bugfixes for NORMAL to OFF transition

generators/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 113 translations.
- * Generated on: 2022-03-07 17:04:59
+ * Generated on: 2022-03-07 17:15:28
  */
 #include "translateObjects.h"
 

linux/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 113 translations.
- * Generated on: 2022-03-07 17:04:59
+ * Generated on: 2022-03-07 17:15:28
  */
 #include "translateObjects.h"
 

mission/system/AcsBoardAssembly.cpp

@@ -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 (pwrStateMachine.active()) {
-    if (targetMode != MODE_OFF) {
+    pwrStateMachineWrapper();
-      pwrStateMachineWrapper(targetMode, targetSubmode);
-    }
     // This state is the indicator that the power state machine is done
-    if (state == PwrStates::MODE_COMMANDING) {
+  }
-      AssemblyBase::performChildOperation();
+  if (not pwrStateMachine.active()) {
-    }
-  } else {
     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 (mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_ON) {
-  if (result != RETURN_OK) {
+    result = handleNormalOrOnModeCmd(mode, submode);
-    return result;
+  } else {
-  }
+    modeTable[ModeTableIdx::GYRO_0_A].setMode(MODE_OFF);
-  if (state == PwrStates::MODE_COMMANDING) {
+    modeTable[ModeTableIdx::GYRO_0_A].setSubmode(SUBMODE_NONE);
-    if (mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_ON) {
+    modeTable[ModeTableIdx::GYRO_1_A].setMode(MODE_OFF);
-      result = handleNormalOrOnModeCmd(mode, submode);
+    modeTable[ModeTableIdx::GYRO_1_A].setSubmode(SUBMODE_NONE);
-    } else {
+    modeTable[ModeTableIdx::GYRO_2_B].setMode(MODE_OFF);
-      modeTable[ModeTableIdx::GYRO_0_A].setMode(MODE_OFF);
+    modeTable[ModeTableIdx::GYRO_2_B].setSubmode(SUBMODE_NONE);
-      modeTable[ModeTableIdx::GYRO_0_A].setSubmode(SUBMODE_NONE);
+    modeTable[ModeTableIdx::GYRO_3_B].setMode(MODE_OFF);
-      modeTable[ModeTableIdx::GYRO_1_A].setMode(MODE_OFF);
+    modeTable[ModeTableIdx::GYRO_3_B].setSubmode(SUBMODE_NONE);
-      modeTable[ModeTableIdx::GYRO_1_A].setSubmode(SUBMODE_NONE);
+    modeTable[ModeTableIdx::MGM_0_A].setMode(MODE_OFF);
-      modeTable[ModeTableIdx::GYRO_2_B].setMode(MODE_OFF);
+    modeTable[ModeTableIdx::MGM_0_A].setSubmode(SUBMODE_NONE);
-      modeTable[ModeTableIdx::GYRO_2_B].setSubmode(SUBMODE_NONE);
+    modeTable[ModeTableIdx::MGM_1_A].setMode(MODE_OFF);
-      modeTable[ModeTableIdx::GYRO_3_B].setMode(MODE_OFF);
+    modeTable[ModeTableIdx::MGM_1_A].setSubmode(SUBMODE_NONE);
-      modeTable[ModeTableIdx::GYRO_3_B].setSubmode(SUBMODE_NONE);
+    modeTable[ModeTableIdx::MGM_2_B].setMode(MODE_OFF);
-      modeTable[ModeTableIdx::MGM_0_A].setMode(MODE_OFF);
+    modeTable[ModeTableIdx::MGM_2_B].setSubmode(SUBMODE_NONE);
-      modeTable[ModeTableIdx::MGM_0_A].setSubmode(SUBMODE_NONE);
+    modeTable[ModeTableIdx::MGM_3_B].setMode(MODE_OFF);
-      modeTable[ModeTableIdx::MGM_1_A].setMode(MODE_OFF);
+    modeTable[ModeTableIdx::MGM_3_B].setSubmode(SUBMODE_NONE);
-      modeTable[ModeTableIdx::MGM_1_A].setSubmode(SUBMODE_NONE);
+    modeTable[ModeTableIdx::GPS].setMode(MODE_OFF);
-      modeTable[ModeTableIdx::MGM_2_B].setMode(MODE_OFF);
+    modeTable[ModeTableIdx::GPS].setSubmode(SUBMODE_NONE);
-      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);
   }
+  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) {
+  //  if (state == PwrStates::SWITCHING_POWER) {
-    // Wrong mode
+  //    // Wrong mode
-    sif::error << "Wrong mode, currently switching power" << std::endl;
+  //    sif::error << "Wrong mode, currently switching power" << std::endl;
-    return RETURN_OK;
+  //    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();
+    pwrStateMachine.start(targetMode, targetSubmode);
-    state = PwrStates::SWITCHING_POWER;
     // 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++;

mission/system/AcsBoardAssembly.h

@@ -107,7 +107,7 @@ class AcsBoardAssembly : public AssemblyBase {
   AcsBoardHelper helper;
   GpioIF* gpioIF = nullptr;
   uint8_t powerRetryCounter = 0;
-  duallane::PwrStates state = duallane::PwrStates::IDLE;
+  // duallane::PwrStates state = duallane::PwrStates::IDLE;
   duallane::Submodes defaultSubmode = duallane::Submodes::A_SIDE;
   bool dualModeErrorSwitch = true;
   FixedArrayList<ModeListEntry, NUMBER_DEVICES_MODE_TABLE> modeTable;
@@ -141,7 +141,7 @@ class AcsBoardAssembly : public AssemblyBase {
    * @param mode
    * @param submode
    */
-  ReturnValue_t pwrStateMachineWrapper(Mode_t mode, Submode_t submode);
+  ReturnValue_t pwrStateMachineWrapper();
 };
 
 #endif /* MISSION_SYSTEM_ACSBOARDASSEMBLY_H_ */

mission/system/DualLanePowerStateMachine.cpp

@@ -6,35 +6,49 @@
 DualLanePowerStateMachine::DualLanePowerStateMachine(pcduSwitches::Switches switchA,
                                                      pcduSwitches::Switches switchB,
                                                      PowerSwitchIF* pwrSwitcher,
-                                                     duallane::PwrStates& state,
                                                      dur_millis_t checkTimeout)
-    : SWITCH_A(switchA),
+    : SWITCH_A(switchA), SWITCH_B(switchB), pwrSwitcher(pwrSwitcher), checkTimeout(checkTimeout) {}
-      SWITCH_B(switchB),
-      state(state),
-      pwrSwitcher(pwrSwitcher),
-      checkTimeout(checkTimeout) {}
 
 void DualLanePowerStateMachine::setCheckTimeout(dur_millis_t timeout) {
   checkTimeout.setTimeout(timeout);
 }
 
-duallane::OpCodes DualLanePowerStateMachine::powerStateMachine(Mode_t mode, Submode_t submode) {
+void DualLanePowerStateMachine::start(Mode_t mode, Submode_t submode) {
+  checkTimeout.resetTimer();
+  targetMode = mode;
+  targetSubmode = submode;
+  state = duallane::PwrStates::SWITCHING_POWER;
+}
+
+duallane::PwrStates DualLanePowerStateMachine::getState() const { return state; }
+
+bool DualLanePowerStateMachine::active() {
+  if (state == duallane::PwrStates::IDLE or state == duallane::PwrStates::MODE_COMMANDING) {
+    return false;
+  }
+  return true;
+}
+
+duallane::OpCodes DualLanePowerStateMachine::powerStateMachine() {
   using namespace duallane;
   ReturnValue_t switchStateA = RETURN_OK;
   ReturnValue_t switchStateB = RETURN_OK;
-  if (state == PwrStates::IDLE or state == PwrStates::SWITCHING_POWER or
+  if (state == PwrStates::IDLE or state == PwrStates::MODE_COMMANDING) {
-      state == PwrStates::CHECKING_POWER) {
+    return duallane::OpCodes::NONE;
+  }
+  if (state == PwrStates::SWITCHING_POWER or state == PwrStates::CHECKING_POWER) {
     switchStateA = pwrSwitcher->getSwitchState(SWITCH_A);
     switchStateB = pwrSwitcher->getSwitchState(SWITCH_B);
   } else {
     return OpCodes::NONE;
   }
-  if (mode == HasModesIF::MODE_OFF) {
+  if (targetMode == HasModesIF::MODE_OFF) {
     if (switchStateA == PowerSwitchIF::SWITCH_OFF and switchStateB == PowerSwitchIF::SWITCH_OFF) {
+      state = PwrStates::IDLE;
       return OpCodes::FINISH_OP;
     }
   } else {
-    switch (submode) {
+    switch (targetSubmode) {
       case (A_SIDE): {
         if (switchStateA == PowerSwitchIF::SWITCH_ON and
             switchStateB == PowerSwitchIF::SWITCH_OFF) {
@@ -60,16 +74,16 @@ duallane::OpCodes DualLanePowerStateMachine::powerStateMachine(Mode_t mode, Subm
     }
   }
   if (state == PwrStates::SWITCHING_POWER) {
-    if (mode == HasModesIF::MODE_OFF) {
+    if (targetMode == HasModesIF::MODE_OFF) {
       if (switchStateA != PowerSwitchIF::SWITCH_OFF) {
-        pwrSwitcher->sendSwitchCommand(SWITCH_A, PowerSwitchIF::SWITCH_ON);
+        pwrSwitcher->sendSwitchCommand(SWITCH_A, PowerSwitchIF::SWITCH_OFF);
       }
       if (switchStateB != PowerSwitchIF::SWITCH_OFF) {
         pwrSwitcher->sendSwitchCommand(SWITCH_B, PowerSwitchIF::SWITCH_OFF);
       }
       checkTimeout.resetTimer();
     } else {
-      switch (submode) {
+      switch (targetSubmode) {
         case (A_SIDE): {
           if (switchStateA != PowerSwitchIF::SWITCH_ON) {
             pwrSwitcher->sendSwitchCommand(SWITCH_A, PowerSwitchIF::SWITCH_ON);
@@ -114,5 +128,7 @@ duallane::OpCodes DualLanePowerStateMachine::powerStateMachine(Mode_t mode, Subm
 
 void DualLanePowerStateMachine::reset() {
   state = duallane::PwrStates::IDLE;
+  targetMode = HasModesIF::MODE_OFF;
+  targetSubmode = 0;
   checkTimeout.resetTimer();
 }

mission/system/DualLanePowerStateMachine.h

@@ -12,17 +12,21 @@ class PowerSwitchIF;
 class DualLanePowerStateMachine : public HasReturnvaluesIF {
  public:
   DualLanePowerStateMachine(pcduSwitches::Switches switchA, pcduSwitches::Switches switchB,
-                            PowerSwitchIF* pwrSwitcher, duallane::PwrStates& state,
+                            PowerSwitchIF* pwrSwitcher, dur_millis_t checkTimeout = 5000);
-                            dur_millis_t checkTimeout = 3000);
   void setCheckTimeout(dur_millis_t timeout);
   void reset();
-  duallane::OpCodes powerStateMachine(Mode_t mode, Submode_t submode);
+  void start(Mode_t mode, Submode_t submode);
+  bool active();
+  duallane::PwrStates getState() const;
+  duallane::OpCodes powerStateMachine();
   const pcduSwitches::Switches SWITCH_A;
   const pcduSwitches::Switches SWITCH_B;
 
  private:
-  duallane::PwrStates& state;
+  duallane::PwrStates state = duallane::PwrStates::IDLE;
   PowerSwitchIF* pwrSwitcher = nullptr;
+  Mode_t targetMode = HasModesIF::MODE_OFF;
+  Submode_t targetSubmode = 0;
   Countdown checkTimeout;
 };
 

tmtc

@@ -1 +1 @@
-Subproject commit eb7fd71eaf9872281ee086e858028658863dd89d
+Subproject commit d64d443a99a911f946402e59b276566954b5b52b