From e5d5af68c148c5248bfc7e260fb2550a08c963fd Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Thu, 21 Apr 2022 09:35:02 +0200
Subject: [PATCH 1/3] Important bugfix and improvement for PCDU Handler

- Fixed out of bounds error
- Handle multiple messages in queue handler
- PCDU Handler now only called once in PST
---
 fsfw                                          |  2 +-
 .../pollingSequenceFactory.cpp                |  1 -
 mission/devices/PCDUHandler.cpp               | 33 +++++++++++--------
 3 files changed, 21 insertions(+), 15 deletions(-)

diff --git a/fsfw b/fsfw
index e949368b..cec12c00 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit e949368b062e8703c35d2043ece8d7258cd2608b
+Subproject commit cec12c007336441ea0f5ce912c181c3f14e574ca
diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
index 0f9232e0..942404d3 100644
--- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
+++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
@@ -514,7 +514,6 @@ ReturnValue_t pst::pstGompaceCan(FixedTimeslotTaskIF *thisSequence) {
 #if Q7S_EM != 1
   // PCDU handlers receives two messages and both must be handled
   thisSequence->addSlot(objects::PCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::PCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
 
   thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
   thisSequence->addSlot(objects::PDU1_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
diff --git a/mission/devices/PCDUHandler.cpp b/mission/devices/PCDUHandler.cpp
index bc302bac..10d12cf8 100644
--- a/mission/devices/PCDUHandler.cpp
+++ b/mission/devices/PCDUHandler.cpp
@@ -81,27 +81,34 @@ ReturnValue_t PCDUHandler::initialize() {
 
 void PCDUHandler::initializeSwitchStates() {
   using namespace pcdu;
-  for (uint8_t idx = 0; idx < NUMBER_OF_SWITCHES; idx++) {
-    if (idx < PDU::CHANNELS_LEN) {
-      switchStates[idx] = INIT_SWITCHES_PDU1[idx];
-    } else {
-      switchStates[idx] = INIT_SWITCHES_PDU2[idx];
+  try {
+    for (uint8_t idx = 0; idx < NUMBER_OF_SWITCHES; idx++) {
+      if (idx < PDU::CHANNELS_LEN) {
+        switchStates[idx] = INIT_SWITCHES_PDU1.at(idx);
+      } else {
+        switchStates[idx] = INIT_SWITCHES_PDU2.at(idx - PDU::CHANNELS_LEN);
+      }
     }
+  } catch (const std::out_of_range& err) {
+    sif::error << "PCDUHandler::initializeSwitchStates: " << err.what() << std::endl;
   }
 }
 
 void PCDUHandler::readCommandQueue() {
-  ReturnValue_t result;
+  ReturnValue_t result = RETURN_OK;
   CommandMessage command;
 
-  result = commandQueue->receiveMessage(&command);
-  if (result != RETURN_OK) {
-    return;
-  }
+  for (result = commandQueue->receiveMessage(&command); result == RETURN_OK;
+       result = commandQueue->receiveMessage(&command)) {
+    result = commandQueue->receiveMessage(&command);
+    if (result != RETURN_OK) {
+      return;
+    }
 
-  result = poolManager.handleHousekeepingMessage(&command);
-  if (result == RETURN_OK) {
-    return;
+    result = poolManager.handleHousekeepingMessage(&command);
+    if (result == RETURN_OK) {
+      return;
+    }
   }
 }
 

From 4a5ea4450f75b0d9975d9017f3a241185ac0227e Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Fri, 22 Apr 2022 10:59:43 +0200
Subject: [PATCH 2/3] update changelog

---
 CHANGELOG.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 17d29e7b..7982b2ff 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -15,6 +15,7 @@ list yields a list of all related PRs for each release.
 
 ## Changed
 
+- PCDU handler only called once in PST, but can handle multiple messages now
 - Update rootfs base of Linux, all related OBSW changes
 - Use gpsd version 3.17 now. Includes API changes
 - Add `/usr/local/bin` to PATH. All shell scripts are there now

From ba2589c8d52200398886312bec6c12428769273c Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Sat, 23 Apr 2022 12:30:49 +0200
Subject: [PATCH 3/3] submodule updates

---
 fsfw | 2 +-
 tmtc | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/fsfw b/fsfw
index 24ef96d1..280b641c 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit 24ef96d1b802e768d395f94b69f9f81a3c6d1e66
+Subproject commit 280b641cbc621d0c00c89851aaffbb64d5e5f40b
diff --git a/tmtc b/tmtc
index 28983d38..b1aaef90 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit 28983d387b82578a73fbfe052cb53dec1910d021
+Subproject commit b1aaef90c72874f501c6524ec967827f17e8cedf