better PDEC FDIR

linux/ipcore/PdecHandler.cpp

@@ -15,6 +15,7 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/tmtcservices/TmTcMessage.h"
 #include "fsfw_hal/linux/uio/UioMapper.h"
+#include "linux/ipcore/PdecConfig.h"
 #include "pdec.h"
 
 using namespace pdec;
@@ -103,7 +104,7 @@ ReturnValue_t PdecHandler::firstLoop() {
 
   result = releasePdec();
   if (result != returnvalue::OK) {
-    return returnvalue::FAILED;
+    return result;
   }
 
   // This configuration must be done while the PDEC is not held in reset.
@@ -141,7 +142,7 @@ ReturnValue_t PdecHandler::polledOperation() {
       if (newTcReceived()) {
         handleNewTc();
       }
-      checkLocks();
+      doPeriodicWork();
       break;
     }
     case State::PDEC_RESET: {
@@ -182,8 +183,13 @@ ReturnValue_t PdecHandler::irqOperation() {
     switch (state) {
       case State::INIT: {
         result = handleInitState();
-        if (result == returnvalue::OK) {
-          openIrqFile(&fd);
+        if (result != returnvalue::OK) {
+          break;
+        }
+        openIrqFile(&fd);
+        if (ptmeResetWithReinitializationPending) {
+          actionHelper.finish(true, commandedBy, pdec::RESET_PDEC_WITH_REINIITALIZATION);
+          ptmeResetWithReinitializationPending = false;
         }
         break;
       }
@@ -192,11 +198,12 @@ ReturnValue_t PdecHandler::irqOperation() {
         if (result != returnvalue::OK) {
           triggerEvent(PDEC_RESET_FAILED);
         }
+        usleep(10);
         state = State::INIT;
         break;
       }
       case State::RUNNING: {
-        checkLocks();
+        doPeriodicWork();
         checkAndHandleIrqs(fd, info);
         break;
       }
@@ -219,18 +226,19 @@ ReturnValue_t PdecHandler::handleInitState() {
   ReturnValue_t result = firstLoop();
   if (result != returnvalue::OK) {
     if (result == LocalParameterHandler::SD_NOT_READY) {
-      TaskFactory::delayTask(400);
       if (initTries == MAX_INIT_TRIES) {
-        sif::error << "PdecHandler::handleInitState: SD card never "
-                      "becomes ready"
-                   << std::endl;
-        state = State::WAIT_FOR_RECOVERY;
-      } else {
-        state = State::INIT;
+        sif::error << "PdecHandler::handleInitState: SD card never becomes ready" << std::endl;
+        initFailedHandler(result);
+        return result;
       }
+      state = State::INIT;
+      initTries++;
+      TaskFactory::delayTask(400);
       return result;
     }
-    state = State::WAIT_FOR_RECOVERY;
+    sif::error << "PDEC: Init failed with reason 0x" << std::hex << std::setw(4) << result
+               << std::endl;
+    initFailedHandler(result);
     return result;
   }
   state = State::RUNNING;
@@ -335,6 +343,7 @@ MessageQueueId_t PdecHandler::getCommandQueue() const { return commandQueue->get
 
 ReturnValue_t PdecHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
                                          const uint8_t* data, size_t size) {
+  using namespace pdec;
   switch (actionId) {
     case PRINT_CLCW:
       printClcw();
@@ -342,6 +351,18 @@ ReturnValue_t PdecHandler::executeAction(ActionId_t actionId, MessageQueueId_t c
     case PRINT_PDEC_MON:
       printPdecMon();
       return EXECUTION_FINISHED;
+    case RESET_PDEC_NO_REINIITALIZATION: {
+      pdecToReset();
+      usleep(20);
+      releasePdec();
+      return EXECUTION_FINISHED;
+    }
+    case RESET_PDEC_WITH_REINIITALIZATION: {
+      state = State::PDEC_RESET;
+      ptmeResetWithReinitializationPending = true;
+      this->commandedBy = commandedBy;
+      return returnvalue::OK;
+    }
     default:
       return COMMAND_NOT_IMPLEMENTED;
   }
@@ -449,23 +470,7 @@ bool PdecHandler::newTcReceived() {
   return true;
 }
 
-void PdecHandler::checkLocks() {
-  uint32_t clcw = getClcw();
-  if (not(clcw & NO_RF_MASK) && not carrierLock) {
-    triggerEvent(CARRIER_LOCK);
-    carrierLock = true;
-  } else if ((clcw & NO_RF_MASK) && carrierLock) {
-    carrierLock = false;
-    triggerEvent(LOST_CARRIER_LOCK_PDEC);
-  }
-  if (not(clcw & NO_BITLOCK_MASK) && not bitLock) {
-    triggerEvent(BIT_LOCK_PDEC);
-    bitLock = true;
-  } else if ((clcw & NO_BITLOCK_MASK) && bitLock) {
-    bitLock = false;
-    triggerEvent(LOST_BIT_LOCK_PDEC);
-  }
-}
+void PdecHandler::doPeriodicWork() { checkLocks(); }
 
 bool PdecHandler::checkFrameAna(uint32_t pdecFar) {
   bool frameValid = false;
@@ -748,6 +753,33 @@ void PdecHandler::resetIrqLimiters() {
   interruptCounter = 0;
 }
 
+void PdecHandler::checkLocks() {
+  uint32_t clcw = getClcw();
+  if (not(clcw & NO_RF_MASK) && not carrierLock) {
+    triggerEvent(CARRIER_LOCK);
+    carrierLock = true;
+  } else if ((clcw & NO_RF_MASK) && carrierLock) {
+    carrierLock = false;
+    triggerEvent(LOST_CARRIER_LOCK_PDEC);
+  }
+  if (not(clcw & NO_BITLOCK_MASK) && not bitLock) {
+    triggerEvent(BIT_LOCK_PDEC);
+    bitLock = true;
+  } else if ((clcw & NO_BITLOCK_MASK) && bitLock) {
+    bitLock = false;
+    triggerEvent(LOST_BIT_LOCK_PDEC);
+  }
+}
+
+void PdecHandler::initFailedHandler(ReturnValue_t reason) {
+  triggerEvent(pdec::PDEC_INIT_FAILED, reason, 0);
+  if (ptmeResetWithReinitializationPending) {
+    actionHelper.finish(false, commandedBy, pdec::RESET_PDEC_WITH_REINIITALIZATION, reason);
+    ptmeResetWithReinitializationPending = false;
+  }
+  state = State::WAIT_FOR_RECOVERY;
+}
+
 std::string PdecHandler::getMonStatusString(uint32_t status) {
   switch (status) {
     case TC_CHANNEL_INACTIVE: