Merge pull request 'Add CCSDS handler modes' (#352) from add_ccsds_handler_modes into develop

Reviewed-on: #352

CHANGELOG.md

@@ -10,14 +10,21 @@ list yields a list of all related PRs for each release.
 
 # [unreleased]
 
-## Added
+## Fixed
+
+- The `OBSW_SYRLINKS_SIMULATED` flag is set to 0 for for both EM and FM.
+- MGM4 handling in ACS sensor processing: Bugfix in `mulScalar` operation
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/354
+
+## Changed
 
 - Startracker temperature set and PCDU switcher set are diagnostic now
 
-## Fixed
+## Added
 
-- MGM4 handling in ACS sensor processing: Bugfix in `mulScalar` operation
-  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/354
+- The CCSDS handler can accept mode commands now. It accepts ON and OFF commands. Furthermore
+  it has a submode for low datarate (1) and high datarate (2) for the ON command.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/352
 
 # [v1.20.0] 2023-01-24
 

CMakeLists.txt

@@ -150,7 +150,7 @@ set(OBSW_ADD_SCEX_DEVICE
     ${INIT_VAL}
     CACHE STRING "Add Solar Cell Experiment module")
 set(OBSW_SYRLINKS_SIMULATED
-    ${OBSW_Q7S_EM}
+    0
     CACHE STRING "Syrlinks is simulated")
 
 # ##############################################################################

mission/tmtc/CcsdsIpCoreHandler.cpp

@@ -21,6 +21,7 @@ CcsdsIpCoreHandler::CcsdsIpCoreHandler(object_id_t objectId, object_id_t ptmeId,
       tcDestination(tcDestination),
       parameterHelper(this),
       actionHelper(this, nullptr),
+      modeHelper(this),
       ptmeConfig(ptmeConfig),
       gpioIF(gpioIF),
       enTxClock(enTxClock),
@@ -81,6 +82,11 @@ ReturnValue_t CcsdsIpCoreHandler::initialize() {
     return result;
   }
 
+  result = modeHelper.initialize();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+
   VirtualChannelMapIter iter;
   for (iter = virtualChannelMap.begin(); iter != virtualChannelMap.end(); iter++) {
     result = iter->second->initialize();
@@ -152,6 +158,10 @@ void CcsdsIpCoreHandler::readCommandQueue(void) {
     if (result == returnvalue::OK) {
       return;
     }
+    result = modeHelper.handleModeCommand(&commandMessage);
+    if (result == returnvalue::OK) {
+      return;
+    }
     CommandMessage reply;
     reply.setReplyRejected(CommandMessage::UNKNOWN_COMMAND, commandMessage.getCommand());
     commandQueue->reply(&reply);
@@ -218,10 +228,12 @@ ReturnValue_t CcsdsIpCoreHandler::executeAction(ActionId_t actionId, MessageQueu
   ReturnValue_t result = returnvalue::OK;
   switch (actionId) {
     case SET_LOW_RATE: {
+      submode = static_cast<Submode_t>(Submode::DATARATE_LOW);
       result = ptmeConfig->setRate(RATE_100KBPS);
       break;
     }
     case SET_HIGH_RATE: {
+      submode = static_cast<Submode_t>(Submode::DATARATE_HIGH);
       result = ptmeConfig->setRate(RATE_500KBPS);
       break;
     }
@@ -233,10 +245,16 @@ ReturnValue_t CcsdsIpCoreHandler::executeAction(ActionId_t actionId, MessageQueu
     }
     case EN_TRANSMITTER: {
       enableTransmit();
+      if (mode == HasModesIF::MODE_OFF) {
+        mode = HasModesIF::MODE_ON;
+      }
       return EXECUTION_FINISHED;
     }
     case DISABLE_TRANSMITTER: {
       disableTransmit();
+      if (mode == HasModesIF::MODE_ON) {
+        mode = HasModesIF::MODE_OFF;
+      }
       return EXECUTION_FINISHED;
     }
     case ENABLE_TX_CLK_MANIPULATOR: {
@@ -339,6 +357,48 @@ void CcsdsIpCoreHandler::checkTxTimer() {
   }
 }
 
+void CcsdsIpCoreHandler::getMode(Mode_t* mode, Submode_t* submode) {
+  *mode = this->mode;
+  *submode = this->submode;
+}
+
+ReturnValue_t CcsdsIpCoreHandler::checkModeCommand(Mode_t mode, Submode_t submode,
+                                                   uint32_t* msToReachTheMode) {
+  if (mode == HasModesIF::MODE_ON) {
+    if (submode != static_cast<Submode_t>(Submode::DATARATE_HIGH) and
+        submode != static_cast<Submode_t>(Submode::DATARATE_LOW)) {
+      return HasModesIF::INVALID_SUBMODE;
+    }
+  } else if (mode != HasModesIF::MODE_OFF) {
+    return returnvalue::FAILED;
+  }
+  *msToReachTheMode = 2000;
+  return returnvalue::OK;
+}
+
+void CcsdsIpCoreHandler::startTransition(Mode_t mode, Submode_t submode) {
+  if (mode == HasModesIF::MODE_ON) {
+    enableTransmit();
+    if (submode == static_cast<Submode_t>(Submode::DATARATE_HIGH)) {
+      ReturnValue_t result = ptmeConfig->setRate(RATE_500KBPS);
+      if (result == returnvalue::OK) {
+        mode = HasModesIF::MODE_ON;
+      }
+    } else if (submode == static_cast<Submode_t>(Submode::DATARATE_LOW)) {
+      ReturnValue_t result = ptmeConfig->setRate(RATE_100KBPS);
+      if (result == returnvalue::OK) {
+        mode = HasModesIF::MODE_ON;
+      }
+    }
+  } else if (mode == HasModesIF::MODE_OFF) {
+    disableTransmit();
+    mode = HasModesIF::MODE_OFF;
+  }
+  modeHelper.modeChanged(mode, submode);
+}
+
+void CcsdsIpCoreHandler::announceMode(bool recursive) { triggerEvent(MODE_INFO, mode, submode); }
+
 void CcsdsIpCoreHandler::disableTransmit() {
 #ifndef TE0720_1CFA
   gpioIF->pullLow(enTxClock);

mission/tmtc/CcsdsIpCoreHandler.h

@@ -1,6 +1,8 @@
 #ifndef CCSDSHANDLER_H_
 #define CCSDSHANDLER_H_
 
+#include <fsfw/modes/HasModesIF.h>
+
 #include <cstdint>
 #include <unordered_map>
 
@@ -21,6 +23,8 @@
 #include "fsfw_hal/common/gpio/gpioDefinitions.h"
 #include "linux/ipcore/PtmeConfig.h"
 
+enum class Submode : uint8_t { UNSET = 0, DATARATE_LOW = 1, DATARATE_HIGH = 2 };
+
 /**
  * @brief   This class handles the data exchange with the CCSDS IP cores implemented in the
  *          programmable logic of the Q7S.
@@ -32,6 +36,7 @@
  */
 class CcsdsIpCoreHandler : public SystemObject,
                            public ExecutableObjectIF,
+                           public HasModesIF,
                            public AcceptsTelemetryIF,
                            public AcceptsTelecommandsIF,
                            public ReceivesParameterMessagesIF,
@@ -59,7 +64,14 @@ class CcsdsIpCoreHandler : public SystemObject,
 
   ReturnValue_t performOperation(uint8_t operationCode = 0) override;
   ReturnValue_t initialize();
-  MessageQueueId_t getCommandQueue() const;
+  MessageQueueId_t getCommandQueue() const override;
+
+  // ModesIF
+  void getMode(Mode_t* mode, Submode_t* submode) override;
+  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+                                 uint32_t* msToReachTheMode) override;
+  void startTransition(Mode_t mode, Submode_t submode) override;
+  void announceMode(bool recursive) override;
 
   /**
    * @brief   Function to add a virtual channel
@@ -126,6 +138,9 @@ class CcsdsIpCoreHandler : public SystemObject,
   ParameterHelper parameterHelper;
 
   ActionHelper actionHelper;
+  Mode_t mode = HasModesIF::MODE_OFF;
+  Submode_t submode = static_cast<Submode_t>(Submode::UNSET);
+  ModeHelper modeHelper;
 
   MessageQueueId_t tcDistributorQueueId = MessageQueueIF::NO_QUEUE;
 

tmtc

@@ -1 +1 @@
-Subproject commit 49f27c9923cfa13a3bafce46c37dd2631550f4af
+Subproject commit c36c7ca5bbe12b74f096414383eedfc16576a9d2