Two errors in the device handler to fix. Adjust the receiving of the packet in the 0.18s window and solve the problem of automatic passage to MODE OFf.

bsp_linux/core/InitMission.cpp

@@ -111,7 +111,7 @@ void InitMission::createTasks(){
 	
 	FixedTimeslotTaskIF* arduinoTask = TaskFactory::instance()->
 			createFixedTimeslotTask("ARDUINO_TASK",40,
-					PeriodicTaskIF::MINIMUM_STACK_SIZE, 3.2, nullptr);
+					PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, nullptr);
 	result = pollingSequenceArduinoFunction(arduinoTask);
 	if(result != HasReturnvaluesIF::RETURN_OK) {
 		sif::error << "InitMission::createTasks:ArduinoPST initialization failed!"
@@ -151,13 +151,13 @@ void InitMission::createTasks(){
 
 	//Main thread sleep
 	sif::debug << "Starting Tasks in 3.2 seconds" << std::endl;
-	TaskFactory::delayTask(3200);
+	TaskFactory::delayTask(1600);
 	distributerTask->startTask();
 	udpBridgeTask->startTask();
 	udpPollingTask->startTask();
 	//serializeTask->startTask();
-	//arduinoTask->startTask();
-	controllerTask->startTask();
+	arduinoTask->startTask();
+	//controllerTask->startTask();
 
 	//payloadTask->startTask();
 	eventTask->startTask();

fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -78,6 +78,7 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
 		performOperationHook();
 	}
 	if (mode == MODE_OFF) {
+		sif::debug<<"DH_base: Mode off"<<std::endl;
 		return RETURN_OK;
 	}
 	switch (getComAction()) {
@@ -293,6 +294,7 @@ void DeviceHandlerBase::doStateMachine() {
 	}
 		break;
 	case _MODE_POWER_DOWN:
+		sif::debug<<"DH_base: mode power down"<<std::endl;
 		commandSwitch(PowerSwitchIF::SWITCH_OFF);
 		setMode(_MODE_WAIT_OFF);
 		break;
@@ -322,6 +324,7 @@ void DeviceHandlerBase::doStateMachine() {
 	}
 		break;
 	case _MODE_WAIT_OFF: {
+		sif::debug<<"DH_base: mode power down"<<std::endl;
 		uint32_t currentUptime;
 		Clock::getUptime(&currentUptime);
 
@@ -358,6 +361,7 @@ void DeviceHandlerBase::doStateMachine() {
 		break;
 	default:
 		triggerEvent(OBJECT_IN_INVALID_MODE, mode, submode);
+		sif::debug<<"object in invalid mode"<<std::endl;
 		setMode(_MODE_POWER_DOWN, 0);
 		break;
 	}
@@ -661,9 +665,10 @@ void DeviceHandlerBase::parseReply(const uint8_t* receivedData,
 	// scanForReply routines.
 	uint32_t remainingLength = receivedDataLen;
 	for (uint32_t count = 0; count < receivedDataLen; count++) {
-
+		sif::debug<<"DH_base: debug0"<<std::endl;
 		result = scanForReply(receivedData, remainingLength, &foundId,
 				&foundLen);
+		sif::debug<<"DH_base: debug01"<<std::endl;
 		switch (result) {
 		case RETURN_OK:
 			handleReply(receivedData, foundId, foundLen);
@@ -684,6 +689,7 @@ void DeviceHandlerBase::parseReply(const uint8_t* receivedData,
 		case IGNORE_FULL_PACKET:
 			return;
 		default:
+			sif::debug<<"DH_base: debug02"<<std::endl;
 			//We need to wait for timeout.. don't know what command failed and who sent it.
 			replyRawReplyIfnotWiretapped(receivedData, foundLen);
 			triggerEvent(DEVICE_READING_REPLY_FAILED, result, foundLen);
@@ -911,6 +917,7 @@ Mode_t DeviceHandlerBase::getBaseMode(Mode_t transitionMode) {
 		return _MODE_TO_ON;
 	}
 	if (transitionMode == _MODE_SHUT_DOWN) {
+		sif::debug<<"mode shut down"<<std::endl;
 		return _MODE_POWER_DOWN;
 	}
 	return transitionMode

fsfw/devicehandlers/DeviceHandlerFailureIsolation.cpp

@@ -31,10 +31,13 @@ ReturnValue_t DeviceHandlerFailureIsolation::eventReceived(EventMessage* event)
 	if(isFdirInActionOrAreWeFaulty(event)) {
 		return RETURN_OK;
 	}
+
+	sif::debug<<"DH_FDIR: event received"<<std::endl;
 	ReturnValue_t result = RETURN_FAILED;
 	switch (event->getEvent()) {
 	case HasModesIF::MODE_TRANSITION_FAILED:
 	case HasModesIF::OBJECT_IN_INVALID_MODE:
+		sif::debug<<"DH_FDIR: event received 1"<<std::endl;
 		//We'll try a recovery as long as defined in MAX_REBOOT.
 		//Might cause some AssemblyBase cycles, so keep number low.
 		handleRecovery(event->getEvent());
@@ -44,6 +47,7 @@ ReturnValue_t DeviceHandlerFailureIsolation::eventReceived(EventMessage* event)
 	case DeviceHandlerIF::DEVICE_UNREQUESTED_REPLY:
 	case DeviceHandlerIF::DEVICE_UNKNOWN_REPLY: //Some DH's generate generic reply-ids.
 	case DeviceHandlerIF::DEVICE_BUILDING_COMMAND_FAILED:
+		sif::debug<<"DH_FDIR: event received 2"<<std::endl;
 		//These faults all mean that there were stupid replies from a device.
 		if (strangeReplyCount.incrementAndCheck()) {
 			handleRecovery(event->getEvent());
@@ -53,6 +57,7 @@ ReturnValue_t DeviceHandlerFailureIsolation::eventReceived(EventMessage* event)
 	case DeviceHandlerIF::DEVICE_REQUESTING_REPLY_FAILED:
 		//The two above should never be confirmed.
 	case DeviceHandlerIF::DEVICE_MISSED_REPLY:
+		sif::debug<<"DH_FDIR: event received 3"<<std::endl;
 		result = sendConfirmationRequest(event);
 		if (result == HasReturnvaluesIF::RETURN_OK) {
 			break;
@@ -64,14 +69,17 @@ ReturnValue_t DeviceHandlerFailureIsolation::eventReceived(EventMessage* event)
 		break;
 	case StorageManagerIF::GET_DATA_FAILED:
 	case StorageManagerIF::STORE_DATA_FAILED:
+		sif::debug<<"DH_FDIR: event received 4"<<std::endl;
 		//Rather strange bugs, occur in RAW mode only. Ignore.
 		break;
 	case DeviceHandlerIF::INVALID_DEVICE_COMMAND:
+		sif::debug<<"DH_FDIR: event received 5"<<std::endl;
 		//Ignore, is bad configuration. We can't do anything in flight.
 		break;
 	case HasHealthIF::HEALTH_INFO:
 	case HasModesIF::MODE_INFO:
 	case HasModesIF::CHANGING_MODE:
+		sif::debug<<"DH_FDIR: event received 6"<<std::endl;
 		//Do nothing, but mark as handled.
 		break;
 		//****Power*****
@@ -98,6 +106,7 @@ ReturnValue_t DeviceHandlerFailureIsolation::eventReceived(EventMessage* event)
 	case ThermalComponentIF::COMPONENT_TEMP_HIGH:
 	case ThermalComponentIF::COMPONENT_TEMP_OOL_LOW:
 	case ThermalComponentIF::COMPONENT_TEMP_OOL_HIGH:
+		sif::debug<<"DH_FDIR: event received 7"<<std::endl;
 		//Well, the device is not really faulty, but it is required to stay off as long as possible.
 		setFaulty(event->getEvent());
 		break;
@@ -228,6 +237,7 @@ ReturnValue_t DeviceHandlerFailureIsolation::getParameter(uint8_t domainId,
 }
 
 void DeviceHandlerFailureIsolation::setFaulty(Event reason) {
+	sif::debug<<"DH_FDIR: setFaulty"<<std::endl;
 	throwFdirEvent(FDIR_TURNS_OFF_DEVICE, EVENT::getEventId(reason));
 	setOwnerHealth(HasHealthIF::FAULTY);
 	setFdirState(AWAIT_SHUTDOWN);

mission/DeviceHandler/ArduinoDeviceHandler.cpp

@@ -41,7 +41,7 @@ ReturnValue_t ArduinoDH::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
 
 void ArduinoDH::doTransition(Mode_t modeFrom, Submode_t submodeFrom) {
 	if (mode == _MODE_TO_NORMAL) {
-		std::cout<<"Arduino device -> Transition to Normal mode"<<std::endl;
+		std::cout<<"Arduino device is in Normal mode"<<std::endl;
 	} else {
 		setMode(_MODE_TO_NORMAL);
 	}
@@ -127,7 +127,7 @@ ReturnValue_t ArduinoDH::interpretDeviceReply(DeviceCommandId_t id,
 	}
 	
 	// All data are here printed to monitor from the three vectors of data measurements.
-	printf(
+	/*printf(
 			"\n***********************************************************************************************\n");
 	printf("TEMPERATURE parameters are: ");
 
@@ -230,7 +230,7 @@ ReturnValue_t ArduinoDH::interpretDeviceReply(DeviceCommandId_t id,
 			printf("\nTimestamp: %u", vecAcc[3 * k + 2].Timestamp[i]);
 		}
 		printf("\nEnd: %7s", vecAcc[3 * k + 2].end_string);
-	}
+	}*/
 
 	std::cout << "\n\nEnd reading data.\n" << std::endl;