Merge branch 'develop' into refactoring_bugfixes_power_switching

mission/acsDefs.h

@@ -32,6 +32,8 @@ static constexpr Event MULTIPLE_RW_INVALID = MAKE_EVENT(2, severity::HIGH);
 static constexpr Event MEKF_INVALID_INFO = MAKE_EVENT(3, severity::INFO);
 //!< MEKF was not able to compute a solution during any pointing ACS mode for a prolonged time.
 static constexpr Event MEKF_INVALID_MODE_VIOLATION = MAKE_EVENT(4, severity::HIGH);
+//!< The ACS safe mode controller was not able to compute a solution and has failed.
+static constexpr Event SAFE_MODE_CONTROLLER_FAILURE = MAKE_EVENT(5, severity::HIGH);
 
 extern const char* getModeStr(AcsMode mode);
 

mission/controller/AcsController.cpp

@@ -173,7 +173,16 @@ void AcsController::performSafe() {
         sunTargetDir, satRateSafe, &errAng, magMomMtq);
   }
   if (result == returnvalue::FAILED) {
-    // ToDo: this should never ever happen or we are dead. prob add an event at least
+    if (not safeCtrlFailureFlag) {
+      triggerEvent(acs::SAFE_MODE_CONTROLLER_FAILURE);
+      safeCtrlFailureFlag = true;
+    }
+    safeCtrlFailureCounter++;
+    if (safeCtrlFailureCounter > 50) {
+      safeCtrlFailureFlag = false;
+    }
+  } else {
+    safeCtrlFailureFlag = false;
   }
 
   actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs,

mission/controller/AcsController.h

@@ -62,6 +62,9 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   uint8_t multipleRwUnavailableCounter = 0;
   bool mekfInvalidFlag = false;
   uint16_t mekfInvalidCounter = 0;
+  bool safeCtrlFailureFlag = false;
+  uint8_t safeCtrlFailureCounter = 0;
+
   int32_t cmdSpeedRws[4] = {0, 0, 0, 0};
   int16_t cmdDipolMtqs[3] = {0, 0, 0};
 

mission/core/GenericFactory.cpp

@@ -108,23 +108,23 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
   {
     PoolManager::LocalPoolConfig poolCfg = {{250, 16},  {250, 32},   {250, 64},
                                             {150, 128}, {120, 1024}, {120, 2048}};
-    tcStore = new PoolManager(objects::TC_STORE, poolCfg, true);
+    tcStore = new PoolManager(objects::TC_STORE, poolCfg);
   }
 
   {
-    PoolManager::LocalPoolConfig poolCfg = {{600, 32},   {400, 64},   {400, 128}, {300, 512},
-                                            {150, 1024}, {150, 1024}, {150, 2048}};
-    *tmStore = new PoolManager(objects::TM_STORE, poolCfg, true);
+    PoolManager::LocalPoolConfig poolCfg = {{600, 32},  {400, 64},   {400, 128},
+                                            {300, 512}, {250, 1024}, {150, 2048}};
+    *tmStore = new PoolManager(objects::TM_STORE, poolCfg);
   }
 
   {
-    PoolManager::LocalPoolConfig poolCfg = {{300, 16},  {200, 32}, {150, 64},  {150, 128},
+    PoolManager::LocalPoolConfig poolCfg = {{300, 16},  {250, 32}, {150, 64},  {150, 128},
                                             {100, 256}, {50, 512}, {50, 1024}, {10, 2048}};
-    *ipcStore = new PoolManager(objects::IPC_STORE, poolCfg, true);
+    *ipcStore = new PoolManager(objects::IPC_STORE, poolCfg);
   }
   PoolManager::LocalPoolConfig poolCfg = {{300, 32},  {400, 64},   {250, 128},
                                           {150, 512}, {150, 1024}, {150, 2048}};
-  auto* ramToFileStore = new PoolManager(objects::DOWNLINK_RAM_STORE, poolCfg, true);
+  auto* ramToFileStore = new PoolManager(objects::DOWNLINK_RAM_STORE, poolCfg);
 
 #if OBSW_ADD_TCPIP_SERVERS == 1
 #if OBSW_ADD_TMTC_UDP_SERVER == 1
@@ -254,8 +254,8 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
                                    pus::PUS_SERVICE_20);
   new CService200ModeCommanding(objects::PUS_SERVICE_200_MODE_MGMT, config::EIVE_PUS_APID,
                                 pus::PUS_SERVICE_200, 8);
-  HealthServiceCfg healthCfg(objects::PUS_SERVICE_201_HEALTH, config::EIVE_PUS_APID, *healthTable,
-                             20);
+  HealthServiceCfg healthCfg(objects::PUS_SERVICE_201_HEALTH, config::EIVE_PUS_APID,
+                             objects::HEALTH_TABLE, 20);
   new CServiceHealthCommanding(healthCfg);
 
 #if OBSW_ADD_CFDP_COMPONENTS == 1

mission/devices/RwHandler.cpp

@@ -24,7 +24,6 @@ RwHandler::RwHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCooki
     sif::error << "RwHandler: Invalid gpio communication interface" << std::endl;
   }
 }
-
 RwHandler::~RwHandler() {}
 
 void RwHandler::doStartUp() {
@@ -43,6 +42,17 @@ void RwHandler::doShutDown() {
   }
   internalState = InternalState::DEFAULT;
   updatePeriodicReply(false, rws::REPLY_ID);
+  {
+    PoolReadGuard pg(&statusSet);
+    statusSet.currSpeed = 0.0;
+    statusSet.referenceSpeed = 0.0;
+    statusSet.state = 0;
+    statusSet.setValidity(false, true);
+  }
+  {
+    PoolReadGuard pg(&tmDataset);
+    tmDataset.setValidity(false, true);
+  }
   // The power switch is handled by the assembly, so we can go off here directly.
   setMode(MODE_OFF);
 }