From 669c3630a9c819c4b3d30f7cb4487f7ff2bc79cd Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Fri, 4 Aug 2023 14:23:10 +0200
Subject: [PATCH] reworked PDEC FDIR

---
 mission/system/EiveSystem.cpp | 59 +++++++++++++++++------------------
 mission/system/EiveSystem.h   |  5 +--
 2 files changed, 32 insertions(+), 32 deletions(-)

diff --git a/mission/system/EiveSystem.cpp b/mission/system/EiveSystem.cpp
index 41f52cde..8461b528 100644
--- a/mission/system/EiveSystem.cpp
+++ b/mission/system/EiveSystem.cpp
@@ -296,39 +296,38 @@ ReturnValue_t EiveSystem::sendFullRebootCommand() {
 }
 
 void EiveSystem::pdecRecoveryLogic() {
-  if (pdecResetWasAttempted and pdecResetWasAttemptedCd.hasTimedOut()) {
-    pdecResetWasAttempted = false;
+  if (pdecResetCounter >= PDEC_RESET_MAX_COUNT_BEFORE_REBOOT) {
+    // If a PTME reset was already attempted and there is still an issue receiving TC frames,
+    // reboot the system.
+    if (waitingForPdecReboot) {
+      return;
+    }
+    triggerEvent(core::PDEC_REBOOT);
+    // Some delay to ensure that the event is stored in the persistent TM store as well.
+    TaskFactory::delayTask(500);
+    // Send reboot command.
+    ReturnValue_t result = sendSelfRebootCommand();
+    if (result != returnvalue::OK) {
+      sif::error << "Sending a reboot command has failed" << std::endl;
+      // If the previous operation failed, it should be re-attempted the next task cycle.
+      pdecResetCounterResetCd.resetTimer();
+      return;
+    }
+    waitingForPdecReboot = true;
+    return;
+  }
+  if (pdecResetCounterResetCd.hasTimedOut()) {
+    pdecResetCounter = 0;
   }
   if (frameDirtyCheckCd.hasTimedOut()) {
     if (frameDirtyErrorCounter >= FRAME_DIRTY_COM_REBOOT_LIMIT) {
-      // If a PTME reset was already attempted and there is still an issue receiving TC frames,
-      // reboot the system.
-      if (pdecResetWasAttempted) {
-        if (waitingForPdecReboot) {
-          return;
-        }
-        triggerEvent(core::PDEC_REBOOT);
-        // Some delay to ensure that the event is stored in the persistent TM store as well.
-        TaskFactory::delayTask(500);
-        // Send reboot command.
-        ReturnValue_t result = sendSelfRebootCommand();
-        if (result != returnvalue::OK) {
-          sif::error << "Sending a reboot command has failed" << std::endl;
-          // If the previous operation failed, it should be re-attempted the next task cycle.
-          pdecResetWasAttemptedCd.resetTimer();
-          return;
-        }
-        waitingForPdecReboot = true;
-        return;
-      } else {
-        // Try one full PDEC reset.
-        CommandMessage msg;
-        store_address_t dummy{};
-        ActionMessage::setCommand(&msg, pdec::RESET_PDEC_WITH_REINIITALIZATION, dummy);
-        commandQueue->sendMessage(pdecHandlerQueueId, &msg);
-        pdecResetWasAttemptedCd.resetTimer();
-        pdecResetWasAttempted = true;
-      }
+      // Try one full PDEC reset.
+      CommandMessage msg;
+      store_address_t dummy{};
+      ActionMessage::setCommand(&msg, pdec::RESET_PDEC_WITH_REINIITALIZATION, dummy);
+      commandQueue->sendMessage(pdecHandlerQueueId, &msg);
+      pdecResetCounterResetCd.resetTimer();
+      pdecResetCounter++;
     }
     frameDirtyErrorCounter = 0;
     frameDirtyCheckCd.resetTimer();
diff --git a/mission/system/EiveSystem.h b/mission/system/EiveSystem.h
index c724ba34..e6ff19b9 100644
--- a/mission/system/EiveSystem.h
+++ b/mission/system/EiveSystem.h
@@ -10,6 +10,7 @@
 class EiveSystem : public Subsystem, public HasActionsIF {
  public:
   static constexpr uint8_t FRAME_DIRTY_COM_REBOOT_LIMIT = 4;
+  static constexpr uint32_t PDEC_RESET_MAX_COUNT_BEFORE_REBOOT = 10;
 
   static constexpr ActionId_t EXECUTE_I2C_REBOOT = 10;
 
@@ -39,11 +40,11 @@ class EiveSystem : public Subsystem, public HasActionsIF {
   Countdown frameDirtyCheckCd = Countdown(10000);
   // If the PDEC reset was already attempted in the last 2 minutes, there is a high chance that
   // only a full reboot will fix the issue.
-  Countdown pdecResetWasAttemptedCd = Countdown(120000);
-  bool pdecResetWasAttempted = false;
+  Countdown pdecResetCounterResetCd = Countdown(120000);
   bool waitingForI2cReboot = false;
   bool waitingForPdecReboot = false;
 
+  uint32_t pdecResetCounter = 0;
   ActionHelper actionHelper;
   PowerSwitchIF* powerSwitcher = nullptr;
   std::atomic_uint16_t& i2cErrors;