simplified PL PCDU

fsfw

@@ -1 +1 @@
-Subproject commit 6ea1eabb2dd3688f2c7db484cd141f15c9f4fe49
+Subproject commit 283a37dccc064b71a0e4ca5c483c9a5a5241d355

mission/devices/PayloadPcduHandler.cpp

@@ -35,6 +35,7 @@ void PayloadPcduHandler::doStartUp() {
   if (opCode == power::OpCodes::TO_NOT_OFF_DONE or opCode == power::OpCodes::TIMEOUT_OCCURED) {
     pwrStateMachine.reset();
     quickTransitionAlreadyCalled = false;
+    state = States::POWER_CHANNELS_ON;
     setMode(_MODE_TO_ON);
   }
 }
@@ -55,13 +56,22 @@ void PayloadPcduHandler::doShutDown() {
   }
 }
 
-void PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_t subModeFrom) {
+void PayloadPcduHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
+  if (mode == _MODE_TO_NORMAL) {
+    stateMachineToNormal(modeFrom, subModeFrom);
+    return;
+  }
+  DeviceHandlerBase::doTransition(modeFrom, subModeFrom);
+}
+
+ReturnValue_t PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_t subModeFrom) {
   using namespace plpcdu;
-  if (submode == plpcdu::NORMAL_ALL_ON or submode == plpcdu::NORMAL_ADC_ONLY) {
+  if (submode == NormalSubmodes::SOLID_STATE_RELAYS_ADC_ON) {
     if (state == States::PL_PCDU_OFF) {
       sif::error << "PayloadPcduHandler::stateMachineToNormal: Unexpected state PL_PCDU_OFF"
                  << "detected" << std::endl;
       setMode(MODE_OFF);
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     if (state == States::POWER_CHANNELS_ON) {
       // Switch on relays here
@@ -93,42 +103,19 @@ void PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_t subMode
       if (adcState == AdcStates::SEND_SETUP) {
         if (adcCmdExecuted) {
           adcState = AdcStates::NORMAL;
-          if (submode == plpcdu::NORMAL_ADC_ONLY) {
-            setMode(MODE_NORMAL, NORMAL_ADC_ONLY);
-          }
           adcCountdown.setTimeout(100);
           adcCountdown.resetTimer();
           adcCmdExecuted = false;
+          if (submode == plpcdu::NORMAL_ADC_ONLY) {
+            setMode(MODE_NORMAL, submode);
+            return HasReturnvaluesIF::RETURN_OK;
           }
         }
       }
     }
-  if (submode == plpcdu::NORMAL_ALL_ON) {
-    if (state == States::ON_TRANS_ADC_CLOSE_ZERO) {
-      if (not commandExecuted and adcState == AdcStates::NORMAL) {
-        float waitTime = DFT_SSR_TO_DRO_WAIT_TIME;
-        params.getValue(PARAM_KEY_MAP[SSR_TO_DRO_WAIT_TIME], waitTime);
-        countdown.setTimeout(std::round(waitTime * 1000));
-        countdown.resetTimer();
-        commandExecuted = true;
-        // TODO: For now, skip ADC check
-        transitionOk = true;
   }
-      // ADC values are ok, 5 seconds have elapsed
-      if (transitionOk and countdown.hasTimedOut()) {
-        state = States::ON_TRANS_DRO;
-        // Now start monitoring for negative voltages instead
-        monMode = MonitoringMode::NEGATIVE;
-        commandExecuted = false;
-        transitionOk = false;
-      }
-    }
-    if (state == States::ON_TRANS_DRO) {
-      if (not commandExecuted) {
-        float waitTime = DFT_DRO_TO_X8_WAIT_TIME;
-        params.getValue(PARAM_KEY_MAP[DRO_TO_X8_WAIT_TIME], waitTime);
-        countdown.setTimeout(std::round(waitTime * 1000));
-        countdown.resetTimer();
+
+  if (submode == NormalSubmodes::DRO_ON) {
 #if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "Enabling PL PCDU DRO module" << std::endl;
 #endif
@@ -136,110 +123,53 @@ void PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_t subMode
     gpioIF->pullHigh(gpioIds::PLPCDU_ENB_DRO);
     adcCountdown.setTimeout(100);
     adcCountdown.resetTimer();
-        commandExecuted = true;
+    setMode(MODE_NORMAL, submode);
   }
-      // ADC values are ok, 5 seconds have elapsed
-      if (transitionOk and countdown.hasTimedOut()) {
-        state = States::ON_TRANS_X8;
-        commandExecuted = false;
-        transitionOk = false;
-      }
-    }
-    if (state == States::ON_TRANS_X8) {
-      if (not commandExecuted) {
-        float waitTime = DFT_X8_TO_TX_WAIT_TIME;
-        params.getValue(PARAM_KEY_MAP[X8_TO_TX_WAIT_TIME], waitTime);
-        countdown.setTimeout(std::round(waitTime * 1000));
-        countdown.resetTimer();
+
+  if (submode == NormalSubmodes::X8_ON) {
 #if OBSW_VERBOSE_LEVEL >= 1
         sif::info << "Enabling PL PCDU X8 module" << std::endl;
 #endif
-        // Switch on X8
-        gpioIF->pullHigh(gpioIds::PLPCDU_ENB_X8);
+    // Switch on DRO and start monitoring for negative voltages
+    gpioIF->pullHigh(gpioIds::PLPCDU_ENB_DRO);
     adcCountdown.setTimeout(100);
     adcCountdown.resetTimer();
-        commandExecuted = true;
+    setMode(MODE_NORMAL, submode);
   }
-      // ADC values are ok, 5 seconds have elapsed
-      if (transitionOk and countdown.hasTimedOut()) {
-        state = States::ON_TRANS_TX;
-        commandExecuted = false;
-        transitionOk = false;
-      }
-    }
-    if (state == States::ON_TRANS_TX) {
-      if (not commandExecuted) {
-        float waitTime = DFT_TX_TO_MPA_WAIT_TIME;
-        params.getValue(PARAM_KEY_MAP[TX_TO_MPA_WAIT_TIME], waitTime);
-        countdown.setTimeout(std::round(waitTime * 1000));
-        countdown.resetTimer();
+
+  if (submode == NormalSubmodes::TX_ON) {
 #if OBSW_VERBOSE_LEVEL >= 1
         sif::info << "Enabling PL PCDU TX module" << std::endl;
 #endif
-        // Switch on TX
+    // Switch on DRO and start monitoring for negative voltages
     gpioIF->pullHigh(gpioIds::PLPCDU_ENB_TX);
-        // Wait for 100 ms before checking ADC values
     adcCountdown.setTimeout(100);
     adcCountdown.resetTimer();
-        commandExecuted = true;
+    setMode(MODE_NORMAL, submode);
   }
-      // ADC values are ok, 5 seconds have elapsed
-      if (transitionOk and countdown.hasTimedOut()) {
-        state = States::ON_TRANS_MPA;
-        commandExecuted = false;
-        transitionOk = false;
-      }
-    }
-    if (state == States::ON_TRANS_MPA) {
-      if (not commandExecuted) {
-        float waitTime = DFT_MPA_TO_HPA_WAIT_TIME;
-        params.getValue(PARAM_KEY_MAP[MPA_TO_HPA_WAIT_TIME], waitTime);
-        countdown.setTimeout(std::round(waitTime * 1000));
-        countdown.resetTimer();
+
+  if (submode == NormalSubmodes::MPA_ON) {
 #if OBSW_VERBOSE_LEVEL >= 1
         sif::info << "Enabling PL PCDU MPA module" << std::endl;
 #endif
-        // Switch on MPA
+    // Switch on DRO and start monitoring for negative voltages
     gpioIF->pullHigh(gpioIds::PLPCDU_ENB_MPA);
-        // Wait for 100 ms before checking ADC values
     adcCountdown.setTimeout(100);
     adcCountdown.resetTimer();
-        commandExecuted = true;
+    setMode(MODE_NORMAL, submode);
   }
-      // ADC values are ok, 5 seconds have elapsed
-      if (transitionOk and countdown.hasTimedOut()) {
-        state = States::ON_TRANS_HPA;
-        commandExecuted = false;
-        transitionOk = false;
-      }
-    }
-    if (state == States::ON_TRANS_HPA) {
-      if (not commandExecuted) {
-        // Switch on HPA
-        gpioIF->pullHigh(gpioIds::PLPCDU_ENB_HPA);
+
+  if (submode == NormalSubmodes::HPA_ON) {
 #if OBSW_VERBOSE_LEVEL >= 1
         sif::info << "Enabling PL PCDU HPA module" << std::endl;
 #endif
-        commandExecuted = true;
+    // Switch on DRO and start monitoring for negative voltages
+    gpioIF->pullHigh(gpioIds::PLPCDU_ENB_HPA);
+    adcCountdown.setTimeout(100);
+    adcCountdown.resetTimer();
+    setMode(MODE_NORMAL, submode);
   }
-      // ADC values are ok, 5 seconds have elapsed
-      if (transitionOk and countdown.hasTimedOut()) {
-        state = States::PL_PCDU_ON;
-        setMode(MODE_NORMAL, plpcdu::NORMAL_ALL_ON);
-        countdown.resetTimer();
-        commandExecuted = false;
-        transitionOk = false;
-      }
-    }
-  }
-}
-
-void PayloadPcduHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
-  if (mode == _MODE_TO_NORMAL) {
-    stateMachineToNormal(modeFrom, subModeFrom);
-    return;
-  }
-  DeviceHandlerBase::doTransition(modeFrom, subModeFrom);
+  return RETURN_OK;
 }
 
 ReturnValue_t PayloadPcduHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
@@ -613,7 +543,28 @@ bool PayloadPcduHandler::checkCurrent(float val, float upperBound, Event event)
 }
 
 ReturnValue_t PayloadPcduHandler::isModeCombinationValid(Mode_t mode, Submode_t submode) {
-  if (mode == MODE_NORMAL and submode <= 1) {
+  using namespace plpcdu;
+  if (mode == MODE_NORMAL) {
+    if (submode == NormalSubmodes::SOLID_STATE_RELAYS_ADC_ON and
+        this->submode != NormalSubmodes::ALL_OFF) {
+      return TRANS_NOT_ALLOWED;
+    }
+    if ((submode == NormalSubmodes::DRO_ON and
+         this->submode != NormalSubmodes::SOLID_STATE_RELAYS_ADC_ON)) {
+      return TRANS_NOT_ALLOWED;
+    }
+    if ((submode == NormalSubmodes::X8_ON and this->submode != NormalSubmodes::DRO_ON)) {
+      return TRANS_NOT_ALLOWED;
+    }
+    if ((submode == NormalSubmodes::TX_ON and this->submode != NormalSubmodes::X8_ON)) {
+      return TRANS_NOT_ALLOWED;
+    }
+    if ((submode == NormalSubmodes::MPA_ON and this->submode != NormalSubmodes::MPA_ON)) {
+      return TRANS_NOT_ALLOWED;
+    }
+    if ((submode == NormalSubmodes::HPA_ON and this->submode != NormalSubmodes::MPA_ON)) {
+      return TRANS_NOT_ALLOWED;
+    }
     return HasReturnvaluesIF::RETURN_OK;
   }
   return DeviceHandlerBase::isModeCombinationValid(mode, submode);

mission/devices/PayloadPcduHandler.h

@@ -166,7 +166,7 @@ class PayloadPcduHandler : public DeviceHandlerBase {
   void checkAdcValues();
   void handleOutOfBoundsPrintout();
   void checkJsonFileInit();
-  void stateMachineToNormal(Mode_t modeFrom, Submode_t subModeFrom);
+  ReturnValue_t stateMachineToNormal(Mode_t modeFrom, Submode_t subModeFrom);
   bool checkVoltage(float val, float lowerBound, float upperBound, Event event);
   bool checkCurrent(float val, float upperBound, Event event);
   void handleFailureInjection(std::string output, Event event);

mission/devices/devicedefinitions/payloadPcduDefinitions.h

@@ -94,6 +94,16 @@ static constexpr DeviceCommandId_t READ_WITH_TEMP_EXT = 3;
 static constexpr Submode_t NORMAL_ADC_ONLY = 0;
 static constexpr Submode_t NORMAL_ALL_ON = 1;
 
+enum NormalSubmodes {
+  ALL_OFF = 0,
+  SOLID_STATE_RELAYS_ADC_ON = 1,
+  DRO_ON = 2,
+  X8_ON = 3,
+  TX_ON = 4,
+  MPA_ON = 5,
+  HPA_ON = 6
+};
+
 // 12 ADC values * 2 + trailing zero
 static constexpr size_t ADC_REPLY_SIZE = 25;
 // Conversion byte + 24 * zero

tmtc

@@ -1 +1 @@
-Subproject commit bca8d5d05d25812b4e112ac0544b24915ec01971
+Subproject commit e37430423e814b9e05f25d63970f2c2b5048cfb1