bump patch revision to 3

Reviewed-on: #610
Reviewed-by: Marius Eggert <eggertm@irs.uni-stuttgart.de>

.gitignore

@@ -12,8 +12,13 @@
 #vscode
 /.vscode
 
+# IntelliJ
+/.idea/*
+
 # Python
 __pycache__
-.idea
+
+# CLion
+!/.idea/cmake.xml
 
 generators/*.db

.gitmodules

@@ -10,9 +10,6 @@
 [submodule "thirdparty/lwgps"]
 	path = thirdparty/lwgps
 	url = https://github.com/rmspacefish/lwgps.git
-[submodule "thirdparty/arcsec_star_tracker"]
-	path = thirdparty/arcsec_star_tracker
-	url = https://egit.irs.uni-stuttgart.de/eive/arcsec_star_tracker.git
 [submodule "thirdparty/json"]
 	path = thirdparty/json
 	url = https://github.com/nlohmann/json.git
@@ -22,3 +19,6 @@
 [submodule "thirdparty/gomspace-sw"]
 	path = thirdparty/gomspace-sw
 	url = https://egit.irs.uni-stuttgart.de/eive/gomspace-sw.git
+[submodule "thirdparty/sagittactl"]
+	path = thirdparty/sagittactl
+	url = https://egit.irs.uni-stuttgart.de/eive/sagittactl.git

.idea/cmake.xml

@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="CMakeSharedSettings">
+    <configurations>
+      <configuration PROFILE_NAME="Debug Q7S" ENABLED="true" CONFIG_NAME="Debug" TOOLCHAIN_NAME="Q7S" GENERATION_OPTIONS="-DTGT_BSP=&quot;arm/q7s&quot;" NO_GENERATOR="true">
+        <ADDITIONAL_GENERATION_ENVIRONMENT>
+          <envs>
+            <env name="ZYNQ_7020_ROOTFS" value="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-linux-gnueabi" />
+            <env name="CROSS_COMPILE" value="/opt/q7s-gcc/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin/arm-linux-gnueabihf" />
+          </envs>
+        </ADDITIONAL_GENERATION_ENVIRONMENT>
+      </configuration>
+    </configurations>
+  </component>
+</project>

.run/Q7S FM.run.xml

@@ -0,0 +1,10 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Q7S FM" type="com.jetbrains.cidr.remote.gdbserver.type" factoryName="com.jetbrains.cidr.remote.gdbserver.factory" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="eive-obsw" TARGET_NAME="eive-obsw" CONFIG_NAME="Debug" version="1" RUN_TARGET_PROJECT_NAME="eive-obsw" RUN_TARGET_NAME="eive-obsw">
+    <custom-gdb-server version="1" gdb-connect="localhost:1234" executable="" warmup-ms="0" download-type="NONE" sshConfigName="Q7S FM" uploadFile="/tmp/eive-obsw" defaultGdbServerArgs=":1234 /tmp/eive-obsw">
+      <debugger kind="GDB" isBundled="true" />
+    </custom-gdb-server>
+    <method v="2">
+      <option name="CLION.COMPOUND.BUILD" enabled="true" />
+    </method>
+  </configuration>
+</component>

CHANGELOG.md

@@ -8,15 +8,885 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/).
 The [milestone](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/milestones)
 list yields a list of all related PRs for each release.
 
-Starting at v2.0.0, the following changes will consitute of a breaking
+Starting at v2.0.0, this project will adhere to semantic versioning and the the following changes
-change warranting a new major release:
+will consitute of a breaking change warranting a new major release:
 
 - The TMTC interface changes in any shape of form.
-- The behavour of the OBSW changes in a major shape or form relevant
+- The behaviour of the OBSW changes in a major shape or form relevant for operations
-  for operations
 
 # [unreleased]
 
+# [v2.0.3] 2023-04-17
+
+- eive-tmtc: v3.1.1
+
+## Fixed
+
+- Fixed shadowing within the `SafeCtrl`, which prevented actuator commands to be calculated during
+  eclipse phase.
+- EM build idle mode fixes for RW dummy.
+
+## Added
+
+- Add `MGT_OVERHEATING` event and fallback to system SAFE mode if the MGT is overheating for
+  whatever reason.
+
+## Changed
+
+- Low-pass filters can no longer be executed if no actual data is available.
+
+# [v2.0.2] 2023-04-16
+
+- Bump patch version to 2.
+
+# [v2.0.1] 2023-04-16
+
+- eive-tmtc: v3.1.0
+
+# [v2.0.0] 2023-04-16
+
+This is the version which will fly on the satellite for the initial launch phase.
+
+- q7s-package: v2.5.0
+- eive-tmtc: v3.0.0
+- `wire` library is now on version v10.7 as well.
+
+## Added
+
+- Added `mv`, `cp` and `rm` action helpers for the core controller for common filesystem operations.
+- Extended directory listing helpers. There is now a directory listing helper which dumps the
+  directory listing as an action data reply immediately. For smaller directory listings, this
+  allows a listing without requiring a separate file downlink (which also has not been implemented
+  yet)
+
+## Changed
+
+- The directory listing action commands now allow compressing of either the target output file
+  for the directory listing into file action command, or compression in the helper which dumps
+  the directory listing directly.
+
+# [v1.45.0] 2023-04-14
+
+- q7s-package: v2.5.0
+- eive-tmtc: v3.0.0
+- STR firmware was updated to v10.7. `wire` library still needs to be updated.
+
+## Fixed
+
+- Small fix for `install-obsw-yocto.sh` script
+- Bugfix for STR firmware update procedure where the last remaining
+  bytes were not written properly.
+- Bugfix for STR where an invalid reply was received for special requests
+  like firmware updates.
+- Bugfix for shell command executors in command controller which lead to a crash.
+- Important bugfix for STR solution set. Missing STR mode u8 parameter.
+- Fix for STR image download.
+- Possible fix for STR image upload.
+- Fixed regression where the reply result for ACS board and SUS board devices was set to FAILED
+  even when going to OFF mode. In that case, it has to be set to OK so the device handler can
+  complete the OFF transition.
+
+## Changed
+
+- STR `wire` library updated to v10.3. Submodule renamed to `sagittactl`.
+- Custom FDIR for TMP1075 sensors. The device handlers reject `NEEDS_RECOVERY` health commands
+  anyway, so it does not really make sense to use the default FDIR.
+- Reject `NEEDS_RECOVERY` health commands for the heater health devices.
+- Adapted some queue sizes so that EM startup works without queue errors
+  - Event Manager: 120 -> 160
+  - UDP TMTC Bridge: 50 -> 120
+  - TCP TMTC Bridge: 50 -> 120
+  - Service 5: 120 -> 160, number of events handled in one cycle increased to 80
+- EM: PCDU dummy is not a device handler anymore, but a custom power switcher object. This avoids
+  some issues where the event manager could not send an event message to the PCDU dummy because
+  the FDIR event queue was too small.
+
+## Added
+
+- Add a way for the MAX31865 RTD handlers to recognize faulty/broken/off sensor devices.
+- Add parameter interface for core controller
+- Allow setting the preferred SD card via the new parameter interface of the core controller
+  with domain ID 0 and unque ID 0.
+- Added action commands to reset the PDEC. Also added autonomous reset handling for the PDEC,
+  because there is no way so send TCs with a faulty PDEC.
+- Added `I2C_REBOOT` and `PDEC_REBOOT` events for EIVE system component to ensure ground gets
+  informed.
+
+## ACS
+
+- Commanding from ACS Controller is now enabled.
+- Safe Controller was reverted to FLP Design. This also introduces safe mode strategies.
+  They contain what the controller does and which data it uses. The controller will
+  automatically based on the available data decide on which strategy to use. If a strategy
+  is undesirable (e.g. the MEKF should not be used) this can be handeld via setting parameters.
+
+# [v1.44.1] 2023-04-12
+
+- eive-tmtc: v2.22.1
+
+## Fixed
+
+- Bugfixes and improvements for SDC state machine. Internal state was not updated correctly due
+  to a regression, so commanding the SDC state machine externally lead to confusing results.
+- Heater states array in TCS controller was too small.
+- Fixed a bug in persistent TM store, where the active file was not reset of SD card switches.
+  SD card switch from 0 to 1 and vice-versa works without errors from persistent TM stores now.
+- Add a way for the SUS polling to detect broken or off devices by checking the retrieved
+  temperature for the all-ones value (0x0fff).
+- Better reply result handling for the ACS board devices.
+- ADIS1650X initial timeout handling now performed in device handler.
+- The RW assembly and TCS board assembly now perform proper power switch handling for their
+  recovery handling.
+
+## Changed
+
+- Added additional logic for SDC state machine so that the SD cards are marked unusable when
+  the active SD card is switched or there is a transition from hot redundant to cold redundant mode.
+  This gives other tasks some time to register the SD cards being unusable, and therefore provides
+  a way for them to perform any re-initialization tasks necessary after SD card switches.
+- TCS controller now only has an OFF mode and an ON mode
+- The TCS controller pauses operations related to the TCS board assembly (reading sensors and 
+  the primary control loop) while a TCS board recovery is on-going.
+- Allow specifying custom OBSW update filename. This allowed keeping a cleaner file structure
+  where each update has a name including the version
+- The files extracted during an update process are deleted after the update was performed to keep
+  the update directory cleaner.
+
+## Added
+
+- TCS controller: SUBMODE_NO_HEATER_CTRL (1) added for ON mode. If this submode is
+  commanded, all heaters will be switched off and then no further heater
+  commanding will be done.
+- Fixed a bug in persistent TM store, where the active file was not reset of SD card switches.
+  SD card switch from 0 to 1 and vice-versa works without errors from persistent TM stores now.
+
+# [v1.44.0] 2023-04-07
+
+- eive-tmtc: v2.22.0
+
+## Added
+
+- Special I2C recovery handling. If the I2C bus is unavailable for whatever reason, the EIVE
+  system component will power-cycle all I2C devices by first going to the OFF/BOOT mode, then
+  power-cycling the 3V3 stack and rebooting the battery, and finally going back to safe mode.
+  If this does not restore the bus, a full reboot will be performed. This special sequence can
+  be commanded as well.
+
+## Fixed
+
+- RW Assembly: Correctly transition back to off when more than 1 devices is OFF. Also do this
+  when this was due to two devices being marked faulty.
+- RW dummy and STR dummy components: Set/Update modes correctly.
+- RW handlers: Bugfix for TM set retrieval and special request handling in general where the CRC
+  check always failed for special request. Also removed an unnecessary delay for special requests.
+- RW handlers: Polling is now disabled for RWs which are off.
+
+## Changed
+
+- RW shutdown now waits for the speed to be near 0 or for a OFF transition countdown to be expired
+  before going to off.
+
+# [v1.43.2] 2023-04-05
+
+## Changed
+
+- Adapted HK data rates to new table for LEOP SAFE mode.
+- GPS controller HK is now generated periodically as well.
+- Better mode combination checks for assembly components. This includes:
+  - IMTQ assembly
+  - Syrlinks assembly
+  - Dual Lane Assembly
+- RWs are no longer commanded by the ACS Controller during safe mode. Instead the RW speed command
+  is set to 0 as part or the `doShutDown` of the RW handler.
+
+## Fixed
+
+- Dual lane assemblies: Fix handling when health states are overwritten. Also add better handling
+  when some devices are permanent faulty and some are only faulty. In that case, only the faulty
+  devices will be restored.
+- ACS dual lane assembly: Gyro 3 helper mode was assigned to the Gyro 2 mode.
+
+# [v1.43.1] 2023-04-04
+
+## Fixed
+
+- Generic HK handling: Bug where HKs were generated a lot more often than required. This is the case
+  if a device handler `PERFORM_OPERATION` step is performed more than once per PST cycle.
+- Syrlinks now goes to `_MODE_TO_ON` when finishing the `doStartUp` transition.
+
+## Changed
+
+- Doubled GS PST interval instead of scheduling everything twice.
+- Syrlinks now only has one `PERFORM_OPERATION` step, but still has two communication steps.
+- PCDU components only allow setting `NEEDS_RECOVERY`, `HEALTHY` and `EXTERNAL_CONTROL` health
+  states now. TMP sensor components only allow `HEALTHY` , `EXTERNAL_CONTROL`, `FAULTY` and
+  `PERMANENT_FAULTY`.
+- TCS controller now does a sanity check on the temperature values: Values below -80 C or above
+  160 C are ignored.
+
+# [v1.43.0] 2023-04-04
+
+- q7s-package: v2.4.0
+- eive-tmtc: v2.21.0
+
+## Added
+
+- Version of thermal controller which performs basic control tasks.
+- PCDU handler can now command switch of the 3V3 stack (switch ID 19)
+- Set STR dev to OFF in assembly when it is faulty.
+- STR: Reset data link layer and flush RX for regular commands and before performing special
+  commands to ensure consistent start state
+
+## Fixed
+
+- PTME was not reset after configuration changes.
+- GPS health devices: ACS board assembly not reacts to health changes.
+- STR COM helper: Reset reply size after returning a reply
+
+## Changed
+
+- Poll threshold configuration of the PTME IP core is now configurable via a parameter command
+  and is set to 0b010 (4 polls) instead of 0b001 (1 poll) per default.
+- EIVE system fallback and COM system fallback: Perform general subsystem handling first, then
+  event reception, and finally any new transition handling.
+- IMTQ MGM integration time lowered to 6 ms. This relaxes scheduling requirements a bit.
+- PCDU handler switcher HK set now has additional 3V3 switcher state HK.
+
+# [v1.42.0] 2023-04-01
+
+- eive-tmtc: v2.20.1
+- q7s-package: v2.3.0
+
+## Changed
+
+- SCEX filename updates. Also use T as the file ID / date separator between date and time.
+- COM TM store and dump handling: Introduce modes for all 4 TM VC/store tasks. The OFF mode can be
+  used to disable ongoing dumps or to prevent writes to the PTME VC. This allows cleaner reset
+  handling of the PTME. All 4 VC/store tasks were attached to the COM mode tree and are commanded
+  as part of the COM sequence as well to ensure consistent state with the CCSDS IP core handler.
+- Added `PTME_LOCKED` boolean lock which is used to lock the PTME so it is not used by the VC tasks
+  anymore. This lock will be controlled by the CCSDS IP core handler and is locked when the PTME
+  needs to be reset. Examples for this are datarate changes.
+- Simulate real PCDU in PCDU dummy by remembering commandes switch change and triggering appropriate
+  events. Switch feedback is still immediate.
+- GomSpace devices are polled with a doubled frequency. This speeds up power switch commanding.
+
+## Fixed
+
+- Bugfix for side lane transitions of the dual lane assemblies, which only worked when the
+  assembly was directly commanded.
+- Syrlinks Handler: Bugfix so transition command is only sent once.
+- SCEX file name bug: Create file name time stamp with `strftime` similarly to how it's done
+  for the persistent TM store.
+
+## Added
+
+- Added GPS0 and GPS1 health device which are used by the ACS board assembly when deciding whether
+  to change to the other side or to go to dual side directly. Setting the health devices to faulty
+  should also trigger a side switch or a switch to dual mode.
+
+# [v1.41.0] 2023-03-28
+
+- eive-tmtc: v2.20.0
+- q7s-package: v2.2.0
+
+## Fixed
+
+- Proper Faulty/External Control handling for the dual lane assemblies.
+- ACS board devices: Go to ON mode instead of going to NORMAL mode directly.
+- SUS device handlers: Go to ON mode on startup instead of NORMAL mode.
+- Tweaks for the delay handling for the persistent TM stores. This allows pushing the full
+  high datarate when dumping telemetry. The most important and interesting fix is that
+  there needs to be a small delay between the polling of the GPIO. Polling the GPIO
+  without any delay consecutively can lead to scheduling issues.
+- Bump FSFW for fix of `ControllerBase` class `startTransition` implementation.
+- Bump FSFW for possible fix of `PowerSwitcherComponent`: Initial mode `MODE_UNDEFINED`.
+
+## Changed
+
+- Enabled periodic hosuekeeping generation for release images.
+- Project structure (linux and mission folder) is subsystem centric now.
+
+# [v1.40.0] 2023-03-24
+
+- eive-tmtc: v2.19.4
+- q7s-packasge: v2.1.0
+- Bumped fsfwgen for bugfix: Event translation can deal with duplicate event names now.
+
+## Fixed
+
+- PAPB busy polling now implemented properly with an upper bound of how often the PAPB is allowed
+  to be busy before returning the BUSY returnvalue. Also propagate and check for that case properly.
+  Ideally, this will never be an issue and the PAPB VC interface should never block for a longer
+  period.
+- The `mekfInvalidCounter` now resets on setting the STR to faulty.
+- Improve the SD lock handling. The file handling does not need to be locked as it
+  is only handled by one thread.
+
+## Added
+
+- The event `MEKF_RECOVERY` will be triggered in case the `MEKF` does manage to recover itself.
+- The persistent TM stores now have low priorities and behave like background threads now. This
+  should prevent them from blocking or slowing down the system even during dumps
+  (at least in theory).
+- STR: Fix weird issues on datalink layer data reception which sometimes occur.
+- Syrlinks FDIR: Fully allow FDIR to do more recoveries. Assembly should take care of preventing
+  the switch to go off.
+- Allow dual lane assembly side switches.
+
+## Changed
+
+- Rework FSFW OSALs to properly support regular scheduling (NICE priorities) and real-time
+  scheduling.
+- STR: Move datalink layer to `StrComHandler` completely. DLL is now completely hidden from
+  device handler.
+- STR: Is now scheduled twice in ACS PST.
+- `StrHelper` renamed to `StrComHandler`, is now a `DeviceHandlerIF` directly and does not wrap
+  a separate UART COM interface anymore.
+- TCS: Local pool variables are members now.
+- Syrlinks: Create dedicated COM helper which uses a ring buffer to parse the Syrlinks datalinklayer
+  and should make communication more reliable even on high CPU loads.
+- Syrlinks: Two communication cycles per PST.
+- Fine-tuning of various task priorities.
+- The CSP router now is scheduled with the `SCHED_RR` policy and the same priority as the PCDU
+  handlers as well.
+- Change project structure to be more subsystem centric for ACS and COM.
+
+# [v1.39.1] 2023-03-22
+
+## Fixed
+
+- Bugfix for STR: Some action commands wrongfully declined.
+- STR: No normal command handling while a special request like an image upload is active.
+- RS485 data line was not enabled when the transmitter was switched on.
+
+# [v1.39.0] 2023-03-21
+
+Requires firmware update for new FPGA design where reset line is routed into the software.
+2 relevant PRs:
+ - https://egit.irs.uni-stuttgart.de/eive/q7s-vivado/pulls/53
+ - https://egit.irs.uni-stuttgart.de/eive/q7s-vivado/pulls/54
+
+eive-tmtc: v2.19.3
+
+## Added
+
+- Added NaN and Inf check for the `MEKF`. If these are detected, the `AcsController` will reset
+  the `MEKF` on its own once. This way, there will not be an event spam and operators will have
+  to look into the reason of wrong outputs. To restore the reset ability, an action command has
+  been added.
+- Contingency handling for non-working I2C bus bug. Reboot the system if the I2C is not working.
+
+## Fixed
+
+- Fixed transition for dual power lane assemblies: When going from dual side submode to single side
+  submode, perform logical commanding first, similarly to when going to OFF mode.
+- GPS time is only set to valid if at least one satellite is in view.
+
+## Changed
+
+- Bugfixes for STR mode transitions: Booting to mode ON with submode FIRMWARE now works properly.
+  Furthermore, the submode in the NORMAL mode now should be 0 instead of some ON mode submode.
+- Updated GYR bias values to newest measurements. This also corrects the ADIS values to always
+  consit of just one digit.
+- The CCSDS IP core handler now exposes a parameter to enable the priority select mode
+  for the PTME core. This mode prioritizes virtual channels with a lower index, so for example
+  the virtual channel (VC0) will have the highest priority, while VC3 will have the lowestg
+  priority. This mode will be enabled by default for now, but can be set via the parameter IF with
+  the unique parameter ID 0. The update of this mode requires a PTME reset. Therefore, it will only
+  be performed when the transmitter is off to avoid weird bugs.
+- Connect and handle reset line for the PTME core in the software now.
+- Safe mode controller failure event now only triggers once per minute.
+
+# [v1.38.0] 2023-03-17
+
+eive-tmtc: v2.19.2
+
+## Fixed
+
+- SA deployment file handling: Use exceptionless API.
+- Fix deadlock in SD card manager constructor: Double lock of preferred SD card lock.
+
+## Added
+
+- Failure of Safe Mode Ctrl will now trigger an event. As this can only be caused by sensors not
+  being in the correct mode, the assemblies should take care that this will never happen and no
+  additional FDIR is needed.
+
+## Changed
+
+- Telemetry relevant datasets for the RWs are now set invalid and partially reset on shotdown.
+- I2C PST now has a polling frequency of 0.4 seconds instead of 0.2 seconds.
+- GS PST now has a polling frequency of 0.5 seconds instead of 1 second.
+- Bump FSFW: merged upstream.
+- Move BPX battery scheduling to ACS PST to avoid clashes with IMTQ scheduling / polling
+
+# [v1.37.2] 2023-03-14
+
+- Changed `PoolManager` bugfix implementation in the FSFW.
+- Some tweaks for IPC and TM store configuration
+
+# [v1.37.1] 2023-03-14
+
+This version works on the EM as well.
+
+eive-tmtc: v2.19.1
+
+## Added
+
+- Added `EXECUTE_SHELL_CMD` action command for `CoreController` to execute arbitrary Linux commands.
+- Added some missing PLOC commands.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/462
+- Add `PcduHandlerDummy` component.
+- Added parameter for timeout until `MEKF_INVALID_MODE_VIOLATION` event is triggered.
+
+## Fixed
+
+- Pointing control of the `AcsController` was still expecting submodes instead of modes.
+- Limitation of RW speeds was done before converting them to the correct unit scale.
+- The Syrlinks task now has a proper name instead of `MAIN_SPI`.
+- Make whole EIVE system initial transition work for the EM. This was also made possible by
+  always scheduling most EIVE components instead of tying the scheduling to preprocessor defines.
+- Store more TCP und UDP packets.
+- Bump fsfw for small tweak in local datapool manager: Re-enable or re-disabling dataset
+  generation will not fail anymore.
+- Bump FSFW to simplify HK helpers: Was previously buggy and did not allow to use
+  minmum sampling frequency. Now both diagnostics and HK can use minimum
+  sampling frequency for requesting HK
+- Bump FSFW to allow the TC/TM/IPC pools to spill to higher pools/pool pages.
+
+## Changed
+
+- Set `OBSW_ADD_TCS_CTRL` to 1. Always add TCS controller now for both EM and FM.
+- generators module: Bump `fsfwgen` dependency to v0.3.1. The returnvalue CSV files are now sorted.
+- generators module: Always generate subsystem ID CSV files now.
+- The COM subsystem is now not commanded by the EIVE system anymore. Instead,
+  a separate RX_ONLY mode command will be sent at OBSW boot. After that,
+  commanding is done autonomously by the COM subsystem internally or by the operator. This prevents
+  the transmitter from going off during fallbacks to the SAFE mode, which might not always be
+  desired.
+- Initialize switch states to a special `SWITCH_STATE_UNKNOWN` (2) variable. Return
+  `PowerSwitchIF::SWITCH_UNKNOWN` in switch state getter if this is the state.
+- Wait 1 second before commanding SAFE mode. This ensures or at least increases the chance that
+  the switch states were initialized.
+- Dual Lane Assemblies: The returnvalues of the dual lane power state machine FSM are not ignored
+  anymore.
+
+# [v1.37.0] 2023-03-11
+
+eive-tmtc: v2.18.1
+
+## Added
+
+- `SensorProcessing` now includes an FDIR for GPS altitude. If the measured GPS altitude is out
+  of bounds of the range defined in the `AcsParameters`, the altitude defaults to an altitude
+  set in the `AcsParameters`.
+- `AcsController` will now never command a RW speed larger than the maximum allowed speed.
+
+## Fixed
+
+- `PAPB_EMPTY_SIGNAL_VC1` GPIO was not set up properly.
+- Fix for heater names: HPA heater (index 7) is now the Syrlinks heater.
+- `AcsParameters` setter were previously all for scalar parameters. Now vector and matrix
+  parameters use their respective setters.
+- Several `AcsController` components had their own implementation of `AcsParameters`. This resulted
+  in those parameters not being updated, while the actual ones were updated. All instances of
+  `AcsParameters` not belonging to `AcsController` are eiter removed or replaced by pointer
+  instances.
+- Instead of updating the `gsTargetModeControllerParameters`, the `targetModeControllerParameters`
+  were updated.
+- Instead of updating the `idleModeControllerParameters`, the `targetModeControllerParameters`
+  were updated.
+- Fixed Idle Mode Controller never calling `ptgLaw` and therefore never calculating control
+  values.
+- Fixed wrong check on wether file used for persistant boolean flag on successful still existed.
+- Scaling of MTQ Cmds now scales the current values to command with the current values and not
+  the values of the last step, which would result in undefined behaviour.
+- Solved naming collision between file used for solar array deployment and confirmation for
+  ACS for solar array deployment.
+- Fixed that scaling of RW torque would result in a zero vector unless the maximum value was exceeded.
+- Bias for the GYR data was substracted within the wrong rf (sensor rf vs body rf).
+
+## Changed
+
+- Refactored TM pipeline to optimize usage of the PTME and communication downlink bandwidth.
+  This was done by moving the dumping of TMs to the VCs into separate threads with permanent loops.
+  These threads are then able to process high TM loads on demand. The PUS TM funnel will route
+  PUS packets to the approrpiate persisten TM stores and then demultiplex the TM to all registered
+  TM destinations as before.
+- Service 5 now handles 40 events per cycle instead of 15
+- Remove periodic SD card check. The file system is not mounted read-only anymore when using an
+  ext4 filesystem
+- The `detumbleCounter` now does not get hard reset anymore, if the critical rate does not get
+  violated anymore. Instead it is incrementally reset.
+- The RW antistiction now only takes the RW speeds in account.
+- ACS CTRL transition to DETUBMLE is now done in CTRL internally. No
+  system level handling necessary anymore.
+- More fixes and improvements for SD card handling. Extend SD card setup in core controller to
+  create full initial state for SD card manager are core controller as early as possible, turn
+  execution of setup file update blocking. This might solve the issue with the SD card manager
+  sometimes blocking for a long time.
+- Request raw MTM measurement twice for IMTQ, might reduce number of times measurement could not
+  be retrieved.
+- Event manager and event service have larger queues now: 45 -> 120 for Service 5, 80 -> 120 for
+  event manager
+- ACS mode changes: The ACS CTRL submodes are now modes. DETUBMLE is now submode of SAFE mode.
+- EIVE system now tracks the mode of the ACS subsyste in SAFE mode.
+
+# [v1.36.0] 2023-03-08
+
+eive-tmtc: v2.17.2
+
+## Added
+
+- Star Tracker Assembly
+- New `REBOOT_COUNTER` and `INDIVIDUAL_BOOT_COUNTS` events. The first contains the total boot count
+  as a u64, the second one contains the individual boot counts as 4 u16. Add new core controller
+  action command `ANNOUNCE_BOOT_COUNTS` with action ID 3 which triggers both events. These events
+  will also be triggered on each reboot.
+
+## Changed
+
+- Persistent TM stores will now create new files on each reboot.
+- Fast ACS subsystem commanding: Command SUS board consecutively with other devices now
+- Star Tracker: Use ground confguration for EM and flight config for FM by default.
+
+## Fixed
+
+- Command TCS controller off first for TCS subsystem transition to off.
+- Health handling for TCS board assembly
+- Mode fallback from IDLE mode to SAFE mode due to ACS errors/events now works properly for
+  the ACS subsystem
+- Bugfix in IDLE transition for system.
+- `std::filesystem` API usages: Avoid exceptions by using variants which return an error code
+  instead of throwing exceptions.
+- GPS fix loss was not reported if mode is unset.
+- Star Tracker: OFF to NORMAL transition now posssible. Requires FSFW bump which sets
+  transition source modes properly for those transitions.
+  FSFW PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/131
+- Star Tracker JSON initialization is now done during object initization instead of redoing it
+  when building a command. This avoids missed deadlines issues in the ACS PST.
+- Allow arbitrary submodes for dual lane boards to avoid FDIR reactions of subsystem components.
+  Bump FSFW to allow this.
+- PUS 15 was not scheduled
+- Transmitter timeout set to 2 minutes instead of 15 minutes. This will prevent to discharge the
+  battery in case the syrlinks starts transmitting due to detection of unintentional bitlock. This
+  happened e.g. on ground when the uplink to the flying latop was established.
+- ACS system components are now always scheduled (EM specific)
+
+# [v1.35.1] 2023-03-04
+
+## Fixed
+
+- ACS Board Assembly FDIR: Prevent permanent SAFE mode fallbacks by introducing special health
+  handling.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/418/files
+- Watchdog fixes
+- IMTQ timing fixes
+
+## Added
+
+- Add IMTQ assembly
+
+# [v1.35.0] 2023-03-04
+
+eive-tmtc: v2.16.4
+
+## Added
+
+- Improved the OBSW watchdog by adding a watch functionality. The watch functionality is optional
+  and has to be enabled specifically by the application being watched by the watchdog when
+  starting the watchdog. If the watch functionality is enabled and the OBSW has not pinged
+  the watchdog via the FIFO for 2 minutes, the watchdog will restart the OBSW service via systemd.
+  The primary OBSW will only activate the watch functionality if it is the OBSW inside the
+  `/usr/bin` directory. This allows debugging the system by leaving flashed or manually copied
+  debugging images 2 minutes to start the watchdog without the watch functionality.
+
+## Fixed
+
+- Bumped FSFW: `Countdown` and `Stopwatch` use new monotonic clock API now.
+- IMTQ: Various fixes, most notably missing buffer time after starting MGM measurement
+  and corrections for actuator commanding.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/430
+
+# [v1.34.0] 2023-03-03
+
+eive-tmtc: v2.16.3
+
+This might include the fix for the race condition where CPU usage jumped to 200 %. The race
+condition was traced to the `Countdown` class, more specifically to the `getUptime` function where
+the `/proc/uptime` file is read.
+
+## Changed
+
+- The SD card prefix is now set earlier inside the `CoreController` constructor
+- The watchdog handling was moved outside the `CoreController` into the main loop.
+- Moved polling of all SPI parts to the same PST.
+- Allow quicker transition for the EIVE system component by allowing consecutive TCS and ACS
+  component commanding again.
+- Changed a lot of lock guards to use timeouts
+- Queue sizes of TCP/UDP servers increased from 20 to 50
+- Significantly simplified and improved lock guard handling in TCS and ACS board polling
+  tasks.
+
+## Fixed
+
+- IMTQ: Sets were filled with wrong data, e.g. Raw MTM was filled with calibrated MTM measurements.
+- Set RM3100 dataset to valid.
+- Fixed units in calculation of ACS control laws safe and detumble.
+- Bump FSFW for change in Countdown: Use system clock instead of reading uptime from file
+  to prevent possible race condition.
+- GPS: No fix considered a fault now after 30 minutes instead of 5 hours.
+- SUS Assembly FDIR: Prevent permanent SAFE mode fallbacks by introducing special health
+  handling.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/418/files
+
+## Added
+
+- Added Syrlinks Assembly object to allow recovery handling and to fix faulty FDIR behaviour.
+
+# [v1.33.0] 2023-03-01
+
+eive-tmtc: v2.16.2
+
+## Changed
+
+- Move ACS board polling to separate worker thread.
+- Move SUS board polling to separate worker thread.
+
+## Fixed
+
+- Linux GPS handler now checks the individual `*_SET` flags when analysing the `gpsd` struct.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/400
+
+# [v1.32.0] 2023-02-24
+
+eive-tmtc: v2.16.1
+
+## Fixed
+
+- ADIS1650X: Added missing MDL_RANG pool entry for configuration set
+- Bumped FSFW for bugfix in health service: No execution complete for targeted health announce
+  command.
+- Removed matrix determinant calculation as part of the `MEKF`, which would take about
+  300ms of runtime
+- Resetting the `MEKF` now also actually resets its stored state
+- Bumped FSFW for bugfix in destination handler: Better error handling and able to process
+  destination folder path.
+
+## Changed
+
+- Added basic persistent TM store for PUS telemetry and basic interface to dump and delete
+  telemetry. Implementation is based on a timed rotating files, with the addition that files
+  might be generated more often if the maximum file size of 8192 bytes is exceeded.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/320/files
+- Commented out commanding of actuators as part of the `AcsController`
+- Collection sets of the `AcsController` now get updated before running the actual ACS
+  algorithm
+- `GpsController` now always gets scheduled
+- The `CoreController` now initializes the initial clock from the time file as early as possible
+  (in the constructor) if possible, which should usually be the case.
+
+## Added
+
+- Added basic persistent TM store for PUS telemetry and basic interface to dump and delete
+  telemetry.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/320/files
+- `ExecutableComIfDummy` class to have a dummy for classes like the RTD polling class.
+- Added `AcsController` action command to confirm solar array deployment, which then deletes
+  two files
+- Added `AcsController` action command to reset `MEKF`
+- `GpsCtrlDummy` now initializes the `gpsSet`
+- `RwDummy` now initializes with a non faulty state
+
+
+# [v1.31.1] 2023-02-23
+
+## Fixed
+
+- ADIS1650X configuration set was empty because the local pool variables were not registered.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/402
+- ACS Controller: Correction for size of MEKF dataset and some optimization and fixes
+  for actuator control which lead to a crash.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/403
+
+# [v1.31.0] 2023-02-23
+
+eive-tmtc: v2.16.0
+
+## Fixed
+
+- Usage of floats as iterators and using them to calculate a uint8_t index in `SusConverter`
+- Removed unused variables in the `AcsController`
+- Remove shadowing variables inside ACS assembly classes.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/385
+
+## Changed
+
+COM PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/364
+
+* Moved transmitter timer and handling of carrier and bitlock event from CCSDS handler to COM
+  subsystem
+* Added parameter command to be able to change the transmitter timeout
+* Solves [#362](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/362)
+* Solves [#360](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/360)
+* Solves [#361](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/361)
+* Solves [#386](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/386)
+- All `targetQuat` functions in `Guidance` now return the target quaternion (target
+  in ECI frame), which is passed on to `CtrlValData`.
+- Moved polling sequence table definitions and source code to `mission/core` folder.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/395
+
+## Added
+
+- `MEKF` now returns an unique returnvalue depending on why the function terminates. These
+  returnvalues are used in the `AcsController` to determine on how to procede with its
+  perform functions. In case the `MEKF` did terminate before estimating the quaternion
+  and rotational rate, an info event will be triggered. Another info event can only be
+  triggered after the `MEKF` has run successfully again. If the `AcsController` tries to
+  perform any pointing mode and the `MEKF` fails, the `performPointingCtrl` function will
+  set the RWs to the last RW speeds and set a zero dipole vector. If the `MEKF` does not
+  recover within 5 cycles (2 mins) the `AcsController` triggers another event, resulting in
+  the `AcsSubsystem` being commanded to `SAFE`.
+- `MekfData` now includes `mekfStatus`
+- `CtrlValData` now includes `tgtRotRate`
+
+# [v1.30.0] 2023-02-22
+
+eive-tmtc: v2.14.0
+
+Event IDs for PDEC handler have changed in a breaking manner.
+
+## Added and Fixed
+
+- PDEC: Added basic FDIR to limit the number of allowed TC interrupts and to allow complete task
+  lockups in the case an IRQ is immediately re-raised by the PDEC module. This is done by only
+  allowing a certain number of handled IRQs (whether they yield a valid TC or not) during
+  time windows of one second. Right now, 800 IRQs/TCs are allowed per time window.
+  This time window is reset if a TC reception timeout after 500ms occurs. TBD whether the maximum
+  allowed number will be a configurable parameter. If the number of occured IRQs is exceeded,
+  an event is triggered and the task is delayed for 400 ms.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/393
+
+# [v1.29.1] 2023-02-21
+
+## Fixed
+
+- Limit number of handled messages for core TM handlers:
+  - https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/391
+  - https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/390
+  - https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/389
+- HeaterHandler better handling for faulty message reception
+  Issue: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/388
+- Disable stopwatch in MAX31865 polling task
+
+# [v1.29.0] 2023-02-21
+
+eive-tmtc: v2.13.0
+
+## Changed
+
+- Refactored IMTQ handlers to also perform low level I2C communication tasks in separate thread.
+  This avoids the various delays needed for I2C communication with that device inside the ACS PST.
+  (e.g. 1 ms delay between each transfer, or 10 ms integration delay for MGM measurements).
+
+## Added
+
+- Added new heater info set for the TCS controller. This set contains the heater switch states
+  and the current draw.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/351
+- The HeaterHandler now exposes a mode which reflects whether the heater power
+  is on or off. It also triggers mode events for its heater children objects
+  which show whether the specific heaters are on or off. The heater handler
+  will be part of the TCS tree.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/351
+
+# [v1.28.1] 2023-02-21
+
+## Fixed
+
+- Patch version which compiles for EM
+- CFDP Funnel bugfix: CCSDS wrapping was buggy and works properly now.
+- PDEC: Some adaptions to prevent task lockups on invalid FAR states.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/393
+- CMakeLists.txt fix which broke CI/CD builds when server could not retrieve full git SHA.
+- Possible regression in the MAX31865 polling task: Using a `ManualCsLockGuard` for reconfiguring
+  and then polling the sensor is problematic, invalid sensor values will be read.
+  CS probably needs to be de-asserted or some other HW/SPI specific issue. Letting the SPI ComIF
+  do the locking does the job.
+
+## Changed
+
+- Add `-Wshadow=local` shadowing warnings and fixed all of them
+- Updated generated CSV files: Support for skip directive and explicit
+  "No description" info string
+- The polling threads for actuator polling now have a slightly higher priority than the ACS PST
+  to ensure timing requirements are met.
+
+## Added
+
+- git post checkout hook which initializes and updates the submodules
+  automatically.
+
+# [v1.28.0] 2023-02-17
+
+eive-tmtc: v2.12.7
+
+## Added
+
+- In case the ACS Controller does recognize more than one RW to be invalid and therefore not
+  available, it does not perform pointing control but aborts shortly after `sensorProcessing`. If the
+  problem persits for 5 ACS cycles, the `MULTIPLE_RW_INVALID` event is triggered, which invokes the
+  transition of the `AcsSubsystem` to safe mode.
+
+## Changed
+
+- Igrf13 model vector now outputs as uT instead of nT
+- Changed timings for `AcsPst`, more time for sun sensors.
+- Added values for MGM sensor fusion
+- Refactored RW Software: Polling runs in separate thread, all RWs are now polled in under 60 ms.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/381
+- Bumped FSFW to allow initializing child modes in `SubsystemBase` derived objects.
+
+## Fixed
+
+- Fixed values for GYR sensor fusion
+- Fixed speed types for `rwHandlingParameter`
+- Pseudo inverse used for allocating torque to RWs and RW antistiction now actually consider the
+  state of the RWs
+
+# [v1.27.2] 2023-02-14
+
+Reaction Wheel handling was determined to be (quasi) broken and needs to be fixed in future release
+to be usable by ACS controller.
+
+eive-tmtc: v2.12.6
+
+## Added
+
+- Function for the ACS controller to command MTQ and RWs called by all subroutines
+- RwHandler now handles commanding of RW speeds via RwSpeedActuationSet
+- Tracing supports which allows checking whether threads are running as usual.
+
+## Changed
+
+- Remove 2 TCS threads.
+- Move low level polling into ACS PST, move high level device handlers into TCS system task.
+- ActCmds now returns command vectors as integers as required by the actuators
+  and scales them to the appropriate range
+- All RwHandler are now polled five times per ACS cycle
+- Remove 2 TCS threads. Move low level polling into ACS PST, move high level device handlers into
+  TCS system task.
+- Further reduce number of threads:
+  1. Remove PUS low priority task, move assigned threads to the generic system task
+  2. Group events and verification tasks into PUS high priority task
+  3. Group all other components into PUS medium priority task
+  4. Add SCEX device handler to PL task, remove dedicated thread
+
+## Removed
+
+- lwgps dependency not compiled anymore, is not used
+
 # [v1.27.1] 2023-02-13
 
 ## Fixed
@@ -82,6 +952,7 @@ eive-tmtc: v2.12.2
 ## Changed
 
 - Reworked dummy handling for the TCS controller.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/325
 - Generator scripts now generate files for hosted and for Q7S build.
 
 ## Fixed

CMakeLists.txt

@@ -9,9 +9,9 @@
 # ##############################################################################
 cmake_minimum_required(VERSION 3.13)
 
-set(OBSW_VERSION_MAJOR 1)
+set(OBSW_VERSION_MAJOR 2)
-set(OBSW_VERSION_MINOR 27)
+set(OBSW_VERSION_MINOR 0)
-set(OBSW_VERSION_REVISION 1)
+set(OBSW_VERSION_REVISION 3)
 
 # set(CMAKE_VERBOSE TRUE)
 
@@ -71,11 +71,13 @@ if(EIVE_Q7S_EM)
       1
       CACHE STRING "Q7S EM configuration")
   set(INIT_VAL 0)
+  set(OBSW_STAR_TRACKER_GROUND_CONFIG 1)
 else()
   set(OBSW_Q7S_EM
       0
       CACHE STRING "Q7S EM configuration")
   set(INIT_VAL 1)
+  set(OBSW_STAR_TRACKER_GROUND_CONFIG 0)
 endif()
 set(OBSW_ADD_MGT
     ${INIT_VAL}
@@ -92,6 +94,9 @@ set(OBSW_ADD_SUN_SENSORS
 set(OBSW_ADD_SUS_BOARD_ASS
     ${INIT_VAL}
     CACHE STRING "Add sun sensor board assembly")
+set(OBSW_ADD_THERMAL_TEMP_INSERTER
+    ${OBSW_Q7S_EM}
+    CACHE STRING "Add thermal sensor temperature inserter")
 set(OBSW_ADD_ACS_BOARD
     ${INIT_VAL}
     CACHE STRING "Add ACS board module")
@@ -108,10 +113,10 @@ set(OBSW_TC_FROM_PDEC
     1
     CACHE STRING "Poll telecommand from PDEC IP core")
 set(OBSW_ADD_TCS_CTRL
-    ${INIT_VAL}
+    1
     CACHE STRING "Add TCS controllers")
 set(OBSW_ADD_HEATERS
-    ${INIT_VAL}
+    1
     CACHE STRING "Add TCS heaters")
 set(OBSW_ADD_PLOC_SUPERVISOR
     ${INIT_VAL}
@@ -175,25 +180,11 @@ if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
     if(LIST_LEN GREATER 4)
       list(GET GIT_INFO 4 OBSW_VERSION_CST_GIT_SHA1)
     endif()
-    if(NOT OBSW_VERSION_MAJOR)
-      set(OBSW_VERSION_MAJOR ${OBSW_VERSION_MAJOR_IF_GIT_FAILS})
-    endif()
-    if(NOT OBSW_VERSION_MINOR)
-      set(FSFW_SUBVERSION ${OBSW_VERSION_MINOR_IF_GIT_FAILS})
-    endif()
-    if(NOT OBSW_VERSION_REVISION)
-      set(FSFW_REVISION ${OBSW_VERSION_REVISION_IF_GIT_FAILS})
-    endif()
     set(GIT_VER_HANDLING_OK TRUE)
   else()
     set(GIT_VER_HANDLING_OK FALSE)
   endif()
 endif()
-if(NOT GIT_VER_HANDLING_OK)
-  set(OBSW_VERSION_MAJOR ${OBSW_VERSION_MAJOR_IF_GIT_FAILS})
-  set(OBSW_VERSION_MINOR ${OBSW_VERSION_MINOR_IF_GIT_FAILS})
-  set(OBSW_VERSION_REVISION ${OBSW_VERSION_REVISION_IF_GIT_FAILS})
-endif()
 
 # Set names and variables
 set(OBSW_NAME ${CMAKE_PROJECT_NAME})
@@ -232,11 +223,12 @@ set(LIB_EIVE_MISSION_PATH mission)
 set(LIB_ETL_PATH ${THIRD_PARTY_FOLDER}/etl)
 set(LIB_CATCH2_PATH ${THIRD_PARTY_FOLDER}/Catch2)
 set(LIB_LWGPS_PATH ${THIRD_PARTY_FOLDER}/lwgps)
-set(LIB_ARCSEC_PATH ${THIRD_PARTY_FOLDER}/arcsec_star_tracker)
+set(LIB_ARCSEC_PATH ${THIRD_PARTY_FOLDER}/sagittactl)
 set(LIB_JSON_PATH ${THIRD_PARTY_FOLDER}/json)
 
 set(FSFW_WARNING_SHADOW_LOCAL_GCC OFF)
 set(EIVE_ADD_LINUX_FILES OFF)
+set(FSFW_ADD_TMSTORAGE ON)
 
 # Analyse different OS and architecture/target options, determine BSP_PATH,
 # display information about compiler etc.
@@ -308,8 +300,12 @@ include(BuildType)
 set_build_type()
 
 set(FSFW_DEBUG_INFO 0)
+set(OBSW_ENABLE_PERIODIC_HK 1)
+set(Q7S_CHECK_FOR_ALREADY_RUNNING_IMG 0)
 if(RELEASE_BUILD MATCHES 0)
   set(FSFW_DEBUG_INFO 1)
+  set(OBSW_ENABLE_PERIODIC_HK 0)
+  set(Q7S_CHECK_FOR_ALREADY_RUNNING_IMG 1)
 endif()
 
 # Configuration files
@@ -358,6 +354,7 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
       "-Wimplicit-fallthrough=1"
       "-Wno-unused-parameter"
       "-Wno-psabi"
+      "-Wshadow=local"
       "-Wduplicated-cond" # check for duplicate conditions
       "-Wduplicated-branches" # check for duplicate branches
       "-Wlogical-op" # Search for bitwise operations instead of logical
@@ -415,7 +412,6 @@ add_subdirectory(thirdparty)
 if(EIVE_ADD_LINUX_FILES)
   if(TGT_BSP MATCHES "arm/q7s")
     add_subdirectory(${LIB_GOMSPACE_PATH})
-    add_subdirectory(${LIB_ARCSEC_PATH})
   endif()
   add_subdirectory(${LINUX_PATH})
 endif()
@@ -424,7 +420,6 @@ add_subdirectory(${BSP_PATH})
 add_subdirectory(${COMMON_PATH})
 add_subdirectory(${DUMMY_PATH})
 
-add_subdirectory(${LIB_LWGPS_PATH})
 add_subdirectory(${FSFW_PATH})
 add_subdirectory(${LIB_EIVE_MISSION_PATH})
 add_subdirectory(${TEST_PATH})
@@ -491,10 +486,11 @@ endif()
 # ##############################################################################
 
 # Add libraries
-target_link_libraries(${LIB_EIVE_MISSION}
+target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_FSFW_NAME}
-                      PUBLIC ${LIB_FSFW_NAME} ${LIB_LWGPS_NAME} ${LIB_OS_NAME})
+                                                 ${LIB_OS_NAME})
 
-target_link_libraries(${LIB_DUMMIES} PUBLIC ${LIB_FSFW_NAME} ${LIB_JSON_NAME})
+target_link_libraries(${LIB_DUMMIES} PUBLIC ${LIB_EIVE_MISSION}
+                                            ${LIB_FSFW_NAME} ${LIB_JSON_NAME})
 
 target_link_libraries(${OBSW_NAME} PRIVATE ${LIB_EIVE_MISSION} ${LIB_DUMMIES})
 

README.md

@@ -18,6 +18,7 @@
 11. [Q7S OBC](#q7s)
 12. [Static Code Analysis](#static-code-analysis)
 13. [Eclipse](#eclipse)
+14. [CLion](#clion)
 14. [Running the OBSW on a Raspberry Pi](#rpi)
 15. [Running OBSW on EGSE](#egse)
 16. [Manually preparing sysroots to compile gpsd](#gpsd)
@@ -1229,6 +1230,22 @@ Finally, you can convert the generated `.xml` file to HTML with the following co
 cppcheck-htmlreport --file=report.xml --report-dir=cppcheck --source-dir=..
 ```
 
+# <a id="CLion"></a> CLion
+
+CLion is the recommended IDE for the development of the hosted version of EIVE.
+You can also set up CLion for cross-compilation of the primary OBSW.
+
+There is a shared `.idea/cmake.xml` file to get started with this.
+To make cross-compilation work, two special environment variables
+need to be set:
+
+- `ZYNQ_7020_ROOTFS` pointing to the root filesystem
+- `CROSS_COMPILE` pointing to the the full path of the cross-compiler
+  without the specific tool suffix. For example, if the the cross-compiler
+  tools are located at `/opt/q7s-gcc/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin`,
+  this variable would be set
+  to `/opt/q7s-gcc/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin/arm-linux-gnueabihf`
+
 # <a id="eclipse"></a> Eclipse
 
 When using Eclipse, there are two special build variables in the project properties

automation/Jenkinsfile

@@ -1,6 +1,7 @@
 pipeline {
     environment {
-        BUILDDIR_Q7 = 'build_q7'
+        BUILDDIR_Q7S = 'build_q7s_fm'
+        BUILDDIR_Q7S_EM = 'build_q7s_em'
         BUILDDIR_LINUX = 'build_linux'
     }
     agent {
@@ -12,15 +13,24 @@ pipeline {
     stages {
         stage('Clean') {
             steps {
-                sh 'rm -rf $BUILDDIR_Q7'
+                sh 'rm -rf $BUILDDIR_Q7S'
+                sh 'rm -rf $BUILDDIR_Q7S_EM'
                 sh 'rm -rf $BUILDDIR_LINUX'
             }
         }
         stage('Build Q7S') {
             steps {
-                dir(BUILDDIR_Q7) {
+                dir(BUILDDIR_Q7S) {
                     sh 'cmake -DTGT_BSP="arm/q7s" -DCMAKE_BUILD_TYPE=Debug ..'
-                    sh 'cmake --build . -j4'
+                    sh 'cmake --build . -j8'
+                }
+            }
+        }
+        stage('Build Q7S EM') {
+            steps {
+                dir(BUILDDIR_Q7S_EM) {
+                    sh 'cmake -DTGT_BSP="arm/q7s" -DEIVE_Q7S_EM=ON -DCMAKE_BUILD_TYPE=Debug ..'
+                    sh 'cmake --build . -j8'
                 }
             }
         }
@@ -28,7 +38,7 @@ pipeline {
             steps {
                 dir(BUILDDIR_LINUX) {
                     sh 'cmake ..'
-                    sh 'cmake --build . -j4'
+                    sh 'cmake --build . -j8'
                     sh './eive-unittest'
                 }
             }

bsp_hosted/ObjectFactory.cpp

@@ -4,12 +4,14 @@
 #include <fsfw/tmtcservices/CommandingServiceBase.h>
 #include <fsfw/tmtcservices/PusServiceBase.h>
 #include <mission/controller/ThermalController.h>
-#include <mission/core/GenericFactory.h>
+#include <mission/genericFactory.h>
 #include <mission/tmtc/TmFunnelHandler.h>
 #include <objects/systemObjectList.h>
 
+#include "../mission/utility/DummySdCardManager.h"
 #include "OBSWConfig.h"
 #include "fsfw/platform.h"
+#include "fsfw/power/PowerSwitchIF.h"
 #include "fsfw_tests/integration/task/TestTask.h"
 
 #if OBSW_ADD_TMTC_UDP_SERVER == 1
@@ -28,8 +30,7 @@
 #include <dummies/AcuDummy.h>
 #include <dummies/CoreControllerDummy.h>
 
-#include "dummies/helpers.h"
+#include "dummies/helperFactory.h"
-#include "mission/utility/GlobalConfigHandler.h"
 
 #ifdef PLATFORM_UNIX
 #include <fsfw_hal/linux/serial/SerialComIF.h>
@@ -37,10 +38,10 @@
 
 #include "devices/gpioIds.h"
 #include "fsfw_hal/linux/gpio/Gpio.h"
-#include "linux/devices/ploc/PlocMPSoCHandler.h"
+#include "linux/payload/PlocMpsocHandler.h"
-#include "linux/devices/ploc/PlocMPSoCHelper.h"
+#include "linux/payload/PlocMpsocHelper.h"
-#include "linux/devices/ploc/PlocSupervisorHandler.h"
+#include "linux/payload/PlocSupervisorHandler.h"
-#include "linux/devices/ploc/PlocSupvUartMan.h"
+#include "linux/payload/PlocSupvUartMan.h"
 #include "test/gpio/DummyGpioIF.h"
 #endif
 
@@ -58,11 +59,21 @@ void ObjectFactory::produce(void* args) {
   Factory::setStaticFrameworkObjectIds();
   PusTmFunnel* pusFunnel;
   CfdpTmFunnel* cfdpFunnel;
-  ObjectFactory::produceGenericObjects(nullptr, &pusFunnel, &cfdpFunnel);
+  StorageManagerIF* tmStore;
+  StorageManagerIF* ipcStore;
+  PersistentTmStores persistentStores;
+  auto sdcMan = new DummySdCardManager("/tmp");
+  ObjectFactory::produceGenericObjects(nullptr, &pusFunnel, &cfdpFunnel, *sdcMan, &ipcStore,
+                                       &tmStore, persistentStores);
 
   auto* dummyGpioIF = new DummyGpioIF();
   auto* dummySwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
-  static_cast<void>(dummyGpioIF);
+  std::vector<ReturnValue_t> switcherList;
+  auto initVal = PowerSwitchIF::SWITCH_OFF;
+  for (unsigned i = 0; i < 18; i++) {
+    switcherList.emplace_back(initVal);
+  }
+  dummySwitcher->setInitialSwitcherList(switcherList);
 #ifdef PLATFORM_UNIX
   new SerialComIF(objects::UART_COM_IF);
 #if OBSW_ADD_PLOC_MPSOC == 1
@@ -89,7 +100,7 @@ void ObjectFactory::produce(void* args) {
 #endif
 
   dummy::DummyCfg cfg;
-  dummy::createDummies(cfg, *dummySwitcher);
+  dummy::createDummies(cfg, *dummySwitcher, dummyGpioIF);
 
   HeaterHandler* heaterHandler = nullptr;
   // new ThermalController(objects::THERMAL_CONTROLLER);

bsp_hosted/fsfwconfig/FSFWConfig.h.in

@@ -50,6 +50,8 @@
 //! If set to 1 the binary needs "cap_sys_nice=eip" privileges to run
 #define FSFW_USE_REALTIME_FOR_LINUX 0
 
+#define FSFW_UDP_SEND_WIRETAPPING_ENABLED 0
+
 namespace fsfwconfig {
 
 //! Default timestamp size. The default timestamp will be an seven byte CDC short timestamp.

bsp_hosted/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 256 translations.
+ * @brief    Auto-generated event translation file. Contains 291 translations.
  * @details
- * Generated on: 2023-02-13 10:07:30
+ * Generated on: 2023-04-17 11:34:19
  */
 #include "translateEvents.h"
 
@@ -35,11 +35,11 @@ const char *INVALID_DEVICE_COMMAND_STRING = "INVALID_DEVICE_COMMAND";
 const char *MONITORING_LIMIT_EXCEEDED_STRING = "MONITORING_LIMIT_EXCEEDED";
 const char *MONITORING_AMBIGUOUS_STRING = "MONITORING_AMBIGUOUS";
 const char *DEVICE_WANTS_HARD_REBOOT_STRING = "DEVICE_WANTS_HARD_REBOOT";
+const char *SWITCH_WENT_OFF_STRING = "SWITCH_WENT_OFF";
 const char *FUSE_CURRENT_HIGH_STRING = "FUSE_CURRENT_HIGH";
 const char *FUSE_WENT_OFF_STRING = "FUSE_WENT_OFF";
 const char *POWER_ABOVE_HIGH_LIMIT_STRING = "POWER_ABOVE_HIGH_LIMIT";
 const char *POWER_BELOW_LOW_LIMIT_STRING = "POWER_BELOW_LOW_LIMIT";
-const char *SWITCH_WENT_OFF_STRING = "SWITCH_WENT_OFF";
 const char *HEATER_ON_STRING = "HEATER_ON";
 const char *HEATER_OFF_STRING = "HEATER_OFF";
 const char *HEATER_TIMEOUT_STRING = "HEATER_TIMEOUT";
@@ -90,8 +90,16 @@ const char *CHANGE_OF_SETUP_PARAMETER_STRING = "CHANGE_OF_SETUP_PARAMETER";
 const char *STORE_ERROR_STRING = "STORE_ERROR";
 const char *MSG_QUEUE_ERROR_STRING = "MSG_QUEUE_ERROR";
 const char *SERIALIZATION_ERROR_STRING = "SERIALIZATION_ERROR";
+const char *FILESTORE_ERROR_STRING = "FILESTORE_ERROR";
+const char *FILENAME_TOO_LARGE_ERROR_STRING = "FILENAME_TOO_LARGE_ERROR";
 const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
 const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
+const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
+const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO";
+const char *MEKF_RECOVERY_STRING = "MEKF_RECOVERY";
+const char *MEKF_AUTOMATIC_RESET_STRING = "MEKF_AUTOMATIC_RESET";
+const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION";
+const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
 const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
 const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
 const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@@ -129,8 +137,8 @@ const char *SELF_TEST_COIL_CURRENT_FAILURE_STRING = "SELF_TEST_COIL_CURRENT_FAIL
 const char *INVALID_ERROR_BYTE_STRING = "INVALID_ERROR_BYTE";
 const char *ERROR_STATE_STRING = "ERROR_STATE";
 const char *RESET_OCCURED_STRING = "RESET_OCCURED";
-const char *BOOTING_FIRMWARE_FAILED_STRING = "BOOTING_FIRMWARE_FAILED";
+const char *BOOTING_FIRMWARE_FAILED_EVENT_STRING = "BOOTING_FIRMWARE_FAILED_EVENT";
-const char *BOOTING_BOOTLOADER_FAILED_STRING = "BOOTING_BOOTLOADER_FAILED";
+const char *BOOTING_BOOTLOADER_FAILED_EVENT_STRING = "BOOTING_BOOTLOADER_FAILED_EVENT";
 const char *SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING = "SUPV_MEMORY_READ_RPT_CRC_FAILURE";
 const char *SUPV_UNKNOWN_TM_STRING = "SUPV_UNKNOWN_TM";
 const char *SUPV_UNINIMPLEMENTED_TM_STRING = "SUPV_UNINIMPLEMENTED_TM";
@@ -150,8 +158,14 @@ const char *CARRIER_LOCK_STRING = "CARRIER_LOCK";
 const char *BIT_LOCK_PDEC_STRING = "BIT_LOCK_PDEC";
 const char *LOST_CARRIER_LOCK_PDEC_STRING = "LOST_CARRIER_LOCK_PDEC";
 const char *LOST_BIT_LOCK_PDEC_STRING = "LOST_BIT_LOCK_PDEC";
+const char *TOO_MANY_IRQS_STRING = "TOO_MANY_IRQS";
 const char *POLL_SYSCALL_ERROR_PDEC_STRING = "POLL_SYSCALL_ERROR_PDEC";
 const char *WRITE_SYSCALL_ERROR_PDEC_STRING = "WRITE_SYSCALL_ERROR_PDEC";
+const char *PDEC_TRYING_RESET_WITH_INIT_STRING = "PDEC_TRYING_RESET_WITH_INIT";
+const char *PDEC_TRYING_RESET_NO_INIT_STRING = "PDEC_TRYING_RESET_NO_INIT";
+const char *PDEC_RESET_FAILED_STRING = "PDEC_RESET_FAILED";
+const char *OPEN_IRQ_FILE_FAILED_STRING = "OPEN_IRQ_FILE_FAILED";
+const char *PDEC_INIT_FAILED_STRING = "PDEC_INIT_FAILED";
 const char *IMAGE_UPLOAD_FAILED_STRING = "IMAGE_UPLOAD_FAILED";
 const char *IMAGE_DOWNLOAD_FAILED_STRING = "IMAGE_DOWNLOAD_FAILED";
 const char *IMAGE_UPLOAD_SUCCESSFUL_STRING = "IMAGE_UPLOAD_SUCCESSFUL";
@@ -163,7 +177,7 @@ const char *FIRMWARE_UPDATE_SUCCESSFUL_STRING = "FIRMWARE_UPDATE_SUCCESSFUL";
 const char *FIRMWARE_UPDATE_FAILED_STRING = "FIRMWARE_UPDATE_FAILED";
 const char *STR_HELPER_READING_REPLY_FAILED_STRING = "STR_HELPER_READING_REPLY_FAILED";
 const char *STR_HELPER_COM_ERROR_STRING = "STR_HELPER_COM_ERROR";
-const char *STR_HELPER_NO_REPLY_STRING = "STR_HELPER_NO_REPLY";
+const char *STR_COM_REPLY_TIMEOUT_STRING = "STR_COM_REPLY_TIMEOUT";
 const char *STR_HELPER_DEC_ERROR_STRING = "STR_HELPER_DEC_ERROR";
 const char *POSITION_MISMATCH_STRING = "POSITION_MISMATCH";
 const char *STR_HELPER_FILE_NOT_EXISTS_STRING = "STR_HELPER_FILE_NOT_EXISTS";
@@ -199,6 +213,11 @@ const char *TRANSITION_OTHER_SIDE_FAILED_STRING = "TRANSITION_OTHER_SIDE_FAILED"
 const char *NOT_ENOUGH_DEVICES_DUAL_MODE_STRING = "NOT_ENOUGH_DEVICES_DUAL_MODE";
 const char *POWER_STATE_MACHINE_TIMEOUT_STRING = "POWER_STATE_MACHINE_TIMEOUT";
 const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING = "SIDE_SWITCH_TRANSITION_NOT_ALLOWED";
+const char *DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY_STRING = "DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY";
+const char *TRANSITION_OTHER_SIDE_FAILED_12900_STRING = "TRANSITION_OTHER_SIDE_FAILED_12900";
+const char *NOT_ENOUGH_DEVICES_DUAL_MODE_12901_STRING = "NOT_ENOUGH_DEVICES_DUAL_MODE_12901";
+const char *POWER_STATE_MACHINE_TIMEOUT_12902_STRING = "POWER_STATE_MACHINE_TIMEOUT_12902";
+const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903_STRING = "SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903";
 const char *CHILDREN_LOST_MODE_STRING = "CHILDREN_LOST_MODE";
 const char *GPS_FIX_CHANGE_STRING = "GPS_FIX_CHANGE";
 const char *CANT_GET_FIX_STRING = "CANT_GET_FIX";
@@ -249,13 +268,34 @@ const char *REBOOT_HW_STRING = "REBOOT_HW";
 const char *NO_SD_CARD_ACTIVE_STRING = "NO_SD_CARD_ACTIVE";
 const char *VERSION_INFO_STRING = "VERSION_INFO";
 const char *CURRENT_IMAGE_INFO_STRING = "CURRENT_IMAGE_INFO";
+const char *REBOOT_COUNTER_STRING = "REBOOT_COUNTER";
+const char *INDIVIDUAL_BOOT_COUNTS_STRING = "INDIVIDUAL_BOOT_COUNTS";
+const char *TRYING_I2C_RECOVERY_STRING = "TRYING_I2C_RECOVERY";
+const char *I2C_REBOOT_STRING = "I2C_REBOOT";
+const char *PDEC_REBOOT_STRING = "PDEC_REBOOT";
 const char *NO_VALID_SENSOR_TEMPERATURE_STRING = "NO_VALID_SENSOR_TEMPERATURE";
 const char *NO_HEALTHY_HEATER_AVAILABLE_STRING = "NO_HEALTHY_HEATER_AVAILABLE";
 const char *SYRLINKS_OVERHEATING_STRING = "SYRLINKS_OVERHEATING";
-const char *PLOC_OVERHEATING_STRING = "PLOC_OVERHEATING";
 const char *OBC_OVERHEATING_STRING = "OBC_OVERHEATING";
-const char *HPA_OVERHEATING_STRING = "HPA_OVERHEATING";
+const char *CAMERA_OVERHEATING_STRING = "CAMERA_OVERHEATING";
-const char *PLPCDU_OVERHEATING_STRING = "PLPCDU_OVERHEATING";
+const char *PCDU_SYSTEM_OVERHEATING_STRING = "PCDU_SYSTEM_OVERHEATING";
+const char *HEATER_NOT_OFF_FOR_OFF_MODE_STRING = "HEATER_NOT_OFF_FOR_OFF_MODE";
+const char *MGT_OVERHEATING_STRING = "MGT_OVERHEATING";
+const char *TX_TIMER_EXPIRED_STRING = "TX_TIMER_EXPIRED";
+const char *BIT_LOCK_TX_ON_STRING = "BIT_LOCK_TX_ON";
+const char *POSSIBLE_FILE_CORRUPTION_STRING = "POSSIBLE_FILE_CORRUPTION";
+const char *FILE_TOO_LARGE_STRING = "FILE_TOO_LARGE";
+const char *BUSY_DUMPING_EVENT_STRING = "BUSY_DUMPING_EVENT";
+const char *DUMP_OK_STORE_DONE_STRING = "DUMP_OK_STORE_DONE";
+const char *DUMP_NOK_STORE_DONE_STRING = "DUMP_NOK_STORE_DONE";
+const char *DUMP_MISC_STORE_DONE_STRING = "DUMP_MISC_STORE_DONE";
+const char *DUMP_HK_STORE_DONE_STRING = "DUMP_HK_STORE_DONE";
+const char *DUMP_CFDP_STORE_DONE_STRING = "DUMP_CFDP_STORE_DONE";
+const char *DUMP_OK_CANCELLED_STRING = "DUMP_OK_CANCELLED";
+const char *DUMP_NOK_CANCELLED_STRING = "DUMP_NOK_CANCELLED";
+const char *DUMP_MISC_CANCELLED_STRING = "DUMP_MISC_CANCELLED";
+const char *DUMP_HK_CANCELLED_STRING = "DUMP_HK_CANCELLED";
+const char *DUMP_CFDP_CANCELLED_STRING = "DUMP_CFDP_CANCELLED";
 
 const char *translateEvents(Event event) {
   switch ((event & 0xFFFF)) {
@@ -319,16 +359,16 @@ const char *translateEvents(Event event) {
       return MONITORING_AMBIGUOUS_STRING;
     case (2811):
       return DEVICE_WANTS_HARD_REBOOT_STRING;
-    case (4201):
-      return FUSE_CURRENT_HIGH_STRING;
-    case (4202):
-      return FUSE_WENT_OFF_STRING;
-    case (4204):
-      return POWER_ABOVE_HIGH_LIMIT_STRING;
-    case (4205):
-      return POWER_BELOW_LOW_LIMIT_STRING;
     case (4300):
       return SWITCH_WENT_OFF_STRING;
+    case (4301):
+      return FUSE_CURRENT_HIGH_STRING;
+    case (4302):
+      return FUSE_WENT_OFF_STRING;
+    case (4304):
+      return POWER_ABOVE_HIGH_LIMIT_STRING;
+    case (4305):
+      return POWER_BELOW_LOW_LIMIT_STRING;
     case (5000):
       return HEATER_ON_STRING;
     case (5001):
@@ -429,10 +469,26 @@ const char *translateEvents(Event event) {
       return MSG_QUEUE_ERROR_STRING;
     case (10802):
       return SERIALIZATION_ERROR_STRING;
+    case (10803):
+      return FILESTORE_ERROR_STRING;
+    case (10804):
+      return FILENAME_TOO_LARGE_ERROR_STRING;
     case (11200):
       return SAFE_RATE_VIOLATION_STRING;
     case (11201):
       return SAFE_RATE_RECOVERY_STRING;
+    case (11202):
+      return MULTIPLE_RW_INVALID_STRING;
+    case (11203):
+      return MEKF_INVALID_INFO_STRING;
+    case (11204):
+      return MEKF_RECOVERY_STRING;
+    case (11205):
+      return MEKF_AUTOMATIC_RESET_STRING;
+    case (11206):
+      return MEKF_INVALID_MODE_VIOLATION_STRING;
+    case (11207):
+      return SAFE_MODE_CONTROLLER_FAILURE_STRING;
     case (11300):
       return SWITCH_CMD_SENT_STRING;
     case (11301):
@@ -508,9 +564,9 @@ const char *translateEvents(Event event) {
     case (11802):
       return RESET_OCCURED_STRING;
     case (11901):
-      return BOOTING_FIRMWARE_FAILED_STRING;
+      return BOOTING_FIRMWARE_FAILED_EVENT_STRING;
     case (11902):
-      return BOOTING_BOOTLOADER_FAILED_STRING;
+      return BOOTING_BOOTLOADER_FAILED_EVENT_STRING;
     case (12001):
       return SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING;
     case (12002):
@@ -550,9 +606,21 @@ const char *translateEvents(Event event) {
     case (12406):
       return LOST_BIT_LOCK_PDEC_STRING;
     case (12407):
-      return POLL_SYSCALL_ERROR_PDEC_STRING;
+      return TOO_MANY_IRQS_STRING;
     case (12408):
+      return POLL_SYSCALL_ERROR_PDEC_STRING;
+    case (12409):
       return WRITE_SYSCALL_ERROR_PDEC_STRING;
+    case (12410):
+      return PDEC_TRYING_RESET_WITH_INIT_STRING;
+    case (12411):
+      return PDEC_TRYING_RESET_NO_INIT_STRING;
+    case (12412):
+      return PDEC_RESET_FAILED_STRING;
+    case (12413):
+      return OPEN_IRQ_FILE_FAILED_STRING;
+    case (12414):
+      return PDEC_INIT_FAILED_STRING;
     case (12500):
       return IMAGE_UPLOAD_FAILED_STRING;
     case (12501):
@@ -576,16 +644,16 @@ const char *translateEvents(Event event) {
     case (12510):
       return STR_HELPER_COM_ERROR_STRING;
     case (12511):
-      return STR_HELPER_NO_REPLY_STRING;
+      return STR_COM_REPLY_TIMEOUT_STRING;
-    case (12512):
-      return STR_HELPER_DEC_ERROR_STRING;
     case (12513):
-      return POSITION_MISMATCH_STRING;
+      return STR_HELPER_DEC_ERROR_STRING;
     case (12514):
-      return STR_HELPER_FILE_NOT_EXISTS_STRING;
+      return POSITION_MISMATCH_STRING;
     case (12515):
-      return STR_HELPER_SENDING_PACKET_FAILED_STRING;
+      return STR_HELPER_FILE_NOT_EXISTS_STRING;
     case (12516):
+      return STR_HELPER_SENDING_PACKET_FAILED_STRING;
+    case (12517):
       return STR_HELPER_REQUESTING_MSG_FAILED_STRING;
     case (12600):
       return MPSOC_FLASH_WRITE_FAILED_STRING;
@@ -647,6 +715,16 @@ const char *translateEvents(Event event) {
       return POWER_STATE_MACHINE_TIMEOUT_STRING;
     case (12803):
       return SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING;
+    case (12804):
+      return DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY_STRING;
+    case (12900):
+      return TRANSITION_OTHER_SIDE_FAILED_12900_STRING;
+    case (12901):
+      return NOT_ENOUGH_DEVICES_DUAL_MODE_12901_STRING;
+    case (12902):
+      return POWER_STATE_MACHINE_TIMEOUT_12902_STRING;
+    case (12903):
+      return SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903_STRING;
     case (13000):
       return CHILDREN_LOST_MODE_STRING;
     case (13100):
@@ -747,20 +825,62 @@ const char *translateEvents(Event event) {
       return VERSION_INFO_STRING;
     case (14006):
       return CURRENT_IMAGE_INFO_STRING;
+    case (14007):
+      return REBOOT_COUNTER_STRING;
+    case (14008):
+      return INDIVIDUAL_BOOT_COUNTS_STRING;
+    case (14010):
+      return TRYING_I2C_RECOVERY_STRING;
+    case (14011):
+      return I2C_REBOOT_STRING;
+    case (14012):
+      return PDEC_REBOOT_STRING;
     case (14100):
       return NO_VALID_SENSOR_TEMPERATURE_STRING;
     case (14101):
       return NO_HEALTHY_HEATER_AVAILABLE_STRING;
     case (14102):
       return SYRLINKS_OVERHEATING_STRING;
-    case (14103):
-      return PLOC_OVERHEATING_STRING;
     case (14104):
       return OBC_OVERHEATING_STRING;
     case (14105):
-      return HPA_OVERHEATING_STRING;
+      return CAMERA_OVERHEATING_STRING;
     case (14106):
-      return PLPCDU_OVERHEATING_STRING;
+      return PCDU_SYSTEM_OVERHEATING_STRING;
+    case (14107):
+      return HEATER_NOT_OFF_FOR_OFF_MODE_STRING;
+    case (14108):
+      return MGT_OVERHEATING_STRING;
+    case (14201):
+      return TX_TIMER_EXPIRED_STRING;
+    case (14202):
+      return BIT_LOCK_TX_ON_STRING;
+    case (14300):
+      return POSSIBLE_FILE_CORRUPTION_STRING;
+    case (14301):
+      return FILE_TOO_LARGE_STRING;
+    case (14302):
+      return BUSY_DUMPING_EVENT_STRING;
+    case (14305):
+      return DUMP_OK_STORE_DONE_STRING;
+    case (14306):
+      return DUMP_NOK_STORE_DONE_STRING;
+    case (14307):
+      return DUMP_MISC_STORE_DONE_STRING;
+    case (14308):
+      return DUMP_HK_STORE_DONE_STRING;
+    case (14309):
+      return DUMP_CFDP_STORE_DONE_STRING;
+    case (14310):
+      return DUMP_OK_CANCELLED_STRING;
+    case (14311):
+      return DUMP_NOK_CANCELLED_STRING;
+    case (14312):
+      return DUMP_MISC_CANCELLED_STRING;
+    case (14313):
+      return DUMP_HK_CANCELLED_STRING;
+    case (14314):
+      return DUMP_CFDP_CANCELLED_STRING;
     default:
       return "UNKNOWN_EVENT";
   }

bsp_hosted/fsfwconfig/objects/translateObjects.cpp

@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 147 translations.
+ * Contains 171 translations.
- * Generated on: 2023-02-13 10:07:30
+ * Generated on: 2023-04-17 11:34:19
  */
 #include "translateObjects.h"
 
@@ -38,6 +38,9 @@ const char *GYRO_3_L3G_HANDLER_STRING = "GYRO_3_L3G_HANDLER";
 const char *RW4_STRING = "RW4";
 const char *STAR_TRACKER_STRING = "STAR_TRACKER";
 const char *GPS_CONTROLLER_STRING = "GPS_CONTROLLER";
+const char *GPS_0_HEALTH_DEV_STRING = "GPS_0_HEALTH_DEV";
+const char *GPS_1_HEALTH_DEV_STRING = "GPS_1_HEALTH_DEV";
+const char *IMTQ_POLLING_STRING = "IMTQ_POLLING";
 const char *IMTQ_HANDLER_STRING = "IMTQ_HANDLER";
 const char *PCDU_HANDLER_STRING = "PCDU_HANDLER";
 const char *P60DOCK_HANDLER_STRING = "P60DOCK_HANDLER";
@@ -49,10 +52,14 @@ const char *PLPCDU_HANDLER_STRING = "PLPCDU_HANDLER";
 const char *RAD_SENSOR_STRING = "RAD_SENSOR";
 const char *PLOC_UPDATER_STRING = "PLOC_UPDATER";
 const char *PLOC_MEMORY_DUMPER_STRING = "PLOC_MEMORY_DUMPER";
-const char *STR_HELPER_STRING = "STR_HELPER";
+const char *STR_COM_IF_STRING = "STR_COM_IF";
 const char *PLOC_MPSOC_HELPER_STRING = "PLOC_MPSOC_HELPER";
 const char *AXI_PTME_CONFIG_STRING = "AXI_PTME_CONFIG";
 const char *PTME_CONFIG_STRING = "PTME_CONFIG";
+const char *PTME_VC0_LIVE_TM_STRING = "PTME_VC0_LIVE_TM";
+const char *PTME_VC1_LOG_TM_STRING = "PTME_VC1_LOG_TM";
+const char *PTME_VC2_HK_TM_STRING = "PTME_VC2_HK_TM";
+const char *PTME_VC3_CFDP_TM_STRING = "PTME_VC3_CFDP_TM";
 const char *PLOC_MPSOC_HANDLER_STRING = "PLOC_MPSOC_HANDLER";
 const char *PLOC_SUPERVISOR_HANDLER_STRING = "PLOC_SUPERVISOR_HANDLER";
 const char *PLOC_SUPERVISOR_HELPER_STRING = "PLOC_SUPERVISOR_HELPER";
@@ -81,11 +88,15 @@ const char *RTD_13_IC16_PLPCDU_HEATSPREADER_STRING = "RTD_13_IC16_PLPCDU_HEATSPR
 const char *RTD_14_IC17_TCS_BOARD_STRING = "RTD_14_IC17_TCS_BOARD";
 const char *RTD_15_IC18_IMTQ_STRING = "RTD_15_IC18_IMTQ";
 const char *SYRLINKS_HANDLER_STRING = "SYRLINKS_HANDLER";
+const char *SYRLINKS_COM_HANDLER_STRING = "SYRLINKS_COM_HANDLER";
 const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
 const char *DUMMY_COM_IF_STRING = "DUMMY_COM_IF";
 const char *SCEX_UART_READER_STRING = "SCEX_UART_READER";
-const char *SPI_RTD_COM_IF_STRING = "SPI_RTD_COM_IF";
 const char *UART_COM_IF_STRING = "UART_COM_IF";
+const char *ACS_BOARD_POLLING_TASK_STRING = "ACS_BOARD_POLLING_TASK";
+const char *RW_POLLING_TASK_STRING = "RW_POLLING_TASK";
+const char *SPI_RTD_COM_IF_STRING = "SPI_RTD_COM_IF";
+const char *SUS_POLLING_TASK_STRING = "SUS_POLLING_TASK";
 const char *CCSDS_PACKET_DISTRIBUTOR_STRING = "CCSDS_PACKET_DISTRIBUTOR";
 const char *PUS_PACKET_DISTRIBUTOR_STRING = "PUS_PACKET_DISTRIBUTOR";
 const char *TCP_TMTC_SERVER_STRING = "TCP_TMTC_SERVER";
@@ -111,6 +122,7 @@ const char *PUS_SERVICE_5_EVENT_REPORTING_STRING = "PUS_SERVICE_5_EVENT_REPORTIN
 const char *PUS_SERVICE_8_FUNCTION_MGMT_STRING = "PUS_SERVICE_8_FUNCTION_MGMT";
 const char *PUS_SERVICE_9_TIME_MGMT_STRING = "PUS_SERVICE_9_TIME_MGMT";
 const char *PUS_SERVICE_11_TC_SCHEDULER_STRING = "PUS_SERVICE_11_TC_SCHEDULER";
+const char *PUS_SERVICE_15_TM_STORAGE_STRING = "PUS_SERVICE_15_TM_STORAGE";
 const char *PUS_SERVICE_17_TEST_STRING = "PUS_SERVICE_17_TEST";
 const char *PUS_SERVICE_20_PARAMETERS_STRING = "PUS_SERVICE_20_PARAMETERS";
 const char *PUS_SERVICE_200_MODE_MGMT_STRING = "PUS_SERVICE_200_MODE_MGMT";
@@ -133,12 +145,15 @@ const char *HEATER_3_OBC_BRD_STRING = "HEATER_3_OBC_BRD";
 const char *HEATER_4_CAMERA_STRING = "HEATER_4_CAMERA";
 const char *HEATER_5_STR_STRING = "HEATER_5_STR";
 const char *HEATER_6_DRO_STRING = "HEATER_6_DRO";
-const char *HEATER_7_HPA_STRING = "HEATER_7_HPA";
+const char *HEATER_7_SYRLINKS_STRING = "HEATER_7_SYRLINKS";
 const char *ACS_BOARD_ASS_STRING = "ACS_BOARD_ASS";
 const char *SUS_BOARD_ASS_STRING = "SUS_BOARD_ASS";
 const char *TCS_BOARD_ASS_STRING = "TCS_BOARD_ASS";
-const char *RW_ASS_STRING = "RW_ASS";
+const char *RW_ASSY_STRING = "RW_ASSY";
 const char *CAM_SWITCHER_STRING = "CAM_SWITCHER";
+const char *SYRLINKS_ASSY_STRING = "SYRLINKS_ASSY";
+const char *IMTQ_ASSY_STRING = "IMTQ_ASSY";
+const char *STR_ASSY_STRING = "STR_ASSY";
 const char *TM_FUNNEL_STRING = "TM_FUNNEL";
 const char *PUS_TM_FUNNEL_STRING = "PUS_TM_FUNNEL";
 const char *CFDP_TM_FUNNEL_STRING = "CFDP_TM_FUNNEL";
@@ -149,7 +164,16 @@ const char *ACS_SUBSYSTEM_STRING = "ACS_SUBSYSTEM";
 const char *PL_SUBSYSTEM_STRING = "PL_SUBSYSTEM";
 const char *TCS_SUBSYSTEM_STRING = "TCS_SUBSYSTEM";
 const char *COM_SUBSYSTEM_STRING = "COM_SUBSYSTEM";
-const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
+const char *MISC_TM_STORE_STRING = "MISC_TM_STORE";
+const char *OK_TM_STORE_STRING = "OK_TM_STORE";
+const char *NOT_OK_TM_STORE_STRING = "NOT_OK_TM_STORE";
+const char *HK_TM_STORE_STRING = "HK_TM_STORE";
+const char *CFDP_TM_STORE_STRING = "CFDP_TM_STORE";
+const char *LIVE_TM_TASK_STRING = "LIVE_TM_TASK";
+const char *LOG_STORE_AND_TM_TASK_STRING = "LOG_STORE_AND_TM_TASK";
+const char *HK_STORE_AND_TM_TASK_STRING = "HK_STORE_AND_TM_TASK";
+const char *CFDP_STORE_AND_TM_TASK_STRING = "CFDP_STORE_AND_TM_TASK";
+const char *DOWNLINK_RAM_STORE_STRING = "DOWNLINK_RAM_STORE";
 const char *THERMAL_TEMP_INSERTER_STRING = "THERMAL_TEMP_INSERTER";
 const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE";
 const char *NO_OBJECT_STRING = "NO_OBJECT";
@@ -220,6 +244,12 @@ const char *translateObject(object_id_t object) {
       return STAR_TRACKER_STRING;
     case 0x44130045:
       return GPS_CONTROLLER_STRING;
+    case 0x44130046:
+      return GPS_0_HEALTH_DEV_STRING;
+    case 0x44130047:
+      return GPS_1_HEALTH_DEV_STRING;
+    case 0x44140013:
+      return IMTQ_POLLING_STRING;
     case 0x44140014:
       return IMTQ_HANDLER_STRING;
     case 0x442000A1:
@@ -243,13 +273,21 @@ const char *translateObject(object_id_t object) {
     case 0x44330001:
       return PLOC_MEMORY_DUMPER_STRING;
     case 0x44330002:
-      return STR_HELPER_STRING;
+      return STR_COM_IF_STRING;
     case 0x44330003:
       return PLOC_MPSOC_HELPER_STRING;
     case 0x44330004:
       return AXI_PTME_CONFIG_STRING;
     case 0x44330005:
       return PTME_CONFIG_STRING;
+    case 0x44330006:
+      return PTME_VC0_LIVE_TM_STRING;
+    case 0x44330007:
+      return PTME_VC1_LOG_TM_STRING;
+    case 0x44330008:
+      return PTME_VC2_HK_TM_STRING;
+    case 0x44330009:
+      return PTME_VC3_CFDP_TM_STRING;
     case 0x44330015:
       return PLOC_MPSOC_HANDLER_STRING;
     case 0x44330016:
@@ -306,16 +344,24 @@ const char *translateObject(object_id_t object) {
       return RTD_15_IC18_IMTQ_STRING;
     case 0x445300A3:
       return SYRLINKS_HANDLER_STRING;
+    case 0x445300A4:
+      return SYRLINKS_COM_HANDLER_STRING;
     case 0x49000001:
       return ARDUINO_COM_IF_STRING;
     case 0x49000002:
       return DUMMY_COM_IF_STRING;
     case 0x49010006:
       return SCEX_UART_READER_STRING;
-    case 0x49020006:
-      return SPI_RTD_COM_IF_STRING;
     case 0x49030003:
       return UART_COM_IF_STRING;
+    case 0x49060004:
+      return ACS_BOARD_POLLING_TASK_STRING;
+    case 0x49060005:
+      return RW_POLLING_TASK_STRING;
+    case 0x49060006:
+      return SPI_RTD_COM_IF_STRING;
+    case 0x49060007:
+      return SUS_POLLING_TASK_STRING;
     case 0x50000100:
       return CCSDS_PACKET_DISTRIBUTOR_STRING;
     case 0x50000200:
@@ -366,6 +412,8 @@ const char *translateObject(object_id_t object) {
       return PUS_SERVICE_9_TIME_MGMT_STRING;
     case 0x53000011:
       return PUS_SERVICE_11_TC_SCHEDULER_STRING;
+    case 0x53000015:
+      return PUS_SERVICE_15_TM_STORAGE_STRING;
     case 0x53000017:
       return PUS_SERVICE_17_TEST_STRING;
     case 0x53000020:
@@ -411,7 +459,7 @@ const char *translateObject(object_id_t object) {
     case 0x60000006:
       return HEATER_6_DRO_STRING;
     case 0x60000007:
-      return HEATER_7_HPA_STRING;
+      return HEATER_7_SYRLINKS_STRING;
     case 0x73000001:
       return ACS_BOARD_ASS_STRING;
     case 0x73000002:
@@ -419,9 +467,15 @@ const char *translateObject(object_id_t object) {
     case 0x73000003:
       return TCS_BOARD_ASS_STRING;
     case 0x73000004:
-      return RW_ASS_STRING;
+      return RW_ASSY_STRING;
     case 0x73000006:
       return CAM_SWITCHER_STRING;
+    case 0x73000007:
+      return SYRLINKS_ASSY_STRING;
+    case 0x73000008:
+      return IMTQ_ASSY_STRING;
+    case 0x73000009:
+      return STR_ASSY_STRING;
     case 0x73000100:
       return TM_FUNNEL_STRING;
     case 0x73000101:
@@ -442,8 +496,26 @@ const char *translateObject(object_id_t object) {
       return TCS_SUBSYSTEM_STRING;
     case 0x73010004:
       return COM_SUBSYSTEM_STRING;
-    case 0x73500000:
+    case 0x73020001:
-      return CCSDS_IP_CORE_BRIDGE_STRING;
+      return MISC_TM_STORE_STRING;
+    case 0x73020002:
+      return OK_TM_STORE_STRING;
+    case 0x73020003:
+      return NOT_OK_TM_STORE_STRING;
+    case 0x73020004:
+      return HK_TM_STORE_STRING;
+    case 0x73030000:
+      return CFDP_TM_STORE_STRING;
+    case 0x73040000:
+      return LIVE_TM_TASK_STRING;
+    case 0x73040001:
+      return LOG_STORE_AND_TM_TASK_STRING;
+    case 0x73040002:
+      return HK_STORE_AND_TM_TASK_STRING;
+    case 0x73040003:
+      return CFDP_STORE_AND_TM_TASK_STRING;
+    case 0x73040004:
+      return DOWNLINK_RAM_STORE_STRING;
     case 0x90000003:
       return THERMAL_TEMP_INSERTER_STRING;
     case 0xCAFECAFE:

bsp_hosted/scheduling.cpp

@@ -14,7 +14,7 @@
 
 #include "OBSWConfig.h"
 #include "ObjectFactory.h"
-#include "mission/core/scheduling.h"
+#include "mission/scheduling.h"
 #include "scheduling.h"
 
 #ifdef LINUX
@@ -95,46 +95,43 @@ void scheduling::initTasks() {
     sif::error << "Add component UDP Polling failed" << std::endl;
   }
 
-  /* PUS Services */
+  PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
-  PeriodicTaskIF* pusVerification = factory->createPeriodicTask(
+      "PUS_HIGH_PRIO", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-      "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
-  result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
   if (result != returnvalue::OK) {
     sif::error << "Object add component failed" << std::endl;
   }
-
+  result = pusHighPrio->addComponent(objects::EVENT_MANAGER);
-  PeriodicTaskIF* eventHandling = factory->createPeriodicTask(
-      "EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-  result = eventHandling->addComponent(objects::EVENT_MANAGER);
   if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("EVENT_MNGR", objects::EVENT_MANAGER);
+    scheduling::printAddObjectError("EVENT_MGMT", objects::EVENT_MANAGER);
   }
-  result = eventHandling->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
   }
-
-  PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
-      "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-  result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
-  }
   result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
   }
+
+  PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
+      "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
+  }
   result = pusHighPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
   }
-
-  PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
-      "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
   }
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_15_TM_STORAGE);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS15", objects::PUS_SERVICE_15_TM_STORAGE);
+  }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
@@ -143,10 +140,7 @@ void scheduling::initTasks() {
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
   }
-
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_17_TEST);
-  PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
-      "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
-  result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
   }
@@ -157,11 +151,14 @@ void scheduling::initTasks() {
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("Core controller dummy", objects::CORE_CONTROLLER);
   }
-
   result = thermalTask->addComponent(objects::THERMAL_CONTROLLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);
   }
+  result = thermalTask->addComponent(objects::HEATER_HANDLER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
+  }
 
   FixedTimeslotTaskIF* pstTask = factory->createFixedTimeslotTask(
       "DUMMY_PST", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
@@ -199,7 +196,8 @@ void scheduling::initTasks() {
 #endif /* OBSW_ADD_TEST_CODE == 1 */
 
   PeriodicTaskIF* dummyTask = factory->createPeriodicTask(
-      "DUMMY_TASK", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+      "DUMMY_TASK", 35, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
+  dummyTask->addComponent(objects::THERMAL_TEMP_INSERTER);
   scheduling::scheduleTmpTempSensors(dummyTask);
   scheduling::scheduleRtdSensors(dummyTask);
   dummyTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
@@ -220,11 +218,8 @@ void scheduling::initTasks() {
   udpPollingTask->startTask();
   tcpPollingTask->startTask();
 
-  pusVerification->startTask();
-  eventHandling->startTask();
   pusHighPrio->startTask();
   pusMedPrio->startTask();
-  pusLowPrio->startTask();
 
   pstTask->startTask();
   thermalTask->startTask();

bsp_linux_board/CMakeLists.txt

@@ -1,5 +1,5 @@
 target_sources(${OBSW_NAME} PUBLIC InitMission.cpp main.cpp gpioInit.cpp
-                                   ObjectFactory.cpp RPiSdCardManager.cpp)
+                                   ObjectFactory.cpp)
 
 add_subdirectory(boardconfig)
 add_subdirectory(boardtest)

bsp_linux_board/ObjectFactory.cpp

@@ -82,7 +82,7 @@ void ObjectFactory::produce(void* args) {
 #endif
 
 #if OBSW_ADD_SCEX_DEVICE == 1
-  auto* sdcMan = new RPiSdCardManager("/tmp");
+  auto* sdcMan = new DummySdCardManager("/tmp");
   createScexComponents(uart::DEV, pwrSwitcher, *sdcMan, true, std::nullopt);
 #endif
 

bsp_linux_board/RPiSdCardManager.cpp

@@ -1,13 +0,0 @@
-#include "RPiSdCardManager.h"
-
-RPiSdCardManager::RPiSdCardManager(std::string prefix) : prefix(std::move(prefix)) {}
-
-const std::string& RPiSdCardManager::getCurrentMountPrefix() const { return prefix; }
-
-bool RPiSdCardManager::isSdCardUsable(sd::SdCard sdCard) { return true; }
-
-std::optional<sd::SdCard> RPiSdCardManager::getPreferredSdCard() const { return std::nullopt; }
-
-void RPiSdCardManager::setActiveSdCard(sd::SdCard sdCard) {}
-
-std::optional<sd::SdCard> RPiSdCardManager::getActiveSdCard() const { return std::nullopt; }

bsp_q7s/CMakeLists.txt

@@ -12,7 +12,6 @@ target_sources(${OBSW_NAME} PUBLIC main.cpp obsw.cpp)
 add_subdirectory(boardtest)
 
 add_subdirectory(boardconfig)
-add_subdirectory(comIF)
 add_subdirectory(core)
 
 if(EIVE_Q7S_EM)

bsp_q7s/OBSWConfig.h.in

@@ -13,10 +13,12 @@
 /** All of the following flags should be enabled for mission code  */
 /*******************************************************************/
 
-#define OBSW_ENABLE_PERIODIC_HK                     0
+// This enables a lot of periodically generated telemetry, so it can make sense to
-#define OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT       0
+// disable this for debugging purposes.
+#define OBSW_ENABLE_PERIODIC_HK                     @OBSW_ENABLE_PERIODIC_HK@
+
 // This switch will cause the SW to command the EIVE system object to safe mode. This will
-// trigger a lot of events, so it can make sense to disable this for debugging purposes
+// trigger a lot of events, so it can make sense to disable this for debugging purposes.
 #define OBSW_COMMAND_SAFE_MODE_AT_STARTUP           1
 
 #define OBSW_ADD_GOMSPACE_PCDU                      @OBSW_ADD_GOMSPACE_PCDU@
@@ -29,8 +31,8 @@
 #define OBSW_ADD_SUS_BOARD_ASS                      @OBSW_ADD_SUS_BOARD_ASS@
 #define OBSW_ADD_ACS_BOARD                          @OBSW_ADD_ACS_BOARD@
 #define OBSW_ADD_ACS_CTRL                           1
+#define OBSW_ADD_TCS_CTRL                           1
 #define OBSW_ADD_GPS_CTRL                           @OBSW_ADD_GPS_CTRL@
-#define OBSW_ADD_TCS_CTRL                           @OBSW_ADD_TCS_CTRL@
 #define OBSW_ADD_RW                                 @OBSW_ADD_RW@
 #define OBSW_ADD_RTD_DEVICES                        @OBSW_ADD_RTD_DEVICES@
 #define OBSW_ADD_SA_DEPL                            @OBSW_ADD_SA_DEPL@
@@ -41,6 +43,9 @@
 #define OBSW_ADD_PL_PCDU                            @OBSW_ADD_PL_PCDU@
 #define OBSW_ADD_SYRLINKS                           @OBSW_ADD_SYRLINKS@
 #define OBSW_ADD_CCSDS_IP_CORES                     @OBSW_ADD_CCSDS_IP_CORES@
+// Only relevant for EM for TCS tests.
+#define OBSW_ADD_THERMAL_TEMP_INSERTER              @OBSW_ADD_THERMAL_TEMP_INSERTER@
+
 // Set to 1 if all telemetry should be sent to the PTME IP Core
 #define OBSW_TM_TO_PTME                             @OBSW_TM_TO_PTME@
 // Set to 1 if telecommands are received via the PDEC IP Core
@@ -67,7 +72,7 @@
 #define OBSW_PRINT_MISSED_DEADLINES                 1
 
 #define OBSW_MPSOC_JTAG_BOOT                        0
-#define OBSW_STAR_TRACKER_GROUND_CONFIG             1
+#define OBSW_STAR_TRACKER_GROUND_CONFIG             @OBSW_STAR_TRACKER_GROUND_CONFIG@
 #define OBSW_SYRLINKS_SIMULATED                     @OBSW_SYRLINKS_SIMULATED@
 #define OBSW_ADD_TEST_CODE                          0
 #define OBSW_ADD_TEST_TASK                          0

bsp_q7s/boardconfig/busConf.h

@@ -28,9 +28,13 @@ static constexpr char UIO_PDEC_IRQ[] = "/dev/uio_pdec_irq";
 static constexpr int MAP_ID_PTME_CONFIG = 3;
 
 namespace uiomapids {
+// Live TM
 static const int PTME_VC0 = 0;
+// OK/NOK/MISC Store
 static const int PTME_VC1 = 1;
+// HK store
 static const int PTME_VC2 = 2;
+// CFDP
 static const int PTME_VC3 = 3;
 static const int PTME_CONFIG = 4;
 }  // namespace uiomapids
@@ -86,6 +90,8 @@ static constexpr char PAPB_BUSY_SIGNAL_VC2[] = "papb_busy_signal_vc2";
 static constexpr char PAPB_EMPTY_SIGNAL_VC2[] = "papb_empty_signal_vc2";
 static constexpr char PAPB_BUSY_SIGNAL_VC3[] = "papb_busy_signal_vc3";
 static constexpr char PAPB_EMPTY_SIGNAL_VC3[] = "papb_empty_signal_vc3";
+static constexpr char PTME_RESETN[] = "ptme_resetn";
+
 static constexpr char RS485_EN_TX_CLOCK[] = "tx_clock_enable_ltc2872";
 static constexpr char RS485_EN_TX_DATA[] = "tx_data_enable_ltc2872";
 static constexpr char RS485_EN_RX_CLOCK[] = "rx_clock_enable_ltc2872";

bsp_q7s/boardconfig/q7sConfig.h.in

@@ -17,7 +17,7 @@
 /*******************************************************************/
 
 // Probably better if this is disabled for mission code. Convenient for development
-#define Q7S_CHECK_FOR_ALREADY_RUNNING_IMG           1
+#define Q7S_CHECK_FOR_ALREADY_RUNNING_IMG           @Q7S_CHECK_FOR_ALREADY_RUNNING_IMG@
 
 #define Q7S_SIMPLE_ADD_FILE_SYSTEM_TEST             0
 

bsp_q7s/callbacks/pcduSwitchCb.h

@@ -1,9 +1,9 @@
 #ifndef BSP_Q7S_CALLBACKS_PCDUSWITCHCB_H_
 #define BSP_Q7S_CALLBACKS_PCDUSWITCHCB_H_
 
-#include <cstdint>
+#include <mission/power/gsDefs.h>
 
-#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
+#include <cstdint>
 
 namespace pcdu {
 

bsp_q7s/callbacks/rwSpiCallback.cpp

@@ -6,7 +6,7 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw_hal/linux/UnixFileGuard.h"
 #include "fsfw_hal/linux/spi/SpiCookie.h"
-#include "mission/devices/RwHandler.h"
+#include "mission/acs/RwHandler.h"
 
 namespace rwSpiCallback {
 
@@ -76,7 +76,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
   if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
     sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
     closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
-    return RwHandler::SPI_WRITE_FAILURE;
+    return rws::SPI_WRITE_FAILURE;
   }
 
   /** Encoding and sending command */
@@ -101,7 +101,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
     if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
       sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
       closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
-      return RwHandler::SPI_WRITE_FAILURE;
+      return rws::SPI_WRITE_FAILURE;
     }
     idx++;
   }
@@ -113,7 +113,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
   if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
     sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
     closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
-    return RwHandler::SPI_WRITE_FAILURE;
+    return rws::SPI_WRITE_FAILURE;
   }
 
   uint8_t* rxBuf = nullptr;
@@ -128,7 +128,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
   // There must be a delay of at least 20 ms after sending the command.
   // Delay for 70 ms here and release the SPI bus for that duration.
   closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
-  usleep(RwDefinitions::SPI_REPLY_DELAY);
+  usleep(rws::SPI_REPLY_DELAY);
   result = openSpi(dev, O_RDWR, &gpioIF, gpioId, mutex, timeoutType, timeoutMs, fileDescriptor);
   if (result != returnvalue::OK) {
     return result;
@@ -139,17 +139,17 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
    * However, receiving more than 5 empty frames will be interpreted as an error.
    */
   uint8_t byteRead = 0;
-  for (int idx = 0; idx < 10; idx++) {
+  for (idx = 0; idx < 10; idx++) {
     if (read(fileDescriptor, &byteRead, 1) != 1) {
       sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
       closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
-      return RwHandler::SPI_READ_FAILURE;
+      return rws::SPI_READ_FAILURE;
     }
     if (idx == 0) {
       if (byteRead != FLAG_BYTE) {
         sif::error << "Invalid data, expected start marker" << std::endl;
         closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
-        return RwHandler::NO_START_MARKER;
+        return rws::NO_START_MARKER;
       }
     }
 
@@ -160,7 +160,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
     if (idx == 9) {
       sif::error << "rwSpiCallback::spiCallback: Empty frame timeout" << std::endl;
       closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
-      return RwHandler::NO_REPLY;
+      return rws::NO_REPLY;
     }
   }
 
@@ -175,7 +175,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
       byteRead = 0;
       if (read(fileDescriptor, &byteRead, 1) != 1) {
         sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
-        result = RwHandler::SPI_READ_FAILURE;
+        result = rws::SPI_READ_FAILURE;
         break;
       }
     }
@@ -186,7 +186,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
     } else if (byteRead == 0x7D) {
       if (read(fileDescriptor, &byteRead, 1) != 1) {
         sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
-        result = RwHandler::SPI_READ_FAILURE;
+        result = rws::SPI_READ_FAILURE;
         break;
       }
       if (byteRead == 0x5E) {
@@ -200,7 +200,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
       } else {
         sif::error << "rwSpiCallback::spiCallback: Invalid substitute" << std::endl;
         closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
-        result = RwHandler::INVALID_SUBSTITUTE;
+        result = rws::INVALID_SUBSTITUTE;
         break;
       }
     } else {
@@ -217,14 +217,14 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
     if (decodedFrameLen == replyBufferSize) {
       if (read(fileDescriptor, &byteRead, 1) != 1) {
         sif::error << "rwSpiCallback::spiCallback: Failed to read last byte" << std::endl;
-        result = RwHandler::SPI_READ_FAILURE;
+        result = rws::SPI_READ_FAILURE;
         break;
       }
       if (byteRead != FLAG_BYTE) {
         sif::error << "rwSpiCallback::spiCallback: Missing end sign " << static_cast<int>(FLAG_BYTE)
                    << std::endl;
         decodedFrameLen--;
-        result = RwHandler::MISSING_END_SIGN;
+        result = rws::MISSING_END_SIGN;
         break;
       }
     }
@@ -252,7 +252,7 @@ ReturnValue_t openSpi(const std::string& devname, int flags, GpioIF* gpioIF, gpi
   fd = open(devname.c_str(), flags);
   if (fd < 0) {
     sif::error << "rwSpiCallback::spiCallback: Failed to open device file" << std::endl;
-    return SpiComIF::OPENING_FILE_FAILED;
+    return spi::OPENING_FILE_FAILED;
   }
 
   // Pull SPI CS low. For now, no support for active high given

bsp_q7s/comIF/CMakeLists.txt

@@ -1 +0,0 @@
-target_sources(${OBSW_NAME} PRIVATE)

bsp_q7s/core/CMakeLists.txt

@@ -1,4 +1,4 @@
 target_sources(${OBSW_NAME} PRIVATE CoreController.cpp scheduling.cpp
-                                    ObjectFactory.cpp)
+                                    ObjectFactory.cpp WatchdogHandler.cpp)
 
 target_sources(${SIMPLE_OBSW_NAME} PRIVATE scheduling.cpp)

bsp_q7s/core/CoreController.h

@@ -1,9 +1,16 @@
 #ifndef BSP_Q7S_CORE_CORECONTROLLER_H_
 #define BSP_Q7S_CORE_CORECONTROLLER_H_
 
+#include <fsfw/container/DynamicFIFO.h>
+#include <fsfw/container/SimpleRingBuffer.h>
 #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
+#include <fsfw/parameters/ParameterHelper.h>
+#include <fsfw/parameters/ReceivesParameterMessagesIF.h>
 #include <libxiphos.h>
+#include <mission/acs/archive/GPSDefinitions.h>
+#include <mission/utility/trace.h>
 
+#include <atomic>
 #include <cstddef>
 
 #include "CoreDefinitions.h"
@@ -11,18 +18,11 @@
 #include "bsp_q7s/fs/SdCardManager.h"
 #include "events/subsystemIdRanges.h"
 #include "fsfw/controller/ExtendedControllerBase.h"
-#include "mission/devices/devicedefinitions/GPSDefinitions.h"
+#include "mission/sysDefs.h"
 
 class Timer;
 class SdCardManager;
 
-namespace xsc {
-
-enum Chip : int { CHIP_0, CHIP_1, NO_CHIP, SELF_CHIP, ALL_CHIP };
-enum Copy : int { COPY_0, COPY_1, NO_COPY, SELF_COPY, ALL_COPY };
-
-}  // namespace xsc
-
 struct RebootFile {
   static constexpr uint8_t DEFAULT_MAX_BOOT_CNT = 10;
 
@@ -44,8 +44,10 @@ struct RebootFile {
   xsc::Copy mechanismNextCopy = xsc::Copy::NO_COPY;
 };
 
-class CoreController : public ExtendedControllerBase {
+class CoreController : public ExtendedControllerBase, public ReceivesParameterMessagesIF {
  public:
+  enum ParamId : uint8_t { PREF_SD = 0, NUM_IDS };
+
   static xsc::Chip CURRENT_CHIP;
   static xsc::Copy CURRENT_COPY;
 
@@ -53,72 +55,23 @@ class CoreController : public ExtendedControllerBase {
   static constexpr char CHIP_STATE_FILE[] = "/tmp/chip_prot_status.txt";
   static constexpr char CURR_COPY_FILE[] = "/tmp/curr_copy.txt";
 
-  static constexpr char CONF_FOLDER[] = "conf";
-
-  static constexpr char VERSION_FILE_NAME[] = "version.txt";
-  static constexpr char REBOOT_FILE_NAME[] = "reboot.txt";
-  static constexpr char TIME_FILE_NAME[] = "time.txt";
-
   const std::string VERSION_FILE =
-      "/" + std::string(CONF_FOLDER) + "/" + std::string(VERSION_FILE_NAME);
+      "/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::VERSION_FILE_NAME);
   const std::string REBOOT_FILE =
-      "/" + std::string(CONF_FOLDER) + "/" + std::string(REBOOT_FILE_NAME);
+      "/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::REBOOT_FILE_NAME);
-  const std::string TIME_FILE = "/" + std::string(CONF_FOLDER) + "/" + std::string(TIME_FILE_NAME);
+  const std::string BACKUP_TIME_FILE =
+      "/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::TIME_FILE_NAME);
 
   static constexpr char CHIP_0_COPY_0_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi0-nom-rootfs";
   static constexpr char CHIP_0_COPY_1_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi0-gold-rootfs";
   static constexpr char CHIP_1_COPY_0_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi1-nom-rootfs";
   static constexpr char CHIP_1_COPY_1_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi1-gold-rootfs";
+  static constexpr char LIST_DIR_DUMP_WORK_FILE[] = "/tmp/dir_listing.tmp";
 
   static constexpr dur_millis_t INIT_SD_CARD_CHECK_TIMEOUT = 5000;
   static constexpr dur_millis_t DEFAULT_SD_CARD_CHECK_TIMEOUT = 60000;
 
-  static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
+  CoreController(object_id_t objectId, bool enableHkSet);
-  static constexpr ActionId_t ANNOUNCE_VERSION = 1;
-  static constexpr ActionId_t ANNOUNCE_CURRENT_IMAGE = 2;
-  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;
-
-  static constexpr ActionId_t OBSW_UPDATE_FROM_SD_0 = 10;
-  static constexpr ActionId_t OBSW_UPDATE_FROM_SD_1 = 11;
-  static constexpr ActionId_t OBSW_UPDATE_FROM_TMP = 12;
-
-  static constexpr ActionId_t SWITCH_TO_SD_0 = 16;
-  static constexpr ActionId_t SWITCH_TO_SD_1 = 17;
-  static constexpr ActionId_t SWITCH_TO_BOTH_SD_CARDS = 18;
-
-  //! 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);
-  //! [EXPORT] : [COMMENT]  Software reboot occurred. Can also be a systemd reboot.
-  //! P1: Current Chip, P2: Current Copy
-  static constexpr Event REBOOT_SW = event::makeEvent(SUBSYSTEM_ID, 1, severity::MEDIUM);
-  //! [EXPORT] : [COMMENT] The reboot mechanism was triggered.
-  //! P1: First 16 bits: Last Chip, Last 16 bits: Last Copy,
-  //! P2: Each byte is the respective reboot count for the slots
-  static constexpr Event REBOOT_MECHANISM_TRIGGERED =
-      event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);
-  //! Trying to find a way how to determine that the reboot came from ProASIC3 or PCDU..
-  static constexpr Event REBOOT_HW = event::makeEvent(SUBSYSTEM_ID, 3, severity::MEDIUM);
-  //! [EXPORT] : [COMMENT] No SD card was active. Core controller will attempt to re-initialize
-  //! a SD card.
-  static constexpr Event NO_SD_CARD_ACTIVE = event::makeEvent(SUBSYSTEM_ID, 4, severity::HIGH);
-  //! [EXPORT] : [COMMENT]
-  //! P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash
-  //! P2: First four letters of Git SHA is the last byte of P1 is set.
-  static constexpr Event VERSION_INFO = event::makeEvent(SUBSYSTEM_ID, 5, severity::INFO);
-  //! [EXPORT] : [COMMENT] P1: Current Chip, P2: Current Copy
-  static constexpr Event CURRENT_IMAGE_INFO = event::makeEvent(SUBSYSTEM_ID, 6, severity::INFO);
-
-  CoreController(object_id_t objectId);
   virtual ~CoreController();
 
   ReturnValue_t initialize() override;
@@ -159,19 +112,18 @@ class CoreController : public ExtendedControllerBase {
   bool sdInitFinished() const;
 
  private:
+  static constexpr uint32_t BOOT_OFFSET_SECONDS = 15;
   static constexpr MutexIF::TimeoutType TIMEOUT_TYPE = MutexIF::TimeoutType::WAITING;
   static constexpr uint32_t MUTEX_TIMEOUT = 20;
-  // Designated value for rechecking FIFO open
+  bool enableHkSet = false;
-  static constexpr int RETRY_FIFO_OPEN = -2;
-  int watchdogFifoFd = 0;
   GpsHyperion::FixMode gpsFix = GpsHyperion::FixMode::UNKNOWN;
 
   // States for SD state machine, which is used in non-blocking mode
   enum class SdStates {
     NONE,
     START,
-    GET_INFO,
+    UPDATE_SD_INFO_START,
-    SET_STATE_SELF,
+    SKIP_TWO_CYCLES_IF_SD_LOCKED,
     MOUNT_SELF,
     // Determine operations for other SD card, depending on redundancy configuration
     DETERMINE_OTHER,
@@ -181,7 +133,7 @@ class CoreController : public ExtendedControllerBase {
     // Skip period because the shell command used to generate the info file sometimes is
     // missing the last performed operation if executed too early
     SKIP_CYCLE_BEFORE_INFO_UPDATE,
-    UPDATE_INFO,
+    UPDATE_SD_INFO_END,
     // SD initialization done
     IDLE
   };
@@ -193,23 +145,30 @@ class CoreController : public ExtendedControllerBase {
   SdCardManager* sdcMan = nullptr;
   MessageQueueIF* eventQueue = nullptr;
 
+  uint8_t prefSdRaw = sd::SdCard::SLOT_0;
   SdStates sdFsmState = SdStates::START;
+  SdStates fsmStateAfterDelay = SdStates::IDLE;
   enum SdCfgMode { PASSIVE, COLD_REDUNDANT, HOT_REDUNDANT };
 
   struct SdFsmParams {
     SdCfgMode cfgMode = SdCfgMode::COLD_REDUNDANT;
     sd::SdCard active = sd::SdCard::NONE;
     sd::SdCard other = sd::SdCard::NONE;
-    sd::SdState activeState = sd::SdState::OFF;
-    sd::SdState otherState = sd::SdState::OFF;
     std::string activeChar = "0";
     std::string otherChar = "1";
+    sd::SdState activeState = sd::SdState::OFF;
+    sd::SdState otherState = sd::SdState::OFF;
     std::pair<bool, bool> mountSwitch = {true, true};
-    // Used to track whether a command was executed
+    // This flag denotes that the SD card usage is locked. This is relevant if SD cards go off
-    bool commandExecuted = true;
+    // to leave appliation using the SD cards some time to detect the SD card is not usable anymore.
+    // This is relevant if the active SD card is being switched. The SD card will also be locked
+    // when going from hot-redundant mode to cold-redundant mode.
+    bool lockSdCardUsage = false;
+    bool commandPending = true;
     bool initFinished = false;
     SdCardManager::SdStatePair currentState;
     uint16_t cycleCount = 0;
+    uint16_t skippedCyclesCount = 0;
   } sdInfo;
 
   struct SdCommanding {
@@ -219,9 +178,20 @@ class CoreController : public ExtendedControllerBase {
   } sdCommandingInfo;
 
   RebootFile rebootFile = {};
+
+  CommandExecutor cmdExecutor;
+  SimpleRingBuffer cmdReplyBuf;
+  DynamicFIFO<uint16_t> cmdRepliesSizes;
+  bool shellCmdIsExecuting = false;
+  MessageQueueId_t successRecipient = MessageQueueIF::NO_QUEUE;
+
   std::string currMntPrefix;
+  bool timeFileInitDone = false;
   bool performOneShotSdCardOpsSwitch = false;
   uint8_t shortSdCardCdCounter = 0;
+#if OBSW_THREAD_TRACING == 1
+  uint32_t opCounter;
+#endif
   Countdown sdCardCheckCd = Countdown(INIT_SD_CARD_CHECK_TIMEOUT);
 
   /**
@@ -240,10 +210,16 @@ class CoreController : public ExtendedControllerBase {
 
   core::HkSet hkSet;
 
+  ParameterHelper paramHelper;
+
 #if OBSW_SD_CARD_MUST_BE_ON == 1
   bool remountAttemptFlag = true;
 #endif
 
+  MessageQueueId_t getCommandQueue() const override;
+  ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
+                             ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
+                             uint16_t startAtIndex) override;
   ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                         LocalDataPoolManager& poolManager) override;
 
@@ -254,16 +230,15 @@ class CoreController : public ExtendedControllerBase {
 
   ReturnValue_t initClockFromTimeFile();
   ReturnValue_t performSdCardCheck();
-  ReturnValue_t timeFileHandler();
+  ReturnValue_t backupTimeFileHandler();
   ReturnValue_t initBootCopyFile();
-  ReturnValue_t initWatchdogFifo();
   ReturnValue_t initSdCardBlocking();
   bool startSdStateMachine(sd::SdCard targetActiveSd, SdCfgMode mode, MessageQueueId_t commander,
                            DeviceCommandId_t actionId);
   void initPrint();
 
   ReturnValue_t sdStateMachine();
-  void updateSdInfoOther();
+  void updateInternalSdInfo();
   ReturnValue_t sdCardSetup(sd::SdCard sdCard, sd::SdState targetState, std::string sdChar,
                             bool printOutput = true);
   ReturnValue_t executeSwUpdate(SwUpdateSources sourceDir, const uint8_t* data, size_t size);
@@ -276,13 +251,17 @@ class CoreController : public ExtendedControllerBase {
 
   ReturnValue_t actionListDirectoryIntoFile(ActionId_t actionId, MessageQueueId_t commandedBy,
                                             const uint8_t* data, size_t size);
+  ReturnValue_t actionListDirectoryDumpDirectly(ActionId_t actionId, MessageQueueId_t commandedBy,
+                                                const uint8_t* data, size_t size);
+
+  ReturnValue_t actionListDirectoryCommonCommandCreator(const uint8_t* data, size_t size,
+                                                        std::ostringstream& oss);
+
   ReturnValue_t actionXscReboot(const uint8_t* data, size_t size);
   ReturnValue_t actionReboot(const uint8_t* data, size_t size);
 
   ReturnValue_t gracefulShutdownTasks(xsc::Chip chip, xsc::Copy copy, bool& protOpPerformed);
 
-  void performWatchdogControlOperation();
-
   ReturnValue_t handleProtInfoUpdateLine(std::string nextLine);
   int handleBootCopyProtAtIndex(xsc::Chip targetChip, xsc::Copy targetCopy, bool protect,
                                 bool& protOperationPerformed, bool selfChip, bool selfCopy,
@@ -293,6 +272,7 @@ class CoreController : public ExtendedControllerBase {
   void setRebootMechanismLock(bool lock, xsc::Chip tgtChip, xsc::Copy tgtCopy);
   bool parseRebootFile(std::string path, RebootFile& file);
   void rewriteRebootFile(RebootFile file);
+  void announceBootCounts();
   void readHkData();
   bool isNumber(const std::string& s);
 };

bsp_q7s/core/ObjectFactory.cpp

@@ -1,7 +1,35 @@
 #include "ObjectFactory.h"
 
+#include <fsfw/devicehandlers/HealthDevice.h>
 #include <fsfw/subsystem/Subsystem.h>
+#include <linux/acs/AcsBoardPolling.h>
+#include <linux/acs/GpsHyperionLinuxController.h>
+#include <linux/acs/ImtqPollingTask.h>
+#include <linux/acs/RwPollingTask.h>
+#include <linux/acs/StrComHandler.h>
+#include <linux/com/SyrlinksComHandler.h>
+#include <linux/payload/PlocMemoryDumper.h>
+#include <linux/payload/PlocMpsocHandler.h>
+#include <linux/payload/PlocMpsocHelper.h>
+#include <linux/payload/PlocSupervisorHandler.h>
+#include <linux/payload/ScexUartReader.h>
+#include <linux/payload/plocMpscoDefs.h>
+#include <linux/power/CspComIF.h>
+#include <mission/acs/GyrL3gCustomHandler.h>
+#include <mission/acs/MgmLis3CustomHandler.h>
+#include <mission/acs/MgmRm3100CustomHandler.h>
+#include <mission/acs/str/StarTrackerHandler.h>
+#include <mission/acs/str/strHelpers.h>
+#include <mission/com/LiveTmTask.h>
+#include <mission/com/PersistentLogTmStoreTask.h>
+#include <mission/com/PersistentSingleTmStoreTask.h>
+#include <mission/power/CspCookie.h>
+#include <mission/system/acs/ImtqAssembly.h>
+#include <mission/system/acs/StrAssembly.h>
+#include <mission/system/acs/StrFdir.h>
+#include <mission/system/com/SyrlinksAssembly.h>
 #include <mission/system/objects/CamSwitcher.h>
+#include <mission/system/tcs/TmpDevFdir.h>
 
 #include "OBSWConfig.h"
 #include "bsp_q7s/boardtest/Q7STestTask.h"
@@ -22,42 +50,52 @@
 #include "linux/boardtest/SpiTestClass.h"
 #include "linux/boardtest/UartTestClass.h"
 #include "linux/callbacks/gpioCallbacks.h"
-#include "linux/csp/CspComIF.h"
-#include "linux/devices/GpsHyperionLinuxController.h"
-#include "linux/devices/ScexUartReader.h"
-#include "linux/devices/devicedefinitions/PlocMPSoCDefinitions.h"
-#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
-#include "linux/devices/ploc/PlocMPSoCHandler.h"
-#include "linux/devices/ploc/PlocMPSoCHelper.h"
-#include "linux/devices/ploc/PlocMemoryDumper.h"
-#include "linux/devices/ploc/PlocSupervisorHandler.h"
-#include "linux/devices/startracker/StarTrackerHandler.h"
-#include "linux/devices/startracker/StrHelper.h"
 #include "linux/ipcore/AxiPtmeConfig.h"
 #include "linux/ipcore/PapbVcInterface.h"
 #include "linux/ipcore/PdecHandler.h"
 #include "linux/ipcore/Ptme.h"
 #include "linux/ipcore/PtmeConfig.h"
-#include "mission/csp/CspCookie.h"
+#include "mission/config/configfile.h"
-#include "mission/system/fdir/AcsBoardFdir.h"
+#include "mission/system/acs/AcsBoardFdir.h"
-#include "mission/system/fdir/GomspacePowerFdir.h"
+#include "mission/system/acs/AcsSubsystem.h"
-#include "mission/system/fdir/RtdFdir.h"
+#include "mission/system/acs/RwAssembly.h"
-#include "mission/system/fdir/SusFdir.h"
+#include "mission/system/acs/SusFdir.h"
-#include "mission/system/fdir/SyrlinksFdir.h"
+#include "mission/system/acs/acsModeTree.h"
-#include "mission/system/objects/AcsSubsystem.h"
+#include "mission/system/com/SyrlinksFdir.h"
-#include "mission/system/objects/RwAssembly.h"
+#include "mission/system/com/comModeTree.h"
-#include "mission/system/objects/TcsBoardAssembly.h"
+#include "mission/system/power/GomspacePowerFdir.h"
-#include "mission/system/tree/acsModeTree.h"
+#include "mission/system/tcs/RtdFdir.h"
-#include "mission/system/tree/comModeTree.h"
+#include "mission/system/tcs/TcsBoardAssembly.h"
+#include "mission/system/tcs/tcsModeTree.h"
 #include "mission/system/tree/payloadModeTree.h"
-#include "mission/system/tree/tcsModeTree.h"
+#include "mission/tmtc/tmFilters.h"
+#include "mission/utility/GlobalConfigHandler.h"
 #include "tmtc/pusIds.h"
+
 #if OBSW_TEST_LIBGPIOD == 1
 #include "linux/boardtest/LibgpiodTest.h"
 #endif
-#include <mission/devices/ImtqHandler.h>
+#include <mission/SolarArrayDeploymentHandler.h>
-#include <mission/devices/PcduHandler.h>
+#include <mission/acs/GyrAdis1650XHandler.h>
-#include <mission/devices/SyrlinksHandler.h>
+#include <mission/acs/ImtqHandler.h>
+#include <mission/acs/rwHelpers.h>
+#include <mission/com/SyrlinksHandler.h>
+#include <mission/com/VirtualChannelWithQueue.h>
+#include <mission/payload/PayloadPcduHandler.h>
+#include <mission/payload/RadiationSensorHandler.h>
+#include <mission/payload/payloadPcduDefinitions.h>
+#include <mission/payload/radSensorDefinitions.h>
+#include <mission/power/AcuHandler.h>
+#include <mission/power/BpxBatteryHandler.h>
+#include <mission/power/P60DockHandler.h>
+#include <mission/power/PcduHandler.h>
+#include <mission/power/Pdu1Handler.h>
+#include <mission/power/Pdu2Handler.h>
+#include <mission/power/gsDefs.h>
+#include <mission/tcs/HeaterHandler.h>
+#include <mission/tcs/Max31865Definitions.h>
+#include <mission/tcs/Max31865PT1000Handler.h>
+#include <mission/tcs/Tmp1075Handler.h>
 
 #include <sstream>
 
@@ -77,32 +115,20 @@
 #include "fsfw_hal/linux/serial/SerialCookie.h"
 #include "fsfw_hal/linux/spi/SpiComIF.h"
 #include "fsfw_hal/linux/spi/SpiCookie.h"
-#include "mission/core/GenericFactory.h"
+#include "mission/acs/RwHandler.h"
-#include "mission/devices/ACUHandler.h"
+#include "mission/com/CcsdsIpCoreHandler.h"
-#include "mission/devices/BpxBatteryHandler.h"
+#include "mission/com/syrlinksDefs.h"
-#include "mission/devices/GyroADIS1650XHandler.h"
+#include "mission/genericFactory.h"
-#include "mission/devices/HeaterHandler.h"
+#include "mission/system/acs/AcsBoardAssembly.h"
-#include "mission/devices/Max31865PT1000Handler.h"
-#include "mission/devices/P60DockHandler.h"
-#include "mission/devices/PDU1Handler.h"
-#include "mission/devices/PDU2Handler.h"
-#include "mission/devices/PayloadPcduHandler.h"
-#include "mission/devices/RadiationSensorHandler.h"
-#include "mission/devices/RwHandler.h"
-#include "mission/devices/SolarArrayDeploymentHandler.h"
-#include "mission/devices/Tmp1075Handler.h"
-#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
-#include "mission/devices/devicedefinitions/Max31865Definitions.h"
-#include "mission/devices/devicedefinitions/RadSensorDefinitions.h"
-#include "mission/devices/devicedefinitions/RwDefinitions.h"
-#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
-#include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
-#include "mission/system/objects/AcsBoardAssembly.h"
-#include "mission/tmtc/CcsdsIpCoreHandler.h"
 #include "mission/tmtc/TmFunnelHandler.h"
-#include "mission/tmtc/VirtualChannel.h"
+
+using gpio::Direction;
+using gpio::Levels;
 
 ResetArgs RESET_ARGS_GNSS;
+std::atomic_bool LINK_STATE = CcsdsIpCoreHandler::LINK_DOWN;
+std::atomic_bool PTME_LOCKED = false;
+std::atomic_uint16_t I2C_FATAL_ERRORS = 0;
 
 void Factory::setStaticFrameworkObjectIds() {
   PusServiceBase::PUS_DISTRIBUTOR = objects::PUS_PACKET_DISTRIBUTOR;
@@ -140,6 +166,7 @@ void ObjectFactory::createTmpComponents() {
         new I2cCookie(tmpDevIds[idx].second, TMP1075::MAX_REPLY_LENGTH, q7s::I2C_PS_EIVE));
     auto* tmpDevHandler =
         new Tmp1075Handler(tmpDevIds[idx].first, objects::I2C_COM_IF, tmpDevCookies[idx]);
+    tmpDevHandler->setCustomFdir(new TmpDevFdir(tmpDevIds[idx].first));
     tmpDevHandler->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
     // TODO: Remove this after TCS subsystem was added
     // These devices are connected to the 3V3 stack and should be powered permanently. Therefore,
@@ -150,44 +177,44 @@ void ObjectFactory::createTmpComponents() {
 
 void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF,
                                                   SerialComIF** uartComIF, SpiComIF** spiMainComIF,
-                                                  I2cComIF** i2cComIF, SpiComIF** spiRWComIF) {
+                                                  I2cComIF** i2cComIF) {
-  if (gpioComIF == nullptr or uartComIF == nullptr or spiMainComIF == nullptr or
+  if (gpioComIF == nullptr or uartComIF == nullptr or spiMainComIF == nullptr) {
-      spiRWComIF == nullptr) {
     sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid passed ComIF pointer"
                << std::endl;
   }
   *gpioComIF = new LinuxLibgpioIF(objects::GPIO_IF);
 
   /* Communication interfaces */
-  new CspComIF(objects::CSP_COM_IF);
+  new CspComIF(objects::CSP_COM_IF, "CSP_ROUTER", 60);
   *i2cComIF = new I2cComIF(objects::I2C_COM_IF);
   *uartComIF = new SerialComIF(objects::UART_COM_IF);
   *spiMainComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, q7s::SPI_DEFAULT_DEV, **gpioComIF);
-  *spiRWComIF = new SpiComIF(objects::SPI_RW_COM_IF, q7s::SPI_RW_DEV, **gpioComIF);
+  //*spiRWComIF = new SpiComIF(objects::SPI_RW_COM_IF, q7s::SPI_RW_DEV, **gpioComIF);
 }
 
-void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher) {
+void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher,
+                                         bool enableHkSets) {
   CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_SIZE, addresses::P60DOCK, 500);
   CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_SIZE, addresses::PDU1, 500);
   CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_SIZE, addresses::PDU2, 500);
   CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_SIZE, addresses::ACU, 500);
 
   auto p60Fdir = new GomspacePowerFdir(objects::P60DOCK_HANDLER);
-  P60DockHandler* p60dockhandler =
+  P60DockHandler* p60dockhandler = new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF,
-      new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie, p60Fdir);
+                                                      p60DockCspCookie, p60Fdir, enableHkSets);
 
   auto pdu1Fdir = new GomspacePowerFdir(objects::PDU1_HANDLER);
-  PDU1Handler* pdu1handler =
+  Pdu1Handler* pdu1handler = new Pdu1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF,
-      new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie, pdu1Fdir);
+                                             pdu1CspCookie, pdu1Fdir, enableHkSets);
 
   auto pdu2Fdir = new GomspacePowerFdir(objects::PDU2_HANDLER);
-  PDU2Handler* pdu2handler =
+  Pdu2Handler* pdu2handler = new Pdu2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF,
-      new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie, pdu2Fdir);
+                                             pdu2CspCookie, pdu2Fdir, enableHkSets);
 
   auto acuFdir = new GomspacePowerFdir(objects::ACU_HANDLER);
-  ACUHandler* acuhandler =
+  ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie,
-      new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie, acuFdir);
+                                          acuFdir, enableHkSets);
-  auto pcduHandler = new PCDUHandler(objects::PCDU_HANDLER, 50);
+  auto pcduHandler = new PcduHandler(objects::PCDU_HANDLER, 50);
 
   /**
    * Setting PCDU devices to mode normal immediately after start up because PCDU is always
@@ -238,121 +265,128 @@ ReturnValue_t ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF,
   return returnvalue::OK;
 }
 
-void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialComIF* uartComIF,
+void ObjectFactory::createAcsBoardGpios(GpioCookie& cookie) {
-                                             PowerSwitchIF* pwrSwitcher) {
-  using namespace gpio;
-  GpioCookie* gpioCookieAcsBoard = new GpioCookie();
-  std::vector<std::reference_wrapper<DeviceHandlerBase>> assemblyChildren;
-
   std::stringstream consumer;
   GpiodRegularByLineName* gpio = nullptr;
   consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
   gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ADIS_CS, consumer.str(), Direction::OUT,
                                     Levels::HIGH);
-  gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
+  cookie.addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
 
   consumer.str("");
   consumer << "0x" << std::hex << objects::GYRO_1_L3G_HANDLER;
   gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_1_L3G_CS, consumer.str(), Direction::OUT,
                                     Levels::HIGH);
-  gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
+  cookie.addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
 
   consumer.str("");
   consumer << "0x" << std::hex << objects::GYRO_2_ADIS_HANDLER;
   gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ADIS_CS, consumer.str(), Direction::OUT,
                                     Levels::HIGH);
-  gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
+  cookie.addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
 
   consumer.str("");
   consumer << "0x" << std::hex << objects::GYRO_3_L3G_HANDLER;
   gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_3_L3G_CS, consumer.str(), Direction::OUT,
                                     Levels::HIGH);
-  gpioCookieAcsBoard->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
+  cookie.addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
 
   consumer.str("");
   consumer << "0x" << std::hex << objects::MGM_0_LIS3_HANDLER;
   gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_0_CS, consumer.str(), Direction::OUT,
                                     Levels::HIGH);
-  gpioCookieAcsBoard->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
+  cookie.addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
 
   consumer.str("");
   consumer << "0x" << std::hex << objects::MGM_1_RM3100_HANDLER;
   gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, consumer.str(), Direction::OUT,
                                     Levels::HIGH);
-  gpioCookieAcsBoard->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
+  cookie.addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
 
   consumer.str("");
   consumer << "0x" << std::hex << objects::MGM_2_LIS3_HANDLER;
   gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_2_CS, consumer.str(), Direction::OUT,
                                     Levels::HIGH);
-  gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
+  cookie.addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
 
   consumer.str("");
   consumer << "0x" << std::hex << objects::MGM_3_RM3100_HANDLER;
   gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_3_CS, consumer.str(), Direction::OUT,
                                     Levels::HIGH);
-  gpioCookieAcsBoard->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
+  cookie.addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
 
   consumer.str("");
   consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
   // GNSS reset pins are active low
   gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_0, consumer.str(), Direction::OUT,
                                     Levels::HIGH);
-  gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_NRESET, gpio);
+  cookie.addGpio(gpioIds::GNSS_0_NRESET, gpio);
 
   consumer.str("");
   consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
   gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_1, consumer.str(), Direction::OUT,
                                     Levels::HIGH);
-  gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_NRESET, gpio);
+  cookie.addGpio(gpioIds::GNSS_1_NRESET, gpio);
 
   consumer.str("");
   consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
   // Enable pins must be pulled low for regular operations
   gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, consumer.str(), Direction::OUT,
                                     Levels::LOW);
-  gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ENABLE, gpio);
+  cookie.addGpio(gpioIds::GYRO_0_ENABLE, gpio);
 
   consumer.str("");
   consumer << "0x" << std::hex << objects::GYRO_2_ADIS_HANDLER;
   gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ENABLE, consumer.str(), Direction::OUT,
                                     Levels::LOW);
-  gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ENABLE, gpio);
+  cookie.addGpio(gpioIds::GYRO_2_ENABLE, gpio);
 
   // Enable pins for GNSS
   consumer.str("");
   consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
   gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_0_ENABLE, consumer.str(), Direction::OUT,
                                     Levels::LOW);
-  gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_ENABLE, gpio);
+  cookie.addGpio(gpioIds::GNSS_0_ENABLE, gpio);
 
   consumer.str("");
   consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
   gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_1_ENABLE, consumer.str(), Direction::OUT,
                                     Levels::LOW);
-  gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_ENABLE, gpio);
+  cookie.addGpio(gpioIds::GNSS_1_ENABLE, gpio);
 
   // Select pin. 0 for GPS side A, 1 for GPS side B
   consumer.str("");
   consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
   gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_SELECT, consumer.str(), Direction::OUT,
                                     Levels::LOW);
-  gpioCookieAcsBoard->addGpio(gpioIds::GNSS_SELECT, gpio);
+  cookie.addGpio(gpioIds::GNSS_SELECT, gpio);
+}
+
+void ObjectFactory::createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF* gpioComIF,
+                                             SerialComIF* uartComIF, PowerSwitchIF& pwrSwitcher,
+                                             bool enableHkSets) {
+  using namespace gpio;
+  GpioCookie* gpioCookieAcsBoard = new GpioCookie();
+  createAcsBoardGpios(*gpioCookieAcsBoard);
   gpioChecker(gpioComIF->addGpios(gpioCookieAcsBoard), "ACS Board");
+
   AcsBoardFdir* fdir = nullptr;
   static_cast<void>(fdir);
 
 #if OBSW_ADD_ACS_BOARD == 1
+  new AcsBoardPolling(objects::ACS_BOARD_POLLING_TASK, spiComIF, *gpioComIF);
   std::string spiDev = q7s::SPI_DEFAULT_DEV;
+  std::array<DeviceHandlerBase*, 8> assemblyChildren;
   SpiCookie* spiCookie =
-      new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
+      new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, mgmLis3::MAX_BUFFER_SIZE,
                     spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
   spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
-  auto mgmLis3Handler0 = new MgmLIS3MDLHandler(
+  auto mgmLis3Handler0 =
-      objects::MGM_0_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::LIS3_TRANSITION_DELAY);
+      new MgmLis3CustomHandler(objects::MGM_0_LIS3_HANDLER, objects::ACS_BOARD_POLLING_TASK,
+                               spiCookie, spi::LIS3_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::MGM_0_LIS3_HANDLER);
   mgmLis3Handler0->setCustomFdir(fdir);
-  assemblyChildren.push_back(*mgmLis3Handler0);
+  assemblyChildren[0] = mgmLis3Handler0;
 #if OBSW_TEST_ACS == 1
   mgmLis3Handler->setStartUpImmediately();
   mgmLis3Handler->setToGoToNormalMode(true);
@@ -361,15 +395,15 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
   mgmLis3Handler->enablePeriodicPrintouts(true, 10);
 #endif
   spiCookie =
-      new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
+      new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, mgmRm3100::MAX_BUFFER_SIZE,
                     spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
   spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
   auto mgmRm3100Handler1 =
-      new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
+      new MgmRm3100CustomHandler(objects::MGM_1_RM3100_HANDLER, objects::ACS_BOARD_POLLING_TASK,
-                           spi::RM3100_TRANSITION_DELAY);
+                                 spiCookie, spi::RM3100_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::MGM_1_RM3100_HANDLER);
   mgmRm3100Handler1->setCustomFdir(fdir);
-  assemblyChildren.push_back(*mgmRm3100Handler1);
+  assemblyChildren[1] = mgmRm3100Handler1;
 #if OBSW_TEST_ACS == 1
   mgmRm3100Handler->setStartUpImmediately();
   mgmRm3100Handler->setToGoToNormalMode(true);
@@ -377,15 +411,15 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
 #if OBSW_DEBUG_ACS == 1
   mgmRm3100Handler->enablePeriodicPrintouts(true, 10);
 #endif
-  spiCookie =
+  spiCookie = new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, mgmLis3::MAX_BUFFER_SIZE,
-      new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
+                            spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
-                    spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
   spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
-  auto* mgmLis3Handler2 = new MgmLIS3MDLHandler(
+  auto* mgmLis3Handler2 =
-      objects::MGM_2_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::LIS3_TRANSITION_DELAY);
+      new MgmLis3CustomHandler(objects::MGM_2_LIS3_HANDLER, objects::ACS_BOARD_POLLING_TASK,
+                               spiCookie, spi::LIS3_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::MGM_2_LIS3_HANDLER);
   mgmLis3Handler2->setCustomFdir(fdir);
-  assemblyChildren.push_back(*mgmLis3Handler2);
+  assemblyChildren[2] = mgmLis3Handler2;
 #if OBSW_TEST_ACS == 1
   mgmLis3Handler->setStartUpImmediately();
   mgmLis3Handler->setToGoToNormalMode(true);
@@ -394,15 +428,15 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
   mgmLis3Handler->enablePeriodicPrintouts(true, 10);
 #endif
   spiCookie =
-      new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
+      new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, mgmRm3100::MAX_BUFFER_SIZE,
                     spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
   spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
   auto* mgmRm3100Handler3 =
-      new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
+      new MgmRm3100CustomHandler(objects::MGM_3_RM3100_HANDLER, objects::ACS_BOARD_POLLING_TASK,
-                           spi::RM3100_TRANSITION_DELAY);
+                                 spiCookie, spi::RM3100_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::MGM_3_RM3100_HANDLER);
   mgmRm3100Handler3->setCustomFdir(fdir);
-  assemblyChildren.push_back(*mgmRm3100Handler3);
+  assemblyChildren[3] = mgmRm3100Handler3;
 #if OBSW_TEST_ACS == 1
   mgmRm3100Handler->setStartUpImmediately();
   mgmRm3100Handler->setToGoToNormalMode(true);
@@ -413,15 +447,15 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
   // Commented until ACS board V2 in in clean room again
   // Gyro 0 Side A
   spiCookie =
-      new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, ADIS1650X::MAXIMUM_REPLY_SIZE,
+      new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, adis1650x::MAXIMUM_REPLY_SIZE,
                     spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED);
   spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
   auto adisHandler =
-      new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
+      new GyrAdis1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::ACS_BOARD_POLLING_TASK,
-                               ADIS1650X::Type::ADIS16505);
+                              spiCookie, adis1650x::Type::ADIS16505);
   fdir = new AcsBoardFdir(objects::GYRO_0_ADIS_HANDLER);
   adisHandler->setCustomFdir(fdir);
-  assemblyChildren.push_back(*adisHandler);
+  assemblyChildren[4] = adisHandler;
 #if OBSW_TEST_ACS == 1
   adisHandler->setStartUpImmediately();
   adisHandler->setToGoToNormalModeImmediately();
@@ -430,14 +464,15 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
   adisHandler->enablePeriodicPrintouts(true, 10);
 #endif
   // Gyro 1 Side A
-  spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
+  spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, l3gd20h::MAX_BUFFER_SIZE,
                             spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
   spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
-  auto gyroL3gHandler1 = new GyroHandlerL3GD20H(
+  auto gyroL3gHandler1 =
-      objects::GYRO_1_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::L3G_TRANSITION_DELAY);
+      new GyrL3gCustomHandler(objects::GYRO_1_L3G_HANDLER, objects::ACS_BOARD_POLLING_TASK,
+                              spiCookie, spi::L3G_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::GYRO_1_L3G_HANDLER);
   gyroL3gHandler1->setCustomFdir(fdir);
-  assemblyChildren.push_back(*gyroL3gHandler1);
+  assemblyChildren[5] = gyroL3gHandler1;
 #if OBSW_TEST_ACS == 1
   gyroL3gHandler->setStartUpImmediately();
   gyroL3gHandler->setToGoToNormalMode(true);
@@ -447,27 +482,29 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
 #endif
   // Gyro 2 Side B
   spiCookie =
-      new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, ADIS1650X::MAXIMUM_REPLY_SIZE,
+      new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, adis1650x::MAXIMUM_REPLY_SIZE,
                     spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED);
   spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
-  adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_MAIN_COM_IF,
+  adisHandler =
-                                         spiCookie, ADIS1650X::Type::ADIS16505);
+      new GyrAdis1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::ACS_BOARD_POLLING_TASK,
+                              spiCookie, adis1650x::Type::ADIS16505);
   fdir = new AcsBoardFdir(objects::GYRO_2_ADIS_HANDLER);
   adisHandler->setCustomFdir(fdir);
-  assemblyChildren.push_back(*adisHandler);
+  assemblyChildren[6] = adisHandler;
 #if OBSW_TEST_ACS == 1
   adisHandler->setStartUpImmediately();
   adisHandler->setToGoToNormalModeImmediately();
 #endif
   // Gyro 3 Side B
-  spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
+  spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, l3gd20h::MAX_BUFFER_SIZE,
                             spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
   spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
-  auto gyroL3gHandler3 = new GyroHandlerL3GD20H(
+  auto gyroL3gHandler3 =
-      objects::GYRO_3_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::L3G_TRANSITION_DELAY);
+      new GyrL3gCustomHandler(objects::GYRO_3_L3G_HANDLER, objects::ACS_BOARD_POLLING_TASK,
+                              spiCookie, spi::L3G_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::GYRO_3_L3G_HANDLER);
   gyroL3gHandler3->setCustomFdir(fdir);
-  assemblyChildren.push_back(*gyroL3gHandler3);
+  assemblyChildren[7] = gyroL3gHandler3;
 #if OBSW_TEST_ACS == 1
   gyroL3gHandler->setStartUpImmediately();
   gyroL3gHandler->setToGoToNormalMode(true);
@@ -481,26 +518,11 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
 #endif
   RESET_ARGS_GNSS.gpioComIF = gpioComIF;
   RESET_ARGS_GNSS.waitPeriodMs = 100;
-  auto gpsCtrl =
+  auto gpsCtrl = new GpsHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT,
-      new GpsHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
+                                                enableHkSets, debugGps);
   gpsCtrl->setResetPinTriggerFunction(gps::triggerGpioResetPin, &RESET_ARGS_GNSS);
 
-  AcsBoardHelper acsBoardHelper = AcsBoardHelper(
+  ObjectFactory::createAcsBoardAssy(pwrSwitcher, assemblyChildren, gpsCtrl, gpioComIF);
-      objects::MGM_0_LIS3_HANDLER, objects::MGM_1_RM3100_HANDLER, objects::MGM_2_LIS3_HANDLER,
-      objects::MGM_3_RM3100_HANDLER, objects::GYRO_0_ADIS_HANDLER, objects::GYRO_1_L3G_HANDLER,
-      objects::GYRO_2_ADIS_HANDLER, objects::GYRO_3_L3G_HANDLER, objects::GPS_CONTROLLER);
-  auto acsAss =
-      new AcsBoardAssembly(objects::ACS_BOARD_ASS, pwrSwitcher, acsBoardHelper, gpioComIF);
-  static_cast<void>(acsAss);
-  for (auto& assChild : assemblyChildren) {
-    ReturnValue_t result = assChild.get().connectModeTreeParent(*acsAss);
-    if (result != returnvalue::OK) {
-      sif::error << "Connecting assembly for ACS board component " << assChild.get().getObjectId()
-                 << " failed" << std::endl;
-    }
-  }
-  gpsCtrl->connectModeTreeParent(*acsAss);
-  acsAss->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
 #endif /* OBSW_ADD_ACS_HANDLERS == 1 */
 }
 
@@ -572,23 +594,25 @@ void ObjectFactory::createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitc
   }
 
   new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, gpioIF, pwrSwitcher,
-                                  pcdu::Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
+                                  power::Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
                                   gpioIds::DEPLSA1, gpioIds::DEPLSA2, *SdCardManager::instance());
 }
 
 void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
   auto* syrlinksUartCookie =
-      new SerialCookie(objects::SYRLINKS_HANDLER, q7s::UART_SYRLINKS_DEV, uart::SYRLINKS_BAUD,
+      new SerialCookie(objects::SYRLINKS_HANDLER, q7s::UART_SYRLINKS_DEV, serial::SYRLINKS_BAUD,
                        syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
   syrlinksUartCookie->setParityEven();
 
+  new SyrlinksComHandler(objects::SYRLINKS_COM_HANDLER);
+  auto* syrlinksAssy = new SyrlinksAssembly(objects::SYRLINKS_ASSY);
+  syrlinksAssy->connectModeTreeParent(satsystem::com::SUBSYSTEM);
   auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HANDLER);
   auto syrlinksHandler =
-      new SyrlinksHandler(objects::SYRLINKS_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
+      new SyrlinksHandler(objects::SYRLINKS_HANDLER, objects::SYRLINKS_COM_HANDLER,
-                          pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
+                          syrlinksUartCookie, power::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
   syrlinksHandler->setPowerSwitcher(pwrSwitcher);
-  syrlinksHandler->setStartUpImmediately();
+  syrlinksHandler->connectModeTreeParent(*syrlinksAssy);
-  syrlinksHandler->connectModeTreeParent(satsystem::com::SUBSYSTEM);
 #if OBSW_DEBUG_SYRLINKS == 1
   syrlinksHandler->setDebugMode(true);
 #endif
@@ -598,8 +622,8 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
   using namespace gpio;
   std::stringstream consumer;
   auto* camSwitcher =
-      new CamSwitcher(objects::CAM_SWITCHER, pwrSwitch, pcdu::PDU2_CH8_PAYLOAD_CAMERA);
+      new CamSwitcher(objects::CAM_SWITCHER, pwrSwitch, power::PDU2_CH8_PAYLOAD_CAMERA);
-  camSwitcher->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
+  camSwitcher->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
 #if OBSW_ADD_PLOC_MPSOC == 1
   consumer << "0x" << std::hex << objects::PLOC_MPSOC_HANDLER;
   auto gpioConfigMPSoC = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_MPSOC_UART,
@@ -608,14 +632,14 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
   mpsocGpioCookie->addGpio(gpioIds::ENABLE_MPSOC_UART, gpioConfigMPSoC);
   gpioChecker(gpioComIF->addGpios(mpsocGpioCookie), "PLOC MPSoC");
   auto mpsocCookie =
-      new SerialCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV, uart::PLOC_MPSOC_BAUD,
+      new SerialCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV,
-                       mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
+                       serial::PLOC_MPSOC_BAUD, mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
   mpsocCookie->setNoFixedSizeReply();
   auto plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
   auto* mpsocHandler = new PlocMPSoCHandler(
       objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie, plocMpsocHelper,
       Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF), objects::PLOC_SUPERVISOR_HANDLER);
-  mpsocHandler->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
+  mpsocHandler->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
 #endif /* OBSW_ADD_PLOC_MPSOC == 1 */
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
   consumer << "0x" << std::hex << objects::PLOC_SUPERVISOR_HANDLER;
@@ -624,15 +648,15 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
   auto supvGpioCookie = new GpioCookie;
   supvGpioCookie->addGpio(gpioIds::ENABLE_SUPV_UART, gpioConfigSupv);
   gpioComIF->addGpios(supvGpioCookie);
-  auto supervisorCookie =
+  auto supervisorCookie = new SerialCookie(objects::PLOC_SUPERVISOR_HANDLER,
-      new SerialCookie(objects::PLOC_SUPERVISOR_HANDLER, q7s::UART_PLOC_SUPERVSIOR_DEV,
+                                           q7s::UART_PLOC_SUPERVSIOR_DEV, serial::PLOC_SUPV_BAUD,
-                       uart::PLOC_SUPV_BAUD, supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
+                                           supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
   supervisorCookie->setNoFixedSizeReply();
   auto supvHelper = new PlocSupvUartManager(objects::PLOC_SUPERVISOR_HELPER);
   auto* supvHandler = new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, supervisorCookie,
                                                 Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF),
-                                                pcdu::PDU1_CH6_PLOC_12V, *supvHelper);
+                                                power::PDU1_CH6_PLOC_12V, *supvHelper);
-  supvHandler->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
+  supvHandler->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
 #endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
   static_cast<void>(consumer);
 }
@@ -692,85 +716,65 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF,
   std::array<object_id_t, 4> rwIds = {objects::RW1, objects::RW2, objects::RW3, objects::RW4};
   std::array<gpioId_t, 4> rwGpioIds = {gpioIds::EN_RW1, gpioIds::EN_RW2, gpioIds::EN_RW3,
                                        gpioIds::EN_RW4};
-  std::array<RwHandler*, 4> rws = {};
+  std::array<DeviceHandlerBase*, 4> rws = {};
+  new RwPollingTask(objects::RW_POLLING_TASK, q7s::SPI_RW_DEV, *gpioComIF);
   for (uint8_t idx = 0; idx < rwCookies.size(); idx++) {
-    rwCookies[idx] = new SpiCookie(rwCookieParams[idx].first, rwCookieParams[idx].second,
+    rwCookies[idx] = new RwCookie(idx, rwCookieParams[idx].first, rwCookieParams[idx].second,
-                                   RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED,
+                                  rws::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED);
-                                   &rwSpiCallback::spiCallback, nullptr);
+    auto* rwHandler = new RwHandler(rwIds[idx], objects::RW_POLLING_TASK, rwCookies[idx], gpioComIF,
-    rws[idx] = new RwHandler(rwIds[idx], objects::SPI_RW_COM_IF, rwCookies[idx], gpioComIF,
+                                    rwGpioIds[idx], idx);
-                             rwGpioIds[idx]);
-    rwCookies[idx]->setCallbackArgs(rws[idx]);
 #if OBSW_TEST_RW == 1
     rws[idx]->setStartUpImmediately();
 #endif
 #if OBSW_DEBUG_RW == 1
-    rws[idx]->setDebugMode(true);
+    rwHandler->setDebugMode(true);
 #endif
+    rws[idx] = rwHandler;
   }
 
-  RwHelper rwHelper(rwIds);
+  createRwAssy(*pwrSwitcher, power::Switches::PDU2_CH2_RW_5V, rws, rwIds);
-  auto* rwAss =
-      new RwAssembly(objects::RW_ASS, pwrSwitcher, pcdu::Switches::PDU2_CH2_RW_5V, rwHelper);
-  for (uint8_t idx = 0; idx < rws.size(); idx++) {
-    ReturnValue_t result = rws[idx]->connectModeTreeParent(*rwAss);
-    if (result != returnvalue::OK) {
-      sif::error << "Connecting RW " << static_cast<int>(idx) << " to RW assembly failed"
-                 << std::endl;
-    }
-  }
-  rwAss->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
 #endif /* OBSW_ADD_RW == 1 */
 }
 
-ReturnValue_t ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF,
+ReturnValue_t ObjectFactory::createCcsdsComponents(CcsdsComponentArgs& args) {
-                                                   CcsdsIpCoreHandler** ipCoreHandler) {
   using namespace gpio;
   // GPIO definitions of signals connected to the virtual channel interfaces of the PTME IP Core
   GpioCookie* gpioCookiePtmeIp = new GpioCookie;
   GpiodRegularByLineName* gpio = nullptr;
-  std::stringstream consumer;
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC0, "PAPB VC0");
-  consumer.str("PAPB VC0");
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC0, consumer.str());
   gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_BUSY, gpio);
-  consumer.str("PAPB VC0");
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC0, "PAPB VC0");
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC0, consumer.str());
   gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_EMPTY, gpio);
-  consumer.str("PAPB VC 1");
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC1, "PAPB VC1");
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC1, consumer.str());
   gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_BUSY, gpio);
-  consumer.str("");
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC1, "PAPB VC1");
-  consumer.str("PAPB VC 1");
   gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_EMPTY, gpio);
-  consumer.str("");
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC2, "PAPB VC2");
-  consumer.str("PAPB VC 2");
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC2, consumer.str());
   gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_BUSY, gpio);
-  consumer.str("");
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC2, "PAPB VC2");
-  consumer.str("PAPB VC 2");
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC2, consumer.str());
   gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_EMPTY, gpio);
-  consumer.str("");
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC3, "PAPB VC3");
-  consumer.str("PAPB VC 3");
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC3, consumer.str());
   gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_BUSY, gpio);
-  consumer.str("");
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC3, "PAPB VC3");
-  consumer.str("PAPB VC 3");
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC3, consumer.str());
   gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_EMPTY, gpio);
-  gpioChecker(gpioComIF->addGpios(gpioCookiePtmeIp), "PTME PAPB VCs");
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PTME_RESETN, "PTME RESETN",
+                                    gpio::Direction::OUT, gpio::Levels::HIGH);
+  gpioCookiePtmeIp->addGpio(gpioIds::PTME_RESETN, gpio);
+  gpioChecker(args.gpioComIF.addGpios(gpioCookiePtmeIp), "PTME PAPB VCs");
+
   // Creating virtual channel interfaces
-  VcInterfaceIF* vc0 =
+  VirtualChannelIF* vc0 =
-      new PapbVcInterface(gpioComIF, gpioIds::VC0_PAPB_BUSY, gpioIds::VC0_PAPB_EMPTY, q7s::UIO_PTME,
+      new PapbVcInterface(&args.gpioComIF, gpioIds::VC0_PAPB_BUSY, gpioIds::VC0_PAPB_EMPTY,
-                          q7s::uiomapids::PTME_VC0);
+                          q7s::UIO_PTME, q7s::uiomapids::PTME_VC0);
-  VcInterfaceIF* vc1 =
+  VirtualChannelIF* vc1 =
-      new PapbVcInterface(gpioComIF, gpioIds::VC1_PAPB_BUSY, gpioIds::VC1_PAPB_EMPTY, q7s::UIO_PTME,
+      new PapbVcInterface(&args.gpioComIF, gpioIds::VC1_PAPB_BUSY, gpioIds::VC1_PAPB_EMPTY,
-                          q7s::uiomapids::PTME_VC1);
+                          q7s::UIO_PTME, q7s::uiomapids::PTME_VC1);
-  VcInterfaceIF* vc2 =
+  VirtualChannelIF* vc2 =
-      new PapbVcInterface(gpioComIF, gpioIds::VC2_PAPB_BUSY, gpioIds::VC2_PAPB_EMPTY, q7s::UIO_PTME,
+      new PapbVcInterface(&args.gpioComIF, gpioIds::VC2_PAPB_BUSY, gpioIds::VC2_PAPB_EMPTY,
-                          q7s::uiomapids::PTME_VC2);
+                          q7s::UIO_PTME, q7s::uiomapids::PTME_VC2);
-  VcInterfaceIF* vc3 =
+  VirtualChannelIF* vc3 =
-      new PapbVcInterface(gpioComIF, gpioIds::VC3_PAPB_BUSY, gpioIds::VC3_PAPB_EMPTY, q7s::UIO_PTME,
+      new PapbVcInterface(&args.gpioComIF, gpioIds::VC3_PAPB_BUSY, gpioIds::VC3_PAPB_EMPTY,
-                          q7s::uiomapids::PTME_VC3);
+                          q7s::UIO_PTME, q7s::uiomapids::PTME_VC3);
   // Creating ptme object and adding virtual channel interfaces
   Ptme* ptme = new Ptme(objects::PTME);
   ptme->addVcInterface(ccsds::VC0, vc0);
@@ -780,26 +784,52 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF,
   AxiPtmeConfig* axiPtmeConfig =
       new AxiPtmeConfig(objects::AXI_PTME_CONFIG, q7s::UIO_PTME, q7s::uiomapids::PTME_CONFIG);
   PtmeConfig* ptmeConfig = new PtmeConfig(objects::PTME_CONFIG, axiPtmeConfig);
-#if OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT == 1
-  // Set to high value when not sending via syrlinks
-  static const uint32_t TRANSMITTER_TIMEOUT = 86400000;  // 1 day
-#else
-  static const uint32_t TRANSMITTER_TIMEOUT = 900000;  // 15 minutes
-#endif
-  *ipCoreHandler = new CcsdsIpCoreHandler(
-      objects::CCSDS_HANDLER, objects::PTME, objects::CCSDS_PACKET_DISTRIBUTOR, ptmeConfig,
-      gpioComIF, gpioIds::RS485_EN_TX_CLOCK, gpioIds::RS485_EN_TX_DATA, TRANSMITTER_TIMEOUT);
-  VirtualChannel* vc = nullptr;
-  vc = new VirtualChannel(ccsds::VC0, config::VC0_QUEUE_SIZE, objects::CCSDS_HANDLER);
-  (*ipCoreHandler)->addVirtualChannel(ccsds::VC0, vc);
-  vc = new VirtualChannel(ccsds::VC1, config::VC1_QUEUE_SIZE, objects::CCSDS_HANDLER);
-  (*ipCoreHandler)->addVirtualChannel(ccsds::VC1, vc);
-  vc = new VirtualChannel(ccsds::VC2, config::VC2_QUEUE_SIZE, objects::CCSDS_HANDLER);
-  (*ipCoreHandler)->addVirtualChannel(ccsds::VC2, vc);
-  vc = new VirtualChannel(ccsds::VC3, config::VC3_QUEUE_SIZE, objects::CCSDS_HANDLER);
-  (*ipCoreHandler)->addVirtualChannel(ccsds::VC3, vc);
 
-  ReturnValue_t result = (*ipCoreHandler)->connectModeTreeParent(satsystem::com::SUBSYSTEM);
+  PtmeGpios gpios;
+  gpios.enableTxClock = gpioIds::RS485_EN_TX_CLOCK;
+  gpios.enableTxData = gpioIds::RS485_EN_TX_DATA;
+  gpios.ptmeResetn = gpioIds::PTME_RESETN;
+
+  *args.ipCoreHandler =
+      new CcsdsIpCoreHandler(objects::CCSDS_HANDLER, objects::CCSDS_PACKET_DISTRIBUTOR, *ptmeConfig,
+                             LINK_STATE, &args.gpioComIF, gpios, PTME_LOCKED);
+  // This VC will receive all live TM
+  auto* vcWithQueue =
+      new VirtualChannelWithQueue(objects::PTME_VC0_LIVE_TM, ccsds::VC0, "PTME VC0 LIVE TM", *ptme,
+                                  LINK_STATE, args.tmStore, 500);
+  args.liveDestination = vcWithQueue;
+  auto* liveTask = new LiveTmTask(objects::LIVE_TM_TASK, args.pusFunnel, args.cfdpFunnel,
+                                  *vcWithQueue, PTME_LOCKED);
+  liveTask->connectModeTreeParent(satsystem::com::SUBSYSTEM);
+
+  // Set up log store.
+  auto* vc = new VirtualChannel(objects::PTME_VC1_LOG_TM, ccsds::VC1, "PTME VC1 LOG TM", *ptme,
+                                LINK_STATE);
+  LogStores logStores(args.stores);
+  // Core task which handles the LOG store and takes care of dumping it as TM using a VC directly
+  auto* logStore =
+      new PersistentLogTmStoreTask(objects::LOG_STORE_AND_TM_TASK, args.ipcStore, logStores, *vc,
+                                   *SdCardManager::instance(), PTME_LOCKED);
+  logStore->connectModeTreeParent(satsystem::com::SUBSYSTEM);
+
+  vc = new VirtualChannel(objects::PTME_VC2_HK_TM, ccsds::VC2, "PTME VC2 HK TM", *ptme, LINK_STATE);
+  // Core task which handles the HK store and takes care of dumping it as TM using a VC directly
+  auto* hkStore = new PersistentSingleTmStoreTask(
+      objects::HK_STORE_AND_TM_TASK, args.ipcStore, *args.stores.hkStore, *vc,
+      persTmStore::DUMP_HK_STORE_DONE, persTmStore::DUMP_HK_STORE_DONE, *SdCardManager::instance(),
+      PTME_LOCKED);
+  hkStore->connectModeTreeParent(satsystem::com::SUBSYSTEM);
+
+  vc = new VirtualChannel(objects::PTME_VC3_CFDP_TM, ccsds::VC3, "PTME VC3 CFDP TM", *ptme,
+                          LINK_STATE);
+  // Core task which handles the CFDP store and takes care of dumping it as TM using a VC directly
+  auto* cfdpTask = new PersistentSingleTmStoreTask(
+      objects::CFDP_STORE_AND_TM_TASK, args.ipcStore, *args.stores.cfdpStore, *vc,
+      persTmStore::DUMP_CFDP_STORE_DONE, persTmStore::DUMP_CFDP_CANCELLED,
+      *SdCardManager::instance(), PTME_LOCKED);
+  cfdpTask->connectModeTreeParent(satsystem::com::SUBSYSTEM);
+
+  ReturnValue_t result = (*args.ipCoreHandler)->connectModeTreeParent(satsystem::com::SUBSYSTEM);
   if (result != returnvalue::OK) {
     sif::error
         << "ObjectFactory::createCcsdsComponents: Connecting COM subsystem to CCSDS handler failed"
@@ -807,20 +837,18 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF,
   }
 
   GpioCookie* gpioCookiePdec = new GpioCookie;
-  consumer.str("");
-  consumer << "0x" << std::hex << objects::PDEC_HANDLER;
   // GPIO also low after linux boot (specified by device-tree)
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PDEC_RESET, consumer.str(), Direction::OUT,
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PDEC_RESET, "PDEC Handler", Direction::OUT,
                                     Levels::LOW);
   gpioCookiePdec->addGpio(gpioIds::PDEC_RESET, gpio);
-  gpioChecker(gpioComIF->addGpios(gpioCookiePdec), "PDEC");
+  gpioChecker(args.gpioComIF.addGpios(gpioCookiePdec), "PDEC");
   struct UioNames uioNames {};
   uioNames.configMemory = q7s::UIO_PDEC_CONFIG_MEMORY;
   uioNames.ramMemory = q7s::UIO_PDEC_RAM;
   uioNames.registers = q7s::UIO_PDEC_REGISTERS;
   uioNames.irq = q7s::UIO_PDEC_IRQ;
-  new PdecHandler(objects::PDEC_HANDLER, objects::CCSDS_HANDLER, gpioComIF, gpioIds::PDEC_RESET,
+  new PdecHandler(objects::PDEC_HANDLER, objects::CCSDS_HANDLER, &args.gpioComIF,
-                  uioNames);
+                  gpioIds::PDEC_RESET, uioNames);
   GpioCookie* gpioRS485Chip = new GpioCookie;
   gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_TX_CLOCK, "RS485 Transceiver",
                                     Direction::OUT, Levels::LOW);
@@ -835,7 +863,7 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF,
   gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_RX_DATA, "RS485 Transceiver",
                                     Direction::OUT, Levels::LOW);
   gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_DATA, gpio);
-  gpioChecker(gpioComIF->addGpios(gpioRS485Chip), "RS485 Transceiver");
+  gpioChecker(args.gpioComIF.addGpios(gpioRS485Chip), "RS485 Transceiver");
   return returnvalue::OK;
 }
 
@@ -900,7 +928,7 @@ void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF*
   plPcduHandler->setToGoToNormalModeImmediately(true);
   plPcduHandler->enablePeriodicPrintout(true, 10);
 #endif
-  plPcduHandler->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
+  plPcduHandler->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
 }
 
 void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
@@ -918,25 +946,47 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
 }
 
 void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
+  auto* strAssy = new StrAssembly(objects::STR_ASSY);
+  strAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
   auto* starTrackerCookie =
-      new SerialCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, uart::STAR_TRACKER_BAUD,
+      new SerialCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, serial::STAR_TRACKER_BAUD,
                        startracker::MAX_FRAME_SIZE * 2 + 2, UartModes::NON_CANONICAL);
   starTrackerCookie->setNoFixedSizeReply();
-  StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
+  StrComHandler* strComIF = new StrComHandler(objects::STR_COM_IF);
+
+  const char* paramJsonFile = nullptr;
+#ifdef EGSE
+  paramJsonFile = "/home/pi/arcsec/json/flight-config.json";
+#else
+#if OBSW_STAR_TRACKER_GROUND_CONFIG == 1
+  paramJsonFile = "/mnt/sd0/startracker/ground-config.json";
+#else
+  paramJsonFile = "/mnt/sd0/startracker/flight-config.json";
+#endif
+#endif
+  if (paramJsonFile == nullptr) {
+    sif::error << "No valid Star Tracker parameter JSON file" << std::endl;
+  }
+  auto strFdir = new StrFdir(objects::STAR_TRACKER);
   auto starTracker =
-      new StarTrackerHandler(objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie,
+      new StarTrackerHandler(objects::STAR_TRACKER, objects::STR_COM_IF, starTrackerCookie,
-                             strHelper, pcdu::PDU1_CH2_STAR_TRACKER_5V);
+                             paramJsonFile, strComIF, power::PDU1_CH2_STAR_TRACKER_5V);
   starTracker->setPowerSwitcher(pwrSwitcher);
-  starTracker->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
+  starTracker->connectModeTreeParent(*strAssy);
+  starTracker->setCustomFdir(strFdir);
 }
 
-void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {
+void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enableHkSets) {
-  I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, q7s::I2C_PL_EIVE);
+  auto* imtqAssy = new ImtqAssembly(objects::IMTQ_ASSY);
-  auto imtqHandler = new ImtqHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie,
+  imtqAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
-                                     pcdu::Switches::PDU1_CH3_MGT_5V);
+
+  new ImtqPollingTask(objects::IMTQ_POLLING, I2C_FATAL_ERRORS);
+  I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, imtq::MAX_REPLY_SIZE, q7s::I2C_PL_EIVE);
+  auto imtqHandler = new ImtqHandler(objects::IMTQ_HANDLER, objects::IMTQ_POLLING, imtqI2cCookie,
+                                     power::Switches::PDU1_CH3_MGT_5V, enableHkSets);
   imtqHandler->enableThermalModule(ThermalStateCfg());
   imtqHandler->setPowerSwitcher(pwrSwitcher);
-  imtqHandler->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
+  imtqHandler->connectModeTreeParent(*imtqAssy);
   static_cast<void>(imtqHandler);
 #if OBSW_TEST_IMTQ == 1
   imtqHandler->setStartUpImmediately();
@@ -947,10 +997,10 @@ void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {
 #endif
 }
 
-void ObjectFactory::createBpxBatteryComponent() {
+void ObjectFactory::createBpxBatteryComponent(bool enableHkSets) {
   I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, q7s::I2C_PL_EIVE);
-  BpxBatteryHandler* bpxHandler =
+  BpxBatteryHandler* bpxHandler = new BpxBatteryHandler(
-      new BpxBatteryHandler(objects::BPX_BATT_HANDLER, objects::I2C_COM_IF, bpxI2cCookie);
+      objects::BPX_BATT_HANDLER, objects::I2C_COM_IF, bpxI2cCookie, enableHkSets);
   bpxHandler->setStartUpImmediately();
   bpxHandler->setToGoToNormalMode(true);
 #if OBSW_DEBUG_BPX_BATT == 1

bsp_q7s/core/ObjectFactory.h

@@ -2,12 +2,16 @@
 #define BSP_Q7S_OBJECTFACTORY_H_
 
 #include <fsfw/returnvalues/returnvalue.h>
-#include <mission/devices/HeaterHandler.h>
+#include <fsfw_hal/linux/spi/SpiComIF.h>
+#include <mission/com/CcsdsIpCoreHandler.h>
+#include <mission/com/PersistentLogTmStoreTask.h>
+#include <mission/genericFactory.h>
 #include <mission/system/objects/Stack5VHandler.h>
-#include <mission/tmtc/CcsdsIpCoreHandler.h>
+#include <mission/tcs/HeaterHandler.h>
 #include <mission/tmtc/CfdpTmFunnel.h>
 #include <mission/tmtc/PusTmFunnel.h>
 
+#include <atomic>
 #include <string>
 
 class LinuxLibgpioIF;
@@ -19,31 +23,55 @@ class HealthTableIF;
 class AcsBoardAssembly;
 class GpioIF;
 
+extern std::atomic_bool PTME_LOCKED;
+
 namespace ObjectFactory {
 
+struct CcsdsComponentArgs {
+  CcsdsComponentArgs(LinuxLibgpioIF& gpioIF, StorageManagerIF& ipcStore, StorageManagerIF& tmStore,
+                     PersistentTmStores& stores, PusTmFunnel& pusFunnel, CfdpTmFunnel& cfdpFunnel,
+                     CcsdsIpCoreHandler** ipCoreHandler)
+      : gpioComIF(gpioIF),
+        ipcStore(ipcStore),
+        tmStore(tmStore),
+        stores(stores),
+        pusFunnel(pusFunnel),
+        cfdpFunnel(cfdpFunnel),
+        ipCoreHandler(ipCoreHandler) {}
+  LinuxLibgpioIF& gpioComIF;
+  StorageManagerIF& ipcStore;
+  StorageManagerIF& tmStore;
+  PersistentTmStores& stores;
+  PusTmFunnel& pusFunnel;
+  CfdpTmFunnel& cfdpFunnel;
+  CcsdsIpCoreHandler** ipCoreHandler;
+  AcceptsTelemetryIF* liveDestination = nullptr;
+};
+
 void setStatics();
 void produce(void* args);
 
 void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, SerialComIF** uartComIF,
-                                   SpiComIF** spiMainComIF, I2cComIF** i2cComIF,
+                                   SpiComIF** spiMainComIF, I2cComIF** i2cComIF);
-                                   SpiComIF** spiRwComIF);
+void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher,
-void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher);
+                          bool enableHkSets);
 void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
                             PowerSwitchIF* pwrSwitcher, Stack5VHandler& stackHandler);
 void createTmpComponents();
 ReturnValue_t createRadSensorComponent(LinuxLibgpioIF* gpioComIF, Stack5VHandler& handler);
-void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialComIF* uartComIF,
+void createAcsBoardGpios(GpioCookie& cookie);
-                              PowerSwitchIF* pwrSwitcher);
+void createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF* gpioComIF, SerialComIF* uartComIF,
+                              PowerSwitchIF& pwrSwitcher, bool enableHkSets);
 void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable,
                             HeaterHandler*& heaterHandler);
-void createImtqComponents(PowerSwitchIF* pwrSwitcher);
+void createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enableHkSets);
-void createBpxBatteryComponent();
+void createBpxBatteryComponent(bool enableHkSets);
 void createStrComponents(PowerSwitchIF* pwrSwitcher);
 void createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitcher, GpioIF& gpioIF);
 void createSyrlinksComponents(PowerSwitchIF* pwrSwitcher);
 void createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF& pwrSwitcher);
 void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher);
-ReturnValue_t createCcsdsComponents(LinuxLibgpioIF* gpioComIF, CcsdsIpCoreHandler** ipCoreHandler);
+ReturnValue_t createCcsdsComponents(CcsdsComponentArgs& args);
 void createMiscComponents();
 
 void createTestComponents(LinuxLibgpioIF* gpioComIF);

bsp_q7s/core/WatchdogHandler.cpp

@@ -0,0 +1,87 @@
+#include "WatchdogHandler.h"
+
+#include <fcntl.h>
+#include <unistd.h>
+
+#include <cerrno>
+#include <cstring>
+#include <filesystem>
+
+#include "fsfw/serviceinterface.h"
+#include "watchdog/definitions.h"
+
+WatchdogHandler::WatchdogHandler() {}
+
+void WatchdogHandler::periodicOperation() {
+  if (watchdogFifoFd != 0) {
+    if (watchdogFifoFd == RETRY_FIFO_OPEN) {
+      // Open FIFO write only and non-blocking
+      watchdogFifoFd = open(watchdog::FIFO_NAME.c_str(), O_WRONLY | O_NONBLOCK);
+      if (watchdogFifoFd < 0) {
+        if (errno == ENXIO) {
+          watchdogFifoFd = RETRY_FIFO_OPEN;
+          // No printout for now, would be spam
+          return;
+        } else {
+          sif::error << "Opening pipe " << watchdog::FIFO_NAME << " write-only failed with "
+                     << errno << ": " << strerror(errno) << std::endl;
+          return;
+        }
+      }
+      sif::info << "Opened " << watchdog::FIFO_NAME << " successfully" << std::endl;
+      performStartHandling();
+    } else if (watchdogFifoFd > 0) {
+      // Write to OBSW watchdog FIFO here
+      const char writeChar = watchdog::first::IDLE_CHAR;
+      ssize_t writtenBytes = write(watchdogFifoFd, &writeChar, 1);
+      if (writtenBytes < 0) {
+        sif::error << "Errors writing to watchdog FIFO, code " << errno << ": " << strerror(errno)
+                   << std::endl;
+      }
+    }
+  }
+}
+
+ReturnValue_t WatchdogHandler::initialize(bool enableWatchdogFunction) {
+  using namespace std::filesystem;
+  this->enableWatchFunction = enableWatchdogFunction;
+  std::error_code e;
+  if (not std::filesystem::exists(watchdog::FIFO_NAME, e)) {
+    // Still return returnvalue::OK for now
+    sif::info << "Watchdog FIFO " << watchdog::FIFO_NAME << " does not exist, can't initiate"
+              << " watchdog" << std::endl;
+    return returnvalue::OK;
+  }
+  // Open FIFO write only and non-blocking to prevent SW from killing itself.
+  watchdogFifoFd = open(watchdog::FIFO_NAME.c_str(), O_WRONLY | O_NONBLOCK);
+  if (watchdogFifoFd < 0) {
+    if (errno == ENXIO) {
+      watchdogFifoFd = RETRY_FIFO_OPEN;
+      sif::info << "eive-watchdog not running. FIFO can not be opened" << std::endl;
+    } else {
+      sif::error << "Opening pipe " << watchdog::FIFO_NAME << " write-only failed with " << errno
+                 << ": " << strerror(errno) << std::endl;
+      return returnvalue::FAILED;
+    }
+  }
+  return performStartHandling();
+}
+
+ReturnValue_t WatchdogHandler::performStartHandling() {
+  char startBuf[2];
+  ssize_t writeLen = 1;
+  startBuf[0] = watchdog::first::START_CHAR;
+  if (enableWatchFunction) {
+    writeLen += 1;
+    startBuf[1] = watchdog::second::WATCH_FLAG;
+  }
+  ssize_t writtenBytes = write(watchdogFifoFd, &startBuf, writeLen);
+  if (writtenBytes < 0) {
+    sif::error << "WatchdogHandler: Errors writing to watchdog FIFO, code " << errno << ": "
+               << strerror(errno) << std::endl;
+    return returnvalue::FAILED;
+  } else if (writtenBytes != writeLen) {
+    sif::warning << "WatchdogHandler: Not all bytes were written, possible error" << std::endl;
+  }
+  return returnvalue::OK;
+}

bsp_q7s/core/WatchdogHandler.h

@@ -0,0 +1,23 @@
+#ifndef BSP_Q7S_CORE_WATCHDOGHANDLER_H_
+#define BSP_Q7S_CORE_WATCHDOGHANDLER_H_
+
+#include "fsfw/returnvalues/returnvalue.h"
+
+class WatchdogHandler {
+ public:
+  WatchdogHandler();
+
+  ReturnValue_t initialize(bool enableWatchFunction);
+  void periodicOperation();
+
+ private:
+  // Designated value for rechecking FIFO open
+  static constexpr int RETRY_FIFO_OPEN = -2;
+
+  int watchdogFifoFd = 0;
+  bool enableWatchFunction = false;
+
+  ReturnValue_t performStartHandling();
+};
+
+#endif /* BSP_Q7S_CORE_WATCHDOGHANDLER_H_ */

bsp_q7s/core/scheduling.cpp

@@ -3,6 +3,7 @@
 #include <fsfw/devicehandlers/DeviceCommunicationIF.h>
 #include <fsfw/subsystem/Subsystem.h>
 #include <linux/scheduling.h>
+#include <mission/tcs/Max31865Definitions.h>
 
 #include <iostream>
 #include <vector>
@@ -17,10 +18,9 @@
 #include "fsfw/tasks/FixedTimeslotTaskIF.h"
 #include "fsfw/tasks/PeriodicTaskIF.h"
 #include "fsfw/tasks/TaskFactory.h"
-#include "mission/core/scheduling.h"
+#include "mission/pollingSeqTables.h"
-#include "mission/devices/devicedefinitions/Max31865Definitions.h"
+#include "mission/scheduling.h"
 #include "mission/utility/InitMission.h"
-#include "pollingsequence/pollingSequenceFactory.h"
 
 /* This is configured for linux without CR */
 #ifdef PLATFORM_UNIX
@@ -72,8 +72,9 @@ void scheduling::initTasks() {
 #if OBSW_ADD_SA_DEPL == 1
   // Could add this to the core controller but the core controller does so many thing that I would
   // prefer to have the solar array deployment in a seprate task.
-  PeriodicTaskIF* solarArrayDeplTask = factory->createPeriodicTask(
+  PeriodicTaskIF* solarArrayDeplTask =
-      "SOLAR_ARRAY_DEPL", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+      factory->createPeriodicTask("SOLAR_ARRAY_DEPL", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
   result = solarArrayDeplTask->addComponent(objects::SOLAR_ARRAY_DEPL_HANDLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("SOLAR_ARRAY_DEPL", objects::SOLAR_ARRAY_DEPL_HANDLER);
@@ -81,7 +82,7 @@ void scheduling::initTasks() {
 #endif
 
   PeriodicTaskIF* coreCtrlTask = factory->createPeriodicTask(
-      "CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+      "CORE_CTRL", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc, &RR_SCHEDULING);
   result = coreCtrlTask->addComponent(objects::CORE_CONTROLLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
@@ -89,7 +90,7 @@ void scheduling::initTasks() {
 
   /* TMTC Distribution */
   PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
-      "DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+      "TC_DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc, &RR_SCHEDULING);
 #if OBSW_ADD_TCPIP_SERVERS == 1
 #if OBSW_ADD_TMTC_UDP_SERVER == 1
   result = tmTcDistributor->addComponent(objects::UDP_TMTC_SERVER);
@@ -116,15 +117,11 @@ void scheduling::initTasks() {
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("CFDP_DISTRIBUTOR", objects::CFDP_DISTRIBUTOR);
   }
-  result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL);
-  }
 
 #if OBSW_ADD_TCPIP_SERVERS == 1
 #if OBSW_ADD_TMTC_UDP_SERVER == 1
   PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
-      "UDP_TMTC_POLLING", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+      "UDP_TMTC_POLLING", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
   result = udpPollingTask->addComponent(objects::UDP_TMTC_POLLING_TASK);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("UDP_POLLING", objects::UDP_TMTC_POLLING_TASK);
@@ -132,7 +129,7 @@ void scheduling::initTasks() {
 #endif
 #if OBSW_ADD_TMTC_TCP_SERVER == 1
   PeriodicTaskIF* tcpPollingTask = factory->createPeriodicTask(
-      "TCP_TMTC_POLLING", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+      "TCP_TMTC_POLLING", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
   result = tcpPollingTask->addComponent(objects::TCP_TMTC_POLLING_TASK);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("UDP_POLLING", objects::TCP_TMTC_POLLING_TASK);
@@ -140,8 +137,9 @@ void scheduling::initTasks() {
 #endif
 #endif
 
-  PeriodicTaskIF* genericSysTask = factory->createPeriodicTask(
+  PeriodicTaskIF* genericSysTask =
-      "SYSTEM_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc);
+      factory->createPeriodicTask("SYSTEM_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
   result = genericSysTask->addComponent(objects::EIVE_SYSTEM);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("EIVE_SYSTEM", objects::EIVE_SYSTEM);
@@ -150,10 +148,22 @@ void scheduling::initTasks() {
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("COM_SUBSYSTEM", objects::COM_SUBSYSTEM);
   }
+  result = genericSysTask->addComponent(objects::SYRLINKS_ASSY);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("SYRLINKS_ASSY", objects::SYRLINKS_ASSY);
+  }
   result = genericSysTask->addComponent(objects::PL_SUBSYSTEM);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PL_SUBSYSTEM", objects::PL_SUBSYSTEM);
   }
+  result = genericSysTask->addComponent(objects::INTERNAL_ERROR_REPORTER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
+  }
+  result = genericSysTask->addComponent(objects::PUS_SERVICE_17_TEST);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
+  }
 
 #if OBSW_ADD_CCSDS_IP_CORES == 1
   result = genericSysTask->addComponent(objects::CCSDS_HANDLER);
@@ -163,116 +173,192 @@ void scheduling::initTasks() {
 
   // Runs in IRQ mode, frequency does not really matter
   PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask(
-      "PDEC_HANDLER", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+      "PDEC_HANDLER", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr, &RR_SCHEDULING);
   result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
   }
-#endif /* OBSW_ADD_CCSDS_IP_CORE == 1 */
 
+#endif /* OBSW_ADD_CCSDS_IP_CORE == 1 */
+  // All the TM store tasks run in permanent loops, frequency does not matter
+  PeriodicTaskIF* liveTmTask = factory->createPeriodicTask(
+      "LIVE_TM", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr, &RR_SCHEDULING);
+  result = liveTmTask->addComponent(objects::LIVE_TM_TASK);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("LIVE_TM", objects::LIVE_TM_TASK);
+  }
+  PeriodicTaskIF* logTmTask = factory->createPeriodicTask(
+      "LOG_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
+  result = logTmTask->addComponent(objects::LOG_STORE_AND_TM_TASK);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("LOG_STORE_AND_TM", objects::LOG_STORE_AND_TM_TASK);
+  }
+  PeriodicTaskIF* hkTmTask =
+      factory->createPeriodicTask("HK_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
+  result = hkTmTask->addComponent(objects::HK_STORE_AND_TM_TASK);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("HK_STORE_AND_TM", objects::HK_STORE_AND_TM_TASK);
+  }
+  PeriodicTaskIF* cfdpTmTask = factory->createPeriodicTask(
+      "CFDP_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
+  result = cfdpTmTask->addComponent(objects::CFDP_STORE_AND_TM_TASK);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("CFDP_STORE_AND_TM", objects::CFDP_STORE_AND_TM_TASK);
+  }
+
+  // TODO: Use user priorities for this task.
 #if OBSW_ADD_CFDP_COMPONENTS == 1
-  PeriodicTaskIF* cfdpTask = factory->createPeriodicTask(
+  PeriodicTaskIF* cfdpTask =
-      "CFDP Handler", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+      factory->createPeriodicTask("CFDP_HANDLER", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
   result = cfdpTask->addComponent(objects::CFDP_HANDLER);
   if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("CFDP Handler", objects::CFDP_HANDLER);
+    scheduling::printAddObjectError("CFDP", objects::CFDP_HANDLER);
   }
 #endif
 
-#if OBSW_ADD_GPS_CTRL == 1
+  PeriodicTaskIF* gpsTask =
-  PeriodicTaskIF* gpsTask = factory->createPeriodicTask(
+      factory->createPeriodicTask("GPS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4,
-      "GPS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+                                  missedDeadlineFunc, &RR_SCHEDULING);
   result = gpsTask->addComponent(objects::GPS_CONTROLLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
   }
-#endif /* OBSW_ADD_GPS_CTRL */
 
-  PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
+#if OBSW_ADD_ACS_BOARD == 1
-      "ACS_SYS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* acsBrdPolling =
-  static_cast<void>(acsSysTask);
+      factory->createPeriodicTask("ACS_BOARD_POLLING", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+                                  0.4, missedDeadlineFunc, &RR_SCHEDULING);
+  result = acsBrdPolling->addComponent(objects::ACS_BOARD_POLLING_TASK);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("ACS_BOARD_POLLING", objects::ACS_BOARD_POLLING_TASK);
+  }
+#endif
+
+#if OBSW_ADD_RW == 1
+  PeriodicTaskIF* rwPolling =
+      factory->createPeriodicTask("RW_POLLING_TASK", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+                                  0.4, missedDeadlineFunc, &RR_SCHEDULING);
+  result = rwPolling->addComponent(objects::RW_POLLING_TASK);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("RW_POLLING_TASK", objects::RW_POLLING_TASK);
+  }
+#endif
+#if OBSW_ADD_MGT == 1
+  PeriodicTaskIF* imtqPolling =
+      factory->createPeriodicTask("IMTQ_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+                                  0.4, missedDeadlineFunc, &RR_SCHEDULING);
+  result = imtqPolling->addComponent(objects::IMTQ_POLLING);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("IMTQ_POLLING_TASK", objects::IMTQ_POLLING);
+  }
+#endif
+
+#if OBSW_ADD_SUN_SENSORS == 1
+  PeriodicTaskIF* susPolling =
+      factory->createPeriodicTask("SUS_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+                                  0.4, missedDeadlineFunc, &RR_SCHEDULING);
+  result = susPolling->addComponent(objects::SUS_POLLING_TASK);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("SUS_POLLING_TASK", objects::SUS_POLLING_TASK);
+  }
+#endif
+
+  PeriodicTaskIF* acsSysTask =
+      factory->createPeriodicTask("ACS_SYS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
   result = acsSysTask->addComponent(objects::ACS_SUBSYSTEM);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
   }
-#if OBSW_ADD_ACS_BOARD == 1
+  result = acsSysTask->addComponent(objects::IMTQ_ASSY);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("IMTQ_ASSY", objects::IMTQ_ASSY);
+  }
   result = acsSysTask->addComponent(objects::ACS_BOARD_ASS);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("ACS_BOARD_ASS", objects::ACS_BOARD_ASS);
   }
-#endif /* OBSW_ADD_ACS_HANDLERS */
+  result = acsSysTask->addComponent(objects::RW_ASSY);
-#if OBSW_ADD_RW == 1
-  result = acsSysTask->addComponent(objects::RW_ASS);
   if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("RW_ASS", objects::RW_ASS);
+    scheduling::printAddObjectError("RW_ASS", objects::RW_ASSY);
   }
-#endif
-#if OBSW_ADD_SUS_BOARD_ASS == 1
   result = acsSysTask->addComponent(objects::SUS_BOARD_ASS);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
   }
-#endif
+  result = acsSysTask->addComponent(objects::STR_ASSY);
-
-#if OBSW_ADD_RTD_DEVICES == 1
-  PeriodicTaskIF* tcsPollingTask = factory->createPeriodicTask(
-      "TCS_POLLING_TASK", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.5, missedDeadlineFunc);
-  result = tcsPollingTask->addComponent(objects::SPI_RTD_COM_IF);
   if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("SPI_RTD_POLLING", objects::SPI_RTD_COM_IF);
+    scheduling::printAddObjectError("STR_ASSY", objects::STR_ASSY);
+  }
+  result = acsSysTask->addComponent(objects::GPS_0_HEALTH_DEV);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("GPS_0_HEALTH_DEV", objects::GPS_0_HEALTH_DEV);
+  }
+  result = acsSysTask->addComponent(objects::GPS_1_HEALTH_DEV);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("GPS_1_HEALTH_DEV", objects::GPS_1_HEALTH_DEV);
   }
 
-  PeriodicTaskIF* tcsTask = factory->createPeriodicTask(
-      "TCS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
-  scheduling::scheduleRtdSensors(tcsTask);
-#endif
-
   PeriodicTaskIF* tcsSystemTask = factory->createPeriodicTask(
-      "TCS_TASK", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc);
+      "TCS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc, &RR_SCHEDULING);
+#if OBSW_ADD_THERMAL_TEMP_INSERTER == 1
+  tcsSystemTask->addComponent(objects::THERMAL_TEMP_INSERTER);
+#endif
+  scheduling::scheduleRtdSensors(tcsSystemTask);
   result = tcsSystemTask->addComponent(objects::TCS_SUBSYSTEM);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("TCS_SUBSYSTEM", objects::TCS_SUBSYSTEM);
   }
-#if OBSW_ADD_RTD_DEVICES == 1
   result = tcsSystemTask->addComponent(objects::TCS_BOARD_ASS);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("TCS_BOARD_ASS", objects::TCS_BOARD_ASS);
   }
-#endif /* OBSW_ADD_RTD_DEVICES */
 #if OBSW_ADD_TCS_CTRL == 1
   result = tcsSystemTask->addComponent(objects::THERMAL_CONTROLLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);
   }
 #endif
-#if OBSW_ADD_HEATERS == 1
   result = tcsSystemTask->addComponent(objects::HEATER_HANDLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
   }
+
+#if OBSW_ADD_SYRLINKS == 1
+  PeriodicTaskIF* syrlinksCom = factory->createPeriodicTask(
+      "SYRLINKS_COM", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+  result = syrlinksCom->addComponent(objects::SYRLINKS_COM_HANDLER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("SYRLINKS_COM", objects::SYRLINKS_COM_HANDLER);
+  }
 #endif
 
 #if OBSW_ADD_STAR_TRACKER == 1
-  PeriodicTaskIF* strHelperTask = factory->createPeriodicTask(
+  // Relatively high priority to make sure STR COM works well.
-      "STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  PeriodicTaskIF* strHelperTask =
-  result = strHelperTask->addComponent(objects::STR_HELPER);
+      factory->createPeriodicTask("STR_HELPER", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
+  result = strHelperTask->addComponent(objects::STR_COM_IF);
   if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("STR_HELPER", objects::STR_HELPER);
+    scheduling::printAddObjectError("STR_HELPER", objects::STR_COM_IF);
   }
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 
+  // TODO: Use regular scheduler for this task
 #if OBSW_ADD_PLOC_MPSOC == 1
   PeriodicTaskIF* mpsocHelperTask = factory->createPeriodicTask(
-      "PLOC_MPSOC_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+      "PLOC_MPSOC_HELPER", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
   result = mpsocHelperTask->addComponent(objects::PLOC_MPSOC_HELPER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PLOC_MPSOC_HELPER", objects::PLOC_MPSOC_HELPER);
   }
 #endif /* OBSW_ADD_PLOC_MPSOC */
 
+  // TODO: Use regular scheduler for this task
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
   PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
-      "PLOC_SUPV_HELPER", 10, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+      "PLOC_SUPV_HELPER", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
   result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
@@ -280,14 +366,14 @@ void scheduling::initTasks() {
 #endif /* OBSW_ADD_PLOC_SUPERVISOR */
 
   PeriodicTaskIF* plTask = factory->createPeriodicTask(
-      "PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+      "PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc, &RR_SCHEDULING);
-  scheduling::addMpsocSupvHandlers(plTask);
   plTask->addComponent(objects::CAM_SWITCHER);
+  scheduling::addMpsocSupvHandlers(plTask);
+  scheduling::scheduleScexDev(plTask);
 
 #if OBSW_ADD_SCEX_DEVICE == 1
-  PeriodicTaskIF* scexDevHandler;
   PeriodicTaskIF* scexReaderTask;
-  scheduling::schedulingScex(*factory, scexDevHandler, scexReaderTask);
+  scheduling::scheduleScexReader(*factory, scexReaderTask);
 #endif
 
   std::vector<PeriodicTaskIF*> pusTasks;
@@ -335,16 +421,31 @@ void scheduling::initTasks() {
 #if OBSW_ADD_CCSDS_IP_CORES == 1
   pdecHandlerTask->startTask();
 #endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
+  liveTmTask->startTask();
+  logTmTask->startTask();
+  hkTmTask->startTask();
+  cfdpTmTask->startTask();
 
   coreCtrlTask->startTask();
 #if OBSW_ADD_SA_DEPL == 1
   solarArrayDeplTask->startTask();
 #endif
+#if OBSW_ADD_ACS_BOARD == 1
+  acsBrdPolling->startTask();
+#endif
+#if OBSW_ADD_SYRLINKS == 1
+  syrlinksCom->startTask();
+#endif
+#if OBSW_ADD_MGT == 1
+  imtqPolling->startTask();
+#endif
+#if OBSW_ADD_SUN_SENSORS == 1
+  susPolling->startTask();
+#endif
 
   taskStarter(pstTasks, "PST task vector");
   taskStarter(pusTasks, "PUS task vector");
 #if OBSW_ADD_SCEX_DEVICE == 1
-  scexDevHandler->startTask();
   scexReaderTask->startTask();
 #endif
 
@@ -360,14 +461,11 @@ void scheduling::initTasks() {
   strHelperTask->startTask();
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 
-#if OBSW_ADD_GPS_CTRL == 1
+#if OBSW_ADD_RW == 1
-  gpsTask->startTask();
+  rwPolling->startTask();
 #endif
+  gpsTask->startTask();
   acsSysTask->startTask();
-#if OBSW_ADD_RTD_DEVICES == 1
-  tcsPollingTask->startTask();
-  tcsTask->startTask();
-#endif /* OBSW_ADD_RTD_DEVICES == 1 */
   if (not tcsSystemTask->isEmpty()) {
     tcsSystemTask->startTask();
   }
@@ -390,11 +488,12 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
 #ifdef RELEASE_BUILD
   static constexpr float acsPstPeriod = 0.4;
 #else
-  static constexpr float acsPstPeriod = 0.8;
+  static constexpr float acsPstPeriod = 0.4;
 #endif
-  FixedTimeslotTaskIF* acsPst = factory.createFixedTimeslotTask(
+  FixedTimeslotTaskIF* acsTcsPst =
-      "ACS_PST", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, acsPstPeriod, missedDeadlineFunc);
+      factory.createFixedTimeslotTask("ACS_TCS_PST", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
-  result = pst::pstAcs(acsPst, cfg);
+                                      acsPstPeriod, missedDeadlineFunc, &RR_SCHEDULING);
+  result = pst::pstTcsAndAcs(acsTcsPst, cfg);
   if (result != returnvalue::OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
       sif::warning << "scheduling::initTasks: ACS PST is empty" << std::endl;
@@ -402,14 +501,15 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
       sif::error << "scheduling::initTasks: Creating ACS PST failed!" << std::endl;
     }
   } else {
-    taskVec.push_back(acsPst);
+    taskVec.push_back(acsTcsPst);
   }
 
   /* Polling Sequence Table Default */
 #if OBSW_ADD_SPI_TEST_CODE == 0
-  FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
+  FixedTimeslotTaskIF* syrlinksPst =
-      "MAIN_SPI", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
+      factory.createFixedTimeslotTask("SYRLINKS", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5,
-  result = pst::pstSpiAndSyrlinks(spiPst);
+                                      missedDeadlineFunc, &RR_SCHEDULING);
+  result = pst::pstSyrlinks(syrlinksPst);
   if (result != returnvalue::OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
       sif::warning << "scheduling::initTasks: SPI PST is empty" << std::endl;
@@ -417,14 +517,15 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
       sif::error << "scheduling::initTasks: Creating SPI PST failed!" << std::endl;
     }
   } else {
-    taskVec.push_back(spiPst);
+    taskVec.push_back(syrlinksPst);
   }
 #endif
 
 #if OBSW_ADD_I2C_TEST_CODE == 0
-  FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
+  FixedTimeslotTaskIF* i2cPst =
-      "I2C_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
+      factory.createFixedTimeslotTask("I2C_PS_PST", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.6,
-  result = pst::pstI2c(i2cPst);
+                                      missedDeadlineFunc, &RR_SCHEDULING);
+  result = pst::pstI2cProcessingSystem(i2cPst);
   if (result != returnvalue::OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
       sif::warning << "scheduling::initTasks: I2C PST is empty" << std::endl;
@@ -436,9 +537,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
   }
 #endif
 
-#if OBSW_ADD_GOMSPACE_PCDU == 1
+  FixedTimeslotTaskIF* gomSpacePstTask =
-  FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
+      factory.createFixedTimeslotTask("GS_PST_TASK", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4,
-      "GS_PST_TASK", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
+                                      0.25, missedDeadlineFunc, &RR_SCHEDULING);
   result = pst::pstGompaceCan(gomSpacePstTask);
   if (result != returnvalue::OK) {
     if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@@ -446,49 +547,36 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
     }
   }
   taskVec.push_back(gomSpacePstTask);
-#endif
 }
 
 void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
                                 std::vector<PeriodicTaskIF*>& taskVec) {
   ReturnValue_t result = returnvalue::OK;
   /* PUS Services */
-  PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
+  PeriodicTaskIF* pusHighPrio =
-      "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
+      factory.createPeriodicTask("PUS_HIGH_PRIO", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2,
-  result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
+                                 missedDeadlineFunc, &RR_SCHEDULING);
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
   }
-  taskVec.push_back(pusVerification);
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
-
-  PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
-      "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-  result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
   }
-  result = pusEvents->addComponent(objects::EVENT_MANAGER);
+  result = pusHighPrio->addComponent(objects::EVENT_MANAGER);
   if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
+    scheduling::printAddObjectError("EVENT_MGMT", objects::EVENT_MANAGER);
-  }
-  taskVec.push_back(pusEvents);
-
-  PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
-      "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-  result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
   }
   result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
   if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT);
+    scheduling::printAddObjectError("PUS_TIME", objects::PUS_SERVICE_9_TIME_MGMT);
   }
-
   taskVec.push_back(pusHighPrio);
 
-  PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
+  PeriodicTaskIF* pusMedPrio =
-      "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
+      factory.createPeriodicTask("PUS_MED_PRIO", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8,
-
+                                 missedDeadlineFunc, &RR_SCHEDULING);
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS_3", objects::PUS_SERVICE_3_HOUSEKEEPING);
@@ -497,6 +585,10 @@ void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS_8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
   }
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_15_TM_STORAGE);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS_15", objects::PUS_SERVICE_15_TM_STORAGE);
+  }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_11_TC_SCHEDULER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS_11", objects::PUS_SERVICE_11_TC_SCHEDULER);
@@ -513,20 +605,11 @@ void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS_201", objects::PUS_SERVICE_201_HEALTH);
   }
-  // Used for connection tests, therefore use higher priority
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
-  result = pusMedPrio->addComponent(objects::PUS_SERVICE_17_TEST);
   if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
+    scheduling::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
   }
   taskVec.push_back(pusMedPrio);
-
-  PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
-      "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
-  result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
-  }
-  taskVec.push_back(pusLowPrio);
 }
 
 void scheduling::createTestTasks(TaskFactory& factory,

bsp_q7s/core/scheduling.h

@@ -1,11 +1,10 @@
 #ifndef BSP_Q7S_INITMISSION_H_
 #define BSP_Q7S_INITMISSION_H_
 
-#include <pollingsequence/pollingSequenceFactory.h>
-
 #include <vector>
 
 #include "fsfw/tasks/definitions.h"
+#include "mission/pollingSeqTables.h"
 
 using pst::AcsPstCfg;
 

bsp_q7s/em/emObjectFactory.cpp

@@ -1,34 +1,48 @@
 #include <bsp_q7s/callbacks/q7sGpioCallbacks.h>
+#include <dummies/ComCookieDummy.h>
+#include <dummies/PcduHandlerDummy.h>
 #include <fsfw/health/HealthTableIF.h>
 #include <fsfw/power/DummyPowerSwitcher.h>
-#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
+#include <fsfw_hal/common/gpio/GpioCookie.h>
+#include <mission/power/gsDefs.h>
+#include <mission/system/systemTree.h>
+#include <mission/utility/DummySdCardManager.h>
 
 #include "OBSWConfig.h"
 #include "bsp_q7s/core/CoreController.h"
 #include "bsp_q7s/core/ObjectFactory.h"
 #include "busConf.h"
 #include "devConf.h"
-#include "dummies/helpers.h"
+#include "dummies/helperFactory.h"
 #include "eive/objects.h"
 #include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
 #include "linux/ObjectFactory.h"
 #include "linux/callbacks/gpioCallbacks.h"
-#include "mission/core/GenericFactory.h"
+#include "mission/genericFactory.h"
-#include "mission/system/tree/comModeTree.h"
+#include "mission/system/com/comModeTree.h"
 
 void ObjectFactory::produce(void* args) {
   ObjectFactory::setStatics();
   HealthTableIF* healthTable = nullptr;
   PusTmFunnel* pusFunnel = nullptr;
   CfdpTmFunnel* cfdpFunnel = nullptr;
-  ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel);
+  StorageManagerIF* ipcStore = nullptr;
+  StorageManagerIF* tmStore = nullptr;
+
+  bool enableHkSets = false;
+#if OBSW_ENABLE_PERIODIC_HK == 1
+  enableHkSets = true;
+#endif
+
+  PersistentTmStores stores;
+  ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
+                                       *SdCardManager::instance(), &ipcStore, &tmStore, stores);
 
   LinuxLibgpioIF* gpioComIF = nullptr;
   SerialComIF* uartComIF = nullptr;
   SpiComIF* spiMainComIF = nullptr;
   I2cComIF* i2cComIF = nullptr;
-  SpiComIF* spiRwComIF = nullptr;
+  createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF);
-  createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF, &spiRwComIF);
   /* Adding gpios for chip select decoding to the gpioComIf */
   q7s::gpioCallbacks::initSpiCsDecoder(gpioComIF);
   gpioCallbacks::disableAllDecoder(gpioComIF);
@@ -49,14 +63,15 @@ void ObjectFactory::produce(void* args) {
 
   PowerSwitchIF* pwrSwitcher = nullptr;
 #if OBSW_ADD_GOMSPACE_PCDU == 0
-  pwrSwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
+  pwrSwitcher = new PcduHandlerDummy(objects::PCDU_HANDLER);
 #else
-  createPcduComponents(gpioComIF, &pwrSwitcher);
+  createPcduComponents(gpioComIF, &pwrSwitcher, enableHkSets);
 #endif
+  satsystem::EIVE_SYSTEM.setI2cRecoveryParams(pwrSwitcher);
 
-  dummy::createDummies(dummyCfg, *pwrSwitcher);
+  dummy::createDummies(dummyCfg, *pwrSwitcher, gpioComIF);
 
-  new CoreController(objects::CORE_CONTROLLER);
+  new CoreController(objects::CORE_CONTROLLER, enableHkSets);
 
   // Regular FM code, does not work for EM if the hardware is not connected
   // createPcduComponents(gpioComIF, &pwrSwitcher);
@@ -74,11 +89,16 @@ void ObjectFactory::produce(void* args) {
   // createRadSensorComponent(gpioComIF);
 
 #if OBSW_ADD_ACS_BOARD == 1
-  createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
+  createAcsBoardComponents(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher);
+#else
+  // Still add all GPIOs for EM.
+  GpioCookie* acsBoardGpios = new GpioCookie();
+  createAcsBoardGpios(*acsBoardGpios);
+  gpioChecker(gpioComIF->addGpios(acsBoardGpios), "ACS Board");
 #endif
 
 #if OBSW_ADD_MGT == 1
-  createImtqComponents(pwrSwitcher);
+  createImtqComponents(pwrSwitcher, enableHkSets);
 #endif
 
 #if OBSW_ADD_SYRLINKS == 1
@@ -90,17 +110,22 @@ void ObjectFactory::produce(void* args) {
 #endif
 
 #if OBSW_ADD_BPX_BATTERY_HANDLER == 1
-  createBpxBatteryComponent();
+  createBpxBatteryComponent(enableHkSets);
 #endif
 
 #if OBSW_ADD_STAR_TRACKER == 1
   createStrComponents(pwrSwitcher);
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
+
 #if OBSW_ADD_CCSDS_IP_CORES == 1
   CcsdsIpCoreHandler* ipCoreHandler = nullptr;
-  createCcsdsComponents(gpioComIF, &ipCoreHandler);
+  CcsdsComponentArgs ccsdsArgs(*gpioComIF, *ipcStore, *tmStore, stores, *pusFunnel, *cfdpFunnel,
+                               &ipCoreHandler);
+  createCcsdsComponents(ccsdsArgs);
 #if OBSW_TM_TO_PTME == 1
-  ObjectFactory::addTmtcIpCoresToFunnels(*ipCoreHandler, *pusFunnel, *cfdpFunnel);
+  if (ccsdsArgs.liveDestination != nullptr) {
+    pusFunnel->addLiveDestination("VC0 LIVE TM", *ccsdsArgs.liveDestination, 0);
+  }
 #endif
 #endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
   /* Test Task */
@@ -111,9 +136,9 @@ void ObjectFactory::produce(void* args) {
   createScexComponents(q7s::UART_SCEX_DEV, pwrSwitcher, *SdCardManager::instance(), false,
                        pcdu::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V);
 #endif
-  createAcsController(true);
+  createAcsController(true, enableHkSets);
-  HeaterHandler* heaterHandler = nullptr;
+  HeaterHandler* heaterHandler;
-  ObjectFactory::createGenericHeaterComponents(*gpioComIF, *pwrSwitcher, heaterHandler);
+  createHeaterComponents(gpioComIF, pwrSwitcher, healthTable, heaterHandler);
   createThermalController(*heaterHandler);
-  satsystem::com::init();
+  satsystem::init();
 }

bsp_q7s/fmObjectFactory.cpp

@@ -1,5 +1,8 @@
 #include <bsp_q7s/callbacks/q7sGpioCallbacks.h>
-#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
+#include <fsfw/storagemanager/LocalPool.h>
+#include <fsfw/storagemanager/PoolManager.h>
+#include <mission/power/gsDefs.h>
+#include <mission/system/EiveSystem.h>
 
 #include "OBSWConfig.h"
 #include "bsp_q7s/core/CoreController.h"
@@ -10,40 +13,52 @@
 #include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
 #include "linux/ObjectFactory.h"
 #include "linux/callbacks/gpioCallbacks.h"
-#include "mission/core/GenericFactory.h"
+#include "mission/genericFactory.h"
-#include "mission/system/tree/system.h"
+#include "mission/system/systemTree.h"
+#include "mission/tmtc/tmFilters.h"
 
 void ObjectFactory::produce(void* args) {
   ObjectFactory::setStatics();
   HealthTableIF* healthTable = nullptr;
   PusTmFunnel* pusFunnel = nullptr;
   CfdpTmFunnel* cfdpFunnel = nullptr;
-  ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel);
+  StorageManagerIF* ipcStore = nullptr;
+  StorageManagerIF* tmStore = nullptr;
+
+  bool enableHkSets = false;
+#if OBSW_ENABLE_PERIODIC_HK == 1
+  enableHkSets = true;
+#endif
+
+  PersistentTmStores stores;
+  ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
+                                       *SdCardManager::instance(), &ipcStore, &tmStore, stores);
 
   LinuxLibgpioIF* gpioComIF = nullptr;
   SerialComIF* uartComIF = nullptr;
   SpiComIF* spiMainComIF = nullptr;
   I2cComIF* i2cComIF = nullptr;
   PowerSwitchIF* pwrSwitcher = nullptr;
-  SpiComIF* spiRwComIF = nullptr;
+  createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF);
-  createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF, &spiRwComIF);
   /* Adding gpios for chip select decoding to the gpioComIf */
   q7s::gpioCallbacks::initSpiCsDecoder(gpioComIF);
   gpioCallbacks::disableAllDecoder(gpioComIF);
 
-  new CoreController(objects::CORE_CONTROLLER);
+  new CoreController(objects::CORE_CONTROLLER, enableHkSets);
-  createPcduComponents(gpioComIF, &pwrSwitcher);
+  createPcduComponents(gpioComIF, &pwrSwitcher, enableHkSets);
+  satsystem::EIVE_SYSTEM.setI2cRecoveryParams(pwrSwitcher);
+
   auto* stackHandler = new Stack5VHandler(*pwrSwitcher);
 
 #if OBSW_ADD_RAD_SENSORS == 1
   createRadSensorComponent(gpioComIF, *stackHandler);
 #endif
 #if OBSW_ADD_SUN_SENSORS == 1
-  createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV, true);
+  createSunSensorComponents(gpioComIF, spiMainComIF, *pwrSwitcher, q7s::SPI_DEFAULT_DEV, true);
 #endif
 
 #if OBSW_ADD_ACS_BOARD == 1
-  createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
+  createAcsBoardComponents(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher, true);
 #endif
   HeaterHandler* heaterHandler;
   createHeaterComponents(gpioComIF, pwrSwitcher, healthTable, heaterHandler);
@@ -59,28 +74,33 @@ void ObjectFactory::produce(void* args) {
   createPayloadComponents(gpioComIF, *pwrSwitcher);
 
 #if OBSW_ADD_MGT == 1
-  createImtqComponents(pwrSwitcher);
+  createImtqComponents(pwrSwitcher, enableHkSets);
 #endif
   createReactionWheelComponents(gpioComIF, pwrSwitcher);
 
 #if OBSW_ADD_BPX_BATTERY_HANDLER == 1
-  createBpxBatteryComponent();
+  createBpxBatteryComponent(enableHkSets);
 #endif
 
 #if OBSW_ADD_STAR_TRACKER == 1
   createStrComponents(pwrSwitcher);
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
+
 #if OBSW_ADD_CCSDS_IP_CORES == 1
   CcsdsIpCoreHandler* ipCoreHandler = nullptr;
-  createCcsdsComponents(gpioComIF, &ipCoreHandler);
+  CcsdsComponentArgs ccsdsArgs(*gpioComIF, *ipcStore, *tmStore, stores, *pusFunnel, *cfdpFunnel,
+                               &ipCoreHandler);
+  createCcsdsComponents(ccsdsArgs);
 #if OBSW_TM_TO_PTME == 1
-  addTmtcIpCoresToFunnels(*ipCoreHandler, *pusFunnel, *cfdpFunnel);
+  if (ccsdsArgs.liveDestination != nullptr) {
+    pusFunnel->addLiveDestination("VC0 LIVE TM", *ccsdsArgs.liveDestination, 0);
+  }
 #endif
 #endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
 
 #if OBSW_ADD_SCEX_DEVICE == 1
   createScexComponents(q7s::UART_SCEX_DEV, pwrSwitcher, *SdCardManager::instance(), false,
-                       pcdu::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V);
+                       power::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V);
 #endif
   /* Test Task */
 #if OBSW_ADD_TEST_CODE == 1
@@ -89,6 +109,6 @@ void ObjectFactory::produce(void* args) {
 
   createMiscComponents();
   createThermalController(*heaterHandler);
-  createAcsController(true);
+  createAcsController(true, enableHkSets);
   satsystem::init();
 }

bsp_q7s/fs/FilesystemHelper.cpp

@@ -22,7 +22,7 @@ ReturnValue_t FilesystemHelper::checkPath(std::string path) {
     }
   } else if (path.substr(0, sizeof(config::SD_1_MOUNT_POINT)) ==
              std::string(config::SD_1_MOUNT_POINT)) {
-    if (!sdcMan->isSdCardUsable(sd::SLOT_0)) {
+    if (!sdcMan->isSdCardUsable(sd::SLOT_1)) {
       sif::warning << "FilesystemHelper::checkPath: SD card 1 not mounted" << std::endl;
       return SD_NOT_MOUNTED;
     }

bsp_q7s/fs/SdCardManager.cpp

@@ -2,6 +2,7 @@
 
 #include <fsfw/ipc/MutexGuard.h>
 #include <fsfw/timemanager/Countdown.h>
+#include <fsfw/timemanager/Stopwatch.h>
 #include <unistd.h>
 
 #include <cstring>
@@ -20,31 +21,32 @@
 SdCardManager* SdCardManager::INSTANCE = nullptr;
 
 SdCardManager::SdCardManager() : SystemObject(objects::SDC_MANAGER), cmdExecutor(256) {
-  mutex = MutexFactory::instance()->createMutex();
+  sdLock = MutexFactory::instance()->createMutex();
-  ReturnValue_t result = mutex->lockMutex();
+  prefLock = MutexFactory::instance()->createMutex();
-  if (result != returnvalue::OK) {
+  defaultLock = MutexFactory::instance()->createMutex();
+
+  MutexGuard mg(prefLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
+  if (mg.getLockResult() != returnvalue::OK) {
     sif::error << "SdCardManager::SdCardManager: Mutex lock failed" << std::endl;
   }
   uint8_t prefSdRaw = 0;
-  result = scratch::readNumber(scratch::PREFERED_SDC_KEY, prefSdRaw);
+  ReturnValue_t result = scratch::readNumber(scratch::PREFERED_SDC_KEY, prefSdRaw);
-  if (mutex->unlockMutex() != returnvalue::OK) {
-    sif::error << "SdCardManager::SdCardManager: Mutex unlock failed" << std::endl;
-  }
 
   if (result != returnvalue::OK) {
     if (result == scratch::KEY_NOT_FOUND) {
       sif::warning << "CoreController::sdCardInit: "
                       "Preferred SD card not set. Setting to 0"
                    << std::endl;
-      setPreferredSdCard(sd::SdCard::SLOT_0);
+      scratch::writeNumber(scratch::PREFERED_SDC_KEY, static_cast<uint8_t>(sd::SdCard::SLOT_0));
-      sdInfo.pref = sd::SdCard::SLOT_0;
+      prefSdRaw = sd::SdCard::SLOT_0;
+
     } else {
       // Should not happen.
       // TODO: Maybe trigger event?
       sif::error << "SdCardManager::SdCardManager: Reading preferred SD card from scratch"
                     "buffer failed"
                  << std::endl;
-      sdInfo.pref = sd::SdCard::SLOT_0;
+      prefSdRaw = sd::SdCard::SLOT_0;
     }
   }
   sdInfo.pref = static_cast<sd::SdCard>(prefSdRaw);
@@ -193,28 +195,9 @@ ReturnValue_t SdCardManager::setSdCardState(sd::SdCard sdCard, bool on) {
   return result;
 }
 
-ReturnValue_t SdCardManager::getSdCardsStatus(SdStatePair& active) {
+ReturnValue_t SdCardManager::getSdCardsStatus(SdStatePair& sdStates) {
-  using namespace std;
+  MutexGuard mg(sdLock, LOCK_TYPE, SD_LOCK_TIMEOUT, LOCK_CTX);
-  MutexGuard mg(mutex);
+  sdStates = this->sdStates;
-  if (not filesystem::exists(SD_STATE_FILE)) {
-    return STATUS_FILE_NEXISTS;
-  }
-
-  // Now the file should exist in any case. Still check whether it exists.
-  fstream sdStatus(SD_STATE_FILE);
-  if (not sdStatus.good()) {
-    return STATUS_FILE_NEXISTS;
-  }
-  string line;
-  uint8_t idx = 0;
-  sd::SdCard currentSd = sd::SdCard::SLOT_0;
-  // Process status file line by line
-  while (std::getline(sdStatus, line)) {
-    processSdStatusLine(active, line, idx, currentSd);
-  }
-  if (active.first != sd::SdState::MOUNTED && active.second != sd::SdState::MOUNTED) {
-    sdCardActive = false;
-  }
   return returnvalue::OK;
 }
 
@@ -237,7 +220,8 @@ ReturnValue_t SdCardManager::mountSdCard(sd::SdCard sdCard) {
     mountDev = SD_1_DEV_NAME;
     mountPoint = config::SD_1_MOUNT_POINT;
   }
-  if (not filesystem::exists(mountDev)) {
+  std::error_code e;
+  if (not filesystem::exists(mountDev, e)) {
     sif::warning << "SdCardManager::mountSdCard: Device file does not exists. Make sure to"
                     " turn on the SD card"
                  << std::endl;
@@ -272,7 +256,8 @@ ReturnValue_t SdCardManager::unmountSdCard(sd::SdCard sdCard) {
   } else if (sdCard == sd::SdCard::SLOT_1) {
     mountPoint = config::SD_1_MOUNT_POINT;
   }
-  if (not filesystem::exists(mountPoint)) {
+  std::error_code e;
+  if (not filesystem::exists(mountPoint, e)) {
     sif::error << "SdCardManager::unmountSdCard: Default mount point " << mountPoint
                << "does not exist" << std::endl;
     return UNMOUNT_ERROR;
@@ -304,10 +289,9 @@ ReturnValue_t SdCardManager::sanitizeState(SdStatePair* statusPair, sd::SdCard p
     resetNonBlockingState = true;
   }
   if (statusPair == nullptr) {
-    sdStatusPtr = std::make_unique<SdStatePair>();
+    return returnvalue::FAILED;
-    statusPair = sdStatusPtr.get();
-    getSdCardsStatus(*statusPair);
   }
+  getSdCardsStatus(*statusPair);
 
   if (statusPair->first == sd::SdState::ON) {
     result = mountSdCard(prefSdCard);
@@ -325,8 +309,7 @@ void SdCardManager::resetState() {
   currentOp = Operations::IDLE;
 }
 
-void SdCardManager::processSdStatusLine(std::pair<sd::SdState, sd::SdState>& active,
+void SdCardManager::processSdStatusLine(std::string& line, uint8_t& idx, sd::SdCard& currentSd) {
-                                        std::string& line, uint8_t& idx, sd::SdCard& currentSd) {
   using namespace std;
   istringstream iss(line);
   string word;
@@ -347,24 +330,26 @@ void SdCardManager::processSdStatusLine(std::pair<sd::SdState, sd::SdState>& act
 
       if (word == "on") {
         if (currentSd == sd::SdCard::SLOT_0) {
-          active.first = sd::SdState::ON;
+          sdStates.first = sd::SdState::ON;
         } else {
-          active.second = sd::SdState::ON;
+          sdStates.second = sd::SdState::ON;
         }
       } else if (word == "off") {
+        MutexGuard mg(sdLock, LOCK_TYPE, SD_LOCK_TIMEOUT, LOCK_CTX);
         if (currentSd == sd::SdCard::SLOT_0) {
-          active.first = sd::SdState::OFF;
+          sdStates.first = sd::SdState::OFF;
         } else {
-          active.second = sd::SdState::OFF;
+          sdStates.second = sd::SdState::OFF;
         }
       }
     }
 
     if (mountLine) {
+      MutexGuard mg(sdLock, LOCK_TYPE, SD_LOCK_TIMEOUT, LOCK_CTX);
       if (currentSd == sd::SdCard::SLOT_0) {
-        active.first = sd::SdState::MOUNTED;
+        sdStates.first = sd::SdState::MOUNTED;
       } else {
-        active.second = sd::SdState::MOUNTED;
+        sdStates.second = sd::SdState::MOUNTED;
       }
     }
 
@@ -378,7 +363,7 @@ void SdCardManager::processSdStatusLine(std::pair<sd::SdState, sd::SdState>& act
 }
 
 std::optional<sd::SdCard> SdCardManager::getPreferredSdCard() const {
-  MutexGuard mg(mutex);
+  MutexGuard mg(prefLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
   auto res = mg.getLockResult();
   if (res != returnvalue::OK) {
     sif::error << "SdCardManager::getPreferredSdCard: Lock error" << std::endl;
@@ -387,7 +372,7 @@ std::optional<sd::SdCard> SdCardManager::getPreferredSdCard() const {
 }
 
 ReturnValue_t SdCardManager::setPreferredSdCard(sd::SdCard sdCard) {
-  MutexGuard mg(mutex);
+  MutexGuard mg(prefLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
   if (sdCard == sd::SdCard::BOTH) {
     return returnvalue::FAILED;
   }
@@ -396,23 +381,47 @@ ReturnValue_t SdCardManager::setPreferredSdCard(sd::SdCard sdCard) {
 }
 
 ReturnValue_t SdCardManager::updateSdCardStateFile() {
+  using namespace std;
   if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
     return CommandExecutor::COMMAND_PENDING;
   }
-  MutexGuard mg(mutex);
   // Use q7hw utility and pipe the command output into the state file
   std::string updateCmd = "q7hw sd info all > " + std::string(SD_STATE_FILE);
-  cmdExecutor.load(updateCmd, blocking, printCmdOutput);
+  cmdExecutor.load(updateCmd, true, printCmdOutput);
   ReturnValue_t result = cmdExecutor.execute();
-  if (blocking and result != returnvalue::OK) {
+  if (result != returnvalue::OK) {
     utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::mountSdCard");
   }
-  return result;
+
+  std::error_code e;
+  if (not filesystem::exists(SD_STATE_FILE, e)) {
+    return STATUS_FILE_NEXISTS;
+  }
+
+  // Now the file should exist in any case. Still check whether it exists.
+  fstream sdStatus(SD_STATE_FILE);
+  if (not sdStatus.good()) {
+    return STATUS_FILE_NEXISTS;
+  }
+  string line;
+  uint8_t idx = 0;
+  sd::SdCard currentSd = sd::SdCard::SLOT_0;
+  // Process status file line by line
+  while (std::getline(sdStatus, line)) {
+    processSdStatusLine(line, idx, currentSd);
+  }
+  if (sdStates.first != sd::SdState::MOUNTED && sdStates.second != sd::SdState::MOUNTED) {
+    sdCardActive = false;
+  }
+  return returnvalue::OK;
 }
 
-const std::string& SdCardManager::getCurrentMountPrefix() const {
+const char* SdCardManager::getCurrentMountPrefix() const {
-  MutexGuard mg(mutex);
+  MutexGuard mg(defaultLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
-  return currentPrefix;
+  if (currentPrefix.has_value()) {
+    return currentPrefix.value().c_str();
+  }
+  return nullptr;
 }
 
 SdCardManager::OpStatus SdCardManager::checkCurrentOp(Operations& currentOp) {
@@ -461,41 +470,35 @@ void SdCardManager::setPrintCommandOutput(bool print) { this->printCmdOutput = p
 
 bool SdCardManager::isSdCardUsable(std::optional<sd::SdCard> sdCard) {
   {
-    MutexGuard mg(mutex);
+    MutexGuard mg(defaultLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
     if (markedUnusable) {
       return false;
     }
   }
 
-  SdCardManager::SdStatePair active;
+  MutexGuard mg(sdLock, LOCK_TYPE, SD_LOCK_TIMEOUT, LOCK_CTX);
-  ReturnValue_t result = this->getSdCardsStatus(active);
-
-  if (result != returnvalue::OK) {
-    sif::debug << "SdCardManager::isSdCardMounted: Failed to get SD card active state";
-    return false;
-  }
   if (not sdCard) {
-    if (active.first == sd::MOUNTED or active.second == sd::MOUNTED) {
+    if (sdStates.first == sd::MOUNTED or sdStates.second == sd::MOUNTED) {
       return true;
     }
     return false;
   }
   if (sdCard == sd::SLOT_0) {
-    if (active.first == sd::MOUNTED) {
+    if (sdStates.first == sd::MOUNTED) {
       return true;
     } else {
       return false;
     }
   }
   if (sdCard == sd::SLOT_1) {
-    if (active.second == sd::MOUNTED) {
+    if (sdStates.second == sd::MOUNTED) {
       return true;
     } else {
       return false;
     }
   }
   if (sdCard == sd::BOTH) {
-    if (active.first == sd::MOUNTED && active.second == sd::MOUNTED) {
+    if (sdStates.first == sd::MOUNTED && sdStates.second == sd::MOUNTED) {
       return true;
     }
   }
@@ -505,9 +508,9 @@ bool SdCardManager::isSdCardUsable(std::optional<sd::SdCard> sdCard) {
 ReturnValue_t SdCardManager::isSdCardMountedReadOnly(sd::SdCard sdcard, bool& readOnly) {
   std::ostringstream command;
   if (sdcard == sd::SdCard::SLOT_0) {
-    command << "grep -q '" << config::SD_0_MOUNT_POINT << " ext4 ro,' /proc/mounts";
+    command << "grep -q '" << config::SD_0_MOUNT_POINT << " ext4 rw,' /proc/mounts";
   } else if (sdcard == sd::SdCard::SLOT_1) {
-    command << "grep -q '" << config::SD_1_MOUNT_POINT << " ext4 ro,' /proc/mounts";
+    command << "grep -q '" << config::SD_1_MOUNT_POINT << " ext4 rw,' /proc/mounts";
   } else {
     return returnvalue::FAILED;
   }
@@ -516,18 +519,9 @@ ReturnValue_t SdCardManager::isSdCardMountedReadOnly(sd::SdCard sdcard, bool& re
     return result;
   }
   result = cmdExecutor.execute();
-  if (result != returnvalue::OK) {
+  if (result == returnvalue::OK) {
-    int exitStatus = cmdExecutor.getLastError();
-    if (exitStatus == 1) {
-      readOnly = false;
-      return returnvalue::OK;
-    }
-    return result;
-  }
-  auto& readVec = cmdExecutor.getReadVector();
-  size_t readLen = strnlen(readVec.data(), readVec.size());
-  if (readLen == 0) {
     readOnly = false;
+    return result;
   }
   readOnly = true;
   return returnvalue::OK;
@@ -566,7 +560,7 @@ ReturnValue_t SdCardManager::performFsck(sd::SdCard sdcard, bool printOutput, in
 }
 
 void SdCardManager::setActiveSdCard(sd::SdCard sdCard) {
-  MutexGuard mg(mutex);
+  MutexGuard mg(defaultLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
   sdInfo.active = sdCard;
   if (sdInfo.active == sd::SdCard::SLOT_0) {
     currentPrefix = config::SD_0_MOUNT_POINT;
@@ -576,7 +570,7 @@ void SdCardManager::setActiveSdCard(sd::SdCard sdCard) {
 }
 
 std::optional<sd::SdCard> SdCardManager::getActiveSdCard() const {
-  MutexGuard mg(mutex);
+  MutexGuard mg(defaultLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
   if (markedUnusable) {
     return std::nullopt;
   }
@@ -584,6 +578,11 @@ std::optional<sd::SdCard> SdCardManager::getActiveSdCard() const {
 }
 
 void SdCardManager::markUnusable() {
-  MutexGuard mg(mutex);
+  MutexGuard mg(defaultLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
   markedUnusable = true;
 }
+
+void SdCardManager::markUsable() {
+  MutexGuard mg(defaultLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
+  markedUnusable = false;
+}

bsp_q7s/fs/SdCardManager.h

@@ -25,7 +25,7 @@ class MutexIF;
  *          state
  */
 class SdCardManager : public SystemObject, public SdCardMountedIF {
-  friend class SdCardAccess;
+  friend class CoreController;
 
  public:
   using mountInitCb = ReturnValue_t (*)(void* args);
@@ -117,16 +117,6 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
   ReturnValue_t switchOffSdCard(sd::SdCard sdCard, bool doUnmountSdCard = true,
                                 SdStatePair* statusPair = nullptr);
 
-  /**
-   * Update the state file or creates one if it does not exist. You need to call this
-   * function before calling #sdCardActive
-   * @return
-   *  - returnvalue::OK if the state file was updated successfully
-   *  - CommandExecutor::COMMAND_PENDING: Non-blocking command is pending
-   *  - returnvalue::FAILED: blocking command failed
-   */
-  ReturnValue_t updateSdCardStateFile();
-
   /**
    * Get the state of the SD cards. If the state file does not exist, this function will
    * take care of updating it. If it does not, the function will use the state file to get
@@ -187,7 +177,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
    * @param prefSdCardPtr
    * @return
    */
-  const std::string& getCurrentMountPrefix() const override;
+  const char* getCurrentMountPrefix() const override;
 
   OpStatus checkCurrentOp(Operations& currentOp);
 
@@ -215,24 +205,41 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
   ReturnValue_t performFsck(sd::SdCard sdcard, bool printOutput, int& linuxError);
 
   void markUnusable();
+  void markUsable();
 
  private:
   CommandExecutor cmdExecutor;
+  SdStatePair sdStates;
   Operations currentOp = Operations::IDLE;
   bool blocking = false;
   bool sdCardActive = true;
   bool printCmdOutput = true;
   bool markedUnusable = false;
-  MutexIF* mutex = nullptr;
+  MutexIF* sdLock = nullptr;
+  MutexIF* prefLock = nullptr;
+  MutexIF* defaultLock = nullptr;
+  static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING;
+  static constexpr uint32_t SD_LOCK_TIMEOUT = 100;
+  static constexpr uint32_t OTHER_TIMEOUT = 20;
+  static constexpr char LOCK_CTX[] = "SdCardManager";
 
   SdCardManager();
 
+  /**
+   * Update the state file or creates one if it does not exist. You need to call this
+   * function before calling #sdCardActive
+   * @return
+   *  - returnvalue::OK if the state file was updated successfully
+   *  - CommandExecutor::COMMAND_PENDING: Non-blocking command is pending
+   *  - returnvalue::FAILED: blocking command failed
+   */
+  ReturnValue_t updateSdCardStateFile();
+
   ReturnValue_t setSdCardState(sd::SdCard sdCard, bool on);
 
-  void processSdStatusLine(SdStatePair& active, std::string& line, uint8_t& idx,
+  void processSdStatusLine(std::string& line, uint8_t& idx, sd::SdCard& currentSd);
-                           sd::SdCard& currentSd);
 
-  std::string currentPrefix;
+  std::optional<std::string> currentPrefix;
 
   static SdCardManager* INSTANCE;
 };

bsp_q7s/fs/helpers.cpp

@@ -3,6 +3,9 @@
 std::filesystem::path fshelpers::getPrefixedPath(SdCardManager &man,
                                                  std::filesystem::path pathWihtoutPrefix) {
   auto prefix = man.getCurrentMountPrefix();
+  if (prefix == nullptr) {
+    return pathWihtoutPrefix;
+  }
   auto resPath = prefix / pathWihtoutPrefix;
   return resPath;
 }

bsp_q7s/main.cpp

@@ -12,10 +12,10 @@
  * @brief 	This is the main program for the target hardware.
  * @return
  */
-int main(void) {
+int main(int argc, char* argv[]) {
   using namespace std;
 #if Q7S_SIMPLE_MODE == 0
-  return obsw::obsw();
+  return obsw::obsw(argc, argv);
 #else
   return simple::simple();
 #endif

bsp_q7s/memory/CMakeLists.txt

@@ -1 +1 @@
-target_sources(${OBSW_NAME} PRIVATE scratchApi.cpp)
+target_sources(${OBSW_NAME} PRIVATE scratchApi.cpp LocalParameterHandler.cpp)

bsp_q7s/memory/LocalParameterHandler.cpp

@@ -0,0 +1,41 @@
+#include "LocalParameterHandler.h"
+
+#include <fsfw/serviceinterface/ServiceInterface.h>
+
+LocalParameterHandler::LocalParameterHandler(std::string sdRelativeName, SdCardMountedIF* sdcMan)
+    : NVMParameterBase(), sdRelativeName(sdRelativeName), sdcMan(sdcMan) {}
+
+LocalParameterHandler::~LocalParameterHandler() {}
+
+ReturnValue_t LocalParameterHandler::initialize() {
+  ReturnValue_t result = updateFullName();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = readJsonFile();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t LocalParameterHandler::writeJsonFile() {
+  ReturnValue_t result = updateFullName();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return NVMParameterBase::writeJsonFile();
+}
+
+ReturnValue_t LocalParameterHandler::updateFullName() {
+  std::string mountPrefix;
+  auto activeSd = sdcMan->getActiveSdCard();
+  if (activeSd and sdcMan->isSdCardUsable(activeSd.value())) {
+    mountPrefix = sdcMan->getCurrentMountPrefix();
+  } else {
+    return SD_NOT_READY;
+  }
+  std::string fullname = mountPrefix + "/" + sdRelativeName;
+  NVMParameterBase::setFullName(fullname);
+  return returnvalue::OK;
+}

bsp_q7s/memory/LocalParameterHandler.h

@@ -0,0 +1,106 @@
+#ifndef BSP_Q7S_MEMORY_LOCALPARAMETERHANDLER_H_
+#define BSP_Q7S_MEMORY_LOCALPARAMETERHANDLER_H_
+
+#include <mission/memory/NvmParameterBase.h>
+#include <mission/memory/SdCardMountedIF.h>
+
+#include <string>
+
+/**
+ * @brief	Class to handle persistent parameters
+ *
+ */
+class LocalParameterHandler : public NVMParameterBase {
+ public:
+  static constexpr uint8_t INTERFACE_ID = CLASS_ID::LOCAL_PARAM_HANDLER;
+
+  static constexpr ReturnValue_t SD_NOT_READY = returnvalue::makeCode(INTERFACE_ID, 0);
+  /**
+   * @brief	Constructor
+   *
+   * @param sdRelativeName	Absolute name of json file relative to mount
+   * 												directory
+   * of SD card. E.g. conf/example.json
+   * @param sdcMan	Pointer to SD card manager
+   */
+  LocalParameterHandler(std::string sdRelativeName, SdCardMountedIF* sdcMan);
+  virtual ~LocalParameterHandler();
+
+  /**
+   * @brief Will initialize the local parameter handler
+   *
+   * @return OK if successful, otherwise error return value
+   */
+  ReturnValue_t initialize();
+
+  /**
+   * @brief Function to add parameter to json file. If the json file does
+   * 				not yet exist it will be created here.
+   *
+   * @param key	The string to identify the parameter
+   * @param value	The value to set for this parameter
+   *
+   * @return OK if successful, otherwise error return value
+   *
+   * @details The function will add the parameter only if it is not already
+   * 					present in the json file
+   */
+  template <typename T>
+  ReturnValue_t addParameter(std::string key, T value);
+
+  /**
+   * @brief	Function will update a parameter which already exists in the json
+   * 				file
+   *
+   * @param key 	The unique string to identify the parameter to update
+   * @param value The new new value to set
+   *
+   * @return OK if successful, otherwise error return value
+   */
+  template <typename T>
+  ReturnValue_t updateParameter(std::string key, T value);
+
+ private:
+  // Name relative to mount point of SD card where parameters will be stored
+  std::string sdRelativeName;
+
+  SdCardMountedIF* sdcMan;
+
+  virtual ReturnValue_t writeJsonFile();
+
+  /**
+   * @brief This function sets the name of the json file dependent on the
+   * 				currently active SD card
+   *
+   * @return OK if successful, otherwise error return value
+   */
+  ReturnValue_t updateFullName();
+};
+
+template <typename T>
+inline ReturnValue_t LocalParameterHandler::addParameter(std::string key, T value) {
+  ReturnValue_t result = insertValue(key, value);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = writeJsonFile();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return returnvalue::OK;
+}
+
+template <typename T>
+inline ReturnValue_t LocalParameterHandler::updateParameter(std::string key, T value) {
+  ReturnValue_t result = setValue(key, value);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = writeJsonFile();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return returnvalue::OK;
+}
+
+#endif /* BSP_Q7S_MEMORY_LOCALPARAMETERHANDLER_H_ */

bsp_q7s/obsw.cpp

@@ -9,22 +9,27 @@
 #include <iostream>
 
 #include "OBSWConfig.h"
+#include "bsp_q7s/core/WatchdogHandler.h"
 #include "commonConfig.h"
 #include "core/scheduling.h"
 #include "fsfw/tasks/TaskFactory.h"
 #include "fsfw/version.h"
-#include "mission/acsDefs.h"
+#include "mission/acs/defs.h"
-#include "mission/system/tree/system.h"
+#include "mission/com/defs.h"
+#include "mission/system/systemTree.h"
 #include "q7sConfig.h"
 #include "watchdog/definitions.h"
 
-static int OBSW_ALREADY_RUNNING = -2;
+static constexpr int OBSW_ALREADY_RUNNING = -2;
 #if OBSW_Q7S_EM == 0
 static const char* DEV_STRING = "Xiphos Q7S FM";
 #else
 static const char* DEV_STRING = "Xiphos Q7S EM";
 #endif
-int obsw::obsw() {
+
+WatchdogHandler WATCHDOG_HANDLER;
+
+int obsw::obsw(int argc, char* argv[]) {
   using namespace fsfw;
   std::cout << "-- EIVE OBSW --" << std::endl;
   std::cout << "-- Compiled for Linux (" << DEV_STRING << ") --" << std::endl;
@@ -33,9 +38,10 @@ int obsw::obsw() {
   std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
 
 #if Q7S_CHECK_FOR_ALREADY_RUNNING_IMG == 1
+  std::error_code e;
   // Check special file here. This file is created or deleted by the eive-watchdog application
   // or systemd service!
-  if (std::filesystem::exists(watchdog::RUNNING_FILE_NAME)) {
+  if (std::filesystem::exists(watchdog::RUNNING_FILE_NAME, e)) {
     sif::warning << "File " << watchdog::RUNNING_FILE_NAME
                  << " exists so the software might "
                     "already be running. Check if obsw systemd service has been stopped."
@@ -44,14 +50,48 @@ int obsw::obsw() {
   }
 #endif
 
+  // Delay the boot if applicable.
+  bootDelayHandling();
+
+  bool initWatchFunction = false;
+  std::string fullExecPath = argv[0];
+  if (fullExecPath.find("/usr/bin") != std::string::npos) {
+    initWatchFunction = true;
+  }
+  ReturnValue_t result = WATCHDOG_HANDLER.initialize(initWatchFunction);
+  if (result != returnvalue::OK) {
+    std::cerr << "Initiating EIVE watchdog handler failed" << std::endl;
+  }
+
+  scheduling::initMission();
+
+  // Command the EIVE system to safe mode
+#if OBSW_COMMAND_SAFE_MODE_AT_STARTUP == 1
+  // This ensures that the PCDU switches were updated.
+  TaskFactory::delayTask(1000);
+  commandComSubsystemRxOnly();
+  commandEiveSystemToSafe();
+#else
+  announceAllModes();
+#endif
+
+  for (;;) {
+    WATCHDOG_HANDLER.periodicOperation();
+    TaskFactory::delayTask(2000);
+  }
+  return 0;
+}
+
+void obsw::bootDelayHandling() {
   const char* homedir = nullptr;
   homedir = getenv("HOME");
   if (homedir == nullptr) {
     homedir = getpwuid(getuid())->pw_dir;
   }
   std::filesystem::path bootDelayFile = std::filesystem::path(homedir) / "boot_delay_secs.txt";
+  std::error_code e;
   // Init delay handling.
-  if (std::filesystem::exists(bootDelayFile)) {
+  if (std::filesystem::exists(bootDelayFile, e)) {
     std::ifstream ifile(bootDelayFile);
     std::string lineStr;
     unsigned int bootDelaySecs = 0;
@@ -71,24 +111,41 @@ int obsw::obsw() {
     std::cout << "Delaying OBSW start for " << bootDelaySecs << " seconds" << std::endl;
     TaskFactory::delayTask(bootDelaySecs * 1000);
   }
+}
 
-  scheduling::initMission();
+void obsw::commandEiveSystemToSafe() {
-
-#if OBSW_COMMAND_SAFE_MODE_AT_STARTUP == 1
-  // Command the EIVE system to safe mode
   auto sysQueueId = satsystem::EIVE_SYSTEM.getCommandQueue();
   CommandMessage msg;
   ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, 0);
   ReturnValue_t result =
       MessageQueueSenderIF::sendMessage(sysQueueId, &msg, MessageQueueIF::NO_QUEUE, false);
   if (result != returnvalue::OK) {
-    sif::error << "Sending safe mode command to EIVE system failed" << std::endl;
+    sif::error << "obsw: Sending safe mode command to EIVE system failed" << std::endl;
+  }
+}
+
+void obsw::commandComSubsystemRxOnly() {
+  auto* comSs = ObjectManager::instance()->get<HasModesIF>(objects::COM_SUBSYSTEM);
+  if (comSs == nullptr) {
+    sif::error << "obsw: Could not retrieve COM subsystem object" << std::endl;
+    return;
+  }
+  CommandMessage msg;
+  ModeMessage::setCmdModeMessage(msg, com::RX_ONLY, 0);
+  ReturnValue_t result = MessageQueueSenderIF::sendMessage(comSs->getCommandQueue(), &msg,
+                                                           MessageQueueIF::NO_QUEUE, false);
+  if (result != returnvalue::OK) {
+    sif::error << "obsw: Sending RX_ONLY mode command to COM subsystem failed" << std::endl;
+  }
+}
+
+void obsw::announceAllModes() {
+  auto sysQueueId = satsystem::EIVE_SYSTEM.getCommandQueue();
+  CommandMessage msg;
+  ModeMessage::setModeAnnounceMessage(msg, true);
+  ReturnValue_t result =
+      MessageQueueSenderIF::sendMessage(sysQueueId, &msg, MessageQueueIF::NO_QUEUE, false);
+  if (result != returnvalue::OK) {
+    sif::error << "obsw: Sending safe mode command to EIVE system failed" << std::endl;
   }
-#endif
-
-  for (;;) {
-    /* Suspend main thread by sleeping it. */
-    TaskFactory::delayTask(5000);
-  }
-  return 0;
 }

bsp_q7s/obsw.h

@@ -3,8 +3,13 @@
 
 namespace obsw {
 
-int obsw();
+int obsw(int argc, char* argv[]);
 
-};
+void bootDelayHandling();
+void commandEiveSystemToSafe();
+void commandComSubsystemRxOnly();
+void announceAllModes();
+
+};  // namespace obsw
 
 #endif /* BSP_Q7S_CORE_OBSW_H_ */

clone-submodules-no-privlibs.sh

@@ -1,3 +1,6 @@
 #!/bin/bash
 
+root="$(pwd)"
+ln -s "$root/hooks" "$root/.git/hooks"
+
 git submodule update --init fsfw thirdparty/rapidcsv thirdparty/lwgps thirdparty/json

common/config/devConf.h

@@ -63,7 +63,7 @@ static constexpr dur_millis_t ACS_BOARD_CS_TIMEOUT = 50 * CS_FACTOR;
 
 }  // namespace spi
 
-namespace uart {
+namespace serial {
 
 static constexpr size_t HYPERION_GPS_REPLY_MAX_BUFFER = 1024;
 static constexpr UartBaudRate SYRLINKS_BAUD = UartBaudRate::RATE_38400;
@@ -73,6 +73,6 @@ static constexpr UartBaudRate PLOC_MPSOC_BAUD = UartBaudRate::RATE_115200;
 static constexpr UartBaudRate PLOC_SUPV_BAUD = UartBaudRate::RATE_921600;
 static constexpr UartBaudRate STAR_TRACKER_BAUD = UartBaudRate::RATE_921600;
 
-}  // namespace uart
+}  // namespace serial
 
 #endif /* COMMON_CONFIG_DEVCONF_H_ */

common/config/devices/gpioIds.h

@@ -102,6 +102,7 @@ enum gpioId_t {
   VC2_PAPB_BUSY,
   VC3_PAPB_EMPTY,
   VC3_PAPB_BUSY,
+  PTME_RESETN,
 
   PDEC_RESET,
 

common/config/devices/powerSwitcherList.h

@@ -1,6 +1,6 @@
 #ifndef FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_
 #define FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_
 
-#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
+#include <mission/power/gsDefs.h>
 
 #endif /* FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_ */

common/config/eive/definitions.h

@@ -15,6 +15,9 @@ static constexpr char OBSW_VERSION_FILE_NAME[] = "obsw_version.txt";
 static constexpr char OBSW_PATH[] = "/usr/bin/eive-obsw";
 static constexpr char OBSW_VERSION_FILE_PATH[] = "/usr/share/eive-obsw/obsw_version.txt";
 
+// ISO8601 timestamp.
+static constexpr char FILE_DATE_FORMAT[] = "%FT%H%M%SZ";
+
 static constexpr uint16_t EIVE_PUS_APID = 0x65;
 static constexpr uint16_t EIVE_CFDP_APID = 0x66;
 static constexpr uint16_t EIVE_LOCAL_CFDP_ENTITY_ID = EIVE_CFDP_APID;
@@ -45,28 +48,50 @@ static constexpr uint32_t SA_DEPL_MAX_BURN_TIME = 180;
 
 static constexpr uint32_t CCSDS_HANDLER_QUEUE_SIZE = 50;
 static constexpr uint8_t NUMBER_OF_VIRTUAL_CHANNELS = 4;
-static constexpr uint8_t VC0_QUEUE_SIZE = 80;
+static constexpr uint32_t VC0_LIVE_TM_QUEUE_SIZE = 300;
-static constexpr uint8_t VC1_QUEUE_SIZE = 80;
+// There are three individual log stores!
-static constexpr uint8_t VC2_QUEUE_SIZE = 50;
+static constexpr uint32_t MISC_STORE_QUEUE_SIZE = 200;
-static constexpr uint8_t VC3_QUEUE_SIZE = 50;
+static constexpr uint32_t OK_STORE_QUEUE_SIZE = 350;
+static constexpr uint32_t NOK_STORE_QUEUE_SIZE = 350;
+static constexpr uint32_t HK_STORE_QUEUE_SIZE = 300;
+static constexpr uint32_t CFDP_STORE_QUEUE_SIZE = 300;
 
 static constexpr uint32_t MAX_PUS_FUNNEL_QUEUE_DEPTH = 100;
+static constexpr uint32_t MAX_CFDP_FUNNEL_QUEUE_DEPTH = 80;
+static constexpr uint32_t HK_SERVICE_QUEUE_DEPTH = 60;
 
-static constexpr uint32_t MAX_STORED_CMDS_UDP = 120;
+static constexpr uint32_t MAX_STORED_CMDS_UDP = 150;
-static constexpr uint32_t MAX_STORED_CMDS_TCP = 150;
+static constexpr uint32_t MAX_STORED_CMDS_TCP = 180;
 
-namespace acs {
+namespace spiSched {
 
-static constexpr uint32_t SCHED_BLOCK_1_SENSORS_MS = 15;
+static constexpr uint32_t SCHED_BLOCK_1_SUS_READ_MS = 15;
-static constexpr uint32_t SCHED_BLOCK_2_ACS_CTRL_MS = 40;
+static constexpr uint32_t SCHED_BLOCK_2_SENSOR_READ_MS = 30;
-static constexpr uint32_t SCHED_BLOCK_3_ACTUATOR_MS = 45;
+static constexpr uint32_t SCHED_BLOCK_3_READ_IMTQ_MGM_MS = 43;
+static constexpr uint32_t SCHED_BLOCK_4_ACS_CTRL_MS = 45;
+static constexpr uint32_t SCHED_BLOCK_5_ACTUATOR_MS = 55;
+static constexpr uint32_t SCHED_BLOCK_6_IMTQ_BLOCK_2_MS = 105;
+static constexpr uint32_t SCHED_BLOCK_RTD = 150;
+static constexpr uint32_t SCHED_BLOCK_7_RW_READ_MS = 300;
+static constexpr uint32_t SCHED_BLOCK_8_PLPCDU_MS = 320;
+static constexpr uint32_t SCHED_BLOCK_9_RAD_SENS_MS = 340;
 
 // 15 ms for FM
-static constexpr float SCHED_BLOCK_1_PERIOD = static_cast<float>(SCHED_BLOCK_1_SENSORS_MS) / 400.0;
+static constexpr float SCHED_BLOCK_1_PERIOD = static_cast<float>(SCHED_BLOCK_1_SUS_READ_MS) / 400.0;
-static constexpr float SCHED_BLOCK_2_PERIOD = static_cast<float>(SCHED_BLOCK_2_ACS_CTRL_MS) / 400.0;
+static constexpr float SCHED_BLOCK_2_PERIOD =
-static constexpr float SCHED_BLOCK_3_PERIOD = static_cast<float>(SCHED_BLOCK_3_ACTUATOR_MS) / 400.0;
+    static_cast<float>(SCHED_BLOCK_2_SENSOR_READ_MS) / 400.0;
+static constexpr float SCHED_BLOCK_3_PERIOD =
+    static_cast<float>(SCHED_BLOCK_3_READ_IMTQ_MGM_MS) / 400.0;
+static constexpr float SCHED_BLOCK_4_PERIOD = static_cast<float>(SCHED_BLOCK_4_ACS_CTRL_MS) / 400.0;
+static constexpr float SCHED_BLOCK_5_PERIOD = static_cast<float>(SCHED_BLOCK_5_ACTUATOR_MS) / 400.0;
+static constexpr float SCHED_BLOCK_6_PERIOD =
+    static_cast<float>(SCHED_BLOCK_6_IMTQ_BLOCK_2_MS) / 400.0;
+static constexpr float SCHED_BLOCK_RTD_PERIOD = static_cast<float>(SCHED_BLOCK_RTD) / 400.0;
+static constexpr float SCHED_BLOCK_7_PERIOD = static_cast<float>(SCHED_BLOCK_7_RW_READ_MS) / 400.0;
+static constexpr float SCHED_BLOCK_8_PERIOD = static_cast<float>(SCHED_BLOCK_8_PLPCDU_MS) / 400.0;
+static constexpr float SCHED_BLOCK_9_PERIOD = static_cast<float>(SCHED_BLOCK_9_RAD_SENS_MS) / 400.0;
 
-}  // namespace acs
+}  // namespace spiSched
 
 }  // namespace config
 

common/config/eive/eventSubsystemIds.h

@@ -37,6 +37,9 @@ enum : uint8_t {
   CONFIGHANDLER = 139,
   CORE = 140,
   TCS_CONTROLLER = 141,
+  COM_SUBSYSTEM = 142,
+  PERSISTENT_TM_STORE = 143,
+  SYRLINKS_COM = 144,
   COMMON_SUBSYSTEM_ID_END
 
 };

common/config/eive/objects.h

@@ -43,7 +43,10 @@ enum commonObjects : uint32_t {
   RW4 = 0x44120350,
   STAR_TRACKER = 0x44130001,
   GPS_CONTROLLER = 0x44130045,
+  GPS_0_HEALTH_DEV = 0x44130046,
+  GPS_1_HEALTH_DEV = 0x44130047,
 
+  IMTQ_POLLING = 0x44140013,
   IMTQ_HANDLER = 0x44140014,
   TMP1075_HANDLER_TCS_0 = 0x44420004,
   TMP1075_HANDLER_TCS_1 = 0x44420005,
@@ -61,10 +64,14 @@ enum commonObjects : uint32_t {
   RAD_SENSOR = 0x443200A5,
   PLOC_UPDATER = 0x44330000,
   PLOC_MEMORY_DUMPER = 0x44330001,
-  STR_HELPER = 0x44330002,
+  STR_COM_IF = 0x44330002,
   PLOC_MPSOC_HELPER = 0x44330003,
   AXI_PTME_CONFIG = 0x44330004,
   PTME_CONFIG = 0x44330005,
+  PTME_VC0_LIVE_TM = 0x44330006,
+  PTME_VC1_LOG_TM = 0x44330007,
+  PTME_VC2_HK_TM = 0x44330008,
+  PTME_VC3_CFDP_TM = 0x44330009,
   PLOC_MPSOC_HANDLER = 0x44330015,
   PLOC_SUPERVISOR_HANDLER = 0x44330016,
   PLOC_SUPERVISOR_HELPER = 0x44330017,
@@ -118,11 +125,13 @@ enum commonObjects : uint32_t {
   SUS_11_R_LOC_XBYMZB_PT_ZB = 0x44120043,
 
   SYRLINKS_HANDLER = 0x445300A3,
-  // might be obsolete, was not used in Q7S FM SW
+  SYRLINKS_COM_HANDLER = 0x445300A4,
-  // CCSDS_IP_CORE_BRIDGE = 0x73500000,
 
   /* 0x49 ('I') for Communication Interfaces */
-  SPI_RTD_COM_IF = 0x49020006,
+  ACS_BOARD_POLLING_TASK = 0x49060004,
+  RW_POLLING_TASK = 0x49060005,
+  SPI_RTD_COM_IF = 0x49060006,
+  SUS_POLLING_TASK = 0x49060007,
 
   // 0x60 for other stuff
   HEATER_0_PLOC_PROC_BRD = 0x60000000,
@@ -132,14 +141,17 @@ enum commonObjects : uint32_t {
   HEATER_4_CAMERA = 0x60000004,
   HEATER_5_STR = 0x60000005,
   HEATER_6_DRO = 0x60000006,
-  HEATER_7_HPA = 0x60000007,
+  HEATER_7_SYRLINKS = 0x60000007,
 
   // 0x73 ('s') for assemblies and system/subsystem components
   ACS_BOARD_ASS = 0x73000001,
   SUS_BOARD_ASS = 0x73000002,
   TCS_BOARD_ASS = 0x73000003,
-  RW_ASS = 0x73000004,
+  RW_ASSY = 0x73000004,
   CAM_SWITCHER = 0x73000006,
+  SYRLINKS_ASSY = 0x73000007,
+  IMTQ_ASSY = 0x73000008,
+  STR_ASSY = 0x73000009,
   EIVE_SYSTEM = 0x73010000,
   ACS_SUBSYSTEM = 0x73010001,
   PL_SUBSYSTEM = 0x73010002,
@@ -151,6 +163,17 @@ enum commonObjects : uint32_t {
   CFDP_TM_FUNNEL = 0x73000102,
   CFDP_HANDLER = 0x73000205,
   CFDP_DISTRIBUTOR = 0x73000206,
+  MISC_TM_STORE = 0x73020001,
+  OK_TM_STORE = 0x73020002,
+  NOT_OK_TM_STORE = 0x73020003,
+  HK_TM_STORE = 0x73020004,
+  CFDP_TM_STORE = 0x73030000,
+
+  LIVE_TM_TASK = 0x73040000,
+  LOG_STORE_AND_TM_TASK = 0x73040001,
+  HK_STORE_AND_TM_TASK = 0x73040002,
+  CFDP_STORE_AND_TM_TASK = 0x73040003,
+  DOWNLINK_RAM_STORE = 0x73040004,
 
   // Other stuff
   THERMAL_TEMP_INSERTER = 0x90000003,

common/config/eive/resultClassIds.h

@@ -35,14 +35,14 @@ enum commonClassIds : uint8_t {
   SA_DEPL_HANDLER,          // SADPL
   MPSOC_RETURN_VALUES_IF,   // MPSOCRTVIF
   SUPV_RETURN_VALUES_IF,    // SPVRTVIF
-  ACS_KALMAN,               // ACSKAL
+  ACS_CTRL,                 // ACSCTRL
-  ACS_SAFE,                 // ACSSAF
+  ACS_MEKF,                 // ACSMEKF
-  ACS_PTG,                  // ACSPTG
+  SD_CARD_MANAGER,          // SDMA
-  ACS_DETUMBLE,             // ACSDTB
+  LOCAL_PARAM_HANDLER,      // LPH
-  ACS_MEKF,                 // ACSMEK
+  PERSISTENT_TM_STORE,      // PTM
+  TM_SINK,                  // TMS
   COMMON_CLASS_ID_END       // [EXPORT] : [END]
 };
-
 }
 
 #endif /* COMMON_CONFIG_COMMONCLASSIDS_H_ */

common/config/tmtc/pusIds.h

@@ -12,6 +12,7 @@ enum Ids {
   PUS_SERVICE_8 = 8,
   PUS_SERVICE_9 = 9,
   PUS_SERVICE_11 = 11,
+  PUS_SERVICE_15 = 15,
   PUS_SERVICE_17 = 17,
   PUS_SERVICE_19 = 19,
   PUS_SERVICE_20 = 20,

dummies/AcuDummy.cpp

@@ -1,15 +1,15 @@
 #include "AcuDummy.h"
 
-#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
+#include <mission/power/gsDefs.h>
 
 AcuDummy::AcuDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
     : DeviceHandlerBase(objectId, comif, comCookie) {}
 
 AcuDummy::~AcuDummy() {}
 
-void AcuDummy::doStartUp() {}
+void AcuDummy::doStartUp() { setMode(MODE_NORMAL); }
 
-void AcuDummy::doShutDown() {}
+void AcuDummy::doShutDown() { setMode(MODE_OFF); }
 
 ReturnValue_t AcuDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }
 
@@ -37,6 +37,7 @@ uint32_t AcuDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return
 
 ReturnValue_t AcuDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                 LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(ACU::pool::ACU_TEMPERATURES, new PoolEntry<float>(3));
+  localDataPoolMap.emplace(ACU::pool::ACU_TEMPERATURES,
+                           new PoolEntry<float>({10.0, 10.0, 10.0}, true));
   return returnvalue::OK;
 }

dummies/BpxDummy.cpp

@@ -1,15 +1,15 @@
 #include "BpxDummy.h"
 
-#include <mission/devices/devicedefinitions/BpxBatteryDefinitions.h>
+#include <mission/power/bpxBattDefs.h>
 
 BpxDummy::BpxDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
     : DeviceHandlerBase(objectId, comif, comCookie) {}
 
 BpxDummy::~BpxDummy() {}
 
-void BpxDummy::doStartUp() {}
+void BpxDummy::doStartUp() { setMode(MODE_NORMAL); }
 
-void BpxDummy::doShutDown() {}
+void BpxDummy::doShutDown() { setMode(MODE_OFF); }
 
 ReturnValue_t BpxDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }
 
@@ -37,19 +37,19 @@ uint32_t BpxDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return
 
 ReturnValue_t BpxDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                 LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(BpxBattery::BATT_TEMP_1, &battTemp1);
+  localDataPoolMap.emplace(bpxBat::BATT_TEMP_1, &battTemp1);
-  localDataPoolMap.emplace(BpxBattery::BATT_TEMP_2, &battTemp2);
+  localDataPoolMap.emplace(bpxBat::BATT_TEMP_2, &battTemp2);
-  localDataPoolMap.emplace(BpxBattery::BATT_TEMP_3, &battTemp3);
+  localDataPoolMap.emplace(bpxBat::BATT_TEMP_3, &battTemp3);
-  localDataPoolMap.emplace(BpxBattery::BATT_TEMP_4, &battTemp4);
+  localDataPoolMap.emplace(bpxBat::BATT_TEMP_4, &battTemp4);
-  localDataPoolMap.emplace(BpxBattery::CHARGE_CURRENT, &chargeCurrent);
+  localDataPoolMap.emplace(bpxBat::CHARGE_CURRENT, &chargeCurrent);
-  localDataPoolMap.emplace(BpxBattery::DISCHARGE_CURRENT, &dischargeCurrent);
+  localDataPoolMap.emplace(bpxBat::DISCHARGE_CURRENT, &dischargeCurrent);
-  localDataPoolMap.emplace(BpxBattery::HEATER_CURRENT, &heaterCurrent);
+  localDataPoolMap.emplace(bpxBat::HEATER_CURRENT, &heaterCurrent);
-  localDataPoolMap.emplace(BpxBattery::BATT_VOLTAGE, &battVolt);
+  localDataPoolMap.emplace(bpxBat::BATT_VOLTAGE, &battVolt);
-  localDataPoolMap.emplace(BpxBattery::REBOOT_COUNTER, &rebootCounter);
+  localDataPoolMap.emplace(bpxBat::REBOOT_COUNTER, &rebootCounter);
-  localDataPoolMap.emplace(BpxBattery::BOOTCAUSE, &bootCause);
+  localDataPoolMap.emplace(bpxBat::BOOTCAUSE, &bootCause);
 
-  localDataPoolMap.emplace(BpxBattery::BATTERY_HEATER_MODE, &battheatMode);
+  localDataPoolMap.emplace(bpxBat::BATTERY_HEATER_MODE, &battheatMode);
-  localDataPoolMap.emplace(BpxBattery::BATTHEAT_LOW_LIMIT, &battheatLow);
+  localDataPoolMap.emplace(bpxBat::BATTHEAT_LOW_LIMIT, &battheatLow);
-  localDataPoolMap.emplace(BpxBattery::BATTHEAT_HIGH_LIMIT, &battheatHigh);
+  localDataPoolMap.emplace(bpxBat::BATTHEAT_HIGH_LIMIT, &battheatHigh);
   return returnvalue::OK;
 }

dummies/BpxDummy.h

@@ -34,10 +34,10 @@ class BpxDummy : public DeviceHandlerBase {
   PoolEntry<uint16_t> dischargeCurrent = PoolEntry<uint16_t>({0});
   PoolEntry<uint16_t> heaterCurrent = PoolEntry<uint16_t>({0});
   PoolEntry<uint16_t> battVolt = PoolEntry<uint16_t>({0});
-  PoolEntry<int16_t> battTemp1 = PoolEntry<int16_t>({0});
+  PoolEntry<int16_t> battTemp1 = PoolEntry<int16_t>({10}, true);
-  PoolEntry<int16_t> battTemp2 = PoolEntry<int16_t>({0});
+  PoolEntry<int16_t> battTemp2 = PoolEntry<int16_t>({10}, true);
-  PoolEntry<int16_t> battTemp3 = PoolEntry<int16_t>({0});
+  PoolEntry<int16_t> battTemp3 = PoolEntry<int16_t>({10}, true);
-  PoolEntry<int16_t> battTemp4 = PoolEntry<int16_t>({0});
+  PoolEntry<int16_t> battTemp4 = PoolEntry<int16_t>({10}, true);
   PoolEntry<uint32_t> rebootCounter = PoolEntry<uint32_t>({0});
   PoolEntry<uint8_t> bootCause = PoolEntry<uint8_t>({0});
   PoolEntry<uint8_t> battheatMode = PoolEntry<uint8_t>({0});

dummies/CMakeLists.txt

@@ -7,6 +7,7 @@ target_sources(
          ComCookieDummy.cpp
          RwDummy.cpp
          Max31865Dummy.cpp
+         PcduHandlerDummy.cpp
          StarTrackerDummy.cpp
          SyrlinksDummy.cpp
          ImtqDummy.cpp
@@ -14,12 +15,17 @@ target_sources(
          PduDummy.cpp
          P60DockDummy.cpp
          SaDeploymentDummy.cpp
-         GpsDummy.cpp
+         GpsDhbDummy.cpp
+         GpsCtrlDummy.cpp
          GyroAdisDummy.cpp
          GyroL3GD20Dummy.cpp
          MgmLIS3MDLDummy.cpp
          PlPcduDummy.cpp
+         ExecutableComIfDummy.cpp
+         ScexDummy.cpp
          CoreControllerDummy.cpp
-         helpers.cpp
+         PlocMpsocDummy.cpp
+         PlocSupervisorDummy.cpp
+         helperFactory.cpp
          MgmRm3100Dummy.cpp
          Tmp1075Dummy.cpp)

dummies/CoreControllerDummy.h

@@ -1,7 +1,7 @@
 #pragma once
 
 #include <fsfw/controller/ExtendedControllerBase.h>
-#include <mission/devices/devicedefinitions/SusDefinitions.h>
+#include <mission/acs/susMax1227Helpers.h>
 
 class CoreControllerDummy : public ExtendedControllerBase {
  public:

dummies/ExecutableComIfDummy.cpp

@@ -0,0 +1,27 @@
+#include <dummies/ExecutableComIfDummy.h>
+
+ExecutableComIfDummy::ExecutableComIfDummy(object_id_t objectId) : SystemObject(objectId) {}
+
+ReturnValue_t ExecutableComIfDummy::initializeInterface(CookieIF *cookie) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t ExecutableComIfDummy::sendMessage(CookieIF *cookie, const uint8_t *sendData,
+                                                size_t sendLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t ExecutableComIfDummy::getSendSuccess(CookieIF *cookie) { return returnvalue::OK; }
+
+ReturnValue_t ExecutableComIfDummy::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t ExecutableComIfDummy::performOperation(uint8_t operationCode) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t ExecutableComIfDummy::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
+                                                        size_t *size) {
+  return returnvalue::OK;
+}

dummies/ExecutableComIfDummy.h

@@ -0,0 +1,21 @@
+#ifndef DUMMIES_EXECUTABLECOMIFDUMMY_H_
+#define DUMMIES_EXECUTABLECOMIFDUMMY_H_
+
+#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/tasks/ExecutableObjectIF.h>
+
+class ExecutableComIfDummy : public ExecutableObjectIF,
+                             public DeviceCommunicationIF,
+                             public SystemObject {
+ public:
+  ExecutableComIfDummy(object_id_t objectId);
+  ReturnValue_t performOperation(uint8_t operationCode = 0) override;
+  ReturnValue_t initializeInterface(CookieIF *cookie) override;
+  ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) override;
+  ReturnValue_t getSendSuccess(CookieIF *cookie) override;
+  ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override;
+  ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) override;
+};
+
+#endif /* DUMMIES_EXECUTABLECOMIFDUMMY_H_ */

dummies/GpsCtrlDummy.cpp

@@ -0,0 +1,36 @@
+#include "GpsCtrlDummy.h"
+
+GpsCtrlDummy::GpsCtrlDummy(object_id_t objectId)
+    : ExtendedControllerBase(objectId, 20), gpsSet(this) {}
+
+ReturnValue_t GpsCtrlDummy::handleCommandMessage(CommandMessage* message) {
+  return returnvalue::OK;
+}
+
+void GpsCtrlDummy::performControlOperation() {}
+
+ReturnValue_t GpsCtrlDummy::checkModeCommand(Mode_t mode, Submode_t submode,
+                                             uint32_t* msToReachTheMode) {
+  return returnvalue::OK;
+}
+
+LocalPoolDataSetBase* GpsCtrlDummy::getDataSetHandle(sid_t sid) { return &gpsSet; }
+
+ReturnValue_t GpsCtrlDummy::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+                                                    LocalDataPoolManager& poolManager) {
+  localDataPoolMap.emplace(GpsHyperion::ALTITUDE, new PoolEntry<double>({537222.3469}, true));
+  localDataPoolMap.emplace(GpsHyperion::LONGITUDE, new PoolEntry<double>({-8.8579}, true));
+  localDataPoolMap.emplace(GpsHyperion::LATITUDE, new PoolEntry<double>({49.5952}, true));
+  localDataPoolMap.emplace(GpsHyperion::SPEED, new PoolEntry<double>({0}));
+  localDataPoolMap.emplace(GpsHyperion::YEAR, new PoolEntry<uint16_t>({2023}, true));
+  localDataPoolMap.emplace(GpsHyperion::MONTH, new PoolEntry<uint8_t>({5}, true));
+  localDataPoolMap.emplace(GpsHyperion::DAY, new PoolEntry<uint8_t>({16}, true));
+  localDataPoolMap.emplace(GpsHyperion::HOURS, new PoolEntry<uint8_t>({1}, true));
+  localDataPoolMap.emplace(GpsHyperion::MINUTES, new PoolEntry<uint8_t>({0}, true));
+  localDataPoolMap.emplace(GpsHyperion::SECONDS, new PoolEntry<uint8_t>({0}, true));
+  localDataPoolMap.emplace(GpsHyperion::UNIX_SECONDS, new PoolEntry<uint32_t>({1684191600}, true));
+  localDataPoolMap.emplace(GpsHyperion::SATS_IN_USE, new PoolEntry<uint8_t>());
+  localDataPoolMap.emplace(GpsHyperion::SATS_IN_VIEW, new PoolEntry<uint8_t>());
+  localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>());
+  return returnvalue::OK;
+}

dummies/GpsCtrlDummy.h

@@ -0,0 +1,23 @@
+#ifndef DUMMIES_GPSCTRLDUMMY_H_
+#define DUMMIES_GPSCTRLDUMMY_H_
+
+#include <fsfw/controller/ExtendedControllerBase.h>
+#include <mission/acs/archive/GPSDefinitions.h>
+
+class GpsCtrlDummy : public ExtendedControllerBase {
+ public:
+  GpsCtrlDummy(object_id_t objectId);
+
+ private:
+  GpsPrimaryDataset gpsSet;
+
+  ReturnValue_t handleCommandMessage(CommandMessage* message) override;
+  void performControlOperation() override;
+  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+                                 uint32_t* msToReachTheMode) override;
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+                                        LocalDataPoolManager& poolManager) override;
+  LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
+};
+
+#endif /* DUMMIES_GPSCTRLDUMMY_H_ */

dummies/GpsDhbDummy.cpp

@@ -1,42 +1,44 @@
-#include "GpsDummy.h"
+#include <dummies/GpsDhbDummy.h>
+#include <mission/acs/archive/GPSDefinitions.h>
 
-#include <mission/devices/devicedefinitions/GPSDefinitions.h>
+GpsDhbDummy::GpsDhbDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
-
-GpsDummy::GpsDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
     : DeviceHandlerBase(objectId, comif, comCookie) {}
 
-GpsDummy::~GpsDummy() {}
+GpsDhbDummy::~GpsDhbDummy() {}
 
-void GpsDummy::doStartUp() {}
+void GpsDhbDummy::doStartUp() {}
 
-void GpsDummy::doShutDown() {}
+void GpsDhbDummy::doShutDown() {}
 
-ReturnValue_t GpsDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }
+ReturnValue_t GpsDhbDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
-
-ReturnValue_t GpsDummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
   return NOTHING_TO_SEND;
 }
 
-ReturnValue_t GpsDummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+ReturnValue_t GpsDhbDummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
-                                                const uint8_t *commandData, size_t commandDataLen) {
+  return NOTHING_TO_SEND;
+}
+
+ReturnValue_t GpsDhbDummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+                                                   const uint8_t *commandData,
+                                                   size_t commandDataLen) {
   return returnvalue::OK;
 }
 
-ReturnValue_t GpsDummy::scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
+ReturnValue_t GpsDhbDummy::scanForReply(const uint8_t *start, size_t len,
-                                     size_t *foundLen) {
+                                        DeviceCommandId_t *foundId, size_t *foundLen) {
   return returnvalue::OK;
 }
 
-ReturnValue_t GpsDummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
+ReturnValue_t GpsDhbDummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
   return returnvalue::OK;
 }
 
-void GpsDummy::fillCommandAndReplyMap() {}
+void GpsDhbDummy::fillCommandAndReplyMap() {}
 
-uint32_t GpsDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
+uint32_t GpsDhbDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
 
-ReturnValue_t GpsDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+ReturnValue_t GpsDhbDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
-                                                LocalDataPoolManager &poolManager) {
+                                                   LocalDataPoolManager &poolManager) {
   localDataPoolMap.emplace(GpsHyperion::LATITUDE, new PoolEntry<double>({0.0}, 1));
   localDataPoolMap.emplace(GpsHyperion::LONGITUDE, new PoolEntry<double>({0.0}, 1));
   localDataPoolMap.emplace(GpsHyperion::ALTITUDE, new PoolEntry<double>({0.0}));

dummies/GpsDhbDummy.h

@@ -0,0 +1,33 @@
+#ifndef DUMMIES_GPSDHBDUMMY_H_
+#define DUMMIES_GPSDHBDUMMY_H_
+
+#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+
+class GpsDhbDummy : public DeviceHandlerBase {
+ public:
+  static const DeviceCommandId_t SIMPLE_COMMAND = 1;
+  static const DeviceCommandId_t PERIODIC_REPLY = 2;
+
+  static const uint8_t SIMPLE_COMMAND_DATA = 1;
+  static const uint8_t PERIODIC_REPLY_DATA = 2;
+
+  GpsDhbDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
+  virtual ~GpsDhbDummy();
+
+ protected:
+  void doStartUp() override;
+  void doShutDown() override;
+  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
+                                        size_t commandDataLen) override;
+  ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
+                             size_t *foundLen) override;
+  ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
+  void fillCommandAndReplyMap() override;
+  uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                        LocalDataPoolManager &poolManager) override;
+};
+
+#endif /* DUMMIES_GPSDHBDUMMY_H_ */

dummies/GyroAdisDummy.cpp

@@ -1,15 +1,15 @@
 #include "GyroAdisDummy.h"
 
-#include "mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h"
+#include <mission/acs/gyroAdisHelpers.h>
 
 GyroAdisDummy::GyroAdisDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
     : DeviceHandlerBase(objectId, comif, comCookie), dataset(this) {}
 
 GyroAdisDummy::~GyroAdisDummy() {}
 
-void GyroAdisDummy::doStartUp() {}
+void GyroAdisDummy::doStartUp() { setMode(MODE_NORMAL); }
 
-void GyroAdisDummy::doShutDown() {}
+void GyroAdisDummy::doShutDown() { setMode(MODE_OFF); }
 
 ReturnValue_t GyroAdisDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
   return NOTHING_TO_SEND;
@@ -40,13 +40,13 @@ uint32_t GyroAdisDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { r
 
 ReturnValue_t GyroAdisDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                      LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(ADIS1650X::ANG_VELOC_X, new PoolEntry<double>({-0.5}, true));
+  localDataPoolMap.emplace(adis1650x::ANG_VELOC_X, new PoolEntry<double>({-0.5}, true));
-  localDataPoolMap.emplace(ADIS1650X::ANG_VELOC_Y, new PoolEntry<double>({0.2}, true));
+  localDataPoolMap.emplace(adis1650x::ANG_VELOC_Y, new PoolEntry<double>({0.2}, true));
-  localDataPoolMap.emplace(ADIS1650X::ANG_VELOC_Z, new PoolEntry<double>({-1.2}, true));
+  localDataPoolMap.emplace(adis1650x::ANG_VELOC_Z, new PoolEntry<double>({-1.2}, true));
-  localDataPoolMap.emplace(ADIS1650X::ACCELERATION_X, new PoolEntry<double>({0.0}));
+  localDataPoolMap.emplace(adis1650x::ACCELERATION_X, new PoolEntry<double>({0.0}));
-  localDataPoolMap.emplace(ADIS1650X::ACCELERATION_Y, new PoolEntry<double>({0.0}));
+  localDataPoolMap.emplace(adis1650x::ACCELERATION_Y, new PoolEntry<double>({0.0}));
-  localDataPoolMap.emplace(ADIS1650X::ACCELERATION_Z, new PoolEntry<double>({0.0}));
+  localDataPoolMap.emplace(adis1650x::ACCELERATION_Z, new PoolEntry<double>({0.0}));
-  localDataPoolMap.emplace(ADIS1650X::TEMPERATURE, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(adis1650x::TEMPERATURE, new PoolEntry<float>({10.0}, true));
 
   return returnvalue::OK;
 }

dummies/GyroAdisDummy.h

@@ -2,8 +2,7 @@
 #define DUMMIES_GYROADISDUMMY_H_
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
-
+#include <mission/acs/gyroAdisHelpers.h>
-#include "mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h"
 
 class GyroAdisDummy : public DeviceHandlerBase {
  public:

dummies/GyroL3GD20Dummy.cpp

@@ -1,15 +1,15 @@
 #include "GyroL3GD20Dummy.h"
 
-#include "fsfw_hal/devicehandlers/devicedefinitions/GyroL3GD20Definitions.h"
+#include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>
 
 GyroL3GD20Dummy::GyroL3GD20Dummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
     : DeviceHandlerBase(objectId, comif, comCookie) {}
 
 GyroL3GD20Dummy::~GyroL3GD20Dummy() {}
 
-void GyroL3GD20Dummy::doStartUp() {}
+void GyroL3GD20Dummy::doStartUp() { setMode(MODE_NORMAL); }
 
-void GyroL3GD20Dummy::doShutDown() {}
+void GyroL3GD20Dummy::doShutDown() { setMode(MODE_OFF); }
 
 ReturnValue_t GyroL3GD20Dummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
   return NOTHING_TO_SEND;
@@ -40,9 +40,9 @@ uint32_t GyroL3GD20Dummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
 
 ReturnValue_t GyroL3GD20Dummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                        LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X, new PoolEntry<float>({1.2}, true));
+  localDataPoolMap.emplace(l3gd20h::ANG_VELOC_X, new PoolEntry<float>({1.2}, true));
-  localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry<float>({-0.1}, true));
+  localDataPoolMap.emplace(l3gd20h::ANG_VELOC_Y, new PoolEntry<float>({-0.1}, true));
-  localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry<float>({0.7}, true));
+  localDataPoolMap.emplace(l3gd20h::ANG_VELOC_Z, new PoolEntry<float>({0.7}, true));
-  localDataPoolMap.emplace(L3GD20H::TEMPERATURE, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(l3gd20h::TEMPERATURE, new PoolEntry<float>({0.0}));
   return returnvalue::OK;
 }

dummies/ImtqDummy.cpp

@@ -1,15 +1,15 @@
 #include "ImtqDummy.h"
 
-#include <mission/devices/devicedefinitions/imtqHandlerDefinitions.h>
+#include <mission/acs/imtqHelpers.h>
 
 ImtqDummy::ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
     : DeviceHandlerBase(objectId, comif, comCookie) {}
 
 ImtqDummy::~ImtqDummy() = default;
 
-void ImtqDummy::doStartUp() {}
+void ImtqDummy::doStartUp() { setMode(MODE_NORMAL); }
 
-void ImtqDummy::doShutDown() {}
+void ImtqDummy::doShutDown() { setMode(_MODE_POWER_DOWN); }
 
 ReturnValue_t ImtqDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }
 
@@ -38,10 +38,12 @@ uint32_t ImtqDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { retur
 
 ReturnValue_t ImtqDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                  LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(IMTQ::MCU_TEMPERATURE, new PoolEntry<int16_t>({0}));
+  localDataPoolMap.emplace(imtq::MCU_TEMPERATURE, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(IMTQ::MGM_CAL_NT, new PoolEntry<float>({0.0, 0.0, 0.0}));
+  localDataPoolMap.emplace(imtq::MGM_CAL_NT, new PoolEntry<float>({0.0, 0.0, 0.0}));
-  localDataPoolMap.emplace(IMTQ::ACTUATION_CAL_STATUS, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(imtq::ACTUATION_CAL_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(IMTQ::MTM_RAW, new PoolEntry<float>({0.12, 0.76, -0.45}, true));
+  localDataPoolMap.emplace(imtq::MTM_RAW, new PoolEntry<float>({0.12, 0.76, -0.45}, true));
-  localDataPoolMap.emplace(IMTQ::ACTUATION_RAW_STATUS, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(imtq::ACTUATION_RAW_STATUS, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(imtq::DIPOLES_ID, new PoolEntry<int16_t>({0, 0, 0}));
+  localDataPoolMap.emplace(imtq::CURRENT_TORQUE_DURATION, new PoolEntry<uint16_t>({0}));
   return DeviceHandlerBase::initializeLocalDataPool(localDataPoolMap, poolManager);
 }

dummies/Max31865Dummy.cpp

@@ -1,5 +1,7 @@
 #include "Max31865Dummy.h"
 
+#include "fsfw/datapool/PoolReadGuard.h"
+
 using namespace returnvalue;
 
 Max31865Dummy::Max31865Dummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
@@ -28,15 +30,20 @@ ReturnValue_t Max31865Dummy::initializeLocalDataPool(localpool::DataPool &localD
                                                      LocalDataPoolManager &poolManager) {
   using namespace MAX31865;
   localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::RTD_VALUE), new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::TEMPERATURE_C), new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::TEMPERATURE_C),
+                           new PoolEntry<float>({10.0}, true));
   localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::LAST_FAULT_BYTE),
                            new PoolEntry<uint8_t>({0}));
   localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::FAULT_BYTE), new PoolEntry<uint8_t>({0}));
   return OK;
 }
 
-void Max31865Dummy::setTemperature(float temperature) {
+void Max31865Dummy::setTemperature(float temperature, bool valid) {
-  set.temperatureCelcius.value = temperature;
+  PoolReadGuard pg(&set);
+  if (pg.getReadResult() == returnvalue::OK) {
+    set.temperatureCelcius.value = temperature;
+    set.setValidity(valid, true);
+  }
 }
 
 LocalPoolDataSetBase *Max31865Dummy::getDataSetHandle(sid_t sid) { return &set; }

dummies/Max31865Dummy.h

@@ -1,15 +1,16 @@
 #ifndef EIVE_OBSW_MAX31865DUMMY_H
 #define EIVE_OBSW_MAX31865DUMMY_H
 
+#include <mission/tcs/Max31865Definitions.h>
+
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
-#include "mission/devices/devicedefinitions/Max31865Definitions.h"
 
 class Max31865Dummy : public DeviceHandlerBase {
  public:
   Max31865Dummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
   Max31865Dummy(object_id_t objectId, CookieIF *comCookie);
 
-  void setTemperature(float temperature);
+  void setTemperature(float temperature, bool setValid);
 
  private:
   MAX31865::PrimarySet set;

dummies/MgmLIS3MDLDummy.cpp

@@ -1,15 +1,15 @@
 #include "MgmLIS3MDLDummy.h"
 
-#include "fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h"
+#include <fsfw_hal/devicehandlers/devicedefinitions/mgmLis3Helpers.h>
 
 MgmLIS3MDLDummy::MgmLIS3MDLDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
     : DeviceHandlerBase(objectId, comif, comCookie), dataset(this) {}
 
 MgmLIS3MDLDummy::~MgmLIS3MDLDummy() {}
 
-void MgmLIS3MDLDummy::doStartUp() {}
+void MgmLIS3MDLDummy::doStartUp() { setMode(MODE_NORMAL); }
 
-void MgmLIS3MDLDummy::doShutDown() {}
+void MgmLIS3MDLDummy::doShutDown() { setMode(MODE_OFF); }
 
 ReturnValue_t MgmLIS3MDLDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
   return NOTHING_TO_SEND;
@@ -40,8 +40,8 @@ uint32_t MgmLIS3MDLDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
 
 ReturnValue_t MgmLIS3MDLDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                        LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(mgmLis3::TEMPERATURE_CELCIUS, new PoolEntry<float>({10.0}, true));
-  localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTHS,
+  localDataPoolMap.emplace(mgmLis3::FIELD_STRENGTHS,
                            new PoolEntry<float>({1.02, 0.56, -0.78}, true));
   return returnvalue::OK;
 }

dummies/MgmLIS3MDLDummy.h

@@ -2,8 +2,7 @@
 #define DUMMIES_MGMLIS3MDLDUMMY_H_
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
-
+#include <fsfw_hal/devicehandlers/devicedefinitions/mgmLis3Helpers.h>
-#include "fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h"
 
 class MgmLIS3MDLDummy : public DeviceHandlerBase {
  public:
@@ -17,7 +16,7 @@ class MgmLIS3MDLDummy : public DeviceHandlerBase {
   virtual ~MgmLIS3MDLDummy();
 
  protected:
-  MGMLIS3MDL::MgmPrimaryDataset dataset;
+  mgmLis3::MgmPrimaryDataset dataset;
   void doStartUp() override;
   void doShutDown() override;
   ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;

dummies/MgmRm3100Dummy.cpp

@@ -7,18 +7,22 @@ MgmRm3100Dummy::MgmRm3100Dummy(object_id_t objectId, object_id_t comif, CookieIF
 
 MgmRm3100Dummy::~MgmRm3100Dummy() = default;
 
-void MgmRm3100Dummy::doStartUp() {}
+void MgmRm3100Dummy::doStartUp() { setMode(MODE_NORMAL); }
 
-void MgmRm3100Dummy::doShutDown() {}
+void MgmRm3100Dummy::doShutDown() { setMode(MODE_OFF); }
 
-ReturnValue_t MgmRm3100Dummy::buildNormalDeviceCommand(DeviceCommandId_t* id) { return OK; }
+ReturnValue_t MgmRm3100Dummy::buildNormalDeviceCommand(DeviceCommandId_t* id) {
+  return NOTHING_TO_SEND;
+}
 
-ReturnValue_t MgmRm3100Dummy::buildTransitionDeviceCommand(DeviceCommandId_t* id) { return OK; }
+ReturnValue_t MgmRm3100Dummy::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
+  return NOTHING_TO_SEND;
+}
 
 ReturnValue_t MgmRm3100Dummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
                                                       const uint8_t* commandData,
                                                       size_t commandDataLen) {
-  return OK;
+  return NOTHING_TO_SEND;
 }
 
 ReturnValue_t MgmRm3100Dummy::scanForReply(const uint8_t* start, size_t len,
@@ -36,7 +40,7 @@ uint32_t MgmRm3100Dummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
 
 ReturnValue_t MgmRm3100Dummy::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                       LocalDataPoolManager& poolManager) {
-  localDataPoolMap.emplace(RM3100::FIELD_STRENGTHS,
+  localDataPoolMap.emplace(mgmRm3100::FIELD_STRENGTHS,
                            new PoolEntry<float>({0.87, -0.95, 0.11}, true));
   return returnvalue::OK;
 }

dummies/MgmRm3100Dummy.h

@@ -1,8 +1,9 @@
 #ifndef DUMMIES_MGMRM3100DUMMY_H_
 #define DUMMIES_MGMRM3100DUMMY_H_
 
+#include <fsfw_hal/devicehandlers/devicedefinitions/mgmRm3100Helpers.h>
+
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
-#include "fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h"
 
 class MgmRm3100Dummy : public DeviceHandlerBase {
  public:
@@ -10,7 +11,7 @@ class MgmRm3100Dummy : public DeviceHandlerBase {
   virtual ~MgmRm3100Dummy();
 
  protected:
-  RM3100::Rm3100PrimaryDataset dataset;
+  mgmRm3100::Rm3100PrimaryDataset dataset;
   void doStartUp() override;
   void doShutDown() override;
   ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;

dummies/P60DockDummy.cpp

@@ -1,15 +1,17 @@
 #include "P60DockDummy.h"
 
-#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
+#include <mission/power/gsDefs.h>
+
+#include "fsfw/datapool/PoolReadGuard.h"
 
 P60DockDummy::P60DockDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
     : DeviceHandlerBase(objectId, comif, comCookie) {}
 
 P60DockDummy::~P60DockDummy() {}
 
-void P60DockDummy::doStartUp() {}
+void P60DockDummy::doStartUp() { setMode(MODE_NORMAL); }
 
-void P60DockDummy::doShutDown() {}
+void P60DockDummy::doShutDown() { setMode(MODE_OFF); }
 
 ReturnValue_t P60DockDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
   return NOTHING_TO_SEND;
@@ -40,7 +42,9 @@ uint32_t P60DockDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { re
 
 ReturnValue_t P60DockDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                     LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(P60Dock::pool::P60DOCK_TEMPERATURE_1, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(P60Dock::pool::P60DOCK_TEMPERATURE_1,
-  localDataPoolMap.emplace(P60Dock::pool::P60DOCK_TEMPERATURE_2, new PoolEntry<float>({0}));
+                           new PoolEntry<float>({10.0}, true));
+  localDataPoolMap.emplace(P60Dock::pool::P60DOCK_TEMPERATURE_2,
+                           new PoolEntry<float>({10.0}, true));
   return returnvalue::OK;
 }

dummies/P60DockDummy.h

@@ -3,6 +3,8 @@
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 
+#include "mission/power/gsDefs.h"
+
 class P60DockDummy : public DeviceHandlerBase {
  public:
   static const DeviceCommandId_t SIMPLE_COMMAND = 1;
@@ -15,6 +17,8 @@ class P60DockDummy : public DeviceHandlerBase {
   virtual ~P60DockDummy();
 
  protected:
+  lp_var_t<float> temp1 = lp_var_t<float>(this, P60Dock::pool::P60DOCK_TEMPERATURE_1);
+  lp_var_t<float> temp2 = lp_var_t<float>(this, P60Dock::pool::P60DOCK_TEMPERATURE_2);
   void doStartUp() override;
   void doShutDown() override;
   ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;

dummies/PcduHandlerDummy.cpp

@@ -0,0 +1,82 @@
+#include "PcduHandlerDummy.h"
+
+#include <fsfw/ipc/QueueFactory.h>
+#include <mission/power/gsDefs.h>
+
+#include "mission/power/defs.h"
+
+PcduHandlerDummy::PcduHandlerDummy(object_id_t objectId)
+    : SystemObject(objectId), manager(this, nullptr), dummySwitcher(objectId, 18, 18, false) {
+  switcherLock = MutexFactory::instance()->createMutex();
+  queue = QueueFactory::instance()->createMessageQueue(20);
+}
+
+PcduHandlerDummy::~PcduHandlerDummy() {}
+
+ReturnValue_t PcduHandlerDummy::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+                                                        LocalDataPoolManager& poolManager) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t PcduHandlerDummy::sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) {
+  if (onOff == SWITCH_ON) {
+    triggerEvent(power::SWITCH_CMD_SENT, true, switchNr);
+  } else {
+    triggerEvent(power::SWITCH_CMD_SENT, false, switchNr);
+  }
+  {
+    MutexGuard mg(switcherLock);
+    // To simulate a real PCDU, remember the switch change to trigger a SWITCH_HAS_CHANGED event
+    // at a later stage.
+    switchChangeArray[switchNr] = true;
+  }
+  return dummySwitcher.sendSwitchCommand(switchNr, onOff);
+}
+
+ReturnValue_t PcduHandlerDummy::sendFuseOnCommand(uint8_t fuseNr) {
+  return dummySwitcher.sendFuseOnCommand(fuseNr);
+}
+
+ReturnValue_t PcduHandlerDummy::getSwitchState(power::Switch_t switchNr) const {
+  return dummySwitcher.getSwitchState(switchNr);
+}
+
+ReturnValue_t PcduHandlerDummy::getFuseState(uint8_t fuseNr) const {
+  return dummySwitcher.getFuseState(fuseNr);
+}
+
+uint32_t PcduHandlerDummy::getSwitchDelayMs(void) const { return dummySwitcher.getSwitchDelayMs(); }
+
+ReturnValue_t PcduHandlerDummy::performOperation(uint8_t opCode) {
+  // TODO: Handle HK messages in queue.
+  SwitcherBoolArray switcherChangeCopy{};
+  {
+    MutexGuard mg(switcherLock);
+    std::memcpy(switcherChangeCopy.data(), switchChangeArray.data(), switchChangeArray.size());
+  }
+  for (uint8_t idx = 0; idx < switcherChangeCopy.size(); idx++) {
+    if (switcherChangeCopy[idx]) {
+      if (dummySwitcher.getSwitchState(idx) == PowerSwitchIF::SWITCH_ON) {
+        triggerEvent(power::SWITCH_HAS_CHANGED, true, idx);
+      } else {
+        triggerEvent(power::SWITCH_HAS_CHANGED, false, idx);
+      }
+      MutexGuard mg(switcherLock);
+      switchChangeArray[idx] = false;
+    }
+  }
+  return returnvalue::OK;
+}
+
+object_id_t PcduHandlerDummy::getObjectId() const { return SystemObject::getObjectId(); }
+
+MessageQueueId_t PcduHandlerDummy::getCommandQueue() const { return queue->getId(); }
+
+dur_millis_t PcduHandlerDummy::getPeriodicOperationFrequency() const {
+  // TODO: dummy value. Retrieve from intiitalize after task creation..
+  return 400;
+}
+
+LocalDataPoolManager* PcduHandlerDummy::getHkManagerHandle() { return &manager; }
+
+LocalPoolDataSetBase* PcduHandlerDummy::getDataSetHandle(sid_t sid) { return nullptr; }

dummies/PcduHandlerDummy.h

@@ -0,0 +1,62 @@
+#pragma once
+
+#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include <fsfw/power/DummyPowerSwitcher.h>
+
+class PcduHandlerDummy : public PowerSwitchIF,
+                         public HasLocalDataPoolIF,
+                         public SystemObject,
+                         public ExecutableObjectIF {
+ public:
+  static const DeviceCommandId_t SIMPLE_COMMAND = 1;
+  static const DeviceCommandId_t PERIODIC_REPLY = 2;
+
+  static const uint8_t SIMPLE_COMMAND_DATA = 1;
+  static const uint8_t PERIODIC_REPLY_DATA = 2;
+
+  PcduHandlerDummy(object_id_t objectId);
+  virtual ~PcduHandlerDummy();
+
+ protected:
+  MessageQueueIF* queue;
+  LocalDataPoolManager manager;
+  MutexIF* switcherLock;
+  DummyPowerSwitcher dummySwitcher;
+  using SwitcherBoolArray = std::array<bool, 18>;
+
+  ReturnValue_t performOperation(uint8_t opCode) override;
+  SwitcherBoolArray switchChangeArray{};
+
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+                                        LocalDataPoolManager& poolManager) override;
+
+  ReturnValue_t sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) override;
+  ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) override;
+  ReturnValue_t getSwitchState(power::Switch_t switchNr) const override;
+  ReturnValue_t getFuseState(uint8_t fuseNr) const override;
+  uint32_t getSwitchDelayMs(void) const override;
+
+  object_id_t getObjectId() const override;
+
+  /** Command queue for housekeeping messages. */
+  MessageQueueId_t getCommandQueue() const override;
+
+  dur_millis_t getPeriodicOperationFrequency() const override;
+
+  /**
+   * Every class implementing this interface should have a local data pool manager. This
+   * function will return a reference to the manager.
+   * @return
+   */
+  LocalDataPoolManager* getHkManagerHandle() override;
+
+  /**
+   * This function is used by the pool manager to get a valid dataset
+   * from a SID. This function is protected to prevent users from
+   * using raw data set pointers which could not be thread-safe. Users
+   * should use the #ProvidesDataPoolSubscriptionIF.
+   * @param sid Corresponding structure ID
+   * @return
+   */
+  LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
+};

dummies/PduDummy.cpp

@@ -1,15 +1,16 @@
 #include "PduDummy.h"
 
-#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
+#include <mission/power/gsDefs.h>
 
 PduDummy::PduDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
-    : DeviceHandlerBase(objectId, comif, comCookie) {}
+    : DeviceHandlerBase(objectId, comif, comCookie),
+      coreHk(this, static_cast<uint32_t>(P60System::SetIds::CORE)) {}
 
 PduDummy::~PduDummy() {}
 
-void PduDummy::doStartUp() {}
+void PduDummy::doStartUp() { setMode(MODE_NORMAL); }
 
-void PduDummy::doShutDown() {}
+void PduDummy::doShutDown() { setMode(MODE_OFF); }
 
 ReturnValue_t PduDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }
 
@@ -37,6 +38,8 @@ uint32_t PduDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return
 
 ReturnValue_t PduDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                 LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(PDU::pool::PDU_TEMPERATURE, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(PDU::pool::PDU_TEMPERATURE, new PoolEntry<float>({10.0}, true));
+  localDataPoolMap.emplace(PDU::pool::PDU_VOLTAGES, &pduVoltages);
+  localDataPoolMap.emplace(PDU::pool::PDU_CURRENTS, &pduCurrents);
   return returnvalue::OK;
 }

dummies/PduDummy.h

@@ -2,6 +2,7 @@
 #define DUMMIES_PDUDUMMY_H_
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include <mission/power/gsDefs.h>
 
 class PduDummy : public DeviceHandlerBase {
  public:
@@ -15,6 +16,10 @@ class PduDummy : public DeviceHandlerBase {
   virtual ~PduDummy();
 
  protected:
+  PDU::PduCoreHk coreHk;
+  PoolEntry<int16_t> pduVoltages = PoolEntry<int16_t>(9);
+  PoolEntry<int16_t> pduCurrents = PoolEntry<int16_t>(9);
+
   void doStartUp() override;
   void doShutDown() override;
   ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;

dummies/PlPcduDummy.cpp

@@ -1,15 +1,15 @@
 #include "PlPcduDummy.h"
 
-#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
+#include <mission/power/gsDefs.h>
 
 PlPcduDummy::PlPcduDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
     : DeviceHandlerBase(objectId, comif, comCookie) {}
 
 PlPcduDummy::~PlPcduDummy() {}
 
-void PlPcduDummy::doStartUp() {}
+void PlPcduDummy::doStartUp() { setMode(MODE_NORMAL); }
 
-void PlPcduDummy::doShutDown() {}
+void PlPcduDummy::doShutDown() { setMode(MODE_OFF); }
 
 ReturnValue_t PlPcduDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
   return NOTHING_TO_SEND;
@@ -40,6 +40,6 @@ uint32_t PlPcduDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { ret
 
 ReturnValue_t PlPcduDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                    LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(plpcdu::PlPcduPoolIds::TEMP, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(plpcdu::PlPcduPoolIds::TEMP, new PoolEntry<float>({0.0}, true));
   return returnvalue::OK;
 }

dummies/PlPcduDummy.h

@@ -2,7 +2,7 @@
 #define DUMMIES_PLPCDUDUMMY_H_
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
-#include <mission/devices/devicedefinitions/payloadPcduDefinitions.h>
+#include <mission/payload/payloadPcduDefinitions.h>
 
 class PlPcduDummy : public DeviceHandlerBase {
  public:

dummies/PlocMpsocDummy.cpp

@@ -0,0 +1,42 @@
+#include "PlocMpsocDummy.h"
+
+PlocMpsocDummy::PlocMpsocDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
+    : DeviceHandlerBase(objectId, comif, comCookie) {}
+
+PlocMpsocDummy::~PlocMpsocDummy() {}
+
+void PlocMpsocDummy::doStartUp() { setMode(MODE_ON); }
+
+void PlocMpsocDummy::doShutDown() { setMode(MODE_OFF); }
+
+ReturnValue_t PlocMpsocDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
+
+ReturnValue_t PlocMpsocDummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
+
+ReturnValue_t PlocMpsocDummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+                                                      const uint8_t *commandData,
+                                                      size_t commandDataLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t PlocMpsocDummy::scanForReply(const uint8_t *start, size_t len,
+                                           DeviceCommandId_t *foundId, size_t *foundLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t PlocMpsocDummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
+  return returnvalue::OK;
+}
+
+void PlocMpsocDummy::fillCommandAndReplyMap() {}
+
+uint32_t PlocMpsocDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
+
+ReturnValue_t PlocMpsocDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                                      LocalDataPoolManager &poolManager) {
+  return returnvalue::OK;
+}

dummies/PlocMpsocDummy.h

@@ -1,9 +1,10 @@
-#ifndef DUMMIES_GPSDUMMY_H_
+#pragma once
-#define DUMMIES_GPSDUMMY_H_
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 
-class GpsDummy : public DeviceHandlerBase {
+#include "mission/power/defs.h"
+
+class PlocMpsocDummy : public DeviceHandlerBase {
  public:
   static const DeviceCommandId_t SIMPLE_COMMAND = 1;
   static const DeviceCommandId_t PERIODIC_REPLY = 2;
@@ -11,8 +12,8 @@ class GpsDummy : public DeviceHandlerBase {
   static const uint8_t SIMPLE_COMMAND_DATA = 1;
   static const uint8_t PERIODIC_REPLY_DATA = 2;
 
-  GpsDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
+  PlocMpsocDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
-  virtual ~GpsDummy();
+  virtual ~PlocMpsocDummy();
 
  protected:
   void doStartUp() override;
@@ -29,5 +30,3 @@ class GpsDummy : public DeviceHandlerBase {
   ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                         LocalDataPoolManager &poolManager) override;
 };
-
-#endif /* DUMMIES_GPSDUMMY_H_ */

dummies/PlocSupervisorDummy.cpp

@@ -0,0 +1,53 @@
+#include "PlocSupervisorDummy.h"
+
+PlocSupervisorDummy::PlocSupervisorDummy(object_id_t objectId, object_id_t comif,
+                                         CookieIF *comCookie, PowerSwitchIF &pwrSwitcher)
+    : DeviceHandlerBase(objectId, comif, comCookie) {
+  setPowerSwitcher(&pwrSwitcher);
+}
+
+PlocSupervisorDummy::~PlocSupervisorDummy() {}
+
+void PlocSupervisorDummy::doStartUp() { setMode(MODE_ON); }
+
+void PlocSupervisorDummy::doShutDown() { setMode(_MODE_POWER_DOWN); }
+
+ReturnValue_t PlocSupervisorDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
+
+ReturnValue_t PlocSupervisorDummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
+
+ReturnValue_t PlocSupervisorDummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+                                                           const uint8_t *commandData,
+                                                           size_t commandDataLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t PlocSupervisorDummy::scanForReply(const uint8_t *start, size_t len,
+                                                DeviceCommandId_t *foundId, size_t *foundLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t PlocSupervisorDummy::interpretDeviceReply(DeviceCommandId_t id,
+                                                        const uint8_t *packet) {
+  return returnvalue::OK;
+}
+
+void PlocSupervisorDummy::fillCommandAndReplyMap() {}
+
+uint32_t PlocSupervisorDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
+
+ReturnValue_t PlocSupervisorDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                                           LocalDataPoolManager &poolManager) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t PlocSupervisorDummy::getSwitches(const uint8_t **switches,
+                                               uint8_t *numberOfSwitches) {
+  *numberOfSwitches = 1;
+  *switches = reinterpret_cast<const uint8_t *>(&switchId);
+  return returnvalue::OK;
+}

dummies/PlocSupervisorDummy.h

@@ -0,0 +1,35 @@
+#pragma once
+
+#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include <mission/power/defs.h>
+
+class PlocSupervisorDummy : public DeviceHandlerBase {
+ public:
+  static const DeviceCommandId_t SIMPLE_COMMAND = 1;
+  static const DeviceCommandId_t PERIODIC_REPLY = 2;
+
+  static const uint8_t SIMPLE_COMMAND_DATA = 1;
+  static const uint8_t PERIODIC_REPLY_DATA = 2;
+
+  PlocSupervisorDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie,
+                      PowerSwitchIF &pwrSwitcher);
+  virtual ~PlocSupervisorDummy();
+
+ protected:
+  const power::Switches switchId = power::Switches::PDU1_CH6_PLOC_12V;
+
+  void doStartUp() override;
+  void doShutDown() override;
+  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
+                                        size_t commandDataLen) override;
+  ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
+                             size_t *foundLen) override;
+  ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
+  void fillCommandAndReplyMap() override;
+  uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                        LocalDataPoolManager &poolManager) override;
+  ReturnValue_t getSwitches(const uint8_t **switches, uint8_t *numberOfSwitches) override;
+};

dummies/RwDummy.cpp

@@ -1,15 +1,15 @@
 #include "RwDummy.h"
 
-#include <mission/devices/devicedefinitions/RwDefinitions.h>
+#include <mission/acs/rwHelpers.h>
 
 RwDummy::RwDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
     : DeviceHandlerBase(objectId, comif, comCookie) {}
 
 RwDummy::~RwDummy() {}
 
-void RwDummy::doStartUp() {}
+void RwDummy::doStartUp() { setMode(MODE_ON); }
 
-void RwDummy::doShutDown() {}
+void RwDummy::doShutDown() { setMode(MODE_OFF); }
 
 ReturnValue_t RwDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }
 
@@ -37,39 +37,42 @@ uint32_t RwDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return
 
 ReturnValue_t RwDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(RwDefinitions::TEMPERATURE_C, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::RW_SPEED, &rwSpeed);
+  localDataPoolMap.emplace(rws::RAMP_TIME, &rampTime);
 
-  localDataPoolMap.emplace(RwDefinitions::CURR_SPEED, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::TEMPERATURE_C, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::REFERENCE_SPEED, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::STATE, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::CLC_MODE, new PoolEntry<uint8_t>({0}));
 
-  localDataPoolMap.emplace(RwDefinitions::LAST_RESET_STATUS, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::CURR_SPEED, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::CURRRENT_RESET_STATUS, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::REFERENCE_SPEED, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::STATE, new PoolEntry<uint8_t>({1}, true));
+  localDataPoolMap.emplace(rws::CLC_MODE, new PoolEntry<uint8_t>({0}));
 
-  localDataPoolMap.emplace(RwDefinitions::TM_LAST_RESET_STATUS, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::LAST_RESET_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::TM_MCU_TEMPERATURE, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::CURRRENT_RESET_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::PRESSURE_SENSOR_TEMPERATURE, new PoolEntry<float>({0}));
+
-  localDataPoolMap.emplace(RwDefinitions::PRESSURE, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(rws::TM_LAST_RESET_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::TM_RW_STATE, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::TM_MCU_TEMPERATURE, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::TM_CLC_MODE, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::PRESSURE_SENSOR_TEMPERATURE, new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(RwDefinitions::TM_RW_CURR_SPEED, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::PRESSURE, new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(RwDefinitions::TM_RW_REF_SPEED, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::TM_RW_STATE, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::INVALID_CRC_PACKETS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::TM_CLC_MODE, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::INVALID_LEN_PACKETS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::TM_RW_CURR_SPEED, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::INVALID_CMD_PACKETS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::TM_RW_REF_SPEED, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::EXECUTED_REPLIES, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::INVALID_CRC_PACKETS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::COMMAND_REPLIES, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::INVALID_LEN_PACKETS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_BYTES_WRITTEN, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::INVALID_CMD_PACKETS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_BYTES_READ, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::EXECUTED_REPLIES, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_PARITY_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::COMMAND_REPLIES, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_NOISE_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_BYTES_WRITTEN, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_FRAME_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_BYTES_READ, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_PARITY_ERRORS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_NOISE_ERRORS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::SPI_BYTES_WRITTEN, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_FRAME_ERRORS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::SPI_BYTES_READ, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::SPI_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::SPI_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::SPI_BYTES_WRITTEN, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::SPI_BYTES_READ, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::SPI_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::SPI_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
   return returnvalue::OK;
 }

dummies/RwDummy.h

@@ -15,6 +15,9 @@ class RwDummy : public DeviceHandlerBase {
   virtual ~RwDummy();
 
  protected:
+  PoolEntry<int32_t> rwSpeed = PoolEntry<int32_t>({0});
+  PoolEntry<uint16_t> rampTime = PoolEntry<uint16_t>({10});
+
   void doStartUp() override;
   void doShutDown() override;
   ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;

dummies/ScexDummy.cpp

@@ -0,0 +1,40 @@
+#include "ScexDummy.h"
+
+ScexDummy::ScexDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
+    : DeviceHandlerBase(objectId, comif, comCookie) {}
+
+ScexDummy::~ScexDummy() {}
+
+void ScexDummy::doStartUp() { setMode(MODE_ON); }
+
+void ScexDummy::doShutDown() { setMode(MODE_OFF); }
+
+ReturnValue_t ScexDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }
+
+ReturnValue_t ScexDummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
+
+ReturnValue_t ScexDummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+                                                 const uint8_t *commandData,
+                                                 size_t commandDataLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t ScexDummy::scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
+                                      size_t *foundLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t ScexDummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
+  return returnvalue::OK;
+}
+
+void ScexDummy::fillCommandAndReplyMap() {}
+
+uint32_t ScexDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
+
+ReturnValue_t ScexDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                                 LocalDataPoolManager &poolManager) {
+  return returnvalue::OK;
+}

dummies/ScexDummy.h

@@ -0,0 +1,30 @@
+#pragma once
+
+#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+
+class ScexDummy : public DeviceHandlerBase {
+ public:
+  static const DeviceCommandId_t SIMPLE_COMMAND = 1;
+  static const DeviceCommandId_t PERIODIC_REPLY = 2;
+
+  static const uint8_t SIMPLE_COMMAND_DATA = 1;
+  static const uint8_t PERIODIC_REPLY_DATA = 2;
+
+  ScexDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
+  virtual ~ScexDummy();
+
+ protected:
+  void doStartUp() override;
+  void doShutDown() override;
+  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
+                                        size_t commandDataLen) override;
+  ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
+                             size_t *foundLen) override;
+  ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
+  void fillCommandAndReplyMap() override;
+  uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                        LocalDataPoolManager &poolManager) override;
+};

dummies/StarTrackerDummy.cpp

@@ -1,15 +1,15 @@
 #include "StarTrackerDummy.h"
 
-#include <linux/devices/devicedefinitions/StarTrackerDefinitions.h>
+#include <mission/acs/str/strHelpers.h>
 
 StarTrackerDummy::StarTrackerDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
     : DeviceHandlerBase(objectId, comif, comCookie) {}
 
 StarTrackerDummy::~StarTrackerDummy() {}
 
-void StarTrackerDummy::doStartUp() {}
+void StarTrackerDummy::doStartUp() { setMode(MODE_ON); }
 
-void StarTrackerDummy::doShutDown() {}
+void StarTrackerDummy::doShutDown() { setMode(_MODE_POWER_DOWN); }
 
 ReturnValue_t StarTrackerDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
   return NOTHING_TO_SEND;
@@ -40,7 +40,7 @@ uint32_t StarTrackerDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo)
 
 ReturnValue_t StarTrackerDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                         LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(startracker::MCU_TEMPERATURE, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(startracker::MCU_TEMPERATURE, new PoolEntry<float>({10.0}, true));
 
   localDataPoolMap.emplace(startracker::TICKS_SOLUTION_SET, new PoolEntry<uint32_t>({0}));
   localDataPoolMap.emplace(startracker::TIME_SOLUTION_SET, new PoolEntry<uint64_t>({0}));
@@ -64,6 +64,7 @@ ReturnValue_t StarTrackerDummy::initializeLocalDataPool(localpool::DataPool &loc
   localDataPoolMap.emplace(startracker::LISA_NR_CLOSE, new PoolEntry<uint8_t>({0}));
   localDataPoolMap.emplace(startracker::TRUST_WORTHY, new PoolEntry<uint8_t>({0}));
   localDataPoolMap.emplace(startracker::STABLE_COUNT, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(startracker::STR_MODE, new PoolEntry<uint8_t>({0}));
   localDataPoolMap.emplace(startracker::SOLUTION_STRATEGY, new PoolEntry<uint8_t>({0}));
   return returnvalue::OK;
 }

dummies/SusDummy.cpp

@@ -5,9 +5,9 @@ SusDummy::SusDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
 
 SusDummy::~SusDummy() {}
 
-void SusDummy::doStartUp() {}
+void SusDummy::doStartUp() { setMode(MODE_NORMAL); }
 
-void SusDummy::doShutDown() {}
+void SusDummy::doShutDown() { setMode(MODE_OFF); }
 
 ReturnValue_t SusDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }
 
@@ -35,9 +35,10 @@ uint32_t SusDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return
 
 ReturnValue_t SusDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                 LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(SUS::SusPoolIds::TEMPERATURE_C, new PoolEntry<float>({0}, 1, true));
+  localDataPoolMap.emplace(susMax1227::SusPoolIds::TEMPERATURE_C,
-  localDataPoolMap.emplace(SUS::SusPoolIds::CHANNEL_VEC,
+                           new PoolEntry<float>({0}, 1, true));
-                           new PoolEntry<uint16_t>({0, 0, 0, 0, 0, 0}, true));
+  localDataPoolMap.emplace(susMax1227::SusPoolIds::CHANNEL_VEC,
+                           new PoolEntry<uint16_t>({2603, 781, 2760, 2048, 4056, 0}, true));
 
   return returnvalue::OK;
 }

dummies/SusDummy.h

@@ -2,8 +2,7 @@
 #define DUMMIES_SUSDUMMY_H_
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
-
+#include <mission/acs/susMax1227Helpers.h>
-#include "mission/devices/devicedefinitions/SusDefinitions.h"
 
 class SusDummy : public DeviceHandlerBase {
  public:
@@ -17,7 +16,7 @@ class SusDummy : public DeviceHandlerBase {
   virtual ~SusDummy();
 
  protected:
-  SUS::SusDataset susSet;
+  susMax1227::SusDataset susSet;
   void doStartUp() override;
   void doShutDown() override;
   ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;

dummies/SyrlinksDummy.cpp

@@ -1,6 +1,6 @@
 #include "SyrlinksDummy.h"
 
-#include <mission/devices/devicedefinitions/SyrlinksDefinitions.h>
+#include <mission/com/syrlinksDefs.h>
 
 SyrlinksDummy::SyrlinksDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
     : DeviceHandlerBase(objectId, comif, comCookie) {}
@@ -40,7 +40,7 @@ uint32_t SyrlinksDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { r
 
 ReturnValue_t SyrlinksDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                      LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(syrlinks::TEMP_BASEBAND_BOARD, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(syrlinks::TEMP_BASEBAND_BOARD, new PoolEntry<float>({10}, true));
-  localDataPoolMap.emplace(syrlinks::TEMP_POWER_AMPLIFIER, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(syrlinks::TEMP_POWER_AMPLIFIER, new PoolEntry<float>({10}, true));
   return returnvalue::OK;
 }

dummies/TemperatureSensorInserter.cpp

@@ -1,5 +1,6 @@
 #include "TemperatureSensorInserter.h"
 
+#include <fsfw/datapool/PoolReadGuard.h>
 #include <objects/systemObjectList.h>
 
 #include <cmath>
@@ -9,32 +10,104 @@
 TemperatureSensorInserter::TemperatureSensorInserter(object_id_t objectId,
                                                      Max31865DummyMap tempSensorDummies_,
                                                      Tmp1075DummyMap tempTmpSensorDummies_)
-    : SystemObject(objects::THERMAL_TEMP_INSERTER),
+    : SystemObject(objectId),
       max31865DummyMap(std::move(tempSensorDummies_)),
       tmp1075DummyMap(std::move(tempTmpSensorDummies_)) {}
 
 ReturnValue_t TemperatureSensorInserter::initialize() {
-  if (performTest) {
+  testCase = TestCase::NONE;
-    if (testCase == TestCase::COOL_SYRLINKS) {
-    }
-  }
   return returnvalue::OK;
 }
 
 ReturnValue_t TemperatureSensorInserter::performOperation(uint8_t opCode) {
-  /*
+  // TODO: deviceSensors
-  ReturnValue_t result = max31865PlocHeatspreaderSet.read();
+  if (not tempsWereInitialized) {
-  if (result != returnvalue::OK) {
+    for (auto& rtdDummy : max31865DummyMap) {
-    sif::warning << "Failed to read temperature from MAX31865 dataset" << std::endl;
+      rtdDummy.second->setTemperature(10, true);
+    }
+    for (auto& tmpDummy : tmp1075DummyMap) {
+      tmpDummy.second->setTemperature(10, true);
+    }
+    tempsWereInitialized = true;
   }
-  max31865PlocHeatspreaderSet.rtdValue = value - 5;
+
-  max31865PlocHeatspreaderSet.temperatureCelcius = value;
+  switch (testCase) {
-  if ((iteration % 100) < 20) {
+    case (TestCase::NONE): {
-    max31865PlocHeatspreaderSet.setValidity(false, true);
+      break;
-  } else {
+    }
-    max31865PlocHeatspreaderSet.setValidity(true, true);
+    case (TestCase::COLD_SYRLINKS): {
+      // TODO: How do I insert this?
+      // Does not work on EM, where a real syrlinks device is connected.
+      if (cycles == 15) {
+        lp_var_t<float> tempSyrlinksBasebandBoard =
+            lp_var_t<float>(objects::SYRLINKS_HANDLER, syrlinks::TEMP_BASEBAND_BOARD);
+        PoolReadGuard pg(&tempSyrlinksBasebandBoard);
+        tempSyrlinksBasebandBoard.value = -50;
+      }
+      if (cycles == 30) {
+        lp_var_t<float> tempSyrlinksBasebandBoard =
+            lp_var_t<float>(objects::SYRLINKS_HANDLER, syrlinks::TEMP_BASEBAND_BOARD);
+        PoolReadGuard pg(&tempSyrlinksBasebandBoard);
+        tempSyrlinksBasebandBoard.value = 0;
+      }
+      break;
+    }
+    case (TestCase::COLD_HPA): {
+      if (cycles == 15) {
+        sif::debug << "Setting cold HPA temperature" << std::endl;
+        max31865DummyMap[objects::RTD_9_IC12_HPA]->setTemperature(-60, true);
+      }
+      if (cycles == 30) {
+        sif::debug << "Setting HPA temperature back to normal" << std::endl;
+        max31865DummyMap[objects::RTD_9_IC12_HPA]->setTemperature(0, true);
+      }
+      break;
+    }
+    case (TestCase::COLD_MGT): {
+      if (cycles == 15) {
+        sif::debug << "Setting cold MGT temperature" << std::endl;
+        max31865DummyMap[objects::RTD_15_IC18_IMTQ]->setTemperature(-60, true);
+      }
+      if (cycles == 30) {
+        sif::debug << "Setting MGT temperature back to normal" << std::endl;
+        max31865DummyMap[objects::RTD_15_IC18_IMTQ]->setTemperature(0, true);
+      }
+      break;
+    }
+    case (TestCase::COLD_STR):
+    case (TestCase::COLD_STR_CONSECUTIVE): {
+      if (cycles == 15) {
+        sif::debug << "Setting cold STR temperature" << std::endl;
+        max31865DummyMap[objects::RTD_4_IC7_STARTRACKER]->setTemperature(-40, true);
+      }
+      if (cycles == 30) {
+        sif::debug << "Setting STR temperature back to normal" << std::endl;
+        max31865DummyMap[objects::RTD_4_IC7_STARTRACKER]->setTemperature(0, true);
+      }
+      if (testCase == TestCase::COLD_STR_CONSECUTIVE) {
+        if (cycles == 45) {
+          sif::debug << "Setting cold STR temperature again" << std::endl;
+          max31865DummyMap[objects::RTD_4_IC7_STARTRACKER]->setTemperature(-40, true);
+        }
+        if (cycles == 60) {
+          sif::debug << "Setting STR temperature back to normal again" << std::endl;
+          max31865DummyMap[objects::RTD_4_IC7_STARTRACKER]->setTemperature(0, true);
+        }
+      }
+      break;
+    }
+    case (TestCase::COLD_CAMERA): {
+      if (cycles == 15) {
+        sif::debug << "Setting cold CAM temperature" << std::endl;
+        max31865DummyMap[objects::RTD_2_IC5_4K_CAMERA]->setTemperature(-40, true);
+      }
+      if (cycles == 30) {
+        sif::debug << "Setting CAM temperature back to normal" << std::endl;
+        max31865DummyMap[objects::RTD_2_IC5_4K_CAMERA]->setTemperature(0, true);
+      }
+    }
   }
-  max31865PlocHeatspreaderSet.commit();
+  cycles++;
-  */
   return returnvalue::OK;
 }
+ReturnValue_t TemperatureSensorInserter::initializeAfterTaskCreation() { return returnvalue::OK; }

dummies/TemperatureSensorInserter.h

@@ -1,7 +1,8 @@
 #pragma once
 
 #include <fsfw/controller/ExtendedControllerBase.h>
-#include <mission/devices/devicedefinitions/Max31865Definitions.h>
+#include <mission/com/syrlinksDefs.h>
+#include <mission/tcs/Max31865Definitions.h>
 
 #include "Max31865Dummy.h"
 #include "Tmp1075Dummy.h"
@@ -14,6 +15,7 @@ class TemperatureSensorInserter : public ExecutableObjectIF, public SystemObject
                                      Tmp1075DummyMap tempTmpSensorDummies_);
 
   ReturnValue_t initialize() override;
+  ReturnValue_t initializeAfterTaskCreation() override;
 
  protected:
   ReturnValue_t performOperation(uint8_t opCode) override;
@@ -21,9 +23,19 @@ class TemperatureSensorInserter : public ExecutableObjectIF, public SystemObject
  private:
   Max31865DummyMap max31865DummyMap;
   Tmp1075DummyMap tmp1075DummyMap;
-  enum TestCase { NONE = 0, COOL_SYRLINKS = 1 };
+
+  enum TestCase {
+    NONE = 0,
+    COLD_SYRLINKS = 1,
+    COLD_HPA = 2,
+    COLD_MGT = 3,
+    COLD_STR = 4,
+    COLD_STR_CONSECUTIVE = 5,
+    COLD_CAMERA = 6,
+  };
   int iteration = 0;
-  bool performTest = false;
+  uint32_t cycles = 0;
+  bool tempsWereInitialized = false;
   TestCase testCase = TestCase::NONE;
 
   // void noise();

dummies/Tmp1075Dummy.cpp

@@ -1,13 +1,16 @@
 #include "Tmp1075Dummy.h"
 
-#include "mission/devices/devicedefinitions/Tmp1075Definitions.h"
+#include <fsfw/datapool/PoolReadGuard.h>
+#include <mission/tcs/Tmp1075Definitions.h>
 
 using namespace returnvalue;
 
 Tmp1075Dummy::Tmp1075Dummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
     : DeviceHandlerBase(objectId, comif, comCookie), set(this) {}
-void Tmp1075Dummy::doStartUp() { setMode(MODE_ON); }
+
-void Tmp1075Dummy::doShutDown() { setMode(_MODE_POWER_DOWN); }
+void Tmp1075Dummy::doStartUp() { setMode(MODE_NORMAL); }
+void Tmp1075Dummy::doShutDown() { setMode(MODE_OFF); }
+
 ReturnValue_t Tmp1075Dummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
   return NOTHING_TO_SEND;
 }
@@ -24,11 +27,16 @@ ReturnValue_t Tmp1075Dummy::scanForReply(const uint8_t *start, size_t len,
 ReturnValue_t Tmp1075Dummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
   return 0;
 }
+void Tmp1075Dummy::setTemperature(float temperature, bool valid) {
+  PoolReadGuard pg(&set);
+  set.temperatureCelcius.value = temperature;
+  set.setValidity(valid, true);
+}
 void Tmp1075Dummy::fillCommandAndReplyMap() {}
 uint32_t Tmp1075Dummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 1000; }
 ReturnValue_t Tmp1075Dummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                     LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(TMP1075::TEMPERATURE_C_TMP1075, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(TMP1075::TEMPERATURE_C_TMP1075, new PoolEntry<float>({10.0}, true));
   return OK;
 }
 LocalPoolDataSetBase *Tmp1075Dummy::getDataSetHandle(sid_t sid) { return &set; }

dummies/Tmp1075Dummy.h

@@ -1,12 +1,14 @@
 #ifndef EIVE_OBSW_TMP1075DUMMY_H
 #define EIVE_OBSW_TMP1075DUMMY_H
 
+#include <mission/tcs/Tmp1075Definitions.h>
+
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
-#include "mission/devices/devicedefinitions/Tmp1075Definitions.h"
 
 class Tmp1075Dummy : public DeviceHandlerBase {
  public:
   Tmp1075Dummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
+  void setTemperature(float temperature, bool setValid);
 
  private:
   TMP1075::Tmp1075Dataset set;

dummies/helperFactory.cpp

@@ -0,0 +1,233 @@
+#include "helperFactory.h"
+
+#include <dummies/AcuDummy.h>
+#include <dummies/BpxDummy.h>
+#include <dummies/ComCookieDummy.h>
+#include <dummies/ComIFDummy.h>
+#include <dummies/CoreControllerDummy.h>
+#include <dummies/ExecutableComIfDummy.h>
+#include <dummies/GpsCtrlDummy.h>
+#include <dummies/GpsDhbDummy.h>
+#include <dummies/GyroAdisDummy.h>
+#include <dummies/GyroL3GD20Dummy.h>
+#include <dummies/ImtqDummy.h>
+#include <dummies/MgmLIS3MDLDummy.h>
+#include <dummies/MgmRm3100Dummy.h>
+#include <dummies/P60DockDummy.h>
+#include <dummies/PduDummy.h>
+#include <dummies/PlPcduDummy.h>
+#include <dummies/PlocMpsocDummy.h>
+#include <dummies/PlocSupervisorDummy.h>
+#include <dummies/RwDummy.h>
+#include <dummies/SaDeploymentDummy.h>
+#include <dummies/ScexDummy.h>
+#include <dummies/StarTrackerDummy.h>
+#include <dummies/SusDummy.h>
+#include <dummies/SyrlinksDummy.h>
+#include <fsfw/devicehandlers/HealthDevice.h>
+#include <fsfw_hal/common/gpio/GpioIF.h>
+#include <mission/power/gsDefs.h>
+#include <mission/system/acs/ImtqAssembly.h>
+#include <mission/system/acs/StrAssembly.h>
+#include <mission/system/objects/CamSwitcher.h>
+#include <mission/system/tcs/TcsBoardAssembly.h>
+
+#include "TemperatureSensorInserter.h"
+#include "dummies/Max31865Dummy.h"
+#include "dummies/Tmp1075Dummy.h"
+#include "mission/genericFactory.h"
+#include "mission/system/acs/acsModeTree.h"
+#include "mission/system/com/comModeTree.h"
+#include "mission/system/tcs/tcsModeTree.h"
+#include "mission/system/tree/payloadModeTree.h"
+#include "mission/tcs/defs.h"
+
+void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpioIF) {
+  new ComIFDummy(objects::DUMMY_COM_IF);
+  auto* comCookieDummy = new ComCookieDummy();
+  new BpxDummy(objects::BPX_BATT_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  if (cfg.addCoreCtrlCfg) {
+    new CoreControllerDummy(objects::CORE_CONTROLLER);
+  }
+  if (cfg.addRtdComIFDummy) {
+    new ExecutableComIfDummy(objects::SPI_RTD_COM_IF);
+  }
+  std::array<object_id_t, 4> rwIds = {objects::RW1, objects::RW2, objects::RW3, objects::RW4};
+  std::array<DeviceHandlerBase*, 4> rws;
+  rws[0] = new RwDummy(objects::RW1, objects::DUMMY_COM_IF, comCookieDummy);
+  rws[1] = new RwDummy(objects::RW2, objects::DUMMY_COM_IF, comCookieDummy);
+  rws[2] = new RwDummy(objects::RW3, objects::DUMMY_COM_IF, comCookieDummy);
+  rws[3] = new RwDummy(objects::RW4, objects::DUMMY_COM_IF, comCookieDummy);
+  ObjectFactory::createRwAssy(pwrSwitcher, power::Switches::PDU2_CH2_RW_5V, rws, rwIds);
+  new SaDeplDummy(objects::SOLAR_ARRAY_DEPL_HANDLER);
+  auto* strAssy = new StrAssembly(objects::STR_ASSY);
+  strAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
+  auto* strDummy =
+      new StarTrackerDummy(objects::STAR_TRACKER, objects::DUMMY_COM_IF, comCookieDummy);
+  strDummy->connectModeTreeParent(*strAssy);
+  if (cfg.addSyrlinksDummies) {
+    auto* syrlinksDummy =
+        new SyrlinksDummy(objects::SYRLINKS_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    syrlinksDummy->connectModeTreeParent(satsystem::com::SUBSYSTEM);
+  }
+  auto* imtqAssy = new ImtqAssembly(objects::IMTQ_ASSY);
+  imtqAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
+  auto* imtqDummy = new ImtqDummy(objects::IMTQ_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  imtqDummy->enableThermalModule(ThermalStateCfg());
+  imtqDummy->connectModeTreeParent(*imtqAssy);
+  if (cfg.addPowerDummies) {
+    new AcuDummy(objects::ACU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    new PduDummy(objects::PDU1_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    new PduDummy(objects::PDU2_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    new P60DockDummy(objects::P60DOCK_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  }
+
+  if (cfg.addAcsBoardDummies) {
+    std::array<DeviceHandlerBase*, 8> assemblyDhbs;
+    assemblyDhbs[0] =
+        new MgmLIS3MDLDummy(objects::MGM_0_LIS3_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    assemblyDhbs[1] =
+        new MgmLIS3MDLDummy(objects::MGM_2_LIS3_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    assemblyDhbs[2] =
+        new MgmRm3100Dummy(objects::MGM_1_RM3100_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    assemblyDhbs[3] =
+        new MgmRm3100Dummy(objects::MGM_3_RM3100_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    assemblyDhbs[4] =
+        new GyroAdisDummy(objects::GYRO_0_ADIS_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    assemblyDhbs[5] =
+        new GyroL3GD20Dummy(objects::GYRO_1_L3G_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    assemblyDhbs[6] =
+        new GyroAdisDummy(objects::GYRO_2_ADIS_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    assemblyDhbs[7] =
+        new GyroL3GD20Dummy(objects::GYRO_3_L3G_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    auto* gpsCtrl = new GpsCtrlDummy(objects::GPS_CONTROLLER);
+    ObjectFactory::createAcsBoardAssy(pwrSwitcher, assemblyDhbs, gpsCtrl, gpioIF);
+  }
+
+  if (cfg.addSusDummies) {
+    std::array<DeviceHandlerBase*, 12> suses;
+    suses[0] =
+        new SusDummy(objects::SUS_0_N_LOC_XFYFZM_PT_XF, objects::DUMMY_COM_IF, comCookieDummy);
+    suses[1] =
+        new SusDummy(objects::SUS_1_N_LOC_XBYFZM_PT_XB, objects::DUMMY_COM_IF, comCookieDummy);
+    suses[2] =
+        new SusDummy(objects::SUS_2_N_LOC_XFYBZB_PT_YB, objects::DUMMY_COM_IF, comCookieDummy);
+    suses[3] =
+        new SusDummy(objects::SUS_3_N_LOC_XFYBZF_PT_YF, objects::DUMMY_COM_IF, comCookieDummy);
+    suses[4] =
+        new SusDummy(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, objects::DUMMY_COM_IF, comCookieDummy);
+    suses[5] =
+        new SusDummy(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, objects::DUMMY_COM_IF, comCookieDummy);
+    suses[6] =
+        new SusDummy(objects::SUS_6_R_LOC_XFYBZM_PT_XF, objects::DUMMY_COM_IF, comCookieDummy);
+    suses[7] =
+        new SusDummy(objects::SUS_7_R_LOC_XBYBZM_PT_XB, objects::DUMMY_COM_IF, comCookieDummy);
+    suses[8] =
+        new SusDummy(objects::SUS_8_R_LOC_XBYBZB_PT_YB, objects::DUMMY_COM_IF, comCookieDummy);
+    suses[9] =
+        new SusDummy(objects::SUS_9_R_LOC_XBYBZB_PT_YF, objects::DUMMY_COM_IF, comCookieDummy);
+    suses[10] =
+        new SusDummy(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, objects::DUMMY_COM_IF, comCookieDummy);
+    suses[11] =
+        new SusDummy(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, objects::DUMMY_COM_IF, comCookieDummy);
+    ObjectFactory::createSusAssy(pwrSwitcher, suses);
+  }
+
+  if (cfg.addTempSensorDummies) {
+    std::map<object_id_t, Max31865Dummy*> rtdSensorDummies;
+    rtdSensorDummies.emplace(objects::RTD_0_IC3_PLOC_HEATSPREADER,
+                             new Max31865Dummy(objects::RTD_0_IC3_PLOC_HEATSPREADER,
+                                               objects::DUMMY_COM_IF, comCookieDummy));
+    rtdSensorDummies.emplace(objects::RTD_1_IC4_PLOC_MISSIONBOARD,
+                             new Max31865Dummy(objects::RTD_1_IC4_PLOC_MISSIONBOARD,
+                                               objects::DUMMY_COM_IF, comCookieDummy));
+    rtdSensorDummies.emplace(
+        objects::RTD_2_IC5_4K_CAMERA,
+        new Max31865Dummy(objects::RTD_2_IC5_4K_CAMERA, objects::DUMMY_COM_IF, comCookieDummy));
+    rtdSensorDummies.emplace(objects::RTD_3_IC6_DAC_HEATSPREADER,
+                             new Max31865Dummy(objects::RTD_3_IC6_DAC_HEATSPREADER,
+                                               objects::DUMMY_COM_IF, comCookieDummy));
+    rtdSensorDummies.emplace(
+        objects::RTD_4_IC7_STARTRACKER,
+        new Max31865Dummy(objects::RTD_4_IC7_STARTRACKER, objects::DUMMY_COM_IF, comCookieDummy));
+    rtdSensorDummies.emplace(
+        objects::RTD_5_IC8_RW1_MX_MY,
+        new Max31865Dummy(objects::RTD_5_IC8_RW1_MX_MY, objects::DUMMY_COM_IF, comCookieDummy));
+    rtdSensorDummies.emplace(
+        objects::RTD_6_IC9_DRO,
+        new Max31865Dummy(objects::RTD_6_IC9_DRO, objects::DUMMY_COM_IF, comCookieDummy));
+    rtdSensorDummies.emplace(
+        objects::RTD_7_IC10_SCEX,
+        new Max31865Dummy(objects::RTD_7_IC10_SCEX, objects::DUMMY_COM_IF, comCookieDummy));
+    rtdSensorDummies.emplace(
+        objects::RTD_8_IC11_X8,
+        new Max31865Dummy(objects::RTD_8_IC11_X8, objects::DUMMY_COM_IF, comCookieDummy));
+    rtdSensorDummies.emplace(
+        objects::RTD_9_IC12_HPA,
+        new Max31865Dummy(objects::RTD_9_IC12_HPA, objects::DUMMY_COM_IF, comCookieDummy));
+    rtdSensorDummies.emplace(
+        objects::RTD_10_IC13_PL_TX,
+        new Max31865Dummy(objects::RTD_10_IC13_PL_TX, objects::DUMMY_COM_IF, comCookieDummy));
+    rtdSensorDummies.emplace(
+        objects::RTD_11_IC14_MPA,
+        new Max31865Dummy(objects::RTD_11_IC14_MPA, objects::DUMMY_COM_IF, comCookieDummy));
+    rtdSensorDummies.emplace(
+        objects::RTD_12_IC15_ACU,
+        new Max31865Dummy(objects::RTD_12_IC15_ACU, objects::DUMMY_COM_IF, comCookieDummy));
+    rtdSensorDummies.emplace(objects::RTD_13_IC16_PLPCDU_HEATSPREADER,
+                             new Max31865Dummy(objects::RTD_13_IC16_PLPCDU_HEATSPREADER,
+                                               objects::DUMMY_COM_IF, comCookieDummy));
+    rtdSensorDummies.emplace(
+        objects::RTD_14_IC17_TCS_BOARD,
+        new Max31865Dummy(objects::RTD_14_IC17_TCS_BOARD, objects::DUMMY_COM_IF, comCookieDummy));
+    rtdSensorDummies.emplace(
+        objects::RTD_15_IC18_IMTQ,
+        new Max31865Dummy(objects::RTD_15_IC18_IMTQ, objects::DUMMY_COM_IF, comCookieDummy));
+
+    std::map<object_id_t, Tmp1075Dummy*> tmpSensorDummies;
+    tmpSensorDummies.emplace(
+        objects::TMP1075_HANDLER_TCS_0,
+        new Tmp1075Dummy(objects::TMP1075_HANDLER_TCS_0, objects::DUMMY_COM_IF, comCookieDummy));
+    tmpSensorDummies.emplace(
+        objects::TMP1075_HANDLER_TCS_1,
+        new Tmp1075Dummy(objects::TMP1075_HANDLER_TCS_1, objects::DUMMY_COM_IF, comCookieDummy));
+    tmpSensorDummies.emplace(
+        objects::TMP1075_HANDLER_PLPCDU_0,
+        new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_0, objects::DUMMY_COM_IF, comCookieDummy));
+    // damaged.
+    //    tmpSensorDummies.emplace(
+    //        objects::TMP1075_HANDLER_PLPCDU_1,
+    //        new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_1, objects::DUMMY_COM_IF,
+    //        comCookieDummy));
+    tmpSensorDummies.emplace(
+        objects::TMP1075_HANDLER_IF_BOARD,
+        new Tmp1075Dummy(objects::TMP1075_HANDLER_IF_BOARD, objects::DUMMY_COM_IF, comCookieDummy));
+
+    new TemperatureSensorInserter(objects::THERMAL_TEMP_INSERTER, rtdSensorDummies,
+                                  tmpSensorDummies);
+    TcsBoardAssembly* tcsBoardAssy =
+        ObjectFactory::createTcsBoardAssy(pwrSwitcher, tcs::TCS_BOARD_SHORTLY_UNAVAILABLE);
+    for (auto& rtd : rtdSensorDummies) {
+      rtd.second->connectModeTreeParent(*tcsBoardAssy);
+    }
+    for (auto& tmp : tmpSensorDummies) {
+      tmp.second->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
+    }
+  }
+  auto* camSwitcher =
+      new CamSwitcher(objects::CAM_SWITCHER, pwrSwitcher, power::Switches::PDU2_CH8_PAYLOAD_CAMERA);
+  camSwitcher->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
+  auto* scexDummy = new ScexDummy(objects::SCEX, objects::DUMMY_COM_IF, comCookieDummy);
+  scexDummy->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
+  auto* plPcduDummy =
+      new PlPcduDummy(objects::PLPCDU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  plPcduDummy->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
+  if (cfg.addPlocDummies) {
+    auto* plocMpsocDummy =
+        new PlocMpsocDummy(objects::PLOC_MPSOC_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    plocMpsocDummy->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
+    auto* plocSupervisorDummy = new PlocSupervisorDummy(
+        objects::PLOC_SUPERVISOR_HANDLER, objects::DUMMY_COM_IF, comCookieDummy, pwrSwitcher);
+    plocSupervisorDummy->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
+  }
+}

dummies/helperFactory.h

@@ -2,6 +2,8 @@
 
 #include <fsfw/power/PowerSwitchIF.h>
 
+class GpioIF;
+
 namespace dummy {
 
 struct DummyCfg {
@@ -12,8 +14,9 @@ struct DummyCfg {
   bool addSusDummies = true;
   bool addTempSensorDummies = true;
   bool addRtdComIFDummy = true;
+  bool addPlocDummies = true;
 };
 
-void createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch);
+void createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch, GpioIF* gpioIF);
 
 }  // namespace dummy