mpsoc startup command

bsp_q7s/core/ObjectFactory.cpp

@@ -190,9 +190,8 @@ void ObjectFactory::produce(void* args) {
                      uart::STAR_TRACKER_BAUD, startracker::MAX_FRAME_SIZE * 2 + 2);
   starTrackerCookie->setNoFixedSizeReply();
   StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
-  StarTrackerHandler* starTrackerHandler = new StarTrackerHandler(
+  new StarTrackerHandler(objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie, strHelper,
-      objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie, strHelper);
+                         pcduSwitches::PDU1_CH2_STAR_TRACKER_5V);
-  starTrackerHandler->setStartUpImmediately();
 
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 
@@ -797,7 +796,8 @@ void ObjectFactory::createSyrlinksComponents() {
                      uart::SYRLINKS_BAUD, SYRLINKS::MAX_REPLY_SIZE);
   syrlinksUartCookie->setParityEven();
 
-  new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, syrlinksUartCookie);
+  new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
+                        pcduSwitches::PDU1_CH1_SYRLINKS_12V);
 }
 
 void ObjectFactory::createRtdComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher) {
@@ -925,10 +925,9 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
                      UartModes::NON_CANONICAL, uart::PLOC_MPSOC_BAUD, mpsoc::MAX_REPLY_SIZE);
   mpsocCookie->setNoFixedSizeReply();
   auto plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
-  auto plocMPSoC =
+  new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie,
-      new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie,
+                       plocMpsocHelper, Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF),
-                           plocMpsocHelper, Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF));
+                       objects::PLOC_SUPERVISOR_HANDLER);
-  plocMPSoC->setStartUpImmediately();
 #endif /* OBSW_ADD_PLOC_MPSOC == 1 */
 
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
@@ -940,10 +939,11 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
   gpioComIF->addGpios(supvGpioCookie);
   auto supervisorCookie = new UartCookie(
       objects::PLOC_SUPERVISOR_HANDLER, q7s::UART_PLOC_SUPERVSIOR_DEV, UartModes::NON_CANONICAL,
-      uart::PLOC_SUPERVISOR_BAUD, PLOC_SPV::MAX_PACKET_SIZE * 20);
+      uart::PLOC_SUPERVISOR_BAUD, supv::MAX_PACKET_SIZE * 20);
   supervisorCookie->setNoFixedSizeReply();
   new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF,
-                            supervisorCookie, Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF));
+                            supervisorCookie, Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF),
+                            pcduSwitches::PDU1_CH6_PLOC_12V);
 #endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
   static_cast<void>(consumer);
 }

linux/devices/devicedefinitions/MPSoCReturnValuesIF.h

@@ -25,6 +25,8 @@ class MPSoCReturnValuesIF {
   static const ReturnValue_t MPSOC_FILENAME_TOO_LONG = MAKE_RETURN_CODE(0xA7);
   //! [EXPORT] : [COMMENT] Command has invalid parameter
   static const ReturnValue_t INVALID_PARAMETER = MAKE_RETURN_CODE(0xA8);
+  //! [EXPORT] : [COMMENT] Received command has file string with invalid length
+  static const ReturnValue_t NAME_TOO_LONG = MAKE_RETURN_CODE(0xA9);
 };
 
 #endif /* MPSOC_RETURN_VALUES_IF_H_ */

linux/devices/devicedefinitions/PlocSupervisorDefinitions.h

@@ -8,7 +8,7 @@
 #include <fsfw/timemanager/Clock.h>
 #include <fsfw/tmtcpacket/SpacePacket.h>
 
-namespace PLOC_SPV {
+namespace supv {
 
 /** Command IDs */
 static const DeviceCommandId_t NONE = 0;

linux/devices/ploc/PlocMPSoCHandler.cpp

@@ -1,4 +1,5 @@
 #include "PlocMPSoCHandler.h"
+#include "linux/devices/devicedefinitions/PlocSupervisorDefinitions.h"
 
 #include "OBSWConfig.h"
 #include "fsfw/datapool/PoolReadGuard.h"
@@ -6,14 +7,18 @@
 
 PlocMPSoCHandler::PlocMPSoCHandler(object_id_t objectId, object_id_t uartComIFid,
                                    CookieIF* comCookie, PlocMPSoCHelper* plocMPSoCHelper,
-                                   Gpio uartIsolatorSwitch)
+                                   Gpio uartIsolatorSwitch, object_id_t supervisorHandler)
     : DeviceHandlerBase(objectId, uartComIFid, comCookie),
       plocMPSoCHelper(plocMPSoCHelper),
-      uartIsolatorSwitch(uartIsolatorSwitch) {
+      uartIsolatorSwitch(uartIsolatorSwitch),
+      supervisorHandler(supervisorHandler),
+      commandActionHelper(this) {
   if (comCookie == nullptr) {
     sif::error << "PlocMPSoCHandler: Invalid communication cookie" << std::endl;
   }
   eventQueue = QueueFactory::instance()->createMessageQueue(EventMessage::EVENT_MESSAGE_SIZE * 5);
+  commandActionHelperQueue =
+      QueueFactory::instance()->createMessageQueue(EventMessage::EVENT_MESSAGE_SIZE * 5);
 }
 
 PlocMPSoCHandler::~PlocMPSoCHandler() {}
@@ -60,6 +65,10 @@ ReturnValue_t PlocMPSoCHandler::initialize() {
   }
   plocMPSoCHelper->setComCookie(comCookie);
   plocMPSoCHelper->setSequenceCount(&sequenceCount);
+  result = commandActionHelper.initialize();
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
   return result;
 }
 
@@ -77,6 +86,14 @@ void PlocMPSoCHandler::performOperationHook() {
         break;
     }
   }
+  CommandMessage message;
+  for (ReturnValue_t result = commandActionHelperQueue->receiveMessage(&event); result == RETURN_OK;
+       result = commandActionHelperQueue->receiveMessage(&event)) {
+    result = commandActionHelper.handleReply(&message);
+    if (result == RETURN_OK) {
+      continue;
+    }
+  }
 }
 
 ReturnValue_t PlocMPSoCHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
@@ -116,17 +133,34 @@ ReturnValue_t PlocMPSoCHandler::executeAction(ActionId_t actionId, MessageQueueI
 }
 
 void PlocMPSoCHandler::doStartUp() {
-#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
+  switch(powerState) {
-  setMode(MODE_NORMAL);
+  case PowerState::OFF:
-#else
+      commandActionHelper.commandAction(supervisorHandler, supv::START_MPSOC);
-  setMode(_MODE_TO_ON);
+      powerState = PowerState::BOOTING;
-#endif
+      break;
-  uartIsolatorSwitch.pullHigh();
+  case PowerState::ON:
+      setMode(_MODE_TO_ON);
+      uartIsolatorSwitch.pullHigh();
+      break;
+  default:
+      break;
+  }
 }
 
 void PlocMPSoCHandler::doShutDown() {
-  uartIsolatorSwitch.pullLow();
+  switch(powerState) {
-  setMode(_MODE_POWER_DOWN);
+  case PowerState::ON:
+      uartIsolatorSwitch.pullLow();
+      commandActionHelper.commandAction(supervisorHandler, supv::SHUTDOWN_MPSOC);
+      powerState = PowerState::SHUTDOWN;
+      break;
+  case PowerState::OFF:
+      setMode(_MODE_POWER_DOWN);
+      break;
+  default:
+      sif::debug << "PlocMPSoCHandler::doShutDown: This should never happen" << std::endl;
+      break;
+  }
 }
 
 ReturnValue_t PlocMPSoCHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
@@ -331,7 +365,7 @@ ReturnValue_t PlocMPSoCHandler::prepareTcMemRead(const uint8_t* commandData,
 ReturnValue_t PlocMPSoCHandler::prepareTcFlashDelete(const uint8_t* commandData,
                                                      size_t commandDataLen) {
   if (commandDataLen > config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE) {
-    return NAME_TOO_LONG;
+    return MPSoCReturnValuesIF::NAME_TOO_LONG;
   }
   ReturnValue_t result = RETURN_OK;
   sequenceCount++;
@@ -670,6 +704,45 @@ size_t PlocMPSoCHandler::getNextReplyLength(DeviceCommandId_t commandId) {
   return replyLen;
 }
 
+MessageQueueIF* PlocMPSoCHandler::getCommandQueuePtr() {
+  return commandActionHelperQueue;
+}
+
+void PlocMPSoCHandler::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) {
+    return;
+}
+
+void PlocMPSoCHandler::stepFailedReceived(ActionId_t actionId, uint8_t step,
+                                          ReturnValue_t returnCode) {
+    handleActionCommandFailure(actionId);
+}
+
+void PlocMPSoCHandler::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {
+    return;
+}
+
+void PlocMPSoCHandler::completionSuccessfulReceived(ActionId_t actionId) {
+    switch(actionId) {
+    case supv::START_MPSOC: {
+        powerState = PowerState::ON;
+        break;
+    }
+    case supv::SHUTDOWN_MPSOC: {
+        powerState = PowerState::OFF;
+        break;
+    default:
+      sif::debug
+          << "PlocMPSoCHandler::completionSuccessfulReceived: Did not expect this action reply"
+          << std::endl;
+      break;
+    }
+    }
+}
+
+void PlocMPSoCHandler::completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) {
+    handleActionCommandFailure(actionId);
+}
+
 void PlocMPSoCHandler::handleDeviceTM(const uint8_t* data, size_t dataSize,
                                       DeviceCommandId_t replyId) {
   ReturnValue_t result = RETURN_OK;
@@ -764,3 +837,20 @@ void PlocMPSoCHandler::printStatus(const uint8_t* data) {
 uint16_t PlocMPSoCHandler::getStatus(const uint8_t* data) {
   return *(data + STATUS_OFFSET) << 8 | *(data + STATUS_OFFSET + 1);
 }
+
+void PlocMPSoCHandler::handleActionCommandFailure(ActionId_t actionId) {
+  switch (actionId) {
+    case supv::START_MPSOC:
+      powerState = PowerState::ON;
+      break;
+    case supv::SHUTDOWN_MPSOC:
+      triggerEvent(MPSOC_SHUTDOWN_FAILED);
+      // TODO: Setting state to on or off here?
+      powerState = PowerState::OFF;
+      break;
+    default:
+      sif::debug << "PlocMPSoCHandler::handleActionCommandFailure: Received unexpected action reply"
+                 << std::endl;
+      break;
+  }
+}

linux/devices/ploc/PlocMPSoCHandler.h

@@ -4,6 +4,8 @@
 #include <string>
 
 #include "PlocMPSoCHelper.h"
+#include "fsfw/action/CommandActionHelper.h"
+#include "fsfw/action/CommandsActionsIF.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 #include "fsfw/ipc/QueueFactory.h"
 #include "fsfw/tmtcservices/SourceSequenceCounter.h"
@@ -26,15 +28,33 @@
  *
  * @author	J. Meier
  */
-class PlocMPSoCHandler : public DeviceHandlerBase {
+class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
  public:
+  /**
+   * @brief Constructor
+   *
+   * @param ojectId             Object ID of the MPSoC handler
+   * @param uartcomIFid         Object ID of the UART communication interface
+   * @param comCookie           UART communication cookie
+   * @param plocMPSoCHelper     Pointer to MPSoC helper object
+   * @param uartIsolatorSwitch  Gpio object representing the GPIO connected to the UART isolator
+   *                            module in the programmable logic
+   * @param supervisorHandler   Object ID of the supervisor handler
+   */
   PlocMPSoCHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF* comCookie,
-                   PlocMPSoCHelper* plocMPSoCHelper, Gpio uartIsolatorSwitch);
+                   PlocMPSoCHelper* plocMPSoCHelper, Gpio uartIsolatorSwitch,
+                   object_id_t supervisorHandler);
   virtual ~PlocMPSoCHandler();
   virtual ReturnValue_t initialize() override;
   ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
                               const uint8_t* data, size_t size) override;
   void performOperationHook() override;
+  MessageQueueIF* getCommandQueuePtr() override;
+  void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) override;
+  void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) override;
+  void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) override;
+  void completionSuccessfulReceived(ActionId_t actionId) override;
+  void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;
 
  protected:
   void doStartUp() override;
@@ -74,15 +94,16 @@ class PlocMPSoCHandler : public DeviceHandlerBase {
   //! [EXPORT] : [COMMENT] Packet sequence count in received space packet does not match expected
   //! count P1: Expected sequence count P2: Received sequence count
   static const Event MPSOC_HANDLER_SEQ_CNT_MISMATCH = MAKE_EVENT(5, severity::LOW);
-
+  //! [EXPORT] : [COMMENT] Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and
-  //! [EXPORT] : [COMMENT] Received command has file string with invalid length
+  //! thus also to shutdown the supervisor.
-  static const ReturnValue_t NAME_TOO_LONG = MAKE_RETURN_CODE(0xD0);
+  static const Event MPSOC_SHUTDOWN_FAILED = MAKE_EVENT(6, severity::HIGH);
 
   static const uint16_t APID_MASK = 0x7FF;
   static const uint16_t PACKET_SEQUENCE_COUNT_MASK = 0x3FFF;
   static const uint8_t STATUS_OFFSET = 10;
 
   MessageQueueIF* eventQueue = nullptr;
+  MessageQueueIF* commandActionHelperQueue = nullptr;
 
   SourceSequenceCounter sequenceCount;
 
@@ -99,6 +120,8 @@ class PlocMPSoCHandler : public DeviceHandlerBase {
 
   PlocMPSoCHelper* plocMPSoCHelper = nullptr;
   Gpio uartIsolatorSwitch;
+  object_id_t supervisorHandler = 0;
+  CommandActionHelper commandActionHelper;
 
   // Used to block incoming commands when MPSoC helper class is currently executing a command
   bool plocMPSoCHelperExecuting = false;
@@ -111,6 +134,10 @@ class PlocMPSoCHandler : public DeviceHandlerBase {
 
   TmMemReadReport tmMemReadReport;
 
+  enum class PowerState { OFF, BOOTING, SHUTDOWN, ON };
+
+  PowerState powerState = PowerState::OFF;
+
   /**
    * @brief   Handles events received from the PLOC MPSoC helper
    */
@@ -212,6 +239,8 @@ class PlocMPSoCHandler : public DeviceHandlerBase {
   ReturnValue_t prepareTcModeReplay();
 
   uint16_t getStatus(const uint8_t* data);
+
+  void handleActionCommandFailure(ActionId_t actionId);
 };
 
 #endif /* BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_ */

linux/devices/ploc/PlocMemoryDumper.cpp

@@ -105,10 +105,10 @@ void PlocMemoryDumper::doStateMachine() {
     case State::IDLE:
       break;
     case State::COMMAND_FIRST_MRAM_DUMP:
-      commandNextMramDump(PLOC_SPV::FIRST_MRAM_DUMP);
+      commandNextMramDump(supv::FIRST_MRAM_DUMP);
       break;
     case State::COMMAND_CONSECUTIVE_MRAM_DUMP:
-      commandNextMramDump(PLOC_SPV::CONSECUTIVE_MRAM_DUMP);
+      commandNextMramDump(supv::CONSECUTIVE_MRAM_DUMP);
       break;
     case State::EXECUTING_MRAM_DUMP:
       break;
@@ -127,8 +127,8 @@ void PlocMemoryDumper::dataReceived(ActionId_t actionId, const uint8_t* data, ui
 
 void PlocMemoryDumper::completionSuccessfulReceived(ActionId_t actionId) {
   switch (pendingCommand) {
-    case (PLOC_SPV::FIRST_MRAM_DUMP):
+    case (supv::FIRST_MRAM_DUMP):
-    case (PLOC_SPV::CONSECUTIVE_MRAM_DUMP):
+    case (supv::CONSECUTIVE_MRAM_DUMP):
       if (mram.endAddress == mram.startAddress) {
         triggerEvent(MRAM_DUMP_FINISHED);
         state = State::IDLE;
@@ -146,8 +146,8 @@ void PlocMemoryDumper::completionSuccessfulReceived(ActionId_t actionId) {
 
 void PlocMemoryDumper::completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) {
   switch (pendingCommand) {
-    case (PLOC_SPV::FIRST_MRAM_DUMP):
+    case (supv::FIRST_MRAM_DUMP):
-    case (PLOC_SPV::CONSECUTIVE_MRAM_DUMP):
+    case (supv::CONSECUTIVE_MRAM_DUMP):
       triggerEvent(MRAM_DUMP_FAILED, mram.lastStartAddress);
       break;
     default:

linux/devices/ploc/PlocSupervisorHandler.h

@@ -25,7 +25,7 @@
 class PlocSupervisorHandler : public DeviceHandlerBase {
  public:
   PlocSupervisorHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF* comCookie,
-                        Gpio uartIsolatorSwitch);
+                        Gpio uartIsolatorSwitch, power::Switch_t powerSwitch);
   virtual ~PlocSupervisorHandler();
 
   virtual ReturnValue_t initialize() override;
@@ -105,24 +105,24 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
   static const uint16_t APID_MASK = 0x7FF;
   static const uint16_t PACKET_SEQUENCE_COUNT_MASK = 0x3FFF;
 
-  uint8_t commandBuffer[PLOC_SPV::MAX_COMMAND_SIZE];
+  uint8_t commandBuffer[supv::MAX_COMMAND_SIZE];
 
   /**
    * This variable is used to store the id of the next reply to receive. This is necessary
    * because the PLOC sends as reply to each command at least one acknowledgment and execution
    * report.
    */
-  DeviceCommandId_t nextReplyId = PLOC_SPV::NONE;
+  DeviceCommandId_t nextReplyId = supv::NONE;
 
   UartComIF* uartComIf = nullptr;
   LinuxLibgpioIF* gpioComIF = nullptr;
   Gpio uartIsolatorSwitch;
 
-  PLOC_SPV::HkSet hkset;
+  supv::HkSet hkset;
-  PLOC_SPV::BootStatusReport bootStatusReport;
+  supv::BootStatusReport bootStatusReport;
-  PLOC_SPV::LatchupStatusReport latchupStatusReport;
+  supv::LatchupStatusReport latchupStatusReport;
 
-  const power::Switch_t powerSwitch = pcduSwitches::PDU1_CH6_PLOC_12V;
+  const power::Switch_t powerSwitch = power::NO_SWITCH;
 
   /** Number of expected replies following the MRAM dump command */
   uint32_t expectedMramDumpPackets = 0;
@@ -133,7 +133,7 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
   uint16_t bufferTop = 0;
 
   /** This buffer is used to concatenate space packets received in two different read steps */
-  uint8_t spacePacketBuffer[PLOC_SPV::MAX_PACKET_SIZE];
+  uint8_t spacePacketBuffer[supv::MAX_PACKET_SIZE];
 
 #ifdef TE0720_1CFA
   SdCardManager* sdcMan = nullptr;

linux/devices/ploc/PlocUpdater.cpp

@@ -123,9 +123,6 @@ void PlocUpdater::readCommandQueue() {
     if (result == HasReturnvaluesIF::RETURN_OK) {
       continue;
     }
-
-    sif::debug << "PlocUpdater::readCommandQueue: Received message with invalid format"
-               << std::endl;
   }
 }
 
@@ -145,7 +142,6 @@ void PlocUpdater::doStateMachine() {
     case State::COMMAND_EXECUTING:
       break;
     default:
-      sif::debug << "PlocUpdater::doStateMachine: Invalid state" << std::endl;
       break;
   }
 }
@@ -199,10 +195,10 @@ void PlocUpdater::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_
 
 void PlocUpdater::completionSuccessfulReceived(ActionId_t actionId) {
   switch (pendingCommand) {
-    case (PLOC_SPV::UPDATE_AVAILABLE):
+    case (supv::UPDATE_AVAILABLE):
       state = State::UPDATE_TRANSFER;
       break;
-    case (PLOC_SPV::UPDATE_IMAGE_DATA):
+    case (supv::UPDATE_IMAGE_DATA):
       if (remainingPackets == 0) {
         packetsSent = 0;  // Reset packets sent variable for next update sequence
         state = State::UPDATE_VERIFY;
@@ -210,14 +206,12 @@ void PlocUpdater::completionSuccessfulReceived(ActionId_t actionId) {
         state = State::UPDATE_TRANSFER;
       }
       break;
-    case (PLOC_SPV::UPDATE_VERIFY):
+    case (supv::UPDATE_VERIFY):
       triggerEvent(UPDATE_FINISHED);
       state = State::IDLE;
-      pendingCommand = PLOC_SPV::NONE;
+      pendingCommand = supv::NONE;
       break;
     default:
-      sif::debug << "PlocUpdater::completionSuccessfulReceived: Invalid pending command"
-                 << std::endl;
       state = State::IDLE;
       break;
   }
@@ -225,20 +219,19 @@ void PlocUpdater::completionSuccessfulReceived(ActionId_t actionId) {
 
 void PlocUpdater::completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) {
   switch (pendingCommand) {
-    case (PLOC_SPV::UPDATE_AVAILABLE): {
+    case (supv::UPDATE_AVAILABLE): {
       triggerEvent(UPDATE_AVAILABLE_FAILED);
       break;
     }
-    case (PLOC_SPV::UPDATE_IMAGE_DATA): {
+    case (supv::UPDATE_IMAGE_DATA): {
       triggerEvent(UPDATE_TRANSFER_FAILED, packetsSent);
       break;
     }
-    case (PLOC_SPV::UPDATE_VERIFY): {
+    case (supv::UPDATE_VERIFY): {
       triggerEvent(UPDATE_VERIFY_FAILED);
       break;
     }
     default:
-      sif::debug << "PlocUpdater::completionFailedReceived: Invalid pending command " << std::endl;
       break;
   }
   state = State::IDLE;
@@ -268,23 +261,23 @@ void PlocUpdater::commandUpdateAvailable() {
 
   calcImageCrc();
 
-  PLOC_SPV::UpdateInfo packet(PLOC_SPV::APID_UPDATE_AVAILABLE, static_cast<uint8_t>(image),
+  supv::UpdateInfo packet(supv::APID_UPDATE_AVAILABLE, static_cast<uint8_t>(image),
                               static_cast<uint8_t>(partition), imageSize, imageCrc,
                               numOfUpdatePackets);
 
   result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER,
-                                             PLOC_SPV::UPDATE_AVAILABLE, packet.getWholeData(),
+                                             supv::UPDATE_AVAILABLE, packet.getWholeData(),
                                              packet.getFullSize());
   if (result != RETURN_OK) {
     sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available"
                  << " packet to supervisor handler" << std::endl;
-    triggerEvent(ACTION_COMMANDING_FAILED, result, PLOC_SPV::UPDATE_AVAILABLE);
+    triggerEvent(ACTION_COMMANDING_FAILED, result, supv::UPDATE_AVAILABLE);
     state = State::IDLE;
-    pendingCommand = PLOC_SPV::NONE;
+    pendingCommand = supv::NONE;
     return;
   }
 
-  pendingCommand = PLOC_SPV::UPDATE_AVAILABLE;
+  pendingCommand = supv::UPDATE_AVAILABLE;
   state = State::COMMAND_EXECUTING;
   return;
 }
@@ -308,56 +301,56 @@ void PlocUpdater::commandUpdatePacket() {
     payloadLength = MAX_SP_DATA;
   }
 
-  PLOC_SPV::UpdatePacket packet(payloadLength);
+  supv::UpdatePacket packet(payloadLength);
   file.read(reinterpret_cast<char*>(packet.getDataFieldPointer()), payloadLength);
   file.close();
   // sequence count of first packet is 1
-  packet.setPacketSequenceCount((packetsSent + 1) & PLOC_SPV::SEQUENCE_COUNT_MASK);
+  packet.setPacketSequenceCount((packetsSent + 1) & supv::SEQUENCE_COUNT_MASK);
   if (numOfUpdatePackets > 1) {
     adjustSequenceFlags(packet);
   }
   packet.makeCrc();
 
   result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER,
-                                             PLOC_SPV::UPDATE_IMAGE_DATA, packet.getWholeData(),
+                                             supv::UPDATE_IMAGE_DATA, packet.getWholeData(),
                                              packet.getFullSize());
 
   if (result != RETURN_OK) {
     sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update"
                  << " packet to supervisor handler" << std::endl;
-    triggerEvent(ACTION_COMMANDING_FAILED, result, PLOC_SPV::UPDATE_IMAGE_DATA);
+    triggerEvent(ACTION_COMMANDING_FAILED, result, supv::UPDATE_IMAGE_DATA);
     state = State::IDLE;
-    pendingCommand = PLOC_SPV::NONE;
+    pendingCommand = supv::NONE;
     return;
   }
 
   remainingPackets--;
   packetsSent++;
 
-  pendingCommand = PLOC_SPV::UPDATE_IMAGE_DATA;
+  pendingCommand = supv::UPDATE_IMAGE_DATA;
   state = State::COMMAND_EXECUTING;
 }
 
 void PlocUpdater::commandUpdateVerify() {
   ReturnValue_t result = RETURN_OK;
 
-  PLOC_SPV::UpdateInfo packet(PLOC_SPV::APID_UPDATE_VERIFY, static_cast<uint8_t>(image),
+  supv::UpdateInfo packet(supv::APID_UPDATE_VERIFY, static_cast<uint8_t>(image),
                               static_cast<uint8_t>(partition), imageSize, imageCrc,
                               numOfUpdatePackets);
 
   result =
-      commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, PLOC_SPV::UPDATE_VERIFY,
+      commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, supv::UPDATE_VERIFY,
                                         packet.getWholeData(), packet.getFullSize());
   if (result != RETURN_OK) {
     sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available"
                  << " packet to supervisor handler" << std::endl;
-    triggerEvent(ACTION_COMMANDING_FAILED, result, PLOC_SPV::UPDATE_VERIFY);
+    triggerEvent(ACTION_COMMANDING_FAILED, result, supv::UPDATE_VERIFY);
     state = State::IDLE;
-    pendingCommand = PLOC_SPV::NONE;
+    pendingCommand = supv::NONE;
     return;
   }
   state = State::COMMAND_EXECUTING;
-  pendingCommand = PLOC_SPV::UPDATE_VERIFY;
+  pendingCommand = supv::UPDATE_VERIFY;
   return;
 }
 
@@ -384,12 +377,12 @@ void PlocUpdater::calcImageCrc() {
   imageCrc = (remainder ^ FINAL_XOR_VALUE_32);
 }
 
-void PlocUpdater::adjustSequenceFlags(PLOC_SPV::UpdatePacket& packet) {
+void PlocUpdater::adjustSequenceFlags(supv::UpdatePacket& packet) {
   if (packetsSent == 0) {
-    packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::FIRST_PKT));
+    packet.setSequenceFlags(static_cast<uint8_t>(supv::SequenceFlags::FIRST_PKT));
   } else if (remainingPackets == 1) {
-    packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::LAST_PKT));
+    packet.setSequenceFlags(static_cast<uint8_t>(supv::SequenceFlags::LAST_PKT));
   } else {
-    packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::CONTINUED_PKT));
+    packet.setSequenceFlags(static_cast<uint8_t>(supv::SequenceFlags::CONTINUED_PKT));
   }
 }

linux/devices/ploc/PlocUpdater.h

@@ -23,7 +23,7 @@
  *          packets and sent to the PlocSupervisorHandler.
  *
  * @details The MPSoC has two boot memories (NVM0 and NVM1) where each stores two images (Partition
- * A and Partition B)
+ *          A and Partition B)
  *
  * @author  J. Meier
  */
@@ -122,7 +122,7 @@ class PlocUpdater : public SystemObject,
 
   State state = State::IDLE;
 
-  ActionId_t pendingCommand = PLOC_SPV::NONE;
+  ActionId_t pendingCommand = supv::NONE;
 
   enum class Image : uint8_t { NONE, A, B };
 
@@ -168,7 +168,7 @@ class PlocUpdater : public SystemObject,
 
   void calcImageCrc();
 
-  void adjustSequenceFlags(PLOC_SPV::UpdatePacket& packet);
+  void adjustSequenceFlags(supv::UpdatePacket& packet);
 };
 
 #endif /* MISSION_DEVICES_PLOCUPDATER_H_ */

linux/devices/startracker/StarTrackerHandler.cpp

@@ -15,7 +15,7 @@ extern "C" {
 }
 
 StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
-                                       StrHelper* strHelper)
+                                       StrHelper* strHelper, power::Switch_t powerSwitch)
     : DeviceHandlerBase(objectId, comIF, comCookie),
       temperatureSet(this),
       versionSet(this),
@@ -39,7 +39,8 @@ StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF,
       subscriptionSet(this),
       logSubscriptionSet(this),
       debugCameraSet(this),
-      strHelper(strHelper) {
+      strHelper(strHelper),
+      powerSwitch(powerSwitch) {
   if (comCookie == nullptr) {
     sif::error << "StarTrackerHandler: Invalid com cookie" << std::endl;
   }
@@ -1223,8 +1224,10 @@ ReturnValue_t StarTrackerHandler::doSendReadHook() {
   return RETURN_OK;
 }
 
-ReturnValue_t StarTrackerHandler::getSwitches(const uint8_t** switches,
+ReturnValue_t StarTrackerHandler::getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches) {
-                                                 uint8_t* numberOfSwitches) {
+  if (powerSwitch == power::NO_SWITCH) {
+    return DeviceHandlerBase::NO_SWITCH;
+  }
   *numberOfSwitches = 1;
   *switches = &powerSwitch;
   return RETURN_OK;

linux/devices/startracker/StarTrackerHandler.h

@@ -35,7 +35,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
    * 						to high to enable the device.
    */
   StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
-                     StrHelper* strHelper);
+                     StrHelper* strHelper, power::Switch_t powerSwitch);
   virtual ~StarTrackerHandler();
 
   ReturnValue_t initialize() override;
@@ -163,14 +163,12 @@ class StarTrackerHandler : public DeviceHandlerBase {
   static const uint32_t BOOT_TIMEOUT = 1000;
   static const uint32_t DEFAULT_TRANSITION_DELAY = 15000;
 
-  class FlashReadCmd {
+  struct FlashReadCmd {
-   public:
     // Minimum length of a read command (region, length and filename)
     static const size_t MIN_LENGTH = 7;
   };
 
-  class ChecksumCmd {
+  struct ChecksumCmd {
-   public:
     static const uint8_t ADDRESS_OFFSET = 1;
     static const uint8_t LENGTH_OFFSET = 5;
     // Length of checksum command
@@ -270,7 +268,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
 
   bool strHelperExecuting = false;
 
-  const power::Switch_t powerSwitch = pcduSwitches::PDU1_CH2_STAR_TRACKER_5V;
+  const power::Switch_t powerSwitch = power::NO_SWITCH;
 
   /**
    * @brief   Handles internal state

mission/devices/SyrlinksHkHandler.cpp

@@ -4,8 +4,12 @@
 
 #include "OBSWConfig.h"
 
-SyrlinksHkHandler::SyrlinksHkHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie)
+SyrlinksHkHandler::SyrlinksHkHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
-    : DeviceHandlerBase(objectId, comIF, comCookie), rxDataset(this), txDataset(this) {
+                                     power::Switch_t powerSwitch)
+    : DeviceHandlerBase(objectId, comIF, comCookie),
+      rxDataset(this),
+      txDataset(this),
+      powerSwitch(powerSwitch) {
   if (comCookie == NULL) {
     sif::error << "SyrlinksHkHandler: Invalid com cookie" << std::endl;
   }
@@ -146,6 +150,22 @@ void SyrlinksHkHandler::fillCommandAndReplyMap() {
                                    SYRLINKS::RX_STATUS_REGISTERS_REPLY_SIZE);
 }
 
+//ReturnValue_t SyrlinksHkHandler::enableReplyInReplyMap(DeviceCommandMap::iterator command,
+//                                                       uint8_t expectedReplies, bool useAlternateId,
+//                                                       DeviceCommandId_t alternateReplyID) {
+//  switch (command->first) {
+//    case SYRLINKS::RESET_UNIT: {
+//    case SYRLINKS::SET_TX_MODE_STANDBY:
+//    case SYRLINKS::SET_TX_MODE_MODULATION:
+//    case SYRLINKS::SET_TX_MODE_CW:
+//        return DeviceHandlerBase::enableReplyInReplyMap(command, 1, true, SYRLINKS::ACK_REPLY);
+//    }
+//    default:
+//        break;
+//    }
+//  return DeviceHandlerBase::enableReplyInReplyMap(command);
+//}
+
 ReturnValue_t SyrlinksHkHandler::scanForReply(const uint8_t* start, size_t remainingSize,
                                               DeviceCommandId_t* foundId, size_t* foundLen) {
   ReturnValue_t result = RETURN_OK;
@@ -177,6 +197,15 @@ ReturnValue_t SyrlinksHkHandler::scanForReply(const uint8_t* start, size_t remai
   return result;
 }
 
+ReturnValue_t SyrlinksHkHandler::getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches) {
+  if (powerSwitch == power::NO_SWITCH) {
+    return DeviceHandlerBase::NO_SWITCH;
+  }
+  *numberOfSwitches = 1;
+  *switches = &powerSwitch;
+  return RETURN_OK;
+}
+
 ReturnValue_t SyrlinksHkHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) {
   ReturnValue_t result;
 
@@ -184,7 +213,7 @@ ReturnValue_t SyrlinksHkHandler::interpretDeviceReply(DeviceCommandId_t id, cons
     case (SYRLINKS::ACK_REPLY):
       result = verifyReply(packet, SYRLINKS::ACK_SIZE);
       if (result != RETURN_OK) {
-        sif::error << "SyrlinksHkHandler::interpretDeviceReply: Acknowledgement reply has "
+        sif::error << "SyrlinksHkHandler::interpretDeviceReply: Acknowledgment reply has "
                       "invalid crc"
                    << std::endl;
         return CRC_FAILURE;

mission/devices/SyrlinksHkHandler.h

@@ -1,8 +1,9 @@
 #ifndef MISSION_DEVICES_SYRLINKSHKHANDLER_H_
 #define MISSION_DEVICES_SYRLINKSHKHANDLER_H_
 
-#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include "devices/powerSwitcherList.h"
-#include <mission/devices/devicedefinitions/SyrlinksDefinitions.h>
+#include "fsfw/devicehandlers/DeviceHandlerBase.h"
+#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
 #include <string.h>
 
 /**
@@ -15,7 +16,8 @@
  */
 class SyrlinksHkHandler : public DeviceHandlerBase {
  public:
-  SyrlinksHkHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie);
+  SyrlinksHkHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
+                    power::Switch_t powerSwitch);
   virtual ~SyrlinksHkHandler();
 
   /**
@@ -28,12 +30,16 @@ class SyrlinksHkHandler : public DeviceHandlerBase {
   void doShutDown() override;
   ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
   ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
-  void fillCommandAndReplyMap() override;
   ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
                                         size_t commandDataLen) override;
+  void fillCommandAndReplyMap() override;
+//  ReturnValue_t enableReplyInReplyMap(DeviceCommandMap::iterator command,
+//                                      uint8_t expectedReplies = 1, bool useAlternateId = false,
+//                                      DeviceCommandId_t alternateReplyID = 0) override;
   ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
                              size_t* foundLen) override;
   ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
+  ReturnValue_t getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches) override;
   void setNormalDatapoolEntriesInvalid() override;
   uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
   ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@@ -75,6 +81,8 @@ class SyrlinksHkHandler : public DeviceHandlerBase {
   SYRLINKS::RxDataset rxDataset;
   SYRLINKS::TxDataset txDataset;
 
+  const power::Switch_t powerSwitch = power::NO_SWITCH;
+
   uint8_t agcValueHighByte;
 
   uint8_t commandBuffer[SYRLINKS::MAX_COMMAND_SIZE];