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

bsp_hosted/fsfwconfig/devices/powerSwitcherList.h

@@ -1,57 +0,0 @@
-#ifndef FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_
-#define FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_
-
-#include <OBSWConfig.h>
-
-namespace pcduSwitches {
-/* Switches are uint8_t datatype and go from 0 to 255 */
-enum SwitcherList {
-  Q7S,
-  PAYLOAD_PCDU_CH1,
-  RW,
-  TCS_BOARD_8V_HEATER_IN,
-  SUS_REDUNDANT,
-  DEPLOYMENT_MECHANISM,
-  PAYLOAD_PCDU_CH6,
-  ACS_BOARD_SIDE_B,
-  PAYLOAD_CAMERA,
-  TCS_BOARD_3V3,
-  SYRLINKS,
-  STAR_TRACKER,
-  MGT,
-  SUS_NOMINAL,
-  SOLAR_CELL_EXP,
-  PLOC,
-  ACS_BOARD_SIDE_A,
-  NUMBER_OF_SWITCHES
-};
-
-static const uint8_t ON = 1;
-static const uint8_t OFF = 0;
-
-/* Output states after reboot of the PDUs */
-static const uint8_t INIT_STATE_Q7S = ON;
-static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH1 = OFF;
-static const uint8_t INIT_STATE_RW = OFF;
-#if BOARD_TE0720 == 1
-/* Because the TE0720 is not connected to the PCDU, this switch is always on */
-static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = ON;
-#else
-static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = OFF;
-#endif
-static const uint8_t INIT_STATE_SUS_REDUNDANT = OFF;
-static const uint8_t INIT_STATE_DEPLOYMENT_MECHANISM = OFF;
-static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH6 = OFF;
-static const uint8_t INIT_STATE_ACS_BOARD_SIDE_B = OFF;
-static const uint8_t INIT_STATE_PAYLOAD_CAMERA = OFF;
-static const uint8_t INIT_STATE_TCS_BOARD_3V3 = OFF;
-static const uint8_t INIT_STATE_SYRLINKS = OFF;
-static const uint8_t INIT_STATE_STAR_TRACKER = OFF;
-static const uint8_t INIT_STATE_MGT = OFF;
-static const uint8_t INIT_STATE_SUS_NOMINAL = OFF;
-static const uint8_t INIT_STATE_SOLAR_CELL_EXP = OFF;
-static const uint8_t INIT_STATE_PLOC = OFF;
-static const uint8_t INIT_STATE_ACS_BOARD_SIDE_A = OFF;
-}  // namespace pcduSwitches
-
-#endif /* FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_ */

bsp_q7s/core/ObjectFactory.cpp

@@ -736,7 +736,7 @@ void ObjectFactory::createHeaterComponents() {
   heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpio);
 
   new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
-                    objects::PCDU_HANDLER, pcduSwitches::TCS_BOARD_8V_HEATER_IN);
+                    objects::PCDU_HANDLER, pcduSwitches::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
 }
 
 void ObjectFactory::createSolarArrayDeploymentComponents() {
@@ -756,8 +756,8 @@ void ObjectFactory::createSolarArrayDeploymentComponents() {
   // TODO: Find out burn time. For now set to 1000 ms.
   new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, objects::GPIO_IF,
                                   solarArrayDeplCookie, objects::PCDU_HANDLER,
-                                  pcduSwitches::DEPLOYMENT_MECHANISM, gpioIds::DEPLSA1,
+                                  pcduSwitches::Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
-                                  gpioIds::DEPLSA2, 1000);
+                                  gpioIds::DEPLSA1, gpioIds::DEPLSA2, 1000);
 }
 
 void ObjectFactory::createSyrlinksComponents() {

common/config/commonSubsystemIds.h

@@ -20,6 +20,7 @@ enum: uint8_t {
 	PDEC_HANDLER = 119,
 	STR_HELPER = 120,
 	PL_PCDU_HANDLER = 121,
+	ACS_BOARD_ASS = 122,
 	COMMON_SUBSYSTEM_ID_END
 };
 }

common/config/devices/powerSwitcherList.h

@@ -6,54 +6,58 @@
 #include <cstdint>
 
 namespace pcduSwitches {
-	/* Switches are uint8_t datatype and go from 0 to 255 */
+/* Switches are uint8_t datatype and go from 0 to 255 */
-	enum SwitcherList: uint8_t {
+enum Switches: uint8_t {
-	    Q7S,
+  PDU1_CH0_TCS_BOARD_3V3,
-        PAYLOAD_PCDU_CH1,
+  PDU1_CH1_SYRLINKS_12V,
-        RW,
+  PDU1_CH2_STAR_TRACKER_5V,
-        TCS_BOARD_8V_HEATER_IN,
+  PDU1_CH3_MGT_5V,
-        SUS_REDUNDANT,
+  PDU1_CH4_SUS_NOMINAL_3V3,
-        DEPLOYMENT_MECHANISM,
+  PDU1_CH5_SOLAR_CELL_EXP_5V,
-        PAYLOAD_PCDU_CH6,
+  PDU1_CH6_PLOC_12V,
-        ACS_BOARD_SIDE_B,
+  PDU1_CH7_ACS_A_SIDE_3V3,
-        PAYLOAD_CAMERA,
+  PDU1_CH8_UNOCCUPIED,
-        TCS_BOARD_3V3,
+
-        SYRLINKS,
+  PDU2_CH0_Q7S,
-        STAR_TRACKER,
+  PDU2_CH1_PL_PCDU_BATT_0_14V8,
-        MGT,
+  PDU2_CH2_RW_5V,
-        SUS_NOMINAL,
+  PDU2_CH3_TCS_BOARD_HEATER_IN_8V,
-        SOLAR_CELL_EXP,
+  PDU2_CH4_SUS_REDUNDANT_3V3,
-        PLOC,
+  PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
-        ACS_BOARD_SIDE_A,
+  PDU2_CH6_PL_PCDU_BATT_1_14V8,
+  PDU2_CH7_ACS_BOARD_SIDE_B_3V3,
+  PDU2_CH8_PAYLOAD_CAMERA,
   NUMBER_OF_SWITCHES
-	};
+};
 
-	static const uint8_t ON = 1;
+static const uint8_t ON = 1;
-	static const uint8_t OFF = 0;
+static const uint8_t OFF = 0;
 
-	/* Output states after reboot of the PDUs */
+/* Output states after reboot of the PDUs */
-	static const uint8_t INIT_STATE_Q7S = ON;
-	static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH1 = OFF;
-	static const uint8_t INIT_STATE_RW = OFF;
 #if BOARD_TE0720 == 1
-	/* Because the TE0720 is not connected to the PCDU, this switch is always on */
+/* Because the TE0720 is not connected to the PCDU, this switch is always on */
-	static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = ON;
+static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = ON;
 #else
-	static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = OFF;
+static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = OFF;
 #endif
-	static const uint8_t INIT_STATE_SUS_REDUNDANT = OFF;
+static const uint8_t INIT_STATE_SYRLINKS = OFF;
-	static const uint8_t INIT_STATE_DEPLOYMENT_MECHANISM = OFF;
+static const uint8_t INIT_STATE_STAR_TRACKER = OFF;
-	static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH6 = OFF;
+static const uint8_t INIT_STATE_MGT = OFF;
-	static const uint8_t INIT_STATE_ACS_BOARD_SIDE_B = OFF;
+static const uint8_t INIT_STATE_SUS_NOMINAL = OFF;
-	static const uint8_t INIT_STATE_PAYLOAD_CAMERA = OFF;
+static const uint8_t INIT_STATE_SOLAR_CELL_EXP = OFF;
-	static const uint8_t INIT_STATE_TCS_BOARD_3V3 = OFF;
+static const uint8_t INIT_STATE_PLOC = OFF;
-	static const uint8_t INIT_STATE_SYRLINKS = OFF;
+static const uint8_t INIT_STATE_ACS_BOARD_SIDE_A = OFF;
-	static const uint8_t INIT_STATE_STAR_TRACKER = OFF;
+
-	static const uint8_t INIT_STATE_MGT = OFF;
+static const uint8_t INIT_STATE_Q7S = ON;
-	static const uint8_t INIT_STATE_SUS_NOMINAL = OFF;
+static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH1 = OFF;
-	static const uint8_t INIT_STATE_SOLAR_CELL_EXP = OFF;
+static const uint8_t INIT_STATE_RW = OFF;
-	static const uint8_t INIT_STATE_PLOC = OFF;
+static const uint8_t INIT_STATE_SUS_REDUNDANT = OFF;
-	static const uint8_t INIT_STATE_ACS_BOARD_SIDE_A = OFF;
+static const uint8_t INIT_STATE_DEPLOYMENT_MECHANISM = OFF;
+static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH6 = OFF;
+static const uint8_t INIT_STATE_ACS_BOARD_SIDE_B = OFF;
+static const uint8_t INIT_STATE_PAYLOAD_CAMERA = OFF;
+static const uint8_t INIT_STATE_TCS_BOARD_3V3 = OFF;
+
 }
 
 

fsfw

@@ -1 +1 @@
-Subproject commit 75c56280ad139640d2c12ac4ab78ce66c25fb495
+Subproject commit 4e6c1cb72ad623208ea8e08349f6ab39bfa45ed0

linux/devices/GPSHyperionLinuxController.cpp

@@ -28,6 +28,14 @@ LocalPoolDataSetBase *GPSHyperionLinuxController::getDataSetHandle(sid_t sid) {
 
 ReturnValue_t GPSHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_t submode,
                                                            uint32_t *msToReachTheMode) {
+  if (not modeCommanded) {
+    if (mode == MODE_ON or mode == MODE_OFF) {
+      // 10 minutes time to reach fix
+      *msToReachTheMode = 600000;
+      maxTimeToReachFix.resetTimer();
+      modeCommanded = true;
+    }
+  }
   return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -114,6 +122,13 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
   // 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix
   gpsSet.fixMode.value = gps->fix.mode;
   if (gps->fix.mode == 0 or gps->fix.mode == 1) {
+    if (modeCommanded and maxTimeToReachFix.hasTimedOut()) {
+      // We are supposed to be on and functioning, but not fix was found
+      if (mode == MODE_ON or mode == MODE_NORMAL) {
+        mode = MODE_OFF;
+      }
+      modeCommanded = false;
+    }
     gpsSet.setValidity(false, true);
   } else if (gps->satellites_used > 0) {
     gpsSet.setValidity(true, true);

linux/devices/GPSHyperionLinuxController.h

@@ -21,6 +21,7 @@
  */
 class GPSHyperionLinuxController : public ExtendedControllerBase {
  public:
+  static constexpr uint32_t MAX_SECONDS_TO_REACH_FIX = 600;
   GPSHyperionLinuxController(object_id_t objectId, object_id_t parentId,
                              bool debugHyperionGps = false);
   virtual ~GPSHyperionLinuxController();
@@ -46,6 +47,8 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
 
  private:
   GpsPrimaryDataset gpsSet;
+  Countdown maxTimeToReachFix = Countdown(MAX_SECONDS_TO_REACH_FIX * 1000);
+  bool modeCommanded = true;
   gpsmm myGpsmm;
   bool debugHyperionGps = false;
 

linux/fsfwconfig/devices/powerSwitcherList.h

@@ -1,57 +0,0 @@
-#ifndef FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_
-#define FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_
-
-#include "OBSWConfig.h"
-
-namespace pcduSwitches {
-/* Switches are uint8_t datatype and go from 0 to 255 */
-enum SwitcherList : uint8_t {
-  Q7S,
-  PAYLOAD_PCDU_CH1,
-  RW,
-  TCS_BOARD_8V_HEATER_IN,
-  SUS_REDUNDANT,
-  DEPLOYMENT_MECHANISM,
-  PAYLOAD_PCDU_CH6,
-  ACS_BOARD_SIDE_B,
-  PAYLOAD_CAMERA,
-  TCS_BOARD_3V3,
-  SYRLINKS,
-  STAR_TRACKER,
-  MGT,
-  SUS_NOMINAL,
-  SOLAR_CELL_EXP,
-  PLOC,
-  ACS_BOARD_SIDE_A,
-  NUMBER_OF_SWITCHES
-};
-
-static const uint8_t ON = 1;
-static const uint8_t OFF = 0;
-
-/* Output states after reboot of the PDUs */
-static const uint8_t INIT_STATE_Q7S = ON;
-static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH1 = OFF;
-static const uint8_t INIT_STATE_RW = OFF;
-#if BOARD_TE0720 == 1
-/* Because the TE0720 is not connected to the PCDU, this switch is always on */
-static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = ON;
-#else
-static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = OFF;
-#endif
-static const uint8_t INIT_STATE_SUS_REDUNDANT = OFF;
-static const uint8_t INIT_STATE_DEPLOYMENT_MECHANISM = OFF;
-static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH6 = OFF;
-static const uint8_t INIT_STATE_ACS_BOARD_SIDE_B = OFF;
-static const uint8_t INIT_STATE_PAYLOAD_CAMERA = OFF;
-static const uint8_t INIT_STATE_TCS_BOARD_3V3 = OFF;
-static const uint8_t INIT_STATE_SYRLINKS = OFF;
-static const uint8_t INIT_STATE_STAR_TRACKER = OFF;
-static const uint8_t INIT_STATE_MGT = OFF;
-static const uint8_t INIT_STATE_SUS_NOMINAL = OFF;
-static const uint8_t INIT_STATE_SOLAR_CELL_EXP = OFF;
-static const uint8_t INIT_STATE_PLOC = OFF;
-static const uint8_t INIT_STATE_ACS_BOARD_SIDE_A = OFF;
-}  // namespace pcduSwitches
-
-#endif /* FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_ */

mission/devices/PCDUHandler.cpp

@@ -1,10 +1,12 @@
 #include "PCDUHandler.h"
 
 #include <OBSWConfig.h>
+#include <devices/powerSwitcherList.h>
+#include <fsfw/datapool/PoolReadGuard.h>
 #include <fsfw/housekeeping/HousekeepingSnapshot.h>
+#include <fsfw/ipc/MutexFactory.h>
 #include <fsfw/ipc/QueueFactory.h>
 #include <mission/devices/devicedefinitions/GomSpacePackets.h>
-#include <objects/systemObjectList.h>
 
 PCDUHandler::PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize)
     : SystemObject(setObjectId),
@@ -15,6 +17,7 @@ PCDUHandler::PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize)
   auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
   commandQueue = QueueFactory::instance()->createMessageQueue(
       cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  pwrMutex = MutexFactory::instance()->createMutex();
 }
 
 PCDUHandler::~PCDUHandler() {}
@@ -75,24 +78,26 @@ ReturnValue_t PCDUHandler::initialize() {
 }
 
 void PCDUHandler::initializeSwitchStates() {
-  switchStates[pcduSwitches::Q7S] = pcduSwitches::INIT_STATE_Q7S;
+  using namespace pcduSwitches;
-  switchStates[pcduSwitches::PAYLOAD_PCDU_CH1] = pcduSwitches::INIT_STATE_PAYLOAD_PCDU_CH1;
+  switchStates[Switches::PDU2_CH0_Q7S] = pcduSwitches::INIT_STATE_Q7S;
-  switchStates[pcduSwitches::RW] = pcduSwitches::INIT_STATE_RW;
+  switchStates[Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8] = pcduSwitches::INIT_STATE_PAYLOAD_PCDU_CH1;
-  switchStates[pcduSwitches::TCS_BOARD_8V_HEATER_IN] =
+  switchStates[Switches::PDU2_CH2_RW_5V] = pcduSwitches::INIT_STATE_RW;
+  switchStates[Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V] =
       pcduSwitches::INIT_STATE_TCS_BOARD_8V_HEATER_IN;
-  switchStates[pcduSwitches::SUS_REDUNDANT] = pcduSwitches::INIT_STATE_SUS_REDUNDANT;
+  switchStates[Switches::PDU2_CH4_SUS_REDUNDANT_3V3] = pcduSwitches::INIT_STATE_SUS_REDUNDANT;
-  switchStates[pcduSwitches::DEPLOYMENT_MECHANISM] = pcduSwitches::INIT_STATE_DEPLOYMENT_MECHANISM;
+  switchStates[Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V] =
-  switchStates[pcduSwitches::PAYLOAD_PCDU_CH6] = pcduSwitches::INIT_STATE_PAYLOAD_PCDU_CH6;
+      pcduSwitches::INIT_STATE_DEPLOYMENT_MECHANISM;
-  switchStates[pcduSwitches::ACS_BOARD_SIDE_B] = pcduSwitches::INIT_STATE_ACS_BOARD_SIDE_B;
+  switchStates[Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8] = pcduSwitches::INIT_STATE_PAYLOAD_PCDU_CH6;
-  switchStates[pcduSwitches::PAYLOAD_CAMERA] = pcduSwitches::INIT_STATE_PAYLOAD_CAMERA;
+  switchStates[Switches::PDU2_CH7_ACS_BOARD_SIDE_B_3V3] = pcduSwitches::INIT_STATE_ACS_BOARD_SIDE_B;
-  switchStates[pcduSwitches::TCS_BOARD_3V3] = pcduSwitches::INIT_STATE_TCS_BOARD_3V3;
+  switchStates[Switches::PDU2_CH8_PAYLOAD_CAMERA] = pcduSwitches::INIT_STATE_PAYLOAD_CAMERA;
-  switchStates[pcduSwitches::SYRLINKS] = pcduSwitches::INIT_STATE_SYRLINKS;
+  switchStates[Switches::PDU1_CH0_TCS_BOARD_3V3] = pcduSwitches::INIT_STATE_TCS_BOARD_3V3;
-  switchStates[pcduSwitches::STAR_TRACKER] = pcduSwitches::INIT_STATE_STAR_TRACKER;
+  switchStates[Switches::PDU1_CH1_SYRLINKS_12V] = pcduSwitches::INIT_STATE_SYRLINKS;
-  switchStates[pcduSwitches::MGT] = pcduSwitches::INIT_STATE_MGT;
+  switchStates[Switches::PDU1_CH2_STAR_TRACKER_5V] = pcduSwitches::INIT_STATE_STAR_TRACKER;
-  switchStates[pcduSwitches::SUS_NOMINAL] = pcduSwitches::INIT_STATE_SUS_NOMINAL;
+  switchStates[Switches::PDU1_CH3_MGT_5V] = pcduSwitches::INIT_STATE_MGT;
-  switchStates[pcduSwitches::SOLAR_CELL_EXP] = pcduSwitches::INIT_STATE_SOLAR_CELL_EXP;
+  switchStates[Switches::PDU1_CH4_SUS_NOMINAL_3V3] = pcduSwitches::INIT_STATE_SUS_NOMINAL;
-  switchStates[pcduSwitches::PLOC] = pcduSwitches::INIT_STATE_PLOC;
+  switchStates[Switches::PDU1_CH5_SOLAR_CELL_EXP_5V] = pcduSwitches::INIT_STATE_SOLAR_CELL_EXP;
-  switchStates[pcduSwitches::ACS_BOARD_SIDE_A] = pcduSwitches::INIT_STATE_ACS_BOARD_SIDE_A;
+  switchStates[Switches::PDU1_CH6_PLOC_12V] = pcduSwitches::INIT_STATE_PLOC;
+  switchStates[Switches::PDU1_CH7_ACS_A_SIDE_3V3] = pcduSwitches::INIT_STATE_ACS_BOARD_SIDE_A;
 }
 
 void PCDUHandler::readCommandQueue() {
@@ -153,36 +158,50 @@ void PCDUHandler::updateHkTableDataset(store_address_t storeId, LocalPoolDataSet
 }
 
 void PCDUHandler::updatePdu2SwitchStates() {
-  // TODO: pool read helper
+  using namespace pcduSwitches;
-  if (pdu2HkTableDataset.read() == RETURN_OK) {
+  PoolReadGuard rg(&pdu2HkTableDataset);
-    switchStates[pcduSwitches::Q7S] = pdu2HkTableDataset.outEnabledQ7S.value;
+  if (rg.getReadResult() == RETURN_OK) {
-    switchStates[pcduSwitches::PAYLOAD_PCDU_CH1] = pdu2HkTableDataset.outEnabledPlPCDUCh1.value;
+    MutexGuard mg(pwrMutex);
-    switchStates[pcduSwitches::RW] = pdu2HkTableDataset.outEnabledReactionWheels.value;
+    switchStates[Switches::PDU2_CH0_Q7S] = pdu2HkTableDataset.outEnabledQ7S.value;
-    switchStates[pcduSwitches::TCS_BOARD_8V_HEATER_IN] =
+    switchStates[Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8] =
+        pdu2HkTableDataset.outEnabledPlPCDUCh1.value;
+    switchStates[Switches::PDU2_CH2_RW_5V] = pdu2HkTableDataset.outEnabledReactionWheels.value;
+    switchStates[Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V] =
         pdu2HkTableDataset.outEnabledTCSBoardHeaterIn.value;
-    switchStates[pcduSwitches::SUS_REDUNDANT] = pdu2HkTableDataset.outEnabledSUSRedundant.value;
+    switchStates[Switches::PDU2_CH4_SUS_REDUNDANT_3V3] =
-    switchStates[pcduSwitches::DEPLOYMENT_MECHANISM] =
+        pdu2HkTableDataset.outEnabledSUSRedundant.value;
+    switchStates[Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V] =
         pdu2HkTableDataset.outEnabledDeplMechanism.value;
-    switchStates[pcduSwitches::PAYLOAD_PCDU_CH6] = pdu2HkTableDataset.outEnabledPlPCDUCh6.value;
+    switchStates[Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8] =
-    switchStates[pcduSwitches::ACS_BOARD_SIDE_B] = pdu2HkTableDataset.outEnabledAcsBoardSideB.value;
+        pdu2HkTableDataset.outEnabledPlPCDUCh6.value;
-    switchStates[pcduSwitches::PAYLOAD_CAMERA] = pdu2HkTableDataset.outEnabledPayloadCamera.value;
+    switchStates[Switches::PDU2_CH7_ACS_BOARD_SIDE_B_3V3] =
+        pdu2HkTableDataset.outEnabledAcsBoardSideB.value;
+    switchStates[Switches::PDU2_CH8_PAYLOAD_CAMERA] =
+        pdu2HkTableDataset.outEnabledPayloadCamera.value;
   } else {
     sif::debug << "PCDUHandler::updatePdu2SwitchStates: Failed to read PDU2 Hk Dataset"
                << std::endl;
   }
-  pdu2HkTableDataset.commit();
 }
 
 void PCDUHandler::updatePdu1SwitchStates() {
-  if (pdu1HkTableDataset.read() == RETURN_OK) {
+  using namespace pcduSwitches;
-    switchStates[pcduSwitches::TCS_BOARD_3V3] = pdu1HkTableDataset.voltageOutTCSBoard3V3.value;
+  PoolReadGuard rg(&pdu1HkTableDataset);
-    switchStates[pcduSwitches::SYRLINKS] = pdu1HkTableDataset.voltageOutSyrlinks.value;
+  if (rg.getReadResult() == RETURN_OK) {
-    switchStates[pcduSwitches::STAR_TRACKER] = pdu1HkTableDataset.voltageOutStarTracker.value;
+    MutexGuard mg(pwrMutex);
-    switchStates[pcduSwitches::MGT] = pdu1HkTableDataset.voltageOutMGT.value;
+    switchStates[Switches::PDU1_CH0_TCS_BOARD_3V3] = pdu1HkTableDataset.outEnabledTCSBoard3V3.value;
-    switchStates[pcduSwitches::SUS_NOMINAL] = pdu1HkTableDataset.voltageOutSUSNominal.value;
+    switchStates[Switches::PDU1_CH1_SYRLINKS_12V] = pdu1HkTableDataset.outEnabledSyrlinks.value;
-    switchStates[pcduSwitches::SOLAR_CELL_EXP] = pdu1HkTableDataset.voltageOutSolarCellExp.value;
+    switchStates[Switches::PDU1_CH2_STAR_TRACKER_5V] =
-    switchStates[pcduSwitches::PLOC] = pdu1HkTableDataset.voltageOutPLOC.value;
+        pdu1HkTableDataset.outEnabledStarTracker.value;
-    switchStates[pcduSwitches::ACS_BOARD_SIDE_A] = pdu1HkTableDataset.voltageOutACSBoardSideA.value;
+    switchStates[Switches::PDU1_CH3_MGT_5V] = pdu1HkTableDataset.outEnabledMGT.value;
+    switchStates[Switches::PDU1_CH4_SUS_NOMINAL_3V3] =
+        pdu1HkTableDataset.outEnabledSUSNominal.value;
+    switchStates[Switches::PDU1_CH5_SOLAR_CELL_EXP_5V] =
+        pdu1HkTableDataset.outEnabledSolarCellExp.value;
+    switchStates[Switches::PDU1_CH6_PLOC_12V] = pdu1HkTableDataset.outEnabledPLOC.value;
+    switchStates[Switches::PDU1_CH7_ACS_A_SIDE_3V3] =
+        pdu1HkTableDataset.outEnabledAcsBoardSideA.value;
+    switchStates[Switches::PDU1_CH8_UNOCCUPIED] = pdu1HkTableDataset.outEnabledChannel8.value;
   } else {
     sif::debug << "PCDUHandler::updatePdu1SwitchStates: Failed to read dataset" << std::endl;
   }
@@ -192,25 +211,111 @@ void PCDUHandler::updatePdu1SwitchStates() {
 LocalDataPoolManager* PCDUHandler::getHkManagerHandle() { return &poolManager; }
 
 void PCDUHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) const {
+  using namespace pcduSwitches;
   ReturnValue_t result;
-  uint16_t memoryAddress;
+  uint16_t memoryAddress = 0;
   size_t parameterValueSize = sizeof(uint8_t);
-  uint8_t parameterValue;
+  uint8_t parameterValue = 0;
-  GomspaceDeviceHandler* pdu;
+  GomspaceDeviceHandler* pdu = nullptr;
 
   switch (switchNr) {
-    case pcduSwitches::TCS_BOARD_8V_HEATER_IN:
+    case pcduSwitches::PDU1_CH0_TCS_BOARD_3V3: {
+      memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_TCS_BOARD_3V3;
+      pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
+      break;
+    }
+    case pcduSwitches::PDU1_CH1_SYRLINKS_12V: {
+      memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_SYRLINKS;
+      pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
+      break;
+    }
+    case pcduSwitches::PDU1_CH2_STAR_TRACKER_5V: {
+      memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_STAR_TRACKER;
+      pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
+      break;
+    }
+    case pcduSwitches::PDU1_CH3_MGT_5V: {
+      memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_MGT;
+      pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
+      break;
+    }
+    case pcduSwitches::PDU1_CH4_SUS_NOMINAL_3V3: {
+      memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_SUS_NOMINAL;
+      pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
+      break;
+    }
+    case pcduSwitches::PDU1_CH5_SOLAR_CELL_EXP_5V: {
+      memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_SOLAR_CELL_EXP;
+      pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
+      break;
+    }
+    case pcduSwitches::PDU1_CH6_PLOC_12V: {
+      memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_PLOC;
+      pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
+      break;
+    }
+    case pcduSwitches::PDU1_CH7_ACS_A_SIDE_3V3: {
+      memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_A;
+      pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
+      break;
+    }
+    case pcduSwitches::PDU1_CH8_UNOCCUPIED: {
+      memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_CHANNEL8;
+      pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
+      break;
+    }
+    // That does not really make sense but let's keep it here for completeness reasons..
+    case pcduSwitches::PDU2_CH0_Q7S: {
+      memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_Q7S;
+      pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
+      break;
+    }
+    case pcduSwitches::PDU2_CH1_PL_PCDU_BATT_0_14V8: {
+      memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_PAYLOAD_PCDU_CH1;
+      pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
+      break;
+    }
+    case pcduSwitches::PDU2_CH2_RW_5V: {
+      memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_RW;
+      pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
+      break;
+    }
+    case pcduSwitches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V: {
       memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_TCS_BOARD_HEATER_IN;
       pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
       break;
-    case pcduSwitches::DEPLOYMENT_MECHANISM:
+    }
+    case pcduSwitches::PDU2_CH4_SUS_REDUNDANT_3V3: {
+      memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_SUS_REDUNDANT;
+      pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
+      break;
+    }
+    case pcduSwitches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V: {
       memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_DEPLOYMENT_MECHANISM;
       pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
       break;
-    default:
+    }
+    case pcduSwitches::PDU2_CH6_PL_PCDU_BATT_1_14V8: {
+      memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_PAYLOAD_PCDU_CH6;
+      pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
+      break;
+    }
+    case pcduSwitches::PDU2_CH7_ACS_BOARD_SIDE_B_3V3: {
+      memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_B;
+      pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
+      break;
+    }
+    case pcduSwitches::PDU2_CH8_PAYLOAD_CAMERA: {
+      memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_PAYLOAD_CAMERA;
+      pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
+      break;
+    }
+
+    default: {
       sif::error << "PCDUHandler::sendSwitchCommand: Invalid switch number " << std::endl;
       return;
     }
+  }
 
   switch (onOff) {
     case PowerSwitchIF::SWITCH_ON:
@@ -252,7 +357,10 @@ ReturnValue_t PCDUHandler::getSwitchState(uint8_t switchNr) const {
     sif::debug << "PCDUHandler::getSwitchState: Invalid switch number" << std::endl;
     return RETURN_FAILED;
   }
-  if (switchStates[switchNr] == 1) {
+  pwrMutex->lockMutex();
+  uint8_t currentState = switchStates[switchNr];
+  pwrMutex->unlockMutex();
+  if (currentState == 1) {
     return PowerSwitchIF::SWITCH_ON;
   } else {
     return PowerSwitchIF::SWITCH_OFF;

mission/devices/PCDUHandler.h

@@ -47,6 +47,7 @@ class PCDUHandler : public PowerSwitchIF,
 
  private:
   uint32_t pstIntervalMs = 0;
+  MutexIF* pwrMutex = nullptr;
 
   /** Housekeeping manager. Handles updates of local pool variables. */
   LocalDataPoolManager poolManager;

mission/devices/PDU2Handler.cpp

@@ -460,7 +460,7 @@ ReturnValue_t PDU2Handler::setParamCallback(SetParamMessageUnpacker &unpacker,
         channelSwitchHook(pdu, 5, unpacker.getParameter()[0], hookArgs);
         break;
       }
-      case (CONFIG_ADDRESS_OUT_EN_PAYLOAD_PCDU_CH6PLOC): {
+      case (CONFIG_ADDRESS_OUT_EN_PAYLOAD_PCDU_CH6): {
         channelSwitchHook(pdu, 6, unpacker.getParameter()[0], hookArgs);
         break;
       }

mission/devices/RadiationSensorHandler.h

@@ -2,9 +2,8 @@
 #define MISSION_DEVICES_RADIATIONSENSORHANDLER_H_
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
-#include <mission/devices/devicedefinitions/RadSensorDefinitions.h>
 #include <fsfw_hal/common/gpio/GpioIF.h>
-
+#include <mission/devices/devicedefinitions/RadSensorDefinitions.h>
 
 /**
  * @brief	This is the device handler class for radiation sensor on the OBC IF Board. The

mission/devices/devicedefinitions/GomspaceDefinitions.h

@@ -848,7 +848,7 @@ static const uint16_t CONFIG_ADDRESS_OUT_EN_RW = 0x4A;
 static const uint16_t CONFIG_ADDRESS_OUT_EN_TCS_BOARD_HEATER_IN = 0x4B;
 static const uint16_t CONFIG_ADDRESS_OUT_EN_SUS_REDUNDANT = 0x4C;
 static const uint16_t CONFIG_ADDRESS_OUT_EN_DEPLOYMENT_MECHANISM = 0x4D;
-static const uint16_t CONFIG_ADDRESS_OUT_EN_PAYLOAD_PCDU_CH6PLOC = 0x4E;
+static const uint16_t CONFIG_ADDRESS_OUT_EN_PAYLOAD_PCDU_CH6 = 0x4E;
 static const uint16_t CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_B = 0x4F;
 static const uint16_t CONFIG_ADDRESS_OUT_EN_PAYLOAD_CAMERA = 0x50;
 

mission/system/AcsBoardAssembly.cpp

@@ -1 +1,432 @@
 #include "AcsBoardAssembly.h"
+
+#include <devices/gpioIds.h>
+#include <fsfw/power/PowerSwitchIF.h>
+#include <fsfw/serviceinterface.h>
+
+AcsBoardAssembly::AcsBoardAssembly(object_id_t objectId, object_id_t parentId,
+                                   PowerSwitchIF* switcher, AcsBoardHelper helper, GpioIF* gpioIF)
+    : AssemblyBase(objectId, parentId), pwrSwitcher(switcher), helper(helper), gpioIF(gpioIF) {
+  if (switcher == nullptr) {
+    sif::error << "AcsBoardAssembly::AcsBoardAssembly: Invalid Power Switcher "
+                  "IF passed"
+               << std::endl;
+  }
+  if (gpioIF == nullptr) {
+    sif::error << "AcsBoardAssembly::AcsBoardAssembly: Invalid GPIO IF passed" << std::endl;
+  }
+  ModeListEntry entry;
+  initModeTableEntry(helper.mgm0Lis3IdSideA, entry);
+  initModeTableEntry(helper.mgm1Rm3100IdSideA, entry);
+  initModeTableEntry(helper.mgm2Lis3IdSideB, entry);
+  initModeTableEntry(helper.mgm3Rm3100IdSideB, entry);
+  initModeTableEntry(helper.gyro0AdisIdSideA, entry);
+  initModeTableEntry(helper.gyro1L3gIdSideA, entry);
+  initModeTableEntry(helper.gyro2AdisIdSideB, entry);
+  initModeTableEntry(helper.gyro3L3gIdSideB, entry);
+  initModeTableEntry(helper.gpsId, entry);
+}
+
+ReturnValue_t AcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode) {
+  ReturnValue_t result = RETURN_OK;
+  refreshHelperModes();
+  powerStateMachine(mode, submode);
+  if (mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_ON) {
+    if (state == States::MODE_COMMANDING) {
+      handleNormalOrOnModeCmd(mode, submode);
+    }
+  } else {
+    modeTable[ModeTableIdx::GYRO_0_A].setMode(MODE_OFF);
+    modeTable[ModeTableIdx::GYRO_0_A].setSubmode(SUBMODE_NONE);
+    modeTable[ModeTableIdx::GYRO_1_A].setMode(MODE_OFF);
+    modeTable[ModeTableIdx::GYRO_1_A].setSubmode(SUBMODE_NONE);
+    modeTable[ModeTableIdx::GYRO_2_B].setMode(MODE_OFF);
+    modeTable[ModeTableIdx::GYRO_2_B].setSubmode(SUBMODE_NONE);
+    modeTable[ModeTableIdx::GYRO_3_B].setMode(MODE_OFF);
+    modeTable[ModeTableIdx::GYRO_3_B].setSubmode(SUBMODE_NONE);
+    modeTable[ModeTableIdx::MGM_0_A].setMode(MODE_OFF);
+    modeTable[ModeTableIdx::MGM_0_A].setSubmode(SUBMODE_NONE);
+    modeTable[ModeTableIdx::MGM_1_A].setMode(MODE_OFF);
+    modeTable[ModeTableIdx::MGM_1_A].setSubmode(SUBMODE_NONE);
+    modeTable[ModeTableIdx::MGM_2_B].setMode(MODE_OFF);
+    modeTable[ModeTableIdx::MGM_2_B].setSubmode(SUBMODE_NONE);
+    modeTable[ModeTableIdx::MGM_3_B].setMode(MODE_OFF);
+    modeTable[ModeTableIdx::MGM_3_B].setSubmode(SUBMODE_NONE);
+    modeTable[ModeTableIdx::GPS].setMode(MODE_OFF);
+    modeTable[ModeTableIdx::GPS].setSubmode(SUBMODE_NONE);
+  }
+
+  HybridIterator<ModeListEntry> tableIter(modeTable.begin(), modeTable.end());
+  executeTable(tableIter);
+  return result;
+}
+
+ReturnValue_t AcsBoardAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) {
+  refreshHelperModes();
+  if (submode == A_SIDE) {
+    if ((helper.gyro0SideAMode != wantedMode and helper.gyro1SideAMode != wantedMode) or
+        (helper.mgm0SideAMode != wantedMode and helper.mgm1SideAMode != wantedMode) or
+        helper.gpsMode != wantedMode) {
+      submode = B_SIDE;
+      return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
+    }
+    return RETURN_OK;
+  } else if (submode == B_SIDE) {
+    if ((helper.gyro2SideBMode != wantedMode and helper.gyro3SideBMode != wantedMode) or
+        (helper.mgm2SideBMode != wantedMode and helper.mgm3SideBMode != wantedMode) or
+        helper.gpsMode != wantedMode) {
+      submode = DUAL_MODE;
+      return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
+    }
+    return RETURN_OK;
+  } else if (submode == DUAL_MODE) {
+    if ((helper.gyro0SideAMode != wantedMode and helper.gyro1SideAMode != wantedMode and
+         helper.gyro2AdisIdSideB != wantedMode and helper.gyro3SideBMode != wantedMode) or
+        (helper.mgm0SideAMode != wantedMode and helper.mgm1SideAMode != wantedMode and
+         helper.mgm2SideBMode != wantedMode and helper.mgm3SideBMode != wantedMode) or
+        helper.gpsMode != wantedMode) {
+      // Trigger event, but don't start any other transitions. This is the last fallback mode.
+      if (dualModeErrorSwitch) {
+        triggerEvent(NOT_ENOUGH_DEVICES_DUAL_MODE, 0, 0);
+        dualModeErrorSwitch = false;
+      }
+      return RETURN_OK;
+    }
+    return RETURN_OK;
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode) {
+  ReturnValue_t result = RETURN_OK;
+  auto cmdSeq = [&](object_id_t objectId, Mode_t devMode, ModeTableIdx tableIdx) {
+    if (mode == DeviceHandlerIF::MODE_NORMAL) {
+      if (isUseable(objectId, devMode)) {
+        if (mode != MODE_OFF) {
+          modeTable[tableIdx].setMode(devMode);
+          modeTable[tableIdx].setSubmode(SUBMODE_NONE);
+        } else {
+          result = NEED_SECOND_STEP;
+          modeTable[tableIdx].setMode(MODE_ON);
+          modeTable[tableIdx].setSubmode(SUBMODE_NONE);
+        }
+      }
+    } else if (devMode == MODE_ON) {
+      if (isUseable(objectId, devMode)) {
+        modeTable[tableIdx].setMode(MODE_ON);
+        modeTable[tableIdx].setSubmode(SUBMODE_NONE);
+      }
+    }
+  };
+  switch (this->submode) {
+    case (A_SIDE): {
+      cmdSeq(helper.gyro0AdisIdSideA, helper.gyro0SideAMode, ModeTableIdx::GYRO_0_A);
+      cmdSeq(helper.gyro1L3gIdSideA, helper.gyro1SideAMode, ModeTableIdx::GYRO_1_A);
+      cmdSeq(helper.mgm0Lis3IdSideA, helper.mgm0SideAMode, ModeTableIdx::MGM_0_A);
+      cmdSeq(helper.mgm1Rm3100IdSideA, helper.mgm1SideAMode, ModeTableIdx::MGM_1_A);
+      cmdSeq(helper.gpsId, helper.gpsMode, ModeTableIdx::GPS);
+      ReturnValue_t result = gpioIF->pullLow(gpioIds::GNSS_SELECT);
+      if (result != HasReturnvaluesIF::RETURN_OK) {
+#if OBSW_VERBOSE_LEVEL >= 1
+        sif::error << "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull GNSS select low"
+                   << std::endl;
+#endif
+      }
+      modeTable[ModeTableIdx::GYRO_2_B].setMode(MODE_OFF);
+      modeTable[ModeTableIdx::GYRO_2_B].setSubmode(SUBMODE_NONE);
+      modeTable[ModeTableIdx::GYRO_3_B].setMode(MODE_OFF);
+      modeTable[ModeTableIdx::GYRO_3_B].setSubmode(SUBMODE_NONE);
+      modeTable[ModeTableIdx::MGM_2_B].setMode(MODE_OFF);
+      modeTable[ModeTableIdx::MGM_2_B].setSubmode(SUBMODE_NONE);
+      modeTable[ModeTableIdx::MGM_3_B].setMode(MODE_OFF);
+      modeTable[ModeTableIdx::MGM_3_B].setSubmode(SUBMODE_NONE);
+      return result;
+    }
+    case (B_SIDE): {
+      cmdSeq(helper.gyro2AdisIdSideB, helper.gyro2SideBMode, ModeTableIdx::GYRO_2_B);
+      cmdSeq(helper.gyro3L3gIdSideB, helper.gyro3SideBMode, ModeTableIdx::GYRO_3_B);
+      cmdSeq(helper.mgm2Lis3IdSideB, helper.mgm2SideBMode, ModeTableIdx::MGM_2_B);
+      cmdSeq(helper.mgm3Rm3100IdSideB, helper.mgm3SideBMode, ModeTableIdx::MGM_3_B);
+      cmdSeq(helper.gpsId, helper.gpsMode, ModeTableIdx::GPS);
+      gpioIF->pullHigh(gpioIds::GNSS_SELECT);
+      if (result != HasReturnvaluesIF::RETURN_OK) {
+#if OBSW_VERBOSE_LEVEL >= 1
+        sif::error << "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull GNSS select high"
+                   << std::endl;
+#endif
+      }
+      modeTable[ModeTableIdx::GYRO_0_A].setMode(MODE_OFF);
+      modeTable[ModeTableIdx::GYRO_0_A].setSubmode(SUBMODE_NONE);
+      modeTable[ModeTableIdx::GYRO_1_A].setMode(MODE_OFF);
+      modeTable[ModeTableIdx::GYRO_1_A].setSubmode(SUBMODE_NONE);
+      modeTable[ModeTableIdx::MGM_0_A].setMode(MODE_OFF);
+      modeTable[ModeTableIdx::MGM_0_A].setSubmode(SUBMODE_NONE);
+      modeTable[ModeTableIdx::MGM_1_A].setMode(MODE_OFF);
+      modeTable[ModeTableIdx::MGM_1_A].setSubmode(SUBMODE_NONE);
+      return result;
+    }
+    case (DUAL_MODE): {
+      cmdSeq(helper.gpsId, helper.gpsMode, ModeTableIdx::GPS);
+      cmdSeq(helper.gyro0AdisIdSideA, helper.gyro0SideAMode, ModeTableIdx::GYRO_0_A);
+      cmdSeq(helper.gyro1L3gIdSideA, helper.gyro1SideAMode, ModeTableIdx::GYRO_1_A);
+      cmdSeq(helper.mgm0Lis3IdSideA, helper.mgm0SideAMode, ModeTableIdx::MGM_0_A);
+      cmdSeq(helper.mgm1Rm3100IdSideA, helper.mgm1SideAMode, ModeTableIdx::MGM_1_A);
+      cmdSeq(helper.gyro2AdisIdSideB, helper.gyro2SideBMode, ModeTableIdx::GYRO_2_B);
+      cmdSeq(helper.gyro3L3gIdSideB, helper.gyro3SideBMode, ModeTableIdx::GYRO_3_B);
+      cmdSeq(helper.mgm2Lis3IdSideB, helper.mgm2SideBMode, ModeTableIdx::MGM_2_B);
+      cmdSeq(helper.mgm3Rm3100IdSideB, helper.mgm3SideBMode, ModeTableIdx::MGM_3_B);
+      if (defaultSubmode == Submodes::A_SIDE) {
+        result = gpioIF->pullLow(gpioIds::GNSS_SELECT);
+      } else {
+        result = gpioIF->pullHigh(gpioIds::GNSS_SELECT);
+      }
+      if (result != HasReturnvaluesIF::RETURN_OK) {
+#if OBSW_VERBOSE_LEVEL >= 1
+        sif::error << "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull GNSS select to"
+                      "default side for dual mode"
+                   << std::endl;
+#endif
+      }
+      return result;
+    }
+    default: {
+      sif::error << "AcsBoardAssembly::handleNormalModeCmd: Unknown submode" << std::endl;
+    }
+  }
+  return result;
+}
+
+void AcsBoardAssembly::powerStateMachine(Mode_t mode, Submode_t submode) {
+  ReturnValue_t switchStateA = RETURN_OK;
+  ReturnValue_t switchStateB = RETURN_OK;
+  if (state == States::IDLE or state == States::SWITCHING_POWER) {
+    switchStateA = pwrSwitcher->getSwitchState(SWITCH_A);
+    switchStateB = pwrSwitcher->getSwitchState(SWITCH_B);
+  } else {
+    return;
+  }
+  if (mode == MODE_OFF) {
+    if (switchStateA == PowerSwitchIF::SWITCH_OFF and switchStateB == PowerSwitchIF::SWITCH_OFF) {
+      state = States::MODE_COMMANDING;
+      return;
+    }
+  } else {
+    switch (this->submode) {
+      case (A_SIDE): {
+        if (switchStateA == PowerSwitchIF::SWITCH_ON and
+            switchStateB == PowerSwitchIF::SWITCH_OFF) {
+          state = States::MODE_COMMANDING;
+          return;
+        }
+        break;
+      }
+      case (B_SIDE): {
+        if (switchStateA == PowerSwitchIF::SWITCH_OFF and
+            switchStateB == PowerSwitchIF::SWITCH_ON) {
+          state = States::MODE_COMMANDING;
+          return;
+        }
+        break;
+      }
+      case (DUAL_MODE): {
+        if (switchStateA == PowerSwitchIF::SWITCH_ON and switchStateB == PowerSwitchIF::SWITCH_ON) {
+          state = States::MODE_COMMANDING;
+          return;
+        }
+      }
+    }
+  }
+  if (state == States::IDLE) {
+    if (mode == MODE_OFF) {
+      if (switchStateA != PowerSwitchIF::SWITCH_OFF) {
+        pwrSwitcher->sendSwitchCommand(SWITCH_A, false);
+      }
+      if (switchStateB != PowerSwitchIF::SWITCH_OFF) {
+        pwrSwitcher->sendSwitchCommand(SWITCH_B, false);
+      }
+    } else {
+      switch (submode) {
+        case (A_SIDE): {
+          if (switchStateA != PowerSwitchIF::SWITCH_ON) {
+            pwrSwitcher->sendSwitchCommand(SWITCH_A, true);
+          }
+          if (switchStateB != PowerSwitchIF::SWITCH_OFF) {
+            pwrSwitcher->sendSwitchCommand(SWITCH_B, false);
+          }
+          break;
+        }
+        case (B_SIDE): {
+          if (switchStateA != PowerSwitchIF::SWITCH_OFF) {
+            pwrSwitcher->sendSwitchCommand(SWITCH_A, false);
+          }
+          if (switchStateB != PowerSwitchIF::SWITCH_ON) {
+            pwrSwitcher->sendSwitchCommand(SWITCH_B, true);
+          }
+          break;
+        }
+        case (DUAL_MODE): {
+          if (switchStateA != PowerSwitchIF::SWITCH_ON) {
+            pwrSwitcher->sendSwitchCommand(SWITCH_A, true);
+          }
+          if (switchStateB != PowerSwitchIF::SWITCH_ON) {
+            pwrSwitcher->sendSwitchCommand(SWITCH_B, true);
+          }
+          break;
+        }
+      }
+    }
+    state = States::SWITCHING_POWER;
+  }
+  if (state == States::SWITCHING_POWER) {
+    // TODO: Could check for a timeout (temporal or cycles) here and resend command
+  }
+}
+
+ReturnValue_t AcsBoardAssembly::initialize() {
+  ReturnValue_t result = registerChild(helper.gyro0AdisIdSideA);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  result = registerChild(helper.gyro1L3gIdSideA);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  result = registerChild(helper.gyro2AdisIdSideB);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  result = registerChild(helper.gyro3L3gIdSideB);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  result = registerChild(helper.mgm0Lis3IdSideA);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  result = registerChild(helper.mgm1Rm3100IdSideA);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  result = registerChild(helper.mgm2Lis3IdSideB);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  result = registerChild(helper.mgm3Rm3100IdSideB);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  return result;
+}
+
+ReturnValue_t AcsBoardAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {
+  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() {
+  AssemblyBase::handleModeReached();
+  state = States::IDLE;
+  tryingOtherSide = false;
+  dualModeErrorSwitch = true;
+}
+
+void AcsBoardAssembly::handleChildrenLostMode(ReturnValue_t result) {
+  // Some ACS board components are required for Safe-Mode. It would be good if the software
+  // transitions from A side to B side and from B side to dual mode autonomously
+  // to ensure that that enough sensors are available without an operators intervention.
+  // Therefore, the lost mode handler was overwritten to start these transitions
+  Submode_t nextSubmode = Submodes::A_SIDE;
+  if (submode == Submodes::A_SIDE) {
+    nextSubmode = Submodes::B_SIDE;
+  }
+  if (not tryingOtherSide) {
+    triggerEvent(CANT_KEEP_MODE, mode, submode);
+    startTransition(mode, nextSubmode);
+    tryingOtherSide = true;
+  } else {
+    // Not sure when this would happen. This flag is reset if the mode was reached. If it
+    // was not reached, the transition failure handler should be called.
+    sif::error << "AcsBoardAssembly::handleChildrenLostMode: Wrong handler called" << std::endl;
+    triggerEvent(TRANSITION_OTHER_SIDE_FAILED, mode, targetSubmode);
+    startTransition(mode, Submodes::DUAL_MODE);
+  }
+}
+
+void AcsBoardAssembly::handleModeTransitionFailed(ReturnValue_t result) {
+  Submode_t nextSubmode = Submodes::A_SIDE;
+  if (submode == Submodes::A_SIDE) {
+    nextSubmode = Submodes::B_SIDE;
+  }
+  // Check whether the transition was started because the mode could not be kept (not commanded).
+  // If this is not the case, start transition to other side. If it is the case, start
+  // transition to dual mode.
+  if (not tryingOtherSide) {
+    triggerEvent(CANT_KEEP_MODE, mode, submode);
+    startTransition(mode, nextSubmode);
+    tryingOtherSide = true;
+  } else {
+    triggerEvent(TRANSITION_OTHER_SIDE_FAILED, mode, targetSubmode);
+    startTransition(mode, Submodes::DUAL_MODE);
+  }
+}
+
+void AcsBoardAssembly::setPreferredSide(Submodes submode) {
+  if (submode != Submodes::A_SIDE and submode != Submodes::B_SIDE) {
+    return;
+  }
+  this->defaultSubmode = submode;
+}
+
+void AcsBoardAssembly::selectGpsInDualMode(Submodes side) {
+  if (submode != Submodes::DUAL_MODE) {
+    return;
+  }
+  ReturnValue_t result = RETURN_OK;
+  if (side == Submodes::A_SIDE) {
+    result = gpioIF->pullLow(gpioIds::GNSS_SELECT);
+  } else {
+    result = gpioIF->pullHigh(gpioIds::GNSS_SELECT);
+  }
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+#if OBSW_VERBOSE_LEVEL >= 1
+    sif::error << "AcsBoardAssembly::switchGpsInDualMode: Switching GPS failed" << std::endl;
+#endif
+  }
+}
+
+void AcsBoardAssembly::refreshHelperModes() {
+  helper.gyro0SideAMode = childrenMap[helper.gyro0AdisIdSideA].mode;
+  helper.gyro1SideAMode = childrenMap[helper.gyro1L3gIdSideA].mode;
+  helper.gyro2SideBMode = childrenMap[helper.gyro2AdisIdSideB].mode;
+  helper.gyro3SideBMode = childrenMap[helper.gyro2AdisIdSideB].mode;
+  helper.mgm0SideAMode = childrenMap[helper.mgm0Lis3IdSideA].mode;
+  helper.mgm1SideAMode = childrenMap[helper.mgm1Rm3100IdSideA].mode;
+  helper.mgm2SideBMode = childrenMap[helper.mgm2Lis3IdSideB].mode;
+  helper.mgm3SideBMode = childrenMap[helper.mgm3Rm3100IdSideB].mode;
+}
+
+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);
+}

mission/system/AcsBoardAssembly.h

@@ -1,4 +1,122 @@
 #ifndef MISSION_SYSTEM_ACSBOARDASSEMBLY_H_
 #define MISSION_SYSTEM_ACSBOARDASSEMBLY_H_
 
+#include <common/config/commonSubsystemIds.h>
+#include <devices/powerSwitcherList.h>
+#include <fsfw/devicehandlers/AssemblyBase.h>
+#include <fsfw/objectmanager/frameworkObjects.h>
+
+struct AcsBoardHelper {
+  AcsBoardHelper(object_id_t mgm0Id, object_id_t mgm1Id, object_id_t mgm2Id, object_id_t mgm3Id,
+                 object_id_t gyro0Id, object_id_t gyro1Id, object_id_t gyro2Id, object_id_t gyro3Id,
+                 object_id_t gpsId)
+      : mgm0Lis3IdSideA(mgm0Id),
+        mgm1Rm3100IdSideA(mgm1Id),
+        mgm2Lis3IdSideB(mgm2Id),
+        mgm3Rm3100IdSideB(mgm3Id),
+        gyro0AdisIdSideA(gyro0Id),
+        gyro1L3gIdSideA(gyro1Id),
+        gyro2AdisIdSideB(gyro2Id),
+        gyro3L3gIdSideB(gyro3Id) {}
+
+  object_id_t mgm0Lis3IdSideA = objects::NO_OBJECT;
+  object_id_t mgm1Rm3100IdSideA = objects::NO_OBJECT;
+  object_id_t mgm2Lis3IdSideB = objects::NO_OBJECT;
+  object_id_t mgm3Rm3100IdSideB = objects::NO_OBJECT;
+
+  object_id_t gyro0AdisIdSideA = objects::NO_OBJECT;
+  object_id_t gyro1L3gIdSideA = objects::NO_OBJECT;
+  object_id_t gyro2AdisIdSideB = objects::NO_OBJECT;
+  object_id_t gyro3L3gIdSideB = objects::NO_OBJECT;
+
+  object_id_t gpsId = objects::NO_OBJECT;
+
+  Mode_t gyro0SideAMode = HasModesIF::MODE_OFF;
+  Mode_t gyro1SideAMode = HasModesIF::MODE_OFF;
+  Mode_t gyro2SideBMode = HasModesIF::MODE_OFF;
+  Mode_t gyro3SideBMode = HasModesIF::MODE_OFF;
+  Mode_t mgm0SideAMode = HasModesIF::MODE_OFF;
+  Mode_t mgm1SideAMode = HasModesIF::MODE_OFF;
+  Mode_t mgm2SideBMode = HasModesIF::MODE_OFF;
+  Mode_t mgm3SideBMode = HasModesIF::MODE_OFF;
+  Mode_t gpsMode = HasModesIF::MODE_OFF;
+};
+
+enum ModeTableIdx : uint8_t {
+  MGM_0_A = 0,
+  MGM_1_A = 1,
+  MGM_2_B = 2,
+  MGM_3_B = 3,
+  GYRO_0_A = 4,
+  GYRO_1_A = 5,
+  GYRO_2_B = 6,
+  GYRO_3_B = 7,
+  GPS = 8
+};
+
+class PowerSwitchIF;
+class GpioIF;
+
+class AcsBoardAssembly : public AssemblyBase {
+ public:
+  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);
+  static constexpr Event NOT_ENOUGH_DEVICES_DUAL_MODE =
+      event::makeEvent(SUBSYSTEM_ID, 1, severity::HIGH);
+  static constexpr uint8_t NUMBER_DEVICES_MODE_TABLE = 9;
+
+  enum Submodes : Submode_t { A_SIDE = 0, B_SIDE = 1, DUAL_MODE = 2 };
+
+  AcsBoardAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
+                   AcsBoardHelper helper, GpioIF* gpioIF);
+
+  void setPreferredSide(Submodes submode);
+
+  /**
+   * In dual mode, the A side or the B side GPS device can be used, but not both.
+   * This function can be used to switch the used GPS device.
+   * @param side
+   */
+  void selectGpsInDualMode(Submodes side);
+
+ private:
+  static constexpr pcduSwitches::Switches SWITCH_A =
+      pcduSwitches::Switches::PDU1_CH7_ACS_A_SIDE_3V3;
+  static constexpr pcduSwitches::Switches SWITCH_B =
+      pcduSwitches::Switches::PDU2_CH7_ACS_BOARD_SIDE_B_3V3;
+
+  enum class States { IDLE, SWITCHING_POWER, MODE_COMMANDING } state = States::IDLE;
+
+  PowerSwitchIF* pwrSwitcher = nullptr;
+  bool tryingOtherSide = false;
+  AcsBoardHelper helper;
+  GpioIF* gpioIF = nullptr;
+  Submodes defaultSubmode = Submodes::A_SIDE;
+  bool dualModeErrorSwitch = true;
+  FixedArrayList<ModeListEntry, NUMBER_DEVICES_MODE_TABLE> modeTable;
+
+  ReturnValue_t initialize() override;
+
+  // 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 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 powerStateMachine(Mode_t mode, Submode_t submode);
+  void initModeTableEntry(object_id_t id, ModeListEntry& entry);
+  void refreshHelperModes();
+};
+
 #endif /* MISSION_SYSTEM_ACSBOARDASSEMBLY_H_ */

mission/system/CMakeLists.txt

@@ -1,5 +1,6 @@
 target_sources(${LIB_EIVE_MISSION} PRIVATE
     AcsBoardAssembly.cpp
+    SusAssembly.cpp
     AcsSubsystem.cpp
     TcsSubsystem.cpp
     EiveSystem.cpp

mission/system/SusAssembly.cpp

@@ -0,0 +1,233 @@
+#include "SusAssembly.h"
+
+#include <devices/powerSwitcherList.h>
+#include <fsfw/power/PowerSwitchIF.h>
+#include <fsfw/serviceinterface.h>
+
+SusAssembly::SusAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
+                         SusAssHelper helper)
+    : AssemblyBase(objectId, parentId), helper(helper), pwrSwitcher(pwrSwitcher) {
+  ModeListEntry entry;
+  for (uint8_t idx = 0; idx < NUMBER_SUN_SENSORS; idx++) {
+    initModeTableEntry(helper.susIds[idx], entry);
+  }
+}
+
+ReturnValue_t SusAssembly::commandChildren(Mode_t mode, Submode_t submode) {
+  ReturnValue_t result = RETURN_OK;
+  refreshHelperModes();
+  powerStateMachine(mode, submode);
+  if (mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_ON) {
+    if (state == States::MODE_COMMANDING) {
+      handleNormalOrOnModeCmd(mode, submode);
+    }
+  } else {
+    for (uint8_t idx = 0; idx < NUMBER_SUN_SENSORS; idx++) {
+      modeTable[idx].setMode(MODE_OFF);
+      modeTable[idx].setSubmode(SUBMODE_NONE);
+    }
+  }
+
+  HybridIterator<ModeListEntry> tableIter(modeTable.begin(), modeTable.end());
+  executeTable(tableIter);
+  return result;
+}
+
+ReturnValue_t SusAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode) {
+  ReturnValue_t result = RETURN_OK;
+  auto cmdSeq = [&](object_id_t objectId, uint8_t tableIdx) {
+    if (mode == DeviceHandlerIF::MODE_NORMAL) {
+      if (isUseable(objectId, mode)) {
+        if (helper.susModes[tableIdx] != MODE_OFF) {
+          modeTable[tableIdx].setMode(mode);
+          modeTable[tableIdx].setSubmode(SUBMODE_NONE);
+        } else {
+          result = NEED_SECOND_STEP;
+          modeTable[tableIdx].setMode(MODE_ON);
+          modeTable[tableIdx].setSubmode(SUBMODE_NONE);
+        }
+      }
+    } else if (mode == MODE_ON) {
+      if (isUseable(objectId, mode)) {
+        modeTable[tableIdx].setMode(MODE_ON);
+        modeTable[tableIdx].setSubmode(SUBMODE_NONE);
+      }
+    }
+  };
+  switch (submode) {
+    case (NOMINAL): {
+      for (uint8_t idx = 0; idx < NUMBER_SUN_SENSORS_ONE_SIDE; idx++) {
+        cmdSeq(helper.susIds[idx], idx);
+        // Switch off devices on redundant side
+        modeTable[idx + NUMBER_SUN_SENSORS_ONE_SIDE].setMode(MODE_OFF);
+        modeTable[idx + NUMBER_SUN_SENSORS_ONE_SIDE].setSubmode(SUBMODE_NONE);
+      }
+      return result;
+    }
+    case (REDUNDANT): {
+      for (uint8_t idx = NUMBER_SUN_SENSORS_ONE_SIDE; idx < NUMBER_SUN_SENSORS; idx++) {
+        cmdSeq(helper.susIds[idx], idx);
+        // Switch devices on nominal side
+        modeTable[idx - NUMBER_SUN_SENSORS_ONE_SIDE].setMode(MODE_OFF);
+        modeTable[idx - NUMBER_SUN_SENSORS_ONE_SIDE].setSubmode(SUBMODE_NONE);
+      }
+      return result;
+    }
+    case (DUAL_MODE): {
+      for (uint8_t idx = 0; idx < NUMBER_SUN_SENSORS; idx++) {
+        cmdSeq(helper.susIds[idx], idx);
+      }
+      return result;
+    }
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t SusAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) {
+  refreshHelperModes();
+  if (wantedSubmode == NOMINAL) {
+    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) {
+    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;
+      }
+    }
+    return RETURN_OK;
+  } else {
+    // Trigger event if devices are faulty? This is the last fallback mode, returning
+    // a failure here would trigger a transition to MODE_OFF unless handleModeTransitionFailed
+    // is overriden
+    return RETURN_OK;
+  }
+  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) {
+    result = registerChild(id);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+  }
+  return result;
+}
+
+bool SusAssembly::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 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

@@ -0,0 +1,61 @@
+#ifndef MISSION_SYSTEM_SUSASSEMBLY_H_
+#define MISSION_SYSTEM_SUSASSEMBLY_H_
+
+#include <devices/powerSwitcherList.h>
+#include <fsfw/devicehandlers/AssemblyBase.h>
+
+struct SusAssHelper {
+ public:
+  SusAssHelper(std::array<object_id_t, 12> susIds) : susIds(susIds) {}
+  std::array<object_id_t, 12> susIds = {objects::NO_OBJECT};
+  std::array<Mode_t, 12> susModes = {HasModesIF::MODE_OFF};
+};
+
+class PowerSwitchIF;
+
+class SusAssembly : AssemblyBase {
+ 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 Submode_t REDUNDANT = 1;
+  static constexpr Submode_t DUAL_MODE = 2;
+
+  SusAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
+              SusAssHelper helper);
+
+ private:
+  enum class States { IDLE, SWITCHING_POWER, MODE_COMMANDING } state = States::IDLE;
+  static constexpr pcduSwitches::Switches SWITCH_NOM =
+      pcduSwitches::Switches::PDU1_CH4_SUS_NOMINAL_3V3;
+  static constexpr pcduSwitches::Switches SWITCH_RED =
+      pcduSwitches::Switches::PDU2_CH4_SUS_REDUNDANT_3V3;
+  FixedArrayList<ModeListEntry, NUMBER_SUN_SENSORS> modeTable;
+
+  SusAssHelper helper;
+  PowerSwitchIF* pwrSwitcher = nullptr;
+
+  ReturnValue_t initialize() override;
+
+  // 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 handleModeReached() override;
+  void handleModeTransitionFailed(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);
+  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();
+};
+
+#endif /* MISSION_SYSTEM_SUSASSEMBLY_H_ */

unittest/mocks/EventManagerMock.h

@@ -15,10 +15,12 @@ class EventManagerMock : public EventManager {
   void clearEventList();
 
   bool isEventInEventList(object_id_t object, Event event);
-  bool isEventInEventList(object_id_t object, Event event, uint32_t parameter1, uint32_t parameter2);
+  bool isEventInEventList(object_id_t object, Event event, uint32_t parameter1,
+                          uint32_t parameter2);
 
   bool isEventInEventList(object_id_t object, EventId_t eventId);
-  bool isEventInEventList(object_id_t object, EventId_t eventId, uint32_t parameter1, uint32_t parameter2);
+  bool isEventInEventList(object_id_t object, EventId_t eventId, uint32_t parameter1,
+                          uint32_t parameter2);
 
  private:
   std::list<EventMessage> eventList;

unittest/mocks/HouseKeepingMock.cpp

@@ -2,7 +2,6 @@
 
 #include <fsfw/objectmanager/frameworkObjects.h>
 
-
 HouseKeepingMock::HouseKeepingMock() : SystemObject(objects::PUS_SERVICE_3_HOUSEKEEPING) {}
 
 MessageQueueId_t HouseKeepingMock::getHkQueue() const { return MessageQueueIF::NO_QUEUE; }

unittest/mocks/HouseKeepingMock.h

@@ -2,8 +2,8 @@
 #define HOUSEKEEPINGMOCK_H_
 
 #include <fsfw/housekeeping/AcceptsHkPacketsIF.h>
-#include <fsfw/objectmanager/SystemObject.h>
 #include <fsfw/ipc/MessageQueueIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
 
 class HouseKeepingMock : public SystemObject, public AcceptsHkPacketsIF {
  public:
@@ -12,5 +12,4 @@ class HouseKeepingMock : public SystemObject, public AcceptsHkPacketsIF {
   virtual MessageQueueId_t getHkQueue() const;
 };
 
-
 #endif /*HOUSEKEEPINGMOCK_H_*/