Merge pull request 'add health handling for TCS ASSY' (#436) from bugfix_tcs_brd_assy into develop

Reviewed-on: #436

CHANGELOG.md

@@ -32,6 +32,8 @@ will consitute of a breaking change warranting a new major release:
 
 ## Fixed
 
+- Command TCS controller off first for TCS subsystem transition to off.
+- Health handling for TCS board assembly
 - Mode fallback from IDLE mode to SAFE mode due to ACS errors/events now works properly for
   the ACS subsystem
 - Bugfix in IDLE transition for system.

mission/system/objects/TcsBoardAssembly.cpp

@@ -40,6 +40,12 @@ ReturnValue_t TcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode)
     modeTable[idx].setMode(MODE_OFF);
     modeTable[idx].setSubmode(SUBMODE_NONE);
   }
+  if (recoveryState == RecoveryState::RECOVERY_IDLE) {
+    result = checkAndHandleHealthStates(mode, submode);
+    if (result == NEED_TO_CHANGE_HEALTH) {
+      return returnvalue::OK;
+    }
+  }
   if (recoveryState != RecoveryState::RECOVERY_STARTED) {
     if (mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_ON) {
       result = handleNormalOrOnModeCmd(mode, submode);
@@ -61,10 +67,10 @@ ReturnValue_t TcsBoardAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_
   } catch (const std::out_of_range& e) {
     sif::error << "TcsBoardAssembly: Invalid children map: " << e.what() << std::endl;
   }
-  if (devsInWrongMode >= 3) {
+  if (devsInWrongMode == NUMBER_RTDS) {
     if (warningSwitch) {
-      sif::warning << "TcsBoardAssembly::checkChildrenStateOn: " << devsInWrongMode << " devices in"
+      sif::warning << "TcsBoardAssembly::checkChildrenStateOn: All devices in wrong mode"
-                   << " wrong mode" << std::endl;
+                   << std::endl;
       warningSwitch = false;
     }
     return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
@@ -179,9 +185,29 @@ void TcsBoardAssembly::handleModeReached() {
 }
 
 void TcsBoardAssembly::handleChildrenLostMode(ReturnValue_t result) {
-  // TODO: Maybe try a reboot once here?
   triggerEvent(CHILDREN_LOST_MODE, result);
-  return;
+  startTransition(mode, submode);
+}
+
+ReturnValue_t TcsBoardAssembly::checkAndHandleHealthStates(Mode_t deviceMode,
+                                                           Submode_t deviceSubmode) {
+  ReturnValue_t status = returnvalue::OK;
+  for (const auto& dev : helper.rtdInfos) {
+    HealthState health = healthHelper.healthTable->getHealth(dev.first);
+    if (health == HealthState::HEALTHY) {
+      return returnvalue::OK;
+    }
+  }
+
+  for (const auto& dev : helper.rtdInfos) {
+    HealthState health = healthHelper.healthTable->getHealth(dev.first);
+    if (health == FAULTY or health == PERMANENT_FAULTY) {
+      status = NEED_TO_CHANGE_HEALTH;
+    } else if (health == EXTERNAL_CONTROL) {
+      modeHelper.setForced(true);
+    }
+  }
+  return status;
 }
 
 void TcsBoardAssembly::handleModeTransitionFailed(ReturnValue_t result) {

mission/system/objects/TcsBoardAssembly.h

@@ -52,6 +52,7 @@ class TcsBoardAssembly : public AssemblyBase, public ConfirmsFailuresIF {
   ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
   void startTransition(Mode_t mode, Submode_t submode) override;
   void handleModeReached() override;
+  ReturnValue_t checkAndHandleHealthStates(Mode_t deviceMode, Submode_t deviceSubmode);
 
   // These two overrides prevent a transition of the whole assembly back to off just because
   // some devices are not working

mission/system/tree/tcsModeTree.cpp

@@ -19,8 +19,8 @@ static const auto NML = DeviceHandlerIF::MODE_NORMAL;
 
 auto TCS_SEQUENCE_OFF = std::make_pair(OFF, FixedArrayList<ModeListEntry, 3>());
 auto TCS_TABLE_OFF_TGT = std::make_pair((OFF << 24) | 1, FixedArrayList<ModeListEntry, 2>());
-auto TCS_TABLE_OFF_TRANS_0 = std::make_pair((OFF << 24) | 2, FixedArrayList<ModeListEntry, 7>());
+auto TCS_TABLE_OFF_TRANS_0 = std::make_pair((OFF << 24) | 2, FixedArrayList<ModeListEntry, 2>());
-auto TCS_TABLE_OFF_TRANS_1 = std::make_pair((OFF << 24) | 3, FixedArrayList<ModeListEntry, 2>());
+auto TCS_TABLE_OFF_TRANS_1 = std::make_pair((OFF << 24) | 3, FixedArrayList<ModeListEntry, 7>());
 
 auto TCS_SEQUENCE_NORMAL = std::make_pair(NML, FixedArrayList<ModeListEntry, 3>());
 auto TCS_TABLE_NORMAL_TGT = std::make_pair((NML << 24) | 1, FixedArrayList<ModeListEntry, 2>());
@@ -59,18 +59,19 @@ void buildOffSequence(Subsystem& ss, ModeListEntry& eh) {
   // OFF target table is empty
   check(ss.addTable(TableEntry(TCS_TABLE_OFF_TGT.first, &TCS_TABLE_OFF_TGT.second)), ctxc);
 
-  iht(objects::TCS_BOARD_ASS, OFF, 0, TCS_TABLE_OFF_TRANS_0.second);
+  // Transition 1
-  iht(objects::TMP1075_HANDLER_TCS_0, OFF, 0, TCS_TABLE_OFF_TRANS_0.second);
+  iht(objects::THERMAL_CONTROLLER, OFF, 0, TCS_TABLE_OFF_TRANS_0.second);
-  iht(objects::TMP1075_HANDLER_TCS_1, OFF, 0, TCS_TABLE_OFF_TRANS_0.second);
-  iht(objects::TMP1075_HANDLER_PLPCDU_0, OFF, 0, TCS_TABLE_OFF_TRANS_0.second);
-  // damaged
-  // iht(objects::TMP1075_HANDLER_PLPCDU_1, OFF, 0, TCS_TABLE_OFF_TRANS_0.second);
-  iht(objects::TMP1075_HANDLER_IF_BOARD, OFF, 0, TCS_TABLE_OFF_TRANS_0.second);
   check(ss.addTable(TableEntry(TCS_TABLE_OFF_TRANS_0.first, &TCS_TABLE_OFF_TRANS_0.second)), ctxc);
 
-  iht(objects::THERMAL_CONTROLLER, OFF, 0, TCS_TABLE_OFF_TRANS_0.second);
+  iht(objects::TCS_BOARD_ASS, OFF, 0, TCS_TABLE_OFF_TRANS_1.second);
+  iht(objects::TMP1075_HANDLER_TCS_0, OFF, 0, TCS_TABLE_OFF_TRANS_1.second);
+  iht(objects::TMP1075_HANDLER_TCS_1, OFF, 0, TCS_TABLE_OFF_TRANS_1.second);
+  iht(objects::TMP1075_HANDLER_PLPCDU_0, OFF, 0, TCS_TABLE_OFF_TRANS_1.second);
+  // TMP PL PCDU 1 is damaged
+  iht(objects::TMP1075_HANDLER_IF_BOARD, OFF, 0, TCS_TABLE_OFF_TRANS_1.second);
   check(ss.addTable(TableEntry(TCS_TABLE_OFF_TRANS_1.first, &TCS_TABLE_OFF_TRANS_1.second)), ctxc);
 
+
   ihs(TCS_SEQUENCE_OFF.second, TCS_TABLE_OFF_TGT.first, 0, false);
   ihs(TCS_SEQUENCE_OFF.second, TCS_TABLE_OFF_TRANS_0.first, 0, false);
   ihs(TCS_SEQUENCE_OFF.second, TCS_TABLE_OFF_TRANS_1.first, 0, false);
@@ -98,20 +99,20 @@ void buildNormalSequence(Subsystem& ss, ModeListEntry& eh) {
     check(sequence.insert(eh), ctxc);
   };
 
-  // OFF target table is empty
+  // Normal target table is empty
   check(ss.addTable(TableEntry(TCS_TABLE_NORMAL_TGT.first, &TCS_TABLE_NORMAL_TGT.second)), ctxc);
 
   iht(objects::TCS_BOARD_ASS, NML, 0, TCS_TABLE_NORMAL_TRANS_0.second);
   iht(objects::TMP1075_HANDLER_TCS_0, NML, 0, TCS_TABLE_NORMAL_TRANS_0.second);
   iht(objects::TMP1075_HANDLER_TCS_1, NML, 0, TCS_TABLE_NORMAL_TRANS_0.second);
   iht(objects::TMP1075_HANDLER_PLPCDU_0, NML, 0, TCS_TABLE_NORMAL_TRANS_0.second);
-  // damaged
+  // TMP PL PCDU 1 is damaged
-  // iht(objects::TMP1075_HANDLER_PLPCDU_1, NML, 0, TCS_TABLE_NORMAL_TRANS_0.second);
   iht(objects::TMP1075_HANDLER_IF_BOARD, NML, 0, TCS_TABLE_NORMAL_TRANS_0.second);
   check(ss.addTable(TableEntry(TCS_TABLE_NORMAL_TRANS_0.first, &TCS_TABLE_NORMAL_TRANS_0.second)),
         ctxc);
 
-  iht(objects::THERMAL_CONTROLLER, NML, 0, TCS_TABLE_NORMAL_TRANS_0.second);
+  // Transition 1
+  iht(objects::THERMAL_CONTROLLER, NML, 0, TCS_TABLE_NORMAL_TRANS_1.second);
   check(ss.addTable(TableEntry(TCS_TABLE_NORMAL_TRANS_1.first, &TCS_TABLE_NORMAL_TRANS_1.second)),
         ctxc);
 

tmtc

@@ -1 +1 @@
-Subproject commit af17e30676b3c4e364b6969873519951453181e2
+Subproject commit d758a1f11ac4d39eda08918c124d8736da104687