Merge branch 'v3.0.0-dev' into gyr-confg-rework-2

mission/com/TmStoreTaskBase.cpp

@@ -94,13 +94,6 @@ void TmStoreTaskBase::cancelDump(DumpContext& ctx, PersistentTmStore& store, boo
 ReturnValue_t TmStoreTaskBase::handleOneDump(PersistentTmStoreWithTmQueue& store,
                                              DumpContext& dumpContext, bool& dumpPerformed) {
   ReturnValue_t result = returnvalue::OK;
-  // The PTME might have been reset an transmitter state change, so there is no point in continuing
-  // the dump.
-  // TODO: Will be solved in a cleaner way, this is kind of a hack.
-  if (not channel.isTxOn()) {
-    cancelDump(dumpContext, store, false);
-    return returnvalue::FAILED;
-  }
   // It is assumed that the PTME will only be locked for a short period (e.g. to change datarate).
   if (not channel.isBusy() and not ptmeLocked) {
     performDump(store, dumpContext, dumpPerformed);
@@ -138,25 +131,22 @@ ReturnValue_t TmStoreTaskBase::performDump(PersistentTmStoreWithTmQueue& store,
   dumpContext.ptmeBusyCounter = 0;
   tmSinkBusyCd.resetTimer();
   ReturnValue_t result = store.getNextDumpPacket(tmReader, fileHasSwapped);
-  if (result != returnvalue::OK) {
-    sif::error << "PersistentTmStore: Getting next dump packet failed" << std::endl;
-  } else if (fileHasSwapped or result == PersistentTmStore::DUMP_DONE) {
+  if (fileHasSwapped and result == PersistentTmStore::DUMP_DONE) {
     // This can happen if a file is corrupted and the next file swap completes the dump.
     dumpDoneHandler();
     return returnvalue::OK;
+  } else if (result != returnvalue::OK) {
+    sif::error << "PersistentTmStore: Getting next dump packet failed" << std::endl;
+    return result;
   }
   dumpedLen = tmReader.getFullPacketLen();
-  // Only write to VC if mode is on, but always confirm the dump.
-  // If the mode is OFF, it is assumed the PTME is not usable and is not allowed to be written
-  // (e.g. to confirm a reset or the transmitter is off anyway).
-  if (mode == MODE_ON) {
-    result = channel.write(tmReader.getFullData(), dumpedLen);
-    if (result == DirectTmSinkIF::IS_BUSY) {
-      sif::warning << "PersistentTmStore: Unexpected VC channel busy" << std::endl;
-    } else if (result != returnvalue::OK) {
-      sif::warning << "PersistentTmStore: Unexpected VC channel write failure" << std::endl;
-    }
+  result = channel.write(tmReader.getFullData(), dumpedLen);
+  if (result == DirectTmSinkIF::IS_BUSY) {
+    sif::warning << "PersistentTmStore: Unexpected VC channel busy" << std::endl;
+  } else if (result != returnvalue::OK) {
+    sif::warning << "PersistentTmStore: Unexpected VC channel write failure" << std::endl;
   }
+
   result = store.confirmDump(tmReader, fileHasSwapped);
   if ((result == PersistentTmStore::DUMP_DONE or result == returnvalue::OK)) {
     dumpPerformed = true;

mission/com/VirtualChannel.cpp

@@ -11,23 +11,14 @@ ReturnValue_t VirtualChannel::sendNextTm(const uint8_t* data, size_t size) {
 }
 
 ReturnValue_t VirtualChannel::write(const uint8_t* data, size_t size) {
-  if (txOn) {
-    return ptme.writeToVc(vcId, data, size);
-  }
-  return returnvalue::OK;
+  return ptme.writeToVc(vcId, data, size);
 }
 
 uint8_t VirtualChannel::getVcid() const { return vcId; }
 
 const char* VirtualChannel::getName() const { return vcName.c_str(); }
 
-bool VirtualChannel::isBusy() const {
-  // Data is discarded, so channel is not busy.
-  if (not txOn) {
-    return false;
-  }
-  return ptme.isBusy(vcId);
-}
+bool VirtualChannel::isBusy() const { return ptme.isBusy(vcId); }
 
 void VirtualChannel::cancelTransfer() { ptme.cancelTransfer(vcId); }
 

mission/controller/ThermalController.cpp

@@ -175,7 +175,7 @@ void ThermalController::performControlOperation() {
   heaterHandler.getAllSwitchStates(heaterSwitchStateArray);
   {
     PoolReadGuard pg(&heaterInfo);
-    std::memcpy(heaterInfo.heaterSwitchState.value, heaterStates.data(), 8);
+    std::memcpy(heaterInfo.heaterSwitchState.value, heaterSwitchStateArray.data(), 8);
     {
       PoolReadGuard pg2(&currentVecPdu2);
       if (pg.getReadResult() == returnvalue::OK and pg2.getReadResult() == returnvalue::OK) {
@@ -1631,13 +1631,18 @@ bool ThermalController::selectAndReadSensorTemp(HeaterContext& htrCtx) {
 bool ThermalController::chooseHeater(heater::Switch& switchNr, heater::Switch redSwitchNr) {
   bool heaterAvailable = true;
 
-  if (heaterHandler.getHealth(switchNr) != HasHealthIF::HEALTHY) {
-    if (heaterHandler.getHealth(redSwitchNr) == HasHealthIF::HEALTHY) {
+  HasHealthIF::HealthState mainHealth = heaterHandler.getHealth(switchNr);
+  HasHealthIF::HealthState redHealth = heaterHandler.getHealth(redSwitchNr);
+  if (mainHealth != HasHealthIF::HEALTHY) {
+    if (redHealth == HasHealthIF::HEALTHY) {
       switchNr = redSwitchNr;
       redSwitchNrInUse = true;
     } else {
       heaterAvailable = false;
-      triggerEvent(tcsCtrl::NO_HEALTHY_HEATER_AVAILABLE, switchNr, redSwitchNr);
+      // Special case: Ground might command/do something with the heaters, so prevent spam.
+      if (not(mainHealth == EXTERNAL_CONTROL and redHealth == EXTERNAL_CONTROL)) {
+        triggerEvent(tcsCtrl::NO_HEALTHY_HEATER_AVAILABLE, switchNr, redSwitchNr);
+      }
     }
   } else {
     redSwitchNrInUse = false;

mission/controller/acs/AcsParameters.cpp

@@ -539,6 +539,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
         case 0xA:
           parameterWrapper->setVector(nadirModeControllerParameters.quatRef);
           break;
+        case 0xB:
+          parameterWrapper->setVector(nadirModeControllerParameters.refRotRate);
+          break;
         case 0xC:
           parameterWrapper->set(nadirModeControllerParameters.timeElapsedMax);
           break;

mission/controller/acs/ActuatorCmd.cpp

@@ -61,7 +61,7 @@ void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, int16_t *dipolMomentAct
   // Scaling along largest element if dipol exceeds maximum
   uint8_t maxIdx = 0;
   VectorOperations<double>::maxAbsValue(dipolMomentActuatorDouble, 3, &maxIdx);
-  double maxAbsValue = abs(dipolMomentActuatorDouble[maxIdx]);
+  double maxAbsValue = std::abs(dipolMomentActuatorDouble[maxIdx]);
   if (maxAbsValue > maxDipol) {
     double scalingFactor = maxDipol / maxAbsValue;
     VectorOperations<double>::mulScalar(dipolMomentActuatorDouble, scalingFactor,

mission/tcs/HeaterHandler.cpp

@@ -268,6 +268,8 @@ void HeaterHandler::handleSwitchOnCommand(heater::Switch heaterIdx) {
         triggerEvent(GPIO_PULL_HIGH_FAILED, result);
       } else {
         triggerEvent(HEATER_WENT_ON, heaterIdx, 0);
+        EventManagerIF::triggerEvent(helper.heaters[heaterIdx].first->getObjectId(), MODE_INFO,
+                                     MODE_ON, 0);
         {
           MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
           heater.switchState = ON;
@@ -324,6 +326,8 @@ void HeaterHandler::handleSwitchOffCommand(heater::Switch heaterIdx) {
         heater.switchState = OFF;
       }
       triggerEvent(HEATER_WENT_OFF, heaterIdx, 0);
+      EventManagerIF::triggerEvent(helper.heaters[heaterIdx].first->getObjectId(), MODE_INFO,
+                                   MODE_OFF, 0);
       // When all switches are off, also main line switch will be turned off
       if (allSwitchesOff()) {
         mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);

mission/tmtc/PersistentTmStore.cpp

@@ -256,6 +256,7 @@ ReturnValue_t PersistentTmStore::getNextDumpPacket(PusTmReader& reader, bool& fi
   if (state == State::IDLE or dumpParams.pendingPacketDump) {
     return returnvalue::FAILED;
   }
+  fileHasSwapped = false;
   reader.setReadOnlyData(fileBuf.data() + dumpParams.currentSize,
                          fileBuf.size() - dumpParams.currentSize);
   // CRC check to fully ensure this is a valid TM
@@ -270,7 +271,6 @@ ReturnValue_t PersistentTmStore::getNextDumpPacket(PusTmReader& reader, bool& fi
     fileHasSwapped = true;
     return loadNextDumpFile();
   }
-  fileHasSwapped = false;
   dumpParams.pendingPacketDump = true;
   return returnvalue::OK;
 }