Merge remote-tracking branch 'origin/develop' into thermal_controller

2023-03-17 17:36:51 +01:00 · 2023-03-17 17:36:51 +01:00 · d44142ac26
commit d44142ac26
parent f7be8ea63c a8af3a8447
17 changed files with 144 additions and 108 deletions
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@ -16,6 +16,11 @@ will consitute of a breaking change warranting a new major release:

 # [unreleased]

+## Fixed
+
+- SA deployment file handling: Use exceptionless API.
+- Fix deadlock in SD card manager constructor: Double lock of preferred SD card lock.
+
 ## Added

 - Failure of Safe Mode Ctrl will now trigger an event. As this can only be caused by sensors not
@ -28,6 +33,7 @@ will consitute of a breaking change warranting a new major release:
 - I2C PST now has a polling frequency of 0.4 seconds instead of 0.2 seconds.
 - GS PST now has a polling frequency of 0.5 seconds instead of 1 second.
 - Bump FSFW: merged upstream.
+- Move BPX battery scheduling to ACS PST to avoid clashes with IMTQ scheduling / polling

 # [v1.37.2] 2023-03-14

@ -75,6 +81,15 @@ eive-tmtc: v2.19.1
  the transmitter from going off during fallbacks to the SAFE mode, which might not always be
  desired.

+## Changed
+
+- Initialize switch states to a special `SWITCH_STATE_UNKNOWN` (2) variable. Return
+  `PowerSwitchIF::SWITCH_UNKNOWN` in switch state getter if this is the state.
+- Wait 1 second before commanding SAFE mode. This ensures or at least increases the chance that
+  the switch states were initialized.
+- Dual Lane Assemblies: The returnvalues of the dual lane power state machine FSM are not ignored
+  anymore.
+
 # [v1.37.0] 2023-03-11

 eive-tmtc: v2.18.1
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@ -77,6 +77,8 @@ using gpio::Levels;
 #include <mission/devices/GyrAdis1650XHandler.h>
 #include <mission/devices/ImtqHandler.h>
 #include <mission/devices/PcduHandler.h>
+#include <mission/devices/Pdu1Handler.h>
+#include <mission/devices/Pdu2Handler.h>
 #include <mission/devices/SyrlinksHandler.h>
 #include <mission/devices/devicedefinitions/rwHelpers.h>
 #include <mission/tmtc/VirtualChannelWithQueue.h>
@ -105,8 +107,6 @@ using gpio::Levels;
 #include "mission/devices/HeaterHandler.h"
 #include "mission/devices/Max31865PT1000Handler.h"
 #include "mission/devices/P60DockHandler.h"
-#include "mission/devices/PDU1Handler.h"
-#include "mission/devices/PDU2Handler.h"
 #include "mission/devices/PayloadPcduHandler.h"
 #include "mission/devices/RadiationSensorHandler.h"
 #include "mission/devices/RwHandler.h"
@ -196,17 +196,17 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
      new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie, p60Fdir);

  auto pdu1Fdir = new GomspacePowerFdir(objects::PDU1_HANDLER);
-  PDU1Handler* pdu1handler =
-      new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie, pdu1Fdir);
+  Pdu1Handler* pdu1handler =
+      new Pdu1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie, pdu1Fdir);

  auto pdu2Fdir = new GomspacePowerFdir(objects::PDU2_HANDLER);
-  PDU2Handler* pdu2handler =
-      new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie, pdu2Fdir);
+  Pdu2Handler* pdu2handler =
+      new Pdu2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie, pdu2Fdir);

  auto acuFdir = new GomspacePowerFdir(objects::ACU_HANDLER);
  ACUHandler* acuhandler =
      new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie, acuFdir);
-  auto pcduHandler = new PCDUHandler(objects::PCDU_HANDLER, 50);
+  auto pcduHandler = new PcduHandler(objects::PCDU_HANDLER, 50);

  /**
   * Setting PCDU devices to mode normal immediately after start up because PCDU is always
--- a/bsp_q7s/core/scheduling.cpp
+++ b/bsp_q7s/core/scheduling.cpp
@ -487,7 +487,7 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
 #if OBSW_ADD_I2C_TEST_CODE == 0
  FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
      "I2C_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.4, missedDeadlineFunc);
-  result = pst::pstI2c(i2cPst);
+  result = pst::pstI2cProcessingSystem(i2cPst);
  if (result != returnvalue::OK) {
    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
      sif::warning << "scheduling::initTasks: I2C PST is empty" << std::endl;
--- a/bsp_q7s/fs/SdCardManager.cpp
+++ b/bsp_q7s/fs/SdCardManager.cpp
@ -37,7 +37,6 @@ SdCardManager::SdCardManager() : SystemObject(objects::SDC_MANAGER), cmdExecutor
      sif::warning << "CoreController::sdCardInit: "
                      "Preferred SD card not set. Setting to 0"
                   << std::endl;
-      setPreferredSdCard(sd::SdCard::SLOT_0);
      scratch::writeNumber(scratch::PREFERED_SDC_KEY, static_cast<uint8_t>(sd::SdCard::SLOT_0));
      prefSdRaw = sd::SdCard::SLOT_0;

--- a/bsp_q7s/obsw.cpp
+++ b/bsp_q7s/obsw.cpp
@ -67,6 +67,8 @@ int obsw::obsw(int argc, char* argv[]) {

  // Command the EIVE system to safe mode
 #if OBSW_COMMAND_SAFE_MODE_AT_STARTUP == 1
+  // This ensures that the PCDU switches were updated.
+  TaskFactory::delayTask(1000);
  commandComSubsystemRxOnly();
  commandEiveSystemToSafe();
 #else
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@ -180,9 +180,11 @@ void AcsController::performSafe() {
    safeCtrlFailureCounter++;
    if (safeCtrlFailureCounter > 50) {
      safeCtrlFailureFlag = false;
+      safeCtrlFailureCounter = 0;
    }
  } else {
    safeCtrlFailureFlag = false;
+    safeCtrlFailureCounter = 0;
  }

  actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs,
--- a/mission/core/pollingSeqTables.cpp
+++ b/mission/core/pollingSeqTables.cpp
@ -36,31 +36,25 @@ ReturnValue_t pst::pstSyrlinks(FixedTimeslotTaskIF *thisSequence) {

 // I don't think this needs to be in a PST because linux takes care of bus serialization, but
 // keep it like this for now, it works
-ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
+ReturnValue_t pst::pstI2cProcessingSystem(FixedTimeslotTaskIF *thisSequence) {
  // Length of a communication cycle
  uint32_t length = thisSequence->getPeriodMs();
  static_cast<void>(length);
-  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.2,
-                        DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.2, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.3, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.3, DeviceHandlerIF::GET_READ);

  // These are actually part of another bus, but this works, so keep it like this for now
-  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.4,
+  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.2,
                        DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.4, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.45, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.45, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.2, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.3, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.3, DeviceHandlerIF::GET_READ);

-  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.5,
+  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.4,
                        DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.5, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.5, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.55, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.55, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.4, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.4, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.5, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.5, DeviceHandlerIF::GET_READ);

  thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.6,
                        DeviceHandlerIF::PERFORM_OPERATION);
@ -68,9 +62,9 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
                        DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.6,
                        DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.65,
+  thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.7,
                        DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.65,
+  thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.7,
                        DeviceHandlerIF::GET_READ);
  // damaged
  /*
@ -90,9 +84,9 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
                        DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.8,
                        DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.85,
+  thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.9,
                        DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.85,
+  thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.9,
                        DeviceHandlerIF::GET_READ);
  static_cast<void>(length);
  return thisSequence->checkSequence();
@ -562,6 +556,12 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
                        DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD,
                        DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD,
+                        DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * config::spiSched::SCHED_BLOCK_9_PERIOD, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * config::spiSched::SCHED_BLOCK_9_PERIOD, DeviceHandlerIF::GET_READ);

 #if OBSW_ADD_RAD_SENSORS == 1
  /* Radiation sensor */
--- a/mission/core/pollingSeqTables.h
+++ b/mission/core/pollingSeqTables.h
@ -51,7 +51,7 @@ ReturnValue_t pstSyrlinks(FixedTimeslotTaskIF* thisSequence);

 ReturnValue_t pstTcsAndAcs(FixedTimeslotTaskIF* thisSequence, AcsPstCfg cfg);

-ReturnValue_t pstI2c(FixedTimeslotTaskIF* thisSequence);
+ReturnValue_t pstI2cProcessingSystem(FixedTimeslotTaskIF* thisSequence);

 /**
 * Generic test PST
--- a/mission/devices/CMakeLists.txt
+++ b/mission/devices/CMakeLists.txt
@ -5,8 +5,8 @@ target_sources(
          Tmp1075Handler.cpp
          PcduHandler.cpp
          P60DockHandler.cpp
-          PDU1Handler.cpp
-          PDU2Handler.cpp
+          Pdu1Handler.cpp
+          Pdu2Handler.cpp
          ACUHandler.cpp
          SyrlinksHandler.cpp
          Max31865PT1000Handler.cpp
--- a/mission/devices/PcduHandler.cpp
+++ b/mission/devices/PcduHandler.cpp
@ -7,7 +7,7 @@
 #include <mission/devices/PcduHandler.h>
 #include <mission/devices/devicedefinitions/GomSpacePackets.h>

-PCDUHandler::PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize)
+PcduHandler::PcduHandler(object_id_t setObjectId, size_t cmdQueueSize)
    : SystemObject(setObjectId),
      poolManager(this, nullptr),
      p60CoreHk(objects::P60DOCK_HANDLER),
@ -19,11 +19,12 @@ PCDUHandler::PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize)
  commandQueue = QueueFactory::instance()->createMessageQueue(
      cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
  pwrLock = MutexFactory::instance()->createMutex();
+  std::memset(switchStates, SWITCH_STATE_UNKNOWN, sizeof(switchStates));
 }

-PCDUHandler::~PCDUHandler() {}
+PcduHandler::~PcduHandler() {}

-ReturnValue_t PCDUHandler::performOperation(uint8_t counter) {
+ReturnValue_t PcduHandler::performOperation(uint8_t counter) {
  if (counter == DeviceHandlerIF::PERFORM_OPERATION) {
    readCommandQueue();
  }
@ -51,7 +52,7 @@ ReturnValue_t PCDUHandler::performOperation(uint8_t counter) {
  return returnvalue::OK;
 }

-ReturnValue_t PCDUHandler::initialize() {
+ReturnValue_t PcduHandler::initialize() {
  ReturnValue_t result;

  IPCStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
@ -99,7 +100,7 @@ ReturnValue_t PCDUHandler::initialize() {
  return returnvalue::OK;
 }

-void PCDUHandler::initializeSwitchStates() {
+void PcduHandler::initializeSwitchStates() {
  using namespace pcdu;
  try {
    for (uint8_t idx = 0; idx < power::NUMBER_OF_SWITCHES; idx++) {
@ -116,7 +117,7 @@ void PCDUHandler::initializeSwitchStates() {
  }
 }

-void PCDUHandler::readCommandQueue() {
+void PcduHandler::readCommandQueue() {
  ReturnValue_t result = returnvalue::OK;
  CommandMessage command;

@ -129,9 +130,9 @@ void PCDUHandler::readCommandQueue() {
  }
 }

-MessageQueueId_t PCDUHandler::getCommandQueue() const { return commandQueue->getId(); }
+MessageQueueId_t PcduHandler::getCommandQueue() const { return commandQueue->getId(); }

-void PCDUHandler::handleChangedDataset(sid_t sid, store_address_t storeId, bool* clearMessage) {
+void PcduHandler::handleChangedDataset(sid_t sid, store_address_t storeId, bool* clearMessage) {
  if (sid == sid_t(objects::PDU2_HANDLER, static_cast<uint32_t>(P60System::SetIds::CORE))) {
    updateHkTableDataset(storeId, &pdu2CoreHk, &timeStampPdu2HkDataset);
    updatePdu2SwitchStates();
@ -143,7 +144,7 @@ void PCDUHandler::handleChangedDataset(sid_t sid, store_address_t storeId, bool*
  }
 }

-void PCDUHandler::updateHkTableDataset(store_address_t storeId, LocalPoolDataSetBase* dataset,
+void PcduHandler::updateHkTableDataset(store_address_t storeId, LocalPoolDataSetBase* dataset,
                                       CCSDSTime::CDS_short* datasetTimeStamp) {
  ReturnValue_t result;

@ -169,7 +170,7 @@ void PCDUHandler::updateHkTableDataset(store_address_t storeId, LocalPoolDataSet
  }
 }

-void PCDUHandler::updatePdu2SwitchStates() {
+void PcduHandler::updatePdu2SwitchStates() {
  using namespace pcdu;
  using namespace PDU2;
  GOMSPACE::Pdu pdu = GOMSPACE::Pdu::PDU2;
@ -207,7 +208,7 @@ void PCDUHandler::updatePdu2SwitchStates() {
  }
 }

-void PCDUHandler::updatePdu1SwitchStates() {
+void PcduHandler::updatePdu1SwitchStates() {
  using namespace pcdu;
  using namespace PDU1;
  PoolReadGuard rg0(&switcherSet);
@ -244,9 +245,9 @@ void PCDUHandler::updatePdu1SwitchStates() {
  }
 }

-LocalDataPoolManager* PCDUHandler::getHkManagerHandle() { return &poolManager; }
+LocalDataPoolManager* PcduHandler::getHkManagerHandle() { return &poolManager; }

-ReturnValue_t PCDUHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) {
+ReturnValue_t PcduHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) {
  using namespace pcdu;
  ReturnValue_t result;
  uint16_t memoryAddress = 0;
@ -396,9 +397,9 @@ ReturnValue_t PCDUHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onO
  return result;
 }

-ReturnValue_t PCDUHandler::sendFuseOnCommand(uint8_t fuseNr) { return returnvalue::OK; }
+ReturnValue_t PcduHandler::sendFuseOnCommand(uint8_t fuseNr) { return returnvalue::OK; }

-ReturnValue_t PCDUHandler::getSwitchState(uint8_t switchNr) const {
+ReturnValue_t PcduHandler::getSwitchState(uint8_t switchNr) const {
  if (switchNr >= power::NUMBER_OF_SWITCHES) {
    sif::debug << "PCDUHandler::getSwitchState: Invalid switch number" << std::endl;
    return returnvalue::FAILED;
@ -408,6 +409,9 @@ ReturnValue_t PCDUHandler::getSwitchState(uint8_t switchNr) const {
    MutexGuard mg(pwrLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
    currentState = switchStates[switchNr];
  }
+  if (currentState == SWITCH_STATE_UNKNOWN) {
+    return PowerSwitchIF::SWITCH_UNKNOWN;
+  }
  if (currentState == 1) {
    return PowerSwitchIF::SWITCH_ON;
  } else {
@ -415,13 +419,13 @@ ReturnValue_t PCDUHandler::getSwitchState(uint8_t switchNr) const {
  }
 }

-ReturnValue_t PCDUHandler::getFuseState(uint8_t fuseNr) const { return returnvalue::OK; }
+ReturnValue_t PcduHandler::getFuseState(uint8_t fuseNr) const { return returnvalue::OK; }

-uint32_t PCDUHandler::getSwitchDelayMs(void) const { return 20000; }
+uint32_t PcduHandler::getSwitchDelayMs(void) const { return 20000; }

-object_id_t PCDUHandler::getObjectId() const { return SystemObject::getObjectId(); }
+object_id_t PcduHandler::getObjectId() const { return SystemObject::getObjectId(); }

-ReturnValue_t PCDUHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+ReturnValue_t PcduHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                   LocalDataPoolManager& poolManager) {
  using namespace pcdu;
  localDataPoolMap.emplace(PoolIds::PDU1_SWITCHES, &pdu1Switches);
@ -432,7 +436,7 @@ ReturnValue_t PCDUHandler::initializeLocalDataPool(localpool::DataPool& localDat
  return returnvalue::OK;
 }

-ReturnValue_t PCDUHandler::initializeAfterTaskCreation() {
+ReturnValue_t PcduHandler::initializeAfterTaskCreation() {
  if (executingTask != nullptr) {
    pstIntervalMs = executingTask->getPeriodMs();
  }
@ -443,11 +447,11 @@ ReturnValue_t PCDUHandler::initializeAfterTaskCreation() {
  return returnvalue::OK;
 }

-uint32_t PCDUHandler::getPeriodicOperationFrequency() const { return pstIntervalMs; }
+uint32_t PcduHandler::getPeriodicOperationFrequency() const { return pstIntervalMs; }

-void PCDUHandler::setTaskIF(PeriodicTaskIF* task) { executingTask = task; }
+void PcduHandler::setTaskIF(PeriodicTaskIF* task) { executingTask = task; }

-LocalPoolDataSetBase* PCDUHandler::getDataSetHandle(sid_t sid) {
+LocalPoolDataSetBase* PcduHandler::getDataSetHandle(sid_t sid) {
  if (sid == switcherSet.getSid()) {
    return &switcherSet;
  } else {
@ -456,7 +460,7 @@ LocalPoolDataSetBase* PCDUHandler::getDataSetHandle(sid_t sid) {
  }
 }

-void PCDUHandler::checkAndUpdatePduSwitch(GOMSPACE::Pdu pdu, power::Switches switchIdx,
+void PcduHandler::checkAndUpdatePduSwitch(GOMSPACE::Pdu pdu, power::Switches switchIdx,
                                          uint8_t setValue) {
  using namespace pcdu;
  if (switchStates[switchIdx] != setValue) {
--- a/mission/devices/PcduHandler.h
+++ b/mission/devices/PcduHandler.h
@ -20,13 +20,13 @@
 * This is necessary because the FSFW manages all power related functionalities via one
 * power object. This includes for example switching on and off of devices.
 */
-class PCDUHandler : public PowerSwitchIF,
+class PcduHandler : public PowerSwitchIF,
                    public HasLocalDataPoolIF,
                    public SystemObject,
                    public ExecutableObjectIF {
 public:
-  PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize = 20);
-  virtual ~PCDUHandler();
+  PcduHandler(object_id_t setObjectId, size_t cmdQueueSize = 20);
+  virtual ~PcduHandler();

  virtual ReturnValue_t initialize() override;
  virtual ReturnValue_t performOperation(uint8_t counter) override;
@ -35,7 +35,11 @@ class PCDUHandler : public PowerSwitchIF,

  virtual ReturnValue_t sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) override;
  virtual ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) override;
-  virtual ReturnValue_t getSwitchState(uint8_t switchNr) const override;
+  /**
+   * @param switchNr
+   * @return returnvalue::FAILED if the switch state has not been updated yet.
+   */
+  ReturnValue_t getSwitchState(uint8_t switchNr) const override;
  virtual ReturnValue_t getFuseState(uint8_t fuseNr) const override;
  virtual uint32_t getSwitchDelayMs(void) const override;
  virtual object_id_t getObjectId() const override;
@ -84,6 +88,7 @@ class PCDUHandler : public PowerSwitchIF,
  /** The timeStamp of the current pdu1HkTableDataset */
  CCSDSTime::CDS_short timeStampPdu1HkDataset;

+  uint8_t SWITCH_STATE_UNKNOWN = 2;
  uint8_t switchStates[power::NUMBER_OF_SWITCHES];
  /**
   * Pointer to the IPCStore.
--- a/mission/devices/Pdu1Handler.cpp
+++ b/mission/devices/Pdu1Handler.cpp
@ -1,11 +1,10 @@
-#include "PDU1Handler.h"
-
 #include <fsfw/datapool/PoolReadGuard.h>
+#include <mission/devices/Pdu1Handler.h>
 #include <mission/devices/devicedefinitions/GomSpacePackets.h>

 #include "devices/powerSwitcherList.h"

-PDU1Handler::PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
+Pdu1Handler::Pdu1Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
                         FailureIsolationBase *customFdir)
    : GomspaceDeviceHandler(objectId, comIF, comCookie, cfg, customFdir),
      coreHk(this),
@ -13,23 +12,23 @@ PDU1Handler::PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF *comC
  initPduConfigTable();
 }

-PDU1Handler::~PDU1Handler() {}
+Pdu1Handler::~Pdu1Handler() {}

-ReturnValue_t PDU1Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
+ReturnValue_t Pdu1Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
  *id = GOMSPACE::REQUEST_HK_TABLE;
  return buildCommandFromCommand(*id, NULL, 0);
 }

-void PDU1Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) {
+void Pdu1Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) {
  parseHkTableReply(packet);
 }

-void PDU1Handler::assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook, void *args) {
+void Pdu1Handler::assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook, void *args) {
  this->channelSwitchHook = hook;
  this->hookArgs = args;
 }

-ReturnValue_t PDU1Handler::setParamCallback(SetParamMessageUnpacker &unpacker,
+ReturnValue_t Pdu1Handler::setParamCallback(SetParamMessageUnpacker &unpacker,
                                            bool afterExecution) {
  using namespace PDU1;
  GOMSPACE::Pdu pdu = GOMSPACE::Pdu::PDU1;
@ -79,15 +78,15 @@ ReturnValue_t PDU1Handler::setParamCallback(SetParamMessageUnpacker &unpacker,
  return returnvalue::OK;
 }

-void PDU1Handler::letChildHandleConfigReply(DeviceCommandId_t id, const uint8_t *packet) {
+void Pdu1Handler::letChildHandleConfigReply(DeviceCommandId_t id, const uint8_t *packet) {
  handleDeviceTm(packet, PDU::CONFIG_TABLE_SIZE, id);
 }

-void PDU1Handler::parseHkTableReply(const uint8_t *packet) {
+void Pdu1Handler::parseHkTableReply(const uint8_t *packet) {
  GomspaceDeviceHandler::parsePduHkTable(coreHk, auxHk, packet);
 }

-ReturnValue_t PDU1Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+ReturnValue_t Pdu1Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                   LocalDataPoolManager &poolManager) {
  initializePduPool(localDataPoolMap, poolManager, pcdu::INIT_SWITCHES_PDU1);
  poolManager.subscribeForDiagPeriodicPacket(
@ -97,7 +96,7 @@ ReturnValue_t PDU1Handler::initializeLocalDataPool(localpool::DataPool &localDat
  return returnvalue::OK;
 }

-LocalPoolDataSetBase *PDU1Handler::getDataSetHandle(sid_t sid) {
+LocalPoolDataSetBase *Pdu1Handler::getDataSetHandle(sid_t sid) {
  if (sid == coreHk.getSid()) {
    return &coreHk;
  } else if (sid == auxHk.getSid()) {
@ -106,7 +105,7 @@ LocalPoolDataSetBase *PDU1Handler::getDataSetHandle(sid_t sid) {
  return nullptr;
 }

-ReturnValue_t PDU1Handler::printStatus(DeviceCommandId_t cmd) {
+ReturnValue_t Pdu1Handler::printStatus(DeviceCommandId_t cmd) {
  ReturnValue_t result = returnvalue::OK;
  switch (cmd) {
    case (GOMSPACE::PRINT_SWITCH_V_I): {
@ -137,7 +136,7 @@ ReturnValue_t PDU1Handler::printStatus(DeviceCommandId_t cmd) {
  return result;
 }

-void PDU1Handler::printHkTableSwitchVI() {
+void Pdu1Handler::printHkTableSwitchVI() {
  using namespace PDU1;
  sif::info << "PDU1 Info: " << std::endl;
  sif::info << "Boot Cause: " << auxHk.bootcause << " | Boot Count: " << std::setw(4) << std::right
@ -163,7 +162,7 @@ void PDU1Handler::printHkTableSwitchVI() {
  printerHelper("Syrlinks", Channels::SYRLINKS);
 }

-void PDU1Handler::printHkTableLatchups() {
+void Pdu1Handler::printHkTableLatchups() {
  using namespace PDU1;
  sif::info << "PDU1 Latchup Information" << std::endl;
  auto printerHelper = [&](std::string channelStr, Channels idx) {
--- a/mission/devices/Pdu1Handler.h
+++ b/mission/devices/Pdu1Handler.h
@ -19,11 +19,11 @@
 *          ACS 3.3V for Side A group, channel 7
 *          Unoccupied, 5V, channel 8
 */
-class PDU1Handler : public GomspaceDeviceHandler {
+class Pdu1Handler : public GomspaceDeviceHandler {
 public:
-  PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
+  Pdu1Handler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
              FailureIsolationBase* customFdir);
-  virtual ~PDU1Handler();
+  virtual ~Pdu1Handler();

  virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                LocalDataPoolManager& poolManager) override;
--- a/mission/devices/Pdu2Handler.cpp
+++ b/mission/devices/Pdu2Handler.cpp
@ -1,11 +1,10 @@
-#include "PDU2Handler.h"
-
 #include <fsfw/datapool/PoolReadGuard.h>
+#include <mission/devices/Pdu2Handler.h>
 #include <mission/devices/devicedefinitions/GomSpacePackets.h>

 #include "devices/powerSwitcherList.h"

-PDU2Handler::PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
+Pdu2Handler::Pdu2Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
                         FailureIsolationBase *customFdir)
    : GomspaceDeviceHandler(objectId, comIF, comCookie, cfg, customFdir),
      coreHk(this),
@ -13,27 +12,27 @@ PDU2Handler::PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF *comC
  initPduConfigTable();
 }

-PDU2Handler::~PDU2Handler() {}
+Pdu2Handler::~Pdu2Handler() {}

-ReturnValue_t PDU2Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
+ReturnValue_t Pdu2Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
  *id = GOMSPACE::REQUEST_HK_TABLE;
  return buildCommandFromCommand(*id, NULL, 0);
 }

-void PDU2Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) {
+void Pdu2Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) {
  parseHkTableReply(packet);
 }

-void PDU2Handler::letChildHandleConfigReply(DeviceCommandId_t id, const uint8_t *packet) {
+void Pdu2Handler::letChildHandleConfigReply(DeviceCommandId_t id, const uint8_t *packet) {
  handleDeviceTm(packet, PDU::CONFIG_TABLE_SIZE, id);
 }

-void PDU2Handler::assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook, void *args) {
+void Pdu2Handler::assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook, void *args) {
  this->channelSwitchHook = hook;
  this->hookArgs = args;
 }

-LocalPoolDataSetBase *PDU2Handler::getDataSetHandle(sid_t sid) {
+LocalPoolDataSetBase *Pdu2Handler::getDataSetHandle(sid_t sid) {
  if (sid == coreHk.getSid()) {
    return &coreHk;
  } else if (sid == auxHk.getSid()) {
@ -42,11 +41,11 @@ LocalPoolDataSetBase *PDU2Handler::getDataSetHandle(sid_t sid) {
  return nullptr;
 }

-void PDU2Handler::parseHkTableReply(const uint8_t *packet) {
+void Pdu2Handler::parseHkTableReply(const uint8_t *packet) {
  GomspaceDeviceHandler::parsePduHkTable(coreHk, auxHk, packet);
 }

-ReturnValue_t PDU2Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+ReturnValue_t Pdu2Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                   LocalDataPoolManager &poolManager) {
  initializePduPool(localDataPoolMap, poolManager, pcdu::INIT_SWITCHES_PDU2);
  poolManager.subscribeForDiagPeriodicPacket(
@ -56,7 +55,7 @@ ReturnValue_t PDU2Handler::initializeLocalDataPool(localpool::DataPool &localDat
  return returnvalue::OK;
 }

-ReturnValue_t PDU2Handler::printStatus(DeviceCommandId_t cmd) {
+ReturnValue_t Pdu2Handler::printStatus(DeviceCommandId_t cmd) {
  ReturnValue_t result = returnvalue::OK;
  switch (cmd) {
    case (GOMSPACE::PRINT_SWITCH_V_I): {
@ -87,7 +86,7 @@ ReturnValue_t PDU2Handler::printStatus(DeviceCommandId_t cmd) {
  return result;
 }

-void PDU2Handler::printHkTableSwitchVI() {
+void Pdu2Handler::printHkTableSwitchVI() {
  using namespace PDU2;
  sif::info << "PDU2 Info:" << std::endl;
  sif::info << "Boot Cause: " << auxHk.bootcause << " | Boot Count: " << std::setw(4) << std::right
@ -111,7 +110,7 @@ void PDU2Handler::printHkTableSwitchVI() {
  printerHelper("Payload Camera", Channels::PAYLOAD_CAMERA);
 }

-void PDU2Handler::printHkTableLatchups() {
+void Pdu2Handler::printHkTableLatchups() {
  using namespace PDU2;
  sif::info << "PDU2 Latchup Information" << std::endl;
  auto printerHelper = [&](std::string channelStr, Channels idx) {
@ -129,7 +128,7 @@ void PDU2Handler::printHkTableLatchups() {
  printerHelper("Payload Camera", Channels::PAYLOAD_CAMERA);
 }

-ReturnValue_t PDU2Handler::setParamCallback(SetParamMessageUnpacker &unpacker,
+ReturnValue_t Pdu2Handler::setParamCallback(SetParamMessageUnpacker &unpacker,
                                            bool afterExecution) {
  using namespace PDU2;
  GOMSPACE::Pdu pdu = GOMSPACE::Pdu::PDU2;
--- a/mission/devices/Pdu2Handler.h
+++ b/mission/devices/Pdu2Handler.h
@ -19,11 +19,11 @@
 * 			ACS Board (Gyro, MGMs, GPS), 3.3V channel 7
 * 			Payload Camera, 8V, channel 8
 */
-class PDU2Handler : public GomspaceDeviceHandler {
+class Pdu2Handler : public GomspaceDeviceHandler {
 public:
-  PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
+  Pdu2Handler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
              FailureIsolationBase* customFdir);
-  virtual ~PDU2Handler();
+  virtual ~Pdu2Handler();

  virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                LocalDataPoolManager& poolManager) override;
--- a/mission/devices/SolarArrayDeploymentHandler.cpp
+++ b/mission/devices/SolarArrayDeploymentHandler.cpp
@ -157,10 +157,14 @@ ReturnValue_t SolarArrayDeploymentHandler::performAutonomousDepl(sd::SdCard sdCa
  return returnvalue::OK;
 }

-bool SolarArrayDeploymentHandler::autonomousDeplForFile(sd::SdCard sdCard, const char* filename,
+bool SolarArrayDeploymentHandler::autonomousDeplForFile(sd::SdCard sdCard, const char* infoFile,
                                                        bool dryRun) {
  using namespace std;
-  ifstream file(filename);
+  std::error_code e;
+  ifstream file(infoFile);
+  if (file.bad()) {
+    return false;
+  }
  string line;
  string word;
  unsigned int lineNum = 0;
@ -211,14 +215,14 @@ bool SolarArrayDeploymentHandler::autonomousDeplForFile(sd::SdCard sdCard, const
          stateSwitch = true;
        }
      };
-      if ((secsSinceBoot > FIRST_BURN_START_TIME) and (secsSinceBoot < FIRST_BURN_END_TIME)) {
+      if ((secsSinceBoot >= FIRST_BURN_START_TIME) and (secsSinceBoot < FIRST_BURN_END_TIME)) {
        switchCheck(AutonomousDeplState::FIRST_BURN);
-      } else if ((secsSinceBoot > WAIT_START_TIME) and (secsSinceBoot < WAIT_END_TIME)) {
+      } else if ((secsSinceBoot >= WAIT_START_TIME) and (secsSinceBoot < WAIT_END_TIME)) {
        switchCheck(AutonomousDeplState::WAIT);
-      } else if ((secsSinceBoot > SECOND_BURN_START_TIME) and
+      } else if ((secsSinceBoot >= SECOND_BURN_START_TIME) and
                 (secsSinceBoot < SECOND_BURN_END_TIME)) {
        switchCheck(AutonomousDeplState::SECOND_BURN);
-      } else if (secsSinceBoot > SECOND_BURN_END_TIME) {
+      } else if (secsSinceBoot >= SECOND_BURN_END_TIME) {
        switchCheck(AutonomousDeplState::DONE);
      }
    }
@ -240,15 +244,18 @@ bool SolarArrayDeploymentHandler::autonomousDeplForFile(sd::SdCard sdCard, const
    }
  }
  if (deplState == AutonomousDeplState::DONE) {
-    remove(filename);
+    std::filesystem::remove(infoFile, e);
    if (sdCard == sd::SdCard::SLOT_0) {
-      remove(SD_0_DEPL_FILE);
+      std::filesystem::remove(SD_0_DEPL_FILE, e);
    } else {
-      remove(SD_1_DEPL_FILE);
+      std::filesystem::remove(SD_1_DEPL_FILE, e);
    }
    triggerEvent(AUTONOMOUS_DEPLOYMENT_COMPLETED);
  } else {
-    std::ofstream of(filename);
+    std::ofstream of(infoFile);
+    if (of.bad()) {
+      return false;
+    }
    of << "phase: ";
    if (deplState == AutonomousDeplState::INIT) {
      of << PHASE_INIT_STR << "\n";
--- a/mission/system/objects/DualLaneAssemblyBase.cpp
+++ b/mission/system/objects/DualLaneAssemblyBase.cpp
@ -19,7 +19,10 @@ DualLaneAssemblyBase::DualLaneAssemblyBase(object_id_t objectId, PowerSwitchIF*
 void DualLaneAssemblyBase::performChildOperation() {
  using namespace duallane;
  if (pwrStateMachine.active()) {
-    pwrStateMachineWrapper();
+    ReturnValue_t result = pwrStateMachineWrapper();
+    if (result != returnvalue::OK) {
+      handleModeTransitionFailed(result);
+    }
  }
  // Only perform the regular child operation if the power state machine is not active.
  // It does not make any sense to command device modes while the power switcher is busy
@ -112,6 +115,7 @@ void DualLaneAssemblyBase::handleModeReached() {
    pwrStateMachine.start(targetMode, targetSubmode);
    // Now we can switch off the power. After that, the AssemblyBase::handleModeReached function
    // will be called
+    // Ignore failures for now.
    pwrStateMachineWrapper();
  } else {
    finishModeOp();