Merge remote-tracking branch 'origin/develop' into update_hk_frequencies

CHANGELOG.md

@@ -16,8 +16,18 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+# [v1.43.1] 2023-04-04
+
+## Fixed
+
+- Generic HK handling: Bug where HKs were generated a lot more often than required. This is the case
+  if a device handler `PERFORM_OPERATION` step is performed more than once per PST cycle.
+- Syrlinks now goes to `_MODE_TO_ON` when finishing the `doStartUp` transition.
+
 ## Changed
 
+- Doubled GS PST interval instead of scheduling everything twice.
+- Syrlinks now only has one `PERFORM_OPERATION` step, but still has two communication steps.
 - PCDU components only allow setting `NEEDS_RECOVERY`, `HEALTHY` and `EXTERNAL_CONTROL` health
   states now. TMP sensor components only allow `HEALTHY` , `EXTERNAL_CONTROL`, `FAULTY` and
   `PERMANENT_FAULTY`.

CMakeLists.txt

@@ -11,7 +11,7 @@ cmake_minimum_required(VERSION 3.13)
 
 set(OBSW_VERSION_MAJOR 1)
 set(OBSW_VERSION_MINOR 43)
-set(OBSW_VERSION_REVISION 0)
+set(OBSW_VERSION_REVISION 1)
 
 # set(CMAKE_VERBOSE TRUE)
 

bsp_q7s/core/ObjectFactory.cpp

@@ -62,9 +62,9 @@
 #include "mission/system/acs/acsModeTree.h"
 #include "mission/system/com/SyrlinksFdir.h"
 #include "mission/system/com/comModeTree.h"
-#include "mission/system/power/GomspacePowerFdir.h"
 #include "mission/system/fdir/RtdFdir.h"
 #include "mission/system/objects/TcsBoardAssembly.h"
+#include "mission/system/power/GomspacePowerFdir.h"
 #include "mission/system/tree/payloadModeTree.h"
 #include "mission/system/tree/tcsModeTree.h"
 #include "mission/tmtc/tmFilters.h"

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 +21,15 @@ 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;
+      transState = TransitionState::IDLE;
       commandExecuted = false;
     }
   }
@@ -37,15 +37,16 @@ void SyrlinksHandler::doStartUp() {
 
 void SyrlinksHandler::doShutDown() {
   // In any case, always disable TX first.
-  if (internalState != InternalState::SET_TX_STANDBY) {
-    internalState = InternalState::SET_TX_STANDBY;
-    transitionCommandPending = false;
+  if (internalState != InternalState::TX_TRANSITION) {
+    internalState = InternalState::TX_TRANSITION;
+    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);
     }
@@ -99,31 +100,44 @@ ReturnValue_t SyrlinksHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
 }
 
 ReturnValue_t SyrlinksHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
+  if (transState == TransitionState::CMD_PENDING or transState == TransitionState::DONE) {
+    return NOTHING_TO_SEND;
+  }
   switch (internalState) {
     case InternalState::ENABLE_TEMPERATURE_PROTECTION: {
       *id = syrlinks::WRITE_LCL_CONFIG;
+      transState = TransitionState::CMD_PENDING;
       return buildCommandFromCommand(*id, nullptr, 0);
     }
-    case InternalState::SET_TX_MODULATION: {
+    case InternalState::TX_TRANSITION: {
+      switch (transState) {
+        case TransitionState::SET_TX_MODULATION: {
           *id = syrlinks::SET_TX_MODE_MODULATION;
           return buildCommandFromCommand(*id, nullptr, 0);
         }
-    case InternalState::SELECT_MODULATION_BPSK: {
+        case TransitionState::SELECT_MODULATION_BPSK: {
           *id = syrlinks::SET_WAVEFORM_BPSK;
           return buildCommandFromCommand(*id, nullptr, 0);
         }
-    case InternalState::SELECT_MODULATION_0QPSK: {
+        case TransitionState::SELECT_MODULATION_0QPSK: {
           *id = syrlinks::SET_WAVEFORM_0QPSK;
           return buildCommandFromCommand(*id, nullptr, 0);
         }
-    case InternalState::SET_TX_CW: {
+        case TransitionState::SET_TX_CW: {
           *id = syrlinks::SET_TX_MODE_CW;
           return buildCommandFromCommand(*id, nullptr, 0);
         }
-    case InternalState::SET_TX_STANDBY: {
+        case TransitionState::SET_TX_STANDBY: {
           *id = syrlinks::SET_TX_MODE_STANDBY;
           return buildCommandFromCommand(*id, nullptr, 0);
         }
+        default: {
+          return NOTHING_TO_SEND;
+        }
+      }
+      transState = TransitionState::CMD_PENDING;
+      break;
+    }
     default: {
       break;
     }
@@ -622,8 +636,6 @@ void SyrlinksHandler::parseAgcHighByte(const uint8_t* packet) {
   agcValueHighByte = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
 }
 
-void SyrlinksHandler::setNormalDatapoolEntriesInvalid() {}
-
 uint32_t SyrlinksHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 2500; }
 
 ReturnValue_t SyrlinksHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@@ -656,7 +668,7 @@ ReturnValue_t SyrlinksHandler::initializeLocalDataPool(localpool::DataPool& loca
   return returnvalue::OK;
 }
 
-void SyrlinksHandler::setModeNormal() { setMode(MODE_NORMAL); }
+void SyrlinksHandler::setModeNormal() { setMode(_MODE_TO_NORMAL); }
 
 float SyrlinksHandler::calcTempVal(uint16_t raw) { return 0.126984 * raw - 67.87; }
 
@@ -675,12 +687,31 @@ ReturnValue_t SyrlinksHandler::handleAckReply(const uint8_t* packet) {
       break;
     }
     case (syrlinks::SET_WAVEFORM_BPSK):
-    case (syrlinks::SET_WAVEFORM_0QPSK):
-    case (syrlinks::SET_TX_MODE_STANDBY):
-    case (syrlinks::SET_TX_MODE_MODULATION):
+    case (syrlinks::SET_WAVEFORM_0QPSK): {
+      if (result == returnvalue::OK and isTransitionalMode()) {
+        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;
     }
@@ -704,7 +735,7 @@ ReturnValue_t SyrlinksHandler::handleAckReply(const uint8_t* packet) {
 
 ReturnValue_t SyrlinksHandler::isModeCombinationValid(Mode_t mode, Submode_t submode) {
   if (mode == HasModesIF::MODE_ON or mode == DeviceHandlerIF::MODE_NORMAL) {
-    if (submode >= com::Submode::NUM_SUBMODES) {
+    if (submode >= com::Submode::NUM_SUBMODES or submode < com::Submode::RX_ONLY) {
       return HasModesIF::INVALID_SUBMODE;
     }
     return returnvalue::OK;
@@ -731,72 +762,54 @@ void SyrlinksHandler::setDebugMode(bool enable) { this->debugMode = enable; }
 
 void SyrlinksHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
   Mode_t tgtMode = getBaseMode(getMode());
-  auto commandDone = [&]() {
-    setMode(tgtMode);
-    transitionCommandPending = false;
+  auto doneHandler = [&]() {
     internalState = InternalState::IDLE;
+    transState = TransitionState::IDLE;
+    DeviceHandlerBase::doTransition(modeFrom, subModeFrom);
   };
-  auto txOnHandler = [&](InternalState selMod) {
-    if (internalState == InternalState::IDLE) {
-      transitionCommandPending = false;
-      commandExecuted = false;
-      internalState = selMod;
+  if (transState == TransitionState::DONE) {
+    return doneHandler();
   }
-    // 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 = [&]() {
-    if (internalState == InternalState::IDLE) {
-      transitionCommandPending = false;
-      internalState = InternalState::SET_TX_STANDBY;
-      commandExecuted = false;
+    txDataset.setReportingEnabled(false);
+    poolManager.changeCollectionInterval(temperatureSet.getSid(), 60.0);
+    transState = TransitionState::SET_TX_STANDBY;
+    internalState = InternalState::TX_TRANSITION;
+  };
+  auto txOnHandler = [&](TransitionState tgtTransitionState) {
+    txDataset.setReportingEnabled(true);
+    poolManager.changeCollectionInterval(txDataset.getSid(), 10.0);
+    poolManager.changeCollectionInterval(temperatureSet.getSid(), 5.0);
+    transState = tgtTransitionState;
+    internalState = InternalState::TX_TRANSITION;
+  };
+
+  if (tgtMode == HasModesIF::MODE_ON or tgtMode == DeviceHandlerIF::MODE_NORMAL) {
+    // If submode has not changed, no special transition handling necessary.
+    if (getSubmode() == subModeFrom) {
+      return doneHandler();
     }
-    if (internalState == InternalState::SET_TX_STANDBY) {
-      if (commandExecuted) {
-        commandDone();
+    // Transition is on-going, wait for it to finish.
+    if (transState != TransitionState::IDLE) {
       return;
     }
-    }
-  };
-  if (tgtMode == HasModesIF::MODE_ON or tgtMode == DeviceHandlerIF::MODE_NORMAL) {
+    // Transition start logic.
     switch (getSubmode()) {
       case (com::Submode::RX_AND_TX_DEFAULT_DATARATE): {
         auto currentDatarate = com::getCurrentDatarate();
         if (currentDatarate == com::Datarate::LOW_RATE_MODULATION_BPSK) {
-          if (txOnHandler(InternalState::SELECT_MODULATION_BPSK)) {
-            return;
-          }
+          txOnHandler(TransitionState::SELECT_MODULATION_BPSK);
         } else if (currentDatarate == com::Datarate::HIGH_RATE_MODULATION_0QPSK) {
-          if (txOnHandler(InternalState::SELECT_MODULATION_0QPSK)) {
-            return;
-          }
+          txOnHandler(TransitionState::SELECT_MODULATION_0QPSK);
         }
         break;
       }
       case (com::Submode::RX_AND_TX_LOW_DATARATE): {
-        if (txOnHandler(InternalState::SELECT_MODULATION_BPSK)) {
-          return;
-        }
+        txOnHandler(TransitionState::SELECT_MODULATION_BPSK);
         break;
       }
       case (com::Submode::RX_AND_TX_HIGH_DATARATE): {
-        if (txOnHandler(InternalState::SELECT_MODULATION_0QPSK)) {
-          return;
-        }
+        txOnHandler(TransitionState::SELECT_MODULATION_0QPSK);
         break;
       }
       case (com::Submode::RX_ONLY): {
@@ -804,21 +817,17 @@ void SyrlinksHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
         return;
       }
       case (com::Submode::RX_AND_TX_CW): {
-        if (internalState == InternalState::IDLE) {
-          internalState = InternalState::SET_TX_STANDBY;
-          commandExecuted = false;
-        }
-        if (commandExecuted) {
-          commandDone();
-          return;
-        }
+        txOnHandler(TransitionState::SET_TX_CW);
         break;
       }
       default: {
-        commandDone();
+        sif::error << "SyrlinksHandler: Unexpected submode " << getSubmode() << std::endl;
+        DeviceHandlerBase::doTransition(modeFrom, subModeFrom);
       }
     }
   } else if (tgtMode == HasModesIF::MODE_OFF) {
     txStandbyHandler();
+  } else {
+    return doneHandler();
   }
 }

mission/com/SyrlinksHandler.h

@@ -46,7 +46,6 @@ class SyrlinksHandler : public DeviceHandlerBase {
                              size_t* foundLen) override;
   ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
   ReturnValue_t getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches) override;
-  void setNormalDatapoolEntriesInvalid() override;
   uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
   ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                         LocalDataPoolManager& poolManager) override;
@@ -112,22 +111,26 @@ 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
-  };
-
-  InternalState internalState = InternalState::OFF;
+    CMD_PENDING,
+    DONE
+  } transState = TransitionState::IDLE;
 
   /**
    * 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);
@@ -114,40 +113,15 @@ ReturnValue_t pst::pstGompaceCan(FixedTimeslotTaskIF *thisSequence) {
   thisSequence->addSlot(objects::PDU2_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
   thisSequence->addSlot(objects::ACU_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
 
-  thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0.25, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::PDU1_HANDLER, length * 0.25, DeviceHandlerIF::SEND_READ);
-  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 * 0.5, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::PDU1_HANDLER, length * 0.5, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::PDU2_HANDLER, length * 0.5, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::ACU_HANDLER, length * 0.5, DeviceHandlerIF::SEND_READ);
 
-  thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0.25, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::PDU1_HANDLER, length * 0.25, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::PDU2_HANDLER, length * 0.25, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::ACU_HANDLER, length * 0.25, 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);
+  thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0.5, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::PDU1_HANDLER, length * 0.5, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::PDU2_HANDLER, length * 0.5, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::ACU_HANDLER, length * 0.5, DeviceHandlerIF::GET_READ);
   if (thisSequence->checkSequence() != returnvalue::OK) {
     sif::error << "GomSpace PST initialization failed" << std::endl;
     return returnvalue::FAILED;