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bugfixes for NORMAL to OFF transition
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This commit is contained in:
Robin Müller
2022-03-07 18:39:33 +01:00
parent 597ab9c74c
commit 62229cb999
7 changed files with 85 additions and 79 deletions
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98
mission/system/AcsBoardAssembly.cpp
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@ -7,7 +7,7 @@
AcsBoardAssembly::AcsBoardAssembly(object_id_t objectId, object_id_t parentId,
PowerSwitchIF* switcher, AcsBoardHelper helper, GpioIF* gpioIF)
: AssemblyBase(objectId, parentId),
pwrStateMachine(SWITCH_A, SWITCH_B, switcher, state),
pwrStateMachine(SWITCH_A, SWITCH_B, switcher),
helper(helper),
gpioIF(gpioIF) {
if (switcher == nullptr) {
@ -32,35 +32,28 @@ AcsBoardAssembly::AcsBoardAssembly(object_id_t objectId, object_id_t parentId,
void AcsBoardAssembly::performChildOperation() {
using namespace duallane;
if (state == PwrStates::SWITCHING_POWER or state == PwrStates::CHECKING_POWER) {
if (targetMode != MODE_OFF) {
pwrStateMachineWrapper(targetMode, targetSubmode);
}
if (pwrStateMachine.active()) {
pwrStateMachineWrapper();
// This state is the indicator that the power state machine is done
if (state == PwrStates::MODE_COMMANDING) {
AssemblyBase::performChildOperation();
}
} else {
}
if (not pwrStateMachine.active()) {
AssemblyBase::performChildOperation();
// This state is the indicator that the mode state machine is done
if (state == PwrStates::SWITCHING_POWER) {
pwrStateMachineWrapper(targetMode, targetSubmode);
}
}
}
void AcsBoardAssembly::startTransition(Mode_t mode, Submode_t submode) {
using namespace duallane;
pwrStateMachine.reset();
// If anything other than MODE_OFF is commanded, perform power state machine first
if (mode != MODE_OFF) {
pwrStateMachine.reset();
// Cache the target modes, required by power state machine
pwrStateMachine.start(mode, submode);
// Cache these for later after the power state machine has finished
targetMode = mode;
targetSubmode = submode;
state = PwrStates::SWITCHING_POWER;
// Perform power state machine first, then start mode transition. The power state machine will
// start the transition after it has finished
pwrStateMachineWrapper(mode, submode);
pwrStateMachineWrapper();
} else {
// Command the devices to off first before switching off the power. The handleModeReached
// custom implementation will take care of starting the power state machine.
@ -72,47 +65,41 @@ ReturnValue_t AcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode)
using namespace duallane;
ReturnValue_t result = RETURN_OK;
refreshHelperModes();
result = pwrStateMachineWrapper(mode, submode);
if (result != RETURN_OK) {
return result;
}
if (state == PwrStates::MODE_COMMANDING) {
if (mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_ON) {
result = handleNormalOrOnModeCmd(mode, submode);
} else {
modeTable[ModeTableIdx::GYRO_0_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_0_A].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::GYRO_1_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_1_A].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::GYRO_2_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_2_B].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::GYRO_3_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_3_B].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::MGM_0_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::MGM_0_A].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::MGM_1_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::MGM_1_A].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::MGM_2_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::MGM_2_B].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::MGM_3_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::MGM_3_B].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::GPS].setMode(MODE_OFF);
modeTable[ModeTableIdx::GPS].setSubmode(SUBMODE_NONE);
}
HybridIterator<ModeListEntry> tableIter(modeTable.begin(), modeTable.end());
executeTable(tableIter);
if (mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_ON) {
result = handleNormalOrOnModeCmd(mode, submode);
} else {
modeTable[ModeTableIdx::GYRO_0_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_0_A].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::GYRO_1_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_1_A].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::GYRO_2_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_2_B].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::GYRO_3_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_3_B].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::MGM_0_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::MGM_0_A].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::MGM_1_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::MGM_1_A].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::MGM_2_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::MGM_2_B].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::MGM_3_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::MGM_3_B].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::GPS].setMode(MODE_OFF);
modeTable[ModeTableIdx::GPS].setSubmode(SUBMODE_NONE);
}
HybridIterator<ModeListEntry> tableIter(modeTable.begin(), modeTable.end());
executeTable(tableIter);
return result;
}
ReturnValue_t AcsBoardAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) {
using namespace duallane;
refreshHelperModes();
if (state == PwrStates::SWITCHING_POWER) {
// Wrong mode
sif::error << "Wrong mode, currently switching power" << std::endl;
return RETURN_OK;
}
// if (state == PwrStates::SWITCHING_POWER) {
// // Wrong mode
// sif::error << "Wrong mode, currently switching power" << std::endl;
// return RETURN_OK;
// }
if (wantedSubmode == A_SIDE) {
if ((helper.gyro0SideAMode != wantedMode and helper.gyro1SideAMode != wantedMode) or
(helper.mgm0SideAMode != wantedMode and helper.mgm1SideAMode != wantedMode) or
@ -277,11 +264,10 @@ bool AcsBoardAssembly::isUseable(object_id_t object, Mode_t mode) {
void AcsBoardAssembly::handleModeReached() {
using namespace duallane;
if (targetMode == MODE_OFF) {
pwrStateMachine.reset();
state = PwrStates::SWITCHING_POWER;
pwrStateMachine.start(targetMode, targetSubmode);
// Now we can switch off the power. After that, the AssemblyBase::handleModeReached function
// will be called
pwrStateMachineWrapper(targetMode, targetSubmode);
pwrStateMachineWrapper();
} else {
finishModeOp();
}
@ -388,15 +374,15 @@ void AcsBoardAssembly::finishModeOp() {
dualModeErrorSwitch = true;
}
ReturnValue_t AcsBoardAssembly::pwrStateMachineWrapper(Mode_t mode, Submode_t submode) {
ReturnValue_t AcsBoardAssembly::pwrStateMachineWrapper() {
using namespace duallane;
OpCodes opCode = pwrStateMachine.powerStateMachine(mode, submode);
OpCodes opCode = pwrStateMachine.powerStateMachine();
if (opCode == OpCodes::NONE) {
return RETURN_OK;
} else if (opCode == OpCodes::FINISH_OP) {
finishModeOp();
} else if (opCode == OpCodes::START_TRANSITION) {
AssemblyBase::startTransition(mode, submode);
AssemblyBase::startTransition(targetMode, targetSubmode);
} else if (opCode == OpCodes::TIMEOUT_OCCURED) {
if (powerRetryCounter == 0) {
powerRetryCounter++;