fsfw

@@ -1 +1 @@
-Subproject commit e6130263ef144c5b1f6eafef734a0150a92d6cda
+Subproject commit 6ea1eabb2dd3688f2c7db484cd141f15c9f4fe49

mission/devices/PayloadPcduHandler.cpp

@@ -28,17 +28,39 @@ void PayloadPcduHandler::doStartUp() {
     // Config error
     sif::error << "PayloadPcduHandler::doStartUp: Invalid state" << std::endl;
   }
-  // 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
+  if (pwrStateMachine.getState() == power::States::IDLE) {
+    pwrStateMachine.start(MODE_ON, pwrSubmode);
+  }
+  auto opCode = pwrStateMachine.fsm();
+  if (opCode == power::OpCodes::TO_NOT_OFF_DONE or opCode == power::OpCodes::TIMEOUT_OCCURED) {
+    pwrStateMachine.reset();
+    quickTransitionAlreadyCalled = false;
     setMode(_MODE_TO_ON);
+  }
+}
+
+void PayloadPcduHandler::doShutDown() {
+  if (not quickTransitionAlreadyCalled) {
+    quickTransitionBackToOff(false, false);
+    quickTransitionAlreadyCalled = true;
+  }
+  if (pwrStateMachine.getState() == power::States::IDLE) {
+    pwrStateMachine.start(MODE_OFF, 0);
+  }
+  auto opCode = pwrStateMachine.fsm();
+  if (opCode == power::OpCodes::TO_OFF_DONE or opCode == power::OpCodes::TIMEOUT_OCCURED) {
+    pwrStateMachine.reset();
+    // No need to set mode _MODE_POWER_DOWN, power switching was already handled
+    setMode(MODE_OFF);
+  }
 }
 
 void PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_t subModeFrom) {
   using namespace plpcdu;
   if (submode == plpcdu::NORMAL_ALL_ON or submode == plpcdu::NORMAL_ADC_ONLY) {
     if (state == States::PL_PCDU_OFF) {
-      // TODO: Config error, emit error printout
+      sif::error << "PayloadPcduHandler::stateMachineToNormal: Unexpected state PL_PCDU_OFF"
+                 << "detected" << std::endl;
       setMode(MODE_OFF);
     }
     if (state == States::POWER_CHANNELS_ON) {
@@ -215,11 +237,11 @@ void PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_t subMode
 void PayloadPcduHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
   if (mode == _MODE_TO_NORMAL) {
     stateMachineToNormal(modeFrom, subModeFrom);
+    return;
   }
+  DeviceHandlerBase::doTransition(modeFrom, subModeFrom);
 }
 
-void PayloadPcduHandler::doShutDown() { transitionBackToOff(false); }
-
 ReturnValue_t PayloadPcduHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
   switch (adcState) {
     case (AdcStates::SEND_SETUP): {
@@ -402,7 +424,7 @@ void PayloadPcduHandler::enablePeriodicPrintout(bool enable, uint8_t divider) {
   opDivider.setDivider(divider);
 }
 
-void PayloadPcduHandler::transitionBackToOff(bool notifyFdir) {
+void PayloadPcduHandler::quickTransitionBackToOff(bool startTransitionToOff, bool notifyFdir) {
   States currentState = state;
   gpioIF->pullLow(gpioIds::PLPCDU_ENB_HPA);
   gpioIF->pullLow(gpioIds::PLPCDU_ENB_MPA);
@@ -414,7 +436,9 @@ void PayloadPcduHandler::transitionBackToOff(bool notifyFdir) {
   gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT1);
   state = States::PL_PCDU_OFF;
   adcState = AdcStates::OFF;
-  setMode(MODE_OFF);
+  if (startTransitionToOff) {
+    startTransition(MODE_OFF, 0);
+  }
   if (notifyFdir) {
     triggerEvent(TRANSITION_BACK_TO_OFF, static_cast<uint32_t>(currentState));
   }
@@ -568,7 +592,8 @@ bool PayloadPcduHandler::checkVoltage(float val, float lowerBound, float upperBo
     serializeFloat(p2, val);
     triggerEvent(event, tooLarge, p2);
     transitionOk = false;
-    transitionBackToOff(true);
+    quickTransitionBackToOff(true, true);
+    quickTransitionAlreadyCalled = true;
     return false;
   }
   return true;
@@ -580,7 +605,8 @@ bool PayloadPcduHandler::checkCurrent(float val, float upperBound, Event event)
     serializeFloat(p2, val);
     triggerEvent(event, true, p2);
     transitionOk = false;
-    transitionBackToOff(true);
+    quickTransitionBackToOff(true, true);
+    quickTransitionAlreadyCalled = true;
     return false;
   }
   return true;
@@ -670,7 +696,8 @@ void PayloadPcduHandler::handleFailureInjection(std::string output, Event event)
             << std::endl;
   triggerEvent(event, 0, 0);
   transitionOk = false;
-  transitionBackToOff(true);
+  quickTransitionBackToOff(true, true);
+  quickTransitionAlreadyCalled = true;
   droToX8InjectionRequested = false;
 }
 

mission/devices/PayloadPcduHandler.h

@@ -4,13 +4,14 @@
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
 #include <fsfw/timemanager/Countdown.h>
-#include <mission/system/DualLanePowerStateMachine.h>
 
 #include "events/subsystemIdRanges.h"
 #include "fsfw/FSFW.h"
 #include "fsfw_hal/common/gpio/GpioIF.h"
 #include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
 #include "mission/memory/SdCardMountedIF.h"
+#include "mission/system/DualLanePowerStateMachine.h"
+#include "mission/system/definitions.h"
 
 #ifdef FSFW_OSAL_LINUX
 class SpiComIF;
@@ -98,6 +99,8 @@ class PayloadPcduHandler : public DeviceHandlerBase {
     PL_PCDU_ON,
   } state = States::PL_PCDU_OFF;
 
+  duallane::Submodes pwrSubmode = duallane::Submodes::A_SIDE;
+
   enum class AdcMode { EXT_CONV, INT_CONV } adcMode = AdcMode::INT_CONV;
 
   enum class MonitoringMode { NONE, CLOSE_TO_ZERO, NEGATIVE } monMode = MonitoringMode::NONE;
@@ -130,6 +133,7 @@ class PayloadPcduHandler : public DeviceHandlerBase {
   GpioIF* gpioIF;
   SdCardMountedIF* sdcMan;
   plpcdu::PlPcduParameter params;
+  bool quickTransitionAlreadyCalled = true;
 
   PoolEntry<uint16_t> channelValues = PoolEntry<uint16_t>({0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0});
   PoolEntry<float> processedValues =
@@ -141,7 +145,7 @@ class PayloadPcduHandler : public DeviceHandlerBase {
   void doStartUp() override;
   void doShutDown() override;
   // Main FDIR function which goes from any PL PCDU state back to all off
-  void transitionBackToOff(bool notifyFdir);
+  void quickTransitionBackToOff(bool startTransitionToOff, bool notifyFdir);
   ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
   ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
   void fillCommandAndReplyMap() override;