eive/eive-obsw
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finally works

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This commit is contained in:
Robin Müller
2023-04-06 22:35:23 +02:00
parent e4530544c2
commit 2968856d71
12 changed files with 184 additions and 154 deletions
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111
mission/system/EiveSystem.cpp
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@ -73,11 +73,19 @@ ReturnValue_t EiveSystem::initialize() {
if (result != returnvalue::OK) {
return result;
}
auto* bpxDest = ObjectManager::instance()->get<HasActionsIF>(objects::BPX_BATT_HANDLER);
if (bpxDest == nullptr) {
return ObjectManager::CHILD_INIT_FAILED;
}
bpxBattQueueId = bpxDest->getCommandQueue();
auto* coreCtrl = ObjectManager::instance()->get<HasActionsIF>(objects::CORE_CONTROLLER);
if (coreCtrl == nullptr) {
return ObjectManager::CHILD_INIT_FAILED;
}
coreCtrlQueueId = coreCtrl->getCommandQueue();
auto* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
if (manager == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
@ -178,51 +186,71 @@ void EiveSystem::i2cRecoveryLogic() {
}
}
if (not isInTransition and performI2cReboot) {
if (i2cRebootState == I2cRebootState::SYSTEM_MODE_BOOT) {
startTransition(satsystem::Mode::BOOT, 0);
i2cRebootState = I2cRebootState::SWITCH_3V3_STACK_OFF_AND_BATT_REBOOT;
i2cRebootHandlingCountdown.resetTimer();
} else if (i2cRebootState == I2cRebootState::SWITCH_3V3_STACK_OFF_AND_BATT_REBOOT) {
if (mode == satsystem::Mode::BOOT) {
result = powerSwitcher->sendSwitchCommand(power::Switches::P60_DOCK_3V3_STACK,
PowerSwitchIF::SWITCH_OFF);
if (result != returnvalue::OK) {
actionHelper.finish(false, actionCommandedBy, EXECUTE_I2C_REBOOT, result);
commonI2cRecoverySequenceFinish();
return;
}
CommandMessage msg;
ActionMessage::setCommand(&msg, BpxBattery::REBOOT, store_address_t());
result = commandQueue->sendMessage(bpxBattQueueId, &msg);
if (result != returnvalue::OK) {
actionHelper.finish(false, actionCommandedBy, EXECUTE_I2C_REBOOT, result);
commonI2cRecoverySequenceFinish();
return;
switch (i2cRebootState) {
case (I2cRebootState::NONE): {
break;
}
case (I2cRebootState::SYSTEM_MODE_BOOT): {
sif::debug << "going to boot mode" << std::endl;
startTransition(satsystem::Mode::BOOT, 0);
i2cRebootState = I2cRebootState::SWITCH_3V3_STACK_OFF_AND_BATT_REBOOT;
i2cRebootHandlingCountdown.resetTimer();
break;
}
case (I2cRebootState::SWITCH_3V3_STACK_OFF_AND_BATT_REBOOT): {
sif::debug << "3v3 stack off and batt reboot" << std::endl;
if (mode == satsystem::Mode::BOOT) {
result = powerSwitcher->sendSwitchCommand(power::Switches::P60_DOCK_3V3_STACK,
PowerSwitchIF::SWITCH_OFF);
if (result != returnvalue::OK) {
actionHelper.finish(false, actionCommandedBy, EXECUTE_I2C_REBOOT, result);
commonI2cRecoverySequenceFinish();
return;
}
CommandMessage msg;
store_address_t dummy{};
ActionMessage::setCommand(&msg, bpxBat::REBOOT, dummy);
result = commandQueue->sendMessage(bpxBattQueueId, &msg);
if (result != returnvalue::OK) {
actionHelper.finish(false, actionCommandedBy, EXECUTE_I2C_REBOOT, result);
commonI2cRecoverySequenceFinish();
return;
}
i2cRebootState = I2cRebootState::WAIT_CYCLE;
}
break;
}
case (I2cRebootState::WAIT_CYCLE): {
i2cRebootState = I2cRebootState::SWITCH_3V3_STACK_ON;
break;
}
if (i2cRebootHandlingCountdown.hasTimedOut()) {
actionHelper.finish(false, actionCommandedBy, EXECUTE_I2C_REBOOT, returnvalue::FAILED);
performI2cReboot = false;
case (I2cRebootState::SWITCH_3V3_STACK_ON): {
sif::debug << "3v3 stack on" << std::endl;
result = powerSwitcher->sendSwitchCommand(power::Switches::P60_DOCK_3V3_STACK,
PowerSwitchIF::SWITCH_ON);
if (result != returnvalue::OK) {
actionHelper.finish(false, actionCommandedBy, EXECUTE_I2C_REBOOT, result);
commonI2cRecoverySequenceFinish();
return;
}
i2cRebootState = I2cRebootState::SYSTEM_MODE_SAFE;
break;
}
} else if (i2cRebootState == I2cRebootState::SWITCH_3V3_STACK_ON) {
result = powerSwitcher->sendSwitchCommand(power::Switches::P60_DOCK_3V3_STACK,
PowerSwitchIF::SWITCH_ON);
if (result != returnvalue::OK) {
actionHelper.finish(false, actionCommandedBy, EXECUTE_I2C_REBOOT, result);
commonI2cRecoverySequenceFinish();
return;
case (I2cRebootState::SYSTEM_MODE_SAFE): {
if (powerSwitcher->getSwitchState(power::Switches::P60_DOCK_3V3_STACK) ==
PowerSwitchIF::SWITCH_ON) {
// This should always be accepted
commonI2cRecoverySequenceFinish();
sif::debug << "going back to safe" << std::endl;
actionHelper.finish(true, actionCommandedBy, EXECUTE_I2C_REBOOT);
}
break;
}
i2cRebootState = I2cRebootState::SYSTEM_MODE_SAFE;
} else if (i2cRebootState == I2cRebootState::SYSTEM_MODE_SAFE) {
if (powerSwitcher->getSwitchState(power::Switches::P60_DOCK_3V3_STACK) ==
PowerSwitchIF::SWITCH_ON) {
// This should always be accepted
commonI2cRecoverySequenceFinish();
actionHelper.finish(true, actionCommandedBy, EXECUTE_I2C_REBOOT);
default: {
sif::error << "EiveSystem: Unexpected I2C reboot state" << std::endl;
break;
}
}
// Timeout handling for the internal procedure.
if (i2cRebootState != I2cRebootState::NONE and i2cRebootHandlingCountdown.hasTimedOut()) {
actionHelper.finish(false, actionCommandedBy, EXECUTE_I2C_REBOOT, returnvalue::FAILED);
@ -247,3 +275,10 @@ void EiveSystem::commonI2cRecoverySequenceFinish() {
// This should always be accepted
commandSelfToSafe();
}
ReturnValue_t EiveSystem::handleCommandMessage(CommandMessage* message) {
if (message->getMessageType() == messagetypes::ACTION) {
return actionHelper.handleActionMessage(message);
}
return Subsystem::handleCommandMessage(message);
}