tcs assembly working for now

fsfw

@@ -1 +1 @@
-Subproject commit bbe21e7e8957a39e6697c6dd4fb2fe044b560044
+Subproject commit 4b5e3e70f7eb65780b697a81ba95ecc2a74a8b84

mission/devices/Max31865PT1000Handler.cpp

@@ -87,6 +87,7 @@ void Max31865PT1000Handler::doStartUp() {
 
 void Max31865PT1000Handler::doShutDown() {
   commandExecuted = false;
+  warningSwitch = true;
   setMode(_MODE_POWER_DOWN);
 }
 
@@ -319,15 +320,15 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(DeviceCommandId_t id,
   switch (id) {
     case (Max31865Definitions::REQUEST_CONFIG): {
       if (packet[1] != DEFAULT_CONFIG) {
-        if(warningSwitch) {
-  #if FSFW_CPP_OSTREAM_ENABLED == 1
+        if (warningSwitch) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
           // it propably would be better if we at least try one restart..
           sif::warning << "Max31865PT1000Handler: 0x" << std::hex << this->getObjectId()
-                     << ": Invalid configuration reply" << std::endl;
-  #else
+                       << ": Invalid configuration reply" << std::endl;
+#else
           sif::printWarning("Max31865PT1000Handler: %04x: Invalid configuration reply!\n",
-                          this->getObjectId());
-  #endif
+                            this->getObjectId());
+#endif
           warningSwitch = false;
         }
         return HasReturnvaluesIF::RETURN_OK;
@@ -508,10 +509,6 @@ ReturnValue_t Max31865PT1000Handler::getSwitches(const uint8_t **switches,
   return DeviceHandlerBase::NO_SWITCH;
 }
 
-void Max31865PT1000Handler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
-  DeviceHandlerBase::doTransition(modeFrom, subModeFrom);
-}
-
 ReturnValue_t Max31865PT1000Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                              LocalDataPoolManager &poolManager) {
   localDataPoolMap.emplace(Max31865Definitions::PoolIds::RTD_VALUE, new PoolEntry<float>({0}));

mission/devices/Max31865PT1000Handler.h

@@ -74,8 +74,6 @@ class Max31865PT1000Handler : public DeviceHandlerBase {
   uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
   ReturnValue_t getSwitches(const uint8_t **switches, uint8_t *numberOfSwitches) override;
 
-  void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
-
   void debugInterface(uint8_t positionTracker = 0, object_id_t objectId = 0,
                       uint32_t parameter = 0) override;
   ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
@@ -84,7 +82,7 @@ class Max31865PT1000Handler : public DeviceHandlerBase {
 
  private:
   uint8_t switchId = 0;
-  bool instantNormal = true;
+  bool instantNormal = false;
   bool warningSwitch = true;
 
   enum class InternalState {

mission/system/TcsBoardAssembly.cpp

@@ -8,6 +8,14 @@ TcsBoardAssembly::TcsBoardAssembly(object_id_t objectId, object_id_t parentId,
                                    TcsBoardHelper helper)
     : AssemblyBase(objectId, parentId, 24), switcher(pwrSwitcher, theSwitch), helper(helper) {
   eventQueue = QueueFactory::instance()->createMessageQueue(24);
+  ModeListEntry entry;
+  for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) {
+    entry.setObject(helper.rtdIds[idx]);
+    entry.setMode(MODE_OFF);
+    entry.setSubmode(SUBMODE_NONE);
+    entry.setInheritSubmode(false);
+    modeTable.insert(entry);
+  }
 }
 
 void TcsBoardAssembly::performChildOperation() {
@@ -24,7 +32,7 @@ void TcsBoardAssembly::performChildOperation() {
              switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
     // Indicator that mode commanding can be performed now
     AssemblyBase::startTransition(targetMode, targetSubmode);
-    AssemblyBase::performChildOperation();
+    // AssemblyBase::performChildOperation();
   }
 }
 
@@ -46,14 +54,33 @@ ReturnValue_t TcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode)
 }
 
 ReturnValue_t TcsBoardAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) {
-  uint8_t devsInWrongMode = 0;
-  for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) {
-    if (childrenMap[idx].mode != wantedMode) {
-      devsInWrongMode++;
+  int devsInWrongMode = 0;
+  try {
+    for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) {
+      if (childrenMap.at(helper.rtdIds[idx]).mode != wantedMode) {
+        devsInWrongMode++;
+      }
     }
+  } catch (const std::out_of_range& e) {
+    sif::error << "TcsBoardAssembly: Invalid children map: " << e.what() << std::endl;
+  }
+  if (devsInWrongMode == 16) {
+    if (warningSwitch) {
+      sif::warning << "TcsBoardAssembly::checkChildrenStateOn: All devices in"
+                   << " wrong mode" << std::endl;
+      warningSwitch = false;
+    }
+    return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
   }
   // TODO: Can't really do something other than power cycling if devices in wrong mode.
   // Might attempt one power-cycle. In any case, trigger an event
+  if (devsInWrongMode > 0) {
+    if (warningSwitch) {
+      sif::warning << "TcsBoardAssembly::checkChildrenStateOn: " << devsInWrongMode << " devices in"
+                   << " wrong mode" << std::endl;
+      warningSwitch = false;
+    }
+  }
   return RETURN_OK;
 }
 
@@ -77,7 +104,7 @@ ReturnValue_t TcsBoardAssembly::initialize() {
 
 void TcsBoardAssembly::startTransition(Mode_t mode, Submode_t submode) {
   if (mode != MODE_OFF) {
-    switcher.turnOn();
+    switcher.turnOn(true);
     switcher.doStateMachine();
     if (switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
       AssemblyBase::startTransition(mode, submode);
@@ -87,6 +114,7 @@ void TcsBoardAssembly::startTransition(Mode_t mode, Submode_t submode) {
       targetSubmode = submode;
     }
   } else {
+    // Perform regular mode commanding first
     AssemblyBase::startTransition(mode, submode);
   }
 }
@@ -96,30 +124,34 @@ ReturnValue_t TcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
   bool needsSecondStep = false;
   Mode_t devMode = 0;
   object_id_t objId = 0;
-  for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) {
-    devMode = childrenMap[idx].mode;
-    objId = helper.rtdIds[idx];
-    if (mode == devMode) {
-      modeTable[idx].setMode(mode);
-    } else if (mode == DeviceHandlerIF::MODE_NORMAL) {
-      if (isUseable(objId, devMode)) {
-        if (devMode == MODE_ON) {
-          modeTable[idx].setMode(mode);
-          modeTable[idx].setSubmode(SUBMODE_NONE);
-        } else {
-          modeTable[idx].setMode(MODE_ON);
-          modeTable[idx].setSubmode(SUBMODE_NONE);
-          if (internalState != STATE_SECOND_STEP) {
-            needsSecondStep = true;
+  try {
+    for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) {
+      devMode = childrenMap.at(helper.rtdIds[idx]).mode;
+      objId = helper.rtdIds[idx];
+      if (mode == devMode) {
+        modeTable[idx].setMode(mode);
+      } else if (mode == DeviceHandlerIF::MODE_NORMAL) {
+        if (isUseable(objId, devMode)) {
+          if (devMode == MODE_ON) {
+            modeTable[idx].setMode(mode);
+            modeTable[idx].setSubmode(SUBMODE_NONE);
+          } else {
+            modeTable[idx].setMode(MODE_ON);
+            modeTable[idx].setSubmode(SUBMODE_NONE);
+            if (internalState != STATE_SECOND_STEP) {
+              needsSecondStep = true;
+            }
           }
         }
-      }
-    } else if (mode == MODE_ON) {
-      if (isUseable(objId, devMode)) {
-        modeTable[idx].setMode(MODE_ON);
-        modeTable[idx].setSubmode(SUBMODE_NONE);
+      } else if (mode == MODE_ON) {
+        if (isUseable(objId, devMode)) {
+          modeTable[idx].setMode(MODE_ON);
+          modeTable[idx].setSubmode(SUBMODE_NONE);
+        }
       }
     }
+  } catch (const std::out_of_range& e) {
+    sif::error << "TcsBoardAssembly: Invalid children map: " << e.what() << std::endl;
   }
   if (needsSecondStep) {
     result = NEED_SECOND_STEP;
@@ -147,7 +179,7 @@ MessageQueueId_t TcsBoardAssembly::getEventReceptionQueue() { return eventQueue-
 
 void TcsBoardAssembly::handleModeReached() {
   if (targetMode == MODE_OFF) {
-    switcher.turnOff();
+    switcher.turnOff(true);
     switcher.doStateMachine();
     // Need to wait with call to AssemblyBase::handleModeReached until power switcher is done
     if (switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
@@ -157,3 +189,17 @@ void TcsBoardAssembly::handleModeReached() {
     AssemblyBase::handleModeReached();
   }
 }
+
+void TcsBoardAssembly::handleChildrenLostMode(ReturnValue_t result) {
+  // TODO: Maybe trigger event
+  return;
+}
+
+void TcsBoardAssembly::handleModeTransitionFailed(ReturnValue_t result) {
+  if (targetMode == MODE_OFF) {
+    AssemblyBase::handleModeTransitionFailed(result);
+  } else {
+    // To avoid transitioning back to off
+    triggerEvent(MODE_TRANSITION_FAILED, result);
+  }
+}

mission/system/TcsBoardAssembly.h

@@ -23,6 +23,7 @@ class TcsBoardAssembly : public AssemblyBase, public ConfirmsFailuresIF {
  private:
   static constexpr uint8_t NUMBER_RTDS = 16;
   PowerSwitcher switcher;
+  bool warningSwitch = true;
   TcsBoardHelper helper;
   FixedArrayList<ModeListEntry, NUMBER_RTDS> modeTable;
   MessageQueueIF* eventQueue = nullptr;
@@ -45,6 +46,8 @@ class TcsBoardAssembly : public AssemblyBase, public ConfirmsFailuresIF {
   ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
   void startTransition(Mode_t mode, Submode_t submode) override;
   void handleModeReached() override;
+  void handleChildrenLostMode(ReturnValue_t result) override;
+  void handleModeTransitionFailed(ReturnValue_t result) override;
 };
 
 #endif /* MISSION_SYSTEM_TCSSUBSYSTEM_H_ */

tmtc

@@ -1 +1 @@
-Subproject commit a55940339850e862b05a06a94fa8381bf7da0743
+Subproject commit 0abdea987a677a629173b6ec9cd2fa8dc265cb24