seems to work now, but the whole printout crap needs to be removed
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EIVE/eive-obsw/pipeline/pr-develop This commit looks good

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Robin Müller 2023-04-05 14:41:34 +02:00
parent 0cabe3a9ea
commit 5e93282662
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GPG Key ID: 11D4952C8CCEF814
5 changed files with 60 additions and 27 deletions

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@ -256,8 +256,8 @@ ReturnValue_t AcsBoardAssembly::initialize() {
return AssemblyBase::initialize(); return AssemblyBase::initialize();
} }
ReturnValue_t AcsBoardAssembly::checkAndHandleHealthStates(Mode_t deviceMode, ReturnValue_t AcsBoardAssembly::checkAndHandleHealthStates(Mode_t commandedMode,
Submode_t deviceSubmode) { Submode_t commandedSubmode) {
using namespace returnvalue; using namespace returnvalue;
ReturnValue_t status = returnvalue::OK; ReturnValue_t status = returnvalue::OK;
bool healthNeedsToBeOverwritten = false; bool healthNeedsToBeOverwritten = false;
@ -300,7 +300,7 @@ ReturnValue_t AcsBoardAssembly::checkAndHandleHealthStates(Mode_t deviceMode,
healthNeedsToBeOverwritten = true; healthNeedsToBeOverwritten = true;
} }
if (deviceSubmode == duallane::DUAL_MODE) { if (commandedSubmode == duallane::DUAL_MODE) {
checkAcsBoardSensorGroup(helper.mgm0Lis3IdSideA, helper.mgm1Rm3100IdSideA, checkAcsBoardSensorGroup(helper.mgm0Lis3IdSideA, helper.mgm1Rm3100IdSideA,
helper.mgm2Lis3IdSideB, helper.mgm3Rm3100IdSideB); helper.mgm2Lis3IdSideB, helper.mgm3Rm3100IdSideB);
checkAcsBoardSensorGroup(helper.gyro0AdisIdSideA, helper.gyro1L3gIdSideA, checkAcsBoardSensorGroup(helper.gyro0AdisIdSideA, helper.gyro1L3gIdSideA,
@ -308,6 +308,11 @@ ReturnValue_t AcsBoardAssembly::checkAndHandleHealthStates(Mode_t deviceMode,
helper.gyro2AdisIdSideB, helper.gyro3L3gIdSideB); helper.gyro2AdisIdSideB, helper.gyro3L3gIdSideB);
} }
if(healthNeedsToBeOverwritten) { 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 NEED_TO_CHANGE_HEALTH;
} }
return status; return status;

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@ -36,6 +36,8 @@ void DualLaneAssemblyBase::performChildOperation() {
void DualLaneAssemblyBase::startTransition(Mode_t mode, Submode_t submode) { void DualLaneAssemblyBase::startTransition(Mode_t mode, Submode_t submode) {
using namespace duallane; using namespace duallane;
pwrStateMachine.reset(); pwrStateMachine.reset();
dualToSingleSideTransition = false;
sideSwitchState = SideSwitchState::NONE;
if (mode != MODE_OFF) { if (mode != MODE_OFF) {
// Special exception: A transition from dual side to single mode must be handled like // Special exception: A transition from dual side to single mode must be handled like
@ -84,12 +86,15 @@ ReturnValue_t DualLaneAssemblyBase::pwrStateMachineWrapper() {
if (opCode == OpCodes::NONE) { if (opCode == OpCodes::NONE) {
return returnvalue::OK; return returnvalue::OK;
} else if (opCode == OpCodes::TO_OFF_DONE) { } else if (opCode == OpCodes::TO_OFF_DONE) {
sif::debug << "to off done" << std::endl;
// Will be called for transitions to MODE_OFF, where everything is done after power switching // Will be called for transitions to MODE_OFF, where everything is done after power switching
finishModeOp(); finishModeOp();
} else if (opCode == OpCodes::TO_NOT_OFF_DONE) { } else if (opCode == OpCodes::TO_NOT_OFF_DONE) {
if (dualToSingleSideTransition) { if (dualToSingleSideTransition) {
sif::debug << "finishing dual to single side transition" << std::endl;
finishModeOp(); finishModeOp();
} else { } else {
sif::debug << "starting ASM base transition with submode " << (int) targetSubmode << std::endl;
// Will be called for transitions from MODE_OFF to anything else, where the mode still has // Will be called for transitions from MODE_OFF to anything else, where the mode still has
// to be commanded after power switching // to be commanded after power switching
AssemblyBase::startTransition(targetMode, targetSubmode); AssemblyBase::startTransition(targetMode, targetSubmode);
@ -181,7 +186,9 @@ void DualLaneAssemblyBase::handleModeTransitionFailed(ReturnValue_t result) {
startTransition(mode, nextSubmode); startTransition(mode, nextSubmode);
tryingOtherSide = true; tryingOtherSide = true;
} else { } else {
sif::debug << "starting dual side transition" << std::endl;
triggerEvent(transitionOtherSideFailedEvent, mode, targetSubmode); triggerEvent(transitionOtherSideFailedEvent, mode, targetSubmode);
// If we have just attempted side swichting, this flag needs to be reset!
startTransition(mode, Submodes::DUAL_MODE); startTransition(mode, Submodes::DUAL_MODE);
} }
} }

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@ -17,6 +17,8 @@ SusAssembly::SusAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, SusAs
} }
ReturnValue_t SusAssembly::commandChildren(Mode_t mode, Submode_t submode) { ReturnValue_t SusAssembly::commandChildren(Mode_t mode, Submode_t submode) {
sif::debug << "commanding children to mode " << mode << " and submode " << (int) submode
<< std::endl;
ReturnValue_t result = returnvalue::OK; ReturnValue_t result = returnvalue::OK;
refreshHelperModes(); refreshHelperModes();
// Initialize the mode table to ensure all devices are in a defined state // Initialize the mode table to ensure all devices are in a defined state
@ -25,13 +27,16 @@ ReturnValue_t SusAssembly::commandChildren(Mode_t mode, Submode_t submode) {
modeTable[idx].setSubmode(SUBMODE_NONE); modeTable[idx].setSubmode(SUBMODE_NONE);
} }
if (recoveryState == RecoveryState::RECOVERY_IDLE) { if (recoveryState == RecoveryState::RECOVERY_IDLE) {
sif::debug << "checking health states, recovery not ongoing. Commanded submode: " <<
(int) submode << std::endl;
result = checkAndHandleHealthStates(mode, submode); result = checkAndHandleHealthStates(mode, submode);
if (result == NEED_TO_CHANGE_HEALTH) { if (result != returnvalue::OK) {
return returnvalue::OK; return result;
} }
} }
if (recoveryState != RecoveryState::RECOVERY_STARTED) { if (recoveryState != RecoveryState::RECOVERY_STARTED) {
if (mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_ON) { if (mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_ON) {
sif::debug << "handling on or normal cmd. Submode: " << (int) submode << std::endl;
result = handleNormalOrOnModeCmd(mode, submode); result = handleNormalOrOnModeCmd(mode, submode);
} }
} }
@ -47,30 +52,35 @@ ReturnValue_t SusAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submod
bool needsSecondStep = false; bool needsSecondStep = false;
handleSideSwitchStates(submode, needsSecondStep); handleSideSwitchStates(submode, needsSecondStep);
auto cmdSeq = [&](object_id_t objectId, Mode_t devMode, uint8_t tableIdx) { auto cmdSeq = [&](object_id_t objectId, Mode_t devMode, uint8_t tableIdx) {
if (mode == devMode) { if(isModeCommandable(objectId, devMode)) {
modeTable[tableIdx].setMode(mode);
} else if (mode == DeviceHandlerIF::MODE_NORMAL) {
if (isModeCommandable(objectId, devMode)) {
if (devMode == MODE_ON) {
modeTable[tableIdx].setMode(mode); modeTable[tableIdx].setMode(mode);
modeTable[tableIdx].setSubmode(SUBMODE_NONE); 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 (isModeCommandable(objectId, devMode)) {
modeTable[tableIdx].setMode(MODE_ON);
modeTable[tableIdx].setSubmode(SUBMODE_NONE);
}
} }
// if (mode == devMode) {
// modeTable[tableIdx].setMode(mode);
// } else if (mode == DeviceHandlerIF::MODE_NORMAL) {
// if (isModeCommandable(objectId, devMode)) {
// if (devMode == MODE_ON) {
// 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 (isModeCommandable(objectId, devMode)) {
// modeTable[tableIdx].setMode(MODE_ON);
// modeTable[tableIdx].setSubmode(SUBMODE_NONE);
// }
// }
}; };
switch (submode) { switch (submode) {
case (A_SIDE): { case (A_SIDE): {
sif::debug << "commanding a side" << std::endl;
for (uint8_t idx = 0; idx < NUMBER_SUN_SENSORS_ONE_SIDE; idx++) { for (uint8_t idx = 0; idx < NUMBER_SUN_SENSORS_ONE_SIDE; idx++) {
cmdSeq(helper.susIds[idx], helper.susModes[idx], idx); cmdSeq(helper.susIds[idx], helper.susModes[idx], idx);
// Switch off devices on redundant side // Switch off devices on redundant side
@ -80,6 +90,7 @@ ReturnValue_t SusAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submod
break; break;
} }
case (B_SIDE): { case (B_SIDE): {
sif::debug << "commanding b side" << std::endl;
for (uint8_t idx = NUMBER_SUN_SENSORS_ONE_SIDE; idx < NUMBER_SUN_SENSORS; idx++) { for (uint8_t idx = NUMBER_SUN_SENSORS_ONE_SIDE; idx < NUMBER_SUN_SENSORS; idx++) {
cmdSeq(helper.susIds[idx], helper.susModes[idx], idx); cmdSeq(helper.susIds[idx], helper.susModes[idx], idx);
// Switch devices on nominal side // Switch devices on nominal side
@ -89,6 +100,7 @@ ReturnValue_t SusAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submod
break; break;
} }
case (DUAL_MODE): { case (DUAL_MODE): {
sif::debug << "commanding dual mode for all sensors" << std::endl;
for (uint8_t idx = 0; idx < NUMBER_SUN_SENSORS; idx++) { for (uint8_t idx = 0; idx < NUMBER_SUN_SENSORS; idx++) {
cmdSeq(helper.susIds[idx], helper.susModes[idx], idx); cmdSeq(helper.susIds[idx], helper.susModes[idx], idx);
} }
@ -140,7 +152,7 @@ void SusAssembly::refreshHelperModes() {
} }
} }
ReturnValue_t SusAssembly::checkAndHandleHealthStates(Mode_t deviceMode, Submode_t deviceSubmode) { ReturnValue_t SusAssembly::checkAndHandleHealthStates(Mode_t commandedMode, Submode_t commandedSubmode) {
using namespace returnvalue; using namespace returnvalue;
ReturnValue_t status = returnvalue::OK; ReturnValue_t status = returnvalue::OK;
bool needsHealthOverwritten = false; bool needsHealthOverwritten = false;
@ -151,6 +163,7 @@ ReturnValue_t SusAssembly::checkAndHandleHealthStates(Mode_t deviceMode, Submode
(healthRed == FAULTY or healthRed == PERMANENT_FAULTY)) { (healthRed == FAULTY or healthRed == PERMANENT_FAULTY)) {
overwriteDeviceHealth(devNom, healthNom); overwriteDeviceHealth(devNom, healthNom);
overwriteDeviceHealth(devRed, healthRed); overwriteDeviceHealth(devRed, healthRed);
sif::debug << "SUS module health was overwritten" << std::endl;
needsHealthOverwritten = true; needsHealthOverwritten = true;
} }
}; };
@ -160,8 +173,9 @@ ReturnValue_t SusAssembly::checkAndHandleHealthStates(Mode_t deviceMode, Submode
modeHelper.setForced(true); modeHelper.setForced(true);
} }
}; };
if (deviceSubmode == duallane::DUAL_MODE) { if (commandedSubmode == duallane::DUAL_MODE) {
uint8_t idx = 0; uint8_t idx = 0;
sif::debug << "doing dual mode health handling" << std::endl;
for (idx = 0; idx < 6; idx++) { for (idx = 0; idx < 6; idx++) {
checkSusGroup(helper.susIds[idx], helper.susIds[idx + 6]); checkSusGroup(helper.susIds[idx], helper.susIds[idx + 6]);
checkHealthForOneDev(helper.susIds[idx]); checkHealthForOneDev(helper.susIds[idx]);
@ -171,6 +185,10 @@ ReturnValue_t SusAssembly::checkAndHandleHealthStates(Mode_t deviceMode, Submode
} }
} }
if(needsHealthOverwritten) { 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 NEED_TO_CHANGE_HEALTH;
} }
return status; return status;

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@ -1,4 +1,5 @@
#include "PowerStateMachineBase.h" #include "PowerStateMachineBase.h"
#include "fsfw/serviceinterface.h"
PowerStateMachineBase::PowerStateMachineBase(PowerSwitchIF *pwrSwitcher, dur_millis_t checkTimeout) PowerStateMachineBase::PowerStateMachineBase(PowerSwitchIF *pwrSwitcher, dur_millis_t checkTimeout)
: pwrSwitcher(pwrSwitcher), checkTimeout(checkTimeout) {} : pwrSwitcher(pwrSwitcher), checkTimeout(checkTimeout) {}
@ -20,6 +21,8 @@ void PowerStateMachineBase::start(Mode_t mode, Submode_t submode) {
checkTimeout.resetTimer(); checkTimeout.resetTimer();
targetMode = mode; targetMode = mode;
targetSubmode = submode; targetSubmode = submode;
sif::debug << "starting power fsm with mode " << mode << " and submode " << (int) submode
<< std::endl;
state = power::States::SWITCHING_POWER; state = power::States::SWITCHING_POWER;
} }

2
tmtc

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