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eive/eive-obsw
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Merge branch 'develop' into acs-flp-safe

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This commit is contained in:
Marius Eggert 2023-04-06 09:49:20 +02:00
commit 4624d5a2a6
18 changed files with 160 additions and 77 deletions
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15
CHANGELOG.md
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@ -16,10 +16,25 @@ will consitute of a breaking change warranting a new major release:
# [unreleased]
# [v1.43.2] 2023-04-05
## Changed
- Adapted HK data rates to new table for LEOP SAFE mode.
- GPS controller HK is now generated periodically as well.
- Better mode combination checks for assembly components. This includes:
- IMTQ assembly
- Syrlinks assembly
- Dual Lane Assembly
- RWs are no longer commanded by the ACS Controller during safe mode. Instead the RW speed command
is set to 0 as part or the `doShutDown` of the RW handler.
## Fixed
- Dual lane assemblies: Fix handling when health states are overwritten. Also add better handling
when some devices are permanent faulty and some are only faulty. In that case, only the faulty
devices will be restored.
- ACS dual lane assembly: Gyro 3 helper mode was assigned to the Gyro 2 mode.
# [v1.43.1] 2023-04-04

2
CMakeLists.txt
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@ -11,7 +11,7 @@ cmake_minimum_required(VERSION 3.13)
set(OBSW_VERSION_MAJOR 1)
set(OBSW_VERSION_MINOR 43)
set(OBSW_VERSION_REVISION 1)
set(OBSW_VERSION_REVISION 2)
# set(CMAKE_VERBOSE TRUE)

4
mission/acs/RwHandler.cpp
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@ -55,6 +55,10 @@ void RwHandler::doShutDown() {
PoolReadGuard pg(&tmDataset);
tmDataset.setValidity(false, true);
}
{
PoolReadGuard pg(&rwSpeedActuationSet);
rwSpeedActuationSet.setRwSpeed(0, 10);
}
// The power switch is handled by the assembly, so we can go off here directly.
setMode(MODE_OFF);
}

8
mission/acs/str/StarTrackerHandler.cpp
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@ -277,7 +277,7 @@ void StarTrackerHandler::performOperationHook() {
}
}
Submode_t StarTrackerHandler::getInitialSubmode() { return SUBMODE_BOOTLOADER; }
Submode_t StarTrackerHandler::getInitialSubmode() { return startracker::SUBMODE_BOOTLOADER; }
ReturnValue_t StarTrackerHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
if (strHelperHandlingSpecialRequest) {
@ -705,7 +705,7 @@ ReturnValue_t StarTrackerHandler::isModeCombinationValid(Mode_t mode, Submode_t
return INVALID_SUBMODE;
}
case MODE_ON:
if (submode == SUBMODE_BOOTLOADER || submode == SUBMODE_FIRMWARE) {
if (submode == startracker::SUBMODE_BOOTLOADER || submode == startracker::SUBMODE_FIRMWARE) {
return returnvalue::OK;
} else {
return INVALID_SUBMODE;
@ -736,6 +736,7 @@ void StarTrackerHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
}
void StarTrackerHandler::doOnTransition(Submode_t subModeFrom) {
using namespace startracker;
uint8_t dhbSubmode = getSubmode();
// We hide that the transition to submode firmware actually goes through the submode bootloader.
// This is because the startracker always starts in bootloader mode but we want to allow direct
@ -762,6 +763,7 @@ void StarTrackerHandler::doOnTransition(Submode_t subModeFrom) {
}
void StarTrackerHandler::doNormalTransition(Mode_t modeFrom, Submode_t subModeFrom) {
using namespace startracker;
if (subModeFrom == SUBMODE_FIRMWARE) {
setMode(MODE_NORMAL);
} else if (subModeFrom == SUBMODE_BOOTLOADER) {
@ -787,7 +789,7 @@ void StarTrackerHandler::bootFirmware(Mode_t toMode) {
if (toMode == MODE_NORMAL) {
setMode(toMode, 0);
} else {
setMode(toMode, SUBMODE_FIRMWARE);
setMode(toMode, startracker::SUBMODE_FIRMWARE);
}
sif::info << "STR: Firmware boot success" << std::endl;
internalState = InternalState::IDLE;

3
mission/acs/str/StarTrackerHandler.h
View File

@ -54,9 +54,6 @@ class StarTrackerHandler : public DeviceHandlerBase {
Submode_t getInitialSubmode() override;
static const Submode_t SUBMODE_BOOTLOADER = 1;
static const Submode_t SUBMODE_FIRMWARE = 2;
protected:
void doStartUp() override;
void doShutDown() override;

3
mission/acs/str/strHelpers.h
View File

@ -11,6 +11,9 @@
namespace startracker {
static const Submode_t SUBMODE_BOOTLOADER = 1;
static const Submode_t SUBMODE_FIRMWARE = 2;
/**
* @brief Returns the frame type field of a decoded frame.
*/

15
mission/controller/AcsController.cpp
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@ -244,8 +244,7 @@ void AcsController::performSafe() {
updateCtrlValData(errAng, safeCtrlStrat);
updateActuatorCmdData(cmdDipolMtqs);
// commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
// acsParameters.magnetorquesParameter.torqueDuration, 0, 0, 0, 0,
// acsParameters.rwHandlingParameters.rampTime);
// acsParameters.magnetorquerParameter.torqueDuration);
}
void AcsController::performDetumble() {
@ -499,6 +498,18 @@ void AcsController::performPointingCtrl() {
// acsParameters.rwHandlingParameters.rampTime);
}
ReturnValue_t AcsController::commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
uint16_t dipoleTorqueDuration) {
{
PoolReadGuard pg(&dipoleSet);
MutexGuard mg(torquer::lazyLock(), torquer::LOCK_TYPE, torquer::LOCK_TIMEOUT,
torquer::LOCK_CTX);
torquer::NEW_ACTUATION_FLAG = true;
dipoleSet.setDipoles(xDipole, yDipole, zDipole, dipoleTorqueDuration);
}
return returnvalue::OK;
}
ReturnValue_t AcsController::commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
uint16_t dipoleTorqueDuration, int32_t rw1Speed,
int32_t rw2Speed, int32_t rw3Speed, int32_t rw4Speed,

2
mission/controller/AcsController.h
View File

@ -106,6 +106,8 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
void modeChanged(Mode_t mode, Submode_t submode);
void announceMode(bool recursive);
ReturnValue_t commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
uint16_t dipoleTorqueDuration);
ReturnValue_t commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
uint16_t dipoleTorqueDuration, int32_t rw1Speed, int32_t rw2Speed,
int32_t rw3Speed, int32_t rw4Speed, uint16_t rampTime);

58
mission/system/acs/AcsBoardAssembly.cpp
View File

@ -57,8 +57,8 @@ ReturnValue_t AcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode)
modeTable[ModeTableIdx::GPS].setSubmode(SUBMODE_NONE);
if (recoveryState == RecoveryState::RECOVERY_IDLE) {
result = checkAndHandleHealthStates(mode, submode);
if (result == NEED_TO_CHANGE_HEALTH) {
return returnvalue::OK;
if (result != returnvalue::OK) {
return result;
}
}
if (recoveryState != RecoveryState::RECOVERY_STARTED) {
@ -238,7 +238,7 @@ void AcsBoardAssembly::refreshHelperModes() {
helper.gyro0SideAMode = childrenMap.at(helper.gyro0AdisIdSideA).mode;
helper.gyro1SideAMode = childrenMap.at(helper.gyro1L3gIdSideA).mode;
helper.gyro2SideBMode = childrenMap.at(helper.gyro2AdisIdSideB).mode;
helper.gyro3SideBMode = childrenMap.at(helper.gyro2AdisIdSideB).mode;
helper.gyro3SideBMode = childrenMap.at(helper.gyro3L3gIdSideB).mode;
helper.mgm0SideAMode = childrenMap.at(helper.mgm0Lis3IdSideA).mode;
helper.mgm1SideAMode = childrenMap.at(helper.mgm1Rm3100IdSideA).mode;
helper.mgm2SideBMode = childrenMap.at(helper.mgm2Lis3IdSideB).mode;
@ -256,23 +256,58 @@ ReturnValue_t AcsBoardAssembly::initialize() {
return AssemblyBase::initialize();
}
ReturnValue_t AcsBoardAssembly::checkAndHandleHealthStates(Mode_t deviceMode,
Submode_t deviceSubmode) {
ReturnValue_t AcsBoardAssembly::checkAndHandleHealthStates(Mode_t commandedMode,
Submode_t commandedSubmode) {
using namespace returnvalue;
ReturnValue_t status = returnvalue::OK;
bool healthNeedsToBeOverwritten = false;
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);
// All device are faulty or permanent faulty, but this is a safe mode assembly, so we need
// to restore the devices.
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)) {
uint8_t numPermFaulty = 0;
if (h0 == PERMANENT_FAULTY) {
numPermFaulty++;
}
if (h1 == PERMANENT_FAULTY) {
numPermFaulty++;
}
if (h2 == PERMANENT_FAULTY) {
numPermFaulty++;
}
if (h3 == PERMANENT_FAULTY) {
numPermFaulty++;
}
if (numPermFaulty < 4) {
// Some are faulty and some are permanent faulty, so only set faulty ones to
// EXTERNAL_CONTROL.
if (h0 == FAULTY) {
overwriteDeviceHealth(o0, h0);
}
if (h1 == FAULTY) {
overwriteDeviceHealth(o1, h1);
}
if (h2 == FAULTY) {
overwriteDeviceHealth(o2, h2);
}
if (h3 == FAULTY) {
overwriteDeviceHealth(o3, h3);
}
} else {
// All permanent faulty, so set all to EXTERNAL_CONTROL
overwriteDeviceHealth(o0, h0);
overwriteDeviceHealth(o1, h1);
overwriteDeviceHealth(o2, h2);
overwriteDeviceHealth(o3, h3);
}
healthNeedsToBeOverwritten = true;
}
if (h0 == EXTERNAL_CONTROL or h1 == EXTERNAL_CONTROL or h2 == EXTERNAL_CONTROL or
h3 == EXTERNAL_CONTROL) {
modeHelper.setForced(true);
@ -285,6 +320,7 @@ ReturnValue_t AcsBoardAssembly::checkAndHandleHealthStates(Mode_t deviceMode,
if (healthHelper.healthTable->getHealth(helper.healthDevGps0) == PERMANENT_FAULTY and
healthHelper.healthTable->getHealth(helper.healthDevGps1) == FAULTY) {
overwriteDeviceHealth(helper.healthDevGps1, FAULTY);
healthNeedsToBeOverwritten = true;
} else if (healthHelper.healthTable->getHealth(helper.healthDevGps1) == PERMANENT_FAULTY and
healthHelper.healthTable->getHealth(helper.healthDevGps0) == FAULTY) {
overwriteDeviceHealth(helper.healthDevGps0, FAULTY);
@ -294,14 +330,24 @@ ReturnValue_t AcsBoardAssembly::checkAndHandleHealthStates(Mode_t deviceMode,
healthHelper.healthTable->getHealth(helper.healthDevGps0));
overwriteDeviceHealth(helper.healthDevGps1,
healthHelper.healthTable->getHealth(helper.healthDevGps1));
healthNeedsToBeOverwritten = true;
}
if (deviceSubmode == duallane::DUAL_MODE) {
if (commandedSubmode == duallane::DUAL_MODE) {
checkAcsBoardSensorGroup(helper.mgm0Lis3IdSideA, helper.mgm1Rm3100IdSideA,
helper.mgm2Lis3IdSideB, helper.mgm3Rm3100IdSideB);
checkAcsBoardSensorGroup(helper.gyro0AdisIdSideA, helper.gyro1L3gIdSideA,
helper.gyro2AdisIdSideB, helper.gyro3L3gIdSideB);
}
if (healthNeedsToBeOverwritten) {
// If we are overwriting the health states, we are already in a transition to dual mode,
// and we would like that transition to complete. The default behaviour is to go back to the
// old mode. We force our behaviour by overwriting the internal modes.
mode = commandedMode;
submode = commandedSubmode;
return NEED_TO_CHANGE_HEALTH;
}
return status;
}

9
mission/system/acs/DualLaneAssemblyBase.cpp
View File

@ -36,6 +36,8 @@ void DualLaneAssemblyBase::performChildOperation() {
void DualLaneAssemblyBase::startTransition(Mode_t mode, Submode_t submode) {
using namespace duallane;
pwrStateMachine.reset();
dualToSingleSideTransition = false;
sideSwitchState = SideSwitchState::NONE;
if (mode != MODE_OFF) {
// Special exception: A transition from dual side to single mode must be handled like
@ -112,8 +114,11 @@ ReturnValue_t DualLaneAssemblyBase::pwrStateMachineWrapper() {
ReturnValue_t DualLaneAssemblyBase::isModeCombinationValid(Mode_t mode, Submode_t submode) {
using namespace duallane;
if (submode != A_SIDE and submode != B_SIDE and submode != DUAL_MODE) {
return returnvalue::FAILED;
if (mode != MODE_OFF and (submode != A_SIDE and submode != B_SIDE and submode != DUAL_MODE)) {
return HasModesIF::INVALID_SUBMODE;
}
if (mode == MODE_OFF and submode != SUBMODE_NONE) {
return HasModesIF::INVALID_SUBMODE;
}
return returnvalue::OK;
}

3
mission/system/acs/DualLaneAssemblyBase.h
View File

@ -70,7 +70,8 @@ class DualLaneAssemblyBase : public AssemblyBase, public ConfirmsFailuresIF {
* @param submode
*/
virtual ReturnValue_t pwrStateMachineWrapper();
virtual ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
/**
* Custom recovery implementation to ensure that the power lines are commanded off for a
* recovery.

7
mission/system/acs/ImtqAssembly.cpp
View File

@ -18,7 +18,7 @@ ReturnValue_t ImtqAssembly::commandChildren(Mode_t mode, Submode_t submode) {
if (recoveryState == RECOVERY_IDLE) {
ReturnValue_t result = checkAndHandleHealthState(mode, submode);
if (result == NEED_TO_CHANGE_HEALTH) {
return OK;
return result;
}
}
HybridIterator<ModeListEntry> iter(commandTable.begin(), commandTable.end());
@ -35,9 +35,12 @@ ReturnValue_t ImtqAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wa
ReturnValue_t ImtqAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {
if (mode == MODE_ON or mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_OFF) {
if (submode != SUBMODE_NONE) {
return HasModesIF::INVALID_SUBMODE;
}
return returnvalue::OK;
}
return returnvalue::FAILED;
return HasModesIF::INVALID_MODE;
}
ReturnValue_t ImtqAssembly::checkAndHandleHealthState(Mode_t deviceMode, Submode_t deviceSubmode) {

9
mission/system/acs/StrAssembly.cpp
View File

@ -2,6 +2,8 @@
#include <eive/objects.h>
#include "mission/acs/str/strHelpers.h"
StrAssembly::StrAssembly(object_id_t objectId) : AssemblyBase(objectId) {
ModeListEntry entry;
entry.setObject(objects::STAR_TRACKER);
@ -31,5 +33,12 @@ ReturnValue_t StrAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wan
}
ReturnValue_t StrAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {
if ((mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_OFF) and submode != SUBMODE_NONE) {
return HasModesIF::INVALID_SUBMODE;
}
if (mode == MODE_ON and
(submode != startracker::SUBMODE_BOOTLOADER and submode != startracker::SUBMODE_FIRMWARE)) {
return HasModesIF::INVALID_SUBMODE;
}
return returnvalue::OK;
}

61
mission/system/acs/SusAssembly.cpp
View File

@ -26,8 +26,8 @@ ReturnValue_t SusAssembly::commandChildren(Mode_t mode, Submode_t submode) {
}
if (recoveryState == RecoveryState::RECOVERY_IDLE) {
result = checkAndHandleHealthStates(mode, submode);
if (result == NEED_TO_CHANGE_HEALTH) {
return returnvalue::OK;
if (result != returnvalue::OK) {
return result;
}
}
if (recoveryState != RecoveryState::RECOVERY_STARTED) {
@ -47,26 +47,9 @@ ReturnValue_t SusAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submod
bool needsSecondStep = false;
handleSideSwitchStates(submode, needsSecondStep);
auto cmdSeq = [&](object_id_t objectId, Mode_t devMode, uint8_t tableIdx) {
if (mode == devMode) {
modeTable[tableIdx].setMode(mode);
} else if (mode == DeviceHandlerIF::MODE_NORMAL) {
if (isUseable(objectId, devMode)) {
if (devMode == MODE_ON) {
if (isModeCommandable(objectId, devMode)) {
modeTable[tableIdx].setMode(mode);
modeTable[tableIdx].setSubmode(SUBMODE_NONE);
} else {
modeTable[tableIdx].setMode(MODE_ON);
modeTable[tableIdx].setSubmode(SUBMODE_NONE);
if (internalState != STATE_SECOND_STEP) {
needsSecondStep = true;
}
}
}
} else if (mode == MODE_ON) {
if (isUseable(objectId, devMode)) {
modeTable[tableIdx].setMode(MODE_ON);
modeTable[tableIdx].setSubmode(SUBMODE_NONE);
}
}
};
switch (submode) {
@ -134,38 +117,31 @@ ReturnValue_t SusAssembly::initialize() {
return AssemblyBase::initialize();
}
bool SusAssembly::isUseable(object_id_t object, Mode_t mode) {
if (healthHelper.healthTable->isFaulty(object)) {
return false;
}
// Check if device is already in target mode
if (childrenMap[object].mode == mode) {
return true;
}
if (healthHelper.healthTable->isCommandable(object)) {
return true;
}
return false;
}
void SusAssembly::refreshHelperModes() {
for (uint8_t idx = 0; idx < helper.susModes.size(); idx++) {
helper.susModes[idx] = childrenMap[helper.susIds[idx]].mode;
}
}
ReturnValue_t SusAssembly::checkAndHandleHealthStates(Mode_t deviceMode, Submode_t deviceSubmode) {
ReturnValue_t SusAssembly::checkAndHandleHealthStates(Mode_t commandedMode,
Submode_t commandedSubmode) {
using namespace returnvalue;
ReturnValue_t status = returnvalue::OK;
bool needsHealthOverwritten = false;
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
if (healthNom == PERMANENT_FAULTY and healthRed == FAULTY) {
overwriteDeviceHealth(devRed, healthRed);
needsHealthOverwritten = true;
} else if (healthNom == FAULTY and healthRed == PERMANENT_FAULTY) {
overwriteDeviceHealth(devNom, healthNom);
needsHealthOverwritten = true;
} else if ((healthNom == FAULTY or healthNom == PERMANENT_FAULTY) and
(healthRed == FAULTY or healthRed == PERMANENT_FAULTY)) {
overwriteDeviceHealth(devNom, healthNom);
overwriteDeviceHealth(devRed, healthRed);
needsHealthOverwritten = true;
}
};
auto checkHealthForOneDev = [&](object_id_t dev) {
@ -174,7 +150,7 @@ ReturnValue_t SusAssembly::checkAndHandleHealthStates(Mode_t deviceMode, Submode
modeHelper.setForced(true);
}
};
if (deviceSubmode == duallane::DUAL_MODE) {
if (commandedSubmode == duallane::DUAL_MODE) {
uint8_t idx = 0;
for (idx = 0; idx < 6; idx++) {
checkSusGroup(helper.susIds[idx], helper.susIds[idx + 6]);
@ -184,5 +160,12 @@ ReturnValue_t SusAssembly::checkAndHandleHealthStates(Mode_t deviceMode, Submode
checkHealthForOneDev(helper.susIds[idx]);
}
}
if (needsHealthOverwritten) {
mode = commandedMode;
submode = commandedSubmode;
// We need second step instead of NEED_TO_CHANGE_HEALTH because we do not want recovery
// handling.
return NEED_TO_CHANGE_HEALTH;
}
return status;
}

7
mission/system/acs/SusAssembly.h
View File

@ -56,13 +56,6 @@ class SusAssembly : public DualLaneAssemblyBase {
ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
/**
* Check whether it makes sense to send mode commands to the device
* @param object
* @param mode
* @return
*/
bool isUseable(object_id_t object, Mode_t mode);
void powerStateMachine(Mode_t mode, Submode_t submode);
ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode);
void refreshHelperModes();

13
mission/system/com/SyrlinksAssembly.cpp
View File

@ -1,6 +1,7 @@
#include "SyrlinksAssembly.h"
#include <eive/objects.h>
#include <mission/com/defs.h>
using namespace returnvalue;
@ -19,7 +20,7 @@ ReturnValue_t SyrlinksAssembly::commandChildren(Mode_t mode, Submode_t submode)
if (recoveryState == RECOVERY_IDLE) {
ReturnValue_t result = checkAndHandleHealthState(mode, submode);
if (result == NEED_TO_CHANGE_HEALTH) {
return OK;
return result;
}
}
executeTable(iter);
@ -34,10 +35,16 @@ ReturnValue_t SyrlinksAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_
}
ReturnValue_t SyrlinksAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {
if (mode == MODE_ON or mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_OFF) {
if (mode == MODE_ON or mode == DeviceHandlerIF::MODE_NORMAL) {
if (submode >= com::Submode::NUM_SUBMODES or submode < com::Submode::RX_ONLY) {
return HasModesIF::INVALID_SUBMODE;
}
return returnvalue::OK;
}
return returnvalue::FAILED;
if (mode == MODE_OFF and submode != SUBMODE_NONE) {
return HasModesIF::INVALID_SUBMODE;
}
return returnvalue::OK;
}
ReturnValue_t SyrlinksAssembly::checkAndHandleHealthState(Mode_t deviceMode,

2
mission/system/objects/PowerStateMachineBase.cpp
View File

@ -1,5 +1,7 @@
#include "PowerStateMachineBase.h"
#include "fsfw/serviceinterface.h"
PowerStateMachineBase::PowerStateMachineBase(PowerSwitchIF *pwrSwitcher, dur_millis_t checkTimeout)
: pwrSwitcher(pwrSwitcher), checkTimeout(checkTimeout) {}

2
tmtc

@ -1 +1 @@
Subproject commit 50668ca7a74edd4219456e393cd10f7858591130
Subproject commit dcf7d0af71f6ba9d569f9f56604e9245a0233427