Merge pull request 'Init Boot Mode' (#474) from feature_boot_sequence_eive_sys into develop

Reviewed-on: #474

CHANGELOG.md

@@ -47,7 +47,8 @@ eive-tmtc: v2.19.1
   PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/462
 - Add `PcduHandlerDummy` component.
 - Added parameter for timeout until `MEKF_INVALID_MODE_VIOLATION` event is triggered.
-
+- EIVE system: Add boot mode which is also the initial mode. The fallback mode of the boot mode
+  will be the SAFE mode. The boot mode can also be used to switch as many devices as possible OFF.
 ## Fixed
 
 - Pointing control of the `AcsController` was still expecting submodes instead of modes.
@@ -68,6 +69,11 @@ eive-tmtc: v2.19.1
 - Set `OBSW_ADD_TCS_CTRL` to 1. Always add TCS controller now for both EM and FM.
 - generators module: Bump `fsfwgen` dependency to v0.3.1. The returnvalue CSV files are now sorted.
 - generators module: Always generate subsystem ID CSV files now.
+- The COM subsystem is now not commanded by the EIVE system anymore. Instead,
+  a separate RX_ONLY mode command will be sent at OBSW boot. After that,
+  commanding is done autonomously by the COM subsystem internally or by the operator. This prevents
+  the transmitter from going off during fallbacks to the SAFE mode, which might not always be
+  desired.
 
 # [v1.37.0] 2023-03-11
 

bsp_q7s/obsw.cpp

@@ -15,6 +15,7 @@
 #include "fsfw/tasks/TaskFactory.h"
 #include "fsfw/version.h"
 #include "mission/acsDefs.h"
+#include "mission/comDefs.h"
 #include "mission/system/tree/system.h"
 #include "q7sConfig.h"
 #include "watchdog/definitions.h"
@@ -66,6 +67,7 @@ int obsw::obsw(int argc, char* argv[]) {
 
   // Command the EIVE system to safe mode
 #if OBSW_COMMAND_SAFE_MODE_AT_STARTUP == 1
+  commandComSubsystemRxOnly();
   commandEiveSystemToSafe();
 #else
   announceAllModes();
@@ -116,7 +118,22 @@ void obsw::commandEiveSystemToSafe() {
   ReturnValue_t result =
       MessageQueueSenderIF::sendMessage(sysQueueId, &msg, MessageQueueIF::NO_QUEUE, false);
   if (result != returnvalue::OK) {
-    sif::error << "Sending safe mode command to EIVE system failed" << std::endl;
+    sif::error << "obsw: Sending safe mode command to EIVE system failed" << std::endl;
+  }
+}
+
+void obsw::commandComSubsystemRxOnly() {
+  auto* comSs = ObjectManager::instance()->get<HasModesIF>(objects::COM_SUBSYSTEM);
+  if (comSs == nullptr) {
+    sif::error << "obsw: Could not retrieve COM subsystem object" << std::endl;
+    return;
+  }
+  CommandMessage msg;
+  ModeMessage::setCmdModeMessage(msg, com::RX_ONLY, 0);
+  ReturnValue_t result = MessageQueueSenderIF::sendMessage(comSs->getCommandQueue(), &msg,
+                                                           MessageQueueIF::NO_QUEUE, false);
+  if (result != returnvalue::OK) {
+    sif::error << "obsw: Sending RX_ONLY mode command to COM subsystem failed" << std::endl;
   }
 }
 
@@ -127,6 +144,6 @@ void obsw::announceAllModes() {
   ReturnValue_t result =
       MessageQueueSenderIF::sendMessage(sysQueueId, &msg, MessageQueueIF::NO_QUEUE, false);
   if (result != returnvalue::OK) {
-    sif::error << "Sending safe mode command to EIVE system failed" << std::endl;
+    sif::error << "obsw: Sending safe mode command to EIVE system failed" << std::endl;
   }
 }

bsp_q7s/obsw.h

@@ -7,6 +7,7 @@ int obsw(int argc, char* argv[]);
 
 void bootDelayHandling();
 void commandEiveSystemToSafe();
+void commandComSubsystemRxOnly();
 void announceAllModes();
 
 };  // namespace obsw

mission/sysDefs.h

@@ -0,0 +1,11 @@
+#ifndef MISSION_SYSDEFS_H_
+#define MISSION_SYSDEFS_H_
+
+#include "acsDefs.h"
+namespace satsystem {
+
+enum Mode : Mode_t { BOOT = 5, SAFE = acs::AcsMode::SAFE, PTG_IDLE = acs::AcsMode::PTG_IDLE };
+
+}
+
+#endif /* MISSION_SYSDEFS_H_ */

mission/system/tree/system.cpp

@@ -3,6 +3,7 @@
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <fsfw/subsystem/Subsystem.h>
 #include <mission/acsDefs.h>
+#include <mission/sysDefs.h>
 
 #include "acsModeTree.h"
 #include "comModeTree.h"
@@ -16,6 +17,7 @@ namespace {
 // Alias for checker function
 const auto check = subsystem::checkInsert;
 
+void buildBootSequence(Subsystem& ss, ModeListEntry& eh);
 void buildSafeSequence(Subsystem& ss, ModeListEntry& eh);
 void buildIdleSequence(Subsystem& ss, ModeListEntry& eh);
 }  // namespace
@@ -33,29 +35,36 @@ void satsystem::init() {
   auto& comSubsystem = com::init();
   comSubsystem.connectModeTreeParent(EIVE_SYSTEM);
   ModeListEntry entry;
+  buildBootSequence(EIVE_SYSTEM, entry);
   buildSafeSequence(EIVE_SYSTEM, entry);
   buildIdleSequence(EIVE_SYSTEM, entry);
-  EIVE_SYSTEM.setInitialMode(HasModesIF::MODE_OFF, 0);
+  EIVE_SYSTEM.setInitialMode(satsystem::Mode::BOOT, 0);
 }
 
 EiveSystem satsystem::EIVE_SYSTEM = EiveSystem(objects::EIVE_SYSTEM, 12, 24);
 
-auto EIVE_SEQUENCE_SAFE = std::make_pair(acs::AcsMode::SAFE, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_SEQUENCE_BOOT = std::make_pair(satsystem::Mode::BOOT, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_BOOT_TGT =
+    std::make_pair((satsystem::Mode::BOOT << 24) | 1, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_BOOT_TRANS_0 =
+    std::make_pair((satsystem::Mode::BOOT << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+
+auto EIVE_SEQUENCE_SAFE = std::make_pair(satsystem::Mode::SAFE, FixedArrayList<ModeListEntry, 5>());
 auto EIVE_TABLE_SAFE_TGT =
-    std::make_pair((acs::AcsMode::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 5>());
+    std::make_pair((satsystem::Mode::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 5>());
 auto EIVE_TABLE_SAFE_TRANS_0 =
-    std::make_pair((acs::AcsMode::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+    std::make_pair((satsystem::Mode::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
 auto EIVE_TABLE_SAFE_TRANS_1 =
-    std::make_pair((acs::AcsMode::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 5>());
+    std::make_pair((satsystem::Mode::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 5>());
 
 auto EIVE_SEQUENCE_IDLE =
-    std::make_pair(acs::AcsMode::PTG_IDLE, FixedArrayList<ModeListEntry, 5>());
+    std::make_pair(satsystem::Mode::PTG_IDLE, FixedArrayList<ModeListEntry, 5>());
 auto EIVE_TABLE_IDLE_TGT =
-    std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 1, FixedArrayList<ModeListEntry, 5>());
+    std::make_pair((satsystem::Mode::PTG_IDLE << 24) | 1, FixedArrayList<ModeListEntry, 5>());
 auto EIVE_TABLE_IDLE_TRANS_0 =
-    std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+    std::make_pair((satsystem::Mode::PTG_IDLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
 auto EIVE_TABLE_IDLE_TRANS_1 =
-    std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 3, FixedArrayList<ModeListEntry, 5>());
+    std::make_pair((satsystem::Mode::PTG_IDLE << 24) | 3, FixedArrayList<ModeListEntry, 5>());
 
 namespace {
 
@@ -89,7 +98,6 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
 
   // Build SAFE transition 0.
   iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_SAFE_TRANS_0.second);
-  iht(objects::COM_SUBSYSTEM, com::RX_ONLY, 0, EIVE_TABLE_SAFE_TRANS_0.second);
   iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_SAFE_TRANS_0.second);
   iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TRANS_0.second, true);
   check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TRANS_0.first, &EIVE_TABLE_SAFE_TRANS_0.second)),
@@ -140,4 +148,48 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
         ctxc);
 }
 
+void buildBootSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::buildBootSequence";
+  auto ctxc = context.c_str();
+  // Insert Helper Table
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table,
+                 bool allowAllSubmodes = false) {
+    eh.setObject(obj);
+    eh.setMode(mode);
+    eh.setSubmode(submode);
+    if (allowAllSubmodes) {
+      eh.allowAllSubmodes();
+    }
+    check(table.insert(eh), ctxc);
+  };
+  // Insert Helper Sequence
+  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
+                 bool checkSuccess) {
+    eh.setTableId(tableId);
+    eh.setWaitSeconds(waitSeconds);
+    eh.setCheckSuccess(checkSuccess);
+    check(sequence.insert(eh), ctxc);
+  };
+
+  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::OFF, 0, EIVE_TABLE_BOOT_TGT.second, true);
+  iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TGT.second);
+  iht(objects::COM_SUBSYSTEM, com::RX_ONLY, 0, EIVE_TABLE_BOOT_TGT.second);
+  iht(objects::TCS_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TGT.second);
+  check(ss.addTable(TableEntry(EIVE_TABLE_BOOT_TGT.first, &EIVE_TABLE_BOOT_TGT.second)), ctxc);
+
+  // Build SAFE transition 0.
+  iht(objects::TCS_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TRANS_0.second);
+  iht(objects::COM_SUBSYSTEM, com::RX_ONLY, 0, EIVE_TABLE_BOOT_TRANS_0.second);
+  iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TRANS_0.second);
+  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::OFF, 0, EIVE_TABLE_BOOT_TRANS_0.second, true);
+  check(ss.addTable(TableEntry(EIVE_TABLE_BOOT_TRANS_0.first, &EIVE_TABLE_BOOT_TRANS_0.second)),
+        ctxc);
+
+  // Build Safe sequence
+  ihs(EIVE_SEQUENCE_BOOT.second, EIVE_TABLE_BOOT_TGT.first, 0, false);
+  ihs(EIVE_SEQUENCE_BOOT.second, EIVE_TABLE_BOOT_TRANS_0.first, 0, false);
+  check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_BOOT.first, &EIVE_SEQUENCE_BOOT.second,
+                                     EIVE_SEQUENCE_SAFE.first)),
+        ctxc);
+}
 }  // namespace