cleaning up, better fault status handling

linux/devices/Max31865RtdLowlevelHandler.cpp

@@ -55,7 +55,6 @@ bool Max31865RtdReader::periodicInitHandling() {
       continue;
     }
     if ((rtd->on or rtd->active) and not rtd->configured) {
-      sif::debug << "crap1" << std::endl;
       if (rtd->cd.hasTimedOut()) {
         uint8_t cfg =
             (Bias::OFF << CfgBitPos::BIAS_SEL) | (Wires::FOUR_WIRE << CfgBitPos::WIRE_SEL) |
@@ -118,9 +117,7 @@ void Max31865RtdReader::periodicReadReqHandling() {
     if (rtd == nullptr) {
       continue;
     }
-    sif::debug << "crap2" << std::endl;
     if (rtdIsActive(rtd->idx)) {
-      sif::debug << "crap3" << std::endl;
       uint8_t currentCfg = 0;
       auto result = readCfgReg(rtd->spiCookie, currentCfg);
       if (result != RETURN_OK) {
@@ -154,9 +151,6 @@ void Max31865RtdReader::periodicReadHandling() {
         handleSpiError(rtd, result, "readRtdVal");
         continue;
       }
-      if(rtd->idx == 0) {
-        sif::debug << "Read RAW rtd val 0: " <<  rtdVal << std::endl;
-      }
       if (faultBitSet) {
         rtd->db.faultBitSet = faultBitSet;
       }

mission/devices/Max31865PT1000Handler.cpp

@@ -441,56 +441,51 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(DeviceCommandId_t id,
     }
     case (MAX31865::REQUEST_FAULT_BYTE): {
       faultByte = packet[1];
-//#if OBSW_VERBOSE_LEVEL >= 1
+      bool faultStatusChanged = (faultByte != lastFaultStatus);
-//#if FSFW_CPP_OSTREAM_ENABLED == 1
+      // Spam protection
-//      sif::warning << "Max31865PT1000Handler::interpretDeviceReply: Object ID: " << std::hex
+      if (faultStatusChanged or ((faultByte == lastFaultStatus) and (sameFaultStatusCounter < 3))) {
-//                   << this->getObjectId()
+        // TODO: Think about triggering an event here
-//                   << ": Fault byte"
+#if OBSW_VERBOSE_LEVEL >= 1
-//                      " is: 0b"
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-//                   << std::bitset<8>(faultByte) << std::endl;
+        sif::warning << "Max31865PT1000Handler::interpretDeviceReply: Object ID: " << std::hex
-//#else
+                     << this->getObjectId() << ": Fault byte is: 0b" << std::bitset<8>(faultByte)
-//      sif::printWarning(
+                     << std::endl;
-//          "Max31865PT1000Handler::interpretDeviceReply: Fault byte"
+#else
-//          " is: 0b" BYTE_TO_BINARY_PATTERN "\n",
+        sif::printWarning(
-//          BYTE_TO_BINARY(faultByte));
+            "Max31865PT1000Handler::interpretDeviceReply: Fault byte"
-//#endif
+            " is: 0b" BYTE_TO_BINARY_PATTERN "\n",
-//#endif
+            BYTE_TO_BINARY(faultByte));
-      ReturnValue_t result = sensorDataset.read();
+#endif
+#endif
+        if (faultStatusChanged) {
+          sameFaultStatusCounter = 0;
+        } else {
+          sameFaultStatusCounter++;
+        }
+      }
+      lastFaultStatus = faultByte;
+      PoolReadGuard pg(&sensorDataset);
+      auto result = pg.getReadResult();
       if (result != HasReturnvaluesIF::RETURN_OK) {
         // Configuration error
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::debug << "Max31865PT1000Handler::interpretDeviceReply: Object ID: " << std::hex
+        sif::warning << "Max31865PT1000Handler::interpretDeviceReply: Object ID: " << std::hex
-                   << this->getObjectId()
+                     << this->getObjectId() << ": Error reading dataset" << std::endl;
-                   << ":"
-                      "Error reading dataset!"
-                   << std::endl;
 #else
-        sif::printDebug(
+        sif::printWarning("Max31865PT1000Handler::interpretDeviceReply: Error reading dataset\n");
-            "Max31865PT1000Handler::interpretDeviceReply: "
-            "Error reading dataset!\n");
 #endif
         return result;
       }
+      if(faultStatusChanged) {
+        sensorDataset.lastErrorByte.setValid(true);
+        sensorDataset.lastErrorByte = faultByte;
+      }
       sensorDataset.errorByte.setValid(true);
       sensorDataset.errorByte = faultByte;
+
       if (faultByte != 0) {
         sensorDataset.temperatureCelcius.setValid(false);
       }
-
-      result = sensorDataset.commit();
-      if (result != HasReturnvaluesIF::RETURN_OK) {
-        // Configuration error
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::debug << "Max31865PT1000Handler::interpretDeviceReply: Object ID: " << std::hex
-                   << this->getObjectId() << ": Error commiting dataset!" << std::endl;
-#else
-        sif::printDebug(
-            "Max31865PT1000Handler::interpretDeviceReply: "
-            "Error commiting dataset!\n");
-#endif
-        return result;
-      }
-
       break;
     }
     default:
@@ -516,7 +511,9 @@ ReturnValue_t Max31865PT1000Handler::initializeLocalDataPool(localpool::DataPool
   using namespace MAX31865;
   localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::RTD_VALUE), new PoolEntry<float>({0}));
   localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::TEMPERATURE_C),
-                           new PoolEntry<float>({0}, 1, true));
+                           new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::LAST_FAULT_BYTE),
+                           new PoolEntry<uint8_t>({0}));
   localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::FAULT_BYTE), new PoolEntry<uint8_t>({0}));
   poolManager.subscribeForPeriodicPacket(sensorDataset.getSid(), false, 30.0, false);
   return HasReturnvaluesIF::RETURN_OK;

mission/devices/Max31865PT1000Handler.h

@@ -110,6 +110,8 @@ class Max31865PT1000Handler : public DeviceHandlerBase {
   bool resetFaultBit = false;
   dur_millis_t startTime = 0;
   uint8_t currentCfg = 0;
+  uint8_t lastFaultStatus = 0;
+  uint16_t sameFaultStatusCounter = 0;
   std::string locString;
   uint8_t faultByte = 0;
   uint8_t deviceIdx = 0;

mission/devices/devicedefinitions/Max31865Definitions.h

@@ -9,7 +9,7 @@
 
 namespace MAX31865 {
 
-enum class PoolIds : lp_id_t { RTD_VALUE, TEMPERATURE_C, FAULT_BYTE };
+enum class PoolIds : lp_id_t { RTD_VALUE, TEMPERATURE_C, LAST_FAULT_BYTE, FAULT_BYTE };
 enum Wires : unsigned int { TWO_WIRE = 0, THREE_WIRE = 1, FOUR_WIRE = 0 };
 
 enum ConvMode : unsigned int { NORM_OFF = 0, AUTO = 1 };
@@ -56,7 +56,7 @@ static constexpr uint8_t CLEAR_FAULT_BIT_VAL = 0b0000'0010;
 
 static constexpr size_t MAX_REPLY_SIZE = 5;
 
-class Max31865Set : public StaticLocalDataSet<3> {
+class Max31865Set : public StaticLocalDataSet<4> {
  public:
   /**
    * Constructor used by owner and data creators like device handlers.
@@ -75,6 +75,8 @@ class Max31865Set : public StaticLocalDataSet<3> {
       lp_var_t<float>(sid.objectId, static_cast<lp_id_t>(PoolIds::RTD_VALUE), this);
   lp_var_t<float> temperatureCelcius =
       lp_var_t<float>(sid.objectId, static_cast<lp_id_t>(PoolIds::TEMPERATURE_C), this);
+  lp_var_t<uint8_t> lastErrorByte =
+      lp_var_t<uint8_t>(sid.objectId, static_cast<lp_id_t>(PoolIds::LAST_FAULT_BYTE), this);
   lp_var_t<uint8_t> errorByte =
       lp_var_t<uint8_t>(sid.objectId, static_cast<lp_id_t>(PoolIds::FAULT_BYTE), this);
 };