eive/eive-obsw
eive/eive-obsw
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that was a lot of printouts

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Robin Müller 2023-04-05 14:46:45 +02:00
parent 5e93282662
commit 65c231e92d
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GPG Key ID: 11D4952C8CCEF814
4 changed files with 9 additions and 42 deletions
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4
mission/system/acs/AcsBoardAssembly.cpp
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@ -305,9 +305,9 @@ ReturnValue_t AcsBoardAssembly::checkAndHandleHealthStates(Mode_t commandedMode,
helper.mgm2Lis3IdSideB, helper.mgm3Rm3100IdSideB); helper.mgm2Lis3IdSideB, helper.mgm3Rm3100IdSideB);
checkAcsBoardSensorGroup(helper.gyro0AdisIdSideA, helper.gyro1L3gIdSideA, 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, // 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 // 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. // old mode. We force our behaviour by overwriting the internal modes.

4
mission/system/acs/DualLaneAssemblyBase.cpp
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@ -86,15 +86,12 @@ 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);
@ -186,7 +183,6 @@ 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! // If we have just attempted side swichting, this flag needs to be reset!
startTransition(mode, Submodes::DUAL_MODE); startTransition(mode, Submodes::DUAL_MODE);

38
mission/system/acs/SusAssembly.cpp
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@ -17,8 +17,6 @@ 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
@ -27,8 +25,6 @@ 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 != returnvalue::OK) { if (result != returnvalue::OK) {
return result; return result;
@ -36,7 +32,6 @@ ReturnValue_t SusAssembly::commandChildren(Mode_t mode, Submode_t submode) {
} }
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);
} }
} }
@ -52,35 +47,13 @@ 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(isModeCommandable(objectId, devMode)) { if (isModeCommandable(objectId, devMode)) {
modeTable[tableIdx].setMode(mode); modeTable[tableIdx].setMode(mode);
modeTable[tableIdx].setSubmode(SUBMODE_NONE); 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
@ -90,7 +63,6 @@ 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
@ -100,7 +72,6 @@ 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);
} }
@ -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; using namespace returnvalue;
ReturnValue_t status = returnvalue::OK; ReturnValue_t status = returnvalue::OK;
bool needsHealthOverwritten = false; bool needsHealthOverwritten = false;
@ -163,7 +135,6 @@ ReturnValue_t SusAssembly::checkAndHandleHealthStates(Mode_t commandedMode, Subm
(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;
} }
}; };
@ -175,7 +146,6 @@ ReturnValue_t SusAssembly::checkAndHandleHealthStates(Mode_t commandedMode, Subm
}; };
if (commandedSubmode == 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]);
@ -184,7 +154,7 @@ ReturnValue_t SusAssembly::checkAndHandleHealthStates(Mode_t commandedMode, Subm
checkHealthForOneDev(helper.susIds[idx]); checkHealthForOneDev(helper.susIds[idx]);
} }
} }
if(needsHealthOverwritten) { if (needsHealthOverwritten) {
mode = commandedMode; mode = commandedMode;
submode = commandedSubmode; submode = commandedSubmode;
// We need second step instead of NEED_TO_CHANGE_HEALTH because we do not want recovery // We need second step instead of NEED_TO_CHANGE_HEALTH because we do not want recovery

5
mission/system/objects/PowerStateMachineBase.cpp
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@ -1,4 +1,5 @@
#include "PowerStateMachineBase.h" #include "PowerStateMachineBase.h"
#include "fsfw/serviceinterface.h" #include "fsfw/serviceinterface.h"
PowerStateMachineBase::PowerStateMachineBase(PowerSwitchIF *pwrSwitcher, dur_millis_t checkTimeout) PowerStateMachineBase::PowerStateMachineBase(PowerSwitchIF *pwrSwitcher, dur_millis_t checkTimeout)
@ -21,8 +22,8 @@ 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 sif::debug << "starting power fsm with mode " << mode << " and submode " << (int)submode
<< std::endl; << std::endl;
state = power::States::SWITCHING_POWER; state = power::States::SWITCHING_POWER;
} }