eive/eive-obsw
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refactored TM funnels to allow multiple TM recipients

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This commit is contained in:
Robin Müller
2022-11-02 10:20:14 +01:00
parent 7dcc00312f
commit 191d5f1268
47 changed files with 287 additions and 200 deletions
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29
mission/devices/PayloadPcduHandler.cpp
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@ -66,7 +66,7 @@ void PayloadPcduHandler::doShutDown() {
}
void PayloadPcduHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
if (mode == _MODE_TO_NORMAL) {
if (getMode() == _MODE_TO_NORMAL) {
stateMachineToNormal(modeFrom, subModeFrom);
return;
}
@ -76,7 +76,7 @@ void PayloadPcduHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
ReturnValue_t PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_t subModeFrom) {
using namespace plpcdu;
bool doFinish = true;
if (((submode >> SOLID_STATE_RELAYS_ADC_ON) & 0b1) == 1) {
if (((getSubmode() >> SOLID_STATE_RELAYS_ADC_ON) & 0b1) == 1) {
if (state == States::PL_PCDU_OFF) {
sif::error << "PayloadPcduHandler::stateMachineToNormal: Unexpected state PL_PCDU_OFF"
<< "detected" << std::endl;
@ -129,7 +129,7 @@ ReturnValue_t PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_
auto switchHandler = [&](NormalSubmodeBits bit, gpioId_t id, std::string info) {
if (((diffMask >> bit) & 1) == 1) {
if (((submode >> bit) & 1) == 1) {
if (((getSubmode() >> bit) & 1) == 1) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::info << "Enabling PL PCDU " << info << " module" << std::endl;
#endif
@ -150,7 +150,7 @@ ReturnValue_t PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_
switchHandler(MPA_ON, gpioIds::PLPCDU_ENB_MPA, "MPA");
switchHandler(HPA_ON, gpioIds::PLPCDU_ENB_HPA, "HPA");
if (doFinish) {
setMode(MODE_NORMAL, submode);
setMode(MODE_NORMAL);
}
return returnvalue::OK;
}
@ -177,7 +177,7 @@ ReturnValue_t PayloadPcduHandler::buildTransitionDeviceCommand(DeviceCommandId_t
*id = plpcdu::SETUP_CMD;
return buildCommandFromCommand(*id, nullptr, 0);
}
if (mode == _MODE_TO_NORMAL) {
if (getMode() == _MODE_TO_NORMAL) {
return buildNormalDeviceCommand(id);
}
return NOTHING_TO_SEND;
@ -248,7 +248,7 @@ ReturnValue_t PayloadPcduHandler::interpretDeviceReply(DeviceCommandId_t id,
using namespace plpcdu;
switch (id) {
case (SETUP_CMD): {
if (mode == _MODE_TO_NORMAL) {
if (getMode() == _MODE_TO_NORMAL) {
adcCmdExecuted = true;
}
break;
@ -540,33 +540,34 @@ bool PayloadPcduHandler::checkCurrent(float val, float upperBound, Event event)
ReturnValue_t PayloadPcduHandler::isModeCombinationValid(Mode_t mode, Submode_t submode) {
using namespace plpcdu;
if (mode == MODE_NORMAL) {
diffMask = submode ^ this->submode;
uint8_t dhbSubmode = getSubmode();
diffMask = submode ^ dhbSubmode;
// Also deals with the case where the mode is MODE_ON, submode should be 0 here
if ((((submode >> SOLID_STATE_RELAYS_ADC_ON) & 0b1) == SOLID_STATE_RELAYS_ADC_ON) and
(this->mode == MODE_NORMAL and this->submode != ALL_OFF_SUBMODE)) {
(getMode() == MODE_NORMAL and dhbSubmode != ALL_OFF_SUBMODE)) {
return TRANS_NOT_ALLOWED;
}
if (((((submode >> DRO_ON) & 1) == 1) and
((this->submode & 0b1) != (1 << SOLID_STATE_RELAYS_ADC_ON)))) {
((dhbSubmode & 0b1) != (1 << SOLID_STATE_RELAYS_ADC_ON)))) {
return TRANS_NOT_ALLOWED;
}
if ((((submode >> X8_ON) & 1) == 1) and
((this->submode & 0b11) != ((1 << SOLID_STATE_RELAYS_ADC_ON) | (1 << DRO_ON)))) {
((dhbSubmode & 0b11) != ((1 << SOLID_STATE_RELAYS_ADC_ON) | (1 << DRO_ON)))) {
return TRANS_NOT_ALLOWED;
}
if (((((submode >> TX_ON) & 1) == 1) and
((this->submode & 0b111) !=
((dhbSubmode & 0b111) !=
((1 << X8_ON) | (1 << DRO_ON) | (1 << SOLID_STATE_RELAYS_ADC_ON))))) {
return TRANS_NOT_ALLOWED;
}
if ((((submode >> MPA_ON) & 1) == 1 and
((this->submode & 0b1111) !=
((dhbSubmode & 0b1111) !=
((1 << TX_ON) | (1 << X8_ON) | (1 << DRO_ON) | (1 << SOLID_STATE_RELAYS_ADC_ON))))) {
return TRANS_NOT_ALLOWED;
}
if ((((submode >> HPA_ON) & 1) == 1 and
((this->submode & 0b11111) != ((1 << MPA_ON) | (1 << TX_ON) | (1 << X8_ON) |
(1 << DRO_ON) | (1 << SOLID_STATE_RELAYS_ADC_ON))))) {
((dhbSubmode & 0b11111) != ((1 << MPA_ON) | (1 << TX_ON) | (1 << X8_ON) | (1 << DRO_ON) |
(1 << SOLID_STATE_RELAYS_ADC_ON))))) {
return TRANS_NOT_ALLOWED;
}
return returnvalue::OK;