Some RW improvements

- Moved Events to definitions file
- Added new event if reset occurs
- Deliver state if there is an error (going to be 0, still deliver it)

fsfw

@@ -1 +1 @@
-Subproject commit f59b05c86cd54390d2a259eda770ee7935587112
+Subproject commit 71f704c980ec8847bdd0bb1bf354c8de30d3524b

mission/devices/RwHandler.cpp

@@ -47,11 +47,6 @@ ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
       *id = RwDefinitions::GET_LAST_RESET_STATUS;
       internalState = InternalState::READ_TEMPERATURE;
       break;
-    case InternalState::CLEAR_RESET_STATUS:
-      *id = RwDefinitions::CLEAR_LAST_RESET_STATUS;
-      /** After reset status is cleared, reset status will be polled again for verification */
-      internalState = InternalState::GET_RESET_STATUS;
-      break;
     case InternalState::READ_TEMPERATURE:
       *id = RwDefinitions::GET_TEMPERATURE;
       internalState = InternalState::GET_RW_SATUS;
@@ -60,6 +55,11 @@ ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
       *id = RwDefinitions::GET_RW_STATUS;
       internalState = InternalState::GET_RESET_STATUS;
       break;
+    case InternalState::CLEAR_RESET_STATUS:
+      *id = RwDefinitions::CLEAR_LAST_RESET_STATUS;
+      /** After reset status is cleared, reset status will be polled again for verification */
+      internalState = InternalState::GET_RESET_STATUS;
+      break;
     default:
       sif::debug << "RwHandler::buildNormalDeviceCommand: Invalid internal step" << std::endl;
       break;
@@ -240,8 +240,6 @@ ReturnValue_t RwHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_
   return RETURN_OK;
 }
 
-void RwHandler::setNormalDatapoolEntriesInvalid() {}
-
 uint32_t RwHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 5000; }
 
 ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@@ -336,18 +334,19 @@ void RwHandler::prepareSetSpeedCmd(const uint8_t* commandData, size_t commandDat
 void RwHandler::handleResetStatusReply(const uint8_t* packet) {
   PoolReadGuard rg(&lastResetStatusSet);
   uint8_t offset = 2;
-  uint8_t resetStatus = *(packet + offset);
+  uint8_t resetStatus = packet[offset];
   if (resetStatus != RwDefinitions::CLEARED) {
     internalState = InternalState::CLEAR_RESET_STATUS;
-    lastResetStatusSet.lastResetStatus = resetStatus;
+    lastResetStatusSet.lastNonClearedResetStatus = resetStatus;
+    triggerEvent(RwDefinitions::RESET_OCCURED, resetStatus, 0);
   }
-  lastResetStatusSet.currentResetStatus = resetStatus;
+  lastResetStatusSet.lastResetStatus = resetStatus;
   if (debugMode) {
 #if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "RwHandler::handleResetStatusReply: Last reset status: "
-              << static_cast<unsigned int>(lastResetStatusSet.lastResetStatus.value) << std::endl;
+              << static_cast<unsigned int>(lastResetStatusSet.lastNonClearedResetStatus.value) << std::endl;
     sif::info << "RwHandler::handleResetStatusReply: Current reset status: "
-              << static_cast<unsigned int>(lastResetStatusSet.currentResetStatus.value)
+              << static_cast<unsigned int>(lastResetStatusSet.lastResetStatus.value)
               << std::endl;
 #endif
   }
@@ -367,11 +366,9 @@ void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
   statusSet.clcMode = *(packet + offset);
 
   if (statusSet.state == RwDefinitions::STATE_ERROR) {
-    /**
-     * This requires the commanding of the init reaction wheel controller command to recover
-     * form error state which must be handled by the FDIR instance.
-     */
-    triggerEvent(ERROR_STATE);
+    // This requires the commanding of the init reaction wheel controller command to recover
+    // from error state which must be handled by the FDIR instance.
+    triggerEvent(RwDefinitions::ERROR_STATE, statusSet.state.value, 0);
     sif::error << "RwHandler::handleGetRwStatusReply: Reaction wheel in error state" << std::endl;
   }
 

mission/devices/RwHandler.h

@@ -66,13 +66,12 @@ class RwHandler : public DeviceHandlerBase {
   ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
                              size_t* foundLen) override;
   ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
-  void setNormalDatapoolEntriesInvalid() override;
   uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
   ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                         LocalDataPoolManager& poolManager) override;
 
  private:
-  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::RW_HANDLER;
+
 
   //! [EXPORT] : [COMMENT] Action Message with invalid speed was received. Valid speeds must be in
   //! the range of [-65000; 1000] or [1000; 65000]
@@ -86,9 +85,6 @@ class RwHandler : public DeviceHandlerBase {
   //! [EXPORT] : [COMMENT] Reaction wheel reply has invalid crc
   static const ReturnValue_t CRC_ERROR = MAKE_RETURN_CODE(0xA4);
 
-  //! [EXPORT] : [COMMENT] Reaction wheel signals an error state
-  static const Event ERROR_STATE = MAKE_EVENT(1, severity::HIGH);
-
   GpioIF* gpioComIF = nullptr;
   gpioId_t enableGpio = gpio::NO_GPIO;
   bool debugMode = false;

mission/devices/devicedefinitions/RwDefinitions.h

@@ -9,6 +9,13 @@
 
 namespace RwDefinitions {
 
+static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::RW_HANDLER;
+
+//! [EXPORT] : [COMMENT] Reaction wheel signals an error state
+static constexpr Event ERROR_STATE = MAKE_EVENT(1, severity::HIGH);
+
+static constexpr Event RESET_OCCURED = event::makeEvent(SUBSYSTEM_ID, 2, severity::HIGH);
+
 static const uint32_t SPI_REPLY_DELAY = 70000;  // us
 
 enum PoolIds : lp_id_t {
@@ -133,9 +140,11 @@ class LastResetSatus : public StaticLocalDataSet<LAST_RESET_ENTRIES> {
 
   LastResetSatus(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, LAST_RESET_ID)) {}
 
-  lp_var_t<uint8_t> lastResetStatus =
+  // If a reset occurs, the status code will be cached into this variable
+  lp_var_t<uint8_t> lastNonClearedResetStatus =
       lp_var_t<uint8_t>(sid.objectId, PoolIds::LAST_RESET_STATUS, this);
-  lp_var_t<uint8_t> currentResetStatus =
+  // This will always contain the last polled reset status
+  lp_var_t<uint8_t> lastResetStatus =
       lp_var_t<uint8_t>(sid.objectId, PoolIds::CURRRENT_RESET_STATUS, this);
 };