mission/devices/PayloadPcduHandler.cpp

@@ -22,54 +22,66 @@ PayloadPcduHandler::PayloadPcduHandler(object_id_t objectId, object_id_t comIF,
       sdcMan(sdcMan) {}
 
 void PayloadPcduHandler::doStartUp() {
-  if ((state != States::PCDU_OFF) and (state != States::ON_TRANS_SSR)) {
+  if ((state != States::PL_PCDU_OFF) and (state != States::ON_TRANS_SSR)) {
     // Config error
     sif::error << "PayloadPcduHandler::doStartUp: Invalid state" << std::endl;
   }
-  if (state == States::PCDU_OFF) {
-    // Switch on relays here
-    gpioIF->pullHigh(gpioIds::PLPCDU_ENB_VBAT0);
-    gpioIF->pullHigh(gpioIds::PLPCDU_ENB_VBAT1);
-    state = States::ON_TRANS_SSR;
-    transitionOk = true;
-  }
-  if (state == States::ON_TRANS_SSR) {
-    // If necessary, check whether a certain amount of time has elapsed
-    if (transitionOk) {
-      transitionOk = false;
-      state = States::ON_TRANS_ADC_CLOSE_ZERO;
-      // We are now in ON mode
-      startTransition(MODE_NORMAL, 0);
-      adcCountdown.setTimeout(50);
-      adcCountdown.resetTimer();
-      adcState = AdcStates::BOOT_DELAY;
-      // The ADC can now be read. If the values are not close to zero, we should not allow
-      // transition
-      monMode = MonitoringMode::CLOSE_TO_ZERO;
-    }
-  }
+  // TODO: Handle switching power on here
+  // TODO: Go to on mode here instead, indicating that the power is on
+  // We are now in ON mode
+  setMode(MODE_ON);
 }
 
-void PayloadPcduHandler::stateMachineToNormal() {
+void PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_t subModeFrom) {
   using namespace plpcdu;
-  if (adcState == AdcStates::BOOT_DELAY) {
-    if (adcCountdown.hasTimedOut()) {
-      adcState = AdcStates::SEND_SETUP;
-      adcCmdExecuted = false;
+  if(submode == plpcdu::NORMAL_ALL_ON or submode == plpcdu::NORMAL_ADC_ONLY) {
+    if(state == States::PL_PCDU_OFF) {
+      // TODO: Config error, emit error printout
+      setMode(MODE_OFF);
     }
-  }
-  if (adcState == AdcStates::SEND_SETUP) {
-    if (adcCmdExecuted) {
-      adcState = AdcStates::NORMAL;
-      setMode(MODE_NORMAL, NORMAL_ADC_ONLY);
-      adcCountdown.setTimeout(100);
-      adcCountdown.resetTimer();
-      adcCmdExecuted = false;
+    if (state == States::POWER_CHANNELS_ON) {
+      // Switch on relays here
+      gpioIF->pullHigh(gpioIds::PLPCDU_ENB_VBAT0);
+      gpioIF->pullHigh(gpioIds::PLPCDU_ENB_VBAT1);
+      state = States::ON_TRANS_SSR;
+      transitionOk = true;
+    }
+    if (state == States::ON_TRANS_SSR) {
+      // If necessary, check whether a certain amount of time has elapsed
+      if (transitionOk) {
+        transitionOk = false;
+        state = States::ON_TRANS_ADC_CLOSE_ZERO;
+
+        adcCountdown.setTimeout(50);
+        adcCountdown.resetTimer();
+        adcState = AdcStates::BOOT_DELAY;
+        // If the values are not close to zero, we should not allow transition
+        monMode = MonitoringMode::CLOSE_TO_ZERO;
+      }
+    }
+    if(state == States::ON_TRANS_ADC_CLOSE_ZERO) {
+      if (adcState == AdcStates::BOOT_DELAY) {
+        if (adcCountdown.hasTimedOut()) {
+          adcState = AdcStates::SEND_SETUP;
+          adcCmdExecuted = false;
+        }
+      }
+      if (adcState == AdcStates::SEND_SETUP) {
+        if (adcCmdExecuted) {
+          adcState = AdcStates::NORMAL;
+          if(submode == plpcdu::NORMAL_ADC_ONLY) {
+            setMode(MODE_NORMAL, NORMAL_ADC_ONLY);
+          }
+          adcCountdown.setTimeout(100);
+          adcCountdown.resetTimer();
+          adcCmdExecuted = false;
+        }
+      }
     }
   }
   if (submode == plpcdu::NORMAL_ALL_ON) {
     if (state == States::ON_TRANS_ADC_CLOSE_ZERO) {
-      if (not commandExecuted) {
+      if (not commandExecuted and adcState == AdcStates::NORMAL) {
         float waitTime = DFT_SSR_TO_DRO_WAIT_TIME;
         params.getValue(PARAM_KEY_MAP[SSR_TO_DRO_WAIT_TIME], waitTime);
         countdown.setTimeout(std::round(waitTime * 1000));
@@ -188,7 +200,7 @@ void PayloadPcduHandler::stateMachineToNormal() {
       }
       // ADC values are ok, 5 seconds have elapsed
       if (transitionOk and countdown.hasTimedOut()) {
-        state = States::PCDU_ON;
+        state = States::PL_PCDU_ON;
         setMode(MODE_NORMAL, plpcdu::NORMAL_ALL_ON);
         countdown.resetTimer();
         commandExecuted = false;
@@ -200,7 +212,7 @@ void PayloadPcduHandler::stateMachineToNormal() {
 
 void PayloadPcduHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
   if (mode == _MODE_TO_NORMAL) {
-    stateMachineToNormal();
+    stateMachineToNormal(modeFrom, subModeFrom);
   }
 }
 
@@ -398,7 +410,7 @@ void PayloadPcduHandler::transitionBackToOff(bool notifyFdir) {
   gpioIF->pullLow(gpioIds::PLPCDU_ENB_TX);
   gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT0);
   gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT1);
-  state = States::PCDU_OFF;
+  state = States::PL_PCDU_OFF;
   adcState = AdcStates::OFF;
   setMode(MODE_OFF);
   if (notifyFdir) {

mission/devices/PayloadPcduHandler.h

@@ -75,7 +75,8 @@ class PayloadPcduHandler : public DeviceHandlerBase {
 
  private:
   enum class States : uint8_t {
-    PCDU_OFF,
+    PL_PCDU_OFF,
+    POWER_CHANNELS_ON,
     // Solid State Relay, enable battery voltages VBAT0 and VBAT1. This will also switch on
     // the ADC
     ON_TRANS_SSR,
@@ -92,8 +93,8 @@ class PayloadPcduHandler : public DeviceHandlerBase {
     // Switch on HPA component and monitor voltages for 5 seconds
     ON_TRANS_HPA,
     // All components of the experiment are on
-    PCDU_ON,
-  } state = States::PCDU_OFF;
+    PL_PCDU_ON,
+  } state = States::PL_PCDU_OFF;
 
   enum class AdcMode { EXT_CONV, INT_CONV } adcMode = AdcMode::INT_CONV;
 
@@ -158,7 +159,7 @@ class PayloadPcduHandler : public DeviceHandlerBase {
   void checkAdcValues();
   void handleOutOfBoundsPrintout();
   void checkJsonFileInit();
-  void stateMachineToNormal();
+  void stateMachineToNormal(Mode_t modeFrom, Submode_t subModeFrom);
   bool checkVoltage(float val, float lowerBound, float upperBound, Event event);
   bool checkCurrent(float val, float upperBound, Event event);
   void handleFailureInjection(std::string output, Event event);