Merge pull request 'Payload Subsystem' (#231) from mueller/pl-ss into develop

Reviewed-on: #231

CHANGELOG.md

@@ -10,8 +10,9 @@ list yields a list of all related PRs for each release.
 
 # [unreleased]
 
-- Add IRQ mode for PDEC handler
-  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/310
+- ACS Subsystem. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/231
+- Payload Subsystem. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/231
+- Add IRQ mode for PDEC handler. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/310
 - Extended TM funnels to allow multiple TM recipients.
   PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/312
 - DHB: Transitions to normal mode now possible directly, which simplifies subsystem implementations

bsp_q7s/core/InitMission.cpp

@@ -67,12 +67,6 @@ void initmission::initTasks() {
   void (*missedDeadlineFunc)(void) = nullptr;
 #endif
 
-  PeriodicTaskIF* sysCtrlTask = factory->createPeriodicTask(
-      "CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
-  result = sysCtrlTask->addComponent(objects::CORE_CONTROLLER);
-  if (result != returnvalue::OK) {
-    initmission::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
-  }
 #if OBSW_ADD_SA_DEPL == 1
   // Could add this to the core controller but the core controller does so many thing that I would
   // prefer to have the solar array deployment in a seprate task.
@@ -84,6 +78,17 @@ void initmission::initTasks() {
   }
 #endif
 
+  PeriodicTaskIF* sysTask = factory->createPeriodicTask(
+      "CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+  result = sysTask->addComponent(objects::CORE_CONTROLLER);
+  if (result != returnvalue::OK) {
+    initmission::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
+  }
+  result = sysTask->addComponent(objects::PL_SUBSYSTEM);
+  if (result != returnvalue::OK) {
+    initmission::printAddObjectError("PL_SUBSYSTEM", objects::PL_SUBSYSTEM);
+  }
+
   /* TMTC Distribution */
   PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
       "DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
@@ -127,9 +132,7 @@ void initmission::initTasks() {
     initmission::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER);
   }
 
-  // Minimal distance between two received TCs amounts to 0.6 seconds
-  // If a command has not been read before the next one arrives, the old command will be
-  // overwritten by the PDEC.
+  // Runs in IRQ mode, frequency does not really matter
   PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask(
       "PDEC_HANDLER", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
   result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
@@ -275,14 +278,11 @@ void initmission::initTasks() {
   }
 #endif /* OBSW_ADD_PLOC_SUPERVISOR */
 
-#if OBSW_TEST_CCSDS_BRIDGE == 1
-  PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask(
-      "PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
-  result = ptmeTestTask->addComponent(objects::CCSDS_IP_CORE_BRIDGE);
-  if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PTME_TEST", objects::CCSDS_IP_CORE_BRIDGE);
-  }
-#endif
+  PeriodicTaskIF* plTask = factory->createPeriodicTask(
+      "PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+  scheduling::addMpsocSupvHandlers(plTask);
+  plTask->addComponent(objects::CAM_SWITCHER);
+
 #if OBSW_ADD_SCEX_DEVICE == 1
   PeriodicTaskIF* scexDevHandler;
   PeriodicTaskIF* scexReaderTask;
@@ -295,6 +295,14 @@ void initmission::initTasks() {
   createPstTasks(*factory, missedDeadlineFunc, pstTasks);
 
 #if OBSW_ADD_TEST_CODE == 1
+#if OBSW_TEST_CCSDS_BRIDGE == 1
+  PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask(
+      "PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  result = ptmeTestTask->addComponent(objects::CCSDS_IP_CORE_BRIDGE);
+  if (result != returnvalue::OK) {
+    initmission::printAddObjectError("PTME_TEST", objects::CCSDS_IP_CORE_BRIDGE);
+  }
+#endif
   std::vector<PeriodicTaskIF*> testTasks;
   createTestTasks(*factory, missedDeadlineFunc, testTasks);
 #endif
@@ -321,7 +329,7 @@ void initmission::initTasks() {
   pdecHandlerTask->startTask();
 #endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
 
-  sysCtrlTask->startTask();
+  sysTask->startTask();
 #if OBSW_ADD_SA_DEPL == 1
   solarArrayDeplTask->startTask();
 #endif

bsp_q7s/core/ObjectFactory.cpp

@@ -1,5 +1,8 @@
 #include "ObjectFactory.h"
 
+#include <fsfw/subsystem/Subsystem.h>
+#include <mission/system/objects/CamSwitcher.h>
+
 #include "OBSWConfig.h"
 #include "bsp_q7s/boardtest/Q7STestTask.h"
 #include "bsp_q7s/callbacks/gnssCallback.h"
@@ -45,6 +48,7 @@
 #include "mission/system/objects/RwAssembly.h"
 #include "mission/system/objects/TcsBoardAssembly.h"
 #include "mission/system/tree/acsModeTree.h"
+#include "mission/system/tree/payloadModeTree.h"
 #include "tmtc/pusIds.h"
 #if OBSW_TEST_LIBGPIOD == 1
 #include "linux/boardtest/LibgpiodTest.h"
@@ -464,6 +468,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   auto gpsCtrl =
       new GPSHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
   gpsCtrl->setResetPinTriggerFunction(gps::triggerGpioResetPin, &RESET_ARGS_GNSS);
+
   AcsBoardHelper acsBoardHelper = AcsBoardHelper(
       objects::MGM_0_LIS3_HANDLER, objects::MGM_1_RM3100_HANDLER, objects::MGM_2_LIS3_HANDLER,
       objects::MGM_3_RM3100_HANDLER, objects::GYRO_0_ADIS_HANDLER, objects::GYRO_1_L3G_HANDLER,
@@ -479,7 +484,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
     }
   }
   gpsCtrl->connectModeTreeParent(*acsAss);
-  acsAss->connectModeTreeParent(satsystem::ACS_SUBSYSTEM);
+  acsAss->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
 #endif /* OBSW_ADD_ACS_HANDLERS == 1 */
 }
 
@@ -582,9 +587,13 @@ void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
 #endif
 }
 
-void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
+void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF& pwrSwitch) {
   using namespace gpio;
   std::stringstream consumer;
+  auto* camSwitcher =
+      new CamSwitcher(objects::CAM_SWITCHER, pwrSwitch, pcdu::PDU2_CH8_PAYLOAD_CAMERA);
+  camSwitcher->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
+  // camSwitcher->
 #if OBSW_ADD_PLOC_MPSOC == 1
   consumer << "0x" << std::hex << objects::PLOC_MPSOC_HANDLER;
   auto gpioConfigMPSoC = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_MPSOC_UART,
@@ -597,9 +606,10 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
                      mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
   mpsocCookie->setNoFixedSizeReply();
   auto plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
-  new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie,
-                       plocMpsocHelper, Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF),
-                       objects::PLOC_SUPERVISOR_HANDLER);
+  auto* mpsocHandler = new PlocMPSoCHandler(
+      objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie, plocMpsocHelper,
+      Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF), objects::PLOC_SUPERVISOR_HANDLER);
+  mpsocHandler->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
 #endif /* OBSW_ADD_PLOC_MPSOC == 1 */
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
   consumer << "0x" << std::hex << objects::PLOC_SUPERVISOR_HANDLER;
@@ -613,9 +623,10 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
                      uart::PLOC_SUPV_BAUD, supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
   supervisorCookie->setNoFixedSizeReply();
   auto supvHelper = new PlocSupvHelper(objects::PLOC_SUPERVISOR_HELPER);
-  new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF,
-                            supervisorCookie, Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF),
-                            pcdu::PDU1_CH6_PLOC_12V, supvHelper);
+  auto* supvHandler = new PlocSupervisorHandler(
+      objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF, supervisorCookie,
+      Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF), pcdu::PDU1_CH6_PLOC_12V, supvHelper);
+  supvHandler->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
 #endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
   static_cast<void>(consumer);
 }
@@ -701,7 +712,7 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF,
                  << std::endl;
     }
   }
-  rwAss->connectModeTreeParent(satsystem::ACS_SUBSYSTEM);
+  rwAss->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
 #endif /* OBSW_ADD_RW == 1 */
 }
 
@@ -876,6 +887,7 @@ void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF*
   plPcduHandler->setToGoToNormalModeImmediately(true);
   plPcduHandler->enablePeriodicPrintout(true, 10);
 #endif
+  plPcduHandler->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
 }
 
 void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
@@ -902,7 +914,7 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
       new StarTrackerHandler(objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie,
                              strHelper, pcdu::PDU1_CH2_STAR_TRACKER_5V);
   starTracker->setPowerSwitcher(pwrSwitcher);
-  starTracker->connectModeTreeParent(satsystem::ACS_SUBSYSTEM);
+  starTracker->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
 }
 
 void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {
@@ -911,7 +923,7 @@ void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {
   auto imtqHandler = new ImtqHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie,
                                      pcdu::Switches::PDU1_CH3_MGT_5V);
   imtqHandler->setPowerSwitcher(pwrSwitcher);
-  imtqHandler->connectModeTreeParent(satsystem::ACS_SUBSYSTEM);
+  imtqHandler->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
   static_cast<void>(imtqHandler);
 #if OBSW_TEST_IMTQ == 1
   imtqHandler->setStartUpImmediately();

bsp_q7s/core/ObjectFactory.h

@@ -38,7 +38,7 @@ void createBpxBatteryComponent();
 void createStrComponents(PowerSwitchIF* pwrSwitcher);
 void createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitcher, GpioIF& gpioIF);
 void createSyrlinksComponents(PowerSwitchIF* pwrSwitcher);
-void createPayloadComponents(LinuxLibgpioIF* gpioComIF);
+void createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF& pwrSwitcher);
 void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher);
 ReturnValue_t createCcsdsComponents(LinuxLibgpioIF* gpioComIF, CcsdsIpCoreHandler** ipCoreHandler);
 void createMiscComponents();

bsp_q7s/fmObjectFactory.cpp

@@ -11,7 +11,7 @@
 #include "linux/ObjectFactory.h"
 #include "linux/callbacks/gpioCallbacks.h"
 #include "mission/core/GenericFactory.h"
-#include "mission/system/tree/acsModeTree.h"
+#include "mission/system/tree/system.h"
 
 void ObjectFactory::produce(void* args) {
   ObjectFactory::setStatics();
@@ -49,7 +49,7 @@ void ObjectFactory::produce(void* args) {
   createSyrlinksComponents(pwrSwitcher);
 #endif /* OBSW_ADD_SYRLINKS == 1 */
   createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
-  createPayloadComponents(gpioComIF);
+  createPayloadComponents(gpioComIF, *pwrSwitcher);
 
 #if OBSW_ADD_MGT == 1
   createImtqComponents(pwrSwitcher);
@@ -67,7 +67,7 @@ void ObjectFactory::produce(void* args) {
   CcsdsIpCoreHandler* ipCoreHandler = nullptr;
   createCcsdsComponents(gpioComIF, &ipCoreHandler);
 #if OBSW_TM_TO_PTME == 1
-  ObjectFactory::addTmtcIpCoresToFunnels(*ipCoreHandler, *pusFunnel, *cfdpFunnel);
+  addTmtcIpCoresToFunnels(*ipCoreHandler, *pusFunnel, *cfdpFunnel);
 #endif
 #endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
 
@@ -83,5 +83,5 @@ void ObjectFactory::produce(void* args) {
   createMiscComponents();
   createThermalController();
   createAcsController(true);
-  satsystem::initAcsSubsystem(objects::NO_OBJECT);
+  satsystem::init();
 }

common/config/eive/objects.h

@@ -127,13 +127,15 @@ enum commonObjects : uint32_t {
   SUS_BOARD_ASS = 0x73000002,
   TCS_BOARD_ASS = 0x73000003,
   RW_ASS = 0x73000004,
+  CAM_SWITCHER = 0x73000006,
   ACS_SUBSYSTEM = 0x73010001,
+  PL_SUBSYSTEM = 0x73010002,
   EIVE_SYSTEM = 0x73010000,
-  CFDP_HANDLER = 0x73000005,
-  CFDP_DISTRIBUTOR = 0x73000006,
   TM_FUNNEL = 0x73000100,
   PUS_TM_FUNNEL = 0x73000101,
   CFDP_TM_FUNNEL = 0x73000102,
+  CFDP_HANDLER = 0x73000205,
+  CFDP_DISTRIBUTOR = 0x73000206,
 };
 }
 

fsfw

@@ -1 +1 @@
-Subproject commit 0e8f5ddd26d586dd40e69f52aef1a63c0d5a9da6
+Subproject commit 177c39dd53198a1b05e2f40fc3c5e88e7f7c2e0b

linux/InitMission.cpp

@@ -45,3 +45,21 @@ void scheduling::schedulingScex(TaskFactory& factory, PeriodicTaskIF*& scexDevHa
     printAddObjectError("SCEX_UART_READER", objects::SCEX_UART_READER);
   }
 }
+
+void scheduling::addMpsocSupvHandlers(PeriodicTaskIF* plTask) {
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
+  plTask->addComponent(objects::PLOC_SUPERVISOR_HANDLER, DeviceHandlerIF::PERFORM_OPERATION);
+  plTask->addComponent(objects::PLOC_SUPERVISOR_HANDLER, DeviceHandlerIF::SEND_READ);
+  plTask->addComponent(objects::PLOC_SUPERVISOR_HANDLER, DeviceHandlerIF::GET_READ);
+  plTask->addComponent(objects::PLOC_SUPERVISOR_HANDLER, DeviceHandlerIF::SEND_WRITE);
+  plTask->addComponent(objects::PLOC_SUPERVISOR_HANDLER, DeviceHandlerIF::GET_WRITE);
+#endif
+
+#if OBSW_ADD_PLOC_MPSOC == 1
+  plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::PERFORM_OPERATION);
+  plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::SEND_READ);
+  plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::GET_READ);
+  plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::SEND_WRITE);
+  plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::GET_WRITE);
+#endif
+}

linux/InitMission.h

@@ -4,4 +4,6 @@
 namespace scheduling {
 void schedulingScex(TaskFactory& factory, PeriodicTaskIF*& scexDevHandler,
                     PeriodicTaskIF*& scexReaderTask);
-}
+void addMpsocSupvHandlers(PeriodicTaskIF* task);
+
+}  // namespace scheduling

linux/ObjectFactory.cpp

@@ -27,6 +27,7 @@
 #include "mission/system/objects/SusAssembly.h"
 #include "mission/system/objects/TcsBoardAssembly.h"
 #include "mission/system/tree/acsModeTree.h"
+#include "mission/system/tree/payloadModeTree.h"
 
 void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF,
                                               PowerSwitchIF* pwrSwitcher, std::string spiDev) {
@@ -185,7 +186,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
 #endif
     }
   }
-  susAss->connectModeTreeParent(satsystem::ACS_SUBSYSTEM);
+  susAss->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
 #endif /* OBSW_ADD_SUN_SENSORS == 1 */
 }
 
@@ -336,6 +337,7 @@ void ObjectFactory::createScexComponents(std::string uartDev, PowerSwitchIF* pwr
   if (switchId) {
     scexHandler->setPowerSwitcher(*pwrSwitcher, switchId.value());
   }
+  scexHandler->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
 }
 
 void ObjectFactory::createThermalController() {
@@ -345,7 +347,7 @@ void ObjectFactory::createThermalController() {
 AcsController* ObjectFactory::createAcsController(bool connectSubsystem) {
   auto acsCtrl = new AcsController(objects::ACS_CONTROLLER);
   if (connectSubsystem) {
-    acsCtrl->connectModeTreeParent(satsystem::ACS_SUBSYSTEM);
+    acsCtrl->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
   }
   return acsCtrl;
 }

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp

@@ -461,26 +461,6 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
   // Length of a communication cycle
   uint32_t length = thisSequence->getPeriodMs();
   static_cast<void>(length);
-#if OBSW_ADD_PLOC_MPSOC == 1
-  thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0,
-                        DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::PLOC_MEMORY_DUMPER, length * 0,
-                        DeviceHandlerIF::PERFORM_OPERATION);
-#endif
-
-#if OBSW_ADD_PLOC_SUPERVISOR == 1
-  thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0,
-                        DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.2,
-                        DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
-#endif
 
 #if OBSW_ADD_SYRLINKS == 1
   thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0,

mission/devices/devicedefinitions/payloadPcduDefinitions.h

@@ -101,6 +101,9 @@ enum NormalSubmodeBits {
 };
 
 static constexpr Submode_t ALL_OFF_SUBMODE = 0;
+static constexpr Submode_t ALL_ON_SUBMODE = (1 << HPA_ON) | (1 << MPA_ON) | (1 << TX_ON) |
+                                            (1 << X8_ON) | (1 << DRO_ON) |
+                                            (1 << SOLID_STATE_RELAYS_ADC_ON);
 
 // 12 ADC values * 2 + trailing zero
 static constexpr size_t ADC_REPLY_SIZE = 25;

mission/system/objects/CMakeLists.txt

@@ -1,6 +1,7 @@
 target_sources(
   ${LIB_EIVE_MISSION}
   PRIVATE EiveSystem.cpp
+          CamSwitcher.cpp
           AcsSubsystem.cpp
           ComSubsystem.cpp
           PayloadSubsystem.cpp

mission/system/objects/CamSwitcher.cpp

@@ -0,0 +1,5 @@
+#include "CamSwitcher.h"
+
+CamSwitcher::CamSwitcher(object_id_t objectId, PowerSwitchIF &pwrSwitcher,
+                         power::Switch_t pwrSwitch)
+    : PowerSwitcherComponent(objectId, &pwrSwitcher, pwrSwitch) {}

mission/system/objects/CamSwitcher.h

@@ -0,0 +1,13 @@
+#ifndef MISSION_SYSTEM_OBJECTS_CAMSWITCHER_H_
+#define MISSION_SYSTEM_OBJECTS_CAMSWITCHER_H_
+
+#include <fsfw/power/PowerSwitcherComponent.h>
+
+class CamSwitcher : public PowerSwitcherComponent {
+ public:
+  CamSwitcher(object_id_t objectId, PowerSwitchIF &pwrSwitcher, power::Switch_t pwrSwitch);
+
+ private:
+};
+
+#endif /* MISSION_SYSTEM_OBJECTS_CAMSWITCHER_H_ */

mission/system/objects/definitions.h

@@ -16,4 +16,16 @@ enum Submodes : Submode_t { A_SIDE = 0, B_SIDE = 1, DUAL_MODE = 2 };
 
 }  // namespace duallane
 
+namespace payload {
+
+enum Modes { NONE = 0, SUPV_ONLY = 1, MPSOC_STREAM = 2, CAM_STREAM = 3, EARTH_OBSV = 4, SCEX = 5 };
+
+namespace ploc {
+
+enum Modes { OFF = 0, SUPV_ONLY = 1, MPSOC_ON = 2 };
+
+}
+
+}  // namespace payload
+
 #endif /* MISSION_SYSTEM_DEFINITIONS_H_ */

mission/system/tree/CMakeLists.txt

@@ -1 +1,2 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE acsModeTree.cpp)
+target_sources(${LIB_EIVE_MISSION} PRIVATE acsModeTree.cpp payloadModeTree.cpp
+                                           system.cpp util.cpp)

mission/system/tree/acsModeTree.cpp

@@ -8,19 +8,22 @@
 
 #include "eive/objects.h"
 #include "mission/controller/controllerdefinitions/AcsControllerDefinitions.h"
+#include "util.h"
 
-Subsystem satsystem::ACS_SUBSYSTEM(objects::ACS_SUBSYSTEM, 12, 24);
+Subsystem satsystem::acs::ACS_SUBSYSTEM(objects::ACS_SUBSYSTEM, 12, 24);
+
+namespace {
+// Alias for checker function
+const auto check = subsystem::checkInsert;
 
-void checkInsert(ReturnValue_t result, const char* ctx);
 void buildOffSequence(Subsystem* ss, ModeListEntry& eh);
 void buildDetumbleSequence(Subsystem* ss, ModeListEntry& entryHelper);
 void buildSafeSequence(Subsystem* ss, ModeListEntry& entryHelper);
 void buildIdleSequence(Subsystem* ss, ModeListEntry& entryHelper);
 void buildIdleChargeSequence(Subsystem* ss, ModeListEntry& entryHelper);
 void buildTargetPtSequence(Subsystem* ss, ModeListEntry& entryHelper);
+}  // namespace
 
-// Alias for checker function
-const auto check = checkInsert;
 static const auto OFF = HasModesIF::MODE_OFF;
 static const auto NML = DeviceHandlerIF::MODE_NORMAL;
 
@@ -76,7 +79,7 @@ auto ACS_TABLE_TARGET_PT_TRANS_0 =
 auto ACS_TABLE_TARGET_PT_TRANS_1 =
     std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 3, FixedArrayList<ModeListEntry, 1>());
 
-void satsystem::initAcsSubsystem(object_id_t satSystemObjId) {
+void satsystem::acs::init() {
   ModeListEntry entry;
   buildOffSequence(&ACS_SUBSYSTEM, entry);
   buildSafeSequence(&ACS_SUBSYSTEM, entry);
@@ -87,8 +90,10 @@ void satsystem::initAcsSubsystem(object_id_t satSystemObjId) {
   ACS_SUBSYSTEM.setInitialMode(HasModesIF::MODE_OFF);
 }
 
+namespace {
+
 void buildOffSequence(Subsystem* ss, ModeListEntry& eh) {
-  std::string context = "satsystem::buildOffSequence";
+  std::string context = "satsystem::acs::buildOffSequence";
   auto ctxc = context.c_str();
   // Insert Helper Table
   auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
@@ -127,7 +132,7 @@ void buildOffSequence(Subsystem* ss, ModeListEntry& eh) {
 }
 
 void buildSafeSequence(Subsystem* ss, ModeListEntry& eh) {
-  std::string context = "satsystem::buildSafeSequence";
+  std::string context = "satsystem::acs::buildSafeSequence";
   auto ctxc = context.c_str();
   // Insert Helper Table
   auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
@@ -176,7 +181,7 @@ void buildSafeSequence(Subsystem* ss, ModeListEntry& eh) {
 }
 
 void buildDetumbleSequence(Subsystem* ss, ModeListEntry& eh) {
-  std::string context = "satsystem::buildDetumbleSequence";
+  std::string context = "satsystem::acs::buildDetumbleSequence";
   auto ctxc = context.c_str();
   // Insert Helper Table
   auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
@@ -228,7 +233,7 @@ void buildDetumbleSequence(Subsystem* ss, ModeListEntry& eh) {
 }
 
 void buildIdleSequence(Subsystem* ss, ModeListEntry& eh) {
-  std::string context = "satsystem::buildIdleSequence";
+  std::string context = "satsystem::acs::buildIdleSequence";
   auto ctxc = context.c_str();
   // Insert Helper Table
   auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
@@ -275,7 +280,7 @@ void buildIdleSequence(Subsystem* ss, ModeListEntry& eh) {
 }
 
 void buildIdleChargeSequence(Subsystem* ss, ModeListEntry& eh) {
-  std::string context = "satsystem::buildIdleChargeSequence";
+  std::string context = "satsystem::acs::buildIdleChargeSequence";
   auto ctxc = context.c_str();
   // Insert Helper Table
   auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
@@ -329,7 +334,7 @@ void buildIdleChargeSequence(Subsystem* ss, ModeListEntry& eh) {
 }
 
 void buildTargetPtSequence(Subsystem* ss, ModeListEntry& eh) {
-  std::string context = "satsystem::buildTargetPtSequence";
+  std::string context = "satsystem::acs::buildTargetPtSequence";
   auto ctxc = context.c_str();
   // Insert Helper Table
   auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
@@ -383,15 +388,4 @@ void buildTargetPtSequence(Subsystem* ss, ModeListEntry& eh) {
         ctxc);
 }
 
-void checkInsert(ReturnValue_t result, const char* ctx) {
-  if (result != returnvalue::OK) {
-    sif::warning << "satsystem::checkInsert: Insertion failed at " << ctx;
-    if (result == mapdefs::KEY_ALREADY_EXISTS) {
-      sif::warning << ": Key already exists" << std::endl;
-    } else if (result == mapdefs::MAP_FULL) {
-      sif::warning << ": Map full" << std::endl;
-    } else {
-      sif::warning << std::endl;
-    }
-  }
-}
+}  // namespace

mission/system/tree/acsModeTree.h

@@ -3,9 +3,10 @@
 class Subsystem;
 
 namespace satsystem {
+namespace acs {
 
 extern Subsystem ACS_SUBSYSTEM;
+void init();
 
-void initAcsSubsystem(object_id_t satSystemObjId);
-
+}  // namespace acs
 }  // namespace satsystem

mission/system/tree/payloadModeTree.cpp

@@ -0,0 +1,372 @@
+#include "payloadModeTree.h"
+
+#include <fsfw/devicehandlers/DeviceHandlerIF.h>
+#include <fsfw/modes/HasModesIF.h>
+#include <fsfw/retval.h>
+#include <fsfw/subsystem/Subsystem.h>
+
+#include "eive/objects.h"
+#include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
+#include "mission/system/objects/PayloadSubsystem.h"
+#include "mission/system/objects/definitions.h"
+#include "util.h"
+
+namespace {
+void initOffSequence(Subsystem& ss, ModeListEntry& eh);
+void initPlMpsocStreamSequence(Subsystem& ss, ModeListEntry& eh);
+void initPlCamStreamSequence(Subsystem& ss, ModeListEntry& eh);
+void initPlSpvSequence(Subsystem& ss, ModeListEntry& eh);
+void initEarthObsvSequence(Subsystem& ss, ModeListEntry& eh);
+void initScexSequence(Subsystem& ss, ModeListEntry& eh);
+}  // namespace
+
+Subsystem satsystem::pl::SUBSYSTEM = Subsystem(objects::PL_SUBSYSTEM, 12, 24);
+
+const auto check = subsystem::checkInsert;
+static const auto OFF = HasModesIF::MODE_OFF;
+static const auto ON = HasModesIF::MODE_ON;
+static const auto NML = DeviceHandlerIF::MODE_NORMAL;
+
+auto PL_SEQUENCE_OFF = std::make_pair(OFF << 24, FixedArrayList<ModeListEntry, 3>());
+auto PL_TABLE_OFF_TGT = std::make_pair((OFF << 24) | 1, FixedArrayList<ModeListEntry, 0>());
+auto PL_TABLE_OFF_TRANS_0 = std::make_pair((OFF << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+auto PL_TABLE_OFF_TRANS_1 = std::make_pair((OFF << 24) | 3, FixedArrayList<ModeListEntry, 1>());
+
+auto PL_SEQUENCE_MPSOC_STREAM =
+    std::make_pair(payload::Modes::MPSOC_STREAM << 24, FixedArrayList<ModeListEntry, 3>());
+auto PL_TABLE_MPSOC_STREAM_TGT =
+    std::make_pair((payload::Modes::MPSOC_STREAM << 24) | 1, FixedArrayList<ModeListEntry, 5>());
+auto PL_TABLE_MPSOC_STREAM_TRANS_0 =
+    std::make_pair((payload::Modes::MPSOC_STREAM << 24) | 2, FixedArrayList<ModeListEntry, 4>());
+auto PL_TABLE_MPSOC_STREAM_TRANS_1 =
+    std::make_pair((payload::Modes::MPSOC_STREAM << 24) | 3, FixedArrayList<ModeListEntry, 2>());
+
+auto PL_SEQUENCE_CAM_STREAM =
+    std::make_pair(payload::Modes::CAM_STREAM << 24, FixedArrayList<ModeListEntry, 3>());
+auto PL_TABLE_CAM_STREAM_TGT =
+    std::make_pair((payload::Modes::CAM_STREAM << 24) | 1, FixedArrayList<ModeListEntry, 2>());
+auto PL_TABLE_CAM_STREAM_TRANS_0 =
+    std::make_pair((payload::Modes::CAM_STREAM << 24) | 2, FixedArrayList<ModeListEntry, 4>());
+auto PL_TABLE_CAM_STREAM_TRANS_1 =
+    std::make_pair((payload::Modes::CAM_STREAM << 24) | 3, FixedArrayList<ModeListEntry, 2>());
+
+auto PL_SEQUENCE_SUPV_ONLY =
+    std::make_pair(payload::Modes::SUPV_ONLY << 24, FixedArrayList<ModeListEntry, 3>());
+auto PL_TABLE_SUPV_ONLY_TGT =
+    std::make_pair((payload::Modes::SUPV_ONLY << 24) | 1, FixedArrayList<ModeListEntry, 5>());
+auto PL_TABLE_SUPV_ONLY_TRANS_0 =
+    std::make_pair((payload::Modes::SUPV_ONLY << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+auto PL_TABLE_SUPV_ONLY_TRANS_1 =
+    std::make_pair((payload::Modes::SUPV_ONLY << 24) | 3, FixedArrayList<ModeListEntry, 5>());
+
+auto PL_SEQUENCE_EARTH_OBSV =
+    std::make_pair(payload::Modes::EARTH_OBSV << 24, FixedArrayList<ModeListEntry, 3>());
+auto PL_TABLE_EARTH_OBSV_TGT =
+    std::make_pair((payload::Modes::EARTH_OBSV << 24) | 1, FixedArrayList<ModeListEntry, 5>());
+auto PL_TABLE_EARTH_OBSV_TRANS_0 =
+    std::make_pair((payload::Modes::EARTH_OBSV << 24) | 2, FixedArrayList<ModeListEntry, 3>());
+auto PL_TABLE_EARTH_OBSV_TRANS_1 =
+    std::make_pair((payload::Modes::EARTH_OBSV << 24) | 3, FixedArrayList<ModeListEntry, 2>());
+
+auto PL_SEQUENCE_SCEX =
+    std::make_pair(payload::Modes::SCEX << 24, FixedArrayList<ModeListEntry, 2>());
+auto PL_TABLE_SCEX_TGT =
+    std::make_pair((payload::Modes::SCEX << 24) | 1, FixedArrayList<ModeListEntry, 1>());
+auto PL_TABLE_SCEX_TRANS_0 =
+    std::make_pair((payload::Modes::SCEX << 24) | 2, FixedArrayList<ModeListEntry, 1>());
+
+void satsystem::pl::init() {
+  ModeListEntry entry;
+  initOffSequence(SUBSYSTEM, entry);
+  initPlMpsocStreamSequence(SUBSYSTEM, entry);
+  initPlCamStreamSequence(SUBSYSTEM, entry);
+  initPlSpvSequence(SUBSYSTEM, entry);
+  initEarthObsvSequence(SUBSYSTEM, entry);
+  initScexSequence(SUBSYSTEM, entry);
+  SUBSYSTEM.setInitialMode(OFF);
+}
+
+namespace {
+
+void initOffSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::payload::buildOffSequence";
+  auto ctxc = context.c_str();
+  // Insert Helper Table
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
+                 ArrayList<ModeListEntry>& sequence) {
+    eh.setObject(obj);
+    eh.setMode(mode);
+    eh.setSubmode(submode);
+    check(sequence.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);
+  };
+
+  // Build OFF target. Is empty
+  check(ss.addTable(TableEntry(PL_TABLE_OFF_TGT.first, &PL_TABLE_OFF_TGT.second)), ctxc);
+
+  // Build OFF transition 0
+  iht(objects::CAM_SWITCHER, OFF, 0, PL_TABLE_OFF_TRANS_0.second);
+  iht(objects::SCEX, OFF, 0, PL_TABLE_OFF_TRANS_0.second);
+  iht(objects::PLPCDU_HANDLER, OFF, 0, PL_TABLE_OFF_TRANS_0.second);
+  iht(objects::PLOC_MPSOC_HANDLER, OFF, 0, PL_TABLE_OFF_TRANS_0.second);
+  check(ss.addTable(TableEntry(PL_TABLE_OFF_TRANS_0.first, &PL_TABLE_OFF_TRANS_0.second)), ctxc);
+
+  // Build OFF transition 1
+  iht(objects::PLOC_SUPERVISOR_HANDLER, OFF, 0, PL_TABLE_OFF_TRANS_1.second);
+  check(ss.addTable(TableEntry(PL_TABLE_OFF_TRANS_1.first, &PL_TABLE_OFF_TRANS_1.second)), ctxc);
+
+  // Build OFF sequence
+  ihs(PL_SEQUENCE_OFF.second, PL_TABLE_OFF_TGT.first, 0, false);
+  ihs(PL_SEQUENCE_OFF.second, PL_TABLE_OFF_TRANS_0.first, 0, false);
+  ihs(PL_SEQUENCE_OFF.second, PL_TABLE_OFF_TRANS_1.first, 0, false);
+  check(ss.addSequence(
+            SequenceEntry(PL_SEQUENCE_OFF.first, &PL_SEQUENCE_OFF.second, PL_SEQUENCE_OFF.first)),
+        ctxc);
+}
+
+void initPlMpsocStreamSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::payload::initPlMpsocStreamSequence";
+  auto ctxc = context.c_str();
+  // Insert Helper Table
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
+                 ArrayList<ModeListEntry>& sequence) {
+    eh.setObject(obj);
+    eh.setMode(mode);
+    eh.setSubmode(submode);
+    check(sequence.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);
+  };
+
+  // Build MPSoC stream target
+  // Camera should always be off to prevent a conflict with the MPSoC streaming
+  // PL PCDU must be on and in normal mode, but this is commanded separately because of the
+  // number of commands invovled
+  iht(objects::PLPCDU_HANDLER, NML, plpcdu::ALL_ON_SUBMODE, PL_TABLE_MPSOC_STREAM_TGT.second);
+  iht(objects::CAM_SWITCHER, OFF, 0, PL_TABLE_MPSOC_STREAM_TGT.second);
+  iht(objects::PLOC_MPSOC_HANDLER, NML, 0, PL_TABLE_MPSOC_STREAM_TGT.second);
+  iht(objects::PLOC_SUPERVISOR_HANDLER, NML, 0, PL_TABLE_MPSOC_STREAM_TGT.second);
+  check(ss.addTable(TableEntry(PL_TABLE_MPSOC_STREAM_TGT.first, &PL_TABLE_MPSOC_STREAM_TGT.second)),
+        ctxc);
+
+  // Build MPSoC stream transition 0
+  iht(objects::CAM_SWITCHER, OFF, 0, PL_TABLE_MPSOC_STREAM_TRANS_0.second);
+  iht(objects::SCEX, OFF, 0, PL_TABLE_MPSOC_STREAM_TRANS_0.second);
+  iht(objects::PLOC_SUPERVISOR_HANDLER, NML, 0, PL_TABLE_MPSOC_STREAM_TRANS_0.second);
+  check(ss.addTable(
+            TableEntry(PL_TABLE_MPSOC_STREAM_TRANS_0.first, &PL_TABLE_MPSOC_STREAM_TRANS_0.second)),
+        ctxc);
+
+  // Build MPSoC stream transition 1
+  iht(objects::PLOC_MPSOC_HANDLER, NML, 0, PL_TABLE_MPSOC_STREAM_TRANS_1.second);
+  check(ss.addTable(
+            TableEntry(PL_TABLE_MPSOC_STREAM_TRANS_1.first, &PL_TABLE_MPSOC_STREAM_TRANS_1.second)),
+        ctxc);
+
+  // Build MPSoC stream sequence
+  ihs(PL_SEQUENCE_MPSOC_STREAM.second, PL_TABLE_MPSOC_STREAM_TGT.first, 0, true);
+  ihs(PL_SEQUENCE_MPSOC_STREAM.second, PL_TABLE_MPSOC_STREAM_TRANS_0.first, 0, true);
+  ihs(PL_SEQUENCE_MPSOC_STREAM.second, PL_TABLE_MPSOC_STREAM_TRANS_1.first, 0, false);
+  check(ss.addSequence(SequenceEntry(PL_SEQUENCE_MPSOC_STREAM.first,
+                                     &PL_SEQUENCE_MPSOC_STREAM.second, PL_SEQUENCE_OFF.first)),
+        ctxc);
+}
+
+void initPlCamStreamSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::payload::initPlCamStreamSequence";
+  auto ctxc = context.c_str();
+  // Insert Helper Table
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
+                 ArrayList<ModeListEntry>& sequence) {
+    eh.setObject(obj);
+    eh.setMode(mode);
+    eh.setSubmode(submode);
+    check(sequence.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);
+  };
+
+  // Build CAM target
+  // Only check that the PL PCDU is on for now. It might later become necessary to switch on
+  // the PLOC, so we ignore its state.
+  iht(objects::PLPCDU_HANDLER, NML, plpcdu::ALL_ON_SUBMODE, PL_TABLE_CAM_STREAM_TGT.second);
+  check(ss.addTable(TableEntry(PL_TABLE_CAM_STREAM_TGT.first, &PL_TABLE_CAM_STREAM_TGT.second)),
+        ctxc);
+
+  // Build CAM transition 0
+  // PLOC is actively commanded off here
+  iht(objects::PLOC_MPSOC_HANDLER, OFF, 0, PL_TABLE_CAM_STREAM_TRANS_0.second);
+  iht(objects::CAM_SWITCHER, ON, 0, PL_TABLE_CAM_STREAM_TRANS_0.second);
+  iht(objects::SCEX, OFF, 0, PL_TABLE_CAM_STREAM_TRANS_0.second);
+  check(ss.addTable(
+            TableEntry(PL_TABLE_CAM_STREAM_TRANS_0.first, &PL_TABLE_CAM_STREAM_TRANS_0.second)),
+        ctxc);
+
+  // Build CAM transition 1
+  iht(objects::PLOC_SUPERVISOR_HANDLER, OFF, 0, PL_TABLE_CAM_STREAM_TRANS_1.second);
+  check(ss.addTable(
+            TableEntry(PL_TABLE_CAM_STREAM_TRANS_1.first, &PL_TABLE_CAM_STREAM_TRANS_1.second)),
+        ctxc);
+
+  // Build CAM stream sequence
+  ihs(PL_SEQUENCE_CAM_STREAM.second, PL_TABLE_CAM_STREAM_TGT.first, 0, true);
+  ihs(PL_SEQUENCE_CAM_STREAM.second, PL_TABLE_CAM_STREAM_TRANS_0.first, 0, true);
+  ihs(PL_SEQUENCE_CAM_STREAM.second, PL_TABLE_CAM_STREAM_TRANS_1.first, 0, false);
+  check(ss.addSequence(SequenceEntry(PL_SEQUENCE_CAM_STREAM.first, &PL_SEQUENCE_CAM_STREAM.second,
+                                     PL_SEQUENCE_OFF.first)),
+        ctxc);
+}
+
+void initPlSpvSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::payload::initPlSupvSequence";
+  auto ctxc = context.c_str();
+  // Insert Helper Table
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
+                 ArrayList<ModeListEntry>& sequence) {
+    eh.setObject(obj);
+    eh.setMode(mode);
+    eh.setSubmode(submode);
+    check(sequence.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);
+  };
+
+  // Build Payload Supervisor Only target
+  iht(objects::PLOC_SUPERVISOR_HANDLER, NML, 0, PL_TABLE_SUPV_ONLY_TGT.second);
+  check(ss.addTable(TableEntry(PL_TABLE_SUPV_ONLY_TGT.first, &PL_TABLE_SUPV_ONLY_TGT.second)),
+        ctxc);
+
+  // Build Payload Supervisor Only transition 0
+  iht(objects::PLOC_SUPERVISOR_HANDLER, NML, 0, PL_TABLE_SUPV_ONLY_TRANS_0.second);
+  iht(objects::CAM_SWITCHER, OFF, 0, PL_TABLE_SUPV_ONLY_TRANS_0.second);
+  check(
+      ss.addTable(TableEntry(PL_TABLE_SUPV_ONLY_TRANS_0.first, &PL_TABLE_SUPV_ONLY_TRANS_0.second)),
+      ctxc);
+
+  // Build Payload Supervisor Only transition 1
+  iht(objects::PLOC_MPSOC_HANDLER, OFF, 0, PL_TABLE_SUPV_ONLY_TRANS_1.second);
+  check(
+      ss.addTable(TableEntry(PL_TABLE_SUPV_ONLY_TRANS_1.first, &PL_TABLE_SUPV_ONLY_TRANS_1.second)),
+      ctxc);
+
+  // Build Payload Supervisor Only Sequence
+  ihs(PL_SEQUENCE_SUPV_ONLY.second, PL_TABLE_SUPV_ONLY_TGT.first, 0, true);
+  ihs(PL_SEQUENCE_SUPV_ONLY.second, PL_TABLE_SUPV_ONLY_TRANS_0.first, 0, true);
+  ihs(PL_SEQUENCE_SUPV_ONLY.second, PL_TABLE_SUPV_ONLY_TRANS_1.first, 0, false);
+  check(ss.addSequence(SequenceEntry(PL_SEQUENCE_SUPV_ONLY.first, &PL_SEQUENCE_SUPV_ONLY.second,
+                                     PL_SEQUENCE_OFF.first)),
+        ctxc);
+}
+
+void initEarthObsvSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::payload::initEarthObsvSequence";
+  auto ctxc = context.c_str();
+  // Insert Helper Table
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
+                 ArrayList<ModeListEntry>& sequence) {
+    eh.setObject(obj);
+    eh.setMode(mode);
+    eh.setSubmode(submode);
+    check(sequence.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);
+  };
+
+  // Build Earth Observation target
+  iht(objects::PLOC_MPSOC_HANDLER, NML, 0, PL_TABLE_EARTH_OBSV_TGT.second);
+  iht(objects::PLOC_SUPERVISOR_HANDLER, NML, 0, PL_TABLE_EARTH_OBSV_TGT.second);
+  iht(objects::CAM_SWITCHER, ON, 0, PL_TABLE_EARTH_OBSV_TGT.second);
+  iht(objects::PLPCDU_HANDLER, OFF, 0, PL_TABLE_EARTH_OBSV_TGT.second);
+  check(ss.addTable(TableEntry(PL_TABLE_EARTH_OBSV_TGT.first, &PL_TABLE_EARTH_OBSV_TGT.second)),
+        ctxc);
+
+  // Build Earth Observation transition 0
+  iht(objects::PLOC_SUPERVISOR_HANDLER, NML, 0, PL_TABLE_EARTH_OBSV_TRANS_0.second);
+  iht(objects::CAM_SWITCHER, ON, 0, PL_TABLE_EARTH_OBSV_TRANS_0.second);
+  iht(objects::PLPCDU_HANDLER, OFF, 0, PL_TABLE_EARTH_OBSV_TRANS_0.second);
+  check(ss.addTable(
+            TableEntry(PL_TABLE_EARTH_OBSV_TRANS_0.first, &PL_TABLE_EARTH_OBSV_TRANS_0.second)),
+        ctxc);
+
+  // Build Earth Observation transition 1
+  iht(objects::PLOC_MPSOC_HANDLER, NML, 0, PL_TABLE_CAM_STREAM_TRANS_1.second);
+  check(ss.addTable(
+            TableEntry(PL_TABLE_EARTH_OBSV_TRANS_1.first, &PL_TABLE_EARTH_OBSV_TRANS_1.second)),
+        ctxc);
+
+  ihs(PL_SEQUENCE_EARTH_OBSV.second, PL_TABLE_EARTH_OBSV_TGT.first, 0, true);
+  ihs(PL_SEQUENCE_EARTH_OBSV.second, PL_TABLE_EARTH_OBSV_TRANS_0.first, 0, true);
+  ihs(PL_SEQUENCE_EARTH_OBSV.second, PL_TABLE_EARTH_OBSV_TRANS_1.first, 0, false);
+  check(ss.addSequence(SequenceEntry(PL_SEQUENCE_EARTH_OBSV.first, &PL_SEQUENCE_EARTH_OBSV.second,
+                                     PL_SEQUENCE_OFF.first)),
+        ctxc);
+}
+
+void initScexSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::payload::initScexSequence";
+  auto ctxc = context.c_str();
+  // Insert Helper Table
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
+                 ArrayList<ModeListEntry>& sequence) {
+    eh.setObject(obj);
+    eh.setMode(mode);
+    eh.setSubmode(submode);
+    check(sequence.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);
+  };
+
+  // Build SCEX target
+  iht(objects::SCEX, NML, 0, PL_TABLE_SCEX_TGT.second);
+  check(ss.addTable(TableEntry(PL_TABLE_SCEX_TGT.first, &PL_TABLE_SCEX_TGT.second)), ctxc);
+
+  // Build SCEX transition 0
+  iht(objects::SCEX, NML, 0, PL_TABLE_SCEX_TRANS_0.second);
+  check(ss.addTable(TableEntry(PL_TABLE_SCEX_TRANS_0.first, &PL_TABLE_SCEX_TRANS_0.second)), ctxc);
+
+  // Build SCEX sequence
+  ihs(PL_SEQUENCE_SCEX.second, PL_TABLE_SCEX_TGT.first, 0, true);
+  ihs(PL_SEQUENCE_SCEX.second, PL_TABLE_SCEX_TRANS_0.first, 0, false);
+  check(ss.addSequence(
+            SequenceEntry(PL_SEQUENCE_SCEX.first, &PL_SEQUENCE_SCEX.second, PL_SEQUENCE_OFF.first)),
+        ctxc);
+}
+
+}  // namespace

mission/system/tree/payloadModeTree.h

@@ -0,0 +1,17 @@
+#ifndef MISSION_SYSTEM_TREE_PAYLOADMODETREE_H_
+#define MISSION_SYSTEM_TREE_PAYLOADMODETREE_H_
+
+#include <fsfw/subsystem/Subsystem.h>
+
+namespace satsystem {
+
+namespace pl {
+
+extern Subsystem SUBSYSTEM;
+
+void init();
+}  // namespace pl
+
+}  // namespace satsystem
+
+#endif /* MISSION_SYSTEM_TREE_PAYLOADMODETREE_H_ */

mission/system/tree/system.cpp

@@ -0,0 +1,9 @@
+#include "system.h"
+
+#include "acsModeTree.h"
+#include "payloadModeTree.h"
+
+void satsystem::init() {
+  acs::init();
+  pl::init();
+}

mission/system/tree/system.h

@@ -0,0 +1,10 @@
+#ifndef MISSION_SYSTEM_TREE_SYSTEM_H_
+#define MISSION_SYSTEM_TREE_SYSTEM_H_
+
+namespace satsystem {
+
+void init();
+
+}
+
+#endif /* MISSION_SYSTEM_TREE_SYSTEM_H_ */

mission/system/tree/util.cpp

@@ -0,0 +1,19 @@
+#include "util.h"
+
+#include "fsfw/container/FixedMap.h"
+#include "fsfw/serviceinterface.h"
+
+void subsystem::checkInsert(ReturnValue_t result, const char* ctx) {
+  if (result != returnvalue::OK) {
+    sif::warning << "satsystem::checkInsert: Insertion failed at " << ctx;
+    if (result == containers::KEY_ALREADY_EXISTS) {
+      sif::warning << ": Key already exists" << std::endl;
+    } else if (result == containers::MAP_FULL) {
+      sif::warning << ": Map full" << std::endl;
+    } else if (result == containers::LIST_FULL) {
+      sif::warning << ": List full" << std::endl;
+    } else {
+      sif::warning << std::endl;
+    }
+  }
+}

mission/system/tree/util.h

@@ -0,0 +1,12 @@
+#ifndef MISSION_SYSTEM_TREE_UTIL_H_
+#define MISSION_SYSTEM_TREE_UTIL_H_
+
+#include <fsfw/retval.h>
+
+namespace subsystem {
+
+void checkInsert(ReturnValue_t result, const char* ctx);
+
+}
+
+#endif /* MISSION_SYSTEM_TREE_UTIL_H_ */