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implemented switch handling
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This commit is contained in:
Robin Müller
2022-03-28 12:23:56 +02:00
parent 6e25cf912f
commit 66029cb47a
3 changed files with 46 additions and 15 deletions
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51
mission/devices/PayloadPcduHandler.cpp
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@ -28,17 +28,39 @@ void PayloadPcduHandler::doStartUp() {
// Config error
sif::error << "PayloadPcduHandler::doStartUp: Invalid state" << std::endl;
}
// TODO: Handle switching power on here
// TODO: Go to on mode here instead, indicating that the power is on
// We are now in ON mode
setMode(_MODE_TO_ON);
if (pwrStateMachine.getState() == power::States::IDLE) {
pwrStateMachine.start(MODE_ON, pwrSubmode);
}
auto opCode = pwrStateMachine.fsm();
if (opCode == power::OpCodes::TO_NOT_OFF_DONE or opCode == power::OpCodes::TIMEOUT_OCCURED) {
pwrStateMachine.reset();
quickTransitionAlreadyCalled = false;
setMode(_MODE_TO_ON);
}
}
void PayloadPcduHandler::doShutDown() {
if (not quickTransitionAlreadyCalled) {
quickTransitionBackToOff(false, false);
quickTransitionAlreadyCalled = true;
}
if (pwrStateMachine.getState() == power::States::IDLE) {
pwrStateMachine.start(MODE_OFF, 0);
}
auto opCode = pwrStateMachine.fsm();
if (opCode == power::OpCodes::TO_OFF_DONE or opCode == power::OpCodes::TIMEOUT_OCCURED) {
pwrStateMachine.reset();
// No need to set mode _MODE_POWER_DOWN, power switching was already handled
setMode(MODE_OFF);
}
}
void PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_t subModeFrom) {
using namespace plpcdu;
if (submode == plpcdu::NORMAL_ALL_ON or submode == plpcdu::NORMAL_ADC_ONLY) {
if (state == States::PL_PCDU_OFF) {
// TODO: Config error, emit error printout
sif::error << "PayloadPcduHandler::stateMachineToNormal: Unexpected state PL_PCDU_OFF"
<< "detected" << std::endl;
setMode(MODE_OFF);
}
if (state == States::POWER_CHANNELS_ON) {
@ -215,11 +237,11 @@ void PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_t subMode
void PayloadPcduHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
if (mode == _MODE_TO_NORMAL) {
stateMachineToNormal(modeFrom, subModeFrom);
return;
}
DeviceHandlerBase::doTransition(modeFrom, subModeFrom);
}
void PayloadPcduHandler::doShutDown() { transitionBackToOff(false); }
ReturnValue_t PayloadPcduHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
switch (adcState) {
case (AdcStates::SEND_SETUP): {
@ -402,7 +424,7 @@ void PayloadPcduHandler::enablePeriodicPrintout(bool enable, uint8_t divider) {
opDivider.setDivider(divider);
}
void PayloadPcduHandler::transitionBackToOff(bool notifyFdir) {
void PayloadPcduHandler::quickTransitionBackToOff(bool startTransitionToOff, bool notifyFdir) {
States currentState = state;
gpioIF->pullLow(gpioIds::PLPCDU_ENB_HPA);
gpioIF->pullLow(gpioIds::PLPCDU_ENB_MPA);
@ -414,7 +436,9 @@ void PayloadPcduHandler::transitionBackToOff(bool notifyFdir) {
gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT1);
state = States::PL_PCDU_OFF;
adcState = AdcStates::OFF;
setMode(MODE_OFF);
if (startTransitionToOff) {
startTransition(MODE_OFF, 0);
}
if (notifyFdir) {
triggerEvent(TRANSITION_BACK_TO_OFF, static_cast<uint32_t>(currentState));
}
@ -568,7 +592,8 @@ bool PayloadPcduHandler::checkVoltage(float val, float lowerBound, float upperBo
serializeFloat(p2, val);
triggerEvent(event, tooLarge, p2);
transitionOk = false;
transitionBackToOff(true);
quickTransitionBackToOff(true, true);
quickTransitionAlreadyCalled = true;
return false;
}
return true;
@ -580,7 +605,8 @@ bool PayloadPcduHandler::checkCurrent(float val, float upperBound, Event event)
serializeFloat(p2, val);
triggerEvent(event, true, p2);
transitionOk = false;
transitionBackToOff(true);
quickTransitionBackToOff(true, true);
quickTransitionAlreadyCalled = true;
return false;
}
return true;
@ -670,7 +696,8 @@ void PayloadPcduHandler::handleFailureInjection(std::string output, Event event)
<< std::endl;
triggerEvent(event, 0, 0);
transitionOk = false;
transitionBackToOff(true);
quickTransitionBackToOff(true, true);
quickTransitionAlreadyCalled = true;
droToX8InjectionRequested = false;
}