Merge branch 'develop' into acs-flp-safe

.gitmodules

@@ -10,9 +10,6 @@
 [submodule "thirdparty/lwgps"]
 	path = thirdparty/lwgps
 	url = https://github.com/rmspacefish/lwgps.git
-[submodule "thirdparty/arcsec_star_tracker"]
-	path = thirdparty/arcsec_star_tracker
-	url = https://egit.irs.uni-stuttgart.de/eive/arcsec_star_tracker.git
 [submodule "thirdparty/json"]
 	path = thirdparty/json
 	url = https://github.com/nlohmann/json.git
@@ -22,3 +19,6 @@
 [submodule "thirdparty/gomspace-sw"]
 	path = thirdparty/gomspace-sw
 	url = https://egit.irs.uni-stuttgart.de/eive/gomspace-sw.git
+[submodule "thirdparty/sagittactl"]
+	path = thirdparty/sagittactl
+	url = https://egit.irs.uni-stuttgart.de/eive/sagittactl.git

CHANGELOG.md

@@ -16,14 +16,47 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+- q7s-package: v2.5.0
+- STR firmware was updated to v10.3
+
+## Fixed
+
+- Small fix for `install-obsw-yocto.sh` script
+- Bugfix for STR firmware update procedure where the last remaining
+  bytes were not written properly.
+- 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.
+
+## Changed
+
+- STR `wire` library updated to v10.3. Submodule renamed to `sagittactl`.
+
+## Added
+
+- Add a way for the MAX31865 RTD handlers to recognize faulty/broken/off sensor devices.
+- Add parameter interface for core controller
+- Allow setting the preferred SD card via the new parameter interface of the core controller
+  with domain ID 0 and unque ID 0.
+
+
+# [v1.44.1] 2023-04-12
+
+- eive-tmtc: v2.22.1
+
 ## Fixed
 
 - Bugfixes and improvements for SDC state machine. Internal state was not updated correctly due
   to a regression, so commanding the SDC state machine externally lead to confusing results.
+- Heater states array in TCS controller was too small.
 - Fixed a bug in persistent TM store, where the active file was not reset of SD card switches.
   SD card switch from 0 to 1 and vice-versa works without errors from persistent TM stores now.
 - Add a way for the SUS polling to detect broken or off devices by checking the retrieved
   temperature for the all-ones value (0x0fff).
+- Better reply result handling for the ACS board devices.
+- ADIS1650X initial timeout handling now performed in device handler.
+- The RW assembly and TCS board assembly now perform proper power switch handling for their
+  recovery handling.
 
 ## Changed
 
@@ -31,14 +64,22 @@ will consitute of a breaking change warranting a new major release:
   the active SD card is switched or there is a transition from hot redundant to cold redundant mode.
   This gives other tasks some time to register the SD cards being unusable, and therefore provides
   a way for them to perform any re-initialization tasks necessary after SD card switches.
-
+- TCS controller now only has an OFF mode and an ON mode
-## Changed
+- The TCS controller pauses operations related to the TCS board assembly (reading sensors and 
-
+  the primary control loop) while a TCS board recovery is on-going.
 - Allow specifying custom OBSW update filename. This allowed keeping a cleaner file structure
   where each update has a name including the version
 - The files extracted during an update process are deleted after the update was performed to keep
   the update directory cleaner.
 
+## Added
+
+- TCS controller: SUBMODE_NO_HEATER_CTRL (1) added for ON mode. If this submode is
+  commanded, all heaters will be switched off and then no further heater
+  commanding will be done.
+- Fixed a bug in persistent TM store, where the active file was not reset of SD card switches.
+  SD card switch from 0 to 1 and vice-versa works without errors from persistent TM stores now.
+
 # [v1.44.0] 2023-04-07
 
 - eive-tmtc: v2.22.0

CMakeLists.txt

@@ -11,7 +11,7 @@ cmake_minimum_required(VERSION 3.13)
 
 set(OBSW_VERSION_MAJOR 1)
 set(OBSW_VERSION_MINOR 44)
-set(OBSW_VERSION_REVISION 0)
+set(OBSW_VERSION_REVISION 1)
 
 # set(CMAKE_VERBOSE TRUE)
 
@@ -94,6 +94,9 @@ set(OBSW_ADD_SUN_SENSORS
 set(OBSW_ADD_SUS_BOARD_ASS
     ${INIT_VAL}
     CACHE STRING "Add sun sensor board assembly")
+set(OBSW_ADD_THERMAL_TEMP_INSERTER
+    ${OBSW_Q7S_EM}
+    CACHE STRING "Add thermal sensor temperature inserter")
 set(OBSW_ADD_ACS_BOARD
     ${INIT_VAL}
     CACHE STRING "Add ACS board module")
@@ -220,7 +223,7 @@ set(LIB_EIVE_MISSION_PATH mission)
 set(LIB_ETL_PATH ${THIRD_PARTY_FOLDER}/etl)
 set(LIB_CATCH2_PATH ${THIRD_PARTY_FOLDER}/Catch2)
 set(LIB_LWGPS_PATH ${THIRD_PARTY_FOLDER}/lwgps)
-set(LIB_ARCSEC_PATH ${THIRD_PARTY_FOLDER}/arcsec_star_tracker)
+set(LIB_ARCSEC_PATH ${THIRD_PARTY_FOLDER}/sagittactl)
 set(LIB_JSON_PATH ${THIRD_PARTY_FOLDER}/json)
 
 set(FSFW_WARNING_SHADOW_LOCAL_GCC OFF)

bsp_hosted/scheduling.cpp

@@ -151,7 +151,6 @@ void scheduling::initTasks() {
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("Core controller dummy", objects::CORE_CONTROLLER);
   }
-
   result = thermalTask->addComponent(objects::THERMAL_CONTROLLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);

bsp_q7s/OBSWConfig.h.in

@@ -43,6 +43,9 @@
 #define OBSW_ADD_PL_PCDU                            @OBSW_ADD_PL_PCDU@
 #define OBSW_ADD_SYRLINKS                           @OBSW_ADD_SYRLINKS@
 #define OBSW_ADD_CCSDS_IP_CORES                     @OBSW_ADD_CCSDS_IP_CORES@
+// Only relevant for EM for TCS tests.
+#define OBSW_ADD_THERMAL_TEMP_INSERTER              @OBSW_ADD_THERMAL_TEMP_INSERTER@
+
 // Set to 1 if all telemetry should be sent to the PTME IP Core
 #define OBSW_TM_TO_PTME                             @OBSW_TM_TO_PTME@
 // Set to 1 if telecommands are received via the PDEC IP Core

bsp_q7s/core/CoreController.cpp

@@ -9,7 +9,6 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/timemanager/Stopwatch.h"
 #include "fsfw/version.h"
-#include "mission/sysDefs.h"
 #include "watchdog/definitions.h"
 #if OBSW_ADD_TMTC_UDP_SERVER == 1
 #include "fsfw/osal/common/UdpTmTcBridge.h"
@@ -40,7 +39,8 @@ CoreController::CoreController(object_id_t objectId, bool enableHkSet)
       cmdRepliesSizes(128),
       opDivider5(5),
       opDivider10(10),
-      hkSet(this) {
+      hkSet(this),
+      paramHelper(this) {
   cmdExecutor.setRingBuffer(&cmdReplyBuf, &cmdRepliesSizes);
   try {
     sdcMan = SdCardManager::instance();
@@ -88,6 +88,10 @@ CoreController::CoreController(object_id_t objectId, bool enableHkSet)
 CoreController::~CoreController() {}
 
 ReturnValue_t CoreController::handleCommandMessage(CommandMessage *message) {
+  ReturnValue_t result = paramHelper.handleParameterMessage(message);
+  if (result == returnvalue::OK) {
+    return result;
+  }
   return ExtendedControllerBase::handleCommandMessage(message);
 }
 
@@ -113,7 +117,7 @@ void CoreController::performControlOperation() {
     bool replyReceived = false;
     // TODO: We could read the data in the ring buffer and send it as an action data reply.
     if (cmdExecutor.check(replyReceived) == CommandExecutor::EXECUTION_FINISHED) {
-      actionHelper.finish(true, successRecipient, core::EXECUTE_SHELL_CMD);
+      actionHelper.finish(true, successRecipient, core::EXECUTE_SHELL_CMD_BLOCKING);
       shellCmdIsExecuting = false;
       cmdReplyBuf.clear();
       while (not cmdRepliesSizes.empty()) {
@@ -154,6 +158,11 @@ ReturnValue_t CoreController::initialize() {
                  << std::endl;
   }
 
+  result = paramHelper.initialize();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+
   sdStateMachine();
 
   triggerEvent(core::REBOOT_SW, CURRENT_CHIP, CURRENT_COPY);
@@ -294,6 +303,41 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
       // Completion will be reported by SD card state machine
       return returnvalue::OK;
     }
+    case (SYSTEMCTL_CMD_EXECUTOR): {
+      // Expect one byte systemctl command type and a unit name with at least one byte as minimum.
+      if (size < 2) {
+        return HasActionsIF::INVALID_PARAMETERS;
+      }
+      if (data[0] >= core::SystemctlCmd::NUM_CMDS) {
+        return HasActionsIF::INVALID_PARAMETERS;
+      }
+      core::SystemctlCmd cmdType = static_cast<core::SystemctlCmd>(data[0]);
+      std::string unitName = std::string(reinterpret_cast<const char *>(data + 1), size - 1);
+      std::ostringstream oss("systemctl ", std::ostringstream::ate);
+      switch (cmdType) {
+        case (core::SystemctlCmd::START): {
+          oss << "start ";
+          break;
+        }
+        case (core::SystemctlCmd::STOP): {
+          oss << "stop ";
+          break;
+        }
+        case (core::SystemctlCmd::RESTART): {
+          oss << "restart ";
+          break;
+        }
+        default: {
+          return HasActionsIF::INVALID_PARAMETERS;
+        }
+      }
+      oss << unitName;
+      int result = std::system(oss.str().c_str());
+      if (result != 0) {
+        return returnvalue::FAILED;
+      }
+      return EXECUTION_FINISHED;
+    }
     case (SWITCH_IMG_LOCK): {
       if (size != 3) {
         return HasActionsIF::INVALID_PARAMETERS;
@@ -324,13 +368,22 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
       // Warning: This function will never return, because it reboots the system
       return actionReboot(data, size);
     }
-    case (EXECUTE_SHELL_CMD): {
+    case (EXECUTE_SHELL_CMD_BLOCKING): {
-      std::string cmd = std::string(cmd, size);
+      std::string cmdToExecute = std::string(reinterpret_cast<const char*>(data), size);
+      int result = std::system(cmdToExecute.c_str());
+      if (result != 0) {
+        // TODO: Data reply with returnalue maybe?
+        return returnvalue::FAILED;
+      }
+      return EXECUTION_FINISHED;
+    }
+    case (EXECUTE_SHELL_CMD_NON_BLOCKING): {
+      std::string cmdToExecute = std::string(reinterpret_cast<const char*>(data), size);
       if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING or
           shellCmdIsExecuting) {
         return HasActionsIF::IS_BUSY;
       }
-      cmdExecutor.load(cmd, false, false);
+      cmdExecutor.load(cmdToExecute, false, false);
       ReturnValue_t result = cmdExecutor.execute();
       if (result != returnvalue::OK) {
         return result;
@@ -1298,7 +1351,7 @@ void CoreController::performMountedSdCardOperations() {
   auto mountedSdCardOp = [&](sd::SdCard sdCard, std::string mntPoint) {
     if (not performOneShotSdCardOpsSwitch) {
       std::ostringstream path;
-      path << mntPoint << "/" << CONF_FOLDER;
+      path << mntPoint << "/" << core::CONF_FOLDER;
       std::error_code e;
       if (not std::filesystem::exists(path.str()), e) {
         bool created = std::filesystem::create_directory(path.str(), e);
@@ -2124,7 +2177,38 @@ void CoreController::announceBootCounts() {
                totalBootCount & 0xffffffff);
 }
 
+MessageQueueId_t CoreController::getCommandQueue() const {
+  return ExtendedControllerBase::getCommandQueue();
+}
+
 bool CoreController::isNumber(const std::string &s) {
   return !s.empty() && std::find_if(s.begin(), s.end(),
                                     [](unsigned char c) { return !std::isdigit(c); }) == s.end();
 }
+
+ReturnValue_t CoreController::getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
+                                           ParameterWrapper *parameterWrapper,
+                                           const ParameterWrapper *newValues,
+                                           uint16_t startAtIndex) {
+  if (domainId != 0) {
+    return HasParametersIF::INVALID_DOMAIN_ID;
+  }
+  if (uniqueIdentifier >= ParamId::NUM_IDS) {
+    return HasParametersIF::INVALID_IDENTIFIER_ID;
+  }
+  uint8_t newPrefSd;
+  ReturnValue_t result = newValues->getElement(&newPrefSd);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  // Only SD card 0 (0) and 1 (1) are allowed values.
+  if (newPrefSd > 1) {
+    return HasParametersIF::INVALID_VALUE;
+  }
+  result = sdcMan->setPreferredSdCard(static_cast<sd::SdCard>(newPrefSd));
+  if (result != returnvalue::OK) {
+    return returnvalue::FAILED;
+  }
+  parameterWrapper->set(prefSdRaw);
+  return returnvalue::OK;
+}

bsp_q7s/core/CoreController.h

@@ -4,6 +4,8 @@
 #include <fsfw/container/DynamicFIFO.h>
 #include <fsfw/container/SimpleRingBuffer.h>
 #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
+#include <fsfw/parameters/ParameterHelper.h>
+#include <fsfw/parameters/ReceivesParameterMessagesIF.h>
 #include <libxiphos.h>
 #include <mission/acs/archive/GPSDefinitions.h>
 #include <mission/utility/trace.h>
@@ -16,17 +18,11 @@
 #include "bsp_q7s/fs/SdCardManager.h"
 #include "events/subsystemIdRanges.h"
 #include "fsfw/controller/ExtendedControllerBase.h"
+#include "mission/sysDefs.h"
 
 class Timer;
 class SdCardManager;
 
-namespace xsc {
-
-enum Chip : int { CHIP_0, CHIP_1, NO_CHIP, SELF_CHIP, ALL_CHIP };
-enum Copy : int { COPY_0, COPY_1, NO_COPY, SELF_COPY, ALL_COPY };
-
-}  // namespace xsc
-
 struct RebootFile {
   static constexpr uint8_t DEFAULT_MAX_BOOT_CNT = 10;
 
@@ -48,8 +44,10 @@ struct RebootFile {
   xsc::Copy mechanismNextCopy = xsc::Copy::NO_COPY;
 };
 
-class CoreController : public ExtendedControllerBase {
+class CoreController : public ExtendedControllerBase, public ReceivesParameterMessagesIF {
  public:
+  enum ParamId : uint8_t { PREF_SD = 0, NUM_IDS };
+
   static xsc::Chip CURRENT_CHIP;
   static xsc::Copy CURRENT_COPY;
 
@@ -57,18 +55,12 @@ class CoreController : public ExtendedControllerBase {
   static constexpr char CHIP_STATE_FILE[] = "/tmp/chip_prot_status.txt";
   static constexpr char CURR_COPY_FILE[] = "/tmp/curr_copy.txt";
 
-  static constexpr char CONF_FOLDER[] = "conf";
-
-  static constexpr char VERSION_FILE_NAME[] = "version.txt";
-  static constexpr char REBOOT_FILE_NAME[] = "reboot.txt";
-  static constexpr char TIME_FILE_NAME[] = "time_backup.txt";
-
   const std::string VERSION_FILE =
-      "/" + std::string(CONF_FOLDER) + "/" + std::string(VERSION_FILE_NAME);
+      "/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::VERSION_FILE_NAME);
   const std::string REBOOT_FILE =
-      "/" + std::string(CONF_FOLDER) + "/" + std::string(REBOOT_FILE_NAME);
+      "/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::REBOOT_FILE_NAME);
   const std::string BACKUP_TIME_FILE =
-      "/" + std::string(CONF_FOLDER) + "/" + std::string(TIME_FILE_NAME);
+      "/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::TIME_FILE_NAME);
 
   static constexpr char CHIP_0_COPY_0_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi0-nom-rootfs";
   static constexpr char CHIP_0_COPY_1_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi0-gold-rootfs";
@@ -152,6 +144,7 @@ class CoreController : public ExtendedControllerBase {
   SdCardManager* sdcMan = nullptr;
   MessageQueueIF* eventQueue = nullptr;
 
+  uint8_t prefSdRaw = sd::SdCard::SLOT_0;
   SdStates sdFsmState = SdStates::START;
   SdStates fsmStateAfterDelay = SdStates::IDLE;
   enum SdCfgMode { PASSIVE, COLD_REDUNDANT, HOT_REDUNDANT };
@@ -216,10 +209,16 @@ class CoreController : public ExtendedControllerBase {
 
   core::HkSet hkSet;
 
+  ParameterHelper paramHelper;
+
 #if OBSW_SD_CARD_MUST_BE_ON == 1
   bool remountAttemptFlag = true;
 #endif
 
+  MessageQueueId_t getCommandQueue() const override;
+  ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
+                             ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
+                             uint16_t startAtIndex) override;
   ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                         LocalDataPoolManager& poolManager) override;
 

bsp_q7s/core/scheduling.cpp

@@ -302,6 +302,9 @@ void scheduling::initTasks() {
 
   PeriodicTaskIF* tcsSystemTask = factory->createPeriodicTask(
       "TCS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc, &RR_SCHEDULING);
+#if OBSW_ADD_THERMAL_TEMP_INSERTER == 1
+  tcsSystemTask->addComponent(objects::THERMAL_TEMP_INSERTER);
+#endif
   scheduling::scheduleRtdSensors(tcsSystemTask);
   result = tcsSystemTask->addComponent(objects::TCS_SUBSYSTEM);
   if (result != returnvalue::OK) {
@@ -317,12 +320,10 @@ void scheduling::initTasks() {
     scheduling::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);
   }
 #endif
-#if OBSW_ADD_HEATERS == 1
   result = tcsSystemTask->addComponent(objects::HEATER_HANDLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
   }
-#endif
 
 #if OBSW_ADD_SYRLINKS == 1
   PeriodicTaskIF* syrlinksCom = factory->createPeriodicTask(

dummies/TemperatureSensorInserter.cpp

@@ -1,5 +1,6 @@
 #include "TemperatureSensorInserter.h"
 
+#include <fsfw/datapool/PoolReadGuard.h>
 #include <objects/systemObjectList.h>
 
 #include <cmath>
@@ -14,10 +15,7 @@ TemperatureSensorInserter::TemperatureSensorInserter(object_id_t objectId,
       tmp1075DummyMap(std::move(tempTmpSensorDummies_)) {}
 
 ReturnValue_t TemperatureSensorInserter::initialize() {
-  if (performTest) {
+  testCase = TestCase::COLD_STR_CONSECUTIVE;
-    if (testCase == TestCase::COOL_SYRLINKS) {
-    }
-  }
   return returnvalue::OK;
 }
 
@@ -33,35 +31,72 @@ ReturnValue_t TemperatureSensorInserter::performOperation(uint8_t opCode) {
     tempsWereInitialized = true;
   }
 
-  if (cycles == 10) {
+  switch (testCase) {
-    max31865DummyMap[objects::RTD_9_IC12_HPA]->setTemperature(-100, true);
+    case (TestCase::NONE): {
-    max31865DummyMap[objects::RTD_11_IC14_MPA]->setTemperature(-100, true);
+      break;
+    }
+    case (TestCase::COLD_SYRLINKS): {
+      // TODO: How do I insert this?
+      // Does not work on EM, where a real syrlinks device is connected.
+      if (cycles == 15) {
+        lp_var_t<float> tempSyrlinksBasebandBoard =
+            lp_var_t<float>(objects::SYRLINKS_HANDLER, syrlinks::TEMP_BASEBAND_BOARD);
+        PoolReadGuard pg(&tempSyrlinksBasebandBoard);
+        tempSyrlinksBasebandBoard.value = -50;
+      }
+      if (cycles == 30) {
+        lp_var_t<float> tempSyrlinksBasebandBoard =
+            lp_var_t<float>(objects::SYRLINKS_HANDLER, syrlinks::TEMP_BASEBAND_BOARD);
+        PoolReadGuard pg(&tempSyrlinksBasebandBoard);
+        tempSyrlinksBasebandBoard.value = 0;
+      }
+      break;
+    }
+    case (TestCase::COLD_HPA): {
+      if (cycles == 15) {
+        sif::debug << "Setting cold HPA temperature" << std::endl;
+        max31865DummyMap[objects::RTD_9_IC12_HPA]->setTemperature(-60, true);
+      }
+      if (cycles == 30) {
+        sif::debug << "Setting HPA temperature back to normal" << std::endl;
+        max31865DummyMap[objects::RTD_9_IC12_HPA]->setTemperature(0, true);
+      }
+      break;
+    }
+    case (TestCase::COLD_MGT): {
+      if (cycles == 15) {
+        sif::debug << "Setting cold MGT temperature" << std::endl;
+        max31865DummyMap[objects::RTD_15_IC18_IMTQ]->setTemperature(-60, true);
+      }
+      if (cycles == 30) {
+        sif::debug << "Setting MGT temperature back to normal" << std::endl;
+        max31865DummyMap[objects::RTD_15_IC18_IMTQ]->setTemperature(0, true);
+      }
+      break;
+    }
+    case (TestCase::COLD_STR):
+    case (TestCase::COLD_STR_CONSECUTIVE): {
+      if (cycles == 15) {
+        sif::debug << "Setting cold STR temperature" << std::endl;
+        max31865DummyMap[objects::RTD_4_IC7_STARTRACKER]->setTemperature(-40, true);
+      }
+      if (cycles == 30) {
+        sif::debug << "Setting STR temperature back to normal" << std::endl;
+        max31865DummyMap[objects::RTD_4_IC7_STARTRACKER]->setTemperature(0, true);
+      }
+      if (testCase == TestCase::COLD_STR_CONSECUTIVE) {
+        if (cycles == 45) {
+          sif::debug << "Setting cold STR temperature again" << std::endl;
+          max31865DummyMap[objects::RTD_4_IC7_STARTRACKER]->setTemperature(-40, true);
+        }
+        if (cycles == 60) {
+          sif::debug << "Setting STR temperature back to normal again" << std::endl;
+          max31865DummyMap[objects::RTD_4_IC7_STARTRACKER]->setTemperature(0, true);
+        }
+      }
+      break;
+    }
   }
-
-  if (cycles == 35) {
-    max31865DummyMap[objects::RTD_9_IC12_HPA]->setTemperature(0, true);
-    max31865DummyMap[objects::RTD_11_IC14_MPA]->setTemperature(0, true);
-    max31865DummyMap[objects::RTD_2_IC5_4K_CAMERA]->setTemperature(-100, true);
-  }
-  if (cycles == 60) {
-    max31865DummyMap[objects::RTD_9_IC12_HPA]->setTemperature(-100, true);
-    max31865DummyMap[objects::RTD_11_IC14_MPA]->setTemperature(0, true);
-  }
-
-  /*
-  ReturnValue_t result = max31865PlocHeatspreaderSet.read();
-  if (result != returnvalue::OK) {
-    sif::warning << "Failed to read temperature from MAX31865 dataset" << std::endl;
-  }
-  max31865PlocHeatspreaderSet.rtdValue = value - 5;
-  max31865PlocHeatspreaderSet.temperatureCelcius = value;
-  if ((iteration % 100) < 20) {
-    max31865PlocHeatspreaderSet.setValidity(false, true);
-  } else {
-    max31865PlocHeatspreaderSet.setValidity(true, true);
-  }
-  max31865PlocHeatspreaderSet.commit();
-  */
   cycles++;
   return returnvalue::OK;
 }

dummies/TemperatureSensorInserter.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include <fsfw/controller/ExtendedControllerBase.h>
+#include <mission/com/syrlinksDefs.h>
 #include <mission/tcs/Max31865Definitions.h>
 
 #include "Max31865Dummy.h"
@@ -22,11 +23,18 @@ class TemperatureSensorInserter : public ExecutableObjectIF, public SystemObject
  private:
   Max31865DummyMap max31865DummyMap;
   Tmp1075DummyMap tmp1075DummyMap;
-  enum TestCase { NONE = 0, COOL_SYRLINKS = 1 };
+
+  enum TestCase {
+    NONE = 0,
+    COLD_SYRLINKS = 1,
+    COLD_HPA = 2,
+    COLD_MGT = 3,
+    COLD_STR = 4,
+    COLD_STR_CONSECUTIVE = 5,
+  };
   int iteration = 0;
   uint32_t cycles = 0;
   bool tempsWereInitialized = false;
-  bool performTest = false;
   TestCase testCase = TestCase::NONE;
 
   // void noise();

dummies/helperFactory.cpp

@@ -40,6 +40,7 @@
 #include "mission/system/com/comModeTree.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) {
   new ComIFDummy(objects::DUMMY_COM_IF);
@@ -193,16 +194,19 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
     tmpSensorDummies.emplace(
         objects::TMP1075_HANDLER_PLPCDU_0,
         new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_0, objects::DUMMY_COM_IF, comCookieDummy));
-    tmpSensorDummies.emplace(
+    // damaged.
-        objects::TMP1075_HANDLER_PLPCDU_1,
+    //    tmpSensorDummies.emplace(
-        new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_1, objects::DUMMY_COM_IF, comCookieDummy));
+    //        objects::TMP1075_HANDLER_PLPCDU_1,
+    //        new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_1, objects::DUMMY_COM_IF,
+    //        comCookieDummy));
     tmpSensorDummies.emplace(
         objects::TMP1075_HANDLER_IF_BOARD,
         new Tmp1075Dummy(objects::TMP1075_HANDLER_IF_BOARD, objects::DUMMY_COM_IF, comCookieDummy));
 
     new TemperatureSensorInserter(objects::THERMAL_TEMP_INSERTER, rtdSensorDummies,
                                   tmpSensorDummies);
-    TcsBoardAssembly* tcsBoardAssy = ObjectFactory::createTcsBoardAssy(pwrSwitcher);
+    TcsBoardAssembly* tcsBoardAssy =
+        ObjectFactory::createTcsBoardAssy(pwrSwitcher, tcs::TCS_BOARD_SHORTLY_UNAVAILABLE);
     for (auto& rtd : rtdSensorDummies) {
       rtd.second->connectModeTreeParent(*tcsBoardAssy);
     }

fsfw

@@ -1 +1 @@
-Subproject commit 285d327b97514946f0714e477289f67ee8bd413f
+Subproject commit ffa2fa477f105cc876264335d5b25fc9b174a181

linux/ObjectFactory.cpp

@@ -29,6 +29,7 @@
 #include "mission/system/acs/acsModeTree.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,
                                               PowerSwitchIF& pwrSwitcher, std::string spiDev,
@@ -278,7 +279,8 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
   std::array<Max31865EiveHandler*, NUM_RTDS> rtds = {};
   RtdFdir* rtdFdir = nullptr;
 
-  TcsBoardAssembly* tcsBoardAss = ObjectFactory::createTcsBoardAssy(*pwrSwitcher);
+  TcsBoardAssembly* tcsBoardAss =
+      ObjectFactory::createTcsBoardAssy(*pwrSwitcher, tcs::TCS_BOARD_SHORTLY_UNAVAILABLE);
 
   // Create special low level reader communication interface
   new Max31865RtdPolling(objects::SPI_RTD_COM_IF, comIF, gpioComIF);

linux/acs/AcsBoardPolling.cpp

@@ -113,7 +113,8 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
     if (req->mode != adis.mode) {
       if (req->mode == acs::SimpleSensorMode::NORMAL) {
         adis.type = req->type;
-        adis.countdown.setTimeout(adis1650x::START_UP_TIME);
+        // The initial countdown is handled by the device handler now.
+        // adis.countdown.setTimeout(adis1650x::START_UP_TIME);
         if (adis.type == adis1650x::Type::ADIS16507) {
           adis.ownReply.data.accelScaling = adis1650x::ACCELEROMETER_RANGE_16507;
         } else if (adis.type == adis1650x::Type::ADIS16505) {
@@ -127,6 +128,7 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
         adis.ownReply.cfgWasSet = false;
         adis.ownReply.dataWasSet = false;
       }
+      adis.replyResult = returnvalue::FAILED;
       adis.mode = req->mode;
     }
     return returnvalue::OK;
@@ -145,6 +147,7 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
       } else {
         gyro.ownReply.cfgWasSet = false;
       }
+      gyro.replyResult = returnvalue::FAILED;
       gyro.mode = req->mode;
     }
     return returnvalue::OK;
@@ -163,6 +166,7 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
         mgm.ownReply.dataWasSet = false;
         mgm.ownReply.temperatureWasSet = false;
       }
+      mgm.replyResult = returnvalue::FAILED;
       mgm.mode = req->mode;
     }
     return returnvalue::OK;
@@ -180,6 +184,7 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
       } else {
         mgm.ownReply.dataWasRead = false;
       }
+      mgm.replyResult = returnvalue::FAILED;
       mgm.mode = req->mode;
     }
     return returnvalue::OK;
@@ -309,18 +314,18 @@ void AcsBoardPolling::gyroL3gHandler(GyroL3g& l3g) {
       std::memcpy(cmdBuf.data() + 1, l3g.sensorCfg, 5);
       result = spiComIF.sendMessage(l3g.cookie, cmdBuf.data(), 6);
       if (result != returnvalue::OK) {
-        l3g.replyResult = returnvalue::OK;
+        l3g.replyResult = result;
       }
       // Ignore useless reply and red config
       cmdBuf[0] = l3gd20h::CTRL_REG_1 | l3gd20h::AUTO_INCREMENT_MASK | l3gd20h::READ_MASK;
       std::memset(cmdBuf.data() + 1, 0, 5);
       result = spiComIF.sendMessage(l3g.cookie, cmdBuf.data(), 6);
       if (result != returnvalue::OK) {
-        l3g.replyResult = returnvalue::OK;
+        l3g.replyResult = result;
       }
       result = spiComIF.readReceivedMessage(l3g.cookie, &rawReply, &dummy);
       if (result != returnvalue::OK) {
-        l3g.replyResult = returnvalue::OK;
+        l3g.replyResult = result;
       }
       MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
       // Cross check configuration as verification that communication is working
@@ -331,6 +336,7 @@ void AcsBoardPolling::gyroL3gHandler(GyroL3g& l3g) {
           return;
         }
       }
+      l3g.replyResult = returnvalue::OK;
       l3g.performStartup = false;
       l3g.ownReply.cfgWasSet = true;
       l3g.ownReply.sensitivity = l3gd20h::ctrlReg4ToSensitivity(l3g.sensorCfg[3]);
@@ -357,6 +363,7 @@ void AcsBoardPolling::gyroL3gHandler(GyroL3g& l3g) {
         return;
       }
     }
+    l3g.replyResult = returnvalue::OK;
     l3g.ownReply.statusReg = rawReply[l3gd20h::STATUS_IDX];
     l3g.ownReply.angVelocities[0] = (rawReply[l3gd20h::OUT_X_H] << 8) | rawReply[l3gd20h::OUT_X_L];
     l3g.ownReply.angVelocities[1] = (rawReply[l3gd20h::OUT_Y_H] << 8) | rawReply[l3gd20h::OUT_Y_L];
@@ -443,20 +450,15 @@ ReturnValue_t AcsBoardPolling::readAdisCfg(SpiCookie& cookie, size_t transferLen
 void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
   ReturnValue_t result;
   acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
-  bool cdHasTimedOut = false;
   bool mustPerformStartup = false;
   {
     MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
     mode = gyro.mode;
-    cdHasTimedOut = gyro.countdown.hasTimedOut();
     mustPerformStartup = gyro.performStartup;
   }
   if (mode == acs::SimpleSensorMode::OFF) {
     return;
   }
-  if (not cdHasTimedOut) {
-    return;
-  }
   if (mustPerformStartup) {
     uint8_t regList[6];
     // Read configuration
@@ -495,6 +497,7 @@ void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
     gyro.ownReply.cfg.prodId = prodId;
     gyro.ownReply.data.sensitivity = adis1650x::rangMdlToSensitivity(gyro.ownReply.cfg.rangMdl);
     gyro.performStartup = false;
+    gyro.replyResult = returnvalue::OK;
   }
   // Read regular registers
   std::memcpy(cmdBuf.data(), adis1650x::BURST_READ_ENABLE.data(),
@@ -533,6 +536,7 @@ void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
   }
 
   MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
+  gyro.replyResult = returnvalue::OK;
   gyro.ownReply.dataWasSet = true;
   gyro.ownReply.cfg.diagStat = rawReply[2] << 8 | rawReply[3];
   gyro.ownReply.data.angVelocities[0] = (rawReply[4] << 8) | rawReply[5];
@@ -590,6 +594,7 @@ void AcsBoardPolling::mgmLis3Handler(MgmLis3& mgm) {
       }
       // Done here. We can always read back config and data during periodic handling
       mgm.performStartup = false;
+      mgm.replyResult = returnvalue::OK;
     }
     cmdBuf[0] = mgmLis3::readCommand(mgmLis3::CTRL_REG1, true);
     std::memset(cmdBuf.data() + 1, 0, mgmLis3::NR_OF_DATA_AND_CFG_REGISTERS);
@@ -607,7 +612,7 @@ void AcsBoardPolling::mgmLis3Handler(MgmLis3& mgm) {
     // Verify communication by re-checking config
     if (rawReply[1] != mgm.cfg[0] or rawReply[2] != mgm.cfg[1] or rawReply[3] != mgm.cfg[2] or
         rawReply[4] != mgm.cfg[3] or rawReply[5] != mgm.cfg[4]) {
-      mgm.replyResult = result;
+      mgm.replyResult = returnvalue::FAILED;
       return;
     }
     {
@@ -634,6 +639,7 @@ void AcsBoardPolling::mgmLis3Handler(MgmLis3& mgm) {
       return;
     }
     MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
+    mgm.replyResult = returnvalue::OK;
     mgm.ownReply.temperatureWasSet = true;
     mgm.ownReply.temperatureRaw = (rawReply[2] << 8) | rawReply[1];
   }
@@ -704,6 +710,7 @@ void AcsBoardPolling::mgmRm3100Handler(MgmRm3100& mgm) {
         return;
       }
       mgm.performStartup = false;
+      mgm.replyResult = returnvalue::OK;
     }
     // Regular read operation
     cmdBuf[0] = mgmRm3100::MEASUREMENT_REG_START | mgmRm3100::READ_MASK;
@@ -725,6 +732,7 @@ void AcsBoardPolling::mgmRm3100Handler(MgmRm3100& mgm) {
       mgm.ownReply.scaleFactors[idx] = 1.0 / mgmRm3100::DEFAULT_GAIN;
     }
     mgm.ownReply.dataWasRead = true;
+    mgm.replyResult = returnvalue::OK;
     // Bitshift trickery to account for 24 bit signed value.
     mgm.ownReply.mgmValuesRaw[0] =
         ((rawReply[1] << 24) | (rawReply[2] << 16) | (rawReply[3] << 8)) >> 8;

linux/acs/CMakeLists.txt

@@ -1,6 +1,10 @@
-target_sources(
+target_sources(${OBSW_NAME} PUBLIC AcsBoardPolling.cpp ImtqPollingTask.cpp
-  ${OBSW_NAME} PUBLIC AcsBoardPolling.cpp ImtqPollingTask.cpp RwPollingTask.cpp
+                                   RwPollingTask.cpp SusPolling.cpp)
-                      SusPolling.cpp StrComHandler.cpp)
+
+# Dependency on proprietary library
+if(TGT_BSP MATCHES "arm/q7s")
+  target_sources(${OBSW_NAME} PUBLIC StrComHandler.cpp)
+endif()
 
 if(EIVE_BUILD_GPSD_GPS_HANDLER)
   target_sources(${OBSW_NAME} PRIVATE GpsHyperionLinuxController.cpp)

linux/acs/StrComHandler.cpp

@@ -89,7 +89,7 @@ ReturnValue_t StrComHandler::performOperation(uint8_t operationCode) {
         break;
       }
       case InternalState::FIRMWARE_UPDATE: {
-        replyTimeout.setTimeout(200);
+        replyTimeout.setTimeout(2000);
         resetReplyHandlingState();
         result = performFirmwareUpdate();
         if (result == returnvalue::OK) {
@@ -125,6 +125,7 @@ ReturnValue_t StrComHandler::startImageUpload(std::string fullname) {
   }
   {
     MutexGuard mg(lock);
+    replyWasReceived = false;
     state = InternalState::UPLOAD_IMAGE;
   }
   semaphore.release();
@@ -151,6 +152,7 @@ ReturnValue_t StrComHandler::startImageDownload(std::string path) {
   downloadImage.path = path;
   {
     MutexGuard mg(lock);
+    replyWasReceived = false;
     state = InternalState::DOWNLOAD_IMAGE;
   }
   terminate = false;
@@ -187,6 +189,7 @@ ReturnValue_t StrComHandler::startFirmwareUpdate(std::string fullname) {
   flashWrite.lastRegion = static_cast<uint8_t>(startracker::FirmwareRegions::LAST);
   {
     MutexGuard mg(lock);
+    replyWasReceived = false;
     state = InternalState::FIRMWARE_UPDATE;
   }
   semaphore.release();
@@ -216,6 +219,7 @@ ReturnValue_t StrComHandler::startFlashRead(std::string path, uint8_t startRegio
   flashRead.size = length;
   {
     MutexGuard mg(lock);
+    replyWasReceived = false;
     state = InternalState::FLASH_READ;
   }
   semaphore.release();
@@ -390,7 +394,8 @@ ReturnValue_t StrComHandler::performFlashWrite() {
 #endif
   ReturnValue_t result = returnvalue::OK;
   uint32_t size = 0;
-  uint32_t bytesWritten = 0;
+  uint32_t bytesWrittenInRegion = 0;
+  size_t totalBytesWritten = 0;
   uint32_t fileSize = 0;
 
   struct WriteActionRequest req;
@@ -412,20 +417,18 @@ ReturnValue_t StrComHandler::performFlashWrite() {
   ProgressPrinter progressPrinter("Flash write", fileSize);
 #endif /* OBSW_DEBUG_STARTRACKER == 1 */
   uint32_t fileChunks = fileSize / CHUNK_SIZE;
-  bytesWritten = 0;
+  bytesWrittenInRegion = 0;
   req.region = flashWrite.firstRegion;
   req.length = CHUNK_SIZE;
-  for (uint32_t idx = 0; idx < fileChunks; idx++) {
+
-    if (terminate) {
+  auto writeNextSegment = [&](uint32_t chunkIdx) {
-      return returnvalue::OK;
+    file.seekg(chunkIdx * CHUNK_SIZE, file.beg);
-    }
-    file.seekg(idx * CHUNK_SIZE, file.beg);
     file.read(reinterpret_cast<char*>(req.data), CHUNK_SIZE);
-    if (bytesWritten + CHUNK_SIZE > FLASH_REGION_SIZE) {
+    if (bytesWrittenInRegion + CHUNK_SIZE > FLASH_REGION_SIZE) {
       req.region++;
-      bytesWritten = 0;
+      bytesWrittenInRegion = 0;
     }
-    req.address = bytesWritten;
+    req.address = bytesWrittenInRegion;
     arc_pack_write_action_req(&req, cmdBuf.data(), &size);
     result = sendAndRead(size, req.address);
     if (result != returnvalue::OK) {
@@ -435,34 +438,49 @@ ReturnValue_t StrComHandler::performFlashWrite() {
     if (result != returnvalue::OK) {
       return result;
     }
-    bytesWritten += CHUNK_SIZE;
+    totalBytesWritten += CHUNK_SIZE;
+    bytesWrittenInRegion += CHUNK_SIZE;
 #if OBSW_DEBUG_STARTRACKER == 1
-    progressPrinter.print(idx * CHUNK_SIZE);
+    progressPrinter.print(chunkIdx * CHUNK_SIZE);
 #endif /* OBSW_DEBUG_STARTRACKER == 1 */
+    return result;
+  };
+
+  for (uint32_t idx = 0; idx < fileChunks; idx++) {
+    if (terminate) {
+      return returnvalue::OK;
+    }
+    result = writeNextSegment(idx);
+    if (result != returnvalue::OK) {
+      return result;
+    }
     if (idx % 50 == 0) {
       // Some grace time for other tasks
       TaskFactory::delayTask(2);
     }
   }
   uint32_t remainingBytes = fileSize - fileChunks * CHUNK_SIZE;
-  file.seekg((fileChunks - 1) * CHUNK_SIZE, file.beg);
+  if (remainingBytes > 0) {
-  file.read(reinterpret_cast<char*>(req.data), remainingBytes);
+    file.seekg(fileChunks * CHUNK_SIZE, file.beg);
-  file.close();
+    file.read(reinterpret_cast<char*>(req.data), remainingBytes);
-  if (bytesWritten + CHUNK_SIZE > FLASH_REGION_SIZE) {
+    file.close();
-    req.region++;
+    if (bytesWrittenInRegion + CHUNK_SIZE > FLASH_REGION_SIZE) {
-    bytesWritten = 0;
+      req.region++;
-  }
+      bytesWrittenInRegion = 0;
-  req.address = bytesWritten;
+    }
-  req.length = remainingBytes;
+    req.address = bytesWrittenInRegion;
-  bytesWritten += remainingBytes;
+    req.length = remainingBytes;
-  arc_pack_write_action_req(&req, cmdBuf.data(), &size);
+    totalBytesWritten += CHUNK_SIZE;
-  result = sendAndRead(size, req.address);
+    bytesWrittenInRegion += remainingBytes;
-  if (result != returnvalue::OK) {
+    arc_pack_write_action_req(&req, cmdBuf.data(), &size);
-    return result;
+    result = sendAndRead(size, req.address);
-  }
+    if (result != returnvalue::OK) {
-  result = checkActionReply(replyLen);
+      return result;
-  if (result != returnvalue::OK) {
+    }
-    return result;
+    result = checkActionReply(replyLen);
+    if (result != returnvalue::OK) {
+      return result;
+    }
   }
 #if OBSW_DEBUG_STARTRACKER == 1
   progressPrinter.print(fileSize);

linux/acs/StrComHandler.h

@@ -11,8 +11,6 @@
 #include "bsp_q7s/fs/SdCardManager.h"
 #endif
 
-#include "arcsec/client/generated/actionreq.h"
-#include "arcsec/common/generated/tmtcstructs.h"
 #include "fsfw/devicehandlers/CookieIF.h"
 #include "fsfw/objectmanager/SystemObject.h"
 #include "fsfw/osal/linux/BinarySemaphore.h"
@@ -20,6 +18,10 @@
 #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.
  *

linux/acs/SusPolling.cpp

@@ -96,7 +96,7 @@ ReturnValue_t SusPolling::readReceivedMessage(CookieIF* cookie, uint8_t** buffer
   if (susIdx < 0) {
     return FAILED;
   }
-  if(susDevs[susIdx].replyResult != returnvalue::OK) {
+  if (susDevs[susIdx].replyResult != returnvalue::OK) {
     return susDevs[susIdx].replyResult;
   }
   MutexGuard mg(ipcLock);
@@ -170,7 +170,7 @@ ReturnValue_t SusPolling::handleSusPolling() {
       susDevs[idx].ownReply.tempRaw = ((rawReply[0] & 0x0f) << 8) | rawReply[1];
       // Reply is all ones. Sensor is probably off or faulty when
       // it should not be.
-      if(susDevs[idx].ownReply.tempRaw == 0x0fff) {
+      if (susDevs[idx].ownReply.tempRaw == 0x0fff) {
         susDevs[idx].replyResult = returnvalue::FAILED;
       } else {
         susDevs[idx].replyResult = returnvalue::OK;

mission/acs/GyrAdis1650XHandler.cpp

@@ -56,6 +56,9 @@ ReturnValue_t GyrAdis1650XHandler::buildNormalDeviceCommand(DeviceCommandId_t *i
 ReturnValue_t GyrAdis1650XHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
   switch (internalState) {
     case (InternalState::STARTUP): {
+      if (breakCountdown.isBusy()) {
+        return NOTHING_TO_SEND;
+      }
       *id = adis1650x::REQUEST;
       return preparePeriodicRequest(acs::SimpleSensorMode::NORMAL);
     }

mission/acs/str/ArcsecDatalinkLayer.cpp

@@ -1,4 +1,8 @@
-#include <mission/acs/str/ArcsecDatalinkLayer.h>
+#include "ArcsecDatalinkLayer.h"
+
+extern "C" {
+#include <wire/common/misc.h>
+}
 
 ArcsecDatalinkLayer::ArcsecDatalinkLayer() : decodeRingBuf(BUFFER_LENGTHS, true) { slipInit(); }
 
@@ -18,13 +22,10 @@ ReturnValue_t ArcsecDatalinkLayer::checkRingBufForFrame(const uint8_t** decodedF
       case ARC_DEC_INPROGRESS: {
         break;
       }
-      case ARC_DEC_ERROR_FRAME_SHORT: {
+      case ARC_DEC_ERROR: {
         decodeRingBuf.deleteData(idx);
-        return REPLY_TOO_SHORT;
+        return returnvalue::FAILED;
       }
-      case ARC_DEC_ERROR_CHECKSUM:
-        decodeRingBuf.deleteData(idx);
-        return CRC_FAILURE;
       case ARC_DEC_ASYNC:
       case ARC_DEC_SYNC: {
         // Reset length of SLIP struct for next frame

mission/acs/str/ArcsecDatalinkLayer.h

@@ -5,10 +5,13 @@
 #include <fsfw/devicehandlers/CookieIF.h>
 #include <mission/acs/str/strHelpers.h>
 
-#include "arcsec/common/misc.h"
 #include "eive/resultClassIds.h"
 #include "fsfw/returnvalues/returnvalue.h"
 
+extern "C" {
+#include <wire/common/SLIP.h>
+}
+
 /**
  * @brief   Helper class to handle the datalinklayer of replies from the star tracker of arcsec.
  */

mission/acs/str/ArcsecJsonParamBase.cpp

@@ -3,6 +3,10 @@
 
 #include "arcsecJsonKeys.h"
 
+extern "C" {
+#include <wire/common/genericstructs.h>
+}
+
 ArcsecJsonParamBase::ArcsecJsonParamBase(std::string setName) : setName(setName) {}
 
 ReturnValue_t ArcsecJsonParamBase::create(uint8_t* buffer) {

mission/acs/str/ArcsecJsonParamBase.h

@@ -7,8 +7,6 @@
 #include <fstream>
 #include <nlohmann/json.hpp>
 
-#include "arcsec/common/generated/tmtcstructs.h"
-#include "arcsec/common/genericstructs.h"
 #include "eive/resultClassIds.h"
 #include "fsfw/returnvalues/returnvalue.h"
 

mission/acs/str/StarTrackerHandler.cpp

@@ -1,18 +1,18 @@
-#include <arcsec/client/generated/actionreq.h>
-#include <arcsec/client/generated/parameter.h>
-#include <arcsec/client/generated/telemetry.h>
 #include <fsfw/ipc/QueueFactory.h>
 #include <fsfw/timemanager/Stopwatch.h>
 #include <mission/acs/str/StarTrackerHandler.h>
 #include <mission/acs/str/strHelpers.h>
 #include <mission/acs/str/strJsonCommands.h>
 
+extern "C" {
+#include <sagitta/client/arc_client.h>
+}
+
 #include <atomic>
 #include <fstream>
 #include <thread>
 
 #include "OBSWConfig.h"
-#include "arcsec/common/misc.h"
 
 std::atomic_bool JCFG_DONE(false);
 

mission/acs/str/StarTrackerHandler.h

@@ -10,12 +10,15 @@
 #include <thread>
 
 #include "OBSWConfig.h"
-#include "arcsec/common/SLIP.h"
 #include "devices/powerSwitcherList.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 #include "fsfw/src/fsfw/serialize/SerializeAdapter.h"
 #include "fsfw/timemanager/Countdown.h"
 
+extern "C" {
+#include <wire/common/SLIP.h>
+}
+
 /**
  * @brief	This is the device handler for the star tracker from arcsec.
  *

mission/cfdp/CMakeLists.txt

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

mission/cfdp/CfdpHandler.cpp

@@ -0,0 +1,134 @@
+#include "CfdpHandler.h"
+
+#include "fsfw/cfdp/pdu/AckPduReader.h"
+#include "fsfw/cfdp/pdu/PduHeaderReader.h"
+#include "fsfw/globalfunctions/arrayprinter.h"
+#include "fsfw/ipc/QueueFactory.h"
+#include "fsfw/tmtcservices/TmTcMessage.h"
+
+using namespace returnvalue;
+using namespace cfdp;
+
+CfdpHandler::CfdpHandler(const FsfwHandlerParams& fsfwParams, const CfdpHandlerCfg& cfdpCfg)
+    : SystemObject(fsfwParams.objectId),
+      msgQueue(fsfwParams.msgQueue),
+      destHandler(
+          DestHandlerParams(LocalEntityCfg(cfdpCfg.id, cfdpCfg.indicCfg, cfdpCfg.faultHandler),
+                            cfdpCfg.userHandler, cfdpCfg.remoteCfgProvider, cfdpCfg.packetInfoList,
+                            cfdpCfg.lostSegmentsList),
+          FsfwParams(fsfwParams.packetDest, nullptr, this, fsfwParams.tcStore,
+                     fsfwParams.tmStore)) {
+  destHandler.setMsgQueue(msgQueue);
+}
+
+[[nodiscard]] const char* CfdpHandler::getName() const { return "CFDP Handler"; }
+
+[[nodiscard]] uint32_t CfdpHandler::getIdentifier() const {
+  return destHandler.getDestHandlerParams().cfg.localId.getValue();
+}
+
+[[nodiscard]] MessageQueueId_t CfdpHandler::getRequestQueue() const { return msgQueue.getId(); }
+
+ReturnValue_t CfdpHandler::initialize() {
+  ReturnValue_t result = destHandler.initialize();
+  if (result != OK) {
+    return result;
+  }
+  tcStore = destHandler.getTcStore();
+  tmStore = destHandler.getTmStore();
+
+  return SystemObject::initialize();
+}
+
+ReturnValue_t CfdpHandler::performOperation(uint8_t operationCode) {
+  // TODO: Receive TC packets and route them to source and dest handler, depending on which is
+  //       correct or more appropriate
+  ReturnValue_t status;
+  ReturnValue_t result = OK;
+  TmTcMessage tmtcMsg;
+  for (status = msgQueue.receiveMessage(&tmtcMsg); status == returnvalue::OK;
+       status = msgQueue.receiveMessage(&tmtcMsg)) {
+    result = handleCfdpPacket(tmtcMsg);
+    if (result != OK) {
+      status = result;
+    }
+  }
+  auto& fsmRes = destHandler.performStateMachine();
+  // TODO: Error handling?
+  while (fsmRes.callStatus == CallStatus::CALL_AGAIN) {
+    destHandler.performStateMachine();
+    // TODO: Error handling?
+  }
+  return status;
+}
+
+ReturnValue_t CfdpHandler::handleCfdpPacket(TmTcMessage& msg) {
+  auto accessorPair = tcStore->getData(msg.getStorageId());
+  if (accessorPair.first != OK) {
+    return accessorPair.first;
+  }
+  PduHeaderReader reader(accessorPair.second.data(), accessorPair.second.size());
+  ReturnValue_t result = reader.parseData();
+  if (result != returnvalue::OK) {
+    return INVALID_PDU_FORMAT;
+  }
+  // The CFDP distributor should have taken care of ensuring the destination ID is correct
+  PduType type = reader.getPduType();
+  // Only the destination handler can process these PDUs
+  if (type == PduType::FILE_DATA) {
+    // Disable auto-deletion of packet
+    accessorPair.second.release();
+    PacketInfo info(type, msg.getStorageId());
+    result = destHandler.passPacket(info);
+  } else {
+    // Route depending on PDU type and directive type if applicable. It retrieves directive type
+    // from the raw stream for better performance (with sanity and directive code check).
+    // The routing is based on section 4.5 of the CFDP standard which specifies the PDU forwarding
+    // procedure.
+
+    // PDU header only. Invalid supplied data. A directive packet should have a valid data field
+    // with at least one byte being the directive code
+    const uint8_t* pduDataField = reader.getPduDataField();
+    if (pduDataField == nullptr) {
+      return INVALID_PDU_FORMAT;
+    }
+    if (not FileDirectiveReader::checkFileDirective(pduDataField[0])) {
+      return INVALID_DIRECTIVE_FIELD;
+    }
+    auto directive = static_cast<FileDirective>(pduDataField[0]);
+
+    auto passToDestHandler = [&]() {
+      accessorPair.second.release();
+      PacketInfo info(type, msg.getStorageId(), directive);
+      result = destHandler.passPacket(info);
+    };
+    auto passToSourceHandler = [&]() {
+
+    };
+    if (directive == FileDirective::METADATA or directive == FileDirective::EOF_DIRECTIVE or
+        directive == FileDirective::PROMPT) {
+      // Section b) of 4.5.3: These PDUs should always be targeted towards the file receiver a.k.a.
+      // the destination handler
+      passToDestHandler();
+    } else if (directive == FileDirective::FINISH or directive == FileDirective::NAK or
+               directive == FileDirective::KEEP_ALIVE) {
+      // Section c) of 4.5.3: These PDUs should always be targeted towards the file sender a.k.a.
+      // the source handler
+      passToSourceHandler();
+    } else if (directive == FileDirective::ACK) {
+      // Section a): Recipient depends of the type of PDU that is being acknowledged. We can simply
+      // extract the PDU type from the raw stream. If it is an EOF PDU, this packet is passed to
+      // the source handler, for a Finished PDU, it is passed to the destination handler.
+      FileDirective ackedDirective;
+      if (not AckPduReader::checkAckedDirectiveField(pduDataField[1], ackedDirective)) {
+        return INVALID_ACK_DIRECTIVE_FIELDS;
+      }
+      if (ackedDirective == FileDirective::EOF_DIRECTIVE) {
+        passToSourceHandler();
+      } else if (ackedDirective == FileDirective::FINISH) {
+        passToDestHandler();
+      }
+    }
+  }
+  return result;
+}

mission/cfdp/CfdpHandler.h

@@ -0,0 +1,71 @@
+#ifndef FSFW_EXAMPLE_HOSTED_CFDPHANDLER_H
+#define FSFW_EXAMPLE_HOSTED_CFDPHANDLER_H
+
+#include <utility>
+
+#include "fsfw/cfdp/handler/DestHandler.h"
+#include "fsfw/objectmanager/SystemObject.h"
+#include "fsfw/tasks/ExecutableObjectIF.h"
+#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
+#include "fsfw/tmtcservices/TmTcMessage.h"
+
+struct FsfwHandlerParams {
+  FsfwHandlerParams(object_id_t objectId, HasFileSystemIF& vfs, AcceptsTelemetryIF& packetDest,
+                    StorageManagerIF& tcStore, StorageManagerIF& tmStore, MessageQueueIF& msgQueue)
+      : objectId(objectId),
+        vfs(vfs),
+        packetDest(packetDest),
+        tcStore(tcStore),
+        tmStore(tmStore),
+        msgQueue(msgQueue) {}
+  object_id_t objectId{};
+  HasFileSystemIF& vfs;
+  AcceptsTelemetryIF& packetDest;
+  StorageManagerIF& tcStore;
+  StorageManagerIF& tmStore;
+  MessageQueueIF& msgQueue;
+};
+
+struct CfdpHandlerCfg {
+  CfdpHandlerCfg(cfdp::EntityId localId, cfdp::IndicationCfg indicationCfg,
+                 cfdp::UserBase& userHandler, cfdp::FaultHandlerBase& userFaultHandler,
+                 cfdp::PacketInfoListBase& packetInfo, cfdp::LostSegmentsListBase& lostSegmentsList,
+                 cfdp::RemoteConfigTableIF& remoteCfgProvider)
+      : id(std::move(localId)),
+        indicCfg(indicationCfg),
+        packetInfoList(packetInfo),
+        lostSegmentsList(lostSegmentsList),
+        remoteCfgProvider(remoteCfgProvider),
+        userHandler(userHandler),
+        faultHandler(userFaultHandler) {}
+
+  cfdp::EntityId id;
+  cfdp::IndicationCfg indicCfg;
+  cfdp::PacketInfoListBase& packetInfoList;
+  cfdp::LostSegmentsListBase& lostSegmentsList;
+  cfdp::RemoteConfigTableIF& remoteCfgProvider;
+  cfdp::UserBase& userHandler;
+  cfdp::FaultHandlerBase& faultHandler;
+};
+
+class CfdpHandler : public SystemObject, public ExecutableObjectIF, public AcceptsTelecommandsIF {
+ public:
+  explicit CfdpHandler(const FsfwHandlerParams& fsfwParams, const CfdpHandlerCfg& cfdpCfg);
+
+  [[nodiscard]] const char* getName() const override;
+  [[nodiscard]] uint32_t getIdentifier() const override;
+  [[nodiscard]] MessageQueueId_t getRequestQueue() const override;
+
+  ReturnValue_t initialize() override;
+  ReturnValue_t performOperation(uint8_t operationCode) override;
+
+ private:
+  MessageQueueIF& msgQueue;
+  cfdp::DestHandler destHandler;
+  StorageManagerIF* tcStore = nullptr;
+  StorageManagerIF* tmStore = nullptr;
+
+  ReturnValue_t handleCfdpPacket(TmTcMessage& msg);
+};
+
+#endif  // FSFW_EXAMPLE_HOSTED_CFDPHANDLER_H

mission/controller/ThermalController.cpp

@@ -21,7 +21,8 @@
 #define LOWER_EBAND_UPPER_LIMITS 0
 #define LOWER_PLOC_UPPER_LIMITS 0
 
-ThermalController::ThermalController(object_id_t objectId, HeaterHandler& heater)
+ThermalController::ThermalController(object_id_t objectId, HeaterHandler& heater,
+                                     const std::atomic_bool& tcsBoardShortUnavailable)
     : ExtendedControllerBase(objectId),
       heaterHandler(heater),
       sensorTemperatures(this),
@@ -66,7 +67,8 @@ ThermalController::ThermalController(object_id_t objectId, HeaterHandler& heater
       susSet8(objects::SUS_8_R_LOC_XBYBZB_PT_YB),
       susSet9(objects::SUS_9_R_LOC_XBYBZB_PT_YF),
       susSet10(objects::SUS_10_N_LOC_XMYBZF_PT_ZF),
-      susSet11(objects::SUS_11_R_LOC_XBYMZB_PT_ZB) {
+      susSet11(objects::SUS_11_R_LOC_XBYMZB_PT_ZB),
+      tcsBrdShortlyUnavailable(tcsBoardShortUnavailable) {
   resetSensorsArray();
 }
 
@@ -134,10 +136,12 @@ void ThermalController::performControlOperation() {
     }
   }
 
-  {
+  if (not tcsBrdShortlyUnavailable) {
-    PoolReadGuard pg(&sensorTemperatures);
+    {
-    if (pg.getReadResult() == returnvalue::OK) {
+      PoolReadGuard pg(&sensorTemperatures);
-      copySensors();
+      if (pg.getReadResult() == returnvalue::OK) {
+        copySensors();
+      }
     }
   }
   {
@@ -166,26 +170,31 @@ void ThermalController::performControlOperation() {
     }
   }
 
-  if (transitionToOff) {
+  cycles++;
-    for (const auto& switchState : heaterSwitchStateArray) {
+  if (transitionWhenHeatersOff) {
-      if (switchState != HeaterHandler::SwitchState::OFF) {
+    bool allSwitchersOff = true;
-        transitionToOffCycles++;
+    for (size_t idx = 0; idx < heaterSwitchStateArray.size(); idx++) {
-        // if heater still ON after 10 cycles, switch OFF again
+      if (heaterSwitchStateArray[idx] != HeaterHandler::SwitchState::OFF) {
-        if (transitionToOffCycles == 10) {
+        allSwitchersOff = false;
-          for (uint8_t i = 0; i < heater::Switchers::NUMBER_OF_SWITCHES; i++) {
+        // if heater still ON after 3 cycles, switch OFF again
-            heaterHandler.switchHeater(static_cast<heater::Switchers>(i),
+        if (transitionWhenHeatersOffCycles == 3) {
-                                       HeaterHandler::SwitchState::OFF);
+          heaterHandler.switchHeater(static_cast<heater::Switch>(idx),
-          }
+                                     HeaterHandler::SwitchState::OFF);
           triggerEvent(tcsCtrl::HEATER_NOT_OFF_FOR_OFF_MODE);
         }
-        return;
       }
-      setMode(MODE_OFF);
     }
-  } else if (mode != MODE_OFF) {
+    if (allSwitchersOff or transitionWhenHeatersOffCycles == 6) {
+      // Finish the transition
+      transitionWhenHeatersOff = false;
+      resetThermalStates();
+      setMode(targetMode, targetSubmode);
+    } else {
+      transitionWhenHeatersOffCycles++;
+    }
+  } else if (mode != MODE_OFF and not tcsBrdShortlyUnavailable) {
     performThermalModuleCtrl(heaterSwitchStateArray);
   }
-  cycles++;
 }
 
 ReturnValue_t ThermalController::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@@ -288,12 +297,18 @@ LocalPoolDataSetBase* ThermalController::getDataSetHandle(sid_t sid) {
 
 ReturnValue_t ThermalController::checkModeCommand(Mode_t mode, Submode_t submode,
                                                   uint32_t* msToReachTheMode) {
+  if ((mode != MODE_OFF) and (mode != MODE_ON)) {
+    return INVALID_MODE;
+  }
+  if (mode == MODE_ON) {
+    if (submode != SUBMODE_NONE and submode != SUBMODE_NO_HEATER_CTRL) {
+      return HasModesIF::INVALID_SUBMODE;
+    }
+    return returnvalue::OK;
+  }
   if (submode != SUBMODE_NONE) {
     return INVALID_SUBMODE;
   }
-  if ((mode != MODE_OFF) && (mode != MODE_ON) && (mode != MODE_NORMAL)) {
-    return INVALID_MODE;
-  }
   return returnvalue::OK;
 }
 
@@ -972,8 +987,8 @@ void ThermalController::copyDevices() {
 }
 
 void ThermalController::ctrlAcsBoard() {
-  heater::Switchers switchNr = heater::HEATER_2_ACS_BRD;
+  heater::Switch switchNr = heater::HEATER_2_ACS_BRD;
-  heater::Switchers redSwitchNr = heater::HEATER_0_OBC_BRD;
+  heater::Switch redSwitchNr = heater::HEATER_0_OBC_BRD;
 
   // A side
   thermalComponent = ACS_BOARD;
@@ -1019,7 +1034,9 @@ void ThermalController::ctrlAcsBoard() {
     } else {
       if (chooseHeater(switchNr, redSwitchNr)) {
         if (heaterHandler.getSwitchState(switchNr)) {
-          heaterHandler.switchHeater(switchNr, HeaterHandler::SwitchState::OFF);
+          if (submode != SUBMODE_NO_HEATER_CTRL) {
+            heaterSwitchHelper(switchNr, HeaterHandler::SwitchState::OFF, thermalComponent);
+          }
         }
       }
     }
@@ -1264,8 +1281,8 @@ void ThermalController::ctrlPcduP60Board() {
 
 void ThermalController::ctrlPcduAcu() {
   thermalComponent = PCDUACU;
-  heater::Switchers switchNr = heater::HEATER_3_PCDU_PDU;
+  heater::Switch switchNr = heater::HEATER_3_PCDU_PDU;
-  heater::Switchers redSwitchNr = heater::HEATER_2_ACS_BRD;
+  heater::Switch redSwitchNr = heater::HEATER_2_ACS_BRD;
 
   if (chooseHeater(switchNr, redSwitchNr)) {
     bool sensorTempAvailable = true;
@@ -1553,13 +1570,16 @@ void ThermalController::performThermalModuleCtrl(const HeaterSwitchStates& heate
 void ThermalController::ctrlComponentTemperature(HeaterContext& htrCtx) {
   if (selectAndReadSensorTemp(htrCtx)) {
     if (chooseHeater(htrCtx.switchNr, htrCtx.redSwitchNr)) {
+      // Core loop for a thermal component, after sensors and heaters were selected.
       checkLimitsAndCtrlHeater(htrCtx);
     }
   } else {
-    // TODO: muss der Heater dann wirklich abgeschalten werden?
+    // No sensors available, so switch the heater off. We can not perform control tasks if we
+    // are blind..
     if (chooseHeater(htrCtx.switchNr, htrCtx.redSwitchNr)) {
-      if (heaterHandler.getSwitchState(htrCtx.switchNr)) {
+      if (heaterCtrlAllowed() and
-        heaterHandler.switchHeater(htrCtx.switchNr, HeaterHandler::SwitchState::OFF);
+          (heaterHandler.getSwitchState(htrCtx.switchNr) == HeaterHandler::SwitchState::ON)) {
+        heaterSwitchHelper(htrCtx.switchNr, HeaterHandler::SwitchState::OFF, thermalComponent);
       }
     }
   }
@@ -1589,7 +1609,7 @@ bool ThermalController::selectAndReadSensorTemp(HeaterContext& htrCtx) {
 
   return false;
 }
-bool ThermalController::chooseHeater(heater::Switchers& switchNr, heater::Switchers redSwitchNr) {
+bool ThermalController::chooseHeater(heater::Switch& switchNr, heater::Switch redSwitchNr) {
   bool heaterAvailable = true;
 
   if (heaterHandler.getHealth(switchNr) != HasHealthIF::HEALTHY) {
@@ -1607,15 +1627,18 @@ bool ThermalController::chooseHeater(heater::Switchers& switchNr, heater::Switch
 }
 
 void ThermalController::heaterCtrlTempTooHighHandler(HeaterContext& htrCtx, const char* whatLimit) {
+  if (not heaterCtrlAllowed()) {
+    return;
+  }
   if (htrCtx.switchState == HeaterHandler::SwitchState::ON) {
     sif::info << "TCS: Component " << static_cast<int>(thermalComponent) << " too warm, above "
               << whatLimit << ", switching off heater" << std::endl;
-    heaterHandler.switchHeater(htrCtx.switchNr, HeaterHandler::SwitchState::OFF);
+    heaterSwitchHelper(htrCtx.switchNr, HeaterHandler::SwitchState::OFF, thermalComponent);
     heaterStates[htrCtx.switchNr].switchTransition = true;
     heaterStates[htrCtx.switchNr].target = HeaterHandler::SwitchState::OFF;
   }
   if (heaterHandler.getSwitchState(htrCtx.redSwitchNr) == HeaterHandler::SwitchState::ON) {
-    heaterHandler.switchHeater(htrCtx.redSwitchNr, HeaterHandler::SwitchState::OFF);
+    heaterSwitchHelper(htrCtx.redSwitchNr, HeaterHandler::SwitchState::OFF, thermalComponent);
     heaterStates[htrCtx.redSwitchNr].switchTransition = true;
     heaterStates[htrCtx.redSwitchNr].target = HeaterHandler::SwitchState::OFF;
   }
@@ -1630,43 +1653,44 @@ void ThermalController::checkLimitsAndCtrlHeater(HeaterContext& htrCtx) {
   if (heaterStates[htrCtx.switchNr].switchTransition) {
     htrCtx.doHeaterHandling = false;
     heaterCtrlCheckUpperLimits(htrCtx);
-  } else {
+    return;
-    // Heater off
+  }
-    htrCtx.switchState = heaterHandler.getSwitchState(htrCtx.switchNr);
+
-    if (htrCtx.switchState == HeaterHandler::SwitchState::OFF) {
+  htrCtx.switchState = heaterHandler.getSwitchState(htrCtx.switchNr);
-      if (sensorTemp < htrCtx.tempLimit.opLowerLimit) {
+  // Heater off
-        heaterHandler.switchHeater(htrCtx.switchNr, HeaterHandler::SwitchState::ON);
+  if (htrCtx.switchState == HeaterHandler::SwitchState::OFF) {
-        sif::info << "ThermalController::checkLimitsAndCtrlHeater: Heater "
+    if (sensorTemp < htrCtx.tempLimit.opLowerLimit and heaterCtrlAllowed()) {
-                  << static_cast<int>(thermalComponent) << " ON" << std::endl;
+      sif::info << "TCS: Heater " << static_cast<int>(thermalComponent) << " ON" << std::endl;
+      heaterSwitchHelper(htrCtx.switchNr, HeaterHandler::SwitchState::ON, thermalComponent);
+      heaterStates[htrCtx.switchNr].switchTransition = true;
+      heaterStates[htrCtx.switchNr].target = HeaterHandler::SwitchState::ON;
+    } else {
+      // Even if heater control is now allowed, we can update the state.
+      thermalStates[thermalComponent].heating = false;
+    }
+    heaterCtrlCheckUpperLimits(htrCtx);
+    return;
+  }
+
+  // Heater on
+  if (htrCtx.switchState == HeaterHandler::SwitchState::ON) {
+    if (thermalStates[thermalComponent].heating) {
+      // We are already in a heating cycle, so need to check whether heating task is complete.
+      if (sensorTemp >= htrCtx.tempLimit.opLowerLimit + TEMP_OFFSET and heaterCtrlAllowed()) {
+        sif::info << "TCS: Heater " << static_cast<int>(thermalComponent) << " OFF" << std::endl;
+        heaterSwitchHelper(htrCtx.switchNr, HeaterHandler::SwitchState::OFF, thermalComponent);
         heaterStates[htrCtx.switchNr].switchTransition = true;
-        thermalStates[thermalComponent].heating = true;
+        heaterStates[htrCtx.switchNr].target = HeaterHandler::SwitchState::OFF;
-        heaterStates[htrCtx.switchNr].target = HeaterHandler::SwitchState::ON;
-      } else {
-        thermalStates[thermalComponent].heating = false;
       }
-      heaterCtrlCheckUpperLimits(htrCtx);
+      return;
-      // Heater on
+    }
-    } else if (heaterHandler.getSwitchState(htrCtx.switchNr) == HeaterHandler::SwitchState::ON) {
+    // This can happen if heater is used as alternative heater (no regular heating cycle), so we
-      if (thermalStates[thermalComponent].heating) {
+    // should still check the upper limits.
-        // We are already in a heating cycle, so need to check whether heating task is complete.
+    bool tooHighHandlerAlreadyCalled = heaterCtrlCheckUpperLimits(htrCtx);
-        if (sensorTemp >= htrCtx.tempLimit.opLowerLimit + TEMP_OFFSET) {
+    if (sensorTemp >= htrCtx.tempLimit.cutOffLimit) {
-          heaterHandler.switchHeater(htrCtx.switchNr, HeaterHandler::SwitchState::OFF);
+      componentAboveCutOffLimit = true;
-          sif::info << "ThermalController::checkLimitsAndCtrlHeater: Heater "
+      if (not tooHighHandlerAlreadyCalled) {
-                    << static_cast<int>(thermalComponent) << " OFF" << std::endl;
+        heaterCtrlTempTooHighHandler(htrCtx, "CutOff-Limit");
-          heaterStates[htrCtx.switchNr].switchTransition = true;
-          heaterStates[htrCtx.switchNr].target = HeaterHandler::SwitchState::OFF;
-          thermalStates[thermalComponent].heating = false;
-        }
-      } else {
-        // This can happen if heater is used as alternative heater (no regular heating cycle), so we
-        // should still check the upper limits.
-        bool tooHighHandlerAlreadyCalled = heaterCtrlCheckUpperLimits(htrCtx);
-        if (sensorTemp >= htrCtx.tempLimit.cutOffLimit) {
-          componentAboveCutOffLimit = true;
-          if (not tooHighHandlerAlreadyCalled) {
-            heaterCtrlTempTooHighHandler(htrCtx, "CutOff-Limit");
-          }
-        }
       }
     }
   }
@@ -1698,8 +1722,8 @@ void ThermalController::resetSensorsArray() {
   }
   thermalComponent = NONE;
 }
+
 void ThermalController::heaterTransitionControl(const HeaterSwitchStates& currentHeaterStates) {
-  // TODO: Test
   for (unsigned i = 0; i < 7; i++) {
     if (heaterStates[i].switchTransition) {
       if (currentHeaterStates[i] == heaterStates[i].target) {
@@ -1723,11 +1747,12 @@ uint32_t ThermalController::tempFloatToU32() const {
   return tempRaw;
 }
 
-void ThermalController::setMode(Mode_t mode) {
+void ThermalController::setMode(Mode_t mode, Submode_t submode) {
   if (mode == MODE_OFF) {
-    transitionToOff = false;
+    transitionWhenHeatersOff = false;
   }
   this->mode = mode;
+  this->submode = submode;
   modeHelper.modeChanged(mode, submode);
   announceMode(false);
 }
@@ -1742,6 +1767,43 @@ bool ThermalController::tooHotHandler(object_id_t object, bool& oneShotFlag) {
   return false;
 }
 
+bool ThermalController::heaterCtrlAllowed() const { return submode != SUBMODE_NO_HEATER_CTRL; }
+
+void ThermalController::resetThermalStates() {
+  for (auto& thermalState : thermalStates) {
+    thermalState.heating = false;
+  }
+}
+
+void ThermalController::heaterSwitchHelper(heater::Switch switchNr,
+                                           HeaterHandler::SwitchState state,
+                                           unsigned componentIdx) {
+  timeval currentTime;
+  Clock::getClockMonotonic(&currentTime);
+  if (state == HeaterHandler::SwitchState::ON) {
+    heaterHandler.switchHeater(switchNr, state);
+    thermalStates[componentIdx].heating = true;
+    thermalStates[componentIdx].heaterStartTime = currentTime.tv_sec;
+  } else {
+    heaterHandler.switchHeater(switchNr, state);
+    thermalStates[componentIdx].heating = false;
+    thermalStates[componentIdx].heaterEndTime = currentTime.tv_sec;
+  }
+}
+
+void ThermalController::heaterSwitchHelperAllOff() {
+  timeval currentTime;
+  Clock::getClockMonotonic(&currentTime);
+  size_t idx = 0;
+  for (; idx < heater::Switch::NUMBER_OF_SWITCHES; idx++) {
+    heaterHandler.switchHeater(static_cast<heater::Switch>(idx), HeaterHandler::SwitchState::OFF);
+  }
+  for (idx = 0; idx < thermalStates.size(); idx++) {
+    thermalStates[idx].heating = false;
+    thermalStates[idx].heaterEndTime = currentTime.tv_sec;
+  }
+}
+
 void ThermalController::tooHotHandlerWhichClearsOneShotFlag(object_id_t object, bool& oneShotFlag) {
   // Clear the one shot flag is the component is in acceptable temperature range.
   if (not tooHotHandler(object, oneShotFlag) and not componentAboveUpperLimit) {
@@ -1751,14 +1813,15 @@ void ThermalController::tooHotHandlerWhichClearsOneShotFlag(object_id_t object,
 
 void ThermalController::startTransition(Mode_t mode_, Submode_t submode_) {
   triggerEvent(CHANGING_MODE, mode_, submode_);
-  if (mode_ == MODE_OFF) {
+  // For MODE_OFF and the no heater control submode, we command all switches to off before
-    for (uint8_t i = 0; i < heater::Switchers::NUMBER_OF_SWITCHES; i++) {
+  // completing the transition. This ensures a consistent state when commanding these modes.
-      heaterHandler.switchHeater(static_cast<heater::Switchers>(i),
+  if ((mode_ == MODE_OFF) or ((mode_ == MODE_ON) and (submode_ == SUBMODE_NO_HEATER_CTRL))) {
-                                 HeaterHandler::SwitchState::OFF);
+    heaterSwitchHelperAllOff();
-    }
+    transitionWhenHeatersOff = true;
-    transitionToOff = true;
+    targetMode = mode_;
-    transitionToOffCycles = 0;
+    targetSubmode = submode_;
+    transitionWhenHeatersOffCycles = 0;
   } else {
-    setMode(mode_);
+    setMode(mode_, submode_);
   }
 }

mission/controller/ThermalController.h

@@ -22,6 +22,7 @@
 #include <mission/tcs/Tmp1075Definitions.h>
 #include <mission/utility/trace.h>
 
+#include <atomic>
 #include <list>
 
 /**
@@ -47,8 +48,13 @@ struct TempLimits {
 
 struct ThermalState {
   uint8_t errorCounter;
-  bool heating;
+  // Is heating on for that thermal module?
-  uint32_t heaterStartTime;
+  bool heating = false;
+  heater::Switch heaterSwitch = heater::Switch::NUMBER_OF_SWITCHES;
+  // Heater start time and end times as UNIX seconds. Please note that these times will be updated
+  // when a switch command is sent, with no guarantess that the heater actually went on.
+  uint32_t heaterStartTime = 0;
+  uint32_t heaterEndTime = 0;
 };
 
 struct HeaterState {
@@ -89,25 +95,28 @@ enum ThermalComponents : uint8_t {
 
 class ThermalController : public ExtendedControllerBase {
  public:
+  static constexpr uint8_t SUBMODE_NO_HEATER_CTRL = 1;
+
   static const uint16_t INVALID_TEMPERATURE = 999;
   static const uint8_t NUMBER_OF_SENSORS = 16;
   static constexpr int16_t SANITY_LIMIT_LOWER_TEMP = -80;
   static constexpr int16_t SANITY_LIMIT_UPPER_TEMP = 160;
 
-  ThermalController(object_id_t objectId, HeaterHandler& heater);
+  ThermalController(object_id_t objectId, HeaterHandler& heater,
+                    const std::atomic_bool& tcsBoardShortUnavailable);
 
   ReturnValue_t initialize() override;
 
  protected:
   struct HeaterContext {
    public:
-    HeaterContext(heater::Switchers switchNr, heater::Switchers redundantSwitchNr,
+    HeaterContext(heater::Switch switchNr, heater::Switch redundantSwitchNr,
                   const TempLimits& tempLimit)
         : switchNr(switchNr), redSwitchNr(redundantSwitchNr), tempLimit(tempLimit) {}
     bool doHeaterHandling = true;
-    heater::Switchers switchNr;
+    heater::Switch switchNr;
     HeaterHandler::SwitchState switchState = HeaterHandler::SwitchState::OFF;
-    heater::Switchers redSwitchNr;
+    heater::Switch redSwitchNr;
     const TempLimits& tempLimit;
   };
 
@@ -181,6 +190,10 @@ class ThermalController : public ExtendedControllerBase {
   susMax1227::SusDataset susSet10;
   susMax1227::SusDataset susSet11;
 
+  // If the TCS board in unavailable, for example due to a recovery, skip
+  // some TCS controller tasks to avoid unnecessary events.
+  const std::atomic_bool& tcsBrdShortlyUnavailable = false;
+
   lp_var_t<float> tempQ7s = lp_var_t<float>(objects::CORE_CONTROLLER, core::PoolIds::TEMPERATURE);
   lp_var_t<int16_t> battTemp1 = lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, bpxBat::BATT_TEMP_1);
   lp_var_t<int16_t> battTemp2 = lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, bpxBat::BATT_TEMP_2);
@@ -257,11 +270,13 @@ class ThermalController : public ExtendedControllerBase {
   bool strTooHotFlag = false;
   bool rwTooHotFlag = false;
 
-  bool transitionToOff = false;
+  bool transitionWhenHeatersOff = false;
-  uint32_t transitionToOffCycles = 0;
+  uint32_t transitionWhenHeatersOffCycles = 0;
+  Mode_t targetMode = MODE_OFF;
+  Submode_t targetSubmode = SUBMODE_NONE;
   uint32_t cycles = 0;
-  std::array<ThermalState, 30> thermalStates{};
+  std::array<ThermalState, ThermalComponents::NUM_ENTRIES> thermalStates{};
-  std::array<HeaterState, 7> heaterStates{};
+  std::array<HeaterState, heater::NUMBER_OF_SWITCHES> heaterStates{};
 
   // Initial delay to make sure all pool variables have been initialized their owners.
   // Also, wait for system initialization to complete.
@@ -286,6 +301,9 @@ class ThermalController : public ExtendedControllerBase {
 
   void startTransition(Mode_t mode, Submode_t submode) override;
 
+  bool heaterCtrlAllowed() const;
+  void resetThermalStates();
+
   void resetSensorsArray();
   void copySensors();
   void copySus();
@@ -296,9 +314,13 @@ class ThermalController : public ExtendedControllerBase {
   bool heaterCtrlCheckUpperLimits(HeaterContext& heaterContext);
   void heaterCtrlTempTooHighHandler(HeaterContext& heaterContext, const char* whatLimit);
 
-  bool chooseHeater(heater::Switchers& switchNr, heater::Switchers redSwitchNr);
+  bool chooseHeater(heater::Switch& switchNr, heater::Switch redSwitchNr);
   bool selectAndReadSensorTemp(HeaterContext& htrCtx);
 
+  void heaterSwitchHelperAllOff();
+  void heaterSwitchHelper(heater::Switch switchNr, HeaterHandler::SwitchState state,
+                          unsigned componentIdx);
+
   void ctrlAcsBoard();
   void ctrlMgt();
   void ctrlRw();
@@ -323,7 +345,7 @@ class ThermalController : public ExtendedControllerBase {
   void ctrlMpa();
   void ctrlScexBoard();
   void heaterTransitionControl(const HeaterSwitchStates& currentHeaterStates);
-  void setMode(Mode_t mode);
+  void setMode(Mode_t mode, Submode_t submode);
   uint32_t tempFloatToU32() const;
   bool tooHotHandler(object_id_t object, bool& oneShotFlag);
   void tooHotHandlerWhichClearsOneShotFlag(object_id_t object, bool& oneShotFlag);

mission/controller/tcsDefs.h

@@ -4,8 +4,8 @@
 #include <fsfw/datapoollocal/LocalPoolVariable.h>
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
 
-#include "devices/heaterSwitcherList.h"
 #include "eive/eventSubsystemIds.h"
+#include "mission/tcs/defs.h"
 
 namespace tcsCtrl {
 

mission/genericFactory.cpp

@@ -1,5 +1,4 @@
 #include <fsfw/cfdp/CfdpDistributor.h>
-#include <fsfw/cfdp/handler/CfdpHandler.h>
 #include <fsfw/cfdp/handler/RemoteConfigTableIF.h>
 #include <fsfw/controller/ControllerBase.h>
 #include <fsfw/controller/ExtendedControllerBase.h>
@@ -23,6 +22,7 @@
 #include <fsfw/tcdistribution/PusDistributor.h>
 #include <fsfw/timemanager/CdsShortTimeStamper.h>
 #include <fsfw_hal/host/HostFilesystem.h>
+#include <mission/cfdp/CfdpHandler.h>
 #include <mission/controller/ThermalController.h>
 #include <mission/genericFactory.h>
 #include <mission/persistentTmStoreDefs.h>
@@ -48,6 +48,7 @@
 #include "mission/system/acs/RwAssembly.h"
 #include "mission/system/acs/acsModeTree.h"
 #include "mission/system/tree/tcsModeTree.h"
+#include "mission/tcs/defs.h"
 #include "mission/tmtc/tmFilters.h"
 #include "objects/systemObjectList.h"
 #include "tmtc/pusIds.h"
@@ -90,6 +91,8 @@ EiveFaultHandler EIVE_FAULT_HANDLER;
 
 }  // namespace cfdp
 
+std::atomic_bool tcs::TCS_BOARD_SHORTLY_UNAVAILABLE = false;
+
 void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFunnel** pusFunnel,
                                           CfdpTmFunnel** cfdpFunnel, SdCardMountedIF& sdcMan,
                                           StorageManagerIF** ipcStore, StorageManagerIF** tmStore,
@@ -300,7 +303,8 @@ void ObjectFactory::createGenericHeaterComponents(GpioIF& gpioIF, PowerSwitchIF&
 }
 
 void ObjectFactory::createThermalController(HeaterHandler& heaterHandler) {
-  auto* tcsCtrl = new ThermalController(objects::THERMAL_CONTROLLER, heaterHandler);
+  auto* tcsCtrl = new ThermalController(objects::THERMAL_CONTROLLER, heaterHandler,
+                                        tcs::TCS_BOARD_SHORTLY_UNAVAILABLE);
   tcsCtrl->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
 }
 void ObjectFactory::createRwAssy(PowerSwitchIF& pwrSwitcher, power::Switch_t theSwitch,
@@ -366,10 +370,12 @@ void ObjectFactory::createAcsBoardAssy(PowerSwitchIF& pwrSwitcher,
   acsAss->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
 }
 
-TcsBoardAssembly* ObjectFactory::createTcsBoardAssy(PowerSwitchIF& pwrSwitcher) {
+TcsBoardAssembly* ObjectFactory::createTcsBoardAssy(PowerSwitchIF& pwrSwitcher,
+                                                    std::atomic_bool& tcsShortlyUnavailable) {
   TcsBoardHelper helper(RTD_INFOS);
-  auto* tcsBoardAss = new TcsBoardAssembly(objects::TCS_BOARD_ASS, &pwrSwitcher,
+  auto* tcsBoardAss =
-                                           power::Switches::PDU1_CH0_TCS_BOARD_3V3, helper);
+      new TcsBoardAssembly(objects::TCS_BOARD_ASS, &pwrSwitcher,
+                           power::Switches::PDU1_CH0_TCS_BOARD_3V3, helper, tcsShortlyUnavailable);
   tcsBoardAss->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
   return tcsBoardAss;
 }

mission/genericFactory.h

@@ -55,7 +55,8 @@ void createRwAssy(PowerSwitchIF& pwrSwitcher, power::Switch_t theSwitch,
 void createSusAssy(PowerSwitchIF& pwrSwitcher, std::array<DeviceHandlerBase*, 12> suses);
 void createAcsBoardAssy(PowerSwitchIF& pwrSwitcher, std::array<DeviceHandlerBase*, 8> assemblyDhbs,
                         ExtendedControllerBase* gpsCtrl, GpioIF* gpioComIF);
-TcsBoardAssembly* createTcsBoardAssy(PowerSwitchIF& pwrSwitcher);
+TcsBoardAssembly* createTcsBoardAssy(PowerSwitchIF& pwrSwitcher,
+                                     std::atomic_bool& tcsShortlyUnavailable);
 
 }  // namespace ObjectFactory
 

mission/power/defs.h

@@ -50,6 +50,7 @@ static constexpr Event FDIR_REACTION_IGNORED = event::makeEvent(SUBSYSTEM_ID, 3,
 enum class States { IDLE, SWITCHING_POWER, CHECKING_POWER, MODE_COMMANDING };
 enum class OpCodes { NONE, TO_OFF_DONE, TO_NOT_OFF_DONE, TIMEOUT_OCCURED };
 
+enum RecoveryCustomStates { IDLE, POWER_SWITCHING_OFF, POWER_SWITCHING_ON, DONE };
 }  // namespace power
 
 namespace duallane {

mission/sysDefs.h

@@ -13,7 +13,25 @@ enum Mode : Mode_t { BOOT = 5, SAFE = acs::AcsMode::SAFE, PTG_IDLE = acs::AcsMod
 
 }
 
+namespace xsc {
+
+enum Chip : int { CHIP_0, CHIP_1, NO_CHIP, SELF_CHIP, ALL_CHIP };
+enum Copy : int { COPY_0, COPY_1, NO_COPY, SELF_COPY, ALL_COPY };
+
+}  // namespace xsc
+
 namespace core {
+
+// TODO: Support for status? Or maybe some command to quickly get information whether a unit
+// is running.
+enum SystemctlCmd : uint8_t { START = 0, STOP = 1, RESTART = 2, NUM_CMDS = 3 };
+
+static constexpr char CONF_FOLDER[] = "conf";
+
+static constexpr char VERSION_FILE_NAME[] = "version.txt";
+static constexpr char REBOOT_FILE_NAME[] = "reboot.txt";
+static constexpr char TIME_FILE_NAME[] = "time_backup.txt";
+
 static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
 static constexpr ActionId_t ANNOUNCE_VERSION = 1;
 static constexpr ActionId_t ANNOUNCE_CURRENT_IMAGE = 2;
@@ -37,7 +55,9 @@ static constexpr ActionId_t MOUNT_OTHER_COPY = 33;
 //! Reboot using the reboot command
 static constexpr ActionId_t REBOOT_OBC = 34;
 
-static constexpr ActionId_t EXECUTE_SHELL_CMD = 40;
+static constexpr ActionId_t EXECUTE_SHELL_CMD_BLOCKING = 40;
+static constexpr ActionId_t EXECUTE_SHELL_CMD_NON_BLOCKING = 41;
+static constexpr ActionId_t SYSTEMCTL_CMD_EXECUTOR = 42;
 
 static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE;
 

mission/system/CMakeLists.txt

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

mission/system/SharedPowerAssemblyBase.cpp

@@ -0,0 +1,91 @@
+#include "SharedPowerAssemblyBase.h"
+
+SharedPowerAssemblyBase::SharedPowerAssemblyBase(object_id_t objectId, PowerSwitchIF* pwrSwitcher,
+                                                 power::Switch_t switchId, uint16_t cmdQueueDepth)
+    : AssemblyBase(objectId, cmdQueueDepth), switcher(pwrSwitcher, switchId) {}
+
+void SharedPowerAssemblyBase::performChildOperation() {
+  auto state = switcher.getState();
+  if (state != PowerSwitcher::WAIT_OFF and state != PowerSwitcher::WAIT_ON) {
+    AssemblyBase::performChildOperation();
+    return;
+  }
+  switcher.doStateMachine();
+  if (state == PowerSwitcher::WAIT_OFF and switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
+    // Indicator that a transition to off is finished
+    AssemblyBase::handleModeReached();
+  } else if (state == PowerSwitcher::WAIT_ON and
+             switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
+    // Indicator that mode commanding can be performed now
+    AssemblyBase::startTransition(targetMode, targetSubmode);
+  }
+}
+
+void SharedPowerAssemblyBase::startTransition(Mode_t mode, Submode_t submode) {
+  if (mode != MODE_OFF) {
+    switcher.turnOn(true);
+    switcher.doStateMachine();
+    if (switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
+      AssemblyBase::startTransition(mode, submode);
+    } else {
+      // Need to wait with mode commanding until power switcher is done
+      targetMode = mode;
+      targetSubmode = submode;
+    }
+  } else {
+    // Perform regular mode commanding first
+    AssemblyBase::startTransition(mode, submode);
+  }
+}
+
+void SharedPowerAssemblyBase::handleModeReached() {
+  if (targetMode == MODE_OFF) {
+    switcher.turnOff(true);
+    switcher.doStateMachine();
+    // Need to wait with call to AssemblyBase::handleModeReached until power switcher is done
+    if (switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
+      AssemblyBase::handleModeReached();
+    }
+  } else {
+    AssemblyBase::handleModeReached();
+  }
+}
+
+bool SharedPowerAssemblyBase::checkAndHandleRecovery() {
+  using namespace power;
+  if (recoveryState == RECOVERY_IDLE) {
+    return AssemblyBase::checkAndHandleRecovery();
+  }
+  if (customRecoveryStates == IDLE) {
+    switcher.turnOff();
+    customRecoveryStates = RecoveryCustomStates::POWER_SWITCHING_OFF;
+  }
+  if (customRecoveryStates == POWER_SWITCHING_OFF) {
+    switcher.doStateMachine();
+    if (switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
+      customRecoveryStates = RecoveryCustomStates::POWER_SWITCHING_ON;
+      switcher.turnOn();
+    }
+  }
+  if (customRecoveryStates == POWER_SWITCHING_ON) {
+    switcher.doStateMachine();
+    if (switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
+      customRecoveryStates = RecoveryCustomStates::DONE;
+    }
+  }
+  if (customRecoveryStates == DONE) {
+    bool pendingRecovery = AssemblyBase::checkAndHandleRecovery();
+    if (not pendingRecovery) {
+      customRecoveryStates = RecoveryCustomStates::IDLE;
+    }
+    // For a recovery on one side, only do the recovery once
+    for (auto& child : childrenMap) {
+      if (healthHelper.healthTable->getHealth(child.first) == HasHealthIF::NEEDS_RECOVERY) {
+        sendHealthCommand(child.second.commandQueue, HEALTHY);
+        child.second.healthChanged = false;
+      }
+    }
+    return pendingRecovery;
+  }
+  return true;
+}

mission/system/SharedPowerAssemblyBase.h

@@ -0,0 +1,27 @@
+#ifndef MISSION_SYSTEM_SHAREDPOWERASSEMBLYBASE_H_
+#define MISSION_SYSTEM_SHAREDPOWERASSEMBLYBASE_H_
+
+#include <fsfw/devicehandlers/AssemblyBase.h>
+#include <fsfw/power/PowerSwitcher.h>
+#include <mission/power/defs.h>
+
+/**
+ * Base class which contains common functions for assemblies where the power line is shared
+ * among the devices in the assembly.
+ */
+class SharedPowerAssemblyBase : public AssemblyBase {
+ public:
+  SharedPowerAssemblyBase(object_id_t objectId, PowerSwitchIF* pwrSwitcher,
+                          power::Switch_t switchId, uint16_t cmdQueueDepth = 8);
+
+ protected:
+  PowerSwitcher switcher;
+  power::RecoveryCustomStates customRecoveryStates = power::RecoveryCustomStates::IDLE;
+
+  void performChildOperation() override;
+  void startTransition(Mode_t mode, Submode_t submode) override;
+  void handleModeReached() override;
+  virtual bool checkAndHandleRecovery() override;
+};
+
+#endif /* MISSION_SYSTEM_SHAREDPOWERASSEMBLYBASE_H_ */

mission/system/acs/DualLaneAssemblyBase.h

@@ -39,12 +39,7 @@ class DualLaneAssemblyBase : public AssemblyBase, public ConfirmsFailuresIF {
   SideSwitchState sideSwitchState = SideSwitchState::NONE;
   duallane::Submodes targetSubmodeForSideSwitch = duallane::Submodes::B_SIDE;
 
-  enum RecoveryCustomStates {
+  power::RecoveryCustomStates customRecoveryStates = power::RecoveryCustomStates::IDLE;
-    IDLE,
-    POWER_SWITCHING_OFF,
-    POWER_SWITCHING_ON,
-    DONE
-  } customRecoveryStates = RecoveryCustomStates::IDLE;
 
   MessageQueueIF* eventQueue = nullptr;
 

mission/system/acs/RwAssembly.cpp

@@ -1,8 +1,8 @@
 #include "RwAssembly.h"
 
-RwAssembly::RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t switcher,
+RwAssembly::RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t switchId,
                        RwHelper helper)
-    : AssemblyBase(objectId), helper(helper), switcher(pwrSwitcher, switcher) {
+    : SharedPowerAssemblyBase(objectId, pwrSwitcher, switchId), helper(helper) {
   ModeListEntry entry;
   for (uint8_t idx = 0; idx < NUMBER_RWS; idx++) {
     entry.setObject(helper.rwIds[idx]);
@@ -12,26 +12,8 @@ RwAssembly::RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::
   }
 }
 
-void RwAssembly::performChildOperation() {
-  auto state = switcher.getState();
-  if (state != PowerSwitcher::WAIT_OFF and state != PowerSwitcher::WAIT_ON) {
-    AssemblyBase::performChildOperation();
-    return;
-  }
-  switcher.doStateMachine();
-  if (state == PowerSwitcher::WAIT_OFF and switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
-    // Indicator that a transition to off is finished
-    AssemblyBase::handleModeReached();
-  } else if (state == PowerSwitcher::WAIT_ON and
-             switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
-    // Indicator that mode commanding can be performed now
-    AssemblyBase::startTransition(targetMode, targetSubmode);
-  }
-}
-
 ReturnValue_t RwAssembly::commandChildren(Mode_t mode, Submode_t submode) {
   ReturnValue_t result = returnvalue::OK;
-  modeTransitionFailedSwitch = true;
   // Initialize the mode table to ensure all devices are in a defined state
   for (uint8_t idx = 0; idx < NUMBER_RWS; idx++) {
     modeTable[idx].setMode(MODE_OFF);
@@ -76,36 +58,6 @@ ReturnValue_t RwAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode)
   return HasModesIF::INVALID_MODE;
 }
 
-void RwAssembly::startTransition(Mode_t mode, Submode_t submode) {
-  if (mode != MODE_OFF) {
-    switcher.turnOn(true);
-    switcher.doStateMachine();
-    if (switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
-      AssemblyBase::startTransition(mode, submode);
-    } else {
-      // Need to wait with mode commanding until power switcher is done
-      targetMode = mode;
-      targetSubmode = submode;
-    }
-  } else {
-    // Perform regular mode commanding first
-    AssemblyBase::startTransition(mode, submode);
-  }
-}
-
-void RwAssembly::handleModeReached() {
-  if (targetMode == MODE_OFF) {
-    switcher.turnOff(true);
-    switcher.doStateMachine();
-    // Need to wait with call to AssemblyBase::handleModeReached until power switcher is done
-    if (switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
-      AssemblyBase::handleModeReached();
-    }
-  } else {
-    AssemblyBase::handleModeReached();
-  }
-}
-
 ReturnValue_t RwAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode) {
   ReturnValue_t result = returnvalue::OK;
   object_id_t objId = 0;

mission/system/acs/RwAssembly.h

@@ -1,8 +1,8 @@
 #ifndef MISSION_SYSTEM_RWASS_H_
 #define MISSION_SYSTEM_RWASS_H_
 
-#include <fsfw/devicehandlers/AssemblyBase.h>
 #include <fsfw/power/PowerSwitcher.h>
+#include <mission/system/SharedPowerAssemblyBase.h>
 
 struct RwHelper {
   RwHelper(std::array<object_id_t, 4> rwIds) : rwIds(rwIds) {}
@@ -10,17 +10,15 @@ struct RwHelper {
   std::array<object_id_t, 4> rwIds = {};
 };
 
-class RwAssembly : public AssemblyBase {
+class RwAssembly : public SharedPowerAssemblyBase {
  public:
-  RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t switcher,
+  RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t switchId,
              RwHelper helper);
 
  private:
   static constexpr uint8_t NUMBER_RWS = 4;
   RwHelper helper;
-  PowerSwitcher switcher;
   bool warningSwitch = true;
-  bool modeTransitionFailedSwitch = true;
   FixedArrayList<ModeListEntry, NUMBER_RWS> modeTable;
 
   ReturnValue_t initialize() override;
@@ -35,12 +33,9 @@ class RwAssembly : public AssemblyBase {
   bool isUseable(object_id_t object, Mode_t mode);
 
   // AssemblyBase implementation
-  void performChildOperation() override;
   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 startTransition(Mode_t mode, Submode_t submode) override;
-  void handleModeReached() override;
 };
 
 #endif /* MISSION_SYSTEM_RWASS_H_ */

mission/system/fdir/RtdFdir.cpp

@@ -3,4 +3,4 @@
 #include "eive/objects.h"
 
 RtdFdir::RtdFdir(object_id_t sensorId)
-    : DeviceHandlerFailureIsolation(sensorId, objects::TCS_BOARD_ASS) {}
+    : DeviceHandlerFailureIsolation(sensorId, objects::NO_OBJECT) {}

mission/system/objects/TcsBoardAssembly.cpp

@@ -4,9 +4,11 @@
 #include <fsfw/ipc/QueueFactory.h>
 
 TcsBoardAssembly::TcsBoardAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher,
-                                   power::Switch_t theSwitch, TcsBoardHelper helper)
+                                   power::Switch_t theSwitch, TcsBoardHelper helper,
-    : AssemblyBase(objectId, 24), switcher(pwrSwitcher, theSwitch), helper(helper) {
+                                   std::atomic_bool& tcsShortlyUnavailable)
-  eventQueue = QueueFactory::instance()->createMessageQueue(24);
+    : SharedPowerAssemblyBase(objectId, pwrSwitcher, theSwitch, 16),
+      helper(helper),
+      tcsShortlyUnavailable(tcsShortlyUnavailable) {
   ModeListEntry entry;
   for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) {
     entry.setObject(helper.rtdInfos[idx].first);
@@ -16,23 +18,6 @@ TcsBoardAssembly::TcsBoardAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitc
   }
 }
 
-void TcsBoardAssembly::performChildOperation() {
-  auto state = switcher.getState();
-  if (state != PowerSwitcher::WAIT_OFF and state != PowerSwitcher::WAIT_ON) {
-    AssemblyBase::performChildOperation();
-    return;
-  }
-  switcher.doStateMachine();
-  if (state == PowerSwitcher::WAIT_OFF and switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
-    // Indicator that a transition to off is finished
-    AssemblyBase::handleModeReached();
-  } else if (state == PowerSwitcher::WAIT_ON and
-             switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
-    // Indicator that mode commanding can be performed now
-    AssemblyBase::startTransition(targetMode, targetSubmode);
-  }
-}
-
 ReturnValue_t TcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode) {
   ReturnValue_t result = returnvalue::OK;
   // Initialize the mode table to ensure all devices are in a defined state
@@ -50,6 +35,8 @@ ReturnValue_t TcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode)
     if (mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_ON) {
       result = handleNormalOrOnModeCmd(mode, submode);
     }
+  } else {
+    tcsShortlyUnavailable = true;
   }
   HybridIterator<ModeListEntry> tableIter(modeTable.begin(), modeTable.end());
   executeTable(tableIter);
@@ -94,25 +81,6 @@ ReturnValue_t TcsBoardAssembly::isModeCombinationValid(Mode_t mode, Submode_t su
   return HasModesIF::INVALID_MODE;
 }
 
-ReturnValue_t TcsBoardAssembly::initialize() { return AssemblyBase::initialize(); }
-
-void TcsBoardAssembly::startTransition(Mode_t mode, Submode_t submode) {
-  if (mode != MODE_OFF) {
-    switcher.turnOn(true);
-    switcher.doStateMachine();
-    if (switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
-      AssemblyBase::startTransition(mode, submode);
-    } else {
-      // Need to wait with mode commanding until power switcher is done
-      targetMode = mode;
-      targetSubmode = submode;
-    }
-  } else {
-    // Perform regular mode commanding first
-    AssemblyBase::startTransition(mode, submode);
-  }
-}
-
 ReturnValue_t TcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode) {
   ReturnValue_t result = returnvalue::OK;
   bool needsSecondStep = false;
@@ -169,21 +137,6 @@ bool TcsBoardAssembly::isUseable(object_id_t object, Mode_t mode) {
   return false;
 }
 
-MessageQueueId_t TcsBoardAssembly::getEventReceptionQueue() { return eventQueue->getId(); }
-
-void TcsBoardAssembly::handleModeReached() {
-  if (targetMode == MODE_OFF) {
-    switcher.turnOff(true);
-    switcher.doStateMachine();
-    // Need to wait with call to AssemblyBase::handleModeReached until power switcher is done
-    if (switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
-      AssemblyBase::handleModeReached();
-    }
-  } else {
-    AssemblyBase::handleModeReached();
-  }
-}
-
 void TcsBoardAssembly::handleChildrenLostMode(ReturnValue_t result) {
   triggerEvent(CHILDREN_LOST_MODE, result);
   startTransition(mode, submode);
@@ -210,6 +163,12 @@ ReturnValue_t TcsBoardAssembly::checkAndHandleHealthStates(Mode_t deviceMode,
   return status;
 }
 
+bool TcsBoardAssembly::checkAndHandleRecovery() {
+  bool recoveryPending = SharedPowerAssemblyBase::checkAndHandleRecovery();
+  tcsShortlyUnavailable = recoveryPending;
+  return recoveryPending;
+}
+
 void TcsBoardAssembly::handleModeTransitionFailed(ReturnValue_t result) {
   if (targetMode == MODE_OFF) {
     AssemblyBase::handleModeTransitionFailed(result);

mission/system/objects/TcsBoardAssembly.h

@@ -4,6 +4,10 @@
 #include <fsfw/container/FixedArrayList.h>
 #include <fsfw/devicehandlers/AssemblyBase.h>
 #include <fsfw/power/PowerSwitcher.h>
+#include <mission/power/defs.h>
+#include <mission/system/SharedPowerAssemblyBase.h>
+
+#include <atomic>
 
 #include "events/subsystemIdRanges.h"
 #include "returnvalues/classIds.h"
@@ -15,23 +19,20 @@ struct TcsBoardHelper {
   std::array<std::pair<object_id_t, std::string>, 16> rtdInfos = {};
 };
 
-class TcsBoardAssembly : public AssemblyBase, public ConfirmsFailuresIF {
+class TcsBoardAssembly : public SharedPowerAssemblyBase {
  public:
   static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::TCS_BOARD_ASS;
   static constexpr Event CHILDREN_LOST_MODE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
 
   TcsBoardAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t switcher,
-                   TcsBoardHelper helper);
+                   TcsBoardHelper helper, std::atomic_bool& tcsShortlyUnavailable);
-
-  ReturnValue_t initialize() override;
 
  private:
   static constexpr uint8_t NUMBER_RTDS = 16;
-  PowerSwitcher switcher;
   bool warningSwitch = true;
   TcsBoardHelper helper;
   FixedArrayList<ModeListEntry, NUMBER_RTDS> modeTable;
-  MessageQueueIF* eventQueue = nullptr;
+  std::atomic_bool& tcsShortlyUnavailable;
 
   ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode);
   /**
@@ -42,17 +43,12 @@ class TcsBoardAssembly : public AssemblyBase, public ConfirmsFailuresIF {
    */
   bool isUseable(object_id_t object, Mode_t mode);
 
-  // ConfirmFailureIF implementation
-  MessageQueueId_t getEventReceptionQueue() override;
-
   // AssemblyBase implementation
-  void performChildOperation() override;
   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 startTransition(Mode_t mode, Submode_t submode) override;
-  void handleModeReached() override;
   ReturnValue_t checkAndHandleHealthStates(Mode_t deviceMode, Submode_t deviceSubmode);
+  bool checkAndHandleRecovery() override;
 
   // These two overrides prevent a transition of the whole assembly back to off just because
   // some devices are not working

mission/system/tree/tcsModeTree.cpp

@@ -111,7 +111,7 @@ void buildNormalSequence(Subsystem& ss, ModeListEntry& eh) {
         ctxc);
 
   // Transition 1
-  iht(objects::THERMAL_CONTROLLER, NML, 0, TCS_TABLE_NORMAL_TRANS_1.second);
+  iht(objects::THERMAL_CONTROLLER, HasModesIF::MODE_ON, 0, TCS_TABLE_NORMAL_TRANS_1.second);
   check(ss.addTable(TableEntry(TCS_TABLE_NORMAL_TRANS_1.first, &TCS_TABLE_NORMAL_TRANS_1.second)),
         ctxc);
 

mission/tcs/HeaterHandler.cpp

@@ -215,17 +215,17 @@ void HeaterHandler::handleSwitchHandling() {
         heaterVec[idx].cmdActive = true;
         heaterVec[idx].action = SET_SWITCH_OFF;
         triggerEvent(FAULTY_HEATER_WAS_ON, idx, 0);
-        handleSwitchOffCommand(static_cast<heater::Switchers>(idx));
+        handleSwitchOffCommand(static_cast<heater::Switch>(idx));
         continue;
       }
     }
     if (heaterVec[idx].cmdActive) {
       switch (heaterVec[idx].action) {
         case SET_SWITCH_ON:
-          handleSwitchOnCommand(static_cast<heater::Switchers>(idx));
+          handleSwitchOnCommand(static_cast<heater::Switch>(idx));
           break;
         case SET_SWITCH_OFF:
-          handleSwitchOffCommand(static_cast<heater::Switchers>(idx));
+          handleSwitchOffCommand(static_cast<heater::Switch>(idx));
           break;
         default:
           sif::error << "HeaterHandler::handleActiveCommands: Invalid action commanded"
@@ -236,7 +236,7 @@ void HeaterHandler::handleSwitchHandling() {
   }
 }
 
-void HeaterHandler::handleSwitchOnCommand(heater::Switchers heaterIdx) {
+void HeaterHandler::handleSwitchOnCommand(heater::Switch heaterIdx) {
   ReturnValue_t result = returnvalue::OK;
   auto& heater = heaterVec.at(heaterIdx);
   if (waitForSwitchOff) {
@@ -307,7 +307,7 @@ void HeaterHandler::handleSwitchOnCommand(heater::Switchers heaterIdx) {
   }
 }
 
-void HeaterHandler::handleSwitchOffCommand(heater::Switchers heaterIdx) {
+void HeaterHandler::handleSwitchOffCommand(heater::Switch heaterIdx) {
   ReturnValue_t result = returnvalue::OK;
   auto& heater = heaterVec.at(heaterIdx);
   // Check whether switch is already off
@@ -344,12 +344,12 @@ void HeaterHandler::handleSwitchOffCommand(heater::Switchers heaterIdx) {
   heater.cmdActive = false;
 }
 
-HeaterHandler::SwitchState HeaterHandler::getSwitchState(heater::Switchers switchNr) const {
+HeaterHandler::SwitchState HeaterHandler::getSwitchState(heater::Switch switchNr) const {
   MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
   return heaterVec.at(switchNr).switchState;
 }
 
-ReturnValue_t HeaterHandler::switchHeater(heater::Switchers heater, SwitchState switchState) {
+ReturnValue_t HeaterHandler::switchHeater(heater::Switch heater, SwitchState switchState) {
   if (switchState == SwitchState::ON) {
     return sendSwitchCommand(heater, PowerSwitchIF::SWITCH_ON);
   } else if (switchState == SwitchState::OFF) {
@@ -428,7 +428,7 @@ ReturnValue_t HeaterHandler::getSwitchState(uint8_t switchNr) const {
   if (switchNr > 7) {
     return returnvalue::FAILED;
   }
-  if (getSwitchState(static_cast<heater::Switchers>(switchNr)) == SwitchState::ON) {
+  if (getSwitchState(static_cast<heater::Switch>(switchNr)) == SwitchState::ON) {
     return PowerSwitchIF::SWITCH_ON;
   }
   return PowerSwitchIF::SWITCH_OFF;
@@ -438,7 +438,7 @@ ReturnValue_t HeaterHandler::getFuseState(uint8_t fuseNr) const { return 0; }
 
 uint32_t HeaterHandler::getSwitchDelayMs(void) const { return 2000; }
 
-HasHealthIF::HealthState HeaterHandler::getHealth(heater::Switchers heater) {
+HasHealthIF::HealthState HeaterHandler::getHealth(heater::Switch heater) {
   auto* healthDev = heaterVec.at(heater).healthDevice;
   if (healthDev != nullptr) {
     MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);

mission/tcs/HeaterHandler.h

@@ -20,8 +20,8 @@
 #include <utility>
 #include <vector>
 
-#include "devices/heaterSwitcherList.h"
 #include "events/subsystemIdRanges.h"
+#include "mission/tcs/defs.h"
 #include "returnvalues/classIds.h"
 
 class PowerSwitchIF;
@@ -75,8 +75,8 @@ class HeaterHandler : public ExecutableObjectIF,
  protected:
   enum SwitchAction : uint8_t { SET_SWITCH_OFF, SET_SWITCH_ON, NONE };
 
-  ReturnValue_t switchHeater(heater::Switchers heater, SwitchState switchState);
+  ReturnValue_t switchHeater(heater::Switch heater, SwitchState switchState);
-  HasHealthIF::HealthState getHealth(heater::Switchers heater);
+  HasHealthIF::HealthState getHealth(heater::Switch heater);
 
   ReturnValue_t performOperation(uint8_t operationCode = 0) override;
 
@@ -174,7 +174,7 @@ class HeaterHandler : public ExecutableObjectIF,
    * @brief   Returns the state of a switch (ON - true, or OFF - false).
    * @param switchNr  The number of the switch to check.
    */
-  SwitchState getSwitchState(heater::Switchers switchNr) const;
+  SwitchState getSwitchState(heater::Switch switchNr) const;
 
   /**
    * @brief	This function runs commands waiting for execution.
@@ -198,9 +198,9 @@ class HeaterHandler : public ExecutableObjectIF,
   const HasModesIF& getModeIF() const override;
   ModeTreeChildIF& getModeTreeChildIF() override;
 
-  void handleSwitchOnCommand(heater::Switchers heaterIdx);
+  void handleSwitchOnCommand(heater::Switch heaterIdx);
 
-  void handleSwitchOffCommand(heater::Switchers heaterIdx);
+  void handleSwitchOffCommand(heater::Switch heaterIdx);
 
   /**
    * @brief   Checks if all switches are off.

mission/tcs/Max31865EiveHandler.cpp

@@ -1,6 +1,8 @@
 #include <fsfw/datapool/PoolReadGuard.h>
 #include <mission/tcs/Max31865EiveHandler.h>
 
+#include "fsfw/thermal/tcsDefinitions.h"
+
 Max31865EiveHandler::Max31865EiveHandler(object_id_t objectId, object_id_t comIF,
                                          CookieIF* comCookie)
     : DeviceHandlerBase(objectId, comIF, comCookie, nullptr),
@@ -152,6 +154,15 @@ ReturnValue_t Max31865EiveHandler::interpretDeviceReply(DeviceCommandId_t id,
     transitionOk = true;
     return returnvalue::OK;
   }
+  // If the 15 received bits are all ones, this is considered a case where the device does not
+  // work because it does not drive the MISO line. This can happens if the sensor is broken
+  // or off.
+  if (exchangeStruct.adcCode == 0x7fff) {
+    PoolReadGuard pg(&sensorDataset);
+    sensorDataset.temperatureCelcius.setValid(false);
+    sensorDataset.temperatureCelcius = thermal::INVALID_TEMPERATURE;
+    return returnvalue::FAILED;
+  }
 
   // Calculate resistance
   float rtdValue = exchangeStruct.adcCode * EiveMax31855::RTD_RREF_PT1000 / INT16_MAX;

mission/tcs/defs.h

@@ -1,10 +1,10 @@
-#ifndef FSFWCONFIG_DEVICES_HEATERSWITCHERLIST_H_
+#pragma once
-#define FSFWCONFIG_DEVICES_HEATERSWITCHERLIST_H_
 
+#include <atomic>
 #include <cstdint>
 
 namespace heater {
-enum Switchers : uint8_t {
+enum Switch : uint8_t {
   HEATER_0_OBC_BRD,
   HEATER_1_PLOC_PROC_BRD,
   HEATER_2_ACS_BRD,
@@ -17,4 +17,8 @@ enum Switchers : uint8_t {
 };
 }
 
-#endif /* FSFWCONFIG_DEVICES_HEATERSWITCHERLIST_H_ */
+namespace tcs {
+
+extern std::atomic_bool TCS_BOARD_SHORTLY_UNAVAILABLE;
+
+}

scripts/install-obsw-yocto.sh

@@ -11,7 +11,7 @@ fi
 init_dir=$(pwd)
 
 obsw_root=""
-q7s_yocto_dir="q7s-yocto"
+q7s_yocto_dir="yocto"
 q7s_package_path="q7s-package/${q7s_yocto_dir}"
 
 obsw_version_filename="obsw_version.txt"

thirdparty/CMakeLists.txt

@@ -4,7 +4,8 @@ endif()
 
 # Dependency on proprietary library
 if(TGT_BSP MATCHES "arm/q7s")
-	add_subdirectory(arcsec_star_tracker)
+    # Only add required folder for wire library.
+	add_subdirectory(sagittactl/wire)
 endif()
 
 add_subdirectory(rapidcsv)

thirdparty/arcsec_star_tracker

@@ -1 +0,0 @@
-Subproject commit 2823952e0902726e6e35dd7c159761f76bf7e505

thirdparty/sagittactl

@@ -0,0 +1 @@
+Subproject commit 64332216c193fa6483258060b53fc2842c08dcf4

tmtc

@@ -1 +1 @@
-Subproject commit 43b530cdb7dfe6774962bf4b8a880e1c9a6e6580
+Subproject commit f8da9cff7c5d6d6bdd483f90ccefb67b2d1e11a4

unittest/controller/testThermalController.cpp

@@ -15,6 +15,7 @@
 
 TEST_CASE("Thermal Controller", "[ThermalController]") {
   const object_id_t THERMAL_CONTROLLER_ID = 0x123;
+  std::atomic_bool tcsBrdShortlyUnavailable = false;
 
   TemperatureSensorInserter::Max31865DummyMap map0;
   TemperatureSensorInserter::Tmp1075DummyMap map1;
@@ -29,7 +30,7 @@ TEST_CASE("Thermal Controller", "[ThermalController]") {
 
   // testEnvironment::initialize();
 
-  ThermalController controller(THERMAL_CONTROLLER_ID, *heaterHandler);
+  ThermalController controller(THERMAL_CONTROLLER_ID, *heaterHandler, tcsBrdShortlyUnavailable);
   ReturnValue_t result = controller.initialize();
   REQUIRE(result == returnvalue::OK);
 
@@ -46,8 +47,8 @@ TEST_CASE("Thermal Controller", "[ThermalController]") {
 
   CommandMessage modeMessage;
 
-  ModeMessage::setModeMessage(&modeMessage, ModeMessage::CMD_MODE_COMMAND,
+  ModeMessage::setModeMessage(&modeMessage, ModeMessage::CMD_MODE_COMMAND, HasModesIF::MODE_ON,
-                              ControllerBase::MODE_NORMAL, HasModesIF::SUBMODE_NONE);
+                              HasModesIF::SUBMODE_NONE);
 
   MessageQueueIF* commandQueue =
       QueueFactory::instance()->createMessageQueue(5, MessageQueueMessage::MAX_MESSAGE_SIZE);
@@ -57,7 +58,7 @@ TEST_CASE("Thermal Controller", "[ThermalController]") {
   REQUIRE(controller.performOperation(0) == returnvalue::OK);
 
   REQUIRE(testEnvironment::eventManager->isEventInEventList(
-              THERMAL_CONTROLLER_ID, HasModesIF::MODE_INFO, ControllerBase::MODE_NORMAL,
+              THERMAL_CONTROLLER_ID, HasModesIF::MODE_INFO, HasModesIF::MODE_ON,
               HasModesIF::SUBMODE_NONE) == true);
 
   QueueFactory::instance()->deleteMessageQueue(commandQueue);