this should fix some bugs

bsp_q7s/core/scheduling.cpp

@@ -538,7 +538,7 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
 
   FixedTimeslotTaskIF* gomSpacePstTask =
       factory.createFixedTimeslotTask("GS_PST_TASK", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4,
-                                      0.5, missedDeadlineFunc, &RR_SCHEDULING);
+                                      0.25, missedDeadlineFunc, &RR_SCHEDULING);
   result = pst::pstGompaceCan(gomSpacePstTask);
   if (result != returnvalue::OK) {
     if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {

mission/com/SyrlinksHandler.cpp

@@ -21,15 +21,14 @@ SyrlinksHandler::~SyrlinksHandler() = default;
 
 void SyrlinksHandler::doStartUp() {
   if (internalState == InternalState::OFF) {
-    transitionCommandPending = false;
     internalState = InternalState::ENABLE_TEMPERATURE_PROTECTION;
     commandExecuted = false;
   }
   if (internalState == InternalState::ENABLE_TEMPERATURE_PROTECTION) {
     if (commandExecuted) {
       // Go to normal mode immediately and disable transmitter on startup.
-      setMode(_MODE_TO_NORMAL);
+      setMode(_MODE_TO_ON);
-      internalState = InternalState::IDLE;
+      internalState = InternalState::TX_TRANSITION;
       commandExecuted = false;
     }
   }
@@ -37,15 +36,16 @@ void SyrlinksHandler::doStartUp() {
 
 void SyrlinksHandler::doShutDown() {
   // In any case, always disable TX first.
-  if (internalState != InternalState::SET_TX_STANDBY) {
+  if (internalState != InternalState::TX_TRANSITION) {
-    internalState = InternalState::SET_TX_STANDBY;
+    internalState = InternalState::TX_TRANSITION;
-    transitionCommandPending = false;
+    transState = TransitionState::SET_TX_STANDBY;
     commandExecuted = false;
   }
-  if (internalState == InternalState::SET_TX_STANDBY) {
+  if (internalState == InternalState::TX_TRANSITION) {
     if (commandExecuted) {
       temperatureSet.setValidity(false, true);
       internalState = InternalState::OFF;
+      transState = TransitionState::IDLE;
       commandExecuted = false;
       setMode(_MODE_POWER_DOWN);
     }
@@ -104,25 +104,32 @@ ReturnValue_t SyrlinksHandler::buildTransitionDeviceCommand(DeviceCommandId_t* i
       *id = syrlinks::WRITE_LCL_CONFIG;
       return buildCommandFromCommand(*id, nullptr, 0);
     }
-    case InternalState::SET_TX_MODULATION: {
+    case InternalState::TX_TRANSITION: {
-      *id = syrlinks::SET_TX_MODE_MODULATION;
+      switch (transState) {
-      return buildCommandFromCommand(*id, nullptr, 0);
+        case TransitionState::SET_TX_MODULATION: {
-    }
+          *id = syrlinks::SET_TX_MODE_MODULATION;
-    case InternalState::SELECT_MODULATION_BPSK: {
+          return buildCommandFromCommand(*id, nullptr, 0);
-      *id = syrlinks::SET_WAVEFORM_BPSK;
+        }
-      return buildCommandFromCommand(*id, nullptr, 0);
+        case TransitionState::SELECT_MODULATION_BPSK: {
-    }
+          *id = syrlinks::SET_WAVEFORM_BPSK;
-    case InternalState::SELECT_MODULATION_0QPSK: {
+          return buildCommandFromCommand(*id, nullptr, 0);
-      *id = syrlinks::SET_WAVEFORM_0QPSK;
+        }
-      return buildCommandFromCommand(*id, nullptr, 0);
+        case TransitionState::SELECT_MODULATION_0QPSK: {
-    }
+          *id = syrlinks::SET_WAVEFORM_0QPSK;
-    case InternalState::SET_TX_CW: {
+          return buildCommandFromCommand(*id, nullptr, 0);
-      *id = syrlinks::SET_TX_MODE_CW;
+        }
-      return buildCommandFromCommand(*id, nullptr, 0);
+        case TransitionState::SET_TX_CW: {
-    }
+          *id = syrlinks::SET_TX_MODE_CW;
-    case InternalState::SET_TX_STANDBY: {
+          return buildCommandFromCommand(*id, nullptr, 0);
-      *id = syrlinks::SET_TX_MODE_STANDBY;
+        }
-      return buildCommandFromCommand(*id, nullptr, 0);
+        case TransitionState::SET_TX_STANDBY: {
+          *id = syrlinks::SET_TX_MODE_STANDBY;
+          return buildCommandFromCommand(*id, nullptr, 0);
+        }
+        default: {
+          break;
+        }
+      }
     }
     default: {
       break;
@@ -675,12 +682,31 @@ ReturnValue_t SyrlinksHandler::handleAckReply(const uint8_t* packet) {
       break;
     }
     case (syrlinks::SET_WAVEFORM_BPSK):
-    case (syrlinks::SET_WAVEFORM_0QPSK):
+    case (syrlinks::SET_WAVEFORM_0QPSK): {
-    case (syrlinks::SET_TX_MODE_STANDBY):
+      if (result == returnvalue::OK and isTransitionalMode()) {
-    case (syrlinks::SET_TX_MODE_MODULATION):
+        transState = TransitionState::SET_TX_MODULATION;
+        commandExecuted = true;
+      }
+      break;
+    }
+    case (syrlinks::SET_TX_MODE_STANDBY): {
+      if (result == returnvalue::OK and isTransitionalMode()) {
+        transState = TransitionState::DONE;
+        commandExecuted = true;
+      }
+      break;
+    }
+    case (syrlinks::SET_TX_MODE_MODULATION): {
+      if (result == returnvalue::OK and isTransitionalMode()) {
+        transState = TransitionState::DONE;
+        commandExecuted = true;
+      }
+      break;
+    }
     case (syrlinks::SET_TX_MODE_CW): {
       if (result == returnvalue::OK and isTransitionalMode()) {
         commandExecuted = true;
+        transState = TransitionState::DONE;
       }
       break;
     }
@@ -731,77 +757,41 @@ void SyrlinksHandler::setDebugMode(bool enable) { this->debugMode = enable; }
 
 void SyrlinksHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
   Mode_t tgtMode = getBaseMode(getMode());
-  auto commandDone = [&]() {
+  if (transState == TransitionState::DONE) {
     setMode(tgtMode);
-    transitionCommandPending = false;
     internalState = InternalState::IDLE;
-  };
+    transState = TransitionState::IDLE;
-  auto txOnHandler = [&](InternalState selMod) {
+    return;
-    txDataset.setReportingEnabled(true);
+  }
-    poolManager.changeCollectionInterval(txDataset.getSid(), 10.0);
-    poolManager.changeCollectionInterval(temperatureSet.getSid(), 5.0);
-    if (internalState == InternalState::IDLE) {
-      transitionCommandPending = false;
-      commandExecuted = false;
-      internalState = selMod;
-    }
-    // Select modulation first (BPSK or 0QPSK).
-    if (internalState == selMod) {
-      if (commandExecuted) {
-        transitionCommandPending = false;
-        internalState = InternalState::SET_TX_MODULATION;
-        commandExecuted = false;
-      }
-    }
-    // Now go into modulation mode.
-    if (internalState == InternalState::SET_TX_MODULATION) {
-      if (commandExecuted) {
-        commandDone();
-        return true;
-      }
-    }
-    return false;
-  };
   auto txStandbyHandler = [&]() {
     txDataset.setReportingEnabled(false);
     poolManager.changeCollectionInterval(temperatureSet.getSid(), 60.0);
-    if (internalState == InternalState::IDLE) {
+  };
-      transitionCommandPending = false;
+  auto txOnHandler = [&]() {
-      internalState = InternalState::SET_TX_STANDBY;
+    txDataset.setReportingEnabled(true);
-      commandExecuted = false;
+    poolManager.changeCollectionInterval(txDataset.getSid(), 10.0);
-    }
+    poolManager.changeCollectionInterval(temperatureSet.getSid(), 5.0);
-    if (internalState == InternalState::SET_TX_STANDBY) {
-      if (commandExecuted) {
-        commandDone();
-        return;
-      }
-    }
   };
   if (tgtMode == HasModesIF::MODE_ON or tgtMode == DeviceHandlerIF::MODE_NORMAL) {
     switch (getSubmode()) {
       case (com::Submode::RX_AND_TX_DEFAULT_DATARATE): {
         auto currentDatarate = com::getCurrentDatarate();
+        txOnHandler();
         if (currentDatarate == com::Datarate::LOW_RATE_MODULATION_BPSK) {
-          if (txOnHandler(InternalState::SELECT_MODULATION_BPSK)) {
+          transState = TransitionState::SELECT_MODULATION_BPSK;
-            return;
-          }
         } else if (currentDatarate == com::Datarate::HIGH_RATE_MODULATION_0QPSK) {
-          if (txOnHandler(InternalState::SELECT_MODULATION_0QPSK)) {
+          transState = TransitionState::SELECT_MODULATION_0QPSK;
-            return;
-          }
         }
         break;
       }
       case (com::Submode::RX_AND_TX_LOW_DATARATE): {
-        if (txOnHandler(InternalState::SELECT_MODULATION_BPSK)) {
+        txOnHandler();
-          return;
+        transState = TransitionState::SELECT_MODULATION_BPSK;
-        }
         break;
       }
       case (com::Submode::RX_AND_TX_HIGH_DATARATE): {
-        if (txOnHandler(InternalState::SELECT_MODULATION_0QPSK)) {
+        txOnHandler();
-          return;
+        transState = TransitionState::SELECT_MODULATION_0QPSK;
-        }
         break;
       }
       case (com::Submode::RX_ONLY): {
@@ -809,21 +799,16 @@ void SyrlinksHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
         return;
       }
       case (com::Submode::RX_AND_TX_CW): {
-        if (internalState == InternalState::IDLE) {
+        txOnHandler();
-          internalState = InternalState::SET_TX_STANDBY;
+        transState = TransitionState::SET_TX_CW;
-          commandExecuted = false;
-        }
-        if (commandExecuted) {
-          commandDone();
-          return;
-        }
         break;
       }
       default: {
-        commandDone();
+        DeviceHandlerBase::doTransition(modeFrom, subModeFrom);
       }
     }
   } else if (tgtMode == HasModesIF::MODE_OFF) {
     txStandbyHandler();
+    transState = TransitionState::SET_TX_STANDBY;
   }
 }

mission/com/SyrlinksHandler.h

@@ -112,22 +112,25 @@ class SyrlinksHandler : public DeviceHandlerBase {
   float tempPowerAmplifier = 0;
   float tempBasebandBoard = 0;
   bool commandExecuted = false;
-  bool transitionCommandPending = false;
 
   uint8_t commandBuffer[syrlinks::MAX_COMMAND_SIZE];
 
   enum class InternalState {
     OFF,
     ENABLE_TEMPERATURE_PROTECTION,
+    TX_TRANSITION,
+    IDLE
+  } internalState = InternalState::OFF;
+
+  enum class TransitionState {
+    IDLE,
     SELECT_MODULATION_BPSK,
     SELECT_MODULATION_0QPSK,
     SET_TX_MODULATION,
     SET_TX_CW,
     SET_TX_STANDBY,
-    IDLE
+    DONE
-  };
+  } transState = TransitionState::IDLE;
-
-  InternalState internalState = InternalState::OFF;
 
   /**
    * This object is used to store the id of the next command to execute. This controls the

mission/pollingSeqTables.cpp

@@ -26,8 +26,7 @@ ReturnValue_t pst::pstSyrlinks(FixedTimeslotTaskIF *thisSequence) {
   thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
   thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.25, DeviceHandlerIF::SEND_READ);
   thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.25, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.4,
+
-                        DeviceHandlerIF::PERFORM_OPERATION);
   thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.4, DeviceHandlerIF::SEND_WRITE);
   thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
   thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.75, DeviceHandlerIF::SEND_READ);
@@ -119,35 +118,10 @@ ReturnValue_t pst::pstGompaceCan(FixedTimeslotTaskIF *thisSequence) {
   thisSequence->addSlot(objects::PDU2_HANDLER, length * 0.25, DeviceHandlerIF::SEND_READ);
   thisSequence->addSlot(objects::ACU_HANDLER, length * 0.25, DeviceHandlerIF::SEND_READ);
 
-  thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0.25, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0.5, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::PDU1_HANDLER, length * 0.25, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::PDU1_HANDLER, length * 0.5, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::PDU2_HANDLER, length * 0.25, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::PDU2_HANDLER, length * 0.5, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::ACU_HANDLER, length * 0.25, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::ACU_HANDLER, length * 0.5, DeviceHandlerIF::GET_READ);
-
-  thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0.5, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::PDU1_HANDLER, length * 0.5, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::PDU2_HANDLER, length * 0.5, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::ACU_HANDLER, length * 0.5, DeviceHandlerIF::PERFORM_OPERATION);
-
-  thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0.5, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::PDU1_HANDLER, length * 0.5, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::PDU2_HANDLER, length * 0.5, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::ACU_HANDLER, length * 0.5, DeviceHandlerIF::SEND_WRITE);
-
-  thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0.5, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::PDU1_HANDLER, length * 0.5, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::PDU2_HANDLER, length * 0.5, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::ACU_HANDLER, length * 0.5, DeviceHandlerIF::GET_WRITE);
-
-  thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0.75, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::PDU1_HANDLER, length * 0.75, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::PDU2_HANDLER, length * 0.75, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::ACU_HANDLER, length * 0.75, DeviceHandlerIF::SEND_READ);
-
-  thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0.75, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::PDU1_HANDLER, length * 0.75, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::PDU2_HANDLER, length * 0.75, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::ACU_HANDLER, length * 0.75, DeviceHandlerIF::GET_READ);
   if (thisSequence->checkSequence() != returnvalue::OK) {
     sif::error << "GomSpace PST initialization failed" << std::endl;
     return returnvalue::FAILED;