Merge pull request 'bugfix RW asyy' (#579) from bugfix_rw_assy into develop

Reviewed-on: #579

CHANGELOG.md

@@ -16,6 +16,12 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+## Fixed
+
+- RW Assembly: Correctly transition back to off when more than 1 devices is OFF. Also do this
+  when this was due to two devices being marked faulty.
+- RW dummy and STR dummy components: Set/Update modes correctly.
+
 # [v1.43.2] 2023-04-05
 
 ## Changed

dummies/RwDummy.cpp

@@ -7,9 +7,9 @@ RwDummy::RwDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
 
 RwDummy::~RwDummy() {}
 
-void RwDummy::doStartUp() {}
+void RwDummy::doStartUp() { setMode(MODE_ON); }
 
-void RwDummy::doShutDown() {}
+void RwDummy::doShutDown() { setMode(MODE_OFF); }
 
 ReturnValue_t RwDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }
 

dummies/StarTrackerDummy.cpp

@@ -7,9 +7,9 @@ StarTrackerDummy::StarTrackerDummy(object_id_t objectId, object_id_t comif, Cook
 
 StarTrackerDummy::~StarTrackerDummy() {}
 
-void StarTrackerDummy::doStartUp() {}
+void StarTrackerDummy::doStartUp() { setMode(MODE_ON); }
 
-void StarTrackerDummy::doShutDown() {}
+void StarTrackerDummy::doShutDown() { setMode(_MODE_POWER_DOWN); }
 
 ReturnValue_t StarTrackerDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
   return NOTHING_TO_SEND;

mission/system/acs/RwAssembly.cpp

@@ -56,12 +56,12 @@ ReturnValue_t RwAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t want
       }
     }
   } catch (const std::out_of_range& e) {
-    sif::error << "RwAssembly: Invalid children map: " << e.what() << std::endl;
+    sif::error << "RW ASSY: Invalid children map: " << e.what() << std::endl;
   }
   if (devsInCorrectMode < 3) {
     if (warningSwitch) {
-      sif::warning << "RwAssembly::checkChildrenStateOn: Only " << devsInCorrectMode
+      sif::warning << "RW ASSY: Only " << devsInCorrectMode << " devices in correct mode"
-                   << " devices in correct mode" << std::endl;
+                   << std::endl;
       warningSwitch = false;
     }
     return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
@@ -106,46 +106,18 @@ void RwAssembly::handleModeReached() {
   }
 }
 
-void RwAssembly::handleChildrenLostMode(ReturnValue_t result) {
-  AssemblyBase::handleChildrenLostMode(result);
-}
-
 ReturnValue_t RwAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode) {
   ReturnValue_t result = returnvalue::OK;
-  bool needsSecondStep = false;
-  Mode_t devMode = 0;
   object_id_t objId = 0;
   try {
     for (uint8_t idx = 0; idx < NUMBER_RWS; idx++) {
-      devMode = childrenMap.at(helper.rwIds[idx]).mode;
+      if (isUseable(objId, mode)) {
-      objId = helper.rwIds[idx];
-      if (mode == devMode) {
         modeTable[idx].setMode(mode);
-      } else if (mode == DeviceHandlerIF::MODE_NORMAL) {
+        modeTable[idx].setSubmode(submode);
-        if (isUseable(objId, devMode)) {
-          if (devMode == MODE_ON) {
-            modeTable[idx].setMode(mode);
-            modeTable[idx].setSubmode(SUBMODE_NONE);
-          } else {
-            modeTable[idx].setMode(MODE_ON);
-            modeTable[idx].setSubmode(SUBMODE_NONE);
-            if (internalState != STATE_SECOND_STEP) {
-              needsSecondStep = true;
-            }
-          }
-        }
-      } else if (mode == MODE_ON) {
-        if (isUseable(objId, devMode)) {
-          modeTable[idx].setMode(MODE_ON);
-          modeTable[idx].setSubmode(SUBMODE_NONE);
-        }
       }
     }
   } catch (const std::out_of_range& e) {
-    sif::error << "TcsBoardAssembly: Invalid children map: " << e.what() << std::endl;
+    sif::error << "RW ASSY: Invalid children map: " << e.what() << std::endl;
-  }
-  if (needsSecondStep) {
-    result = NEED_SECOND_STEP;
   }
   return result;
 }
@@ -172,15 +144,3 @@ ReturnValue_t RwAssembly::initialize() {
   }
   return AssemblyBase::initialize();
 }
-
-void RwAssembly::handleModeTransitionFailed(ReturnValue_t result) {
-  if (targetMode == MODE_OFF) {
-    AssemblyBase::handleModeTransitionFailed(result);
-  } else {
-    if (modeTransitionFailedSwitch) {
-      // To avoid transitioning back to off
-      triggerEvent(MODE_TRANSITION_FAILED, result);
-      modeTransitionFailedSwitch = false;
-    }
-  }
-}

mission/system/acs/RwAssembly.h

@@ -41,11 +41,6 @@ class RwAssembly : public AssemblyBase {
   ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
   void startTransition(Mode_t mode, Submode_t submode) override;
   void handleModeReached() override;
-
-  // These two overrides prevent a transition of the whole assembly back to off just because
-  // some devices are not working
-  void handleChildrenLostMode(ReturnValue_t result) override;
-  void handleModeTransitionFailed(ReturnValue_t result) override;
 };
 
 #endif /* MISSION_SYSTEM_RWASS_H_ */

tmtc

@@ -1 +1 @@
-Subproject commit dcf7d0af71f6ba9d569f9f56604e9245a0233427
+Subproject commit 7e5fa2e61a3f2b50860fe2e3427f31f7ebaf854f