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

mission/system/EiveSystem.cpp

@@ -144,9 +144,6 @@ ReturnValue_t EiveSystem::executeAction(ActionId_t actionId, MessageQueueId_t co
     case (EXECUTE_I2C_REBOOT): {
       triggerEvent(core::TRYING_I2C_RECOVERY);
       performI2cReboot = true;
-      // This flag is more related to autonomous recovery handling, so we reset it here if this
-      // reboot sequence is commanded manually.
-      alreadyTriedI2cRecovery = false;
       i2cRebootState = I2cRebootState::SYSTEM_MODE_BOOT;
       this->actionCommandedBy = commandedBy;
       return returnvalue::OK;
@@ -264,11 +261,11 @@ void EiveSystem::commandSelfToSafe() { startTransition(satsystem::Mode::SAFE, 0)
 void EiveSystem::commonI2cRecoverySequenceFinish() {
   alreadyTriedI2cRecovery = true;
   performI2cReboot = false;
-  i2cRecoveryClearCountdown.resetTimer();
   i2cRebootState = I2cRebootState::NONE;
-  // Reset this counter. If I2C devices are still problematic, we will get a full reboot
-  // next time this count goes above 5.
+  // Reset this counter and the recovery clear countdown. If I2C devices are still problematic,
+  // we will get a full reboot next time this count goes above 5.
   i2cErrors = 0;
+  i2cRecoveryClearCountdown.resetTimer();
   // This should always be accepted
   commandSelfToSafe();
 }

mission/system/EiveSystem.h

@@ -41,7 +41,6 @@ class EiveSystem : public Subsystem, public HasActionsIF {
   MessageQueueId_t coreCtrlQueueId = MessageQueueIF::NO_QUEUE;
   MessageQueueId_t actionCommandedBy = MessageQueueIF::NO_QUEUE;
   Countdown i2cRebootHandlingCountdown = Countdown(10000);
-  // Countdown i2cUnavailableCountdown = Countdown(30000);
   //  After 1 minute, clear the flag to avoid full reboots on I2C issues.
   Countdown i2cRecoveryClearCountdown = Countdown(60000);
   ReturnValue_t initialize() override;

mission/system/com/ComSubsystem.cpp

@@ -228,3 +228,27 @@ bool ComSubsystem::isTxMode(Mode_t mode) {
   }
   return false;
 }
+
+void ComSubsystem::announceMode(bool recursive) {
+  const char *modeStr = "UNKNOWN";
+  switch (mode) {
+    case (com::RX_ONLY): {
+      modeStr = "RX_ONLY";
+      break;
+    }
+    case (com::RX_AND_TX_LOW_DATARATE): {
+      modeStr = "RX_AND_TX_LOW_DATARATE";
+      break;
+    }
+    case (com::RX_AND_TX_HIGH_DATARATE): {
+      modeStr = "RX_AND_TX_HIGH_DATARATE";
+      break;
+    }
+    case (com::RX_AND_TX_DEFAULT_DATARATE): {
+      modeStr = "RX_AND_TX_DEFAULT_DATARATE";
+      break;
+    }
+  }
+  sif::info << "COM subsystem is now in " << modeStr << " mode" << std::endl;
+  return Subsystem::announceMode(recursive);
+}

mission/system/com/ComSubsystem.h

@@ -47,6 +47,7 @@ class ComSubsystem : public Subsystem, public ReceivesParameterMessagesIF {
   ReturnValue_t initialize() override;
 
   void startTransition(Mode_t mode, Submode_t submode) override;
+  void announceMode(bool recursive) override;
 
   void readEventQueue();
   void handleEventMessage(EventMessage *eventMessage);