diff --git a/CHANGELOG.md b/CHANGELOG.md index 54689aab..a2fdd3ec 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -81,6 +81,15 @@ eive-tmtc: v2.19.1 the transmitter from going off during fallbacks to the SAFE mode, which might not always be desired. +## Changed + +- Initialize switch states to a special `SWITCH_STATE_UNKNOWN` (2) variable. Return + `PowerSwitchIF::SWITCH_UNKNOWN` in switch state getter if this is the state. +- Wait 1 second before commanding SAFE mode. This ensures or at least increases the chance that + the switch states were initialized. +- Dual Lane Assemblies: The returnvalues of the dual lane power state machine FSM are not ignored + anymore. + # [v1.37.0] 2023-03-11 eive-tmtc: v2.18.1 diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp index 3afab7cd..873cc1b7 100644 --- a/bsp_q7s/core/ObjectFactory.cpp +++ b/bsp_q7s/core/ObjectFactory.cpp @@ -77,6 +77,8 @@ using gpio::Levels; #include #include #include +#include +#include #include #include #include @@ -105,8 +107,6 @@ using gpio::Levels; #include "mission/devices/HeaterHandler.h" #include "mission/devices/Max31865PT1000Handler.h" #include "mission/devices/P60DockHandler.h" -#include "mission/devices/PDU1Handler.h" -#include "mission/devices/PDU2Handler.h" #include "mission/devices/PayloadPcduHandler.h" #include "mission/devices/RadiationSensorHandler.h" #include "mission/devices/RwHandler.h" @@ -196,17 +196,17 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie, p60Fdir); auto pdu1Fdir = new GomspacePowerFdir(objects::PDU1_HANDLER); - PDU1Handler* pdu1handler = - new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie, pdu1Fdir); + Pdu1Handler* pdu1handler = + new Pdu1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie, pdu1Fdir); auto pdu2Fdir = new GomspacePowerFdir(objects::PDU2_HANDLER); - PDU2Handler* pdu2handler = - new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie, pdu2Fdir); + Pdu2Handler* pdu2handler = + new Pdu2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie, pdu2Fdir); auto acuFdir = new GomspacePowerFdir(objects::ACU_HANDLER); ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie, acuFdir); - auto pcduHandler = new PCDUHandler(objects::PCDU_HANDLER, 50); + auto pcduHandler = new PcduHandler(objects::PCDU_HANDLER, 50); /** * Setting PCDU devices to mode normal immediately after start up because PCDU is always diff --git a/bsp_q7s/obsw.cpp b/bsp_q7s/obsw.cpp index b32d808f..e8af57a9 100644 --- a/bsp_q7s/obsw.cpp +++ b/bsp_q7s/obsw.cpp @@ -67,6 +67,8 @@ int obsw::obsw(int argc, char* argv[]) { // Command the EIVE system to safe mode #if OBSW_COMMAND_SAFE_MODE_AT_STARTUP == 1 + // This ensures that the PCDU switches were updated. + TaskFactory::delayTask(1000); commandComSubsystemRxOnly(); commandEiveSystemToSafe(); #else diff --git a/mission/devices/CMakeLists.txt b/mission/devices/CMakeLists.txt index cb6c066a..68e369a0 100644 --- a/mission/devices/CMakeLists.txt +++ b/mission/devices/CMakeLists.txt @@ -5,8 +5,8 @@ target_sources( Tmp1075Handler.cpp PcduHandler.cpp P60DockHandler.cpp - PDU1Handler.cpp - PDU2Handler.cpp + Pdu1Handler.cpp + Pdu2Handler.cpp ACUHandler.cpp SyrlinksHandler.cpp Max31865PT1000Handler.cpp diff --git a/mission/devices/PcduHandler.cpp b/mission/devices/PcduHandler.cpp index f5873fcf..4c2f742c 100644 --- a/mission/devices/PcduHandler.cpp +++ b/mission/devices/PcduHandler.cpp @@ -7,7 +7,7 @@ #include #include -PCDUHandler::PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize) +PcduHandler::PcduHandler(object_id_t setObjectId, size_t cmdQueueSize) : SystemObject(setObjectId), poolManager(this, nullptr), p60CoreHk(objects::P60DOCK_HANDLER), @@ -19,11 +19,12 @@ PCDUHandler::PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize) commandQueue = QueueFactory::instance()->createMessageQueue( cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); pwrLock = MutexFactory::instance()->createMutex(); + std::memset(switchStates, SWITCH_STATE_UNKNOWN, sizeof(switchStates)); } -PCDUHandler::~PCDUHandler() {} +PcduHandler::~PcduHandler() {} -ReturnValue_t PCDUHandler::performOperation(uint8_t counter) { +ReturnValue_t PcduHandler::performOperation(uint8_t counter) { if (counter == DeviceHandlerIF::PERFORM_OPERATION) { readCommandQueue(); } @@ -51,7 +52,7 @@ ReturnValue_t PCDUHandler::performOperation(uint8_t counter) { return returnvalue::OK; } -ReturnValue_t PCDUHandler::initialize() { +ReturnValue_t PcduHandler::initialize() { ReturnValue_t result; IPCStore = ObjectManager::instance()->get(objects::IPC_STORE); @@ -99,7 +100,7 @@ ReturnValue_t PCDUHandler::initialize() { return returnvalue::OK; } -void PCDUHandler::initializeSwitchStates() { +void PcduHandler::initializeSwitchStates() { using namespace pcdu; try { for (uint8_t idx = 0; idx < NUMBER_OF_SWITCHES; idx++) { @@ -116,7 +117,7 @@ void PCDUHandler::initializeSwitchStates() { } } -void PCDUHandler::readCommandQueue() { +void PcduHandler::readCommandQueue() { ReturnValue_t result = returnvalue::OK; CommandMessage command; @@ -129,9 +130,9 @@ void PCDUHandler::readCommandQueue() { } } -MessageQueueId_t PCDUHandler::getCommandQueue() const { return commandQueue->getId(); } +MessageQueueId_t PcduHandler::getCommandQueue() const { return commandQueue->getId(); } -void PCDUHandler::handleChangedDataset(sid_t sid, store_address_t storeId, bool* clearMessage) { +void PcduHandler::handleChangedDataset(sid_t sid, store_address_t storeId, bool* clearMessage) { if (sid == sid_t(objects::PDU2_HANDLER, static_cast(P60System::SetIds::CORE))) { updateHkTableDataset(storeId, &pdu2CoreHk, &timeStampPdu2HkDataset); updatePdu2SwitchStates(); @@ -143,7 +144,7 @@ void PCDUHandler::handleChangedDataset(sid_t sid, store_address_t storeId, bool* } } -void PCDUHandler::updateHkTableDataset(store_address_t storeId, LocalPoolDataSetBase* dataset, +void PcduHandler::updateHkTableDataset(store_address_t storeId, LocalPoolDataSetBase* dataset, CCSDSTime::CDS_short* datasetTimeStamp) { ReturnValue_t result; @@ -169,7 +170,7 @@ void PCDUHandler::updateHkTableDataset(store_address_t storeId, LocalPoolDataSet } } -void PCDUHandler::updatePdu2SwitchStates() { +void PcduHandler::updatePdu2SwitchStates() { using namespace pcdu; using namespace PDU2; GOMSPACE::Pdu pdu = GOMSPACE::Pdu::PDU2; @@ -206,7 +207,7 @@ void PCDUHandler::updatePdu2SwitchStates() { } } -void PCDUHandler::updatePdu1SwitchStates() { +void PcduHandler::updatePdu1SwitchStates() { using namespace pcdu; using namespace PDU1; PoolReadGuard rg0(&switcherSet); @@ -243,9 +244,9 @@ void PCDUHandler::updatePdu1SwitchStates() { } } -LocalDataPoolManager* PCDUHandler::getHkManagerHandle() { return &poolManager; } +LocalDataPoolManager* PcduHandler::getHkManagerHandle() { return &poolManager; } -ReturnValue_t PCDUHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) { +ReturnValue_t PcduHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) { using namespace pcdu; ReturnValue_t result; uint16_t memoryAddress = 0; @@ -395,9 +396,9 @@ ReturnValue_t PCDUHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onO return result; } -ReturnValue_t PCDUHandler::sendFuseOnCommand(uint8_t fuseNr) { return returnvalue::OK; } +ReturnValue_t PcduHandler::sendFuseOnCommand(uint8_t fuseNr) { return returnvalue::OK; } -ReturnValue_t PCDUHandler::getSwitchState(uint8_t switchNr) const { +ReturnValue_t PcduHandler::getSwitchState(uint8_t switchNr) const { if (switchNr >= pcdu::NUMBER_OF_SWITCHES) { sif::debug << "PCDUHandler::getSwitchState: Invalid switch number" << std::endl; return returnvalue::FAILED; @@ -407,6 +408,9 @@ ReturnValue_t PCDUHandler::getSwitchState(uint8_t switchNr) const { MutexGuard mg(pwrLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); currentState = switchStates[switchNr]; } + if (currentState == SWITCH_STATE_UNKNOWN) { + return PowerSwitchIF::SWITCH_UNKNOWN; + } if (currentState == 1) { return PowerSwitchIF::SWITCH_ON; } else { @@ -414,13 +418,13 @@ ReturnValue_t PCDUHandler::getSwitchState(uint8_t switchNr) const { } } -ReturnValue_t PCDUHandler::getFuseState(uint8_t fuseNr) const { return returnvalue::OK; } +ReturnValue_t PcduHandler::getFuseState(uint8_t fuseNr) const { return returnvalue::OK; } -uint32_t PCDUHandler::getSwitchDelayMs(void) const { return 20000; } +uint32_t PcduHandler::getSwitchDelayMs(void) const { return 20000; } -object_id_t PCDUHandler::getObjectId() const { return SystemObject::getObjectId(); } +object_id_t PcduHandler::getObjectId() const { return SystemObject::getObjectId(); } -ReturnValue_t PCDUHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap, +ReturnValue_t PcduHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap, LocalDataPoolManager& poolManager) { using namespace pcdu; localDataPoolMap.emplace(PoolIds::PDU1_SWITCHES, &pdu1Switches); @@ -431,7 +435,7 @@ ReturnValue_t PCDUHandler::initializeLocalDataPool(localpool::DataPool& localDat return returnvalue::OK; } -ReturnValue_t PCDUHandler::initializeAfterTaskCreation() { +ReturnValue_t PcduHandler::initializeAfterTaskCreation() { if (executingTask != nullptr) { pstIntervalMs = executingTask->getPeriodMs(); } @@ -442,11 +446,11 @@ ReturnValue_t PCDUHandler::initializeAfterTaskCreation() { return returnvalue::OK; } -uint32_t PCDUHandler::getPeriodicOperationFrequency() const { return pstIntervalMs; } +uint32_t PcduHandler::getPeriodicOperationFrequency() const { return pstIntervalMs; } -void PCDUHandler::setTaskIF(PeriodicTaskIF* task) { executingTask = task; } +void PcduHandler::setTaskIF(PeriodicTaskIF* task) { executingTask = task; } -LocalPoolDataSetBase* PCDUHandler::getDataSetHandle(sid_t sid) { +LocalPoolDataSetBase* PcduHandler::getDataSetHandle(sid_t sid) { if (sid == switcherSet.getSid()) { return &switcherSet; } else { @@ -455,7 +459,7 @@ LocalPoolDataSetBase* PCDUHandler::getDataSetHandle(sid_t sid) { } } -void PCDUHandler::checkAndUpdatePduSwitch(GOMSPACE::Pdu pdu, pcdu::Switches switchIdx, +void PcduHandler::checkAndUpdatePduSwitch(GOMSPACE::Pdu pdu, pcdu::Switches switchIdx, uint8_t setValue) { using namespace pcdu; if (switchStates[switchIdx] != setValue) { diff --git a/mission/devices/PcduHandler.h b/mission/devices/PcduHandler.h index 45bbd392..170c27f2 100644 --- a/mission/devices/PcduHandler.h +++ b/mission/devices/PcduHandler.h @@ -20,13 +20,13 @@ * This is necessary because the FSFW manages all power related functionalities via one * power object. This includes for example switching on and off of devices. */ -class PCDUHandler : public PowerSwitchIF, +class PcduHandler : public PowerSwitchIF, public HasLocalDataPoolIF, public SystemObject, public ExecutableObjectIF { public: - PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize = 20); - virtual ~PCDUHandler(); + PcduHandler(object_id_t setObjectId, size_t cmdQueueSize = 20); + virtual ~PcduHandler(); virtual ReturnValue_t initialize() override; virtual ReturnValue_t performOperation(uint8_t counter) override; @@ -35,7 +35,11 @@ class PCDUHandler : public PowerSwitchIF, virtual ReturnValue_t sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) override; virtual ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) override; - virtual ReturnValue_t getSwitchState(uint8_t switchNr) const override; + /** + * @param switchNr + * @return returnvalue::FAILED if the switch state has not been updated yet. + */ + ReturnValue_t getSwitchState(uint8_t switchNr) const override; virtual ReturnValue_t getFuseState(uint8_t fuseNr) const override; virtual uint32_t getSwitchDelayMs(void) const override; virtual object_id_t getObjectId() const override; @@ -84,6 +88,7 @@ class PCDUHandler : public PowerSwitchIF, /** The timeStamp of the current pdu1HkTableDataset */ CCSDSTime::CDS_short timeStampPdu1HkDataset; + uint8_t SWITCH_STATE_UNKNOWN = 2; uint8_t switchStates[pcdu::NUMBER_OF_SWITCHES]; /** * Pointer to the IPCStore. diff --git a/mission/devices/PDU1Handler.cpp b/mission/devices/Pdu1Handler.cpp similarity index 87% rename from mission/devices/PDU1Handler.cpp rename to mission/devices/Pdu1Handler.cpp index 9a44da5e..25f14c76 100644 --- a/mission/devices/PDU1Handler.cpp +++ b/mission/devices/Pdu1Handler.cpp @@ -1,11 +1,10 @@ -#include "PDU1Handler.h" - #include +#include #include #include "devices/powerSwitcherList.h" -PDU1Handler::PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie, +Pdu1Handler::Pdu1Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie, FailureIsolationBase *customFdir) : GomspaceDeviceHandler(objectId, comIF, comCookie, cfg, customFdir), coreHk(this), @@ -13,23 +12,23 @@ PDU1Handler::PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF *comC initPduConfigTable(); } -PDU1Handler::~PDU1Handler() {} +Pdu1Handler::~Pdu1Handler() {} -ReturnValue_t PDU1Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) { +ReturnValue_t Pdu1Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) { *id = GOMSPACE::REQUEST_HK_TABLE; return buildCommandFromCommand(*id, NULL, 0); } -void PDU1Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) { +void Pdu1Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) { parseHkTableReply(packet); } -void PDU1Handler::assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook, void *args) { +void Pdu1Handler::assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook, void *args) { this->channelSwitchHook = hook; this->hookArgs = args; } -ReturnValue_t PDU1Handler::setParamCallback(SetParamMessageUnpacker &unpacker, +ReturnValue_t Pdu1Handler::setParamCallback(SetParamMessageUnpacker &unpacker, bool afterExecution) { using namespace PDU1; GOMSPACE::Pdu pdu = GOMSPACE::Pdu::PDU1; @@ -79,15 +78,15 @@ ReturnValue_t PDU1Handler::setParamCallback(SetParamMessageUnpacker &unpacker, return returnvalue::OK; } -void PDU1Handler::letChildHandleConfigReply(DeviceCommandId_t id, const uint8_t *packet) { +void Pdu1Handler::letChildHandleConfigReply(DeviceCommandId_t id, const uint8_t *packet) { handleDeviceTm(packet, PDU::CONFIG_TABLE_SIZE, id); } -void PDU1Handler::parseHkTableReply(const uint8_t *packet) { +void Pdu1Handler::parseHkTableReply(const uint8_t *packet) { GomspaceDeviceHandler::parsePduHkTable(coreHk, auxHk, packet); } -ReturnValue_t PDU1Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap, +ReturnValue_t Pdu1Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) { initializePduPool(localDataPoolMap, poolManager, pcdu::INIT_SWITCHES_PDU1); poolManager.subscribeForDiagPeriodicPacket( @@ -97,7 +96,7 @@ ReturnValue_t PDU1Handler::initializeLocalDataPool(localpool::DataPool &localDat return returnvalue::OK; } -LocalPoolDataSetBase *PDU1Handler::getDataSetHandle(sid_t sid) { +LocalPoolDataSetBase *Pdu1Handler::getDataSetHandle(sid_t sid) { if (sid == coreHk.getSid()) { return &coreHk; } else if (sid == auxHk.getSid()) { @@ -106,7 +105,7 @@ LocalPoolDataSetBase *PDU1Handler::getDataSetHandle(sid_t sid) { return nullptr; } -ReturnValue_t PDU1Handler::printStatus(DeviceCommandId_t cmd) { +ReturnValue_t Pdu1Handler::printStatus(DeviceCommandId_t cmd) { ReturnValue_t result = returnvalue::OK; switch (cmd) { case (GOMSPACE::PRINT_SWITCH_V_I): { @@ -137,7 +136,7 @@ ReturnValue_t PDU1Handler::printStatus(DeviceCommandId_t cmd) { return result; } -void PDU1Handler::printHkTableSwitchVI() { +void Pdu1Handler::printHkTableSwitchVI() { using namespace PDU1; sif::info << "PDU1 Info: " << std::endl; sif::info << "Boot Cause: " << auxHk.bootcause << " | Boot Count: " << std::setw(4) << std::right @@ -163,7 +162,7 @@ void PDU1Handler::printHkTableSwitchVI() { printerHelper("Syrlinks", Channels::SYRLINKS); } -void PDU1Handler::printHkTableLatchups() { +void Pdu1Handler::printHkTableLatchups() { using namespace PDU1; sif::info << "PDU1 Latchup Information" << std::endl; auto printerHelper = [&](std::string channelStr, Channels idx) { diff --git a/mission/devices/PDU1Handler.h b/mission/devices/Pdu1Handler.h similarity index 93% rename from mission/devices/PDU1Handler.h rename to mission/devices/Pdu1Handler.h index 262283a6..b81f647e 100644 --- a/mission/devices/PDU1Handler.h +++ b/mission/devices/Pdu1Handler.h @@ -19,11 +19,11 @@ * ACS 3.3V for Side A group, channel 7 * Unoccupied, 5V, channel 8 */ -class PDU1Handler : public GomspaceDeviceHandler { +class Pdu1Handler : public GomspaceDeviceHandler { public: - PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie, + Pdu1Handler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie, FailureIsolationBase* customFdir); - virtual ~PDU1Handler(); + virtual ~Pdu1Handler(); virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap, LocalDataPoolManager& poolManager) override; diff --git a/mission/devices/PDU2Handler.cpp b/mission/devices/Pdu2Handler.cpp similarity index 88% rename from mission/devices/PDU2Handler.cpp rename to mission/devices/Pdu2Handler.cpp index 4db6999f..363c5f51 100644 --- a/mission/devices/PDU2Handler.cpp +++ b/mission/devices/Pdu2Handler.cpp @@ -1,11 +1,10 @@ -#include "PDU2Handler.h" - #include +#include #include #include "devices/powerSwitcherList.h" -PDU2Handler::PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie, +Pdu2Handler::Pdu2Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie, FailureIsolationBase *customFdir) : GomspaceDeviceHandler(objectId, comIF, comCookie, cfg, customFdir), coreHk(this), @@ -13,27 +12,27 @@ PDU2Handler::PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF *comC initPduConfigTable(); } -PDU2Handler::~PDU2Handler() {} +Pdu2Handler::~Pdu2Handler() {} -ReturnValue_t PDU2Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) { +ReturnValue_t Pdu2Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) { *id = GOMSPACE::REQUEST_HK_TABLE; return buildCommandFromCommand(*id, NULL, 0); } -void PDU2Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) { +void Pdu2Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) { parseHkTableReply(packet); } -void PDU2Handler::letChildHandleConfigReply(DeviceCommandId_t id, const uint8_t *packet) { +void Pdu2Handler::letChildHandleConfigReply(DeviceCommandId_t id, const uint8_t *packet) { handleDeviceTm(packet, PDU::CONFIG_TABLE_SIZE, id); } -void PDU2Handler::assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook, void *args) { +void Pdu2Handler::assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook, void *args) { this->channelSwitchHook = hook; this->hookArgs = args; } -LocalPoolDataSetBase *PDU2Handler::getDataSetHandle(sid_t sid) { +LocalPoolDataSetBase *Pdu2Handler::getDataSetHandle(sid_t sid) { if (sid == coreHk.getSid()) { return &coreHk; } else if (sid == auxHk.getSid()) { @@ -42,11 +41,11 @@ LocalPoolDataSetBase *PDU2Handler::getDataSetHandle(sid_t sid) { return nullptr; } -void PDU2Handler::parseHkTableReply(const uint8_t *packet) { +void Pdu2Handler::parseHkTableReply(const uint8_t *packet) { GomspaceDeviceHandler::parsePduHkTable(coreHk, auxHk, packet); } -ReturnValue_t PDU2Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap, +ReturnValue_t Pdu2Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) { initializePduPool(localDataPoolMap, poolManager, pcdu::INIT_SWITCHES_PDU2); poolManager.subscribeForDiagPeriodicPacket( @@ -56,7 +55,7 @@ ReturnValue_t PDU2Handler::initializeLocalDataPool(localpool::DataPool &localDat return returnvalue::OK; } -ReturnValue_t PDU2Handler::printStatus(DeviceCommandId_t cmd) { +ReturnValue_t Pdu2Handler::printStatus(DeviceCommandId_t cmd) { ReturnValue_t result = returnvalue::OK; switch (cmd) { case (GOMSPACE::PRINT_SWITCH_V_I): { @@ -87,7 +86,7 @@ ReturnValue_t PDU2Handler::printStatus(DeviceCommandId_t cmd) { return result; } -void PDU2Handler::printHkTableSwitchVI() { +void Pdu2Handler::printHkTableSwitchVI() { using namespace PDU2; sif::info << "PDU2 Info:" << std::endl; sif::info << "Boot Cause: " << auxHk.bootcause << " | Boot Count: " << std::setw(4) << std::right @@ -111,7 +110,7 @@ void PDU2Handler::printHkTableSwitchVI() { printerHelper("Payload Camera", Channels::PAYLOAD_CAMERA); } -void PDU2Handler::printHkTableLatchups() { +void Pdu2Handler::printHkTableLatchups() { using namespace PDU2; sif::info << "PDU2 Latchup Information" << std::endl; auto printerHelper = [&](std::string channelStr, Channels idx) { @@ -129,7 +128,7 @@ void PDU2Handler::printHkTableLatchups() { printerHelper("Payload Camera", Channels::PAYLOAD_CAMERA); } -ReturnValue_t PDU2Handler::setParamCallback(SetParamMessageUnpacker &unpacker, +ReturnValue_t Pdu2Handler::setParamCallback(SetParamMessageUnpacker &unpacker, bool afterExecution) { using namespace PDU2; GOMSPACE::Pdu pdu = GOMSPACE::Pdu::PDU2; diff --git a/mission/devices/PDU2Handler.h b/mission/devices/Pdu2Handler.h similarity index 93% rename from mission/devices/PDU2Handler.h rename to mission/devices/Pdu2Handler.h index 40204502..acb229dc 100644 --- a/mission/devices/PDU2Handler.h +++ b/mission/devices/Pdu2Handler.h @@ -19,11 +19,11 @@ * ACS Board (Gyro, MGMs, GPS), 3.3V channel 7 * Payload Camera, 8V, channel 8 */ -class PDU2Handler : public GomspaceDeviceHandler { +class Pdu2Handler : public GomspaceDeviceHandler { public: - PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie, + Pdu2Handler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie, FailureIsolationBase* customFdir); - virtual ~PDU2Handler(); + virtual ~Pdu2Handler(); virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap, LocalDataPoolManager& poolManager) override; diff --git a/mission/system/objects/DualLaneAssemblyBase.cpp b/mission/system/objects/DualLaneAssemblyBase.cpp index a55553a0..ca969dbb 100644 --- a/mission/system/objects/DualLaneAssemblyBase.cpp +++ b/mission/system/objects/DualLaneAssemblyBase.cpp @@ -19,7 +19,10 @@ DualLaneAssemblyBase::DualLaneAssemblyBase(object_id_t objectId, PowerSwitchIF* void DualLaneAssemblyBase::performChildOperation() { using namespace duallane; if (pwrStateMachine.active()) { - pwrStateMachineWrapper(); + ReturnValue_t result = pwrStateMachineWrapper(); + if (result != returnvalue::OK) { + handleModeTransitionFailed(result); + } } // Only perform the regular child operation if the power state machine is not active. // It does not make any sense to command device modes while the power switcher is busy @@ -112,6 +115,7 @@ void DualLaneAssemblyBase::handleModeReached() { pwrStateMachine.start(targetMode, targetSubmode); // Now we can switch off the power. After that, the AssemblyBase::handleModeReached function // will be called + // Ignore failures for now. pwrStateMachineWrapper(); } else { finishModeOp();