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

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