eive/eive-obsw
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This commit is contained in:
Robin Müller
2023-04-03 18:02:45 +02:00
parent e3677f89fe
commit 1610bdecf9
8 changed files with 37 additions and 14 deletions
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26
mission/system/acs/AcsBoardAssembly.cpp
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@ -78,7 +78,7 @@ ReturnValue_t AcsBoardAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_
if ((helper.gyro0SideAMode != wantedMode and helper.gyro1SideAMode != wantedMode) or
(helper.mgm0SideAMode != wantedMode and helper.mgm1SideAMode != wantedMode) or
(helper.gpsMode != MODE_ON) or
(healthHelper.healthTable->getHealth(helper.healthDevGps0) == FAULTY)) {
gps0HealthDevFaulty()) {
return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
}
return returnvalue::OK;
@ -86,7 +86,7 @@ ReturnValue_t AcsBoardAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_
if ((helper.gyro2SideBMode != wantedMode and helper.gyro3SideBMode != wantedMode) or
(helper.mgm2SideBMode != wantedMode and helper.mgm3SideBMode != wantedMode) or
(helper.gpsMode != MODE_ON) or
(healthHelper.healthTable->getHealth(helper.healthDevGps1) == FAULTY)) {
gps1HealthDevFaulty()) {
return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
}
return returnvalue::OK;
@ -296,15 +296,13 @@ void AcsBoardAssembly::handleChildrenLostMode(ReturnValue_t result) {
// Special handling to account for GPS devices being faulty. If the GPS device on the other
// side is marked faulty, directly to to dual side.
if (submode == Submodes::A_SIDE) {
if (healthHelper.healthTable->getHealth(helper.healthDevGps1) == FAULTY or
healthHelper.healthTable->getHealth(helper.healthDevGps1) == PERMANENT_FAULTY) {
if (gps0HealthDevFaulty()) {
triggerEvent(DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY, submode, 0);
startTransition(mode, Submodes::DUAL_MODE);
return;
}
} else if (submode == Submodes::B_SIDE) {
if (healthHelper.healthTable->getHealth(helper.healthDevGps0) == FAULTY or
healthHelper.healthTable->getHealth(helper.healthDevGps0) == PERMANENT_FAULTY) {
if (gps1HealthDevFaulty()) {
triggerEvent(DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY, submode, 0);
startTransition(mode, Submodes::DUAL_MODE);
return;
@ -312,3 +310,19 @@ void AcsBoardAssembly::handleChildrenLostMode(ReturnValue_t result) {
}
DualLaneAssemblyBase::handleChildrenLostMode(result);
}
bool AcsBoardAssembly::gps0HealthDevFaulty() const {
auto health = healthHelper.healthTable->getHealth(helper.healthDevGps0);
if (health == FAULTY or health == PERMANENT_FAULTY) {
return true;
}
return false;
}
bool AcsBoardAssembly::gps1HealthDevFaulty() const {
auto health = healthHelper.healthTable->getHealth(helper.healthDevGps1);
if (health == FAULTY or health == PERMANENT_FAULTY) {
return true;
}
return false;
}