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@ -16,6 +16,11 @@ will consitute of a breaking change warranting a new major release:
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# [unreleased]
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# [unreleased]
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## Fixed
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- RW Assembly: Correctly transition back to off when more than 1 devices is OFF. Also do this
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when this was due to two devices being marked faulty.
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# [v1.43.2] 2023-04-05
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# [v1.43.2] 2023-04-05
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## Changed
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## Changed
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@ -7,9 +7,9 @@ RwDummy::RwDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
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RwDummy::~RwDummy() {}
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RwDummy::~RwDummy() {}
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void RwDummy::doStartUp() {}
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void RwDummy::doStartUp() { setMode(MODE_ON); }
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void RwDummy::doShutDown() {}
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void RwDummy::doShutDown() { setMode(MODE_OFF); }
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ReturnValue_t RwDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }
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ReturnValue_t RwDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }
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@ -7,9 +7,9 @@ StarTrackerDummy::StarTrackerDummy(object_id_t objectId, object_id_t comif, Cook
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StarTrackerDummy::~StarTrackerDummy() {}
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StarTrackerDummy::~StarTrackerDummy() {}
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void StarTrackerDummy::doStartUp() {}
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void StarTrackerDummy::doStartUp() { setMode(MODE_ON); }
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void StarTrackerDummy::doShutDown() {}
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void StarTrackerDummy::doShutDown() { setMode(_MODE_POWER_DOWN); }
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ReturnValue_t StarTrackerDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
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ReturnValue_t StarTrackerDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
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return NOTHING_TO_SEND;
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return NOTHING_TO_SEND;
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@ -56,12 +56,12 @@ ReturnValue_t RwAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t want
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}
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}
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}
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}
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} catch (const std::out_of_range& e) {
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} catch (const std::out_of_range& e) {
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sif::error << "RwAssembly: Invalid children map: " << e.what() << std::endl;
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sif::error << "RW ASSY: Invalid children map: " << e.what() << std::endl;
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}
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}
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if (devsInCorrectMode < 3) {
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if (devsInCorrectMode < 3) {
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if (warningSwitch) {
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if (warningSwitch) {
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sif::warning << "RwAssembly::checkChildrenStateOn: Only " << devsInCorrectMode
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sif::warning << "RW ASSY: Only " << devsInCorrectMode << " devices in correct mode"
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<< " devices in correct mode" << std::endl;
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<< std::endl;
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warningSwitch = false;
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warningSwitch = false;
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}
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}
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return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
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return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
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@ -106,46 +106,18 @@ void RwAssembly::handleModeReached() {
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}
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}
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}
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}
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void RwAssembly::handleChildrenLostMode(ReturnValue_t result) {
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AssemblyBase::handleChildrenLostMode(result);
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}
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ReturnValue_t RwAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode) {
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ReturnValue_t RwAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode) {
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ReturnValue_t result = returnvalue::OK;
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ReturnValue_t result = returnvalue::OK;
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bool needsSecondStep = false;
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Mode_t devMode = 0;
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object_id_t objId = 0;
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object_id_t objId = 0;
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try {
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try {
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for (uint8_t idx = 0; idx < NUMBER_RWS; idx++) {
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for (uint8_t idx = 0; idx < NUMBER_RWS; idx++) {
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devMode = childrenMap.at(helper.rwIds[idx]).mode;
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if (isUseable(objId, mode)) {
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objId = helper.rwIds[idx];
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if (mode == devMode) {
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modeTable[idx].setMode(mode);
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modeTable[idx].setMode(mode);
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} else if (mode == DeviceHandlerIF::MODE_NORMAL) {
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modeTable[idx].setSubmode(submode);
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if (isUseable(objId, devMode)) {
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if (devMode == MODE_ON) {
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modeTable[idx].setMode(mode);
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modeTable[idx].setSubmode(SUBMODE_NONE);
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} else {
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modeTable[idx].setMode(MODE_ON);
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modeTable[idx].setSubmode(SUBMODE_NONE);
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if (internalState != STATE_SECOND_STEP) {
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needsSecondStep = true;
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}
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}
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}
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} else if (mode == MODE_ON) {
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if (isUseable(objId, devMode)) {
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modeTable[idx].setMode(MODE_ON);
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modeTable[idx].setSubmode(SUBMODE_NONE);
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}
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}
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}
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}
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}
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} catch (const std::out_of_range& e) {
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} catch (const std::out_of_range& e) {
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sif::error << "TcsBoardAssembly: Invalid children map: " << e.what() << std::endl;
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sif::error << "RW ASSY: Invalid children map: " << e.what() << std::endl;
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}
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if (needsSecondStep) {
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result = NEED_SECOND_STEP;
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}
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}
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return result;
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return result;
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}
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}
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@ -172,15 +144,3 @@ ReturnValue_t RwAssembly::initialize() {
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}
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}
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return AssemblyBase::initialize();
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return AssemblyBase::initialize();
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}
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}
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void RwAssembly::handleModeTransitionFailed(ReturnValue_t result) {
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if (targetMode == MODE_OFF) {
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AssemblyBase::handleModeTransitionFailed(result);
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} else {
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if (modeTransitionFailedSwitch) {
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// To avoid transitioning back to off
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triggerEvent(MODE_TRANSITION_FAILED, result);
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modeTransitionFailedSwitch = false;
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}
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}
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}
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@ -41,11 +41,6 @@ class RwAssembly : public AssemblyBase {
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ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
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ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
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void startTransition(Mode_t mode, Submode_t submode) override;
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void startTransition(Mode_t mode, Submode_t submode) override;
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void handleModeReached() override;
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void handleModeReached() override;
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// These two overrides prevent a transition of the whole assembly back to off just because
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// some devices are not working
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void handleChildrenLostMode(ReturnValue_t result) override;
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void handleModeTransitionFailed(ReturnValue_t result) override;
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};
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};
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#endif /* MISSION_SYSTEM_RWASS_H_ */
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#endif /* MISSION_SYSTEM_RWASS_H_ */
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2
tmtc
2
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@ -1 +1 @@
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Subproject commit dcf7d0af71f6ba9d569f9f56604e9245a0233427
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Subproject commit 7e5fa2e61a3f2b50860fe2e3427f31f7ebaf854f
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