Index: firmware/App/Controllers/ROPump.c
===================================================================
diff -u -r1a7b3fdc8c9b47ae713a7ec37670a96df7d73818 -r5a36a768d11cc597a36b894c1fb3a5e5590130f1
--- firmware/App/Controllers/ROPump.c	(.../ROPump.c)	(revision 1a7b3fdc8c9b47ae713a7ec37670a96df7d73818)
+++ firmware/App/Controllers/ROPump.c	(.../ROPump.c)	(revision 5a36a768d11cc597a36b894c1fb3a5e5590130f1)
@@ -112,8 +112,11 @@
 static F32 roPumpPWMDutyCyclePct = 0.0;                                                            ///< Initial RO pump PWM duty cycle.
 static F32 roPumpDutyCyclePctSet = 0.0;                                                            ///< Currently set RO pump PWM duty cycle.
 static PUMP_CONTROL_MODE_T roPumpControlMode = PUMP_CONTROL_MODE_CLOSED_LOOP;                      ///< Requested RO pump control mode.
-static PUMP_CONTROL_MODE_T roPumpControlModeSet = PUMP_CONTROL_MODE_CLOSED_LOOP;                   ///< Currently set RO pump control mode. TODO do we need this?
 
+static F32 pendingROPumpCmdMaxPressure = 0.0;                                                      ///< Delayed (pending) RO pump max pressure (in PSI) setting.
+static F32 pendingROPumpCmdTargetFlow = 0.0;                                                       ///< Delayed (pending) RO pump target flow rate (in mL/min) setting.
+static U32 pendingROPumpCmdCountDown = 0;                                                          ///< Delayed (pending) RO pump command count down timer (in task intervals).
+
 static F32 targetROPumpFlowRate = 0.0;                                                             ///< Target RO flow rate (in L/min).
 static F32 targetROPumpMaxPressure = 0.0;                                                          ///< Target RO max allowed pressure (in PSI).
 
@@ -126,11 +129,6 @@
 
 static F32 roPumpOpenLoopTargetDutyCycle = 0;                                                      ///< Target RO pump open loop PWM.
 
-/* TODO These variables are used for POST. POST has not been implemented yet
-static RO_PUMP_SELF_TEST_STATE_T roPumpSelfTestState = RO_PUMP_SELF_TEST_STATE_START;              ///< Current RO pump self test state.
-static U32 roPumpSelfTestTimerCount = 0;                                                           ///< Timer counter for RO pump self test.
-*/
-
 static S32 measuredFlowReadingsSum = 0;                                                            ///< Raw flow reading sums for averaging.
 static U32 flowFilterCounter = 0;                                                                  ///< Flow filtering counter.
 
@@ -154,7 +152,7 @@
  * @details Inputs: roControlTimerCounter,roPumpOpenLoopTargetDutyCycle,
  * roPumpFlowRateRunningSum, roPumpPressureRunningSum, measuredFlowReadingsSum,
  * flowFilterCounter, flowVerificationCounter, roPumpState, roPumpControlMode
- * roPumpDataPublicationTimerCounter, roPumpControlModeSet
+ * roPumpDataPublicationTimerCounter
  * @details Outputs: none
  * @return none
  *************************************************************************/
@@ -172,16 +170,12 @@
 
     // Initialize the persistent alarm for flow out of upper and lower range
     initPersistentAlarm( ALARM_ID_FLOW_RATE_OUT_OF_UPPER_RANGE, FLOW_OUT_OF_RANGE_PERSISTENT_INTERVAL, FLOW_OUT_OF_RANGE_PERSISTENT_INTERVAL );
-
     initPersistentAlarm( ALARM_ID_FLOW_RATE_OUT_OF_LOWER_RANGE, FLOW_OUT_OF_RANGE_PERSISTENT_INTERVAL, FLOW_OUT_OF_RANGE_PERSISTENT_INTERVAL );
 
     // Initialize the persistent alarm for max allowed pressure out of range
     initPersistentAlarm( ALARM_ID_RO_PUMP_PRESSURE_OUT_OF_RANGE, MAX_PRESSURE_OUT_OF_RANGE_PERSISTENT_INTERVAL,
                                                                  MAX_PRESSURE_OUT_OF_RANGE_PERSISTENT_INTERVAL );
 
-    // Initialize the persistent alarm for ramp up to target flow timeout
-    initPersistentAlarm( ALARM_ID_RO_PUMP_RAMP_UP_TO_FLOW_TIMEOUT, MAX_ALLOWED_RAMP_UP_TIME, MAX_ALLOWED_RAMP_UP_TIME );
-
     // Initialize the persistent alarm for not turning off the pump
     initPersistentAlarm( ALARM_ID_RO_PUMP_OFF_FAULT, SAFETY_SHUTDOWN_TIMEOUT, SAFETY_SHUTDOWN_TIMEOUT );
 
@@ -193,7 +187,6 @@
     roPumpDataPublicationTimerCounter = 0;
     roPumpState                       = RO_PUMP_OFF_STATE;
     roPumpControlMode                 = NUM_OF_PUMP_CONTROL_MODES;
-    roPumpControlModeSet              = roPumpControlMode;
     isROPumpOn                        = FALSE;
 }
 
@@ -249,6 +242,49 @@
 
 /*********************************************************************//**
  * @brief
+ * The setROPumpTargetFlowRateDelayed function sets a new target flow rate for the
+ * RO pump to be set after given delay.
+ * @details Inputs: none
+ * @details Outputs: pendingROPumpCmdMaxPressure, pendingROPumpCmdTargetFlow,
+ * pendingROPumpCmdCountDown
+ * @param roFlowRate which is target RO flow rate
+ * @param maxPressure which is the maximum allowed pressure that the RO pump
+ * can reach
+ * @param delayMs delay duration (in ms) before RO pump started
+ * @return TRUE if new target flow rate is set successfully, FALSE if not
+ *************************************************************************/
+BOOL setROPumpTargetFlowRateDelayed( F32 roFlowRate, U32 maxPressure, U32 delayMs )
+{
+    BOOL result = FALSE;
+
+    // First of all, the flow rate must be in range
+    if ( ( roFlowRate <= MAX_RO_FLOWRATE_LPM ) && ( roFlowRate >= MIN_RO_FLOWRATE_LPM ) )
+    {
+        // Then the max pressure that we are allowed to reach must be in range
+        if ( ( maxPressure >= MIN_ALLOWED_PRESSURE_PSI ) && ( maxPressure <= MAX_ALLOWED_PRESSURE_PSI ) )
+        {
+            pendingROPumpCmdMaxPressure = (F32)maxPressure;
+            pendingROPumpCmdTargetFlow = roFlowRate;
+            pendingROPumpCmdCountDown = delayMs / TASK_GENERAL_INTERVAL;
+            result = TRUE;
+        }
+        // Requested max pressure is out of range
+        else
+        {
+            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_RO_PUMP_INVALID_FLOW_RATE_SET, maxPressure )
+        }
+    }
+    // Requested flow rate is out of range
+    else
+    {
+        SET_ALARM_WITH_2_F32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_RO_PUMP_INVALID_PRESSURE_SELECTED, roFlowRate )
+    }
+
+    return result;
+}
+
+/*********************************************************************//**
+ * @brief
  * The signalROPumpHardStop function stops the RO pump immediately and
  * resets all the variables associated with the RO pump run.
  * @details Inputs: targetROPumpFlowRate, roPumpState, roPumpPWMDutyCyclePct,
@@ -343,7 +379,7 @@
         checkPersistentAlarm( ALARM_ID_RO_PUMP_OFF_FAULT, isPumpRunning, pressureInlet, ( pressureInlet + MAX_PRESSURE_TARGET_TOLERANCE ) );
 
         // Check if it has timed out
-        if ( isAlarmActive( ALARM_ID_RO_PUMP_OFF_FAULT ) )
+        if ( TRUE == isAlarmActive( ALARM_ID_RO_PUMP_OFF_FAULT ) )
         {
             activateSafetyShutdown();
         }
@@ -362,6 +398,26 @@
  *************************************************************************/
 void execROPumpController( void )
 {
+    // Handle pending delayed RO pump command
+    if ( pendingROPumpCmdCountDown > 0 )
+    {
+        pendingROPumpCmdCountDown--;
+        if ( 0 == pendingROPumpCmdCountDown )
+        {
+            targetROPumpMaxPressure = pendingROPumpCmdMaxPressure;
+            targetROPumpFlowRate = pendingROPumpCmdTargetFlow;
+            pendingROPumpCmdMaxPressure = 0.0;
+            pendingROPumpCmdTargetFlow = 0.0;
+            roPumpControlMode = PUMP_CONTROL_MODE_CLOSED_LOOP;
+            roPumpState = RO_PUMP_RAMP_UP_TO_TARGET_FLOW_STATE;
+            // Get the initial guess of the duty cycle
+            roPumpPWMDutyCyclePct = ROP_FLOW_TO_PWM_DC( targetROPumpFlowRate );
+            roControlTimerCounter = 0;
+            isROPumpOn = TRUE;
+        }
+    }
+
+    // Execute RO pump control state machine
     switch ( roPumpState )
     {
         case RO_PUMP_OFF_STATE:
@@ -393,36 +449,19 @@
 
 /*********************************************************************//**
  * @brief
- * The isReverseOsmosisPumpOn function returns the on/off status of RO pump.
+ * The isROPumpRunning function returns the on/off status of RO pump.
  * @details Inputs: isROPumpOn
  * @details Outputs: none
  * @return isROPumpOn the boolean flag that is TRUE if the pump is on and
  * FALSE if it is off
  *************************************************************************/
-BOOL isReverseOsmosisPumpOn( void )
+BOOL isROPumpRunning( void )
 {
     return isROPumpOn;
 }
 
 /*********************************************************************//**
  * @brief
- * The execROPumpTest function executes the state machine for the RO pump
- * self-test.
- * @details Inputs: TODO FILL UP
- * @details Outputs: TODO FILL UP
- * @return the current state of the ROPump self test.
- *************************************************************************/
-SELF_TEST_STATUS_T execROPumpTest( void )
-{
-    SELF_TEST_STATUS_T result = SELF_TEST_STATUS_FAILED;
-
-    // TODO - implement self-test(s)
-
-    return result;
-}
-
-/*********************************************************************//**
- * @brief
  * The handleROPumpOffState function handles the RO pump off state of the
  * controller state machine.
  * @details Inputs: roPumpControlMode, roPumpPWMDutyCyclePctSet,
@@ -437,7 +476,6 @@
     // If there is a flow, transition to the PI controller to get the corresponding pressure of that flow
     if ( getTargetROPumpFlowRate() > 0 && roPumpControlMode == PUMP_CONTROL_MODE_CLOSED_LOOP )
     {
-        roPumpControlModeSet = PUMP_CONTROL_MODE_CLOSED_LOOP;
         // Set pump to on
         isROPumpOn = TRUE;
         roPumpDutyCyclePctSet = ROP_FLOW_TO_PWM_DC( getTargetROPumpFlowRate() );
@@ -519,7 +557,6 @@
  * The handleROPumpControlToTargetFlowState function handles the control to
  * target flow state of the RO pump controller state machine.
  * @details Inputs: roPumpPWMDutyCyclePctSet, roControlTimerCounter,
- * roPumpControlModeSet
  * @details Outputs: roPumpPWMDutyCyclePctSet, roControlTimerCounter
  * @return next state of the controller state machine
  *************************************************************************/
@@ -557,7 +594,6 @@
  * The handleROPumpControlToMaxPressureState function handles the control
  * to max pressure state of the RO pump controller state machine.
  * @details Inputs: roPumpPWMDutyCyclePctSet, roControlTimerCounter,
- * roPumpControlModeSet
  * @details Outputs: roPumpPWMDutyCyclePctSet, roControlTimerCounter
  * @return next state of the controller state machine
  *************************************************************************/