I2C reboot procedure for EIVE system

bsp_q7s/em/emObjectFactory.cpp

@@ -5,7 +5,7 @@
 #include <fsfw/power/DummyPowerSwitcher.h>
 #include <fsfw_hal/common/gpio/GpioCookie.h>
 #include <mission/power/gsDefs.h>
-#include <mission/system/tree/system.h>
+#include <mission/system/systemTree.h>
 #include <mission/utility/DummySdCardManager.h>
 
 #include "OBSWConfig.h"

bsp_q7s/obsw.cpp

@@ -16,7 +16,7 @@
 #include "fsfw/version.h"
 #include "mission/acs/defs.h"
 #include "mission/com/defs.h"
-#include "mission/system/tree/system.h"
+#include "mission/system/systemTree.h"
 #include "q7sConfig.h"
 #include "watchdog/definitions.h"
 

mission/system/CMakeLists.txt

@@ -5,4 +5,6 @@ add_subdirectory(com)
 add_subdirectory(fdir)
 add_subdirectory(power)
 
-target_sources(${LIB_EIVE_MISSION} PRIVATE DualLanePowerStateMachine.cpp)
+target_sources(
+  ${LIB_EIVE_MISSION} PRIVATE systemTree.cpp DualLanePowerStateMachine.cpp
+                              EiveSystem.cpp treeUtil.cpp)

mission/system/EiveSystem.cpp

@@ -0,0 +1,203 @@
+#include "EiveSystem.h"
+
+#include <eive/objects.h>
+#include <fsfw/events/EventManager.h>
+#include <fsfw/ipc/QueueFactory.h>
+#include <fsfw/power/PowerSwitchIF.h>
+#include <mission/acs/defs.h>
+#include <mission/com/defs.h>
+#include <mission/controller/tcsDefs.h>
+
+#include "mission/power/bpxBattDefs.h"
+#include "mission/power/defs.h"
+#include "mission/sysDefs.h"
+
+EiveSystem::EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
+                       uint32_t maxNumberOfTables)
+    : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables),
+      actionHelper(this, commandQueue) {
+  auto mqArgs = MqArgs(SubsystemBase::getObjectId(), static_cast<void*>(this));
+  eventQueue =
+      QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
+}
+
+void EiveSystem::announceMode(bool recursive) {
+  const char* modeStr = "UNKNOWN";
+  switch (mode) {
+    case (satsystem::Mode::BOOT): {
+      modeStr = "OFF/BOOT";
+      break;
+    }
+    case (satsystem::Mode::SAFE): {
+      modeStr = "SAFE";
+      break;
+    }
+    case (satsystem::Mode::PTG_IDLE): {
+      modeStr = "POINTING IDLE";
+      break;
+    }
+    case (acs::AcsMode::PTG_INERTIAL): {
+      modeStr = "POINTING INERTIAL";
+      break;
+    }
+    case (acs::AcsMode::PTG_TARGET): {
+      modeStr = "POINTING TARGET";
+      break;
+    }
+    case (acs::AcsMode::PTG_TARGET_GS): {
+      modeStr = "POINTING TARGET GS";
+      break;
+    }
+  }
+  sif::info << "EIVE system is now in " << modeStr << " mode" << std::endl;
+  return Subsystem::announceMode(recursive);
+}
+
+void EiveSystem::performChildOperation() {
+  ReturnValue_t result;
+  Subsystem::performChildOperation();
+  handleEventMessages();
+  if (not isInTransition and performSafeRecovery) {
+    commandSelfToSafe();
+    performSafeRecovery = false;
+    return;
+  }
+  if (not isInTransition and performI2cReboot) {
+    if (i2cRebootState == I2cRebootState::SYSTEM_MODE_BOOT) {
+      startTransition(satsystem::Mode::BOOT, 0);
+      i2cRebootState = I2cRebootState::SWITCH_3V3_STACK_OFF_AND_BATT_REBOOT;
+      i2cRebootCountdown.resetTimer();
+    } else if (i2cRebootState == I2cRebootState::SWITCH_3V3_STACK_OFF_AND_BATT_REBOOT) {
+      if (mode == satsystem::Mode::BOOT) {
+        result = powerSwitcher->sendSwitchCommand(power::Switches::P60_DOCK_3V3_STACK,
+                                                  PowerSwitchIF::SWITCH_OFF);
+        if (result != returnvalue::OK) {
+          actionHelper.finish(false, actionCommandedBy, EXECUTE_I2C_REBOOT, result);
+          performI2cReboot = false;
+        }
+        CommandMessage msg;
+        ActionMessage::setCommand(&msg, BpxBattery::REBOOT, store_address_t());
+        result = commandQueue->sendMessage(bpxBattQueueId, &msg);
+        if (result != returnvalue::OK) {
+          actionHelper.finish(false, actionCommandedBy, EXECUTE_I2C_REBOOT, result);
+          performI2cReboot = false;
+        }
+        i2cRebootState = I2cRebootState::SWITCH_3V3_STACK_ON;
+      }
+      if (i2cRebootCountdown.hasTimedOut()) {
+        actionHelper.finish(false, actionCommandedBy, EXECUTE_I2C_REBOOT, returnvalue::FAILED);
+        performI2cReboot = false;
+      }
+    } else if (i2cRebootState == I2cRebootState::SWITCH_3V3_STACK_ON) {
+      result = powerSwitcher->sendSwitchCommand(power::Switches::P60_DOCK_3V3_STACK,
+                                                PowerSwitchIF::SWITCH_ON);
+      if (result != returnvalue::OK) {
+        actionHelper.finish(false, actionCommandedBy, EXECUTE_I2C_REBOOT, result);
+        performI2cReboot = false;
+      }
+      i2cRebootState = I2cRebootState::SYSTEM_MODE_SAFE;
+    } else if (i2cRebootState == I2cRebootState::SYSTEM_MODE_SAFE) {
+      if (powerSwitcher->getSwitchState(power::Switches::P60_DOCK_3V3_STACK) ==
+          PowerSwitchIF::SWITCH_ON) {
+        // This should always be accepted
+        commandSelfToSafe();
+        i2cRebootState = I2cRebootState::NONE;
+        performI2cReboot = false;
+        actionHelper.finish(true, actionCommandedBy, EXECUTE_I2C_REBOOT);
+      }
+    }
+
+    // Timeout handling for the internal procedure.
+    if (i2cRebootState != I2cRebootState::NONE and i2cRebootCountdown.hasTimedOut()) {
+      actionHelper.finish(false, actionCommandedBy, EXECUTE_I2C_REBOOT, returnvalue::FAILED);
+      powerSwitcher->sendSwitchCommand(power::Switches::P60_DOCK_3V3_STACK,
+                                       PowerSwitchIF::SWITCH_ON);
+      // This should always be accepted
+      commandSelfToSafe();
+    }
+  }
+}
+
+ReturnValue_t EiveSystem::initialize() {
+  if (powerSwitcher == nullptr) {
+    return ObjectManager::CHILD_INIT_FAILED;
+  }
+  ReturnValue_t result = actionHelper.initialize();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  auto* bpxDest = ObjectManager::instance()->get<HasActionsIF>(objects::BPX_BATT_HANDLER);
+  if (bpxDest == nullptr) {
+    return ObjectManager::CHILD_INIT_FAILED;
+  }
+  bpxBattQueueId = bpxDest->getCommandQueue();
+  auto* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
+  if (manager == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "AcsSubsystem::initialize: Invalid event manager" << std::endl;
+#endif
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
+  result = manager->registerListener(eventQueue->getId());
+  if (result != returnvalue::OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "AcsSubsystem::registerListener: Failed to register as "
+                    "listener"
+                 << std::endl;
+#endif
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
+  manager->subscribeToEvent(eventQueue->getId(),
+                            event::getEventId(tcsCtrl::PCDU_SYSTEM_OVERHEATING));
+  manager->subscribeToEvent(eventQueue->getId(), event::getEventId(tcsCtrl::OBC_OVERHEATING));
+
+  return Subsystem::initialize();
+}
+
+void EiveSystem::handleEventMessages() {
+  EventMessage event;
+  for (ReturnValue_t status = eventQueue->receiveMessage(&event); status == returnvalue::OK;
+       status = eventQueue->receiveMessage(&event)) {
+    switch (event.getMessageId()) {
+      case EventMessage::EVENT_MESSAGE:
+        switch (event.getEvent()) {
+          case tcsCtrl::OBC_OVERHEATING:
+          case tcsCtrl::PCDU_SYSTEM_OVERHEATING: {
+            if (isInTransition) {
+              performSafeRecovery = true;
+              return;
+            }
+
+            commandSelfToSafe();
+            break;
+          }
+        }
+        break;
+      default:
+        sif::debug << "EiveSystem: Did not subscribe to event " << event.getEvent() << std::endl;
+        break;
+    }
+  }
+}
+
+MessageQueueId_t EiveSystem::getCommandQueue() const { return Subsystem::getCommandQueue(); }
+
+ReturnValue_t EiveSystem::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+                                        const uint8_t* data, size_t size) {
+  switch (actionId) {
+    case (EXECUTE_I2C_REBOOT): {
+      performI2cReboot = true;
+      i2cRebootState = I2cRebootState::SYSTEM_MODE_BOOT;
+      this->actionCommandedBy = commandedBy;
+      return returnvalue::OK;
+    }
+    default: {
+      return HasActionsIF::INVALID_ACTION_ID;
+    }
+  }
+  return returnvalue::OK;
+}
+
+void EiveSystem::setPowerSwitcher(PowerSwitchIF* pwrSwitcher) {}
+
+void EiveSystem::commandSelfToSafe() { startTransition(satsystem::Mode::SAFE, 0); }

mission/system/EiveSystem.h

@@ -0,0 +1,46 @@
+#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>
+
+class EiveSystem : public Subsystem, public HasActionsIF {
+ public:
+  static constexpr ActionId_t EXECUTE_I2C_REBOOT = 10;
+
+  EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
+
+  void setPowerSwitcher(PowerSwitchIF* pwrSwitcher);
+
+  [[nodiscard]] MessageQueueId_t getCommandQueue() const override;
+
+ private:
+  enum class I2cRebootState {
+    NONE,
+    SYSTEM_MODE_BOOT,
+    SWITCH_3V3_STACK_OFF_AND_BATT_REBOOT,
+    SWITCH_3V3_STACK_ON,
+    SYSTEM_MODE_SAFE
+  } i2cRebootState = I2cRebootState::NONE;
+
+  MessageQueueIF* eventQueue = nullptr;
+  bool performSafeRecovery = false;
+  bool performI2cReboot = false;
+  ActionHelper actionHelper;
+  PowerSwitchIF* powerSwitcher = nullptr;
+  MessageQueueId_t bpxBattQueueId = MessageQueueIF::NO_QUEUE;
+  MessageQueueId_t actionCommandedBy = MessageQueueIF::NO_QUEUE;
+  Countdown i2cRebootCountdown = Countdown(10000);
+
+  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;
+  void handleEventMessages();
+  void commandSelfToSafe();
+};
+
+#endif /* MISSION_SYSTEM_EIVESYSTEM_H_ */

mission/system/acs/acsModeTree.cpp

@@ -11,7 +11,7 @@
 #include "eive/objects.h"
 #include "mission/acs/defs.h"
 #include "mission/power/defs.h"
-#include "mission/system/tree/util.h"
+#include "mission/system/treeUtil.h"
 
 AcsSubsystem satsystem::acs::ACS_SUBSYSTEM(objects::ACS_SUBSYSTEM, 12, 24);
 

mission/system/com/comModeTree.cpp

@@ -6,7 +6,7 @@
 
 #include "eive/objects.h"
 #include "mission/com/defs.h"
-#include "mission/system/tree/util.h"
+#include "mission/system/treeUtil.h"
 
 const auto check = subsystem::checkInsert;
 

mission/system/objects/CMakeLists.txt

@@ -1,9 +1,4 @@
 target_sources(
   ${LIB_EIVE_MISSION}
-  PRIVATE EiveSystem.cpp
+  PRIVATE CamSwitcher.cpp TcsSubsystem.cpp PayloadSubsystem.cpp
-          CamSwitcher.cpp
+          Stack5VHandler.cpp PowerStateMachineBase.cpp TcsBoardAssembly.cpp)
-          TcsSubsystem.cpp
-          PayloadSubsystem.cpp
-          Stack5VHandler.cpp
-          PowerStateMachineBase.cpp
-          TcsBoardAssembly.cpp)

mission/system/objects/EiveSystem.cpp

@@ -1,111 +0,0 @@
-#include "EiveSystem.h"
-
-#include <eive/objects.h>
-#include <fsfw/events/EventManager.h>
-#include <fsfw/ipc/QueueFactory.h>
-#include <mission/acs/defs.h>
-#include <mission/com/defs.h>
-#include <mission/controller/tcsDefs.h>
-
-#include "mission/sysDefs.h"
-
-EiveSystem::EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
-                       uint32_t maxNumberOfTables)
-    : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {
-  auto mqArgs = MqArgs(SubsystemBase::getObjectId(), static_cast<void*>(this));
-  eventQueue =
-      QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
-}
-
-void EiveSystem::announceMode(bool recursive) {
-  const char* modeStr = "UNKNOWN";
-  switch (mode) {
-    case (satsystem::Mode::BOOT): {
-      modeStr = "OFF/BOOT";
-      break;
-    }
-    case (satsystem::Mode::SAFE): {
-      modeStr = "SAFE";
-      break;
-    }
-    case (satsystem::Mode::PTG_IDLE): {
-      modeStr = "POINTING IDLE";
-      break;
-    }
-    case (acs::AcsMode::PTG_INERTIAL): {
-      modeStr = "POINTING INERTIAL";
-      break;
-    }
-    case (acs::AcsMode::PTG_TARGET): {
-      modeStr = "POINTING TARGET";
-      break;
-    }
-    case (acs::AcsMode::PTG_TARGET_GS): {
-      modeStr = "POINTING TARGET GS";
-      break;
-    }
-  }
-  sif::info << "EIVE system is now in " << modeStr << " mode" << std::endl;
-  return Subsystem::announceMode(recursive);
-}
-
-void EiveSystem::performChildOperation() {
-  Subsystem::performChildOperation();
-  handleEventMessages();
-  if (not isInTransition and performSafeRecovery) {
-    commandSelfToSafe();
-    performSafeRecovery = false;
-  }
-}
-
-ReturnValue_t EiveSystem::initialize() {
-  auto* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
-  if (manager == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "AcsSubsystem::initialize: Invalid event manager" << std::endl;
-#endif
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-  ReturnValue_t result = manager->registerListener(eventQueue->getId());
-  if (result != returnvalue::OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "AcsSubsystem::registerListener: Failed to register as "
-                    "listener"
-                 << std::endl;
-#endif
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-  manager->subscribeToEvent(eventQueue->getId(),
-                            event::getEventId(tcsCtrl::PCDU_SYSTEM_OVERHEATING));
-  manager->subscribeToEvent(eventQueue->getId(), event::getEventId(tcsCtrl::OBC_OVERHEATING));
-
-  return Subsystem::initialize();
-}
-
-void EiveSystem::handleEventMessages() {
-  EventMessage event;
-  for (ReturnValue_t status = eventQueue->receiveMessage(&event); status == returnvalue::OK;
-       status = eventQueue->receiveMessage(&event)) {
-    switch (event.getMessageId()) {
-      case EventMessage::EVENT_MESSAGE:
-        switch (event.getEvent()) {
-          case tcsCtrl::OBC_OVERHEATING:
-          case tcsCtrl::PCDU_SYSTEM_OVERHEATING: {
-            if (isInTransition) {
-              performSafeRecovery = true;
-              return;
-            }
-
-            commandSelfToSafe();
-            break;
-          }
-        }
-        break;
-      default:
-        sif::debug << "EiveSystem: Did not subscribe to event " << event.getEvent() << std::endl;
-        break;
-    }
-  }
-}
-
-void EiveSystem::commandSelfToSafe() { startTransition(satsystem::Mode::SAFE, 0); }

mission/system/objects/EiveSystem.h

@@ -1,21 +0,0 @@
-#ifndef MISSION_SYSTEM_EIVESYSTEM_H_
-#define MISSION_SYSTEM_EIVESYSTEM_H_
-
-#include <fsfw/subsystem/Subsystem.h>
-
-class EiveSystem : public Subsystem {
- public:
-  EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
-
- private:
-  MessageQueueIF* eventQueue = nullptr;
-  bool performSafeRecovery = false;
-
-  ReturnValue_t initialize() override;
-  void performChildOperation() override;
-  void announceMode(bool recursive) override;
-  void handleEventMessages();
-  void commandSelfToSafe();
-};
-
-#endif /* MISSION_SYSTEM_EIVESYSTEM_H_ */

mission/system/systemTree.cpp

@@ -1,4 +1,4 @@
-#include "system.h"
+#include "systemTree.h"
 
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <fsfw/subsystem/Subsystem.h>
@@ -9,9 +9,9 @@
 #include "eive/objects.h"
 #include "mission/com/defs.h"
 #include "mission/system/acs/acsModeTree.h"
-#include "payloadModeTree.h"
+#include "mission/system/tree/payloadModeTree.h"
-#include "tcsModeTree.h"
+#include "mission/system/tree/tcsModeTree.h"
-#include "util.h"
+#include "treeUtil.h"
 
 namespace {
 // Alias for checker function

mission/system/systemTree.h

@@ -1,7 +1,7 @@
 #ifndef MISSION_SYSTEM_TREE_SYSTEM_H_
 #define MISSION_SYSTEM_TREE_SYSTEM_H_
 
-#include <mission/system/objects/EiveSystem.h>
+#include <mission/system/EiveSystem.h>
 
 namespace satsystem {
 

mission/system/tree/CMakeLists.txt

@@ -1,2 +1 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE payloadModeTree.cpp tcsModeTree.cpp
+target_sources(${LIB_EIVE_MISSION} PRIVATE payloadModeTree.cpp tcsModeTree.cpp)
-                                           system.cpp util.cpp)

mission/system/tree/payloadModeTree.cpp

@@ -10,7 +10,7 @@
 #include "eive/objects.h"
 #include "mission/power/defs.h"
 #include "mission/system/objects/PayloadSubsystem.h"
-#include "util.h"
+#include "mission/system/treeUtil.h"
 
 namespace {
 void initOffSequence(Subsystem& ss, ModeListEntry& eh);

mission/system/tree/tcsModeTree.cpp

@@ -3,7 +3,7 @@
 #include "eive/objects.h"
 #include "fsfw/devicehandlers/DeviceHandlerIF.h"
 #include "fsfw/subsystem/Subsystem.h"
-#include "mission/system/tree/util.h"
+#include "mission/system/treeUtil.h"
 
 TcsSubsystem satsystem::tcs::SUBSYSTEM(objects::TCS_SUBSYSTEM, 12, 24);
 

mission/system/treeUtil.cpp

@@ -1,4 +1,4 @@
-#include "util.h"
+#include "treeUtil.h"
 
 #include "fsfw/container/FixedMap.h"
 #include "fsfw/serviceinterface.h"