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

Reviewed-on: #217
Reviewed-by: Jakob.Meier <meierj@irs.uni-stuttgart.de>

CHANGELOG.md

@@ -0,0 +1,26 @@
+Change Log
+=======
+
+All notable changes to this project will be documented in this file.
+
+The format is based on [Keep a Changelog](http://keepachangelog.com/)
+and this project adheres to [Semantic Versioning](http://semver.org/).
+
+The [milestone](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/milestones)
+list yields a list of all related PRs for each release.
+
+# [unreleased]
+
+# [v1.11.0]
+
+## Changed
+
+- Update rootfs base of Linux, all related OBSW changes
+- Use gpsd version 3.17 now. Includes API changes
+- Add `/usr/local/bin` to PATH. All shell scripts are there now
+- Rename GPS device to `/dev/gps0`
+
+# [v1.10.0]
+
+For all releases equal or prior to v1.10.0,
+see [milestones](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/milestones)

CMakeLists.txt

@@ -16,7 +16,10 @@ set(CMAKE_SCRIPT_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 
 option(EIVE_ADD_ETL_LIB "Add ETL library" ON)
 option(EIVE_ADD_JSON_LIB "Add JSON library" ON)
-
+option(EIVE_HARDCODED_TOOLCHAIN_FILE "\
+For Linux Board Target BSPs, a default toolchain file will be set. Should be set to OFF \
+if a different toolchain file is set externally" ON
+)
 option(EIVE_SYSROOT_MAGIC "Perform sysroot magic which might not be necessary" OFF)
 option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name" ON)
 
@@ -41,7 +44,7 @@ include(${CMAKE_SCRIPT_PATH}/PreProjectConfig.cmake)
 pre_project_config()
 
 # Check whether the user has already installed Catch2 first. This has to come before
-# the project call. We could also exlcude doing this when the Q7S primary OBSW is built..
+# the project call. We could also exclude doing this when the Q7S primary OBSW is built..
 find_package(Catch2 3 CONFIG QUIET)
 
 # Project Name
@@ -247,8 +250,13 @@ else()
 endif()
 set_target_properties(${OBSW_NAME} PROPERTIES OUTPUT_NAME ${OBSW_BIN_NAME})
 
-#watchdog
-add_executable(${WATCHDOG_NAME} EXCLUDE_FROM_ALL)
+# Watchdog
+if(TGT_BSP MATCHES "arm/q7s")
+    add_executable(${WATCHDOG_NAME})
+else()
+    add_executable(${WATCHDOG_NAME} EXCLUDE_FROM_ALL)
+endif()
+
 add_subdirectory(${WATCHDOG_PATH}) 
 target_link_libraries(${WATCHDOG_NAME} PUBLIC
     ${LIB_CXX_FS}
@@ -373,7 +381,7 @@ endif()
 
 
 
-if(${CMAKE_CROSSCOMPILING})
+if(CMAKE_CROSSCOMPILING)
 	include (${CMAKE_SCRIPT_PATH}/HardwareOsPostConfig.cmake)
 	post_source_hw_os_config()
 endif()

README.md

@@ -163,23 +163,26 @@ automatically.
 
 The EIVE OBSW is the default target if no target is specified.
 
+**Debug**
+
 ```sh
 mkdir build-Debug-Q7S && cd build-Debug-Q7S
 cmake -DTGT_BSP=arm/q7s -DCMAKE_BUILD_TYPE=Debug ..
 cmake --build . -j
 ```
 
-### Q7S Watchdog
-
-To build the EIVE watchdog, the corresponding target must be specified in the build command.
-The configure steps do not need to be repeated if the folder has already been configured.
+**Release**
 
 ```sh
-mkdir build-Debug-Watchdog && cd build-Debug-Watchdog
-cmake -DTGT_BSP=arm/q7s -DCMAKE_BUILD_TYPE=Debug ..
-cmake --build . --target eive-watchdog -j
+mkdir build-Release-Q7S && cd build-Release-Q7S
+cmake -DTGT_BSP=arm/q7s -DCMAKE_BUILD_TYPE=Release ..
+cmake --build . -j
 ```
 
+### Q7S Watchdog
+
+The watchdog will be built along side the primary OBSW binary.
+
 ### Hosted
 
 You can also use the FSFW OSAL `host` to build on Windows or for generic OSes.

bsp_te0720_1cfa/InitMission.cpp

@@ -82,7 +82,7 @@ void initmission::initTasks() {
 
   std::vector<PeriodicTaskIF*> pstTasks;
   FixedTimeslotTaskIF* pst = factory->createFixedTimeslotTask(
-      "UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
+      "UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
   result = pst::pstUart(pst);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;

bsp_te0720_1cfa/ObjectFactory.cpp

@@ -44,16 +44,15 @@ void ObjectFactory::produce(void* args) {
   ObjectFactory::produceGenericObjects();
 
 #if OBSW_ADD_PLOC_MPSOC == 1
-  UartCookie* mpsocUartCookie =
-      new UartCookie(objects::PLOC_MPSOC_HANDLER, te0720_1cfa::MPSOC_UART, UartModes::NON_CANONICAL,
-                     uart::PLOC_MPSOC_BAUD, mpsoc::MAX_REPLY_SIZE);
+  UartCookie* mpsocUartCookie = new UartCookie(objects::PLOC_MPSOC_HANDLER, te0720_1cfa::MPSOC_UART,
+                                               uart::PLOC_MPSOC_BAUD, mpsoc::MAX_REPLY_SIZE);
   mpsocUartCookie->setNoFixedSizeReply();
   PlocMPSoCHelper* plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
   new UartComIF(objects::UART_COM_IF);
   auto dummyGpioIF = new DummyGpioIF();
-  PlocMPSoCHandler* plocMPSoCHandler =
-      new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocUartCookie,
-                           plocMpsocHelper, Gpio(gpioIds::ENABLE_MPSOC_UART, dummyGpioIF));
+  PlocMPSoCHandler* plocMPSoCHandler = new PlocMPSoCHandler(
+      objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocUartCookie, plocMpsocHelper,
+      Gpio(gpioIds::ENABLE_MPSOC_UART, dummyGpioIF), objects::PLOC_SUPERVISOR_HANDLER);
   plocMPSoCHandler->setStartUpImmediately();
 #endif /* OBSW_ADD_PLOC_MPSOC == 1 */
 

cmake/PreProjectConfig.cmake

@@ -11,7 +11,7 @@ endif()
 
 
 # Disable compiler checks for cross-compiling.
-if(FSFW_OSAL MATCHES linux AND TGT_BSP)
+if(FSFW_OSAL MATCHES linux AND TGT_BSP AND EIVE_HARDCODED_TOOLCHAIN_FILE)
 	if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "arm/te0720-1cfa")
 		set(CMAKE_TOOLCHAIN_FILE 
 			"${CMAKE_SCRIPT_PATH}/Zynq7020CrossCompileConfig.cmake"

cmake/scripts/Q7S/q7s-env.sh

@@ -2,6 +2,6 @@
 export PATH=$PATH:"$HOME/EIVE/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin"
 export CROSS_COMPILE="arm-linux-gnueabihf"
 
-export ZYNQ_7020_SYSROOT="$HOME/Xilinx/eive-compile-rootfs"
+export ZYNQ_7020_SYSROOT="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-linux-gnueabi"
 export CONSOLE_PREFIX="[Q7S ENV]"
 /bin/bash

linux/devices/devicedefinitions/PlocMPSoCDefinitions.h

@@ -26,6 +26,9 @@ static const DeviceCommandId_t TC_REPLAY_WRITE_SEQUENCE = 13;
 static const DeviceCommandId_t TC_DOWNLINK_PWR_ON = 14;
 static const DeviceCommandId_t TC_DOWNLINK_PWR_OFF = 15;
 static const DeviceCommandId_t TC_MODE_REPLAY = 16;
+static const DeviceCommandId_t TC_CAM_CMD_SEND = 17;
+static const DeviceCommandId_t TC_MODE_IDLE = 18;
+static const DeviceCommandId_t TM_CAM_CMD_RPT = 19;
 
 // Will reset the sequence count of the OBSW
 static const DeviceCommandId_t OBSW_RESET_SEQ_COUNT = 50;
@@ -33,6 +36,7 @@ static const DeviceCommandId_t OBSW_RESET_SEQ_COUNT = 50;
 static const uint16_t SIZE_ACK_REPORT = 14;
 static const uint16_t SIZE_EXE_REPORT = 14;
 static const uint16_t SIZE_TM_MEM_READ_REPORT = 18;
+static const uint16_t SIZE_TM_CAM_CMD_RPT = 18;
 
 /**
  * SpacePacket apids of PLOC telecommands and telemetry.
@@ -49,18 +53,23 @@ static const uint16_t TC_FLASHFOPEN = 0x119;
 static const uint16_t TC_FLASHFCLOSE = 0x11A;
 static const uint16_t TC_FLASHDELETE = 0x11C;
 static const uint16_t TC_MODE_REPLAY = 0x11F;
+static const uint16_t TC_MODE_IDLE = 0x11E;
 static const uint16_t TC_DOWNLINK_PWR_OFF = 0x124;
+static const uint16_t TC_CAM_CMD_SEND = 0x12C;
 static const uint16_t TM_MEMORY_READ_REPORT = 0x404;
 static const uint16_t ACK_SUCCESS = 0x400;
 static const uint16_t ACK_FAILURE = 0x401;
 static const uint16_t EXE_SUCCESS = 0x402;
 static const uint16_t EXE_FAILURE = 0x403;
+static const uint16_t TM_CAM_CMD_RPT = 0x407;
 }  // namespace apid
 
 /** Offset from first byte in space packet to first byte of data field */
 static const uint8_t DATA_FIELD_OFFSET = 6;
 static const size_t MEM_READ_RPT_LEN_OFFSET = 10;
 static const char NULL_TERMINATOR = '\0';
+static const uint8_t MIN_SPACE_PACKET_LENGTH = 7;
+static const uint8_t SPACE_PACKET_HEADER_SIZE = 6;
 
 /**
  * The size of payload data which will be forwarded to the requesting object. e.g. PUS Service
@@ -117,11 +126,11 @@ class TcBase : public SpacePacket, public MPSoCReturnValuesIF {
   virtual ReturnValue_t createPacket(const uint8_t* commandData, size_t commandDataLen) {
     ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
     result = initPacket(commandData, commandDataLen);
-    if (result != HasReturnvaluesIF::HasReturnvaluesIF::RETURN_OK) {
+    if (result != HasReturnvaluesIF::RETURN_OK) {
       return result;
     }
     result = addCrc();
-    if (result != HasReturnvaluesIF::HasReturnvaluesIF::RETURN_OK) {
+    if (result != HasReturnvaluesIF::RETURN_OK) {
       return result;
     }
     return result;
@@ -615,6 +624,45 @@ class TcModeReplay : public TcBase {
   }
 };
 
+/**
+ * @brief   Class to build mode idle command
+ */
+class TcModeIdle : public TcBase {
+ public:
+  TcModeIdle(uint16_t sequenceCount) : TcBase(apid::TC_MODE_IDLE, sequenceCount) {}
+
+  ReturnValue_t createPacket() {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    result = addCrc();
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    this->setPacketDataLength(static_cast<uint16_t>(CRC_SIZE - 1));
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+};
+
+class TcCamcmdSend : public TcBase {
+public:
+  TcCamcmdSend(uint16_t sequenceCount) : TcBase(apid::TC_CAM_CMD_SEND, sequenceCount) {}
+
+protected:
+    ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) {
+      if (commandDataLen > MAX_DATA_LENGTH) {
+        return INVALID_LENGTH;
+      }
+      std::memcpy(this->getPacketData(), commandData, commandDataLen);
+      *(this->getPacketData() + commandDataLen) = CARRIAGE_RETURN;
+      uint16_t trueLength = commandDataLen + sizeof(CARRIAGE_RETURN) + CRC_SIZE;
+      this->setPacketDataLength(trueLength - 1);
+      return HasReturnvaluesIF::RETURN_OK;
+    }
+private:
+    static const uint8_t MAX_DATA_LENGTH = 10;
+    static const uint8_t CARRIAGE_RETURN = 0xD;
+
+};
+
 }  // namespace mpsoc
 
 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_PLOCMPSOCDEFINITIONS_H_ */

linux/devices/ploc/PlocMPSoCHandler.cpp

@@ -133,6 +133,7 @@ ReturnValue_t PlocMPSoCHandler::executeAction(ActionId_t actionId, MessageQueueI
 }
 
 void PlocMPSoCHandler::doStartUp() {
+#ifdef XIPHOS_Q7S
   switch (powerState) {
     case PowerState::OFF:
       commandActionHelper.commandAction(supervisorHandler, supv::START_MPSOC);
@@ -145,6 +146,9 @@ void PlocMPSoCHandler::doStartUp() {
     default:
       break;
   }
+#else
+  setMode(_MODE_TO_ON);
+#endif /* XIPHOS_Q7S */
 }
 
 void PlocMPSoCHandler::doShutDown() {
@@ -211,6 +215,14 @@ ReturnValue_t PlocMPSoCHandler::buildCommandFromCommand(DeviceCommandId_t device
       result = prepareTcModeReplay();
       break;
     }
+    case (mpsoc::TC_MODE_IDLE): {
+      result = prepareTcModeIdle();
+      break;
+    }
+    case (mpsoc::TC_CAM_CMD_SEND): {
+      result = prepareTcCamCmdSend(commandData, commandDataLen);
+      break;
+    }
     default:
       sif::debug << "PlocMPSoCHandler::buildCommandFromCommand: Command not implemented"
                  << std::endl;
@@ -238,16 +250,21 @@ void PlocMPSoCHandler::fillCommandAndReplyMap() {
   this->insertInCommandMap(mpsoc::TC_DOWNLINK_PWR_OFF);
   this->insertInCommandMap(mpsoc::TC_REPLAY_WRITE_SEQUENCE);
   this->insertInCommandMap(mpsoc::TC_MODE_REPLAY);
-  this->insertInReplyMap(mpsoc::ACK_REPORT, 1, nullptr, mpsoc::SIZE_ACK_REPORT);
+  this->insertInCommandMap(mpsoc::TC_MODE_IDLE);
+  this->insertInCommandMap(mpsoc::TC_CAM_CMD_SEND);
+  this->insertInReplyMap(mpsoc::ACK_REPORT, 3, nullptr, mpsoc::SIZE_ACK_REPORT);
   this->insertInReplyMap(mpsoc::EXE_REPORT, 3, nullptr, mpsoc::SIZE_EXE_REPORT);
   this->insertInReplyMap(mpsoc::TM_MEMORY_READ_REPORT, 2, nullptr, mpsoc::SIZE_TM_MEM_READ_REPORT);
+   this->insertInReplyMap(mpsoc::TM_CAM_CMD_RPT, 2, nullptr, SpacePacket::PACKET_MAX_SIZE);
 }
 
 ReturnValue_t PlocMPSoCHandler::scanForReply(const uint8_t* start, size_t remainingSize,
                                              DeviceCommandId_t* foundId, size_t* foundLen) {
   ReturnValue_t result = RETURN_OK;
 
-  uint16_t apid = (*(start) << 8 | *(start + 1)) & APID_MASK;
+  SpacePacket spacePacket;
+  std::memcpy(spacePacket.getWholeData(), start, remainingSize);
+  uint16_t apid = spacePacket.getAPID();
 
   switch (apid) {
     case (mpsoc::apid::ACK_SUCCESS):
@@ -262,6 +279,11 @@ ReturnValue_t PlocMPSoCHandler::scanForReply(const uint8_t* start, size_t remain
       *foundLen = tmMemReadReport.rememberRequestedSize;
       *foundId = mpsoc::TM_MEMORY_READ_REPORT;
       break;
+    case (mpsoc::apid::TM_CAM_CMD_RPT):
+      *foundLen = spacePacket.getFullSize();
+      tmCamCmdRpt.rememberSpacePacketSize = *foundLen;
+      *foundId = mpsoc::TM_CAM_CMD_RPT;
+      break;
     case (mpsoc::apid::EXE_SUCCESS):
       *foundLen = mpsoc::SIZE_EXE_REPORT;
       *foundId = mpsoc::EXE_REPORT;
@@ -276,6 +298,7 @@ ReturnValue_t PlocMPSoCHandler::scanForReply(const uint8_t* start, size_t remain
       return MPSoCReturnValuesIF::INVALID_APID;
     }
   }
+
   sequenceCount++;
   uint16_t recvSeqCnt = (*(start + 2) << 8 | *(start + 3)) & PACKET_SEQUENCE_COUNT_MASK;
   if (recvSeqCnt != sequenceCount) {
@@ -297,6 +320,10 @@ ReturnValue_t PlocMPSoCHandler::interpretDeviceReply(DeviceCommandId_t id, const
       result = handleMemoryReadReport(packet);
       break;
     }
+    case (mpsoc::TM_CAM_CMD_RPT): {
+      result = handleCamCmdRpt(packet);
+      break;
+    }
     case (mpsoc::EXE_REPORT): {
       result = handleExecutionReport(packet);
       break;
@@ -463,6 +490,37 @@ ReturnValue_t PlocMPSoCHandler::prepareTcModeReplay() {
   return RETURN_OK;
 }
 
+ReturnValue_t PlocMPSoCHandler::prepareTcModeIdle() {
+  ReturnValue_t result = RETURN_OK;
+  sequenceCount++;
+  mpsoc::TcModeIdle tcModeIdle(sequenceCount);
+  result = tcModeIdle.createPacket();
+  if (result != RETURN_OK) {
+    sequenceCount--;
+    return result;
+  }
+  memcpy(commandBuffer, tcModeIdle.getWholeData(), tcModeIdle.getFullSize());
+  rawPacket = commandBuffer;
+  rawPacketLen = tcModeIdle.getFullSize();
+  nextReplyId = mpsoc::ACK_REPORT;
+  return RETURN_OK;
+}
+
+ReturnValue_t PlocMPSoCHandler::prepareTcCamCmdSend(const uint8_t* commandData,
+                                                    size_t commandDataLen) {
+  ReturnValue_t result = RETURN_OK;
+  sequenceCount++;
+  mpsoc::TcCamcmdSend tcCamCmdSend(sequenceCount);
+  result = tcCamCmdSend.createPacket(commandData, commandDataLen);
+  if (result != RETURN_OK) {
+    sequenceCount--;
+    return result;
+  }
+  copyToCommandBuffer(&tcCamCmdSend);
+  nextReplyId = mpsoc::TM_CAM_CMD_RPT;
+  return RETURN_OK;
+}
+
 void PlocMPSoCHandler::copyToCommandBuffer(mpsoc::TcBase* tc) {
   if (tc == nullptr) {
     sif::debug << "PlocMPSoCHandler::copyToCommandBuffer: Invalid TC" << std::endl;
@@ -586,6 +644,25 @@ ReturnValue_t PlocMPSoCHandler::handleMemoryReadReport(const uint8_t* data) {
   return result;
 }
 
+ReturnValue_t PlocMPSoCHandler::handleCamCmdRpt(const uint8_t* data) {
+  ReturnValue_t result = RETURN_OK;
+  SpacePacket packet;
+  std::memcpy(packet.getWholeData(), data, tmCamCmdRpt.rememberSpacePacketSize);
+  result = verifyPacket(data, tmCamCmdRpt.rememberSpacePacketSize);
+  if (result == MPSoCReturnValuesIF::CRC_FAILURE) {
+    sif::warning << "PlocMPSoCHandler::handleCamCmdRpt: CRC failure" << std::endl;
+  }
+  const uint8_t* dataFieldPtr = data + mpsoc::SPACE_PACKET_HEADER_SIZE;
+  std::string camCmdRptMsg(reinterpret_cast<const char*>(
+      dataFieldPtr), tmCamCmdRpt.rememberSpacePacketSize - mpsoc::SPACE_PACKET_HEADER_SIZE - 3);
+  uint8_t ackValue = *(packet.getPacketData() + packet.getPacketDataLength() - 2);
+  sif::info << "CamCmdRpt message: " << camCmdRptMsg << std::endl;
+  sif::info << "CamCmdRpt Ack value: 0x" << std::hex << static_cast<unsigned int>(ackValue)
+            << std::endl;
+  handleDeviceTM(packet.getPacketData(), packet.getPacketDataLength() - 1, mpsoc::TM_CAM_CMD_RPT);
+  return result;
+}
+
 ReturnValue_t PlocMPSoCHandler::enableReplyInReplyMap(DeviceCommandMap::iterator command,
                                                       uint8_t expectedReplies, bool useAlternateId,
                                                       DeviceCommandId_t alternateReplyID) {
@@ -602,6 +679,7 @@ ReturnValue_t PlocMPSoCHandler::enableReplyInReplyMap(DeviceCommandMap::iterator
     case mpsoc::TC_DOWNLINK_PWR_OFF:
     case mpsoc::TC_REPLAY_WRITE_SEQUENCE:
     case mpsoc::TC_MODE_REPLAY:
+    case mpsoc::TC_MODE_IDLE:
       enabledReplies = 2;
       break;
     case mpsoc::TC_MEM_READ: {
@@ -611,6 +689,18 @@ ReturnValue_t PlocMPSoCHandler::enableReplyInReplyMap(DeviceCommandMap::iterator
       if (result != RETURN_OK) {
         sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Reply with id "
                    << mpsoc::TM_MEMORY_READ_REPORT << " not in replyMap" << std::endl;
+        return result;
+      }
+      break;
+    }
+    case mpsoc::TC_CAM_CMD_SEND: {
+      enabledReplies = 3;
+      result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
+                                                        mpsoc::TM_CAM_CMD_RPT);
+      if (result != RETURN_OK) {
+        sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Reply with id "
+                   << mpsoc::TM_CAM_CMD_RPT << " not in replyMap" << std::endl;
+        return result;
       }
       break;
     }
@@ -690,6 +780,11 @@ size_t PlocMPSoCHandler::getNextReplyLength(DeviceCommandId_t commandId) {
         replyLen = tmMemReadReport.rememberRequestedSize;
         break;
       }
+      case mpsoc::TM_CAM_CMD_RPT:
+        // Read acknowledgment, camera and execution report in one go because length of camera
+        // report is not fixed
+        replyLen = SpacePacket::PACKET_MAX_SIZE;
+        break;
       default: {
         replyLen = iter->second.replyLen;
         break;

linux/devices/ploc/PlocMPSoCHandler.h

@@ -4,6 +4,7 @@
 #include <string>
 
 #include "PlocMPSoCHelper.h"
+#include "fsfw/tmtcpacket/SpacePacket.h"
 #include "fsfw/action/CommandActionHelper.h"
 #include "fsfw/action/CommandsActionsIF.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
@@ -126,14 +127,26 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
   // Used to block incoming commands when MPSoC helper class is currently executing a command
   bool plocMPSoCHelperExecuting = false;
 
-  class TmMemReadReport {
-   public:
+  struct TmMemReadReport {
     static const uint8_t FIX_SIZE = 14;
     size_t rememberRequestedSize = 0;
   };
 
   TmMemReadReport tmMemReadReport;
 
+  struct TmCamCmdRpt {
+    size_t rememberSpacePacketSize = 0;
+  };
+
+  TmCamCmdRpt tmCamCmdRpt;
+
+  struct TelemetryBuffer {
+    uint16_t length = 0;
+    uint8_t buffer[SpacePacket::PACKET_MAX_SIZE];
+  };
+
+  TelemetryBuffer tmBuffer;
+
   enum class PowerState { OFF, BOOTING, SHUTDOWN, ON };
 
   PowerState powerState = PowerState::OFF;
@@ -151,7 +164,8 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
   ReturnValue_t prepareTcDownlinkPwrOn(const uint8_t* commandData, size_t commandDataLen);
   ReturnValue_t prepareTcDownlinkPwrOff();
   ReturnValue_t prepareTcReplayWriteSequence(const uint8_t* commandData, size_t commandDataLen);
-
+  ReturnValue_t prepareTcCamCmdSend(const uint8_t* commandData, size_t commandDataLen);
+  ReturnValue_t prepareTcModeIdle();
   /**
    * @brief   Copies space packet into command buffer
    */
@@ -194,6 +208,8 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
    */
   ReturnValue_t handleMemoryReadReport(const uint8_t* data);
 
+  ReturnValue_t handleCamCmdRpt(const uint8_t* data);
+
   /**
    * @brief   Depending on the current active command, this function sets the reply id of the
    *          next reply after a successful acknowledgment report has been received. This is

mission/devices/PCDUHandler.cpp

@@ -81,12 +81,16 @@ ReturnValue_t PCDUHandler::initialize() {
 
 void PCDUHandler::initializeSwitchStates() {
   using namespace pcdu;
-  for (uint8_t idx = 0; idx < NUMBER_OF_SWITCHES; idx++) {
-    if (idx < PDU::CHANNELS_LEN) {
-      switchStates[idx] = INIT_SWITCHES_PDU1[idx];
-    } else {
-      switchStates[idx] = INIT_SWITCHES_PDU2[idx];
+  try {
+    for (uint8_t idx = 0; idx < NUMBER_OF_SWITCHES; idx++) {
+      if (idx < PDU::CHANNELS_LEN) {
+        switchStates[idx] = INIT_SWITCHES_PDU1.at(idx);
+      } else {
+        switchStates[idx] = INIT_SWITCHES_PDU2.at(idx - PDU::CHANNELS_LEN);
+      }
     }
+  } catch (const std::out_of_range& err) {
+    sif::error << "PCDUHandler::initializeSwitchStates: " << err.what() << std::endl;
   }
 }
 

scripts/q7s-cp.py

@@ -92,7 +92,7 @@ def build_cmd(args):
         else:
             target = args.target
     if args.invert:
-        cmd += f"{port_args} {address}:{args.source} {target}"
+        cmd += f"{port_args} {address}:{source_files} {target}"
     else:
         cmd += f"{port_args} {source_files} {address}:{target}"
     return cmd