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added mutex protection for power switches
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This commit is contained in:
Robin Müller
2022-03-03 19:39:36 +01:00
parent 63c4095d4d
commit a7c1dafce5
10 changed files with 104 additions and 71 deletions
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55
mission/system/AcsBoardAssembly.cpp
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@ -174,35 +174,36 @@ void AcsBoardAssembly::powerStateMachine(Mode_t mode, Submode_t submode) {
if (state == States::IDLE or state == States::SWITCHING_POWER) {
switchStateA = pwrSwitcher->getSwitchState(SWITCH_A);
switchStateB = pwrSwitcher->getSwitchState(SWITCH_B);
if (mode == MODE_OFF) {
if (switchStateA == PowerSwitchIF::SWITCH_OFF and switchStateB == PowerSwitchIF::SWITCH_OFF) {
state = States::MODE_COMMANDING;
return;
} else {
return;
}
if (mode == MODE_OFF) {
if (switchStateA == PowerSwitchIF::SWITCH_OFF and switchStateB == PowerSwitchIF::SWITCH_OFF) {
state = States::MODE_COMMANDING;
return;
}
} else {
switch (submode) {
case (A_SIDE): {
if (switchStateA == PowerSwitchIF::SWITCH_ON and
switchStateB == PowerSwitchIF::SWITCH_OFF) {
state = States::MODE_COMMANDING;
return;
}
break;
}
} else {
switch (submode) {
case (A_SIDE): {
if (switchStateA == PowerSwitchIF::SWITCH_ON and
switchStateB == PowerSwitchIF::SWITCH_OFF) {
state = States::MODE_COMMANDING;
return;
}
break;
case (B_SIDE): {
if (switchStateA == PowerSwitchIF::SWITCH_OFF and
switchStateB == PowerSwitchIF::SWITCH_ON) {
state = States::MODE_COMMANDING;
return;
}
case (B_SIDE): {
if (switchStateA == PowerSwitchIF::SWITCH_OFF and
switchStateB == PowerSwitchIF::SWITCH_ON) {
state = States::MODE_COMMANDING;
return;
}
break;
}
case (DUAL_MODE): {
if (switchStateA == PowerSwitchIF::SWITCH_ON and
switchStateB == PowerSwitchIF::SWITCH_ON) {
state = States::MODE_COMMANDING;
return;
}
break;
}
case (DUAL_MODE): {
if (switchStateA == PowerSwitchIF::SWITCH_ON and switchStateB == PowerSwitchIF::SWITCH_ON) {
state = States::MODE_COMMANDING;
return;
}
}
}