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PL PCDU switch states like mode bitmask now
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This commit is contained in:
Robin Müller
2022-04-04 13:39:35 +02:00
parent 99f56a89af
commit b12ffb6f44
13 changed files with 165 additions and 162 deletions
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34
mission/devices/PayloadPcduHandler.cpp
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@ -66,7 +66,7 @@ void PayloadPcduHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
ReturnValue_t PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_t subModeFrom) {
using namespace plpcdu;
if (submode == NormalSubmodes::SOLID_STATE_RELAYS_ADC_ON) {
if (((submode >> SOLID_STATE_RELAYS_ADC_ON) & 0b1) == 1) {
if (state == States::PL_PCDU_OFF) {
sif::error << "PayloadPcduHandler::stateMachineToNormal: Unexpected state PL_PCDU_OFF"
<< "detected" << std::endl;
@ -116,7 +116,7 @@ ReturnValue_t PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_
}
}
if (submode == NormalSubmodes::DRO_ON) {
if (((submode >> DRO_ON) & 1) == 1) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::info << "Enabling PL PCDU DRO module" << std::endl;
#endif
@ -127,7 +127,7 @@ ReturnValue_t PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_
setMode(MODE_NORMAL, submode);
}
if (submode == NormalSubmodes::X8_ON) {
if (((submode >> X8_ON) & 1) == 1) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::info << "Enabling PL PCDU X8 module" << std::endl;
#endif
@ -138,7 +138,7 @@ ReturnValue_t PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_
setMode(MODE_NORMAL, submode);
}
if (submode == NormalSubmodes::TX_ON) {
if (((submode >> TX_ON) & 1) == 1) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::info << "Enabling PL PCDU TX module" << std::endl;
#endif
@ -149,7 +149,7 @@ ReturnValue_t PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_
setMode(MODE_NORMAL, submode);
}
if (submode == NormalSubmodes::MPA_ON) {
if (((submode >> MPA_ON) & 1) == 1) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::info << "Enabling PL PCDU MPA module" << std::endl;
#endif
@ -160,7 +160,7 @@ ReturnValue_t PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_
setMode(MODE_NORMAL, submode);
}
if (submode == NormalSubmodes::HPA_ON) {
if (((submode >> HPA_ON) & 1) == 1) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::info << "Enabling PL PCDU HPA module" << std::endl;
#endif
@ -549,24 +549,30 @@ ReturnValue_t PayloadPcduHandler::isModeCombinationValid(Mode_t mode, Submode_t
using namespace plpcdu;
if (mode == MODE_NORMAL) {
// Also deals with the case where the mode is MODE_ON, submode should be 0 here
if (submode == NormalSubmodes::SOLID_STATE_RELAYS_ADC_ON and
(this->mode == MODE_NORMAL and this->submode != NormalSubmodes::ALL_OFF)) {
if ((((submode >> SOLID_STATE_RELAYS_ADC_ON) & 0b1) == SOLID_STATE_RELAYS_ADC_ON) and
(this->mode == MODE_NORMAL and this->submode != ALL_OFF_SUBMODE)) {
return TRANS_NOT_ALLOWED;
}
if ((submode == NormalSubmodes::DRO_ON and
this->submode != NormalSubmodes::SOLID_STATE_RELAYS_ADC_ON)) {
if (((((submode >> DRO_ON) & 1) == 1) and
(this->submode != (1 << SOLID_STATE_RELAYS_ADC_ON)))) {
return TRANS_NOT_ALLOWED;
}
if ((submode == NormalSubmodes::X8_ON and this->submode != NormalSubmodes::DRO_ON)) {
if ((((submode >> X8_ON) & 1) == 1) and
(this->submode != ((1 << SOLID_STATE_RELAYS_ADC_ON) | (1 << DRO_ON)))) {
return TRANS_NOT_ALLOWED;
}
if ((submode == NormalSubmodes::TX_ON and this->submode != NormalSubmodes::X8_ON)) {
if (((((submode >> TX_ON) & 1) == 1) and
(this->submode != ((1 << X8_ON) | (1 << DRO_ON) | (1 << SOLID_STATE_RELAYS_ADC_ON))))) {
return TRANS_NOT_ALLOWED;
}
if ((submode == NormalSubmodes::MPA_ON and this->submode != NormalSubmodes::TX_ON)) {
if ((((submode >> MPA_ON) & 1) == 1 and
(this->submode !=
((1 << TX_ON) | (1 << X8_ON) | (1 << DRO_ON) | (1 << SOLID_STATE_RELAYS_ADC_ON))))) {
return TRANS_NOT_ALLOWED;
}
if ((submode == NormalSubmodes::HPA_ON and this->submode != NormalSubmodes::MPA_ON)) {
if ((((submode >> HPA_ON) & 1) == 1 and
(this->submode != ((1 << MPA_ON) | (1 << TX_ON) | (1 << X8_ON) | (1 << DRO_ON) |
(1 << SOLID_STATE_RELAYS_ADC_ON))))) {
return TRANS_NOT_ALLOWED;
}
return HasReturnvaluesIF::RETURN_OK;