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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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79
mission/system/SusAssembly.cpp
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@ -56,40 +56,61 @@ void SusAssembly::powerStateMachine(Mode_t mode, Submode_t submode) {
ReturnValue_t switchStateNom = RETURN_OK;
ReturnValue_t switchStateRed = RETURN_OK;
if (state == States::IDLE or state == States::SWITCHING_POWER) {
switchStateNom = pwrSwitcher->getSwitchState(pcduSwitches::PDU1_CH4_SUS_NOMINAL_3V3);
switchStateRed = pwrSwitcher->getSwitchState(pcduSwitches::PDU2_CH4_SUS_REDUNDANT_3V3);
if (mode == MODE_OFF) {
if (switchStateNom == PowerSwitchIF::SWITCH_OFF and
switchStateRed == PowerSwitchIF::SWITCH_OFF) {
state = States::MODE_COMMANDING;
return;
}
} else {
switch (submode) {
case (NOMINAL): {
if (switchStateNom == PowerSwitchIF::SWITCH_ON and
switchStateRed == PowerSwitchIF::SWITCH_OFF) {
state = States::MODE_COMMANDING;
return;
}
break;
switchStateNom = pwrSwitcher->getSwitchState(SWITCH_NOM);
switchStateRed = pwrSwitcher->getSwitchState(SWITCH_RED);
} else {
return;
}
if (mode == MODE_OFF) {
if (switchStateNom == PowerSwitchIF::SWITCH_OFF and
switchStateRed == PowerSwitchIF::SWITCH_OFF) {
state = States::MODE_COMMANDING;
return;
}
} else {
if (state == States::IDLE) {
if (mode == MODE_OFF) {
if (switchStateNom != PowerSwitchIF::SWITCH_OFF) {
pwrSwitcher->sendSwitchCommand(SWITCH_NOM, false);
}
case (REDUNDANT): {
if (switchStateNom == PowerSwitchIF::SWITCH_OFF and
switchStateRed == PowerSwitchIF::SWITCH_ON) {
state = States::MODE_COMMANDING;
return;
}
break;
if (switchStateRed != PowerSwitchIF::SWITCH_OFF) {
pwrSwitcher->sendSwitchCommand(SWITCH_RED, false);
}
case (DUAL_MODE): {
if (switchStateNom == PowerSwitchIF::SWITCH_ON and
switchStateRed == PowerSwitchIF::SWITCH_ON) {
state = States::MODE_COMMANDING;
return;
} else {
switch (submode) {
case (NOMINAL): {
if (switchStateNom != PowerSwitchIF::SWITCH_ON) {
pwrSwitcher->sendSwitchCommand(SWITCH_NOM, true);
}
if (switchStateRed != PowerSwitchIF::SWITCH_OFF) {
pwrSwitcher->sendSwitchCommand(SWITCH_RED, false);
}
break;
}
case (REDUNDANT): {
if (switchStateRed != PowerSwitchIF::SWITCH_OFF) {
pwrSwitcher->sendSwitchCommand(SWITCH_RED, false);
}
if (switchStateNom != PowerSwitchIF::SWITCH_ON) {
pwrSwitcher->sendSwitchCommand(SWITCH_NOM, true);
}
break;
}
case (DUAL_MODE): {
if (switchStateNom != PowerSwitchIF::SWITCH_ON) {
pwrSwitcher->sendSwitchCommand(SWITCH_NOM, true);
}
if (switchStateRed != PowerSwitchIF::SWITCH_ON) {
pwrSwitcher->sendSwitchCommand(SWITCH_RED, true);
}
break;
}
}
}
state = States::SWITCHING_POWER;
}
if (state == States::SWITCHING_POWER) {
// TODO: Could check for a timeout (temporal or cycles) here and resend command
}
}
}