that should do it

CHANGELOG.md

@@ -22,6 +22,11 @@ will consitute of a breaking change warranting a new major release:
   when this was due to two devices being marked faulty.
 - RW dummy and STR dummy components: Set/Update modes correctly.
 
+## Changed
+
+- RW shutdown now waits for the speed to be near 0 or for a OFF transition countdown to be expired
+  before going to off.
+
 # [v1.43.2] 2023-04-05
 
 ## Changed

mission/acs/RwHandler.cpp

@@ -30,7 +30,7 @@ void RwHandler::doStartUp() {
   internalState = InternalState::DEFAULT;
 
   if (gpioComIF->pullHigh(enableGpio) != returnvalue::OK) {
-    sif::debug << "RwHandler::doStartUp: Failed to pull enable gpio to high";
+    sif::error << "RW Handler " << rwIdx << ": Failed to pull ENABLE pin high for startup";
   }
   updatePeriodicReply(true, rws::REPLY_ID);
   statusSet.setReportingEnabled(true);
@@ -38,29 +38,34 @@ void RwHandler::doStartUp() {
 }
 
 void RwHandler::doShutDown() {
-  if (gpioComIF->pullLow(enableGpio) != returnvalue::OK) {
-    sif::debug << "RwHandler::doStartUp: Failed to pull enable gpio to low";
+  if (internalState != InternalState::SHUTDOWN) {
+    internalState = InternalState::SHUTDOWN;
+    commandExecuted = false;
+    offTransitionCountdown.resetTimer();
   }
-  internalState = InternalState::DEFAULT;
-  updatePeriodicReply(false, rws::REPLY_ID);
-  {
-    PoolReadGuard pg(&statusSet);
-    statusSet.currSpeed = 0.0;
-    statusSet.referenceSpeed = 0.0;
-    statusSet.state = 0;
-    statusSet.setValidity(false, true);
-    statusSet.setReportingEnabled(false);
+  if (((internalState == InternalState::SHUTDOWN) and commandExecuted) or
+      offTransitionCountdown.hasTimedOut()) {
+    if (gpioComIF->pullLow(enableGpio) != returnvalue::OK) {
+      sif::error << "RW Handler " << rwIdx << ": Failed to pull ENABLE pin low for shutdown";
+    }
+    updatePeriodicReply(false, rws::REPLY_ID);
+    {
+      PoolReadGuard pg(&statusSet);
+      statusSet.currSpeed = 0.0;
+      statusSet.referenceSpeed = 0.0;
+      statusSet.state = 0;
+      statusSet.setValidity(false, true);
+      statusSet.setReportingEnabled(false);
+    }
+    {
+      PoolReadGuard pg(&tmDataset);
+      tmDataset.setValidity(false, true);
+    }
+    commandExecuted = false;
+    internalState = InternalState::DEFAULT;
+    // The power switch is handled by the assembly, so we can go off here directly.
+    setMode(MODE_OFF);
   }
-  {
-    PoolReadGuard pg(&tmDataset);
-    tmDataset.setValidity(false, true);
-  }
-  {
-    PoolReadGuard pg(&rwSpeedActuationSet);
-    rwSpeedActuationSet.setRwSpeed(0, 10);
-  }
-  // The power switch is handled by the assembly, so we can go off here directly.
-  setMode(MODE_OFF);
 }
 
 ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
@@ -77,6 +82,14 @@ ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
 }
 
 ReturnValue_t RwHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
+  if (internalState == InternalState::SHUTDOWN) {
+    {
+      PoolReadGuard pg(&rwSpeedActuationSet);
+      rwSpeedActuationSet.setRwSpeed(0, 10);
+    }
+    *id = rws::REQUEST_ID;
+    return buildCommandFromCommand(*id, nullptr, 0);
+  }
   return NOTHING_TO_SEND;
 }
 
@@ -381,6 +394,11 @@ void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
 
   statusSet.setValidity(true, true);
 
+  if (internalState == InternalState::SHUTDOWN and std::abs(tmDataset.rwCurrSpeed.value) <= 2) {
+    // Finish transition to off.
+    commandExecuted = true;
+  }
+
   if (statusSet.state == rws::STATE_ERROR) {
     // Trigger FDIR reaction, first recovery, then faulty if it doesnt fix the issue.
     triggerEvent(DeviceHandlerIF::DEVICE_WANTS_HARD_REBOOT, statusSet.state.value, 0);

mission/acs/RwHandler.h

@@ -75,6 +75,8 @@ class RwHandler : public DeviceHandlerBase {
   GpioIF* gpioComIF = nullptr;
   gpioId_t enableGpio = gpio::NO_GPIO;
   bool debugMode = false;
+  bool commandExecuted = false;
+  Countdown offTransitionCountdown = Countdown(5000);
 
   rws::StatusSet statusSet;
   rws::LastResetSatus lastResetStatusSet;
@@ -87,27 +89,10 @@ class RwHandler : public DeviceHandlerBase {
   PoolEntry<int32_t> rwSpeed = PoolEntry<int32_t>({0});
   PoolEntry<uint16_t> rampTime = PoolEntry<uint16_t>({10});
 
-  enum class InternalState {
-    DEFAULT,
-    GET_TM,
-    INIT_RW_CONTROLLER,
-    RESET_MCU,
-    // GET_RESET_STATUS,
-    // CLEAR_RESET_STATUS,
-    // READ_TEMPERATURE,
-    // SET_SPEED,
-    // GET_RW_SATUS
-  };
+  enum class InternalState { DEFAULT, GET_TM, INIT_RW_CONTROLLER, RESET_MCU, SHUTDOWN };
 
   InternalState internalState = InternalState::DEFAULT;
 
-  /**
-   * @brief   This function can be used to build commands which do not contain any data apart
-   *          from the command id and the CRC.
-   * @param commandId The command id of the command to build.
-   */
-  // void prepareSimpleCommand(DeviceCommandId_t id);
-
   /**
    * @brief   This function checks if the receiced speed and ramp time to set are in a valid
    *          range.
@@ -115,13 +100,6 @@ class RwHandler : public DeviceHandlerBase {
    */
   ReturnValue_t checkSpeedAndRampTime();
 
-  /**
-   * @brief   This function prepares the set speed command from the dataSet received with
-   *          an action message or set in the software.
-   * @return  returnvalue::OK if successful, otherwise error code.
-   */
-  // ReturnValue_t prepareSetSpeedCmd();
-
   /**
    * @brief   This function writes the last reset status retrieved with the get last reset status
    *          command into the reset status dataset.