less trashy mode checker

fsfw

@@ -1 +1 @@
-Subproject commit cc3e64e70d90f6a2b5c59215b2569c1771e890f0
+Subproject commit 41d67bff639192afa2e18a23db6801c75b4fea88

mission/payload/PayloadPcduHandler.cpp

@@ -4,6 +4,7 @@
 
 #include "OBSWConfig.h"
 #include "fsfw/thermal/tcsDefinitions.h"
+#include "mission/payload/payloadPcduDefinitions.h"
 
 #ifdef XIPHOS_Q7S
 #include <fsfw_hal/linux/UnixFileGuard.h>
@@ -576,6 +577,7 @@ void PayloadPcduHandler::performOperationHook() { checkJsonFileInit(); }
 
 ReturnValue_t PayloadPcduHandler::checkModeCommand(Mode_t commandedMode, Submode_t commandedSubmode,
                                                    uint32_t* msToReachTheMode) {
+  using namespace plpcdu;
   if (commandedMode != MODE_OFF) {
     PoolReadGuard pg(&enablePl);
     if (pg.getReadResult() == returnvalue::OK) {
@@ -584,48 +586,62 @@ ReturnValue_t PayloadPcduHandler::checkModeCommand(Mode_t commandedMode, Submode
       }
     }
   }
-  return DeviceHandlerBase::checkModeCommand(commandedMode, commandedSubmode, msToReachTheMode);
+  if (commandedMode == MODE_NORMAL) {
+    uint8_t dhbSubmode = getSubmode();
+    diffMask = commandedSubmode ^ dhbSubmode;
+    // For all higher level modes, SSR needs to be on. This is to ensure we have valid ADC
+    // measurements
+    if ((droOnForSubmode(commandedSubmode) or x8OnForSubmode(commandedSubmode) or
+         txOnForSubmode(commandedSubmode) or mpaOnForSubmode(commandedSubmode) or
+         hpaOnForSubmode(commandedSubmode)) and
+        not ssrOnForSubmode(dhbSubmode)) {
     }
-
-ReturnValue_t PayloadPcduHandler::isModeCombinationValid(Mode_t mode, Submode_t submode) {
-  using namespace plpcdu;
-  if (mode == MODE_NORMAL) {
     if (disableChannelOrderCheck) {
       return returnvalue::OK;
     }
-    uint8_t dhbSubmode = getSubmode();
+    if (x8OnForSubmode(commandedSubmode) and not droOnForSubmode(dhbSubmode)) {
-    diffMask = submode ^ dhbSubmode;
-    // Also deals with the case where the mode is MODE_ON, submode should be 0 here
-    if ((((submode >> SOLID_STATE_RELAYS_ADC_ON) & 0b1) == SOLID_STATE_RELAYS_ADC_ON) and
-        (getMode() == MODE_NORMAL and dhbSubmode != ALL_OFF_SUBMODE)) {
       return TRANS_NOT_ALLOWED;
     }
-    if (((((submode >> DRO_ON) & 1) == 1) and
+    if (txOnForSubmode(commandedSubmode) and
-         ((dhbSubmode & 0b1) != (1 << SOLID_STATE_RELAYS_ADC_ON)))) {
+        (not droOnForSubmode(dhbSubmode) or not x8OnForSubmode(dhbSubmode))) {
       return TRANS_NOT_ALLOWED;
     }
-    if ((((submode >> X8_ON) & 1) == 1) and
+    if (txOnForSubmode(commandedSubmode) and
-        ((dhbSubmode & 0b11) != ((1 << SOLID_STATE_RELAYS_ADC_ON) | (1 << DRO_ON)))) {
+        (not droOnForSubmode(dhbSubmode) or not x8OnForSubmode(dhbSubmode) or
+         not txOnForSubmode(dhbSubmode))) {
       return TRANS_NOT_ALLOWED;
     }
-    if (((((submode >> TX_ON) & 1) == 1) and
+    if (hpaOnForSubmode(commandedSubmode) and
-         ((dhbSubmode & 0b111) !=
+        (not droOnForSubmode(dhbSubmode) or not x8OnForSubmode(dhbSubmode) or
-          ((1 << X8_ON) | (1 << DRO_ON) | (1 << SOLID_STATE_RELAYS_ADC_ON))))) {
+         not txOnForSubmode(dhbSubmode) or not mpaOnForSubmode(dhbSubmode))) {
-      return TRANS_NOT_ALLOWED;
-    }
-    if ((((submode >> MPA_ON) & 1) == 1 and
-         ((dhbSubmode & 0b1111) !=
-          ((1 << TX_ON) | (1 << X8_ON) | (1 << DRO_ON) | (1 << SOLID_STATE_RELAYS_ADC_ON))))) {
-      return TRANS_NOT_ALLOWED;
-    }
-    if ((((submode >> HPA_ON) & 1) == 1 and
-         ((dhbSubmode & 0b11111) != ((1 << MPA_ON) | (1 << TX_ON) | (1 << X8_ON) | (1 << DRO_ON) |
-                                     (1 << SOLID_STATE_RELAYS_ADC_ON))))) {
       return TRANS_NOT_ALLOWED;
     }
     return returnvalue::OK;
   }
-  return DeviceHandlerBase::isModeCombinationValid(mode, submode);
+  return DeviceHandlerBase::checkModeCommand(commandedMode, commandedSubmode, msToReachTheMode);
+}
+
+bool PayloadPcduHandler::ssrOnForSubmode(uint8_t submode) {
+  return (submode & plpcdu::SOLID_STATE_RELAYS_ADC_ON) == plpcdu::SOLID_STATE_RELAYS_ADC_ON;
+}
+bool PayloadPcduHandler::droOnForSubmode(uint8_t submode) {
+  return (submode & plpcdu::DRO_ON) == plpcdu::DRO_ON;
+}
+
+bool PayloadPcduHandler::x8OnForSubmode(uint8_t submode) {
+  return (submode & plpcdu::X8_ON) == plpcdu::X8_ON;
+}
+
+bool PayloadPcduHandler::txOnForSubmode(uint8_t submode) {
+  return (submode & plpcdu::TX_ON) == plpcdu::TX_ON;
+}
+
+bool PayloadPcduHandler::mpaOnForSubmode(uint8_t submode) {
+  return (submode & plpcdu::MPA_ON) == plpcdu::MPA_ON;
+}
+
+bool PayloadPcduHandler::hpaOnForSubmode(uint8_t submode) {
+  return (submode & plpcdu::HPA_ON) == plpcdu::HPA_ON;
 }
 
 ReturnValue_t PayloadPcduHandler::serializeFloat(uint32_t& param, float val) {

mission/payload/PayloadPcduHandler.h

@@ -137,6 +137,10 @@ class PayloadPcduHandler : public DeviceHandlerBase {
       PoolEntry<float>({0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0});
   PoolEntry<float> tempC = PoolEntry<float>({0.0});
 
+  /**
+   * This parameter disables all checks for the channels except the SSR on check. The SSR on check
+   * is kept to ensure that there is a common start point where the ADC is enabled.
+   */
   uint8_t disableChannelOrderCheck = false;
 
   void updateSwitchGpio(gpioId_t id, gpio::Levels level);
@@ -157,7 +161,6 @@ class PayloadPcduHandler : public DeviceHandlerBase {
   uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
   ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                         LocalDataPoolManager& poolManager) override;
-  ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
   ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId, ParameterWrapper* parameterWrapper,
                              const ParameterWrapper* newValues, uint16_t startAtIndex) override;
 
@@ -179,6 +182,12 @@ class PayloadPcduHandler : public DeviceHandlerBase {
   pwrctrl::EnablePl enablePl = pwrctrl::EnablePl(objects::POWER_CONTROLLER);
   ReturnValue_t checkModeCommand(Mode_t commandedMode, Submode_t commandedSubmode,
                                  uint32_t* msToReachTheMode) override;
+  static bool ssrOnForSubmode(uint8_t submode);
+  static bool droOnForSubmode(uint8_t submode);
+  static bool x8OnForSubmode(uint8_t submode);
+  static bool txOnForSubmode(uint8_t submode);
+  static bool mpaOnForSubmode(uint8_t submode);
+  static bool hpaOnForSubmode(uint8_t submode);
 };
 
 #endif /* LINUX_DEVICES_PLPCDUHANDLER_H_ */