From 758add2928ccd43e996840202fa73a9837689309 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Fri, 29 Sep 2023 09:50:48 +0200
Subject: [PATCH] improved events, allowed all modes, removed debug output

---
 mission/controller/PowerController.cpp | 17 ++++++++---------
 mission/controller/PowerController.h   |  2 +-
 mission/power/defs.h                   |  2 ++
 3 files changed, 11 insertions(+), 10 deletions(-)

diff --git a/mission/controller/PowerController.cpp b/mission/controller/PowerController.cpp
index 9347f681..054fcfd2 100644
--- a/mission/controller/PowerController.cpp
+++ b/mission/controller/PowerController.cpp
@@ -11,7 +11,6 @@ ReturnValue_t PowerController::initialize() {
   if (result != returnvalue::OK) {
     return result;
   }
-  sif::debug << "Rush B, no stop" << std::endl;
   return ExtendedControllerBase::initialize();
 }
 
@@ -92,7 +91,6 @@ void PowerController::performControlOperation() {
     }
     case InternalState::READY: {
       if (mode != MODE_OFF) {
-        sif::debug << "oh shit, now i gotta do something" << std::endl;
         calculateStateOfCharge();
         if (mode == MODE_NORMAL) {
           watchStateOfCharge();
@@ -127,7 +125,7 @@ LocalPoolDataSetBase *PowerController::getDataSetHandle(sid_t sid) {
 
 ReturnValue_t PowerController::checkModeCommand(Mode_t mode, Submode_t submode,
                                                 uint32_t *msToReachTheMode) {
-  if (mode == MODE_OFF) {
+  if (mode == MODE_OFF or mode == MODE_ON or mode == MODE_NORMAL) {
     if (submode == SUBMODE_NONE) {
       return returnvalue::OK;
     } else {
@@ -251,8 +249,9 @@ ReturnValue_t PowerController::calculateOpenCircuitVoltageCharge() {
 ReturnValue_t PowerController::calculateCoulombCounterCharge() {
   double timeDiff = timevalOperations::toDouble(now - oldTime);
   if (timeDiff > maxAllowedTimeDiff) {
-    triggerEvent(power::TIMEDELTA_OUT_OF_BOUNDS);
-    sif::error << "Power Controller::Time delta too large for Coulomb Counter" << std::endl;
+    triggerEvent(power::TIMEDELTA_OUT_OF_BOUNDS, static_cast<uint32_t>(timeDiff * 10));
+    sif::error << "Power Controller::Time delta too large for Coulomb Counter: " << timeDiff
+               << std::endl;
     return returnvalue::FAILED;
   }
   if (not pwrCtrlCoreHk.coulombCounterCharge.isValid()) {
@@ -298,12 +297,12 @@ float PowerController::linearInterpolation(float x, float x0, float x1, float y0
 
 ReturnValue_t PowerController::lookUpTableOcvIdxFinder(float voltage, uint8_t &idx) {
   if (voltage >= lookUpTableOcv[1][99]) {
-    triggerEvent(power::VOLTAGE_OUT_OF_BOUNDS, 0);
-    sif::error << "Power Controller::Voltage is too high" << std::endl;
+    triggerEvent(power::VOLTAGE_OUT_OF_BOUNDS, 0, static_cast<uint32_t>(voltage * 10));
+    sif::error << "Power Controller::Voltage is too high: " << voltage << std::endl;
     return returnvalue::FAILED;
   } else if (voltage <= lookUpTableOcv[1][0]) {
-    triggerEvent(power::VOLTAGE_OUT_OF_BOUNDS, 1);
-    sif::error << "Power Controller::Voltage is too low" << std::endl;
+    triggerEvent(power::VOLTAGE_OUT_OF_BOUNDS, 1, static_cast<uint32_t>(voltage * 10));
+    sif::error << "Power Controller::Voltage is too low: " << voltage << std::endl;
     return returnvalue::FAILED;
   }
   while (lookUpTableOcv[1][idx] > voltage) {
diff --git a/mission/controller/PowerController.h b/mission/controller/PowerController.h
index 81522023..e374391e 100644
--- a/mission/controller/PowerController.h
+++ b/mission/controller/PowerController.h
@@ -55,7 +55,7 @@ class PowerController : public ExtendedControllerBase, public ReceivesParameterM
   // Parameters
   float batteryInternalResistance = 70.0 / 2.0 / 1000.0;  // [Ohm]
   float batteryMaximumCapacity = 2.6 * 2;                 // [Ah]
-  float coulombCounterVoltageUpperThreshold = 16.2e3;     // [mV]
+  float coulombCounterVoltageUpperThreshold = 16.2;       // [V]
   double maxAllowedTimeDiff = 0.5;                        // [s]
   float payloadLimit = 0.75;                              // [%]
   float higherModesLimit = 0.6;                           // [%]
diff --git a/mission/power/defs.h b/mission/power/defs.h
index 22a8af53..28e5eca8 100644
--- a/mission/power/defs.h
+++ b/mission/power/defs.h
@@ -52,8 +52,10 @@ static constexpr Event DATASET_READ_FAILED = event::makeEvent(SUBSYSTEM_ID, 4, s
 //! [EXPORT] : [COMMENT] The battery voltage read is out of the bounds in which it is supposed to
 //! be.
 //! P1: 1 too high, 0 too low
+//! P2: voltage in V * 10
 static constexpr Event VOLTAGE_OUT_OF_BOUNDS = event::makeEvent(SUBSYSTEM_ID, 5, severity::HIGH);
 //! [EXPORT] : [COMMENT] Time difference for Coulomb Counter was too large.
+//! P1: time in s * 10
 static constexpr Event TIMEDELTA_OUT_OF_BOUNDS = event::makeEvent(SUBSYSTEM_ID, 6, severity::LOW);
 //! [EXPORT] : [COMMENT] The State of Charge is below the limit for payload use. Setting Payload to
 //! faulty.