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Merge remote-tracking branch 'origin/develop' into feature_move_acs_event_handling_to_system
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This commit is contained in:
Robin Müller
2023-03-10 15:03:55 +01:00
parent 1154c0e887 98ba4a0449
commit 793d6feaaa
15 changed files with 147 additions and 80 deletions
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36
mission/system/objects/TcsBoardAssembly.cpp
View File

@ -40,6 +40,12 @@ ReturnValue_t TcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode)
modeTable[idx].setMode(MODE_OFF);
modeTable[idx].setSubmode(SUBMODE_NONE);
}
if (recoveryState == RecoveryState::RECOVERY_IDLE) {
result = checkAndHandleHealthStates(mode, submode);
if (result == NEED_TO_CHANGE_HEALTH) {
return returnvalue::OK;
}
}
if (recoveryState != RecoveryState::RECOVERY_STARTED) {
if (mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_ON) {
result = handleNormalOrOnModeCmd(mode, submode);
@ -61,10 +67,10 @@ ReturnValue_t TcsBoardAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_
} catch (const std::out_of_range& e) {
sif::error << "TcsBoardAssembly: Invalid children map: " << e.what() << std::endl;
}
if (devsInWrongMode >= 3) {
if (devsInWrongMode == NUMBER_RTDS) {
if (warningSwitch) {
sif::warning << "TcsBoardAssembly::checkChildrenStateOn: " << devsInWrongMode << " devices in"
<< " wrong mode" << std::endl;
sif::warning << "TcsBoardAssembly::checkChildrenStateOn: All devices in wrong mode"
<< std::endl;
warningSwitch = false;
}
return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
@ -179,9 +185,29 @@ void TcsBoardAssembly::handleModeReached() {
}
void TcsBoardAssembly::handleChildrenLostMode(ReturnValue_t result) {
// TODO: Maybe try a reboot once here?
triggerEvent(CHILDREN_LOST_MODE, result);
return;
startTransition(mode, submode);
}
ReturnValue_t TcsBoardAssembly::checkAndHandleHealthStates(Mode_t deviceMode,
Submode_t deviceSubmode) {
ReturnValue_t status = returnvalue::OK;
for (const auto& dev : helper.rtdInfos) {
HealthState health = healthHelper.healthTable->getHealth(dev.first);
if (health == HealthState::HEALTHY) {
return returnvalue::OK;
}
}
for (const auto& dev : helper.rtdInfos) {
HealthState health = healthHelper.healthTable->getHealth(dev.first);
if (health == FAULTY or health == PERMANENT_FAULTY) {
status = NEED_TO_CHANGE_HEALTH;
} else if (health == EXTERNAL_CONTROL) {
modeHelper.setForced(true);
}
}
return status;
}
void TcsBoardAssembly::handleModeTransitionFailed(ReturnValue_t result) {

1
mission/system/objects/TcsBoardAssembly.h
View File

@ -52,6 +52,7 @@ class TcsBoardAssembly : public AssemblyBase, public ConfirmsFailuresIF {
ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
void startTransition(Mode_t mode, Submode_t submode) override;
void handleModeReached() override;
ReturnValue_t checkAndHandleHealthStates(Mode_t deviceMode, Submode_t deviceSubmode);
// These two overrides prevent a transition of the whole assembly back to off just because
// some devices are not working