Merge remote-tracking branch 'origin/main' into cfdp-fault-handler-event

CHANGELOG.md

@@ -23,6 +23,8 @@ will consitute of a breaking change warranting a new major release:
 - Proper back pressure handling for the CFDP handler, where the `LiveTmTask` is able to throttle
   the CFDP handler.
 - Added CFDP fault handler events.
+- The EIVE system will command the payload OFF explicitely again when receiving the
+  `power::POWER_LEVEL_CRITICAL` event.
 
 ## Fixed
 
@@ -37,6 +39,11 @@ will consitute of a breaking change warranting a new major release:
   is not in normal mode.
 - MPSoC debug mode.
 
+## Changed
+
+- Added a 3 second delay in the EIVE system between commanding all PL components except the SUPV,
+  and the SUPV itself OFF when the power level becomes low or critical.
+
 # [v7.1.0] 2023-10-11
 
 - Bumped `eive-tmtc` to v5.8.0.

mission/system/EiveSystem.cpp

@@ -70,6 +70,9 @@ void EiveSystem::performChildOperation() {
   }
   pdecRecoveryLogic();
   i2cRecoveryLogic();
+  if (forcePlOffState != ForcePlOffState::NONE) {
+    forceOffPayload();
+  }
 }
 
 ReturnValue_t EiveSystem::initialize() {
@@ -203,10 +206,14 @@ void EiveSystem::handleEventMessages() {
             break;
           }
           case power::POWER_LEVEL_LOW: {
-            forceOffPayload();
+            forcePlOffState = ForcePlOffState::FORCE_ALL_EXCEPT_SUPV_OFF;
             break;
           }
-          case power::POWER_LEVEL_CRITICAL:
+          case power::POWER_LEVEL_CRITICAL: {
+            // Force payload off in any case. It really should not be on when the power level
+            // becomes critical, but better be safe than sorry..
+            forcePlOffState = ForcePlOffState::FORCE_ALL_EXCEPT_SUPV_OFF;
+            // Also set the STR assembly to faulty, which should cause a fallback to SAFE mode.
             CommandMessage msg;
             HealthMessage::setHealthMessage(&msg, HealthMessage::HEALTH_SET, HasHealthIF::FAULTY);
             ReturnValue_t result = MessageQueueSenderIF::sendMessage(
@@ -217,6 +224,7 @@ void EiveSystem::handleEventMessages() {
             }
             break;
           }
+        }
         break;
       default:
         sif::debug << "EiveSystem: Did not subscribe to event " << event.getEvent() << std::endl;
@@ -403,38 +411,46 @@ void EiveSystem::pdecRecoveryLogic() {
 
 void EiveSystem::forceOffPayload() {
   CommandMessage msg;
+  ReturnValue_t result;
   // set PL to faulty
   HealthMessage::setHealthMessage(&msg, HealthMessage::HEALTH_SET, HasHealthIF::FAULTY);
 
-  ReturnValue_t result = commandQueue->sendMessage(plPcduQueueId, &msg);
-  if (result != returnvalue::OK) {
-    sif::error << "EIVE System: Sending FAULTY command to PL PCDU failed" << std::endl;
-  }
-
+  if (forcePlOffState == ForcePlOffState::FORCE_ALL_EXCEPT_SUPV_OFF) {
     result = commandQueue->sendMessage(plocMpsocQueueId, &msg);
     if (result != returnvalue::OK) {
       sif::error << "EIVE System: Sending FAULTY command to PLOC MPSOC failed" << std::endl;
     }
-
-  result = commandQueue->sendMessage(plocSupervisorQueueId, &msg);
-  if (result != returnvalue::OK) {
-    sif::error << "EIVE System: Sending FAULTY command to PLOC SUPERVISOR failed" << std::endl;
-  }
-
     result = commandQueue->sendMessage(cameraQueueId, &msg);
     if (result != returnvalue::OK) {
       sif::error << "EIVE System: Sending FAULTY command to PL CAM failed" << std::endl;
     }
-
     result = commandQueue->sendMessage(scexQueueId, &msg);
     if (result != returnvalue::OK) {
       sif::error << "EIVE System: Sending FAULTY command to SCEX failed" << std::endl;
     }
-
     result = commandQueue->sendMessage(radSensorQueueId, &msg);
     if (result != returnvalue::OK) {
       sif::error << "EIVE System: Sending FAULTY command to RAD SENSOR failed" << std::endl;
     }
+    result = commandQueue->sendMessage(plPcduQueueId, &msg);
+    if (result != returnvalue::OK) {
+      sif::error << "EIVE System: Sending FAULTY command to PL PCDU failed" << std::endl;
+    }
+    forcePlOffState = ForcePlOffState::WAITING;
+    supvOffDelay.resetTimer();
+  }
+
+  if (forcePlOffState == ForcePlOffState::WAITING and supvOffDelay.hasTimedOut()) {
+    forcePlOffState = ForcePlOffState::FORCE_SUPV_OFF;
+  }
+
+  if (forcePlOffState == ForcePlOffState::FORCE_SUPV_OFF) {
+    result = commandQueue->sendMessage(plocSupervisorQueueId, &msg);
+    if (result != returnvalue::OK) {
+      sif::error << "EIVE System: Sending FAULTY command to PLOC SUPERVISOR failed" << std::endl;
+    }
+    forcePlOffState = ForcePlOffState::NONE;
+  }
 }
 
 void EiveSystem::commonI2cRecoverySequenceFinish() {

mission/system/EiveSystem.h

@@ -22,6 +22,12 @@ class EiveSystem : public Subsystem, public HasActionsIF {
   [[nodiscard]] MessageQueueId_t getCommandQueue() const override;
 
  private:
+  enum class ForcePlOffState {
+    NONE,
+    FORCE_ALL_EXCEPT_SUPV_OFF,
+    WAITING,
+    FORCE_SUPV_OFF
+  } forcePlOffState = ForcePlOffState::NONE;
   enum class I2cRebootState {
     NONE,
     SYSTEM_MODE_BOOT,
@@ -37,6 +43,7 @@ class EiveSystem : public Subsystem, public HasActionsIF {
   bool alreadyTriedI2cRecovery = false;
 
   uint8_t frameDirtyErrorCounter = 0;
+  Countdown supvOffDelay = Countdown(3000);
   Countdown frameDirtyCheckCd = Countdown(10000);
   // If the PDEC reset was already attempted in the last 2 minutes, there is a high chance that
   // only a full reboot will fix the issue.

tmtc

@@ -1 +1 @@
-Subproject commit 6bd94cc167179fba04ff188d38eb5801496760bc
+Subproject commit 43d6b986953a815c7c020cf73a957f1678c76549