Merge remote-tracking branch 'origin/develop' into mueller/acs-ss-init

mission/devices/SolarArrayDeploymentHandler.cpp

@@ -1,171 +1,470 @@
 #include "SolarArrayDeploymentHandler.h"
 
-#include <devices/gpioIds.h>
-#include <fsfw/ipc/QueueFactory.h>
-#include <fsfw/objectmanager/ObjectManager.h>
-#include <fsfw_hal/common/gpio/GpioCookie.h>
+#include <fsfw/tasks/TaskFactory.h>
 
-SolarArrayDeploymentHandler::SolarArrayDeploymentHandler(
-    object_id_t setObjectId_, object_id_t gpioDriverId_, CookieIF* gpioCookie_,
-    object_id_t mainLineSwitcherObjectId_, pcdu::Switches mainLineSwitch_, gpioId_t deplSA1,
-    gpioId_t deplSA2, uint32_t burnTimeMs)
+#include <filesystem>
+#include <fstream>
+#include <iostream>
+
+#include "devices/gpioIds.h"
+#include "fsfw/ipc/QueueFactory.h"
+#include "fsfw/objectmanager/ObjectManager.h"
+#include "fsfw_hal/common/gpio/GpioCookie.h"
+
+static constexpr bool DEBUG_MODE = true;
+
+SolarArrayDeploymentHandler::SolarArrayDeploymentHandler(object_id_t setObjectId_,
+                                                         GpioIF& gpioInterface,
+                                                         PowerSwitchIF& mainLineSwitcher_,
+                                                         pcdu::Switches mainLineSwitch_,
+                                                         gpioId_t deplSA1, gpioId_t deplSA2,
+                                                         SdCardMountedIF& sdcMountedIF)
     : SystemObject(setObjectId_),
-      gpioDriverId(gpioDriverId_),
-      gpioCookie(gpioCookie_),
-      mainLineSwitcherObjectId(mainLineSwitcherObjectId_),
-      mainLineSwitch(mainLineSwitch_),
+      gpioInterface(gpioInterface),
       deplSA1(deplSA1),
       deplSA2(deplSA2),
-      burnTimeMs(burnTimeMs),
+      mainLineSwitcher(mainLineSwitcher_),
+      mainLineSwitch(mainLineSwitch_),
+      sdcMan(sdcMountedIF),
       actionHelper(this, nullptr) {
   auto mqArgs = MqArgs(setObjectId_, static_cast<void*>(this));
   commandQueue = QueueFactory::instance()->createMessageQueue(
       cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
-SolarArrayDeploymentHandler::~SolarArrayDeploymentHandler() {}
+SolarArrayDeploymentHandler::~SolarArrayDeploymentHandler() = default;
 
 ReturnValue_t SolarArrayDeploymentHandler::performOperation(uint8_t operationCode) {
-  if (operationCode == DeviceHandlerIF::PERFORM_OPERATION) {
-    handleStateMachine();
-    return returnvalue::OK;
-  }
-  return returnvalue::OK;
-}
-
-ReturnValue_t SolarArrayDeploymentHandler::initialize() {
-  ReturnValue_t result = SystemObject::initialize();
-  if (result != returnvalue::OK) {
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-
-  gpioInterface = ObjectManager::instance()->get<GpioIF>(gpioDriverId);
-  if (gpioInterface == nullptr) {
-    sif::error << "SolarArrayDeploymentHandler::initialize: Invalid Gpio interface." << std::endl;
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-
-  result = gpioInterface->addGpios(dynamic_cast<GpioCookie*>(gpioCookie));
-  if (result != returnvalue::OK) {
-    sif::error << "SolarArrayDeploymentHandler::initialize: Failed to initialize Gpio interface"
-               << std::endl;
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-
-  if (mainLineSwitcherObjectId != objects::NO_OBJECT) {
-    mainLineSwitcher = ObjectManager::instance()->get<PowerSwitchIF>(mainLineSwitcherObjectId);
-    if (mainLineSwitcher == nullptr) {
-      sif::error
-          << "SolarArrayDeploymentHandler::initialize: Main line switcher failed to fetch object"
-          << "from object ID." << std::endl;
-      return ObjectManagerIF::CHILD_INIT_FAILED;
+  using namespace std::filesystem;
+  if (opDivider.checkAndIncrement()) {
+    auto activeSdc = sdcMan.getActiveSdCard();
+    if (activeSdc and activeSdc.value() == sd::SdCard::SLOT_0 and
+        sdcMan.isSdCardUsable(activeSdc.value())) {
+      if (exists(SD_0_DEPL_FILE)) {
+        // perform autonomous deployment handling
+        performAutonomousDepl(sd::SdCard::SLOT_0, dryRunStringInFile(SD_0_DEPL_FILE));
+      }
+    } else if (activeSdc and activeSdc.value() == sd::SdCard::SLOT_1 and
+               sdcMan.isSdCardUsable(activeSdc.value())) {
+      if (exists(SD_1_DEPL_FILE)) {
+        // perform autonomous deployment handling
+        performAutonomousDepl(sd::SdCard::SLOT_1, dryRunStringInFile(SD_1_DEPL_FILE));
+      }
+    } else {
+      // TODO: This is FDIR domain. If both SD cards are not available for whatever reason,
+      //       there is not much we can do except somehow use the scratch buffer which is
+      //       not non-volatile. Implementation effort is considerable as well.
     }
   }
-
-  result = actionHelper.initialize(commandQueue);
-  if (result != returnvalue::OK) {
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-
+  readCommandQueue();
+  handleStateMachine();
   return returnvalue::OK;
 }
 
 void SolarArrayDeploymentHandler::handleStateMachine() {
-  switch (stateMachine) {
-    case WAIT_ON_DELOYMENT_COMMAND:
-      readCommandQueue();
-      break;
-    case SWITCH_8V_ON:
-      mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_ON);
-      mainSwitchCountdown.setTimeout(mainLineSwitcher->getSwitchDelayMs());
-      stateMachine = WAIT_ON_8V_SWITCH;
-      break;
-    case WAIT_ON_8V_SWITCH:
-      performWaitOn8VActions();
-      break;
-    case SWITCH_DEPL_GPIOS:
-      switchDeploymentTransistors();
-      break;
-    case WAIT_ON_DEPLOYMENT_FINISH:
-      handleDeploymentFinish();
-      break;
-    case WAIT_FOR_MAIN_SWITCH_OFF:
-      if (mainLineSwitcher->getSwitchState(mainLineSwitch) == PowerSwitchIF::SWITCH_OFF) {
-        stateMachine = WAIT_ON_DELOYMENT_COMMAND;
-      } else if (mainSwitchCountdown.hasTimedOut()) {
-        triggerEvent(MAIN_SWITCH_OFF_TIMEOUT);
-        sif::error << "SolarArrayDeploymentHandler::handleStateMachine: Failed to switch main"
-                   << " switch off" << std::endl;
-        stateMachine = WAIT_ON_DELOYMENT_COMMAND;
+  if (stateMachine == MAIN_POWER_ON) {
+    mainLineSwitcher.sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_ON);
+    mainSwitchCountdown.setTimeout(mainLineSwitcher.getSwitchDelayMs());
+    stateMachine = WAIT_MAIN_POWER_ON;
+    sif::info << "S/A Deployment: Deployment power line on" << std::endl;
+  }
+  if (stateMachine == MAIN_POWER_OFF) {
+    // These should never fail
+    allOff();
+    stateMachine = WAIT_MAIN_POWER_OFF;
+    sif::info << "S/A Deployment: Deployment power line off" << std::endl;
+  }
+  if (stateMachine == WAIT_MAIN_POWER_ON) {
+    if (checkMainPowerOn()) {
+      if (DEBUG_MODE) {
+        sif::debug << "SA DEPL FSM: WAIT_MAIN_POWER_ON done -> SWITCH_DEPL_GPIOS" << std::endl;
       }
-      break;
-    default:
-      sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Invalid state" << std::endl;
-      break;
+      stateMachine = SWITCH_DEPL_GPIOS;
+    }
+  }
+  if (stateMachine == WAIT_MAIN_POWER_OFF) {
+    if (checkMainPowerOff()) {
+      if (DEBUG_MODE) {
+        sif::debug << "SA DEPL FSM: WAIT_MAIN_POWER_OFF done -> FSM DONE" << std::endl;
+      }
+      sif::info << "S/A Deployment: FSM done" << std::endl;
+      finishFsm(returnvalue::OK);
+    }
+  }
+  if (stateMachine == SWITCH_DEPL_GPIOS) {
+    burnCountdown.setTimeout(fsmInfo.burnCountdownMs);
+    // This should never fail
+    channelAlternationCd.resetTimer();
+    if (not fsmInfo.dryRun) {
+      sa2Off();
+      sa1On();
+      fsmInfo.alternationDummy = true;
+    }
+    sif::info << "S/A Deployment: Burning" << std::endl;
+    triggerEvent(BURN_PHASE_START, fsmInfo.burnCountdownMs, fsmInfo.dryRun);
+    stateMachine = BURNING;
+  }
+  if (stateMachine == BURNING) {
+    saGpioAlternation();
+    if (burnCountdown.hasTimedOut()) {
+      if (DEBUG_MODE) {
+        sif::debug << "SA DEPL FSM: BURNING done -> WAIT_MAIN_POWER_OFF" << std::endl;
+      }
+      allOff();
+      triggerEvent(BURN_PHASE_DONE, fsmInfo.burnCountdownMs, fsmInfo.dryRun);
+      stateMachine = WAIT_MAIN_POWER_OFF;
+    }
   }
 }
 
-void SolarArrayDeploymentHandler::performWaitOn8VActions() {
-  if (mainLineSwitcher->getSwitchState(mainLineSwitch) == PowerSwitchIF::SWITCH_ON) {
-    stateMachine = SWITCH_DEPL_GPIOS;
+ReturnValue_t SolarArrayDeploymentHandler::performAutonomousDepl(sd::SdCard sdCard, bool dryRun) {
+  using namespace std::filesystem;
+  using namespace std;
+  auto initFile = [](const char* filename) {
+    ofstream of(filename);
+    of << "phase: init\n";
+    of << "secs_since_start: 0\n";
+  };
+  if (sdCard == sd::SdCard::SLOT_0) {
+    if (not exists(SD_0_DEPLY_INFO)) {
+      initFile(SD_0_DEPLY_INFO);
+    }
+    if (not autonomousDeplForFile(sd::SdCard::SLOT_0, SD_0_DEPLY_INFO, dryRun)) {
+      initFile(SD_0_DEPLY_INFO);
+    }
+  } else if (sdCard == sd::SdCard::SLOT_1) {
+    if (not exists(SD_1_DEPLY_INFO)) {
+      initFile(SD_1_DEPLY_INFO);
+    }
+    if (not autonomousDeplForFile(sd::SdCard::SLOT_1, SD_1_DEPLY_INFO, dryRun)) {
+      initFile(SD_1_DEPLY_INFO);
+    }
+  }
+  return returnvalue::OK;
+}
+
+bool SolarArrayDeploymentHandler::autonomousDeplForFile(sd::SdCard sdCard, const char* filename,
+                                                        bool dryRun) {
+  using namespace std;
+  ifstream file(filename);
+  string line;
+  string word;
+  unsigned int lineNum = 0;
+  AutonomousDeplState deplState;
+  bool stateSwitch = false;
+  uint32_t secsSinceBoot = 0;
+  while (std::getline(file, line)) {
+    std::istringstream iss(line);
+    if (lineNum == 0) {
+      iss >> word;
+      if (word.find("phase:") == string::npos) {
+        return false;
+      }
+      iss >> word;
+      if (word.find(PHASE_INIT_STR) != string::npos) {
+        deplState = AutonomousDeplState::INIT;
+      } else if (word.find(PHASE_FIRST_BURN_STR) != string::npos) {
+        deplState = AutonomousDeplState::FIRST_BURN;
+      } else if (word.find(PHASE_WAIT_STR) != string::npos) {
+        deplState = AutonomousDeplState::WAIT;
+      } else if (word.find(PHASE_SECOND_BURN_STR) != string::npos) {
+        deplState = AutonomousDeplState::SECOND_BURN;
+      } else if (word.find(PHASE_DONE) != string::npos) {
+        deplState = AutonomousDeplState::DONE;
+      } else {
+        return false;
+      }
+    } else if (lineNum == 1) {
+      iss >> word;
+      if (iss.bad()) {
+        return false;
+      }
+      if (word.find("secs_since_start:") == string::npos) {
+        return false;
+      }
+
+      iss >> secsSinceBoot;
+      if (iss.bad()) {
+        return false;
+      }
+      if (not initUptime) {
+        initUptime = secsSinceBoot;
+      }
+
+      auto switchCheck = [&](AutonomousDeplState expected) {
+        if (deplState != expected) {
+          deplState = expected;
+          stateSwitch = true;
+        }
+      };
+      if ((secsSinceBoot > FIRST_BURN_START_TIME) and (secsSinceBoot < FIRST_BURN_END_TIME)) {
+        switchCheck(AutonomousDeplState::FIRST_BURN);
+      } else if ((secsSinceBoot > WAIT_START_TIME) and (secsSinceBoot < WAIT_END_TIME)) {
+        switchCheck(AutonomousDeplState::WAIT);
+      } else if ((secsSinceBoot > SECOND_BURN_START_TIME) and
+                 (secsSinceBoot < SECOND_BURN_END_TIME)) {
+        switchCheck(AutonomousDeplState::SECOND_BURN);
+      } else if (secsSinceBoot > SECOND_BURN_END_TIME) {
+        switchCheck(AutonomousDeplState::DONE);
+      }
+    }
+    lineNum++;
+  }
+  if (initUptime) {
+    secsSinceBoot = initUptime.value();
+  }
+  // Uptime has increased by X seconds so we need to update the uptime count inside the file
+  secsSinceBoot += Clock::getUptime().tv_sec;
+  if (stateSwitch or firstAutonomousCycle) {
+    if (deplState == AutonomousDeplState::FIRST_BURN or
+        deplState == AutonomousDeplState::SECOND_BURN) {
+      startFsmOn(config::SA_DEPL_BURN_TIME_SECS, dryRun);
+    } else if (deplState == AutonomousDeplState::WAIT or deplState == AutonomousDeplState::DONE or
+               deplState == AutonomousDeplState::INIT) {
+      startFsmOff();
+    }
+  }
+  if (deplState == AutonomousDeplState::DONE) {
+    remove(filename);
+    if (sdCard == sd::SdCard::SLOT_0) {
+      remove(SD_0_DEPL_FILE);
+    } else {
+      remove(SD_1_DEPL_FILE);
+    }
+    triggerEvent(AUTONOMOUS_DEPLOYMENT_COMPLETED);
   } else {
-    if (mainSwitchCountdown.hasTimedOut()) {
+    std::ofstream of(filename);
+    of << "phase: ";
+    if (deplState == AutonomousDeplState::INIT) {
+      of << PHASE_INIT_STR << "\n";
+    } else if (deplState == AutonomousDeplState::FIRST_BURN) {
+      of << PHASE_FIRST_BURN_STR << "\n";
+    } else if (deplState == AutonomousDeplState::WAIT) {
+      of << PHASE_WAIT_STR << "\n";
+    } else if (deplState == AutonomousDeplState::SECOND_BURN) {
+      of << PHASE_SECOND_BURN_STR << "\n";
+    }
+    of << "secs_since_start: " << std::to_string(secsSinceBoot) << "\n";
+  }
+  if (firstAutonomousCycle) {
+    firstAutonomousCycle = false;
+  }
+  return true;
+}
+
+bool SolarArrayDeploymentHandler::checkMainPowerOn() { return checkMainPower(true); }
+
+bool SolarArrayDeploymentHandler::checkMainPowerOff() { return checkMainPower(false); }
+
+bool SolarArrayDeploymentHandler::checkMainPower(bool onOff) {
+  if ((onOff and mainLineSwitcher.getSwitchState(mainLineSwitch) == PowerSwitchIF::SWITCH_ON) or
+      (not onOff and
+       mainLineSwitcher.getSwitchState(mainLineSwitch) == PowerSwitchIF::SWITCH_OFF)) {
+    return true;
+  }
+  if (mainSwitchCountdown.hasTimedOut()) {
+    if (onOff) {
       triggerEvent(MAIN_SWITCH_ON_TIMEOUT);
-      actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS,
-                          MAIN_SWITCH_TIMEOUT_FAILURE);
-      stateMachine = WAIT_ON_DELOYMENT_COMMAND;
+    } else {
+      triggerEvent(MAIN_SWITCH_OFF_TIMEOUT);
     }
+    if (retryCounter < 3) {
+      if (onOff) {
+        stateMachine = MAIN_POWER_ON;
+      } else {
+        stateMachine = MAIN_POWER_OFF;
+      }
+      retryCounter++;
+    } else {
+      finishFsm(MAIN_SWITCH_TIMEOUT_FAILURE);
+    }
+  }
+  return false;
+}
+
+bool SolarArrayDeploymentHandler::startFsmOn(uint32_t burnCountdownSecs, bool dryRun) {
+  if (stateMachine != StateMachine::IDLE) {
+    return false;
+  }
+  if (burnCountdownSecs > config::SA_DEPL_MAX_BURN_TIME) {
+    burnCountdownSecs = config::SA_DEPL_MAX_BURN_TIME;
+  }
+  fsmInfo.dryRun = dryRun;
+  fsmInfo.burnCountdownMs = burnCountdownSecs * 1000;
+  stateMachine = StateMachine::MAIN_POWER_ON;
+  retryCounter = 0;
+  return true;
+}
+
+void SolarArrayDeploymentHandler::startFsmOff() {
+  if (stateMachine != StateMachine::IDLE) {
+    // off commands override the state machine. Cancel any active action commands.
+    finishFsm(returnvalue::FAILED);
+  }
+  retryCounter = 0;
+  stateMachine = StateMachine::MAIN_POWER_OFF;
+}
+
+void SolarArrayDeploymentHandler::finishFsm(ReturnValue_t resultForActionHelper) {
+  retryCounter = 0;
+  stateMachine = StateMachine::IDLE;
+  fsmInfo.dryRun = false;
+  fsmInfo.alternationDummy = false;
+  if (actionActive) {
+    bool success = false;
+    if (resultForActionHelper == returnvalue::OK or
+        resultForActionHelper == HasActionsIF::EXECUTION_FINISHED) {
+      success = true;
+    }
+    actionHelper.finish(success, rememberCommanderId, activeCmd, resultForActionHelper);
   }
 }
 
-void SolarArrayDeploymentHandler::switchDeploymentTransistors() {
+void SolarArrayDeploymentHandler::allOff() {
+  deploymentTransistorsOff();
+  mainLineSwitcher.sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
+  mainSwitchCountdown.setTimeout(mainLineSwitcher.getSwitchDelayMs());
+}
+
+bool SolarArrayDeploymentHandler::dryRunStringInFile(const char* filename) {
+  std::ifstream ifile(filename);
+  if (ifile.bad()) {
+    return false;
+  }
+  std::string line;
+  while (getline(ifile, line)) {
+    if (line.find("dryrun") != std::string::npos) {
+      return true;
+    }
+  }
+  return false;
+}
+
+ReturnValue_t SolarArrayDeploymentHandler::executeAction(ActionId_t actionId,
+                                                         MessageQueueId_t commandedBy,
+                                                         const uint8_t* data, size_t size) {
   ReturnValue_t result = returnvalue::OK;
-  result = gpioInterface->pullHigh(deplSA1);
+  if (actionId == DEPLOY_SOLAR_ARRAYS_MANUALLY) {
+    ManualDeploymentCommand cmd;
+    if (size < cmd.getSerializedSize()) {
+      return HasActionsIF::INVALID_PARAMETERS;
+    }
+    result = cmd.deSerialize(&data, &size, SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    uint32_t burnCountdown = cmd.getBurnTime();
+    if (not startFsmOn(burnCountdown, cmd.isDryRun())) {
+      return HasActionsIF::IS_BUSY;
+    }
+    actionActive = true;
+    rememberCommanderId = commandedBy;
+    return result;
+  } else if (actionId == SWITCH_OFF_DEPLOYMENT) {
+    startFsmOff();
+    actionActive = true;
+    rememberCommanderId = commandedBy;
+    return result;
+  } else {
+    return HasActionsIF::INVALID_ACTION_ID;
+  }
+  return result;
+}
+
+ReturnValue_t SolarArrayDeploymentHandler::saGpioAlternation() {
+  ReturnValue_t status = returnvalue::OK;
+  ReturnValue_t result;
+  if (channelAlternationCd.hasTimedOut() and not fsmInfo.dryRun) {
+    if (fsmInfo.alternationDummy) {
+      result = sa1Off();
+      if (result != returnvalue::OK) {
+        status = result;
+      }
+      TaskFactory::delayTask(1);
+      result = sa2On();
+      if (result != returnvalue::OK) {
+        status = result;
+      }
+    } else {
+      result = sa2Off();
+      if (result != returnvalue::OK) {
+        status = result;
+      }
+      TaskFactory::delayTask(1);
+      result = sa1On();
+      if (result != returnvalue::OK) {
+        status = result;
+      }
+    }
+    fsmInfo.alternationDummy = not fsmInfo.alternationDummy;
+    channelAlternationCd.resetTimer();
+  }
+  return status;
+}
+
+ReturnValue_t SolarArrayDeploymentHandler::deploymentTransistorsOff() {
+  ReturnValue_t status = returnvalue::OK;
+  ReturnValue_t result = sa1Off();
   if (result != returnvalue::OK) {
-    sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
-                  " array deployment switch 1 high "
-               << std::endl;
-    /* If gpio switch high failed, state machine is reset to wait for a command reinitiating
-     * the deployment sequence. */
-    stateMachine = WAIT_ON_DELOYMENT_COMMAND;
+    status = result;
+  }
+  result = sa2Off();
+  if (result != returnvalue::OK) {
+    status = result;
+  }
+  return status;
+}
+
+ReturnValue_t SolarArrayDeploymentHandler::sa1On() {
+  ReturnValue_t result = gpioInterface.pullHigh(deplSA1);
+  if (result != returnvalue::OK) {
+    sif::warning << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
+                    " array deployment switch 1 high"
+                 << std::endl;
+    // If gpio switch high failed, state machine is reset to wait for a command re-initiating
+    // the deployment sequence.
     triggerEvent(DEPL_SA1_GPIO_SWTICH_ON_FAILED);
-    actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS, SWITCHING_DEPL_SA2_FAILED);
-    mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
   }
-  result = gpioInterface->pullHigh(deplSA2);
-  if (result != returnvalue::OK) {
-    sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
-                  " array deployment switch 2 high "
-               << std::endl;
-    stateMachine = WAIT_ON_DELOYMENT_COMMAND;
-    triggerEvent(DEPL_SA2_GPIO_SWTICH_ON_FAILED);
-    actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS, SWITCHING_DEPL_SA2_FAILED);
-    mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
-  }
-  deploymentCountdown.setTimeout(burnTimeMs);
-  stateMachine = WAIT_ON_DEPLOYMENT_FINISH;
+  return result;
 }
 
-void SolarArrayDeploymentHandler::handleDeploymentFinish() {
-  ReturnValue_t result = returnvalue::OK;
-  if (deploymentCountdown.hasTimedOut()) {
-    actionHelper.finish(true, rememberCommanderId, DEPLOY_SOLAR_ARRAYS, returnvalue::OK);
-    result = gpioInterface->pullLow(deplSA1);
-    if (result != returnvalue::OK) {
-      sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
-                    " array deployment switch 1 low "
+ReturnValue_t SolarArrayDeploymentHandler::sa1Off() {
+  ReturnValue_t result = gpioInterface.pullLow(deplSA1);
+  if (result != returnvalue::OK) {
+    sif::warning << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
+                    " array deployment switch 1 low"
                  << std::endl;
-    }
-    result = gpioInterface->pullLow(deplSA2);
-    if (result != returnvalue::OK) {
-      sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
-                    " array deployment switch 2 low "
-                 << std::endl;
-    }
-    mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
-    mainSwitchCountdown.setTimeout(mainLineSwitcher->getSwitchDelayMs());
-    stateMachine = WAIT_FOR_MAIN_SWITCH_OFF;
+    // If gpio switch high failed, state machine is reset to wait for a command re-initiating
+    // the deployment sequence.
+    triggerEvent(DEPL_SA1_GPIO_SWTICH_OFF_FAILED);
   }
+  return result;
+}
+
+ReturnValue_t SolarArrayDeploymentHandler::sa2On() {
+  ReturnValue_t result = gpioInterface.pullHigh(deplSA2);
+  if (result != returnvalue::OK) {
+    sif::warning << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
+                    " array deployment switch 2 high"
+                 << std::endl;
+    // If gpio switch high failed, state machine is reset to wait for a command re-initiating
+    // the deployment sequence.
+    triggerEvent(DEPL_SA2_GPIO_SWTICH_ON_FAILED);
+  }
+  return result;
+}
+
+ReturnValue_t SolarArrayDeploymentHandler::sa2Off() {
+  ReturnValue_t result = gpioInterface.pullLow(deplSA2);
+  if (result != returnvalue::OK) {
+    sif::warning << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
+                    " array deployment switch 2 low"
+                 << std::endl;
+    // If gpio switch high failed, state machine is reset to wait for a command re-initiating
+    // the deployment sequence.
+    triggerEvent(DEPL_SA2_GPIO_SWTICH_OFF_FAILED);
+  }
+  return result;
 }
 
 void SolarArrayDeploymentHandler::readCommandQueue() {
@@ -181,27 +480,14 @@ void SolarArrayDeploymentHandler::readCommandQueue() {
   }
 }
 
-ReturnValue_t SolarArrayDeploymentHandler::executeAction(ActionId_t actionId,
-                                                         MessageQueueId_t commandedBy,
-                                                         const uint8_t* data, size_t size) {
-  ReturnValue_t result;
-  if (stateMachine != WAIT_ON_DELOYMENT_COMMAND) {
-    sif::error << "SolarArrayDeploymentHandler::executeAction: Received command while not in"
-               << "waiting-on-command-state" << std::endl;
-    return DEPLOYMENT_ALREADY_EXECUTING;
-  }
-  if (actionId != DEPLOY_SOLAR_ARRAYS) {
-    sif::error << "SolarArrayDeploymentHandler::executeAction: Received invalid command"
-               << std::endl;
-    result = COMMAND_NOT_SUPPORTED;
-  } else {
-    stateMachine = SWITCH_8V_ON;
-    rememberCommanderId = commandedBy;
-    result = returnvalue::OK;
-  }
-  return result;
-}
-
 MessageQueueId_t SolarArrayDeploymentHandler::getCommandQueue() const {
   return commandQueue->getId();
 }
+
+ReturnValue_t SolarArrayDeploymentHandler::initialize() {
+  ReturnValue_t result = actionHelper.initialize(commandQueue);
+  if (result != returnvalue::OK) {
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
+  return SystemObject::initialize();
+}

mission/devices/SolarArrayDeploymentHandler.h

@@ -1,22 +1,46 @@
 #ifndef MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_
 #define MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_
 
-#include <devices/powerSwitcherList.h>
-#include <fsfw/action/HasActionsIF.h>
-#include <fsfw/devicehandlers/CookieIF.h>
-#include <fsfw/devicehandlers/DeviceHandlerIF.h>
-#include <fsfw/objectmanager/SystemObject.h>
-#include <fsfw/power/PowerSwitchIF.h>
-#include <fsfw/returnvalues/returnvalue.h>
-#include <fsfw/tasks/ExecutableObjectIF.h>
-#include <fsfw/timemanager/Countdown.h>
-#include <fsfw_hal/common/gpio/GpioIF.h>
+#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
 
 #include <unordered_map>
 
+#include "devices/powerSwitcherList.h"
+#include "eive/definitions.h"
 #include "events/subsystemIdRanges.h"
+#include "fsfw/action/HasActionsIF.h"
+#include "fsfw/devicehandlers/CookieIF.h"
+#include "fsfw/devicehandlers/DeviceHandlerIF.h"
+#include "fsfw/objectmanager/SystemObject.h"
+#include "fsfw/power/PowerSwitchIF.h"
+#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/serialize/SerialLinkedListAdapter.h"
+#include "fsfw/tasks/ExecutableObjectIF.h"
+#include "fsfw/timemanager/Countdown.h"
+#include "fsfw_hal/common/gpio/GpioIF.h"
+#include "mission/memory/SdCardMountedIF.h"
 #include "returnvalues/classIds.h"
 
+enum DeploymentChannels : uint8_t { SA_1 = 1, SA_2 = 2 };
+
+class ManualDeploymentCommand : public SerialLinkedListAdapter<SerializeIF> {
+ public:
+  ManualDeploymentCommand() { setLinks(); }
+
+  void setLinks() {
+    setStart(&burnTime);
+    burnTime.setNext(&dryRun);
+  }
+
+  uint32_t getBurnTime() const { return burnTime.entry; }
+
+  bool isDryRun() const { return dryRun.entry; }
+
+ private:
+  SerializeElement<uint32_t> burnTime;
+  SerializeElement<uint8_t> dryRun;
+};
+
 /**
  * @brief	This class is used to control the solar array deployment.
  *
@@ -26,8 +50,29 @@ class SolarArrayDeploymentHandler : public ExecutableObjectIF,
                                     public SystemObject,
                                     public HasActionsIF {
  public:
-  static const DeviceCommandId_t DEPLOY_SOLAR_ARRAYS = 0x5;
+  //! Manual deployment of the solar arrays. Burn time and channels are supplied with TC parameters
+  static constexpr DeviceCommandId_t DEPLOY_SOLAR_ARRAYS_MANUALLY = 0x05;
+  static constexpr DeviceCommandId_t SWITCH_OFF_DEPLOYMENT = 0x06;
 
+  static constexpr uint32_t FIRST_BURN_START_TIME = config::SA_DEPL_INIT_BUFFER_SECS;
+  static constexpr uint32_t FIRST_BURN_END_TIME =
+      FIRST_BURN_START_TIME + config::SA_DEPL_BURN_TIME_SECS;
+  static constexpr uint32_t WAIT_START_TIME = FIRST_BURN_END_TIME;
+  static constexpr uint32_t WAIT_END_TIME = WAIT_START_TIME + config::SA_DEPL_WAIT_TIME_SECS;
+  static constexpr uint32_t SECOND_BURN_START_TIME = WAIT_END_TIME;
+  static constexpr uint32_t SECOND_BURN_END_TIME =
+      SECOND_BURN_START_TIME + config::SA_DEPL_WAIT_TIME_SECS;
+
+  static constexpr char SD_0_DEPL_FILE[] = "/mnt/sd0/conf/deployment";
+  static constexpr char SD_1_DEPL_FILE[] = "/mnt/sd1/conf/deployment";
+  static constexpr char SD_0_DEPLY_INFO[] = "/mnt/sd0/conf/deployment_info.txt";
+  static constexpr char SD_1_DEPLY_INFO[] = "/mnt/sd1/conf/deployment_info.txt";
+
+  static constexpr char PHASE_INIT_STR[] = "init";
+  static constexpr char PHASE_FIRST_BURN_STR[] = "first_burn";
+  static constexpr char PHASE_WAIT_STR[] = "wait";
+  static constexpr char PHASE_SECOND_BURN_STR[] = "second_burn";
+  static constexpr char PHASE_DONE[] = "done";
   /**
    * @brief constructor
    *
@@ -43,10 +88,9 @@ class SolarArrayDeploymentHandler : public ExecutableObjectIF,
    * @param deplSA2   gpioId of the GPIO controlling the deployment 2 transistor.
    * @param burnTimeMs  Time duration the power will be applied to the burn wires.
    */
-  SolarArrayDeploymentHandler(object_id_t setObjectId, object_id_t gpioDriverId,
-                              CookieIF* gpioCookie, object_id_t mainLineSwitcherObjectId,
-                              pcdu::Switches mainLineSwitch, gpioId_t deplSA1, gpioId_t deplSA2,
-                              uint32_t burnTimeMs);
+  SolarArrayDeploymentHandler(object_id_t setObjectId, GpioIF& gpio,
+                              PowerSwitchIF& mainLineSwitcher, pcdu::Switches mainLineSwitch,
+                              gpioId_t deplSA1, gpioId_t deplSA2, SdCardMountedIF& sdcMountedIF);
 
   virtual ~SolarArrayDeploymentHandler();
 
@@ -58,6 +102,26 @@ class SolarArrayDeploymentHandler : public ExecutableObjectIF,
   virtual ReturnValue_t initialize() override;
 
  private:
+  enum AutonomousDeplState { INIT, FIRST_BURN, WAIT, SECOND_BURN, DONE };
+
+  enum StateMachine {
+    IDLE,
+    MAIN_POWER_ON,
+    MAIN_POWER_OFF,
+    WAIT_MAIN_POWER_ON,
+    WAIT_MAIN_POWER_OFF,
+    SWITCH_DEPL_GPIOS,
+    BURNING
+  };
+
+  struct FsmInfo {
+    // Not required anymore
+    // DeploymentChannels channel;
+    bool dryRun;
+    bool alternationDummy = false;
+    uint32_t burnCountdownMs = config::SA_DEPL_MAX_BURN_TIME;
+  };
+
   static const uint8_t INTERFACE_ID = CLASS_ID::SA_DEPL_HANDLER;
   static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA0);
   static const ReturnValue_t DEPLOYMENT_ALREADY_EXECUTING = MAKE_RETURN_CODE(0xA1);
@@ -66,23 +130,41 @@ class SolarArrayDeploymentHandler : public ExecutableObjectIF,
   static const ReturnValue_t SWITCHING_DEPL_SA2_FAILED = MAKE_RETURN_CODE(0xA4);
 
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SA_DEPL_HANDLER;
-  static const Event MAIN_SWITCH_ON_TIMEOUT = MAKE_EVENT(0, severity::LOW);
-  static const Event MAIN_SWITCH_OFF_TIMEOUT = MAKE_EVENT(1, severity::LOW);
-  static const Event DEPLOYMENT_FAILED = MAKE_EVENT(2, severity::HIGH);
-  static const Event DEPL_SA1_GPIO_SWTICH_ON_FAILED = MAKE_EVENT(3, severity::HIGH);
-  static const Event DEPL_SA2_GPIO_SWTICH_ON_FAILED = MAKE_EVENT(4, severity::HIGH);
 
-  enum StateMachine {
-    WAIT_ON_DELOYMENT_COMMAND,
-    SWITCH_8V_ON,
-    WAIT_ON_8V_SWITCH,
-    SWITCH_DEPL_GPIOS,
-    WAIT_ON_DEPLOYMENT_FINISH,
-    WAIT_FOR_MAIN_SWITCH_OFF
-  };
+  //! [EXPORT] : [COMMENT] P1: Burn duration in milliseconds, P2: Dry run flag
+  static constexpr Event BURN_PHASE_START = event::makeEvent(SUBSYSTEM_ID, 0, severity::INFO);
+  //! [EXPORT] : [COMMENT] P1: Burn duration in milliseconds, P2: Dry run flag
+  static constexpr Event BURN_PHASE_DONE = event::makeEvent(SUBSYSTEM_ID, 1, severity::INFO);
+  static constexpr Event MAIN_SWITCH_ON_TIMEOUT = event::makeEvent(SUBSYSTEM_ID, 2, severity::LOW);
+  static constexpr Event MAIN_SWITCH_OFF_TIMEOUT = event::makeEvent(SUBSYSTEM_ID, 3, severity::LOW);
+  static constexpr Event DEPL_SA1_GPIO_SWTICH_ON_FAILED =
+      event::makeEvent(SUBSYSTEM_ID, 4, severity::HIGH);
+  static constexpr Event DEPL_SA2_GPIO_SWTICH_ON_FAILED =
+      event::makeEvent(SUBSYSTEM_ID, 5, severity::HIGH);
+  static constexpr Event DEPL_SA1_GPIO_SWTICH_OFF_FAILED =
+      event::makeEvent(SUBSYSTEM_ID, 6, severity::HIGH);
+  static constexpr Event DEPL_SA2_GPIO_SWTICH_OFF_FAILED =
+      event::makeEvent(SUBSYSTEM_ID, 7, severity::HIGH);
+  static constexpr Event AUTONOMOUS_DEPLOYMENT_COMPLETED =
+      event::makeEvent(SUBSYSTEM_ID, 8, severity::INFO);
 
-  StateMachine stateMachine = WAIT_ON_DELOYMENT_COMMAND;
+  FsmInfo fsmInfo;
+  StateMachine stateMachine = IDLE;
+  bool actionActive = false;
+  bool firstAutonomousCycle = true;
+  ActionId_t activeCmd = HasActionsIF::INVALID_ACTION_ID;
+  std::optional<uint64_t> initUptime;
+  PeriodicOperationDivider opDivider = PeriodicOperationDivider(5);
+  uint8_t retryCounter = 3;
 
+  bool startFsmOn(uint32_t burnCountdownSecs, bool dryRun);
+  void startFsmOff();
+
+  void finishFsm(ReturnValue_t resultForActionHelper);
+
+  ReturnValue_t performAutonomousDepl(sd::SdCard sdCard, bool dryRun);
+  bool dryRunStringInFile(const char* filename);
+  bool autonomousDeplForFile(sd::SdCard sdCard, const char* filename, bool dryRun);
   /**
    * This countdown is used to check if the PCDU sets the 8V line on in the intended time.
    */
@@ -91,7 +173,10 @@ class SolarArrayDeploymentHandler : public ExecutableObjectIF,
   /**
    * This countdown is used to wait for the burn wire being successful cut.
    */
-  Countdown deploymentCountdown;
+  Countdown burnCountdown;
+
+  Countdown channelAlternationCd =
+      Countdown(config::SA_DEPL_CHANNEL_ALTERNATION_INTERVAL_SECS * 1000);
 
   /**
    * The message queue id of the component commanding an action will be stored in this variable.
@@ -101,36 +186,25 @@ class SolarArrayDeploymentHandler : public ExecutableObjectIF,
 
   /** Size of command queue */
   size_t cmdQueueSize = 20;
-
-  /** The object ID of the GPIO driver which switches the deployment transistors */
-  object_id_t gpioDriverId;
-
-  CookieIF* gpioCookie;
-
-  /** Object id of the object responsible to switch the 8V power input. Typically the PCDU. */
-  object_id_t mainLineSwitcherObjectId;
-
-  /** Switch number of the 8V power switch */
-  uint8_t mainLineSwitch;
-
+  GpioIF& gpioInterface;
   gpioId_t deplSA1;
   gpioId_t deplSA2;
 
-  GpioIF* gpioInterface = nullptr;
-
-  /** Time duration switches are active to cut the burn wire */
-  uint32_t burnTimeMs;
-
-  /** Queue to receive messages from other objects. */
-  MessageQueueIF* commandQueue = nullptr;
-
   /**
    * After initialization this pointer will hold the reference to the main line switcher object.
    */
-  PowerSwitchIF* mainLineSwitcher = nullptr;
+  PowerSwitchIF& mainLineSwitcher;
+
+  /** Switch number of the 8V power switch */
+  uint8_t mainLineSwitch;
+
+  SdCardMountedIF& sdcMan;
 
   ActionHelper actionHelper;
 
+  /** Queue to receive messages from other objects. */
+  MessageQueueIF* commandQueue = nullptr;
+
   void readCommandQueue();
 
   /**
@@ -142,18 +216,18 @@ class SolarArrayDeploymentHandler : public ExecutableObjectIF,
    * @brief   This function polls the 8V switch state and changes the state machine when the
    *          switch has been enabled.
    */
-  void performWaitOn8VActions();
+  bool checkMainPowerOn();
+  bool checkMainPowerOff();
+  bool checkMainPower(bool onOff);
 
-  /**
-   * @brief   This functions handles the switching of the solar array deployment transistors.
-   */
-  void switchDeploymentTransistors();
+  void allOff();
 
-  /**
-   * @brief   This function performs actions to finish the deployment. Essentially switches
-   *          are turned of after the burn time has expired.
-   */
-  void handleDeploymentFinish();
+  ReturnValue_t deploymentTransistorsOff();
+  ReturnValue_t saGpioAlternation();
+  ReturnValue_t sa1On();
+  ReturnValue_t sa1Off();
+  ReturnValue_t sa2On();
+  ReturnValue_t sa2Off();
 };
 
 #endif /* MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_ */