Merge pull request 'TCS continued' (#576) from continue_tcs_tests into develop

Reviewed-on: #576
Reviewed-by: Marius Eggert <eggertm@irs.uni-stuttgart.de>

CHANGELOG.md

@@ -37,6 +37,7 @@ will consitute of a breaking change warranting a new major release:
 
 - Bugfixes and improvements for SDC state machine. Internal state was not updated correctly due
   to a regression, so commanding the SDC state machine externally lead to confusing results.
+- Heater states array in TCS controller was too small.
 - Fixed a bug in persistent TM store, where the active file was not reset of SD card switches.
   SD card switch from 0 to 1 and vice-versa works without errors from persistent TM stores now.
 - Add a way for the SUS polling to detect broken or off devices by checking the retrieved
@@ -52,16 +53,22 @@ will consitute of a breaking change warranting a new major release:
   the active SD card is switched or there is a transition from hot redundant to cold redundant mode.
   This gives other tasks some time to register the SD cards being unusable, and therefore provides
   a way for them to perform any re-initialization tasks necessary after SD card switches.
+- TCS controller now only has an OFF mode and an ON mode
 - The TCS controller pauses operations related to the TCS board assembly (reading sensors and 
   the primary control loop) while a TCS board recovery is on-going.
-
-## Changed
-
 - Allow specifying custom OBSW update filename. This allowed keeping a cleaner file structure
   where each update has a name including the version
 - The files extracted during an update process are deleted after the update was performed to keep
   the update directory cleaner.
 
+## Added
+
+- TCS controller: SUBMODE_NO_HEATER_CTRL (1) added for ON mode. If this submode is
+  commanded, all heaters will be switched off and then no further heater
+  commanding will be done.
+- Fixed a bug in persistent TM store, where the active file was not reset of SD card switches.
+  SD card switch from 0 to 1 and vice-versa works without errors from persistent TM stores now.
+
 # [v1.44.0] 2023-04-07
 
 - eive-tmtc: v2.22.0

CMakeLists.txt

@@ -94,6 +94,9 @@ set(OBSW_ADD_SUN_SENSORS
 set(OBSW_ADD_SUS_BOARD_ASS
     ${INIT_VAL}
     CACHE STRING "Add sun sensor board assembly")
+set(OBSW_ADD_THERMAL_TEMP_INSERTER
+    ${OBSW_Q7S_EM}
+    CACHE STRING "Add thermal sensor temperature inserter")
 set(OBSW_ADD_ACS_BOARD
     ${INIT_VAL}
     CACHE STRING "Add ACS board module")

bsp_hosted/scheduling.cpp

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

bsp_q7s/OBSWConfig.h.in

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

bsp_q7s/core/scheduling.cpp

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

common/config/devices/heaterSwitcherList.h

@@ -1,20 +0,0 @@
-#ifndef FSFWCONFIG_DEVICES_HEATERSWITCHERLIST_H_
-#define FSFWCONFIG_DEVICES_HEATERSWITCHERLIST_H_
-
-#include <cstdint>
-
-namespace heater {
-enum Switchers : uint8_t {
-  HEATER_0_OBC_BRD,
-  HEATER_1_PLOC_PROC_BRD,
-  HEATER_2_ACS_BRD,
-  HEATER_3_PCDU_PDU,
-  HEATER_4_CAMERA,
-  HEATER_5_STR,
-  HEATER_6_DRO,
-  HEATER_7_S_BAND,
-  NUMBER_OF_SWITCHES
-};
-}
-
-#endif /* FSFWCONFIG_DEVICES_HEATERSWITCHERLIST_H_ */

dummies/TemperatureSensorInserter.cpp

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

dummies/TemperatureSensorInserter.h

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

dummies/helperFactory.cpp

@@ -194,9 +194,11 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
     tmpSensorDummies.emplace(
         objects::TMP1075_HANDLER_PLPCDU_0,
         new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_0, objects::DUMMY_COM_IF, comCookieDummy));
-    tmpSensorDummies.emplace(
+    // damaged.
-        objects::TMP1075_HANDLER_PLPCDU_1,
+    //    tmpSensorDummies.emplace(
-        new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_1, objects::DUMMY_COM_IF, comCookieDummy));
+    //        objects::TMP1075_HANDLER_PLPCDU_1,
+    //        new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_1, objects::DUMMY_COM_IF,
+    //        comCookieDummy));
     tmpSensorDummies.emplace(
         objects::TMP1075_HANDLER_IF_BOARD,
         new Tmp1075Dummy(objects::TMP1075_HANDLER_IF_BOARD, objects::DUMMY_COM_IF, comCookieDummy));

mission/controller/ThermalController.cpp

@@ -17,7 +17,7 @@
 #include <objects/systemObjectList.h>
 
 // Enabling this should trigger a special event which in turn should trigger a system reaction.
-#define LOWER_SYRLINKS_UPPER_LIMITS 0
+#define LOWER_SYRLINKS_UPPER_LIMITS 1
 #define LOWER_EBAND_UPPER_LIMITS 0
 #define LOWER_PLOC_UPPER_LIMITS 0
 
@@ -170,26 +170,31 @@ void ThermalController::performControlOperation() {
     }
   }
 
-  if (transitionToOff) {
+  cycles++;
-    for (const auto& switchState : heaterSwitchStateArray) {
+  if (transitionWhenHeatersOff) {
-      if (switchState != HeaterHandler::SwitchState::OFF) {
+    bool allSwitchersOff = true;
-        transitionToOffCycles++;
+    for (size_t idx = 0; idx < heaterSwitchStateArray.size(); idx++) {
-        // if heater still ON after 10 cycles, switch OFF again
+      if (heaterSwitchStateArray[idx] != HeaterHandler::SwitchState::OFF) {
-        if (transitionToOffCycles == 10) {
+        allSwitchersOff = false;
-          for (uint8_t i = 0; i < heater::Switchers::NUMBER_OF_SWITCHES; i++) {
+        // if heater still ON after 3 cycles, switch OFF again
-            heaterHandler.switchHeater(static_cast<heater::Switchers>(i),
+        if (transitionWhenHeatersOffCycles == 3) {
+          heaterHandler.switchHeater(static_cast<heater::Switch>(idx),
                                      HeaterHandler::SwitchState::OFF);
-          }
           triggerEvent(tcsCtrl::HEATER_NOT_OFF_FOR_OFF_MODE);
         }
-        return;
       }
-      setMode(MODE_OFF);
+    }
+    if (allSwitchersOff or transitionWhenHeatersOffCycles == 6) {
+      // Finish the transition
+      transitionWhenHeatersOff = false;
+      resetThermalStates();
+      setMode(targetMode, targetSubmode);
+    } else {
+      transitionWhenHeatersOffCycles++;
     }
   } else if (mode != MODE_OFF and not tcsBrdShortlyUnavailable) {
     performThermalModuleCtrl(heaterSwitchStateArray);
   }
-  cycles++;
 }
 
 ReturnValue_t ThermalController::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@@ -292,12 +297,18 @@ LocalPoolDataSetBase* ThermalController::getDataSetHandle(sid_t sid) {
 
 ReturnValue_t ThermalController::checkModeCommand(Mode_t mode, Submode_t submode,
                                                   uint32_t* msToReachTheMode) {
+  if ((mode != MODE_OFF) and (mode != MODE_ON)) {
+    return INVALID_MODE;
+  }
+  if (mode == MODE_ON) {
+    if (submode != SUBMODE_NONE and submode != SUBMODE_NO_HEATER_CTRL) {
+      return HasModesIF::INVALID_SUBMODE;
+    }
+    return returnvalue::OK;
+  }
   if (submode != SUBMODE_NONE) {
     return INVALID_SUBMODE;
   }
-  if ((mode != MODE_OFF) && (mode != MODE_ON) && (mode != MODE_NORMAL)) {
-    return INVALID_MODE;
-  }
   return returnvalue::OK;
 }
 
@@ -976,8 +987,8 @@ void ThermalController::copyDevices() {
 }
 
 void ThermalController::ctrlAcsBoard() {
-  heater::Switchers switchNr = heater::HEATER_2_ACS_BRD;
+  heater::Switch switchNr = heater::HEATER_2_ACS_BRD;
-  heater::Switchers redSwitchNr = heater::HEATER_0_OBC_BRD;
+  heater::Switch redSwitchNr = heater::HEATER_0_OBC_BRD;
 
   // A side
   thermalComponent = ACS_BOARD;
@@ -1023,7 +1034,9 @@ void ThermalController::ctrlAcsBoard() {
     } else {
       if (chooseHeater(switchNr, redSwitchNr)) {
         if (heaterHandler.getSwitchState(switchNr)) {
-          heaterHandler.switchHeater(switchNr, HeaterHandler::SwitchState::OFF);
+          if (submode != SUBMODE_NO_HEATER_CTRL) {
+            heaterSwitchHelper(switchNr, HeaterHandler::SwitchState::OFF, thermalComponent);
+          }
         }
       }
     }
@@ -1268,8 +1281,8 @@ void ThermalController::ctrlPcduP60Board() {
 
 void ThermalController::ctrlPcduAcu() {
   thermalComponent = PCDUACU;
-  heater::Switchers switchNr = heater::HEATER_3_PCDU_PDU;
+  heater::Switch switchNr = heater::HEATER_3_PCDU_PDU;
-  heater::Switchers redSwitchNr = heater::HEATER_2_ACS_BRD;
+  heater::Switch redSwitchNr = heater::HEATER_2_ACS_BRD;
 
   if (chooseHeater(switchNr, redSwitchNr)) {
     bool sensorTempAvailable = true;
@@ -1557,13 +1570,16 @@ void ThermalController::performThermalModuleCtrl(const HeaterSwitchStates& heate
 void ThermalController::ctrlComponentTemperature(HeaterContext& htrCtx) {
   if (selectAndReadSensorTemp(htrCtx)) {
     if (chooseHeater(htrCtx.switchNr, htrCtx.redSwitchNr)) {
+      // Core loop for a thermal component, after sensors and heaters were selected.
       checkLimitsAndCtrlHeater(htrCtx);
     }
   } else {
-    // TODO: muss der Heater dann wirklich abgeschalten werden?
+    // No sensors available, so switch the heater off. We can not perform control tasks if we
+    // are blind..
     if (chooseHeater(htrCtx.switchNr, htrCtx.redSwitchNr)) {
-      if (heaterHandler.getSwitchState(htrCtx.switchNr)) {
+      if (heaterCtrlAllowed() and
-        heaterHandler.switchHeater(htrCtx.switchNr, HeaterHandler::SwitchState::OFF);
+          (heaterHandler.getSwitchState(htrCtx.switchNr) == HeaterHandler::SwitchState::ON)) {
+        heaterSwitchHelper(htrCtx.switchNr, HeaterHandler::SwitchState::OFF, thermalComponent);
       }
     }
   }
@@ -1593,7 +1609,7 @@ bool ThermalController::selectAndReadSensorTemp(HeaterContext& htrCtx) {
 
   return false;
 }
-bool ThermalController::chooseHeater(heater::Switchers& switchNr, heater::Switchers redSwitchNr) {
+bool ThermalController::chooseHeater(heater::Switch& switchNr, heater::Switch redSwitchNr) {
   bool heaterAvailable = true;
 
   if (heaterHandler.getHealth(switchNr) != HasHealthIF::HEALTHY) {
@@ -1611,15 +1627,18 @@ bool ThermalController::chooseHeater(heater::Switchers& switchNr, heater::Switch
 }
 
 void ThermalController::heaterCtrlTempTooHighHandler(HeaterContext& htrCtx, const char* whatLimit) {
+  if (not heaterCtrlAllowed()) {
+    return;
+  }
   if (htrCtx.switchState == HeaterHandler::SwitchState::ON) {
     sif::info << "TCS: Component " << static_cast<int>(thermalComponent) << " too warm, above "
               << whatLimit << ", switching off heater" << std::endl;
-    heaterHandler.switchHeater(htrCtx.switchNr, HeaterHandler::SwitchState::OFF);
+    heaterSwitchHelper(htrCtx.switchNr, HeaterHandler::SwitchState::OFF, thermalComponent);
     heaterStates[htrCtx.switchNr].switchTransition = true;
     heaterStates[htrCtx.switchNr].target = HeaterHandler::SwitchState::OFF;
   }
   if (heaterHandler.getSwitchState(htrCtx.redSwitchNr) == HeaterHandler::SwitchState::ON) {
-    heaterHandler.switchHeater(htrCtx.redSwitchNr, HeaterHandler::SwitchState::OFF);
+    heaterSwitchHelper(htrCtx.redSwitchNr, HeaterHandler::SwitchState::OFF, thermalComponent);
     heaterStates[htrCtx.redSwitchNr].switchTransition = true;
     heaterStates[htrCtx.redSwitchNr].target = HeaterHandler::SwitchState::OFF;
   }
@@ -1634,34 +1653,37 @@ void ThermalController::checkLimitsAndCtrlHeater(HeaterContext& htrCtx) {
   if (heaterStates[htrCtx.switchNr].switchTransition) {
     htrCtx.doHeaterHandling = false;
     heaterCtrlCheckUpperLimits(htrCtx);
-  } else {
+    return;
-    // Heater off
+  }
+
   htrCtx.switchState = heaterHandler.getSwitchState(htrCtx.switchNr);
+  // Heater off
   if (htrCtx.switchState == HeaterHandler::SwitchState::OFF) {
-      if (sensorTemp < htrCtx.tempLimit.opLowerLimit) {
+    if (sensorTemp < htrCtx.tempLimit.opLowerLimit and heaterCtrlAllowed()) {
-        heaterHandler.switchHeater(htrCtx.switchNr, HeaterHandler::SwitchState::ON);
+      sif::info << "TCS: Heater " << static_cast<int>(thermalComponent) << " ON" << std::endl;
-        sif::info << "ThermalController::checkLimitsAndCtrlHeater: Heater "
+      heaterSwitchHelper(htrCtx.switchNr, HeaterHandler::SwitchState::ON, thermalComponent);
-                  << static_cast<int>(thermalComponent) << " ON" << std::endl;
       heaterStates[htrCtx.switchNr].switchTransition = true;
-        thermalStates[thermalComponent].heating = true;
       heaterStates[htrCtx.switchNr].target = HeaterHandler::SwitchState::ON;
     } else {
+      // Even if heater control is now allowed, we can update the state.
       thermalStates[thermalComponent].heating = false;
     }
     heaterCtrlCheckUpperLimits(htrCtx);
+    return;
+  }
+
   // Heater on
-    } else if (heaterHandler.getSwitchState(htrCtx.switchNr) == HeaterHandler::SwitchState::ON) {
+  if (htrCtx.switchState == HeaterHandler::SwitchState::ON) {
     if (thermalStates[thermalComponent].heating) {
       // We are already in a heating cycle, so need to check whether heating task is complete.
-        if (sensorTemp >= htrCtx.tempLimit.opLowerLimit + TEMP_OFFSET) {
+      if (sensorTemp >= htrCtx.tempLimit.opLowerLimit + TEMP_OFFSET and heaterCtrlAllowed()) {
-          heaterHandler.switchHeater(htrCtx.switchNr, HeaterHandler::SwitchState::OFF);
+        sif::info << "TCS: Heater " << static_cast<int>(thermalComponent) << " OFF" << std::endl;
-          sif::info << "ThermalController::checkLimitsAndCtrlHeater: Heater "
+        heaterSwitchHelper(htrCtx.switchNr, HeaterHandler::SwitchState::OFF, thermalComponent);
-                    << static_cast<int>(thermalComponent) << " OFF" << std::endl;
         heaterStates[htrCtx.switchNr].switchTransition = true;
         heaterStates[htrCtx.switchNr].target = HeaterHandler::SwitchState::OFF;
-          thermalStates[thermalComponent].heating = false;
       }
-      } else {
+      return;
+    }
     // This can happen if heater is used as alternative heater (no regular heating cycle), so we
     // should still check the upper limits.
     bool tooHighHandlerAlreadyCalled = heaterCtrlCheckUpperLimits(htrCtx);
@@ -1673,8 +1695,6 @@ void ThermalController::checkLimitsAndCtrlHeater(HeaterContext& htrCtx) {
     }
   }
 }
-  }
-}
 
 bool ThermalController::heaterCtrlCheckUpperLimits(HeaterContext& htrCtx) {
   if (sensorTemp >= htrCtx.tempLimit.nopUpperLimit) {
@@ -1702,8 +1722,8 @@ void ThermalController::resetSensorsArray() {
   }
   thermalComponent = NONE;
 }
+
 void ThermalController::heaterTransitionControl(const HeaterSwitchStates& currentHeaterStates) {
-  // TODO: Test
   for (unsigned i = 0; i < 7; i++) {
     if (heaterStates[i].switchTransition) {
       if (currentHeaterStates[i] == heaterStates[i].target) {
@@ -1727,11 +1747,12 @@ uint32_t ThermalController::tempFloatToU32() const {
   return tempRaw;
 }
 
-void ThermalController::setMode(Mode_t mode) {
+void ThermalController::setMode(Mode_t mode, Submode_t submode) {
   if (mode == MODE_OFF) {
-    transitionToOff = false;
+    transitionWhenHeatersOff = false;
   }
   this->mode = mode;
+  this->submode = submode;
   modeHelper.modeChanged(mode, submode);
   announceMode(false);
 }
@@ -1746,6 +1767,43 @@ bool ThermalController::tooHotHandler(object_id_t object, bool& oneShotFlag) {
   return false;
 }
 
+bool ThermalController::heaterCtrlAllowed() const { return submode != SUBMODE_NO_HEATER_CTRL; }
+
+void ThermalController::resetThermalStates() {
+  for (auto& thermalState : thermalStates) {
+    thermalState.heating = false;
+  }
+}
+
+void ThermalController::heaterSwitchHelper(heater::Switch switchNr,
+                                           HeaterHandler::SwitchState state,
+                                           unsigned componentIdx) {
+  timeval currentTime;
+  Clock::getClockMonotonic(&currentTime);
+  if (state == HeaterHandler::SwitchState::ON) {
+    heaterHandler.switchHeater(switchNr, state);
+    thermalStates[componentIdx].heating = true;
+    thermalStates[componentIdx].heaterStartTime = currentTime.tv_sec;
+  } else {
+    heaterHandler.switchHeater(switchNr, state);
+    thermalStates[componentIdx].heating = false;
+    thermalStates[componentIdx].heaterEndTime = currentTime.tv_sec;
+  }
+}
+
+void ThermalController::heaterSwitchHelperAllOff() {
+  timeval currentTime;
+  Clock::getClockMonotonic(&currentTime);
+  size_t idx = 0;
+  for (; idx < heater::Switch::NUMBER_OF_SWITCHES; idx++) {
+    heaterHandler.switchHeater(static_cast<heater::Switch>(idx), HeaterHandler::SwitchState::OFF);
+  }
+  for (idx = 0; idx < thermalStates.size(); idx++) {
+    thermalStates[idx].heating = false;
+    thermalStates[idx].heaterEndTime = currentTime.tv_sec;
+  }
+}
+
 void ThermalController::tooHotHandlerWhichClearsOneShotFlag(object_id_t object, bool& oneShotFlag) {
   // Clear the one shot flag is the component is in acceptable temperature range.
   if (not tooHotHandler(object, oneShotFlag) and not componentAboveUpperLimit) {
@@ -1755,14 +1813,15 @@ void ThermalController::tooHotHandlerWhichClearsOneShotFlag(object_id_t object,
 
 void ThermalController::startTransition(Mode_t mode_, Submode_t submode_) {
   triggerEvent(CHANGING_MODE, mode_, submode_);
-  if (mode_ == MODE_OFF) {
+  // For MODE_OFF and the no heater control submode, we command all switches to off before
-    for (uint8_t i = 0; i < heater::Switchers::NUMBER_OF_SWITCHES; i++) {
+  // completing the transition. This ensures a consistent state when commanding these modes.
-      heaterHandler.switchHeater(static_cast<heater::Switchers>(i),
+  if ((mode_ == MODE_OFF) or ((mode_ == MODE_ON) and (submode_ == SUBMODE_NO_HEATER_CTRL))) {
-                                 HeaterHandler::SwitchState::OFF);
+    heaterSwitchHelperAllOff();
-    }
+    transitionWhenHeatersOff = true;
-    transitionToOff = true;
+    targetMode = mode_;
-    transitionToOffCycles = 0;
+    targetSubmode = submode_;
+    transitionWhenHeatersOffCycles = 0;
   } else {
-    setMode(mode_);
+    setMode(mode_, submode_);
   }
 }

mission/controller/ThermalController.h

@@ -48,8 +48,13 @@ struct TempLimits {
 
 struct ThermalState {
   uint8_t errorCounter;
-  bool heating;
+  // Is heating on for that thermal module?
-  uint32_t heaterStartTime;
+  bool heating = false;
+  heater::Switch heaterSwitch = heater::Switch::NUMBER_OF_SWITCHES;
+  // Heater start time and end times as UNIX seconds. Please note that these times will be updated
+  // when a switch command is sent, with no guarantess that the heater actually went on.
+  uint32_t heaterStartTime = 0;
+  uint32_t heaterEndTime = 0;
 };
 
 struct HeaterState {
@@ -90,6 +95,8 @@ enum ThermalComponents : uint8_t {
 
 class ThermalController : public ExtendedControllerBase {
  public:
+  static constexpr uint8_t SUBMODE_NO_HEATER_CTRL = 1;
+
   static const uint16_t INVALID_TEMPERATURE = 999;
   static const uint8_t NUMBER_OF_SENSORS = 16;
   static constexpr int16_t SANITY_LIMIT_LOWER_TEMP = -80;
@@ -103,13 +110,13 @@ class ThermalController : public ExtendedControllerBase {
  protected:
   struct HeaterContext {
    public:
-    HeaterContext(heater::Switchers switchNr, heater::Switchers redundantSwitchNr,
+    HeaterContext(heater::Switch switchNr, heater::Switch redundantSwitchNr,
                   const TempLimits& tempLimit)
         : switchNr(switchNr), redSwitchNr(redundantSwitchNr), tempLimit(tempLimit) {}
     bool doHeaterHandling = true;
-    heater::Switchers switchNr;
+    heater::Switch switchNr;
     HeaterHandler::SwitchState switchState = HeaterHandler::SwitchState::OFF;
-    heater::Switchers redSwitchNr;
+    heater::Switch redSwitchNr;
     const TempLimits& tempLimit;
   };
 
@@ -263,11 +270,13 @@ class ThermalController : public ExtendedControllerBase {
   bool strTooHotFlag = false;
   bool rwTooHotFlag = false;
 
-  bool transitionToOff = false;
+  bool transitionWhenHeatersOff = false;
-  uint32_t transitionToOffCycles = 0;
+  uint32_t transitionWhenHeatersOffCycles = 0;
+  Mode_t targetMode = MODE_OFF;
+  Submode_t targetSubmode = SUBMODE_NONE;
   uint32_t cycles = 0;
-  std::array<ThermalState, 30> thermalStates{};
+  std::array<ThermalState, ThermalComponents::NUM_ENTRIES> thermalStates{};
-  std::array<HeaterState, 7> heaterStates{};
+  std::array<HeaterState, heater::NUMBER_OF_SWITCHES> heaterStates{};
 
   // Initial delay to make sure all pool variables have been initialized their owners.
   // Also, wait for system initialization to complete.
@@ -292,6 +301,9 @@ class ThermalController : public ExtendedControllerBase {
 
   void startTransition(Mode_t mode, Submode_t submode) override;
 
+  bool heaterCtrlAllowed() const;
+  void resetThermalStates();
+
   void resetSensorsArray();
   void copySensors();
   void copySus();
@@ -302,9 +314,13 @@ class ThermalController : public ExtendedControllerBase {
   bool heaterCtrlCheckUpperLimits(HeaterContext& heaterContext);
   void heaterCtrlTempTooHighHandler(HeaterContext& heaterContext, const char* whatLimit);
 
-  bool chooseHeater(heater::Switchers& switchNr, heater::Switchers redSwitchNr);
+  bool chooseHeater(heater::Switch& switchNr, heater::Switch redSwitchNr);
   bool selectAndReadSensorTemp(HeaterContext& htrCtx);
 
+  void heaterSwitchHelperAllOff();
+  void heaterSwitchHelper(heater::Switch switchNr, HeaterHandler::SwitchState state,
+                          unsigned componentIdx);
+
   void ctrlAcsBoard();
   void ctrlMgt();
   void ctrlRw();
@@ -329,7 +345,7 @@ class ThermalController : public ExtendedControllerBase {
   void ctrlMpa();
   void ctrlScexBoard();
   void heaterTransitionControl(const HeaterSwitchStates& currentHeaterStates);
-  void setMode(Mode_t mode);
+  void setMode(Mode_t mode, Submode_t submode);
   uint32_t tempFloatToU32() const;
   bool tooHotHandler(object_id_t object, bool& oneShotFlag);
   void tooHotHandlerWhichClearsOneShotFlag(object_id_t object, bool& oneShotFlag);

mission/controller/tcsDefs.h

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

mission/system/tree/tcsModeTree.cpp

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

mission/tcs/HeaterHandler.cpp

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

mission/tcs/HeaterHandler.h

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

mission/tcs/defs.h

@@ -1,6 +1,21 @@
 #pragma once
 
 #include <atomic>
+#include <cstdint>
+
+namespace heater {
+enum Switch : uint8_t {
+  HEATER_0_OBC_BRD,
+  HEATER_1_PLOC_PROC_BRD,
+  HEATER_2_ACS_BRD,
+  HEATER_3_PCDU_PDU,
+  HEATER_4_CAMERA,
+  HEATER_5_STR,
+  HEATER_6_DRO,
+  HEATER_7_S_BAND,
+  NUMBER_OF_SWITCHES
+};
+}
 
 namespace tcs {
 

unittest/controller/testThermalController.cpp

@@ -48,7 +48,7 @@ TEST_CASE("Thermal Controller", "[ThermalController]") {
   CommandMessage modeMessage;
 
   ModeMessage::setModeMessage(&modeMessage, ModeMessage::CMD_MODE_COMMAND,
-                              ControllerBase::MODE_NORMAL, HasModesIF::SUBMODE_NONE);
+                              HasModesIF::MODE_ON, HasModesIF::SUBMODE_NONE);
 
   MessageQueueIF* commandQueue =
       QueueFactory::instance()->createMessageQueue(5, MessageQueueMessage::MAX_MESSAGE_SIZE);
@@ -58,7 +58,7 @@ TEST_CASE("Thermal Controller", "[ThermalController]") {
   REQUIRE(controller.performOperation(0) == returnvalue::OK);
 
   REQUIRE(testEnvironment::eventManager->isEventInEventList(
-              THERMAL_CONTROLLER_ID, HasModesIF::MODE_INFO, ControllerBase::MODE_NORMAL,
+              THERMAL_CONTROLLER_ID, HasModesIF::MODE_INFO, HasModesIF::MODE_ON,
               HasModesIF::SUBMODE_NONE) == true);
 
   QueueFactory::instance()->deleteMessageQueue(commandQueue);