CHANGELOG.md

@@ -16,6 +16,12 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+## Fixed
+
+- ACS Board Assembly FDIR: Prevent permanent SAFE mode fallbacks by introducing special health
+  handling.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/418/files
+
 ## Added
 
 - Add IMTQ assembly

mission/devices/GyrAdis1650XHandler.cpp

@@ -48,7 +48,7 @@ void GyrAdis1650XHandler::doShutDown() {
     updatePeriodicReply(false, adis1650x::REPLY);
     internalState = InternalState::NONE;
     commandExecuted = false;
-    setMode(_MODE_POWER_DOWN);
+    setMode(MODE_OFF);
   }
 }
 
@@ -90,7 +90,8 @@ void GyrAdis1650XHandler::fillCommandAndReplyMap() {
 
 ReturnValue_t GyrAdis1650XHandler::scanForReply(const uint8_t *start, size_t remainingSize,
                                                 DeviceCommandId_t *foundId, size_t *foundLen) {
-  if (breakCountdown.isBusy() or getMode() == _MODE_WAIT_OFF or getMode() == _MODE_WAIT_ON) {
+  if (breakCountdown.isBusy() or getMode() == _MODE_WAIT_OFF or getMode() == _MODE_WAIT_ON or
+      getMode() == _MODE_POWER_DOWN) {
     return IGNORE_FULL_PACKET;
   }
   if (remainingSize != sizeof(acs::Adis1650XReply)) {

mission/devices/GyrL3gCustomHandler.cpp

@@ -44,7 +44,7 @@ void GyrL3gCustomHandler::doShutDown() {
     internalState = InternalState::NONE;
     updatePeriodicReply(false, l3gd20h::REPLY);
     commandExecuted = false;
-    setMode(_MODE_POWER_DOWN);
+    setMode(MODE_OFF);
   }
 }
 
@@ -100,7 +100,7 @@ ReturnValue_t GyrL3gCustomHandler::buildCommandFromCommand(DeviceCommandId_t dev
 
 ReturnValue_t GyrL3gCustomHandler::scanForReply(const uint8_t *start, size_t len,
                                                 DeviceCommandId_t *foundId, size_t *foundLen) {
-  if (getMode() == _MODE_WAIT_OFF or getMode() == _MODE_WAIT_ON) {
+  if (getMode() == _MODE_WAIT_OFF or getMode() == _MODE_WAIT_ON or getMode() == _MODE_POWER_DOWN) {
     return IGNORE_FULL_PACKET;
   }
   if (len != sizeof(acs::GyroL3gReply)) {

mission/devices/MgmLis3CustomHandler.cpp

@@ -37,7 +37,7 @@ void MgmLis3CustomHandler::doShutDown() {
     updatePeriodicReply(false, REPLY);
     commandExecuted = false;
     internalState = InternalState::NONE;
-    setMode(_MODE_POWER_DOWN);
+    setMode(MODE_OFF);
   }
 }
 

mission/devices/MgmRm3100CustomHandler.cpp

@@ -38,7 +38,7 @@ void MgmRm3100CustomHandler::doShutDown() {
   }
   if (internalState == InternalState::SHUTDOWN and commandExecuted) {
     updatePeriodicReply(false, REPLY);
-    setMode(_MODE_POWER_DOWN);
+    setMode(MODE_OFF);
     commandExecuted = false;
   }
 }

mission/system/objects/AcsBoardAssembly.cpp

@@ -55,6 +55,12 @@ ReturnValue_t AcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode)
   modeTable[ModeTableIdx::MGM_3_B].setSubmode(SUBMODE_NONE);
   modeTable[ModeTableIdx::GPS].setMode(MODE_OFF);
   modeTable[ModeTableIdx::GPS].setSubmode(SUBMODE_NONE);
+  if (recoveryState == RecoveryState::RECOVERY_IDLE) {
+    result = checkAndHandleHealthStates(mode, submode);
+    if (result == NEED_TO_CHANGE_HEALTH) {
+      return returnvalue::OK;
+    }
+  }
   if (recoveryState != RecoveryState::RECOVERY_STARTED) {
     if (mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_ON) {
       result = handleNormalOrOnModeCmd(mode, submode);
@@ -280,3 +286,30 @@ ReturnValue_t AcsBoardAssembly::initialize() {
   }
   return AssemblyBase::initialize();
 }
+
+ReturnValue_t AcsBoardAssembly::checkAndHandleHealthStates(Mode_t deviceMode,
+                                                           Submode_t deviceSubmode) {
+  using namespace returnvalue;
+  ReturnValue_t status = returnvalue::OK;
+  auto overwriteHealthForOneDev = [&](object_id_t dev) {
+    HealthState health = healthHelper.healthTable->getHealth(dev);
+    if (health == FAULTY or health == PERMANENT_FAULTY) {
+      overwriteDeviceHealth(dev, health);
+      status = NEED_TO_CHANGE_HEALTH;
+    } else if (health == EXTERNAL_CONTROL) {
+      modeHelper.setForced(true);
+    }
+  };
+  if (deviceSubmode == duallane::DUAL_MODE) {
+    overwriteHealthForOneDev(helper.mgm0Lis3IdSideA);
+    overwriteHealthForOneDev(helper.mgm1Rm3100IdSideA);
+    overwriteHealthForOneDev(helper.mgm2Lis3IdSideB);
+    overwriteHealthForOneDev(helper.mgm3Rm3100IdSideB);
+    overwriteHealthForOneDev(helper.gyro0AdisIdSideA);
+    overwriteHealthForOneDev(helper.gyro1L3gIdSideA);
+    overwriteHealthForOneDev(helper.gyro2AdisIdSideB);
+    overwriteHealthForOneDev(helper.gyro3L3gIdSideB);
+    overwriteHealthForOneDev(helper.gpsId);
+  }
+  return status;
+}

mission/system/objects/AcsBoardAssembly.h

@@ -121,6 +121,7 @@ class AcsBoardAssembly : public DualLaneAssemblyBase {
   ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
 
   ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode);
+  ReturnValue_t checkAndHandleHealthStates(Mode_t deviceMode, Submode_t deviceSubmode);
   void refreshHelperModes();
 };
 

mission/system/objects/DualLaneAssemblyBase.cpp

@@ -235,8 +235,3 @@ void DualLaneAssemblyBase::setPreferredSide(duallane::Submodes submode) {
   }
   this->defaultSubmode = submode;
 }
-
-ReturnValue_t DualLaneAssemblyBase::checkAndHandleHealthState(Mode_t deviceMode,
-                                                              Submode_t deviceSubmode) {
-  return returnvalue::OK;
-}

mission/system/objects/DualLaneAssemblyBase.h

@@ -70,11 +70,11 @@ class DualLaneAssemblyBase : public AssemblyBase, public ConfirmsFailuresIF {
   virtual void handleChildrenLostMode(ReturnValue_t result) override;
   virtual void handleModeTransitionFailed(ReturnValue_t result) override;
   virtual void handleModeReached() override;
+  ReturnValue_t checkAndHandleHealthState(Mode_t deviceMode, Submode_t deviceSubmode);
 
   MessageQueueId_t getEventReceptionQueue() override;
 
   bool sideSwitchTransition(Mode_t mode, Submode_t submode);
-  ReturnValue_t checkAndHandleHealthState(Mode_t deviceMode, Submode_t deviceSubmode);
 
   /**
    * Implemented by user. Will be called if a full mode operation has finished.

mission/system/objects/ImtqAssembly.cpp

@@ -51,6 +51,4 @@ ReturnValue_t ImtqAssembly::checkAndHandleHealthState(Mode_t deviceMode, Submode
   return OK;
 }
 
-void ImtqAssembly::handleChildrenLostMode(ReturnValue_t result) {
-  startTransition(mode, submode);
-}
+void ImtqAssembly::handleChildrenLostMode(ReturnValue_t result) { startTransition(mode, submode); }

tmtc

@@ -1 +1 @@
-Subproject commit 208d328683a9911ecaa1d60abd3b8a9e3a841c37
+Subproject commit 9462a6e2459e11ac03c2bb9694772959ac228cd0