Merge branch 'develop' into eggert/rw-cmd-acs-ctrl

mission/CMakeLists.txt

@@ -8,3 +8,5 @@ add_subdirectory(system)
 add_subdirectory(csp)
 add_subdirectory(cfdp)
 add_subdirectory(config)
+
+target_sources(${LIB_EIVE_MISSION} PRIVATE acsDefs.cpp)

mission/acsDefs.cpp

@@ -0,0 +1,40 @@
+#include "acsDefs.h"
+
+const char* acs::getModeStr(AcsMode mode) {
+  static const char* modeStr = "UNKNOWN";
+  switch (mode) {
+    case (acs::AcsMode::OFF): {
+      modeStr = "OFF";
+      break;
+    }
+    case (acs::AcsMode::SAFE): {
+      modeStr = "SAFE";
+      break;
+    }
+    case (acs::AcsMode::DETUMBLE): {
+      modeStr = "DETUBMLE";
+      break;
+    }
+    case (acs::AcsMode::PTG_NADIR): {
+      modeStr = "POITNING NADIR";
+      break;
+    }
+    case (acs::AcsMode::PTG_IDLE): {
+      modeStr = "POINTING IDLE";
+      break;
+    }
+    case (acs::AcsMode::PTG_INERTIAL): {
+      modeStr = "POINTING INERTIAL";
+      break;
+    }
+    case (acs::AcsMode::PTG_TARGET): {
+      modeStr = "POINTING TARGET";
+      break;
+    }
+    case (acs::AcsMode::PTG_TARGET_GS): {
+      modeStr = "POINTING TARGET GS";
+      break;
+    }
+  }
+  return modeStr;
+}

mission/acsDefs.h

@@ -7,7 +7,7 @@
 namespace acs {
 
 // These modes are the submodes of the ACS controller and the modes of the ACS subsystem.
-enum AcsMode {
+enum AcsMode : Mode_t {
   OFF = HasModesIF::MODE_OFF,
   SAFE = 10,
   DETUMBLE = 11,
@@ -24,6 +24,8 @@ static const Event SAFE_RATE_VIOLATION = MAKE_EVENT(0, severity::MEDIUM);
 //!< The system has recovered from a safe rate rotation violation.
 static constexpr Event SAFE_RATE_RECOVERY = MAKE_EVENT(1, severity::MEDIUM);
 
+extern const char* getModeStr(AcsMode mode);
+
 }  // namespace acs
 
 #endif /* MISSION_ACSDEFS_H_ */

mission/controller/AcsController.cpp

@@ -574,9 +574,24 @@ ReturnValue_t AcsController::checkModeCommand(Mode_t mode, Submode_t submode,
   return INVALID_MODE;
 }
 
-void AcsController::modeChanged(Mode_t mode, Submode_t submode) {}
+void AcsController::modeChanged(Mode_t mode, Submode_t submode) {
+  return ExtendedControllerBase::modeChanged(mode, submode);
+}
 
-void AcsController::announceMode(bool recursive) {}
+void AcsController::announceMode(bool recursive) {
+  const char *modeStr = "UNKNOWN";
+  if (mode == HasModesIF::MODE_OFF) {
+    modeStr = "OFF";
+  } else if (mode == HasModesIF::MODE_ON) {
+    modeStr = "ON";
+  } else if (mode == DeviceHandlerIF::MODE_NORMAL) {
+    modeStr = "NORMAL";
+  }
+  const char *submodeStr = acs::getModeStr(static_cast<acs::AcsMode>(submode));
+  sif::info << "ACS controller is now in " << modeStr << " mode with " << submodeStr << " submode"
+            << std::endl;
+  return ExtendedControllerBase::announceMode(recursive);
+}
 
 void AcsController::copyMgmData() {
   ACS::SensorValues sensorValues;

mission/controller/ThermalController.cpp

@@ -109,7 +109,7 @@ void ThermalController::performControlOperation() {
     deviceTemperatures.commit();
   }
 
-  //performThermalModuleCtrl();
+  // performThermalModuleCtrl();
 }
 
 ReturnValue_t ThermalController::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,

mission/core/GenericFactory.cpp

@@ -94,7 +94,7 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
   }
 
   {
-    PoolManager::LocalPoolConfig poolCfg = {{400, 32},  {350, 64},   {200, 128},
+    PoolManager::LocalPoolConfig poolCfg = {{400, 32},  {400, 64},   {250, 128},
                                             {150, 512}, {150, 1024}, {150, 2048}};
     tmStore = new PoolManager(objects::TM_STORE, poolCfg);
   }
@@ -175,6 +175,7 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
 
 #if OBSW_ADD_CFDP_COMPONENTS == 1
   using namespace cfdp;
+
   MessageQueueIF* cfdpMsgQueue = QueueFactory::instance()->createMessageQueue(32);
   CfdpDistribCfg distribCfg(objects::CFDP_DISTRIBUTOR, *tcStore, cfdpMsgQueue);
   new CfdpDistributor(distribCfg);

mission/devices/ImtqHandler.cpp

@@ -707,7 +707,7 @@ ReturnValue_t ImtqHandler::initializeLocalDataPool(localpool::DataPool& localDat
       subdp::DiagnosticsHkPeriodicParams(calMtmMeasurementSet.getSid(), false, 10.0));
   poolManager.subscribeForDiagPeriodicPacket(
       subdp::DiagnosticsHkPeriodicParams(rawMtmMeasurementSet.getSid(), false, 10.0));
-  return returnvalue::OK;
+  return DeviceHandlerBase::initializeLocalDataPool(localDataPoolMap, poolManager);
 }
 
 ReturnValue_t ImtqHandler::getSelfTestCommandId(DeviceCommandId_t* id) {

mission/devices/PcduHandler.cpp

@@ -457,22 +457,7 @@ void PCDUHandler::checkAndUpdatePduSwitch(GOMSPACE::Pdu pdu, pcdu::Switches swit
                                           uint8_t setValue) {
   using namespace pcdu;
   if (switchStates[switchIdx] != setValue) {
-#if OBSW_INITIALIZE_SWITCHES == 1
-    // This code initializes the switches to the default init switch states on every reboot.
-    // This is not done by the PCDU unless it is power-cycled.
-    if (((pdu == GOMSPACE::Pdu::PDU1) and firstSwitchInfoPdu1) or
-        ((pdu == GOMSPACE::Pdu::PDU2) and firstSwitchInfoPdu2)) {
-      ReturnValue_t state = PowerSwitchIF::SWITCH_OFF;
-      if (INIT_SWITCH_STATES[switchIdx] == ON) {
-        state = PowerSwitchIF::SWITCH_ON;
-      }
-      sendSwitchCommand(switchIdx, state);
-    } else {
-      triggerEvent(power::SWITCH_HAS_CHANGED, setValue, switchIdx);
-    }
-#else
     triggerEvent(power::SWITCH_HAS_CHANGED, setValue, switchIdx);
-#endif
   }
   switchStates[switchIdx] = setValue;
 }

mission/system/objects/AcsSubsystem.cpp

@@ -81,3 +81,9 @@ void AcsSubsystem::handleEventMessages() {
     }
   }
 }
+
+void AcsSubsystem::announceMode(bool recursive) {
+  const char* modeStr = acs::getModeStr(static_cast<acs::AcsMode>(mode));
+  sif::info << "ACS subsystem is now in " << modeStr << " mode" << std::endl;
+  return Subsystem::announceMode(recursive);
+}

mission/system/objects/AcsSubsystem.h

@@ -10,6 +10,7 @@ class AcsSubsystem : public Subsystem {
  private:
   ReturnValue_t initialize() override;
   void performChildOperation() override;
+  void announceMode(bool recursive) override;
 
   void handleEventMessages();
 

mission/system/objects/CMakeLists.txt

@@ -4,6 +4,7 @@ target_sources(
           CamSwitcher.cpp
           AcsSubsystem.cpp
           ComSubsystem.cpp
+          TcsSubsystem.cpp
           PayloadSubsystem.cpp
           AcsBoardAssembly.cpp
           Stack5VHandler.cpp

mission/system/objects/EiveSystem.cpp

@@ -1,5 +1,43 @@
 #include "EiveSystem.h"
 
+#include <mission/acsDefs.h>
+
 EiveSystem::EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
                        uint32_t maxNumberOfTables)
     : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {}
+
+void EiveSystem::announceMode(bool recursive) {
+  const char* modeStr = "UNKNOWN";
+  switch (mode) {
+    case (acs::AcsMode::OFF): {
+      modeStr = "OFF";
+      break;
+    }
+    case (acs::AcsMode::SAFE): {
+      modeStr = "SAFE";
+      break;
+    }
+    case (acs::AcsMode::DETUMBLE): {
+      modeStr = "DETUBMLE";
+      break;
+    }
+    case (acs::AcsMode::PTG_IDLE): {
+      modeStr = "POINTING IDLE";
+      break;
+    }
+    case (acs::AcsMode::PTG_INERTIAL): {
+      modeStr = "POINTING INERTIAL";
+      break;
+    }
+    case (acs::AcsMode::PTG_TARGET): {
+      modeStr = "POINTING TARGET";
+      break;
+    }
+    case (acs::AcsMode::PTG_TARGET_GS): {
+      modeStr = "POINTING TARGET GS";
+      break;
+    }
+  }
+  sif::info << "EIVE system is now in " << modeStr << " mode" << std::endl;
+  return Subsystem::announceMode(recursive);
+}

mission/system/objects/EiveSystem.h

@@ -8,6 +8,7 @@ class EiveSystem : public Subsystem {
   EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
 
  private:
+  void announceMode(bool recursive) override;
 };
 
 #endif /* MISSION_SYSTEM_EIVESYSTEM_H_ */

mission/system/objects/TcsSubsystem.cpp

@@ -0,0 +1,27 @@
+#include "TcsSubsystem.h"
+
+#include "fsfw/devicehandlers/DeviceHandlerIF.h"
+
+TcsSubsystem::TcsSubsystem(object_id_t objectId, uint32_t maxNumberOfSequences,
+                           uint32_t maxNumberOfTables)
+    : Subsystem(objectId, maxNumberOfSequences, maxNumberOfTables) {}
+
+void TcsSubsystem::announceMode(bool recursive) {
+  const char* modeStr = "UNKNOWN";
+  switch (mode) {
+    case (HasModesIF::MODE_OFF): {
+      modeStr = "OFF";
+      break;
+    }
+    case (HasModesIF::MODE_ON): {
+      modeStr = "ON";
+      break;
+    }
+    case (DeviceHandlerIF::MODE_NORMAL): {
+      modeStr = "NORMAL";
+      break;
+    }
+  }
+  sif::info << "TCS subsystem is now in " << modeStr << " mode" << std::endl;
+  return Subsystem::announceMode(recursive);
+}

mission/system/objects/TcsSubsystem.h

@@ -0,0 +1,13 @@
+#ifndef MISSION_SYSTEM_OBJECTS_TCSSUBSYSTEM_H_
+#define MISSION_SYSTEM_OBJECTS_TCSSUBSYSTEM_H_
+#include <fsfw/subsystem/Subsystem.h>
+
+class TcsSubsystem : public Subsystem {
+ public:
+  TcsSubsystem(object_id_t objectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
+
+ private:
+  void announceMode(bool recursive) override;
+};
+
+#endif /* MISSION_SYSTEM_OBJECTS_TCSSUBSYSTEM_H_ */

mission/system/tree/acsModeTree.cpp

@@ -30,6 +30,8 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& entryHelper);
 static const auto OFF = HasModesIF::MODE_OFF;
 static const auto NML = DeviceHandlerIF::MODE_NORMAL;
 
+auto SUS_BOARD_NML_TRANS = std::make_pair(0x20, FixedArrayList<ModeListEntry, 1>());
+
 auto ACS_SEQUENCE_OFF = std::make_pair(acs::AcsMode::OFF, FixedArrayList<ModeListEntry, 3>());
 auto ACS_TABLE_OFF_TGT =
     std::make_pair((acs::AcsMode::OFF << 24) | 1, FixedArrayList<ModeListEntry, 1>());
@@ -39,62 +41,62 @@ auto ACS_TABLE_OFF_TRANS_1 =
     std::make_pair((acs::AcsMode::OFF << 24) | 3, FixedArrayList<ModeListEntry, 6>());
 
 auto ACS_SEQUENCE_DETUMBLE =
-    std::make_pair(acs::AcsMode::DETUMBLE, FixedArrayList<ModeListEntry, 3>());
+    std::make_pair(acs::AcsMode::DETUMBLE, FixedArrayList<ModeListEntry, 4>());
 auto ACS_TABLE_DETUMBLE_TGT =
     std::make_pair((acs::AcsMode::DETUMBLE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
 auto ACS_TABLE_DETUMBLE_TRANS_0 =
     std::make_pair((acs::AcsMode::DETUMBLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
 auto ACS_TABLE_DETUMBLE_TRANS_1 =
-    std::make_pair((acs::AcsMode::DETUMBLE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
+    std::make_pair((acs::AcsMode::DETUMBLE << 24) | 3, FixedArrayList<ModeListEntry, 5>());
 
-auto ACS_SEQUENCE_SAFE = std::make_pair(acs::AcsMode::SAFE, FixedArrayList<ModeListEntry, 3>());
+auto ACS_SEQUENCE_SAFE = std::make_pair(acs::AcsMode::SAFE, FixedArrayList<ModeListEntry, 4>());
 auto ACS_TABLE_SAFE_TGT =
     std::make_pair((acs::AcsMode::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
 auto ACS_TABLE_SAFE_TRANS_0 =
     std::make_pair((acs::AcsMode::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
 auto ACS_TABLE_SAFE_TRANS_1 =
-    std::make_pair((acs::AcsMode::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
+    std::make_pair((acs::AcsMode::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 5>());
 
-auto ACS_SEQUENCE_IDLE = std::make_pair(acs::AcsMode::PTG_IDLE, FixedArrayList<ModeListEntry, 3>());
+auto ACS_SEQUENCE_IDLE = std::make_pair(acs::AcsMode::PTG_IDLE, FixedArrayList<ModeListEntry, 5>());
 auto ACS_TABLE_IDLE_TGT =
     std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 1, FixedArrayList<ModeListEntry, 6>());
 auto ACS_TABLE_IDLE_TRANS_0 =
     std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 2, FixedArrayList<ModeListEntry, 6>());
 auto ACS_TABLE_IDLE_TRANS_1 =
-    std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 3, FixedArrayList<ModeListEntry, 2>());
+    std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 3, FixedArrayList<ModeListEntry, 3>());
 
 auto ACS_TABLE_PTG_TRANS_0 =
     std::make_pair((acs::AcsMode::PTG_TARGET << 24) | 2, FixedArrayList<ModeListEntry, 5>());
 
 auto ACS_SEQUENCE_PTG_TARGET =
-    std::make_pair(acs::AcsMode::PTG_TARGET, FixedArrayList<ModeListEntry, 3>());
+    std::make_pair(acs::AcsMode::PTG_TARGET, FixedArrayList<ModeListEntry, 4>());
 auto ACS_TABLE_PTG_TARGET_TGT =
     std::make_pair((acs::AcsMode::PTG_TARGET << 24) | 1, FixedArrayList<ModeListEntry, 6>());
 auto ACS_TABLE_PTG_TARGET_TRANS_1 =
     std::make_pair((acs::AcsMode::PTG_TARGET << 24) | 3, FixedArrayList<ModeListEntry, 1>());
 
 auto ACS_SEQUENCE_PTG_TARGET_GS =
-    std::make_pair(acs::AcsMode::PTG_TARGET_GS, FixedArrayList<ModeListEntry, 3>());
+    std::make_pair(acs::AcsMode::PTG_TARGET_GS, FixedArrayList<ModeListEntry, 4>());
 auto ACS_TABLE_PTG_TARGET_GS_TGT =
     std::make_pair((acs::AcsMode::PTG_TARGET_GS << 24) | 1, FixedArrayList<ModeListEntry, 6>());
 auto ACS_TABLE_PTG_TARGET_GS_TRANS_1 =
     std::make_pair((acs::AcsMode::PTG_TARGET_GS << 24) | 3, FixedArrayList<ModeListEntry, 1>());
 
 auto ACS_SEQUENCE_PTG_TARGET_NADIR =
-    std::make_pair(acs::AcsMode::PTG_NADIR, FixedArrayList<ModeListEntry, 3>());
+    std::make_pair(acs::AcsMode::PTG_NADIR, FixedArrayList<ModeListEntry, 4>());
 auto ACS_TABLE_PTG_TARGET_NADIR_TGT =
     std::make_pair((acs::AcsMode::PTG_NADIR << 24) | 1, FixedArrayList<ModeListEntry, 6>());
 auto ACS_TABLE_PTG_TARGET_NADIR_TRANS_1 =
     std::make_pair((acs::AcsMode::PTG_NADIR << 24) | 3, FixedArrayList<ModeListEntry, 1>());
 
 auto ACS_SEQUENCE_PTG_TARGET_INERTIAL =
-    std::make_pair(acs::AcsMode::PTG_INERTIAL, FixedArrayList<ModeListEntry, 3>());
+    std::make_pair(acs::AcsMode::PTG_INERTIAL, FixedArrayList<ModeListEntry, 4>());
 auto ACS_TABLE_PTG_TARGET_INERTIAL_TGT =
     std::make_pair((acs::AcsMode::PTG_INERTIAL << 24) | 1, FixedArrayList<ModeListEntry, 6>());
 auto ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1 =
     std::make_pair((acs::AcsMode::PTG_INERTIAL << 24) | 3, FixedArrayList<ModeListEntry, 1>());
 
-void satsystem::acs::init() {
+Subsystem& satsystem::acs::init() {
   ModeListEntry entry;
   const char* ctxc = "satsystem::acs::init: generic target";
   // Insert Helper Table
@@ -114,6 +116,11 @@ void satsystem::acs::init() {
             TableEntry(ACS_TABLE_PTG_TRANS_0.first, &ACS_TABLE_PTG_TRANS_0.second)),
         ctxc);
 
+  // Build SUS board transition
+  iht(objects::SUS_BOARD_ASS, NML, 0, SUS_BOARD_NML_TRANS.second);
+  check(ACS_SUBSYSTEM.addTable(TableEntry(SUS_BOARD_NML_TRANS.first, &SUS_BOARD_NML_TRANS.second)),
+        ctxc);
+
   buildOffSequence(ACS_SUBSYSTEM, entry);
   buildSafeSequence(ACS_SUBSYSTEM, entry);
   buildDetumbleSequence(ACS_SUBSYSTEM, entry);
@@ -123,6 +130,7 @@ void satsystem::acs::init() {
   buildTargetPtNadirSequence(ACS_SUBSYSTEM, entry);
   buildTargetPtInertialSequence(ACS_SUBSYSTEM, entry);
   ACS_SUBSYSTEM.setInitialMode(::acs::AcsMode::SAFE);
+  return ACS_SUBSYSTEM;
 }
 
 namespace {
@@ -157,7 +165,6 @@ void buildOffSequence(Subsystem& ss, ModeListEntry& eh) {
   iht(objects::IMTQ_HANDLER, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
   iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
   iht(objects::ACS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
-  iht(objects::SUS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
   iht(objects::RW_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
   check(ss.addTable(TableEntry(ACS_TABLE_OFF_TRANS_1.first, &ACS_TABLE_OFF_TRANS_1.second)), ctxc);
 
@@ -198,13 +205,14 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
 
   // Build SAFE transition 0
   iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
   iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
   iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
   iht(objects::RW_ASS, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
   check(ss.addTable(&ACS_TABLE_SAFE_TRANS_0.second, ACS_TABLE_SAFE_TRANS_0.first, false, true),
         ctxc);
 
+  // SUS board transition table is defined above
+
   // Build SAFE transition 1
   iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::SAFE, ACS_TABLE_SAFE_TRANS_1.second);
   check(ss.addTable(&ACS_TABLE_SAFE_TRANS_1.second, ACS_TABLE_SAFE_TRANS_1.first, false, true),
@@ -212,6 +220,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
 
   // Build SAFE sequence
   ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TGT.first, 0, true);
+  ihs(ACS_SEQUENCE_SAFE.second, SUS_BOARD_NML_TRANS.first, 0, false);
   ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TRANS_0.first, 0, false);
   ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TRANS_1.first, 0, false);
   check(ss.addSequence(&ACS_SEQUENCE_SAFE.second, ACS_SEQUENCE_SAFE.first, ACS_SEQUENCE_SAFE.first,
@@ -246,6 +255,8 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
   check(ss.addTable(&ACS_TABLE_DETUMBLE_TGT.second, ACS_TABLE_DETUMBLE_TGT.first, false, true),
         ctxc);
 
+  // SUS board transition table is defined above
+
   // Build DETUMBLE transition 0
   iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
   iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
@@ -264,6 +275,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
 
   // Build DETUMBLE sequence
   ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TGT.first, 0, true);
+  ihs(ACS_SEQUENCE_DETUMBLE.second, SUS_BOARD_NML_TRANS.first, 0, false);
   ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TRANS_0.first, 0, false);
   ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TRANS_1.first, 0, false);
   check(ss.addSequence(&ACS_SEQUENCE_DETUMBLE.second, ACS_SEQUENCE_DETUMBLE.first,
@@ -298,6 +310,8 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
   iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
   ss.addTable(&ACS_TABLE_IDLE_TGT.second, ACS_TABLE_IDLE_TGT.first, false, true);
 
+  // SUS board transition table is built above
+
   // Build IDLE transition 0
   iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
   iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
@@ -312,6 +326,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
 
   // Build IDLE sequence
   ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TGT.first, 0, true);
+  ihs(ACS_SEQUENCE_IDLE.second, SUS_BOARD_NML_TRANS.first, 0, true);
   ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_0.first, 0, true);
   ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_1.first, 0, true);
   ss.addSequence(&ACS_SEQUENCE_IDLE.second, ACS_SEQUENCE_IDLE.first, ACS_SEQUENCE_SAFE.first, false,
@@ -348,6 +363,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
   check(ss.addTable(&ACS_TABLE_PTG_TARGET_TGT.second, ACS_TABLE_PTG_TARGET_TGT.first, false, true),
         ctxc);
 
+  // SUS board transition table is built above
   // Transition 0 already built
   // Build TARGET PT transition 1
   iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET, ACS_TABLE_PTG_TARGET_TRANS_1.second);
@@ -357,6 +373,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
 
   // Build IDLE sequence
   ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TGT.first, 0, true);
+  ihs(ACS_SEQUENCE_PTG_TARGET.second, SUS_BOARD_NML_TRANS.first, 0, true);
   ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
   ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TRANS_1.first, 0, true);
   check(ss.addSequence(&ACS_SEQUENCE_PTG_TARGET.second, ACS_SEQUENCE_PTG_TARGET.first,
@@ -406,6 +423,7 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
 
   // Build IDLE sequence
   ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TARGET_NADIR_TGT.first, 0, true);
+  ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, SUS_BOARD_NML_TRANS.first, 0, true);
   ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
   ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.first, 0, true);
   check(
@@ -456,6 +474,7 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
 
   // Build IDLE sequence
   ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_TABLE_PTG_TARGET_GS_TGT.first, 0, true);
+  ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, SUS_BOARD_NML_TRANS.first, 0, true);
   ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
   ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_TABLE_PTG_TARGET_GS_TRANS_1.first, 0, true);
   check(ss.addSequence(SequenceEntry(ACS_SEQUENCE_PTG_TARGET_GS.first,
@@ -505,6 +524,7 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
 
   // Build IDLE sequence
   ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.first, 0, true);
+  ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, SUS_BOARD_NML_TRANS.first, 0, true);
   ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
   ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.first, 0,
       true);

mission/system/tree/acsModeTree.h

@@ -4,7 +4,7 @@ namespace satsystem {
 namespace acs {
 
 extern AcsSubsystem ACS_SUBSYSTEM;
-void init();
+Subsystem& init();
 
 }  // namespace acs
 }  // namespace satsystem

mission/system/tree/comModeTree.cpp

@@ -62,13 +62,14 @@ void buildTxAndRxDefaultRateSequence(Subsystem& ss, ModeListEntry& eh);
 
 }  // namespace
 
-void satsystem::com::init() {
+Subsystem& satsystem::com::init() {
   ModeListEntry entry;
   buildRxOnlySequence(SUBSYSTEM, entry);
   buildTxAndRxLowRateSequence(SUBSYSTEM, entry);
   buildTxAndRxHighRateSequence(SUBSYSTEM, entry);
   buildTxAndRxDefaultRateSequence(SUBSYSTEM, entry);
   SUBSYSTEM.setInitialMode(NML, ::com::Submode::RX_ONLY);
+  return SUBSYSTEM;
 }
 
 namespace {

mission/system/tree/comModeTree.h

@@ -8,7 +8,7 @@ namespace satsystem {
 namespace com {
 extern ComSubsystem SUBSYSTEM;
 
-void init();
+Subsystem& init();
 }  // namespace com
 
 }  // namespace satsystem

mission/system/tree/payloadModeTree.cpp

@@ -20,7 +20,7 @@ void initEarthObsvSequence(Subsystem& ss, ModeListEntry& eh);
 void initScexSequence(Subsystem& ss, ModeListEntry& eh);
 }  // namespace
 
-Subsystem satsystem::pl::SUBSYSTEM = Subsystem(objects::PL_SUBSYSTEM, 12, 24);
+PayloadSubsystem satsystem::pl::SUBSYSTEM = PayloadSubsystem(objects::PL_SUBSYSTEM, 12, 24);
 
 const auto check = subsystem::checkInsert;
 static const auto OFF = HasModesIF::MODE_OFF;
@@ -77,7 +77,7 @@ auto PL_TABLE_SCEX_TGT =
 auto PL_TABLE_SCEX_TRANS_0 =
     std::make_pair((payload::Mode::SCEX << 24) | 2, FixedArrayList<ModeListEntry, 1>());
 
-void satsystem::pl::init() {
+Subsystem& satsystem::pl::init() {
   ModeListEntry entry;
   initOffSequence(SUBSYSTEM, entry);
   initPlMpsocStreamSequence(SUBSYSTEM, entry);
@@ -86,6 +86,7 @@ void satsystem::pl::init() {
   initEarthObsvSequence(SUBSYSTEM, entry);
   initScexSequence(SUBSYSTEM, entry);
   SUBSYSTEM.setInitialMode(OFF);
+  return SUBSYSTEM;
 }
 
 namespace {

mission/system/tree/payloadModeTree.h

@@ -1,15 +1,15 @@
 #ifndef MISSION_SYSTEM_TREE_PAYLOADMODETREE_H_
 #define MISSION_SYSTEM_TREE_PAYLOADMODETREE_H_
 
-#include <fsfw/subsystem/Subsystem.h>
+#include <mission/system/objects/PayloadSubsystem.h>
 
 namespace satsystem {
 
 namespace pl {
 
-extern Subsystem SUBSYSTEM;
+extern PayloadSubsystem SUBSYSTEM;
 
-void init();
+Subsystem& init();
 }  // namespace pl
 
 }  // namespace satsystem

mission/system/tree/system.cpp

@@ -1,13 +1,148 @@
 #include "system.h"
 
+#include <fsfw/devicehandlers/DeviceHandlerIF.h>
+#include <fsfw/subsystem/Subsystem.h>
+#include <mission/acsDefs.h>
+
 #include "acsModeTree.h"
 #include "comModeTree.h"
+#include "eive/objects.h"
 #include "payloadModeTree.h"
 #include "tcsModeTree.h"
+#include "util.h"
+
+namespace {
+// Alias for checker function
+const auto check = subsystem::checkInsert;
+
+void buildSafeSequence(Subsystem& ss, ModeListEntry& eh);
+void buildIdleSequence(Subsystem& ss, ModeListEntry& eh);
+}  // namespace
+
+static const auto OFF = HasModesIF::MODE_OFF;
+static const auto NML = DeviceHandlerIF::MODE_NORMAL;
 
 void satsystem::init() {
-  acs::init();
-  pl::init();
-  tcs::init();
-  com::init();
+  auto& acsSubsystem = acs::init();
+  acsSubsystem.connectModeTreeParent(EIVE_SYSTEM);
+  auto& payloadSubsystem = pl::init();
+  payloadSubsystem.connectModeTreeParent(EIVE_SYSTEM);
+  auto& tcsSubsystem = tcs::init();
+  tcsSubsystem.connectModeTreeParent(EIVE_SYSTEM);
+  auto& comSubsystem = com::init();
+  comSubsystem.connectModeTreeParent(EIVE_SYSTEM);
+  ModeListEntry entry;
+  buildSafeSequence(EIVE_SYSTEM, entry);
+  buildIdleSequence(EIVE_SYSTEM, entry);
 }
+
+EiveSystem satsystem::EIVE_SYSTEM = EiveSystem(objects::EIVE_SYSTEM, 12, 24);
+
+auto EIVE_SEQUENCE_SAFE = std::make_pair(acs::AcsMode::SAFE, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_SAFE_TGT =
+    std::make_pair((acs::AcsMode::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_SAFE_TRANS_0 =
+    std::make_pair((acs::AcsMode::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_SAFE_TRANS_1 =
+    std::make_pair((acs::AcsMode::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 5>());
+
+auto EIVE_SEQUENCE_IDLE =
+    std::make_pair(acs::AcsMode::PTG_IDLE, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_IDLE_TGT =
+    std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 1, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_IDLE_TRANS_0 =
+    std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_IDLE_TRANS_1 =
+    std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 3, FixedArrayList<ModeListEntry, 5>());
+
+namespace {
+
+void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::buildSafeSequence";
+  auto ctxc = context.c_str();
+  // Insert Helper Table
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
+    eh.setObject(obj);
+    eh.setMode(mode);
+    eh.setSubmode(submode);
+    check(table.insert(eh), ctxc);
+  };
+  // Insert Helper Sequence
+  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
+                 bool checkSuccess) {
+    eh.setTableId(tableId);
+    eh.setWaitSeconds(waitSeconds);
+    eh.setCheckSuccess(checkSuccess);
+    check(sequence.insert(eh), ctxc);
+  };
+
+  // Do no track ACS for now because it might jump to detumble mode and back to safe as part of
+  // normal operations.
+  // iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TGT.second);
+  iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_SAFE_TGT.second);
+  check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TGT.first, &EIVE_TABLE_SAFE_TGT.second)), ctxc);
+
+  // Build SAFE transition 0. Two transitions to reduce number of consecutive events and because
+  // consecutive commanding of TCS and ACS can lead to SPI issues.
+  iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_SAFE_TRANS_0.second);
+  check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TRANS_0.first, &EIVE_TABLE_SAFE_TRANS_0.second)),
+        ctxc);
+
+  // Build SAFE transition 1
+  iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_SAFE_TRANS_1.second);
+  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TRANS_1.second);
+  check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TRANS_1.first, &EIVE_TABLE_SAFE_TRANS_1.second)),
+        ctxc);
+
+  // Build Safe sequence
+  ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TGT.first, 0, false);
+  ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TRANS_0.first, 0, false);
+  ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TRANS_1.first, 0, false);
+  check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_SAFE.first, &EIVE_SEQUENCE_SAFE.second,
+                                     EIVE_SEQUENCE_SAFE.first)),
+        ctxc);
+}
+
+void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::buildIdleSequence";
+  auto ctxc = context.c_str();
+  // Insert Helper Table
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
+    eh.setObject(obj);
+    eh.setMode(mode);
+    eh.setSubmode(submode);
+    check(table.insert(eh), ctxc);
+  };
+  // Insert Helper Sequence
+  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
+                 bool checkSuccess) {
+    eh.setTableId(tableId);
+    eh.setWaitSeconds(waitSeconds);
+    eh.setCheckSuccess(checkSuccess);
+    check(sequence.insert(eh), ctxc);
+  };
+
+  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_IDLE, 0, EIVE_TABLE_IDLE_TGT.second);
+  check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TGT.first, &EIVE_TABLE_IDLE_TGT.second)), ctxc);
+
+  // Build SAFE transition 0
+  iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_IDLE_TRANS_0.second);
+  check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TRANS_0.first, &EIVE_TABLE_IDLE_TRANS_0.second)),
+        ctxc);
+
+  // Build SAFE transition 1
+  iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_IDLE_TRANS_1.second);
+  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_IDLE, 0, EIVE_TABLE_IDLE_TRANS_1.second);
+  check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TRANS_1.first, &EIVE_TABLE_IDLE_TRANS_1.second)),
+        ctxc);
+
+  // Build Safe sequence
+  ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TGT.first, 0, false);
+  ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TRANS_0.first, 0, false);
+  ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TRANS_1.first, 0, false);
+  check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_IDLE.first, &EIVE_SEQUENCE_IDLE.second,
+                                     EIVE_SEQUENCE_SAFE.first)),
+        ctxc);
+}
+
+}  // namespace

mission/system/tree/system.h

@@ -1,10 +1,14 @@
 #ifndef MISSION_SYSTEM_TREE_SYSTEM_H_
 #define MISSION_SYSTEM_TREE_SYSTEM_H_
 
+#include <mission/system/objects/EiveSystem.h>
+
 namespace satsystem {
 
 void init();
 
-}
+extern EiveSystem EIVE_SYSTEM;
+
+}  // namespace satsystem
 
 #endif /* MISSION_SYSTEM_TREE_SYSTEM_H_ */

mission/system/tree/tcsModeTree.cpp

@@ -5,7 +5,7 @@
 #include "fsfw/subsystem/Subsystem.h"
 #include "mission/system/tree/util.h"
 
-Subsystem satsystem::tcs::SUBSYSTEM(objects::TCS_SUBSYSTEM, 12, 24);
+TcsSubsystem satsystem::tcs::SUBSYSTEM(objects::TCS_SUBSYSTEM, 12, 24);
 
 namespace {
 // Alias for checker function
@@ -27,11 +27,12 @@ auto TCS_TABLE_NORMAL_TGT = std::make_pair((NML << 24) | 1, FixedArrayList<ModeL
 auto TCS_TABLE_NORMAL_TRANS_0 = std::make_pair((NML << 24) | 2, FixedArrayList<ModeListEntry, 7>());
 auto TCS_TABLE_NORMAL_TRANS_1 = std::make_pair((NML << 24) | 3, FixedArrayList<ModeListEntry, 2>());
 
-void satsystem::tcs::init() {
+Subsystem& satsystem::tcs::init() {
   ModeListEntry entry;
   buildOffSequence(SUBSYSTEM, entry);
   buildNormalSequence(SUBSYSTEM, entry);
   SUBSYSTEM.setInitialMode(OFF);
+  return SUBSYSTEM;
 }
 
 namespace {

mission/system/tree/tcsModeTree.h

@@ -1,12 +1,13 @@
 #ifndef MISSION_SYSTEM_TREE_TCSMODETREE_H_
 #define MISSION_SYSTEM_TREE_TCSMODETREE_H_
-#include <fsfw/subsystem/Subsystem.h>
+
+#include <mission/system/objects/TcsSubsystem.h>
 
 namespace satsystem {
 namespace tcs {
 
-extern Subsystem SUBSYSTEM;
-void init();
+extern TcsSubsystem SUBSYSTEM;
+Subsystem& init();
 
 }  // namespace tcs
 }  // namespace satsystem