Merge branch 'mueller/system-subsystems' into mueller/master

CMakeLists.txt

@@ -37,8 +37,12 @@ endif()
 include(${CMAKE_SCRIPT_PATH}/PreProjectConfig.cmake)
 pre_project_config()
 
+# Check whether the user has already installed Catch2 first. This has to come before
+# the project call. We could also exlcude doing this when the Q7S primary OBSW is built..
+find_package(Catch2 3 CONFIG QUIET)
+
 # Project Name
-project(eive-obsw ASM C CXX)
+project(eive-obsw)
 
 ################################################################################
 # Pre-Sources preparation
@@ -150,9 +154,6 @@ set(FSFW_ADDITIONAL_INC_PATHS
     ${CMAKE_CURRENT_BINARY_DIR}
 )
 
-# Check whether the user has already installed Catch2 first
-find_package(Catch2 3)
-
 ################################################################################
 # Executable and Sources
 ################################################################################
@@ -199,8 +200,10 @@ elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
 	set(COMPILER_FLAGS "/permissive-")
 endif()
 
+
 # Not installed, so use FetchContent to download and provide Catch2
 if(NOT Catch2_FOUND)
+    message(STATUS "Did not find a valid Catch2 installation. Using FetchContent to install it")
     include(FetchContent)
 
     FetchContent_Declare(

bsp_q7s/core/CoreController.cpp

@@ -625,9 +625,9 @@ ReturnValue_t CoreController::initVersionFile() {
   std::string fullObswVersionString = "OBSW: v" + std::to_string(SW_VERSION) + "." +
                                       std::to_string(SW_SUBVERSION) + "." +
                                       std::to_string(SW_REVISION);
-  std::string fullFsfwVersionString = "FSFW: v" + std::to_string(FSFW_VERSION.major) + "." +
+  char versionString[16] = {};
-                                      std::to_string(FSFW_VERSION.minor) + "." +
+  fsfw::FSFW_VERSION.getVersion(versionString, sizeof(versionString));
-                                      std::to_string(FSFW_VERSION.revision);
+  std::string fullFsfwVersionString = "FSFW: v" + std::string(versionString);
   std::string systemString = "System: " + unameLine;
   std::string mountPrefix = SdCardManager::instance()->getCurrentMountPrefix();
   std::string versionFilePath = mountPrefix + VERSION_FILE;

bsp_q7s/core/obsw.cpp

@@ -14,7 +14,6 @@ static int OBSW_ALREADY_RUNNING = -2;
 
 int obsw::obsw() {
   using namespace fsfw;
-  fsfw::getVersion(version);
   std::cout << "-- EIVE OBSW --" << std::endl;
 #if BOARD_TE0720 == 0
   std::cout << "-- Compiled for Linux (Xiphos Q7S) --" << std::endl;
@@ -22,8 +21,7 @@ int obsw::obsw() {
   std::cout << "-- Compiled for Linux (TE0720) --" << std::endl;
 #endif
   std::cout << "-- OBSW v" << SW_VERSION << "." << SW_SUBVERSION << "." << SW_REVISION << ", FSFW v"
-            << FSFW_VERSION.major << "." << FSFW_VERSION.minor << "." << FSFW_VERSION.revision
+            << FSFW_VERSION << "--" << std::endl;
-            << "--" << std::endl;
   std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
 
 #if Q7S_CHECK_FOR_ALREADY_RUNNING_IMG == 1

bsp_q7s/memory/SdCardManager.cpp

@@ -406,7 +406,7 @@ SdCardManager::OpStatus SdCardManager::checkCurrentOp(Operations& currentOp) {
   bool bytesRead = false;
 
 #if OBSW_ENABLE_TIMERS == 1
-  Countdown timer(100);
+  Countdown timer(1000);
 #endif
   while (true) {
     ReturnValue_t result = cmdExecutor.check(bytesRead);

bsp_q7s/memory/scratchApi.h

@@ -75,7 +75,7 @@ ReturnValue_t readToFile(std::string name, std::ifstream& file, std::string& fil
 
   int result = std::system(oss.str().c_str());
   if (result != 0) {
-    if (result == 256) {
+    if (WEXITSTATUS(result) == 1) {
       sif::warning << "scratch::readNumber: Key " << name << " does not exist" << std::endl;
       // Could not find value
       std::remove(filename.c_str());

common/config/OBSWVersion.h

@@ -5,6 +5,6 @@ const char* const SW_NAME = "eive";
 
 #define SW_VERSION 1
 #define SW_SUBVERSION 9
-#define SW_REVISION 0
+#define SW_REVISION 1
 
 #endif /* COMMON_CONFIG_OBSWVERSION_H_ */

common/config/commonSubsystemIds.h

@@ -21,6 +21,7 @@ enum: uint8_t {
 	STR_HELPER = 120,
 	PL_PCDU_HANDLER = 121,
 	ACS_BOARD_ASS = 122,
+	SUS_BOARD_ASS = 123,
 	COMMON_SUBSYSTEM_ID_END
 };
 }

fsfw

@@ -1 +1 @@
-Subproject commit 9509847b849c18374a5df809c2fb83dd98d66dc3
+Subproject commit fec5f83f4f2459facee25939e0292115f89a6d73

generators/.run/events.run.xml

@@ -12,7 +12,7 @@
     <option name="ADD_CONTENT_ROOTS" value="true" />
     <option name="ADD_SOURCE_ROOTS" value="true" />
     <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
-    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/fsfwgen.py" />
+    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/gen.py" />
     <option name="PARAMETERS" value="events" />
     <option name="SHOW_COMMAND_LINE" value="false" />
     <option name="EMULATE_TERMINAL" value="false" />

generators/.run/objects.run.xml

@@ -12,7 +12,7 @@
     <option name="ADD_CONTENT_ROOTS" value="true" />
     <option name="ADD_SOURCE_ROOTS" value="true" />
     <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
-    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/fsfwgen.py" />
+    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/gen.py" />
     <option name="PARAMETERS" value="objects" />
     <option name="SHOW_COMMAND_LINE" value="false" />
     <option name="EMULATE_TERMINAL" value="false" />

generators/.run/returnvalues.run.xml

@@ -12,7 +12,7 @@
     <option name="ADD_CONTENT_ROOTS" value="true" />
     <option name="ADD_SOURCE_ROOTS" value="true" />
     <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
-    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/fsfwgen.py" />
+    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/gen.py" />
     <option name="PARAMETERS" value="returnvalues" />
     <option name="SHOW_COMMAND_LINE" value="false" />
     <option name="EMULATE_TERMINAL" value="false" />

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
  * @brief    Auto-generated event translation file. Contains 162 translations.
  * @details
- * Generated on: 2022-03-07 17:09:35
+ * Generated on: 2022-03-11 14:31:47
  */
 #include "translateEvents.h"
 

generators/fsfwgen

@@ -1 +1 @@
-Subproject commit c5ef1783a3b082c0e88561bd91bc3ee0f459fafc
+Subproject commit 5dbe33ceb85b15f27e6722bb907df3ed324b701b

generators/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 113 translations.
- * Generated on: 2022-03-07 17:15:28
+ * Generated on: 2022-03-11 14:31:51
  */
 #include "translateObjects.h"
 

generators/returnvalues/returnvalues_parser.py

@@ -1,14 +1,7 @@
-#! /usr/bin/python3
+#! /usr/bin/env python3
 # -*- coding: utf-8 -*-
-"""
+"""Part of the MIB export tools for the EIVE project by.
-:file:      returnvalues_parser.py
+Returnvalue exporter.
-:brief:     Part of the MOD export tools for the SOURCE project by KSat.
-TODO: Integrate into Parser Structure instead of calling this file (no cpp file generated yet)
-:details:
-Return Value exporter.
-To use MySQLdb, run pip install mysqlclient or install in IDE. On Windows, Build Tools
-installation might be necessary.
-:data:      21.11.2019
 """
 from fsfwgen.core import get_console_logger
 from fsfwgen.utility.file_management import copy_file

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
  * @brief    Auto-generated event translation file. Contains 162 translations.
  * @details
- * Generated on: 2022-03-07 17:09:35
+ * Generated on: 2022-03-11 14:31:47
  */
 #include "translateEvents.h"
 

linux/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 113 translations.
- * Generated on: 2022-03-07 17:15:28
+ * Generated on: 2022-03-11 14:31:51
  */
 #include "translateObjects.h"
 

mission/system/AcsBoardAssembly.cpp

@@ -6,8 +6,8 @@
 
 AcsBoardAssembly::AcsBoardAssembly(object_id_t objectId, object_id_t parentId,
                                    PowerSwitchIF* switcher, AcsBoardHelper helper, GpioIF* gpioIF)
-    : AssemblyBase(objectId, parentId),
+    : DualLaneAssemblyBase(objectId, parentId, switcher, SWITCH_A, SWITCH_B,
-      pwrStateMachine(SWITCH_A, SWITCH_B, switcher),
+                           POWER_STATE_MACHINE_TIMEOUT),
       helper(helper),
       gpioIF(gpioIF) {
   if (switcher == nullptr) {
@@ -19,46 +19,15 @@ AcsBoardAssembly::AcsBoardAssembly(object_id_t objectId, object_id_t parentId,
     sif::error << "AcsBoardAssembly::AcsBoardAssembly: Invalid GPIO IF passed" << std::endl;
   }
   ModeListEntry entry;
-  initModeTableEntry(helper.mgm0Lis3IdSideA, entry);
+  initModeTableEntry(helper.mgm0Lis3IdSideA, entry, modeTable);
-  initModeTableEntry(helper.mgm1Rm3100IdSideA, entry);
+  initModeTableEntry(helper.mgm1Rm3100IdSideA, entry, modeTable);
-  initModeTableEntry(helper.mgm2Lis3IdSideB, entry);
+  initModeTableEntry(helper.mgm2Lis3IdSideB, entry, modeTable);
-  initModeTableEntry(helper.mgm3Rm3100IdSideB, entry);
+  initModeTableEntry(helper.mgm3Rm3100IdSideB, entry, modeTable);
-  initModeTableEntry(helper.gyro0AdisIdSideA, entry);
+  initModeTableEntry(helper.gyro0AdisIdSideA, entry, modeTable);
-  initModeTableEntry(helper.gyro1L3gIdSideA, entry);
+  initModeTableEntry(helper.gyro1L3gIdSideA, entry, modeTable);
-  initModeTableEntry(helper.gyro2AdisIdSideB, entry);
+  initModeTableEntry(helper.gyro2AdisIdSideB, entry, modeTable);
-  initModeTableEntry(helper.gyro3L3gIdSideB, entry);
+  initModeTableEntry(helper.gyro3L3gIdSideB, entry, modeTable);
-  initModeTableEntry(helper.gpsId, entry);
+  initModeTableEntry(helper.gpsId, entry, modeTable);
-}
-
-void AcsBoardAssembly::performChildOperation() {
-  using namespace duallane;
-  if (pwrStateMachine.active()) {
-    pwrStateMachineWrapper();
-    // This state is the indicator that the power state machine is done
-  }
-  if (not pwrStateMachine.active()) {
-    AssemblyBase::performChildOperation();
-  }
-}
-
-void AcsBoardAssembly::startTransition(Mode_t mode, Submode_t submode) {
-  using namespace duallane;
-  pwrStateMachine.reset();
-  // If anything other than MODE_OFF is commanded, perform power state machine first
-  if (mode != MODE_OFF) {
-    // Cache the target modes, required by power state machine
-    pwrStateMachine.start(mode, submode);
-    // Cache these for later after the power state machine has finished
-    targetMode = mode;
-    targetSubmode = submode;
-    // Perform power state machine first, then start mode transition. The power state machine will
-    // start the transition after it has finished
-    pwrStateMachineWrapper();
-  } else {
-    // Command the devices to off first before switching off the power. The handleModeReached
-    // custom implementation will take care of starting the power state machine.
-    AssemblyBase::startTransition(mode, submode);
-  }
 }
 
 ReturnValue_t AcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode) {
@@ -95,11 +64,6 @@ ReturnValue_t AcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode)
 ReturnValue_t AcsBoardAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) {
   using namespace duallane;
   refreshHelperModes();
-  //  if (state == PwrStates::SWITCHING_POWER) {
-  //    // Wrong mode
-  //    sif::error << "Wrong mode, currently switching power" << std::endl;
-  //    return RETURN_OK;
-  //  }
   if (wantedSubmode == A_SIDE) {
     if ((helper.gyro0SideAMode != wantedMode and helper.gyro1SideAMode != wantedMode) or
         (helper.mgm0SideAMode != wantedMode and helper.mgm1SideAMode != wantedMode) or
@@ -237,42 +201,6 @@ ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
   return result;
 }
 
-ReturnValue_t AcsBoardAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {
-  using namespace duallane;
-  if (submode != A_SIDE and submode != B_SIDE and submode != DUAL_MODE) {
-    return HasReturnvaluesIF::RETURN_FAILED;
-  }
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-bool AcsBoardAssembly::isUseable(object_id_t object, Mode_t mode) {
-  if (healthHelper.healthTable->isFaulty(object)) {
-    return false;
-  }
-
-  // Check if device is already in target mode
-  if (childrenMap[object].mode == mode) {
-    return true;
-  }
-
-  if (healthHelper.healthTable->isCommandable(object)) {
-    return true;
-  }
-  return false;
-}
-
-void AcsBoardAssembly::handleModeReached() {
-  using namespace duallane;
-  if (targetMode == MODE_OFF) {
-    pwrStateMachine.start(targetMode, targetSubmode);
-    // Now we can switch off the power. After that, the AssemblyBase::handleModeReached function
-    // will be called
-    pwrStateMachineWrapper();
-  } else {
-    finishModeOp();
-  }
-}
-
 void AcsBoardAssembly::handleChildrenLostMode(ReturnValue_t result) {
   using namespace duallane;
   // Some ACS board components are required for Safe-Mode. It would be good if the software
@@ -357,14 +285,6 @@ void AcsBoardAssembly::refreshHelperModes() {
   }
 }
 
-void AcsBoardAssembly::initModeTableEntry(object_id_t id, ModeListEntry& entry) {
-  entry.setObject(id);
-  entry.setMode(MODE_OFF);
-  entry.setSubmode(SUBMODE_NONE);
-  entry.setInheritSubmode(false);
-  modeTable.insert(entry);
-}
-
 void AcsBoardAssembly::finishModeOp() {
   using namespace duallane;
   AssemblyBase::handleModeReached();
@@ -374,30 +294,6 @@ void AcsBoardAssembly::finishModeOp() {
   dualModeErrorSwitch = true;
 }
 
-ReturnValue_t AcsBoardAssembly::pwrStateMachineWrapper() {
-  using namespace duallane;
-  OpCodes opCode = pwrStateMachine.powerStateMachine();
-  if (opCode == OpCodes::NONE) {
-    return RETURN_OK;
-  } else if (opCode == OpCodes::FINISH_OP) {
-    finishModeOp();
-  } else if (opCode == OpCodes::START_TRANSITION) {
-    AssemblyBase::startTransition(targetMode, targetSubmode);
-  } else if (opCode == OpCodes::TIMEOUT_OCCURED) {
-    if (powerRetryCounter == 0) {
-      powerRetryCounter++;
-      pwrStateMachine.reset();
-    } else {
-#if OBSW_VERBOSE_LEVEL >= 1
-      sif::warning << "Timeout occured in power state machine" << std::endl;
-#endif
-      triggerEvent(POWER_STATE_MACHINE_TIMEOUT, 0, 0);
-      return RETURN_FAILED;
-    }
-  }
-  return RETURN_OK;
-}
-
 ReturnValue_t AcsBoardAssembly::initialize() {
   ReturnValue_t result = registerChild(helper.gyro0AdisIdSideA);
   if (result != HasReturnvaluesIF::RETURN_OK) {

mission/system/AcsBoardAssembly.h

@@ -3,9 +3,9 @@
 
 #include <common/config/commonSubsystemIds.h>
 #include <devices/powerSwitcherList.h>
-#include <fsfw/devicehandlers/AssemblyBase.h>
 #include <fsfw/objectmanager/frameworkObjects.h>
 
+#include "DualLaneAssemblyBase.h"
 #include "DualLanePowerStateMachine.h"
 
 struct AcsBoardHelper {
@@ -71,8 +71,12 @@ class GpioIF;
  * doing this task would be performed by the device handlers, but this is not possible for the
  * ACS board where multiple sensors share the same power supply.
  */
-class AcsBoardAssembly : public AssemblyBase {
+class AcsBoardAssembly : public DualLaneAssemblyBase {
  public:
+  // Use these variables instead of magic numbers when generator was updated
+  // TRANSITION_OTHER_SIDE_FAILED_ID
+  // NOT_ENOUGH_DEVICES_DUAL_MODE_ID
+  // POWER_STATE_MACHINE_TIMEOUT_ID
   static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_BOARD_ASS;
   static constexpr Event TRANSITION_OTHER_SIDE_FAILED =
       event::makeEvent(SUBSYSTEM_ID, 0, severity::HIGH);
@@ -101,12 +105,10 @@ class AcsBoardAssembly : public AssemblyBase {
   static constexpr pcduSwitches::Switches SWITCH_B =
       pcduSwitches::Switches::PDU2_CH7_ACS_BOARD_SIDE_B_3V3;
 
-  // This helper object complete encapsulates power switching
-  DualLanePowerStateMachine pwrStateMachine;
   bool tryingOtherSide = false;
   AcsBoardHelper helper;
   GpioIF* gpioIF = nullptr;
-  uint8_t powerRetryCounter = 0;
+
   // duallane::PwrStates state = duallane::PwrStates::IDLE;
   duallane::Submodes defaultSubmode = duallane::Submodes::A_SIDE;
   bool dualModeErrorSwitch = true;
@@ -117,31 +119,13 @@ class AcsBoardAssembly : public AssemblyBase {
   // AssemblyBase overrides
   ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
   ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
-  ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
+
-  void performChildOperation() override;
-  void startTransition(Mode_t mode, Submode_t submode) override;
-  void handleModeReached() override;
   void handleModeTransitionFailed(ReturnValue_t result) override;
   void handleChildrenLostMode(ReturnValue_t result) override;
 
-  /**
-   * Check whether it makes sense to send mode commands to the device
-   * @param object
-   * @param mode
-   * @return
-   */
-  bool isUseable(object_id_t object, Mode_t mode);
   ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode);
-  void initModeTableEntry(object_id_t id, ModeListEntry& entry);
   void refreshHelperModes();
   void finishModeOp();
-  /**
-   * Thin wrapper function which is required because the helper class
-   * can not access protected member functions.
-   * @param mode
-   * @param submode
-   */
-  ReturnValue_t pwrStateMachineWrapper();
 };
 
 #endif /* MISSION_SYSTEM_ACSBOARDASSEMBLY_H_ */

mission/system/CMakeLists.txt

@@ -7,4 +7,5 @@ target_sources(${LIB_EIVE_MISSION} PRIVATE
     ComSubsystem.cpp
     TcsSubsystem.cpp
     DualLanePowerStateMachine.cpp
+    DualLaneAssemblyBase.cpp
 )

mission/system/DualLaneAssemblyBase.cpp

@@ -0,0 +1,105 @@
+#include "DualLaneAssemblyBase.h"
+
+DualLaneAssemblyBase::DualLaneAssemblyBase(object_id_t objectId, object_id_t parentId,
+                                           PowerSwitchIF* pwrSwitcher,
+                                           pcduSwitches::Switches switch1,
+                                           pcduSwitches::Switches switch2, Event pwrTimeoutEvent)
+    : AssemblyBase(objectId, parentId),
+      pwrStateMachine(switch1, switch2, pwrSwitcher),
+      pwrTimeoutEvent(pwrTimeoutEvent) {}
+
+void DualLaneAssemblyBase::performChildOperation() {
+  using namespace duallane;
+  if (pwrStateMachine.active()) {
+    pwrStateMachineWrapper();
+  }
+  // Only perform the regular child operation if the power state machine is not active.
+  // It does not make any sense to command device modes while the power switcher is busy
+  // switching off or on devices.
+  if (not pwrStateMachine.active()) {
+    AssemblyBase::performChildOperation();
+  }
+}
+
+void DualLaneAssemblyBase::startTransition(Mode_t mode, Submode_t submode) {
+  using namespace duallane;
+  pwrStateMachine.reset();
+  // If anything other than MODE_OFF is commanded, perform power state machine first
+  if (mode != MODE_OFF) {
+    // Cache the target modes, required by power state machine
+    pwrStateMachine.start(mode, submode);
+    // Cache these for later after the power state machine has finished
+    targetMode = mode;
+    targetSubmode = submode;
+    // Perform power state machine first, then start mode transition. The power state machine will
+    // start the transition after it has finished
+    pwrStateMachineWrapper();
+  } else {
+    // Command the devices to off first before switching off the power. The handleModeReached
+    // custom implementation will take care of starting the power state machine.
+    AssemblyBase::startTransition(mode, submode);
+  }
+}
+
+bool DualLaneAssemblyBase::isUseable(object_id_t object, Mode_t mode) {
+  if (healthHelper.healthTable->isFaulty(object)) {
+    return false;
+  }
+
+  // Check if device is already in target mode
+  if (childrenMap[object].mode == mode) {
+    return true;
+  }
+
+  if (healthHelper.healthTable->isCommandable(object)) {
+    return true;
+  }
+  return false;
+}
+
+ReturnValue_t DualLaneAssemblyBase::pwrStateMachineWrapper() {
+  using namespace duallane;
+  OpCodes opCode = pwrStateMachine.powerStateMachine();
+  if (opCode == OpCodes::NONE) {
+    return RETURN_OK;
+  } else if (opCode == OpCodes::FINISH_OP) {
+    // Will be called for transitions to MODE_OFF, where everything is done after power switching
+    finishModeOp();
+  } else if (opCode == OpCodes::START_TRANSITION) {
+    // Will be called for transitions from MODE_OFF to anything else, where the mode still has
+    // to be commanded after power switching
+    AssemblyBase::startTransition(targetMode, targetSubmode);
+  } else if (opCode == OpCodes::TIMEOUT_OCCURED) {
+    if (powerRetryCounter == 0) {
+      powerRetryCounter++;
+      pwrStateMachine.reset();
+    } else {
+#if OBSW_VERBOSE_LEVEL >= 1
+      sif::warning << "Timeout occured in power state machine" << std::endl;
+#endif
+      triggerEvent(pwrTimeoutEvent, 0, 0);
+      return RETURN_FAILED;
+    }
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t DualLaneAssemblyBase::isModeCombinationValid(Mode_t mode, Submode_t submode) {
+  using namespace duallane;
+  if (submode != A_SIDE and submode != B_SIDE and submode != DUAL_MODE) {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+void DualLaneAssemblyBase::handleModeReached() {
+  using namespace duallane;
+  if (targetMode == MODE_OFF) {
+    pwrStateMachine.start(targetMode, targetSubmode);
+    // Now we can switch off the power. After that, the AssemblyBase::handleModeReached function
+    // will be called
+    pwrStateMachineWrapper();
+  } else {
+    finishModeOp();
+  }
+}

mission/system/DualLaneAssemblyBase.h

@@ -0,0 +1,73 @@
+#ifndef MISSION_SYSTEM_DUALLANEASSEMBLYBASE_H_
+#define MISSION_SYSTEM_DUALLANEASSEMBLYBASE_H_
+
+#include <fsfw/devicehandlers/AssemblyBase.h>
+#include <mission/system/DualLanePowerStateMachine.h>
+
+/**
+ * @brief   Encapsulates assemblies which are also responsible for dual lane power switching
+ * @details
+ * This is the base class for both the ACS board and the SUS board. Both boards have redundant
+ * power lanes and are required for the majority of satellite modes. Therefore, there is a lot
+ * of common code, for example the power switching.
+ */
+class DualLaneAssemblyBase : public AssemblyBase {
+ public:
+  static constexpr uint8_t TRANSITION_OTHER_SIDE_FAILED_ID = 0;
+  static constexpr uint8_t NOT_ENOUGH_DEVICES_DUAL_MODE_ID = 1;
+  static constexpr uint8_t POWER_STATE_MACHINE_TIMEOUT_ID = 2;
+
+  DualLaneAssemblyBase(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
+                       pcduSwitches::Switches switch1, pcduSwitches::Switches switch2,
+                       Event pwrSwitchTimeoutEvent);
+
+ protected:
+  // This helper object complete encapsulates power switching
+  DualLanePowerStateMachine pwrStateMachine;
+  Event pwrTimeoutEvent;
+  uint8_t powerRetryCounter = 0;
+
+  /**
+   * Check whether it makes sense to send mode commands to the device
+   * @param object
+   * @param mode
+   * @return
+   */
+  bool isUseable(object_id_t object, Mode_t mode);
+  /**
+   * Thin wrapper function which is required because the helper class
+   * can not access protected member functions.
+   * @param mode
+   * @param submode
+   */
+  virtual ReturnValue_t pwrStateMachineWrapper();
+  virtual ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
+  virtual void performChildOperation() override;
+  virtual void startTransition(Mode_t mode, Submode_t submode) override;
+  virtual void handleModeReached();
+
+  /**
+   * Implemented by user. Will be called if a full mode operation has finished.
+   * This includes both the regular mode state machine operations and the power state machine
+   * operations
+   */
+  virtual void finishModeOp() = 0;
+
+  template <size_t MAX_SIZE>
+  void initModeTableEntry(object_id_t id, ModeListEntry& entry,
+                          FixedArrayList<ModeListEntry, MAX_SIZE>& modeTable);
+
+ private:
+};
+
+template <size_t MAX_SIZE>
+inline void DualLaneAssemblyBase::initModeTableEntry(
+    object_id_t id, ModeListEntry& entry, FixedArrayList<ModeListEntry, MAX_SIZE>& modeTable) {
+  entry.setObject(id);
+  entry.setMode(MODE_OFF);
+  entry.setSubmode(SUBMODE_NONE);
+  entry.setInheritSubmode(false);
+  modeTable.insert(entry);
+}
+
+#endif /* MISSION_SYSTEM_DUALLANEASSEMBLYBASE_H_ */

mission/system/SusAssembly.cpp

@@ -6,10 +6,13 @@
 
 SusAssembly::SusAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
                          SusAssHelper helper)
-    : AssemblyBase(objectId, parentId), helper(helper), pwrSwitcher(pwrSwitcher) {
+    : DualLaneAssemblyBase(objectId, parentId, pwrSwitcher, SWITCH_NOM, SWITCH_RED,
+                           POWER_STATE_MACHINE_TIMEOUT),
+      helper(helper),
+      pwrSwitcher(pwrSwitcher) {
   ModeListEntry entry;
   for (uint8_t idx = 0; idx < NUMBER_SUN_SENSORS; idx++) {
-    initModeTableEntry(helper.susIds[idx], entry);
+    initModeTableEntry(helper.susIds[idx], entry, modeTable);
   }
 }
 
@@ -34,6 +37,7 @@ ReturnValue_t SusAssembly::commandChildren(Mode_t mode, Submode_t submode) {
 }
 
 ReturnValue_t SusAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode) {
+  using namespace duallane;
   ReturnValue_t result = RETURN_OK;
   auto cmdSeq = [&](object_id_t objectId, uint8_t tableIdx) {
     if (mode == DeviceHandlerIF::MODE_NORMAL) {
@@ -55,7 +59,7 @@ ReturnValue_t SusAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submod
     }
   };
   switch (submode) {
-    case (NOMINAL): {
+    case (A_SIDE): {
       for (uint8_t idx = 0; idx < NUMBER_SUN_SENSORS_ONE_SIDE; idx++) {
         cmdSeq(helper.susIds[idx], idx);
         // Switch off devices on redundant side
@@ -64,7 +68,7 @@ ReturnValue_t SusAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submod
       }
       return result;
     }
-    case (REDUNDANT): {
+    case (B_SIDE): {
       for (uint8_t idx = NUMBER_SUN_SENSORS_ONE_SIDE; idx < NUMBER_SUN_SENSORS; idx++) {
         cmdSeq(helper.susIds[idx], idx);
         // Switch devices on nominal side
@@ -84,15 +88,16 @@ ReturnValue_t SusAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submod
 }
 
 ReturnValue_t SusAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) {
+  using namespace duallane;
   refreshHelperModes();
-  if (wantedSubmode == NOMINAL) {
+  if (wantedSubmode == A_SIDE) {
     for (uint8_t idx = 0; idx < NUMBER_SUN_SENSORS_ONE_SIDE; idx++) {
       if (helper.susModes[idx] != wantedMode) {
         return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
       }
     }
     return RETURN_OK;
-  } else if (wantedSubmode == REDUNDANT) {
+  } else if (wantedSubmode == B_SIDE) {
     for (uint8_t idx = NUMBER_SUN_SENSORS_ONE_SIDE; idx < NUMBER_SUN_SENSORS; idx++) {
       if (helper.susModes[idx] != wantedMode) {
         return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
@@ -108,13 +113,6 @@ ReturnValue_t SusAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wan
   return RETURN_OK;
 }
 
-ReturnValue_t SusAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {
-  if (submode != NOMINAL and submode != REDUNDANT and submode != DUAL_MODE) {
-    return HasReturnvaluesIF::RETURN_FAILED;
-  }
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
 ReturnValue_t SusAssembly::initialize() {
   ReturnValue_t result = RETURN_OK;
   for (const auto& id : helper.susIds) {
@@ -142,92 +140,13 @@ bool SusAssembly::isUseable(object_id_t object, Mode_t mode) {
   return false;
 }
 
-void SusAssembly::powerStateMachine(Mode_t mode, Submode_t submode) {
-  ReturnValue_t switchStateNom = RETURN_OK;
-  ReturnValue_t switchStateRed = RETURN_OK;
-  if (state == States::IDLE or state == States::SWITCHING_POWER) {
-    switchStateNom = pwrSwitcher->getSwitchState(SWITCH_NOM);
-    switchStateRed = pwrSwitcher->getSwitchState(SWITCH_RED);
-  } else {
-    return;
-  }
-  if (mode == MODE_OFF) {
-    if (switchStateNom == PowerSwitchIF::SWITCH_OFF and
-        switchStateRed == PowerSwitchIF::SWITCH_OFF) {
-      state = States::MODE_COMMANDING;
-      return;
-    }
-  } else {
-    if (state == States::IDLE) {
-      if (mode == MODE_OFF) {
-        if (switchStateNom != PowerSwitchIF::SWITCH_OFF) {
-          pwrSwitcher->sendSwitchCommand(SWITCH_NOM, false);
-        }
-        if (switchStateRed != PowerSwitchIF::SWITCH_OFF) {
-          pwrSwitcher->sendSwitchCommand(SWITCH_RED, false);
-        }
-      } else {
-        switch (submode) {
-          case (NOMINAL): {
-            if (switchStateNom != PowerSwitchIF::SWITCH_ON) {
-              pwrSwitcher->sendSwitchCommand(SWITCH_NOM, true);
-            }
-            if (switchStateRed != PowerSwitchIF::SWITCH_OFF) {
-              pwrSwitcher->sendSwitchCommand(SWITCH_RED, false);
-            }
-            break;
-          }
-          case (REDUNDANT): {
-            if (switchStateRed != PowerSwitchIF::SWITCH_OFF) {
-              pwrSwitcher->sendSwitchCommand(SWITCH_RED, false);
-            }
-            if (switchStateNom != PowerSwitchIF::SWITCH_ON) {
-              pwrSwitcher->sendSwitchCommand(SWITCH_NOM, true);
-            }
-            break;
-          }
-          case (DUAL_MODE): {
-            if (switchStateNom != PowerSwitchIF::SWITCH_ON) {
-              pwrSwitcher->sendSwitchCommand(SWITCH_NOM, true);
-            }
-            if (switchStateRed != PowerSwitchIF::SWITCH_ON) {
-              pwrSwitcher->sendSwitchCommand(SWITCH_RED, true);
-            }
-            break;
-          }
-        }
-      }
-      state = States::SWITCHING_POWER;
-    }
-    if (state == States::SWITCHING_POWER) {
-      // TODO: Could check for a timeout (temporal or cycles) here and resend command
-    }
-  }
-}
-
 void SusAssembly::handleModeReached() {
   AssemblyBase::handleModeReached();
   state = States::IDLE;
 }
 
-void SusAssembly::handleModeTransitionFailed(ReturnValue_t result) {
-  // The sun-sensors are required for the Safe-Mode. It would be good if the software
-  // transitions from nominal side to redundant side and from redundant side to dual mode
-  // autonomously to ensure that that enough sensors are available witout an operators intervention.
-  // Therefore, the failure handler is overriden to perform these steps.
-  // TODO: Implement transitions mentioned above
-}
-
 void SusAssembly::refreshHelperModes() {
   for (uint8_t idx = 0; idx < helper.susModes.size(); idx++) {
     helper.susModes[idx] = childrenMap[helper.susIds[idx]].mode;
   }
 }
-
-void SusAssembly::initModeTableEntry(object_id_t id, ModeListEntry& entry) {
-  entry.setObject(id);
-  entry.setMode(MODE_OFF);
-  entry.setSubmode(SUBMODE_NONE);
-  entry.setInheritSubmode(false);
-  modeTable.insert(entry);
-}

mission/system/SusAssembly.h

@@ -4,6 +4,8 @@
 #include <devices/powerSwitcherList.h>
 #include <fsfw/devicehandlers/AssemblyBase.h>
 
+#include "DualLaneAssemblyBase.h"
+
 struct SusAssHelper {
  public:
   SusAssHelper(std::array<object_id_t, 12> susIds) : susIds(susIds) {}
@@ -13,14 +15,18 @@ struct SusAssHelper {
 
 class PowerSwitchIF;
 
-class SusAssembly : AssemblyBase {
+class SusAssembly : DualLaneAssemblyBase {
  public:
   static constexpr uint8_t NUMBER_SUN_SENSORS_ONE_SIDE = 6;
   static constexpr uint8_t NUMBER_SUN_SENSORS = 12;
 
-  static constexpr Submode_t NOMINAL = 0;
+  static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SUS_BOARD_ASS;
-  static constexpr Submode_t REDUNDANT = 1;
+  static constexpr Event TRANSITION_OTHER_SIDE_FAILED =
-  static constexpr Submode_t DUAL_MODE = 2;
+      event::makeEvent(SUBSYSTEM_ID, TRANSITION_OTHER_SIDE_FAILED_ID, severity::HIGH);
+  static constexpr Event NOT_ENOUGH_DEVICES_DUAL_MODE =
+      event::makeEvent(SUBSYSTEM_ID, NOT_ENOUGH_DEVICES_DUAL_MODE_ID, severity::HIGH);
+  static constexpr Event POWER_STATE_MACHINE_TIMEOUT =
+      event::makeEvent(SUBSYSTEM_ID, POWER_STATE_MACHINE_TIMEOUT_ID, severity::MEDIUM);
 
   SusAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
               SusAssHelper helper);
@@ -54,7 +60,6 @@ class SusAssembly : AssemblyBase {
   bool isUseable(object_id_t object, Mode_t mode);
   void powerStateMachine(Mode_t mode, Submode_t submode);
   ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode);
-  void initModeTableEntry(object_id_t id, ModeListEntry& entry);
   void refreshHelperModes();
 };
 

tmtc

@@ -1 +1 @@
-Subproject commit de68ad9341fbe5570b84305f33562702e3486364
+Subproject commit eedb45e4f34bd77d328745808e9acfe4668a1e35