eive-obsw/mission/system/EiveSystem.h

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#ifndef MISSION_SYSTEM_EIVESYSTEM_H_
#define MISSION_SYSTEM_EIVESYSTEM_H_
#include <fsfw/action/HasActionsIF.h>
#include <fsfw/power/PowerSwitchIF.h>
#include <fsfw/subsystem/Subsystem.h>
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#include <atomic>
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class EiveSystem : public Subsystem, public HasActionsIF {
public:
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static constexpr uint8_t FRAME_DIRTY_COM_REBOOT_LIMIT = 4;
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static constexpr ActionId_t EXECUTE_I2C_REBOOT = 10;
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EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables,
std::atomic_uint16_t& i2cErrors);
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void setI2cRecoveryParams(PowerSwitchIF* pwrSwitcher);
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[[nodiscard]] MessageQueueId_t getCommandQueue() const override;
private:
enum class I2cRebootState {
NONE,
SYSTEM_MODE_BOOT,
SWITCH_3V3_STACK_OFF_AND_BATT_REBOOT,
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WAIT_CYCLE,
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SWITCH_3V3_STACK_ON,
SYSTEM_MODE_SAFE
} i2cRebootState = I2cRebootState::NONE;
MessageQueueIF* eventQueue = nullptr;
bool performSafeRecovery = false;
bool performI2cReboot = false;
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bool alreadyTriedI2cRecovery = false;
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uint8_t frameDirtyErrorCounter = 0;
Countdown frameDirtyCheckCd = Countdown(10000);
// If the PDEC reset was already attempted in the last 2 minutes, there is a high chance that
// only a full reboot will fix the issue.
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Countdown pdecResetWasAttemptedCd = Countdown(120000);
bool pdecResetWasAttempted = false;
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bool waitingForI2cReboot = false;
bool waitingForPdecReboot = false;
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ActionHelper actionHelper;
PowerSwitchIF* powerSwitcher = nullptr;
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std::atomic_uint16_t& i2cErrors;
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MessageQueueId_t pdecHandlerQueueId = MessageQueueIF::NO_QUEUE;
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MessageQueueId_t bpxBattQueueId = MessageQueueIF::NO_QUEUE;
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MessageQueueId_t coreCtrlQueueId = MessageQueueIF::NO_QUEUE;
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MessageQueueId_t actionCommandedBy = MessageQueueIF::NO_QUEUE;
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Countdown i2cRebootHandlingCountdown = Countdown(10000);
// After 1 minute, clear the flag to avoid full reboots on I2C issues.
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Countdown i2cRecoveryClearCountdown = Countdown(60000);
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ReturnValue_t initialize() override;
void performChildOperation() override;
void announceMode(bool recursive) override;
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) override;
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ReturnValue_t handleCommandMessage(CommandMessage* message) override;
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ReturnValue_t sendFullRebootCommand();
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ReturnValue_t sendSelfRebootCommand();
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void pdecRecoveryLogic();
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void i2cRecoveryLogic();
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void handleEventMessages();
void commandSelfToSafe();
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void commonI2cRecoverySequenceFinish();
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};
#endif /* MISSION_SYSTEM_EIVESYSTEM_H_ */