eive/eive-obsw
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that should do it
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This commit is contained in:
Robin Müller
2023-04-07 11:37:17 +02:00
parent d5d43e8d44
commit d98873c9a6
3 changed files with 48 additions and 47 deletions
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62
mission/acs/RwHandler.cpp
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@ -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);