added mutex protection for power switches

mission/devices/PCDUHandler.cpp

@@ -4,6 +4,7 @@
 #include <devices/powerSwitcherList.h>
 #include <fsfw/datapool/PoolReadGuard.h>
 #include <fsfw/housekeeping/HousekeepingSnapshot.h>
+#include <fsfw/ipc/MutexFactory.h>
 #include <fsfw/ipc/QueueFactory.h>
 #include <mission/devices/devicedefinitions/GomSpacePackets.h>
 
@@ -15,6 +16,7 @@ PCDUHandler::PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize)
       cmdQueueSize(cmdQueueSize) {
   commandQueue = QueueFactory::instance()->createMessageQueue(
       cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE);
+  pwrMutex = MutexFactory::instance()->createMutex();
 }
 
 PCDUHandler::~PCDUHandler() {}
@@ -156,8 +158,9 @@ void PCDUHandler::updateHkTableDataset(store_address_t storeId, LocalPoolDataSet
 
 void PCDUHandler::updatePdu2SwitchStates() {
   using namespace pcduSwitches;
-  PoolReadGuard rf(&pdu2HkTableDataset);
+  PoolReadGuard rg(&pdu2HkTableDataset);
-  if (rf.getReadResult() == RETURN_OK) {
+  if (rg.getReadResult() == RETURN_OK) {
+    MutexGuard mg(pwrMutex);
     switchStates[Switches::PDU2_CH0_Q7S] = pdu2HkTableDataset.outEnabledQ7S.value;
     switchStates[Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8] =
         pdu2HkTableDataset.outEnabledPlPCDUCh1.value;
@@ -181,9 +184,10 @@ void PCDUHandler::updatePdu2SwitchStates() {
 }
 
 void PCDUHandler::updatePdu1SwitchStates() {
-  if (pdu1HkTableDataset.read() == RETURN_OK) {
   using namespace pcduSwitches;
-    PoolReadGuard rf(&pdu1HkTableDataset);
+  PoolReadGuard rg(&pdu1HkTableDataset);
+  if (rg.getReadResult() == RETURN_OK) {
+    MutexGuard mg(pwrMutex);
     switchStates[Switches::PDU1_CH0_TCS_BOARD_3V3] = pdu1HkTableDataset.outEnabledTCSBoard3V3.value;
     switchStates[Switches::PDU1_CH1_SYRLINKS_12V] = pdu1HkTableDataset.outEnabledSyrlinks.value;
     switchStates[Switches::PDU1_CH2_STAR_TRACKER_5V] =
@@ -352,7 +356,10 @@ ReturnValue_t PCDUHandler::getSwitchState(uint8_t switchNr) const {
     sif::debug << "PCDUHandler::getSwitchState: Invalid switch number" << std::endl;
     return RETURN_FAILED;
   }
-  if (switchStates[switchNr] == 1) {
+  pwrMutex->lockMutex();
+  uint8_t currentState = switchStates[switchNr];
+  pwrMutex->unlockMutex();
+  if (currentState == 1) {
     return PowerSwitchIF::SWITCH_ON;
   } else {
     return PowerSwitchIF::SWITCH_OFF;

mission/devices/PCDUHandler.h

@@ -47,6 +47,7 @@ class PCDUHandler : public PowerSwitchIF,
 
  private:
   uint32_t pstIntervalMs = 0;
+  MutexIF* pwrMutex = nullptr;
 
   /** Housekeeping manager. Handles updates of local pool variables. */
   LocalDataPoolManager poolManager;

mission/devices/RadiationSensorHandler.h

@@ -2,9 +2,8 @@
 #define MISSION_DEVICES_RADIATIONSENSORHANDLER_H_
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
-#include <mission/devices/devicedefinitions/RadSensorDefinitions.h>
 #include <fsfw_hal/common/gpio/GpioIF.h>
-
+#include <mission/devices/devicedefinitions/RadSensorDefinitions.h>
 
 /**
  * @brief	This is the device handler class for radiation sensor on the OBC IF Board. The

mission/system/AcsBoardAssembly.cpp

@@ -174,6 +174,9 @@ 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);
+  } else {
+    return;
+  }
   if (mode == MODE_OFF) {
     if (switchStateA == PowerSwitchIF::SWITCH_OFF and switchStateB == PowerSwitchIF::SWITCH_OFF) {
       state = States::MODE_COMMANDING;
@@ -198,15 +201,13 @@ void AcsBoardAssembly::powerStateMachine(Mode_t mode, Submode_t submode) {
         break;
       }
       case (DUAL_MODE): {
-          if (switchStateA == PowerSwitchIF::SWITCH_ON and
+        if (switchStateA == PowerSwitchIF::SWITCH_ON and switchStateB == PowerSwitchIF::SWITCH_ON) {
-              switchStateB == PowerSwitchIF::SWITCH_ON) {
           state = States::MODE_COMMANDING;
           return;
         }
       }
     }
   }
-  }
   if (state == States::IDLE) {
     if (mode == MODE_OFF) {
       if (switchStateA != PowerSwitchIF::SWITCH_OFF) {

mission/system/SusAssembly.cpp

@@ -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);
+    switchStateNom = pwrSwitcher->getSwitchState(SWITCH_NOM);
-    switchStateRed = pwrSwitcher->getSwitchState(pcduSwitches::PDU2_CH4_SUS_REDUNDANT_3V3);
+    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);
+        }
+        if (switchStateRed != PowerSwitchIF::SWITCH_OFF) {
+          pwrSwitcher->sendSwitchCommand(SWITCH_RED, false);
+        }
       } else {
         switch (submode) {
           case (NOMINAL): {
-          if (switchStateNom == PowerSwitchIF::SWITCH_ON and
+            if (switchStateNom != PowerSwitchIF::SWITCH_ON) {
-              switchStateRed == PowerSwitchIF::SWITCH_OFF) {
+              pwrSwitcher->sendSwitchCommand(SWITCH_NOM, true);
-            state = States::MODE_COMMANDING;
+            }
-            return;
+            if (switchStateRed != PowerSwitchIF::SWITCH_OFF) {
+              pwrSwitcher->sendSwitchCommand(SWITCH_RED, false);
             }
             break;
           }
           case (REDUNDANT): {
-          if (switchStateNom == PowerSwitchIF::SWITCH_OFF and
+            if (switchStateRed != PowerSwitchIF::SWITCH_OFF) {
-              switchStateRed == PowerSwitchIF::SWITCH_ON) {
+              pwrSwitcher->sendSwitchCommand(SWITCH_RED, false);
-            state = States::MODE_COMMANDING;
+            }
-            return;
+            if (switchStateNom != PowerSwitchIF::SWITCH_ON) {
+              pwrSwitcher->sendSwitchCommand(SWITCH_NOM, true);
             }
             break;
           }
           case (DUAL_MODE): {
-          if (switchStateNom == PowerSwitchIF::SWITCH_ON and
+            if (switchStateNom != PowerSwitchIF::SWITCH_ON) {
-              switchStateRed == PowerSwitchIF::SWITCH_ON) {
+              pwrSwitcher->sendSwitchCommand(SWITCH_NOM, true);
-            state = States::MODE_COMMANDING;
+            }
-            return;
+            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
     }
   }
 }

mission/system/SusAssembly.h

@@ -1,6 +1,7 @@
 #ifndef MISSION_SYSTEM_SUSASSEMBLY_H_
 #define MISSION_SYSTEM_SUSASSEMBLY_H_
 
+#include <devices/powerSwitcherList.h>
 #include <fsfw/devicehandlers/AssemblyBase.h>
 
 struct SusAssHelper {
@@ -25,7 +26,10 @@ class SusAssembly : AssemblyBase {
 
  private:
   enum class States { IDLE, SWITCHING_POWER, MODE_COMMANDING } state = States::IDLE;
-
+  static constexpr pcduSwitches::Switches SWITCH_NOM =
+      pcduSwitches::Switches::PDU1_CH4_SUS_NOMINAL_3V3;
+  static constexpr pcduSwitches::Switches SWITCH_RED =
+      pcduSwitches::Switches::PDU2_CH4_SUS_REDUNDANT_3V3;
   FixedArrayList<ModeListEntry, NUMBER_SUN_SENSORS> modeTable;
 
   SusAssHelper helper;

tmtc

@@ -1 +1 @@
-Subproject commit 37c1a68da1b465514e84403b06ce40d035e4ad88
+Subproject commit 07601b734eec162771251e8e5f5fae16d20f1655

unittest/mocks/EventManagerMock.h

@@ -15,10 +15,12 @@ class EventManagerMock : public EventManager {
   void clearEventList();
 
   bool isEventInEventList(object_id_t object, Event event);
-  bool isEventInEventList(object_id_t object, Event event, uint32_t parameter1, uint32_t parameter2);
+  bool isEventInEventList(object_id_t object, Event event, uint32_t parameter1,
+                          uint32_t parameter2);
 
   bool isEventInEventList(object_id_t object, EventId_t eventId);
-  bool isEventInEventList(object_id_t object, EventId_t eventId, uint32_t parameter1, uint32_t parameter2);
+  bool isEventInEventList(object_id_t object, EventId_t eventId, uint32_t parameter1,
+                          uint32_t parameter2);
 
  private:
   std::list<EventMessage> eventList;

unittest/mocks/HouseKeepingMock.cpp

@@ -2,7 +2,6 @@
 
 #include <fsfw/objectmanager/frameworkObjects.h>
 
-
 HouseKeepingMock::HouseKeepingMock() : SystemObject(objects::PUS_SERVICE_3_HOUSEKEEPING) {}
 
 MessageQueueId_t HouseKeepingMock::getHkQueue() const { return MessageQueueIF::NO_QUEUE; }

unittest/mocks/HouseKeepingMock.h

@@ -2,8 +2,8 @@
 #define HOUSEKEEPINGMOCK_H_
 
 #include <fsfw/housekeeping/AcceptsHkPacketsIF.h>
-#include <fsfw/objectmanager/SystemObject.h>
 #include <fsfw/ipc/MessageQueueIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
 
 class HouseKeepingMock : public SystemObject, public AcceptsHkPacketsIF {
  public:
@@ -12,5 +12,4 @@ class HouseKeepingMock : public SystemObject, public AcceptsHkPacketsIF {
   virtual MessageQueueId_t getHkQueue() const;
 };
 
-
 #endif /*HOUSEKEEPINGMOCK_H_*/