Errors to be solved in data reading and controller operations.

fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -692,9 +692,9 @@ void DeviceHandlerBase::parseReply(const uint8_t* receivedData,
 		receivedData += foundLen;
 		if (remainingLength > foundLen) {
 			remainingLength -= foundLen;
-			sif::debug<<" DH_base: debug3"<<std::endl;
+			sif::debug<<"DH_base: debug3"<<std::endl;
 		} else {
-			sif::debug<<" DH_base: debug4"<<std::endl;
+			sif::debug<<"DH_base: debug4"<<std::endl;
 			return;
 		}
 	}

mission/Controller/ThermalController.cpp

@@ -9,7 +9,7 @@
 #include <mission/Controller/tcs_data_config.h> 
 
 ThermalController::ThermalController(object_id_t objectId, object_id_t powerSwitcher, size_t commandQueueDepth):
-		ControllerBase(objectId, NULL, commandQueueDepth), mode(MODE_ON), submode(HEATER_REDUNDANCY),
+		ControllerBase(objectId, 0, commandQueueDepth),
 		powerSwitcherId(powerSwitcher), TempValueVec(datapool::Temperature_value, &TCSData, 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_CH2(objects::TCS_SENSOR_CH2, &TempValueVec[1], &TempValueVec, 1, TEMPERATURE_SENSOR_CONFIG, datapool::TEMP_SENSOR_CH2, &TCSData, NULL),
@@ -63,6 +63,9 @@ ReturnValue_t ThermalController::initialize() {
 	}*/
 	/* ************************ */
 
+	mode = MODE_NORMAL;
+	submode = HEATER_REDUNDANCY;
+
 	sif::debug<<"\nDEBUG_TCS: Start initialization"<<std::endl;
 
 	return HasReturnvaluesIF::RETURN_OK;
@@ -83,7 +86,7 @@ ReturnValue_t ThermalController::handleCommandMessage(CommandMessage *message) {
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t ThermalController::performOperation() {
+ReturnValue_t ThermalController::performOperation(uint8_t opCode) {
 	
 	sif::debug<<"\nDEBUG_TCS: Start of controller operations"<<std::endl;
 	std::cout << "\nDEBUG_TCS: Start of controller operations" << std::endl;
@@ -91,8 +94,10 @@ ReturnValue_t ThermalController::performOperation() {
 	for (std::list<ArduinoTCSTemperatureSensor>::iterator iter = sensors.begin(); iter != sensors.end(); iter++) {
 		iter->performHealthOp();
 	}
+	sif::debug<<"\nDEBUG_TCS: Health ops"<<std::endl;
 
 	ControllerBase::performOperation(0);
+	sif::debug<<"\nDEBUG_TCS: Controller ops"<<std::endl;
 
 	if (mode == MODE_OFF) {
 		return HasReturnvaluesIF::RETURN_OK;
@@ -103,6 +108,7 @@ ReturnValue_t ThermalController::performOperation() {
 		iter->performOperation(0);
 	}
 	TCSData.commit();
+	sif::debug<<"\nDEBUG_TCS: Sensor ops"<<std::endl;
 	
 	TCSData.read(); // ?check the read, separate dataset
 	//calculateStrategy(true, true);
@@ -112,6 +118,7 @@ ReturnValue_t ThermalController::performOperation() {
 		//request = iter->performOperation(0, ThermalComponentIF::SAFE, true, false);
 	}
 	TCSData.commit();
+	sif::debug<<"\nDEBUG_TCS: Component ops"<<std::endl;
 	std::cout << "\nDEBUG_TCS: End of controller operations" << std::endl;
 
 	return HasReturnvaluesIF::RETURN_OK;	
@@ -132,9 +139,9 @@ ReturnValue_t ThermalController::checkModeCommand(Mode_t mode, Submode_t submode
 	msToReachTheMode = 0;
 	switch (mode) {
 	case MODE_OFF: 
-		startTransition(mode, NULL);
+		startTransition(mode, 0);
 		break;
-	case MODE_ON:
+	case MODE_NORMAL:
 		if (submode == NO_REDUNDANCY) {
 			return HasReturnvaluesIF::RETURN_OK;
 		}
@@ -149,13 +156,11 @@ ReturnValue_t ThermalController::checkModeCommand(Mode_t mode, Submode_t submode
 void ThermalController::startTransition(Mode_t mode, Submode_t submode){
     switch (mode) {
     case MODE_OFF: 
-    	mode = MODE_ON;
+    	mode = MODE_NORMAL;
     	break;
-    case MODE_ON: 
+    case MODE_NORMAL:
     	mode = MODE_OFF;
     	break;
-    case NULL:
-    	break;
     default:
 		mode = MODE_OFF;
     	break;
@@ -167,7 +172,7 @@ void ThermalController::startTransition(Mode_t mode, Submode_t submode){
     case HEATER_REDUNDANCY:
     	submode = NO_REDUNDANCY;
         break;
-    case NULL:
+    case 0:
         break;
     default:
     	submode = NO_REDUNDANCY;

mission/Controller/ThermalController.h

@@ -23,8 +23,8 @@
 class ThermalController: public ControllerBase {
 public:
 
-    static const Mode_t MODE_ON = 1;
+    //static const Mode_t MODE_ON = 1;
-    static const Mode_t MODE_OFF = 2;
+    //static const Mode_t MODE_OFF = 2;
     static const Submode_t NO_REDUNDANCY = 1;
     static const Submode_t HEATER_REDUNDANCY = 2;
     
@@ -39,7 +39,7 @@ public:
     virtual~ ThermalController();
     
     ReturnValue_t initialize() override;
-    ReturnValue_t performOperation();
+    ReturnValue_t performOperation(uint8_t opCode) override;
     //virtual MessageQueueId_t getCommandQueue() const;
     
 private:
@@ -85,8 +85,8 @@ private:
 			
 protected:
 
-    Mode_t mode;
+    //Mode_t mode;
-   	Submode_t submode;
+   	//Submode_t submode;
 
     /* Extended Controller Base overrides */
     ReturnValue_t handleCommandMessage(CommandMessage *message) override;

mission/DeviceHandler/ArduinoDeviceHandler.cpp

@@ -19,7 +19,7 @@
 
 
 ArduinoDH::ArduinoDH(object_id_t objectId, object_id_t comIF, CookieIF *cookie) :
-		DeviceHandlerBase(objectId, comIF, cookie) {
+		DeviceHandlerBase(objectId, comIF, cookie)/*, foundId(&bufferId), foundLen(&bufferLen)*/ {
 		mode = _MODE_START_UP;
 }
 
@@ -77,7 +77,6 @@ void ArduinoDH::fillCommandAndReplyMap() {
 
 ReturnValue_t ArduinoDH::scanForReply(const uint8_t *start, size_t len,
 		DeviceCommandId_t *foundId, size_t *foundLen) {
-	//using namespace testdevice;
 
 	/* Unless a command was sent explicitely, we don't expect any replies and ignore
 	 the packet. On a real device, there might be replies which are sent without a previous
@@ -89,25 +88,23 @@ ReturnValue_t ArduinoDH::scanForReply(const uint8_t *start, size_t len,
 	} else {
 		commandSent = false;
 	}*/
-	
-	/*len = 2034; 
-	start = *buffer;*/
-	
-	foundId = &bufferID;
-	foundLen = &len;
 
-	// start character: '['
+	//foundId = &bufferID;
-	if (*start == 91 ){
+	//foundLen = &foundLen;
-		// buffer length: 2034 bytes
+
-		if (*foundLen == len){
+	*foundLen = 2034;
-			return APERIODIC_REPLY;
+
-		}
+	// check validity
-		else{
+	if (len == *foundLen){
+		// start character: '['
+		if (*start == 91 ){
+				return APERIODIC_REPLY;
+		} else{
 			return DeviceHandlerIF::LENGTH_MISSMATCH;
 		}
-	}
+	} else {
-	else {
+		return IGNORE_REPLY_DATA;
-		return RETURN_FAILED;
+		//break;
 	}
 }
 

mission/DeviceHandler/ArduinoDeviceHandler.h

@@ -140,7 +140,10 @@ public:
 
 protected:
 
-	DeviceCommandId_t bufferID = 0x01;
+	/*DeviceCommandId_t bufferId = 0x01;
+	size_t bufferLen = 2034;
+	DeviceCommandId_t *foundId;
+	size_t *foundLen;*/
 
 	//testdevice::TestDataSet dataset;
 	//! This is used to reset the dataset after a commanded change has been made.