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eive/eive-obsw
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Merge pull request 'refactor power code' (#470) from refactoring_bugfixes_power_switching into develop
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Reviewed-on: #470
This commit is contained in:
Robin Müller 2023-03-17 16:53:50 +01:00
commit 5d63160c57
11 changed files with 96 additions and 74 deletions
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9
CHANGELOG.md
View File

@ -81,6 +81,15 @@ eive-tmtc: v2.19.1
the transmitter from going off during fallbacks to the SAFE mode, which might not always be
desired.
## Changed
- Initialize switch states to a special `SWITCH_STATE_UNKNOWN` (2) variable. Return
`PowerSwitchIF::SWITCH_UNKNOWN` in switch state getter if this is the state.
- Wait 1 second before commanding SAFE mode. This ensures or at least increases the chance that
the switch states were initialized.
- Dual Lane Assemblies: The returnvalues of the dual lane power state machine FSM are not ignored
anymore.
# [v1.37.0] 2023-03-11
eive-tmtc: v2.18.1

14
bsp_q7s/core/ObjectFactory.cpp
View File

@ -77,6 +77,8 @@ using gpio::Levels;
#include <mission/devices/GyrAdis1650XHandler.h>
#include <mission/devices/ImtqHandler.h>
#include <mission/devices/PcduHandler.h>
#include <mission/devices/Pdu1Handler.h>
#include <mission/devices/Pdu2Handler.h>
#include <mission/devices/SyrlinksHandler.h>
#include <mission/devices/devicedefinitions/rwHelpers.h>
#include <mission/tmtc/VirtualChannelWithQueue.h>
@ -105,8 +107,6 @@ using gpio::Levels;
#include "mission/devices/HeaterHandler.h"
#include "mission/devices/Max31865PT1000Handler.h"
#include "mission/devices/P60DockHandler.h"
#include "mission/devices/PDU1Handler.h"
#include "mission/devices/PDU2Handler.h"
#include "mission/devices/PayloadPcduHandler.h"
#include "mission/devices/RadiationSensorHandler.h"
#include "mission/devices/RwHandler.h"
@ -196,17 +196,17 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie, p60Fdir);
auto pdu1Fdir = new GomspacePowerFdir(objects::PDU1_HANDLER);
PDU1Handler* pdu1handler =
new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie, pdu1Fdir);
Pdu1Handler* pdu1handler =
new Pdu1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie, pdu1Fdir);
auto pdu2Fdir = new GomspacePowerFdir(objects::PDU2_HANDLER);
PDU2Handler* pdu2handler =
new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie, pdu2Fdir);
Pdu2Handler* pdu2handler =
new Pdu2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie, pdu2Fdir);
auto acuFdir = new GomspacePowerFdir(objects::ACU_HANDLER);
ACUHandler* acuhandler =
new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie, acuFdir);
auto pcduHandler = new PCDUHandler(objects::PCDU_HANDLER, 50);
auto pcduHandler = new PcduHandler(objects::PCDU_HANDLER, 50);
/**
* Setting PCDU devices to mode normal immediately after start up because PCDU is always

2
bsp_q7s/obsw.cpp
View File

@ -67,6 +67,8 @@ int obsw::obsw(int argc, char* argv[]) {
// Command the EIVE system to safe mode
#if OBSW_COMMAND_SAFE_MODE_AT_STARTUP == 1
// This ensures that the PCDU switches were updated.
TaskFactory::delayTask(1000);
commandComSubsystemRxOnly();
commandEiveSystemToSafe();
#else

4
mission/devices/CMakeLists.txt
View File

@ -5,8 +5,8 @@ target_sources(
Tmp1075Handler.cpp
PcduHandler.cpp
P60DockHandler.cpp
PDU1Handler.cpp
PDU2Handler.cpp
Pdu1Handler.cpp
Pdu2Handler.cpp
ACUHandler.cpp
SyrlinksHandler.cpp
Max31865PT1000Handler.cpp

52
mission/devices/PcduHandler.cpp
View File

@ -7,7 +7,7 @@
#include <mission/devices/PcduHandler.h>
#include <mission/devices/devicedefinitions/GomSpacePackets.h>
PCDUHandler::PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize)
PcduHandler::PcduHandler(object_id_t setObjectId, size_t cmdQueueSize)
: SystemObject(setObjectId),
poolManager(this, nullptr),
p60CoreHk(objects::P60DOCK_HANDLER),
@ -19,11 +19,12 @@ PCDUHandler::PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize)
commandQueue = QueueFactory::instance()->createMessageQueue(
cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
pwrLock = MutexFactory::instance()->createMutex();
std::memset(switchStates, SWITCH_STATE_UNKNOWN, sizeof(switchStates));
}
PCDUHandler::~PCDUHandler() {}
PcduHandler::~PcduHandler() {}
ReturnValue_t PCDUHandler::performOperation(uint8_t counter) {
ReturnValue_t PcduHandler::performOperation(uint8_t counter) {
if (counter == DeviceHandlerIF::PERFORM_OPERATION) {
readCommandQueue();
}
@ -51,7 +52,7 @@ ReturnValue_t PCDUHandler::performOperation(uint8_t counter) {
return returnvalue::OK;
}
ReturnValue_t PCDUHandler::initialize() {
ReturnValue_t PcduHandler::initialize() {
ReturnValue_t result;
IPCStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
@ -99,7 +100,7 @@ ReturnValue_t PCDUHandler::initialize() {
return returnvalue::OK;
}
void PCDUHandler::initializeSwitchStates() {
void PcduHandler::initializeSwitchStates() {
using namespace pcdu;
try {
for (uint8_t idx = 0; idx < NUMBER_OF_SWITCHES; idx++) {
@ -116,7 +117,7 @@ void PCDUHandler::initializeSwitchStates() {
}
}
void PCDUHandler::readCommandQueue() {
void PcduHandler::readCommandQueue() {
ReturnValue_t result = returnvalue::OK;
CommandMessage command;
@ -129,9 +130,9 @@ void PCDUHandler::readCommandQueue() {
}
}
MessageQueueId_t PCDUHandler::getCommandQueue() const { return commandQueue->getId(); }
MessageQueueId_t PcduHandler::getCommandQueue() const { return commandQueue->getId(); }
void PCDUHandler::handleChangedDataset(sid_t sid, store_address_t storeId, bool* clearMessage) {
void PcduHandler::handleChangedDataset(sid_t sid, store_address_t storeId, bool* clearMessage) {
if (sid == sid_t(objects::PDU2_HANDLER, static_cast<uint32_t>(P60System::SetIds::CORE))) {
updateHkTableDataset(storeId, &pdu2CoreHk, &timeStampPdu2HkDataset);
updatePdu2SwitchStates();
@ -143,7 +144,7 @@ void PCDUHandler::handleChangedDataset(sid_t sid, store_address_t storeId, bool*
}
}
void PCDUHandler::updateHkTableDataset(store_address_t storeId, LocalPoolDataSetBase* dataset,
void PcduHandler::updateHkTableDataset(store_address_t storeId, LocalPoolDataSetBase* dataset,
CCSDSTime::CDS_short* datasetTimeStamp) {
ReturnValue_t result;
@ -169,7 +170,7 @@ void PCDUHandler::updateHkTableDataset(store_address_t storeId, LocalPoolDataSet
}
}
void PCDUHandler::updatePdu2SwitchStates() {
void PcduHandler::updatePdu2SwitchStates() {
using namespace pcdu;
using namespace PDU2;
GOMSPACE::Pdu pdu = GOMSPACE::Pdu::PDU2;
@ -206,7 +207,7 @@ void PCDUHandler::updatePdu2SwitchStates() {
}
}
void PCDUHandler::updatePdu1SwitchStates() {
void PcduHandler::updatePdu1SwitchStates() {
using namespace pcdu;
using namespace PDU1;
PoolReadGuard rg0(&switcherSet);
@ -243,9 +244,9 @@ void PCDUHandler::updatePdu1SwitchStates() {
}
}
LocalDataPoolManager* PCDUHandler::getHkManagerHandle() { return &poolManager; }
LocalDataPoolManager* PcduHandler::getHkManagerHandle() { return &poolManager; }
ReturnValue_t PCDUHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) {
ReturnValue_t PcduHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) {
using namespace pcdu;
ReturnValue_t result;
uint16_t memoryAddress = 0;
@ -395,9 +396,9 @@ ReturnValue_t PCDUHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onO
return result;
}
ReturnValue_t PCDUHandler::sendFuseOnCommand(uint8_t fuseNr) { return returnvalue::OK; }
ReturnValue_t PcduHandler::sendFuseOnCommand(uint8_t fuseNr) { return returnvalue::OK; }
ReturnValue_t PCDUHandler::getSwitchState(uint8_t switchNr) const {
ReturnValue_t PcduHandler::getSwitchState(uint8_t switchNr) const {
if (switchNr >= pcdu::NUMBER_OF_SWITCHES) {
sif::debug << "PCDUHandler::getSwitchState: Invalid switch number" << std::endl;
return returnvalue::FAILED;
@ -407,6 +408,9 @@ ReturnValue_t PCDUHandler::getSwitchState(uint8_t switchNr) const {
MutexGuard mg(pwrLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
currentState = switchStates[switchNr];
}
if (currentState == SWITCH_STATE_UNKNOWN) {
return PowerSwitchIF::SWITCH_UNKNOWN;
}
if (currentState == 1) {
return PowerSwitchIF::SWITCH_ON;
} else {
@ -414,13 +418,13 @@ ReturnValue_t PCDUHandler::getSwitchState(uint8_t switchNr) const {
}
}
ReturnValue_t PCDUHandler::getFuseState(uint8_t fuseNr) const { return returnvalue::OK; }
ReturnValue_t PcduHandler::getFuseState(uint8_t fuseNr) const { return returnvalue::OK; }
uint32_t PCDUHandler::getSwitchDelayMs(void) const { return 20000; }
uint32_t PcduHandler::getSwitchDelayMs(void) const { return 20000; }
object_id_t PCDUHandler::getObjectId() const { return SystemObject::getObjectId(); }
object_id_t PcduHandler::getObjectId() const { return SystemObject::getObjectId(); }
ReturnValue_t PCDUHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
ReturnValue_t PcduHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
using namespace pcdu;
localDataPoolMap.emplace(PoolIds::PDU1_SWITCHES, &pdu1Switches);
@ -431,7 +435,7 @@ ReturnValue_t PCDUHandler::initializeLocalDataPool(localpool::DataPool& localDat
return returnvalue::OK;
}
ReturnValue_t PCDUHandler::initializeAfterTaskCreation() {
ReturnValue_t PcduHandler::initializeAfterTaskCreation() {
if (executingTask != nullptr) {
pstIntervalMs = executingTask->getPeriodMs();
}
@ -442,11 +446,11 @@ ReturnValue_t PCDUHandler::initializeAfterTaskCreation() {
return returnvalue::OK;
}
uint32_t PCDUHandler::getPeriodicOperationFrequency() const { return pstIntervalMs; }
uint32_t PcduHandler::getPeriodicOperationFrequency() const { return pstIntervalMs; }
void PCDUHandler::setTaskIF(PeriodicTaskIF* task) { executingTask = task; }
void PcduHandler::setTaskIF(PeriodicTaskIF* task) { executingTask = task; }
LocalPoolDataSetBase* PCDUHandler::getDataSetHandle(sid_t sid) {
LocalPoolDataSetBase* PcduHandler::getDataSetHandle(sid_t sid) {
if (sid == switcherSet.getSid()) {
return &switcherSet;
} else {
@ -455,7 +459,7 @@ LocalPoolDataSetBase* PCDUHandler::getDataSetHandle(sid_t sid) {
}
}
void PCDUHandler::checkAndUpdatePduSwitch(GOMSPACE::Pdu pdu, pcdu::Switches switchIdx,
void PcduHandler::checkAndUpdatePduSwitch(GOMSPACE::Pdu pdu, pcdu::Switches switchIdx,
uint8_t setValue) {
using namespace pcdu;
if (switchStates[switchIdx] != setValue) {

13
mission/devices/PcduHandler.h
View File

@ -20,13 +20,13 @@
* This is necessary because the FSFW manages all power related functionalities via one
* power object. This includes for example switching on and off of devices.
*/
class PCDUHandler : public PowerSwitchIF,
class PcduHandler : public PowerSwitchIF,
public HasLocalDataPoolIF,
public SystemObject,
public ExecutableObjectIF {
public:
PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize = 20);
virtual ~PCDUHandler();
PcduHandler(object_id_t setObjectId, size_t cmdQueueSize = 20);
virtual ~PcduHandler();
virtual ReturnValue_t initialize() override;
virtual ReturnValue_t performOperation(uint8_t counter) override;
@ -35,7 +35,11 @@ class PCDUHandler : public PowerSwitchIF,
virtual ReturnValue_t sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) override;
virtual ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) override;
virtual ReturnValue_t getSwitchState(uint8_t switchNr) const override;
/**
* @param switchNr
* @return returnvalue::FAILED if the switch state has not been updated yet.
*/
ReturnValue_t getSwitchState(uint8_t switchNr) const override;
virtual ReturnValue_t getFuseState(uint8_t fuseNr) const override;
virtual uint32_t getSwitchDelayMs(void) const override;
virtual object_id_t getObjectId() const override;
@ -84,6 +88,7 @@ class PCDUHandler : public PowerSwitchIF,
/** The timeStamp of the current pdu1HkTableDataset */
CCSDSTime::CDS_short timeStampPdu1HkDataset;
uint8_t SWITCH_STATE_UNKNOWN = 2;
uint8_t switchStates[pcdu::NUMBER_OF_SWITCHES];
/**
* Pointer to the IPCStore.

29
mission/devices/PDU1Handler.cpp → mission/devices/Pdu1Handler.cpp
View File

@ -1,11 +1,10 @@
#include "PDU1Handler.h"
#include <fsfw/datapool/PoolReadGuard.h>
#include <mission/devices/Pdu1Handler.h>
#include <mission/devices/devicedefinitions/GomSpacePackets.h>
#include "devices/powerSwitcherList.h"
PDU1Handler::PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
Pdu1Handler::Pdu1Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
FailureIsolationBase *customFdir)
: GomspaceDeviceHandler(objectId, comIF, comCookie, cfg, customFdir),
coreHk(this),
@ -13,23 +12,23 @@ PDU1Handler::PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF *comC
initPduConfigTable();
}
PDU1Handler::~PDU1Handler() {}
Pdu1Handler::~Pdu1Handler() {}
ReturnValue_t PDU1Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
ReturnValue_t Pdu1Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
*id = GOMSPACE::REQUEST_HK_TABLE;
return buildCommandFromCommand(*id, NULL, 0);
}
void PDU1Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) {
void Pdu1Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) {
parseHkTableReply(packet);
}
void PDU1Handler::assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook, void *args) {
void Pdu1Handler::assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook, void *args) {
this->channelSwitchHook = hook;
this->hookArgs = args;
}
ReturnValue_t PDU1Handler::setParamCallback(SetParamMessageUnpacker &unpacker,
ReturnValue_t Pdu1Handler::setParamCallback(SetParamMessageUnpacker &unpacker,
bool afterExecution) {
using namespace PDU1;
GOMSPACE::Pdu pdu = GOMSPACE::Pdu::PDU1;
@ -79,15 +78,15 @@ ReturnValue_t PDU1Handler::setParamCallback(SetParamMessageUnpacker &unpacker,
return returnvalue::OK;
}
void PDU1Handler::letChildHandleConfigReply(DeviceCommandId_t id, const uint8_t *packet) {
void Pdu1Handler::letChildHandleConfigReply(DeviceCommandId_t id, const uint8_t *packet) {
handleDeviceTm(packet, PDU::CONFIG_TABLE_SIZE, id);
}
void PDU1Handler::parseHkTableReply(const uint8_t *packet) {
void Pdu1Handler::parseHkTableReply(const uint8_t *packet) {
GomspaceDeviceHandler::parsePduHkTable(coreHk, auxHk, packet);
}
ReturnValue_t PDU1Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
ReturnValue_t Pdu1Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
initializePduPool(localDataPoolMap, poolManager, pcdu::INIT_SWITCHES_PDU1);
poolManager.subscribeForDiagPeriodicPacket(
@ -97,7 +96,7 @@ ReturnValue_t PDU1Handler::initializeLocalDataPool(localpool::DataPool &localDat
return returnvalue::OK;
}
LocalPoolDataSetBase *PDU1Handler::getDataSetHandle(sid_t sid) {
LocalPoolDataSetBase *Pdu1Handler::getDataSetHandle(sid_t sid) {
if (sid == coreHk.getSid()) {
return &coreHk;
} else if (sid == auxHk.getSid()) {
@ -106,7 +105,7 @@ LocalPoolDataSetBase *PDU1Handler::getDataSetHandle(sid_t sid) {
return nullptr;
}
ReturnValue_t PDU1Handler::printStatus(DeviceCommandId_t cmd) {
ReturnValue_t Pdu1Handler::printStatus(DeviceCommandId_t cmd) {
ReturnValue_t result = returnvalue::OK;
switch (cmd) {
case (GOMSPACE::PRINT_SWITCH_V_I): {
@ -137,7 +136,7 @@ ReturnValue_t PDU1Handler::printStatus(DeviceCommandId_t cmd) {
return result;
}
void PDU1Handler::printHkTableSwitchVI() {
void Pdu1Handler::printHkTableSwitchVI() {
using namespace PDU1;
sif::info << "PDU1 Info: " << std::endl;
sif::info << "Boot Cause: " << auxHk.bootcause << " | Boot Count: " << std::setw(4) << std::right
@ -163,7 +162,7 @@ void PDU1Handler::printHkTableSwitchVI() {
printerHelper("Syrlinks", Channels::SYRLINKS);
}
void PDU1Handler::printHkTableLatchups() {
void Pdu1Handler::printHkTableLatchups() {
using namespace PDU1;
sif::info << "PDU1 Latchup Information" << std::endl;
auto printerHelper = [&](std::string channelStr, Channels idx) {

6
mission/devices/PDU1Handler.h → mission/devices/Pdu1Handler.h
View File

@ -19,11 +19,11 @@
* ACS 3.3V for Side A group, channel 7
* Unoccupied, 5V, channel 8
*/
class PDU1Handler : public GomspaceDeviceHandler {
class Pdu1Handler : public GomspaceDeviceHandler {
public:
PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
Pdu1Handler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
FailureIsolationBase* customFdir);
virtual ~PDU1Handler();
virtual ~Pdu1Handler();
virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;

29
mission/devices/PDU2Handler.cpp → mission/devices/Pdu2Handler.cpp
View File

@ -1,11 +1,10 @@
#include "PDU2Handler.h"
#include <fsfw/datapool/PoolReadGuard.h>
#include <mission/devices/Pdu2Handler.h>
#include <mission/devices/devicedefinitions/GomSpacePackets.h>
#include "devices/powerSwitcherList.h"
PDU2Handler::PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
Pdu2Handler::Pdu2Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
FailureIsolationBase *customFdir)
: GomspaceDeviceHandler(objectId, comIF, comCookie, cfg, customFdir),
coreHk(this),
@ -13,27 +12,27 @@ PDU2Handler::PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF *comC
initPduConfigTable();
}
PDU2Handler::~PDU2Handler() {}
Pdu2Handler::~Pdu2Handler() {}
ReturnValue_t PDU2Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
ReturnValue_t Pdu2Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
*id = GOMSPACE::REQUEST_HK_TABLE;
return buildCommandFromCommand(*id, NULL, 0);
}
void PDU2Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) {
void Pdu2Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) {
parseHkTableReply(packet);
}
void PDU2Handler::letChildHandleConfigReply(DeviceCommandId_t id, const uint8_t *packet) {
void Pdu2Handler::letChildHandleConfigReply(DeviceCommandId_t id, const uint8_t *packet) {
handleDeviceTm(packet, PDU::CONFIG_TABLE_SIZE, id);
}
void PDU2Handler::assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook, void *args) {
void Pdu2Handler::assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook, void *args) {
this->channelSwitchHook = hook;
this->hookArgs = args;
}
LocalPoolDataSetBase *PDU2Handler::getDataSetHandle(sid_t sid) {
LocalPoolDataSetBase *Pdu2Handler::getDataSetHandle(sid_t sid) {
if (sid == coreHk.getSid()) {
return &coreHk;
} else if (sid == auxHk.getSid()) {
@ -42,11 +41,11 @@ LocalPoolDataSetBase *PDU2Handler::getDataSetHandle(sid_t sid) {
return nullptr;
}
void PDU2Handler::parseHkTableReply(const uint8_t *packet) {
void Pdu2Handler::parseHkTableReply(const uint8_t *packet) {
GomspaceDeviceHandler::parsePduHkTable(coreHk, auxHk, packet);
}
ReturnValue_t PDU2Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
ReturnValue_t Pdu2Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
initializePduPool(localDataPoolMap, poolManager, pcdu::INIT_SWITCHES_PDU2);
poolManager.subscribeForDiagPeriodicPacket(
@ -56,7 +55,7 @@ ReturnValue_t PDU2Handler::initializeLocalDataPool(localpool::DataPool &localDat
return returnvalue::OK;
}
ReturnValue_t PDU2Handler::printStatus(DeviceCommandId_t cmd) {
ReturnValue_t Pdu2Handler::printStatus(DeviceCommandId_t cmd) {
ReturnValue_t result = returnvalue::OK;
switch (cmd) {
case (GOMSPACE::PRINT_SWITCH_V_I): {
@ -87,7 +86,7 @@ ReturnValue_t PDU2Handler::printStatus(DeviceCommandId_t cmd) {
return result;
}
void PDU2Handler::printHkTableSwitchVI() {
void Pdu2Handler::printHkTableSwitchVI() {
using namespace PDU2;
sif::info << "PDU2 Info:" << std::endl;
sif::info << "Boot Cause: " << auxHk.bootcause << " | Boot Count: " << std::setw(4) << std::right
@ -111,7 +110,7 @@ void PDU2Handler::printHkTableSwitchVI() {
printerHelper("Payload Camera", Channels::PAYLOAD_CAMERA);
}
void PDU2Handler::printHkTableLatchups() {
void Pdu2Handler::printHkTableLatchups() {
using namespace PDU2;
sif::info << "PDU2 Latchup Information" << std::endl;
auto printerHelper = [&](std::string channelStr, Channels idx) {
@ -129,7 +128,7 @@ void PDU2Handler::printHkTableLatchups() {
printerHelper("Payload Camera", Channels::PAYLOAD_CAMERA);
}
ReturnValue_t PDU2Handler::setParamCallback(SetParamMessageUnpacker &unpacker,
ReturnValue_t Pdu2Handler::setParamCallback(SetParamMessageUnpacker &unpacker,
bool afterExecution) {
using namespace PDU2;
GOMSPACE::Pdu pdu = GOMSPACE::Pdu::PDU2;

6
mission/devices/PDU2Handler.h → mission/devices/Pdu2Handler.h
View File

@ -19,11 +19,11 @@
* ACS Board (Gyro, MGMs, GPS), 3.3V channel 7
* Payload Camera, 8V, channel 8
*/
class PDU2Handler : public GomspaceDeviceHandler {
class Pdu2Handler : public GomspaceDeviceHandler {
public:
PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
Pdu2Handler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
FailureIsolationBase* customFdir);
virtual ~PDU2Handler();
virtual ~Pdu2Handler();
virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;

6
mission/system/objects/DualLaneAssemblyBase.cpp
View File

@ -19,7 +19,10 @@ DualLaneAssemblyBase::DualLaneAssemblyBase(object_id_t objectId, PowerSwitchIF*
void DualLaneAssemblyBase::performChildOperation() {
using namespace duallane;
if (pwrStateMachine.active()) {
pwrStateMachineWrapper();
ReturnValue_t result = pwrStateMachineWrapper();
if (result != returnvalue::OK) {
handleModeTransitionFailed(result);
}
}
// Only perform the regular child operation if the power state machine is not active.
// It does not make any sense to command device modes while the power switcher is busy
@ -112,6 +115,7 @@ void DualLaneAssemblyBase::handleModeReached() {
pwrStateMachine.start(targetMode, targetSubmode);
// Now we can switch off the power. After that, the AssemblyBase::handleModeReached function
// will be called
// Ignore failures for now.
pwrStateMachineWrapper();
} else {
finishModeOp();