com subsystem complete

bsp_q7s/core/ObjectFactory.cpp

@@ -573,7 +573,6 @@ void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
       new SyrlinksHandler(objects::SYRLINKS_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
                           pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
   syrlinksHandler->setPowerSwitcher(pwrSwitcher);
-  syrlinksHandler->setStartUpImmediately();
   syrlinksHandler->connectModeTreeParent(satsystem::com::SUBSYSTEM);
 #if OBSW_DEBUG_SYRLINKS == 1
   syrlinksHandler->setDebugMode(true);

linux/ipcore/PdecHandler.cpp

@@ -165,6 +165,7 @@ ReturnValue_t PdecHandler::irqOperation() {
           return result;
         }
         state = State::RUNNING;
+        checkLocks();
         break;
       case State::RUNNING: {
         nb = write(fd, &info, sizeof(info));

mission/system/objects/ComSubsystem.cpp

@@ -1,5 +1,3 @@
-#include <utility>
-
 #include "ComSubsystem.h"
 
 #include <fsfw/events/EventManagerIF.h>
@@ -7,14 +5,11 @@
 #include <fsfw/ipc/QueueFactory.h>
 #include <fsfw/serviceinterface/ServiceInterface.h>
 #include <linux/ipcore/PdecHandler.h>
+#include <mission/comDefs.h>
 #include <mission/config/comCfg.h>
 
-extern std::pair<uint8_t, FixedArrayList<ModeListEntry, 3>> COM_SEQUENCE_RX_ONLY;
-//extern std::pair<uint32_t, FixedArrayList<ModeListEntry, 3>> COM_TABLE_RX_ONLY_TGT;
-extern std::pair<uint8_t, FixedArrayList<ModeListEntry, 3>> COM_SEQUENCE_RX_AND_TX_DEFAULT_RATE;
-extern std::pair<uint32_t, FixedArrayList<ModeListEntry, 3>> COM_TABLE_RX_AND_TX_DEFAULT_RATE_TGT;
-extern std::pair<uint8_t, FixedArrayList<ModeListEntry, 3>> COM_SEQUENCE_RX_AND_TX_LOW_RATE;
-extern std::pair<uint8_t, FixedArrayList<ModeListEntry, 3>> COM_SEQUENCE_RX_AND_TX_HIGH_RATE;
+#include <utility>
+
 
 ComSubsystem::ComSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
                            uint32_t maxNumberOfTables, uint32_t transmitterTimeout)
@@ -28,8 +23,13 @@ ComSubsystem::ComSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequence
 
 void ComSubsystem::performChildOperation() {
   readEventQueue();
+  // Execute default rate sequence after transition has been completed
+  if (rememberBitLock and not isInTransition) {
+    startRxAndTxLowRateSeq();
+    rememberBitLock = false;
+  }
   if (countdownActive) {
-  	checkTransmitterCountdown();
+    checkTransmitterCountdown();
   }
   Subsystem::performChildOperation();
 }
@@ -51,17 +51,17 @@ ReturnValue_t ComSubsystem::getParameter(uint8_t domainId, uint8_t uniqueIdentif
     parameterWrapper->set(datarateCfg);
     com::setCurrentDatarate(static_cast<com::Datarate>(newVal));
     return returnvalue::OK;
-  }
-  else if ((domainId == 0) and (uniqueIdentifier == static_cast<uint8_t>(com::ParameterId::TRANSMITTER_TIMEOUT))) {
-  	uint8_t newVal = 0;
-		ReturnValue_t result = newValues->getElement(&newVal);
-		if (result != returnvalue::OK) {
-			return result;
-		}
-		parameterWrapper->set(transmitterTimeout);
-		transmitterTimeout = newVal;
-		transmitterCountdown.setTimeout(transmitterTimeout);
-		return returnvalue::OK;
+  } else if ((domainId == 0) and
+             (uniqueIdentifier == static_cast<uint8_t>(com::ParameterId::TRANSMITTER_TIMEOUT))) {
+    uint32_t newVal = 0;
+    ReturnValue_t result = newValues->getElement(&newVal);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    parameterWrapper->set(transmitterTimeout);
+    transmitterTimeout = newVal;
+    transmitterCountdown.setTimeout(transmitterTimeout);
+    return returnvalue::OK;
   }
   return returnvalue::OK;
 }
@@ -79,46 +79,48 @@ ReturnValue_t ComSubsystem::initialize() {
   if (result != returnvalue::OK) {
     return result;
   }
-  EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
-    if (manager == nullptr) {
+  EventManagerIF *manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
+  if (manager == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "ComSubsystem::initialize: Invalid event manager" << std::endl;
+    sif::error << "ComSubsystem::initialize: Invalid event manager" << std::endl;
 #endif
-		return ObjectManagerIF::CHILD_INIT_FAILED;
-	}
-	result = manager->registerListener(eventQueue->getId());
-	if (result != returnvalue::OK) {
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
+  result = manager->registerListener(eventQueue->getId());
+  if (result != returnvalue::OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::warning << "ComSubsystem::initialize: Failed to register Com Subsystem as event "
-										"listener" << std::endl;
+    sif::warning << "ComSubsystem::initialize: Failed to register Com Subsystem as event "
+                    "listener"
+                 << std::endl;
 #endif
-		return ObjectManagerIF::CHILD_INIT_FAILED;
-	}
-	result = manager->subscribeToEventRange(eventQueue->getId(),
-																					event::getEventId(PdecHandler::CARRIER_LOCK),
-																					event::getEventId(PdecHandler::BIT_LOCK_PDEC));
-	if (result != returnvalue::OK) {
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
+  result = manager->subscribeToEventRange(eventQueue->getId(),
+                                          event::getEventId(PdecHandler::CARRIER_LOCK),
+                                          event::getEventId(PdecHandler::BIT_LOCK_PDEC));
+  if (result != returnvalue::OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "ComSubsystem::initialize: Failed to subscribe to events from PDEC "
-									"handler"
-							 << std::endl;
+    sif::error << "ComSubsystem::initialize: Failed to subscribe to events from PDEC "
+                  "handler"
+               << std::endl;
 #endif
-		return result;
-	}
+    return result;
+  }
   return Subsystem::initialize();
 }
 
 void ComSubsystem::startTransition(Mode_t mode, Submode_t submode) {
   // Depending on the submode the transmitter timeout is enabled or
   // disabled here
-  if (mode == COM_SEQUENCE_RX_ONLY.first) {
+  if (mode == com::Submode::RX_ONLY) {
     transmitterCountdown.timeOut();
     countdownActive = false;
-  } else if ((mode == COM_SEQUENCE_RX_AND_TX_DEFAULT_RATE.first) ||
-             (mode == COM_SEQUENCE_RX_AND_TX_LOW_RATE.first) ||
-             (mode == COM_SEQUENCE_RX_AND_TX_HIGH_RATE.first)) {
-    transmitterCountdown.resetTimer();
-    countdownActive = true;
+  } else if (isTxMode(mode)) {
+  	// Only start transmitter countdown if transmitter is not already on
+  	if (not isTxMode(this->mode)) {
+  		transmitterCountdown.resetTimer();
+			countdownActive = true;
+  	}
   }
   Subsystem::startTransition(mode, submode);
 }
@@ -156,23 +158,42 @@ void ComSubsystem::handleEventMessage(EventMessage *eventMessage) {
   }
 }
 
-void ComSubsystem::handleBitLockEvent() { startRxAndTxDefaultSeq(); }
+void ComSubsystem::handleBitLockEvent() {
+  if (isTxMode(mode)) {
+    // Tx already on
+    return;
+  }
+  if (isInTransition) {
+    rememberBitLock = true;
+    return;
+  }
+  startRxAndTxLowRateSeq();
+}
 
 void ComSubsystem::handleCarrierLockEvent() {
   if (!enableTxWhenCarrierLock) {
     return;
   }
-  startRxAndTxDefaultSeq();
+  startRxAndTxLowRateSeq();
 }
 
-void ComSubsystem::startRxAndTxDefaultSeq() {
+void ComSubsystem::startRxAndTxLowRateSeq() {
   // Turns transmitter on
-  startTransition(COM_SEQUENCE_RX_AND_TX_DEFAULT_RATE.first, SUBMODE_NONE);
+  startTransition(com::Submode::RX_AND_TX_LOW_DATARATE, SUBMODE_NONE);
 }
 
 void ComSubsystem::checkTransmitterCountdown() {
   if (transmitterCountdown.hasTimedOut()) {
-    startTransition(COM_SEQUENCE_RX_ONLY.first, SUBMODE_NONE);
+    startTransition(com::Submode::RX_ONLY, SUBMODE_NONE);
     countdownActive = false;
   }
 }
+
+bool ComSubsystem::isTxMode(Mode_t mode) {
+	if ((mode == com::Submode::RX_AND_TX_DEFAULT_DATARATE) ||
+			(mode == com::Submode::RX_AND_TX_LOW_DATARATE) ||
+			(mode == com::Submode::RX_AND_TX_HIGH_DATARATE)) {
+		return true;
+	}
+	return false;
+}

mission/system/objects/ComSubsystem.h

@@ -30,6 +30,9 @@ class ComSubsystem : public Subsystem, public ReceivesParameterMessagesIF {
   virtual void performChildOperation() override;
 
  private:
+
+  static const Mode_t INITIAL_MODE = 0;
+
   ReturnValue_t handleCommandMessage(CommandMessage *message) override;
 
   ReturnValue_t initialize() override;
@@ -42,9 +45,14 @@ class ComSubsystem : public Subsystem, public ReceivesParameterMessagesIF {
   void handleCarrierLockEvent();
   void checkTransmitterCountdown();
   /**
-   * @brief	Enables transmitter in default (low) rate mode
+   * @brief	Enables transmitter in low rate mode
    */
-  void startRxAndTxDefaultSeq();
+  void startRxAndTxLowRateSeq();
+
+  /**
+   * @brief	Returns true if mode is a mode where the transmitter is on
+   */
+  bool isTxMode(Mode_t mode);
 
   uint8_t datarateCfg = static_cast<uint8_t>(com::Datarate::LOW_RATE_MODULATION_BPSK);
   // Maximum time after which the transmitter will be turned of. This is a
@@ -62,6 +70,11 @@ class ComSubsystem : public Subsystem, public ReceivesParameterMessagesIF {
   // Transmitter countdown only active when sysrlinks transmitter is on (modes:
   // rx and tx low rate, rx and tx high rate, rx and tx default rate)
   bool countdownActive = false;
+
+  // True when bit lock occurred while COM subsystem is in a transition. This
+  // variable is used to remember the bit lock and execute the default rate
+  // sequence after the active transition has been completed
+  bool rememberBitLock = false;
 };
 
 #endif /* MISSION_SYSTEM_COMSUBSYSTEM_H_ */

mission/system/tree/comModeTree.h

@@ -12,9 +12,7 @@ extern ComSubsystem SUBSYSTEM;
 // The syrlinks must not transmitting longer then 15 minutes otherwise the
 // transceiver might be damaged due to overheating
 // 15 minutes in milliseconds
-//static const uint32_t TRANSMITTER_TIMEOUT = 900000;
-
-static const uint32_t TRANSMITTER_TIMEOUT = 60000;
+static const uint32_t TRANSMITTER_TIMEOUT = 900000;
 
 Subsystem& init();
 }  // namespace com