CHANGELOG.md

@@ -30,11 +30,18 @@ will consitute of a breaking change warranting a new major release:
 - Important bugfix for STR solution set.
 - Fix for STR image download.
 - Possible fix for STR image upload.
+- Fixed regression where the reply result for ACS board and SUS board devices was set to FAILED
+  even when going to OFF mode. In that case, it has to be set to OK so the device handler can
+  complete the OFF transition.
 
 ## Changed
 
 - STR `wire` library updated to v10.3. Submodule renamed to `sagittactl`.
 
+## Changed
+
+- Reject `NEEDS_RECOVERY` health commands for the heater health devices.
+
 ## Added
 
 - Add a way for the MAX31865 RTD handlers to recognize faulty/broken/off sensor devices.

linux/acs/AcsBoardPolling.cpp

@@ -122,13 +122,14 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
         } else {
           sif::warning << "AcsBoardPolling: Unknown ADIS type" << std::endl;
         }
+        adis.replyResult = returnvalue::FAILED;
         adis.performStartup = true;
       } else if (req->mode == acs::SimpleSensorMode::OFF) {
         adis.performStartup = false;
         adis.ownReply.cfgWasSet = false;
         adis.ownReply.dataWasSet = false;
+        adis.replyResult = returnvalue::OK;
       }
-      adis.replyResult = returnvalue::FAILED;
       adis.mode = req->mode;
     }
     return returnvalue::OK;
@@ -144,10 +145,11 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
       if (req->mode == acs::SimpleSensorMode::NORMAL) {
         std::memcpy(gyro.sensorCfg, req->ctrlRegs, 5);
         gyro.performStartup = true;
+        gyro.replyResult = returnvalue::FAILED;
       } else {
         gyro.ownReply.cfgWasSet = false;
+        gyro.replyResult = returnvalue::OK;
       }
-      gyro.replyResult = returnvalue::FAILED;
       gyro.mode = req->mode;
     }
     return returnvalue::OK;
@@ -162,11 +164,12 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
     if (req->mode != mgm.mode) {
       if (req->mode == acs::SimpleSensorMode::NORMAL) {
         mgm.performStartup = true;
+        mgm.replyResult = returnvalue::FAILED;
       } else {
         mgm.ownReply.dataWasSet = false;
+        mgm.replyResult = returnvalue::OK;
         mgm.ownReply.temperatureWasSet = false;
       }
-      mgm.replyResult = returnvalue::FAILED;
       mgm.mode = req->mode;
     }
     return returnvalue::OK;
@@ -181,10 +184,11 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
     if (req->mode != mgm.mode) {
       if (req->mode == acs::SimpleSensorMode::NORMAL) {
         mgm.performStartup = true;
+        mgm.replyResult = returnvalue::FAILED;
       } else {
         mgm.ownReply.dataWasRead = false;
+        mgm.replyResult = returnvalue::OK;
       }
-      mgm.replyResult = returnvalue::FAILED;
       mgm.mode = req->mode;
     }
     return returnvalue::OK;

linux/acs/SusPolling.cpp

@@ -69,11 +69,13 @@ ReturnValue_t SusPolling::sendMessage(CookieIF* cookie, const uint8_t* sendData,
   if (susDevs[susIdx].mode != susReq->mode) {
     if (susReq->mode == acs::SimpleSensorMode::NORMAL) {
       susDevs[susIdx].performStartup = true;
+      susDevs[susIdx].replyResult = returnvalue::FAILED;
     } else {
       susDevs[susIdx].ownReply.cfgWasSet = false;
       susDevs[susIdx].ownReply.dataWasSet = false;
+      // We are off now, but DHB wants a proper reply.
+      susDevs[susIdx].replyResult = returnvalue::OK;
     }
-    susDevs[susIdx].replyResult = returnvalue::FAILED;
     susDevs[susIdx].mode = susReq->mode;
   }
   if (state == InternalState::IDLE) {

mission/genericFactory.cpp

@@ -287,15 +287,17 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
 void ObjectFactory::createGenericHeaterComponents(GpioIF& gpioIF, PowerSwitchIF& pwrSwitcher,
                                                   HeaterHandler*& heaterHandler) {
   HeaterHelper helper({{
-      {new HealthDevice(objects::HEATER_0_PLOC_PROC_BRD, MessageQueueIF::NO_QUEUE),
+      {new HeaterHealthDev(objects::HEATER_0_PLOC_PROC_BRD, MessageQueueIF::NO_QUEUE),
        gpioIds::HEATER_0},
-      {new HealthDevice(objects::HEATER_1_PCDU_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_1},
-      {new HealthDevice(objects::HEATER_2_ACS_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_2},
-      {new HealthDevice(objects::HEATER_3_OBC_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_3},
-      {new HealthDevice(objects::HEATER_4_CAMERA, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_4},
-      {new HealthDevice(objects::HEATER_5_STR, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_5},
-      {new HealthDevice(objects::HEATER_6_DRO, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_6},
-      {new HealthDevice(objects::HEATER_7_SYRLINKS, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_7},
+      {new HeaterHealthDev(objects::HEATER_1_PCDU_BRD, MessageQueueIF::NO_QUEUE),
+       gpioIds::HEATER_1},
+      {new HeaterHealthDev(objects::HEATER_2_ACS_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_2},
+      {new HeaterHealthDev(objects::HEATER_3_OBC_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_3},
+      {new HeaterHealthDev(objects::HEATER_4_CAMERA, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_4},
+      {new HeaterHealthDev(objects::HEATER_5_STR, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_5},
+      {new HeaterHealthDev(objects::HEATER_6_DRO, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_6},
+      {new HeaterHealthDev(objects::HEATER_7_SYRLINKS, MessageQueueIF::NO_QUEUE),
+       gpioIds::HEATER_7},
   }});
   heaterHandler = new HeaterHandler(objects::HEATER_HANDLER, &gpioIF, helper, &pwrSwitcher,
                                     power::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);

mission/tcs/CMakeLists.txt

@@ -1,3 +1,4 @@
 target_sources(
-  ${LIB_EIVE_MISSION} PRIVATE HeaterHandler.cpp max1227.cpp
-                              Max31865EiveHandler.cpp Tmp1075Handler.cpp)
+  ${LIB_EIVE_MISSION}
+  PRIVATE HeaterHandler.cpp max1227.cpp Max31865EiveHandler.cpp
+          Tmp1075Handler.cpp HeaterHealthDev.cpp)

mission/tcs/HeaterHandler.h

@@ -15,6 +15,7 @@
 #include <fsfw/tasks/ExecutableObjectIF.h>
 #include <fsfw/timemanager/Countdown.h>
 #include <fsfw_hal/common/gpio/GpioIF.h>
+#include <mission/tcs/HeaterHealthDev.h>
 
 #include <array>
 #include <utility>
@@ -27,7 +28,7 @@
 class PowerSwitchIF;
 class HealthTableIF;
 
-using HeaterPair = std::pair<HealthDevice*, gpioId_t>;
+using HeaterPair = std::pair<HeaterHealthDev*, gpioId_t>;
 
 struct HeaterHelper {
  public:

mission/tcs/HeaterHealthDev.cpp

@@ -0,0 +1,12 @@
+#include "HeaterHealthDev.h"
+
+HeaterHealthDev::HeaterHealthDev(object_id_t setObjectId, MessageQueueId_t parentQueue)
+    : HealthDevice(setObjectId, parentQueue) {}
+
+ReturnValue_t HeaterHealthDev::setHealth(HealthState health) {
+  // Does not make sense for a simple heater.
+  if (health == HealthState::NEEDS_RECOVERY) {
+    return returnvalue::FAILED;
+  }
+  return HealthDevice::setHealth(health);
+}

mission/tcs/HeaterHealthDev.h

@@ -0,0 +1,12 @@
+#ifndef MISSION_TCS_HEATERHEALTHDEV_H_
+#define MISSION_TCS_HEATERHEALTHDEV_H_
+#include <fsfw/devicehandlers/HealthDevice.h>
+
+class HeaterHealthDev : public HealthDevice {
+ public:
+  HeaterHealthDev(object_id_t setObjectId, MessageQueueId_t parentQueue);
+
+  ReturnValue_t setHealth(HealthState health) override;
+};
+
+#endif /* MISSION_TCS_HEATERHEALTHDEV_H_ */