From 65c231e92da38245ef6fde9027f4cb62c9ed149e Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 5 Apr 2023 14:46:45 +0200 Subject: [PATCH] that was a lot of printouts --- mission/system/acs/AcsBoardAssembly.cpp | 4 +- mission/system/acs/DualLaneAssemblyBase.cpp | 4 -- mission/system/acs/SusAssembly.cpp | 38 ++----------------- .../system/objects/PowerStateMachineBase.cpp | 5 ++- 4 files changed, 9 insertions(+), 42 deletions(-) diff --git a/mission/system/acs/AcsBoardAssembly.cpp b/mission/system/acs/AcsBoardAssembly.cpp index 0f060c19..62fe316a 100644 --- a/mission/system/acs/AcsBoardAssembly.cpp +++ b/mission/system/acs/AcsBoardAssembly.cpp @@ -305,9 +305,9 @@ ReturnValue_t AcsBoardAssembly::checkAndHandleHealthStates(Mode_t commandedMode, helper.mgm2Lis3IdSideB, helper.mgm3Rm3100IdSideB); checkAcsBoardSensorGroup(helper.gyro0AdisIdSideA, helper.gyro1L3gIdSideA, - 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. diff --git a/mission/system/acs/DualLaneAssemblyBase.cpp b/mission/system/acs/DualLaneAssemblyBase.cpp index b732bf10..85121b57 100644 --- a/mission/system/acs/DualLaneAssemblyBase.cpp +++ b/mission/system/acs/DualLaneAssemblyBase.cpp @@ -86,15 +86,12 @@ ReturnValue_t DualLaneAssemblyBase::pwrStateMachineWrapper() { if (opCode == OpCodes::NONE) { return returnvalue::OK; } 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 finishModeOp(); } else if (opCode == OpCodes::TO_NOT_OFF_DONE) { if (dualToSingleSideTransition) { - sif::debug << "finishing dual to single side transition" << std::endl; finishModeOp(); } 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 // to be commanded after power switching AssemblyBase::startTransition(targetMode, targetSubmode); @@ -186,7 +183,6 @@ void DualLaneAssemblyBase::handleModeTransitionFailed(ReturnValue_t result) { startTransition(mode, nextSubmode); tryingOtherSide = true; } else { - sif::debug << "starting dual side transition" << std::endl; triggerEvent(transitionOtherSideFailedEvent, mode, targetSubmode); // If we have just attempted side swichting, this flag needs to be reset! startTransition(mode, Submodes::DUAL_MODE); diff --git a/mission/system/acs/SusAssembly.cpp b/mission/system/acs/SusAssembly.cpp index e15e8baa..2c7f881d 100644 --- a/mission/system/acs/SusAssembly.cpp +++ b/mission/system/acs/SusAssembly.cpp @@ -17,8 +17,6 @@ SusAssembly::SusAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, SusAs } 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; refreshHelperModes(); // Initialize the mode table to ensure all devices are in a defined state @@ -27,8 +25,6 @@ ReturnValue_t SusAssembly::commandChildren(Mode_t mode, Submode_t submode) { modeTable[idx].setSubmode(SUBMODE_NONE); } if (recoveryState == RecoveryState::RECOVERY_IDLE) { - sif::debug << "checking health states, recovery not ongoing. Commanded submode: " << - (int) submode << std::endl; result = checkAndHandleHealthStates(mode, submode); if (result != returnvalue::OK) { return result; @@ -36,7 +32,6 @@ ReturnValue_t SusAssembly::commandChildren(Mode_t mode, Submode_t submode) { } if (recoveryState != RecoveryState::RECOVERY_STARTED) { 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); } } @@ -52,35 +47,13 @@ ReturnValue_t SusAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submod bool needsSecondStep = false; handleSideSwitchStates(submode, needsSecondStep); auto cmdSeq = [&](object_id_t objectId, Mode_t devMode, uint8_t tableIdx) { - if(isModeCommandable(objectId, devMode)) { + if (isModeCommandable(objectId, devMode)) { modeTable[tableIdx].setMode(mode); 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) { case (A_SIDE): { - sif::debug << "commanding a side" << std::endl; for (uint8_t idx = 0; idx < NUMBER_SUN_SENSORS_ONE_SIDE; idx++) { cmdSeq(helper.susIds[idx], helper.susModes[idx], idx); // Switch off devices on redundant side @@ -90,7 +63,6 @@ ReturnValue_t SusAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submod break; } case (B_SIDE): { - sif::debug << "commanding b side" << std::endl; for (uint8_t idx = NUMBER_SUN_SENSORS_ONE_SIDE; idx < NUMBER_SUN_SENSORS; idx++) { cmdSeq(helper.susIds[idx], helper.susModes[idx], idx); // Switch devices on nominal side @@ -100,7 +72,6 @@ ReturnValue_t SusAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submod break; } case (DUAL_MODE): { - sif::debug << "commanding dual mode for all sensors" << std::endl; for (uint8_t idx = 0; idx < NUMBER_SUN_SENSORS; idx++) { cmdSeq(helper.susIds[idx], helper.susModes[idx], idx); } @@ -152,7 +123,8 @@ void SusAssembly::refreshHelperModes() { } } -ReturnValue_t SusAssembly::checkAndHandleHealthStates(Mode_t commandedMode, Submode_t commandedSubmode) { +ReturnValue_t SusAssembly::checkAndHandleHealthStates(Mode_t commandedMode, + Submode_t commandedSubmode) { using namespace returnvalue; ReturnValue_t status = returnvalue::OK; bool needsHealthOverwritten = false; @@ -163,7 +135,6 @@ ReturnValue_t SusAssembly::checkAndHandleHealthStates(Mode_t commandedMode, Subm (healthRed == FAULTY or healthRed == PERMANENT_FAULTY)) { overwriteDeviceHealth(devNom, healthNom); overwriteDeviceHealth(devRed, healthRed); - sif::debug << "SUS module health was overwritten" << std::endl; needsHealthOverwritten = true; } }; @@ -175,7 +146,6 @@ ReturnValue_t SusAssembly::checkAndHandleHealthStates(Mode_t commandedMode, Subm }; if (commandedSubmode == duallane::DUAL_MODE) { uint8_t idx = 0; - sif::debug << "doing dual mode health handling" << std::endl; for (idx = 0; idx < 6; idx++) { checkSusGroup(helper.susIds[idx], helper.susIds[idx + 6]); checkHealthForOneDev(helper.susIds[idx]); @@ -184,7 +154,7 @@ ReturnValue_t SusAssembly::checkAndHandleHealthStates(Mode_t commandedMode, Subm checkHealthForOneDev(helper.susIds[idx]); } } - if(needsHealthOverwritten) { + if (needsHealthOverwritten) { mode = commandedMode; submode = commandedSubmode; // We need second step instead of NEED_TO_CHANGE_HEALTH because we do not want recovery diff --git a/mission/system/objects/PowerStateMachineBase.cpp b/mission/system/objects/PowerStateMachineBase.cpp index e3b09e14..3f51c533 100644 --- a/mission/system/objects/PowerStateMachineBase.cpp +++ b/mission/system/objects/PowerStateMachineBase.cpp @@ -1,4 +1,5 @@ #include "PowerStateMachineBase.h" + #include "fsfw/serviceinterface.h" PowerStateMachineBase::PowerStateMachineBase(PowerSwitchIF *pwrSwitcher, dur_millis_t checkTimeout) @@ -21,8 +22,8 @@ void PowerStateMachineBase::start(Mode_t mode, Submode_t submode) { checkTimeout.resetTimer(); targetMode = mode; targetSubmode = submode; - sif::debug << "starting power fsm with mode " << mode << " and submode " << (int) submode - << std::endl; + sif::debug << "starting power fsm with mode " << mode << " and submode " << (int)submode + << std::endl; state = power::States::SWITCHING_POWER; }