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Merge pull request 'proper fault/ext ctrl handling for dual side' (#529) from improve_duallane_fdir into develop
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Reviewed-on: #529
This commit is contained in:
Robin Müller 2023-03-28 22:09:21 +02:00
commit 3e58e4a8a4
2 changed files with 37 additions and 22 deletions
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34
mission/system/acs/AcsBoardAssembly.cpp
View File

@ -289,25 +289,29 @@ ReturnValue_t AcsBoardAssembly::checkAndHandleHealthStates(Mode_t deviceMode,
Submode_t deviceSubmode) {
using namespace returnvalue;
ReturnValue_t status = returnvalue::OK;
auto overwriteHealthForOneDev = [&](object_id_t dev) {
HealthState health = healthHelper.healthTable->getHealth(dev);
if (health == FAULTY or health == PERMANENT_FAULTY) {
overwriteDeviceHealth(dev, health);
status = NEED_TO_CHANGE_HEALTH;
} else if (health == EXTERNAL_CONTROL) {
auto checkAcsBoardSensorGroup = [&](object_id_t o0, object_id_t o1, object_id_t o2,
object_id_t o3) {
HealthState h0 = healthHelper.healthTable->getHealth(o0);
HealthState h1 = healthHelper.healthTable->getHealth(o1);
HealthState h2 = healthHelper.healthTable->getHealth(o2);
HealthState h3 = healthHelper.healthTable->getHealth(o3);
if ((h0 == FAULTY or h0 == PERMANENT_FAULTY) and (h1 == FAULTY or h1 == PERMANENT_FAULTY) and
(h2 == FAULTY or h2 == PERMANENT_FAULTY) and (h3 == FAULTY or h3 == PERMANENT_FAULTY)) {
overwriteDeviceHealth(o0, h0);
overwriteDeviceHealth(o1, h1);
overwriteDeviceHealth(o2, h2);
overwriteDeviceHealth(o3, h3);
}
if (h0 == EXTERNAL_CONTROL or h1 == EXTERNAL_CONTROL or h2 == EXTERNAL_CONTROL or
h3 == EXTERNAL_CONTROL) {
modeHelper.setForced(true);
}
};
if (deviceSubmode == duallane::DUAL_MODE) {
overwriteHealthForOneDev(helper.mgm0Lis3IdSideA);
overwriteHealthForOneDev(helper.mgm1Rm3100IdSideA);
overwriteHealthForOneDev(helper.mgm2Lis3IdSideB);
overwriteHealthForOneDev(helper.mgm3Rm3100IdSideB);
overwriteHealthForOneDev(helper.gyro0AdisIdSideA);
overwriteHealthForOneDev(helper.gyro1L3gIdSideA);
overwriteHealthForOneDev(helper.gyro2AdisIdSideB);
overwriteHealthForOneDev(helper.gyro3L3gIdSideB);
overwriteHealthForOneDev(helper.gpsId);
checkAcsBoardSensorGroup(helper.mgm0Lis3IdSideA, helper.mgm1Rm3100IdSideA,
helper.mgm2Lis3IdSideB, helper.mgm3Rm3100IdSideB);
checkAcsBoardSensorGroup(helper.gyro0AdisIdSideA, helper.gyro1L3gIdSideA,
helper.gyro2AdisIdSideB, helper.gyro3L3gIdSideB);
}
return status;
}

25
mission/system/acs/SusAssembly.cpp
View File

@ -158,18 +158,29 @@ void SusAssembly::refreshHelperModes() {
ReturnValue_t SusAssembly::checkAndHandleHealthStates(Mode_t deviceMode, Submode_t deviceSubmode) {
using namespace returnvalue;
ReturnValue_t status = returnvalue::OK;
auto overwriteHealthForOneDev = [&](object_id_t dev) {
auto checkSusGroup = [&](object_id_t devNom, object_id_t devRed) {
HealthState healthNom = healthHelper.healthTable->getHealth(devNom);
HealthState healthRed = healthHelper.healthTable->getHealth(devRed);
if ((healthNom == FAULTY or healthNom == PERMANENT_FAULTY) and
(healthRed == FAULTY or healthRed == PERMANENT_FAULTY)) {
overwriteDeviceHealth(devNom, healthNom);
overwriteDeviceHealth(devRed, healthRed);
}
};
auto checkHealthForOneDev = [&](object_id_t dev) {
HealthState health = healthHelper.healthTable->getHealth(dev);
if (health == FAULTY or health == PERMANENT_FAULTY) {
overwriteDeviceHealth(dev, health);
status = NEED_TO_CHANGE_HEALTH;
} else if (health == EXTERNAL_CONTROL) {
if (health == EXTERNAL_CONTROL) {
modeHelper.setForced(true);
}
};
if (deviceSubmode == duallane::DUAL_MODE) {
for (uint8_t idx = 0; idx < 12; idx++) {
overwriteHealthForOneDev(helper.susIds[idx]);
uint8_t idx = 0;
for (idx = 0; idx < 6; idx++) {
checkSusGroup(helper.susIds[idx], helper.susIds[idx + 6]);
checkHealthForOneDev(helper.susIds[idx]);
}
for (idx = 6; idx < 12; idx++) {
checkHealthForOneDev(helper.susIds[idx]);
}
}
return status;