TCS subsystem continued

bsp_q7s/core/ObjectFactory.cpp

@@ -324,7 +324,8 @@ void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
 #endif
 }
 
-void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF, PowerSwitchIF* pwrSwitcher) {
+void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
+                                              PowerSwitchIF* pwrSwitcher) {
   using namespace gpio;
   GpioCookie* gpioCookieSus = new GpioCookie();
   GpioCallback* susgpio = nullptr;
@@ -379,96 +380,85 @@ void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComI
   susHandlers[0]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[0]->setCustomFdir(fdir);
 
-  spiCookie =
+  spiCookie = new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1, q7s::SPI_DEFAULT_DEV,
-      new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
+                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-                    spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
   susHandlers[1] = new SusHandler(objects::SUS_1, 1, objects::SPI_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_1);
   susHandlers[1]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[1]->setCustomFdir(fdir);
 
-  spiCookie =
+  spiCookie = new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2, q7s::SPI_DEFAULT_DEV,
-      new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
+                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-                    spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
   susHandlers[2] = new SusHandler(objects::SUS_2, 2, objects::SPI_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_2);
   susHandlers[2]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[2]->setCustomFdir(fdir);
 
-  spiCookie =
+  spiCookie = new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3, std::string(q7s::SPI_DEFAULT_DEV),
-      new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3, std::string(q7s::SPI_DEFAULT_DEV),
+                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-                    SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
   susHandlers[3] = new SusHandler(objects::SUS_3, 3, objects::SPI_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_3);
   susHandlers[3]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[3]->setCustomFdir(fdir);
 
-  spiCookie =
+  spiCookie = new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4, std::string(q7s::SPI_DEFAULT_DEV),
-      new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4, std::string(q7s::SPI_DEFAULT_DEV),
+                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-                    SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
   susHandlers[4] = new SusHandler(objects::SUS_4, 4, objects::SPI_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_4);
   susHandlers[4]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[4]->setCustomFdir(fdir);
 
-  spiCookie =
+  spiCookie = new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5, std::string(q7s::SPI_DEFAULT_DEV),
-      new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5, std::string(q7s::SPI_DEFAULT_DEV),
+                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-                    SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
   susHandlers[5] = new SusHandler(objects::SUS_5, 5, objects::SPI_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_5);
   susHandlers[5]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[5]->setCustomFdir(fdir);
 
-  spiCookie =
+  spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, q7s::SPI_DEFAULT_DEV,
-      new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
+                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-                    spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
   susHandlers[6] = new SusHandler(objects::SUS_6, 6, objects::SPI_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_6);
   susHandlers[6]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[6]->setCustomFdir(fdir);
 
-  spiCookie =
+  spiCookie = new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, q7s::SPI_DEFAULT_DEV,
-      new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
+                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-                    spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  susHandlers[7] = new SusHandler(objects::SUS_7, 7, objects::SPI_COM_IF, spiCookie);
-  susHandlers[7] =  new SusHandler(objects::SUS_7, 7, objects::SPI_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_7);
   susHandlers[7]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[7]->setCustomFdir(fdir);
 
-  spiCookie =
+  spiCookie = new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8, q7s::SPI_DEFAULT_DEV,
-      new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
+                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-                    spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
   susHandlers[8] = new SusHandler(objects::SUS_8, 8, objects::SPI_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_8);
   susHandlers[8]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[8]->setCustomFdir(fdir);
 
-  spiCookie =
+  spiCookie = new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9, q7s::SPI_DEFAULT_DEV,
-      new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
+                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-                    spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  susHandlers[9] = new SusHandler(objects::SUS_9, 9, objects::SPI_COM_IF, spiCookie);
-  susHandlers[9] =  new SusHandler(objects::SUS_9, 9, objects::SPI_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_9);
   susHandlers[9]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[9]->setCustomFdir(fdir);
 
-  spiCookie =
+  spiCookie = new SpiCookie(addresses::SUS_10, gpioIds::CS_SUS_10, q7s::SPI_DEFAULT_DEV,
-      new SpiCookie(addresses::SUS_10, gpioIds::CS_SUS_10, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
+                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-                    spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  susHandlers[10] = new SusHandler(objects::SUS_10, 10, objects::SPI_COM_IF, spiCookie);
-  susHandlers[10] =  new SusHandler(objects::SUS_10, 10, objects::SPI_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_10);
   susHandlers[10]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[10]->setCustomFdir(fdir);
 
-  spiCookie =
+  spiCookie = new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11, q7s::SPI_DEFAULT_DEV,
-      new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
+                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-                    spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
   susHandlers[11] = new SusHandler(objects::SUS_11, 11, objects::SPI_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_11);
   susHandlers[11]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[11]->setCustomFdir(fdir);
 
-  for(auto& sus: susHandlers) {
+  for (auto& sus : susHandlers) {
-    if(sus != nullptr) {
+    if (sus != nullptr) {
 #if OBSW_TEST_SUS == 1
       sus->setStartUpImmediately();
       sus->setToGoToNormalMode(true);
@@ -485,7 +475,7 @@ void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComI
   SusAssHelper susAssHelper = SusAssHelper(susIds);
   auto susAss =
       new SusAssembly(objects::SUS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher, susAssHelper);
- static_cast<void>(susAss);
+  static_cast<void>(susAss);
 #endif /* OBSW_ADD_SUN_SENSORS == 1 */
 }
 

bsp_q7s/core/ObjectFactory.h

@@ -18,7 +18,8 @@ void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher
 void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF);
 void createTmpComponents();
 void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
-void createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF, PowerSwitchIF* pwrSwitcher);
+void createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
+                               PowerSwitchIF* pwrSwitcher);
 void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
                               PowerSwitchIF* pwrSwitcher);
 void createHeaterComponents();

fsfw

@@ -1 +1 @@
-Subproject commit 16f2fa9327393ba8848817cc5a22497201c41d13
+Subproject commit d791fc87b7bba11c1baa68d544cd991028ff3330

mission/system/CMakeLists.txt

@@ -7,6 +7,7 @@ target_sources(${LIB_EIVE_MISSION} PRIVATE
     ComSubsystem.cpp
     TcsSubsystem.cpp
     DualLanePowerStateMachine.cpp
+    PowerStateMachineBase.cpp
     DualLaneAssemblyBase.cpp
 
     AcsBoardFdir.cpp

mission/system/DualLaneAssemblyBase.cpp

@@ -63,8 +63,8 @@ bool DualLaneAssemblyBase::isUseable(object_id_t object, Mode_t mode) {
 }
 
 ReturnValue_t DualLaneAssemblyBase::pwrStateMachineWrapper() {
-  using namespace duallane;
+  using namespace power;
-  OpCodes opCode = pwrStateMachine.powerStateMachine();
+  OpCodes opCode = pwrStateMachine.fsm();
   if (customRecoveryStates == RecoveryCustomStates::IDLE) {
     if (opCode == OpCodes::NONE) {
       return RETURN_OK;
@@ -163,7 +163,7 @@ void DualLaneAssemblyBase::handleModeTransitionFailed(ReturnValue_t result) {
 }
 
 bool DualLaneAssemblyBase::checkAndHandleRecovery() {
-  using namespace duallane;
+  using namespace power;
   OpCodes opCode = OpCodes::NONE;
   if (recoveryState == RECOVERY_IDLE) {
     return AssemblyBase::checkAndHandleRecovery();
@@ -173,14 +173,14 @@ bool DualLaneAssemblyBase::checkAndHandleRecovery() {
     customRecoveryStates = RecoveryCustomStates::POWER_SWITCHING_OFF;
   }
   if (customRecoveryStates == POWER_SWITCHING_OFF) {
-    opCode = pwrStateMachine.powerStateMachine();
+    opCode = pwrStateMachine.fsm();
     if (opCode == OpCodes::TO_OFF_DONE or opCode == OpCodes::TIMEOUT_OCCURED) {
       customRecoveryStates = RecoveryCustomStates::POWER_SWITCHING_ON;
       pwrStateMachine.start(targetMode, targetSubmode);
     }
   }
   if (customRecoveryStates == POWER_SWITCHING_ON) {
-    opCode = pwrStateMachine.powerStateMachine();
+    opCode = pwrStateMachine.fsm();
     if (opCode == OpCodes::TO_NOT_OFF_DONE or opCode == OpCodes::TIMEOUT_OCCURED) {
       customRecoveryStates = RecoveryCustomStates::DONE;
     }

mission/system/DualLanePowerStateMachine.cpp

@@ -7,37 +7,16 @@ DualLanePowerStateMachine::DualLanePowerStateMachine(pcduSwitches::Switches swit
                                                      pcduSwitches::Switches switchB,
                                                      PowerSwitchIF* pwrSwitcher,
                                                      dur_millis_t checkTimeout)
-    : SWITCH_A(switchA), SWITCH_B(switchB), pwrSwitcher(pwrSwitcher), checkTimeout(checkTimeout) {}
+    : PowerStateMachineBase(pwrSwitcher, checkTimeout), SWITCH_A(switchA), SWITCH_B(switchB) {}
 
-void DualLanePowerStateMachine::setCheckTimeout(dur_millis_t timeout) {
+power::OpCodes DualLanePowerStateMachine::fsm() {
-  checkTimeout.setTimeout(timeout);
-}
-
-void DualLanePowerStateMachine::start(Mode_t mode, Submode_t submode) {
-  reset();
-  checkTimeout.resetTimer();
-  targetMode = mode;
-  targetSubmode = submode;
-  state = duallane::PwrStates::SWITCHING_POWER;
-}
-
-duallane::PwrStates DualLanePowerStateMachine::getState() const { return state; }
-
-bool DualLanePowerStateMachine::active() {
-  if (state == duallane::PwrStates::IDLE or state == duallane::PwrStates::MODE_COMMANDING) {
-    return false;
-  }
-  return true;
-}
-
-duallane::OpCodes DualLanePowerStateMachine::powerStateMachine() {
   using namespace duallane;
   ReturnValue_t switchStateA = RETURN_OK;
   ReturnValue_t switchStateB = RETURN_OK;
-  if (state == PwrStates::IDLE or state == PwrStates::MODE_COMMANDING) {
+  if (state == power::States::IDLE or state == power::States::MODE_COMMANDING) {
     return opResult;
   }
-  if (state == PwrStates::SWITCHING_POWER or state == PwrStates::CHECKING_POWER) {
+  if (state == power::States::SWITCHING_POWER or state == power::States::CHECKING_POWER) {
     switchStateA = pwrSwitcher->getSwitchState(SWITCH_A);
     switchStateB = pwrSwitcher->getSwitchState(SWITCH_B);
   } else {
@@ -45,8 +24,8 @@ duallane::OpCodes DualLanePowerStateMachine::powerStateMachine() {
   }
   if (targetMode == HasModesIF::MODE_OFF) {
     if (switchStateA == PowerSwitchIF::SWITCH_OFF and switchStateB == PowerSwitchIF::SWITCH_OFF) {
-      state = PwrStates::IDLE;
+      state = power::States::IDLE;
-      opResult = OpCodes::TO_OFF_DONE;
+      opResult = power::OpCodes::TO_OFF_DONE;
       return opResult;
     }
   } else {
@@ -54,8 +33,8 @@ duallane::OpCodes DualLanePowerStateMachine::powerStateMachine() {
       case (A_SIDE): {
         if (switchStateA == PowerSwitchIF::SWITCH_ON and
             switchStateB == PowerSwitchIF::SWITCH_OFF) {
-          state = PwrStates::MODE_COMMANDING;
+          state = power::States::MODE_COMMANDING;
-          opResult = OpCodes::TO_NOT_OFF_DONE;
+          opResult = power::OpCodes::TO_NOT_OFF_DONE;
           return opResult;
         }
         break;
@@ -63,22 +42,22 @@ duallane::OpCodes DualLanePowerStateMachine::powerStateMachine() {
       case (B_SIDE): {
         if (switchStateA == PowerSwitchIF::SWITCH_OFF and
             switchStateB == PowerSwitchIF::SWITCH_ON) {
-          state = PwrStates::MODE_COMMANDING;
+          state = power::States::MODE_COMMANDING;
-          opResult = OpCodes::TO_NOT_OFF_DONE;
+          opResult = power::OpCodes::TO_NOT_OFF_DONE;
           return opResult;
         }
         break;
       }
       case (DUAL_MODE): {
         if (switchStateA == PowerSwitchIF::SWITCH_ON and switchStateB == PowerSwitchIF::SWITCH_ON) {
-          state = PwrStates::MODE_COMMANDING;
+          state = power::States::MODE_COMMANDING;
-          opResult = OpCodes::TO_NOT_OFF_DONE;
+          opResult = power::OpCodes::TO_NOT_OFF_DONE;
           return opResult;
         }
       }
     }
   }
-  if (state == PwrStates::SWITCHING_POWER) {
+  if (state == power::States::SWITCHING_POWER) {
     if (targetMode == HasModesIF::MODE_OFF) {
       if (switchStateA != PowerSwitchIF::SWITCH_OFF) {
         pwrSwitcher->sendSwitchCommand(SWITCH_A, PowerSwitchIF::SWITCH_OFF);
@@ -121,20 +100,12 @@ duallane::OpCodes DualLanePowerStateMachine::powerStateMachine() {
         }
       }
     }
-    state = PwrStates::CHECKING_POWER;
+    state = power::States::CHECKING_POWER;
   }
-  if (state == PwrStates::CHECKING_POWER) {
+  if (state == power::States::CHECKING_POWER) {
     if (checkTimeout.hasTimedOut()) {
-      return OpCodes::TIMEOUT_OCCURED;
+      return power::OpCodes::TIMEOUT_OCCURED;
     }
   }
   return opResult;
 }
-
-void DualLanePowerStateMachine::reset() {
-  state = duallane::PwrStates::IDLE;
-  opResult = duallane::OpCodes::NONE;
-  targetMode = HasModesIF::MODE_OFF;
-  targetSubmode = 0;
-  checkTimeout.resetTimer();
-}

mission/system/DualLanePowerStateMachine.h

@@ -3,32 +3,23 @@
 
 #include <devices/powerSwitcherList.h>
 #include <fsfw/modes/HasModesIF.h>
+#include <mission/system/PowerStateMachineBase.h>
 
 #include "definitions.h"
 
 class AssemblyBase;
 class PowerSwitchIF;
 
-class DualLanePowerStateMachine : public HasReturnvaluesIF {
+class DualLanePowerStateMachine : public PowerStateMachineBase {
  public:
   DualLanePowerStateMachine(pcduSwitches::Switches switchA, pcduSwitches::Switches switchB,
                             PowerSwitchIF* pwrSwitcher, dur_millis_t checkTimeout = 5000);
-  void setCheckTimeout(dur_millis_t timeout);
+  power::OpCodes fsm() override;
-  void reset();
+
-  void start(Mode_t mode, Submode_t submode);
-  bool active();
-  duallane::PwrStates getState() const;
-  duallane::OpCodes powerStateMachine();
   const pcduSwitches::Switches SWITCH_A;
   const pcduSwitches::Switches SWITCH_B;
 
  private:
-  duallane::OpCodes opResult = duallane::OpCodes::NONE;
-  duallane::PwrStates state = duallane::PwrStates::IDLE;
-  PowerSwitchIF* pwrSwitcher = nullptr;
-  Mode_t targetMode = HasModesIF::MODE_OFF;
-  Submode_t targetSubmode = 0;
-  Countdown checkTimeout;
 };
 
 #endif /* MISSION_SYSTEM_DUALLANEPOWERSTATEMACHINE_H_ */

mission/system/PowerStateMachineBase.cpp

@@ -0,0 +1,33 @@
+#include "PowerStateMachineBase.h"
+
+PowerStateMachineBase::PowerStateMachineBase(PowerSwitchIF *pwrSwitcher, dur_millis_t checkTimeout)
+    : pwrSwitcher(pwrSwitcher), checkTimeout(checkTimeout) {}
+
+void PowerStateMachineBase::reset() {
+  state = power::States::IDLE;
+  opResult = power::OpCodes::NONE;
+  targetMode = HasModesIF::MODE_OFF;
+  targetSubmode = 0;
+  checkTimeout.resetTimer();
+}
+
+void PowerStateMachineBase::setCheckTimeout(dur_millis_t timeout) {
+  checkTimeout.setTimeout(timeout);
+}
+
+void PowerStateMachineBase::start(Mode_t mode, Submode_t submode) {
+  reset();
+  checkTimeout.resetTimer();
+  targetMode = mode;
+  targetSubmode = submode;
+  state = power::States::SWITCHING_POWER;
+}
+
+power::States PowerStateMachineBase::getState() const { return state; }
+
+bool PowerStateMachineBase::active() {
+  if (state == power::States::IDLE or state == power::States::MODE_COMMANDING) {
+    return false;
+  }
+  return true;
+}

mission/system/PowerStateMachineBase.h

@@ -0,0 +1,31 @@
+#ifndef MISSION_SYSTEM_POWERSTATEMACHINE_H_
+#define MISSION_SYSTEM_POWERSTATEMACHINE_H_
+
+#include <fsfw/modes/HasModesIF.h>
+#include <fsfw/power/PowerSwitchIF.h>
+#include <fsfw/timemanager/Countdown.h>
+
+#include "definitions.h"
+
+class PowerStateMachineBase : public HasReturnvaluesIF {
+ public:
+  PowerStateMachineBase(PowerSwitchIF* pwrSwitcher, dur_millis_t checkTimeout);
+
+  virtual power::OpCodes fsm() = 0;
+
+  void setCheckTimeout(dur_millis_t timeout);
+  void reset();
+  void start(Mode_t mode, Submode_t submode);
+  bool active();
+  power::States getState() const;
+
+ protected:
+  power::OpCodes opResult = power::OpCodes::NONE;
+  power::States state = power::States::IDLE;
+  PowerSwitchIF* pwrSwitcher = nullptr;
+  Mode_t targetMode = HasModesIF::MODE_OFF;
+  Submode_t targetSubmode = 0;
+  Countdown checkTimeout;
+};
+
+#endif /* MISSION_SYSTEM_POWERSTATEMACHINE_H_ */

mission/system/TcsSubsystem.cpp

@@ -1,23 +1,34 @@
 #include "TcsSubsystem.h"
 
-TcsSubsystem::TcsSubsystem(object_id_t objectId, object_id_t parentId, TcsBoardHelper helper)
+#include <fsfw/devicehandlers/DeviceHandlerIF.h>
-  : SubsystemBase(objectId, parentId, MODE_OFF, 24), helper(helper) {
-}
 
-ReturnValue_t TcsSubsystem::handleCommandMessage(CommandMessage *message) {
+TcsSubsystem::TcsSubsystem(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
-  return RETURN_OK;
+                           power::Switch_t theSwitch, TcsBoardHelper helper)
-}
+    : SubsystemBase(objectId, parentId, MODE_OFF, 24),
+      switcher(pwrSwitcher, theSwitch),
+      helper(helper) {}
 
-void TcsSubsystem::performChildOperation() {
+ReturnValue_t TcsSubsystem::handleCommandMessage(CommandMessage* message) { return RETURN_OK; }
-}
+
+void TcsSubsystem::performChildOperation() {}
 
 ReturnValue_t TcsSubsystem::checkModeCommand(Mode_t mode, Submode_t submode,
-    uint32_t *msToReachTheMode) {
+                                             uint32_t* msToReachTheMode) {
-  return RETURN_OK;
+  if (mode == MODE_ON or mode == MODE_OFF or mode == DeviceHandlerIF::MODE_NORMAL) {
+    return RETURN_OK;
+  }
+  return HasModesIF::INVALID_MODE;
 }
 
 ReturnValue_t TcsSubsystem::initialize() {
+  ReturnValue_t result = RETURN_OK;
+  for (const auto& obj : helper.rtdIds) {
+    result = registerChild(obj);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+  }
+  return SubsystemBase::initialize();
 }
 
-void TcsSubsystem::startTransition(Mode_t mode, Submode_t submode) {
+void TcsSubsystem::startTransition(Mode_t mode, Submode_t submode) {}
-}

mission/system/TcsSubsystem.h

@@ -1,31 +1,37 @@
 #ifndef MISSION_SYSTEM_TCSSUBSYSTEM_H_
 #define MISSION_SYSTEM_TCSSUBSYSTEM_H_
 
+#include <fsfw/container/FixedArrayList.h>
+#include <fsfw/power/PowerSwitcher.h>
 #include <fsfw/subsystem/SubsystemBase.h>
 
 struct TcsBoardHelper {
-  TcsBoardHelper(std::array<object_id_t, 16> rtdIds): rtdIds(rtdIds) {}
+  TcsBoardHelper(std::array<object_id_t, 16> rtdIds) : rtdIds(rtdIds) {}
 
   std::array<object_id_t, 16> rtdIds = {};
 };
 
-class TcsSubsystem: public SubsystemBase {
+class TcsSubsystem : public SubsystemBase {
-public:
+ public:
-  TcsSubsystem(object_id_t objectId, object_id_t parentId, TcsBoardHelper helper);
+  TcsSubsystem(object_id_t objectId, object_id_t parentId, PowerSwitchIF *pwrSwitcher,
+               power::Switch_t switcher, TcsBoardHelper helper);
 
   ReturnValue_t initialize() override;
 
-private:
+ private:
+  static constexpr uint8_t NUMBER_RTDS = 16;
+  PowerSwitcher switcher;
+  TcsBoardHelper helper;
+  FixedArrayList<ModeListEntry, NUMBER_RTDS> modeTable;
+
   ReturnValue_t handleCommandMessage(CommandMessage *message) override;
 
   void performChildOperation() override;
 
   ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-                                         uint32_t *msToReachTheMode) override;
+                                 uint32_t *msToReachTheMode) override;
 
   void startTransition(Mode_t mode, Submode_t submode) override;
-
-  TcsBoardHelper helper;
 };
 
 #endif /* MISSION_SYSTEM_TCSSUBSYSTEM_H_ */

mission/system/definitions.h

@@ -3,10 +3,15 @@
 
 #include <fsfw/modes/ModeMessage.h>
 
+namespace power {
+
+enum class States { IDLE, SWITCHING_POWER, CHECKING_POWER, MODE_COMMANDING };
+enum class OpCodes { NONE, TO_OFF_DONE, TO_NOT_OFF_DONE, TIMEOUT_OCCURED };
+
+}  // namespace power
+
 namespace duallane {
 
-enum class PwrStates { IDLE, SWITCHING_POWER, CHECKING_POWER, MODE_COMMANDING };
-enum class OpCodes { NONE, TO_OFF_DONE, TO_NOT_OFF_DONE, TIMEOUT_OCCURED };
 enum Submodes : Submode_t { A_SIDE = 0, B_SIDE = 1, DUAL_MODE = 2 };
 
 }  // namespace duallane