeCmdIter->second.ackExeRecv = false;
     activeCmdIter->second.replyPacketExpected = replyExpected;
@@ -571,7 +576,6 @@ ReturnValue_t FreshSupvHandler::sendCommand(DeviceCommandId_t commandId, TcBase&
   }
   ReturnValue_t result =
       uartManager->sendMessage(comCookie, tc.getFullPacket(), tc.getFullPacketLen());
-  interCmdCd.resetTimer();
   return result;
 }
 
@@ -1099,10 +1103,10 @@ void FreshSupvHandler::handleEvent(EventMessage* eventMessage) {
           event == PlocSupvUartManager::SUPV_CONTINUE_UPDATE_SUCCESSFUL ||
           event == PlocSupvUartManager::SUPV_MEM_CHECK_FAIL ||
           event == PlocSupvUartManager::SUPV_MEM_CHECK_OK) {
-        // Wait for a short period for the uart state machine to adjust
-        // TaskFactory::delayTask(5);
         if (not isCommandAlreadyActive(supv::SHUTDOWN_MPSOC)) {
-          result = this->executeAction(supv::SHUTDOWN_MPSOC, MessageQueueIF::NO_QUEUE, nullptr, 0);
+          CommandMessage actionMsg;
+          ActionMessage::setCommand(&actionMsg, supv::SHUTDOWN_MPSOC, store_address_t::invalid());
+          result = messageQueue->sendMessage(getCommandQueue(), &actionMsg);
           if (result != returnvalue::OK) {
             triggerEvent(supv::SUPV_MPSOC_SHUTDOWN_BUILD_FAILED);
             sif::warning << "PlocSupervisorHandler::handleEvent: Failed to build MPSoC shutdown "

linux/payload/FreshSupvHandler.h

@@ -14,7 +14,7 @@
 
 using supv::TcBase;
 
-static constexpr bool DEBUG_PLOC_SUPV = false;
+static constexpr bool DEBUG_PLOC_SUPV = true;
 static constexpr bool REDUCE_NORMAL_MODE_PRINTOUT = true;
 
 class FreshSupvHandler : public FreshDeviceHandlerBase {
@@ -101,7 +101,7 @@ class FreshSupvHandler : public FreshDeviceHandlerBase {
   Countdown switchTimeout = Countdown(2000);
   // Vorago nees some time to boot properly
   Countdown bootTimeout = Countdown(supv::BOOT_TIMEOUT_MS);
-  Countdown interCmdCd = Countdown(supv::INTER_COMMAND_DELAY);
+  // Countdown interCmdCd = Countdown(supv::INTER_COMMAND_DELAY);
 
   PoolEntry<uint16_t> adcRawEntry = PoolEntry<uint16_t>(16);
   PoolEntry<uint16_t> adcEngEntry = PoolEntry<uint16_t>(16);
@@ -136,6 +136,7 @@ class FreshSupvHandler : public FreshDeviceHandlerBase {
   std::array<uint8_t, supv::MAX_COMMAND_SIZE> commandBuffer{};
   SpacePacketCreator creator;
   supv::TcParams spParams = supv::TcParams(creator);
+  DeviceCommandId_t commandedByCached = MessageQueueIF::NO_QUEUE;
 
   ReturnValue_t parseTmPackets();