Some error fixed. two main problem to solve at this point: adjust the periodic reading of the data through the dh, adjust the operations of the components (error in reading the target state).

bsp_linux/core/InitMission.cpp

@@ -150,13 +150,13 @@ void InitMission::createTasks(){
 #endif
 
 	//Main thread sleep
-	sif::debug << "Starting Tasks in 2 seconds" << std::endl;
+	sif::debug << "Starting Tasks in 3.2 seconds" << std::endl;
-	TaskFactory::delayTask(2000);
+	TaskFactory::delayTask(3200);
 	distributerTask->startTask();
 	udpBridgeTask->startTask();
 	udpPollingTask->startTask();
 	//serializeTask->startTask();
-	arduinoTask->startTask();
+	//arduinoTask->startTask();
 	controllerTask->startTask();
 
 	//payloadTask->startTask();

bsp_linux/fsfwconfig/pollingsequence/PollingSequenceArduinoFunction.cpp

@@ -17,9 +17,9 @@ ReturnValue_t pollingSequenceArduinoFunction(
 	uint32_t length = thisSequence->getPeriodMs();
 
 	thisSequence->addSlot(objects::ARDUINO_DEVICE_HANDLER, length * 0, 0);
-	thisSequence->addSlot(objects::ARDUINO_DEVICE_HANDLER, length * 0.2, 1);
+	thisSequence->addSlot(objects::ARDUINO_DEVICE_HANDLER, length * 0.8, 1);
-	thisSequence->addSlot(objects::ARDUINO_DEVICE_HANDLER, length * 0.4, 2);
+	thisSequence->addSlot(objects::ARDUINO_DEVICE_HANDLER, length * 0.8, 2);
-	thisSequence->addSlot(objects::ARDUINO_DEVICE_HANDLER, length * 0.6, 3);
+	thisSequence->addSlot(objects::ARDUINO_DEVICE_HANDLER, length * 0.8, 3);
 
 	if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
 		return HasReturnvaluesIF::RETURN_OK;

mission/Controller/TCS_ThermalComponent.cpp

@@ -24,6 +24,13 @@ TCS_ThermalComponent::TCS_ThermalComponent(object_id_t reportingObjectId,
 				ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL),
 				Heater(Heater), RedundantHeater(RedundantHeater),
 				nopParameters({ parameters.lowerNopLimit, parameters.upperNopLimit }) {
+
+		//Set thermal state once, then leave to operator.
+		/*DataSet mySet;
+		PoolVariable<int8_t> writableTargetState(targetStatePoolId, &mySet, PoolVariableIF::VAR_WRITE);
+		writableTargetState = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
+		mySet.commit(PoolVariableIF::VALID);*/
+
 }
 
 TCS_ThermalComponent::~TCS_ThermalComponent() {
@@ -31,6 +38,7 @@ TCS_ThermalComponent::~TCS_ThermalComponent() {
 
 ThermalComponentIF::HeaterRequest TCS_ThermalComponent::performOperation(uint8_t opCode, bool redundancy, bool dual) {
 
+	sif::debug<<"DEBUG_COMPONENT: 1"<<std::endl;
 	// Heater define the Internal State
 	if (Heater != NULL) {
 		Heater->performOperation(0);
@@ -40,9 +48,11 @@ ThermalComponentIF::HeaterRequest TCS_ThermalComponent::performOperation(uint8_t
 			RedundantHeater->performOperation(0);
 		}
 	}
+	sif::debug<<"DEBUG_COMPONENT: 2"<<std::endl;
 
 	HeaterRequest request = HEATER_DONT_CARE;
 	request = CoreComponent::performOperation(0);
+	sif::debug<<"DEBUG_COMPONENT: 3"<<std::endl;
 
 	/*if (Heater == NULL) {
 		informComponentsAboutHeaterState(false, NONE, priority, request);
@@ -56,26 +66,38 @@ ThermalComponentIF::HeaterRequest TCS_ThermalComponent::performOperation(uint8_t
 		//Components overwrite the module request.
 		heating = ((request == ThermalComponentIF::HEATER_REQUEST_ON) ||
 				(request == ThermalComponentIF::HEATER_REQUEST_EMERGENCY_ON));
+		sif::debug<<"DEBUG_COMPONENT: 4"<<std::endl;
 	}
 
+
 	// strategy NOT-PASSIVE as default
 	if (heating) {
 		ReturnValue_t result = Heater->set();
 		if (redundancy){
 			if (result != HasReturnvaluesIF::RETURN_OK || dual) {
+				sif::debug<<"DEBUG_COMPONENT: 5"<<std::endl;
 				RedundantHeater->set();
+				sif::debug<<"DEBUG_COMPONENT: 6"<<std::endl;
 			} else {
+				sif::debug<<"DEBUG_COMPONENT: 7"<<std::endl;
 				RedundantHeater->clear(false);
-			}
+				sif::debug<<"DEBUG_COMPONENT: 8"<<std::endl;
-		}
-		else {
-			if (result != HasReturnvaluesIF::RETURN_OK)
-			Heater->clear(false);
 			}
 		} else {
+			sif::debug<<"DEBUG_COMPONENT: 9"<<std::endl;
+			if (result != HasReturnvaluesIF::RETURN_OK) {
+				sif::debug<<"DEBUG_COMPONENT: 10"<<std::endl;
+				Heater->clear(false);
+				sif::debug<<"DEBUG_COMPONENT: 11"<<std::endl;
+			}
+		}
+	} else {
+		sif::debug<<"DEBUG_COMPONENT: 12"<<std::endl;
 		Heater->clear(false);
 		RedundantHeater->clear(false);
+		sif::debug<<"DEBUG_COMPONENT: 13"<<std::endl;
 	}
+	sif::debug<<"DEBUG_COMPONENT: 14"<<std::endl;
 
 	/*if (strategy == PASSIVE) {
 		informComponentsAboutHeaterState(false, NONE, priority, request);

mission/Controller/TCS_ThermalComponent.h

@@ -44,11 +44,9 @@ protected:
 	TCS_Heater *Heater;
 	TCS_Heater *RedundantHeater;
 
-	State getState(float temperature, CoreComponent::Parameters parameters,
+	State getState(float temperature, CoreComponent::Parameters parameters, int8_t targetState);
-			int8_t targetState);
 	virtual void checkLimits(State state);
-	virtual HeaterRequest getHeaterRequest(int8_t targetState, float temperature,
+	virtual HeaterRequest getHeaterRequest(int8_t targetState, float temperature, CoreComponent::Parameters parameters);
-			CoreComponent::Parameters parameters);
 	State getIgnoredState(int8_t state);
 
 	enum Informee {

mission/Controller/ThermalController.cpp

@@ -10,17 +10,17 @@
 
 ThermalController::ThermalController(object_id_t objectId, object_id_t powerSwitcher, size_t commandQueueDepth):
 		ControllerBase(objectId, 0, commandQueueDepth),
-		powerSwitcherId(powerSwitcher), TempValueVec(datapool::Temperature_value, &TCSData, PoolVariableIF::VAR_READ),
+		powerSwitcherId(powerSwitcher), TempValueVec(datapool::Temperature_value, &SensorData, PoolVariableIF::VAR_READ),
-        TEMPERATURE_SENSOR_CH1(objects::TCS_SENSOR_CH1, &TempValueVec[0], &TempValueVec, 0, TEMPERATURE_SENSOR_CONFIG, datapool::TEMP_SENSOR_CH1, &TCSData, NULL),
+        TEMPERATURE_SENSOR_CH1(objects::TCS_SENSOR_CH1, &TempValueVec[0], &TempValueVec, 0, TEMPERATURE_SENSOR_CONFIG, datapool::TEMP_SENSOR_CH1, &SensorData, NULL),
-        TEMPERATURE_SENSOR_CH2(objects::TCS_SENSOR_CH2, &TempValueVec[1], &TempValueVec, 1, TEMPERATURE_SENSOR_CONFIG, datapool::TEMP_SENSOR_CH2, &TCSData, NULL),
+        TEMPERATURE_SENSOR_CH2(objects::TCS_SENSOR_CH2, &TempValueVec[1], &TempValueVec, 1, TEMPERATURE_SENSOR_CONFIG, datapool::TEMP_SENSOR_CH2, &SensorData, NULL),
         HEATER_1(objects::TCS_HEATER_1, objects::TCS_SWITCH_1),
         REDUNDANT_HEATER_1(objects::TCS_REDUNDANT_HEATER_1, objects::TCS_SWITCH_1R),
         HEATER_2(objects::TCS_HEATER_2, objects::TCS_SWITCH_2),
         REDUNDANT_HEATER_2(objects::TCS_REDUNDANT_HEATER_2, objects::TCS_SWITCH_2R),
 		TEMPERATURE_COMPONENT_1(objects::TCS_COMPONENT_1, COMPONENT_DOMAIN_ID, datapool::TEMP_SENSOR_CH1, datapool::TargetState_COMPONENT_1, datapool::CurrentState_COMPONENT_1,
-				datapool::HeaterRequest_COMPONENT_1, &TCSData, &TEMPERATURE_SENSOR_CH1, NULL, NULL, &HEATER_1, &REDUNDANT_HEATER_1, NULL, COMPONENT1_CONFIG, ThermalComponentIF::SAFE),
+				datapool::HeaterRequest_COMPONENT_1, &ComponentData, &TEMPERATURE_SENSOR_CH1, NULL, NULL, &HEATER_1, &REDUNDANT_HEATER_1, NULL, COMPONENT1_CONFIG, ThermalComponentIF::SAFE),
 		TEMPERATURE_COMPONENT_2(objects::TCS_COMPONENT_2, COMPONENT_DOMAIN_ID + 1, datapool::TEMP_SENSOR_CH2, datapool::TargetState_COMPONENT_2, datapool::CurrentState_COMPONENT_2,
-				datapool::HeaterRequest_COMPONENT_2, &TCSData, &TEMPERATURE_SENSOR_CH2, NULL, NULL, &HEATER_2, &REDUNDANT_HEATER_2, NULL, COMPONENT2_CONFIG, ThermalComponentIF::SAFE)
+				datapool::HeaterRequest_COMPONENT_2, &ComponentData, &TEMPERATURE_SENSOR_CH2, NULL, NULL, &HEATER_2, &REDUNDANT_HEATER_2, NULL, COMPONENT2_CONFIG, ThermalComponentIF::SAFE)
 		{
         sensors.push_back(TEMPERATURE_SENSOR_CH1);
         sensors.push_back(TEMPERATURE_SENSOR_CH2);
@@ -88,38 +88,36 @@ ReturnValue_t ThermalController::handleCommandMessage(CommandMessage *message) {
 
 ReturnValue_t ThermalController::performOperation(uint8_t opCode) {
 	
-	sif::debug<<"\nDEBUG_TCS: Start of controller operations"<<std::endl;
+	sif::debug<<"DEBUG_TCS: Start of controller operations"<<std::endl;
-	std::cout << "\nDEBUG_TCS: Start of controller operations" << std::endl;
 
 	for (std::list<ArduinoTCSTemperatureSensor>::iterator iter = sensors.begin(); iter != sensors.end(); iter++) {
 		iter->performHealthOp();
 	}
-	sif::debug<<"\nDEBUG_TCS: Health ops"<<std::endl;
+	sif::debug<<"DEBUG_TCS: Health ops"<<std::endl;
 
 	ControllerBase::performOperation(0);
-	sif::debug<<"\nDEBUG_TCS: Controller ops"<<std::endl;
+	sif::debug<<"DEBUG_TCS: Controller ops"<<std::endl;
 
 	if (mode == MODE_OFF) {
 		return HasReturnvaluesIF::RETURN_OK;
 	}
 
-	TCSData.read();
+	SensorData.read();
 	for (std::list<ArduinoTCSTemperatureSensor>::iterator iter = sensors.begin(); iter != sensors.end(); iter++) {
 		iter->performOperation(0);
 	}
-	TCSData.commit();
+	SensorData.commit();
-	sif::debug<<"\nDEBUG_TCS: Sensor ops"<<std::endl;
+	sif::debug<<"DEBUG_TCS: Sensor ops"<<std::endl;
 	
-	TCSData.read(); // ?check the read, separate dataset
+	ComponentData.read();
 	//calculateStrategy(true, true);
 	ThermalComponentIF::HeaterRequest request;
 	for (std::list<TCS_ThermalComponent>::iterator iter = components.begin(); iter != components.end(); iter++) {
-		request = iter->performOperation(0, true, false); // request returnvalue
+		request = iter->performOperation(0, true, false); // request returnvalue to check, overridden
 		//request = iter->performOperation(0, ThermalComponentIF::SAFE, true, false);
 	}
-	TCSData.commit();
+	ComponentData.commit();
-	sif::debug<<"\nDEBUG_TCS: Component ops"<<std::endl;
+	sif::debug<<"DEBUG_TCS: Component ops"<<std::endl;
-	std::cout << "\nDEBUG_TCS: End of controller operations" << std::endl;
 
 	return HasReturnvaluesIF::RETURN_OK;	
 }

mission/Controller/ThermalController.h

@@ -50,7 +50,8 @@ private:
     object_id_t powerSwitcherId;
     
     // definition of dataset
-    DataSet TCSData;
+    DataSet SensorData;
+    DataSet ComponentData;
     
     // definition of dataset variables from datapool
     PoolVector <float, 36> TempValueVec;

mission/DeviceHandler/ArduinoComIF.cpp

@@ -10,7 +10,6 @@
 #include <mission/DeviceHandler/ArduinoCookie.h>
 
 #include <fsfw/serialize/SerializeAdapter.h>
-//#include <fsfw/serviceinterface/ServiceInterface.h>
 #include <fsfw/tmtcservices/CommandingServiceBase.h>
 #include <fsfw/tmtcpacket/pus/TmPacketStored.h>
 
@@ -200,7 +199,7 @@ ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie,
 	buffer = &buf_ptr;*/
 	*buffer = read_buf;
 
-	close(Cookie->Serial_port_number);
+	//close(Cookie->Serial_port_number);
 	return RETURN_OK;
 
 }

mission/DeviceHandler/ArduinoComIF.h

@@ -34,10 +34,6 @@ public:
 	ArduinoComIF(object_id_t objectId);
 	virtual ~ArduinoComIF();
 
-	/**
-	 * DeviceCommunicationIF overrides
-	 * (see DeviceCommunicationIF documentation)
-	 */
 	ReturnValue_t initializeInterface(CookieIF * cookie) override;
 	ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t * sendData,
 	        size_t sendLen) override;
@@ -49,24 +45,22 @@ public:
 
 private:
 
+	// DELETE
 	/**
 	 * Send TM packet which contains received data as TM[17,130].
 	 * Wiretapping will do the same.
 	 * @param data
 	 * @param len
 	 */
-	void sendTmPacket(const uint8_t *data,uint32_t len);
+	//void sendTmPacket(const uint8_t *data,uint32_t len);
 
-	AcceptsTelemetryIF* funnel = nullptr;
+	/*AcceptsTelemetryIF* funnel = nullptr;
 	MessageQueueIF* tmQueue = nullptr;
 	size_t replyMaxLen = 0;
-
 	using ReplyBuffer = std::vector<uint8_t>;
 	std::map<address_t, ReplyBuffer> replyMap;
-
 	uint8_t dummyReplyCounter = 0;
-
+	uint16_t packetSubCounter = 0;*/
-	uint16_t packetSubCounter = 0;
 };
 
 

mission/core/GenericFactory.cpp

@@ -68,5 +68,6 @@ void ObjectFactory::produceGenericObjects() {
     new TestDevice(objects::TEST_DEVICE_HANDLER, objects::TEST_ECHO_COM_IF,
             testCookie, true);
 #endif*/
+
 }