timeout corrections

satrs-example/src/acs/mgm.rs

@@ -169,6 +169,7 @@ impl MgmHandlerLis3Mdl {
         spi_com: SpiCommunication,
         shared_mgm_set: Arc<Mutex<MgmData>>,
         mode_leaf_helper: ModeLeafHelper,
+        mode_timeout: Duration
     ) -> Self {
         Self {
             id,
@@ -176,7 +177,7 @@ impl MgmHandlerLis3Mdl {
             switch_helper,
             spi_com,
             shared_mgm_set,
-            mode_helpers: ModeHelper::new(DeviceMode::Off, Duration::from_millis(200)),
+            mode_helpers: ModeHelper::new(DeviceMode::Off, mode_timeout),
             buffers: BufWrapper::default(),
             stamp_helper: TimestampHelper::default(),
             hk_helper: HkHelperSingleSet::new(false, Duration::from_millis(200)),
@@ -392,6 +393,7 @@ impl MgmHandlerLis3Mdl {
             }
             if self.mode_helpers.transition_state == TransitionState::PowerSwitching {
                 if self.switch_helper.is_switch_on(self.switch_id()) {
+                    log::info!("switch is on");
                     self.mode_helpers.transition_state = TransitionState::Done;
                 } else if self.mode_helpers.timed_out() {
                     self.handle_mode_transition_failure();
@@ -420,13 +422,13 @@ impl MgmHandlerLis3Mdl {
 
     // Should be called to complete a mode transition successfully.
     fn handle_mode_reached(&mut self) {
+        let tc_commander = self.mode_helpers.finish(true);
         self.announce_mode();
-        if let Some(requestor) = self.mode_helpers.tc_commander {
+        if let Some(requestor) = tc_commander {
             self.send_mode_tm(requestor);
         }
         // Inform our parent about mode changes.
         self.report_mode_to_parent();
-        self.mode_helpers.finish(true);
     }
 
     fn announce_mode(&self) {

satrs-example/src/config.rs

@@ -169,7 +169,7 @@ pub mod pool {
 
 pub mod tasks {
     pub const FREQ_MS_UDP_TMTC: u64 = 200;
-    pub const FREQ_MS_AOCS: u64 = 500;
+    pub const FREQ_MS_AOCS: u64 = 200;
     pub const FREQ_MS_CONTROLLER: u64 = 200;
     pub const SIM_CLIENT_IDLE_DELAY_MS: u64 = 5;
 }

satrs-example/src/main.rs

@@ -188,6 +188,7 @@ fn main() {
             request_rx: mgm_0_mode_request_rx,
             report_tx: mgm_0_mode_report_tx,
         },
+        Duration::from_millis(1000)
     );
     let mut mgm_1_handler = mgm::MgmHandlerLis3Mdl::new(
         mgm::MgmId::_1,
@@ -202,6 +203,7 @@ fn main() {
             request_rx: mgm_1_mode_request_rx,
             report_tx: mgm_1_mode_report_tx,
         },
+        Duration::from_millis(1000)
     );
     let mut mgm_assembly = mgm_assembly::Assembly::new(
         mgm_assembly::ParentQueueHelper {
@@ -216,7 +218,7 @@ fn main() {
             tc_rx: mgm_assembly_tc_rx,
             tm_tx: tm_sink_tx.clone(),
         },
-        Duration::from_millis(300),
+        Duration::from_millis(2000),
     );
 
     let pcdu_serial_interface = if let Some(sim_client) = opt_sim_client.as_mut() {