new fsfw

This reverts commit 2800484f6b1896b84144953cfbe68d0e23170651.

CMakeLists.txt

@@ -15,6 +15,7 @@ set(OBSW_VERSION_REVISION_IF_GIT_FAILS 0)
 
 # set(CMAKE_VERBOSE TRUE)
 
+
 option(
   EIVE_HARDCODED_TOOLCHAIN_FILE
   "\
@@ -160,7 +161,7 @@ if(NOT GIT_VER_HANDLING_OK)
 endif()
 
 # Set names and variables
-set(OBSW_NAME ${CMAKE_PROJECT_NAME})
+set(OBSW_NAME ${PROJECT_NAME})
 set(WATCHDOG_NAME eive-watchdog)
 set(SIMPLE_OBSW_NAME eive-simple)
 set(UNITTEST_NAME eive-unittest)
@@ -182,7 +183,7 @@ set(FSFW_PATH fsfw)
 set(TEST_PATH test)
 set(UNITTEST_PATH unittest)
 set(LINUX_PATH linux)
-set(COMMON_PATH common)
+set(COMMON_PATH ${CMAKE_CURRENT_SOURCE_DIR}/common)
 set(DUMMY_PATH dummies)
 set(WATCHDOG_PATH watchdog)
 set(COMMON_CONFIG_PATH ${COMMON_PATH}/config)
@@ -205,6 +206,7 @@ pre_source_hw_os_config()
 
 if(TGT_BSP)
   set(LIBGPS_VERSION_MAJOR 3)
+
   # I assume a newer version than 3.17 will be installed on other Linux board
   # than the Q7S
   set(LIBGPS_VERSION_MINOR 20)
@@ -214,7 +216,8 @@ if(TGT_BSP)
      OR TGT_BSP MATCHES "arm/egse"
      OR TGT_BSP MATCHES "arm/te0720-1cfa")
     find_library(${LIB_GPS} gps)
-    set(FSFW_CONFIG_PATH "linux/fsfwconfig")
+    set(FSFW_CONFIG_PATH ${CMAKE_CURRENT_SOURCE_DIR}/linux/fsfwconfig)
+
     if(NOT BUILD_Q7S_SIMPLE_MODE)
       set(EIVE_ADD_LINUX_FILES TRUE)
       set(ADD_CSP_LIB TRUE)
@@ -271,8 +274,9 @@ endif()
 configure_file(${WATCHDOG_PATH}/watchdogConf.h.in watchdogConf.h)
 
 # Set common config path for FSFW
-set(FSFW_ADDITIONAL_INC_PATHS "${COMMON_PATH}/config"
-                              ${CMAKE_CURRENT_BINARY_DIR})
+set(FSFW_ADDITIONAL_INC_PATHS "${COMMON_PATH}"
+  ${COMMON_CONFIG_PATH}
+  ${CMAKE_CURRENT_BINARY_DIR})
 
 # ##############################################################################
 # Executable and Sources
@@ -320,7 +324,7 @@ add_library(${LIB_DUMMIES})
 
 # Add main executable
 add_executable(${OBSW_NAME})
-set(OBSW_BIN_NAME ${CMAKE_PROJECT_NAME})
+set(OBSW_BIN_NAME ${PROJECT_NAME})
 
 set_target_properties(${OBSW_NAME} PROPERTIES OUTPUT_NAME ${OBSW_BIN_NAME})
 
@@ -356,7 +360,10 @@ if(EIVE_ADD_LINUX_FILES)
   add_subdirectory(${LIB_ARCSEC_PATH})
   add_subdirectory(${LINUX_PATH})
 endif()
+
 add_subdirectory(${BSP_PATH})
+
+
 if(ADD_CSP_LIB)
   add_subdirectory(${LIB_CSP_PATH})
 endif()

bsp_q7s/CMakeLists.txt

@@ -9,7 +9,7 @@ add_subdirectory(simple)
 
 target_sources(${OBSW_NAME} PUBLIC main.cpp obsw.cpp)
 
-add_subdirectory(boardtest)
+#add_subdirectory(boardtest)
 
 add_subdirectory(boardconfig)
 add_subdirectory(comIF)

bsp_q7s/boardtest/CMakeLists.txt

@@ -1,4 +1,4 @@
-target_sources(${OBSW_NAME} PRIVATE FileSystemTest.cpp Q7STestTask.cpp)
+target_sources(${OBSW_NAME} PUBLIC FileSystemTest.cpp Q7STestTask.cpp)
 
 if(EIVE_BUILD_Q7S_SIMPLE_MODE)
   target_sources(${SIMPLE_OBSW_NAME} PRIVATE FileSystemTest.cpp)

bsp_q7s/callbacks/gnssCallback.cpp

@@ -4,11 +4,7 @@
 #include "fsfw/action/HasActionsIF.h"
 #include "fsfw/tasks/TaskFactory.h"
 
-ReturnValue_t gps::triggerGpioResetPin(const uint8_t* actionData, size_t len, void* args) {
-  // At least one byte which denotes which GPS to reset is required
-  if (len < 1 or actionData == nullptr) {
-    return HasActionsIF::INVALID_PARAMETERS;
-  }
+ReturnValue_t gps::triggerGpioResetPin(uint8_t gpsId, void* args) {
   ResetArgs* resetArgs = reinterpret_cast<ResetArgs*>(args);
   if (args == nullptr) {
     return HasReturnvaluesIF::RETURN_FAILED;
@@ -16,10 +12,8 @@ ReturnValue_t gps::triggerGpioResetPin(const uint8_t* actionData, size_t len, vo
   if (resetArgs->gpioComIF == nullptr) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }
-  gpioId_t gpioId;
-  if (actionData[0] == 0) {
-    gpioId = gpioIds::GNSS_0_NRESET;
-  } else {
+  gpioId_t gpioId = gpioIds::GNSS_0_NRESET;
+  if (gpsId == 1) {
     gpioId = gpioIds::GNSS_1_NRESET;
   }
   resetArgs->gpioComIF->pullLow(gpioId);

bsp_q7s/callbacks/gnssCallback.h

@@ -11,7 +11,7 @@ struct ResetArgs {
 
 namespace gps {
 
-ReturnValue_t triggerGpioResetPin(const uint8_t* actionData, size_t len, void* args);
+ReturnValue_t triggerGpioResetPin(uint8_t gpsId, void* args);
 
 }
 

bsp_q7s/core/CoreActions.h

@@ -0,0 +1,87 @@
+#pragma once
+
+#include <fsfw/action/MinMaxParameter.h>
+#include <fsfw/action/TemplateAction.h>
+#include <fsfw/introspection/Enum.h>
+
+class CoreController;
+
+namespace core {
+
+FSFW_ENUM(ActionId, ActionId_t,
+          ((LIST_DIRECTORY_INTO_FILE, 0, "List Directory into file"))(
+              (SWITCH_REBOOT_FILE_HANDLING, 5,
+               "Switch Reboot File Handling"))((RESET_REBOOT_COUNTERS, 6, "Reset Boot Counters"))(
+              (SWITCH_IMG_LOCK, 7, "Switch Image Lock"))((SET_MAX_REBOOT_CNT, 8,
+                                                          "Set maximum reboot Count"))(
+              (XSC_REBOOT_OBC, 32, "Reboot using the xsc_boot_copy command"))(
+              (MOUNT_OTHER_COPY, 33, "Mount Other Copy"))((REBOOT_OBC, 34,
+                                                           "Reboot using the reboot command")))
+
+FSFW_ENUM(Boolenum, uint8_t, ((NO, 0, "NO"))((YES, 1, "Yes")))
+
+class ListDirectoryIntoFileAction
+    : public TemplateAction<CoreController, ListDirectoryIntoFileAction, ActionId> {
+ public:
+  ListDirectoryIntoFileAction(CoreController *owner)
+      : TemplateAction(owner, ActionId::LIST_DIRECTORY_INTO_FILE){};
+};
+
+class SwitchRebootFileHandlingAction
+    : public TemplateAction<CoreController, SwitchRebootFileHandlingAction, ActionId> {
+ public:
+  SwitchRebootFileHandlingAction(CoreController *owner)
+      : TemplateAction(owner, ActionId::SWITCH_REBOOT_FILE_HANDLING){};
+
+  Parameter<Boolenum> enableRebootFile =
+      Parameter<Boolenum>::createParameter(this, "Enable Reboot File");
+};
+
+class ResetRebootCountersAction
+    : public TemplateAction<CoreController, ResetRebootCountersAction, ActionId> {
+ public:
+  FSFW_ENUM(Selection, uint8_t, ((ZERO, "0"))((ONE, "1"))((ALL, "All")))
+
+  ResetRebootCountersAction(CoreController *owner)
+      : TemplateAction(owner, ActionId::RESET_REBOOT_COUNTERS){};
+
+  Parameter<Selection> chip = Parameter<Selection>::createParameter(this, "Chip");
+  Parameter<Selection> copy = Parameter<Selection>::createParameter(this, "Copy");
+};
+
+class SwitchImageLockAction
+    : public TemplateAction<CoreController, SwitchImageLockAction, ActionId> {
+ public:
+  FSFW_ENUM(Selection, uint8_t, ((ZERO, "0"))((ONE, "1")))
+
+  SwitchImageLockAction(CoreController *owner) : TemplateAction(owner, ActionId::SWITCH_IMG_LOCK){};
+
+  Parameter<Boolenum> lock = Parameter<Boolenum>::createParameter(this, "Lock Image");
+  Parameter<Selection> chip = Parameter<Selection>::createParameter(this, "Chip");
+  Parameter<Selection> copy = Parameter<Selection>::createParameter(this, "Copy");
+};
+
+class SetMaxRebootCntAction
+    : public TemplateAction<CoreController, SetMaxRebootCntAction, ActionId> {
+ public:
+  SetMaxRebootCntAction(CoreController *owner)
+      : TemplateAction(owner, ActionId::SET_MAX_REBOOT_CNT){};
+
+    Parameter<uint8_t> maxCount = Parameter<uint8_t>::createParameter(this, "Count");
+};
+
+class XscRebootObcAction : public TemplateAction<CoreController, XscRebootObcAction, ActionId> {
+ public:
+  FSFW_ENUM(Selection, uint8_t, ((ZERO, "0"))((ONE, "1"))((SAME, "Same")))
+  XscRebootObcAction(CoreController *owner) : TemplateAction(owner, ActionId::XSC_REBOOT_OBC){};
+
+  Parameter<Selection> chip = Parameter<Selection>::createParameter(this, "Chip");
+  Parameter<Selection> copy = Parameter<Selection>::createParameter(this, "Copy");
+};
+
+class RebootObcAction : public TemplateAction<CoreController, RebootObcAction, ActionId> {
+ public:
+  RebootObcAction(CoreController *owner) : TemplateAction(owner, ActionId::REBOOT_OBC){};
+};
+
+}  // namespace core

bsp_q7s/core/CoreController.cpp

@@ -163,75 +163,73 @@ ReturnValue_t CoreController::initializeAfterTaskCreation() {
   return result;
 }
 
-ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
-                                            const uint8_t *data, size_t size) {
-  switch (actionId) {
-    case (LIST_DIRECTORY_INTO_FILE): {
-      return actionListDirectoryIntoFile(actionId, commandedBy, data, size);
-    }
-    case (SWITCH_REBOOT_FILE_HANDLING): {
-      if (size < 1) {
-        return HasActionsIF::INVALID_PARAMETERS;
-      }
-      std::string path = sdcMan->getCurrentMountPrefix() + REBOOT_FILE;
-      // Disable the reboot file mechanism
-      parseRebootFile(path, rebootFile);
-      if (data[0] == 0) {
-        rebootFile.enabled = false;
-        rewriteRebootFile(rebootFile);
-      } else if (data[0] == 1) {
-        rebootFile.enabled = true;
-        rewriteRebootFile(rebootFile);
-      } else {
-        return HasActionsIF::INVALID_PARAMETERS;
-      }
-      return HasActionsIF::EXECUTION_FINISHED;
-    }
-    case (RESET_REBOOT_COUNTERS): {
-      if (size == 0) {
-        resetRebootCount(xsc::ALL_CHIP, xsc::ALL_COPY);
-      } else if (size == 2) {
-        if (data[0] > 1 or data[1] > 1) {
-          return HasActionsIF::INVALID_PARAMETERS;
-        }
-        resetRebootCount(static_cast<xsc::Chip>(data[0]), static_cast<xsc::Copy>(data[1]));
-      }
-      return HasActionsIF::EXECUTION_FINISHED;
-    }
-    case (SWITCH_IMG_LOCK): {
-      if (size != 3) {
-        return HasActionsIF::INVALID_PARAMETERS;
-      }
-      if (data[1] > 1 or data[2] > 1) {
-        return HasActionsIF::INVALID_PARAMETERS;
-      }
-      setRebootMechanismLock(data[0], static_cast<xsc::Chip>(data[1]),
-                             static_cast<xsc::Copy>(data[2]));
-      return HasActionsIF::EXECUTION_FINISHED;
-    }
-    case (SET_MAX_REBOOT_CNT): {
-      if (size < 1) {
-        return HasActionsIF::INVALID_PARAMETERS;
-      }
-      std::string path = sdcMan->getCurrentMountPrefix() + REBOOT_FILE;
-      // Disable the reboot file mechanism
-      parseRebootFile(path, rebootFile);
-      rebootFile.maxCount = data[0];
-      rewriteRebootFile(rebootFile);
-      return HasActionsIF::EXECUTION_FINISHED;
-    }
-    case (XSC_REBOOT_OBC): {
-      // Warning: This function will never return, because it reboots the system
-      return actionXscReboot(data, size);
-    }
-    case (REBOOT_OBC): {
-      // Warning: This function will never return, because it reboots the system
-      return actionReboot(data, size);
-    }
-    default: {
-      return HasActionsIF::INVALID_ACTION_ID;
-    }
+ReturnValue_t CoreController::executeAction(Action *action) { return action->handle(); }
+
+ReturnValue_t CoreController::handleAction(core::SwitchRebootFileHandlingAction *action) {
+  std::string path = sdcMan->getCurrentMountPrefix() + REBOOT_FILE;
+  // Disable the reboot file mechanism
+  parseRebootFile(path, rebootFile);
+  if (action->enableRebootFile.value == core::Boolenum::NO) {
+    rebootFile.enabled = false;
+    rewriteRebootFile(rebootFile);
+  } else {
+    rebootFile.enabled = true;
+    rewriteRebootFile(rebootFile);
   }
+  return HasActionsIF::EXECUTION_FINISHED;
+}
+
+ReturnValue_t CoreController::handleAction(core::ResetRebootCountersAction *action) {
+  xsc::Chip chip = xsc::NO_CHIP;
+  switch (action->chip.value) {
+    case core::ResetRebootCountersAction::Selection::ALL:
+      chip = xsc::ALL_CHIP;
+      break;
+    case core::ResetRebootCountersAction::Selection::ZERO:
+      chip = xsc::CHIP_0;
+      break;
+    case core::ResetRebootCountersAction::Selection::ONE:
+      chip = xsc::CHIP_1;
+      break;
+  }
+  xsc::Copy copy = xsc::NO_COPY;
+  switch (action->copy.value) {
+    case core::ResetRebootCountersAction::Selection::ALL:
+      copy = xsc::ALL_COPY;
+      break;
+    case core::ResetRebootCountersAction::Selection::ZERO:
+      copy = xsc::COPY_0;
+      break;
+    case core::ResetRebootCountersAction::Selection::ONE:
+      copy = xsc::COPY_1;
+      break;
+  }
+  resetRebootCount(chip, copy);
+
+  return HasActionsIF::EXECUTION_FINISHED;
+}
+
+ReturnValue_t CoreController::handleAction(core::SwitchImageLockAction *action) {
+  bool lock = action->lock.value == core::Boolenum::YES;
+  xsc::Chip chip = xsc::CHIP_0;
+  if (action->chip.value == core::SwitchImageLockAction::Selection::ONE) {
+    chip = xsc::CHIP_1;
+  }
+  xsc::Copy copy = xsc::COPY_0;
+  if (action->copy.value == core::SwitchImageLockAction::Selection::ONE) {
+    copy = xsc::COPY_0;
+  }
+  setRebootMechanismLock(lock, chip, copy);
+  return HasActionsIF::EXECUTION_FINISHED;
+}
+
+ReturnValue_t CoreController::handleAction(core::SetMaxRebootCntAction *action) {
+  std::string path = sdcMan->getCurrentMountPrefix() + REBOOT_FILE;
+  // Disable the reboot file mechanism
+  parseRebootFile(path, rebootFile);
+  rebootFile.maxCount = action->maxCount;
+  rewriteRebootFile(rebootFile);
+  return HasActionsIF::EXECUTION_FINISHED;
 }
 
 ReturnValue_t CoreController::checkModeCommand(Mode_t mode, Submode_t submode,
@@ -748,30 +746,29 @@ ReturnValue_t CoreController::initVersionFile() {
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t CoreController::actionListDirectoryIntoFile(ActionId_t actionId,
-                                                          MessageQueueId_t commandedBy,
-                                                          const uint8_t *data, size_t size) {
+ReturnValue_t CoreController::handleAction(core::ListDirectoryIntoFileAction *action) {
   // TODO: Packet definition for clean deserialization
   // 2 bytes for a and R flag, at least 5 bytes for minimum valid path /tmp with
   // null termination, at least 7 bytes for minimum target file name /tmp/a with
   // null termination.
-  if (size < 14) {
-    return HasActionsIF::INVALID_PARAMETERS;
-  }
+  // TODO make work again
+  // if (size < 14) {
+  //   return HasActionsIF::INVALID_PARAMETERS;
+  // }
   // We could also make -l optional, but I can't think of a reason why to not use -l..
 
   // This flag specifies to run ls with -a
-  bool aFlag = data[0];
-  data += 1;
-  // This flag specifies to run ls with -R
-  bool RFlag = data[1];
-  data += 1;
+  bool aFlag = 0;  // data[0];
+  // data += 1;
+  //  This flag specifies to run ls with -R
+  bool RFlag = 0;  // data[1];
+  // data += 1;
 
-  size_t remainingSize = size - 2;
+  size_t remainingSize = 0;  // size - 2;
   // One larger for null termination, which prevents undefined behaviour if the sent
   // strings are not 0 terminated properly
   std::vector<uint8_t> repoAndTargetFileBuffer(remainingSize + 1, 0);
-  std::memcpy(repoAndTargetFileBuffer.data(), data, remainingSize);
+  // std::memcpy(repoAndTargetFileBuffer.data(), data, remainingSize);
   const char *currentCharPtr = reinterpret_cast<const char *>(repoAndTargetFileBuffer.data());
   // Full target file name
   std::string repoName(currentCharPtr);
@@ -798,7 +795,7 @@ ReturnValue_t CoreController::actionListDirectoryIntoFile(ActionId_t actionId,
   int result = std::system(oss.str().c_str());
   if (result != 0) {
     utility::handleSystemError(result, "CoreController::actionListDirectoryIntoFile");
-    actionHelper.finish(false, commandedBy, actionId);
+    actionHelper.finish(false, action->commandedBy, action->getId());
   }
   return HasReturnvaluesIF::RETURN_OK;
 }
@@ -857,11 +854,16 @@ void CoreController::initPrint() {
 #endif
 }
 
-ReturnValue_t CoreController::actionXscReboot(const uint8_t *data, size_t size) {
-  if (size < 1) {
+ReturnValue_t CoreController::handleAction(core::XscRebootObcAction *action) {
+  if (action->chip.value == core::XscRebootObcAction::Selection::SAME and
+      not(action->copy.value == core::XscRebootObcAction::Selection::SAME)) {
     return HasActionsIF::INVALID_PARAMETERS;
   }
-  bool rebootSameBootCopy = data[0];
+  bool rebootSameBootCopy = false;
+  if (action->chip.value == core::XscRebootObcAction::Selection::SAME and
+      action->copy.value == core::XscRebootObcAction::Selection::SAME) {
+    rebootSameBootCopy = true;
+  }
   bool protOpPerformed = false;
   SdCardManager::instance()->setBlocking(true);
   if (rebootSameBootCopy) {
@@ -876,19 +878,23 @@ ReturnValue_t CoreController::actionXscReboot(const uint8_t *data, size_t size)
     }
     return HasActionsIF::EXECUTION_FINISHED;
   }
-  if (size < 3 or (data[1] > 1 or data[2] > 1)) {
-    return HasActionsIF::INVALID_PARAMETERS;
-  }
 #if OBSW_VERBOSE_LEVEL >= 1
-  sif::info << "CoreController::actionPerformReboot: Rebooting on " << static_cast<int>(data[1])
-            << " " << static_cast<int>(data[2]) << std::endl;
+  sif::info << "CoreController::actionPerformReboot: Rebooting on "
+            << static_cast<uint8_t>(action->chip.value) << " "
+            << static_cast<uint8_t>(action->copy.value) << std::endl;
 #endif
 
   // Check that the target chip and copy is writeprotected first
   generateChipStateFile();
   // If any boot copies are unprotected, protect them here
-  auto tgtChip = static_cast<xsc::Chip>(data[1]);
-  auto tgtCopy = static_cast<xsc::Copy>(data[2]);
+  auto tgtChip = xsc::CHIP_0;
+  if (action->chip.value == core::XscRebootObcAction::Selection::ONE) {
+    tgtChip = xsc::CHIP_1;
+  }
+  auto tgtCopy = xsc::COPY_0;
+  if (action->copy.value == core::XscRebootObcAction::Selection::ONE) {
+    tgtCopy = xsc::COPY_1;
+  }
 
   // This function can not really fail
   gracefulShutdownTasks(tgtChip, tgtCopy, protOpPerformed);
@@ -932,7 +938,7 @@ ReturnValue_t CoreController::actionXscReboot(const uint8_t *data, size_t size)
   return HasReturnvaluesIF::RETURN_FAILED;
 }
 
-ReturnValue_t CoreController::actionReboot(const uint8_t *data, size_t size) {
+ReturnValue_t CoreController::handleAction(core::RebootObcAction *action) {
   bool protOpPerformed = false;
   gracefulShutdownTasks(xsc::Chip::CHIP_0, xsc::Copy::COPY_0, protOpPerformed);
   std::system("reboot");
@@ -1692,24 +1698,20 @@ void CoreController::resetRebootCount(xsc::Chip tgtChip, xsc::Copy tgtCopy) {
   std::string path = currMntPrefix + REBOOT_FILE;
   // Disable the reboot file mechanism
   parseRebootFile(path, rebootFile);
-  if (tgtChip == xsc::ALL_CHIP and tgtCopy == xsc::ALL_COPY) {
-    rebootFile.img00Cnt = 0;
-    rebootFile.img01Cnt = 0;
-    rebootFile.img10Cnt = 0;
-    rebootFile.img11Cnt = 0;
-  } else {
-    if (tgtChip == xsc::CHIP_0) {
-      if (tgtCopy == xsc::COPY_0) {
-        rebootFile.img00Cnt = 0;
-      } else {
-        rebootFile.img01Cnt = 0;
-      }
-    } else {
-      if (tgtCopy == xsc::COPY_0) {
-        rebootFile.img10Cnt = 0;
-      } else {
-        rebootFile.img11Cnt = 0;
-      }
+  if (tgtChip == xsc::ALL_CHIP or tgtChip == xsc::CHIP_0) {
+    if (tgtCopy == xsc::ALL_COPY or tgtCopy == xsc::COPY_0) {
+      rebootFile.img00Cnt = 0;
+    }
+    if (tgtCopy == xsc::ALL_COPY or tgtCopy == xsc::COPY_1) {
+      rebootFile.img01Cnt = 0;
+    }
+  }
+  if (tgtChip == xsc::ALL_CHIP or tgtChip == xsc::CHIP_1) {
+    if (tgtCopy == xsc::ALL_COPY or tgtCopy == xsc::COPY_0) {
+      rebootFile.img10Cnt = 0;
+    }
+    if (tgtCopy == xsc::ALL_COPY or tgtCopy == xsc::COPY_1) {
+      rebootFile.img11Cnt = 0;
     }
   }
   rewriteRebootFile(rebootFile);
@@ -1849,3 +1851,7 @@ bool CoreController::isNumber(const std::string &s) {
   return !s.empty() && std::find_if(s.begin(), s.end(),
                                     [](unsigned char c) { return !std::isdigit(c); }) == s.end();
 }
+
+ModeDefinitionHelper CoreController::getModeDefinitionHelper() {
+  return ModeDefinitionHelper::create<ControllerModes, DefaultSubmode>();
+}

bsp_q7s/core/CoreController.h

@@ -6,6 +6,7 @@
 
 #include <cstddef>
 
+#include "CoreActions.h"
 #include "CoreDefinitions.h"
 #include "bsp_q7s/memory/SdCardManager.h"
 #include "events/subsystemIdRanges.h"
@@ -61,18 +62,6 @@ class CoreController : public ExtendedControllerBase {
       "/" + std::string(CONF_FOLDER) + "/" + std::string(REBOOT_FILE_NAME);
   const std::string TIME_FILE = "/" + std::string(CONF_FOLDER) + "/" + std::string(TIME_FILE_NAME);
 
-  static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
-  static constexpr ActionId_t SWITCH_REBOOT_FILE_HANDLING = 5;
-  static constexpr ActionId_t RESET_REBOOT_COUNTERS = 6;
-  static constexpr ActionId_t SWITCH_IMG_LOCK = 7;
-  static constexpr ActionId_t SET_MAX_REBOOT_CNT = 8;
-
-  //! Reboot using the xsc_boot_copy command
-  static constexpr ActionId_t XSC_REBOOT_OBC = 32;
-  static constexpr ActionId_t MOUNT_OTHER_COPY = 33;
-  //! Reboot using the reboot command
-  static constexpr ActionId_t REBOOT_OBC = 34;
-
   static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE;
 
   static constexpr Event ALLOC_FAILURE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
@@ -94,8 +83,17 @@ class CoreController : public ExtendedControllerBase {
 
   ReturnValue_t initializeAfterTaskCreation() override;
 
-  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
-                              const uint8_t* data, size_t size) override;
+  ReturnValue_t executeAction(Action* action) override;
+
+  ReturnValue_t handleAction(core::ListDirectoryIntoFileAction* action);
+  ReturnValue_t handleAction(core::SwitchRebootFileHandlingAction* action);
+  ReturnValue_t handleAction(core::ResetRebootCountersAction* action);
+  ReturnValue_t handleAction(core::SwitchImageLockAction* action);
+  ReturnValue_t handleAction(core::SetMaxRebootCntAction* action);
+  ReturnValue_t handleAction(core::XscRebootObcAction* action);
+  ReturnValue_t handleAction(core::RebootObcAction* action);
+
+  ModeDefinitionHelper getModeDefinitionHelper() override;
 
   ReturnValue_t handleCommandMessage(CommandMessage* message) override;
   void performControlOperation() override;
@@ -197,6 +195,16 @@ class CoreController : public ExtendedControllerBase {
 
   core::HkSet hkSet;
 
+  core::ListDirectoryIntoFileAction listDirectoryIntoFileAction =
+      core::ListDirectoryIntoFileAction(this);
+  core::SwitchRebootFileHandlingAction switchRebootFileHandlingAction =
+      core::SwitchRebootFileHandlingAction(this);
+  core::ResetRebootCountersAction resetRebootCountersAction = core::ResetRebootCountersAction(this);
+  core::SwitchImageLockAction switchImageLockAction = core::SwitchImageLockAction(this);
+  core::SetMaxRebootCntAction setMaxRebootCntAction = core::SetMaxRebootCntAction(this);
+  core::XscRebootObcAction xscRebootObcAction = core::XscRebootObcAction(this);
+  core::RebootObcAction rebootObcAction = core::RebootObcAction(this);
+
   ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                         LocalDataPoolManager& poolManager) override;
   Countdown sdCardCheckCd = Countdown(120000);
@@ -224,8 +232,6 @@ class CoreController : public ExtendedControllerBase {
   void checkExternalSdCommandStatus();
   void performRebootFileHandling(bool recreateFile);
 
-  ReturnValue_t actionListDirectoryIntoFile(ActionId_t actionId, MessageQueueId_t commandedBy,
-                                            const uint8_t* data, size_t size);
   ReturnValue_t actionXscReboot(const uint8_t* data, size_t size);
   ReturnValue_t actionReboot(const uint8_t* data, size_t size);
 

bsp_q7s/memory/scratchApi.h

@@ -92,7 +92,7 @@ ReturnValue_t readToFile(std::string name, std::ifstream& file, std::string& fil
 
 }  // End of anonymous namespace
 
-template <typename T, class = typename std::enable_if<std::is_integral<T>::value>::type>
+template <typename T, class>
 inline ReturnValue_t writeNumber(std::string key, T num) noexcept {
   std::ostringstream oss;
   oss << "xsc_scratch write " << key << " " << std::to_string(num);
@@ -104,7 +104,7 @@ inline ReturnValue_t writeNumber(std::string key, T num) noexcept {
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-template <typename T, class = typename std::enable_if<std::is_integral<T>::value>::type>
+template <typename T, class>
 inline ReturnValue_t readNumber(std::string key, T& num) noexcept {
   using namespace std;
   ifstream file;

common/config/commonObjects.h

@@ -3,83 +3,85 @@
 
 #include <cstdint>
 
+#include <fsfw/introspection/ClasslessEnum.h>
+
 namespace objects {
-enum commonObjects : uint32_t {
+FSFW_CLASSLESS_ENUM(commonObjects, uint32_t,
   /* First Byte 0x50-0x52 reserved for PUS Services **/
-  CCSDS_PACKET_DISTRIBUTOR = 0x50000100,
-  PUS_PACKET_DISTRIBUTOR = 0x50000200,
-  TMTC_BRIDGE = 0x50000300,
-  TMTC_POLLING_TASK = 0x50000400,
-  FILE_SYSTEM_HANDLER = 0x50000500,
-  SDC_MANAGER = 0x50000550,
-  PTME = 0x50000600,
-  PDEC_HANDLER = 0x50000700,
-  CCSDS_HANDLER = 0x50000800,
+((CCSDS_PACKET_DISTRIBUTOR, 0x50000100, "CCSDS_PACKET_DISTRIBUTOR"))
+((PUS_PACKET_DISTRIBUTOR, 0x50000200, "PUS_PACKET_DISTRIBUTOR"))
+((TMTC_BRIDGE, 0x50000300, "TMTC_BRIDGE"))
+((TMTC_POLLING_TASK, 0x50000400, "TMTC_POLLING_TASK"))
+((FILE_SYSTEM_HANDLER, 0x50000500, "FILE_SYSTEM_HANDLER"))
+((SDC_MANAGER, 0x50000550, "SDC_MANAGER"))
+((PTME, 0x50000600, "PTME"))
+((PDEC_HANDLER, 0x50000700, "PDEC_HANDLER"))
+((CCSDS_HANDLER, 0x50000800, "CCSDS_HANDLER"))
 
   /* 0x43 ('C') for Controllers */
-  THERMAL_CONTROLLER = 0x43400001,
-  ACS_CONTROLLER = 0x43000002,
-  CORE_CONTROLLER = 0x43000003,
+((THERMAL_CONTROLLER, 0x43400001, "THERMAL_CONTROLLER"))
+((ACS_CONTROLLER, 0x43000002, "ACS_CONTROLLER"))
+((CORE_CONTROLLER, 0x43000003, "CORE_CONTROLLER"))
 
   /* 0x44 ('D') for device handlers */
-  MGM_0_LIS3_HANDLER = 0x44120006,
-  MGM_1_RM3100_HANDLER = 0x44120107,
-  MGM_2_LIS3_HANDLER = 0x44120208,
-  MGM_3_RM3100_HANDLER = 0x44120309,
-  GYRO_0_ADIS_HANDLER = 0x44120010,
-  GYRO_1_L3G_HANDLER = 0x44120111,
-  GYRO_2_ADIS_HANDLER = 0x44120212,
-  GYRO_3_L3G_HANDLER = 0x44120313,
-  RW1 = 0x44120047,
-  RW2 = 0x44120148,
-  RW3 = 0x44120249,
-  RW4 = 0x44120350,
-  STAR_TRACKER = 0x44130001,
-  GPS_CONTROLLER = 0x44130045,
+((MGM_0_LIS3_HANDLER, 0x44120006, "MGM_0_LIS3_HANDLER"))
+((MGM_1_RM3100_HANDLER, 0x44120107, "MGM_1_RM3100_HANDLER"))
+((MGM_2_LIS3_HANDLER, 0x44120208, "MGM_2_LIS3_HANDLER"))
+((MGM_3_RM3100_HANDLER, 0x44120309, "MGM_3_RM3100_HANDLER"))
+((GYRO_0_ADIS_HANDLER, 0x44120010, "GYRO_0_ADIS_HANDLER"))
+((GYRO_1_L3G_HANDLER, 0x44120111, "GYRO_1_L3G_HANDLER"))
+((GYRO_2_ADIS_HANDLER, 0x44120212, "GYRO_2_ADIS_HANDLER"))
+((GYRO_3_L3G_HANDLER, 0x44120313, "GYRO_3_L3G_HANDLER"))
+((RW1, 0x44120047, "RW1"))
+((RW2, 0x44120148, "RW2"))
+((RW3, 0x44120249, "RW3"))
+((RW4, 0x44120350, "RW4"))
+((STAR_TRACKER, 0x44130001, "STAR_TRACKER"))
+((GPS_CONTROLLER, 0x44130045, "GPS_CONTROLLER"))
 
-  IMTQ_HANDLER = 0x44140014,
-  TMP1075_HANDLER_1 = 0x44420004,
-  TMP1075_HANDLER_2 = 0x44420005,
-  PCDU_HANDLER = 0x442000A1,
-  P60DOCK_HANDLER = 0x44250000,
-  PDU1_HANDLER = 0x44250001,
-  PDU2_HANDLER = 0x44250002,
-  ACU_HANDLER = 0x44250003,
-  BPX_BATT_HANDLER = 0x44260000,
-  PLPCDU_HANDLER = 0x44300000,
-  RAD_SENSOR = 0x443200A5,
-  PLOC_UPDATER = 0x44330000,
-  PLOC_MEMORY_DUMPER = 0x44330001,
-  STR_HELPER = 0x44330002,
-  PLOC_MPSOC_HELPER = 0x44330003,
-  AXI_PTME_CONFIG = 0x44330004,
-  PTME_CONFIG = 0x44330005,
-  PLOC_MPSOC_HANDLER = 0x44330015,
-  PLOC_SUPERVISOR_HANDLER = 0x44330016,
-  PLOC_SUPERVISOR_HELPER = 0x44330017,
-  SOLAR_ARRAY_DEPL_HANDLER = 0x444100A2,
-  HEATER_HANDLER = 0x444100A4,
+((IMTQ_HANDLER, 0x44140014, "IMTQ_HANDLER"))
+((TMP1075_HANDLER_1, 0x44420004, "TMP1075_HANDLER_1"))
+((TMP1075_HANDLER_2, 0x44420005, "TMP1075_HANDLER_2"))
+((PCDU_HANDLER, 0x442000A1, "PCDU_HANDLER"))
+((P60DOCK_HANDLER, 0x44250000, "P60DOCK_HANDLER"))
+((PDU1_HANDLER, 0x44250001, "PDU1_HANDLER"))
+((PDU2_HANDLER, 0x44250002, "PDU2_HANDLER"))
+((ACU_HANDLER, 0x44250003, "ACU_HANDLER"))
+((BPX_BATT_HANDLER, 0x44260000, "BPX_BATT_HANDLER"))
+((PLPCDU_HANDLER, 0x44300000, "PLPCDU_HANDLER"))
+((RAD_SENSOR, 0x443200A5, "RAD_SENSOR"))
+((PLOC_UPDATER, 0x44330000, "PLOC_UPDATER"))
+((PLOC_MEMORY_DUMPER, 0x44330001, "PLOC_MEMORY_DUMPER"))
+((STR_HELPER, 0x44330002, "STR_HELPER"))
+((PLOC_MPSOC_HELPER, 0x44330003, "PLOC_MPSOC_HELPER"))
+((AXI_PTME_CONFIG, 0x44330004, "AXI_PTME_CONFIG"))
+((PTME_CONFIG, 0x44330005, "PTME_CONFIG"))
+((PLOC_MPSOC_HANDLER, 0x44330015, "PLOC_MPSOC_HANDLER"))
+((PLOC_SUPERVISOR_HANDLER, 0x44330016, "PLOC_SUPERVISOR_HANDLER"))
+((PLOC_SUPERVISOR_HELPER, 0x44330017, "PLOC_SUPERVISOR_HELPER"))
+((SOLAR_ARRAY_DEPL_HANDLER, 0x444100A2, "SOLAR_ARRAY_DEPL_HANDLER"))
+((HEATER_HANDLER, 0x444100A4, "HEATER_HANDLER"))
 
   /**
    * Not yet specified which pt1000 will measure which device/location in the satellite.
    * Therefore object ids are named according to the IC naming of the RTDs in the schematic.
    */
-  RTD_0_IC3_PLOC_HEATSPREADER = 0x44420016,
-  RTD_1_IC4_PLOC_MISSIONBOARD = 0x44420017,
-  RTD_2_IC5_4K_CAMERA = 0x44420018,
-  RTD_3_IC6_DAC_HEATSPREADER = 0x44420019,
-  RTD_4_IC7_STARTRACKER = 0x44420020,
-  RTD_5_IC8_RW1_MX_MY = 0x44420021,
-  RTD_6_IC9_DRO = 0x44420022,
-  RTD_7_IC10_SCEX = 0x44420023,
-  RTD_8_IC11_X8 = 0x44420024,
-  RTD_9_IC12_HPA = 0x44420025,
-  RTD_10_IC13_PL_TX = 0x44420026,
-  RTD_11_IC14_MPA = 0x44420027,
-  RTD_12_IC15_ACU = 0x44420028,
-  RTD_13_IC16_PLPCDU_HEATSPREADER = 0x44420029,
-  RTD_14_IC17_TCS_BOARD = 0x44420030,
-  RTD_15_IC18_IMTQ = 0x44420031,
+((RTD_0_IC3_PLOC_HEATSPREADER, 0x44420016, "RTD_0_IC3_PLOC_HEATSPREADER"))
+((RTD_1_IC4_PLOC_MISSIONBOARD, 0x44420017, "RTD_1_IC4_PLOC_MISSIONBOARD"))
+((RTD_2_IC5_4K_CAMERA, 0x44420018, "RTD_2_IC5_4K_CAMERA"))
+((RTD_3_IC6_DAC_HEATSPREADER, 0x44420019, "RTD_3_IC6_DAC_HEATSPREADER"))
+((RTD_4_IC7_STARTRACKER, 0x44420020, "RTD_4_IC7_STARTRACKER"))
+((RTD_5_IC8_RW1_MX_MY, 0x44420021, "RTD_5_IC8_RW1_MX_MY"))
+((RTD_6_IC9_DRO, 0x44420022, "RTD_6_IC9_DRO"))
+((RTD_7_IC10_SCEX, 0x44420023, "RTD_7_IC10_SCEX"))
+((RTD_8_IC11_X8, 0x44420024, "RTD_8_IC11_X8"))
+((RTD_9_IC12_HPA, 0x44420025, "RTD_9_IC12_HPA"))
+((RTD_10_IC13_PL_TX, 0x44420026, "RTD_10_IC13_PL_TX"))
+((RTD_11_IC14_MPA, 0x44420027, "RTD_11_IC14_MPA"))
+((RTD_12_IC15_ACU, 0x44420028, "RTD_12_IC15_ACU"))
+((RTD_13_IC16_PLPCDU_HEATSPREADER, 0x44420029, "RTD_13_IC16_PLPCDU_HEATSPREADER"))
+((RTD_14_IC17_TCS_BOARD, 0x44420030, "RTD_14_IC17_TCS_BOARD"))
+((RTD_15_IC18_IMTQ, 0x44420031, "RTD_15_IC18_IMTQ"))
 
   // Name convention for SUS devices
   // SUS_<IDX>_<N/R>_LOC_X<F/M/B>Y<F/M/B>Z<F/M/B>_PT_<DIR><F/B>
@@ -87,42 +89,42 @@ enum commonObjects : uint32_t {
   // PT: Pointing
   // N/R: Nominal/Redundant
   // F/M/B: Forward/Middle/Backwards
-  SUS_0_N_LOC_XFYFZM_PT_XF = 0x44120032,
-  SUS_6_R_LOC_XFYBZM_PT_XF = 0x44120038,
+((SUS_0_N_LOC_XFYFZM_PT_XF, 0x44120032, "SUS_0_N_LOC_XFYFZM_PT_XF"))
+((SUS_6_R_LOC_XFYBZM_PT_XF, 0x44120038, "SUS_6_R_LOC_XFYBZM_PT_XF"))
 
-  SUS_1_N_LOC_XBYFZM_PT_XB = 0x44120033,
-  SUS_7_R_LOC_XBYBZM_PT_XB = 0x44120039,
+((SUS_1_N_LOC_XBYFZM_PT_XB, 0x44120033, "SUS_1_N_LOC_XBYFZM_PT_XB"))
+((SUS_7_R_LOC_XBYBZM_PT_XB, 0x44120039, "SUS_7_R_LOC_XBYBZM_PT_XB"))
 
-  SUS_2_N_LOC_XFYBZB_PT_YB = 0x44120034,
-  SUS_8_R_LOC_XBYBZB_PT_YB = 0x44120040,
+((SUS_2_N_LOC_XFYBZB_PT_YB, 0x44120034, "SUS_2_N_LOC_XFYBZB_PT_YB"))
+((SUS_8_R_LOC_XBYBZB_PT_YB, 0x44120040, "SUS_8_R_LOC_XBYBZB_PT_YB"))
 
-  SUS_3_N_LOC_XFYBZF_PT_YF = 0x44120035,
-  SUS_9_R_LOC_XBYBZB_PT_YF = 0x44120041,
+((SUS_3_N_LOC_XFYBZF_PT_YF, 0x44120035, "SUS_3_N_LOC_XFYBZF_PT_YF"))
+((SUS_9_R_LOC_XBYBZB_PT_YF, 0x44120041, "SUS_9_R_LOC_XBYBZB_PT_YF"))
 
-  SUS_4_N_LOC_XMYFZF_PT_ZF = 0x44120036,
-  SUS_10_N_LOC_XMYBZF_PT_ZF = 0x44120042,
+((SUS_4_N_LOC_XMYFZF_PT_ZF, 0x44120036, "SUS_4_N_LOC_XMYFZF_PT_ZF"))
+((SUS_10_N_LOC_XMYBZF_PT_ZF, 0x44120042, "SUS_10_N_LOC_XMYBZF_PT_ZF"))
 
-  SUS_5_N_LOC_XFYMZB_PT_ZB = 0x44120037,
-  SUS_11_R_LOC_XBYMZB_PT_ZB = 0x44120043,
+((SUS_5_N_LOC_XFYMZB_PT_ZB, 0x44120037, "SUS_5_N_LOC_XFYMZB_PT_ZB"))
+((SUS_11_R_LOC_XBYMZB_PT_ZB, 0x44120043, "SUS_11_R_LOC_XBYMZB_PT_ZB"))
 
-  SYRLINKS_HK_HANDLER = 0x445300A3,
+((SYRLINKS_HK_HANDLER, 0x445300A3, "SYRLINKS_HK_HANDLER"))
 
   // 0x60 for other stuff
-  HEATER_0_PLOC_PROC_BRD = 0x60000000,
-  HEATER_1_PCDU_BRD = 0x60000001,
-  HEATER_2_ACS_BRD = 0x60000002,
-  HEATER_3_OBC_BRD = 0x60000003,
-  HEATER_4_CAMERA = 0x60000004,
-  HEATER_5_STR = 0x60000005,
-  HEATER_6_DRO = 0x60000006,
-  HEATER_7_HPA = 0x60000007,
+((HEATER_0_PLOC_PROC_BRD, 0x60000000, "HEATER_0_PLOC_PROC_BRD"))
+((HEATER_1_PCDU_BRD, 0x60000001, "HEATER_1_PCDU_BRD"))
+((HEATER_2_ACS_BRD, 0x60000002, "HEATER_2_ACS_BRD"))
+((HEATER_3_OBC_BRD, 0x60000003, "HEATER_3_OBC_BRD"))
+((HEATER_4_CAMERA, 0x60000004, "HEATER_4_CAMERA"))
+((HEATER_5_STR, 0x60000005, "HEATER_5_STR"))
+((HEATER_6_DRO, 0x60000006, "HEATER_6_DRO"))
+((HEATER_7_HPA, 0x60000007, "HEATER_7_HPA"))
 
   // 0x73 ('s') for assemblies and system/subsystem components
-  ACS_BOARD_ASS = 0x73000001,
-  SUS_BOARD_ASS = 0x73000002,
-  TCS_BOARD_ASS = 0x73000003,
-  RW_ASS = 0x73000004
-};
+((ACS_BOARD_ASS, 0x73000001, "ACS_BOARD_ASS"))
+((SUS_BOARD_ASS, 0x73000002, "SUS_BOARD_ASS"))
+((TCS_BOARD_ASS, 0x73000003, "TCS_BOARD_ASS"))
+((RW_ASS, 0x73000004, "RW_ASS"))
+)
 }
 
 #endif /* COMMON_CONFIG_COMMONOBJECTS_H_ */

fsfw

@@ -1 +1 @@
-Subproject commit d975958120bd151dabdc450a104e9cc8069ff509
+Subproject commit 383bafe3446a832edc466d850c637ea879fa1934

linux/CMakeLists.txt

@@ -1,7 +1,7 @@
 add_subdirectory(csp)
 add_subdirectory(utility)
 add_subdirectory(callbacks)
-add_subdirectory(boardtest)
+#add_subdirectory(boardtest)
 add_subdirectory(devices)
 add_subdirectory(fsfwconfig)
 add_subdirectory(obc)

linux/devices/GPSHyperionLinuxController.cpp

@@ -53,22 +53,24 @@ ReturnValue_t GPSHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t GPSHyperionLinuxController::executeAction(ActionId_t actionId,
-                                                        MessageQueueId_t commandedBy,
-                                                        const uint8_t *data, size_t size) {
-  switch (actionId) {
-    case (GpsHyperion::TRIGGER_RESET_PIN_GNSS): {
-      if (resetCallback != nullptr) {
-        PoolReadGuard pg(&gpsSet);
-        // Set HK entries invalid
-        gpsSet.setValidity(false, true);
-        resetCallback(data, size, resetCallbackArgs);
-        return HasActionsIF::EXECUTION_FINISHED;
-      }
-      return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
-    }
+ModeDefinitionHelper GPSHyperionLinuxController::getModeDefinitionHelper() {
+  //TODO verify which modes are supported
+  return ModeDefinitionHelper::create<ControllerModes, DefaultSubmode>();
+}
+
+ReturnValue_t GPSHyperionLinuxController::executeAction(Action *action) {
+  return action->handle();
+}
+
+ReturnValue_t GPSHyperionLinuxController::handleAction(GPSHyperionLinuxAction * action) {
+  if (resetCallback != nullptr) {
+    PoolReadGuard pg(&gpsSet);
+    // Set HK entries invalid
+    gpsSet.setValidity(false, true);
+    resetCallback(static_cast<uint8_t>(action->gpsId.value), resetCallbackArgs);
+    return HasActionsIF::EXECUTION_FINISHED;
   }
-  return HasReturnvaluesIF::RETURN_OK;
+  return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
 }
 
 ReturnValue_t GPSHyperionLinuxController::initializeLocalDataPool(

linux/devices/GPSHyperionLinuxController.h

@@ -2,10 +2,11 @@
 #define MISSION_DEVICES_GPSHYPERIONHANDLER_H_
 
 #include "commonSubsystemIds.h"
+#include "devicedefinitions/GPSHyperionLinuxDefinitions.h"
 #include "fsfw/FSFW.h"
 #include "fsfw/controller/ExtendedControllerBase.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
-#include "mission/devices/devicedefinitions/GPSDefinitions.h"
+
 
 #ifdef FSFW_OSAL_LINUX
 #include <gps.h>
@@ -30,7 +31,7 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
                              bool debugHyperionGps = false);
   virtual ~GPSHyperionLinuxController();
 
-  using gpioResetFunction_t = ReturnValue_t (*)(const uint8_t* actionData, size_t len, void* args);
+  using gpioResetFunction_t = ReturnValue_t (*)(uint8_t gpsId, void* args);
 
   void setResetPinTriggerFunction(gpioResetFunction_t resetCallback, void* args);
   ReturnValue_t handleCommandMessage(CommandMessage* message) override;
@@ -38,8 +39,9 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
   LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
   ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
                                  uint32_t* msToReachTheMode) override;
-  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
-                              const uint8_t* data, size_t size) override;
+  ModeDefinitionHelper getModeDefinitionHelper() override;
+  ReturnValue_t executeAction(Action* action) override;
+  ReturnValue_t handleAction(GPSHyperionLinuxAction * action);
   ReturnValue_t initialize() override;
 
  protected:
@@ -65,6 +67,7 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
   int32_t noModeSetCntr = 0;
   uint32_t timeIsConstantCounter = 0;
   Countdown timeUpdateCd = Countdown(60);
+  GPSHyperionLinuxAction action = GPSHyperionLinuxAction(this);
 
   void readGpsDataFromGpsd();
 };

linux/devices/devicedefinitions/GPSHyperionLinuxDefinitions.h

@@ -0,0 +1,23 @@
+#pragma once
+
+#include <fsfw/action/MinMaxParameter.h>
+#include <fsfw/action/TemplateAction.h>
+#include <fsfw/introspection/Enum.h>
+
+#include "mission/devices/devicedefinitions/GPSDefinitions.h"
+
+class GPSHyperionLinuxController;
+
+FSFW_ENUM(GPSHyperionLinuxCommands, DeviceCommandId_t,
+          ((TRIGGER_RESET_PIN_GNSS, GpsHyperion::TRIGGER_RESET_PIN_GNSS, "Trigger Reset Pin")))
+
+class GPSHyperionLinuxAction
+    : public TemplateAction<GPSHyperionLinuxController, GPSHyperionLinuxAction,
+                            GPSHyperionLinuxCommands> {
+ public:
+  FSFW_ENUM(GpsIDs, uint8_t, ((GPS_0, 0, "GPS 0"))((GPS_1, 1, "GPS 1")))
+  GPSHyperionLinuxAction(GPSHyperionLinuxController *owner)
+      : TemplateAction(owner, GPSHyperionLinuxCommands::TRIGGER_RESET_PIN_GNSS){};
+
+  Parameter<GpsIDs> gpsId = Parameter<GpsIDs>::createParameter(this, "GPS ID");
+};

linux/devices/devicedefinitions/PlocMPSoCCommonDefinitions.h

@@ -0,0 +1,646 @@
+#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_PLOCMPSOCCOMMONDEFINITIONS_H_
+#define MISSION_DEVICES_DEVICEDEFINITIONS_PLOCMPSOCCOMMONDEFINITIONS_H_
+
+#include <fsfw/action/MinMaxParameter.h>
+#include <fsfw/action/TemplateAction.h>
+#include <fsfw/introspection/Enum.h>
+
+#include "MPSoCReturnValuesIF.h"
+#include "OBSWConfig.h"
+#include "eive/definitions.h"
+#include "fsfw/globalfunctions/CRC.h"
+#include "fsfw/serialize/SerializeAdapter.h"
+#include "fsfw/tmtcpacket/SpacePacket.h"
+
+
+namespace mpsoc {
+
+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.
+ */
+namespace apid {
+static const uint16_t TC_REPLAY_START = 0x110;
+static const uint16_t TC_REPLAY_STOP = 0x111;
+static const uint16_t TC_REPLAY_WRITE_SEQUENCE = 0x112;
+static const uint16_t TC_DOWNLINK_PWR_ON = 0x113;
+static const uint16_t TC_MEM_WRITE = 0x114;
+static const uint16_t TC_MEM_READ = 0x115;
+static const uint16_t TC_FLASHWRITE = 0x117;
+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
+ * 8.
+ */
+static const uint8_t SIZE_MEM_READ_RPT_FIX = 6;
+
+static const size_t MAX_FILENAME_SIZE = 256;
+
+/**
+ * PLOC space packet length for fixed size packets. This is the size of the whole packet data
+ * field. For the length field in the space packet this size will be substracted by one.
+ */
+static const uint16_t LENGTH_TC_MEM_WRITE = 12;
+static const uint16_t LENGTH_TC_MEM_READ = 8;
+
+static const size_t MAX_REPLY_SIZE = SpacePacket::PACKET_MAX_SIZE * 3;
+static const size_t MAX_COMMAND_SIZE = SpacePacket::PACKET_MAX_SIZE;
+static const size_t MAX_DATA_SIZE = 1016;
+
+/**