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Dual Lane Assembly bug #569

Merged
muellerr merged 8 commits from bugfix_sus_assy into develop 2023-04-05 15:30:12 +02:00
Conversation 0 Commits 8 Files Changed 6 +45 -52
6 changed files with 45 additions and 52 deletions
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19
mission/system/acs/AcsBoardAssembly.cpp
View File

@ -256,10 +256,11 @@ ReturnValue_t AcsBoardAssembly::initialize() {
return AssemblyBase::initialize();
}
ReturnValue_t AcsBoardAssembly::checkAndHandleHealthStates(Mode_t deviceMode,
Submode_t deviceSubmode) {
ReturnValue_t AcsBoardAssembly::checkAndHandleHealthStates(Mode_t commandedMode,
Submode_t commandedSubmode) {
using namespace returnvalue;
ReturnValue_t status = returnvalue::OK;
bool healthNeedsToBeOverwritten = false;
auto checkAcsBoardSensorGroup = [&](object_id_t o0, object_id_t o1, object_id_t o2,
object_id_t o3) {
HealthState h0 = healthHelper.healthTable->getHealth(o0);
@ -272,6 +273,7 @@ ReturnValue_t AcsBoardAssembly::checkAndHandleHealthStates(Mode_t deviceMode,
overwriteDeviceHealth(o1, h1);
overwriteDeviceHealth(o2, h2);
overwriteDeviceHealth(o3, h3);
healthNeedsToBeOverwritten = true;
}
if (h0 == EXTERNAL_CONTROL or h1 == EXTERNAL_CONTROL or h2 == EXTERNAL_CONTROL or
h3 == EXTERNAL_CONTROL) {
@ -285,6 +287,7 @@ ReturnValue_t AcsBoardAssembly::checkAndHandleHealthStates(Mode_t deviceMode,
if (healthHelper.healthTable->getHealth(helper.healthDevGps0) == PERMANENT_FAULTY and
healthHelper.healthTable->getHealth(helper.healthDevGps1) == FAULTY) {
overwriteDeviceHealth(helper.healthDevGps1, FAULTY);
healthNeedsToBeOverwritten = true;
} else if (healthHelper.healthTable->getHealth(helper.healthDevGps1) == PERMANENT_FAULTY and
healthHelper.healthTable->getHealth(helper.healthDevGps0) == FAULTY) {
overwriteDeviceHealth(helper.healthDevGps0, FAULTY);
@ -294,14 +297,24 @@ ReturnValue_t AcsBoardAssembly::checkAndHandleHealthStates(Mode_t deviceMode,
healthHelper.healthTable->getHealth(helper.healthDevGps0));
overwriteDeviceHealth(helper.healthDevGps1,
healthHelper.healthTable->getHealth(helper.healthDevGps1));
healthNeedsToBeOverwritten = true;
}
if (deviceSubmode == duallane::DUAL_MODE) {
if (commandedSubmode == duallane::DUAL_MODE) {
checkAcsBoardSensorGroup(helper.mgm0Lis3IdSideA, helper.mgm1Rm3100IdSideA,
helper.mgm2Lis3IdSideB, helper.mgm3Rm3100IdSideB);
checkAcsBoardSensorGroup(helper.gyro0AdisIdSideA, helper.gyro1L3gIdSideA,
helper.gyro2AdisIdSideB, helper.gyro3L3gIdSideB);
}
if (healthNeedsToBeOverwritten) {
// If we are overwriting the health states, we are already in a transition to dual mode,
// and we would like that transition to complete. The default behaviour is to go back to the
// old mode. We force our behaviour by overwriting the internal modes.
mode = commandedMode;
submode = commandedSubmode;
return NEED_TO_CHANGE_HEALTH;
}
return status;
}

2
mission/system/acs/DualLaneAssemblyBase.cpp
View File

@ -36,6 +36,8 @@ void DualLaneAssemblyBase::performChildOperation() {
void DualLaneAssemblyBase::startTransition(Mode_t mode, Submode_t submode) {
using namespace duallane;
pwrStateMachine.reset();
dualToSingleSideTransition = false;
sideSwitchState = SideSwitchState::NONE;
if (mode != MODE_OFF) {
// Special exception: A transition from dual side to single mode must be handled like

65
mission/system/acs/SusAssembly.cpp
View File

@ -26,8 +26,8 @@ ReturnValue_t SusAssembly::commandChildren(Mode_t mode, Submode_t submode) {
}
if (recoveryState == RecoveryState::RECOVERY_IDLE) {
result = checkAndHandleHealthStates(mode, submode);
if (result == NEED_TO_CHANGE_HEALTH) {
return returnvalue::OK;
if (result != returnvalue::OK) {
return result;
}
}
if (recoveryState != RecoveryState::RECOVERY_STARTED) {
@ -47,26 +47,9 @@ ReturnValue_t SusAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submod
bool needsSecondStep = false;
handleSideSwitchStates(submode, needsSecondStep);
auto cmdSeq = [&](object_id_t objectId, Mode_t devMode, uint8_t tableIdx) {
if (mode == devMode) {
if (isModeCommandable(objectId, devMode)) {
modeTable[tableIdx].setMode(mode);
} else if (mode == DeviceHandlerIF::MODE_NORMAL) {
if (isUseable(objectId, devMode)) {
if (devMode == MODE_ON) {
modeTable[tableIdx].setMode(mode);
modeTable[tableIdx].setSubmode(SUBMODE_NONE);
} else {
modeTable[tableIdx].setMode(MODE_ON);
modeTable[tableIdx].setSubmode(SUBMODE_NONE);
if (internalState != STATE_SECOND_STEP) {
needsSecondStep = true;
}
}
}
} else if (mode == MODE_ON) {
if (isUseable(objectId, devMode)) {
modeTable[tableIdx].setMode(MODE_ON);
modeTable[tableIdx].setSubmode(SUBMODE_NONE);
}
modeTable[tableIdx].setSubmode(SUBMODE_NONE);
}
};
switch (submode) {
@ -134,38 +117,31 @@ ReturnValue_t SusAssembly::initialize() {
return AssemblyBase::initialize();
}
bool SusAssembly::isUseable(object_id_t object, Mode_t mode) {
if (healthHelper.healthTable->isFaulty(object)) {
return false;
}
// Check if device is already in target mode
if (childrenMap[object].mode == mode) {
return true;
}
if (healthHelper.healthTable->isCommandable(object)) {
return true;
}
return false;
}
void SusAssembly::refreshHelperModes() {
for (uint8_t idx = 0; idx < helper.susModes.size(); idx++) {
helper.susModes[idx] = childrenMap[helper.susIds[idx]].mode;
}
}
ReturnValue_t SusAssembly::checkAndHandleHealthStates(Mode_t deviceMode, Submode_t deviceSubmode) {
ReturnValue_t SusAssembly::checkAndHandleHealthStates(Mode_t commandedMode,
Submode_t commandedSubmode) {
using namespace returnvalue;
ReturnValue_t status = returnvalue::OK;
bool needsHealthOverwritten = false;
auto checkSusGroup = [&](object_id_t devNom, object_id_t devRed) {
HealthState healthNom = healthHelper.healthTable->getHealth(devNom);
HealthState healthRed = healthHelper.healthTable->getHealth(devRed);
if ((healthNom == FAULTY or healthNom == PERMANENT_FAULTY) and
(healthRed == FAULTY or healthRed == PERMANENT_FAULTY)) {
if (healthNom == PERMANENT_FAULTY and healthRed == FAULTY) {
overwriteDeviceHealth(devRed, healthRed);
needsHealthOverwritten = true;
} else if (healthNom == FAULTY and healthRed == PERMANENT_FAULTY) {
overwriteDeviceHealth(devNom, healthNom);
needsHealthOverwritten = true;
} else if ((healthNom == FAULTY or healthNom == PERMANENT_FAULTY) and
(healthRed == FAULTY or healthRed == PERMANENT_FAULTY)) {
overwriteDeviceHealth(devNom, healthNom);
overwriteDeviceHealth(devRed, healthRed);
needsHealthOverwritten = true;
}
};
auto checkHealthForOneDev = [&](object_id_t dev) {
@ -174,7 +150,7 @@ ReturnValue_t SusAssembly::checkAndHandleHealthStates(Mode_t deviceMode, Submode
modeHelper.setForced(true);
}
};
if (deviceSubmode == duallane::DUAL_MODE) {
if (commandedSubmode == duallane::DUAL_MODE) {
uint8_t idx = 0;
for (idx = 0; idx < 6; idx++) {
checkSusGroup(helper.susIds[idx], helper.susIds[idx + 6]);
@ -184,5 +160,12 @@ ReturnValue_t SusAssembly::checkAndHandleHealthStates(Mode_t deviceMode, Submode
checkHealthForOneDev(helper.susIds[idx]);
}
}
if (needsHealthOverwritten) {
mode = commandedMode;
submode = commandedSubmode;
// We need second step instead of NEED_TO_CHANGE_HEALTH because we do not want recovery
// handling.
return NEED_TO_CHANGE_HEALTH;
}
return status;
}

7
mission/system/acs/SusAssembly.h
View File

@ -56,13 +56,6 @@ class SusAssembly : public DualLaneAssemblyBase {
ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
/**
* Check whether it makes sense to send mode commands to the device
* @param object
* @param mode
* @return
*/
bool isUseable(object_id_t object, Mode_t mode);
void powerStateMachine(Mode_t mode, Submode_t submode);
ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode);
void refreshHelperModes();

2
mission/system/objects/PowerStateMachineBase.cpp
View File

@ -1,5 +1,7 @@
#include "PowerStateMachineBase.h"
#include "fsfw/serviceinterface.h"
PowerStateMachineBase::PowerStateMachineBase(PowerSwitchIF *pwrSwitcher, dur_millis_t checkTimeout)
: pwrSwitcher(pwrSwitcher), checkTimeout(checkTimeout) {}

2
tmtc

@ -1 +1 @@
Subproject commit 50668ca7a74edd4219456e393cd10f7858591130
Subproject commit dcf7d0af71f6ba9d569f9f56604e9245a0233427