Merge pull request 'Improvement for PCDU Handler' (#221) from mueller/minor-tweaks-pcdu-handler into develop

Reviewed-on: #221
Reviewed-by: Jakob.Meier <meierj@irs.uni-stuttgart.de>

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

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);

mission/devices/PCDUHandler.cpp

@@ -95,9 +95,11 @@ void PCDUHandler::initializeSwitchStates() {
 }
 
 void PCDUHandler::readCommandQueue() {
-  ReturnValue_t result;
+  ReturnValue_t result = RETURN_OK;
   CommandMessage command;
 
+  for (result = commandQueue->receiveMessage(&command); result == RETURN_OK;
+       result = commandQueue->receiveMessage(&command)) {
     result = commandQueue->receiveMessage(&command);
     if (result != RETURN_OK) {
       return;
@@ -108,6 +110,7 @@ void PCDUHandler::readCommandQueue() {
       return;
     }
   }
+}
 
 MessageQueueId_t PCDUHandler::getCommandQueue() const { return commandQueue->getId(); }