that was a lot of printouts

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.

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);

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

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
+  sif::debug << "starting power fsm with mode " << mode << " and submode " << (int)submode
-      << std::endl;
+             << std::endl;
   state = power::States::SWITCHING_POWER;
 }