Merge remote-tracking branch 'origin/develop' into continue_tcs_tests

CHANGELOG.md

@@ -27,6 +27,8 @@ will consitute of a breaking change warranting a new major release:
   temperature for the all-ones value (0x0fff).
 - Better reply result handling for the ACS board devices.
 - ADIS1650X initial timeout handling now performed in device handler.
+- The RW assembly and TCS board assembly now perform proper power switch handling for their
+  recovery handling.
 
 ## Changed
 
@@ -35,6 +37,8 @@ will consitute of a breaking change warranting a new major release:
   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.
 - 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

dummies/helperFactory.cpp

@@ -40,6 +40,7 @@
 #include "mission/system/com/comModeTree.h"
 #include "mission/system/tree/payloadModeTree.h"
 #include "mission/system/tree/tcsModeTree.h"
+#include "mission/tcs/defs.h"
 
 void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpioIF) {
   new ComIFDummy(objects::DUMMY_COM_IF);
@@ -204,7 +205,8 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
 
     new TemperatureSensorInserter(objects::THERMAL_TEMP_INSERTER, rtdSensorDummies,
                                   tmpSensorDummies);
-    TcsBoardAssembly* tcsBoardAssy = ObjectFactory::createTcsBoardAssy(pwrSwitcher);
+    TcsBoardAssembly* tcsBoardAssy =
+        ObjectFactory::createTcsBoardAssy(pwrSwitcher, tcs::TCS_BOARD_SHORTLY_UNAVAILABLE);
     for (auto& rtd : rtdSensorDummies) {
       rtd.second->connectModeTreeParent(*tcsBoardAssy);
     }

fsfw

@@ -1 +1 @@
-Subproject commit 285d327b97514946f0714e477289f67ee8bd413f
+Subproject commit ffa2fa477f105cc876264335d5b25fc9b174a181

linux/ObjectFactory.cpp

@@ -29,6 +29,7 @@
 #include "mission/system/acs/acsModeTree.h"
 #include "mission/system/tree/payloadModeTree.h"
 #include "mission/system/tree/tcsModeTree.h"
+#include "mission/tcs/defs.h"
 
 void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF,
                                               PowerSwitchIF& pwrSwitcher, std::string spiDev,
@@ -278,7 +279,8 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
   std::array<Max31865EiveHandler*, NUM_RTDS> rtds = {};
   RtdFdir* rtdFdir = nullptr;
 
-  TcsBoardAssembly* tcsBoardAss = ObjectFactory::createTcsBoardAssy(*pwrSwitcher);
+  TcsBoardAssembly* tcsBoardAss =
+      ObjectFactory::createTcsBoardAssy(*pwrSwitcher, tcs::TCS_BOARD_SHORTLY_UNAVAILABLE);
 
   // Create special low level reader communication interface
   new Max31865RtdPolling(objects::SPI_RTD_COM_IF, comIF, gpioComIF);

mission/cfdp/CMakeLists.txt

@@ -1 +1,3 @@
 
+target_sources(
+  ${LIB_EIVE_MISSION} PRIVATE CfdpHandler.cpp)

mission/cfdp/CfdpHandler.cpp

@@ -0,0 +1,134 @@
+#include "CfdpHandler.h"
+
+#include "fsfw/cfdp/pdu/AckPduReader.h"
+#include "fsfw/cfdp/pdu/PduHeaderReader.h"
+#include "fsfw/globalfunctions/arrayprinter.h"
+#include "fsfw/ipc/QueueFactory.h"
+#include "fsfw/tmtcservices/TmTcMessage.h"
+
+using namespace returnvalue;
+using namespace cfdp;
+
+CfdpHandler::CfdpHandler(const FsfwHandlerParams& fsfwParams, const CfdpHandlerCfg& cfdpCfg)
+    : SystemObject(fsfwParams.objectId),
+      msgQueue(fsfwParams.msgQueue),
+      destHandler(
+          DestHandlerParams(LocalEntityCfg(cfdpCfg.id, cfdpCfg.indicCfg, cfdpCfg.faultHandler),
+                            cfdpCfg.userHandler, cfdpCfg.remoteCfgProvider, cfdpCfg.packetInfoList,
+                            cfdpCfg.lostSegmentsList),
+          FsfwParams(fsfwParams.packetDest, nullptr, this, fsfwParams.tcStore,
+                     fsfwParams.tmStore)) {
+  destHandler.setMsgQueue(msgQueue);
+}
+
+[[nodiscard]] const char* CfdpHandler::getName() const { return "CFDP Handler"; }
+
+[[nodiscard]] uint32_t CfdpHandler::getIdentifier() const {
+  return destHandler.getDestHandlerParams().cfg.localId.getValue();
+}
+
+[[nodiscard]] MessageQueueId_t CfdpHandler::getRequestQueue() const { return msgQueue.getId(); }
+
+ReturnValue_t CfdpHandler::initialize() {
+  ReturnValue_t result = destHandler.initialize();
+  if (result != OK) {
+    return result;
+  }
+  tcStore = destHandler.getTcStore();
+  tmStore = destHandler.getTmStore();
+
+  return SystemObject::initialize();
+}
+
+ReturnValue_t CfdpHandler::performOperation(uint8_t operationCode) {
+  // TODO: Receive TC packets and route them to source and dest handler, depending on which is
+  //       correct or more appropriate
+  ReturnValue_t status;
+  ReturnValue_t result = OK;
+  TmTcMessage tmtcMsg;
+  for (status = msgQueue.receiveMessage(&tmtcMsg); status == returnvalue::OK;
+       status = msgQueue.receiveMessage(&tmtcMsg)) {
+    result = handleCfdpPacket(tmtcMsg);
+    if (result != OK) {
+      status = result;
+    }
+  }
+  auto& fsmRes = destHandler.performStateMachine();
+  // TODO: Error handling?
+  while (fsmRes.callStatus == CallStatus::CALL_AGAIN) {
+    destHandler.performStateMachine();
+    // TODO: Error handling?
+  }
+  return status;
+}
+
+ReturnValue_t CfdpHandler::handleCfdpPacket(TmTcMessage& msg) {
+  auto accessorPair = tcStore->getData(msg.getStorageId());
+  if (accessorPair.first != OK) {
+    return accessorPair.first;
+  }
+  PduHeaderReader reader(accessorPair.second.data(), accessorPair.second.size());
+  ReturnValue_t result = reader.parseData();
+  if (result != returnvalue::OK) {
+    return INVALID_PDU_FORMAT;
+  }
+  // The CFDP distributor should have taken care of ensuring the destination ID is correct
+  PduType type = reader.getPduType();
+  // Only the destination handler can process these PDUs
+  if (type == PduType::FILE_DATA) {
+    // Disable auto-deletion of packet
+    accessorPair.second.release();
+    PacketInfo info(type, msg.getStorageId());
+    result = destHandler.passPacket(info);
+  } else {
+    // Route depending on PDU type and directive type if applicable. It retrieves directive type
+    // from the raw stream for better performance (with sanity and directive code check).
+    // The routing is based on section 4.5 of the CFDP standard which specifies the PDU forwarding
+    // procedure.
+
+    // PDU header only. Invalid supplied data. A directive packet should have a valid data field
+    // with at least one byte being the directive code
+    const uint8_t* pduDataField = reader.getPduDataField();
+    if (pduDataField == nullptr) {
+      return INVALID_PDU_FORMAT;
+    }
+    if (not FileDirectiveReader::checkFileDirective(pduDataField[0])) {
+      return INVALID_DIRECTIVE_FIELD;
+    }
+    auto directive = static_cast<FileDirective>(pduDataField[0]);
+
+    auto passToDestHandler = [&]() {
+      accessorPair.second.release();
+      PacketInfo info(type, msg.getStorageId(), directive);
+      result = destHandler.passPacket(info);
+    };
+    auto passToSourceHandler = [&]() {
+
+    };
+    if (directive == FileDirective::METADATA or directive == FileDirective::EOF_DIRECTIVE or
+        directive == FileDirective::PROMPT) {
+      // Section b) of 4.5.3: These PDUs should always be targeted towards the file receiver a.k.a.
+      // the destination handler
+      passToDestHandler();
+    } else if (directive == FileDirective::FINISH or directive == FileDirective::NAK or
+               directive == FileDirective::KEEP_ALIVE) {
+      // Section c) of 4.5.3: These PDUs should always be targeted towards the file sender a.k.a.
+      // the source handler
+      passToSourceHandler();
+    } else if (directive == FileDirective::ACK) {
+      // Section a): Recipient depends of the type of PDU that is being acknowledged. We can simply
+      // extract the PDU type from the raw stream. If it is an EOF PDU, this packet is passed to
+      // the source handler, for a Finished PDU, it is passed to the destination handler.
+      FileDirective ackedDirective;
+      if (not AckPduReader::checkAckedDirectiveField(pduDataField[1], ackedDirective)) {
+        return INVALID_ACK_DIRECTIVE_FIELDS;
+      }
+      if (ackedDirective == FileDirective::EOF_DIRECTIVE) {
+        passToSourceHandler();
+      } else if (ackedDirective == FileDirective::FINISH) {
+        passToDestHandler();
+      }
+    }
+  }
+  return result;
+}

mission/cfdp/CfdpHandler.h

@@ -0,0 +1,71 @@
+#ifndef FSFW_EXAMPLE_HOSTED_CFDPHANDLER_H
+#define FSFW_EXAMPLE_HOSTED_CFDPHANDLER_H
+
+#include <utility>
+
+#include "fsfw/cfdp/handler/DestHandler.h"
+#include "fsfw/objectmanager/SystemObject.h"
+#include "fsfw/tasks/ExecutableObjectIF.h"
+#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
+#include "fsfw/tmtcservices/TmTcMessage.h"
+
+struct FsfwHandlerParams {
+  FsfwHandlerParams(object_id_t objectId, HasFileSystemIF& vfs, AcceptsTelemetryIF& packetDest,
+                    StorageManagerIF& tcStore, StorageManagerIF& tmStore, MessageQueueIF& msgQueue)
+      : objectId(objectId),
+        vfs(vfs),
+        packetDest(packetDest),
+        tcStore(tcStore),
+        tmStore(tmStore),
+        msgQueue(msgQueue) {}
+  object_id_t objectId{};
+  HasFileSystemIF& vfs;
+  AcceptsTelemetryIF& packetDest;
+  StorageManagerIF& tcStore;
+  StorageManagerIF& tmStore;
+  MessageQueueIF& msgQueue;
+};
+
+struct CfdpHandlerCfg {
+  CfdpHandlerCfg(cfdp::EntityId localId, cfdp::IndicationCfg indicationCfg,
+                 cfdp::UserBase& userHandler, cfdp::FaultHandlerBase& userFaultHandler,
+                 cfdp::PacketInfoListBase& packetInfo, cfdp::LostSegmentsListBase& lostSegmentsList,
+                 cfdp::RemoteConfigTableIF& remoteCfgProvider)
+      : id(std::move(localId)),
+        indicCfg(indicationCfg),
+        packetInfoList(packetInfo),
+        lostSegmentsList(lostSegmentsList),
+        remoteCfgProvider(remoteCfgProvider),
+        userHandler(userHandler),
+        faultHandler(userFaultHandler) {}
+
+  cfdp::EntityId id;
+  cfdp::IndicationCfg indicCfg;
+  cfdp::PacketInfoListBase& packetInfoList;
+  cfdp::LostSegmentsListBase& lostSegmentsList;
+  cfdp::RemoteConfigTableIF& remoteCfgProvider;
+  cfdp::UserBase& userHandler;
+  cfdp::FaultHandlerBase& faultHandler;
+};
+
+class CfdpHandler : public SystemObject, public ExecutableObjectIF, public AcceptsTelecommandsIF {
+ public:
+  explicit CfdpHandler(const FsfwHandlerParams& fsfwParams, const CfdpHandlerCfg& cfdpCfg);
+
+  [[nodiscard]] const char* getName() const override;
+  [[nodiscard]] uint32_t getIdentifier() const override;
+  [[nodiscard]] MessageQueueId_t getRequestQueue() const override;
+
+  ReturnValue_t initialize() override;
+  ReturnValue_t performOperation(uint8_t operationCode) override;
+
+ private:
+  MessageQueueIF& msgQueue;
+  cfdp::DestHandler destHandler;
+  StorageManagerIF* tcStore = nullptr;
+  StorageManagerIF* tmStore = nullptr;
+
+  ReturnValue_t handleCfdpPacket(TmTcMessage& msg);
+};
+
+#endif  // FSFW_EXAMPLE_HOSTED_CFDPHANDLER_H

mission/controller/ThermalController.cpp

@@ -21,7 +21,8 @@
 #define LOWER_EBAND_UPPER_LIMITS 0
 #define LOWER_PLOC_UPPER_LIMITS 0
 
-ThermalController::ThermalController(object_id_t objectId, HeaterHandler& heater)
+ThermalController::ThermalController(object_id_t objectId, HeaterHandler& heater,
+                                     const std::atomic_bool& tcsBoardShortUnavailable)
     : ExtendedControllerBase(objectId),
       heaterHandler(heater),
       sensorTemperatures(this),
@@ -66,7 +67,8 @@ ThermalController::ThermalController(object_id_t objectId, HeaterHandler& heater
       susSet8(objects::SUS_8_R_LOC_XBYBZB_PT_YB),
       susSet9(objects::SUS_9_R_LOC_XBYBZB_PT_YF),
       susSet10(objects::SUS_10_N_LOC_XMYBZF_PT_ZF),
-      susSet11(objects::SUS_11_R_LOC_XBYMZB_PT_ZB) {
+      susSet11(objects::SUS_11_R_LOC_XBYMZB_PT_ZB),
+      tcsBrdShortlyUnavailable(tcsBoardShortUnavailable) {
   resetSensorsArray();
 }
 
@@ -134,10 +136,12 @@ void ThermalController::performControlOperation() {
     }
   }
 
-  {
-    PoolReadGuard pg(&sensorTemperatures);
-    if (pg.getReadResult() == returnvalue::OK) {
-      copySensors();
+  if (not tcsBrdShortlyUnavailable) {
+    {
+      PoolReadGuard pg(&sensorTemperatures);
+      if (pg.getReadResult() == returnvalue::OK) {
+        copySensors();
+      }
     }
   }
   {
@@ -188,7 +192,7 @@ void ThermalController::performControlOperation() {
     } else {
       transitionWhenHeatersOffCycles++;
     }
-  } else if (mode != MODE_OFF) {
+  } else if (mode != MODE_OFF and not tcsBrdShortlyUnavailable) {
     performThermalModuleCtrl(heaterSwitchStateArray);
   }
 }

mission/controller/ThermalController.h

@@ -22,6 +22,7 @@
 #include <mission/tcs/Tmp1075Definitions.h>
 #include <mission/utility/trace.h>
 
+#include <atomic>
 #include <list>
 
 /**
@@ -101,7 +102,8 @@ class ThermalController : public ExtendedControllerBase {
   static constexpr int16_t SANITY_LIMIT_LOWER_TEMP = -80;
   static constexpr int16_t SANITY_LIMIT_UPPER_TEMP = 160;
 
-  ThermalController(object_id_t objectId, HeaterHandler& heater);
+  ThermalController(object_id_t objectId, HeaterHandler& heater,
+                    const std::atomic_bool& tcsBoardShortUnavailable);
 
   ReturnValue_t initialize() override;
 
@@ -188,6 +190,10 @@ class ThermalController : public ExtendedControllerBase {
   susMax1227::SusDataset susSet10;
   susMax1227::SusDataset susSet11;
 
+  // If the TCS board in unavailable, for example due to a recovery, skip
+  // some TCS controller tasks to avoid unnecessary events.
+  const std::atomic_bool& tcsBrdShortlyUnavailable = false;
+
   lp_var_t<float> tempQ7s = lp_var_t<float>(objects::CORE_CONTROLLER, core::PoolIds::TEMPERATURE);
   lp_var_t<int16_t> battTemp1 = lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, bpxBat::BATT_TEMP_1);
   lp_var_t<int16_t> battTemp2 = lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, bpxBat::BATT_TEMP_2);

mission/genericFactory.cpp

@@ -1,5 +1,5 @@
 #include <fsfw/cfdp/CfdpDistributor.h>
-#include <fsfw/cfdp/handler/CfdpHandler.h>
+#include <mission/cfdp/CfdpHandler.h>
 #include <fsfw/cfdp/handler/RemoteConfigTableIF.h>
 #include <fsfw/controller/ControllerBase.h>
 #include <fsfw/controller/ExtendedControllerBase.h>
@@ -48,6 +48,7 @@
 #include "mission/system/acs/RwAssembly.h"
 #include "mission/system/acs/acsModeTree.h"
 #include "mission/system/tree/tcsModeTree.h"
+#include "mission/tcs/defs.h"
 #include "mission/tmtc/tmFilters.h"
 #include "objects/systemObjectList.h"
 #include "tmtc/pusIds.h"
@@ -90,6 +91,8 @@ EiveFaultHandler EIVE_FAULT_HANDLER;
 
 }  // namespace cfdp
 
+std::atomic_bool tcs::TCS_BOARD_SHORTLY_UNAVAILABLE = false;
+
 void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFunnel** pusFunnel,
                                           CfdpTmFunnel** cfdpFunnel, SdCardMountedIF& sdcMan,
                                           StorageManagerIF** ipcStore, StorageManagerIF** tmStore,
@@ -300,7 +303,8 @@ void ObjectFactory::createGenericHeaterComponents(GpioIF& gpioIF, PowerSwitchIF&
 }
 
 void ObjectFactory::createThermalController(HeaterHandler& heaterHandler) {
-  auto* tcsCtrl = new ThermalController(objects::THERMAL_CONTROLLER, heaterHandler);
+  auto* tcsCtrl = new ThermalController(objects::THERMAL_CONTROLLER, heaterHandler,
+                                        tcs::TCS_BOARD_SHORTLY_UNAVAILABLE);
   tcsCtrl->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
 }
 void ObjectFactory::createRwAssy(PowerSwitchIF& pwrSwitcher, power::Switch_t theSwitch,
@@ -366,10 +370,12 @@ void ObjectFactory::createAcsBoardAssy(PowerSwitchIF& pwrSwitcher,
   acsAss->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
 }
 
-TcsBoardAssembly* ObjectFactory::createTcsBoardAssy(PowerSwitchIF& pwrSwitcher) {
+TcsBoardAssembly* ObjectFactory::createTcsBoardAssy(PowerSwitchIF& pwrSwitcher,
+                                                    std::atomic_bool& tcsShortlyUnavailable) {
   TcsBoardHelper helper(RTD_INFOS);
-  auto* tcsBoardAss = new TcsBoardAssembly(objects::TCS_BOARD_ASS, &pwrSwitcher,
-                                           power::Switches::PDU1_CH0_TCS_BOARD_3V3, helper);
+  auto* tcsBoardAss =
+      new TcsBoardAssembly(objects::TCS_BOARD_ASS, &pwrSwitcher,
+                           power::Switches::PDU1_CH0_TCS_BOARD_3V3, helper, tcsShortlyUnavailable);
   tcsBoardAss->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
   return tcsBoardAss;
 }

mission/genericFactory.h

@@ -55,7 +55,8 @@ void createRwAssy(PowerSwitchIF& pwrSwitcher, power::Switch_t theSwitch,
 void createSusAssy(PowerSwitchIF& pwrSwitcher, std::array<DeviceHandlerBase*, 12> suses);
 void createAcsBoardAssy(PowerSwitchIF& pwrSwitcher, std::array<DeviceHandlerBase*, 8> assemblyDhbs,
                         ExtendedControllerBase* gpsCtrl, GpioIF* gpioComIF);
-TcsBoardAssembly* createTcsBoardAssy(PowerSwitchIF& pwrSwitcher);
+TcsBoardAssembly* createTcsBoardAssy(PowerSwitchIF& pwrSwitcher,
+                                     std::atomic_bool& tcsShortlyUnavailable);
 
 }  // namespace ObjectFactory
 

mission/power/defs.h

@@ -50,6 +50,7 @@ static constexpr Event FDIR_REACTION_IGNORED = event::makeEvent(SUBSYSTEM_ID, 3,
 enum class States { IDLE, SWITCHING_POWER, CHECKING_POWER, MODE_COMMANDING };
 enum class OpCodes { NONE, TO_OFF_DONE, TO_NOT_OFF_DONE, TIMEOUT_OCCURED };
 
+enum RecoveryCustomStates { IDLE, POWER_SWITCHING_OFF, POWER_SWITCHING_ON, DONE };
 }  // namespace power
 
 namespace duallane {

mission/system/CMakeLists.txt

@@ -6,5 +6,6 @@ add_subdirectory(fdir)
 add_subdirectory(power)
 
 target_sources(
-  ${LIB_EIVE_MISSION} PRIVATE systemTree.cpp DualLanePowerStateMachine.cpp
-                              EiveSystem.cpp treeUtil.cpp)
+  ${LIB_EIVE_MISSION}
+  PRIVATE systemTree.cpp DualLanePowerStateMachine.cpp EiveSystem.cpp
+          treeUtil.cpp SharedPowerAssemblyBase.cpp)

mission/system/SharedPowerAssemblyBase.cpp

@@ -0,0 +1,91 @@
+#include "SharedPowerAssemblyBase.h"
+
+SharedPowerAssemblyBase::SharedPowerAssemblyBase(object_id_t objectId, PowerSwitchIF* pwrSwitcher,
+                                                 power::Switch_t switchId, uint16_t cmdQueueDepth)
+    : AssemblyBase(objectId, cmdQueueDepth), switcher(pwrSwitcher, switchId) {}
+
+void SharedPowerAssemblyBase::performChildOperation() {
+  auto state = switcher.getState();
+  if (state != PowerSwitcher::WAIT_OFF and state != PowerSwitcher::WAIT_ON) {
+    AssemblyBase::performChildOperation();
+    return;
+  }
+  switcher.doStateMachine();
+  if (state == PowerSwitcher::WAIT_OFF and switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
+    // Indicator that a transition to off is finished
+    AssemblyBase::handleModeReached();
+  } else if (state == PowerSwitcher::WAIT_ON and
+             switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
+    // Indicator that mode commanding can be performed now
+    AssemblyBase::startTransition(targetMode, targetSubmode);
+  }
+}
+
+void SharedPowerAssemblyBase::startTransition(Mode_t mode, Submode_t submode) {
+  if (mode != MODE_OFF) {
+    switcher.turnOn(true);
+    switcher.doStateMachine();
+    if (switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
+      AssemblyBase::startTransition(mode, submode);
+    } else {
+      // Need to wait with mode commanding until power switcher is done
+      targetMode = mode;
+      targetSubmode = submode;
+    }
+  } else {
+    // Perform regular mode commanding first
+    AssemblyBase::startTransition(mode, submode);
+  }
+}
+
+void SharedPowerAssemblyBase::handleModeReached() {
+  if (targetMode == MODE_OFF) {
+    switcher.turnOff(true);
+    switcher.doStateMachine();
+    // Need to wait with call to AssemblyBase::handleModeReached until power switcher is done
+    if (switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
+      AssemblyBase::handleModeReached();
+    }
+  } else {
+    AssemblyBase::handleModeReached();
+  }
+}
+
+bool SharedPowerAssemblyBase::checkAndHandleRecovery() {
+  using namespace power;
+  if (recoveryState == RECOVERY_IDLE) {
+    return AssemblyBase::checkAndHandleRecovery();
+  }
+  if (customRecoveryStates == IDLE) {
+    switcher.turnOff();
+    customRecoveryStates = RecoveryCustomStates::POWER_SWITCHING_OFF;
+  }
+  if (customRecoveryStates == POWER_SWITCHING_OFF) {
+    switcher.doStateMachine();
+    if (switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
+      customRecoveryStates = RecoveryCustomStates::POWER_SWITCHING_ON;
+      switcher.turnOn();
+    }
+  }
+  if (customRecoveryStates == POWER_SWITCHING_ON) {
+    switcher.doStateMachine();
+    if (switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
+      customRecoveryStates = RecoveryCustomStates::DONE;
+    }
+  }
+  if (customRecoveryStates == DONE) {
+    bool pendingRecovery = AssemblyBase::checkAndHandleRecovery();
+    if (not pendingRecovery) {
+      customRecoveryStates = RecoveryCustomStates::IDLE;
+    }
+    // For a recovery on one side, only do the recovery once
+    for (auto& child : childrenMap) {
+      if (healthHelper.healthTable->getHealth(child.first) == HasHealthIF::NEEDS_RECOVERY) {
+        sendHealthCommand(child.second.commandQueue, HEALTHY);
+        child.second.healthChanged = false;
+      }
+    }
+    return pendingRecovery;
+  }
+  return true;
+}

mission/system/SharedPowerAssemblyBase.h

@@ -0,0 +1,27 @@
+#ifndef MISSION_SYSTEM_SHAREDPOWERASSEMBLYBASE_H_
+#define MISSION_SYSTEM_SHAREDPOWERASSEMBLYBASE_H_
+
+#include <fsfw/devicehandlers/AssemblyBase.h>
+#include <fsfw/power/PowerSwitcher.h>
+#include <mission/power/defs.h>
+
+/**
+ * Base class which contains common functions for assemblies where the power line is shared
+ * among the devices in the assembly.
+ */
+class SharedPowerAssemblyBase : public AssemblyBase {
+ public:
+  SharedPowerAssemblyBase(object_id_t objectId, PowerSwitchIF* pwrSwitcher,
+                          power::Switch_t switchId, uint16_t cmdQueueDepth = 8);
+
+ protected:
+  PowerSwitcher switcher;
+  power::RecoveryCustomStates customRecoveryStates = power::RecoveryCustomStates::IDLE;
+
+  void performChildOperation() override;
+  void startTransition(Mode_t mode, Submode_t submode) override;
+  void handleModeReached() override;
+  virtual bool checkAndHandleRecovery() override;
+};
+
+#endif /* MISSION_SYSTEM_SHAREDPOWERASSEMBLYBASE_H_ */

mission/system/acs/DualLaneAssemblyBase.h

@@ -39,12 +39,7 @@ class DualLaneAssemblyBase : public AssemblyBase, public ConfirmsFailuresIF {
   SideSwitchState sideSwitchState = SideSwitchState::NONE;
   duallane::Submodes targetSubmodeForSideSwitch = duallane::Submodes::B_SIDE;
 
-  enum RecoveryCustomStates {
-    IDLE,
-    POWER_SWITCHING_OFF,
-    POWER_SWITCHING_ON,
-    DONE
-  } customRecoveryStates = RecoveryCustomStates::IDLE;
+  power::RecoveryCustomStates customRecoveryStates = power::RecoveryCustomStates::IDLE;
 
   MessageQueueIF* eventQueue = nullptr;
 

mission/system/acs/RwAssembly.cpp

@@ -1,8 +1,8 @@
 #include "RwAssembly.h"
 
-RwAssembly::RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t switcher,
+RwAssembly::RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t switchId,
                        RwHelper helper)
-    : AssemblyBase(objectId), helper(helper), switcher(pwrSwitcher, switcher) {
+    : SharedPowerAssemblyBase(objectId, pwrSwitcher, switchId), helper(helper) {
   ModeListEntry entry;
   for (uint8_t idx = 0; idx < NUMBER_RWS; idx++) {
     entry.setObject(helper.rwIds[idx]);
@@ -12,26 +12,8 @@ RwAssembly::RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::
   }
 }
 
-void RwAssembly::performChildOperation() {
-  auto state = switcher.getState();
-  if (state != PowerSwitcher::WAIT_OFF and state != PowerSwitcher::WAIT_ON) {
-    AssemblyBase::performChildOperation();
-    return;
-  }
-  switcher.doStateMachine();
-  if (state == PowerSwitcher::WAIT_OFF and switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
-    // Indicator that a transition to off is finished
-    AssemblyBase::handleModeReached();
-  } else if (state == PowerSwitcher::WAIT_ON and
-             switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
-    // Indicator that mode commanding can be performed now
-    AssemblyBase::startTransition(targetMode, targetSubmode);
-  }
-}
-
 ReturnValue_t RwAssembly::commandChildren(Mode_t mode, Submode_t submode) {
   ReturnValue_t result = returnvalue::OK;
-  modeTransitionFailedSwitch = true;
   // Initialize the mode table to ensure all devices are in a defined state
   for (uint8_t idx = 0; idx < NUMBER_RWS; idx++) {
     modeTable[idx].setMode(MODE_OFF);
@@ -76,36 +58,6 @@ ReturnValue_t RwAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode)
   return HasModesIF::INVALID_MODE;
 }
 
-void RwAssembly::startTransition(Mode_t mode, Submode_t submode) {
-  if (mode != MODE_OFF) {
-    switcher.turnOn(true);
-    switcher.doStateMachine();
-    if (switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
-      AssemblyBase::startTransition(mode, submode);
-    } else {
-      // Need to wait with mode commanding until power switcher is done
-      targetMode = mode;
-      targetSubmode = submode;
-    }
-  } else {
-    // Perform regular mode commanding first
-    AssemblyBase::startTransition(mode, submode);
-  }
-}
-
-void RwAssembly::handleModeReached() {
-  if (targetMode == MODE_OFF) {
-    switcher.turnOff(true);
-    switcher.doStateMachine();
-    // Need to wait with call to AssemblyBase::handleModeReached until power switcher is done
-    if (switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
-      AssemblyBase::handleModeReached();
-    }
-  } else {
-    AssemblyBase::handleModeReached();
-  }
-}
-
 ReturnValue_t RwAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode) {
   ReturnValue_t result = returnvalue::OK;
   object_id_t objId = 0;

mission/system/acs/RwAssembly.h

@@ -1,8 +1,8 @@
 #ifndef MISSION_SYSTEM_RWASS_H_
 #define MISSION_SYSTEM_RWASS_H_
 
-#include <fsfw/devicehandlers/AssemblyBase.h>
 #include <fsfw/power/PowerSwitcher.h>
+#include <mission/system/SharedPowerAssemblyBase.h>
 
 struct RwHelper {
   RwHelper(std::array<object_id_t, 4> rwIds) : rwIds(rwIds) {}
@@ -10,17 +10,15 @@ struct RwHelper {
   std::array<object_id_t, 4> rwIds = {};
 };
 
-class RwAssembly : public AssemblyBase {
+class RwAssembly : public SharedPowerAssemblyBase {
  public:
-  RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t switcher,
+  RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t switchId,
              RwHelper helper);
 
  private:
   static constexpr uint8_t NUMBER_RWS = 4;
   RwHelper helper;
-  PowerSwitcher switcher;
   bool warningSwitch = true;
-  bool modeTransitionFailedSwitch = true;
   FixedArrayList<ModeListEntry, NUMBER_RWS> modeTable;
 
   ReturnValue_t initialize() override;
@@ -35,12 +33,9 @@ class RwAssembly : public AssemblyBase {
   bool isUseable(object_id_t object, Mode_t mode);
 
   // AssemblyBase implementation
-  void performChildOperation() override;
   ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
   ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
   ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
-  void startTransition(Mode_t mode, Submode_t submode) override;
-  void handleModeReached() override;
 };
 
 #endif /* MISSION_SYSTEM_RWASS_H_ */

mission/system/fdir/RtdFdir.cpp

@@ -3,4 +3,4 @@
 #include "eive/objects.h"
 
 RtdFdir::RtdFdir(object_id_t sensorId)
-    : DeviceHandlerFailureIsolation(sensorId, objects::TCS_BOARD_ASS) {}
+    : DeviceHandlerFailureIsolation(sensorId, objects::NO_OBJECT) {}

mission/system/objects/TcsBoardAssembly.cpp

@@ -4,9 +4,11 @@
 #include <fsfw/ipc/QueueFactory.h>
 
 TcsBoardAssembly::TcsBoardAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher,
-                                   power::Switch_t theSwitch, TcsBoardHelper helper)
-    : AssemblyBase(objectId, 24), switcher(pwrSwitcher, theSwitch), helper(helper) {
-  eventQueue = QueueFactory::instance()->createMessageQueue(24);
+                                   power::Switch_t theSwitch, TcsBoardHelper helper,
+                                   std::atomic_bool& tcsShortlyUnavailable)
+    : SharedPowerAssemblyBase(objectId, pwrSwitcher, theSwitch, 16),
+      helper(helper),
+      tcsShortlyUnavailable(tcsShortlyUnavailable) {
   ModeListEntry entry;
   for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) {
     entry.setObject(helper.rtdInfos[idx].first);
@@ -16,23 +18,6 @@ TcsBoardAssembly::TcsBoardAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitc
   }
 }
 
-void TcsBoardAssembly::performChildOperation() {
-  auto state = switcher.getState();
-  if (state != PowerSwitcher::WAIT_OFF and state != PowerSwitcher::WAIT_ON) {
-    AssemblyBase::performChildOperation();
-    return;
-  }
-  switcher.doStateMachine();
-  if (state == PowerSwitcher::WAIT_OFF and switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
-    // Indicator that a transition to off is finished
-    AssemblyBase::handleModeReached();
-  } else if (state == PowerSwitcher::WAIT_ON and
-             switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
-    // Indicator that mode commanding can be performed now
-    AssemblyBase::startTransition(targetMode, targetSubmode);
-  }
-}
-
 ReturnValue_t TcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode) {
   ReturnValue_t result = returnvalue::OK;
   // Initialize the mode table to ensure all devices are in a defined state
@@ -50,6 +35,8 @@ ReturnValue_t TcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode)
     if (mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_ON) {
       result = handleNormalOrOnModeCmd(mode, submode);
     }
+  } else {
+    tcsShortlyUnavailable = true;
   }
   HybridIterator<ModeListEntry> tableIter(modeTable.begin(), modeTable.end());
   executeTable(tableIter);
@@ -94,25 +81,6 @@ ReturnValue_t TcsBoardAssembly::isModeCombinationValid(Mode_t mode, Submode_t su
   return HasModesIF::INVALID_MODE;
 }
 
-ReturnValue_t TcsBoardAssembly::initialize() { return AssemblyBase::initialize(); }
-
-void TcsBoardAssembly::startTransition(Mode_t mode, Submode_t submode) {
-  if (mode != MODE_OFF) {
-    switcher.turnOn(true);
-    switcher.doStateMachine();
-    if (switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
-      AssemblyBase::startTransition(mode, submode);
-    } else {
-      // Need to wait with mode commanding until power switcher is done
-      targetMode = mode;
-      targetSubmode = submode;
-    }
-  } else {
-    // Perform regular mode commanding first
-    AssemblyBase::startTransition(mode, submode);
-  }
-}
-
 ReturnValue_t TcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode) {
   ReturnValue_t result = returnvalue::OK;
   bool needsSecondStep = false;
@@ -169,21 +137,6 @@ bool TcsBoardAssembly::isUseable(object_id_t object, Mode_t mode) {
   return false;
 }
 
-MessageQueueId_t TcsBoardAssembly::getEventReceptionQueue() { return eventQueue->getId(); }
-
-void TcsBoardAssembly::handleModeReached() {
-  if (targetMode == MODE_OFF) {
-    switcher.turnOff(true);
-    switcher.doStateMachine();
-    // Need to wait with call to AssemblyBase::handleModeReached until power switcher is done
-    if (switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
-      AssemblyBase::handleModeReached();
-    }
-  } else {
-    AssemblyBase::handleModeReached();
-  }
-}
-
 void TcsBoardAssembly::handleChildrenLostMode(ReturnValue_t result) {
   triggerEvent(CHILDREN_LOST_MODE, result);
   startTransition(mode, submode);
@@ -210,6 +163,12 @@ ReturnValue_t TcsBoardAssembly::checkAndHandleHealthStates(Mode_t deviceMode,
   return status;
 }
 
+bool TcsBoardAssembly::checkAndHandleRecovery() {
+  bool recoveryPending = SharedPowerAssemblyBase::checkAndHandleRecovery();
+  tcsShortlyUnavailable = recoveryPending;
+  return recoveryPending;
+}
+
 void TcsBoardAssembly::handleModeTransitionFailed(ReturnValue_t result) {
   if (targetMode == MODE_OFF) {
     AssemblyBase::handleModeTransitionFailed(result);

mission/system/objects/TcsBoardAssembly.h

@@ -4,6 +4,10 @@
 #include <fsfw/container/FixedArrayList.h>
 #include <fsfw/devicehandlers/AssemblyBase.h>
 #include <fsfw/power/PowerSwitcher.h>
+#include <mission/power/defs.h>
+#include <mission/system/SharedPowerAssemblyBase.h>
+
+#include <atomic>
 
 #include "events/subsystemIdRanges.h"
 #include "returnvalues/classIds.h"
@@ -15,23 +19,20 @@ struct TcsBoardHelper {
   std::array<std::pair<object_id_t, std::string>, 16> rtdInfos = {};
 };
 
-class TcsBoardAssembly : public AssemblyBase, public ConfirmsFailuresIF {
+class TcsBoardAssembly : public SharedPowerAssemblyBase {
  public:
   static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::TCS_BOARD_ASS;
   static constexpr Event CHILDREN_LOST_MODE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
 
   TcsBoardAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t switcher,
-                   TcsBoardHelper helper);
-
-  ReturnValue_t initialize() override;
+                   TcsBoardHelper helper, std::atomic_bool& tcsShortlyUnavailable);
 
  private:
   static constexpr uint8_t NUMBER_RTDS = 16;
-  PowerSwitcher switcher;
   bool warningSwitch = true;
   TcsBoardHelper helper;
   FixedArrayList<ModeListEntry, NUMBER_RTDS> modeTable;
-  MessageQueueIF* eventQueue = nullptr;
+  std::atomic_bool& tcsShortlyUnavailable;
 
   ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode);
   /**
@@ -42,17 +43,12 @@ class TcsBoardAssembly : public AssemblyBase, public ConfirmsFailuresIF {
    */
   bool isUseable(object_id_t object, Mode_t mode);
 
-  // ConfirmFailureIF implementation
-  MessageQueueId_t getEventReceptionQueue() override;
-
   // AssemblyBase implementation
-  void performChildOperation() override;
   ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
   ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
   ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
-  void startTransition(Mode_t mode, Submode_t submode) override;
-  void handleModeReached() override;
   ReturnValue_t checkAndHandleHealthStates(Mode_t deviceMode, Submode_t deviceSubmode);
+  bool checkAndHandleRecovery() override;
 
   // These two overrides prevent a transition of the whole assembly back to off just because
   // some devices are not working

mission/tcs/defs.h

@@ -1,6 +1,6 @@
-#ifndef MISSION_TCS_DEFS_H_
-#define MISSION_TCS_DEFS_H_
+#pragma once
 
+#include <atomic>
 #include <cstdint>
 
 namespace heater {
@@ -17,4 +17,8 @@ enum Switch : uint8_t {
 };
 }
 
-#endif /* MISSION_TCS_DEFS_H_ */
+namespace tcs {
+
+extern std::atomic_bool TCS_BOARD_SHORTLY_UNAVAILABLE;
+
+}

unittest/controller/testThermalController.cpp

@@ -15,6 +15,7 @@
 
 TEST_CASE("Thermal Controller", "[ThermalController]") {
   const object_id_t THERMAL_CONTROLLER_ID = 0x123;
+  std::atomic_bool tcsBrdShortlyUnavailable = false;
 
   TemperatureSensorInserter::Max31865DummyMap map0;
   TemperatureSensorInserter::Tmp1075DummyMap map1;
@@ -29,7 +30,7 @@ TEST_CASE("Thermal Controller", "[ThermalController]") {
 
   // testEnvironment::initialize();
 
-  ThermalController controller(THERMAL_CONTROLLER_ID, *heaterHandler);
+  ThermalController controller(THERMAL_CONTROLLER_ID, *heaterHandler, tcsBrdShortlyUnavailable);
   ReturnValue_t result = controller.initialize();
   REQUIRE(result == returnvalue::OK);