CHANGELOG.md

@@ -15,6 +15,7 @@ list yields a list of all related PRs for each release.
 
 ## Changed
 
+- PCDU handler only called once in PST, but can handle multiple messages now
 - Update rootfs base of Linux, all related OBSW changes
 - Use gpsd version 3.17 now. Includes API changes
 - Add `/usr/local/bin` to PATH. All shell scripts are there now

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp

@@ -514,7 +514,6 @@ ReturnValue_t pst::pstGompaceCan(FixedTimeslotTaskIF *thisSequence) {
 #if Q7S_EM != 1
   // PCDU handlers receives two messages and both must be handled
   thisSequence->addSlot(objects::PCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::PCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
 
   thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
   thisSequence->addSlot(objects::PDU1_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);

mission/devices/PCDUHandler.cpp

@@ -95,17 +95,20 @@ void PCDUHandler::initializeSwitchStates() {
 }
 
 void PCDUHandler::readCommandQueue() {
-  ReturnValue_t result;
+  ReturnValue_t result = RETURN_OK;
   CommandMessage command;
 
-  result = commandQueue->receiveMessage(&command);
-  if (result != RETURN_OK) {
-    return;
-  }
+  for (result = commandQueue->receiveMessage(&command); result == RETURN_OK;
+       result = commandQueue->receiveMessage(&command)) {
+    result = commandQueue->receiveMessage(&command);
+    if (result != RETURN_OK) {
+      return;
+    }
 
-  result = poolManager.handleHousekeepingMessage(&command);
-  if (result == RETURN_OK) {
-    return;
+    result = poolManager.handleHousekeepingMessage(&command);
+    if (result == RETURN_OK) {
+      return;
+    }
   }
 }