From d97e0a1a6ac8730148841fe5423178708165bbb5 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Thu, 13 Oct 2022 16:04:34 +0200
Subject: [PATCH] update depl handler

---
 .../devices/SolarArrayDeploymentHandler.cpp   | 23 +++++-----
 mission/devices/SolarArrayDeploymentHandler.h | 44 +++++++++----------
 2 files changed, 34 insertions(+), 33 deletions(-)

diff --git a/mission/devices/SolarArrayDeploymentHandler.cpp b/mission/devices/SolarArrayDeploymentHandler.cpp
index 567d9353..28922fd2 100644
--- a/mission/devices/SolarArrayDeploymentHandler.cpp
+++ b/mission/devices/SolarArrayDeploymentHandler.cpp
@@ -155,10 +155,10 @@ bool SolarArrayDeploymentHandler::autonomousDeplForFile(const char* filename) {
         deplState == AutonomousDeplState::SECOND_BURN) {
       // TODO: Update to be channel specific
       // startFsmOn(channel, config::SA_DEPL_BURN_TIME_SECS);
-      //startFsm(true, true);
+      // startFsm(true, true);
     } else if (deplState == AutonomousDeplState::WAIT or deplState == AutonomousDeplState::DONE) {
       startFsmOff();
-      //startFsm(false, false);
+      // startFsm(false, false);
     }
   }
   if (stateSwitch or updateUptime) {
@@ -215,8 +215,8 @@ void SolarArrayDeploymentHandler::handleStateMachine() {
     burnCountdown.setTimeout(fsmInfo.burnCountdown);
     stateMachine = CHANNEL_ON;
   }
-  if(stateMachine == CHANNEL_ON) {
-    if(burnCountdown.hasTimedOut()) {
+  if (stateMachine == CHANNEL_ON) {
+    if (burnCountdown.hasTimedOut()) {
       allOff();
       stateMachine = WAIT_MAIN_POWER_OFF;
     }
@@ -257,7 +257,7 @@ bool SolarArrayDeploymentHandler::startFsmOn(DeploymentChannels channel, uint32_
   if (stateMachine != StateMachine::IDLE) {
     return false;
   }
-  if(burnCountdown_ > config::SA_DEPL_MAX_BURN_TIME) {
+  if (burnCountdown_ > config::SA_DEPL_MAX_BURN_TIME) {
     burnCountdown_ = config::SA_DEPL_MAX_BURN_TIME;
   }
   fsmInfo.onOff = true;
@@ -268,7 +268,7 @@ bool SolarArrayDeploymentHandler::startFsmOn(DeploymentChannels channel, uint32_
 }
 
 void SolarArrayDeploymentHandler::startFsmOff() {
-  if(stateMachine != StateMachine::IDLE) {
+  if (stateMachine != StateMachine::IDLE) {
     // off commands override the state machine. Cancel any active action commands.
     finishFsm(returnvalue::FAILED);
   }
@@ -282,7 +282,8 @@ void SolarArrayDeploymentHandler::finishFsm(ReturnValue_t resultForActionHelper)
   stateMachine = StateMachine::IDLE;
   if (actionActive) {
     bool success = false;
-    if(resultForActionHelper == returnvalue::OK or resultForActionHelper == HasActionsIF::EXECUTION_FINISHED) {
+    if (resultForActionHelper == returnvalue::OK or
+        resultForActionHelper == HasActionsIF::EXECUTION_FINISHED) {
       success = true;
     }
     actionHelper.finish(success, rememberCommanderId, activeCmd, resultForActionHelper);
@@ -373,16 +374,16 @@ ReturnValue_t SolarArrayDeploymentHandler::executeAction(ActionId_t actionId,
     uint32_t burnCountdown = cmd.getBurnTime();
     DeploymentChannels channel;
     result = cmd.getChannel(channel);
-    if(result != returnvalue::OK) {
+    if (result != returnvalue::OK) {
       return result;
     }
     if (not startFsmOn(channel, burnCountdown)) {
       return HasActionsIF::IS_BUSY;
     }
     return result;
-  } else if(actionId == SWITCH_OFF_DEPLOYMENT) {
-     startFsmOff();
-     return result;
+  } else if (actionId == SWITCH_OFF_DEPLOYMENT) {
+    startFsmOff();
+    return result;
   } else {
     return HasActionsIF::INVALID_ACTION_ID;
   }
diff --git a/mission/devices/SolarArrayDeploymentHandler.h b/mission/devices/SolarArrayDeploymentHandler.h
index d8fb27ed..2d20606f 100644
--- a/mission/devices/SolarArrayDeploymentHandler.h
+++ b/mission/devices/SolarArrayDeploymentHandler.h
@@ -32,9 +32,7 @@ class ManualDeploymentCommand : public SerialLinkedListAdapter<SerializeIF> {
     burnTime.setNext(&channel);
   }
 
-  uint32_t getBurnTime() const {
-    return burnTime.entry;
-  }
+  uint32_t getBurnTime() const { return burnTime.entry; }
 
   ReturnValue_t getChannel(DeploymentChannels& channel_) const {
     if (channel.entry == 1 or channel.entry == 2) {
@@ -111,6 +109,26 @@ class SolarArrayDeploymentHandler : public ExecutableObjectIF,
   virtual ReturnValue_t initialize() override;
 
  private:
+  enum AutonomousDeplState { INIT, FIRST_BURN, WAIT, SECOND_BURN, DONE };
+
+  enum StateMachine {
+    IDLE,
+    MAIN_POWER_ON,
+    MAIN_POWER_OFF,
+    WAIT_MAIN_POWER_ON,
+    WAIT_MAIN_POWER_OFF,
+    SWITCH_DEPL_GPIOS,
+    CHANNEL_ON
+  };
+
+  struct FsmInfo {
+    DeploymentChannels channel;
+    // false if OFF, true is ON
+    bool onOff;
+    bool dryRun;
+    uint32_t burnCountdown = config::SA_DEPL_MAX_BURN_TIME;
+  };
+
   static const uint8_t INTERFACE_ID = CLASS_ID::SA_DEPL_HANDLER;
   static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA0);
   static const ReturnValue_t DEPLOYMENT_ALREADY_EXECUTING = MAKE_RETURN_CODE(0xA1);
@@ -127,17 +145,7 @@ class SolarArrayDeploymentHandler : public ExecutableObjectIF,
   static const Event DEPL_SA1_GPIO_SWTICH_OFF_FAILED = MAKE_EVENT(5, severity::HIGH);
   static const Event DEPL_SA2_GPIO_SWTICH_OFF_FAILED = MAKE_EVENT(6, severity::HIGH);
 
-  enum AutonomousDeplState { INIT, FIRST_BURN, WAIT, SECOND_BURN, DONE };
-  enum StateMachine {
-    IDLE,
-    MAIN_POWER_ON,
-    MAIN_POWER_OFF,
-    WAIT_MAIN_POWER_ON,
-    WAIT_MAIN_POWER_OFF,
-    SWITCH_DEPL_GPIOS,
-    CHANNEL_ON
-  };
-
+  FsmInfo fsmInfo;
   StateMachine stateMachine = IDLE;
   bool actionActive = false;
   ActionId_t activeCmd = HasActionsIF::INVALID_ACTION_ID;
@@ -148,14 +156,6 @@ class SolarArrayDeploymentHandler : public ExecutableObjectIF,
   bool startFsmOn(DeploymentChannels channel, uint32_t burnCountdown);
   void startFsmOff();
 
-  struct FsmInfo {
-    DeploymentChannels channel;
-    // false if OFF, true is ON
-    bool onOff;
-    uint32_t burnCountdown = config::SA_DEPL_MAX_BURN_TIME;
-  } fsmInfo;
-
-
   void finishFsm(ReturnValue_t resultForActionHelper);
 
   ReturnValue_t performAutonomousDepl(sd::SdCard sdCard);