some more debugging capabilities

linux/payload/FreshMpsocHandler.cpp

@@ -74,7 +74,6 @@ void FreshMpsocHandler::performDefaultDeviceOperation() {
   if (activeCmdInfo.pending and activeCmdInfo.cmdCountdown.hasTimedOut()) {
     sif::warning << "PlocMpsocHandler: Command " << activeCmdInfo.pendingCmd << " has timed out"
                  << std::endl;
-    activeCmdInfo.reset();
     cmdDoneHandler(false, mpsoc::COMMAND_TIMEOUT);
   }
   EventMessage event;
@@ -301,7 +300,7 @@ void FreshMpsocHandler::handleTransitionToOn() {
     }
   }
   if (startupState == StartupState::DONE) {
-    setMode(MODE_ON);
+    setMode(targetMode, targetSubmode);
     transitionActive = false;
     hkReport.setReportingEnabled(true);
     powerState = PowerState::IDLE;
@@ -350,6 +349,7 @@ void FreshMpsocHandler::dataReceived(ActionId_t actionId, const uint8_t* data, u
 }
 
 void FreshMpsocHandler::completionSuccessfulReceived(ActionId_t actionId) {
+  sif::debug << "received completion for action ID " << actionId << std::endl;
   switch (powerState) {
     case PowerState::PENDING_STARTUP: {
       if (actionId != supv::START_MPSOC) {
@@ -373,6 +373,8 @@ void FreshMpsocHandler::completionSuccessfulReceived(ActionId_t actionId) {
 }
 
 void FreshMpsocHandler::completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) {
+  sif::debug << "received completion failure for action ID " << actionId << " with code "
+             << returnCode << std::endl;
   handleActionCommandFailure(actionId, returnCode);
 }
 
@@ -1059,13 +1061,12 @@ bool FreshMpsocHandler::handleHwStartup() {
     }
   }
   if (powerState == PowerState::DONE) {
-    if (mpsocBootTransitionCd.hasTimedOut()) {
     // Wait a bit for the MPSoC to fully boot.
-      uartIsolatorSwitch.pullHigh();
-      powerState = PowerState::IDLE;
-    } else {
+    if (!mpsocBootTransitionCd.hasTimedOut()) {
       return false;
     }
+    uartIsolatorSwitch.pullHigh();
+    powerState = PowerState::IDLE;
   }
   return true;
 }

linux/payload/MpsocCommunication.cpp

@@ -58,7 +58,13 @@ ReturnValue_t MpsocCommunication::readSerialInterface() {
   if (bytesRead < 0) {
     return returnvalue::FAILED;
   }
+  if (bytesRead > 0) {
+    if (MPSOC_LOW_LEVEL_RX_WIRETAPPING) {
+      sif::debug << "Read " << bytesRead << " bytes on the MPSoC interface" << std::endl;
+    }
     return readRingBuf.writeData(readBuf, bytesRead);
+  }
+  return returnvalue::OK;
 }
 
 const SpacePacketReader& MpsocCommunication::getSpReader() const { return spReader; }

linux/payload/MpsocCommunication.h

@@ -9,6 +9,8 @@
 #include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
 #include "linux/payload/SerialCommunicationHelper.h"
 
+static constexpr bool MPSOC_LOW_LEVEL_RX_WIRETAPPING = false;
+
 class MpsocCommunication : public SystemObject {
  public:
   static const uint8_t CLASS_ID = CLASS_ID::PLOC_MPSOC_COM;