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reattempt power switching at least once
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This commit is contained in:
Robin Müller
2022-03-07 16:47:15 +01:00
parent e678b53452
commit d262b8ab8b
5 changed files with 56 additions and 16 deletions
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32
mission/system/AcsBoardAssembly.cpp
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@ -53,9 +53,7 @@ void AcsBoardAssembly::startTransition(Mode_t mode, Submode_t submode) {
using namespace duallane;
// If anything other than MODE_OFF is commanded, perform power state machine first
if (mode != MODE_OFF) {
if (state != PwrStates::IDLE) {
state = PwrStates::IDLE;
}
pwrStateMachine.reset();
// Cache the target modes, required by power state machine
targetMode = mode;
targetSubmode = submode;
@ -74,7 +72,10 @@ ReturnValue_t AcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode)
using namespace duallane;
ReturnValue_t result = RETURN_OK;
refreshHelperModes();
pwrStateMachineWrapper(mode, submode);
result = pwrStateMachineWrapper(mode, submode);
if (result != RETURN_OK) {
return result;
}
if (state == PwrStates::MODE_COMMANDING) {
if (mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_ON) {
result = handleNormalOrOnModeCmd(mode, submode);
@ -276,9 +277,7 @@ bool AcsBoardAssembly::isUseable(object_id_t object, Mode_t mode) {
void AcsBoardAssembly::handleModeReached() {
using namespace duallane;
if (targetMode == MODE_OFF) {
if (state != PwrStates::IDLE) {
state = PwrStates::IDLE;
}
pwrStateMachine.reset();
state = PwrStates::SWITCHING_POWER;
// Now we can switch off the power. After that, the AssemblyBase::handleModeReached function
// will be called
@ -383,21 +382,34 @@ void AcsBoardAssembly::initModeTableEntry(object_id_t id, ModeListEntry& entry)
void AcsBoardAssembly::finishModeOp() {
using namespace duallane;
AssemblyBase::handleModeReached();
state = PwrStates::IDLE;
pwrStateMachine.reset();
powerRetryCounter = 0;
tryingOtherSide = false;
dualModeErrorSwitch = true;
}
void AcsBoardAssembly::pwrStateMachineWrapper(Mode_t mode, Submode_t submode) {
ReturnValue_t AcsBoardAssembly::pwrStateMachineWrapper(Mode_t mode, Submode_t submode) {
using namespace duallane;
OpCodes opCode = pwrStateMachine.powerStateMachine(mode, submode);
if (opCode == OpCodes::NONE) {
return;
return RETURN_OK;
} else if (opCode == OpCodes::FINISH_OP) {
finishModeOp();
} else if (opCode == OpCodes::START_TRANSITION) {
AssemblyBase::startTransition(mode, submode);
} else if (opCode == OpCodes::TIMEOUT_OCCURED) {
if (powerRetryCounter == 0) {
powerRetryCounter++;
pwrStateMachine.reset();
} else {
#if OBSW_VERBOSE_LEVEL >= 1
sif::warning << "Timeout occured in power state machine" << std::endl;
#endif
triggerEvent(POWER_STATE_MACHINE_TIMEOUT, 0, 0);
return RETURN_FAILED;
}
}
return RETURN_OK;
}
ReturnValue_t AcsBoardAssembly::initialize() {