From ac952402f01f41bf5f9bb1c544390185c1995cdb Mon Sep 17 00:00:00 2001
From: "Jakob.Meier" <meierj@irs.uni-stuttgart.de>
Date: Wed, 17 Feb 2021 16:02:49 +0100
Subject: [PATCH] improved s/a deployment handler

---
 mission/devices/SolarArrayDeploymentHandler.cpp | 7 +++----
 mission/devices/SolarArrayDeploymentHandler.h   | 3 +--
 2 files changed, 4 insertions(+), 6 deletions(-)

diff --git a/mission/devices/SolarArrayDeploymentHandler.cpp b/mission/devices/SolarArrayDeploymentHandler.cpp
index 9c0ebed4..45521800 100644
--- a/mission/devices/SolarArrayDeploymentHandler.cpp
+++ b/mission/devices/SolarArrayDeploymentHandler.cpp
@@ -84,14 +84,13 @@ void SolarArrayDeploymentHandler::handleStateMachine() {
         break;
     case WAIT_FOR_MAIN_SWITCH_OFF:
         if (mainLineSwitcher->getSwitchState(mainLineSwitch) == PowerSwitchIF::SWITCH_OFF) {
-            stateMachine = FINISHED_DEPLOYMENT;
+            stateMachine = WAIT_ON_DELOYMENT_COMMAND;
         } else if (mainSwitchCountdown.hasTimedOut()) {
             triggerEvent(MAIN_SWITCH_OFF_TIMEOUT);
-            stateMachine = FINISHED_DEPLOYMENT;
             sif::error << "SolarArrayDeploymentHandler::handleStateMachine: Failed to switch main"
                     << " switch off" << std::endl;
+            stateMachine = WAIT_ON_DELOYMENT_COMMAND;
         }
-    case FINISHED_DEPLOYMENT:
         break;
     default:
         sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Invalid state" << std::endl;
@@ -143,7 +142,6 @@ void SolarArrayDeploymentHandler::switchDeploymentTransistors() {
 void SolarArrayDeploymentHandler::handleDeploymentFinish() {
     ReturnValue_t result = RETURN_OK;
     if (deploymentCountdown.hasTimedOut()) {
-        stateMachine = FINISHED_DEPLOYMENT;
         actionHelper.finish(rememberCommanderId, DEPLOY_SOLAR_ARRAYS, RETURN_OK);
         result = gpioInterface->pullLow(deplSA1);
         if (result != RETURN_OK) {
@@ -157,6 +155,7 @@ void SolarArrayDeploymentHandler::handleDeploymentFinish() {
         }
         mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
         mainSwitchCountdown.setTimeout(mainLineSwitcher->getSwitchDelayMs());
+        stateMachine = WAIT_FOR_MAIN_SWITCH_OFF;
     }
 }
 
diff --git a/mission/devices/SolarArrayDeploymentHandler.h b/mission/devices/SolarArrayDeploymentHandler.h
index c45c2ba7..279ae5da 100644
--- a/mission/devices/SolarArrayDeploymentHandler.h
+++ b/mission/devices/SolarArrayDeploymentHandler.h
@@ -76,8 +76,7 @@ private:
 	    WAIT_ON_8V_SWITCH,
 	    SWITCH_DEPL_GPIOS,
 	    WAIT_ON_DEPLOYMENT_FINISH,
-	    WAIT_FOR_MAIN_SWITCH_OFF,
-	    FINISHED_DEPLOYMENT
+	    WAIT_FOR_MAIN_SWITCH_OFF
 	};
 
 	StateMachine stateMachine = WAIT_ON_DELOYMENT_COMMAND;