Merge branch 'develop' into acs-flp-safe

CHANGELOG.md

@@ -17,7 +17,7 @@ will consitute of a breaking change warranting a new major release:
 # [unreleased]
 
 - q7s-package: v2.5.0
-- STR firmware was updated to v10.3
+- STR firmware was updated to v10.7. `wire` library still needs to be updated.
 
 ## Fixed
 
@@ -27,10 +27,19 @@ will consitute of a breaking change warranting a new major release:
 - Bugfix for STR where an invalid reply was received for special requests
   like firmware updates.
 - Bugfix for shell command executors in command controller which lead to a crash.
+- Important bugfix for STR solution set. Missing STR mode u8 parameter.
+- Fix for STR image download.
+- Possible fix for STR image upload.
+- Fixed regression where the reply result for ACS board and SUS board devices was set to FAILED
+  even when going to OFF mode. In that case, it has to be set to OK so the device handler can
+  complete the OFF transition.
 
 ## Changed
 
 - STR `wire` library updated to v10.3. Submodule renamed to `sagittactl`.
+- Custom FDIR for TMP1075 sensors. The device handlers reject `NEEDS_RECOVERY` health commands
+  anyway, so it does not really make sense to use the default FDIR.
+- Reject `NEEDS_RECOVERY` health commands for the heater health devices.
 
 ## Added
 

bsp_q7s/core/ObjectFactory.cpp

@@ -27,8 +27,9 @@
 #include <mission/system/acs/ImtqAssembly.h>
 #include <mission/system/acs/StrAssembly.h>
 #include <mission/system/acs/StrFdir.h>
+#include <mission/system/com/SyrlinksAssembly.h>
 #include <mission/system/objects/CamSwitcher.h>
-#include <mission/system/objects/SyrlinksAssembly.h>
+#include <mission/system/tcs/TmpDevFdir.h>
 
 #include "OBSWConfig.h"
 #include "bsp_q7s/boardtest/Q7STestTask.h"
@@ -62,17 +63,15 @@
 #include "mission/system/acs/acsModeTree.h"
 #include "mission/system/com/SyrlinksFdir.h"
 #include "mission/system/com/comModeTree.h"
-#include "mission/system/fdir/RtdFdir.h"
-#include "mission/system/objects/TcsBoardAssembly.h"
 #include "mission/system/power/GomspacePowerFdir.h"
+#include "mission/system/tcs/RtdFdir.h"
+#include "mission/system/tcs/TcsBoardAssembly.h"
+#include "mission/system/tcs/tcsModeTree.h"
 #include "mission/system/tree/payloadModeTree.h"
-#include "mission/system/tree/tcsModeTree.h"
 #include "mission/tmtc/tmFilters.h"
 #include "mission/utility/GlobalConfigHandler.h"
 #include "tmtc/pusIds.h"
 
-using gpio::Direction;
-using gpio::Levels;
 #if OBSW_TEST_LIBGPIOD == 1
 #include "linux/boardtest/LibgpiodTest.h"
 #endif
@@ -123,6 +122,9 @@ using gpio::Levels;
 #include "mission/system/acs/AcsBoardAssembly.h"
 #include "mission/tmtc/TmFunnelHandler.h"
 
+using gpio::Direction;
+using gpio::Levels;
+
 ResetArgs RESET_ARGS_GNSS;
 std::atomic_bool LINK_STATE = CcsdsIpCoreHandler::LINK_DOWN;
 std::atomic_bool PTME_LOCKED = false;
@@ -164,6 +166,7 @@ void ObjectFactory::createTmpComponents() {
         new I2cCookie(tmpDevIds[idx].second, TMP1075::MAX_REPLY_LENGTH, q7s::I2C_PS_EIVE));
     auto* tmpDevHandler =
         new Tmp1075Handler(tmpDevIds[idx].first, objects::I2C_COM_IF, tmpDevCookies[idx]);
+    tmpDevHandler->setCustomFdir(new TmpDevFdir(tmpDevIds[idx].first));
     tmpDevHandler->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
     // TODO: Remove this after TCS subsystem was added
     // These devices are connected to the 3V3 stack and should be powered permanently. Therefore,

dummies/helperFactory.cpp

@@ -30,7 +30,7 @@
 #include <mission/system/acs/ImtqAssembly.h>
 #include <mission/system/acs/StrAssembly.h>
 #include <mission/system/objects/CamSwitcher.h>
-#include <mission/system/objects/TcsBoardAssembly.h>
+#include <mission/system/tcs/TcsBoardAssembly.h>
 
 #include "TemperatureSensorInserter.h"
 #include "dummies/Max31865Dummy.h"
@@ -38,8 +38,8 @@
 #include "mission/genericFactory.h"
 #include "mission/system/acs/acsModeTree.h"
 #include "mission/system/com/comModeTree.h"
+#include "mission/system/tcs/tcsModeTree.h"
 #include "mission/system/tree/payloadModeTree.h"
-#include "mission/system/tree/tcsModeTree.h"
 #include "mission/tcs/defs.h"
 
 void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpioIF) {

linux/ObjectFactory.cpp

@@ -17,8 +17,8 @@
 #include <mission/payload/ScexDeviceHandler.h>
 #include <mission/system/acs/SusAssembly.h>
 #include <mission/system/acs/SusFdir.h>
-#include <mission/system/fdir/RtdFdir.h>
+#include <mission/system/tcs/RtdFdir.h>
-#include <mission/system/objects/TcsBoardAssembly.h>
+#include <mission/system/tcs/TcsBoardAssembly.h>
 #include <mission/tcs/Max31865EiveHandler.h>
 
 #include "OBSWConfig.h"
@@ -27,8 +27,8 @@
 #include "devices/gpioIds.h"
 #include "eive/definitions.h"
 #include "mission/system/acs/acsModeTree.h"
+#include "mission/system/tcs/tcsModeTree.h"
 #include "mission/system/tree/payloadModeTree.h"
-#include "mission/system/tree/tcsModeTree.h"
 #include "mission/tcs/defs.h"
 
 void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF,

linux/acs/AcsBoardPolling.cpp

@@ -122,13 +122,14 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
         } else {
           sif::warning << "AcsBoardPolling: Unknown ADIS type" << std::endl;
         }
+        adis.replyResult = returnvalue::FAILED;
         adis.performStartup = true;
       } else if (req->mode == acs::SimpleSensorMode::OFF) {
         adis.performStartup = false;
         adis.ownReply.cfgWasSet = false;
         adis.ownReply.dataWasSet = false;
+        adis.replyResult = returnvalue::OK;
       }
-      adis.replyResult = returnvalue::FAILED;
       adis.mode = req->mode;
     }
     return returnvalue::OK;
@@ -144,10 +145,11 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
       if (req->mode == acs::SimpleSensorMode::NORMAL) {
         std::memcpy(gyro.sensorCfg, req->ctrlRegs, 5);
         gyro.performStartup = true;
+        gyro.replyResult = returnvalue::FAILED;
       } else {
         gyro.ownReply.cfgWasSet = false;
+        gyro.replyResult = returnvalue::OK;
       }
-      gyro.replyResult = returnvalue::FAILED;
       gyro.mode = req->mode;
     }
     return returnvalue::OK;
@@ -162,11 +164,12 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
     if (req->mode != mgm.mode) {
       if (req->mode == acs::SimpleSensorMode::NORMAL) {
         mgm.performStartup = true;
+        mgm.replyResult = returnvalue::FAILED;
       } else {
         mgm.ownReply.dataWasSet = false;
+        mgm.replyResult = returnvalue::OK;
         mgm.ownReply.temperatureWasSet = false;
       }
-      mgm.replyResult = returnvalue::FAILED;
       mgm.mode = req->mode;
     }
     return returnvalue::OK;
@@ -181,10 +184,11 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
     if (req->mode != mgm.mode) {
       if (req->mode == acs::SimpleSensorMode::NORMAL) {
         mgm.performStartup = true;
+        mgm.replyResult = returnvalue::FAILED;
       } else {
         mgm.ownReply.dataWasRead = false;
+        mgm.replyResult = returnvalue::OK;
       }
-      mgm.replyResult = returnvalue::FAILED;
       mgm.mode = req->mode;
     }
     return returnvalue::OK;

linux/acs/StrComHandler.cpp

@@ -17,6 +17,10 @@
 #include "mission/utility/ProgressPrinter.h"
 #include "mission/utility/Timestamp.h"
 
+extern "C" {
+#include <sagitta/client/actionreq.h>
+}
+
 using namespace returnvalue;
 
 StrComHandler::StrComHandler(object_id_t objectId) : SystemObject(objectId) {
@@ -305,6 +309,7 @@ ReturnValue_t StrComHandler::performImageUpload() {
   uint32_t imageSize = 0;
   struct UploadActionRequest uploadReq;
   uploadReq.position = 0;
+  size_t writtenBytes = 0;
 #ifdef XIPHOS_Q7S
   if (not sdcMan->getActiveSdCard()) {
     return HasFileSystemIF::FILESYSTEM_INACTIVE;
@@ -327,7 +332,9 @@ ReturnValue_t StrComHandler::performImageUpload() {
 #if OBSW_DEBUG_STARTRACKER == 1
   ProgressPrinter progressPrinter("Image upload", imageSize);
 #endif /* OBSW_DEBUG_STARTRACKER == 1 */
-  while ((uploadReq.position + 1) * SIZE_IMAGE_PART < imageSize) {
+  size_t fullChunks = imageSize / SIZE_IMAGE_PART;
+  size_t remainder = imageSize % SIZE_IMAGE_PART;
+  for (size_t idx = 0; idx < fullChunks; idx++) {
     if (terminate) {
       return returnvalue::OK;
     }
@@ -346,6 +353,7 @@ ReturnValue_t StrComHandler::performImageUpload() {
     progressPrinter.print((uploadReq.position + 1) * SIZE_IMAGE_PART);
 #endif /* OBSW_DEBUG_STARTRACKER == 1 */
     uploadReq.position++;
+    writtenBytes += SIZE_IMAGE_PART;
 
     // This does a bit of delaying roughly every second
     if (uploadReq.position % 50 == 0) {
@@ -353,12 +361,11 @@ ReturnValue_t StrComHandler::performImageUpload() {
       TaskFactory::delayTask(2);
     }
   }
+  if (remainder > 0) {
     std::memset(uploadReq.data, 0, sizeof(uploadReq.data));
-  uint32_t remainder = imageSize - uploadReq.position * SIZE_IMAGE_PART;
+    file.seekg(fullChunks * SIZE_IMAGE_PART, file.beg);
-  file.seekg(uploadReq.position * SIZE_IMAGE_PART, file.beg);
     file.read(reinterpret_cast<char*>(uploadReq.data), remainder);
     file.close();
-  uploadReq.position++;
     arc_pack_upload_action_req(&uploadReq, cmdBuf.data(), &size);
     result = sendAndRead(size, uploadReq.position);
     if (result != returnvalue::OK) {
@@ -368,6 +375,7 @@ ReturnValue_t StrComHandler::performImageUpload() {
     if (result != returnvalue::OK) {
       return result;
     }
+  }
 #if OBSW_DEBUG_STARTRACKER == 1
   progressPrinter.print((uploadReq.position + 1) * SIZE_IMAGE_PART);
 #endif /* OBSW_DEBUG_STARTRACKER == 1 */

linux/acs/StrComHandler.h

@@ -18,10 +18,6 @@
 #include "fsfw/tasks/ExecutableObjectIF.h"
 #include "fsfw_hal/linux/serial/SerialComIF.h"
 
-extern "C" {
-#include <sagitta/client/arc_client.h>
-}
-
 /**
  * @brief   Helper class for the star tracker handler to accelerate large data transfers.
  *
@@ -176,7 +172,7 @@ class StrComHandler : public SystemObject, public DeviceCommunicationIF, public
   static const uint32_t FLASH_REGION_SIZE = 0x20000;
 
   struct ImageDownload {
-    static const uint32_t LAST_POSITION = 4095;
+    static const uint32_t LAST_POSITION = 4096;
   };
 
   static const uint32_t MAX_POLLS = 10000;

linux/acs/SusPolling.cpp

@@ -69,11 +69,13 @@ ReturnValue_t SusPolling::sendMessage(CookieIF* cookie, const uint8_t* sendData,
   if (susDevs[susIdx].mode != susReq->mode) {
     if (susReq->mode == acs::SimpleSensorMode::NORMAL) {
       susDevs[susIdx].performStartup = true;
+      susDevs[susIdx].replyResult = returnvalue::FAILED;
     } else {
       susDevs[susIdx].ownReply.cfgWasSet = false;
       susDevs[susIdx].ownReply.dataWasSet = false;
+      // We are off now, but DHB wants a proper reply.
+      susDevs[susIdx].replyResult = returnvalue::OK;
     }
-    susDevs[susIdx].replyResult = returnvalue::FAILED;
     susDevs[susIdx].mode = susReq->mode;
   }
   if (state == InternalState::IDLE) {

mission/acs/str/StarTrackerHandler.cpp

@@ -1084,6 +1084,7 @@ ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& l
   localDataPoolMap.emplace(startracker::LISA_QZ, new PoolEntry<float>({0}));
   localDataPoolMap.emplace(startracker::LISA_PERC_CLOSE, new PoolEntry<float>({0}));
   localDataPoolMap.emplace(startracker::LISA_NR_CLOSE, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(startracker::STR_MODE, new PoolEntry<uint8_t>({0}));
   localDataPoolMap.emplace(startracker::TRUST_WORTHY, new PoolEntry<uint8_t>({0}));
   localDataPoolMap.emplace(startracker::STABLE_COUNT, new PoolEntry<uint32_t>({0}));
   localDataPoolMap.emplace(startracker::SOLUTION_STRATEGY, new PoolEntry<uint8_t>({0}));

mission/acs/str/arcsecJsonKeys.h

@@ -9,7 +9,7 @@ static const char PROPERTIES[] = "properties";
 static const char NAME[] = "name";
 static const char VALUE[] = "value";
 
-static const char LIMITS[] = "limits";
+static const char LIMITS[] = "Limits";
 static const char ACTION[] = "action";
 static const char FPGA18CURRENT[] = "FPGA18Current";
 static const char FPGA25CURRENT[] = "FPGA25Current";
@@ -22,20 +22,20 @@ static const char CMOSVRESCURRENT[] = "CMOSVResCurrent";
 static const char CMOS_TEMPERATURE[] = "CMOSTemperature";
 static const char MCU_TEMPERATURE[] = "MCUTemperature";
 
-static const char MOUNTING[] = "mounting";
+static const char MOUNTING[] = "Mounting";
 static const char qw[] = "qw";
 static const char qx[] = "qx";
 static const char qy[] = "qy";
 static const char qz[] = "qz";
 
-static const char IMAGE_PROCESSOR[] = "imageprocessor";
+static const char IMAGE_PROCESSOR[] = "ImageProcessor";
 static const char IMAGE_PROCESSOR_MODE[] = "mode";
 static const char STORE[] = "store";
 static const char SIGNAL_THRESHOLD[] = "signalThreshold";
 static const char IMAGE_PROCESSOR_DARK_THRESHOLD[] = "darkThreshold";
 static const char BACKGROUND_COMPENSATION[] = "backgroundcompensation";
 
-static const char CAMERA[] = "camera";
+static const char CAMERA[] = "Camera";
 static const char MODE[] = "mode";
 static const char FOCALLENGTH[] = "focallength";
 static const char EXPOSURE[] = "exposure";
@@ -77,7 +77,7 @@ static const char ENABLE_HISTOGRAM[] = "enableHistogram";
 static const char ENABLE_CONTRAST[] = "enableContrast";
 static const char BIN_MODE[] = "binMode";
 
-static const char CENTROIDING[] = "centroiding";
+static const char CENTROIDING[] = "Centroiding";
 static const char ENABLE_FILTER[] = "enableFilter";
 static const char MAX_QUALITY[] = "maxquality";
 static const char DARK_THRESHOLD[] = "darkthreshold";
@@ -92,7 +92,7 @@ static const char TRANSMATRIX_01[] = "transmatrix01";
 static const char TRANSMATRIX_10[] = "transmatrix10";
 static const char TRANSMATRIX_11[] = "transmatrix11";
 
-static const char LISA[] = "lisa";
+static const char LISA[] = "LISA";
 static const char LISA_MODE[] = "mode";
 static const char PREFILTER_DIST_THRESHOLD[] = "prefilterDistThreshold";
 static const char PREFILTER_ANGLE_THRESHOLD[] = "prefilterAngleThreshold";
@@ -108,29 +108,29 @@ static const char MAX_COMBINATIONS[] = "max_combinations";
 static const char NR_STARS_STOP[] = "nr_stars_stop";
 static const char FRACTION_CLOSE_STOP[] = "fraction_close_stop";
 
-static const char MATCHING[] = "matching";
+static const char MATCHING[] = "Matching";
 static const char SQUARED_DISTANCE_LIMIT[] = "squaredDistanceLimit";
 static const char SQUARED_SHIFT_LIMIT[] = "squaredShiftLimit";
 
-static const char VALIDATION[] = "validation";
+static const char VALIDATION[] = "Validation";
 static const char STABLE_COUNT[] = "stable_count";
 static const char MAX_DIFFERENCE[] = "max_difference";
 static const char MIN_TRACKER_CONFIDENCE[] = "min_trackerConfidence";
 static const char MIN_MATCHED_STARS[] = "min_matchedStars";
 
-static const char TRACKING[] = "tracking";
+static const char TRACKING[] = "Tracking";
 static const char THIN_LIMIT[] = "thinLimit";
 static const char OUTLIER_THRESHOLD[] = "outlierThreshold";
 static const char OUTLIER_THRESHOLD_QUEST[] = "outlierThresholdQUEST";
 static const char TRACKER_CHOICE[] = "trackerChoice";
 
-static const char ALGO[] = "algo";
+static const char ALGO[] = "Algo";
 static const char L2T_MIN_CONFIDENCE[] = "l2t_minConfidence";
 static const char L2T_MIN_MATCHED[] = "l2t_minMatched";
 static const char T2L_MIN_CONFIDENCE[] = "t2l_minConfidence";
 static const char T2L_MIN_MATCHED[] = "t2l_minMatched";
 
-static const char LOGLEVEL[] = "loglevel";
+static const char LOGLEVEL[] = "LogLevel";
 static const char LOGLEVEL1[] = "loglevel1";
 static const char LOGLEVEL2[] = "loglevel2";
 static const char LOGLEVEL3[] = "loglevel3";
@@ -148,7 +148,7 @@ static const char LOGLEVEL14[] = "loglevel14";
 static const char LOGLEVEL15[] = "loglevel15";
 static const char LOGLEVEL16[] = "loglevel16";
 
-static const char SUBSCRIPTION[] = "subscription";
+static const char SUBSCRIPTION[] = "Subscription";
 static const char TELEMETRY_1[] = "telemetry1";
 static const char TELEMETRY_2[] = "telemetry2";
 static const char TELEMETRY_3[] = "telemetry3";
@@ -166,13 +166,13 @@ static const char TELEMETRY_14[] = "telemetry14";
 static const char TELEMETRY_15[] = "telemetry15";
 static const char TELEMETRY_16[] = "telemetry16";
 
-static const char LOG_SUBSCRIPTION[] = "logsubscription";
+static const char LOG_SUBSCRIPTION[] = "LogSubscription";
 static const char LEVEL1[] = "level1";
 static const char MODULE1[] = "module1";
 static const char LEVEL2[] = "level2";
 static const char MODULE2[] = "module2";
 
-static const char DEBUG_CAMERA[] = "debugcamera";
+static const char DEBUG_CAMERA[] = "DebugCamera";
 static const char TIMING[] = "timing";
 static const char TEST[] = "test";
 

mission/acs/str/strHelpers.h

@@ -91,6 +91,7 @@ enum PoolIds : lp_id_t {
   LISA_QZ,
   LISA_PERC_CLOSE,
   LISA_NR_CLOSE,
+  STR_MODE,
   TRUST_WORTHY,
   STABLE_COUNT,
   SOLUTION_STRATEGY,
@@ -358,7 +359,7 @@ static const uint8_t VERSION_SET_ENTRIES = 5;
 static const uint8_t INTERFACE_SET_ENTRIES = 4;
 static const uint8_t POWER_SET_ENTRIES = 18;
 static const uint8_t TIME_SET_ENTRIES = 4;
-static const uint8_t SOLUTION_SET_ENTRIES = 23;
+static const uint8_t SOLUTION_SET_ENTRIES = 25;
 static const uint8_t HISTOGRAM_SET_ENTRIES = 38;
 static const uint8_t CHECKSUM_SET_ENTRIES = 1;
 static const uint8_t CAMERA_SET_ENTRIES = 24;
@@ -682,6 +683,7 @@ class SolutionSet : public StaticLocalDataSet<SOLUTION_SET_ENTRIES> {
       lp_var_t<float>(sid.objectId, PoolIds::LISA_PERC_CLOSE, this);
   // Number of close stars in LISA solution
   lp_var_t<uint8_t> lisaNrClose = lp_var_t<uint8_t>(sid.objectId, PoolIds::LISA_NR_CLOSE, this);
+  lp_var_t<uint8_t> strMode = lp_var_t<uint8_t>(sid.objectId, PoolIds::STR_MODE, this);
   // Gives a combined overview of the validation parameters (1 for valid solution, otherwise 0)
   lp_var_t<uint8_t> isTrustWorthy = lp_var_t<uint8_t>(sid.objectId, PoolIds::TRUST_WORTHY, this);
   // Number of times the validation criteria was met

mission/genericFactory.cpp

@@ -30,7 +30,7 @@
 #include <mission/system/acs/AcsBoardAssembly.h>
 #include <mission/system/acs/RwAssembly.h>
 #include <mission/system/acs/SusAssembly.h>
-#include <mission/system/objects/TcsBoardAssembly.h>
+#include <mission/system/tcs/TcsBoardAssembly.h>
 #include <mission/tcs/HeaterHandler.h>
 #include <mission/tmtc/CfdpTmFunnel.h>
 #include <mission/tmtc/PersistentTmStore.h>
@@ -47,7 +47,7 @@
 #include "mission/cfdp/Config.h"
 #include "mission/system/acs/RwAssembly.h"
 #include "mission/system/acs/acsModeTree.h"
-#include "mission/system/tree/tcsModeTree.h"
+#include "mission/system/tcs/tcsModeTree.h"
 #include "mission/tcs/defs.h"
 #include "mission/tmtc/tmFilters.h"
 #include "objects/systemObjectList.h"
@@ -287,15 +287,17 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
 void ObjectFactory::createGenericHeaterComponents(GpioIF& gpioIF, PowerSwitchIF& pwrSwitcher,
                                                   HeaterHandler*& heaterHandler) {
   HeaterHelper helper({{
-      {new HealthDevice(objects::HEATER_0_PLOC_PROC_BRD, MessageQueueIF::NO_QUEUE),
+      {new HeaterHealthDev(objects::HEATER_0_PLOC_PROC_BRD, MessageQueueIF::NO_QUEUE),
        gpioIds::HEATER_0},
-      {new HealthDevice(objects::HEATER_1_PCDU_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_1},
+      {new HeaterHealthDev(objects::HEATER_1_PCDU_BRD, MessageQueueIF::NO_QUEUE),
-      {new HealthDevice(objects::HEATER_2_ACS_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_2},
+       gpioIds::HEATER_1},
-      {new HealthDevice(objects::HEATER_3_OBC_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_3},
+      {new HeaterHealthDev(objects::HEATER_2_ACS_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_2},
-      {new HealthDevice(objects::HEATER_4_CAMERA, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_4},
+      {new HeaterHealthDev(objects::HEATER_3_OBC_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_3},
-      {new HealthDevice(objects::HEATER_5_STR, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_5},
+      {new HeaterHealthDev(objects::HEATER_4_CAMERA, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_4},
-      {new HealthDevice(objects::HEATER_6_DRO, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_6},
+      {new HeaterHealthDev(objects::HEATER_5_STR, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_5},
-      {new HealthDevice(objects::HEATER_7_SYRLINKS, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_7},
+      {new HeaterHealthDev(objects::HEATER_6_DRO, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_6},
+      {new HeaterHealthDev(objects::HEATER_7_SYRLINKS, MessageQueueIF::NO_QUEUE),
+       gpioIds::HEATER_7},
   }});
   heaterHandler = new HeaterHandler(objects::HEATER_HANDLER, &gpioIF, helper, &pwrSwitcher,
                                     power::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);

mission/system/CMakeLists.txt

@@ -1,8 +1,8 @@
 add_subdirectory(objects)
 add_subdirectory(tree)
 add_subdirectory(acs)
+add_subdirectory(tcs)
 add_subdirectory(com)
-add_subdirectory(fdir)
 add_subdirectory(power)
 
 target_sources(

mission/system/fdir/CMakeLists.txt

@@ -1 +0,0 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE RtdFdir.cpp)

mission/system/objects/CMakeLists.txt

@@ -1,4 +1,3 @@
 target_sources(
-  ${LIB_EIVE_MISSION}
+  ${LIB_EIVE_MISSION} PRIVATE CamSwitcher.cpp PayloadSubsystem.cpp
-  PRIVATE CamSwitcher.cpp TcsSubsystem.cpp PayloadSubsystem.cpp
+                              Stack5VHandler.cpp PowerStateMachineBase.cpp)
-          Stack5VHandler.cpp PowerStateMachineBase.cpp TcsBoardAssembly.cpp)

mission/system/objects/SyrlinksAssembly.cpp

@@ -1,57 +0,0 @@
-#include "SyrlinksAssembly.h"
-
-#include <eive/objects.h>
-
-using namespace returnvalue;
-
-SyrlinksAssembly::SyrlinksAssembly(object_id_t objectId) : AssemblyBase(objectId) {
-  ModeListEntry entry;
-  entry.setObject(objects::SYRLINKS_HANDLER);
-  entry.setMode(MODE_OFF);
-  entry.setSubmode(SUBMODE_NONE);
-  commandTable.insert(entry);
-}
-
-ReturnValue_t SyrlinksAssembly::commandChildren(Mode_t mode, Submode_t submode) {
-  commandTable[0].setMode(mode);
-  commandTable[0].setSubmode(submode);
-  HybridIterator<ModeListEntry> iter(commandTable.begin(), commandTable.end());
-  if (recoveryState == RECOVERY_IDLE) {
-    ReturnValue_t result = checkAndHandleHealthState(mode, submode);
-    if (result == NEED_TO_CHANGE_HEALTH) {
-      return OK;
-    }
-  }
-  executeTable(iter);
-  return returnvalue::OK;
-}
-
-ReturnValue_t SyrlinksAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) {
-  if (childrenMap[objects::SYRLINKS_HANDLER].mode != wantedMode) {
-    return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
-  }
-  return returnvalue::OK;
-}
-
-ReturnValue_t SyrlinksAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {
-  if (mode == MODE_ON or mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_OFF) {
-    return returnvalue::OK;
-  }
-  return returnvalue::FAILED;
-}
-
-ReturnValue_t SyrlinksAssembly::checkAndHandleHealthState(Mode_t deviceMode,
-                                                          Submode_t deviceSubmode) {
-  HealthState health = healthHelper.healthTable->getHealth(objects::SYRLINKS_HANDLER);
-  if (health == FAULTY or health == PERMANENT_FAULTY) {
-    overwriteDeviceHealth(objects::SYRLINKS_HANDLER, health);
-    return NEED_TO_CHANGE_HEALTH;
-  } else if (health == EXTERNAL_CONTROL) {
-    modeHelper.setForced(true);
-  }
-  return OK;
-}
-
-void SyrlinksAssembly::handleChildrenLostMode(ReturnValue_t result) {
-  startTransition(mode, submode);
-}

mission/system/objects/SyrlinksAssembly.h

@@ -1,20 +0,0 @@
-#ifndef MISSION_SYSTEM_OBJECTS_SYRLINKSASSEMBLY_H_
-#define MISSION_SYSTEM_OBJECTS_SYRLINKSASSEMBLY_H_
-#include <fsfw/devicehandlers/AssemblyBase.h>
-
-class SyrlinksAssembly : public AssemblyBase {
- public:
-  SyrlinksAssembly(object_id_t objectId);
-
- private:
-  FixedArrayList<ModeListEntry, 1> commandTable;
-
-  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 handleChildrenLostMode(ReturnValue_t result) override;
-
-  ReturnValue_t checkAndHandleHealthState(Mode_t deviceMode, Submode_t deviceSubmode);
-};
-
-#endif /* MISSION_SYSTEM_OBJECTS_SYRLINKSASSEMBLY_H_ */

mission/system/systemTree.cpp

@@ -11,8 +11,8 @@
 #include "eive/objects.h"
 #include "mission/com/defs.h"
 #include "mission/system/acs/acsModeTree.h"
+#include "mission/system/tcs/tcsModeTree.h"
 #include "mission/system/tree/payloadModeTree.h"
-#include "mission/system/tree/tcsModeTree.h"
 #include "treeUtil.h"
 
 namespace {

mission/system/tcs/CMakeLists.txt

@@ -0,0 +1,3 @@
+target_sources(
+  ${LIB_EIVE_MISSION} PRIVATE tcsModeTree.cpp TcsSubsystem.cpp
+                              TcsBoardAssembly.cpp RtdFdir.cpp TmpDevFdir.cpp)

mission/system/tcs/TmpDevFdir.cpp

@@ -0,0 +1,91 @@
+#include "TmpDevFdir.h"
+
+#include <fsfw/devicehandlers/DeviceHandlerIF.h>
+#include <fsfw/modes/HasModesIF.h>
+#include <fsfw/power/Fuse.h>
+#include <fsfw/thermal/ThermalComponentIF.h>
+
+TmpDevFdir::TmpDevFdir(object_id_t sensorId)
+    : DeviceHandlerFailureIsolation(sensorId, objects::NO_OBJECT) {}
+
+ReturnValue_t TmpDevFdir::eventReceived(EventMessage* event) {
+  if (isFdirInActionOrAreWeFaulty(event)) {
+    return returnvalue::OK;
+  }
+  ReturnValue_t result = returnvalue::FAILED;
+  switch (event->getEvent()) {
+    case HasModesIF::MODE_TRANSITION_FAILED:
+    case HasModesIF::OBJECT_IN_INVALID_MODE:
+    case DeviceHandlerIF::DEVICE_WANTS_HARD_REBOOT:
+      // We'll try a recovery as long as defined in MAX_REBOOT.
+      // Might cause some AssemblyBase cycles, so keep number low.
+      // Ignored for TMP device, no way to power cycle it without going to OFF/BOOT mode.
+      // handleRecovery(event->getEvent());
+      break;
+    case DeviceHandlerIF::DEVICE_INTERPRETING_REPLY_FAILED:
+    case DeviceHandlerIF::DEVICE_READING_REPLY_FAILED:
+    case DeviceHandlerIF::DEVICE_UNREQUESTED_REPLY:
+    case DeviceHandlerIF::DEVICE_UNKNOWN_REPLY:  // Some DH's generate generic reply-ids.
+    case DeviceHandlerIF::DEVICE_BUILDING_COMMAND_FAILED:
+      // These faults all mean that there were stupid replies from a device.
+      // With now way to do a recovery, set the device to faulty immediately.
+      setFaulty(event->getEvent());
+      break;
+    case DeviceHandlerIF::DEVICE_SENDING_COMMAND_FAILED:
+    case DeviceHandlerIF::DEVICE_REQUESTING_REPLY_FAILED:
+      // The two above should never be confirmed.
+    case DeviceHandlerIF::DEVICE_MISSED_REPLY:
+      result = sendConfirmationRequest(event);
+      if (result == returnvalue::OK) {
+        break;
+      }
+      // else
+      setFaulty(event->getEvent());
+      break;
+    case StorageManagerIF::GET_DATA_FAILED:
+    case StorageManagerIF::STORE_DATA_FAILED:
+      // Rather strange bugs, occur in RAW mode only. Ignore.
+      break;
+    case DeviceHandlerIF::INVALID_DEVICE_COMMAND:
+      // Ignore, is bad configuration. We can't do anything in flight.
+      break;
+    case HasHealthIF::HEALTH_INFO:
+    case HasModesIF::MODE_INFO:
+    case HasModesIF::CHANGING_MODE:
+      // Do nothing, but mark as handled.
+      break;
+      //****Thermal*****
+    case ThermalComponentIF::COMPONENT_TEMP_LOW:
+    case ThermalComponentIF::COMPONENT_TEMP_HIGH:
+    case ThermalComponentIF::COMPONENT_TEMP_OOL_LOW:
+    case ThermalComponentIF::COMPONENT_TEMP_OOL_HIGH:
+      // Well, the device is not really faulty, but it is required to stay off as long as possible.
+      setFaulty(event->getEvent());
+      break;
+    case ThermalComponentIF::TEMP_NOT_IN_OP_RANGE:
+      // Ignore, is information only.
+      break;
+      //*******Default monitoring variables. Are currently not used.*****
+      //	case DeviceHandlerIF::MONITORING_LIMIT_EXCEEDED:
+      //		setFaulty(event->getEvent());
+      //		break;
+      //	case DeviceHandlerIF::MONITORING_AMBIGUOUS:
+      //		break;
+    default:
+      // We don't know the event, someone else should handle it.
+      return returnvalue::FAILED;
+  }
+  return returnvalue::OK;
+}
+
+void TmpDevFdir::eventConfirmed(EventMessage* event) {
+  switch (event->getEvent()) {
+    case DeviceHandlerIF::DEVICE_SENDING_COMMAND_FAILED:
+    case DeviceHandlerIF::DEVICE_REQUESTING_REPLY_FAILED:
+    case DeviceHandlerIF::DEVICE_MISSED_REPLY:
+      setFaulty(event->getEvent());
+      break;
+    default:
+      break;
+  }
+}

mission/system/tcs/TmpDevFdir.h

@@ -0,0 +1,20 @@
+#ifndef MISSION_SYSTEM_TCS_TMPDEVFDIR_H_
+#define MISSION_SYSTEM_TCS_TMPDEVFDIR_H_
+#include <fsfw/devicehandlers/DeviceHandlerFailureIsolation.h>
+
+/**
+ * Special FDIR because we can not simply power cycle the TMP devices which are powered by the
+ * 3.3 V stack and there is also no way to logically reset or re-configure the TMP devices in
+ * any way. In general, instead of doing a recovery, the TMP devices should be set faulty
+ * immediately for the EIVE project.
+ */
+class TmpDevFdir : public DeviceHandlerFailureIsolation {
+ public:
+  TmpDevFdir(object_id_t sensorId);
+
+ private:
+  ReturnValue_t eventReceived(EventMessage* event) override;
+  void eventConfirmed(EventMessage* event) override;
+};
+
+#endif /* MISSION_SYSTEM_TCS_TMPDEVFDIR_H_ */

mission/system/tcs/tcsModeTree.h

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

mission/system/tree/CMakeLists.txt

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

mission/tcs/CMakeLists.txt

@@ -1,3 +1,4 @@
 target_sources(
-  ${LIB_EIVE_MISSION} PRIVATE HeaterHandler.cpp max1227.cpp
+  ${LIB_EIVE_MISSION}
-                              Max31865EiveHandler.cpp Tmp1075Handler.cpp)
+  PRIVATE HeaterHandler.cpp max1227.cpp Max31865EiveHandler.cpp
+          Tmp1075Handler.cpp HeaterHealthDev.cpp)

mission/tcs/HeaterHandler.h

@@ -15,6 +15,7 @@
 #include <fsfw/tasks/ExecutableObjectIF.h>
 #include <fsfw/timemanager/Countdown.h>
 #include <fsfw_hal/common/gpio/GpioIF.h>
+#include <mission/tcs/HeaterHealthDev.h>
 
 #include <array>
 #include <utility>
@@ -27,7 +28,7 @@
 class PowerSwitchIF;
 class HealthTableIF;
 
-using HeaterPair = std::pair<HealthDevice*, gpioId_t>;
+using HeaterPair = std::pair<HeaterHealthDev*, gpioId_t>;
 
 struct HeaterHelper {
  public:

mission/tcs/HeaterHealthDev.cpp

@@ -0,0 +1,12 @@
+#include "HeaterHealthDev.h"
+
+HeaterHealthDev::HeaterHealthDev(object_id_t setObjectId, MessageQueueId_t parentQueue)
+    : HealthDevice(setObjectId, parentQueue) {}
+
+ReturnValue_t HeaterHealthDev::setHealth(HealthState health) {
+  // Does not make sense for a simple heater.
+  if (health == HealthState::NEEDS_RECOVERY) {
+    return returnvalue::FAILED;
+  }
+  return HealthDevice::setHealth(health);
+}

mission/tcs/HeaterHealthDev.h

@@ -0,0 +1,12 @@
+#ifndef MISSION_TCS_HEATERHEALTHDEV_H_
+#define MISSION_TCS_HEATERHEALTHDEV_H_
+#include <fsfw/devicehandlers/HealthDevice.h>
+
+class HeaterHealthDev : public HealthDevice {
+ public:
+  HeaterHealthDev(object_id_t setObjectId, MessageQueueId_t parentQueue);
+
+  ReturnValue_t setHealth(HealthState health) override;
+};
+
+#endif /* MISSION_TCS_HEATERHEALTHDEV_H_ */

thirdparty/sagittactl

@@ -1 +1 @@
-Subproject commit 64332216c193fa6483258060b53fc2842c08dcf4
+Subproject commit 29e876671a72fcdb0b393e2f692303725f00724f

tmtc

@@ -1 +1 @@
-Subproject commit f8da9cff7c5d6d6bdd483f90ccefb67b2d1e11a4
+Subproject commit f57342602da3232c0bfecaecb0c10be6d692b384